Vehicle Overview 2.1 Design Rationale 2.2 Vehicle Overview 2.2.1 Manipulators 2.2.2 Vehicle Physical Properties 2.3 ACS Actuators 2.3.1 Propulsion System 2.3.1.1 Overview 2.3.1.2 Thruster Performance 2.3.1.3 Thruster System Performance 2.3.2 Buoyancy Compensation System (BCS) 2.3.2.1 Coarse Buoyancy Compensator (CBC) 2.3.2.2 Vertical Buoyancy Compensator (VBC) 2.3.2.3 Rotational Buoyancy Compensator (RBC) 2.4 ACS Sensors 2.4.1 Inertial Measurement Unit (IMU) 2.4.2 Magnetometer Triad 2.4.3 Depth Sensor 2.4.4 3 Dimensional Acoustical Positioning System (3DAPS) 2.5 Computers and Communications 2.5.1 Distributed Processing Overview 2.5.2 Main Processor (R3K) 2.5.3 Thruster Control Unit (TCU) 2.5.4 Buoyancy Control Unit (BCU) 2.5.5 Inertial Measurement Unit (IMU) 2.5.6 External Sensor Unit (ESU)

Flight Control System Operator Interface Overview 3.1 Interface Overview 3.2 Controller Selection Panel 3.3 Trajectory Control Panel 3.3.1 Operator Trajectory Mode Selection 3.3.1.1 Open Loop with Latch Mode 3.3.1.2 Resolved Rate Mode 3.3.1.3 Spacecraft Dynamics Mode 3.3.2 Step Command Selection 3.3.3 Composite Sinusoidal Trajectory Control 3.4 Sensor Options Interface 3.5 Quaternion Error Display 3.6 Advanced 3D Attitude Representation 3.7 Sensor Data Display 3.8 Data Acquisition and Playback

Attitude Estimation and Flight Control Overview 4.1 Physical Model 4.1.1 Dynamics 4.1.2 Attitude Representation 4.1.3 Rotational Kinematics 4.2 State Estimator 4.2.1 Attitude Estimation 4.2.2 Angular Velocity Estimation 4.3 Estimator Error Sources 4.3.1 Noise 4.3.2 Bias 4.3.3 Perturbations 4.4 Control Laws 4.4.1 Feedback Error Metrics 4.4.2 Quaternion Based PD Control 4.4.3 Quaternion Based PD Plus Nonlinear Compensation 4.4.4 Quaternion based PD Plus Adaptive Nonlinear Compensation 4.5 Jet Select Logic 4.6 Trajectory Equations 4.7 Hardware in Loop Simulator 4.7.1 Simulator Dynamic Model 4.7.2 Integration 4.7.3 Simulation Results 4.8 Automatic Balance Algorithm

The text in this section is taken from Joe Graves' Masters Thesis

DESIGN AND CONTROL OF A VEHICLE
FOR NEUTRAL BUOYANCY SIMULATION
OF SPACE OPERATIONS

© Copyright by
University of Maryland Space Systems Laboratory
1997