OPTICO�PHYSICALd e p a r t m e n t

2007Space Research Institute of the Russian Academy of Sciences

Studies of the Solar System’s

Celestial Bodies

Studies of the Earth and its Ecology

SC Attitude Determination

and Positioning in Real Time

Development of Algorithms and Programs

for Onboard Instruments Operation,

Their Onground Processing

and Analysis of the Image Data Acquired

Calibration, Testing

and Simulation of In�Orbit Operation

for the Instruments Being Developed

MAIN RESEARCH FIELDS

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In 1967 a group of specialiststransferred from the MoscowInstitute for Geodesy, AerialPhotosurveying and Cartographyto the newly established SpaceResearch Institute of the USSRAcademy of Sciences. This groupbegan work on space research inthe visible and near infrared bandsof the electromagnetic spectrum,on the creation of unique onboardinstrumentation, on studies of theEarth and other bodies of the Solarsystem from spacecraft (SC) as wellas on the development of algo�rithms and programs to pro�cessand analyze the space image dataacquired.In 1973 this group became the coreof the new Department of Earthresearch from space. In 1980 thedepartment's name was altered tothe Department of optico�physicalmeasurements (Optico�physical de�partment). The field of activity wasalso changed. Studies of Halley'scomet, Mars and its moon Phobostook top priority.“Perestroyka” in Russia has cardi�nally changed the Department'slife. Making use of extensive expe�rience in device engineering theDepartment switched to the devel�opment of SC housekeeping sys�tems and namely the instrumentsfor SC attitude precise determina�tion and onboard processors sup�porting the solution of these tasksin real time. In 1999 the first startracker BOKZ operated in orbit.

Since 1999 twenty one star instru�ments of the BOKZ family havebeen operating in the attitudecontrol circuits of various types ofspacecraft and the InternationalSpace Station (ISS). New modifica�tions of the BOKZ family instru�ments as well as the BOKZ�basedsystems are being developed. Theywill provide for SC attitude andposition determination.Simultaneously work was renewedand continued for developing inst�ruments for Earth monitoring fromonboard weather and remote sens�ing satellites. Additionally researchwas done for the introduction ofspace technologies into the field ofaerial surveying. In 2000 the Department restartedspace research and continued thedevelopment of a scientific pro�gram and instruments for the"Phobos�Grunt" mission plannedfor 2009.

Yan L. Ziman founded and headedthe Department. In 1988 GenrikhA. Avanesov took over from him.Since 2003 the Department hasbeen headed by Anatoly A. Forsh.

Yan L. Zimanchief scientific analyst, a DeputyHead of the department, Doctor of Sciences (engineering sciences),an honored worker of science ofthe Russian Federation, a laureateof the USSR State prize

Genrikh A. Avanesovchief scientific analyst, a DeputyHead of the department, Doctor of Sciences (engineering sciences), a professor, an honored worker ofscience of the Russian Federation,a laureate of the USSR Lenin Prize

Anatoly A. Forshhead of department, Ph. D (physicsand maths), a laureate of the Moldavian SSR State prize

OPTICO�PHYSICAL DEPARTMENT

OUR HISTORYOUR HISTORY

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2004 – 2007Development of and manufacturemultispectral imaging systems forstudying the inland water surfacesfrom onboard the weather andremote sensing spacecraft.

2005– ...Development of onboard systemfor the “Phobos�Grunt” mission tosolve the navigation tasks, studyMars and Phobos as well as to con�trol the scientific payload.

1997 – 2007Development of, and introductionto space flight practice, the BOKZstar coordinators (units for starcoordinates determination). Theseinstruments are operating in theattitude control circuit of theInternational Space Station, theYamal, Resurs�DK and other space�craft.

1989 – 1996Development in cooperation withGerman specialists of the “Argus”platform for studying the Martiansurface and atmosphere with twomultispectral TV�systems and theNavigation camera. The latterbecame the first compact starcoordinator. The “Mars�96” SC sank in the Paci�fic Ocean after a failed launch.

1981 – 2001Creation in cooperation with Ger�man specialists of the ASTRO sys�tem integrating CCD�based startrackers and onboard processor.The ASTRO system was used for the“Mir” orbital station attitude deter�mination by TV images of the starrysky.The ASTRO system operated on�board the orbital station for morethan ten years untill its sunk in2001.

1986 – 1989Creation of the imaging spectro�metric system “Fregat” in coopera�tion with Bulgarian and Germanspecialists.The images acquired by the inter�planetary station “Phobos” wereused for studying the photometricand spectral characteristics of thePhobos surface. In addition itsgeological maps and internal struc�ture were defined more precisely.

1987 – 1991A theory of SC stabilization withsolar light pressure was developed.A base model of the small space�craft “Regatta” with a solar sailproviding for precise attitude sta�bilization of its longitudinalrolling relative the directiontowards the Sun was designed.Three modifications of this smallspacecraft were proposed – forastrometry, solar terrestrial physicsas well as Sun observation andSolar activity patrol.

1968 – 1971Studies of the Lunar surface topog�raphy and relief, based on TV�images from the Lunokhod�1 and 2.Review of dimensions and theshape of the celestial body basedon photo�television images of thefar side of the Moon acquired fromthe automated interplanetary sta�tion “Zond”.

1970 – 1972An experiment on synchronous pho�toimaging of the starry sky and theterrestrial surface from the firstmanned orbital station “Salyut” wasconducted for testing the techniqueof precision determination of the SCattitude parameters and spaceimagery referencing.Modernized aerial photocamerasAFA BA�210 were used for imaging.

1973 – 1982Creation of an aircraft lab based onthe IL�14 and AN�30 airplanes forprocessing the techniques of multi�spectral photographic and optico�electronic aeroimaging to simulateEarth imaging from space.Development of the software forprocessing and thematic interpre�tation of the acquired image spec�trometric data for solving the Earthsciences tasks.

1974 – 1978Development of the space photo�camera MKF�6 together with Germanspecialists and its flight test on�board the “Soyuz�22” spaceship.Testing the technique of thematicinterpretation of multi�spectralspace images in cooperation with

specialists from the Moscow StateUniversity.Introduction of the MKF�6 camerain the practice of imaging theEarth surface from manned orbitalstations for economic and Earthsciences purposes.

1978 – 1984Development of the first Russianscanning eight�band digital TV�system “Fragment” and its opera�tion testing for four years on the“Meteor�Priroda” SC.Digital processing and thematicinterpretation of the downlinkedimage data.

1980 – 1986Development of the CCD�based tele�vision system “VEGA” for imagingthe comet and its nucleus from theautomated interplanetary stations“VEGA�1 and 2”. The TV�system wasdesigned in cooperation with Hun�garian and French specialists.Participation in the creation of theplatform for the imaging system.Processing of the images acquiredmade it possible to determine thenucleus shape and dimensions, todefine more precisely the struc�ture, absolute brightness valuesand photometric characteristics ofits surface and jets. In additionphotometric characteristics werecalculated and the comet's tomo�graphic reconstruction was madepossible.

1968 – 1971Moon Studies

1970 – 1972Synchronous Imagingof the Earth and Stars

1973 – 1982Flying Lab

1974 – 1978“Raduga” Experiment

1978 – 1984“Fragment” Experiment

1981– 2001System of StarCoordinators “ASTRO” 1986 – 1989

“Phobos” Mission

1987 – 1991“Regatta” Project

1989 – 1996“Mars�96” Mission

1980 – 1986“VEGA” Project

1997 – 2007Spacecraft Precision AttitudeDetermination

2004 – 2007Multispectal ImagingRemote SensingSystems

2005 – ...“Phobos�Grunt” Mission

NAVIGATION SYSTEMSNAVIGATION SYSTEMS

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orbits onboard the InternationalSpace Station and ten Russianspacecraft of various types.According to the contracts con�cluded it is planned to manufac�ture about forty BOKZ familyinstruments of various modifica�tions before the end of 2010.

Modification BOKZ BOKZ�M BOKZ�M24 BOKZ�2M BOKZ�MF BOKZ�3Mass, kg 4.5 4.0 3.2 2.0 2.0 0.6Power consumption, W 11.2 11.2 10.0 8.0 8.0 3.0Dimensions, cm 45x23x20 37x23x23 30x23x23 30x20x20 20x20x20 17x10x10Admissible SC angular velocity, °/s 0.15 0.5 1.5 2.0 2.0–4.0 > 2.0Time interval for the first detection without a priori information, s 30 30 10 10 10 6Attitutde data updatement frequency, Hz 0.3 0.3 1.0 1.0 1.0 10Output data Quaternion (directional cosines)Accuracy σx,y/σz, arcsec 2 / 20 2 / 20 5 / 12 5 / 12 5 / 12 5 / 12

The BOKZ family instruments havebeen designed for precise determi�nation of spacecraft triaxial atti�tude control parameters in realtime based on images of the arbi�trary starry sky segments.

The BOKZ family instrument is amonoblock with the digital TV cam�era based on a CCD�array, a signalprocessor based computer and asecondary power supply unit.Since 1999 twenty one star instru�ments of the BOKZ family have beenlaunched to the nearterrestrial

Due to the radiation stability of the components and materials the BOKZ family instruments can operate in the near�Earth, geostationary, highly elliptical and interplanetary orbits.

BOKZ

1998

BOKZ�M

2002

BOKZ�M24

2004

BOKZ�2M

2004

BOKZ�MF

2006

BOKZ�3

2008

STAR COORDINATORS

ISS

Yamal�100

Yamal�200

Resurs�DK

NAVIGATION SYSTEMSNAVIGATION SYSTEMS

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The Universal Navigation Instru�ment (UNP) has been designed foronline determination of both orbitand spacecraft attitude controlparameters. The Optico�Physicaldepartment is conducting thisdevelopment with the involvementof several cooperating enterprises.The UNP design is based on theBOKZ family instrument and theinbuilt in it both receivers of navi�gation satellite signals and preciseangular velocity sensors (AVS). TheAVSs used are related to the gyrosbased on elastic waves in solids. The Universal Navigation Instru�ment is planned to be operated inthe motion control systems of vari�ous spacecraft.

The Universal NavigationInstrument mock�up

Gyro inside

Structure of the Universal Navigation Instrument

OPTICAL SOLAR SENSOR

XY

Z

UNIVERSAL NAVIGATION INSTRUMENT

Main characteristicsMass, kg 0.65Power consumption, W 2.5Dimensions, mm 120 x 112 x 72,5Field of view, deg

in the plane OXZ –60 — +60 in the plane OYZ –31 — +31

Data updatement frequency, Hz 4Data exchange interface MIL STD�1553BFailure�free operation probability0.98Output data Direction vector towards the SunAccuracy (3σ), arcmin

for the SC angular velocity less than 0.1°/с 3for the SC angular velocity less than 1.0°/с 5

The UNP provides for the solutionof the following tasks:– the UTC storage and clock signalgrid generation;– navigation measurement filteringand orbit parameters calculation;– calculation of the SC inertial ori�entation parameters;– calculation of the sidereal timecurrent values and SC attitude con�trol parameters in the geocentricGreenvich coordinate system;– calculation of the SC position atthe ~10 Hz frequency as well as thevectors of the SC orbital velocity inthe Greenvich coordinate system; – calculation of the SC attitudecontrol parameters in the orbitalcoordinate system; and– calculation with the frequencyrequired of the external orientationparameters for the image dataacquired by remote sensing systems.

The Optical Solar Sensor (OSD) hasbeen designed to determine thedirection towards the center of theSun's visible disc. The direction to the Sun is comput�ed in the instrument coordinatesystem relative to the pixels' posi�tion on the linear CCDs illuminatedwith the light passed through theincoming coding mask.

The OSD coding mask has threegroups of slits with three slits ineach group. This mask configura�tion provides for reliability increaseas well as for the required accuracy.In order to identify the groups andslits in the groups distancesbetween the groups and particularslits have been made different.

The OSD geometrical calibrationincludes the following procedures:– determination of the CCD�lineposition in the instrument’s inter�nal coordinate system;– determination of the distancebetween the slit diaphragm and theCCD�line;– Determination of the coordinatesfor the point of the Z axis intersec�tion with the plane which the CCD�line is mounted in; and– determination of the transfermatrix from the internal coordi�nate system to the instrument one.

Scheme of the imaging from “Meteor�M” SC by MSU

SPACEBORNE EARTH IMAGING SYSTEMSSPACEBORNE EARTH IMAGING SYSTEMS

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Mid�resolution digital multi�spec�tral imaging systems (MSU) arebeing developed for operation fromonboard remote sensing and weath�er satellites. MSU provide for imag�ing the land and water surfaces inthree zones of the visible and near�IR spectral bands. The MSU type cameras registerinformation on three CCD�lineswith different light filters. A digi�tal signal processor serves for theimage data preprocessing.

The first Complex including twoMSU�100 and one MSU�50 instru�ments will provide timely imageryfor hydro�meteorological and eco�logical and nature monitoring fromonboard the “Meteor�M” SC.

The MSU�100M and MSU�200 (with afocal length of 200 mm) instru�ments are being developed for thefuture modification of the Complex.These instruments will be based ontwo CCD�lines – the first RGB oneand the second one operating in the750–900 nm band. MSU�50

MSU�100A panorama of the Tarusa town,the Kaluga region. Spring 2006. Imaging was done with the MSU�100 lab mock�upfrom the Oka river high bank

Parameter \ Camera MSU�50 MSU�100 MSU�200Lens focal length, mm 50 100 200Spectral bands, nm 410* 550* 450

480* 650* 550630* 830* 650

830Number of pixels in a CCD�line 7,926 7,926 10,200Pixel size, µm 7 х 7Angular field of view, deg 58.5 31.3 21Swath (H = 830 km), km 931 497 250Pixel projection, m 116 58 29Data exchange interface MIL STD�1553BPower consumption, W 7 7 12Mass, kg 2.5 3.2 6

* for the ”Meteor�M” SC

DIGITAL AERIAL IMAGING SYSTEMS

magnification 20х

DIGITAL AERIAL IMAGING SYSTEMS

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During 2004–2005 two digitalimaging cameras – TsTK�140 andTsMK�70 – were created. The digital topographic stereoimaging camera TsTK�140 wasdeveloped on the basis of the opti�cal module of the aerial photo�sur�veying camera AFA TE�140 whichincluded a detachable electronicmodule with nine CCD�lines. Thesystem is complemented with ablock for precise determination ofthe external orientation angularelements.Digital multispectral airborne cam�era TsMK�70 is a monoblock incor�porating optical and electronicmodules. This camera provides forsimultaneous imaging in three visi�ble (RGB) and one near infraredband.Imaging is controlled by a comput�er placed onboard an aircraft. Thisadvances in on�line control theimage data registration and pack�ing in the onboard storage unit.

Parameter \ Camera TsTK�140 TsMK�70Lens focal length, mm 140 70Type of photoreceivers linear CCDNumber of pixels in a line 22,000 х 3 10,200 х 4Pixel size, µm 7 х 7Spectral bands, nm 400–900 450 / 550 / 650

(pan) 750–900Dynamic range, bit 8 16 Imaging altitude, m 2,500–7,000 1,500–7,000Spatial resolution, cm 12–35 15–70Swath, km 2.6–7.7 1.5–7.1Image data onboard memory, Tbyte up to 3.2 2.0 Duration of continuous imaging, hours 4–12 10–36

Image data advantages for digital airborne cameras– linear transfer characteristic;– high photometric accuracy;– wide dynamic range of images,

making identification easierand allowing to widen the rangeof scales for the created carto�graphic materials;

– wide spectral range (0.4–1.1 µm);– a wide swath in combination

with the high spatial resolution.

The wide dynamic range of the cameras provides for revealing image details covered with clouds

Digital airborne imaging camera TsTK�140

A fragment of a strip imagedwith the digital airbornecamera TsMK�70 froman altitude of 4,000 m

“PHOBOS�GRUNT” MISSION

TSNN consists of four CCD�based TV�cameras – two wide�angle (ShTK)and two narrow�angle (UTK) –mounted in pairs on the flight mod�ule on the opposite sides of theload�bearing frame. Thus, thestereoimaging base of two meters isprovided.

TV system for navigationand observation (TSNN)TSNN has been developed for:– near�planet navigation;– choice of place for the descent

probe landing onto Phobos;– support of the descent probe

landing control operations; and– high resolution imaging of the

Phobos surface.

“PHOBOS�GRUNT” MISSION

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SIOK provides for the solution ofthe following tasks:– reception of digital commandsand onboard time code from thes/c housekeeping systems via databackbone between SIOK and s/c(s/c bus);– reception of the digital controlcommands and onboard time codevia internal data backbone between

System for the scientific payloadinformation support (SIOK) SIOK has been designed for con�trolling scientific payload of the“Phobos�Grunt” spacecraft. SIOK isa backup computer with an extend�ed nonvolatile memory.

Основные характеристикиVoltage range, V 23–32Power consumption, less than W 4.0Mass, less than kg 1.7Nonvolatile data memory, MB 32Program memory, kB 128Program RAM , MB 2Data exchange interface (payload bus & s/c bus) MIL STD�1553ВFailure�free operation probability 0.97

SIOK and scientific instrumenta�tion (payload bus); – collection and storage in perma�nent memory of data acquired bythe s/c scientific instrumentation;and – translation of scientific instru�mentation data from memory tothe s/c radio system during com�munications sessions.

Within the framework of the“Phobos�Grunt” mission thedepartment develops instrumentsfor the scientific and housekeep�ing complexes. Among them arethe TV�system for navigation andobservation TSNN, the star trackerBOKZ�MF, the Optical solar sensorOSD and the System for the scien�tific payload information supportSIOK.

Narrow�angle TV camera (UTK)

Wide�angle TV camera (ShTK)

SIOK

BOKZ�MF

OSD

“Phobos�Grunt” SC

Parameters / Camera UTK ShTK Focal length, mm 500 18Aperture 1:7 1:2Number of pixels in the CCD�array 1004 х1004Pixel size, µm 7.4х7.4Resolution, arcsec 3.05 84.8Field of view, deg 0.85 23.3Minimal Sun angle, deg 80 60Radiometric resolution, bit 12Mass, kg 2.7 1.7Power consumption, W 8 8Number of instruments 2 2

SOFTWARE

All the studies and developmentsconducted at the Department aretraditionally complemented withthe creation of software for solvingthe following tasks:

– to support operation of theonboard instruments beingdeveloped, their ground supportequipment as well as the teststands for calibrating on�boardinstruments and simulatingtheir operation in space;

– to control operation in space ofthe created instruments in ac�cordance with the preset andmodified in flight program;

– to fulfill onboard processing ofthe conducted measurementsand acquired image data;

– to determine attitude and posi�tion of spacecraft in real time;and

– to conduct on�ground process�ing, referencing and thematicinterpretation of the acquiredspace image information.

ONBOARD INSTRUMENTATION CALIBRATION, TESTING AND PROCESSING

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Test stand for geometrical calibration of imaging cameras

determination of the elements ofinternal orientation for imagingcameras as well as the parame�ters of mutual orientation of theinternal and instrument coordi�nate systems

Test stand for photometric calibration of imaging spectrometric cameras

determination of the spectraland radiance characteristics ofthe imaging systems

Astronomical observatory

imaging the starry sky with startrackers with different angularvelocities

Dynamic test benchfor processing star trackers

simulation of operation of theBOKZ family instruments in var�ious orbits and for different SCattitude control modes

A mockup of triaxial rotationalbench for processing theUniversal Navigation Instrument

Dynamic test bench for the navigation support (future development)

simulation of the onboardinstrumentation operation forcoordinate and timing naviga�tion support

Test stand for determining radiation stability of components

testing the components usingthe Co�60 source for their sta�bility to the ionizing radiationwithin the range of intensitiesof 10�4 – 10�2 rad/s similar to theactual conditions of the on�board instrumentation opera�tion in space

“Phobos�Grunt” standsimulation of the process ofcontrolling landing onto Phobosusing the Television System forNavigation and Observation

A fragment of an image acquiredwith the digital airborne cameraTsTK�140 during an aircraftmaneuvre (left) and the resultof its automated correction(right). The correspondingobjects are indicated with the similar figures.

OUR CUSTOMERS

16

Russian Academy of Sciences

Federal Space Agency

(Roscosmos)

Rocket Space Corporation

“Energiya” (RSC “Energiya”)

State Research Production

Rocket Space Center

“TsSKB�Progress”

JSC “Machinebuilding Plant

“Arsenal”

Lavochkin Research Production Association

(Lavochkin Association)

All�Russian Research Institute

of Electromechanics (VNIIEM)

Research Production Association of

Machinebuilding (NPO Machinebuilding)

Main Fields of Activity

Methods for aerospace TV�imaging

and onboard digital processing

the image data acquired

Onboard techniques for SC positioning

and clock support

Methods and programs for onground

processing and interpreting aerospace

image data

Methods and software for onboard imaging

instrumentation calibration and testing

Director: Eleonora A. SukhanovaAddress: 84/32 Profsoyuznaya str., 117819 MoscowTel/Fax: (7 495) 333�3088E�mail: ano_cnt@ofo.iki.rssi.ru

n o n � p r o f i t c o m p a n y

“SPACE – SCIENCE & TECHNOLOGY”

The “Space–Science & Technology” company (“Cosmos–NT”) was

established in 2000 by several research institutes and industrial com�

panies from Russia's space sector

Address: 84/32 Profsoyuznaya str., Moscow, 117819Tel.: (7 495) 333�2445Fax: (7 495) 330�1200E�mail: lkrasnop@ofo.iki.rssi.ru

www.iki.rssi.ru/ofo