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Research on Multiprocessing Techniques
for Multifunctional Satellites
-
N -
0
4d
N- Contract NAS 12-660
IPUT UAW
- Reproduced by the CI-EARINGHOU SE
for Federal Scientific amp Technicalinformation Springfield Va c2151
N70-18771
RESEARCH ON MULTIPROCESSING TECHNIQUES FOR MULTIFUNCTIONAL SATELLITES
Michael P Feder et al
International Business mchines Corporation Rockville Maryland
September 1969
Disributeds to foster serve and promote the nations
economic developmenet and technological
advancement
FEDERAL SCIEN TIFICFOR AND TECHNICAL INFORMATION
bull bull USbull DEPARTMENT OF COMMERCE National Bureau of Standards
T is ouethsbe prvdfrpbi ees n ae
RESEARCH ON MULTIPROCESSING TECHNIQUES
FOR MULTIFUNCTIONAL SATELLITES
prepared under
Contract NAS 12-660
September 1969
for
NASA ELECTRONIC RESEARCH CENTER
Camnbridge Massachusetts
INTERNATIONAL BUSINESS MACHINES CORPORATION
Federal Systems Division
Communications and Engineering Sciences Center
Rockville Maryland
PRECEDING PAGE BLANK NOT FILMED
FOREWORD
This Final Report describes the results of a study conducted under NASA contract NAS 12-660 Research on Multiprocessing Techniques for Multifunctional Satellites It was performed by International Business Machines Corporation Federal Systems Division Communications and Engineering Sciences Center in Gaithersburg Maryland The work was administered under the direction of the National Aeronautics and Space Administration Electronics Research Center Computer Research Laboratory Cambridge Massachusetts Mr G Y Wang and Mr J Roy provided the NASA Technical Direction of this study
The investigators for this study were
Dr M Feder Program Manager Mr R Berstein Mission Definition Mr R Coppola Spacecraft Requirements Mr R Higley On-board Checkout Mr C Messerly Experiment Requirements Mr F Sharp Program Sizing
Mi e Michael P Feder
CONTENTS
Section
I INTRODUCTION 1
Z EXPERIMENTS 9 2 1 Characteristics 9 22 Processing 25 23 Common Interface 43 24 Functional Flows 48 2 5 Sizing Estimates 62 Z 6 References 75
3 SPACECRAFT 77 3 1 Command and Clock 77 32 Attitude Control 80 33 TM Control 87 34 Position and Gridding 88 3 5 Periodic Orbit Functions 93 36 Data Storage and Transmission Control 93 37 Data Compression 95
38 Sizing Estimates 96 39 References 97
4 ON-BOARD CHECKOUT SYSTEM (OCS) 99 41 System Configuration 99 4 2 Hardware Functional Configuration 100 43 Software Definition 110 44 Sizing Estimates 118 45 References 121
5 SUPERVISOR 122
6 PROCESSOR REQUIREMENTS 125
APPENDIX A EQUATION DEFINITION FOR PICTURE GRIDDING 130
APPENDIX B PROFILING PROCESS 155
Abbreviations
ACS - Attitude Control Subsystem AD - Analog-digital Converter APT - Automatic Picture Transmission Co - Checkout DA - Digital-analog Converter ESMR - Electrically Scanned Microwave Radiometer GROW - Global Radar for Ocean Waves and Winds HDRSS - High Data Rate Subsystem HRIR - High Resolution Infrared Radiometer HRMR - High Resolution Surface Composition Mapping IO - Inputoutput ITPR - Infrared Temperature Profile Radiometer MTCSPEC - Microwave Spectrometer MP - Multiprocessor MUX - Multiplex Operation OCS - On-board Checkout System PICOM - Positive Ion Composition PROBE - Electrostatic Probe SC - Spacecraft SCRWVZ - Selective Chopper Radiometer TM - Telemetry VIP - Versatile Information Processor VPOC - Vertical Profile of Ozone Concentration
vi
Illustrations
Figure Page
1-1 Mission Configuration 5
1-2 Multiprocessing System 2
Z 2-1 Software Approach to Data Processing 27
2 Z-2 HardwareSoftware Approach to Data Processing 28
2 2-3 Inflight Calibration and Laboratory Curve Correction Process 29
Z 2-4 Sun Angle Enhancement Process 30
22-5 Gridding Process 31
22-6 Profiling Process 33
22-7 Functional Data Flow 37
22-8 Orbit Experiment Time Line 39
22-9 Ground Contact Time 40
24-1 ESME Functional Flow Diagram 49
24-2 HRIR Functional Flow Diagram 50
Z 4-3 HRMR Functional Flow Diagram 51
24-4 ITPR Functional Flow Diagram 52
Z 4-5 SCRWV2 Functional Flow Diagram 53
24-6 MICSPEC Functional Flow Diagram 54
24-7 PICOM Functional Flow Diagram 55
24-8 GROW Functional Flow Diagram 56
vii
Illustrations - continued
Figure Page
24-9 VPOC Functional Flow Diagram 57
24-10 PROBE Function Flow Diagram 58
24-11 Geometry for Antenna Pointing 60
24-12 Antenna Pointing Equation Flow 61
3 1-1 Command Handling 79
3 2-1 Attitude Status Loop 83
32-2 Pitch Control Loop 84
3 2-3 Roll Control Loop 85
32-4 Yaw Control Loop 86
34-1 Picture of Gridding Approach 91
34-2 Gridding Algorithm 92
36-1 Data Storage and Transmission System 94
4 2-1 OCS Functional Block Diagram 101
43-1 OCS Summary Program Flow 1l1
viii
TABLES
Page
2 1-1 Summary of the Experiment Characteristics 12
2 1-2 Experiment Processing 14
25-1 ESMR Sizing Estimate 63
25-2 HRIR Sizing Estimate 64
2 5-3 HRMR Sizing Estimate 65
2 5-4 ITPR Sizing Estimate 66
25-5 SCRWV2 Sizing Estimate 67
25-6 MICSPEC Sizing Estimate 68
25-7 PICOM Sizing Estimate 69
25-8 GROW Sizing Estimate 70
25-9 VPOC Sizing Estimate 71
25-10 PROBE Sizing Estimate 72
25-11 Data Relay Sizing Estimate 73
25-12 Experiment Total Sizing Estimate 74
38-1 Spacecraft Sizing Estimates 96
4 2-1 Stimulus Signals 105
4 2-2 Measurement Signals 107
43-1 OCS Summary Program Flow 111
ix
TABLES - continued
Page
44-1 OCS Sizing Estimates 120
5-1 Supervisor Functions 123
6-1 Instruction Set 126
6-2 Processor Storage and Execution Requirements 129
x
SECTION 1
INTRODUCTION
This report documents the accomplishments of Phase II of contract
NAS 12-660 Research on Multiprocessing Techniques for Multifunctional
Satellites The basic objective of this contract is to examine the use
of a multiprocessor computer configuration for data management data
processing and spacecraft operations for Application Satellites Toward
that end the Nimbus E mission has been selected using the Nimbus D
spacecraft as the platform The experiments selected for this study
and their desired outputs are
1 Electrically Scanned Microwave Radiometer (ESMR) -
Image ry
2 High Resolution Infrared Radiometer (HRIR) - Imagery
3 High Resolution Surface Composition Mapping (HRMR) -
Imagery of Earth s Surface
4 Infrared Temperature Profile Radiometer (ITPR) - Profile
of Temperature and Water Vapor
5 Selective Chopper Radiometer (SCRWV2) - Profile of
Temperature and Water Vapor
6 Microwave Spectrometer (MICSPEC) - Temperature and
Water Vapor Profiles
7 Positive Ion Composition (PICOM) - Global Ion Composition
Mapping
-ishy
8 Global Radar for Ocean Waves and Wind (GROW) - Imagery
of Wave Height and Winds
9 Vertical Profile of Ozone Concentration (VPOC) - Profile
of Ozone Concentration
10 Electrostatic Probe (PROBE) - Electron Temperature
Measurement (point)
11 Realtime Data Relay via ATS-F (DRS) - Data Transmission
via a Stationary Satellite
The concept of using a multiprocessor for Application Satellites
offers many advantages These include
Increased realiability
bull Shorter mission development time
bull Cost savings
Efficient experiment management via experiment cross talk
0 Real time processed data
The basic idea of a multiprocessor is a computer organization in
which a particular function does not depend on a particular piece of
hardware As failures occur the total capability of the computing
system is decreased but all functions will still be accomplished according
to their priority In this manner the total system reliability may be
increased
The shorter mission development time and cost savings are
achieved by eliminating the requirement for the experimenters to
fabricate much of the hard wired equipment for their experiment The
sensor would be connected directly to the processor which would provide
the control calibration checkout and data handling functions The
present mission development time may take six to eight years from
experiment concept until flight of which three to four are for equipment
fabrication With a processor already built the experiment hardware
development consisting of sensor and supporting hardware is replaced
by sensor and software support This should reduce experiment developshy
ment time by one to two years and by reducing the amount of one time
hardware development experiment costs should be reduced proportionately
The use of a multiprocessor concept also provides an easy method
to change the mission should that be desired Should RFI antenna
sensor development or other problems require a change in the experiment
package to be flownan off the shelf sensor or backup experiment sensor
can be substituted and the appropriate software loaded into the computer
This same capability permits the spacecraft constants such as control
loop gain telemetry formatting data compression technique experiment
control etc to be changed throughout mission development and even
after launch
-3shy
Efficient experiment management is achieved by being able to use
the output of one experiment to control another sensor For example if
one experiment requires cloud free conditions the output from a cloud
sensing sensor could be used to determine if useful data can be obtained
from the first experiment In a similar vein one of the experiment
sensors could be substituted for a horizon or sun sensor in the attitude
control system should a failure occur All that is required is a means
for getting processed sensor data to the attitude control system and the
multiprocessor would provide that means
The ability to make information available in real time has been
proven to be extremely valuable in the field of meteorology Cloud cover
images relayed in real time have been effectively used by local meteorshy
ologists On board processing of such data permits enhancement
calibration and gridding to be included in the data and will permit the
real time availability of temperature and water vapor profiles which are
also of prime importance to forecasters
The Phase I report considered the experiments and spacecraft
operations that would be implemented by the processor The general
mission configuration is as shown in Figure 1-1 In general all data
handling and processing functions will be accomplished in the computer
It has been assumed that the standard Nimbus D spacecraft hardware
-4shy
)9~amp~MSP19ZCRA057 11w4
4g674 iA MD
TFZEYII- 4 Ig~~j
7XY I
AvOAN
4goove
I -
07 svr
U~~~~~~ast T u4AW0106Kfg~vC5I IceulucuPM5Of I 9o
sC~NflUA$ I
FIUE 11 S SION C N IGURATION
such as the attitude sensors reactive jets and momentum wheels tape
recorders transmitters etc will remain The general multiprocessor
configuration illustrated in Figure 1-2 was identified during contract
NAS 12-507 Multiprocessing Techniques for Unmanned Multifunctional
Satellite s
This Phase IIreport details the functions that the processor must
perform The experiment control data handling and spacecraft operations
are described flow charts developed instructions and data storage
requirements judged and operationssec estimated In addition to
controlling the spacecraft and experiment operations the processor
will perform specific data processing functions These functions are
1 Processing of imagery data (ESMR MRIR MRMR PICOM
GROW) including
a Sun angle correction
b In flight calibration
c Laboratory curve correction
d Gridding
2 Processing of temperature and~humidity profiling data (ITPR
SCRWV2 MICSPEC VPOC) including
a Sun angle correction
b In flight calibration
-6shy
T 1 R]
fpocrsoe unT7-
SW77- I 7NR
FIGURE 1-2 MULTIPROCESSOR SYSTEM
-7shy
c Laboratory curve correction
d Radiative transfer matrix inversion to obtain profile
e Gridding
It is in this area where on board processing has its greatest potential
The striking success of the Automatic Picture Transmission (APT)
concept flown on TIROS VIII Nimbus I ESSA-2 Nimbus II and others
has demonstrated the great value of APT data to local meteorological
stations A real time system capable of also producing temperature and
humidity profiles as well as calibrated gridded imagery would be of
even greater assistance to forecasters ships at sea and many other
users of weather information
The functions and requirements of the executivesupervisor of the
processor are also examined as well as an on-board checkout system
These two operations control the entire system The assignments of
processing and memory modules to certain tasks equipment evaluation
and equipment scheduling control the operation of the multiprocessor
-8shy
SECTION 2
EXPERIMENTS
This section deals with the given set of experiments their
Characteristics Processing Requirements and possible Common
Interface The given set of experiments are those which are candidates
for the Nimbus E Spacecraft
2 1 CHARACTERISTICS
Keeping in mind that the end product of this study is a design of a
multiprocessor to be used on a operating system the following assumpshy
tions were made
Sensors will incorporate some method of inflight calibration
which will be an integral part of its observation cycle
Sensors may have spare circuits components or modules
which can be switched in or out as a failure is detected
The equipment will not be in an experimental status i e
the general processing requirements for each sensor will be
known
All scanning or pointing will be controlled by the multiprocessor
-9shy
The following assumptions were not included but should be
considered for future operating systems
The sensors will have a much higher resolution than those
considered in the given set of experiments
0 Due to higher resolution the data rates will be greater
Radiometers will probably be of the vidicon tube type
One sensor package will perform the combined tasks of
several of the experiments in the given set
Radiometers will probably have data rates of 35KHz
per channel
Table 2 1-1 is a summary of the more important characteristics
of the experiments used in this study Several interesting observations
are brought to light as the table is studied not the least of which is the
fact that there is considerable overlap in the sensing of certain regions
of the spectrum The table also lists the types of observations approxshy
imate data rates dimensions of the scan and the approximate sampling
rates
Table Z 1-2 list the types of processing which could be performed
on the data depending upon the type of output desired
Following these tables is a list of the experiments with their detailed
characteristics grouped under the following headings Input (to the
-10shy
experiment) Output (from the experiment) Stabilization and Control
(requirements of the experiment) and Processing (requirements peculiar
to the experiment)
-1i1shy
Experiment Acronym
ESMR Image
HRIR Image
HRMR Image
ITPR Profile
SCRWVZ Profile
MICSPEC Profile
NSUMMARY
Number of Spectrum of
Channels ChannelsI
I
1 155 am (1935
HRI 11 i 045 to o 75At 1 100 to 120t
1 84 to to 94g 1 102 to 11 4
1 6 7) (Water VaporI
1and)
4 15V (CO 2 Band)
4 9 to18A(Temp-erature and Watervapor)
7 15t (CO 2 Band) I 45-L 1 133C (Cirrus Clouds)MICPECGE115 1 135 cm (222 G1z) 1 095 cn (314 GHz) I 055 cn(5365 GHz) 1 049 cm (60 82 GHz) 1 0 47 cm (6447 GHz)
Samples Read Peak per Time Sampling
Usage Measurement Dimensions Scan per Rate TimeDay Range of Scan Sensor Scan SecI i I
I 30 I I
12 hrs 50 to 3Hz) 160 1000 63 1 4 seai 45
0 00 o3scI 27K124 hrs 103degl100 400 03 s
I i o 0 24hrs 003x60 12000 0017 2353K
I bull
24 hrs 250 x 72501 29 60 29
-h I9 hrs 0 to 035
nillirs 66 1 1 13
0
I 206 to 250deg K
24 hrs 0 to 400deg0 9 5 I I
I F I [
OF THE EXPERIMENT CHARACTERISTICS
TABLE 2 1-1
Ave rage Data
Peak Rate Data per Rate Scan (BPS) (BPS)
360 101
216 600
I 1 188M 3Z0000
i232 232
I 104 104
8 8
Ave rage Data
Samples Read Peak Peak Rate
Number per Time Sampling Data per
Experiment Acronym
of Channels
Spectrum of Channels
Usage TimeDay
Measurement Range
Dimensions of Scan
Scan Sensor
per Scan
Rate Sec
Rate Scan (BPS) (BPS)
PICOM Map I
I I AMU 4 A MU 1 I I c I 15 Ise
G1 14 and 16 AMU 10 hr ito 20 AMU NA 0120 120
Profile 12 20 cm (15 GHz) 12 hrs Ito 4meters 255 x 15 7 a sec 7 56 56
VPofile 025A o Profile 1 0 28) 2 hrs 0170 x3 0 18 20 sec4 18 144 144
PROBE Point Value
i2 j 10 hr I
NA I
13 1 rec 126 208 1208 I
RELAY 2 Antenna pointing I 12 hrs 10300 INA A NA steer-IA
Steering Angle i ing and er6m 4x1Da Experiment Data I II I xp Datal
SUMARY OF THE EXPERIMENT CHARATERISTICS
TABLE 2 1-1 (continued)
Table 2 1-2
EXPERIMENT PROCESSING
CONTROLS
Experiment Scan Calibra- Enhance- Rectification Super Misc Data Data Management tion ment positicn
C0 Compress Hand
U 00
gtc gt
0U ~
0IC C )
C C0 0 0 0
Q 0___ 0 C 0 0 0 U b HHP
RADIOMETERS
(1)ES~R X p-x x x x xx p p X X X x P x p p p p X p X p p X x
(2)HRIR x p x x x xx p p xX xp p p p X p xp p x x
(3) HRMR x p x x xx xp ppX X p x p p p x p x p p x x
(4) ITPR x p x X xX xx pp xc xx pp p ppXp p x x
(5) SCRWVZ x x x x xx x p x xpXp p p x p p x x
SPECTROMETERS
(6) MIOSPEC
(7) PICOM
Xx x
IX x
Xp x
x
KX x
IXF x x X x
pX pp X X p p x x
SX
X X P X pp X Ppp
pCpCppx
pp XpPX pp X pp pP x x x x
SCA TTEROMIETER
(8)GROW x- x x xx xx pp xx xxppp P P PXp p x x
PHOTOMETER
(9) VPOC x px x xx xx p~p xx xxppppp PP Xp p x x
ELECTROSTATIC
(10)PROBE x p x p I I p p pp xx
DATA RELAY
(I1)DAR U p x xxx
R - ppossible x included in x~ x X
-14- requirenments
ESMR - Electrically Scanned Microwave Radiometer
Inputs
I Power ONOFF
2 Deployment of antenna after orbit is achieved
3 Beam scanning (78 discrete positions for + 500
field of view)
4 Switching of redundant circuits
Outputs
1 Data rate (peak) 360 bitsec
2 Serial readout
3 Calibration data 1 - 10 bit word every 2 minutes
4 Housekeeping data 1- 10 bit word every 2 minutes
Stabilization and Control
1 Local vertical orientation
2 + 2 pointing accuracy
Processing
1 Concurrent operation with another radiometer
2 Angular Resolution 1 6 degrees
3 Time constant 2 seconds
4 Calibration two sources (50 0 k and 3300 k)
5 Dynamic range 50 0 k to 330 0 k accurate to 20 k
-15shy
N70-18771
RESEARCH ON MULTIPROCESSING TECHNIQUES FOR MULTIFUNCTIONAL SATELLITES
Michael P Feder et al
International Business mchines Corporation Rockville Maryland
September 1969
Disributeds to foster serve and promote the nations
economic developmenet and technological
advancement
FEDERAL SCIEN TIFICFOR AND TECHNICAL INFORMATION
bull bull USbull DEPARTMENT OF COMMERCE National Bureau of Standards
T is ouethsbe prvdfrpbi ees n ae
RESEARCH ON MULTIPROCESSING TECHNIQUES
FOR MULTIFUNCTIONAL SATELLITES
prepared under
Contract NAS 12-660
September 1969
for
NASA ELECTRONIC RESEARCH CENTER
Camnbridge Massachusetts
INTERNATIONAL BUSINESS MACHINES CORPORATION
Federal Systems Division
Communications and Engineering Sciences Center
Rockville Maryland
PRECEDING PAGE BLANK NOT FILMED
FOREWORD
This Final Report describes the results of a study conducted under NASA contract NAS 12-660 Research on Multiprocessing Techniques for Multifunctional Satellites It was performed by International Business Machines Corporation Federal Systems Division Communications and Engineering Sciences Center in Gaithersburg Maryland The work was administered under the direction of the National Aeronautics and Space Administration Electronics Research Center Computer Research Laboratory Cambridge Massachusetts Mr G Y Wang and Mr J Roy provided the NASA Technical Direction of this study
The investigators for this study were
Dr M Feder Program Manager Mr R Berstein Mission Definition Mr R Coppola Spacecraft Requirements Mr R Higley On-board Checkout Mr C Messerly Experiment Requirements Mr F Sharp Program Sizing
Mi e Michael P Feder
CONTENTS
Section
I INTRODUCTION 1
Z EXPERIMENTS 9 2 1 Characteristics 9 22 Processing 25 23 Common Interface 43 24 Functional Flows 48 2 5 Sizing Estimates 62 Z 6 References 75
3 SPACECRAFT 77 3 1 Command and Clock 77 32 Attitude Control 80 33 TM Control 87 34 Position and Gridding 88 3 5 Periodic Orbit Functions 93 36 Data Storage and Transmission Control 93 37 Data Compression 95
38 Sizing Estimates 96 39 References 97
4 ON-BOARD CHECKOUT SYSTEM (OCS) 99 41 System Configuration 99 4 2 Hardware Functional Configuration 100 43 Software Definition 110 44 Sizing Estimates 118 45 References 121
5 SUPERVISOR 122
6 PROCESSOR REQUIREMENTS 125
APPENDIX A EQUATION DEFINITION FOR PICTURE GRIDDING 130
APPENDIX B PROFILING PROCESS 155
Abbreviations
ACS - Attitude Control Subsystem AD - Analog-digital Converter APT - Automatic Picture Transmission Co - Checkout DA - Digital-analog Converter ESMR - Electrically Scanned Microwave Radiometer GROW - Global Radar for Ocean Waves and Winds HDRSS - High Data Rate Subsystem HRIR - High Resolution Infrared Radiometer HRMR - High Resolution Surface Composition Mapping IO - Inputoutput ITPR - Infrared Temperature Profile Radiometer MTCSPEC - Microwave Spectrometer MP - Multiprocessor MUX - Multiplex Operation OCS - On-board Checkout System PICOM - Positive Ion Composition PROBE - Electrostatic Probe SC - Spacecraft SCRWVZ - Selective Chopper Radiometer TM - Telemetry VIP - Versatile Information Processor VPOC - Vertical Profile of Ozone Concentration
vi
Illustrations
Figure Page
1-1 Mission Configuration 5
1-2 Multiprocessing System 2
Z 2-1 Software Approach to Data Processing 27
2 Z-2 HardwareSoftware Approach to Data Processing 28
2 2-3 Inflight Calibration and Laboratory Curve Correction Process 29
Z 2-4 Sun Angle Enhancement Process 30
22-5 Gridding Process 31
22-6 Profiling Process 33
22-7 Functional Data Flow 37
22-8 Orbit Experiment Time Line 39
22-9 Ground Contact Time 40
24-1 ESME Functional Flow Diagram 49
24-2 HRIR Functional Flow Diagram 50
Z 4-3 HRMR Functional Flow Diagram 51
24-4 ITPR Functional Flow Diagram 52
Z 4-5 SCRWV2 Functional Flow Diagram 53
24-6 MICSPEC Functional Flow Diagram 54
24-7 PICOM Functional Flow Diagram 55
24-8 GROW Functional Flow Diagram 56
vii
Illustrations - continued
Figure Page
24-9 VPOC Functional Flow Diagram 57
24-10 PROBE Function Flow Diagram 58
24-11 Geometry for Antenna Pointing 60
24-12 Antenna Pointing Equation Flow 61
3 1-1 Command Handling 79
3 2-1 Attitude Status Loop 83
32-2 Pitch Control Loop 84
3 2-3 Roll Control Loop 85
32-4 Yaw Control Loop 86
34-1 Picture of Gridding Approach 91
34-2 Gridding Algorithm 92
36-1 Data Storage and Transmission System 94
4 2-1 OCS Functional Block Diagram 101
43-1 OCS Summary Program Flow 1l1
viii
TABLES
Page
2 1-1 Summary of the Experiment Characteristics 12
2 1-2 Experiment Processing 14
25-1 ESMR Sizing Estimate 63
25-2 HRIR Sizing Estimate 64
2 5-3 HRMR Sizing Estimate 65
2 5-4 ITPR Sizing Estimate 66
25-5 SCRWV2 Sizing Estimate 67
25-6 MICSPEC Sizing Estimate 68
25-7 PICOM Sizing Estimate 69
25-8 GROW Sizing Estimate 70
25-9 VPOC Sizing Estimate 71
25-10 PROBE Sizing Estimate 72
25-11 Data Relay Sizing Estimate 73
25-12 Experiment Total Sizing Estimate 74
38-1 Spacecraft Sizing Estimates 96
4 2-1 Stimulus Signals 105
4 2-2 Measurement Signals 107
43-1 OCS Summary Program Flow 111
ix
TABLES - continued
Page
44-1 OCS Sizing Estimates 120
5-1 Supervisor Functions 123
6-1 Instruction Set 126
6-2 Processor Storage and Execution Requirements 129
x
SECTION 1
INTRODUCTION
This report documents the accomplishments of Phase II of contract
NAS 12-660 Research on Multiprocessing Techniques for Multifunctional
Satellites The basic objective of this contract is to examine the use
of a multiprocessor computer configuration for data management data
processing and spacecraft operations for Application Satellites Toward
that end the Nimbus E mission has been selected using the Nimbus D
spacecraft as the platform The experiments selected for this study
and their desired outputs are
1 Electrically Scanned Microwave Radiometer (ESMR) -
Image ry
2 High Resolution Infrared Radiometer (HRIR) - Imagery
3 High Resolution Surface Composition Mapping (HRMR) -
Imagery of Earth s Surface
4 Infrared Temperature Profile Radiometer (ITPR) - Profile
of Temperature and Water Vapor
5 Selective Chopper Radiometer (SCRWV2) - Profile of
Temperature and Water Vapor
6 Microwave Spectrometer (MICSPEC) - Temperature and
Water Vapor Profiles
7 Positive Ion Composition (PICOM) - Global Ion Composition
Mapping
-ishy
8 Global Radar for Ocean Waves and Wind (GROW) - Imagery
of Wave Height and Winds
9 Vertical Profile of Ozone Concentration (VPOC) - Profile
of Ozone Concentration
10 Electrostatic Probe (PROBE) - Electron Temperature
Measurement (point)
11 Realtime Data Relay via ATS-F (DRS) - Data Transmission
via a Stationary Satellite
The concept of using a multiprocessor for Application Satellites
offers many advantages These include
Increased realiability
bull Shorter mission development time
bull Cost savings
Efficient experiment management via experiment cross talk
0 Real time processed data
The basic idea of a multiprocessor is a computer organization in
which a particular function does not depend on a particular piece of
hardware As failures occur the total capability of the computing
system is decreased but all functions will still be accomplished according
to their priority In this manner the total system reliability may be
increased
The shorter mission development time and cost savings are
achieved by eliminating the requirement for the experimenters to
fabricate much of the hard wired equipment for their experiment The
sensor would be connected directly to the processor which would provide
the control calibration checkout and data handling functions The
present mission development time may take six to eight years from
experiment concept until flight of which three to four are for equipment
fabrication With a processor already built the experiment hardware
development consisting of sensor and supporting hardware is replaced
by sensor and software support This should reduce experiment developshy
ment time by one to two years and by reducing the amount of one time
hardware development experiment costs should be reduced proportionately
The use of a multiprocessor concept also provides an easy method
to change the mission should that be desired Should RFI antenna
sensor development or other problems require a change in the experiment
package to be flownan off the shelf sensor or backup experiment sensor
can be substituted and the appropriate software loaded into the computer
This same capability permits the spacecraft constants such as control
loop gain telemetry formatting data compression technique experiment
control etc to be changed throughout mission development and even
after launch
-3shy
Efficient experiment management is achieved by being able to use
the output of one experiment to control another sensor For example if
one experiment requires cloud free conditions the output from a cloud
sensing sensor could be used to determine if useful data can be obtained
from the first experiment In a similar vein one of the experiment
sensors could be substituted for a horizon or sun sensor in the attitude
control system should a failure occur All that is required is a means
for getting processed sensor data to the attitude control system and the
multiprocessor would provide that means
The ability to make information available in real time has been
proven to be extremely valuable in the field of meteorology Cloud cover
images relayed in real time have been effectively used by local meteorshy
ologists On board processing of such data permits enhancement
calibration and gridding to be included in the data and will permit the
real time availability of temperature and water vapor profiles which are
also of prime importance to forecasters
The Phase I report considered the experiments and spacecraft
operations that would be implemented by the processor The general
mission configuration is as shown in Figure 1-1 In general all data
handling and processing functions will be accomplished in the computer
It has been assumed that the standard Nimbus D spacecraft hardware
-4shy
)9~amp~MSP19ZCRA057 11w4
4g674 iA MD
TFZEYII- 4 Ig~~j
7XY I
AvOAN
4goove
I -
07 svr
U~~~~~~ast T u4AW0106Kfg~vC5I IceulucuPM5Of I 9o
sC~NflUA$ I
FIUE 11 S SION C N IGURATION
such as the attitude sensors reactive jets and momentum wheels tape
recorders transmitters etc will remain The general multiprocessor
configuration illustrated in Figure 1-2 was identified during contract
NAS 12-507 Multiprocessing Techniques for Unmanned Multifunctional
Satellite s
This Phase IIreport details the functions that the processor must
perform The experiment control data handling and spacecraft operations
are described flow charts developed instructions and data storage
requirements judged and operationssec estimated In addition to
controlling the spacecraft and experiment operations the processor
will perform specific data processing functions These functions are
1 Processing of imagery data (ESMR MRIR MRMR PICOM
GROW) including
a Sun angle correction
b In flight calibration
c Laboratory curve correction
d Gridding
2 Processing of temperature and~humidity profiling data (ITPR
SCRWV2 MICSPEC VPOC) including
a Sun angle correction
b In flight calibration
-6shy
T 1 R]
fpocrsoe unT7-
SW77- I 7NR
FIGURE 1-2 MULTIPROCESSOR SYSTEM
-7shy
c Laboratory curve correction
d Radiative transfer matrix inversion to obtain profile
e Gridding
It is in this area where on board processing has its greatest potential
The striking success of the Automatic Picture Transmission (APT)
concept flown on TIROS VIII Nimbus I ESSA-2 Nimbus II and others
has demonstrated the great value of APT data to local meteorological
stations A real time system capable of also producing temperature and
humidity profiles as well as calibrated gridded imagery would be of
even greater assistance to forecasters ships at sea and many other
users of weather information
The functions and requirements of the executivesupervisor of the
processor are also examined as well as an on-board checkout system
These two operations control the entire system The assignments of
processing and memory modules to certain tasks equipment evaluation
and equipment scheduling control the operation of the multiprocessor
-8shy
SECTION 2
EXPERIMENTS
This section deals with the given set of experiments their
Characteristics Processing Requirements and possible Common
Interface The given set of experiments are those which are candidates
for the Nimbus E Spacecraft
2 1 CHARACTERISTICS
Keeping in mind that the end product of this study is a design of a
multiprocessor to be used on a operating system the following assumpshy
tions were made
Sensors will incorporate some method of inflight calibration
which will be an integral part of its observation cycle
Sensors may have spare circuits components or modules
which can be switched in or out as a failure is detected
The equipment will not be in an experimental status i e
the general processing requirements for each sensor will be
known
All scanning or pointing will be controlled by the multiprocessor
-9shy
The following assumptions were not included but should be
considered for future operating systems
The sensors will have a much higher resolution than those
considered in the given set of experiments
0 Due to higher resolution the data rates will be greater
Radiometers will probably be of the vidicon tube type
One sensor package will perform the combined tasks of
several of the experiments in the given set
Radiometers will probably have data rates of 35KHz
per channel
Table 2 1-1 is a summary of the more important characteristics
of the experiments used in this study Several interesting observations
are brought to light as the table is studied not the least of which is the
fact that there is considerable overlap in the sensing of certain regions
of the spectrum The table also lists the types of observations approxshy
imate data rates dimensions of the scan and the approximate sampling
rates
Table Z 1-2 list the types of processing which could be performed
on the data depending upon the type of output desired
Following these tables is a list of the experiments with their detailed
characteristics grouped under the following headings Input (to the
-10shy
experiment) Output (from the experiment) Stabilization and Control
(requirements of the experiment) and Processing (requirements peculiar
to the experiment)
-1i1shy
Experiment Acronym
ESMR Image
HRIR Image
HRMR Image
ITPR Profile
SCRWVZ Profile
MICSPEC Profile
NSUMMARY
Number of Spectrum of
Channels ChannelsI
I
1 155 am (1935
HRI 11 i 045 to o 75At 1 100 to 120t
1 84 to to 94g 1 102 to 11 4
1 6 7) (Water VaporI
1and)
4 15V (CO 2 Band)
4 9 to18A(Temp-erature and Watervapor)
7 15t (CO 2 Band) I 45-L 1 133C (Cirrus Clouds)MICPECGE115 1 135 cm (222 G1z) 1 095 cn (314 GHz) I 055 cn(5365 GHz) 1 049 cm (60 82 GHz) 1 0 47 cm (6447 GHz)
Samples Read Peak per Time Sampling
Usage Measurement Dimensions Scan per Rate TimeDay Range of Scan Sensor Scan SecI i I
I 30 I I
12 hrs 50 to 3Hz) 160 1000 63 1 4 seai 45
0 00 o3scI 27K124 hrs 103degl100 400 03 s
I i o 0 24hrs 003x60 12000 0017 2353K
I bull
24 hrs 250 x 72501 29 60 29
-h I9 hrs 0 to 035
nillirs 66 1 1 13
0
I 206 to 250deg K
24 hrs 0 to 400deg0 9 5 I I
I F I [
OF THE EXPERIMENT CHARACTERISTICS
TABLE 2 1-1
Ave rage Data
Peak Rate Data per Rate Scan (BPS) (BPS)
360 101
216 600
I 1 188M 3Z0000
i232 232
I 104 104
8 8
Ave rage Data
Samples Read Peak Peak Rate
Number per Time Sampling Data per
Experiment Acronym
of Channels
Spectrum of Channels
Usage TimeDay
Measurement Range
Dimensions of Scan
Scan Sensor
per Scan
Rate Sec
Rate Scan (BPS) (BPS)
PICOM Map I
I I AMU 4 A MU 1 I I c I 15 Ise
G1 14 and 16 AMU 10 hr ito 20 AMU NA 0120 120
Profile 12 20 cm (15 GHz) 12 hrs Ito 4meters 255 x 15 7 a sec 7 56 56
VPofile 025A o Profile 1 0 28) 2 hrs 0170 x3 0 18 20 sec4 18 144 144
PROBE Point Value
i2 j 10 hr I
NA I
13 1 rec 126 208 1208 I
RELAY 2 Antenna pointing I 12 hrs 10300 INA A NA steer-IA
Steering Angle i ing and er6m 4x1Da Experiment Data I II I xp Datal
SUMARY OF THE EXPERIMENT CHARATERISTICS
TABLE 2 1-1 (continued)
Table 2 1-2
EXPERIMENT PROCESSING
CONTROLS
Experiment Scan Calibra- Enhance- Rectification Super Misc Data Data Management tion ment positicn
C0 Compress Hand
U 00
gtc gt
0U ~
0IC C )
C C0 0 0 0
Q 0___ 0 C 0 0 0 U b HHP
RADIOMETERS
(1)ES~R X p-x x x x xx p p X X X x P x p p p p X p X p p X x
(2)HRIR x p x x x xx p p xX xp p p p X p xp p x x
(3) HRMR x p x x xx xp ppX X p x p p p x p x p p x x
(4) ITPR x p x X xX xx pp xc xx pp p ppXp p x x
(5) SCRWVZ x x x x xx x p x xpXp p p x p p x x
SPECTROMETERS
(6) MIOSPEC
(7) PICOM
Xx x
IX x
Xp x
x
KX x
IXF x x X x
pX pp X X p p x x
SX
X X P X pp X Ppp
pCpCppx
pp XpPX pp X pp pP x x x x
SCA TTEROMIETER
(8)GROW x- x x xx xx pp xx xxppp P P PXp p x x
PHOTOMETER
(9) VPOC x px x xx xx p~p xx xxppppp PP Xp p x x
ELECTROSTATIC
(10)PROBE x p x p I I p p pp xx
DATA RELAY
(I1)DAR U p x xxx
R - ppossible x included in x~ x X
-14- requirenments
ESMR - Electrically Scanned Microwave Radiometer
Inputs
I Power ONOFF
2 Deployment of antenna after orbit is achieved
3 Beam scanning (78 discrete positions for + 500
field of view)
4 Switching of redundant circuits
Outputs
1 Data rate (peak) 360 bitsec
2 Serial readout
3 Calibration data 1 - 10 bit word every 2 minutes
4 Housekeeping data 1- 10 bit word every 2 minutes
Stabilization and Control
1 Local vertical orientation
2 + 2 pointing accuracy
Processing
1 Concurrent operation with another radiometer
2 Angular Resolution 1 6 degrees
3 Time constant 2 seconds
4 Calibration two sources (50 0 k and 3300 k)
5 Dynamic range 50 0 k to 330 0 k accurate to 20 k
-15shy
RESEARCH ON MULTIPROCESSING TECHNIQUES
FOR MULTIFUNCTIONAL SATELLITES
prepared under
Contract NAS 12-660
September 1969
for
NASA ELECTRONIC RESEARCH CENTER
Camnbridge Massachusetts
INTERNATIONAL BUSINESS MACHINES CORPORATION
Federal Systems Division
Communications and Engineering Sciences Center
Rockville Maryland
PRECEDING PAGE BLANK NOT FILMED
FOREWORD
This Final Report describes the results of a study conducted under NASA contract NAS 12-660 Research on Multiprocessing Techniques for Multifunctional Satellites It was performed by International Business Machines Corporation Federal Systems Division Communications and Engineering Sciences Center in Gaithersburg Maryland The work was administered under the direction of the National Aeronautics and Space Administration Electronics Research Center Computer Research Laboratory Cambridge Massachusetts Mr G Y Wang and Mr J Roy provided the NASA Technical Direction of this study
The investigators for this study were
Dr M Feder Program Manager Mr R Berstein Mission Definition Mr R Coppola Spacecraft Requirements Mr R Higley On-board Checkout Mr C Messerly Experiment Requirements Mr F Sharp Program Sizing
Mi e Michael P Feder
CONTENTS
Section
I INTRODUCTION 1
Z EXPERIMENTS 9 2 1 Characteristics 9 22 Processing 25 23 Common Interface 43 24 Functional Flows 48 2 5 Sizing Estimates 62 Z 6 References 75
3 SPACECRAFT 77 3 1 Command and Clock 77 32 Attitude Control 80 33 TM Control 87 34 Position and Gridding 88 3 5 Periodic Orbit Functions 93 36 Data Storage and Transmission Control 93 37 Data Compression 95
38 Sizing Estimates 96 39 References 97
4 ON-BOARD CHECKOUT SYSTEM (OCS) 99 41 System Configuration 99 4 2 Hardware Functional Configuration 100 43 Software Definition 110 44 Sizing Estimates 118 45 References 121
5 SUPERVISOR 122
6 PROCESSOR REQUIREMENTS 125
APPENDIX A EQUATION DEFINITION FOR PICTURE GRIDDING 130
APPENDIX B PROFILING PROCESS 155
Abbreviations
ACS - Attitude Control Subsystem AD - Analog-digital Converter APT - Automatic Picture Transmission Co - Checkout DA - Digital-analog Converter ESMR - Electrically Scanned Microwave Radiometer GROW - Global Radar for Ocean Waves and Winds HDRSS - High Data Rate Subsystem HRIR - High Resolution Infrared Radiometer HRMR - High Resolution Surface Composition Mapping IO - Inputoutput ITPR - Infrared Temperature Profile Radiometer MTCSPEC - Microwave Spectrometer MP - Multiprocessor MUX - Multiplex Operation OCS - On-board Checkout System PICOM - Positive Ion Composition PROBE - Electrostatic Probe SC - Spacecraft SCRWVZ - Selective Chopper Radiometer TM - Telemetry VIP - Versatile Information Processor VPOC - Vertical Profile of Ozone Concentration
vi
Illustrations
Figure Page
1-1 Mission Configuration 5
1-2 Multiprocessing System 2
Z 2-1 Software Approach to Data Processing 27
2 Z-2 HardwareSoftware Approach to Data Processing 28
2 2-3 Inflight Calibration and Laboratory Curve Correction Process 29
Z 2-4 Sun Angle Enhancement Process 30
22-5 Gridding Process 31
22-6 Profiling Process 33
22-7 Functional Data Flow 37
22-8 Orbit Experiment Time Line 39
22-9 Ground Contact Time 40
24-1 ESME Functional Flow Diagram 49
24-2 HRIR Functional Flow Diagram 50
Z 4-3 HRMR Functional Flow Diagram 51
24-4 ITPR Functional Flow Diagram 52
Z 4-5 SCRWV2 Functional Flow Diagram 53
24-6 MICSPEC Functional Flow Diagram 54
24-7 PICOM Functional Flow Diagram 55
24-8 GROW Functional Flow Diagram 56
vii
Illustrations - continued
Figure Page
24-9 VPOC Functional Flow Diagram 57
24-10 PROBE Function Flow Diagram 58
24-11 Geometry for Antenna Pointing 60
24-12 Antenna Pointing Equation Flow 61
3 1-1 Command Handling 79
3 2-1 Attitude Status Loop 83
32-2 Pitch Control Loop 84
3 2-3 Roll Control Loop 85
32-4 Yaw Control Loop 86
34-1 Picture of Gridding Approach 91
34-2 Gridding Algorithm 92
36-1 Data Storage and Transmission System 94
4 2-1 OCS Functional Block Diagram 101
43-1 OCS Summary Program Flow 1l1
viii
TABLES
Page
2 1-1 Summary of the Experiment Characteristics 12
2 1-2 Experiment Processing 14
25-1 ESMR Sizing Estimate 63
25-2 HRIR Sizing Estimate 64
2 5-3 HRMR Sizing Estimate 65
2 5-4 ITPR Sizing Estimate 66
25-5 SCRWV2 Sizing Estimate 67
25-6 MICSPEC Sizing Estimate 68
25-7 PICOM Sizing Estimate 69
25-8 GROW Sizing Estimate 70
25-9 VPOC Sizing Estimate 71
25-10 PROBE Sizing Estimate 72
25-11 Data Relay Sizing Estimate 73
25-12 Experiment Total Sizing Estimate 74
38-1 Spacecraft Sizing Estimates 96
4 2-1 Stimulus Signals 105
4 2-2 Measurement Signals 107
43-1 OCS Summary Program Flow 111
ix
TABLES - continued
Page
44-1 OCS Sizing Estimates 120
5-1 Supervisor Functions 123
6-1 Instruction Set 126
6-2 Processor Storage and Execution Requirements 129
x
SECTION 1
INTRODUCTION
This report documents the accomplishments of Phase II of contract
NAS 12-660 Research on Multiprocessing Techniques for Multifunctional
Satellites The basic objective of this contract is to examine the use
of a multiprocessor computer configuration for data management data
processing and spacecraft operations for Application Satellites Toward
that end the Nimbus E mission has been selected using the Nimbus D
spacecraft as the platform The experiments selected for this study
and their desired outputs are
1 Electrically Scanned Microwave Radiometer (ESMR) -
Image ry
2 High Resolution Infrared Radiometer (HRIR) - Imagery
3 High Resolution Surface Composition Mapping (HRMR) -
Imagery of Earth s Surface
4 Infrared Temperature Profile Radiometer (ITPR) - Profile
of Temperature and Water Vapor
5 Selective Chopper Radiometer (SCRWV2) - Profile of
Temperature and Water Vapor
6 Microwave Spectrometer (MICSPEC) - Temperature and
Water Vapor Profiles
7 Positive Ion Composition (PICOM) - Global Ion Composition
Mapping
-ishy
8 Global Radar for Ocean Waves and Wind (GROW) - Imagery
of Wave Height and Winds
9 Vertical Profile of Ozone Concentration (VPOC) - Profile
of Ozone Concentration
10 Electrostatic Probe (PROBE) - Electron Temperature
Measurement (point)
11 Realtime Data Relay via ATS-F (DRS) - Data Transmission
via a Stationary Satellite
The concept of using a multiprocessor for Application Satellites
offers many advantages These include
Increased realiability
bull Shorter mission development time
bull Cost savings
Efficient experiment management via experiment cross talk
0 Real time processed data
The basic idea of a multiprocessor is a computer organization in
which a particular function does not depend on a particular piece of
hardware As failures occur the total capability of the computing
system is decreased but all functions will still be accomplished according
to their priority In this manner the total system reliability may be
increased
The shorter mission development time and cost savings are
achieved by eliminating the requirement for the experimenters to
fabricate much of the hard wired equipment for their experiment The
sensor would be connected directly to the processor which would provide
the control calibration checkout and data handling functions The
present mission development time may take six to eight years from
experiment concept until flight of which three to four are for equipment
fabrication With a processor already built the experiment hardware
development consisting of sensor and supporting hardware is replaced
by sensor and software support This should reduce experiment developshy
ment time by one to two years and by reducing the amount of one time
hardware development experiment costs should be reduced proportionately
The use of a multiprocessor concept also provides an easy method
to change the mission should that be desired Should RFI antenna
sensor development or other problems require a change in the experiment
package to be flownan off the shelf sensor or backup experiment sensor
can be substituted and the appropriate software loaded into the computer
This same capability permits the spacecraft constants such as control
loop gain telemetry formatting data compression technique experiment
control etc to be changed throughout mission development and even
after launch
-3shy
Efficient experiment management is achieved by being able to use
the output of one experiment to control another sensor For example if
one experiment requires cloud free conditions the output from a cloud
sensing sensor could be used to determine if useful data can be obtained
from the first experiment In a similar vein one of the experiment
sensors could be substituted for a horizon or sun sensor in the attitude
control system should a failure occur All that is required is a means
for getting processed sensor data to the attitude control system and the
multiprocessor would provide that means
The ability to make information available in real time has been
proven to be extremely valuable in the field of meteorology Cloud cover
images relayed in real time have been effectively used by local meteorshy
ologists On board processing of such data permits enhancement
calibration and gridding to be included in the data and will permit the
real time availability of temperature and water vapor profiles which are
also of prime importance to forecasters
The Phase I report considered the experiments and spacecraft
operations that would be implemented by the processor The general
mission configuration is as shown in Figure 1-1 In general all data
handling and processing functions will be accomplished in the computer
It has been assumed that the standard Nimbus D spacecraft hardware
-4shy
)9~amp~MSP19ZCRA057 11w4
4g674 iA MD
TFZEYII- 4 Ig~~j
7XY I
AvOAN
4goove
I -
07 svr
U~~~~~~ast T u4AW0106Kfg~vC5I IceulucuPM5Of I 9o
sC~NflUA$ I
FIUE 11 S SION C N IGURATION
such as the attitude sensors reactive jets and momentum wheels tape
recorders transmitters etc will remain The general multiprocessor
configuration illustrated in Figure 1-2 was identified during contract
NAS 12-507 Multiprocessing Techniques for Unmanned Multifunctional
Satellite s
This Phase IIreport details the functions that the processor must
perform The experiment control data handling and spacecraft operations
are described flow charts developed instructions and data storage
requirements judged and operationssec estimated In addition to
controlling the spacecraft and experiment operations the processor
will perform specific data processing functions These functions are
1 Processing of imagery data (ESMR MRIR MRMR PICOM
GROW) including
a Sun angle correction
b In flight calibration
c Laboratory curve correction
d Gridding
2 Processing of temperature and~humidity profiling data (ITPR
SCRWV2 MICSPEC VPOC) including
a Sun angle correction
b In flight calibration
-6shy
T 1 R]
fpocrsoe unT7-
SW77- I 7NR
FIGURE 1-2 MULTIPROCESSOR SYSTEM
-7shy
c Laboratory curve correction
d Radiative transfer matrix inversion to obtain profile
e Gridding
It is in this area where on board processing has its greatest potential
The striking success of the Automatic Picture Transmission (APT)
concept flown on TIROS VIII Nimbus I ESSA-2 Nimbus II and others
has demonstrated the great value of APT data to local meteorological
stations A real time system capable of also producing temperature and
humidity profiles as well as calibrated gridded imagery would be of
even greater assistance to forecasters ships at sea and many other
users of weather information
The functions and requirements of the executivesupervisor of the
processor are also examined as well as an on-board checkout system
These two operations control the entire system The assignments of
processing and memory modules to certain tasks equipment evaluation
and equipment scheduling control the operation of the multiprocessor
-8shy
SECTION 2
EXPERIMENTS
This section deals with the given set of experiments their
Characteristics Processing Requirements and possible Common
Interface The given set of experiments are those which are candidates
for the Nimbus E Spacecraft
2 1 CHARACTERISTICS
Keeping in mind that the end product of this study is a design of a
multiprocessor to be used on a operating system the following assumpshy
tions were made
Sensors will incorporate some method of inflight calibration
which will be an integral part of its observation cycle
Sensors may have spare circuits components or modules
which can be switched in or out as a failure is detected
The equipment will not be in an experimental status i e
the general processing requirements for each sensor will be
known
All scanning or pointing will be controlled by the multiprocessor
-9shy
The following assumptions were not included but should be
considered for future operating systems
The sensors will have a much higher resolution than those
considered in the given set of experiments
0 Due to higher resolution the data rates will be greater
Radiometers will probably be of the vidicon tube type
One sensor package will perform the combined tasks of
several of the experiments in the given set
Radiometers will probably have data rates of 35KHz
per channel
Table 2 1-1 is a summary of the more important characteristics
of the experiments used in this study Several interesting observations
are brought to light as the table is studied not the least of which is the
fact that there is considerable overlap in the sensing of certain regions
of the spectrum The table also lists the types of observations approxshy
imate data rates dimensions of the scan and the approximate sampling
rates
Table Z 1-2 list the types of processing which could be performed
on the data depending upon the type of output desired
Following these tables is a list of the experiments with their detailed
characteristics grouped under the following headings Input (to the
-10shy
experiment) Output (from the experiment) Stabilization and Control
(requirements of the experiment) and Processing (requirements peculiar
to the experiment)
-1i1shy
Experiment Acronym
ESMR Image
HRIR Image
HRMR Image
ITPR Profile
SCRWVZ Profile
MICSPEC Profile
NSUMMARY
Number of Spectrum of
Channels ChannelsI
I
1 155 am (1935
HRI 11 i 045 to o 75At 1 100 to 120t
1 84 to to 94g 1 102 to 11 4
1 6 7) (Water VaporI
1and)
4 15V (CO 2 Band)
4 9 to18A(Temp-erature and Watervapor)
7 15t (CO 2 Band) I 45-L 1 133C (Cirrus Clouds)MICPECGE115 1 135 cm (222 G1z) 1 095 cn (314 GHz) I 055 cn(5365 GHz) 1 049 cm (60 82 GHz) 1 0 47 cm (6447 GHz)
Samples Read Peak per Time Sampling
Usage Measurement Dimensions Scan per Rate TimeDay Range of Scan Sensor Scan SecI i I
I 30 I I
12 hrs 50 to 3Hz) 160 1000 63 1 4 seai 45
0 00 o3scI 27K124 hrs 103degl100 400 03 s
I i o 0 24hrs 003x60 12000 0017 2353K
I bull
24 hrs 250 x 72501 29 60 29
-h I9 hrs 0 to 035
nillirs 66 1 1 13
0
I 206 to 250deg K
24 hrs 0 to 400deg0 9 5 I I
I F I [
OF THE EXPERIMENT CHARACTERISTICS
TABLE 2 1-1
Ave rage Data
Peak Rate Data per Rate Scan (BPS) (BPS)
360 101
216 600
I 1 188M 3Z0000
i232 232
I 104 104
8 8
Ave rage Data
Samples Read Peak Peak Rate
Number per Time Sampling Data per
Experiment Acronym
of Channels
Spectrum of Channels
Usage TimeDay
Measurement Range
Dimensions of Scan
Scan Sensor
per Scan
Rate Sec
Rate Scan (BPS) (BPS)
PICOM Map I
I I AMU 4 A MU 1 I I c I 15 Ise
G1 14 and 16 AMU 10 hr ito 20 AMU NA 0120 120
Profile 12 20 cm (15 GHz) 12 hrs Ito 4meters 255 x 15 7 a sec 7 56 56
VPofile 025A o Profile 1 0 28) 2 hrs 0170 x3 0 18 20 sec4 18 144 144
PROBE Point Value
i2 j 10 hr I
NA I
13 1 rec 126 208 1208 I
RELAY 2 Antenna pointing I 12 hrs 10300 INA A NA steer-IA
Steering Angle i ing and er6m 4x1Da Experiment Data I II I xp Datal
SUMARY OF THE EXPERIMENT CHARATERISTICS
TABLE 2 1-1 (continued)
Table 2 1-2
EXPERIMENT PROCESSING
CONTROLS
Experiment Scan Calibra- Enhance- Rectification Super Misc Data Data Management tion ment positicn
C0 Compress Hand
U 00
gtc gt
0U ~
0IC C )
C C0 0 0 0
Q 0___ 0 C 0 0 0 U b HHP
RADIOMETERS
(1)ES~R X p-x x x x xx p p X X X x P x p p p p X p X p p X x
(2)HRIR x p x x x xx p p xX xp p p p X p xp p x x
(3) HRMR x p x x xx xp ppX X p x p p p x p x p p x x
(4) ITPR x p x X xX xx pp xc xx pp p ppXp p x x
(5) SCRWVZ x x x x xx x p x xpXp p p x p p x x
SPECTROMETERS
(6) MIOSPEC
(7) PICOM
Xx x
IX x
Xp x
x
KX x
IXF x x X x
pX pp X X p p x x
SX
X X P X pp X Ppp
pCpCppx
pp XpPX pp X pp pP x x x x
SCA TTEROMIETER
(8)GROW x- x x xx xx pp xx xxppp P P PXp p x x
PHOTOMETER
(9) VPOC x px x xx xx p~p xx xxppppp PP Xp p x x
ELECTROSTATIC
(10)PROBE x p x p I I p p pp xx
DATA RELAY
(I1)DAR U p x xxx
R - ppossible x included in x~ x X
-14- requirenments
ESMR - Electrically Scanned Microwave Radiometer
Inputs
I Power ONOFF
2 Deployment of antenna after orbit is achieved
3 Beam scanning (78 discrete positions for + 500
field of view)
4 Switching of redundant circuits
Outputs
1 Data rate (peak) 360 bitsec
2 Serial readout
3 Calibration data 1 - 10 bit word every 2 minutes
4 Housekeeping data 1- 10 bit word every 2 minutes
Stabilization and Control
1 Local vertical orientation
2 + 2 pointing accuracy
Processing
1 Concurrent operation with another radiometer
2 Angular Resolution 1 6 degrees
3 Time constant 2 seconds
4 Calibration two sources (50 0 k and 3300 k)
5 Dynamic range 50 0 k to 330 0 k accurate to 20 k
-15shy
PRECEDING PAGE BLANK NOT FILMED
FOREWORD
This Final Report describes the results of a study conducted under NASA contract NAS 12-660 Research on Multiprocessing Techniques for Multifunctional Satellites It was performed by International Business Machines Corporation Federal Systems Division Communications and Engineering Sciences Center in Gaithersburg Maryland The work was administered under the direction of the National Aeronautics and Space Administration Electronics Research Center Computer Research Laboratory Cambridge Massachusetts Mr G Y Wang and Mr J Roy provided the NASA Technical Direction of this study
The investigators for this study were
Dr M Feder Program Manager Mr R Berstein Mission Definition Mr R Coppola Spacecraft Requirements Mr R Higley On-board Checkout Mr C Messerly Experiment Requirements Mr F Sharp Program Sizing
Mi e Michael P Feder
CONTENTS
Section
I INTRODUCTION 1
Z EXPERIMENTS 9 2 1 Characteristics 9 22 Processing 25 23 Common Interface 43 24 Functional Flows 48 2 5 Sizing Estimates 62 Z 6 References 75
3 SPACECRAFT 77 3 1 Command and Clock 77 32 Attitude Control 80 33 TM Control 87 34 Position and Gridding 88 3 5 Periodic Orbit Functions 93 36 Data Storage and Transmission Control 93 37 Data Compression 95
38 Sizing Estimates 96 39 References 97
4 ON-BOARD CHECKOUT SYSTEM (OCS) 99 41 System Configuration 99 4 2 Hardware Functional Configuration 100 43 Software Definition 110 44 Sizing Estimates 118 45 References 121
5 SUPERVISOR 122
6 PROCESSOR REQUIREMENTS 125
APPENDIX A EQUATION DEFINITION FOR PICTURE GRIDDING 130
APPENDIX B PROFILING PROCESS 155
Abbreviations
ACS - Attitude Control Subsystem AD - Analog-digital Converter APT - Automatic Picture Transmission Co - Checkout DA - Digital-analog Converter ESMR - Electrically Scanned Microwave Radiometer GROW - Global Radar for Ocean Waves and Winds HDRSS - High Data Rate Subsystem HRIR - High Resolution Infrared Radiometer HRMR - High Resolution Surface Composition Mapping IO - Inputoutput ITPR - Infrared Temperature Profile Radiometer MTCSPEC - Microwave Spectrometer MP - Multiprocessor MUX - Multiplex Operation OCS - On-board Checkout System PICOM - Positive Ion Composition PROBE - Electrostatic Probe SC - Spacecraft SCRWVZ - Selective Chopper Radiometer TM - Telemetry VIP - Versatile Information Processor VPOC - Vertical Profile of Ozone Concentration
vi
Illustrations
Figure Page
1-1 Mission Configuration 5
1-2 Multiprocessing System 2
Z 2-1 Software Approach to Data Processing 27
2 Z-2 HardwareSoftware Approach to Data Processing 28
2 2-3 Inflight Calibration and Laboratory Curve Correction Process 29
Z 2-4 Sun Angle Enhancement Process 30
22-5 Gridding Process 31
22-6 Profiling Process 33
22-7 Functional Data Flow 37
22-8 Orbit Experiment Time Line 39
22-9 Ground Contact Time 40
24-1 ESME Functional Flow Diagram 49
24-2 HRIR Functional Flow Diagram 50
Z 4-3 HRMR Functional Flow Diagram 51
24-4 ITPR Functional Flow Diagram 52
Z 4-5 SCRWV2 Functional Flow Diagram 53
24-6 MICSPEC Functional Flow Diagram 54
24-7 PICOM Functional Flow Diagram 55
24-8 GROW Functional Flow Diagram 56
vii
Illustrations - continued
Figure Page
24-9 VPOC Functional Flow Diagram 57
24-10 PROBE Function Flow Diagram 58
24-11 Geometry for Antenna Pointing 60
24-12 Antenna Pointing Equation Flow 61
3 1-1 Command Handling 79
3 2-1 Attitude Status Loop 83
32-2 Pitch Control Loop 84
3 2-3 Roll Control Loop 85
32-4 Yaw Control Loop 86
34-1 Picture of Gridding Approach 91
34-2 Gridding Algorithm 92
36-1 Data Storage and Transmission System 94
4 2-1 OCS Functional Block Diagram 101
43-1 OCS Summary Program Flow 1l1
viii
TABLES
Page
2 1-1 Summary of the Experiment Characteristics 12
2 1-2 Experiment Processing 14
25-1 ESMR Sizing Estimate 63
25-2 HRIR Sizing Estimate 64
2 5-3 HRMR Sizing Estimate 65
2 5-4 ITPR Sizing Estimate 66
25-5 SCRWV2 Sizing Estimate 67
25-6 MICSPEC Sizing Estimate 68
25-7 PICOM Sizing Estimate 69
25-8 GROW Sizing Estimate 70
25-9 VPOC Sizing Estimate 71
25-10 PROBE Sizing Estimate 72
25-11 Data Relay Sizing Estimate 73
25-12 Experiment Total Sizing Estimate 74
38-1 Spacecraft Sizing Estimates 96
4 2-1 Stimulus Signals 105
4 2-2 Measurement Signals 107
43-1 OCS Summary Program Flow 111
ix
TABLES - continued
Page
44-1 OCS Sizing Estimates 120
5-1 Supervisor Functions 123
6-1 Instruction Set 126
6-2 Processor Storage and Execution Requirements 129
x
SECTION 1
INTRODUCTION
This report documents the accomplishments of Phase II of contract
NAS 12-660 Research on Multiprocessing Techniques for Multifunctional
Satellites The basic objective of this contract is to examine the use
of a multiprocessor computer configuration for data management data
processing and spacecraft operations for Application Satellites Toward
that end the Nimbus E mission has been selected using the Nimbus D
spacecraft as the platform The experiments selected for this study
and their desired outputs are
1 Electrically Scanned Microwave Radiometer (ESMR) -
Image ry
2 High Resolution Infrared Radiometer (HRIR) - Imagery
3 High Resolution Surface Composition Mapping (HRMR) -
Imagery of Earth s Surface
4 Infrared Temperature Profile Radiometer (ITPR) - Profile
of Temperature and Water Vapor
5 Selective Chopper Radiometer (SCRWV2) - Profile of
Temperature and Water Vapor
6 Microwave Spectrometer (MICSPEC) - Temperature and
Water Vapor Profiles
7 Positive Ion Composition (PICOM) - Global Ion Composition
Mapping
-ishy
8 Global Radar for Ocean Waves and Wind (GROW) - Imagery
of Wave Height and Winds
9 Vertical Profile of Ozone Concentration (VPOC) - Profile
of Ozone Concentration
10 Electrostatic Probe (PROBE) - Electron Temperature
Measurement (point)
11 Realtime Data Relay via ATS-F (DRS) - Data Transmission
via a Stationary Satellite
The concept of using a multiprocessor for Application Satellites
offers many advantages These include
Increased realiability
bull Shorter mission development time
bull Cost savings
Efficient experiment management via experiment cross talk
0 Real time processed data
The basic idea of a multiprocessor is a computer organization in
which a particular function does not depend on a particular piece of
hardware As failures occur the total capability of the computing
system is decreased but all functions will still be accomplished according
to their priority In this manner the total system reliability may be
increased
The shorter mission development time and cost savings are
achieved by eliminating the requirement for the experimenters to
fabricate much of the hard wired equipment for their experiment The
sensor would be connected directly to the processor which would provide
the control calibration checkout and data handling functions The
present mission development time may take six to eight years from
experiment concept until flight of which three to four are for equipment
fabrication With a processor already built the experiment hardware
development consisting of sensor and supporting hardware is replaced
by sensor and software support This should reduce experiment developshy
ment time by one to two years and by reducing the amount of one time
hardware development experiment costs should be reduced proportionately
The use of a multiprocessor concept also provides an easy method
to change the mission should that be desired Should RFI antenna
sensor development or other problems require a change in the experiment
package to be flownan off the shelf sensor or backup experiment sensor
can be substituted and the appropriate software loaded into the computer
This same capability permits the spacecraft constants such as control
loop gain telemetry formatting data compression technique experiment
control etc to be changed throughout mission development and even
after launch
-3shy
Efficient experiment management is achieved by being able to use
the output of one experiment to control another sensor For example if
one experiment requires cloud free conditions the output from a cloud
sensing sensor could be used to determine if useful data can be obtained
from the first experiment In a similar vein one of the experiment
sensors could be substituted for a horizon or sun sensor in the attitude
control system should a failure occur All that is required is a means
for getting processed sensor data to the attitude control system and the
multiprocessor would provide that means
The ability to make information available in real time has been
proven to be extremely valuable in the field of meteorology Cloud cover
images relayed in real time have been effectively used by local meteorshy
ologists On board processing of such data permits enhancement
calibration and gridding to be included in the data and will permit the
real time availability of temperature and water vapor profiles which are
also of prime importance to forecasters
The Phase I report considered the experiments and spacecraft
operations that would be implemented by the processor The general
mission configuration is as shown in Figure 1-1 In general all data
handling and processing functions will be accomplished in the computer
It has been assumed that the standard Nimbus D spacecraft hardware
-4shy
)9~amp~MSP19ZCRA057 11w4
4g674 iA MD
TFZEYII- 4 Ig~~j
7XY I
AvOAN
4goove
I -
07 svr
U~~~~~~ast T u4AW0106Kfg~vC5I IceulucuPM5Of I 9o
sC~NflUA$ I
FIUE 11 S SION C N IGURATION
such as the attitude sensors reactive jets and momentum wheels tape
recorders transmitters etc will remain The general multiprocessor
configuration illustrated in Figure 1-2 was identified during contract
NAS 12-507 Multiprocessing Techniques for Unmanned Multifunctional
Satellite s
This Phase IIreport details the functions that the processor must
perform The experiment control data handling and spacecraft operations
are described flow charts developed instructions and data storage
requirements judged and operationssec estimated In addition to
controlling the spacecraft and experiment operations the processor
will perform specific data processing functions These functions are
1 Processing of imagery data (ESMR MRIR MRMR PICOM
GROW) including
a Sun angle correction
b In flight calibration
c Laboratory curve correction
d Gridding
2 Processing of temperature and~humidity profiling data (ITPR
SCRWV2 MICSPEC VPOC) including
a Sun angle correction
b In flight calibration
-6shy
T 1 R]
fpocrsoe unT7-
SW77- I 7NR
FIGURE 1-2 MULTIPROCESSOR SYSTEM
-7shy
c Laboratory curve correction
d Radiative transfer matrix inversion to obtain profile
e Gridding
It is in this area where on board processing has its greatest potential
The striking success of the Automatic Picture Transmission (APT)
concept flown on TIROS VIII Nimbus I ESSA-2 Nimbus II and others
has demonstrated the great value of APT data to local meteorological
stations A real time system capable of also producing temperature and
humidity profiles as well as calibrated gridded imagery would be of
even greater assistance to forecasters ships at sea and many other
users of weather information
The functions and requirements of the executivesupervisor of the
processor are also examined as well as an on-board checkout system
These two operations control the entire system The assignments of
processing and memory modules to certain tasks equipment evaluation
and equipment scheduling control the operation of the multiprocessor
-8shy
SECTION 2
EXPERIMENTS
This section deals with the given set of experiments their
Characteristics Processing Requirements and possible Common
Interface The given set of experiments are those which are candidates
for the Nimbus E Spacecraft
2 1 CHARACTERISTICS
Keeping in mind that the end product of this study is a design of a
multiprocessor to be used on a operating system the following assumpshy
tions were made
Sensors will incorporate some method of inflight calibration
which will be an integral part of its observation cycle
Sensors may have spare circuits components or modules
which can be switched in or out as a failure is detected
The equipment will not be in an experimental status i e
the general processing requirements for each sensor will be
known
All scanning or pointing will be controlled by the multiprocessor
-9shy
The following assumptions were not included but should be
considered for future operating systems
The sensors will have a much higher resolution than those
considered in the given set of experiments
0 Due to higher resolution the data rates will be greater
Radiometers will probably be of the vidicon tube type
One sensor package will perform the combined tasks of
several of the experiments in the given set
Radiometers will probably have data rates of 35KHz
per channel
Table 2 1-1 is a summary of the more important characteristics
of the experiments used in this study Several interesting observations
are brought to light as the table is studied not the least of which is the
fact that there is considerable overlap in the sensing of certain regions
of the spectrum The table also lists the types of observations approxshy
imate data rates dimensions of the scan and the approximate sampling
rates
Table Z 1-2 list the types of processing which could be performed
on the data depending upon the type of output desired
Following these tables is a list of the experiments with their detailed
characteristics grouped under the following headings Input (to the
-10shy
experiment) Output (from the experiment) Stabilization and Control
(requirements of the experiment) and Processing (requirements peculiar
to the experiment)
-1i1shy
Experiment Acronym
ESMR Image
HRIR Image
HRMR Image
ITPR Profile
SCRWVZ Profile
MICSPEC Profile
NSUMMARY
Number of Spectrum of
Channels ChannelsI
I
1 155 am (1935
HRI 11 i 045 to o 75At 1 100 to 120t
1 84 to to 94g 1 102 to 11 4
1 6 7) (Water VaporI
1and)
4 15V (CO 2 Band)
4 9 to18A(Temp-erature and Watervapor)
7 15t (CO 2 Band) I 45-L 1 133C (Cirrus Clouds)MICPECGE115 1 135 cm (222 G1z) 1 095 cn (314 GHz) I 055 cn(5365 GHz) 1 049 cm (60 82 GHz) 1 0 47 cm (6447 GHz)
Samples Read Peak per Time Sampling
Usage Measurement Dimensions Scan per Rate TimeDay Range of Scan Sensor Scan SecI i I
I 30 I I
12 hrs 50 to 3Hz) 160 1000 63 1 4 seai 45
0 00 o3scI 27K124 hrs 103degl100 400 03 s
I i o 0 24hrs 003x60 12000 0017 2353K
I bull
24 hrs 250 x 72501 29 60 29
-h I9 hrs 0 to 035
nillirs 66 1 1 13
0
I 206 to 250deg K
24 hrs 0 to 400deg0 9 5 I I
I F I [
OF THE EXPERIMENT CHARACTERISTICS
TABLE 2 1-1
Ave rage Data
Peak Rate Data per Rate Scan (BPS) (BPS)
360 101
216 600
I 1 188M 3Z0000
i232 232
I 104 104
8 8
Ave rage Data
Samples Read Peak Peak Rate
Number per Time Sampling Data per
Experiment Acronym
of Channels
Spectrum of Channels
Usage TimeDay
Measurement Range
Dimensions of Scan
Scan Sensor
per Scan
Rate Sec
Rate Scan (BPS) (BPS)
PICOM Map I
I I AMU 4 A MU 1 I I c I 15 Ise
G1 14 and 16 AMU 10 hr ito 20 AMU NA 0120 120
Profile 12 20 cm (15 GHz) 12 hrs Ito 4meters 255 x 15 7 a sec 7 56 56
VPofile 025A o Profile 1 0 28) 2 hrs 0170 x3 0 18 20 sec4 18 144 144
PROBE Point Value
i2 j 10 hr I
NA I
13 1 rec 126 208 1208 I
RELAY 2 Antenna pointing I 12 hrs 10300 INA A NA steer-IA
Steering Angle i ing and er6m 4x1Da Experiment Data I II I xp Datal
SUMARY OF THE EXPERIMENT CHARATERISTICS
TABLE 2 1-1 (continued)
Table 2 1-2
EXPERIMENT PROCESSING
CONTROLS
Experiment Scan Calibra- Enhance- Rectification Super Misc Data Data Management tion ment positicn
C0 Compress Hand
U 00
gtc gt
0U ~
0IC C )
C C0 0 0 0
Q 0___ 0 C 0 0 0 U b HHP
RADIOMETERS
(1)ES~R X p-x x x x xx p p X X X x P x p p p p X p X p p X x
(2)HRIR x p x x x xx p p xX xp p p p X p xp p x x
(3) HRMR x p x x xx xp ppX X p x p p p x p x p p x x
(4) ITPR x p x X xX xx pp xc xx pp p ppXp p x x
(5) SCRWVZ x x x x xx x p x xpXp p p x p p x x
SPECTROMETERS
(6) MIOSPEC
(7) PICOM
Xx x
IX x
Xp x
x
KX x
IXF x x X x
pX pp X X p p x x
SX
X X P X pp X Ppp
pCpCppx
pp XpPX pp X pp pP x x x x
SCA TTEROMIETER
(8)GROW x- x x xx xx pp xx xxppp P P PXp p x x
PHOTOMETER
(9) VPOC x px x xx xx p~p xx xxppppp PP Xp p x x
ELECTROSTATIC
(10)PROBE x p x p I I p p pp xx
DATA RELAY
(I1)DAR U p x xxx
R - ppossible x included in x~ x X
-14- requirenments
ESMR - Electrically Scanned Microwave Radiometer
Inputs
I Power ONOFF
2 Deployment of antenna after orbit is achieved
3 Beam scanning (78 discrete positions for + 500
field of view)
4 Switching of redundant circuits
Outputs
1 Data rate (peak) 360 bitsec
2 Serial readout
3 Calibration data 1 - 10 bit word every 2 minutes
4 Housekeeping data 1- 10 bit word every 2 minutes
Stabilization and Control
1 Local vertical orientation
2 + 2 pointing accuracy
Processing
1 Concurrent operation with another radiometer
2 Angular Resolution 1 6 degrees
3 Time constant 2 seconds
4 Calibration two sources (50 0 k and 3300 k)
5 Dynamic range 50 0 k to 330 0 k accurate to 20 k
-15shy
CONTENTS
Section
I INTRODUCTION 1
Z EXPERIMENTS 9 2 1 Characteristics 9 22 Processing 25 23 Common Interface 43 24 Functional Flows 48 2 5 Sizing Estimates 62 Z 6 References 75
3 SPACECRAFT 77 3 1 Command and Clock 77 32 Attitude Control 80 33 TM Control 87 34 Position and Gridding 88 3 5 Periodic Orbit Functions 93 36 Data Storage and Transmission Control 93 37 Data Compression 95
38 Sizing Estimates 96 39 References 97
4 ON-BOARD CHECKOUT SYSTEM (OCS) 99 41 System Configuration 99 4 2 Hardware Functional Configuration 100 43 Software Definition 110 44 Sizing Estimates 118 45 References 121
5 SUPERVISOR 122
6 PROCESSOR REQUIREMENTS 125
APPENDIX A EQUATION DEFINITION FOR PICTURE GRIDDING 130
APPENDIX B PROFILING PROCESS 155
Abbreviations
ACS - Attitude Control Subsystem AD - Analog-digital Converter APT - Automatic Picture Transmission Co - Checkout DA - Digital-analog Converter ESMR - Electrically Scanned Microwave Radiometer GROW - Global Radar for Ocean Waves and Winds HDRSS - High Data Rate Subsystem HRIR - High Resolution Infrared Radiometer HRMR - High Resolution Surface Composition Mapping IO - Inputoutput ITPR - Infrared Temperature Profile Radiometer MTCSPEC - Microwave Spectrometer MP - Multiprocessor MUX - Multiplex Operation OCS - On-board Checkout System PICOM - Positive Ion Composition PROBE - Electrostatic Probe SC - Spacecraft SCRWVZ - Selective Chopper Radiometer TM - Telemetry VIP - Versatile Information Processor VPOC - Vertical Profile of Ozone Concentration
vi
Illustrations
Figure Page
1-1 Mission Configuration 5
1-2 Multiprocessing System 2
Z 2-1 Software Approach to Data Processing 27
2 Z-2 HardwareSoftware Approach to Data Processing 28
2 2-3 Inflight Calibration and Laboratory Curve Correction Process 29
Z 2-4 Sun Angle Enhancement Process 30
22-5 Gridding Process 31
22-6 Profiling Process 33
22-7 Functional Data Flow 37
22-8 Orbit Experiment Time Line 39
22-9 Ground Contact Time 40
24-1 ESME Functional Flow Diagram 49
24-2 HRIR Functional Flow Diagram 50
Z 4-3 HRMR Functional Flow Diagram 51
24-4 ITPR Functional Flow Diagram 52
Z 4-5 SCRWV2 Functional Flow Diagram 53
24-6 MICSPEC Functional Flow Diagram 54
24-7 PICOM Functional Flow Diagram 55
24-8 GROW Functional Flow Diagram 56
vii
Illustrations - continued
Figure Page
24-9 VPOC Functional Flow Diagram 57
24-10 PROBE Function Flow Diagram 58
24-11 Geometry for Antenna Pointing 60
24-12 Antenna Pointing Equation Flow 61
3 1-1 Command Handling 79
3 2-1 Attitude Status Loop 83
32-2 Pitch Control Loop 84
3 2-3 Roll Control Loop 85
32-4 Yaw Control Loop 86
34-1 Picture of Gridding Approach 91
34-2 Gridding Algorithm 92
36-1 Data Storage and Transmission System 94
4 2-1 OCS Functional Block Diagram 101
43-1 OCS Summary Program Flow 1l1
viii
TABLES
Page
2 1-1 Summary of the Experiment Characteristics 12
2 1-2 Experiment Processing 14
25-1 ESMR Sizing Estimate 63
25-2 HRIR Sizing Estimate 64
2 5-3 HRMR Sizing Estimate 65
2 5-4 ITPR Sizing Estimate 66
25-5 SCRWV2 Sizing Estimate 67
25-6 MICSPEC Sizing Estimate 68
25-7 PICOM Sizing Estimate 69
25-8 GROW Sizing Estimate 70
25-9 VPOC Sizing Estimate 71
25-10 PROBE Sizing Estimate 72
25-11 Data Relay Sizing Estimate 73
25-12 Experiment Total Sizing Estimate 74
38-1 Spacecraft Sizing Estimates 96
4 2-1 Stimulus Signals 105
4 2-2 Measurement Signals 107
43-1 OCS Summary Program Flow 111
ix
TABLES - continued
Page
44-1 OCS Sizing Estimates 120
5-1 Supervisor Functions 123
6-1 Instruction Set 126
6-2 Processor Storage and Execution Requirements 129
x
SECTION 1
INTRODUCTION
This report documents the accomplishments of Phase II of contract
NAS 12-660 Research on Multiprocessing Techniques for Multifunctional
Satellites The basic objective of this contract is to examine the use
of a multiprocessor computer configuration for data management data
processing and spacecraft operations for Application Satellites Toward
that end the Nimbus E mission has been selected using the Nimbus D
spacecraft as the platform The experiments selected for this study
and their desired outputs are
1 Electrically Scanned Microwave Radiometer (ESMR) -
Image ry
2 High Resolution Infrared Radiometer (HRIR) - Imagery
3 High Resolution Surface Composition Mapping (HRMR) -
Imagery of Earth s Surface
4 Infrared Temperature Profile Radiometer (ITPR) - Profile
of Temperature and Water Vapor
5 Selective Chopper Radiometer (SCRWV2) - Profile of
Temperature and Water Vapor
6 Microwave Spectrometer (MICSPEC) - Temperature and
Water Vapor Profiles
7 Positive Ion Composition (PICOM) - Global Ion Composition
Mapping
-ishy
8 Global Radar for Ocean Waves and Wind (GROW) - Imagery
of Wave Height and Winds
9 Vertical Profile of Ozone Concentration (VPOC) - Profile
of Ozone Concentration
10 Electrostatic Probe (PROBE) - Electron Temperature
Measurement (point)
11 Realtime Data Relay via ATS-F (DRS) - Data Transmission
via a Stationary Satellite
The concept of using a multiprocessor for Application Satellites
offers many advantages These include
Increased realiability
bull Shorter mission development time
bull Cost savings
Efficient experiment management via experiment cross talk
0 Real time processed data
The basic idea of a multiprocessor is a computer organization in
which a particular function does not depend on a particular piece of
hardware As failures occur the total capability of the computing
system is decreased but all functions will still be accomplished according
to their priority In this manner the total system reliability may be
increased
The shorter mission development time and cost savings are
achieved by eliminating the requirement for the experimenters to
fabricate much of the hard wired equipment for their experiment The
sensor would be connected directly to the processor which would provide
the control calibration checkout and data handling functions The
present mission development time may take six to eight years from
experiment concept until flight of which three to four are for equipment
fabrication With a processor already built the experiment hardware
development consisting of sensor and supporting hardware is replaced
by sensor and software support This should reduce experiment developshy
ment time by one to two years and by reducing the amount of one time
hardware development experiment costs should be reduced proportionately
The use of a multiprocessor concept also provides an easy method
to change the mission should that be desired Should RFI antenna
sensor development or other problems require a change in the experiment
package to be flownan off the shelf sensor or backup experiment sensor
can be substituted and the appropriate software loaded into the computer
This same capability permits the spacecraft constants such as control
loop gain telemetry formatting data compression technique experiment
control etc to be changed throughout mission development and even
after launch
-3shy
Efficient experiment management is achieved by being able to use
the output of one experiment to control another sensor For example if
one experiment requires cloud free conditions the output from a cloud
sensing sensor could be used to determine if useful data can be obtained
from the first experiment In a similar vein one of the experiment
sensors could be substituted for a horizon or sun sensor in the attitude
control system should a failure occur All that is required is a means
for getting processed sensor data to the attitude control system and the
multiprocessor would provide that means
The ability to make information available in real time has been
proven to be extremely valuable in the field of meteorology Cloud cover
images relayed in real time have been effectively used by local meteorshy
ologists On board processing of such data permits enhancement
calibration and gridding to be included in the data and will permit the
real time availability of temperature and water vapor profiles which are
also of prime importance to forecasters
The Phase I report considered the experiments and spacecraft
operations that would be implemented by the processor The general
mission configuration is as shown in Figure 1-1 In general all data
handling and processing functions will be accomplished in the computer
It has been assumed that the standard Nimbus D spacecraft hardware
-4shy
)9~amp~MSP19ZCRA057 11w4
4g674 iA MD
TFZEYII- 4 Ig~~j
7XY I
AvOAN
4goove
I -
07 svr
U~~~~~~ast T u4AW0106Kfg~vC5I IceulucuPM5Of I 9o
sC~NflUA$ I
FIUE 11 S SION C N IGURATION
such as the attitude sensors reactive jets and momentum wheels tape
recorders transmitters etc will remain The general multiprocessor
configuration illustrated in Figure 1-2 was identified during contract
NAS 12-507 Multiprocessing Techniques for Unmanned Multifunctional
Satellite s
This Phase IIreport details the functions that the processor must
perform The experiment control data handling and spacecraft operations
are described flow charts developed instructions and data storage
requirements judged and operationssec estimated In addition to
controlling the spacecraft and experiment operations the processor
will perform specific data processing functions These functions are
1 Processing of imagery data (ESMR MRIR MRMR PICOM
GROW) including
a Sun angle correction
b In flight calibration
c Laboratory curve correction
d Gridding
2 Processing of temperature and~humidity profiling data (ITPR
SCRWV2 MICSPEC VPOC) including
a Sun angle correction
b In flight calibration
-6shy
T 1 R]
fpocrsoe unT7-
SW77- I 7NR
FIGURE 1-2 MULTIPROCESSOR SYSTEM
-7shy
c Laboratory curve correction
d Radiative transfer matrix inversion to obtain profile
e Gridding
It is in this area where on board processing has its greatest potential
The striking success of the Automatic Picture Transmission (APT)
concept flown on TIROS VIII Nimbus I ESSA-2 Nimbus II and others
has demonstrated the great value of APT data to local meteorological
stations A real time system capable of also producing temperature and
humidity profiles as well as calibrated gridded imagery would be of
even greater assistance to forecasters ships at sea and many other
users of weather information
The functions and requirements of the executivesupervisor of the
processor are also examined as well as an on-board checkout system
These two operations control the entire system The assignments of
processing and memory modules to certain tasks equipment evaluation
and equipment scheduling control the operation of the multiprocessor
-8shy
SECTION 2
EXPERIMENTS
This section deals with the given set of experiments their
Characteristics Processing Requirements and possible Common
Interface The given set of experiments are those which are candidates
for the Nimbus E Spacecraft
2 1 CHARACTERISTICS
Keeping in mind that the end product of this study is a design of a
multiprocessor to be used on a operating system the following assumpshy
tions were made
Sensors will incorporate some method of inflight calibration
which will be an integral part of its observation cycle
Sensors may have spare circuits components or modules
which can be switched in or out as a failure is detected
The equipment will not be in an experimental status i e
the general processing requirements for each sensor will be
known
All scanning or pointing will be controlled by the multiprocessor
-9shy
The following assumptions were not included but should be
considered for future operating systems
The sensors will have a much higher resolution than those
considered in the given set of experiments
0 Due to higher resolution the data rates will be greater
Radiometers will probably be of the vidicon tube type
One sensor package will perform the combined tasks of
several of the experiments in the given set
Radiometers will probably have data rates of 35KHz
per channel
Table 2 1-1 is a summary of the more important characteristics
of the experiments used in this study Several interesting observations
are brought to light as the table is studied not the least of which is the
fact that there is considerable overlap in the sensing of certain regions
of the spectrum The table also lists the types of observations approxshy
imate data rates dimensions of the scan and the approximate sampling
rates
Table Z 1-2 list the types of processing which could be performed
on the data depending upon the type of output desired
Following these tables is a list of the experiments with their detailed
characteristics grouped under the following headings Input (to the
-10shy
experiment) Output (from the experiment) Stabilization and Control
(requirements of the experiment) and Processing (requirements peculiar
to the experiment)
-1i1shy
Experiment Acronym
ESMR Image
HRIR Image
HRMR Image
ITPR Profile
SCRWVZ Profile
MICSPEC Profile
NSUMMARY
Number of Spectrum of
Channels ChannelsI
I
1 155 am (1935
HRI 11 i 045 to o 75At 1 100 to 120t
1 84 to to 94g 1 102 to 11 4
1 6 7) (Water VaporI
1and)
4 15V (CO 2 Band)
4 9 to18A(Temp-erature and Watervapor)
7 15t (CO 2 Band) I 45-L 1 133C (Cirrus Clouds)MICPECGE115 1 135 cm (222 G1z) 1 095 cn (314 GHz) I 055 cn(5365 GHz) 1 049 cm (60 82 GHz) 1 0 47 cm (6447 GHz)
Samples Read Peak per Time Sampling
Usage Measurement Dimensions Scan per Rate TimeDay Range of Scan Sensor Scan SecI i I
I 30 I I
12 hrs 50 to 3Hz) 160 1000 63 1 4 seai 45
0 00 o3scI 27K124 hrs 103degl100 400 03 s
I i o 0 24hrs 003x60 12000 0017 2353K
I bull
24 hrs 250 x 72501 29 60 29
-h I9 hrs 0 to 035
nillirs 66 1 1 13
0
I 206 to 250deg K
24 hrs 0 to 400deg0 9 5 I I
I F I [
OF THE EXPERIMENT CHARACTERISTICS
TABLE 2 1-1
Ave rage Data
Peak Rate Data per Rate Scan (BPS) (BPS)
360 101
216 600
I 1 188M 3Z0000
i232 232
I 104 104
8 8
Ave rage Data
Samples Read Peak Peak Rate
Number per Time Sampling Data per
Experiment Acronym
of Channels
Spectrum of Channels
Usage TimeDay
Measurement Range
Dimensions of Scan
Scan Sensor
per Scan
Rate Sec
Rate Scan (BPS) (BPS)
PICOM Map I
I I AMU 4 A MU 1 I I c I 15 Ise
G1 14 and 16 AMU 10 hr ito 20 AMU NA 0120 120
Profile 12 20 cm (15 GHz) 12 hrs Ito 4meters 255 x 15 7 a sec 7 56 56
VPofile 025A o Profile 1 0 28) 2 hrs 0170 x3 0 18 20 sec4 18 144 144
PROBE Point Value
i2 j 10 hr I
NA I
13 1 rec 126 208 1208 I
RELAY 2 Antenna pointing I 12 hrs 10300 INA A NA steer-IA
Steering Angle i ing and er6m 4x1Da Experiment Data I II I xp Datal
SUMARY OF THE EXPERIMENT CHARATERISTICS
TABLE 2 1-1 (continued)
Table 2 1-2
EXPERIMENT PROCESSING
CONTROLS
Experiment Scan Calibra- Enhance- Rectification Super Misc Data Data Management tion ment positicn
C0 Compress Hand
U 00
gtc gt
0U ~
0IC C )
C C0 0 0 0
Q 0___ 0 C 0 0 0 U b HHP
RADIOMETERS
(1)ES~R X p-x x x x xx p p X X X x P x p p p p X p X p p X x
(2)HRIR x p x x x xx p p xX xp p p p X p xp p x x
(3) HRMR x p x x xx xp ppX X p x p p p x p x p p x x
(4) ITPR x p x X xX xx pp xc xx pp p ppXp p x x
(5) SCRWVZ x x x x xx x p x xpXp p p x p p x x
SPECTROMETERS
(6) MIOSPEC
(7) PICOM
Xx x
IX x
Xp x
x
KX x
IXF x x X x
pX pp X X p p x x
SX
X X P X pp X Ppp
pCpCppx
pp XpPX pp X pp pP x x x x
SCA TTEROMIETER
(8)GROW x- x x xx xx pp xx xxppp P P PXp p x x
PHOTOMETER
(9) VPOC x px x xx xx p~p xx xxppppp PP Xp p x x
ELECTROSTATIC
(10)PROBE x p x p I I p p pp xx
DATA RELAY
(I1)DAR U p x xxx
R - ppossible x included in x~ x X
-14- requirenments
ESMR - Electrically Scanned Microwave Radiometer
Inputs
I Power ONOFF
2 Deployment of antenna after orbit is achieved
3 Beam scanning (78 discrete positions for + 500
field of view)
4 Switching of redundant circuits
Outputs
1 Data rate (peak) 360 bitsec
2 Serial readout
3 Calibration data 1 - 10 bit word every 2 minutes
4 Housekeeping data 1- 10 bit word every 2 minutes
Stabilization and Control
1 Local vertical orientation
2 + 2 pointing accuracy
Processing
1 Concurrent operation with another radiometer
2 Angular Resolution 1 6 degrees
3 Time constant 2 seconds
4 Calibration two sources (50 0 k and 3300 k)
5 Dynamic range 50 0 k to 330 0 k accurate to 20 k
-15shy
Abbreviations
ACS - Attitude Control Subsystem AD - Analog-digital Converter APT - Automatic Picture Transmission Co - Checkout DA - Digital-analog Converter ESMR - Electrically Scanned Microwave Radiometer GROW - Global Radar for Ocean Waves and Winds HDRSS - High Data Rate Subsystem HRIR - High Resolution Infrared Radiometer HRMR - High Resolution Surface Composition Mapping IO - Inputoutput ITPR - Infrared Temperature Profile Radiometer MTCSPEC - Microwave Spectrometer MP - Multiprocessor MUX - Multiplex Operation OCS - On-board Checkout System PICOM - Positive Ion Composition PROBE - Electrostatic Probe SC - Spacecraft SCRWVZ - Selective Chopper Radiometer TM - Telemetry VIP - Versatile Information Processor VPOC - Vertical Profile of Ozone Concentration
vi
Illustrations
Figure Page
1-1 Mission Configuration 5
1-2 Multiprocessing System 2
Z 2-1 Software Approach to Data Processing 27
2 Z-2 HardwareSoftware Approach to Data Processing 28
2 2-3 Inflight Calibration and Laboratory Curve Correction Process 29
Z 2-4 Sun Angle Enhancement Process 30
22-5 Gridding Process 31
22-6 Profiling Process 33
22-7 Functional Data Flow 37
22-8 Orbit Experiment Time Line 39
22-9 Ground Contact Time 40
24-1 ESME Functional Flow Diagram 49
24-2 HRIR Functional Flow Diagram 50
Z 4-3 HRMR Functional Flow Diagram 51
24-4 ITPR Functional Flow Diagram 52
Z 4-5 SCRWV2 Functional Flow Diagram 53
24-6 MICSPEC Functional Flow Diagram 54
24-7 PICOM Functional Flow Diagram 55
24-8 GROW Functional Flow Diagram 56
vii
Illustrations - continued
Figure Page
24-9 VPOC Functional Flow Diagram 57
24-10 PROBE Function Flow Diagram 58
24-11 Geometry for Antenna Pointing 60
24-12 Antenna Pointing Equation Flow 61
3 1-1 Command Handling 79
3 2-1 Attitude Status Loop 83
32-2 Pitch Control Loop 84
3 2-3 Roll Control Loop 85
32-4 Yaw Control Loop 86
34-1 Picture of Gridding Approach 91
34-2 Gridding Algorithm 92
36-1 Data Storage and Transmission System 94
4 2-1 OCS Functional Block Diagram 101
43-1 OCS Summary Program Flow 1l1
viii
TABLES
Page
2 1-1 Summary of the Experiment Characteristics 12
2 1-2 Experiment Processing 14
25-1 ESMR Sizing Estimate 63
25-2 HRIR Sizing Estimate 64
2 5-3 HRMR Sizing Estimate 65
2 5-4 ITPR Sizing Estimate 66
25-5 SCRWV2 Sizing Estimate 67
25-6 MICSPEC Sizing Estimate 68
25-7 PICOM Sizing Estimate 69
25-8 GROW Sizing Estimate 70
25-9 VPOC Sizing Estimate 71
25-10 PROBE Sizing Estimate 72
25-11 Data Relay Sizing Estimate 73
25-12 Experiment Total Sizing Estimate 74
38-1 Spacecraft Sizing Estimates 96
4 2-1 Stimulus Signals 105
4 2-2 Measurement Signals 107
43-1 OCS Summary Program Flow 111
ix
TABLES - continued
Page
44-1 OCS Sizing Estimates 120
5-1 Supervisor Functions 123
6-1 Instruction Set 126
6-2 Processor Storage and Execution Requirements 129
x
SECTION 1
INTRODUCTION
This report documents the accomplishments of Phase II of contract
NAS 12-660 Research on Multiprocessing Techniques for Multifunctional
Satellites The basic objective of this contract is to examine the use
of a multiprocessor computer configuration for data management data
processing and spacecraft operations for Application Satellites Toward
that end the Nimbus E mission has been selected using the Nimbus D
spacecraft as the platform The experiments selected for this study
and their desired outputs are
1 Electrically Scanned Microwave Radiometer (ESMR) -
Image ry
2 High Resolution Infrared Radiometer (HRIR) - Imagery
3 High Resolution Surface Composition Mapping (HRMR) -
Imagery of Earth s Surface
4 Infrared Temperature Profile Radiometer (ITPR) - Profile
of Temperature and Water Vapor
5 Selective Chopper Radiometer (SCRWV2) - Profile of
Temperature and Water Vapor
6 Microwave Spectrometer (MICSPEC) - Temperature and
Water Vapor Profiles
7 Positive Ion Composition (PICOM) - Global Ion Composition
Mapping
-ishy
8 Global Radar for Ocean Waves and Wind (GROW) - Imagery
of Wave Height and Winds
9 Vertical Profile of Ozone Concentration (VPOC) - Profile
of Ozone Concentration
10 Electrostatic Probe (PROBE) - Electron Temperature
Measurement (point)
11 Realtime Data Relay via ATS-F (DRS) - Data Transmission
via a Stationary Satellite
The concept of using a multiprocessor for Application Satellites
offers many advantages These include
Increased realiability
bull Shorter mission development time
bull Cost savings
Efficient experiment management via experiment cross talk
0 Real time processed data
The basic idea of a multiprocessor is a computer organization in
which a particular function does not depend on a particular piece of
hardware As failures occur the total capability of the computing
system is decreased but all functions will still be accomplished according
to their priority In this manner the total system reliability may be
increased
The shorter mission development time and cost savings are
achieved by eliminating the requirement for the experimenters to
fabricate much of the hard wired equipment for their experiment The
sensor would be connected directly to the processor which would provide
the control calibration checkout and data handling functions The
present mission development time may take six to eight years from
experiment concept until flight of which three to four are for equipment
fabrication With a processor already built the experiment hardware
development consisting of sensor and supporting hardware is replaced
by sensor and software support This should reduce experiment developshy
ment time by one to two years and by reducing the amount of one time
hardware development experiment costs should be reduced proportionately
The use of a multiprocessor concept also provides an easy method
to change the mission should that be desired Should RFI antenna
sensor development or other problems require a change in the experiment
package to be flownan off the shelf sensor or backup experiment sensor
can be substituted and the appropriate software loaded into the computer
This same capability permits the spacecraft constants such as control
loop gain telemetry formatting data compression technique experiment
control etc to be changed throughout mission development and even
after launch
-3shy
Efficient experiment management is achieved by being able to use
the output of one experiment to control another sensor For example if
one experiment requires cloud free conditions the output from a cloud
sensing sensor could be used to determine if useful data can be obtained
from the first experiment In a similar vein one of the experiment
sensors could be substituted for a horizon or sun sensor in the attitude
control system should a failure occur All that is required is a means
for getting processed sensor data to the attitude control system and the
multiprocessor would provide that means
The ability to make information available in real time has been
proven to be extremely valuable in the field of meteorology Cloud cover
images relayed in real time have been effectively used by local meteorshy
ologists On board processing of such data permits enhancement
calibration and gridding to be included in the data and will permit the
real time availability of temperature and water vapor profiles which are
also of prime importance to forecasters
The Phase I report considered the experiments and spacecraft
operations that would be implemented by the processor The general
mission configuration is as shown in Figure 1-1 In general all data
handling and processing functions will be accomplished in the computer
It has been assumed that the standard Nimbus D spacecraft hardware
-4shy
)9~amp~MSP19ZCRA057 11w4
4g674 iA MD
TFZEYII- 4 Ig~~j
7XY I
AvOAN
4goove
I -
07 svr
U~~~~~~ast T u4AW0106Kfg~vC5I IceulucuPM5Of I 9o
sC~NflUA$ I
FIUE 11 S SION C N IGURATION
such as the attitude sensors reactive jets and momentum wheels tape
recorders transmitters etc will remain The general multiprocessor
configuration illustrated in Figure 1-2 was identified during contract
NAS 12-507 Multiprocessing Techniques for Unmanned Multifunctional
Satellite s
This Phase IIreport details the functions that the processor must
perform The experiment control data handling and spacecraft operations
are described flow charts developed instructions and data storage
requirements judged and operationssec estimated In addition to
controlling the spacecraft and experiment operations the processor
will perform specific data processing functions These functions are
1 Processing of imagery data (ESMR MRIR MRMR PICOM
GROW) including
a Sun angle correction
b In flight calibration
c Laboratory curve correction
d Gridding
2 Processing of temperature and~humidity profiling data (ITPR
SCRWV2 MICSPEC VPOC) including
a Sun angle correction
b In flight calibration
-6shy
T 1 R]
fpocrsoe unT7-
SW77- I 7NR
FIGURE 1-2 MULTIPROCESSOR SYSTEM
-7shy
c Laboratory curve correction
d Radiative transfer matrix inversion to obtain profile
e Gridding
It is in this area where on board processing has its greatest potential
The striking success of the Automatic Picture Transmission (APT)
concept flown on TIROS VIII Nimbus I ESSA-2 Nimbus II and others
has demonstrated the great value of APT data to local meteorological
stations A real time system capable of also producing temperature and
humidity profiles as well as calibrated gridded imagery would be of
even greater assistance to forecasters ships at sea and many other
users of weather information
The functions and requirements of the executivesupervisor of the
processor are also examined as well as an on-board checkout system
These two operations control the entire system The assignments of
processing and memory modules to certain tasks equipment evaluation
and equipment scheduling control the operation of the multiprocessor
-8shy
SECTION 2
EXPERIMENTS
This section deals with the given set of experiments their
Characteristics Processing Requirements and possible Common
Interface The given set of experiments are those which are candidates
for the Nimbus E Spacecraft
2 1 CHARACTERISTICS
Keeping in mind that the end product of this study is a design of a
multiprocessor to be used on a operating system the following assumpshy
tions were made
Sensors will incorporate some method of inflight calibration
which will be an integral part of its observation cycle
Sensors may have spare circuits components or modules
which can be switched in or out as a failure is detected
The equipment will not be in an experimental status i e
the general processing requirements for each sensor will be
known
All scanning or pointing will be controlled by the multiprocessor
-9shy
The following assumptions were not included but should be
considered for future operating systems
The sensors will have a much higher resolution than those
considered in the given set of experiments
0 Due to higher resolution the data rates will be greater
Radiometers will probably be of the vidicon tube type
One sensor package will perform the combined tasks of
several of the experiments in the given set
Radiometers will probably have data rates of 35KHz
per channel
Table 2 1-1 is a summary of the more important characteristics
of the experiments used in this study Several interesting observations
are brought to light as the table is studied not the least of which is the
fact that there is considerable overlap in the sensing of certain regions
of the spectrum The table also lists the types of observations approxshy
imate data rates dimensions of the scan and the approximate sampling
rates
Table Z 1-2 list the types of processing which could be performed
on the data depending upon the type of output desired
Following these tables is a list of the experiments with their detailed
characteristics grouped under the following headings Input (to the
-10shy
experiment) Output (from the experiment) Stabilization and Control
(requirements of the experiment) and Processing (requirements peculiar
to the experiment)
-1i1shy
Experiment Acronym
ESMR Image
HRIR Image
HRMR Image
ITPR Profile
SCRWVZ Profile
MICSPEC Profile
NSUMMARY
Number of Spectrum of
Channels ChannelsI
I
1 155 am (1935
HRI 11 i 045 to o 75At 1 100 to 120t
1 84 to to 94g 1 102 to 11 4
1 6 7) (Water VaporI
1and)
4 15V (CO 2 Band)
4 9 to18A(Temp-erature and Watervapor)
7 15t (CO 2 Band) I 45-L 1 133C (Cirrus Clouds)MICPECGE115 1 135 cm (222 G1z) 1 095 cn (314 GHz) I 055 cn(5365 GHz) 1 049 cm (60 82 GHz) 1 0 47 cm (6447 GHz)
Samples Read Peak per Time Sampling
Usage Measurement Dimensions Scan per Rate TimeDay Range of Scan Sensor Scan SecI i I
I 30 I I
12 hrs 50 to 3Hz) 160 1000 63 1 4 seai 45
0 00 o3scI 27K124 hrs 103degl100 400 03 s
I i o 0 24hrs 003x60 12000 0017 2353K
I bull
24 hrs 250 x 72501 29 60 29
-h I9 hrs 0 to 035
nillirs 66 1 1 13
0
I 206 to 250deg K
24 hrs 0 to 400deg0 9 5 I I
I F I [
OF THE EXPERIMENT CHARACTERISTICS
TABLE 2 1-1
Ave rage Data
Peak Rate Data per Rate Scan (BPS) (BPS)
360 101
216 600
I 1 188M 3Z0000
i232 232
I 104 104
8 8
Ave rage Data
Samples Read Peak Peak Rate
Number per Time Sampling Data per
Experiment Acronym
of Channels
Spectrum of Channels
Usage TimeDay
Measurement Range
Dimensions of Scan
Scan Sensor
per Scan
Rate Sec
Rate Scan (BPS) (BPS)
PICOM Map I
I I AMU 4 A MU 1 I I c I 15 Ise
G1 14 and 16 AMU 10 hr ito 20 AMU NA 0120 120
Profile 12 20 cm (15 GHz) 12 hrs Ito 4meters 255 x 15 7 a sec 7 56 56
VPofile 025A o Profile 1 0 28) 2 hrs 0170 x3 0 18 20 sec4 18 144 144
PROBE Point Value
i2 j 10 hr I
NA I
13 1 rec 126 208 1208 I
RELAY 2 Antenna pointing I 12 hrs 10300 INA A NA steer-IA
Steering Angle i ing and er6m 4x1Da Experiment Data I II I xp Datal
SUMARY OF THE EXPERIMENT CHARATERISTICS
TABLE 2 1-1 (continued)
Table 2 1-2
EXPERIMENT PROCESSING
CONTROLS
Experiment Scan Calibra- Enhance- Rectification Super Misc Data Data Management tion ment positicn
C0 Compress Hand
U 00
gtc gt
0U ~
0IC C )
C C0 0 0 0
Q 0___ 0 C 0 0 0 U b HHP
RADIOMETERS
(1)ES~R X p-x x x x xx p p X X X x P x p p p p X p X p p X x
(2)HRIR x p x x x xx p p xX xp p p p X p xp p x x
(3) HRMR x p x x xx xp ppX X p x p p p x p x p p x x
(4) ITPR x p x X xX xx pp xc xx pp p ppXp p x x
(5) SCRWVZ x x x x xx x p x xpXp p p x p p x x
SPECTROMETERS
(6) MIOSPEC
(7) PICOM
Xx x
IX x
Xp x
x
KX x
IXF x x X x
pX pp X X p p x x
SX
X X P X pp X Ppp
pCpCppx
pp XpPX pp X pp pP x x x x
SCA TTEROMIETER
(8)GROW x- x x xx xx pp xx xxppp P P PXp p x x
PHOTOMETER
(9) VPOC x px x xx xx p~p xx xxppppp PP Xp p x x
ELECTROSTATIC
(10)PROBE x p x p I I p p pp xx
DATA RELAY
(I1)DAR U p x xxx
R - ppossible x included in x~ x X
-14- requirenments
ESMR - Electrically Scanned Microwave Radiometer
Inputs
I Power ONOFF
2 Deployment of antenna after orbit is achieved
3 Beam scanning (78 discrete positions for + 500
field of view)
4 Switching of redundant circuits
Outputs
1 Data rate (peak) 360 bitsec
2 Serial readout
3 Calibration data 1 - 10 bit word every 2 minutes
4 Housekeeping data 1- 10 bit word every 2 minutes
Stabilization and Control
1 Local vertical orientation
2 + 2 pointing accuracy
Processing
1 Concurrent operation with another radiometer
2 Angular Resolution 1 6 degrees
3 Time constant 2 seconds
4 Calibration two sources (50 0 k and 3300 k)
5 Dynamic range 50 0 k to 330 0 k accurate to 20 k
-15shy
Illustrations
Figure Page
1-1 Mission Configuration 5
1-2 Multiprocessing System 2
Z 2-1 Software Approach to Data Processing 27
2 Z-2 HardwareSoftware Approach to Data Processing 28
2 2-3 Inflight Calibration and Laboratory Curve Correction Process 29
Z 2-4 Sun Angle Enhancement Process 30
22-5 Gridding Process 31
22-6 Profiling Process 33
22-7 Functional Data Flow 37
22-8 Orbit Experiment Time Line 39
22-9 Ground Contact Time 40
24-1 ESME Functional Flow Diagram 49
24-2 HRIR Functional Flow Diagram 50
Z 4-3 HRMR Functional Flow Diagram 51
24-4 ITPR Functional Flow Diagram 52
Z 4-5 SCRWV2 Functional Flow Diagram 53
24-6 MICSPEC Functional Flow Diagram 54
24-7 PICOM Functional Flow Diagram 55
24-8 GROW Functional Flow Diagram 56
vii
Illustrations - continued
Figure Page
24-9 VPOC Functional Flow Diagram 57
24-10 PROBE Function Flow Diagram 58
24-11 Geometry for Antenna Pointing 60
24-12 Antenna Pointing Equation Flow 61
3 1-1 Command Handling 79
3 2-1 Attitude Status Loop 83
32-2 Pitch Control Loop 84
3 2-3 Roll Control Loop 85
32-4 Yaw Control Loop 86
34-1 Picture of Gridding Approach 91
34-2 Gridding Algorithm 92
36-1 Data Storage and Transmission System 94
4 2-1 OCS Functional Block Diagram 101
43-1 OCS Summary Program Flow 1l1
viii
TABLES
Page
2 1-1 Summary of the Experiment Characteristics 12
2 1-2 Experiment Processing 14
25-1 ESMR Sizing Estimate 63
25-2 HRIR Sizing Estimate 64
2 5-3 HRMR Sizing Estimate 65
2 5-4 ITPR Sizing Estimate 66
25-5 SCRWV2 Sizing Estimate 67
25-6 MICSPEC Sizing Estimate 68
25-7 PICOM Sizing Estimate 69
25-8 GROW Sizing Estimate 70
25-9 VPOC Sizing Estimate 71
25-10 PROBE Sizing Estimate 72
25-11 Data Relay Sizing Estimate 73
25-12 Experiment Total Sizing Estimate 74
38-1 Spacecraft Sizing Estimates 96
4 2-1 Stimulus Signals 105
4 2-2 Measurement Signals 107
43-1 OCS Summary Program Flow 111
ix
TABLES - continued
Page
44-1 OCS Sizing Estimates 120
5-1 Supervisor Functions 123
6-1 Instruction Set 126
6-2 Processor Storage and Execution Requirements 129
x
SECTION 1
INTRODUCTION
This report documents the accomplishments of Phase II of contract
NAS 12-660 Research on Multiprocessing Techniques for Multifunctional
Satellites The basic objective of this contract is to examine the use
of a multiprocessor computer configuration for data management data
processing and spacecraft operations for Application Satellites Toward
that end the Nimbus E mission has been selected using the Nimbus D
spacecraft as the platform The experiments selected for this study
and their desired outputs are
1 Electrically Scanned Microwave Radiometer (ESMR) -
Image ry
2 High Resolution Infrared Radiometer (HRIR) - Imagery
3 High Resolution Surface Composition Mapping (HRMR) -
Imagery of Earth s Surface
4 Infrared Temperature Profile Radiometer (ITPR) - Profile
of Temperature and Water Vapor
5 Selective Chopper Radiometer (SCRWV2) - Profile of
Temperature and Water Vapor
6 Microwave Spectrometer (MICSPEC) - Temperature and
Water Vapor Profiles
7 Positive Ion Composition (PICOM) - Global Ion Composition
Mapping
-ishy
8 Global Radar for Ocean Waves and Wind (GROW) - Imagery
of Wave Height and Winds
9 Vertical Profile of Ozone Concentration (VPOC) - Profile
of Ozone Concentration
10 Electrostatic Probe (PROBE) - Electron Temperature
Measurement (point)
11 Realtime Data Relay via ATS-F (DRS) - Data Transmission
via a Stationary Satellite
The concept of using a multiprocessor for Application Satellites
offers many advantages These include
Increased realiability
bull Shorter mission development time
bull Cost savings
Efficient experiment management via experiment cross talk
0 Real time processed data
The basic idea of a multiprocessor is a computer organization in
which a particular function does not depend on a particular piece of
hardware As failures occur the total capability of the computing
system is decreased but all functions will still be accomplished according
to their priority In this manner the total system reliability may be
increased
The shorter mission development time and cost savings are
achieved by eliminating the requirement for the experimenters to
fabricate much of the hard wired equipment for their experiment The
sensor would be connected directly to the processor which would provide
the control calibration checkout and data handling functions The
present mission development time may take six to eight years from
experiment concept until flight of which three to four are for equipment
fabrication With a processor already built the experiment hardware
development consisting of sensor and supporting hardware is replaced
by sensor and software support This should reduce experiment developshy
ment time by one to two years and by reducing the amount of one time
hardware development experiment costs should be reduced proportionately
The use of a multiprocessor concept also provides an easy method
to change the mission should that be desired Should RFI antenna
sensor development or other problems require a change in the experiment
package to be flownan off the shelf sensor or backup experiment sensor
can be substituted and the appropriate software loaded into the computer
This same capability permits the spacecraft constants such as control
loop gain telemetry formatting data compression technique experiment
control etc to be changed throughout mission development and even
after launch
-3shy
Efficient experiment management is achieved by being able to use
the output of one experiment to control another sensor For example if
one experiment requires cloud free conditions the output from a cloud
sensing sensor could be used to determine if useful data can be obtained
from the first experiment In a similar vein one of the experiment
sensors could be substituted for a horizon or sun sensor in the attitude
control system should a failure occur All that is required is a means
for getting processed sensor data to the attitude control system and the
multiprocessor would provide that means
The ability to make information available in real time has been
proven to be extremely valuable in the field of meteorology Cloud cover
images relayed in real time have been effectively used by local meteorshy
ologists On board processing of such data permits enhancement
calibration and gridding to be included in the data and will permit the
real time availability of temperature and water vapor profiles which are
also of prime importance to forecasters
The Phase I report considered the experiments and spacecraft
operations that would be implemented by the processor The general
mission configuration is as shown in Figure 1-1 In general all data
handling and processing functions will be accomplished in the computer
It has been assumed that the standard Nimbus D spacecraft hardware
-4shy
)9~amp~MSP19ZCRA057 11w4
4g674 iA MD
TFZEYII- 4 Ig~~j
7XY I
AvOAN
4goove
I -
07 svr
U~~~~~~ast T u4AW0106Kfg~vC5I IceulucuPM5Of I 9o
sC~NflUA$ I
FIUE 11 S SION C N IGURATION
such as the attitude sensors reactive jets and momentum wheels tape
recorders transmitters etc will remain The general multiprocessor
configuration illustrated in Figure 1-2 was identified during contract
NAS 12-507 Multiprocessing Techniques for Unmanned Multifunctional
Satellite s
This Phase IIreport details the functions that the processor must
perform The experiment control data handling and spacecraft operations
are described flow charts developed instructions and data storage
requirements judged and operationssec estimated In addition to
controlling the spacecraft and experiment operations the processor
will perform specific data processing functions These functions are
1 Processing of imagery data (ESMR MRIR MRMR PICOM
GROW) including
a Sun angle correction
b In flight calibration
c Laboratory curve correction
d Gridding
2 Processing of temperature and~humidity profiling data (ITPR
SCRWV2 MICSPEC VPOC) including
a Sun angle correction
b In flight calibration
-6shy
T 1 R]
fpocrsoe unT7-
SW77- I 7NR
FIGURE 1-2 MULTIPROCESSOR SYSTEM
-7shy
c Laboratory curve correction
d Radiative transfer matrix inversion to obtain profile
e Gridding
It is in this area where on board processing has its greatest potential
The striking success of the Automatic Picture Transmission (APT)
concept flown on TIROS VIII Nimbus I ESSA-2 Nimbus II and others
has demonstrated the great value of APT data to local meteorological
stations A real time system capable of also producing temperature and
humidity profiles as well as calibrated gridded imagery would be of
even greater assistance to forecasters ships at sea and many other
users of weather information
The functions and requirements of the executivesupervisor of the
processor are also examined as well as an on-board checkout system
These two operations control the entire system The assignments of
processing and memory modules to certain tasks equipment evaluation
and equipment scheduling control the operation of the multiprocessor
-8shy
SECTION 2
EXPERIMENTS
This section deals with the given set of experiments their
Characteristics Processing Requirements and possible Common
Interface The given set of experiments are those which are candidates
for the Nimbus E Spacecraft
2 1 CHARACTERISTICS
Keeping in mind that the end product of this study is a design of a
multiprocessor to be used on a operating system the following assumpshy
tions were made
Sensors will incorporate some method of inflight calibration
which will be an integral part of its observation cycle
Sensors may have spare circuits components or modules
which can be switched in or out as a failure is detected
The equipment will not be in an experimental status i e
the general processing requirements for each sensor will be
known
All scanning or pointing will be controlled by the multiprocessor
-9shy
The following assumptions were not included but should be
considered for future operating systems
The sensors will have a much higher resolution than those
considered in the given set of experiments
0 Due to higher resolution the data rates will be greater
Radiometers will probably be of the vidicon tube type
One sensor package will perform the combined tasks of
several of the experiments in the given set
Radiometers will probably have data rates of 35KHz
per channel
Table 2 1-1 is a summary of the more important characteristics
of the experiments used in this study Several interesting observations
are brought to light as the table is studied not the least of which is the
fact that there is considerable overlap in the sensing of certain regions
of the spectrum The table also lists the types of observations approxshy
imate data rates dimensions of the scan and the approximate sampling
rates
Table Z 1-2 list the types of processing which could be performed
on the data depending upon the type of output desired
Following these tables is a list of the experiments with their detailed
characteristics grouped under the following headings Input (to the
-10shy
experiment) Output (from the experiment) Stabilization and Control
(requirements of the experiment) and Processing (requirements peculiar
to the experiment)
-1i1shy
Experiment Acronym
ESMR Image
HRIR Image
HRMR Image
ITPR Profile
SCRWVZ Profile
MICSPEC Profile
NSUMMARY
Number of Spectrum of
Channels ChannelsI
I
1 155 am (1935
HRI 11 i 045 to o 75At 1 100 to 120t
1 84 to to 94g 1 102 to 11 4
1 6 7) (Water VaporI
1and)
4 15V (CO 2 Band)
4 9 to18A(Temp-erature and Watervapor)
7 15t (CO 2 Band) I 45-L 1 133C (Cirrus Clouds)MICPECGE115 1 135 cm (222 G1z) 1 095 cn (314 GHz) I 055 cn(5365 GHz) 1 049 cm (60 82 GHz) 1 0 47 cm (6447 GHz)
Samples Read Peak per Time Sampling
Usage Measurement Dimensions Scan per Rate TimeDay Range of Scan Sensor Scan SecI i I
I 30 I I
12 hrs 50 to 3Hz) 160 1000 63 1 4 seai 45
0 00 o3scI 27K124 hrs 103degl100 400 03 s
I i o 0 24hrs 003x60 12000 0017 2353K
I bull
24 hrs 250 x 72501 29 60 29
-h I9 hrs 0 to 035
nillirs 66 1 1 13
0
I 206 to 250deg K
24 hrs 0 to 400deg0 9 5 I I
I F I [
OF THE EXPERIMENT CHARACTERISTICS
TABLE 2 1-1
Ave rage Data
Peak Rate Data per Rate Scan (BPS) (BPS)
360 101
216 600
I 1 188M 3Z0000
i232 232
I 104 104
8 8
Ave rage Data
Samples Read Peak Peak Rate
Number per Time Sampling Data per
Experiment Acronym
of Channels
Spectrum of Channels
Usage TimeDay
Measurement Range
Dimensions of Scan
Scan Sensor
per Scan
Rate Sec
Rate Scan (BPS) (BPS)
PICOM Map I
I I AMU 4 A MU 1 I I c I 15 Ise
G1 14 and 16 AMU 10 hr ito 20 AMU NA 0120 120
Profile 12 20 cm (15 GHz) 12 hrs Ito 4meters 255 x 15 7 a sec 7 56 56
VPofile 025A o Profile 1 0 28) 2 hrs 0170 x3 0 18 20 sec4 18 144 144
PROBE Point Value
i2 j 10 hr I
NA I
13 1 rec 126 208 1208 I
RELAY 2 Antenna pointing I 12 hrs 10300 INA A NA steer-IA
Steering Angle i ing and er6m 4x1Da Experiment Data I II I xp Datal
SUMARY OF THE EXPERIMENT CHARATERISTICS
TABLE 2 1-1 (continued)
Table 2 1-2
EXPERIMENT PROCESSING
CONTROLS
Experiment Scan Calibra- Enhance- Rectification Super Misc Data Data Management tion ment positicn
C0 Compress Hand
U 00
gtc gt
0U ~
0IC C )
C C0 0 0 0
Q 0___ 0 C 0 0 0 U b HHP
RADIOMETERS
(1)ES~R X p-x x x x xx p p X X X x P x p p p p X p X p p X x
(2)HRIR x p x x x xx p p xX xp p p p X p xp p x x
(3) HRMR x p x x xx xp ppX X p x p p p x p x p p x x
(4) ITPR x p x X xX xx pp xc xx pp p ppXp p x x
(5) SCRWVZ x x x x xx x p x xpXp p p x p p x x
SPECTROMETERS
(6) MIOSPEC
(7) PICOM
Xx x
IX x
Xp x
x
KX x
IXF x x X x
pX pp X X p p x x
SX
X X P X pp X Ppp
pCpCppx
pp XpPX pp X pp pP x x x x
SCA TTEROMIETER
(8)GROW x- x x xx xx pp xx xxppp P P PXp p x x
PHOTOMETER
(9) VPOC x px x xx xx p~p xx xxppppp PP Xp p x x
ELECTROSTATIC
(10)PROBE x p x p I I p p pp xx
DATA RELAY
(I1)DAR U p x xxx
R - ppossible x included in x~ x X
-14- requirenments
ESMR - Electrically Scanned Microwave Radiometer
Inputs
I Power ONOFF
2 Deployment of antenna after orbit is achieved
3 Beam scanning (78 discrete positions for + 500
field of view)
4 Switching of redundant circuits
Outputs
1 Data rate (peak) 360 bitsec
2 Serial readout
3 Calibration data 1 - 10 bit word every 2 minutes
4 Housekeeping data 1- 10 bit word every 2 minutes
Stabilization and Control
1 Local vertical orientation
2 + 2 pointing accuracy
Processing
1 Concurrent operation with another radiometer
2 Angular Resolution 1 6 degrees
3 Time constant 2 seconds
4 Calibration two sources (50 0 k and 3300 k)
5 Dynamic range 50 0 k to 330 0 k accurate to 20 k
-15shy
Illustrations - continued
Figure Page
24-9 VPOC Functional Flow Diagram 57
24-10 PROBE Function Flow Diagram 58
24-11 Geometry for Antenna Pointing 60
24-12 Antenna Pointing Equation Flow 61
3 1-1 Command Handling 79
3 2-1 Attitude Status Loop 83
32-2 Pitch Control Loop 84
3 2-3 Roll Control Loop 85
32-4 Yaw Control Loop 86
34-1 Picture of Gridding Approach 91
34-2 Gridding Algorithm 92
36-1 Data Storage and Transmission System 94
4 2-1 OCS Functional Block Diagram 101
43-1 OCS Summary Program Flow 1l1
viii
TABLES
Page
2 1-1 Summary of the Experiment Characteristics 12
2 1-2 Experiment Processing 14
25-1 ESMR Sizing Estimate 63
25-2 HRIR Sizing Estimate 64
2 5-3 HRMR Sizing Estimate 65
2 5-4 ITPR Sizing Estimate 66
25-5 SCRWV2 Sizing Estimate 67
25-6 MICSPEC Sizing Estimate 68
25-7 PICOM Sizing Estimate 69
25-8 GROW Sizing Estimate 70
25-9 VPOC Sizing Estimate 71
25-10 PROBE Sizing Estimate 72
25-11 Data Relay Sizing Estimate 73
25-12 Experiment Total Sizing Estimate 74
38-1 Spacecraft Sizing Estimates 96
4 2-1 Stimulus Signals 105
4 2-2 Measurement Signals 107
43-1 OCS Summary Program Flow 111
ix
TABLES - continued
Page
44-1 OCS Sizing Estimates 120
5-1 Supervisor Functions 123
6-1 Instruction Set 126
6-2 Processor Storage and Execution Requirements 129
x
SECTION 1
INTRODUCTION
This report documents the accomplishments of Phase II of contract
NAS 12-660 Research on Multiprocessing Techniques for Multifunctional
Satellites The basic objective of this contract is to examine the use
of a multiprocessor computer configuration for data management data
processing and spacecraft operations for Application Satellites Toward
that end the Nimbus E mission has been selected using the Nimbus D
spacecraft as the platform The experiments selected for this study
and their desired outputs are
1 Electrically Scanned Microwave Radiometer (ESMR) -
Image ry
2 High Resolution Infrared Radiometer (HRIR) - Imagery
3 High Resolution Surface Composition Mapping (HRMR) -
Imagery of Earth s Surface
4 Infrared Temperature Profile Radiometer (ITPR) - Profile
of Temperature and Water Vapor
5 Selective Chopper Radiometer (SCRWV2) - Profile of
Temperature and Water Vapor
6 Microwave Spectrometer (MICSPEC) - Temperature and
Water Vapor Profiles
7 Positive Ion Composition (PICOM) - Global Ion Composition
Mapping
-ishy
8 Global Radar for Ocean Waves and Wind (GROW) - Imagery
of Wave Height and Winds
9 Vertical Profile of Ozone Concentration (VPOC) - Profile
of Ozone Concentration
10 Electrostatic Probe (PROBE) - Electron Temperature
Measurement (point)
11 Realtime Data Relay via ATS-F (DRS) - Data Transmission
via a Stationary Satellite
The concept of using a multiprocessor for Application Satellites
offers many advantages These include
Increased realiability
bull Shorter mission development time
bull Cost savings
Efficient experiment management via experiment cross talk
0 Real time processed data
The basic idea of a multiprocessor is a computer organization in
which a particular function does not depend on a particular piece of
hardware As failures occur the total capability of the computing
system is decreased but all functions will still be accomplished according
to their priority In this manner the total system reliability may be
increased
The shorter mission development time and cost savings are
achieved by eliminating the requirement for the experimenters to
fabricate much of the hard wired equipment for their experiment The
sensor would be connected directly to the processor which would provide
the control calibration checkout and data handling functions The
present mission development time may take six to eight years from
experiment concept until flight of which three to four are for equipment
fabrication With a processor already built the experiment hardware
development consisting of sensor and supporting hardware is replaced
by sensor and software support This should reduce experiment developshy
ment time by one to two years and by reducing the amount of one time
hardware development experiment costs should be reduced proportionately
The use of a multiprocessor concept also provides an easy method
to change the mission should that be desired Should RFI antenna
sensor development or other problems require a change in the experiment
package to be flownan off the shelf sensor or backup experiment sensor
can be substituted and the appropriate software loaded into the computer
This same capability permits the spacecraft constants such as control
loop gain telemetry formatting data compression technique experiment
control etc to be changed throughout mission development and even
after launch
-3shy
Efficient experiment management is achieved by being able to use
the output of one experiment to control another sensor For example if
one experiment requires cloud free conditions the output from a cloud
sensing sensor could be used to determine if useful data can be obtained
from the first experiment In a similar vein one of the experiment
sensors could be substituted for a horizon or sun sensor in the attitude
control system should a failure occur All that is required is a means
for getting processed sensor data to the attitude control system and the
multiprocessor would provide that means
The ability to make information available in real time has been
proven to be extremely valuable in the field of meteorology Cloud cover
images relayed in real time have been effectively used by local meteorshy
ologists On board processing of such data permits enhancement
calibration and gridding to be included in the data and will permit the
real time availability of temperature and water vapor profiles which are
also of prime importance to forecasters
The Phase I report considered the experiments and spacecraft
operations that would be implemented by the processor The general
mission configuration is as shown in Figure 1-1 In general all data
handling and processing functions will be accomplished in the computer
It has been assumed that the standard Nimbus D spacecraft hardware
-4shy
)9~amp~MSP19ZCRA057 11w4
4g674 iA MD
TFZEYII- 4 Ig~~j
7XY I
AvOAN
4goove
I -
07 svr
U~~~~~~ast T u4AW0106Kfg~vC5I IceulucuPM5Of I 9o
sC~NflUA$ I
FIUE 11 S SION C N IGURATION
such as the attitude sensors reactive jets and momentum wheels tape
recorders transmitters etc will remain The general multiprocessor
configuration illustrated in Figure 1-2 was identified during contract
NAS 12-507 Multiprocessing Techniques for Unmanned Multifunctional
Satellite s
This Phase IIreport details the functions that the processor must
perform The experiment control data handling and spacecraft operations
are described flow charts developed instructions and data storage
requirements judged and operationssec estimated In addition to
controlling the spacecraft and experiment operations the processor
will perform specific data processing functions These functions are
1 Processing of imagery data (ESMR MRIR MRMR PICOM
GROW) including
a Sun angle correction
b In flight calibration
c Laboratory curve correction
d Gridding
2 Processing of temperature and~humidity profiling data (ITPR
SCRWV2 MICSPEC VPOC) including
a Sun angle correction
b In flight calibration
-6shy
T 1 R]
fpocrsoe unT7-
SW77- I 7NR
FIGURE 1-2 MULTIPROCESSOR SYSTEM
-7shy
c Laboratory curve correction
d Radiative transfer matrix inversion to obtain profile
e Gridding
It is in this area where on board processing has its greatest potential
The striking success of the Automatic Picture Transmission (APT)
concept flown on TIROS VIII Nimbus I ESSA-2 Nimbus II and others
has demonstrated the great value of APT data to local meteorological
stations A real time system capable of also producing temperature and
humidity profiles as well as calibrated gridded imagery would be of
even greater assistance to forecasters ships at sea and many other
users of weather information
The functions and requirements of the executivesupervisor of the
processor are also examined as well as an on-board checkout system
These two operations control the entire system The assignments of
processing and memory modules to certain tasks equipment evaluation
and equipment scheduling control the operation of the multiprocessor
-8shy
SECTION 2
EXPERIMENTS
This section deals with the given set of experiments their
Characteristics Processing Requirements and possible Common
Interface The given set of experiments are those which are candidates
for the Nimbus E Spacecraft
2 1 CHARACTERISTICS
Keeping in mind that the end product of this study is a design of a
multiprocessor to be used on a operating system the following assumpshy
tions were made
Sensors will incorporate some method of inflight calibration
which will be an integral part of its observation cycle
Sensors may have spare circuits components or modules
which can be switched in or out as a failure is detected
The equipment will not be in an experimental status i e
the general processing requirements for each sensor will be
known
All scanning or pointing will be controlled by the multiprocessor
-9shy
The following assumptions were not included but should be
considered for future operating systems
The sensors will have a much higher resolution than those
considered in the given set of experiments
0 Due to higher resolution the data rates will be greater
Radiometers will probably be of the vidicon tube type
One sensor package will perform the combined tasks of
several of the experiments in the given set
Radiometers will probably have data rates of 35KHz
per channel
Table 2 1-1 is a summary of the more important characteristics
of the experiments used in this study Several interesting observations
are brought to light as the table is studied not the least of which is the
fact that there is considerable overlap in the sensing of certain regions
of the spectrum The table also lists the types of observations approxshy
imate data rates dimensions of the scan and the approximate sampling
rates
Table Z 1-2 list the types of processing which could be performed
on the data depending upon the type of output desired
Following these tables is a list of the experiments with their detailed
characteristics grouped under the following headings Input (to the
-10shy
experiment) Output (from the experiment) Stabilization and Control
(requirements of the experiment) and Processing (requirements peculiar
to the experiment)
-1i1shy
Experiment Acronym
ESMR Image
HRIR Image
HRMR Image
ITPR Profile
SCRWVZ Profile
MICSPEC Profile
NSUMMARY
Number of Spectrum of
Channels ChannelsI
I
1 155 am (1935
HRI 11 i 045 to o 75At 1 100 to 120t
1 84 to to 94g 1 102 to 11 4
1 6 7) (Water VaporI
1and)
4 15V (CO 2 Band)
4 9 to18A(Temp-erature and Watervapor)
7 15t (CO 2 Band) I 45-L 1 133C (Cirrus Clouds)MICPECGE115 1 135 cm (222 G1z) 1 095 cn (314 GHz) I 055 cn(5365 GHz) 1 049 cm (60 82 GHz) 1 0 47 cm (6447 GHz)
Samples Read Peak per Time Sampling
Usage Measurement Dimensions Scan per Rate TimeDay Range of Scan Sensor Scan SecI i I
I 30 I I
12 hrs 50 to 3Hz) 160 1000 63 1 4 seai 45
0 00 o3scI 27K124 hrs 103degl100 400 03 s
I i o 0 24hrs 003x60 12000 0017 2353K
I bull
24 hrs 250 x 72501 29 60 29
-h I9 hrs 0 to 035
nillirs 66 1 1 13
0
I 206 to 250deg K
24 hrs 0 to 400deg0 9 5 I I
I F I [
OF THE EXPERIMENT CHARACTERISTICS
TABLE 2 1-1
Ave rage Data
Peak Rate Data per Rate Scan (BPS) (BPS)
360 101
216 600
I 1 188M 3Z0000
i232 232
I 104 104
8 8
Ave rage Data
Samples Read Peak Peak Rate
Number per Time Sampling Data per
Experiment Acronym
of Channels
Spectrum of Channels
Usage TimeDay
Measurement Range
Dimensions of Scan
Scan Sensor
per Scan
Rate Sec
Rate Scan (BPS) (BPS)
PICOM Map I
I I AMU 4 A MU 1 I I c I 15 Ise
G1 14 and 16 AMU 10 hr ito 20 AMU NA 0120 120
Profile 12 20 cm (15 GHz) 12 hrs Ito 4meters 255 x 15 7 a sec 7 56 56
VPofile 025A o Profile 1 0 28) 2 hrs 0170 x3 0 18 20 sec4 18 144 144
PROBE Point Value
i2 j 10 hr I
NA I
13 1 rec 126 208 1208 I
RELAY 2 Antenna pointing I 12 hrs 10300 INA A NA steer-IA
Steering Angle i ing and er6m 4x1Da Experiment Data I II I xp Datal
SUMARY OF THE EXPERIMENT CHARATERISTICS
TABLE 2 1-1 (continued)
Table 2 1-2
EXPERIMENT PROCESSING
CONTROLS
Experiment Scan Calibra- Enhance- Rectification Super Misc Data Data Management tion ment positicn
C0 Compress Hand
U 00
gtc gt
0U ~
0IC C )
C C0 0 0 0
Q 0___ 0 C 0 0 0 U b HHP
RADIOMETERS
(1)ES~R X p-x x x x xx p p X X X x P x p p p p X p X p p X x
(2)HRIR x p x x x xx p p xX xp p p p X p xp p x x
(3) HRMR x p x x xx xp ppX X p x p p p x p x p p x x
(4) ITPR x p x X xX xx pp xc xx pp p ppXp p x x
(5) SCRWVZ x x x x xx x p x xpXp p p x p p x x
SPECTROMETERS
(6) MIOSPEC
(7) PICOM
Xx x
IX x
Xp x
x
KX x
IXF x x X x
pX pp X X p p x x
SX
X X P X pp X Ppp
pCpCppx
pp XpPX pp X pp pP x x x x
SCA TTEROMIETER
(8)GROW x- x x xx xx pp xx xxppp P P PXp p x x
PHOTOMETER
(9) VPOC x px x xx xx p~p xx xxppppp PP Xp p x x
ELECTROSTATIC
(10)PROBE x p x p I I p p pp xx
DATA RELAY
(I1)DAR U p x xxx
R - ppossible x included in x~ x X
-14- requirenments
ESMR - Electrically Scanned Microwave Radiometer
Inputs
I Power ONOFF
2 Deployment of antenna after orbit is achieved
3 Beam scanning (78 discrete positions for + 500
field of view)
4 Switching of redundant circuits
Outputs
1 Data rate (peak) 360 bitsec
2 Serial readout
3 Calibration data 1 - 10 bit word every 2 minutes
4 Housekeeping data 1- 10 bit word every 2 minutes
Stabilization and Control
1 Local vertical orientation
2 + 2 pointing accuracy
Processing
1 Concurrent operation with another radiometer
2 Angular Resolution 1 6 degrees
3 Time constant 2 seconds
4 Calibration two sources (50 0 k and 3300 k)
5 Dynamic range 50 0 k to 330 0 k accurate to 20 k
-15shy
TABLES
Page
2 1-1 Summary of the Experiment Characteristics 12
2 1-2 Experiment Processing 14
25-1 ESMR Sizing Estimate 63
25-2 HRIR Sizing Estimate 64
2 5-3 HRMR Sizing Estimate 65
2 5-4 ITPR Sizing Estimate 66
25-5 SCRWV2 Sizing Estimate 67
25-6 MICSPEC Sizing Estimate 68
25-7 PICOM Sizing Estimate 69
25-8 GROW Sizing Estimate 70
25-9 VPOC Sizing Estimate 71
25-10 PROBE Sizing Estimate 72
25-11 Data Relay Sizing Estimate 73
25-12 Experiment Total Sizing Estimate 74
38-1 Spacecraft Sizing Estimates 96
4 2-1 Stimulus Signals 105
4 2-2 Measurement Signals 107
43-1 OCS Summary Program Flow 111
ix
TABLES - continued
Page
44-1 OCS Sizing Estimates 120
5-1 Supervisor Functions 123
6-1 Instruction Set 126
6-2 Processor Storage and Execution Requirements 129
x
SECTION 1
INTRODUCTION
This report documents the accomplishments of Phase II of contract
NAS 12-660 Research on Multiprocessing Techniques for Multifunctional
Satellites The basic objective of this contract is to examine the use
of a multiprocessor computer configuration for data management data
processing and spacecraft operations for Application Satellites Toward
that end the Nimbus E mission has been selected using the Nimbus D
spacecraft as the platform The experiments selected for this study
and their desired outputs are
1 Electrically Scanned Microwave Radiometer (ESMR) -
Image ry
2 High Resolution Infrared Radiometer (HRIR) - Imagery
3 High Resolution Surface Composition Mapping (HRMR) -
Imagery of Earth s Surface
4 Infrared Temperature Profile Radiometer (ITPR) - Profile
of Temperature and Water Vapor
5 Selective Chopper Radiometer (SCRWV2) - Profile of
Temperature and Water Vapor
6 Microwave Spectrometer (MICSPEC) - Temperature and
Water Vapor Profiles
7 Positive Ion Composition (PICOM) - Global Ion Composition
Mapping
-ishy
8 Global Radar for Ocean Waves and Wind (GROW) - Imagery
of Wave Height and Winds
9 Vertical Profile of Ozone Concentration (VPOC) - Profile
of Ozone Concentration
10 Electrostatic Probe (PROBE) - Electron Temperature
Measurement (point)
11 Realtime Data Relay via ATS-F (DRS) - Data Transmission
via a Stationary Satellite
The concept of using a multiprocessor for Application Satellites
offers many advantages These include
Increased realiability
bull Shorter mission development time
bull Cost savings
Efficient experiment management via experiment cross talk
0 Real time processed data
The basic idea of a multiprocessor is a computer organization in
which a particular function does not depend on a particular piece of
hardware As failures occur the total capability of the computing
system is decreased but all functions will still be accomplished according
to their priority In this manner the total system reliability may be
increased
The shorter mission development time and cost savings are
achieved by eliminating the requirement for the experimenters to
fabricate much of the hard wired equipment for their experiment The
sensor would be connected directly to the processor which would provide
the control calibration checkout and data handling functions The
present mission development time may take six to eight years from
experiment concept until flight of which three to four are for equipment
fabrication With a processor already built the experiment hardware
development consisting of sensor and supporting hardware is replaced
by sensor and software support This should reduce experiment developshy
ment time by one to two years and by reducing the amount of one time
hardware development experiment costs should be reduced proportionately
The use of a multiprocessor concept also provides an easy method
to change the mission should that be desired Should RFI antenna
sensor development or other problems require a change in the experiment
package to be flownan off the shelf sensor or backup experiment sensor
can be substituted and the appropriate software loaded into the computer
This same capability permits the spacecraft constants such as control
loop gain telemetry formatting data compression technique experiment
control etc to be changed throughout mission development and even
after launch
-3shy
Efficient experiment management is achieved by being able to use
the output of one experiment to control another sensor For example if
one experiment requires cloud free conditions the output from a cloud
sensing sensor could be used to determine if useful data can be obtained
from the first experiment In a similar vein one of the experiment
sensors could be substituted for a horizon or sun sensor in the attitude
control system should a failure occur All that is required is a means
for getting processed sensor data to the attitude control system and the
multiprocessor would provide that means
The ability to make information available in real time has been
proven to be extremely valuable in the field of meteorology Cloud cover
images relayed in real time have been effectively used by local meteorshy
ologists On board processing of such data permits enhancement
calibration and gridding to be included in the data and will permit the
real time availability of temperature and water vapor profiles which are
also of prime importance to forecasters
The Phase I report considered the experiments and spacecraft
operations that would be implemented by the processor The general
mission configuration is as shown in Figure 1-1 In general all data
handling and processing functions will be accomplished in the computer
It has been assumed that the standard Nimbus D spacecraft hardware
-4shy
)9~amp~MSP19ZCRA057 11w4
4g674 iA MD
TFZEYII- 4 Ig~~j
7XY I
AvOAN
4goove
I -
07 svr
U~~~~~~ast T u4AW0106Kfg~vC5I IceulucuPM5Of I 9o
sC~NflUA$ I
FIUE 11 S SION C N IGURATION
such as the attitude sensors reactive jets and momentum wheels tape
recorders transmitters etc will remain The general multiprocessor
configuration illustrated in Figure 1-2 was identified during contract
NAS 12-507 Multiprocessing Techniques for Unmanned Multifunctional
Satellite s
This Phase IIreport details the functions that the processor must
perform The experiment control data handling and spacecraft operations
are described flow charts developed instructions and data storage
requirements judged and operationssec estimated In addition to
controlling the spacecraft and experiment operations the processor
will perform specific data processing functions These functions are
1 Processing of imagery data (ESMR MRIR MRMR PICOM
GROW) including
a Sun angle correction
b In flight calibration
c Laboratory curve correction
d Gridding
2 Processing of temperature and~humidity profiling data (ITPR
SCRWV2 MICSPEC VPOC) including
a Sun angle correction
b In flight calibration
-6shy
T 1 R]
fpocrsoe unT7-
SW77- I 7NR
FIGURE 1-2 MULTIPROCESSOR SYSTEM
-7shy
c Laboratory curve correction
d Radiative transfer matrix inversion to obtain profile
e Gridding
It is in this area where on board processing has its greatest potential
The striking success of the Automatic Picture Transmission (APT)
concept flown on TIROS VIII Nimbus I ESSA-2 Nimbus II and others
has demonstrated the great value of APT data to local meteorological
stations A real time system capable of also producing temperature and
humidity profiles as well as calibrated gridded imagery would be of
even greater assistance to forecasters ships at sea and many other
users of weather information
The functions and requirements of the executivesupervisor of the
processor are also examined as well as an on-board checkout system
These two operations control the entire system The assignments of
processing and memory modules to certain tasks equipment evaluation
and equipment scheduling control the operation of the multiprocessor
-8shy
SECTION 2
EXPERIMENTS
This section deals with the given set of experiments their
Characteristics Processing Requirements and possible Common
Interface The given set of experiments are those which are candidates
for the Nimbus E Spacecraft
2 1 CHARACTERISTICS
Keeping in mind that the end product of this study is a design of a
multiprocessor to be used on a operating system the following assumpshy
tions were made
Sensors will incorporate some method of inflight calibration
which will be an integral part of its observation cycle
Sensors may have spare circuits components or modules
which can be switched in or out as a failure is detected
The equipment will not be in an experimental status i e
the general processing requirements for each sensor will be
known
All scanning or pointing will be controlled by the multiprocessor
-9shy
The following assumptions were not included but should be
considered for future operating systems
The sensors will have a much higher resolution than those
considered in the given set of experiments
0 Due to higher resolution the data rates will be greater
Radiometers will probably be of the vidicon tube type
One sensor package will perform the combined tasks of
several of the experiments in the given set
Radiometers will probably have data rates of 35KHz
per channel
Table 2 1-1 is a summary of the more important characteristics
of the experiments used in this study Several interesting observations
are brought to light as the table is studied not the least of which is the
fact that there is considerable overlap in the sensing of certain regions
of the spectrum The table also lists the types of observations approxshy
imate data rates dimensions of the scan and the approximate sampling
rates
Table Z 1-2 list the types of processing which could be performed
on the data depending upon the type of output desired
Following these tables is a list of the experiments with their detailed
characteristics grouped under the following headings Input (to the
-10shy
experiment) Output (from the experiment) Stabilization and Control
(requirements of the experiment) and Processing (requirements peculiar
to the experiment)
-1i1shy
Experiment Acronym
ESMR Image
HRIR Image
HRMR Image
ITPR Profile
SCRWVZ Profile
MICSPEC Profile
NSUMMARY
Number of Spectrum of
Channels ChannelsI
I
1 155 am (1935
HRI 11 i 045 to o 75At 1 100 to 120t
1 84 to to 94g 1 102 to 11 4
1 6 7) (Water VaporI
1and)
4 15V (CO 2 Band)
4 9 to18A(Temp-erature and Watervapor)
7 15t (CO 2 Band) I 45-L 1 133C (Cirrus Clouds)MICPECGE115 1 135 cm (222 G1z) 1 095 cn (314 GHz) I 055 cn(5365 GHz) 1 049 cm (60 82 GHz) 1 0 47 cm (6447 GHz)
Samples Read Peak per Time Sampling
Usage Measurement Dimensions Scan per Rate TimeDay Range of Scan Sensor Scan SecI i I
I 30 I I
12 hrs 50 to 3Hz) 160 1000 63 1 4 seai 45
0 00 o3scI 27K124 hrs 103degl100 400 03 s
I i o 0 24hrs 003x60 12000 0017 2353K
I bull
24 hrs 250 x 72501 29 60 29
-h I9 hrs 0 to 035
nillirs 66 1 1 13
0
I 206 to 250deg K
24 hrs 0 to 400deg0 9 5 I I
I F I [
OF THE EXPERIMENT CHARACTERISTICS
TABLE 2 1-1
Ave rage Data
Peak Rate Data per Rate Scan (BPS) (BPS)
360 101
216 600
I 1 188M 3Z0000
i232 232
I 104 104
8 8
Ave rage Data
Samples Read Peak Peak Rate
Number per Time Sampling Data per
Experiment Acronym
of Channels
Spectrum of Channels
Usage TimeDay
Measurement Range
Dimensions of Scan
Scan Sensor
per Scan
Rate Sec
Rate Scan (BPS) (BPS)
PICOM Map I
I I AMU 4 A MU 1 I I c I 15 Ise
G1 14 and 16 AMU 10 hr ito 20 AMU NA 0120 120
Profile 12 20 cm (15 GHz) 12 hrs Ito 4meters 255 x 15 7 a sec 7 56 56
VPofile 025A o Profile 1 0 28) 2 hrs 0170 x3 0 18 20 sec4 18 144 144
PROBE Point Value
i2 j 10 hr I
NA I
13 1 rec 126 208 1208 I
RELAY 2 Antenna pointing I 12 hrs 10300 INA A NA steer-IA
Steering Angle i ing and er6m 4x1Da Experiment Data I II I xp Datal
SUMARY OF THE EXPERIMENT CHARATERISTICS
TABLE 2 1-1 (continued)
Table 2 1-2
EXPERIMENT PROCESSING
CONTROLS
Experiment Scan Calibra- Enhance- Rectification Super Misc Data Data Management tion ment positicn
C0 Compress Hand
U 00
gtc gt
0U ~
0IC C )
C C0 0 0 0
Q 0___ 0 C 0 0 0 U b HHP
RADIOMETERS
(1)ES~R X p-x x x x xx p p X X X x P x p p p p X p X p p X x
(2)HRIR x p x x x xx p p xX xp p p p X p xp p x x
(3) HRMR x p x x xx xp ppX X p x p p p x p x p p x x
(4) ITPR x p x X xX xx pp xc xx pp p ppXp p x x
(5) SCRWVZ x x x x xx x p x xpXp p p x p p x x
SPECTROMETERS
(6) MIOSPEC
(7) PICOM
Xx x
IX x
Xp x
x
KX x
IXF x x X x
pX pp X X p p x x
SX
X X P X pp X Ppp
pCpCppx
pp XpPX pp X pp pP x x x x
SCA TTEROMIETER
(8)GROW x- x x xx xx pp xx xxppp P P PXp p x x
PHOTOMETER
(9) VPOC x px x xx xx p~p xx xxppppp PP Xp p x x
ELECTROSTATIC
(10)PROBE x p x p I I p p pp xx
DATA RELAY
(I1)DAR U p x xxx
R - ppossible x included in x~ x X
-14- requirenments
ESMR - Electrically Scanned Microwave Radiometer
Inputs
I Power ONOFF
2 Deployment of antenna after orbit is achieved
3 Beam scanning (78 discrete positions for + 500
field of view)
4 Switching of redundant circuits
Outputs
1 Data rate (peak) 360 bitsec
2 Serial readout
3 Calibration data 1 - 10 bit word every 2 minutes
4 Housekeeping data 1- 10 bit word every 2 minutes
Stabilization and Control
1 Local vertical orientation
2 + 2 pointing accuracy
Processing
1 Concurrent operation with another radiometer
2 Angular Resolution 1 6 degrees
3 Time constant 2 seconds
4 Calibration two sources (50 0 k and 3300 k)
5 Dynamic range 50 0 k to 330 0 k accurate to 20 k
-15shy
TABLES - continued
Page
44-1 OCS Sizing Estimates 120
5-1 Supervisor Functions 123
6-1 Instruction Set 126
6-2 Processor Storage and Execution Requirements 129
x
SECTION 1
INTRODUCTION
This report documents the accomplishments of Phase II of contract
NAS 12-660 Research on Multiprocessing Techniques for Multifunctional
Satellites The basic objective of this contract is to examine the use
of a multiprocessor computer configuration for data management data
processing and spacecraft operations for Application Satellites Toward
that end the Nimbus E mission has been selected using the Nimbus D
spacecraft as the platform The experiments selected for this study
and their desired outputs are
1 Electrically Scanned Microwave Radiometer (ESMR) -
Image ry
2 High Resolution Infrared Radiometer (HRIR) - Imagery
3 High Resolution Surface Composition Mapping (HRMR) -
Imagery of Earth s Surface
4 Infrared Temperature Profile Radiometer (ITPR) - Profile
of Temperature and Water Vapor
5 Selective Chopper Radiometer (SCRWV2) - Profile of
Temperature and Water Vapor
6 Microwave Spectrometer (MICSPEC) - Temperature and
Water Vapor Profiles
7 Positive Ion Composition (PICOM) - Global Ion Composition
Mapping
-ishy
8 Global Radar for Ocean Waves and Wind (GROW) - Imagery
of Wave Height and Winds
9 Vertical Profile of Ozone Concentration (VPOC) - Profile
of Ozone Concentration
10 Electrostatic Probe (PROBE) - Electron Temperature
Measurement (point)
11 Realtime Data Relay via ATS-F (DRS) - Data Transmission
via a Stationary Satellite
The concept of using a multiprocessor for Application Satellites
offers many advantages These include
Increased realiability
bull Shorter mission development time
bull Cost savings
Efficient experiment management via experiment cross talk
0 Real time processed data
The basic idea of a multiprocessor is a computer organization in
which a particular function does not depend on a particular piece of
hardware As failures occur the total capability of the computing
system is decreased but all functions will still be accomplished according
to their priority In this manner the total system reliability may be
increased
The shorter mission development time and cost savings are
achieved by eliminating the requirement for the experimenters to
fabricate much of the hard wired equipment for their experiment The
sensor would be connected directly to the processor which would provide
the control calibration checkout and data handling functions The
present mission development time may take six to eight years from
experiment concept until flight of which three to four are for equipment
fabrication With a processor already built the experiment hardware
development consisting of sensor and supporting hardware is replaced
by sensor and software support This should reduce experiment developshy
ment time by one to two years and by reducing the amount of one time
hardware development experiment costs should be reduced proportionately
The use of a multiprocessor concept also provides an easy method
to change the mission should that be desired Should RFI antenna
sensor development or other problems require a change in the experiment
package to be flownan off the shelf sensor or backup experiment sensor
can be substituted and the appropriate software loaded into the computer
This same capability permits the spacecraft constants such as control
loop gain telemetry formatting data compression technique experiment
control etc to be changed throughout mission development and even
after launch
-3shy
Efficient experiment management is achieved by being able to use
the output of one experiment to control another sensor For example if
one experiment requires cloud free conditions the output from a cloud
sensing sensor could be used to determine if useful data can be obtained
from the first experiment In a similar vein one of the experiment
sensors could be substituted for a horizon or sun sensor in the attitude
control system should a failure occur All that is required is a means
for getting processed sensor data to the attitude control system and the
multiprocessor would provide that means
The ability to make information available in real time has been
proven to be extremely valuable in the field of meteorology Cloud cover
images relayed in real time have been effectively used by local meteorshy
ologists On board processing of such data permits enhancement
calibration and gridding to be included in the data and will permit the
real time availability of temperature and water vapor profiles which are
also of prime importance to forecasters
The Phase I report considered the experiments and spacecraft
operations that would be implemented by the processor The general
mission configuration is as shown in Figure 1-1 In general all data
handling and processing functions will be accomplished in the computer
It has been assumed that the standard Nimbus D spacecraft hardware
-4shy
)9~amp~MSP19ZCRA057 11w4
4g674 iA MD
TFZEYII- 4 Ig~~j
7XY I
AvOAN
4goove
I -
07 svr
U~~~~~~ast T u4AW0106Kfg~vC5I IceulucuPM5Of I 9o
sC~NflUA$ I
FIUE 11 S SION C N IGURATION
such as the attitude sensors reactive jets and momentum wheels tape
recorders transmitters etc will remain The general multiprocessor
configuration illustrated in Figure 1-2 was identified during contract
NAS 12-507 Multiprocessing Techniques for Unmanned Multifunctional
Satellite s
This Phase IIreport details the functions that the processor must
perform The experiment control data handling and spacecraft operations
are described flow charts developed instructions and data storage
requirements judged and operationssec estimated In addition to
controlling the spacecraft and experiment operations the processor
will perform specific data processing functions These functions are
1 Processing of imagery data (ESMR MRIR MRMR PICOM
GROW) including
a Sun angle correction
b In flight calibration
c Laboratory curve correction
d Gridding
2 Processing of temperature and~humidity profiling data (ITPR
SCRWV2 MICSPEC VPOC) including
a Sun angle correction
b In flight calibration
-6shy
T 1 R]
fpocrsoe unT7-
SW77- I 7NR
FIGURE 1-2 MULTIPROCESSOR SYSTEM
-7shy
c Laboratory curve correction
d Radiative transfer matrix inversion to obtain profile
e Gridding
It is in this area where on board processing has its greatest potential
The striking success of the Automatic Picture Transmission (APT)
concept flown on TIROS VIII Nimbus I ESSA-2 Nimbus II and others
has demonstrated the great value of APT data to local meteorological
stations A real time system capable of also producing temperature and
humidity profiles as well as calibrated gridded imagery would be of
even greater assistance to forecasters ships at sea and many other
users of weather information
The functions and requirements of the executivesupervisor of the
processor are also examined as well as an on-board checkout system
These two operations control the entire system The assignments of
processing and memory modules to certain tasks equipment evaluation
and equipment scheduling control the operation of the multiprocessor
-8shy
SECTION 2
EXPERIMENTS
This section deals with the given set of experiments their
Characteristics Processing Requirements and possible Common
Interface The given set of experiments are those which are candidates
for the Nimbus E Spacecraft
2 1 CHARACTERISTICS
Keeping in mind that the end product of this study is a design of a
multiprocessor to be used on a operating system the following assumpshy
tions were made
Sensors will incorporate some method of inflight calibration
which will be an integral part of its observation cycle
Sensors may have spare circuits components or modules
which can be switched in or out as a failure is detected
The equipment will not be in an experimental status i e
the general processing requirements for each sensor will be
known
All scanning or pointing will be controlled by the multiprocessor
-9shy
The following assumptions were not included but should be
considered for future operating systems
The sensors will have a much higher resolution than those
considered in the given set of experiments
0 Due to higher resolution the data rates will be greater
Radiometers will probably be of the vidicon tube type
One sensor package will perform the combined tasks of
several of the experiments in the given set
Radiometers will probably have data rates of 35KHz
per channel
Table 2 1-1 is a summary of the more important characteristics
of the experiments used in this study Several interesting observations
are brought to light as the table is studied not the least of which is the
fact that there is considerable overlap in the sensing of certain regions
of the spectrum The table also lists the types of observations approxshy
imate data rates dimensions of the scan and the approximate sampling
rates
Table Z 1-2 list the types of processing which could be performed
on the data depending upon the type of output desired
Following these tables is a list of the experiments with their detailed
characteristics grouped under the following headings Input (to the
-10shy
experiment) Output (from the experiment) Stabilization and Control
(requirements of the experiment) and Processing (requirements peculiar
to the experiment)
-1i1shy
Experiment Acronym
ESMR Image
HRIR Image
HRMR Image
ITPR Profile
SCRWVZ Profile
MICSPEC Profile
NSUMMARY
Number of Spectrum of
Channels ChannelsI
I
1 155 am (1935
HRI 11 i 045 to o 75At 1 100 to 120t
1 84 to to 94g 1 102 to 11 4
1 6 7) (Water VaporI
1and)
4 15V (CO 2 Band)
4 9 to18A(Temp-erature and Watervapor)
7 15t (CO 2 Band) I 45-L 1 133C (Cirrus Clouds)MICPECGE115 1 135 cm (222 G1z) 1 095 cn (314 GHz) I 055 cn(5365 GHz) 1 049 cm (60 82 GHz) 1 0 47 cm (6447 GHz)
Samples Read Peak per Time Sampling
Usage Measurement Dimensions Scan per Rate TimeDay Range of Scan Sensor Scan SecI i I
I 30 I I
12 hrs 50 to 3Hz) 160 1000 63 1 4 seai 45
0 00 o3scI 27K124 hrs 103degl100 400 03 s
I i o 0 24hrs 003x60 12000 0017 2353K
I bull
24 hrs 250 x 72501 29 60 29
-h I9 hrs 0 to 035
nillirs 66 1 1 13
0
I 206 to 250deg K
24 hrs 0 to 400deg0 9 5 I I
I F I [
OF THE EXPERIMENT CHARACTERISTICS
TABLE 2 1-1
Ave rage Data
Peak Rate Data per Rate Scan (BPS) (BPS)
360 101
216 600
I 1 188M 3Z0000
i232 232
I 104 104
8 8
Ave rage Data
Samples Read Peak Peak Rate
Number per Time Sampling Data per
Experiment Acronym
of Channels
Spectrum of Channels
Usage TimeDay
Measurement Range
Dimensions of Scan
Scan Sensor
per Scan
Rate Sec
Rate Scan (BPS) (BPS)
PICOM Map I
I I AMU 4 A MU 1 I I c I 15 Ise
G1 14 and 16 AMU 10 hr ito 20 AMU NA 0120 120
Profile 12 20 cm (15 GHz) 12 hrs Ito 4meters 255 x 15 7 a sec 7 56 56
VPofile 025A o Profile 1 0 28) 2 hrs 0170 x3 0 18 20 sec4 18 144 144
PROBE Point Value
i2 j 10 hr I
NA I
13 1 rec 126 208 1208 I
RELAY 2 Antenna pointing I 12 hrs 10300 INA A NA steer-IA
Steering Angle i ing and er6m 4x1Da Experiment Data I II I xp Datal
SUMARY OF THE EXPERIMENT CHARATERISTICS
TABLE 2 1-1 (continued)
Table 2 1-2
EXPERIMENT PROCESSING
CONTROLS
Experiment Scan Calibra- Enhance- Rectification Super Misc Data Data Management tion ment positicn
C0 Compress Hand
U 00
gtc gt
0U ~
0IC C )
C C0 0 0 0
Q 0___ 0 C 0 0 0 U b HHP
RADIOMETERS
(1)ES~R X p-x x x x xx p p X X X x P x p p p p X p X p p X x
(2)HRIR x p x x x xx p p xX xp p p p X p xp p x x
(3) HRMR x p x x xx xp ppX X p x p p p x p x p p x x
(4) ITPR x p x X xX xx pp xc xx pp p ppXp p x x
(5) SCRWVZ x x x x xx x p x xpXp p p x p p x x
SPECTROMETERS
(6) MIOSPEC
(7) PICOM
Xx x
IX x
Xp x
x
KX x
IXF x x X x
pX pp X X p p x x
SX
X X P X pp X Ppp
pCpCppx
pp XpPX pp X pp pP x x x x
SCA TTEROMIETER
(8)GROW x- x x xx xx pp xx xxppp P P PXp p x x
PHOTOMETER
(9) VPOC x px x xx xx p~p xx xxppppp PP Xp p x x
ELECTROSTATIC
(10)PROBE x p x p I I p p pp xx
DATA RELAY
(I1)DAR U p x xxx
R - ppossible x included in x~ x X
-14- requirenments
ESMR - Electrically Scanned Microwave Radiometer
Inputs
I Power ONOFF
2 Deployment of antenna after orbit is achieved
3 Beam scanning (78 discrete positions for + 500
field of view)
4 Switching of redundant circuits
Outputs
1 Data rate (peak) 360 bitsec
2 Serial readout
3 Calibration data 1 - 10 bit word every 2 minutes
4 Housekeeping data 1- 10 bit word every 2 minutes
Stabilization and Control
1 Local vertical orientation
2 + 2 pointing accuracy
Processing
1 Concurrent operation with another radiometer
2 Angular Resolution 1 6 degrees
3 Time constant 2 seconds
4 Calibration two sources (50 0 k and 3300 k)
5 Dynamic range 50 0 k to 330 0 k accurate to 20 k
-15shy
SECTION 1
INTRODUCTION
This report documents the accomplishments of Phase II of contract
NAS 12-660 Research on Multiprocessing Techniques for Multifunctional
Satellites The basic objective of this contract is to examine the use
of a multiprocessor computer configuration for data management data
processing and spacecraft operations for Application Satellites Toward
that end the Nimbus E mission has been selected using the Nimbus D
spacecraft as the platform The experiments selected for this study
and their desired outputs are
1 Electrically Scanned Microwave Radiometer (ESMR) -
Image ry
2 High Resolution Infrared Radiometer (HRIR) - Imagery
3 High Resolution Surface Composition Mapping (HRMR) -
Imagery of Earth s Surface
4 Infrared Temperature Profile Radiometer (ITPR) - Profile
of Temperature and Water Vapor
5 Selective Chopper Radiometer (SCRWV2) - Profile of
Temperature and Water Vapor
6 Microwave Spectrometer (MICSPEC) - Temperature and
Water Vapor Profiles
7 Positive Ion Composition (PICOM) - Global Ion Composition
Mapping
-ishy
8 Global Radar for Ocean Waves and Wind (GROW) - Imagery
of Wave Height and Winds
9 Vertical Profile of Ozone Concentration (VPOC) - Profile
of Ozone Concentration
10 Electrostatic Probe (PROBE) - Electron Temperature
Measurement (point)
11 Realtime Data Relay via ATS-F (DRS) - Data Transmission
via a Stationary Satellite
The concept of using a multiprocessor for Application Satellites
offers many advantages These include
Increased realiability
bull Shorter mission development time
bull Cost savings
Efficient experiment management via experiment cross talk
0 Real time processed data
The basic idea of a multiprocessor is a computer organization in
which a particular function does not depend on a particular piece of
hardware As failures occur the total capability of the computing
system is decreased but all functions will still be accomplished according
to their priority In this manner the total system reliability may be
increased
The shorter mission development time and cost savings are
achieved by eliminating the requirement for the experimenters to
fabricate much of the hard wired equipment for their experiment The
sensor would be connected directly to the processor which would provide
the control calibration checkout and data handling functions The
present mission development time may take six to eight years from
experiment concept until flight of which three to four are for equipment
fabrication With a processor already built the experiment hardware
development consisting of sensor and supporting hardware is replaced
by sensor and software support This should reduce experiment developshy
ment time by one to two years and by reducing the amount of one time
hardware development experiment costs should be reduced proportionately
The use of a multiprocessor concept also provides an easy method
to change the mission should that be desired Should RFI antenna
sensor development or other problems require a change in the experiment
package to be flownan off the shelf sensor or backup experiment sensor
can be substituted and the appropriate software loaded into the computer
This same capability permits the spacecraft constants such as control
loop gain telemetry formatting data compression technique experiment
control etc to be changed throughout mission development and even
after launch
-3shy
Efficient experiment management is achieved by being able to use
the output of one experiment to control another sensor For example if
one experiment requires cloud free conditions the output from a cloud
sensing sensor could be used to determine if useful data can be obtained
from the first experiment In a similar vein one of the experiment
sensors could be substituted for a horizon or sun sensor in the attitude
control system should a failure occur All that is required is a means
for getting processed sensor data to the attitude control system and the
multiprocessor would provide that means
The ability to make information available in real time has been
proven to be extremely valuable in the field of meteorology Cloud cover
images relayed in real time have been effectively used by local meteorshy
ologists On board processing of such data permits enhancement
calibration and gridding to be included in the data and will permit the
real time availability of temperature and water vapor profiles which are
also of prime importance to forecasters
The Phase I report considered the experiments and spacecraft
operations that would be implemented by the processor The general
mission configuration is as shown in Figure 1-1 In general all data
handling and processing functions will be accomplished in the computer
It has been assumed that the standard Nimbus D spacecraft hardware
-4shy
)9~amp~MSP19ZCRA057 11w4
4g674 iA MD
TFZEYII- 4 Ig~~j
7XY I
AvOAN
4goove
I -
07 svr
U~~~~~~ast T u4AW0106Kfg~vC5I IceulucuPM5Of I 9o
sC~NflUA$ I
FIUE 11 S SION C N IGURATION
such as the attitude sensors reactive jets and momentum wheels tape
recorders transmitters etc will remain The general multiprocessor
configuration illustrated in Figure 1-2 was identified during contract
NAS 12-507 Multiprocessing Techniques for Unmanned Multifunctional
Satellite s
This Phase IIreport details the functions that the processor must
perform The experiment control data handling and spacecraft operations
are described flow charts developed instructions and data storage
requirements judged and operationssec estimated In addition to
controlling the spacecraft and experiment operations the processor
will perform specific data processing functions These functions are
1 Processing of imagery data (ESMR MRIR MRMR PICOM
GROW) including
a Sun angle correction
b In flight calibration
c Laboratory curve correction
d Gridding
2 Processing of temperature and~humidity profiling data (ITPR
SCRWV2 MICSPEC VPOC) including
a Sun angle correction
b In flight calibration
-6shy
T 1 R]
fpocrsoe unT7-
SW77- I 7NR
FIGURE 1-2 MULTIPROCESSOR SYSTEM
-7shy
c Laboratory curve correction
d Radiative transfer matrix inversion to obtain profile
e Gridding
It is in this area where on board processing has its greatest potential
The striking success of the Automatic Picture Transmission (APT)
concept flown on TIROS VIII Nimbus I ESSA-2 Nimbus II and others
has demonstrated the great value of APT data to local meteorological
stations A real time system capable of also producing temperature and
humidity profiles as well as calibrated gridded imagery would be of
even greater assistance to forecasters ships at sea and many other
users of weather information
The functions and requirements of the executivesupervisor of the
processor are also examined as well as an on-board checkout system
These two operations control the entire system The assignments of
processing and memory modules to certain tasks equipment evaluation
and equipment scheduling control the operation of the multiprocessor
-8shy
SECTION 2
EXPERIMENTS
This section deals with the given set of experiments their
Characteristics Processing Requirements and possible Common
Interface The given set of experiments are those which are candidates
for the Nimbus E Spacecraft
2 1 CHARACTERISTICS
Keeping in mind that the end product of this study is a design of a
multiprocessor to be used on a operating system the following assumpshy
tions were made
Sensors will incorporate some method of inflight calibration
which will be an integral part of its observation cycle
Sensors may have spare circuits components or modules
which can be switched in or out as a failure is detected
The equipment will not be in an experimental status i e
the general processing requirements for each sensor will be
known
All scanning or pointing will be controlled by the multiprocessor
-9shy
The following assumptions were not included but should be
considered for future operating systems
The sensors will have a much higher resolution than those
considered in the given set of experiments
0 Due to higher resolution the data rates will be greater
Radiometers will probably be of the vidicon tube type
One sensor package will perform the combined tasks of
several of the experiments in the given set
Radiometers will probably have data rates of 35KHz
per channel
Table 2 1-1 is a summary of the more important characteristics
of the experiments used in this study Several interesting observations
are brought to light as the table is studied not the least of which is the
fact that there is considerable overlap in the sensing of certain regions
of the spectrum The table also lists the types of observations approxshy
imate data rates dimensions of the scan and the approximate sampling
rates
Table Z 1-2 list the types of processing which could be performed
on the data depending upon the type of output desired
Following these tables is a list of the experiments with their detailed
characteristics grouped under the following headings Input (to the
-10shy
experiment) Output (from the experiment) Stabilization and Control
(requirements of the experiment) and Processing (requirements peculiar
to the experiment)
-1i1shy
Experiment Acronym
ESMR Image
HRIR Image
HRMR Image
ITPR Profile
SCRWVZ Profile
MICSPEC Profile
NSUMMARY
Number of Spectrum of
Channels ChannelsI
I
1 155 am (1935
HRI 11 i 045 to o 75At 1 100 to 120t
1 84 to to 94g 1 102 to 11 4
1 6 7) (Water VaporI
1and)
4 15V (CO 2 Band)
4 9 to18A(Temp-erature and Watervapor)
7 15t (CO 2 Band) I 45-L 1 133C (Cirrus Clouds)MICPECGE115 1 135 cm (222 G1z) 1 095 cn (314 GHz) I 055 cn(5365 GHz) 1 049 cm (60 82 GHz) 1 0 47 cm (6447 GHz)
Samples Read Peak per Time Sampling
Usage Measurement Dimensions Scan per Rate TimeDay Range of Scan Sensor Scan SecI i I
I 30 I I
12 hrs 50 to 3Hz) 160 1000 63 1 4 seai 45
0 00 o3scI 27K124 hrs 103degl100 400 03 s
I i o 0 24hrs 003x60 12000 0017 2353K
I bull
24 hrs 250 x 72501 29 60 29
-h I9 hrs 0 to 035
nillirs 66 1 1 13
0
I 206 to 250deg K
24 hrs 0 to 400deg0 9 5 I I
I F I [
OF THE EXPERIMENT CHARACTERISTICS
TABLE 2 1-1
Ave rage Data
Peak Rate Data per Rate Scan (BPS) (BPS)
360 101
216 600
I 1 188M 3Z0000
i232 232
I 104 104
8 8
Ave rage Data
Samples Read Peak Peak Rate
Number per Time Sampling Data per
Experiment Acronym
of Channels
Spectrum of Channels
Usage TimeDay
Measurement Range
Dimensions of Scan
Scan Sensor
per Scan
Rate Sec
Rate Scan (BPS) (BPS)
PICOM Map I
I I AMU 4 A MU 1 I I c I 15 Ise
G1 14 and 16 AMU 10 hr ito 20 AMU NA 0120 120
Profile 12 20 cm (15 GHz) 12 hrs Ito 4meters 255 x 15 7 a sec 7 56 56
VPofile 025A o Profile 1 0 28) 2 hrs 0170 x3 0 18 20 sec4 18 144 144
PROBE Point Value
i2 j 10 hr I
NA I
13 1 rec 126 208 1208 I
RELAY 2 Antenna pointing I 12 hrs 10300 INA A NA steer-IA
Steering Angle i ing and er6m 4x1Da Experiment Data I II I xp Datal
SUMARY OF THE EXPERIMENT CHARATERISTICS
TABLE 2 1-1 (continued)
Table 2 1-2
EXPERIMENT PROCESSING
CONTROLS
Experiment Scan Calibra- Enhance- Rectification Super Misc Data Data Management tion ment positicn
C0 Compress Hand
U 00
gtc gt
0U ~
0IC C )
C C0 0 0 0
Q 0___ 0 C 0 0 0 U b HHP
RADIOMETERS
(1)ES~R X p-x x x x xx p p X X X x P x p p p p X p X p p X x
(2)HRIR x p x x x xx p p xX xp p p p X p xp p x x
(3) HRMR x p x x xx xp ppX X p x p p p x p x p p x x
(4) ITPR x p x X xX xx pp xc xx pp p ppXp p x x
(5) SCRWVZ x x x x xx x p x xpXp p p x p p x x
SPECTROMETERS
(6) MIOSPEC
(7) PICOM
Xx x
IX x
Xp x
x
KX x
IXF x x X x
pX pp X X p p x x
SX
X X P X pp X Ppp
pCpCppx
pp XpPX pp X pp pP x x x x
SCA TTEROMIETER
(8)GROW x- x x xx xx pp xx xxppp P P PXp p x x
PHOTOMETER
(9) VPOC x px x xx xx p~p xx xxppppp PP Xp p x x
ELECTROSTATIC
(10)PROBE x p x p I I p p pp xx
DATA RELAY
(I1)DAR U p x xxx
R - ppossible x included in x~ x X
-14- requirenments
ESMR - Electrically Scanned Microwave Radiometer
Inputs
I Power ONOFF
2 Deployment of antenna after orbit is achieved
3 Beam scanning (78 discrete positions for + 500
field of view)
4 Switching of redundant circuits
Outputs
1 Data rate (peak) 360 bitsec
2 Serial readout
3 Calibration data 1 - 10 bit word every 2 minutes
4 Housekeeping data 1- 10 bit word every 2 minutes
Stabilization and Control
1 Local vertical orientation
2 + 2 pointing accuracy
Processing
1 Concurrent operation with another radiometer
2 Angular Resolution 1 6 degrees
3 Time constant 2 seconds
4 Calibration two sources (50 0 k and 3300 k)
5 Dynamic range 50 0 k to 330 0 k accurate to 20 k
-15shy
8 Global Radar for Ocean Waves and Wind (GROW) - Imagery
of Wave Height and Winds
9 Vertical Profile of Ozone Concentration (VPOC) - Profile
of Ozone Concentration
10 Electrostatic Probe (PROBE) - Electron Temperature
Measurement (point)
11 Realtime Data Relay via ATS-F (DRS) - Data Transmission
via a Stationary Satellite
The concept of using a multiprocessor for Application Satellites
offers many advantages These include
Increased realiability
bull Shorter mission development time
bull Cost savings
Efficient experiment management via experiment cross talk
0 Real time processed data
The basic idea of a multiprocessor is a computer organization in
which a particular function does not depend on a particular piece of
hardware As failures occur the total capability of the computing
system is decreased but all functions will still be accomplished according
to their priority In this manner the total system reliability may be
increased
The shorter mission development time and cost savings are
achieved by eliminating the requirement for the experimenters to
fabricate much of the hard wired equipment for their experiment The
sensor would be connected directly to the processor which would provide
the control calibration checkout and data handling functions The
present mission development time may take six to eight years from
experiment concept until flight of which three to four are for equipment
fabrication With a processor already built the experiment hardware
development consisting of sensor and supporting hardware is replaced
by sensor and software support This should reduce experiment developshy
ment time by one to two years and by reducing the amount of one time
hardware development experiment costs should be reduced proportionately
The use of a multiprocessor concept also provides an easy method
to change the mission should that be desired Should RFI antenna
sensor development or other problems require a change in the experiment
package to be flownan off the shelf sensor or backup experiment sensor
can be substituted and the appropriate software loaded into the computer
This same capability permits the spacecraft constants such as control
loop gain telemetry formatting data compression technique experiment
control etc to be changed throughout mission development and even
after launch
-3shy
Efficient experiment management is achieved by being able to use
the output of one experiment to control another sensor For example if
one experiment requires cloud free conditions the output from a cloud
sensing sensor could be used to determine if useful data can be obtained
from the first experiment In a similar vein one of the experiment
sensors could be substituted for a horizon or sun sensor in the attitude
control system should a failure occur All that is required is a means
for getting processed sensor data to the attitude control system and the
multiprocessor would provide that means
The ability to make information available in real time has been
proven to be extremely valuable in the field of meteorology Cloud cover
images relayed in real time have been effectively used by local meteorshy
ologists On board processing of such data permits enhancement
calibration and gridding to be included in the data and will permit the
real time availability of temperature and water vapor profiles which are
also of prime importance to forecasters
The Phase I report considered the experiments and spacecraft
operations that would be implemented by the processor The general
mission configuration is as shown in Figure 1-1 In general all data
handling and processing functions will be accomplished in the computer
It has been assumed that the standard Nimbus D spacecraft hardware
-4shy
)9~amp~MSP19ZCRA057 11w4
4g674 iA MD
TFZEYII- 4 Ig~~j
7XY I
AvOAN
4goove
I -
07 svr
U~~~~~~ast T u4AW0106Kfg~vC5I IceulucuPM5Of I 9o
sC~NflUA$ I
FIUE 11 S SION C N IGURATION
such as the attitude sensors reactive jets and momentum wheels tape
recorders transmitters etc will remain The general multiprocessor
configuration illustrated in Figure 1-2 was identified during contract
NAS 12-507 Multiprocessing Techniques for Unmanned Multifunctional
Satellite s
This Phase IIreport details the functions that the processor must
perform The experiment control data handling and spacecraft operations
are described flow charts developed instructions and data storage
requirements judged and operationssec estimated In addition to
controlling the spacecraft and experiment operations the processor
will perform specific data processing functions These functions are
1 Processing of imagery data (ESMR MRIR MRMR PICOM
GROW) including
a Sun angle correction
b In flight calibration
c Laboratory curve correction
d Gridding
2 Processing of temperature and~humidity profiling data (ITPR
SCRWV2 MICSPEC VPOC) including
a Sun angle correction
b In flight calibration
-6shy
T 1 R]
fpocrsoe unT7-
SW77- I 7NR
FIGURE 1-2 MULTIPROCESSOR SYSTEM
-7shy
c Laboratory curve correction
d Radiative transfer matrix inversion to obtain profile
e Gridding
It is in this area where on board processing has its greatest potential
The striking success of the Automatic Picture Transmission (APT)
concept flown on TIROS VIII Nimbus I ESSA-2 Nimbus II and others
has demonstrated the great value of APT data to local meteorological
stations A real time system capable of also producing temperature and
humidity profiles as well as calibrated gridded imagery would be of
even greater assistance to forecasters ships at sea and many other
users of weather information
The functions and requirements of the executivesupervisor of the
processor are also examined as well as an on-board checkout system
These two operations control the entire system The assignments of
processing and memory modules to certain tasks equipment evaluation
and equipment scheduling control the operation of the multiprocessor
-8shy
SECTION 2
EXPERIMENTS
This section deals with the given set of experiments their
Characteristics Processing Requirements and possible Common
Interface The given set of experiments are those which are candidates
for the Nimbus E Spacecraft
2 1 CHARACTERISTICS
Keeping in mind that the end product of this study is a design of a
multiprocessor to be used on a operating system the following assumpshy
tions were made
Sensors will incorporate some method of inflight calibration
which will be an integral part of its observation cycle
Sensors may have spare circuits components or modules
which can be switched in or out as a failure is detected
The equipment will not be in an experimental status i e
the general processing requirements for each sensor will be
known
All scanning or pointing will be controlled by the multiprocessor
-9shy
The following assumptions were not included but should be
considered for future operating systems
The sensors will have a much higher resolution than those
considered in the given set of experiments
0 Due to higher resolution the data rates will be greater
Radiometers will probably be of the vidicon tube type
One sensor package will perform the combined tasks of
several of the experiments in the given set
Radiometers will probably have data rates of 35KHz
per channel
Table 2 1-1 is a summary of the more important characteristics
of the experiments used in this study Several interesting observations
are brought to light as the table is studied not the least of which is the
fact that there is considerable overlap in the sensing of certain regions
of the spectrum The table also lists the types of observations approxshy
imate data rates dimensions of the scan and the approximate sampling
rates
Table Z 1-2 list the types of processing which could be performed
on the data depending upon the type of output desired
Following these tables is a list of the experiments with their detailed
characteristics grouped under the following headings Input (to the
-10shy
experiment) Output (from the experiment) Stabilization and Control
(requirements of the experiment) and Processing (requirements peculiar
to the experiment)
-1i1shy
Experiment Acronym
ESMR Image
HRIR Image
HRMR Image
ITPR Profile
SCRWVZ Profile
MICSPEC Profile
NSUMMARY
Number of Spectrum of
Channels ChannelsI
I
1 155 am (1935
HRI 11 i 045 to o 75At 1 100 to 120t
1 84 to to 94g 1 102 to 11 4
1 6 7) (Water VaporI
1and)
4 15V (CO 2 Band)
4 9 to18A(Temp-erature and Watervapor)
7 15t (CO 2 Band) I 45-L 1 133C (Cirrus Clouds)MICPECGE115 1 135 cm (222 G1z) 1 095 cn (314 GHz) I 055 cn(5365 GHz) 1 049 cm (60 82 GHz) 1 0 47 cm (6447 GHz)
Samples Read Peak per Time Sampling
Usage Measurement Dimensions Scan per Rate TimeDay Range of Scan Sensor Scan SecI i I
I 30 I I
12 hrs 50 to 3Hz) 160 1000 63 1 4 seai 45
0 00 o3scI 27K124 hrs 103degl100 400 03 s
I i o 0 24hrs 003x60 12000 0017 2353K
I bull
24 hrs 250 x 72501 29 60 29
-h I9 hrs 0 to 035
nillirs 66 1 1 13
0
I 206 to 250deg K
24 hrs 0 to 400deg0 9 5 I I
I F I [
OF THE EXPERIMENT CHARACTERISTICS
TABLE 2 1-1
Ave rage Data
Peak Rate Data per Rate Scan (BPS) (BPS)
360 101
216 600
I 1 188M 3Z0000
i232 232
I 104 104
8 8
Ave rage Data
Samples Read Peak Peak Rate
Number per Time Sampling Data per
Experiment Acronym
of Channels
Spectrum of Channels
Usage TimeDay
Measurement Range
Dimensions of Scan
Scan Sensor
per Scan
Rate Sec
Rate Scan (BPS) (BPS)
PICOM Map I
I I AMU 4 A MU 1 I I c I 15 Ise
G1 14 and 16 AMU 10 hr ito 20 AMU NA 0120 120
Profile 12 20 cm (15 GHz) 12 hrs Ito 4meters 255 x 15 7 a sec 7 56 56
VPofile 025A o Profile 1 0 28) 2 hrs 0170 x3 0 18 20 sec4 18 144 144
PROBE Point Value
i2 j 10 hr I
NA I
13 1 rec 126 208 1208 I
RELAY 2 Antenna pointing I 12 hrs 10300 INA A NA steer-IA
Steering Angle i ing and er6m 4x1Da Experiment Data I II I xp Datal
SUMARY OF THE EXPERIMENT CHARATERISTICS
TABLE 2 1-1 (continued)
Table 2 1-2
EXPERIMENT PROCESSING
CONTROLS
Experiment Scan Calibra- Enhance- Rectification Super Misc Data Data Management tion ment positicn
C0 Compress Hand
U 00
gtc gt
0U ~
0IC C )
C C0 0 0 0
Q 0___ 0 C 0 0 0 U b HHP
RADIOMETERS
(1)ES~R X p-x x x x xx p p X X X x P x p p p p X p X p p X x
(2)HRIR x p x x x xx p p xX xp p p p X p xp p x x
(3) HRMR x p x x xx xp ppX X p x p p p x p x p p x x
(4) ITPR x p x X xX xx pp xc xx pp p ppXp p x x
(5) SCRWVZ x x x x xx x p x xpXp p p x p p x x
SPECTROMETERS
(6) MIOSPEC
(7) PICOM
Xx x
IX x
Xp x
x
KX x
IXF x x X x
pX pp X X p p x x
SX
X X P X pp X Ppp
pCpCppx
pp XpPX pp X pp pP x x x x
SCA TTEROMIETER
(8)GROW x- x x xx xx pp xx xxppp P P PXp p x x
PHOTOMETER
(9) VPOC x px x xx xx p~p xx xxppppp PP Xp p x x
ELECTROSTATIC
(10)PROBE x p x p I I p p pp xx
DATA RELAY
(I1)DAR U p x xxx
R - ppossible x included in x~ x X
-14- requirenments
ESMR - Electrically Scanned Microwave Radiometer
Inputs
I Power ONOFF
2 Deployment of antenna after orbit is achieved
3 Beam scanning (78 discrete positions for + 500
field of view)
4 Switching of redundant circuits
Outputs
1 Data rate (peak) 360 bitsec
2 Serial readout
3 Calibration data 1 - 10 bit word every 2 minutes
4 Housekeeping data 1- 10 bit word every 2 minutes
Stabilization and Control
1 Local vertical orientation
2 + 2 pointing accuracy
Processing
1 Concurrent operation with another radiometer
2 Angular Resolution 1 6 degrees
3 Time constant 2 seconds
4 Calibration two sources (50 0 k and 3300 k)
5 Dynamic range 50 0 k to 330 0 k accurate to 20 k
-15shy
The shorter mission development time and cost savings are
achieved by eliminating the requirement for the experimenters to
fabricate much of the hard wired equipment for their experiment The
sensor would be connected directly to the processor which would provide
the control calibration checkout and data handling functions The
present mission development time may take six to eight years from
experiment concept until flight of which three to four are for equipment
fabrication With a processor already built the experiment hardware
development consisting of sensor and supporting hardware is replaced
by sensor and software support This should reduce experiment developshy
ment time by one to two years and by reducing the amount of one time
hardware development experiment costs should be reduced proportionately
The use of a multiprocessor concept also provides an easy method
to change the mission should that be desired Should RFI antenna
sensor development or other problems require a change in the experiment
package to be flownan off the shelf sensor or backup experiment sensor
can be substituted and the appropriate software loaded into the computer
This same capability permits the spacecraft constants such as control
loop gain telemetry formatting data compression technique experiment
control etc to be changed throughout mission development and even
after launch
-3shy
Efficient experiment management is achieved by being able to use
the output of one experiment to control another sensor For example if
one experiment requires cloud free conditions the output from a cloud
sensing sensor could be used to determine if useful data can be obtained
from the first experiment In a similar vein one of the experiment
sensors could be substituted for a horizon or sun sensor in the attitude
control system should a failure occur All that is required is a means
for getting processed sensor data to the attitude control system and the
multiprocessor would provide that means
The ability to make information available in real time has been
proven to be extremely valuable in the field of meteorology Cloud cover
images relayed in real time have been effectively used by local meteorshy
ologists On board processing of such data permits enhancement
calibration and gridding to be included in the data and will permit the
real time availability of temperature and water vapor profiles which are
also of prime importance to forecasters
The Phase I report considered the experiments and spacecraft
operations that would be implemented by the processor The general
mission configuration is as shown in Figure 1-1 In general all data
handling and processing functions will be accomplished in the computer
It has been assumed that the standard Nimbus D spacecraft hardware
-4shy
)9~amp~MSP19ZCRA057 11w4
4g674 iA MD
TFZEYII- 4 Ig~~j
7XY I
AvOAN
4goove
I -
07 svr
U~~~~~~ast T u4AW0106Kfg~vC5I IceulucuPM5Of I 9o
sC~NflUA$ I
FIUE 11 S SION C N IGURATION
such as the attitude sensors reactive jets and momentum wheels tape
recorders transmitters etc will remain The general multiprocessor
configuration illustrated in Figure 1-2 was identified during contract
NAS 12-507 Multiprocessing Techniques for Unmanned Multifunctional
Satellite s
This Phase IIreport details the functions that the processor must
perform The experiment control data handling and spacecraft operations
are described flow charts developed instructions and data storage
requirements judged and operationssec estimated In addition to
controlling the spacecraft and experiment operations the processor
will perform specific data processing functions These functions are
1 Processing of imagery data (ESMR MRIR MRMR PICOM
GROW) including
a Sun angle correction
b In flight calibration
c Laboratory curve correction
d Gridding
2 Processing of temperature and~humidity profiling data (ITPR
SCRWV2 MICSPEC VPOC) including
a Sun angle correction
b In flight calibration
-6shy
T 1 R]
fpocrsoe unT7-
SW77- I 7NR
FIGURE 1-2 MULTIPROCESSOR SYSTEM
-7shy
c Laboratory curve correction
d Radiative transfer matrix inversion to obtain profile
e Gridding
It is in this area where on board processing has its greatest potential
The striking success of the Automatic Picture Transmission (APT)
concept flown on TIROS VIII Nimbus I ESSA-2 Nimbus II and others
has demonstrated the great value of APT data to local meteorological
stations A real time system capable of also producing temperature and
humidity profiles as well as calibrated gridded imagery would be of
even greater assistance to forecasters ships at sea and many other
users of weather information
The functions and requirements of the executivesupervisor of the
processor are also examined as well as an on-board checkout system
These two operations control the entire system The assignments of
processing and memory modules to certain tasks equipment evaluation
and equipment scheduling control the operation of the multiprocessor
-8shy
SECTION 2
EXPERIMENTS
This section deals with the given set of experiments their
Characteristics Processing Requirements and possible Common
Interface The given set of experiments are those which are candidates
for the Nimbus E Spacecraft
2 1 CHARACTERISTICS
Keeping in mind that the end product of this study is a design of a
multiprocessor to be used on a operating system the following assumpshy
tions were made
Sensors will incorporate some method of inflight calibration
which will be an integral part of its observation cycle
Sensors may have spare circuits components or modules
which can be switched in or out as a failure is detected
The equipment will not be in an experimental status i e
the general processing requirements for each sensor will be
known
All scanning or pointing will be controlled by the multiprocessor
-9shy
The following assumptions were not included but should be
considered for future operating systems
The sensors will have a much higher resolution than those
considered in the given set of experiments
0 Due to higher resolution the data rates will be greater
Radiometers will probably be of the vidicon tube type
One sensor package will perform the combined tasks of
several of the experiments in the given set
Radiometers will probably have data rates of 35KHz
per channel
Table 2 1-1 is a summary of the more important characteristics
of the experiments used in this study Several interesting observations
are brought to light as the table is studied not the least of which is the
fact that there is considerable overlap in the sensing of certain regions
of the spectrum The table also lists the types of observations approxshy
imate data rates dimensions of the scan and the approximate sampling
rates
Table Z 1-2 list the types of processing which could be performed
on the data depending upon the type of output desired
Following these tables is a list of the experiments with their detailed
characteristics grouped under the following headings Input (to the
-10shy
experiment) Output (from the experiment) Stabilization and Control
(requirements of the experiment) and Processing (requirements peculiar
to the experiment)
-1i1shy
Experiment Acronym
ESMR Image
HRIR Image
HRMR Image
ITPR Profile
SCRWVZ Profile
MICSPEC Profile
NSUMMARY
Number of Spectrum of
Channels ChannelsI
I
1 155 am (1935
HRI 11 i 045 to o 75At 1 100 to 120t
1 84 to to 94g 1 102 to 11 4
1 6 7) (Water VaporI
1and)
4 15V (CO 2 Band)
4 9 to18A(Temp-erature and Watervapor)
7 15t (CO 2 Band) I 45-L 1 133C (Cirrus Clouds)MICPECGE115 1 135 cm (222 G1z) 1 095 cn (314 GHz) I 055 cn(5365 GHz) 1 049 cm (60 82 GHz) 1 0 47 cm (6447 GHz)
Samples Read Peak per Time Sampling
Usage Measurement Dimensions Scan per Rate TimeDay Range of Scan Sensor Scan SecI i I
I 30 I I
12 hrs 50 to 3Hz) 160 1000 63 1 4 seai 45
0 00 o3scI 27K124 hrs 103degl100 400 03 s
I i o 0 24hrs 003x60 12000 0017 2353K
I bull
24 hrs 250 x 72501 29 60 29
-h I9 hrs 0 to 035
nillirs 66 1 1 13
0
I 206 to 250deg K
24 hrs 0 to 400deg0 9 5 I I
I F I [
OF THE EXPERIMENT CHARACTERISTICS
TABLE 2 1-1
Ave rage Data
Peak Rate Data per Rate Scan (BPS) (BPS)
360 101
216 600
I 1 188M 3Z0000
i232 232
I 104 104
8 8
Ave rage Data
Samples Read Peak Peak Rate
Number per Time Sampling Data per
Experiment Acronym
of Channels
Spectrum of Channels
Usage TimeDay
Measurement Range
Dimensions of Scan
Scan Sensor
per Scan
Rate Sec
Rate Scan (BPS) (BPS)
PICOM Map I
I I AMU 4 A MU 1 I I c I 15 Ise
G1 14 and 16 AMU 10 hr ito 20 AMU NA 0120 120
Profile 12 20 cm (15 GHz) 12 hrs Ito 4meters 255 x 15 7 a sec 7 56 56
VPofile 025A o Profile 1 0 28) 2 hrs 0170 x3 0 18 20 sec4 18 144 144
PROBE Point Value
i2 j 10 hr I
NA I
13 1 rec 126 208 1208 I
RELAY 2 Antenna pointing I 12 hrs 10300 INA A NA steer-IA
Steering Angle i ing and er6m 4x1Da Experiment Data I II I xp Datal
SUMARY OF THE EXPERIMENT CHARATERISTICS
TABLE 2 1-1 (continued)
Table 2 1-2
EXPERIMENT PROCESSING
CONTROLS
Experiment Scan Calibra- Enhance- Rectification Super Misc Data Data Management tion ment positicn
C0 Compress Hand
U 00
gtc gt
0U ~
0IC C )
C C0 0 0 0
Q 0___ 0 C 0 0 0 U b HHP
RADIOMETERS
(1)ES~R X p-x x x x xx p p X X X x P x p p p p X p X p p X x
(2)HRIR x p x x x xx p p xX xp p p p X p xp p x x
(3) HRMR x p x x xx xp ppX X p x p p p x p x p p x x
(4) ITPR x p x X xX xx pp xc xx pp p ppXp p x x
(5) SCRWVZ x x x x xx x p x xpXp p p x p p x x
SPECTROMETERS
(6) MIOSPEC
(7) PICOM
Xx x
IX x
Xp x
x
KX x
IXF x x X x
pX pp X X p p x x
SX
X X P X pp X Ppp
pCpCppx
pp XpPX pp X pp pP x x x x
SCA TTEROMIETER
(8)GROW x- x x xx xx pp xx xxppp P P PXp p x x
PHOTOMETER
(9) VPOC x px x xx xx p~p xx xxppppp PP Xp p x x
ELECTROSTATIC
(10)PROBE x p x p I I p p pp xx
DATA RELAY
(I1)DAR U p x xxx
R - ppossible x included in x~ x X
-14- requirenments
ESMR - Electrically Scanned Microwave Radiometer
Inputs
I Power ONOFF
2 Deployment of antenna after orbit is achieved
3 Beam scanning (78 discrete positions for + 500
field of view)
4 Switching of redundant circuits
Outputs
1 Data rate (peak) 360 bitsec
2 Serial readout
3 Calibration data 1 - 10 bit word every 2 minutes
4 Housekeeping data 1- 10 bit word every 2 minutes
Stabilization and Control
1 Local vertical orientation
2 + 2 pointing accuracy
Processing
1 Concurrent operation with another radiometer
2 Angular Resolution 1 6 degrees
3 Time constant 2 seconds
4 Calibration two sources (50 0 k and 3300 k)
5 Dynamic range 50 0 k to 330 0 k accurate to 20 k
-15shy
Efficient experiment management is achieved by being able to use
the output of one experiment to control another sensor For example if
one experiment requires cloud free conditions the output from a cloud
sensing sensor could be used to determine if useful data can be obtained
from the first experiment In a similar vein one of the experiment
sensors could be substituted for a horizon or sun sensor in the attitude
control system should a failure occur All that is required is a means
for getting processed sensor data to the attitude control system and the
multiprocessor would provide that means
The ability to make information available in real time has been
proven to be extremely valuable in the field of meteorology Cloud cover
images relayed in real time have been effectively used by local meteorshy
ologists On board processing of such data permits enhancement
calibration and gridding to be included in the data and will permit the
real time availability of temperature and water vapor profiles which are
also of prime importance to forecasters
The Phase I report considered the experiments and spacecraft
operations that would be implemented by the processor The general
mission configuration is as shown in Figure 1-1 In general all data
handling and processing functions will be accomplished in the computer
It has been assumed that the standard Nimbus D spacecraft hardware
-4shy
)9~amp~MSP19ZCRA057 11w4
4g674 iA MD
TFZEYII- 4 Ig~~j
7XY I
AvOAN
4goove
I -
07 svr
U~~~~~~ast T u4AW0106Kfg~vC5I IceulucuPM5Of I 9o
sC~NflUA$ I
FIUE 11 S SION C N IGURATION
such as the attitude sensors reactive jets and momentum wheels tape
recorders transmitters etc will remain The general multiprocessor
configuration illustrated in Figure 1-2 was identified during contract
NAS 12-507 Multiprocessing Techniques for Unmanned Multifunctional
Satellite s
This Phase IIreport details the functions that the processor must
perform The experiment control data handling and spacecraft operations
are described flow charts developed instructions and data storage
requirements judged and operationssec estimated In addition to
controlling the spacecraft and experiment operations the processor
will perform specific data processing functions These functions are
1 Processing of imagery data (ESMR MRIR MRMR PICOM
GROW) including
a Sun angle correction
b In flight calibration
c Laboratory curve correction
d Gridding
2 Processing of temperature and~humidity profiling data (ITPR
SCRWV2 MICSPEC VPOC) including
a Sun angle correction
b In flight calibration
-6shy
T 1 R]
fpocrsoe unT7-
SW77- I 7NR
FIGURE 1-2 MULTIPROCESSOR SYSTEM
-7shy
c Laboratory curve correction
d Radiative transfer matrix inversion to obtain profile
e Gridding
It is in this area where on board processing has its greatest potential
The striking success of the Automatic Picture Transmission (APT)
concept flown on TIROS VIII Nimbus I ESSA-2 Nimbus II and others
has demonstrated the great value of APT data to local meteorological
stations A real time system capable of also producing temperature and
humidity profiles as well as calibrated gridded imagery would be of
even greater assistance to forecasters ships at sea and many other
users of weather information
The functions and requirements of the executivesupervisor of the
processor are also examined as well as an on-board checkout system
These two operations control the entire system The assignments of
processing and memory modules to certain tasks equipment evaluation
and equipment scheduling control the operation of the multiprocessor
-8shy
SECTION 2
EXPERIMENTS
This section deals with the given set of experiments their
Characteristics Processing Requirements and possible Common
Interface The given set of experiments are those which are candidates
for the Nimbus E Spacecraft
2 1 CHARACTERISTICS
Keeping in mind that the end product of this study is a design of a
multiprocessor to be used on a operating system the following assumpshy
tions were made
Sensors will incorporate some method of inflight calibration
which will be an integral part of its observation cycle
Sensors may have spare circuits components or modules
which can be switched in or out as a failure is detected
The equipment will not be in an experimental status i e
the general processing requirements for each sensor will be
known
All scanning or pointing will be controlled by the multiprocessor
-9shy
The following assumptions were not included but should be
considered for future operating systems
The sensors will have a much higher resolution than those
considered in the given set of experiments
0 Due to higher resolution the data rates will be greater
Radiometers will probably be of the vidicon tube type
One sensor package will perform the combined tasks of
several of the experiments in the given set
Radiometers will probably have data rates of 35KHz
per channel
Table 2 1-1 is a summary of the more important characteristics
of the experiments used in this study Several interesting observations
are brought to light as the table is studied not the least of which is the
fact that there is considerable overlap in the sensing of certain regions
of the spectrum The table also lists the types of observations approxshy
imate data rates dimensions of the scan and the approximate sampling
rates
Table Z 1-2 list the types of processing which could be performed
on the data depending upon the type of output desired
Following these tables is a list of the experiments with their detailed
characteristics grouped under the following headings Input (to the
-10shy
experiment) Output (from the experiment) Stabilization and Control
(requirements of the experiment) and Processing (requirements peculiar
to the experiment)
-1i1shy
Experiment Acronym
ESMR Image
HRIR Image
HRMR Image
ITPR Profile
SCRWVZ Profile
MICSPEC Profile
NSUMMARY
Number of Spectrum of
Channels ChannelsI
I
1 155 am (1935
HRI 11 i 045 to o 75At 1 100 to 120t
1 84 to to 94g 1 102 to 11 4
1 6 7) (Water VaporI
1and)
4 15V (CO 2 Band)
4 9 to18A(Temp-erature and Watervapor)
7 15t (CO 2 Band) I 45-L 1 133C (Cirrus Clouds)MICPECGE115 1 135 cm (222 G1z) 1 095 cn (314 GHz) I 055 cn(5365 GHz) 1 049 cm (60 82 GHz) 1 0 47 cm (6447 GHz)
Samples Read Peak per Time Sampling
Usage Measurement Dimensions Scan per Rate TimeDay Range of Scan Sensor Scan SecI i I
I 30 I I
12 hrs 50 to 3Hz) 160 1000 63 1 4 seai 45
0 00 o3scI 27K124 hrs 103degl100 400 03 s
I i o 0 24hrs 003x60 12000 0017 2353K
I bull
24 hrs 250 x 72501 29 60 29
-h I9 hrs 0 to 035
nillirs 66 1 1 13
0
I 206 to 250deg K
24 hrs 0 to 400deg0 9 5 I I
I F I [
OF THE EXPERIMENT CHARACTERISTICS
TABLE 2 1-1
Ave rage Data
Peak Rate Data per Rate Scan (BPS) (BPS)
360 101
216 600
I 1 188M 3Z0000
i232 232
I 104 104
8 8
Ave rage Data
Samples Read Peak Peak Rate
Number per Time Sampling Data per
Experiment Acronym
of Channels
Spectrum of Channels
Usage TimeDay
Measurement Range
Dimensions of Scan
Scan Sensor
per Scan
Rate Sec
Rate Scan (BPS) (BPS)
PICOM Map I
I I AMU 4 A MU 1 I I c I 15 Ise
G1 14 and 16 AMU 10 hr ito 20 AMU NA 0120 120
Profile 12 20 cm (15 GHz) 12 hrs Ito 4meters 255 x 15 7 a sec 7 56 56
VPofile 025A o Profile 1 0 28) 2 hrs 0170 x3 0 18 20 sec4 18 144 144
PROBE Point Value
i2 j 10 hr I
NA I
13 1 rec 126 208 1208 I
RELAY 2 Antenna pointing I 12 hrs 10300 INA A NA steer-IA
Steering Angle i ing and er6m 4x1Da Experiment Data I II I xp Datal
SUMARY OF THE EXPERIMENT CHARATERISTICS
TABLE 2 1-1 (continued)
Table 2 1-2
EXPERIMENT PROCESSING
CONTROLS
Experiment Scan Calibra- Enhance- Rectification Super Misc Data Data Management tion ment positicn
C0 Compress Hand
U 00
gtc gt
0U ~
0IC C )
C C0 0 0 0
Q 0___ 0 C 0 0 0 U b HHP
RADIOMETERS
(1)ES~R X p-x x x x xx p p X X X x P x p p p p X p X p p X x
(2)HRIR x p x x x xx p p xX xp p p p X p xp p x x
(3) HRMR x p x x xx xp ppX X p x p p p x p x p p x x
(4) ITPR x p x X xX xx pp xc xx pp p ppXp p x x
(5) SCRWVZ x x x x xx x p x xpXp p p x p p x x
SPECTROMETERS
(6) MIOSPEC
(7) PICOM
Xx x
IX x
Xp x
x
KX x
IXF x x X x
pX pp X X p p x x
SX
X X P X pp X Ppp
pCpCppx
pp XpPX pp X pp pP x x x x
SCA TTEROMIETER
(8)GROW x- x x xx xx pp xx xxppp P P PXp p x x
PHOTOMETER
(9) VPOC x px x xx xx p~p xx xxppppp PP Xp p x x
ELECTROSTATIC
(10)PROBE x p x p I I p p pp xx
DATA RELAY
(I1)DAR U p x xxx
R - ppossible x included in x~ x X
-14- requirenments
ESMR - Electrically Scanned Microwave Radiometer
Inputs
I Power ONOFF
2 Deployment of antenna after orbit is achieved
3 Beam scanning (78 discrete positions for + 500
field of view)
4 Switching of redundant circuits
Outputs
1 Data rate (peak) 360 bitsec
2 Serial readout
3 Calibration data 1 - 10 bit word every 2 minutes
4 Housekeeping data 1- 10 bit word every 2 minutes
Stabilization and Control
1 Local vertical orientation
2 + 2 pointing accuracy
Processing
1 Concurrent operation with another radiometer
2 Angular Resolution 1 6 degrees
3 Time constant 2 seconds
4 Calibration two sources (50 0 k and 3300 k)
5 Dynamic range 50 0 k to 330 0 k accurate to 20 k
-15shy
)9~amp~MSP19ZCRA057 11w4
4g674 iA MD
TFZEYII- 4 Ig~~j
7XY I
AvOAN
4goove
I -
07 svr
U~~~~~~ast T u4AW0106Kfg~vC5I IceulucuPM5Of I 9o
sC~NflUA$ I
FIUE 11 S SION C N IGURATION
such as the attitude sensors reactive jets and momentum wheels tape
recorders transmitters etc will remain The general multiprocessor
configuration illustrated in Figure 1-2 was identified during contract
NAS 12-507 Multiprocessing Techniques for Unmanned Multifunctional
Satellite s
This Phase IIreport details the functions that the processor must
perform The experiment control data handling and spacecraft operations
are described flow charts developed instructions and data storage
requirements judged and operationssec estimated In addition to
controlling the spacecraft and experiment operations the processor
will perform specific data processing functions These functions are
1 Processing of imagery data (ESMR MRIR MRMR PICOM
GROW) including
a Sun angle correction
b In flight calibration
c Laboratory curve correction
d Gridding
2 Processing of temperature and~humidity profiling data (ITPR
SCRWV2 MICSPEC VPOC) including
a Sun angle correction
b In flight calibration
-6shy
T 1 R]
fpocrsoe unT7-
SW77- I 7NR
FIGURE 1-2 MULTIPROCESSOR SYSTEM
-7shy
c Laboratory curve correction
d Radiative transfer matrix inversion to obtain profile
e Gridding
It is in this area where on board processing has its greatest potential
The striking success of the Automatic Picture Transmission (APT)
concept flown on TIROS VIII Nimbus I ESSA-2 Nimbus II and others
has demonstrated the great value of APT data to local meteorological
stations A real time system capable of also producing temperature and
humidity profiles as well as calibrated gridded imagery would be of
even greater assistance to forecasters ships at sea and many other
users of weather information
The functions and requirements of the executivesupervisor of the
processor are also examined as well as an on-board checkout system
These two operations control the entire system The assignments of
processing and memory modules to certain tasks equipment evaluation
and equipment scheduling control the operation of the multiprocessor
-8shy
SECTION 2
EXPERIMENTS
This section deals with the given set of experiments their
Characteristics Processing Requirements and possible Common
Interface The given set of experiments are those which are candidates
for the Nimbus E Spacecraft
2 1 CHARACTERISTICS
Keeping in mind that the end product of this study is a design of a
multiprocessor to be used on a operating system the following assumpshy
tions were made
Sensors will incorporate some method of inflight calibration
which will be an integral part of its observation cycle
Sensors may have spare circuits components or modules
which can be switched in or out as a failure is detected
The equipment will not be in an experimental status i e
the general processing requirements for each sensor will be
known
All scanning or pointing will be controlled by the multiprocessor
-9shy
The following assumptions were not included but should be
considered for future operating systems
The sensors will have a much higher resolution than those
considered in the given set of experiments
0 Due to higher resolution the data rates will be greater
Radiometers will probably be of the vidicon tube type
One sensor package will perform the combined tasks of
several of the experiments in the given set
Radiometers will probably have data rates of 35KHz
per channel
Table 2 1-1 is a summary of the more important characteristics
of the experiments used in this study Several interesting observations
are brought to light as the table is studied not the least of which is the
fact that there is considerable overlap in the sensing of certain regions
of the spectrum The table also lists the types of observations approxshy
imate data rates dimensions of the scan and the approximate sampling
rates
Table Z 1-2 list the types of processing which could be performed
on the data depending upon the type of output desired
Following these tables is a list of the experiments with their detailed
characteristics grouped under the following headings Input (to the
-10shy
experiment) Output (from the experiment) Stabilization and Control
(requirements of the experiment) and Processing (requirements peculiar
to the experiment)
-1i1shy
Experiment Acronym
ESMR Image
HRIR Image
HRMR Image
ITPR Profile
SCRWVZ Profile
MICSPEC Profile
NSUMMARY
Number of Spectrum of
Channels ChannelsI
I
1 155 am (1935
HRI 11 i 045 to o 75At 1 100 to 120t
1 84 to to 94g 1 102 to 11 4
1 6 7) (Water VaporI
1and)
4 15V (CO 2 Band)
4 9 to18A(Temp-erature and Watervapor)
7 15t (CO 2 Band) I 45-L 1 133C (Cirrus Clouds)MICPECGE115 1 135 cm (222 G1z) 1 095 cn (314 GHz) I 055 cn(5365 GHz) 1 049 cm (60 82 GHz) 1 0 47 cm (6447 GHz)
Samples Read Peak per Time Sampling
Usage Measurement Dimensions Scan per Rate TimeDay Range of Scan Sensor Scan SecI i I
I 30 I I
12 hrs 50 to 3Hz) 160 1000 63 1 4 seai 45
0 00 o3scI 27K124 hrs 103degl100 400 03 s
I i o 0 24hrs 003x60 12000 0017 2353K
I bull
24 hrs 250 x 72501 29 60 29
-h I9 hrs 0 to 035
nillirs 66 1 1 13
0
I 206 to 250deg K
24 hrs 0 to 400deg0 9 5 I I
I F I [
OF THE EXPERIMENT CHARACTERISTICS
TABLE 2 1-1
Ave rage Data
Peak Rate Data per Rate Scan (BPS) (BPS)
360 101
216 600
I 1 188M 3Z0000
i232 232
I 104 104
8 8
Ave rage Data
Samples Read Peak Peak Rate
Number per Time Sampling Data per
Experiment Acronym
of Channels
Spectrum of Channels
Usage TimeDay
Measurement Range
Dimensions of Scan
Scan Sensor
per Scan
Rate Sec
Rate Scan (BPS) (BPS)
PICOM Map I
I I AMU 4 A MU 1 I I c I 15 Ise
G1 14 and 16 AMU 10 hr ito 20 AMU NA 0120 120
Profile 12 20 cm (15 GHz) 12 hrs Ito 4meters 255 x 15 7 a sec 7 56 56
VPofile 025A o Profile 1 0 28) 2 hrs 0170 x3 0 18 20 sec4 18 144 144
PROBE Point Value
i2 j 10 hr I
NA I
13 1 rec 126 208 1208 I
RELAY 2 Antenna pointing I 12 hrs 10300 INA A NA steer-IA
Steering Angle i ing and er6m 4x1Da Experiment Data I II I xp Datal
SUMARY OF THE EXPERIMENT CHARATERISTICS
TABLE 2 1-1 (continued)
Table 2 1-2
EXPERIMENT PROCESSING
CONTROLS
Experiment Scan Calibra- Enhance- Rectification Super Misc Data Data Management tion ment positicn
C0 Compress Hand
U 00
gtc gt
0U ~
0IC C )
C C0 0 0 0
Q 0___ 0 C 0 0 0 U b HHP
RADIOMETERS
(1)ES~R X p-x x x x xx p p X X X x P x p p p p X p X p p X x
(2)HRIR x p x x x xx p p xX xp p p p X p xp p x x
(3) HRMR x p x x xx xp ppX X p x p p p x p x p p x x
(4) ITPR x p x X xX xx pp xc xx pp p ppXp p x x
(5) SCRWVZ x x x x xx x p x xpXp p p x p p x x
SPECTROMETERS
(6) MIOSPEC
(7) PICOM
Xx x
IX x
Xp x
x
KX x
IXF x x X x
pX pp X X p p x x
SX
X X P X pp X Ppp
pCpCppx
pp XpPX pp X pp pP x x x x
SCA TTEROMIETER
(8)GROW x- x x xx xx pp xx xxppp P P PXp p x x
PHOTOMETER
(9) VPOC x px x xx xx p~p xx xxppppp PP Xp p x x
ELECTROSTATIC
(10)PROBE x p x p I I p p pp xx
DATA RELAY
(I1)DAR U p x xxx
R - ppossible x included in x~ x X
-14- requirenments
ESMR - Electrically Scanned Microwave Radiometer
Inputs
I Power ONOFF
2 Deployment of antenna after orbit is achieved
3 Beam scanning (78 discrete positions for + 500
field of view)
4 Switching of redundant circuits
Outputs
1 Data rate (peak) 360 bitsec
2 Serial readout
3 Calibration data 1 - 10 bit word every 2 minutes
4 Housekeeping data 1- 10 bit word every 2 minutes
Stabilization and Control
1 Local vertical orientation
2 + 2 pointing accuracy
Processing
1 Concurrent operation with another radiometer
2 Angular Resolution 1 6 degrees
3 Time constant 2 seconds
4 Calibration two sources (50 0 k and 3300 k)
5 Dynamic range 50 0 k to 330 0 k accurate to 20 k
-15shy
such as the attitude sensors reactive jets and momentum wheels tape
recorders transmitters etc will remain The general multiprocessor
configuration illustrated in Figure 1-2 was identified during contract
NAS 12-507 Multiprocessing Techniques for Unmanned Multifunctional
Satellite s
This Phase IIreport details the functions that the processor must
perform The experiment control data handling and spacecraft operations
are described flow charts developed instructions and data storage
requirements judged and operationssec estimated In addition to
controlling the spacecraft and experiment operations the processor
will perform specific data processing functions These functions are
1 Processing of imagery data (ESMR MRIR MRMR PICOM
GROW) including
a Sun angle correction
b In flight calibration
c Laboratory curve correction
d Gridding
2 Processing of temperature and~humidity profiling data (ITPR
SCRWV2 MICSPEC VPOC) including
a Sun angle correction
b In flight calibration
-6shy
T 1 R]
fpocrsoe unT7-
SW77- I 7NR
FIGURE 1-2 MULTIPROCESSOR SYSTEM
-7shy
c Laboratory curve correction
d Radiative transfer matrix inversion to obtain profile
e Gridding
It is in this area where on board processing has its greatest potential
The striking success of the Automatic Picture Transmission (APT)
concept flown on TIROS VIII Nimbus I ESSA-2 Nimbus II and others
has demonstrated the great value of APT data to local meteorological
stations A real time system capable of also producing temperature and
humidity profiles as well as calibrated gridded imagery would be of
even greater assistance to forecasters ships at sea and many other
users of weather information
The functions and requirements of the executivesupervisor of the
processor are also examined as well as an on-board checkout system
These two operations control the entire system The assignments of
processing and memory modules to certain tasks equipment evaluation
and equipment scheduling control the operation of the multiprocessor
-8shy
SECTION 2
EXPERIMENTS
This section deals with the given set of experiments their
Characteristics Processing Requirements and possible Common
Interface The given set of experiments are those which are candidates
for the Nimbus E Spacecraft
2 1 CHARACTERISTICS
Keeping in mind that the end product of this study is a design of a
multiprocessor to be used on a operating system the following assumpshy
tions were made
Sensors will incorporate some method of inflight calibration
which will be an integral part of its observation cycle
Sensors may have spare circuits components or modules
which can be switched in or out as a failure is detected
The equipment will not be in an experimental status i e
the general processing requirements for each sensor will be
known
All scanning or pointing will be controlled by the multiprocessor
-9shy
The following assumptions were not included but should be
considered for future operating systems
The sensors will have a much higher resolution than those
considered in the given set of experiments
0 Due to higher resolution the data rates will be greater
Radiometers will probably be of the vidicon tube type
One sensor package will perform the combined tasks of
several of the experiments in the given set
Radiometers will probably have data rates of 35KHz
per channel
Table 2 1-1 is a summary of the more important characteristics
of the experiments used in this study Several interesting observations
are brought to light as the table is studied not the least of which is the
fact that there is considerable overlap in the sensing of certain regions
of the spectrum The table also lists the types of observations approxshy
imate data rates dimensions of the scan and the approximate sampling
rates
Table Z 1-2 list the types of processing which could be performed
on the data depending upon the type of output desired
Following these tables is a list of the experiments with their detailed
characteristics grouped under the following headings Input (to the
-10shy
experiment) Output (from the experiment) Stabilization and Control
(requirements of the experiment) and Processing (requirements peculiar
to the experiment)
-1i1shy
Experiment Acronym
ESMR Image
HRIR Image
HRMR Image
ITPR Profile
SCRWVZ Profile
MICSPEC Profile
NSUMMARY
Number of Spectrum of
Channels ChannelsI
I
1 155 am (1935
HRI 11 i 045 to o 75At 1 100 to 120t
1 84 to to 94g 1 102 to 11 4
1 6 7) (Water VaporI
1and)
4 15V (CO 2 Band)
4 9 to18A(Temp-erature and Watervapor)
7 15t (CO 2 Band) I 45-L 1 133C (Cirrus Clouds)MICPECGE115 1 135 cm (222 G1z) 1 095 cn (314 GHz) I 055 cn(5365 GHz) 1 049 cm (60 82 GHz) 1 0 47 cm (6447 GHz)
Samples Read Peak per Time Sampling
Usage Measurement Dimensions Scan per Rate TimeDay Range of Scan Sensor Scan SecI i I
I 30 I I
12 hrs 50 to 3Hz) 160 1000 63 1 4 seai 45
0 00 o3scI 27K124 hrs 103degl100 400 03 s
I i o 0 24hrs 003x60 12000 0017 2353K
I bull
24 hrs 250 x 72501 29 60 29
-h I9 hrs 0 to 035
nillirs 66 1 1 13
0
I 206 to 250deg K
24 hrs 0 to 400deg0 9 5 I I
I F I [
OF THE EXPERIMENT CHARACTERISTICS
TABLE 2 1-1
Ave rage Data
Peak Rate Data per Rate Scan (BPS) (BPS)
360 101
216 600
I 1 188M 3Z0000
i232 232
I 104 104
8 8
Ave rage Data
Samples Read Peak Peak Rate
Number per Time Sampling Data per
Experiment Acronym
of Channels
Spectrum of Channels
Usage TimeDay
Measurement Range
Dimensions of Scan
Scan Sensor
per Scan
Rate Sec
Rate Scan (BPS) (BPS)
PICOM Map I
I I AMU 4 A MU 1 I I c I 15 Ise
G1 14 and 16 AMU 10 hr ito 20 AMU NA 0120 120
Profile 12 20 cm (15 GHz) 12 hrs Ito 4meters 255 x 15 7 a sec 7 56 56
VPofile 025A o Profile 1 0 28) 2 hrs 0170 x3 0 18 20 sec4 18 144 144
PROBE Point Value
i2 j 10 hr I
NA I
13 1 rec 126 208 1208 I
RELAY 2 Antenna pointing I 12 hrs 10300 INA A NA steer-IA
Steering Angle i ing and er6m 4x1Da Experiment Data I II I xp Datal
SUMARY OF THE EXPERIMENT CHARATERISTICS
TABLE 2 1-1 (continued)
Table 2 1-2
EXPERIMENT PROCESSING
CONTROLS
Experiment Scan Calibra- Enhance- Rectification Super Misc Data Data Management tion ment positicn
C0 Compress Hand
U 00
gtc gt
0U ~
0IC C )
C C0 0 0 0
Q 0___ 0 C 0 0 0 U b HHP
RADIOMETERS
(1)ES~R X p-x x x x xx p p X X X x P x p p p p X p X p p X x
(2)HRIR x p x x x xx p p xX xp p p p X p xp p x x
(3) HRMR x p x x xx xp ppX X p x p p p x p x p p x x
(4) ITPR x p x X xX xx pp xc xx pp p ppXp p x x
(5) SCRWVZ x x x x xx x p x xpXp p p x p p x x
SPECTROMETERS
(6) MIOSPEC
(7) PICOM
Xx x
IX x
Xp x
x
KX x
IXF x x X x
pX pp X X p p x x
SX
X X P X pp X Ppp
pCpCppx
pp XpPX pp X pp pP x x x x
SCA TTEROMIETER
(8)GROW x- x x xx xx pp xx xxppp P P PXp p x x
PHOTOMETER
(9) VPOC x px x xx xx p~p xx xxppppp PP Xp p x x
ELECTROSTATIC
(10)PROBE x p x p I I p p pp xx
DATA RELAY
(I1)DAR U p x xxx
R - ppossible x included in x~ x X
-14- requirenments
ESMR - Electrically Scanned Microwave Radiometer
Inputs
I Power ONOFF
2 Deployment of antenna after orbit is achieved
3 Beam scanning (78 discrete positions for + 500
field of view)
4 Switching of redundant circuits
Outputs
1 Data rate (peak) 360 bitsec
2 Serial readout
3 Calibration data 1 - 10 bit word every 2 minutes
4 Housekeeping data 1- 10 bit word every 2 minutes
Stabilization and Control
1 Local vertical orientation
2 + 2 pointing accuracy
Processing
1 Concurrent operation with another radiometer
2 Angular Resolution 1 6 degrees
3 Time constant 2 seconds
4 Calibration two sources (50 0 k and 3300 k)
5 Dynamic range 50 0 k to 330 0 k accurate to 20 k
-15shy
T 1 R]
fpocrsoe unT7-
SW77- I 7NR
FIGURE 1-2 MULTIPROCESSOR SYSTEM
-7shy
c Laboratory curve correction
d Radiative transfer matrix inversion to obtain profile
e Gridding
It is in this area where on board processing has its greatest potential
The striking success of the Automatic Picture Transmission (APT)
concept flown on TIROS VIII Nimbus I ESSA-2 Nimbus II and others
has demonstrated the great value of APT data to local meteorological
stations A real time system capable of also producing temperature and
humidity profiles as well as calibrated gridded imagery would be of
even greater assistance to forecasters ships at sea and many other
users of weather information
The functions and requirements of the executivesupervisor of the
processor are also examined as well as an on-board checkout system
These two operations control the entire system The assignments of
processing and memory modules to certain tasks equipment evaluation
and equipment scheduling control the operation of the multiprocessor
-8shy
SECTION 2
EXPERIMENTS
This section deals with the given set of experiments their
Characteristics Processing Requirements and possible Common
Interface The given set of experiments are those which are candidates
for the Nimbus E Spacecraft
2 1 CHARACTERISTICS
Keeping in mind that the end product of this study is a design of a
multiprocessor to be used on a operating system the following assumpshy
tions were made
Sensors will incorporate some method of inflight calibration
which will be an integral part of its observation cycle
Sensors may have spare circuits components or modules
which can be switched in or out as a failure is detected
The equipment will not be in an experimental status i e
the general processing requirements for each sensor will be
known
All scanning or pointing will be controlled by the multiprocessor
-9shy
The following assumptions were not included but should be
considered for future operating systems
The sensors will have a much higher resolution than those
considered in the given set of experiments
0 Due to higher resolution the data rates will be greater
Radiometers will probably be of the vidicon tube type
One sensor package will perform the combined tasks of
several of the experiments in the given set
Radiometers will probably have data rates of 35KHz
per channel
Table 2 1-1 is a summary of the more important characteristics
of the experiments used in this study Several interesting observations
are brought to light as the table is studied not the least of which is the
fact that there is considerable overlap in the sensing of certain regions
of the spectrum The table also lists the types of observations approxshy
imate data rates dimensions of the scan and the approximate sampling
rates
Table Z 1-2 list the types of processing which could be performed
on the data depending upon the type of output desired
Following these tables is a list of the experiments with their detailed
characteristics grouped under the following headings Input (to the
-10shy
experiment) Output (from the experiment) Stabilization and Control
(requirements of the experiment) and Processing (requirements peculiar
to the experiment)
-1i1shy
Experiment Acronym
ESMR Image
HRIR Image
HRMR Image
ITPR Profile
SCRWVZ Profile
MICSPEC Profile
NSUMMARY
Number of Spectrum of
Channels ChannelsI
I
1 155 am (1935
HRI 11 i 045 to o 75At 1 100 to 120t
1 84 to to 94g 1 102 to 11 4
1 6 7) (Water VaporI
1and)
4 15V (CO 2 Band)
4 9 to18A(Temp-erature and Watervapor)
7 15t (CO 2 Band) I 45-L 1 133C (Cirrus Clouds)MICPECGE115 1 135 cm (222 G1z) 1 095 cn (314 GHz) I 055 cn(5365 GHz) 1 049 cm (60 82 GHz) 1 0 47 cm (6447 GHz)
Samples Read Peak per Time Sampling
Usage Measurement Dimensions Scan per Rate TimeDay Range of Scan Sensor Scan SecI i I
I 30 I I
12 hrs 50 to 3Hz) 160 1000 63 1 4 seai 45
0 00 o3scI 27K124 hrs 103degl100 400 03 s
I i o 0 24hrs 003x60 12000 0017 2353K
I bull
24 hrs 250 x 72501 29 60 29
-h I9 hrs 0 to 035
nillirs 66 1 1 13
0
I 206 to 250deg K
24 hrs 0 to 400deg0 9 5 I I
I F I [
OF THE EXPERIMENT CHARACTERISTICS
TABLE 2 1-1
Ave rage Data
Peak Rate Data per Rate Scan (BPS) (BPS)
360 101
216 600
I 1 188M 3Z0000
i232 232
I 104 104
8 8
Ave rage Data
Samples Read Peak Peak Rate
Number per Time Sampling Data per
Experiment Acronym
of Channels
Spectrum of Channels
Usage TimeDay
Measurement Range
Dimensions of Scan
Scan Sensor
per Scan
Rate Sec
Rate Scan (BPS) (BPS)
PICOM Map I
I I AMU 4 A MU 1 I I c I 15 Ise
G1 14 and 16 AMU 10 hr ito 20 AMU NA 0120 120
Profile 12 20 cm (15 GHz) 12 hrs Ito 4meters 255 x 15 7 a sec 7 56 56
VPofile 025A o Profile 1 0 28) 2 hrs 0170 x3 0 18 20 sec4 18 144 144
PROBE Point Value
i2 j 10 hr I
NA I
13 1 rec 126 208 1208 I
RELAY 2 Antenna pointing I 12 hrs 10300 INA A NA steer-IA
Steering Angle i ing and er6m 4x1Da Experiment Data I II I xp Datal
SUMARY OF THE EXPERIMENT CHARATERISTICS
TABLE 2 1-1 (continued)
Table 2 1-2
EXPERIMENT PROCESSING
CONTROLS
Experiment Scan Calibra- Enhance- Rectification Super Misc Data Data Management tion ment positicn
C0 Compress Hand
U 00
gtc gt
0U ~
0IC C )
C C0 0 0 0
Q 0___ 0 C 0 0 0 U b HHP
RADIOMETERS
(1)ES~R X p-x x x x xx p p X X X x P x p p p p X p X p p X x
(2)HRIR x p x x x xx p p xX xp p p p X p xp p x x
(3) HRMR x p x x xx xp ppX X p x p p p x p x p p x x
(4) ITPR x p x X xX xx pp xc xx pp p ppXp p x x
(5) SCRWVZ x x x x xx x p x xpXp p p x p p x x
SPECTROMETERS
(6) MIOSPEC
(7) PICOM
Xx x
IX x
Xp x
x
KX x
IXF x x X x
pX pp X X p p x x
SX
X X P X pp X Ppp
pCpCppx
pp XpPX pp X pp pP x x x x
SCA TTEROMIETER
(8)GROW x- x x xx xx pp xx xxppp P P PXp p x x
PHOTOMETER
(9) VPOC x px x xx xx p~p xx xxppppp PP Xp p x x
ELECTROSTATIC
(10)PROBE x p x p I I p p pp xx
DATA RELAY
(I1)DAR U p x xxx
R - ppossible x included in x~ x X
-14- requirenments
ESMR - Electrically Scanned Microwave Radiometer
Inputs
I Power ONOFF
2 Deployment of antenna after orbit is achieved
3 Beam scanning (78 discrete positions for + 500
field of view)
4 Switching of redundant circuits
Outputs
1 Data rate (peak) 360 bitsec
2 Serial readout
3 Calibration data 1 - 10 bit word every 2 minutes
4 Housekeeping data 1- 10 bit word every 2 minutes
Stabilization and Control
1 Local vertical orientation
2 + 2 pointing accuracy
Processing
1 Concurrent operation with another radiometer
2 Angular Resolution 1 6 degrees
3 Time constant 2 seconds
4 Calibration two sources (50 0 k and 3300 k)
5 Dynamic range 50 0 k to 330 0 k accurate to 20 k
-15shy
c Laboratory curve correction
d Radiative transfer matrix inversion to obtain profile
e Gridding
It is in this area where on board processing has its greatest potential
The striking success of the Automatic Picture Transmission (APT)
concept flown on TIROS VIII Nimbus I ESSA-2 Nimbus II and others
has demonstrated the great value of APT data to local meteorological
stations A real time system capable of also producing temperature and
humidity profiles as well as calibrated gridded imagery would be of
even greater assistance to forecasters ships at sea and many other
users of weather information
The functions and requirements of the executivesupervisor of the
processor are also examined as well as an on-board checkout system
These two operations control the entire system The assignments of
processing and memory modules to certain tasks equipment evaluation
and equipment scheduling control the operation of the multiprocessor
-8shy
SECTION 2
EXPERIMENTS
This section deals with the given set of experiments their
Characteristics Processing Requirements and possible Common
Interface The given set of experiments are those which are candidates
for the Nimbus E Spacecraft
2 1 CHARACTERISTICS
Keeping in mind that the end product of this study is a design of a
multiprocessor to be used on a operating system the following assumpshy
tions were made
Sensors will incorporate some method of inflight calibration
which will be an integral part of its observation cycle
Sensors may have spare circuits components or modules
which can be switched in or out as a failure is detected
The equipment will not be in an experimental status i e
the general processing requirements for each sensor will be
known
All scanning or pointing will be controlled by the multiprocessor
-9shy
The following assumptions were not included but should be
considered for future operating systems
The sensors will have a much higher resolution than those
considered in the given set of experiments
0 Due to higher resolution the data rates will be greater
Radiometers will probably be of the vidicon tube type
One sensor package will perform the combined tasks of
several of the experiments in the given set
Radiometers will probably have data rates of 35KHz
per channel
Table 2 1-1 is a summary of the more important characteristics
of the experiments used in this study Several interesting observations
are brought to light as the table is studied not the least of which is the
fact that there is considerable overlap in the sensing of certain regions
of the spectrum The table also lists the types of observations approxshy
imate data rates dimensions of the scan and the approximate sampling
rates
Table Z 1-2 list the types of processing which could be performed
on the data depending upon the type of output desired
Following these tables is a list of the experiments with their detailed
characteristics grouped under the following headings Input (to the
-10shy
experiment) Output (from the experiment) Stabilization and Control
(requirements of the experiment) and Processing (requirements peculiar
to the experiment)
-1i1shy
Experiment Acronym
ESMR Image
HRIR Image
HRMR Image
ITPR Profile
SCRWVZ Profile
MICSPEC Profile
NSUMMARY
Number of Spectrum of
Channels ChannelsI
I
1 155 am (1935
HRI 11 i 045 to o 75At 1 100 to 120t
1 84 to to 94g 1 102 to 11 4
1 6 7) (Water VaporI
1and)
4 15V (CO 2 Band)
4 9 to18A(Temp-erature and Watervapor)
7 15t (CO 2 Band) I 45-L 1 133C (Cirrus Clouds)MICPECGE115 1 135 cm (222 G1z) 1 095 cn (314 GHz) I 055 cn(5365 GHz) 1 049 cm (60 82 GHz) 1 0 47 cm (6447 GHz)
Samples Read Peak per Time Sampling
Usage Measurement Dimensions Scan per Rate TimeDay Range of Scan Sensor Scan SecI i I
I 30 I I
12 hrs 50 to 3Hz) 160 1000 63 1 4 seai 45
0 00 o3scI 27K124 hrs 103degl100 400 03 s
I i o 0 24hrs 003x60 12000 0017 2353K
I bull
24 hrs 250 x 72501 29 60 29
-h I9 hrs 0 to 035
nillirs 66 1 1 13
0
I 206 to 250deg K
24 hrs 0 to 400deg0 9 5 I I
I F I [
OF THE EXPERIMENT CHARACTERISTICS
TABLE 2 1-1
Ave rage Data
Peak Rate Data per Rate Scan (BPS) (BPS)
360 101
216 600
I 1 188M 3Z0000
i232 232
I 104 104
8 8
Ave rage Data
Samples Read Peak Peak Rate
Number per Time Sampling Data per
Experiment Acronym
of Channels
Spectrum of Channels
Usage TimeDay
Measurement Range
Dimensions of Scan
Scan Sensor
per Scan
Rate Sec
Rate Scan (BPS) (BPS)
PICOM Map I
I I AMU 4 A MU 1 I I c I 15 Ise
G1 14 and 16 AMU 10 hr ito 20 AMU NA 0120 120
Profile 12 20 cm (15 GHz) 12 hrs Ito 4meters 255 x 15 7 a sec 7 56 56
VPofile 025A o Profile 1 0 28) 2 hrs 0170 x3 0 18 20 sec4 18 144 144
PROBE Point Value
i2 j 10 hr I
NA I
13 1 rec 126 208 1208 I
RELAY 2 Antenna pointing I 12 hrs 10300 INA A NA steer-IA
Steering Angle i ing and er6m 4x1Da Experiment Data I II I xp Datal
SUMARY OF THE EXPERIMENT CHARATERISTICS
TABLE 2 1-1 (continued)
Table 2 1-2
EXPERIMENT PROCESSING
CONTROLS
Experiment Scan Calibra- Enhance- Rectification Super Misc Data Data Management tion ment positicn
C0 Compress Hand
U 00
gtc gt
0U ~
0IC C )
C C0 0 0 0
Q 0___ 0 C 0 0 0 U b HHP
RADIOMETERS
(1)ES~R X p-x x x x xx p p X X X x P x p p p p X p X p p X x
(2)HRIR x p x x x xx p p xX xp p p p X p xp p x x
(3) HRMR x p x x xx xp ppX X p x p p p x p x p p x x
(4) ITPR x p x X xX xx pp xc xx pp p ppXp p x x
(5) SCRWVZ x x x x xx x p x xpXp p p x p p x x
SPECTROMETERS
(6) MIOSPEC
(7) PICOM
Xx x
IX x
Xp x
x
KX x
IXF x x X x
pX pp X X p p x x
SX
X X P X pp X Ppp
pCpCppx
pp XpPX pp X pp pP x x x x
SCA TTEROMIETER
(8)GROW x- x x xx xx pp xx xxppp P P PXp p x x
PHOTOMETER
(9) VPOC x px x xx xx p~p xx xxppppp PP Xp p x x
ELECTROSTATIC
(10)PROBE x p x p I I p p pp xx
DATA RELAY
(I1)DAR U p x xxx
R - ppossible x included in x~ x X
-14- requirenments
ESMR - Electrically Scanned Microwave Radiometer
Inputs
I Power ONOFF
2 Deployment of antenna after orbit is achieved
3 Beam scanning (78 discrete positions for + 500
field of view)
4 Switching of redundant circuits
Outputs
1 Data rate (peak) 360 bitsec
2 Serial readout
3 Calibration data 1 - 10 bit word every 2 minutes
4 Housekeeping data 1- 10 bit word every 2 minutes
Stabilization and Control
1 Local vertical orientation
2 + 2 pointing accuracy
Processing
1 Concurrent operation with another radiometer
2 Angular Resolution 1 6 degrees
3 Time constant 2 seconds
4 Calibration two sources (50 0 k and 3300 k)
5 Dynamic range 50 0 k to 330 0 k accurate to 20 k
-15shy
SECTION 2
EXPERIMENTS
This section deals with the given set of experiments their
Characteristics Processing Requirements and possible Common
Interface The given set of experiments are those which are candidates
for the Nimbus E Spacecraft
2 1 CHARACTERISTICS
Keeping in mind that the end product of this study is a design of a
multiprocessor to be used on a operating system the following assumpshy
tions were made
Sensors will incorporate some method of inflight calibration
which will be an integral part of its observation cycle
Sensors may have spare circuits components or modules
which can be switched in or out as a failure is detected
The equipment will not be in an experimental status i e
the general processing requirements for each sensor will be
known
All scanning or pointing will be controlled by the multiprocessor
-9shy
The following assumptions were not included but should be
considered for future operating systems
The sensors will have a much higher resolution than those
considered in the given set of experiments
0 Due to higher resolution the data rates will be greater
Radiometers will probably be of the vidicon tube type
One sensor package will perform the combined tasks of
several of the experiments in the given set
Radiometers will probably have data rates of 35KHz
per channel
Table 2 1-1 is a summary of the more important characteristics
of the experiments used in this study Several interesting observations
are brought to light as the table is studied not the least of which is the
fact that there is considerable overlap in the sensing of certain regions
of the spectrum The table also lists the types of observations approxshy
imate data rates dimensions of the scan and the approximate sampling
rates
Table Z 1-2 list the types of processing which could be performed
on the data depending upon the type of output desired
Following these tables is a list of the experiments with their detailed
characteristics grouped under the following headings Input (to the
-10shy
experiment) Output (from the experiment) Stabilization and Control
(requirements of the experiment) and Processing (requirements peculiar
to the experiment)
-1i1shy
Experiment Acronym
ESMR Image
HRIR Image
HRMR Image
ITPR Profile
SCRWVZ Profile
MICSPEC Profile
NSUMMARY
Number of Spectrum of
Channels ChannelsI
I
1 155 am (1935
HRI 11 i 045 to o 75At 1 100 to 120t
1 84 to to 94g 1 102 to 11 4
1 6 7) (Water VaporI
1and)
4 15V (CO 2 Band)
4 9 to18A(Temp-erature and Watervapor)
7 15t (CO 2 Band) I 45-L 1 133C (Cirrus Clouds)MICPECGE115 1 135 cm (222 G1z) 1 095 cn (314 GHz) I 055 cn(5365 GHz) 1 049 cm (60 82 GHz) 1 0 47 cm (6447 GHz)
Samples Read Peak per Time Sampling
Usage Measurement Dimensions Scan per Rate TimeDay Range of Scan Sensor Scan SecI i I
I 30 I I
12 hrs 50 to 3Hz) 160 1000 63 1 4 seai 45
0 00 o3scI 27K124 hrs 103degl100 400 03 s
I i o 0 24hrs 003x60 12000 0017 2353K
I bull
24 hrs 250 x 72501 29 60 29
-h I9 hrs 0 to 035
nillirs 66 1 1 13
0
I 206 to 250deg K
24 hrs 0 to 400deg0 9 5 I I
I F I [
OF THE EXPERIMENT CHARACTERISTICS
TABLE 2 1-1
Ave rage Data
Peak Rate Data per Rate Scan (BPS) (BPS)
360 101
216 600
I 1 188M 3Z0000
i232 232
I 104 104
8 8
Ave rage Data
Samples Read Peak Peak Rate
Number per Time Sampling Data per
Experiment Acronym
of Channels
Spectrum of Channels
Usage TimeDay
Measurement Range
Dimensions of Scan
Scan Sensor
per Scan
Rate Sec
Rate Scan (BPS) (BPS)
PICOM Map I
I I AMU 4 A MU 1 I I c I 15 Ise
G1 14 and 16 AMU 10 hr ito 20 AMU NA 0120 120
Profile 12 20 cm (15 GHz) 12 hrs Ito 4meters 255 x 15 7 a sec 7 56 56
VPofile 025A o Profile 1 0 28) 2 hrs 0170 x3 0 18 20 sec4 18 144 144
PROBE Point Value
i2 j 10 hr I
NA I
13 1 rec 126 208 1208 I
RELAY 2 Antenna pointing I 12 hrs 10300 INA A NA steer-IA
Steering Angle i ing and er6m 4x1Da Experiment Data I II I xp Datal
SUMARY OF THE EXPERIMENT CHARATERISTICS
TABLE 2 1-1 (continued)
Table 2 1-2
EXPERIMENT PROCESSING
CONTROLS
Experiment Scan Calibra- Enhance- Rectification Super Misc Data Data Management tion ment positicn
C0 Compress Hand
U 00
gtc gt
0U ~
0IC C )
C C0 0 0 0
Q 0___ 0 C 0 0 0 U b HHP
RADIOMETERS
(1)ES~R X p-x x x x xx p p X X X x P x p p p p X p X p p X x
(2)HRIR x p x x x xx p p xX xp p p p X p xp p x x
(3) HRMR x p x x xx xp ppX X p x p p p x p x p p x x
(4) ITPR x p x X xX xx pp xc xx pp p ppXp p x x
(5) SCRWVZ x x x x xx x p x xpXp p p x p p x x
SPECTROMETERS
(6) MIOSPEC
(7) PICOM
Xx x
IX x
Xp x
x
KX x
IXF x x X x
pX pp X X p p x x
SX
X X P X pp X Ppp
pCpCppx
pp XpPX pp X pp pP x x x x
SCA TTEROMIETER
(8)GROW x- x x xx xx pp xx xxppp P P PXp p x x
PHOTOMETER
(9) VPOC x px x xx xx p~p xx xxppppp PP Xp p x x
ELECTROSTATIC
(10)PROBE x p x p I I p p pp xx
DATA RELAY
(I1)DAR U p x xxx
R - ppossible x included in x~ x X
-14- requirenments
ESMR - Electrically Scanned Microwave Radiometer
Inputs
I Power ONOFF
2 Deployment of antenna after orbit is achieved
3 Beam scanning (78 discrete positions for + 500
field of view)
4 Switching of redundant circuits
Outputs
1 Data rate (peak) 360 bitsec
2 Serial readout
3 Calibration data 1 - 10 bit word every 2 minutes
4 Housekeeping data 1- 10 bit word every 2 minutes
Stabilization and Control
1 Local vertical orientation
2 + 2 pointing accuracy
Processing
1 Concurrent operation with another radiometer
2 Angular Resolution 1 6 degrees
3 Time constant 2 seconds
4 Calibration two sources (50 0 k and 3300 k)
5 Dynamic range 50 0 k to 330 0 k accurate to 20 k
-15shy
The following assumptions were not included but should be
considered for future operating systems
The sensors will have a much higher resolution than those
considered in the given set of experiments
0 Due to higher resolution the data rates will be greater
Radiometers will probably be of the vidicon tube type
One sensor package will perform the combined tasks of
several of the experiments in the given set
Radiometers will probably have data rates of 35KHz
per channel
Table 2 1-1 is a summary of the more important characteristics
of the experiments used in this study Several interesting observations
are brought to light as the table is studied not the least of which is the
fact that there is considerable overlap in the sensing of certain regions
of the spectrum The table also lists the types of observations approxshy
imate data rates dimensions of the scan and the approximate sampling
rates
Table Z 1-2 list the types of processing which could be performed
on the data depending upon the type of output desired
Following these tables is a list of the experiments with their detailed
characteristics grouped under the following headings Input (to the
-10shy
experiment) Output (from the experiment) Stabilization and Control
(requirements of the experiment) and Processing (requirements peculiar
to the experiment)
-1i1shy
Experiment Acronym
ESMR Image
HRIR Image
HRMR Image
ITPR Profile
SCRWVZ Profile
MICSPEC Profile
NSUMMARY
Number of Spectrum of
Channels ChannelsI
I
1 155 am (1935
HRI 11 i 045 to o 75At 1 100 to 120t
1 84 to to 94g 1 102 to 11 4
1 6 7) (Water VaporI
1and)
4 15V (CO 2 Band)
4 9 to18A(Temp-erature and Watervapor)
7 15t (CO 2 Band) I 45-L 1 133C (Cirrus Clouds)MICPECGE115 1 135 cm (222 G1z) 1 095 cn (314 GHz) I 055 cn(5365 GHz) 1 049 cm (60 82 GHz) 1 0 47 cm (6447 GHz)
Samples Read Peak per Time Sampling
Usage Measurement Dimensions Scan per Rate TimeDay Range of Scan Sensor Scan SecI i I
I 30 I I
12 hrs 50 to 3Hz) 160 1000 63 1 4 seai 45
0 00 o3scI 27K124 hrs 103degl100 400 03 s
I i o 0 24hrs 003x60 12000 0017 2353K
I bull
24 hrs 250 x 72501 29 60 29
-h I9 hrs 0 to 035
nillirs 66 1 1 13
0
I 206 to 250deg K
24 hrs 0 to 400deg0 9 5 I I
I F I [
OF THE EXPERIMENT CHARACTERISTICS
TABLE 2 1-1
Ave rage Data
Peak Rate Data per Rate Scan (BPS) (BPS)
360 101
216 600
I 1 188M 3Z0000
i232 232
I 104 104
8 8
Ave rage Data
Samples Read Peak Peak Rate
Number per Time Sampling Data per
Experiment Acronym
of Channels
Spectrum of Channels
Usage TimeDay
Measurement Range
Dimensions of Scan
Scan Sensor
per Scan
Rate Sec
Rate Scan (BPS) (BPS)
PICOM Map I
I I AMU 4 A MU 1 I I c I 15 Ise
G1 14 and 16 AMU 10 hr ito 20 AMU NA 0120 120
Profile 12 20 cm (15 GHz) 12 hrs Ito 4meters 255 x 15 7 a sec 7 56 56
VPofile 025A o Profile 1 0 28) 2 hrs 0170 x3 0 18 20 sec4 18 144 144
PROBE Point Value
i2 j 10 hr I
NA I
13 1 rec 126 208 1208 I
RELAY 2 Antenna pointing I 12 hrs 10300 INA A NA steer-IA
Steering Angle i ing and er6m 4x1Da Experiment Data I II I xp Datal
SUMARY OF THE EXPERIMENT CHARATERISTICS
TABLE 2 1-1 (continued)
Table 2 1-2
EXPERIMENT PROCESSING
CONTROLS
Experiment Scan Calibra- Enhance- Rectification Super Misc Data Data Management tion ment positicn
C0 Compress Hand
U 00
gtc gt
0U ~
0IC C )
C C0 0 0 0
Q 0___ 0 C 0 0 0 U b HHP
RADIOMETERS
(1)ES~R X p-x x x x xx p p X X X x P x p p p p X p X p p X x
(2)HRIR x p x x x xx p p xX xp p p p X p xp p x x
(3) HRMR x p x x xx xp ppX X p x p p p x p x p p x x
(4) ITPR x p x X xX xx pp xc xx pp p ppXp p x x
(5) SCRWVZ x x x x xx x p x xpXp p p x p p x x
SPECTROMETERS
(6) MIOSPEC
(7) PICOM
Xx x
IX x
Xp x
x
KX x
IXF x x X x
pX pp X X p p x x
SX
X X P X pp X Ppp
pCpCppx
pp XpPX pp X pp pP x x x x
SCA TTEROMIETER
(8)GROW x- x x xx xx pp xx xxppp P P PXp p x x
PHOTOMETER
(9) VPOC x px x xx xx p~p xx xxppppp PP Xp p x x
ELECTROSTATIC
(10)PROBE x p x p I I p p pp xx
DATA RELAY
(I1)DAR U p x xxx
R - ppossible x included in x~ x X
-14- requirenments
ESMR - Electrically Scanned Microwave Radiometer
Inputs
I Power ONOFF
2 Deployment of antenna after orbit is achieved
3 Beam scanning (78 discrete positions for + 500
field of view)
4 Switching of redundant circuits
Outputs
1 Data rate (peak) 360 bitsec
2 Serial readout
3 Calibration data 1 - 10 bit word every 2 minutes
4 Housekeeping data 1- 10 bit word every 2 minutes
Stabilization and Control
1 Local vertical orientation
2 + 2 pointing accuracy
Processing
1 Concurrent operation with another radiometer
2 Angular Resolution 1 6 degrees
3 Time constant 2 seconds
4 Calibration two sources (50 0 k and 3300 k)
5 Dynamic range 50 0 k to 330 0 k accurate to 20 k
-15shy
experiment) Output (from the experiment) Stabilization and Control
(requirements of the experiment) and Processing (requirements peculiar
to the experiment)
-1i1shy
Experiment Acronym
ESMR Image
HRIR Image
HRMR Image
ITPR Profile
SCRWVZ Profile
MICSPEC Profile
NSUMMARY
Number of Spectrum of
Channels ChannelsI
I
1 155 am (1935
HRI 11 i 045 to o 75At 1 100 to 120t
1 84 to to 94g 1 102 to 11 4
1 6 7) (Water VaporI
1and)
4 15V (CO 2 Band)
4 9 to18A(Temp-erature and Watervapor)
7 15t (CO 2 Band) I 45-L 1 133C (Cirrus Clouds)MICPECGE115 1 135 cm (222 G1z) 1 095 cn (314 GHz) I 055 cn(5365 GHz) 1 049 cm (60 82 GHz) 1 0 47 cm (6447 GHz)
Samples Read Peak per Time Sampling
Usage Measurement Dimensions Scan per Rate TimeDay Range of Scan Sensor Scan SecI i I
I 30 I I
12 hrs 50 to 3Hz) 160 1000 63 1 4 seai 45
0 00 o3scI 27K124 hrs 103degl100 400 03 s
I i o 0 24hrs 003x60 12000 0017 2353K
I bull
24 hrs 250 x 72501 29 60 29
-h I9 hrs 0 to 035
nillirs 66 1 1 13
0
I 206 to 250deg K
24 hrs 0 to 400deg0 9 5 I I
I F I [
OF THE EXPERIMENT CHARACTERISTICS
TABLE 2 1-1
Ave rage Data
Peak Rate Data per Rate Scan (BPS) (BPS)
360 101
216 600
I 1 188M 3Z0000
i232 232
I 104 104
8 8
Ave rage Data
Samples Read Peak Peak Rate
Number per Time Sampling Data per
Experiment Acronym
of Channels
Spectrum of Channels
Usage TimeDay
Measurement Range
Dimensions of Scan
Scan Sensor
per Scan
Rate Sec
Rate Scan (BPS) (BPS)
PICOM Map I
I I AMU 4 A MU 1 I I c I 15 Ise
G1 14 and 16 AMU 10 hr ito 20 AMU NA 0120 120
Profile 12 20 cm (15 GHz) 12 hrs Ito 4meters 255 x 15 7 a sec 7 56 56
VPofile 025A o Profile 1 0 28) 2 hrs 0170 x3 0 18 20 sec4 18 144 144
PROBE Point Value
i2 j 10 hr I
NA I
13 1 rec 126 208 1208 I
RELAY 2 Antenna pointing I 12 hrs 10300 INA A NA steer-IA
Steering Angle i ing and er6m 4x1Da Experiment Data I II I xp Datal
SUMARY OF THE EXPERIMENT CHARATERISTICS
TABLE 2 1-1 (continued)
Table 2 1-2
EXPERIMENT PROCESSING
CONTROLS
Experiment Scan Calibra- Enhance- Rectification Super Misc Data Data Management tion ment positicn
C0 Compress Hand
U 00
gtc gt
0U ~
0IC C )
C C0 0 0 0
Q 0___ 0 C 0 0 0 U b HHP
RADIOMETERS
(1)ES~R X p-x x x x xx p p X X X x P x p p p p X p X p p X x
(2)HRIR x p x x x xx p p xX xp p p p X p xp p x x
(3) HRMR x p x x xx xp ppX X p x p p p x p x p p x x
(4) ITPR x p x X xX xx pp xc xx pp p ppXp p x x
(5) SCRWVZ x x x x xx x p x xpXp p p x p p x x
SPECTROMETERS
(6) MIOSPEC
(7) PICOM
Xx x
IX x
Xp x
x
KX x
IXF x x X x
pX pp X X p p x x
SX
X X P X pp X Ppp
pCpCppx
pp XpPX pp X pp pP x x x x
SCA TTEROMIETER
(8)GROW x- x x xx xx pp xx xxppp P P PXp p x x
PHOTOMETER
(9) VPOC x px x xx xx p~p xx xxppppp PP Xp p x x
ELECTROSTATIC
(10)PROBE x p x p I I p p pp xx
DATA RELAY
(I1)DAR U p x xxx
R - ppossible x included in x~ x X
-14- requirenments
ESMR - Electrically Scanned Microwave Radiometer
Inputs
I Power ONOFF
2 Deployment of antenna after orbit is achieved
3 Beam scanning (78 discrete positions for + 500
field of view)
4 Switching of redundant circuits
Outputs
1 Data rate (peak) 360 bitsec
2 Serial readout
3 Calibration data 1 - 10 bit word every 2 minutes
4 Housekeeping data 1- 10 bit word every 2 minutes
Stabilization and Control
1 Local vertical orientation
2 + 2 pointing accuracy
Processing
1 Concurrent operation with another radiometer
2 Angular Resolution 1 6 degrees
3 Time constant 2 seconds
4 Calibration two sources (50 0 k and 3300 k)
5 Dynamic range 50 0 k to 330 0 k accurate to 20 k
-15shy
Experiment Acronym
ESMR Image
HRIR Image
HRMR Image
ITPR Profile
SCRWVZ Profile
MICSPEC Profile
NSUMMARY
Number of Spectrum of
Channels ChannelsI
I
1 155 am (1935
HRI 11 i 045 to o 75At 1 100 to 120t
1 84 to to 94g 1 102 to 11 4
1 6 7) (Water VaporI
1and)
4 15V (CO 2 Band)
4 9 to18A(Temp-erature and Watervapor)
7 15t (CO 2 Band) I 45-L 1 133C (Cirrus Clouds)MICPECGE115 1 135 cm (222 G1z) 1 095 cn (314 GHz) I 055 cn(5365 GHz) 1 049 cm (60 82 GHz) 1 0 47 cm (6447 GHz)
Samples Read Peak per Time Sampling
Usage Measurement Dimensions Scan per Rate TimeDay Range of Scan Sensor Scan SecI i I
I 30 I I
12 hrs 50 to 3Hz) 160 1000 63 1 4 seai 45
0 00 o3scI 27K124 hrs 103degl100 400 03 s
I i o 0 24hrs 003x60 12000 0017 2353K
I bull
24 hrs 250 x 72501 29 60 29
-h I9 hrs 0 to 035
nillirs 66 1 1 13
0
I 206 to 250deg K
24 hrs 0 to 400deg0 9 5 I I
I F I [
OF THE EXPERIMENT CHARACTERISTICS
TABLE 2 1-1
Ave rage Data
Peak Rate Data per Rate Scan (BPS) (BPS)
360 101
216 600
I 1 188M 3Z0000
i232 232
I 104 104
8 8
Ave rage Data
Samples Read Peak Peak Rate
Number per Time Sampling Data per
Experiment Acronym
of Channels
Spectrum of Channels
Usage TimeDay
Measurement Range
Dimensions of Scan
Scan Sensor
per Scan
Rate Sec
Rate Scan (BPS) (BPS)
PICOM Map I
I I AMU 4 A MU 1 I I c I 15 Ise
G1 14 and 16 AMU 10 hr ito 20 AMU NA 0120 120
Profile 12 20 cm (15 GHz) 12 hrs Ito 4meters 255 x 15 7 a sec 7 56 56
VPofile 025A o Profile 1 0 28) 2 hrs 0170 x3 0 18 20 sec4 18 144 144
PROBE Point Value
i2 j 10 hr I
NA I
13 1 rec 126 208 1208 I
RELAY 2 Antenna pointing I 12 hrs 10300 INA A NA steer-IA
Steering Angle i ing and er6m 4x1Da Experiment Data I II I xp Datal
SUMARY OF THE EXPERIMENT CHARATERISTICS
TABLE 2 1-1 (continued)
Table 2 1-2
EXPERIMENT PROCESSING
CONTROLS
Experiment Scan Calibra- Enhance- Rectification Super Misc Data Data Management tion ment positicn
C0 Compress Hand
U 00
gtc gt
0U ~
0IC C )
C C0 0 0 0
Q 0___ 0 C 0 0 0 U b HHP
RADIOMETERS
(1)ES~R X p-x x x x xx p p X X X x P x p p p p X p X p p X x
(2)HRIR x p x x x xx p p xX xp p p p X p xp p x x
(3) HRMR x p x x xx xp ppX X p x p p p x p x p p x x
(4) ITPR x p x X xX xx pp xc xx pp p ppXp p x x
(5) SCRWVZ x x x x xx x p x xpXp p p x p p x x
SPECTROMETERS
(6) MIOSPEC
(7) PICOM
Xx x
IX x
Xp x
x
KX x
IXF x x X x
pX pp X X p p x x
SX
X X P X pp X Ppp
pCpCppx
pp XpPX pp X pp pP x x x x
SCA TTEROMIETER
(8)GROW x- x x xx xx pp xx xxppp P P PXp p x x
PHOTOMETER
(9) VPOC x px x xx xx p~p xx xxppppp PP Xp p x x
ELECTROSTATIC
(10)PROBE x p x p I I p p pp xx
DATA RELAY
(I1)DAR U p x xxx
R - ppossible x included in x~ x X
-14- requirenments
ESMR - Electrically Scanned Microwave Radiometer
Inputs
I Power ONOFF
2 Deployment of antenna after orbit is achieved
3 Beam scanning (78 discrete positions for + 500
field of view)
4 Switching of redundant circuits
Outputs
1 Data rate (peak) 360 bitsec
2 Serial readout
3 Calibration data 1 - 10 bit word every 2 minutes
4 Housekeeping data 1- 10 bit word every 2 minutes
Stabilization and Control
1 Local vertical orientation
2 + 2 pointing accuracy
Processing
1 Concurrent operation with another radiometer
2 Angular Resolution 1 6 degrees
3 Time constant 2 seconds
4 Calibration two sources (50 0 k and 3300 k)
5 Dynamic range 50 0 k to 330 0 k accurate to 20 k
-15shy
Ave rage Data
Samples Read Peak Peak Rate
Number per Time Sampling Data per
Experiment Acronym
of Channels
Spectrum of Channels
Usage TimeDay
Measurement Range
Dimensions of Scan
Scan Sensor
per Scan
Rate Sec
Rate Scan (BPS) (BPS)
PICOM Map I
I I AMU 4 A MU 1 I I c I 15 Ise
G1 14 and 16 AMU 10 hr ito 20 AMU NA 0120 120
Profile 12 20 cm (15 GHz) 12 hrs Ito 4meters 255 x 15 7 a sec 7 56 56
VPofile 025A o Profile 1 0 28) 2 hrs 0170 x3 0 18 20 sec4 18 144 144
PROBE Point Value
i2 j 10 hr I
NA I
13 1 rec 126 208 1208 I
RELAY 2 Antenna pointing I 12 hrs 10300 INA A NA steer-IA
Steering Angle i ing and er6m 4x1Da Experiment Data I II I xp Datal
SUMARY OF THE EXPERIMENT CHARATERISTICS
TABLE 2 1-1 (continued)
Table 2 1-2
EXPERIMENT PROCESSING
CONTROLS
Experiment Scan Calibra- Enhance- Rectification Super Misc Data Data Management tion ment positicn
C0 Compress Hand
U 00
gtc gt
0U ~
0IC C )
C C0 0 0 0
Q 0___ 0 C 0 0 0 U b HHP
RADIOMETERS
(1)ES~R X p-x x x x xx p p X X X x P x p p p p X p X p p X x
(2)HRIR x p x x x xx p p xX xp p p p X p xp p x x
(3) HRMR x p x x xx xp ppX X p x p p p x p x p p x x
(4) ITPR x p x X xX xx pp xc xx pp p ppXp p x x
(5) SCRWVZ x x x x xx x p x xpXp p p x p p x x
SPECTROMETERS
(6) MIOSPEC
(7) PICOM
Xx x
IX x
Xp x
x
KX x
IXF x x X x
pX pp X X p p x x
SX
X X P X pp X Ppp
pCpCppx
pp XpPX pp X pp pP x x x x
SCA TTEROMIETER
(8)GROW x- x x xx xx pp xx xxppp P P PXp p x x
PHOTOMETER
(9) VPOC x px x xx xx p~p xx xxppppp PP Xp p x x
ELECTROSTATIC
(10)PROBE x p x p I I p p pp xx
DATA RELAY
(I1)DAR U p x xxx
R - ppossible x included in x~ x X
-14- requirenments
ESMR - Electrically Scanned Microwave Radiometer
Inputs
I Power ONOFF
2 Deployment of antenna after orbit is achieved
3 Beam scanning (78 discrete positions for + 500
field of view)
4 Switching of redundant circuits
Outputs
1 Data rate (peak) 360 bitsec
2 Serial readout
3 Calibration data 1 - 10 bit word every 2 minutes
4 Housekeeping data 1- 10 bit word every 2 minutes
Stabilization and Control
1 Local vertical orientation
2 + 2 pointing accuracy
Processing
1 Concurrent operation with another radiometer
2 Angular Resolution 1 6 degrees
3 Time constant 2 seconds
4 Calibration two sources (50 0 k and 3300 k)
5 Dynamic range 50 0 k to 330 0 k accurate to 20 k
-15shy
Table 2 1-2
EXPERIMENT PROCESSING
CONTROLS
Experiment Scan Calibra- Enhance- Rectification Super Misc Data Data Management tion ment positicn
C0 Compress Hand
U 00
gtc gt
0U ~
0IC C )
C C0 0 0 0
Q 0___ 0 C 0 0 0 U b HHP
RADIOMETERS
(1)ES~R X p-x x x x xx p p X X X x P x p p p p X p X p p X x
(2)HRIR x p x x x xx p p xX xp p p p X p xp p x x
(3) HRMR x p x x xx xp ppX X p x p p p x p x p p x x
(4) ITPR x p x X xX xx pp xc xx pp p ppXp p x x
(5) SCRWVZ x x x x xx x p x xpXp p p x p p x x
SPECTROMETERS
(6) MIOSPEC
(7) PICOM
Xx x
IX x
Xp x
x
KX x
IXF x x X x
pX pp X X p p x x
SX
X X P X pp X Ppp
pCpCppx
pp XpPX pp X pp pP x x x x
SCA TTEROMIETER
(8)GROW x- x x xx xx pp xx xxppp P P PXp p x x
PHOTOMETER
(9) VPOC x px x xx xx p~p xx xxppppp PP Xp p x x
ELECTROSTATIC
(10)PROBE x p x p I I p p pp xx
DATA RELAY
(I1)DAR U p x xxx
R - ppossible x included in x~ x X
-14- requirenments
ESMR - Electrically Scanned Microwave Radiometer
Inputs
I Power ONOFF
2 Deployment of antenna after orbit is achieved
3 Beam scanning (78 discrete positions for + 500
field of view)
4 Switching of redundant circuits
Outputs
1 Data rate (peak) 360 bitsec
2 Serial readout
3 Calibration data 1 - 10 bit word every 2 minutes
4 Housekeeping data 1- 10 bit word every 2 minutes
Stabilization and Control
1 Local vertical orientation
2 + 2 pointing accuracy
Processing
1 Concurrent operation with another radiometer
2 Angular Resolution 1 6 degrees
3 Time constant 2 seconds
4 Calibration two sources (50 0 k and 3300 k)
5 Dynamic range 50 0 k to 330 0 k accurate to 20 k
-15shy
ESMR - Electrically Scanned Microwave Radiometer
Inputs
I Power ONOFF
2 Deployment of antenna after orbit is achieved
3 Beam scanning (78 discrete positions for + 500
field of view)
4 Switching of redundant circuits
Outputs
1 Data rate (peak) 360 bitsec
2 Serial readout
3 Calibration data 1 - 10 bit word every 2 minutes
4 Housekeeping data 1- 10 bit word every 2 minutes
Stabilization and Control
1 Local vertical orientation
2 + 2 pointing accuracy
Processing
1 Concurrent operation with another radiometer
2 Angular Resolution 1 6 degrees
3 Time constant 2 seconds
4 Calibration two sources (50 0 k and 3300 k)
5 Dynamic range 50 0 k to 330 0 k accurate to 20 k
-15shy
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