PEREGRINE LUNAR LANDER
PAYLOAD USER’S GUIDE
Version 2.0
March 2017
2515 Liberty Avenue
Pittsburgh, PA 15222
Phone | 412.682.3282
www.astrobotic.com
[email protected]
TABLE OF CONTENTS
ABOUT US
11-19
PEREGRINE
PAYLOAD INTERFACES
29-33
21-27
MISSION ONE
M1 ENVIRONMENTS
43-45
3-9
GLOSSARY
1
35-41
2
ABOUT US
3
ASTROBOTIC MISSION
INTERNATIONAL PAYLOAD DELIVERY
Astrobotic provides an end-to-end delivery
service for payloads to the Moon.
On each delivery mission to the Moon, payloads are
integrated onto a single Peregrine Lunar Lander and then
launched on a commercially procured launch vehicle.
The lander safely delivers payloads to lunar orbit and the
lunar surface.
Upon landing, Peregrine transitions to a local utility
supporting payload operations with power and
communication.
Astrobotic provides comprehensive support to the payload customer from
contract signature to end of mission. The Payload Care Program equips the
payload customer with the latest information on the mission and facilitates
technical exchanges with Astrobotic engineers to ensure payload compatibility
with the Peregrine Lunar Lander and overall mission success.
4
ASTROBOTIC LUNAR SERVICES
COMPANIES, GOVERNMENTS, UNIVERSITIES, NON-PROFITS, AND
INDIVIDUALS can send payloads to the Moon at an industry
defining price of $1.2M per kilogram of payload.
Standard payload delivery options include deployment in lunar orbit prior to
descent as well as to the lunar surface where payloads may remain attached
to the lander, deploy from the lander for an independent mission, or hitch a
ride on an Astrobotic-provided lunar rover.
LUNAR ORBIT OR LUNAR SURFACE
$1,200,000 / kg
DELIVERY ON ROVER
$2,000,000 / kg
For every kilogram of payload, Peregrine provides:
0.5 Watt
POWER
2.8 kbps
BANDWIDTH
Additional power
can be purchased at
$225,000 per W.
Additional bandwidth
can be purchased at
$30,000 per kbps.
NOTE: Payloads less than 1 kg may be subject to integration fees.
NOTE: Can’t afford a payload? Check out our MoonMail service on Astrobotic’s website.
Prices start at $460.
5
PEREGRINE MISSIONS
PEREGRINE IS A LUNAR LANDER PRODUCT LINE that will deliver
payloads for Astrobotic’s first five missions.
MISSION
M1
M2
M3
M4
M5
35 kg
130 kg
265 kg
530 kg
530 kg
LEO/SSO
LEO/SSO
TLI
TLI
TLI
Secondary
Payload
Secondary
Payload
Primary
Payload
Primary
Payload
Primary
Payload
NUMBER
OF
LANDERS
NOMINAL
MISSION
CAPACITY
LAUNCH
ORBIT
LAUNCH
CONFIG
Following M1, Astrobotic anticipates a flight rate of at least one mission every
two years.
6
PEREGRINE PARTNERS
LUNAR CATALYST PROGRAM
PARTNER
OFFICIAL LOGISTICS
PROVIDER TO THE MOON
PROPELLANT TANK
PROVIDER
TECHNICAL DESIGN
PARTNER
PROPULSION
PROVIDER
7
PAYLOAD EXPERIENCE
SERVICES AGREEMENT
TECHNICAL SUPPORT
1
2
Following contract signature, an
Interface Control Document is
developed and agreed to by
Astrobotic and the payload
customer.
Astrobotic supports the payload
customer by participating in
payload design cycle reviews
and facilitating payload testing
with simulated spacecraft
interfaces.
INTEGRATION
MISSION
3
4
The payload is sent to
Astrobotic using DHL Logistics.
Astrobotic accepts the payload
and integrates it onto Peregrine.
The integrated Peregrine Lunar
Lander is launched and
commences its mission. The
Astrobotic Mission Control
Center connects the customer
to their payload.
8
PAYLOAD CARE PROGRAM
ASTROBOTIC IS HERE TO SUPPORT THE SUCCESS OF YOUR
PAYLOAD MISSION.
Astrobotic provides a Payload Care Program to guide the customer through
contract to a smooth integration of the payload with the Peregrine Lunar
Lander. The following services are included within the program:
Availability for general and technical inquiries
Quarterly presentation of Astrobotic business and
mission updates
Optional monthly technical
Astrobotic mission engineers
exchanges
with
Access to library of Astrobotic payload design
references and standards
Technical feedback through payload milestone
design reviews
Facilitation
of
lander-payload
compatibility testing
9
interface
10
PEREGRINE
11
PEREGRINE LUNAR LANDER
ONE LANDER — ANY MISSION
The Peregrine Lunar Lander precisely and safely delivers payloads to lunar orbit
and the lunar surface on every mission.
Peregrine’s flexible payload mounting accommodates a variety of payload
types for science, exploration, marketing, resources, and commemoration.
Following landing, Peregrine provides payloads with power as well as
communication to and from Earth.
12
LANDER SYSTEMS
Avionics
Four Decks
Solar Panel
Four Tanks
Four Legs
Attitude
Thrusters
Five Main
Engines
Landing
Sensor
Launch
Vehicle Adapter
13
STRUCTURE
THE PEREGRINE LUNAR LANDER’S STRUCTURE
is stout, stiff, and simple for survivability during
launch and landing. A releasable clamp band
mates Peregrine to the launch vehicle and
allows for separation prior to cruise to
the Moon. Four landing legs are
designed
to
absorb
shock
and
stabilize the craft on touchdown.
The lander features four light and
sturdy composite decks for payload
as well as avionics and electronics
mounting. Payloads can attach to the
topside or underside of the deck panel.
The
Peregrine
Lunar Lander
The use of a release mechanism to deploy a
payload from the lander is possible in lunar orbit or
on the lunar surface. The entire structure is scalable
to accommodate various payload capacities up to
265 kg.
M1 Lander Dimensions:
2.5 m Diameter, 1.8 m Height
M1 Payload Capacity:
35 kg
M1 Dry Mass:
274.5 kg
14
PROPULSION
THE PEREGRINE LUNAR LANDER uses an Aerojet
Rocketdyne
generation
propulsion
space
system
engine
featuring
technology
next
to
power payloads to the Moon. Five
ISE-100
engines
serve
as
the
spacecraft’s main thrusters for all
major maneuvers including translunar injection, trajectory correction,
lunar
orbit
insertion,
descent. These
and
powered
engines use an
MMH/
MON-25 fuel and oxidizer combination. Smaller ISE-5
engines make up the attitude control system to
Aerojet
Rocketdyne
engine
maintain spacecraft orientation throughout the mission.
Main Engine:
Aerojet Rocketdyne ISE-100
Thrust:
440 N
Fuel & Oxidizer:
MMH & MON-25
15
POWER
THE PEREGRINE LUNAR LANDER IS DESIGNED TO
BE A POWER-POSITIVE SYSTEM, allowing it to
generate more power than it consumes during
nominal
mission
operations.
The
spacecraft draws power from the
29.6
V
Range
Safety
certified
lithium-ion battery using 18650 cell
technology. This feeds into a 28 V
power rail from which power is
distributed to all subsystems by the
lander. The battery is utilized during
UTJ
solar cell
assembly
engine burns and attitude maneuvers. The
solar panel array provides battery charge and
maintains surface operations. The GaInP/GaAs/Ge
triple junction material has heritage in orbital and
deep space missions.
M1 Battery Capacity:
691 Wh
M1 Solar Panel Power:
310 W
M1 Solar Panel Size:
1.2 m2
16
AVIONICS
PEREGRINE’S FLIGHT COMPUTER consists of a high
performance safety microcontroller with dual CPUs
running
in
Lockstep
for
error
and
fault
checking. A rad-hard watchdog timer
serves as an additional fault check and
error prevention. The computer has
been
tested
in
radiation,
temperature, shock, and vacuum
conditions
to
ensure
the
functionality remains nominal for the
longest projected mission timeline.
The primary flight computer performs
all command and data handling of the
spacecraft. It gathers input from the GNC
flight sensors and issues corresponding commands
to
the
propulsion
control
units.
Additionally,
it
cooperates with the payload controller to ensure safe
operation of the payloads throughout the mission.
Payload CPU Design:
Astrobotic
designed and
developed
flight computer
prototype board
32-bit RISC
Programmable Payload IO Channels:
Payload CPU Clock Speed:
64
330 MHz
17
COMMUNICATION
PEREGRINE
SERVES
AS
THE
PRIMARY
COMMUNICATIONS NODE relaying data between the
payload customer and their payloads on the
Moon. The lander-to-Earth connection is
provided by a high-powered and flightqualified
transponder
employing
X-Band downlink and S-Band uplink
satellite communications connecting
the
payload
customer
with
Peregrine. The selection of several
Swedish Space Corporation (SSC)
ground
stations
c o v e r ag e
around
lander-to-payload
SSC
ground
antenna
provided
via
maintains
Serial
100%
Earth.
connection
RS-422
within
The
is
the
electrical connector for wired communication
throughout the mission timeline. During surface
operations, a 2.4 GHz IEEE 802.11n compliant Wi-Fi
modem enables wireless communication between the
lander and deployed payloads.
Wired Protocol:
Serial RS-422
Wireless Protocol:
802.11n Wi-Fi
Wireless Frequency:
2.4 GHz
18
GUIDANCE, NAVIGATION, & CONTROL
PEREGRINE’S GNC SYSTEM orients the spacecraft
throughout the mission to facilitate operations. Input
from the star tracker, sun sensors, and rate
gyros aid the Attitude Determination and
Control System (ADCS) in maintaining
cruise operations with the solar array
pointed
t o w a r ds
Earth-based
the
ranging
Sun.
informs
position and velocity state estimates
for orbital and trajectory correction
maneuvers. During powered descent
and landing, a radar altimeter provides
velocity information that guides the spacecraft to a
safe landing. Peregrine’s flight software is built on
NASA’s core flight software and tested in the NASA
Astrobotic-built
landing sensor
prototype
TRICK/JEOD simulation suite.
Descent Orbit:
15 km
Powered Descent Duration:
600 s
Maximum Landing Velocity:
2.5 m/s
19
20
PAYLOAD
INTERFACES
21
MECHANICAL INTERFACE
PEREGRINE ACCOMMODATES A WIDE RANGE OF PAYLOAD
TYPES INCLUDING LUNAR SATELLITES, ROVERS, INSTRUMENTS,
AND ARTIFACTS.
Mounting locations are available above and below the composite lander decks.
Alternate mounting locations are available as a non-standard service.
ABOVE DECK
BELOW DECK
THERMAL INTERFACE
Payloads provide a thermally isolating adapter plate to the payload mounting
deck. This allows the payload to effectively manage its own thermal
environment through passive methods such as radiators or coatings. Peregrine
will provide power throughout the mission to attached payloads, which may be
utilized for internal heaters.
For availability of standard payload package sizes or the accommodation of
specific payload geometries, please contact Astrobotic.
22
RELEASE MECHANISM
PAYLOADS MAY DEPLOY FROM THE PEREGRINE LUNAR LANDER
IN LUNAR ORBIT OR ON THE LUNAR SURFACE.
Deployable payloads are encouraged to use Hold Down and Release
Mechanisms (HDRM). The selected device may not:
Be pyrotechnic,
Create excessive debris, or
Impart shocks greater than 30 g’s on the lander.
Peregrine provides power and power signal services to the electrical
connector. The payload customer is responsible for integrating the
release mechanism into their payload design and interfacing it
correctly with these provided services.
A sample egress procedure for a deployable payload on the lunar
surface is outlined below:
The payload charges its batteries with power provided by Peregrine.
The payload customer performs any necessary system diagnostic
checks and firmware or software updates for the payload.
The payload transitions to mission mode and powers up its onboard
radios. A diagnostic check is performed by the payload customer to
verify internal power sources and wireless communication.
Upon request of the payload customer, Astrobotic commands
Peregrine to send a release signal to the payload. Confirmation of
signal transmission to the electrical connector is provided by
Astrobotic. Peregrine-provided power and wired communication are
discontinued to the electrical connector.
23
ELECTRICAL INTERFACE
PEREGRINE PROVIDES POWER AND BANDWIDTH SERVICES
VIA A SINGLE ELECTRICAL CONNECTOR.
Static payloads employ a straight plug screw type
connector.
Deployable payloads employ a zero separation
force connector.
Both connector types will provide the same standard pin
configuration:
Power Return
Power
Power Signal
Data
Not Connected
Additional points of contact, of the payload structural and conductive elements
as well as the payload’s electrical circuit common ground, are required for
effective grounding to the spacecraft chassis.
24
POWER INTERFACE
THE PEREGRINE LUNAR LANDER SUPPORTS PAYLOAD
OPERATIONS WITH POWER SERVICES.
Peregrine provides nominal power
services throughout the cruise to the
Moon and on the lunar surface.
Power services are only available via
the electrical connector while the
payload is attached to the lander.
Deployable payloads will take full
control of their own power
consumption and generation after
release from the lander.
The Peregrine Lunar Lander maintains control of all power lines to
ultimately ensure spacecraft and mission safety. The main features
of the power interface are:
0.5 W per kilogram of payload nominal power
Regulated and switched 28 ± 0.5 Vdc power line
60 second 30 W peak power signal for release
mechanism actuation
For additional power needs, please contact Astrobotic.
25
DATA INTERFACE
THE PEREGRINE LUNAR LANDER SUPPORTS PAYLOAD
OPERATIONS WITH BANDWIDTH SERVICES.
Peregrine provides nominal bandwidth
services on the lunar surface. Limited
bandwidth services for “heartbeat”
data will be available throughout the
cruise to the Moon.
Wired bandwidth services are only
available via the electrical connector
while the payload is attached to the
lander. Wireless bandwidth services
will only be provided on the lunar
surface.
The Peregrine Lunar Lander employs quality of service techniques to
ensure bandwidth is maintained. Various flight-proven methods to
facilitate safe and reliable transmission of payload data are
implemented. The main features of the data interface are:
2.8 kbps per kilogram of payload
bandwidth
nominal
TCP/IP and UDP protocols supported
Serial RS-422 wired bandwidth
2.4 GHz 802.11n Wi-Fi radio wireless bandwidth
For additional bandwidth needs, please contact Astrobotic.
26
COMMUNICATION CHAIN
ASTROBOTIC FACILITATES TRANSPARENT COMMUNICATION
BETWEEN THE CUSTOMER AND THEIR PAYLOAD.
Communication between the customer and their payload will
nominally take 5 seconds and no more than 17 seconds one way.
Peregrine
Wi-Fi
RS-422
Attached
Payload
Deployed
Payload
PMCCs
X-Band Downlink
AMCC
Ethernet
S-Band Uplink
SSC
The Astrobotic Mission Control Center (AMCC) forwards customer
commands and payload data between the individual Payload
Mission Control Centers (PMCCs) and SSC. In addition, Astrobotic
will provide the payload customer with general spacecraft telemetry
and health information.
27
28
MISSION ONE
29
MISSION ONE
FOR MISSION ONE, Peregrine will launch as a secondary payload
on a commercial launch vehicle. This enables a low-cost first
mission carrying 35 kg of payload.
Target Launch Orbit:
LEO or SSO
Target Lunar Orbit:
Stable Elliptical Orbit
Target Landing Site:
Lacus Mortis, 45°N 25°E
Lacus Mortis is a basaltic plain in the northeastern region of the Moon. A
plateau there serves as the target landing site.
Local Landing Time:
55-110 Hours After Sunrise
A Lunar day, from sunrise to sunset on the Moon, is equivalent to
354 Earth hours or approximately 14 Earth days.
30
M1 TRAJECTORY
LEO/SSO
LOI
TLI
Cruise
Descent
Launch to LEO or SSO
Separation from launch vehicle
TLI maneuver
11 – 38 day cruise to the Moon
LOI into stable elliptical orbit
Lunar orbit hold up to 37 days
Autonomous powered descent
Landing at Lacus Mortis
8 Earth days nominal surface operations
31
ORBIT & DESCENT
DESCENT IS INITIATED by an orbit-lowering main engine burn.
UNPOWERED
DESCENT
POWERED DESCENT
BRAKING
APPROACH
TERMINAL
DESCENT
Peregrine
descends vertically
at constant
velocity.
Peregrine coasts
after an orbitlowering
maneuver, using
only attitude
thrusters to
maintain
orientation.
100 km
to
15 km
Powered descent
commences and
main engines are
pulsed
continuously to
slow Peregrine
down.
Altimeter and star
tracker inform
targeted guidance
activity to the
landing site.
15 km
to
1 km
1 km
to
100 m
32
100 m
to
Touchdown
SURFACE OPERATIONS
1
SYSTEM CHECK
2
Following a successful
touchdown, the Peregrine Lunar
Lander transitions to surface
operational mode. The craft
establishes communication with
Earth and performs a system
check. Excess propellant is
vented as a precaution.
PAYLOAD CHECK
Peregrine provides payloads
with power and communication.
Software/firmware updates and
diagnostic system checks may
be performed by the payload.
3
MISSION SUPPORT
4
Payload egress procedures are
facilitated by the lander at this
time. Peregrine will provide
power and communication to
payloads for at least 8 Earth
days of lunar surface
operations.
LUNAR NIGHT
Peregrine discontinues all
payload services and transitions
to hibernation mode at the
onset of lunar night.
33
34
M1
ENVIRONMENTS
35
LAUNCH LOADS
The Peregrine Lunar Lander will encounter the greatest
load environments during launch. The maximum range of
axial and lateral accelerations experienced by the lander
during launch are below:
A positive axial value indicates a compressive net-center
of gravity acceleration whereas a negative value indicates
tension.
The corresponding load environments of the payloads will depend on
mounting location and are a function of the structural dynamic properties
of both the lander and the payload. A coupled loads analysis to
determines the effect of launch loads at the payload interface. Please
contact Astrobotic for further details and special payload mounting
requirements.
36
VIBRATIONAL
The Peregrine Lunar Lander will encounter the following
maximum predicted axial and lateral sine environments
during launch:
Astrobotic develops a mission specific vibration spectrum based on a
coupled loads analysis using the input response from the launch
provider. Astrobotic is able to generate qualification and acceptance
curves. After contract, Astrobotic works with each customer to develop a
payload specific sine vibration curve, which can be used for system
testing prior to payload integration.
37
ACOUSTIC & SHOCK
ACOUSTIC
The Peregrine Lunar Lander will encounter varying acoustic
environments during Mission One. The maximum predicted
acoustic environment is below:
The highest levels occur at lift-off and during transonic
flights as the launch vehicle transitions to speeds greater
than the speed of sound.
SHOCK
The Peregrine Lunar Lander will encounter shock events
during launch and injection from the launch vehicle fairing
release and separation from the launch vehicle.
The maximum shock levels for
the clamp band release, not
accounting for variation during
flight, can be seen to the right.
38
FREQUENCY (Hz) SRS (g)
100
100
1,400
2,800
10,000
2,800
THERMAL
The Peregrine Lunar Lander will encounter the following
approximate thermal environments during Mission One:
Terrestrial:
0°C to 35°C
Launch:
20°C to 80°C
Cruise:
-60°C to 100°C
Descent:
-120°C to 100°C
Lunar Surface:
25°C to 80°C
The large range of temperatures from cruise to the lunar surface reflect
the warmth in direct sunlight and the cold in shadow. The corresponding
thermal environments of the payloads will depend on mounting location
and the amount of incident sunlight there throughout the mission. Please
contact Astrobotic for further details and specific payload mounting
requirements.
39
PRESSURE & HUMIDITY
PRESSURE
The Peregrine Lunar Lander will encounter the following
approximate pressure environments during Mission One:
101.3 kPa
Terrestrial:
Average atmospheric pressure at sea level
Launch:
– 2.5 kPa/s
Expected pressure drop during launch
6.7×10-5 KPa
Remaining Mission:
HUMIDITY
The Peregrine Lunar Lander will encounter the following
approximate humidity environments during Mission One:
Terrestrial:
35% to 90%
Remaining Mission:
0%
40
RADIATION & EMI
RADIATION
The Peregrine Lunar Lander will encounter the following
approximate ionizing radiation environments during Mission
One:
LEO/SSO:
3.8 to 59 rads
Total expected dosage
Extraplanetary:
1.1 rad/day
Average dosage per Earth day
The lander is designed to mitigate destructive events within
electronics caused by nominal radiation for a period of
eight months.
EMI
The
Peregrine
Lunar
Lander
will
experience
electromagnetic interference during Mission One.
The spacecraft and all payloads will be designed to
comply with MIL-STD-461D for conducted emissions and
to meet CE102 for frequencies between 10 kHz and
10 MHz.
41
42
GLOSSARY
43
GLOSSARY OF UNITS
Unit
Significance
°C
degree Celsius [temperature]
dB
decibel [sound pressure level referenced to 20×10-6 Pa]
g
Earth gravitational acceleration [9.81 m/s2]
Hz
Hertz [frequency]
kbps
kilobits per second [data rate]
kg
kilogram [mass]
m
meter [length]
Pa
Pascal [pressure]
rad
rad [absorbed radiation dose]
s
V (dc)
second [time]
Volt (direct current) [voltage]
W
Watt [power]
Wh
Watt-hour [energy]
44
GLOSSARY OF TERMS
Term
AMCC
Significance
Astrobotic Mission Control Center
CPU
Central Processing Unit
EMI
ElectroMagnetic Interference
GNC
Guidance, Navigation, and Control
IEEE
Institute of Electrical and Electronics Engineers
LEO
Low Earth Orbit
LOI
Lunar Orbit Insertion
MMH
MON-25
MonoMethylHydrazine
Mixed Oxides of Nitrogen - 25% nitric oxide
PMCC
Payload Mission Control Center
RISC
Reduced Instruction Set Computing
SPL
Sound Pressure Level
SRS
Shock Response Spectrum
SSO
SunSynchronous Orbit
TCP/IP
TLI
UDP
Transmission Control Protocol/Internet Protocol
TransLunar Injection
User Datagram Protocol
45