Orbital maneuver and keeping of FORMOSAT-2

This paper presents the orbital maneuver (OM) and keeping of FORMOSAT-2 (or FS2, Formosa Satellite #2) since its launch on 20 May 2004. The successful launch put FS2 in a sun-synchronous parking orbit with 729.94 km perigee and 743.31 apogee. Taiwan’s National Space Organization (NSPO) then spent 11 days to perform the first orbital maneuver (OM#1) and raised FS2 to its sun-synchronous circular mission orbit at 888.47 km altitude. Due to various kinds of disturbances, FS2’s orbit shifts gradually but constantly. Therefore, four times of OM had been performed for orbital keeping. Details of all 5 OMs are described.     

Very high delta-V missions to the edge of the solar system and beyond enabled by the dual-stage 4-grid ion thruster concept

A new and innovative type of gridded ion thruster, the “Dual-Stage 4-Grid” or DS4G concept, has been proposed and its predicted high performance validated under an ESA research, development and test programme. The DS4G concept is able to operate at very high specific impulse and thrust density values well in excess of conventional 3-grid ion thrusters at the expense of a higher power-to-thrust ratio. This makes it a possible candidate for ambitious missions requiring very high delta-V capability and high power. Such missions include 100 kW-level multi-ton probes based on nuclear and solar electric propulsion (SEP) to distant Kuiper Belt Object and inner Oort cloud objects, and to the Local Interstellar medium. In this paper, the DS4G concept is introduced and its application to this mission class is investigated. Benefits of using the DS4G over conventional thrusters include reduced transfer time and increased payload mass, if suitably advanced lightweight power system technologies are developed.A mission-level optimisation is performed (launch, spacecraft system design and low-thrust trajectory combined) in order to find design solutions with minimum transfer time, maximum scientific payload mass, and to explore the influence of power system specific mass. It is found that the DS4G enables an 8-ton spacecraft with a payload mass of 400 kg, equipped with a 65 kW nuclear reactor with specific mass 25 kg/kW (e.g. Topaz-type with Brayton cycle conversion) to reach 200 AU in 23 years after an Earth escape launch by Ariane 5. In this scenario, the optimum specific impulse for the mission is over 10,000 s, which is well within the capabilities of a single 65 kW DS4G thruster. It is also found that an interstellar probe mission to 200 AU could be accomplished in 25 years using a “medium-term” SEP system with a lightweight 155 kW solar array (2 kg/kW specific mass) and thruster PPU (3.7 kg/kW) and an Earth escape launch on Ariane 5. In this case, the optimum specific impulse is lower at 3500 s which is well within conventional gridded ion thruster capability.     

Rosetta visits asteroid (21)Lutetia

The International Rosetta Mission, cornerstone of the European Space Agency Scientific Programme, was launched on 2nd March 2004 to its 10 years journey to comet Churyumov–Gerasimenko. Rosetta will reach the comet in summer 2014, orbit it for about 1.5 years down to distances of a few Kilometres and deliver the Lander Philae onto its surface. After its successful asteroid fly-by in September 2008, Rosetta came back to Earth, for the final gravity acceleration towards its longest heliocentric orbit, up to a distance of 5.3 AU. It is during this phase that Rosetta crossed for the second time the main asteroids belt and performed a close encounter with asteroid (21)Lutetia on the 10th of July 2010 at a distance of ca. 3160 km and a relative velocity of 15 km/s. The payload complement of the spacecraft was activated to perform highly valuable scientific observations. The approach phase to the celestial body required a careful and accurate optical navigation campaign that will prove to be useful also for the comet approach phase. The experience gained with first asteroid flyby in 2008 was fed back into the operations definition and preparation for this highly critical phase; this concerns in particular the operations of the navigation camera for the close-loop autonomous asteroid tracking and of the main scientific camera for high resolution imaging. It was shortly after the flyby that Rosetta became the solar-powered spacecraft to have flown furthest from the Sun (>2.72 AU). This paper presents the activities carried out and planned for the definition, preparation and implementation of the asteroid flyby mission operations, including the test campaign conducted to improve the performance of the spacecraft and payload compared to the previous flyby. The results of the flyby itself are presented, with the operations implemented, the achieved performance and the lessons learned.     

Taiwan's second remote sensing satellite

FORMOSAT-2 is Taiwan's first remote sensing satellite (RSS). It was launched on 20 May 2004 with five-year mission life and a very unique mission orbit at 891 km altitude. This orbit gives FORMOSAT-2 the daily revisit feature and the capability of imaging the Arctic and Antarctic regions due to the high enough altitude. For more than three years, FORMOSAT-2 has performed outstanding jobs and its global effectiveness is evidenced in many fields such as public education in Taiwan, Earth science and ecological niche research, preservation of the world heritages, contribution to the International Charter: space and major disasters, observation of suspected North Korea and Iranian nuclear facilities, and scientific observation of the atmospheric transient luminous events (TLEs). In order to continue the provision of earth observation images from space, the National Space Organization (NSPO) of Taiwan started to work on the second RSS from 2005. This second RSS will also be Taiwan's first indigenous satellite. Both the bus platform and remote sensing instrument (RSI) shall be designed and manufactured by NSPO and the Instrument Technology Research Center (ITRC) under the supervision of the National Applied Research Laboratories (NARL). Its onboard computer (OBC) shall use Taiwan's indigenous LEON-3 central processing unit (CPU). In order to achieve cost effective design, the commercial off the shelf (COTS) components shall be widely used. NSPO shall impose the up-screening/qualification and validation/verification processes to ensure their normal functions for proper operations in the severe space environments.     

Comparison of rainfall models with Ku-band beacon measurement

Predictions of rain rate and rain attenuation are the most vital steps when analyzing a satellite link operating at frequencies above 10 GHz. Rain attenuation at 12.594 GHz over a satellite path link was measured for the period of 3 years (i.e. January 2002 to December 2004) at Bangkok (13.7°N, 100.7°E). In this paper, a comparison between the current methodologies available to model the impact of rain in earth-space propagation and a dataset of 3 years of rain accumulation with a sampling period of 1 min is made.     

Investigation of nuclear electric powered interstellar precursor missions

Nuclear Electric Propulsion (NEP) is a technology conceptually proposed since the 1940s by E. Stuhlinger in Germany. The JIMO mission originally planned by NASA in the early 2000s produced at least two designs of ion thrusters fed by a 20–30 kW nuclear powerplant. When compared to conventional (chemical) propulsion, the major advantage of NEP in the JIMO context was recognized to be the much higher I_sp (lab-tested at up to 15,000 s) and the capability for sustained power generation, up to 8–10 years when derated to I_sp about 8000 s.The goal of this paper is to show that current or near term NEP technology enables missions far beyond our immediate interplanetary backyard. In fact, by extending the semi-analytical approach used by Stuhlinger, with reasonable ratios α≡power/mass of the propulsion system (i.e., 0.1– 0.4 kW/kg), missions to the Kuiper Belt (40 AU and beyond) and even the so-called FOCAL mission (at 540 AU) become feasible with an attractive payload fraction and in times of order 10–15 years.Further results regarding missions to Sedna’s perihelion/aphelion, and to Oort’s cloud will also be presented, showing the constraints affecting their feasibility and mass budget.     

Project Icarus: Optimisation of nuclear fusion propulsion for interstellar missions

The Daedalus spacecraft design was a two-stage configuration carrying 50,000 tonnes of DHe³ propellant. Daedalus was powered by electron driven Inertial Confinement Fusion (ICF) to implode the pellets at a frequency of 250 Hz. The mission was to Barnard's star 5.9 light years away in a duration of around 50 years. This paper is related to the successor Project Icarus, a theoretical engineering design study that began on 30 September 2009 and is a joint initiative between the Tau Zero Foundation and The British Interplanetary Society. In the first part of this paper, we explore ‘flyby’ variations on the Daedalus propellant utilisation for two different mission targets: Barnard's star and Epsilon Eridani, 10.7 light years away. With a fixed propellant mass a number of staged configurations (1–4) are derived for an optimal configuration but then moving to an off-optimal configuration due to the requirement for a high final science payload mass. Some comments are then made on the ICF pellet configuration compared to the typical pellets fielded at the National Ignition Facility (NIF) and those proposed for the Vista and Longshot fusion based propulsion designs. This is a working progress report, which aims to study perturbations of the Daedalus baseline design as part of a trade study. This is a submission of the Project Icarus Study Group.     

Landing on small bodies: From the Rosetta Lander to MASCOT and beyond

Recent planning for science and exploration missions has emphasized the high interest in the close investigation of small bodies in the Solar System. In particular in-situ observations of asteroids and comets play an important role in this field and will contribute substantially to our understanding of the formation and history of the Solar System.The first dedicated comet Lander is Philae, an element of ESA's Rosetta mission to comet 67/P Churyumov–Gerasimenko. Rosetta was launched in 2004. After more than 7 years of cruise (including three Earth and one Mars swing-by as well as two asteroid flybys) the spacecraft has gone into a deep space hibernation in June 2011. When approaching the target comet in early 2014, Rosetta will be re-activated. The cometary nucleus will be characterized remotely to prepare for Lander delivery, currently foreseen for November 2014.The Rosetta Lander was developed and manufactured, similar to a scientific instrument, by a consortium consisting of international partners. Project management is located at DLR in Cologne/Germany, with co-project managers at CNES (France) and ASI (Italy). The scientific lead is at the Max Planck Institute for Solar System Science (Lindau, Germany) and the Institut d'Astrophysique Spatiale (Paris).Mainly scientific institutes provided the subsystems, instruments and the complete, qualified lander system. Operations are performed in two dedicated centers, the Lander Control Center (LCC) at DLR-MUSC and the Science Operations and Navigation Center (SONC) at CNES. This concept was adopted to reduce overall cost of the project and is foreseen also to be applied for development and operations of future small bodies landers.A mission profiting from experience gained during Philae development and operations is MASCOT, a surface package for the Japanese Hayabusa 2 mission. MASCOT is a small (∼10 kg) mobile device, delivered to the surface of asteroid 1999JU3. There it will operate for about 16 h. During this time a camera, a magnetometer, a thermal monitor and an IR analytical instrument will provide ground truth and thus will even be able to support the selection of possible sampling sites for the main spacecraft.MASCOT is a flexible design that can be adapted to a wide range of missions and possible target bodies. Also the payload is flexible to some extent (with an overall mass in the 3 kg range). For example, the surface package is part of the optional strawman payload for MarcoPolo-R, a European asteroid sample return mission, proposed for ESA Cosmic Vision M-class.     

MESSENGER at Mercury: Early orbital operations

The MErcury Surface, Space ENvironment, GEochemistry, and Ranging (MESSENGER) spacecraft, launched in August 2004 under NASA's Discovery Program, was inserted into orbit about the planet Mercury in March 2011. MESSENGER's three flybys of Mercury in 2008–2009 marked the first spacecraft visits to the innermost planet since the Mariner 10 flybys in 1974–1975. The unprecedented orbital operations are yielding new insights into the nature and evolution of Mercury. The scientific questions that frame the MESSENGER mission led to the mission measurement objectives to be achieved by the seven payload instruments and the radio science experiment. Interweaving the full set of required orbital observations in a manner that maximizes the opportunity to satisfy all mission objectives and yet meet stringent spacecraft pointing and thermal constraints was a complex optimization problem that was solved with a software tool that simulates science observations and tracks progress toward meeting each objective. The final orbital observation plan, the outcome of that optimization process, meets all mission objectives. MESSENGER's Mercury Dual Imaging System is acquiring a global monochromatic image mosaic at better than 90% coverage and at least 250 m average resolution, a global color image mosaic at better than 90% coverage and at least 1 km average resolution, and global stereo imaging at better than 80% coverage and at least 250 m average resolution. Higher-resolution images are also being acquired of targeted areas. The elemental remote sensing instruments, including the Gamma-Ray and Neutron Spectrometer and the X-Ray Spectrometer, are being operated nearly continuously and will establish the average surface abundances of most major elements. The Visible and Infrared Spectrograph channel of MESSENGER's Mercury Atmospheric and Surface Composition Spectrometer is acquiring a global map of spectral reflectance from 300 to 1450 nm wavelength at a range of incidence and emission angles. Targeted areas have been selected for spectral coverage into the ultraviolet with the Ultraviolet and Visible Spectrometer (UVVS). MESSENGER's Mercury Laser Altimeter is acquiring topographic profiles when the slant range to Mercury's surface is less than 1800 km, encompassing latitudes from 20°S to the north pole. Topography over the remainder of the southern hemisphere will be derived from stereo imaging, radio occultations, and limb profiles. MESSENGER's radio science experiment is determining Mercury's gravity field from Doppler signals acquired during frequent downlinks. MESSENGER's Magnetometer is measuring the vector magnetic field both within Mercury's magnetosphere and in Mercury's solar wind environment at an instrument sampling rate of up to 20 samples/s. The UVVS is determining the three-dimensional, time-dependent distribution of Mercury's exospheric neutral and ionic species via their emission lines. During each spacecraft orbit, the Energetic Particle Spectrometer measures energetic electrons and ions, and the Fast Imaging Plasma Spectrometer measures the energies and mass per charge of thermal plasma components, both within Mercury's magnetosphere and in Mercury's solar-wind environment. The primary mission observation sequence will continue for one Earth year, until March 2012. An extended mission, currently under discussion with NASA, would add a second year of orbital observations targeting a set of focused follow-on questions that build on observations to date and take advantage of the more active Sun expected during 2012–2013. MESSENGER's total primary mission cost, projected at $446 M in real-year dollars, is comparable to that of Mariner 10 after adjustment for inflation.     

Power system design of ESMO

The European Student Moon Orbiter (ESMO) spacecraft is a student-built mini satellite being designed for a mission to the Moon. Designing and launching mini satellites are becoming a current trend in the space sector since they provide an economic way to perform innovative scientific experiments and in-flight demonstration of novel space technologies. The generation, storage, control, and distribution of the electrical power in a mini satellite represents unique challenges to the power engineer since the mass and volume restrictions are very stringent. Regardless of these problems, every subsystem and payload equipment must be operated within their specified voltage band whenever they required to be turned on. This paper presents the preliminary design of a lightweight, compact, and reliable power system for ESMO that can generate 720 W. Some of the key components of the EPS include ultra triple-junction (UTJ) GaAs solar cells controlled by maximum power point trackers, and high efficiency Li-ion secondary batteries recharged in parallel.     

Launch and early operations of Herschel and Planck

On 14 May 2009 the European Space Agency launched 2 space observatories: Herschel (with a 3.5 m mirror it is the largest space telescope ever) will collect long-wavelength infrared radiation and will be the only space observatory to cover the spectral range from far-infrared to sub-millimetre wavelengths, and Planck will look back at the dawn of time, close to the Big Bang, and will examine the Cosmic Microwave Background (CMB) radiation to a sensitivity, angular resolution and frequency range never achieved before. This paper will present the Flight Dynamics, mission analysis challenges and flight results from the first 3 months of these missions.Both satellites were launched on the same Ariane 5 and travelled to the L2 Lagrange point of the sun–earth system 1.5 million km from the earth in the opposite direction of the sun. There they were injected to a quasi-halo orbit (Herschel) with the dimension of typically 750,000 km×450,000 km, and a Lissajous orbit (Planck) of 300,000 km×300,000 km.In order to reach these Lissajous orbits it is mandatory to perform large trajectory correction manoeuvres during the first days of the mission. Herschel had its main manoeuvres on the first day. Planck had to be navigated on the first day and by a mid-course correction manoeuvre, the L2 orbit insertion manoeuvre was planned on day 50. If these slots were missed, fuel penalties would rapidly increase.This posed a heavy load on the operations teams because both spacecrafts have to be thoroughly checked out and put into the correct modes of their attitude control systems during the first hours after launch.The sequence of events will be presented and explained and the orbit determination results as well as the manoeuvre planning will be emphasised.     

SLUCUBE: Innovative high performance nanosatellite science and technology demonstration mission

The Space Systems Research Laboratory (SSRL) at Saint Louis University is developing SLUCUBE nanosatellite as part of the space mission design program. The objective of the mission is to demonstrate space capability of high performance nanosatellite components that has been developed at SSRL for the past three years. The objective of the program is to provide extremely low-cost and rapid access to space for scientists and commercial exploitation using commercial-off-the-shelf components. SLUCUBE is a double CubeSat with dimensions 10×10×20 cm and a mass of 2 kg. This nanosatellite features suite of technology demonstration components to enlarge the capability of space mission for such class of spacecrafts. The primary mission of SLUCUBE is to test and demonstrate several enabling technologies by flying a number of university developed high performance components. This paper describes the new developed technologies by providing details of specific components developed along with the R&D efforts and laboratory facilities. A brief discussion about the student involvement and educational benefits will also be presented.     

Io Volcano Observer (IVO): Budget travel to the outer Solar System

The IVO mission would make multiple close encounters with Io while orbiting Jupiter in an inclined elliptical orbit. The payload includes narrow-angle and wide-angle cameras (NAC and WAC), dual fluxgate magnetometers (FGM), a thermal mapper (ThM), dual ion and neutral mass spectrometers (INMS), and dual plasma ion analyzers (PIA). The mission is designed to answer key outstanding questions about Io, especially the nature of the intense active volcanism and internal processes that drive the volcanism. IVO can collect and return 20 Gb of compressed science data per Io encounter, 100 times the total Io data return from the 8yr Galileo tour.     

A global geographical survey of received signal strength in the VHF band

Sumbandila (SO-67) is an 81 kg LEO satellite launched on 17 September 2009. Its primary payload is a multi-spectral imager with a ground sampling distance of 6.25 m at an orbit altitude of 500 km. Its two command transceivers operate in the commercial and amateur radio VHF and UHF bands and one of them provides a VHF to UHF repeater service to radio amateurs. This paper presents initial results of a global three week monitoring period of two VHF frequency ranges. The data is obtained by executing on-board flight control procedures to select the frequencies to measure. The existing on-board telemetry gathering system is employed to record the data, most notably the received signal strength for the selected frequency. The data is downloaded using an adaptation of the imagery data download path. We determine regions of high signal levels by distributing individual measurements over cells in the satellite footprint before averaging over the cells. The data is then plotted on a geographical signal strength heatmap. We compare our results with that of a similar study of the late 1990s and point out changes since then. The data provides useful information for selecting future ground station locations for minimum interference. It further gives an indication of frequencies to use for command and telemetry communication at existing ground stations. We propose that including a receiver capable of measuring frequency interference across a desired frequency range is very useful to future missions for selecting communication frequencies from this range for ground station locations.     

Flight performance analysis of GRACE K-band ranging instrument with simulation data

A dual one-way ranging (DOWR) system provides very high accuracy range measurements between two satellites. The GRACE satellite mission implements the DOWR, called KBR (K-band ranging), to measure very small inter-satellite range change in order to map the Earth gravity field. The flight performance of the KBR is analyzed by using a hybrid software simulator that incorporates actual satellite orbit data into a comprehensive KBR simulator, which was earlier used for computing the GRACE baseline accuracy. Three types of experiments were performed. First is the comparison of the flight data with the simulated data in spectral domain. Second is the comparison of double differenced noise level. Third is the comparison of the range-rate difference with GPS clock estimates. The analysis shows a good agreement with the simulation model except some excessive high frequency noise, e.g. 10⁻⁴ m/√Hz at 0.1 Hz. The range-rate difference shows 0.003 cyc/s discrepancy with the clock estimates. These analyses are helpful to refine the DOWR simulation model and can be benefit to future DOWR instrument development.     

Super-capacitor energy storage for micro-satellites: Feasibility and potential mission applications

Small satellites, weighting between 100 and 200 kg, have witnessed increasing use for a variety of space applications including remote sensing constellations and technology demonstrations. The energy storage/stored power demands of most spacecraft, including small satellites, are currently accommodated by rechargeable batteries—typically nickel–cadmium cells (specific energy of 50 Wh kg⁻¹), or more recently lithium-ion cells (150 Wh kg⁻¹). High energy density is a primary concern for spacecraft energy storage design, and these batteries have been sufficient for most applications. However, constraints on the allowable on-board battery size have limited peak power performance such that the maximum power supply capability of small satellites currently ranges between only 70 and 200 W. This relatively low maximum power limits the capabilities of small satellites in terms of payload design and selection. In order to enhance these satellites' power performance, the research reported in this paper focused on the implementation of super-capacitors as practical rechargeable energy storage medium, and as an alternative to chemical batteries. Compared to batteries, some super-capacitors are able to supply high power at high energy-efficiency, but unfortunately they still have a very low energy density (5–30 Wh kg⁻¹). However, the provision of this high power capability would considerably widen the range of small satellite applications.     

TanDEM-X: A radar interferometer with two formation-flying satellites

TanDEM-X (TerraSAR-X add-on for Digital Elevation Measurements) is an innovative formation-flying radar mission that opens a new era in spaceborne radar remote sensing. The primary objective is the acquisition of a global digital elevation model (DEM) with unprecedented accuracy (12 m horizontal resolution and 2 m relative height accuracy). This goal is achieved by extending the TerraSAR-X synthetic aperture radar (SAR) mission by a second, TerraSAR-X like satellite (TDX) flying in close formation with TerraSAR-X (TSX). Both satellites form together a large single-pass SAR interferometer with the opportunity for flexible baseline selection. This enables the acquisition of highly accurate cross-track interferograms without the inherent accuracy limitations imposed by repeat-pass interferometry due to temporal decorrelation and atmospheric disturbances. Besides the primary goal of the mission, several secondary mission objectives based on along-track interferometry as well as new bistatic and multistatic SAR techniques have been defined, representing an important and innovative asset of the TanDEM-X mission. TanDEM-X is implemented in the framework of a public–private partnership between the German Aerospace Center (DLR) and EADS Astrium GmbH. The TanDEM-X satellite was successfully launched in June 2010 and the mission started its operational data acquisition in December 2010. This paper provides an overview of the TanDEM-X mission and summarizes its actual status and performance. Furthermore, results from several scientific radar experiments are presented that show the great potential of future formation-flying interferometric SAR missions to serve novel remote sensing applications.     

Sleep and cognitive function of crewmembers and mission controllers working 24-h shifts during a simulated 105-day spaceflight mission

The success of long-duration space missions depends on the ability of crewmembers and mission support specialists to be alert and maintain high levels of cognitive function while operating complex, technical equipment. We examined sleep, nocturnal melatonin levels and cognitive function of crewmembers and the sleep and cognitive function of mission controllers who participated in a high-fidelity 105-day simulated spaceflight mission at the Institute of Biomedical Problems (Moscow). Crewmembers were required to perform daily mission duties and work one 24-h extended duration work shift every sixth day. Mission controllers nominally worked 24-h extended duration shifts. Supplemental lighting was provided to crewmembers and mission controllers. Participants' sleep was estimated by wrist-actigraphy recordings. Overall, results show that crewmembers and mission controllers obtained inadequate sleep and exhibited impaired cognitive function, despite countermeasure use, while working extended duration shifts. Crewmembers averaged 7.04±0.92 h (mean±SD) and 6.94±1.08 h (mean±SD) in the two workdays prior to the extended duration shifts, 1.88±0.40 h (mean±SD) during the 24-h work shift, and then slept 10.18±0.96 h (mean±SD) the day after the night shift. Although supplemental light was provided, crewmembers’ average nocturnal melatonin levels remained elevated during extended 24-h work shifts. Naps and caffeine use were reported by crewmembers during ∼86% and 45% of extended night work shifts, respectively. Even with reported use of wake-promoting countermeasures, significant impairments in cognitive function were observed. Mission controllers slept 5.63±0.95 h (mean±SD) the night prior to their extended duration work shift. On an average, 89% of night shifts included naps with mission controllers sleeping an average of 3.4±1.0 h (mean±SD) during the 24-h extended duration work shift. Mission controllers also showed impaired cognitive function during extended duration work shifts.These findings indicate that extended duration work shifts present a significant challenge to crewmembers and mission support specialists during long-duration space mission operations. Future research is needed to evaluate the efficacy of alternative work schedules and the development and implementation of more effective countermeasures will be required to maintain high levels of performance.     

Compensation of gravitational attraction disturbance to pure gravity orbit for Inner Formation Flying System

The Inner Formation Flying System (IFFS) consisting of an outer satellite and an inner satellite which is a solid sphere proof mass freely flying in the shield cavity can construct a pure gravity orbit to precisely measure the earth gravity field. The gravitational attraction on the inner satellite due to the outer satellite is a significant disturbance source to the pure gravity orbit and is required to be limited to 10⁻¹¹ m s⁻² order. However, the gravitational disturbance force was on 10⁻⁹ m s⁻² order actually and must be reduced by dedicated compensation mass blocks. The region of relative motion of the inner satellite about its nominal position is within 1 cm in dimension, which raises the complexity of the compensation blocks design. The iterative design strategy of the compensation blocks based on reducing the gravitational attraction at the nominal position of the inner satellite is presented, aiming to guarantee the gravitational force in the relative motion region within requirements after the compensation. The compensation blocks are designed according to the current status of IFFS, and the gravitational disturbance force in the region is reduced to 10⁻¹¹ ms⁻² order with minimized adding mass.