Assessing the Impact Risk of Orbital Debris on Space Tethers

Tethers are being proposed for a growing number of space applications. However, they may be particularly vulnerable to orbital debris and meteoroid impacts. In order to provide useful reference data for tether systems design, detailed analytical and numerical computations were carried out to assess the average impact rate of artificial debris and meteoroids. The specific geometric properties of tethers as debris targets, when compared to typical satellites, are discussed, and the results obtained are presented in tabular form, as a function of debris size and tether diameter.The computations were carried out for six circular orbits, spanning three altitudes (600, 800 and 1000km) and two inclinations (30° and 50°). Tether diameters in between 1mm and 2cm and debris larger than 0.1mm were considered in the analysis. The collision risk of tethers with spacecraft and upper stages in orbit was estimated as well.In the debris interval and orbital regimes considered, artificial debris represent the dominant contributor to the impact rate. At 600km and in the 0.1–10mm size range, the meteoroid and orbital debris impact rates are still comparable; however, at higher altitudes and in the 1–10cm size range, meteoroids contribute 20–30 times less to the collision probability.The results obtained confirm that for single-strand tethers in low Earth orbit the probability to be severed by orbital debris and meteoroid impacts is quite significant, making necessary the adoption of innovative designs for long duration missions.     

Study on electrodynamic tether system for space debris removal

As a countermeasure for suppressing space debris growth (P. Eighler, A. Bade, Chain Reaction of Debris Generation by Collisions in Space—A Final Threat to Spaceflight? in: 40th Congress of the International Astronautical Federation, IAA-89-628, October 1989), the National Aerospace Laboratory of Japan is investigating a satellite capture, repair and removal system for non-cooperative satellites, part of which involves assessing the viability of electrodynamic tether (EDT) technology as an orbital transfer system. In this paper, some results concerning the time required to remove existing satellites, the behavior of flexible tethers during the debris separation phase, and orbital transfer strategies of EDT systems during space debris removal operations are described. From numerical simulations, it is found that EDT systems can transfer satellites from LEO to orbits with a short lifetime within a realistic timeframe. It is also found that the stability of EDT systems is compromised when debris separation occurs both while a tether current is running and when the ratio of the end mass to that of the service satellite is high. To ensure stability, the end mass should be selected from the target debris group with due regard for the maximum possible mass that can be maneuvered safely. Moreover, it is also found that orbital elements (a, e, i) can be changed independently with an adequate current control strategy.     

Behavior of tethered debris with flexible appendages

Active exploration of the space leads to growth of a near-Earth space pollution. The frequency of the registered collisions of space debris with functional satellites highly increased during last 10 years. As a rule a large space debris can be observed from the Earth and catalogued, then it is possible to avoid collision with the active spacecraft. However every large debris is a potential source of a numerous small debris particles. To reduce debris population in the near Earth space the large debris should be removed from working orbits. The active debris removal technique is considered that intend to use a tethered orbital transfer vehicle, or a space tug attached by a tether to the space debris. This paper focuses on the dynamics of the space debris with flexible appendages. Mathematical model of the system is derived using the Lagrange formalism. Several numerical examples are presented to illustrate the mutual influence of the oscillations of flexible appendages and the oscillations of a tether. It is shown that flexible appendages can have a significant influence on the attitude motion of the space debris and the safety of the transportation process.     

Benefits and risks of using electrodynamic tethers to de-orbit spacecraft

By using electrodynamic drag to greatly increase the orbital decay rate, an electrodynamic space tether can remove spent or dysfunctional spacecraft from low Earth orbit (LEO) rapidly and safely. Moreover, the low mass requirements of such tether devices make them highly advantageous compared to conventional rocket-based de-orbit systems. However, a tether system is much more vulnerable to space debris impacts than a typical spacecraft and its design must be proved to be safe up to a certain confidence level before being adopted for potential applications. To assess space debris related concerns, in March 2001 a new task (Action Item 19.1) on the “Potential Benefits and Risks of Using Electrodynamic Tethers for End-of-life De-orbit of LEO Spacecraft” was defined by the Inter-Agency Space Debris Coordination Committee (IADC). Two tests were proposed to compute the fatal impact rate of meteoroids and orbital debris on space tethers in circular orbits, at different altitudes and inclinations, as a function of the tether diameter to assess the survival probability of an electrodynamic tether system during typical de-orbiting missions. IADC members from three agencies, the Italian Space Agency (ASI), the Japan Aerospace Exploration Agency (JAXA) and the US National Aeronautics and Space Administration (NASA), participated in the study and different computational approaches were specifically developed within the framework of the IADC task. This paper summarizes the content of the IADC AI 19.1 Final Report. In particular, it introduces the potential benefits and risks of using tethers in space, it describes the assumptions made in the study plan, it compares and discusses the results obtained by ASI, JAXA and NASA for the two tests proposed. Some general conclusions and recommendations are finally extrapolated from this massive and intensive piece of research.     

Ground assisted rendezvous with geosynchronous satellites for the disposal of space debris by means of Earth-oriented tethers

Previous studies have shown that extended length Earth-oriented tethers in the geosynchronous (GEO) region can be used to re-orbit satellites to disposal orbits. One such approach involves the extension of a GEO based tether, collection of a debris object, and retraction of the tether, which transfers the retracted configuration to a higher energy orbit for debris disposal. The re-extension of the tether after debris disposal returns the configuration to the near-GEO altitude. The practical feasibility of such a system depends on the ability to collect GEO debris objects, attach them to a deployed tether system, and retract the tethers for transfer to the disposal orbits.This study addresses the collection and delivery of debris objects to the deployed tether system in GEO. The investigation considers the number, type and the characteristics of the debris objects as well as the collection tug that can be ground controlled to detect, rendezvous and dock with the debris objects for their delivery to the tethers system.A total of more than 400 objects are in drift orbits crossing all longitudes either below or above the geostationary radius. More than 130 objects are also known to librate around the stable points in GEO with periods of libration up to five or more years. A characterization of the position and velocity of the debris objects relative to the collection tug is investigated. Typical rendezvous performance requirements for uncooperative GEO satellites are examined, and the similarities with other approaches such as the ESA's CX-OLEV commercial mission proposal to extend the life of geostationary telecommunication satellites are noted.     

Evaluation of a satellite constellation for active debris removal

This paper analyzes an example of a three-dimensional constellation of debris removal satellites and proposes an effective constellation using a delta-V analysis that discusses the advisability of rendezvousing satellites with space debris. Lambert?s Equation was used to establish a means of analysis to construct a constellation of debris removal satellites, which has a limit of delta-V injection by evaluating the amount of space debris that can be rendezvoused by a certain number of removal satellite. Consequently, we determine a constellation of up to 38 removal satellites for debris removal, where the number of space debris rendezvoused by a single removal satellite is not more than 25, removing up to 584 pieces of debris total. Even if we prepare 38 removal satellites in their respective orbits, it is impossible to remove all of the space debris. Although many removal satellites, over 100 for example, can remove most of the space debris, this method is economically disproportionate. However, we can also see the removal satellites are distributed nearly evenly. Accordingly, we propose a practical two-stage strategy. The first stage is to implement emergent debris removal with the 38 removal satellites. When we find a very high probability of collision between a working satellite and space debris, one of the removal satellites in the constellation previously constructed in orbit initiates a maneuver of emergent debris removal. The second stage is a long-term space debris removal strategy to suppress the increase of space debris derived from collisions among the pieces of space debris. The constellation analyzed in this paper, which consists of the first 38 removal satellites, can remove half of the over 1000 dangerous space debris among others, and then the constellation increases the number of the following removal satellites in steps. At any rate, an adequate orbital configuration and constellation form is very important for both space debris removal and economic efficiency. Though the size of constellation of debris removal satellites would be small originally, such a constellation of satellites should be one of the initial constellations of removal satellites to ensure the safety of the future orbital environment.     

Optimal control of a spinning double-pyramid Earth-pointing tethered formation

The dynamics and control of a tethered satellite formation for Earth-pointing observation missions is considered. For most practical applications in Earth orbit, a tether formation must be spinning in order to maintain tension in the tethers. It is possible to obtain periodic spinning solutions for a triangular formation whose initial conditions are close to the orbit normal. However, these solutions contain significant deviations of the satellites on a sphere relative to the desired Earth-pointing configuration. To maintain a plane of satellites spinning normal to the orbit plane, it is necessary to utilize “anchors”. Such a configuration resembles a double-pyramid. In this paper, control of a double-pyramid tethered formation is studied. The equations of motion are derived in a floating orbital coordinate system for the general case of an elliptic reference orbit. The motion of the satellites is derived assuming inelastic tethers that can vary in length in a controlled manner. Cartesian coordinates in a rotating reference frame attached to the desired spin frame provide a simple means of expressing the equations of motion, together with a set of constraint equations for the tether tensions. Periodic optimal control theory is applied to the system to determine sets of controlled periodic trajectories by varying the lengths of all interconnecting tethers (nine in total), as well as retrieval and simple reconfiguration trajectories. A modal analysis of the system is also performed using a lumped mass representation of the tethers.     

Protecting spacecraft against meteoroid/orbital debris impact damage: an overview

Meteoroids and orbital debris pose a serious damage threat to all spacecraft. The effects of a meteoroid/orbital debris (M/OD) impact depend on a variety of factors, including where the M/OD impact occurs, the size, composition, and speed of the impacting object, and the function of the impacted spacecraft system. These effects can be minimal, can degrade a functional spacecraft component, or can compromise spacecraft functionality, even to the point of mission loss or loss of life. To minimize the damage threat from the meteoroid/orbital debris environment, it is often necessary to install protective shielding around critical spacecraft systems. If a system cannot be shielded, operational constraints may need to be imposed to reduce the damage threat. This paper presents an overview of the research and development activities performed since the late 1950s with an aim of increasing the level of protection afforded satellites and spacecraft operating in the M/OD environment and ultimately mitigating the mechanical and structural effects of an M/OD impact.     

绳网拖曳带帆板失效卫星的波动控制

针对带有柔性太阳帆板的失效卫星，提出了一种基于波动控制理论的控制方法，同时实现了绳网拖曳过程中稳定碎片姿态与抑制帆板振动两个目标。首先，提出一种新的绳网简化结构，用Kane方法建立了动力学模型，使其能够在保证运算效率的同时具有更高的精度。然后，针对系统特性设计了波动控制策略，仅需要输入系绳张力的大小和方向，便能通过拖船位置的改变来消除失效卫星的自旋和帆板振动。最后，通过数值仿真验证了控制律的有效性。仿真结果表明，在控制律作用下的拖曳过程中，失效卫星的姿态能够快速稳定，同时帆板的振动也得到了良好的抑制。     

Experiments and numerical simulations of an electrodynamic tether deployment from a spool-type reel using thrusters

The amount of space debris is ever increasing, and pollution of the space environment has become a serious problem that can no longer be ignored. Consequently, the active removal of large space debris from crowded economically useful orbits should begin as soon as possible. The Japan Aerospace Exploration Agency has been investigating an active debris removal system that employs highly efficient electrodynamic tether (EDT) technology for orbital transfer. This study investigates the tether deployment from a spool-type reel using thrusters by means of numerical simulations of an EDT system. The thrusters are used in order to ensure the deployment of a tether with the length of several kilometers. In the simulations using a multiple mass tether model, the key parameters are estimated from various on-ground experiments. By means of the numerical simulations, the dynamics of tether deployment is studied and requirements of thruster needed for the deployment, such as the thrust forces and the periods of thruster activation, are clarified.     

Biobjective planning of an active debris removal mission

The growth of the orbital debris population has been a concern to the international space community for several years. Recent studies have shown that the debris environment in Low Earth Orbit (LEO, defined as the region up to 2000 km altitude) has reached a point where the debris population will continue to increase even if all future launches are suspended. As the orbits of these objects often overlap the trajectories of satellites, debris create a potential collision risk. However, several studies show that about 5 objects per year should be removed in order to keep the future LEO environment stable. In this article, we propose a biobjective time dependent traveling salesman problem (BiTDTSP) model for the problem of optimally removing debris and use a branch and bound approach to deal with it.     

A sensitivity study of the effectiveness of active debris removal in LEO

The near-Earth orbital debris population will continue to increase in the future due to ongoing space activities, on-orbit explosions, and accidental collisions among resident space objects. Commonly adopted mitigation measures, such as limiting postmission orbital lifetimes of satellites to less than 25 years, will slow down the population growth, but will be insufficient to stabilize the environment. To better limit the growth of the future debris population, the remediation option, i.e., removing existing large and massive objects from orbit, needs to be considered. This paper does not intend to address the technical or economical issues for active debris removal. Rather, the objective is to provide a sensitivity study to illustrate and quantify the effectiveness of various remediation options. An effective removal criterion based upon mass and collision probability is developed. This study includes simulations with removal rates ranging from 5 to 20 objects per year, starting in the year 2020. The outcome of each simulation is analyzed and compared with others. The summary of the study serves as a general guideline for future debris removal consideration.     

Safety of space activities

Measures for the safety of space activities have to be elaborated by the scientific community. They should include principles for collision avoidance, possibly in the form of traffic separation schemes. A reduction of collision probabilities could be achieved by systematic removal of inactive satellites, by establishing disposal orbital belts and by reduction of space debris. Safety of space activities would be enhanced by the adoption of standards for the quality of technical equipment and for the competence of personnel. Also timely information on satellite movement should be made available.     

电动绳系在低极轨卫星中的应用研究

低极轨卫星具有轨道周期短、对地观测分辨率高等优点,但由于所在轨道大气阻力大,其使用寿命受到较大限制。文章提出采用水平结构电动绳系抵消低极轨卫星大气阻力的方法,通过系绳电流与地球磁场相互作用产生洛仑兹力进行推进,进而在无燃料消耗的情况下实现对低极轨卫星轨道高度的维持。初步分析了该方法在低极轨不同尺寸卫星中的应用潜力,计算了160 、400 和800 km 典型高度低极轨卫星所经历的地球磁场、电离层和高层大气环境相关参数变化,比较了不同条件下电动绳系推力与大气阻力大小随轨道位置的变化。分析结果表明,该方法适用于400 km 轨道高度以上大卫星;在满足一定系绳长度和轨道高度的条件下,电动绳系可以有效延长低极轨卫星的轨道寿命。     

载人航天器空间碎片防护与减缓设计

为降低空间碎片撞击所带来的威胁,文章针对某载人航天器进行了空间碎片撞击风险分析,并设计了空间碎片专用防护结构,制定了轨道规避策略;同时针对重点设备进行钝化设计,并采用寿命末期有控离轨制动方案。以上措施可有效实现空间碎片减缓。     

Stability and control of electrodynamic tethers for de-orbiting applications

Electrodynamic tethers provide a very promising propulsion system for de-orbiting of spent upper stages or LEO satellites. In this application, the Lorentz force generated by the interaction between the current in the wire and the geomagnetic field produces an electrodynamic drag leading to a fast orbital decay. The attractiveness of tether system lies especially in their capability to operate with uncontrollable satellites and in the modest mass requirement.The need for significant along-track forces leads however to the onset of an undesirable torque which, if not controlled, may drive the system into a dangerous instability. The electrodynamic torque determines in-plane and out-of-plane librations whose amplitude depends upon the current in the wire, mass distribution and system dimensions. Even more important, this torque is modulated along the orbit due to the changing magnetic field and ionospheric plasma density, giving rise to forced oscillations. The counteracting (and stabilizing) gravity-gradient torque is generally to small to ensure stability in typical, strongly non-symmetrical mass distributions, where a massive satellite or upper stage is attached at the lower end and a light electron collecting device (or passive ballast mass) is deployed a few kilometers above. Reducing the electron current or increasing the mass at the upper end are both unattractive solutions.In this paper we show how the electrodynamic torque pumps energy into the system (finally leading to large librations angles) and indicate that many proposed configurations are intrinsically unstable. Our results point out the need for a control strategy. Fortunately, the librations amplitudes can be limited by acting on the current flowing in the wire. Our model of a rigid, conductive tether shows that a control based upon timely current switch-off, using energy criteria, is indeed effective and simple to implement. The resultant duty-cycles are satisfactory and affect only marginally the de-orbiting times.     

Modifying the atlas of low lunar orbits using inert tethers

For long enough tethers, the coupling of the attitude and orbital dynamics may show non-negligible effects in the orbital motion of a tethered satellite about a central body. In the case of fast rotating tethers the attitude remains constant, on average, up to second order effects. Besides, for a tether rotating in a plane parallel to the equatorial plane of the central body, the attitude–orbit coupling effect is formally equal to the perturbation of the Keplerian motion produced by the oblateness of the central body and, therefore, may have a stabilizing effect in the orbital dynamics. In the case of a tethered satellite in a low lunar orbit, it is demonstrated that feasible tether lengths can help in modifying the actual map of lunar frozen orbits.     

Stability of a ring of connected satellites

The motion of a large number of artificial satellites connected in a ring one after another by tethers of variable length is considered. Every satellite is supposed to have a control system programmed according to some tether tension law as a function of the distance between tethered satellites. The effect of the tension control law on the stability of stationary rotation of this ring is investigated. The final stability condition includes two requirements: 1) the nominal tether tension should be less than a definite limit equal, up to numerical coefficient, to one satellite weight divided by the number of satellites; 2) tether tension should decrease (or remain constant) with the increase of the distance between tethered satellites. In dynamics the artificial rings of this kind are much like their natural prototype—meteor rings. On the other hand, the investigation of the artificial rings contributes to developing an unexpected view upon meteor rings, suggesting a model of an imaginary equivalent string.     

Active debris removal: Recent progress and current trends

According to all available findings at international level, the Kessler syndrome, increase of the number of space debris in Low Earth Orbits due to mutual collisions, appears now to be a fact, triggered mainly by several major break-ups in orbit which occurred since 2007. The time may have come to study how to clean this fundamentally useful orbital region in an active way.CNES has studied potential solutions for more than 12 years! The paper aims at reviewing the current status of these activities.The high level requirements are fundamental, and have to be properly justified. The working basis, as confirmed through IADC studies consists in the removal of 5–10 integer objects from the overcrowded orbits, spent upper stages or old satellites, as identified by NASA.The logic of CNES activities consider a stepped approach aiming at progressively gaining the required Technological Readiness Level on the features required for Active Debris Removal which have not yet been demonstrated in orbit. The rendezvous with a non-cooperative, un-prepared, tumbling debris is essential. Following maturation gained with Research and Technology programs, a set of small orbital demonstrators could enable a confidence high enough to perform a full end to end demonstration performing the de-orbiting of a large debris and paving the way for the development of a first generation operational de-orbiter.The internal CNES studies, led together by the Toulouse Space Centre and the Paris Launcher Directorate, have started in 2008 and led to a detailed System Requirements Document used for the Industrial studies.Three industrial teams did work under CNES contract during 2011, led by Thales Alenia Space, Bertin Technologies and Astrium Space Transportation, with numerous sub-contractors. Their approaches were very rich, complementary, and innovative. The second phase of studies began mid-2012. Some key questions nevertheless have to be resolved, and correspond generally to current IADC actions:The casualty risk associated to a “passive” de-orbitation is of paramount importance, major driver between passive and active re-entry,The residual movement of debris is crucial for the interfacing phase, whichever the solution is,The debris physical state in orbit is a major question,Some solutions increase the collision risk, but for a limited time period; we may not have yet the appropriate tools.The paper gives a status of where we stand, of the cooperation with the international partners, and raises the questions which remain open and have to be dealt with in the coming months.