-SEGREE-SPECIAL HANDLING WHS-026- 1 

Copy of 

Pages /9 

9 June 1966 

• SIMULATION STUDIES 

• BACKUP ANALOG ACQUISITION 

AND TRACKING UNIT 

-11M14001P-111POCIAL 111101111011010 

NRO APPROVED FOR 

RELEASE 1 JULY 2015 
NRO APPROVED FOR 

RELEASE 1 JULY 2015 

ESPECIAL HANDLING 

SIMULATION STUDIES 

• PERFORMED ON LMSC SIMULATOR 6 / 1 / 66 

ino-o26-2 

• OPERATORS (FLIGHT CREW) 

• R. TRULY 

• 3. TAYLOR 

• PURPOSE 

• EXTEND DATA ON MANUAL TRACKING CAPABILITY TO 

> 1% RATE AIDING ERRORS 

• EVALUATE UTILITY OF AN AUGMENTED CONTROL STICK 

• OBJECTIVES 

• PROVIDE BASIS FOR EVALUATION OF EFFECTIVENESS 

OF LESS ACCURATE RATE AIDING TECHNIQUES 

(E. G. A SIMPLE ANALOG BACKUP TO THE 

DIGITAL COMPUTER) 

• PROVIDE BASIS .FOR FURTHER STUDY OF CONTROL 

SYSTEM DESIGN WRT MAN 
Display Cue 

A it 

TV Camera 

TABLE DEVI CAPABILITY (EQUIV. 

ACQi Y. s°/ we man. One/ sec oda 

MAE* St .1b 1eye ass 

3. A. 0401111ss 

1el= MINIBLAILVIR 

DISPLAY POWER: 

ACQ t.4 • ;LS. 2 

190 11011 

NRO APP VED FOR 

RELEAS 1 JULY 2015 -SEGIUM SPECIAL HANDLING WHS-026-3 

ZOOM CONTROL 

Stick 

111 Inputs 

Cue Sequencing 

Film Drive 

(pitchy 

Zoom 

Optics 

40. Analog 

Computer. 

Rail Pitch, 

Error Input* 

able / 

Pitc 
1*•••••■•■•■■•r 

LW 

NRO APPROVED FOR 

RELEASE 1 JULY 2015 

-,G -SPECIAL HANDLING WHS-026-4 

CONTROL STICK TRANSFER FUNCTIONS 

• "BASELINE" 

0 - STICK MOTION AW INCREMENTAL 

RATt COMMAND 

NONLINEAR ACCELERATION .AUGMENTED STICK • 

-41116111181HIPOOIAA, 
NRO APPROVED FOR 

RELEASE 1 JULY 2015 

ESPECIAL HANDLING WHS.026-5 

STUDY CASES 

PERCENT ERROR STICK TYPE STICK GAIN ACCEL. AUGMENTATION 

3 

10 

1 

1 

3 

10 

3 

19 

10 

LINEAR 

11 

11 

NONLINEAR 

11 

11 

11 

11 

14 

1 

3 

10 

1 

3 

1 

1 

1 

1 

1 

2 

O. 

O 

O 

O 

O 

.2 

.2 

. 2 

.5 

.5 

.5 

-111BGallrr-T-IMPICCIAL PLOIDLING 
w1 426. 6 

NRO APPR 

RELEAS 

. I FOR - 

JULY 2015 

-SECANT- SPECIAL HANDLING 

4 "um: III 29:11 . ii....11'41 III smign ir . likii,ship iiii 

limp.ruziptaiiiiddiso 1 I - h t :••• in 1. bulkShritivim•ailak II m 

iiirilliNsimmi:L4 :Ali in011 Iiiiiiiphiiii p d Hp 1 1 

col 

1 1 Tighiniiiiii fin 

Indlipm pill 

... .. ,„ ..,..,....1,..1T. 1 

iiiiiiiii 316 . lip" 1 Fir 111:.._ .... • - 

0. 3 q-- EMMA% aspi -•

- Piggiligniell'all9.111011101411741,11 

=- _irelizzarifilli-iBilire

lii• :Iiiiiiiii sz kimililinvill 1.111.151: I:NOWA 

2.5 ----""W" nil Eisil •• lir ::9 :Ed -.1•11 lir lillIZEPP.'"1"11PI I13g.. ..II . IC .. : ...IA 

I Ohl Ciplilin aplarli 11 8:el I 

W 0. 2 hiiiiihiiiiiiiiiiihil'iiiiii:eiridbilidr:aliiilliiiihinikhi'lll l U i gpr- .. ,. . IIIIIMPil 

W 04 imillimiglio looptigollopm0111111- 

i.5-2:1F11=91.rr.,.lown um. mai:-. -ow .... WM hinen.r.. ro.:-; i immariiiiirrip impiiiiiindihmligiiimilloppriii.mot 

'l o

ilivillurdnd My; F'iiiiiiliLPIOniiiiiiiinidibiiiitiiiiiiii alai 

. .g 

,1:..111,11.11riiiiniiiiiiiiihkirihdid ip filliollitur pooh" 1 

tol 

. 11P-11:1:119111111dP11101111 .41P 1 tiny _II 1 IIIIIMII I I 

Cli l'1' P.-dimlilluilllillIMIIRR-14-1 illiPil Oh Ill I MINT! I 

• 1 ---N9iiiPirl,"ilipiilli rgitiiiiihink"ki iibudinpyllii St)' 

9 311_1111111mitiiiaLli i iiiiii !NI Ild 5 MeilMll I ii rAMI I nit 

8Ptilligilliffilii.111 i .

...am . WI :: ,..mmilmans: m . .•.., ,mr: o 

lllllllllllllllllllll mill ir Ii ii ;Jim 

11 111111111111:iiiiMMIliiiiipialliali111111111111111111111111111111111111111 

lll 11111:111111111111 llll 

. 

l l ll l 11111r 111 1 

-1E-011f1111111111111111111111111M1111111 IIIIIII

lllll

I

11

I

i

111111 111111111111111:111 

0.055 iediliummun num III 1:1111I IL III cislut iniiiihmti 

In1111111031h111111 111111111111111111111 Flid11111111 1111 

41111 I II II I II III 1111111111 1.111T 1111111111111111 

$4 0 40,0 

ll U1111 

• 
NRO APPROVED FOR - --- 

RELEASE 1 JULY 2015 

-486.11111115PICIAL HANDLING • W1S.026-7 

Im••••■=601..1•■■■■■ 

RATE 

ERROR: 

ACCELERATION. 

AUGMENTATION 

= 
"STICK AIDING ERVO 

GAIN" 

OPTICS "INPUT "MUSCLE 

GcAU:: !fr 

MAN 

g..1.11.■1001•1M, 

Ks --1 A(S) Le&.4 . 

ogamagarerw. 

TRACKING ERROR 

iv.* 

"FINGER NOISE" 

N(S) 

—r+ 

.1...••■••••••■ 

Ko 

NRO APPROVED FOR 

RELEASE 1 JULY 2015 

—SSGRST— SPECIAL HANDLING WHS -026-8 

ERROR 

INPUT 

G(S) tM)1r(S) '40—ts 

1

am 

•

A 

o EN PASS BAND ( G(S) > 1) 

• a A 41, c (s) (NW ) BW a BANDWIDTH 

r() T- M FREQUENCY 

e 

o ASSUME MAN'S "MUSCLE GAIN" IS ADAPTIVE TO INPUT ERROR OVER RANGE 

OP nrricsrsT 

/ THzt4 HE INCREASES G(5) SUCH THAT 4)E S - CONSTANT 

WITH BW P s(s) OOP TO MUSCLE CUM 

/ u) IS TRUE PROPORTIONAL TO warDwurnityl 

• wint AUNNO, Olin ALLOWS A RIBDUCTI011t II! "IdfaCLIE GAM, 

BY amino also IS TIM TAW 1111100111711111CT 1001110111, TM. IMPAIDVIONG 

111TAtik 111111,01111111.' I 
-S.Beflir SPECIAL HANDLING WHS- 026-9 

FUTURE EFFORT 

• SIMULATOR IMPROVEMENT 

• REDUCE EFFECT OR TABLE STICTION - (MECH. MODS OR SCALING) 

• REDUCE AVAILABLE ACQUISITION TIME 

• IMPROVE CONTROL STICK FEEL (DAMPING & SPRING RETURN) 

• RESCALE COMPUTER SIMULATION FOR HIGHER RATE AIDING ERRORS 

• PROVIDE FOR TESTING VARIOUS STICK FUNCTIONS 

• ANALYTICAL EFFORT 

• DEFINE A "USEFUL,.MODEL FOR MAN IN THIS FUNCTION 

• DETERMINE DESIGN/STABILITY CRITERIA FOR ACCEL/3ERK 

STICK FUNCTION AUGMENTATION 

• GENERATE RATE ERROR INPUT DATA FOR THE VARIOUS ERROR SOURCE 

CONSISTENT WITH THE ANALOG BACKUP DESIGN: CORRELATE 

POINTING AND RATE ERRORS 

• DETERMINE SIMPLE MINIMAL TRANSIENT ACQUISITION TO PRIMARY 

HANDOVER TECHNIQUES 

--SIBEWS* SPECIAL HANDLDIG 

NRO APPROVED FOR 

r? RELEASE 1 JULY n1R 
NRO APPROVED FOR 

RELEASE 1 JULY 2015 

PECIAL HANDLING, WRS-026-10 

FUTURE EFFORT(CONT) 

• SIMULATION 

• STICK FUNCTION OPTIMIZATION FOR TRACKING 

• STICK FEEL 

• AUGMENTATION: ACCEL + HIGHER ORDER AIDING. 

• RATE ERROR LEVEL FROM 1% TO 10% V/111 

• VERIFICATION OF MODEL/STABILITY BOUNDARIES 

FOR MAN. 

INITIALIZATION STUDY - MINIMIZE ACQUISITION AND RATE 

KILLING TIME 

• OPERATOR TRAINING 

• ACQUISITION TO PRIMART HANDOFF TECHNIQUES 

• ACQUIUTION STICK UNCTION 

• PRIMARY STICK FUNCTION 

ESTABLISH TRADEOFFS. BETWEEN SETTLING TIME AND TRACKING • 

—ouseatirr-ssitcuu. HANDLING 
NRO APPROVED FOR 

RELEASE 1 JULY 2015 

-SIMMS% SPECIAL HANDLING WHS -026-11 

SUMMARY 

O - SIMULATION EQUIPMENT INADEQUATE TO SHOW FULL 

PERFORMANCE CAPABILITY 

I - MAN CAN PRODUCE SATISFACTORY RESULTS WITH 

INPUT RATE ERRORS AS HIGH AS 10% V/h 

- MAN APPEARS TO DE GAIN ADAPTIVE 

STICK GAIN ADJUSTED FOR INDIVIDUAL COMFORT 

3 • STICK AUGMENTATION BY HIGHER ORDER FUNCTIONS 

IS A FRUITFUL APPROACH TO IMPROVE 

PERFORMANCE 

-- SETTLING TIME IS REDUCED BY EXPIESCE 

--11111116111111,11111111101114LIONIORMINI 
NRO APPROVED FOR 

RELEASE 1 JULY 2015 

-8BeftELT-SPECIAL HANDLING W1 -026-12 

ANALOG ACQUISITION & TRACKING BACKUP 

• CONCEPT 

• PROVIDE EFFECTIVE BACKUP FOR COMPUTER & COMMAND S/S FAILURE 

• MINIMAL INTERFACE WITH PRIMARY HARDWARE 

• SIMPLE AS POSSIBLE TO ALLOW MISSION CONTINUATION 

• POINTING ACCURACY 

UNAIDED: 1 - Z DEO. AIDED: 0. 1 - 0.2 DEGREE 

• RATE ACCURACY 

UNAIDED: 3 - 5% MI& i AIDED: 0. 1 - 0. 2% -7/k 

• EXCLUSIONS/SIMPLIFICATIONS 

• 

NOIERVIGATIONAL UPDATING 

• NO AUTOMATIC MODE 

• SINGLE TARGETS ONLY. (NO CLUSTER CAPABILITY) 

• 

INDEPENDENT OF ACTS ELECTRONICS 

• MANUAL OR MINIMAL COMMAND UNIT DAPUTS ONLY 
NRO APPROVED FOR 

RELEASE 1 JULY 2015 

-H `SPECIAL HANDLING 

FAILURE MODE COMPARISON 

WHS 026-43 

FAILED ELEMENTS ANALOG BACKUP NO ANALOG BACKUP UNMANNED 

DATA READOUT OK OK OK 

ONE ACQ SCOPE OK OK 'NA 

ONE CONSOLE - OK OK NA 

MAR ACCEL OK OK MA•RODIAL/ DEAD 

ATTITUDE CONTROL OK, EXCEPT OK, EXCEPT FOR DEAD 

FOR VAIITES VALVES 

V/H SENSOR OK OK MARGINAL/ DEAD 

STALTRACICER OK OK MARGINAL 

FORMAT SERVO. OK OK MARGINAL 

DIGITAL COMPUTER (5) OK DEAD DEAD 

CQMIKAND SUMVSTEM alit OA= TAlkaiT5) DEAD DEAD 

Focus SERVO MAMMAL MARGINAL MARGINAL 

PRIMARY SERVO BACKS UP ONLY DEAD DEAD 

SHAFT ENCODERS. 

-11111011111341.111CSAL IMAIMOUPO 
NRO APPROVED FOR 

RELEASE 1 JULY 2015 

--SE.GRasf-SPECIAL HANDLING WKS -026-1 4 

BACKUP DRIVE APPROACH 

SERVO CONTROL 

• RESOLVER CHAIN TRACKING FUNCTION GENERATION/CONTROL 

• RESOLVERS GEARED TO SERVO GIMBALS 

• ATS SERVO USED AS A COMPUTER 

• ESTIMATED WEIGHT: it 20 LBS 

• ESTIMATED POWER: 4e 25 WATTS 

• COMMAND FUNCTION 

• MINIMAL COMMAND UNIT OR MANUAL RESOLVER SETTINGS & TIMER 

INPUTS: STEREO AT ACQUISITION, OBLIQUITY, VA, ACQUISITION TIMES 

STEREO AT ACQUISITION FIXED FOR A PASS 

-111111611111M- SPECIAL HANDLING 
ALIGN 

NIOR 

MANUAL 

ALIGNMENT 

SETTIPK1 

CLOSE TO SLEW AT Tr4 

OPEN TO TRACK AT To 

0 

VA cos2 

COS a + • cos a 

NRO APPROVED FOR 

RELEASE 1 JULY 2015 

INPUTS 

T ,,E(T 1, NT V/h o oo 

40.11011•11100■MIMMINIW 

—8111GRE-T—SPECIAL HANDLING W} -026-16 

EA( To). Q. 

p FOCUS 

ADJUST 

MINIMAL 1 V/h 

ICOMMAND OR 

MANUAL INPUT 

TIMER I T

o' TF 

— ••■•• 

A' A s, 

I 

TICK 

RESET AT T a "NC- ? MN 

COSA:PU TE AT To1 

AZ 

,. p 

e ATS 

e< SERVO 

CLOSE TO SLEW AT TT 

OPEN TO TP410It (MANUAL) 

P. /1 

111•■•■• 

PRIMARY 

SLEW 

SLAVE 

EA' aA 

/GIMBAL! 

j RESOL 

ammo no $mica alACH*AM 
NRO APPROVED FOR 

RELEASE 1 JULY 2015 

--5113eREPIL- SPECIAL HANDLING 1rHS-026- I6 

yL 

"I ihtA'dlt4 6 (S '*"------ -cat14)1 

cat 

ca. "/"1 "1'44 

4•4.v a ( 61 '''t4 63) t WI C• CZ( LUb11 • kl) 

[Ouv,e) st - ct en) 14 + 40v1 • e.t)(sekki- ed3A).> f SZ12-‘131%.1 Xi 

4. I %ISO. t (S1/41,(4t0A8 Ankle c,%2) t cam C. et - 4-gt, e (fist) k)al 

. 

sata. ct ( 140)1 bi (t.242.( 40... est ct) kusoasta)14 314,1 

tgA,07( t(sa 63-est. (s a u.?; -ect.444 ti(saly tale ;)tot 

tsrce sZ ( 1:141-4) Cest.1),mbl- c.t rt b3643 aK 

...t_tect.(ttz.‘„ 4 SSAss _ 

••• SC.( e v3 *, 140)4)1 Si" ." 

US r at I %401.44.■ t a% A reit a;,v.Abed to t 

rot\ %0•4\)401 olv.114t. 

priAic0A aitt s4kcl'Or 

r. 1 ihAt oar Via1k1' caNe. 

2 4) vvittror 1Atitt45 ralik 

ba VeNi■ at '41641.. 

/1Aallit.41vE POI e 04 AT seta S 

114111111.111110 
NRO APPROVED FOR 

RELEASE 1 JULY 2015 

—szeReT-OPECIAL HANDLING WHS —026 17 

SMEAR ANALYSIS — ACQUISITION SCOPE 

+ 30°C , 0°A., 80 sk. 

ERROR SOURCE IN—TRACK SMEAR X- TRACK SMEAR 

VEHICLE ATTITUDE (. 5° ALL AXES) 

VEHICLE RATES ( 02 °/SEC ALL AXES 

EPHEMERIS (4 K, 2 K, 2 K FT) 

.011 

.02 

. 01 

i/SEC 

. 023 

. 022 

ORBITAL RATE (. 2%, .1° EQUIV. 500 FT/SEC) . 007 . 005 

SCOPE BASE ALIGNMENT (. 5°) . 011 .023 

ACQUISITION SCOPE ANGLES 

I (1° SET, 1° STANDOFF) . 044 • 

( 1° SET) • • 

ACQUISITION SCORE RATES (.015 ?)/SEC) . 03 .013 

SERVO COMPUTER ACCURACY (1%) . 03 .03 

RSS . 081 /SEC .051 °MCC 

POINT ACQUISITION TO TARGET (.15°) . 003 (REMOVE .044 

411,80V/C) 

31118 . 047 °MC 

1% IA 21.03 stoic. 

--sawasompscua. woman 

.051 *is= 
NRO APPROVED FOR 

RELEASE 1 JULY 2015 

—SBeRielf-SPECIAL HANDLING WHS -026 -16 

ERROR SOURCE IN-TRACK SMEAR X-TRACK SMEAR 

.051 

(. 017) 

. 02 

.004 

ACQ SCOPE HANDOVER 067 °/SEC 

SUBTRACT ROLL RATE CONTRIBUTOR 

(USING INERTIAL DRIVE) 

OPTICAL AXIS ALIGNMENT (1°) . 038 

POINTING ERROR (.11°) .005 

RATE ERROR OF SERVO (.005°/SEC) . 01 

MIS ERROR AT Z =+30° 

COMPUTER ERROR INCREMENT 

. 079 °/SEC .052. °/SEC 

TO D= -30* 12 

SMEAR ANALYSIS - PRIMARY W/0 MANUAL CONTROL 

30°E, 0° 0, BO a.. mi. 

MS 'ERROR AT = -30° . 143 °MCC . 052 °MC 
/q 

NRO APPROVED FOR 

RELEASE 1 JULY 2015 

--seetter-SPECIAL HANDLING WITS-026-19 

FUTURE EFFORT 

ANALYTICAL 

• DETAIL DESIGN OF CONCEPT 

• DECIDE ON COMMAND FUNCTION APPROACH (PERHAPS USE BOTH) 

• DETERMINE METHOD OF MECHANICAL INTEGRATIONt 

INTEGRATE INTO BASELINE 

• .FIX STICK FUNCTION 

• DETERMINE FEASIBLE OPERATIONAL CYCLE TIMES 

• MANAGERIAL 

• EVALUATE COST EFFECTIVENESS OF APPROACH (ES) 

• REPLACE ONE COMPUTER WITH BACKUP OR ADD TO PRESENT 

SYSTEM? 

• IEVALUATE IMPACT ON SCHEDULE, TEST. ETC. 

• COST ( < 100 K/COPT ESTIMATED, 

• KEEP IT SIMPLE - IT'S A BACKUP!