無人駕駛著陸船

自主太空塢無人船（英文：Autonomous spaceport drone ship，簡稱：ASDS）是從甲板駁船衍生的遠洋船，配備了位置保持輪機和大型著陸平台，並由自主機器人控制。 航天公司SpaceX委託建造這種船隻，以便在海上回收火箭的第一級推進器，以執行運載火箭升至軌道或行星際軌道後載運的燃料不足以返回發射場的任務。

SpaceX有兩艘可操作的無人船。 「請閱讀說明書」號（Just Read the Instructions）與「當然我依然愛你」號（Of Course I Still Love You），它們都在卡納維爾角的大西洋發射。 JRtI於2016年至2019年在太平洋為范登堡號發射場營運，然後於2019年8月離開洛杉磯港。截至2020年6月2日，有43架獵鷹9號試圖降落在無人船上，其中34架成功（78.6％）。還有一艘「缺乏庄严肃穆」號（A Shortfall of Gravitas，轻浮不正经之意，又譯重力不足，此处为双关）仍在建造中。

ASDS是SpaceX目標中的關鍵早期營運組件，旨在通過“全面且快速的可重複使用性”顯著降低太空發射服務的價格，並作為SpaceX承諾進行多年期可重複使用的火箭開發計劃的一部分進行開發技術。進入地球靜止軌道或超過逃逸速度的任何獵鷹飛行都需要在海上降落，這在SpaceX的發射任務中佔了大約一半。

歷史

現役著陸船

 「當然我還愛你」號(Of Course I Still Love You) 


自2015年初以來，第二艘ASDS著陸船「當然我還愛你」號（OCISLY）一直在路易斯安納州的一家造船廠建造，使用另一艘船體-Marmac 304-為東海岸的發射服務。它是第一架「請閱讀說明書」號的替代品，於2015年6月下旬進入獵鷹19航班19的營運服務。截至2015年6月，其母港為佛羅里達州傑克遜維爾，但於2015年12月之後，它在卡納維爾港向南轉移了160英里（260公里）。

儘管該船的尺寸與第一批ASDS幾乎相同，但進行了一些改進，包括在後部貨櫃和登陸甲板之間豎立了一個鋼製防爆牆。該船已經準備好接受CRS-7任務的第一階段著陸測試，該測試於2015年6月28日發射失敗。

2016年4月8日，發射“龍號CRS-8”飛船的第一階段成功降落在OCISLY上，這也是有史以來第一次無人控制降落。

2018年2月，獵鷹重型試驗飛行的中央核心在OCISLY附近爆炸，炸毀了無人船上的四個推進器中的兩個。從Marmac 303駁船上拆除了兩台推進器，以修理OCISLY。

2020年5月30日，Demo-2任務的第一節推進器降落在OCISLY，Demo-2任務標誌著自2011年太空梭最後一次飛行以來美國再次從美國本土在美國火箭上發射太空人升空，這也是SpaceX火箭首次發射太空人升空。這標誌著有史以來第一次火箭的第一節將太空人送入太空，然後安全降落。

 著陸任務 
第一次飛行測試是2015年1月10日，當時SpaceX進行了下降控制飛行測試，將獵鷹9號飛行14的第一階段降落到固體表面上，然後將其壓縮後的有效載荷放到地球軌道上。SpaceX預計，在首次著陸嘗試之前，成功著陸在平台上的可能性將為50％或更低。著陸從進行著陸測試變成了日常任務。

 編號 日期任務 ASDS著陸任務描述 著陸結果 圖片1 2015年1月10日SpaceX CRS-5 SpaceX attempted a landing during SpaceX CRS-5 on Just Read the Instructions on 10 January 2015. Many of the test objectives were achieved, including precision control of the rocket's descent to land on the platform at a specific point in the North Atlantic Ocean and a large amount of test data was obtained from the first use of grid fin control surfaces used for more precise reentry positioning. However, the landing was a hard landing. The SpaceX webcast indicated that the boostback burn and reentry burns for the descending first-stage occurred, and that the descending rocket then went "below the horizon," as expected, which eliminated the live telemetry signal. Shortly thereafter, SpaceX released information that the rocket did get to the drone spaceport ship as planned, but "landed hard ... Ship itself is fine. Some of the support equipment on the deck will need to be replaced."* 

 2 2015年2月11日DSCOVR Just Read the Instructions was towed to sea for the Deep Space Climate Observatory satellite launch on 11 February 2015 but, it was not used for a landing attempt. Ocean conditions of -high waves interfered with the ASDS recovery duties for the landing, so the ship returned to port and no landing test occurred. SpaceX executed a soft landing in the sea to continue data gathering for future landing attempts. The soft landing was successful, Elon Musk tweeted that it landed with a lateral accuracy of  away from the target and in a vertical position.No attempt3 2015年4月14日SpaceX CRS-6 On 14 April 2015, SpaceX made a second attempt during SpaceX CRS-6 to land a Falcon first-stage on the Marmac 300 drone ship Just Read the Instructions. News from Elon Musk suggested that it made a hard landing. He later clarified that it appeared to have made a vertical landing on the ship, but then toppled over due to excessive remaining lateral momentum.thumb|left|upright|CRS-6 first-stage booster landing attempt on ASDS4 2015年6月28日SpaceX CRS-7In order to prepare for SpaceX CRS-7 on 28 June 2015, the then new ASDS, Of Course I Still Love You, was towed out to sea to prepare for a third landing test. This was its first operational assignment. However, the Falcon launch rocket disintegrated before first-stage shutdown so the mission never progressed to the point where the controlled-descent test could happen. No attempt5 2016年1月17日Jason-3 In January 2016, SpaceX indicated that there would be an attempt to land on the then new ASDS, reusing the name Just Read the Instructions (JRtI), located on the west coast following the launch of Falcon 9 Flight 21 scheduled for 17 January 2016."SpaceX Plans Drone Ship Rocket Landing for Jan. 17 Launch" , NBC News, 7 January 2016, accessed 12 January 2016. JRtI was located about  downrange from the launch site in the Pacific Ocean. Musk reported that the first stage did successfully soft-land on the ship, but a lockout latch on one of the landing legs failed to latch and the first stage fell over, causing a breach of the propellant tanks and a deflagration on impact with the drone ship. thumb|left|First stage of Falcon 9 Flight 21 descending to the ASDS.62016年3月4日SES-9During a launch of a heavy communications satellite on Falcon 9 Flight 22 on 4 March 2016, SpaceX performed an experimental descent and landing attempt with very low propellant margins. For the first time, and in order to reduce the propellant required, SpaceX attempted the landing burn with three engines. SpaceX had indicated that the test was unlikely to result in a successful landing and recovery. In the event, one engine flamed out early, and the rocket hit Of Course I Still Love You (OCISLY)'s deck surface with considerable velocity, destroying the rocket and causing damage to the drone ship's deck. By 21 March 2016, the deck of the drone ship was nearly repaired.ASDS March 21, 2016 (OCISLY)  YouTube72016年4月8日SpaceX CRS-8The Falcon 9 first-stage performed a successful landing on OCISLY in the Atlantic Ocean off the coast of Florida at T+9 minutes and 10 seconds after liftoff of SpaceX CRS-8, the first-ever successful landing of a first stage on an Autonomous Spaceport Drone Ship. The rocket was successfully affixed to the barge for the maritime transport portion of the journey back to port, and successfully completed its journey, entering Port Canaveral early in the morning on 12 April 2016.  thumb|left|The first time that the first stage of a Falcon 9 landed on a drone ship.82016年5月6日JCSat-14 SpaceX landed the first stage of the Falcon 9 on OCISLY during the JCSat-14 mission on 6 May 2016, its second time successfully landing on a drone ship at sea, and its first time recovering a booster from a high-velocity (GTO) mission.SpaceX successfully lands its Falcon 9 rocket on a floating drone ship again  The Verge, Retrieved 6 May 2016. center|150x150px92016年5月27日Thaicom 8 SpaceX landed the first stage of a Falcon 9 on OCISLY during the Thaicom 8 mission, its third time successfully landing on a drone ship at sea.SpaceX lands fourth booster after successful Falcon 9 launch  Florida Today, Retrieved 27 May 2016. center|175x175px102016年6月15日ABS-3A/Eutelsat 115 West BSpaceX failed to land the first stage of the Falcon 9 on OCISLY during the Asia Broadcast Satellite/Eutelsat mission.Live coverage: Pioneering telecom satellites launching today on Falcon 9  Spaceflightnow Retrieved 15 June 2016. Elon Musk tweeted that one of the three engines had low thrust, and when the rocket was just off the deck, the engines ran out of oxidizer. 112016年8月14日JCSAT-16Falcon 9's 28th flight propelled the Japanese JCSAT-16 telecommunications satellite to a geosynchronous transfer orbit on 14 August 2016. The first stage re-entered the atmosphere and during the night landed vertically on OCISLY, positioned in the Atlantic Ocean nearly 400 miles from the Florida coastline; unlike previous successful landings, this landing-burn only used one engine, not three. center|175x175px122017年1月14日Iridium NEXT-1The Falcon 9 first stage landed on the Pacific Ocean ASDS JRtI during the Iridium NEXT-1 mission. This marked the first successful landing on JRtI and the first landing in the Pacific Ocean. center|149x149px132017年3月30日SES-10The Falcon 9 first stage landed on OCISLY during the SES-10 launch. This was the first successful launch and landing of a previously flown orbital booster.center|150x150px142017年6月23日BulgariaSat-1The Falcon 9 first stage landed on OCISLY during the BulgariaSat-1 launch. This was the second successful launch and landing of a previously flown orbital booster. This was also the first booster to have landed on both active drone ships. While the landing was considered a success, the booster was "slammed sideways" and suffered a 'hard landing' which resulted in 'most of the emergency crush core being used'. center|171x171px152017年6月25日Iridium NEXT-2獵鷹9號的第一級推進器在Iridium-2任務期間降落於JRtI。162017年8月24日福爾摩沙衛星五號獵鷹9號的第一級推進器在福爾摩沙衛星五號發射期間降落在JRtI上。 center|175x175px172017年10月9日Iridium NEXT-3獵鷹9號的第一級推進器在Iridium-3任務期間降落於JRtI。 182017年10月11日SES-11 獵鷹9號的第一級推進器在SES-11任務期間降落於OCISLY。 192017年10月30日Koreasat 5A獵鷹9號的第一級推進器在Koreasat 5A任務期間降落於OCISLY。 202018年2月6日Falcon Heavy Test FlightOn 6 February 2018, the central core from the Falcon Heavy Test Flight attempted a landing on OCISLY. There was not enough TEA-TEB igniter remaining and only the centermost of the three engines required ignited during the landing burn. The core hit the water near the drone ship at over 300 mph and was destroyed. The explosion of the central core upon impact also damaged two of the thrusters on the drone ship. The side boosters successfully landed at Landing Zones 1 and 2. The loss of the central core did not impact SpaceX operations since it was from an older generation of the Falcon 9 not intended to be reused. 212018年3月6日Hispasat 30W-6 On 6 March 2018, a Falcon 9 Full Thrust carrying the Hispasat 30W-6 communications satellite for Hispasat of Spain was originally supposed to attempt a landing, as the first stage was programmed to do the landing. However, due to sea conditions considered to be unfavorable, the drone ship was left at the port. The first stage did its pre-programmed maneuvers, but did not attempt to land.No attempt222018年4月18日TESSThe Falcon 9 first stage landed on OCISLY during the TESS mission and was the 13th successful drone ship-based recovery. 232018年5月11日Bangabandhu-1 The Falcon 9 Block 5 first stage landed on OCISLY during the Bangabandhu-1 mission and was the first flight of a Block 5 booster and upper stage. It was the overall 25th successful recovery of a booster. 242018年7月22日Telstar 19V獵鷹9號的第一級推進器在Telstar 19V任務期間降落於OCISLY。 252018年7月25日Iridium 7獵鷹9號的第一級推進器在Iridium 7任務期間降落於JRtI。 262018年8月7日Merah Putih獵鷹9號的第一級推進器在Merah Putih任務期間降落於OCISLY。 272018年11月15日Es'hail-2 獵鷹9號的第一級推進器在Es'hail-2任務期間降落於OCISLY。 center|175x175px282018年12月3日SSO-A獵鷹9號Block 5第一級推進器在航天SSO-A任務期間降落在JRtI上，這是助推器首次成功降落3次。 center|150x150px292019年1月11日Iridium 8 獵鷹9號Block 5的第一級推進器B1049在Iridium 8任務期間降落於JRtI。 302019年2月22日Nusantara Satu/Beresheet/  S5 Falcon 9 block 5 first stage B1048 landed on OCISLY during the Nusantara Satu, Beresheet & S5 mission. center|175x175px312019年3月2日SpX-DM1Falcon 9 block 5 first stage B1051.1 landed on OCISLY during the SpX-DM1 (SpaceX Demonstration Mission 1).center|175x175px322019年4月11日Arabsat-6AFalcon Heavy block 5 first stage's center booster B1055.1 landed on OCISLY. This was the first successful landing of a center booster used in a Falcon Heavy rocket. The side boosters also landed on their respective ground pads. However, the recovery team was unable to secure the center booster onto the drone ship due to rough seas and the core was lost at sea. center|thumb|175x175px|The booster before tipping over during transport332019年5月4日SpaceX CRS-17Falcon 9 first stage B1056.1 landed on OCISLY during the SpaceX CRS-17 mission. The landing was originally scheduled for Landing Zone 1, but was switched after an explosion in a test of a Crew Dragon capsule at LZ1. The launch of CRS-17 was delayed due to generator issues on the drone ship.  342019年5月24日星鏈 L0獵鷹9號第一級推進器B1049.3在星鏈L0任務期間降落在OCISLY。  352019年6月25日Space Test Program Flight 2由於缺乏對中央發動機向量推力的控制，STP-2任務中的獵鷹重型中央推進器無法成功降落在OCISLY上，而兩側推進器則成功降落在地面著陸平台上。 362019年11月11日星鏈 L1獵鷹9號的第一級推進器B1048.4在第二批Starlink任務中降落在OCISLY，這是獵鷹9號助推器首次進行第四次飛行並著陸。 372019年12月5日SpaceX CRS-19在商業補給任務SpaceX CRS-19發射升空後，獵鷹9號的第一級推進器B1059.1成功降落在OCISLY。這是該助推器的首次飛行和降落。382019年12月16日JSAT-18在發射Kacific-1 / JCSAT-18通信衛星之後，獵鷹9號的第一級推進器B1056.3成功地降落在OCISLY，這是該助推器的第三次飛行和降落。392020年1月7日星鏈 L2在Starlink L2發射升空之後，獵鷹9號的第一級推進器B1049.4成功地降落在OCISLY，這是Starlink的第三批衛星。402020年1月29日星鏈 L3在星鏈 L3發射之後，獵鷹9號的第一級推進器B1051.3第三次成功著陸於OCISLY，這是從佛羅里達州卡納維拉爾角空軍基地SLC-40發射的第四批60顆Starlink衛星。412020年2月17日星鏈 L4獵鷹9號第一級推進器B1056.4在第五批60顆衛星的星鏈 L4任務中發射升空後降落在水上。第一級助推器未能在無人船上降落，這是經飛行驗證過之助推器的首次降落失敗。422020年3月18日星鏈 L5獵鷹9號的第一級推進器B1048.5在發射過程中出現發動機異常後未能在OCISLY著陸。在2020年3月15日，由於發動機功率檢查期間數據不足而導致在T-0s時中止發射，該次發射任務被推遲到2020年3月18日。在T + 2：22時發生了發動機停機，這是自CRS-1以來獵鷹9號發生的第二次停機。據推測，助推器可能在大氣中破裂或墜入海洋。埃隆·馬斯克（Elon Musk）稍後在推特上證實，少量異丙醇被困在感測器的死角中，並在飛行過程中被點燃。 432020年4月22日星鏈 L6獵鷹9號第一級推進器B1051.4成功降落在OCISLY。這是該助推器的第四次發射與著陸。 442020年5月30日載人龍飛船示範2號在Demo-2發射後，獵鷹9號的第一級推進器B1058.1成功著陸於OCISLY。這是SpaceX的第一個載人飛行任務，也是第一個將人類送入軌道並成功返回地球的獵鷹9號第一級推進器。 452020年6月3日星鏈 L7獵鷹9號第一級推進器B1049.5在發射星鏈L7任務後成功降落在JRTI上，這是第二枚成功重複飛行五次的獵鷹推進器。 462020年6月13日星鏈 L8獵鷹9號第一級推進器B1059.3成功降落在OCISLY上。 472020年6月30日GPS III SV03獵鷹9號的第一級推進器B1060.1成功著陸在JRTI上。482020年7月20日ANASIS-II已經在载人龙飞船示范2号任務中使用過的獵鷹9號第一級推進器B1058.2成功著陸在JRTI上。492020年8月7日星鏈 L9獵鷹9號第一級推進器B1051.5成功降落在OCISLY。這是第三枚達到重複飛行五次的獵鷹助推器。 

 參見 
獵鷹9號運載火箭發射任務列表
可重複使用發射系統
VTVL

 參考資料 

Category:远洋船
Category:SpaceX