German Space Operations Center Research Articles

Optimizing Consider-Covariance Models for Realistic Orbit Errors and Application to Collision Avoidance

Precise knowledge about the orbit state vectors and the associated uncertainties are crucial for reliable conjunction assessment and efficient mitigation of on-orbit collision risks through collision avoidance maneuvers by active satellites. The decision-making process heavily relies on the orbit accuracy and the uncertainty realism of the encountering objects, primarily space debris, and the maneuvering satellite itself. The process of determining an orbit creates an estimate of the orbit state and its associated state covariance matrix. This estimate serves as the initial value for predicting the orbit’s uncertainty at the time of closest approach. To determine and numerically propagate realistic orbit errors, the uncertainties of the dynamic model must be taken into account. One method that fulfils this purpose is consider covariance propagation, provided that suitable consider parameters and their variances have been established. This paper presents a novel method for optimizing the consider covariance parameters from past mission data. Real orbit data from multiple low Earth orbit satellites controlled by the DLR, German Aerospace Center’s German Space Operations Center are used to calibrate and evaluate different error models, including covariance parameters and other error terms. The results demonstrate improved uncertainty realism in orbit predictions and subsequent benefits for collision avoidance. Finally, this paper presents the required steps for integrating the new method into the existing collision avoidance system, along with initial results from conjunction assessment.

Cube laser communication terminal (CubeLCT) state of the art

Based on the increasing need for higher data rates in CubeSat missions primarily for Earth observation and communication missions mainly focused on Direct-to-Earth (DTE) applications, DLR started the development of a highly compact laser communication payload for CubeSats, called CubeLCT.In parallel TESAT has used its experience for preparing and developing this technology for volume production.At the same time, to ensure the compatibility with the ground stations, DLR started and led the CCSDS working group for Optical On-Off-Keying (O3K) to further extend the commercial use of CubeLCT terminals.This cooperation between industry and research center has been very successful. The PIXL-1 mission was accomplished in a very agile new space approach, developing and demonstrating the technology in record time.Moreover, in order to enable the potential customers to deploy a complete end-to-end system, TESAT in cooperation with German Space Operation Center (GSOC) has specified the interface requirements for developing the first demonstrator for DTE optical system mission planning, mainly focused on the link planning challenges. This concept can be applied to current missions, and allows identifying the needs also for further applications.In addition to DTE links, the increasing demand for higher data rates and low latency communication in upcoming constellations of CubeSats also drives the need to extend the CubeLCT terminal with Inter-Satellite-Link-functionality. In continuation to the first development, IKN, RSC3 and TESAT, are currently developing a CubeLCT for intra-plane communication capable of transferring 100 Mbps over 1800 km.The upcoming challenges in operation of inter-satellite-links on CubeSats combined with the possibilities of enabling DTE are also covered in this paper.

10-Year Anniversary of the European Proximity Operations Simulator 2.0—Looking Back at Test Campaigns, Rendezvous Research and Facility Improvements

Completed in 2009, the European Proximity Operations Simulator 2.0 (EPOS 2.0) succeeded EPOS 1.0 at the German Space Operations Center (GSOC). One of the many contributions the old EPOS 1.0 facility made to spaceflight rendezvous is the verification of the Jena-Optronik laser-based sensors used by the Automated Transfer Vehicle. While EPOS 2.0 builds upon its heritage, it is a completely new design aiming at considerably more complex rendezvous scenarios. During the last ten years, GSOC’s On-Orbit-Servicing & Autonomy group, who operates, maintains and evolves EPOS 2.0, has made numerous contributions to the field of uncooperative rendezvous, using EPOS as its primary tool. After general research in optical navigation in the early 2010s, the OOS group took a leading role in the DLR project “On-Orbit-Servicing End-to-End Simulation” in 2014. EPOS 2.0 served as the hardware in the loop simulator of the rendezvous phase and contributed substantially to the project’s remarkable success. Over the years, E2E has revealed demanding requirements, leading to numerous facility improvements and extensions. In addition to the OOS group’s research work, numerous and diverse open-loop test campaigns for industry and internal (DLR) customers have shaped the capabilities of EPOS 2.0 significantly.

Eu:CROPIS AIV Program: Challenges and Solutions for a Spin-Stabilized Satellite Containing Biology

Eu:CROPIS is DLR’s first mission of the Compact Satellite Program. Its primary payload focuses on the research of closed-loop biological, regenerative life support systems, in a simulated gravitational environment of the Moon and Mars over months at a time. This is achieved by rotation of the satellite around its central body axis, using only magnetic torquers as actuators. A secondary payload (“PowerCells”) by the NASA Ames Research Center also utilizes the artificial gravity to conduct growth experiments on genetically modified organisms (GMOs). These payloads and the system design imposed constraints which affected the Assembly Integration and Verification (AIV) program in various ways and created challenges for the relatively small team to find solutions for. The paper to be presented will address the different aspects of the AIV program. This includes the verification of different critical components like the newly developed CFRP pressure vessel containing the primary payload and the Micrometeoroid and Debris Protection Shield, which protects it. Both items went through rigorous testing, including high-velocity impact tests, to ensure their reliability in orbit. Various other aspects concerning the biology had to be taken into account during AIV campaigns: due to the presence of degradable components within the primary payload, a late access capability had to be implemented in order to exchange biology as well as chemistry in cases of launch delays. To allow these operations as close as six months prior to launch, a highly flexible and streamlined acceptance test campaign was developed. A major impact on test planning and logistics was the fact that the secondary payload “PowerCells” contains GMOs, which European and German regulations restrict to be handled exclusively in especially certified laboratories (biosafety level 1 (BSL-1)). Thus, the use of external test facilities for the flight model campaign was not feasible as no European test center is certified to BSL-1. In consequence, the clean room facilities of the DLR Institute of Space Systems had to be certified to BSL-1 and new test infrastructure had to be procured in a short time frame to cover for acceptance testing. The design of the satellite and nature of the attitude control subsystem required limits on the magnetic momentum of the system and every unit it contains. A test flow incorporating the magnetic property measurement of each unit and a final system-level test in an external facility had to be devised, which enabled budgeting and projection of expected measurement results on the system level. Furthermore, the moments of inertia had to be measured precisely in order to have a stable spinning axis enabling a stable gravity simulation. Finally, the functionality had to be verified for each unit and for the system which required that several small test campaigns had to be conducted, like a solar panel deployment test and extensive software testing. A tight link to the operations teams of the German Space Operations and Control Center during such tests and beyond finally ensures the operability of the overall system in the operational phase.

High-dynamic baseline determination for the Swarm constellation

Baseline determination for the European Space Agency Swarm magnetic field mission is investigated. Swarm consists of three identical satellites -A, -B and -C. The Swarm-A and -C form a pendulum formation whose baseline length varies between about 30 and 180 km. Swarm-B flies in a higher orbit, causing its orbital plane to slowly rotate with respect to those of Swarm-A and -C. This special geometry results in short periods when the Swarm-B satellite is adjacent to the other Swarm satellites. Ten 24-hr periods around such close encounters have been selected, with baseline lengths varying between 50 and 3500 km. All Swarm satellites carry high-quality, dual-frequency and identical Global Positioning System receivers not only allowing precise orbit determination of the single Swarm satellites, but also allowing a rigorous assessment of the capability of precise baseline determination between the three satellites. These baselines include the high-dynamic baselines between Swarm-B and the other two Swarm satellites.For all orbit determinations, use was made of an Iterative Extended Kalman Filter approach, which could run in single-, dual-, and triple-satellite mode. Results showed that resolving the issue of half-cycle carrier phase ambiguities (present in original release of GPS RINEX data) and reducing the code observation noise by the German Space Operations Center converter improved the consistency of reduced-dynamic and kinematic baseline solutions for both the Swarm-A/C pendulum pair and other combinations of Swarm satellites. All modes led to comparable consistencies between the computed orbit solutions and satellite laser ranging observations at a level of 2 cm. In addition, the consistencies with single-satellite ambiguity fixed orbit solutions by the German Space Operations Center are at comparable levels for all the modes, with reduced-dynamic baseline consistency at a level of 1-3 mm for the pendulum Swarm-A/C formation and 3-5 mm for the high-dynamic Swarm-B/A and -B/C satellite pairs in different directions.

Long-Term Validation of TerraSAR-X and TanDEM-X Orbit Solutions with Laser and Radar Measurements

Precise orbit determination solutions for the two spacecrafts TerraSAR-X (TSX) and TanDEM-X (TDX) are operationally computed at the German Space Operations Center (GSOC/DLR). This publication makes use of 6 years of TSX and TDX orbit solutions for a detailed orbit validation. The validation compares the standard orbit products with newly determined enhanced orbit solutions, which additionally consider GPS ambiguity fixing and utilize a macro model for modeling non-gravitational forces. The technique of satellite laser ranging (SLR) serves as a key measure for validating the derived orbit solutions. In addition, the synthetic aperture radar (SAR) instruments on-board both spacecrafts are for the first time employed for orbit validation. Both the microwave instrument and the optical laser approach are compared and assessed. The average SLR residuals, obtained from the TSX and TDX enhanced orbit solutions within the analysis period, are at 1.6 ± 11.4 mm ( 1 σ ) and 1.2 ± 12.5 mm, respectively. Compared to the standard orbit products, this is an improvement of 33 % in standard deviation. The corresponding radar range biases are in the same order and amount to − 3.5 ± 12.5 mm and 4.5 ± 14.9 mm. Along with the millimeter level position offsets in radial, along-track and cross-track inferred from the SLR data on a monthly basis, the results confirm the advantage of the enhanced orbit solutions over the standard orbit products.

Angles-only relative orbit determination in low earth orbit

The paper provides an overview of the angles-only relative orbit determination activities conducted to support the Autonomous Vision Approach Navigation and Target Identification (AVANTI) experiment. This in-orbit endeavor was carried out by the German Space Operations Center (DLR/GSOC) in autumn 2016 to demonstrate the capability to perform spaceborne autonomous close-proximity operations using solely line-of-sight measurements. The images collected onboard have been reprocessed by an independent on-ground facility for precise relative orbit determination, which served as ultimate instance to monitor the formation safety and to characterize the onboard navigation and control performances. During two months, several rendezvous have been executed, generating a valuable collection of images taken at distances ranging from 50 km to only 50 m. Despite challenging experimental conditions characterized by a poor visibility and strong orbit perturbations, angles-only relative positioning products could be continuously derived throughout the whole experiment timeline, promising accuracy at the meter level during the close approaches. The results presented in the paper are complemented with former angles-only experience gained with the PRISMA satellites to better highlight the specificities induced by different orbits and satellite designs.

The impact of GPS receiver modifications and ionospheric activity on Swarm baseline determination

The European Space Agency (ESA) Swarm mission is a satellite constellation launched on 22 November 2013 aiming at observing the Earth geomagnetic field and its temporal variations. The three identical satellites are equipped with high-precision dual-frequency Global Positioning System (GPS) receivers, which make the constellation an ideal test bed for baseline determination. From October 2014 to August 2016, a number of GPS receiver modifications and a new GPS Receiver Independent Exchange Format (RINEX) converter were implemented. Moreover, the on-board GPS receiver performance has been influenced by the ionospheric scintillations.The impact of these factors is assessed for baseline determination of the pendulum formation flying Swarm-A and -C satellites. In total 30 months of data - from 15 July 2014 to the end of 2016 - is analyzed. The assessment includes analysis of observation residuals, success rate of GPS carrier phase ambiguity fixing, a consistency check between the so-called kinematic and reduced-dynamic baseline solution, and validations of orbits by comparing with Satellite Laser Ranging (SLR) observations. External baseline solutions from The German Space Operations Center (GSOC) and Astronomisches Institut - Universität Bern (AIUB) are also included in the comparison.Results indicate that the GPS receiver modifications and RINEX converter changes are effective to improve the baseline determination. This research eventually shows a consistency level of 9.3/4.9/3.0 mm between kinematic and reduced-dynamic baselines in the radial/along-track/cross-track directions. On average 98.3% of the epochs have kinematic solutions. Consistency between TU Delft and external reduced-dynamic baseline solutions is at a level of 1 mm level in all directions.

Flight Demonstration of Autonomous Noncooperative Rendezvous in Low Earth Orbit

This paper presents ultimate design, implementation, and in-flight performance of the spaceborne guidance, navigation, and control system that enabled the Autonomous Vision Approach Navigation and Target Identification (AVANTI) experiment; a flight demonstration developed by the German Space Operations Center of DLR, German Aerospace Center and carried out in November 2016. Designed to prove the viability to perform far- to mid-range proximity operations with respect to a noncooperative flying object using only optical angle measurements, AVANTI realized the first autonomous vision-based rendezvous to a passive target spacecraft in low Earth orbit. Within this experiment, the DLR Earth-observation BIROS satellite approached down to less than 50 m of intersatellite distance the BEESAT-4 CubeSat, previously released in orbit by BIROS itself. To this end, a dedicated spaceborne formation-flying system carried out relative navigation and maneuver planning tasks. Moreover, it took over BIROS orientation and maneuvering capabilities to steer the spacecraft along a passively safe rendezvous trajectory. During AVANTI, the images taken by BIROS constituted the only source of relative navigation information. In the absence of external, independent, and precise navigation data of the target satellite, AVANTI performances have been assessed against the ground-based post facto reprocessing of the images collected in flight.

SWEET CubeSat – Water detection and water quality monitoring for the 21st century

Water scarcity and contamination of clean water have been identified as major challenges of the 21st century, in particular for developing countries. According to the International Water Management Institute, about 30% of the world's population does not have reliable access to clean water. Consequently, contaminated water contributes to the death of about 3 million people every year, mostly children. Access to potable water has been proven to boost education, equality and health, reduce hunger, as well as help the economy of the developing world. Currently used in-situ water monitoring techniques are sparse, and often difficult to execute. Space-based instruments will help to overcome these challenges by providing means for water level and water quality monitoring of medium-to-large sweet (fresh) water reservoirs. Data from hyperspectral imaging instruments on past and present governmental missions, such as Envisat and Aqua, has been used for this purpose. However, the high cost of large multi-purpose space vessels, and the lack of dedicated missions limits the continuous monitoring of inland and coastal water quality. The proposed CubeSat mission SWEET (Sweet Water Earth Education Technologies) will try to fill this gap. The SWEET concept is a joint effort between the Technical University of Munich, the German Space Operations Center and the African Steering Committee of the IAF. By using a novel Fabry-Perot interferometer-based hyperspectral imager, the mission will deliver critical data directly to national water resource centers in Africa with an unmatched cost per pixel ratio and high temporal resolution. Additionally, SWEET will incorporate education of students in CubeSat design and water management. Although the aim of the mission is to deliver local water quality and water level data to African countries, further coverage could be achieved with subsequent satellites. Finally, a constellation of SWEET-like CubeSats would extend the coverage to the whole planet, delivering daily data to ensure reliable access to clean water for millions of people worldwide.

European Proximity Operations Simulator 2.0 (EPOS) - A Robotic-Based Rendezvous and Docking Simulator

The European Proximity Operations Simulator (EPOS) 2.0 located at the German Space Operations Center (GSOC) in Oberpfaffenhofen, Germany, is a robotic based test facility of the German Aerospace Center (DLR) used for simulation of rendezvous and docking (RvD) processes. Hardware such as rendezvous sensors (cameras, laser scanners) or docking tools, as well as software (e.g. for navigation and control) can be tested and verified. The facility consists of two robotic manipulators with each six degrees of freedom, a linear slide of 25m length on which one robot can be moved in the laboratory, and a computer-based monitoring and control system. EPOS 2.0 allows for real-time simulations of the rendezvous and docking process during the most critical phase (separation from 25m to 0m) of proximity and docking/berthing operations.

저궤도위성의 레이더 관측데이터를 이용한 KARISMA의 궤도결정 결과 분석

In this paper, a orbit determination process was carried out based on KARISMA(KARI Collision Risk Management System) developed by KARI(Korea Aerospace Research Institute) to verify the orbit determination performance of this system, in which radar tracking data of a space debris was used. The real radar tracking data were obtained from TIRA(Tracking & Imaging Radar) system operated by GSOC(German Space Operation Center) for the KITSAT-3 finished satellite. And orbit determination error was approximately 60m compared to that of the GSOC's orbit determination result from the same radar tracking data. However, those results were influenced due to the insufficient information on the radar tracking data, such as error correction. To verify and confirm it, the error analysis was demonstrated and first observation data arc which has huge observation error was rejected. In this result, the orbit determination error was reduced such as approximately 25m. Therefore, if there are some observation data information such as error correction data, it is expected to improve the orbit determination accuracy.

Towards a critical design of an operational ground segment for an Earth observation mission

The ground segment for the future remote sensing mission Environmental Mapping and Analysis Program (EnMAP; www.enmap.org) is developed by the Earth Observation Center and the German Space Operations Center at the German Aerospace Center. The launch is scheduled for 2017. An operational satellite ground segment is a highly complex heterogeneous system which has to cope with different levels of criticality, novelty, specificity, and to be operated for many years. It consists of equipment, hard- and software as well as operators with their procedures. The strengths of the global coherence of the segment-wide approach bringing these aspects together is examined and not on the local details of segment-specific issues. However, the effects on two software-based elements of the ground segment are considered in more detail, namely the product library and the level 2geo processor. The development methodology and how the critical design of the complete ground segment finished its detailed design phase successfully was achieved is analyzed. As a measure of the maturity of the design, its stability across the project phases is proposed.

THE FUTURE SPACEBORNE HYPERSPECTRAL IMAGER ENMAP: ITS IN-FLIGHT RADIOMETRIC AND GEOMETRIC CALIBRATION CONCEPT

Abstract. The German Aerospace Center DLR – namely the Earth Observation Center EOC and the German Space Operations Center GSOC – is responsible for the establishment of the ground segment of the future German hyperspectral satellite mission EnMAP (Environmental Mapping and Analysis Program). The Earth Observation Center has long lasting experiences with air- and spaceborne acquisition, processing, and analysis of hyperspectral image data. In the first part of this paper, an overview of the radiometric in-flight calibration concept including dark value measurements, deep space measurements, internal lamps measurements and sun measurements is presented. Complemented by pre-launch calibration and characterization these analyses will deliver a detailed and quantitative assessment of possible changes of spectral and radiometric characteristics of the hyperspectral instrument, e.g. due to degradation of single elements. A geometric accuracy of 100 m, which will be improved to 30 m with respect to a used reference image, if it exists, will be achieved by ground processing. Therfore, and for the required co-registration accuracy between SWIR and VNIR channels, additional to the radiometric calibration, also a geometric calibration is necessary. In the second part of this paper, the concept of the geometric calibration is presented in detail. The geometric processing of EnMAP scenes will be based on laboratory calibration results. During repeated passes over selected calibration areas images will be acquired. The update of geometric camera model parameters will be done by an adjustment using ground control points, which will be extracted by automatic image matching. In the adjustment, the improvements of the attitude angles (boresight angles), the improvements of the interior orientation (view vector) and the improvements of the position data are estimated. In this paper, the improvement of the boresight angles is presented in detail as an example. The other values and combinations follow the same rules. The geometric calibration will mainly be executed during the commissioning phase, later in the mission it is only executed if required, i.e. if the geometric accuracy of the produced images is close to or exceeds the requirements of 100 m or 30 m respectively, whereas the radiometric calibration will be executed periodically during the mission with a higher frequency during commissioning phase.

Inter-agency comparison of TanDEM-X baseline solutions

TanDEM-X (TerraSAR-X add-on for Digital Elevation Measurement) is the first Synthetic Aperture Radar (SAR) mission using close formation flying for bistatic SAR interferometry. The primary goal of the mission is to generate a global digital elevation model (DEM) with 2m height precision and 10m ground resolution from the configurable SAR interferometer with space baselines of a few hundred meters. As a key mission requirement for the interferometric SAR processing, the relative position, or baseline vector, of the two satellites must be determined with an accuracy of 1mm (1D RMS) from GPS measurements collected by the onboard receivers. The operational baseline products for the TanDEM-X mission are routinely generated by the German Research Center for Geosciences (GFZ) and the German Space Operations Center (DLR/GSOC) using different software packages (EPOS/BSW, GHOST) and analysis strategies. For a further independent performance assessment, TanDEM-X baseline solutions are generated at the Astronomical Institute of the University of Bern (AIUB) on a best effort basis using the Bernese Software (BSW).Dual-frequency baseline solutions are compared for a 1-month test period in January 2011. Differences of reduced-dynamic baseline solutions exhibit a representative standard deviation (STD) of 1mm outside maneuver periods, while biases are below 1mm in all directions. The achieved baseline determination performance is close to the mission specification, but independent SAR calibration data takes acquired over areas with a well known DEM from previous missions will be required to fully meet the 1mm 1D RMS target. Besides the operational solutions, single-frequency baseline solutions are tested. They benefit from a more robust ambiguity fixing and show a slightly better agreement of below 1mm STD, but are potentially affected by errors caused by an incomplete compensation of differential ionospheric path delays.

TerraSAR-X precise orbit determination with real-time GPS ephemerides

For active and future Earth observation missions, the availability of near real-time precise orbit information is becoming more and more important. The latency and quality of precise orbit determination results is mainly driven by the availability of precise GPS ephemerides and clocks. In order to have high-quality GPS ephemerides and clocks available at real-time, the German Space Operations Center (GSOC) has developed the real-time clock estimation system RETICLE. The system receives data streams with GNSS observations from the global tracking network of the International GNSS Service (IGS) in real-time. Using the known station position, RETICLE estimates precise GPS satellite clock offsets and drifts based on the most recent available ultra rapid predicted orbits provided by the IGS. The clock offset estimates have an accuracy of better than 0.3ns and are globally valid. The latency of the estimated clocks is approximately 7s after the observation epoch.Another limiting factor is the frequency of satellite downlinks and the latency of the data transfer from the ground station to the operations center. Therefore a near real-time scenario using GPS observation data from the TerraSAR-X mission is examined in which the satellite has about one ground station contact per orbit or respectively one contact in 90min. This test campaign shows that precise orbits can be obtained in near real-time. With the use of estimated clocks an orbit accuracy of better than 10cm (3D-RMS) can be obtained. The evaluation of satellite laser ranging (SLR) observations shows residuals of 2.1cm (RMS) for orbits using RECTICLE and residuals of 4.2cm (RMS) for orbits using the IGS ultra rapid ephemerides and clocks products. Hence the use of estimated clocks improves the orbit determination accuracy significantly (∼factor 2) compared to using predicted clocks.

Operational Results of Conjunction Assessment and Mitigation at German Space Operations Center

Results of the collision avoidance operation at the German Space Operations Center (GSOC) are presented in this paper. Currently, five operational satellites in the LEO region are supported in the monitoring system. In addition to the daily prediction using Two-Line Elements (TLEs) as source of orbital elements for space objects, possible critical approaches are also detected by the proximity search performed by Joint Space Operations Center (JSpOC). An automated alarming system is available for both screening results, and the detailed risk evaluation is performed by the Flight Dynamics team in case of a remaining high risk. After the introduction of the operational collision avoidance procedure, the risk assessment process for critical close approaches as well as the maneuver planning strategy are further discussed in this paper. For the two operational satellites TerraSAR-X and TanDEM-X (TerraSAR-X add-on for Digital Elevation Measurement), which are controlled against a reference orbit inside a control tube with a diameter of 500 m and in a very close formation (min. distance of about 400 m), a dedicated mitigation strategy has to be applied to minimize the violation of strict mission requirements. Two cases of the recent critical approach are presented for these satellites, which lead to the execution of a collision avoidance maneuver after a careful risk assessment, followed by the operational experiences and feedbacks.

GPS Based Relative Navigation for the TanDEM-X Mission - First Flight Results

ABSTRACT: TanDEM-X is the first Synthetic Aperture Radar (SAR) mission using close formation flying for bistatic SAR interferometry. Within three years, TanDEM-X will enable a global mapping of Earth and production of a high resolution digital elevation model (DEM). As a prerequisite for the interferometric SAR processing, the relative position, or baseline, of the two spacecraft must be determined with millimeter accuracy. In support of this task, the two spacecraft are equipped with geodetic-grade GPS receivers. Independent baseline solutions from the German Space Operations Center (DLR/GSOC) and the German Research Centre for Geosciences (GFZ) will be merged into a quality controlled combined product prior to use in the DEM generation. This paper provides an overview of the baseline determination process and discusses specific aspects such as phase pattern calibration, ambiguity resolution, and a trade-off between single- and dual-frequency solutions. First flight results from the early commissioning phase are presented.

Navigation and Control of the PRISMA formation: In-Orbit Experience

AbstractThis paper presents flight results and lessons learned from the Spaceborne Autonomous Formation Flying Experiment (SAFE) conducted by the German Space Operations Center in the frame of the Swedish PRISMA mission. SAFE represents one of the first demonstrations in low Earth orbit of an advanced guidance, navigation and control system for dual-spacecraft formations. Innovative techniques based on carrier-phase differential GPS, relative eccentricity/inclination vectors and impulsive maneuvering are validated and tuned in orbit to achieve centimeter accurate real-time relative navigation, reliable formation keeping at the meter level and flexible formation reconfiguration capabilities.

TerraSAR-X Precise Trajectory Estimation and Quality Assessment

Since the launch of TerraSAR-X on June 15, 2007, the required precise orbit products have been provided by the German Space Operations Center to support operational spaceborne synthetic aperture radar (SAR) and interferometric SAR image processing. The TerraSAR-X precise trajectory is reconstructed solely based on the Global Positioning System (GPS) measurements from a geodetic-grade dual-frequency Integrated Geodetic and Occultation Receiver (IGOR) onboard the spacecraft. The GPS-based precise orbit determination (POD) strategy used in the estimation of the precise TerraSAR-X orbit and its performance will be fully described in this paper. Five-month statistics from the internal and external orbit assessment indicate a root-mean-squared 3-D orbit accuracy of better than 10 and 20 cm for the precise science orbit and precise rapid orbit (PRO) products, respectively. The POD performance of the backup single-frequency MosaicGNSS receiver to support operational PRO product generation in case of IGOR tracking failure or interruptions is described as well.