History

   The history of the Division dates from the period of 1954-1955, practically from the moment of originating Research Institute - 648 (now – The Research Institute of Precision Instruments). Under the supervision of Nikolay Ivanovich Belov, (then) Director of the Institute, a number of complex and branch sectors were founded for designing radio-electronic systems and complexes of different purpose. Thus, in 1955 antenna assemblies sector under the supervision of Evgeniy V. Kandaurov was set up, which was later reorganized into a Division for designing self-guidance system for flying objects. The successful development of a passive self-navigation system for flying objects served as a basis for creating mutual radio measuring systems (MRMS) for rendezvous and docking spacecraft.

”Igla” mutual radio measuring system

 In 1963, the Division received an urgent order for designing a mutual radio measuring system for the “Soyuz” spacecraft. Due to this order the « Mutual radio-electronic measuring systems for spacecraft search, rendezvous and docking» new research area was established.

   To ensure high-precision measurements, it was necessary to select the type of signal for the system: impulse or analog. A kind of impulse-analog signal was also proposed. Accuracy of measuring line-of-sight rate was another great problem. Errors were caused by the presence of a radome. Attempts of decreasing errors by conventional methods resulted in their decrease 2-3 times. However, it was 5 times higher than the level required. To solve this problem it was necessary to remove the antenna radome and to ensure functioning its rotating joints in outer space.

   Application of the 4N-1000-673A gyrostabilized antenna allowed reaching the accuracy required for measuring line-of-sight rate. A scanning antenna with a special directivity diagram was developed for surveillance in hemisphere and orientation.

4N1000-673A and 5ÀÎ-673À      Antennas for the “Igla” system

   The first prototype units for the “Igla” system were made in late 1965.

   Due to this project a new class of radio-electronic system emerged: for the first time super-precision meters of radial velocity, visibility. line-of-sight rate in inertial coordinate system, bank angel were united into a unified integrated system, using a common radio link.

   Besides, a number of unique simulators (i.e. simulators of range, velocity, angular velocity) were built. One of them - angular velocity simulator – is so far being applied on run-in benches for the “Kurs” system devices.

Layout of "Igla" system antennas

   In early 1966 active and passive sets of the “Igla” equipment were installed on ”Soyuz” spaceships and after testing during several months they were sent to “Baykonur”.

Radio links arrangement at docking “Progress” spaceship and “Mir” orbital station

   On 30 October, 1967 the first automated docking of the “Soyuz” unmanned spaceships took place. From this moment and over more than 20 years the “Igla” system was used under various space programs providing automatic docking of pilot and pilotless spaceships.

Containers for active and passive sets of “Igla” equipment

Development of “Skif” system

   One more unique project executed under the supervision of talented engineers Morgulev S.I. and Lychev V.G. concerns to the period of 1985-87. This is the development of onboard radar for delivery of target designations to the laser locator of “Skif” system. A distinctive feature of this work was extremely tight design schedule (~2 years), high requirements to search rate and accuracies of target designation (0,15°), presence of an onboard computer as a part of the radar set which ensured processing signals and control of antenna. Special attention should be paid to the designers of carbic epoxy track antenna of a big diameter (1,3 m), functioning under outer space conditions.

   A great contribution to the development of onboard equipment was made by V.G. Zhuravlev, I.N. Chechina, I.V. Setsko, I.I. Samoylovich, O.G. Ispolatov.

Antenna for “Skif” complex        Container for “Skif” complex

Development of “Kurs” system

   In the 1970s the “Igla” project team was conducting great work on “Lira” system. This equipment operating in 3-cm wave band had to solve problems of docking spacecraft not only with cooperated but also with non-cooperated objects. In this equipment progressive decisions which have later found application in “Mera” and "Kurs" systems were realized. The prototypes of the “Lira” were built and preparation for flight tests was conducted , but because of some unresolved problems development has been ended. In the late 1970s our Division started designing the “Mera” system for 10 cm waveband. The system was intended for redundancy of the “Igla” system in measurements of range, radial velocity and spacecraft orientation angles. The project was successfully implemented by talented engineers V.V. Suslennikov, V.V. Riman, L.S. Neyman, S.B. Medvedev, A.V. Pakhomov, A.I. Burdin.

   The “Mera” system embodied the basis (frequency spectrum) of key meters of visibility and radial velocity for full-scale replacement of outdated “Igla” system. In 1981-1984 the “Mera” was successfully used on ”Progress” and “Soyuz” spacecraft under the “Salut-6” program.

   Along with the work on “Mera” system, a whole series of “Igla" modifications intended for new space vehicles and their control systems was designing, including the requirements of Moon and Martian programs. Five modifications of the “Igla” equipment were developed and put into operation, the part of which was used until May, 1990.

   At the same time in 1979 development of the “Kurs” second-generation MRMS based on the “Mera” run-in frequency spectrum started under the supervision of Chief Designer A.S. Morgulev. Its special features were the presence of stand-by facilities, built-in systems of test-monitoring, possibility of measuring visibility and speeds of both spacecraft, broad range of the measured parameters, high accuracy of measurements, output of the necessary information for flying around. A sophisticated set of checkout equipment was designed for the “Kurs” system which included a supervisory computer control system, simulators of visibility, velocity, control system, angles and angular velocity.

Cabinets and benches of “KIA-VKT” checkout equipment for “Kurs” system

   A unique bench with two anechoic chambers and heating-cooling chambers was built.

   Delivery of the “Kurs” system for all space vehicles, manufactured by the “Energia” Rocket – Space Corporation and the M.V. Khrunichev State Research and Production Space Center has started since 1985.

   In 1986 the first docking using the "Kurs" equipment happened, and since then the historical epopee of this unique equipment has started and it has lasted till the present time.

   On the basis of the “Kurs” equipment, docking equipment for ”Buran” (“Kurs-35”) shuttle spacecraft system was developed. This system included active and passive sets of “Kurs” equipment, as well as “Kurs-O” optical channel which had to ensure rendezvous on last 30 meters.

Container for the optical components of "Kurs-O" equipment

   The project manager was E.N. Ovanesov. Development of the system was accompanied by greater difficulties. The “Kurs-O" equipment was installed on two spacecraft, but both times results were negative. However after a while works on the “Buran” system were stopped, which resulted in termination of work regarding the “Kurs-O”.

   In 1988 V.V. Suslennikov was appointed as the Chief Designer in MRMS field.

Development of “Kurs-MM” system

   In 1994 a new project for designing “Kurs-MM” short-range MRMS for automated docking of space vehicles was approved. Operating range of “Kurs-MM” should be 1-2 km.

   By 1998 sets of the "Kurs-MM" (171A2) passive part were built and underwent full ground processing (also as the part of “Zvezda” and “Zarya” modules). Antennas were developed in the Research Institute of Precision Instruments, and millimeter wave transmit-receive modules were developed in “Salut” Research and Production Association, Nizhniy Novgorod.

Container for “Kurs-MM” equipment (passive)

   Design documentation was developed for the active part of the system (171À1), but due to the lack of financing, further works on the “Kurs-MM” were ended in 2000.

Antenna modules for “Kurs-MM” equipment     2ASF1-M-VKA antenna for “Kurs” equipment

   In 1996 in connection with upgrading spacecraft control systems, the “Kurs” equipment was enhanced. This modernization resulted in refusal of gyrostabilized platform of ASF-VKA spot beam antenna, which has essentially enhanced reliability of the equipment and has simplified its manufacturing. Algorithms of angular information processing in the equipment have been undergone significant modifications, too, accuracy of measuring rolling angles have increased. Since 2000 S.B. Medvedev has been appointed Chief Designer on MRMS.

2AO-VKA antenna      AKR-VKA antenna       MDU-VKT device

   Throughout the ‘90s spaceships were continuously launched to the “Mir” station, and that time work on development of the International Space Station has started. The “Zarya” and “Zvezda” modules made its basis. Nowadays our radio systems still support docking transport and pilot vehicles with the ISS, the “Kurs” equipment is being upgraded, production and adjustment of commercial set of equipment are being carried out.

Development of “Kurs-ATV” system

   Since 2000 the system for independent monitoring of rendezvous and docking processes of ATV spacecraft (European Space Agency) with the ISS orbit station on the basis of the “Kurs” equipment has been developed. Information is processed by means of specialized computer of the Institute’s design. Advanced foreign element base has been widely used for this project.

   In 2004 the “Kurs-ATV” equipment successfully underwent ground testing both in off-line operation and as a part of the ATV spacecraft.

Designing of “Kurs-NA” system

   In 2003 development of the “Kurs-NA” system intended for replacement of active segment of ”Kurs” system started. The feature of the new equipment is almost full refusal of analog signal processing with substitution for microprocessor processing, as well as introduction of the ÀÎ-753À new aerial representing low-element antenna array with phase control. The new antenna will fulfill functions of 2AO-VKA and AKR-VKA antennas, which are part of the “Kurs” equipment. The developed checkout equipment for “Kurs-N” will be able to solve a lot of tasks regarding control information processing by means of software-based and not hardware-based techniques, which results in essential reduction of mass, dimensions and power consumption of the new system in comparison with the similar equipment of "Kurs" system. Besides, the level of automation and authenticity of control will increase.

Major milestones

   I. Mutual radio measuring system for first-generation spacecraft search, rendezvous and docking, with “Igla” product code (with E.V. Kandaurov as Chief Designer), was produced at the Kiev radio plant. It was functioned under actual operating conditions since 30 October, 1967, till 18 March, 1989. The “Igla” system provided 94 dockings, including:

• The first in the world automated docking of “Kosmos-186” – “Kosmos-188” unmanned spaceships on 30 October, 1967;
• The first in the world automated docking of “Soyuz-4” and “Soyuz-5” manned spacecraft on 16 January, 1969;
•  accomplishment of programs of “Salut-6” and “Salut-7” manned orbital stations, which were orbiting from 19 April, 1971, through 19 April 1982.
• The results of successful performance of the “Igla” equipment were as follows:
• 42 dockings of the stations with the spacecraft of “Soyuz” type;
• 24 dockings with space transport vehicles of “Progress” type;
• 4 dockings with spacecraft of “Cosmos” type, which provided an opportunity for wide international integration during the execution of joint space programs;
• realization of programs for “Mir” long-functioning station with 6 moorings, put into orbit on 20 February, 1986.

   II. Radio measuring system for second-generation spacecraft search, rendezvous and docking, with “Kurs” product code, being in mass production at the Kiev and Izhevsk radio plants, has been in operation since 23 May, 1986 till now; Chief Designer was A.S. Morgulev.

• The first automated docking of “Mir” orbital station with “Soyuz-TM-1” spacecraft was implemented on May 23, 1986 by means of the “Kurs” equipment.
• Functioning of the “Mir” orbital station along with “Kurs” equipment has provided:
• 24 dockings of the station with spacecraft of “Soyuz-TM” type;
• 35 dockings with transport vehicles of "Progress-Ì" type;
• 4 dockings with the following orbital modules “Kvant-2” (8 December, 1989), “Kristall” (10 June, 1990), “Spektr” (1 June , 1995), “Priroda” (2á April, 1996).
• An upgraded version of the “Kurs” equipment without a gyrostabilized tracking antenna has been developed and produced, which provided 3 dockings of the “Mir” station with “Soyuz-TM” spacecraft (the first one took place on 12 February, 1997) and 2 dockings of the station with "Progress-Ì" spacecraft.
• Another modernized version of the “Kurs” equipment has been developed and produced for the “Buran” ISS, but it hasn’t been operated due to closing the program.

 Different modification versions of the systems allow changing the range of measured characteristics which ensure the possibility of interacting with different types of control systems.

    III. "Kurs-ÌÌ" docking system for short-range spacecraft has been designed for the upgraded spacecraft under the ISS program (Chief Designer - V.V. Suslennikov). "Kurs-ÌÌ" system has significantly smaller dimensions and mass, higher accuracy of measuring spacecraft motion parameters, and also higher functional reliability in comparison with its predecessors. The system operating range is ~ 2 km.

   IV. “Kurs-M” radio-electronic system for “Kurs-ATV”, for monitoring of rendezvous and docking ATV- spacecraft (European Space Agency) with the ISS on range and radial velocity. Chief Designer has been S.B. Medvedev.

• In 2004 workout tests took place, a commercial equipment set was installed on the product.
• After-installation testing has shown positive results.

   V. "Kurs-NA" radio-electronic system for search rendezvous and docking of third-generation spacecraft (Chief Designer - S.B. Medvedev) has been intended for renewal of the “Kurs” equipment. The system has been constructed using modern techniques of digital signal processing and promising element base.

• Technical characteristics have been improved.
• Development of design documentation for onboard and checkout equipment is completed.
• Production of active prototypes of “Kurs-NA and checkout equipment has started at the Izhevsk radio plant.

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	From 1963 to 1970 - Evgeniy V. Kandaurov (the 1963 Lenin prize laureate). ·         1966 -  commissioning the “Igla” unique multiparameter high-precision radio system for spacecraft search, rendezvous and docking. ·         30 October, 1967 - the first in the world automated docking of “Cosmos-186” – “Cosmos-188” unmanned  spaceships was accomplished, using the “Igla” radio system.
	From 1970 to 1988 – Alexander  S. Morgulev (the 1979 Lenin prize laureate). ·         1970 – designing of the “Kurs” second-generation  radio system for spacecraft docking started. ·         1982 - flight development testing of the “Mera”  system which provided measurement of range, velocity and  orientation angle during  mutual spacecraft motion was carried out. ·         23 May, 1986 - the first automated docking of “Mir” orbital station and “Soyuz-TM” spacecraft  was implemented using the  “Kurs” equipment.
	From 1988 to 2000 – Vladislav V. Suslennikov (the 1981 USSR State prize laureate and 1999 RF State prize  laureate). ·         The “Kurs ” system was upgraded, which resulted in reliability enhancement and  realizing technique for more precise mutual bank measuring. ·         Development of “Kurs-MM” third generation radio system for spacecraft docking. ·         25 July, 2000 - automated docking of “Zvezda” service module  and “Zarya” cargo block was conducted, which resulted in formation  of the International Space Station.
	From 2000 till the present – Sergey B. Medvedev (The  1978 Lenin Komsomol laureate in the field of  science and technics). ·       The work, focused on maintaining cargo and transport spacecraft docking with  the ISS was continued. ·        2001 – the work upon  adjustment and testing commercial  sets of the “Kurs” system , produced in the Russian Federation, has started.Development of “Kurs –M” radio system for monitoring of  rendezvous and docking process of  ATV-spacecraft with the ISS has completed. ·        Since 2003 development of “Kurs-NA” new-generation promising system has implemented.

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