Execution-error modeling and analysis of the Cassini-Huygens spacecraft through 2007

The Cassini-Huygens spacecraft arrived at Saturn in 2004, beginning a four-year
tour. Much of mission’s continued success at Saturn can be attributed to the excellent
performance of the propulsion systems and attitude control. In order to better
understand this performance, the Cassini Navigation Team has continued to analyze
and refine the execution-error models for the propulsion systems. This paper documents
the evolution of the execution-error models employed for maneuvers, along with the analysis, procedures, and software associated with the model development.