Swift Mission Gyro Patch and Re-Calibration Without A Calibration Campaign

The Swift spacecraft has three Two-Axis-Rate-Assemblies (TARAs) (designated as TARA 1, TARA 2, and TARA 3, and generically referred to as gyros) which until March of 2024 were all used in rate estimation as an operational workaround (dubbed “corrector-gyro”) of a software defect discovered in 2007. TARA 1 performance degraded throughout 2023 and 2024, making it an unreliable rate source. It was determined that shifting TARA 1 to be the corrector-gyro and using mainly TARAs 2 and 3, with the existing flight software (FSW) defect, would not meet performance requirements for science operations. Rather the FSW was patched to remove the defect found in 2007. This patch was delivered by the vendor in 2009, but was not fully tested or installed at that time.
A decision was made in 2024 to install the patch despite limited simulation and testing capabilities. The problem facing the team was to come up with a set of alignment parameters that would work with the new patch, using data from the spacecraft operating normally in the old configuration. Calibration activities would have been possible in either the old or new FSW configuration, but were ultimately deemed unnecessary, saving staff time and pre-serving time on the spacecraft for science data collection.
This paper describes the old and new FSW configurations related to gyro processing and alignment, and how the raw gyro and star tracker data from normal operation were used with a multidimensional unconstrained nonlinear minimization in MATLAB (Nelder-Mead1) to produce a fully calibrated set of gyro alignment parameters compatible with the patched FSW. Flight data is presented showing that not only did the process work, it improved performance significantly, rivaling the best slew performance of the mission to date.