Navigation of the Twin GRAIL Spacecraft into Science Formation at the Moon

On February 29, 2012 the twin NASA Gravity Recovery And Interior Laboratory (GRAIL) spacecraft, Ebb and flow, achieved precise synchronized formation for collecting highly sensitive lunar gravity data. This was accomplished after performing a total of 27 propulsive maneuvers between the two spacecraft (13 on Ebb, 14 on Flow) over six months. Each 300 kg GRAIL spacecraft independently flew a 3.8-month, low-energy trajectory to reach the Moon after separation from the launch vehicle on September 10, 2011. The space craft were captured into 11.5 hr co- planar polar orbits after performing Lunar Orbit Insertion (LOI) maneuvers on New Years Eve (Dec 31, 2011) and New Years Day (Jan 1, 2012), respectively for Ebb, and Flow. Once captured, each spacecraft performed clusters of period reduction maneuvers to bring their orbit periods down to just less than 2 hrs. Finally, the orbiters we replaced into science formation by performing five strategic maneuvers (2 on Ebb, 3 on Flow). These maneuvers ensured 3 months of orbit life time with mean altitudes of 55 km and separations of 82-217 km by targeting the orbits' eccentricity vectors to specific locations. This paper will discuss the navigation strategy and performance of the twin GRAIL spacecraft from the September 10, 2011 launch through the end of the Prime Mission Science Phase in June 2012