Interpolation Method for Update with Out-of-Sequence Measurements: The Augmented Fixed-Lag Smoother

In this study, the authors propose a novel method to handle OOSMs in Kalman filtering. The proposed method, called the augmented fixed-lag smoother (AFLS), is based on the fixed-lag smoother (FLS) formulation, which has been shown to be optimal [10]. We generate the OOSM node from the two adjacent nodes, plug the generated estimations into the state vector and the covariance matrix, and update the filter with OOSMs using the FLS update equation. This approach gives a generalized solution that can handle any number of OOSMs. We also extend the AFLS algorithm to nonlinear system, called the extended AFLS (EAFLS), and give an application example on a satellite-tracking problem

Laser-Guide-Star Satellite for Ground-Based Adaptive Optics Imaging of Geosynchronous Satellites

In this study, the feasibility and utility of using a maneuverable nanosatellite laser guide star from a geostationary equatorial orbit have been assessed to enable ground-based, adaptive optics imaging of geosynchronous satellites with next-generation extremely large telescopes. The concept for a satellite guide star was first discussed in the literature by Greenaway and Clark in the early 1990s ("PHAROS: An Agile Satellite-Borne Laser Guidestar," Proceedings of SPIE, Vol. 2120, 1994, pp. 206-210), and expanded upon by Albert in 2012 ("Satellite-Mounted Light Sources as Photometric Calibration Standards for Ground-Based Telescopes," Astronomical Journal, Vol. 143, No. 1, 2012, p. 8). With a satellite-based laser as an adaptive optics guide star, the source laser does not need to scatter, and is well above atmospheric turbulence. When viewed from the ground through a turbulent atmosphere, the angular size of the satellite guide star is much smaller than a backscattered source. Advances in small-satellite technology and capability allowed the revisiting of the concept on a 6U CubeSat, measuring 10×20×30 cm. It is shown that a system that uses a satellite-based laser transmitter can be relatively low power (~1 W transmit power) and operated intermittently. Although the preliminary analysis indicates that a single satellite guide star cannot be used for observing multiple astronomical targets, it will only require a little propellant to relocate within the geosynchronous belt. Results of a design study on the feasibility of a small-satellite guide star have been presented, and the potential benefits to astronomical imaging and to the larger space situational awareness community have been highlighted

Performance assessment of radio occultation data from GeoOptics by comparing with COSMIC data

Responding to the ever-growing demand for environmental information, the National Oceanic and Atmospheric Administration (NOAA) seeks to enter into contracts to purchase Global Navigation Satellite System (GNSS) radio occultation (RO) observations produced by commercial vendors at a low-cost. GeoOptics is one commercial vendor awarded a contract with NOAA. GeoOptics operates the Community Initiative for Cellular Earth Remote Observation (CICERO) constellation of low-earth-orbiting (LEO) 6U CubeSats. The 6U-sized CICERO will enable the deployment of GNSS array consisting of RO satellites in the Earth&rsquo;s atmosphere to obtain many atmospheric observations which can improve weather forecasting. Applying GeoOptics RO data to reliable weather forecasting requires an assessment of its performance. This study analyzes the performance of GeoOptics CubeSats measurements by comparing it with the Constellation Observing System for Meteorology, Ionosphere, and Climate (COSMIC) missions (COSMIC-1 and COSMIC-2). The performance analysis was carried on data coverage capabilities and measurement quality. The analysis of data coverage confirmed that GeoOptics can acquire global observational coverage with adequate low-altitude penetration capability, while there should be updated in local time coverage. The analysis of RO measurement quality showed that GeoOptics RO measurements are comparable to those of COSMIC-2, even though GeoOptics exhibited a lower signal-to-noise ratio (SNR). The potential of GeoOptics allows for the development of a GNSS array in the Earth&rsquo;s atmosphere and a large amount of effective RO measurements to be obtained for reliable weather forecasting. &nbsp;</p

Integration and Testing of the Nanosatellite Optical Downlink Experiment

CubeSat sensor performance continues to improve despite the limited size, weight, and power (SWaP) available on the platform. Missions are evolving into sensor constellations, demanding power-efficient high rate data downlink to compact and cost-effective ground terminals. SWaP constraints onboard nanosatellites limit the ability to accommodate large high gain antennas or higher power radio systems along with high duty cycle sensors. With the growing numbers of satellites in upcoming scientific, defense, and commercial constellations, it is difficult to place the high-gain burden solely on the ground stations, given the cost to acquire, maintain, and continuously operate facilities with dish diameters from 5 meters to 20 meters. In addition to the space and ground terminal hardware challenges, it is also increasingly difficult and sometimes not possible to obtain radio frequency licenses for CubeSats that require significant bandwidth. Free space optical communications (lasercom) can cost-effectively support data rates higher than 10 Mbps for similar space terminal SWaP as current RF solutions and with more compact ground terminals by leveraging components available for terrestrial fiber optic communication systems, and by using commercial amateur-astronomy telescopes as ground stations. We present results from the flight unit development, integration, and test of the Nanosatellite Optical Downlink Experiment (NODE) space terminal and ground station, scheduled for completion by summer of 2017. NODE’s objective is to demonstrate an end-to-end solution based on commercial telecommunications components and amateur telescope hardware that can initially compete with RF solutions at \u3e10 Mbps and ultimately scale to Gbps. The 1550 nm NODE transmitter is designed to accommodate platform pointing errors \u3c 3 degrees. The system uses an uplink beacon from the ground station and an onboard MEMS fine steering mirror to precisely point the 0.12 degree (2.1 mrad) 200 mW transmit laser beam toward the ground telescope. We plan to downlink to an estalblished ground terminal at the Jet Propulsion Laboratory (JPL) Optical Communications Telescope Laboratory (OCTL) ground station as well as the new low-cost 30 cm amateur telescope ground station design to reduce overall mission risk. Moving beyond our initial laboratory prototyping captured in Clements et al. 2016 we discuss recent progress developing and testing the flight electronics, opto-mechanical structures, and controls algorithms, including demonstration of a hardware-in-the-loop test of the fine pointing system, for both the space and ground terminals. We present results of over-the-air testing of the NODE system, as we advance from benchtop to hallway to rooftop demonstrations. We will present thermal and environmental test plans and discuss experimental as well as expected results

Nanosatellite optical downlink experiment: design, simulation, and prototyping

The nanosatellite optical downlink experiment (NODE) implements a free-space optical communications (lasercom) capability on a CubeSat platform that can support low earth orbit (LEO) to ground downlink rates>10  Mbps. A primary goal of NODE is to leverage commercially available technologies to provide a scalable and cost-effective alternative to radio-frequency-based communications. The NODE transmitter uses a 200-mW 1550-nm master-oscillator power-amplifier design using power-efficient M-ary pulse position modulation. To facilitate pointing the 0.12-deg downlink beam, NODE augments spacecraft body pointing with a microelectromechanical fast steering mirror (FSM) and uses an 850-nm uplink beacon to an onboard CCD camera. The 30-cm aperture ground telescope uses an infrared camera and FSM for tracking to an avalanche photodiode detector-based receiver. Here, we describe our approach to transition prototype transmitter and receiver designs to a full end-to-end CubeSat-scale system. This includes link budget refinement, drive electronics miniaturization, packaging reduction, improvements to pointing and attitude estimation, implementation of modulation, coding, and interleaving, and ground station receiver design. We capture trades and technology development needs and outline plans for integrated system ground testing.United States. National Aeronautics and Space Administration. Research Fellowship ProgramLincoln Laboratory (Lincoln Scholars)Lincoln Laboratory (Military Fellowship Program)Fundación Obra Social de La Caixa (Fellowship)Samsung FellowshipUnited States. Air Force (Assistant Secretary of Defense for Research & Engineering. Contract FAs872105C0002

Pointing system performance analysis for optical inter-satellite communication on CubeSats

Thesis: Ph. D., Massachusetts Institute of Technology, Department of Aeronautics and Astronautics, 2017.Cataloged from PDF version of thesis.Includes bibliographical references (pages 175-181).Free-space optical communication using lasers (lasercom) is a leading contender for future space-based communication systems with potential advantages over radio frequency (RF) communication systems in size, weight, and power consumption (SWaP). Key benefits are due to the shorter wavelength: additional bandwidth and narrow beam width. The narrower beam supports higher energy density for a given aperture size, so that lasercom can transmit data at the same rate with smaller SWaP as well as improve link security since the beam footprint is smaller. Lasercom is an attractive option for improving inter-satellite links (ISL) for resource-constrained CubeSats, which have emerged as a standard form of a small satellite since 1999. However, lasercom requires much more accurate pointing because of its narrower beam width. Accurate pointing is not trivial for most CubeSat platforms due to their resource constraints. A typical 3U CubeSat is 34 cm x 10 cm x 10 cm with less than 5 kg mass and about 10 W of available orbit-average power. This thesis presents pointing and tracking technologies to support lasercom on CubeSats. It covers three critical issues: (1) attitude determination and control of CubeSats, (2) relative orbit determination, and (3) development of a miniaturized fine beam pointing module. New attitude determination and control algorithms are developed, simulated, and validated with hardware in the loop demonstrations; results indicate that lasercom at data rates competitive with or better than RF is feasible on CubeSats. For attitude determination and control (ADC), this thesis develops a new attitude estimation algorithm, which is called Attitude and Parameter estimation Kalman filter (APKF). Attitude determination (AD) is thought to be more challenging than attitude control (AC) for CubeSats because of the limited capabilities of sensors that are compatible with the small form factor and resource constraints of CubeSats. The largest difference between a CubeSat and a larger satellite is the gyroscopes that measure rotation rates. Since a CubeSat is normally not able to accommodate high quality gyroscopes, the APKF is used to improve estimation without relying on gyroscope measurements. The APKF estimates CubeSat attitude and body rates as well as other unknown parameters such as the moment of inertia (MOI), actuator alignment, and the residual dipole moments. For relative orbit determination, this thesis describes an estimation algorithm that fuses different types of orbital measurements using the Kalman filter. There are three measurements that can be used in the relative orbit estimation for low earth orbiting (LEO) lasercom crosslink CubeSats: Global Navigation Satellite System (GNSS) navigation solutions for an individual satellite (e.g. Satellite A or "SatA"), beacon beam measurements at SatA, and GNSS navigation solutions of the other satellite (SatB) transferred through ground station networks. The GNSS and beacon are measured at SatA, so these can be assumed to have negligible time delay, but the arrival time of the SatB navigation solutions will be an out-of-sequence measurement (OOSM) whose arrival time will be delayed due to the ground station relay. To fuse the sensor data with different measurement times, a new algorithm called the Augment Fixed- Lag Smoother (AFLS) is developed. To update the Kalman filter with an OOSM, the AFLS generates the estimates at the measurement time of the OOSM by interpolation. The AFLS is applied to a nonlinear system as the extended AFLS (EAFLS). The Satellite Tracking Kalman Filter (STKF) is developed using the EAFLS. The fine pointing system (FPS) is necessary because while the CubeSat attitude determination and control and the orbit determination developments cover the Cube- Sat's body pointing capability, due to the extremely narrow beam desired for high-rate laser communications, body pointing alone cannot satisfy the beam pointing requirements. The example case used in this thesis is a CubeSat design concept mission with an inter-satellite laser communication link. To reduce the pointing error, a FPS needs to be implemented as the final stage for beam pointing. This thesis demonstrates the feedback control loop of the FPS using a hardware-in-the-loop test. A key component of the FPS is the miniaturized micro-electro-mechanical systems (MEMS) fast steering mirror (FSM) which is the actuator used to point the laser beam. Using a commercial-off-the-shelf (COTS) MEMS FSM that is also planned for use on the flight module, the fine pointing control loop has been demonstrated with results that show that it is feasible to meet the pointing requirement for a 3U CubeSat mission whose goal is 20 Mbps link at 25 km to 1000 km crosslink range. By developing and demonstrating the critical technologies for both spacecraft body pointing and the fine beam pointing, this thesis has demonstrated the feasibility of a CubeSat lasercom crosslink at a data rate and form factor that can outperform RF, leading to a high-speed and secure ISL for CubeSats.by Hyosang Yoon.Ph. D

Satellite Tracking System using Amateur Telescope and Star Camera for Portable Optical Ground Station

As CubeSat capabilities continue to improve, many missions need high-speed communication to downlink data. Data rates using radio frequency (RF) communications are constrained by antenna size and power. Laser communications (lasercom) systems can use a much narrower beam width for a given aperture size due to having shorter wavelengths. Higher data rates can be achieved with optical communication than with RF assuming the same power level and similar efficiencies, but the primary challenge of lasercom systems is the precise pointing required for link closure. Optical communication requires higher pointing accuracy, not only for the transmitter but also for the receiver, because of the directionality of the laser beam. This means that an optical ground station must be able to track a satellite with high accuracy. For an optical ground station such as the Optical Communications Telescope Laboratory (OCTL) from the Jet Propulsion Laboratory (JPL) or the Optical Ground Station (OGS) of the European Space Agency (ESA), the telescope is part of a fixed facility, and its pointing can be precisely calibrated using stars over a long period of time. However, these meter-class optical ground stations have costs and logistical complexities similar to those of the large aperture RF ground stations currently used for CubeSats requiring high data rates. To address this challenge, the MIT STAR Lab is developing a portable ground station with an amateur telescope for the Nanosatellite Optical Downlink Experiment (NODE) project. State of the art amateur telescopes provide good control capability with gimbals, but the user must align the gimbals with respect to an inertial, Earth-fixed frame. Even for an experienced amateur astronomer, this is a non-trivial problem, and it can take hours to get the fine alignment within a few arcminutes accuracy. We propose a novel approach to track a satellite with an amateur telescope. To resolve the alignment problem, we use a wide field of view star camera to determine its orientation with respect to an inertial frame. Star sensors are accurate to the arcsecond level, and they have the advantage of providing orientation with a single measurement. Using multiple star sensor measurements at different gimbal angles, it is possible to calculate the alignment of the gimbals in the Earth-fixed frame and the alignment of the star sensor in the gimbal frame. Once the alignment is obtained, satellite tracking can be achieved easily with a known orbit and precise Earth rotation model such as the International Earth Rotation and Reference System Service (IERS). We present the alignment calibration method and the preliminary tracking results using a Celestron CPC 1100 XLT to validate our approach

Kalman Filtering for Attitude and Parameter Estimation of Nanosatellites Without Gyroscopes

Copyright © 2017 by the American Institute of Aeronautics and Astronautics, Inc. All rights reserved. In this work, a Kalman filtering algorithm is proposed that estimates the spacecraft attitude and attitude parameters without gyroscope measurements for nanosatellites. The attitude parameters include sensor and actuator alignment, spacecraft body moment of inertia, reaction wheel moment of inertia, reaction wheel speed, and the dipole moment of the spacecraft. The new filtering formulation is based on the differential form of the rigid-body rotational dynamics, and so the body rate and the other attitude parameters can be updated directly by attitude measurements such that the gyroscope reading is not required. The new filter is derived in a closed form for implementation, and physical and mathematical approaches toward achieving convergence and stability with this filter are discussed. A detailed simulation is presented that demonstrates the utility of the proposed algorithm for three different types of unmodeled disturbance torques

Rapid telescope pointing calibration: a quaternion-based solution using low-cost hardware

© 2018 The Authors. A telescope control system relies on a pointing model to determine the gimbal angles that aim the telescope toward a desired target. High-accuracy telescope pointing models include parameters that describe the mount/telescope orientation as well as common mechanical effects. For professional telescopes, calibrating the pointing model requires careful initial alignment around a nominal orientation (e.g., leveling) followed by sightings of dozens to hundreds of stars to fit the model parameters. While this approach is effective for observatories, applications such as transportable optical ground stations for communications, space situational awareness, or astronomy using low-cost telescope networks can benefit from a more rapid calibration approach. We formulate a quaternion-based pointing model that utilizes measurements from an externally mounted star camera to compromise between calibration speed and accuracy. A key aspect of this formulation is that it is completely agnostic to the orientation of the telescope/mount so that no manual prealignment is required. We derive angle and rate commands for telescope pointing and tracking based on the model. We present results from a 15-min calibration procedure on a very low-cost telescope that demonstrated pointing to an accuracy of 53 arc sec RMS in azimuth and 66 arc sec RMS between 20-deg and 70-deg altitude