Improved sensor fusion for flying laptop based on a multiplicative EKF

Flying Laptop is a small satellite carrying an optical communications payload. It was launched in 2017. To improve the satellite’s attitude determination, which is used to point the payload, a new sensor fusion algorithm based on a low pass filter and a multiplicative extended Kalman filter (MEKF) was developed. As an operational satellite, improvements are only possible via software updates. The algorithm estimates the satellite's attitude from star tracker and fibre-optical gyroscope (FOG) measurements. It also estimates the gyroscope bias. The global attitude estimate uses a quaternion representation, while the Kalman filter uses Gibbs Parameters to calculate small attitude errors. Past Kalman filter predictions are saved for several time steps so that a delayed star tracker measurement can be used to update the prediction at the time of measurement. The estimate at the current time is then calculated by predicting the system attitude based on the updated past estimate. The prediction step relies on the low-pass-filtered gyroscope measurements corrected by the bias estimate. The new algorithm was developed as part of a master’s thesis at the University of Stuttgart, where Flying Laptop was developed and built. It was simulated in a MATLAB/Simulink environment using the European Space Agency’s GAFE framework. In addition, the new filter was applied to measurement data from the satellite. The results were used to compare the performance with the current filter implementation. The new Kalman filter can deal with delayed, missing, or irregular star tracker measurements. It features a lower computational complexity than the previous standard extended Kalman filter used on Flying Laptop. The mean error of the attitude estimate was reduced by up to 90%. The low pass filter improves the rotation rate estimate between star tracker measurements, especially for biased and noisy gyroscopes. However, this comes at the cost of potentially less accurate attitude estimates. Educational satellites benefit from the new algorithm given their typically limited processing power and cheap commercial-off-the-shelf (COTS) sensors. This paper presents the approach in detail and shows its benefit

Pointing Enhancement for an Optical Laser Downlink Using Automated Image Processing

The small satellite Flying Laptop, launched in July 2017, was developed and built by graduate and undergraduate students at the Institute of Space Systems of the University of Stuttgart with support by space industry and research institutions. The mission goals are technology demonstration, earth observation, and serving as an educational satellite. At a mass of 110 kg, it features three-axis stabilized attitude control and several payloads, including an AIS receiver, a multi spectral camera system, a wide angle camera, and an optical communication terminal. The pointing requirement for the optical communication is an accuracy of less than 150 arcseconds during a target overflight. To fulfill this requirement, several measures are needed. A major part of them is the characterization of the attitude control system (ACS). Since there is no optical receiver onboard, it is not possible to perform closed loop tracking of the satellite attitude. Therefore, the absolute performance and the characteristic noise levels of the attitude control system, can only be determined with other payloads. In this case the multi-spectral camera system was used, providing a ground resolution of 25 m. To use the images from the satellite to improve the ACS, three steps have to be taken. As a first action, the images have to be georeferenced to know the position of each pixel in the WGS84 coordinate system. With this information, the deviation of the image center from the desired target is measured. This second step includes the calculation of the deviation matrix. To avoid a corruption of the attitude control of the satellite, the matrix is checked for unrealistic values in a third and final step. These three actions can be repeated as needed without human interaction. By updating the ACS model onboard the satellite, the results of the image processing are used to correct the off-pointing. This deviation is time invariant and is caused by an insufficient alignment of the satellite axes and the cameras on ground. In contrast to that, characterizing noise as a time variant factor, the ACS is tested over a long period of time. This is achieved by analyzing images from one, as well as from multiple target overflights. This conquers the issue of a very low image rate while observing high frequency attitude changes. Using this mechanism, the proposed process can be used to continuously monitor the pointing quality. As a first approach the described processing is done manually by comparing the target position on Earth with the center of the taken image. The method successfully showed an improvement of the pointing in the pictures, paving the way for their automation. This paper gives an overview of the needed image processing and tools to automatically use cameras on board the satellite to validate and improve the ACS periodically. First results of the long term characteristics and pointing improvements are shown

Improvements in Attitude Determination and Control of the Small Satellite Flying Laptop

Precise attitude control is a key factor of many payloads with high ground resolutions, small fields of view or narrow beams such as an optical data downlink. The small satellite Flying Laptop (FLP), launched in July 2017, was developed by graduate and undergraduate students at the Institute of Space Systems of the University of Stuttgart with support by the space industry and research institutions. The satellite is three-axis stabilized with reaction wheels as main actuators. FLP is equipped with the OSIRIS optical data downlink which was built by the German Aerospace Center (DLR). As this instrument is body mounted on an optical bench, the attitude determination and control system (ACS) is required to point the whole satellite in the direction of the ground station with a high pointing accuracy of 150 arcseconds. At the time of launch the ACS did not reach this precision. This paper describes how the attitude determination and control were improved to achieve the required performance. The improvements can be divided into two parts. The first part includes the enhancement of on-board sensor processing and attitude control. In the second part, in-orbit data were utilized to increase the accuracy of parameters which are used to control the spacecraft. The first part includes the addition of a Kalman filter, an improved position propagation, and the introduction of adaptive gains to the on-board ACS. The FLP simulation test bed was used to verify the changes. The test bed was also used to find adequate initial values for the Kalman filter and to find inaccuracies in the sensor processing. In the second part, the adaptive gains and the Kalman initial values were validated in-orbit after the upload of the new sensor processing. Moreover, the on-board component orientation settings were corrected for the star trackers, the multi-spectral camera system, and the OSIRIS instrument on FLP. As a result, the satellite fulfills the pointing requirement of less than 150 arcsecond deviation from the target attitude for a sufficient period of time during a pass over the target. Successful links with the optical data downlink were demonstrated with the DLR ground station in Oberpfaffenhofen

Comparison of the Low-Cost Sun Sensors of the SOURCE and EIVE CubeSats

Sun sensors are commonly used attitude determination equipment which measure a spacecraft’s attitude relative to the sun. Multiple types of low-cost sun sensors were developed for the SOURCE and EIVE CubeSats. The SOURCE sun sensors consist of single photodiodes which are placed in a one-sensor-per-face as well as a pyramid arrangement. EIVE employs digital vector sun sensors based on quad-pin photodiodes. The SOURCE sun sensors in the one-sensor-per-face arrangement archive an accuracy of \u3c10° while the pyramid arrangement accomplishes an accuracy of \u3c7.5° without and \u3c5° with calibration. EIVE’s vector sun sensors offer an raw accuracy of 3°±5°. Multiple calibration approaches are presented with the best results leading to an accuracy of 0.7±3°. A direct comparison between the SOURCE and EIVE sensor types and configurations can be drawn since the same test bench was used to measure all sensors. The objective of this paper is to present and compare the different sun sensor concepts and their results

Transmitter Beam Bias Verification for Optical Satellite Data Downlinks with Open-Loop Pointing – the 3-OGS-Experiment

Optical free-space data downlinks from LEO satellites benefit considerably from reduced effort on the space segment, when a dedicated pointing mechanism and active tracking of a ground beacon can be avoided. Instead, the attitude of the satellite is dynamically determined from its star cameras and other sensors. Initial calibration for this technique requires recording of the spatial and temporal beam distribution on the Earth’s surface. We describe the measurement of the beam intensity on ground by the power detectors of three ground stations in parallel, exemplarily for one specific downlink. From this data we derive the instantaneous center of gravity of the beam spot, and its dynamic movement during the downlink. By comparison with the satellite’s own recorded attitude data and its error, the dynamic offset to be corrected on the satellite can be calculated, resulting in optimized pointing-control for future operational open-loop downlinks

Sensitivity of the IceCube Detector to Astrophysical Sources of High Energy Muon Neutrinos

We present the results of a Monte-Carlo study of the sensitivity of the planned IceCube detector to predicted fluxes of muon neutrinos at TeV to PeV energies. A complete simulation of the detector and data analysis is used to study the detector's capability to search for muon neutrinos from sources such as active galaxies and gamma-ray bursts. We study the effective area and the angular resolution of the detector as a function of muon energy and angle of incidence. We present detailed calculations of the sensitivity of the detector to both diffuse and pointlike neutrino emissions, including an assessment of the sensitivity to neutrinos detected in coincidence with gamma-ray burst observations. After three years of datataking, IceCube will have been able to detect a point source flux of E^2*dN/dE = 7*10^-9 cm^-2s^-1GeV at a 5-sigma significance, or, in the absence of a signal, place a 90% c.l. limit at a level E^2*dN/dE = 2*10^-9 cm^-2s^-1GeV. A diffuse E-2 flux would be detectable at a minimum strength of E^2*dN/dE = 1*10^-8 cm^-2s^-1sr^-1GeV. A gamma-ray burst model following the formulation of Waxman and Bahcall would result in a 5-sigma effect after the observation of 200 bursts in coincidence with satellite observations of the gamma-rays.Comment: 33 pages, 13 figures, 6 table

IceCube - the next generation neutrino telescope at the South Pole

IceCube is a large neutrino telescope of the next generation to be constructed in the Antarctic Ice Sheet near the South Pole. We present the conceptual design and the sensitivity of the IceCube detector to predicted fluxes of neutrinos, both atmospheric and extra-terrestrial. A complete simulation of the detector design has been used to study the detector's capability to search for neutrinos from sources such as active galaxies, and gamma-ray bursts.Comment: 8 pages, to be published with the proceedings of the XXth International Conference on Neutrino Physics and Astrophysics, Munich 200

Results from the Antarctic Muon and Neutrino Detector Array (AMANDA)

We show new results from both the older and newer incarnations of AMANDA (AMANDA-B10 and AMANDA-II, respectively). These results demonstrate that AMANDA is a functioning, multipurpose detector with significant physics and astrophysics reach. They include a new higher-statistics measurement of the atmospheric muon neutrino flux and preliminary results from searches for a variety of sources of ultrahigh energy neutrinos: generic point sources, gamma-ray bursters and diffuse sources producing muons in the detector, and diffuse sources producing electromagnetic or hadronic showers in or near the detector.Comment: Invited talk at the XXth International Conference on Neutrino Physics and Astrophysics (Neutrino 2002), Munich, Germany, May 25-30, 200

S-Matrix Unitarity, Impact Parameter Profiles, Gluon Saturation and High-Energy Scattering

A model combining perturbative and non-perturbative QCD is developed to compute high-energy reactions of hadrons and photons and to investigate saturation effects that manifest the S-matrix unitarity. Following a functional integral approach, the S-matrix factorizes into light-cone wave functions and the universal amplitude for the scattering of two color-dipoles which are represented by Wegner-Wilson loops. In the framework of the non-perturbative stochastic vacuum model of QCD supplemented by perturbative gluon exchange, the loop-loop correlation is calculated and related to lattice QCD investigations. With a universal energy dependence motivated by the two-pomeron (soft + hard) picture that respects the unitarity condition in impact parameter space, a unified description of pp, pip, Kp, gamma* p, and gamma gamma reactions is achieved in good agreement with experimental data for cross sections, slope parameters, and structure functions. Impact parameter profiles for pp and longitudinal gamma* p reactions and the gluon distribution of the proton xG(x,Q^2,b) are calculated and found to saturate in accordance with S-matrix unitarity. The c.m. energies and Bjorken x at which saturation sets in are determined.Comment: 65 pages with 13 figures, Introduction, Sec. 3, and Conclusion extende

Search for Point Sources of High Energy Neutrinos with AMANDA

This paper describes the search for astronomical sources of high-energy neutrinos using the AMANDA-B10 detector, an array of 302 photomultiplier tubes, used for the detection of Cherenkov light from upward traveling neutrino-induced muons, buried deep in ice at the South Pole. The absolute pointing accuracy and angular resolution were studied by using coincident events between the AMANDA detector and two independent telescopes on the surface, the GASP air Cherenkov telescope and the SPASE extensive air shower array. Using data collected from April to October of 1997 (130.1 days of livetime), a general survey of the northern hemisphere revealed no statistically significant excess of events from any direction. The sensitivity for a flux of muon neutrinos is based on the effective detection area for through-going muons. Averaged over the Northern sky, the effective detection area exceeds 10,000 m^2 for E_{mu} ~ 10 TeV. Neutrinos generated in the atmosphere by cosmic ray interactions were used to verify the predicted performance of the detector. For a source with a differential energy spectrum proportional to E_{nu}^{-2} and declination larger than +40 degrees, we obtain E^2(dN_{nu}/dE) <= 10^{-6}GeVcm^{-2}s^{-1} for an energy threshold of 10 GeV.Comment: 46 pages, 22 figures, 4 tables, submitted to Ap.