Thesis (MScEng (Electrical and Electronic Engineering))--University of Stellenbosch, 2006. / An analysis of the attitude determination and control system required for a small geostationary satellite is performed in this thesis. A three axis quaternion feedback reaction wheel control system is the primary control system used to meet the stringent accuracy requirements. A momentum bias controller is also evaluated to provide redundancy and to extend actuator life. Momentum dumping is preformed by magnetic torque rods using a crossproduct controller. Performance of three axis thruster control is also evaluated. A full state Extended Kalman filter is used to determine attitude and body angular rates during normal operation whereas a Multiplicative Extended Kalman Filter is used during attitude manoeuvres. An analytical orbit control study is also performed to calculate the propellant required to perform station-keeping, for a specific sub-satellite location over a ten year period. Finally an investigation on the effects caused by thruster misalignment, on satellite attitude is also performed.

In this thesis, application of linear control methods to control the attitude of a Low-Earth Orbit satellite is studied. Attitude control subsystem is first introduced by explaining attitude determination and control components in detail. Satellite dynamic equations are derived and linearized for controller design. Linear controller and linear quadratic regulator are chosen as controllers for attitude control. The actuators used for control are reaction wheels and magnetic torquers. MATLAB-SIMULINK program is used in order to simulate satellite dynamical model (actual nonlinear model) and controller model. In simulations, the satellite parameters are selected to be similar to the actual BILSAT-1 satellite parameters. In conclusion, simulations obtained from different linear control methods are compared within themselves and with nonlinear control methods, at the same time with that obtained from BILSAT-1 satellite log data.

Thesis (MEng)-- Stellenbosch University, 2013. / ENGLISH ABSTRACT: The next generation of CubeSats will require accurate attitude knowledge throughout orbit for advanced science payloads and high gain antennas. A star tracker can provide the required performance, but star trackers have traditionally been too large, expensive and power hungry to be included on a CubeSat. The aim of this project is to develop and demonstrate a CubeSat compatible star tracker. Subsystems from two other CubeSat components, CubeSense and CubeComputer, were combined with a sensitive, commercial image sensor and low-light lens to produce one of the smallest star trackers in existence. Algorithms for star detection, matching and attitude determination were investigated and implemented on the embedded system. The resultant star tracker, named CubeStar, can operate fully autonomously, outputting attitude estimates at a rate of 1 Hz. An engineering model was completed and demonstrated an accuracy of better than 0.01 degrees during night sky tests. / AFRIKAANSE OPSOMMING: Die volgende generasie van CubeSats sal akkurate orientasie kennis vereis gedurende 'n volle omwentelling van die aarde. 'n Sterkamera kan die vereiste prestasie verskaf, maar sterkameras is tradisioneel te groot, duur en krag intensief om ingesluit te word aanboord 'n CubeSat. Die doel van hierdie projek is om 'n CubeSat sterkamera te ontwikkel en te demonstreer. Substelsels van twee ander CubeSat komponente, CubeSense en CubeComputer, was gekombineer met 'n sensitiewe kommersiële beeldsensor en 'n lae-lig lens om een van die kleinste sterkameras op die mark te produseer. Algoritmes vir die ster opsporing, identi kasie en orientasie bepaling is ondersoek en geïmplementeer op die ingebedde stelsel. Die gevolglike sterkamera, genaamd CubeStar, kan ten volle outonoom orientasie afskattings lewer teen 'n tempo van 1 Hz. 'n Ingenieursmodel is voltooi en 'n akkuraatheid van beter as 0.01 grade is gedemonstreer.

The increasing numbers and complexity of spacecraft is driving a growing need for automated fault detection, isolation, and recovery. Anomalies and failures are common occurrences during space flight operations, yet most spacecraft currently possess limited ability to detect them, diagnose their underlying cause, and enact an appropriate response. This leaves ground operators to interpret extensive telemetry and resolve faults manually, something that is impractical for large constellations of satellites and difficult to do in a timely fashion for missions in deep space. A traditional hurdle for achieving autonomy has been that effective fault detection, isolation, and recovery requires appreciating the wider context of telemetry information. Advances in machine learning are finally allowing computers to succeed at such tasks. This dissertation presents an architecture based on machine learning for detecting, diagnosing, and responding to faults in a spacecraft attitude determination and control system. Unlike previous approaches, the availability of faulty examples is not assumed. In the first level of the system, one-class support vector machines are trained from nominal data to flag anomalies in telemetry. Meanwhile, a spacecraft simulator is used to model the activation of anomaly flags under different fault conditions and train a long short-term memory neural network to convert time-dependent anomaly information into a diagnosis. Decision theory is then used to convert diagnoses into a recovery action. The overall technique is successfully validated on data from the LightSail 2 mission. <br>

No description available.

Thesis (MScEng)--Stellenbosch University, 2011. / ENGLISH ABSTRACT: The Electronic Systems Laboratory at Stellenbosch University is currently developing a fully 3-axis controlled Attitude Determination and Control Subsystem (ADCS) for CubeSats. This thesis describes the design and development of an Onboard Computer (OBC) suitable for ADCS application. A separate dedicated OBC for ADCS purposes allows the main CubeSat OBC to focus only on command and data handling, communication and payload management. This thesis describes, in detail the development process of the OBC. Multiple Microcontroller Unit (MCU) architectures were considered before selecting an ARM Cortex-M3 processor due to its performance, power efficiency and functionality. The hardware was designed to be as robust as possible, because radiation tolerant and redundant components could not be included, due to their high cost and the technical constraints of a CubeSat. The software was developed to improve recovery from lockouts or component failures and to enable the operational modes to be configured in real-time or uploaded from the ground station. Ground tests indicated that the OBC can handle radiation-related problems such as latchups and bit-flips. The peak power consumption is around 500 mW and the orbital average is substantially lower. The proposed OBC is therefore not only sufficient in its intended application as an ADCS OBC, but could also stand in as a backup for the main OBC in case of an emergency. / AFRIKAANSE OPSOMMING: Die Elektroniese Stelsels Laboratorium by die Universiteit van Stellenbosch is tans besig om ’n volkome 3-as gestabiliseerde oriëntasiebepaling en -beheerstelsel (Engels: ADCS) vir ’n CubeSat te ontwikkel. Hierdie tesis beskryf die ontwerp en ontwikkeling van ’n aanboordrekenaar (Engels: OBC) wat gebruik kan word in ’n ADCS. ’n Afsonderlike OBC wat aan die ADCS toegewy is, stel die hoof-OBC in staat om te fokus op beheer- en datahantering, kommunikasie en loonvragbestuur. Hierdie tesis beskryf breedvoerig die werkswyse waarvolgens die OBC ontwikkel is. Verskeie mikroverwerkers is as moontlike kandidate ondersoek voor daar op ’n ARM Cortex-M3-gebaseerde mikroverwerker besluit is. Hierdie mikroverwerker is gekies vanweë sy spoed, effektiewe kragverbruik en funksionaliteit. Die hardeware is ontwikkel om so robuust moontlik te wees, omdat stralingbestande en oortollige komponente weens kostebeperkings, asook tegniese beperkings van ’n CubeSat, nie ingesluit kon word nie. Die programmatuur is ontwikkel om van ’n uitsluiting en ’n komponentfout te kan herstel. Verder kan programme wat tydens vlug in werking is, verstel word en vanaf ’n grondstasie gelaai word. Grondtoetse het aangedui dat die OBC stralingverwante probleme, soos ’n vergrendeling (latchup) of bis-omkering (bit-flip), kan hanteer. Die maksimum kragverbruik is ongeveer 500 mW en die gemiddelde wentelbaankragverbruik is beduidend kleiner. Die voorgestelde OBC is dus voldoende as ADCS OBC asook hoof-OBC in geval van nood.

As electronics become smaller and more capable, it has become possible to conduct meaningful and sophisticated satellite missions in a small form factor. However, the capability of small satellites and the range of possible applications are limited by the capabilities of several technologies, including attitude determination and control systems. This dissertation evaluates the use of image-based visual attitude propagation as a compliment or alternative to other attitude determination technologies that are suitable for miniature satellites. The concept lies in using miniature cameras to track image features across frames and extracting the underlying rotation. The problem of visual attitude propagation as a small satellite attitude determination system is addressed from several aspects: related work, algorithm design, hardware and performance evaluation, possible applications, and on-orbit experimentation. These areas of consideration reflect the organization of this dissertation. A “stellar gyroscope” is developed, which is a visual star-based attitude propagator that uses relative motion of stars in an imager’s field of view to infer the attitude changes. The device generates spacecraft relative attitude estimates in three degrees of freedom. Algorithms to perform the star detection, correspondence, and attitude propagation are presented. The Random Sample Consensus (RANSAC) approach is applied to the correspondence problem to successfully pair stars across frames while mitigating false-positive and false-negative star detections. This approach provides tolerance to the noise levels expected in using miniature optics and no baffling, and the noise caused by radiation dose on orbit. The hardware design and algorithms are validated using test images of the night sky. The application of the stellar gyroscope as part of a CubeSat attitude determination and control system is described. The stellar gyroscope is used to augment a MEMS gyroscope attitude propagation algorithm to minimize drift in the absence of an absolute attitude sensor. The stellar gyroscope is a technology demonstration experiment on KySat-2, a 1-Unit CubeSat being developed in Kentucky that is in line to launch with the NASA ELaNa CubeSat Launch Initiative. It has also been adopted by industry as a sensor for CubeSat Attitude Determination and Control Systems (ADCS).

This thesis presents the design of an attitude determination system for small satellites that automatically corrects for attitude drift. Existing attitude determination systems suffer from attitude drift due to the integration of noisy rate gyro sensors used to measure the change in attitude. This attitude drift leads to a gradual loss in attitude knowledge, as error between the estimated attitude and the actual attitude increases. In this thesis a Kalman filter is used to complete sensor fusion which combines sensor observations with a projected attitude based on the dynamics of the satellite. The system proposed in this thesis also utilizes a novel sensor called the stellar gyro to correct for the drift. The stellar gyro compares star field images taken at different times to determine orientation, and works in the presence of the sun and during eclipse. This device provides a relative attitude fix that can be used to update the attitude estimate provided by the Kalman filter, effectively compensating for drift. Simulink models are developed of the hardware and algorithms to model the effectiveness of the system. The Simulink models show that the attitude determination system is highly accurate, with steady state errors of less than 1 degree.

Thesis (MScEng (Electrical and Electronic Engineering))--University of Stellenbosch, 2011. / ENGLISH ABSTRACT: This thesis describes the development of attitude sensors required for the Attitude Determination and Control System (ADCS) for a Cubesat. The aim is to find the most suitable sensors for use on a small picosatellite by implementing miniaturised sensors with available commercial-off-the-shelf (COTS) technology. Specifically, the algorithms, hardware prototypes, software and filters required to create accurate sensors to determine the 3-axis orientation of a CubeSat are discussed. / AFRIKAANSE OPSOMMING: Hierdie tesis beskryf die ontwikkeling van oriëntasiesensors wat benodig word vir die oriëntasiebepaling en -beheerstelsel (Engels: ADCS) van ’n CubeSat. Die doelwit is om sensors te vind wat die geskikste is om in ’n klein picosatelliet te gebruik, deur miniatuursensors met kommersiële maklik verkrygbare tegnologie (Engels: COTS technology) te implementeer. Daar word in die bespreking veral aandag geskenk aan die algoritmes, hardewareprototipes, programmatuur en filters wat benodig word om akkurate sensors te skep wat op hul beurt 3-as oriëntasie van die CubeSat kan bepaal.

Thesis (MEng) Stellenbosch University, 2014 / ENGLISH ABSTRACT: An Attitude Determination and Control System (ADCS) demonstrator and testing platform was required for satellite engineering students. The ADCS demonstrator and testing platform will allow students to develop insight into the concepts and challenges of ADCS design and implementation. The existing model nano-satellite EyasSAT was used as a design platform for a new ADCS demonstrator. A new ADCS module (ADCS_V2) was developed to replace the existing EyasSAT ADCS module. The new module allows for three-axis ADCS and the demonstration of the ADCS on an air bearing platform. The air bearing allows full freedom of movement for yaw rotations with limited pitch and roll rotations. The actuators and sensors required for the ADCS were developed and integrated into EyasSAT. In addition a new PCB was designed to form the ADCS_V2 module. Attitude determination algorithms and attitude control algorithms were implemented and tested using MATLAB Simulink simulations. These algorithms were then implemented on the ADCS_V2 module. The ADCS was tested using Hardware In the Loop (HIL) techniques and an air bearing. The yaw attitude of EyasSAT could be controlled within 0.4 degrees accuracy with all the sensors active. In order to stabilize the air bearing platform, the pitch and roll angles were rate controlled. The pitch and roll rates were damped to within 6 mrad/s. / AFRIKAANSE OPSOMMING: ’n Oriëntasiebepaling en Beheerstelsel (OBBS) demonstrasie en toets platform was benodig vir satellietingenieurswese studente. Die nuwe OBBS sal studente toelaat om insig te ontwikkel met betreking tot die idees en uitdagings wat verband hou met die ontwikkeling en implementering van ’n OBBS. Die huidige nano-sateliet model EyasSAT was gebruik as ’n ontwerpsbasis vir die nuwe OBBS. Die nuwe OBBS was ontwikkel om die huidige module van EyasSAT te vervang. Die nuwe OBBS laat oriëntasiebepaling en -beheer in drie asse toe. Die nuwe OBBS en EyasSAT kan die werking van ’n OBBS demonstreer op ’n luglaerplatform. Die luglaer laat vrye rotasie om die gierhoek toe terwyl die rol- en stygings-as beperk word. Die aktueerders en sensors wat benodig word vir die OBBS is ontwikkel en geïntegreer in EyasSAT saam met ’n nuwe gedrukte stroombaanbord om die nuwe OBBS te vorm. Orientasiebepaling en orientasiebeheer algoritmes is geïmplementeer en getoets met die hulp van MATLAB Simulink simulasies. Die algoritmes was op die OBBS module geïmplementeer en getoets deur gebruik te maak van HIL tegnieke en praktiese toetse op die luglaer. Die rotasie hoek van EyasSAT kan met ’n akkuraatheid van 0.4 grade beheer word indien al die sensors gebruik word. Die rol en stygingshoeksnelheid was gekanselleer om die luglaer stabiel te hou. Die hoeksnelheid van die twee asse kon tot kleiner as 6 mrad/s beheer word.