Thesis (M.S. in Astronautical Engineering)--Naval Postgraduate School, June 2004. / Thesis advisor(s): Brij Agrawal, Marcello Romano. Includes bibliographical references (p. 101-102). Also available online.

Thesis (Ph. D.)--University of Texas at Austin, 1998. / Vita. Includes bibliographical references (leaves 214-224). Available also in a digital version from Dissertation Abstracts.

Thesis (Ph. D.)--University of Chicago, Department of astronomy and astrophysics, December 1999. / Includes bibliographical references. Also available on the Internet.

Thesis (Sc.D.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, 1980. / MICROFICHE COPY AVAILABLE IN ARCHIVES AND AERO. / Vita. / Bibliography: p. 232-237. / by W. Michael Bowles. / Sc.D.

Approved for public release; distribution is unlimited / Design Center of the Naval Postgraduate School. The objective of this simulator is to provide on-the-ground simulation of the dynamics and control of spacecraft for high precision Acquisition, Tracking and Pointing applications associated with space based laser relay. The required initial attitude determination accuracy for the Bifocal Relay Mirror test-bed is 10 æ-radians. Normally, in laboratories where very high initial attitude knowledge is required, actual (space qualified) star trackers are incorporated into the testbed design. This is not possible at NPS as the laboratory does not have a skylight to allow visual access to the stars, and the photosensitive nature of many of the experiments would make such an opening inconvenient. Since it is critical to the operation of the testbed to provide accurate attitude knowledge, a substitute system was required. The present thesis documents the development of a new attitude sensor capable of providing attitude information within the required 10æ-radians (within a field of view of the order of 1 deg). The concepts leading up to the final design, the testing and selection of the equipment used in the final configuration, and a detailed explanation of how the final system calibration was performed are discussed in detail. / Lieutenant, United States Navy

Attitude estimation and angular velocity estimation are the most critical components of a spacecraft's guidance, navigation and control. Usually, an array of tightlycoupled sensors (star trackers, gyroscopes, sun sensors, magnetometers) is used to estimate these quantities. The cost (financial, mass, power, time, human resources) for the integration of these separate sub-systems is a major deterrent towards realizing the goal of smaller, cheaper and faster to launch spacecrafts/satellites. In this work, we present a novel stellar imaging system that is capable of estimating attitude and angular velocities at true update rates of greater than 100Hz, thereby eliminating the need for a separate star tracker and gyroscope sub-systems. High image acquisition rates necessitate short integration times and large optical apertures, thereby adding mass and volume to the sensor. The proposed high speed sensor overcomes these difficulties by employing light amplification technologies coupled with fiber optics. To better understand the performance of the sensor, an electro-optical model of the sensor system is developed which is then used to design a high-fidelity night sky image simulator. Novel star position estimation algorithms based on a two-dimensional Gaussian fitting to the star pixel intensity profiles are then presented. These algorithms are non-iterative, perform local background estimation in the vicinity of the star and lead to significant improvements in the star centroid determination. Further, a new attitude determination algorithm is developed that uses the inter-star angles of the identified stars as constraints to recompute the body measured vectors and provide a higher accuracy estimate of the attitude as compared to existing methods. The spectral response of the sensor is then used to develop a star catalog generation method that results in a compact on-board star catalog. Finally, the use of a fiber optic faceplate is proposed as an additional means of stray light mitigation for the system. This dissertation serves to validate the conceptual design of the high update rate star sensor through analysis, hardware design, algorithm development and experimental testing.

With growing space market and entry of more private companies into the industry, there arecompanies and stakeholders who would like to have a high order of accuracy mission outputrequirements. These requirements vary from mission to mission. This simply means that if acompany wants an Earth observation mission, the main requirement to be fulfilled would be tohave the highest resolution of image possible. In order to achieve this, the satellite carrying the camera payload would be required to bepointed in the right direction with utmost accuracy. For a satellite to be pointed in the rightdirection, the noise generated by the sensors and actuators on-board, which determines theattitude of the satellite and helps in changing it, should be minimized. The aim of this thesisis to design a method which could help in determining the right components to be procuredso that the pointing requirements of the satellite are fulfilled. This objective is achieved bydesigning algorithms in python and MATLAB. The values generated by these algorithms, ultimately describe the type of sensor or actuator to be procured. Finally, the noise generated bysuch individual components act as pointing error source and then PEET is used to translatethese error sources to platform error, to generate a pointing budget and ensure that all pointingrequirements are satisfied.

Studies aimed at the development of indigenous low cost star tracker and gyroless attitude and angular rate estimation is presented in the thesis. This study is required for the realization of low cost micro satellites. A target specification of determining the attitude with accuracy (3σ) of 0.05 degrees and attitude rate with accuracy (3σ) in the range of 50rad/sec at a rate of 10 samples/second in all the axes is set as a goal for the study. Different sensor arrays available in the market are evaluated on the basis of their noise characteristics, resolution of the analog-to-digital converter (ADC) present and ability to work in low light conditions, for possible use in the hardware realization of star tracker. STAR1000 APS CMOS array, manufactured by Cypress Semiconductors, qualified these performance criteria, is used for the simulation study. An algorithm is presented for scanning the sensor array, detection of star image and retrieving the information concerning the photoelectron counts corresponding to a star image. The exact designation of the center of the star image becomes crucial as it has direct implications on the accuracy of the estimated attitude. Various algorithms concerning the centroid estimation of a defocused star image on the sensor array to subpixel accuracy are studied and Gaussian Weighed Center of Gravity algorithm is adapted with some modifications and an accuracy of 0.039 pixels is obtained in both horizontal and vertical direction of the array. A one-to-one relationship is established between the stars obtained in the field-of-view (FOV) of the star tracker with the stars present in the star catalog resident in the star tracker through star identification algorithm. A star identification algorithm which relies on the interstar angles and brightness of the stars is developed in this thesis. The interstar angles of the stars visible in the FOV of the star sensor is recorded, compared with the inter-star angles made by the stars selected in the catalog, based on initial brightness match with stars formed on image plane. After identification at the initial epoch, consequent instants can drive information from the previous matches so as to decrease the computational complexity and storage requirement for the subsequent instants. The memory constraints and computational overhead on the processor and the dynamic range of the image detector used in the star tracker are the limiting factors. The stars thus identified with the stars in the catalog are used for the estimation of attitude. A point solution to the attitude estimation problem is computed using a least square based algorithm called ESOQ-2. The algorithm for centroiding of star images and ESOQ-2 for finding the point solution satellite attitude is coded and tested on Da Vinci based emulator. This exercise shows that it is possible to implement above algorithm for real time operations. Estimation of attitude at a given epoch using algorithms like ESOQ-2 does not minimize the noise and error covariance as the attitude estimated at each instant of time depends only on the measurement taken at that particular instant. So a Kalman Filter (KF) based estimation using Integrated Rate Parameter (IRP) formulation called SIAVE algorithm, is adapted, with some modifications, for the estimation of incremental angle and attitude rates from vector observations of stars. From the point solution of attitude estimation problem of the satellite, the incremental angle and angular rate at successive time steps are predicted using a linear KF and refined with the measurements from the stand alone star tracker, taken at discrete time steps, using the SIAVE algorithm. The sensor noise is modeled from the characteristics of STAR1000 sensor array used in the algorithm in order to make the simulations more realistic in nature. The optimality of Kalman filter is based on the assumption that the state and measurement noises are white gaussian random processes and the state dynamics of the plant is completely known. However, for most real systems, modeling uncertainties are present. So a robust state estimator based on H∞ norm minimization is devised. The H∞ filter, based on game theory approach is used to minimize the worst case variance of noise signals with the only assumption on the noise signals that they are energy bounded. The aim is to find the feasibility of using H∞ filter for the estimation of incremental angle and attitude rate of the satellite. The studies shows that H∞ filter with proper tuning can serve as potential estimation scheme for the attitude and angular rate estimation of the satellite. It is found that both Kalman filter and H∞ are able to meet the specified accuracy desired from low cost accurate star sensor.