Consensus strategies are examined as a possible approach to achieving attitude alignment for a large, close-proximity formation of nanosatellites in low earth orbit (LEO). An attitude-only distributed consensus approach is selected for further consideration due to its comparatively low data transmission requirements. The convergence of a connected network of satellites to the attitude agreement subspace under this control law is shown using a Lyapunov stability approach with a set of idealizing assumptions. A moderate-fidelity simulation demonstrates the performance of the control law under realistic conditions that violate those assumptions. Particular emphasis is placed on the conditions that arise from the limitations of the nanosatellite form factor, namely the low accuracy of sensors and the limited computational resources. The sensitivity of the pointing performance to these factors is characterized, and the control approach is shown to be viable for use in future nanosatellite missions.

This research consists of the design of a low-power, low-cost, nanosatellite computer system solution. The proposed system solution, and design and implementation of a multiple-bus master FPGA and health monitoring space computer subsystem are described. In the fall of 1998, the US Air Force (USAF) funded Virginia Polytechnic Institute & State University (Virginia Tech), The University of Washington (UW), and Utah State University (USU) with $100,000 each to pursue a formation-flying satellite cluster. The program specified that a cluster of three satellites would maintain radio contact through UHF cross-link communication to report relative positions, obtained through GPS, and coordinate scientific measurement mission activities. This satellite cluster, named Ionospheric Observation Nanosatellite Formation (ION-F) is presently scheduled for launch in June of 2003. Maintaining some degree of system reliability in the error-prone space environment was desired for this low-cost space program. By utilizing high-reliability components in key system locations, and monitoring less reliable portions of the computer system for faults, an improvement in overall system reliability was achieved. The development of a one-wire health monitoring bus master was performed. A Synchronous Serial Peripheral Interface (SPI) bus master was utilized to extend the communication capabilities of the CPU. In addition, discrete I/O functions and A/D converter interfaces were developed for system health monitoring and the spacecraft Attitude Determination and Control System (ADCS). / Master of Science

International Telemetering Conference Proceedings / October 20-23, 2003 / Riviera Hotel and Convention Center, Las Vegas, Nevada / As more satellite ground station systems use the Internet as a means of connectivity, the security of the ground stations and data transferred between stations becomes a growing concern. Possible solutions include software-level password authentication, link encryption, IP filtering, and several others. Many of these methods are being implemented in many different applications. SSH (Secure Shell) tunneling is one specific method that ensures a highly encrypted data link between computers on the Internet. It is used every day by individuals and organizations that want to ensure the security of the data they are transferring over the Internet. This paper describes the security requirements of a specific example of a ground station network, how SSH can be implemented into the existing system, software configuration, and operational testing of the revised ground network.

<p>Microsystem interfaces to the macroscopic surroundings and within the microsystems themselves are formidable challenges that this thesis makes an effort to overcome, specifically for enabling a spacecraft based entirely on microsystems. The NanoSpace-1 nanospacecraft is a full-fledged satellite design with mass below 10 kg. The high performance with respect to mass is enabled by a massive implementation of microsystem technology – the entire spacecraft structure is built from square silicon panels that allow for efficient microsystem integration. The panels comprise bonded silicon wafers, fitted with silicone rubber gaskets into aluminium frames. Each module of the spacecraft is added in a way that strengthens and stiffens the overall spacecraft structure.</p><p>The structural integrity of the silicon module as a generic building block has been successfully proven. The basic design (silicon, silicone, aluminium) survived considerable mechanical loads, where the silicon material contributed significantly to the strength of the structural element. Structural modeling of the silicon building blocks enables rapid iterative design of e.g. spacecraft structures by the use of pertinent model simplifications.</p><p>Other microsystem interfaces treats fluidic, thermal, and mechanical functions. First, solder sealing of microsystem cavities was demonstrated, using screen-printed solder and localized resistive heating in the microsystem interface. Second, a dismountable fluidic microsystem connector, using a ridged silicon membrane, intended for monopropellant thruster systems, was developed. Third, a thermally regulated microvalve for minute flows, made by a silicon ridge imprint in a stainless steel nipple, was investigated. Finally, particle filters for gas interfaces to microsystems, or between parts of fluidic microsystems, were made from sets of crossed v-grooves in the interface of a bonded silicon wafer stack. Filter manufacture, mass flow and pressure drop characterization, together with numeric modeling for filter design, was performed.</p><p>All in all this reduces the weight and volume when microsystems are interfaced in their applications.</p>

The Generic Nanosatellite Bus (GNB) is a spacecraft platform designed to accommodate the integration of diverse payloads in a common housing of supporting components. The development of the GNB at the Space Flight Laboratory (SFL) under the Canadian Advanced Nanospace eXperiment (CanX) program provides accelerated access to space while reducing non-recurring engineering (NRE) costs. The work presented herein details the development of the attitude determination and control subsystem (ADCS) of the GNB. Specific work on magnetorquer coil assembly, integration, and testing (AIT) and reaction wheel testing is included. The embedded software development and unit-level testing of the GNB sun sensors are discussed. The characterization of the AeroAstro star tracker is also a major focus, with procedures and results presented here. Hardware models were developed and incorporated into SFL's in-house high-fidelity attitude dynamics and control simulation environment. This work focuses on specific contributions to the CanX-3, CanX-4&5, and AISSat-1 nanosatellite missions.

The Generic Nanosatellite Bus (GNB) is a spacecraft platform designed to accommodate the integration of diverse payloads in a common housing of supporting components. The development of the GNB at the Space Flight Laboratory (SFL) under the Canadian Advanced Nanospace eXperiment (CanX) program provides accelerated access to space while reducing non-recurring engineering (NRE) costs. The work presented herein details the development of the attitude determination and control subsystem (ADCS) of the GNB. Specific work on magnetorquer coil assembly, integration, and testing (AIT) and reaction wheel testing is included. The embedded software development and unit-level testing of the GNB sun sensors are discussed. The characterization of the AeroAstro star tracker is also a major focus, with procedures and results presented here. Hardware models were developed and incorporated into SFL's in-house high-fidelity attitude dynamics and control simulation environment. This work focuses on specific contributions to the CanX-3, CanX-4&5, and AISSat-1 nanosatellite missions.

A mission architecture consisting of two NASA LONESTAR-2 satellites in Low Earth Orbit is considered. The craft are equipped with cross-communication radios and GPS units. Analyses are conducted for ejection, thruster and attitude maneuvers to achieve objectives of the mission, including sustained communications between the craft. Simulations are conducted to determine the duration of the communication window following the initial separation of the two craft. Recommendations are made to maximize this window while accounting for attitude constraints and the effects of atmospheric drag. Orbital mechanics and control theory are employed to form an algorithm for filtering GPS position fixes. The orbit-determination algorithm accounts for the effects of drag and Earth’s oblateness. Procedures are formed for verifying the initial separation velocities of two spacecraft and for measuring the velocity imparted by impulsive thruster maneuvers. An algorithm is also created to plan the timing and magnitude of corrective thruster maneuvers to align the orbital planes of the two craft. When the craft pass out of communication range, a ground station is used to relay data and commands to conduct state rendezvous procedures. A plan for coordinated attitude maneuvers is developed to strategically utilize the cumulative effects of drag and orbit decay to align the craft over long time periods. The methodologies developed here extend prior research into close proximity operations, forming the foundation for autonomous on-orbit rendezvous under a broader set of initial conditions. / text

This thesis describes the assembly and integration procedures, methods and strategies used for the Generic Nanosatellite Bus (GNB) developed at the Space Flight Laboratory. The design of the interconnection medium routing will be presented and aspects of thermal testing such as thermal shock procedures and the satellite support structure design for the thermal vacuum testing. The compliance of the assembly, integration and testing requirements is demonstrated through validation and implementation. Step by step procedures are presented for GNB assembly, solar cell bonding and thermal tape application. The evolution of the integration design is described based on optimizing efforts and GNB design changes. Flexible circuits are presented as an alternative to the conventional harness for future missions. Finally, general assembly, integration and thermal testing recommendations are offered to add to the wealth of knowledge acquired by SFL in the proper design of nanosatellites.

This thesis describes technologies developed for nanosatellites at the Space Flight Laboratory. A critical ground station component, the Terminal Node Controller, was upgraded in order to support Generic Nanosatellite Bus and future missions. Sun sensor requirements and operation were reviewed, followed by details of the author's work in executing the acceptance testing on these parts, including thermal shock testing, thermal functional testing, calibration, system level testing and on orbit commissioning. A new calibration test process was developed, along with supporting structure and software to ease the testing process, producing accurate calibration parameters and expected performance results for the sensors. A thermal qualification campaign was completed, demonstrating that sun sensors are capable of functioning with negligible performance degradation after exposure to extreme temperatures. A process for installing the sun sensor pin hole was developed using photolithography. Finally, power subsystem analysis for the NEMO-AM mission is presented.

The CanX-4/-5 mission currently under development at the Space Flight Laboratory will demonstrate sub-metre formation control in four separate formations consisting of two nanosatellites. Formation maintenance is performed using a propulsion payload providing one axis of thrust, resulting in frequent slewing to meet thrust targets. Navigation is GPS dependent, with both satellites equipped with a receiver and antenna pair. Presented is a mission simulation developed for evaluating formation flying algorithm performance and the effects of frequent slewing on GPS coverage. CanX-4 and CanX-5 will be joined for commissioning prior to commencing formation flying via a mechanism, the Intersatellite Separation System. Details regarding the performance testing and troubleshooting of the system are described. Integration and testing of CanX-4/-5 flight hardware into a functional “FlatSat” is presented. Additionally, a description of satellite operations for two nanosatellites is given, with an emphasis on the relevance to the work performed for the CanX-4/-5 mission.