A Blueprint for Implementing a Comprehensive Reliability Engineering Program
Implementing the Comprehensive Open-architecture Space Mission ...
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Implementing the Comprehensive Open-architecture Space Mission Operations System (COSMOS) to
Operate Multiple CubeSats Trevor C. Sorensen, Eric J. Pilger, Mark S. Wood,
Miguel A. Nunes Hawaii Space Flight Laboratory University of Hawaii at Manoa
CubeSat Developers’ Workshop 2014
California Polytechnic Institute San Luis Obispo, CA
April 24, 2014
The mission of HSFL is to: promote innovative engineering
and science research for terrestrial and planetary space missions
develop, launch, and operate small spacecraft from the Hawaiian Islands to accelerate the validation of new space technologies
provide workforce training in all aspects of unmanned space missions
promote synergistic collaborations between educational, governmental, and corporate institutions interested in space exploration 2
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Major Project Elements
S/C Systems Avionics Power Telecom Thermal S/W H/W
•UH/HSFL maintains UHF/VHF receiving stations with Kauai CC and Honolulu CC staff. •Ground station provides command and control broadcast as well as data downlink capabilities. •Mission Ops Center on POST 5th floor under development with UH support.
Ground Station & Mission Operations Launch Vehicle and Launch Support • Pacific Missile Range Facility (PMRF) •Local launch facility and mission support •Modify existing PMRF launch pad for rail-fitted and modified VAFB Scout launcher. • Kauai Test Facility (KTF)/ Sandia National Lab •Experience with solid rockets and missile design. Use Super-Strypi launch vehicle. •Can lift ~270 kg (594 pounds) to low-Earth orbit (400 km). •Heritage working with PMRF as on-site vehicle integrator and launch agent.
Integration and Test • Clean rooms in UH/POST will be used to assemble satellites.
–Systems integration –Thermo-vac testing –Vibration/shock testing –Payload spin balancing
Spacecraft • Partner with NASA Centers and others to advance small spacecraft design. •Design, build, launch, and operate 60-80-kg small satellite for science and education tasks. •Support technology validation missions as well as other University missions.
Instruments •The HSFL can call on a diverse group of instrument-developing faculty from HIGP and SOEST.
•A number of businesses in Hawaii also develop a wide array of instrumentation. The HSFL will partner with these organizations to provide technology demonstration opportunities.
•NASA Centers (Ames and JPL) are interested in joint technology missions.
CubeSat Developers’ Workshop
COSMOS Purpose Comprehensive Open-architecture Space Mission Operations System (COSMOS)*
• Purpose: To develop a comprehensive open system of software and
hardware tools that supports the design, testing, and operations of one or more spacecraft and is easily adaptable for adding spacecraft and porting to Mission Operations Centers (MOCs) at HSFL, NASA Ames Research Center, and other MOCs. – COSMOS is being developed as a collaboration between HSFL and
NASA Ames Research Center under a 3-year NASA EPSCoR grant (2010-2013).
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* Note: COSMOS is being renamed to: Comprehensive Open-architecture Software for Mission Operations Systems
COSMOS Architecture - Background
• Explosive growth in “micro” and “nano” satellites. • Industry need for comprehensive operations
software toolkit • Developing hardware concept of “Plug-n-Play” • COSMOS combines “Plug-n-Play”, standard
interfaces and protocols, and common coding practices
• COSMOS can be used across the spectrum, from conceptual design to mission operations
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Features of COSMOS • Set of software and hardware framework to support
spacecraft and other vehicle mission operations • Set of tools:
– Mission Planning & Scheduling Tool (MPST) – Mission Operations Support Tool (MOST) – Ground Segment Control Tool (GSCT) – Data Management Tool (DMT) – Flight Dynamics Tool (FDT) – Analysis Tools – Test Bed Control Tool (TBCT)
• Open architecture to enable modifications and adaptation to new missions and MOCs
• User-friendly interfaces and short learning curves for users and software integrators
• COSMOS editor • Uses Qt under LGPL licensing – helps ITAR issues • Connections for COTS/GOTS and external tools
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COSMOS Generalized Architecture
Launch Vehicles
COSMOS
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NODES
Ground Stations
Spacecraft
Submersibles Rovers
UAVs
Tools Agents
Monitor & Control
CubeSat Developers’ Workshop
COSMOS Functional Architecture
Mission Planning & Scheduling Contact Process Data Management Mission Analysis Mission Analysis Mission Planning & Scheduling Contact Process Data Management Mission Planning & Scheduling Contact Process Mission Analysis Data Management Mission Planning & Scheduling Contact Process Mission State
Projection Mission Analysis Data Management Mission Planning & Scheduling Contact Operations
Testbed/Simulator Ground Network Control Payload Operations Flight Dynamics System Management
& Quality Assurance
Ground Station Network
SC
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COSMOS
Mission Operations Team Payload Customers
SC Engineers
COSMOS GS Interface
COSMOS GUI
Mis
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Anomaly Resolution Request
Tasking Requests
Reports
Reports
Tasking Requests
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Payload Status
Mission Planning & Scheduling Contact Process Data Management Mission Analysis Mission Analysis Mission Planning & Scheduling Contact Process Data Management Mission Planning & Scheduling Contact Process Mission Analysis Data Management Mission Planning & Scheduling Contact Process Anomaly
Resolution Mission Analysis Data Management Mission Planning & Scheduling Contact Operations
Simulators & Operational Testbed
Ground Network Control Payload Operations Flight Dynamics System Management
& Quality Assurance
Ground Station Network
SC
Upl
oads
SC
R/T
CM
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COSMOS
Mission Operations Team Payload Customers
SC Engineers
COSMOS GS Interface
COSMOS GUI
Mis
sion
D
ata
Ope
rato
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omm
ands
Anomaly Resolution Request
Tasking Requests
Reports
Reports
Reports
Tasking Requests
Mis
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COSMOS Architecture - Elements
• Standards: – Language:
• Posix compliant C++11 – O/S:
• Linux • MacOS • Windows 7
– Protocols and Environments: • Qt • JavaScript Object Notation (JSON)
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Mission Operations Support Tool (MOST)
• Primary visualization and commanding tool of COSMOS designed specifically for supporting near-realtime operations.
• MOST functions: – Spacecraft/payload monitor and control – Mission Planning – Simulations and testing – Training and rehearsals – Trending and analysis – Anomaly resolution
• Designed initially to support HSFL’s HawaiiSat-1 mission • Adapted to support missions with multiple elements
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MOST Background • Based on legacy programs designed by Dr. Sorensen for the
Naval Research Laboratory: – UltraViolet Plume Instrument (UVPI) Encounter Manager for
SDIO/LACE satellite encounter execution (1991) – LUNOPS program used to monitor science mission operations
during the Clementine lunar mission (1994)
LUNOPS on Left Screen in Clementine MOC UVPI Encounter Manager Sample Screen
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Mission Operations Support Tool (MOST)
R/T Data
Stored Data
Flight Controller
Operational Testbed
Payloads
OBCS/ C&DH
EPS Telecom Orbit
ADCS TCS FSW Payloads
MOST Data
Cmds
MODES R/T Extrapolated Simulated Archival
Space Dynamics Engine
FSW HW
R/T Data
Cmds Cmds
+ others
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Mission Operations Support Tool (MOST)
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MOST Configured for 3U CubeSat
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COSMOS Executive Operator (CEO) • Provides Situational Awareness (Monitoring) of all Spacecraft
Simultaneously – Initial design supports up to 100 spacecraft – Three different selectable levels of monitoring
• Low – S/C ID, status of S/C, status of P/L, GS contact status • Medium – shows orbit position and data, day/umbra status (C/D T), GS contact status
(C/D T), status of SS, S/C or ACS modes, etc. • High – Similar to main display of MOST giving detailed information
– MOST can be launched to provide detailed SS information or commanding capability for any spacecraft
– Displays orbit tracks of all spacecraft (filter to select specific s/c) – Can handle actual and simulated spacecraft simultaneously – Flight Dynamics Display shows relative positions of spacecraft – Communications Display shows satellite communication crosslinks (ideal
for constellation monitoring)
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CEO Features (cont.) • Provides Monitoring of Ground Stations
– Top-level status of all ground stations in network – Can launch GSCT for more detailed monitoring and control
• Provides Management of MOC Operations – Monitors allocation of COSMOS tools to spacecraft – Monitors personnel resource utilization – Access console logs (current or archived) – Communicate with one or MOC positions
• Monitors COSMOS System Performance – Monitors console computer performance and utilization – Monitors status of COSMOS tools and data flow between the COSMOS
elements • Launch any COSMOS Tools
– MPST, MOST, GSCT, DMT, TBCT, Analysis Tools
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CEO - Main Display (Design)
Ground Tracks
(selectable)
Status of All Satellites
Enlarged Status
Displays
Resources LocalT MET Orbit14:43:07 1234:09:32:27 17126
Sat # Satellite Name MOST GSC001 TinySat-1 Autonomous002 TinySat-2 Autonomous003 TinySat-3 Autonomous004 TinySat-4 Autonomous005 TinySat-5 Autonomous006 TinySat-6 Autonomous007 TinySat-7 Autonomous008 TinySat-8 Autonomous009 TikiSat-1 Autonomous010 TikiSat-2 Autonomous Autonomous011 HawaiiSat-1 Autonomous012 HawaiiSat-2 SpaceCadet 1 SpaceCadet 1013 MightySat Manual014 ClearSat SpaceCadet 2 SpaceCadet 2015 KUD0Sat-1 Autonomous016 KUD0Sat-2 Autonomous017 BoxSat-1 Autonomous018 BoxSat-2 Autonomous019 BoxSat-3 Autonomous020 BoxSat-4 Autonomous021 BoxSat-6 Autonomous022 BoxSat-9 SpaceCadet 3 Autonomous023 BoxSat-10 Autonomous024 BoxSat-11 SpaceCadet 3 SpaceCadet 3025 SimSat-A SpaceCadet 4 Manual
Controller Status MPST MOST GSCT DMT TBCT CEOFlight Director On 1 1SpaceCadet 1 On 1 1SpaceCadet 2 On 1SpaceCadet 3 On 2 1SpaceCadet 4 OffSpaceCadet 5 OffSpaceCadet 6 OffSpaceCadet 7 OffSpaceCadet 8 Sim 1SpaceCadet 9 Off
SpaceCadet 10 OffTrainee 1 Sim 1Trainee 2 On 1Trainee 3 On 1Trainee 4 Off
LOG
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LOG
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LOG
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LOG
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CONTROL ALLOCATIONS PERSONNEL001
•
SC PActual
SC P
002 003 004 005 006 007 008 009 010
011 012 013 014 015 016 017 018 019 020
021 022 023 024 025 026 027 028 029 030
031 032 033 034 035 036 037 038 039 040
041 042 043 044 045 046 047 048 049 050
051 052 053 054 055 056 057 058 059 060
061 062 063 064 065 066 067 068 069 070
071 072 073 074 075 076 077 078 079 080
081 082 083 084 085 086 087 088 089 090
091 092 093 094 095 096 097 098 099 100
Sim
Actual Actual
Sim
C S PActual Actual Actual Actual Actual Actual Actual Actual
C S P C S PC S P C S P C S P C S P C S P C S P
Actual Actual Actual Actual
Actual Actual Actual Actual Actual Actual Actual Actual ActualSC P SC P SC P C S P C S P C S PSC PSC P C S P
C S P C S P C S PSC P•
•
• •
UTC MOC2012-01-23 19:43:07 08:43:07
MSG
NODE #1 (MC1) STATUS
CEOCOSMOSExecutiveOperator
Lat 043.4 N Long 090.6 E Alt 0123 k Lat 033.6 N Long 007.4 E Alt 0489 k
Sub-Sat ViewActual
Simulation
Actual Actual ActualOrbit View
Daylight 45:03 → Umbra
Ground St 22:10 → AOS ASF-1
B LC
Local Time 245:19:07:58
ADCS ModeNominalS/C StateLVLH
EPS OBC ADC RF +TCS
Daylight 26:58 → Daylight
Ground St 08:15 → LOSUHF, SBand
SSC
L
Local Time 245:02:07:58
ADCS ModeNominalS/C StateIH2
EPS
CBOBC ADC RCSRF +
Orbit View
Lat 073.6 S Long 187.4 E Alt 0557 k
Daylight 07:53 → Umbra
Ground St 17:20 → AOS KCC
Local Time 245:07:07:58
ADCS ModeS/C State
LVLH
EPS OBC ADC RF +
CONTACTTCS
Nominal
Sub-Sat View
Lat 033.6 S Long 096.4 E Alt 0623 k
Daylight 27:53 → Daylight
Ground St 37:20 → AOS KCC
Local Time 245:09:07:58
ADCS ModeS/C State
SAFE
EPS OBC ADC RF TCS
CAR LCK+
SAFE
Daylight 82:53 → Umbra
Ground St 17:20 → LOSVHF, SBand
SCCLocal Time 245:21:07:58
OBC ADC COM TCS
B C L
EPSRCS SM GNC CM1 CM2
Lat 013.6 N Long 196.4 E Alt 7623 k
Orbit ViewActual ActualOrbit View
11 HawaiiSat-1 MOST 12 HawaiiSat-2 MOST 13 MightySat MOST 14 ClearSat MOST 15 KUDOSat-1 MOST 16 KUDOSat-2 MOST
Lat 088.6 N Long 196.4 E Alt 5523 k
Daylight 82:53 → Umbra
Ground St 17:20 → LOSVHF, SBand
SCCLocal Time 245:21:07:58
OBC ADC COM TCS
B C L
EPSRCS SM GNC CM1 CM2
Lat 043.4 N Long 090.6 E Alt 0123 k Lat 033.6 N Long 007.4 E Alt 0489 k
Daylight 45:03 → Umbra
Ground St 22:10 → AOS ASF-1
B LC
Local Time 245:19:07:58
ADCS ModeNominalS/C StateLVLH
EPS OBC ADC RF +TCS
Daylight 26:58 → Daylight
Ground St 08:15 → LOSUHF, SBand
SSC
L
Local Time 245:02:07:58
ADCS ModeNominalS/C StateIH2
EPS
CBOBC ADC RCSRF +
Lat 073.6 S Long 187.4 E Alt 0557 k
Daylight 07:53 → Umbra
Ground St 17:20 → AOS KCC
Local Time 245:07:07:58
ADCS ModeS/C State
LVLH
EPS OBC ADC RF +
CONTACTTCS
Nominal
Lat 033.6 S Long 096.4 E Alt 0623 k
Daylight 27:53 → Daylight
Ground St 37:20 → AOS KCC
Local Time 245:09:07:58
ADCS ModeS/C State
SAFE
EPS OBC ADC RF TCS
CAR LCK+
SAFE
Orbit View Sub-Sat View
Sub-Sat ViewSub-Sat View
Sub-Sat View Sub-Sat ViewActual Actual Actual Actual
21 BoxSat-6 MOST 22 BoxSat-9 MOST 23 BoxSat-10 MOST 24 BoxSat-11 MOST 25 SimSat-1 MOST 26 SimSat-2 MOST
17 BoxSat-1 MOST 18 BoxSat-2 MOST 19 BoxSat-3 MOST 20 BoxSat-4 MOST
Actual Actual Actual Actual SimulationSub-Sat View Orbit View
Lat 023.4 S Long 090.6 E Alt 0123 k Lat 043.4 N Long 090.6 E Alt 0123 k Lat 043.4 S Long 090.6 E Alt 0123 k Lat 043.4 S Long 090.6 E Alt 0123 k Lat 043.4 S Long 090.6 E Alt 1123 k Lat 043.4 S Long 090.6 E Alt 0723 k
Orbit View Orbit View
Daylight 45:03 → Umbra
Ground St 22:10 → AOS ASF-1
B LC
Local Time 245:19:07:58
ADCS ModeNominalS/C StateLVLH
EPS OBC ADC RF +TCS
Daylight 26:58 → Daylight
Ground St 08:15 → LOSUHF, SBand
SSC
L
Local Time 245:02:07:58
ADCS ModeNominalS/C StateIH2
EPS
CBOBC ADC RCSRF +
Daylight 07:53 → Umbra
Ground St 17:20 → AOS KCC
Local Time 245:07:07:58
ADCS ModeS/C State
LVLH
EPS OBC ADC RF +
CONTACTTCS
Nominal
Daylight 27:53 → Daylight
Ground St 37:20 → AOS KCC
Local Time 245:09:07:58
ADCS ModeS/C State
SAFE
EPS OBC ADC RF TCS
CAR LCK+
SAFE
Daylight 07:53 → Umbra
Ground St 17:20 → AOS KCC
Local Time 245:07:07:58
ADCS ModeS/C State
LVLH
EPS OBC ADC RF +
CONTACTTCS
Nominal
Daylight 07:53 → Umbra
Ground St 17:20 → AOS KCC
Local Time 245:07:07:58
ADCS ModeS/C State
LVLH
EPS OBC ADC RF +
CONTACTTCS
Nominal
SORT SELECT
Ground St
KCC
245:07:07:58Local TmAzimuth
ElevationMax Elev
AOSLOS
82.4
009Sat #
281.3
19:38:37 [+05:30]
67.5 -
19:47:27 [-04:20]
UHFBand
CONTACT
AUTOMode
KCC ASF-1 ASF-2 SCC-1 SCC-2
ABC DEF-1 DEF-2 DEF-3 GHI-2
HMC3-1 HMC3-2 NMC3-1 NMC3-2 SMC3-1
SMC3-2 BMC3-1 BMC3-2 WPGS ARC-1
ARC-2 ARC-3 ARC-4 ARC-5
OPER STBY OPER DOWN STBY
LNK STBY OFFOPER OPER
STBY OPER STBY STBY OFF
OFF OPER OPER LNK DOWN
OPER OPER STBY OPER
UHF S-B S-B UHF S-B
C-B S-B S-B X-B Ku-B
UHF S-B UHF S-B UHF
S-B UHF S-B UHF
UHF
VHF
UHF S-B S-B
#1 #2 #3 #4 #5 #6 #7 #8 #9 #10
10%CPU
MEM
DISK
MC1 MC2 MC3 OTB1 OTB2 MC5 MC6 MC7 MC8 MC9 Ground Segment Monitor
MOC Computers Status
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CEO - Main Display (Current)
Ground Tracks
(selectable)
Status Displays
(8) Ground Segment Monitor
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CEO – FD Display (Current)
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COSMOS Multi-satellite Architecture
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COSMOS Multi-satellite Architecture
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• Data can be collected from multiple nodes that live in the same network
• In the case of multiple satellites, each satellite is a node • Nodes are “COSMOS-aware”
– Nodes execute COSMOS agents – Each agent complies with the COSMOS namespace
• Multiple ground stations can collect the data and forward the data using COSMOS agents
• The Mission Operations Center Servers – Synchronize the data – Parse the data into usable formats
• COSMOS Tools – Visualize the data in archival mode or real time – Command and Control scripts