Micro/Nano-satellites On-board Software Framework Design and … · Its Implementation in Hodoyoshi...

Micro/Nano-satellitesMicro/Nano satellitesOn-board Software Framework Design

andandIts Implementation in Hodoyoshi

S t llitSatellites

Junʼichi Takisawa, Shinichi Nakasuka(ISSL, The University of Tokyo)

Sotaro Kobayashi, Tran Ngoc Lan Huong, Shinichi Kimuray , g g,(Tokyo University of Science)

5th Nano-Satellite Symposium, 2013/11/20

OutlineOutline2

Background

Overview of the Framework

D i D i d C Pl tf C bilit Driver Design and Cross-Platform Capability

Cmd/Tlm Handling Application Cmd/Tlm Handling Application

Verification Platform

Conclusions

Background

Evolutions of Micro/Nano-S t llitSatellites

4

Advanced Missions and LongerAdvanced Missions and Longer Lifetime

Requires Higher Reliability

Problems and StrategyProblems and StrategyHow to realize higher reliability with

5

How to realize higher reliability with Low development cost Short development period

Strict requirementsfor micro/nano-satellit Short development period

Key Strategy = Reuse of satellite components Proven components increase reliability directly

for micro/nano satellit

Proven components increase reliability directly Reuse reduces many tests

and realizes low cost and short development period Reuse enables feedback from past operation

and realizes continuous improvement of reliability

Components = Hardware and also Software

Hardware Side StatusHardware Side Status Many proven components and knowledge

6

Many proven components and knowledge are accumulated from past missions

Many Micro/Nano-satellite components companiesy / p pform a sustainable supply chain

Satellite AA

Satellite B

Software Side StatusSoftware Side StatusInsufficient

7

Insufficientknowledge accumulationaccumulation Each satellite has each

independent softwarep There is no reuse-

oriented satellite ft

Software should absorb hardware and mission

software On-Board Software for Satellite A

On-Board Software for Satellite B

differences in each satellite.

In order to realize i t d ftreuse-oriented software,

systematic framework is really needed

Completely Different

On-Board Software F kFramework

8

tion Framework Based Environment

Extr

act Application

On-Board Software

Framework

SpecificOn-Board Softwareed

ge E

Framework Software

FeedbackKnow

le

FeedbackK

Overview of the Framework

Overview of the FrameworkOverview of the Framework10

Mode Managementyste

m

TransitionManageme Task ManagementCo

reSy

nt

Task ListTransitSeque

Mid D

Apper S

ide Task List

tion ence

ddlewa

re

Driver

plicationUs

e

S/W design flow on this F kFramework

R i t D fi iti11

Requirement Definition~~~~~~

~xxxxxxxxx ○×▽□▽○※-----------

Mode Definitionx ----

Task List DefinitionMODE A MODE B MODE C

Task Task

Application Definition

Task A Task B Tas

k C Task D Task A Task B Tas

k C Task

t Application Definition

App. A

App. B

App. C

App. D

Example of H3 Mode D fi itiDefinition

12

StandbyM d

Initial Sequence ArmingSafeM d ModeMode

En

kout

S/C Sep. Cmd Cmd

ter to C

h Ch

eck

heckout

Fini

sh

Cmd

Checkout

Mode

t

Low Bat. VoltageLow Bat. Voltage

Example of H3 TaskListD fi itiDefinition

13

Step 0 10 20 30 40

Execution TimingStep 0 10 20 30 40

Top Level

Cycle 0

Cycle 1 <- WDB CLEAR <- Cycle Tag

Cycle 2 <- HRM TLM <- WDB

Cycle 3 <- AD590 Phase1

Cycle 4 <- STRx TLM

GS Packet Handler Interval 500 AOBC Packet Handler TLM Handler SHU TLM Debug PrintB2 Rx EPS TLM

B3 Tx

B3 Tx HRM

B3 Tx

B3 Tx

Screen

CMDB3 Tx

Packet Analyzer

B0 Rx Packet Analyzer

CCSDS Rx Analyzer B0 Rx Packet Analyzer Gen CCSDS Tx

B0 RxCCSDS Rx Analyzer

CCSDS Rx Analyzer

CCSDS Rx Analyzer

CCSDS Rx Analyzer

Packet Analyzer


B0 Rx

Gen CCSDS Tx

Gen CCSDS Tx

Gen CCSDS Tx

Gen CCSDS TxCycle 4 < STRx TLM

Cycle 5

Cycle 6

Cycle 7

Cycle 8

Cycle 9

C l 10 B2 R EPS TLM

B3 Rx SHU Packet Handler

B0 Tx

UVC

STRx

AD590 h0 3

TLM

PCU

CMD

BPDU

MPDU


B3 Tx

B3 Tx



B3 Tx

B3 TxB0 Rx Packet Analyzer Gen CCSDS Tx

CCSDS Rx Analyzer

CCSDS Rx Analyzer


CCSDS Rx Analyzer

B3 TB0 R P k t A l

B3 Tx

B3 Tx


CCSDS Rx Analyzer

CCSDS R A l

CCSDS Rx Analyzer Gen CCSDS Tx

CCSDS Rx Analyzer

Gen CCSDS Tx

G CCSDS T

Gen CCSDS Tx

Gen CCSDS Tx

Gen CCSDS Tx

Cycle 10

Cycle 11

Cycle 12 <- DC Rx

Cycle 13 <- AD590 Phase2

Cycle 14 <- STRx TLM

Cycle 15

B2 Rx EPS TLM

CSAS TLM

B2 Tx CSAS M-Side

AD590 ch0-3

AD590 ch3-7

AD590 ch8-b

AD590 chc-f

CSAS P-SideCCSDS Rx Analyzer

CCSDS Rx Analyzer

B3 Tx

B3 Tx

B3 TxB0 Rx Packet Analyzer Gen

B3 Tx

CCSDS Tx

B3 Tx

B3 Tx



CCSDS Rx Analyzer




CCSDS Rx Analyzer

CCSDS Rx Analyzer

CCSDS Rx Analyzer

Gen CCSDS Tx

Gen CCSDS Tx

Gen CCSDS Tx

Gen CCSDS Tx

Gen CCSDS Tx

Cycle 16

Cycle 17

Cycle 18

Cycle 19

Heater Control

B3 Rx SHU Packet Handler

UVC

Heater Ctrl

B3 Tx

B3 Tx


B3 Tx

B3 Tx



B0 Rx Packet AnalyzerCCSDS Rx Analyzer

CCSDS Rx Analyzer

CCSDS Rx Analyzer

CCSDS Rx Analyzer

Gen CCSDS Tx

Gen CCSDS Tx

Gen CCSDS Tx

Gen CCSDS Tx

EachEach applications

Driver Design andDriver Design andCross-Platform Capabilityp y

Layered Design of Driver Softwarey g15

L d St t Fl ibilit i t H/WLayered Structure → Flexibility against H/W Differences

Application LayerApplication Layer

HeatCont

PackHandl

TLMGen

CMHand l

S/W U

D i Lterrol

ketling

Mn.

Driver-Application I/FAbsorb Component Differe

Dling

UVC

Driver Layer

PCU

Comm

STT

RWm.

Middleware Layer

Middleware-Driver I/FAbsorb Platform Difference

Hardware Layer

Drivers Cross-Platform C bilitCapability

H d hi 3 OBC16

Hodoyoshi-3 OBC

Data exchange

B CCHAN 1

GPS receiverSun sensorGyro sensor

between OBC

BoCCHAN-1y

Geomagnetic sensorStar sensorReaction wheelReaction wheelMagnetic torqure ・・・

Cmd/Tlm HandlingCmd/Tlm Handling Applicationpp cat o

Problems on Cmd/TlmS ftSoftware

18

Command and telemetry code are likely to be added or modified during the satellite gdevelopment process.

On-board software must correspond not only On-board software must correspond not only to mission design but also to the operation database of the ground systemdatabase of the ground system.

Adding … HumanCODE

Adding Modifying...

Human error

CODE

Automatic Code Generation System y

Satellite Design Documents

Ground System DatabaseTelemetry & Command

Documents

Ground System Database Generator

Telemetry & Command Code Generator

Auto-generated Source Code

Auto-generated Database

On-board Operation Direct ConnectionSoftware Software

Actual Generation System in Hodo oshi 3Hodoyoshi-3

20

Ground System Database Generator

Direct ConnectionOn-board Software

Verification Platform

Software Verification Stepsp22

① MILS (Model In-the-

② SILS(Software In- ③ HILS

(Hardware In-the-LoopLoop Simulation)

the-Loop Simulation)

(Hardware In-the-LoopSimulation)

RS422Testconfigurati

RS422-USB

on OBC

Things to test

Control Logic, mode transition

C code C code on OBC, Sensor/actuator drivers

Tools MATLAB/Simulink

MATLAB/Simulink, I/F soft

S/W: MATLAB/Simulink, LabVIEWH/W: AD converter, RS422-

Configuration of HILSConfiguration of HILS23

CMD

TLM

Conclusions

ConclusionsConclusionsP ti l i / t llit i hi h

26

Practical micro/nano satellite requires higher reliability than usual micro/nano satellites and “Reuse” is a key strategy to solve this problemReuse is a key strategy to solve this problem with low cost and short development period.

To establish reuse oriented satellite software To establish reuse oriented satellite software development environment, we design “On-bard Software Framework”.

The development of satellite software based on that framework is in progress under Hodoyoshi

d f l h b d fproject, and its first results have been used for Hodoyoshi-3 & 4.A l ti f ft d l d b Accumulation of software developed by many satellite developers based on the same framework is now being organized in UNISEC (university)

Micro/Nano-satellites On-board Software Framework Design and … · Its Implementation in Hodoyoshi...

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