Sensors for orientation and control of satellites and ... · Sensors for orientation and control of...
Transcript of Sensors for orientation and control of satellites and ... · Sensors for orientation and control of...
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Sensors for orientation and control of satellites and space probes Space for Education, Education for Space
Space for Education, Education for Space ESA Contract No. 4000117400/16NL/NDe
Specialized lectures
Sensors for orientation and control of satellites and space probes
Ing. Ondrej Závodský
GOSPACE s.r.o.
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Sensors for orientation and control of satellites and space probes Space for Education, Education for Space
1) How to determine the orientation of the satellite? – Sensors
– Calibration
– Sensor fusion
2) How to control the orientation of the satellite? – Passive systems
– Magnetorquers • B-dot algorithm
• Testing with 3D helmholtz coils system
– Reaction wheel
Content
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Sensors for orientation and control of satellites and space probes Space for Education, Education for Space
1) Attitude Determination
• Gyroscope
– Measure angular velocity
– Types
• MEMS vibrating structure
• Optical gyroscopes
Sensors
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Sensors for orientation and control of satellites and space probes Space for Education, Education for Space
1) Attitude Determination
• MEMS vibrating gyroscope
– Uses Coriolis force
• Hurricanes
• Toilets
Sensors
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Sensors for orientation and control of satellites and space probes Space for Education, Education for Space
1) Attitude Determination
• MEMS vibrating gyroscope
– Uses Coriolis force
Sensors
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Sensors for orientation and control of satellites and space probes Space for Education, Education for Space
1) Attitude Determination
• Optical gyroscope
– Developed soon after the discovery of laser technology
– Operate under the principle of the Sagnac effect
Sensors
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Sensors for orientation and control of satellites and space probes Space for Education, Education for Space
1) Attitude Determination
• Optical gyroscope
– Polarised light interference
Sensors
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Sensors for orientation and control of satellites and space probes Space for Education, Education for Space
1) Attitude Determination
• Gyroscope main parameters
– Sensitivity [deg/s]
– Noise [deg/s]
– Bandwidth [Hz]
– Full-scale [deg/s]
– Zero drift and temperature drift [deg/s]
– Sensitivity drift
– Cross-axis
Sensors
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Sensors for orientation and control of satellites and space probes Space for Education, Education for Space
1) Attitude Determination
• Magnetometer
– Measure three-axis magnetic field
– Possible detect position relative to the Earth
• IGRF or WMM2015 model
– Types
• Fluxgate
• AMR
• Hall-effect
Sensors
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Sensors for orientation and control of satellites and space probes Space for Education, Education for Space
1) Attitude Determination
• Fluxgate magnetometer
– Uses saturation of high permeable core
– Very high sensitivity (up to 1nT)
Sensors
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Sensors for orientation and control of satellites and space probes Space for Education, Education for Space
1) Attitude Determination
• Fluxgate magnetometer Sensors
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Sensors for orientation and control of satellites and space probes Space for Education, Education for Space
1) Attitude Determination
• Fluxgate magnetometer Sensors
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Sensors for orientation and control of satellites and space probes Space for Education, Education for Space
1) Attitude Determination Sensors
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Sensors for orientation and control of satellites and space probes Space for Education, Education for Space
1) Attitude Determination
• AMR (Anisotropic Magnetoresistance)
– Changes the value of its electrical resistance in an externally-applied magnetic field.
Sensors
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Sensors for orientation and control of satellites and space probes Space for Education, Education for Space
1) Attitude Determination
• AMR (Anisotropic Magnetoresistance) Sensors
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Sensors for orientation and control of satellites and space probes Space for Education, Education for Space
1) Attitude Determination
• AMR (Anisotropic Magnetoresistance)
– Null-field offsets
Sensors
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Sensors for orientation and control of satellites and space probes Space for Education, Education for Space
1) Attitude Determination
• AMR (Anisotropic Magnetoresistance)
– Temperature drift
Sensors
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Sensors for orientation and control of satellites and space probes Space for Education, Education for Space
1) Attitude Determination
• AMR (Anisotropic Magnetoresistance)
– Set/reset procedure
• Reduces null-field offset and temperature drift offset
Sensors
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Sensors for orientation and control of satellites and space probes Space for Education, Education for Space
1) Attitude Determination
• Magnetometer main parameters
– Sensitivity [uT or Gauss] (1gauss = 100uT)
– Noise [uT]
– Bandwidth [Hz]
– Full-scale [uT]
– Zero drift [uT]
– Temperature drift [uT/°C]
– Sensitivity drift [%/°C]
– Cross-axis [%]
Sensors
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Sensors for orientation and control of satellites and space probes Space for Education, Education for Space
1) Attitude Determination
• Earth sensor
– 16x4 px thermopile
– Detects earth-space horizon based on the temperature difference
Sensors
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Sensors for orientation and control of satellites and space probes Space for Education, Education for Space
1) Attitude Determination
• Sun sensor
– Detects position of the Sun
– Types:
• PSD detector
• QUAD detector
Sensors
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Sensors for orientation and control of satellites and space probes Space for Education, Education for Space
1) Attitude Determination
• PSD detector
– measure a position of a light spot in one or two-dimensions on a sensor surface
– High precision
Sensors
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Sensors for orientation and control of satellites and space probes Space for Education, Education for Space
1) Attitude Determination
• Quad photodiode detector
– Incoming light is focused on the detector as a spot
– Comparing of the output currents received from each of the four quadrants = position of light source
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Sensors for orientation and control of satellites and space probes Space for Education, Education for Space
1) Attitude Determination Calibration
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Sensors for orientation and control of satellites and space probes Space for Education, Education for Space
1) Attitude Determination
• Sun-sensors orthogonality Calibration
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y = -2.437x - 0.7143
-100
-80
-60
-40
-20
0
20
40
60
80
100
-40 -30 -20 -10 0 10 20 30 40
VÝ
STU
P S
NÍM
AČ
A
UHOL VZHĽADOM K ZDROJU SVETLA [°]
Sun-sensors
X- X+ Y+ Y- X- polo
X+ polo Y+ polo Y- polo Linear (Y-)
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Sensors for orientation and control of satellites and space probes Space for Education, Education for Space
1) Attitude Determination
• Star tracker
– Optical device that measures the position(s) of star(s) using photocell(s) or a camera.
Sensors
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Sensors for orientation and control of satellites and space probes Space for Education, Education for Space
1) Attitude Determination Sensors
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Sensors for orientation and control of satellites and space probes Space for Education, Education for Space
1) Attitude Determination
• Sensor fusion
– Gyroscope
• Drift
• Low-pass noise
• Poor response
– Magnetometer
• Noisy
• low-drift
Sensor fusion
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Sensors for orientation and control of satellites and space probes Space for Education, Education for Space
• Passive systems
• Magnetic stabilization
– B-dot algorithm
– Testing with 3D helmholtz coils system
• Reaction wheel
2) Attitude control
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Sensors for orientation and control of satellites and space probes Space for Education, Education for Space
2) Attitude control
• Passive magnetic stabilization
– Uses permanent magnet
– 2-axis stabilization
Passive systems
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Sensors for orientation and control of satellites and space probes Space for Education, Education for Space
2) Attitude control
• Gravitation Gradient Stabilization
– Different distance of the two masses m1
and m2 to the center of gravity -> F1 > F2
– Centrifugal forces Fz1 and Fz2 also different
Passive systems
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Sensors for orientation and control of satellites and space probes Space for Education, Education for Space
2) Attitude control
• Gravitation Gradient Stabilization
– Example of a Gravitational Stabilized Satellite (UoSat-12)
Passive systems
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Sensors for orientation and control of satellites and space probes Space for Education, Education for Space
2) Attitude control
• Spin-Stabilization – Rotating mass has an inherent
stability (just like a spintop)
– Long duration stability around the spinning axis
– Antenna and instruments are rotating
– Solar arrays must be body mounted
– Examples: INTELSAT I, II und III, METEOSAT, MSG
Passive systems
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Sensors for orientation and control of satellites and space probes Space for Education, Education for Space
2) Attitude control Reaction wheels
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• Reaction wheels
– Implemented as special electric motors
– rotation speed is changed - counter-rotate proportionately through conservation of angular momentum
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Sensors for orientation and control of satellites and space probes Space for Education, Education for Space
2) Attitude control Reaction wheels
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Sensors for orientation and control of satellites and space probes Space for Education, Education for Space
2) Attitude control
• Active magnetic stabilization
– Complexity (Actuators, Sensors, Software)
– Not for interplanetary missions (require external magnetic field)
Magnetic stabilization
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Sensors for orientation and control of satellites and space probes Space for Education, Education for Space
2) Attitude control
• Magnetorquer
– Small coercivity is required
– Higher permeability = lower energy
Magnetic stabilization
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Sensors for orientation and control of satellites and space probes Space for Education, Education for Space
2) Attitude control Magnetic stabilization
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Sensors for orientation and control of satellites and space probes Space for Education, Education for Space
2) Attitude control
• B-dotequation 𝑚 = −𝑘 𝐵
Magnetic stabilization
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Derivation of the magnetic field Proportional gain Commanded magnetic dipole moment
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Sensors for orientation and control of satellites and space probes Space for Education, Education for Space
2) Attitude control
• B-dot algorithm
• Magnetorquers
Magnetic stabilization
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Sensors for orientation and control of satellites and space probes Space for Education, Education for Space
2) Attitude control
• Testing of ADCS
– 3D hemholtz coils system
• Generates an external magnetic field
– Air bearing
• Creates conditions of microgravity
Testing
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Sensors for orientation and control of satellites and space probes Space for Education, Education for Space
2) Attitude control Magnetic stabilization
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Sensors for orientation and control of satellites and space probes Space for Education, Education for Space
2) Attitude control Magnetic stabilization
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Sensors for orientation and control of satellites and space probes Space for Education, Education for Space
2) Attitude control Magnetic stabilization
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y = 29.838e-0.019x
y = 30.506e-0.029x
0
5
10
15
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25
30
35
0 5 10 15 20 25 30 35
AN
GU
LAR
VEL
OC
ITY
[°/
SEC
]
ČAS
B-dot axis Y-Z
bez b-dot z b-dot z-os Expon. (bez b-dot z) Expon. (b-dot z-os)
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Sensors for orientation and control of satellites and space probes Space for Education, Education for Space
• Thank you for your attention
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