team advisor: sam gagnard zoltan sternovsky pros8
TRANSCRIPT
PROS8Quinton Nietfeld, Kieran O’Day, Colton Ord, Ryan Cameron, Yang Lee,
Zaki Laouar, Zachary Arbogast, Mamdooh Alkalbani
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Critical Design Review
Team Advisor:Zoltan Sternovsky
Point of Contact:Sam Gagnard
Passive Radio Frequency Observation System 8
Project Motivation
Background
• Orbit Logic specializes in space situational awareness (SSA) and utilizes a software called Heimdall
• Heimdall schedules observations of known and uncharacterized space objects
• Heimdall currently uses Optical and RADAR sensors when scheduling observations
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Project Motivation
Problem
• Heimdall software does not support passive radio frequency (RF) observations
• Best practices for observing and characterizing satellites using RF sensors are unknown
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Project Objective
PROS8 is a satellite observation scoring and scheduling software that uses a passive radio frequency (RF) ground-station to determine and
compare satellite observation opportunities.
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Key Terms
• Two Line Element (TLE) Data – a data format encoding a list of orbital elements for Earth orbiting satellites
• Doppler Shift - change in frequency of a wave in relation to an observer who is moving relative to the wave source
• Radio Frequency (RF) – Electromagnetic waves with frequency ranging from 20kHz to 300 GHz.
• L1 Band – Subset of Radio Frequency with a range of 1 – 2 GHz
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CONOPS
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Design Solution
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FunctionalBlockDiagram
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Ground Station Design Solution
Signal Reception
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Signal Reception
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Pointing Controls
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RF HAMDESIGN SPX-02
RF HAMDESIGN Rot2Prog
Signal Processing
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Software Defined RadioSignal Hound USB-SA44B
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Software DesignSolution
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User Input
1. Satellite Orbit Parameters (TLE Data)
2. Observation window
Propagate Satellite Orbit from TLE data
Calculate Inertial Position of the
Satellite and the ground station.
Use the inertial position information to Calculate Satellite’s Azimuth and
Elevation Relative to the Ground Station
Output
Satellite observational score
Scoring Software Flow Diagram
Orbit Determination: Doppler Shift
• Doppler Shift - change in frequency of the received signal in time
• Doppler Shift can be used to find Slant Range Rate (Relative Speed)• Based on the difference in velocities of
ground asset and the satellite
• Difference in velocity is the range rate
• The range rate is then used to find the orbit elements estimate
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Orbit DeterminationOrbit Determination Basics:
1. Six variables are required to determine an orbit
I. Position Vector Components (3) & Velocity Vector Components (3)
II. Vectors used instead of orbit elements due to simplicity
2. Vector Equation Relate Range Rate to the Position & Velocity Vectors
3. Range Rate (Relative Speed) Obtained through Doppler Shift
4. To solve for the six components numerically, at least six range rate
measurements are required.
I. 6 variables -> 6 equations for a full set
Orbit Determination
SoftwareFlow Diagram
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Fourier Transform
Determine Center Frequency
Calculate Doppler Shift
Calculate Measured Range Rate
Compare Expected Range Rate to Measured Range Rate
Calculate Error in Position and Velocity Errors
Output New Position and Velocity Vectors
Determine if Solution Converges
User Input
1. Known Transmission Frequency
2. Satellite Orbit Parameters (TLE Data)
NO YES
Output
Final TLE Data Based on Final Position and Velocity
Calculations
SDRSignal
Reception
= Laptop
= Ground Station
Update ExpectedPosition,
Velocity Vectors and Range rate
Scheduling Software
Flow Diagram
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If only one satellite is selected
Remove Selected Satellite from List
User Input
1.Priority of Each Satellite
2. Satellite Orbit Parameters (TLE Data)
Satellite is Put Into Plan
Click to add text
Create Priority List
Create Scoring List Based on First Time in FOV
Select Satellite(s) With Highest Score
Two or More Satellites Selected
Higher Priority Satellite Put Into Observation Plan
Remove Higher Priority Satellite from List
Calculate Next Observation(s)
Calculate New Score(s) and Put Into List
MoreObservation
Spots Available
No ObservationSpots Available
Observation Plan Created
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Designation CPE Critical Characteristics
CPE-1 Signal Reception Receive radio frequency signals from satellite
CPE-2 Pointing Control Point antenna at the location of the satellite
CPE-3 Signal Processing Process the received analog signal and turn it into a digital signal
CPE-4 Scoring Software Gives a score to a given observation
CPE-5 Scheduling Software Schedules a plan for several observations
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Design Requirements and their Satisfaction
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Signal Reception – CPE1
• FR 1: Receive RF signals from satellites in various conditions, with various orbital geometries
• DR 1.1: Half-Power Beam-Width (θ) of the receiver 3 < θ < 20
• DR 1.2: The receiver will have a Gain > 15 dB
• DR 1.3: The receiver will be designed to receive frequencies in the L1 band
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Signal Reception Satisfaction
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Signal Reception Satisfaction
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CPE1 SATISFIED✔
Pointing Control – CPE2
• FR 2 - Point system along orbit path from manual input with 1°pointing accuracy
• DR 2.1 - Pointing hardware provides enough torque to rotate the antenna
• DR 2.2 - Able to run on 120V, 60Hz, 15A power supply
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Pointing Control Satisfaction
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Performance Measure Standard Version
Controller Rot2Prog
Resolution 0.5°/Step
Turning Torque 80 N*m
Weight 14.5 kg
Supply Voltage 12-18 VDC
Current Draw 3-20 A
Price $723.76
SPX-02
Rot2Prog Controller
FR 2
Pointing Control Satisfaction
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• Assumptions• Uniform density for each component
• Components firmly secured
• Constant Torque
• Model• Inertia estimate generated in SolidWorks
• SF = 4.0
• 𝜏 = 80 𝑁𝑚
• 𝐼 = 6.5248 𝑘𝑔 ∗ 𝑚^2
• 𝜔𝐿𝐸𝑂 = .008727𝑟𝑎𝑑
𝑠
𝜏 = 𝐼𝛼
𝑑𝜔
𝑑𝑡= 𝛼
𝜔 = 𝛼𝑡
𝛼 = 12.26𝑟𝑎𝑑
𝑠
Integrate w/ constant = 0
𝑡 = .00071𝑠To get to required slew rate.
DR 2.1
Pointing Control Satisfaction
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PW-32015 PSU
Regulates input voltage and current from wall outlet for to provide
optimal power for the SPX-02
DR 2.2
CPE2 SATISFIED✔
Power Supply
Signal Processing – CPE3
• FR 3 - Convert L1 band analog RF signal into a digital signal
• DR 3.1 - SDR must have a resolution bandwidth (RBW) of at most 2 kHz
• DR 3.2 - SDR must have a frequency range of at least 1 GHz—2 GHz
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SDR Theory of Operation
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Signal Processing Satisfaction
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CPE3 SATISFIED✔
Signal Hound SDR
Resolution Bandwidth = 0.1 Hz to 250 kHz and 5 MHz
Frequency Range = 1 Hz to 4.4 GHz
Scoring and Orbit Determination Software – CPE4
• FR 4: The scoring software shall provide scores for each planned observation and update orbit estimates after observation
• DR 4.1: The software shall take frequency measurements as its input and calculate Doppler shift
• DR 4.2: The software shall calculate orbit estimates based on Doppler shift
• DR 4.3: The software shall output scores for pre-planned scoring opportunities
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Software Input
• Desired observation timeframe
• Which satellites to observe
• Number of times to observe the satellites
• Ground Station information
• Two Line Element (TLE) Data
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Scoring Software Process
1. Choose Satellite & Time of Observation
2. Determine Orbit and Calculate Expected Inertial Position and Velocity of Satellite
3. Determine Azimuth and Elevation Relative to Ground Station
4. Calculate Score Based on Predetermined Factors
5. Output Observation Score
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Scoring Software Process
1. Choose Satellite & Time of Observation
2. Determine Orbit and Calculate Expected Inertial Position and Velocity of Satellite
3. Determine Azimuth and Elevation Relative to Ground Station
4. Calculate Score Based on Predetermined Factors
5. Output Observation Score
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Scoring Software Process
1. Choose Satellite & Time of Observation
2. Determine Orbit and Calculate Expected Inertial Position and Velocity of Satellite
3. Determine Azimuth and Elevation Relative to Ground Station
4. Calculate Score Based on Predetermined Factors
5. Output Observation Score
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Orbit Determination Process
1. Propagate Orbit Using TLE data to Calculate Expected Initial Inertial Position and Velocity
2. Software Takes Frequency Measurements at Positions at the times Provided by Scheduling Software
3. Frequency Measurement is used to calculate Doppler Shift at each viewing
4. Doppler shift is converted into slant range rate
5. Slant Range Rate is then turned into Orbit Estimate
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Orbit Determination Process
1. Propagate Orbit Using TLE data to Calculate Expected Initial Inertial Position and Velocity
2. Software Takes Frequency Measurements at Positions at the times Provided by Scheduling Software
3. Frequency Measurement is used to calculate Doppler Shift at each viewing
4. Doppler shift is converted into slant range rate
5. Slant Range Rate is then turned into Orbit Estimate
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Software Input: TLE Data
• Online database of Satellite Information
• Accessible to public
• Not fully accurate
• Includes:• Inclination (i)• Right Ascension of the Ascending Node (Ω)• Eccentricity (e)• Argument of Perigee (ω)• Mean Anomaly (M)• Mean Motion (n)
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Orbit Determination Process
1. Propagate Orbit Using TLE data to Calculate Expected Initial Inertial Position and Velocity
2. Software Takes Frequency Measurements at Positions at the times Provided by Scheduling Software
3. Frequency Measurement is used to calculate Doppler Shift at each viewing
4. Doppler shift is converted into slant range rate
5. Slant Range Rate is then turned into Orbit Estimate
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Orbit Determination Process
1. Propagate Orbit Using TLE data to Calculate Expected Initial Inertial Position and Velocity
2. Software Takes Frequency Measurements at Positions at the times Provided by Scheduling Software
3. Frequency Measurement is used to calculate Doppler Shift at each viewing
4. Doppler shift is converted into slant range rate
5. Slant Range Rate is then turned into Orbit Estimate
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Orbit Simulation Example (GPS BIIR 8)Rx (km) Ry (km) Rz (km) Vx (m/s) Vy (m/s) Vz (m/s)
TruthPosition & Velocity
8192.2 12225.3 21925.6 -2554.96 2940.54 -80.33
Propagated Position & Velocity
8192.2 12225.3 21925.6 -2554.96 2940.54 -91.54
Percent Error (%)
0 0 0 0 0 13.96
i (deg) e(dim less) ω (deg) Ω (deg) Θ (deg) a(km)
Truth Orbit Elements
57.16 0.129 3.92 310.22 94.88 26558.3
Propagated OrbitElements
57.18 0.127 4.23 310.11 94.64 26561.7
Percent Error (%)
0.0242 1.852 7.69 0.034 0.28 0.013
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Orbit Determination Process
1. Propagate Orbit Using TLE data to Calculate Expected Initial Inertial Position and Velocity
2. Software Takes Frequency Measurements at Positions at the times Provided by Scheduling Software
3. Frequency Measurement is used to calculate Doppler Shift at each viewing
4. Doppler shift is converted into slant range rate
5. Slant Range Rate is then turned into Orbit Estimate
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Scoring Software Process
1. Choose Satellite & Time of Observation
2. Determine Orbit and Calculate Expected Inertial Position and Velocity of Satellite
3. Determine Azimuth and Elevation Relative to Ground Station
4. Calculate Score Based on Predetermined Factors
5. Output Observation Score
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Scoring Software Process
1. Choose Satellite & Time of Observation
2. Determine Orbit and Calculate Expected Inertial Position and Velocity of Satellite
3. Determine Azimuth and Elevation Relative to Ground Station
4. Calculate Score Based on Predetermined Factors
5. Output Observation Score
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Scoring: Factors and Scores
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Scoring Factors Score Range
• Priority (Multiplier)• Importance viewing the chosen satellite
Value between 1 to 100
• Signal to Noise Ratio (Multiplier)• Ability to discern satellite's signal
0: Below System Threshold1: Above System Threshold
• Visibility (Multiplier)• Satellite is above the horizon
0: No Line of Sight1: Direct Line of Sight
• Number of Satellites within HPBW (Multiplier)• Observing only 1 satellite
0: Greater than 1 or No Satellites1: 1 Satellite
• Orbit Geometry (Function Inversely Proportional to Elevation)• Value based on experimental results
A*cos(Elevation) + C
Scoring Software Process
1. Choose Satellite & Time of Observation
2. Determine Orbit and Calculate Expected Inertial Position and Velocity of Satellite
3. Determine Azimuth and Elevation Relative to Ground Station
4. Calculate Score Based on Predetermined Factors
5. Output Observation Score
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Scoring Example
• For an observation window of 45 minutes, sampling rate of 1 Hz, a satellite with clear LOS (Line Of Sight), and only 1 Satellite in View,
• If any one of the multiplier condition is not met• Score for viewing = 0
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CPE4 SATISFIED✔
Scoring Software Process
1. Choose Satellite & Time of Observation
2. Determine Orbit and Calculate Expected Inertial Position and Velocity of Satellite
3. Determine Azimuth and Elevation Relative to Ground Station
4. Calculate Score Based on Predetermined Factors
5. Output Observation Score
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Scheduling Software – CPE5
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• FR 5 - The scheduling software shall develop an observation plan for given satellites
• DR 5.1 - The software shall give the orbit of a satellite within a given timeframe
• DR 5.2 - The software shall calculate the time between each viewing to be made
• DR 5.3 - The software shall determine if an observation can be made
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Scheduling Software: Terminology
• Viewing• An instance of when the antenna is receiving signal from the satellite
• Observation• All required viewings to update the orbital elements
• Observation Spot• A timeframe for an observation to take place
• Scoring List• List containing scores for each satellite for an observation spot
• Observation Plan• The plan that tells the software which satellite to look at and when to start and end
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User Input
1. Satellite Orbit Parameters (TLE Data)
2. Observation Time and Priority
Calculate Orbit ofSatellite during
Observation Timeframe
Determine when Satellite is in Field Of View of
Ground Station
Calculate time between each viewing
Observation is determined and scored
Put Into Scoring List
Scheduling Software
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DR 3.5.1
DR 3.5.2 DR 3.5.3
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Scheduling Software
Calculating Orbit Calculate time in-between Observation Decision
• Use TLE data to get position and velocity of satellite
• Enables the software to be aware of when and for how long the satellite is in view
• Software knows where to look for the satellite next
• Required to get the most information out of the observation
• Depends heavily on the timeframe
• Let's software know when to look for the satellite to get the most information
• Determines if the observation can be made during a particular time
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• Scores of each observation are needed to fill out Observation Plan
• Scoring List• List of score for each possible observation
• Takes Highest Score per Observation Spot• If two or more same scores, highest priority satellite is picked
• Satellite not picked put back into scoring list to obtain a new score and observation spot
• Software goes through list until all satellites have an observation spots or no more observation spots are available
Observation Plan
CPE5 SATISFIED✔
Project Risk
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Project Risks
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Risk Matrix
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Risk Mitigation
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Risk Mitigation
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Risk Mitigation
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Testing, Verification, and Validation
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Test Schedule
Fall 2019 Scoring Software Orbit DeterminationSoftware
Scheduling Software
Jan 2020 Pointing Control System Lab Test
Signal ReceptionLab Test
Signal Processing Lab Test Software Lab Test (In Conjunction with Hardware)
Feb 2020
Complete System Field TestMarch 2020
Beam width Requirement:
1. Find max gain
2. Find angle at which gain attenuated by 3 dB
Gain Requirement:
1. Model max power received at 0 dB gain
2. Compare against actual received power
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Signal Reception Test
Dish
Pointing Controls Test: Resolution• Accuracy of movement
• Equipment: Laser Pointer, wall outlet, grid
• Plan• Attach laser pointer to rotor,
• move controller 1 step,
• measure movement on grid,
• calculate angle moved,
• repeat 10 times.
• Calculate average movement per step and compare to supplier specs
• Measurement issues: Making sure laser pointer is fully secured to the rotor
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Pointing Controls Test: Torque
• Simulate whole dynamic torque mission segment.• Equipment: DYNOmite Dynamometer,• Plan:
• Connect rotor to dynamometer• For a given mission segment, adjust the
applied torque to match the segment torque
• Repeat for each mission segment• Calculate torque profile
• Measurement Issues: Dynamometer is not currently set up, slip in gear connection to the dynamometer.
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Signal Processing Test
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Software Test
• Provide a list of satellites, priorities, and observation times, output scores for satellite & observation time combinations.
• Highest priority satellites need to be viewed first
• Satellites near the horizon need to be viewed first
• Calculate & Update Orbit Elements to Reflect the Satellite's Orbit
• TLE Data is inaccurate
• Compare the Calculated Satellite Orbit to Real-Time Online Satellite Trackers
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Field Tests
• Hardware• Set up system as planned
• Powered through wall outlet• Position and Attitude Determined via GPS & Compass
• Software• Scoring
• Input several satellites and observation times• Output scores for aforementioned satellites
• Scheduling• Schedule observations for satellites and observation opportunities with a non-zero score
• Orbit Determination• Update TLE data based on actual observations• Compare with real-time online satellite trackers
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Project Plan
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Organizational Structure
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Work Breakdown Structure
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= Completed
= Future Work
Work Plan
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Software Development and Testing
Work Plan
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Component purchases, component testing, and ground station assembly
Work Plan
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Full System integration and testing
Work Plan
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Critical Path
Cost PlanComponent Cost Allocated
AmountBudget Margin
Antenna $917.55 $1300 29.42%
SDR $919 $1100 16.45%
Antenna Pointing
$855.05 $1400 38.93%
Tripod $419.80 $500 16.04%
Cables and Power Supply
$260.88 $400 34.78%
Mounting $202.84 $300 32.39%
Total $3575.12 $5000 28.50%
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Questions
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Backup Slides
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Project Motivation
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Dish Efficiency
• Blockage Efficiency
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• Feed Efficiency
Signal Reception with chosen components
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Full Link Budget
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Signal Reception Satisfaction
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Pointing Controls - Specifications
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Additional Accessories
Needed:
PW32015 Power Supply Unit
$110.74
CC8-001 Motor Control Cable (25m)
$102.72
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CPE - AntennaGoverning Equations
F = 1+Tr/T0
Ts = Ta + Tr
90
Orbit Determination Details
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Orbit Determination: Range Rate
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Scheduling Software: Viewing
• Need to get most information for observation• Depends on time between
(Δt) each viewing
• Δt depends on the position and velocity of the satellite
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Observation Plan Details
• Chance of observation of a satellite depends on priority and quality of all viewings
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Priority• Based on user input• Ensures that more important
satellites, to the user, have a higher chance of being observe
• Not the most important factor
Quality of Viewings• Depends on score of the
viewings• Makes sure that the viewing
gets the most and correct information
• Better scores means higher chance of being observed
Observation Plan Details
• Creating Priority List• Created from User Input
• List that rearranges the satellites based on priority
• Scoring List• This is done by finding the first time each satellite is in the field of view
• A score is given during that observation window.
• After all satellites have been found, the list is rearranged from highest to lowest score
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Observation Plan Details
• Creation of Observation Plan• The software then goes through the whole list, starting at the highest score,
until either there is no more observation spots, or the list is empty• If an observation spot is taken, the next time the satellite is in the FOV is calculated and
scored. This score is then put back into the list
• If two or more satellites have the same score for an observation spot, the spot goes to the higher priority satellite
• The satellite(s) not picked have their next time in the FOV calculated and scored. This score is then placed back into the list
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Antenna Pick-up to Dish Mount
• GeoSat Pro comes with LNBF Type clamp• Diameter – 40mm
• Logarithmic pickup comes with threaded hole for a tripod mount.• ¼" - 20 thread
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Antenna Dish to Pointer Mount
• Material: Aluminum 6061 T6
• Max allowable force:• 8885.59 N
• Static Force:• 56.0456 N
• sF = 317.084
• Max Dynamic Force:
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Tripod
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STR-01 – RFHamdesign• Height: 0.67 to 0.83 m
• Weight: 11 kg
• Max load: 30 kg
• Price: $419.8
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Software Verification
MATLAB Unit Verification
• Calculate Doppler Shift for Test Case (FR 3.4)
• Calculate Orbit Elements for Test Case (FR 3.4)
• Calculate Eigenvalues for Test Case (FR 3.5)
MATLAB Integration Verification
• Input Test Case into Full Simulation (FR 3.4 & FR 3.5)
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Functional Testing:• Unit Testing• Integration
TestingNon-Function Testing:• Performance
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Power
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• Power Margin: 360 W
• Current Margin: 1.69 A
• Voltage Drop: 0.5 VAC (negligible)
Project Overview Design SolutionCritical Project
ElementsDesign
RequirementsRisk
Verification & Validation
Project Plan
Functional Requirements
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FR 3.1: Receive radio frequency (RF) signals from satellites in various conditions, with various orbital geometries
FR 3.2: Point system along orbit path from manual input with 1° pointing accuracy
FR 3.3: Convert L1 band analog RF signal into a digital signal to calculate Doppler shift
FR 3.4: The scoring software shall provide orbit estimates and scores for each planned observation
FR 3.5: The scheduling software shall develop an observation scheduling plan for a given satellite.