Implementing the Comprehensive Open-architecture Space Mission

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

3

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).

4 CubeSat Developers’ Workshop CubeSat Developers’ Workshop

* 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

5 CubeSat Developers’ Workshop

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


COSMOS Generalized Architecture

Launch Vehicles

COSMOS

7

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

Upl

oads

SC

R/T

CM

D

SC

SO

H T

LM

Sch

edul

e

Pas

s P

lan

Orb

it E

phem

eris

GS

CM

D

P/L

Dat

a

GS

Sta

tus

Pos

t-Pas

s R

epor

ts

COSMOS

Mission Operations Team Payload Customers

SC Engineers

COSMOS GS Interface

COSMOS GUI

Mis

sion

D

ata

Ope

rato

r C

omm

ands

Anomaly Resolution Request

Tasking Requests

Reports

Reports

Tasking Requests

Mis

sion

S

tatu

s

Mis

sion

S

tatu

s

Pay

load

D

ata

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

D

SC

SO

H T

LM

Sch

edul

e

Pas

s P

lan

Orb

it E

phem

eris

GS

CM

D

P/L

Dat

a

GS

Sta

tus

Pos

t-Pas

s R

epor

ts

COSMOS

Mission Operations Team Payload Customers

SC Engineers

COSMOS GS Interface

COSMOS GUI

Mis

sion

D

ata

Ope

rato

r C

omm

ands

Anomaly Resolution Request

Tasking Requests

Reports

Reports

Reports

Tasking Requests

Mis

sion

S

tatu

s

Mis

sion

S

tatu

s

Pay

load

D

ata

Payload Status


COSMOS Architecture - Elements

• Standards: – Language:

• Posix compliant C++11 – O/S:

• Linux • MacOS • Windows 7

– Protocols and Environments: • Qt • JavaScript Object Notation (JSON)


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


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



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




MOST Configured for 3U CubeSat

CubeSat Developers’ Workshop 14

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)


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


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

LOG

LOG

LOG

LOG

LOG

LOG

LOG

LOG

LOG

LOG

LOG

LOG

LOG

LOG

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


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



Local Time 245:09:07:58

ADCS ModeS/C State

SAFE

EPS OBC ADC RF TCS

CAR LCK+

SAFE


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


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



B LC

Local Time 245:19:07:58


EPS OBC ADC RF +TCS



SSC

L

Local Time 245:02:07:58


EPS

CBOBC ADC RCSRF +

Lat 073.6 S Long 187.4 E Alt 0557 k



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



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



B LC

Local Time 245:19:07:58


EPS OBC ADC RF +TCS



SSC

L

Local Time 245:02:07:58


EPS

CBOBC ADC RCSRF +



Local Time 245:07:07:58

ADCS ModeS/C State

LVLH

EPS OBC ADC RF +

CONTACTTCS

Nominal



Local Time 245:09:07:58

ADCS ModeS/C State

SAFE

EPS OBC ADC RF TCS

CAR LCK+

SAFE



Local Time 245:07:07:58

ADCS ModeS/C State

LVLH

EPS OBC ADC RF +

CONTACTTCS

Nominal



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


CEO - Main Display (Current)

Ground Tracks

(selectable)

Status Displays

(8) Ground Segment Monitor


CEO – FD Display (Current)


COSMOS Multi-satellite Architecture


COSMOS Multi-satellite Architecture


• 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

Mahalo! Dr. Trevor C. Sorensen

[email protected] 808-956-4715

http://www.COSMOS-project.org

mailto:[email protected]�

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Implementing the Comprehensive Open-architecture Space Mission