Team Advisor: Sam Gagnard Zoltan Sternovsky PROS8

PROS8Quinton Nietfeld, Kieran O’Day, Colton Ord, Ryan Cameron, Yang Lee,

Zaki Laouar, Zachary Arbogast, Mamdooh Alkalbani

1

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

2Project Overview Design Solution

Critical Project Elements

Design Requirements

RiskVerification &

ValidationProject Plan

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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ValidationProject PlanProject Overview Design Solution


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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

8Project Overview Design SolutionCritical Project

ElementsDesign

RequirementsRisk

Verification & Validation

Project PlanProject Overview Design SolutionCritical Project

ElementsDesign

RequirementsRisk


Project Plan



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Ground Station Design Solution

Signal Reception



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Signal Reception



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Pointing Controls

Project Overview Design SolutionCritical Project

ElementsDesign

RequirementsRisk


Project Plan12

RF HAMDESIGN SPX-02

RF HAMDESIGN Rot2Prog

Signal Processing

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Software Defined RadioSignal Hound USB-SA44B


ElementsDesign

RequirementsRisk


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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


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


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


ElementsDesign

RequirementsRisk


Project Plan

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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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




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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




Design Requirements

RiskVerification &


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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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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40









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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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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









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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✔









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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


ElementsDesign

RequirementsRisk


Project Plan

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



Design Requirements

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User Input


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


ElementsDesign

RequirementsRisk


Project Plan

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



Design Requirements

RiskVerification &


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



Design Requirements

RiskVerification &


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.



Design Requirements

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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%



Design Requirements

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Questions

81

Backup Slides

82

Project Motivation



Design Requirements

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Design Requirements

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84

Dish Efficiency

• Blockage Efficiency

85

• Feed Efficiency

Signal Reception with chosen components



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Full Link Budget

87




Design Requirements

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Pointing Controls - Specifications

89

Additional Accessories

Needed:

PW32015 Power Supply Unit

$110.74

CC8-001 Motor Control Cable (25m)

$102.72


ElementsDesign

RequirementsRisk


Project Plan

CPE - AntennaGoverning Equations

F = 1+Tr/T0

Ts = Ta + Tr

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Orbit Determination Details

91

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


• 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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• 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


ElementsDesign

RequirementsRisk


Project Plan

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:


ElementsDesign

RequirementsRisk


Project Plan

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


ElementsDesign

RequirementsRisk


Project Plan

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


ElementsDesign

RequirementsRisk


Project Plan

Power

101

• Power Margin: 360 W

• Current Margin: 1.69 A

• Voltage Drop: 0.5 VAC (negligible)


ElementsDesign

RequirementsRisk


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.

Documents

Team Advisor: Sam Gagnard Zoltan Sternovsky PROS8