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PRINCETONSATELLITESYSTEMS 1
6 Market Street, Suite 926, Plainsboro, New Jersey 08536-2096 Phone: 609-275-9606 | Fax: 609-275-9609
E-Mail: [email protected] Web: www.psatellite.com
Toolboxes for MATLAB® Princeton Satellite Systems, Inc. is a trusted provider of advanced control software. Our MATLAB® toolboxes provide you with the tools you need to create cutting edge products. Whether you are a new customer or an
existing customer, you will find exciting new tools to accelerate your research and development.
PRINCETONSATELLITESYSTEMS 2
6 Market Street, Suite 926 -275-9609
E-Mail: [email protected] Web: www.psatellite.com
Spacecraft Control Toolbox
Professional Edition
Academic Edition
CubeSat Toolbox
VisualCommander
Fusion PropulsionModule
Spin Axis Attitude Determination Module
Solar Sail Module
Formation Flying Module
Aero/Astro Vehicle Control
DSim ControlDeck MatrixLib
SpacecraftModels
Flight Software and Embedded System Simulation
Orbit Mini Toolbox
Add-ons
Aircraft Control Toolbox
Academic Edition
Professional Edition
Launch Vehicle Toolbox
Launch Vehicle Module
* includes both Spacecraft and Aircraft
Core Control Toolbox Target Tracking Module
Imaging Module
Wind Turbine Module
Control Systems
Mac App SimulationFramework
SCControl
MATLAB Product Line
LunarCube
PRINCETONSATELLITESYSTEMS 3
6 Market Street, Suite 926 -275-9609
E-Mail: [email protected] Web: www.psatellite.com
Contents Princeton Satellite Systems MATLAB® Toolboxes ..................................................................... 4
Spacecraft Control Toolbox ......................................................................................................... 5
LunarCube Module for CubeSat .................................................................................................. 6
Case Study: Asteroid Prospector ................................................................................................ 7
Core Control Toolbox .................................................................................................................. 9
Aircraft Control Toolbox ............................................................................................................... 9
Add-On Modules ....................................................................................................................... 10
Wind Turbine Control Module ............................................................................................................. 10
Target Tracking Module ...................................................................................................................... 10
Imaging Module (Core only) ................................................................................................................ 10
Formation Flying Module (SCT Only) .................................................................................................. 10
Fusion Propulsion Module (SCT Only) ................................................................................................ 10
Solar Sail Module (SCT Only) ............................................................................................................. 10
Spin Axis Attitude Determination Module (SCT Only) ......................................................................... 10
LunarCube (CubeSat/SCT Academic) ................................................................................................ 10
Orbit Mini Toolbox (CubeSat) .............................................................................................................. 10
New in Version 2016.1 .............................................................................................................. 11
PRINCETONSATELLITESYSTEMS 4
6 Market Street, Suite 926 -275-9609
E-Mail: [email protected] Web: www.psatellite.com
Princeton Satellite Systems MATLAB® Toolboxes PrincetonSatelliteSystemssellsMATLABtoolboxesforspacecraft,aircraft,windturbineandindustrialproblems.ModulesforthesetoolboxesincludetheTargetTrackingModuleforrobusttargettracking,theFusionPropulsionModule,theSpinAxisAttitudeDeterminationModuleforsatellitelaunchoperationsandtheSolarSailModuleforsolarsaildesign,analysisandsimulation.
Thetoolboxesallowengineerstodesignvehicles,analyzethemandsimulatethem,allwithintheMATLABenvironment.Thetoolboxesincludeextensivecontrolandestimationdesignfunctions,aswellascompletesourcecode--anecessityforadvancedsystemsdevelopment.Extensivedocumentationandhelpsystemsmakeourtoolboxesaccessibletoengineersateverylevelandstudentsfromhighschooltograduateschool.
Thetoolboxesareusedinternallyforallofourworkandtheyareconstantlyrefinedandupdated.WehavehaddozensofcontractswithNASA,theAirForce,Navy,Army,ESTECandmanycommercialorganizations.
WeusedourtoolboxestodeveloptheattitudecontrolsystemforthegeosynchronousIndostar-1,thesafemodeguidancesystemforthePrismaformationflyingsatellites,theTechSat-21formationflyingsystem,andtheATDRSmomentummanagementsystem.
WedevelopedanovelOpticalNavigationSystemforNASAwithourSpacecraftControlToolbox.RecentlywedesignedamagnetichysteresiscontrolsystemforaCubeSatusingourCubeSattoolbox.Wearecurrentlydevelopinganultra-precisionpointingcontrolsystemforsmallsatellitesfortheU.S.Army.
Weleverageourtoolboxestoprovidecustomsolutionstocustomers.Thesesolutionscanincludenewscriptsandnewfunctions.Weactivelyseekfeedbackfromcustomerssothatwecanimproveourproductsandprovidefeaturesthatourcustomersneed.
OurtoolboxesareusedworldwidebyoverahundredorganizationsincludingtheCanadianSpaceAgency,NASA,ESTEC,EnergiainRussia,NEC,LockheedMartin,Raytheon,GeneralDynamics,OrbitalSciencesCorporationandmanyothers.
0 5 10 15 20 25 30 35 400.4
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CubeSat Mission Planning
Jet engine modeling
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PRINCETONSATELLITESYSTEMS 5
6 Market Street, Suite 926 -275-9609
E-Mail: [email protected] Web: www.psatellite.com
Spacecraft Control Toolbox TheSpacecraftControlToolboxproductfamilyincludestheProfessionalEdition,theAcademicEdition,andtheCubeSatToolbox.YoucanmodelasatelliteusingtheCADlayouttools;designandanalyzeestimationandcontrolsystems;performdisturbanceanalyses;andtestyouralgorithmsinasixdegree-of-freedomsimulation-allintheMATLABenvironment.
TheProfessionalEditionprovidescomprehensivesoftwareandextensiveexamplesfordesigninganyspacecraftcontrolsystem,anywhereinthesolarsystem.Add-onmodulesareavailabletotheProEditionforformationflying,fusionpropulsion,launchvehicles,solarsails,andspin-axisattitudedeterminationinatransferorbit.TheAcademicEditionisasubsetoftheProsoftwareintendedforundergraduateandgraduatelevelattitudecontrolsystemdesignandanalysis.TheCubeSatToolboxisourentrylevelproductthathasbeenspecificallydesignedforCubeSatteams.
Thetoolboxisalibraryofspaceenvironmentandsatellitemodelingfunctions,butitisalsosomuchmore–hundredsofdesignexamplesandsamplemissions,fromlowearthconstellations,togeosynchronoussatellitesanddeepspacemissions.Whetheryoursatellitehasapassivecontrolsystem,basicsensorsorahighlyaccurateIMU,reactionswheelsandthrusters,orevenflexiblearticulatedappendages,youcanmodelit.Ourcomprehensivetextbook,SpacecraftAttitudeandOrbitControl,helpsyourelatethetheorytothecode.
Ourorbitanalysisfunctionsenableyoutomodeltrajectoriesanywhereinthesolarsystem.DesignandperformHohmanntransfers,stationkeepingmaneuvers,low-thrustspirals,andevenperformadvancedinterplanetarytargeting.AvarietyofclassicandnovelalgorithmsareavailableincludingLamberttargetingandoptimallandinglaws.
OurCADmodelingpackageallowsyoutodescribeyourspacecraftusinggeometricprimitivesandperformdisturbanceanalysisthatoperatesontheresultingmesh.IncludeoftenoverlookeddisturbancessuchasRFtorquesandthermalemissions,andaccountforrotatingsolararrays.Calculateafrequencyanalysisofthedisturbancesinyourmissionorbitforuseinstatisticalsimulations.
PRINCETONSATELLITESYSTEMS 6
6 Market Street, Suite 926 -275-9609
E-Mail: [email protected] Web: www.psatellite.com
CubeSat Toolbox TheCubeSatToolboxisourentry-leveltoolboxforCubeSatuniversityteams.ItsuniquesimplifiedsurfacemodelletsuserscalculatefulldisturbancesandmodelpowersubsystemswithoutcomplicatedCADmodels.Thetoolboxalsoprovidesmissionplanningtools,linkandthermalanalysis,andfullattitudeandorbitsimulation[limitedtoEarthorbits].
CubeSatsaregettingmoresophisticatedandeveryonewantsmorepower!Onewaytogetthatiswithdeployablesolarpanels.OurCubeSatModeldesignfunctionnowallowsyoutoadddeployablesolarpanels.Youcanpickthenumber,locationandlocationofthepanels.Thefunctionautomaticallygeneratesthesurface,power,massandthermalmodelsforthespacecraft.Itoutputsthedatastructureusedbytheright-hand-sidefunctions,simplifyingthedesignprocessforCubeSats.
Theplottotherightshowsa3U CubeSatwithfourcantedsolarwings.Thearrowsshowthe surfacenormalsforallofthesurfaces.Panelscanbeattached anywhereandinanyorientation;justspecifytheposition andnormal.
Wehaveimprovedthedisturbance modelsfortheCubeSattoolbox.TheymatchtheSpacecraft ControlToolboxdisturbancemodelsclosely.TheSpacecraft ControlToolboxallowsyoutomodelmorecomplexspacecraft withmultiplerotatingsurfacesthatarenormallynotfound onCubeSats.
LunarCube Module for CubeSat TheLunarCubemoduleaddsallthetoolsneededtosendyourCubeSatintolunarorbit.Missionplanningtoolsfortranslunarflightandlunarorbitoperationsareincluded.ThemodulealsoincludesanewdynamicalmodelthatisapplicabletoEarthorbit,lunartransferandlunarorbit.Itincludesreactionwheels,thrusters,apowersystemmodelandathermalmodel.Highfidelitylunargravityandlunarsurfacetopographymodelsarealsoincluded.
YoucancombinetheLunarCubefunctionsandscriptswiththeothertoolsintheCubeSattoolboxtogofromconceptualdesigntospaceoperations.
PRINCETONSATELLITESYSTEMS 7
6 Market Street, Suite 926 -275-9609
E-Mail: [email protected] Web: www.psatellite.com
Case Study: Asteroid Prospector WeusedSCTtogenerateacompletedesignforAsteroidProspector,asmallreusablespacecraftcapableofflyingtoanasteroidfromEarthorbit,operatingnearthesurfaceoftheasteroidandreturningsamples.Thefirststepisestimatingthedelta-Vrequiredandanalyzingthetrajectory.Then,webuiltamodelofthespacecraft,demonstratingthatthecomponentsfitinthedesiredformfactor.Finally,wespecifiedtheindividualthrusterlocationsandsimulatedoperationsneartheasteroid,requiringrelativeorbitdynamicsduetotheverylowasteroidgravity.
1. Model the trajectory
WefirstuseapproximateorbitalelementsfortheApophisasteroidtoestimatethedelta-Vfortwolow-thrusttransfers:anEarthescapespiralandalow-thrusttransferspiral.Thiscanbedonewithanalyticalmethodsavailableinthetoolbox.WethensimulatetheEarthescapephase,wherethrustisappliedalongthevelocityvector,raisingtheorbit.ThissimulationusestheSun-Earthcircularrestrictedthree-bodydynamicsforamoreaccurateestimateofthespiralduration.Startingfrom850kmaltitude,ittakesabouttwoyearsand6.8km/sdelta-VtoescapetheEarth’sgravitywellusinga2mNionengine;withachangetooneline,wecantestdepartingfromGEOaltitudeinstead,resultingina2.4km/sdelta-Vinjust283days,atright.TorendezvouswiththeasteroidfromthisEarthdeparturetrajectoryisacomplexthreedimensionalproblem;wedevelopedacustomoptimizationfortherendezvousphaseusingtheGaussvariationalequationsfunctionsinthetoolbox.GLPKisusedtocomputethecontrolacceleration.Aninitialtrajectoryisplannedwithlinearizeddynamics,thecontrolsolutionisfoundandappliedinanopen-loopnonlinearsimulation,andthisnewtrajectoryisusedasthereferenceorbitforthenextiteration.Thefulltransfercalculatedafter6iterationstakes395additionaldaysandmatchestheasteroid’ssemi-majoraxisandeccentricitytowithin1%.TheplotsbelowshowthefinalthrustercontrolcommandsintheLVLHframeaswellasthesixiterationsoftheorbitalelements.
Thrust control vector in LVLH frame
Optimization of the transfer to Apophis using GVE and GLPK
Simulation of Earth escape spiral
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PRINCETONSATELLITESYSTEMS 8
6 Market Street, Suite 926 -275-9609
E-Mail: [email protected] Web: www.psatellite.com
2. Model the spacecraft
ThetrajectorymodelingworkshowsthatwecanreachApophiswith13.5km/sdelta-Vusinga2mNionengine.Wecreatedamodelofthesatellite,witha27kgtotalmass,10.5kgXenon,and1.7kgchemicalpropellantfortheRCSsystem.Thespacecrafthasreactionwheelsforattitudemaintenance,dualarticulatedtelescopesforopticalnavigationandstarsensing,andaminideployablehighgainantenna(Sband).Thereisarobotarmforcollectingasampleoftheasteroid.Wealsomodeledthepowerandcommunicationsubsystem,sizingandlayingoutallthecomponents.TheresultingCADmodelandspacecraftpropertiesarebelow.
Bus dimensions 30 x 40 x 30 cm Total mass 27 kg BOL Power 272.6 W Ion Delta-V 13.5 km/s RCS Delta-V 150 m/s Xenon mass 10.5 kg Xenon tank diameter 19 cm RCS mass 1.7 kg Ion engine power 80 W Antenna diameter >50 cm Transmit power 7 W
3. Near-Asteroid Operations
Apophishasadiameterofonly325mandanmassofabout4×1010kg,sothatatitssurface,thegravitationalaccelerationisstill200✕ smallerthanthatfromthesunat1AU.Asaresult,thisaccelerationcanbeconsideredanegligibledisturbance,andthemotionofthespacecraftaroundtheasteroidisachievedcompletelybytheaccelerationprovidedbytheRCSsystem.Wewrotea6DOFsimulationofproximityoperationsaroundtheasteroidusingrigidbodydynamicswithadoubleintegratorpositionmodel.Acircumnavigationata500mradiusrequirescontinuousthrust,withatangentialimpulseof17Nsrequiredtoinitialthetrajectoryandacontinuousradialforceof0.03Ntomaintainit.Forthenextleveloffidelity,theforcesandtorquesproducedbythissimulationcouldbefurthermodeledusingtheactualreactionwheelandthrusterparameters,suchaswheelfrictionandtachometerloops,thrusterminimumimpulsebit,andpulsewidthmodulation.
RCS force and torque vectors
AsteroidProspector CAD Model
PRINCETONSATELLITESYSTEMS 9
6 Market Street, Suite 926 -275-9609
E-Mail: [email protected] Web: www.psatellite.com
Core Control Toolbox TheCoreControlToolboxprovidesthecontrolandestimationfunctionsofourSpacecraftControlToolboxwithgeneralindustrialdynamicsexamplesincludingroboticsandchemicalprocessing.ThesuiteofKalmanFilterroutinesincludesconventionalfilters,ExtendedKalmanFiltersandUnscentedKalmanFilters.TheUnscentedFiltershaveanewfastersigmapointcalculationalgorithm.Allofthefilterscannowhandlemultiplemeasurementsourcesthatcanbechangeddynamically.Add-onsfortheCoreControlToolboxincludeourImaging,WindTurbine,andTargetTrackingmodules.
Aircraft Control Toolbox TheAircraftControlToolboxisacompletepackagefortheanalysis,designandsimulationofairvehicles.Italsohasprofessionalandacademiceditions,andincludesamoduleonairships;you
canmodelanyairvehicle.Availableaircraftdynamicsmodelsincludeflexibility,actuators,andsensorandenginedynamics.Thereisanintegratednonlinearsimulationwithbuilt-inlinearizationandtrimming–youcanaddasmanydegreesoffreedomasnecessary.Thissimulationincludestheattitudedynamicsoftheaircraft;thereisalsoatrajectory-onlysimulationandevenasetgraphicalcontrolsforcontrollingyouraircraftinflight.Youcanflyentiremissionsfromtakeoffrolltolanding.Subsonic,supersonicandhypersonicvehiclescanallbemodeledseamlessly.
Thetoolboxprovidesextensiveperformanceanalysistools.Theseallowyoutoquicklysizeyouraircraftandperformtradestudies.OurCADtoolsletyoulayoutyouraircraftquicklywithouthavingtousesolidmodelers.
Theextensivelibraryofenginemodelsprovidedencompassesturbojets,turbofansandramjets.Propellermodelsarealsoincluded.Youcangenerateengineperformancetablesforuseinsimulationsorusethefunctionsdirectly.
Thetoolboxhassophisticatedatmospheremodels.Theseincludethestandardatmospherereachingtotheedgeofspaceandwindandgustmodels.
Princeton Satellite Systems
Jet Engine Performance
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PRINCETONSATELLITESYSTEMS 10
6 Market Street, Suite 926 -275-9609
E-Mail: [email protected] Web: www.psatellite.com
Add-On Modules
Wind Turbine Control Module
TheWindTurbineControlModulecanleverageallofthenewcontrol,estimationandmathematicalfunctionsintheCoreControlToolboxtoprovideenhancedwindturbinecontrolsystemdesigncapabilities.
Target Tracking Module
ThismoduleimplementsMultipleHypothesisTesting(MHT)fortrackingofmultipleobjects.Itisessentialforreliabletrackingofobjectsinanoisyenvironment.ApplicationsofMHTincludeautomobileadaptivecruisecontrol,peopletrackingincrowdsandairtrafficcontrol.ThismoduleworkswiththeCoreControlToolboxandcontainsawiderangeofdemos.
Imaging Module (Core only)
Thismoduleincludeslensmodels,imageprocessing,raytracingandimageanalysistools.ThismoduleisincludedwithSCTProfessional.
Formation Flying Module (SCT Only)
Constellationsofsmallsatellitesareprovingtobeacost-effectivewayofsolvingmanyremotesensingproblems.TheFormationFlyingModuleisanadd-ontotheSpacecraftControlToolboxthatgivesyoucuttingedgealgorithms,someofwhichweretestedonthePrismarendezvousrobotsmission!Formationcontrolandplanningtoolsareprovided.
Fusion Propulsion Module (SCT Only)
Thismoduleincludesanextensivelibraryoffunctionsformodelingfusionpropulsionsystems.Itincludesfundamentalplasmaphysicsfunctions,fusionreactorfunctionsandfunctionsspecificallyfordesigningnuclearfusionengines.
Solar Sail Module (SCT Only)
ThismoduleaddssolarsailfunctionstotheSpacecraftControlToolbox.Itincludesafullsetofdesignandtrajectoryanalysistoolsforsailcraft.
Spin Axis Attitude Determination Module (SCT Only)
Spin-axisattitudedeterminationisareliablewayofattitudedeterminationduringtransferorbit.Thismoduleprovidesflight-testedsoftware.Agraphicaluserinterfaceisprovidedtofacilitateuseinreal-time.Itisalsoveryeasytocustomizeforyourownsensorset.Themoduleincludesbatchandrecursiveestimatorsincludingourhighlyreliablenonlinearbatchestimator.
LunarCube (CubeSat/SCT Academic) Thisnewmoduleprovideslunarmissionplanning,lunargravitymodelsandcompletesimulations.IncludedinSCTPro.
Orbit Mini Toolbox (CubeSat) Ahigh-fidelityorbitpropagationmodulewhichcanalsostandalone.
PRINCETONSATELLITESYSTEMS 11
6 Market Street, Suite 926 -275-9609
E-Mail: [email protected] Web: www.psatellite.com
New in Version 2017.1 Over60newfunctionswereaddedinVersion2017.1andupdatestodozensofexistingfunctionsweremadetoimprovetheirperformanceandexpandtheirapplications.
IntheAircraftControlToolboxweaddedaninletlossfunctiontocomputelossesduetoshockwaves.OurUnscentedKalmanFilteralgorithmwasupdated.
Weexpandedoursupportforheliocentricmissions.Thisincludesfunctionstocomputesolareclipsesinheliocentricorbits,heliocentricsphereofinfluence,heliocentrictrajectoryplottingandthermalmodelsforheliocentricspacecraft.
SeveralnewcomponentmodelswereaddedforusewiththeCADmodelingfunctions.TheseincludedaLiquidApogeeEngine,curvedtubesandtriangulartrusses.
Wehaveaddedallnewstaridentificationfunctions.Thesearebasedonapyramidstaridentificationalgorithmusingfourstarsforadefinitivematchduringlost-in-skyconditions.Thealgorithmprovidesreliablestaridentificationwithalmostanystarcatalogandinanyorientation.Wehaveupdatedimageprocessingalgorithmsforstarcentroiddetermination.
Newattitudedeterminationdemosandalgorithmswereaddedformixturesofdifferentsensors,suchassunmeasurements,earthchordsandmagneticfieldmeasurements.YoucancomparetheperformanceofextendedandUnscentedKalmanFilters.Anewsecondorderguidancelawwasaddedforplanetaryandlunarlandingthatprovidesasimpleandeffectivealgorithmforlanders.
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Second order landing guidance.
Updated center of mass star centroiding,
Extended Kalman Filter demo.
PRINCETONSATELLITESYSTEMS 12
6 Market Street, Suite 926 -275-9609
E-Mail: [email protected] Web: www.psatellite.com
Foundedin1992,PrincetonSatelliteSystemsisaninnovativeengineeringfirmpushingthestate-of-the-artinAerospace,EnergyandControl.Wehelpourcustomersimplementcontrolsystemsthatareeasytouseandunderstand.WehavebeenanintegralpartofthecontrolsystemdevelopmentfortheCakrawarta-1CommunicationsSatellite,NASAATDRS,theGPSIIRsatellitesandthePrismaSpaceRendezvousRobots.OurextensivesatelliteoperationsexperienceincludesAsiasat,TelstarandKoreasat.Wehavepatentedawiderangeofinnovativetechnologies,rangingfromimagingsensorsandspacecraftmaneuveringalgorithms,towindturbinesandnuclearfusionpropulsion.Ourstaffprovidesuser-focusedengineeringtalentindevelopingandapplyingnewandinnovativesolutionstoanysetofcomplexproblems.PSSsellstheMATLABSpacecraft,AircraftandWindTurbineControlToolboxes.
AvarietyofhightechorganizationsusePrincetonSatelliteSystemssoftwareproductsfortheirwork.TheseincludeEnergia(Russia),ESTEC,NASA,theCanadianSpaceAgency,theSwedishSpaceCorporation,Raytheon,GeneralDynamics,LockheedMartin,OrbitalSciencesCorporation,MITLincolnLaboratories,NEC,Boeingandmanycollegesanduniversities.
PrincetonSatelliteSystemsregularlycustomizesandenhancesoursoftwaretomeetspecificclientrequirements;wefindthistobeaneffectivewayofenhancingourproductsandensuringthattheymeetallofourclients’needs.PrincetonSatelliteSystemscombinescustomdevelopmentwithcommercialsoftwarecomponentstoprovidepowerfulcontrolsoftwareinminimaltimeandwithmaximumflexibilitytoadapttothelatestcustomerrequirements.
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