UNIVERSITY OF TARTU

Faculty of Science and Technology

Institute of Physics
Comute! Enginee!ing
"eo!gi Olent#en$o
PROTOTYPE %ESI"N OF ESTCU&E'(
ATTITU%E AN% OR&IT CONTRO) SYSTE*
*aste!+s Thesis
Sue!,iso!s-
*.Sc. And!is Sla,ins$is
*.Sc. Vil/o Alli$
Ta!tu (012
Contents
Ac!onyms and A33!e,iations...............................................................................................................2
1 Int!oduction.......................................................................................................................................4
( O,e!,ie5...........................................................................................................................................6
(.1 ESTCu3e'1.................................................................................................................................6
(.( ESTCu3e'( and ESTCu3e'7 *issions......................................................................................6
(.7 O,e!,ie5 of Attitude and O!3it Cont!ol Systems......................................................................8
7 ESTCu3e'( Attitude and O!3it Cont!ol System..............................................................................10
7.1 Re9ui!ements...........................................................................................................................10
7.( System St!uctu!e......................................................................................................................11
7.(.1 Senso!s.............................................................................................................................1(
7.(.( Th!uste!s and To!9ue!s.....................................................................................................17
7.(.7 *anagement :a!d5a!e....................................................................................................17
2 P!ototye %esign.............................................................................................................................12
2.1 Re9ui!ements...........................................................................................................................14
2.( Concet....................................................................................................................................16
2.7 :a!d5a!e Selection..................................................................................................................18
2.7.1 P!ocessing Unit................................................................................................................18
2.7.( "y!oscoic Senso!s..........................................................................................................(0
2.7.7 *agnetomete!s.................................................................................................................(1
2.7.2 Accele!omete!s.................................................................................................................(1
2.7.4 Analog'to'%igital Con,e!te!s...........................................................................................(7
2.7.6 Po5e! *anagement :a!d5a!e.........................................................................................(2
2.7.; %e3ugging Functionality..................................................................................................(2
2.2 P!ototye &oa!d %esign...........................................................................................................(4
2.2.1 Schematic.........................................................................................................................(4
2.2.( &oa!d )ayout....................................................................................................................(<
2.2.7 Result................................................................................................................................7(
(
2.4 AOCS P!ototye Analysis and Fi!m5a!e %e,eloment..........................................................7(
4 Summa!y..........................................................................................................................................72
6 Ac$no5ledgements..........................................................................................................................74
=o$$u,>te..........................................................................................................................................76
Refe!ences..........................................................................................................................................7;
Aendices.........................................................................................................................................27
Aendi? A @ P!ototye &oa!d Schematic....................................................................................27
Senso!s g!ou............................................................................................................................27
A%Cs g!ou..............................................................................................................................24
Po5e! management g!ou.........................................................................................................2;
*CU g!ou...............................................................................................................................4(
%e3ugging g!ou.......................................................................................................................44
Connecto! g!ou........................................................................................................................4;
Aendi? & @ AOCS P!ototye &oa!d )ayout AFull scaleB...........................................................4<
Aendi? C @ P!ototye &oa!d &ill of *ate!ials..........................................................................6(
Aendi? % @ &oa!d )ayout %esign St!ategy...............................................................................64
7
Acronyms and Abbreviations
CG Cold "as
AOCS Attitude and O!3it Cont!ol System
OBC On'&oa!d Comute!
EPS Elect!ic Po5e! System
LEO )o5 Ea!th O!3it
ADCS Attitude %ete!mination and Cont!ol System
CDHS Command and %ata :andling System
PWM Pulse Cidth *odulation
ADC Analog'to'%igital Con,e!te!
COTS Comme!cial Off'The'Shelf
GPS "lo3al Positioning System
MCU *ic!oCont!olle! Unit
FPU Floating'Point Unit
dps deg!ees e! second
UART Uni,e!sal Asynch!onous Recei,e!DT!ansmitte!
USART Uni,e!sal Synch!onousDAsynch!onous Recei,e!DT!ansmitte!
SPI Se!ial Pe!ihe!al Inte!face
IC Inte!'Integ!ated Ci!cuit
FRAM Fe!!oelect!ic Random Access *emo!y
SRAM Static !andom'access memo!y
LSB )east Significant &it
I/O Inut Outut
kSPS $ilo Samles Pe! Second
PCB P!inted Ci!cuit &oa!d
CAD Comute!'Aided %esign
RMS Root *ean S9ua!e
IC Integ!ated Ci!cuit
LDO )o5'%!oout Regulato!
RTC Real Time Cloc$
LED )ight'Emitting %iode
2
1 Introduction
The Cu3eSat standa!d E1F oula!ity has d!astically !isen o,e! the last fe5 yea!s. It is a g!eat
oo!tunity fo! uni,e!sities to get thei! students in,ol,ed in sace technologies as 5ell as to allo5
cost effecti,e sace e?e!iments fo! scientists and comanies. Some e?amles of in'o!3it
e?e!iments include CO*PASS'1 E(FG STRaN%'1 E7FG Aalto'1 E2FG S5issCu3e E4F and RAH E6FG all
of 5hich ha,e ,a!ious o3/ecti,es. Estonian students /oined the mo,ement 5ith ESTCu3e'1
satellite E;F. The main scientific mission of the satellite is to test the elect!ic sola! 5ind sail AE'sailB
in,ented 3y Pe$$a Ianhunen E8F.
E'sail is a !oellantless !oulsion methodG 5hich is achie,ed 3y e?t!acting momentum f!om sola!
5ind !otons E<F. The !otons a!e !eelled 3y a long conducting tethe!G 5hich is $et at high
ositi,e otential 5ith the hel of an elect!on gun E10F.
The fi!st Estonian satellite 5as successfully de,eloed and launched 3y the effo!t of o,e! a 100
students and inst!ucto!s f!om diffe!ent count!ies E11F. Although the main e?e!iment is yet to 3e
e!fo!med and the 5o!$ continuesG the ne?t missions a!e al!eady 3eing lanned and analyJed. In
a!ticula! ESTCu3e'( and ESTCu3e'7 missions intended to test the E'sail fu!the! as 5ell as to
demonst!ate the NanoSace Cold "as AC"B th!uste!s E1(FG 3oth of 5hich could 3e ,ia3le
t!anso!tation methods in sace E17F.
This 5o!$ concent!ates on the de,eloment of the fi!st !ototye of the Attitude and O!3it Cont!ol
System AAOCSB fo! ESTCu3e'(. AOCS is c!itical fo! scientific mission successG 3ecause it is
!esonsi3le fo! E'sail e?e!iment and C" th!uste! demonst!ation. The 5o!$ on ESTCu3e'1 has
gi,en eno!mous amount of e?e!ience to the ESTCu3e teamG hence the 3est featu!es of ESTCu3e'1
Attitude %ete!mination and Cont!ol System AA%CSB 5ill 3e !eused and $no5n fla5s 5ill 3e
co!!ected. Ne,e!thelessG ne5 technologies 5ill also 3e tested using the AOCS !ototye.
The main goals of this 5o!$ 5e!e stated as follo5s-
secify the !e9ui!ements fo! the Attitude and O!3it Cont!ol System of ESTCu3e'( satelliteK
desc!i3e the st!uctu!e of ESTCu3e'( AOCSK
secify the !e9ui!ements fo! AOCS !ototye 3oa!dK
select ha!d5a!e fo! the AOCS !ototye main 3oa!dK
design the AOCS !ototye 3oa!d.
Full desc!ition of assem3ly and testing of AOCS !ototye as 5ell as fi!m5a!e de,eloment is out
of the scoe of this thesisG 3ut a sho!t'te!m lan is discussed.
4
2 Overview
This a!t of the 5o!$ desc!i3es the missions of Estonian student satellite !og!am as 5ell as gi,es a
3!ief o,e!,ie5 of othe! nanosatellitesG 5hich imlemented attitude and o!3it cont!ol systems.
Section (.1 !e,ie5s the ESTCu3e'1 mission in slightly mo!e detail. Section (.( int!oduces the
futu!e ESTCu3e missions. Section (.7 analyJes the attitude and o!3it cont!ol systems of
nanosatellite !o/ects.
2.1 ESTCube-1
ESTCu3e'1 is the fi!st !o/ect of the Estonian student satellite !og!am E11F. The main o3/ecti,e of
the !og!am as a 5hole is to !omote sace technology and gi,e students a hands'on e?e!ience in
3uilding a sace c!aft. The main scientific o3/ecti,e is to demonst!ate the elect!ic sola! 5ind sail AE'
sailB. %u!ing the e?e!iment the satellite 5ill 3e sun u to 760 degDsG at 5hich oint a 10 m long
aluminium tethe! 5ill 3e !eeled out 5ith the hel of the cent!ifugal fo!ce E;F. Afte!5a!ds the tethe!
5ill 3e cha!ged to 400 V otential. E'Sail fo!ce 5ill 3e dete!mined 3y the change of satellite attitude
and the measu!ements of tethe! cu!!ent E12F.
ESTCu3e'1 @ EstoniaLs fi!st satellite 5as de,eloed o,e! a e!iod of fi,e yea!s and has 3een
launched on *ay ;G (017 on'3oa!d Vega VV0( !oc$et to )o5 Ea!th O!3it A)EOB. Afte! the launch
all satellite systems 5e!e ,e!ified to 3e fully oe!ational 5ith the e?cetion of some mino! issues.
%u!ing the follo5ing yea! the on'3oa!d fi!m5a!e de,eloment continued. As of *ay (;G (012
!ea!ations fo! the scientific mission a!e still in !og!ess. Ne,e!theless Estonian student satellite
!og!am has al!eady fulfilled many of its o3/ecti,es 5ith the launch of ESTCu3e'1. E;F
2.2 ESTCube-2 and ESTCube-3 Missions
&ased on the success of the fi!st satelliteG the ESTCu3e team has sta!ted lanning mo!e missions.
Although the main scientific e?e!iment of ESTCu3e'1 mission has not 3een e!fo!med yetG futu!e
lans include testing the longest yet tethe! A1 $mB fo! the elect!ic sail e?e!iment and utiliJing a
miniatu!iJed mic!oelect!omechanical systems A*E*SB 3ased cold gas AC"B th!uste! fo! attitude
and o!3it cont!ol E1(F. *ain u!ose of ESTCu3e'( and ESTCu3e'7 missions is to demonst!ate the
technologies.
&oth !oulsion technologies could 3e used 3y light5eight sacec!afts fo! e?lo!ation. These
technologies could ossi3ly allo5 access to any aste!oids Ai.e. aste!oid miningBG multi'aste!oid
tou!ing 5ithout additional !oellant cost and aste!oid deflection fo! !otection of Ea!th. E14F
6
Satellite st!uctu!e and o3/ecti,es of 3oth missions a!e ,e!y simila! and the main diffe!ence is in the
ta!get o!3it. ESTCu3e'7 mission 5ill ta$e lace on highly ellitical Ea!th o! luna! o!3itG 3oth of
5hich !o,ide sola! 5ind en,i!onment and a !educed influence of Ea!thLs magnetic field.
Unfo!tunately such o!3it launches a!e not f!e9uentG so it is ossi3le that ESTCu3e'7 mission 5ill
ha,e to 5ait until such launch is a,aila3le. The main o3/ecti,e of ESTCu3e'( mission is to test the
ha!d5a!e and fi!m5a!e fo! the ESTCu3e'7 mission on the lo5 Ea!th o!3itG 5hich is mo!e easily
accessi3le and the !is$ of mission failu!e is dec!eased.
In this 5o!$ mainly ESTCu3e'( mission 5ill 3e discussedG 3ut in most cases 3oth missions a!e
alica3le.
Although ESTCu3e'1 c!eated a 3aseline fo! ESTCu3e futu!e missionsG ESTCu3e'( tas$s !e9ui!e
significantly mo!e ha!d5a!e and !ocessing o5e!. Figu!e 1 sho5s the fi!st model of ESTCu3e'(.
The satellite is a 7'U Cu3eSat A700 100 100 mmG 2 $gBG 5hich is th!ee times la!ge! than
ESTCu3e'1. The t5o main ayloads a!e located at the oosite ends of the satellite. The !est of the
ha!d5a!e 5ill 3e laced in 3et5een the ayloads.
One $ilomete! tethe! 5eights 11 g and 5as !o,ed to 3e automatically !oduci3le E16F. It 5ill 3e
!eeled out 3y a moto!G design of 5hich 5ill 3e simila! to ESTCu3e'1 and Aalto'1 missions. A
came!a 5ill ,e!ify the !eeling. :igh Voltage A:VB system 5ill !o,ide the tethe! 5ith the !e9ui!ed
M10 $V otential. %eloya3le fi?ed 3ooms 5ill 3e used to study the effect of elect!on
chaotisation E1;F. An elect!on gun should also 3e on the satelliteG although it is missing f!om the
;
Figure 1: First ESTCube-2 model by Paul Liias (PL Space O).
model.
NanoSace Cold "as !oulsion 3ase module is 100 100 70 mm in siJe and has an inte!face
3oa!d on to of it. *odule includes fou! th!uste!s facing the same di!ection to ma?imiJe ossi3le
!oulsion fo!ce. The module contains 40 g of 3utaneG 5hich should !o,ide a total of 20 Ns of
imulse fo! the mission E1<F. The C" tan$ in Figu!e 1 model indicates that the module could 3e
inc!eased in siJe to allo5 a la!ge! amount of 3utane on 3oa!d. The e?act !e9ui!ed amount of
!oellant 5ill 3e calculated in late! stages of de,eloment.
%eloya3le sola! anels 5ith co!!esonding attitude cont!ol 5ould allo5 the o5e! !oduction to
inc!ease. Sta! t!ac$e! is the main and most accu!ate attitude senso! on satellite 3oa!d. Sun senso!s
a!e less accu!ate attitude senso!sG 3ut they allo5 mo!e f!e9uent measu!ements. Came!a su3system
5ill 3e used to ta$e images of the nea!3y sace o3/ects of inte!est. The satellite also includes
elect!ic o5e!G on'3oa!d comute!G attitude and o!3it cont!ol and communication su3systems among
othe!sG 5hich a!e not highlighted on the d!a5ing.
ESTCu3e'( should also ha,e 3ac$'u systemsG 5hich a!e $no5n to 5o!$ in )EO. That includes
magnetomete!s and magnetic coilsG 5hich ha,e no use outside of the Ea!thLs magnetic field du!ing
ESTCu3e'7 mission.
2.3 Overview of Attitude and Orbit Control Systems
This section 5ill concent!ate on ha!d5a!e solutions of diffe!ent Cu3eSat attitude and o!3it cont!ol
systems. In most cases detailed info!mation a3out the satellites is not u3lishedG 3ut gene!al
info!mation a3out the su3systems can still 3e ac9ui!ed.
Since ESTCu3e'( AOCS is 3ased on ESTCu3e'1 A%CS E1<FG it is !udent to sta!t the desc!ition
f!om the latte!. A%CS uses ('a?is custom made Sun senso!sG COTS 7'a?is digital gy!oscoes and
magnetomete!s to dete!mine the attitude of the satellite. Senso! !edundancy is !o,ided 3y using
dulicated senso!s connected 3y sea!ate communication 3uses. Attitude is cont!olled solely using
magnetic coils in the Ea!ths magnetic field E(0F. Command and %ata :andling System AC%:SB also
!o,ides cold !edundancy fo! ST*7(F107 !ocesso! E(1FG 5hich cont!ols the senso!s and coils of
A%CS. The system !o,ed to 3e sta3leG 3ut some issues still e?ist. Fo! e?amle ina3ility to tu!n off
A%CS senso!s indeendently leads to a need to !esta!t the 5hole su3systemG if INC communication
to one of the senso!s fails.
CO*PASS'1 Cu3eSat 5as launched in (008 5ith o3/ecti,es of ta$ing images of Ea!th and testing a
"PS !ecei,e! fo!m "e!man Ae!osace Cente! A%)RB. On'3oa!d A%CS used Sun senso!s and
8
magnetomete!s fo! attitude dete!mination and magnetic coils fo! attitude cont!ol. A%CS used 8041
and :CS1( mic!ocont!olle!s. Afte! the launch misalignment of magnetic field !efe!ence ,ecto! and
inaccu!ate cali3!ation of sun senso!s made attitude dete!mination un!elia3le. E(F
S5issCu3e 5as 3uild fo! educational u!oses. Its A%CS uses 7'a?is :*C1027 magnetomete!
f!om :oney5ellG th!ee 1'a?is gy!oscoes and si? no,el Sun senso!s to dete!mine the Sun ,ecto!.
*agnetic to!9ue!s 5e!e used fo! attitude cont!ol E4F. Fi!st t5o yea!s gy!oscoic senso!s 5e!e in
satu!ation and afte! th!ee yea!s ( of 1( sun senso!s failed. The cali3!ation of the magnetomete! 5as
also off in one a?is and the!e occu!!ed INC communication !o3lems simila! to ESTCu3e'1. In othe!
!esects the system 5o!$ed fine. E((F
CanH'2D'4 satellites 5e!e launched to demonst!ate fo!mation flying. Satellites a!e (0 (0 (0 cm
in siJeG 3ut still count to5a!ds nanosatellite 5ith mass less that ; $g. Attitude of the satellites 5as
dete!mined 3y si? coa!seDfine Sun senso!sG a 7'a?is magnetomete! and th!ee gy!oscoic senso!s.
Satellites 5e!e cont!olled 3y 7 o!thogonally'mounted !eaction 5heelsG 7 magneto!9ue!s and
Canadian Nanosatellite Ad,anced P!oulsion System 5hich !o,ides u to 10 mN fo!ce e! th!uste!
and includes fou! th!uste!s. Pe!fo!mance of the system !esulted in attitude dete!mination 5ith
accu!acy of 1O and ointing accu!acy of 4O. E(7F
U=u3e'1 has an Acti,e *agnetic Attitude Cont!ol su3systemG 5hich has 3een de,eloed 3y Clyde
Sace E(2F. Actuation is !o,ided 3y 6 magnetic to!9ue!s and a e!manent magnet. Sensing is done
3y *E*S Ine!tial and *agnetic *easu!ement Unit consisting of gy!oscoic senso!sG
accele!omete!sG magnetomete!s and coa!se Sun senso!s. The su3system is ta!geting a ('a?is
ointing caa3ility of P4O and sensing accu!acy of P1O E(4F. The satellite is scheduled fo! SoyuJ
launch on Iune 1<G (012 E(6F.
%esign of UCE satellite se!ies is continuously im!o,ed 3y the Uni,e!sity of CQ!J3u!g. Th!ee
satellites ha,e al!eady 3een launched and the UCE'2 5ith an AOCS is al!eady unde! de,eloment
E(;F. UCE'7 has 3een launched on No,em3e! (1G (017. Its main u!ose is to demonst!ate the lo5
o5e! A%CS and its cont!ol algo!ithms. A%CS uses *SP270 !ocesso! and th!ee tyes of senso!s-
magnetomete!sG Sun senso!s and gy!oscoes. Attitude cont!ol is achie,ed 3y 6 magnetic to!9ue!s
and a single !eaction 5heel fo! fast attitude changes. The satellite e?hi3its good health afte! 7
months in o!3itG 3ut to im!o,e system e!fo!mance senso! cali3!ations and noise facto!
ad/ustments must 3e e!fo!med. E(8F
One of the main scientific u!oses of Aalto'1 satellite is to test a 100 m E'sail tethe!G although in
this case it 5ill 3e used as a lasma 3!a$e E(<F. Aalto'1 5ill use iA%CS'100G 5hich is de,eloed 3y
<
&e!lin Sace Technologies and 3ased on TU&SAT latfo!m E70F. It consists of magnetic to!9ue!sG
magnetomete!sG accele!omete!sG gy!oscoic senso!sG !eaction 5heelsG Sun senso!s and a sta! t!ac$e!
fo! accu!ate attitude cont!ol. The latfo!m is still unde! de,eloment. Although Aalto'1 attitude
dete!mination and cont!ol system is the closest to the one unde! de,eloment fo! the futu!e
ESTCu3e missionsG it lac$s o!3it cont!ol caa3ility in fo!m of !oulsion.
F!om solution !e,ie5s one should conclude that the de,eloment of attitude and o!3it cont!ol is not
a t!i,ial tas$ and the!e is no uni,e!sal solution fo! e,e!y case. Fu!the!mo!e the!e is no educational
,alue in 3uying a !eady solution. Fo! those !eason it 5as decided to 3uild a custom made AOCS fo!
ESTCu3e'(. Additionally it must 3e noted that the most often occu!!ed !o3lem on all satellites is
inaccu!ate senso! cali3!ations and insufficient tests. The!efo!e a !ototye 5ith easy testing
caa3ilities should 3e de,eloed fo! ESTCu3e'( mission.
3 ESTCube-2 Attitude and Orbit Control System
AOCS is c!itical fo! fulfilling the scientific mission of the satellite. This a!t of the thesis desc!i3es
the AOCS as a 5hole. Section 7.1 states the AOCS !e9ui!ements. Section 7.( desc!i3es the
st!uctu!e of AOCSG 5hich fulfills the !e9ui!ements.
3.1 Reuirements
The system is !e9ui!ed to e!fo!m the follo5ing tas$s.
Pointing is the most fundamental attitude cont!ol tas$. It must 3e used to fulfill all of the
follo5ing tas$s in the list as 5ell as ointing antennas fo! communication 5ith Ea!thG
ointing the sola! anels to5a!ds the Sun to inc!ease thei! efficiency and ointing came!a
fo! imaging sace o3/ects.
Spin-p is !e9ui!ed to measu!e the E'sail effect. It must 3e achie,ed 3y using !eaction
5heels and magnetic coils in the case of ESTCu3e'(.
D!"t#-$ %#n!$!&s mean changing the o!3it ,elocity of the satelliteG 5hich allo5s changing
the satellite t!a/ecto!y. *aneu,e!s 5ill demonst!ate the caa3ilities of C" !oulsion
module. At the moment it is lanned to ha,e all fou! th!uste!s of the !oulsion module to
face in one di!ectionG so ointing is essential fo! the maneu,e!s.
E-s#i" !''!(t %!#s&!%!nt should 3e e!fo!med is se,e!al diffe!ent 5ays to !oduce
!elia3le !esults. *easu!ing and analyJing the change of satellite attitude is one of the
methods. Second method imlies using a high accu!acy on'3oa!d accele!omete!. Radio
10
communication 3ased !ecise o!3it dete!mination is the thi!d method.
Follo5ing a!e the estimated accu!acy !e9ui!ements.
Attitude dete!mination accu!acy- )*+ d!g*
Attitude cont!ol accu!acy- , d!g*
Attitude cont!ol accu!acy of the sin lane- , d!g*
Accele!ation measu!ement accu!acy- , -g*
These !e9ui!ement d!i,e the AOCS designG 5hich is desc!i3ed in the follo5ing section.
3.2 System Stru!ture
This section lists all of the Attitude and O!3it Cont!ol Systems comonents. St!uctu!e of the system
is 3ased on analysis of !e,iously flo5n nanosatellites as 5ell as ESTCu3e'1 and Aalto'1
e?e!ience.
A single PC& cannot contain all of the featu!es needed fo! attitude and o!3it dete!mination and
cont!ol. The!efo!e full functionality desc!ition must include othe! su3systems and ayload
ha!d5a!eG 5hich acts eithe! as a sou!ce of info!mation o! a 5ay of cont!olling the satellite. Figu!e (
gi,es an o,e!,ie5 of the comonents 5ithout e?licit connections. Comonents a!e functionally
di,ided into th!ee g!ous- sensingG actuating and management ha!d5a!e.
The follo5ing su3section desc!i3e the ha!d5a!e in mo!e detail.
11
Figure 2: Attitude and Orbit Control Systems components: yellow sensing, light blue
management, green actuation hardware.
3.2.1 Sensors
St#& t&#(k!& is the main attitude senso! on ESTCu3e'(. It is a sea!ate su3systemG
containing a monoch!ome came!a and a mic!o!ocesso! to !ocess the image data. Sta!
t!ac$e! dete!mines the attitude 3y identifying and t!ac$ing sta! fo!mations. Attitude
dete!mination 5ith a sta! t!ac$e! is ,e!y accu!ateG 3ut it is limited 3y the imaging senso!
seed and sensiti,ityG !ocessing o5e! of the system and ointing di!ection of the imaging
senso!. Tyically sta! t!ac$e! is too slo5 to solely !ely on it. *o!eo,e! usually sta! t!ac$e! is
una3le to dete!mine attitudeG 5hen the satellite !otation is faste! than se,e!al tenths of
deg!ees e! second. E'sail e?e!iment !e9ui!es a sin'u to 1 !otation e! second. The!efo!e
the sta! t!ac$e! must 3e suo!ted 3y othe! senso!s that allo5 highe! sin !ates. A dedicated
connecto! to AOCS main 3oa!d is neededG 3ut the communication standa!d is not yet $no5n.
Sn s!nso&s allo5 e!fo!ming attitude dete!mination 5ith less accu!acy than sta! t!ac$e!G
3ut measu!ement !esults can 3e ac9ui!ed mo!e f!e9uently and 5ith g!eate! sinning !ate.
These senso! allo5 dete!mining the osition of the Sun !elati,e to the satellite. Simila!ly to
ESTCu3e'1 it is lanned to ha,e one sun senso! e! satellite side. Each sun senso!s should
ha,e a sea!ate connecto! to the AOCS main 3oa!d. It is not yet dete!minedG 5hethe!
ESTCu3e'1 senso!s 5ill 3e !eusedG o! a ne5 digital Sun senso! 5ill 3e de,eloed.
M#gn!to%!t!&s a!e used fo! attitude sensing in )EO. *agnetomete!s a!e essential attitude
dete!mination senso!s on ESTCu3e'1. On ESTCu3e'( it 5ill 3e used as 3ac$'u senso!s and
fo! ,e!ifying the satellite attitudeG 3ecause magnetomete!s cannot 3e used fo! attitude
dete!mination du!ing ESTCu3e'7 mission. *agnetomete!s a!e laced on the AOCS main
3oa!d.
G.&os(opi( s!nso&s allo5 dete!mining the sin !ate of the satellite. It allo5s mo!e accu!ate
attitude dete!mination in com3ination 5ith a3o,e discussed senso!s. "y!oscoic senso!s a!e
laced on the AOCS main 3oa!d.
A((!"!&o%!t!&s a!e mainly used to measu!e satellite !oulsion methodsG 3ut they can
ossi3ly used as additional sou!ce of info!mation in AOCS algo!ithms. Small lo5 cost
accele!omete!s 5ill 3e laced on the AOCS main 3oa!d to measu!e accele!ation !oduced 3y
the Cold "as th!uste!. &ecause the E'sail accele!ation is too small to measu!e 5ith such
accele!omete!s instantaneouslyG a sea!ate high accu!acy accele!omete! 5ill 3e laced in the
satellite ayload. It !e9ui!es a dedicated connecto!G 3ut the communication inte!face is
un$no5n at the moment.
1(
C#%!&# s/s.st!% can 3e used fo! attitude ,e!ificationG 3ut it is not the main u!ose of
the su3system. *ost li$ely ,e!ification 5ill not 3e e!fo!med on 3oa!d of the satellite. A
dedicated connecto! to AOCS main 3oa!d is not needed.
Co%%ni(#tion s.st!% is used to !ecei,e o!3it osition info!mation f!om Ea!th. *ost
li$ely the o!3it info!mation 5ill ass th!ough the on'3oa!d comute!G so a dedicated
connecto! to the AOCS main 3oa!d is not needed.
3.2.2 Thrusters and Toruers
R!#(tion 01!!"s a!e the main attitude cont!ol actuato!s. They 5ill 3e laced in the ayload
section and must 3e !o,ided 5ith a dedicated inte!face to AOCS main 3oa!d. Cu!!ently
!eaction 5heels f!om &e!lin Sace Technologies a!e conside!edG 5hich !efe! INC at 7.7 V
logic le,el fo! communicationG although se,e!al othe! communication standa!ds could 3e
used.
Co"d G#s t1&st!& is used to cont!ol the attitude and ad/ust the o!3it of the satellite. The
th!uste! is a comlete system located in the ayload and !e9ui!es a sea!ate connecto! on the
AOCS main 3oa!d. One of the o3/ecti,es of the missions is to demonst!ate the NanoSace
Cold "as th!uste!. The inte!face consists of t5o INC connections at 7.7 V logic le,el and a 4
V o5e! suly.
M#gn!ti( (oi"s a!e used on ESTCu3e'1 to cont!ol the attitude of the satellite. These 5ill 3e
used as a 3ac$'u to !eaction 5heels on 3oa!d ESTCu3e'( mission 3ecause it 5ill still ta$e
lace in the Ea!ths magnetic field. ESTCu3e'7 mission 5ill not include magnetic coils.
Although magnetic coil d!i,e! 5ill 3e located on the Elect!ic Po5e! System AEPSBG it should
3e cont!olled 3y the AOCS. Cont!ol signals include Ena3leG %i!ection and PC* signals.
E-s#i" can also 3e counted to5a!ds AOCSG although the main o3/ecti,e of the missions is to
test it. E'sail is the la!gest ayload on 3oa!d ESTCu3e'(. P!ototye 3oa!d de,eloed in this
thesis does not include the E'sail inte!faces.
3.2.3 !ana"ement #ardware
MCU cont!ols the 5hole AOCS. *CU !e9ui!es sufficient !ocessing o5e! to collect and
!ocess all of the attitude and o!3it info!mationG as 5ell as cont!ol the actuato!s and
!oulsion modules. It is a c!itical a!t of the system and !e9ui!es !edundancy.
E2t!&n#" %!%o&. is also neededG 3ecause tyically inte!nal memo!y of the *CU is not
17
sufficient fo! all of the AOCS info!mation. *o!eo,e! inte!nal memo!y tyically consists of
flash memo!iesG 5hich a!e susceti3le to !adiation induced e!!o!s. The!efo!e e?te!nal
memo!ies 5ith mo!e tole!ance to5a!ds !adiation Ali$e FRA*B must 3e used.
Po0!& %#n#g!%!nt is !e9ui!ed fo! AOCSG although Elect!ic Po5e! System AEPSB !o,ides
the o5e!. This is due to AOCS !e9ui!ement to tu!n off all senso!s indeendentlyG 5hich
must 3e cont!olled 3y AOCS itself. Po5e! management includes o5e! and 3us s5itches
laced on the AOCS main 3oa!d.
Co%%ni(#tion int!&'#(! 1#&d0#&!* Although the *CU should ha,e most of the
communication d!i,e!s that a!e !e9ui!ed fo! communication 5ith e?te!nal ha!d5a!e.
Satellite common 3us fo! e?amle uses RS'284 communicationG 5hich tyically is not
suo!ted 3y a *CU.
On-Bo#&d Co%pt!& 5ill manage the the AOCS fi!m5a!e ,e!sions as 5ell as 3uffe! the
info!mation 3et5een AOCS and Communication su3system. These tas$s !e9ui!e high
3and5idth communication. %ue to thatG a dedicated inte!face is needed. O&C team !oosed
using a SPI communication.
E"!(t&i( Po0!& S.st!% !o,ides o5e! fo! the 5hole satelliteG including AOCS.
Fu!the!mo!e AOCS mic!o!ocesso! is s5itched 3y EPSG !o,iding cold !edundancy.
$ %rototy&e 'esi"n
P!ototye 3oa!d is designed to allo5 fu!the! de,eloment of AOCS. That !e9ui!es using integ!ated
ci!cuits e?ected to 3e used du!ing the mission as 5ell as !o,iding sufficient ha!d5a!e fi!m5a!e
de3ugging functionality. Figu!e 7 gi,es a simlified o,e!,ie5 of a3o,e mentioned AOCS !ototye
3oa!d ha!d5a!e.
12
Figure : Simplified structure of OCS prototype board !ard"are.
&efo!e sta!ting the !ototye designG the actual ha!d5a!e must 3e selected 5hich is one of the main
tas$s of this thesis. Section 2.1 lists all e?licit !e9ui!ements fo! the !ototye 3oa!d and the
ha!d5a!eG 5hich 5ill 3e laced on the !ototye 3oa!d. Section 2.( int!oduces the main concet of
the !ototye 3oa!d. Section 2.7 co,e!s the ha!d5a!e selection. Section 2.2 focuses on the !ototye
design itself.
".1 Reuirements
Re9ui!ements a!e di,ided into t5o g!ous. One desc!i3es gene!al !e9ui!ements fo! 3oa!d design and
the second co,e!s the e?licit !e9ui!ements fo! integ!ated ci!cuitsG that a!e used in the AOCS
!ototye design.
A""o0 ind!p!nd!nt". t&ning o'' s!nso&s #nd ADCs* As mentioned in section (.7G if
ESTCu3e'1 mic!o!ocesso! loses communication 5ith a senso!G the only 5ay to !eesta3lish
it is to o5e! !ecycle the su3system. Although loss of communication 5ith senso!s does not
occu! oftenG it distu!3s cont!ol algo!ithm e?ecutionsG so ESTCu3e'( AOCS design should 3e
im!o,ed in !esect to that fla5.
P&o$id! &!dnd#n(. 'o& s!nso&s #nd ADCs* Se,e!al !edundancy concets should 3e
conside!ed and the 3est one selected and tested on the !ototye 3oa!dG 3ecause senso!
!edundancy is ,e!y imo!tant in sace missions. *CU !edundancy is also !e9ui!ed on the
enginee!ing model of the systemG 3ut the design used 3y ESTCu3e'1 C%:S has 3een !o,en
to 3e sufficient fo! a 1 yea! mission. %ue to thatG *CU !edundancy is not imlemented on
the fi!st !ototye 3oa!d.
A""o0 t!sting o' # &#ng! o' s!nso&s #nd ADCs to dete!mine the 3est suita3le senso! among
a num3e! of senso!s 5ith ,e!y simila! !oe!ties acco!ding to the data sheet. Acco!ding to
the !e,ious !e9ui!ement !edundancy is neededG 3ut diffe!ent senso!s and A%Cs could 3e
used.
P&o$id! int!&&pt (#p#/i"it. 'o& s!nso& #nd ADCs* Although this !e9ui!es mo!e
communication lines f!om the *CUG dedicated inte!!ut lines simlify fi!m5a!e
de,eloment. ESTCu3e'1 fi!m5a!e is 3ased on delays and timingsG 5hich occasionally
!oduce inco!!ect measu!ement !esults due to incomlete con,e!sions.
P&o$id! int!&'#(!s to di''!&!nt AOCS 1#&d0#&! (o%pon!nts 'o& !$#"#tion* Se,e!al
comonents of the AOCS cannot 3e laced on the AOCS main 3oa!d 3ecause of thei! siJeG
thus ha!d5a!e 5ill 3e laced as ayload and !e9ui!es dedicated inte!faces. A !ange of
inte!faces AUARTG SPIG INCG RS'284B should 3e !o,ided 3y the 3oa!d.
14
P&o$id! on-/o#&d d!/gging 'n(tion#"it. 'o& (o%%ni(#tion /s!s* This functionality
5ill allo5 simulating ha!d5a!e 3y a comute! and to ,e!ify communication 5ith on'3oa!d
ha!d5a!e.
P&o$id! t!%p!&#t&! #nd $o"t#g! %!#s&!%!nts 'o& #"" s!nso&s #nd ADCs* *easu!ing
the teme!atu!e and o5e! suly ,oltage of all senso!s 5ould dec!ease the unce!tainties of
the senso! measu!ement !esults.
P&o$id! #/i"it. to 0o&k '&o% # /#tt!&.* Senso! testsG 5hich ta$e lace in an confined
saces Ai.e. ,acuum cham3e!G teme!atu!e cham3e!B does not allo5 using a stationa!y o5e!
suly. An on'3oa!d 3atte!y suo!t 5ould simlify test conduction.
The!e a!e e?licit !e9ui!ements fo! ce!tain AOCS ha!d5a!eG 3ut othe! a!amete!s of the ha!d5a!e
a!e discussed in the co!!esonding ha!d5a!e selection su3sections.
MCU %st in("d! # FPU* Algo!ithms li$e =alman filte! !e9ui!e floating num3e!
!ocessing. Although they can 3e done 5ithout a dedicated FPU Ali$e on ESTCu3e'1BG its
a,aila3ility 5ould simlify fi!m5a!e de,eloment as 5ell as im!o,e !ocessing time.
MCU %st p&o$id! #t "!#st 3 UART4 3 IC #nd , SPI int!&'#(!s to satisfy senso! and
A%C !edundancy and !o,ide additional inte!faces fo! e?te!nal ha!d5a!e.
G.&os(opi( s!nso& s!nsiti$it.5 R 100 )S&Dds A!esolution S 0.01 dsD)S&B.
G.&os(opi( s!nso& '"" &#ng!5 R 1800 ds.
M#gn!to%!t!&s &!so"tion5 S 80 nTD)S&.
M#gn!to%!t!&s '"" &#ng!5 R 0.( mT.
".2 #rototy$e %oard Con!e$t
The main ne5 concet of the !ototye 3oa!d allo5s tu!ning off all senso!s and A%Cs
indeendently. This section fi!st desc!i3es the A%CS st!uctu!e of ESTCu3e'1 and then e?lainsG
ho5 the st!uctu!e has 3een im!o,ed in ESTCu3e'( AOCS to imlements the mentioned featu!e.
Figu!e 2 sho5s a simlified st!uctu!e of ESTCu3e'1 A%CS. "ene!aliJed digital and analog A%CS
senso! configu!ation is sho5n on the diag!am. These senso!s a!e cont!olled 3y C%:S
mic!o!ocesso! and o5e!ed 3y EPS. C%:S and EPS !o,ide cold !edundancy fo! the
mic!o!ocesso! 5ith the use of 3us s5itches. If the acti,e mic!o!ocesso! stos !esondingG EPS
s5itches the o5e! sou!ce. As mentioned 3efo!eG to tu!n off one of the A%CS senso!s the 5hole
su3system must 3e o5e!ed off.
16
To sol,e the issueG a dou3le 3us s5itch concet 5as int!oducedG 5hich e?ands the mic!o!ocesso!
!edundancy idea and alies it to each senso!.
Figu!e 4 sho5s the ESTCu3e'( AOCS dou3le s5itch concet. Each senso! and A%C is suo!ted
3y a o5e! s5itch and a 3us s5itchG 5hich isolate the dedicated integ!ated ci!cuits f!om o5e! lines
and communication 3us. The s5itches a!e cont!olled 3y an IDO e?ande!G so if the mic!o!ocesso! is
s5itchedG the senso!s !emain in the same state. In cont!ast to ESTCu3e'1 A%CSG ne5 concet
laces the mic!o!ocesso! on the AOCS main 3oa!dG 3ut the the same C%:S cold !edundancy
alies. The concet comlicates o5e! management of the 3oa!dG 3ut it allo5s to o5e! do5n
senso!s and A%Cs indeendently 3esides senso! !edundancy.
The mic!o!ocesso! !edundancy has 3een !o,en successful du!ing ESTCu3e'1 missionG thus the
fi!st AOCS !ototye contains only one mic!o!ocesso!. Ne,e!thelessG the dou3le s5itch concet
still aliesG 3ecause only the 3us s5itches dedicated to the second *CU a!e !emo,ed.
1;
Figure !: ESTCube-# $CS structure. Sensors are located on A"CS board, but controlled by C"#S
microprocessor. $us switches are used to pro%ide cold redundancy &or the microprocessor. $oth
systems are powered by 'lectric (ower System.
".3 &ardware Sele!tion
:a!d5a!e selection is one of the main tas$s of a !ototye design. A,aila3ility and !ice must 3e
ta$en into conside!ation in addition to !e9ui!ement fulfillment. All !ices found in the follo5ing
su3sections 5e!e !efe!enced f!om Fa!nell and EU *ouse! Ausual ESTCu3e sulie!sB 3efo!e A!il
(2G (012. All selected ha!d5a!e has lo5 mass and small ac$ages.
$.3.1 %rocessin" (nit
ESTCu3e'1 A%CS does not ha,e a dedicated !ocessing unitG so calculations a!e !un 3y C%:S
ST*7(F107 mic!o!ocesso!. Such design simlifies st!uctu!e of A%CSG lo5e!s o5e!
consumtion of 3oth systems and eliminates the need of communication 3et5een t5o su3systems.
E,en so this design also limits the caa3ilities of 3oth su3systems. A%CS and C%:S ha,e
su3stantially diffe!ent tas$s 5hich must 3e scheduled and e?ecuted 3y one !ocessing unit. The
inc!ease in soft5a!e comle?ity caused se,e!al !o3lemsG 5hich delayed significantly 3oth
su3systems soft5a!e de,eloment. In additionG 3y no5 ESTCu3e'1 soft5a!e de,eloment team has
18
Figure ): $ouble s"itc! co%cept used i% ESTCube-2 OCS de&elopme%t. An additional layer o&
bus switches and power switches pro%ides the &unctionality o& independently turning o&& the sensors
and A"Cs.
!eached tas$ scheduling feasi3ility limit of the !eal'time oe!ating system. Fo! those !easons it 5as
decided to use a sea!ate !ocessing unit fo! AOCS in futu!e missions.
P!ocesso!s li$e )PC7180 E71F f!om NHP Semiconducto!s 5e!e conside!ed 3ecause of the dou3le'
!ecision FPUG 5hich 5ould inc!ease accu!acy of AOCS algo!ithms. &ut NHP !ocesso!
a!chitectu!e and fi!m5a!e design !ocess is unfamilia! to ESTCu3e teamG so it 5as decided to use
the familia! a!chitectu!e of ST*7(F2 se!iesG 5hich includes a single'!ecision FPU and has lo5e!
o5e! consumtion than othe! mic!o!ocesso!s 5ith a FPU. Othe! su3systems also lan to use
ST*7(F2 mic!o!ocesso!sG 5hich means that soft5a!e de,eloment time 5ould dec!ease e,en
fu!the!.
ST*7(F2 se!ies is 3ased on AR*T Co!te?U'*2G 5hich oe!ate at ma?imum of 180 *:J
f!e9uency. &y using dynamic o5e! scaling featu!eG o5e! consumtion of the !ocesso! can 3e
dec!eased 3y lo5e!ing the cloc$ f!e9uency. Each !ocesso! includes a digital signal !ocesso! and a
FPU. &ut the!e a!e some diffe!ences 5ithin the se!ies. Ta3le 1 coma!es AOCS !ele,ant featu!es of
th!ee ST*7(F2 !oduct lines E7(F.
Table #: S*+2F! series AOCS rele%ant &eature comparison ,2-.
STM,3F6
p&od(t "in!
M#2i%%
'&!7!n(.
C&&!nt
(ons%ption
M!%o&. si8! P#(k#g! pin
n%/!&
Co%%ni(#tion
int!&'#(!s
ST*7(F2(<D27< 180 *:J (60 VAD*:J 41('=& to ('*&
Flash
(46'=& SRA*
100 to (16 2? USARTs
2? UARTs
6? SPIs
7? INC
ST*7(F20;D21; 162 *:J (78 VAD*:J 41('=& to 1'*&
Flash
1<('=& SRA*
62 to 122 2? USARTs
7? SPIs
7? INC
ST*7(F201 82 *:J 1(8 VAD*:J 1(8' to 41('=&
Flash
<6'=& SRA*
2< to 100 7? USARTs
2? SPIs
7? INC
Although ST*7(F2(<D27< and ST*7(F20;D21; ha,e sue!io! e!fo!mance 3ecause of the
ma?imum oe!ating f!e9uencyG the f!e9uency 5ill li$ely 3e !educed to lo5e! the o5e!
consumtion. That is 5hy ST*7(F201 has an ad,antage of a!o?imately ( times less o5e!
consumtion coma!ed to othe! !oduct lines. Flash memo!y siJe is not of g!eat imo!tance
3ecause it is susceti3le to !adiation induced e!!o!s and has to 3e suo!ted 3y mo!e !elia3le
e?te!nal memo!y li$e FRA*. SRA* on the othe! hand is imo!tantG 3ut AOCS algo!ithms do not
1<
need la!ge memo!y saces to oe!ate. IDO in num3e! of the ac$age is of g!eat imo!tanceG 3ut in
the cu!!ent design the *CU is suo!ted 3y IDO e?ande!sG 5hich dec!ease the !e9ui!ed num3e! of
IDO ins. F!om communication inte!face ,a!iety oint of ,ie5 all !oduct lines a!e feasi3leG
although a 3igge! SPI num3e! 5ould 3e !efe!a3le 3ecause most of the e?te!nal de,ices
communicate th!ough SPI. ST*7(F201 line 5as selected fo! AOCS !ototye mainly 3ecause of
its o5e! consumtion in site of smalle! SRA* and lo5e! SPI num3e!. To suo!t the !ocesso! a
F*(4V(0 FRA* E77F and %S7(72 RTC E72F ha,e 3een selected.
$.3.2 )yrosco&ic Sensors
IT"'7(00 E74F 7'a?is gy!oscoic senso! f!om In,enSense 5as selected fo! ESTCu3e'1 mission.
Although ESTCu3e'1 team has successfully used this senso! du!ing the missionG the!e a!e t5o
disad,antages of using IT"'7(00 senso! in the futu!e. Fi!st of all sensiti,ity of IT"'7(00 is lo5e!
than the !e9ui!ed sensiti,ity fo! ESTCu3e'(D7 missions. Secondly the only ossi3le inte!face to
communicate 5ith the senso! is INCG 5hich the team had !o3lems 5ith. In a!ticula! the senso!
cannot 3e shut do5n indeendently 3ecause it d!a5s cu!!ent f!om INC 3us.
Table 2: Set o& gyroscopic sensors selected &or testing on AOCS prototype
G.&os(opi(
s!nso&
M!#s&!%!nt
&#ng! 9dps:
S!nsiti$it.
9digit/dps:
S#%p"ing
&#t! 9H8:
;ois!
d!nsit.
9dps/<H8:
Spp".
(&&!nt
9%A:
Int!&'#(! P&i(!
9=:
IT"'7(00 E74F P(000 14 8000 0.07 6.4 INC (1G;
*AH(1000 E76F P7( to P(000 <60 to 14 10000 0.00< 4.( SPID INC ;.(
&*"160 E7;F P1(4 to P(000 (20 to 14 (000 0.012 4 SPID INC 7.<
*PU'6000 E78F P(40 to P(000 1(0 to 14 8000 0.004 7.6 SPID INC 12.<
)7"%(0: E7<F P(40 to P(000 1(0 to 14 800 0.011 4 SPID INC 2.0
)PY207A)E20FD
)PR207A)E21F
P70 to P1(0 77.7 to 8.7
mVDds
120 0.01 6.8 Analog 6.0D
6.8
Ta3le ( coma!es IT"'7(00 and the ne5 set of senso!s that has 3een selected fo! testing.
*AH(100G &*"160G *PU'6000 and )7"%(0: a!e digital 7'a?is gy!oscoic senso!s. )PY207A)
and )PR207A) a!e analog ('a?is gy!oscoic senso!s. The measu!ement !ange !e9ui!ement is
fulfilled 3y all senso!s e?cluding )PY207A)D)PR207A). )PY207A)D)PR207A) a!e on the list
3ecause it 5as suggested to ha,e diffe!ent senso!s fo! lo5 and high sin !ates as 5ell as to test
(0
feasi3le analog gy!oscoic senso!s. At least a (0'3it lo5 noise A%C is !e9ui!ed fo! accu!ate
measu!ements in the full !ange of )PY207A)D)PR207A).
&oth sensiti,ity and noise density of all senso!s a!e satisfying and the senso!s consume !elati,ely
simila! amount of cu!!ent. All digital senso!s ha,e SPI inte!facesG 5hich is used in the design. F!om
the !ice oint of ,ie5 only *PU'6000 is !elati,ely mo!e e?ensi,e than othe! senso!s. E?cluding
IT"'7(00 all senso!s a!e included in the AOCS !ototye design.
$.3.3 !a"netometers
*agnetomete!s a!e less imo!tant fo! futu!e missions 3ecause ESTCu3e'7 mission is lanned to
ta$e lace outside Ea!ths magnetic field. That is 5hy ESTCu3e'( must 3e fully oe!ational 5ithout
the use of magnetomete!s. NonethelessG magnetomete!s a!e meant to 3e 3ac$'u senso!s.
Table ': Set o& magnetometers selected &or testing on AOCS prototype
M#gn!to%!t!& M!#s&!%!nt
&#ng! 9%T:
R!so"tion
9nT/LS/:
S#%p"ing
&#t! 9H8:
;ois!
d!nsit.
9nT/<H8:
Spp".
(&&!nt
9%A:
Int!&'#(! P&i(!
9=:
:*C4887) E2(F P0.1 to P0.8 ;7 to 274 160 (00 0.1 INC 7.7
)IS7*%) E27F P0.2 to P1.6 14 to 48 80 7(0 0.(; SPIDINC (.0
*A"7110 E22F P1 100 80 200 0.< INC 1.0
)S*707% E24F P0.( to P1.( 8 to 28 100 400 0.7 SPIDINC 2.0
FHOS8;00CWE26F P1.( 100 1400 100 0.22 SPIDINC (.2
:*C4887) magnetomete! 5as chosen fo! ESTCu3e'1 missionG 5hich simila!ly to gy!oscoic
senso!s has only a INC inte!face. Although :*C4887) satisfies the !e9ui!ements INC inte!face use
is undesi!a3leG so a ne5 set of senso! 5as selected fo! testingG 5hich can 3e found in Ta3le 7.
:*C4887)G )IS7*%)G *A"7110G )S*707% and FHOS8;00CW a!e 7'a?is lo5 !ice
magnetomete!s. All senso!s fulfill the !e9ui!ements. In additionG )S*707% and FHOS8;00CW a!e
conside!ed as accele!ation senso!s in the ne?t sectionG 5hich ma$es them mo!e desi!a3le. The only
d!a53ac$ fo! :*C4887) and *A"7110 is the use of INC inte!face. Ne,e!thelessG all listed senso!s
a!e used in the design.
$.3.$ Accelerometers
Accele!omete!s 5e!e not included in ESTCu3e'1 mission. *ain u!ose of accele!omete!s on
(1
3oa!d ESTCu3e'( is to measu!e the accele!ation gained 3y using the NanoSace Cold "as th!uste!s
and E'sail e?e!imentG although they can ossi3ly 3e used fo! attitude estimation. C" th!uste! and
E'sail e?e!iment ha,e diffe!ent measu!ement accu!acy !e9ui!ementsG so they a!e discussed
sea!ately.
Single C" th!uste! is caa3le of !o,iding 1 mN of fo!ce. Satellite mass is estimated to 3e 2 $g.
The!e 5ill 3e 2 th!uste!s on 3oa!dG 3ut e,en a single th!ust must 3e detecta3le. Calculations
A1 mND2 $gX(40 VgB sho5 that the selected accele!omete! must detect at the least (40 Vg of
instantaneous accele!ation. Such accu!acy is !a!e in lo5 cost accele!omete!sG 3ecause tyically
measu!ement noise is ,e!y high. Ta3le 2 coma!es the set of 3est found accele!omete!s.
Table (: Set o& accelerometers selected &or testing on AOCS prototype
A((!"!&o%!t!& M!#s&!%!nt
&#ng! 9g:
S!nsiti$it. S#%p"ing
&#t! 9H8:
;ois! d!nsit.
9-g/<H8:
Spp".
(&&!nt 9%A:
Int!&'#(!
)S*707% E24F P( to P16 16782
digitDg
1600 140 0.7 SPIDINC
FHOS8;00CW
E26F
P( to P8 20<6
digitDg
1400 1(6 0.22 SPIDINC
=HR&4 E2;F P( 660 mVDg 1000 24 0.4 Analog
=HR&4 7'a?is analog accele!omete! e!fectly satisfies the !e9ui!ementsG 3ut !e9ui!es at least a
(0'3it lo5 noise A%C to 3e a3le to !o,ide accu!ate measu!ements in the senso!s full !ange.
)S*707% is a 7'a?is digital accele!omete! and also satisfies the !e9ui!ementsG 3ut noise density is
!elati,ely high. FHOS8;00CW 7'a?is accele!omete! !esolution is (22 VgD)S&G so it is unli$ely that
it 5ill 3e a3le to detect (40 Vg accele!ation. Ne,e!thelessG FHOS8;00CW and )S*707% a!e also in
magnetomete! test set. All th!ee accele!omete!s a!e used in the design.
FH)C<4000C) E12F 5as also conside!ed fo! the test setG 3ut disca!ded 3ecause of the included 7('
3it ColdFi!e *CU. Anothe! !ocesso! 5ould ha,e meant mo!e fi!m5a!e de,eloment on a sea!ate
unfamilia! latfo!m. It has simila! accu!acy to FHOS8;00CW.
E?ected E'sail accele!ation 5ith 1 $m tethe!G 10 $V o5e! suly and 2 $g satellite is 4 Vg. Such
accele!ation is imossi3le to measu!e instantaneously 5ith lo5 cost accele!omete!s. Se,e!al high
accu!acy accele!omete!s a!e conside!ed fo! E'sail e?e!iment measu!ementsG 3ut none of them fit
on the AOCS main 3oa!d and 5ould 3e added as satellite ayload. In that case a communication
inte!face must !ese!,ed fo! the senso!s. Ta3le 4 int!oduces the most !ele,ant featu!es of t5o
((
ossi3le senso!s. &oth senso!s a!e 1'a?is seismic accele!omete!s. %iscussed high accu!acy analog
accele!omete!s a!e still 3eing analyJed and final decision is not made in this thesis.
Table ): (ossible high accuracy accelerometers &or '.sail e&&ect measurement
A((!"!&o%!t!& P#(k#g! si8!
9%%:
>o"t#g! Spp". (&&!nt
9%A:
R#ng! 9g: S!nsiti$it.
9>/g:
;ois! d!nsit.
9-g/<H8:
7<7&04 E2<F (4 (2 7( 18 to 70 10 P4 1 0.7
SF1600S.A E40F (4 (0 14 6 to 14 11.; P7 1.( 0.7
$.3.* Analo"-to-'i"ital Converters
Analog senso!s !e9ui!e lo5 noise A%Cs 5ith high !ecision ,oltage !efe!encesG teme!atu!e and
inut ,oltage measu!ements. All of these a!e chosen in this chate!.
1('3it A%Cs a!e !e9ui!ed fo! Sun senso!sG teme!atu!e and ,oltage measu!ements. ESTCu3e'1
mission included a 16'channel 1('3it *AH1(70 E41F A%Cs. This A%C is sufficiently accu!ate and
5ith high samling !ateG 3ut du!ing the !esea!ch mentioned A%C 5as !actically out of stoc$ f!om
all usual sulie!s. Fo! that !eason t5o su3stitute A%Cs 5e!e selected fo! testing- *AH11677 E4(F
and A%;<20 E47F. The main diffe!ence of these ICs f!om *AH1(70 is that they oe!ate at 7.7 V
and consume slightly less cu!!ent A(.0 mA and 1.8 mA acco!dingly coma!ed to (.8 mAB. In
additionG A%;<20 has samling f!e9uency of u to 1000 $SPS coma!ed to 700 $SPS of the
*AHI* A%Cs. &oth *AH11677 and A%;<20 a!e included in the design in a dulicating manne!.
*easu!ing analog accele!omete! and gy!oscoic senso! oututs on the othe! hand !e9ui!e an A%C
5ith highe! !esolution. It 5as calculated that at least (0'3it !esolution is needed to !o,ide accu!ate
measu!ements. Simila!ly t5o A%Cs 5e!e selected fo! testing- A%;;18 E42F and A%;1;7 E44F. &oth
a!e lo5 o5e! and lo5 noise (2'3it A%Cs. A%;;18 has u to 10 channels and u to 1.764 $SPS.
A%;1;7 has u 16 channels and 71.(4 $SPSG 3ut it is ne5 on the ma!$et and may contain faults.
&oth A%Cs a!e used in the designG 3ut A%;1;7 has mo!e measu!ement connections 3ecause of the
g!eate! num3e! of channels.
=TY8( se!ies E46F !esisti,e teme!atu!e senso! 5as used on ESTCu3e'1. It imlies using a ,oltage
di,ide!G so teme!atu!e to ,oltage t!ansition is not linea! and has to 3e !ecalculated acco!ding to the
comlimenta!y !esisto! of the ,oltage di,ide!. %ue to thatG a ne5 teme!atu!e senso! 5as selected
that 5ould simlify teme!atu!e measu!ements. )*T86 E4;F teme!atu!e senso! 5as selected
3ecause of its ush'ull oututG 5hich is 5ithin the !ange of 7 V. )*T86 consumes u to < VA and
(7
has a smalle! ac$age ASC';0'4B than =TY8( se!ies senso!s.
ESTCu3e'1 used A%R7240 E48F !efe!ence ,oltageG 3ut it 5as meant fo! A%Cs oe!ating at 4 V
le,el. A%R7270 E48F 5as selected f!om the same se!iesG 3ecause it !o,ides the 3est ,oltage le,el
accu!acy 5ith lo5 ,oltage d!o'out A(40 mV ma?imumB and lo5 o5e! consumtion A100 VAB.
This 7 V ,oltage !efe!ence is used fo! 3oth (2'3it and 1('3it A%Cs.
$.3.+ %ower !ana"ement #ardware
*ain u!ose of o5e! management elect!onics is allo5 indeendently tu!ning off ICs o!
disconnecting them de,ices f!om communication 3uses. This functionality is !o,ided 3y using
o5e! and 3us s5itches. Po5e! s5itches disconnect the o5e! suly of a de,ice and 3us s5itch
isolates communication inte!face of the same de,ice. The most imo!tant de,ices that ha,e to 3e
!o,ided 5ith this functionality a!e the senso!s and A%Cs.
TPS((<21 E4<F load s5itch 5ith 20 mA cu!!ent limit and the!mal shutdo5n 5as selected. It also has
an auto'!esta!t featu!eG consumes Y 1 VA in shutdo5n mode and has a smalle! ac$age ASC';0'4B
than othe! o5e! s5itches 5ith simila! featu!es.
%iffe!ent de,ices ha,e diffe!ent num3e! of IDO ins. Fo! that !eason a set of th!ee 3us s5itches 5as
selected- (2'3it SN;2C&T)V16(11 E60FG 10'3it SN;2C&T)V7782 E61F and 2'3it
SN;2C&T)V71(6 E6(F. All th!ee ha,e the smallest ac$age a,aila3le to minimiJe the occuied
sace on the PC&. All 3us s5itches consume u to 10 VA cu!!ent and ha,e a 4 Z s5itch connection
3et5een the o!ts.
In addition to actual o5e! management elect!onicsG IDO e?ande!s 5e!e selected to simlify
s5itching 3et5een *CUs and dec!easing the num3e! of needed IDO ins. *CP(7S1; E67F is a
16'3it IDO e?ande! 5ith cu!!ent consumtion of 1 mA and a SPI inte!face.
$.3., 'ebu""in" -unctionality
In addition to main functionalityG a !ototye 3oa!d !e9ui!es additional means of de3ugging
ha!d5a!e as 5ell as soft5a!e. This includes ,oltage !egulato!sG 3ecause it is not lanned to ha,e
those on final ,e!sion of AOCS main 3oa!d as the o5e! is !o,ided 3y EPS. Soft5a!e de3ugging
is !o,ided 3y diffe!ent communication 3us to US& inte!faces.
Se,e!al tests ha,e to 3e e?ecuted in an en,i!onmentG 5he!e connecting the 3oa!d to a o5e! sou!ce
is not ossi3le. In that case a 3atte!y must 3e used. )*111;I*PH E62F )%O is used to con,e!t
3atte!y ,oltage to 4 VG 5hich is used fo! Sun senso!s and th!uste! inte!face. If the 3oa!d is o5e! 3y
(2
an US& inte!faceG 4 V )%O is 3yassed. )P(<<( E64F is then used to con,e!t 4 V to 7.7 V fo! the
!est of elect!onic de,ices. Cu!!ent sensing is !o,ided 3y )*P8624 E66F cu!!ent sense amlifie!
connected to an A%CG 5hich has ad/usta3le gain and is a3le to measu!e cu!!ent on !esisto!s 5ith
highe! otential than its o5e! suly.
To allo5 de3ugging of the most used communication 3uses of the !ototyeG US& inte!faces 5e!e
selected. FT(00H% E6;FG FT((0HS E68F and FT(70HS E6<F !o,ide US& inte!faces to INCG SPI and
UART 3uses acco!dingly.
"." #rototy$e %oard 'esi(n
This section int!oduces the AOCS !ototye 3oa!d design concet and desc!i3es 3oth schematic and
3oa!d layout of the !ototye. P!ototye contains a!o?imately 240 elect!onic comonentsG 5hich
is difficult to maintain 5ithout esta3lishing a design st!uctu!e. Schematic and 3oa!d design ha,e
slightly diffe!ent logical st!uctu!eG 5hich 5ill 3e desc!i3ed in the follo5ing su3sections.
A f!ee %esignSa!$ PC& CA% tool 5as used fo! 3oth schematic and 3oa!d layout designs.
$.$.1 Schematic
This section desc!i3es schematic of the !ototye 3oa!d and e?lains lacement of additional
elect!onic comonents. Schematics of the !ototye 3oa!d can 3e found unde! Aendi? A. Figu!e 6
sho5s the gene!al st!uctu!e of the AOCS !ototye 3oa!dG 5hich contains the selected ha!d5a!e.
(4
Figure /: OCS prototype co%te%ts.
The schematic of the !ototyes contains almost a hund!ed integ!ated ci!cuits each of 5hich
!e9ui!es e?te!nal elect!onic comonents to function sta3ly and lo5e! the noise ma!gin. The
schematic is di,ided into 3loc$G 5he!e each IC is su!!ounded 3y the dedicated signal integ!ity
elect!onic comonents.
E,en if the main o5e! suly of the 3oa!d is e?cetionally sta3leG imedance of the t!aces and
othe! signals th!oughout the 3oa!d could influence the sta3ility of an IC o5e! suly. The!efo!e all
ICs in gene!al !e9ui!e decouling caacito!s to !educe inut !ile of the o5e! suly. In se,e!al
cases sea!ate caacito!s a!e used close to analog and digital o5e! sulies of one ICG although the
same o5e! suly is used. Tyically a 100 nF caacito! is used. In some cases smalle! o! la!ge!
caacito! is needed deending on the integ!ated ci!cuit.
Communication 3uses used on the 3oa!d !e9ui!e ull'u !esisto!s. In a!ticula!G INC needs ull'u
!esisto!s on 3oth signal lines and SPI !e9ui!es a sea!ate ull'u on e,e!y chi select signal. Pull'
us a!e laced ne?t to sla,e de,ices to d!i,e the signal high 5hen the !ocesso! is not d!i,ing the
signal. Pull'do5n !esisto!s a!e also needed to d!i,e some othe! signals to lo5 le,el. These signals
include selftest ins fo! analog senso!s fo! e?amle.
In addition to a3o,e desc!i3ed casesG most ICs !e9ui!e e?te!nal elect!onic comonents fo! othe!
!easons. Those !easons a!e desc!i3ed sea!ately in each cases du!ing this section. To simlify the
st!uctu!e of the schematic as 5ell as its desc!itionG comonents 5e!e di,ided into 6 functional
g!ous- senso!sG A%CsG o5e! managementG *CUG de3ugging and connecto! g!ous. Schematic of
the !ototye can 3e found unde! Aendi? A in figu!e 8'(2.
?* S!nso&s g&op
The g!ou includes fou! digital and t5o analog gy!oscoic senso!s Afigu!e 8BG th!ee magnetomete!sG
t5o digital accele!omete!sG one analog accele!omete! and si? teme!atu!e senso!s Afigu!e <B.
*PU'6000 includes a )%O and a cha!ge umG 5hich gene!ates high ,oltage fo! *E*S
oscillato!s. They !e9ui!e 0.1 VF and (.( nF caacito!s acco!dingly. )7"%(0: !e9ui!es a 10nF filte!
caacito!. )PR207A) and )PY207A) !e9ui!e a lo5 ass filte!s fo! the hase loc$ loo AP))B
ci!cuit to synch!oniJe d!i,ing and sensing ci!cuits.
:*C4887) !e9ui!es 2.; VF !ese!,oi! and 0.(( VF setD!eset st!a d!i,e caacito!sG 5hich a!e used
to handle 1 A ea$ cu!!ent ulses. )IS7*%) has a 100 nF caacito! connected to a dedicated C1
in. *A"7110 needs t5o 100 nF caacito!s fo! 3yassing the inte!nal !egulato! and magnetic !eset
ulse ci!cuit.
(6
&and5idth of =HR&4 analog accele!omete! is dete!mined 3y a filte! caacito!. A 2.; nF caacito!
allo5 f!e9uencies of u to 1 $:J. FHOS8;00CW !e9ui!es t5o additional 100 nF caacito!s fo!
3yassing the inte!nal !egulato! and fo! the magnetic !eset ulse. It is !ecommended to connect a
2.; VF !ese!,oi! and a 0.(( VF setD!eset caacito!s to )S*707% senso!.
To !educe the outut noise couling of the )*T86 teme!atu!e senso!G a 1 nF caacito! is used.
3* ADCs g&op
This g!ou includes si? A%Cs and t5o ,oltage !efe!ences dedicated to the A%Cs Afigu!es 10 and
11B.
A 1 VF caacito! is connected to ,oltage !efe!ences outut to im!o,e sta3ility and !educe the high
f!e9uency noise. All A%Cs ha,e additional 0.1 VF caacito!s on the !efe!ence inuts fo! the same
!eason.
&oth (2'3it A%Cs ha,e sea!ate c!ystal oscillato!sG 5hich a!e highe! !ecision and lo5e! /itte! cloc$
sou!ces coma!ed to inte!nal cloc$ sou!ces. A%;1;7'8 on the othe! hand has t5o on'3oa!d )%O
!egulato!sG 3oth of 5hich !e9ui!e 1 VF and 0.1 VF caacito!s to the co!!esonding ins.
Although 1('3it A%Cs and A%;;18 do not !e9ui!e mo!e e?te!nal elect!onic comonentsG in addition
to mentioned to the ones desc!i3ed at the 3eginning of the section. All high !ecision A%Cs !e9ui!e
ce!tain layout conside!ations thoughG 3ut that is desc!i3ed in the 3oa!d layout section.
&ecause 7 V !efe!ences a!e usedG ,oltage di,ide!s must 3e used to 3!ing the the ea$ ,oltage of
se,e!al signals unde! 7 V. Voltage di,ide!s a!e used fo! all senso! o5e! suly ,oltage
measu!ements and Sun senso! signalsG 5hich ma?imum ,oltage could 3e as high as 4 V.
,* Po0!& %#n#g!%!nt g&op
This g!ou consists of IDO e?ande!sG o5e! s5itches and 3us s5itchesG not dedicated to the *CU
Afigu!es 1(G 17G 12G 14 and 16B. The!e a!e (0 o5e! s5itches in this g!ou. Each one has sta3iliJing
caacito!s on inut and outut and a ull'do5n !esisto! on the ena3le signal to ensu!e that on sta!t'
u the o5e! s5itch is tu!ned off. In addition to thatG all o5e! s5itches ha,e a single common
signal- o5e! fault @ an oen'd!ain oututG 5hich !e9ui!es a ull'u !esisto!. SN;2C&T)V7782 3us
s5itches also !e9ui!e in,e!te!s to the ena3le outut signals 3ecause they a!e acti,ated at lo5 le,el.
Cithout in,e!te!s 3us s5itch 5ould 3e acti,ated afte! sta!t'u.
6* MCU g&op
This g!ou includes the ST*7(F2 !ocesso! Afigu!e 1;BG fou! 3us s5itches Afigu!es 18 and 1<BG a
RTCG t5o FRA* memo!ies and t5o RS'284 con,e!te!s Afigu!e (0B.
(;
ST*7(F2 !ocesso! !e9ui!es t5o (.( VF caacito!s fo! the main on'3oa!d !egulato! and t5o 9ua!tJ
oscillato!s- 7( $:J fo! the inte!nal RTC and 16 *:J as the main cloc$ sou!ce. Also one )E% is
laced ne?t to the *CU fo! de3ugging u!osesG 3ecause the !est of the )E%s is laced 3ehind the
3us s5itches.
SN64:V%;4 RS'284 d!i,e!s !e9ui!e t!ansient',oltage'su!ession diodesG 5hich !otect the
communication 3us f!om ,oltage si$es. The ,alue of the !esisto! 3et5een A and & diffe!ential
signals deends on the imedance of the connectionG so at the moment it is left undefined.
+* D!/gging 'n(tion#"it. g&op
This g!ou consists of )%Os Afigu!e (1BG US& communication d!i,e!s fo! diffe!ent 3us inte!facesG
cu!!ent sensingG cont!ol 3uttons and )E%s Afigu!e ((B.
)P(<<( and )*111; )%Os ha,e the tyical inut and outut sta3iliJing caacito!sG 3ut )P(<<(
!e9ui!es anothe! dedicated 3yass 10 nF caacito!. )*P8624 cu!!ent sense amlifie! uses a 0.1 [
shunt !esisto! to measu!e the ,oltage d!o and 40 $[ !esisto!G 5hich defines the gain of the
amlifie!. The cu!!ent consumed 3y the 5hole 3oa!d is measu!ed.
FT(70HSG FT((0HS and FT(00H% a!e FT%I US& inte!faces !e9ui!e (; [ !esisto!s on the US&
signal lines to sta3iliJe the signals. T5o )E%s 5e!e connected to FT(70HS ICsG 3ecause it 5ill 3e
the main de3ugging inte!face and indicato!s of its acti,ity a!e needed.
The!e a!e fi,e mechanical s5itches to cont!ol the 3oa!d. Th!ee of the s5itches a!e used to cont!ol
the o5e! of the 3oa!d. Fou!th s5itch select the 3oot mode of the !ocesso!. Fifth s5itch !esets the
!ocesso!. All s5itches ha,e de3ouncing ci!cuits in fo!m of 10 VF and 100 nF caacito!s to ma$e
le,el t!ansitions smoothe!.
The!e a!e 14 )E%s in total on the 3oa!d. One is a!t of the *CU g!ou. T5o a!e UART to US&
d!i,e! indicato!s. Th!ee )E%s a!e o5e! indicato!s. The!e !est is a!e de3ug )E%s connected to
eithe! *CU o! IDO e?ande!s.
@* Conn!(to&s
The!e a!e se,e!al connecto!s fo! diffe!ent u!oses on the 3oa!d Afigu!es (7 and (2B. Some a!e
inte!faces to e?te!nal AOCS ha!d5a!e li$e sun senso! connecto!sG cold gas th!uste! inte!face o! coil
d!i,e! inte!faces. Othe!s a!e meant fo! communication to othe! su3systems of the satellite li$e the
common 3us and O&C inte!face. The!e a!e also t5o connecto!s fo! additional senso!sG 5hich a!e
needed in case some senso! is added to the test list at late! de,eloment stages. The!e is a 3atte!y
connecto! 5ith a !ectifie! diode to !e,ent 5!ong ola!ity connection of the 3atte!y and a /ume!G
(8
5hich is meant to allo5 connecting US& and 3atte!y 4 V sou!ce in case o5e! sou!ce must 3e
s5itched 5ithout o5e!ing do5n the 5hole 3oa!d. And the!e a!e of cou!se the de3ugging
inte!faces- SC% t5o'5i!e inte!face fo! ST*7(F2 de3ugging and the US& connecto!s fo! the US&
d!i,e!s. US& connecto!s !e9ui!e (; F caacito!s fo! the signal lines to sta3iliJe the
communication.
$.$.2 .oard /ayout
This section desc!i3es the concets in,ol,edG st!ategy used and decisions made du!ing 3oa!d design
fo! the !ototye 3oa!d. &oa!d design 3y laye! can 3e found unde! Aendi? &.
A 2 laye! 3oa!d design is usedG 5hich allo5s using a g!ound lane as one of the laye!s. A 5hole
laye! dedicated to g!ound !o,ides lo5 g!ound imedance and allo5s a,oiding g!ound loos in
most cases. This also significantly simlifies the designG 3ecause !actically each ci!cuit has a
g!ound connection.
Aendi? C contains the full 3ill of mate!ials fo! AOCS !ototye 3oa!d. Se,e!al hund!eds of
comonents 5ith a3out 1400 connections is difficult to o!ganiJe 5ithout a st!ategy. The design
st!ategy must ta$e into account that ce!tain comonents ha,e to 3e laced in ce!tain !esect 5ith
each othe! and that the!e a!e only 7 laye!s a,aila3le fo! !outingG e?cluding g!ound lane.
%ecouling caacito!s fo! e?amle as 5ell as othe! signal integ!ity !elated comonents a!e !e9ui!ed
to 3e laced ne?t to the IC dedicated ins. Ta$ing that into conside!ation the fi!st ste of the st!ategy
is to com3ine comonents in to g!ous acco!ding to schematic 3loc$s.
Second ste is to o!ganiJe the g!ous 5ithin them sel,es. Placing e?te!nal elect!onics comonents
ne?t to the IC dedicated ins is c!itical to simlify fu!the! o!ganiJation. At this oint simila!ity of
the 3oa!d layout design to the schematic ends. Result of this ste should consist of g!ous o!ganiJed
on one of the sides of the 3oa!d.
The thi!d ste is to o!ganiJe the g!ous into o5e! management units 5ith a single o5e! suly
and 3us inte!face. Fo! e?amle a senso! is com3ined 5ith the dedicated o5e! and 3us s5itches.
The outcome of the this ste is usually a t5o side unit 5ith !elati,ely small amount of e?te!nal
connections. At this oint some !outing could 3e doneG 3ut only on the laye!s that the comonents
a!e laced.
The fou!th ste is to o!ganiJe these units into the o,e!all st!uctu!e of the 3oa!dG ta$ing into
conside!ation communication 3uses and the main o5e! suly. Sea!ating analog and digital
signals is also ad,isedG esecially if high accu!acy measu!ements a!e e!fo!med. Usually it ta$es
se,e!al t!ies to get a suita3le st!uctu!e.
(<
Afte! the main st!uctu!e of the 3oa!d is esta3lishedG the last ste must 3e ta$en- otimiJation.
OtimiJation means !ead/usting the comonents fo! otimal sace and connecti,ity. Usually
unotimiJed g!ous ta$e mo!e sace and ha,e inte!5ined signals in !esect to the 3oa!d st!uctu!e.
OtimiJation is needed to im!o,e the final comosition of the 3oa!d. The last ste tyically ta$es
the most time of the 3oa!d layout design. Visual !e!esentation of the st!ategy can 3e found unde!
Aendi? %.
In addition to gene!al st!ategy of the 3oa!d layout designG ce!tain decisions 5e!e made to simlify
the st!uctu!e of the 3oa!d. It 5as decided to lace all of the senso!s on the to side of the 3oa!d and
ma!$ the measu!ement di!ections 5ith sil$sc!een. Simila!ly o5e! management ICs a!e mostly
laced on the 3ottom of the 3oa!d. This allo5s c!eating the o5e! management units desc!i3ed in
the design st!ategy.
70
Figure 0: *ai% +Cs of OCS prototype board. 1.! digital gyroscopes. )./ digital accelerometers,
0.1 magnetometers, 12.1 12.bit A"Cs, 1!.1) 2!.bit A"Cs, 1/ analog accelerometer, 10.13
analog gyroscopes, 11 . 4 5"O, 22.22 6S$ inter&aces, 2.2! 7S.!3) dri%ers, 2) 7*C, 2/.20
F7A+, 23.21 89O ':panders, 2 +C6.
Figu!e ; highlights the main ICs on the !ototye e?cluding o5e! and 3us s5itches. The logical
units of the 3oa!d 5e!e g!oued in 7 diffe!ent 5ays- 3y functionG 3y communication 3us and 3y IDO
e?ande! !each. "!ouing is desc!i3ed acco!ding to Figu!e ;.
Fi!st of allG units a!e g!oued 3y functionality. *CU 5ith its dedicated 3us s5itches is laced in the
cente! A70B. %e3ugging comonents 5e!e 3!ought to the !ight side of the 3oa!d A1<'((B. Analog
senso!s 5ith A%Cs 5e!e laced nea! the 3ottom of the 3oa!d A10'18B. %igital senso!s 5e!e laced
on the left side of the 3oa!d A1'<B. *CU sulementa!y ICs 5e!e lace at the to of the 3oa!d
A(7'(;B. IDO e?ande!s A(8'(<B a!e laced close to the *CU.
SecondlyG de,ices 5e!e g!oued acco!ding to the communication 3uses used 3y the de,ices. Se,en
de,ices communicate th!ough SPI2 A1'7G (4'(8B. Only fou! ICs A2';B communicate th!ough SPI(G
3ut SPI( is also used to communicated to any additional senso!s that can 3e connected to the 3oa!d.
Simila!ly to SPI2G SPI7 is used 3y se,en ICs A10'14G (<B to communicate 5ith the *CU.
Thi!dly ICs 5e!e g!oued 3y sea!ating the influence of t5o IDO e?ande!s. IDO e?ande!s a!e only
used fo! mostly constant signals li$e o5e! and 3us s5itch ena3le o! analog senso!s selftest o!
mode select signals. Fi!st IDO e?ande! cont!ols se,en ICs A1('18BG 5hich include analog senso!s
and thei! signals. Second IDO e?ande! cont!ols de,ices 17 ICs A1'11G (6'(;B.
Some ,e!y sensiti,e ICs li$e A%Cs and magnetomete! !e9ui!e e?licit layout conside!ations.
*agnetomete! is a sensiti,e IC. It !ecommended to a,oid lacing t!aces 5ith cu!!ents highe! that 10
mA close! than at a fe5 millimete!s distanceG o! it 5ill affect magnetic field measu!ements E27F. It
is !ecommended not to lace digital signal t!aces unde! the A%CsG thus a,oid digital signal
inte!fe!ing 5ith the measu!ements. Actually all analog and digital elect!onics should 3e sea!atedG
3ut it 5as imossi3le to sea!ate the ,oltage and teme!atu!e measu!ement t!aces f!om digital
elect!onics enti!ely. Thence it 5as attemted to minimiJe the digital signal influence 3y 3!inging the
analog signals to the side of the 3oa!dG ma?imiJing the distance 3et5een analog and digital signals
and occasionally lacing t!aces on the inne! laye! .
Communication inte!face a!e mostly laced at sides of the 3oa!d to allo5 easy access and !educe
inte!fe!ence of additional 5i!es.
The !ototye 3oa!d is lanned to 3e o!de!ed f!om &!andne! PC& manufactu!e! comany. The
design has to ta$e into conside!ation manufactu!e! caa3ilities and !ecommendations. Pushing to
the manufactu!e! limits 5ill inc!ease the !ice of 3oa!d manufactu!ingG 5hich should 3e also
a,oided. Fo! e?amle &!andne! allo5s 0.1 mm d!illed holesG 3ut the !ototye uses a minimum hole
diamete! of 0.7 mm. The minimal allo5ed ga 3et5een t!aces is 0.04 mmG 3ut the !ototye 3oa!d
71
layout has 3een done 5ith a minimum of 0.12 mm ga. This inc!easing the ossi3le e!!o! ma!gin fo!
the manufactu!e!. E;1F
$.$.3 0esult
A 110 mm 114 mm AOCS !ototye 3oa!d has 3een designed. The design satisfies all of the
!ototye !e9ui!ement stated in this thesis.
The dou3le s5itch concet and its imlementation allo5s tu!ning off all senso! and A%Cs
indeendently.
Redundancy fo! each tye of senso!s is !o,ided 3y the !ototye 3oa!d design.
The 3oa!d allo5s testing of a !ange of diffe!ent senso!s 3y e?loiting the !edundancy
!e9ui!ement.
Inte!faces fo! communication testing and e,aluation of e?te!nal de,ices a!e !o,ided.
Inte!!uts a!e used fo! measu!ement comletion indication to simlify the fi!m5a!e
de,eloment.
Each senso! o5e! suly ,oltage and teme!atu!e a!e measu!ed 3y an on'3oa!d A%C.
P!ototye is a3le to 5o!$ f!om a 3atte!yG 5hich simlifies ha!d5a!e testing.
&oa!d design !o,ides de3ugging facilities fo! ha!d5a!e and soft5a!e.
E?licit ha!d5a!e !e9ui!ements a!e fulfilled. Summa!y of most imo!tant integ!ated ci!cuits used in
the design-
Si? gy!oscoic senso!sG t5o analog and fou! digitalK
Th!ee accele!omete!sG one analog and t5o digitalK
Th!ee magnetomete!sG all digitalK
T5o (2'3it lo5 noise analog'to'digital con,e!te!s fo! analog senso!sK
Fou! 1('3it analog'to'digital con,e!te!s fo! Sun senso!G teme!atu!e and o5e! suly
measu!ementsK
A *CU 5ith FPUG sufficient e!ihe!als and lo5 o5e! consumtionK
(0 load s5itches fo! o5e! managementK
2'3itG 10'3it and (2'3it 3us s5itches fo! o5e! managementK
US& inte!face fo! diffe!ent communication 3usesK
)%Os fo! standalone usage.
7(
".) AOCS #rototy$e Analysis and *irmware 'evelo$ment
This section sho!tly desc!i3es fu!the! !ototye de,eloment lan as 5ell as cu!!ent de,eloments
in AOCS fi!m5a!e. The !esult of this thesis is a 3oa!d designG 5hich has to 3e assem3ledG tested and
analyJed fo! fla5s 3efo!e it can 3e used fo! fi!m5a!e de,eloment.
The !ototye is lanned to 3e assem3led 3y the autho! afte! su3mission of this thesis. Ta!tu
O3se!,ato!y 5ill !o,ide all !e9ui!ed tools fo! the assem3ly and testing. E,en though g!eat effo!t
5as ut into the design to a,oid schematic and 3oa!d layout e!!o!sG it cannot 3e assumed that the
3oa!d is fla5less. The!efo!e all fla5s found in the 3oa!d design 5ill 3e !eo!ted and analyJed. This
analysis 5ill 3e used in fu!the! AOCS main 3oa!d de,eloment.
Afte! the latfo!m is assem3led and testedG it can 3e used fo! fi!m5a!e de,eloment. AOCS
algo!ithms !e9ui!e ,e!y st!ict schedulingG 5hich could 3e achie,ed only 3y a !eal'time oe!ating
system. Cu!!ently t5o ossi3ilities a!e conside!ed.
Fi!st solution 5ould 3e to !euse the ESTCu3e'1 Command and %ata Cont!ol Systems f!eeRTOS
oe!ation system. ESTCu3e team is mo!e familia! it and some d!i,e!s 5ould 3e easily !e5!itten fo!
the ne5 latfo!m. At the same time the!e 5ill 3e a diffe!ent oe!ating system fo! the On'&oa!d
Comute!G 5hich 5ill comlicate the ESTCu3e'( fi!m5a!e as a 5hole.
The second solution 5ould 3e to also mig!ate to a )inu? li$e oe!ating system of On'&oa!d
Comute!. Simila!ity of the oe!ating systems 5ill simlify futu!e de,elomentG 3ut initial fi!m5a!e
de,eloment 5ill 3e stagge!ed 3ecause of the lac$ of e?e!ience.
Selection of the oe!ating system 5ill 3e e!fo!med afte! initial tests on AOCS !ototye 5ill 3e
e!fo!med. Afte! the selectionG d!i,e!s fo! all ha!d5a!e comonents must 3e 5!itten. That includes
info!mation gathe!ing and actuato! cont!ol d!i,e!s. Po5e! management d!i,e!s should 3e also
tho!oughly tested. Conse9uently AOCS algo!ithms can 3e de,eloed and tested as 5ell as it is
ossi3le on Ea!th.
ESTCu3e'( mission is to test the satellite technologies in o!3it fo! ESTCu3e'7 missionG hence the
ne?t ste 5ill 3e to test the AOCS algo!ithms in lo5 Ea!th o!3it.
77
* Summary
ESTCu3e'1G the fi!st Estonian student satelliteG has 3een in o!3it fo! mo!e than a yea!. It al!eady has
fulfilled most of its o3/ecti,es. The main scientific e?e!iment is yet to 3e e!fo!medG 3ut ESTCu3e
team gained enou!mous amount of sace technology de,eloment e?e!ience. The!efo!e it should
come as no su!!ise that the team is al!eady lanning the futu!e sace missionsG 5hich deend on
ha,ing a high accu!acy Attitude and O!3it Cont!ol System AAOCSB.
Fi!st the thesis int!oduces futu!e ESTCu3e missions and thei! o3/ecti,es. Then !e9ui!ements and
st!uctu!e of ESTCu3e'( AOCS a!e desc!i3edG follo5ed 3y an analysis of the !e,ious attitude and
o!3it dete!mination and cont!ol ha!d5a!e solutions f!om othe! nanosatellites.
The !ototye 3oa!d of ESTCu3e'( AOCS has 3een designed as a !esult of this 5o!$. %esign
included ne5 ha!d5a!e selectionG int!oducing a ne5 dou3le 3us s5itch concet fo! o5e!
managementG c!eating the elect!onics schematics and designing the layout of the 3oa!d. The design
fulfills all of the AOCS !ototye 3oa!d !e9ui!ements.
Although fulfillment of main AOCS !e9ui!ements cannot 3e confi!med 3efo!e an actual flightG the
AOCS !ototye should !o,ide desi!ed accu!acy acco!ding to !e,ious attitude and o!3it cont!ol
solutions !e,ie5. Natu!ally the ha!d5a!e !e9ui!es de,eloment of AOCS algo!ithmsG 5hich 5ould
allo5 to achie,e such accu!acy.
The AOCS !ototye main 3oa!d 5ith its ha!d5a!e is yet to 3e assem3led and testedG so the 5o!$ is
to 3e continued afte! this thesis is su3mitted. Afte! ha!d5a!e assem3ly and testing is doneG AOCS
fi!m5a!e is to 3e de,eloed on the designed latfo!m.
72
+ Ac1nowled"ements
I 5ould li$e to than$ my sue!,iso!s And!is Sla,ins$is and Vil/o Alli$ fo! thei! suo!t and sha!ing
thei! $no5ledge. They guided me in toics of satellite 3uilding and elect!onics design. I ha,e
lea!ned a lot f!om them.
I 5ould li$e to e?!ess my g!atitude to all ESTCu3e team mem3e!s as 5ell as inst!ucto!sG 5ho
sha!ed thei! $no5ledge 5ith me. *any than$s to T>nis Eenm\eG Iaan Vi!u and E!i$ Il3is in that
!esect. Secial than$s to Ind!e$ SQnte!G =asa!s )aiJans and Iaanus =alde fo! heling me design
and !e,ie5ing the !ototye 3oa!d. Than$s to =a!oli =ahn fo! managing the ETSCu3e'( !o/ect.
I 5ould li$e to than$ Sil,e! )\tt and *a!t Noo!ma fo! managing the 5hole student satellite
!og!am.
Finally I am g!ateful to my family 5ho suo!ted me mo!ally th!oughout the !o/ect.
74
ESTC/!-3 #s!ndi A# o&/iidi A1ti%issBst!!%i p&ototBBpi dis#in
"eo!gi Olent#en$o
2o11uv3te
Esimene Eesti satelliit ESTCu3e'1 ,iidi edu$alt maal\hedasele o!3iidile (017. aasta mai$uus ning
aasta ,\ltel on satelliit t\itnud eaaegu $>i$ oma eesm\!gid ,\l/a a!,atud \i$eseu!/e
e$se!iment E;F. E$se!imendi /oo$sul anna$se satelliit ]]!lema $ii!usega 1 ]]!e se$undisG
$e!ita$se 10 m i$$une mi$!o/uhe ,\l/a ning laeta$se see $>!ge otentsiaalini. Teo!eetiliselt ea$s
laetud mi$!o/uhtme /a *aa ionosf\\!ilise lasma ,astasm>/u toimel satelliidi ]]!lemis$ii!us
$ahanema E12F. =uigi missioon ole ,eel l>enudG laanita$se /u3a Eesti Tudengisatelliidi
!og!ammi !aames /\!gmisi missioone E11F.
^$s ESTCu3e'( /a ESTCu3e'7 missioonide eesm\!$idest on /\t$ata \i$eseu!/e testimistG
$asutades 1 $m i$$usega mi$!o/uhet. Teise$s eesm\!gi$s on demonst!ee!ida ;anoSpace Cold <as
thruster+i $asutamist asendi /a o!3iidi /uhtimissQsteemi mooto!ina E1(F. *>lemat meetodit saa3
otentsiaalselt $asutada $osmoses !eisimise$s E17F.
*agist!it]] /oo$sul a!endati uut satelliidi asendi /a o!3iidi /uhtimissQsteemiG mis on h\da,a/ali$
missioonide teadusli$e eesm\!$ide t\itmise$s. *agist!it]] eesm\!$ide$s oli-
tuua ,\l/a n>uded ESTCu3e'( asendi /a o!3iidi /uhtimissQsteemi /ao$sK
$i!/eldada sQsteemi st!u$tuu!iK
tuua ,\l/a n>uded satelliidi asendi /a o!3iidi /uhtimissQsteemi !ototQQlaadi /ao$sK
,alida !iista,a!a !ototQQlaadi /ao$sK
a!endada satelliidi asendi /a o!3iiti /uhtimissQsteemi esimene !ototQQlaat.
P!ototQQlaadi $onstu$tsioon >hine3 ESTCu3e'1 asendi /uhtimissQsteemil /a ESTCu3e
mees$onna $ogemustel. Tule,alt uute missioonide oolt esitata,atest n>uetest on ,a/ali$ $a
t\ienda,a !iist,a!a lisamine ning sQsteemi suu!ema />udluse ga!antee!imine. On analQQsitud teiste
nanosatelliitide lahendused. T]] /oo$sul oli ,alitud uued ele$t!ooni$a$omonendid /a $asutatud
uued $onst!u$tsioonilahendusiG mis ,\lista,ad ESTCu3e'1 $onst!u$tsioonis leitud uudusi.
Tulemuse$s on saadud $>i$idele n>udmistele ,asta, !ototQQlaadi $onstu$tsioon. P!ototQQlaat
,>imalda3 ,\l/a lQlitada $>i$ andu!id Qhe $auaG ,>imalda3 $o!!aga l\3i testida ,ali$ut so3i,aid
andu!eid /a ,>imalda3 efe$tii,selt testida ,a/ali$$e !iist,a!a' /a ta!$,a!a$omonente.
T]] tulemuse$s on !ototQQlaadi $onstu$tsioonG mida on ,almis $o$$umontee!imise$s /a
testimise$s. Seega eale magist!it]] esitamist $a,atse3 auto! t]]d /\t$ata ning a!endada ta!$,a!a
$onst!uee!itud lat,o!mi /ao$s.
76
0e4erences
E1F _Cu3eSat %esign SecificationG` The Cu3eSat P!og!amG Califo!nia Polytechnic State
Uni,e!sityG Ianua!y 8G (00<.
E(F A!tu! ScholJG Feli? =]nigG Ste,e F!]hlichG Iohannes Pieen3!oc$G _Flight Results of the
CO*PASS'1 *issionG` *a!ch 8G (00<G htt-DD555.!aumfah!t.fh'aachen.deDcomass'
1Ddo5nloadDCO*PASS'1a(0Flighta(0Results.df Aaccessed *ay (7G (012B.
E7F _STRaN%'1- Sma!thone nanosatelliteG` htt-DD555.sstl.co.u$D*issionsDSTRaN%'1''
)aunched'(017DSTRaN%'1DSTRaN%'1''Sma!thone'nanosatellite Aaccessed A!il (8G
(012B.
E2F A. =estil\G T. Ti$$aG P. PeitsoG I. RantanenG A. N\sil\G =. No!dlingG :. Saa!iG R. VainioG P.
IanhunenG I. P!a$sG *. :alli$ainenG _Aalto'1 nanosatellite @ technical desc!ition and
mission o3/ecti,esG` <eoscienti&ic 8nstrumentation, +ethods and "ata SystemsG (G 1(1@170G
(017.
E4F _S5issCu3eG` htts-DDdi!ecto!y.eoo!tal.o!gD5e3Deoo!talDsatellite'missionsDsDs5isscu3e
Aaccessed A!il (8G (012B.
E6F _Radio Au!o!a E?lo!e!G` htt-DD!a?.engin.umich.eduD Aaccessed A!il (8G (012B.
E;F Sil,e! )\ttG And!is Sla,ins$isG E!i$ Il3isG U!mas =,ellG =auo Voo!mansi$G E!i$ =uluG
*ih$el Pa/usaluG :en!i =uusteG Ind!e$ SQnte!G T>nis Eenm\eG =asa!s )aiJansG =a!lis
baliteG Riho VendtG Iohannes Pieen3!oc$G Ilma! Ans$oG Ahto )eituG And!es Vahte!G Ants
AguG Elo EilonenG Endel SooloG :end!i$ Eh!aisG :en!i )illmaaG I,a! *ahhoninG Iaa$
*>ttusG Iaan Vi!uG Iaanus =aldeG Iana cu3itidJeG Idnis *ucenie$sG Idnis cateG Iohan =QttG
Iu!is Poee,s$isG IQ!gen )a$sG =adi =i,isti$G =ad!i')iis =usminG =alle'"usta, =!uusG =a!l
Ta!3eG =at!in TuudeG =at!fna =alnigaG )au! IoostG *a!$o )>o$eG *a!$us I\!,eG *a!t Vella$G
*a!tin Nee!otG *a!tin Valgu!G *a!tynas Pela$aus$asG *atis A,e!inG *ats *i$$o!G *ih$el
Ves$eG Ott Schele!G Paul )iiasG P!iit )aesG Ramon RantsusG Reimo Soosaa!G Risto Reinum\giG
Ro3e!t Valne!G Siim =u!,itsG S,en'E!i$ *\ndmaaG Taa,i Il,esG Tanel PeetG Ta,o AniG Teet
Til$G Timothy :en!y Cha!les TammG To3ias Scheffle!G Toomas Vahte!G T>nis Ui3ouinG
Veigo E,a!dG And!eas Sisas$G )au!i =immelGOlaf =!]me!G Roland RostaG Pe$$a IanhunenG
Iouni En,allG Pet!i Toi,anenG Timo RauhalaG :en!i Se\nenG Iu$$a U$$onenG Ed5a!d
:aeggst!]mG Risto =u!aG Taneli =al,asG Olli Ta!,ainenG Ianne =auinenG Antti
Nuotta/\!,iG :annu =oi,istoG Se!giy =i!ichG Ale?ande! O3!aJtso,G Vil/o Alli$G Anu Reina!tG
*a!t Noo!maG _ESTCu3e'1 nanosatellite fo! elect!ic sola! 5ind sail in'o!3it technology
7;
demonst!ationG` (roceedings o& the 'stonian Academy o& SciencesG (012G 67G (SG (00@(0<.
E8F Pe$$a IanhunenG _Elect!ic sail fo! sacec!aft !oulsionG` A8AA =ournal o& (ropulsion and
(owerG (0 A2BG ;67@;62G August (002.
E<F Pe$$a IanhunenG A!to Sand!oosG _Simulation study of sola! 5ind ush on a cha!ged 5i!e-
3asis of sola! 5ind elect!ic sail !oulsionG` Annales <eophysicaeG (4G ;44@;6;G (00;.
E10F P. IanhunenG P. =. Toi,anenG I. Pol$$oG S. *e!i$allioG P. SalminenG E. :aeggst!]mG :.
Se\nenG R. =u!aG I. U$$onenG S. =i!ichG ". Tho!nellG :. =!atJG ). Richte!G O. =!]me!G
R. RostaG *. Noo!maG I. En,allG S. )\ttG ". *engaliG A. A. Wua!taG and :. =oi,istoG hIn,ited
A!ticle- Elect!ic sola! 5ind sail- To5a!d test missionsGh 7e%iew o& Scienti&ic 8nstrumentsG no.
81G (010.
E11F *a!t Noo!maG E!i$ =uluG And!is Sla,ins$isG *ih$el Pa/usaluG U!mas =,ellG Sil,e! )\ttG
_Estonian Student Satellite P!og!amG` /!th 8nternational Astronautical CongressG &ei/ingG
ChinaG IAC'17.E1.7.4G (017.
E1(F U!mas =,ellG *a!it PuuseG F!anJ =amins$iG Iaan'Ee!i$ PastG =!istoffe! Palme!G To!'A!ne
"!]nlandG *a!t Noo!maG _Nanosatellite o!3it cont!ol using *E*S cold gas th!uste!s`G
(roceedings o& the 'stonian Academy o& SciencesG (012G 67G (SG (;<@(84.NanoSace
E17F Pe$$a IanhunenG Sini *e!i$allioG Pet!i Toi,anenG Iouni En,allG Iouni Pol$$oG _Possi3ilities
oened 3y elect!ic sola! 5ind sail technologyG` /rd 8nternational Astronautical CongressG
NalesG ItalyG IAC'1('%2.1.2G (01(.
E12F Iouni En,allG Pe$$a IanhunenG Pet!i Toi,anenG *ih$el Pa/usaluG E!i$ Il3isG Iaanus =aldeG
*atis A,e!inG :en!i =uusteG =asa!s )aiJansG Vil/o Alli$G Timo RauhalaG :en!i Se\nenG
Se!giy =i!ichG Iu$$a U$$onenG Ed5a!d :aeggst!]mG Taneli =al,asG Olli Ta!,ainenG Ianne
=auinenG Antti Nuotta/\!,iG :annu =oi,istoG _E'Sail test ayload of ESTCu3e'1
nanosatelliteG` (roceedings o& the 'stonian Academy o& SciencesG (012G 67G (SG (10@((1.
E14F Pe$$a IanhunenG Pet!i Toi,anenG Iouni En,allG Sini *e!i$allioG "iuditta *ontesantiG Iose
"onJaleJ del AmoG U!mas =,ellG *a!t Noo!maG Sil,e! )\ttG _O,e!,ie5 of elect!ic sola!
5ind sail alicationsG` (roceedings o& the 'stonian Academy o& SciencesG (012G 67G (SG
(6;@(;8.
E16F :en!i Se\nenG Timo RauhalaG Se!giy =i!ichG Iu$$a U$$onenG *a!tin SimonssonG Risto
=u!aG Pe$$a IanhunenG Ed5a!d :iggst!]mG _One $ilomete! A1 $mB elect!ic sola! 5ind
sail tethe! !oduced automaticallyG` 7e%iew o& Scienti&ic 8nstrumentsG 82G 0<410(G (017.
E1;F Pe$$a IanhunenG _Inc!eased elect!ic sail th!ust th!ough !emo,al of t!aed shielding
78
elect!ons 3y o!3it chaotisation due to sacec!aft 3odyG` Annales <eophysicaeG (;G
708<'7100G (00<.
E18F Cu3eSat *E*S P!oulsion *oduleG htt-DD555.sscsace.comDj(DfileDcu3esat'mems'
!oulsion'module.df Aaccessed *ay 16G (012B.
E1<F And!is Sla,ins$isG E!i$ =uluG Iaan Vi!uG Ro3e!t Valne!G :end!i$ Eh!aisG T>nis Ui3ouinG
*a!$us I\!,eG Endel SooloG Iouni En,allG To3ias Scheffle!G Ind!e$ SQnte!G :en!i =uusteG
U!mas =,ellG Iaanus =aldeG =asa!s )aiJansG E!i$ Il3isG T>nis Eenm\eG Riho Ve!dtG =auo
Voo!mansi$G Ilma! Ans$oG Vil/o Alli$G Sil,e! )\ttG *a!t Noo!maG _Attitude dete!mination
and cont!ol fo! cent!ifugal tethe! deloyment on the ESTCu3e'1 nanosatelliteG` (roceedings
o& the 'stonian Academy o& SciencesG (012G 67G (SG (2(@(2<.
E(0F And!is Sla,ins$isG U!mas =,ellG E!i$ =uluG Ind!e$ SQnte!G :en!i =uusteG Sil,e! )\ttG =auo
Voo!mansi$G *a!t Noo!maG _:igh sin !ate magnetic cont!olle! fo! nanosatellitesG` Acta
AstronauticaG (012G <4G (18'((6.
E(1F =asa!s )aiJansG Ind!e$ SQnte!G =a!lis baliteG :en!i =uusteG *a!tin Valgu!G =a!l Ta!3eGVil/o
Alli$G "eo!gi Olent#en$oG P!iit )aesG Sil,e! )\ttG *a!t Noo!maG _%esign of the fault tole!ant
command and data handling su3system fo! ESTCu3e'1G` (roceedings o& the 'stonian
Academy o& SciencesG (012G 67G (SG (((@(71.
E((F Stefano RossiG Anton I,ano,G *u!iel Richa!dG Vol$e! "assG A!min RoeschG _Fou! yea!s
AalmostB of S5issCu3e oe!ations` Cu3eSat Summe! Co!$sho (017G August 10'11G (017G
Utah State Uni,e!sityG )oganG Utah.
E(7F _CanH'2k4 ACanadian Ad,anced Nanosace eHe!iment'2k4BG`
htts-DDdi!ecto!y.eoo!tal.o!gD5e3Deoo!talDsatellite'missionsDc'missionsDcan?'2'4 Aaccessed
may 1;G (012B.
E(2F _Cu3eSat A%CSG` Clyde SaceG htt-DD555.clyde'sace.comDdocumentsD(278 Aaccessed
*ay 1;G (012B.
E(4F _U=u3e'1 AUnited =ingdom Uni,e!sal &us E?e!iment 1BG`
htts-DDdi!ecto!y.eoo!tal.o!gD5e3Deoo!talDsatellite'missionsDuDu$u3e'1 Aaccessed *ay 1;G
(012B.
E(6F _Futu!e FUNcu3e missions @ (012 launch datesG` htt-DDamsat'u$.o!gD(012D04D0;Dfutu!e'
funcu3e'missions'(012'launch'datesD Aaccessed *ay 1;G (012B.
E(;F Igal =!onhausG =laus SchillingG Satish Iaya$uma!G Ale?ande! =!ame!G _%esign of the UCE'
2 Picosatellite O!3it Cont!ol System using Vacuum'A!c'Th!uste!sG` rd 8nternational
7<
'lectric (ropulsion Con&erenceG The "eo!ge Cashington Uni,e!sityG CashingtonG %.C.G
USAG Octo3e! 6@10G (017.
E(8F Phili &ange!tG Stehan &uschG =laus ScillingG _Pe!fo!mance cha!acte!istics of the UCE'7
miniatu!e attitude dete!mination and cont!ol systemG` 8AA Con&erence on "ynamics and
Control o& Space Systems, IAA'AAS'%yCoSS('12'04'0;G (00;.
E(<F Osama =hu!shidG Tuomas Ti$$aG Iaan P!a$sG *a!tti :alli$ainenG _Accommodating the
lasma 3!a$e e?e!iment on'3oa!d the Aalto'1 satelliteG` (roceedings o& the 'stonian
Academy o& SciencesG (012G 67G (SG (48@(66.
E70F _iA%CS'100 Intelligent Attitude Cont!ol fo! Cu3eSatsG` &e!lin Sace TechnologiesG
htt-DD555.3e!lin'sace'tech.comDfileadminDmediaD&STliAC%S'100lFlye!.df Aaccessed
*ay 16G (012B.
E71F )PC7180G 16D7('3it AR* *CUG data sheetG NHP semiconducto!sG Re,. (G Fe3!ua!y (00;.
E7(F _ST*7(F2 Se!ies coma!isonG` ST*ic!oelect!onicsG
htt-DD555.st.comD5e3DenDcatalogDmmcDF*121DSC116<DSS14;; Aaccessed *ay 18G (012B.
E77F F*(4V(0G ('*3it Se!ial ASPIB FRA*G Cy!essG Re,. %G Ianua!y (012.
E72F %S7(72G SPI &us RTCG *a?im Integ!atedG Re,. 7G Iuly (011.
E74F IT"'7(00G 7'a?is digital gy!oscoic senso!G !oduction secificationG In,enSenseG Inc.G
Re,. 1.;G (00;.
E76F *AH(1000G 7'a?is digital gy!oscoic senso!G data sheetG *a?im Integ!atedG Re,. 1G
Fe3!ua!y (017.
E7;F &*"160G 7'a?is digital gy!oscoic senso!G data sheetG &osch Senso!tecG Re,. 1.1G
No,em3e! (017.
E78F *PU'6000 and *PU'6040 motion senso!sG !oduct secificationG In,enSense Inc.G Re,. 7.2G
August (017.
E7<F )7"%(0:G 7'a?is digital gy!oscoic senso!G data sheetG ST*ic!oelect!onicsG Re,. (G
*a!ch (017.
E20F )PY207A)G ('a?is analog gy!oscoic senso!G data sheetG ST*ic!oelect!onicsG Re,. 1G
Octo3e! (00<.
E21F )PR207A)G ('a?is analog gy!oscoic senso!G data sheetG ST*ic!oelect!onicsG Re,. 1G
Octo3e! (00<.
E2(F :*C4887)G 7'a?is digital magnetomete!G data sheetG :oney5ellG Re, EG Fe3!ua!y (017.
20
E27F )IS7*%)G 7'a?is digital magnetomete!G data sheetG ST*ic!oelect!onicsG Re, (G A!il (017.
E22F *A"7110G 7'a?is digital magnetomete!G data sheetG F!eescale Semiconducto!G Inc.G Re,. <.(G
Fe3!ua!y (017.
E24F )S*707%G digital 7'a?is magnetomete! and 7'a?is accele!omete!G data sheetG
ST*ic!oelect!onicsG Re, (G No,em3e! (017.
E26F FHOS8;00CWG digital 7'a?is magnetomete! and 7'a?is accele!omete!G data sheetG F!eescale
Semiconducto!G Inc.G Re,. 7.0G Iuly (017.
E2;F =HR&4'(040G 7'a?is analog accele!omete!G data sheetG =ioni?G Inc.G Re,. 1G Octo3e! (00<.
E28F FH)C<4000)G motion'sensing latfo!mG data sheetG F!eescale Semiconducto!G Inc.G Re,. 1.(G
August (017.
E2<F 7<7&02 seismic accele!omete!G secificationG PC& PieJot!onicsG Inc.G
htt-DD555.c3.comD!oducts.as?mmX7<7&02 Aaccessed *ay (7G (012B.
E40F SF1600S.A @ SF1600SN.AG seismic accele!omete!G data sheetG Coly3!isG No,em3e! (011.
E41F *AH1((6D*AH1((8D*AH1(70G 1('3it A%CG data sheetG *a?im Integ!atedG Re,. 4G
%ecem3e! (010.
E4(F *AH116(6'*AH1677G 1('3it A%CG data sheetG *a?im integ!ated !oducts Inc.G Re,. 2G
Octo3e! (011
E47F A%;2<0G 1('3it A%CG data sheetG Analog %e,icesG Inc.G Re,ision %G %ecem3e! (01(.
E42F A%;;08DA%;;18G (2'3it A%CG data sheetG Analog %e,icesG Inc.G Re,. 0G August (001
E44F A%;1;7'8G (2'3it A%CG data sheetG Analog %e,icesG Inc.G Re,. AG A!il (012
E46F =TY8(G !esisti,e teme!atu!e senso!G data sheetG NHP semiconducto!sG Re,. 2G Ianua!y (008
E4;F )*T86D)*T86'W1G analog teme!atu!e senso!G data sheetG Te?as Inst!umentsG Iune (017.
E48F A%R721(DA%R72(0DA%R72(4DA%R7270DA%R7277DA%R7220DA%R7240G ,oltage
!efe!enceG data sheetG Re,. &G Iune (010.
E4<F TPS((<21DTPS((<2(DTPS((<27DTPS((<22DTPS((<24G load s5itchG data sheetG Te?as
Inst!umentsG No,em3e! (00<.
E60F SN;2C&T)V16(11G (2'3it 3us s5itchG data sheetG Te?as Inst!umentsG Octo3e! (007.
E61F SN;2C&T)V7782G 10'3it 3us s5itchG data sheetG Te?as Inst!umentsG Re,. "G Iuly (002.
E6(F SN;2C&T)V71(6G 2'3it 3us s5itchG data sheetG Te?as Inst!umentsG Re,. IG Octo3e! (007.
E67F *CP(701;D*CP(7S1;G 16'3it IDO E?ande!G data sheetG *ic!ochi TechnologyG Re,. &G
Fe3!ua!y (00;.
21
E62F )*111;'ND)*111;IG 800 mA )%O Regulato!G Te?as Inst!umentsG *a!ch (017.
E64F )P(<<(G (40 mA )%O Regulato!G data sheetG Te?as Inst!umentsG *a!ch (017.
E66F )*P8624D)*P8624:VG cu!!ent sense amlifie!G Te?as Inst!umentsG *a!ch (017.
E6;F FT(00HG US& I(C S)AVE ICG data sheetG Futu!e Technology %e,ices Inte!national )td.G
Re,. 1.7G (017.
E68F FT((0HG US& SPI S)AVE ICG data sheetG Futu!e Technology %e,ices Inte!national )td.G
Re,. 1.7G (017.
E6<F FT(70HG US& TO &ASIC UARTG data sheetG Futu!e Technology %e,ices Inte!national )td.G
Re,. 1.7G (017.
E;0F _P!inted'Ci!cuit'&oa!d )ayout fo! Im!o,ed Elect!omagnetic Comati3ilityG` Octo3e!G
Te?as Inst!umentsG Octo3e! 1<<6.
E;1F _P!oduction Caa3ilitiesG &!andne! PC&G ` htts-DD555.3!andne!.eeDengD;2D87 AAccessed
*ay 1<G (012B.
2(
A&&endices
A$$endi+ A , #rototy$e %oard S!-emati!
Sensors "rou&
27
Figure 3: +A>21222, $+<1/2, +(6./222, 5<"22#, 5(?!2A5 and 5(7!2A5 gyroscopes.
22
Figure 1: 6pper le&t: #+C)335, 58S+"5 and +A<112 magnetometers. 6pper right:
@>7$),F>C3022CA and 5S+2" accelerometers. $ottom: si: 5+*3/ temperature sensors.
A'Cs "rou&
24
Figure 12: *op: A"0012 and A"010 2!.bit analog.to.digital con%erters. $ottom: two %oltage
re&erences.
26
Figure 11: *op: two +A>11/ and two A"0!12 12.bit analog.to.digital con%erters. $ottom:
%oltage di%iders &or power supply and Sun sensors measurements.
%ower mana"ement "rou&
2;
Figure 12: *here are 22 power switched &or all sensors, A"Cs and F7A+s.
28
Figure 1: *hree 12.bit bus switches &or A"Cs.
2<
Figure 1!: *op: two 12.bit bus switches &or digital gyroscopes. $ottom: one 12.bit bus
switch &or digital accelerometers.
40
Figure 1): 5e&t: two 89O e:panders &or power management. 7ight: three !.bit bus switches &or
digital magnetometers.
41
Figure 1/: *op: two !.bit bus switches &or F7A+s. $ottom: a !.bit bus
switch e:ternal 8BC buses.
!C( "rou&
4(
Figure 10: S*+2F!21 microprocessor.
47
Figure 13: two 2!.bit bus switches &or +C6.
42
Figure 11: A 2!.bit and a !.bit bus switches &or +C6.
'ebu""in" "rou&
44
Figure 22: *op: two 7S.!3) con%erters. $ottom le&t: a real.time clocC. $ottom right: two F7A+s.
Figure 21: . 4 and ) 4 5"Os.
46
Figure 22: *op: current sensing ampli&ier. +iddle: 8ndicator and debug 5'"s. $ottom: buttons.
Connector "rou&
4;
Figure 2: AOCS &unctionality connectors.
48
Figure 2!: (ower supply and debug connectors.
A$$endi+ % , AOCS #rototy$e %oard .ayout /*ull s!ale0
4<
Figure 2): *op silCscreen.
Figure 2/: *op copper layer.
60
Figure 20: 8nner 2 layer, ground plane.
Figure 23: 8nner layer.
61
Figure 21: $ottom copper layer.
Figure 2: $ottom silCscreen.
A$$endi+ C , #rototy$e %oard %ill of Materials
A%ont ;#%!/>#"! P#(k#g! F#&n!"" ID Mos!& ID ;ot!s
1 *AH(1000 )"A'16 ;00'*AH(1000M %igital gy!oscoe
1 &*"160 )"A'1( (6('&*"160 %igital gy!oscoe
1 *PU'6000 WFN'(2 186(787 %igital gy!oscoe
and accele!omete!
1 )7"%(0: )"A'16) 411')7"%(0:TR %igital gy!oscoe
1 )PY207A) )"A'(8 187847< Analog gy!oscoe
1 )PR207A) )"A'(8 1878472 Analog gy!oscoe
1 :*C4887) )PCC'16 1<;1;27 %igital magnetomete!
1 )IS7*%) VF)"A'1( 411')IS7*%)TR %igital magnetomete!
1 *A"7110 %FN'10 821'*A"7110FCR1 %igital magnetomete!
1 =HR&4 )"A'12 <1('=HR&4'(040 Analog accele!omete!
1 FHC8;00CW WFN'16 821'FHOS8;00CWR1 %igital accele!omte!
and magnetomete!
1 )S*707% )"A'16 411')S*707%TR %igital accele!omete!
and magnetomete!
6 )*T86W%C=WT
W1
SC';0'4 (761281 Teme!atu!e senso!
( A%R7270ARIb SOT'(7 18(;786 7 V !efe!ence
1 A%;;18 TSSOP'(8 482'A%;;18&RUb (2'3it A%C
1 A%;1;7'8 )FCSP'20 (7;;72< (2'3it A%C
( *AH11677 WSOP'(2 ;00'*AH11677EE"M 1('3it A%C
( A%;2<0 TSSOP'(8 <604(71 1('3it A%C
(0 TPS((<21 SC';0'4 1;;8(14 )oad s5itch
( *CP(7S1; WFN'(8 4;<'*CP(7S1;'ED*) IDO e?ande!
; SN;2C&T)V71(6 TVSOP'12 4<4'
SNC&T)V71(6%"V
R
2'3it 3us s5itch
6 SN;2C&T)V7782 TVSOP'(2 4<4'
SNC&T)V7782%"V
R
10'3it 3us s5itch
7 SN;2C&T)V16(1
1
TVSOP'46 4<4'
SN;2C&7T16(11%"
V
(2'3it 3us s5itch
14 NC;SC02P4H SC';0'4 126;720 In,e!te!
1 ST*7(F201 )WFP'100 (7<7626 *CU
6(
1 %S7(72 SO'(0 14<7(<2 Real'time cloc$
( F*(4V(0 SOIC'8 8;;'F*(4V(0'" FRA*
( SN64:V%;4 SOIC'8 (1(;167 RS'284 con,e!te!
1 )P(<<( SOT'(7'4 <(6'
(<<(AI*47.7DNOP&
7.7 V )%O
1 )*111;1*PH'
4.0DNOP&
SOT'((7'2 (7(74<7 4 V )%O
1 )*P8624*=E SOT'(7 1;<8724 Cu!!ent sense
amlifie!
1 FT(70HS'R SSOP'16 (0817(1 US& to UART
con,e!te!
1 FT((0H% SSOP'16 (0817(( US& to SPI con,e!te!
1 FT(00H% %FN'10 (0817(0 US& to INC con,e!te!
( A&**('
16.000*:b'E('T
(101727 16 *:J c!ystal
( FC'17F 1<0;264 7( $:J c!ystal
( C%SOT(7'S*;1( SOT'(7 18(286< TVS diode
( P*E"60(0ETR SO%'
1(7C
(711((6 %iode
2 IS(0(011CWN (7(0018 Slide s5itch
1 PTS810 611'
PTS810SI*(40S*T
R
Tac$tile s5itch
2 :eade! ins <;710<1 (.46 mm itch
2 contacts
1 !o5
7 :eade! ins <;71117 (.46 mm itch
6 contacts
1 !o5
1 :eade! ins <;711(1 (.46 mm itch
8 contacts
1 !o5
1 :eade! ins ((426<4 (.46 mm itch
16 contacts
( !o5s
1 :eade! ins <;710;4 (.46 mm itch
( contacts
1 !o5
1 :eade! ins 1<(678( 4.08 mm itch
( contacts
1 !o5
67
7 100774(6'
N7(1(*)F
(11(76; *ini US& !ecetacle
8 18 F C0607 1;4<046
6 2; F C0607 1;4<06(
6 1 nF C0607 1;4<088
1 (.( nF C0607 1;4<0<7
7 2.; nF C0607 (710444
4 10 nF C0607 1;4<10(
<4 100 nF C0607 ((80887
( ((0 nF C0607 2711<<
( 2;0 nF C0607 ((80<17
76 1 VF C0607 1;4<7<8
( (.( VF C0607 (710206
8 2.; VF C0804 (710210
1; 10 VF C0804 (710;78
1 0.1 Z R0804 (008(<;
2 10 Z R0607 (0;88<4
6 (; Z R0607 16<;742
( 140 Z R0607 (0;8<0(
1( 400 Z R0607 (771(61
( 7.7 $Z R0607 (0;8<1(
6 2.; $Z R0607 (0;8<17
( 10 $Z R0607 (0;8<14
17 77 $Z R0607 (0;8<18
1 40 $Z R0607 (771(2(
8 68 $Z R0607 (0;8<(0
26 100 $Z R0607 (0;8<(1
(( 1 *Z R0607 (0;8<(8
( T&% R0607
14 )E% 0607 (7((0;1
Total of 241 comonents
62
A$$endi+ ' , %oard .ayout 'esi(n Strate(y
64

A$$endi+ E , C' Contents
Table ,- Contents o& the accompanying C".
AOCS !ototye design Schematics and layout in %esignSa!$
and "e!3e! fo!mats
geo!gilthesis.df A coy of the thesis
!eadme.t?t %esc!ition of the C% contents
66
;on-!2("si$! "i(!n(! to &!p&od(! t1!sis #nd %#k! t1!sis p/"i(
IG "eo!gi Olent#en$o Adate of 3i!th- 06.01.1<<0BG he!e5ith g!ant the Uni,e!sity of Ta!tu a f!ee
e!mit Anon'e?clusi,e licenceB to-
1.1. !e!oduceG fo! the u!ose of !ese!,ation and ma$ing a,aila3le to the u3licG including fo!
addition to the %Sace digital a!chi,es until e?i!y of the te!m of ,alidity of the coy!ightG and
1.(. ma$e a,aila3le to the u3lic ,ia the 5e3 en,i!onment of the Uni,e!sity of Ta!tuG including ,ia
the %Sace digital a!chi,es until e?i!y of the te!m of ,alidity of the coy!ightG
P!ototye %esign of ESTCu3e'( Attitude and O!3it Cont!ol System sue!,ised 3y And!is Sla,ins$is
and Vil/o Alli$.
(. I am a5a!e of the fact that the autho! !etains these !ights.
7. I ce!tify that g!anting the non'e?clusi,e licence does not inf!inge the intellectual !oe!ty !ights
o! !ights a!ising f!om the Pe!sonal %ata P!otection Act.
Ta!tuG (;.04.(012
6;