Algorithms used in attitude determination and control subsystem

(ADCS)

In order to utilize the data transfer between satellite and earth in a optimum
way, satellite must have attitude control. The antenna pointing to earth will
have to be in the desired region with reasonable accuracy. To obtain this
accuracy an attitude determination and control system (ADCS) is needed.
This subsystems control methods can be divided into two main parts, spin
rate Control and attitude control. After separation from the launch vehicle,
satellite will rotate with high angular rate which is called tumbling. Before
activating the attitude controller, the spin rate of the satellite must be reduced,
by using the spin rate controller.

1. Spin rate controller

This controller is usually called detumbling controller and the Magnetic

torquers will be used to reduce spin rate of the satellite. Magnetic torquers
enforces a torque on the satellite by creating a magnetic field which interacts
with the earths magnetic field. The simple detumbling controller is called B-
dot controller, uses three-axis- magnetometers to calculate the magnitude of
the dipole moment with the magnetic torquers that are amplified and
reversed-directed to the derivative of the earths magnetic field vector in the
satellite body frame. Magnetic dipole moment in each axis generated by B-
dot controller is given by ,

Where M is the magnetic moment produced by the coils, and K is a constant.

The control torque generated by magnetic torquers during detumbling is,
2. Attitude control

After reducing the spin rate of the satellite to desired limits, the attitude
control can be utilized. Unless the spin rate controller, this needs the attitude
of the satellite. Attitude of the satellite needs to be estimated by using sensor
data. One of the algorithms used for this is TRIAD algorithm and it takes two
non-parallel reference vectors in an inertial frame, and compares them to two
measured vectors in the body frame. It assumes that one vector measurement
in the body frame is more accurate than the other and relies on that
measurement for two axes of attitude knowledge. Then the TRIAD algorithm
then uses the second measured vector to deduce rotational information about
the third axis Usually, the vectors from the magnetometer, the sun sensors,
and the Earth horizon sensors are then compared with their respective
reference vectors in the inertial frame. These reference vectors are depend on
satellite position and velocity. The position and the velocity of the satellite is
calculated by the on board orbit propagator. According to the position,
International Geomagnetic Reference Field (IGRF) vector and solar
ephemeris at that location can be obtained.

Where s and b are the two vectors while i and b are for denoting inertial
frame and body frame respectively.

Now, to obtain the desired attitude matrix, Rbi, we simply form,