Laser Beacon Tracking for High-Accuracy Attitude Determination
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1 Laser Beacon Tracking for High-Accuracy Attitude Determination Tam Nguyen Massachusetts Institute of Technology 29 th AIAA/USU Conference on Small Satellites SSC15-VIII-2 08/12/2015
2 Outline Motivation System Overview Simulation Development Simulation Results Conclusion and Future Work 8/12/2015 2
3 Motivation Precision pointing at ground targets enables advanced missions Most CubeSat attitude sensors are inertial-based Laser beacon ground systems have been developed for previous missions Star tracker module Image credit: BCT Optical Communication Telescope Laboratory (OCTL) Image credit: NASA Image credit: Earth Imaging Journal (EIJ) Satellite laser communication concept 2-axis sun sensor Image credit: SSOC Lunar Lasercom Ground Terminal (LLGT) Image credit: NASA Laser beacon tracking design concept for CubeSats Simulation framework for system assessment 8/12/2015 Motivation System Overview Simulation Development Simulation Results Conclusion and Future Work 3
4 Beacon Tracking Configuration low-earth orbit background radiance Simulated beacon image on detector Near-infrared laser beacon (850 nm) Atmospheric turbulence 8/12/2015 Motivation System Overview Simulation Development Simulation Results Conclusion and Future Work 4
5 Laser Beacon Camera Design Goals Low SWaP, cost Field-of-view > 6 o FWHM Detection probability > 90 % Attitude accuracy < 0.1 mrad Detector array (CMOS) Sensor format 1/2.5 Pixel size 2.2 µm QE (at 850 nm) 12% Lens Aperture diameter 1 Focal length 35 mm Laser beacon camera prototype (4 x 4 x 6 cm, 120 g) Band-pass filter Long-pass filter Filters (850 +/- 5) nm >700 nm 8/12/2015 Motivation System Overview Simulation Development Simulation Results Conclusion and Future Work 5
6 Simulation Overview 1. Link Radiometry 2. Atmospheric Turbulence 3. Hardware Model 4. Background Radiance Detection probability Attitude accuracy 8/12/2015 Motivation System Overview Simulation Development Simulation Results Conclusion and Future Work 6
7 Link Radiometry Analysis Average received power at satellite s aperture P R = P T 4π Ω 1 4πd 2 1 L A 1 L O A R EIRP Isotropic radiation Losses Aperture area Average photon flux at satellite s aperture L A = atmospheric loss L O = optics loss NN pp = PP RR EE pp = PP RR hcc/λ h = Planck s constant c = speed of light λ = wavelength 8/12/2015 Motivation System Overview Simulation Development Simulation Results Conclusion and Future Work 7
8 Atmospheric Turbulence Model 1 J Kaufmann. Lincoln Laboratory. Boston IEEE Comm. Bufton wind model 1 Hufnagel-Valley model 1,2 Strong fluctuation theory 1 Wind speed profile Refractive index structure parameter (C n 2 ) profile Scintillation index (σ I 2 ) Probability density function Scintillation statistics 1,2 I < II pp II II = Scintillation index σ II 2 = 0.3 I > II Intensity (arbitrary unit with II = 1) 1 2πIIσ II exp ln II II σ II 2 2 2σ II 2 8/12/2015 Motivation System Overview Simulation Development Simulation Results Conclusion and Future Work 8
9 Hardware Model Lens system Point-spread function (PSF) Optical losses On-axis PSF (0 o, 0 o ) Off-axis PSF (3.3 o, 3.3 o ) Edmund Optics Focal plane array Resolution Quantum efficiency Noise figures Matrix Vision 8/12/2015 Motivation System Overview Simulation Development Simulation Results Conclusion and Future Work 9
10 Background Radiance Model LandSat-8 Operational Land Imager (OLI) Band 5 (NIR): μm LandSat-8 US coverage May 2013 (NASA/USGS) spectral radiance = pixel value gain + bias 3,4 [W/m 2 /sr/μm] [digital number] Cloud coverage (%) Daytime spectral radiance in the NIR band under various sky conditions Sun angle ( o ) 8/12/2015 Motivation System Overview Simulation Development Simulation Results Conclusion and Future Work W/m 2 /sr/μm (Los Angeles) Spectral radiance (W/m 2 /sr/μm) W/m 2 /sr/μm 188 W/m 2 /sr/μm (Boston) (Seattle) 70 Spectral radiance (W/m 2 /sr/μm)
11 Simulation Image Generation Altitude 400 km Background spectral radiance 71 W/m 2 /sr/μm Transmitter 10 W Beam divergence 5 mrad FWHM 25 + centroid Signal-to-noise ratio (db) Elevation angle (deg) 8/12/2015 Motivation System Overview Simulation Development Simulation Results Conclusion and Future Work 11
12 Simulation Results Elevation angle 15 o Background spectral radiance 18 W/m 2 /sr/μm x-position (pixel) True value Estimated value Median = mrad y-position (pixel) No outliers Attitude error (mrad) time (s) 8/12/2015 Motivation System Overview Simulation Development Simulation Results Conclusion and Future Work 12
13 Simulation Results Elevation angle 15 o Background spectral radiance 71 W/m 2 /sr/μm x-position (pixel) y-position (pixel) time (s) True value Estimated value 1% outliers (fading) Attitude error (mrad) Median = mrad /12/2015 Motivation System Overview Simulation Development Simulation Results Conclusion and Future Work 13
14 Simulation Results Elevation angle 15 o Background spectral radiance 188 W/m 2 /sr/μm x-position (pixel) True value Estimated value 10% outliers (fading) Attitude error (mrad) y-position (pixel) time (s) Median = mrad /12/2015 Motivation System Overview Simulation Development Simulation Results Conclusion and Future Work 14
15 Simulation Results < 0.1 mrad attitude error in all sky conditions Fade percentage (%) > 90% detection probability above 15 o elevation Attitude accuracy (mrad) th percentile 25 th percentile Median 0.02 mrad Elevation angle (deg) min Elevation angle (deg) 8/12/2015 Motivation System Overview Simulation Development Simulation Results Conclusion and Future Work 15
16 Conclusion Laser beacon tracking design concept for CubeSats Simulation framework for system assessment Results > 90% detection probability above 15 o elevation < 0.1 mrad attitude accuracy Future work Simulation validation Final hardware selection Hardware characterization and testing Flight software development 8/12/2015 Motivation System Overview Simulation Development Simulation Results Conclusion and Future Work 16
17 Acknowledgements Professor Kerri Cahoy MIT Nanosatellite Optical Demonstration Experiment (NODE) team NASA Jet Propulsion Laboratory U.S. Geological Survey (USGS) This material is based upon work supported by the National Science Foundation Graduate Research Fellowship under Grant No. # Any opinion, findings, and conclusions or recommendations expressed in this material are those of the authors(s) and do not necessarily reflect the views of the National Science Foundation. 8/12/
18 References 1. Andrews, L. and Phillips, R. (2005) Laser Beam Propagation through Random Media, Second Edition (SPIE Press Monograph Vol. PM152). SPIE The International Society for Optical Engineering. ISBN-13: Hemmati, H. (2009) Near-Earth Laser Communications (Optical Science and Engineering). CRC Press. ISBN-13: US Geological Survey (USGS) Earth Resources Observation and Science (EROS) LandSat 8 OLI/TIRS data base LandSat 7 Science Data Users Handbook, NASA's Goddard Space Flight Center in Greenbelt, Maryland. dbook.pdf 8/12/
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