23-10-2015 challenge the future delft university of technology laser swarm final review group 13,...
TRANSCRIPT
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20-04-23
Challenge the future
DelftUniversity ofTechnology
Laser SwarmFinal review
Group 13, Aerospace Engineering
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2Laser Swarm
Laser Swarm
• Swarm of 9 satellites
• SPAD receiver
• 473nm Laser
• Elevation modeling of the earth
• BRDF modeling of the earth
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3Laser Swarm
Contents
•Subsystems design
•Orbital design
•Software tool
•Conclusions and recommendations
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4Laser Swarm
1.Subsystem Design
• Communications• Navigation & data storage• Attitude determination & control system• Electrical power system• Laser• Optics Payload
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5Laser Swarm
Communications
• Crosslink scientific/housekeeping data (emitter & receiver sat)
• G/S link scientific data (emitter sat)
• G/S link housekeeping data (emitter sat)
• G/S link housekeeping data (receiver sat)
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6Laser Swarm
Crosslink scientific/housekeeping data
• Two way links
• Frequency: 2 GHz (S-band)
• Max. data rate: 1.62 Mbps
• Max. distance: 261 km
• Modulation: QPSK
Design parameters
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7Laser Swarm
Crosslink scientific/housekeeping data
• S-band Transceiver•10 Mbps•Max. output 5 Watt•1 kg
• S-band patch antenna• 82x82x20mm• 80g• 4 dBi
Hardware
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8Laser Swarm
Crosslink scientific/housekeeping data
• Input power transceiver: 12 W
• Output power transceiver: 5W
• Required Eb/N0 ratio: 9.6 dB
• Margin: 1.76 dB
Link budget
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9Laser Swarm
G/S link scientific data
• One way link
• Frequency: 8.2 GHz (X-band)
• Max. data rate: 150 Mbps
• Max. distance: 1000 km
• Modulation: QPSK
Design parameters
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10Laser Swarm
G/S link scientific data
• X-band Transmitter•500 Mbps•Max. output 6 Watt•1.1 kg
• X-band phased array• 330x305x74mm• 5.5 kg• 23.03 dBi
Hardware
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11Laser Swarm
G/S link scientific data
• Input power transceiver: 30 W
• Output power transceiver: 5W
• Required Eb/N0 ratio: 9.6 dB
• Margin: 29.3 dB
Link budget
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12Laser Swarm
G/S link housekeeping data
• Two way link
• Frequency: 2 GHz (S-band)
• Max. data rate: 20 kbps
• Max. distance: 1000 km
• Modulation: QPSK
Design parameters
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13Laser Swarm
G/S link housekeeping data
• S-band Transceiver•10 Mbps•Max. output 5 Watt•1 kg
• S-band patch antenna• 82x82x20mm• 80g• 4 dBi
Hardware
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14Laser Swarm
G/S link housekeeping data
• Input power transceiver: 12 W
• Output power transceiver: 5W
• Required Eb/N0 ratio: 9.6 dB
• Margin: 27.65 dB
Link budget
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15Laser Swarm
G/S link housekeeping data (backup)
• Input power transceiver: 12 W
• Output power transceiver: 5W
• Required Eb/N0 ratio: 9.6 dB
• Margin: 27.65 dB
Link budget
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16Laser Swarm
1.Subsystem Design
• Communications• Navigation & data storage• Attitude determination & control system• Electrical power system• Laser• Optics Payload
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17Laser Swarm
Data StorageOverview
• Required amount of data storage
• Downlink rate
• Chosen storage medium
• A word about the receiver memory
• Summary
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18Laser Swarm
Data Storage
Parameter Value
Maximum time without contact to ground station
7:35:33
Average time without contact to ground station
1:39:00
Average duration of the contact with ground station
0:08:30
Required amount of data storage
•The emitter is the only satellite with contact to the Kiruna ground station•As such it should be possible to store all scientific data on the emitter
•First thing to do is to find how much data has to be stored:What is the longest period without contact to
the ground station?
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19Laser Swarm
Data Storage
Parameter Value
Maximum time without contact to ground station
7:35:33
Average time without contact to ground station
1:39:00
Average duration of the contact with ground station
0:08:30
Required amount of data storage - continued
• The total bit rate of all 5 receiver instruments is 8.13 Mbit/s
• This yields a required storage volume of 244 Gbit
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20Laser Swarm
Data Storage
Parameter Value
Maximum time without contact to ground station
7:35:33
Average time without contact to ground station
1:39:00
Average duration of the contact with ground station
0:08:30
Can the data be send to earth
• Every 13 or more orbits a long period without contact occurs.• During these orbit additional data is generated.
• The resulting downlink rate is 111 Mbit/s• The available rate is 150 Mbit/s
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21Laser Swarm
Data StorageStorage medium
64 Gbit flash nand memory module
• Weighs 6.10 grams
• 20.40 x 13.84 x 12.13 mm
• Uses ~ 1 Watt of power
• Space qualified
• 98% survival chance after 5 years
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22Laser Swarm
Data StorageStorage medium - continued
• 244 Gbit / 64 Gbit ⇒ 4 modules• Extra module added for redundancy
In total:• ~ 5 Watt of power• 30.5 grams• At least 102 x 69.2 x 60.7 mm
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23Laser Swarm
Data StorageReceiver satellite memory
• All science data is to be stored on the emitter
• Memory is still required for housekeeping dataand scientific data in emergency
• Each receiver satellite has a 64 Gbit flash nand memory
(Can allow it to store of up to 7 hours of data)
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24Laser Swarm
Data StorageSummary
•The emitter has 5 x 64 Gbit modules320 Gbit available, where 244 Gbit is necessary
• A receiver has 1 x 64 Gbit module
• Communications and data storage
Emitter satellite Receiver satellite
Mass [kg] 10.66 3
Power [W] 47 13
Cost [k$] 2940 525
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25Laser Swarm
NavigationOverview
1. Possible options
2. Hardware
3. Accuracy
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26Laser Swarm
NavigationThe options
1. Utilize the attitude instruments
2. Hybrid communication/navigation system
3. GPS receiver on every satellite
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27Laser Swarm
NavigationHardware
•Weighs less than 200 grams
•100 mm x 70 mm x 25 mm
•Requires ~ 1 Watt
•Cost per receiver $25,000
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28Laser Swarm
NavigationAccuracy
What kind of accuracy can be reached?
•~ 10 m readily available
•~ 0.9 m after some calculations
•~ 1.5 mm with post-processing
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29Laser Swarm
1.Subsystem Design
• Communications• Navigation & data storage• Attitude determination & control system• Electrical power system• Laser• Optics Payload
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30Laser Swarm
Attitude and Orbital Determination and Control Subsystem
• Emitter• Attitude determination• Attitude control• Orbit control• Pointing
• Receiver• Attitude determination• Attitude control• Orbit control• Pointing
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31Laser Swarm
Emitter Satellite
• afbeelding
Ixx = 2.407 kgm2
Iyy = 5.582 kgm2
Izz = 6.542 kgm2
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32Laser Swarm
Disturbance Torques
• Gravity gradient
• Solar Radiation
• Earth Magnetic Field
• Aerodynamic Torques
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33Laser Swarm
Disturbance Torques Emitter
• Gravity gradient
• Solar Radiation
• Earth Magnetic Field
• Aerodynamic Torques
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34Laser Swarm
Reaction Wheels Emitter
• Total disturbance torque 8.776·10-5 Nm• Safety margin of 2• Torque requirement 1.755·10-4 Nm
• Angular acceleration 100 rad/s
• h = 10 mm• b = 36 mm• m = 212 grams
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35Laser Swarm
Emitter Thruster
• ΔV requirement 225.38 m/s
• Bipropellant thruster
• Isp = 291 s
• Propellant mass 3.8 kg•Monomethylhydrazine 2.88 L•Dinitrogen Tetraoxide 1.32 L
Source: http://www.eads.com
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36Laser Swarm
Pointing Emitter
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37Laser Swarm
Volumes, Masses and Prices EmitterEmitter Numbe
rDimensions Mass Price [€]
Sun sensors 5 30x30x14.5 mm3
120 55000
Star tracker 1 50x50x100 mm3 375 75000
Reaction wheels
3 90x90x20 mm3 135 550
Magneto torquers
3 20x20x150 mm3 600 9000
Thruster (incl. tanks, etc.)
1 300x200x100 mm3
1650 400000
Total 309000[$ FY00]
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38Laser Swarm
Receiver Satellite
Ixx = 1.307 kgm2 Iyy = 0.101 kgm2 Izz = 1.316 kgm2
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39Laser Swarm
Disturbance Torques Receiver
• Gravity gradient
• Solar Radiation
• Earth Magnetic Field
• Aerodynamic Torques
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40Laser Swarm
Reaction Wheels Receiver
• Total disturbance torque 1.65 ·10-5 Nm• Safety margin of 2• Torque requirement 3.31·10-5 Nm
• Angular acceleration 100 rad/s
• h = 10 mm• b = 11 mm• m = 36 grams
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41Laser Swarm
Attitude Control Receiver
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42Laser Swarm
Receiver Thruster
• Maximum ΔV requirement:165.14 m/s
• Mono propellant thruster
• Isp = 120 s
• Maximum Propellant mass 1.77 kg• Hydrogen Peroxide 1.23 L
Source: http://www.micro-a.net
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43Laser Swarm
Pointing Receiver
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44Laser Swarm
Volumes, Masses and Prices ReceiverEmitter Numbe
rDimensions Mass Price [€]
Sun sensors 4 30x30x14.5 mm3
120 44000
Star tracker 1 50x50x100 mm3 375 75000
Reaction wheels
3 45x45x15 mm3 135 550
Magneto torquers
3 9x9x70 mm3 600 3450
Thruster (incl. tanks, etc.)
1 100x100x150 mm3
1650 250000
Total 214000[$ FY00]
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45Laser Swarm
1.Subsystem Design
• Communications• Navigation & data storage• Attitude determination & control system• Electrical power system• Laser• Optics Payload
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46Laser Swarm
EPS Final Design
• Solar panel hold down and release mechanism
• Solar panel deployment
• Pointing driver
• Bus regulation
• Battery
• Solar panels
• Summary
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47Laser Swarm
Hold down and release mechanism
• DutchSpace Thermal Knife
• Dyneema wires
• “Cutting” by thermal knife
• Low shocks
• High reliability
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48Laser Swarm
Hold down and release mechanism
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49Laser Swarm
Solar panel deployment
• Use of shape memory alloys
• High reliability
• No pyrotechnic shocks
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50Laser Swarm
Pointing driver
• To fully point solar panels towards the Sun
• Driven by stepper motor
• Increased accuracy by using gear head
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51Laser Swarm
Bus regulation: DC/DC convertor
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52Laser Swarm
Bus regulation: DC/DC convertorElectrical block diagram
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53Laser Swarm
Battery
• Lithium-ion cells
• 158 Wh/kg
• Module consists of 7 cells connected in series
• Battery consists of 2 modules connected in parallel
• 28 Vdc at 6Ah
• 1 battery for the receivers, 3 for the emitter
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54Laser Swarm
Battery
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55Laser Swarm
Solar panels
• Triple-junction cells
• Receiver area: 0.5 m2
• Emitter area: 1.4 m2
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56Laser Swarm
Summary - receiver
Part Dimensions [mm]Length Width Height
Weight [g]
Power [W]
Driver 30 6 60 21.4 1
Battery 168 102 10 1000 0
Deployment 120 50 10 120 4*
Convertor 95 60 17 80 1.5
Shunt regulator
2.8 2.6 1.05 0.1 0.5
Thermal knife 60 50 38 280 15*
Wiring - - - 230 0.28
Solar Panels 500 500 0.36 723 0
* One-time application
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57Laser Swarm
Summary
•Receiver:• Mass: 3.6 kg• Cost: $ 266 000
•Emitter:• Mass: 5.8 kg• Cost: $ 541 000
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58Laser Swarm
1.Subsystem Design
• Communications• Navigation & data storage• Attitude determination & control system• Electrical power system• Laser• Optics Payload
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59Laser Swarm
Optical Emitting Device
Performance characteristics set by simulation
Desired characteristics:
• Wavelength: 473 [nm]
• Pulsed wave form: (Repetition rate ~ 5,000 [Hz])
• Pulse energy: ~1 [mJ]
• Pulse length: ~1 [ns]
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60Laser Swarm
Laser Cavity
• Starting from Nd:YAG 946 [nm] to 473 [nm]
• From continuous to pulsed waveform
• Initializing Nd:YAG population inversion (diode pumps)
• Lifetime considerations
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61Laser Swarm
Diode pumped Nd:YAG ConfigurationConfiguration flown on NASA missions (GLAS, MOLA)
Wall plug efficiency ~ 12 [%] [2004]~ 20 [%] [2015]
Total Power 40 [W]
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63Laser Swarm
Diode pumped Nd:YAG Configuration
Nd 3+ ions exhibit large
absorption at 808 [nm]
Desired wavelength Nd:YAG 946 [nm]
E = hv (inverse relation with wavelength)
Quantum level trajectory: F5/2 >F3/2 > I9/2
Lasing action: F3/2 > I9/2
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64Laser Swarm
Diode Pumping• Used as pump medium (poor beam quality)• Diode lasers use Distributed Bragg Reflectors (DBR)• Power up to ~100 [W]; Wall plug efficiency ~ 51 [%]
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65Laser Swarm
Distributed Bragg Reflectors• Designed For Specific Range of Wavelengths• High Optical Amplification On Small Area
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66Laser Swarm
Pulse Generation (Q-Switching)Pockel Cell + Polarizer Disk
General Pockel Cell Layout Polarizer Disk Acting As Filter To Create Pulses
Generation of pulses creates high peak powers ~ 100,000 [W]. Laser components should be designed to withstand high energetic loads.
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67Laser Swarm
Expected Diode Laser LifetimeWith a repetition rate of 5,000 [Hz] 788.4 billion pulses are
needed
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68Laser Swarm
Multiple Laser Diodes : Laser Diode Arrays
5 year in-orbit means ~ 800,000,000,000 shots1 laser diode array ~ 30,000,000,000 shots
Number of laser diode arrays on matrix = 800/30 ≈ 27
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69Laser Swarm
Single Photon Avalanche Diodes• Space-graded reversed biased PN-junction• Applied voltage (Va) above breakdown voltage (Vb)• Single photons create detectable current due to avalanche
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70Laser Swarm
Single Photon Avalanche Diodes• Excess electrical field Ve determines characteristics• Ve = (Va – Vb)
• Increase in temperature causes increase in dark count rate
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71Laser Swarm
1.Subsystem Design
• Communications• Navigation & data storage• Attitude determination & control system• Electrical power system• Laser• Optics Payload
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72Laser Swarm
Optics Payload
•Prism Design• Optical filter• Prism variables• Angle calculation
•Optical Focus• Idea• Results
• Payload cost (emitter and receiver)
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73Laser Swarm
Optical System
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74Laser Swarm
Prism Design
Optical Filter
• Simple
• Accuracy in terms of 10nm (minimum 8nm)
• Low transmittance for high accuracy (50%-60% for 10nm)
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75Laser Swarm
Prism Design
α = Incident angle
A = Apex angle
n = Index of refraction = f(λ)
ε = Deviation angle = f(α, A, λ)
Different λ leads to different ε
Maximize: dε/dλ
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76Laser Swarm
Prism Design
Glass SF11
Largest dε/dλ = 2.14[mrad]
1 mm beam width467mm distance
Flat mirrors are still needed
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77Laser Swarm
Laser Optical Focus
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78Laser Swarm
Laser Optical Focus
p = Focus length
γ = Divergence
ξ = Movement length
Changing ξ by 1 mm changes the footprint size by 20.4 m(not considering diffraction)
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79Laser Swarm
Payload Cost Estimation
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80Laser Swarm
Summary
•Prism is used
•Parabolic mirrors are used to adjust footprint size
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81Laser Swarm
2.Orbital Design
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82Laser Swarm
• Launch Segment
• Space Segment
• Environment
Astrodynamics
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83Laser Swarm
Launch SegmentLaunch vehicle
• Payload mass capability
• Payload space capability
• Orbit insertion accuracy
• Safety
• Reliability
• Cost
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84Laser Swarm
Launch SegmentLaunch vehicle
Soyuz ST
• 4000 kg to LEO• Large fairing to accommodate all satellites• Inclination at 0.03 degree accuracy • Low vibrations• Over 1700 successful launches• $ 18 million launch
Launch SegmentLaunch vehicle
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85Laser Swarm
Launch SegmentLaunch site
• Availability of inclination
• Compatibility with the LV
• Accessibility and cost
• Security and political situation
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86Laser Swarm
Launch SegmentLaunch site
Launch SegmentLaunch site
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87Laser Swarm
Launch SegmentLaunch date
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88Laser Swarm
Space SegmentOrbits
Primary Orbits:• Altitude:
500 km
• Period: 94.61 min
• Precession: -0.6667 deg/day
Secondary Orbits:• Altitude:
525 km
• Period: 95.12 min
• Precession: -0.6584 deg/day
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89Laser Swarm
Space SegmentConfiguration
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90Laser Swarm
Space SegmentConfiguration
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91Laser Swarm
Cd = 2.22Morbit = 53.1 kgA = 1.05 m2
B.C. = 22.87 kg/m2
Space SegmentConfiguration
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92Laser Swarm
Cd = 2.22Morbit = 14.92 kgA = 0.3 m2
B.C. = 22.4 kg/m2
Space SegmentConfiguration
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93Laser Swarm
Cd = 2.22Morbit = 14.82 kgA = 0.3 m2
B.C. = 22.3 kg/m2
Space SegmentConfiguration
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94Laser Swarm
Space SegmentdV
• Emitter - 225.4 m/s
• ReceiverPrimary: from 133.6 – 165.14 m/s
In Orbit: 128.73 ± 4 m/sSecondary: from 105.75 – 137.28 m/s
In Orbit: 100.93 ± 4 m/s
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95Laser Swarm
Space SegmentOrbits
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96Laser Swarm
LX = 88.9 degHX = 85 deg
Space SegmentOrbits
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97Laser Swarm
Space SegmentStationkeeping
• Principle of differential drag. (Successfully demonstrated by the ORBCOMM
constellation)
• Automated systems are necessary.
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100Laser Swarm
EnvironmentRadiation
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101Laser Swarm
3.Software tool
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102Laser Swarm
Simulation results overview
• Short simulator overview
• Optimization of Aperture and Power
• Elevation and slope modeling
• BRDF reconstruction
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103Laser Swarm
Short simulator overview
• Basic atmospheric model
• Scattering based on• Lambertian• Minnaert parameter• Henyey-Greenstein
• Noise based on• Solar radiation• Sloping effects
0 and secAM optTickI I e AM z
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104Laser Swarm
Optimization algorithm
• Construct a simplex(triangle for 2 param)
• Compute functional values
• Shrink simplex
• Repeat until end conditions
Nelder-Mead (Simplex) method
Source: http://chungyuandye.wordpress.com/2009/08/09/nelder-mead-method-in-mathematica/
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105Laser Swarm
Power Aperture problem
• Minimize power and aperture
• Minimize aperture more than power(for ballistic coefficient)
• Maximize the received photons⇒ target photons per satellite per pulse
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106Laser Swarm
Quantifying performance
• Global term ⇒ global performance
• Satellite dependent term ⇒ Optimize for equal reception by all satellites
Define f(x, mean, variance) as NormalPDF(mean, variance) evaluated at x
totalRx target sats
sat Rx target1.2sats
, ,50, ,200
f nperformance f
power aperture
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107Laser Swarm
Optimization results
Final results:
• Power 4.6W (5W)
• Aperture 0.0045 m2 (0.006m2)
6.7x6.7 cm (7.5x7.5cm)
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108Laser Swarm
Finding Elevation and Slope
Elevation• Windows• Algorithms• Tuning
Slope• Algorithm• Results
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109Laser Swarm
ElevationWindows
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110Laser Swarm
ElevationAlgorithm
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111Laser Swarm
ElevationTuning
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112Laser Swarm
ElevationTuning
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113Laser Swarm
ElevationTuning
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114Laser Swarm
ElevationTuning
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115Laser Swarm
ElevationTuning – now with sloping
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116Laser Swarm
SlopeAlgorithm
Along-track slope: determined by time derivative of elevation.
Total slope slope: determined from sub-footprint heights.
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117Laser Swarm
SlopeAlgorithm
Cross-track slope: determined by Pythagoras.
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118Laser Swarm
SlopeResult – along-track slope
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119Laser Swarm
About BRDFEstimation
Determination in the Simulator
BRDF Determination
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120Laser Swarm
•Bidirectional Reflection Distribution Function
•Measure of reflectance of surface
About BRDF
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121Laser Swarm
•Correction for anisotropy
•Normalization
•Aids in identification of VI
Practicality
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122Laser Swarm
•Three general categories of BRDF models:• Physical,• Empirical, • Semi-Empirical
• Easier to inverse linear models• Semi-Empirical:
• Empirical:
Estimation
( , , ) ( , , ) ( , , )iso geo geo vol volR f f K f K
2 2 2 20 1 2 3( , , ) ( ) cos( )R p p p p
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123Laser Swarm
• Goal: Find BRDF from limited number of measurements
• Photons equal irradiance
• Least squares estimation
Determination of the BRDF
2obs model
1
( ( , , ) ( , , ))j j
N
j j
R R
W
2 2 2 2model 0 1 2 3( , , ) ( ) cos( )R p p p p
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124Laser Swarm
0 .6
0 .4
0 .2
0 .50 .0
0 .5 0
1
2
3
0 .6
0 .4
0 .2
0 .5
0 .00 .5
0
1
2
3
Calculated points
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125Laser Swarm
4.Concluding remarks
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126Laser Swarm
Cost Overview
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127Laser Swarm
Mass Overview
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128Laser Swarm
Conclusion
This shows that the Laser SWARM concept demonstrated is feasible.