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MASTER'S THESIS Cubesat Ground Station Implementation and Demonstration Yongjie Huang Master of Science (120 credits) Space Engineering - Space Master Luleå University of Technology Department of Computer Science, Electrical and Space engineering
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CRANFIELD UNIVERSITY YONGJIE HUANG CUBESAT GROUND STATION IMPLEMENTATION AND DEMONSTRATION SCHOOL OF ENGINEERING MSc in ASTRONAUTICS AND SPACE ENGINEERING INDIVIDUAL RESEARCH PROJECT REPORT Academic Year: 2011 - 2012 Supervisor: Dr.
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CRANFIELD UNIVERSITY SCHOOL OF ENGINEERING ASTRONAUTICS AND SPACE ENGINEERING MSc in Astronautics and Space Engineering Individual Research Project Report Academic Year 2011 - 2012 YONGJIE HUANG Cubesat Ground Station Implementation and Demonstration Supervisor: Dr. Jenny Kingston June 2012 This thesis is submitted in partial fulfilment of the requirements for the degree of MSc in Astronautics and Space Engineering © Cranfield University 2012. All rights reserved.
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ABSTRACT This project aims to develop a Cubesat Ground Station by utilizing amateur radio technology and COTS devices. Pursuing the work done by previous students, the system was finalised and then constructed. In addition, a further objective of this project is to design antenna mast support with tilting function for easy installation and maintenance. Mast support design was carried out with the help of Catia V5 R17.
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ACKNOWLEDGEMENTS I would like to express my gratitude to Dr. Jenny Kingston, thesis project supervisor, who provided great support and help to the project, and gave a lot of effort in managing the project to progress whilst with patience. And also want to thank Dr. Stephen Hobbs for the kind help and suggestions to the project. I would like to thank Derek Brown, the mechanical workshop technician, who gave a lot help and brilliant suggestions in structure design.
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TABLE OF CONTENTS ABSTRACT ......................................................................................................... i ACKNOWLEDGEMENTS................................................................................... iii LIST OF FIGURES ........................................................................................... viii LIST OF TABLES ............................................................................................... x LIST OF EQUATIONS .............................
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4.1 System Requirements............................................................................. 43 4.2 GS Hardware .......................................................................................... 44 4.3 GS Software ........................................................................................... 45 4.3.1 Operation and Control ...................................................................... 46 4.3.2 Remote Control ................................................................
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Appendix C Mast Support Structure Drawings............................................
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LIST OF FIGURES Figure 2-1 1 A Cubesat in orbit (NASA website) ................................................ 6 Figure 2-2 simple ground station illustration ....................................................... 7 Figure 2-3 typical commercial radio (aprs.org website) ...................................... 8 Figure 2-4 Electromagnetic wave polarisation [1] ............................................... 9 Figure 2-5 P-POD Mk. III ..........................................................................
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Figure 5-7 Position of antenna mast and guy rope anchor point ...................... 68 Figure 5-8 Mast Stress Analysis in Lift-up Case ............................................... 69 Figure 5-9 Structure Analysis ........................................................................... 70 Figure 5-10 Vibration Frequency Analysis in the Strong Wind ......................... 71 Figure 5-11Guy Rope Fixation Illustration ........................................................
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LIST OF TABLES Table 3-1 ICOM 910H Connect to HRD setting ................................................ 15 Table 3-2 Two Line Elements of ISS ................................................................ 17 Table 3-3 REC-3D Terminals Connection ........................................................ 19 Table 3-4 ERC-3D to HRD Rotator settings ..................................................... 19 Table 3-5 Rotator Controller Cable Connection................................................
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LIST OF EQUATIONS (2-1) .................................................................................................................. 10 (3-1) .................................................................................................................. 31 (3-2) .................................................................................................................. 31 (3-3) ..................................................................................................................
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LIST OF ABBREVIATIONS AFSK Audio FSK AGWPE AGW Packet Engine AM Amplitude Modulation AOCS Altitude and Orbital Control Subsystem AOS Acquisition Of Signal APRS Automatic Position Reporting System BER Bit Error Rate CAT Computer Aided Transceiver CI-V Communication Interface-V COTS Commercial Off The Shelf CW Continuous Wave DDE Dynamic Data Exchange DHCP Dynamic Host Configuration Protocol EMC Electromagnetic Compatibility EPS Electrical Power Subsystem FM Frequency Modulation
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HT Hyper Terminal ITU International Telecommunication Union KISS Keep It Simple Stupid LEO Low Earth Orbit LHCP Left Hand Circular Polarisation LOS Loss Of Signal LSB Lower Side Band MCR Morse Code Reader MSA Mechanical Structures and Analysis OBDH On-Board Data Handling Subsystem P-POD Poly Pico-satellite Orbital Depolyer PSK Phase Shift Keying RF Radio Frequency RHCP Right Hand Circular Polarisation SNR Signal to Noise Ratio SPL Single Pico-Satellite Orbital Deployer SSB S
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VSWR Voltage Standing Wave Ratio X-POD eXperimental Push Out Deployer xiv
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Disclaimer The author assumes no liability for any damage to equipment, loss of monies or injury sustained whilst executing work derived from the findings or recommendations of this work. The selection of appropriate equipment, installation and operating procedures, as well as time and economic cost budgeting is the responsibility of the authority executing such actions.
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1 PROJECT INTRODUCTION This thesis report describes the work done for the Cubesat Ground Station project in Cranfield University, as part of the thesis project of MSc degree in Astronautics and Space Engineering. Continuing the previous projects (Long 2008; Kawak 2010, Soyer 2011), the finalization of the system design, all the tests and system construction procedures will be depicted in this report. 1.
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And later, Soyer finalized the design of GS. He studied antenna polarization and recommended polarization switches for the system to improve the signal to noise ratio. He also performed testing of the equipment and established a connection between two transceivers to simulate the packet radio communication. Furthermore, he studied mobile GS for high altitude balloon experiment. And he performed trade-off on choosing hardware and software for the mobile GS system. 1.
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of the installation. At the end shows the lightning protection and grounding system. Chapter7 summarises all the work done to the project and briefs the progress of the project. Chapter8 presents the suggestions and improvement that could be done to this project.
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2 INTRODUCTION TO CUBESATS The project started with literature review just as a normal start of a new project, but mainly focused on the three previous students’ theses of their design and improvements. This chapter will first introduce the Cubesat concept, development and application, and then will focus on the GS segment; At last the related terminology will be explained.
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Figure 2-1 1 A Cubesat in orbit (NASA website) Same as any other operational satellites in space, a Cubesat also has its essential subsystems, such as: Mechanical Structures and Analysis (MSA) Attitude and Orbital Control Subsystem (AOCS) Electrical Power Subsystem (EPS) Telemetry, Tracking and Command Subsystem (TT&C) On-Board Data Handling Subsystem (OBDH) These subsystems enable a Cubesat functioning on orbit, furthermore, able to carry out certain mission.
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In conclusion, Cubesats are standardized pico-satellites on LEO. They are becoming more and more attractive to universities and small medium enterprises as its low cost and less development time compared to the traditional satellites. 2.2 Ground Station Without ground station satellite will be a space junk. A functional ground station not only sends tele-command to control the satellite, but also receives telemetry from satellite. The simplest one will consist of PC, transceiver and antenna.
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Figure 2-3 typical commercial radio (aprs.org website) In Cubesat communication, one of the important factors is the transmitting power. The power range of these radios is from few watts to hundred watts. As the operation of an amateur radio needs a proper license and different license has certain limit of the transmitting power. In another words, the operator of the Cubesat Ground Station has to possess an amateur radio license. 2.2.
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Gain is another logarithmic ratio of energy radiated in some direction compared with the energy radiated by a standard isotropic antenna at the same distance and transmitting power. Band Width means the frequency range of the antenna that can be operated with expected performance. Polarisation is determined by the vector of the electrical field in the electromagnetic wave. In general there are two types polarization: linear polarisation and circular polarisation.
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strength loss will be up to 3 dB if the misalignment of polarisation is 45 degrees. This can be calculated by equation 𝐿𝑃𝑜𝑙𝑎𝑟𝑖𝑠𝑎𝑡𝑖𝑜𝑛 = 20 log(cos 𝛼) (2-1) where Lpolarisation is in decibel, α is the misalignment angle. As α increases, there will be more polarisation loss Thus antenna polarisation is an important component has to be considered for the space communication link. Usually circular polarisation is used for space communication as this type of antenna polarisation has less influence on the link.
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assigned position of the orbit, the door of the deployer will be triggered to open electrically and the compressed spring will push the Cubesat out at a speed about 2 m/s. Figure 2-5 P-POD Mk. III Beside P-POD, there are several orbital deployers which have also been flightproven. Tokyo Pico-Satellite Orbital Deployer (T-POD) is the single satellite deployer that developed by Tokyo Institute of Technology. It has been used to deploy CUTE-I and XI-IV on orbit.
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Ground station is the essential segment for Cubesat activities. Most of the Cubesat ground stations use VHF/UHF band for communication. And the COTS radio is often used as transceiver both for telecommand and telemetry. Thus operating a ground station the amateur radio license is needed. As the antenna is the important component for communication, some critical factors have to be considered, such as the Impedance, Gain, Polarisation and Band Width.
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3 PRELIMINARY TEST This chapter firstly introduces the study and test of the equipments’ connection and configuration. And then describes the analysis of communication link of the mobile system. At the end depicts the preliminary test from system setup, target selection to test results. As works have been done to some equipments during last year, the inspection work must be performed before any connection and test. This is to ensure every device to work properly and minimize unexpected problem to happen.
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Figure 3-1 Control Panel of Ham Radio Deluxe (version 5.11). From this control panel, frequency, mode, and the other parameters can be adjusted by mouse or keyboard. The original interface is CT-17 which uses FT232 chip to convert signal between radio and computer. Nowadays most computers don’t have RS232C interface (named COM). For this GS, one USB CI-V CAT Control Cable is used to replace the original one. This cable emulates a Serial Port with USB which is the common connection.
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ICOM 910H to HRD Connection Setting Company ICOM Radio IC-910H COM-port check Speed 19200 CI-V 60 Table 3-1 ICOM 910H Connect to HRD setting The COM-port has to be checked out depending on which USB port is used. 60 is the command address of the controller in the radio. When the radio is selected, usually it will prompt up automatically. 3.1.1.2 HRD Satellite Tracking To determine a point in space relative to an object, first one coordinate system has to be defined.
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Figure 3-2 Six Keplerian Elements Illustration 1) A semi-major axis 2) e eccentricity of orbit 3) i orbit inclination 4) h right ascension of ascending node 5) g argument of perigee 6) v time of passage of perigee “Q” is the ellipse centre, and “O” is the Earth Geometric centre. In the O-xyz coordinate system, first three parameters define the shape, size and position of the orbit, and last three define the orientation and position of the satellite.
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downloads the txt file of Kepler Data directly from Celestrak and Amasat. An example TLE of ISS is shown below: ISS (ZARYA) 1 25544U 98067A 2 25544 08264.51782528 −.00002182 00000-0 -11606-4 0 2927 51.6416 247.4627 0006703 130.5360 325.0288 15.72125391563537 Table 3-2 Two Line Elements of ISS Before starting tracking, the location has to be specified. Your Information can be found by following this path: tools > options. There are two main fields Location and Height.
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3.1.1.3 HRD Rotator with ERC-3D As mentioned above, HRD Rotator utilises the data calculated by the Satellite Tracking program based on the TLE, then generates control commands and sends to the rotator controller interface. As the control computer can not directly communicate with the Rotator Controller, an interface is needed. Easy Rotator Control (ERC-3D) is chosen as it is compatible with protocol Yeasu GS232 which is used by G5500.
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From ERC-3D to Rotator Controller is a 7-core cable with 8-pin DIN connector (pin7 is not in use). The wires with different colour inside the cable are assigned to one for common ground, four for four relays control and two for voltage feedback. Common grounds are connected together shown in Figure 3-3 above in pink colour line. Detailed connection is shown in Table 3-1below: ERC-3D Terminals Connection ERC-3D PCB Terminals DIN Connector Pin no.
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If UBS cable is plugged to other port of the computer, then the port has to be checked out again as the Serial to USB converter emulates port without fixation. 3.1.2 Rotator Controller to Azimuth & Elevation motor Yaesu G5500 Rotator Controller controls both Azimuth and Elevation motor through two 7-wire cable. The cable has one end connected to the Controller Screw Terminal and another end connected to motors with 7-pin DIN plugs.
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mode” is to send or receive packet data. Nowadays, as computer processors become more powerful, some signal processing functions have been removed from TNC to computer. Several protocols were developed to achieve this goal, and the most common one is the “KISS” mode (Keep It Simple Stupid). Based on this mode, much functional and powerful software have been developed based on computer operation system. They work in a way that once software run on computer then the “KISS” mode will be activated on TNC.
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Figure 3-4 KPC-3+ connection diagram [6] 3.1.3.1 KPC-3+ to Computer (Hyper Terminal) The 25-pin D-sub can not be connected to computer directly as the current computer doesn’t support it. Hence a DB-25 to DB-9 adapter was used which was then connected to computer by a serial to USB converter cable. So far, there are three of these USB cables connected to the control computer. Same as what was done before, every time the ports from which is connected to the computer have to be checked out.
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KPC-3+ to Hyper Terminal Connection Setting Bits per second 9600 Data bits 8 Parity None Stop bits 1 Flow control Hardware Table 3-6 KPC-3+ to Hyper Terminal setting Once connected, TNC will go to “command” mode in HT. It will go to “convers” mode by typing k and enter. Under this mode, HT can display received message or send out typed message. If there is any signal from TNC to HT, and then it will go to “convers” mode automatically and display the decoded message.
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the lower operation speed was chosen. As a matter of fact, this connection configuration can be used for another radio: YAESU FT-817 which has the same DATA socket configuration as the ICOM ones. 3.1.4 AGW Packet Engine & Monitor AGW Packet Engine (AGWPE) is a packet computer program written by Radio Amateur SV2AGW. It can do packet function with external TNC in “KISS” mode or “XKISS” mode. This program works in VHF at 1200 baud and UHF at 9600 baud operation.
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3.2 Cubesat Radio Communication The theoretical study of the Cranfield GS has been lasting for a long time. During last stage, the architecture of the GS was finalised and some functions were tested. In the current stage, before implementing the GS, it is required to demonstrate the reception of any Cubesat beacons by using a minimum system. This is the way to verify the theoretical design and operation. Considering the convenience and current status of the GS, a small mobile system was built for the test.
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AM: Amplitude Modulation conveys message signal by varying its amplitude according to the instantaneous amplitude of the modulating signal. SSB: Single Side Band is the refined AM using power and bandwidth with higher efficiency as AM results doubled bandwidth than the input baseband signal.
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PSK: Phase Shift Keying uses phases of the constant carrier signal to represent 0 and 1 binary codes. FSK: Frequency Shift Keying uses one frequency of the carrier to represent “0” and another frequency to represent “1”. AFSK: Audio FSK utilizes the changes of the frequency of audio tone to represent binary data and then transmitted in FM. Normally, tone at 1200Hz is assigned for marker “1” and tone at 2200Hz is assigned for space “0”, this is applied under Bell 202 Standard.
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A frame starts with flag and header and ends with checksum and flag. Flag is a specific number indicating start and end of a frame. A header tells the origin and destination of a frame. Checksum is the number produced based on the characters in the frame by mathematical method. The number will be recalculated in the receiver. If doesn’t match, the frame will be aborted. Ax.25 protocol is embedded in the firmware which is written in EPROM of the microcontroller of the TNC.
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Figure 3-7 CW & AFSK Beacon Reception Setup For the convenience of outdoor testing, the radio will be operated by internal power. TNC also has the possibility to use internal battery but need slight modification. According to its user guide, a battery clip with two wires was soldered to its PCB. Thus TNC can be powered by a 9V battery for outdoor use. Because there is no YAESU CT62 CAT cable, the radio can’t be controlled by the computer. Hence, Doppler Effect has to be manually adjusted for this GS. 3.3.
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o Beacon information has been published, the better with decoding software. o Higher availability upon testing place o Beacons are sent in CW or AFSK mode Based on above criteria, a Cubesats list was made for testing, which is shown in Table 3-9 below: Satellite List for Testing Satellite Frequency Power Modulation Baud Rate 436.8375MHz 437.470MHz 436.8475MHz 437.490MHz 437.465MHz 437.345MHz 437.275MHz 437.
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clearly that BER changed very much with a few dB difference of SNR. This table was produced based on an experiment done by a radio amateur [12]. Table 3-10 Bit Error Rate & Eb/N0 & Bit Probability of Reception From above table we can see that lower BER requires higher Eb/No. In order to get higher Eb/No, several parameters can be adjusted to improve the communication link.
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distance is considered as when the elevation angle is just 10 (minimum angle for communication link). The situation is illustrated as Figure 3-8 below: Figure 3-8 Free Space Loss Illustration The distance S can be calculated by Cosine Theorem, and then S can be expressed as follows: (3-4) 𝑅+ℎ 2 𝑆 = 𝑅 ��� � − (cos 𝛼)2 − sin 𝛼� 𝑅 Where R is the Earth radius, h is the satellite’s altitude, α is the elevation angle (10° in worst case).
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where θ is 3dB beam width, e is the pointing error. 3dB beam width is specified in X-Quad’s user manual and pointing error can be found from Yaesu G5500’s user manual. They are listed in the Table 3-11 below Antenna 3dB Beam Width 2m X-Quad 70cm XQuad Yeasu G5500 Pointing Error Pointing Error Loss Lθ 5 -0.027161612 5 -0.
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Transmitter Link Frequency Transmitter Power Transmitter Power Antenna Gain Antenna Transmitter Losses Antenna Beam width Antenna Misalignment Alignment Loss Equivalent Isotropic Radiated Power Symb ol f Ptx Ptx Gtx Ltx Units Lθtx MHz Watts dBW dB dB Deg Deg dB EIRP dBW S Ls La Lp L Km dB dB dB dB Antenna Gain Antenna Receiver Loss Antenna Beam width Antenna Misalignment Alignment Loss Total Receiver System Noise Temperature Gr Lr Receiver Merit G/T dB dB Deg Deg dB dB K DB(1/ K) θtx αtx CW
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3.3.4 Test Implementation CW beacon reception test was the first then continued by packet radio test. Before starting the test, a test schedule was made by HRD Satellite Tracking. Only elevation that was bigger than 80° was selected as it might have strong signal during pass over. Although HRD Satellite Tracking has been configured at the beginning, to be more precise for prediction, GPS coordinate was measured at the testing place.
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Figure 3-9 CO-65 Passage On 1st March morning When operating the radio, one important effect encountered was the Doppler Effect. Doppler Effect is the change in frequency of radio wave as a result of relative movement between source and observer. This phenomenon arises when Cubesat is transmitting radio wave to the GS while it is orbiting around the Earth. This results a higher frequency ahead of the Cubesat in the direction of its velocity vector and a lower behind.
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Figure 3-10 Doppler Shift for orbit 350Km and 2000Km operating at 145MHz and 435MHz analysed by Long [14] The targets are orbiting around the Earth at about 800Km altitude. From right bottom of the above figure it can be seen that the Doppler Shift is about 9KHz for 435MHz link at elevation 10. Actually, the radio was set to 4KHz above the standard frequency, e.g. HO-68 transmitting frequency is at 435.790MHz. The radio was set to 435.
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Figure 3-11 Predicted HO-68 time slot The frequency when the signal segment was recorded is from 435.784MHz to 435.781MHz. The tone was so clear when close to 435.781MHZ that it was decoded by Morse Code Reader (MCR). MCR decodes the signal by utilizing soundcard with input from mic or linein. In fact the test could be done synchronously both for reception and decoding. But this need to bring computer outside, so it was decided to record first and decoded it later.
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Unfortunately, the callsign could not be decoded clearly, which should be BJ1SA. However, the rest that are after the 13th letter “T” were correct. The telemetry encoding method is specified in its telemetry format[15]. Fortunately, XW-1 telemetry decoding software developed by Mike Rupprecht(DK3MN) could be used for decoding[16]. Just simply copy the decoded message from MCR and paste on the blank, then the software showed Satellite parameters.
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3.3.4.2 AFSK Packet Radio Reception The telemetry at 145.825MHz from ISS is not the same as the beacon from the CO series cubesats, which should contain the satellite status information. In fact, the amateur radio transceiver on the ISS works as “digipeater”. “digipeater” stands for Digital Repeater which receives digital signal at one frequency and transmits it later at the same frequency.
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AFSK 1200 baud.ogg, which was also used for testing by Soyer [10]. This sample can be played in the computer by common audio player. And then a short practice was carried out just with the radio. On 12th March 2012, the packet signals were heard by the radio and then decoded message was shown on AGW Monitor. Figure 3-14 AFSK Packets heard from ISS shown in AGW Monitor 3.4 Conclusion In this stage, the study of hardware and software was first carried out.
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get familiar with radio operation and signal recognition. Finally, the tests were implemented first with CW then followed by AFSK packet radio. Both tests were successfully done and met the goal.
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4 GROUND STATION FINALISATION In this chapter will first review the drivers and requirements for the GS. And then the detailed hardware and software is described. After that the problem of remote control of the equipment powers is introduced, then follows the progress of the solutions, finally the control principle, construction and implementation of the webserver controller is depicted. At the end, the system architecture is finalised. 4.
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o Lightning protection and well grounded o Compatible with GENSO network All above requirements were the initial drivers when doing the design. Based on these consideration Long first investigated the fundamental hardware and software that should be used for the GS. Some main devices were purchased. The continuous project study eventually completed the whole system. 4.2 GS Hardware The GS was designed and constructed by following the requirements.
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antenna has 10.5dB gain with 12 elements while 70cm antenna has 12.8dB gain with 18 elements. The polarisation is switchable by a coax relay or a remote control polarisation switch.[17] Rotator Controller: Yaesu G5500 rotator controller is a heavy duty, all weather antennae directing device, providing with turning range of 450° in azimuth and 180° in elevation.
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operation. However, Cubesat control software has to be bespoke hence unique to the mission. Cubesat operation requires the GS able to track with high accuracy antenna pointing and data communication. Thus the GS software must be of the function of helping operation, management and data processing. To be more specific, the software must be able to control tracking and directing antenna, the RF equipment and manage data processing work. 4.3.
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Figure 4-1 HRD Satellite Tracking Screenshot HRD Radio Control provides a duplicated control panel of the transceiver which must support CAT. Through the interface provided by this software, user can control the frequency, mode, transmitting power and some other parameters of the transceiver. See Figure 3-1 in 3.1.1.1. HRD Rotator unitizes the data from HRD’s DDE server and drives the rotator control through ERC-3D interface, hence directing the antennas towards the target.
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Figure 4-2 HRD Rotator Control AGW Packet Engine is a small program compatible with KPC3+ in XKISS mode. This program bridges the TNC and AGW Monitor or Terminal. It demodulates the signal and sends to AGW Monitor or modulates the message and sends to TNC. A new version program is available, which is called Packet Engine Pro, it connects to TNC directly and displays the demodulated message[18]. AGW Monitor displays the messages from all the ports it heard, including Soundcard input. See Figure 3-14in 3.3.
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Figure 4-3 MiniSim Spacecraft Control Software Simulator 4.3.2 Remote Control The GS will be located in the corridor of third floor of the B52 as the closest place to the antenna site just above. However, the building belongs to the School of Health, and the access to the corridor was agreed but not convenient. Thus, remote control of the GS was required. Previous study has pointed out to use commercial network desktop control software as the solution.
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Figure 4-4 Splashtop Compared with the Others [19] Power Control Although radio can be operated through Splashtop, it is not applicable to control power on/off of ICOM 910H as manufacturer doesn’t release this function. However, effort has been tried, such as sending command to radio by Command Tester. It is the same principle as CAT to control the radio. The Command Tester generates the codes and sends it to radio controller through the CI-V cable.
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4.4 Webserver Power Controller One objective of this project is to enable the remote control of the GS due to the inconvenience of accessing of the corridor where the GS is located. Furthermore, fully automated GS is also required in order to join GENSO network. The previously mentioned control software is not doubted for operation. However, some devices are not able to be powered on through software control. Thus a way to control the power on those devices has to be developed.
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I/O pins, 6 analogue pins which can also be used as digital pins. While in this project pin 10-13 are reserved for Ethernet Shield, they can not be used in any other program. Ethernet Shield is based on Winznet W5100 Ethernet chip, allowing Arduino board to connect to internet in mere minutes. It can be simply stacked on the board and all the connections made. 4.4.
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Figure 4-5 Web Server Controller Wiring Method This program was gradually developed. At the beginning, only polarisation switches function was studied and then the servo control. Fortunately, the study was successful and both functions were enabled. Now all the devices are controllable except theirs power. Thanks to the idea from IP Power Switch, this function can be easily implemented in the program as they are same principle.
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Finally Mega2560 could fulfil the requirement. It is compatible with the Ethernet Shield with 54 I/O pins and 16 analog input pins. It has 256 Kb flash memories (Duemilanove 32Kb).[21] This will be good for later development. Arduino Mega2560 Pins Assignment Pin No.
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Figure 4-6 Arduino Mega2560 Wiring 4.4.3 Power on Computer Remotely Computer is the last equipment to be considered for the power control remotely. Same as the radio, once it is switched off the start button has to be pressed to start. There are several methods can remotely power on the control computer. Wake-on-LAN is the common way to power on computer through internet. First the network card should have this function and the function should be enabled. Second the BIOS must also have this function.
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Another method is to modify the Start button of the computer. Normally it is a touch button with two wires. It connects two wires in a short time when the button is pressed. This could be feasible by a relay with microcontroller. The disadvantage is the two wires need to be led out of the computer case and the power unit has to be on also. The last method which is used is to enable a special feature in BIOS of the control computer. Then just control the computer with Mega2560 Power Switches.
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void setup(){ Ethernet.begin(mac); server.begin(); } Once the Webserver is connected to the internet, it then prints out the IP address in the Serial Monitor which can be found from IDE’s Tools. Filling the IP address into IE browser, the control interface will show up. The control interface is written in html format. When clicking the control buttons, the corresponding string command will be generated. String command is understood in data format by Duemilanove.
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then put output pin to “HIGH” and display value “off” or “on”, otherwise put output pin in “LOW” and value in “on” or “off”. if(inString.indexOf(Vhf2+"=on")>0 ){ Serial.println(Vhf2+"on"); value2 = "off"; }else if(inString.indexOf(Vhf2+"=off")>0 ){ Serial.println(Vhf2+"off"); digitalWrite(VHF2, LOW); value2 = "on"; } client.println("
Horizontal"); where Vhf2 is the predefined string, VHF2 is attached to digital pin, client.
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Figure 4-8 Ground Station Structure 59
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Name Ground Station Location VHF Antenna UHF Antenna Omni-Directional Antenna VHF pre-amplifier UHF pre-amplifier Polarisation Switch Rotator Controller Terminal Node Controller Radio Power Supply Mast Lightning Protection Webserver Controller SWR & Power meter PC Software Item Call Sign Longitude Latitude Altitude Gain Beamwidth Gain Beamwidth Moonracker ICOM Gain ICOM Gain Wimo Wimo Yaesu Computer Interface Kantronics ICOM Rapid Electronics Galvanised Tube Rotor Shunt AC Power Surge Ethernet Surge Coa
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5 ANTENNA MAST SUPPORT DESIGN In this chapter, a new function requirement for the antenna mast support will be introduced at the beginning. And then the preliminary design will be exhibited. After that the antenna wind load analysis will be described, with referring to the Kawak’s analysis. Finally, an improved design will be explained focusing on some designed features which meet the implied requirements. 5.
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The guy ropes will be anchored to the hand rail around the roof floor. Angles between guy ropes and antenna mast are 24.5° for top three and 42.5° for lower three. Kawak’s calculation shows this configuration can resist 160Km wind with a safety factor of 2.78. Figure 5-1 Kawak's design (Extracted from his thesis) After the project review, it was realised that although the above design is able to resist 160Km wind with a certain safety factor, it is suitable for mobile and temporary usage.
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Easy for installation and calibration in order to achieve the pointing accuracy Easy for maintenance, including a pivot function Anti-corrosion and good conductivity Pivoting function is the primary requirement to be considered when taking over the project. The mounting position of the antenna support is on the steel grid floor, and the pivoting point should be 1.25m above the floor because of the height of hand rail. 5.3.
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the accuracy of elevation, high precision is required for the installation of two bearing housing. Count weight at the bottom of the antenna mast is a flat block which should be kept as far as possible from the pivoting point, and it is thin to reduce the length of pivoting pin. Thus there is only one dimension can be adjusted to increase the volume hence the weight. An optimised weight was designed to be 70Kg whose centre gravity is 0.75m away from the pivoting point. This can give 515Nm moment.
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Figure 5-3 Winch Design Illustration The pulling force can be calculated by: MgA + FxB sin 45 = 0 (5-1) where M is the mass of antennas and rotator and mast, g is the gravitational constant, A is the length of the mast from top to pivoting joint, F is the initial pulling force and B is the length from bottom to the pivoting joint. The relationship is illustrated in Figure 5-3 above. Thus the pulling force on the winch cable is 1387N.
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300MPa is far beyond its strength limit. Figure 5-4 below shows the analysis result of the antenna mast. Figure 5-4 Antenna mast finite element analysis The result indicates two main aspects that have to be improved: mast pivoting joint and hooking method of the winch cable. In above design, the pivoting pin through the mast will weaken the strength. Hence the pin should be reinforced with a holder for the mast. The long mast should be enhanced in order to lift the load.
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In the new design, winch cable hooks a point that is 5m away from the pivoting point of the mast, and guided by a pulley and a short rod. The guiding rod is screwed into the mast holder which can pivot around the pin. However, after showing the improved design to a radio amateur, Barry Walker, he pointed out that the design is not suitable for long term usage though the structure is able to support antennas and other accessories. Especially the winch will become dull after one year exposed outside.
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axis hole is designed for the Ø30mm pivoting pin with sliding fit. The initial material was planned to be stainless steel. However, aluminium alloy 6082 is found to be suitable for the application with comparatively low cost and high yield strength (300MPa). The whole structure will be bolted on the beam of the floor by 10 pieces of M20 studding bolts. At height of 6m is the 3 guy ropes joined by a stainless steel ring, and on the top just below the amplifiers is another 3 guy ropes.
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strength. Two main situations were analysed: initial lift-up case and strong wind case. In the initial lift-up case, antenna mast is in horizontal position and ready to pivot up. The load at the end of the mast is close to 20Kg. During calculation 196N was used while the pulling force of hand winch was 1300N. These loads can be easily defined in GSA. For the other mechanical properties, such as the boundary condition and connection will be defined by the special features in GSA.
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1 F = 𝜌𝑎𝑖𝑟 𝑉 2 𝐶𝑑 𝑆 2 (5-2) Where F is the drag force, ρair is the air density (1.22Kg/m3), V is wind velocity (160Km/h or 44.4m/s), Cd is the drag coefficient, S is the cross section area normal to wind velocity. Drag coefficient for antenna mast is 0.8 and for rotator is 1.1.[22] Projected area of mast is Smast = 0.0762m X 6m + 0.05m X 3m =0.6072m2 and rotator is Srotator=0.06m2. Thus the drag force for mast and rotator can be calculated by Equation (5-2) above: Fmast=0.5 x 1.22 x 44.42 x0.8 x 0.
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This analysis was done without the guy ropes as it can be seen how the structure can survive under the strong wind condition. The analysis result shows that high stress was concentrated close to the pivot block and the highest one was at the Fix Plate which was welded to the Channels. The maximum stress was 371MPa which was far beyond the mild steel yield stress. Hence, in the strong wind of 160Km/h the structure would probably fail from the Fix Plate and the point on the mast close to the Pivot Block.
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convenient anchor places for the ropes are at the hand rails where is the only allowed place to attach other objects, referring to Figure 5-7 (page68). The detailed guy rope fixation is shown in Figure 5-11below: Figure 5-11Guy Rope Fixation Illustration The worst case is only two guy ropes are taking the wind load. Assuming the tension on longer rope is TL and shorter one is TS. The sum of the drag force of the masts, antennas and rotator is 784N acting horizontally.
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installation and operation. However, the design of the structure was considered to be neither sustainable nor safe enough. Finally, a reinforced structure was designed with suggestions from other professionals and analysed in Catia GSA. The analysis shows the structure has better performance than previous ones. The approved design then was provided with detailed drawings which were made for manufacture.
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6 INSTALLATION By the time of writing this chapter, the mechanical design of the mast support has been confirmed and it is under manufacturing, the last order has been made and all the parts needed are gathering together, all the signs show the project is approaching the installation stage. As the installation consists of indoor and outdoor work, main types of installation work are electrical connection and mechanical assembly. Especially the mechanical assembly work will be carried out on the roof.
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nb 1 2 What are the hazards? Who will be harmed? Working at height. Students erecting antenna Working at height. Students erecting antenna How will they be harmed? Falls Falls 3 Slips and trips Students erecting antenna Slipping on wet surfaces and ladders.
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8 9 10 Lone working. Students erecting antenna Electric shock Students connect electric power Short circuit Equipme nt damage Nobody to know if accident occurs or problems arise.
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Figure 6-1 Equipment Arrangement Layout (Front View) In the above arrangement, Electromagnetic Compatibility (EMC) was considered to minimize the opportunity of interferences among those devices. As the radio emits powerful radio signals, any metals, wire or cable may pick up the signals and convey them to susceptible devices. In case there is interference, signal can be picked up by the power cable, data cable and the electronic devices.
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6.2.
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6.2.3 Polarisation Switches and Antenna Connections Polarisation switches used for VHF and UHF respectively has three N jack and one 6pin MIC connectors. 6-pin MIC plug was configured as follows: Pin No. Pin1 Pin2 Pin3 Pin4 Pin5 Pin6 6-pin MIC Connector Polarisation Wire Color Circular right red Circular left yellow n.c. GND blue horizontal white n.c. Table 6-2 6-pin MIC Connector Wiring Code From above table it can be seen that Vertical is not connected.
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back by antenna and may damage the transceiver.[25] The portion of reflected power depends on how much the mismatch is. The reflected wave is superimposed on the forward wave and forms a so called Standing Wave. Thus the voltage component of the standing wave consists of voltage component of reflected wave (Vr) and voltage component of forward wave (Vf). The ratio of Vr and Vf defines the Reflection Coefficient which is a complex number and its magnitude ρ ranges from 0 to 1.
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VSWR Reflection Cf Reflected Power Reflected Power ρ (%) (dB) 1.0 0.000 0.00 -Infinity 1.5 0.200 4.0 -14.0 2.0 0.333 11.1 -9.55 2.5 0.429 18.4 -7.36 3.0 0.500 25.0 -6.00 3.5 0.556 30.9 -5.10 4.0 0.600 36.0 -4.44 Table 6-3 Relationship of VSWR, ρ and Reflected Power For an ideal system VSWR is 1.0. In practice, 1.5 is acceptable and 1.1-1.2 is deemed as a good system. After the X-Quard antennas are connected, normally only minimum adjustment is needed.
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unbalanced feed line for dipole or loop antenna. As a result, some current from antenna flows back to the coaxial shied and radiates. Thus SWR will change when there is disturbance on the shield, e.g. rain. One way to eliminate this effect is to use a so called Coax Choke close to the antenna feedpoint. However, thanks to the design of the X-Quards, this won’t happen as the antenna is unsymmetrical referred to the coaxial cable feed line.
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Figure 6-6 Mast Support Position Illustration The length L of the floor edge is a + b = 1.5a, thus a is 0.67 of the length L. First, the 22mm thick base plate will be bolted on the floor by M20 studding bolt. In order to ensure the upper structure to be vertical, the base plate has to be mounted horizontally. Level ruler may be used to check its level. Second, two Standing Channels are mounted vertically. The alignment has to be checked so that the Pin Rod can go through two channels with tight tolerance.
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Mast should be in vertical position. It can be inspected by Leveller from two orthogonal directions. In case there is deviation to vertical, then it can be adjusted by the guy ropes. 6.3.3 Rotator Installation Figure 6-8 Rotator Assembly on the Mast (Extracted from [26]) Rotator is fixed on the mast when the mast is lying on the hand rail following the steps shown in Figure 6-8 above. Initially, 0 of the Azimuth motor should be set to the North.
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6.4 Lightning Protection and Grounding Lightning protection and grounding is important for safely using the ground station. This matter is considered for worst case when lightning strikes the antenna or power supply, there is a dedicated path to convey the surge current to ground effectively.
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7 CONCLUSION This thesis project finalized the previous project study and implemented the required features into the ground station. At the beginning of the project, every device was studied concerning the connection method and working principle, also wiring method. Especially, the customised connection cables were carefully manufactured. The first study was KPC3+, as it has two connection cables: one to computer and another one to the radio which is a customised one.
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the test. Their schedules were predicted by HRD Satellite Tracking. And the testing point was 52°4.50’N and 0°37.89’W at the large sports field in front of the main reception as there is good field of view without large obstacles. The test was first done with CW beacon reception. Beacon signals received successfully from HO-68 and CO series cubesats and recorded for postprocessing. However, only one segment of HO-68’s beacon was decoded.
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was safe but not sustainable for long term. Thus the design should be reinforced and winch could be used but not exposed outside for long. A 6m long 3” Galvanised tube is used for lower mast and a 3m long 2” one is for upper part. Two channels are to support the masts holed by a special designed pivot block. The initial plan was to weld two channels to a 22mm thick plate to reduce the assembly work and keep the precision of the pivot pin joint.
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study was not compulsory for this project, the development started with selfinterest. Another drive of this study was that it may also be possible to control the radio by controlling a servo, as the radio power button has to be manually pressed to start. At the beginning, Duemilanove with Ethernet Shield were used to set up the webserver. The servo and relay control was successfully embedded into a simple webpage running in the webserver.
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protected by Ethernet surges. One dedicated ground cable joins all the protectors and is connected to the main ground of the building. Before the final installation, some connection coaxial cables were prepared in advance. These cables were assembled with N type and PL259 connectors protected by shrouds. Its conductivity was examined with multimeter. By the time of writing this report, there is still no confirmation made about the safety training to access the roof again.
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8 FUTURE DEVELOPMENT 8.1 AG-2400 Frequency Down Converter Some Cubesats operate at S band for much higher communication data rate, e.g. CanX-2 has 256kbps BPSK data rate at 2.2GHz.[9] To increase the data rate capability of the Cranfield Ground Station, UX910 units were purchased for L band data communication. Moreover, AG-2400 Frequency Converter can be considered for S band operation. It converts the received 2.4GHz signal into 144MHz. This process is compatible with the ICOM 910H radio.
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a dual ports multispeed TNC which is capable for Satellite mode operation. Moreover it supports high data speed up to 38400bps. This could be compatible with AG-2400 working with the ICOM-910H radio for high data rate operation, e.g. downloading image data.
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REFERENCES [1] Air-Stream (2010), Antenna Polarisation, available at: http://www.airstream.org.au/Polarization (accessed 12 March 2012). [2] CSLV (2009), CubeSat Launch Vehicle, available at: http://www.redyns.com/Reference/Intro%20CSLV.pdf (accessed 13 April 2012). [3] Lan, W. (2007), Poly Picosatellite Orbital Deployer Mk IIIICD, available at: http://www.cubesat.org/images/LaunchProviders/mk_iii_icd5.pdf (accessed 13 April 2012). [4] ICOM.
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[14] Richard, F. L. (2008), Cranfield Cubesat Ground System: Ground Station And Control Cnetre (MSc in Astronautics and Space Engineering thesis), Cranfield University, Cranfield University. [15] Alan, K. (2009), XW-1 Telemetry Format, available at: http://www.amsat.org/amsat-new/satellites/documents/XW1_Telemetry_Format.pdf (accessed 4th May 2012). [16] Mike, R. (2009), XW-1 Telemtery Decoding softeware, available at: http://www.dk3wn.info/software.shtml (accessed 4th May 2012).
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APPENDICES Appendix A User Manual A.1 Introduction This user manual consists of three segments: setup&configuration, Operation and Trouble shooting.
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A.2 Setup & Configurations A.2.1 Checking Port The control computer of the Cranfield Ground Station has only USB ports, so those devices require old standard COM connection will be connected through a COM to USB convert cable. This cable thus can emulate COM poet while with USB connection. A newly connected device or re-plugged in a different USB port, the port must be checked out as most of control software don’t update the communication port automatically.
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Other way to access is : Start Manager > Control Panel > Hardware > Device > COM A.2.2 Ham Radio Deluxe Connect to IC-910H IC-910H can be connected to computer by CAT cable- originally CT-17. However, in this GS, a CAT cable is used which is identical to CT-17.
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3.5mm plug into CAT port on IC-910H Then connect the cable to the control computer and check out the Port. Current connected Port is COM6. Wherever, it should be checked again if re-plugged in a different port.
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Configuration of the control software has to done manually. Once Launch HamRadioDeluxe.exe is executed, the control interface will appear and connection configuration is required. ICOM 910H to HRD Connection Setting Company ICOM Radio IC-910H COM-port check Speed 19200 CI-V 60 A.2.
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Before using HRD SatTrack to predict or track any satellite, antennas’ location has to be specified to it. The GPS coordinates were measured on the roof where the mast is located. The longitude 0°37.69’W and latitude is 52°4.30’N. Launch HRDSatTrack.
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A.2.4 HRD Rotator connect to ERC-3D ERC-3D works as interface between the control computer and rotator controller. Thus there is one USB cable to computer and one 7-core cable to rotator controller. ERC-3D connect to computer The actual cable to computer consists of two: one is the RS232 to 3.5mm phone plug cable and another one is RS232 to USB converter. 3.5mm stereo phone-jack to RS232 cable StarTech.
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Same as Satellite Tracking, Your Information has also to be specified in Rotator. Launch HRDRotator.
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The connection cable is a 7-core cable with 8-pin DIN connector (Pin 7 not in use). According to ERC-3D Instruction, wires up the 7-core cable. ERC-3D Terminals Connection ERC-3D PCB Terminals DIN Connector Pin no.
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Yaesu G5500 Rotator Controller controls both Azimuth and Elevation motor through two 7-wire cable. The cable has one end connected to the Controller Screw Terminal and another end connected to motors with 7-pin DIN plugs. According to its Operating Manual, pin 7 is not used and the rest pins were connected to wires with different colour. Brown colour wire was assigned not to use. Rotator Controller Cable Connection Wire Pin No.
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ERC-3D Calibration with G5500 Rotator ERC-3D has to be calibrated before it works properly with G5500. The essential of the calibration is to rescale the feedback voltage range of motors. Eventually the readings from ERC-3D, Rotator Controller and HRDRotator have to be same after calibration. The following steps have to be followed for calibration: Connect the ERC to the computer, power it and run ST3D_V22.exe (this program should be pre-installed from setup ERC-3D_v22.exe).
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• Click on Calibrate Az to calibrate the azimuth o Choose a south centred rotator o There is no CCW overlap o There is a CW overlap o Then follow the instruction by manually (using the Yaesu Controller) putting the azimuth to the maximum CW position (450°), then CCW go to 360°, then CCW go to 0°.
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KPC3+ Connect to computer First there is a DB-25 to DB-9 adapter and then connect to computer by StarTech.com USB cable. Once plugged in, the Port has to be checked out. Configuration with the control computer can be done from Hyper Terminal ( Windows XP system has it ) Turn on KPC3+ and then run Hyper Terminal. First give a connection name and select an icon.
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Then select the Port, here COM7 is used.
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KPC-3+ to Hyper Terminal Connection Setting Bits per second 9600 Dtat bits 8 Parity None Stop bits 1 Flow control Hardware Once connected, in Hyper Terminal will show: KPC3+ Connect to Radio IC-910H The connection between TNC and radio is a customised cable that one end with DB-9 male connector and another end is a 6-pin mini DIN plug.DB-9 has 9 pins of which four are wired to four of the 6-pin DIN connector.
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pin no. of DB-9 P.1 TXA Transmit audio (AFSK out) P.3 PTT Push-to-Talk P.5 RXA Receive audio (AFSK in) P.6 GND Ground connect pin no. of 6-pin DIN connector P.1 DATA IN P.3 PTT P.5 AF OUT P.2 GND A.2.6 AGW Packet Engine This software can be downloaded from http://www.sv2agw.com/ham/agwpe.htm and is free to use. Unzip the file then run AGW Packet Engine.exe.
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Right click on the icon and select Properties > New Port 114
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Again the communication Port should be checked and here is COM7, the configuration settings are: AGW Packet Engine Properties Select Port SerialPort/modem BaudRate Tnc RadioPort Tnc Type check 9600 fill in KPC3+ A.2.7 AGW Monitor This software is compatible with AGW Packet engine. Once installed, then it is ready to use. All activities on the ports of TNC will be monitored and display the decoded message. AGW Packet Pro is smart software that combines AGW Packet Engine and AGW Monitor.
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A.2.9 Desktop Remote Control Two software have to be installed: Splashtop Remote Client and Splashtop Streamer. Splashtop Streamer is installed in the control computer. Sign in with an gmail account then the computer can be accessed anywhere when internet is available.
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The computer must be installed with Splashtop Remote Client if used to access the control computer. The same gmail account should be used. These software can be downloaded from http://www.splashtop.com/.
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A.2.10 Wimo Polarisation Switches No.18080 is for VHF band and No. 18082 is for UHF band. All of them have 4 polarisation options: Vertical, Horizontal, RHCP and LHCP. The control principle is feeding the signal to antenna with different length of cable with different impedance. The switching function is implemented with several 12V relays. If no voltage applied, the antenna is Vertical polarised. Conncetion to these switches is a 4-core cable with 6-pin MIC connector. A.2.
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4-Channel 5V Relay Module Expansion unit 9g Mini Micro Light Weight Servo Assembly and Connection & Pin Assignment Stack the Ethernet Shield on ATMEGA2560 with right orientation. Arduino Mega2560 Pins Assignment Pin No.
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Unzip the file and run arduino.exe. Connect the board to the control computer by an USB cable. Again check out the Port.
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Open the program WebserverController.ino which is called sketch in Arduino. Click to upload the sketch. This process will take a while, as the program will be first verified then uploading. When finished, it will show “ uploading done” at the bottom.
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A.3 Operation Procedure The following procedure has to be followed for remote accessing Cranfield Ground Station. A.3.1 Step1 Run Splashtop Remote Client If this program is just installed, then complete the settings Email: cransat@gmail.com Password: ******* Then connect the control computer: name soxp34412c Call Cransat on Skype, it will be automatically answered.
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A.3.2 Step2. Access Webserver Controller Open Google Chrome, and type IP address: 138.250.83.202 into address then Enter. In case the webpage can not be found, probably because of the IP address has changed (DHCP). Therefore new IP has to be find out. Click the icon on desktop to run the Arduino IDE. And then open Serial Monitor as shown below Or can be open through: Tools > Serial Monitor Wait for a few seconds then the IP will print out.
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After loading the web browser successfully, switch on the polarisation switches and then the power for each device. Note: 1 Only one switch of the polarisation switch can be on for each band. If two are on then there is no connection to antenna. 2. you should hear the sound from radio when it is turned on.
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A.3.3 Step3 Run Ham Radio Deluxe Click the icon on the desktop and then connect the radio. Note: please remember to check the Port and reconfigure the connection once the USB cable is re-plugged to different port.
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Once connected, first to check the signal strength if it is normal. If the signal strength is zero or near to zero, then the antenna is not connected or the cable is broken. First go back Step2 and check the polarisation switches if they are on.
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Connected to antenna Non- connected to antenna 128
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A.3.4 Step4 HRD Satellite Tracking Click the icon to start Satellite Tracker. Next Passes: to predict the incoming passages of satellite. It has options for All, Selected or Only. To check the detail pass of some satellite, then take Only. Remember AOS and LOS for the operation. Next Satellite: take one satellite from the list for the operation.
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Once RX is selected, HRD will automatically adjust the Doppler Effect on Frequency. A.3.
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After getting into HRD Rotator, check if HRD SatTrack is enabled then click Connect Note: check the configuration of connection of ERC-3D before connecting 131
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Then click DDE Connect and then DDE Track A.3.
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Close HRD Rotator, SatTracker, Radio Control and the power switches.
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A.4 Trouble Shooting Possible problems maybe encounter during operation A.4.1 Can not load Webserver Probably the IP address is expired due to the DHCP in campus. It has to be checked again by Arduino IDE with its Serial Monitor.
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Appendix B Webserver Controller Sketch (codes) //ARDUINO 1.0+ ONLY #include #include #include
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String Uhf4; String Sw1; String Sw2; String Sw3; String Sw4; String Sw5; String Sw6; //String Sw3; int SW1=22; int SW2=24; int SW3=26; int SW4=28; int SW5=30; int SW6=32; //int SW3=15; int VHF2 = 2; int VHF3 = 3; int VHF4 = 4; 138
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int UHF2 = 5; int UHF3 = 6; int UHF4 = 7; String value2="off"; String value3="off"; String value4="off"; String value6="off"; String value7="off"; String value8="off"; String value9="off"; String value10="off"; String value11="off"; String value12="off"; String value13="off"; String value14="off"; //String value11="off"; 139
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String data; void setup(){ Serial.begin(9600); radio.
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Ethernet.begin(mac); //Ethernet.begin(mac, ip, gateway, subnet); //for manual setup server.begin(); //Serial.println(Ethernet.localIP()); } void loop() { EthernetClient client = server.available(); Serial.println(Ethernet.localIP()); if(client){ // an http request ends with a blank line boolean current_line_is_blank = true; while (client.connected()) { if(client.available()) { char c = client.
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// so we can send a reply if (inString.length() < 35) { inString.concat(c); } if (c == '\n' && current_line_is_blank) { // send a standard http response header client.println("HTTP/1.1 200 OK"); client.println("Content-Type: text/html"); client.println(); client.println("
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//for(int i=1;i < (4 + 1) ;i++){ //Vhf = String("VHF") + i; Vhf2 = String("VHF2") ; Vhf3 = String("VHF3") ; Vhf4 = String("VHF4") ; if(inString.indexOf(Vhf2+"=off")>0 ){ Serial.println(Vhf2+"on"); //digitalWrite(VHF[i], HIGH); digitalWrite(VHF2, HIGH); value2 = "on"; }else if(inString.indexOf(Vhf2+"=on")>0 ){ Serial.
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} if(inString.indexOf(Vhf3+"=off")>0 ){ Serial.println(Vhf3+"on"); //digitalWrite(VHF[i], HIGH); digitalWrite(VHF3, HIGH); value3 = "on"; }else if(inString.indexOf(Vhf3+"=on")>0 ){ Serial.println(Vhf3+"off"); //digitalWrite(VHF[i], LOW); //value[i] = "on"; digitalWrite(VHF3, LOW); value3 = "off"; } if(inString.indexOf(Vhf4+"=off")>0 ){ Serial.println(Vhf4+"on"); //digitalWrite(VHF[i], HIGH); digitalWrite(VHF4, HIGH); value4 = "on"; }else if(inString.indexOf(Vhf4+"=on")>0 ){ Serial.
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//digitalWrite(VHF[i], LOW); //value[i] = "on"; digitalWrite(VHF4, LOW); value4 = "off"; } Uhf2 = String("UHF2") ; Uhf3 = String("UHF3") ; Uhf4 = String("UHF4") ; if(inString.indexOf(Uhf2+"=off")>0 ){ Serial.
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}else if(inString.indexOf(Uhf2+"=on")>0 ){ Serial.println(Uhf2+"off"); //digitalWrite(VHF[i], LOW); //value[i] = "on"; digitalWrite(UHF2, LOW); value6 = "off"; } if(inString.indexOf(Uhf3+"=off")>0 ){ Serial.println(Uhf3+"on"); //digitalWrite(VHF[i], HIGH); digitalWrite(UHF3, HIGH); value7 = "on"; }else if(inString.indexOf(Uhf3+"=on")>0 ){ Serial.
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if(inString.indexOf(Uhf4+"=off")>0 ){ Serial.println(Uhf4+"on"); //digitalWrite(VHF[i], HIGH); digitalWrite(UHF4, HIGH); value8 = "on"; }else if(inString.indexOf(Uhf4+"=on")>0 ){ Serial.println(Uhf4+"off"); //digitalWrite(VHF[i], LOW); //value[i] = "on"; digitalWrite(UHF4, LOW); value8 = "off"; } Sw1 = String("SW1"); Sw2 = String("SW2"); Sw3 = String("SW3"); Sw4 = String("SW4"); Sw5 = String("SW5"); Sw6 = String("SW6"); //Sw3 = String("SW3"); if(inString.
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Serial.println(Sw1+"on"); //digitalWrite(VHF[i], HIGH); digitalWrite(SW1, HIGH); value9 = "on"; }else if(inString.indexOf(Sw1+"=on")>0 ){ Serial.println(Sw1+"off"); //digitalWrite(VHF[i], LOW); //value[i] = "on"; digitalWrite(SW1, LOW); value9 = "off"; } if(inString.indexOf(Sw2+"=off")>0 ){ Serial.println(Sw2+"on"); //digitalWrite(VHF[i], HIGH); digitalWrite(SW2, HIGH); value10 = "on"; }else if(inString.indexOf(Sw2+"=on")>0 ){ Serial.
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value10 = "off"; } if(inString.indexOf(Sw3+"=off")>0 ){ Serial.println(Sw3+"on"); //digitalWrite(VHF[i], HIGH); digitalWrite(SW3, HIGH); value11 = "on"; }else if(inString.indexOf(Sw3+"=on")>0 ){ Serial.println(Sw3+"off"); //digitalWrite(VHF[i], LOW); //value[i] = "on"; digitalWrite(SW3, LOW); value11 = "off"; } if(inString.indexOf(Sw4+"=off")>0 ){ Serial.
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}else if(inString.indexOf(Sw4+"=on")>0 ){ Serial.println(Sw4+"off"); //digitalWrite(VHF[i], LOW); //value[i] = "on"; digitalWrite(SW4, LOW); value12 = "off"; } if(inString.indexOf(Sw5+"=off")>0 ){ Serial.println(Sw5+"on"); //digitalWrite(VHF[i], HIGH); digitalWrite(SW5, HIGH); value13 = "on"; }else if(inString.indexOf(Sw5+"=on")>0 ){ Serial.println(Sw5+"off"); //digitalWrite(VHF[i], LOW); //value[i] = "on"; digitalWrite(SW5, LOW); value13 = "off"; } if(inString.
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Serial.println(Sw6+"on"); //digitalWrite(VHF[i], HIGH); digitalWrite(SW6, HIGH); value14 = "on"; }else if(inString.indexOf(Sw6+"=on")>0 ){ Serial.println(Sw6+"off"); //digitalWrite(VHF[i], LOW); //value[i] = "on"; digitalWrite(SW6, LOW); value14 = "off"; } // client.println("
Vertical "); client.println(" Horizontal"); client.
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client.println(" LHCP"); client.println("
UHF
"); //client.println("
Vertical "); client.println(" Horizontal "); client.println(" RHCP "); client.println(" LHCP"); client.
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client.println("
TNC "); client.println(" Rotator "); client.println(" Computer "); client.println(" Radio "); client.println(" S5 "); client.println(" ERC-3D "); // client.
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client.println(""); break; } if (c == '\n') { // we're starting a new line current_line_is_blank = true; } else if (c != '\r') { // we've gotten a character on the current line current_line_is_blank = false; } } } // give the web browser time to receive the data delay(1); inString = ""; client.
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Appendix C Mast Support Structure Drawings 155
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