E. Lorenz, W. Halle, W. Bärwald, C. Schultz, Thomas Terzibaschian

Transcription

1 DLR.de Chart 1 The small satellite family BIRD, TET-1 and BIROS for fire reconnaissance and technological experiments E. Lorenz, W. Halle, W. Bärwald, C. Schultz, Thomas Terzibaschian German Aerospace Center DLR Institute for Optical Sensor Systems Berlin

2 DLR.de Chart 2 Introduction 3 small satellites had been designed, built, launched and operated in space by DLR: BIRD 2001 (PSLV) TET (SOYUZ) BIROS 2016 (PSLV)

3 DLR.de Chart 3 Introduction 3 small satellites had been designed, built, launched and operated in space by DLR since 2001: BIRD 2001 (PSLV) TET (SOYUZ) BIROS 2016 (PSLV) BIRD 2001, PSLV, India TET-1, 2012, SOYUZ, Baikonur BIROS, 2016, PSLV Why did we built satellites by ourselves? What changed within the 15 years? What remains and seems to be worthy to be mentioned here?

4 DLR.de Chart 4 Hot Spot Recognition In the ninenties an airborne infrared camera system for hot spot recognition was successfully tested and verified. 2 IR channels at 3.8 µm (MIR) and 8.9 µm (TIR), 3 channels in the visible range (VIS) VIS MIR TIR Bi-spectral temperature retrieval The open hatch with all 3 camera systems (Do 228 air plane)

5 DLR.de Chart 5 How to get the IR system into space? Main figures of the IR payload Weight of the complete IR camera system : 15 kg Size 0.6x0.6x0.2 m³= m³ (Volume ~ 72 l, density ~0.2 kg/l) Peak power consumption: 3 axis stabilization required Position and attitude knowledge for direct geocoding required Optical geometry parameters designed for a satellite altitude of pixel ground sampling distance 185 m (VIS) or 370 m (IR) Swath width 533 km (VIS sensor lines) or 190 km (IR sensor lines) 160 W ~ 500 km VIS IR Systems BIRD IR payload with equipped payload platform, instrument radiator and 2 GPS antennas(size ~ 60x60x20 cm³) In a special AIT frame.

6 DLR.de Chart 6 How to get the IR system into space? (before year 2000!) Commercially available satellites : too big too expensive!!!! Flexbus design, EADS Astrium Germany 500 kg, used for CHAMP and GRACE mission University satellites ( TUBSat, TU Berlin) too small (27 l volume) power sub systems not sufficient < 120 W AOCS performance not sufficient State of the art: simple and limited applications ( no science ) Σ: we build the satellite by ourselves! Prof. em. Udo Renner, the German Grandseigneur of small satellite developments and Mr. Römer (left, today Astro Feinwerktechnik Adlershof GmbH a small German space company)

7 DLR.de Chart 7 How to get the IR system into space? Σ: we build the satellite by ourselves! team has experiences with building instruments even for deep space missions e.g. VENERA 15, VENERA 16, MARS 94/96 or Earth observation missions e.g. Meteor satellites, instruments on SALJUT space station and on PRIRODA module of the MIR space station, on Indian IRS-P3 satellite some test facilities already in house e.g. thermal vacuum chamber wide experiences with state of the art signal processing electronics and algorithms/ SW state estimation and state control is well established (e.g. for Fourier transform spectrometer drive control) designers are familiar with mechanical, thermal and technological specialties of space technology The planetary Fourier spectrometer Venus (PMV), 1983 SALJUT station The Indian IRS-P3 satellite with the DLR MOS instrument The multispectral MOS instrument here for the Indian IRS-P3 mission, 1996 MIR station The VENERA 15 satellite (1983))

8 DLR.de Chart 8 How to get the IR system into space? Σ: we build the satellite by ourselves! Risks: we did never build a satellite before We need completely new satellite subsystems Structure and mechanisms Power control and distribution Payload data handling (payload computer) incl. SW Bus controller (board computer) incl. SW TM/TC Attitude determination and control 1999 the German ABRIXAS telescope mission failed due to a design failure in the power subsystem

9 DLR.de Chart 9 BIRD the first DLR satellite Design to cost ( ~ 20 Mio DM = 10 Mio ) Modular design service, electronics and payload module Stiffness for optical payloads Mainly passive thermal control system Peak power supply of 160 W electrical power Deployable solar panels Robustness and redundancy Cold / hot redundant parts functional redundancy supported by SW Usage of COTS devices whenever possible Qualification was done by ourselves or in cooperation with other labs Maximum autonomy in space (cost reduction) Usage of smart devices for the AOCS Reaction wheels, magnetic coil system, star tracker, navigation system

10 DLR.de Chart 10 BIRD the first DLR satellite Reduction of risks by cooperation: Board computer and operating system: Fraunhofer Society, Berlin On board navigation system and TM/TC systems and mission operations DLR Oberpfaffenhofen Ground segment data DLR Neustrelitz reaction wheels Common development project with the Astro Feinwerktechnik Adlershof GmbH, Berlin, Germany AOCS SW development DLR Braunschweig ISRO, India Star tracker development, Jena-Optronik GmbH, Jena, Germany

11 DLR.de Chart 11 BIRD the first DLR satellite Reduction of risks by model philosophy Flight model (FM) Qualification model / engineering model (QM /EQM) Structural thermal model (STM) EM ACS (air bearing test stand with nearly all ACS components) EM ACS BIRD STM Remark: EQM and EM-ACS had been used for the complete BIRD life time on ground BIRD FM in front of the opened thermal vacuum chamber The BIRD EM-ACS moving (slew maneuver) on the air bearing Test stand BIRD EQM during Vibrational test

12 DLR.de Chart 12 BIRD results 1. Proof of concept: fire Reconnaissance with the BIRD- HSRS (Hot Spot Recognition System) technology was verified in space! Fire products implemented MODIS: 1 km IR Pixel BIRD: 370 m IR Pixel km 6 A typical fire at Australia, January 2002 State of the Art, MODIS system on Aqua and Terra satellites left image MW BIRD HSRS system, right image The released radiative fire power is clour coded BIRD mounted at the launch vehicle (PSLV, 2001)

13 DLR.de Chart 13 BIRD results 2. Proof of concept: The satellites survived the designed life time of 1 year and was fully operable till [BIRD died finally in 2014 (batteries )] power system worked for 13 years in space Panel deployment mechanism without any problems (Astro Feinwerktechnik Adlershof GmbH) new On board navigation system (ONS) covered complete life time (E. Gill, today Technical University Delft, NL & O. Montenbruck, still DLR) Thermal system design: ~ 10 C mean inner satellite temperature New AOCS system including magnetic coil based attitude control, robust FDIR Board computer full time operable, could redundancy was never used operating system BOSS (S. Montenegro, today University of Wurzburg, Germany) smart reaction wheels RW 90 (designed for restricted lifetime of 1 year!!!) became a product of Astro Feinwerktechnik Adlershof GmbH space company on board data processing by neuronal network processor chip First space test with the ROLIS Camera ( Rosetta mission) BIRD mounted at the launch vehicle (PSLV, 2001)

14 DLR.de Chart 14 BIRD results 3. New space products smart reaction wheels RW 90 Deployment mechanism for solar panels (Astro und Feinwerktechnik Adlershof GmbH, Berlin, Germany) 4. New space professors Eberhard Gill Klaus Briess (Technical University Delft, NL) (Technical University Berlin, Germany) Sergio Montenegro (University of Wurzburg, Germany) Hakan Kayal (University of Wurzburg, Germany) 5. We found an affordable access to space! ( ~ 10 Mio costs for the complete satellite + launch) BIRD mounted at the launch vehicle (PSLV, 2001)

15 DLR.de Chart 15 TET-1 on orbit technology verification based on BIRD 2003 the DLR s space agency part (correct: DLR Space Administration) started to implement the On Orbit Verification Program. One key element should be a sequence of small satellites for technology demonstrations in space. The name of satellites should be TET, the first satellite was TET-1 The strategy was supported b the DLR R&D part, here the program directorate space. In August 2005 the DLR program directorate space presented the results of an Affordable Space Mission study. (L. Fröbel, today EADS Bremen)

16 DLR.de Chart 16 TET-1 on orbit technology verification based on BIRD In August 2005 the DLR program directorate space presented the results of an Affordable Space Mission study. (L. Fröbel, today EADS Bremen) The idea was to maximize the benefit from the BIRD mission for DLR. Even the technological results should be re used. (Source: presentation L. Fröbel, )

17 DLR.de Chart 17 TET-1 on orbit technology verification based on BIRD In August 2005 the DLR program directorate space presented the results of an Affordable Space Mission study. (L. Fröbel, today EADS Bremen) The idea was to maximize the benefit from the BIRD mission for DLR. Even the technological results should be re used. The technical know how had to be transferred from DLR to private companies. But DLR has again an IR system in space. (Source: presentation L. Fröbel, )

18 DLR.de Chart 18 TET-1 payloads

19 DLR.de Chart 19 TET-1 11 payloads Total payload mass was 50 kg

20 DLR.de Chart 20 TET-1 design Main requirement: As much BIRD as possible but with more space for experiments. Reliability 95% over 14 months operations in space The TET bus height was extended (comparing it with BIRD) by ~280 mm Bus mass 70 kg, payloads 50 kg The TET-1 flight model (courtesy Astro Feinwerktechnik Adlershof GmbH, 2010)

21 DLR.de Chart 21 TET-1 design The BIRD bus design concept was completely reused. (Astro Feinwerktechnik) Some electronic components had to be replaced due to availability problems on the market The board computer including operating system (BOSS) was BIRD reuse The payload computer was completely new developed by Kayser-Threde GmbH, Munich (today part of OHB company)

22 DLR.de Chart 22 TET-1 design The star trackers were replaced by Danish µasc cameras (DTU, Copenhagen) The gyro system was replaced by a new one (Astro Feinwerktechnik) The magnetic air coils were replaced by magnetic torquers (ZARM, Bremen) TM/TC still S-band but with new hard ware ( System Technik Taubenreuther, Munich) Fully CCSDS compatible

23 DLR.de Chart 23 TET-1 design The on board navigation system is still reused But the GPS receiver was replaced by a Phoenix receiver (DLR, Oberpfaffenhofen)

24 DLR.de Chart 24 TET-1 results in the on orbit verification mission The know transfer from DLR to private companies was successful All experiments were completed within in one year OOV mission time (till November 2013) The reuse concept of BIRD was successful The modification from an nearly single payload BIRD to a flexible experiment carrier was connected to some trade offs e.g. the mechanical connection of star cameras IR payload was changed => more calibration effort after launch (it was necessary to open the space on the payload platform) due to mission costs the mission operations had been simplified real mission planning was replaced by an Excel sheet over one year OOV mission time with all switch /on /of times of the experiments (stiff schedule) => as the result the IR payload cameras had been switched on very often over the seas, not over land => complete commissioning of the payload cameras was not completed within the OOV mission

25 DLR.de Chart 25 TET-1 results in the on orbit verification mission At the = 15 months after launch the OOV mission was completed and finished. At the TET-1 became part of the DLR FireBird mission after completing the flight qualification review meeting (FQR)

26 DLR.de Chart 26 TET-1 results as part of the FireBird mission Comparison of MODIS results with The TET-1 IR system (Indonesia, 2015 Peat fires)

27 DLR.de Chart 27 TET-1 results with FireBird mission Peat fires In Borneo Again MODIS Versus Time series

28 DLR.de Chart 28 TET-1 results with FireBird mission Dubai It is not science but nice The ground sampling distance of the VIS camera was reduced to 40 m (the original optical lense system was not available and was replaced by lenses from Leica

29 DLR.de Chart 29 BIROS satellite motivation

30 DLR.de Chart 30 BIROS satellite motivation The TET-1 image order tool (SPOT, DLR Oberpfaffenhofen) shows all viewable regions for June 13 in The gaps are one reason for the FireBird requirement, to have more than one satellite in space.

31 DLR.de Chart 31 BIROS satellite motivation /funding The FireBird mission shall operate at least two satellites in a controllable constellation. Reducing the gaps, optimizing the repetition time for a sequence of images. Funding from German government (5 Mio for the satellite bus) and DLR program directorate space for payload, launch, ground segment, mission operations, science

32 DLR.de Chart 32 BIROS bus A new payload computer: 2 cold redundant µcontroller boards ( Xylinx FPGA, Power PC) 2 cold redundant PWR boards 6 different I/O boards (experiment interfaces) 1 back plane harness RODOS operating system BIROS = TET-1 Bus + same main payload + new Payload Computer + propulsion + experiments + modified star cameras + new attitude controlmodes Main Functions Experiment control incl. TM/TC On board generation of fire products Hosting the SW experiments Surveillance (PWR, Temperature, SW) Giga Link support SW Uploads Propulsion system (cold gas)

33 DLR.de Chart 33 FireBird Main Payload of TET-1 and BIROS -2 channels IR, 1 VIS camera (heritage of the BIRD Satellite 2002). Camera Parameter VIS (3 CCD lines FPA) 2 IR- Cameras ( different Spektral ranges) Wellenlänge Wave lengths 0.5 µm, 0.6 µm, 0.8 µm Green, Red, NIR MWIR: 3,4-4,2 µm; LWIR: 8,5-9,3 µm Brennweite/ focal length 90,9 mm 46,39 mm Gesichtsfeld /FOV 19,6 19 Blendenzahl / F-number 3,8 2,0 Detektor /detector CCD- Zeile CdHgTe Arrays Pixelzahl /# of pixels 3x x 512 staggered Quantisierung / digitisation 14 bit 14 bit Bodenpixelgröße/ ground pixel size 42,4 m 2) 356 m 2) Abtastweite/ Ground sampling distance 42,4 m 2) 178 m 2) Schwadbreite /swath width 211 km 2) Km 178 km 2) In-flight_ Calibration Nein /No Schwenkbare Schwarzkörperklappe / movable flap with black body inside Genauigkeit Objektkoordinaten Objektkoordinaten / Geo location error (RMS) 300m am Boden /on ground 300m am Boden /on ground

34 DLR.de Chart 34 BIROS Development and In Orbit Tests of new Remote-Sensing Technologies and Features BIROS shall be: Agile and precisely controlled Autonomously operating Equipped with a fast downlink Smart (send information -not pure data - and send it quickly ) Cold Gas Propulsion System Picosat (target of proximity operations) RGB camera for picosat separation analysis) Autonomous orbit maneuvers by optical navigation and thruster control On-board Mission planning Optical Uplinks and Downlinks New actuators for high agility satellite maneuvers BEESAT 4 detection by BIROS star cameras ORBCOMM modem ( sms with Fire Products)

35 DLR.de Chart 35 BIROS Development and In Orbit Tests of new Remote-Sensing Technologies and Features:: optical communication (DLR Institute of Communications and Navigation) OSIRIS: Key parameters 3 different laser communication systems Mass: ca. 4,5kg Power: 2W 46W Downlink data rates: System TOL : 2.2Mbit/s Satellite bus telemetry System HPLD/EDFA: < 100Mbit/s / 1Gbit/s (payload data) Data rate Uplink: 250kbit/s (using the 4 quadrant detector on board) Autonomous power- management /thermal- Management 4QTS 4 Quadrant detector

36 DLR.de Chart 36 BIROS Development and In Orbit Tests of new Remote-Sensing Technologies and Features:: agility experiments ( DLR Institute of Optical Sensor Systems) HTW key parameters: Mass: ca. 2.7kg Power: 2W 100W diameter: 197 mm height: 92 mm Momentum down scaled to 210 mnm Fast slew with ~ 10 kgm² inertia (BIROS): 30 in 10s

37 DLR.de Chart 37 BIROS Development and In Orbit Tests of new Remote-Sensing Technologies and Features:: picosat launch, inter satellite communication, proximity operations German Space Operation Center (GSOC) Institute für Optical Sensor Systems Technical University Berlin BEESAT -4 (TU-Berlin ) BEESAT 4 cube sat (independently operated by TU Berlin, educational purposes /separation operated by GSOC) AVANTI Experiment (relative navigation and proximity operations) NLINK Inter satellite UHV link (BEESAT-4 GPS receiver warm start opportunity, TM/TC exchange with BIROS)

38 DLR.de Chart 38 BIROS Development and In Orbit Tests of new Remote-Sensing Technologies and Features:: picosat launch monitoring Main task: Monitoring the Cube Sat Separation Typ CMOS, global shutter (CMOSIS CMV4000) Colours Bayer RGB pattern Sensor pixels 2048 x 2048 Pixel Pixel size 5,5 um x 5,5 um Image rate bis zu 24 fps Exposure >1,5 us time Radiometric 8/10 bit range Pixel clock 4 x MHz Dynamic 60 db range Ethernet 100 Mbit RS Baud, 8N1 GPIOs 3 out, 2 in PWR Supply 5 V bei ~3 W (max. 3,5 W)

39 DLR.de Chart 39 BIROS Development and In Orbit Tests of new Remote-Sensing Technologies and Features:: fast communication ( DLR Institute of Optical Sensor Systems) BIROS Antenna OrbComm Satelliten The modem card Mail Data connection BIROS Orbcomm Relais End-User : Fast transmission of Fire Products to the user

40 DLR.de Chart 40 BIROS satellite data Mission Parameter Satellite (TET-1 BUS design) Orbit 510 km SSO ( 97,6 deg) Satellite Mass 123 kg Mission Operation DLR National Ground Segment, German Space Operation Center (GSOC) Dimensions 580x 880x 680 mm 3 Mission schedule To October 2017 (extension expected) Payload Mass 60kg Launcher PSLV Q Power 70 W 240 W peak power Communication S-Band / UHF 3 optical communication systems

41 Conclusion: FireBird Mission is: > IAA-B >W. Halle T.Terzibaschian, K.-D-Rockwitz, Key topic in the DLR R&D Program Sensitive forest fire detector Accurate fire parameter analyzer precursor for operational monitoring and management calibration support for climate change missions ( e.g. NOAA) The BIROS satellite Will fly in a fire-monitoring constellation with TET ( launch is in March 2016) Meets the requirements modern EO remote sensing systems with the implementation of new payloads and experiments. More details during the symposium:: Session 8: Results of OOV-TET1 multispectral camera observations within the FireBIRD project ;O. Frauenbe Poster Sessions: A New Actuator System for High Agility Demonstration with the Small Satellite BIROS ; C Raschke Innovative Modular Propulsion Systems for Small Satellites Adirim, H., OSIRIS Payload on DLR s BiROS Satellite ; Schmidt,C. The Validation of TET-1 Fire Observations ; E. Borg

42 DLR.de Chart 42 BIROS results LEOP & commissioning phase BIROS bus completed (Successfully) Components Deg/s versus of satellite mission rate elapsed /deg/s time /seconds BIROS was in a stable sun pointing 450 s after separation from launcher. (BIROS was separated with a rate of 4.2 deg/s)

43 DLR.de Chart 43 BIROS results Thruster commissioning for system A completed (impulse but was designed as 1 mm/s, observed was 0.6 mm/s), this includes the payload computer and the necessary payload computer software for Thruster control and AVANTI data storage and dumping. Picosatellite BEESAT 4 was successfully separated ( This induced ~ 2.2 deg/s BIROS satellite rate seconds later the rotation was stopped and a short slew maneuver oriented BIROS to Sun. The BEESAT 4 picosat observed a rate of ~2deg/s after separation from BIROS

44 DLR.de Chart 44 BIROS results High torque wheel commissioning successfully completed in June Maximum satellite rate was ~ 12 deg/s while the standard slew rate is 0.5 deg/s. The nominal high agile rate is in the order of 3 deg/s. The figures shows the satellite rate in deg/s while only HTW 2 (y-sat ) was accelerated. The peak power consumption for one HTW is In the order of 100 W! BIROS could handle a maximum acceleration of all 3 HTW in parallel.

45 DLR.de Chart 45 BIROS results Picosatellite BEESAT 4 was successfully separated ( This picture illustrates the BIROS orientation w.r.t orbital frame during the safe picosat release. (The required attitude was computed by the German Space Operations Center s flight dynamics group (DLR GSOC)

46 DLR.de Chart 46 BIROS results Picosatellite BEESAT 4 was identified by the BIROS star trackers and the AVANTI experiment team in a distance of 40 km at :13:09 UTC BIROS followed the BEESAT with a star camera In the so called Client observation mode COM. BIROS did anticipate the relative motion of BEESAT 4 in the star camera s field of view and followed automatically. The necessary input was computed on board completely autonomously by the AVANTI SW

47 DLR.de Chart 47 BIROS results Some weeks later AVANTI took this star camera image of BEESAT 4 in a distance of 80 m. BEESAT 4 has to deployed antennas. This could be identified in the image and was a proof that AVANTI follows the right target.

48 DLR.de Chart 48 BIROS results AVANTI experiment (proximity operations in the vicinity of BEESAT 4) is completely over. In the final bulletin the AVANTI team published the shortest distance as 30 m. Having reached all our experimental goals, it is time for us to conclude this experiment and say goodbye to BEESAT-4! Last statement of the AVANTI team (Gabriella Gaias and Jean-Sébastien Ardaens, DLR GSOC) at the AVANTI blog site.( )

49 DLR.de Chart 49 BIROS /TET-1 next steps in FireBird mission main payload commissioning and calibration OSIRIS experiment (optical downlink /uplink) Inter satellite communication experiments ORBCOM communication experiments HTW experimental phase (maneuver verification)

50 DLR.de Chart 50 conclusions BIROS ( ) TET-1 (2012-?) BIROS (2016?-?) Design Philosophy: see Cost Effective Earth Observation Missions ( R. Sandau et al, 2006) Affordable-Space -Missions (L.Fröbel et al, DLR 2004) { Uses similar: bus- concepts, teams, ground facilities, test strategies }

51 DLR.de Chart 51 conclusions The model philosophy was maintained in a similar way. The STM is very important. The EM was never fully equipped but can be used for a lot of HW /SW verifications and tests. (E.g. only one reaction wheel instead having a full set redundancy was generally reduced) The EM-ACS became better with each satellite

52 DLR.de Chart 52 conclusions BIROS did get a rapid typing print 1:1 model: Perfect for harness and later on for exhibitions. The commercial project environment tends to simplify the model philosophy (make it cheaper. faster and not better) Quality assurance is important! Quality assurance is important but the rules have to be tailored in a good way not only stupidly sticking on rules. (Main system engineer and may be the principal investigator have to do it in phase A/B of the project.

53 DLR.de Chart 53 conclusions Small teams are good for QA when the internal culture permits always to talk about mistakes and strange observations during the AIT process. An open atmosphere is absolutely important due to the complexity of satellites. Mistakes and failures will happen. Important is the way to handle it in the team.

54 DLR.de Chart 54 conclusions Usage of smart components with internal FDIR concepts increase robustness and reliability of the satellite. But: Smart devices change the way, mission operations have to handle problems : Sometimes we did get conflicts between a still running internal FDIR process and unnecessary actions on ground.

55 DLR.de Chart 55 conclusions In an DLR environment it is possible to build a BIRD type satellite with a 5 Mio budget. But: Self exploitment is included. All DLR engineers love the project and work hard for it. In the industrial environment the stuff has to be paid accordingly. My feeling was: this doubles the price.

56 DLR.de Chart 56 Thank you! Buenos Aires TET composite And VIS