Navigation, Guidance, Control and Dynamics Commons^™

Low-Cost Reaction Wheel Design For Cubesat Applications, Nicholas J. Bonafede Jr.

Master's Theses

As science instruments on CubeSats become more sensitive to the attitude of the spacecraft, better methods must be employed to provide the accuracy needed to complete the planned mission. While systems that provide the accuracy required are available commercially, these solutions are not cost-effective, do not allow the design to be tailored to a specific mission, and most importantly, do not give students hand-on experience with attitude control actuators. This thesis documents the design, modeling, and simulation of a low-cost, student-fabricated, reaction wheel system for use in 3U CubeSat satellites. The entire design process for the development of this reaction …

Three Axis Attitude Control System Design And Analysis Tool Development For The Cal Poly Cubesat Laboratory, Liam T. Bruno

Master's Theses

The Cal Poly CubeSat Laboratory (CPCL) is currently facing unprecedented engineering challenges—both technically and programmatically—due to the increasing cost and complexity of CubeSat flight missions. In responding to recent RFPs, the CPCL has been forced to find commercially available solutions to entire mission critical spacecraft subsystems such as propulsion and attitude determination & control, because currently no in-house options exist for consideration. The commercially available solutions for these subsystems are often extremely expensive and sometimes provide excessively good performance with respect to mission requirements. Furthermore, use of entire commercial subsystems detracts from the hands-on learning objectives of the CPCL by …

Conceptual Design Of A South Pole Carrier Pigeon Uav, Kendrick M. Dlima

Master's Theses

Currently, the South Pole has a large data problem. It is estimated that 1.2 TB of data is being produced every day, but less than 500 GB of that data is being uploaded via aging satellites to researchers in other parts of the world. This requires those at the South Pole to analyze the data and carefully select the parts to send, possibly missing out on vital scientific information. The South Pole Carrier Pigeon will look to bridge this data gap.

The Carrier Pigeon will be a small unmanned aerial vehicle that will carry a 30 TB solid-state hard drive …

Navigational Feasibility Of Flyby / Impact Missions To Interstellar Objects, Declan Moore Mages

Master's Theses

In October 2017, the first interstellar object, designated 1I/2017 U1 and more commonly referred to as Oumuamua, was detected passing through our solar system by the Pan-STARRS telescope, followed recently by the detection of 2I/Borisov in August 2019. These detections came much sooner than thought possible, and have redefined our understanding of the population of interstellar objects. With the construction of the next generation of powerful observatories, future detections are estimated to occur as frequently as two per year, and while there is significant scientific understanding to be gained from observing these objects remotely, a spacecraft sent to intercept one …

Generating Exploration Mission-3 Trajectories To A 9:2 Nrho Using Machine Learning, Esteban Guzman

Master's Theses

The purpose of this thesis is to design a machine learning algorithm platform that provides expanded knowledge of mission availability through a launch season by improving trajectory resolution and introducing launch mission forecasting. The specific scenario addressed in this paper is one in which data is provided for four deterministic translational maneuvers through a mission to a Near Rectilinear Halo Orbit (NRHO) with a 9:2 synodic frequency. Current launch availability knowledge under NASA’s Orion Orbit Performance Team is established by altering optimization variables associated to given reference launch epochs. This current method can be an abstract task and relies on …

Orbital Constellation Design And Analysis Using Spherical Trigonometry And Genetic Algorithms: A Mission Level Design Tool For Single Point Coverage On Any Planet, Joseph R. Gagliano

Master's Theses

Recent interest surrounding large scale satellite constellations has increased analysis efforts to create the most efficient designs. Multiple studies have successfully optimized constellation patterns using equations of motion propagation methods and genetic algorithms to arrive at optimal solutions. However, these approaches are computationally expensive for large scale constellations, making them impractical for quick iterative design analysis. Therefore, a minimalist algorithm and efficient computational method could be used to improve solution times. This thesis will provide a tool for single target constellation optimization using spherical trigonometry propagation, and an evolutionary genetic algorithm based on a multi-objective optimization function. Each constellation will …

Determining Feasibility Of A Propulsionless Microsatellite Formation Flight Mission, Aaron Levis

Master's Theses

Benefits of developing missions with multiple formation flying spacecraft as an alternative to a traditional monolithic vehicle are becoming apparent. In some cases, these missions can lower cost and increase flexibility among other situational advantages. However, there are various limitations that are imposed by these missions that are centered on the concept of maintaining the necessary formation. One such limitation is that of the propulsion system required for each spacecraft. To mitigate the complexity and mass of the onboard propulsion, the pairing of electromagnetic actuators and differential drag to replace the functionality of a propulsive system is investigated. By using …

Real Time And High Fidelity Quadcopter Tracking System, Tyler Mckay Hall

Computer Engineering

This project was conceived as a desired to have an affordable, flexible and physically compact tracking system for high accuracy spatial and orientation tracking. Specifically, this implementation is focused on providing a low cost motion capture system for future research. It is a tool to enable the further creation of systems that would require the use of accurate placement of landing pads, payload acquires and delivery. This system will provide the quadcopter platform a coordinate system that can be used in addition to GPS.

Field research with quadcopter manufacturers, photographers, agriculture and research organizations were contact and interviewed for information …

Activsense Sidestick: A Force Sensing And Force Feedback Joystick, Kobbe Farwick

Electrical Engineering

As aircraft systems continue to become more integrated and fully electronic, hence fly-by-wire, the pilot is slowly losing the physical cues that were once relied upon for the safe operation of the aircraft. Many commercial airliners, such as Airbus, use passive sidesticks that integrate with the electronic flight controls system. These sidesticks move much like a gaming joystick which results in the pilot not having any “feel” for the aerodynamic forces present on the control surfaces. Without the force feedback of a mechanically linked control system the pilot could inadvertently stall the aircraft or place it into an unstable flight …

Polysat Helmholtz Cage, Alex Nichols, Nicolas Le Renard, Jordan Skaro, Louie Thiros, Madeline Tran

Mechanical Engineering

The MagCal5 Helmholtz cage project is an interdisciplinary approach to provide the PolySat/CubeSat research lab with a magnetic testing environment for the calibration of magnetic components and verification of various control laws. The Cal Poly CubeSat organization is the home of the CubeSat Specification, and acts as a testing and integration facility for CubeSats built by universities across the world. The PolySat organization is a CubeSat developer that works with numerous industry partners to design, manufacture, and operate CubeSats to further scientific advancement. The addition of a magnetic test stand to the lab will allow CubeSat to extend to the …

Modeling And Simulation Of A Sounding Rocket Active Stabilization System, Steven M. Maclean

Master's Theses

The Horizon Simulation Framework is a modeling and simulation framework developed to verify system level requirements. In this thesis, the framework is extended to include the Dynamic position type that existed in the early development phase of the framework. The Dynamic position type is tested through the modeling and simulation of a sounding rocket. An active control system based on linear-quadratic regulator (LQR) control theory is implemented and tested in the simulation to determine the overall effect on altitude. A first order aerodynamics and aeroprediction model are created within the framework to allow for rapid changes early in the design …

Assessment Of Asymmetric Flight On Solar Uas, Eric Belfield

Master's Theses

An investigation was conducted into the feasibility of using an unconventional flight technique, asymmetric flight, to improve overall efficiency of solar aircraft. In this study, asymmetric flight is defined as steady level flight in a non-wings-level state in- tended to improve solar incidence angle. By manipulating aircraft orientation through roll angle, solar energy collection is improved but aerodynamic efficiency is worsened due to the introduction of additional trim drag. A point performance model was devel- oped to investigate the trade-off between improvement in solar energy collection and additional drag associated with asymmetric flight. A mission model with a focus on …

Autonomous Formation Flying And Proximity Operations Using Differential Drag On The Mars Atmosphere, Andres Eduardo Villa

Master's Theses

Due to mass and volume constraints on planetary missions, the development of control techniques that do not require fuel are of big interest. For those planets that have a dense enough atmosphere, aerodynamic drag can play an important role. The use of atmospheric differential drag for formation keeping was first proposed by Carolina L. Leonard in 1986, and has been proven to work in Earth atmosphere by many missions. Moreover, atmospheric drag has been used in the Mars atmosphere as aerobraking technique to decelerate landing vehicles, and to circularize the orbit of the spacecraft. Still, no literature was available related …

A Solution To The Circular Restricted N Body Problem In Planetary Systems, Jay R. Iuliano

Master's Theses

This thesis is a brief look at a new solution to a problem that has been approached in many different ways in the past - the N body problem. By focusing on planetary systems, satellite dynamics can be modeled in a fashion similar to the Circular Restricted Three Body Problem (CR3BP) with the Circular Restricted N Body Problem (CRNBP). It was found that this new formulation of the dynamics can then utilize the tools created from all the research into the CR3BP to reassess the possibility of different complex trajectories in systems where there are more than just two large …

Sense And Avoid Uas Project Final Design Report, Katie Peticolas, Cesia Cazares, Trevor Elsbree, Courtney Smith, Herberth Elie Navas

Biomedical Engineering

No abstract provided.

Control Of A Spacecraft Using Mixed Momentum Exchange Devices, Blake J. Currie

Master's Theses

Hardware configurations, a control law, and a steering law are developed for a mixed hardware spacecraft that uses both control moment gyros and reaction wheels. Replacing one or more gyros in a spacecraft with a reaction wheel has potential for cost savings while still achieving much greater performance than using reaction wheels alone. Several simulated tests are run to compare the performance to a traditional all reaction wheel or all control moment gyro spacecraft, including analysis of failure modes and singular configurations. The mixed system performed similarly to all gyro systems, responding within 6% of the gyro system’s time for …

Reduced-Order Reference Models For Adaptive Control Of Space Structures, Alexander I. Scherling

Master's Theses

In addition to serving as a brief overview of aspects relevant to reduced-order modeling (in particular balanced-state and modal techniques) as applied to structural finite element models, this work produced tools for visualizing the relationship between the modes of a model and the states of its balanced representation.

Specifically, error contour and mean error plots were developed that provide a designer with frequency response information absent from a typical analysis of a balanced model via its Hankel singular values. The plots were then used to analyze the controllability and observability aspects of finite element models of an illustrative system from …

Modification Of The Cal Poly Spacecraft Simulator System For Robust Control Law Verification, Tomoyuki Kato

Master's Theses

The Cal Poly Spacecraft Dynamics Simulator, also known as the Pyramidal Reaction Wheel Platform (PRWP), is an air-bearing four reaction wheel spacecraft simulator designed to simulate the low-gravity, frictionless condition of the space environment and to test and validate spacecraft attitude control hardware and control laws through real-time motion tests. The PRWP system was modified to the new Mk.III configuration, which adopted the MATLAB xPC kernel for better real-time hardware control. Also the Litton LN-200 IMU was integrated onto the PRWP and replaced the previous attitude sensor. Through the comparison of various control laws through motion tests the Mk.III configuration …

Autonomous Close Formation Flight Of Small Uavs Using Vision-Based Localization, Michael B. Darling

Master's Theses

As Unmanned Aerial Vehicles (UAVs) are integrated into the national airspace to comply with the 2012 Federal Aviation Administration Reauthorization Act, new civilian uses for robotic aircraft will come about in addition to the more obvious military applications. One particular area of interest for UAV development is the autonomous cooperative control of multiple UAVs. In this thesis, a decentralized leader-follower control strategy is designed, implemented, and tested from the follower’s perspective using vision-based localization.

The tasks of localization and control were carried out with separate processing hardware dedicated to each task. First, software was written to estimate the relative state …

Applied Mass Properties Identification Method To The Cal Poly's Spacecraft Simulator, Long H. Dam

Master's Theses

The Cal Poly Spacecraft Simulator is currently being developed for future testing and verifying theoretical control applications. This paper details the effort to balance the platform and remove undesired external torque from the system using System Identification technique developed by Patrick Healy. Since the relationship between the input and output of the system is linear, the least square method is proposed to identify the mass properties and location of center of mass of the system. The tests use four sine wave generators that are out of phase with different amplitudes as the inputs to excite various structural modes of the …

Adaptive Control Techniques For Transition-To-Hover Flight Of Fixed-Wing Uavs, Brian Decimo Marchini

Master's Theses

Fixed-wing unmanned aerial vehicles (UAVs) with the ability to hover combine the speed and endurance of traditional fixed-wing fight with the stable hovering and vertical takeoff and landing (VTOL) capabilities of helicopters and quadrotors. This combination of abilities can provide strategic advantages for UAV operators, especially when operating in urban environments where the airspace may be crowded with obstacles. Traditionally, fixed-wing UAVs with hovering capabilities had to be custom designed for specific payloads and missions, often requiring custom autopilots and unconventional airframe configurations. With recent government spending cuts, UAV operators like the military and law enforcement agencies have been urging …

Attitude Estimation For A Gravity Gradient Momentum Biased Nanosatellite, Arash Mehrparvar

Master's Theses

Attitude determination and estimation algorithms are developed and implemented in simulation for the Exocube satellite currently under development by PolySat at Cal Poly. A mission requirement of ±5˚ of attitude knowledge has been flowed down from the NASA Goddard developed payload, and this requirement is to be met with a basic sensor suite and the appropriate algorithms. The algorithms selected in this work are TRIAD and an Extended Kalman Filter, both of which are placed in a simulation structure along with models for orbit propagation, spacecraft kinematics and dynamics, and sensor and reference vector models. Errors inherent from sensors, orbit …

Feasibility Of Cubesat Formation Flight Using Rotation To Achieve Differential Drag, Skyler M. Shuford

Aerospace Engineering

This paper presents the results of a study conducted to understand the feasibility of CubeSat formation flight. The mechanism for separation and formation studied was differential drag, achieved by rotating the CubeSats to give them different cross-sectional areas. Intuitively, lower altitude orbits provide much higher separation effects. Although the most influential orbital effects occur with maximum and minimum cross-sectional areas, an attitude-controlled and a tumbling CubeSat may provide enough differential drag to meet separation requirements of a mission. Formation flight is possible, but due to the non-linearity of the system, gain scheduling may be the most effective method of long …

Integrated Collision Avoidance System Sensor Evaluation Final Design Project, Alex F. Graebe, Bridgette S. Kimball, Drew T. Lavoise

Mechanical Engineering

Following the development of Aircraft Collision Avoidance Technology (ACAT) by the National Aeronautics and Space Administration (NASA), a need arose to transition the life-saving technology to aid the general aviation community. Considering the realistic cost of implementation, it was decided that the technology should be adapted to function on any smartphone, using that device as an end-to-end solution to sense, process, and alert the pilot to imminent threats. In September of 2012, the SAS (Sense and Survive) Senior Project Team at California Polytechnic University (Cal Poly), San Luis Obispo was assigned the task of using smartphone technology to accurately sense …

Feasibility Of Microsatellite Active Debris Removal Systems, Karsten J. James

Master's Theses

Space debris has become an increasingly hazardous obstacle to continued spaceflight operations. In an effort to mitigate this problem an investigation of the feasibility of a microsatellite active debris removal system was conducted. Through proposing a novel concept of operation, utilizing a grapple-and-tug system architecture, and by analyzing each resultant mission phase in the frame of a representative example, it was found that microsatellite scale systems are capable of fulfilling the active debris removal mission. Analysis of rendezvous, docking, control and deorbit mission requirements determined that the design of a grapple-and-tug system will be driven by sizing of the propellant …

Low-Cost Imu Implementation Via Sensor Fusion Algorithms In The Arduino Environment, Brandon Mccarron

Aerospace Engineering

A multi-phase experiment was conducted at Cal Poly in San Luis Obispo, CA, to design a low-cost inertial measurement unit composed of a 3-axis accelerometer and 3-axis gyroscope. Utilizing the growing microprocessor software environment, a 3-axis accelerometer and 3-axis gyroscope simulated 6 degrees of freedom orientation sensing through sensor fusion. By analyzing a simple complimentary filter and a more complex Kalman filter, the outputs of each sensor were combined and took advantage of the benefits of both sensors to improved results. Gyroscopic drift was removed in the pitch and roll axes using the Kalman filter for both static and dynamic …

Uav Formation Flight Utilizing A Low Cost, Open Source Configuration, Christian W. Lopez

Master's Theses

The control of multiple unmanned aerial vehicles (UAVs) in a swarm or cooperative team scenario has been a topic of great interest for well over a decade, growing steadily with the advancements in UAV technologies. In the academic community, a majority of the studies conducted rely on simulation to test developed control strategies, with only a few institutions known to have nurtured the infrastructure required to propel multiple UAV control studies beyond simulation and into experimental testing. With the Cal Poly UAV FLOC Project, such an infrastructure was created, paving the way for future experimentation with multiple UAV control systems. …

Implementing A Matlab Based Attitude Determination Algorithm In C Within The Polysat Software Architecture, Dominic Bertolino

Computer Engineering

This project focuses on one component within a complete attitude determination and control system (ADCS) for a small satellite. The component consists of porting the algorithm that determines the current attitude of the satellite developed by AERO students / team members. The original algorithm has been developed in MATLAB code. The actual algorithm will be simulated and tested in MATLAB by the AEROs. The porting consisted of integrating the pieces into the custom PolySat software environment in C. Testing was done to verify the ported component corresponded to the original MATLAB component as well as verify its runtime on the …

A Gravity Gradient, Momentum-Biased Attitude Control System For A Cubesat, Ryan J. Sellers

Master's Theses

ExoCube is the latest National Science Foundation (NSF) funded space weather CubeSat and is a collaboration between PolySat, Scientific Solutions Inc. (SSI), the University of Wisconsin, NASA Goddard and SRI International. The 3U will carry a mass spectrometer sensor suite, EXOS, in to low earth orbit (LEO) to measure neutral and ionized particles in the exosphere and thermosphere. Measurements of neutral and ion particles are directly impacted by the angle at which they enter EXOS and which leads to pointing requirements. A combination of a gravity gradient system with a momentum bias wheel is proposed to meet pointing requirements while …

Determination Of Human Powered Helicopter Stability Characteristics Using Multi-Body System Simulation Techniques, Sean M. Brown

Master's Theses

Multi-Body System Simulation combined with System Identification was developed as a method for determining the stability characteristics of a human powered helicopter(HPH) configurations. HPH stability remains a key component for meeting competition requirements, but has not been properly treated. Traditional helicopter dynamic analysis is not suited to the HPH due to its low rotation speeds and light weight. Multi-Body System Simulation is able to generate dynamic response data for any HPH configuration. System identification and linear stability theory are used to determine the stability characteristics from the dynamic response. This thesis focuses on the method development and doesn't present any …