gyroscopyГироскопия и навигацияGiroskopiya i Navigatsiya0869-70352075-0927AO «Концерн «ЦНИИ «Электроприбор»LFIXYLgyroscopy-24Research ArticleСтатьиОтработка алгоритмов определения ориентации космических аппаратов и управления ею на стенде с воздушными опорамиVerification of Attitude Determination and Control Algorithms using Air-Bearing Test Tablehttps://orcid.org/0000-0002-3924-5422Джильден-ГулерД.Cilden-Guler, D.D.

Джильден-Гулер Демет. Доктор наук, доцент, факультет астронавтики

Стамбул

Cilden-Guler, D.

Кутлу АйкутА.KutluA.

Кутлу Айкут. Доктор наук, ведущий инженер

Анкара

Ankara

https://orcid.org/0000-0003-4115-341XГаджиевЧ.HajiyevCh.

Гаджиев Чингиз. Профессор, факультет аэронавтики

Стамбул

Стамбульский технический университетТурцияDepartment of Astronautics Engineering, Istanbul Technical UniversityTurkeyEsen System Integration, LtdТурцияEsen System Integration, LtdTurkeyСтамбульский технический университетТурцияDepartment of Aeronautics Engineering, Istanbul Technical UniversityTurkey2024160520253228597Copyright © Джильден-Гулер Д., Кутлу Айкут А., Гаджиев Ч., 20252025Джильден-Гулер Д., Кутлу Айкут А., Гаджиев Ч.Cilden-Guler, D. D., Kutlu A., Hajiyev C.Данная работа распространяется под лицензией Creative Commons Attribution 4.0.This work is licensed under a Creative Commons Attribution 4.0 License.https://www.gyroscopy.ru/jour/article/view/24

В статье предложена платформа для экспериментальной отработки алгоритмов определения ориентации космических аппаратов (КА) и управления ею. Испытательный стенд используется для разработки и реализации тестовых сценариев, предполагающих работу датчиков, актюаторов и собственно алгоритмов. Оценка углов ориентации производится с помощью данных, полученных от магнитометров, акселерометров и гироскопов. Три маховика, установленные по каждой оси, служат основными исполнительными устройствами управления ориентацией. Стенд состоит из главного стола, на котором размещается объект испытаний, блоков весовой балансировки и устройств для установки оборудования. Для обеспечения весовой балансировки грубые балансировочные блоки располагаются по четырем углам, а точные – по каждой главной оси. С целью анализа в реальном времени платформа оснащена беспроводной системой мониторинга и распределенным питанием. Управление заданиями по определению и контролю ориентации осуществляется на компьютере при помощи механизма распределенного управления. После проверки гибкости системы управления производятся оценка и анализ различных сценариев калибровки магнитометров и определения ориентации КА с применением традиционных и нетрадиционных фильтров калмановского типа.

A test platform is developed to provide experimental verification of attitude determination and control algorithms for a satellite. The testbed is used for the development and implementation of test cases including sensors, actuators, and algorithms. The sensor suite consists of magnetometers, accelerometers, and gyroscopes used for state estimation. Three reaction wheels are used on each axis as the primary attitude control actuator. the test setup consists of the main payload-carrying table, mass balancing blocks, adapters for equipment installation, in order to make the mass balance, coarse balancing blocks are placed on the four corners and fine ones are mounted on each principal axis. The platform has a wireless monitoring system and a power distribution unit for online analysis. A computer is used to manage attitude determination and control tasks in a distributed control mechanism. After testing the maneuverability of the control system, various scenarios are evaluated and analyzed for magnetometer calibration and for satellite attitude estimation using traditional and nontraditional kalman type filters.

определение и управление ориентациейкалибровка датчиковкосмический аппарат (КА)воздушная опораиспытательная платформаattitude determination and controlsensor calibrationspacecraftair-bearingtest platformReferencesKramlikh, A.V., Nikolaev, P.N., Rylko, D.V., Onboard Two-Step Attitude Determination Algorithm for a SamSat-ION Nanosatellite, Gyroscopy and Navigation, 2023, 14:138–153, https://doi.org/10.1134/s2075108723020050.Kramlikh, A.V., Nikolaev, P.N., Rylko, D.V., Onboard Two-Step Attitude Determination Algorithm for a SamSat-ION Nanosatellite, Gyroscopy and Navigation, 2023, 14:138–153, https://doi.org/10.1134/s2075108723020050.Cilden-Guler, D., Hajiyev, C., SVD-Aided EKF for Nanosatellite Attitude Estimation Based on Kinematic and Dynamic Relations, Gyroscopy and Navigation, 2023, 14:366–379.Cilden-Guler, D., Hajiyev, C., SVD-Aided EKF for Nanosatellite Attitude Estimation Based on Kinematic and Dynamic Relations, Gyroscopy and Navigation, 2023, 14:366–379.Schwartz, J.L., Peck, M.A., Hall, C.D., Historical Review of Air-Bearing Spacecraft Simulators, Journal of Guidance Control and Dynamics, 2012, 26:513–522, https://doi.org/10.2514/2.5085.Schwartz, J.L., Peck, M.A., Hall, C.D., Historical Review of Air-Bearing Spacecraft Simulators, Journal of Guidance Control and Dynamics, 2012, 26:513–522, https://doi.org/10.2514/2.5085.Al-Majed, M.I., Alsuwaidan, B.N., A new testing platform for attitude determination and control subsystems: Design and applications, IEEE/ASME International Conference on Advanced Intelligent Mechatronics, 2009, pp. 1318–1323.Al-Majed, M.I., Alsuwaidan, B.N., A new testing platform for attitude determination and control subsystems: Design and applications, IEEE/ASME International Conference on Advanced Intelligent Mechatronics, 2009, pp. 1318–1323.Tavakoli, A., Faghihinia, A., Kalhor, A., An innovative test bed for verification of attitude control system, IEEE Aerospace and Electronic Systems Magazine, 2017, 32:16–22. https://doi.org/10.1109/MAES.2017.150198.Tavakoli, A., Faghihinia, A., Kalhor, A., An innovative test bed for verification of attitude control system, IEEE Aerospace and Electronic Systems Magazine, 2017, 32:16–22. https://doi.org/10.1109/MAES.2017.150198.Cardoso da Silva, R., Alves Rodrigues, U., Alves Borges, R., et al., A test-bed for attitude determination and control of spacecrafts, II Latin American IAA CubeSat Workshop, Florianopolis, Brazil, 2016.Cardoso da Silva, R., Alves Rodrigues, U., Alves Borges, R., et al., A test-bed for attitude determination and control of spacecrafts, II Latin American IAA CubeSat Workshop, Florianopolis, Brazil, 2016.Modenini, D., Bahu, A., Curzi, G., Togni, A., A Dynamic Testbed for Nanosatellites Attitude Verification, Aerospace, 2020, 7:31, https://doi.org/10.3390/AEROSPACE7030031.Modenini, D., Bahu, A., Curzi, G., Togni, A., A Dynamic Testbed for Nanosatellites Attitude Verification, Aerospace, 2020, 7:31, https://doi.org/10.3390/AEROSPACE7030031.Ovchinnikov, M.Y., Ivanov, D.S., Ivlev, N.A., et al., Development, integrated investigation, laboratory and in-flight testing of Chibis-M microsatellite ADCS, Acta Astronaut, 2014, 93:23–33.Ovchinnikov, M.Y., Ivanov, D.S., Ivlev, N.A., et al., Development, integrated investigation, laboratory and in-flight testing of Chibis-M microsatellite ADCS, Acta Astronaut, 2014, 93:23–33.Chen, X., Su, Z., Wengao, L., et al., General-purpose ground test system for the attitude determination and control subsystem of pico/nano-satellite, IEEE 12th International Conference on Electronic Measurement and Instruments, ICEMI 2015, 2016, 2:1004–1009, https://doi.org/10.1109/ICEMI.2015.7494373.Chen, X., Su, Z., Wengao, L., et al., General-purpose ground test system for the attitude determination and control subsystem of pico/nano-satellite, IEEE 12th International Conference on Electronic Measurement and Instruments, ICEMI 2015, 2016, 2:1004–1009, https://doi.org/10.1109/ICEMI.2015.7494373.Yavuzyilmaz, C., Akbas, M., Acar, Y., et al., Rasat ADCS flight software testing with dynamic attitude simulator environment, Proceedings of 5th International Conference on Recent Advances in Space Technologies (RAST), 2011, pp. 974–977.Yavuzyilmaz, C., Akbas, M., Acar, Y., et al., Rasat ADCS flight software testing with dynamic attitude simulator environment, Proceedings of 5th International Conference on Recent Advances in Space Technologies (RAST), 2011, pp. 974–977.Tsiotras, P., Kriengsiri, P., Designing a Low-Cost Spacecraft Simulator, IEEE Control Syst., 2003, 23:26–37, https://doi.org/10.1109/MCS.2003.1213601.Tsiotras, P., Kriengsiri, P., Designing a Low-Cost Spacecraft Simulator, IEEE Control Syst., 2003, 23:26–37, https://doi.org/10.1109/MCS.2003.1213601.Sanders, D., Heater, D., Peeples, S.R., et al., Pushing the Limits of Cubesat Attitude Control: A Ground Demonstration, Small Satellite Conference, 2013.Sanders, D., Heater, D., Peeples, S.R., et al., Pushing the Limits of Cubesat Attitude Control: A Ground Demonstration, Small Satellite Conference, 2013.Sato, Y., Fujita, S., Kuwahara, T., et al., Improvement and verification of satellite dynamics simulator based on flight data analysis, IEEE/SICE International Symposium on System Integration, Institute of Electrical and Electronics Engineers Inc., Taipei, Taiwan, 2017, pp. 686–691.Sato, Y., Fujita, S., Kuwahara, T., et al., Improvement and verification of satellite dynamics simulator based on flight data analysis, IEEE/SICE International Symposium on System Integration, Institute of Electrical and Electronics Engineers Inc., Taipei, Taiwan, 2017, pp. 686–691.Ousaloo, H.S., Nodeh, M.T., Mehrabian, R., Verification of Spin Magnetic Attitude Control System using air-bearing-based attitude control simulator, Acta Astronaut, 2016, 126:546–553, https://doi.org/10.1016/J.ACTAASTRO.2016.03.028.Ousaloo, H.S., Nodeh, M.T., Mehrabian, R., Verification of Spin Magnetic Attitude Control System using air-bearing-based attitude control simulator, Acta Astronaut, 2016, 126:546–553, https://doi.org/10.1016/J.ACTAASTRO.2016.03.028.Ho, M.T., Tu, Y.W., Lin, H.S., Controlling a Ball and Wheel System Using Full-State-Feedback Linearization: A Testbed for Nonlinear Control Design, IEEE Control Syst., 2009, 29:93–101, https://doi.org/10.1109/MCS.2009.934085.Ho, M.T., Tu, Y.W., Lin, H.S., Controlling a Ball and Wheel System Using Full-State-Feedback Linearization: A Testbed for Nonlinear Control Design, IEEE Control Syst., 2009, 29:93–101, https://doi.org/10.1109/MCS.2009.934085.Medina, I., Santiago, L., Hernández-Gómez, J.J., et al., Speed PID controller simulation of a reaction wheel for CubeSat orientation applications, J. Phys. Conf. Ser., 2021, 1723:012013, https://doi.org/10.1088/1742-6596/1723/1/012013.Medina, I., Santiago, L., Hernández-Gómez, J.J., et al., Speed PID controller simulation of a reaction wheel for CubeSat orientation applications, J. Phys. Conf. Ser., 2021, 1723:012013, https://doi.org/10.1088/1742-6596/1723/1/012013.Inumoh, L.O., Forshaw, J.L., Horri, N.M., Tilted wheel satellite attitude control with air-bearing table experimental results, Acta Astronaut, 2015, 117:414–429, https://doi.org/10.1016/j.actaastro.2015.09.007.Inumoh, L.O., Forshaw, J.L., Horri, N.M., Tilted wheel satellite attitude control with air-bearing table experimental results, Acta Astronaut, 2015, 117:414–429, https://doi.org/10.1016/j.actaastro.2015.09.007.de Melo, A.C.C.P., Cafe, D.C., Alves Borges, R., Assessing Power Efficiency and Performance in Nanosatellite Onboard Computer for Control Applications, IEEE Journal on Miniaturization for Air and Space Systems, 2020, 1:110–116, https://doi.org/10.1109/JMASS.2020.3009835.de Melo, A.C.C.P., Cafe, D.C., Alves Borges, R., Assessing Power Efficiency and Performance in Nanosatellite Onboard Computer for Control Applications, IEEE Journal on Miniaturization for Air and Space Systems, 2020, 1:110–116, https://doi.org/10.1109/JMASS.2020.3009835.Costa, R.F., Saotome, O., Rafikova, E., Simulation and Validation of Satellite Attitude Control Algorithms in a Spherical Air Bearing, Journal of Control, Automation and Electrical Systems, 2019, 30:5, 30:716–727, https://doi.org/10.1007/S40313-019-00497-4.Costa, R.F., Saotome, O., Rafikova, E., Simulation and Validation of Satellite Attitude Control Algorithms in a Spherical Air Bearing, Journal of Control, Automation and Electrical Systems, 2019, 30:5, 30:716–727, https://doi.org/10.1007/S40313-019-00497-4.Song, H., Hu, S.L., Chen, W.Z., Simulink-based simulation platform design and faults impact analysis of attitude control systems, The Aeronautical Journal, 2021, 1–25, https://doi.org/10.1017/AER.2021.79.Song, H., Hu, S.L., Chen, W.Z., Simulink-based simulation platform design and faults impact analysis of attitude control systems, The Aeronautical Journal, 2021, 1–25, https://doi.org/10.1017/AER.2021.79.Chen, Z., Luo, Z., Wu, Y., et al., Research on high-precision attitude control of joint actuator of three-axis air-bearing test bed, Journal of Control Science and Engineering, 2021, https://doi.org/10.1155/2021/5582541.Chen, Z., Luo, Z., Wu, Y., et al., Research on high-precision attitude control of joint actuator of three-axis air-bearing test bed, Journal of Control Science and Engineering, 2021, https://doi.org/10.1155/2021/5582541.Kutlu, A., Cilden-Guler, D., Hajiyev, C., A Test-Bed for Attitude Determination and Control System of Nanosatellite, New Achievements in Unmanned Systems, Springer, Cham, 2023, pp. 27–35.Kutlu, A., Cilden-Guler, D., Hajiyev, C., A Test-Bed for Attitude Determination and Control System of Nanosatellite, New Achievements in Unmanned Systems, Springer, Cham, 2023, pp. 27–35.Hajiyev, C., Cilden Guler, D., Review on Gyroless Attitude Determination Methods for Small Satellites, Progress in Aerospace Sciences, 2017, 90:54–66, https://doi.org/10.1016/j.paerosci.2017.03.003.Hajiyev, C., Cilden Guler, D., Review on Gyroless Attitude Determination Methods for Small Satellites, Progress in Aerospace Sciences, 2017, 90:54–66, https://doi.org/10.1016/j.paerosci.2017.03.003.Cilden-Guler, D., Raitoharju, M., Piche, R., Hajiyev, C., Nanosatellite attitude estimation using Kalman-type filters with non-Gaussian noise, Aerosp. Sci. Technol., 2019, 92:66–76, https://doi.org/10.1016/J.AST.2019.05.055.Cilden-Guler, D., Raitoharju, M., Piche, R., Hajiyev, C., Nanosatellite attitude estimation using Kalman-type filters with non-Gaussian noise, Aerosp. Sci. Technol., 2019, 92:66–76, https://doi.org/10.1016/J.AST.2019.05.055.Markley, F.L., Crassidis, J.L., Fundamentals of Spacecraft Attitude Determination and Control, Springer, New York, 2014.Markley, F.L., Crassidis, J.L., Fundamentals of Spacecraft Attitude Determination and Control, Springer, New York, 2014.Wahba, G., Problem 65-1: A Least Squares Estimate of Satellite Attitude, Society for Industrial and Applied Mathematics Review, 1965, 7:409.Wahba, G., Problem 65-1: A Least Squares Estimate of Satellite Attitude, Society for Industrial and Applied Mathematics Review, 1965, 7:409.Cilden-Guler, D., Conguroglu, E.S., Hajiyev, C., Single-Frame Attitude Determination Methods for Nanosatellites, Metrology and Measurement Systems, 2017, 24:313–324, https://doi.org/10.1515/mms-2017-0023.Cilden-Guler, D., Conguroglu, E.S., Hajiyev, C., Single-Frame Attitude Determination Methods for Nanosatellites, Metrology and Measurement Systems, 2017, 24:313–324, https://doi.org/10.1515/mms-2017-0023.Hajiyev, C., Orbital Calibration of Microsatellite Magnetometers Using a Linear Kalman Filter, Measurement Techniques, 2015, 58:1037–1043, https://doi.org/10.1007/s11018-015-0838-4.Hajiyev, C., Orbital Calibration of Microsatellite Magnetometers Using a Linear Kalman Filter, Measurement Techniques, 2015, 58:1037–1043, https://doi.org/10.1007/s11018-015-0838-4.Cilden, D., Soken, H.E., Hajiyev, C., Nanosatellite attitude estimation from vector measurements using SVD-AIDED UKF algorithm, Metrology and Measurement Systems, 2017, 24:113–125, https://doi.org/10.1515/mms-2017-0011.Cilden, D., Soken, H.E., Hajiyev, C., Nanosatellite attitude estimation from vector measurements using SVD-AIDED UKF algorithm, Metrology and Measurement Systems, 2017, 24:113–125, https://doi.org/10.1515/mms-2017-0011.

The authors declare that there are no conflicts of interest present.