1. Karla Vega University of California, Berkeley Attitude Determination and Control 6/9/2015

2. Outline  Requirements  Hardware  Attitude Determination  Dynamics  Attitude Control  Types  Disturbances  Integration and Test  Summary  ACS in CubeSats  CINEMA *Lecture notes from Dr. Glenn Lightsey’s Spacecraft Dynamics and Controls Graduate Course at University of Texas at Austin 6/9/2015TRIO-CINEMA Meeting

3. Getting Underway 6/9/2015TRIO-CINEMA Meeting

4. Requirements and Flowdowns 6/9/2015TRIO-CINEMA Meeting

5. Tree Diagram 6/9/2015TRIO-CINEMA Meeting

6. Impact of ACS on S/C Configuration 6/9/2015TRIO-CINEMA Meeting

7. Some Standard Configurations 6/9/2015TRIO-CINEMA Meeting

8. Hardware 6/9/2015TRIO-CINEMA Meeting

9. Star Sensors 6/9/2015TRIO-CINEMA Meeting

10. Earth Sensors 6/9/2015TRIO-CINEMA Meeting

11. Earth Sensors Cont. 6/9/2015TRIO-CINEMA Meeting

12. Sun Sensors 6/9/2015TRIO-CINEMA Meeting

13. Magnetometers 6/9/2015TRIO-CINEMA Meeting

14. GPS 6/9/2015TRIO-CINEMA Meeting

15. Typical External Sensor Performance 6/9/2015TRIO-CINEMA Meeting

16. Gyros 6/9/2015TRIO-CINEMA Meeting

17. 6/9/2015TRIO-CINEMA Meeting

18. 6/9/2015TRIO-CINEMA Meeting

19. Typical Gyro Performance 6/9/2015TRIO-CINEMA Meeting

20. Typical Inertial Sensor Performance 6/9/2015TRIO-CINEMA Meeting

21. Sensor Selection 6/9/2015TRIO-CINEMA Meeting

22. Sensor Selection Continued 6/9/2015TRIO-CINEMA Meeting

23. Actuators 6/9/2015TRIO-CINEMA Meeting  Torque Coils  Wheels  Reaction Wheels  Momentum Wheels  Controlled Moment Gyros  Thrusters

24. Wheels 6/9/2015TRIO-CINEMA Meeting

25. Wheels Continued 6/9/2015TRIO-CINEMA Meeting

26. Thrusters 6/9/2015TRIO-CINEMA Meeting

27. Thrusters Continued 6/9/2015TRIO-CINEMA Meeting

28. Attitude Determination and Control 6/9/2015TRIO-CINEMA Meeting

29. Attitude Determination 6/9/2015TRIO-CINEMA Meeting  Frames of Reference  Parameterization  Geometry  Estimation  Statistics  Observability

30. Attitude Parameterization 6/9/2015TRIO-CINEMA Meeting

31. Propagating Attitudes 6/9/2015TRIO-CINEMA Meeting

32. Propagating Euler Angles 6/9/2015TRIO-CINEMA Meeting

33. Propagating Quaternions 6/9/2015TRIO-CINEMA Meeting

34. Geometry of Attitude Determination 6/9/2015TRIO-CINEMA Meeting

35. Implementation 6/9/2015TRIO-CINEMA Meeting

36. Implementation Continued 6/9/2015TRIO-CINEMA Meeting

37. Implementation Continued 6/9/2015TRIO-CINEMA Meeting

38. Estimation Theory: combining several measurement 6/9/2015TRIO-CINEMA Meeting

39. Dynamics: Euler’s Equations 6/9/2015TRIO-CINEMA Meeting

40. Integration 6/9/2015TRIO-CINEMA Meeting

41. Attitude Control 6/9/2015TRIO-CINEMA Meeting

42. Disturbances 6/9/2015TRIO-CINEMA Meeting

43. Some Typical Disturbance Torque Magnitudes 6/9/2015TRIO-CINEMA Meeting

44. Gravity Gradient 6/9/2015TRIO-CINEMA Meeting

45. Gravity Gradient, circular orbit 6/9/2015TRIO-CINEMA Meeting

46. Stability Diagram for GG in circular Orbit 6/9/2015TRIO-CINEMA Meeting

47. Effects of Elliptical Orbits 6/9/2015TRIO-CINEMA Meeting

48. Design of GG Satellites 6/9/2015TRIO-CINEMA Meeting

49. Magnetic Attitude Control 6/9/2015TRIO-CINEMA Meeting

50. Magnetic Controls, Continued 6/9/2015TRIO-CINEMA Meeting

51. Using Magnets 6/9/2015TRIO-CINEMA Meeting

52. Comments of Field Models 6/9/2015TRIO-CINEMA Meeting

53. Momentum Bias 6/9/2015TRIO-CINEMA Meeting

54. Integration and Test 6/9/2015TRIO-CINEMA Meeting

55. I&T Continued 6/9/2015TRIO-CINEMA Meeting

56. Summary 6/9/2015TRIO-CINEMA Meeting

57. ACS in CubeSats 6/9/2015TRIO-CINEMA Meeting  Passive Control  Magnets aligned with magnetic field  Active Control  Torque Coils  Solar panels as sun sensors  Reaction Wheels ($$)  Digital sun sensors ($$)

58. ACS: CINEMA (more on Wednesday) 6/9/2015TRIO-CINEMA Meeting  Spin-stabilized satellite Desired Attitude: Ecliptic normal System pointing requirement Science: ±10° Determination: ±1° Control: ±1°  Hardware  V-slit sun sensor  Solar panels (3 current sensors) TBR  Magnetometer  Torque Coil

59. Some Useful References 6/9/2015TRIO-CINEMA Meeting