Documente Academic
Documente Profesional
Documente Cultură
A RESEARCH PROJECT
BY
SUBMITTED TO
MARCH, 2014
ABSTRACT
For over a decade, student ballooning projects have provided a wonderful
opportunity of launching small scientific payloads to near space environment in a
small budget. Apart from the obvious merits of such projects, one significant
outcome is the cross disciplinary training for undergraduate science and
engineering students that prepares them for a future career in industry. Students
are also exposed to research technique that is a strong motivational factor to
work towards a graduate degree.
0.1kg satellites, called CanSats, are small and cheap enough that most universities
are able to design and build them as fully functional satellites. Designing satellite
systems in this new, small, and light-weight design presents a new challenge to
satellite developers. This report describes the design of a flexible CanSat capable
of acquiring information at Near space regions
The CanSat in this work was designed and built in 10 weeks and was used to
generate location information of its flight path and also used to measure
parameters like temperature, relative humidity, atmospheric pressure variation of
a location in real time with the aid of the onboard sensors.
The design and implementation of this project is geared towards achieving results
which will answer the objectives set for this project. This research is carried out in
University of Uyo Permanent site. The data received is clearly analysed and
explained. Experimental results show the variation of pressure, temperature, and
relative humidity with altitude.
TABLE OF CONTENTS
ABSTRACT ...............................................................................................................2
Table of Contents .......................................................................................................4
Abbreviations .............................................................................................................7
INTRODUCTION .....................................................................................................8
1.1 Background of Study .....................................................................................8
1.1 Objectives of Study .......................................................................................9
1.2 Significances of CanSat Projects.................................................................10
1.3 Statement of Problem ..................................................................................10
1.4 Scope and Limitations of the Project Work ................................................11
1.4.1
1.4.2
TYPES OF CanSat.............................................................................18
Structure .............................................................................................19
2.7.2
2.7.3
Communication system......................................................................20
2.7.4
Onboard Computer.............................................................................25
2.7.5
2.7.6
2.7.7
2.8.2
3.4.2
3.4.3
3.5.2
OPENLOG .........................................................................................48
Microcontroller ..................................................................................49
3.6.2
3.6.3
3.6.4
3.7.2
4.1.2
4.1.3
5.1.2
5.1.3
Launching ..........................................................................................71
5.
5.2.1
5.2.2
5.2.3
REFERENCES.................................................................................................74
Appendix A.
Appendix B.
Appendix C.
ABBREVIATIONS
1. GPS
2. NASA
3. NMEA
4. ROM
5. ISP
In-System Programming
6. USART
7. SPI
8. EPROM
9. EEPROM
10.RF
Radio Frequency
11.ISM
12.PIC
13.DOP
Dilution of Precision
14.GGA
15.GLL
Geographic Position-Latitude/Longitude
16.GSA
17.GSV
18.RMC
19.VTG
20.PAN
21.GUI
22.MIPS
INTRODUCTION
1.1
BACKGROUND OF STUDY
OBJECTIVES OF STUDY
1.3
1.4
STATEMENT OF PROBLEM
The following factors led to the Design, Fabrication and Construction of a
This project was limited in two key aspects - area of coverage and the hardware
used.
1.1.1 Area of Coverage:
The balloon and its payload may or may not fly beyond the vicinity of
University of Uyo Permanent Site due to environmental factor like the windy
nature of the launching site, lack of tracking devices, and topography of the area.
As a result of this, the environmental data (Temperature, relative humidity,
atmospheric pressure) taken by the onboard sensors is peculiar to the location of
the balloon.
1.1.2 Hardware limitations:
Due to the high cost of sensors and the uneasiness of interfacing them with the
microcontroller (onboard computer), several sensor have not been incorporated in
the payload like accelerometer, gamma ray burst detector, magnetometers etc.
1. The project lack mobile tracking station which would make the payload
recovery much easier.
2. High cost and complexity deter us from going for high earned
microcontrollers like the PIC18 and PIC32 families.
3. The project lack imaging system which would capture the aerial view of the
environment as the payload rises.
1.6
PROJECT STRUCTURE
Literature Review: This chapter gives an insight into satellite systems. This
leads to an overview of satellite and their classification. This review identifies the
underlying subsystem of the Can Satellite, the communication protocol use by the
components, the Cansat interfaces, and review of the existing Cansat.
Methodology and Implementation: The research methodology is outlined in this
chapter which focuses on the design requirements and experimental setup. An in
depth explanation of the different components interfaces, design setup, and
integration is illustrated in this chapter.
Result Analysis: This chapter explains the result obtained in the Cansat flight. The
telemetry receive from the Cansat is also analysed.
Conclusion: The entire work done is summarised in this chapter. A set of
recommendations is drawn from the experiments carried out in this research as
well as suggestions for future work to be done in this research.
Critical Evaluation: This chapter critically evaluates the research carried out. A
discussion of how the objectives were met will be carried out in this chapter and
the extent to which the aim of this research work has been achieved.
LITERATURE REVIEW
1.7
INTRODUCTION
This chapter gives an insight into satellite systems and forms the basis for
this project initiative. Detailed information on satellite systems based on size and
mission type will be discussed. This chapter will give an overview of the CanSats
subsystem the structure, Electronics, Power, communication subsystems,
Microcontroller and as well as existing Can satellite systems.
1.8
OVERVIEW OF SATELLITES
CLASSIFICATION OF SATELLITES
Satellites are launched into space to do a specific job, thus they perform specific
Function(s). The type of satellite that is launched to monitor cloud patterns for a
weather station will be different than a satellite launched to send television signals
across Canada. The satellite must be designed specifically to fulfill its function.
1. Anti-Satellite weapons/"Killer Satellites" are satellites that are designed to
destroy enemy warheads, satellites, and other space assets
2. Astronomical satellites are satellites used for observation of distant
planets, galaxies, and other outer space objects.
satellites
are
Earth
observation
satellite
or
has
come
about
through
the
technological
advances
in
microelectronics. Small satellites are obviously less costly for launch. However,
limitations for uses of small satellites exist through special requirements imposed
in particular for remote sensing missions such as orbital and attitude control, sensor
design and data readout. While all such satellites can be referred to as small
satellites, different classifications are used to categorize them based on mass;
1. Mini-satellites: These refer to an artificial satellite with a wet mass between
100kg and 500kg. Examples: Demeter, Essaim, Parasol, Picard etc
2. Micro-satellite: These satellites are artificial satellites with a weight mass of
between 10kg and 100kg. Examples: Astrid-1 and Astrid-2
3. Nano-satellites: The term is applied to an artificial satellite with a wet mass of
1 and 10kg.
satellite with a wet mass between 10 and 100g. (Tristancho 2010)[1][2] Like
Pico-satellites, some designs require a larger "mother" satellite for
communication with ground controllers. Kick-Sat Sprites "chipsats" would be
in this weight class.
One reason for miniaturizing satellites is to reduce the cost: heavier satellites
require larger rockets with greater thrust which also has greater cost to finance. In
contrast, smaller and lighter satellites require smaller and cheaper launch vehicles
and can sometimes be launched in multiples. They can also be launched
'piggyback', using excess capacity on larger launch vehicles. Miniaturized satellites
allow for cheaper designs as well as ease of mass production, although few
satellites of any size other than 'communications constellations' where dozens of
satellites are used to cover the globe, have been mass produced in practice.
Besides the cost issue, the main rationale for the use of miniaturized satellites is the
opportunity to enable missions that a larger satellite could not accomplish, such as:
Constellations for low data rate communications
Using formations to gather data from multiple points
a ground station. CanSats in this category do not use a steering system since
its objective is not to fall at a particular point but to collect data while the
descent (which is not usually controlled). Of the systems mentioned in the
previous sections the most used are: barometer, thermometer, GPS and
camera.
b. Comeback: The main task of these is to land in a controlled manner as close
as possible to a target marked by GPS coordinates. These devices can be
guided by GPS or by and Inertial Navigation System INS. This position is sent
to the microprocessor which compares the position of the target from the
analysis of these data to calculate the angle at which it should turn to
address the target and gives appropriate instructions to the steering system.
1.13
Architecture of CanSat
The General Architecture of a typical CanSat is made of the power supply unit,
communication system, onboard computer, mission subsystem, data handling and the
lunch/recovery system. The onboard computer which is the microcontroller is the heart of
the CanSat and interfaces with the transducers and actuators as well as sending the data and
receive commands from the ground station PC. During the data acquisition mission CanSat
only read data from sensors, store and send it to the ground station PC. However, in comeback and fly-back mission the data is processed on-board the CanSat and decision taken to
deploy actuators for controls.
2.1.2 Structure
In order to protect the electronics from the environment and to increase the overall
durability of the components, the appropriate packages for the Cansat and the
communication module of the ground station should be developed.
satellite especially during operation in the outer space when it is on its own is a big
task. For this purpose a series of parameters and satellite conditions are
continuously transmitted to a ground station from the satellite where it is
monitored and actions are taken accordingly by sending a command back to the
satellite. The satellite can be stationed thousands of miles away and the data sent
has to pass through different atmospheric conditions and degradation. So a series
of measures are taken to send this data securely to ground as a small error can lead
to billions going to waste. It is specifically for this purpose, a satellite contains a
telemetry subsystem. This subsystem obtains health data i.e. data from sensors and
the mission data from payload and then formats the data and transmits it so that it
reaches its destination error free (Waqas and Adnan, 2008).
2.1.4.1 Telemetry
According to the American Heritage Dictionary of English Language, telemetry is
the science and technology of automatic measurement and transmission of data by
wire, radio, or other means from remote sources as from space vehicles, to
receiving stations for recording and analysis.
The purpose of a telemetry system is to, reliably and transparently convey
measurement information from a remotely located data generating source to users
located in space or on Earth.
2.1.4.2
To remote control the satellite and obtain data from the electronic payload, a
reliable communication link between the ground station and the satellite is needed.
Most of the developers use narrowband ham radio frequencies for communication.
Concerning data rate, the downlink is the outstanding challenge to get the
payloads data from the onboard experiments back to earth. In the former CubeSat
designs, fixed symbol rate communications setups were used with a maximum of
9600 symbols per second (Ralf, 2011).
For small satellites communication the most often used bands are: VHF (145.800146.000MHz), UHF (435.000-438.000MHz) and S-band (2.400-2.450GHz). The
communication channel can be encrypted but it cannot be used commercial
purposes. There is a strong recommendation to use modulations which are popular
among radio amateurs and to add services for radio amateur usage on satellites.
The most common digital mode is AFSK 1200bps with use of Packet Radio
protocol (AX.25). The disadvantages of this modulation are the minimum Eb/No
level at 21 dB for bit error rate (BER) less than 1E-4. Another common modulation
is FSK G3RUH 9600bps,
It requires Eb/No17dB to achieve BER1E-4. The next popular modulation is
CW (carrier keying with Morse code). The disadvantages include low throughput
(typically about 8bps) and big problems with automatic reception (CW is tailored
to decode from hearing by the operator - computers are doing this task poorly)
(Marcin and Grzegorz, 2012).
Most small satellites use different Transmitters and receivers for both uplink and
downlink depending on the bandwidth required for the system. Such
communication systems include the Terminal Node Control for the Nano Com
U480 transceiver, Xbee transmitter/receiver module, S-band ground station
receiver, VHF/UHF ground station Transceiver etc.
2.1.4.3
Xbee module
Complete RF transceiver
2.1.4.4
RF module operation
2.1.4.6
The constraints placed upon small satellite design for remote sensing missions
have traditionally been power availability, heat dissipation and aperture
Based on the description above, the very essence of an OBC is the microprocessor
board, consisting of microprocessor or microcontroller, non-volatile memories,
volatile memories and the companion chip that connects the microprocessor or
microcontroller to different peripherals. Some functions of the on-board include:
Data handling, Computation for other subsystems, System health log, Command
execution, Payload Operation, Error handling and diagnosis, Communication with
Ground station etc.
Small satellites use different microprocessors for their onboard computer due to the
architecture of the chip and based on how sophisticated the satellite system is.
These processors could be 8 or 16bit processors such as the ARM microcontrollers,
AVR and the PIC series.
2.1.5.1
PIC microcontroller
data access and Address access are separate hence a greater flow of data in the
processing unit. PIC16F877 uses 14 bits for instructions which allows for all
instructions to be one word instructions (Abd and Yaacob, 2010).
RISC Architecture
1. Complex/Reduced Instruction Set Computers
2. A minimal set of instructions, combined, can do every operation
3. Usually execute in a single cycle
4. CPU is smaller and few address mode.
5. Other hardware can be added to the space: (overlapping register windows)
2.1.5.2
PIC16F877A
This powerful yet easy to program with only 35 single word instructions and
CMOS flash-based 8 bit microcontroller packs with 40 pin package. It has 256
bytes of EEPROM data memory, self-programming, an ICD, 8 channels of 10-bit
A/D converter, two additional timers, 2 capture/compare/PMW functions, the
synchronous serial port can be configured as either #-wire serial peripheral
interface or the 2-wire inter-integrated circuit (I2C) bus and USART, speed of
5MHz and operating voltage range of 2 to 5.5.
2.1.6.1
GPS Receiver
includes all military and civilian users. With a GPS receiver connected to a GPS
antenna, a user can receive the GPS signals, which can be used to determine his or
her position anywhere in the world. GPS is currently available to all users
worldwide at no direct charge (Can Satellite (CanSat) Design Manual,
2011).Small satellite systems can use different GPS devices such as EM 406, EM
408, and Jupiter TU30-D140 OEM etc
NMEA SENTENCE
AIM
GBS
GGA
GMP
GNS
GRS
GSA
GST
GSV
DESCRIPTION
GPS almanac data
GNSS satellite fault detection
GPS fix data
GNSS map projection fix data
GNSS fix data
GNSS range residuals
GNSS DOP and active satellites
GNSS pseudorange error statistics
GNSS satellites in view
NMEA Format
NMEA was founded in 1957 by a group of electronics dealers to strengthen their
relationships with electronic manufacturers. The NMEA 0183 standards are data
streams in the ASCII format, transmitted at a rate of 4,800 bps, from a talker to a
listener (one-way), where a talker is a device that sends data to other devices (e.g.,
a GPS receiver) and a listener is a device that receives data from another device
(e.g., a laptop computer interfaced with the GPS 78 receiver). It also includes data
streams which may have information on position, datum, water depth, and other
variables. The data is sent in the form of sentences, each starting with a dollar sign
"$" and terminating with a carriage return-line feed "<CR><LF>"; the dollar sign
"$" is followed by a five-character address field, which identifies the talker (the
first two characters) and the format and data type (the last three characters) ( Can
Satellite (CanSat) Design Manual, 2011).
GPS receivers usually report the quality of satellite geometry in terms of Position
of Dilution of Precision, or PDOP.PDOP refers to horizontal (HDOP) and vertical
(VDOP) measurements (Latitude, longitude and altitude). A low DOP indicates a
higher probability of accuracy and a high DOP indicates a lower probability of
accuracy (Diana, 2013).
2.1.6.2 Sensors
Attitude determination and control, performing attitude determination and control,
is consist of mainly two parts; Attitude determination and attitude control. Attitude
determination and control performs attitude determination of satellite at first. The
data, as direction of the sun and vector of geomagnetic, angular velocity, position
of star, that necessary in order to determine the attitude of satellite is gotten by
sensor.
Function of sensor aim at detection of every possible information and energy so
subject of detection covers a wide range. However, in case of sensors that is
usually used around us, that variety is limited naturally. Sensors that are usually
used are following.
1) Optical sensor
2) Magnetic sensor
3) Pressure sensor
4) Thermo sensor (infrared light)
5) Vibration sensor (very low frequency, frequency of audible range, ultrasonic
wave)
6) Gas sensor (distinction of gas, detection of stink, detection of humidity)
In these sensors, sensors used to attitude determination and control is shared
Interface between the ground station and the Cansat Satellite (radio link)
using the communication protocol.
Interface between the microcontroller and the electronics on the Satellite.
2.1.9 An Overview of Existing Pico Satellites
Over the years, several Cansat Picosatellites have been launched both as
student academic project and as well as for research purposes. Some of the Cansat
projects are reviewed below.
2.1.9.1 CubeSat XI-IV [sai-four] University of Tokyo
Nakasuka laboratory built its first pico-satellite CubeSat XI-IV [sai-four] by
2002, which was launched by the Russian rocket Rockot together with other
seven micro- and pico-satellites on June 30, 2003. XI-IV, which is shown in Figure
2-5,
attitude control using permanent magnet, and a CMOS camera. Figure 2-6 shows
images taken by the camera on XI-IV (Enokuchi, 2006).
2.1.9.2 YANKEY and ROSAM Ghana
The All Nations University College space and satellite programme launched
two satellites on the 15 of May 2013 which made history worldwide since it is the
first ever satellite (CanSat) to be launched in Sub Saharan Africa by a Ghanaian
university.
The event being one of its kind in sub Saharan Africa really created the
awareness of the public and attracted personnel from diverse background such as
student, industrial personnels and international and local press to the launching
grounds prior to the 2nd space science and satellite technology workshop (20th to
21th of March 2013) which pointed out the need for Ghana to go to space and a
CanSat which was going to be launched.
The two CanSats, the YANKEY and the ROSAM were all launched together
in two compartment deployment (which was used as the launching vehicle) unit
fixed to the weather balloon which took it to a height of 172 meters void of their
expected height of 220 m which was due to a heavy rainfall on that very hour.
The launching of the two deployable CanSat was successful despite the
heavy downpour which prevented it from reaching an expected height of 220
meters. The atmospheric pressure and the temperature readings were transmitted to
the ground station as the telemetry and a video of the environment was captured
which together defined the mission for the CanSats (Quarshie, 2013).
2.1.10 Conclusion
This chapter has discussed satellites artificial and natural, its types and
classifications based on their weight as well as reviewing the basic components
(subsystems) of a typical Cansat system. Small satellites systems (Nano, Pico
satellites) have been discussed as the most effective solution and better platform
than a micro or large satellite to carry out subsystem experiments due to its low
complexity, and lower cost implications and also achieved nearly the same goal
and task of a large satellite. This project will look at designing and launching a
Cansat that collects geographical data throughout its flight. The next chapter will
discuss the methodology and how the Cansat is developed.
(max), supply range: 1.4v to 3.6v, resolution: 12 bits, and the easy of
interfacing it with the microcontroller using the two-wire serial interface.
OpenLog
OpenLog is a simple serial logger based on the ATmega328 microcontroller
running at 16MHz. OpenLog is able to talk to very large capacity (tested up
to 16GB) SD cards. The whole purpose of this logger was to create a logger
that just powered up and start logging any serial data received from the onboard computer.
HIH-6130 Sensor
HIH-6130 Series is a two-wired digital output-type relative humidity (RH)
and temperature sensor combined in the same package manufactured by
Honeywell Electronics and package by Sparkfun Electronics.
Honeywell specifies Total Error Bandthe most comprehensive, clear, and
meaningful measurement that provides the sensors true accuracy of 5
The XBee Explorer Regulated (fig 3.6) takes care of the 3.3V regulation,
signal conditioning, and basic activity indicators (Power, RSSI and
DIN/DOUT activity LEDs). It translates the 5V serial signals to 3.3V so that
you can connect a 5V (down to 3.3V) system to any XBee module. Plug an
XBee into this breakout and you will have direct access to the serial and
programming pins on the XBee unit and will be able to power the XBee with
5V.
PIC16F877A Microcontroller
This is the onboard computer that provides the interface between the
components, controls the flight, and get the signal from other components;
processed it and stored it in the OpenLog data logger as well as sending it to
the ground station.
Program Memory
Bytes
14.3k
# Single Word
Instructions
8192
Data
SRAM
(Bytes)
EEPROM
(Bytes)
i/o
Master
I2 C
USART
Timers
8/16-bit
368
256
33
Yes
Yes
2/1
1.17
DESIGN
$GPVTG,309.62,T,,M,0.13,N,0.2,K*6E
Fig 3-8
For this project, only $GPGGA is captured for analysis. The $GPGGA data
format is shown below in Table 3.1.
Name
Message ID
UTC Time
Latitude
N/S Indicator
Longitude
E/W Indicator
Position Fix
Indicator
Example
$GPGGA
161229.487
3723.2475
N
12158.3416
W
1
Satellites Used
HDOP
Altitude
Units
Checksum
<CR><LF>
07
1.0
0.9
M
0000
*18
Units
Description
GGA protocol header
hhmmss.sss
ddmm.mmmm
N= north or S = south
dddmm.mmmm
E= east or W=west
0 - Fix not available or invalid
1 - GPS SPS Mode, fix valid
2 -Differential GPS,SPS Mode ,fix valid
3 - GPS PPS Mode, fix valid
Range 0 to 12
Horizontal Dilution of Precision
meters
meters
Power
The power system is made up of the 9v battery, LM7805 voltage regulator,
filtering and smoothing capacitors. The regulator regulates the 9v supply to
5v needed by the microcontroller and other components. The voltage
regulator onboard the XBee Breakout board regulates the 5v to 3.3v for the
two temperature sensors HIH6130 and TMP102.
Pressure Determination
The pressure information is calculated using the Altitude information given
by the GPS:
Fig 3-9
X-CTU GUI
The X-CTU software provides both the GUI and the Command interface for
configuring the XBee Module and also functions as a terminal software. Once it is
mapped to a Communication Port (COM Port), the software listened and capture
whatever information is received on that port and display in its terminal GUI.
Thus, the X-CTU is used in these project to configured the XBee Module for pointto-point communication and also as part of the ground station to display the receive
information from the payload.
The microSD card can be any size from 64MB to 16GB. Before using OpenLog
we format the card to FAT32 file format using windows. Once the OPENLOG is
power on, its create a configuration file called CONFIG.TXT as sown below.
Fig 3-14
PICKit 3 GUI
3.1.8.2 GPS
The EM406 GPS is connected to the USART port (TX Pin) of the microcontroller.
By default GPS sends data in 8 bit, 1 start bit 1 stop bit format in 4800 baud rate
every second Sparkfun (2014). Data is read from the USART port and processed it
before sending it to ground station.
3.1.8.3 Temperature sensors
There are two temperature sensors connected to the CanSat the internal and
external temperature sensor. The interface between temperature sensors and
microcontroller is done using Two-wire Serial Interface I2C. The I2C protocol
allows us to interconnect up to 128 different devices using only two bi-directional
bus lines, one for clock (SCL) and one for data (SDA). This is a master slave kind
of operation in which microcontroller acts as master and the temperature sensors
are slaves.
All address packets transmitted on the I2C bus are 9 bits long, consisting of
7 address bits, one READ/WRITE control bit and an acknowledge bit. If the
READ/WRITE bit is set, a read operation is to be performed; otherwise a write
operation should be performed. The MSB of the address byte is transmitted first.
All data packets transmitted on the I2C bus are 9 bits long, consisting of one data
byte and an acknowledge bit. During a data transfer, the master generates the clock
and the START and STOP conditions, while the receiver is responsible for
acknowledging the reception. The MSB of the data byte is transmitted first.
3.1.8.4 Relative Humidity Sensor
The relative humidity is measured also by the HIH6130 sensor. Separate
commands are issued to the device to take temperature reading and relative
humidity readings.
Fig 3-15
Fig 3-16
1.20 CONSTRUCTION
3.1.10Power Consumption
3.1.10.1
Satellite
Quan
tity
Voltage
Require
ments,
V
Max. operating
current,
mA
Max.
power Percentage
consumption,
of time in
mW
use, %
Average power
consumption,
mW
GPS MODULE
EM406A0027694
Internal
Temperature
Module
TMP102
Data
Storage
Module
Open Log
RADIO
MODULE
XBEE S1
External
Temperature
Module
HIH-6130
PIC16F877A
70
350
100
100
0.085
0.255
10
0.0255
25
20
45
225
20
45
10
0.3
200
1000
80
800
3.1.10.2
Ground station
As the ground station should be basically represented by the PC with the running
application and the radio-module, which is connected to the PC via the USB
interfaces, the power consumption of the ground station is not as critical as that of
the remote module. The power consumption characteristics of the ground station
components (without taking into consideration the PC) are represented in table 3-3.
Component
Name
Quantity
Max. power
consumption, mW
1
5
70
350
XB24-DKS
Evaluation Board
Table 3-4: Estimation of power consumption for ground station
3.1.11Structural Design
The body frame of the satellite is made of a malt can. The can is open on the top
and at the side as shown in the image below.
The top opening is replaced with a rubber stopper which stops air from flowing
into the can. The rectangle opening on the side which is 8.5cm by 3.0cm will give
us access to place all the switches and sensors in position. The hooks required to
tire the balloon to the can is placed at the upper side of the can 1.5cm from the top
opening as shown in the image below.
The rectangular opening on the side of the can is covered with a thin plastic film
and holes are bored on the film for attaching the switches and the transmitter
antenna. The image below shows the whole system fitted together.
This project brought together the need for both hardware and software design.
Building, coding, and debugging on a large project is incredibly time consuming
and at times painful. However, the whole progress was successful as ground data
were obtained
CHAPTER FOUR
TESTING AND DATA ANALYSIS
This chapter, the will cover the series of test carried out on the satellite and the
results obtain will be analyzed.
4.1 TESTING
Testing is the practice of making objective judgments regarding the extent to
which the system (device) meets, exceeds or fails to meet stated objectives. System
testing is concerned with testing an entire system based on its specifications.
4.2 LAUNCHING
The preliminary lunch was targeted at a height of 100m above sea level
and we achieved it, a height of 85m above sea level.
The data collected from the onboard sensors and GPS receiver is tabular
below in table 5.1.
TOF
(S)
UTC
Time
Latitude
(N)
Longitude
(E)
Fix
Quality
Num
OfSat
HDOP
WGS84
Altitude
(M)
Pressure
(KPa)
RH
(%)
77.18
Int
Temp
(*C)
28.62
Ext
Temp
(*C)
28.79
173431
502.2929
758.6055
2.1
17.8
61.1
100.5931
14
173439
502.2917
758.6052
1.2
17.8
62
100.5824
77.18
28.62
28.79
21
173447
502.2915
758.6052
1.2
17.8
62
100.5824
77.18
28.62
28.79
28
173539.22
502.2948
758.6065
1.9
17.8
37
100.8813
75.92
28.75
28.97
35
173551
502.2913
758.6045
1.4
17.8
61
100.5944
75.92
28.75
28.97
42
173559
502.2912
758.6044
1.2
17.8
60.5
100.6003
75.92
28.75
28.97
49
173606
502.2909
758.6046
56
173614
502.2904
758.6047
1.2
17.8
60.9
100.5955
75.92
28.81
28.97
1.2
17.8
62.3
100.5788
75.92
28.81
28.97
63
173622
502.2896
758.6049
1.2
17.8
62.8
100.5728
75.92
28.81
28.97
70
173630
502.2888
758.6053
1.2
17.8
62.7
100.574
75.92
28.81
28.97
77
173637
502.2891
758.6056
1.1
17.8
64.7
100.5501
75.92
28.87
28.97
84
173645
502.288
758.6057
1.1
17.8
68.9
100.5
75.92
28.87
28.97
91
173653
502.2865
758.6059
1.1
17.8
73.5
100.4451
75.92
28.87
28.97
98
173701
502.2846
758.6062
2.8
17.8
73.5
100.4451
75.92
28.87
28.97
105
173708
502.2812
758.6065
2.8
17.8
70.5
100.4809
75.92
28.87
28.97
112
173716
502.2792
758.6062
2.8
17.8
67.6
100.5155
75.92
28.87
28.97
119
173724
502.28
758.6059
2.7
17.8
67.4
100.518
75.92
28.87
28.97
126
173731
502.2829
758.6062
1.1
17.8
67.3
100.5191
75.92
28.87
28.97
133
173739
502.2849
758.6065
2.7
17.8
70.5
100.4809
75.92
28.93
28.97
147
173755
502.287
758.6059
2.7
17.8
70
100.4869
75.92
28.93
28.97
154
173810
502.2888
758.6065
2.7
17.8
71.6
100.4678
75.92
28.93
28.97
161
173818
502.2884
758.6065
1.1
17.8
70.6
100.4797
75.92
28.93
28.97
168
173826
502.2882
758.6062
1.1
17.8
69.8
100.4892
75.92
28.93
28.97
189
173853
502.2874
758.6064
2.7
17.8
67
100.5227
75.92
29.06
28.97
196
173900
502.2875
758.6062
2.7
17.8
68
100.5108
75.92
29.06
28.97
203
173908
502.2876
758.6062
2.7
17.8
69
100.4988
75.92
29.06
28.97
210
173916
502.2881
758.6061
2.7
17.8
69.9
100.488
75.92
29.06
28.97
217
174023.56
502.2903
758.613
1.5
17.8
84.6
100.3128
75.92
30.56
28.97
224
174036
502.2907
758.6057
10
0.8
17.8
75.4
100.4225
74.79
29.93
29.08
231
174043
502.2907
758.6055
10
0.8
17.8
73.9
100.4404
74.79
29.81
29.08
238
174051
502.2912
758.6059
10
0.8
17.8
73.1
100.4499
74.79
29.75
29.08
245
174059
502.291
758.6057
10
0.8
17.8
74.8
100.4296
74.79
29.68
29.08
252
174107
502.2904
758.6057
10
0.8
17.8
76
100.4153
74.79
29.62
29.08
266
174122
502.2906
758.6057
2.4
17.8
75.7
100.4189
74.79
29.56
29.08
273
174130
502.2898
758.6057
1.7
17.8
75.2
100.4249
74.79
29.5
29.08
280
174138
502.2892
758.6059
1.7
17.8
75.2
100.4249
74.79
29.62
29.08
287
175141.48
0.00.
101.325
74.79
29.43
29.08
294
180240.22
502.2954
758.6097
1.2
17.8
87.9
100.2735
75.54
30.87
29.87
301
180252
502.2893
758.6069
10
0.8
17.8
77.2
100.401
81.02
30.56
29.24
308
180300
502.2894
758.6074
0.9
17.8
79.3
100.376
81.02
30.56
29.24
315
180315.58
502.2888
758.6006
1.2
17.8
65.8
100.537
81.02
30.5
29.24
322
180334.32
502.2844
758.6115
1.4
17.8
90.2
100.2461
75.89
30.5
29.02
329
180346
502.2899
758.6053
10
0.8
17.8
74
100.4392
75.91
30.5
28.86
336
180354
502.2903
758.6057
10
0.8
17.8
73.9
100.4404
75.91
30.5
28.86
343
180402
502.2903
758.6065
10
0.8
17.8
76.1
100.4141
75.91
30.5
28.86
350
180410
502.29
758.6065
10
0.8
17.8
75.9
100.4165
75.91
30.5
28.86
357
180417
502.2898
758.6065
10
0.8
17.8
76.2
100.4129
75.91
30.5
28.86
364
180425
502.2897
758.6062
10
0.8
17.8
75.9
100.4165
75.91
30.5
28.86
371
180433
502.2895
758.6062
10
0.8
17.8
75.8
100.4177
75.91
30.5
28.86
378
180441
502.2892
758.6064
0.9
17.8
75.7
100.4189
75.91
30.5
28.86
385
180448
502.2889
758.6064
0.9
17.8
75.6
100.4201
75.91
30.5
28.86
392
180456
502.2881
758.6065
10
0.8
17.8
76.7
100.407
75.91
30.5
28.86
399
180504
502.2877
758.6066
10
0.8
17.8
77
100.4034
75.91
30.56
28.86
406
180512
502.2873
758.6066
10
0.8
17.8
77.2
100.401
75.91
30.5
28.86
413
180519
502.287
758.6067
10
0.8
17.8
77.8
100.3939
75.91
30.56
28.86
420
180527
502.2867
758.6066
10
0.8
17.8
78.2
100.3891
75.91
30.5
28.86
427
180535
502.2862
758.6064
10
0.8
17.8
78.7
100.3831
75.91
30.5
28.86
434
180543
502.2862
758.6061
0.9
17.8
78.6
100.3843
75.91
30.5
28.86
441
180550
502.2864
758.6059
0.9
17.8
78.5
100.3855
75.91
30.5
28.86
448
180558
502.286
758.6059
0.9
17.8
79
100.3796
75.91
30.5
28.86
455
180621.56
502.2948
758.6124
1.5
17.8
89
100.2604
75.91
30.5
28.86
462
180634
502.286
758.6045
17.8
68
100.5108
76.53
30.5
28.77
From the above table, the ground station received the first transmitted data at
173431UTC (5:34:31pm local time) and the last telemetry at 180634UTC
(6:06:34pm local time) and also the flight lasted for 32minutes (for both ascent and
descent).
The graphs plotted from the above table are shown below.
a) The graph below shows the variation of pressure with time during the time
of flight.
b) The figure below shows the variation of relative humidity with time during
flight.
c) The figure below shows the variation of the temperature with the time
during the CanSat flight. This helps us to the know the temperature of the
environment throughout the flight time
4.3 CONCLUSION
In this chapter, the sets of test carried out in testing the workability of the CanSat
are mentioned. The telemetry data obtained from the CanSat are as shown in the
graphs. The graph gives the atmospheric condition of the environment at the time
of flight.
CHAPTER FIVE
CONCLUSION
5.1 INTRODUCTION
This project focuses on the design and construction of CanSat tagged UniUyoSat1.
Going through the whole process of a satellite development and design, it is the
most practical experience in which we the student have been exposed to. Though
there have been challenges and limitations in the development of this project in
which this chapter will emphasize.
5.1 LIMITATIONS
This project was limited in three key aspects - area of coverage, hardware used,
and launching.
5.1.1 Area of Coverage:
The balloon and its payload did not fly beyond 300 meters above sea level due
to lack of tracking device, weak deploying mechanism, disputing efficacy of the
parachute used at high altitudes, and topography of the area. As a result of this, the
environmental data (Temperature, relative humidity, atmospheric pressure) taken
by the onboard sensors is peculiar to the location of the balloon.
5.1.2 Hardware Limitations:
Due to the high cost of sensors and the uneasiness of interfacing them with the
microcontroller (onboard computer), several sensor have not been incorporated in
the payload like accelerometer, gamma ray burst detector, magnetometers etc.
4. The project lack mobile tracking station which would make the payload
recovery much easier.
5. High cost and complexity deter us from going for high earned
microcontrollers like the PIC18 and PIC32 families.
6. The project lack imaging system which would have captured the aerial view
of the environment as the payload rises.
5.1.3 Launching
We faced several challenges in launching the CanSat. Due to high cost of helium,
we couldnt get enough of it to carry several launch tests. The weather balloons
were fragile and some busted by mere realizing of air out of it and also it lacks
hooks to tie the payload to it.
5.2 RECOMMENDATIONS
Microcontroller used for projects of this magnitude using multiple UART
devices should be of PIC18 or PIC32 families which have multiple UART I/O
ports to reduce the need of creating virtual UART ports which have
performance impact on the system.
The power supply needs to be properly filtered and decoupling capacitors
should be soldered as closely as possible to the PICs Vdd/Vss pins for
transient response.
A 10k resistor should be connected across MCLR pin of the PIC to ground to
ensure the PIC is not operating in reset mode.
It is a necessity to properly equip our laboratories as project of this caliber
cannot be carried out effectively without a standard laboratory as compare
to how it is being done in the developed countries.
Future Work
Additional Sensors
The CanSat may fly to altitude where the ozone concentration is
significantly higher than on ground level (ozone layer). A measurement of
ozone concentration as a function of position would be of scientific
interest.
Accelerometer can be incorporated into the payload to measure the
acceleration of the CanSat.
Magnetometer can be added to the payload to measure the strength and
the direction of the magnetic field at a point in space.
5.2.1 The CanSat Improvement
The CanSat can be improved in a number of ways.
The voltage over the battery can be measured. This would allow for
monitoring and fault detection.
Mobile tracking devices can be added to the payload and the ground
station and this could be integrated with Google Earth.
Camera module can also be added to take aerial photographs as the
payload rises.
5.2.2 Weak Points and Improvements in the Structural Design.
The CanSat body is quite a durable structure, and though there have been carried
out a number of tests with the components and materials separately, some weak
points have been still revealed during the experiments. As a consequence of one of
the free falls of the CanSat body on a concrete floor, the GPS receiver has peeled
off; the glue has not endured the shock. After the experiment the GPS receiver has
been glued back to its place.
Since there has been such a case that the glued surfaces have been separated in
normal temperature, there is a possibility that the same problem may occur during
the landing phase in the real flight. So this has not been considered as the crucial
part, which requires revising and rebuilding, but as one of the points to focus on in
later similar missions.
As an improvement, to minimize the possibility of such cases in the future, it is
possible to change glued connections to welding, or to think about another types of
fixing, that will result in the increase of overall strength and tolerance to applied
mechanical loads and sudden shocks.
Another improvement deals with thermal insulation, as protection from the most
significant environmental factor low temperature. This is of utmost importance to
the performance of the system at high altitudes. Though it has not been taking into
consideration in this design, it needs consideration in future designs.
5.2.3 Additional Tests
Some designed tests have not been carried out. The CanSat has not been put in a
freezer to ascertain the performance of the component at such a low temperature.
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at:
http://www7.informatik.uni-wuerzburg.de/fileadmin/
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(Accessed: 8th January 2014).
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Diana C., 2013. Understanding the Global Positioning System (GPS), Montana:
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26th
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Appendix A.
XCT-U CONFIGURATION
X-CTU software for configuring and testing MaxStream radio modems. The
software is easy to use and allows MaxStream customers to test the radio modems
in the actual environment with just a computer and the items included with the
radio modems.
integer number (for the transmitter and receiver to communicate, the most have the
same PAN ID), Destination Address High and Destination Address Low of one
XBee module is the Serial Number High and Serial Number Low of the other
XBee.
After setting the PAN ID, Destination Address High and Destination
Address Low, the Write button is clicked to write the settings to the XBee
module EEPROM. The same setting is done with the other XBee module.
Appendix B.
as
shown
below
in
fig
4.
Appendix C.
CANSAT C CODE
#include <16F877A.h>
#include <string.h>
#include <stdlib.h>
#include <math.h>
#fuses HS,NOWDT,NOPROTECT,NOLVP,NOBROWNOUT,PUT
#use delay(clock=20000000)
/* ******************** i2c preprocessor directives ***********************************/
#use i2c(Master, sda=PIN_C4,scl=PIN_C3, FORCE_HW, SMBUS ) //SMBUS FORCE_HW Configure Device as
Master
#use rs232(baud=4800,parity=N,xmit=PIN_C6,rcv=PIN_C7,bits=8,stream=UART,ERRORS, BRGH1OK)
#use rs232(baud=4800,parity=N,xmit=PIN_B2,bits=8,stream=Xbee,ERRORS, FORCE_SW)
/* ***************************** Global constants ********************************/
#define BUFFER_SIZE 80
#define TMP_RD
#define TMP_WR
0x90 // Writing Address of the TMP102 sensor. Assume ADR0 is tied to GND
#define TEMP_REG
(1)
#define I2C_WR
(0)
#define I2C_ACK
(1)
#define I2C_NAK
(0)
#define Interval
2000
pre;
float
UTCTime;
float
Lat;
char
N_S;
float
Lon;
char
E_W;
int8
FixQuality;
int8
NumOfSat;
float
HDOP;
float
Alt;
float
WGS84;
char
Alt_Unit;
char
Term[16];
char
*Field;
// serial interrupt
char c;
if (kbhit(UART))
// call to check if there's incoming data on the UART stream (RX register)
{
c= getc(UART);
if (GPS_OK ==0)
{
if (k == 0)
{
if (c== '$')
{
NMEA_RMC[0] = c;
k++;
// -------------------------------> k = 1
} else { k = 0; }
}
else if (k==1)
{
if (c == 'G')
{
NMEA_RMC[1] = c;
k++;
// -------------------------------> k = 2
} else { k = 0; }
}
else if (k==2)
{
if (c=='P')
{
NMEA_RMC[2] = c;
k++;
// ------------------------------> k = 3
} else { k = 0;}
}
else if (k==3)
{
if (c=='G')
{
NMEA_RMC[3] = c;
k++;
// ------------------------------> k = 4
} else { k = 0;}
}
else if (k==4)
{
if (c=='G')
{
NMEA_RMC[4] = c;
k++;
// ------------------------------> k = 5
} else { k = 0;}
}
else
// if k = 5
{
if (c != 13)
// 13 is carriage return
{
NMEA_RMC[n] = c;
n++;
} else { GPS_OK = 1;}
}
}
}
}
/* ****************** spit GPS Sentence ***********************/
void SplitGPS()
{
char Working_GPS_Str[80];
strcpy(Working_GPS_Str,NMEA_RMC);
strcpy(Term,",");
atof(strtok(0, Term));
atof(strtok(0, Term));
// Set pointer regster to temperature register (it's already there by default, but you
delay_ms(50);
i2c_start();
i2c_write(TMP_RD); // Read from this I2C address, R/*W Set
msb= i2c_read();
lsb = i2c_read(0);
i2c_Stop();
i2c_stop();
if (b1 & HIH6130_STATUS_MASK) {
return FALSE;
}
/* now take the raw I2C data and stuff it into the 16-bit holding registers */
raw1 = (b1 & ~HIH6130_STATUS_MASK) << 8;
raw1 |= b2;
raw2 = b3 << 8;
raw2 |= b4;
raw2 >>= 2;
hih6130_raw_rh = raw1;
hih6130_raw_t = raw2;
hih6130_raw_rh = ((float) hih6130_raw_rh * 6.10e-3);
hih6130_raw_t = ((float) hih6130_raw_t * 1.007e-2) - 40.0; // convert to real temperature in degree celsius
return TRUE;
}
void TakeShot()
{
output_high(PIN_B4);
output_low(PIN_B4);
}
//// main Sub
void main() {
float Temp = 0.0;
enable_interrupts(int_rda);
enable_interrupts(global);
delay_ms(2000);
output_high(PIN_B5);
delay_ms(2000);
output_low(PIN_B5);
output_low(PIN_B4);
// set camera to 0
delay_ms(3000);
fprintf(UART, "%s\r\n", "This readings are taken at 7 seconds interval... ");
hih6130_request();
WHILE (1)
{
if(GPS_OK == 1)
{
output_high(PIN_B5);
temp = tmp102Read();
hih6130_get_data();
SplitGPS();
pre = (float)((101325.0*(pow((1-((2.25577e-5)* Alt)), 5.25588)))/1000.0) ;
// store in openLog
fprintf(UART, "UTC:%f Lat:%.4f%c Lon:%.4f%c FixQuality:%d",UTCTime,Lat,N_S,Lon,E_W,FixQuality);
fprintf(UART,
"
NumOfSat:%d
HDOP:%f
\r\n",NumOfSat,HDOP,Alt,Alt_Unit,WGS84,pre);
Alt:%f%c
WGS84:%f
Pressure:%.4fKPa
Alt:%f%c
WGS84:%f
Pressure:%.4fKPa
GPS_OK = 0;
delay_ms(2000);
}
}