IIT Kanpur Nano Satellite

Jugnu

Indian Institute of Technology Kanpur

 Objectives

• Demonstrate viability of Nano satellite platform for future experiments

• Design and develop a near IR camera system and test compression

algorithms

• Develop and evaluate GPS receiver for its use in satellite navigation

• Test indigenously developed MEMS based Inertial Measurement Unit

(IMU) in space

• Transmit beacon signal that could be received all over the world
Satellite Subsystems
 Jugnu Structure
< 3 Kg, 10 cm x 10 cm x 32 cm, Al alloy

Power
Avg. Power - 3.0 W, Body Mounted Solar cells, Li-ion
batteries

On-Board Computer
MSP430 Board-16 MHz, 8 KB RAM, 128 KB flash
ARM7 Board , 60 MHz, 64 KB RAM, 512 KB Flash

Attitude Determination and Control System

3 axis stabilized, 7 operational modes, automatic mode
switching, Attitude estimation accuracy: 1 degree
3-axis magnetometers, 4 Reaction wheels, 3 axis torquers

Thermal Control
Passive -MLI sheets, OSR, Thermal grease, Surface
coatings

Communication
Monopole Antennas, Amateur bands,
Data Downlink & beacon : 430-440 MHz
Uplink: 144-146 MHz

Payloads: GPS, IMU, Imaging

Ejection System
Indigenous spring based mechanism

Ground Station :
Autonomous tracking, monitoring and control of satellite
Estimated life: 1 year Yagi antenna array
 Near-IR Camera (Payload-1)
Specifications
Spectral Range 770-860 nm (Near Infrared)

Image resolution, GSD 197 meter x 197 meter

Region covered per
126 Km x 95 Km
image (700 Km Orbit)
Image Compression
1:3 - 1:8
Ratio
F Number 4

Image dimensions 640 X 480 pixels

Near IR Camera
MTF >60%

Salient Features
Board Processing-On Board Optics
• LUPA-300 CMOS sensor • Wavelet Transform with Run • MTF >60% for NIR at 50
from Cypress Length coding based compression lp/mm
• dsPIC for sensor control & • Dead Pixel, Fixed Pattern Noise • Field of View(diagonal): 12.5
config. and Non Uniform Pixel Response degree
Correction
• External SRAM for multiple • Selective control over image size • Number of Lenses in
images. assembly: 6 lenses
 GPS Receiver (Payload 2)
Specifications
Accuracy 20 meters
Number of channels 12 channels
Cold start time 5 minutes
Warm start time (with
existing Almanac or
2 minutes
with Satellite PRNs
provided)
RF Sensitivity: -135dBm for tracking
Antenna gain (inbuilt
25 dB
LNA) GPS Receiver along with
Maximum Power Patch Antenna
550 mW
Consumption

Salient Features
• Customized an open source software
• Almanac processing included
• Incorporated Doppler corrections
• Option for changing satellite PRNs and frequencies for faster satellite lock
• Patch Antenna with custom built cable and right angle MCX connector
 Inertial Measurement Unit (Payload 3)
Specifications
Accelerometer 0.02 m/sec2 (1 ), 1 KHz
Accuracy Bandwidth
•0.06 °/sec (1 ), 50 Hz
Gyro Accuracy
Bandwidth

Max. sampling rate 1 KHz

Initial Alignment <0.1 degree

FFT algorithm 512 point

Salient Features
• FFT On Board
• Control over sampling rate, selective sensor-axis data capture
• Raw Data Transfer Mode
• Temperature Compensation
• Static and Dynamic error corrections
 On Board Computer
Specifications
Feature OBC-1 OBC-2

Atmel AT91SAM7X
Microcontroller TI MSP430
(ARM7TDMI core)

Clock 16 MHz 60 MHz

8 KB RAM, 128 64 KB RAM, 512

Memory
KB flash KB Flash
µCOS (open
RTOS Salvo Pro
source) OBC 2 Board
File System on
EFFS (FAT16) EFSL (FAT16)
SD Card

Salient Features
• Triple Modular Redundancy(TMR) on SD-CARD
• TMR on Program memory for self error correction
• Software fault tolerance using checkpoints and watchdog timer based recovery
• Continuous Health monitoring
• Satellite Reprogramability Feature
 System Interfacing
Based on Analysis & Design Activity done so far (since Jan 2008)
 Attitude Determination and Control System
Control Modes
Detumbling Mode Bdot controller
Extended Kalman Filter with
Attitude Estimation Mode
magnetometer data
Maneuvering_Sun_Pointing PD Controller with feed
Mode forward torque Resolution 70 µ gauss
Stabilization Mode PID Controller HMR2300 TAM

Momentum Dumping Mode Bang-bang controller

PD Controller with feed
Maneuvering_Earth_Pointing
forward torque followed by
Mode
stabilization
Position Mode controller for
Ground Station / Target acquiring and settling on the Moment: 0.03 A.m2
Tracking Mode target and Rate controller for Torque Coils
tracking the target
Salient Features
• Attitude estimation accuracy : 1 degree
• Attitude estimation duration : < 1 orbital period
RPM: 8000
• Detumbling duration from 10 deg/s : < 2 orbital period MOI : 3.84 gcm2
• Autonomous mode scheduling and switching Reaction wheel assembly
 Ground Station and Communication
Parameters Uplink Telemetry Beacon
Frequency 145.980MHz 437.505MHz 437.275MHz
Tx power 20W (from GS) 1W 50mW
Data rate 1200bps 9600bps 12bps
Modulation FSK FSK OOK (Morse)
Satellite
monopole monopole monopole
antenna Ground Station Antennas
Gain
-5dB -5dB -5dB
(Minimum)

GS antenna 14 dB (2 crossed 20 dB (4 crossed 20 dB (4 crossed

gain yagi array) yagi array) yagi array)

Salient Features:
• Deployable monopole antennas.
• Full duplex communication
• Communication Protocol designed for adaptive Packet length
and baud rates.
Antenna Deployment Module
• Radio Beacon for amateur HAM operators
• Data logging for received signal strength and frequency offsets
 Ejection System
Specifications
Mass 3 -3.5 Kg

Material Al 7075T6

Separation Speed 1.5 m/sec

Natural Frequency(1st
249 Hz
mode)

Ejection System
Salient Features:
• Removable access panels
• Nylon string restrained locking mechanism with redundant heaters
• No external power requirement(Li-ion batteries)
• Multiple sensors for telemetry of ejection
• Teflon coated guide rails integrated with walls
 Future Directions

• Replacing imported COTS components with indigenously developed

components.

• Descendents of Jugnu acting as a standardized test bed for universities,

ISRO, and the industry for testing new space technologies.

• Re-examining ideas and techniques that were dropped due to lack of time,
funds, issues with component availability

• Deploying constellations of nanosatellites to perform commercially viable

tasks such as communication, remote sensing, etc.
 Project Management and Overall Guidance
Organisation IIT Kanpur ISRO

Testing Systems
Administration Purchase
Quality Control Integration

Subsystems
Faculty Faculty Faculty
..
Head Head .. . Head

Team Team .. . Team

.
Person No. Department

ME, EE, AE,

B. Tech. 25
CSE, CHE
M. Tech. ME, EE, AE,
10
or MSc. CSE,PHY
Project
05 ME
Assoc
Faculty
ME, EE,
Research 12
AE,CSE,PHY
Engineer
Technical
05 ME, AE, EE
Staff

ME, AE, EE,

Total 55+
thank you CSE, CHE