1/1/22, 3:54 PM A Study on Precision Alignment Measurement of Dual Thruster Module Using Deodrite

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Proceedings of the Korean A

Society
, 36 of Mechanical Engineers
11, pp. Vol. 2012
1399-1404, 1399

< applied thesis

> DOI http://dx.doi.org/10.3795/KSME-A.2012.36.11.1399 ISSN 1226-4873

A Study on Precision Alignment Measurement of Dual Thruster Module Using Deodrite

Hwang Kwon-tae
Gwi-Won Moon, Chang-Rae Cho, Lee Dong-Woo Lee Sang-Won
* Korea Aerospace Research Institutemain
, ** ( ) ice peg

A Study on Accurate Alignment Measurement of Dual Thruster Module Using

Theodolite
* * * * **
Kwon Tae Hwang , Guee Won Moon , Chang Lae Cho , Dong Woo Lee and Sang Won Lee
* Korea Aerospace Research Institute, ** i-spec Co.

(Received December 21, 2012 ; Revised August 22, 2012 ; Accepted August 22, 2012)

Key Words: Double Thrust Module( double thruster module ), Alignment Measurement( alignment measurement
), Theodolite( theodra
site ), Reliability Analysis( Reliability analysis
), KOMPSAT( multi-purpose satellite
)

Abstract: Since artificial satellites have mission performance and operation characteristics in space orbit, they have unrepairable characteristics.
Therefore, in order
. for the payloads used in satellites to function properly, it is necessary to assemble them correctly.
In addition, changes and abnormalities
. should not occur in extreme launch environments and space environments.
Alignment measurements
, are performed before and
․ after the launch environment test and space environment test to measure changes at the component and system level.
In recent years, non-contact dimensional
. precision measuring equipment for medium and large 3 industrial products has been developed.
One of. these devices, the theodolite measurement system, is widely used in the aerospace industry. .
In this paper, the angle of the dual thruster module used for attitude control of multi-purpose satellites is
was used to measure alignment and perform reliability analysis.

Abstract: Because satellites operate in space, it is impossible to repair them when they malfunction. Therefore, to
ensure the normal function of the payload used in the satellites, accurate assembly and installation of parts are crucial.
To prevent abnormal functioning in the extreme environments during launch and in space, it is essential to test
changes at the parts and system levels by performing alignment measurement before and after the launch environment
test and the space environment test. Recently, noncontact three-dimensional precision machinery for medium- and
large-sized parts has been developed. One of these is the theodolite measurement system, which is widely used in the
aerospace industry. This study measures the angle of the dual thruster module that is used to control the attitude of
KOMPSAT by using a theodolite, and alignment measurement and a reliability analysis are performed.

- symbol explanation
- One. Introduction
Attitude control and orbital control of current multi-purpose practical satellites
 : Cartesian coordinate measurement angle
The thruster used in the thrust is a small liquid propulsion engine.
t : Cartesian coordinate correction angle
The use of dual thruster modules for improved reliability
T : measurement coordinates
and the dual
. thruster module is the main (Primary) thruster
Q : quaternion rotation matrix
and wealth
(Redundancy) Modular form of thruster
Az : horizontal angle
(Azimuth)
It is assembled with a dual thruster and mounted
. on a satellite.
El : vertical angle
(Elevation)
The module consists of two thrust chamber assemblies.
class valve, mount, Thermostat, Temperature
2011 Annual
§ T his paper was published by the Korean Society Fall ConferenceEngineers.
of Mechanical (2011.
Transducer Standoff, Heater block consists of
One
1. 2.-4., EXCO) T his is a presentation paper
Ⓒ Corresponding Author, kthwang@kari.re.kr All. (1) The requirements of the dual thruster module are multi-purpose
2012 T he Korean Society of Mechanical Engineers From the system design standard requirements of the utility satellite

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1/1/22, 3:54 PM A Study on Precision Alignment Measurement of Dual Thruster Module Using Deodrite

1400 Hwang Kwon-tae, Moon Gwi-won, Cho Chang-rae, Lee Dong-woo, Lee Sang-won

The artificial satellite was. created in space orbit. and horizontal axis
(Horizontal axis) vertical with respect to
of the ground station without failure or damage during the planned lifetime.
It is a device that can measure the angle.and also, deodorizes
Posture control under control and mission according to design purpose The level has a built-in electronic level, and the
After the satellite is launched, repair height adjuster (Tilting screw) by adjusting
It is impossible. Extreme
. launch during the satellite assembly process. Make sure the light's vertical axis is in the opposite direction of gravity.
Under load and in space environment, performance degradation or abnormality
By doingmay
this,
occur.
you can set the zero point standard of the vertical angle. (2,3)
The launch environment test, the, space environment test, etc. Measuring sensors and devices that require precise alignment
It also conducts
. performance verification at the component level and Cubic mirror for (Cube) on the two mirrors using
Design by performing precise measurements before and after these testseach automatically(Auto-collimation) do the two sides
Calibration is performed to meet the requirements. around auto-collimation
b ecameBetween the Deodritesmutual collimation
To measure the direction of the thruster module, use a cube mirror (Co-collimation) to create a coordinate axis and measure
to form a coordinate axis and a thruster using a mirror Attach a mirror to the desired location and auto-collimate
Measuring direction and measuring
, dual thruster module Then, mutually collimating with the deodrite that measured the coordinate axes
Research to reduce errors that occur during the process is not By sharing vector information of horizontal and vertical angles through
It's raining. The auto-collimation method
. is the reflectance λ /4
In this paper, the measurement of the deodrite by distance in the face of more than
Fig. OneThe angle of incidence and the angle of reflection are
to perform reliability analysis on this measurement method. 0° to become A series of positioning the deodrites
Manufactured
,() in Goju Hanwha and used for multi-purpose utility satellites
say the process (4)

Precision alignment measurement for used dual thruster modules

was performed to suggest a method to exclude errors. 2.2 Deodrite coordinate system
The coordinate system of the deodrite is a rectangular coordinate system.
2. related theory becomes
, Z With the axis in the opposite direction to gravity,
It determines the X
axis and the
Y axis according to the law..
2.1 Deodrite Measuring Principle A tilting axis that measures a vertical angle using an angular coordinate system
the deodorant ˝
0.1 (decimal arc seconds) minutes of and a standing axis that measures horizontal angles
(Tilting axis)
resolution
(Resolution) encoder with (Encoder) measured with (Standing axis) 2 It has two rotational axes of .
vertical axis
(Vertical axis) Measure the horizontal angle based on The vertical angle depends on the vertical rotation of the deodrite.
opposite to gravity 0° in the direction of gravity
180° between
is measured at , and, the horizontal angle depends on the horizontal rotation of the lens.
La 0° to 360° is measured in the range. , Z axis and room
The angle formed by the directionFig.
vectoras
2 indicated in
together
Site/Elevation It is said , X axial and counterclockwise
angle made by Azimuth say .

2.3 Deodrite Measurement Theory

Measured in Deodrite Azimuth WowElevation
Fig. 1 Auto-collimation principle
Angles are used to make corrections or coordinate transformations useful.
It must be converted into the form of a direction vector in a Cartesian coordinate system.
and each x, y, z The factor for the axis is the expression
second
(One)
can be obtained using

  cos×sin
  sin×sin (One)
  cos
Fig. 2 Theodolite axis system (Azimuth and Site)

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A Study on Precision Alignment Measurement of Dual Thruster Module Using Deodrite 1401

Orthogonal face direction vector using cubic

3 mirror
Orthogonal planes when creating a coordinate system using2
Measure each and the direction vector of the other side is
food (2) By calculating the cross product as
can make

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1/1/22, 3:54 PM A Study on Precision Alignment Measurement of Dual Thruster Module Using Deodrite

            (2)

           
Fig. 3 Cube mirror coordination system
   
      
   ' ' ' '

             , x  , x    , x       , x      ' 
   '    '
  
               
  
  
            

  

             (6)
    
Measure the two faces of the cube mirror to create the coordinate axes.
If it is determined, it is caused by various errors such as processing and measurement errors.
Equations for T 1 and T 2 vectors requiring correction
It cannot be a perfect right angle because of .
(7) Quaternion correction is performed by applying the correction angle as
In sphere, quaternion in error correction (Quaternion) the enemy
If you calculate
Fig. 3 Finally, each axis is
accepted . Fig. 3 Measure two faces for a cubic mirror
Equations with T 1 ', T 2 ' and T 3 axes orthogonal to(8)
each
And
other
such
It is a figure that sets the coordinate axes by . T1
A calibrated coordinate system is created.
and T 2 direction vectors have an angle  that is not a right angle.
and formed
, through T 3 vector as reference axis '

and the correction angles t 1 , t 2 are can be obtained as     ∙         (7)

(3), (4) '

have.     ∙        

' ' ' '

  cos                 (3)        
' ' ' ' '

        '  '  '  '  (8)

       (4)
        

The coordinate system of the measured cube mirror(5)

is same as
This can be represented and, for the vector that needs correction 3. How to measure
expression (6) to apply a quaternion rotation using
can (5,6) 3.1 Measuring instruments and software
Used to measure the precision alignment of the double thruster module
       the device Leica of TM5100A 3 rod was used ,
    (5) For measurements using the automatic collimation
AMS-2 method,
measuring sheath
       temp was used . AMS-2 The measurement system is Korean port

'
For precision alignment measurement of satellites at the Korea Aerospace Research Institute
    ×sin Simultaneous use of multiple deodorants
'
to measure the precise alignment of the satellite and
    ×sin
'
interpret the results. (7) Fig. 4 is used to measure
    ×sin
' Deodrite and AMS-2 Show a schematic diagram of the system
  cos it paid off

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1402 Hwang Kwon-tae, Moon Gwi-won, Cho Chang-rae, Lee Dong-woo, Lee Sang-won

Table 1 Measurement results of cube azimuth and

elevation for various distances

Distance Azimuth Elevation

One 89.9999371637 90.0002548230

2 90.003295882 89.9999856818

3 90.0000472346 89.9999000933
4 90.0002170880 89.9999060005

5 89.9998348965 89.9997151139

6 89.9995824398 89.9996604996

7 89.9998295508 90.0000953287
2-3 m
Fig. 4 Leica TM5100A theodolite and AMS-2 alignment 8 89.9997645545 90.0002701553
system 9 89.9997348867 89.9998449920
10 89.9996847300 90.0001300213

Average 89.9998962133 89.9999762710

Range 0.0007471484 0.0006096557

Variance 0.00000000567 0.0000000442

St. dev. 0.0002380480 0.0002102251

One 90.0006283743 89.9998812258

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1/1/22, 3:54 PM A Study on Precision Alignment Measurement of Dual Thruster Module Using Deodrite
2 90.0003512403 89.9994854782

(a) (b) 3 89.9997560575 89.9997648982

4 89.9994336255 89.9998092337
Fig. 5 Photos of (a) Cube mirror and (b) DTM
5 90.0004857135 90.0000610487

6 90.0006060748 89.9997062159
3.2 Measurement object and measurement procedure
7 90.0003033181 89.9998958936
Find out the measuring precision of the deodrite by distance 3-4 m
8 90.0007758250 89.9999409968
Automatic collimation on the two-sided mirror of a precision-machined cubic mirror for
9 90.0003033640 89.9998854543
and to generate orthogonal coordinates by measuring through mutual collimation.
10 89.9996234120 89.9997599364
go , -Y After auto-collimation to the mirror
+X The deode of facets
Average 90.0002267005 89.9998190382
It was measured through light and mutual collimation..
Range 0.0013421995 0.0005755705
2-3, 3-4, 4-5 m each random within range 10 side Variance 0.0000002128 0.0000000242
Measurement was performed and reliability analysis. was performed.
St. dev. 0.0004613482 0.0001556847
silver temperature
21°±3, humidity
50%±5 in a clean room where One 89.9996011297 89.9995245596
to minimize the effect of temperature and humidity by measuring in 2 89.9995789161 89.9991393601
The measured
. precision cubic mirror was
Fig. 5(a) same as . 3 89.9993463468 89.9992094558
The measurement of the double thruster module is left on the thruster module. 4 89.9993759745 90.0000447537
Attach a cubic mirror to be used as a table shaft, and 5 90.0005761606 89.9995064312
By attaching a cotton mirror to the
3-4 incense
m measure in range 6 89.9999659205 89.9998153472
In the thruster. direction measurement, the face diameter was 7 89.9996306428 90.004350469
4-5 m
In order to compensate for the flatness error, 8 89.9992031647 90.0001546184
90° Measurements were carried out while rotating . 9 90.0001706899 90.0001654817
Attached dual thruster module Fig. 5(b) showed in . 10 89.9999030441 90.0003352204

Average 89.9997351990 89.9998330275

4. Measurement results and consideration Range 0.0013729960 0.0012956868

Variance 0.0000001772 0.0000002162

4.1 Measurement results by distance
St. dev. 0.0004209662 0.0004649427
By distance for precision machined cubic mirror -Y direction

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A Study on Precision Alignment Measurement of Dual Thruster Module Using Deodrite 1403

Table 2 Measurement results of DTM

DTM Azimuth Elevation

0° 120.1067488784 90.1152898375

90° 120.2578627438 90.5029918138

One 180° 120.0389739896 90.7049381825

270° 119.8525055094 90.4701800244

average 120.0640227803 90.4483499646
0° 120.0907650319 90.3386353665
90° 120.2723993985 90.5562331911
2 180° 120.0195105310 90.7130374119
Primary
270° 119.8474749060 90.4572912432
average 120.0575374669 90.5162993032
Fig. 6 Results of average and standard deviation 0° 120.1113085056 90.3333387161
90° 120.2611110809 90.5516786513

3 180° 120.0154515087 90.7159536386

270° 119.8568699110 90.4671411150
0.00004
average 120.0611852516 90.5170280303
0.00003

Results 120.0609151662 90.4938924327

0.00002

0.00001
0° 120.4153792458 90.0984245834
x is
A
0.00000
Id eal

2 -3 m
90° 120.6816603115 90.3434953723
Z
-0.00001 3 -4 m
One 180° 120.4001400101 90.7106245692
4 -5 m
-0.00002

-0.00003
270° 120.0579519427 90.3860301009
-0.00004 average 120.3887828775 90.3846436565
-0.00005 -0 .9 9 9 9 6
-0.00004
-0.00003
-0 .9 9 9 9 7
-0 .9 9 9 9 8
0° 120.3618743246 90.0225237393
-0 .9 9 9 9 9
-0.00002

-0.00001 -1 .0 0 0 0 0 90° 120.8035450147 90.3337490353

-1 .0 0 0 0 1
X Ax is
0.00000
-1 .0 0 0 0 2 2 180° 120.3869767158 90.6437913146
0.00001
-1 .0 0 0 0 3
Y Ax is
Redundancy
0.00002
-1 .0 0 0 0 4 270° 119.9705860605 90.4238416710

average 120.3807455289 90.3559764401

Fig. 7 Measurement results on 3-D axis
0° 120.3519173181 90.0591135330
90° 120.8225192660 90.3888120293

surface mirror measurement result

Table 1 indicated on the. satellite 3 180° 120.4173671037 90.8016789396

precision alignment measurement 270° 119.9780214791 90.4479146854

2 to range
5m between 1m liver
average 120.3924562917 90.4243797968
Measurements are performed at intervals and for each
Azimuth Wow Results 120.3873282327 90.3883332978
Elevation decimal point 10 indicated the place, and each
,

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1/1/22, 3:54 PM A Study on Precision Alignment Measurement of Dual Thruster Module Using Deodrite
Mean, Data Range Sampling
, Variance ,Calculate the sample standard deviation
Fig. 7 is the measurement result by Azimuth
distance.W ow
Elevation second
showed . Table 1 By distance with the result of
ceremony After finding the direction cosine using
(One)
measured Azimuth WowElevation mean and standard deviation of
3As a result displayed on the dimensional coordinate axis, the distance increases as the distance increases.
cast Fig. 6 shown in . Azimuth WowElevation evaluation of
It can be seen that the dispersion degree of the measurement data increases.
The mean value does not show any particular trend as the distance increases.
It was found to show similar values, but the variance 4.2 DTM Measurement result
showed an increasing trend . 2-5 m having full Table 2 Is 3-4 m Between the main thruster and the leek
Results of reliability analysis on data 99% with reliability condolences to the force 90° Rotating each time 3
Azimuth Is 89.99995°±0.00020°, Elevation silver Divide the average value3of each measurement result and each measurement result

89.99988°±0.00014° came out with

. 95% reliability is Azimuth is the result . Azimuth WowElevation Value is the main thrust
Is 89.9995°±0.00015°, Elevation silver
89.99988°± 0.00011 creeper 120.061°, 90.494° appeared as a secondary
, thruster
The result of .the reliability analysis came
2-5out
m as side between Is 120.387°, 90.388° The result of measurement
. by distance
The determined data is ±0.1, which is the precision alignment requirementThe dispersion
of the satellite.degree is different when measuring the dual thruster module than Kwachi
~ ±1° Satisfying the reliability to judge It can be seen that there is a small increase
. in the double thrust
energy
, and based on this, reliability, double thrust The process of installing the mirror on the module
90° rotating
and
Precision alignment measurements were performed on the base module. It is considered to be a difference in the difference
. Fig. 8 silver double

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1404 Hwang Kwon-tae, Moon Gwi-won, Cho Chang-rae, Lee Dong-woo, Lee Sang-won

The conclusions obtained from this are as follows.

(One)Measurement results by distance
-0.02

-0.01 It appears that the variance for overvalues ​s lightly increases.

is
x
A 0.00
burned out
Z
(2) 2-5 m Reliability analysis for all data
0.01

As a result, the required requirement for precise alignment of satellites is

0.02
-0.48 0 .8 4

-0.49 0 .8 5 ±0.1 to ±1° was found to be sufficient to measure

0 .8 6
All.
-0.50
Measured point of Primary
X Axis 0 .8 7 Measured point of Redundancy
-0.51
Y Axis
(3) Measurement result of double thruster module
Average point of Primary
-0.52
0 .8 8
Average point of Redundancy
Results of Primary
Results of Redundancy When the mirror is rotated, the normal vector draws a circle.
In order to be measured
, and to exclude the mounting error of the mirror
Fig. 8 Measurement results of DTM on 3-D axis Centroid of
3 a circle passing through
3 a point after an arbitrary rotation measurement
The direction should be defined as the thruster normal vector.
The measurement results for the thruster module
3 are displayed on the dimensional coordinates.
The graph shown is the main
. thrust shown in black.
creeper90° Green for the angle
4 of the dog as it rotates
references
What is denser than the secondary thruster indicated by
It can be seen that
. this is attached to the thruster for measurement (1) Lee, ST, Lee, SH, Choi, YJ and Lew, JH,
is the condition for each thruster that occurs when attaching to the face mirror.
1997, "Development of Attitude Control Thruster for
It is shown as an error that appears according. to 90° rotation KOMPSAT," Journal of the Korean Society
It can be seen that the measurement is made by drawing a circle by Propulsion Engineers, Vol. 1, No. 2, pp. 67-73.
Yes, it. is also the cause of the3dispersion of points for each angle. (2) Yoon, YS, Park, HC, Son, YS and Choi, J.
Rho 90° Coming from not being able to rotate exactly Y., 2003, "A Study of Spacecraft Alignment with
It is due to errors and errors that occur during measurement. Theodolite," Journal of the Korean Society for
It is considered that the
. error of the current mirror attachment Aeronautical and Space Science, Vol. 31, No. 10,
to get rid of 180° After rotation, measure the two vectors pp.105~111.
We are taking the method of finding the average vector for (3) Yoon, YS, Park, HC, Son, YS and Lee, B.
180° Force to make accurate rotation in the rotation process G., 2004, “Alignment Measurement for Communication
As a result,
, the dispersion increases and the measurement
, Satellite Antenna," Journal of the Aerospace Engineering
Errors occur in the process. . and Technology, Vol. 3, No. 1, pp. 117-125.
In order to exclude errors in the installation, (4) Castaner, MS, 2009, “Rotation of Patterns in the
A circle passing
3 through three points, Measurement of COMS Antennas," ETSI ed
Find the center of the circle
, so that the center direction of this circle is the actual weight.
Telecommunication.
It is reasonable to define the method as the normal vector of the logger. (5) Simo, S., 2007, "Notes on Quaternions," Technical
is presumed to be report, pp. 1-6.
(6) Eero, N., 2008, “Accelerometer Configurations for a

conclusion Gyroscope Free Inertial Navigation System,"

5.
Independent Research Project in Applied Mathematics,
In this paper, the distance using the deodrite pp.1~19.
After verifying the reliability of the measurement by performing a star measurement
(7) Satellite Technology Center, 2007, "AMS-2 User

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1/1/22, 3:54 PM A Study on Precision Alignment Measurement of Dual Thruster Module Using Deodrite
For the dual thruster module used in multi-purpose satellite Manual," Korea Aerospace Research Institute, pp.
Precision alignment measurements were performed
, on the 1-76.

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