AE2111-II - Aerospace Design and Systems

Engineering Elements II
Lecture S1
Spacecraft Attitude Determination & Control System

A. Cervone – Academic Year 2021/22

1
Course Lecturers for the Spacecraft Part

Angelo Cervone (Space Systems Engineering)

 E-Mail: A.Cervone@tudelft.nl
→ For questions on the course structure and on the spacecraft part
related to Attitude Determination and Control Systems

Stefano Speretta (Space Systems Engineering)

 E-Mail: S.Speretta@tudelft.nl
→ For questions on the spacecraft part related to Communications

2
How Can You Find Me?

In my office :
Room Number 8.09 , Phone Number 015 27 85326

By E-Mail :
A.Cervone@tudelft.nl

3
Lecture Plan
S1. ADCS – Introduction
Attitude Fundamentals
Spacecraft
ADCS Architecture & Design Process Attitude
Determination &
S2. ADCS Sensors Control System
ADCS Actuators

S3. Telecommunications - Introduction

Telecommunications – Fundamentals
Link Budget Spacecraft
TeleCommunications
S4. Telecommunications Technologies
Telecommunications Architecture

S5. Recap & Exercises

( including a few new info, not just 100% recap of “old” things!) 4
Study Material on Brightspace

1. Lecture Slides (in the Lectures menu)

 Before the lecture: without solutions to in-class exercises

 After the lecture: complete slides (including solutions to in-class exercises)

 There is no reader. In principle, attending the lectures and studying the slides is
sufficient to prepare for the exam and complete the course.

2. A selection of old exams (with solutions, in the Assignments menu)

 Starting from A.Y. 2019-2020

5
Learning Objectives – ADCS System
1. Justify the Attitude Determination & Control System (ADCS) as a key subsystem of
a spacecraft and characterize its interactions with other subsystems

2. Apply spacecraft attitude fundamentals:

• Represent attitude and its transformations
• Use kinematic and dynamic equations of motion
• Illustrate the principles of attitude determination and control

3. Describe the functionalities required from an Attitude Determination & Control

System and how they influence the design

4. Describe the building blocks of an Attitude Determination & Control System

5. Analyze specific Attitude Determination & Control System architectures

6. Apply a process to design an Attitude Determination & Control System

6
Reference Books – ADCS System

The use of these books is not mandatory. The list is provided as a reference to help and support you in
your study.
• Arbinger C., Lübke-Ossenbeck B., Attitude Control , Section 4.5 in “Handbook of Space Technology”,
John Wiley & Sons (2009)
Provides a primer to attitude fundamentals and a good overview about recent attitude sensors and actuators.

• Fortescue P., Stark J., Swinerd G., Spacecraft Systems Engineering (Third Edition), John Wiley & Sons
(2003)
Consistent and good text book in general and for attitude in particular. Recommended reading.

• Wertz J. R., Larson W. J., Space Mission Analysis and Design (Third Edition), Microcosm, Inc. (1999)
The classics on Space Mission Analysis and Design. Overall, the attitude chapter 11.1 is not very detailed.
However, strong on sizing of actuators.

• Sidi, M.J., Spacecraft Dynamics & Control, Cambridge University Press (1997)
Excellent text book. However it is mostly about dynamics and control, less on design and hardware.

7
Contents – ADCS System

1. Introduction

2. Fundamental Principles

3. ADCS Architecture and Design Process

4. ADCS Sensors

5. ADCS Actuators

8
Part 1
Introduction

9
Why Do We Need ADCS?
• ADCS = Attitude Determination and Control System
 Stabilizes the spacecraft
 Orients the spacecraft in the desired direction
 Counteracts external disturbance torques acting on the spacecraft
 Senses the orientation (rate) of the spacecraft relative to a given reference system
• Determination: Sensors; Control: Actuators

10
Space Engineering: Key Functions & Drivers

Payload Subject

Command,
Determine and Control,
Launcher Process data
control attitude Communications,
Mission & Ground
Provide structural
Communicate Operations
integrity
Orbit
Determine and Maintain allowed
control orbit temperatures

Provide power
Spacecraft bus Driver from outside the bus
Driver internal to the bus

11
Space Engineering: Key Functions & Drivers

Payload Subject

Command,
Control,
Launcher ADCS Process data
Communications,
Mission & Ground
Provide structural
Communicate Operations
integrity
Orbit
Determine and Maintain allowed
control orbit temperatures

Provide power
Spacecraft bus Driver from outside the bus
Driver internal to the bus

12
Systems Engineering Tools: The N 2 Chart

Outputs (horizontal)

Inputs (vertical)

13
Where Do We Stand?
From previous courses, you should be able to answer the following questions…
1. What is “attitude”?
Attitude is the orientation of a spacecraft with respect to a certain reference frame
2. What is the difference between attitude “determination” and “control”?
Attitude determination is the process of measuring and computing the attitude.
Attitude control is the process of orienting the spacecraft in a specified, predetermined direction
based on the determined attitude.
3. How can you change the angular momentum of a rigid body?
The angular momentum is constant in an isolated system. It can be changed by torques (internal or
external) acting on the system.
4. What types of attitude control do you know?
Spin stabilization, 3-axis stabilization, gravity gradient stabilization, magnetic stabilization
5. Which attitude sensors and actuators do you know?
Sensors: Sun/Earth/Star sensors, magnetometers, rate gyros.
Actuators: reaction wheels, magnetic torquers, thrusters.
14
ADCS System Requirements
Design starts by establishing what is needed
(not what is wanted!)
Functional
Requirements

Non-Functional
Needs Requirements
Requirements

Mission
Requirements
and Constraints

15
ADCS Functional Requirements
ADCS functional requirements originate from other subsystems
or mission elements
Originator Type of Requirement Accuracy
Subsystems
Power Orientation of solar array Rough
GNC Orientation of thrusters Accurate
Communications Orientation of antennas Accurate
Payloads
Remote sensing, Orientation of instruments, slew maneuvers, target Rough to Very
scientific tracking, provision of attitude data for post-processing accurate
Operations
Safe mode Orientation of solar arrays, attitude stabilization Rough

 In a similar way, there will also be requirements originating from

the ADCS to other subsystems or mission elements! 16
ADCS Non-Functional Requirements
ADCS Non-Functional requirements are related to its general performance
 Accuracy (pointing precision with respect to the desired angle)
How precise is the ADCS in setting a certain satellite attitude?
Example: The attitude pointing accuracy shall be better than 0.1 3s
(In 99.7% (3s) of the cases, the accuracy is better or equal to 0.1)

 Stability or Jitter (allowed angle deviation in a fixed time interval)

How good is the ADCS in maintaining a certain attitude?
Example: Cryosat shall have a pointing stability better than 0.005º for 0.5 s

 Agility or Maneuvering Rate (angular rate to change between two different

attitudes)
How fast is the ADCS in modifying the satellite attitude?
Example: The German SAR-Lupe satellites shall have a maneuvering rate of 1.33 /s 17
Mission Requirements and Constraints
 Mission Requirements
 Cost
 Schedule
 Reliability
 Compatibility (to other subsystems, to standards, etc.)
Example: The Attitude Determination & Control System shall have a reliability of 95% over its first
10 years of life

 Constraints
 Mass/power/volume/thermal budgets
 Required orbit
 Allowed number of single points of failure (how many single
component failures shall be manageable?)
Example: The ADCS shall have no single points of failure
18
(the failure of any single component shall be manageable without losing the system)
ADCS System Design Trades
Requirements and constraints drive several ADCS design trades…

Needs Requirements Design Trades

Attitude Control On-orbit or Type and Type and

Type Ground Attitude Number of Number of (…)
(3-axis, spin, …) Determination? Sensors Actuators

19
Part 2
Fundamental Principles

20
Attitude Coordinate Systems
Attitude: orientation of a body-fixed system with respect to a reference system
Body-Fixed System anchored with the body
Yaw axis (w) points to Earth u
Roll axis (u) points to velocity vector
Pitch axis (v) points to “right wing”
w
v
Reference System independent on the body attitude
Example 1: Inertial geocentric system (origin = Earth center)
Inertial Geocentric
x-axis: points to the vernal equinox (first point of Aries) System

z-axis: points to the Earth’s North Pole

y-axis: forms a right-handed system with x and z axes
Example 2: Orbit system (origin = satellite position in orbit)
z-axis: points to Earth’s center (Nadir) Orbit
Systems
y-axis: points to the negative orbit normal
21
x-axis: forms a right-handed system with y and z axes
Attitude Coordinate Systems
Characteristics of all attitude coordinate systems (body-fixed and reference):
Three-Dimensional
Cartesian
Right-handed
Origin is not relevant (only rotations are important, not translations!)

If the origin of the body-fixed

system is translated, the angles
between the axes stay the same!!

22
Attitude vs. Orbital Position
Attitude: spacecraft orientation in space (three angles)
Orbital Position: spacecraft location in space (one point)

Different functions  Different sub-systems ! This Course

 ADCS (Attitude Determination & Control System)

 GNC (Guidance, Navigation & Control)
OK
Same attitude
(w.r.t. inertial
geocentric
In many practical cases, knowing the system)
attitude is NOT enough if you don’t Different
know the orbital position too !! orbital
position
NO
23
Coordinate Transformations
Vector a in the
 au   ax  reference system
   R   R
aB   av   AB  a y   AB aR
 aw   az 
Generic vector a in
the body-fixed system
Transformation Matrix ( 3 x 3 )

 R  B R 1  R T 
aB  AB aR  aR  AR aB   AB  aB   AB  aB
 ABR    ABR 
1 T
Since ABR is a rotation matrix 

In this course, we will see two ways to derive the transformation matrix:
Direction-Cosine Matrix
Euler angles
24
Direction-Cosine Matrix
In this case, the transformation matrix is expressed as follows:

 ax   u x ax  u y a y  u z az  ux uy uz 
 R     R  
aB  AB  a y    vx ax  v y a y  vz az   AB   vx vy vz 
 az   wx ax  w y a y  wz az   wx
 wy wz 

Direction-Cosine Matrix (DCM)

Each element of the matrix is the cosine of the angle between one axis of the body-fixed system and one
axis of the reference system. Examples:
• ux is the cosine of the angle between the u -axis (roll axis) and the x axis of the reference system
• vz is the cosine of the angle between the v -axis (pitch axis) and the z axis of the reference system
• wy is the cosine of the angle between the w -axis (yaw axis) and the y axis of the reference system
25
Euler Angles
In this case, the reference system is obtained from the body-fixed one by a set of successive
rotations around one of the body-fixed system axes. Any coordinate system transformation
can be represented by a maximum of 3 of these rotations.

Rotation around u -axis with angle j (roll):

1 0 0 
 
Au   0 cos  sin  
 0  sin  cos  
  u

Rotation around v -axis with angle q (pitch):

 cos  0  sin  
  w
Av   0 1 0  v
 sin  0 cos  

Rotation around w -axis with angle y (yaw):
 cos sin 0 Combined vector rotation:
    
Aw    sin cos 0 aR  ARB aB  Au   Av   Aw   aB
 0 0 1 
 26
Direction-Cosine Matrix vs. Euler Angles
Transformation Matrix
Representation
Direction-Cosine Matrix (DCM)
Euler Angles
Strengths Weaknesses
 No singularities  No immediate intuitive
meaning
 No trigonometric
operations required  More storage space
required (9 parameters
are needed)
 Immediate  Possible presence of
“physical” singularities
visualization of the
spacecraft attitude
 Less storage space
required (only 3
parameters needed)
27
Problem – Body-Fixed System Axes
You are designing the ADCS System for an Earth Observation satellite. The main
requirement is to ensure maneuverability to allow for side looking. Around which axis do
you have to rotate the satellite?
Assume that the observation instrument points in the direction of the yaw axis.

Rotation that allows for side looking is around :

(A) Roll

(B) Pitch

(C) Yaw

Rotations around the yaw axis do not change the field of view of the instrument.
Rotations around the pitch axis change the field of view, but towards directions that
will be (or have been) already covered during the satellite orbital movement.
28
Problem – Euler Angles
For a certain satellite, the transformation from the body-fixed system to the reference
system is obtained by means of two successive rotations:
1) A rotation of 90 around the w - axis (yaw);
2) A rotation of 90 around the u - axis (roll).
To which reference system axis is parallel a vector that is along the v - axis (pitch) in
the body-fixed system?

Vector in the pitch direction

(A) x -axis

(B) y -axis

(C) z -axis
v’ v” y
u’ u” x
w’
Rotation of 90 Rotation of 90
around w around u

w” z
29
Problem – Euler Angles (continued)
For a certain satellite, the transformation from the body-fixed system to the reference
system is obtained by means of two successive rotations:
1) A rotation of 90 around the w - axis (yaw);
2) A rotation of 90 around the u - axis (roll).
To which reference system axis is parallel a vector that is along the v - axis (pitch) in
the body-fixed system?
Transformation matrix:
1 0 0   cos 90 sin 90 0   1 0 0   0 1 0   0 1 0 
       
ARB  Au   Aw     0 cos 90 sin 90    sin 90 cos 90 0    0 0 1   1 0 0    0 0 1 
 0  sin 90 cos 90   0 0 1   0 1 0   0 0 1   1 0 0 
 

Vector along the v -axis in the body-fixed system:

0  0 1 0   0   A NOTE:
          The order of rotations is reversed in
aB   A   aR  ARB aB   0 0 1   A    0 
0 1 0 0 0   0  the transformation matrix!
       (first rotation is in last place)
30
Attitude Determination
Typical procedure for the attitude determination of a satellite (simple case):
1. Measure two non-parallel unit vectors a1B and a2B in the body-fixed system
Example: one vector from a Sun sensor and one from a Star sensor
2. Compute the same vectors a1R and a2R in the reference system
Example: by means of a model that tells where the identified star and the Sun are, at that
moment, in the reference system
3. Build two sets of mutually perpendicular vectors:
   
qB  a1B qR  a1R
     
rB  a1B  a2 B rR  a1R  a2 R
     
sB  qB  rB sR  qR  rR

4. Calculate the transformation matrix from the two sets of vectors:

            T
 qB rB sB   ABR q R rR s R   ABR  q B rB s B   q R rR sR 

 In this simple deterministic procedure, any errors on the measured or computed

vectors have a big impact on the computed attitude. To mitigate the problem, more than
two vectors are (redundantly) measured and a statistical (or “stochastic”) method is used
31
to determine the attitude (least squares, Kalman filter, etc.)
Deterministic vs. Stochastic Methods
Method Strengths Weakness

Deterministic • Pure algebraic • Limited to cases where 2

• Straightforward to implement independent vectors are
(example on the next slide) available
• Errors in vectors directly
affect attitude solution
Stochastic: • Good and stable attitude • No errors in the dynamic
Least-squares solution achievable model accounted for
• Less suited for real-time
processes
Stochastic: • Well-suited for sequential and • More computationally
Kalman filter real-time processes intense
• Able to accounts for dynamic • Some tuning is necessary
model uncertainties
• Optimal solution under certain
conditions

32
Problem - Attitude Determination
In order to minimize the propagation of measurement errors, what is the optimum angle
between the two non-parallel unit vectors used for deterministic attitude
determination?
The optimum angle is :
(A) As small as possible ( < 90 )
(B) = 90 (perpendicular vectors)
(C) As big as possible ( > 90 )

Remember that a set of mutually perpendicular vectors has to be built from the two
measured unit vectors a1B and a2B :
 
qB  a1B
  
rB  a1B  a2 B
You don’t need to perform this operation if a1B and a2B
   are perpendicular (rB is already taken equal to a2B )
sB  qB  rB
Less operations  Less error propagation sources!
33
Attitude Control Architecture
From ground operations or an onboard algorithm

Control

Determination
Central Processing
Unit (CPU)

34
Attitude Sensor Errors
 Systematic Errors (bias, scale): can be largely
compensated, if their origin is known and a
model of the deviation is available
Measured Value Scale
• Manufacturing offset (example: mechanical
tolerances)
• Imperfect calibration (example: optical Ideal
Bias
tolerances) Measurement

• Secondary effects (example: temperature

offset) True value

Noise
 Random Errors (noise): can not be
compensated, but their effects can be reduced
by averaging or filtering techniques
• Measurement noise (example: thermal noise)
• Data representation (example: format)
35
Absolute vs. Relative Attitude
 Absolute Attitude: based on the direction of two non-parallel unit vectors in the
two coordinate systems (body-fixed and reference).
Examples of measurable attitude vectors :
• Earth’s magnetic field direction
• Direction vector from the spacecraft to Sun, Earth, a star, another satellite

 Relative Attitude: based on the satellite attitude at a certain (initial) moment and
the satellite rotation rates with respect to a reference system (assumed known at
any instant of time from measurements).
• Measurements independent on external sources, thus continuously available
• Periodic alignment with absolute attitude measurements is needed to avoid drifts

36
Attitude Kinematics
The way how the attitude of a satellite changes in time is described by the
kinematic equations of motion:

 0 w v   u x uy uz 
d R  
AB    ABR    w 0 u    vx vy vz 
dt
 v u 0   wx wy wz 

• wu , wv , ww  angular velocities of the satellite around the corresponding axes

(u , v , w ) of the body-fixed system

 Given the initial transformation matrix and the angular velocities wu , wv , ww

(as functions of time), this differential equation can be integrated to obtain the
transformation matrix as a function of time 37
Attitude Dynamics
The way how the attitude of a satellite is affected by disturbance torques is described
by the Euler equations of motion:
Body-fixed system Inertial system
 u  d  
d      H  M
H   v   H   M dt
dt  
 w
• M  disturbance torques acting on the satellite
• H  angular momentum vector, depending on the inertia tensor I :
 u   I xx I xy I xz   u 
      
H  I   v    I yx I yy I yz    v 
   I I zy I zz   w 
 w   zx
38
Disturbance Torques
Possible disturbance torques acting on the satellite (for more details, go back to the
Aerospace Design and Systems Engineering Elements I course):

1. Gravity Gradient Torque

Due to a variation of the gravitational field along the spacecraft
2. Aerodynamic Torque
Due to an unbalance of aerodynamic pressure on different sides of the spacecraft
3. Solar Radiation Torque
Due to an unbalance of solar radiation on different sides of the spacecraft
4. Magnetic Torque
Due to the magnetic field to which the satellite is exposed
5. Internally generated torques
Example: torque generated by mass expulsion, from thrusters or other components
 NOTE: these torques can also be used to control the attitude, not only to “disturb” it ! 39
Problem - Attitude Dynamics
The Meteosat satellite, shown in the figure, is axially symmetric around the w axis, and
spins around the same axis at an angular velocity ww . Determine the satellite dynamics in
absence of disturbance torques around the w axis.
Euler equation in the body-fixed system:
 u   u   u   u  w
d     d      
H   v   H  I   v    v   I   v    M
dt   dt      
 w  w   w   w

Due to the satellite symmetry :

 I xx 0 0
 
I  0 I yy 0  , I xx  I yy
 0 0 I zz 


Euler equation component along the w axis:

d d
I zz  w  uv  I yy  I xx   M w  0  w  0  w  constant
dt dt
40
Problem – Satellite Dynamics
Assume that the Meteosat satellite is spinning around the w axis at an angular
velocity ww . From a certain moment of time, a constant disturbance torque Mu is
applied around the u axis.
How does the spinning velocity ww influence the dynamics of the satellite around the
u axis ?
w
The satellite is more stable around the u axis when:

(A) ww is higher
ww
(B) ww is lower u

(C) ww does not influence the dynamics around the u

Mu
axis
 Let’s demonstrate this result mathematically, by
means of the Euler equations of motion… v
41
Problem – Satellite Dynamics (continued)
From satellite geometry:
 I xx 0 0
  w
I  0 I yy 0  , I xx  I yy , I zz  I xx
 0 0 I zz 

ww
Euler equation in the body-fixed system:
 u   u   u   u  u
d     d      
H   v   H  I    v     v   I    v    M
dt   dt      
 w  w   w   w
Mu
Components along the three axes:
d v

 xx dt u  vw  I zz  I yy   M u
I 

 d
 I yy  v  uw  I xx  I zz   0
 dt
 d d
I 
 zz dt w

   
u v  I yy  I xx   0 
dt
w  0  w  constant
42
Problem – Satellite Dynamics (continued)
Using Iyy = Ixx , components along u and v axes can be re-arranged as:
(homework exercise: demonstrate this!)
2  I xx  I zz 
2
 d2
 2 u  w u  0 w
 dt I xx 2

 d    I xx  I zz   0
 dt v w
I xx
u
ww


u
Solving for wu these differential equations, with
initial conditions wu (0)=0 and wv (0)=0 :
(homework exercise: demonstrate this solution!) Mu
Mu  I I 
u t    sin  w xx zz t 
w  I xx  I zz   I xx  v

Angular velocity around the u axis is perturbed by an oscillation with

amplitude inversely proportional to the spin angular velocity ww
High ww  Smaller oscillation amplitude 43
Part 3
ADCS Architecture and Design Process

44
Functional Analysis – General Concepts
The first step to define the architecture of a system is represented by its functional
analysis

 A function is a process that transforms inputs into outputs. It describes an action

taken by the system or one of its elements.

 A function is always expressed by a verb (usually followed by a noun)

 A functional analysis translates system requirements into:

• Functional areas, sequences and interfaces
• Specific design requirements (quantitative or qualitative)

 Functional analysis is performed by means of various tools:

• Functional Breakdown
• Functional Flow Block Diagram
45
• Functional Architecture
ADCS Functional Breakdown – Example
The Functional Breakdown is a tree which breaks down functions into lower and lower
levels, until a sufficiently deep structure is achieved.
Each of the lower elements must be part of the higher level elements.

Attitude

Enable ADCS on Reconstruct

Spacecraft attitude on-
ground and
provide support
Determine Guide and control Provide attitude
Attitude attitude Interfaces
Sensors Actuators Power
Algorithms Guidance Data
Processing hardware Algorithms Mechanical
… Processing hardware Environmental
… …

46
Functional Flow Block Diagram – Example
The Functional Flow Block Diagram is a time-sequenced
step-by-step representation of the functions accomplished
by a given system or component to deal with a certain
subject.
Example for a generic attitude control sensor:

1.0 2.0 3.0 Bits

Voltage Voltage
Subject Sense angle or Convert Convert Voltage
rate measurement to Bits
Sensor Sensor Analog/Digital

4.0 5.0 6.0

Data Data Data
Screen digital Filter Determine
measurement measurement attitude
Processor Processor Processor 47
ADCS Functional Architecture – Example
The Functional Architecture combines the information provided by the Functional
Breakdown and the Functional Flow Block Diagrams, to provide a comprehensive description
of the functions, interactions and needs of a system.

Subsystem Interfaces

Provide attitude to Receive and

other systems process guidance

Sense angles and Determine Determine Control

rates attitude Input
Dynamic
Environment

Activate Actuators
Attitude Control Subsystem
48
Spacecraft Operational Modes
A spacecraft and its ADCS usually have different operational modes. Examples:
 Rate reduction (or de-tumbling) mode
• During the chaotic tumbling phase, after separation from the launcher
 Nominal operational mode (under normal conditions)
 Sun pointing mode
• When the spacecraft loses its position in space and needs to find the location of Sun
again
 Orbit correction mode (during orbit changes)
 Safe mode (in case of problems)
• In safe mode, it is recommended to use different (dedicated) hardware components
and algorithms
• Other modes can also have dedicated hardware or algorithms
ÞTransition between two different modes is done through automated onboard
procedures or by tele-command from ground 49
Risk and Redundancy
 Risk analysis is a detailed investigation of the requirements and constraints in order to
identify the potential technical risks, their severity and their probability of occurrence
 The most severe and/or probable risks shall be managed through an accurate risk
management plan
 Key items in a good risk management plan:
• Failure Mode Analysis (What happens if… ? )
• Redundancy  very important for the ADCS System!
• Fault Detection, Isolation and Recovery (FDIR) techniques

A good design is a balance

between risk and performance !

50
ADCS Design Process - Overview
(from Wertz & Larson, Space Mission Analysis and Design )

51
ADCS System Verification
The Attitude Determination & Control System is one of the most complex spacecraft
subsystems, and the major responsible for spacecraft failures in orbit (≈32% of them are
caused by ADCS failures!)
ÞOn-ground verification of ADCS proper performance is crucial !!
 Verification is the final step of the design process of a system
 However, verification activities take also place during the design process, not only at its end
 “Verification” means that each requirement is individually checked, to “verify” that it
has been met by the design
 Depending on the requirement, different verification methods can be used:
1. Analysis
2. Software simulations
3. Measurement or inspection
4. Test (on the spacecraft or in a specific test bench)
5. Hardware-in-the-loop testing (HILT) 52
ADCS System Verification
(from Arbinger & Lübke-Ossenbeck, Attitude Control in “Handbook of Space Technology”)

(Electro-Magnetic Compatibility)
(Electro-Magnetic Interference)

53
Design Process Output: the Spacecraft
Example – the BIRD spacecraft
• Bi-spectral Infra-Red Detection (BIRD)
• Key mission objective: detection of hot spots
(fires) on the Earth’s surface
• Bus:
 Mass 92 kg, average power 60 W
 Dimensions 62x55x62 cm3
• Main ADCS modes:
 Sun-Pointing
 Earth-Pointing (nominal)
 Safe Mode
• Key ADCS requirements:
 Pointing accuracy of 2 mrad per axis
 Jitter (random oscillation) of 1.5 mrad/s
 Pointing knowledge better than 0.1 mrad
54
ADCS Architecture of the BIRD Spacecraft

Why all these

different ADCS
sensors and
actuators?

(To be continued…)
55
Thank you! Questions?

Angelo Cervone
Space Engineering Department
Delft University of Technology

Your feedback is welcome!

56