Sistemas Embarcados de Tempo Real para Simulação, Estimação e Controle de Atitude de Nanossatélites

Francisval G. Soares; Kurios I. P. M. Queiroz; Samaherni M. Dias; Martins, A. M.

doi:10.20906/SBAI-SBSE-2023/3888

Francisval G. Soares Programa de Pós-graduação em Engenharia Elétrica e de Computação, Universidade Federal do Rio Grande do Norte, RN
Kurios I. P. M. Queiroz Departamento de Engenharia Elétrica, Universidade Federal do Rio Grande do Norte, RN
Samaherni M. Dias Departamento de Engenharia Elétrica, Universidade Federal do Rio Grande do Norte, RN
Martins, A. M. Departamento de Engenharia Elétrica, Universidade Federal do Rio Grande do Norte, RN

DOI: https://doi.org/10.20906/SBAI-SBSE-2023/3888

Keywords: Real-time simulator, Hardware in the Loop, Kalman filter, cubesat, quaternions, embedded system

Abstract

This work proposes a real-time simulator, based on the Hardware-in-the-loop technique, for the Attitude Determination and Control System of a cubesat. With the purpose of being a low-cost solution, it is composed of two single-board computers available on the market, one of them simulates the dynamic models of attitude and orbit propagation, as well as cubesat sensing (magnetometer and sun sensor) in space environment and the other to receive the firmware developed for cubesat. The first makes use of open libraries to simulate the spatial environment that cubesat is in from a certain desired orbit. The second has hardware similar to that used in cubesat and implements the state estimator and the attitude controller. To prove the functioning of the simulator, simulation results are presented and analyzed.