Introduction. DRAFT DRAFT DRAFT JHU/APL 8/5/02 NanoSat Crosslink Transceiver Software Interface Document
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1 Introduction NanoSat Crosslink Transceiver Software Interface Document This document details the operation of the NanoSat Crosslink Transceiver (NCLT) as it impacts the interface between the NCLT unit and the host spacecraft Command and Data Handling (C&DH) system. Detailed formats of referenced vector words, packet configurations, and data configuration appear in the accompanying spreadsheet. The NCLT provides GPSbased absolute navigation as well as relative navigation and crosslink communication among a formation of three spacecraft for the University Nanosatellite ION-F team. As currently envisioned, this formation will be deployed from the NASA Space Shuttle as an attached stack of three spacecraft that subsequently separate to perform several formation flying experiments. Each spacecraft will contain an NCLT unit that will provide a GPS navigation system with an integrated crosslink communication capability. Upon initial power-up of the NCLT unit by the host spacecraft, a Navigation Initialization Mode will be entered by the NCLT in which the unit will acquire and track GPS satellites in view, perform Kalman filtering operations, and obtain a navigation estimate for the spacecraft. This Navigation Initialization will require approximately 45 minutes (the dayside of a single spacecraft orbit). To meet aggressive power constraints, the host spacecraft will power-down the NCLT unit during the nightside of the orbit. During subsequent orbits, the host spacecraft will power up the NCLT unit during the dayside orbit phase and the unit will operate in a nominal mode consisting of the sequence: Boot Mode, Software Initialization Mode, Acquisition Mode, Navigation Mode, Crosslink Mode. This sequence will initialize the NCLT for operation, acquire and track GPS to update navigation estimates and crosslink with other spacecraft in the formation for data exchange. When these operations are complete, the host spacecraft will power down the NCLT.
2 1. NCLT Basic Operation When the host spacecraft provides power to the NCLT, the system enters Boot Mode, which loads application code into the appropriate memory. After the NCLT boot system has completed, the application software is initialized, and initiates a general Navigation task. The NCLT begins operation by searching for GPS satellites. Once at least four satellites are in week synch (phase locked with synchronization on the week indicator in the GPS data), the NCLT will begin navigating a GPS derived position and velocity. It will also align the NCLT clock with the UTC epoch. The primary data interface between the NCLT and the host spacecraft C&DH is the baud serial port. Once obtained, the GPS derived navigation estimates, including spacecraft position, velocity, and time, are provided as one-second (1 Hz) data products. The one-second data products are output on the serial port between 10 and 250 milliseconds after the 1-PPS signal indicates the UTC epoch. When the NCLT is tracking GPS (i.e., when in Navigation Mode), the one-second data products consist of: synch pattern and vector word, navigated position and velocity data, vector pointing to the sun, event flags, data validity flags, NCLT error data, command status data, NCLT status data. If the one-second navigation data products are available, the NCLT will output the full data products on the serial port that second. If the products are not available (e.g. during GPS Acquisition Mode), the NCLT will output only the fixed synch pattern and the vector word. In each case, the vector word will indicate (bit #7) whether the unpacketized data products will follow. All data products coming from the NCLT to the C&DH system will be preceded by a fixed synch pattern of 32 bits Boot Mode When powered-up by the host spacecraft, the NCLT will load and execute the boot software. Indications of boot execution are in the Boot Code External Interface Control Document Software Initialization Mode Upon completion of the boot code execution, the NCLT enters Software Initialization Mode, in which the system is initialized for nominal operations. Software initialization occurs for
3 approximately TBD <10s> seconds The Navigation code fills RAM with data stored in EEPROM, initializes various systems, and enters Acquisition Mode Acquisition Mode While the NCLT is searching for GPS satellites, it is in Acquisition Mode. In this mode, the NCLT continually scans for and attempts to lock onto the signal of GPS satellites. On the first power-up the satellite pseudorandom noise sequences (PRNs) are searched in a predetermined sequence. On subsequent power-ups, the satellite PRNs are searched using a PRN sequence derived from a saved state vector propagated to the current time. During Acquisition Mode, the NCLT will continually attempt to reach Navigation Mode. The NCLT is will switch to Navigation Mode after it has: 1. obtained week synch with at least 4 GPS satellites, 2. initialized the navigation filter, and 3. begun producing a navigated solution along with the associated one-second data products. During acquisition mode, the NCLT will output only the synch word (1) and the C&DH vector word. Acquisition mode can last from approximately 4 minutes to 24 minutes Navigation Mode During navigation mode, the NCLT will perform a navigation Kalman filter update once every 60 seconds. This will update the estimated NCLT position, velocity, drag error, clock bias, and frequency bias. Using this navigated solution, the navigation system will compute one-second data products to be sent to the C&DH system for use by the spacecraft. Once these navigation data products are available, the NCLT will output the full data products on the serial port each second. These data need not be saved onto the Flight data recorder, it is solely for the immediate use of the spacecraft. If, for any reason, the NCLT ceases navigation, it will return to Acquisition Mode until navigation is resumed. After the first Kalman filter update, the 1-PPS signal will be synchronized to UTC to within TBD <200ns> nanoseconds. The 1-PPS signal s change from high to low voltage indicates the UTC epoch. The low to high transition is ½ second after the UTC epoch. As indicated previously, the first time the NCLT is powered by the host spacecraft it will remain in Navigation Mode for approximately 45 minutes in order to obtain an accurate navigation
4 solution. During subsequent power-ups, the NCLT will operate in Navigation Mode for 15 minutes, providing a navigation solution update before entering Crosslink Mode Crosslink Mode Upon entering Crosslink Mode, the NCLT will output to the serial port only the synch word and the C&DH vector word. This will continue for TBD minutes. Crosslink Mode consists of a round-robin operation involving half-duplex, time division multiple access communication among the three spacecraft in the formation. At the completion of the crosslink session, after all spacecraft have transmitted and received the available data, all crosslink data will be output in a data dump to the serial port. These data include: Crosslink Message Data These data are the crosslink data for all three spacecraft. The 1 st set of crosslink message data will be for spacecraft #1, the 2 nd for spacecraft #2, the 3 rd for spacecraft #3. For example, if the present spacecraft is #1, then the 1 st set of crosslink message data will be the data that was sent on the crosslink to spacecraft #2 and #3. The 2 nd and 3 rd sets of crosslink message data will be data received on the crosslink from spacecraft #2 and #3 respectively. If the present spacecraft is #2, then the 1 st set of crosslink message data will be the data that was received on the crosslink from spacecraft #1. The 2 nd set of crosslink message data will be that sent on the crosslink to spacecraft #1 and #3. The 3 rd set of crosslink message data will be data received on the crosslink from spacecraft #3 respectively. Unpacketized Data These data is numerous sets of unpacketized data saved by the NCLT for downlink to the ground. Packetized Data These data include several telemetry data packets created by the NCLT for downlink to the ground. The data dump should be saved to the onboard recorder and downlinked for use by APL.
5 2. Vector Word Description Bits 0-2 Number of Telemetry Packets contained in the packetized data: For the NCLT, this is zero because packetized data has been disabled. Bit 3 Reserved. Bit 4 NCLT Heartbeat: This bit is toggled by the NCLT once a second (except while executing the boot code) to indicate that the NCLT is alive. IF the toggling ceases for a period of 2 seconds, it is presumed that the NCLT is inoperable. Bit 5 Operational Status: This bit changes to 1 once the NCLT application code has begun operating. Bit 6 Physical Memory Dump: This bit indicates if a NCLT physical memory dump packet is available. For the NCLT, this bit will remain zero. Bit 7 Unpacketized Data Indicator: This bit indicates whether there is unpacketized data following the vector word. 0 = no unpacketized data following vector word 1 = unpacketized data will following vector word
6 3. Telecommand Packets Telecommand packets are sent to the NCLT from the host spacecraft C&DH across the serial port interface. These packets may span a one-second interval. As soon as the complete telecommand packet is received, the NCLT will execute the telecommand packet. One should wait at least (2) seconds after a telecommand packet has been sent before sending another packet. 3.1 Packet Description The NCLT can receive, at most, (1) 2086-byte maximum telecommand packet per second which is comprised of up to a maximum of 8 commands. See Figure 1 for a diagram of the NCLT telecommand packets. The 32-bit XOR checksum in each command is calculated on the Command ID (Opcode), Word Count and Command Data fields. Bit Field Length (bits) Value (binary) Fixed/User Defined Description Version Number Fixed Packet Type 1 1 Fixed Telecommand Packet Secondary Header Flag 1 0 Fixed No Secondary Header Application ID Fixed NCLT Sequence Flag 2 11 Fixed Standalone Packet Source Sequence Count 14 0 to Incrementing Counter Pkt Length (bytes) 16 7 to 2079 User Defined Sec. Hdr & Appl Data -1 Secondary Header 0 Not Used Application Data 8 to 2080 bytes User Defined 8 Commands Max Figure 1 NCLT Telecommand Packet Structure Bit Field Length (bits) Value Fixed/User Defined Description Command ID 16 User Defined 32-bit Word Count 16 2 to 520 User Defined Of All Command Fields Command Data 0 to 518 words User Defined Depends on # of Cmds XOR Checksum 32 User Defined Bit Field Length (bits) Value Fixed/User Defined Description Command ID 16 User Defined 32-bit Word Count 16 2 to 520 User Defined Of All Command Fields Command Data 0 to 518 words User Defined Depends on # of Cmds XOR Checksum 32 User Defined Figure 2 NCLT Command Structure (Max. of 8 Commands per Telecommand Packet) 3.2 Command Description All command parameters consist of (1) unsigned 32-bit word unless otherwise noted.
7 NCLT Command Description: Upload ION-F Crosslink Commands Opcode: 0x100A Command Length (words): 9 Parameter: #1: ION-F Command #1 #2: ION-F Command #2 #3: ION-F Command #3 #4: ION-F Command #4 #5: ION-F Command #5 #6: ION-F Command #6 #7: ION-F Command #7 Comments: This is used to upload the 7 ION-F commands that will be contained in the crosslink message sent to the other spacecraft. Note: This command should be sent only once during the navigation phase of the NCLT operation. If it is sent more than once, only the last set of commands will be sent on the crosslink.
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