Tracking, Telemetry and Command
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1 Tracking, Telemetry and Command Jyh-Ching Juang ( 莊智清 ) Department of Electrical Engineering National Cheng Kung University juang@mail.ncku.edu.tw April,
2 Purpose Given that the students have acquired knowledge on Understand the functions of telemetry, tracking, and command (TT&C) system in spacecraft engineering. Understand basic communication systems and operations. Learn to perform fundamental analyses in spacecraft communication. Understand various telemetry and telecommand designs and standards. Be prepared for the design of pico-sat TT&C The lecture is to Review TT&C analysis Understand AX.25 Exercise on link budget analysis 2
3 Scope Function of TT&C: provides the means of monitoring and controlling the satellite operations. Scientific Instruments Data recorder Data processor telemetry data Spacecraft antenna Data handling unit Command decoder command Attitude & orbit control subsystem Power control unit Thermal control unit 3
4 Telemetry System Telemetry system: Collect data at a place (say picosatellite) Encode, modulate, and transmit the data to a remote station (say ground) Receive the data (on the ground) Demodulate, decode, record, display, and analyze the data Data collection: sensors, signal conditioners Analog multiplexer & analog-to-digital converter Data Formatter Modulator, transmitter, antenna Time tag Digital multiplexer On-board Storage channel Data processing and display Antenna, Synchronizer & receiver, Demultiplexer demodulator 4
5 Telemetry Data Collection Data acquisition Sensor and transducer Signal conditioner: may be passive or active Amplification, attenuation Buffering: provide impedance Power supply Noise filtering Load protection Automatic gain control Data to collect: measurements and status of health Power functions Telemetry functions Telecommand functions Attitude control functions Propulsion functions Structure functions Antenna functions Tracking functions Payload functions Miscellaneous functions Acceleration, velocity, displacement Angular rate, angular position Pressure Temperature Density Resistance Voltage, current Intensity Electric field, magnetic field 5
6 Multiplexing When a series of input signals from different sources have to be transmitted along the same physical channel, multiplexing is used to allow several communication signals to be transmitted over a single medium. Frequency division multiplexing (FDM) FDM places multiple incoming signals on different frequencies. Then are they are all transmitted at the same time The receiving FDM splits the frequencies into multiple signals again Time division multiplexing (TDM) TDM slices multiple incoming signals into small time intervals Multiple incoming lines are merged into time slices that are transmitted via satellite The receiving TDM splits the time slices back into separate signals 6
7 FDM signal 1 carrier f 1 FM modulator Summer FDM signal signal 2 signal N carrier f 2 FM modulator FM modulator A multi-tone signal is formed Must consider Frequency plan Pre-emphasis carrier f N IRIG standard: Proportional bandwidth (PBW): peak frequency deviation of the subcarrier is proportional to the subcarrier frequency Constant bandwidth (CBW): the deviation is constant CCITT multiplexing scheme: FDM telephone signals 7
8 TDM signal 1 slot sync signal 2 Commutator frame Multiplexer TDM bit stream signal N Timing Frame sync A frame of data is formed for transmission Sync word Data words (slots) Error check words Must consider Sampling rate Slow and fast measurement data Resolution and bit rate Frame rate 8
9 PCM Telemetry Sensor 1 Timing & frame sync Sensor 2 Commutator Sample & Hold Encoder Digital multiplexer Bit sequence Sensor N 9
10 PCM Frame A structure that routes the sensor data to the proper channels at the ground stations Contains: major frames and minor frames Each minor frame: sync + (N-1) data words Each major frame: M minor frames Minor frame sync * * N-1 sync M Major frame sync 1 sync 1 10
11 A Typical Telemetry Frame 11
12 PCM Commutator Commutator: cycle through and sample each sensor Supercommutation: samples a parameter at a rate that is higher than the frame rate Subcommutation: samples a parameter at an integer submultiple of the frame rate sync a 8 sync b 8 sync c 8 sync d 8 sync e 8 supercommutation subcommutation 12
13 PCM Frame Synchronization Synchronization is made possible through synchronization word (sync), which is a unique sequence of 1 s and 0 s. Recommended sync word (IRIG ) Length Pattern Length Pattern
14 PCM Waveforms NRZ-L (non-return to zero level): one is represented by logic 1; zero is represented by logic 0. NRZ-M (mark): one is represented by a change in level at start of clock; zero is represented by no change in level at start of clock. NRZ-S (space): one is represented by no change in level at start of clock; zero is represented by a change in level at start of clock. BiΦ-L (biphase level): one is represented by a 1-to-0 change at mid-clock; zero is represented by a 0-to-1 change at mid-clock. BiΦ-M: one is represented by a change at mid-clock; zero is represented by no change at midclock. BiΦ-S: one is represented by no change in mid-clock; zero is represented by a change in mid-clock data clock NRZ-L NRZ-M NRZ-S BiΦ-L BiΦ-M BiΦ-S 14
15 Telecommand Telecommand system: allows instruction and/or data to be sent to the spacecraft. Commands may be Relay commands Data commands Delayed commands Command system design considerations Orbit influence on link design, ground coverage Need for delayed commands, data commands Length of command message Component choices Radiation does, soft errors, latchup, shielding Redundancy Autonomy Environmental considerations 15
16 Telecommand System Antenna Power Command Receiver switching processor Spacecraft unit subsystems Antenna Often omni for LEOs Receiver On-board On-board Continuously on computer storage Decoder Validation of command Validation of spacecraft address Decryption Recovery of clock and data Command processor Command interpretation and validation Interface to on-board units for proper actions Power switching Interface circuitry between command logic and spacecraft subsystems 16
17 Telemetry Channel Coding Coding system Reed-Solomon Encoder and Interleaver NRZ-L to M Conversion Short Constraint Length Convolutional Encoder Periodic Convolutional Interleaver Modulator and RF Reed-Solomon Periodic NRZ-M to L Decoder and Viterbi Decoder Convolutional Conversion De-Interleaver Interleaver Demodulator and RF Benefits of channel coding Higher overall data throughput at the same overall quality (bit error rate) Lower overall bit error rate using the same energy per information bit Amenable to data compression, adaptive telemetry, and anomaly exclusion 17
18 Coding and Decoding Coding: a technique of protecting message signals from signal impairment by adding redundancy to the message signal. In power limited link, the desired fidelity in communication quality can only be achieved through coding Coding helps minimize the error rate Coding can be used to achieve better utilization of the channel capacity k information bits Coder (k+r) coded bits k reconstructed information bits Decoder (k+r) received bits Syndrome 18
19 Block Code A coded block comprising n bits consists of k information bits. The Hamming distance d is the minimum possible distance between two coded blocks. A coded has the capability of detecting all coded words having less than (d-1) bits in error. A code has a capability of detecting and correcting (d-1)/2 bits of error. (7,4) block code example: 7-bit code, 4-bit information. Information Codeword Information Codeword
20 Block Code Error Correction For the (7,4) block code. The information 1010 will result in codeword Suppose that the received code is subject to 1-bit error giving During decoding, the hamming distance is evaluated. The received code is corrected as and the information 1010 is recovered. 7-bit codeword information parity check Codeword Hamming distance 20
21 Channel Coding Performance Performance of channel coding 21
22 AX.25 Amateur Packet-Radio Protocol AX.25 is a set of rules defining the format and content of packets and how they are handled. AX.25 is a data link layer protocol. Application layer Presentation layer Layer Functions Session layer Transport layer Data Link Segmenter Data Link Segmenter Management Data Link Data Link Link Multiplexer Management Data Link Network layer Physical Data link layer Physical Physical layer Silicon/Radio 22
23 AX.25 Data Link Functions Segmenter: Accepts input from higher layer Breaks down data unit for transmission Data link: Provides all logic necessary to establish and release connections between two stations and to exchange information in a connectionless and connection-oriented manner. Management data link: Provides all logic necessary to negotiate operating parameters between two stations. Link multiplexer: Allows one or more data links to share the same physical channel. DLSAP (service access point) DL request DL indication DL confirm DL response 23
24 AX.25 In Action message TNC packet Radio RF wave Packet radio allows several simultaneous point to point connections to share the same frequency. Transmission TNC builds a packet (in accordance with AX.25 protocol) Wait for radio silence and transmit Reception TNC monitors incoming packets and identifies addressed packets. Examples: APRS Link layer packet radio transmissions are sent in frames. Each frame is made up of several fields. Three types of frames: S frame: supervisory link control (acknowledge) I frame: information U frame: unnumbered (establish or terminate link) 24
25 AX.25 Frames Frame arrangement for U or S frames flag address control FCS flag Identifies both the source and destination of the frame 112 or 560 bits Frame arrangement for I frame Identifies frame type 8 bits Frame check sequence 16 bits flag address control PID Information FCS flag Protocol identifier 8 bits Information N x 8 bits 25
26 TT&C Design Summary Must answer the following questions: Orbit contact period, contact window Telemetry data data rate, data package, bit error rate Link budget EIRP, path loss, link margin Frequency regulation 26
27 TT&C Design (Orbit) For a satellite flying at an altitude of 600 km, suppose that the elevation limit is 10 degree, what is the maximum distance for communication? What is the longest contact time? Note that the earth radius R is 6378 km. Let d be the maximum distance, then the following relationship can be established. R+ h R d = = 0 sin(100 ) sin A sinb It can then be computed that d = B km, A = deg, and B= deg. O To determine the maximum contact time T, note that the angular velocity of the satellite is rad/sec or deg/sec. The contact time is thus 2B T = = 510sec S h A d R 10 G R 27
28 TT&C Design (Data) Suppose that the bit rate is 1200 bps (bit per second), how long does it take to transmit a data of the length of 1Mbits? A simple computation gives the time for transmission to be T trans = = 833.3sec 1200 The data cannot be completely transmitted in one pass. 28
29 TT&C Design (Link) For the distance computed in the previous problem, what is the free space loss when the frequencies are 430 MHz and 144 MHz, respectively? The free space loss (in db) is known to be [ Ls ] = log 10( f) + 20log 10( d) in which the frequency f is in GHz and the distance d is in km. Therefore, at 430MHz, the free space loss is [ L s ] = log 10(0.430) + 20log 10(1932.2) = 150.8dB On the other hand, at 144 MHz, the loss is [ L s ] = log 10(0.144) + 20log 10(1932.2) = 141.3dB 29
30 Link Budget Analysis Recall that the formula is [C/ N 0 ] = [EIRP] + [G/T] [L] For digital transmission, the formula becomes In practice, [E b / N 0 ] = [C/ N 0 ] [R b ] The bit error rate is specified The modulation scheme is determined and the corresponding E b / N 0 is computed The implementation margin is specified The carrier-to-noise density ratio [C/ N 0 ] is determined The transmitter power or receiver sensitivity can then be determined. 30
31 Homework A satellite mission requires the transmission of telemetry data Data rate: 2400 bps Bit error rate: 10-5 Orbit: 800 km, circular Ground station G/T: db/k Frequency: 430 MHz Determine the minimal antenna gain transmitter when a transmitter of 2W is used. 31
32 Further Readings P. Fortescue and J. Stark, Spacecraft Systems Engineering, Chapters 13 & 14, John Wiley, B. Razavi, RF Microelectronics, Prentice Hall, M. Richharia, Satellite Communication Systems, McGraw- Hill, D. Roddy, Satellite Communications, McGraw-Hill, J. G. Proakis, Digital Communications, McGraw-Hill, Satellite link budget calculation can be found in AX.25 can be found in either or 32
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