E. Alarcón, Dept. d Enginyeria Electrònica
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1 A. Camps, Dept. Teoria del Senyal I Comunicacions E. Alarcón, Dept. d Enginyeria Electrònica 1
2 Introduction This session is intended to the study of the performance for a satellite using the AGI s software STK (Satellite Tool Kit). This program is widely used for satellite simulation purposes, and their ground stations. It allows the user to make an exhaustive calculus of the orbit and their parameters. In this lab session the main parameters for the different aspects of a satellite mission will be studied. Students will be able to learn the how to define several parameters of a mission in order to make a good planning of a mission. Orbit and spacecraft definition First of all, start the STK by doble-clicking in the icon. When the welcome window appears Create a New Scenario. Name it PAEprova and set an Analysis Period of one year. The main window will be reordered and new windows will appear. You can observe the 2D and 3D graphics windows. You can move, maximize, minimize or close any window as in the MS Windows environment. In the 3D perspective, the 3D simulation of the Earth can be observed. By left-clicking it, the camera can be rotated freely in order to see all the regions of the globe. Observe that there is a shadowed area and an illuminated one, corresponding to the day and night regions in the hour of day shown above the window, right next to the reproduction options. The 2D perspective gives a vision of the globe in a cylindrical development. First of all, a Satellite object has to be inserted. It will be done with the help of the Orbit Wizard. Select both options on the window appeared. If not, just right click the satellite object go Satellite -> Orbit Wizard. We should set the orbital parameters as: 2
3 Satellite name: SMOS Tipe or Orbit: Sun-Synch Altitude: 758 km Ascending node: 6h Use Scenario Time Period: OK The next step is to watch the satellite ground track. Go to the Object Browser box, double-click on the satellite. Go through 2D Graphics -> Pass -> Ground Track -> Lead Type and set Time: 1 day. It is observed the 0-drift of the orbit. Then change the Time parameter to Full. The coverage the satellite does over the Earth is noticed to be global except in the polar areas. 1) Why does it happen? To observe how the satellite is covering the different regions of the surface, set the Show Pass: 1 to 50. The first 50 paths are shown. Reset the Show Pass to one. As STK is capable of simulate different kinds of orbits, it can show the performance data for a defined spacecraft with the orbit choice. To see how the height of the satellite evolves, right-click on the satellite icon and select Report and Graph Manager, and mark the button on the list Create new graph style. Type out Height and then, in the new list appeared, go through Astrogator Values -> Geodetic ->Altitude. On the top 3
4 right box, mark the right arrow (Insert Y axis) and click OK. Select Height style, rightclick on it, and click on Generate strip chart. Place the new generated white window on the upper half of the STK screen and the 2D map on the lower one. When clicking on the play button, the travel position of the spacecraft is showed linked to the height evolution. You can also generate a Graph instead of a Strip Chart to see height changes. Make sure to specify a one-day interval on Time Properties. 2) Why is the height over the Earth varying in a sine-like manner? What happens with the velocity-height relationship? Coverage In order to know how an Earth observation satellite borne sensor works, it is necessary to attach one to the satellite. We have to go to the menu Insert -> New... -> Sensor -> Define Properties -> Insert... There SMOS have to be selected and press OK. In the properties window, go to Basic -> Definition. The Sensor Type has to be set as Simple Conic, with a Cone Angle of 27.5º. Then Basic -> Pointing and set Elevation: 60º. In order to see the swath advance over the map, go to 2D Graphics -> Attributes and set: Colour: Fill: ON red Then press OK and Play. 4
5 3) Which is the reason that produces the swath widening? To see a complete day swath evolution, right-click on the sensor and go Sensor -> Swath and set Swath: ON; Start Time - Stop Time: (one day period). Tracking To see the performance of communications of the satellite, a ground station has to be included. Follow the menu Insert -> New -> Facilities -> Define properties and set: Latitude: º N Longitude: º E Use terrain data: ON and then press OK. Rename the ground station as Svalbard, as it is the name of the satellite control center located on that coordinates. To calculate the communications parameters, the following parameters have to be introduced in Insert -> New -> Transmitter -> Define Properties and attach it to SMOS. Now select Type: Medium transmitter model and set: Model Specs: Freq: 433 MHz Power: 30 dbm Gain: 5 db Polarization: Right-hand Circular Modulator Data Rate: 1200 bps Modulation type: FSK -> Apply and press OK. Now click on Insert -> New -> Receiver -> Define properties and attach it Svalbard. Select simple receiver model and set the same frequency band and polarization. On Definition -> Model Specs set Auto-track: ON and then click OK. 5
6 To compute zones where the satellite is visible, right-click on the transmitter (SMOS) and following through the menus, select the antenna on the ground station. In Compute Time Period, select one day on the Specify time period field. Then clicking on Compute, observe the 2D graphic. The in-coverage flight parts of the orbit will be shown in bold. Clicking the Play button, the performance of the satellite will be sought entering and leaving the tracking region. Returning to Access and going through Reports -> Access again, the communication time interval and the global communication time are shown. To see the link budget, go to the previous Reports menu and then click Link Budget. There, some parameters such as frequency, Doppler and power received could be checked. SNR and BER can also be checked if you set noise parameters, but not all options will be available on educational version. You can simulate really complex link budgets with that tool. Lifetime and orbit degradation STK does an estimation of the orbit degradation giving us the satellite lifetime, the moment when the satellite will fall and the approximated zone. Right-click on the SMOS icon and go through Satellite -> Lifetime -> Mass, set 1 kg, set Show Graphics: OFF. Then click on Compute. With the report, the satellite evolution could be followed. With the graphics, the evolution of the orbital parameters could be monitored meanwhile the orbit is degrading. Repeat the process twice and then repeat it three times more with a satellite mass of 1000 kg. 4) Is there any difference between the estimations? Write down the possible causes. 6
7 Analysis of a LEO orbit (Low Earth Orbit) a) Orbital parameters First of all, create a new scenario clicking File -> New. Set an analysis period of a year. Insert a satellite selecting Define properties. Choose Basic -> Orbit (the default option) and define the orbit from the Keplerian parameters: Propagator: Two body Semi-major Axis: km Using the combo box (pull-down menu) where the orbit semi-major axis has been written, select the option Period. That calculates the orbital period taking into account all the other parameters. 5) What is the orbital period in minutes? 6) How many revolutions will make it in a whole day? (you can use help by changing the units of the orbital period, or by using the option Mean Motion). 7
8 Introduce the following parameters: Eccentricity: RAA (Right Ascension of Ascending Node): 0º Argument of the perigee: 90º True Anomaly: 45.37º 7) What is the altitude in the perigee? 8) And in the apogee? Click OK and go to 2D perspective. Observe the ground tracks of the orbit as time passes. The reproduction buttons can be used in order to look the satellite motion above the Earth, and the speed it takes depending on the regions due to the 2D projection. Take a look graphically to the relationship between the satellite speed and its altitude in the orbit. To do so, select the satellite and click Report and Graph manager. The graphs tools menu will appear. Some pre-defined graphics are shown, but new selfdefined ones can be created. Click New. Different magnitudes will appear that can be observed in a graph vs. time. Select the satellite altitude in LLA State -> Fixed > Alt and the speed in Cartesian Velocity -> Fixed -> Speed. Click Ok. Change the name to 8
9 AltSpd, it will be used later. Visualize the graph by clicking Generate in the Report & Graph Manager. Make sure that the graph is generated for a one-day period. 9) What is the qualitative relationship between the altitude and the speed? Could you explain why? b) GeoSynchronous Orbit Define now an orbit that repeats itself along the days using the Orbit Wizard. Rightclick the satellite and go to Satellite -> Orbit Wizard. The wizard will be started. Click Next. In Orbit Selection choose Repeating Ground Trace and then Next. Give it a polar inclination, i.e. 90º, and simulate a 16:1 orbit (16 different orbits in a day). To do so select: Aproximate Revs. per day: 16,0 Number of Revs. to repeat: 16 Click Next and Finish. Open satellite properties, go to Pass on 2D Graphics label and select Time on Lead Type (inside Ground Track box) and write 1 day. Now view the orbit traces in the 2D perspective. Look that, differently of the previous orbit, the ground tracks close each other, and by simulating only one day all the different traces created can be seen. Count the number of traces; observe that there are 16 ascending and 16 descending passes. 10) Taking into account the fact that the inclination is now 90º, and that the orbit goes from North to South, the traces should be perfectly vertical. However, they are a bit inclined. Could you explain why? Go back to satellite properties, and set the inclination to 98º, so as to see a bit better the traces on the 2D perspective (go to Properties Browser by double-clicking the satellite and the go to the 2D perspective after applying). Calculate the spacing between ground-tracks using the Measure tool. You will need to show Animation toolbar in order to find that tool. To do so, right-click to 2D map and select Animation in Toolbar. Click the tool, then click in a region of the map and drag to another (calculate the distances between ground-tracks in the equator, where its distance is maximal). Below the 2D perspective the distance will appear. 9
10 11) What s the separation between ground-tracks? Go back to satellite properties, and set One pass on Lead Type. Vary now the type of orbit. Re-open Orbit Wizard. Select again Repeating Ground Trace orbit and put the following parameters: Aproximate Revs. per day: 16,0 Number of Revs. to repeat: 49 Inclination: 98º Orbit Start: 1 Jul 2011 Orbit Stop: 4 Jul 2011 Step time: 120s Click Finish. View the orbit in the 2D perspective. Here many more orbits can be seen (there are three times more). This is a 49:3 orbit: there are 49 different orbits that repeat every 3 days. Recalculate the distance between ground-tracks using Measure. 10
11 12) What is the separation between ground-tracks? What is the relationship between this value and the one in the previous orbit? GeoSynchronous Orbit Open again the Orbit Wizard and select as kind of orbit Repeating, Sun Sync. We will define a 43:3 orbit (43 different orbits repeated in 3 days) and we will simulate ir along a year. Set the following parameters: Aproximate Revs. per day: 14,33333 Number of Revs. to repeat: 43 Inclination: 98º Orbit Start: 1 Jul 2011 Orbit Stop: 4 Jul 2012 Step time: 1200s Create a new graph style. Choose Classical Elements -> J200 -> RAAN. Create a graph for a year period. 13) The RAAN is a measure of angle, and it always grows, taking all the possible range (0-360º). Taking into account the kind of orbit used, could you explain the performance of the RAAN along the year? c) Analysis of a GEO orbit Open again Orbit Wizard right-clicking the satellite. To get a Geostationary orbit, we have to select Geosynchronous orbit and play with its parameters. Setting a 0º inclination, the satellite will always point to the same place, but it will only be able to be above the equator. Setting the Subsatellite point, we can put the satellite where we want. 11
12 14) What parameters have we to put to set orbit satellite above Barcelona? Is always pointing to there? Why? Modify the anchor camera point using View From/To button in 3D Graphics toolbar. Make the view from the Satellite towards Earth. Reproduce the simulation in 3D perspective and see what the satellite sees. Notice that you can always see the same region over the earth. Open satellite properties again and set 30º of inclination. Observe how the groundtrack shape is a kind of 8 in 2D Graphics. d) Analysis of a HEO orbit A highly elliptical orbit designed to observe high latitudes is studied next. They have been typically used by communication satellites because they spend lot of time in the apogee pointing a small region. They also have been used by spy satellites. Go to Orbit wizard and select Molniya Orbit. Put the following parameters: Apogee Longitude: -17 deg Perigee Altitude: 961 km Argument of Perigee: 269 deg 12
13 Simulate it in 3D Graphics. 15) Which zones of the world have a long time coverage by the satellite? View again the previously created graph, containing the altitude and the speed against time. Go to Graph Tool and create the graph we previously named AltSpd. 16) What are the remarkable aspects? What is the range of the speed and the altitude? Observe the 3D perspective. See that the orbit is really elliptical, and in the Perigee is very close to the Earth s surface. The wide speed difference the satellite has between the farthest and the nearest points can be appreciated. Finally, the 2D perspective shows us that the satellite is at high latitudes during a long period of time, while in the lower latitudes it passes very fast. This orbit repeats itself along the time, but there are many uncovered regions in the great majority of the globe s surface. Another con is that the satellite crosses Van Allen belt s each orbit, receiving high radiation doses. 13
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