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1. Experiment mass in kg 2 73kg for 2 systems including 25 margin excluding module Experiment dimensions in m 0 100m x 0 298m x 0 350m Experiment footprint area in m 0 07m Experiment volume in m 7 0 10 m Experiment expected COG centre of geometrical center of module 2cm gravity position in each direction Table 6 1 Experiment mass and volume 6 1 2 Safety risks Except from usual risks associated with electricity HORACE entails no special safety risks neither for personnel nor the REXUS rocket 6 1 3 Electrical interfaces REXUS Electrical Interfaces Service module interface required Yes Number of service module interfaces 2x1 TV channel required No Up Downlink RS 422 required Yes Data rate downlink 2x 5 3Kbit s Data rate uplink OKbit s Power system Service module power required Yes Peak power consumption 2x 48W Average power consumption 2x 48W including 25 margin Total power consumption after lift off until T 600s 2x 8Wh RX16 HORACE SEDv1 0 28Jan13 docx Page 51 HORACE Student Experiment Documentation EuroLaunch Power ON T 1200s Power OFF T 600s Battery recharging through service module No Experiment signals Signals from service module required Yes LO Yes SOE T 1s TBC SODS T 2s TBC If two re
2. Test Number Test type Functionality Test Test facility University of Wurzburg Tested item Camera system Test level The camera system shall provide clear and sharp procedure and images after 0 120sec after full illumination according to duration P E 12 TBD Test campaign TBD duration Test Number 2 Test type Functionality Test Test facility University of Wurzburg Tested item System Software Embedded System Test level TBD procedure and duration Test campaign TBD duration Test Number 3 Test type Functionality Test Test facility University of W rzburg Tested item Power Distribution Unit Test level PDU must provide voltage and current according to procedure and Requirements P E 01 to P E 04 duration PDU must handle input voltage and current according to P E 05 and P E 06 Test campaign duration TBD RX16 HORACE SEDv1 0 28Jan13 docx HORACE Student Experiment Documentation Page 48 EuroLAUNCH Test Number Test type Functionality Test Test facility University of Wurzburg Tested item The whole experiment setup Test level The whole experiment setup shall be executed on a procedure and centrifuge with a simulated earth horizon TBD duration Test campaign TBD duration Test Number 5 Test type Thermal Test facility Test chamber University of Wurzburg Tested item The whole ex
3. EuroLauncH A DLR and SSC cooperation SED Student Experiment Documentation Document ID RX16 HORACE SEDv1 0 28Jan13 docx Mission REXUS 16 Team Name HORACE Experiment Title Horizon Acquisition Experiment Team Name Student Team Leader Thomas Rapp Team Members Jochen Barf Sven Geiger Arthur Scharf Florian Wolz Version Issue Date Document Type 1 0 28 January 2013 Spec Issued by Thomas Rapp Approved by Jochen Barf University University of Wurzburg University of Wurzburg University of Wurzburg University of Wurzburg University of Wurzburg Valid from 14 December 2010 RX16 HORACE SEDv1 0 28Jan13 docx Page 2 HORACE Student Experiment Documentation EuroLaunch Change Record Version Date Changedchapiers 2008 12 18 New Version Blank Book 2010 2013 01 28 All PDR CDR IPR Pre Campaign Final report Abstract This paper contains the complete documentation of the HORACE project which is payload on REXUS 16 The current version 1 0 represents the frozen status shortly before PDR REXUS 16 SED Student Experiment Documentation HORACE Horizon Keywords Acquisition Experiment University of Wurzburg RX16 HORACE SEDv1 0 28Jan13 docx Page 3 HORACE Student Experiment Documentation EuroLaunch CONTENTS clin pg NE Pc 6 1 INTRODUCTION pec 7 1 1 Scientific Technical Background 7 1 2 Mission SEIaIOTiOTniL iioi eH o las Hee petas d
4. Engineering WP and Integration WP are much related to each other as well as the sub packages concerning the electronics and mechanicals of HORACE thus Engineering is assigned to Florian Wolz and Integration to Sven Geiger Jochen Barf is responsible for the software design of the flight segment as well as of the ground segment which is divided to several main work packages As he thus knows the algorithm for horizon detection best also the Evaluation WP is allocated to him The whole verification testing and simulation of the experiment that are also divided to several main work packages are Arthur Scharfs job He is RX16 HORACE SEDv1 0 28Jan13 docx Page 20 HORACE Student Experiment Documentation EuroLaunch additionally in charge of the complete Public Outreach WP with all its sub packages Currently each team member can contribute approximately 10 15h week for HORACE and all five team members plan to be active and available during all design implementation testing and operational phases of the experiment There are some fellow students who are generally interested in HORACE but not yet part of it for various reasons These could possibly be incorporated into the team if necessary 3 3 2 Budget Below the budget plan for HORACE is given As some values marked red are yet only estimated and the chosen components are preliminary a margin of 50 is added The calculation already includes spare res
5. currents between 0A and 3A TBC E The PDU shall provide voltages with an accuracy of 160mV TBC E R P P P E 05 The PDU shall handle a range of input voltage between 24V and 36V P E 06 The PDU shall handle a range of input current between 0A and 3A A new timestamp shall be provided with the frequency 10 kHz TBC The optical sensor shall be sensitive to the R visible spectrum resolution of 1024px x 768px TBC The exposure time of the optical sensor shall P E 10 be adjustable in a range from 10usec to 1sec TBC T mamme oa P E 11 data as raw data The optical sensor shall provide sharp pictures at least 0 120sec after full illumination A R R R R 04 The PDU shall provide currents with an accuracy of 30mA TBC T Y QT 1 s NE T A P E 12 T Table 5 2 verification matrix 2 4 RX16 HORACE SEDv1 0 28Jan13 docx Page 45 HORACE Student Experiment Documentation EuroLaunch Requirement text z PERFORMANCE REQUIREMENTS The MU shall measure temperatures with an P E 13 R accuracy of 0 5 range from 55 C to 125 The MU shall measure temperatures with a sample rate of 1 kHz TBC The MU shall measure currents with an accuracy of 100mA The MU shall measure currents in a range of OA to 3A The MU shall measure currents with a sample rate of 1 kHz TBC The mass storage of the MU shall have a P E 19 memory size of 4 Mbyte P E 20 The mass storage of th
6. data packages are both saved to calculation memory and sent to the downstream Downlink packages received in the ground segment are displayed and saved to downlink memory The measurement data from current and temperature sensors is processed in the measure task and saved to the measurement memory Calculation data Package start time horizon line vector extrapolated frame horizon Downlink data package start stop time vector extrapolated horizon frame time Fi 23 bit 23 bit 60 bit 60 bit Video data Package video frame frame 15 bit 2 25 Mbyte Measurement data Package current 1 temperature 1 temperature 2 23 bit 12 bit 14 bit MEN 14 bit Figure 4 12 data package definition Case Required bandwidth 1 79 kbit s 2 84 kbit s 5 3 kbit s Table 4 6 required downlink bandwidth for each system RX16 HORACE SEDv1 0 28Jan13 docx HORACE Student Experiment Documentation mono Demons Downlink 397 71 kbyte if two systems are flown Table 4 7 memory sizes RX16 HORACE SEDv1 0 28Jan13 docx Page 40 E UROLAUNCH adding 1 86 Mbyte 39 55 Gbyte 72 11 Mbyte 397 71 kbyte Page 41 E UROLAUNCH HORACE Student Experiment Documentation e mm mm mm mm mm mm mm mm mm um m mm mm mm mm mm mm mm DATA HANDLING TEMPERATURE FA MEASUREMENT Q MEMORY AN MEASURE 3 VIDEO SAVE d CALCULATION m VIDEO ke MEMORY FA CALCULATION
7. device assembly Florian is a student of Aerospace Information Technology at University of Wurzburg in his second undergraduate year Arthur Scharf Simulation Environment amp Public Outreach Arthur is mainly responsible for simulation validation and testing He therefore will manage the test facilities and procedures and will develop the ground support equipment which is needed for pre flight test to make sure that HORACE is ready for flight Besides that it s Arthur s part to spread information and news about HORACE with his public outreach program Arthur is in his second undergraduate year of studies of Aerospace Information Technology at University of Wurzburg RX16 HORACE SEDv1 0 28Jan13 docx Page 11 HORACE Student Experiment Documentation EuroLaunch 2 EXPERIMENT REQUIREMENTS AND CONSTRAINTS In this chapter the functional performance design and operational requirements are defined which must be fulfilled to reach the Mission Objectives cf 1 3 All requirements can be uniquely be identified with its appropriate number X Y Z according to this scheme X F functional requirement P performance requirement D design requirement O operational requirement Y M mechanical E electrical S software Z consecutive number starting with 01 2 1 Functional Requirements Requirement text F E 0 HORAGE shall observe optically the outer enivronment The system shall provide a
8. e MEMORY J DOWNSTREAM D I DOWNLINK e MEMORY Eoo SAVE R GROUND dE SEGMENT AE DISPLAY mm em em em mm mm mm mm mm mm mm em mm mm mm mm mm mm mm mm mm mm mm mm mm mm em em mm mm em mm wm ge us UB UD eee eee UN UD UM UB SG UD UM UM UD UB UB UM UD UM UD UB UD UB UB UD UD UB UM UM UD US UB UB UB y A um mcm EE RA am dd aa a m a OG aa aa ww aw am Ca we 4 Figure 4 13 data handling RX16 HORACE SEDv1 0 28Jan13 docx Page 42 EuroLaunch HORACE Student Experiment Documentation 4 8 4 Development The algorithmic structure and idea is implemented in the first step in Matlab and in the second step in Java environment Netbeans The last step is the porting from java to C and or VHDL The application running on the ground station will also be implemented in Java 4 9 Ground Support Equipment The HORAGE ground support equipment includes all needed technical and organisational tools to prepare and operate the experiment during launch campaign At the current stage the following minimum support items have been identified so far This preliminary list will increase and get more detailed during implementation and testing 4 9 1 EGSE To test modify and prepare the experiment there are one or two notebooks with the needed interfaces software possibly special developed cf 0 and cables Additionally a 24V 36 DC power supply is used for testing For each data memory device as well as criti
9. main design phase Components Start purchase Breadbords tested finalized long lead items Algo MATLAB tested CDR Figure 3 2 HORACE roadmap from initialisation to CDR ui203 september203 Novem 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 CDR implementation amp simulation phase Ki IPR All items Comp tests finished Integration complete full system delivered start integration subsystem tests finished tests complete EAR amp EAT Figure 3 3 HORACE roadmap from CDR to EAR RX16 HORACE SEDv1 0 28Jan13 docx Page 19 HORACE Student Experiment Documentation EuroLauncu M rz 2014 Mai 2014 Dui204 iJ7 8 9 10 far 22 13 14 15 16 a 38 19 20 21 22 23 24 25 26 27 28 29 launch campaign Launich e Flight Report Documentation 30 06 Evaluation Report Figure 3 4 HORACE roadmap from launch campaign to project end 3 3 Resources 3 3 14 Manpower At the current state the preliminary allocation of specific work packages and tasks to the team members has been completed cf 3 1 according to the disposition of fields of work cf 1 5 2 The whole Project Management work package is assigned to Thomas Rapp the team leader who is ultimately also in charge of the Concept WP and Flight Activities WP even if all team members work on sub packages of them The
10. radio silence at any time while on the launch C 01 pad The system shall survive several power on off 3 ps E C 01 switching cycles during launch preparation O 04 HORACE shall start the video record at Osec E S 09 lift off 0 05 HORACE shall be shut down completely after O 0 oske F S 4 to F S 6 0 06 _ HORACE shall be testable with EGSE sd 0 07 HORACE shall accept a start command from me the EGSE 0 08 The received downlink data shall be saved by E S 08 the groundsegment The groundsegment shall allow realtime Gan monitoring of the received downlink data 0 10 The mass storage devices shall be removed E S 4 to F S 6 directly after recover The integration and assembly of HORACE in O 11 the module shall be simple Table 2 6 operational requirements 2 5 Constraints ID Constraint text 7 HORACE is payload of REXUS 16 Table 2 7 constraints RX16 HORACE SEDv1 0 28Jan13 docx Page 16 HORACE Student Experiment Documentation EuroLaunch 3 PROJECT PLANNING 3 1 Work Breakdown Structure WBS In the WBS all work packages for HORACE are listed below Already finished work packages are written in italics next page RX16_HORACE_SEDv1 0_28Jan13 docx HORACE Si 1 Management Thomas Rapp 1 1 project management Thomas Rapp 1 2 project control 1 3 documentation sanger pan 1 4 risk management 5 Flight Activities 2 Concept 2 1 basic concept ENSE 2 2 requiremen
11. save the 2D vector to the earth center Of the calculated data the system shall save the detected horizon line as image data Of the calculated data the system shall save the calculated extrapolated horizon circle Of the calculated data the system shall save F S 08 pu A the stop of calculation timestamp F S 09 HORACE shall save the optical raw data bijectively linked to calculated data HORACE shall downlink selected calculated F S 10 dali R T T T R A A A R A R A A A A A F S 11 In every downlink data frame the global A timestamp shall be included In every downlink data frame the image frame F S 12 number of the processed frame shall be A included Table 5 1 verification matrix 1 4 RX16 HORACE SEDv1 0 28Jan13 docx Page 44 HORACE Student Experiment Documentation EuroLaunch Requirement text 7 FUNCTIONAL REQUIREMENTS In every downlink data frame the 2D vector to F S 13 the earth center if calculated shall be included A F S 14 In every downlink data frame the extrapolated A horizon circle if calculated shall be included F S 15 In every downlink data frame the stop of calculation timestamp shall be included PERFORMANCE REQUIREMENTS EN The optical sensor shall be mounted P M 01 perpendicular to the x axis The horizon shall be visible in 7096 of the operational time The PDU shall provide voltages between OV and 24V TBC P E 02 The PDU shall provide
12. the calculation of the 2D vector to the earth center run The frame number of every processed frame is saved together with the global timestamp and the results of the calculations on a SD card which is placed in a slot of the carrier board so bijective matching of the video data stored on the SSD with the calculations is RX16_HORACE_SEDv1 0_28Jan13 docx Page 26 HORACE Student Experiment Documentation EuroLaunch ensured The global timestamp is reset at lift off by the core system and is provided either by an internal timer of the carrier board or by an external RTC module Meanwhile synchronized with the global timestamp the measurement unit which is an Arduino extended with a SD shield regularly measures the consumed current of each subsystem and the temperature at selected points of the experiment The measurements are stored with the global timestamp to another SD card within the measurement unit and are passed neither to other subsystems or RXSM The PDU continuously provides the needed voltages for every single component throughout the whole experiment from power ON T 1200s to power OFF T 600s by regulating down the voltage provided by RXSM The electrical interface to RXSM is realized with a D SUB 15 connector on side of RXSM and optocoupler circuits which are planned to be located on the PDU board to process and forward the signals to the core system and the measurement unit As besides the LO signal other sig
13. 013 result Julius Maximilians UNIVERSE Basic algorithmic approaches y ER EARTH CENTER 16 01 2013 RX16 HORACE SEDv1 0 28Jan13 docx Page 62 HORACE Student Experiment Documentation EuroLauncn Julius Maximil ans UNIVERSIT T W RZBURG SA Eee ekte ke eie E PN Gx i j Im i 1 j 1 2 Imli 1 j Im i 1 j 1 pases de mene FA Imfi 1 j 1 2 Im i 1 j Im 1 j 1 Gy i j Im i 1 j 1 2 Im i j 1 Im i 1 j 1 Rye Imf i 1 j 1 2 Im i j 1 Im i 1 j 1 Data flow Version 2 Measurment Data Video Data Data package 16 01 2013 RX16 HORACE SEDv1 0 28Jan13 docx Page 63 HORACE Student Experiment Documentation EuroLaunch Julius Maximilians UNIVER Power distribution unit NPUT REXUS 9 T Tom T T gt 24 36V max 3A 2 e ca ca D c3 A Sa a D l D oe e gt K distribution unit PDU 16 01 2013 Julius Maximilians UNIVERSIT T WURZBURG scht Canny algorithm threshold 0 375 with Matlab 16 01 2013 RX16 HORACE SEDv1 0 28Jan13 docx HORACE Student Experiment Documentation Page 64 EuroLaunch APPENDIX C ADDITIONAL TECHNICAL INFORMATION The appendix can be found separately on the Teamsite as zip file with the content given below Index Dat
14. 053 1206G 2 5 100mm x 69 85mm x 7mm Micro SD 2GB Class 2 4 11mm x 15mm x Imm PDU PCB board 2 92mm x 92mm x 18mm LTM8033MPVHPBF DC DC regulator main structure core system lens mounting support screws TOTAL MASS kg 2 7273 Table 4 4 componets mass amp dimenstions estimated values marked red 45 Electronics Design 4 5 1 Camera The camera which observes the outer environment is the industrial CMOS camera model mvBlueCOUGAR X102b manufactured by Matrix Vision It provides the image data as consecutively and uniquely numbered frames via GigE Vision interface to the core system Through the integrated FPGA during implementation various settings like exposure time resolution and frame rate can be programmed Is it planned to set a frame rate of 30fps an 8bit coloured resolution of 1024px x 768px With a global shutter and a maximal blindness of 1 8 333s after full illumination good pictures can be provided also under rough conditions high spinning rates looking regularly into sun 4 5 2 Core System On the core system which is a Spartan 6 FPGA running on the AES S6DEV LX150T G carrier board the actual experiment image procession and horizon detection is performed cf 4 8 Therefore it receives the provided video data via the GigE interface which is then directly stored to the SSD via RX16 HORACE SEDv1 0 28Jan13 docx Page 33 EuroLaunch HORACE Student Experiment Documentation SATA interfac
15. CTOR CALCULATION SEET EE Figure 4 9 data flow calculation E Calculation S The Calculation S is based on segmentation In a preprocess each frame is checked of workability The segmentation separates colored from colorless areas and assumes the border as the horizon From that curve a vector to the center of the 2D projection of the earth is calculated RX16 HORACE SEDv1 0 28Jan13 docx Page 38 E UROLAUNCH HORACE Student Experiment Documentation CALCULATION S mm mm mm mm wm A PRE PROCESSING SEGMENTATION HORIZON DETECTION VECTOR CALCULATION ELE ii Figure 4 10 data flow calculation S Downstream This task running on board selects calculated data packages forms them into downlink packages and sends them to the RXSM T DOWNSTREAM 4 L L L L SELECTION FORMATION H mm em em em mm em mm mm mm mm e mm em mm em mm em mm mm mm mm mm em mm mm mm em mm em mm em em wm mm e Figure 4 11 data flow downstream Downlink Save This task running on the ground station has the sole function to save the received downlink data to memory Display The ground station displays the received downlink data in an increasing table RX16 HORACE SEDv1 0 28Jan13 docx Page 39 HORACE Student Experiment Documentation EuroLaunch 4 8 3 Data Handling One stream of the raw video data is directly saved to the video memory the other one supplies the calculation process Calculated
16. I o lt TC30 camera and video storage gets C lt Lo N O storage of raw video data fails MS30 i 3 during flight HORACE Student Experiment Documentation 3 5 Risk Register Risk ID TC technical implementation MS mission SF safety VE vehicle PE personnel EN environmental image processing software fails S10 during flight LO signal missed og camera does not resist temerature conditions S50 Horizon rarely visible B l a periode camera can not provide sharp pictures fast enough after full di illumination FAAR camera and FPGA gets lost team member not available during launch campaign electical connection between 3 lost TC40 MU software fails during flight B 13 system damaged during TC50 implementation shipping PE20 TC20 TC60 TC70 camera does not resist pressure conditions loss of developement data vk Table 3 2 risk register 1 2 RX16 HORACE SEDv1 0 28Jan13 docx Page 23 EuroLauncH A DLR and SSC cooperatioi Risk amp consequences P Je PxS Action 7 software tests Use redundancy Use SOE as backup integration procedure thermal tests isolation creating detailled operation lists recruit fellow students documentation person poxy list gt early illumination tests with camera vibration tests secure connectors vibration tests secure connectors software te
17. ORACE Student Experiment Documentation The camera which observes the outer environment of REXUS passes its video data to the core system which directly stores it to a mass storage and processes it for the horizon acquisition The results of the calculation are also stored to mass memory Additionally the core system represents the data interface to RXSM and passes some of the results of its calculations to RXSM for downlink The measurement unit regularly measures and saves health data like currents and temperatures autonomously and without any data interfaces to other subsystems or RXSM The experiment starts working at lift off and works completely autonomously throughout the whole flight so TC is not needed and thus not implemented 15 Team Details 1 5 1 Contact Point The team s contact person will be the Project Manager Thomas Rapp whose contact information is as followed Address HORACE Team Thomas Rapp c o Prof Dr Hakan Kayal amp Dipl Inf Gerhard Fellinger supervisors Informatik VIII Julius Maximilians Universitat Wurzburg Sanderring 2 97070 W rzburg GERMANY Phone 49 1577 1529248 E Mail team horace rexus de 1 5 2 Team Members Thomas Rapp Project Management Thomas is the student team leader and therefore responsible for the overall management of the HORACE project He is in charge of the documentation as well as the project schedule and is the main contact person He is also part of the me
18. ORACE power budget 48 Software Design 4 8 1 Software Modes There are two software modes stand by and flight mode During stand by the software does nothing except waiting for the LO signal When the LO RX16 HORACE SEDv1 0 28Jan13 docx Page 35 HORACE Student Experiment Documentation EuroLaunch signal is received it switches to flight mode The SOE and SODS signals will be used as backup if the LO signal is missed The ground station is manually switched to flight mode during countdown mm um um um Um mm mm mm mm mm se w SSC ee Gm UM d t e STAND BY FLIGHT MODE I I I D I I SWITCH I 1 i e l om mom mom m m m m m m m m m m m 9 mm mm um um um um um mm mm Figure 4 7 software modes Several tasks start working simultaneously and directly after switching RX16 HORACE SEDv1 0 28Jan13 docx Page 36 HORACE Student Experiment Documentation EuroLaunch E GN NN Gp UNS E EA EE s FLIGHT MODE 1 E x 3 1 ON BORD i e GROUND SEGMENT f d ro 1 E i f 1 E E E gy 1 BI veros Ji GB ome p i 1 amp I mm m m m m m m m m e I 1 1 1 I a p I 1 I y A I e ee Am mm mm um mm mm mm mm mm mm em mm mm m mm em mm mm mm mm mm mm mm mm em mm mm m Figure 4 8 tasks flight mode 4 8 2 Tasks Measure The measure task receives data from the current and temperature sensors adds th
19. Workshop Flight Acceptance Review Flight Simulation Test Flight Requirement Plan Flight Readiness Review Ground Support Equipment House Keeping Hardware Interface Control Document Interface Interim Progress Review Julius Maximilians Universit t W rzburg Lift Off Local Time Line of sight Mega Bits per second Mission Flight Handbook Mobile Raketen Basis DLR EuroLaunch RX16 HORACE SEDv1 0 28Jan13 docx Page 54 HORACE Student Experiment Documentation EuroLaun ZP MU Measurement Unit OP Oberpfaffenhofen DLR Center PCB Printed Circuit Board electronic card PDR Preliminary Design Review PDU Power Distribution Unit PST Payload System Test SED Student Experiment Documentation SNSB Swedish National Space Board SODS Start Of Data Storage SOE Start Of Experiment STW Student Training Week S W Software T Time before and after launch noted with or TBC To be confirmed TBD To be determined WBS Work Breakdown Structure WP work package RX16 HORACE SEDv1 0 28Jan13 docx Page 55 HORACE Student Experiment Documentation EuroLaunch 8 2 References Books Paper Proceedings 1 EuroLaunch REXUS User Manual 2012 8 3 List of Figures and Tables Figure 1 1 HORACE experiment Concept 8 Figure 3 1 Work Breakdown Structure HORACE sss 17 Figure 3 2 HORACE roadmap from initialisation to CDR 18 Figure 3 3 HORACE roadmap from CDR to EAR
20. a 36 483 Data Handlingerne a t aa 39 4 84 Devolop MON oM 42 49 Ground Support EQuipImiBlhib uuu en neu ren eses 42 HL Ei Eudes 42 49 2 MOSE suser feen mney ero ae ree 42 4 9 3 Ground Station ER 42 5 EXPERIMENT VERIFICATION AND TESTING ooooooocccooccccnnccccnicccconnncnonononoos 43 5 1 Verification Matfx umnusamomnmmismaueoninnimmieaineiuiuiisieiinnuinv 43 52 Test PANN A ng PO OO 47 5 3 TeSt RESUMS acne 49 6 LAUNCH CAMPAIGN PREPARATION sees 50 6 1 Input for the Campaign Flight Requirement Plans 50 6 1 1 Dimensions and mass cccccccnnnnnnnnnininininnnnnnnnnnnnnnnr rr rrrrrrrnra 50 6 12 Safety SKS unne 50 6 1 3 Electrical interfaces summene 50 6 1 4 Launch Site Requirements AEN 51 7 DATAANALYSIS PLAN EE 52 7 1 Data Analysis E o MT 52 8 ABBREVIATIONS AND REFERENCES eese 53 8 APPS cai seen med tela 53 9 2 SIIC osi com Gon tene d Cod ru Ced b Ces ce Ced b Ck ru y Con ra Ce ex ex 55 8 3 List of Figures and Tables ooooonnnconicccccnnccccnnncnonannnnnnnnnnnnnnnnnnoncnnnnnno 55 APPENDIX A EXPERIMENT REV IEWS 2 5 ornnes inconnu uana eant nnne 57 APPENDIX B OUTREACH AND MEDIA COVERAGE eese 58 APPENDIX C ADDITIONAL TECHNICAL INFORMATION 64 RX16 HORACE SEDv1 0 28Jan13 docx Page 5 HORACE Student Experiment Documentation EuroLaunch RX16 HORACE SEDv1 0 28Jan13 docx Page 6 HORACE Student Experiment Documentation EuroLauncn ABSTRACT The aim of the Horizon A
21. asheet Filename RX16 HORACE SED APPENDIX C 1 camera pdf Description Camera technical manual RX16 HORACE SED APPENDIX C 2 FPGA pdf FPGA RX16 HORACE SED APPENDIX C 3 step down regulator pdf 3A DC CD step down power supply RX16 HORACE SED APPENDIX C 4 SSD pdf SSD datasheet 5 RX16 HORACE SED APPENDIX C 5 Arduino Uno pdf Arduino Uno schematic RX16 HORACE SED APPENDIX C 6 Thermometer pdf Digital Thermometer RX16 HORACE SED APPENDIX C 7 Current Sensor pdf Current Sensor RX16 HORACE SED APPENDIX C 8 microSD pdf microSD module for Arduino RX16 HORACE SED APPENDIX C 9 MAX488 pdf Max488 Transciever 10 RX16 HORACE SED APPENDIX C 10 Optocoupler PC3H7 pdf Optocoupler PC3H7 RX16 HORACE SEDv1 0 28Jan13 docx
22. be com user horacerexus www qplus to horacerexus www twitter com horace rexus HM OG o N htto www8 informatik uni wuerzburg de mitarbeiter kayal0 student projects horace 7 http de wikipedia org wiki HORACE B 2 Logo We designed two Logos for the HORACE project One for general use in publications or presentations and a mission patch for personal use like labels T shirt imprints etc LEG oe Mission Patch HORACE Logo RX16 HORACE SEDv1 0 28Jan13 docx Page 59 HORACE Student Experiment Documentation EuroLaunch B 3 Presentations Excerpt of a presentation hold by two of our team members If full presentation is needed feel free to contact us RX16_HORACE_SEDv1 0_28Jan13 docx Page 60 E UROLAUNCH HORACE Student Experiment Documentation BS Julius Maximilians UNIVERSIT T RZBURG HORACE Horizon Acquisition Experiment REXUS 15 16 Julius Maximilians E UNIVERSITAT W RZBURG HORACE HORACE VIDEO http www youtube com watch v tSMg196vQ2c 16 01 2013 RX16 HORACE SEDv1 0 28Jan13 docx Page 61 HORACE Student Experiment Documentation EuroLauncn Julius Maximilians UNIVERSE 1 Mission Statement e technology demonstration mission e test horizon acquisition sensor HORACE system e realistic space like conditions determine is the approach indeed apt to re acquire attitude under nominal or stress conditions 16 01 2
23. ber of the processed frame shall be F S 10 included In every downlink data frame the 2D vector to F S 13 he earth center if calculated shall be F S 10 included In every downlink data frame the extrapolated o F S 14 norizon circle if calculated shall be included EP E S 15 In every downlink data frame the stop of F S 10 calculation timestamp shall be included Table 2 2 functional requirements 2 2 2 2 Performance Requirements Respondto The optical sensor shall be mounted perpendicular to the x axis The horizon shall be visible in 7096 of the operational time The PDU shall provide voltages between OV and 24V TBC The PDU shall provide currents between 0A i BC The PDU shall provide voltages with an RE accuracy of 160mV TBC EN The PDU shall provide currents with an P E 04 accuracy of 30mA TBC Fr The PDU shall handle a range of input voltage P E 05 between 24V and 36V PEDO The PDU shall handle a range of input current P E 06 between 0A and 3A ERIS A new timestamp shall be provided with the es P E 07 frequency 10 kHz TBC Er Table 2 3 performance requirements 1 2 RX16 HORACE SEDv1 0 28Jan13 docx Page 13 HORACE Student Experiment Documentation EuroLaunch The optical sensor shall provide an image resolution of 1024px x 768px TBC The exposure time of the optical sensor shall The optical sensor shall provide the image data as raw data The optical sensor shal
24. cal components on the experiment there will be another one as backup 4 9 2 MGSE For correct assembly and disassembly the experiment into the REXUS module there is a toolkit with several needed tools 4 9 3 Ground Station The ground station is a notebook that is connected to the REXUS service module It displays the received data in an increasing table and saves them to data storage Special software packages and extensions are developed for this task cf 0 RX16 HORACE SEDv1 0 28Jan13 docx Page 43 HORACE Student Experiment Documentation EuroLaunch 5 EXPERIMENT VERIFICATION AND TESTING 5 1 Verification Matrix Requirement text M FUNCTIONAL REQUIREMENTS EA F E 01 HORACE shall observe optically the outer enivronment The system shall provide a global timestamp F E 02 synchronized to LO F E 03 The system shall distribute power to all subsystems HORACE shall measure the power F E 04 consumption of selected subsystems poc HORACE shall measure the temperature at selected points of the experiment The mounting of the optical sensor should ensure visibility of the horizon HORACE shall detect and calculate the line of horizon Ganz HORACE shall calculate the 2D vector to the 2D projection of the earth center HORACE shall save the measurement data F S 03 i with global timestamp HORACE shall save the calculated data with F S 04 global timestamp E S 05 Of the calculated data the system shall
25. camera image processing http www explore rexus de Why do need an uplink Note On REXUS an uplink is not normally available during flight What is the reason to measure power consumption The team should add a mechanical engineer The outreach activities should be extended For instance the video could be uploaded on Youtube and you should present your results in e g seminars Which team member is responsible for public outreach Give some more details on the algorithms and the planned evaluation during the presentation Comments on the presentation during Selection Workshop in Bonn e Consider that the Earth is not always blue and the sky is not always black e Consider using movies from other teams to test the algorithm e After the flight housekeeping data from the rocket can be provided to support the evaluation e Consider including more than one camera e Tests on turning tables should be carried out e Consider that the camera can be exposed directly to sun e Consider to reduce avoid sun reflections around and inside the hatch e g surface treatment e Consider comments already given with the workshop invitation RX16 HORACE SEDv1 0 28Jan13 docx Page 58 E UROLAUNCH HORACE Student Experiment Documentation APPENDIX B OUTREACH AND MEDIA COVERAGE B 1 Weblinks Ref Link Number www horace rexus de www facebook com horace rexus www youtu
26. chanical workgroup and thus involved in the device assembly and mechanical design integration of the experiment Thomas is in his second undergraduate year of studies of Aerospace Information Technology at University of Wurzburg RX16 HORACE SEDv1 0 28Jan13 docx Page 10 EuroLaunch HORACE Student Experiment Documentation Jochen Barf Algorithmic Development Jochen s main task is to develop smart algorithms which detect the horizon in the video frames and to calculate a 2D vector to the earth center reliably and as fast as possible He will also develop the required software components of the ground segment for TM TC Jochen is a student of Aerospace Information Technology at University of Wurzburg in his second undergraduate year Sven Geiger Embedded System Development amp Porting Its Sven s job to make sure that Jochen s algorithms will run on the embedded system of the HORACE System He is also responsible for the rest of the embedded programming which is necessary for the experiment to run properly Sven is in his second undergraduate year of studies of Aerospace Information Technology at University of Wurzburg Florian Wolz Electrical amp Mechanical Engineering As electrical engineer Florian ensures that every component is supplied with power and that the power consumption is measured and stored correctly Together with Thomas he is also responsible for the mechanical and thermal design and
27. cquisition Experiment HORACE is to test and demonstrate the capabilities of a new approach for attitude determination which also works under stress conditions like uncontrolled tumbling or spinning with high rates Therefore the experiment processes optical data with image processing algorithms on an embedded system so that the line of horizon is detected in the frames and a vector to the 2D projection of the center of the earth can be calculated Unlike existing earth sensing systems using the IR spectrum to detect the earth HORACE processes video frames of an ordinary camera which is sensitive to the visible spectrum Thus there is strong emphasis on the software components of the system and we imagine a future system which could only be a software package capable enough to use data from existing payload cameras for attitude determination in emergencies During the experiment both video and calculated data are collected to provide qualitative and quantitative evidence about the robustness and accuracy of the horizon acquisition and the calculated earth vector as well as for the general approach after post flight evaluation The flight on REXUS provides a good setting for the experiment because the launcher s rotation is similar to uncontrolled tumbling or spinning movements and the reached altitude is high enough to take realistic space like images HORACE has been initiated by five students of Aerospace Information Technology at Uni
28. ctrically harm the D E 01 REXUS launcher D E 02 he system shall not electrically interfere with other experiments HORACE shall be compatible to the REXUS D E 03 electrical interface according to REXUS C 01 manual D E 04 The system shall use camera s as optical P E 08 sensor s D E 05 The system shall use 2 cameras TBC P M 02 HORACE shall not mechanically harm the REXUS launcher The system shall not mechanically interfere with other experiments C C HORACE shall be compatible to the REXUS D M 03 mechanical interface according to REXUS C G The core system shall withstand temperature D M 04 conditions inside the module according to REXUS manual The cameras shall withstand temerature D M 05 conditions at the module s skin according to C 01 REXUS manual The whole experiment shall withstand presure C 0 0 0 manual 0 conditions according to REXUS manual 0 The whole experiment shall withstand D M 07 vibration conditions according to REXUS C 01 manual D M 08 Connectors shall be easily accessible D M 09 The mass storage devices shall be easily accessible Table 2 5 design requirements 1 1 1 1 1 11 RX16 HORACE SEDv1 0 28Jan13 docx Page 15 HORACE Student Experiment Documentation EuroLaunch 2 4 Operational Requirements ID Requirement text 7 0 01 The experiment shall operate fully C 01 autonomously during flight The experiment shall accept a request for 0 02
29. dundant systems are flown Table 6 2 Electrical Interfaces to REXUS 6 1 4 Launch Site Requirements At the launch site the following equipment shall be provided 3 desks tables 5 chairs 10x power outlet 230V 50Hz power supply 24V 36V DC for testing RX16 HORACE SEDv1 0 28Jan13 docx 1 whiteboard flipchart with pencils amp magnets Internet access WLAN or 7x LAN w Ethernet wires Page 52 HORACE Student Experiment Documentation EuroLaunch 7 DATA ANALYSIS PLAN 7 1 Data Analysis Plan During the post flight analysis the calculated data will be both matched with the recorded video data and collected housekeeping data as well as with flight data collected by RXSM and data from pre flight simulations and tests Therefor the calculated data will be visualised layered in the video data with video editing software and evaluated frame by frame manually or with special software whereas the matching of the RXSM and housekeeping data to the calculated data will most likely be performed by using spread sheets So all data will be analysed regarding the following aspects e Calculate deviation of detected horizon compared with visible horizon in video frames e Calculate deviation of calculated earth vector compared with vector calculated with RXSM data Determine limits of spinning rates for successful horizon acquisition Calculate ratio of correctly processed frames per second Did false positives occur Detect reason
30. e Furthermore it processes the video data and saves the calculated data to a SD card which is located on the carrier board By saving both the global timestamp and the consecutive unique frame number for every processed frame it is ensured that all collected data can be matched bijectively for post flight evaluation cf 4 8 3 Additionally the core system controls the whole experiment and therefore communicates with the RXSM and the other subsystems The communication for downlink with RXSM is implemented according to the RS 422 standard defined in the REXUS manual by using the l O transceiver extension chip MAX488 Communication with other subsystems like setting the clock as well as the procession of the signals provided by RXSM is implemented by using serial analogue l Os of the carrier board 4 5 3 Clock To provide a global timestamp a global clock is needed which is set by the core system at lift off and is provided both to the core system and MU At the current status it is not decided whether this function is fulfilled by an internal timer of the core system or with an external real time clock module connected via I C protocol 4 5 4 Measurement Unit The MU is an Arduino UNO Board with an Atmel ATmega 328 microcontroller shouldered with a SD card shield It measures regularly both temperatures with DS18B20 digital temperature sensors from Maxim range from 55 C to 125 C with a sensitivity of 0 5 C at two distinct po
31. e MU shall provide a write speed of 51 kbyte sec TBC uM ae spoed o1 70 Moye P E 22 shall provide a write speed of 70 Mbyte sec TBC have a memory size of 75 Mbyte TBC The mass storage for the calculated data shall provide a write speed of 125 kbyte sec TBC P S 01 The 2D vector to the earth center shall be calculated with 4 digits TBC The system shall calculate the 2D vector to the P S 02 earth for every successfull horizon detection DESIGN REQUIREMENTS The system shall not electrically harm the REXUS launcher The system shall not electrically interfere with other experiments HORACE shall be compatible to the REXUS electrical interface according to REXUS manual Table 5 3 verification matrix 3 4 R R R R R R R R T ab eh ul SN Ri m T I T n 1 A A op au he mass storage for the optical raw data ORT shall have a memory size of 40 Gbyte TBC RX16 HORACE SEDv1 0 28Jan13 docx Page 46 HORACE Student Experiment Documentation EuroLaunch D Requrementte Venificatior DESIGN REQUIREMENTS D E 04 The system shall use camera s as optical EMEN sensor s D E 05 The system shall use 2 cameras TBC o d D M 01 HORACE shall not mechanically harm the REXUS launcher The system shall not mechanically interfere with other experiments HORACE shall be compatible to the REXUS D M 03 mechanical interface according to REXUS manual The core sy
32. e global timestamp and saves them to memory Video Save This task has the sole function to add the unique frame number to the received video data and save them to memory Calculation To get a higher guaranty of producing a working horizon detection algorithm there are two parallel developments Calculation E and Calculation S Calculated data is sent to the downstream and saved to memory In case of two working horizon detection algorithms there is the possibility that each of them could run on a separate system RX16 HORACE SEDv1 0 28Jan13 docx Am am am GM en em en en en em em em en en en em en Page 37 HORACE Student Experiment Documentation EuroLaunch During and after each calculation selected data specified in4 8 3 is sent to the downstream and saved to memory Calculation E The Calculation E is based on edge detection Before the actual detection each frame is grey scaled and checked of workability in a preprocess In the resulting picture of the edge detection the algorithm searches for lines The horizon detection chooses one of them as the assumed horizon From that curve a vector to the center of the 2D projection of the earth is calculated em mm mm mm mm mm mm mm mm mm mm mm mm mm mm mm mm mm mm mm mm mm mm mm mm mm mm mm mm mm mm mm mm mm ww CALCULATION E 4 A L L L L L PRE PROCESSING EDGE DETECTION LINE DETECTION HORIZON DETECTION VE
33. eriment Interfaces 4 2 4 Mechanical HORACE will feature a main structure with two floors to store all components The components of the lower floor are directly mounted to the bottom plate with spacers Items of the upper floor are also directly mounted to a bulkhead plate only with spacers At current stage also the camera respectively both for two systems is mounted to the upper floor because of space issues so the standardized bolts of the bottom plate and bulkhead respectively for the needed brackets are the only mounting points at the module needed for HORACE If applicable it is also thought of mounting the cameras directly to the skin For each camera a hole in the outer structure of the REXUS rocket is needed as optical interface The diameter is not yet fixed as well as the question whether a protecting window is needed With a total height of 100mm the current assembly only fits into a 120mm long module if the restrictions for gaps of 10mm and 20mm to the lower and upper end of the module were relieved as in the current accommodation HORACE is supposed to be placed above all other experiments or another solution could be found 4 2 2 Electrical The HORACE experiment will use the power provided by RXSM and does not use own auxiliary power supply The unregulated voltage between 24V and 36V is taken to the experiment via the D Sub 15 connector and converted continuously to the needed operating voltages of all electrical com
34. eriment components Experiment mass in kg 2 73kg for 2 systems including 25 margin excluding module Experiment dimensions in m 0 100m x 0 298m x 0 350m Experiment footprint area in m 0 07m Experiment volume in m 7 0 10 m3 Experiment expected COG centre of gravity position geometrical center of module 2cm in each direction Table 4 3 Experiment summary table RX16 HORACE SEDv1 0 28Jan13 docx serial interface needed older models suffice Page 30 Lm HORACE Student Experiment Documentation EuroLauncn 4 4 Mechanical Design The two main functions of the mechanical design of HORACE are tight and safe mounting for a safe flight as well as the guarantee of good visibility of the horizon for the cameras Figure 4 4 experiment setupFigure 4 4below shows the mechanical setup of HORACE within the 120mm module Figure 4 4 experiment setup For easy and fast integration to the module and good utilisation of the available volume every single component for two identical experiment systems is mounted to one of the floors the bottom plate and a bulkhead plate of the experiment s main structure which themselves are mounted to the module with the standardized bolts Exact locations of mounting points have to be defined in cooperation with EuroLaunch To have easy access to the storage devices before integration in the module and during disassembly all sid
35. es of the main structure are left open and wiring within the experiment is supposed to be done through a hole in the center of the bulkhead plate The specific location of each component shown in Figure 4 5 shall ensure a good utilisation of volume and footprint area as well as best possible symmetrical assembly to keep the center of gravity near the rockets Xpr axis RX16_HORACE_SEDv1 0_28Jan13 docx Page 31 EuroLauncH HORACE Student Experiment Documentation A DLR and SS cooper Figure 4 5 lower floor grey bottom plate blue MU yellow PDU orange SSD upper floor yellow bulkhead plate grey cameras green FPGA boards Also the two cameras are mounted to the main structure symmetrically and so that their view axes are anti parallel Thus in most cases if horizon cannot be seen by one camera it is visible for the other one Both cameras are not supposed to have direct contact to the rocket skin for thermal reasons and might be additionally protected by a protection window If a window is used it shall have a special surface treatment for optical reasons The exact positions and dimensions of the two holes needed in the skin are not yet defined RX16_HORACE_SEDv1 0_28Jan13 docx Page 32 EuroLauncH HORACE Student Experiment Documentation DUR ond SC coopera PERDE Ad en e e Kg e 5 current sensor ACS712 2 21mm x 15mm x 2mm 6 temperature sensor DS18B20 2 19mm x 4mm x 3mm SSDNow V 200 SVP20
36. estion and propagate information material towards interested people 3 4 2 Local Publicity To publicize HORACE regionally we will release some information about HORACE at the local newspaper called MainPost We are planning to get in touch with a journalist within the next month to schedule an interview which then would be published Besides there are ideas about an interview broadcasted on TV to promote our project on a bigger dimension and in a visual way as the Chair of Aerospace Information Technology has some contacts to national TV stations 3 4 3 Web Presence As web presence is very important nowadays HORACE will have different kinds of webpages To start with the social media websites like Facebook Twitter amp Co we will publish short status updates and news at a regular basis to keep the virality of HORACE as high as possible and to reach a broad audience Whenever possible images or videos will be uploaded to these pages since they are more likely to be watched than status updates consisting of plain text The last point is the homepage of HORACE where all information posted or uploaded on other websites will be made available for the general public The website will feature a blog section with detailed news updates as well as a download section containing all our documentations presentations and results to enable interested people to follow our work progress RX16 HORACE SEDv1 0 28Jan13 docx o M lt WN
37. global timestamp F E 02 synchronized to LO F E 03 The system shall distribute power to all subsystems F E 04 HORACE shall measure the power consumption of selected subsystems HORACE shall measure the temperature at F E 05 selected points of the experiment The mounting of the optical sensor should F M 01 d ensure visibility of the horizon HORACE shall detect and calculate the line of F S 01 horizon Ganz HORACE shall calculate the 2D vector to the 2D projection of the earth center HORACE shall save the measurement data F S 03 with global timestamp HORACE shall save the calculated data with F S 04 f global timestamp F S 05 Of the calculated data the system shall save the 2D vector to the earth center Of the calculated data the system shall save F S 06 the detected horizon line as image data Table 2 1 functional requirements 1 2 Page 12 HORACE Student Experiment Documentation EuroLaunch ID Requirement text Respond to E S 07 Of the calculated data the system shall save the calculated extrapolated horizon circle E S 08 Of the calculated data the system shall save E S 04 the stop of calculation timestamp HORACE shall save the optical raw data F S 09 bjjectively linked to calculated data SC HORACE shall downlink selected calculated data In every downlink data frame the global F S 10 timestamp shall be included In every downlink data frame the image frame F S 12 num
38. ial support for HORACE e Alexander Bucher designer from Munich who designed the HORACE logo e Matthias Bergmann one of the team members fellow students and hobby photographer took pictures for the HORACE webpage and other outreach material 3 4 Outreach Approach Since public outreach is a very important part of the HORACE project we are going to involve a broad spectrum of news spreading media We will broadcast news the old fashioned way via newspaper especially the local newspaper MainPost located in W rzburg as well as in digital media like social websites We will also be present at University s daily routine and special events to increase public awareness of our activities To reach this approach we will have to diversify what kind of information we will provide in which case For that we spotted three parts of news distribution the scientific news services and University local newspaper TV broadcasts and the presence on the internet 3 4 4 Scientific News Services and University To fulfil the demand of technically oriented people we will especially pass on technological information to the scientific news services of our University which then will share our information with different scientific newspapers We will also have and already had some presentations at University of W rzburg On January 16th 2013 two of our team members presented the concept and first details about HORACE to a group of students a
39. ints of the experiment and currents of the main components with the ACS714 current sensors produced by Allegro range from 5A to 5A with sensitivity of 185mV A and saves the measured data with the global timestamp to its SD storage Also in the case of two identical experiment setups only one MU is integrated 4 5 5 Power Distribution Unit The power distribution is performed with a set of DC DC uModules regulators LTM8033 produced by Linear Technology one for each needed voltage The Modules are able to handle the unregulated input voltage from RXSM of 24V to 36V and provide very stable voltages and currents The operating temperature range is between 40 C and 125 C so the uModules might have to be cooled by link to passive heatsinks On the same board as the PDU the signal interface is planned to be located cf 4 2 2 4 6 Thermal Design Critical components are selected with the most possible operating range e g by selecting the industrial variant to cover the thermal conditions during launch preparation flight and recovery RX16 HORACE SEDv1 0 28Jan13 docx Page 34 HORACE Student Experiment Documentation EuroLaunch Currently only for the PDU heatsinks are planned for better cooling and it is determined if special mechanical provisions must be made to protect the camera from heat of the outer structure and environment e g by a protecting window or insulating materials At the current stage only rough no
40. l provide sharp pictures at least 0 120sec after full illumination The MU shall measure temperatures with an accuracy of 0 5 C The MU shall measure temperatures ina pea The MU sh 55 to 125 C The MU shall measure temperatures witha sample rate of 1 kHz TBC The MU shall measure currents with an accuracy of 100mA The MU shall measure currents in a range of P E 17 OA to 3A F E 04 The MU shall measure currents with a sample P E 18 rate of 1 kHz TBC re P E 19 The mass storage of the MU shall have a E S 03 memory size of 4 Mbyte The mass storage of the MU shall provide a P E 20 write speed of 51 kbyte sec TBC ee The mass storage for the optical raw data P E 21 shall have a memory size of 40 Gbyte TBC Jag The mass storage for the optical raw data P E 22 shall provide a write speed of 70 Mbyte sec F S 09 TBC The mass storage for the calculated data shall P E 23 have a memory size of 75 Mbyte TBC cee The mass storage for the calculated data shall USER provide a write speed of 125 kbyte sec TBC dro The 2D vector to the earth center shall be P S 01 calculated with 4 digits TBC as P S 02 The system shall calculate the 2D vector to the Ganz earth for every successfull horizon detection Table 2 4 performance requirements 2 2 RX16 HORACE SEDv1 0 28Jan13 docx Page 14 HORACE Student Experiment Documentation EuroLaunch 2 3 Design Requirements ID Requirement text The system shall not ele
41. le 3 3 risk register aa ii 24 Table 4 1 experiment Components 29 Table 4 2 experiment Components EE 29 Table 4 3 Experiment summary ablenne 29 Table 4 4 componets mass amp dimenstions estimated values marked red 32 Table 4 5 HORACE power budget 34 Table 4 6 required downlink bandwidth for each system 39 Table 4 7 memory SIZES P 40 RX16 HORACE SEDv1 0 28Jan13 docx Page 56 HORACE Student Experiment Documentation EuroLauncu Table 5 1 verification matrix UA 43 Table 5 2 verification matrix 2 4 sese 44 Table 5 3 verification matrix O 4A EE 45 Table 5 4 verification matrix AA 46 Table 6 1 Experiment mass and volume cooooccnccnnnnnnnnnnnnononnnnnnnnnnnnannnnr rra 50 Table 6 2 Electrical Interfaces to REXUS rrnnnnnvrrrnnnnnnnvrrrnnnnrrrrrnnnnnrnrernnnnnnn 51 RX16 HORACE SEDv1 0 28Jan13 docx Page 57 EuroLaunch HORACE Student Experiment Documentation APPENDIX A EXPERIMENT REVIEWS Comments of the Selection Board on proposal Comments on the REXUS Proposal HORACE We got the proposal from the students supervisor Within the REXUS BEXUS programme the student team has to represent the experiment by themselves selection workshop reviews launch campaign Looking at available videos from previous rocket campaigns you should convince us that you can perform a reasonable horizon acquisition with your approach
42. nals are not needed for the experiment the SOE and SODS signals are used as redundancy if the LO signal was missed The downlink stream is directly conditioned by the core system and so the corresponding pins are directly connected to analogue outputs of the core system The main structure which is the mechanical interface to REXUS is a bulkhead mounted aluminium case in which all components except the camera and connecting wires are stored The camera is skin mounted with an aluminium mounting frame and observes the outer environment through a hole possibly with a protecting window in the outer hull of REXUS For post flight evaluation of the calculated data it shall be matched with recorded flight dynamic data lt was planned to use the data recorded by RXSM and available for all teams after flight But this data does not suffice for our purposes so probably we have to design an own subsystem for this task As we received this information only few days before the due date for SED v1 because of a misunderstanding with EuroLaunch staff this subsystem is yet not designed and we demand intense supervision by EuroLaunch staff for this task At the current stage it is planned to let two identical systems fly in the same module but this decision is only preliminary at the moment as it has not yet been confirmed by EuroLaunch RX16 HORACE SEDv1 0 28Jan13 docx Page 27 EuroLaunch HORACE Student Experiment Documentation 4 2 Exp
43. nd on January 22th 2013 our team leader held a presentation in front of a German Polish cooperation board for a nanosatellite mission to get them a glimpse into what projects our university is involved in Additionally we are in touch with our supervisor to organize a lecture about HORACE possible dates are at the end of June or the beginning of October RX16 HORACE SEDv1 0 28Jan13 docx Page 22 HORACE Student Experiment Documentation EuroLaunch to present our work progress to other interested students and people This presentation will probably take place within the so called Schnupperwoche a special week in which people school leavers who are interested in studying at the University of W rzburg can get a view into some student projects Furthermore HORACE will be present at Tag der Physik an open house day in the summer semester where different science projects are presented to a broad local non university audience At this presentation we will especially concentrate on technical aspects and technical capability of HORACE Another presentation in which we will bring the algorithm and other aspects of the software into focus will be held at the Tag der Informatik a computer science day at our university For some other events like the Girls Boys Day at our university we will prepare billboards with basic information to roughly outline our project Some of our team members will be present at those stands to answer qu
44. od b 7 1 3 Experiment Objectives PERS 8 1 4 Experiment GE Varese 8 1 5 Team Details sai 9 15 Contact el EE 9 1 5 2 Team Members o e 9 2 EXPERIMENT REQUIREMENTS AND CONSTRAINTS oaaae 11 2 1 Functional Requirements un 11 2 2 Performance Requirements EE 12 2 3 Design Haequlremmenls u v msmvinemstmsiseisnssenmeksvmmkjesknis bevis 14 2 4 Operational Requirements AEN 15 A du un de deleto nale 15 3 PROJECT PLANNING cionado 16 3 1 Work Breakdown Structure WD 16 A dene 18 A aai 19 3 3 1 E pori PTS 19 3392 B N e eee 20 ce External SSM OMT Meter Dm 21 3 4 DEN NN reke 21 3 4 1 Scientific News Services and University 21 342 Local BU 22 3 43 Web Presence EEN 22 35 Risk A oom OTT 23 4 EXPERIMENT DESCRIP TION i diede siii ibn 25 ME S u p 0 acca cnc ida 25 4 2 Experiment Interfaces AEN 27 221 Mechanical tm 27 4 2 2 FEL NEED 27 4 3 Experiment Componoenls eonun tona etn nnde utra c me Unna me ues ues 29 e dier DB ep T UT 30 4 5 Electronics Des E 32 RX16 HORACE SEDv1 0 28Jan13 docx Page 4 HORACE Student Experiment Documentation EuroLaunch Lol E C7 TAE e A 32 252 MOE OV y oomen conde uniin ienaat aa 32 moo EE G A EF Er 33 4 5 4 Measurement Unit cccccnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnninnnos 33 4 5 5 Power Distribution Unit sissies 33 4 6 Thermal Design 33 A 34 4 8 Software Design static 34 4 8 1 Software lee 34 482 TASKS A E E EA E EAE E
45. ooooccccccncoccccconanancnnnnnanancnnn 18 Figure 3 4 HORACE roadmap from launch campaign to project end 19 Figure 4 1 experiment Setup EE 25 Figure 4 2 electronic schematic for signal interface 28 Figure 4 3 electronic schematic TM TC mtertace 28 Figure 4 4 experiment Setup EE 30 Figure 4 5 lower floor grey bottom plate blue MU yellow PDU orange SSD upper floor yellow bulkhead plate grey cameras green FPGA oio MEME eee 31 Figure 4 6 components mass amp dimensions estimated values marked red 32 Figure 4 7 software modes Abbe 35 Figure 4 8 tasks MIGHT INOS c 36 Figure 4 9 data flow calculation Estos loca ii 37 Figure 4 10 data flow calculation S rrrrrnnnnnnnrnnnnnnrrrrnnnnnnnnrrnnnnrrrrrnnnnnnersnn 38 Figure 4 11 data flow downstream 38 Figure 4 12 data package deimmgon 39 Figure 4 13 data handling ee 41 Table 2 1 functional requirements 2 11 Table 2 2 functional requirements 2 2 csse 12 Table 2 3 performance requirements 1 2 esssseseesssss 12 Table 2 4 performance requirements OI 13 Table 2 5 design requirements denia breue tige uen Leben ide ERR H RR tions 14 Table 2 6 operational requirements e 15 Table 2 7 constraints tastes tein diode pui eebe Eege 15 Table 3 1 budget plan m ER 20 Table 3 2 risk register 2 23 Tab
46. pectively test items for critical and long lead items FPGA camera lenses Single cost Total Cost EUR EUR Electronics 1 Camera mvBlueCOUGAR X102b 1 200 00 3 600 00 2 000 00 47 64 23 78 2 AES S6DEV LX150T G 3 Arduino UNO R3 4 Arduino Ethernet SD shield 2 2 2 6 temperaturesensorDs18B20 IJ 338 76 SEET 8 Micro SD 2GB Class 2 4 4 40 17 60 9 PDUPCBboad 2 15000 30000 __10 LTM8033MPV PBF DC DC regulator 8 40 46 32368 11 wiring connectors 14 mounting support screws i 1 60 00 60 00 als EE STN Launch campaign travel expenses for 19 fifth team member 970 00 SUM EUR 9 714 16 Margin 5096 4 857 08 TOTAL BUDGET EUR 14 571 24 Table 3 1 budget plan Page 21 HORACE Student Experiment Documentation EuroLaunch 3 3 3 External Support The HORACE team is continuously seeking for external supporters for experiment realization especially regarding technical and management expertise hardware provisions and sponsoring as well as financial support Currently the team is generously supported by e The Chair of Aerospace Information Technology at University of W rzburg In particular Prof Dr Hakan Kayal and Dipl Inf Gerhard Fellinger support the team with technical and management expertise Furthermore the Chair of Aerospace Information Technology provides access to local facilities and expertise from other projects as well as logistic and financ
47. periment setup Test level TBD procedure and duration Test campaign TBD duration Test Number 6 Test type Vaccum Test facility Test chamber University of Wurzburg Tested item Camera Test level TBD procedure and duration Test campaign TBD duration Test Number 7 Test type Vacuum Test facility Test chamber University of Wurzburg Tested item The whole experiment setup RX16 HORACE SEDv1 0 28Jan13 docx HORACE Student Experiment Documentation Page 49 EuroLAUNCH Test level TBD procedure and duration Test campaign TBD duration Test Number 8 Test type Thermal vacuum Test facility Test chamber University of Wurzburg Tested item The whole experiment setup Test level The whole System shall be operated under simulated procedure and flight conditions duration Test campaign TBD duration Test Number 9 Test type Vibration Test facility TBD Tested item The whole experiment setup Test level The whole System shall be operated under simulated procedure and flight conditions duration Test campaign duration TBD 5 3 Test Results At the current stage there are no test results available RX16 HORACE SEDv1 0 28Jan13 docx Page 50 HORACE Student Experiment Documentation EuroLaunch 6 LAUNCH CAMPAIGN PREPARATION 6 1 Input for the Campaign Flight Requirement Plans 6 1 1 Dimensions and mass
48. ponents by the PDU cf 4 5 5 throughout the whole experiment operating time from T 1200 to T 600 HORACE will averagely consume about 2x 50W if two redundant systems are flown including 25 margin The signals sent to HORACE from RXSM namely LO signal SOE signal and SODS signal are processed by a separate signal interface which is planned to be physically located on the PDU board The interface uses optocouplers to ensure galvanic separation of the experiment and RXSM and to provide the signals to every component The core system and MU are therefore directly connected to the interface and are directly triggered by the incoming signals whereas the global clock is indirectly set by the core system As the LO signal is actually the only needed signal SOE and SODS signals are implemented as redundancy if the LO signal was missed because of technical malfunction and are sent to HORACE with few seconds delay to lift off cf 4 8 1 RX16 HORACE SEDv1 0 28Jan13 docx Page 28 HORACE Student Experiment Documentation EuroLauncn LO SOE SODS Signal splitter for two different Devices 5V c LO SOE SODS Signal from REXUS service module 91 o TT K 558 A o o ew D GND N o 8 yK o o GND Figure 4 2 electronic schematic for signal interface The core system implements the downlink interface to RXSM and conditions the data to be sent to ground station via the RXSM telemetry infrastruct
49. s Did false negatives occur Detect reasons Calculate ratio of successful horizon detections to frames on which horizon is indeed visible e Evaluate correlations between power consumption and algorithmic activities and spinning rates e Evaluate power consumption as important parameter for later operational use With this data analysis and evaluation finally both qualitative and quantitative evidence about the general technical feasibility robustness and accuracy of autonomous horizon detection following the outlined approach will be provided RX16 HORACE SEDv1 0 28Jan13 docx HORACE Student Experiment Documentation Page 53 EuroLAUNCH 8 ABBREVIATIONS AND REFERENCES 8 1 Abbreviations This section contains a list of all abbreviations used in the document AIT asap BO BR CDR COG CRP DLR EAT EAR ECTS EIT EPM ESA Esrange ESTEC ESW FAR FST FRP FRR GSE HK H W ICD VF IPR JMU LO LT LOS Mbps MFH MORABA Assembly Integration and Test as soon as possible Bonn DLR German Space Agency Bremen DLR Institute of Space Systems Critical Design Review Centre of gravity Campaign Requirement Plan Deutsches Zentrum f r Luft und Raumfahrt Experiment Acceptance Test Experiment Acceptance Review European Credit Transfer System Electrical Interface Test Esrange Project Manager European Space Agency Esrange Space Center European Space Research and Technology Centre ESA NL Experiment Selection
50. stem shall withstand temperature D M 04 conditions inside the module according to REXUS manual The cameras shall withstand temerature D M 05 conditions at the module s skin according to REXUS manual EENEG e conditions according to REXUS manual The whole experiment shall withstand D M 07 vibration conditions according to REXUS T manual D M Connectors shall be easily accessible R 08 D M 09 The mass storage devices shall be easily 2 3 JOPERATIONAL REQUIREMENTS The experiment shall operate fully O 01 T autonomously during flight The experiment shall accept a request for 0 radio silence at any time while on the launch pad The system shall survive several power on off O 0 S e T switching cycles during launch preparation HORACE shall start the video record at Osec ee lift off HORACE shall be shut down completely after 0 05 600sec 0 06 HORACE shall be testable with EGSE T O 0 07 HORACE shall accept a start command from the EGSE The received downlink data shall be saved by 0 08 the groundsegment The groundsegment shall allow realtime 1 monitoring of the received downlink data The mass storage devices shall be removed O 10 directly after recover The integration and assembly of HORACE in O 11 7 T the module shall be simple Table 5 4 verification matrix 4 4 T T T R T T T T T T M QA QA HORACE Student Experiment Documentation 5 2 Test Plan Page 47 EuroLaunch
51. sts have spare HW componets vacuum tests do regular backups save in cloud Page 24 HORACE Student Experiment Documentation EuroLAuncu Y Risk 8 consequences P e Pxs JAcin 7 manufacturer does not provide gt order camera at other cannot deliver hardware manufacturers gt recovery procedure gt backup after recovery f flight dat vn Ed complete shutdown before landing Experiment can not be recovered or mass storage is downlink minimum data destroyed during landing camera gets loose from vibration tests structure gt secure mounting Table 3 3 risk register 2 2 RX16 HORACE SEDv1 0 28Jan13 docx Page 25 HORACE Student Experiment Documentation EuroLauncn 4 EXPERIMENT DESCRIPTION 4 1 Experiment Setup Numbered Frames To REXUS Rocket Calculated Data Video Data Figure 4 1 experiment setup As already given in Chapter 1 4 the subsystems of HORACE are the core system the camera the PDU the measurement unit and the structure The camera passes its image data of the outer environment of the REXUS rocket to the core system with an unique number of frame via GigE Vision interface The core system receives the numbered frames from the camera via GigE Vision interface provided by the FPGA carrier board and firstly saves it via SATA to a fast mass storage namely a SSD Secondly on the core system the image processing algorithms for horizon detection and
52. t definition 2 3 algorithmic approaches M S 2 4 evaluation plan 5 1 mission plan rores Rapo 5 2 FRP 5 3 first post flight analysis Figure 3 1 Work Breakdown Structure HORACE RX16 HORACE SEDv1 0 28Jan13 docx 6 Evaluation Page 17 3 Engineering Florian Wolz 3 1 power supply Florian Wo 3 2 electronics design aven Geiger Foran watz 3 3 mechanical design 3 4 software design 3 5 ground segment design Jochen Bart Arthur Scnart Sven Geiger 6 1 data preparation TUA 6 2 data analysis 6 3 campaign report 6 4 final experiment report 4 Integration 4 1 embedded porting Jochen Bart Sven Geiger 4 2 assembly Fee Wok 4 3 system verification 4 4 ground segment preparation 7 Public Outreach Arthur Schart 7 1 website 7 2 social media Artur Scharf 7 3 local press 7 4 media relations 7 5 presentations 7 6 reports T T sponsors supporters Arthur Scharf Page 18 HORACE Student Experiment Documentation EuroLauncu 3 2 Schedule The current schedule for the whole project is shown in the following figures November 207 anuar2013 EEE IT AA E aa 45 46 47 48 49 50 51 s2 1 2 3 a s e 7 8 9 20 11 12 13 ad 15 16 17 18 19 20 21 22 23 e 10 12 Selection Workshop preliminary design phase Stu nts Training Week 08 02 Components PD identified Components selected
53. t yet approved estimations can be made which say that the cooling function of the aluminium structure should be sufficient for heat dissipation But therefore the thermal design will be carefully regarded throughout the on going design process and later be inspected e g a thermographic camera is available at JMU 4 7 Power System The complete power consumed by the HORACE experiment is drawn from the RXSM which provides maximum 84W 3A 9 28V The power budget of HORACE is expected as shown below both for one and two systems As some values are only estimated marked red at the current stage a margin of 2596 is added Components indicating a consumption of OW are directly supplied by their carrier component thus no extra consumption must be added Component Flight Voltage Current Single power Flight power IV LA IW IW ID Electronics Camera mvBlueCOUGAR X102b 5 0000 0 8000 4 00 8 00 AES S6DEV LX150T G 12 0000 2 1000 25 20 Arduino UNO R3 5 0000 0 4000 2 00 2 3 4 Arduino Ethernet SD shield 0 0000 0 0000 0 00 0 00 6 temperature sensor DS18B20 0 0000 0 0000 0 00 0 00 8 Micro SD 2GB Class 2 0 0000 0 0000 0 00 0 9pDUPCBbord LA 5000 1000 10 LTM8033MPV HPBF DC DC regulator 8 0 00 0 11 wiring connectors 1 0 00 0 SUM one system W 38 27 Margin 25 9 57 TOTAL CONSUMPTION one system W 47 83 TOTAL CONSUMPTION two systems W 95 66 Table 4 5 H
54. the central body s in most cases the earth s surface looks different to the dark space even during eclipse and it is only hardly probable nearly impossible that the satellite would spin and tumble in a mode during which the central body is never visible In contrast to existing earth sensors that detect the earth s IR radiation HORACE shall use an optical sensor which is sensitive to the visible spectrum for the horizon detection to keep expenses low and to emphasis the image processing software components of the system So that in a future version with more generic algorithms the system could possibly be only a software package which is capable enough to use any camera data e g images provided by existing payload cameras 1 2 Mission Statement HORACE on REXUS 16 is a technology demonstration mission for autonomous earth detection on satellites The aim is to prove or disprove the general technical feasibility of the outlined approach During the mission the functionality and robustness of the general approach is tested under realistic space like conditions by means of the HORACE System After post flight evaluation it shall be determined whether the approach of autonomous horizon acquisition with a camera in conjunction with image processing algorithms running on an embedded system connected to the camera is indeed apt to re acquire a satellite s attitude under nominal or stress conditions RX16 HORACE SEDv1 0 28Jan13 doc
55. ure according to the RS 422 standard defined in the REXUS manual As no TC is needed throughout the whole flight this function and interface is not implemented RS422 Interface To RXSM 28V 1 e oo 28V 2 t SODS SOE LO e 10 GND28V 2 GND 28V 1 Downlink To the core system Uplink is not needed 9 Figure 4 3 electronic schematic TM TC interface If two redundant systems are flown also two electrical interfaces to RXSM are needed RX16 HORACE SEDv1 0 28Jan13 docx Electronics 4 3 Hr EE ce HORACE Student Experiment Documentation Experiment Components Page 29 EuroLauncH A DLR and SSC cooperatioi 1 Camera mvBlueCOUGAR X102b Arduino Ethernet SD shield Allegro MicroSystems Inc NEN be ordered 2 AES S6DEV LX150T G 3 Arduino UNO R3 5 to be ordered current sensor ACS712 6 temperature sensor DS18B20 to be ordered 8 MicroSD2GBClass2 SanDisk tobeordered 9 PDUPCBboard tobemanufactured wiring connectors Maxim Integrated to be ordered Mechanical Ground Support 15 laptop LTM8033EV Demo Board Ultralow EMI several to be ordered main structure core system JMU workshop to be ordered to be ordered mounting support screws Iseveral to be ordered e g IBM Lenovo 16 power supply available at JMU 17 36Vin Linear Technology to be ordered 18 tools available in team Table 4 1 exp
56. versity of Wurzburg in close cooperation with and support of the Chair of Aerospace Information Technology in October 2012 It will be implemented throughout 2013 and launched in spring 2014 as payload of REXUS 16 The HORACE team left to right Jochen Barf Sven Geiger Arthur Scharf Florian Wolz Thomas Rapp Page 7 HORACE Student Experiment Documentation EuroLaunch 1 INTRODUCTION 1 1 Scientific Technical Background As a further step in todays way of technology towards completely autonomous satellites a satellite s attitude acquisition and control system AACS an essential subsystem must work autonomously not only during nominal phases of the mission but also in unexpected situations or emergency cases These include situations during which the satellite s main AACS is corrupt itself or during which the main AACS s capability does not suffice e g when the satellite is spinning and tumbling uncontrolled at high rates To face those situations in the future we envision a sensor system which is autonomously able to re acquire a satellite s attitude not only under nominal but also stress conditions mentioned above and which should also be affordable for smaller satellites and missions In our opinion the best approach would be an horizon acquisition sensor system as it unlike many other attitude determination systems e g sun sensors star cameras etc would work in more situations for following reasons
57. x Page 8 HORACE Student Experiment Documentation EuroLaunch 1 3 Experiment Objectives With the HORACE System whose development will be part of the mission the following primary objectives shall be reached e Investigate whether horizon acquisition can be performed accurately enough for attitude determination e Determine whether the very dynamic and time critical problem can be solved with an embedded system with a reasonable time resolution and power consumption Secondary objectives are e to show physical or systematic limits and problems of the general approach e to determine if a future attitude determination system following the general approach would be applicable also for small satellites 1 4 Experiment Concept Camera To RXSM Time Synchronisation Measurement Unit From RXSM Figure 1 1 HORACE experiment concept The two key elements of HORACE are its camera and the core system Furthermore there is an independent measurement unit and a separate power distribution unit which is the power interface to RXSM and provides regulated voltages to every component and of course the structure which connects the experiment mechanically with the launcher All components involved in data handling namely the core system and measurement unit are synchronized with a global time so that results can be matched for post flight evaluation RX16 HORACE SEDv1 0 28Jan13 docx Page 9 EuroLaunch H

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