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系統識別號 U0026-1908201916412200
論文名稱(中文) IRIS立方衛星飛行軟體及測試平台之開發與實作
論文名稱(英文) Development of Flight Software and Implementation of Test Bed for the IRIS Cubesat
校院名稱 成功大學
系所名稱(中) 電機工程學系
系所名稱(英) Department of Electrical Engineering
學年度 107
學期 2
出版年 108
研究生(中文) 黃銘賢
研究生(英文) Ming-Xian Huang
學號 N26064236
學位類別 碩士
語文別 英文
論文頁數 85頁
口試委員 指導教授-莊智清
口試委員-苗君易
口試委員-卓大靖
口試委員-汪愷悌
口試委員-蔡永富
中文關鍵字 立方衛星  資料處理  飛行軟體  軟體測試平台  軟體驗證 
英文關鍵字 Cubesat  On Board Data Handling  Flight Software  Software Test Bed  Software Verification 
學科別分類
中文摘要 智能遙測聯網立方衛星,為國立成功大學開發之立方衛星計畫,其有兩顆奈米衛星,IRIS-A與IRIS-B,此兩顆衛星分別配置不同任務目標之酬載。IRIS-A搭載物聯網應用之酬載,目的為補償與地面站之都卜勒頻移,以增強下傳訊號品質。IRIS-B則搭載遙測光學酬載,任務目標為進行地球之地貌拍攝,並透過深度學型模型進行地面物件辨識,乃至災害預測應用。
立方衛星之飛行軟體在任務過程中扮演了相當重要的角色,擔任衛星系統管理之核心。飛行軟體負責系統維護、驗證及執行地面站所上傳之指令、模組間之資料傳輸及任務排程。衛星電腦透過硬體介面與其他次系統及酬載進行溝通。唯有上述內容結合在一起,各個次系統及酬載才能正確地發揮。在IRIS衛星計畫中,由於兩顆衛星分別搭載不同硬體介面及功能之酬載,故需要相當彈性的飛行軟體以配合任務目標之需求。
本篇論文主旨在提出穩定且彈性之飛行軟體框架以服務不同衛星計畫之酬載,同時縮短開發週期。論文內容包含飛行軟體架構之設計、操作模式、異常狀況之處理、備用儲存空間之機制。除此之外,為了確保任務過程順利,驗證飛行軟體亦是必須的。本篇論文發展出一軟體測試平台,以模擬中其他次系統之行為。本論文並提出兩種測試環境,一是底層測試,二是透過IRIS地面測試軟體進行飛行軟體之功能測試。
英文摘要 Intelligent Remote-Sensing and Internet Satellite (IRIS) is a Cubesat project in which two nanosatellites IRIS-A and IRIS-B are being developed by National Cheng Kung Universit. IRIS-A, it is a 2U Cubesat and equipped with an Internet of Things (IoTs) payload to achieve the Doppler shift estimation and improve the quality of downlink signal. IRIS-B, it is a 3U Cubesat equipped with a Remote-Sensing Instrument (RSI) to carry out image capturing and conduct object detection and disaster prediction via an uploaded training model from deep learning.
During the mission process, flight software (FSW) is a critical part of the function, which serves as a core of management in the satellite. The proposed FSW and its functions are implemented in the Onboard Computer (OBC) of the IRIS Cubesat. In the IRIS project, in which there are two payloads with entirely different purposes and interfaces, so a flexible FSW needs to be developed. FSW is responsible for system maintenance, validation, and execution of telecommand (TC), data flow handling between modules and operation of mission scheduling. OBC provides the hardware interface to communicate with subsystems and payload.
The thesis intends to discuss the implementation of a reliable and flexible FSW framework to serve various payloads, which is to reduce development cycle. The content includes software design and architecture of FSW, the transition of operation mode, anomaly handling, redundant storage. Moreover, for the success of the mission, the verification activities of FSW are also required. In this thesis, to make each test case flexible and easy to configure, a software test bed (STB) is developed, which simulates the behavior of subsystems. Moreover, in the thesis, two kinds of test scenarios are proposed, low-level test and ground based software test.
論文目次 摘要 I
Abstract III
致謝 V
Contents VI
List of Tables X
List of Figures XII
List of Abbreviations XV
Chapter 1 Introduction 1
1.1 Objectives 1
1.2 Literature Study 1
1.3 Contribution of the Thesis 3
1.4 Thesis Overview 3
Chapter 2 IRIS Nanosatellites 5
2.1 IRIS Cubesat 5
2.2 Onboard Data Handling Subsystem 10
2.2.1 ISIS Onboard Computer (iOBC) 11
2.2.2 Onboard Operating System: FreeRTOS 12
2.2.3 Development Environment 12
Chapter 3 Flight Software Design 13
3.1 Overview 13
3.2 Requirements and Specifications 13
3.2.1 Design Requirements 14
3.2.2 Data Interface Requirements 14
3.2.3 Interface Requirements for Payloads 15
3.2.4 Operational Requirements 16
3.2.5 Software Reliability Requirements 16
3.2.6 Software Safety Requirement 17
3.2.7 Interface Protocol 17
3.3 Software Architecture 19
3.3.1 Software Hierarchy 20
3.3.2 Library and Drivers 21
3.3.3 Operation Mode 22
3.3.4 Function Architecture 29
3.3.4.1 Function List 29
3.3.4.2 File System Allocation 29
3.3.5 Design of RTOS Task 30
3.3.5.1 System Management 33
3.3.5.2 Data Interface 34
3.3.5.3 TC/TLM 36
3.3.5.4 Anomaly Handling 37
3.3.6 Task Activation 38
3.4 TC/TLM Module 39
3.4.1 TC/TLM Structure 39
3.4.2 TC Packet 40
3.4.3 TLM Packet 42
3.5 Reliable Design 44
3.5.1 Redundant and Flexible Mass Storage 44
3.5.2 Anomaly Handling 46
3.5.3 Scheduling Service4 7
3.5.3.1 Scheduling with Commands 47
3.5.3.2 Scheduling with a Script 49
Chapter 4 Software Verification and Test 51
4.1 Software Test Bed 51
4.2 Configuration 51
4.2.1 STB Function 53
4.3 Software Verification Activities 53
4.3.1 Low-Level Test 53
4.3.1.1 Command Overview 54
4.3.1.2 Test Scenario 54
4.3.2 IRIS Test Software 55
4.3.2.1 Data Flow 55
4.3.2.2 Design of IRIS Test Software 56
4.3.2.3 Test Overview 57
4.3.3 Auxiliary Tool 59
4.3.3.1 I2C Protocol Analyzer 59
4.3.3.2 Digital Oscilloscope 60
4.4 Performance Analysis 61
4.4.1 Initial Commissioning 62
4.4.2 ADCS Operation 64
4.4.2.1 ADCS_1 Analysis 64
4.4.2.2 ADCS_2 Analysis 66
4.4.2.3 ADCS_3 Analysis 68
4.4.2.4 ADCS_4 Analysis 70
4.4.2.5 ADCS_5 Analysis 72
4.4.2.6 ADCS_6 Analysis 74
4.4.3 Specific Operation Mode 76
4.4.3.1 Safe Mode 76
4.4.3.2 Recovery Mode 78
Chapter 5 Conclusions 81
5.1 Summary 81
5.2 Future Works 81
Reference 84
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