||In-Flight Magnetometer Calibration with Temperature Compensation for PHOENIX CubeSat
||Department of Electrical Engineering
In-Flight Magnetometer Calibration
Attitude Control and Determination
Particle Swarm Optimization
PHOENIX is a 2U CubeSat in the QB50 project that is designed, assembled, integrated, tested and operated by National Cheng Kung University, Taiwan. After the deployment from International Space Station (ISS) in May 2017, extensive studies on magnetometer calibration have been conducted. The performance of attitude determination and control subsystem (ADCS) for PHOENIX depends on the reliability and accuracy of magnetometer calibration.
The thesis is concerned with the in-flight magnetometer calibration which will be naturally influenced by the variation of temperature during the course of orbiting around the earth. A temperature-dependent magnetometer model is proposed and a particle swarm optimization method is adopted in the estimate of calibration parameters. The proposed model and method are verified and tested by using in-flight data from PHOENIX. It has shown that the use of the proposed model together with the optimization method renders a closer match between the magnitudes of the measurement vector and IGRF model. Additionally, the calibration method can be extended to find the suboptimal solution for the satellites with magnetometers without the mechanism of temperature compensation. The proposed approach is believed to be beneficial for small satellites and CubeSats that rely on the use of magnetometer data for attitude determination, orbit determination, and attitude control.
List of Tables VIII
List of Figures IX
List of Abbreviations XI
Chapter 1 Introduction 1
1.1 Motivation and Objectives 1
1.2 Overview of PHOENIX Mission 2
1.2.1 QB50 Mission 2
1.2.2 Overview of PHOENIX 5
1.3 Thesis Overview 8
Chapter 2 PHOENIX ADCS 9
2.1 Attitude Determination and Control Subsystem 9
2.1.1 Coordination Definition 9
2.1.2 ADCS Module Specification 10
2.1.3 Control and Estimation Modes 12
2.2 In-Flight ADCS Experience 14
2.2.1 High Rate Detumbling 14
2.2.2 Y-Spin Control 16
2.2.3 Y-momentum Control 18
Chapter 3 In-Flight TAM Calibration Methods 21
3.1 Mathematical Model of Magnetometer 21
3.1.1 External Errors 21
3.1.2 Internal Errors 22
3.1.3 Measurement Model of 3-Axis Magnetometer 25
3.2 Review of Existing Calibration Methods 28
3.2.1 Least Square Method 28
3.2.2 TWOSTEP Algorithm 29
3.2.3 Nonlinear-Kalman-Filter Based Algorithm 31
3.2.4 Particle Swarm Optimization 32
3.3 PSO-Based Magnetometer Calibration 32
3.3.1 Particles Initialization 33
3.3.2 Particles Evaluation 34
3.3.3 Particles Update 34
Chapter 4 In-Flight TAM Calibration and Verification 37
4.1 Background 37
4.1.1 3-Axis Magnetometer of PHOENIX 37
4.1.2 Thermometers of PHOENIX 39
4.1.3 IGRF Model 41
4.1.4 In-Flight Data Collection 43
4.2 Ground-Calibration with In-Flight Data 45
4.2.1 CubeSupport Calibration 45
4.2.2 PSO-Based Calibration 46
18.104.22.168 Initial Parameters Setting 47
22.214.171.124 Comparison Test 49
126.96.36.199 Results of PSO-Based Calibration 49
4.3 In-Flight Test of Calibrated Parameters 59
4.4 Further Study of Magnetometer Calibration 63
4.4.1 The Setting of Temperature Reference T0 63
188.8.131.52 Comparison with Results from CubeSupport 65
4.4.2 Analysis of PSO-Based Calibration 68
184.108.40.206 Different Setting of Initial Boundary 68
220.127.116.11 Dynamic Weighting Parameters 71
Chapter 5 Conclusions and Future Works 74
5.1 Discussions 74
5.2 Future Works 76
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