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Spacequest, Ltd A Global Satellite Communications Network with GNURadio Dan CaJacob <[email protected]> SpaceQuest, Ltd. 2014 GNURadio Conference September 17, 2014 Outline 1. Introduction 2. AIS Overview 3. Spacecraft 4. Ground Stations 5. Operations 6. Demonstration 7. Conclusion 2 About SpaceQuest ● Founded in 1994 ● Building small spacecraft for commercial, government, international and university customers ● Fixed-price modified COTS and custom spacecraft components ● 10 employees – We're Hiring! ● Located in Fairfax, VA 3 Recent Notable Projects ● 2005 – 2007: Bigelow Aerospace Inflatable Space Station Demonstrators – Built 3 spacecraft – Launched 2 ● AIS microsat constellation – Launched 8 satellites since 2009 – About 2 satellites every 2 years – Primary focus of this talk 4 AIS Overview ● “Automatic Identification System” ● Internationally mandated system ● Class A – All ships >= 300 GT ● Class B – Personal watercraft AIS GPS – Not mandatory Transceiver Receiver ● VHF: 161.975 / 162.025 MHz ● Self Organizing Time Division Multiplex Access (SOTDMA) ● Intended for line-of-sight Chart communications Plotter ● Low power – up to 12 W 5 AIS Overview AIS Base Station 6 AIS Mission 1 1. Receive AIS packets from orbit 2. Download the packets 2 3. Distribute the data to interested parties 4. Derive analytical insights Customer 3 Customer SQ 7 Customer AIS History Early Experiments Commercial Constellation 2007 2009 – SQ launches microsat with AIS Bent Pipe – Launch 2 AIS microsats (AS3 & AS4) and On Board Processing (OBP) capability 2011 – SQ demonstrates decoding of AIS – And another 2... (AS5 & AS6) spectrum collected from the microsat 2013 ● Previously thought to be impossible – And 2 more... (AS7 & AS8) due to packet collisions 2008 2014 – First introduction to GNURadio & Ettus by – You get the picture (AS9 & AS10) AMRAD, Maitland Bottoms and Ed – 6 months after the 2013 launch! Criscuolo. Thanks! 8 System Overview ● Network – Satellites – Ground Stations 9 System: Ground Stations ● TT&C ● Payload Data – Directional – S-Band RX Only ● VHF / UHF Full Duplex – VHF / S-Band Full ● UHF / UHF Half Duplex Duplex – Omni-directional 10 System: Spacecraft ● Size – Approximately 10 x 10 x 10 in – 15 kg / 33 lbs – Designed to be hand-carried on commercial aircraft ● Orbit – Sun-synchronous Low Earth Orbit ● Full Earth coverage 2x per day ● Commonly used by imaging satellites ● Launch – Dnepr / SS-18 – Converted Soviet Intercontinental Ballistic Missile (ICBM) ● Largest in the world 12 System: Spacecraft ● Size – Approximately 10 x 10 x 10 in – 15 kg / 33 lbs – Designed to be hand-carried on commercial aircraft ● Orbit – Sun-synchronous Low Earth Orbit ● Full Earth coverage 2x per day ● Commonly used by imaging satellites ● Launch – Dnepr / SS-18 – Converted Soviet Intercontinental Ballistic Missile (ICBM) ● Largest in the world 14 System: Spacecraft ● Power ● Thermal ● C&DH ● Communications ● Attitude Control ● Payload 16 System: Spacecraft: Communications ● Communications – VHF TT&C RX (primary) ● 9600 baud – Dual Redundant TT&C UHF RX (Secondary) ● 9600 baud – Dual Redundant UHF TT&C TRXs ● 9.6 – 56.6 kbps – Dual Redundant S-Band TXs ● Up to 1 Mbps – S-Band RX ● 9.6 – 115.2 kbps – Experimental SDR ● Multi-waveform ● Multi-baud 20 Communications OperationsPayload S-Band Payload Downlink (64 kbps – 1 Mbps +) S-Band Uplink (9.6 – 115.2 kbps) VHF Payload Uplink (9600 bps) V U H H F F H V T a l T H f - & F D C u T p T D l & e o x C w Telemetry, Tracking T n U T l i p n & l k i C n ( k 9 & Command L . ( i 6 n 9 6 k – 0 ( 2 9 0 (TT&C) 8 6 b . 0 8 p 0 s k ) b b p p s s ) ) 21 System: Spacecraft VHF TT&C & AIS Antennas 22 System: Spacecraft UHF TT&C 23 Antennas System: Spacecraft GPS Antenna 24 System: Spacecraft S-Band 25 Antennas System: Spacecraft: Payload ● AIS Payloads – On-Board Processing (OBP) – Bent Pipe – Linear Transponder – Record and Playback ● SDR 27 Spacecraft: OBP Payloads Continuous Collection AIS Data VHF Custom Payload LNA Mass RXs ASICs Computer Storage Payload Downlink Payload S-Band Mass Filter Amp Storage Computer TX 28 Spacecraft: Bent Pipe Payload ● Bent Pipe IF VHF Down S-Band LNA Filter Amp RXs Converter TX 29 Spacecraft: Linear Transponder Payload ● Linear Transponder – Multiple RX Channels – Multiple TX Channels Linear LNA Transponder VHF S-Band 30 Spacecraft: Record and Playback ● Record and Playback are performed separately IF Audio VHF Down LNA RXs Converter Begin End Playback Record ADC Mass ADC Storage S-Band Filter Amp TX 31 System: Ground Stations ● TT&C ● Payload Data – Directional – S-Band RX Only ● VHF / UHF Full Duplex – VHF / S-Band Full ● UHF / UHF Half Duplex Duplex – Omni-directional 32 TT&C Ground Stations: Locations ● Fairfax VA (2) ● Concord, CA ● Cambridge, ON ● North Pole, AK (2) ● Hawaii ● Maine ● Svalbard * ● More coming online 33 * SQ Modem provided for customer Payload Ground Stations: Locations ● Own – North Pole AK ● Operate – Hawaii – Maine – Las Vegas, NV ● SQ-Provided modems in use – Svalbard – Troll Station, Antarctica – Tromso, Norway – Dubai – Saudi Arabia – Singapore – Adelaide, Australia – Cork, Ireland – Cambridge, ON 34 Ground Station Design: TT&C ● Classic (Old) – Modified ICom radios – Custom UHF Radio – PacComm or custom TNCs – Expensive, but simple glue hardware ● Common – Yaesu / AlfaSpid rotators and controller – M2 Yagis – Amateur Low Noise Amplifier (LNA) ● New – 2U, Rack-Mount Enclosure – Ettus USRP SDR – Quad-core Mini-ATX computer (Ubuntu) – GNURadio & UHD – RF Interface Board – High Power Amplifier (HPA) – Combo LNA and Band-Pass Filter (BPF) – I/O: Power, Ethernet, RF 36 Ground Station Design: TT&C ● Classic (Old) – Modified ICom radios – Custom UHF Radio – PacComm or custom TNCs – Expensive, but simple glue hardware ● Common – Yaesu / AlfaSpid rotators and controller – M2 Yagis – Amateur Low Noise Amplifier (LNA) ● New – 2U, Rack-Mount Enclosure – Ettus USRP SDR – Quad-core Mini-ATX computer (Ubuntu) – GNURadio & UHD – RF Interface Board – High Power Amplifier (HPA) – Combo LNA and Band-Pass Filter (BPF) – I/O: Power, Ethernet, RF 37 Ground Station Design: TT&C: Software ● MAC – SSGS Server SSGS – SSGS Client Server SOAP – Communications Station (new) Web-Services ● Software Modem – Implemented in GR SSL VPN – GFSK TCP/IP – Bursty – Runs on the TT&C Nodes TNC Node – Connects to SSGS via Comm- ● TCP/IP Station – Sockets Server IPC – Web-services – SSGS Message Queues FG ● POSIX (old) Client ● RabbitMQ ● ZeroMQ (future) 39 Ground Station Design: TT&C Modem ● Software Modem design Socket RX Section Doppler FM Clock Channel Frame USRP IPC Correction Demod Recovery Decode Decode TUN Socket TX Section HPA Channel FM Doppler IPC Tagging USRP Control Coding Mod Correction TUN 40 Routine filtering and re-sampling not shown for clarity Ground Station Design: Custom Blocks ● Custom Blocks – Execution Time Limit – Sinks / Sources – Packet / Frame Tagging THE FREE & OPEN SOFTWA RE RA DIO ECOSYSTEM – HPA Control – Framing 41 Ground Station Design: Custom Blocks ● Custom Blocks – Execution Time Limit – Sinks / Sources – Packet / Frame Tagging – HPA Control – Framing 42 Ground Station Design: Custom Blocks ● Custom Blocks – Execution Time Limit – Sinks / Sources – Packet / Frame Tagging – HPA Control – Framing 43 Ground Station Design: Custom Blocks ● Custom Blocks – Execution Time Limit – Sinks / Sources – Packet / Frame Tagging – HPA Control – Framing 44 Ground Station Design: Custom Blocks ● Custom Blocks – Execution Time Limit – Sinks / Sources – Packet / Frame Tagging More on this later – HPA Control – Framing 45 Ground Station Design: Custom Blocks ● Custom Blocks – Execution Time Limit – Sinks / Sources – Packet / Frame Tagging – HPA Control – Framing 46 Ground Station Design: UHF LNA + BPF ● Power – 12V on Center Conductor ● 1 dB Noise Figure ● 20 MHz Bandwidth ● Hermetically Sealed 47 Ground Station Design: TT&C: RF Interface Board ● T/R Switching control via GPIO from USRP – > 50 dB isolation ● Driver amplifier ● HPA control ● LNA power and control – Fed via center-conductor – Short-Circuit Protection ● RF filtering – RX & TX ● Diagnostics – Forward and Reflected Power – Driver amp and HPA current – LNA voltage detection – LNA and T/R Switch override ● USRP Power Control – Solid State Relay 48 Ground Station Design: TT&C: HPA ● VHF & UHF Models – Other bands possible ● Power – 25 W – Adjustable ● Unconditionally Stable 49 Ground Station Design: Payload ● 2U, Rack-Mount Enclosure ● Ettus USRP SDR ● Quad-core Mini-ATX computer – Ubuntu LTS – GNURadio – UHD ● I/O – Power – Ethernet – RF ● Typically S-Band RX Only ● Optional – RF Interface Board – High Power Amplifier (HPA) 50 Ground Station Design: Payload: Software ● S-Band RX Only – Streaming – GFSK – FEC – Speed ● Up to 1 Mbps ● Normally – 200 – 400 kbps 51 Ground Station Design: Payload ● Software modem design USRP Linear Transponder Section (Post-Process) Doppler File File PFB File Correction Sink Source Resampler Sink Bent Pipe Section FM PFB File Demod Resampler Sink OBP Decode Section IPC FM Clock Channel Frame Demod Recovery Decode Decode TUN 52 Routine filtering and re-sampling not shown for clarity Configuration Management ● Old: Hand-managed via SSH – Manageable for a few nodes – Nightmare beyond that ● New: Ansible – Python-based – YAML recipe structure – Jinja templates – Layered definition ● Base GR + UHD configuration VPN ● Application specific recipes – TT&C (SQTNCs) – Payload (SQANTs) ● Node-specific customization Node Node Node – Like sudo apt-get install ground-station – Can deploy multiple nodes at once or even
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