Satellite Constellation Deployment and Management
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University of Denver Digital Commons @ DU Electronic Theses and Dissertations Graduate Studies 2020 Satellite Constellation Deployment and Management Joseph Ryan Kopacz Follow this and additional works at: https://digitalcommons.du.edu/etd Part of the Artificial Intelligence and Robotics Commons, Multi-Vehicle Systems and Air Traffic Control Commons, Other Aerospace Engineering Commons, Systems Engineering and Multidisciplinary Design Optimization Commons, and the Theory and Algorithms Commons Satellite Constellation Deployment and Management __________ A Dissertation Presented to the Faculty of the Daniel Felix Ritchie School of Engineering and Computer Science University of Denver __________ In Partial Fulfillment of the Requirements for the Degree Doctor of Philosophy __________ by Joseph R. Kopacz June 2020 Advisor: Dr. Jason Roney ©Copyright by Joseph R. Kopacz 2020 All Rights Reserved Author: Joseph R. Kopacz Title: Satellite Constellation Deployment and Management Advisor: Dr. Jason Roney Degree Date: June 2020 Abstract This paper will review results and discuss a new method to address the deployment and management of a satellite constellation. The first two chapters will explorer the use of small satellites, and some of the advances in technology that have enabled small spacecraft to maintain modern performance requirements in incredibly small packages. The third chapter will address the multiple-objective optimization problem for a global persistent coverage constellation of communications spacecraft in Low Earth Orbit. A genetic algorithm was implemented in MATLAB to explore the design space – 288 trillion possibilities – utilizing the Satellite Tool Kit (STK) software developers kit. STK and MATLAB autonomously develop and analyze a variety of constellations by permutating altitude, inclination, number of satellites, number of planes, and Right Ascension of the Ascending Node (RAAN). The coverage of these constellations was calculated and evaluated utilizing a parametrically driven cost and revenue generation model to determine the most profitable constellation configuration. The fourth chapter will discuss a novel method to address the optimization problem of ground station placement; enabling continuous communication with the mega constellation defined in the third chapter. A genetic algorithm implemented in MATLAB explored the globe utilizing Satellite Tool Kit to determining the optimal number of ground stations and their placement – considering local infrastructure available and the ii constellation connectivity during a 24-hour period. A new revenue-based fitness function evaluated these parameters and the potential revenue to determine the most lucrative configuration. The final chapter will utilize the deep reinforcement learning algorithm Proximal Policy Optimization (PPO2) on a custom spacecraft build and loss model, to determine if an AI can learn to monitor the health of a constellation of satellites and develop an optimal replacement strategy. A custom environment was created to simulate how spacecraft are built, launched, generate revenue, and finally decay. The reinforcement learning agent successfully learned an optimal policy for two models, a simplified model where the cost of the actions was not considered, and an advanced model where cost was included as a major element. In both models the AI monitored the constellations and took multiple strategic and tactical actions to replace satellites to maintain constellation performance – ensuring there was never a shortage of satellites. iii Table of Contents Abstract .......................................................................................................................... ii Table of Contents .......................................................................................................... iv List of Figures ............................................................................................................... vi List of Tables................................................................................................................. ix Industry Overview ...........................................................................................................1 Recent Small Satellite Launches and Their Missions .......................................................9 Nano Satellites .....................................................................................................9 Planet Labs – Dove Flocks 2P, 2E, 2EP ....................................................9 Los Alamos National Laboratories – Prometheus.................................... 12 AAUSAT-4 ............................................................................................ 15 Aerospace Corp. AeroCube 8C & 8D ..................................................... 16 SAMSAT-218D ..................................................................................... 17 Swayam .................................................................................................. 18 Ravan ..................................................................................................... 18 CELTEE 1 .............................................................................................. 19 PISAT .................................................................................................... 20 AISat-1N ................................................................................................ 21 Horyu-4 .................................................................................................. 22 CanX-7 ................................................................................................... 23 Micro Satellites .................................................................................................. 24 GHGSat-D.............................................................................................. 25 CYGNSS FM1-8 .................................................................................... 25 NuSat 1-2 ............................................................................................... 26 BlackSky Pathfinder 1 ............................................................................ 26 Spark 1-2 ................................................................................................ 27 ChubuSat 2-3 (Kinshachi 2-3) ................................................................ 27 M3MSat (Maritime Monitoring and Messaging MicroSatellite) .............. 27 Mini Satellites .................................................................................................... 28 AlSat-1B ................................................................................................ 29 AlSat-2B ................................................................................................ 30 SkySat 3-7 .............................................................................................. 31 LAPAN A3 ............................................................................................ 33 BIROS (Bispectral Infrared Optical System) .......................................... 33 XPNav-1 ................................................................................................ 35 Ofek-11 .................................................................................................. 35 MICROSCOPE ...................................................................................... 37 ERG ....................................................................................................... 37 ScatSat-1 ................................................................................................ 38 PeruSat-1 ................................................................................................ 39 iv Optimized Continuous Global Coverage Constellation using a Genetic Algorithm......... 40 Method .............................................................................................................. 41 STK Link ............................................................................................... 41 MATLAB Genetic Algorithm ................................................................. 43 Fitness Function ..................................................................................... 48 Results ............................................................................................................... 52 Relative Weights Fitness Function (Fitness Function 1) .......................... 52 Revenue Based Fitness Function (Fitness Function 2) ............................. 57 Model Validation .................................................................................... 64 Conclusion ......................................................................................................... 70 Optimized Ground Station Placement for a Mega Constellation ..................................... 72 Method .............................................................................................................. 73 STK Link ............................................................................................... 73 MATLAB Genetic Algorithm ................................................................. 79 Results ............................................................................................................... 83 Simplified City List with Decay ............................................................. 83 Large City List with Decay ....................................................................