SSC99-IV-6 On-orbit Performance of the ORBCOMM Spacecraft Constellation Bhavesh T. Patel, Susanne Schroll, Andrew Lewin Orbital Sciences Corporation Dulles, VA 20166 (703) 406-5000 [email protected], [email protected], [email protected] Abstract. ORBCOMM is a low cost, two-way data messaging system that uses a constellation of 36 spacecraft to provide global coverage for a wide variety of applications. Following an aggressive launch schedule, Orbital Sciences Corporation (Orbital) launched 26 spacecraft within 10 months to set up the constellation that is now providing global service to subscribers. As of August 1999, the constellation spacecraft have already accumulated over 30 spacecraft-years of on-orbit experience while demonstrating excellent in-flight performance. The ORBCOMM spacecraft design epitomizes the mass, power, and volume efficiencies of Orbital’s MicroStar spacecraft platform. Unlike a single spacecraft mission, the ORBCOMM constellation provides a unique opportunity to assess the performance of multiple spacecraft at the same time. This paper presents pertinent flight data for key spacecraft subsystems with a focus on hardware performance. Beginning with the subsystem performance for a single spacecraft the analysis is then extended to the constellation level with an assessment of subsystem performance of multiple spacecraft over an extended period of time. The presented data demonstrates the successful design and operation of the MicroStar spacecraft platform, which constitute the basis for the ORBCOMM satellite constellation. Introduction The primary objective of this paper is to present on- orbit performance data that demonstrates the successful ORBCOMM is a two-way data messaging system that operation of the ORBCOMM spacecraft. The paper utilizes a constellation of 36 spacecraft to provide starts off with an overview of the ORBCOMM data global service. Orbital Sciences Corporation (Orbital) messaging system. A summary of the spacecraft was responsible for the design, development, design and key spacecraft requirements is then given to integration and test, launch, and on-orbit checkout of set the stage for subsequent presentation of flight the constellation spacecraft. Based on the low mass, performance data by subsystem. The flight data is low power, and low volume MicroStar spacecraft presented by subsystem. Within each subsystem, data design, 26 ORBCOMM spacecraft were launched is first presented for a single spacecraft before within 10 months in 1998 to set up the world’s first correlation with performance of multiple other commercial communications constellation and provide spacecraft. service. As of August 1999, these spacecraft have amassed over 30 spacecraft-years of on-orbit ORBCOMM System Overview experience while demonstrating excellent in-flight performance. ORBCOMM is a low cost, two-way satellite-based global data messaging system developed and operated Typical single spacecraft missions only provide a two- by ORBCOMM Global L.P. Orbital is responsible for dimensional (performance versus time) analysis space the design, integration and test, launch, and on-orbit for assessment of spacecraft performance. The checkout of the constellation of 36 spacecraft. ORBCOMM spacecraft constellation uniquely provides a three-dimensional performance analysis space The ORBCOMM system architecture, shown in Figure (performance versus time versus spacecraft) which 1, supports a wide variety of applications that include allows the simultaneous assessment of multiple subscriber messaging, positioning, and monitoring of spacecraft over time. In addition to rapidly remote assets such as truck fleets and oil pipelines. accumulating on-orbit hours, the same hardware flying The constellation spacecraft use two separate VHF on multiple spacecraft permits quantification of both links to communicate with subscribers and gateways. temporal and spatial effects of the space environment Messages from remote units are uplinked to the on hardware. spacecraft, which then downlinks the data to a gateway earth station for routing to the network operations center in Dulles, Virginia. The data are then routed 1 Bhavesh Patel 13th AIAA/USU Conference on Small Satellites via land lines to the ultimate recipient. On the forward uplinked to the spacecraft for subsequent downlink to Figure 1 ORBCOMM System Architecture link, data from the network operations center is the remote terminals. The ground segment consists of the subscribers, the constellation of 35 spacecraft in a variety of orbits. network operations center, and a series of gateway Designed and manufactured to be compatible for earth stations. The spacecraft segment comprises a launch on Orbital’s Pegasus and Taurus launch vehicles, the spacecraft are deployed in six distinct Table 1: ORBCOMM Launch Schedule orbit planes. Utilizing novel manufacturing techniques, the ORBCOMM spacecraft were developed deg) deg) under a tight schedule to support the launch of 26 1 deg) spacecraft within 10 months . The status of the (km) ( Orbit In-Plane Satellites constellation deployment is summarized in Table 1. (Projected) Launch Date Orbit Altitude Launch Vehicle Orbital Phasing Inclination ( Separation ( Although launch of the fourth plane is not scheduled F1, Pegasus 775 70 N/A 180 April 1995 until mid-1999, the current 28 spacecraft in orbit are F2 sufficient to provide global service. G1, Taurus 820 103 N/A 180 February G2 1998 A1- Pegasus 820 45 120 45 December ORBCOMM Spacecraft Design Overview 8 XL 1997 B1- Pegasus 820 45 120 45 August 8 XL 1998 C1- Pegasus 820 45 120 45 September 8 XL 1998 D1- Pegasus 1000 0 N/A ~51 (Mid- 7 XL 1999) 2 Bhavesh Patel 13th AIAA/USU Conference on Small Satellites Figure 3 ORBCOMM Spacecraft In-flight Configuration Figure 2 shows an 8-stack of spacecraft ready for launch on the Pegasus XL while Figure 3 illustrates the Table 2: ORBCOMM Spacecraft Subsystem in-flight configuration of the ORBCOMM spacecraft. Functions Unit Function The patented stackable configuration results in the Flight computer (FC) Command handling and telemetry ability to launch eight spacecraft in a single Pegasus gathering, Health and maintenance, XL launch. In the stowed configuration, the antennas GPS receiver management Electrical power Solar array and battery charge fold into the antenna trough while the solar panels fold system (EPS) control, power switching, back deployment sequence onto each side of the cylindrical bus structure, which is Attitude control Control of nadir pointing and sun about 102 cm in diameter and 15 cm in height. system (ACS) pointing, GPS data processing Global Positioning Provision of navigation fix data, Designed for a lifetime of 5 years, weighing under 45 System (GPS) absolute and relative time kg, and providing over 200 W of power at End-of-Life synchronization inputs (EOL), the ORBCOMM spacecraft epitomizes the high Thermal Control Maintain avionics and battery at Subsystem (TCS) operating temperatures. Gateway transceiver Spacecraft command and telemetry (GWT) link with ground, exchange of subscriber message data with gateways Subscriber receiver Receipt of subscriber messages (SRX) Subscriber transmitter Transmission of subscriber messages (STX) mass, power, and volume efficiencies of Orbital’s MicroStar spacecraft. Seven Motorola M68302 microprocessors form the core of the distributed spacecraft system that runs the VxWorks operating system. Figure 2 ORBCOMM 8-Stack on Pegasus In the nominal flight configuration, the VHF antennas point towards nadir while the spacecraft yaws to face 3 Bhavesh Patel 13th AIAA/USU Conference on Small Satellites Table 3: Key Subsystem Requirements Electrical Power Subsystem (EPS) The EPS consists of the Battery Charge Regulator Unit Key Requirements Electrical power - Fully recharge batteries every orbit (BCR), solar arrays, battery, and sensors. EPS control system (EPS) - Control solar array input to maximize is maintained by the microprocessor in the BCR. The power available Gallium Arsenide solar panels, which are capable of Attitude control - Maintains nadir pointing < 5° CEP generating 210W at EOL, are controlled with the use system (ACS) and < 10° 90 % of time of peak power tracking algorithms. The 10 Ahr Nickel - Generate 95% of available power Global Positioning - Fix accuracy of 100m 2d RMS with Hydrogen battery is charged using a sophisticated System (GPS) SA enabled charge control algorithm. Power to the spacecraft is - Fix availability of 90% provided by a 5 V regulated and a 14 V unregulated Thermal Control - Maintain battery temperature within power bus with power switching to all boxes provided Subsystem (TCS) –5C to 10C Gateway - EIRP consistent with expected value by the BCR. The UHF beacon transmitter is controlled transceiver (GWT) by the BCR which also controls the spacecraft Subscriber - Measured signal level consistent with deployment sequence after separation from the launch receiver (SRX) expected value vehicle. Heater control for the thermal control system Subscriber - EIRP consistent with expected value transmitter (STX) is done in the BCR. A key feature of the ORBCOMM EPS is the ability to autonomously recover from complete power loss or extremely low power the sun. In addition, the solar arrays are articulated conditions. about the y-axis to maximize power generation capability. This low cost spacecraft is also designed for Attitude Control Subsystem (ACS) maximum onboard autonomy so as to minimize The ACS is responsible for ensuring the pointing 2