Aerospace and Electronic Systems Magazine June 2017 - 21

Tavakoli, Faghihinia, and Kalhor
the total system. So, the interference is minimized and will result
in cost reduction. On the other hand, the limited rotational motion of the attitude dynamic simulator and the sun sensor limited
field of view (FOV) are geometrical restrictions of the system. The
AHRS is used for measurement of the satellite attitude and its data
are used to create orbital conditions for other sensors. Hence the
AHRS errors propagate in the environmental simulation and affect
the attitude determination and control accuracy. In fact the AHRS
measurement errors limit the accuracy of the total loop.

CONCLUSION
A new test bed for attitude determination and control testing was
presented in this article. The setup was structured on data transmitting and synchronization of distributed elements for ADCS tests.
In such a plan, not only can different elements of the test bed be
used individually, but also they can support an integrated hardware
in the loop test. Accordingly, reusing the hardware sources causes
a cost reduction of development. Furthermore the geometric interferences of different parts are minimized in this plan. So, the test
bed can be developed for other sensors, actuators, and required
simulated environments, without the interference with others.
Experimental results verified the idea and the performance of the
proposed design for attitude determination and control tests with
real sensors in a simulated environment. So in addition to control
algorithms, deterministic and estimation methods for attitude determination can be evaluated experimentally.

Figure 8.

Commanded and measured sun vector.

REFERENCES
[1]

[2]

[3]

Figure 9.

[4]

Sun vector error.

angle error between the commanded and the measured sun vector. Results show that the simulators for sun and magnetic field
perform very well and simulate the vectors with good accuracy.
Additionally, the measurement errors are tolerable.
The proposed system, which performance was verified experimentally, has the capability of testing the integrated attitude
determination and attitude control scenarios. One of the most important capabilities of the system is to be used for analysis of different parameters effects on the system performance in experimental conditions. Sensor measurement errors, faults in the sensors,
uncertainty in moment of inertia, and reference models errors are
some of the factors that influence attitude determination and control performance. These effects can be easily evaluated using this
HIL test bed. Additionally the new design uses distributed parts
of attitude determination and control test bed, for evaluation of
JUNE 2017

[5]

[6]

[7]

[8]

IEEE A&E SYSTEMS MAGAZINE

Chernesky, V. S. Development and control of a three-axis satellite
simulator for the bifocal relay mirror initiative. M.Sc. thesis, Naval
Postgraduate School, Monterey, CA, 2001.
Chung, S. J., Miller, D. W., and de Weck, O. L. ARGOS testbed: Study
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Jung, D., and Tsiotras, P. A 3-DoF experimental test-bed for integrated
attitude dynamics and control research. In AIAA Guidance, Navigation and Control Conference, Austin, TX, 2003, AIAA Paper 03-5331.
Schwartz, J. L. The distributed spacecraft attitude control system
simulator: From design concept to decentralized control. Ph.D. dissertation, Aerospace Engineering, Virginia Tech, Blacksburg, VA, 2004.
Prado, J., Bisiacchi, G., Reyes, L., Vicente, E., Contreras, F., Mesians,
M., et al. Three-axis air-bearing based platform for small satellite attitude determination and control simulation. Journal of Applied Research and Technology, Vol. 3, 3 (2005).
Dai, L., and Jin, G. A 3-axis simulator for spacecraft attitude control
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