granasatClient
Paquetes necesarios para compilar: sudo apt-get install libgtk-3-dev
Client side of GranaSAT experiment, selected for BEXUS 19 campaign.
This code was originally written by Mario Román (@M42) and Alejandro García (@agarciamontoro) and released under a GPLv2 license. The server side code can be seen in its GitHub page.
GranaSAT designed and built a low-cost attitude determination system, a fundamental system for any spacecraft, based in a star sensor, horizon sensor and the magnetic field and acceleration measurements. The same Charge Coupled Device was used for both the star sensor and the horizon sensor. For the star sensor the Lost in Space functionality was designed, the identification algorithm used is a variation of the Matching Group algorithm proposed by Van Benzooijen; for the horizon sensor a simple detection algorithm is proposed, with the circle fitting method based in Umbach and Jones work and for the magnetometer and accelerometer sensors the attitude was estimated by two vector matching procedure based in Wahba solution.
The star sensor was capable to obtain an attitude matrix for the 97.80 % of the images collected. The relative error in the angles measured was kept below 1% through a camera calibration and the error obtained in the attitude matrix obtained was found less than 250 arcsecs. The horizon sensor was able to process all the images in night conditions, but it did not fulfil the 5o accuracy requirement. Finally, for the magnetometer and accelerometer sensors, an in-flight calibration was used to keep an uncertainty of the attitude angles under 4o with a maximum standard deviation in the magnetometer measurements of 140 nT.
After the results obtained, the most accurate and preferable method is the star sensor, despite its complexity. If low accurate attitude estimation or less complex solutions are required, the horizon sensor or magnetometer and accelerometer sensor solutions are valid for a spacecraft attitude determination system.
The experiment flew, successfully, the night of 8 October 2014. Thousands of good images were collected, both for the Horizon Sensor and for the Star Tracker. The scientific and technical results will be exposed in the 22nd ESA Symposium on European Rocket and Balloon Programme & related Research, 7-12 June 2015.
In the meanwhile, enjoy the aurora borealis captured by our camera from the stratosphere:
The main executable and the auxiliar executable imageTransform are built by executing
make in the main directoy. The doxygen documentation is built using make doc:
make all
make docThe client can be executed directly using ./granasatClient.
However, it is recommended to run the script ./client.sh, which saves the
simplified execution log into a new file and displays the image window.
The execution log can be used to retrieve the data that was read from the raspberry server.
The client will try to contact the server in the IP direction SERVER_IP provided
in client.h. Three sockets will be used to read data and send commands to the server.
The server side execution can be started after or before the client execution, and the client
will try to recover the connection if it were cut. Anyway, the client can be used without connection,
and the changed parameters are sent to the server when the connection is restored.
See more information at GranaSAT website.
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Follow us on Twitter: @granaSAT.