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以作者查詢圖書館館藏 、以作者查詢臺灣博碩士 、以作者查詢全國書目 、勘誤回報 、線上人數：28 、訪客IP：18.191.223.30
姓名 王鈺順(YuShun Wang) 查詢紙本館藏 畢業系所 太空科學與工程學系 論文名稱 Koyo衛星任務與酬載控制軟體之設計、測試與驗證
(Design, Verification, and Validation of Koyo Mission and Payload Control Software)相關論文 檔案 [Endnote RIS 格式]
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摘要(中) 在過去半個世紀的傳統太空產業中，政府機構或大型國防承包商往往掌握著大量資源
以及前往太空所需的關鍵技術。然而近十年來大量私人企業與新創公司的興起，利
用其靈活的組織架構嘗試開發創新技術，以及獨特的商業模式帶來「新太空」(New
space)革命。新太空產業多半專注於降低成本並嘗試用更便宜的方式進入太空，例如可
重複使用的火箭、小型化衛星、先進的製造技術，並尋求更快的開發週期。
這也導致越來越多的私人企業和新創公司致力於提供包括發射服務、立方衛
星(CubeSat)解決方案及其他即服務(As-a-service)解決方案。更低成本的太空進入機會
讓大學和更多民間公司得以發展自己的太空任務，同時也加速了我們對宇宙未知領域
的探索。
Kinetic Optical Yaw Observer (Koyo)是一個由Hex20 Inc.、互宇向量股份有限公
司(Aegiverse Co., Ltd.)和國立中央大學合作開發的3U立方衛星任務。該衛星上搭載了
一個科學酬載和一個服務酬載。該科學酬載是一個用於技術驗證的光纖陀螺儀，同時
測量低地球軌道上由空氣阻力產生的擾動力矩。且目前用於軌道推算大氣模型主要為
經驗模式做推斷，也就是利用衛星觀測與地面條件建立的模型。而該任務提出基於轉
動的量測原理，將能夠更有效觀測軌道上的空氣阻力，可望精準地改善大氣模型。
服務酬載則是一個VHF應答器，提供自動封包報告系統（Automatic Packet Report
System (APRS)）的轉發功能，用於在軌道上中繼VHF業餘無線電頻段的訊息。
本論文首先概述了太空飛行器系統架構，並簡單介紹太空飛行器當中的各次系統。
第二章描述任務生命週期以及koyo任務介紹，詳細說明了該任務的目標和操作構想。第
三章接著提到任務酬載以及其數據介面。第四章則是論文的主要重點，該章節描述酬
載控制軟體設計與衛星電腦和任務酬載之間的韌體介面。此外，第五章還將討論任務
酬載與衛星整測平台的軟體整合。最後，第六章從計劃管理和工程的角度總結了該任
務的結論，並提出了koyo任務未來的工作與展望。摘要(英) In the traditional space industry, government agencies or large defense contractors dominated the resources and accessibility to space. “New Space”, refers to the recent wave
of private companies and startups that are revolutionizing the space sector with innovative technologies and business models. New space companies focus on reducing costs,
increasing access, and leveraging modern technologies such as reusable rockets, miniaturized satellites, advanced manufacturing techniques, and seeking faster development cycles.
This has led to more and more private entities and new startups aiming to provide different kinds of services including launch services, CubeSat solutions, and other as-a-service
solutions. The easier access to space gives universities and industry a chance to develop
their space missions and also speeds up the exploration of our universe.
Kinetic Optical Yaw Observer (Koyo) is a 3U CubeSat mission developed under the
cooperation of Hex20 Inc., Aegiverse Co., Ltd., and National Central University (NCU).
There is a science payload and a service payload onboard. The science payload is a
Fiber-Optic Gyroscope (FOG) for technology demonstration and verification, as well as
to measure perturbing torque along the Low Earth Orbit (LEO). The service payload is
a Very High Frequency (VHF) transponder that provides an Automatic Packet Report
System (APRS) function to relay messages in VHF amateur radio bands.
In this thesis, an overview of the spacecraft system and a brief introduction to each
subsystem will be delivered first. The second chapter describes the mission life cycle and
koyo mission overview which elaborates the objectives and the concept of this mission.
Then introduce the payload and its data interface. The main focus of this thesis is on the
payload control software design and firmware interfaces between the On Board Computer
(OBC) and payloads. Furthermore, the payload integration with the FlatSat will also
be noted in the fifth chapter. Finally, chapter six gives the conclusion from the project
perspective and the engineering perspective, as well as the future work of the koyo mission.關鍵字(中) ★ Koyo
★ 任務設計
★ 系統整合
★ 飛行軟體
★ 立方衛星
★ 酬載介面關鍵字(英) ★ Koyo
★ Mission Design
★ System Integration
★ Flight Software
★ CubeSat
★ Payload Interface論文目次 Table of Contents
Abstract i
Acknowledgements iii
Table of Contents v
List of Figures viii
List of Tables xi
1 Introduction 1
1.1 Thesis Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.2 Space System Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.3 Spacecraft System Architecture . . . . . . . . . . . . . . . . . . . . . . . . 3
1.3.1 Payload . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
1.3.2 Command and Data Handling Subsystem . . . . . . . . . . . . . . . 4
1.3.3 Electrical Power Subsystem . . . . . . . . . . . . . . . . . . . . . . 5
1.3.4 Attitude Determination and Control Subsystem . . . . . . . . . . . 5
1.3.5 Communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.3.6 Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.3.7 Thermal Control Subsystem . . . . . . . . . . . . . . . . . . . . . . 6
1.3.8 Propulsion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
v
1.4 Mission Life Cycle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
1.4.1 Pre-phase A and Phase A . . . . . . . . . . . . . . . . . . . . . . . 7
1.4.2 Phase B . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
1.4.3 Phase C . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
1.4.4 Phase D . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
1.4.5 Phase E . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
1.4.6 Phase F . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
2 Koyo Mission Overview 11
2.1 Project Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
2.2 Mission Design . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
2.2.1 Mission Objectives . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
2.2.2 Concept of Operation . . . . . . . . . . . . . . . . . . . . . . . . . . 18
2.2.3 Risk Matrix . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
3 Payloads and Payload Interfaces 21
3.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
3.2 FOG . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
3.2.1 Principle of FOG . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
3.2.2 GP-1Z0-00 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
3.2.3 Commands and Packets . . . . . . . . . . . . . . . . . . . . . . . . 25
3.3 VHF Transponder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
3.3.1 AX.25 and APRS Packet . . . . . . . . . . . . . . . . . . . . . . . . 27
3.3.2 OrbitLink transponder and Commands . . . . . . . . . . . . . . . . 29
4 Payloads Control Software Design, Verification and Test 31
4.1 Basic Functional Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
vi
4.1.1 FOG . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
4.1.2 APRS Transponder . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
4.2 Payload Control Software Design . . . . . . . . . . . . . . . . . . . . . . . 37
4.2.1 FOG Data Structure . . . . . . . . . . . . . . . . . . . . . . . . . . 37
4.2.2 FOG APIs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
4.2.3 VHF APRS Transponder Data Structure and APIs . . . . . . . . . 41
4.3 Functional Test with OBC . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
4.3.1 On Board Computer . . . . . . . . . . . . . . . . . . . . . . . . . . 43
4.3.2 FOG Test with OBC . . . . . . . . . . . . . . . . . . . . . . . . . . 45
4.3.3 VHF Transponder Test with OBC . . . . . . . . . . . . . . . . . . . 49
5 FlatSat Validation and Test 51
5.1 FlatSat Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
5.1.1 Hex20 FlatSat . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
5.1.2 Acceptance Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
5.2 Software Integration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
5.2.1 FOG Software Integration . . . . . . . . . . . . . . . . . . . . . . . 55
5.2.2 VHF Transponder Software Integration . . . . . . . . . . . . . . . . 60
6 Conclusion and Future Works 62
6.1 Conclusion from Project Perspective . . . . . . . . . . . . . . . . . . . . . 62
6.2 Conclusion from Engineering Perspective . . . . . . . . . . . . . . . . . . . 62
6.3 Future Works . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
Bibliography 64
A IEEE-754 Decimal to Binary in C 68
vii
B IEEE-754 Binary to Decimal in C 70
C IEEE-754 Binary to Decimal in Python 71參考文獻 Bibliography
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