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Introduction
Introduction
This test objective is to provide a baseline for testing the Extended Kalman Filter for attitude determination.
Test Description: This test will compare the attitude estimation using only gyroscope and magnetometer telemetry against a "ground truth" provided by Vicon motion tracking
Completed: 06/10/2025
Documented by: Riley Sweeney
Resources Required:
Tools: Torx T8 screwdriver
Hardware and Equipment: CubeADCS, Xbee Pro S3B, 3-axis gimbal, fishing line, laptop
PPE: Personal protection equipment for tests and environment (clean room smock, face mask, gloves, etc.)
Verification Activities: Provide a list of all verification activities that will be verified by the end of this test. It can be more than one if this is a multi-step test.
Pass Criteria: Provide a description of pass/fail criteria for each verification activity, including acceptance tolerances.
Test Apparatus
Test Apparatus
There are three main components used in this test. These are:
The CubeADCS test piece, containing the EM CDH and ADCS PCBs (and all applicable sensors), batteries and power management, and an Xbee Pro S3B to send telemetry wirelessly.
The three axis gimbal to mount the CubeADCS to.
STAR Lab's Vicon test bed, where the gimbal will be placed to track its rotation.
CubeADCS (top)
CubeADCS (bottom)
3-axis gimbal
CubeADCS mounted to gimbal
Gimbal setup in Vicon testbed
Test Set-Up
Test Set-Up
This will outline the physical setup to perform the test. It is assumed that the correct firmware/software has been uploaded to the ADCS microcontroller and CDH OBC, and the CubeADCS is already assembled.
On the CubeADCS, unplug the AC power cable from its socket.
Align the
Test Procedures
Test Procedures
Provide an step-by-step instructions for completing the test, including data logging, inspection activities, etc.
1) Step 1
2) Step 2
3) Step 3
a) Sub-step a
b) Sub-step b
Test Close-Out
Test Close-Out
Include information about apparatus tear down, clean up, consumables storage, and how to store test data.
1) Step 1
2) Step 2
3) Step 3
a) Sub-step a
b) Sub-step b
Data Analysis
Data Analysis
Provide step-by-step instructions for data analysis, including location of data storage.
1) Step 1
2) Step 2
3) Step 3
a) Sub-step a
b) Sub-step b
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