Research algorithm for the orientation of the TEIDESAT-1 satellite

The IMU Adafruit LSM9DS1 9-DOF is used. It containing multiple sensors for taking different measurements:

• Acceleration (m/s^2): 3 accelerometers (XYZ axis)
• Rotation rate (rad/s): 3 gyroscopes (XYZ axis)
• Magnetic flux (G): 3 magnetometers (XYZ axis)
• Temperature (°C): temperature sensor

datasheet: https://www.st.com/resource/en/datasheet/lsm9ds1.pdf

The U-BLOX NEO 6M GNSS module is use for testing purposes and is not the final

Guide to connect NEO 6M GPS to arduino
https://randomnerdtutorials.com/guide-to-neo-6m-gps-module-with-arduino

Due to the high cost of sun sensors, light sensors will be used for the prototype. The VEML7700 model is the one used in this case.

Using an Espressif ESP32-WROOM-32 microcontroller as the board computer. The I2C protocol is used for the comunication between the microcontroller and both the IMU module and the light sensor. For the GNSS module, the UART protocol is used.

Pin Conections:

Used the PlatformIO plugin for VSCode to create the project and upload the attitude calculation program into the arduino board (configuration of the ESP-12E already set up in the project). Libraries requerided are already integrated in the project in the .pio/libdeps/psp12e directory (They can also be found in the PlatformIO Registry):

Main dependencies (look platformio.ini file for more information):

• adafruit/Adafruit LSM9DS1 Library@^2.2.1
• mikalhart/TinyGPSPlus@^1.1.0
• plerup/EspSoftwareSerial@^8.2.0

All the implementations are located in the lib/algorithms directory.

├── img                       # Documentation about the project
├── lib                       # INS (Inertial Navigation System) orientation source code                   
|    ├── hardware                   # Hardware abstraction to make it easier to connect with the algortihms (all sensors are attached and setup in INS.hpp)
|    ├── IMUlgortims                # IMU orientation algoritms
|    ├── sunSensorAlgorithms        # Sun Sensor orientation algoritms
|    └── utils                      # Utilities common to the IMU algorithms
├── src                       # Multiple main programs, one for each algorithm. Hardware sensor data is read and used to feed the algorithm
└── test

To upload the one of the implementations into the arduino board, change the name of the sketches in the src/ directory from main-IMPLEMENTATION-NAME.txt to main.cpp. Every other implementation should end in .txt as only one main file should exist.

run all tests. Use desktop environment to not depend on esp

pio test -e desktop

run specific test suit

pio test -e desktop -f test_attitudeDetermination