INTEGRATED AVIONICS UNIT

A spacecraft includes a body having a motor, a lander interface, a sensor and a power source for powering the motor and the sensor, and the power source being mounted thereon. An integrated avionics unit has a module and an integrated circuit with the module having a central computer and a motor controller for controlling the motor and the integrated circuit having a temperature monitoring system for monitoring the temperature of the spacecraft and a power regulator having a cell balancer for regulating the power of the power source. The module and the integrated circuit are connected to one another for constant communication therebetween. The central computer communicates with the sensor.

TECHNICAL FIELD

The subject disclosure is directed to systems, methods, and apparatus for an integrated avionics unit (IAU) for use within a spacecraft.

BACKGROUND ART

Computing systems utilized in spacecraft have come a long way from core rope memory on the Apollo Guidance computer to millions of transistors on a chip smaller than a fingernail. Classical spacecraft computing systems utilize a central onboard computer connected to various platform subsystems, such as the radio communication, attitude and orbit control, payloads, and other similar subsystems. Such computing systems are suitable for handling routine spacecraft tasks, such as attitude control, housekeeping reports, command decoding, and systems management, which require very little processing power.

However, there is a need for more sophisticated spacecraft computer systems to perform more demanding tasks, such as executing payload software, performing intensive digital signal processing, formatting data, and performing error control, or encryption functions. Such tasks require sophisticated processors and, in some cases, peripheral supporting devices. Unfortunately, these functions have been performed with space-grade technology, which is significantly slower as compared to contemporary terrestrial counterparts.

Spacecraft that employ robotic systems provide additional challenges due to the need for autonomous guidance in unknown environments through the use of active or passive image sensors to perceive the surrounding environment. Vision applications in space vary from rover exploration on Mars with simultaneous localization and mapping to moon landing with landmark tracking and hazard avoidance, and to spacecraft proximity operations with pose estimation of cooperative or uncooperative orbiting targets. The ever-increasing computational demands of such enabling technologies challenge classical onboard computing systems in terms of architecture and processing power.

Moreover, computing systems employed in space can be subject to severe harm by the harsh environmental conditions of high vacuum, extreme temperatures, and high levels of ionizing radiation, or even by the vibrations during launch. Due to the demanding nature of these advance applications and harsh environments, there is a need for an improved avionics system for spacecraft.

DISCLOSURE OF INVENTION

In various implementations, an integrated avionics unit for use in spacecraft is provided. A pair of electronic boards consists of a first electronic board and a second electronic board connected to one another for constant communication therebetween with the first electronic board having a central computer and the second electronic board having an integrated circuit. A motor controller controls at least one motor in the spacecraft with the first electronic board directing the operation thereof. A temperature control system for controls the interior temperature of the spacecraft with the temperature control system having one heater controller and one temperature monitor with the second electronic board directing the operation thereof. A power control system regulates the power of the spacecraft with the power control system having a power regulator and a cell balancer with the second electronic board directing the operation thereof.

In other implementations, a spacecraft includes a body having a motor, a sensor and a power source for powering the motor and the sensor with the motor, the sensor, and the power source being mounted thereon. An integrated avionics unit has a module and an integrated circuit with the module having a central computer and a motor controller for controlling the motor and the integrated circuit having a temperature monitoring system for monitoring the temperature of the spacecraft and a power regulator having a cell balancer for regulating the power of the power source. The module and the integrated circuit are connected to one another for constant communication therebetween. The central computer communicates with the sensor.

These and other features and advantages will be apparent from a reading of the following detailed description and a review of the appended drawings. It is to be understood that the foregoing summary, the following detailed description and the appended drawings are explanatory only and are not restrictive of various aspects as claimed.

MODES FOR CARRYING OUT THE INVENTION

The subject disclosure is directed to an IAU suitable for use with planetary rovers, excavators, landers, satellites, and any other spacecraft or application related to spacecraft. The IAU can be utilized in applications that require autonomy and multiple motor controllers. The IAU is very low size, weight, and power (SWaP) and is designed to operate and survive at lunar day temperatures.

The IAU includes a processor board attached to a carrier board. The processor acts as the central brain, while the carrier board houses other ancillary components such as a radio, a coprocessor microcontroller, and motor controllers.

The detailed description provided below in connection with the appended drawings is intended as a description of examples and is not intended to represent the only forms in which the present examples can be constructed or utilized. The description sets forth functions of the examples and sequences of steps for constructing and operating the examples. However, the same or equivalent functions and sequences can be accomplished by different examples.

References to “one embodiment,” “an embodiment,” “an example embodiment,” “one implementation,” “an implementation,” “one example,” “an example” and the like, indicate that the described embodiment, implementation or example can include a particular feature, structure or characteristic, but every embodiment, implementation or example can not necessarily include the particular feature, structure or characteristic. Moreover, such phrases are not necessarily referring to the same embodiment, implementation or example. Further, when a particular feature, structure or characteristic is described in connection with an embodiment, implementation or example, it is to be appreciated that such feature, structure or characteristic can be implemented in connection with other embodiments, implementations or examples whether or not explicitly described.

Numerous specific details are set forth in order to provide a thorough understanding of one or more embodiments of the described subject matter. It is to be appreciated, however, that such embodiments can be practiced without these specific details.

Various features of the subject disclosure are now described in more detail with reference to the drawings, wherein like numerals generally refer to like or corresponding elements throughout. The drawings and detailed description are not intended to limit the claimed subject matter to the particular form described. Rather, the intention is to cover all modifications, equivalents and alternatives falling within the spirit and scope of the claimed subject matter.

The subject disclosures is directed to spacecraft that include a novel IAU. In one exemplary embodiment, the IAU includes a carrier board, a main-processor subsystem, a power management and/or battery management subsystem, a power conditioning system, a watchdog subsystem, a radio subsystem, and a mobility subsystem. Optionally, the IAU includes a solar power management system. The spacecraft is a rover.

The carrier board includes a printed circuit board assembly (PCBA) that connects all subsystems, as well as interfaces. The main processor subsystem include a PCBA that includes a main Computing Processor Unit (CPU), memory to store volatile data, mass storage to store application and recorded mission data, and a power management system that monitors the power on each rail. The main processor subsystem board is connected to the carrier board via board-to-board connectors.

The power management subsystem includes an integrated circuit in the carrier board that manages the balancing, charging, and discharging of the rover battery. The power management subsystem monitors and logs battery usage and manages the power output from a solar panel (when present). The battery subsystem manages the selection of the power source between the solar panel and a lander.

The watchdog subsystem includes an integrated circuit in the carrier board that manages the system heartbeat and telemetry data collected throughout the system (voltages, currents, temperatures). The watchdog subsystem can manage temperature for a rover during all phases of a mission.

The mobility subsystem includes a sub-assembly that includes circuitry in a carrier board and motor drivers that are connected to the carrier board that manage the driving and monitoring of motors.

In another exemplary embodiment, an IAU includes two electronic boards, a system on module (SOM or processor board) and carrier board. The boards are modular and can be stacked to support more complex spacecraft applications.

Referring now to the drawings and, in particular, toFIGS.1-2, there is shown a spacecraft, generally designated by the numeral100, having a body110. The body110includes a solar array assembly112, a pair of sensor assemblies114, a plurality of motor assemblies116, a power source118, a lander interface120, an IAU122, a pair of hold down release mechanisms (HDRM)124, and a pair of payload assemblies126. In this exemplary embodiment, the spacecraft100is a rover.

The solar array assembly112includes a sun sensor128, an antenna130, and a solar panel132. Each sensor assembly114includes a camera134and a heater136. Each motor assembly116includes a motor138, an encoder140, and a heater142. Each payload assembly126includes a payload144and a heater146. The power source118is a battery pack148with a heater150.

As indicated inFIG.2, the IAU122includes a pair of electronics boards152-154. The electronic board152comprises a module that includes a system on module or central computer156. The electronic board154comprises a carrier board that includes a watchdog processor or an integrated circuit158.

The central computer156connects to the integrated circuit158for constant communication therebetween. The central computer156and the integrated circuit158are in constant communication, this way any faults can be relayed back to mission control as well as to inform the central computer156of any subsystem downtime due to a fault or to intelligently limit functionality if temperatures or power draws on subsystems are different than anticipated.

The electronic boards152-154are modular and can be stacked to support more complex spacecraft applications. The optimum break of functionalities between different boards minimizes the weight of the avionics, while maintaining expandability, modularity, and reusability.

The central computer156can include an interface that is identical in all IAUs (not shown). Through the use of a common interface, subsystems can be developed in parallel. Further, the development of new IUAs (not shown) can be expedited since the interface is known.

The central computer156performs the main processing for the spacecraft100. The central computer156can include a Quad-core 1.5 GHz processor, 4 GB of application storage, and 2 GB of DDR4 SDRAM. In this exemplary embodiment, the central computer156can utilize the Linux Operating System, high speed data busses such as PCIe, USB 3.0, GigE, low speed data busses such as UART, CAN, SPI, and a general purpose Input/Output system. The central computer156can directly connect to a wide array of sensors, and actuators to suit the needs of any mobile application.

The integrated circuit158can function as a co-processor or watchdog processor. The integrated circuit158comprises a small, low-power co-processor that performs functions that require small amounts of control logic, as well as system monitoring functions. The integrated circuit158monitors spacecraft100subsystems for power and temperature. The integrated circuit158has the ability to quickly detect faults and respond appropriately while the central computer156is doing computationally heavy tasks such as autonomous driving.

The IAU122can be utilized in rapidly supported, documented development processes that quickly integrate into new spacecraft applications. In this exemplary embodiment, the IAU122is a durable, radiation hardened IAU that can be available for extended missions in harsh environments. The modular design of the central computer156provides the ability for utilization in systems that include multiple central computers working in parallel in complicated missions. The integrated circuit158can be configurable with an extremely high pin-count and built-in field-programmable gate array (FPGA) that allows for interfacing with nearly any other system.

In one exemplary embodiment, the IAU122includes a Quad-core ARM Cortex 1.5 GHZ main processor and a processor Dual-core Arm Cortex 600 MHZ real-time processor. The FPGA includes 256K logic cells. The IAU122includes memory that has 4 Gb 64-bit DDR4 RAM 32 Gb in Application Storage Space, a 256 Mb Boot-loader & File system, and a Graphics Processing Mali that has 400 MP2 and 667 MHZ.

The IAU122can utilize High-speed Interfaces that include 16×16.3 Gb/s Transceivers, 4×Gigabit Ethernet and a 2×USB3.0 connection. The I/O system is 252×I/O. The IAU 122 has a sleep power specification of 0.5 W and an operational power specification of 10 W. The mass is 90 g. The operating temperature range is −40 C. to 85 C.

As shown inFIG.2, the electronic board152includes a pair of motor controllers160and a wi-fi interface162. The motor controllers160can be motor drivers that are accessible for a variety of applications. For example, the motor controllers160can drive the motors138shown inFIG.1to drive the spacecraft100to move on a planetary or lunar surface, to deploy the spacecraft100from storage on a lander (not shown) on another vehicle (not shown), and/or to actuate a manipulator (not shown) or small subsystem (not shown).

The motor controllers160can be accessible over a common communication bus. The integrated circuit158can regulate and monitor power usage by the motors138to ensure safe operation and fault detection.

The wi-fi interface162wi-fi is a common interface utilized across systems to allow for case of prototyping and testing with terrestrial hardware. The IAU122integrates directly with wi-fi radio hardware with wi-fi radio hardware without need for a translation layer allowing for seamless hardware integration without any throughput reductions.

The electronic board154includes a power control system164, an inertial measurement unit (IMU)166, a temperature control system168, an Ethernet switch170, and a motor multiplexer172. The power control system164includes a power regulator174and a cell balancer176.

The power control system164can provide proper power regulation and distribution to enhance risk management and radiation tolerance of the spacecraft100. Such enhancements are desirable due to the large amount of subsystems interior to and external to the IAU122.

The power control system164utilizes common power buses of 48 VDC to high power the motors138. Power buses of 28 VDC are utilized to interact with the lander122and/or the payloads144. The power control system164utilizes power buses of 12VDC for cameras134, heaters126, heaters136, heaters142, and/or heaters150. The power control system164utilizes power buses ranging from 5 VDC and 3.3 VDC to power small logic, support circuitry and the central computer156and/or the integrated circuit158. All the power buses are constantly being monitored by the integrated circuit158to ensure that the power busses remain within the specifications needed for the subsystem on the bus.

Further, the power buses can be turned on/off by the integrated circuit158, so that a subsystem can be power cycled to reset any faults that may have occurred due to radiation or other unexpected events.

Even though some subsystems use the same voltage, all subsystems are isolated to their own power domain such that an error or failure on one power rail can be isolated and does not cascade to others.

The IMU166is an onboard IMU. The IMU166provides for proper pose estimation during a descent from an external lander (not shown), as well as hazard avoidance on rough terrain during navigation.

The temperature control system168utilizes a separate heater controller178and temperature monitor180, so that the functions are in separate domains in a similar manner in which the power control system164utilizes a separate power regulator174and cell balancer176.

The IAU122can be enclosed within a multi-layer insulation (MLI)182enclosure (not shown) to maintain a predetermined internal temperature. The temperature control system168can control and regulate temperature of various subsystems within the spacecraft100that are not within the MLI enclosure. Such subsystems can have stringent temperature guidelines to function properly.

The IAU122can utilize the integrated circuit158to process temperature sensor inputs and heater outputs relating to the various subsystems within the spacecraft100. The integrated circuit158can drive the heaters126, the heaters136, the heaters142, and/or the heaters150, as well as change duty cycles, to maintain recommended temperature ranges within the spacecraft100.

The Ethernet switch170can utilize integrated Ethernet switch circuitry that is incorporated into the IAU122to expand the breadth and quantity of sensors available to interface with the central computer156. In one exemplary embodiment, the spacecraft100can utilize up to eight cameras that have been integrated with the spacecraft100only utilizing two of the available four GigE channels.

Now referring toFIGS.1-2, the battery pack148is a common interface for any mobile application. The IAU122utilizes the cell balancer176, which includes autonomous cell balancing circuitry that is highly configurable based on the cell chemistry and size of the batteries within the battery pack148. Through the utilization of the cell balancer176, the IAU122can monitor and safely manage the battery pack148for the spacecraft100.

The battery pack148is highly integrated with the IAU122, which is advantageous given the size, mass and thermal constraints of the spacecraft body110. When the battery pack148is in proximity to the IAU122, the need for separate enclosures and bracketry is reduced. Further, the potential for increased energy to control an external pack, thermally, is enhanced, as well.

The solar panel132with the solar array assembly112keeps the battery pack148charged. The use of the solar panel132in this manner is very mission and system dependent, but the IAU122maintains flexibility to provide such options. Alternatively, multiple charging methods are contemplated, including wireless charging systems. Charging systems that are based on solar panels and wireless charging are scalable and flexible based upon mission type.

The cameras134are needed for a variety of tasks on a mobile platform, including autonomous navigation, teleoperation, hazard avoidance, and system monitoring. The IAU122is equipped with a standard interface for supporting the cameras134with an Ethernet interface (i.e., the Ethernet switch170). The IAU122utilizes the temperature control system168to ensure that the cameras134stay within a safe thermal operational window.

The spacecraft100includes an RS422 interface between lander interface120and the IAU122, which is common across other IAUs (not shown). The interface provides the IAU122with a direct link to send telemetry during transit and on the surface to a lander (not shown) through the lander interface120.

Further, the lander interface120can include a power rail, which allows the battery pack148to remain fully charged and the IAU122to remain active during flight.

The pair of HDRMs124can be used to release the spacecraft100from a transit storage location. Alternatively, the pair of HDRMs124can be used onboard the spacecraft100to secure subsystems, such as manipulator arms, solar panels, and/or covers for instruments.

The IAU122includes a standard HDRM interface to facilitate the receipt of power from the power source118. The IAU122can receive feedback about the state of the HDRMs124to determine whether it is necessary to attempt to have one or both of the HDRMs124attempt to perform a function, again.

The IAU122can interface with the payload assemblies126, as well as other systems that are impractical to integrate with the IAU122directly. Standard connector layouts can be implemented, so that the IAU122can provide power to the payload assemblies126, a communication interface to the payload assemblies126, power for heaters126, heaters136, heaters142, and/or heaters150, and/or feedback for temperature sensors.

Referring now toFIGS.3-4with continuing reference to the foregoing figures, another embodiment of a spacecraft, generally designated as numeral200, is shown. In this exemplary embodiment, the spacecraft200is a lunar exploration vehicle, namely an excavation rover.

Like the embodiment shown inFIGS.1-2, the spacecraft200includes a body210. The body210includes a plurality of sensor assemblies212-218, a plurality of motor assemblies220-226, a power source228, a lander interface230, and an IAU232. Unlike the embodiment shown inFIGS.1-2, the spacecraft200includes a wireless charger234, a plurality of HDRMs236, and an emergency detection system (EDS)238.

Each of the sensor assemblies212-218includes a pair of cameras240. Each camera240includes a light emitting diode (LED)242and a heater242. The sensor assembly212includes a mono-camera positioned on the left side of the body210and a mono-camera positioned on the right side of the body210. The sensor assembly214includes a camera positioned on the front of the body210and a drum camera positioned on the rear of the body210. The sensor assembly216includes a pair of stereo cameras positioned on the front of the body210. The sensor assembly218includes a pair of stereo cameras positioned on the rear of the body210.

Each of the motor assemblies220-226includes one or more motors246with each motor246having a heater248and an encoder250. The motor assembly220is positioned on drums252. The motor assembly222is positioned on arms254. The motor assembly224is positioned on wheels256. The motor assembly226is positioned a dust cover258.

A pair of HDRMs236are mounted on the drums252, the arms254, and a chassis260. Four HDRMs are mounted on the wheels256.

The power source228includes a battery pack262and one or more heaters264. The wireless charger234includes a heater266.

As shown inFIG.4, the IAU232include a module268and an integrated circuit270. Like the embodiment shown inFIG.2, the module268includes a central computer272and a Wi-Fi interface274. Unlike the embodiment shown inFIG.2, the module268includes five motor controllers276-284

The integrated circuit270includes a housekeeper processor286, which functions in a similar manner as the watchdog processor158shown inFIG.2. The integrated circuit270also includes a power control system288, an IMU290, a temperature control system291, and an Ethernet switch292. The power control system288includes a power regulator293and a cell balancer294. The temperature control system291includes a heater controller295and a temperature monitor296.

The IAU232can be surrounded by multi-layer insulation297.

Referring now toFIGS.5-6with continuing reference to the foregoing figures, another embodiment of a spacecraft, generally designated as numeral300, is shown. In this exemplary embodiment, the spacecraft300is a lunar rover.

Like the embodiment shown inFIGS.1-4, the spacecraft300includes a body310. The body310includes a plurality of sensor assemblies312, a plurality of motor assemblies314, a power source316, a lander interface318, and an IAU320. Like the embodiment shown inFIGS.1-2, the body310includes a solar array assembly322, a pair of HDRMs324, and a pair of payload assemblies326.

The solar array assembly322includes a sun sensor328, an antenna330, and a solar panel332. Each sensor assembly312includes a camera334, an LED336, and a heater338. Each motor assembly314includes a motor340, an encoder342, and a heater344. The power source316is a battery pack346with a heater348. Each payload assembly326includes a payload350and a heater352.

Unlike the embodiments shown inFIGS.1-4, the spacecraft200includes an expansion interface354. The expansion interface354can provide additional functionality to address additional sensing requirements for localization or mobility, which is desirable because no two missions are identical with respect to payload power and communication needs. The expansion interface354provides quick turn, mission-specific functionality that can be added to the spacecraft300without driving requirements back to the flight qualified IAU320to keep the cost of the mission low.

As shown inFIG.6, the IAU320include a module356and an integrated circuit358. Like the embodiment shown inFIGS.2and4, the module356includes a central computer360and a Wi-Fi interface362. Unlike the embodiment shown inFIG.4, the module356includes a pair of motor controllers364and a power distribution unit366.

The integrated circuit358includes a watchdog processor368, like the embodiment shown inFIG.2. The integrated circuit358also includes a power control system370, an IMU372, a temperature control system374, an Ethernet switch376, and a motor multiplexer378. The power control system370includes a power regulator380and a cell balancer382. The temperature control system374includes a heater controller384and a temperature monitor386.

The IAU320can be surrounded by multi-layer insulation386.

Referring toFIG.7with continuing reference to the foregoing figures, an exemplary process, generally designated by the numeral400, for operating an IAU within a spacecraft. In this exemplary embodiment, the spacecraft can be the spacecraft100shown inFIGS.1-2, the spacecraft200shown inFIGS.3-4and/or the spacecraft300shown inFIGS.5-6. The IAU can be the IAU122shown inFIGS.1-2, the IAU232shown inFIGS.3-4and/or the IAU320shown inFIGS.5-6.

At401, a central computer is connected to co-processor for constant

communication therebetween. In this exemplary embodiment, the central computer can be the central computer156shown inFIG.2, the central computer272shown inFIG.4and/or the central computer360shown inFIG.6. The co-processor can be the watchdog processor158shown inFIG.2, the housekeeper processor286shown inFIG.4and/or the watchdog processor368shown inFIG.6.

At402, a motor controller controls a motor within the spacecraft. In this exemplary embodiment, the motor controller can be one of the motor controllers160shown inFIG.2, one of the motor controllers276-284shown inFIG.4and/or one of the motor controllers364shown inFIG.6. The motor can be one of the motors140shown inFIG.1, one of the motors246shown inFIG.3and/or one of the motors340shown inFIG.5.

At403, a temperature control system controls the interior temperature of the spacecraft using heaters and temperature monitors. In this exemplary embodiment, the temperature control system can be the temperature control system168shown inFIG.2, the temperature control system291shown inFIG.4and/or the temperature control system374shown inFIG.6.

At404, a power control system regulates the power of the spacecraft. In this exemplary embodiment, the power control system can be the power control system164shown inFIG.2, the power control system288shown inFIG.4and/or the power control system370shown inFIG.6.

The IAU uses a hole pattern in the carrier board as a pass through to mount it to the spacecraft chassis on the top surface and secure a dust cover that is affixed to the bottom surface.

Exemplary Spacecraft

Spacecraft can refer to various types of vehicles that travel into space, through space, or on extraterrestrial bodies. Such vehicles include robotic spacecraft, manned spacecraft, space stations, probes, artificial satellites, capsules, spaceplanes, single-stage-to-orbit vehicle, landers, modular spacecraft, space telescopes, vertical-take-off-vertical landing spacecraft, landing vehicles and/or exploration vehicles.

Exploration vehicles can include a lunar vehicle, an extraterrestrial exploration vehicle, a robotic vehicle, a roving vehicle, and/or a rover. Exemplary exploration vehicles include various embodiments of CUBEROVER® robotic exploration vehicles, such as the 2U CUBEROVER® EM rover, the 2U CUBEROVER® FM rover, the Bottom-Mount CUBEROVER® rover, the 4U CUBEROVER® rovers, the 6U, and/or the CUBEROVER® rovers. CUBEROVER® is a registered trademark of Astrobotic Technology, Inc. of Pittsburgh, Pennsylvania.

Referring now toFIG.8with continuing reference to the forgoing figures, an exemplary spacecraft, generally designated by the numeral500, is shown. The exemplary spacecraft is a rover. The spacecraft500includes a frame510for holding a payload (not shown).

The spacecraft500includes a thermal control mechanism512that regulates and controls thermal interfaces for the payload and for other spacecraft subsystems. A plurality of wheels514provides the spacecraft500with mobility. The wheels514provide optimal performance for navigating the lunar and planetary surfaces.

An avionics and communication assembly516performs all command and data handling for the payload and the spacecraft500. The avionics and communications assembly516provides communication services that connect the remote computers to the spacecraft500.

A power subsystem518generates, stores, and distributes power to the payload and to the spacecraft500. A perception subsystem520performs perception and teleoperation functions. The perception subsystem520orients and controls spacecraft500throughout a mission.

Exemplary Computing Systems

Referring now toFIG.9with continuing reference to the forgoing figures, an exemplary computing system, generally designated by the numeral600, for use by the spacecraft100shown inFIGS.1-2, the spacecraft200shown inFIGS.3-4, the spacecraft300shown inFIGS.5-6and/or the spacecraft500shown inFIG.8is shown. The exemplary computing system can be used to practice the method400shown inFIG.7.

The hardware architecture of the computing system600that can be used to implement any one or more of the functional components described herein. In some embodiments, one or multiple instances of the computing system600can be used to implement the techniques described herein, where multiple such instances can be coupled to each other via one or more networks.

The illustrated computing system600includes one or more processing devices610, one or more memory devices612, one or more communication devices614, one or more input/output (I/O) devices616, and one or more mass storage devices618, all coupled to each other through an interconnect620. The interconnect620can be or include one or more conductive traces, buses, point-to-point connections, controllers, adapters, and/or other conventional connection devices. Each of the processing devices610controls, at least in part, the overall operation of the processing of the computing system600and can be or include, for example, one or more general-purpose programmable microprocessors, digital signal processors (DSPs), mobile application processors, microcontrollers, application-specific integrated circuits (ASICs), programmable gate arrays (PGAs), or the like, or a combination of such devices.

Each of the memory devices612can be or include one or more physical storage devices, which can be in the form of random access memory (RAM), read-only memory (ROM) (which can be erasable and programmable), flash memory, miniature hard disk drive, or other suitable type of storage device, or a combination of such devices. Each mass storage device618can be or include one or more hard drives, digital versatile disks (DVDs), flash memories, or the like. Each memory device612and/or mass storage device618can store (individually or collectively) data and instructions that configure the processing device(s)610to execute operations to implement the techniques described above.

Each communication device614can be or include, for example, an Ethernet adapter, cable modem, Wi-Fi adapter, cellular transceiver, baseband processor, Bluetooth or Bluetooth Low Energy (BLE) transceiver, serial communication device, or the like, or a combination thereof. Depending on the specific nature and purpose of the processing devices610, each I/O device616can be or include a device such as a display (which can be a touch screen display), audio speaker, keyboard, mouse or other pointing device, microphone, camera, etc. Note, however, that such I/O devices616can be unnecessary if the processing device610is embodied solely as a server computer.

In the case of a client device, the communication devices(s)614can be or include, for example, a cellular telecommunications transceiver (e.g., 3G, LTE/4G, 5G), Wi-Fi transceiver, baseband processor, Bluetooth or BLE transceiver, or the like, or a combination thereof. In the case of a server, the communication device(s)614can be or include, for example, any of the aforementioned types of communication devices, a wired Ethernet adapter, cable modem, DSL modem, or the like, or a combination of such devices.

A software program or algorithm, when referred to as “implemented in a computer-readable storage medium,” includes computer-readable instructions stored in a memory device (e.g., memory device(s)612). A processor (e.g., processing device(s)610) is “configured to execute a software program” when at least one value associated with the software program is stored in a register that is readable by the processor. In some embodiments, routines executed to implement the disclosed techniques can be implemented as part of OS software (e.g., MICROSOFT WINDOWS® and LINUX®) or a specific software application, algorithm component, program, object, module, or sequence of instructions referred to as “computer programs.”

Computer programs typically comprise one or more instructions set at various times in various memory devices of a computing device, which, when read and executed by at least one processor (e.g., processing device(s)610), will cause a computing device to execute functions involving the disclosed techniques. In some embodiments, a carrier containing the aforementioned computer program product is provided. The carrier is one of an electronic signal, an optical signal, a radio signal, or a non-transitory computer-readable storage medium (e.g., the memory device(s)612).

Supported Features and Embodiments

Supported embodiments can provide various attendant and/or technical advantages in terms of integrated avionics units for spacecraft. Supported embodiments include an integrated avionics unit for use in spacecraft comprising: a pair of electronic boards consisting of a first electronic board and a second electronic board connected to one another for constant communication therebetween with the first electronic board having a central computer and the second electronic board having an integrated circuit; a motor controller for controlling at least one motor in the spacecraft with the first electronic board directing the operation thereof; a temperature control system for controlling the interior temperature of the spacecraft with the temperature control system having one heater controller and one temperature monitor with the second electronic board directing the operation thereof; and a power control system for regulating the power of the spacecraft with the power control system having a power regulator and a cell balancer with the second electronic board directing the operation thereof.

Supported embodiments include the foregoing integrated avionics unit, wherein the integrated circuit includes an inertial measurement unit.

Supported embodiments include any of the foregoing integrated avionics units, wherein the power control system is incorporated into the integrated circuit.

Supported embodiments include any of the foregoing integrated avionics units, further comprising: a module with the first electronic circuit board and the motor controller being incorporated into the module.

Supported embodiments include any of the foregoing integrated avionics units, wherein the module includes a wi-fi interface.

Supported embodiments include any of the foregoing integrated avionics units, wherein the motor controller includes a motor multiplexer.

Supported embodiments include any of the foregoing integrated avionics units, wherein the integrated circuit includes the motor multiplexer.

Supported embodiments include any of the foregoing integrated avionics units, wherein the spacecraft includes at least one sensor and the integrated circuit includes an Ethernet switch for coupling the sensor thereto.

Supported embodiments include any of the foregoing integrated avionics units, wherein the cell balancer is incorporated into the integrated circuit.

Supported embodiments include any of the foregoing integrated avionics units, wherein the spacecraft includes a battery pack and the integrated circuit monitors the battery pack.

Supported embodiments include any of the foregoing integrated avionics units, wherein the spacecraft includes at least one camera and the central computer monitors the at least one camera.

Supported embodiments include any of the foregoing integrated avionics units, wherein the spacecraft includes at least one hold down release mechanism and the central computer controls the at least one hold down release mechanism.

Supported embodiments include any of the foregoing integrated avionics units, wherein the integrated circuit includes a processor selected from the group consisting of a watchdog processor and housekeeper processor.

Supported embodiments include a spacecraft comprising: a body having a motor, a sensor and a power source for powering the motor, the sensor, and the power source being mounted thereon; and an integrated avionics unit having a module and an integrated circuit with the module having a central computer and a motor controller for controlling the motor and the integrated circuit having a temperature monitoring system for monitoring the temperature of the spacecraft and a power regulator having a cell balancer for regulating the power of the power source; wherein the module and the integrated circuit are connected to one another for constant communication therebetween; and wherein the central computer communicates with the sensor.

Supported embodiments include the foregoing spacecraft, further comprising: a plurality of heaters for heating at least one of the motor, the sensor, and the power source; wherein the integrated circuit include a heater controller with the heater controller being separate from the temperature monitoring system therein.

Supported embodiments include any of the foregoing spacecraft, wherein the spacecraft body includes a payload.

Supported embodiments include any of the foregoing spacecraft, further comprising: a hold down release mechanism mounted within the body.

Supported embodiments include any of the foregoing spacecraft, wherein the integrated circuit includes a processor selected from the group consisting of a watchdog processor and housekeeper processor.

Supported embodiments include any of the foregoing spacecraft, further comprising: a solar panel assembly for providing power to the power source.

Supported embodiments include any of the foregoing spacecraft, wherein the power source is a battery pack.

Supported embodiments include a system, a method, a device, an apparatus, and/or means for implementing any of the foregoing spacecraft, integrated avionics units, or portions thereof.

Supported embodiments include an improved IAU that can be utilized in rapidly supported, documented development processes that quickly integrate the IAU into new spacecraft applications.

Supported embodiments include durable, radiation hardened IAUs available for extended missions in harsh environments.

Supported embodiment include modular systems that include multiple central computers working in parallel in complicated missions.

Supported embodiments include the use of a single central computer that can serve as a robust computer platform for small satellites and teleoperated robots. Such embodiments are suitable for missions that utilize autonomous navigation and/or large robots that are more complex can benefit from additional processing nodes. With predetermined programmable logic and integrated gigabit transceivers, a high-bandwidth data bus and hardware backplane can support many modules in parallel.

The detailed description provided above in connection with the appended drawings is intended as a description of examples and is not intended to represent the only forms in which the present examples can be constructed or utilized. It is to be understood that the configurations and/or approaches described herein are exemplary in nature, and that the described embodiments, implementations and/or examples are not to be considered in a limiting sense, because numerous variations are possible.

Although the subject matter has been described in language specific to structural features and/or methodological acts, it is to be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or acts described above. Rather, the specific features and acts described above are presented as example forms of implementing the claims.