## Article
For the determination of attitude, the sensors must collect reliable values of the variables considered by the control law. Therefore, the attitude control law must be validated to evaluate its robustness to disturbances not modeled in the simulation. Thus, depending on the mission objective and the hardware to be evaluated, it is possible to design a task-specific testbed to optimize the available resources. For instance, in missions requiring a high-precision vector magnetometer, a triaxial fluxgate magnetometer (TFM) is widely used because of its accuracy. However, it requires rigorous calibration. In this scenario, ref. [22] proposes a Magnetically ShieldedRoom to avoid interference and a Triaxial Uniform Magnetic Field inside to control the vector magnetic field and calibrate the magnetometer. Regarding specific requirements, developers are free to include sun simulators to test sun sensors [23], air bearings to replicate the near-zero gravity environment [9], or custom structures such as floating platforms to simulate spacecraft formation maneuvers using HIL [24]. As previously emphasized, rigorous validation and research processes are crucial to ensure reliable operations under the spatial and electronic constraints of these platforms, especially for developing countries such as Bolivia, to assume the lowest monetary risks in the development process. In this sense, extensive research was carried out in Bolivia to develop a nadir pointing and detumbling controllers for the conceptual design of the country's first 1U CubeSat, as the main step to improve Bolivia's building capacity [25]. After the conceptual design of the proposed CubeSat, component-level prototypes were evaluated during stratospheric balloon missions to analyze the robustness and the performance of the simulated controller using real data collected over Amachuma Ground Station (Bolivian Space Agency, La Paz-Bolivia) [26]. These papers underscore the importance of early-stage testing throughout the development process. In this sense, robust testing protocols also facilitate the integration of a diverse array of payloads on nanosatellites, essential for implementing an ADCS. Such validation is imperative for enabling the deployment of the advanced payloads used in Earth observation, environmental monitoring, space observation, or even communication, which significantly enhance mission success rates [27]. Recent developments are expanding the potential of these nanosatellites; their possible integration with advanced communication modules incorporating 6G networks and quantum technologies [28], or even deep-space exploration tasks for detecting celestial bodies [29], demonstrates their potential and versatility, and underscores the need for robust testing protocols. Given the inherent challenges in CubeSat  
Figure 1: Successive operating states of the CubeSat after launch. Once the initial detumbling phase is completed, reducing the angular velocity below 0.1\({}^{\circ}\)/s, the CubeSat is subjected to on-orbit calibration of the magnetometer. Afterward, in nominal pointing phase, data upload/download and image acquisition tasks are executed. During the idle state, multiple interruptions are considered for TLE data transmission, image acquisition, and battery charging processes. In addition, a maintenance state is maintained to monitor the status of the satellite components. attitude control compared to larger satellites, achieving precise pointing accuracy is more difficult. This often requires geometric correction methods to improve image quality by correcting distortions present in the captured images. Considering the low-cost test environment provided by stratospheric balloons, a prototype of the payload was developed in 2022 with the mission of classifying images gathered through deep learning [30].