## Article
This experiment was considered a first step to validate the on-board computing of complex algorithms for the proposed payload, which in turn is a basis for implementing other imaging components such as high-resolution multispectral cameras to improve the management of terrestrial features and environmental surveillance. This underscores the impact of multispectral imaging technologies in CubeSats, illustrating their role in expanding the scope of data these satellites can capture [31]. Furthermore, these CubeSats, commonly built into 3U to 6U platforms, have been successfully implemented due to their additional space. They have enabled comprehensive monitoring of the atmosphere and oceans, significantly enhancing terrestrial observations [32]. The integration of advanced processing systems allows for high-resolution images to be reconstructed using deep learning techniques, aiding in the identification and monitoring of greenhouse gases and contributing to the assessment of global environmental conditions [33; 34; 35]. Moreover, these high-resolution images are crucial in detecting natural disasters such as wildfires, utilizing the data provided by these cameras for timely and effective disaster management [36]. While these platforms are typically developed for 3U CubeSats or larger, the applications mentioned above are not limited to larger satellites. For instance, the BIRDS-4 1U CubeSat successfully captured images for monitoring and analyzing landmarks [37]. Wildfire detection has also been developed for a 1U CubeSat, using COTS components to fit power and mass constraints, capturing multispectral images [38]. Despite their reduced size, these cameras can effectively analyze vegetation and soil moisture [39]. In line with these advancements, a preliminary design of the first Bolivian CubeSat has been developed, as it can be seen in Figure 2. This design includes critical subsystems such as an ADCS, which is currently being tested, as well as EPS, OBC, and COM subsystems. Notably, it features an array of two OpenMV cameras capable of capturing RGB and NIR images, broadening the scope of applications to include the implementations mentioned earlier. Figure 2: Block diagram of subsystems of the CubeSat. This includes the main subsystems like EPS (Electrical Power System), OBC (On-board Computer), COM (Communication Module), ADCS (Attitude Determination and Control System), and the payload proposed for Earth observation tasks using RGB/NIR images. Given the wide variety of available testbeds and considering the technical and economical advantages of using techniques such as SIL, MIL, PIL, and HIL, the purpose of this research is to analyze the different configurations of testbeds mentioned above in terms of models for the proposed controllers. In this way, the performance of both the controller (MIL and SIL) and the embedded system in which the controller is programmed (PIL) will be analyzed, as well as the hardware conditioning and performance in interaction with the simulated environment (HIL). This analysis is an important contribution for nanosatellite developers that, depending on their requirements and verification objectives, can opt for the most optimal decision based on their resources and the specifications that will be shown in each section by configuration, highlighting the feature of simulating attitude maneuvers regardless of initial attitude or restricted movements. Finally, a working scheme based on the V-cycle will also be proposed for the development, validation, and verification process using the proposed framework.