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Prototype of CanSat with Auto-gyro Payload for Small Satellite Education

Conference Paper · October 2019

DOI: 10.1109/TSSA48701.2019.8985514

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Telkom University Universitas Sangga Buana YPKP (USB)
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 Prototype of CanSat with Auto-gyro Payload
for Small Satellite Education
Rizki Pratama Ramadhan Aditya Rifky Ramadhan Shindy Atila Putri
'HSDUWPHQWRI(OHFWULFDO(QJLQHHULQJ 'HSDUWPHQWRI(OHFWULFDO(QJLQHHULQJ Department of Electrical (QJLQHHULQJ
7HONRP8QLYHUVLW\ 7HONRP8QLYHUVLW\ 7HONRP8QLYHUVLW\
Bandung, Indonesia Bandung, Indonesia %DQGXQJ,QGRQHVLD
rizkipratam adityarifkyramadhan@student.telkomu shindyatila@student.telkomuniversity.
@student.telkomuniversity.ac.id niversity.ac.id ac.id

Merlyn Inova Christie Latukolan Edwar Kusmadi

'HSDUWPHQWRI(OHFWULFDO(QJLQHHULQJ 'HSDUWPHQWRI(OHFWULFDO(QJLQHHULQJ 'HSDUWPHQWRI(OHFWULFDO(QJLQHHULQJ
7HONRP8QLYHUVLW\ 7HONRP8QLYHUVLW\ )DFXOW\RI(QJLQHHULQJ
Bandung, Indonesia Bandung, Indonesia 8QLYHUVLWDV6DQJJD%XDQD
merlyninovachristie@student.telkomun edwarm@telkomuniversity.ac.id Bandung, Indonesia
iversity.ac.id kusmadi.andinata@gmail.com

Abstract—This paper is about structure and payload for
CanSat. The structure on CanSat must fit on a space rocket and
protect the payload from all disruption. The structure made
from PLA+ carbon fiber that makes it light and strong. On the
structure, there is a blade for descent control that makes CanSat
down slowly. The payload on CanSat was chosen by a mission
that CanSat brings a sensor accurately. Mission on this CanSat
is descent control with science payload. The payload that fit with
structure and can operate well. The main contribution of this
paper is a proposed structure and payload that can be a
reference for other CanSat. Our results on this research are
structure and payload can operate the mission with small
damage on structure.
Keywords—CanSat, Structure, Payload, Mission,
I. INTRODUCTION
CanSat is a small satellite model that shaped like a can but
contains telemetry sensors. The purpose of making CanSat is
to teach how to build a satellite in small scale. The CanSat
competition 2019 mission is about auto-gyro. Auto-gyro is a
blade that can descent control speed of CanSat. The CanSat
consists of two parts, the science payload, and the container
to protect the science payload as it is deployed from the
rocket [1]. The Payload is what thing of CanSat bring. A
Container is placed to protect the CanSat when launch.
CanSat container has a dimension of about 120 × 267 mm.
Concept operation on this is CanSat launched in a rocket
to altitude 670-725 meters. At altitude 670-725 meters
CanSat release from rocket and parachute deploy for descent
speed rate to 20 m/s. At altitude 450 meters science auto-gyro
payload release from a container, it descent speed rate to 10-
15 m/s with auto-gyro and start to transmit telemetry data to
ground control station. After landing, science auto-gyro
payload data transmit will off and an audio beacon will on.
(OBDH). In OBDH there are various kinds of sensors, such
as pressure sensors, GPS sensors, temperature sensors,
humidity sensors, and height sensors. In this research, can
take 13 images that have been captured [2].
Compare to other CanSat, this CanSat reference the rule
of CanSat Competition. It has a container, payload, and auto-
gyro. Auto-gyro makes CanSat down slower. It is better than
the other CanSat that only use a parachute for descent control.
While working on CanSat, the first thing to do is study
literature This study literature looks for a selection of sensors
and materials that are best suited to satisfy the requirements
of the 2019 CanSat competition, it takes two months to
complete. After searching for sensor references and CanSat
materials, the second thing to do is to create and test CanSat.
It took four months to create hole of CanSat, and the testing
was performed in Texas, Tarleton University. After CanSat
is launched, an analysis of the data collected after CanSat is
launched is required. After all, the last thing to do is make
conclusions to describe that CanSat has been produced.
The result of the test shows that CanSat payload can
transmit telemetry data. The telemetry data is shown on the
Graphical User Interface (GUI) and can be used to analyze
the atmosphere condition for education or research. CanSat
launched good, but when it released from the container the
blade was a hook to parachute. It is because the airspeed on
the ground is very fast. It makes CanSat move under control.
It can prove by tilt sensor that reads the move of CanSat is so
fast. So it still needs any improvement for the blade.
A. Mechanical Subsystem Design
Major structural components of the CanSat includes the
Container and the Payload.

This CanSat is a development of existing research about a) Container

atmospheric balloons. Atmospheric balloons can be tried to The container was used to protect the science
analyze the performance of On-Board Data Handling payload from damage during the launch and deployed

‹,((( 243
from the rocket [1]. The container was made by mica
plastic and covered by pink color. In the container, two
slots are used to hold the servo arm to carry the payload.
At the top of the container, there is a parachute bay which
has many air inlet as a place for wind to rise the parachute
after the CanSat deployment from a rocket. At the
bottom of the container, there is a ring to help the
container cylinder sturdier. Fig. 1 show the design of the
container.

Fig. 3. Payload design (2)

TABLE I. STRUCTURE MATERIAL OF PAYLOAD

Material Used Part

Fig. 1. Design of container 3D printed PLA Power bay

injected with carbon
fiber filament Camera bay
b) Payload Design
Servo’s arm
The main mission of design payload is to provide a
safe landing and carrying all of the electrical component Servo’s gear
safely. In this regard the payload design is more
Servo’s arm rail
aerodynamic to make it more stable when exposed to
the wind. The Center of Gravity (CoG) of this system Acrylic Servo’s layer
are exactly located at the bottom of the payload, because
of the battery weight located at the bottom. Payload Aluminum Shaft
deployment use one servo with two arms that linearly Spacer
move and attached to the slot in the container. Fig. 2
when payload deploy the blades. Fig. 3 when payload
shut the blade. c) Parachute
The descent control for a container is using a
parachute, the placement of the parachute above the
container in the folded position, parachute automatically
opens immediately after the CanSat deployment phase.
TABLE II SPECIFICATIONS OF PARACHUTE

Diameter 21 cm
Spill Hole 4 cm
Material Ripstop Nylon
Color Orange

Analysis Formula
Fig. 2. Payload design (1)
The velocity for container and payload with parachute
using equation (1)
, (1)
‫ ݒ‬ൌ ට ଶ௫௠௫௚ ǡ
஼ವ ௫ఘ௫஺

244
 where v is a velocity, m is the mass, CD is coefficient
drag, A is the frontal area, the value of g is 9.81, and the
value of ȡ is 1.1673 ݇݃/݉3.
d) Release Mechanism
Parachute is folded properly above the container and
tied at the upmost side of the container. Then the CanSat
inserted to the rocket in an upside-down position. The
rocket will be launched to altitude 670-725 meters. After
getting altitude at 670-725 meters CanSat will launch
and the rocket will eject. Then CanSat is deployed from
the rocket, the parachute will open itself and will expand
with the help of wind. At 450 meters +/- 10 meters
altitude, Arduino commands the servo to spin then
spontaneously the servo’s arms will be pulled off and
released from the servo’s arm rail. Due to the
gravitational force, the loosen payload servo makes the
payload exit the container and the auto-gyro makes
payload fall safely to the ground. Fig. 4 is sketch how
CanSat deployment while demonstrate.
Fig. 4. CanSat deployed mechanism
B. Payload Subsystem Design
Fig. 5. Payload subsystem overview
245
The CanSat payload will measure the atmosphere
parameter at 670 - 725 meters altitude. Fig. 5 shows the
payload subsystem overview for Communication and Data
Handling (CDH). The CDH uses Arduino Nano v3 for the
payload processor that connected to 10-DOF-MEMS-IMU
and DS3231 RTC Module via I2C interface, Adafruit
Ultimate GPS Breakout, and XBEE-PRO S1 via UART
interface, RobotDyn Simple DC Voltage Sensor connected
via analog pin, FC-51 IR Sensor and Buzzer connect with
Arduino Nano v3 digital pin, SD Card Module connect via
SPI interface, and Servo connected via PWM pin. The
sensors data will be collected and transmitted through XBEE-
PRO S1 to the Ground Control Station (GCS). GCS shall
generate a Comma Separated Value (CSV) file of all sensor
data and displayed in real-time during descent [1].
1. Sensor Selection
භ 10-DOF-MEMS-IMU, where BMP280 and
ADXL345 sensors have been integrated. BMP280
measures both pressure and temperature. Temperature
data will be collected and processed with the help of
BMP280 Library [3]. The ADXL345 accelerometer
measures the static acceleration of gravity in tilt-sensing
applications, as well as dynamic acceleration resulting
from motion or shock [4].
භ Adafruit Ultimate GPS Breakout, to determine
CanSat position. GPS data will be collected and processed
with the help of the Adafruit GPS Library [5].
භ RobotDyn Simple DC Voltage sensor, to measure
voltage supply. The sensor uses the principle of a voltage
divider circuit and based on Ohm’s Law [6].
භ IR Sensor FC-51, to measures the spin rate of the
auto-gyro blades. The IR transmitter will emit IR energy,
after contacting the object the IR energy will be reflected
and captured by the receiver [7].
2. Payload Processor & Memory Selection
භ Arduino Nano v3 is capable to carry the mission of
the payload and easier to program. It has 8 analog and 22
digital I/O pins, 6 PWM output, 2 kB SRAM, and 1 kB
EEPROM memory [8].
භ OpenSmart mini TF Card Reader, like SD Card
module to support SanDisk 2GB microSD that used in
this payload [9].
3. Payload Real-Time Clock
DS3231 is the RTC module used for this payload. It
more accurate than Microcontroller Unit (MCU) clock
and has a built-in power-sense circuit to detect power
failures so the data will be protected when a reset occurs
[10]. Data will be saved in microcontroller EEPROM so
that in the event of processor reset, mission time will still
be known and telemetry can resume accurately.
4. Payload Antenna Selection
 W24-ASMA-M has low VSWR value for a better 5 SD Card 5 0.1 0.5
communication system, omnidirectional type, pretty Reader
good gain, and flexible angle of antenna’s direction (tilt
6 IR Sensor 5 0.043 0.251
& swivel design) [11]. The polarization of antenna
shown in Fig. 6. 7 Buzzer 5 0.025 0.125
5. Payload Radio Configuration 8 Xbee 3.3 0.12 0.396

XBEE-PRO S1, for communication between Payload 9 Servo 9g 5 0.25 1.25

and Ground Control Station (GCS). This module was
designed to accomplish the point-to-point
communication [12].
C. Electrical Subsystem Design
A. Condition of Mechanical Subsystem Design
In the power budget of CanSat, the current is 1.059A
and the power is 5.41W. To fulfill the current and the
power, CanSat has two 9V alkaline batteries through a
parallel connection. The payload has a two type output
voltage there are 3.3V and 5V. CanSat has two regulators
to fulfill the output voltage that the payload needed. The
regulators are AMS1117-3.3 and AMS1117-5.
D. Payload telemetry Design
B. Graph of Sensor
Upon powering up, the CanSat probe shall collect the
required telemetry at a 1 Hz sample rate. The telemetry data
shall be transmitted with ASCII comma separated fields. The
data format for telemetry can be written like <TEAM ID>,
<MISSION TIME>, <PACKET COUNT>, <ALTITUDE>,
<PRESSURE>, <TEMP>, <VOLTAGE>, <GPS TIME>,
<GPS LATITUDE>, <GPS LONGITUDE>, <GPS
ALTITUDE>, <GPS SATS>, <PITCH>, <ROLL>,
<BLADE SPIN RATE>, <SOFTWARE STATE>, <BONUS
DIRECTION>
TOTAL 1.059 5.41
II. TEST AND IMPLEMENTATION
In the structure of the container and the payload is
very strong, so that when falling the structure is not
broken. However, the blades broke because the Auto-
gyro blade was tangled to the container parachute cord.
But in the future experiment, it is recommended not to
use carbon fiber as a structural material because it is
conductive so that it can affect the process of sending
telemetry data. The carbon fiber will be act as a Faraday
Cage and can attenuate the signal [14] [15].
The data was obtained when CanSat was launched.
The data is displayed through the GUI includes pressure,
altitude, temperature and tilt sensors. The transmitted data
are displayed in Fig. 8 for pressure Fig. 9 for altitude, Fig.
10 for temperature, and Fig. 11 and Fig. 12 for tilt.
All sensors work well but due to the effect of shaking
when descent time, it affected the sensors (not properly
attached to the header). Another reason for not being able
to transmit the complete telemetry data is because the
antenna pointing from the GCS is not good. This is
because of limited visibility, it is necessary to bring
binoculars and sunglasses to overcome the limitations of
visibility, especially during the daytime.

Fig. 6. Payload antenna selection [11] [13]

TABLE III. POWER BUDGET

No. Device Voltage(V) Current(A) Power(W)

1 Arduino 9 0.2 1.8

Nano

2 10-DOF- 5 0.001 0.003

Fig. 7. CanSat condition after launch
Mems-
IMU

3 GPS 5 0.02 0.1

4 Real Time 3.3 0.3 0.99

Clock

246
 Fig. 8. Graph of pressure
Fig. 9. Graph of altitude
Fig. 10. Graph of temperature
Fig. 11. Graph of tilt on pitch
247
Fig. 12. Graph of tilt on roll
III. CONCLUSIONS
The structure and payload on this CanSat have been
proposed and launch. The structure is very light it’s about 506
gram and strong because when a crash with the ground it’s
only small damaging.
When CanSat launch, it can transmit telemetry data from
payload but only in 85 seconds because of the effect of
shaking affected the sensor’s position. The other reason is the
antenna pointing from the GCS is not good because of the
visibility limitations, so it is necessary to bring the binoculars
and sunglasses. From telemetry data, the GUI can know the
location of CanSat, pressure, altitude, temperature, battery
indicator, and tilt. This result confirms that our CanSat can
operate the mission. For structural materials, it is not
recommended to use carbon fiber because it is conductive so
that it can affect the process of transmitting telemetry data.
CanSat can reflect how the satellite's systems work
simply, so it is very suitable for satellite modeling in
education or research. For an example to analyze the
atmosphere conditions used the telemetry data measured by
sensors.
IV. ACKNOWLEDGEMENT
This work is a part of the Telkom University’s Nano-
Satellite Laboratory research activities and it is sponsored by
Telkomsat (Telkom Satellite).
V. REFERENCES
[1] The American Astronautical Society (AAS) , CanSat Competition
Guide, CanSat Competition, 2019.
[2] H. Wijanto, B. Syihabuddin, A. Dwi Prasetyo, Y. Gautama, I. Kharisna
and G. Mardiansyah, "A Peliminary Design and Testing of The On
Board Data Handling (OBDH) for Nano-Satellite Using an Atmospheric
Balloon", 1st International Conference on Wireless and Telematics
(ICWT), Manado, 2015.
[3] Bosch, "BMP280 Digital Pressure Sensor : Datasheet," Bosch
Sensortec, 2014.
[4] Analog Devices, "Datasheet : ADXL345," Analog Devices.Inc.
[5] Adafruit Industries, "Datasheet : Adafruit Ultimate GPS," Adafruit
Industries.
[6] RobotDyn, "Simple DC Voltage Sensor, VDC 25V," RobotDyn,
[Online]. Available: https://robotdyn.com/simple-dc-voltage-sensor-
vdc-25v.html. [Accessed 7 Februay 2019].
[7] QQ Online Trading, "IR Infrared 2 - 30cm Obstacle Detaction Sensor
Module FC-51," QQ Online Trading, [Online]. Available:
http://qqtrading.com.my/ir-infrared-obstacle-detaction-sensor-module-
fc-5. [Accessed 7 February 2019].
 [8] Arduino, "Arduino," Arduino, [Online]. Available:
https://store.arduino.cc/usa/arduino-nano. [Accessed 7 February 2019].
[9] dealextreme, "OPEN-SMART Micro SD / TF Card Reader Adapter
Module for Arduino," OPEN-SMART, [Online]. Available:
https://www.dx.com/p/spi-micro-sd-tf-card-adapter-v1-1-module-for-
arduino-blue-works-with-official-arduino-board-
2042743#.XXSnXCgzbIU. [Accessed 7 February 2019].
[10] Digi-Key Electronics, "DS3231 Datasheet," Digi-Key Electronics.
[11] Inventek Systems, "OEM 2.4 Ghz SMA Wi-Fi Antennas : Datasheet,"
Inventek Systems.
[12] Digi, "XBee/XBee-PRO S1802.15.4(Legacy) User Guide," Digi.
[13] S. Smiley, "RFID Antennas: Beamwidth & Directivity," RFID
INSIDER, 22 August 2016. [Online]. Available:
https://blog.atlasrfidstore.com/rfid-antennas-beamwidth-directivity.
[Accessed 7 February 2019].
[14] C. McFadden, "How Does a Faraday Cage Work," Interesting
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https://interestingengineering.com/how-does-a-faraday-cage-work.
[Accessed 8 September 2019].
[15] ResearchGate, "What is the best material to increase electromagnetic
compatibility of carbon fiber?," ResearchGate, 12 December 2014.
[Online]. Available:
https://www.researchgate.net/post/What_is_the_best_material_to_incre
ase_electromagnetic_compatibility_of_carbon_fiber. [Accessed 8
September 2019].

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