Telemetry Information Restoring in Satellite Communications

Kiril Alexiev † Ivan Tkachenko Maksim Ivanushkin

MMSIP Department of Space Engineering Department of Space Engineering
IICT - BAS Samara State Aerospace University Samara State Aerospace University
Sofia Bulgaria Samara Russia Samara Russia
alexiev@bas.bg innovatore@mail.ru ivanushkin.mks@gmail.com

Sergey Volgin
Department of Space Engineering
Samara State Aerospace University
Samara Russia
vss.space@gmail.com

ABSTRACT CCS CONCEPTS

The satellite communication plays an important role in the control
of outer space. It serves both the remote control of satellites or the
satellite system and the transmission of information from satellites
to Earth. The information transmitted includes both information
describing the internal state of the satellite systems and
information from the objects monitored by the satellites. The last
one plays important role in satellite control and it will be mainly
considered in this article. Usually, only a very small number of
satellites move in geostationary orbits (i.e. they are located above
the same point above the earth's surface. This means that most of
the satellites must adapt their antennas to the Earth's receiving
devices. The change in the position of the satellites in relation to
the Earth communication stations with the satellites is associated
with a significant change in the parameters of the channel and
results often in a loss of transmitted information.
This article proposes a method for lost data restoration. It is based
on the hypothesis for correlation between previously sent data
with the lost ones, valid for the transmitted information about
internal state of satellite subsystems. An efficient algorithm is
suggested for detection of the closest up to scale data segment in
successfully sent data with the data segment, surrounding lost
data. Algorithm demonstration and validation are presented over
data from AIST small satellites.For accuracy check of the
structured paper, user can run the option
†
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Permissions@acm.org.
CompSysTech '20, June 19–20, 2020, Ruse, Bulgaria
© 2020 Association for Computing Machinery.
ACM ISBN 978-1-4503-7768-3/20/06…$15.00
https://doi.org/10.1145/3407982.3408024
• Information systems
KEYWORDS
Signal restoration, Self-similarity signal decomposition
ACM Reference format:
Kiril Alexiev, Ivan Tkachenko, Maksim Ivanushkin, Sergey Volgin. 2020.
Telemetry Information Restoring in Satellite Communications. In
Proceedings of 20th International Conference on Computer Systems and
Technologies (CompSysTech’2020). ACM, New York, NY, USA, 6 pages.
https://doi.org/10.1145/3407982.3408024
1 Introduction
Every observed or measured physical process is characterized by
some regularities in it. In case of loss of a part of the signal, these
regularities could be used to recover irretrievably lost part of the
information. The present paper suggests an approach how to use
signal regularities for restoring damaged part of signal. The signal
recovery task is part of the more common task of processing a
damaged signal. The signal generated by the sensors is subject to
many disturbing factors and as a result it is altered or partially
lost. The restoration of such a damaged signal is only possible if
there is a priori information on the statistical characteristics of the
disturbing factors and the pattern of signal behavior (the observed
system). In these cases, various methods such as deconvolution,
interpolation/extrapolation, filtration, etc. can be successfully
applied. The most important signal characteristics are the signal
mean and variance [1], the signal periodicity [2,3], the probability
distribution of the signal samples [4], etc. Often these
characteristics have time-varying nature and complex signal
models have to be applied. In a number of cases, however, a priori
information about the noise or the observed system is absent in
whole or in part. In these cases, new intelligent and adaptive data
recovery methods are sought, with the required noise parameters

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CompSysTech’20, June, 2020, Ruse, Bulgaria
and/or system behavior evaluated dynamically in real time and the
initial signal restoration in the form of some optimization task.
The approach proposed in this paper is of type, described above.
The object under consideration is to recover a lost signal by
searching for the self-similarity of a part of the signal, around the
lost piece, with other parts of the signal. The issue of the impact
of different types of noise is not addressed (its effect is
negligible). Another piece of signal, as close as texture (behavior)
can be used to recover, regardless of the difference in amplitude
or time scale.
The second chapter discusses the main approaches to signal
recovery.
The following chapter discusses an approach for decomposing a
self-similar library signal.
Chapter four discusses several major cases of signal recovery.
Chapter 5 discusses the results obtained and then conclusions
follow about the applicability of the proposed algorithm.
2 Signal restoration
Standard noise protection algorithms are divided in two main
groups – using error correction algorithms and automatic repeat
request. The second one has found wide implementation in
TCP/IP protocol suite [5], but it requires retransmission of data
when the receiver detects an error and its implementation for
satellite communication is questionable due to limited energy and
time resources on the satellite.
The application of error correction algorithms makes the overall
system more complicated. Its successful implementation is related
to a prior statistical knowledge about the number of missed
individual bits or groups of bits and their percentage in the all
transmitted information. The chosen algorithm should correct the
specified number of errors/missed detections. The
efficiency/advantage of error correction algorithm is usually
estimated as a reduction of bit-error rate of coded sequence in
comparison with uncoded one. Starting with the simplest
repetition block code, going through the cyclic, BCH, Reed-
Solomon, convolutional, turbo and etc. codes all of them requires
not only additional computer/coder/decoder resources but also
leads to significant increase of the volume of transmitted
information [6].
The implementation of signal recovery methods for the case of
missed/omitted part of signal are also numerous and varied in
capabilities and implementation.
The interpolation methods [7] on the basis of the obtained
measurements generate a new larger set of points, preserving the
values of the signal at the already obtained points. Often, in the
field of signal processing, this method is called up-sampling.
Normally, in these methods the new values are in the intervals
between the measurements already obtained. Polynomials of
various degrees are most commonly used for interpolation. Linear
interpolation is the best one for singularity signals (pulse train
signals, rectangular, sawtooth, etc.). Cubic polynomial
interpolation is more suitable for smoother signals. Spline
interpolation also uses polynomials (usually of low degree) but
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K. Alexiev et al.
additionally provides the smoothness of the interpolation function
- the continuity of its derivatives to a certain extent. It is important
to note that only an appropriate selection of interpolating
functions and a suitable upsampling rate can improve the accuracy
of signal recovery process.
Another class of signal recovery methods are the extrapolation
ones [8]. These methods use available measurements to construct
a signal behavior model and new points are generated using this
model beyond the endpoints of received observations. The
extrapolation methods for signal recovery apply one side
information from the received data (the data received before loss
of information) and as consequence they have limited capabilities
in recovering lost data, especially in the case of a larger series of
lost bits.
Regression analysis is a mathematical tool in mathematical
statistics used to find the functional relationship between two or
more random variables [9]. The regression model is set
analytically with:
= , (1)
The described relationship is correlational, not functional, due to
the lack of a uniquely consistent relationship between x and y.
The most characteristic feature of a regression analysis is that it
looks for the closest match without trying to find the reasons for
it. The linear and nonlinear regression analysis can be applied in
order to reconstruct missing data.
The approximation analysis [10] is used to represent the signal
through a simplified functions, which in turn can be used to
recover missing measurements. The key in approximation analysis
is the choice of the functional signal behavior model and the
accuracy of the approximation. The functional model usually
implies some a priori knowledge of the behavior of the measured
quantity. To avoid this dependency, the signal is decomposed into
a linear combination of basis vectors.The most famous of these
are the use of Fourier series, Chebishev, wavelets, and etc. The
signal is represented as:
=∑
(2)
where , , … are the coefficients in decomposition and
= 1, , , ,…, , … for the case of
Fourier transform.When the series signal decomposition is
fulfilled, one can use (2) to calculate omitted measurements. The
problem of these methods is to find compact and interpretable
orthogonal signal representationsfor different sets of input signals.
For example the smooth analogue signal has good sin series
representation, but every singularity signal has to be presented by
infinite dimensional series (practically by very long time series).
Something more, the series signal presentation does not depend on
the place of singularity, i.e. the decomposition is not dependant
from local signal properties, which is very important in signal
restoration.
Recovering a part of the signal is often associated with learning
about its local properties. The time-frequency analysis is the main
approach applicable in this case. Time-frequency (TF) Fourier
Telemetry Information Restoring in Satellite Communications
analysis is widely used to analyse signals containing many
oscillatory components with slowly varying amplitudes and
instantaneous frequencies. Short Term Fourier Transform (STFT),
Continuous Wavelet Transformation (CWT), and Wigner-Ville
Distribution are the most typical examples of time-frequency
analysis [11-16]. Recently, a new method of time-frequency
analysis has emerged - the so-called Hilbert-Huang Empirical
Mode Decomposition (EMD) transformation [17]. EMD is an
original decomposition algorithm used in many applications [18-
19].
Another class of algorithms used to recover signals is based on the
Kalman filter (KF) and its modifications. This type of algorithms
presupposes a knowledge about the function of transition of the
investigated system from one state to another (system model), as
well as a knowledge of sensor noise statistics and the errors in the
system model. Originally, Kalman filter was designed to evaluate
linear systems only [20]. Later it was generalized for nonlinear
system (Extended Kalman filter - EKF). Further its modification
with Expectation Maximization (EM) supplementation was
proposed. Today many versions of the KF are available like
Generalized Pseudo-Bayesian (GPB) estimators of different
orders, Fixed Structure Interactive Multiple Models (IMM),
Variable Structure IMM, Probabilistic Data Association IMM,
and so on [21–25]. All of them are estimating the nonlinear
system parameters. Although there is rich variety of methods and
algorithms, they are mainly based on linear approximation.A
significant limitation in this class of methods is that they are based
on the assumption that the observed system is Markovian, i.e. the
state and at the last moment completely determines the behavior at
the next moment. However, in many applications this condition is
not fulfilled and the missing signal can be incorrectly restored.
The methods described above demonstrate the huge variety of
available signal recovery methods - from the simplest ones, which
imply signal interpolation in missing measurement regions to
those using behavioral models.
The approach proposed in the article is closer to those using
behavioral models. Signal recovery is based on the hypothesis that
in the behavior of the observed/measured satellite
subsystemparameters characterises with repeatability due to the
cyclical rotation of satellites around the Earth, the periodic
rotation of photovoltaic panels to the sun, the periodic flight over
the one and same point on the Earth, etc. The repeatability is
observed up to an accuracy of magnitude, both in amplitude and
time. In order to use the repeatability of measured signals the
received signal is decomposed into a library of major components.
The signal decomposition does not use preliminary determined
shapes like well-known sinusoids, wavelets, etc. The signal
segmentation depends entirely on the behaviour of the observed
signal. This means that signal decomposition is specific for each
processed signal. The library of segmented components are used
to recover lost signal sections.
The basic idea is to recover the missing part of the signal by using
a library component(s) such that the structure of the signal around
the lost piece of information is as close as possible (up to scale) to
another fragment of the signal. This idea is not new one. It has
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been already applied in applications for restoring the texture of
images (with 2D signals).
In this article, the focus is on restoring one-dimensional signals by
properly decomposing the signal.
3 Self-similar decomposition (SSD) of signals
The SSD [26] is an attempt to combine signal representation in
the time domain with a representation in the frequency domain. A
short description of the most important consideration will be
given here.
The algorithm SSD is based on the hypothesis that the most
important points in the observed signal from information point of
view are its extrema. A signal may encode the information in
many different ways by signal modulation. But nevertheless the
way of modulation, the information is encoded into the changes of
the signal. The changes of a signal can be determined only by
comparing the values of several signal points. For any two
neighbouring signal points (the smallest set to compare) there are
only three possible states –signal preservation, signal growing or
signal decreasing. The set of three neighbouring points
possessesricher possibilities – it has means to detect the transition
of the signal from one state to another. The signal state change
points are considered as the most important signal information
carriers and they play key role in the SSD algorithm. These points
are signal extrema used as border points for signal segmentation.
The algorithm realization uses a library from basic signal shapes
for signal representation. It is expected that they are repetitive
ones within the observed signal. This idea is not new. There are
two different approaches for signal description using the
properties of shapes. The first one uses a set of a priori defined
signal shapes or dictionaries [27-31]. Each fragment is compared
with this set and classified according to its similarity to the
corresponding pattern. The second approach comes from fractal
analysis where a signal is described using its self-similarity.
Usually the fractal analysis is applied in order to estimate the
degree of repetition of a given shape at different scales. The
application in the context of the second approach is limited due to
the small number of fractal signals in practice. The SSD approach
may be regarded as an extension of the second approach. The
main steps of SSD algorithm are given on fig. 1:
Input Denoising Find Segmen- Library
signal Extrema tation
Figure 1. The architecture of SSD algorithm
The received signal (first step)almost always is contaminated with
noise. Correct signal detection requires filtering/smoothing the
signal (step two) in order to reduce the influence of the high
frequency noise. Simultaneously the signal is smoothed to
compensate round-off error of ADC. The third step of the
algorithm localize the signal extrema. The segmentation process
CompSysTech’20, June, 2020, Ruse, Bulgaria
(fourth step) consists of breaking down input signal into non-
overlapping parts called segments, followed by their aggregation
(fifth step). Segment aggregation is performed by fusion of
doubles, triples, quadruples, ..., n-tuples of similar segments.
The signal contains also two edge parts: the part of the signal
before its first extremum and the part of signal after its last
extremum. All segments characterize by their monotonicity
(before aggregation), position and scale. This information allows
to reconstruct the signal from the library of the fetched specific
signal segments.
The most important procedure of SSD algorithm is the search for
similarity. It is calculated by Pearson correlation coefficient:
! ∑&
& &
$'# "#$ "%$ (∑$'# "#$ )(∑$'# "%$ )
=
(3)
% %
*+! ∑& %
$'# "# $'# "#$ ) ,+! ∑$'# "%$ (∑$'# "%$ ) ,
(∑& & % &
$
This similarity estimate is preferred to be used for normally
distributed fluctuation of signal points, which is in conformity
with character of additive measurement noise.
A demonstrative example of implementation of SSD algorithm on
a sinusoidal signal with linearly increasing amplitude is given on
Fig. 2 [26]. The input signal is displayed on Fig. 2a, where the
aggregated segments are depicted with different colours. SSD
algorithm determines 3 primitive shapes depicted on Fig. 2b for
signal description.
a. Segmentation b. Three primitive shapes
describe the signal
Figure 2. SSD algorithm for sinusoidal function with linearly
increasing amplitude
4 Implementation of SSD for signal restoration
The previous chapter gives the idea how to decompose a signal
using self-similarity. The result from implementation of SSD over
a signal is a library of segments and/or doubles, triples,
quadruples, ..., n-tuples of similar segments. Usually each library
is unique and corresponds only to the decomposed signal.SSD of
the signal guarantees, that an observed signal may be restored by
using only the elements of library. Let us suppose that a part of
signal is damaged/lost. The influence of the damaged part of
signal on SSD result depends on how large is the lost part of the
signal and how many extrema were missed. Let's look in detail at
the particular cases:
Case 1: A part of segment is lost. The signal extrema are not
damaged. When insignificant part of segment is lost the task for
signal restoration is trivial one. The rest of damaged segment is
compared for closeness with the segments in the library using
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K. Alexiev et al.
Pearson's criterion. In order to be applied correctly correlation test
signal measurements in the damaged segment -. as
the library segments have to be resampled. Let us denote the
-.# , … , -./ , -./010# , … , -.& . The damage segment contained
initially N measurements, but m from them were lost in
transmission – the measurements from k+1 to k+m. Let denote the
measurements from i-th segment s3 from the library by
s3# , s3% , … , s34 . The number of received measurements is L. The
resampling procedure creates N points s3# , s3% , … , s3& . Then m
from them are removed (from k+1 to k+m) and the remaining
points are renumerated from 1 to N-m. The modified expression
for the Pearson correlation coefficient will be:
=
! 5 ∑&81 &81 &81
6'# "$6 "76 9∑6'# "$6 :9∑6'# "76 :
% %
;< ! 5 ∑&81
6'# "$ 9∑6'# "$6 : =< ! 5 ∑6'# "7
% &81 &81 % 9∑&81
6'# "76 : =
6 6
(4)
If the Pearson correlation coefficient of the closest segment
surpass a certain threshold (for example 0.98) the damaged part
from -. may be replaced by the removed part from the closest
segment after its rescaling and shifting. Sometimes it may
happened that the damage segment is unique one and there are no
similar segments. The case could be resolved by using standard
interpolation techniques, knowing (and preserving) the
monotonicity of the damaged segment.
The algorithm described above is applicable when the number of
remaining measurements in the damaged segments N-m is
sufficient for similarity search. In other case the surrounding
segments have to be used.
A simple demonstration example is given on Fig. 3. The signal
from satellite “AIST” [33, 34] is received with some losses
(Fig.3a). Telemetry data, received from the “AIST” small satellite,
is an array of measurements of main parameters, defining the state
of the spacecraft. Telemetry data is transmitted to the ground
station as a series of frames. Structurally, these frames are series
of bites of predefined length with a header in the beginning and a
control sum at the end. Telemetry data is the main source of
information about the events, occurring onboard of an operating
spacecraft. Through the process of telemetry analysis, the
emergency markers are identified, the satellite’s operation is being
monitored, the platform’s performance is evaluated and failures
and malfunctions of the onboard equipment are detected. The
algorithm detect and restore the lost information (Fig.3b).
a. Segmentation of a signal with b. Restoration of signal
losses
Figure 3. Restoration of a signal with losses in a segment
Telemetry Information Restoring in Satellite Communications
Case 2: The lost part of signal contains one or more extrema. This
case is more complicated due to the loss of the most important
measurements. For k lost extrema at least k+1 segments (k+1 -
tuples of similar segments) have to be used for signal restoration.
The algorithm of restoration of these segments is analogous to the
one in the previous case. The choice of the number of segments to
be considered is extremely delicate. This is due to the bigger
amount of the lost measurements and the problems related to the
sufficiency of surrounding segments for similarity check. The
minimal number of k+1 segments is often too scanty to restore
correctly the signal. The choice of bigger number of segments
leads to difficulties to find corresponding similar n-tuples in the
library. This strategy is successful only for highly repetitive
signals.
When the packet of lost information contains one or more
extremal point (Fig.4a) surrounding segments are included and the
signal is restored by using the closest preserved signal texture
(Fig.4b).
It is important to note, that the signal restoration is fulfilled using
similarity up to scale in amplitude or in time.
a. Segmentation of a signal with b. Restoration of signal
losses
Figure 4. Restoration of a signal with losses in two segments
5 Discussion
Each algorithm has its own strengths and weaknesses for a given
data. The analysis, given here, outlines the positive and negative
sides of the new algorithm. It can serve as recommendation or
warning where and how to implement the algorithm and to
prognosticate the results of its work.
The proposed new algorithm for recovering lost or damaged
information is applicable and effective for a particular type of
signals. The best results are obtained with periodic and repetitive
signals, which lack of large variety of variations. White noise-like
signals imply poor repeatability, this leads to rich library of
segments, and the successful application of the algorithm is
problematic. The efficiency and especially the correctness of the
functioning of the proposed algorithm also greatly decrease with
the increase of the amount of lost information, although not so
poor results were obtained for the same class of signals with rich
repeating texture. The best feature of the algorithm is its ability to
recover extrema. In these cases, the interpolation algorithms are
totally wrong and model-based ones often create their own peaks.
Another major advantage of the proposed algorithm is that it is
not necessary to increase the amount of the transmitted
information. Also, the algorithm is applicable for studying
telemetric information data, identifying data instances that may
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require specific attention, be it an outlier or a sudden change in
the operating parameters of the spacecraft onboard equipment.
6 Conclusion
The state of the spacecraft monitoring is carried out using
information regularly sent from the satellite to ground stations
about the operation of various systems and sensors on board.
Often this information is corrupted due to complicated
communication links and has to be restored. The paper proposes
an approach for signal restoration based on the repeatability of
satellites signals as a result of cyclical functioning of almost all
satellite systems and sensors. The algorithm uses self-similar
decomposition of received signal. Two cases of algorithm
realization are considered – without extrema loss and with
extrema loss. The examples demonstrate signal restoration for the
both cases. A discussion is given for algorithm applicability and
its pros and cons.
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