Sputnik 1

Satellite Technologies

The surprise launch of Russia's Sputnik, the worlds first

artificial satellite, in 1957 prompted an explosion of interest
in the possibilities of satellite technology. Apart from the
military implications of its possible development as a
weapons platform it also alerted engineers to the potential of
using the technology for peaceful applications including the
possibility that Arthur C. Clarke's dream of world-wide
communications based on Geostationary Satellites might at Public Domain
last be realised. But first some technical issues had to be
resolved.

Sputnik 1 was a 23 in (58 cm) diameter polished metal sphere, weighing 184.3 lbs (83.6 kg) at launch,
containing a one Watt radio transmitter, powered by two Silver-Zinc batteries, transmitting on 20 and 40
MHz through four external radio antennas. It did not have a receiver. A third battery powered the
temperature regulation system.
Travelling at 18,000 mph (29,000 kph or 8,100 m/s), it circled the Earth once every 96.2 minutes emitting
beeping radio signals from its near omnidirectional antennas at as it went.
It served no useful purpose, but was a spectacular demonstration of the Soviet capability in space.

See Sputnik History

The Challenges (Old and New)

A satellite communications link provides "line of sight" transmission of signals between a transmitter and a
remote receiver or receivers on the ground via a transponder mounted in a satellite orbiting high above the
Earth such that it can be seen by both the transmitter and the receiver. Creating such a link required
mastering a series of technologies which were new and radical at the time. Space was an unknown frontier.
Satellites had to be placed into a precisely controlled orbits. Once in place there was no possibility of
maintenance. Rocket power, guidance and control were still in their infancy when this new communications
revolution was launched. Some of the relevant technologies are outlined and explained here.

See the Communications Satellites page for descriptions of how Telstar, Syncom, Intelsat, Molniya and
ATS satellites rose to this challenge.

Orbits and Communications

A Geostationary Earth Orbit (GEO) is an

orbit in which the position in sky of the
orbiting object remains the same so that it
appears motionless to a stationary observer
on Earth. To achieve this, the orbit needs to
be circular and stationed directly over the
equator, with an orbital period equal to the
Earth's rotational period of one sidereal day
and following the direction as the earth's
rotation at an altitude of 22,236.47 miles
(35,786.13 kms) above the Earth.
The velocity of a satellite orbiting at this
altitude is 6,877.82 mph (11,068.78.kph) and
this velocity must be precisely maintained
for the satellite to appear geostationary. (A
sidereal day is the time scale based on the
Earth's rate of rotation measured relative to
the fixed stars and is equal to 23 hours, 56
minutes and 4.0916 seconds).

A Geosynchronous Orbit is also an

orbit with the same period as Earth's
rotation, in other words it is
synchronous with Earth's rotation, but
the plane of the orbit can have any
inclination between 0 and 90 degrees
with respect to the equatorial plane
and the orbit may be elliptical rather
than circular. To an observer on the
ground the orbiting object appears to
move North and South in the sky in
an elongated 'figure of eight' centred
on a fixed longitude, following the
same trajectory every day and
passing any particular point at exactly
the same time every day. A steerable
antenna may be required to maintain The Moon, at an altitude of 240,000 miles (386,000 kms)
takes a month to orbit the Earth
acceptable communications at the
limits of these apparent oscillations.

For satellite communications the advantage of the geostationary orbit is that the satellite can be
accessed by means of a fixed antenna and it does not need a large steerable antenna on the ground to
track the satellite for optimum signal reception. In addition, because of the very high altitude of their
orbits, geostationary satellites may have a very wide signal footprint covering up to 42% of the
Earth's surface, with the potential to provide "line of sight" communications across oceans and
between continents. In practical systems, reliable communications are not possible at the limits of
this footprint but a single geostationary satellite can however provide continuous service, which can
be accessed by fixed antennas, to subscribers in up to 34% of the Earth's surface. Thus they are ideal

for providing low cost television broadcasting services as well as for monitoring the environment and
the weather.
Disadvantages compared with Low Earth Orbit (LEO) satellites are that orbiting at a higher altitude,
they need more powerful launch vehicles to put them in place and the communications system needs
higher power transmitters and more sensitive receivers because of the increased path loss.
Geostationary satellites also have poor signal coverage in the polar regions. See Look Angles which
explains why.
For simplicity, the satellite should be launched into a geostationary orbit directly from a launch site
on the equator but this is not always possible. In such cases when the satellite is launched from sites
in higher latitudes, assuming it is launched at synchronous speed, it will enter a geosynchronous and
possibly elliptical orbit because of the inclination of the plane of the orbit. Further orbital
manoeuvres will be required to move the satellite into a geostationary orbit.
Since there must be a reasonable space between satellites to avoid collisions but more importantly to
avoid harmful radio-frequency interference during operations there can only be a limited number of
orbital "slots" available for GEO satellites and there are hundreds of commercial and government
satellites vying for allocation of these slots and the frequency allocations that go with them.

Low Earth Orbit (LEO) satellites can be launched directly into the desired orbits and don't need the
complex orbital manoeuvres required by GEO satellites to place them in position. They also require
less energy to place them into orbit and they can use less powerful amplifiers for successful
transmission of communications. However the potential atmospheric drag, limits the lowest practical
orbital altitude to about 180 miles (300 km)
Because of their lower orbits, LEO satellites are able to distinguish details of the Earth's surface
much more clearly as they are not so far away so they are ideal Earth observation, remote sensing
and surveillance. For the same reason, the two way signal transmission delay is much lower than the
transmission delay in GEO systems at only 4 to 8 milliseconds per hop depending on the position of
the satellite.
LEO satellites however must travel at a much higher angular speeds to remain in orbit since they
need a greater centrifugal force to balance the higher gravitational force experienced at the lower
altitude. Thus they are non-geosynchronous and will orbit the earth several times per day.
Communications will therefore be intermittent since the satellites will only be visible to observers on
the ground for short period each time they pass overhead. Tracking such fast moving satellites also
requires highly manoeuvrable light weight antennas, and many of them, to provide wide area radio
coverage.
Another problem with communications satellites in orbits lower than geosynchronous is that a
greater number of satellites are required to sustain uninterrupted transmissions. Whereas a single
GEO satellite can cover 34 percent of Earth's surface, individual LEO and MEO satellites cover only
between 2 and 20 percent. This means that a fleet of satellites, known as a "constellation", is
required to provide a global communications network with continuous coverage.
Because of their relative simplicity and lower cost, LEO satellites are still used for many
communications applications. Satellite telephone systems such as Iridium use LEO satellites
because their lower orbits permit the use of relatively low power, low sensitivity telephone handsets.
The International Space Station (ISS) and the Hubble telescope are both in LEO orbits, the ISS at
260 miles (420 kms) and Hubble at 347 miles (559 kms).

Medium Earth Orbits (MEO) range in altitude from 1,200 miles (2,000 kms) up to the
geosynchronous orbit at 22,236 miles (35,786 kms) which includes part of the lower and all of the
upper Van Allen radiation belts. Practical orbits therefore avoid these regions.
As with all satellites in non-geosynchronous orbits, MEO satellites are only visible intermittently by
observers on the ground. The higher the orbit, the greater the footprint.
Typical MEO applications are
navigation, communications, and
geodetic / space environment science.

Molniya Orbit

The most common altitude is just

above the upper Van Allen belt at
around 12,552 miles (20,200
kilometres), which yields an orbital
period of 12 hours, and is used for
many national navigation systems
such as the U.S. the Global
Positioning System (GPS).
Mobile voice communications tend
to occupy orbits below the upper Van
Allen belt at altitudes below 8000
miles (13,000 kms)

Highly Elliptical Orbits (HEO)

HEO orbits, first proposed by British
engineer Bill Hilton, allow the
satellite footprint to be concentrated
on specific regions of the Earth. The
orbit of the Russian Molniya
satellites for example which provide
telephony and TV services over
Russia is designed so that each
satellite spends the great majority of
its time over the far northern
latitudes. With a period of 12 hours
the satellite is available for operation
over the targeted region for eight
hours every second revolution. In this
way a constellation of three Molniya
satellites, plus one spare, can provide
uninterrupted coverage.

The Molniya Orbit

Molniya Satellite Ground Track

Public Domain

Signal levels received from

geostationary satellites diminish the further the distance the ground stations are from the equator so

that communications to high latitude regions by geostationary satellites may be difficult or

impossible. (See Look Angles for an explanation)
To provide acceptable signal coverage in high latitudes such as Canada and Russia whose land
masses are mostly between latitudes of 50 and 70 degrees North requires very high satellite
transmitter powers or alternative satellite orbits which place the satellite directly over the country.
The Highly Elliptical Orbit (HEO) specified for Russia's Molniya satellite, now called the Molniya
Orbit, was designed to provide this second solution.

The Molniya orbit was inclined at 63.4 degrees to the equator and semi-synchronous making a
complete revolution of the Earth every 12 hours synchronised with the Earth's rotation. Its perigee in
the southern hemisphere was around 310miles (500 kms) and its apogee in the northern hemisphere
was around 24,850 miles (40,000 kms).
In practice this means that the satellite makes two orbits per day during each of which it moves North
and South speeding very quickly through its perigee over the oceans of the southern hemisphere, but
slowly hovering around its apogee over the northern hemisphere obeying Kepler's Second Law
(Law of Equal Areas) for its highly elliptical orbit. During this time however the Earth is rotating,
so the satellite as seen from the Earth appears to be moving eastwards. On the first 12 hour orbit the
satellite hovers for about eight hours over Canada and the USA and during the following orbit it
hovers for eight hours over Russia. See the Molniya Ground Track diagram opposite.
Some would say that this allows the satellite to spy on the USA during the day and to download the
information gathered to Russia during the night, but there's nothing to stop Americans doing
something similar.

Molniya's main purpose however was to provide television and telephony services across Russia and
into the Arctic polar region. Its high apogee enables it to provide wide coverage with a single antenna
but a disadvantage of the Molniya orbit is that it is not geostationary so steerable antennas were
required to send and receive the signals however this is mitigated somewhat by Molniya's slow speed
through the apogee which puts less demand on the ground station antenna positioning systems.
Twenty four hour continuous national coverage could be provided to a network of ground stations by
three satellites each spending eight hours over the country. This was at least better than the option of
using a larger constellation of LEO satellites which needed fast acting steerable antennas to follow
them.
Molniya orbits also had the advantage of requiring less rocket power to launch the satellite into the
HEO orbit than to get it into a geostationary orbit.

See more about the Molniya Satellite.

Polar Orbits
Satellites in these orbits fly over the Earth from pole to pole in an orbit perpendicular to the
equatorial plane. This orbit is most commonly used in surface mapping and observation satellites
since it allows the orbiting satellite to take advantage of the earth's rotation below to observe the

entire surface of the Earth as it passes below. Many of the pictures of the Earth's surface in
applications such as Google Earth come from satellites in polar orbits.

Orbital Mathematics
When a moving satellite, natural or artificial, enters the gravitational field of a very large object such
as a planet or star, its momentum will keep it moving and in the vacuum of space there will be no
drag to slow it down so it will keep moving at the same velocity. Its direction will however change
due to the influence of the gravitational field causing its path to curve towards the large object. When
the centrifugal force acting on the satellite, due to the tangential velocity of its curved path, just
matches the gravitational pull of the large object the satellite will enter a stable orbit around the
larger object. If the velocity is too low, the satellite will fall into the large object. If it is too high, it
will fly off into space.

The Centrifugal force Fc acting on a body or satellite in angular motion is given by:

Fc = mv2/r = mr2
where:
m is the mass of the satellite
r is the distance between the centre of motion (the Earth) and the centre of the satellite
v is the tangential velocity of the satellite
is the angular velocity of the satellite

The Gravitational force Fg acting between two bodies, one of which is the Earth, is given by:

Fg = GMm/r2
where:
G is the universal gravitational constant
M is the mass of the Earth
m is the mass of the satellite
r is the distance between the centres of the masses

When a satellite is in a steady orbit aroung the Earth, the centrifugal force actiing on it just balances
the gravittational force acting on it. This occurs when:

mv2/r = GMm/r2

The equations describing the satellite's speed and orbital period are derived from this relationship.

Kepler's Laws

Kepler's First Law (Law of Orbits)

All planets move in elliptical orbits, with the
Sun at one focus.
See diagram opposite

Kepler's Second Law (Law of Areas)

The line between a planet and the Sun sweeps out equal areas in equal times as the planet travels around its
elliptical orbit.
See diagram opposite
Kepler's Third Law (Law of Periods) gives the orbital period T of a body orbiting an other in a
circular or elliptical orbit as:

T = 2 (r3 / GM)
Where r is the semi-major axis or radius of the orbit
When the mass of the orbiting body is negligible compared to the mass of the Earth, the orbital speed
Vo is given by:

Vo (GM / r)
Where r is the distance between the centre of the masses of the Earth and the satellite
In other words: The higher the altitude, the longer the orbital period and the slower the orbital speed.

See more about Kepler and the questionable scientific ethics he used to arrive at these laws.

Orbital Manoeuvres

Parking Orbit
It is not always possible to launch a space
vehicle directly into its desired orbit. The
launch site may be in an inconvenient
location with respect to the orbit or the
launch window may be very short, a few
minutes or even seconds. In such cases the
vehicle may be launched into a temporary
orbit called a parking orbit which provides
more options for realising the ultimate orbit.
Using a parking orbit can extend the
launch window by several hours by
increasing the possible range of
locations from which to initiate the
next propulsion stage. It also enables
the spacecraft to reach a higher
perigee by firing the second stage
after it has reached a higher point in the parking orbit which will raise its perigee in the new orbit.
For manned space missions the parking orbit provides an opportunity to check that all systems are
working satisfactorily before proceeding to the next critical stage.

Transfer Orbit
The transfer orbit is the orbit used to break out of the parking orbit and break into the
geosynchronous or geostationary orbit. The notion of using an elliptical orbit to transfer between two
circular orbits in the same plane but with different altitudes was originally conceived by German
scientist Walter Hohmann in 1925 and published in his book Die Erreichbarkeit der Himmelskrper
(The Accessibility of Celestial Bodies) and the manoeuvre was subsequently named for him.
The Hohmann transfer uses two rocket engine impulses, one to move the spacecraft onto the
transfer orbit and a second to move off it into a new orbit. The first impulse increases the speed and
energy of the spacecraft propelling it into a larger elliptical orbit with its apogee lying on the desired
new orbit. The second impulse takes place at the apogee and accelerates the spacecraft once more
this time widening the new orbit into a circular path. It does not involve any changes in the plane of
the orbit.
The inclination of the transfer orbit is the angle between the spacecraft's orbit plane and the Earth's
equatorial plane and is determined by the latitude of the launch site and the launch azimuth
(direction).To obtain a geostationary orbit the inclination and eccentricity must both be reduced to
zero.

In the case of launching a satellite such as the Syncom 2 into a geosynchronous orbit, the launch
vehicle first stage puts the spacecraft into the parking orbit aligned with its launch azimuth and
direction corresponding to the 33 degrees latitude of the launch site. The second stage puts it into the
transfer orbit with its apogee corresponding to the geosynchronous altitude after which the satellite
separates from the spacecraft. Then the satellite's on board "apogee kick motor" pushes the satellite
into the circular geosynchronous orbit still aligned with the plane satellite's launch and parking orbits
at 33 degrees inclination to the equator.

But a geostationary
satellite such as
Syncom 3, also
launched from a
latitude of 33 degrees,
needs to change its
orbital plane to align
it with the equator in
order to enter a
geostationary orbit.
This is accomplished
by controlling the
rocket's second stage
yaw which reduces
the angle of
inclination of the orbit
before separation
from the satellite and The satellite is eclipsed by the Earth once per day in the period around the
vernal and autumnal equinoxes when the Sun is above the equator.
by controlling the
satellite's attitude and
hence the direction of The rest the year the Sun is above or below the Earth's orbital plane and the
its apogee kick motor satellite receives uninterrupted sunlight.
after separation when
it executes its rocket
burns in order to tilt
its orbital plane
driving it into the
desired zero degrees
inclination from the
equator. See Syncom
3 injection example.

Orbits and Solar

Power
The Satellite Position - Just
like the Earth, satellites
During most of the year, the Sun is above or below the orbital plane of the
experience day and night,
except that, rotating typically Earth and the satellite so that the satellite receives uninterrupted sunlight.
at 240 r. p.m. the satellite's
day is very short lasting only The satellite is only eclipsed by the Earth during the period around the
0.25 seconds. Also just like equinoxes when the Sun is in the orbital plane of the Earth
the Earth, as the satellite
rotates, one side will always be illuminated by the Sun, except during periods of terrestrial eclipse when the
satellite passes through the Earth's shadow, while the opposite side is in darkness. For a geostationary
satellite, eclipses happen once every day but only during the period around the vernal and autumnal
equinoxes when the Sun appears to be directly over the equator.(See diagrams opposite)
Because the Earth's orbit is tilted at 23.5 degrees, as it moves in its year long trip around the Sun, the Sun
appears to move north during the summer months towards its position at the summer solstice when it is
above the Tropic of Cancer. As it moves north, its shadow moves south so that it no longer covers the
satellite which is in the equatorial plane of the Earth. Similarly when the Sun appears to move south to the
Tropic of Capricorn for the winter, its shadow moves north also leaving the satellite in sunshine. The

satellite itself being fixed in relation to the Earth, and so tilted with respect to the Sun, experiences
the same apparent north and south movement of the Sun about the satellite's equatorial plane, thus
changing the angle of incidence of the Sun's rays.
The result of all of these movements is that a satellite in geostationary orbit experiences 88 short
terrestrial eclipses per year, occurring around the vernal and autumnal equinoxes with a maximum
duration of 70 minutes diminishing to zero over a few days as the Sun progresses towards its summer
and winter solstices. The Sun is thus visible to the satellite for about 99% of the time.

The Incident Solar Energy - The Sun's radiant energy level, or irradiant, impinging every second
on a perpendicular plane outside the Earth's atmosphere amounts to about 1367 Watts per square
metre and is known as the solar constant. The conversion efficiency of early solar cells in producing
usable electrical power from this energy was only about 8%.
Maximum power will only be generated from the solar cells pointing directly towards the Sun
otherwise the output will be proportional to the cosine of the angle of incidence of the Sun's rays on
the cells.
For a cylindrical, spin-stabilised satellite with solar cells mounted around its circumference, and its
axis parallel to the Earth's axis, power will only be generated from the side of the cylinder facing the
Sun and the output will fall off towards the edges of the curved surface as the solar cells present a
different, diminishing angle towards the Sun reaching zero when the rays are tangential to the
satellite.
The power output will also vary with time during the year as the Earth moves around the Sun,
peaking during the equinoxes when the Sun is directly over the equator, (except for short daily
interruptions due to the terrestrial eclipses), and diminishing towards the solstices when the Sun's
angle of incidence is just over 66.5 degrees.
Satellites using three-axis stabilisation do not suffer from this problem because their flat solar arrays
can be steered to be always normal to the Sun's rays so that all of their solar cells are pointing
towards the Sun thus maximising the incident solar energy.
Batteries will be required to maintain the power during the eclipses.

See more about Solar Power.

On board power
The satellite has to carry enough fuel for manoeuvring it into its synchronous orbit and for station
keeping and attitude control once it is in place. It also needs to be able to capture enough solar
energy to power the on board electronics for the transponder and its telemetry and control once it is
operational.
The associated weight penalty puts a limit on the useful lifetime of the satellite unless the solar
panels are large enough to provide the total operational energy requirements of the satellite and its
control systems once it has been placed in the desired orbit. Similarly, the allowable weight and finite
lifetime of batteries which may be used to store energy also limit the satellite's lifetime.

 Satellite size and weight

The dimensions and weight are limited by what the launching rocket can accommodate. This in turn
places severe restrictions on the performance capability of the satellite. The available on board power
is limited, as is the power output of the transmitter. The sizes of the antennas are limited so that
signal strengths transmitted and received by the satellite are both very low. See typical example in
the Link Budget below.
Early satellites were tiny, considering the amount of technology the were able to cram on board.

Launching the satellite into orbit

The first major challenge was to design a space vehicle powerful enough and accurate enough to
launch a heavy payload into a geostationary orbit as envisaged by Clarke. Military rocket
programmes initiated after World War II were beginning to deliver this capability. In the USA the
Delta rocket, originally deigned as a ballistic missile, was adapted for this purpose. Like any pure
ballistic missile however it did not have the capability to make the necessary changes in its orbit to
steer its payload from its launch trajectory into a geostationary orbit. Such manoeuvrability had to be
built into the satellite itself by providing it with an independent means of propulsion and directional
control. See example Syncom Orbital Injection. All this added to its weight and complexity.

Keeping it on station
Getting a satellite into a desired orbit is only half of the job. Keeping it there is the other half.
Objects orbiting the Earth are subject to forces such as solar radiation pressure, (often called solar
wind), the varying strength of the Earth's magnetic field and the varying gravitational forces due to
the satellite's changing position with respect to the Sun and the Moon and the fact that the Earth is
not a perfect sphere. These forces can cause a lateral or precession motion of the orbital plane of the
satellite causing it to drift from its desired position and orientation.
With the absence of any atmosphere in the vacuum of space, the slightest force applied to the satellite
will set it in motion and since there's no resistance to slow it down it just keeps tumbling and drifting
further and further away from its prescribed orbit and attitude.
Satellites therefore need to be equipped with some method of mechanical station keeping for
making corrections to the orbit and for attitude control to keep the antennas pointing towards the
Earth and the solar cells pointing towards the Sun, together with some form of energy supply to
make the necessary corrections when required. Just as the tiniest of forces can send the satellite off
track, it only needs equally tiny forces to bring it back. Gas jet thrusters are often employed for this
purpose and it is the capacity and consumption of the propellants they use which ultimately limit the
active life of the satellite.

Diagram source: Electropaedia: Satellite image source: NASA,

Attitude Control
Controlling a spacecraft's attitude
requires sensors to measure its
current orientation or attitude, a
control system which calculates the
deviation from its desired orientation
and determines the forces needed to
reduce the deviation to zero and
actuators to apply the necessary
forces to re-orient the vehicle to the
desired attitude. The actuators are
normally part of the stabilisation
system and may be gas thrusters or
momentum wheels.

Attitude Sensing by Radio

Frequency Interferometer

When two electromagnetic waves with the same frequency combine, the resulting pattern is determined by
the phase difference between the two waves. Waves that are in phase will undergo constructive interference
or reinforcement while waves that are out of phase will undergo destructive interference or cancelling. This
property can be used to determine the phase difference or the delay between two waves coming from the
same source.
The diagram opposite shows a single radio wave from a distant ground station impinging on two
antennas attached to a satellite on a plane which is inclined with respect to the direction of the wave.
The signal arriving at the left anntena will be delayed with the delay T depending on the angle
between the plane of the antennas and the plane of the wavefront. The comparator gives an output
depending on the phase difference between the signals from the two antennas. The magnitude of the
delay or phase difference between the signals can be determined by inserting a known (variable)
delay into the non-delayed signal to drive the error signal to zero, thus bringing the two signals from
the two antennas into phase. Since the distance between the antennas is known, the tilt angle between
the satellite body and the direction of the radio wave can be determined.
The signal delay depends on the frequency or wavelength of the radio wave. For a 6.0 GHz (C-Band)
telemetry signal, the wavelength will be around 50 millimetres enabling accurate determination of
the angle of inclination or attitude of the satellite. The greater the distance between the antenna pairs,
the greater the accuracy.
The error signal may be transmitted to ground control to manage the satellite's attitude or in could be
used in an on board control system which is programmed to keep the signals from the two antennas
in phase.

Radio frequency interferometry can unfortunately only be used with pairs of antennas whose
distance from the source may be different. Thus it can only be used to monitor two of the three
orthogonal axes of a geostationary satellite, namely pitch and roll, but not its yaw. This is because the
interferometry antennas must be attached to the surface of the satellite and directed towards the Earth
from whence the radio signal is transmitted. When the satellite rolls, the surface on which the
antennas are mounted appears from the Earth to tilt forward and back in elevation. When the satellite
pitches, the surface appears to tilt right and left in azimuth as the satellite increases or decreases its
altitude. But the satellite's yaw axis is pointed towards the centre of the Earth and when the satellite
executes a yaw, changing the inclination of its orbit or its latitude, the surface of the satellite facing
the Earth appears to rotate about its centre staying normal to the direction of the radio signal so that
there is no differential delay between the signals received by pairs of antennas on the surface. Other
methods such a star tracking (see next) must be used to determine the yaw.

Attitude Sensing by Means

of Star Tracking

The star tracker uses a camera, with a star

map projected on to its focal plane to track
the image of a reference navigation star such
as Polaris, the Pole Star. The navigation
target star should be at the centre of the star
map, and on the optical axis of the camera.
The camera is mounted on the
satellite in such a way that, when the
satellite's attitude is correctly
oriented, the optical axis of the
camera will be aligned with the target
navigation star and the optical image
of this star will be centred directly
over the reference image of the
navigation star on the star map. A
photo-multipier is used to increase
the intensity of the very weak light
received from the stars.
If the orientation of the satellite
changes, the image of the target star
will deviate from its central position
on the star map. (See diagram opposite). This angular error between the camera's optical axis and a
line to the target star is detected by electronically scanning the camera's field of view and generating
X and Y error signals proportional to the angular error. The error signals thus generated are used to
correct the orientation of the spacecraft so that the target star is centred once more on the star
tracker's optical axis.

In general, star trackers are the most accurate of attitude sensors, achieving accuracies to the arcsecond range. However star sensors are heavy, expensive, and require more power than most other
attitude sensors. In addition, they require on board computing power to scan the images and carry
out pattern recognition to identify the target star followed by calculations of the angular error and
implementation of the control actions needed to re-orient the satellite.
To avoid interference from the Sun, star tracker cameras are usually fitted with Sun shades and,
where possible, target stars are chosen so that the camera will be mounted on the side of the satellite
in the Sun's shadow.

Earth Sensing
A simple though less accurate method of determining a spacecraft's attitude is by sensing the direction of the
Earth's horizon. Infrared bolometer (radiometer) detectors, which measure the power of incident
electromagnetic radiation by measuring its heating effect on a temperature dependent electrical resistance,

can determine the position of the horizon by detecting the difference in the intensity of radiation
coming from the Earth just below the horizon and the radiation coming from space just above the
horizon.

 Stabilisation

o Spin-Stabilisation is a simple and effective method of keeping a satellite's attitude, that is the
orientation in space of its spin axis, pointed in a certain direction. A spacecraft spinning on its
axis resists perturbing forces in the same way that a spinning gyroscope or a top does so that
its attitude (but not its position) remains fixed in space. According to Hughes' engineers, spinstabilisation is "the method that nature prefers".
Another advantage of spin-stabilisation is that in space, once the satellite is spinning there are
no frictional forces to slow it down so that it will keep spinning indefinitely.
This is basically an open loop system in which the satellite maintains its initial attitude
without further adjustment during its life and was the method used by Telstar. The system
can however be adapted as part of an automatic (closed loop) attitude control system. Such a
system requires a sensor to determine the actual attitude of the satellite which is then
compared with a reference attitude, (the desired attitude), to generate an error signal which is
used in a feedback system to cause an actuator to move the satellite in such a way as to
reduce the error to zero. See example Syncom Attitude Control
There are however some inherent inefficiencies associated with this method of stabilisation
since only some of the solar cells can be illuminated by the Sun at any one instant as the
satellite rotates. At the same time the satellite needs omnidirectional antennas so that at least
some of the antenna's beam is always pointing towards the Earth as the satellite rotates. This
leaves most of the radio wave energy wastefully radiated into space. Overcoming this
problem requires complicated systems to de-spin the antennas allowing the use of higher
gain structures which can be kept in a fixed direction pointing towards the Earth.

Satellites and gyroscopes also

suffer from nutation or
coning, that is the tendency of
the spinning body to nod or
wobble around its spin axis.
Spin stabilised satellites
usually incorporate some
form of hydraulic or
mechanical damping to
reduce this effect.

Three axis stabilisation, also

called body stabilisation, does not
require the gyroscopic rotation of the
satellite body for stability. Instead it
keeps the satellite body in a fixed attitude, allowing the solar energy capture and radio transmission and
reception to be optimised independently.

There are two basic forms of gyroscopic three axis stabilisation :

Momentum wheels, similar to gyroscopes, which spin in one direction only.

Reaction wheels which can spin in both directions.

These wheels are mounted in three orthogonal directions corresponding to the yaw, roll and pitch of
the satellite body and provide a stabilised inertial platform.
Accelerating or decelerating any of the wheels by means of electric motors or gas jet thrusters
increases its angular momentum in that direction by an amount which is proportional to the applied
motor or jet torque and this in turn creates an equal and opposite torque on the satellite body causing
it to rotate in the opposite direction about the axis of the wheel. Slowing the wheel brings the satellite
body back again. Thus angular momentum can be traded back and forth between the spacecraft and
the wheels.
Thrusters are still required for lateral movement.

See benefits made possible by Three Axis Stabilisation

Reaction Control Thrusters are an alternative method providing three axis stabilisation. Attitude
correction can be implemented by three small gas thrusters, mounted on three orthogonal axes of the
satellite, which nudge the satellite back into position. It may be simpler but less precise than the
reaction wheel stabilisation methods and possibly unsuitable for some optical applications or
experiments may be affected by the ejected gas particles.

With this method of stabilisation the shape of the satellite body and appendages is no longer
important. Sub-systems can be accommodated in any conveniently shaped box. Several antennas and
solar cell arrays can be deployed and pointed in the different directions, optimised for the
application.

o Gravity Gradient Stabilisation was explored by the U.S. Department of Defence in a 1967
DODGE (Department of Defence Gravity Experiment)
In 1967 the U.S. DOD carried out a successful experiment to test the feasibility of GravityGradient Stabilisation, also known as Tidal Stabilisation for spacecraft or satellite station
keeping. Like three axis stabilisation it does not require the gyroscopic rotation of the satellite
body for stability. It is however a passive system which uses the Earth's gravitational pull to
keep the satellite in a stable attitude.
Active stabilisation by means of gyroscopic action, thrusters or reaction and momentum
wheels requires the use of propellants or electricaal energy to keep the satellite on station and
the finite capacity of the satellite to carry these propellants sets a limit to its active life.
Gravity gradient stabilisation however does not need propellants. It relies instead on the
satellite's mass distribution within the Earth's gravitational field and the balance between the
gravitational and centrifugal forces acting on it to keep the satellite aligned in the desired
orientation. See the following diagram.

Gravity Gradient Stabilisation

Gravitational force Fg = GMm/r2

G is the universal gravitational constant
M is the mass of the Earth
m is the mass of the satellite
r is the distance between the centres of the
masses

Centrifugal force Fc = mv2/r = mr2

m is the mass of the satellite
r is the distance between the centre of the Earth
and the centre of the satellite
v is the tangential velocity of the satellite
is the angular velocity of the satellite

A body with an unbalanced mass in free space will tend to line up under the influence of
gravity with its heaviest part closer to the ground so that its axis of minimum moment of
inertia, or its longest dimension, is aligned vertically, that is radially from the centre of the
Earth.. But because the gravitational pull of the Earth decreases according the inverse-square
law, at very high altitudes and the small size of the orbiting body, the difference in the
gravitational force across the body are minute making such a system ineffective. If however
the effective size of the body is increased by separating off a small part of it and connecting it
by a long tether to the larger mass of the main part, the effective size of the body is increased
and the differential gravitational force across it will likewise be increased creating an
appreciable gravity gradient across the body sufficient to keep it aligned in a fixed direction.
The tether is kept tight because both parts of the body are orbiting at the same angular speed,
but the smaller part is orbiting at a higher radius therefore experiences a greater centrifugal
force. In practice the smaller part can be designed to accommodate part of the spacecrafts
functionality. The example above shows this as telemetry but it could be any other convenient
function.
Using a variety of retractable booms the DOD experiment explored the possibility of
stabilising a satellite along different axes. The mission was a success and proved the
feasibility of achieving tri axial gravity-gradient stabilization at synchronous altitudes using
passive and semi passive techniques.

Despite its feasibility and its fuel saving benefits, gravity gradient stabilisation has only
occasionally been adopted in practical systems.

Transponders
This is the payload which communications satellites are designed to carry.
Transponders are microwave repeaters located at intermediate points in a communications link which
are used to compensate for the signal attenuation along the route so as to extend the range of the link.
They receive the very weak signals from a sender at one end of the link, amplify them, and retransmit them at much higher power to the receiver at the other end of the link. The whole purpose of
a communications satellite system is to place a transponder in position, to keep it there and to keep it
powered up. Because of the very high launch costs, for satellite systems to be economically justified,
the transponder should be able to carry high traffic volumes including television channels as well as
dozens of multiplexed voice communications and other data links. It should also be small and light.
When the first projects were conceived there were no solid state devices available which could
provide the high power broadband amplification at the high frequency needed for the repeater and
early transponders used pencil slim vacuum tubes (Travelling Wave Tubes (TWT)) to provide the
necessary amplification.
Besides amplification repeaters also perform a frequency shift. Because of the proximity of a
satellite's high power transmitter to its very sensitive receiver, and in many cases the use of the same
antenna for receiving and transmitting the signals, the high power signals from the transmitter can
swamp the very weak received signals causing problems in the receiver. To minimize this problem
the transponder contains a converter which changes the frequency of the received uplink signals to
a different frequency, widely separated from the uplink frequency, for onward transmission by the
downlink. It also incorporates a diplexer which connects both the transmitter and the receiver to the
same antenna input/output port by means of filters which block the transmitter signals and other
forms of interference from leaking into the receiver. Other than frequency conversion (heterodyning)
and amplification there was no other on board signal processing on the early satellites. Simple
transponders of this type were called bent pipe transponders.
Because higher power amplifiers and lower noise amplifiers are more available on the ground
station, the uplink is always the higher frequency since it has the higher Path Loss. See Link Budget

Multiple Access
Modern transponders can carry many different types of communications traffic. They can also
receive signals from multiple ground stations, combining (multiplexing) or splitting (demultiplexing) them for onwards transmission to other multiple ground stations. This method, by
which many users share a common satellite resource, is called Multiple Access. There are several
schemes for accomplishing this, each with its benefits and drawbacks.
o TDMA - Time Division Multiple Access allocates a time slot to the user in a repetitive time
frame. The signal is digitised and the data bits are stored in a buffer in a compressed time
frame until their allocated time slot comes around when they are transmitted during their
allocated time. At the receiver end of the link the bits are rearranged, spreading them out to
reassemble the original digital signal and converted back to analogue form. The signal

occupies the entire transponder bandwidth, but only during its allocated time slot. The rest of
the time the bandwidth is available to other users. Digital signals typically have better noise
immunity than analogue signals.
o FDMA - Frequency Division Multiple Access shares the bandwidth between the users, with
each user allocated a unique, narrower section of the available bandwidth. It works with
analogue signals and all users have uninterrupted use of their own narrow frequency band or
channel with all users occupying the available bandwidth simultaneously, each within their
own narrow channel. The sender's signal, called the baseband signal, is frequency shifted into
the allocated frequency band for transmission and the receiver restores it back to the
baseband.
o CDMA - Code Division Multiple Access, also known a Spread Spectrum, modulates the
user's signal with a pseudorandom code so that it occupies the full available spectrum,
appearing as noise. The receiver uses the same pseudorandom code in an autocorrelator
device which only recognises a signal modulated with the same auto code and thus separates
it from the noise. CDMA is more complex but has better noise immunity and provides greater
security than the other two systems.

Telemetry and Command

o Telemetry systems monitor the status of the satellite's systems including the functioning of
electronic and propulsion sub-systems and its energy management as well as its attitude and
position in space and provide the capability to transmit this information to a control centre on
the ground.
o Command systems use the telemetry inputs in control systems to compare the satellite's
actual status with its desired status and to transmit control signals back to the satellite to
operate on board actuators such as switches, solenoids, motors or propulsion jets to keep the
satellite operating within its design parameters. The control functions include manoeuvring,
antenna deployment, station keeping, attitude control, energy management and
communications channel switching.
o Spacecraft usually incorporate a Beacon which sends out a signal which enables it to be
tracked by a ground station.
They normally use separate, dedicated radio channels and antennas for these functions.

Latency or Propagation Delay

Latency usually refers to the time it takes a bit or packet of information to dribble through a local
network or signal processing equipment from its input point to its output point. It is often of the order
of microseconds or somewhat longer for long distance cable connections. For a satellite network
however, the signal paths, or hops, include both the long uplinks and downlinks between the ground
and the satellite. Control signals pass up the uplink and telemetry signals return to the signal
originator down the downlink. Communications signals pass through the satellite and onwards to the
remote receiver. Despite the fact that electromagnetic wave carrying the signal travels at the speed of
light, the distance across the network is so large that the delays are of the order of milliseconds and
thus much longer than the delays normally associated with the signal processing equipment.

Microwave or radio signals are carried by electromagnetic waves and he transmission time delay t
between sending and receiving a signal is given by:

t = D/C
Where D is the length of the signal path and C is the speed of light = 186,282 miles per second
(300,000 kms/sec)

For a GEO satellite, the distance from the surface of the Earth to the satellite is about 22,300 miles
(36,000 kms)
Both communications and satellite control systems include uplink and downlink signals so that the
signal path distance D per hop is a minimum of 44,600 miles (72,000 kms) depending on the user's
position relative to the satellite. the corresponding propagation delay is around 240 seconds, but
could be as high as 250 - 280 milliseconds for users who are not directly underneath the satellite.
For one-way signals such intercontinental television broadcasts, this delay is not particularly
annoying or even apparent, but for the satellite's telemetry and control systems the delay could cause
unacceptable errors and special error detection and correction circuits may be needed for safety
reasons. The delay is more significant for two-way telephone conversations since the effective delay
for the round trip between when one person speaks and the other responds is essentially double the
basic hop delay at around 540 milliseconds which is definitely noticeable. This delay may not be
dangerous but it can be quite annoying and echo cancellers may be needed for high quality speech
transmission.

For LEO satellites the propagation delays between sending and receiving information bits or packets
are relatively low due to the shorter signal paths and amount to between 4 and 10 milliseconds for a
single hop depending on the position of the satellite relative to the user. This is comparable to the
delays experienced in long-distance cable connections (about 510 milliseconds).
For an MEO satellite orbiting at 5,000 miles (8,000) kms the delay will be around 125 milliseconds
per hop.
In practice however delays could be much longer than this if the call needs to be transmitted across
multiple hops which is not unusual with LEO and MEO systems which use multiple satellites in
order to provide continuous coverage.

Power Level Units (Convention)

The decibel (dB) is a logarithmic unit used to express the ratio between two values of a physical
quantity. Power ratios of 2, 10 and 100 correspond to 3 dB, 10 dB and 20 dB respectively. It is
typically used to express the gain or attenuation of a system or circuit.
The dBm is a measure of the signal level relative to 1 milliWatt expressed in decibels.
The dBW is a measure of the signal level relative to 1Watt expressed in decibels.

 Antennas
Antennas are normally passive devices. Though
they have gain, they do not add any energy to
the signal. Instead they concentrate the
available transmitted or received signal energy
into a preferred direction. See the diagrams
below which show the radiation patterns of a
different antennas.

Half Wave Dipole Antenna & Radiation

Pattern

The Equivalent Isotropic Radiated Power

(EIRP) of an antenna is equal to the product of
the Input Power applied to the terminals of the
antenna and the Antenna Gain.
Example: A typical ground station
communications transmitter with an
output power of 100 watts, (20 dBW)
feeding through an antenna with a gain
of 60 dB will have an equivalent
radiated power (EIRP) in the direction
of the antenna main beam of 80 dBW or
100,000,000 Watts.

High Gain Parabolic Antenna Radiation

Pattern
(Polar Diagram)

An Isotropic radiator is an omnidirectional

antenna which radiates equally in all spherical
directions.

Radiation Patterns
The simplest and most common radiating element is a
half wave dipole whose radiation pattern is a toroidal
shape. It is formed from two conducting elements such
as wires or metal tubes whose length is one half
wavelength of the radiating radio wave. It is typically
fed in the centre where the impedance falls to its
lowest such that the antenna consists of the feeder
connected to two quarter wavelength wires or elements
in line with each other. Dipoles can also formed by
radiating slots in the walls of a waveguide carrying the
radio frequency signal.
Source: Christian Wolff (Modified)
More complex, higher gain antennas may be
constructed from multiple radiating elements so that
their individual radiation patterns reinforce or cancel each other to form the desired composite radiation
pattern. Alternatively the radiation pattern may be formed by means of a reflector such as a metal parabolic
dish which concentrates the antenna beam from a single radiating element, located at the focus of the
parabola, in the desired direction.
Antenna Directivity is the ratio between the power density the antenna radiates in the direction of
its strongest emission and the power density radiated by an ideal isotropic radiator, radiating the
same total power from the same point.

Antenna Beamwidth, by convention, is the angle between the half-power (-3 dB) points of the
antenna's main beam (or lobe). The higher the gain, the narrower the beamwidth.
As a rule of thumb, for a parabolic antenna, the approximate beamwidths given by:

3 dB Beam width 21 / (F*D) in degrees

Where
F = Frequency of the signal in GHz
D = Diameter of the dish in metres
Thus a 2.1 GHz (S Band) signal transmitted by a 10 metre parabolic antenna will have a beamwidth
of 1.0 degree.
Antenna Efficiency is the ratio between the total power actually radiated by an antenna and the net
power accepted by the antenna from its connected transmitter. It takes into account any impedance
mismatch, the conduction and dielectric losses in the antenna structure and feed circuits and the
energy lost in the sidelobes.
Antenna Gain in transmitting mode is the ratio between the actual power delivered to a far field
receiver on the axis of the antenna's main beam and the power which would be delivered to the same
receiver by a hypothetical lossless isotropic antenna located at the same point as the transmitting
antenna.
The Gain G of a parabolic dish antenna is given by:

Gain G = 10 log10K ( D 2 / )
Where;
G is the gain over an isotropic source in dB
K is the efficiency factor which is generally around 50% to 60%, i.e. 0.5 to 0.6
D is the diameter of the parabolic reflector in metres
is the wavelength of the signal in metres
Note that the "gain" takes into account the antenna efficiency whereas the "directivity" does not.
Gain and directivity are often incorrectly used interchangeably.
Reciprocity: For high gain antennas designed to carry two-way communications, the antenna gain in
transmitting mode is usually the same as the gain in receiving mode for any given frequency. This is
known as reciprocity. However in normal operations the transmitter frequency will be offset from
(usually higher than) the receiver frequency to avoid interference between the transmitter and the
receiver. Because of this frequency difference the actual gain will be slightly higher in the higher
frequency transmission mode.
Figure of Merit of a receiving system is the ratio (G/T) of its gain to its noise temperature where
G is the antenna gain in decibels at the receiver frequency, and T is the equivalent noise temperature
in degrees Kelvin of the antenna plus its RF signal path to the receiver and the noise temperature of
receiver itself.

Astra 1A Satellite Antenna Footprint

Antenna Footprint is the geographical area covered
by the beam of a satellite antenna, within which
acceptable communications with the satellite are
possible. From a geosynchronous orbit, a satellite
antenna with a beamwidth of 17.3 degrees covers the
42% of the surface of the Earth facing the satellite
from which line of site communications are
theoretically possible. See Orbits diagram.
The practical extent of a satellite's footprint is however
determined by the capability of the system to deliver
reliable communications at its outer limits. The link
budget gives an indication of the expected signal
levels on which these limits are based.
Source: SES Astra (Modified)
The theoretical footprint of a parabolic satellite
antenna on a surface normal to the direction of its transmission beam is typically circular in shape.
The higher the gain of the antenna , the narrower its beam. The diameter or extent of the practical
footprint or signal coverage on the ground depends on the satellite transmitter power, the receiver
sensitivity and the gains of both the satellite transmitting antenna and of the receiver antenna.
Optimising the footprint involves several trade-offs.

With a simple, low gain antenna, much of the satellite's available transmitted energy is radiated into
space with only a low percentage of it falling on the Earth. Higher gain antennas directed towards the
Earth can concentrate more of the transmitted energy towards the Earth with very high gain antennas
focusing the energy into a desired small region or footprint.
For a given transmitter power, if the received signal level within the desired region is not sufficient
for acceptable or reliable reception over the entire region, there's no point in increasing the
transmitter antenna gain any further as this will just reduce the footprint even more. Increasing the
footprint requires increasing the transmitter power.
Alternatively, for a given receiver sensitivity, the use of higher gain (larger) receiver antennas on the
ground can compensate for the lack of transmitter power. The satellite's effective footprint is
improved because a larger receiving antenna can capture and raise the power of lower level signals to
the level which the receiver can process. The higher the gain of the receiving antenna, the larger
footprint from which acceptable signals can be received. The diagram above shows the different
footprints associated with different domestic receiver antenna sizes (or gains) of the Astra 1A
satellite system designed for direct broadcast of television channels in Europe.

Footprint Shape
Note that the satellite's antenna pattern is not necessarily circular. The cross-sectional pattern of the
antenna beam can be shaped by altering the profile of its reflector dish or the structure of its
transmitting elements to change the shape of the footprint on the ground in order to concentrate the
satellite transmitter's energy on particular geographical areas. Alternatively several smaller antennas
may be used to achieve the same effect.

While increasing the gain of the transmitter antenna may be beneficial in enabling the satellite signal
to be focused on very small target areas, for wider coverage, several transmitting antennas may be
needed, but this in turn requires more transmitter power.

Look Angles
The look angles are the azimuth and elevation angles of a satellite as seen from a ground station
antenna. The maximum signal level will be received by a ground station when it is directly under the
satellite, that is, at the same latitude and longitude as the satellite or at the satellite's "ground zero" so
that the ground station's antenna is pointing in a direction perpendicular to the plane of the Earth at
the at point.
If the satellite is not directly over the ground station, the signal received by the ground station will
decrease as the difference between the latitude and longitude of the ground station and the satellite's
ground zero increases. This occurs for four reasons:
o As the angles of azimuth and elevation (the look angles) between the satellite and the ground
station decrease from 90 degrees, the distance between transmitter and the receiver increases
so that the free space path loss also increases.
o At the same time the distance between the satellite and the ground station also increases as
the surface of the Earth curves away from the ground zero point causing a further increase in
the path loss.
o The decrease in the look angles also causes the signal path through the lower atmosphere to
increase resulting in greater attenuation of the signal.
o At great distances from the satellite's ground zero position the look angles will be very
shallow and signals will be subject to interference or blocking from obstructions such as
mountains, buildings and trees.
For these reasons the signal coverage by geostationary satellites becomes progressively worse at
higher and lower latitudes becoming unusable in the polar regions.

Signals and noise

A key limiting factor in determining the performance of a communications link is the amount of
noise in the receiving system, sometimes called the noise floor which sets the fundamental lower
limit to the signal level necessary for extracting the transmitted message from the noise. In general
terms, the greater the noise, the greater the signal level has to be to avoid being lost in the noise,
however modern signal processing techniques enable signals to be extracted from well below the
noise level. The noise comes from two main sources, antenna noise which is the unwanted
background microwave radiation, solar and cosmic rays picked up by the antenna and the thermal,
interference and other impulse noise generated in the receiver electronic circuits.
Noise and Bandwidth: The amount of noise in a communications channel also depends on the
bandwidth of the channel. Random noise tends to be spread across a very wide spectrum and the
broader the channel bandwidth, the more of this noise it will contain.
The Thermal Noise Power N at a given temperature T within a system with bandwidth B is given
by:

N = kbT B
Where;
kb is Boltzmann's constant = 1.381 x 10 -23 Watts / kHz = - 228.6 dBW / kHz
The Noise Temperature, measured in degrees Kelvin, is a convenient measure for quantifying the
effect of the noise and it allows the total effect of all the contributors to the noise to be calculated
simply by adding together the individual temperatures of each contributor. It is the thermal
equivalent of the noise source or sources and not necessarily an actual temperature. The thermal
noise generated within the receiving equipment is the biggest factor and receiver is often cooled to a
very low temperature, close to absolute zero, to minimise this noise.
The Signal to Noise Ratio, (specified in dB), at any point in a communications link is the ratio
between the signal level at that point and the level of the level of the background noise. Note that
when the signal level is below the noise level the ratio will be negative.
Noise Figure and Sensitivity: The Sensitivity of a radio receiver is the minimum detectable input
signal level necessary to obtain a given output signal to noise ratio. In satellite systems, the measure
of receiver's capability to handle low level signals is not usually specified as a signal level, but rather
as a noise figure (specified in dB) which is the amount of noise added to the signal by the receiving
antenna and the receiver electronics. The receiver sensitivity, can also be specified as a Figure of
Merit which is the ratio of its gain to noise temperature or G/T where G is the gain and T is the
noise temperature.
Other Noise Sources include interference from other external electrical signals or discharges,
crosstalk which is interference from adjacent parts of the communications system and
intermodulation noise due to non-linearities in the system's signal processing which cause two or
more frequencies in the signal to create other frequencies which did not exist in the original signal.

Link Budget
The link budget is an aid to specifying the required performance of the major components which
make up the communications link.
The key parameters are:
o Prx, the minimum signal level that the receiver can distinguish above background noise.
o The Free Space Path Loss L between the transmitter and the receiver. It is not due to
attenuation of the signal, but to the dispersion or spreading of the signal as it radiates
outwards and is represented by the inverse square law which indicates the reduction in
radiated signal strength as the distance increases. The path loss is also proportional to the
square of the frequency.
Thus the Free Space Path Loss L is given by:

L = (4 d / )2 = (4 d f / c )2
Where
d is the distance between the transmitter and the receiver

 is the wavelength of the signal

f is the frequency of the signal
c is the velocity of light in a vacuum
Note that the free space path loss is related to number of wavelengths traversed.
The the free space path loss for a geostationary satellite, is on the order of 200 dB (or a
factor of 1020).
o There are also Attenuation losses A due to atmospheric conditions such as rain which absorb
energy from the radiated signal as well as other miscellaneous efficiency or resistive losses in
the system transmission channel.

The transmitter power Ptx and the transmitter and receiver antenna gains Gtx and Grx must be
dimensioned to compensate for the path loss and other losses in the system to ensure that there is
adequate signal strength at the receiver to recover the message from the background noise.
All factors specified in logarithmic form (dB)
In its simplest terms the Link Budget is represented by the following equation:

Prx = Ptx + Gtx + Grx - L - A

Note that the antenna gain and the path loss are both proportional to the square of the frequency, (but
with different proportionality factors) so that increasing the transmitter frequency improves the
antenna gain, but also increases the path loss.

The signal levels shown in the following path loss diagram are typical of a satellite link. The signal
power radiated by the Earth station is about 30 dB (1000 times) greater than the signal power
radiated by the satellite and the Earth station is able to receive weaker signals (and extract them from
the noise) with levels of more than 20 dB (100 times) lower than the satellite can handle.
Note that the ground station transmitting antenna gain is different from the receiving antenna gain
even though this is the same antenna. This is because the uplink frequency is higher than the
downlink frequency. By contrast the satellite transmitter and receiver antennas have the same gain.
This is because they use different antennas.

 Ground Stations
Because of size, weight and power supply restrictions, satellites are typically only equipped with
meager resources but fortunately, the link budget above shows that this can be counterbalanced by
having very well endowed ground stations. Thus very high power transmitters and very sensitive
receivers feeding through very large antennas on the ground compensate for low sensitivity receivers
and low power transmitters feeding through small antennas on the satellites.
The noise figure of a modern satellite ground station receiver is typically less than 1 dB, whereas the
noise figure for a satellite on board receiver may be around 10 dB. At the same time the satellite
transmitter power may be less than 10 Watts, while the power output of its related ground station
could be tens of kiloWatts.
Unless the satellite is in a perfect geostationary orbit, the ground station antenna must be steerable to
track it across the sky.

Van Allen Radiation Belts

Hazards
It's tempting to think of space as a
benign vacuum, but in reality it can
be a hostile environment.
o The Van Allen Radiation
Belt is a region of high energy
charged particles moving at
speeds close to the speed of
light encircling the Earth
which can damage solar cells,
integrated circuits, and
sensors and shorten the life of
a satellite or spacecraft..
Source: NASA
It is toroidal in shape and centred along the
earth's magnetic equator with intensity
The orange coloured regions are toroidal shaped Radiation
diminishing towards the poles and extending Belts circling the Earth.
from the upper atmosphere through the
magnetosphere, or exosphere. Held in place The lines represent the Earth's Magnetic Field
by the Earth's magnetic field, the particle
field varies in size with solar conditions from
time to time but generally extends from an altitude of about 600 miles to 37,000 miles (1,000 kms to 60,000
kms). Considered as a single belt of varying intensity, the particles are concentrated roughly into two layers
which overlap the LEO and MEO orbits.
The inner layer which extends between altitudes of about 1000 and 3000 miles (1600 and
4800 kms) contains mainly protons with some electrons and is thought to have been created
by the collisions of cosmic rays with atoms in the upper atmosphere.
The outer layer is composed mainly of electrons, which are responsible for the Aurora
Borealis in the polar regions, and are believed to have originated from the atmosphere and
from solar wind, the continuous flow of particles emitted by the Sun in all directions. Both
radiation belts additionally contain smaller amounts of other nuclei, such as alpha particles.
The upper layer is much larger than the inner layer extending between 8000 and 12,500 miles
(13,000 and 20,000 kms) and its size fluctuates widely as its particle population increases and
decreases as a consequence of geomagnetic storms triggered by magnetic field and plasma
disturbances produced by the Sun. It has also been claimed that the particles are the result of
testing nuclear weapons.
Recently a third radiation belt was discovered using more sensitive instruments. A
temporary phenomenon, it was a thinner later separated from the inner edge of the outer layer
which later merged back into the outer layer. The creation and re-absorbing of this third layer
was said to be caused by a mass coronal ejection from the Sun, (A massive burst of solar
wind).

The Van Allen belts can pose a severe danger to satellites and spacecraft, with hazards
ranging from minor communications anomalies to the complete failure of critical systems. To
minimise potential problems due to radiation, satellite orbits are designed as far as possible to
avoid the Van Allen radiation belts and sensitive electronic components must be protected by
shielding if their orbit spends significant time in the radiation belts. Solar cells however are

particularly vulnerable to radiation damage since they depend for their operation on capturing
the Sun's radiation and are therefore difficult to shield from other radiation sources.
It goes without saying that the Van Allen Radiation Belt is also dangerous to human life.
See Van Allen History

o Temperature Environment
Satellites operate in extreme thermal conditions with their surface temperatures ranging from
-150 C to 150 C depending on whether the surface is in direct sunlight or in the shade
and its electronic components are vulnerable to permanent damage at both of these extremes.
The threat is compounded because of the possibility of further structural and fatigue problems
due to the high temperature gradient across the satellite body as well as the deep repetitive
temperature cycling as the satellite changes its attitude with respect to the Sun. These latter
two effects however can also be harnessed to provide the means for mitigating the extreme
effects by re-distributing the heat and evening out the temperature.

o Collision with Space Debris

The possibility of a collision with space debris is becoming a real problem for satellites.
Besides the presence of micrometeorites, the space around the Earth is becoming cluttered
with spent rocket stages, old inactive satellites, lost tools and components, fragments from
disintegration of other space structures, erosion, and collisions. The issue is especially
problematic in geostationary orbits (GEO), where the number of available orbital slots is
limited with many satellites sharing the same orbital path, often clustered over the primary
ground target footprints.
As of 2009, the U.S. Strategic Command was tracking about 19,000 pieces of debris larger
than 2 inches (5 cm), with a further estimated total of over 600,000 pieces smaller than 0.4
inches (1 cm) of which 300,000 pieces were circulating below an altitude of 125 miles (200
km).
These pieces may be small but space junk is usually travelling at relative speeds of 30,000
m.p.h. or 50,000 k.p.h.or more with enormous kinetic energy capable of doing catastrophic
damage.

See also Pioneering Communications Satellites and GPS Satellite Navigation