doppler – Daniel Estévez

Analysis of the CAMRAS Venus radar experiment

On March 22, CAMRAS performed a Venus radar experiment (or Earth-Venus-Earth bounce, as it is more commonly known in Amateur radio) in collaboration with Astropeiler Stockert, the Deep Space Exploration Society, and the Open Research Institute. The experiment was done in L-band, at 1299.5 MHz, using the 25 m Dwingeloo radiotelescope as transmitter and receiver and the Stockert 25 m telescope as a receiver. The experiment was done during the Venus conjunction, as this minimizes the distance between the Earth and Venus. The round-trip time to Venus was approximately 280 seconds. The radar waveform was a CW carrier with a duration of 278 seconds. It was transmitted a total of 4 times every 600 seconds. Thus each period was composed by:

278 second transmission
~2 second TX/RX guard time
278 second echo reception
~42 second wait

More transmissions were planned, including some spread-spectrum signals designed by the Open Research Institute. However, the transmitter started failing and they had to stop.

Update 2025-04-21: I have been informed that the spread-spectrum signal for this experiment was designed by CAMRAS. The waveform that the Open Research Institute is designing will potentially be used in future experiments.

CAMRAS has published an analysis of the recorded IQ data, showing successful echo detections with Dwingeloo and Stockert. There is an example Jupyter notebook that shows how to Doppler correct the echo and detect it with an FFT. All the recorded IQ data has been published.

In this post I will do my own analysis of the experiment. The goal is not to confirm the successful detection with an independent analysis, since I believe that the analysis published by CAMRAS is correct and leaves no doubt about this. It is to expand this analysis and to touch on other topics that this analysis has not covered:

Calculation of the Doppler. CAMRAS has published CSV files containing the expected Doppler at each receiver, but they have not published the code to calculate this. Here I will do all the relevant calculations with SPICE.
Doppler correction with the gr-satellites Doppler correction block, which performs linear interpolation of the Doppler frequency to calculate the frequency shift applied to each sample.
High-quality spectral analysis with a polyphase filterbank.
Try to estimate the Doppler spread and compare with some results in the literature.

BGM-1 Doppler during the lunar landing

On Sunday March 2, Firefly Aerospace’s Blue Ghost Mission 1 successfully landed on Mare Crisium, becoming the first NASA CLPS mission to perform a fully successful lunar landing. Congratulations to all the team at Firefly for this huge achievement.

Both AMSAT-DL and CAMRAS covered this event live, by receiving the S-band beacon from the lander with the 20 m antenna in Bochum Observatory and the 25 m Dwingeloo radiotelescope respectively, and streaming the waterfall of the signal in YouTube.

In this post I do a quick analysis of the Doppler of the signal received at Bochum and Dwingeloo. Part of the goal of this is to try to answer a question of Jonathan McDowell, who asked if it was possible to determine the exact second of the touchdown from this data. The answer is that this is probably not possible, since for a soft touchdown there is no significant acceleration at touchdown that can be identified in the Doppler curve.

The raw IQ data recorded by AMSAT-DL is not publicly available. The data recorded by CAMRAS can be found here.

Lunar reflections during SLIM landing

In my previous post, I looked at the Doppler of the SLIM S-band telemetry signal during its landing on the Moon. I showed some waterfall plots of the signal around the residual carrier. In these, a reflection on the lunar surface was visible. The following figure shows a waterfall of the signal around the residual carrier, after performing Doppler correction and using a PLL to lock to the residual carrier. I was intrigued by the patterns made by these reflections, specially by some bands that look like a ‘1’ shape (the most prominent happens at 14:58).

In this post I study the geometry of the lunar reflection and find what causes these bands.

SLIM lunar landing radiometry

SLIM, JAXA’s Smart Lander for Investigating Moon, landed near Shioli crater on January 19. Shortly after the landing, the spacecraft was powered down to conserve power, since the probe had landed in an unexpected attitude which shaded its solar panels. After a few days of trying to contact SLIM, JAXA succeeded to reestablish communication with it on January 29. By then the Sun had moved west in the sky at SLIM’s location and had started illuminating the solar panels.

AMSAT-DL recorded the S-band signal from SLIM during the landing with the 20-meter antenna in Bochum Observatory. In this post I will analyse a recording done between 14:51:51 and 15:21:54 UTC (the touchdown was at 15:20 UTC). I will study the Doppler of the residual carrier and other radiometric quantities rather than the telemetry.

Receiving HADES-D

HADES-D is the 9th PocketQube developed by AMSAT-EA. It is the first one that hasn’t failed early in the mission. Among the previous AMSAT-EA satellites, GENESIS-L and -N suffered the launch failure of the Firefly-Alpha maiden flight, EASAT-2 and HADES presumably failed to deploy their antennas, GENESIS-G and -J flew on the second Firefly-Alpha flight, which only achieved a short-lived orbit, with all the satellites reentering in about a week, URESAT-1 had the same kind of antenna deployment problem, and GENESIS-A is a short duration payload scheduled to fly in the Ariane-6 maiden flight, which hasn’t happened yet.

HADES-D launched with the SpaceX Transporter 9 rideshare on November 11. This PocketQube was carried in the ION SCV-013 vehicle, and was released on November 28. The antennas have been deployed correctly, unlike in its predecessors, the satellite is in good health, and several amateur stations have been able to receive it successfully, so congratulations to AMSAT-EA.

Since HADES-D is the first PocketQube from AMSAT-EA that is working well, I was curious to measure the signal strength of this satellite. Back around 2016 I was quite involved in the early steps of AMSAT-EA towards their current line of satellites. We did some trade-offs between PocketQube and cubesat sizes and calculated power budgets and link budgets. Félix Páez EA4GQS and I wanted to build an FM repeater amateur satellite, because that suited best the kind of portable satellite operations with a handheld yagi that we used to do back then. Using a PocketQube for this always seemed a bit of a stretch, since the power available wasn’t ample. In fact, around the time that PocketQubes were starting to appear, some people were asking if this platform could ever be useful for any practical application.

Fast forward to the end of 2023 and we have HADES-D in orbit, with a functioning FM repeater. My main interest in this satellite is to gather more information about these questions. I should say that I was only really active in AMSAT-EA’s projects during 2016. Since then, I have lost most of my involvement, only receiving some occasional informal updates about their work.

Analysis of the W-Cube 75 GHz beacon

W-Cube is a cubesat project from ESA with the goal of studying propagation in the W-band for satellite communications (71-76 GHz downlink, 81-86 GHz downlink). Current ITU propagation channel models for satellite communications only go as high as 30-40 GHz. W-Cube carries a 75 GHz CW beacon that is being used to make measurements to derive new propagation models. The prime contractor is Joanneum Research, in Graz (Austria). Currently, the 75 GHz beacon is active only when the satellite is above 10 degrees elevation in Graz.

Some months ago, a team from ESA led by Václav Valenta have started to make observations of this 75 GHz beacon using a portable groundstation in ESTEC (Neatherlands). The groundstation design is open source and the ESA team is quite open about this project. I have recently started to collaborate with them regarding opportunities to engage with the amateur radio community in this and future W-band propagation projects (there is an amateur radio 4 mm band, which usually covers from 75.5 to 81.5 GHz, depending on the country). As I write this, some of my friends in the Spain and Portugal microwave group are running tests with their equipment to try to receive the beacon.

On 2023-06-16, the team made an IQ recording of the beacon using their portable groundstation. They have published some plots about this observation. Now they have shared the recording with me so that I can analyse it. One of the things they are interested in is to evaluate the usage of the gr-satellites Doppler correction block to perform real-time Doppler correction with a TLE. So far they are doing Doppler correction in post-processing, but due to the high Doppler drift, it is not easy to see the uncorrected signal in a spectrum plot.

Real time Doppler correction with GNU Radio

Satellite RF signals are shifted in frequency proportionally to the line-of-sight velocity between the satellite and groundstation, due to the Doppler effect. The Doppler frequency depends on time, on the location of the groundstation, and on the orbit of the satellite, as well as on the carrier frequency. In satellite communications, it is common to correct for the Doppler present in the downlink signals before processing them. It is also common to correct for the uplink Doppler before transmitting an uplink signal, so that the satellite receiver sees a constant frequency.

For Earth satellites, these kinds of corrections can be done in GNU Radio using the gr-gpredict-doppler out-of-tree module and Gpredict (see this old post). In this method, Gpredict calculates the current Doppler frequency and sends it to gr-gpredict-doppler, which updates a variable in the GNU Radio flowgraph that controls the Doppler correction (for instance by changing the frequency of a Frequency Xlating FIR Filter or Signal Source).

I’m more interested in non Earth orbiting satellites, for which Gpredict, which uses TLEs, doesn’t work. I want to perform Doppler correction using data from NASA HORIZONS or computed with GMAT. To do this, I have added a new Doppler Correction C++ block to gr-satellites. This block reads a text file that lists Doppler frequency versus time, and uses that to perform the Doppler correction. In this post, I describe how the block works.

GPS SVN49 broadcasting non-standard codes again

As a GNSS engineer at my day job in GMV, it’s not uncommon to find myself looking at spectrums of the GNSS signal bands, either on a spectrum analyzer or on an IQ recording done by an SDR. A few days ago, I spotted something in the L1 band (1575.42MHz) that quickly caught my eye: a pair of strong carriers at +/- 511.5kHz away from the L1 centre frequency. This was visible on some of the recordings that we had done in the last few days, and also live on a spectrum analyzer.

When monitoring the signal on the spectrum analyzer, it disappeared a few hours later, making me suspect that it was transmitted by a satellite rather than a local interferer. Back at home, I did some recordings with STRF to try to identify the satellite using its Doppler.

The Doppler signature of the signal was a perfect match for GPS SVN49, also as USA-203 and GPS IIRM-7. This satellite, launched in 2009, was the first to demonstrate the L5 signal. During in-orbit testing, an anomaly with its navigation signals caused by the L5 filter was discovered. The satellite was never put into operational use, and has been used for varied tests ever since.

After searching information about this satellite, I learned that some researchers from Torino, Italy, had already observed back in 2017 the same kind of signals that I was seeing.

This post is a detailed study of the L1 signal that is currently being broadcast by GPS SVN49. The data used here has been published in Zenodo as “RF recordings of GPS SVN49 broadcasting non-standard codes“.

Measuring QO-100 beacons frequency

Continuing with my frequency measurements of Es’hail 2, I have now been measuring the frequency of the beacons of the QO-100 narrowband transponder for several days. The main goal of these frequency measurements is to use Doppler to study the orbit of Es’hail 2. Previously, I had been doing frequency measurements on the engineering beacons at 10706MHz and 11205MHz. However, these beacons are currently being transmitted on a MENA beam, so I’m quite lucky to be in Spain, as they can’t be received in many other parts of Europe.

During the in-orbit tests of Es’hail 2, the engineering beacons were transmitted on a global beam, and I performed some differential Doppler studies with Jean Marc Momple 3B8DU, in Mauritius. The engineering beacons are no longer any good for these kind of studies, since their area of coverage is small. Thus, I have started to measure the beacons in the narrowband transponder, which covers all the satellite footprint.

Es’hail 2 frequency measurements

After being busy with other projects, I have resumed my frequency measurements of the Es’hail 2 beacons. The last measurement I performed was made when the satellite reached its operational slot at 26ºE. After manoeuvering to this spot, the Doppler was very small, on the order of 0.8ppb peak-to-peak, indicating a very accurate geostationary orbit. Now Es’hail 2 has been two months in its operational slot, inaugurating its Amateur transponders on February 14 and entering commercial service on March 7.

I am curious about studying again the Doppler at this point in the mission, to see how accurate the GEO orbit is. I am also interested in collaborating with other Amateurs to perform differential Doppler measurements, as I did with Jean Marc Momple 3B8DU. Here I detail the first results of my measurements.