Journal of Space Technology, Vol 1, No.

1, June 2011

Design and Development of a Fluxgate Magnetometer for

Small Satellites in Low Earth Orbit
Owais Talaat Waheed, Atiq-ur-Rehman
AOCS Section, Satellite Research & Development Centre-Karachi, (SUPARCO) Pakistan
Email: owaistalaat, [email protected]

Abstract The paper discusses the design and development

of a Fluxgate Magnetometer, for use in space for Attitude
Determination and Control (ADC) of Low Earth Orbits (LEO)
satellites. The designed sensor consists of two coils, drive and
sense and is based upon the principle of mutual induction. A
toroidal core based design was finalized and fabricated on
which the drive and sense coil are coupled. Three different
design approaches were adopted. Overview of these designs is
discussed with detailed discussion on the most promising
design. The developed sensor has the resolution better than
200nT. Results achieved are quite stable and the response of
the sensor is in the range of 50000nT. The results achieved
are quite similar as predicted by simulations of overlapped
waveforms.
Keywords Magnetometer, Fluxgate, Attitude Determination
and Control, Low Earth Orbits

INTRODUCTION

Figure 1 - Induced Voltage in pickup coil due to mutual

induction of excitation and sense waveforms

The fluxgate type magnetometer is a magnetic field sensor

with good sensitivity as well as easy construction. Basic
principle of this magnetometer is mutual induction between
drive-coil and sense-coil signals and processing the
superimposed output. The core is excited by current through
the drive winding and saturates alternately in either direction.
Mutually induced voltage interacts with the geomagnetic field
and induces a voltage in the pickup coil, as per Faradays
Law:

Fluxgate Magnetometer have space heritage and is used for

determination of attitude of satellite in many space missions.
However, no considerable work has been reported in Pakistan
on this type of magnetometer for use in space.

GEOMAGNETIC FIELD OF EARTH

The Earth has a varying magnetic field which is comprised of

a highly complex sense of radiation and plasma zones,
primarily due to the action of the charged particles of the solar
wind impinging on the field. Following figure show magnetic
field with respect to latitude and longitude of earth. The
Magnetosphere has slight changes over 5 years, so magnetic
field models, such as IGRF and WMM are usually for 5 years
from epoch. These models predict the reference field which
can be used compared with Magnetometer output to determine
satellites attitude.

Where, V is induced Voltage, N is the number of turns, and

is rate of change of magnetic flux
If sensor is introduced to intense magnetic field, core
approaches saturation and will show non-linearity. Following
are the results that should ideally be achieved by the designed
sensor.

So, the maximum magnetic field that the sensor can

encounter in space (LEO satellites from 500km and above) is
not more than 50000nT.

The waveforms in figure-1 show effect of magnetic field on

the drive (or excitation) waveform. Waveform (f) depict the
effects of magnetic field, which shows alternating positive and
negative pulse, which is desired output of the sensor, so that
appropriate sampling of this waveform is useful.

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Design and Development of a Fluxgate Magnetometer For Small Satellites in Low Earth Orbit

following figure shows the flux lines passing through these

two types of magnetometer.

Figure 4 - Flux line for dual core and ring core

magnetometer

Figure 2 - Globally Varying Magnetic Field

There is a significant problem with twin core

magnetometer, that the small differences in the drive winding
geometries and in the material properties of two cores will
provide spurious outputs in the sense coil. The advantage of a
ring core magnetometer is that sense windings are equally
sensitive in any axis which lies in the plane of the drive
windings. The advantage is that a pair of sense windings at
90 to each other will provide for two axis determination of
the magnetic field components using a single core. Three axis
measurements can then be achieved with two cores mounted
orthogonally with suitably arranged sense coils. A possible
arrangement for the sense coils is shown in figure 5 showing
the two cores, and the three orthogonal sense windings. A
fourth winding may be added to design shown at 45 to each
of the others, which can be used as an additional input to the
magnetic field determination and will also provide for a
redundant element should any one axis measurement fail.
At initial stage, the sensor is deigned for 1-axis, and later on
this is replicated to incorporate all 3+1 axes, so mainly the
paper discusses design of single axis fluxgate magnetometer
and its utilization to form a 3-axis sensor.

MAGNETIC CORE AND WINDING

A Magnetic core is a magnetic material with a high

magnetic permeability, but is usually chosen to be
magnetically soft which means that they are made of
materials that dont maintain a significant magnetic field when
external field is removed. Properties of the device crucially
depend on the following factors:
The geometry of magnetic core
Property of material (hysteresis and permeability)
Lamination of core to reduce eddy currents
In order to maximize the sensitivity of device, it is essential to
minimize the initial permeability of core material. Preferred
core material is Nickel-Iron alloy. It is also desirable to reduce
the dimensions and mass of core to limit the head of
magnetometer boom. The wire of 0.2mm diameter with 100
turns for excitation and 200 for sense are used for required
sensitivity of magnetometer. More the number of turns more
will be the sensitivity. Sample Magnetic core with coil
winding is shown in following figure:

Figure 3 - Arrangement of Excitation and Sense Coil of

Magnetic Core
Figure 5 - Sense coils with redundant axis configuration

3.1 Construction
At an abstract level, there are three parts of magnetometer:

Toroidal core with Excitation and Sense Coils

Drive/Excitation Circuitry
Sense Circuitry
There are two possible constructions of toroidal cores, twin
or dual core magnetometer and ring core magnetometer,

DETAILED ELECTRONIC DESIGN

The components required for determination of attitude are

three magnetic field vectors in term of DC voltages ranging
from 0V to 5V. Sensor is compatible to normal voltage range
of ADC. If no magnetic field is present, the output voltage will
be 2.5V. Setting this criterion is due to bi-directional nature of
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Design and Development of a Fluxgate Magnetometer For Small Satellites in Low Earth Orbit

magnetic field, so 2.5V to 5V is allocated for positive field

and 0V to 2.5V is for negative field. As, fluxgate
magnetometer has three parts, excitation circuit, excitation and
sense coil, and sense circuit. Excitation circuit is aimed to
generate square waveforms that are then fed to excitation coil.
Following figure shows the block diagram for the whole
system, diagram only elaborates the sequence of steps or idea
behind the development of the sensor.

Figure 9 - Excitation output after connecting coil

The 40kHz frequency is divided by 2 for sampling later
stages of sense outputs. The positive pulse is generated in the
sense winding when the signal in the excitation winding goes
from +5V to 0V and negative pulse is generated when the
signal in the excitation winding goes from 0V to -5V.
Similarly during the same single cycle as the signal goes from
-5V to 0V again the negative pulse is generated and as the
signal goes from 0V to +5V a positive pulse is generated.
Concluding, two consecutive positive and two consecutive
negative pulses occur in the sense winding. The frequencies
below 800Hz, core saturation was observed on both sides and
the erroneous signal was generating at the sense winding with
two positive and two negative pulses, so the approach was not
adopted.

Figure 6 - Block Diagram of Fluxgate Magnetometer

EXCITATION CIRCUIT

The excitation circuit consists of an astable mode 555

circuit. The 555 circuit generates the 40kHz frequency square
wave. This frequency is to be divided by 2 in order to have the
square wave of 20kHz frequency which is further used for
synchronization purpose.

Figure 7 - Excitation output 40kHz

Figure 8 - Excitation output 20kHz

A D-Flip Flop is used for frequency division. This
frequency is further divided by 2 by the D Flip Flop in order to
get the 10kHz frequency. This 10kHz square wave has 0 and
5V values. In order to have the -5V to 0 to +5V output (level
shifting, saturating the core on both sides), op-amp LM741 is
used as a comparator. This signal is fed into the power
amplifier LM675 (unity gain follower) which is finally applied
to the excitation coil. The excitation waveform after
connecting the coil to the circuit is shown in figure. Change in
shape of waveform is due to mutual and self induction.

Figure 10 - Block Diagram of Excitation Circuit

The signals of 1kHz and above at the excitation saturates
the core in only one direction. But actually what happens at
the sense winding is that the positive pulse is induced as the
signal in the excitation winding goes from +5V to 0V and the
negative pulse as the signal goes from 0V to -5V. And there is
no saturation as the excitation signal goes from negative to
positive level. Thus, the signal is determinable and has the
same frequency as of the excitation winding. It clearly
80

Design and Development of a Fluxgate Magnetometer For

or Small Satellites in Low Earth Orbit

demonstrates that the sense circuit is to be synchr

synchronized with
the excitation circuit at the excitation frequency. The other
question arises why 10kHz frequency was applied, th
the greater
the frequency greater will be sensitivity. Initially the change of
80mV was achieved in the positive and negative peak
peaks of the
sense signal at this frequency. Initially, 1kHz fre
frequency was
applied [555 generates 4kHz frequency] and a change of
around 40mV in the positive peaks and 40mV in the nnegative
peak was observed of the sense signal at this frequ
frequency.
Frequency was changed from 1kHz to 10kHz and was fi
finally
selected. The voltage levels at the excitation coil were not
exactly +5V and -5V
5V but around 3.8V on both sides. Hardware
based block diagram
ram of Excitation circuit is shown in Fig 10.

integrator (amplifier/filter). The integrator is connected

co
at
0.4Hz frequency. The output is further integrated at 0.5Hz.
The integrator output is negative dc voltage and varies
va
around
1V in its entire range. The output is inverted using
usi op-amp
and a diode is connected with a load at the output so that the
output does not goes negative. Finally
Final the output varies around
1.2V. But the erroneous part was the non linearity in the
change of dc voltage with orientation of the sensor.
sensor
C. Third Circuit Configuration
This circuit configuration gave most promising results
resu and
was finally implemented. The excitation frequency was
changed to 10kHz. The sense coil output varies around
arou 95mV
on either side due to orientation of sensor. The sense
se
coil
waveform is shown in the following figure (connecting
(connecti coil
only, circuit is disconnected).

1. SENSE CIRCUIT
The sense signal is processed in order to have a DC voltage
that varies with the orientation of the magnetomete
magnetometer sensor.
The sense circuit was made in three configurations that will be
explained one by one.
A. First Circuit Configuration
The first circuit was simple based on the simple th
theory of
sensor signal processing. The circuit was designed on 1kHz
excitation signal. First of all the sense signal wa
was buffered
using op-amp LM741. This is done so that the sense signal is
not distorted as it is assumed that the sense coil could not
source the current required by the next block. The analog
switch is then used in order to synchronize the sen
sense circuit
and the excitation circuit (synchronous phase det
detection). The
control terminal of the switch is connected to the 1kHz signal
of the Flip Flop for synchronization. A capacitor oof 22uF is
connected at the output in order to have a relative
relatively steady dc.
The output comes out to be just below negative. Thi
This greatly
slows down the response of the circuit (big capacit
capacitor). The
amplifier/filter (low pass) with the cut-off
off around 0.4Hz is
then connected. The output varies from 200 to 400mV
approximately. Further cascading the amplifier satu
saturates the
output. The range
ge is very small and if the circuit is kept in
place for a few days output slowly and gradually mo
move
towards saturation (+5V). Then there would be no ch
change
even if sensor orientation is changed. This point w
was not
comprehended at this stage. Thus this design
ign was not taken
further for implementation and the next circuit con
configuration
was tested.

Figure 11 - Sense coil output at 10kHz frequency (+ve

field)

Figure 12 - Sense coil output at 10kHz frequency (-ve

(
field)
The
he block diagram of sense circuit, which details the
th flow
of signal conditioning to result DC voltage as an output
o
that
can be converted to corresponding Magnetic field value after
calibration is given in figure 13.
The sense coil output is sample using sampling waveform
wave
of 40kHz. This samples the significant portion of sense
s
waveform.. The resulting output after sampling the signal is
(for +ve field) is in figure 14. The output is sent into level-1
level
op-amp
amp based integrator with cut off frequency of around
arou
0.3Hz. DC voltage is obtained as an output that varies
var with the
orientation of the sensor. The gains are controllable
controllab using
potentiometer for calibrating scale factor. The dc level can
also be changed using potentiometer to nullify any DC output
on magnetic field of 0nT. The output is fed into another
integrator that amplifies and filters the output further
fu
at around
0.6Hz. The final output varies
ies from +1.5V to 0 from North
(maximum magnetic field direction) to East (zero magnetic
ma

B. Second Circuit Configuration

The second circuit was designed based on the patent
[Patent No.: 4677381 Date of Patent: Jun. 30, 1987 Name:
Flux-gate Sensor Electrical
al Drive Method and Circuit] and
RM100 Nanotesla Meter Users Manual DOC ID 000290. The
circuit was designed on 1kHz excitation signal. The sense
signal is ac amplified [RM100 Nanotesla Meter User
Users
Manual] using op-amp,
amp, around 10 times (depending upon th
the
levels of the sense output). Thus the ac output var
varies around
400mV (40m x 10 = 400mV) on either side. Two switch
switches are
used for synchronous phase detection. The output of the ac
amplifier is fed into the input of the two switches
switches. The control
signal of 1kHz for controlling the switches comes from
excitation circuit D-FF
FF (divided by 4). The output of the
switches goes into the inverting and non inverting input of the
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Design and Development of a Fluxgate Magnetometer For Small Satellites in Low Earth Orbit

field direction) and 0 to -1.5V from East (zero magnetic field

direction) to South (minimum magnetic field direction).

and 1V designates minimum field towards South (approx 34000nT).

CONCLUSION

The designed fluxgate magnetometer output lies between

voltage ranges of 0-5V, which shows compatibility with usual
components of system. The field corresponding to output
voltage is shown in following figure:

Figure 16 - Field corresponding to output Voltage

The sensitivity of the designed fluxgate magnetometer comes
out to be 4.4 V/Gauss. Moreover, at this sensitivity, the
resolution of the designed sensor comes out to be less than
200nT. Only area that needs to be highlighted is that if the
magnetometer is turned on for very long time, the output
voltage starts saturating and no change in output voltage
occurs even if there is any change in sensor orientation or if a
strong field is introduced. This issue indicates inappropriate
core selection or magnetization of core. The issue can be
resolved using a set/reset circuit which demagnetizes the core.
Sensor calibration can be done in Helmholtz Coil Facility as a
future work, by introducing known field and orienting.

Figure 13 - Block Diagram of Sense Circuit

ACKNOWLEDGEMENTS
Were indebted to SUPARCO people for helping us in
undertaking the project, specifically; we want to mention Mr.
Fahad Tanveer for his valuable advices, guidance and support.
And, finally to all the members of AOCS Section, SRDC,
Karachi for their support in the design of the module.

Figure 14 - Sampled Sense waveform (+ve field) 50% of

the waveform was not sample

REFERENCES
[1] RM100 Nanotesla Meter Users Manual document
ID-000290
[2] Fluxgate Sensor Electrical Drive Method and Circuit
Patent Number 4677381 Date of Patent: 30th June,
1987
[3] Development, construction and analysis of the
rsted fluxgate magnetometer published in Meas. Sci.
Technol. 6 (1995) 1099-1115
[4] Wertz, James R., Spacecraft Attitude Determination
and Control, ISBN 90-277-0959-9
[5] Fluxgate Magnetometer
http://www.invasens.co.uk/FluxgateExplained.PDF
[6] Nobel, Dr. Richard, Fluxgate Magnetometer, 2007,
http://homepage.ntlworld.com/clarcana/proj/magnetom
eter/index.html

Figure 15 - Sampled Sense waveform (-ve field) 50% of

the waveform was not sampled
This DC level is not compatible for devices working
between voltage range 0-5V. For compatibility purpose, the
output is clamped to the mean of 2.5V (for 0nT). Now 4V
designates maximum field towards North (approx 34000nT)
82