Trajectory-based Serving Satellite Identification with User Terminal's Field-of-View

This repository contains the implementation and artifacts for the paper Trajectory-based Serving Satellite Identification with User Terminal's Field-of-View accepted in LEO-NET'24.

Table of Contents

• Background
• Prerequisites
• Gather new data
• Re-generate paper results

Background

Since the Starlink dish firmware update (286014e2-fea5-46e5-805f-85cd72450533.uterm_manifest.release) in August 2024, a new mapReferenceFrame field was introduced to the output of the dish_get_obstruction_map gRPC call.

type ObstructionMapReferenceFrame int32

const (
	ObstructionMapReferenceFrame_FRAME_UNKNOWN ObstructionMapReferenceFrame = 0
	ObstructionMapReferenceFrame_FRAME_EARTH   ObstructionMapReferenceFrame = 1
	ObstructionMapReferenceFrame_FRAME_UT      ObstructionMapReferenceFrame = 2
)

// Enum value maps for ObstructionMapReferenceFrame.
var (
	ObstructionMapReferenceFrame_name = map[int32]string{
		0: "FRAME_UNKNOWN",
		1: "FRAME_EARTH",
		2: "FRAME_UT",
	}
	ObstructionMapReferenceFrame_value = map[string]int32{
		"FRAME_UNKNOWN": 0,
		"FRAME_EARTH":   1,
		"FRAME_UT":      2,
	}
)

Example output from grpcurl -plaintext -d {\"dish_get_obstruction_map\":{}} 192.168.100.1:9200 SpaceX.API.Device.Device/Handle:

{
  "apiVersion": "26",
  "dishGetObstructionMap": {
    "numRows": 123,
    "numCols": 123,
    "snr": [
      -1,
...
      -1
    ],
    "minElevationDeg": 10,
    "maxThetaDeg": 80,
    "mapReferenceFrame": "FRAME_UT"
  }
}

Based on our measurement and observation, the mapReferenceFrame specifies the coordinate system used for the obstruction map data.

The possible values for mapReferenceFrame are:

• FRAME_UNKNOWN (0): The reference frame is unspecified.
• FRAME_EARTH (1): The obstruction map is aligned with the Earth and uses a fixed geographic coordinate system, with the top center pixel oriented toward the true north.
• FRAME_UT (2): The obstruction map is aligned with the User Terminal, using a coordinate system relative to the dish's orientation. The bottom center pixel corresponds to the UT's boresight direction.

Our observation shows that most active Starlink dishes show FRAME_EARTH, most likely because they are in fixed, stationary locations and utilize a geographic coordinate system to track obstructions more efficiently, while dishes on Roam/Mobile or inactive dishes show FRAME_UT, partially because these dishes are often moved or relocated, requiring a coordinate system relative to the dish’s orientation to adapt dynamically to changing positions or conditions.

Thus, in addition to the method presented in the LEO-NET'24 paper, we also included the data processing notebook for UTs using FRAME_EARTH.

Prerequisites

Prepare the environment

• Clone the repository.

  git clone --recurse-submodules https://github.com/aliahan/SatInView.git
  cd SatInView

• Create a Python virtual environment and install dependencies.

  python3 -m venv .venv
  source .venv/bin/activate
  pip install -r requirements.txt
  pip install -r starlink-grpc-tools/requirements.txt

  Note: On a dual-homed machine connected to an inactive Starlink dish (i.e., without an active Starlink subscription), the Starlink router still advertises an IPv6 address to the local network. Pip would prefer to use IPv6 when installing packages, while an inactive dish cannot reach the Internet, which could halt the installation process. In this case, you can force pip to use IPv4 by setting the IPv4 addresses for the following domains in /etc/hosts or configure routing properly.

  151.101.0.223   pypi.org
  151.101.68.223  files.pythonhosted.org
  

• Install grpcurl from https://github.com/fullstorydev/grpcurl to your $PATH.

Set variables

1. Edit config.py, and set IFCE to the interface connected to Starlink. Set DISH_ID to the ID of the dish.
2. If IRTT tests are used, set ENABLE_IRTT to True, set LOCAL_IP to the local IP address for the Starlink interface IFCE, and set IRTT_SERVER_PORT to the IRTT server address and port.
3. The gateway of inactive Starlink dishes can be reached at fe80::200:5eff:fe00:101, which requires the stock Starlink router to be set in the bypass mode.
4. You may need to install the iputils-ping package instead of the inetutils-ping package on Debian-based systems to use the -D timestamp option.

apt list --installed | grep ping

5. You may also need to assign root privileges to the ping command to use the packet intervals less than 200ms or install iputils-ping>=20210722, which lowered the limit to 2ms.

6. By default, task scheduling is defined in main.py as follows, which can be modified as needed.

if ENABLE_IRTT:
    schedule.every(1).hours.at(":00").do(run, irtt_ping).tag("Latency")

schedule.every(1).hours.at(":00").do(run, icmp_ping).tag("Latency")
schedule.every(1).hours.at(":00").do(run, grpc_get_status).tag("gRPC")
schedule.every(6).hours.at(":00").do(run, load_satellites).tag("TLE")
schedule.every(1).hours.at(":00").do(run, collect_obstruction_data).tag("TLE")

Dish GPS Location

You can get the GPS location of your dish by running the following command, which requires the Allow access on local network option to be enabled in the Starlink app at Advanced -> Debug data -> Starlink location.

grpcurl -plaintext -d {\"get_location\":{}} 192.168.100.1:9200 SpaceX.API.Device.Device/Handle

The GPS location is required to calculate and estimate the selected and serving satellites in post-processing.

Gather new data

Run main.py to collect the latency data to the Starlink gateway (100.64.0.1) and the satellite trajectory data from the obstruction map.

By default, the data structure of the collected data is as follows:

data
├── grpc
│   └── 2024-10-08
│       └── GetStatus-2024-10-08-19-10-00.txt
├── latency
│   └── 2024-10-08
│       ├── irtt-10ms-5m-2024-10-08-19-10-00.json
│       └── ping-10ms-5m-2024-10-08-19-10-00.txt
└── TLE
    └── 2024-10-08
        ├── obstruction-data-<dish_id>-2024-10-08-19-10-01.csv
        └── starlink-tle-2024-10-08-19-10-00.txt

• The grpc directory contains the dish diagnostic and alignment data from Starlink dish's gRPC interface (192.168.100.1:9200).
• The latency directory contains the ICMP ping RTT measurement to Starlink's gateway. When IRTT test is enabled, the IRTT measurement data is stored in the same directory after each round finishes.
• The TLE directory contains the collected obstruction and satellite trajectory data and the TLE snapshots of all Starlink satellites from Celestrak.

Re-generate paper results

Thank you for your interest in our work. To replicate our results precisely, you will need to have the exact GPS location, UT orientation, and TLE data from the specific time of observation for that UT. Due to privacy concerns, I cannot share this information. However, I encourage you to gather data from your own UT and attempt to replicate the results at your location.

After gathering the data, run findmatch-FrameUT.ipynb notebook if your dish uses FRAME_UT or findmatch-FrameEarth.ipynb notebook if your dish uses FRAME_EARTH, to first create the processed_observed_data.csv containing the topocentric coordinates of the observed satellites and then to find the matching satellites and have the matched_satellite_data.csv dataset.

Ensure you set your location, dish orientation, and data collection time in the code accordingly, and use the TLE data from the exact time of data collection.

To re-generate the figures in the paper you can run the figure.ipynb notebook.