Starship Model 2025: Embedded System and Simulation for an Electrically Powered Reusable Rocket Model

Abstract

The bachelor thesis describes the design, analysis, and simulation of an electrically powered reusable rocket model. The model is designed with two rotors mounted on tiltable arms, enabling lift and maneuverability. The simulation is performed in a close to realistic environment using MATLAB Simulink and Simscape. The primary focus is improving the modularity of the embedded system and simulating the model’s dynamic behavior.

The contributions made to the development of the Starship model are outlined at the start, detailing both hardware and software advancements. Key contributions include the design and implementation of a collision-resistant battery mount, a ground power cable for test bench applications, and the integration of a kill switch with multiple control modes. A planar motion detection system (optical flow sensor), a restructuring of embedded software, and position and orientation estimation using sensor data (lidar, IMU and Optical flow) are also developed.

The results demonstrate an accurate Complementary Filter for orientation estimation and a short term precise dead reckoning position estimation based on lidar, IMU, and Optical flow data. The optical flow camera provides the best position precision on rigid surfaces by identifying reference points. The restructuring of the software code results in a cleaner and more maintainable environment, enabling the seamless integration of additional features.

Additionally, the Simulink model accurately simulates the system’s behavior under applied forces. However, the results indicate that while short term stability is achieved, the design requires modification for long term stability due to physical limitations affecting its controllability.