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Doppler Tracking of the Artemis II Mission (and Other Spacecraft)

T0 review · 1 major / 0 minor · reviewed 2026-06-29 · grok-4.3

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Pith's one-line read Student project yields a complete Doppler tracking system for S-band spacecraft signals.

desk verdict Student project report on building an S-band receiver for Artemis II, but no Doppler measurement was ever shown on any target. read the letter →

arxiv 2606.27531 v1 pith:M66M2KOU submitted 2026-06-25 cs.CE

Ankur Purao , Ella Bianco , Elizabeth Baganz , Nicholas Hagg , Michael Robinson This is my paper · ORCID
classification cs.CE
keywords DopplertrackingArtemisIIOrionspacecraftS-bandcommunicationsOQPSKmodulationsatellitesystemstudentprojectreceiver
verification ladder T0 review T1 audit T2 compute T3 formal

The pith

A machine-rendered reading of the paper's core claim, the machinery that carries it, and where it could break.

The reading

This report describes a student-faculty project at American University to derive Doppler frequency shifts from the Orion spacecraft's S-band OQPSK transmitter during its Earth-to-Moon flight in the Artemis II mission. The effort focused on building hardware and software to capture and process these signals for educational space science. Although no actual Doppler estimate was obtained from the Orion spacecraft, the team produced and integrated a receiver, signal-processing chain, and data-analysis pipeline. The resulting system is presented as fully functional and ready for satellite tracking applications.

What carries the argument

The end-to-end satellite tracking system, which receives S-band OQPSK signals and extracts Doppler frequency shifts through signal processing and analysis.

What would settle it

A verified Doppler frequency measurement obtained from the Orion spacecraft or another S-band transmitter using the described receiver and pipeline.

Watch

Extended reading notes

Core claim

The authors establish that their constructed receiver, signal-processing chain, and data-analysis pipeline constitute a fully functional end-to-end satellite tracking system capable of producing usable Doppler measurements from OQPSK-modulated S-band transmissions.

Load-bearing premise

The built receiver, processing chain, and pipeline form a usable system for Doppler measurements even though no measurement was demonstrated on the Orion spacecraft or any other target.

Editorial extensions

If this is right

  • The system supports Doppler tracking of other spacecraft that use S-band OQPSK communications.
  • It provides a working model for deriving frequency data from standard spacecraft downlink signals.
  • The pipeline can process signals along Earth-to-Moon trajectories for future missions.
  • The approach demonstrates how student projects can produce practical tools for experimental space tracking.

Reading between the lines

Editorial extensions of the paper, not claims the author makes directly.

  • Applying the system to ground-based test signals or other known spacecraft would provide direct performance data.
  • The receiver design could be adapted for additional frequency bands used by different space missions.
  • Combining the pipeline with public data sources might allow tracking of additional Artemis-era vehicles.
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Editorial analysis

A structured set of objections, weighed in public.

Desk editor's note, referee report, simulated authors' rebuttal, and a circularity audit.

Referee Report

1 major / 0 minor

Summary. The manuscript describes an American University student-faculty project to track the Orion spacecraft during Artemis II via Doppler measurements extracted from its S-band OQPSK transmitter. It details the construction of a receiver, OQPSK signal-processing chain, and analysis pipeline, notes that no Doppler estimate was obtained for Orion, and asserts that a fully functional end-to-end satellite tracking system has nevertheless been achieved.

Significance. If the functionality claim were supported by demonstrated measurements, the work would offer a useful educational case study in building a low-cost Doppler tracking system for spacecraft. As presented, the absence of any verified output limits its contribution to a descriptive account of hardware assembly without performance validation.

major comments (1)
  1. [Abstract] Abstract: the central claim that 'we now have a fully functional end-to-end satellite tracking system' is unsupported, as the text states no Doppler estimate was obtained for Orion and supplies no quantitative verification, error analysis, comparison to known signals, or successful extraction on any other target or test source. This directly contradicts the functionality assertion.

Simulated Author's Rebuttal

1 responses · 0 unresolved

We thank the referee for their constructive comments on our manuscript. We agree that the abstract's functionality claim requires revision to align with the presented evidence, and we address this point below.

read point-by-point responses

  1. Referee: [Abstract] Abstract: the central claim that 'we now have a fully functional end-to-end satellite tracking system' is unsupported, as the text states no Doppler estimate was obtained for Orion and supplies no quantitative verification, error analysis, comparison to known signals, or successful extraction on any other target or test source. This directly contradicts the functionality assertion.

    Authors: We acknowledge the referee's observation is correct: the manuscript explicitly states that no Doppler estimate was obtained for Orion and provides no quantitative validation, error analysis, or successful extraction on test sources. The claim of a 'fully functional end-to-end satellite tracking system' is therefore unsupported by the data presented. We will revise the abstract (and any similar statements in the conclusion) to describe the work as the construction of a receiver, OQPSK processing chain, and analysis pipeline for potential Doppler tracking, without asserting demonstrated end-to-end functionality or successful tracking. revision: yes

Circularity Check

0 steps flagged · score 0.0 of 10

No circularity: descriptive project report with no derivations or predictions

full rationale

The manuscript is a descriptive account of a student hardware/software project for building an S-band Doppler receiver and OQPSK processing chain. It contains no equations, fitted parameters, predictions, uniqueness theorems, or self-citations. The claim of a 'fully functional end-to-end system' rests on construction details rather than any derivation chain that could reduce to its inputs. This is the normal non-circular outcome for an engineering report without theoretical content.

Assumptions & free parameters 0 free parameters · 0 assumptions · 0 invented entities

The abstract introduces no free parameters, mathematical axioms, or new postulated entities; the work is a descriptive engineering project report.

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Cite this review

Pith. "Pith review of Doppler Tracking of the Artemis II Mission (and Other Spacecraft)." pith.science (2026). https://pith.science/paper/M66M2KOU

@misc{pith2026260627531,
  author       = {Pith},
  title        = {Pith review of: Doppler Tracking of the Artemis II Mission (and Other Spacecraft)},
  year         = {2026},
  howpublished = {\url{https://pith.science/paper/M66M2KOU}},
  note         = {Machine review of arXiv:2606.27531}
}
read the original abstract

This report describes an American University (AU) student-faculty project to track the Orion spacecraft ``Integrity'' during the Artemis II mission, along its Earth-to-Moon trajectory. The Orion spacecraft has an S-band communications transmitter used for space-to-Earth messages. The S-band transmitter uses an orthogonal quadrature phase shift keying (OQPSK) digital mode, from which Doppler frequency measurements can be derived. This project successfully galvanized student excitement for experimental science, and for space science in particular. Even though we did not successfully obtain a Doppler estimate for the Orion spacecraft, we now have a fully functional end-to-end satellite tracking system as detailed in this report.

Figures

Figures reproduced from arXiv: 2606.27531 by the authors.

Figure 1
Figure 1. The American University Artemis II Tracking Team (Photo by Nikolai Roster, CAS.) This report describes an American University (AU) student-faculty project to track the Orion spacecraft “Integrity” during the Artemis II mission, along its Earth-to-Moon trajectory. The Orion spacecraft has an S-band communications transmitter used for space-to-Earth messages. The S-band trasmitter uses an orthogonal quadrature phase s… view at source ↗
Figure 2
Figure 2. Our team’s previous geostationary satellite collection experiment. parts and laser-cut acrylic with mesh zip tied to the frame. The ground station was located at AU in Washington DC, so the noise temperature of the location was extremely high due to being in a densely populated urban setting. Despite that, the system was able to sync with the GOES-19 satellite and receive telemetry data at 1.694 GHz [PITH_FULL_IMAG… view at source ↗
Figure 3
Figure 3. Our team’s previous high altitude balloon launch (left) and view from the balloon near zenith at about 100,000 ft (right). Even before the radio astronomy group was formed, many of the students and faculty cur￾rently involved in it were involved in a 2023–2024 high altitude particle detection project that successfully launched, tracked, and retrieved a payload that reached an elevation of 100000 ft. The payload was … view at source ↗
Figures from the paper (23 more)
Figure 4
Figure 4. Figure 4: Radio JOVE telescope at the Airlie site. L NA D C I N GPS DO SDR COMPUTER HDD HDD C LKI N RF I N DATA C L KO U T R F I N U S B - C F E E D LI N E G PS A N T E N N A D I S H A N T E N N A U S B U S B DOPPLER PROCESSING HIGH PERFORMANCE COMPUTER [PITH_FULL_IMAGE:figures…
Figure 5
Figure 5. Figure 5: Spacecraft Doppler measuring system block diagram. that the noise floor for our observations was as close to the thermal background as possible. Ultimately, as Sections 4.2 and 4.3 show, although the theoretical noise floor is about −107 dB, the observed noise floor wa…
Figure 6
Figure 6. Figure 6: Observing site in context. Also shown are the locations where the dish is stored when not in use, and the location of the Radio JOVE telescope site. (Image source: Google Maps) amplifier (LNA), so the local noise contribution from the site was about 7 dB, which is quit…
Figure 7
Figure 7. Figure 7: View of the parabolic dish. (Photo by Nikolai Roster, CAS.) [PITH_FULL_IMAGE:figures/full_fig_p007_7.png]
Figure 8
Figure 8. Figure 8: Manually pointing the dish using a commpass and inclinometer. (Photo by Nikolai Roster, CAS.) other students used magnetic compasses to establish the azimuth. Since the dish is ferromag￾netic, several compass readings from several locations were necessary to ensure rel…
Figure 9
Figure 9. Figure 9: Feedpoint mounting bracket (top view) its antenna at the focus of the dish. Plans are located at https://github.com/nick45508/ MUL-2.4M-C-C-Band-Satellite-Dish-Technical-Schematics-and-Manual. The installation process subjects the bracket to substantial stresses, but t…
Figure 10
Figure 10. Figure 10: Feedpoint assembly [PITH_FULL_IMAGE:figures/full_fig_p009_10.png]
Figure 11
Figure 11. Figure 11: Detail of the RF chain; the rubber duck antenna is attached where the feed assembly would go during data collection. 2.3.1. HackRF software defined radio (SDR). The receiver used was a HackRF Software De￾fined Radio (SDR). The receiver is capable of collecting 24 bit …
Figure 12
Figure 12. Figure 12: Overveiw of the RF chain. The rubber duck antenna is attached where the feed assembly would go during data collection. The computer shows data collection in progress [PITH_FULL_IMAGE:figures/full_fig_p010_12.png]
Figure 13
Figure 13. Figure 13: Data recording process. (Photo by Nikolai Roster, CAS.) observations. In this instance, the GPSDO allows us to peg our timing reference off of Universal Standard Time (UTC), ensuring an extremely accurate and reliable timing system. We used the LBE-1420 GPSDO locked c…
Figure 14
Figure 14. Figure 14: A typical screenshot of data collection in progress using SDR Angel radio (SDR) and signal analyzer frontend that supports a large range of hardware including most SDRs. After selecting the HackRF One as an input source, a file sink channel was added to record data. S…
Figure 15
Figure 15. Figure 15: SDR Angel used for satellite tracking. Although it was not used to track Artemis II, SDRangel’s satellite tracking feature can be used to download and display a table of data from two line elements (TLEs) based on the user’s position that provides useful information s…
Figure 16
Figure 16. Figure 16: Simulated Doppler detection sweep. True Doppler at 12 kHz is detected, though ambiguity spurs are present at sub-harmonics [PITH_FULL_IMAGE:figures/full_fig_p013_16.png]
Figure 17
Figure 17. Figure 17: Spectrogram of the cubesat of opportunity [PITH_FULL_IMAGE:figures/full_fig_p015_17.png]
Figure 18
Figure 18. Figure 18: Reception of a GPS satellite. (photo by Nikolai Roster, CAS) 3.2.2. GPS satellite. After collecting data from the Artemis II spacecraft but before packing up to return to campus, we successfully collected a GPS satellite at 2026-04-03T07:30. The signal was visually co…
Figure 19
Figure 19. Figure 19: Typical spectrogram collected in the Artemis II frequency band, showing SDR spur artifacts. 3.5. Doppler processing. To validate the performance of our Doppler processor, we performed two tests: (1) A simulation study wherein a known QPSK signal was injected into back…
Figure 20
Figure 20. Figure 20: Performance of the Doppler processor as a function of SNR. Pro￾cessing window sizes are shown as separate curves. 3.5.2. Using Artemis I archival data. The Dwingeloo observatory at 52.8 ◦ N, 6.38◦ E collected data from the Artemis I mission using their 25 m parabolic …
Figure 21
Figure 21. Figure 21: Doppler sweep of archival Artemis I data showing detected Doppler frequency of 12 kHz [PITH_FULL_IMAGE:figures/full_fig_p018_21.png]
Figure 22
Figure 22. Figure 22: Doppler sweep of cubesat of opportunity showing detected Doppler frequency of 25 kHz. 4.1. Trajectory considerations. We had hoped that from our observing site that the Orion spacecraft would be above the horizon shortly after the trans-lunar injection (TLI) burn, as …
Figure 23
Figure 23. Figure 23: Collecting data from a GPS satellite. (Photo by Nikolai Roster, CAS.) [PITH_FULL_IMAGE:figures/full_fig_p019_23.png]
Figure 24
Figure 24. Figure 24: Spectrogram of the 06:36:21 dataset [PITH_FULL_IMAGE:figures/full_fig_p020_24.png]
Figure 25
Figure 25. Figure 25: Doppler scan of the 06:11:19 dataset. No visible significant peaks are present beyond an artifact at 0 Hz caused by the SDR spur [PITH_FULL_IMAGE:figures/full_fig_p021_25.png]
Figure 26
Figure 26. Figure 26: Doppler scans of all attempted Artemis II collections using 25-45 kHz sweep [PITH_FULL_IMAGE:figures/full_fig_p021_26.png]

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    SIAM Workshop on Network Science 2016 , month=

    Cliff Joslyn and Brenda Praggastis and Emilie Purvine and Arun Sathanur and Michael Robinson and Stephen Ranshous , title=. SIAM Workshop on Network Science 2016 , month=. 2016 , address=

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    IEEE Conf

    Harish Chintakunta and Michael Robinson and Hamid Krim , title=. IEEE Conf. on Acoustics, Speech, and Signal Processing (ICASSP) , address=

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    Data Algorithms and Problems on Graphs (DAPG) , year=

    Michael Robinson , title=. Data Algorithms and Problems on Graphs (DAPG) , year=

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    Sampling Theory and Applications (SampTA 2015) , year=

    Michael Robinson , title=. Sampling Theory and Applications (SampTA 2015) , year=

    2015

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    IEEE Global Conference on Signal and Information Processing (GlobalSIP) , year=

    Michael Robinson , title=. IEEE Global Conference on Signal and Information Processing (GlobalSIP) , year=

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    Semantic Technologies for Intelligence, Defense, and Security (STIDS) , year=

    Cliff Joslyn and Emilie Hogan and Michael Robinson , title=. Semantic Technologies for Intelligence, Defense, and Security (STIDS) , year=

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    Journal of applied and computational topology , volume=

    A comparison framework for interleaved persistence modules , author=. Journal of applied and computational topology , volume=. 2019 , publisher=

    2019

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    2015 , institution=

    Michael Robinson , title=. 2015 , institution=

    2015

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    2015 , institution=

    Michael Robinson and Cliff Joslyn and Emilie Hogan and Chris Capraro , title=. 2015 , institution=

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    Topological symmetries: Quasiperiodicity and its application to filtering and classification problems , booktitle=

    Michael Robinson , address=. Topological symmetries: Quasiperiodicity and its application to filtering and classification problems , booktitle=. 2017 , month=

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  96. [104]

    Norbert Weiner Seminar , month=

    Michael Robinson , address=. Norbert Weiner Seminar , month=. 2017 , title=

    2017

  97. [105]

    Unmanned Maritime Systems Technology , month=

    Michael Robinson , address=. Unmanned Maritime Systems Technology , month=. 2017 , title=

    2017

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    2017 , booktitle=

    Cliff Joslyn and Kathleen Nowak and Brenda Praggastis and Emilie Purvine and Michael Robinson , title=. 2017 , booktitle=

    2017

  99. [107]

    Joint Mathematics Meetings Special Session on Sheaves in Topological Data Analysis , month=

    Michael Robinson , address=. Joint Mathematics Meetings Special Session on Sheaves in Topological Data Analysis , month=. 2017 , title=

    2017

  100. [108]

    Morgan State University Mathematics Colloquium , month=

    Michael Robinson , address=. Morgan State University Mathematics Colloquium , month=. 2016 , title=

    2016

  101. [109]

    ACM-Biocomputing and Bioinformatics Workshop on Topological Data Analysis in Biomedicine , month=

    Michael Robinson , address=. ACM-Biocomputing and Bioinformatics Workshop on Topological Data Analysis in Biomedicine , month=. 2016 , title=

    2016

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    Topological Signal Processing for Sonar Feature Representations , booktitle=

    Michael Robinson , year=. Topological Signal Processing for Sonar Feature Representations , booktitle=

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    Unmanned Maritime Systems Technology , month=

    Michael Robinson , address=. Unmanned Maritime Systems Technology , month=. 2016 , title=

    2016

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    Joint Mathematics Meetings Special Session on Computational and Applied Topology , month=

    Michael Robinson , address=. Joint Mathematics Meetings Special Session on Computational and Applied Topology , month=. 2016 , title=

    2016

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    Joint Mathematics Meetings MAA Contributed Session on Problems in Business Industry and Government , month=

    Emilie Purvine (speaker) and Cliff Joslyn and Michael Robinson , address=. Joint Mathematics Meetings MAA Contributed Session on Problems in Business Industry and Government , month=. 2016 , title=

    2016

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    American University Math and Stat Colloquium , month=

    Michael Robinson , address=. American University Math and Stat Colloquium , month=. 2015 , title=

    2015

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    Norbert Weiner Seminar , month=

    Michael Robinson , address=. Norbert Weiner Seminar , month=. 2015 , title=

    2015

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    Science of Multi-

    Michael Robinson , address=. Science of Multi-. 2015 , title=

    2015

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    2015 , title=

    Michael Robinson , address=. 2015 , title=

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    Topological Signal Processing for Feature Representations , booktitle=

    Michael Robinson , year=. Topological Signal Processing for Feature Representations , booktitle=

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    2015 , title=

    Cliff Joslyn (speaker) and Emilie Purvine and Michael Robinson , address=. 2015 , title=

    2015

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    Applied Topology Seminar , month=

    Michael Robinson , address=. Applied Topology Seminar , month=. 2015 , title=

    2015

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    Sheaf-based modeling of wireless communications , booktitle=

    Michael Robinson , year=. Sheaf-based modeling of wireless communications , booktitle=

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    NC State University ECE Seminar , month=

    Michael Robinson , address=. NC State University ECE Seminar , month=. 2015 , title=

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    Proceedings of Symposia in Applied Mathematics: Advances in Applied and Computational Topology , publisher=

    Justin Curry and Robert Ghrist and Michael Robinson , title=. Proceedings of Symposia in Applied Mathematics: Advances in Applied and Computational Topology , publisher=. 2012 , pages=

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    IEEE Trans

    Michael Robinson , title=. IEEE Trans. Ant. Prop. , volume=. 2014 , pages=

    2014

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    IET Radar Sonar and Navigation , volume=

    Michael Robinson , title=. IET Radar Sonar and Navigation , volume=. 2013 , pages=

    2013

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    Electronic Notes in Theoretical Computer Science , year=

    Michael Robinson , title=. Electronic Notes in Theoretical Computer Science , year=

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    Michael Robinson and Robert Ghrist , title=. IEEE. Trans. Sig. Proc. , volume=. 2012 , pages=

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    Inverse Problems , volume=

    Michael Robinson and Robert Ghrist , title=. Inverse Problems , volume=. 2011 , pages=

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    Electron

    Michael Robinson , title=. Electron. J. Diff. Eqns. , volume=. 2011 , number=

    2011

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    Michael Robinson , title=. Electron. J. Diff. Eqns. , volume=. 2009 , number=

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    Ergodic Theory and Dynamical Systems , volume=

    Michael Robinson , title=. Ergodic Theory and Dynamical Systems , volume=. 2009 , pages=

    2009

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    Electron

    Michael Robinson , title=. Electron. J. Diff. Eqns. , volume=. 2008 , number=

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    Michael Robinson , title=. J. Differential Equations , volume=. 2007 , pages=

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    Michael Robinson , title=. ACES Journal , volume=. 2007 , pages=

    2007

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    Sampling Theory and Applications (SampTA) , address=

    Michael Robinson , title=. Sampling Theory and Applications (SampTA) , address=

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    Michael Robinson , title=. IEEE Antennas and Propagation Society Symposium , year=

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    Journal Statistical Physics , volume=

    Embedology , author=. Journal Statistical Physics , volume=

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    Michael Robinson , title=. Discrete Mathematics Seminar , month=

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    Signature Detection Initiative Seminar , month=

    Michael Robinson , title=. Signature Detection Initiative Seminar , month=

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    Information Science and Technology Seminar Series , month=

    Michael Robinson , title=. Information Science and Technology Seminar Series , month=

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    IMA Workshop on Communication, Sensing, and Actuation , address=

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    Michael Robinson , title=. Applied Topology , year=

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    Michael Robinson , title=. BackTrack working group , month=

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    P. Alexandroff , title=. Mat. Sb. (N.S.) , year=

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Pith tools

Reviewed June 29, 2026 · model on record in the stance chip above.