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Optical satellite communication has received considerable attention as a promising alternative to radio frequency communication because of its potential advantages including higher data rates and license free spectrum. Many studies have conducted performance analyses of optical communication channels, but few have investigated beacon tracking channels under atmospheric turbulence. The centroid accuracy of beacon tracking channels is limited by not only noise sources, but also a finite delay time, which also fluctuates due to atmospheric turbulence. Consequently, the centroid error is an important figure of merit when evaluating the performance of a beacon tracking system. In this study, the closed-form expressions were derived for average centroid error and fade probability, based on received photoelectron counts depending on exposure time, taking into account the log-normal tracking channels. We analyzed the angular positioning performance of beacon tracking detectors onboard small satellites in the presence of atmospheric turbulence, in terms of centroid error and fade probability. We found that an optimal exposure time exists, which minimizes the centroid error, and that fade probability is inversely proportional to the exposure time. These are significant properties to consider in the design of beacon tracking systems.

Centroid Error Analysis of Beacon Tracking under Atmospheric Turbulence for Optical Communication Links