fsfw/coordinates/CoordinateTransformations.cpp

#include <framework/coordinates/CoordinateTransformations.h>
#include <framework/globalfunctions/constants.h>
#include <framework/globalfunctions/math/MatrixOperations.h>
#include <framework/globalfunctions/math/VectorOperations.h>
#include <stddef.h>
#include <cmath>


void CoordinateTransformations::positionEcfToEci(const double* ecfPosition,
		double* eciPosition, timeval *timeUTC) {
	ecfToEci(ecfPosition, eciPosition, NULL, timeUTC);

}

void CoordinateTransformations::velocityEcfToEci(const double* ecfVelocity,
		const double* ecfPosition, double* eciVelocity, timeval *timeUTC) {
	ecfToEci(ecfVelocity, eciVelocity, ecfPosition, timeUTC);
}

void CoordinateTransformations::positionEciToEcf(const double* eciCoordinates, double* ecfCoordinates,timeval *timeUTC){
	eciToEcf(eciCoordinates,ecfCoordinates,NULL,timeUTC);
};

void CoordinateTransformations::velocityEciToEcf(const double* eciVelocity,const double* eciPosition, double* ecfVelocity,timeval* timeUTC){
	eciToEcf(eciVelocity,ecfVelocity,eciPosition,timeUTC);
}

double CoordinateTransformations::getEarthRotationAngle(timeval timeUTC) {

	double jD2000UTC;
	Clock::convertTimevalToJD2000(timeUTC, &jD2000UTC);

	double TTt2000 = getJuleanCenturiesTT(timeUTC);

	double theta = 2 * Math::PI
			* (0.779057273264 + 1.00273781191135448 * jD2000UTC);

	//Correct theta according to IAU 2000 precession-nutation model
	theta = theta + 7.03270725817493E-008 + 0.0223603701 * TTt2000
			+ 6.77128219501896E-006 * TTt2000 * TTt2000
			+ 4.5300990362875E-010 * TTt2000 * TTt2000 * TTt2000
			+ 9.12419347848147E-011 * TTt2000 * TTt2000 * TTt2000 * TTt2000;
	return theta;
}

void CoordinateTransformations::getEarthRotationMatrix(timeval timeUTC,
		double matrix[][3]) {
	double theta = getEarthRotationAngle(timeUTC);

	matrix[0][0] = cos(theta);
	matrix[0][1] = sin(theta);
	matrix[0][2] = 0;
	matrix[1][0] = -sin(theta);
	matrix[1][1] = cos(theta);
	matrix[1][2] = 0;
	matrix[2][0] = 0;
	matrix[2][1] = 0;
	matrix[2][2] = 1;
}

void CoordinateTransformations::ecfToEci(const double* ecfCoordinates,
		double* eciCoordinates,
		const double* ecfPositionIfCoordinatesAreVelocity, timeval *timeUTCin) {

	timeval timeUTC;
	if (timeUTCin != NULL) {
		timeUTC = *timeUTCin;
	} else {
		Clock::getClock_timeval(&timeUTC);
	}

	double Tfi[3][3];
	double Tif[3][3];
	getTransMatrixECITOECF(timeUTC,Tfi);

	MatrixOperations<double>::transpose(Tfi[0], Tif[0], 3);

	MatrixOperations<double>::multiply(Tif[0], ecfCoordinates, eciCoordinates,
			3, 3, 1);




	if (ecfPositionIfCoordinatesAreVelocity != NULL) {

		double Tdotfi[3][3];
		double Tdotif[3][3];
		double Trot[3][3] = { { 0, Earth::OMEGA, 0 },
				{ 0 - Earth::OMEGA, 0, 0 }, { 0, 0, 0 } };

		MatrixOperations<double>::multiply(Trot[0], Tfi[0], Tdotfi[0], 3, 3,
				3);

		MatrixOperations<double>::transpose(Tdotfi[0], Tdotif[0], 3);

		double velocityCorrection[3];

		MatrixOperations<double>::multiply(Tdotif[0],
				ecfPositionIfCoordinatesAreVelocity, velocityCorrection, 3, 3,
				1);

		VectorOperations<double>::add(velocityCorrection, eciCoordinates,
				eciCoordinates, 3);
	}
}

double CoordinateTransformations::getJuleanCenturiesTT(timeval timeUTC) {
	timeval timeTT;
	Clock::convertUTCToTT(timeUTC, &timeTT);
	double jD2000TT;
	Clock::convertTimevalToJD2000(timeTT, &jD2000TT);

	return jD2000TT / 36525.;
}

void CoordinateTransformations::eciToEcf(const double* eciCoordinates,
		double* ecfCoordinates,
		const double* eciPositionIfCoordinatesAreVelocity,timeval *timeUTCin){
	timeval timeUTC;
	if (timeUTCin != NULL) {
		timeUTC = *timeUTCin;
	}else{
		Clock::getClock_timeval(&timeUTC);
	}

	double Tfi[3][3];

	getTransMatrixECITOECF(timeUTC,Tfi);

	MatrixOperations<double>::multiply(Tfi[0],eciCoordinates,ecfCoordinates,3,3,1);

	if (eciPositionIfCoordinatesAreVelocity != NULL) {

			double Tdotfi[3][3];
			double Trot[3][3] = { { 0, Earth::OMEGA, 0 },
					{ 0 - Earth::OMEGA, 0, 0 }, { 0, 0, 0 } };

			MatrixOperations<double>::multiply(Trot[0], Tfi[0], Tdotfi[0], 3, 3,
					3);

			double velocityCorrection[3];

			MatrixOperations<double>::multiply(Tdotfi[0],
					eciPositionIfCoordinatesAreVelocity, velocityCorrection, 3, 3,
					1);

			VectorOperations<double>::add(ecfCoordinates, velocityCorrection,
					ecfCoordinates, 3);
		}
};

void CoordinateTransformations::getTransMatrixECITOECF(timeval timeUTC,double Tfi[3][3]){
	double TTt2000 = getJuleanCenturiesTT(timeUTC);

		//////////////////////////////////////////////////////////
		// Calculate Precession Matrix

		double zeta = 0.0111808609 * TTt2000
				+ 1.46355554053347E-006 * TTt2000 * TTt2000
				+ 8.72567663260943E-008 * TTt2000 * TTt2000 * TTt2000;
		double theta_p = 0.0097171735 * TTt2000
				- 2.06845757045384E-006 * TTt2000 * TTt2000
				- 2.02812107218552E-007 * TTt2000 * TTt2000 * TTt2000;
		double z = zeta + 3.8436028638364E-006 * TTt2000 * TTt2000
				+ 0.000000001 * TTt2000 * TTt2000 * TTt2000;

		double mPrecession[3][3];

		mPrecession[0][0] = -sin(z) * sin(zeta) + cos(z) * cos(theta_p) * cos(zeta);
		mPrecession[1][0] = cos(z) * sin(zeta) + sin(z) * cos(theta_p) * cos(zeta);
		mPrecession[2][0] = sin(theta_p) * cos(zeta);

		mPrecession[0][1] = -sin(z) * cos(zeta) - cos(z) * cos(theta_p) * sin(zeta);
		mPrecession[1][1] = cos(z) * cos(zeta) - sin(z) * cos(theta_p) * sin(zeta);
		mPrecession[2][1] = -sin(theta_p) * sin(zeta);

		mPrecession[0][2] = -cos(z) * sin(theta_p);
		mPrecession[1][2] = -sin(z) * sin(theta_p);
		mPrecession[2][2] = cos(theta_p);

		//////////////////////////////////////////////////////////
		// Calculate Nutation Matrix

		double omega_moon = 2.1824386244 - 33.7570459338 * TTt2000
				+ 3.61428599267159E-005 * TTt2000 * TTt2000
				+ 3.87850944887629E-008 * TTt2000 * TTt2000 * TTt2000;

		double deltaPsi = -0.000083388 * sin(omega_moon);
		double deltaEpsilon = 4.46174030725106E-005 * cos(omega_moon);

		double epsilon = 0.4090928042 - 0.0002269655 * TTt2000
				- 2.86040071854626E-009 * TTt2000 * TTt2000
				+ 8.78967203851589E-009 * TTt2000 * TTt2000 * TTt2000;


		double mNutation[3][3];

		mNutation[0][0] = cos(deltaPsi);
		mNutation[1][0] = cos(epsilon + deltaEpsilon) * sin(deltaPsi);
		mNutation[2][0] = sin(epsilon + deltaEpsilon) * sin(deltaPsi);

		mNutation[0][1] = -cos(epsilon) * sin(deltaPsi);
		mNutation[1][1] = cos(epsilon) * cos(epsilon + deltaEpsilon) * cos(deltaPsi)
				+ sin(epsilon) * sin(epsilon + deltaEpsilon);
		mNutation[2][1] = cos(epsilon) * sin(epsilon + deltaEpsilon) * cos(deltaPsi)
				- sin(epsilon) * cos(epsilon + deltaEpsilon);

		mNutation[0][2] = -sin(epsilon) * sin(deltaPsi);
		mNutation[1][2] = sin(epsilon) * cos(epsilon + deltaEpsilon) * cos(deltaPsi)
				- cos(epsilon) * sin(epsilon + deltaEpsilon);
		mNutation[2][2] = sin(epsilon) * sin(epsilon + deltaEpsilon) * cos(deltaPsi)
				+ cos(epsilon) * cos(epsilon + deltaEpsilon);

		//////////////////////////////////////////////////////////
		// Calculate Earth rotation matrix
		//calculate theta

		double mTheta[3][3];
		double Ttemp[3][3];
		getEarthRotationMatrix(timeUTC, mTheta);

		//polar motion is neglected
		MatrixOperations<double>::multiply(mNutation[0], mPrecession[0], Ttemp[0],
				3, 3, 3);

		MatrixOperations<double>::multiply(mTheta[0], Ttemp[0], Tfi[0], 3, 3, 3);
};