some things also broken some things fixed again
This commit is contained in:
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f12fa77644
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6352b65f46
@ -227,10 +227,7 @@ void AcsController::performPointingCtrl() {
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navigation.useMekf(&sensorValues, &gyrDataProcessed, &mgmDataProcessed, &susDataProcessed,
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&mekfData, &validMekf);
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double targetQuat[4] = {0, 0, 0, 0}, refSatRate[3] = {0, 0, 0};
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double quatRef[4] = {0, 0, 0, 0};
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uint8_t enableAntiStiction = true;
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double quatErrorComplete[4] = {0, 0, 0, 0}, quatError[3] = {0, 0, 0},
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deltaRate[3] = {0, 0, 0}; // ToDo: check if pointer needed
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double rwPseudoInv[4][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
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@ -248,6 +245,7 @@ void AcsController::performPointingCtrl() {
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double torqueRws[4] = {0, 0, 0, 0}, torqueRwsScaled[4] = {0, 0, 0, 0};
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double mgtDpDes[3] = {0, 0, 0};
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double targetQuat[4] = {0, 0, 0, 0}, targetSatRotRate[3] = {0, 0, 0};
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switch (submode) {
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case acs::PTG_IDLE:
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guidance.targetQuatPtgSun(&sensorValues, &mekfData, &susDataProcessed, &gpsDataProcessed, now,
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@ -273,11 +271,14 @@ void AcsController::performPointingCtrl() {
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break;
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case acs::PTG_TARGET:
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guidance.targetQuatPtgThreeAxes(&sensorValues, &gpsDataProcessed, &mekfData, now, targetQuat,
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refSatRate);
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std::memcpy(quatRef, acsParameters.targetModeControllerParameters.quatRef,
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4 * sizeof(double));
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enableAntiStiction = acsParameters.targetModeControllerParameters.enableAntiStiction;
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if (!gpsDataProcessed.gpsPosition.isValid() || !gpsDataProcessed.gpsVelocity.isValid()) {
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// ToDo: triggerEvent
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return;
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}
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guidance.targetQuatPtgThreeAxes(now, gpsDataProcessed.gpsPosition.value,
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gpsDataProcessed.gpsVelocity.value, targetQuat,
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targetSatRotRate);
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guidance.comparePtg(targetQuat, &mekfData, quatRef, refSatRate, quatErrorComplete, quatError,
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deltaRate);
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ptgCtrl.ptgLaw(&acsParameters.targetModeControllerParameters, quatError, deltaRate,
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@ -12,27 +12,12 @@
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#include "util/CholeskyDecomposition.h"
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#include "util/MathOperations.h"
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Guidance::Guidance(AcsParameters *acsParameters_) { acsParameters = *acsParameters_; }
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Guidance::Guidance(AcsParameters *acsParameters_) : acsParameters(*acsParameters_) {}
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Guidance::~Guidance() {}
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void Guidance::getTargetParamsSafe(double sunTargetSafe[3], double satRateSafe[3]) {
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if (not std::filesystem::exists(SD_0_SKEWED_PTG_FILE) or
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not std::filesystem::exists(SD_1_SKEWED_PTG_FILE)) { // ToDo: if file does not exist anymore
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std::memcpy(sunTargetSafe, acsParameters.safeModeControllerParameters.sunTargetDir,
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3 * sizeof(double));
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} else {
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std::memcpy(sunTargetSafe, acsParameters.safeModeControllerParameters.sunTargetDirLeop,
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3 * sizeof(double));
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}
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std::memcpy(satRateSafe, acsParameters.safeModeControllerParameters.satRateRef,
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3 * sizeof(double));
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}
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void Guidance::targetQuatPtgSingleAxis(acsctrl::MekfData *mekfData,
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acsctrl::SusDataProcessed *susDataProcessed,
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timeval now,
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double targetQuat[4], double refSatRate[3]) {
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void Guidance::targetQuatPtgSingleAxis(timeval now, double posSatE[3], double targetQuat[4],
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double refSatRate[3]) {
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//-------------------------------------------------------------------------------------
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// Calculation of target quaternion to groundstation or given latitude, longitude and altitude
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//-------------------------------------------------------------------------------------
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@ -49,7 +34,7 @@ void Guidance::targetQuatPtgSingleAxis(acsctrl::MekfData *mekfData,
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double targetDirE[3] = {0, 0, 0};
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VectorOperations<double>::subtract(targetCart, posSatE, targetDirE, 3);
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// Transformation between ECEF and IJK frame
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// Transformation between ECEF and ECI frame
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double dcmEJ[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
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double dcmJE[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
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double dcmEJDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
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@ -60,13 +45,12 @@ void Guidance::targetQuatPtgSingleAxis(acsctrl::MekfData *mekfData,
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MathOperations<double>::inverseMatrixDimThree(*dcmEJDot, *dcmJEDot);
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// Transformation between ECEF and Body frame
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double dcmBJ[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
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double dcmBE[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
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double quatBJ[4] = {0, 0, 0, 0};
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std::memcpy(quatBJ, mekfData->quatMekf.value, 4 * sizeof(double));
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// double dcmBJ[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
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// double dcmBE[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
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// double quatBJ[4] = {0, 0, 0, 0};
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QuaternionOperations::toDcm(quatBJ, dcmBJ);
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MatrixOperations<double>::multiply(*dcmBJ, *dcmJE, *dcmBE, 3, 3, 3);
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// QuaternionOperations::toDcm(quatBJ, dcmBJ);
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// MatrixOperations<double>::multiply(*dcmBJ, *dcmJE, *dcmBE, 3, 3, 3);
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// Target Direction in the body frame
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double targetDirB[3] = {0, 0, 0};
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@ -163,119 +147,70 @@ void Guidance::targetQuatPtgSingleAxis(acsctrl::MekfData *mekfData,
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}
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}
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void Guidance::refRotationRate(int8_t timeElapsedMax, timeval now, double quatInertialTarget[4],
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double *refSatRate) {
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//-------------------------------------------------------------------------------------
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// Calculation of reference rotation rate
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//-------------------------------------------------------------------------------------
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double timeElapsed = now.tv_sec + now.tv_usec * pow(10, -6) -
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(timeSavedQuaternion.tv_sec +
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timeSavedQuaternion.tv_usec * pow((double)timeSavedQuaternion.tv_usec, -6));
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if (timeElapsed < timeElapsedMax) {
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double qDiff[4] = {0, 0, 0, 0};
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VectorOperations<double>::subtract(quatInertialTarget, savedQuaternion, qDiff, 4);
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VectorOperations<double>::mulScalar(qDiff, 1 / timeElapsed, qDiff, 4);
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double tgtQuatVec[3] = {quatInertialTarget[0], quatInertialTarget[1], quatInertialTarget[2]},
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qDiffVec[3] = {qDiff[0], qDiff[1], qDiff[2]};
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double sum1[3] = {0, 0, 0}, sum2[3] = {0, 0, 0}, sum3[3] = {0, 0, 0}, sum[3] = {0, 0, 0};
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VectorOperations<double>::cross(quatInertialTarget, qDiff, sum1);
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VectorOperations<double>::mulScalar(tgtQuatVec, qDiff[3], sum2, 3);
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VectorOperations<double>::mulScalar(qDiffVec, quatInertialTarget[3], sum3, 3);
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VectorOperations<double>::add(sum1, sum2, sum, 3);
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VectorOperations<double>::subtract(sum, sum3, sum, 3);
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double omegaRefNew[3] = {0, 0, 0};
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VectorOperations<double>::mulScalar(sum, -2, omegaRefNew, 3);
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VectorOperations<double>::mulScalar(omegaRefNew, 2, refSatRate, 3);
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VectorOperations<double>::subtract(refSatRate, omegaRefSaved, refSatRate, 3);
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omegaRefSaved[0] = omegaRefNew[0];
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omegaRefSaved[1] = omegaRefNew[1];
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omegaRefSaved[2] = omegaRefNew[2];
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} else {
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refSatRate[0] = 0;
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refSatRate[1] = 0;
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refSatRate[2] = 0;
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}
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timeSavedQuaternion = now;
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savedQuaternion[0] = quatInertialTarget[0];
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savedQuaternion[1] = quatInertialTarget[1];
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savedQuaternion[2] = quatInertialTarget[2];
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savedQuaternion[3] = quatInertialTarget[3];
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}
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void Guidance::targetQuatPtgThreeAxes(acsctrl::MekfData *mekfData, timeval now,
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double targetQuat[4], double refSatRate[3]) {
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void Guidance::targetQuatPtgThreeAxes(timeval now, double posSatE[3], double velSatE[3],
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double quatIX[4], double refSatRate[3]) {
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//-------------------------------------------------------------------------------------
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// Calculation of target quaternion for target pointing
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//-------------------------------------------------------------------------------------
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// Transform longitude, latitude and altitude to cartesian coordiantes (earth
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// fixed/centered frame)
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double targetCart[3] = {0, 0, 0};
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// transform longitude, latitude and altitude to cartesian coordiantes (ECEF)
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double targetE[3] = {0, 0, 0};
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MathOperations<double>::cartesianFromLatLongAlt(
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acsParameters.targetModeControllerParameters.latitudeTgt,
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acsParameters.targetModeControllerParameters.longitudeTgt,
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acsParameters.targetModeControllerParameters.altitudeTgt, targetCart);
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acsParameters.targetModeControllerParameters.altitudeTgt, targetE);
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double targetDirE[3] = {0, 0, 0};
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VectorOperations<double>::subtract(targetCart, posSatE, targetDirE, 3);
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VectorOperations<double>::subtract(targetE, posSatE, targetDirE, 3);
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// Transformation between ECEF and IJK frame
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double dcmEJ[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
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double dcmJE[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
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double dcmEJDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
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MathOperations<double>::ecfToEciWithNutPre(now, *dcmEJ, *dcmEJDot);
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MathOperations<double>::inverseMatrixDimThree(*dcmEJ, *dcmJE);
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// transformation between ECEF and ECI frame
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double dcmEI[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
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double dcmIE[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
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double dcmEIDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
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MathOperations<double>::ecfToEciWithNutPre(now, *dcmEI, *dcmEIDot);
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MathOperations<double>::inverseMatrixDimThree(*dcmEI, *dcmIE);
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double dcmJEDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
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MathOperations<double>::inverseMatrixDimThree(*dcmEJDot, *dcmJEDot);
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double dcmIEDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
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MathOperations<double>::inverseMatrixDimThree(*dcmEIDot, *dcmIEDot);
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// Target Direction and position vector in the inertial frame
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double targetDirJ[3] = {0, 0, 0}, posSatJ[3] = {0, 0, 0};
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MatrixOperations<double>::multiply(*dcmJE, targetDirE, targetDirJ, 3, 3, 1);
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MatrixOperations<double>::multiply(*dcmJE, posSatE, posSatJ, 3, 3, 1);
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// target direction and position vector in the inertial frame
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double targetDirI[3] = {0, 0, 0}, posSatI[3] = {0, 0, 0};
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MatrixOperations<double>::multiply(*dcmIE, targetDirE, targetDirI, 3, 3, 1);
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MatrixOperations<double>::multiply(*dcmIE, posSatE, posSatI, 3, 3, 1);
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// negative x-Axis aligned with target (Camera/E-band transmitter position)
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// negative x-axis aligned with target
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// this aligns with the camera, E- and S-band antennas
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double xAxis[3] = {0, 0, 0};
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VectorOperations<double>::normalize(targetDirJ, xAxis, 3);
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VectorOperations<double>::normalize(targetDirI, xAxis, 3);
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VectorOperations<double>::mulScalar(xAxis, -1, xAxis, 3);
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// Transform velocity into inertial frame
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double velocityE[3];
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std::memcpy(velocityE, gpsDataProcessed->gpsVelocity.value, 3 * sizeof(double));
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double velocityJ[3] = {0, 0, 0}, velPart1[3] = {0, 0, 0}, velPart2[3] = {0, 0, 0};
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MatrixOperations<double>::multiply(*dcmJE, velocityE, velPart1, 3, 3, 1);
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MatrixOperations<double>::multiply(*dcmJEDot, posSatE, velPart2, 3, 3, 1);
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VectorOperations<double>::add(velPart1, velPart2, velocityJ, 3);
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// transform velocity into inertial frame
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double velocityI[3] = {0, 0, 0}, velPart1[3] = {0, 0, 0}, velPart2[3] = {0, 0, 0};
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MatrixOperations<double>::multiply(*dcmIE, velSatE, velPart1, 3, 3, 1);
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MatrixOperations<double>::multiply(*dcmIEDot, posSatE, velPart2, 3, 3, 1);
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VectorOperations<double>::add(velPart1, velPart2, velocityI, 3);
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// orbital normal vector
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double orbitalNormalJ[3] = {0, 0, 0};
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VectorOperations<double>::cross(posSatJ, velocityJ, orbitalNormalJ);
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VectorOperations<double>::normalize(orbitalNormalJ, orbitalNormalJ, 3);
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// orbital normal vector of target and velocity vector
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double orbitalNormalI[3] = {0, 0, 0};
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VectorOperations<double>::cross(posSatI, velocityI, orbitalNormalI);
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VectorOperations<double>::normalize(orbitalNormalI, orbitalNormalI, 3);
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// y-Axis of satellite in orbit plane so that z-axis parallel to long side of picture resolution
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// y-axis of satellite in orbit plane so that z-axis is parallel to long side of picture
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// resolution
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double yAxis[3] = {0, 0, 0};
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VectorOperations<double>::cross(orbitalNormalJ, xAxis, yAxis);
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VectorOperations<double>::cross(orbitalNormalI, xAxis, yAxis);
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VectorOperations<double>::normalize(yAxis, yAxis, 3);
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// z-Axis completes RHS
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// z-axis completes RHS
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double zAxis[3] = {0, 0, 0};
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VectorOperations<double>::cross(xAxis, yAxis, zAxis);
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// Complete transformation matrix
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double dcmTgt[3][3] = {{xAxis[0], yAxis[0], zAxis[0]},
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// join transformation matrix
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double dcmIX[3][3] = {{xAxis[0], yAxis[0], zAxis[0]},
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{xAxis[1], yAxis[1], zAxis[1]},
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{xAxis[2], yAxis[2], zAxis[2]}};
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double quatInertialTarget[4] = {0, 0, 0, 0};
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QuaternionOperations::fromDcm(dcmTgt, quatInertialTarget);
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QuaternionOperations::fromDcm(dcmIX, quatIX);
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int8_t timeElapsedMax = acsParameters.targetModeControllerParameters.timeElapsedMax;
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refRotationRate(timeElapsedMax, now, quatInertialTarget, refSatRate);
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// Transform in system relative to satellite frame
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double quatBJ[4] = {0, 0, 0, 0};
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std::memcpy(quatBJ, mekfData->quatMekf.value, 4 * sizeof(double));
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QuaternionOperations::multiply(quatBJ, quatInertialTarget, targetQuat);
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refRotationRate(timeElapsedMax, now, quatIX, refSatRate);
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}
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void Guidance::targetQuatPtgGs(timeval now, double targetQuat[4], double refSatRate[3]) {
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@ -293,7 +228,7 @@ void Guidance::targetQuatPtgGs(timeval now, double targetQuat[4], double refSatR
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double targetDirE[3] = {0, 0, 0};
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VectorOperations<double>::subtract(groundStationCart, posSatE, targetDirE, 3);
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// Transformation between ECEF and IJK frame
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// Transformation between ECEF and ECI frame
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double dcmEJ[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
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double dcmJE[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
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double dcmEJDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
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@ -367,7 +302,7 @@ void Guidance::targetQuatPtgSun(timeval now, double targetQuat[4], double refSat
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return;
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}
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// Transformation between ECEF and IJK frame
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// Transformation between ECEF and ECI frame
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double dcmEJ[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
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double dcmJE[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
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double dcmEJDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
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@ -422,7 +357,7 @@ void Guidance::targetQuatPtgNadirSingleAxis(timeval now, double targetQuat[4],
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double targetDirE[3] = {0, 0, 0};
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VectorOperations<double>::mulScalar(posSatE, -1, targetDirE, 3);
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// Transformation between ECEF and IJK frame
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// Transformation between ECEF and ECI frame
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double dcmEJ[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
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double dcmJE[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
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double dcmEJDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
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@ -479,7 +414,7 @@ void Guidance::quatNadirPtgThreeAxes(double posSateE[3], double velSateE[3], tim
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double targetDirE[3] = {0, 0, 0};
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VectorOperations<double>::mulScalar(posSatE, -1, targetDirE, 3);
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// Transformation between ECEF and IJK frame
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// Transformation between ECEF and ECI frame
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double dcmEJ[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
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double dcmJE[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
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double dcmEJDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
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@ -560,6 +495,48 @@ void Guidance::comparePtg(double targetQuat[4], double quatRef[4], double refSat
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// under 150 arcsec ??
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}
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void Guidance::refRotationRate(int8_t timeElapsedMax, timeval now, double quatInertialTarget[4],
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double *refSatRate) {
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//-------------------------------------------------------------------------------------
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// Calculation of reference rotation rate
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//-------------------------------------------------------------------------------------
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double timeElapsed = now.tv_sec + now.tv_usec * pow(10, -6) -
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(timeSavedQuaternion.tv_sec +
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timeSavedQuaternion.tv_usec * pow((double)timeSavedQuaternion.tv_usec, -6));
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if (timeElapsed < timeElapsedMax) {
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double qDiff[4] = {0, 0, 0, 0};
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VectorOperations<double>::subtract(quatInertialTarget, savedQuaternion, qDiff, 4);
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VectorOperations<double>::mulScalar(qDiff, 1 / timeElapsed, qDiff, 4);
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double tgtQuatVec[3] = {quatInertialTarget[0], quatInertialTarget[1], quatInertialTarget[2]},
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qDiffVec[3] = {qDiff[0], qDiff[1], qDiff[2]};
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double sum1[3] = {0, 0, 0}, sum2[3] = {0, 0, 0}, sum3[3] = {0, 0, 0}, sum[3] = {0, 0, 0};
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VectorOperations<double>::cross(quatInertialTarget, qDiff, sum1);
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VectorOperations<double>::mulScalar(tgtQuatVec, qDiff[3], sum2, 3);
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VectorOperations<double>::mulScalar(qDiffVec, quatInertialTarget[3], sum3, 3);
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VectorOperations<double>::add(sum1, sum2, sum, 3);
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VectorOperations<double>::subtract(sum, sum3, sum, 3);
|
||||
double omegaRefNew[3] = {0, 0, 0};
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VectorOperations<double>::mulScalar(sum, -2, omegaRefNew, 3);
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||||
|
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VectorOperations<double>::mulScalar(omegaRefNew, 2, refSatRate, 3);
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||||
VectorOperations<double>::subtract(refSatRate, omegaRefSaved, refSatRate, 3);
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omegaRefSaved[0] = omegaRefNew[0];
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omegaRefSaved[1] = omegaRefNew[1];
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||||
omegaRefSaved[2] = omegaRefNew[2];
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} else {
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||||
refSatRate[0] = 0;
|
||||
refSatRate[1] = 0;
|
||||
refSatRate[2] = 0;
|
||||
}
|
||||
|
||||
timeSavedQuaternion = now;
|
||||
savedQuaternion[0] = quatInertialTarget[0];
|
||||
savedQuaternion[1] = quatInertialTarget[1];
|
||||
savedQuaternion[2] = quatInertialTarget[2];
|
||||
savedQuaternion[3] = quatInertialTarget[3];
|
||||
}
|
||||
|
||||
ReturnValue_t Guidance::getDistributionMatrixRw(ACS::SensorValues *sensorValues,
|
||||
double *rwPseudoInv) {
|
||||
bool rw1valid = (sensorValues->rw1Set.state.value && sensorValues->rw1Set.state.isValid());
|
||||
@ -590,3 +567,16 @@ ReturnValue_t Guidance::getDistributionMatrixRw(ACS::SensorValues *sensorValues,
|
||||
return returnvalue::FAILED;
|
||||
}
|
||||
}
|
||||
|
||||
void Guidance::getTargetParamsSafe(double sunTargetSafe[3], double satRateSafe[3]) {
|
||||
if (not std::filesystem::exists(SD_0_SKEWED_PTG_FILE) or
|
||||
not std::filesystem::exists(SD_1_SKEWED_PTG_FILE)) { // ToDo: if file does not exist anymore
|
||||
std::memcpy(sunTargetSafe, acsParameters.safeModeControllerParameters.sunTargetDir,
|
||||
3 * sizeof(double));
|
||||
} else {
|
||||
std::memcpy(sunTargetSafe, acsParameters.safeModeControllerParameters.sunTargetDirLeop,
|
||||
3 * sizeof(double));
|
||||
}
|
||||
std::memcpy(satRateSafe, acsParameters.safeModeControllerParameters.satRateRef,
|
||||
3 * sizeof(double));
|
||||
}
|
||||
|
||||
@ -16,9 +16,10 @@ class Guidance {
|
||||
|
||||
// Function to get the target quaternion and refence rotation rate from gps position and
|
||||
// position of the ground station
|
||||
void targetQuatPtgThreeAxes(timeval now, double targetQuat[4], double refSatRate[3]);
|
||||
void targetQuatPtgGs(timeval now, double targetQuat[4], double refSatRate[3]);
|
||||
void targetQuatPtgSingleAxis(timeval now, double targetQuat[4], double refSatRate[3]);
|
||||
void targetQuatPtgThreeAxes(timeval now, double posSatE[3], double velSatE[3], double quatIX[4],
|
||||
double refSatRate[3]);
|
||||
void targetQuatPtgGs(timeval now, double targetQuat[4], double refSatRate[3]);
|
||||
|
||||
// Function to get the target quaternion and refence rotation rate for sun pointing after ground
|
||||
// station
|
||||
@ -26,15 +27,15 @@ class Guidance {
|
||||
|
||||
// Function to get the target quaternion and refence rotation rate from gps position for Nadir
|
||||
// pointing
|
||||
void targetQuatPtgNadirThreeAxes(timeval now, double targetQuat[4], double refSatRate[3]);
|
||||
void targetQuatPtgNadirSingleAxis(timeval now, double targetQuat[4], double refSatRate[3]);
|
||||
void targetQuatPtgNadirThreeAxes(timeval now, double targetQuat[4], double refSatRate[3]);
|
||||
|
||||
// Function to get the target quaternion and refence rotation rate from parameters for inertial
|
||||
// pointing
|
||||
void targetQuatPtgInertial(double targetQuat[4], double refSatRate[3]);
|
||||
|
||||
// @note: compares target Quaternion and reference quaternion, also actual satellite rate and
|
||||
// desired
|
||||
// @note: compares target Quaternion and reference quaternion, also actual and desired satellite
|
||||
// rate
|
||||
void comparePtg(double targetQuat[4], double quatRef[4], double refSatRate[3],
|
||||
double quatErrorComplete[4], double quatError[3], double deltaRate[3]);
|
||||
|
||||
|
||||
Loading…
Reference in New Issue
Block a user