small formating-fixes
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@ -8,9 +8,9 @@ AcsParameters::AcsParameters() {
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onBoardParams.sampleTime = 0.1;
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inertiaEIVE.inertiaMatrix = {{ 1, 0, 0},
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{ 0, 1, 0},
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{ 0,0.5, 1}};
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inertiaEIVE.inertiaMatrix = {{ 1.0, 0.0, 0.0},
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{ 0.0, 1.0, 0.0},
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{ 0.0, 0.5, 1.0}};
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mgmHandlingParameters.mgm0orientationMatrix = {{ 0, 0,-1},
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{ 0, 1, 0},
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@ -32,16 +32,16 @@ AcsParameters::AcsParameters() {
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rwHandlingParameters.maxTrq = 0.0032; //3.2 [mNm]
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//Geometry frame
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rwMatrices.alignmentMatrix = {{ 0.9205, 0,-0.9205, 0},
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{ 0,-0.9205, 0, 0.9205},
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{ 0.3907, 0.3907, 0.3907, 0.3907}};
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rwMatrices.alignmentMatrix = {{ 0.9205, 0.0000, -0.9205, 0.0000},
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{ 0.0000, -0.9205, 0.0000, 0.9205},
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{ 0.3907, 0.3907, 0.3907, 0.3907}};
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rwMatrices.pseudoInverse = {{ 0.4434,-0.2845, 0.3597},
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{ 0.2136,-0.3317, 1.0123},
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{-0.8672,-0.1406, 0.1778},
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{ 0.6426, 0.4794, 1.3603}};
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rwMatrices.pseudoInverse = {{ 0.4434, -0.2845, 0.3597},
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{ 0.2136, -0.3317, 1.0123},
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{ -0.8672, -0.1406, 0.1778},
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{ 0.6426, 0.4794, 1.3603}};
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rwMatrices.nullspace = {-0.7358, 0.5469,-0.3637,-0.1649};
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rwMatrices.nullspace = { -0.7358, 0.5469, -0.3637, -0.1649};
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kalmanFilterParameters.sensorNoiseSS = 8 * Math::PI / 180;
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kalmanFilterParameters.sensorNoiseMAG = 4 * Math::PI / 180;
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@ -52,63 +52,63 @@ public:
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private:
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const double coeffG[14][13] = {{-29404.8,-2499.6, 1363.2, 903.0,-234.3, 66.0, 80.6, 23.7, 5.0,-1.9, 3.0,-2.0, 0.1},
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{ -1450.9, 2982.0,-2381.2, 809.5, 363.2, 65.5,-76.7, 9.7, 8.4,-6.2,-1.4,-0.1,-0.9},
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{ 0 , 1677.0, 1236.2, 86.3, 187.8, 72.9, -8.2,-17.6, 2.9,-0.1,-2.5, 0.5, 0.5},
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{ 0 , 0 , 525.7,-309.4,-140.7,-121.5, 56.5, -0.5, -1.5, 1.7, 2.3, 1.3, 0.7},
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{ 0 , 0 , 0 , 48.0,-151.2, -36.2, 15.8,-21.1, -1.1,-0.9,-0.9,-1.2,-0.3},
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{ 0 , 0 , 0 , 0 , 13.5, 13.5, 6.4, 15.3,-13.2, 0.7, 0.3, 0.7, 0.8},
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{ 0 , 0 , 0 , 0 , 0 , -64.7, -7.2, 13.7, 1.1,-0.9,-0.7, 0.3, 0.0},
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{ 0 , 0 , 0 , 0 , 0 , 0 , 9.8,-16.5, 8.8, 1.9,-0.1, 0.5, 0.8},
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{ 0 , 0 , 0 , 0 , 0 , 0 , 0 , -0.3, -9.3, 1.4, 1.4,-0.3, 0.0},
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{ 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 ,-11.9,-2.4,-0.6,-0.5, 0.4},
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{ 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 ,-3.8, 0.2, 0.1, 0.1},
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{ 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 3.1,-1.1, 0.5},
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{ 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 ,-0.3,-0.5},
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{ 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 ,-0.4}}; // [m][n] in nT
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{ 0.0, 1677.0, 1236.2, 86.3, 187.8, 72.9, -8.2,-17.6, 2.9,-0.1,-2.5, 0.5, 0.5},
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{ 0.0, 0.0, 525.7,-309.4,-140.7,-121.5, 56.5, -0.5, -1.5, 1.7, 2.3, 1.3, 0.7},
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{ 0.0, 0.0, 0.0, 48.0,-151.2, -36.2, 15.8,-21.1, -1.1,-0.9,-0.9,-1.2,-0.3},
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{ 0.0, 0.0, 0.0, 0.0, 13.5, 13.5, 6.4, 15.3,-13.2, 0.7, 0.3, 0.7, 0.8},
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{ 0.0, 0.0, 0.0, 0.0, 0.0, -64.7, -7.2, 13.7, 1.1,-0.9,-0.7, 0.3, 0.0},
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{ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 9.8,-16.5, 8.8, 1.9,-0.1, 0.5, 0.8},
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{ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -0.3, -9.3, 1.4, 1.4,-0.3, 0.0},
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{ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,-11.9,-2.4,-0.6,-0.5, 0.4},
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{ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,-3.8, 0.2, 0.1, 0.1},
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{ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 3.1,-1.1, 0.5},
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{ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,-0.3,-0.5},
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{ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,-0.4}}; // [m][n] in nT
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const double coeffH[14][13] = {{ 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 },
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const double coeffH[14][13] = {{ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0 },
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{4652.5,-2991.6, -82.1, 281.9, 47.7,-19.1,-51.5, 8.4,-23.4, 3.4, 0.0,-1.2,-0.9},
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{ 0 , -734.6, 241.9,-158.4, 208.3, 25.1,-16.9,-15.3, 11.0,-0.2, 2.5, 0.5, 0.6},
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{ 0 , 0 ,-543.4, 199.7,-121.2, 52.8, 2.2, 12.8, 9.8, 3.6,-0.6, 1.4, 1.4},
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{ 0 , 0 , 0 ,-349.7, 32.3,-64.5, 23.5,-11.7, -5.1, 4.8,-0.4,-1.8,-0.4},
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{ 0 , 0 , 0 , 0 , 98.9, 8.9, -2.2, 14.9, -6.3,-8.6, 0.6, 0.1,-1.3},
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{ 0 , 0 , 0 , 0 , 0 , 68.1,-27.2, 3.6, 7.8,-0.1,-0.2, 0.8,-0.1},
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{ 0 , 0 , 0 , 0 , 0 , 0 , -1.8, -6.9, 0.4,-4.3,-1.7,-0.2, 0.3},
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{ 0 , 0 , 0 , 0 , 0 , 0 , 0 , 2.8, -1.4,-3.4,-1.6, 0.6,-0.1},
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{ 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 9.6,-0.1,-3.0, 0.2, 0.5},
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{ 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 ,-8.8,-2.0,-0.9, 0.5},
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{ 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 ,-2.6, 0.0,-0.4},
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{ 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0.5,-0.4},
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{ 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 ,-0.6}}; // [m][n] in nT
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{ 0.0, -734.6, 241.9,-158.4, 208.3, 25.1,-16.9,-15.3, 11.0,-0.2, 2.5, 0.5, 0.6},
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{ 0.0, 0.0,-543.4, 199.7,-121.2, 52.8, 2.2, 12.8, 9.8, 3.6,-0.6, 1.4, 1.4},
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{ 0.0, 0.0, 0.0,-349.7, 32.3,-64.5, 23.5,-11.7, -5.1, 4.8,-0.4,-1.8,-0.4},
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{ 0.0, 0.0, 0.0, 0.0, 98.9, 8.9, -2.2, 14.9, -6.3,-8.6, 0.6, 0.1,-1.3},
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{ 0.0, 0.0, 0.0, 0.0, 0.0, 68.1,-27.2, 3.6, 7.8,-0.1,-0.2, 0.8,-0.1},
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{ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -1.8, -6.9, 0.4,-4.3,-1.7,-0.2, 0.3},
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{ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.8, -1.4,-3.4,-1.6, 0.6,-0.1},
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{ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 9.6,-0.1,-3.0, 0.2, 0.5},
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{ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,-8.8,-2.0,-0.9, 0.5},
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{ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,-2.6, 0.0,-0.4},
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{ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5,-0.4},
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{ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,-0.6}}; // [m][n] in nT
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const double svG[14][13] = {{5.7,-11.0, 2.2,-1.2,-0.3,-0.5,-0.1, 0 , 0, 0, 0, 0 ,0},
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{7.4, -7.0, -5.9,-1.6, 0.5,-0.3,-0.2, 0.1, 0, 0, 0, 0, 0},
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{0 , -2.1, 3.1,-5.9,-0.6, 0.4, 0.0,-0.1, 0, 0, 0, 0, 0},
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{0 , 0 ,-12.0, 5.2, 0.2, 1.3, 0.7, 0.4, 0, 0, 0, 0, 0},
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{0 , 0 , 0 ,-5.1, 1.3,-1.4, 0.1,-0.1, 0, 0, 0, 0, 0},
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{0 , 0 , 0 , 0 , 0.9, 0.0,-0.5, 0.4, 0, 0, 0, 0, 0},
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{0 , 0 , 0 , 0 , 0 , 0.9,-0.8, 0.3, 0, 0, 0, 0, 0},
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{0 , 0 , 0 , 0 , 0 , 0 , 0.8,-0.1, 0, 0, 0, 0, 0},
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{0 , 0 , 0 , 0 , 0 , 0 , 0 , 0.4, 0, 0, 0, 0, 0},
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{0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0, 0, 0, 0, 0},
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{0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0, 0, 0, 0, 0},
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{0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0, 0, 0, 0, 0},
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{0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0, 0, 0, 0, 0},
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{0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0, 0, 0, 0, 0}}; // [m][n] in nT
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const double svG[14][13] = {{5.7,-11.0, 2.2,-1.2,-0.3,-0.5,-0.1, 0.0, 0.0, 0.0, 0.0, 0.0 ,0.0},
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{7.4, -7.0, -5.9,-1.6, 0.5,-0.3,-0.2, 0.1, 0.0, 0.0, 0.0, 0.0, 0.0},
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{0.0, -2.1, 3.1,-5.9,-0.6, 0.4, 0.0,-0.1, 0.0, 0.0, 0.0, 0.0, 0.0},
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{0.0, 0.0,-12.0, 5.2, 0.2, 1.3, 0.7, 0.4, 0.0, 0.0, 0.0, 0.0, 0.0},
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{0.0, 0.0, 0.0,-5.1, 1.3,-1.4, 0.1,-0.1, 0.0, 0.0, 0.0, 0.0, 0.0},
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{0.0, 0.0, 0.0, 0.0, 0.9, 0.0,-0.5, 0.4, 0.0, 0.0, 0.0, 0.0, 0.0},
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{0.0, 0.0, 0.0, 0.0, 0.0, 0.9,-0.8, 0.3, 0.0, 0.0, 0.0, 0.0, 0.0},
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{0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.8,-0.1, 0.0, 0.0, 0.0, 0.0, 0.0},
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{0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4, 0.0, 0.0, 0.0, 0.0, 0.0},
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{0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
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{0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
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{0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
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{0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
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{0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0}}; // [m][n] in nT
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const double svH[14][13] = {{ 0.0, 0.0, 0 , 0.0, 0.0, 0.0, 0.0, 0.0, 0, 0, 0, 0, 0},
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{-25.9,-30.2, 6.0,-0.1, 0.0, 0.0, 0.6,-0.2, 0, 0, 0, 0, 0},
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{ 0 ,-22.4,-1.1, 6.5, 2.5,-1.6, 0.6, 0.6, 0, 0, 0, 0, 0},
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{ 0 , 0 , 0.5, 3.6,-0.6,-1.3,-0.8,-0.2, 0, 0, 0, 0, 0},
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{ 0 , 0 , 0 ,-5.0, 3.0, 0.8,-0.2, 0.5, 0, 0, 0, 0, 0},
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{ 0 , 0 , 0 , 0 , 0.3, 0.0,-1.1,-0.3, 0, 0, 0, 0, 0},
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{ 0 , 0 , 0 , 0 , 0 , 1.0, 0.1,-0.4, 0, 0, 0, 0, 0},
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{ 0 , 0 , 0 , 0 , 0 , 0 , 0.3, 0.5, 0, 0, 0, 0, 0},
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{ 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0, 0, 0, 0, 0},
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{ 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0, 0, 0, 0, 0},
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{ 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0, 0, 0, 0, 0},
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{ 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0, 0, 0, 0, 0},
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{ 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0, 0, 0, 0, 0},
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{ 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0 , 0, 0, 0, 0, 0}}; // [m][n] in nT
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const double svH[14][13] = {{ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
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{-25.9,-30.2, 6.0,-0.1, 0.0, 0.0, 0.6,-0.2, 0.0, 0.0, 0.0, 0.0, 0.0},
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{ 0.0,-22.4,-1.1, 6.5, 2.5,-1.6, 0.6, 0.6, 0.0, 0.0, 0.0, 0.0, 0.0},
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{ 0.0, 0.0, 0.5, 3.6,-0.6,-1.3,-0.8,-0.2, 0.0, 0.0, 0.0, 0.0, 0.0},
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{ 0.0, 0.0, 0.0,-5.0, 3.0, 0.8,-0.2, 0.5, 0.0, 0.0, 0.0, 0.0, 0.0},
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{ 0.0, 0.0, 0.0, 0.0, 0.3, 0.0,-1.1,-0.3, 0.0, 0.0, 0.0, 0.0, 0.0},
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{ 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.1,-0.4, 0.0, 0.0, 0.0, 0.0, 0.0},
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{ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3, 0.5, 0.0, 0.0, 0.0, 0.0, 0.0},
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{ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
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{ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
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{ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
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{ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
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{ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
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{ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0}}; // [m][n] in nT
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double updatedG[14][13];
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double updatedH[14][13];
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