eive/eive-obsw
13
4
Fork 0
Code Issues 4 Pull Requests 1 Releases 121 Wiki Activity

clang
Some checks failed
EIVE/eive-obsw/pipeline/head There was a failure building this commit
Details

Browse Source
This commit is contained in:
Marius Eggert
2022-12-13 11:51:03 +01:00
parent d33ae9ede7
commit b49d37e15a
12 changed files with 577 additions and 575 deletions
Download Patch File Download Diff File Expand all files Collapse all files

424
mission/controller/acs/Guidance.cpp
View File

@ -47,9 +47,9 @@ void Guidance::targetQuatPtg(ACS::SensorValues *sensorValues, acsctrl::MekfData
// Position of the satellite in the earth/fixed frame via GPS
double posSatE[3] = {0, 0, 0};
double geodeticLatRad = (sensorValues->gpsSet.latitude.value)*PI/180;
double longitudeRad = (sensorValues->gpsSet.longitude.value)*PI/180;
MathOperations<double>::cartesianFromLatLongAlt(geodeticLatRad,longitudeRad,
double geodeticLatRad = (sensorValues->gpsSet.latitude.value) * PI / 180;
double longitudeRad = (sensorValues->gpsSet.longitude.value) * PI / 180;
MathOperations<double>::cartesianFromLatLongAlt(geodeticLatRad, longitudeRad,
sensorValues->gpsSet.altitude.value, posSatE);
// Target direction in the ECEF frame
@ -174,125 +174,128 @@ void Guidance::targetQuatPtg(ACS::SensorValues *sensorValues, acsctrl::MekfData
}
}
void Guidance::targetQuatPtg(ACS::SensorValues* sensorValues, ACS::OutputValues *outputValues, timeval now,
double targetQuat[4], double refSatRate[3]) {
void Guidance::targetQuatPtg(ACS::SensorValues *sensorValues, ACS::OutputValues *outputValues,
timeval now, double targetQuat[4], double refSatRate[3]) {
//-------------------------------------------------------------------------------------
// Calculation of target quaternion for target pointing
//-------------------------------------------------------------------------------------
// Transform longitude, latitude and altitude to cartesian coordiantes (earth
// fixed/centered frame)
double groundStationCart[3] = {0, 0, 0};
//-------------------------------------------------------------------------------------
// Calculation of target quaternion for target pointing
//-------------------------------------------------------------------------------------
// Transform longitude, latitude and altitude to cartesian coordiantes (earth
// fixed/centered frame)
double groundStationCart[3] = {0, 0, 0};
MathOperations<double>::cartesianFromLatLongAlt(acsParameters.groundStationParameters.latitudeGs,
acsParameters.groundStationParameters.longitudeGs,
acsParameters.groundStationParameters.altitudeGs,
groundStationCart);
// Position of the satellite in the earth/fixed frame via GPS
double posSatE[3] = {0, 0, 0};
double geodeticLatRad = (sensorValues->gpsSet.latitude.value) * PI / 180;
double longitudeRad = (sensorValues->gpsSet.longitude.value) * PI / 180;
MathOperations<double>::cartesianFromLatLongAlt(geodeticLatRad, longitudeRad,
sensorValues->gpsSet.altitude.value, posSatE);
double targetDirE[3] = {0, 0, 0};
VectorOperations<double>::subtract(groundStationCart, posSatE, targetDirE, 3);
MathOperations<double>::cartesianFromLatLongAlt(acsParameters.groundStationParameters.latitudeGs,
acsParameters.groundStationParameters.longitudeGs,
acsParameters.groundStationParameters.altitudeGs,
groundStationCart);
// Position of the satellite in the earth/fixed frame via GPS
double posSatE[3] = {0, 0, 0};
double geodeticLatRad = (sensorValues->gpsSet.latitude.value)*PI/180;
double longitudeRad = (sensorValues->gpsSet.longitude.value)*PI/180;
MathOperations<double>::cartesianFromLatLongAlt(geodeticLatRad,longitudeRad,
sensorValues->gpsSet.altitude.value, posSatE);
double targetDirE[3] = {0, 0, 0};
VectorOperations<double>::subtract(groundStationCart, posSatE, targetDirE, 3);
// Transformation between ECEF and IJK frame
double dcmEJ[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
double dcmJE[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
double dcmEJDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
MathOperations<double>::ecfToEciWithNutPre(now, *dcmEJ, *dcmEJDot);
MathOperations<double>::inverseMatrixDimThree(*dcmEJ, *dcmJE);
// Transformation between ECEF and IJK frame
double dcmEJ[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
double dcmJE[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
double dcmEJDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
MathOperations<double>::ecfToEciWithNutPre(now, *dcmEJ, *dcmEJDot);
MathOperations<double>::inverseMatrixDimThree(*dcmEJ, *dcmJE);
double dcmJEDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
MathOperations<double>::inverseMatrixDimThree(*dcmEJDot, *dcmJEDot);
double dcmJEDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
MathOperations<double>::inverseMatrixDimThree(*dcmEJDot, *dcmJEDot);
// Target Direction and position vector in the inertial frame
double targetDirJ[3] = {0, 0, 0}, posSatJ[3] = {0, 0, 0};
MatrixOperations<double>::multiply(*dcmJE, targetDirE, targetDirJ, 3, 3, 1);
MatrixOperations<double>::multiply(*dcmJE, posSatE, posSatJ, 3, 3, 1);
// Target Direction and position vector in the inertial frame
double targetDirJ[3] = {0, 0, 0}, posSatJ[3] = {0, 0, 0};
MatrixOperations<double>::multiply(*dcmJE, targetDirE, targetDirJ, 3, 3, 1);
MatrixOperations<double>::multiply(*dcmJE, posSatE, posSatJ, 3, 3, 1);
// negative x-Axis aligned with target (Camera/E-band transmitter position)
double xAxis[3] = {0, 0, 0};
VectorOperations<double>::normalize(targetDirJ, xAxis, 3);
VectorOperations<double>::mulScalar(xAxis, -1, xAxis, 3);
// negative x-Axis aligned with target (Camera/E-band transmitter position)
double xAxis[3] = {0, 0, 0};
VectorOperations<double>::normalize(targetDirJ, xAxis, 3);
VectorOperations<double>::mulScalar(xAxis, -1, xAxis, 3);
// Transform velocity into inertial frame
double velocityE[3] = {outputValues->gpsVelocity[0], outputValues->gpsVelocity[1],
outputValues->gpsVelocity[2]};
double velocityJ[3] = {0, 0, 0}, velPart1[3] = {0, 0, 0}, velPart2[3] = {0, 0, 0};
MatrixOperations<double>::multiply(*dcmJE, velocityE, velPart1, 3, 3, 1);
MatrixOperations<double>::multiply(*dcmJEDot, posSatE, velPart2, 3, 3, 1);
VectorOperations<double>::add(velPart1, velPart2, velocityJ, 3);
// Transform velocity into inertial frame
double velocityE[3] = {outputValues->gpsVelocity[0], outputValues->gpsVelocity[1], outputValues->gpsVelocity[2]};
double velocityJ[3] = {0, 0, 0}, velPart1[3] = {0, 0, 0}, velPart2[3] = {0, 0, 0};
MatrixOperations<double>::multiply(*dcmJE, velocityE, velPart1, 3, 3, 1);
MatrixOperations<double>::multiply(*dcmJEDot, posSatE, velPart2, 3, 3, 1);
VectorOperations<double>::add(velPart1, velPart2, velocityJ, 3);
// orbital normal vector
double orbitalNormalJ[3] = {0, 0, 0};
VectorOperations<double>::cross(posSatJ, velocityJ, orbitalNormalJ);
VectorOperations<double>::normalize(orbitalNormalJ, orbitalNormalJ, 3);
// orbital normal vector
double orbitalNormalJ[3] = {0, 0, 0};
VectorOperations<double>::cross(posSatJ, velocityJ, orbitalNormalJ);
VectorOperations<double>::normalize(orbitalNormalJ, orbitalNormalJ, 3);
// y-Axis of satellite in orbit plane so that z-axis parallel to long side of picture resolution
double yAxis[3] = {0, 0, 0};
VectorOperations<double>::cross(orbitalNormalJ, xAxis, yAxis);
VectorOperations<double>::normalize(yAxis, yAxis, 3);
// y-Axis of satellite in orbit plane so that z-axis parallel to long side of picture resolution
double yAxis[3] = {0, 0, 0};
VectorOperations<double>::cross(orbitalNormalJ, xAxis, yAxis);
VectorOperations<double>::normalize(yAxis, yAxis, 3);
// z-Axis completes RHS
double zAxis[3] = {0, 0, 0};
VectorOperations<double>::cross(xAxis, yAxis, zAxis);
// z-Axis completes RHS
double zAxis[3] = {0, 0, 0};
VectorOperations<double>::cross(xAxis, yAxis, zAxis);
// Complete transformation matrix
double dcmTgt[3][3] = {{xAxis[0], yAxis[0], zAxis[0]},
{xAxis[1], yAxis[1], zAxis[1]},
{xAxis[2], yAxis[2], zAxis[2]}};
double quatInertialTarget[4] = {0, 0, 0, 0};
QuaternionOperations::fromDcm(dcmTgt, quatInertialTarget);
//Complete transformation matrix
double dcmTgt[3][3] = {{xAxis[0], yAxis[0], zAxis[0]}, {xAxis[1], yAxis[1], zAxis[1]}, {xAxis[2], yAxis[2], zAxis[2]}};
double quatInertialTarget[4] = {0, 0, 0, 0};
QuaternionOperations::fromDcm(dcmTgt,quatInertialTarget);
//-------------------------------------------------------------------------------------
// Calculation of reference rotation rate
//-------------------------------------------------------------------------------------
double timeElapsed =
now.tv_sec + now.tv_usec * pow(10, -6) -
(timeSavedQuaternionNadir.tv_sec +
timeSavedQuaternionNadir.tv_usec * pow(timeSavedQuaternionNadir.tv_usec, -6));
if (timeElapsed < acsParameters.pointingModeControllerParameters.nadirTimeElapsedMax) {
double qDiff[4] = {0, 0, 0, 0};
VectorOperations<double>::subtract(quatInertialTarget, savedQuaternionNadir, qDiff, 4);
VectorOperations<double>::mulScalar(qDiff, 1 / timeElapsed, qDiff, 4);
//-------------------------------------------------------------------------------------
// Calculation of reference rotation rate
//-------------------------------------------------------------------------------------
double timeElapsed = now.tv_sec + now.tv_usec * pow(10,-6) - (timeSavedQuaternionNadir.tv_sec +
timeSavedQuaternionNadir.tv_usec * pow(timeSavedQuaternionNadir.tv_usec,-6));
if (timeElapsed < acsParameters.pointingModeControllerParameters.nadirTimeElapsedMax) {
double qDiff[4] = {0, 0, 0, 0};
VectorOperations<double>::subtract(quatInertialTarget, savedQuaternionNadir, qDiff, 4);
VectorOperations<double>::mulScalar(qDiff, 1/timeElapsed, qDiff, 4);
double tgtQuatVec[3] = {quatInertialTarget[0], quatInertialTarget[1], quatInertialTarget[2]},
qDiffVec[3] = {qDiff[0], qDiff[1], qDiff[2]};
double sum1[3] = {0, 0, 0}, sum2[3] = {0, 0, 0}, sum3[3] = {0, 0, 0}, sum[3] = {0, 0, 0};
VectorOperations<double>::cross(quatInertialTarget, qDiff, sum1);
VectorOperations<double>::mulScalar(tgtQuatVec, qDiff[3], sum2, 3);
VectorOperations<double>::mulScalar(qDiffVec, quatInertialTarget[3], sum3, 3);
VectorOperations<double>::add(sum1, sum2, sum, 3);
VectorOperations<double>::subtract(sum, sum3, sum, 3);
double omegaRefNew[3] = {0, 0, 0};
VectorOperations<double>::mulScalar(sum, -2, omegaRefNew, 3);
double tgtQuatVec[3] = {quatInertialTarget[0], quatInertialTarget[1], quatInertialTarget[2]},
qDiffVec[3] = {qDiff[0], qDiff[1], qDiff[2]};
double sum1[3] = {0, 0, 0}, sum2[3] = {0, 0, 0}, sum3[3] = {0, 0, 0}, sum[3] = {0, 0, 0};
VectorOperations<double>::cross(quatInertialTarget, qDiff, sum1);
VectorOperations<double>::mulScalar(tgtQuatVec, qDiff[3], sum2, 3);
VectorOperations<double>::mulScalar(qDiffVec, quatInertialTarget[3], sum3, 3);
VectorOperations<double>::add(sum1, sum2, sum, 3);
VectorOperations<double>::subtract(sum, sum3, sum, 3);
double omegaRefNew[3] = {0, 0, 0};
VectorOperations<double>::mulScalar(sum, -2, omegaRefNew, 3);
VectorOperations<double>::mulScalar(omegaRefNew, 2, refSatRate, 3);
VectorOperations<double>::subtract(refSatRate, omegaRefSavedNadir, refSatRate, 3);
omegaRefSavedNadir[0] = omegaRefNew[0];
omegaRefSavedNadir[1] = omegaRefNew[1];
omegaRefSavedNadir[2] = omegaRefNew[2];
} else {
refSatRate[0] = 0;
refSatRate[1] = 0;
refSatRate[2] = 0;
}
VectorOperations<double>::mulScalar(omegaRefNew, 2, refSatRate, 3);
VectorOperations<double>::subtract(refSatRate, omegaRefSavedNadir, refSatRate, 3);
omegaRefSavedNadir[0] = omegaRefNew[0];
omegaRefSavedNadir[1] = omegaRefNew[1];
omegaRefSavedNadir[2] = omegaRefNew[2];
}
else {
refSatRate[0] = 0;
refSatRate[1] = 0;
refSatRate[2] = 0;
}
timeSavedQuaternionNadir = now;
savedQuaternionNadir[0] = quatInertialTarget[0];
savedQuaternionNadir[1] = quatInertialTarget[1];
savedQuaternionNadir[2] = quatInertialTarget[2];
savedQuaternionNadir[3] = quatInertialTarget[3];
timeSavedQuaternionNadir = now;
savedQuaternionNadir[0] = quatInertialTarget[0];
savedQuaternionNadir[1] = quatInertialTarget[1];
savedQuaternionNadir[2] = quatInertialTarget[2];
savedQuaternionNadir[3] = quatInertialTarget[3];
// Transform in system relative to satellite frame
double quatBJ[4] = {0, 0, 0, 0};
quatBJ[0] = outputValues->quatMekfBJ[0];
quatBJ[1] = outputValues->quatMekfBJ[1];
quatBJ[2] = outputValues->quatMekfBJ[2];
quatBJ[3] = outputValues->quatMekfBJ[3];
QuaternionOperations::multiply(quatBJ, quatInertialTarget, targetQuat);
// Transform in system relative to satellite frame
double quatBJ[4] = {0, 0, 0, 0};
quatBJ[0] = outputValues->quatMekfBJ[0];
quatBJ[1] = outputValues->quatMekfBJ[1];
quatBJ[2] = outputValues->quatMekfBJ[2];
quatBJ[3] = outputValues->quatMekfBJ[3];
QuaternionOperations::multiply(quatBJ, quatInertialTarget, targetQuat);
}
void Guidance::sunQuatPtg(ACS::SensorValues* sensorValues, ACS::OutputValues *outputValues, timeval now,
double targetQuat[4], double refSatRate[3]) {
void Guidance::sunQuatPtg(ACS::SensorValues *sensorValues, ACS::OutputValues *outputValues,
timeval now, double targetQuat[4], double refSatRate[3]) {
//-------------------------------------------------------------------------------------
// Calculation of target quaternion to sun
//-------------------------------------------------------------------------------------
@ -354,17 +357,18 @@ void Guidance::sunQuatPtg(ACS::SensorValues* sensorValues, ACS::OutputValues *ou
MathOperations<double>::inverseMatrixDimThree(*dcmEJDot, *dcmJEDot);
// positive z-Axis of EIVE in direction of sun
double zAxis[3] = {0 ,0 ,0};
double zAxis[3] = {0, 0, 0};
VectorOperations<double>::normalize(sunDirB, zAxis, 3);
// Position of the satellite in the earth/fixed frame via GPS and body
// velocity
double posSatE[3] = {0, 0, 0};
double geodeticLatRad = (sensorValues->gpsSet.latitude.value)*PI/180;
double longitudeRad = (sensorValues->gpsSet.longitude.value)*PI/180;
MathOperations<double>::cartesianFromLatLongAlt(geodeticLatRad,longitudeRad,
double geodeticLatRad = (sensorValues->gpsSet.latitude.value) * PI / 180;
double longitudeRad = (sensorValues->gpsSet.longitude.value) * PI / 180;
MathOperations<double>::cartesianFromLatLongAlt(geodeticLatRad, longitudeRad,
sensorValues->gpsSet.altitude.value, posSatE);
double velocityE[3] = {outputValues->gpsVelocity[0], outputValues->gpsVelocity[1], outputValues->gpsVelocity[2]};
double velocityE[3] = {outputValues->gpsVelocity[0], outputValues->gpsVelocity[1],
outputValues->gpsVelocity[2]};
double velocityJ[3] = {0, 0, 0}, velPart1[3] = {0, 0, 0}, velPart2[3] = {0, 0, 0};
MatrixOperations<double>::multiply(*dcmJE, velocityE, velPart1, 3, 3, 1);
MatrixOperations<double>::multiply(*dcmJEDot, posSatE, velPart2, 3, 3, 1);
@ -387,9 +391,11 @@ void Guidance::sunQuatPtg(ACS::SensorValues* sensorValues, ACS::OutputValues *ou
// Transformation matrix to Sun, no further transforamtions, reference is already
// the EIVE body frame
double dcmTgt[3][3] = {{xAxis[0], yAxis[0], zAxis[0]}, {xAxis[1], yAxis[1], zAxis[1]}, {xAxis[2], yAxis[2], zAxis[2]}};
double dcmTgt[3][3] = {{xAxis[0], yAxis[0], zAxis[0]},
{xAxis[1], yAxis[1], zAxis[1]},
{xAxis[2], yAxis[2], zAxis[2]}};
double quatSun[4] = {0, 0, 0, 0};
QuaternionOperations::fromDcm(dcmTgt,quatSun);
QuaternionOperations::fromDcm(dcmTgt, quatSun);
targetQuat[0] = quatSun[0];
targetQuat[1] = quatSun[1];
@ -404,16 +410,18 @@ void Guidance::sunQuatPtg(ACS::SensorValues* sensorValues, ACS::OutputValues *ou
refSatRate[2] = 0;
}
void Guidance::quatNadirPtgOldVersion(ACS::SensorValues* sensorValues, ACS::OutputValues *outputValues, timeval now,
double targetQuat[4], double refSatRate[3]) { // old version of Nadir Pointing
void Guidance::quatNadirPtgOldVersion(ACS::SensorValues *sensorValues,
ACS::OutputValues *outputValues, timeval now,
double targetQuat[4],
double refSatRate[3]) { // old version of Nadir Pointing
//-------------------------------------------------------------------------------------
// Calculation of target quaternion for Nadir pointing
//-------------------------------------------------------------------------------------
// Position of the satellite in the earth/fixed frame via GPS
double posSatE[3] = {0, 0, 0};
double geodeticLatRad = (sensorValues->gpsSet.latitude.value)*PI/180;
double longitudeRad = (sensorValues->gpsSet.longitude.value)*PI/180;
MathOperations<double>::cartesianFromLatLongAlt(geodeticLatRad,longitudeRad,
double geodeticLatRad = (sensorValues->gpsSet.latitude.value) * PI / 180;
double longitudeRad = (sensorValues->gpsSet.longitude.value) * PI / 180;
MathOperations<double>::cartesianFromLatLongAlt(geodeticLatRad, longitudeRad,
sensorValues->gpsSet.altitude.value, posSatE);
double targetDirE[3] = {0, 0, 0};
VectorOperations<double>::mulScalar(posSatE, -1, targetDirE, 3);
@ -468,116 +476,118 @@ void Guidance::quatNadirPtgOldVersion(ACS::SensorValues* sensorValues, ACS::Outp
refSatRate[0] = 0;
refSatRate[1] = 0;
refSatRate[2] = 0;
}
void Guidance::quatNadirPtg(ACS::SensorValues* sensorValues, ACS::OutputValues *outputValues, timeval now,
double targetQuat[4], double refSatRate[3]) {
void Guidance::quatNadirPtg(ACS::SensorValues *sensorValues, ACS::OutputValues *outputValues,
timeval now, double targetQuat[4], double refSatRate[3]) {
//-------------------------------------------------------------------------------------
// Calculation of target quaternion for Nadir pointing
//-------------------------------------------------------------------------------------
// Position of the satellite in the earth/fixed frame via GPS
double posSatE[3] = {0, 0, 0};
double geodeticLatRad = (sensorValues->gpsSet.latitude.value) * PI / 180;
double longitudeRad = (sensorValues->gpsSet.longitude.value) * PI / 180;
MathOperations<double>::cartesianFromLatLongAlt(geodeticLatRad, longitudeRad,
sensorValues->gpsSet.altitude.value, posSatE);
double targetDirE[3] = {0, 0, 0};
VectorOperations<double>::mulScalar(posSatE, -1, targetDirE, 3);
//-------------------------------------------------------------------------------------
// Calculation of target quaternion for Nadir pointing
//-------------------------------------------------------------------------------------
// Position of the satellite in the earth/fixed frame via GPS
double posSatE[3] = {0, 0, 0};
double geodeticLatRad = (sensorValues->gpsSet.latitude.value)*PI/180;
double longitudeRad = (sensorValues->gpsSet.longitude.value)*PI/180;
MathOperations<double>::cartesianFromLatLongAlt(geodeticLatRad,longitudeRad,
sensorValues->gpsSet.altitude.value, posSatE);
double targetDirE[3] = {0, 0, 0};
VectorOperations<double>::mulScalar(posSatE, -1, targetDirE, 3);
// Transformation between ECEF and IJK frame
double dcmEJ[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
double dcmJE[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
double dcmEJDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
MathOperations<double>::ecfToEciWithNutPre(now, *dcmEJ, *dcmEJDot);
MathOperations<double>::inverseMatrixDimThree(*dcmEJ, *dcmJE);
// Transformation between ECEF and IJK frame
double dcmEJ[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
double dcmJE[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
double dcmEJDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
MathOperations<double>::ecfToEciWithNutPre(now, *dcmEJ, *dcmEJDot);
MathOperations<double>::inverseMatrixDimThree(*dcmEJ, *dcmJE);
double dcmJEDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
MathOperations<double>::inverseMatrixDimThree(*dcmEJDot, *dcmJEDot);
double dcmJEDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
MathOperations<double>::inverseMatrixDimThree(*dcmEJDot, *dcmJEDot);
// Target Direction in the body frame
double targetDirJ[3] = {0, 0, 0};
MatrixOperations<double>::multiply(*dcmJE, targetDirE, targetDirJ, 3, 3, 1);
// Target Direction in the body frame
double targetDirJ[3] = {0, 0, 0};
MatrixOperations<double>::multiply(*dcmJE, targetDirE, targetDirJ, 3, 3, 1);
// negative x-Axis aligned with target (Camera position)
double xAxis[3] = {0, 0, 0};
VectorOperations<double>::normalize(targetDirJ, xAxis, 3);
VectorOperations<double>::mulScalar(xAxis, -1, xAxis, 3);
// negative x-Axis aligned with target (Camera position)
double xAxis[3] = {0, 0, 0};
VectorOperations<double>::normalize(targetDirJ, xAxis, 3);
VectorOperations<double>::mulScalar(xAxis, -1, xAxis, 3);
// z-Axis parallel to long side of picture resolution
double zAxis[3] = {0, 0, 0};
double velocityE[3] = {outputValues->gpsVelocity[0], outputValues->gpsVelocity[1],
outputValues->gpsVelocity[2]};
double velocityJ[3] = {0, 0, 0}, velPart1[3] = {0, 0, 0}, velPart2[3] = {0, 0, 0};
MatrixOperations<double>::multiply(*dcmJE, velocityE, velPart1, 3, 3, 1);
MatrixOperations<double>::multiply(*dcmJEDot, posSatE, velPart2, 3, 3, 1);
VectorOperations<double>::add(velPart1, velPart2, velocityJ, 3);
VectorOperations<double>::cross(xAxis, velocityJ, zAxis);
VectorOperations<double>::normalize(zAxis, zAxis, 3);
// z-Axis parallel to long side of picture resolution
double zAxis[3] = {0, 0, 0};
double velocityE[3] = {outputValues->gpsVelocity[0], outputValues->gpsVelocity[1], outputValues->gpsVelocity[2]};
double velocityJ[3] = {0, 0, 0}, velPart1[3] = {0, 0, 0}, velPart2[3] = {0, 0, 0};
MatrixOperations<double>::multiply(*dcmJE, velocityE, velPart1, 3, 3, 1);
MatrixOperations<double>::multiply(*dcmJEDot, posSatE, velPart2, 3, 3, 1);
VectorOperations<double>::add(velPart1, velPart2, velocityJ, 3);
VectorOperations<double>::cross(xAxis, velocityJ, zAxis);
VectorOperations<double>::normalize(zAxis, zAxis, 3);
// y-Axis completes RHS
double yAxis[3] = {0, 0, 0};
VectorOperations<double>::cross(zAxis, xAxis, yAxis);
// y-Axis completes RHS
double yAxis[3] = {0, 0, 0};
VectorOperations<double>::cross(zAxis, xAxis, yAxis);
// Complete transformation matrix
double dcmTgt[3][3] = {{xAxis[0], yAxis[0], zAxis[0]},
{xAxis[1], yAxis[1], zAxis[1]},
{xAxis[2], yAxis[2], zAxis[2]}};
double quatInertialTarget[4] = {0, 0, 0, 0};
QuaternionOperations::fromDcm(dcmTgt, quatInertialTarget);
//Complete transformation matrix
double dcmTgt[3][3] = {{xAxis[0], yAxis[0], zAxis[0]}, {xAxis[1], yAxis[1], zAxis[1]}, {xAxis[2], yAxis[2], zAxis[2]}};
double quatInertialTarget[4] = {0, 0, 0, 0};
QuaternionOperations::fromDcm(dcmTgt,quatInertialTarget);
//-------------------------------------------------------------------------------------
// Calculation of reference rotation rate
//-------------------------------------------------------------------------------------
double timeElapsed =
now.tv_sec + now.tv_usec * pow(10, -6) -
(timeSavedQuaternionNadir.tv_sec +
timeSavedQuaternionNadir.tv_usec * pow(timeSavedQuaternionNadir.tv_usec, -6));
if (timeElapsed < acsParameters.pointingModeControllerParameters.nadirTimeElapsedMax) {
double qDiff[4] = {0, 0, 0, 0};
VectorOperations<double>::subtract(quatInertialTarget, savedQuaternionNadir, qDiff, 4);
VectorOperations<double>::mulScalar(qDiff, 1 / timeElapsed, qDiff, 4);
//-------------------------------------------------------------------------------------
// Calculation of reference rotation rate
//-------------------------------------------------------------------------------------
double timeElapsed = now.tv_sec + now.tv_usec * pow(10,-6) - (timeSavedQuaternionNadir.tv_sec +
timeSavedQuaternionNadir.tv_usec * pow(timeSavedQuaternionNadir.tv_usec,-6));
if (timeElapsed < acsParameters.pointingModeControllerParameters.nadirTimeElapsedMax) {
double qDiff[4] = {0, 0, 0, 0};
VectorOperations<double>::subtract(quatInertialTarget, savedQuaternionNadir, qDiff, 4);
VectorOperations<double>::mulScalar(qDiff, 1/timeElapsed, qDiff, 4);
double tgtQuatVec[3] = {quatInertialTarget[0], quatInertialTarget[1], quatInertialTarget[2]},
qDiffVec[3] = {qDiff[0], qDiff[1], qDiff[2]};
double sum1[3] = {0, 0, 0}, sum2[3] = {0, 0, 0}, sum3[3] = {0, 0, 0}, sum[3] = {0, 0, 0};
VectorOperations<double>::cross(quatInertialTarget, qDiff, sum1);
VectorOperations<double>::mulScalar(tgtQuatVec, qDiff[3], sum2, 3);
VectorOperations<double>::mulScalar(qDiffVec, quatInertialTarget[3], sum3, 3);
VectorOperations<double>::add(sum1, sum2, sum, 3);
VectorOperations<double>::subtract(sum, sum3, sum, 3);
double omegaRefNew[3] = {0, 0, 0};
VectorOperations<double>::mulScalar(sum, -2, omegaRefNew, 3);
double tgtQuatVec[3] = {quatInertialTarget[0], quatInertialTarget[1], quatInertialTarget[2]},
qDiffVec[3] = {qDiff[0], qDiff[1], qDiff[2]};
double sum1[3] = {0, 0, 0}, sum2[3] = {0, 0, 0}, sum3[3] = {0, 0, 0}, sum[3] = {0, 0, 0};
VectorOperations<double>::cross(quatInertialTarget, qDiff, sum1);
VectorOperations<double>::mulScalar(tgtQuatVec, qDiff[3], sum2, 3);
VectorOperations<double>::mulScalar(qDiffVec, quatInertialTarget[3], sum3, 3);
VectorOperations<double>::add(sum1, sum2, sum, 3);
VectorOperations<double>::subtract(sum, sum3, sum, 3);
double omegaRefNew[3] = {0, 0, 0};
VectorOperations<double>::mulScalar(sum, -2, omegaRefNew, 3);
VectorOperations<double>::mulScalar(omegaRefNew, 2, refSatRate, 3);
VectorOperations<double>::subtract(refSatRate, omegaRefSavedNadir, refSatRate, 3);
omegaRefSavedNadir[0] = omegaRefNew[0];
omegaRefSavedNadir[1] = omegaRefNew[1];
omegaRefSavedNadir[2] = omegaRefNew[2];
} else {
refSatRate[0] = 0;
refSatRate[1] = 0;
refSatRate[2] = 0;
}
VectorOperations<double>::mulScalar(omegaRefNew, 2, refSatRate, 3);
VectorOperations<double>::subtract(refSatRate, omegaRefSavedNadir, refSatRate, 3);
omegaRefSavedNadir[0] = omegaRefNew[0];
omegaRefSavedNadir[1] = omegaRefNew[1];
omegaRefSavedNadir[2] = omegaRefNew[2];
}
else {
refSatRate[0] = 0;
refSatRate[1] = 0;
refSatRate[2] = 0;
}
timeSavedQuaternionNadir = now;
savedQuaternionNadir[0] = quatInertialTarget[0];
savedQuaternionNadir[1] = quatInertialTarget[1];
savedQuaternionNadir[2] = quatInertialTarget[2];
savedQuaternionNadir[3] = quatInertialTarget[3];
timeSavedQuaternionNadir = now;
savedQuaternionNadir[0] = quatInertialTarget[0];
savedQuaternionNadir[1] = quatInertialTarget[1];
savedQuaternionNadir[2] = quatInertialTarget[2];
savedQuaternionNadir[3] = quatInertialTarget[3];
// Transform in system relative to satellite frame
double quatBJ[4] = {0, 0, 0, 0};
quatBJ[0] = outputValues->quatMekfBJ[0];
quatBJ[1] = outputValues->quatMekfBJ[1];
quatBJ[2] = outputValues->quatMekfBJ[2];
quatBJ[3] = outputValues->quatMekfBJ[3];
QuaternionOperations::multiply(quatBJ, quatInertialTarget, targetQuat);
// Transform in system relative to satellite frame
double quatBJ[4] = {0, 0, 0, 0};
quatBJ[0] = outputValues->quatMekfBJ[0];
quatBJ[1] = outputValues->quatMekfBJ[1];
quatBJ[2] = outputValues->quatMekfBJ[2];
quatBJ[3] = outputValues->quatMekfBJ[3];
QuaternionOperations::multiply(quatBJ, quatInertialTarget, targetQuat);
}
void Guidance::inertialQuatPtg(double targetQuat[4], double refSatRate[3]) {
for (int i = 0; i < 4; i++) {
targetQuat[i] = acsParameters.inertialModeControllerParameters.tgtQuatInertial[i];
targetQuat[i] = acsParameters.inertialModeControllerParameters.tgtQuatInertial[i];
}
for (int i = 0; i < 3; i++) {
refSatRate[i] = acsParameters.inertialModeControllerParameters.tgtRotRateInertial[i];
refSatRate[i] = acsParameters.inertialModeControllerParameters.tgtRotRateInertial[i];
}
}