- fixed IGRF-13 model
- fixed GST calculation - fixed conversion ECI - ToDo: remove debug output, check normalization
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@ -1,22 +1,19 @@
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/*
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* Igrf13Model.cpp
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*
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* Created on: 10 Mar 2022
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* Author: Robin Marquardt
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*/
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#include "Igrf13Model.h"
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#include <fsfw/globalfunctions/constants.h>
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#include <fsfw/globalfunctions/math/MatrixOperations.h>
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#include <fsfw/globalfunctions/math/QuaternionOperations.h>
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#include <fsfw/globalfunctions/math/VectorOperations.h>
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#include <math.h>
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#include <fsfw/src/fsfw/globalfunctions/constants.h>
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#include <fsfw/src/fsfw/globalfunctions/math/MatrixOperations.h>
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#include <fsfw/src/fsfw/globalfunctions/math/QuaternionOperations.h>
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#include <fsfw/src/fsfw/globalfunctions/math/VectorOperations.h>
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#include <stdint.h>
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#include <string.h>
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#include <time.h>
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#include <cmath>
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#include "util/MathOperations.h"
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using namespace Math;
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Igrf13Model::Igrf13Model() {}
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Igrf13Model::~Igrf13Model() {}
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@ -25,7 +22,7 @@ void Igrf13Model::magFieldComp(const double longitude, const double gcLatitude,
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double* magFieldModelInertial) {
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double phi = longitude, theta = gcLatitude; // geocentric
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/* Here is the co-latitude needed*/
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theta -= 90 * Math::PI / 180;
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theta -= 90 * PI / 180;
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theta *= (-1);
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double rE = 6371200.0; // radius earth [m]
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@ -43,7 +40,7 @@ void Igrf13Model::magFieldComp(const double longitude, const double gcLatitude,
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/* Calculation of Legendre Polynoms (normalised) */
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if (n == m) {
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P2 = sin(theta) * P11;
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dP2 = sin(theta) * dP11 - cos(theta) * P11;
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dP2 = sin(theta) * dP11 + cos(theta) * P11;
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P11 = P2;
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P10 = P11;
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P20 = 0;
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@ -70,11 +67,11 @@ void Igrf13Model::magFieldComp(const double longitude, const double gcLatitude,
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magFieldModel[0] +=
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pow(rE / (altitude + rE), (n + 2)) * (n + 1) *
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((updatedG[m][n - 1] * cos(m * phi) + updatedH[m][n - 1] * sin(m * phi)) * P2);
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/* gradient of scalar potential towards phi */
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/* gradient of scalar potential towards theta */
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magFieldModel[1] +=
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pow(rE / (altitude + rE), (n + 2)) *
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((updatedG[m][n - 1] * cos(m * phi) + updatedH[m][n - 1] * sin(m * phi)) * dP2);
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/* gradient of scalar potential towards theta */
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/* gradient of scalar potential towards phi */
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magFieldModel[2] +=
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pow(rE / (altitude + rE), (n + 2)) *
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((-updatedG[m][n - 1] * sin(m * phi) + updatedH[m][n - 1] * cos(m * phi)) * P2 * m);
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@ -85,31 +82,51 @@ void Igrf13Model::magFieldComp(const double longitude, const double gcLatitude,
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magFieldModel[1] *= -1;
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magFieldModel[2] *= (-1 / sin(theta));
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/* Next step: transform into inertial KOS (IJK)*/
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// std::cout << " X=" << -magFieldModel[1] << " Y=" << magFieldModel[2]
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// << " Z=" << -magFieldModel[0] << std::endl;
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/* Next step: transform into inertial RF (IJK)*/
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// Julean Centuries
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double JD2000Floor = 0;
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// double JD2000Floor = 0;
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// double JD2000 = MathOperations<double>::convertUnixToJD2000(timeOfMagMeasurement);
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// JD2000Floor = floor(JD2000);
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// double JC2000 = JD2000Floor / 36525.;
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double JD2000 = MathOperations<double>::convertUnixToJD2000(timeOfMagMeasurement);
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JD2000Floor = floor(JD2000);
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double JC2000 = JD2000Floor / 36525;
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double UT1 = JD2000 / 36525.;
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double gst = 100.4606184 + 36000.77005361 * JC2000 + 0.00038793 * pow(JC2000, 2) -
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0.000000026 * pow(JC2000, 3); // greenwich sidereal time
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gst *= PI / 180; // convert to radians
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double sec =
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(JD2000 - JD2000Floor) * 86400; // Seconds on this day (Universal time) // FROM GPS ?
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double omega0 = 0.00007292115; // mean angular velocity earth [rad/s]
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gst += omega0 * sec;
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double gst =
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280.46061837 + 360.98564736629 * JD2000 + 0.0003875 * pow(UT1, 2) - 2.6e-8 * pow(UT1, 3);
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gst = std::fmod(gst, 360.);
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gst *= PI / 180.;
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// std::cout << " GMST=" << gst * 180. / Math::PI << std::endl;
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// double gst = 100.4606184 + 36000.77005361 * JC2000 + 0.00038793 * pow(JC2000, 2) -
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// 0.000000026 * pow(JC2000, 3); // greenwich sidereal time
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// gst *= PI / 180; // convert to radians
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// double sec =
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// (JD2000 - JD2000Floor) * 86400; // Seconds on this day (Universal time) // FROM GPS ?
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// double omega0 = 0.00007292115; // mean angular velocity earth [rad/s]
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// gst += omega0 * sec;
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// std::cout << " GMST=" << gst * 180. / Math::PI << std::endl;
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double lst = gst + longitude; // local sidereal time [rad]
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// std::cout << " LMST=" << lst * 180. / Math::PI << std::endl;
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magFieldModelInertial[0] = magFieldModel[0] * cos(theta) +
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magFieldModel[1] * sin(theta) * cos(lst) - magFieldModel[1] * sin(lst);
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magFieldModelInertial[1] = magFieldModel[0] * cos(theta) +
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magFieldModel[1] * sin(theta) * sin(lst) + magFieldModel[1] * cos(lst);
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magFieldModelInertial[2] = magFieldModel[0] * sin(theta) + magFieldModel[1] * cos(lst);
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magFieldModelInertial[0] =
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(magFieldModel[0] * cos(gcLatitude) + magFieldModel[1] * sin(gcLatitude)) * cos(lst) -
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magFieldModel[2] * sin(lst);
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magFieldModelInertial[1] =
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(magFieldModel[0] * cos(gcLatitude) + magFieldModel[1] * sin(gcLatitude)) * sin(lst) +
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magFieldModel[2] * cos(lst);
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magFieldModelInertial[2] =
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magFieldModel[0] * sin(gcLatitude) - magFieldModel[1] * cos(gcLatitude);
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double normVecMagFieldInert[3] = {0, 0, 0};
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VectorOperations<double>::normalize(magFieldModelInertial, normVecMagFieldInert, 3);
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magFieldModel[0] = 0;
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magFieldModel[1] = 0;
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magFieldModel[2] = 0;
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}
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void Igrf13Model::updateCoeffGH(timeval timeOfMagMeasurement) {
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@ -123,3 +140,50 @@ void Igrf13Model::updateCoeffGH(timeval timeOfMagMeasurement) {
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}
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}
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}
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void Igrf13Model::schmidtNormalization() {
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double kronDelta = 0;
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schmidtFactors[0][0] = 1;
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// for (int n = 1; n <= igrfOrder; n++) {
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// if (n == 1) {
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// schmidtFactors[0][n - 1] = 1;
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// } else {
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// schmidtFactors[0][n - 1] = schmidtFactors[0][n - 2] * (2 * n - 1) / n;
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// }
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//
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// for (int m = 1; m <= igrfOrder; m++) {
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// if (m == 1) {
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// kronDelta = 1;
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// } else {
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// kronDelta = 0;
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// }
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// schmidtFactors[m][n - 1] =
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// schmidtFactors[m - 1][n - 1] * sqrt((n - m + 1) * (kronDelta + 1) / (n + m));
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// }
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// }
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for (int n = 1; n <= igrfOrder; n++) {
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for (int m = 0; m <= n; m++) {
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if (m > 1) {
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schmidtFactors[m][n - 1] = schmidtFactors[m - 1][n - 1] * pow((n - m + 1) / (n + m), .5);
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} else if (m > 0) {
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schmidtFactors[m][n - 1] =
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schmidtFactors[m - 1][n - 1] * pow(2 * (n - m + 1) / (n + m), .5);
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} else if (n == 1) {
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schmidtFactors[m][n - 1] = 1;
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} else {
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schmidtFactors[m][n - 1] = schmidtFactors[0][n - 2] * (2 * n - 1) / (n);
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}
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}
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}
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for (int i = 0; i <= igrfOrder; i++) {
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for (int j = 0; j <= (igrfOrder - 1); j++) {
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coeffG[i][j] = schmidtFactors[i][j] * coeffG[i][j];
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coeffH[i][j] = schmidtFactors[i][j] * coeffH[i][j];
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svG[i][j] = schmidtFactors[i][j] * svG[i][j];
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svH[i][j] = schmidtFactors[i][j] * svH[i][j];
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}
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}
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}
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@ -43,14 +43,15 @@ class Igrf13Model /*:public HasParametersIF*/ {
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* - timeOfMagMeasurement: time of actual measurement [s]
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*
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* Outputs:
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* - magFieldModelInertial: Magnetic Field Vector in IJK KOS [nT]*/
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* - magFieldModelInertial: Magnetic Field Vector in IJK RF [nT]*/
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// Coefficient wary over year, could be updated sometimes.
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void updateCoeffGH(timeval timeOfMagMeasurement); // Secular variation (SV)
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double magFieldModel[3];
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void schmidtNormalization();
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private:
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const double coeffG[14][13] = {
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double coeffG[14][13] = {
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{-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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{0.0, 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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@ -66,7 +67,7 @@ class Igrf13Model /*:public HasParametersIF*/ {
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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] = {
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double coeffH[14][13] = {
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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},
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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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{0.0, -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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@ -82,7 +83,7 @@ class Igrf13Model /*:public HasParametersIF*/ {
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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] = {
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double svG[14][13] = {
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{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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@ -98,7 +99,7 @@ class Igrf13Model /*:public HasParametersIF*/ {
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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] = {
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double svH[14][13] = {
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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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{-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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@ -113,6 +114,23 @@ class Igrf13Model /*:public HasParametersIF*/ {
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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 schmidtFactors[14][13] = {{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},
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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},
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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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;
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bool schmidtNorm = false;
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double updatedG[14][13];
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double updatedH[14][13];
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