meggert
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288 lines
14 KiB
C++
288 lines
14 KiB
C++
#include "Guidance.h"
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Guidance::Guidance(AcsParameters *acsParameters_) { acsParameters = acsParameters_; }
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Guidance::~Guidance() {}
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void Guidance::targetQuatPtgIdle(timeval timeAbsolute, const double timeDelta,
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const double sunDirI[3], const double posSatF[4],
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double targetQuat[4], double targetSatRotRate[3]) {
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// positive z-Axis of EIVE in direction of sun
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double zAxisIX[3] = {0, 0, 0};
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VectorOperations<double>::normalize(sunDirI, zAxisIX, 3);
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// determine helper vector to point x-Axis and therefore the STR away from Earth
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double helperXI[3] = {0, 0, 0}, posSatI[3] = {0, 0, 0};
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CoordinateTransformations::positionEcfToEci(posSatF, posSatI, &timeAbsolute);
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VectorOperations<double>::normalize(posSatI, helperXI, 3);
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// construct y-axis from helper vector and z-axis
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double yAxisIX[3] = {0, 0, 0};
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VectorOperations<double>::cross(zAxisIX, helperXI, yAxisIX);
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VectorOperations<double>::normalize(yAxisIX, yAxisIX, 3);
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// x-axis completes RHS
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double xAxisIX[3] = {0, 0, 0};
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VectorOperations<double>::cross(yAxisIX, zAxisIX, xAxisIX);
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VectorOperations<double>::normalize(xAxisIX, xAxisIX, 3);
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// join transformation matrix
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double dcmIX[3][3] = {{xAxisIX[0], yAxisIX[0], zAxisIX[0]},
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{xAxisIX[1], yAxisIX[1], zAxisIX[1]},
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{xAxisIX[2], yAxisIX[2], zAxisIX[2]}};
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QuaternionOperations::fromDcm(dcmIX, targetQuat);
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// calculate of reference rotation rate
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targetRotationRate(timeDelta, targetQuat, targetSatRotRate);
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}
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void Guidance::targetQuatPtgTarget(timeval timeAbsolute, const double timeDelta, double posSatF[3],
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double velSatF[3], double targetQuat[4],
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double targetSatRotRate[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 (ECEF)
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double targetF[3] = {0, 0, 0};
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CoordinateTransformations::cartesianFromLatLongAlt(
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acsParameters->targetModeControllerParameters.latitudeTgt,
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acsParameters->targetModeControllerParameters.longitudeTgt,
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acsParameters->targetModeControllerParameters.altitudeTgt, targetF);
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double targetDirF[3] = {0, 0, 0};
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VectorOperations<double>::subtract(targetF, posSatF, targetDirF, 3);
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// target direction in the ECI frame
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double posSatI[3] = {0, 0, 0}, targetI[3] = {0, 0, 0}, targetDirI[3] = {0, 0, 0};
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CoordinateTransformations::positionEcfToEci(posSatF, posSatI, &timeAbsolute);
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CoordinateTransformations::positionEcfToEci(targetF, targetI, &timeAbsolute);
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VectorOperations<double>::subtract(targetI, posSatI, targetDirI, 3);
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// x-axis aligned with target direction
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// this aligns with the camera, E- and S-band antennas
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double xAxisIX[3] = {0, 0, 0};
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VectorOperations<double>::normalize(targetDirI, xAxisIX, 3);
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// transform velocity into inertial frame
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double velSatI[3] = {0, 0, 0};
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CoordinateTransformations::velocityEcfToEci(velSatF, posSatF, velSatI, &timeAbsolute);
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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, velSatI, 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 is parallel to long side of picture
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// resolution
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double yAxisIX[3] = {0, 0, 0};
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VectorOperations<double>::cross(orbitalNormalI, xAxisIX, yAxisIX);
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VectorOperations<double>::normalize(yAxisIX, yAxisIX, 3);
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// z-axis completes RHS
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double zAxisIX[3] = {0, 0, 0};
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VectorOperations<double>::cross(xAxisIX, yAxisIX, zAxisIX);
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// join transformation matrix
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double dcmIX[3][3] = {{xAxisIX[0], yAxisIX[0], zAxisIX[0]},
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{xAxisIX[1], yAxisIX[1], zAxisIX[1]},
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{xAxisIX[2], yAxisIX[2], zAxisIX[2]}};
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QuaternionOperations::fromDcm(dcmIX, targetQuat);
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targetRotationRate(timeDelta, targetQuat, targetSatRotRate);
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}
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void Guidance::targetQuatPtgGs(timeval timeAbsolute, const double timeDelta, double posSatF[3],
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double sunDirI[3], double targetQuat[4],
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double targetSatRotRate[3]) {
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//-------------------------------------------------------------------------------------
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// Calculation of target quaternion for ground station pointing
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//-------------------------------------------------------------------------------------
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// transform longitude, latitude and altitude to cartesian coordiantes (ECEF)
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double posGroundStationF[3] = {0, 0, 0};
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CoordinateTransformations::cartesianFromLatLongAlt(
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acsParameters->gsTargetModeControllerParameters.latitudeTgt,
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acsParameters->gsTargetModeControllerParameters.longitudeTgt,
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acsParameters->gsTargetModeControllerParameters.altitudeTgt, posGroundStationF);
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// target direction in the ECI frame
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double posSatI[3] = {0, 0, 0}, posGroundStationI[3] = {0, 0, 0}, groundStationDirI[3] = {0, 0, 0};
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CoordinateTransformations::positionEcfToEci(posSatF, posSatI, &timeAbsolute);
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CoordinateTransformations::positionEcfToEci(posGroundStationI, posGroundStationI, &timeAbsolute);
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VectorOperations<double>::subtract(posGroundStationI, posSatI, groundStationDirI, 3);
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// negative x-axis aligned with target direction
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// this aligns with the camera, E- and S-band antennas
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double xAxisIX[3] = {0, 0, 0};
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VectorOperations<double>::normalize(groundStationDirI, xAxisIX, 3);
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VectorOperations<double>::mulScalar(xAxisIX, -1, xAxisIX, 3);
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// get sun vector model in ECI
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VectorOperations<double>::normalize(sunDirI, sunDirI, 3);
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// calculate z-axis as projection of sun vector into plane defined by x-axis as normal vector
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// z = sPerpenticular = s - sParallel = s - (x*s)/norm(x)^2 * x
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double xDotS = VectorOperations<double>::dot(xAxisIX, sunDirI);
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xDotS /= pow(VectorOperations<double>::norm(xAxisIX, 3), 2);
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double sunParallel[3], zAxisIX[3];
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VectorOperations<double>::mulScalar(xAxisIX, xDotS, sunParallel, 3);
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VectorOperations<double>::subtract(sunDirI, sunParallel, zAxisIX, 3);
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VectorOperations<double>::normalize(zAxisIX, zAxisIX, 3);
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// y-axis completes RHS
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double yAxisIX[3];
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VectorOperations<double>::cross(zAxisIX, xAxisIX, yAxisIX);
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VectorOperations<double>::normalize(yAxisIX, yAxisIX, 3);
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// join transformation matrix
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double dcmIX[3][3] = {{xAxisIX[0], yAxisIX[0], zAxisIX[0]},
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{xAxisIX[1], yAxisIX[1], zAxisIX[1]},
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{xAxisIX[2], yAxisIX[2], zAxisIX[2]}};
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QuaternionOperations::fromDcm(dcmIX, targetQuat);
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targetRotationRate(timeDelta, targetQuat, targetSatRotRate);
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}
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void Guidance::targetQuatPtgNadir(timeval timeAbsolute, const double timeDelta, double posSatE[3],
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double velSatE[3], double targetQuat[4], double refSatRate[3]) {
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//-------------------------------------------------------------------------------------
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// Calculation of target quaternion for Nadir pointing
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//-------------------------------------------------------------------------------------
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// satellite position in inertial reference frame
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double posSatI[3] = {0, 0, 0};
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CoordinateTransformations::positionEcfToEci(posSatE, posSatI, &timeAbsolute);
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// negative x-axis aligned with position vector
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// this aligns with the camera, E- and S-band antennas
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double xAxisIX[3] = {0, 0, 0};
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VectorOperations<double>::normalize(posSatI, xAxisIX, 3);
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VectorOperations<double>::mulScalar(xAxisIX, -1, xAxisIX, 3);
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// make z-Axis parallel to major part of camera resolution
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double zAxisIX[3] = {0, 0, 0};
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double velSatI[3] = {0, 0, 0};
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CoordinateTransformations::velocityEcfToEci(velSatE, posSatE, velSatI, &timeAbsolute);
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VectorOperations<double>::cross(xAxisIX, velSatI, zAxisIX);
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VectorOperations<double>::normalize(zAxisIX, zAxisIX, 3);
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// y-Axis completes RHS
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double yAxisIX[3] = {0, 0, 0};
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VectorOperations<double>::cross(zAxisIX, xAxisIX, yAxisIX);
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// join transformation matrix
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double dcmIX[3][3] = {{xAxisIX[0], yAxisIX[0], zAxisIX[0]},
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{xAxisIX[1], yAxisIX[1], zAxisIX[1]},
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{xAxisIX[2], yAxisIX[2], zAxisIX[2]}};
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QuaternionOperations::fromDcm(dcmIX, targetQuat);
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targetRotationRate(timeDelta, targetQuat, refSatRate);
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}
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void Guidance::targetRotationRate(const double timeDelta, double quatIX[4], double *refSatRate) {
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if (VectorOperations<double>::norm(quatIXprev, 4) == 0) {
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std::memcpy(quatIXprev, quatIX, sizeof(quatIXprev));
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}
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if (timeDelta != 0.0) {
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QuaternionOperations::rotationFromQuaternions(quatIX, quatIXprev, timeDelta, refSatRate);
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} else {
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std::memcpy(refSatRate, ZERO_VEC3, 3 * sizeof(double));
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}
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std::memcpy(quatIXprev, quatIX, sizeof(quatIXprev));
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}
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void Guidance::comparePtg(double currentQuat[4], double currentSatRotRate[3], double targetQuat[4],
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double targetSatRotRate[3], double refQuat[4], double refSatRotRate[3],
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double errorQuat[4], double errorSatRotRate[3], double &errorAngle) {
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// First calculate error quaternion between current and target orientation without reference
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// quaternion
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double errorQuatWoRef[4] = {0, 0, 0, 0};
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QuaternionOperations::multiply(currentQuat, targetQuat, errorQuatWoRef);
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// Then add rotation from reference quaternion
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QuaternionOperations::multiply(refQuat, errorQuatWoRef, errorQuat);
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// Keep scalar part of quaternion positive
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if (errorQuat[3] < 0) {
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VectorOperations<double>::mulScalar(errorQuat, -1, errorQuat, 4);
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}
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// Calculate error angle
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errorAngle = QuaternionOperations::getAngle(errorQuat, true);
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// Calculate error satellite rotational rate
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// Convert target rotational rate into body RF
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double errorQuatInv[4] = {0, 0, 0, 0}, targetSatRotRateB[3] = {0, 0, 0};
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QuaternionOperations::inverse(errorQuat, errorQuatInv);
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QuaternionOperations::multiplyVector(errorQuatInv, targetSatRotRate, targetSatRotRateB);
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// Combine the target and reference satellite rotational rates
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double combinedRefSatRotRate[3] = {0, 0, 0};
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VectorOperations<double>::add(targetSatRotRate, refSatRotRate, combinedRefSatRotRate, 3);
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// Then subtract the combined required satellite rotational rates from the actual rate
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VectorOperations<double>::subtract(currentSatRotRate, combinedRefSatRotRate, errorSatRotRate, 3);
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}
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void Guidance::comparePtg(double currentQuat[4], double currentSatRotRate[3], double targetQuat[4],
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double targetSatRotRate[3], double errorQuat[4],
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double errorSatRotRate[3], double &errorAngle) {
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double refQuat[4] = {0, 0, 0, 1}, refSatRotRate[3] = {0, 0, 0};
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comparePtg(currentQuat, currentSatRotRate, targetQuat, targetSatRotRate, refQuat, refSatRotRate,
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errorQuat, errorSatRotRate, errorAngle);
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}
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ReturnValue_t Guidance::getDistributionMatrixRw(ACS::SensorValues *sensorValues,
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double *rwPseudoInv) {
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bool rw1valid = (sensorValues->rw1Set.state.value and sensorValues->rw1Set.state.isValid());
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bool rw2valid = (sensorValues->rw2Set.state.value and sensorValues->rw2Set.state.isValid());
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bool rw3valid = (sensorValues->rw3Set.state.value and sensorValues->rw3Set.state.isValid());
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bool rw4valid = (sensorValues->rw4Set.state.value and sensorValues->rw4Set.state.isValid());
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if (rw1valid and rw2valid and rw3valid and rw4valid) {
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std::memcpy(rwPseudoInv, acsParameters->rwMatrices.pseudoInverse, 12 * sizeof(double));
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return returnvalue::OK;
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} else if (not rw1valid and rw2valid and rw3valid and rw4valid) {
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std::memcpy(rwPseudoInv, acsParameters->rwMatrices.pseudoInverseWithoutRW1,
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12 * sizeof(double));
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return acsctrl::SINGLE_RW_UNAVAILABLE;
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} else if (rw1valid and not rw2valid and rw3valid and rw4valid) {
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std::memcpy(rwPseudoInv, acsParameters->rwMatrices.pseudoInverseWithoutRW2,
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12 * sizeof(double));
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return acsctrl::SINGLE_RW_UNAVAILABLE;
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} else if (rw1valid and rw2valid and not rw3valid and rw4valid) {
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std::memcpy(rwPseudoInv, acsParameters->rwMatrices.pseudoInverseWithoutRW3,
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12 * sizeof(double));
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return acsctrl::SINGLE_RW_UNAVAILABLE;
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} else if (rw1valid and rw2valid and rw3valid and not rw4valid) {
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std::memcpy(rwPseudoInv, acsParameters->rwMatrices.pseudoInverseWithoutRW4,
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12 * sizeof(double));
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return acsctrl::SINGLE_RW_UNAVAILABLE;
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}
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return acsctrl::MULTIPLE_RW_UNAVAILABLE;
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}
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void Guidance::resetValues() { std::memcpy(quatIXprev, ZERO_VEC4, sizeof(quatIXprev)); }
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void Guidance::getTargetParamsSafe(double sunTargetSafe[3]) {
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std::error_code e;
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if (not std::filesystem::exists(SD_0_SKEWED_PTG_FILE, e) or
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not std::filesystem::exists(SD_1_SKEWED_PTG_FILE, e)) {
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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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}
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ReturnValue_t Guidance::solarArrayDeploymentComplete() {
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std::error_code e;
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if (std::filesystem::exists(SD_0_SKEWED_PTG_FILE, e)) {
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std::remove(SD_0_SKEWED_PTG_FILE);
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if (std::filesystem::exists(SD_0_SKEWED_PTG_FILE, e)) {
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return returnvalue::FAILED;
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}
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}
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if (std::filesystem::exists(SD_1_SKEWED_PTG_FILE, e)) {
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std::remove(SD_1_SKEWED_PTG_FILE);
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if (std::filesystem::exists(SD_1_SKEWED_PTG_FILE, e)) {
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return returnvalue::FAILED;
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}
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}
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return returnvalue::OK;
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}
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