112 lines
4.9 KiB
C++
112 lines
4.9 KiB
C++
/*
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* MultiplicativeKalmanFilter.h
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*
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* Created on: 4 Feb 2022
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* Author: Robin Marquardt
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*
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* @brief: This class handles the calculation of an estimated quaternion and the gyro bias by
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* means of the spacecraft attitude sensors
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*
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* @note: A description of the used algorithms can be found in the bachelor thesis of Robin
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* Marquardt
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* https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_Studenten/Marquardt_Robin&openfile=500811
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*/
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#ifndef MULTIPLICATIVEKALMANFILTER_H_
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#define MULTIPLICATIVEKALMANFILTER_H_
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#include <stdint.h>
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#include "../controllerdefinitions/AcsCtrlDefinitions.h"
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#include "AcsParameters.h"
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#include "eive/resultClassIds.h"
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class MultiplicativeKalmanFilter {
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public:
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/* @brief: Constructor
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* @param: acsParameters_ Pointer to object which defines the ACS configuration parameters
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*/
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MultiplicativeKalmanFilter(AcsParameters *acsParameters_);
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virtual ~MultiplicativeKalmanFilter();
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void reset(acsctrl::MekfData *mekfData);
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/* @brief: init() - This function initializes the Kalman Filter and will provide the first
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* quaternion through the QUEST algorithm
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* @param: magneticField_ magnetic field vector in the body frame
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* sunDir_ sun direction vector in the body frame
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* sunDirJ sun direction vector in the ECI frame
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* magFieldJ magnetic field vector in the ECI frame
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*/
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ReturnValue_t init(const double *magneticField_, const bool validMagField_, const double *sunDir_,
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const bool validSS, const double *sunDirJ, const bool validSSModel,
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const double *magFieldJ, const bool validMagModel,
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acsctrl::MekfData *mekfData);
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/* @brief: mekfEst() - This function calculates the quaternion and gyro bias of the Kalman Filter
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* for the current step after the initalization
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* @param: quaternionSTR Star Tracker Quaternion between from body to ECI frame
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* rateGYRs_ Estimated satellite rotation rate from the
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* Gyroscopes [rad/s] magneticField_ magnetic field vector in the body frame sunDir_
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* sun direction vector in the body frame sunDirJ sun direction vector in the ECI
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* frame magFieldJ magnetic field vector in the ECI frame
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* outputQuat Stores the calculated quaternion
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* outputSatRate Stores the adjusted satellite rate
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* @return ReturnValue_t Feedback of this class, KALMAN_NO_GYR_MEAS if no satellite rate from
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* the sensors was provided, KALMAN_NO_MODEL if no sunDirJ or magFieldJ was given from the model
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* calculations, KALMAN_INVERSION_FAILED if the calculation of the Gain matrix was not possible,
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* RETURN_OK else
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*/
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ReturnValue_t mekfEst(const double *quaternionSTR, const bool validSTR_, const double *rateGYRs_,
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const bool validGYRs_, const double *magneticField_,
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const bool validMagField_, const double *sunDir_, const bool validSS,
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const double *sunDirJ, const bool validSSModel, const double *magFieldJ,
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const bool validMagModel, double sampleTime, acsctrl::MekfData *mekfData);
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enum MekfStatus : uint8_t {
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UNINITIALIZED = 0,
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NO_GYR_DATA = 1,
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NO_MODEL_VECTORS = 2,
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NO_SUS_MGM_STR_DATA = 3,
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COVARIANCE_INVERSION_FAILED = 4,
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INITIALIZED = 10,
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RUNNING = 11,
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};
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// resetting Mekf
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static constexpr uint8_t IF_KAL_ID = CLASS_ID::ACS_KALMAN;
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static constexpr ReturnValue_t KALMAN_UNINITIALIZED = returnvalue::makeCode(IF_KAL_ID, 2);
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static constexpr ReturnValue_t KALMAN_NO_GYR_DATA = returnvalue::makeCode(IF_KAL_ID, 3);
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static constexpr ReturnValue_t KALMAN_NO_MODEL_VECTORS = returnvalue::makeCode(IF_KAL_ID, 4);
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static constexpr ReturnValue_t KALMAN_NO_SUS_MGM_STR_DATA = returnvalue::makeCode(IF_KAL_ID, 5);
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static constexpr ReturnValue_t KALMAN_COVARIANCE_INVERSION_FAILED =
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returnvalue::makeCode(IF_KAL_ID, 6);
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static constexpr ReturnValue_t KALMAN_INITIALIZED = returnvalue::makeCode(IF_KAL_ID, 7);
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static constexpr ReturnValue_t KALMAN_RUNNING = returnvalue::makeCode(IF_KAL_ID, 8);
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private:
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/*Parameters*/
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AcsParameters::InertiaEIVE *inertiaEIVE;
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AcsParameters::KalmanFilterParameters *kalmanFilterParameters;
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double quaternion_STR_SB[4];
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bool validInit;
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/*States*/
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double initialQuaternion[4]; /*after reset?QUEST*/
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double initialCovarianceMatrix[6][6]; /*after reset?QUEST*/
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double propagatedQuaternion[4]; /*Filter Quaternion for next step*/
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uint8_t sensorsAvail;
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/*Outputs*/
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double quatBJ[4]; /* Output Quaternion */
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double biasGYR[3]; /*Between measured and estimated sat Rate*/
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/*Parameter INIT*/
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/*Functions*/
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void loadAcsParameters(AcsParameters *acsParameters_);
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void updateDataSetWithoutData(acsctrl::MekfData *mekfData, MekfStatus mekfStatus);
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void updateDataSet(acsctrl::MekfData *mekfData, MekfStatus mekfStatus, double quat[4],
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double satRotRate[3]);
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};
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#endif /* ACS_MULTIPLICATIVEKALMANFILTER_H_ */
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