726 lines
35 KiB
C++
726 lines
35 KiB
C++
/*
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* Guidance.cpp
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*
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* Created on: 6 Jun 2022
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* Author: Robin Marquardt
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*/
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#include "Guidance.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 "string.h"
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#include "util/CholeskyDecomposition.h"
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#include "util/MathOperations.h"
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Guidance::Guidance(AcsParameters *acsParameters_) { acsParameters = *acsParameters_; }
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Guidance::~Guidance() {}
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void Guidance::getTargetParamsSafe(double sunTargetSafe[3], double satRateSafe[3]) {
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for (int i = 0; i < 3; i++) {
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sunTargetSafe[i] = acsParameters.safeModeControllerParameters.sunTargetDir[i];
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satRateSafe[i] = acsParameters.safeModeControllerParameters.satRateRef[i];
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}
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// memcpy(sunTargetSafe, acsParameters.safeModeControllerParameters.sunTargetDir, 24);
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}
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void Guidance::targetQuatPtgOldVersion(ACS::SensorValues *sensorValues, ACS::OutputValues *outputValues,
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timeval now, double targetQuat[4], double refSatRate[3]) {
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//-------------------------------------------------------------------------------------
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// Calculation of target quaternion to groundstation or given latitude, longitude and altitude
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//-------------------------------------------------------------------------------------
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// Transform longitude, latitude and altitude to cartesian coordiantes (earth
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// fixed/centered frame)
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double groundStationCart[3] = {0, 0, 0};
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MathOperations<double>::cartesianFromLatLongAlt(acsParameters.groundStationParameters.latitudeGs,
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acsParameters.groundStationParameters.longitudeGs,
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acsParameters.groundStationParameters.altitudeGs,
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groundStationCart);
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// Position of the satellite in the earth/fixed frame via GPS
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double posSatE[3] = {0, 0, 0};
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double geodeticLatRad = (sensorValues->gpsSet.latitude.value)*PI/180;
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double longitudeRad = (sensorValues->gpsSet.longitude.value)*PI/180;
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MathOperations<double>::cartesianFromLatLongAlt(geodeticLatRad,longitudeRad,
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sensorValues->gpsSet.altitude.value, posSatE);
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// Target direction in the ECEF frame
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double targetDirE[3] = {0, 0, 0};
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VectorOperations<double>::subtract(groundStationCart, posSatE, targetDirE, 3);
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// Transformation between ECEF and IJK frame
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double dcmEJ[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
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double dcmJE[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
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double dcmEJDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
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MathOperations<double>::ecfToEciWithNutPre(now, *dcmEJ, *dcmEJDot);
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MathOperations<double>::inverseMatrixDimThree(*dcmEJ, *dcmJE);
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double dcmJEDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
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MathOperations<double>::inverseMatrixDimThree(*dcmEJDot, *dcmJEDot);
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// Transformation between ECEF and Body frame
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double dcmBJ[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
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double dcmBE[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
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double quatBJ[4] = {0, 0, 0, 0};
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quatBJ[0] = outputValues->quatMekfBJ[0];
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quatBJ[1] = outputValues->quatMekfBJ[1];
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quatBJ[2] = outputValues->quatMekfBJ[2];
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quatBJ[3] = outputValues->quatMekfBJ[3];
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QuaternionOperations::toDcm(quatBJ, dcmBJ);
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MatrixOperations<double>::multiply(*dcmBJ, *dcmJE, *dcmBE, 3, 3, 3);
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// Target Direction in the body frame
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double targetDirB[3] = {0, 0, 0};
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MatrixOperations<double>::multiply(*dcmBE, targetDirE, targetDirB, 3, 3, 1);
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// rotation quaternion from two vectors
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double refDir[3] = {0, 0, 0};
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refDir[0] = acsParameters.targetModeControllerParameters.refDirection[0];
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refDir[1] = acsParameters.targetModeControllerParameters.refDirection[1];
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refDir[2] = acsParameters.targetModeControllerParameters.refDirection[2];
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double noramlizedTargetDirB[3] = {0, 0, 0};
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VectorOperations<double>::normalize(targetDirB, noramlizedTargetDirB, 3);
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VectorOperations<double>::normalize(refDir, refDir, 3);
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double normTargetDirB = VectorOperations<double>::norm(noramlizedTargetDirB, 3);
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double normRefDir = VectorOperations<double>::norm(refDir, 3);
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double crossDir[3] = {0, 0, 0};
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double dotDirections = VectorOperations<double>::dot(noramlizedTargetDirB, refDir);
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VectorOperations<double>::cross(noramlizedTargetDirB, refDir, crossDir);
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targetQuat[0] = crossDir[0];
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targetQuat[1] = crossDir[1];
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targetQuat[2] = crossDir[2];
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targetQuat[3] = sqrt(pow(normTargetDirB, 2) * pow(normRefDir, 2) + dotDirections);
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VectorOperations<double>::normalize(targetQuat, targetQuat, 4);
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//-------------------------------------------------------------------------------------
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// Calculation of reference rotation rate
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//-------------------------------------------------------------------------------------
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double velSatE[3] = {0, 0, 0};
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velSatE[0] = outputValues->gpsVelocity[0]; // sensorValues->gps0Velocity[0];
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velSatE[1] = outputValues->gpsVelocity[1]; // sensorValues->gps0Velocity[1];
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velSatE[2] = outputValues->gpsVelocity[2]; // sensorValues->gps0Velocity[2];
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double velSatB[3] = {0, 0, 0}, velSatBPart1[3] = {0, 0, 0}, velSatBPart2[3] = {0, 0, 0};
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// Velocity: v_B = dcm_BI * dcmIE * v_E + dcm_BI * DotDcm_IE * v_E
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MatrixOperations<double>::multiply(*dcmBE, velSatE, velSatBPart1, 3, 3, 1);
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double dcmBEDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
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MatrixOperations<double>::multiply(*dcmBJ, *dcmJEDot, *dcmBEDot, 3, 3, 3);
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MatrixOperations<double>::multiply(*dcmBEDot, posSatE, velSatBPart2, 3, 3, 1);
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VectorOperations<double>::add(velSatBPart1, velSatBPart2, velSatB, 3);
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double normVelSatB = VectorOperations<double>::norm(velSatB, 3);
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double normRefSatRate = normVelSatB / normTargetDirB;
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double satRateDir[3] = {0, 0, 0};
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VectorOperations<double>::cross(velSatB, targetDirB, satRateDir);
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VectorOperations<double>::normalize(satRateDir, satRateDir, 3);
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VectorOperations<double>::mulScalar(satRateDir, normRefSatRate, refSatRate, 3);
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//-------------------------------------------------------------------------------------
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// Calculation of reference rotation rate in case of star tracker blinding
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//-------------------------------------------------------------------------------------
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if (acsParameters.targetModeControllerParameters.avoidBlindStr) {
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double sunDirB[3] = {0, 0, 0};
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if (outputValues->sunDirModelValid) {
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double sunDirJ[3] = {0, 0, 0};
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sunDirJ[0] = outputValues->sunDirModel[0];
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sunDirJ[1] = outputValues->sunDirModel[1];
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sunDirJ[2] = outputValues->sunDirModel[2];
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MatrixOperations<double>::multiply(*dcmBJ, sunDirJ, sunDirB, 3, 3, 1);
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}
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else {
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sunDirB[0] = outputValues->sunDirEst[0];
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sunDirB[1] = outputValues->sunDirEst[1];
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sunDirB[2] = outputValues->sunDirEst[2];
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}
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double exclAngle = acsParameters.strParameters.exclusionAngle,
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blindStart = acsParameters.targetModeControllerParameters.blindAvoidStart,
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blindEnd = acsParameters.targetModeControllerParameters.blindAvoidStop;
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double sightAngleSun =
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VectorOperations<double>::dot(acsParameters.strParameters.boresightAxis, sunDirB);
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if (!(strBlindAvoidFlag)) {
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double critSightAngle = blindStart * exclAngle;
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if (sightAngleSun < critSightAngle) {
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strBlindAvoidFlag = true;
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}
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}
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else {
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if (sightAngleSun < blindEnd * exclAngle) {
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double normBlindRefRate = acsParameters.targetModeControllerParameters.blindRotRate;
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double blindRefRate[3] = {0, 0, 0};
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if (sunDirB[1] < 0) {
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blindRefRate[0] = normBlindRefRate;
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blindRefRate[1] = 0;
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blindRefRate[2] = 0;
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} else {
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blindRefRate[0] = -normBlindRefRate;
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blindRefRate[1] = 0;
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blindRefRate[2] = 0;
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}
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VectorOperations<double>::add(blindRefRate, refSatRate, refSatRate, 3);
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} else {
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strBlindAvoidFlag = false;
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}
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}
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}
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}
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void Guidance::targetQuatPtg(ACS::SensorValues* sensorValues, ACS::OutputValues *outputValues, timeval now,
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double targetQuat[4], double refSatRate[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 (earth
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// fixed/centered frame)
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double groundStationCart[3] = {0, 0, 0};
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MathOperations<double>::cartesianFromLatLongAlt(acsParameters.groundStationParameters.latitudeGs,
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acsParameters.groundStationParameters.longitudeGs,
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acsParameters.groundStationParameters.altitudeGs,
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groundStationCart);
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// Position of the satellite in the earth/fixed frame via GPS
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double posSatE[3] = {0, 0, 0};
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double geodeticLatRad = (sensorValues->gpsSet.latitude.value)*PI/180;
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double longitudeRad = (sensorValues->gpsSet.longitude.value)*PI/180;
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MathOperations<double>::cartesianFromLatLongAlt(geodeticLatRad,longitudeRad,
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sensorValues->gpsSet.altitude.value, posSatE);
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double targetDirE[3] = {0, 0, 0};
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VectorOperations<double>::subtract(groundStationCart, posSatE, targetDirE, 3);
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// Transformation between ECEF and IJK frame
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double dcmEJ[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
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double dcmJE[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
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double dcmEJDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
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MathOperations<double>::ecfToEciWithNutPre(now, *dcmEJ, *dcmEJDot);
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MathOperations<double>::inverseMatrixDimThree(*dcmEJ, *dcmJE);
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double dcmJEDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
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MathOperations<double>::inverseMatrixDimThree(*dcmEJDot, *dcmJEDot);
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// Target Direction and position vector in the inertial frame
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double targetDirJ[3] = {0, 0, 0}, posSatJ[3] = {0, 0, 0};
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MatrixOperations<double>::multiply(*dcmJE, targetDirE, targetDirJ, 3, 3, 1);
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MatrixOperations<double>::multiply(*dcmJE, posSatE, posSatJ, 3, 3, 1);
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// negative x-Axis aligned with target (Camera/E-band transmitter position)
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double xAxis[3] = {0, 0, 0};
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VectorOperations<double>::normalize(targetDirJ, xAxis, 3);
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VectorOperations<double>::mulScalar(xAxis, -1, xAxis, 3);
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// Transform velocity into inertial frame
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double velocityE[3] = {outputValues->gpsVelocity[0], outputValues->gpsVelocity[1], outputValues->gpsVelocity[2]};
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double velocityJ[3] = {0, 0, 0}, velPart1[3] = {0, 0, 0}, velPart2[3] = {0, 0, 0};
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MatrixOperations<double>::multiply(*dcmJE, velocityE, velPart1, 3, 3, 1);
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MatrixOperations<double>::multiply(*dcmJEDot, posSatE, velPart2, 3, 3, 1);
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VectorOperations<double>::add(velPart1, velPart2, velocityJ, 3);
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// orbital normal vector
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double orbitalNormalJ[3] = {0, 0, 0};
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VectorOperations<double>::cross(posSatJ, velocityJ, orbitalNormalJ);
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VectorOperations<double>::normalize(orbitalNormalJ, orbitalNormalJ, 3);
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// y-Axis of satellite in orbit plane so that z-axis parallel to long side of picture resolution
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double yAxis[3] = {0, 0, 0};
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VectorOperations<double>::cross(orbitalNormalJ, xAxis, yAxis);
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VectorOperations<double>::normalize(yAxis, yAxis, 3);
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// z-Axis completes RHS
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double zAxis[3] = {0, 0, 0};
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VectorOperations<double>::cross(xAxis, yAxis, zAxis);
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//Complete transformation matrix
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double dcmTgt[3][3] = {{xAxis[0], yAxis[0], zAxis[0]}, {xAxis[1], yAxis[1], zAxis[1]}, {xAxis[2], yAxis[2], zAxis[2]}};
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double quatInertialTarget[4] = {0, 0, 0, 0};
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QuaternionOperations::fromDcm(dcmTgt,quatInertialTarget);
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//-------------------------------------------------------------------------------------
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// Calculation of reference rotation rate
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//-------------------------------------------------------------------------------------
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double timeElapsed = now.tv_sec + now.tv_usec * pow(10,-6) - (timeSavedQuaternionNadir.tv_sec +
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timeSavedQuaternionNadir.tv_usec * pow(timeSavedQuaternionNadir.tv_usec,-6));
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if (timeElapsed < acsParameters.pointingModeControllerParameters.nadirTimeElapsedMax) {
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double qDiff[4] = {0, 0, 0, 0};
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VectorOperations<double>::subtract(quatInertialTarget, savedQuaternionNadir, qDiff, 4);
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VectorOperations<double>::mulScalar(qDiff, 1/timeElapsed, qDiff, 4);
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double tgtQuatVec[3] = {quatInertialTarget[0], quatInertialTarget[1], quatInertialTarget[2]},
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qDiffVec[3] = {qDiff[0], qDiff[1], qDiff[2]};
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double sum1[3] = {0, 0, 0}, sum2[3] = {0, 0, 0}, sum3[3] = {0, 0, 0}, sum[3] = {0, 0, 0};
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VectorOperations<double>::cross(quatInertialTarget, qDiff, sum1);
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VectorOperations<double>::mulScalar(tgtQuatVec, qDiff[3], sum2, 3);
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VectorOperations<double>::mulScalar(qDiffVec, quatInertialTarget[3], sum3, 3);
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VectorOperations<double>::add(sum1, sum2, sum, 3);
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VectorOperations<double>::subtract(sum, sum3, sum, 3);
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double omegaRefNew[3] = {0, 0, 0};
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VectorOperations<double>::mulScalar(sum, -2, omegaRefNew, 3);
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VectorOperations<double>::mulScalar(omegaRefNew, 2, refSatRate, 3);
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VectorOperations<double>::subtract(refSatRate, omegaRefSavedNadir, refSatRate, 3);
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omegaRefSavedNadir[0] = omegaRefNew[0];
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omegaRefSavedNadir[1] = omegaRefNew[1];
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omegaRefSavedNadir[2] = omegaRefNew[2];
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}
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else {
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refSatRate[0] = 0;
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refSatRate[1] = 0;
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refSatRate[2] = 0;
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}
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timeSavedQuaternionNadir = now;
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savedQuaternionNadir[0] = quatInertialTarget[0];
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savedQuaternionNadir[1] = quatInertialTarget[1];
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savedQuaternionNadir[2] = quatInertialTarget[2];
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savedQuaternionNadir[3] = quatInertialTarget[3];
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// Transform in system relative to satellite frame
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double quatBJ[4] = {0, 0, 0, 0};
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quatBJ[0] = outputValues->quatMekfBJ[0];
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quatBJ[1] = outputValues->quatMekfBJ[1];
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quatBJ[2] = outputValues->quatMekfBJ[2];
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quatBJ[3] = outputValues->quatMekfBJ[3];
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QuaternionOperations::multiply(quatBJ, quatInertialTarget, targetQuat);
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}
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void Guidance::sunQuatPtg(ACS::SensorValues* sensorValues, ACS::OutputValues *outputValues, timeval now,
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double targetQuat[4], double refSatRate[3]) {
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//-------------------------------------------------------------------------------------
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// Calculation of target quaternion to sun
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//-------------------------------------------------------------------------------------
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double quatBJ[4] = {0, 0, 0, 0};
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double dcmBJ[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
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quatBJ[0] = outputValues->quatMekfBJ[0];
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quatBJ[1] = outputValues->quatMekfBJ[1];
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quatBJ[2] = outputValues->quatMekfBJ[2];
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quatBJ[3] = outputValues->quatMekfBJ[3];
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QuaternionOperations::toDcm(quatBJ, dcmBJ);
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double sunDirJ[3] = {0, 0, 0}, sunDirB[3] = {0, 0, 0};
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if (outputValues->sunDirModelValid) {
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sunDirJ[0] = outputValues->sunDirModel[0];
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sunDirJ[1] = outputValues->sunDirModel[1];
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sunDirJ[2] = outputValues->sunDirModel[2];
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MatrixOperations<double>::multiply(*dcmBJ, sunDirJ, sunDirB, 3, 3, 1);
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}
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else {
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sunDirB[0] = outputValues->sunDirEst[0];
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sunDirB[1] = outputValues->sunDirEst[1];
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sunDirB[2] = outputValues->sunDirEst[2];
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}
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/*
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// ---------------------------------------------------------------------------
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// Old version of two vector quaternion (only one axis to align)
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// ---------------------------------------------------------------------------
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double sunRef[3] = {0, 0, 0};
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sunRef[0] = acsParameters.safeModeControllerParameters.sunTargetDir[0];
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sunRef[1] = acsParameters.safeModeControllerParameters.sunTargetDir[1];
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sunRef[2] = acsParameters.safeModeControllerParameters.sunTargetDir[2];
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double sunCross[3] = {0, 0, 0};
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VectorOperations<double>::cross(sunDirB, sunRef, sunCross);
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double normSunDir = VectorOperations<double>::norm(sunDirB, 3);
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double normSunRef = VectorOperations<double>::norm(sunRef, 3);
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double dotSun = VectorOperations<double>::dot(sunDirB, sunRef);
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targetQuat[0] = sunCross[0];
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targetQuat[1] = sunCross[1];
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targetQuat[2] = sunCross[2];
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targetQuat[3] = sqrt(pow(normSunDir,2) * pow(normSunRef,2) + dotSun);
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VectorOperations<double>::normalize(targetQuat, targetQuat, 4);
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*/
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//----------------------------------------------------------------------------
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// New version
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//----------------------------------------------------------------------------
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// Transformation between ECEF and IJK frame
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double dcmEJ[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
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double dcmJE[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
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double dcmEJDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
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MathOperations<double>::ecfToEciWithNutPre(now, *dcmEJ, *dcmEJDot);
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MathOperations<double>::inverseMatrixDimThree(*dcmEJ, *dcmJE);
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double dcmJEDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
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MathOperations<double>::inverseMatrixDimThree(*dcmEJDot, *dcmJEDot);
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// positive z-Axis of EIVE in direction of sun
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double zAxis[3] = {0 ,0 ,0};
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VectorOperations<double>::normalize(sunDirB, zAxis, 3);
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// Position of the satellite in the earth/fixed frame via GPS and body
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// velocity
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double posSatE[3] = {0, 0, 0};
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double geodeticLatRad = (sensorValues->gpsSet.latitude.value)*PI/180;
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double longitudeRad = (sensorValues->gpsSet.longitude.value)*PI/180;
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MathOperations<double>::cartesianFromLatLongAlt(geodeticLatRad,longitudeRad,
|
|
sensorValues->gpsSet.altitude.value, posSatE);
|
|
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);
|
|
double velocityB[3] = {0, 0, 0};
|
|
MatrixOperations<double>::multiply(*dcmBJ, velocityJ, velocityB, 3, 3, 1);
|
|
|
|
// Normale to velocity and sunDir
|
|
double crossVelSun[3] = {0, 0, 0};
|
|
VectorOperations<double>::cross(velocityB, sunDirB, crossVelSun);
|
|
|
|
// y- Axis as cross of normal velSun and zAxis
|
|
double yAxis[3] = {0, 0, 0};
|
|
VectorOperations<double>::cross(crossVelSun, sunDirB, yAxis);
|
|
VectorOperations<double>::normalize(yAxis, yAxis, 3);
|
|
|
|
// complete RHS for x-Axis
|
|
double xAxis[3] = {0, 0, 0};
|
|
VectorOperations<double>::cross(yAxis, zAxis, xAxis);
|
|
|
|
// 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 quatSun[4] = {0, 0, 0, 0};
|
|
QuaternionOperations::fromDcm(dcmTgt,quatSun);
|
|
|
|
targetQuat[0] = quatSun[0];
|
|
targetQuat[1] = quatSun[1];
|
|
targetQuat[2] = quatSun[2];
|
|
targetQuat[3] = quatSun[3];
|
|
|
|
//----------------------------------------------------------------------------
|
|
// Calculation of reference rotation rate
|
|
//----------------------------------------------------------------------------
|
|
refSatRate[0] = 0;
|
|
refSatRate[1] = 0;
|
|
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
|
|
//-------------------------------------------------------------------------------------
|
|
// 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);
|
|
|
|
double dcmJEDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
|
|
MathOperations<double>::inverseMatrixDimThree(*dcmEJDot, *dcmJEDot);
|
|
|
|
// Transformation between ECEF and Body frame
|
|
double dcmBJ[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
|
|
double dcmBE[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
|
|
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::toDcm(quatBJ, dcmBJ);
|
|
MatrixOperations<double>::multiply(*dcmBJ, *dcmJE, *dcmBE, 3, 3, 3);
|
|
|
|
// Target Direction in the body frame
|
|
double targetDirB[3] = {0, 0, 0};
|
|
MatrixOperations<double>::multiply(*dcmBE, targetDirE, targetDirB, 3, 3, 1);
|
|
|
|
// rotation quaternion from two vectors
|
|
double refDir[3] = {0, 0, 0};
|
|
refDir[0] = acsParameters.targetModeControllerParameters.nadirRefDirection[0];
|
|
refDir[1] = acsParameters.targetModeControllerParameters.nadirRefDirection[1];
|
|
refDir[2] = acsParameters.targetModeControllerParameters.nadirRefDirection[2];
|
|
double noramlizedTargetDirB[3] = {0, 0, 0};
|
|
VectorOperations<double>::normalize(targetDirB, noramlizedTargetDirB, 3);
|
|
VectorOperations<double>::normalize(refDir, refDir, 3);
|
|
double normTargetDirB = VectorOperations<double>::norm(noramlizedTargetDirB, 3);
|
|
double normRefDir = VectorOperations<double>::norm(refDir, 3);
|
|
double crossDir[3] = {0, 0, 0};
|
|
double dotDirections = VectorOperations<double>::dot(noramlizedTargetDirB, refDir);
|
|
VectorOperations<double>::cross(noramlizedTargetDirB, refDir, crossDir);
|
|
targetQuat[0] = crossDir[0];
|
|
targetQuat[1] = crossDir[1];
|
|
targetQuat[2] = crossDir[2];
|
|
targetQuat[3] = sqrt(pow(normTargetDirB, 2) * pow(normRefDir, 2) + dotDirections);
|
|
VectorOperations<double>::normalize(targetQuat, targetQuat, 4);
|
|
|
|
//-------------------------------------------------------------------------------------
|
|
// Calculation of reference rotation rate
|
|
//-------------------------------------------------------------------------------------
|
|
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]) {
|
|
|
|
//-------------------------------------------------------------------------------------
|
|
// 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);
|
|
|
|
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);
|
|
|
|
// 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);
|
|
|
|
// 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);
|
|
|
|
//-------------------------------------------------------------------------------------
|
|
// 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);
|
|
|
|
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];
|
|
|
|
// 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];
|
|
}
|
|
for (int i = 0; i < 3; i++) {
|
|
refSatRate[i] = acsParameters.inertialModeControllerParameters.tgtRotRateInertial[i];
|
|
}
|
|
}
|
|
|
|
void Guidance::comparePtg(double targetQuat[4], ACS::OutputValues *outputValues,
|
|
double refSatRate[3], double quatError[3], double deltaRate[3]) {
|
|
double quatRef[4] = {0, 0, 0, 0};
|
|
quatRef[0] = acsParameters.targetModeControllerParameters.quatRef[0];
|
|
quatRef[1] = acsParameters.targetModeControllerParameters.quatRef[1];
|
|
quatRef[2] = acsParameters.targetModeControllerParameters.quatRef[2];
|
|
quatRef[3] = acsParameters.targetModeControllerParameters.quatRef[3];
|
|
|
|
double satRate[3] = {0, 0, 0};
|
|
satRate[0] = outputValues->satRateMekf[0];
|
|
satRate[1] = outputValues->satRateMekf[1];
|
|
satRate[2] = outputValues->satRateMekf[2];
|
|
VectorOperations<double>::subtract(satRate, refSatRate, deltaRate, 3);
|
|
// valid checks ?
|
|
double quatErrorMtx[4][4] = {{quatRef[3], quatRef[2], -quatRef[1], -quatRef[0]},
|
|
{-quatRef[2], quatRef[3], quatRef[0], -quatRef[1]},
|
|
{quatRef[1], -quatRef[0], quatRef[3], -quatRef[2]},
|
|
{quatRef[0], -quatRef[1], quatRef[2], quatRef[3]}};
|
|
|
|
double quatErrorComplete[4] = {0, 0, 0, 0};
|
|
MatrixOperations<double>::multiply(*quatErrorMtx, targetQuat, quatErrorComplete, 4, 4, 1);
|
|
|
|
if (quatErrorComplete[3] < 0) {
|
|
quatErrorComplete[3] *= -1;
|
|
}
|
|
|
|
quatError[0] = quatErrorComplete[0];
|
|
quatError[1] = quatErrorComplete[1];
|
|
quatError[2] = quatErrorComplete[2];
|
|
|
|
// target flag in matlab, importance, does look like it only gives
|
|
// feedback if pointing control is under 150 arcsec ??
|
|
}
|
|
|
|
void Guidance::getDistributionMatrixRw(ACS::SensorValues *sensorValues, double *rwPseudoInv) {
|
|
if (sensorValues->rw1Set.isValid() && sensorValues->rw2Set.isValid() && sensorValues->rw3Set.isValid() &&
|
|
sensorValues->rw4Set.isValid()) {
|
|
rwPseudoInv[0] = acsParameters.rwMatrices.pseudoInverse[0][0];
|
|
rwPseudoInv[1] = acsParameters.rwMatrices.pseudoInverse[0][1];
|
|
rwPseudoInv[2] = acsParameters.rwMatrices.pseudoInverse[0][2];
|
|
rwPseudoInv[3] = acsParameters.rwMatrices.pseudoInverse[1][0];
|
|
rwPseudoInv[4] = acsParameters.rwMatrices.pseudoInverse[1][1];
|
|
rwPseudoInv[5] = acsParameters.rwMatrices.pseudoInverse[1][2];
|
|
rwPseudoInv[6] = acsParameters.rwMatrices.pseudoInverse[2][0];
|
|
rwPseudoInv[7] = acsParameters.rwMatrices.pseudoInverse[2][1];
|
|
rwPseudoInv[8] = acsParameters.rwMatrices.pseudoInverse[2][2];
|
|
rwPseudoInv[9] = acsParameters.rwMatrices.pseudoInverse[3][0];
|
|
rwPseudoInv[10] = acsParameters.rwMatrices.pseudoInverse[3][1];
|
|
rwPseudoInv[11] = acsParameters.rwMatrices.pseudoInverse[3][2];
|
|
|
|
}
|
|
|
|
else if (!(sensorValues->rw1Set.isValid()) && sensorValues->rw2Set.isValid() &&
|
|
sensorValues->rw3Set.isValid() && sensorValues->rw4Set.isValid()) {
|
|
rwPseudoInv[0] = acsParameters.rwMatrices.without0[0][0];
|
|
rwPseudoInv[1] = acsParameters.rwMatrices.without0[0][1];
|
|
rwPseudoInv[2] = acsParameters.rwMatrices.without0[0][2];
|
|
rwPseudoInv[3] = acsParameters.rwMatrices.without0[1][0];
|
|
rwPseudoInv[4] = acsParameters.rwMatrices.without0[1][1];
|
|
rwPseudoInv[5] = acsParameters.rwMatrices.without0[1][2];
|
|
rwPseudoInv[6] = acsParameters.rwMatrices.without0[2][0];
|
|
rwPseudoInv[7] = acsParameters.rwMatrices.without0[2][1];
|
|
rwPseudoInv[8] = acsParameters.rwMatrices.without0[2][2];
|
|
rwPseudoInv[9] = acsParameters.rwMatrices.without0[3][0];
|
|
rwPseudoInv[10] = acsParameters.rwMatrices.without0[3][1];
|
|
rwPseudoInv[11] = acsParameters.rwMatrices.without0[3][2];
|
|
}
|
|
|
|
else if ((sensorValues->rw1Set.isValid()) && !(sensorValues->rw2Set.isValid()) &&
|
|
sensorValues->rw3Set.isValid() && sensorValues->rw4Set.isValid()) {
|
|
rwPseudoInv[0] = acsParameters.rwMatrices.without1[0][0];
|
|
rwPseudoInv[1] = acsParameters.rwMatrices.without1[0][1];
|
|
rwPseudoInv[2] = acsParameters.rwMatrices.without1[0][2];
|
|
rwPseudoInv[3] = acsParameters.rwMatrices.without1[1][0];
|
|
rwPseudoInv[4] = acsParameters.rwMatrices.without1[1][1];
|
|
rwPseudoInv[5] = acsParameters.rwMatrices.without1[1][2];
|
|
rwPseudoInv[6] = acsParameters.rwMatrices.without1[2][0];
|
|
rwPseudoInv[7] = acsParameters.rwMatrices.without1[2][1];
|
|
rwPseudoInv[8] = acsParameters.rwMatrices.without1[2][2];
|
|
rwPseudoInv[9] = acsParameters.rwMatrices.without1[3][0];
|
|
rwPseudoInv[10] = acsParameters.rwMatrices.without1[3][1];
|
|
rwPseudoInv[11] = acsParameters.rwMatrices.without1[3][2];
|
|
}
|
|
|
|
else if ((sensorValues->rw1Set.isValid()) && (sensorValues->rw2Set.isValid()) &&
|
|
!(sensorValues->rw3Set.isValid()) && sensorValues->rw4Set.isValid()) {
|
|
rwPseudoInv[0] = acsParameters.rwMatrices.without2[0][0];
|
|
rwPseudoInv[1] = acsParameters.rwMatrices.without2[0][1];
|
|
rwPseudoInv[2] = acsParameters.rwMatrices.without2[0][2];
|
|
rwPseudoInv[3] = acsParameters.rwMatrices.without2[1][0];
|
|
rwPseudoInv[4] = acsParameters.rwMatrices.without2[1][1];
|
|
rwPseudoInv[5] = acsParameters.rwMatrices.without2[1][2];
|
|
rwPseudoInv[6] = acsParameters.rwMatrices.without2[2][0];
|
|
rwPseudoInv[7] = acsParameters.rwMatrices.without2[2][1];
|
|
rwPseudoInv[8] = acsParameters.rwMatrices.without2[2][2];
|
|
rwPseudoInv[9] = acsParameters.rwMatrices.without2[3][0];
|
|
rwPseudoInv[10] = acsParameters.rwMatrices.without2[3][1];
|
|
rwPseudoInv[11] = acsParameters.rwMatrices.without2[3][2];
|
|
}
|
|
|
|
else if ((sensorValues->rw1Set.isValid()) && (sensorValues->rw2Set.isValid()) &&
|
|
(sensorValues->rw3Set.isValid()) && !(sensorValues->rw4Set.isValid())) {
|
|
rwPseudoInv[0] = acsParameters.rwMatrices.without3[0][0];
|
|
rwPseudoInv[1] = acsParameters.rwMatrices.without3[0][1];
|
|
rwPseudoInv[2] = acsParameters.rwMatrices.without3[0][2];
|
|
rwPseudoInv[3] = acsParameters.rwMatrices.without3[1][0];
|
|
rwPseudoInv[4] = acsParameters.rwMatrices.without3[1][1];
|
|
rwPseudoInv[5] = acsParameters.rwMatrices.without3[1][2];
|
|
rwPseudoInv[6] = acsParameters.rwMatrices.without3[2][0];
|
|
rwPseudoInv[7] = acsParameters.rwMatrices.without3[2][1];
|
|
rwPseudoInv[8] = acsParameters.rwMatrices.without3[2][2];
|
|
rwPseudoInv[9] = acsParameters.rwMatrices.without3[3][0];
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rwPseudoInv[10] = acsParameters.rwMatrices.without3[3][1];
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rwPseudoInv[11] = acsParameters.rwMatrices.without3[3][2];
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}
|
|
|
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else {
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// @note: This one takes the normal pseudoInverse of all four raction wheels valid.
|
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// Does not make sense, but is implemented that way in MATLAB ?!
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// Thought: It does not really play a role, because in case there are more then one
|
|
// reaction wheel invalid the pointing control is destined to fail.
|
|
rwPseudoInv[0] = acsParameters.rwMatrices.pseudoInverse[0][0];
|
|
rwPseudoInv[1] = acsParameters.rwMatrices.pseudoInverse[0][1];
|
|
rwPseudoInv[2] = acsParameters.rwMatrices.pseudoInverse[0][2];
|
|
rwPseudoInv[3] = acsParameters.rwMatrices.pseudoInverse[1][0];
|
|
rwPseudoInv[4] = acsParameters.rwMatrices.pseudoInverse[1][1];
|
|
rwPseudoInv[5] = acsParameters.rwMatrices.pseudoInverse[1][2];
|
|
rwPseudoInv[6] = acsParameters.rwMatrices.pseudoInverse[2][0];
|
|
rwPseudoInv[7] = acsParameters.rwMatrices.pseudoInverse[2][1];
|
|
rwPseudoInv[8] = acsParameters.rwMatrices.pseudoInverse[2][2];
|
|
rwPseudoInv[9] = acsParameters.rwMatrices.pseudoInverse[3][0];
|
|
rwPseudoInv[10] = acsParameters.rwMatrices.pseudoInverse[3][1];
|
|
rwPseudoInv[11] = acsParameters.rwMatrices.pseudoInverse[3][2];
|
|
}
|
|
}
|