382 lines
18 KiB
C++
382 lines
18 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::targetQuatPtg(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
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//-------------------------------------------------------------------------------------
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// Transform longitude, latitude and altitude of groundstation 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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MathOperations<double>::dcmEJ(now, *dcmEJ);
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MathOperations<double>::inverseMatrixDimThree(*dcmEJ, *dcmJE);
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// Derivative of dmcEJ WITHOUT PRECISSION AND NUTATION
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double dcmEJDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
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double dcmJEDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
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double dcmDot[3][3] = {{0, 1, 0}, {-1, 0, 0}, {0, 0, 0}};
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double omegaEarth = acsParameters.targetModeControllerParameters.omegaEarth;
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// TEST SECTION !
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// double dcmTEST[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
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// MatrixOperations<double>::multiply(&acsParameters.magnetorquesParameter.mtq0orientationMatrix,
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// dcmTEST, dcmTEST, 3, 3, 3);
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MatrixOperations<double>::multiply(*dcmDot, *dcmEJ, *dcmEJDot, 3, 3, 3);
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MatrixOperations<double>::multiplyScalar(*dcmEJDot, omegaEarth, *dcmEJDot, 3, 3);
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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 sunDirJ[3] = {0, 0, 0};
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double 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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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::sunQuatPtg(ACS::SensorValues* sensorValues, ACS::OutputValues *outputValues,
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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}, sunDir[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, sunDir, 3, 3, 1);
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}
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else {
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sunDir[0] = outputValues->sunDirEst[0];
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sunDir[1] = outputValues->sunDirEst[1];
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sunDir[2] = outputValues->sunDirEst[2];
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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(sunDir, sunRef, sunCross);
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double normSunDir = VectorOperations<double>::norm(sunDir, 3);
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double normSunRef = VectorOperations<double>::norm(sunRef, 3);
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double dotSun = VectorOperations<double>::dot(sunDir, 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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// Calculation of reference rotation rate
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//-------------------------------------------------------------------------------------
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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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void Guidance::comparePtg(double targetQuat[4], ACS::OutputValues *outputValues,
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double refSatRate[3], double quatError[3], double deltaRate[3]) {
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double quatRef[4] = {0, 0, 0, 0};
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quatRef[0] = acsParameters.targetModeControllerParameters.quatRef[0];
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quatRef[1] = acsParameters.targetModeControllerParameters.quatRef[1];
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quatRef[2] = acsParameters.targetModeControllerParameters.quatRef[2];
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quatRef[3] = acsParameters.targetModeControllerParameters.quatRef[3];
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double satRate[3] = {0, 0, 0};
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satRate[0] = outputValues->satRateMekf[0];
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satRate[1] = outputValues->satRateMekf[1];
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satRate[2] = outputValues->satRateMekf[2];
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VectorOperations<double>::subtract(satRate, refSatRate, deltaRate, 3);
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// valid checks ?
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double quatErrorMtx[4][4] = {{quatRef[3], quatRef[2], -quatRef[1], -quatRef[0]},
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{-quatRef[2], quatRef[3], quatRef[0], -quatRef[1]},
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{quatRef[1], -quatRef[0], quatRef[3], -quatRef[2]},
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{quatRef[0], -quatRef[1], quatRef[2], quatRef[3]}};
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double quatErrorComplete[4] = {0, 0, 0, 0};
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MatrixOperations<double>::multiply(*quatErrorMtx, targetQuat, quatErrorComplete, 4, 4, 1);
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if (quatErrorComplete[3] < 0) {
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quatErrorComplete[3] *= -1;
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}
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quatError[0] = quatErrorComplete[0];
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quatError[1] = quatErrorComplete[1];
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quatError[2] = quatErrorComplete[2];
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// target flag in matlab, importance, does look like it only gives
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// feedback if pointing control is under 150 arcsec ??
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}
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void Guidance::getDistributionMatrixRw(ACS::SensorValues *sensorValues, double *rwPseudoInv) {
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if (sensorValues->rw1Set.isValid() && sensorValues->rw2Set.isValid() && sensorValues->rw3Set.isValid() &&
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sensorValues->rw4Set.isValid()) {
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rwPseudoInv[0] = acsParameters.rwMatrices.pseudoInverse[0][0];
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rwPseudoInv[1] = acsParameters.rwMatrices.pseudoInverse[0][1];
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rwPseudoInv[2] = acsParameters.rwMatrices.pseudoInverse[0][2];
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rwPseudoInv[3] = acsParameters.rwMatrices.pseudoInverse[1][0];
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rwPseudoInv[4] = acsParameters.rwMatrices.pseudoInverse[1][1];
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rwPseudoInv[5] = acsParameters.rwMatrices.pseudoInverse[1][2];
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rwPseudoInv[6] = acsParameters.rwMatrices.pseudoInverse[2][0];
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rwPseudoInv[7] = acsParameters.rwMatrices.pseudoInverse[2][1];
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rwPseudoInv[8] = acsParameters.rwMatrices.pseudoInverse[2][2];
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rwPseudoInv[9] = acsParameters.rwMatrices.pseudoInverse[3][0];
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rwPseudoInv[10] = acsParameters.rwMatrices.pseudoInverse[3][1];
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rwPseudoInv[11] = acsParameters.rwMatrices.pseudoInverse[3][2];
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}
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else if (!(sensorValues->rw1Set.isValid()) && sensorValues->rw2Set.isValid() &&
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sensorValues->rw3Set.isValid() && sensorValues->rw4Set.isValid()) {
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rwPseudoInv[0] = acsParameters.rwMatrices.without0[0][0];
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rwPseudoInv[1] = acsParameters.rwMatrices.without0[0][1];
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rwPseudoInv[2] = acsParameters.rwMatrices.without0[0][2];
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rwPseudoInv[3] = acsParameters.rwMatrices.without0[1][0];
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rwPseudoInv[4] = acsParameters.rwMatrices.without0[1][1];
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rwPseudoInv[5] = acsParameters.rwMatrices.without0[1][2];
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rwPseudoInv[6] = acsParameters.rwMatrices.without0[2][0];
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rwPseudoInv[7] = acsParameters.rwMatrices.without0[2][1];
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rwPseudoInv[8] = acsParameters.rwMatrices.without0[2][2];
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rwPseudoInv[9] = acsParameters.rwMatrices.without0[3][0];
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rwPseudoInv[10] = acsParameters.rwMatrices.without0[3][1];
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rwPseudoInv[11] = acsParameters.rwMatrices.without0[3][2];
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}
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else if ((sensorValues->rw1Set.isValid()) && !(sensorValues->rw2Set.isValid()) &&
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sensorValues->rw3Set.isValid() && sensorValues->rw4Set.isValid()) {
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rwPseudoInv[0] = acsParameters.rwMatrices.without1[0][0];
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rwPseudoInv[1] = acsParameters.rwMatrices.without1[0][1];
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rwPseudoInv[2] = acsParameters.rwMatrices.without1[0][2];
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rwPseudoInv[3] = acsParameters.rwMatrices.without1[1][0];
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rwPseudoInv[4] = acsParameters.rwMatrices.without1[1][1];
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rwPseudoInv[5] = acsParameters.rwMatrices.without1[1][2];
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rwPseudoInv[6] = acsParameters.rwMatrices.without1[2][0];
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rwPseudoInv[7] = acsParameters.rwMatrices.without1[2][1];
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rwPseudoInv[8] = acsParameters.rwMatrices.without1[2][2];
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rwPseudoInv[9] = acsParameters.rwMatrices.without1[3][0];
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rwPseudoInv[10] = acsParameters.rwMatrices.without1[3][1];
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rwPseudoInv[11] = acsParameters.rwMatrices.without1[3][2];
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}
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else if ((sensorValues->rw1Set.isValid()) && (sensorValues->rw2Set.isValid()) &&
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!(sensorValues->rw3Set.isValid()) && sensorValues->rw4Set.isValid()) {
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rwPseudoInv[0] = acsParameters.rwMatrices.without2[0][0];
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rwPseudoInv[1] = acsParameters.rwMatrices.without2[0][1];
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rwPseudoInv[2] = acsParameters.rwMatrices.without2[0][2];
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rwPseudoInv[3] = acsParameters.rwMatrices.without2[1][0];
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rwPseudoInv[4] = acsParameters.rwMatrices.without2[1][1];
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rwPseudoInv[5] = acsParameters.rwMatrices.without2[1][2];
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rwPseudoInv[6] = acsParameters.rwMatrices.without2[2][0];
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rwPseudoInv[7] = acsParameters.rwMatrices.without2[2][1];
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rwPseudoInv[8] = acsParameters.rwMatrices.without2[2][2];
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rwPseudoInv[9] = acsParameters.rwMatrices.without2[3][0];
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rwPseudoInv[10] = acsParameters.rwMatrices.without2[3][1];
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rwPseudoInv[11] = acsParameters.rwMatrices.without2[3][2];
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}
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else if ((sensorValues->rw1Set.isValid()) && (sensorValues->rw2Set.isValid()) &&
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(sensorValues->rw3Set.isValid()) && !(sensorValues->rw4Set.isValid())) {
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rwPseudoInv[0] = acsParameters.rwMatrices.without3[0][0];
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rwPseudoInv[1] = acsParameters.rwMatrices.without3[0][1];
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rwPseudoInv[2] = acsParameters.rwMatrices.without3[0][2];
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rwPseudoInv[3] = acsParameters.rwMatrices.without3[1][0];
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rwPseudoInv[4] = acsParameters.rwMatrices.without3[1][1];
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rwPseudoInv[5] = acsParameters.rwMatrices.without3[1][2];
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rwPseudoInv[6] = acsParameters.rwMatrices.without3[2][0];
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rwPseudoInv[7] = acsParameters.rwMatrices.without3[2][1];
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rwPseudoInv[8] = acsParameters.rwMatrices.without3[2][2];
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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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|
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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
|
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// reaction wheel invalid the pointing control is destined to fail.
|
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rwPseudoInv[0] = acsParameters.rwMatrices.pseudoInverse[0][0];
|
|
rwPseudoInv[1] = acsParameters.rwMatrices.pseudoInverse[0][1];
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rwPseudoInv[2] = acsParameters.rwMatrices.pseudoInverse[0][2];
|
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rwPseudoInv[3] = acsParameters.rwMatrices.pseudoInverse[1][0];
|
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rwPseudoInv[4] = acsParameters.rwMatrices.pseudoInverse[1][1];
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rwPseudoInv[5] = acsParameters.rwMatrices.pseudoInverse[1][2];
|
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rwPseudoInv[6] = acsParameters.rwMatrices.pseudoInverse[2][0];
|
|
rwPseudoInv[7] = acsParameters.rwMatrices.pseudoInverse[2][1];
|
|
rwPseudoInv[8] = acsParameters.rwMatrices.pseudoInverse[2][2];
|
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rwPseudoInv[9] = acsParameters.rwMatrices.pseudoInverse[3][0];
|
|
rwPseudoInv[10] = acsParameters.rwMatrices.pseudoInverse[3][1];
|
|
rwPseudoInv[11] = acsParameters.rwMatrices.pseudoInverse[3][2];
|
|
}
|
|
}
|