403 lines
19 KiB
C++
403 lines
19 KiB
C++
#include "Guidance.h"
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Guidance::Guidance(AcsParameters *acsParameters_) { acsParameters = acsParameters_; }
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Guidance::~Guidance() {}
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void Guidance::targetQuatPtgIdle(timeval timeAbsolute, const double timeDelta,
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const double sunDirI[3], const double posSatF[4],
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double targetQuat[4], double targetSatRotRate[3]) {
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// positive z-Axis of EIVE in direction of sun
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double zAxisIX[3] = {0, 0, 0};
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VectorOperations<double>::normalize(sunDirI, zAxisIX, 3);
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// determine helper vector to point x-Axis and therefore the STR away from Earth
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double helperXI[3] = {0, 0, 0}, posSatI[3] = {0, 0, 0};
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CoordinateTransformations::positionEcfToEci(posSatF, posSatI, &timeAbsolute);
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VectorOperations<double>::normalize(posSatI, helperXI, 3);
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// construct y-axis from helper vector and z-axis
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double yAxisIX[3] = {0, 0, 0};
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VectorOperations<double>::cross(zAxisIX, helperXI, yAxisIX);
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VectorOperations<double>::normalize(yAxisIX, yAxisIX, 3);
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// x-axis completes RHS
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double xAxisIX[3] = {0, 0, 0};
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VectorOperations<double>::cross(yAxisIX, zAxisIX, xAxisIX);
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VectorOperations<double>::normalize(xAxisIX, xAxisIX, 3);
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// join transformation matrix
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double dcmIX[3][3] = {{xAxisIX[0], yAxisIX[0], zAxisIX[0]},
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{xAxisIX[1], yAxisIX[1], zAxisIX[1]},
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{xAxisIX[2], yAxisIX[2], zAxisIX[2]}};
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QuaternionOperations::fromDcm(dcmIX, targetQuat);
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// calculate of reference rotation rate
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targetRotationRate(timeDelta, targetQuat, targetSatRotRate);
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}
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void Guidance::targetQuatPtgTarget(timeval timeAbsolute, const double timeDelta,
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const double posSatF[3], const double velSatF[3],
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double targetQuat[4], double targetSatRotRate[3]) {
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//-------------------------------------------------------------------------------------
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// Calculation of target quaternion for target pointing
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//-------------------------------------------------------------------------------------
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// transform longitude, latitude and altitude to cartesian coordiantes (ECEF)
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double targetF[3] = {0, 0, 0};
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CoordinateTransformations::cartesianFromLatLongAlt(
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acsParameters->targetModeControllerParameters.latitudeTgt,
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acsParameters->targetModeControllerParameters.longitudeTgt,
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acsParameters->targetModeControllerParameters.altitudeTgt, targetF);
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// target direction in the ECI frame
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double posSatI[3] = {0, 0, 0}, targetI[3] = {0, 0, 0}, targetDirI[3] = {0, 0, 0};
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CoordinateTransformations::positionEcfToEci(posSatF, posSatI, &timeAbsolute);
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CoordinateTransformations::positionEcfToEci(targetF, targetI, &timeAbsolute);
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VectorOperations<double>::subtract(targetI, posSatI, targetDirI, 3);
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// x-axis aligned with target direction
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// this aligns with the camera, E- and S-band antennas
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double xAxisIX[3] = {0, 0, 0};
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VectorOperations<double>::normalize(targetDirI, xAxisIX, 3);
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VectorOperations<double>::mulScalar(xAxisIX, -1, xAxisIX, 3);
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// transform velocity into inertial frame
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double velSatI[3] = {0, 0, 0};
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CoordinateTransformations::velocityEcfToEci(velSatF, posSatF, velSatI, &timeAbsolute);
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// orbital normal vector of target and velocity vector
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double orbitalNormalI[3] = {0, 0, 0};
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VectorOperations<double>::cross(posSatI, velSatI, orbitalNormalI);
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VectorOperations<double>::normalize(orbitalNormalI, orbitalNormalI, 3);
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// y-axis of satellite in orbit plane so that z-axis is parallel to long side of picture
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// resolution
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double yAxisIX[3] = {0, 0, 0};
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VectorOperations<double>::cross(orbitalNormalI, xAxisIX, yAxisIX);
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VectorOperations<double>::normalize(yAxisIX, yAxisIX, 3);
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// z-axis completes RHS
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double zAxisIX[3] = {0, 0, 0};
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VectorOperations<double>::cross(xAxisIX, yAxisIX, zAxisIX);
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// join transformation matrix
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double dcmIX[3][3] = {{xAxisIX[0], yAxisIX[0], zAxisIX[0]},
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{xAxisIX[1], yAxisIX[1], zAxisIX[1]},
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{xAxisIX[2], yAxisIX[2], zAxisIX[2]}};
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QuaternionOperations::fromDcm(dcmIX, targetQuat);
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targetRotationRate(timeDelta, targetQuat, targetSatRotRate);
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}
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void Guidance::targetQuatPtgGs(timeval timeAbsolute, const double timeDelta,
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const double posSatF[3], const double sunDirI[3],
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double targetQuat[4], double targetSatRotRate[3]) {
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//-------------------------------------------------------------------------------------
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// Calculation of target quaternion for ground station pointing
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//-------------------------------------------------------------------------------------
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// transform longitude, latitude and altitude to cartesian coordiantes (ECEF)
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double posGroundStationF[3] = {0, 0, 0};
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CoordinateTransformations::cartesianFromLatLongAlt(
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acsParameters->gsTargetModeControllerParameters.latitudeTgt,
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acsParameters->gsTargetModeControllerParameters.longitudeTgt,
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acsParameters->gsTargetModeControllerParameters.altitudeTgt, posGroundStationF);
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// target direction in the ECI frame
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double posSatI[3] = {0, 0, 0}, posGroundStationI[3] = {0, 0, 0}, groundStationDirI[3] = {0, 0, 0};
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CoordinateTransformations::positionEcfToEci(posSatF, posSatI, &timeAbsolute);
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CoordinateTransformations::positionEcfToEci(posGroundStationF, posGroundStationI, &timeAbsolute);
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VectorOperations<double>::subtract(posGroundStationI, posSatI, groundStationDirI, 3);
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// negative x-axis aligned with target direction
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// this aligns with the camera, E- and S-band antennas
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double xAxisIX[3] = {0, 0, 0};
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VectorOperations<double>::normalize(groundStationDirI, xAxisIX, 3);
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VectorOperations<double>::mulScalar(xAxisIX, -1, xAxisIX, 3);
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// get earth vector in ECI
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double earthDirI[3] = {0, 0, 0};
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VectorOperations<double>::normalize(posSatI, earthDirI, 3);
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VectorOperations<double>::mulScalar(earthDirI, -1, earthDirI, 3);
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// sun avoidance calculations
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double sunPerpendicularX[3] = {0, 0, 0}, sunFloorYZ[3] = {0, 0, 0}, zAxisSun[3] = {0, 0, 0};
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VectorOperations<double>::mulScalar(xAxisIX, VectorOperations<double>::dot(xAxisIX, sunDirI),
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sunPerpendicularX, 3);
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VectorOperations<double>::subtract(sunDirI, sunPerpendicularX, sunFloorYZ, 3);
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VectorOperations<double>::normalize(sunFloorYZ, sunFloorYZ, 3);
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VectorOperations<double>::mulScalar(sunFloorYZ, -1, zAxisSun, 3);
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double sunWeight = 0, strVecSun[3] = {0, 0, 0}, strVecSunX[3] = {0, 0, 0},
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strVecSunZ[3] = {0, 0, 0};
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VectorOperations<double>::mulScalar(xAxisIX, acsParameters->strParameters.boresightAxis[0],
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strVecSunX, 3);
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VectorOperations<double>::mulScalar(zAxisSun, acsParameters->strParameters.boresightAxis[2],
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strVecSunZ, 3);
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VectorOperations<double>::add(strVecSunX, strVecSunZ, strVecSun, 3);
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VectorOperations<double>::normalize(strVecSun, strVecSun, 3);
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sunWeight = VectorOperations<double>::dot(strVecSun, sunDirI);
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// earth avoidance calculations
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double earthPerpendicularX[3] = {0, 0, 0}, earthFloorYZ[3] = {0, 0, 0}, zAxisEarth[3] = {0, 0, 0};
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VectorOperations<double>::mulScalar(xAxisIX, VectorOperations<double>::dot(xAxisIX, earthDirI),
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earthPerpendicularX, 3);
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VectorOperations<double>::subtract(earthDirI, earthPerpendicularX, earthFloorYZ, 3);
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VectorOperations<double>::normalize(earthFloorYZ, earthFloorYZ, 3);
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VectorOperations<double>::mulScalar(earthFloorYZ, -1, zAxisEarth, 3);
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double earthWeight = 0, strVecEarth[3] = {0, 0, 0}, strVecEarthX[3] = {0, 0, 0},
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strVecEarthZ[3] = {0, 0, 0};
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VectorOperations<double>::mulScalar(xAxisIX, acsParameters->strParameters.boresightAxis[0],
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strVecEarthX, 3);
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VectorOperations<double>::mulScalar(zAxisEarth, acsParameters->strParameters.boresightAxis[2],
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strVecEarthZ, 3);
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VectorOperations<double>::add(strVecEarthX, strVecEarthZ, strVecEarth, 3);
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VectorOperations<double>::normalize(strVecEarth, strVecEarth, 3);
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earthWeight = VectorOperations<double>::dot(strVecEarth, earthDirI);
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if ((sunWeight == 0.0) and (earthWeight == 0.0)) {
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// if this actually ever happens i will eat a broom
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sunWeight = 0.5;
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earthWeight = 0.5;
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}
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// normalize weights for convenience
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double normFactor = 1. / (std::abs(sunWeight) + std::abs(earthWeight));
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sunWeight *= normFactor;
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earthWeight *= normFactor;
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// calculate z-axis for str blinding avoidance
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double zAxisIX[3] = {0, 0, 0};
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VectorOperations<double>::mulScalar(zAxisSun, sunWeight, zAxisSun, 3);
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VectorOperations<double>::mulScalar(zAxisEarth, earthWeight, zAxisEarth, 3);
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VectorOperations<double>::add(zAxisSun, zAxisEarth, zAxisIX, 3);
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VectorOperations<double>::mulScalar(zAxisIX, -1, zAxisIX, 3);
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VectorOperations<double>::normalize(zAxisIX, zAxisIX, 3);
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// calculate y-axis
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double yAxisIX[3] = {0, 0, 0};
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VectorOperations<double>::cross(zAxisIX, xAxisIX, yAxisIX);
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VectorOperations<double>::normalize(yAxisIX, yAxisIX, 3);
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// join transformation matrix
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double dcmIX[3][3] = {{xAxisIX[0], yAxisIX[0], zAxisIX[0]},
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{xAxisIX[1], yAxisIX[1], zAxisIX[1]},
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{xAxisIX[2], yAxisIX[2], zAxisIX[2]}};
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QuaternionOperations::fromDcm(dcmIX, targetQuat);
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limitReferenceRotation(xAxisIX, targetQuat);
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targetRotationRate(timeDelta, targetQuat, targetSatRotRate);
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std::memcpy(xAxisIXprev, xAxisIX, sizeof(xAxisIXprev));
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}
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void Guidance::targetQuatPtgNadir(timeval timeAbsolute, const double timeDelta,
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const double posSatE[3], const double velSatE[3],
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double targetQuat[4], double refSatRate[3]) {
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//-------------------------------------------------------------------------------------
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// Calculation of target quaternion for Nadir pointing
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//-------------------------------------------------------------------------------------
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// satellite position in inertial reference frame
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double posSatI[3] = {0, 0, 0};
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CoordinateTransformations::positionEcfToEci(posSatE, posSatI, &timeAbsolute);
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// negative x-axis aligned with position vector
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// this aligns with the camera, E- and S-band antennas
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double xAxisIX[3] = {0, 0, 0};
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VectorOperations<double>::normalize(posSatI, xAxisIX, 3);
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VectorOperations<double>::mulScalar(xAxisIX, -1, xAxisIX, 3);
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// make z-Axis parallel to major part of camera resolution
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double zAxisIX[3] = {0, 0, 0};
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double velSatI[3] = {0, 0, 0};
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CoordinateTransformations::velocityEcfToEci(velSatE, posSatE, velSatI, &timeAbsolute);
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VectorOperations<double>::cross(xAxisIX, velSatI, zAxisIX);
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VectorOperations<double>::normalize(zAxisIX, zAxisIX, 3);
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// y-Axis completes RHS
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double yAxisIX[3] = {0, 0, 0};
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VectorOperations<double>::cross(zAxisIX, xAxisIX, yAxisIX);
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// join transformation matrix
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double dcmIX[3][3] = {{xAxisIX[0], yAxisIX[0], zAxisIX[0]},
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{xAxisIX[1], yAxisIX[1], zAxisIX[1]},
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{xAxisIX[2], yAxisIX[2], zAxisIX[2]}};
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QuaternionOperations::fromDcm(dcmIX, targetQuat);
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targetRotationRate(timeDelta, targetQuat, refSatRate);
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}
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void Guidance::targetRotationRate(const double timeDelta, double quatIX[4], double *refSatRate) {
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if (VectorOperations<double>::norm(quatIXprev, 4) == 0) {
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std::memcpy(quatIXprev, quatIX, sizeof(quatIXprev));
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}
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if (timeDelta != 0.0) {
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QuaternionOperations::rotationFromQuaternions(quatIX, quatIXprev, timeDelta, refSatRate);
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} else {
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std::memcpy(refSatRate, ZERO_VEC3, 3 * sizeof(double));
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}
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std::memcpy(quatIXprev, quatIX, sizeof(quatIXprev));
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}
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void Guidance::limitReferenceRotation(const double xAxisIX[3], double quatIX[4]) {
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if ((VectorOperations<double>::norm(quatIXprev, 4) == 0) or
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(VectorOperations<double>::norm(xAxisIXprev, 3) == 0)) {
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return;
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}
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QuaternionOperations::preventSignJump(quatIX, quatIXprev);
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// check required rotation and return if below limit
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double quatXprevX[4] = {0, 0, 0, 0}, quatXprevI[4] = {0, 0, 0, 0};
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QuaternionOperations::inverse(quatIXprev, quatXprevI);
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QuaternionOperations::multiply(quatIX, quatXprevI, quatXprevX);
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QuaternionOperations::normalize(quatXprevX);
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double phiMax = acsParameters->gsTargetModeControllerParameters.rotRateLimit *
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acsParameters->onBoardParams.sampleTime;
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if (2 * std::acos(quatXprevX[3]) < phiMax) {
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return;
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}
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// x-axis always needs full rotation
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double phiX = 0, phiXvec[3] = {0, 0, 0};
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phiX = std::acos(VectorOperations<double>::dot(xAxisIXprev, xAxisIX));
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VectorOperations<double>::cross(xAxisIXprev, xAxisIX, phiXvec);
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VectorOperations<double>::normalize(phiXvec, phiXvec, 3);
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double quatXprevXtilde[4] = {0, 0, 0, 0}, quatIXtilde[4] = {0, 0, 0, 0};
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VectorOperations<double>::mulScalar(phiXvec, -std::sin(phiX / 2.), phiXvec, 3);
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std::memcpy(quatXprevXtilde, phiXvec, sizeof(phiXvec));
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quatXprevXtilde[3] = cos(phiX / 2.);
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QuaternionOperations::normalize(quatXprevXtilde);
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QuaternionOperations::multiply(quatXprevXtilde, quatIXprev, quatIXtilde);
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// use the residual rotation up to the maximum
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double quatXXtilde[4] = {0, 0, 0, 0}, quatXI[4] = {0, 0, 0, 0};
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QuaternionOperations::inverse(quatIX, quatXI);
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QuaternionOperations::multiply(quatIXtilde, quatXI, quatXXtilde);
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double phiResidual = 0, phiResidualVec[3] = {0, 0, 0};
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if ((phiX * phiX) > (phiMax * phiMax)) {
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phiResidual = 0;
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} else {
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phiResidual = std::sqrt((phiMax * phiMax) - (phiX * phiX));
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}
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std::memcpy(phiResidualVec, quatXXtilde, sizeof(phiResidualVec));
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VectorOperations<double>::normalize(phiResidualVec, phiResidualVec, 3);
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double quatXhatXTilde[4] = {0, 0, 0, 0}, quatXTildeXhat[4] = {0, 0, 0, 0};
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VectorOperations<double>::mulScalar(phiResidualVec, std::sin(phiResidual / 2.), phiResidualVec,
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3);
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std::memcpy(quatXhatXTilde, phiResidualVec, sizeof(phiResidualVec));
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quatXhatXTilde[3] = std::cos(phiResidual / 2.);
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QuaternionOperations::normalize(quatXhatXTilde);
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// calculate final quaternion
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QuaternionOperations::inverse(quatXhatXTilde, quatXTildeXhat);
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QuaternionOperations::multiply(quatXTildeXhat, quatIXtilde, quatIX);
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QuaternionOperations::normalize(quatIX);
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}
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void Guidance::comparePtg(double currentQuat[4], double currentSatRotRate[3], double targetQuat[4],
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double targetSatRotRate[3], double refQuat[4], double refSatRotRate[3],
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double errorQuat[4], double errorSatRotRate[3], double &errorAngle) {
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// First calculate error quaternion between current and target orientation without reference
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// quaternion
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double errorQuatWoRef[4] = {0, 0, 0, 0};
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QuaternionOperations::multiply(currentQuat, targetQuat, errorQuatWoRef);
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// Then add rotation from reference quaternion
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QuaternionOperations::multiply(refQuat, errorQuatWoRef, errorQuat);
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// Keep scalar part of quaternion positive
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if (errorQuat[3] < 0) {
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VectorOperations<double>::mulScalar(errorQuat, -1, errorQuat, 4);
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}
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// Calculate error angle
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errorAngle = QuaternionOperations::getAngle(errorQuat, true);
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// Calculate error satellite rotational rate
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// Convert target rotational rate into body RF
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double errorQuatInv[4] = {0, 0, 0, 0}, targetSatRotRateB[3] = {0, 0, 0};
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QuaternionOperations::inverse(errorQuat, errorQuatInv);
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QuaternionOperations::multiplyVector(errorQuatInv, targetSatRotRate, targetSatRotRateB);
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// Combine the target and reference satellite rotational rates
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double combinedRefSatRotRate[3] = {0, 0, 0};
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VectorOperations<double>::add(targetSatRotRate, refSatRotRate, combinedRefSatRotRate, 3);
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// Then subtract the combined required satellite rotational rates from the actual rate
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VectorOperations<double>::subtract(currentSatRotRate, combinedRefSatRotRate, errorSatRotRate, 3);
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}
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void Guidance::comparePtg(double currentQuat[4], double currentSatRotRate[3], double targetQuat[4],
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double targetSatRotRate[3], double errorQuat[4],
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double errorSatRotRate[3], double &errorAngle) {
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double refQuat[4] = {0, 0, 0, 1}, refSatRotRate[3] = {0, 0, 0};
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comparePtg(currentQuat, currentSatRotRate, targetQuat, targetSatRotRate, refQuat, refSatRotRate,
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errorQuat, errorSatRotRate, errorAngle);
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}
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ReturnValue_t Guidance::getDistributionMatrixRw(ACS::SensorValues *sensorValues,
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double *rwPseudoInv, acsctrl::RwAvail *rwAvail) {
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rwAvail->rw1avail = (sensorValues->rw1Set.state.value and sensorValues->rw1Set.state.isValid());
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rwAvail->rw2avail = (sensorValues->rw2Set.state.value and sensorValues->rw2Set.state.isValid());
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rwAvail->rw3avail = (sensorValues->rw3Set.state.value and sensorValues->rw3Set.state.isValid());
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rwAvail->rw4avail = (sensorValues->rw4Set.state.value and sensorValues->rw4Set.state.isValid());
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if (rwAvail->rw1avail and rwAvail->rw2avail and rwAvail->rw3avail and rwAvail->rw4avail) {
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std::memcpy(rwPseudoInv, acsParameters->rwMatrices.pseudoInverse, 12 * sizeof(double));
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return returnvalue::OK;
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} else if (not rwAvail->rw1avail and rwAvail->rw2avail and rwAvail->rw3avail and
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rwAvail->rw4avail) {
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std::memcpy(rwPseudoInv, acsParameters->rwMatrices.pseudoInverseWithoutRW1,
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12 * sizeof(double));
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return acsctrl::SINGLE_RW_UNAVAILABLE;
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} else if (rwAvail->rw1avail and not rwAvail->rw2avail and rwAvail->rw3avail and
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rwAvail->rw4avail) {
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std::memcpy(rwPseudoInv, acsParameters->rwMatrices.pseudoInverseWithoutRW2,
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12 * sizeof(double));
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return acsctrl::SINGLE_RW_UNAVAILABLE;
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} else if (rwAvail->rw1avail and rwAvail->rw2avail and not rwAvail->rw3avail and
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rwAvail->rw4avail) {
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std::memcpy(rwPseudoInv, acsParameters->rwMatrices.pseudoInverseWithoutRW3,
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12 * sizeof(double));
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return acsctrl::SINGLE_RW_UNAVAILABLE;
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} else if (rwAvail->rw1avail and rwAvail->rw2avail and rwAvail->rw3avail and
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not rwAvail->rw4avail) {
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std::memcpy(rwPseudoInv, acsParameters->rwMatrices.pseudoInverseWithoutRW4,
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12 * sizeof(double));
|
|
return acsctrl::SINGLE_RW_UNAVAILABLE;
|
|
}
|
|
return acsctrl::MULTIPLE_RW_UNAVAILABLE;
|
|
}
|
|
|
|
void Guidance::resetValues() {
|
|
std::memcpy(quatIXprev, ZERO_VEC4, sizeof(quatIXprev));
|
|
std::memcpy(xAxisIXprev, ZERO_VEC3, sizeof(xAxisIXprev));
|
|
}
|
|
|
|
void Guidance::getTargetParamsSafe(double sunTargetSafe[3]) {
|
|
std::error_code e;
|
|
if (not std::filesystem::exists(SD_0_SKEWED_PTG_FILE, e) or
|
|
not std::filesystem::exists(SD_1_SKEWED_PTG_FILE, e)) {
|
|
std::memcpy(sunTargetSafe, acsParameters->safeModeControllerParameters.sunTargetDir,
|
|
3 * sizeof(double));
|
|
} else {
|
|
std::memcpy(sunTargetSafe, acsParameters->safeModeControllerParameters.sunTargetDirLeop,
|
|
3 * sizeof(double));
|
|
}
|
|
}
|
|
|
|
ReturnValue_t Guidance::solarArrayDeploymentComplete() {
|
|
std::error_code e;
|
|
if (std::filesystem::exists(SD_0_SKEWED_PTG_FILE, e)) {
|
|
std::remove(SD_0_SKEWED_PTG_FILE);
|
|
if (std::filesystem::exists(SD_0_SKEWED_PTG_FILE, e)) {
|
|
return returnvalue::FAILED;
|
|
}
|
|
}
|
|
if (std::filesystem::exists(SD_1_SKEWED_PTG_FILE, e)) {
|
|
std::remove(SD_1_SKEWED_PTG_FILE);
|
|
if (std::filesystem::exists(SD_1_SKEWED_PTG_FILE, e)) {
|
|
return returnvalue::FAILED;
|
|
}
|
|
}
|
|
return returnvalue::OK;
|
|
}
|