Marius Eggert
076e67dd0b
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475 lines
21 KiB
C++
475 lines
21 KiB
C++
/*
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* SensorProcessing.cpp
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*
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* Created on: 7 Mar 2022
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* Author: Robin Marquardt
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*/
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#include "SensorProcessing.h"
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#include <fsfw/globalfunctions/constants.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 <fsfw/globalfunctions/timevalOperations.h>
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#include <math.h>
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#include "../controllerdefinitions/AcsCtrlDefinitions.h"
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#include "Igrf13Model.h"
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#include "util/MathOperations.h"
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using namespace Math;
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SensorProcessing::SensorProcessing(AcsParameters *acsParameters_) : savedMagFieldEst{0, 0, 0} {
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validMagField = false;
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validGcLatitude = false;
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}
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SensorProcessing::~SensorProcessing() {}
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bool SensorProcessing::processMgm(const float *mgm0Value, bool mgm0valid, const float *mgm1Value,
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bool mgm1valid, const float *mgm2Value, bool mgm2valid,
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const float *mgm3Value, bool mgm3valid, const float *mgm4Value,
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bool mgm4valid, timeval timeOfMgmMeasurement,
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const AcsParameters::MgmHandlingParameters *mgmParameters,
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const double gpsLatitude, const double gpsLongitude,
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const double gpsAltitude, bool gpsValid, double *magFieldEst,
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bool *outputValid, double *magFieldModel,
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bool *magFieldModelValid, double *magneticFieldVectorDerivative,
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bool *magneticFieldVectorDerivativeValid) {
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if (!mgm0valid && !mgm1valid && !mgm2valid && !mgm3valid && !mgm4valid) {
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*outputValid = false;
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validMagField = false;
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return false;
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}
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// Transforming Values to the Body Frame (actually it is the geometry frame atm)
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float mgm0ValueBody[3] = {0, 0, 0}, mgm1ValueBody[3] = {0, 0, 0}, mgm2ValueBody[3] = {0, 0, 0},
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mgm3ValueBody[3] = {0, 0, 0}, mgm4ValueBody[3] = {0, 0, 0};
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bool validUnit[5] = {false, false, false, false, false};
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uint8_t validCount = 0;
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if (mgm0valid) {
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MatrixOperations<float>::multiply(mgmParameters->mgm0orientationMatrix[0], mgm0Value,
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mgm0ValueBody, 3, 3, 1);
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validCount += 1;
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validUnit[0] = true;
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}
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if (mgm1valid) {
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MatrixOperations<float>::multiply(mgmParameters->mgm1orientationMatrix[0], mgm1Value,
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mgm1ValueBody, 3, 3, 1);
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validCount += 1;
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validUnit[1] = true;
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}
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if (mgm2valid) {
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MatrixOperations<float>::multiply(mgmParameters->mgm2orientationMatrix[0], mgm2Value,
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mgm2ValueBody, 3, 3, 1);
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validCount += 1;
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validUnit[2] = true;
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}
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if (mgm3valid) {
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MatrixOperations<float>::multiply(mgmParameters->mgm3orientationMatrix[0], mgm3Value,
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mgm3ValueBody, 3, 3, 1);
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validCount += 1;
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validUnit[3] = true;
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}
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if (mgm4valid) {
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MatrixOperations<float>::multiply(mgmParameters->mgm4orientationMatrix[0], mgm4Value,
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mgm4ValueBody, 3, 3, 1);
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validCount += 1;
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validUnit[4] = true;
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}
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/* -------- MagFieldEst: Middle Value ------- */
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float mgmValues[3][5] = {
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{mgm0ValueBody[0], mgm1ValueBody[0], mgm2ValueBody[0], mgm3ValueBody[0], mgm4ValueBody[0]},
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{mgm0ValueBody[1], mgm1ValueBody[1], mgm2ValueBody[1], mgm3ValueBody[1], mgm4ValueBody[1]},
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{mgm0ValueBody[2], mgm1ValueBody[2], mgm2ValueBody[2], mgm3ValueBody[2], mgm4ValueBody[2]}};
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double mgmValidValues[3][validCount];
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uint8_t j = 0;
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for (uint8_t i = 0; i < validCount; i++) {
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if (validUnit[i]) {
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mgmValidValues[0][j] = mgmValues[0][i];
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mgmValidValues[1][j] = mgmValues[1][i];
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mgmValidValues[2][j] = mgmValues[2][i];
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j += 1;
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}
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}
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// Selection Sort
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double mgmValidValuesSort[3][validCount];
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MathOperations<double>::selectionSort(*mgmValidValues, *mgmValidValuesSort, 3, validCount);
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uint8_t n = ceil(validCount / 2);
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magFieldEst[0] = mgmValidValuesSort[0][n];
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magFieldEst[1] = mgmValidValuesSort[1][n];
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magFieldEst[2] = mgmValidValuesSort[2][n];
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validMagField = true;
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//-----------------------Mag Rate Computation ---------------------------------------------------
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double timeDiff = timevalOperations::toDouble(timeOfMgmMeasurement - timeOfSavedMagFieldEst);
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for (uint8_t i = 0; i < 3; i++) {
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magneticFieldVectorDerivative[i] = (magFieldEst[i] - savedMagFieldEst[i]) / timeDiff;
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savedMagFieldEst[i] = magFieldEst[i];
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}
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*magneticFieldVectorDerivativeValid = true;
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if (timeOfSavedMagFieldEst.tv_sec == 0) {
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magneticFieldVectorDerivative[0] = 0;
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magneticFieldVectorDerivative[1] = 0;
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magneticFieldVectorDerivative[2] = 0;
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*magneticFieldVectorDerivativeValid = false;
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}
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timeOfSavedMagFieldEst = timeOfMgmMeasurement;
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*outputValid = true;
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// ---------------- IGRF- 13 Implementation here ------------------------------------------------
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if (!gpsValid) {
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*magFieldModelValid = false;
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} else {
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// Should be existing class object which will be called and modified here.
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Igrf13Model igrf13;
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// So the line above should not be done here. Update: Can be done here as long updated coffs
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// stored in acsParameters ?
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igrf13.updateCoeffGH(timeOfMgmMeasurement);
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// maybe put a condition here, to only update after a full day, this
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// class function has around 700 steps to perform
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igrf13.magFieldComp(gpsLongitude, gpsLatitude, gpsAltitude, timeOfMgmMeasurement,
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magFieldModel);
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*magFieldModelValid = false;
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}
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return true;
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}
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void SensorProcessing::processSus(
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const uint16_t *sus0Value, bool sus0valid, const uint16_t *sus1Value, bool sus1valid,
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const uint16_t *sus2Value, bool sus2valid, const uint16_t *sus3Value, bool sus3valid,
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const uint16_t *sus4Value, bool sus4valid, const uint16_t *sus5Value, bool sus5valid,
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const uint16_t *sus6Value, bool sus6valid, const uint16_t *sus7Value, bool sus7valid,
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const uint16_t *sus8Value, bool sus8valid, const uint16_t *sus9Value, bool sus9valid,
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const uint16_t *sus10Value, bool sus10valid, const uint16_t *sus11Value, bool sus11valid,
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timeval timeOfSusMeasurement, const AcsParameters::SusHandlingParameters *susParameters,
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const AcsParameters::SunModelParameters *sunModelParameters, double *sunDirEst,
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bool *sunDirEstValid, double *sunVectorInertial, bool *sunVectorInertialValid,
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double *sunVectorDerivative, bool *sunVectorDerivativeValid) {
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if (sus0valid) {
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sus0valid = susConverter.checkSunSensorData(sus0Value);
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}
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if (sus1valid) {
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sus1valid = susConverter.checkSunSensorData(sus1Value);
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}
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if (sus2valid) {
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sus2valid = susConverter.checkSunSensorData(sus2Value);
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}
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if (sus3valid) {
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sus3valid = susConverter.checkSunSensorData(sus3Value);
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}
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if (sus4valid) {
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sus4valid = susConverter.checkSunSensorData(sus4Value);
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}
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if (sus5valid) {
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sus5valid = susConverter.checkSunSensorData(sus5Value);
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}
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if (sus6valid) {
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sus6valid = susConverter.checkSunSensorData(sus6Value);
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}
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if (sus7valid) {
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sus7valid = susConverter.checkSunSensorData(sus7Value);
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}
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if (sus8valid) {
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sus8valid = susConverter.checkSunSensorData(sus8Value);
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}
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if (sus9valid) {
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sus9valid = susConverter.checkSunSensorData(sus9Value);
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}
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if (sus10valid) {
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sus10valid = susConverter.checkSunSensorData(sus10Value);
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}
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if (sus11valid) {
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sus11valid = susConverter.checkSunSensorData(sus11Value);
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}
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if (!sus0valid && !sus1valid && !sus2valid && !sus3valid && !sus4valid && !sus5valid &&
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!sus6valid && !sus7valid && !sus8valid && !sus9valid && !sus10valid && !sus11valid) {
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*sunDirEstValid = false;
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return;
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} else {
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// WARNING: NOT TRANSFORMED IN BODY FRAME YET
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// Transformation into Geomtry Frame
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float sus0VecBody[3] = {0, 0, 0}, sus1VecBody[3] = {0, 0, 0}, sus2VecBody[3] = {0, 0, 0},
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sus3VecBody[3] = {0, 0, 0}, sus4VecBody[3] = {0, 0, 0}, sus5VecBody[3] = {0, 0, 0},
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sus6VecBody[3] = {0, 0, 0}, sus7VecBody[3] = {0, 0, 0}, sus8VecBody[3] = {0, 0, 0},
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sus9VecBody[3] = {0, 0, 0}, sus10VecBody[3] = {0, 0, 0}, sus11VecBody[3] = {0, 0, 0};
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if (sus0valid) {
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MatrixOperations<float>::multiply(
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susParameters->sus0orientationMatrix[0],
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susConverter.getSunVectorSensorFrame(sus0Value, susParameters->sus0coeffAlpha,
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susParameters->sus0coeffBeta),
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sus0VecBody, 3, 3, 1);
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}
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if (sus1valid) {
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MatrixOperations<float>::multiply(
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susParameters->sus1orientationMatrix[0],
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susConverter.getSunVectorSensorFrame(sus1Value, susParameters->sus1coeffAlpha,
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susParameters->sus1coeffBeta),
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sus1VecBody, 3, 3, 1);
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}
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if (sus2valid) {
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MatrixOperations<float>::multiply(
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susParameters->sus2orientationMatrix[0],
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susConverter.getSunVectorSensorFrame(sus2Value, susParameters->sus2coeffAlpha,
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susParameters->sus2coeffBeta),
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sus2VecBody, 3, 3, 1);
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}
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if (sus3valid) {
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MatrixOperations<float>::multiply(
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susParameters->sus3orientationMatrix[0],
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susConverter.getSunVectorSensorFrame(sus3Value, susParameters->sus3coeffAlpha,
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susParameters->sus3coeffBeta),
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sus3VecBody, 3, 3, 1);
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}
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if (sus4valid) {
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MatrixOperations<float>::multiply(
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susParameters->sus4orientationMatrix[0],
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susConverter.getSunVectorSensorFrame(sus4Value, susParameters->sus4coeffAlpha,
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susParameters->sus4coeffBeta),
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sus4VecBody, 3, 3, 1);
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}
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if (sus5valid) {
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MatrixOperations<float>::multiply(
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susParameters->sus5orientationMatrix[0],
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susConverter.getSunVectorSensorFrame(sus5Value, susParameters->sus5coeffAlpha,
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susParameters->sus5coeffBeta),
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sus5VecBody, 3, 3, 1);
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}
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if (sus6valid) {
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MatrixOperations<float>::multiply(
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susParameters->sus6orientationMatrix[0],
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susConverter.getSunVectorSensorFrame(sus6Value, susParameters->sus6coeffAlpha,
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susParameters->sus6coeffBeta),
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sus6VecBody, 3, 3, 1);
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}
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if (sus7valid) {
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MatrixOperations<float>::multiply(
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susParameters->sus7orientationMatrix[0],
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susConverter.getSunVectorSensorFrame(sus7Value, susParameters->sus7coeffAlpha,
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susParameters->sus7coeffBeta),
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sus7VecBody, 3, 3, 1);
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}
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if (sus8valid) {
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MatrixOperations<float>::multiply(
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susParameters->sus8orientationMatrix[0],
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susConverter.getSunVectorSensorFrame(sus8Value, susParameters->sus8coeffAlpha,
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susParameters->sus8coeffBeta),
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sus8VecBody, 3, 3, 1);
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}
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if (sus9valid) {
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MatrixOperations<float>::multiply(
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susParameters->sus9orientationMatrix[0],
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susConverter.getSunVectorSensorFrame(sus9Value, susParameters->sus9coeffAlpha,
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susParameters->sus9coeffBeta),
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sus9VecBody, 3, 3, 1);
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}
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if (sus10valid) {
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MatrixOperations<float>::multiply(
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susParameters->sus10orientationMatrix[0],
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susConverter.getSunVectorSensorFrame(sus10Value, susParameters->sus10coeffAlpha,
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susParameters->sus10coeffBeta),
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sus10VecBody, 3, 3, 1);
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}
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if (sus11valid) {
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MatrixOperations<float>::multiply(
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susParameters->sus11orientationMatrix[0],
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susConverter.getSunVectorSensorFrame(sus11Value, susParameters->sus11coeffAlpha,
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susParameters->sus11coeffBeta),
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sus11VecBody, 3, 3, 1);
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}
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/* ------ Mean Value: susDirEst ------ */
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bool validIds[12] = {sus0valid, sus1valid, sus2valid, sus3valid, sus4valid, sus5valid,
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sus6valid, sus7valid, sus8valid, sus9valid, sus10valid, sus11valid};
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float susVecBody[3][12] = {{sus0VecBody[0], sus1VecBody[0], sus2VecBody[0], sus3VecBody[0],
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sus4VecBody[0], sus5VecBody[0], sus6VecBody[0], sus7VecBody[0],
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sus8VecBody[0], sus9VecBody[0], sus10VecBody[0], sus11VecBody[0]},
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{sus0VecBody[1], sus1VecBody[1], sus2VecBody[1], sus3VecBody[1],
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sus4VecBody[1], sus5VecBody[1], sus6VecBody[1], sus7VecBody[1],
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sus8VecBody[1], sus9VecBody[1], sus10VecBody[1], sus11VecBody[1]},
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{sus0VecBody[2], sus1VecBody[2], sus2VecBody[2], sus3VecBody[2],
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sus4VecBody[2], sus5VecBody[2], sus6VecBody[2], sus7VecBody[2],
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sus8VecBody[2], sus9VecBody[2], sus10VecBody[2], sus11VecBody[2]}};
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double susMeanValue[3] = {0, 0, 0};
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for (uint8_t i = 0; i < 12; i++) {
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if (validIds[i]) {
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susMeanValue[0] += susVecBody[0][i];
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susMeanValue[1] += susVecBody[1][i];
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susMeanValue[2] += susVecBody[2][i];
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}
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}
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VectorOperations<double>::normalize(susMeanValue, sunDirEst, 3);
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*sunDirEstValid = true;
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}
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/* -------- Sun Derivatiative --------------------- */
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double timeDiff = timevalOperations::toDouble(timeOfSusMeasurement - timeOfSavedSusDirEst);
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for (uint8_t i = 0; i < 3; i++) {
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sunVectorDerivative[i] = (sunDirEst[i] - savedSunVector[i]) / timeDiff;
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savedSunVector[i] = sunDirEst[i];
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}
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*sunVectorDerivativeValid = true;
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if (timeOfSavedSusDirEst.tv_sec == 0) {
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sunVectorDerivative[0] = 0;
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sunVectorDerivative[1] = 0;
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sunVectorDerivative[2] = 0;
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*sunVectorDerivativeValid = false;
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}
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timeOfSavedSusDirEst = timeOfSusMeasurement;
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/* -------- Sun Model Direction (IJK frame) ------- */
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// if (useSunModel) eventuell
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double JD2000 = MathOperations<double>::convertUnixToJD2000(timeOfSusMeasurement);
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// Julean Centuries
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double JC2000 = JD2000 / 36525;
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double meanLongitude =
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(sunModelParameters->omega_0 + (sunModelParameters->domega) * JC2000) * PI / 180;
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double meanAnomaly = (sunModelParameters->m_0 + sunModelParameters->dm * JC2000) * PI / 180.;
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double eclipticLongitude = meanLongitude + sunModelParameters->p1 * sin(meanAnomaly) +
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sunModelParameters->p2 * sin(2 * meanAnomaly);
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double epsilon = sunModelParameters->e - (sunModelParameters->e1) * JC2000;
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sunVectorInertial[0] = cos(eclipticLongitude);
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sunVectorInertial[1] = sin(eclipticLongitude) * cos(epsilon);
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sunVectorInertial[2] = sin(eclipticLongitude) * sin(epsilon);
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*sunVectorInertialValid = true;
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}
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void SensorProcessing::processRmu(const double rmu0Value[], bool rmu0valid,
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const double rmu1Value[], bool rmu1valid,
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const double rmu2Value[], bool rmu2valid,
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timeval timeOfrmuMeasurement,
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const AcsParameters::RmuHandlingParameters *rmuParameters,
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double *satRatEst, bool *satRateEstValid) {
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if (!rmu0valid && !rmu1valid && !rmu2valid) {
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*satRateEstValid = false;
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return;
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}
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// Transforming Values to the Body Frame (actually it is the geometry frame atm)
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double rmu0ValueBody[3] = {0, 0, 0}, rmu1ValueBody[3] = {0, 0, 0}, rmu2ValueBody[3] = {0, 0, 0};
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bool validUnit[3] = {false, false, false};
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uint8_t validCount = 0;
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if (rmu0valid) {
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MatrixOperations<double>::multiply(rmuParameters->rmu0orientationMatrix[0], rmu0Value,
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rmu0ValueBody, 3, 3, 1);
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validCount += 1;
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validUnit[0] = true;
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}
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if (rmu1valid) {
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MatrixOperations<double>::multiply(rmuParameters->rmu1orientationMatrix[0], rmu1Value,
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rmu1ValueBody, 3, 3, 1);
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validCount += 1;
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validUnit[1] = true;
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}
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if (rmu2valid) {
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MatrixOperations<double>::multiply(rmuParameters->rmu2orientationMatrix[0], rmu2Value,
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rmu2ValueBody, 3, 3, 1);
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validCount += 1;
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validUnit[2] = true;
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}
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/* -------- SatRateEst: Middle Value ------- */
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double rmuValues[3][3] = {{rmu0ValueBody[0], rmu1ValueBody[0], rmu2ValueBody[0]},
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{rmu0ValueBody[1], rmu1ValueBody[1], rmu2ValueBody[1]},
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{rmu0ValueBody[2], rmu1ValueBody[2], rmu2ValueBody[2]}};
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double rmuValidValues[3][validCount];
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uint8_t j = 0;
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for (uint8_t i = 0; i < validCount; i++) {
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if (validUnit[i]) {
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rmuValidValues[0][j] = rmuValues[0][i];
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rmuValidValues[1][j] = rmuValues[1][i];
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rmuValidValues[2][j] = rmuValues[2][i];
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j += 1;
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}
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}
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// Selection Sort
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double rmuValidValuesSort[3][validCount];
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MathOperations<double>::selectionSort(*rmuValidValues, *rmuValidValuesSort, 3, validCount);
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uint8_t n = ceil(validCount / 2);
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satRatEst[0] = rmuValidValuesSort[0][n];
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satRatEst[1] = rmuValidValuesSort[1][n];
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satRatEst[2] = rmuValidValuesSort[2][n];
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*satRateEstValid = true;
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}
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void SensorProcessing::processGps(const double gps0latitude, const double gps0longitude,
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const bool validGps, double *gcLatitude, double *gdLongitude) {
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// name to convert not process
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if (validGps) {
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// Transforming from Degree to Radians and calculation geocentric lattitude from geodetic
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*gdLongitude = gps0longitude * PI / 180;
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double latitudeRad = gps0latitude * PI / 180;
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double eccentricityWgs84 = 0.0818195;
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double factor = 1 - pow(eccentricityWgs84, 2);
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*gcLatitude = atan(factor * tan(latitudeRad));
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validGcLatitude = true;
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}
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}
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void SensorProcessing::process(acsctrl::SusDataRaw *susData, timeval now,
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ACS::SensorValues *sensorValues, ACS::OutputValues *outputValues,
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const AcsParameters *acsParameters) {
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sensorValues->update();
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// processGps(sensorValues->gps0latitude, sensorValues->gps0longitude, sensorValues->gps0Valid,
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// &outputValues->gcLatitude, &outputValues->gdLongitude);
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outputValues->mgmUpdated = processMgm(
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sensorValues->mgm0Lis3Set.fieldStrengths.value,
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sensorValues->mgm0Lis3Set.fieldStrengths.isValid(),
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sensorValues->mgm1Rm3100Set.fieldStrengths.value,
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sensorValues->mgm1Rm3100Set.fieldStrengths.isValid(),
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sensorValues->mgm2Lis3Set.fieldStrengths.value,
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sensorValues->mgm2Lis3Set.fieldStrengths.isValid(),
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sensorValues->mgm3Rm3100Set.fieldStrengths.value,
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sensorValues->mgm3Rm3100Set.fieldStrengths.isValid(), sensorValues->imtqMgmSet.mtmRawNt.value,
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sensorValues->imtqMgmSet.mtmRawNt.isValid(), now, &acsParameters->mgmHandlingParameters,
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outputValues->gcLatitude, outputValues->gdLongitude, sensorValues->gps0altitude,
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sensorValues->gps0Valid, outputValues->magFieldEst, &outputValues->magFieldEstValid,
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outputValues->magFieldModel, &outputValues->magFieldModelValid,
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outputValues->magneticFieldVectorDerivative,
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&outputValues->magneticFieldVectorDerivativeValid); // VALID outputs- PoolVariable ?
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processSus(sensorValues->susSets[0].channels.value, sensorValues->susSets[0].channels.isValid(),
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sensorValues->susSets[1].channels.value, sensorValues->susSets[1].channels.isValid(),
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sensorValues->susSets[2].channels.value, sensorValues->susSets[2].channels.isValid(),
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sensorValues->susSets[3].channels.value, sensorValues->susSets[3].channels.isValid(),
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sensorValues->susSets[4].channels.value, sensorValues->susSets[4].channels.isValid(),
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sensorValues->susSets[5].channels.value, sensorValues->susSets[5].channels.isValid(),
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sensorValues->susSets[6].channels.value, sensorValues->susSets[6].channels.isValid(),
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sensorValues->susSets[7].channels.value, sensorValues->susSets[7].channels.isValid(),
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sensorValues->susSets[8].channels.value, sensorValues->susSets[8].channels.isValid(),
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sensorValues->susSets[9].channels.value, sensorValues->susSets[9].channels.isValid(),
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sensorValues->susSets[10].channels.value, sensorValues->susSets[10].channels.isValid(),
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sensorValues->susSets[11].channels.value, sensorValues->susSets[11].channels.isValid(),
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now, &acsParameters->susHandlingParameters, &acsParameters->sunModelParameters,
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outputValues->sunDirEst, &outputValues->sunDirEstValid, outputValues->sunDirModel,
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&outputValues->sunDirModelValid, outputValues->sunVectorDerivative,
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&outputValues->sunVectorDerivativeValid);
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// VALID outputs ?
|
|
|
|
// processRmu(sensorValues->rmu0, sensorValues->rmu0Valid, sensorValues->rmu1,
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|
// sensorValues->rmu1Valid, sensorValues->rmu2, sensorValues->rmu2Valid, now,
|
|
// &acsParameters->rmuHandlingParameters, outputValues->satRateEst,
|
|
// &outputValues->satRateEstValid);
|
|
}
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