meggert
d5e57501be
All checks were successful
EIVE/eive-obsw/pipeline/pr-main This commit looks good
551 lines
26 KiB
C++
551 lines
26 KiB
C++
#include "Guidance.h"
|
|
|
|
#include <fsfw/datapool/PoolReadGuard.h>
|
|
#include <fsfw/globalfunctions/math/MatrixOperations.h>
|
|
#include <fsfw/globalfunctions/math/QuaternionOperations.h>
|
|
#include <fsfw/globalfunctions/math/VectorOperations.h>
|
|
#include <mission/controller/acs/util/MathOperations.h>
|
|
|
|
#include <cmath>
|
|
#include <filesystem>
|
|
#include <string>
|
|
|
|
Guidance::Guidance(AcsParameters *acsParameters_) { acsParameters = acsParameters_; }
|
|
|
|
Guidance::~Guidance() {}
|
|
|
|
[[deprecated]] void Guidance::targetQuatPtgSingleAxis(const timeval timeAbsolute, double posSatE[3],
|
|
double velSatE[3], double sunDirI[3],
|
|
double refDirB[3], double quatBI[4],
|
|
double targetQuat[4],
|
|
double targetSatRotRate[3]) {
|
|
//-------------------------------------------------------------------------------------
|
|
// Calculation of target quaternion to groundstation or given latitude, longitude and altitude
|
|
//-------------------------------------------------------------------------------------
|
|
// transform longitude, latitude and altitude to ECEF
|
|
double targetE[3] = {0, 0, 0};
|
|
|
|
MathOperations<double>::cartesianFromLatLongAlt(
|
|
acsParameters->targetModeControllerParameters.latitudeTgt,
|
|
acsParameters->targetModeControllerParameters.longitudeTgt,
|
|
acsParameters->targetModeControllerParameters.altitudeTgt, targetE);
|
|
|
|
// target direction in the ECEF frame
|
|
double targetDirE[3] = {0, 0, 0};
|
|
VectorOperations<double>::subtract(targetE, posSatE, targetDirE, 3);
|
|
|
|
// transformation between ECEF and ECI frame
|
|
double dcmEI[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
|
|
double dcmIE[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
|
|
double dcmEIDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
|
|
MathOperations<double>::ecfToEciWithNutPre(timeAbsolute, *dcmEI, *dcmEIDot);
|
|
MathOperations<double>::inverseMatrixDimThree(*dcmEI, *dcmIE);
|
|
|
|
double dcmIEDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
|
|
MathOperations<double>::inverseMatrixDimThree(*dcmEIDot, *dcmIEDot);
|
|
|
|
// transformation between ECEF and Body frame
|
|
double dcmBI[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
|
|
double dcmBE[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
|
|
|
|
QuaternionOperations::toDcm(quatBI, dcmBI);
|
|
MatrixOperations<double>::multiply(*dcmBI, *dcmIE, *dcmBE, 3, 3, 3);
|
|
|
|
// target Direction in the body frame
|
|
double targetDirB[3] = {0, 0, 0};
|
|
MatrixOperations<double>::multiply(*dcmBE, targetDirE, targetDirB, 3, 3, 1);
|
|
|
|
// rotation quaternion from two vectors
|
|
double refDir[3] = {0, 0, 0};
|
|
refDir[0] = acsParameters->targetModeControllerParameters.refDirection[0];
|
|
refDir[1] = acsParameters->targetModeControllerParameters.refDirection[1];
|
|
refDir[2] = acsParameters->targetModeControllerParameters.refDirection[2];
|
|
double noramlizedTargetDirB[3] = {0, 0, 0};
|
|
VectorOperations<double>::normalize(targetDirB, noramlizedTargetDirB, 3);
|
|
VectorOperations<double>::normalize(refDir, refDir, 3);
|
|
double normTargetDirB = VectorOperations<double>::norm(noramlizedTargetDirB, 3);
|
|
double normRefDir = VectorOperations<double>::norm(refDir, 3);
|
|
double crossDir[3] = {0, 0, 0};
|
|
double dotDirections = VectorOperations<double>::dot(noramlizedTargetDirB, refDir);
|
|
VectorOperations<double>::cross(noramlizedTargetDirB, refDir, crossDir);
|
|
targetQuat[0] = crossDir[0];
|
|
targetQuat[1] = crossDir[1];
|
|
targetQuat[2] = crossDir[2];
|
|
targetQuat[3] = sqrt(pow(normTargetDirB, 2) * pow(normRefDir, 2) + dotDirections);
|
|
VectorOperations<double>::normalize(targetQuat, targetQuat, 4);
|
|
|
|
//-------------------------------------------------------------------------------------
|
|
// calculation of reference rotation rate
|
|
//-------------------------------------------------------------------------------------
|
|
double velSatB[3] = {0, 0, 0}, velSatBPart1[3] = {0, 0, 0}, velSatBPart2[3] = {0, 0, 0};
|
|
// velocity: v_B = dcm_BI * dcmIE * v_E + dcm_BI * DotDcm_IE * v_E
|
|
MatrixOperations<double>::multiply(*dcmBE, velSatE, velSatBPart1, 3, 3, 1);
|
|
double dcmBEDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
|
|
MatrixOperations<double>::multiply(*dcmBI, *dcmIEDot, *dcmBEDot, 3, 3, 3);
|
|
MatrixOperations<double>::multiply(*dcmBEDot, posSatE, velSatBPart2, 3, 3, 1);
|
|
VectorOperations<double>::add(velSatBPart1, velSatBPart2, velSatB, 3);
|
|
|
|
double normVelSatB = VectorOperations<double>::norm(velSatB, 3);
|
|
double normRefSatRate = normVelSatB / normTargetDirB;
|
|
|
|
double satRateDir[3] = {0, 0, 0};
|
|
VectorOperations<double>::cross(velSatB, targetDirB, satRateDir);
|
|
VectorOperations<double>::normalize(satRateDir, satRateDir, 3);
|
|
VectorOperations<double>::mulScalar(satRateDir, normRefSatRate, targetSatRotRate, 3);
|
|
|
|
//-------------------------------------------------------------------------------------
|
|
// Calculation of reference rotation rate in case of star tracker blinding
|
|
//-------------------------------------------------------------------------------------
|
|
if (acsParameters->targetModeControllerParameters.avoidBlindStr) {
|
|
double sunDirB[3] = {0, 0, 0};
|
|
MatrixOperations<double>::multiply(*dcmBI, sunDirI, sunDirB, 3, 3, 1);
|
|
|
|
double exclAngle = acsParameters->strParameters.exclusionAngle,
|
|
blindStart = acsParameters->targetModeControllerParameters.blindAvoidStart,
|
|
blindEnd = acsParameters->targetModeControllerParameters.blindAvoidStop;
|
|
double sightAngleSun =
|
|
VectorOperations<double>::dot(acsParameters->strParameters.boresightAxis, sunDirB);
|
|
|
|
if (!(strBlindAvoidFlag)) {
|
|
double critSightAngle = blindStart * exclAngle;
|
|
if (sightAngleSun < critSightAngle) {
|
|
strBlindAvoidFlag = true;
|
|
}
|
|
} else {
|
|
if (sightAngleSun < blindEnd * exclAngle) {
|
|
double normBlindRefRate = acsParameters->targetModeControllerParameters.blindRotRate;
|
|
double blindRefRate[3] = {0, 0, 0};
|
|
if (sunDirB[1] < 0) {
|
|
blindRefRate[0] = normBlindRefRate;
|
|
blindRefRate[1] = 0;
|
|
blindRefRate[2] = 0;
|
|
} else {
|
|
blindRefRate[0] = -normBlindRefRate;
|
|
blindRefRate[1] = 0;
|
|
blindRefRate[2] = 0;
|
|
}
|
|
VectorOperations<double>::add(blindRefRate, targetSatRotRate, targetSatRotRate, 3);
|
|
} else {
|
|
strBlindAvoidFlag = false;
|
|
}
|
|
}
|
|
}
|
|
// revert calculated quaternion from qBX to qIX
|
|
double quatIB[4] = {0, 0, 0, 1};
|
|
QuaternionOperations::inverse(quatBI, quatIB);
|
|
QuaternionOperations::multiply(quatIB, targetQuat, targetQuat);
|
|
}
|
|
|
|
void Guidance::targetQuatPtgThreeAxes(const timeval timeAbsolute, const double timeDelta,
|
|
double posSatE[3], double velSatE[3], double targetQuat[4],
|
|
double targetSatRotRate[3]) {
|
|
//-------------------------------------------------------------------------------------
|
|
// Calculation of target quaternion for target pointing
|
|
//-------------------------------------------------------------------------------------
|
|
// transform longitude, latitude and altitude to cartesian coordiantes (ECEF)
|
|
double targetE[3] = {0, 0, 0};
|
|
MathOperations<double>::cartesianFromLatLongAlt(
|
|
acsParameters->targetModeControllerParameters.latitudeTgt,
|
|
acsParameters->targetModeControllerParameters.longitudeTgt,
|
|
acsParameters->targetModeControllerParameters.altitudeTgt, targetE);
|
|
double targetDirE[3] = {0, 0, 0};
|
|
VectorOperations<double>::subtract(targetE, posSatE, targetDirE, 3);
|
|
|
|
// transformation between ECEF and ECI frame
|
|
double dcmEI[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
|
|
double dcmIE[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
|
|
double dcmEIDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
|
|
MathOperations<double>::ecfToEciWithNutPre(timeAbsolute, *dcmEI, *dcmEIDot);
|
|
MathOperations<double>::inverseMatrixDimThree(*dcmEI, *dcmIE);
|
|
|
|
double dcmIEDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
|
|
MathOperations<double>::inverseMatrixDimThree(*dcmEIDot, *dcmIEDot);
|
|
|
|
// target direction in the ECI frame
|
|
double posSatI[3] = {0, 0, 0}, targetI[3] = {0, 0, 0}, targetDirI[3] = {0, 0, 0};
|
|
MatrixOperations<double>::multiply(*dcmIE, posSatE, posSatI, 3, 3, 1);
|
|
MatrixOperations<double>::multiply(*dcmIE, targetE, targetI, 3, 3, 1);
|
|
VectorOperations<double>::subtract(targetI, posSatI, targetDirI, 3);
|
|
|
|
// x-axis aligned with target direction
|
|
// this aligns with the camera, E- and S-band antennas
|
|
double xAxis[3] = {0, 0, 0};
|
|
VectorOperations<double>::normalize(targetDirI, xAxis, 3);
|
|
|
|
// transform velocity into inertial frame
|
|
double velocityI[3] = {0, 0, 0}, velPart1[3] = {0, 0, 0}, velPart2[3] = {0, 0, 0};
|
|
MatrixOperations<double>::multiply(*dcmIE, velSatE, velPart1, 3, 3, 1);
|
|
MatrixOperations<double>::multiply(*dcmIEDot, posSatE, velPart2, 3, 3, 1);
|
|
VectorOperations<double>::add(velPart1, velPart2, velocityI, 3);
|
|
|
|
// orbital normal vector of target and velocity vector
|
|
double orbitalNormalI[3] = {0, 0, 0};
|
|
VectorOperations<double>::cross(posSatI, velocityI, orbitalNormalI);
|
|
VectorOperations<double>::normalize(orbitalNormalI, orbitalNormalI, 3);
|
|
|
|
// y-axis of satellite in orbit plane so that z-axis is parallel to long side of picture
|
|
// resolution
|
|
double yAxis[3] = {0, 0, 0};
|
|
VectorOperations<double>::cross(orbitalNormalI, xAxis, yAxis);
|
|
VectorOperations<double>::normalize(yAxis, yAxis, 3);
|
|
|
|
// z-axis completes RHS
|
|
double zAxis[3] = {0, 0, 0};
|
|
VectorOperations<double>::cross(xAxis, yAxis, zAxis);
|
|
|
|
// join transformation matrix
|
|
double dcmIX[3][3] = {{xAxis[0], yAxis[0], zAxis[0]},
|
|
{xAxis[1], yAxis[1], zAxis[1]},
|
|
{xAxis[2], yAxis[2], zAxis[2]}};
|
|
QuaternionOperations::fromDcm(dcmIX, targetQuat);
|
|
|
|
int8_t timeElapsedMax = acsParameters->targetModeControllerParameters.timeElapsedMax;
|
|
targetRotationRate(timeElapsedMax, timeDelta, targetQuat, targetSatRotRate);
|
|
}
|
|
|
|
void Guidance::targetQuatPtgGs(const timeval timeAbsolute, const double timeDelta,
|
|
double posSatE[3], double sunDirI[3], double targetQuat[4],
|
|
double targetSatRotRate[3]) {
|
|
//-------------------------------------------------------------------------------------
|
|
// Calculation of target quaternion for ground station pointing
|
|
//-------------------------------------------------------------------------------------
|
|
// transform longitude, latitude and altitude to cartesian coordiantes (ECEF)
|
|
double groundStationE[3] = {0, 0, 0};
|
|
|
|
MathOperations<double>::cartesianFromLatLongAlt(
|
|
acsParameters->gsTargetModeControllerParameters.latitudeTgt,
|
|
acsParameters->gsTargetModeControllerParameters.longitudeTgt,
|
|
acsParameters->gsTargetModeControllerParameters.altitudeTgt, groundStationE);
|
|
double targetDirE[3] = {0, 0, 0};
|
|
VectorOperations<double>::subtract(groundStationE, posSatE, targetDirE, 3);
|
|
|
|
// transformation between ECEF and ECI frame
|
|
double dcmEI[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
|
|
double dcmIE[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
|
|
double dcmEIDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
|
|
MathOperations<double>::ecfToEciWithNutPre(timeAbsolute, *dcmEI, *dcmEIDot);
|
|
MathOperations<double>::inverseMatrixDimThree(*dcmEI, *dcmIE);
|
|
|
|
double dcmIEDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
|
|
MathOperations<double>::inverseMatrixDimThree(*dcmEIDot, *dcmIEDot);
|
|
|
|
// target direction in the ECI frame
|
|
double posSatI[3] = {0, 0, 0}, groundStationI[3] = {0, 0, 0}, groundStationDirI[3] = {0, 0, 0};
|
|
MatrixOperations<double>::multiply(*dcmIE, posSatE, posSatI, 3, 3, 1);
|
|
MatrixOperations<double>::multiply(*dcmIE, groundStationE, groundStationI, 3, 3, 1);
|
|
VectorOperations<double>::subtract(groundStationI, posSatI, groundStationDirI, 3);
|
|
|
|
// negative x-axis aligned with target direction
|
|
// this aligns with the camera, E- and S-band antennas
|
|
double xAxis[3] = {0, 0, 0};
|
|
VectorOperations<double>::normalize(groundStationDirI, xAxis, 3);
|
|
VectorOperations<double>::mulScalar(xAxis, -1, xAxis, 3);
|
|
|
|
// get sun vector model in ECI
|
|
VectorOperations<double>::normalize(sunDirI, sunDirI, 3);
|
|
|
|
// calculate z-axis as projection of sun vector into plane defined by x-axis as normal vector
|
|
// z = sPerpenticular = s - sParallel = s - (x*s)/norm(x)^2 * x
|
|
double xDotS = VectorOperations<double>::dot(xAxis, sunDirI);
|
|
xDotS /= pow(VectorOperations<double>::norm(xAxis, 3), 2);
|
|
double sunParallel[3], zAxis[3];
|
|
VectorOperations<double>::mulScalar(xAxis, xDotS, sunParallel, 3);
|
|
VectorOperations<double>::subtract(sunDirI, sunParallel, zAxis, 3);
|
|
VectorOperations<double>::normalize(zAxis, zAxis, 3);
|
|
|
|
// y-axis completes RHS
|
|
double yAxis[3];
|
|
VectorOperations<double>::cross(zAxis, xAxis, yAxis);
|
|
VectorOperations<double>::normalize(yAxis, yAxis, 3);
|
|
|
|
// join transformation matrix
|
|
double dcmTgt[3][3] = {{xAxis[0], yAxis[0], zAxis[0]},
|
|
{xAxis[1], yAxis[1], zAxis[1]},
|
|
{xAxis[2], yAxis[2], zAxis[2]}};
|
|
QuaternionOperations::fromDcm(dcmTgt, targetQuat);
|
|
|
|
int8_t timeElapsedMax = acsParameters->gsTargetModeControllerParameters.timeElapsedMax;
|
|
targetRotationRate(timeElapsedMax, timeDelta, targetQuat, targetSatRotRate);
|
|
}
|
|
|
|
void Guidance::targetQuatPtgSun(double timeDelta, double sunDirI[3], double targetQuat[4],
|
|
double targetSatRotRate[3]) {
|
|
//-------------------------------------------------------------------------------------
|
|
// Calculation of target quaternion to sun
|
|
//-------------------------------------------------------------------------------------
|
|
// positive z-Axis of EIVE in direction of sun
|
|
double zAxis[3] = {0, 0, 0};
|
|
VectorOperations<double>::normalize(sunDirI, zAxis, 3);
|
|
|
|
// assign helper vector (north pole inertial)
|
|
double helperVec[3] = {0, 0, 1};
|
|
|
|
// construct y-axis from helper vector and z-axis
|
|
double yAxis[3] = {0, 0, 0};
|
|
VectorOperations<double>::cross(zAxis, helperVec, yAxis);
|
|
VectorOperations<double>::normalize(yAxis, yAxis, 3);
|
|
|
|
// x-axis completes RHS
|
|
double xAxis[3] = {0, 0, 0};
|
|
VectorOperations<double>::cross(yAxis, zAxis, xAxis);
|
|
VectorOperations<double>::normalize(xAxis, xAxis, 3);
|
|
|
|
// join transformation matrix
|
|
double dcmTgt[3][3] = {{xAxis[0], yAxis[0], zAxis[0]},
|
|
{xAxis[1], yAxis[1], zAxis[1]},
|
|
{xAxis[2], yAxis[2], zAxis[2]}};
|
|
QuaternionOperations::fromDcm(dcmTgt, targetQuat);
|
|
|
|
//----------------------------------------------------------------------------
|
|
// Calculation of reference rotation rate
|
|
//----------------------------------------------------------------------------
|
|
int8_t timeElapsedMax = acsParameters->gsTargetModeControllerParameters.timeElapsedMax;
|
|
targetRotationRate(timeElapsedMax, timeDelta, targetQuat, targetSatRotRate);
|
|
}
|
|
|
|
[[deprecated]] void Guidance::targetQuatPtgNadirSingleAxis(const timeval timeAbsolute,
|
|
double posSatE[3], double quatBI[4],
|
|
double targetQuat[4], double refDirB[3],
|
|
double refSatRate[3]) {
|
|
//-------------------------------------------------------------------------------------
|
|
// Calculation of target quaternion for Nadir pointing
|
|
//-------------------------------------------------------------------------------------
|
|
double targetDirE[3] = {0, 0, 0};
|
|
VectorOperations<double>::mulScalar(posSatE, -1, targetDirE, 3);
|
|
|
|
// transformation between ECEF and ECI frame
|
|
double dcmEI[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
|
|
double dcmIE[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
|
|
double dcmEIDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
|
|
MathOperations<double>::ecfToEciWithNutPre(timeAbsolute, *dcmEI, *dcmEIDot);
|
|
MathOperations<double>::inverseMatrixDimThree(*dcmEI, *dcmIE);
|
|
|
|
double dcmIEDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
|
|
MathOperations<double>::inverseMatrixDimThree(*dcmEIDot, *dcmIEDot);
|
|
|
|
// transformation between ECEF and Body frame
|
|
double dcmBI[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
|
|
double dcmBE[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
|
|
QuaternionOperations::toDcm(quatBI, dcmBI);
|
|
MatrixOperations<double>::multiply(*dcmBI, *dcmIE, *dcmBE, 3, 3, 3);
|
|
|
|
// target Direction in the body frame
|
|
double targetDirB[3] = {0, 0, 0};
|
|
MatrixOperations<double>::multiply(*dcmBE, targetDirE, targetDirB, 3, 3, 1);
|
|
|
|
// rotation quaternion from two vectors
|
|
double refDir[3] = {0, 0, 0};
|
|
refDir[0] = acsParameters->nadirModeControllerParameters.refDirection[0];
|
|
refDir[1] = acsParameters->nadirModeControllerParameters.refDirection[1];
|
|
refDir[2] = acsParameters->nadirModeControllerParameters.refDirection[2];
|
|
double noramlizedTargetDirB[3] = {0, 0, 0};
|
|
VectorOperations<double>::normalize(targetDirB, noramlizedTargetDirB, 3);
|
|
VectorOperations<double>::normalize(refDir, refDir, 3);
|
|
double normTargetDirB = VectorOperations<double>::norm(noramlizedTargetDirB, 3);
|
|
double normRefDir = VectorOperations<double>::norm(refDir, 3);
|
|
double crossDir[3] = {0, 0, 0};
|
|
double dotDirections = VectorOperations<double>::dot(noramlizedTargetDirB, refDir);
|
|
VectorOperations<double>::cross(noramlizedTargetDirB, refDir, crossDir);
|
|
targetQuat[0] = crossDir[0];
|
|
targetQuat[1] = crossDir[1];
|
|
targetQuat[2] = crossDir[2];
|
|
targetQuat[3] = sqrt(pow(normTargetDirB, 2) * pow(normRefDir, 2) + dotDirections);
|
|
VectorOperations<double>::normalize(targetQuat, targetQuat, 4);
|
|
|
|
//-------------------------------------------------------------------------------------
|
|
// Calculation of reference rotation rate
|
|
//-------------------------------------------------------------------------------------
|
|
refSatRate[0] = 0;
|
|
refSatRate[1] = 0;
|
|
refSatRate[2] = 0;
|
|
|
|
// revert calculated quaternion from qBX to qIX
|
|
double quatIB[4] = {0, 0, 0, 1};
|
|
QuaternionOperations::inverse(quatBI, quatIB);
|
|
QuaternionOperations::multiply(quatIB, targetQuat, targetQuat);
|
|
}
|
|
|
|
void Guidance::targetQuatPtgNadirThreeAxes(const timeval timeAbsolute, const double timeDelta,
|
|
double posSatE[3], double velSatE[3],
|
|
double targetQuat[4], double refSatRate[3]) {
|
|
//-------------------------------------------------------------------------------------
|
|
// Calculation of target quaternion for Nadir pointing
|
|
//-------------------------------------------------------------------------------------
|
|
// transformation between ECEF and ECI frame
|
|
double dcmEI[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
|
|
double dcmIE[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
|
|
double dcmEIDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
|
|
MathOperations<double>::ecfToEciWithNutPre(timeAbsolute, *dcmEI, *dcmEIDot);
|
|
MathOperations<double>::inverseMatrixDimThree(*dcmEI, *dcmIE);
|
|
|
|
double dcmIEDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
|
|
MathOperations<double>::inverseMatrixDimThree(*dcmEIDot, *dcmIEDot);
|
|
|
|
// satellite position in inertial reference frame
|
|
double posSatI[3] = {0, 0, 0};
|
|
MatrixOperations<double>::multiply(*dcmIE, posSatE, posSatI, 3, 3, 1);
|
|
|
|
// negative x-axis aligned with position vector
|
|
// this aligns with the camera, E- and S-band antennas
|
|
double xAxis[3] = {0, 0, 0};
|
|
VectorOperations<double>::normalize(posSatI, xAxis, 3);
|
|
VectorOperations<double>::mulScalar(xAxis, -1, xAxis, 3);
|
|
|
|
// make z-Axis parallel to major part of camera resolution
|
|
double zAxis[3] = {0, 0, 0};
|
|
double velocityI[3] = {0, 0, 0}, velPart1[3] = {0, 0, 0}, velPart2[3] = {0, 0, 0};
|
|
MatrixOperations<double>::multiply(*dcmIE, velSatE, velPart1, 3, 3, 1);
|
|
MatrixOperations<double>::multiply(*dcmIEDot, posSatE, velPart2, 3, 3, 1);
|
|
VectorOperations<double>::add(velPart1, velPart2, velocityI, 3);
|
|
VectorOperations<double>::cross(xAxis, velocityI, zAxis);
|
|
VectorOperations<double>::normalize(zAxis, zAxis, 3);
|
|
|
|
// y-Axis completes RHS
|
|
double yAxis[3] = {0, 0, 0};
|
|
VectorOperations<double>::cross(zAxis, xAxis, yAxis);
|
|
|
|
// join transformation matrix
|
|
double dcmTgt[3][3] = {{xAxis[0], yAxis[0], zAxis[0]},
|
|
{xAxis[1], yAxis[1], zAxis[1]},
|
|
{xAxis[2], yAxis[2], zAxis[2]}};
|
|
QuaternionOperations::fromDcm(dcmTgt, targetQuat);
|
|
|
|
int8_t timeElapsedMax = acsParameters->nadirModeControllerParameters.timeElapsedMax;
|
|
targetRotationRate(timeElapsedMax, timeDelta, targetQuat, refSatRate);
|
|
}
|
|
|
|
void Guidance::comparePtg(double currentQuat[4], double currentSatRotRate[3], double targetQuat[4],
|
|
double targetSatRotRate[3], double refQuat[4], double refSatRotRate[3],
|
|
double errorQuat[4], double errorSatRotRate[3], double &errorAngle) {
|
|
// First calculate error quaternion between current and target orientation
|
|
QuaternionOperations::multiply(currentQuat, targetQuat, errorQuat);
|
|
// Last calculate add rotation from reference quaternion
|
|
QuaternionOperations::multiply(refQuat, errorQuat, errorQuat);
|
|
// Keep scalar part of quaternion positive
|
|
if (errorQuat[3] < 0) {
|
|
VectorOperations<double>::mulScalar(errorQuat, -1, errorQuat, 4);
|
|
}
|
|
// Calculate error angle
|
|
errorAngle = QuaternionOperations::getAngle(errorQuat, true);
|
|
|
|
// Calculate error satellite rotational rate
|
|
// First combine the target and reference satellite rotational rates
|
|
double combinedRefSatRotRate[3] = {0, 0, 0};
|
|
VectorOperations<double>::add(targetSatRotRate, refSatRotRate, combinedRefSatRotRate, 3);
|
|
// Then subtract the combined required satellite rotational rates from the actual rate
|
|
VectorOperations<double>::subtract(currentSatRotRate, combinedRefSatRotRate, errorSatRotRate, 3);
|
|
}
|
|
|
|
void Guidance::comparePtg(double currentQuat[4], double currentSatRotRate[3], double targetQuat[4],
|
|
double targetSatRotRate[3], double errorQuat[4],
|
|
double errorSatRotRate[3], double &errorAngle) {
|
|
// First calculate error quaternion between current and target orientation
|
|
QuaternionOperations::multiply(currentQuat, targetQuat, errorQuat);
|
|
// Keep scalar part of quaternion positive
|
|
if (errorQuat[3] < 0) {
|
|
VectorOperations<double>::mulScalar(errorQuat, -1, errorQuat, 4);
|
|
}
|
|
// Calculate error angle
|
|
errorAngle = QuaternionOperations::getAngle(errorQuat, true);
|
|
|
|
// Calculate error satellite rotational rate
|
|
VectorOperations<double>::subtract(currentSatRotRate, targetSatRotRate, errorSatRotRate, 3);
|
|
}
|
|
|
|
void Guidance::targetRotationRate(const int8_t timeElapsedMax, const double timeDelta,
|
|
double quatInertialTarget[4], double *refSatRate) {
|
|
//-------------------------------------------------------------------------------------
|
|
// Calculation of target rotation rate
|
|
//-------------------------------------------------------------------------------------
|
|
if (VectorOperations<double>::norm(savedQuaternion, 4) == 0) {
|
|
std::memcpy(savedQuaternion, quatInertialTarget, sizeof(savedQuaternion));
|
|
}
|
|
if (timeDelta < timeElapsedMax and timeDelta != 0.0) {
|
|
double q[4] = {0, 0, 0, 0}, qS[4] = {0, 0, 0, 0};
|
|
QuaternionOperations::inverse(quatInertialTarget, q);
|
|
QuaternionOperations::inverse(savedQuaternion, qS);
|
|
double qDiff[4] = {0, 0, 0, 0};
|
|
VectorOperations<double>::subtract(q, qS, qDiff, 4);
|
|
VectorOperations<double>::mulScalar(qDiff, 1. / timeDelta, qDiff, 4);
|
|
|
|
double tgtQuatVec[3] = {q[0], q[1], q[2]};
|
|
double qDiffVec[3] = {qDiff[0], qDiff[1], qDiff[2]};
|
|
double sum1[3] = {0, 0, 0}, sum2[3] = {0, 0, 0}, sum3[3] = {0, 0, 0}, sum[3] = {0, 0, 0};
|
|
VectorOperations<double>::cross(tgtQuatVec, qDiffVec, sum1);
|
|
VectorOperations<double>::mulScalar(tgtQuatVec, qDiff[3], sum2, 3);
|
|
VectorOperations<double>::mulScalar(qDiffVec, q[3], sum3, 3);
|
|
VectorOperations<double>::add(sum1, sum2, sum, 3);
|
|
VectorOperations<double>::subtract(sum, sum3, sum, 3);
|
|
double omegaRefNew[3] = {0, 0, 0};
|
|
VectorOperations<double>::mulScalar(sum, -2, omegaRefNew, 3);
|
|
|
|
VectorOperations<double>::mulScalar(omegaRefNew, 2, refSatRate, 3);
|
|
VectorOperations<double>::subtract(refSatRate, omegaRefSaved, refSatRate, 3);
|
|
omegaRefSaved[0] = omegaRefNew[0];
|
|
omegaRefSaved[1] = omegaRefNew[1];
|
|
omegaRefSaved[2] = omegaRefNew[2];
|
|
} else {
|
|
refSatRate[0] = 0;
|
|
refSatRate[1] = 0;
|
|
refSatRate[2] = 0;
|
|
}
|
|
|
|
std::memcpy(savedQuaternion, quatInertialTarget, sizeof(savedQuaternion));
|
|
}
|
|
|
|
ReturnValue_t Guidance::getDistributionMatrixRw(ACS::SensorValues *sensorValues,
|
|
double *rwPseudoInv) {
|
|
bool rw1valid = (sensorValues->rw1Set.state.value && sensorValues->rw1Set.state.isValid());
|
|
bool rw2valid = (sensorValues->rw2Set.state.value && sensorValues->rw2Set.state.isValid());
|
|
bool rw3valid = (sensorValues->rw3Set.state.value && sensorValues->rw3Set.state.isValid());
|
|
bool rw4valid = (sensorValues->rw4Set.state.value && sensorValues->rw4Set.state.isValid());
|
|
|
|
if (rw1valid && rw2valid && rw3valid && rw4valid) {
|
|
std::memcpy(rwPseudoInv, acsParameters->rwMatrices.pseudoInverse, 12 * sizeof(double));
|
|
return returnvalue::OK;
|
|
} else if (!rw1valid && rw2valid && rw3valid && rw4valid) {
|
|
std::memcpy(rwPseudoInv, acsParameters->rwMatrices.without1, 12 * sizeof(double));
|
|
return returnvalue::OK;
|
|
} else if (rw1valid && !rw2valid && rw3valid && rw4valid) {
|
|
std::memcpy(rwPseudoInv, acsParameters->rwMatrices.without2, 12 * sizeof(double));
|
|
return returnvalue::OK;
|
|
} else if (rw1valid && rw2valid && !rw3valid && rw4valid) {
|
|
std::memcpy(rwPseudoInv, acsParameters->rwMatrices.without3, 12 * sizeof(double));
|
|
return returnvalue::OK;
|
|
} else if (rw1valid && rw2valid && rw3valid && !rw4valid) {
|
|
std::memcpy(rwPseudoInv, acsParameters->rwMatrices.without4, 12 * sizeof(double));
|
|
return returnvalue::OK;
|
|
} else {
|
|
return returnvalue::FAILED;
|
|
}
|
|
}
|
|
|
|
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;
|
|
}
|