207 lines
6.8 KiB
C++
207 lines
6.8 KiB
C++
#include <framework/coordinates/CoordinateTransformations.h>
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#include <framework/globalfunctions/constants.h>
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#include <framework/globalfunctions/math/MatrixOperations.h>
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#include <framework/globalfunctions/math/VectorOperations.h>
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#include <stddef.h>
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#include <cmath>
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//TODO move time stuff to OSAL
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void CoordinateTransformations::positionEcfToEci(const double* ecfPosition,
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double* eciPosition) {
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ecfToEci(ecfPosition, eciPosition, NULL);
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}
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void CoordinateTransformations::velocityEcfToEci(const double* ecfVelocity,
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const double* ecfPosition, double* eciVelocity) {
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ecfToEci(ecfVelocity, eciVelocity, ecfPosition);
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}
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double CoordinateTransformations::getEarthRotationAngle(timeval time) {
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double jD2000UTC = (time.tv_sec - 946728000. + time.tv_usec / 1000000.)
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/ 24. / 3600.;
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//value of unix time at J2000TT
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static const double J2000TtUnix = 946727935.816;
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//TT does not have leap seconds
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//so we need to add the leap seconds since J2000 to our UTC based clock
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//Conveniently, GPS gives us access to the leap seconds since 1980
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//between 1980 and 2000 13 leap seconds happened
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uint8_t leapSecondsSinceJ2000 = utcGpsOffset - 13;
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//Julean centuries since J2000 //TODO fails for dates before now?
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double TTt2000 = (time.tv_sec + time.tv_usec / 1000000. - J2000TtUnix
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+ leapSecondsSinceJ2000) / 24. / 3600. / 36525.;
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double theta = 2 * Math::PI
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* (0.779057273264 + 1.00273781191135448 * jD2000UTC);
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//Correct theta according to IAU 2000 precession-nutation model
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theta = theta + 7.03270725817493E-008 + 0.0223603701 * TTt2000
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+ 6.77128219501896E-006 * TTt2000 * TTt2000
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+ 4.5300990362875E-010 * TTt2000 * TTt2000 * TTt2000
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+ 9.12419347848147E-011 * TTt2000 * TTt2000 * TTt2000 * TTt2000;
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return theta;
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}
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void CoordinateTransformations::getEarthRotationMatrix(timeval time,
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double matrix[][3]) {
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double theta = getEarthRotationAngle(time);
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matrix[0][0] = cos(theta);
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matrix[0][1] = sin(theta);
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matrix[0][2] = 0;
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matrix[1][0] = -sin(theta);
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matrix[1][1] = cos(theta);
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matrix[1][2] = 0;
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matrix[2][0] = 0;
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matrix[2][1] = 0;
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matrix[2][2] = 1;
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}
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void CoordinateTransformations::ecfToEci(const double* ecfCoordinates,
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double* eciCoordinates,
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const double* ecfPositionIfCoordinatesAreVelocity) {
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//TODO all calculations only work with a correct time
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timeval time;
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OSAL::getClock_timeval(&time);
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//value of unix time at J2000TT
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static const double J2000TtUnix = 946727935.816;
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//we need TT which does not have leap seconds
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//so we need to add the leap seconds since J2000 to our UTC based clock
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//Conveniently, GPS gives us access to the leap seconds since 1980
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//between 1980 and 2000 13 leap seconds happened
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uint8_t leapSecondsSinceJ2000 = utcGpsOffset - 13;
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//Julean centuries since J2000 //TODO fails for dates before now?
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double TTt2000 = (time.tv_sec + time.tv_usec / 1000000. - J2000TtUnix
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+ leapSecondsSinceJ2000) / 24. / 3600. / 36525.;
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//////////////////////////////////////////////////////////
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// Calculate Precession Matrix
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double zeta = 0.0111808609 * TTt2000
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+ 1.46355554053347E-006 * TTt2000 * TTt2000
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+ 8.72567663260943E-008 * TTt2000 * TTt2000 * TTt2000;
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double theta_p = 0.0097171735 * TTt2000
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- 2.06845757045384E-006 * TTt2000 * TTt2000
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- 2.02812107218552E-007 * TTt2000 * TTt2000 * TTt2000;
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double z = zeta + 3.8436028638364E-006 * TTt2000 * TTt2000
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+ 0.000000001 * TTt2000 * TTt2000 * TTt2000;
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double mPrecession[3][3];
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mPrecession[0][0] = -sin(z) * sin(zeta) + cos(z) * cos(theta_p) * cos(zeta);
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mPrecession[1][0] = cos(z) * sin(zeta) + sin(z) * cos(theta_p) * cos(zeta);
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mPrecession[2][0] = sin(theta_p) * cos(zeta);
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mPrecession[0][1] = -sin(z) * cos(zeta) - cos(z) * cos(theta_p) * sin(zeta);
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mPrecession[1][1] = cos(z) * cos(zeta) - sin(z) * cos(theta_p) * sin(zeta);
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mPrecession[2][1] = -sin(theta_p) * sin(zeta);
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mPrecession[0][2] = -cos(z) * sin(theta_p);
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mPrecession[1][2] = -sin(z) * sin(theta_p);
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mPrecession[2][2] = cos(theta_p);
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//////////////////////////////////////////////////////////
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// Calculate Nutation Matrix
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double omega_moon = 2.1824386244 - 33.7570459338 * TTt2000
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+ 3.61428599267159E-005 * TTt2000 * TTt2000
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+ 3.87850944887629E-008 * TTt2000 * TTt2000 * TTt2000;
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double deltaPsi = -0.000083388 * sin(omega_moon);
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double deltaEpsilon = 4.46174030725106E-005 * cos(omega_moon);
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double epsilon = 0.4090928042 - 0.0002269655 * TTt2000
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- 2.86040071854626E-009 * TTt2000 * TTt2000
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+ 8.78967203851589E-009 * TTt2000 * TTt2000 * TTt2000;
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double mNutation[3][3];
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mNutation[0][0] = cos(deltaPsi);
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mNutation[1][0] = cos(epsilon + deltaEpsilon) * sin(deltaPsi);
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mNutation[2][0] = sin(epsilon + deltaEpsilon) * sin(deltaPsi);
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mNutation[0][1] = -cos(epsilon) * sin(deltaPsi);
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mNutation[1][1] = cos(epsilon) * cos(epsilon + deltaEpsilon) * cos(deltaPsi)
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+ sin(epsilon) * sin(epsilon + deltaEpsilon);
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mNutation[2][1] = cos(epsilon) * sin(epsilon + deltaEpsilon) * cos(deltaPsi)
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- sin(epsilon) * cos(epsilon + deltaEpsilon);
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mNutation[0][2] = -sin(epsilon) * sin(deltaPsi);
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mNutation[1][2] = sin(epsilon) * cos(epsilon + deltaEpsilon) * cos(deltaPsi)
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- cos(epsilon) * sin(epsilon + deltaEpsilon);
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mNutation[2][2] = sin(epsilon) * sin(epsilon + deltaEpsilon) * cos(deltaPsi)
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+ cos(epsilon) * cos(epsilon + deltaEpsilon);
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//////////////////////////////////////////////////////////
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// Calculate Earth rotation matrix
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//calculate theta
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double mTheta[3][3];
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getEarthRotationMatrix(time, mTheta);
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//polar motion is neglected
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double Tfi[3][3];
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double Ttemp[3][3];
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double Tif[3][3];
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MatrixOperations<double>::multiply(mNutation[0], mPrecession[0], Ttemp[0],
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3, 3, 3);
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MatrixOperations<double>::multiply(mTheta[0], Ttemp[0], Tfi[0], 3, 3, 3);
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MatrixOperations<double>::transpose(Tfi[0], Tif[0], 3);
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MatrixOperations<double>::multiply(Tif[0], ecfCoordinates, eciCoordinates,
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3, 3, 1);
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if (ecfPositionIfCoordinatesAreVelocity != NULL) {
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double Tdotfi[3][3];
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double Tdotif[3][3];
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double Trot[3][3] = { { 0, Earth::OMEGA, 0 },
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{ 0 - Earth::OMEGA, 0, 0 }, { 0, 0, 0 } };
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double Ttemp2[3][3];
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MatrixOperations<double>::multiply(mNutation[0], mPrecession[0],
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Ttemp[0], 3, 3, 3);
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MatrixOperations<double>::multiply(mTheta[0], Ttemp[0], Ttemp2[0], 3, 3,
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3);
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MatrixOperations<double>::multiply(Trot[0], Ttemp2[0], Tdotfi[0], 3, 3,
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3);
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MatrixOperations<double>::transpose(Tdotfi[0], Tdotif[0], 3);
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double velocityCorrection[3];
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MatrixOperations<double>::multiply(Tdotif[0],
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ecfPositionIfCoordinatesAreVelocity, velocityCorrection, 3, 3,
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1);
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VectorOperations<double>::add(velocityCorrection, eciCoordinates,
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eciCoordinates, 3);
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}
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}
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CoordinateTransformations::CoordinateTransformations(uint8_t offset) :
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utcGpsOffset(offset) {
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}
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CoordinateTransformations::~CoordinateTransformations() {
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}
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void CoordinateTransformations::setUtcGpsOffset(uint8_t offset) {
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}
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