210 lines
7.8 KiB
C++
210 lines
7.8 KiB
C++
#include "fsfw/coordinates/CoordinateTransformations.h"
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#include <cmath>
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#include <cstddef>
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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/VectorOperations.h"
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void CoordinateTransformations::positionEcfToEci(const double* ecfPosition, double* eciPosition,
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timeval* timeUTC) {
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ecfToEci(ecfPosition, eciPosition, NULL, timeUTC);
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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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timeval* timeUTC) {
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ecfToEci(ecfVelocity, eciVelocity, ecfPosition, timeUTC);
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}
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void CoordinateTransformations::positionEciToEcf(const double* eciCoordinates,
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double* ecfCoordinates, timeval* timeUTC) {
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eciToEcf(eciCoordinates, ecfCoordinates, NULL, timeUTC);
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};
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void CoordinateTransformations::velocityEciToEcf(const double* eciVelocity,
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const double* eciPosition, double* ecfVelocity,
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timeval* timeUTC) {
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eciToEcf(eciVelocity, ecfVelocity, eciPosition, timeUTC);
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}
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double CoordinateTransformations::getEarthRotationAngle(timeval timeUTC) {
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double jD2000UTC;
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Clock::convertTimevalToJD2000(timeUTC, &jD2000UTC);
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double TTt2000 = getJuleanCenturiesTT(timeUTC);
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double theta = 2 * Math::PI * (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 timeUTC, double matrix[][3]) {
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double theta = getEarthRotationAngle(timeUTC);
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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, double* eciCoordinates,
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const double* ecfPositionIfCoordinatesAreVelocity,
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timeval* timeUTCin) {
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timeval timeUTC;
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if (timeUTCin != NULL) {
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timeUTC = *timeUTCin;
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} else {
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Clock::getClock_timeval(&timeUTC);
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}
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double Tfi[3][3];
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double Tif[3][3];
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getTransMatrixECITOECF(timeUTC, Tfi);
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MatrixOperations<double>::transpose(Tfi[0], Tif[0], 3);
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MatrixOperations<double>::multiply(Tif[0], ecfCoordinates, eciCoordinates, 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}, {0 - Earth::OMEGA, 0, 0}, {0, 0, 0}};
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MatrixOperations<double>::multiply(Trot[0], Tfi[0], Tdotfi[0], 3, 3, 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], ecfPositionIfCoordinatesAreVelocity,
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velocityCorrection, 3, 3, 1);
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VectorOperations<double>::add(velocityCorrection, eciCoordinates, eciCoordinates, 3);
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}
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}
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double CoordinateTransformations::getJuleanCenturiesTT(timeval timeUTC) {
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timeval timeTT;
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Clock::convertUTCToTT(timeUTC, &timeTT);
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double jD2000TT;
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Clock::convertTimevalToJD2000(timeTT, &jD2000TT);
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return jD2000TT / 36525.;
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}
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void CoordinateTransformations::eciToEcf(const double* eciCoordinates, double* ecfCoordinates,
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const double* eciPositionIfCoordinatesAreVelocity,
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timeval* timeUTCin) {
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timeval timeUTC;
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if (timeUTCin != NULL) {
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timeUTC = *timeUTCin;
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} else {
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Clock::getClock_timeval(&timeUTC);
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}
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double Tfi[3][3];
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getTransMatrixECITOECF(timeUTC, Tfi);
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MatrixOperations<double>::multiply(Tfi[0], eciCoordinates, ecfCoordinates, 3, 3, 1);
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if (eciPositionIfCoordinatesAreVelocity != NULL) {
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double Tdotfi[3][3];
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double Trot[3][3] = {{0, Earth::OMEGA, 0}, {0 - Earth::OMEGA, 0, 0}, {0, 0, 0}};
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MatrixOperations<double>::multiply(Trot[0], Tfi[0], Tdotfi[0], 3, 3, 3);
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double velocityCorrection[3];
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MatrixOperations<double>::multiply(Tdotfi[0], eciPositionIfCoordinatesAreVelocity,
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velocityCorrection, 3, 3, 1);
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VectorOperations<double>::add(ecfCoordinates, velocityCorrection, ecfCoordinates, 3);
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}
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};
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void CoordinateTransformations::getTransMatrixECITOECF(timeval timeUTC, double Tfi[3][3]) {
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double TTt2000 = getJuleanCenturiesTT(timeUTC);
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//////////////////////////////////////////////////////////
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// Calculate Precession Matrix
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double zeta = 0.0111808609 * TTt2000 + 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 - 2.06845757045384E-006 * TTt2000 * TTt2000 -
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2.02812107218552E-007 * TTt2000 * TTt2000 * TTt2000;
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double z =
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zeta + 3.8436028638364E-006 * TTt2000 * TTt2000 + 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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double Ttemp[3][3];
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getEarthRotationMatrix(timeUTC, mTheta);
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// polar motion is neglected
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MatrixOperations<double>::multiply(mNutation[0], mPrecession[0], Ttemp[0], 3, 3, 3);
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MatrixOperations<double>::multiply(mTheta[0], Ttemp[0], Tfi[0], 3, 3, 3);
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};
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