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WarpTwin
Documentation for WarpTwin models and classes.
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WarpTwin
Documentation for WarpTwin models and classes.
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/******************************************************************************
* Copyright (c) ATTX INC 2025. All Rights Reserved.
*
* This software and associated documentation (the "Software") are the
* proprietary and confidential information of ATTX, INC. The Software is
* furnished under a license agreement between ATTX and the user organization
* and may be used or copied only in accordance with the terms of the agreement.
* Refer to 'license/attx_license.adoc' for standard license terms.
*
* EXPORT CONTROL NOTICE: THIS SOFTWARE MAY INCLUDE CONTENT CONTROLLED UNDER THE
* INTERNATIONAL TRAFFIC IN ARMS REGULATIONS (ITAR) OR THE EXPORT ADMINISTRATION
* REGULATIONS (EAR99). No part of the Software may be used, reproduced, or
* transmitted in any form or by any means, for any purpose, without the express
* written permission of ATTX, INC.
******************************************************************************/
/*
Sun Sensor model header file
Author: James Tabony
*/
/*
Metadata for MS GUI:
imdata = {"displayname" : "Sun Sensor",
"exclude" : False,
"category" : "Sensors"
}
aliases = {"pointing_bias" : "EXCLUDE",
"fov_horizontal" : "Horizontal FOV (degrees)",
"fov_vertical" : "Vertical FOV (degrees)",
"mount_frame" : "Spacecraft Body",
"mount_position__mf" : "EXCLUDE",
"mount_alignment_mf" : "EXCLUDE",
"rate_hz" : "EXCLUDE",
"seed_value" : "RNG Seed",
"sun_inertial_frame" : "Sun Inertial Frame",
"primary_inertial_frame" : "Earth Inertial Frame",
"primary_radius" : "EXCLUDE",
"latency" : "EXCLUDE",
"operational_power_draw" : "Operational Power Draw",
"mass" : "Mass",
"gaussian_noise" : "One-Sigma Noise (radians)",
"meas_sun_vector__ss" : "Measured Sun Vector",
"truth_sun_vector__ss" : "Truth Sun Vector",
"is_valid" : "Measurement Validity Boolean",
"current_power_draw" : "Current Power Draw",
}
*/
#ifndef MODELS_SENSORS_SUN_SENSOR_H
#define MODELS_SENSORS_SUN_SENSOR_H
#include "simulation/Model.h"
#include "frames/Frame.h"
#include "models/support/BiasNoiseModel.h"
#include "monitors/RateMonitor.h"
#include "utils/LatencyUtil.hpp"
#include "models/environment/OccultationModel.h"
#include "models/states/FrameStateSensorModel.h"
#include "simulation/UniformRandom.hpp"
#include "simulation/NormalRandom.hpp"
namespace warptwin {
/**
* @brief Model of sun sensor which produces look vector to the sun
*
* TODO: [add description here]
* Centered in the center of the reference image
* X is "right" in the image or focal plane horizontal
* Y is "up" in the image or focal plane veritcal
* Z is "out" the image completing the right hand frame and represents the boresight
*
* |----------------------|
* | y^ |
* | |-->x |
* | |
* |----------------------|
*
* Author: James Tabony <james.tabony@attx.tech>
* TODO: Add Albedo Effects (Iff occulting object is in FOV, there is an additional noise term that pulls the sun pointing vector towards the occulter)
*/
/// @brief Sensor output struct for latency model, its members are the same as the model outputs. Its default constructor populates members with defualt output values
struct _sunsensor_output_struct {
CartesianVector3 meas_sun_vector__ss;
bool is_valid;
// Default constuctor (should populate with model defualt outputs)
_sunsensor_output_struct()
: meas_sun_vector__ss(CartesianVector3({0.0, 0.0, 0.0})),
is_valid(false) {}
// Custom constructor
_sunsensor_output_struct(CartesianVector3 meas_sun_vector__ss, bool is_valid)
: meas_sun_vector__ss(meas_sun_vector__ss),
is_valid(is_valid) {}
};
MODEL(SunSensor)
public:
// Model params
// NAME TYPE DEFAULT VALUE
START_PARAMS
/** The fixed bias of the sun sensor. This could be a mixture of a misalignment error and/or
* measurement noise offset. */
SIGNAL(pointing_bias, clockwerk::Quaternion, clockwerk::Quaternion({1.0, 0.0, 0.0, 0.0}))
/** The field of view respective to the horizontal of the focal plane. This is defined as full FOV
* NOT the half angle measured from boresight. (degrees) */
SIGNAL(fov_horizontal, double, 0.0)
/** The field of view respective to the vertical of the focal plane. This is defined as full FOV
* NOT the half angle measured from boresight. (degrees) */
SIGNAL(fov_vertical, double, 0.0)
/** The vehicle frame relative to which the sensor is mounted and aligned. This is most
* typically the body frame of a spacecraft or other vehicle. mount_position__mf and mount_alignment_mf
* are described relative to this frame. */
SIGNAL(mount_frame, Frame*, nullptr)
/** The position of the sensor relative to the mount frame and resolved in the mount frame. (meters) */
SIGNAL(mount_position__mf, CartesianVector3, CartesianVector3({0.0, 0.0, 0.0}))
/** The alignment of the sun sensor relative to the mount frame. Rotation from mount frame to sensor frame. */
SIGNAL(mount_alignment_mf, clockwerk::Quaternion, clockwerk::Quaternion({1.0, 0.0, 0.0, 0.0}))
/** The rate at which the sensor generates an output, in hertz. This value must be some
* positive (non-zero) integer. (Hz) */
SIGNAL(rate_hz, int, 0)
/** Value to seed the internal RNG for this model. */
SIGNAL(seed_value, int, 0)
/** The inertial frame of the sun. */
SIGNAL(sun_inertial_frame, Frame*, nullptr)
/** The inertial frame of the spacecraft's primary orbiter (e.g. Earth). This is used for occultation. */
SIGNAL(primary_inertial_frame, Frame*, nullptr)
/** Radius of the primary orbiter, occultation assumes circular cross-sections. Defaults to Earth. (m) */
SIGNAL(primary_radius, double, warpos::earth_wgs84.eq_radius)
/** Latency of the sun sensor, millisecond value for the amount of delay in sim time for
* the correct values to be reflected in the outputs. Must be set before executive startup.
* Defaults to no delay. (milliseconds) */
SIGNAL(latency, int, 0)
/** Power draw of the sun sensor. This value may or may not be the peak power draw provided by most
* data sheets. This value is the expected power draw of a sensor when operational. (Watts) */
SIGNAL(operational_power_draw, double, 0.0)
/** Mass of the sun sensor. (kg) */
SIGNAL(mass, double, 0.0)
END_PARAMS
// Model inputs
// NAME TYPE DEFAULT VALUE
START_INPUTS
/** The one-sigma Gaussian noise in sun sensor measurement output described as the error
* in angle between true sun-vector and expected sun-vector. This value is provided by
* most data sheets and is the same between fine and coarse sun sensors. (radians) */
SIGNAL(gaussian_noise, double, 0.0)
END_INPUTS
// Model outputs
// NAME TYPE DEFAULT VALUE
START_OUTPUTS
/** Output time tied to measurements. Output time is exactly the navigation time
* (see SimTimeManager for configuration), without latency (instantaneous) but
* but with a rate that mirrors output rate */
SIGNAL(output_time, clockwerk::Time, clockwerk::Time(0, 0))
/** The "noisy" unit vector representing the direction of the sun relative to the sun
* sensor frame in sun sensor frame coordinates. This value is subject to noise, bias,
* dead-zoning, occultation, sensor rate, and latency. */
SIGNAL(meas_sun_vector__ss, CartesianVector3, CartesianVector3({0.0, 0.0, 0.0}))
/** The "truth" unit vector representing the direction of the sun relative to the sun
* sensor frame in sun sensor frame coordinates. This value is NOT subject to noise, bias,
* dead-zoning, occultation, or latency; but is subject to sensor rate. */
SIGNAL(truth_sun_vector__ss, CartesianVector3, CartesianVector3({0.0, 0.0, 0.0}))
/** Boolean value to notify if the output measurement is valid (i.e. boolean for
* blackout-zones). True = not in blackout-zone, False = in blackout-zone. This value is
* subject to latency and will line-up with a measurement value. */
SIGNAL(is_valid, bool, false)
/** Power draw of the sensor. This value is populated when the model is active, and zero
* when the model is deactive. Allows the user to create duty cycles and power budgets. (Watts) */
SIGNAL(current_power_draw, double, 0.0)
END_OUTPUTS
/// @brief Accessor for the sensor's frame
clockwerk::DataIO<Frame*> sensor_frame = clockwerk::DataIO<Frame*>(this, "sensor_frame", &_sensor_frame);
/// @brief Accessor for the internal bias and noise model
/// @return Pointer to the bias noise model
warptwin::BiasNoiseModel* biasNoiseModel() {return &_sensor_noise_model;}
/// @brief Accessor for the internal rate monitor model
/// @return Pointer to the rate monitor model
warptwin::RateMonitor* rateMonitor() {return &_rate_monitor;}
/// @brief Accessor for the internal occultation model
/// @return Pointer to the occultation model
warptwin::OccultationModel* occultationModel() {return &_occult;}
int16 activate() override;
int16 deactivate() override;
protected:
int16 start() override;
int16 execute() override;
/// @brief Function to configure sensor -- runs in all constructors
void _configureInternal();
/// @brief The sensor frame in which all measurements will be taken
Frame _sensor_frame;
/// @brief The bias and noise model for sensor output.
BiasNoiseModel _sensor_noise_model;
/// @brief Rate monitor to control the rate at which the sensor runs
RateMonitor _rate_monitor;
/// @brief Occultation model
OccultationModel _occult;
/// @brief Model to compute the position of the sun relative to the sun sensor frame
FrameStateSensorModel _sun_relative_state;
/// @brief Model to compute the position of the primary orbiter relative to the sun sensor frame
FrameStateSensorModel _primary_orbiter_relative_state;
/// @brief Interal model for generating a uniform random number
UniformRandom<double>* _uniform_random_model = nullptr;
/// @brief Internal latency model, templated to the sensor output struct
LatencyUtil<_sunsensor_output_struct> _latency_model;
/// @brief Temporary variable for the latest recorded output added to latency model and dummy output for stepping though latency
_sunsensor_output_struct _last_output, _latency_return;
/// @brief Internal variable for the position of the sun sensor with respect to the sun sensor represented in sun sensor frame coordinates. Zero vector always
CartesianVector3 _pos_ss_ss__ss = CartesianVector3({0.0, 0.0, 0.0});
/// @brief Internal variable for the position of the primary orbiter with respect to the sun sensor represented in sun sensor frame coordinates
CartesianVector3 _pos_PCI_ss__ss;
/// @brief Internal variable for the position of the Sun with respect to the sun sensor represented in sun sensor frame coordinates
CartesianVector3 _pos_SCI_ss__ss, _pos_SCI_ss__ss_unit;
/// @brief Temporary vector used for random rotations
CartesianVector3 _w;
/// @brief Temporary angle used for random rotations
double _theta;
/// @brief Temporary quaternion used for random rotations
clockwerk::Quaternion _q;
};
}
#endif
1.16.1