GPS.h

Go to the documentation of this file.

/******************************************************************************
* 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.
******************************************************************************/
/*
GPS model header file
 
Author: James Tabony
*/
/*
Metadata for MS GUI:
imdata = {"displayname" : "GPS",
          "exclude" : False,
          "category" : "Sensors"
}
aliases = {"pos_bias_initial" : "Position Bias",
           "vel_bias_initial" : "Velocity Bias",
           "mount_frame" : "Spacecraft Body",
           "mount_position__mf" : "Body Mount Position",
           "rate_hz" : "Rate Hz",
           "seed_value" : "EXCLUDE",
           "earth_rotating_frame" : "Earth Rotating Frame",
           "max_altitude" : "Max Altitude",
           "min_altitude" : "EXCLUDE",
           "max_speed" : "Max Speed",
           "latency" : "EXCLUDE",
           "pos_gaussian_noise" : "Position Noise",
           "vel_gaussian_noise" : "Velocity Noise",
           "pos_walking_bias_std" : "EXCLUDE",
           "vel_walking_bias_std" : "EXCLUDE",
           "meas_pos_GPS_PCR" : "Meas. Position (ECEF)",
           "perfect_pos_GPS_PCR" : "EXCLUDE",
           "perfect_accel_sf" : "EXCLUDE",
           "meas_vel_GPS_PCR" : "Meas. Velocity (ECEF)",
           "perfect_vel_GPS_PCR" : "EXCLUDE",
           "longitude_detic" : "EXCLUDE",
           "latitude_detic" : "EXCLUDE",
           "altitude_detic" : "EXCLUDE",
           "is_valid" : "Meas. Validity Flag",
           "operational_power_draw" : "Operational Power Draw",
           "mass" : "Mass",
           "current_power_draw" : "Current Power Draw",
}
*/
 
#ifndef MODELS_SENSORS_GPS_H
#define MODELS_SENSORS_GPS_H
 
#include "simulation/Model.h"
#include "frames/Frame.h"
#include "models/support/MarkovUncertaintyModel.h"
#include "monitors/RateMonitor.h"
#include "models/states/FrameStateSensorModel.h"
#include "constants/unitutils.h"
#include "utils/LatencyUtil.hpp"
 
namespace warptwin {


    struct _gps_output_struct {
        CartesianVector3 meas_pos_GPS_PCR;
        CartesianVector3 meas_vel_GPS_PCR;
        double longitude_detic;
        double latitude_detic;
        double altitude_detic;
        bool is_valid;
        // Default constuctor (should populate with model defualt outputs)
        _gps_output_struct()
            : meas_pos_GPS_PCR(CartesianVector3({0.0, 0.0, 0.0})),
              meas_vel_GPS_PCR(CartesianVector3({0.0, 0.0, 0.0})),
              longitude_detic(0.0),
              latitude_detic(0.0),
              altitude_detic(0.0),
              is_valid(false) {}
        // Custom constructor
        _gps_output_struct(CartesianVector3 meas_pos_GPS_PCR, CartesianVector3 meas_vel_GPS_PCR, double longitude_detic, double latitude_detic, double altitude_detic, bool is_valid)
            : meas_pos_GPS_PCR(meas_pos_GPS_PCR),
              meas_vel_GPS_PCR(meas_vel_GPS_PCR),
              longitude_detic(longitude_detic),
              latitude_detic(latitude_detic),
              altitude_detic(altitude_detic),
              is_valid(is_valid) {}
    };
 
    MODEL(GPS)
    public:
        // Model params
        //         NAME                     TYPE                    DEFAULT VALUE
        START_PARAMS
            SIGNAL(pos_bias_initial,        CartesianVector3,      CartesianVector3({0.0, 0.0, 0.0}))
            SIGNAL(vel_bias_initial,        CartesianVector3,      CartesianVector3({0.0, 0.0, 0.0}))
            SIGNAL(mount_frame,             Frame*,                nullptr)
            SIGNAL(mount_position__mf,      CartesianVector3,      CartesianVector3({0.0, 0.0, 0.0}))
            SIGNAL(rate_hz,                 int,                    0)
            SIGNAL(seed_value,              int,                    0)
            SIGNAL(earth_rotating_frame,    Frame*,                nullptr)
            SIGNAL(max_altitude,            double,                 18000.0)
            SIGNAL(min_altitude,            double,                 0.0)
            SIGNAL(max_speed,               double,                 1900.0*warpos::KM_TO_METERS/warpos::HOURS_TO_SECONDS)
            SIGNAL(latency,                 int,                    0)
            SIGNAL(operational_power_draw,  double,                 0.0)
            SIGNAL(mass,                    double,                 0.0)
        END_PARAMS
 
        // Model inputs
        //         NAME                     TYPE                    DEFAULT VALUE
        START_INPUTS
            SIGNAL(pos_gaussian_noise,      CartesianVector3,      CartesianVector3({0.0, 0.0, 0.0}))
            SIGNAL(vel_gaussian_noise,      CartesianVector3,      CartesianVector3({0.0, 0.0, 0.0}))
            SIGNAL(pos_walking_bias_std,    CartesianVector3,      CartesianVector3({0.0, 0.0, 0.0}))
            SIGNAL(vel_walking_bias_std,    CartesianVector3,      CartesianVector3({0.0, 0.0, 0.0}))
        END_INPUTS
 
        // Model outputs
        //         NAME                     TYPE                    DEFAULT VALUE
        START_OUTPUTS
            SIGNAL(output_time,             clockwerk::Time,        clockwerk::Time(0, 0))
            SIGNAL(meas_pos_GPS_PCR,        CartesianVector3,      CartesianVector3({0.0, 0.0, 0.0}))
            SIGNAL(perfect_pos_GPS_PCR,     CartesianVector3,      CartesianVector3({0.0, 0.0, 0.0}))
            SIGNAL(meas_vel_GPS_PCR,        CartesianVector3,      CartesianVector3({0.0, 0.0, 0.0}))
            SIGNAL(perfect_vel_GPS_PCR,     CartesianVector3,      CartesianVector3({0.0, 0.0, 0.0}))
            SIGNAL(longitude_detic,         double,                 0.0)
            SIGNAL(latitude_detic,          double,                 0.0)
            SIGNAL(altitude_detic,          double,                 0.0)
            SIGNAL(is_valid,                bool,                   false)
            SIGNAL(current_power_draw,      double,                 0.0)
        END_OUTPUTS

        clockwerk::DataIO<Frame*> sensor_frame = clockwerk::DataIO<Frame*>(this, "sensor_frame", &_sensor_frame);

        warptwin::RateMonitor* rateMonitor() {return &_rate_monitor;}

        warptwin::MarkovUncertaintyModel* getNoiseModel() {return &_sensor_noise_model;}
 
        int16 activate() override;
        int16 deactivate() override;
 
    protected:
        int16 start() override;
        int16 execute() override;

        void _configureInternal();

        Frame _sensor_frame;

        MarkovUncertaintyModel _sensor_noise_model;

        RateMonitor _rate_monitor;

        FrameStateSensorModel _state_GPS_PCR;

        double _truth_altitude;
        double _truth_speed;

        double _dummy;

        double _output_lon, _output_lat, _output_alt;

        CartesianVector3 _previous_pos_bias, _previous_vel_bias;

        CartesianVector3 _perturbed_pos, _perturbed_vel;

        LatencyUtil<_gps_output_struct> _latency_model;

        _gps_output_struct _last_output, _latency_return;
    };
 
}
 
#endif