Attitude determination using an Unscented Kalman Filter and a star camera. More...
#include <fsw_attitude_determination.h>
Public Member Functions | |
| fsw_attitude_determination (const char *mod_name) | |
| void | initialize_data () |
| Create data and request the FSW_ATTITUDE_DETERMINATION_TRIGGER. More... | |
| void | initialize_data_requests () |
| void | initialize () |
| void | handle_event (int code) |
| Collect the measurements and update the UKF object. More... | |
Protected Attributes | |
AD Inputs | |
| |
| CD_REQUEST_REF | star_id_camera_ref |
| Identified stars #star_id_camera. More... | |
| CD_REQUEST_REF | star_data_ref |
| Star data. More... | |
| CD_REQUEST_REF | unit_vector_ref |
| Star catalog unit vectors #u_star_catalog. More... | |
| CD_REQUEST_REF | u_star_camera_ref |
| Unit vectors for identified stars u_star_camera_1. More... | |
| CD_REQUEST_REF | camera_rate_meas_ref |
| Measured camera rate #camera_rate_meas. More... | |
| CD_REQUEST_REF | jd_ref |
| Julian date julian_date. More... | |
AD Outputs | |
| |
| CD_CREATE_REF | ad_gyro_bias_camera_ref |
| Gyro bias estimated. More... | |
| CD_CREATE_REF | ad_covariance_camera_ref |
| AD covariance. More... | |
| CD_CREATE_REF | ad_q_eci_to_camera_single_frame_ref |
| Single frame ad camera. More... | |
| CD_CREATE_REF | ad_q_eci_to_body_ref |
| Quaternion from eci to body estimated. More... | |
| CD_CREATE_REF | ad_q_eci_to_camera_ref |
| Attitude determination. More... | |
AD Commands and Parameters | |
| |
| CD_CREATE_REF | camera_data_command_ref |
| CD_CREATE_REF | ad_use_single_frame_command_ref |
| Use single frame camera solutions. More... | |
| CD_CREATE_REF | ad_reset_command_ref |
| Attitude determination commands. More... | |
| CD_CREATE_REF | ad_parameter_command_ref |
| The [alpha, kappa, and beta] parameters. More... | |
| CD_CREATE_REF | ad_initial_covariance_command_ref |
| UKF initial covariance. More... | |
| CD_CREATE_REF | ad_plant_noise_covariance_command_ref |
| UKF plant noise covariance. More... | |
| CD_CREATE_REF | ad_meas_noise_covariance_command_ref |
| UKF measurement noise covariance. More... | |
| CD_CREATE_REF | ad_initial_state_command_ref |
| UKF initial state. More... | |
| CD_CREATE_REF | ad_q_camera_to_body_command_ref |
| UKF initial state. More... | |
Detailed Description
Attitude determination using an Unscented Kalman Filter and a star camera.
The only sensor processed is a star camera outputting centroids.
Member Function Documentation
◆ handle_event()
| void fsw_attitude_determination::handle_event | ( | int | code | ) |
Collect the measurements and update the UKF object.
◆ initialize_data()
| void fsw_attitude_determination::initialize_data | ( | ) |
Create data and request the FSW_ATTITUDE_DETERMINATION_TRIGGER.
References ad_gyro_bias_camera_ref, ad_q_eci_to_body, and ad_q_eci_to_body_ref.
Member Data Documentation
◆ ad_covariance_camera_ref
|
protected |
AD covariance.
◆ ad_gyro_bias_camera_ref
|
protected |
Gyro bias estimated.
Referenced by initialize_data().
◆ ad_q_eci_to_body_ref
|
protected |
Quaternion from eci to body estimated.
Referenced by initialize_data().
◆ ad_q_eci_to_camera_ref
|
protected |
Attitude determination.
◆ ad_q_eci_to_camera_single_frame_ref
|
protected |
Single frame ad camera.
◆ camera_rate_meas_ref
|
protected |
Measured camera rate #camera_rate_meas.
◆ jd_ref
|
protected |
Julian date julian_date.
◆ star_data_ref
|
protected |
Star data.
◆ star_id_camera_ref
|
protected |
Identified stars #star_id_camera.
◆ u_star_camera_ref
|
protected |
Unit vectors for identified stars u_star_camera_1.
◆ unit_vector_ref
|
protected |
Star catalog unit vectors #u_star_catalog.
The documentation for this class was generated from the following files:
- fsw_attitude_determination.h
- fsw_attitude_determination.cc
