fsw_attitude_determination_multi_sensor Class Reference

The attitude determination system using an Unscented Kalman Filter with: star camera, IMU, magnetometer, and sun sensors. More...

#include <fsw_attitude_determination_multi_sensor.h>

Inheritance diagram for fsw_attitude_determination_multi_sensor:

Public Member Functions
	fsw_attitude_determination_multi_sensor (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)

Protected Attributes
ADS Inputs
CD_REQUEST_REF	star_id_camera_ref
	Identified stars. More...
CD_REQUEST_REF	star_data_ref
	Star data. More...
CD_REQUEST_REF	unit_vector_ref
	Star catalog unit vectors. More...
CD_REQUEST_REF	u_star_camera_ref
	Unit vectors for identified stars. More...
CD_REQUEST_REF	camera_rate_meas_ref
	Measured camera rate. More...
CD_REQUEST_REF	od_state_ref
	Spacecraft state [r;v] od_state. More...
CD_REQUEST_REF	sun_sensor_pitch_ref
	Sun sensor pitch measurement. More...
CD_REQUEST_REF	sun_sensor_roll_ref
	Sun sensor roll measurement. More...
CD_REQUEST_REF	magnetometer_ref
	Magnetometer measurements. More...
CD_REQUEST_REF	sun_sensor_valid_ref
	Sun sensor data validity flag. More...
CD_REQUEST_REF	ephem_sun_vector_ref
	Sun vector. More...
CD_REQUEST_REF	q_eci_to_body_sim_ref
	Q ECI to Body from the simulation. More...
CD_REQUEST_REF	b_field_meas_ref
	B field. More...
CD_REQUEST_REF	jd_ref
	Julian date. More...
CD_REQUEST_REF	meas_stars_ref
	Measurements. More...
CD_REQUEST_REF	u_star_catalog_ref
	Corresponding catalog unit vectors. More...
ADS Outputs
CD_CREATE_REF	ad_q_body_to_camera_ref
	Q ECI to Body from the simulation. More...
CD_CREATE_REF	ad_planet_data_ref
	Q ECI to Body from the simulation. More...
CD_CREATE_REF	ad_q_eci_to_body_ref
	Quaternion from eci to body estimated. More...
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_camera_ref
	Single frame ad camera. More...
ADS Commands and Parameters
CD_CREATE_REF	camera_data_command_ref
	Camera data. More...
CD_CREATE_REF	ad_q_body_to_magnetometer_ref
	Quaternion from body to the magnetometer frame. More...
CD_CREATE_REF	ad_q_body_to_sun_sensor_ref
	Quaternion from body to the sun sensor. More...
CD_CREATE_REF	ad_q_body_to_star_sensor_ref
	Quaternion from body to the sun sensor. More...
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_on_command_ref
	Attitude determination on command. 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_star_noise_covariance_command_ref
	UKF measurement noise covariance. More...
CD_CREATE_REF	ad_meas_sun_noise_covariance_command_ref
	UKF measurement noise covariance. More...
CD_CREATE_REF	ad_meas_magnetometer_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_use_star_data_command_ref
	Select star data. More...
CD_CREATE_REF	ad_use_magnetometer_data_command_ref
	Select magnetometer data. More...
CD_CREATE_REF	ad_use_sun_data_command_ref
	Select sun sensor data. More...
CD_CREATE_REF	ad_b_field_meas_noise_covariance_command_ref
	B field measurement noise. More...
CD_CREATE_REF	ad_sun_meas_noise_covariance_command_ref
	Sun sensor measurement noise. More...

Detailed Description

The attitude determination system using an Unscented Kalman Filter with: star camera, IMU, magnetometer, and sun sensors.

This is a multi-sensor version of the UKF attitude determination filter.

Member Function Documentation

handle_event()

void fsw_attitude_determination_multi_sensor::handle_event

(

int

code

)

Catalog star unit vectors for identified stars

Quaternion from the body to the sun sensor frame

References od_state.

initialize_data()

void fsw_attitude_determination_multi_sensor::initialize_data

(

)

Create data and request the FSW_ATTITUDE_DETERMINATION_TRIGGER.

Member Data Documentation

ad_b_field_meas_noise_covariance_command_ref

CD_CREATE_REF fsw_attitude_determination_multi_sensor::ad_b_field_meas_noise_covariance_command_ref

protected

B field measurement noise.

ad_covariance_camera_ref

CD_CREATE_REF fsw_attitude_determination_multi_sensor::ad_covariance_camera_ref

protected

AD covariance.

ad_gyro_bias_camera_ref

CD_CREATE_REF fsw_attitude_determination_multi_sensor::ad_gyro_bias_camera_ref

protected

Gyro bias estimated.

ad_initial_covariance_command_ref

CD_CREATE_REF fsw_attitude_determination_multi_sensor::ad_initial_covariance_command_ref

protected

UKF initial covariance.

ad_initial_state_command_ref

CD_CREATE_REF fsw_attitude_determination_multi_sensor::ad_initial_state_command_ref

protected

UKF initial state.

ad_meas_magnetometer_noise_covariance_command_ref

CD_CREATE_REF fsw_attitude_determination_multi_sensor::ad_meas_magnetometer_noise_covariance_command_ref

protected

UKF measurement noise covariance.

ad_meas_star_noise_covariance_command_ref

CD_CREATE_REF fsw_attitude_determination_multi_sensor::ad_meas_star_noise_covariance_command_ref

protected

UKF measurement noise covariance.

ad_meas_sun_noise_covariance_command_ref

CD_CREATE_REF fsw_attitude_determination_multi_sensor::ad_meas_sun_noise_covariance_command_ref

protected

UKF measurement noise covariance.

ad_on_command_ref

CD_CREATE_REF fsw_attitude_determination_multi_sensor::ad_on_command_ref

protected

Attitude determination on command.

ad_parameter_command_ref

CD_CREATE_REF fsw_attitude_determination_multi_sensor::ad_parameter_command_ref

protected

The [alpha, kappa, and beta] parameters.

ad_planet_data_ref

CD_CREATE_REF fsw_attitude_determination_multi_sensor::ad_planet_data_ref

protected

Q ECI to Body from the simulation.

ad_plant_noise_covariance_command_ref

CD_CREATE_REF fsw_attitude_determination_multi_sensor::ad_plant_noise_covariance_command_ref

protected

UKF plant noise covariance.

ad_q_body_to_camera_ref

CD_CREATE_REF fsw_attitude_determination_multi_sensor::ad_q_body_to_camera_ref

protected

Q ECI to Body from the simulation.

ad_q_body_to_magnetometer_ref

CD_CREATE_REF fsw_attitude_determination_multi_sensor::ad_q_body_to_magnetometer_ref

protected

Quaternion from body to the magnetometer frame.

ad_q_body_to_star_sensor_ref

CD_CREATE_REF fsw_attitude_determination_multi_sensor::ad_q_body_to_star_sensor_ref

protected

Quaternion from body to the sun sensor.

ad_q_body_to_sun_sensor_ref

CD_CREATE_REF fsw_attitude_determination_multi_sensor::ad_q_body_to_sun_sensor_ref

protected

Quaternion from body to the sun sensor.

ad_q_eci_to_body_ref

CD_CREATE_REF fsw_attitude_determination_multi_sensor::ad_q_eci_to_body_ref

protected

Quaternion from eci to body estimated.

ad_q_eci_to_camera_ref

CD_CREATE_REF fsw_attitude_determination_multi_sensor::ad_q_eci_to_camera_ref

protected

Single frame ad camera.

ad_q_eci_to_camera_single_frame_ref

CD_CREATE_REF fsw_attitude_determination_multi_sensor::ad_q_eci_to_camera_single_frame_ref

protected

Single frame ad camera.

ad_reset_command_ref

CD_CREATE_REF fsw_attitude_determination_multi_sensor::ad_reset_command_ref

protected

Attitude determination commands.

ad_sun_meas_noise_covariance_command_ref

CD_CREATE_REF fsw_attitude_determination_multi_sensor::ad_sun_meas_noise_covariance_command_ref

protected

Sun sensor measurement noise.

ad_use_magnetometer_data_command_ref

CD_CREATE_REF fsw_attitude_determination_multi_sensor::ad_use_magnetometer_data_command_ref

protected

Select magnetometer data.

ad_use_single_frame_command_ref

CD_CREATE_REF fsw_attitude_determination_multi_sensor::ad_use_single_frame_command_ref

protected

Use single frame camera solutions.

ad_use_star_data_command_ref

CD_CREATE_REF fsw_attitude_determination_multi_sensor::ad_use_star_data_command_ref

protected

Select star data.

ad_use_sun_data_command_ref

CD_CREATE_REF fsw_attitude_determination_multi_sensor::ad_use_sun_data_command_ref

protected

Select sun sensor data.

b_field_meas_ref

CD_REQUEST_REF fsw_attitude_determination_multi_sensor::b_field_meas_ref

protected

B field.

camera_data_command_ref

CD_CREATE_REF fsw_attitude_determination_multi_sensor::camera_data_command_ref

protected

Camera data.

camera_rate_meas_ref

CD_REQUEST_REF fsw_attitude_determination_multi_sensor::camera_rate_meas_ref

protected

Measured camera rate.

ephem_sun_vector_ref

CD_REQUEST_REF fsw_attitude_determination_multi_sensor::ephem_sun_vector_ref

protected

Sun vector.

jd_ref

CD_REQUEST_REF fsw_attitude_determination_multi_sensor::jd_ref

protected

Julian date.

magnetometer_ref

CD_REQUEST_REF fsw_attitude_determination_multi_sensor::magnetometer_ref

protected

Magnetometer measurements.

meas_stars_ref

CD_REQUEST_REF fsw_attitude_determination_multi_sensor::meas_stars_ref

protected

Measurements.

od_state_ref

CD_REQUEST_REF fsw_attitude_determination_multi_sensor::od_state_ref

protected

Spacecraft state [r;v] od_state.

q_eci_to_body_sim_ref

CD_REQUEST_REF fsw_attitude_determination_multi_sensor::q_eci_to_body_sim_ref

protected

Q ECI to Body from the simulation.

star_data_ref

CD_REQUEST_REF fsw_attitude_determination_multi_sensor::star_data_ref

protected

Star data.

star_id_camera_ref

CD_REQUEST_REF fsw_attitude_determination_multi_sensor::star_id_camera_ref

protected

Identified stars.

sun_sensor_pitch_ref

CD_REQUEST_REF fsw_attitude_determination_multi_sensor::sun_sensor_pitch_ref

protected

Sun sensor pitch measurement.

sun_sensor_roll_ref

CD_REQUEST_REF fsw_attitude_determination_multi_sensor::sun_sensor_roll_ref

protected

Sun sensor roll measurement.

sun_sensor_valid_ref

CD_REQUEST_REF fsw_attitude_determination_multi_sensor::sun_sensor_valid_ref

protected

Sun sensor data validity flag.

u_star_camera_ref

CD_REQUEST_REF fsw_attitude_determination_multi_sensor::u_star_camera_ref

protected

Unit vectors for identified stars.

u_star_catalog_ref

CD_REQUEST_REF fsw_attitude_determination_multi_sensor::u_star_catalog_ref

protected

Corresponding catalog unit vectors.

unit_vector_ref

CD_REQUEST_REF fsw_attitude_determination_multi_sensor::unit_vector_ref

protected

Star catalog unit vectors.

---

The documentation for this class was generated from the following files:

• fsw_attitude_determination_multi_sensor.h
• fsw_attitude_determination_multi_sensor.cc