sc_sensor.h File Reference

Sensor functions. More...

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Functions
ml_matrix	radar_model (const ml_matrix &x, const ml_matrix &qECIToBody, const ml_matrix &qBodyToRadar, const ml_matrix &omegaBody, const ml_matrix &rRadarBody)
	A radar model that returns azimuth, elevation, range and range rate. More...
ml_matrix	quaternion_update_from_delta (const ml_matrix &x, const ml_matrix &q)
	Update a quaternion from a delta quaternion. More...
ml_matrix	star_measurement_nonlinear (const ml_matrix &pixel_meas)
	Compute the h, R and delta measurements from star data. More...
ml_matrix	attitude_propagation (const ml_matrix &omega, const ml_matrix &q, double dT)
	Propagate a quaternion. More...
ml_matrix	sensor_cone (const ml_matrix &cone_angle, const ml_matrix &r0, const ml_matrix &q, const ml_matrix &u, const ml_matrix &rC, double rE, double lD=0)
	Rays from the apex of conical shell. The first column is the apex (r0) r0 is in m by rC and rE are in km. More...

Detailed Description

Sensor functions.

Function Documentation

radar_model()

ml_matrix radar_model	(	const ml_matrix &	x,
		const ml_matrix &	qECIToBody,
		const ml_matrix &	qBodyToRadar,
		const ml_matrix &	omegaBody,
		const ml_matrix &	rRadarBody
	)

A radar model that returns azimuth, elevation, range and range rate.

A radar model that returns azimuth, elevation, range and range rate.

The output vector is range, range rate, azimuth and elevation. This model is purely geometric and does not model radar processing. You must add noise externally.

Parameters

x	ml_matrix (6*n,1) State vector [r;v;r;v...] in ECI Frame (km,km/s)
qECIToBody	ml_matrix (4,1) Quaternion from ECI to body frame
qBodyToRadar	ml_matrix (4,1) Quaternion from the body to the radar frame
omegaBody	ml_matrix (3,1) Angular rate of the body (rad/s)
rRadarBody	ml_matrix (3,1) Position of the radar in the body frame (m)

Returns

ml_matrix ml_matrix (4,4*n-4) [range;range rate; azimuth; elevation].

quaternion_update_from_delta()

ml_matrix quaternion_update_from_delta	(	const ml_matrix &	x,
		const ml_matrix &	q
	)

Update a quaternion from a delta quaternion.

Update a quaternion from a delta quaternion.

Parameters

x	ml_matrix (6,1) State vector [dQ;b]
q	ml_matrix (4,1) Quaternion

Returns

ml_matrix (4,1) Quaternion

star_measurement_nonlinear()

ml_matrix star_measurement_nonlinear

(

const ml_matrix &

pixel_meas

)

Compute the h, R and delta measurements from star data.

Parameters

pixel_meas

Measured pixel locations

Returns

dZ Delta measurements

attitude_propagation()

ml_matrix attitude_propagation	(	const ml_matrix &	omega,
		const ml_matrix &	q,
		double	dT
	)

Propagate a quaternion.

Propagate a quaternion.

Parameters

omega	Angular velocity
q	Old quaternion
dT	Time change

Returns

Updated quaternion

References qi_to_b_dot().

sensor_cone()

ml_matrix sensor_cone	(	const ml_matrix &	cone_angle,
		const ml_matrix &	r0,
		const ml_matrix &	q,
		const ml_matrix &	u,
		const ml_matrix &	rC,
		double	rE,
		double	lD
	)

Rays from the apex of conical shell. The first column is the apex (r0) r0 is in m by rC and rE are in km.

Rays from the apex of conical shell. The first column is the apex (r0) r0 is in m by rC and rE are in km.

Parameters

cone_angle	Angle of cone - may vary with clock angle (deg)
r0	Location of the cone apex (m)
q	Quaternion from the target frame to the body frame
u	Cone unit vector in the body frame
rC	Location of the sphere (km)
rE	Radius of the sphere (km)

Returns

Cone rays

References PI, and u_to_q().