Sensor functions.
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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.
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| ml_matrix | quaternion_update_from_delta (const ml_matrix &x, const ml_matrix &q) |
| | Update a quaternion from a delta quaternion.
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| ml_matrix | star_measurement_nonlinear (const ml_matrix &pixel_meas) |
| | Compute the h, R and delta measurements from star data.
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| ml_matrix | attitude_propagation (const ml_matrix &omega, const ml_matrix &q, double dT) |
| | Propagate a quaternion.
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| 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.
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Detailed Description
Function Documentation
| ml_matrix radar_model |
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const ml_matrix & |
x, |
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const ml_matrix & |
qECIToBody, |
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const ml_matrix & |
qBodyToRadar, |
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const ml_matrix & |
omegaBody, |
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const ml_matrix & |
rRadarBody |
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) |
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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].
| ml_matrix quaternion_update_from_delta |
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const ml_matrix & |
x, |
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const ml_matrix & |
q |
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) |
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Update a quaternion from a delta quaternion.
- Parameters:
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| x | ml_matrix (6,1) State vector [dQ;b] |
| q | ml_matrix (4,1) Quaternion |
- Returns:
- ml_matrix (4,1) Quaternion
| ml_matrix star_measurement_nonlinear |
( |
const ml_matrix & |
pixel_meas ) |
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Compute the h, R and delta measurements from star data.
- Parameters:
-
| pixel_meas | Measured pixel locations |
- Returns:
- dZ Delta measuremnts
| ml_matrix attitude_propagation |
( |
const ml_matrix & |
omega, |
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const ml_matrix & |
q, |
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double |
dT |
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) |
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Propagate a quaternion.
- Parameters:
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| omega | Angular velocity |
| q | Old quaternion |
| dT | Time change |
- Returns:
- Updated quaternion
| ml_matrix sensor_cone |
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const ml_matrix & |
cone_angle, |
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const ml_matrix & |
r0, |
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const ml_matrix & |
q, |
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const ml_matrix & |
u, |
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const ml_matrix & |
rC, |
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double |
rE, |
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double |
lD |
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) |
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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.
