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SUPPORT SITE |
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SUPPORT SITE |
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Path: SpacecraftEstimation/StellarAttDet
% Computes the measurement matrix, measurements and noise
matrix given a pixel map from the star tracker. Will update
q if it has three valid stars and the attitude error is large.
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Form:
[h, dz, R, q] = StarMeasurement( r, starDataMeas, q, qBodyToCamera, starData, fScale )
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Inputs
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r (1,1) Measurement noise
starDataMeas (3,m) m vectors of [intensity,xloc,yloc]
q (4,1) Quaternion from ECI to body axes
qBodyToCamera (4,1) Quaternion from body to sensor axes
starData Star Data
.starMatrix (4,n) Star catalog containing n stars stored as [intensity;u]
.starID (1,m) Identified stars
or just starMatrix (4,n)
fScale (1,1) Sensor scale factor
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Outputs
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h (n,6) Linearized measurement matrix
dz (n) The measurement residuals
R (n,n) Measurement noise
q (4,1) Quaternion from ECI to body axes
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Common: Quaternion/Q2Mat Common: Quaternion/QForm Common: Quaternion/QMult Common: Quaternion/QPose Math: Linear/Skew SC: Sensor/U2Pix SpacecraftEstimation: StellarAttDet/QFromU
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