#
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r"""
Overview
--------
This scenario only performs the pointing component to the OpNav FSW stack.
It uses Hough Circles to identify the planet center.
More details can be found in Chapter 2 of `Thibaud Teil's PhD thesis <http://hanspeterschaub.info/Papers/grads/ThibaudTeil.pdf>`_.
The script can be run at full length by calling::
python3 scenario_OpNavPoint.py
"""
# Get current file path
import inspect
import os
import sys
import time
from Basilisk.utilities import RigidBodyKinematics as rbk
# Import utilities
from Basilisk.utilities import orbitalMotion, macros, unitTestSupport
filename = inspect.getframeinfo(inspect.currentframe()).filename
path = os.path.dirname(os.path.abspath(filename))
# Import master classes: simulation base class and scenario base class
sys.path.append(path + '/..')
from BSK_OpNav import BSKSim, BSKScenario
import BSK_OpNavDynamics, BSK_OpNavFsw
import numpy as np
# Import plotting file for your scenario
sys.path.append(path + '/../plottingOpNav')
import OpNav_Plotting as BSK_plt
# Create your own scenario child class
[docs]class scenario_OpNav(BSKScenario):
"""Main Simulation Class"""
def __init__(self, masterSim, showPlots=False):
super(scenario_OpNav, self).__init__(masterSim, showPlots)
self.name = 'scenario_opnav'
self.masterSim = masterSim
self.filterUse = "bias" #"relOD"
# declare additional class variables
self.rwMotorRec = None
self.opNavRec = None
self.attGuidRec = None
self.circlesRec = None
self.scRec = None
self.rwLogs = []
[docs] def log_outputs(self):
# Dynamics process outputs: log messages below if desired.
FswModel = self.masterSim.get_FswModel()
DynModel = self.masterSim.get_DynModel()
# FSW process outputs
samplingTime = FswModel.processTasksTimeStep
self.opNavRec = FswModel.opnavMsg.recorder(samplingTime)
self.attGuidRec = FswModel.attGuidMsg.recorder(samplingTime)
self.rwMotorRec = FswModel.rwMotorTorque.rwMotorTorqueOutMsg.recorder(samplingTime)
self.circlesRec = FswModel.opnavCirclesMsg.recorder(samplingTime)
self.scRec = DynModel.scObject.scStateOutMsg.recorder(samplingTime)
self.masterSim.AddModelToTask(DynModel.taskName, self.opNavRec)
self.masterSim.AddModelToTask(DynModel.taskName, self.attGuidRec)
self.masterSim.AddModelToTask(DynModel.taskName, self.rwMotorRec)
self.masterSim.AddModelToTask(DynModel.taskName, self.circlesRec)
self.masterSim.AddModelToTask(DynModel.taskName, self.scRec)
self.rwLogs = []
for item in range(4):
self.rwLogs.append(DynModel.rwStateEffector.rwOutMsgs[item].recorder(samplingTime))
self.masterSim.AddModelToTask(DynModel.taskName, self.rwLogs[item])
return
[docs] def pull_outputs(self, showPlots):
## Spacecraft true states
position_N = unitTestSupport.addTimeColumn(self.scRec.times(), self.scRec.r_BN_N)
## Attitude
sigma_BN = unitTestSupport.addTimeColumn(self.scRec.times(), self.scRec.sigma_BN)
## Image processing
circleCenters = unitTestSupport.addTimeColumn(self.circlesRec.times(), self.circlesRec.circlesCenters)
circleRadii = unitTestSupport.addTimeColumn(self.circlesRec.times(), self.circlesRec.circlesRadii)
numRW = 4
dataUsReq = unitTestSupport.addTimeColumn(self.rwMotorRec.times(), self.rwMotorRec.motorTorque)
dataRW = []
for i in range(numRW):
dataRW.append(unitTestSupport.addTimeColumn(self.rwMotorRec.times(), self.rwLogs[i].u_current))
measPos = unitTestSupport.addTimeColumn(self.opNavRec.times(), self.opNavRec.r_BN_N)
r_C = unitTestSupport.addTimeColumn(self.opNavRec.times(), self.opNavRec.r_BN_C)
measCovar = unitTestSupport.addTimeColumn(self.opNavRec.times(), self.opNavRec.covar_N)
covar_C = unitTestSupport.addTimeColumn(self.opNavRec.times(), self.opNavRec.covar_C)
sigma_CB = self.masterSim.get_DynModel().cameraMRP_CB
sizeMM = self.masterSim.get_DynModel().cameraSize
sizeOfCam = self.masterSim.get_DynModel().cameraRez
focal = self.masterSim.get_DynModel().cameraFocal # in m
pixelSize = []
pixelSize.append(sizeMM[0] / sizeOfCam[0])
pixelSize.append(sizeMM[1] / sizeOfCam[1])
dcm_CB = rbk.MRP2C(sigma_CB)
# Plot results
BSK_plt.clear_all_plots()
pixCovar = np.ones([len(circleCenters[:,0]), 3*3+1])
pixCovar[:,0] = circleCenters[:,0]
pixCovar[:,1:]*=np.array([1,0,0,0,1,0,0,0,2])
measError = np.full([len(measPos[:,0]), 4], np.nan)
measError[:,0] = measPos[:,0]
measError_C = np.full([len(measPos[:,0]), 5], np.nan)
measError_C[:,0] = measPos[:,0]
trueRhat_C = np.full([len(circleCenters[:,0]), 4], np.nan)
trueCircles = np.full([len(circleCenters[:,0]), 4], np.nan)
trueCircles[:,0] = circleCenters[:,0]
trueRhat_C[:,0] = circleCenters[:,0]
centerBias = np.copy(circleCenters)
radBias = np.copy(circleRadii)
ModeIdx = 0
Rmars = 3396.19*1E3
for j in range(len(position_N[:, 0])):
if position_N[j, 0] in circleCenters[:, 0]:
ModeIdx = j
break
for i in range(len(circleCenters[:,0])):
if circleCenters[i,1:].any() > 1E-8 or circleCenters[i,1:].any() < -1E-8:
trueRhat_C[i,1:] = np.dot(np.dot(dcm_CB, rbk.MRP2C(sigma_BN[ModeIdx+i , 1:4])) ,position_N[ModeIdx+i, 1:4])/np.linalg.norm(position_N[ModeIdx+i, 1:4])
trueCircles[i,3] = focal*np.tan(np.arcsin(Rmars/np.linalg.norm(position_N[ModeIdx+i,1:4])))/pixelSize[0]
trueRhat_C[i,1:] *= focal/trueRhat_C[i,3]
trueCircles[i, 1] = trueRhat_C[i, 1] / pixelSize[0] + sizeOfCam[0]/2 - 0.5
trueCircles[i, 2] = trueRhat_C[i, 2] / pixelSize[1] + sizeOfCam[1]/2 - 0.5
measError[i, 1:4] = position_N[ModeIdx+i, 1:4] - measPos[i, 1:4]
measError_C[i, 4] = np.linalg.norm(position_N[ModeIdx+i, 1:4]) - np.linalg.norm(r_C[i, 1:4])
measError_C[i, 1:4] = trueRhat_C[i,1:] - r_C[i, 1:4]/np.linalg.norm(r_C[i, 1:4])
else:
measCovar[i,1:] = np.full(3*3, np.nan)
covar_C[i, 1:] = np.full(3 * 3, np.nan)
timeData = position_N[:, 0] * macros.NANO2MIN
BSK_plt.plot_rw_motor_torque(timeData, dataUsReq, dataRW, numRW)
BSK_plt.imgProcVsExp(trueCircles, circleCenters, circleRadii, np.array(sizeOfCam))
figureList = {}
if showPlots:
BSK_plt.show_all_plots()
else:
fileName = os.path.basename(os.path.splitext(__file__)[0])
figureNames = ["attitudeErrorNorm", "rwMotorTorque", "rateError", "rwSpeed"]
figureList = BSK_plt.save_all_plots(fileName, figureNames)
return figureList
def run(showPlots, simTime=None):
# Instantiate base simulation
TheBSKSim = BSKSim(fswRate=0.5, dynRate=0.5)
TheBSKSim.set_DynModel(BSK_OpNavDynamics)
TheBSKSim.set_FswModel(BSK_OpNavFsw)
# Configure a scenario in the base simulation
TheScenario = scenario_OpNav(TheBSKSim, showPlots)
if showPlots:
TheScenario.log_outputs()
TheScenario.configure_initial_conditions()
TheBSKSim.get_DynModel().cameraMod.saveImages = 0
# opNavMode 1 is used for viewing the spacecraft as it navigates, opNavMode 2 is for headless camera simulation
TheBSKSim.get_DynModel().vizInterface.opNavMode = 2
# The following code spawns the Vizard application from python
mode = ["None", "-directComm", "-noDisplay"]
TheScenario.run_vizard(mode[TheBSKSim.get_DynModel().vizInterface.opNavMode])
# Configure FSW mode
TheScenario.masterSim.modeRequest = 'pointOpNav'
# Initialize simulation
TheBSKSim.InitializeSimulation()
# Configure run time and execute simulation
if simTime != None:
simulationTime = macros.min2nano(simTime)
else:
simulationTime = macros.min2nano(200)
TheBSKSim.ConfigureStopTime(simulationTime)
print('Starting Execution')
t1 = time.time()
TheBSKSim.ExecuteSimulation()
t2 = time.time()
print('Finished Execution in ', t2-t1, ' seconds. Post-processing results')
# Terminate vizard and show plots
figureList = TheScenario.end_scenario()
return figureList
if __name__ == "__main__":
run(True)