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/***********************************************/
/**
* @file starCamera2Orbex.cpp
*
* @brief Converts satellite attitude from StarCamera to ORBEX format.
*
* @author Andre Hauschild
* @date 2024-10-10
*
*/
/***********************************************/
// Latex documentation
#define DOCSTRING docstring
static const char *docstring = R"(
Converts satellite attitude from \file{instrument file (STARCAMERA)}{instrument} to
\href{http://acc.igs.org/misc/ORBEX009.pdf}{ORBEX file format} (quaternions).
If \configClass{earthRotation}{earthRotationType} is provided, the output file contains quaternions
for rotation from TRF to satellite body frame (IGS/ORBEX convention),
otherwise the rotation is from CRF to satellite body frame.
See also \program{GnssOrbex2StarCamera}, \program{SimulateStarCameraGnss}.
)";
/***********************************************/
#include "programs/program.h"
#include "base/polynomial.h"
#include "classes/earthRotation/earthRotation.h"
#include "classes/timeSeries/timeSeries.h"
#include "files/fileInstrument.h"
#include "inputOutput/system.h"
/***** CLASS ***********************************/
/** @brief Converts satellite attitude from StarCamera to ORBEX format.
* @ingroup programsConversionGroup */
class StarCamera2Orbex
{
public:
class Satellite
{
public:
FileName fileNameAttitude;
std::string identifier, description;
};
void run(Config &config, Parallel::CommunicatorPtr comm);
};
GROOPS_REGISTER_PROGRAM(StarCamera2Orbex, SINGLEPROCESS, "Converts satellite attitude from StarCamera to ORBEX format.", Conversion, Instrument)
/***********************************************/
template<> Bool readConfig(Config &config, const std::string &name, StarCamera2Orbex::Satellite &var, Config::Appearance mustSet, const std::string &defaultValue, const std::string &annotation)
{
if(!readConfigSequence(config, name, mustSet, defaultValue, annotation))
return FALSE;
readConfig(config, "inputfileStarCamera", var.fileNameAttitude, Config::MUSTSET, "", "");
readConfig(config, "identifier", var.identifier, Config::MUSTSET, "", "string identifier (e.g. GNSS PRN: G01)");
readConfig(config, "description", var.description, Config::OPTIONAL, "", "e.g. BLOCK IIR-B, GRACE");
endSequence(config);
return TRUE;
}
/***********************************************/
void StarCamera2Orbex::run(Config &config, Parallel::CommunicatorPtr /*comm*/)
{
try
{
FileName fileNameOrbex;
std::vector<Satellite> satellites;
EarthRotationPtr earthRotation;
TimeSeriesPtr timeSeriesPtr;
UInt interpolationDegree;
std::string coordSystem, contact, createdBy, description, inputData;
std::vector<std::string> comments;
readConfig(config, "outputfileOrbex", fileNameOrbex, Config::MUSTSET, "", "ORBEX file");
readConfig(config, "satellite", satellites, Config::MUSTSET, "", "");
readConfig(config, "earthRotation", earthRotation, Config::OPTIONAL, "file", "rotate data into Earth-fixed frame");
readConfig(config, "timeSeries", timeSeriesPtr, Config::DEFAULT, "", "resample to these epochs (otherwise input file epochs are used)");
readConfig(config, "interpolationDegree", interpolationDegree, Config::MUSTSET, "7", "for attitude and Earth rotation interpolation");
readConfig(config, "description", description, Config::MUSTSET, "", "description of file contents");
readConfig(config, "createdBy", createdBy, Config::MUSTSET, "", "name of agency");
readConfig(config, "inputData", inputData, Config::MUSTSET, "p", "description of input data (see ORBEX description)");
readConfig(config, "contact", contact, Config::MUSTSET, "", "email address");
readConfig(config, "referenceFrame", coordSystem, Config::MUSTSET, "IGS20", "reference frame used in file");
readConfig(config, "comment", comments, Config::OPTIONAL, "", "");
if(isCreateSchema(config)) return;
class Record
{
public:
std::string identifier;
Vector quaternion;
Record(const std::string &identifier, const_MatrixSliceRef quaternion) : identifier(identifier), quaternion(quaternion) {}
};
std::map<Time, std::vector<Record>> times2Records;
std::vector<Time> times = timeSeriesPtr->times();
for(auto &satellite : satellites)
{
satellite.identifier.resize(6, ' '); // max. 6 characters
try
{
StarCameraArc arc = InstrumentFile::read(satellite.fileNameAttitude);
for(UInt idEpoch=0; idEpoch<arc.size(); idEpoch++)
arc.at(idEpoch).rotary = inverse(arc.at(idEpoch).rotary);
if(earthRotation)
for(UInt idEpoch=0; idEpoch<arc.size(); idEpoch++)
arc.at(idEpoch).rotary *= inverse(earthRotation->rotaryMatrix(arc.at(idEpoch).time));
Matrix quaternion = arc.matrix().column(1, 4);
// (optionally) resample attitude
std::vector<Time> satTimes = arc.times();
if(times.size())
{
Polynomial polynomial(satTimes, interpolationDegree);
quaternion = polynomial.interpolate(times, quaternion);
satTimes = times;
}
for(UInt idEpoch=0; idEpoch<quaternion.rows(); idEpoch++)
times2Records[satTimes.at(idEpoch)].push_back(Record(satellite.identifier, (quaternion.row(idEpoch)/norm(quaternion.row(idEpoch))).trans())); // normalize quaternions
}
catch(std::exception &e)
{
logWarning<<e.what()<<" continue..."<< Log::endl;
satellite.identifier = "";
continue;
}
}
if(times2Records.empty())
throw(Exception("No star camera input data found."));
times.clear();
for(const auto &epoch : times2Records)
times.push_back(epoch.first);
logStatus<<"writing ORBEX file to <"<<fileNameOrbex<<">"<<Log::endl;
OutFile outfile(fileNameOrbex);
outfile<<"%=ORBEX 0.09"<<std::endl;
outfile<<"%%"<<std::endl;
outfile<<"*------------------------------------------------------------------------------------------------------"<<std::endl;
outfile<<"+FILE/DESCRIPTION"<<std::endl;
outfile<<" DESCRIPTION "<<description<<std::endl;
outfile<<" CREATED_BY "<<createdBy<<std::endl;
outfile<<" CREATION_DATE "<<System::now()%"%y %m %d %H %M %S"s<<std::endl;
outfile<<" INPUT_DATA "<<inputData<<std::endl;
outfile<<" CONTACT "<<contact<<std::endl;
outfile<<" TIME_SYSTEM GPS"<<std::endl;
outfile<<" START_TIME "<<times.front()%"%y %m %d %H %M %012.9S000"s<<std::endl; // ATTENTION: "fake" 15.12 precision due to max Time precision
outfile<<" END_TIME "<<times.back() %"%y %m %d %H %M %012.9S000"s<<std::endl; // ATTENTION: "fake" 15.12 precision due to max Time precision
outfile<<" EPOCH_INTERVAL "<<medianSampling(times).seconds()%"%9.3f"s<<std::endl;
outfile<<" COORD_SYSTEM "<<coordSystem<<std::endl;
outfile<<" FRAME_TYPE "<<(earthRotation ? "ECEF" : "ECI")<<std::endl;
outfile<<" LIST_OF_REC_TYPES ATT"<<std::endl;
outfile<<"-FILE/DESCRIPTION"<<std::endl;
if(comments.size())
{
outfile<<"*------------------------------------------------------------------------------------------------------"<<std::endl;
for(auto &comment : comments)
outfile<<"* "<<comment<<std::endl;
}
outfile<<"*------------------------------------------------------------------------------------------------------"<<std::endl;
outfile<<"+SATELLITE/ID_AND_DESCRIPTION"<<std::endl;
for(const auto &satellite : satellites)
if(!satellite.identifier.empty())
outfile<<" "<<satellite.identifier<<satellite.description<<std::endl;
outfile<<"-SATELLITE/ID_AND_DESCRIPTION"<<std::endl;
outfile<<"*------------------------------------------------------------------------------------------------------"<<std::endl;
outfile<<"+EPHEMERIS/DATA"<<std::endl;
outfile<<"*ATT RECORDS: TRANSFORMATION FROM "<<(earthRotation ? "TERRESTRIAL" : "CELESTIAL")<<" FRAME COORDINATES (T) TO SAT. BODY FRAME ONES (B) SUCH AS"<<std::endl;
outfile<<"* (0,B) = q.(0,T).trans(q)"<<std::endl;
outfile<<"*REC ID_ N ___q0_(scalar)_____ ____q1__x__________ ____q2__y__________ ____q3__z__________"<<std::endl;
for(const auto &epoch : times2Records)
{
outfile<<epoch.first%"## %y %m %d %H %M %012.9S000 "s<<epoch.second.size()%"%3i"s<<std::endl; // ATTENTION: "fake" 15.12 precision due to max Time precision
for(const auto &record : epoch.second)
{
outfile<<" ATT "<<record.identifier<<std::string(11, ' ')<<record.quaternion.size();
for(UInt i=0; i<record.quaternion.size(); i++)
outfile<<record.quaternion(i)%" %19.16f"s;
outfile<<std::endl;
}
}
outfile<<"-EPHEMERIS/DATA"<<std::endl;
outfile<<"*------------------------------------------------------------------------------------------------------"<<std::endl;
outfile<<"%END_ORBEX"<<std::endl;
}
catch(std::exception &e)
{
GROOPS_RETHROW(e)
}
}
/***********************************************/
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