1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
|
/***********************************************/
/**
* @file instrumentSatelliteTrackingAntennaCenterCorrection.cpp
*
* @brief Compute antenna center correction from orbit configuration.
*
* @author Torsten Mayer-Guerr
* @date 2005-01-21
*
*/
/***********************************************/
// Latex documentation
#define DOCSTRING docstring
static const char *docstring = R"(
This program computes the correction due to offset of the antenna center relative the center of mass.
The offsets $\M c_A$ and $\M c_B$ in \configFile{inputfileAntennaCenters}{matrix} are given in the satellite
reference frame. These offsets are rotated into the the inertial frame with $\M D_A$ and $\M D_B$ from
\configFile{inputfileStarCamera}{instrument} and projected onto the line of sight (LOS)
\begin{equation}
\rho_{AOC} = \M e_{AB}\cdot(\M D_A\,\M c_A - \M D_B\,\M c_B),
\end{equation}
with the unit vector in line of sight direction
\begin{equation}
\M e_{AB} = \frac{\M r_B - \M r_A}{\left\lVert{\M r_B - \M r_A}\right\rVert}.
\end{equation}
The corrections for the range-rates and range-acceleration are computed by differentiating
an interpolation polynomial of degree \config{interpolationDegree}.
)";
/***********************************************/
#include "programs/program.h"
#include "base/polynomial.h"
#include "files/fileMatrix.h"
#include "files/fileInstrument.h"
/***** CLASS ***********************************/
/** @brief Compute antenna center correction from orbit configuration.
* @ingroup programsGroup */
class InstrumentSatelliteTrackingAntennaCenterCorrection
{
public:
void run(Config &config, Parallel::CommunicatorPtr comm);
};
GROOPS_REGISTER_PROGRAM(InstrumentSatelliteTrackingAntennaCenterCorrection, PARALLEL, "compute antenna center correction from orbit configuration", Grace, Instrument)
/***********************************************/
void InstrumentSatelliteTrackingAntennaCenterCorrection::run(Config &config, Parallel::CommunicatorPtr comm)
{
try
{
FileName outSSTName;
FileName orbit1Name, starCamera1Name;
FileName orbit2Name, starCamera2Name;
Vector3d center1, center2;
UInt degree;
std::string choice;
readConfig(config, "outputfileSatelliteTracking", outSSTName, Config::OPTIONAL, "", "corrections for range, range-rate, and range-accelerations");
readConfig(config, "inputfileOrbit1", orbit1Name, Config::MUSTSET, "", "");
readConfig(config, "inputfileOrbit2", orbit2Name, Config::MUSTSET, "", "");
readConfig(config, "inputfileStarCamera1", starCamera1Name, Config::MUSTSET, "", "");
readConfig(config, "inputfileStarCamera2", starCamera2Name, Config::MUSTSET, "", "");
if(readConfigChoice(config, "antennaCenters", choice, Config::MUSTSET, "", "KBR antenna phase center"))
{
if(readConfigChoiceElement(config, "value", choice, ""))
{
readConfig(config, "center1X", center1.x(), Config::DEFAULT, "1.4451172588", "x-coordinate of antenna position in SRF [m] for GRACEA");
readConfig(config, "center1Y", center1.y(), Config::DEFAULT, "-0.0004233040", "y-coordinate of antenna position in SRF [m] for GRACEA");
readConfig(config, "center1Z", center1.z(), Config::DEFAULT, "0.0022786600", "z-coordinate of antenna position in SRF [m] for GRACEA");
readConfig(config, "center2X", center2.x(), Config::DEFAULT, "1.4443870350", "x-coordinate of antenna position in SRF [m] for GRACEB");
readConfig(config, "center2Y", center2.y(), Config::DEFAULT, "0.0005761203", "y-coordinate of antenna position in SRF [m] for GRACEB");
readConfig(config, "center2Z", center2.z(), Config::DEFAULT, "0.0033040887", "z-coordinate of antenna position in SRF [m] for GRACEB");
}
if(readConfigChoiceElement(config, "file", choice, ""))
{
FileName fileName;
readConfig(config, "inputAntennaCenters", fileName, Config::MUSTSET, "", "");
if(!isCreateSchema(config))
{
Matrix x;
readFileMatrix(fileName, x);
center1 = Vector3d(x(0,0), x(1,0), x(2,0));
center2 = Vector3d(x(3,0), x(4,0), x(5,0));
}
}
endChoice(config);
}
readConfig(config, "interpolationDegree", degree, Config::DEFAULT, "2", "differentiation by polynomial approximation of degree n");
if(isCreateSchema(config)) return;
logStatus<<"read orbit and star camera data and generate antenna offset corrections"<<Log::endl;
InstrumentFile orbit1File(orbit1Name);
InstrumentFile orbit2File(orbit2Name);
InstrumentFile starCamera1File(starCamera1Name);
InstrumentFile starCamera2File(starCamera2Name);
InstrumentFile::checkArcCount({orbit1File, orbit2File, starCamera1File, starCamera2File});
std::vector<Arc> arcList(orbit1File.arcCount());
Parallel::forEach(arcList, [&](UInt arcNo)
{
OrbitArc orbit1 = orbit1File.readArc(arcNo);
OrbitArc orbit2 = orbit2File.readArc(arcNo);
StarCameraArc starCamera1 = starCamera1File.readArc(arcNo);
StarCameraArc starCamera2 = starCamera2File.readArc(arcNo);
Arc::checkSynchronized({orbit1, orbit2, starCamera1, starCamera2});
Matrix A(orbit1.size(), 4);
for(UInt i=0; i<A.rows(); i++)
{
const Vector3d u = (orbit2.at(i).position - orbit1.at(i).position); // center of mass vector
const Vector3d v = (starCamera2.at(i).rotary.rotate(center2) - starCamera1.at(i).rotary.rotate(center1)); // combined antenna offset vector
A(i,1) = u.r() - (u+v).r(); // COM - ANT -> AOC
}
const std::vector<Time> times = orbit1.times();
Polynomial p(times, degree);
copy(p.derivative( times, A.column(1)), A.column(2));
copy(p.derivative2nd(times, A.column(1)), A.column(3));
return Arc(times, A, Epoch::Type::SATELLITETRACKING);
}, comm); // forEach
if(Parallel::isMaster(comm) && !outSSTName.empty())
{
logStatus<<"write tracking data to file <"<<outSSTName<<">"<<Log::endl;
InstrumentFile::write(outSSTName, arcList);
Arc::printStatistics(arcList);
}
}
catch(std::exception &e)
{
GROOPS_RETHROW(e)
}
}
/***********************************************/
/***********************************************/
|
