Update main branch

See merge request !160

.gitlab-ci.yml

@@ -0,0 +1,11 @@
+stages:
+  - build
+variables:
+  GIT_STRATEGY: clone
+  GIT_SUBMODULE_STRATEGY: recursive
+build_on_vs2019:
+  stage: build
+  script:
+    - echo %CD%
+    - cd ./scripts/CI
+    - ./build_on_vs2019.bat

CMakeLists.txt

@@ -1,5 +1,5 @@
 ## General settings
-cmake_minimum_required(VERSION 3.10)
+cmake_minimum_required(VERSION 3.13)
 set(CMAKE_CXX_STANDARD 14)
 project(S2E CXX)
 # preprocessor
@@ -45,6 +45,7 @@ add_subdirectory(src/Environment/Local)
 add_subdirectory(src/Dynamics)
 add_subdirectory(src/Disturbance)
 add_subdirectory(src/Component)
+add_subdirectory(src/RelativeInformation)
 add_subdirectory(src/Interface/InitInput)
 add_subdirectory(src/Interface/LogOutput)
 add_subdirectory(src/Interface/SpacecraftInOut)
@@ -54,6 +55,8 @@ add_subdirectory(src/Library/math)
 add_subdirectory(src/Library/nrlmsise00)
 add_subdirectory(src/Library/sgp4)
 add_subdirectory(src/Library/utils)
+add_subdirectory(src/Library/optics)
+add_subdirectory(src/Library/RelativeOrbit)
 #add_subdirectory(src/Interface/HilsInOut)
 
 set(SOURCE_FILES
@@ -115,10 +118,10 @@ endif()
 
 ## Linking libraries
 set(S2E_LIBRARIES
-  IGRF WRAPPER_NRLMSISE00 INIH MATH SGP4 UTIL 
+  IGRF WRAPPER_NRLMSISE00 INIH MATH SGP4 UTIL OPTICS RELATIVE_ORBIT_MODELS
 )
 # Initialize link
-target_link_libraries(COMPONENT INTERFACE INI_IN DYNAMICS GLOBAL_ENVIRONMENT LOCAL_ENVIRONMENT SC_IO ${S2E_LIBRARIES})
+target_link_libraries(COMPONENT INTERFACE INI_IN DYNAMICS GLOBAL_ENVIRONMENT LOCAL_ENVIRONMENT SC_IO RELATIVE_INFO ${S2E_LIBRARIES})
 target_link_libraries(DYNAMICS INTERFACE INI_IN GLOBAL_ENVIRONMENT LOCAL_ENVIRONMENT SIMULATION ${S2E_LIBRARIES})
 target_link_libraries(DISTURBANCE INTERFACE INI_IN DYNAMICS GLOBAL_ENVIRONMENT LOCAL_ENVIRONMENT ${S2E_LIBRARIES})
 target_link_libraries(SIMULATION INTERFACE INI_IN DYNAMICS GLOBAL_ENVIRONMENT LOCAL_ENVIRONMENT DISTURBANCE ${S2E_LIBRARIES})
@@ -131,6 +134,7 @@ target_link_libraries(${PROJECT_NAME} DYNAMICS)
 target_link_libraries(${PROJECT_NAME} DISTURBANCE)
 target_link_libraries(${PROJECT_NAME} SIMULATION)
 target_link_libraries(${PROJECT_NAME} GLOBAL_ENVIRONMENT LOCAL_ENVIRONMENT)
+target_link_libraries(${PROJECT_NAME} RELATIVE_INFO)
 target_link_libraries(${PROJECT_NAME} INI_ACC LOG_OUT SC_IO)
 target_link_libraries(${PROJECT_NAME} COMPONENT)
 
@@ -152,5 +156,5 @@ if(USE_C2A)
 endif()
 
 ## Cmake debug
-message("Cspice_LIB:  "${CSPICE_LIB})
-message("nrlmsise00_LIB:  "${NRLMSISE00_LIB})
+message("Cspice_LIB:  " ${CSPICE_LIB})
+message("nrlmsise00_LIB:  " ${NRLMSISE00_LIB})

CMakeSettings.json

@@ -2,7 +2,7 @@
   "configurations": [
     {
       "name": "Win32",
-      "generator": "Visual Studio 15 2017",
+      "generator": "Visual Studio 16 2019",
       "configurationType": "Debug",
       "inheritEnvironments": [
         "msvc_x86"

data/SampleSat/ini/SampleGNSS.ini

@@ -0,0 +1,55 @@
+[GNSS_SATELLIES]
+directory_path = ../../../ExtLibraries/sp3/
+calculation = DISABLE
+
+true_position_file_sort = IGS 
+//choose from IGS, IGR, IGU,
+//            CODE_Final, CODE_Rapid, CODE_Ultra_rapid, 
+//            JAXA_Final, JAXA_Rapid, JAXA_Ultra_rapid, madocaRT,
+//            QZSS_Final, QZSS_Rapid, QZSS_Ultra_rapid
+true_position_first = igs21233.sp3
+//As small as possible within the range.
+true_position_last = igs21233.sp3
+true_position_interpolation_method = 1
+//choose from 0: Lagrange, 1: Trigonometric : temporarily, only Trigonometric is valid, Lagrange is not yet implemented.
+true_position_interpolation_number = 9
+//if you chose Trigonometric as interpolation method, you must choose odds number here.
+
+true_clock_file_extension = .clk_30s
+//choose frome .sp3, .clk_30s or .clk
+true_clock_file_sort = IGS
+//choose from IGS, IGR, IGU,
+//            CODE_Final, CODE_Rapid, CODE_Ultra_rapid, 
+//            JAXA_Final, JAXA_Rapid, JAXA_Ultra_rapid, madocaRT,
+//            QZSS_Final, QZSS_Rapid, QZSS_Ultra_rapid
+//if you choose clk_30s, should choose the one equivalent to final, if you choose clk should choose the one equivalent to rapid.
+true_clock_first = igs21233.clk_30s
+//As small as possible within the range.
+true_clock_last = igs21233.clk_30s
+true_clock_interpolation_number = 3
+//The method is fixed with Lagrange interpolation, 3 (quadratic) recommended
+
+estimate_position_file_sort = madocaRT
+//choose from IGS, IGR, IGU,
+//            CODE_Final, CODE_Rapid, CODE_Ultra_rapid, 
+//            JAXA_Final, JAXA_Rapid, JAXA_Ultra_rapid, madocaRT,
+//            QZSS_Final, QZSS_Rapid, QZSS_Ultra_rapid
+estimate_position_first = madoca21233.sp3
+//As small as possible within the range.
+estimate_position_last = madoca21233.sp3
+estimate_position_interpolation_method = 1
+//choose from 0: Lagrange, 1: Trigonometric : temporarily, only Trigonometric is valid, Lagrange is not yet implemented.
+estimate_position_interpolation_number = 9
+//if you chose Trigonometric as interpolation method, you must choose odds number here.
+estimate_clock_file_sort = madocaRT
+//choose from IGS, IGR, IGU,
+//            CODE_Final, CODE_Rapid, CODE_Ultra_rapid, 
+//            JAXA_Final, JAXA_Rapid, JAXA_Ultra_rapid, madocaRT,
+//            QZSS_Final, QZSS_Rapid, QZSS_Ultra_rapid
+estimate_clock_file_extension = .sp3
+//choose frome .sp3, .clk_30s or .clk
+estimate_clock_first = madoca21233.sp3
+//As small as possible within the range.
+estimate_clock_last = madoca21233.sp3
+estimate_clock_interpolation_number = 3
+//The method is fixed with Lagrange interpolation, 3 (quadratic) recommended

data/SampleSat/ini/SampleLocalEnvironment.ini

@@ -16,4 +16,7 @@ model = NRLMSISE00
 nrlmsise00_table_path = ../../../ExtLibraries/nrlmsise00/table/SpaceWeather.txt
 calculation = ENABLE
 logging = ENABLE
-rho_stddev = 0.0//0.1  //空気密度標準偏差の割合
+rho_stddev = 0.0//0.1  //空気密度標準偏差の割合
+
+[LOCAL_CELESTIAL_INFORMATION]
+logging = ENABLE

data/SampleSat/ini/SampleSat.ini

@@ -47,8 +47,9 @@ calculation = ENABLE
 logging = ENABLE
 
 propagate_mode = 1
-//0→ルンゲクッタ法で軌道情報をpropagate(深宇宙軌道向き)
-//1→SGP4に四つ地球周回の軌道情報をpropagate
+//0→propagate orbit using Runge-Kutta method
+//1→propagate orbit using SGP4(only for Earth orbit)
+//2→propagate orbit using relative dynamics theory(for formation flying simulation)
 
 //地球周回軌道情報//////////////////////////////////////////////////////////////
 //ISS
@@ -81,6 +82,28 @@ init_velocity(1) = 3.074661E+03  //Speed of a spacecraft in GEO
 init_velocity(2) = 0
 ///////////////////////////////////////////////////////////////////////////////
 
+//Information used for relative orbit propagation//////////////////////////////
+//Relative Orbit Update Method (0 means RK4, 1 means STM)
+relative_orbit_update_method = 0
+//RK4 Relative Dynamics model type (only valid for RK4 update)
+//0: Hill
+relative_dynamics_model_type = 0
+//STM Relative Dynamics model type (only valid for STM update)
+//0: HCW
+stm_model_type = 0
+//initial satellite position relative to the reference satellite in LVLH frame[m]
+//＊The coordinate system is defined in PlanetSelect.ini
+init_relative_position_lvlh(0) = 0.0
+init_relative_position_lvlh(1) = 100.0
+init_relative_position_lvlh(2) = 0.0
+//initial satellite velocity relative to the reference satellite in LVLH frame[m/s]
+init_relative_velocity_lvlh(0) = 0.0
+init_relative_velocity_lvlh(1) = 0.0
+init_relative_velocity_lvlh(2) = 0.0
+//information of reference satellite
+reference_sat_id = 1
+///////////////////////////////////////////////////////////////////////////////
+
 [Thermal]
 IsCalcEnabled=0
 debug=0

data/SampleSat/ini/SampleSimBase.ini

@@ -10,7 +10,7 @@ StepTimeSec=0.1
 //Attitude Update Period [sec]
 //Attitude is updated at the period specified here 
 AttitudeUpdateIntervalSec=0.1 // should be larger than StepTimeSec
-//Attitide Δt for Runge-Kutta method [sec]
+//Attitide Δt for Runge-Kutt method [sec]
 //This must be smaller than "AttitudeUpdateIntervalSec" 
 AttitudeRKStepSec = 0.001
 
@@ -30,8 +30,9 @@ ThermalRKStepSec = 0.1
 
 //Component Update Period [sec]
 CompoUpdateIntervalSec = 0.1 // should be larger than StepTimeSec
+
 //Log Output Period [sec]
-LogOutPutIntervalSec = 0.5   // should be larger than StepTimeSec
+LogOutPutIntervalSec = 0.1   // should be larger than StepTimeSec
 //Simulation speed. 0: as fast as possible, 1: real-time, >1: faster than real-time, <1: slower than real-time
 SimulationSpeed = 0
 
@@ -63,10 +64,14 @@ ATTITUDE0.Omega_b.sigma_or_max(1) = 0.05817764 // 3-sigma = 10 [deg/s]
 ATTITUDE0.Omega_b.sigma_or_max(2) = 0.05817764 // 3-sigma = 10 [deg/s]
 
 [PLANET_SELECTION]
-//天体情報
+//Whether global celestial information is logged or not
+logging = ENABLE
+//Celestial Information
 inertial_frame = J2000
 aberration_correction = NONE
 center_object = EARTH
+//designation of dynamics model, Idle:no motion，Simple:rotation only，Full:full-dynamics
+rotation_mode = Simple
 num_of_selected_body = 3
 selected_body(0) = EARTH
 selected_body(1) = SUN
@@ -87,70 +92,16 @@ max_magnitude = 3.0	//ヒッパルコス星表から読み出す等級の上限
 calculation = DISABLE
 logging = DISABLE
 
-[GNSS_SATELLIES]
-directory_path = ../../../ExtLibraries/sp3/
-calculation = DISABLE
-
-true_position_file_sort = IGS 
-//choose from IGS, IGR, IGU,
-//            CODE_Final, CODE_Rapid, CODE_Ultra_rapid, 
-//            JAXA_Final, JAXA_Rapid, JAXA_Ultra_rapid, madocaRT,
-//            QZSS_Final, QZSS_Rapid, QZSS_Ultra_rapid
-true_position_first = igs21233.sp3
-//As small as possible within the range.
-true_position_last = igs21233.sp3
-true_position_interpolation_method = 1
-//choose from 0: Lagrange, 1: Trigonometric : temporarily, only Trigonometric is valid, Lagrange is not yet implemented.
-true_position_interpolation_number = 9
-//if you chose Trigonometric as interpolation method, you must choose odds number here.
-
-true_clock_file_extension = .clk_30s
-//choose frome .sp3, .clk_30s or .clk
-true_clock_file_sort = IGS
-//choose from IGS, IGR, IGU,
-//            CODE_Final, CODE_Rapid, CODE_Ultra_rapid, 
-//            JAXA_Final, JAXA_Rapid, JAXA_Ultra_rapid, madocaRT,
-//            QZSS_Final, QZSS_Rapid, QZSS_Ultra_rapid
-//if you choose clk_30s, should choose the one equivalent to final, if you choose clk should choose the one equivalent to rapid.
-true_clock_first = igs21233.clk_30s
-//As small as possible within the range.
-true_clock_last = igs21233.clk_30s
-true_clock_interpolation_number = 3
-//The method is fixed with Lagrange interpolation, 3 (quadratic) recommended
-
-estimate_position_file_sort = madocaRT
-//choose from IGS, IGR, IGU,
-//            CODE_Final, CODE_Rapid, CODE_Ultra_rapid, 
-//            JAXA_Final, JAXA_Rapid, JAXA_Ultra_rapid, madocaRT,
-//            QZSS_Final, QZSS_Rapid, QZSS_Ultra_rapid
-estimate_position_first = madoca21233.sp3
-//As small as possible within the range.
-estimate_position_last = madoca21233.sp3
-estimate_position_interpolation_method = 1
-//choose from 0: Lagrange, 1: Trigonometric : temporarily, only Trigonometric is valid, Lagrange is not yet implemented.
-estimate_position_interpolation_number = 9
-//if you chose Trigonometric as interpolation method, you must choose odds number here.
-estimate_clock_file_sort = madocaRT
-//choose from IGS, IGR, IGU,
-//            CODE_Final, CODE_Rapid, CODE_Ultra_rapid, 
-//            JAXA_Final, JAXA_Rapid, JAXA_Ultra_rapid, madocaRT,
-//            QZSS_Final, QZSS_Rapid, QZSS_Ultra_rapid
-estimate_clock_file_extension = .sp3
-//choose frome .sp3, .clk_30s or .clk
-estimate_clock_first = madoca21233.sp3
-//As small as possible within the range.
-estimate_clock_last = madoca21233.sp3
-estimate_clock_interpolation_number = 3
-//The method is fixed with Lagrange interpolation, 3 (quadratic) recommended
-
 [RAND]
 Rand_Seed = 0x11223344  //乱数のSeed.　0にすると時変になる
 
 [SIM_SETTING]
 log_inifile = 1
 //ファイル設定
 //If you want to add a spacecraft, create the corresponding Sat.ini, and specify it as sat_file(1), sat_file(2)... . 
-sat_file(0)            = ../../data/SampleSat/ini/SampleSat.ini
-gs_file                = ../../data/SampleSat/ini/SampleGS.ini
-inter_sat_comm_file    = ../../data/SampleSat/ini/SampleInterSatComm.ini
-log_file_path          = ../../data/SampleSat/logs/
+num_of_simulated_spacecraft = 1
+sat_file(0)                 = ../../data/SampleSat/ini/SampleSat.ini
+gs_file                     = ../../data/SampleSat/ini/SampleGS.ini
+inter_sat_comm_file         = ../../data/SampleSat/ini/SampleInterSatComm.ini
+gnss_file                   = ../../data/SampleSat/ini/SampleGNSS.ini
+log_file_path               = ../../data/SampleSat/logs/

data/SampleSat/ini/component/GNSSReceiver.ini

@@ -1,9 +1,37 @@
 [GNSSReceiver]
 prescaler = 10
 
-antenna_direction(0) = 0.0
-antenna_direction(1) = 0.0
-antenna_direction(2) = 1.0
+// Position of antenna at body frame [m]
+antenna_pos_b(0) =  0.0125
+antenna_pos_b(1) =  0.0000
+antenna_pos_b(2) =  0.1815
+
+// Quaternion from body frame to component frame
+q_b2c(0) = 0.0
+q_b2c(1) = 0.0
+q_b2c(2) = 0.0
+q_b2c(3) = 1.0
+
+// Antenna model
+// 0... simple model : GNSS sats are visible when antenna directs anti-earth direction
+// 1... cone model : GNSS sats visible when a sat is in a cone
+antenna_model = 0
+
+// Antenna half width [deg]
+half_width = 60
+
+// Number of channels
+ch_max = 8
+
+// GNSS ID 
+// G...GPS
+// R...GLONASS
+// E...Galileo
+// C...Beidou
+// J...QZSS
+// if your receiver is compatible with all kind of gnss satellites : GRECJ
+// if your receiver is compatible with GPS and QZSS : GJ
+gnss_id = G
 
 //Random noise [m]
 nr_stddev_eci(0) = 10000.0

data/SampleSat/ini/component/RW.ini

@@ -2,18 +2,37 @@
 // prescaler defines update period of thie component
 // update period = prescaler * step sec
 prescaler = 1
+// prescaler for calculation of RW jitter
+// To calculate the jitter, set the update cycle to about 0.1 ms.
+fast_prescaler = 1
 //Inertia of the RW [kgm^2]
 inertia = 1.0e-4
 //Maximum torque [Nm]
 max_torque = 0.001
 //Maximum angular velocity [rpm]
 //The RW can drive (-max_angular_velocity,+max_angular_velocity) 
 max_angular_velocity = 6000.0
+
+// How to determine the direction of RW (DIRECTION or QUATERNION)
+// If you want to consider the phase of RW strictly (e.g. RW jitter), specify QUATERNION.
+// If you do not need to consider the phase of the RW rotation, specify DIRECTION.
+direction_determination_mode = QUATERNION
+// Quaternion from body frame to component frame
+// Definition of component frame : wheel rotation axis = (0 0 1)^T. plus means direction of rotation (output torque is minus direction) 
+q_b2c(0) = 0
+q_b2c(1) = 0.70710678118
+q_b2c(2) = 0
+q_b2c(3) = 0.70710678118
 // Direction of axis of the RW at the body fixied frame
 // plus means direction of rotation (output torque is minus direction) 
 direction_b(0) = 1.0
 direction_b(1) = 0.0
 direction_b(2) = 0.0
+
+// Position of RW at body frame [m]
+pos_b(0) = 1.0
+pos_b(1) = 0.0
+pos_b(2) = 0.0
 //The control deray[s]
 dead_time = 1.0
 //Coefficient of first order lag for driving case
@@ -29,6 +48,17 @@ coasting_lag_coef(2) = 0.0
 motor_drive_init = 0
 angular_velocity_init = 0.0
 
+//Parameters for calculate RW jitter
+jitter_calculation = DISABLE
+jitter_logging = DISABLE
+radial_force_harmonics_coef_path = ../../data/SampleSat/ini/component/RWDisturbance/radial_force_harmonics_coef.csv
+radial_torque_harmonics_coef_path = ../../data/SampleSat/ini/component/RWDisturbance/radial_torque_harmonics_coef.csv
+harmonics_degree = 12
+considers_structural_resonance = DISABLE
+structural_resonance_freq = 585.0 //[Hz]
+damping_factor = 0.1 //[ ]
+bandwidth = 0.001 //[ ]
+
 // Power Port
 minimum_voltage = 3.3 // V
 assumed_power_consumption = 1.0 //W