if sim_params['save_every'] == 1:
for i in range(le - 1):
mag_angles[i] = np.arccos(dcm_bn[i] @ mag[i] / np.linalg.norm(mag[i]))
mag_angles[-1] = mag_angles[-2]
else:
for i in range(le):
mag_angles[i] = np.arccos(dcm_bn[i] @ mag[i] / np.linalg.norm(mag[i]))
_plot(mag_angles, 'angles between magnetic field and body frame', 'rad')
# The Animation
if display_animation:
num = animation_speed
start = 0
end = -1
vec2 = DrawingVectors(data.sun.values[start:end:num], 'single', color='y', label='sun', length=0.5)
vec1 = DrawingVectors(data.nadir.values[start:end:num], 'single', color='b', label='nadir', length=0.5)
vec3 = DrawingVectors(data.velocities.values[start:end:num], 'single', color='g', label='velocity', length=0.5)
vec4 = DrawingVectors(data.mag.values[start:end:num], 'single', color='r', label='magnetic field', length=0.5)
ref1 = DrawingVectors(data.dcm_bn.values[start:end:num], 'axes', color=['C0', 'C1', 'C2'], label=['Body x', 'Body y', 'Body z'], length=0.2)
ref2 = DrawingVectors(data.dcm_bo.values[start:end:num], 'axes', color=['C0', 'C1', 'C2'], label=['Body x', 'Body y', 'Body z'], length=0.2)
plot1 = AdditionalPlots(time[start:end:num], data.controls.values[start:end:num], labels=['X', 'Y', 'Z'])
plot2 = AdditionalPlots(data.lons.values[start:end:num], data.lats.values[start:end:num], groundtrack=True)
plot3 = AdditionalPlots(data.hyst_rod_external_field.values[:, 1][start:end:num], data.hyst_rod_magnetization.values[:, 1][start:end:num], hyst_curve=rods[1])
a = AnimateAttitude(data.dcm_bn.values[start:end:num], draw_vector=[ref1, vec4, vec1], additional_plots=[plot2, plot3],
cubesat_model=cubesat)
a.animate_and_plot()
plt.show()
sigmas[0] = np.array([0.60, -0.4, 0.2])
omegas[0] = np.array([0.1, 0.01, -0.05])
for i in range(len(time) - 1):
omegas[i + 1] = omegas[i] + time_step * omega_dot(omegas[i])
sigmas[i + 1] = sigmas[i] + time_step * sigma_dot(sigmas[i], omegas[i])
# 3.0 plot angular velocites
plt.figure()
plt.plot(time, omegas)
plt.title('angular velocity components')
# 3.1 plot attitude representation components
plt.figure()
plt.plot(time, sigmas)
plt.title('attitude representation components')
# 4.0 Animate this result so we can actually see what is going on
cubesat = CubeSatAerodynamicEx1()
# need the 3x3 matrix representation of attitude (Directional Cosine Matrix (DCM)) for the animation routine.
dcm = np.zeros((len(time), 3, 3))
for i in range(len(time)):
dcm[i] = tr.mrp_to_dcm(sigmas[i])
ref = DrawingVectors(dcm[::100],
'axes',
color=['C0', 'C1', 'C2'],
label=['Body x', 'Body y', 'Body z'],
length=0.2)
a = AnimateAttitude(dcm[::100], draw_vector=ref, cubesat_model=cubesat)
a.animate()
def _plot(data, title, ylabel):
plt.figure()
plt.plot(time, data)
plt.title(title)
plt.xlabel('Time (s)')
plt.ylabel(ylabel)
# _plot(omegas, 'angular velocity components', 'angular velocity (rad/s)')
# _plot(sigmas, 'mrp components', 'mrp component values')
# _plot(controls, 'control torque components', 'Torque (Nm)')
# _plot(m, 'coil magnetic moments', '(A*m^2)')
from adcsim.animation import AnimateAttitude, DrawingVectors, AdditionalPlots
num = 200
vec = DrawingVectors(mag_vec_def, 'double', 'r', 'B-field', 6)
body = DrawingVectors(dcm[::num], 'axes', ['C0', 'C1', 'C2'],
['Body x', 'Body y', 'Body z'], 4)
plot1 = AdditionalPlots(time[::num],
m[::num],
title='Magnetic moment',
ylabel='A*m^2')
plot2 = AdditionalPlots(time[::num],
mag[::num],
title='body frame B-field',
ylabel='T')
a = AnimateAttitude(dcm[::num],
draw_vector=[vec, body],
additional_plots=[plot1, plot2])
a.animate_and_plot()
_plot(np.linalg.norm(sigmas, axis=1), 'mrp magnitude', '')
# plot wheel speed and accelerations
_plot(wheel_angular_vel * 9.5493, 'reaction wheel angular velocities',
'rpm')
_plot(wheel_angular_accel, 'reaction wheel angular accelerations',
'rad/s/s')
_plot(m, 'coil magnetic moments', '(A*m^2)')
from adcsim.animation import AnimateAttitude, DrawingVectors, AdditionalPlots
num = 200
plot1 = AdditionalPlots(time[::num],
wheel_angular_vel[::num] * 9.5493,
title='Reaction Wheel Angular Velocities',
ylabel='rpm')
plot2 = AdditionalPlots(time[::num],
m[::num],
title='Magnetic moment',
ylabel='A*m^2')
ref1 = DrawingVectors(dcm[::num],
'axes',
color=['C0', 'C1', 'C2'],
label=['Body x', 'Body y', 'Body z'],
length=4)
a = AnimateAttitude(dcm[::num],
draw_vector=ref1,
additional_plots=[plot1, plot2])
a.animate_and_plot()
plt.show()
# The prv's are obtained and plotted here because they are an intuitive attitude coordinate system
# and the prv angle as a function of time is the best way to visualize your attitude error.
_plot(angle, 'prv angle reference', 'prv angle (rad)')
# plot the control torque
_plot(controls, 'control torque components', 'Torque (Nm)')
# plot the mrp magnitude
_plot(np.linalg.norm(sigmas, axis=1), 'mrp magnitude', '')
from adcsim.animation import AnimateAttitude, DrawingVectors
from adcsim.CubeSat_model_examples import CubeSatEx1
num = 100
ref1 = DrawingVectors(dcm[::num],
'axes',
color=['C0', 'C1', 'C2'],
label=['Body x', 'Body y', 'Body z'],
length=4)
ref2 = DrawingVectors(dcm_rn,
'axes',
color=['r', 'y', 'b'],
label=['Ref x', 'Ref y', 'Ref z'],
length=4)
cubesat = CubeSatEx1()
a = AnimateAttitude(dcm[::num],
draw_vector=[ref1, ref2],
cubesat_model=cubesat)
a.animate()
plt.show()
for i in range(len(time)):
mag_angles[i] = np.arccos(dcm_bn[i] @ mag_field[i] / np.linalg.norm(mag_field[i]))
cubesat.hyst_rods[0].plot_limiting_cycle(-150, 150)
plt.plot(cubesat.hyst_rods[0].h, cubesat.hyst_rods[0].b, color='red', linestyle='--')
plt.show()
#_plot(aerod, 'aerodynamic disturbance')
#_plot(gravityd, 'gravity gradient disturbance')
#_plot(solard, 'solar radiation pressure disturbance')
#_plot(magneticd, 'residual magnetic disturbance')
from adcsim.animation import AnimateAttitude, DrawingVectors, AdditionalPlots
num = 1000
vec1 = DrawingVectors(nadir[::num], 'single', color='b', label='nadir', length=0.5)
vec2 = DrawingVectors(sun_vec[::num], 'single', color='y', label='sun', length=0.5)
vec3 = DrawingVectors(velocities[::num], 'single', color='g', label='velocity', length=0.5)
vec4 = DrawingVectors(mag_field[::num], 'single', color='r', label='magnetic field', length=0.5)
ref1 = DrawingVectors(dcm_bn[::num], 'axes', color=['C0', 'C1', 'C2'], label=['Body x', 'Body y', 'Body z'], length=0.2)
reforbit = DrawingVectors(dcm_on[::num], 'axes', color=['C0', 'C1', 'C2'], label=['Orbit x', 'Orbit y', 'Orbit z'], length=0.2)
ref2 = DrawingVectors(dcm_bo[::num], 'axes', color=['C0', 'C1', 'C2'], label=['Body x', 'Body y', 'Body z'], length=0.2)
plot1 = AdditionalPlots(time[::num], controls[::num], labels=['X', 'Y', 'Z'])
plot2 = AdditionalPlots(lons[::num], lats[::num], groundtrack=True)
plot3 = AdditionalPlots(time[::num], is_eclipse[::num])
# a = AnimateAttitude(dcm_bo[::num], draw_vector=ref2, additional_plots=plot2, cubesat_model=cubesat)
a = AnimateAttitude(dcm_bn[::num], draw_vector=[ref1, vec1, vec4], additional_plots=plot2,
cubesat_model=cubesat)
a.animate_and_plot()
plt.show()
# Calculate angles between body axis and magnetic field
mag_angles = np.zeros((le, 3))
for i in range(le):
mag_angles[i] = np.arccos(dcm_bn[i] @ mag_field[i] /
np.linalg.norm(mag_field[i]))
_plot(mag_angles, 'angles between magnetic field and body frame', 'rad')
# The Animation
num = 10
start = 0
end = -1
vec2 = DrawingVectors(sun_vec[start:end:num],
'single',
color='y',
label='sun',
length=0.5)
vec3 = DrawingVectors(velocities[start:end:num],
'single',
color='g',
label='velocity',
length=0.5)
vec4 = DrawingVectors(mag_field[start:end:num],
'single',
color='r',
label='magnetic field',
length=0.5)
ref1 = DrawingVectors(dcm_bn[start:end:num],
'axes',
color=['C0', 'C1', 'C2'],