def object_visible(self, RSO_ID=[]):
if not RSO_ID:
print('RSO ID expected, but not supplied')
return RSO_ID
x_itrs = np.array([self.trans_matrix[self.i] @ self.x_true[self.i, j, :3] for j in RSO_ID])
el = np.array([ecef2aer(self.obs_lla, x, self.obs_itrs)[1] for x in x_itrs])
viz_bool = el >= self.obs_limit
return viz_bool
def object_visibility(self):
s = time.time()
x_itrs = np.array([self.trans_matrix[self.i] @ self.x_true[self.i, j, :3] for j in range(self.m)])
el = np.array([ecef2aer(self.obs_lla, x, self.obs_itrs)[1] for x in x_itrs])
viz = el >= self.obs_limit
e = time.time()
self.runtime['object_visibility'] += e - s
return viz
def hx_aer_erfa(x_gcrs, trans_matrix, observer_lla, observer_itrs, time=None):
"""
desc: measurement function - convert state into a measurement where measurements are [azimuth, elevation]
:param x_gcrs: means for all objects at each time step
:param trans_matrix: Transition matrix
:param observer_lla: Observer coordinates
:param observer_itrs: Observer coordinates in itrs (meters)
:param time:
:return: array[azimuth, elevation, slant]
"""
x_itrs = trans_matrix @ x_gcrs[:3]
aer = ecef2aer(observer_lla, x_itrs, observer_itrs)
return aer
y=xyz1[1] * u.m,
z=xyz1[2] * u.m)
target = SkyCoord(x=xyz2[0] * u.m,
y=xyz2[1] * u.m,
z=xyz2[2] * u.m,
frame='itrs',
representation_type='cartesian',
obstime=t) # just for astropy
AltAz_frame = AltAz(obstime=t, location=observer)
results = target.transform_to(AltAz_frame)
az1 = results.az.to_value(u.rad)
alt1 = results.alt.to_value(u.rad)
sr1 = results.distance.to_value(u.m)
aer = ecef2aer(ecef2lla(xyz1), xyz2, xyz1)
test3_error = [az1 - aer[0], alt1 - aer[1], sr1 - aer[2]]
assert np.absolute(az1 - aer[0]) < 0.001, print(
"Failed Test 3a: ECEF (ITRS) to Az transformation")
assert np.absolute(alt1 - aer[1]) < 0.001, print(
"Failed Test 3b: ECEF (ITRS) to El transformation")
assert np.absolute(sr1 - aer[2]) < 0.001, print(
"Failed Test 3c: ECEF (ITRS) to to Srange transformation")
print("Test 3: ECEF (ITRS) to Az, El, Range error in rads,rads,meters: ",
test3_error)
# !------------ Test 4 - Time to generate cel2ter transformation
t = datetime(year=2007, month=4, day=5, hour=12, minute=0, second=0)
t = [t]