def matplotlib_3d(self, rocket):
def axis_equal(X, Y, Z):
max_range = numpy.array([
numpy.array(X).max() - numpy.array(X).min(),
numpy.array(Y).max() - numpy.array(Y).min(),
numpy.array(Z).max() - numpy.array(Z).min()
]).max()
print(max_range)
Xb = 0.5 * max_range * numpy.mgrid[
-1:2:2, -1:2:2, -1:2:2][0].flatten() + 0.5 * (
numpy.array(X).max() + numpy.array(X).min())
Yb = 0.5 * max_range * numpy.mgrid[
-1:2:2, -1:2:2, -1:2:2][1].flatten() + 0.5 * (
numpy.array(Y).max() + numpy.array(Y).min())
Zb = 0.5 * max_range * numpy.mgrid[
-1:2:2, -1:2:2, -1:2:2][2].flatten() + 0.5 * (
numpy.array(Z).max() + numpy.array(Z).min())
# Comment or uncomment following both lines to test the fake bounding box:
return [Xb, Yb, Zb]
fig = plt.figure()
ax = fig.gca(projection='3d')
plt.hold(True)
bodyline_vector = numpy.array([[1000.0], [0.0], [0.0]], dtype="float_")
quat_bodyline = Quaternion()
for i_fig in range(0, rocket.i - 1, self.step):
fig_list = [[rocket.log_r[0, i_fig]], [rocket.log_r[1, i_fig]],
[-rocket.log_r[2, i_fig]]]
print(fig_list)
ax.scatter3D(fig_list[0], fig_list[1], fig_list[2])
ax.set_aspect('equal')
quat_bodyline.__init__(rocket.log_quat[i_fig][:])
dcm_bodyline = numpy.array(quat_bodyline.quat2dcm())
bodyline = numpy.dot(dcm_bodyline, bodyline_vector)
print(numpy.sqrt(bodyline[0]**2 + bodyline[1]**2 + bodyline[2]**2))
r_vec = numpy.array([[rocket.log_r[0][i_fig]],
[rocket.log_r[1][i_fig]],
[rocket.log_r[2][i_fig]]])
bodyline_rear = (-bodyline + r_vec)
fig_list_bodyline = numpy.hstack([r_vec, bodyline_rear])
ax.plot3D(fig_list_bodyline[0], fig_list_bodyline[1],
-fig_list_bodyline[2])
XYZb = axis_equal(rocket.log_r[0][:], rocket.log_r[1][:],
rocket.log_r[2][:])
print(XYZb)
for xb, yb, zb in zip(XYZb[0], XYZb[1], XYZb[2]):
ax.plot([xb], [yb], [zb], "w")
plt.show()
def __init__(self):
#時間初期化
self.t = 0
self.dt = 0.002
self.i = 1
#速度系初期化
self.vel_b = [[0.0], [0.0], [0.0]]
self.vel_i = [[0.0], [0.0], [0.0]]
self.vel_v = [[0.0], [0.0], [0.0]]
#慣性座標での位置初期化
self.r_i = [[0.0], [0.0], [0.0]]
#飛行姿勢初期化
self.quaternion_b2i = Quaternion()
self.quaternion_b2i.rot2quat(88 * numpy.pi / 180, 0, 1, 0)
self.quaternion_b2i.normalize()
self.dcm_b2i = self.quaternion_b2i.quat2dcm()
self.quaternion_i2b = Quaternion(self.quaternion_b2i.inverse())
self.dcm_i2b = self.quaternion_i2b.quat2dcm()
#速度座標への変換行列初期化
self.dcm_b2v = numpy.zeros((3, 3), dtype="float_")
self.dcm_v2b = numpy.zeros((3, 3), dtype="float_")
#迎え角
self.alpha = 0.0
self.beta = 0.0
#空力初期化
self.lift_b = [[0.0], [0.0], [0.0]]
self.drag_b = [[0.0], [0.0], [0.0]]
self.moment_b = [[0.0], [0.0], [0.0]]
self.thrust_b = [[0.0], [0.0], [0.0]]
self.lift_i = [[0.0], [0.0], [0.0]]
self.drag_i = [[0.0], [0.0], [0.0]]
self.thrust_i = [[0.0], [0.0], [0.0]]
self.lift_v = [[0.0], [0.0], [0.0]]
self.drag_v = [[0.0], [0.0], [0.0]]
self.moment_v = [[0.0], [0.0], [0.0]]
self.gyro = [[0.0], [0.0], [0.0]]
#風
self.wind = [[0.0], [0.0], [0.0]]
#減衰係数
self.K = [[0.1], [0.1], [0.1]]
self.Ko = 2.5
#ロガー初期化
self.log_r = [[], [], []]
self.log_vel_i = [[], [], []]
self.log_vel_b = [[], [], []]
self.log_vel_v = [[], [], []]
self.log_euler = [[], [], []]
self.log_force_i = [[], [], []]
self.log_lift_i = [[], [], []]
self.log_quat = []
self.log_t = []
self.log_alpha = []
self.log_beta = []
#ランチャー長さ
self.louncher = 3.0
#積分用ログ初期化
self.integ_dgyro_dt = []
self.integ_dq_dt = []
self.integ_forces_i = []
self.integ_vel_i = []
#パラメータ代入
#TODO : Legionの傘下に入るように
self.rocketlength = 0.32
self.sidesurface = 0.32 * 0.015
self.frontsurface = 0.015**2 * numpy.pi
self.Cd = [[0.0], [0.0], [0.0]]
self.CL = [[0.0], [0.0], [0.0]]
self.mass = 0.0712
self.inatia = [[0.0000198], [0.001293], [0.001293]]
#パラシュート
self.parashoot_t = 20
self.parashoot_surface = 0.1**2 * numpy.pi
class Rocket():
def __init__(self):
#時間初期化
self.t = 0
self.dt = 0.002
self.i = 1
#速度系初期化
self.vel_b = [[0.0], [0.0], [0.0]]
self.vel_i = [[0.0], [0.0], [0.0]]
self.vel_v = [[0.0], [0.0], [0.0]]
#慣性座標での位置初期化
self.r_i = [[0.0], [0.0], [0.0]]
#飛行姿勢初期化
self.quaternion_b2i = Quaternion()
self.quaternion_b2i.rot2quat(88 * numpy.pi / 180, 0, 1, 0)
self.quaternion_b2i.normalize()
self.dcm_b2i = self.quaternion_b2i.quat2dcm()
self.quaternion_i2b = Quaternion(self.quaternion_b2i.inverse())
self.dcm_i2b = self.quaternion_i2b.quat2dcm()
#速度座標への変換行列初期化
self.dcm_b2v = numpy.zeros((3, 3), dtype="float_")
self.dcm_v2b = numpy.zeros((3, 3), dtype="float_")
#迎え角
self.alpha = 0.0
self.beta = 0.0
#空力初期化
self.lift_b = [[0.0], [0.0], [0.0]]
self.drag_b = [[0.0], [0.0], [0.0]]
self.moment_b = [[0.0], [0.0], [0.0]]
self.thrust_b = [[0.0], [0.0], [0.0]]
self.lift_i = [[0.0], [0.0], [0.0]]
self.drag_i = [[0.0], [0.0], [0.0]]
self.thrust_i = [[0.0], [0.0], [0.0]]
self.lift_v = [[0.0], [0.0], [0.0]]
self.drag_v = [[0.0], [0.0], [0.0]]
self.moment_v = [[0.0], [0.0], [0.0]]
self.gyro = [[0.0], [0.0], [0.0]]
#風
self.wind = [[0.0], [0.0], [0.0]]
#減衰係数
self.K = [[0.1], [0.1], [0.1]]
self.Ko = 2.5
#ロガー初期化
self.log_r = [[], [], []]
self.log_vel_i = [[], [], []]
self.log_vel_b = [[], [], []]
self.log_vel_v = [[], [], []]
self.log_euler = [[], [], []]
self.log_force_i = [[], [], []]
self.log_lift_i = [[], [], []]
self.log_quat = []
self.log_t = []
self.log_alpha = []
self.log_beta = []
#ランチャー長さ
self.louncher = 3.0
#積分用ログ初期化
self.integ_dgyro_dt = []
self.integ_dq_dt = []
self.integ_forces_i = []
self.integ_vel_i = []
#パラメータ代入
#TODO : Legionの傘下に入るように
self.rocketlength = 0.32
self.sidesurface = 0.32 * 0.015
self.frontsurface = 0.015**2 * numpy.pi
self.Cd = [[0.0], [0.0], [0.0]]
self.CL = [[0.0], [0.0], [0.0]]
self.mass = 0.0712
self.inatia = [[0.0000198], [0.001293], [0.001293]]
#パラシュート
self.parashoot_t = 20
self.parashoot_surface = 0.1**2 * numpy.pi
def calcaoa_velocityaxis(self):
#hstackで行列を創るのでその都度初期化する必要あり
#主要となる咆哮を定義する必要があるかも
self.dcm_b2v = numpy.zeros((3, 3), dtype="float_")
self.dcm_v2b = numpy.zeros((3, 3), dtype="float_")
#リストからnumpy_ndarrayに変換
vel_b = numpy.array(self.vel_b, dtype="float_")
if vel_b[0] != 0:
xd = vel_b / numpy.sqrt(vel_b[0]**2 + vel_b[1]**2 + vel_b[2]**2)
yd = numpy.cross((xd + numpy.array([[0], [0], [10.0]])).T, xd.T).T
yd /= numpy.sqrt(yd[0, 0]**2 + yd[1, 0]**2 + yd[2, 0]**2)
yd = yd - numpy.dot(yd.T, xd) * xd
zd = numpy.cross(xd.T, yd.T).T
dcm_v2b = numpy.hstack([xd, yd, zd])
dcm_b2v = numpy.linalg.inv(dcm_v2b)
self.dcm_v2b = numpy.ndarray.tolist(dcm_v2b)
self.dcm_b2v = numpy.ndarray.tolist(dcm_b2v)
else:
dcm_v2b = numpy.identity(3)
dcm_b2v = numpy.identity(3)
self.dcm_v2b = numpy.ndarray.tolist(dcm_v2b)
self.dcm_b2v = numpy.ndarray.tolist(dcm_b2v)
#逆進しても力の働く方向は同じであることに注意
## if self.i == 1:
if numpy.sqrt(vel_b[0, 0]**2 + vel_b[1, 0]**2 + vel_b[2, 0]**2) != 0:
self.alpha = numpy.arcsin(
vel_b[2, 0] /
numpy.sqrt(vel_b[0, 0]**2 + vel_b[1, 0]**2 + vel_b[2, 0]**2))
else:
self.alpha = 0
if vel_b[0, 0] != 0:
self.beta = numpy.arctan(vel_b[1, 0] / vel_b[0, 0])
else:
self.beta = 0
#迎え角の急激な変化による相対迎え角を定義
if self.i != 1:
self.alpha -= self.Ko * self.rocketlength * (self.alpha -
self.log_alpha[-1])
self.beta -= self.Ko * self.rocketlength * (self.beta -
self.log_beta[-1])
#self.alpha2 = numpy.arcsin(-dcm_v2b[2,0])
#self.beta2 = numpy.arctan(dcm_v2b[1,0] / dcm_v2b[0,0] )
#self.alpha = (self.alpha2 + self.alpha) / 2
#self.beta = (self.beta2 + self.alpha) / 2
def calcdcm_b2i_i2b(self):
self.quaternion_b2i.normalize()
self.dcm_b2i = self.quaternion_b2i.quat2dcm()
self.quaternion_i2b.normalize()
self.dcm_i2b = self.quaternion_i2b.quat2dcm()
def calc_CL(self):
#http://repository.dl.itc.u-tokyo.ac.jp/dspace/bitstream/2261/30502/1/sk009003011.pdf より
#失速を考慮すること 過大なCLは高迎え角時推力となってしまう
CLaoa = 0.5 #[/rad]
if abs(self.alpha) <= 40:
self.CL[2] = CLaoa * abs(self.alpha)
else:
self.CL[2] = (-0.01 * CLaoa * (abs(self.alpha) - 40) + CLaoa * 40)
if abs(self.beta) <= 40:
self.CL[1] = CLaoa * abs(self.beta)
else:
self.CL[1] = (-0.01 * CLaoa * (abs(self.beta) - 40) + CLaoa * 40)
self.CL[0] = 0.0
def calc_Cd(self):
CDaoa = 0.3
self.Cd[2] = 0.0
self.Cd[1] = 0.0
self.Cd[0] = CDaoa * (abs(self.alpha) + abs(self.beta))
if self.t >= self.parashoot_t:
self.Cd[0] = 1.3
def simulate_force_moment(self):
#推力カーブを読み込んで推力をリターン
def thrust(t):
thrustcurve = numpy.loadtxt("Quest_A8.eng",
comments=";",
delimiter=" ")
return numpy.interp(t, thrustcurve[:, 0], thrustcurve[:, 1])
#使用する変数をndarray化
vel_b = numpy.array(self.vel_b, dtype="float_")
dcm_b2v = numpy.array(self.dcm_b2v, dtype="float_")
dcm_v2b = numpy.array(self.dcm_v2b, dtype="float_")
dcm_b2i = numpy.array(self.dcm_b2i, dtype="float_")
vel_v = numpy.dot(dcm_b2v, vel_b)
self.vel_v = numpy.ndarray.tolist(vel_v)
rho = 1.184
#全ての座標系での揚力、抗力、モーメントを求める
lift_v = numpy.array(self.lift_v)
if vel_b[2] != 0.0:
lift_v[2] = -1 / 2 * rho * vel_v[
0]**2 * self.sidesurface * self.CL[2] * abs(
vel_b[2]) / vel_b[2]
else:
lift_v[2] = 0.0
if vel_b[1] != 0.0:
lift_v[1] = -1 / 2 * rho * vel_v[
0]**2 * self.sidesurface * self.CL[1] * abs(
vel_b[1]) / vel_b[1]
else:
lift_v[1] = 0.0
if vel_b[0] != 0.0:
lift_v[0] = 1 / 2 * rho * vel_v[0]**2 * self.sidesurface * self.CL[
0] * abs(vel_b[0]) / vel_b[0]
else:
lift_v[0] = 0.0
self.lift_v = numpy.ndarray.tolist(lift_v)
lift_b = numpy.array(self.lift_b)
lift_b = numpy.dot(dcm_v2b, lift_v)
self.lift_b = numpy.ndarray.tolist(lift_b)
lift_i = numpy.array(self.lift_i)
lift_i = numpy.dot(dcm_b2i, lift_b)
self.lift_i = numpy.ndarray.tolist(lift_i)
drag_v = numpy.array(self.drag_v, dtype="float_")
drag_v[2] = -1 / 2 * rho * vel_v[0]**2 * self.sidesurface * self.Cd[2]
drag_v[1] = -1 / 2 * rho * vel_v[0]**2 * self.sidesurface * self.Cd[1]
drag_v[0] = -1 / 2 * rho * vel_v[0]**2 * self.sidesurface * self.Cd[0]
self.drag_v = numpy.ndarray.tolist(drag_v)
drag_b = numpy.array(self.drag_b)
drag_b = numpy.dot(dcm_v2b, drag_v)
drag_b[
2] -= 0 #1 / 2 * rho * vel_b[2] ** 2 * self.sidesurface * 0.5 * abs(vel_b[2]) / vel_b[2]
drag_b[
1] -= 0 #1 / 2 * rho * vel_b[1] ** 2 * self.sidesurface * 0.5 * abs(vel_b[1]) / vel_b[1]
if vel_b[0] != 0:
drag_b[0] -= 1 / 2 * rho * vel_b[
0]**2 * self.frontsurface * 1.0 * abs(vel_b[0]) / vel_b[0]
self.drag_b = numpy.ndarray.tolist(drag_b)
drag_i = numpy.array(self.drag_i)
drag_i = numpy.dot(dcm_b2i, drag_b)
self.drag_i = numpy.ndarray.tolist(drag_i)
moment_b = numpy.array(self.moment_b, dtype="float_")
Cm = numpy.array([[0.0], [0.0], [0.0]], dtype="float_")
CL = numpy.array(self.CL, dtype="float_")
Cd = numpy.array(self.Cd, dtype="float_")
Cm = numpy.dot(dcm_v2b, (CL - Cd)) * 0.28
#Cdによる復元力を考慮すること。
moment_b[2] = -(drag_b[1, 0] + lift_b[1, 0]) * 0.35 * self.rocketlength
moment_b[1] = (drag_b[2, 0] + lift_b[2, 0]) * 0.35 * self.rocketlength
moment_b[0] = 0.0
self.moment_b = numpy.ndarray.tolist(moment_b)
thrust_b = numpy.array(self.thrust_b)
thrust_b[0, 0] = thrust(self.t)
thrust_i = numpy.dot(dcm_b2i, thrust_b)
self.thrust_i = numpy.ndarray.tolist(thrust_i)
self.thrust_b = numpy.ndarray.tolist(thrust_b)
def simulate_integrate(self, t_start=0):
def quad_quad_kari(self, fourth, integ):
fourth = numpy.array(fourth, dtype="float_")
integ = numpy.array(integ, dtype="float_")
fst = 65 / 4 * (fourth - 3 * integ[-1] + 3 * integ[-2] -
integ[-3]) / 6
snd = 19 / 3 * (-fourth + 4 * integ[-1] - 5 * integ[-2] +
2 * integ[-3]) / 2
trd = 5 / 2 * (2 * fourth - 9 * integ[-1] + 18 * integ[-2] -
11 * integ[-3]) / 6
quad_value = (fst + snd + trd + integ[-3]) * self.dt
return quad_value
#力に重力の影響付加
lift_i = numpy.array(self.lift_i, dtype="float_")
drag_i = numpy.array(self.drag_i, dtype="float_")
thrust_i = numpy.array(self.thrust_i, dtype="float_")
vel_i = numpy.array(self.vel_i, dtype="float_")
vel_b = numpy.array(self.vel_b, dtype="float_")
dcm_b2i = numpy.array(self.dcm_b2i, dtype="float_")
dcm_i2b = numpy.array(self.dcm_i2b, dtype="float_")
r_i = numpy.array(self.r_i, dtype="float_")
forces_i = self.mass * numpy.array(
[[0.0], [0.0], [9.8]], dtype="float_") + thrust_i + lift_i + drag_i
if numpy.sqrt(r_i[0]**2 + r_i[1]**2 + r_i[2]**2) <= self.louncher:
print(self.i)
force_b = numpy.dot(dcm_i2b, forces_i)
force_b[1] = 0.0
force_b[2] = 0.0
forces_i = numpy.dot(dcm_b2i, force_b)
self.force_i = numpy.ndarray.tolist(forces_i)
inatia = numpy.array(self.inatia)
gyro = numpy.array(self.gyro)
moment_b = numpy.array(self.moment_b)
quat = numpy.array(self.quaternion_b2i.quat)
dt = numpy.array(self.dt)
K = numpy.array(self.K)
if self.i == 1:
vel_i += (forces_i) / self.mass * self.dt
r_i += vel_i * self.dt
self.vel_i = numpy.ndarray.tolist(vel_i)
self.r_i = numpy.ndarray.tolist(r_i)
gyro += (moment_b) / inatia * self.dt
dq_dt = self.quaternion_b2i.dq_dt(gyro[0], gyro[1], gyro[2])
quat += numpy.array(dq_dt, dtype="float_") * self.dt
self.gyro = numpy.ndarray.tolist(gyro)
self.quaternion_b2i.quat = numpy.ndarray.tolist(quat)
self.quaternion_b2i.normalize()
self.dcm_b2i = self.quaternion_b2i.quat2dcm()
self.quaternion_i2b = Quaternion(self.quaternion_b2i.inverse())
self.quaternion_i2b.normalize()
self.dcm_i2b = self.quaternion_i2b.quat2dcm()
self.integ_dgyro_dt.append((moment_b - K * gyro) / inatia)
self.integ_dq_dt.append(dq_dt)
self.integ_forces_i.append(
numpy.ndarray.tolist(forces_i / self.mass))
self.integ_vel_i.append(self.vel_i)
elif self.i == 2 or self.i == 3:
vel_i += ((forces_i) / self.mass +
numpy.array(self.integ_forces_i[-1])) / 2 * self.dt
r_i += (vel_i + self.vel_i[-1]) / 2 * self.dt
self.vel_i = numpy.ndarray.tolist(vel_i)
self.r_i = numpy.ndarray.tolist(r_i)
gyro += ((moment_b - K * gyro) / inatia +
self.integ_dgyro_dt[-1]) / 2 * self.dt
dq_dt = self.quaternion_b2i.dq_dt(gyro[0], gyro[1], gyro[2])
quat += (numpy.array(dq_dt, dtype="float") + numpy.array(
self.integ_dq_dt[-1], dtype="float_")) / 2 * self.dt
self.integ_dgyro_dt.append(
(moment_b - K * numpy.array(self.gyro, dtype="float_")) /
inatia)
self.gyro = numpy.ndarray.tolist(gyro)
self.quaternion_b2i.quat = numpy.ndarray.tolist(quat)
self.quaternion_b2i.normalize()
self.dcm_b2i = self.quaternion_b2i.quat2dcm()
self.quaternion_i2b = Quaternion(self.quaternion_b2i.inverse())
self.quaternion_i2b.normalize()
self.dcm_i2b = self.quaternion_i2b.quat2dcm()
self.integ_dq_dt.append(dq_dt)
self.integ_forces_i.append(
numpy.ndarray.tolist(forces_i / self.mass))
self.integ_vel_i.append(self.vel_i)
else:
vel_i += quad_quad_kari(self, (forces_i) / self.mass,
self.integ_forces_i)
r_i += quad_quad_kari(self, vel_i, self.integ_vel_i)
self.vel_i = numpy.ndarray.tolist(vel_i)
self.r_i = numpy.ndarray.tolist(r_i)
gyro += quad_quad_kari(self, (moment_b - K * gyro) / inatia,
self.integ_dgyro_dt)
dq_dt = self.quaternion_b2i.dq_dt(gyro[0], gyro[1], gyro[2])
quat += quad_quad_kari(self, dq_dt, self.integ_dq_dt)
self.integ_dgyro_dt.append(
(moment_b - K * numpy.array(self.gyro, dtype="float_")) /
inatia)
self.gyro = numpy.ndarray.tolist(gyro)
self.quaternion_b2i.quat = numpy.ndarray.tolist(quat)
self.quaternion_b2i.normalize()
self.dcm_b2i = self.quaternion_b2i.quat2dcm()
self.quaternion_i2b = Quaternion(self.quaternion_b2i.inverse())
self.quaternion_i2b.normalize()
self.dcm_i2b = self.quaternion_i2b.quat2dcm()
self.integ_dq_dt.append(dq_dt)
self.integ_forces_i.append(
numpy.ndarray.tolist(forces_i / self.mass))
self.integ_vel_i.append(self.vel_i)
self.integ_dgyro_dt.pop(0)
self.integ_dq_dt.pop(0)
self.integ_forces_i.pop(0)
self.integ_vel_i.pop(0)
self.i += 1
self.t += self.dt
def redifinitions(self):
vel_i = numpy.array(self.vel_i, dtype="float_")
wind = numpy.array(self.wind, dtype="float_")
r_i = numpy.array(self.r_i, dtype="float_")
vel_b = numpy.dot(numpy.array(self.dcm_i2b), vel_i + wind)
#vel_b -= self.Ko * (vel_b - numpy.array(self.vel_b,dtype = "float_"))
self.vel_b = numpy.ndarray.tolist(vel_b)
self.quaternion_b2i.normalize()
self.quaternion_i2b.normalize()
def sensing_integrate(self):
def read_csv(self):
csv_name = "CanSatApage2.csv"
csvall = numpy.loadtxt(csv_name, delimiter=",", skiprows=1)
acc_scale = 2048.0
acc_mean = numpy.array([32768, 32768, 32768])
gyro_scale = 16.4
gyro_mean = numpy.array([32755, 32783, 32769])
self.senser_t = csvall[:, 1]
self.csv_acc = csvall[:, 2:5] - acc_mean
self.csv_gyro = csvall[:, 5:8] - gyro_mean
self.csv_acc /= (acc_scale)
self.csv_acc *= 9.8
self.csv_gyro /= (gyro_scale)
self.acc_x = self.csv_acc[:, 0]
self.acc_y = self.csv_acc[:, 1]
self.acc_z = self.csv_acc[:, 2]
self.gyro_x = self.csv_gyro[:, 0]
self.gyro_y = self.csv_gyro[:, 1]
self.gyro_z = self.csv_gyro[:, 2]
read_csv(self)
azimth_deg_init = -10
elevation_deg_init = -90.1
roll_deg_init = 0
#初期クオータニオンを定義
self.quaternion_b2i.rot2quat(100 * numpy.pi / 180, 0, 1, 0)
#初期dcmを計算
self.quaternion_b2i.normalize()
self.dcm_b2i = self.quaternion_b2i.quat2dcm()
self.quaternion_i2b.normalize()
self.dcm_i2b = self.quaternion_i2b.quat2dcm()
print(numpy.shape(self.senser_t)[0])
#積分を実行
#台形積分補助
acc_b = numpy.array([[self.acc_x[0]], [self.acc_y[0]],
[self.acc_z[0]]])
sub_acc_i = numpy.dot(self.dcm_b2i, acc_b)
sub_acc_i += numpy.array([[-9.8], [0], [0]])
gyro_b = numpy.array([[self.gyro_x[0]], [self.gyro_y[0]],
[self.gyro_z[0]]])
sub_dq_dt = numpy.array(
self.quaternion_b2i.dq_dt(gyro_b[0, 0], gyro_b[1, 0], gyro_b[2,
0]))
vel_i = numpy.zeros([3, 1])
r_i = numpy.zeros([3, 1])
for i_senser in range(1, numpy.shape(self.senser_t)[0]):
#加速度を慣性座標系へ
acc_b = numpy.array([[self.acc_x[i_senser]],
[self.acc_y[i_senser]],
[self.acc_z[i_senser]]])
acc_i = numpy.dot(self.dcm_b2i, acc_b)
acc_i += numpy.array([[-9.8], [0], [0]])
#速度へ
vel_i += (acc_i + sub_acc_i) / 2 * (self.senser_t[i_senser] -
self.senser_t[i_senser - 1])
sub_acc_i = acc_i
#座標へ
if i_senser == 1:
r_i += vel_i * (self.senser_t[i_senser] -
self.senser_t[i_senser - 1])
else:
r_i += (vel_i + sub_vel_i) / 2 * (self.senser_t[i_senser] -
self.senser_t[i_senser - 1])
sub_vel_i = vel_i
print(r_i)
#quaternion更新
gyro_b = numpy.array([[self.gyro_x[i_senser]],
[self.gyro_y[i_senser]],
[self.gyro_z[i_senser]]])
dq_dt = numpy.array(
self.quaternion_b2i.dq_dt(gyro_b[0, 0], gyro_b[1, 0],
gyro_b[2, 0]))
new_quat = numpy.array(
self.quaternion_b2i.quat) + (dq_dt + sub_dq_dt) / 2 * (
self.senser_t[i_senser] - self.senser_t[i_senser - 1])
self.quaternion_b2i.quat = numpy.ndarray.tolist(new_quat)
self.quaternion_b2i.normalize()
self.dcm_b2i = self.quaternion_b2i.quat2dcm()
self.quaternion_i2b.quat = self.quaternion_b2i.inverse()
self.quaternion_i2b.normalize()
self.dcm_i2b = self.quaternion_i2b.quat2dcm()
self.log_r = numpy.hstack((self.log_r, r_i))
self.log_quat.append(self.quaternion_b2i.quat)
self.i += 1
def log(self):
self.log_r = numpy.hstack((self.log_r, self.r_i))
self.log_vel_b = numpy.hstack((self.log_vel_b, self.vel_b))
self.log_vel_v = numpy.hstack((self.log_vel_v, self.vel_v))
self.log_force_i = numpy.hstack((self.log_force_i, self.force_i))
self.log_lift_i = numpy.hstack((self.log_lift_i, self.lift_i))
self.log_euler = numpy.hstack(
(self.log_euler, self.quaternion_b2i.quat2euler()))
self.log_t = numpy.hstack((self.log_t, self.t))
self.log_alpha = numpy.hstack((self.log_alpha, self.alpha))
self.log_beta = numpy.hstack((self.log_beta, self.beta))
self.log_quat.append(self.quaternion_b2i.quat)
def simulate_integrate(self, t_start=0):
def quad_quad_kari(self, fourth, integ):
fourth = numpy.array(fourth, dtype="float_")
integ = numpy.array(integ, dtype="float_")
fst = 65 / 4 * (fourth - 3 * integ[-1] + 3 * integ[-2] -
integ[-3]) / 6
snd = 19 / 3 * (-fourth + 4 * integ[-1] - 5 * integ[-2] +
2 * integ[-3]) / 2
trd = 5 / 2 * (2 * fourth - 9 * integ[-1] + 18 * integ[-2] -
11 * integ[-3]) / 6
quad_value = (fst + snd + trd + integ[-3]) * self.dt
return quad_value
#力に重力の影響付加
lift_i = numpy.array(self.lift_i, dtype="float_")
drag_i = numpy.array(self.drag_i, dtype="float_")
thrust_i = numpy.array(self.thrust_i, dtype="float_")
vel_i = numpy.array(self.vel_i, dtype="float_")
vel_b = numpy.array(self.vel_b, dtype="float_")
dcm_b2i = numpy.array(self.dcm_b2i, dtype="float_")
dcm_i2b = numpy.array(self.dcm_i2b, dtype="float_")
r_i = numpy.array(self.r_i, dtype="float_")
forces_i = self.mass * numpy.array(
[[0.0], [0.0], [9.8]], dtype="float_") + thrust_i + lift_i + drag_i
if numpy.sqrt(r_i[0]**2 + r_i[1]**2 + r_i[2]**2) <= self.louncher:
print(self.i)
force_b = numpy.dot(dcm_i2b, forces_i)
force_b[1] = 0.0
force_b[2] = 0.0
forces_i = numpy.dot(dcm_b2i, force_b)
self.force_i = numpy.ndarray.tolist(forces_i)
inatia = numpy.array(self.inatia)
gyro = numpy.array(self.gyro)
moment_b = numpy.array(self.moment_b)
quat = numpy.array(self.quaternion_b2i.quat)
dt = numpy.array(self.dt)
K = numpy.array(self.K)
if self.i == 1:
vel_i += (forces_i) / self.mass * self.dt
r_i += vel_i * self.dt
self.vel_i = numpy.ndarray.tolist(vel_i)
self.r_i = numpy.ndarray.tolist(r_i)
gyro += (moment_b) / inatia * self.dt
dq_dt = self.quaternion_b2i.dq_dt(gyro[0], gyro[1], gyro[2])
quat += numpy.array(dq_dt, dtype="float_") * self.dt
self.gyro = numpy.ndarray.tolist(gyro)
self.quaternion_b2i.quat = numpy.ndarray.tolist(quat)
self.quaternion_b2i.normalize()
self.dcm_b2i = self.quaternion_b2i.quat2dcm()
self.quaternion_i2b = Quaternion(self.quaternion_b2i.inverse())
self.quaternion_i2b.normalize()
self.dcm_i2b = self.quaternion_i2b.quat2dcm()
self.integ_dgyro_dt.append((moment_b - K * gyro) / inatia)
self.integ_dq_dt.append(dq_dt)
self.integ_forces_i.append(
numpy.ndarray.tolist(forces_i / self.mass))
self.integ_vel_i.append(self.vel_i)
elif self.i == 2 or self.i == 3:
vel_i += ((forces_i) / self.mass +
numpy.array(self.integ_forces_i[-1])) / 2 * self.dt
r_i += (vel_i + self.vel_i[-1]) / 2 * self.dt
self.vel_i = numpy.ndarray.tolist(vel_i)
self.r_i = numpy.ndarray.tolist(r_i)
gyro += ((moment_b - K * gyro) / inatia +
self.integ_dgyro_dt[-1]) / 2 * self.dt
dq_dt = self.quaternion_b2i.dq_dt(gyro[0], gyro[1], gyro[2])
quat += (numpy.array(dq_dt, dtype="float") + numpy.array(
self.integ_dq_dt[-1], dtype="float_")) / 2 * self.dt
self.integ_dgyro_dt.append(
(moment_b - K * numpy.array(self.gyro, dtype="float_")) /
inatia)
self.gyro = numpy.ndarray.tolist(gyro)
self.quaternion_b2i.quat = numpy.ndarray.tolist(quat)
self.quaternion_b2i.normalize()
self.dcm_b2i = self.quaternion_b2i.quat2dcm()
self.quaternion_i2b = Quaternion(self.quaternion_b2i.inverse())
self.quaternion_i2b.normalize()
self.dcm_i2b = self.quaternion_i2b.quat2dcm()
self.integ_dq_dt.append(dq_dt)
self.integ_forces_i.append(
numpy.ndarray.tolist(forces_i / self.mass))
self.integ_vel_i.append(self.vel_i)
else:
vel_i += quad_quad_kari(self, (forces_i) / self.mass,
self.integ_forces_i)
r_i += quad_quad_kari(self, vel_i, self.integ_vel_i)
self.vel_i = numpy.ndarray.tolist(vel_i)
self.r_i = numpy.ndarray.tolist(r_i)
gyro += quad_quad_kari(self, (moment_b - K * gyro) / inatia,
self.integ_dgyro_dt)
dq_dt = self.quaternion_b2i.dq_dt(gyro[0], gyro[1], gyro[2])
quat += quad_quad_kari(self, dq_dt, self.integ_dq_dt)
self.integ_dgyro_dt.append(
(moment_b - K * numpy.array(self.gyro, dtype="float_")) /
inatia)
self.gyro = numpy.ndarray.tolist(gyro)
self.quaternion_b2i.quat = numpy.ndarray.tolist(quat)
self.quaternion_b2i.normalize()
self.dcm_b2i = self.quaternion_b2i.quat2dcm()
self.quaternion_i2b = Quaternion(self.quaternion_b2i.inverse())
self.quaternion_i2b.normalize()
self.dcm_i2b = self.quaternion_i2b.quat2dcm()
self.integ_dq_dt.append(dq_dt)
self.integ_forces_i.append(
numpy.ndarray.tolist(forces_i / self.mass))
self.integ_vel_i.append(self.vel_i)
self.integ_dgyro_dt.pop(0)
self.integ_dq_dt.pop(0)
self.integ_forces_i.pop(0)
self.integ_vel_i.pop(0)
self.i += 1
self.t += self.dt