1 /* Copyright 2002-2024 Luc Maisonobe
2 * Licensed to CS GROUP (CS) under one or more
3 * contributor license agreements. See the NOTICE file distributed with
4 * this work for additional information regarding copyright ownership.
5 * CS licenses this file to You under the Apache License, Version 2.0
6 * (the "License"); you may not use this file except in compliance with
7 * the License. You may obtain a copy of the License at
8 *
9 * http://www.apache.org/licenses/LICENSE-2.0
10 *
11 * Unless required by applicable law or agreed to in writing, software
12 * distributed under the License is distributed on an "AS IS" BASIS,
13 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
14 * See the License for the specific language governing permissions and
15 * limitations under the License.
16 */
17
18 package org.orekit.files.ccsds.ndm.adm.acm;
19
20 import java.util.ArrayList;
21 import java.util.Collections;
22 import java.util.List;
23
24 import org.hipparchus.geometry.euclidean.threed.RotationOrder;
25 import org.orekit.errors.OrekitException;
26 import org.orekit.errors.OrekitMessages;
27 import org.orekit.files.ccsds.definitions.AdMethodType;
28 import org.orekit.files.ccsds.ndm.adm.AttitudeEndpoints;
29 import org.orekit.files.ccsds.section.CommentsContainer;
30
31 /** Attitude determination data.
32 * @author Luc Maisonobe
33 * @since 12.0
34 */
35 public class AttitudeDetermination extends CommentsContainer {
36
37 /** Endpoints (i.e. frames A, B and their relationship). */
38 private final AttitudeEndpoints endpoints;
39
40 /** Identification number. */
41 private String id;
42
43 /** Identification of previous orbit determination. */
44 private String prevId;
45
46 /** Attitude determination method. */
47 private AdMethodType method;
48
49 /** Source of attitude estimate. */
50 private String source;
51
52 /** Rotation order for Euler angles. */
53 private RotationOrder eulerRotSeq;
54
55 /** Number of states for {@link AdMethodType#EKF}, {@link AdMethodType#BATCH} or {@link AdMethodType#FILTER_SMOOTHER}. */
56 private int nbStates;
57
58 /** Attitude states. */
59 private AttitudeElementsType attitudeStates;
60
61 /** Type of attitude error state. */
62 private AttitudeCovarianceType covarianceType;
63
64 /** Attitude rate states. */
65 private RateElementsType rateStates;
66
67 /** Rate random walk if {@link #rateStates} is {@link RateElementsType#GYRO_BIAS}. */
68 private double sigmaU;
69
70 /** Angle random walk if {@link #rateStates} is {@link RateElementsType#GYRO_BIAS}. */
71 private double sigmaV;
72
73 /** Process noise standard deviation if {@link #rateStates} is {@link RateElementsType#ANGVEL}. */
74 private double rateProcessNoiseStdDev;
75
76 /** Sensors used. */
77 private List<AttitudeDeterminationSensor> sensorsUsed;
78
79 /** Simple constructor.
80 */
81 public AttitudeDetermination() {
82 endpoints = new AttitudeEndpoints();
83 sensorsUsed = new ArrayList<>();
84 nbStates = -1;
85 }
86
87 /** {@inheritDoc} */
88 @Override
89 public void validate(final double version) {
90 super.validate(version);
91 checkNotNull(attitudeStates, AttitudeDeterminationKey.ATTITUDE_STATES.name());
92 endpoints.checkExternalFrame(AttitudeDeterminationKey.REF_FRAME_A,
93 AttitudeDeterminationKey.REF_FRAME_B);
94
95 // check sensors in increasing number
96 for (int number = 1; number <= sensorsUsed.size(); ++number) {
97 final AttitudeDeterminationSensor sensor = findSensor(number);
98 if (sensor != null) {
99 sensor.validate(version);
100 } else {
101 // no sensor has the expected index
102 throw new OrekitException(OrekitMessages.CCSDS_MISSING_SENSOR_INDEX, number);
103 }
104
105 }
106
107 }
108
109 /** Find sensor by number.
110 * @param number number of the sensor
111 * @return sensor with specified number, or null if not found
112 */
113 private AttitudeDeterminationSensor findSensor(final int number) {
114 for (final AttitudeDeterminationSensor sensor : sensorsUsed) {
115 if (sensor.getSensorNumber() == number) {
116 return sensor;
117 }
118 }
119 return null;
120 }
121
122 /** Get the endpoints (i.e. frames A, B and their relationship).
123 * @return endpoints
124 */
125 public AttitudeEndpoints getEndpoints() {
126 return endpoints;
127 }
128
129 /** Get identification number.
130 * @return identification number
131 */
132 public String getId() {
133 return id;
134 }
135
136 /** Set identification number.
137 * @param id identification number
138 */
139 public void setId(final String id) {
140 this.id = id;
141 }
142
143 /** Get identification of previous orbit determination.
144 * @return identification of previous orbit determination
145 */
146 public String getPrevId() {
147 return prevId;
148 }
149
150 /** Set identification of previous orbit determination.
151 * @param prevId identification of previous orbit determination
152 */
153 public void setPrevId(final String prevId) {
154 this.prevId = prevId;
155 }
156
157 /** Get attitude determination method.
158 * @return attitude determination method
159 */
160 public AdMethodType getMethod() {
161 return method;
162 }
163
164 /** Set attitude determination method.
165 * @param method attitude determination method
166 */
167 public void setMethod(final AdMethodType method) {
168 this.method = method;
169 }
170
171 /** Get source of attitude estimate.
172 * @return source of attitude estimate
173 */
174 public String getSource() {
175 return source;
176 }
177
178 /** Set source of attitude estimate.
179 * @param source source of attitude estimate
180 */
181 public void setSource(final String source) {
182 this.source = source;
183 }
184
185 /** Get the rotation order for Euler angles.
186 * @return rotation order for Euler angles
187 */
188 public RotationOrder getEulerRotSeq() {
189 return eulerRotSeq;
190 }
191
192 /** Set the rotation order for Euler angles.
193 * @param eulerRotSeq rotation order for Euler angles
194 */
195 public void setEulerRotSeq(final RotationOrder eulerRotSeq) {
196 this.eulerRotSeq = eulerRotSeq;
197 }
198
199 /** Get number of states for {@link AdMethodType#EKF}, {@link AdMethodType#BATCH} or {@link AdMethodType#FILTER_SMOOTHER}.
200 * @return number of states
201 */
202 public int getNbStates() {
203 return nbStates;
204 }
205
206 /** Set number of states for {@link AdMethodType#EKF}, {@link AdMethodType#BATCH} or {@link AdMethodType#FILTER_SMOOTHER}.
207 * @param nbStates number of states
208 */
209 public void setNbStates(final int nbStates) {
210 this.nbStates = nbStates;
211 }
212
213 /** Get attitude states.
214 * @return attitude states
215 */
216 public AttitudeElementsType getAttitudeStates() {
217 return attitudeStates;
218 }
219
220 /** Set attitude states.
221 * @param attitudeStates attitude states
222 */
223 public void setAttitudeStates(final AttitudeElementsType attitudeStates) {
224 this.attitudeStates = attitudeStates;
225 }
226
227 /** Get type of attitude error state.
228 * @return type of attitude error state
229 */
230 public AttitudeCovarianceType getCovarianceType() {
231 return covarianceType;
232 }
233
234 /** Set type of attitude error state.
235 * @param covarianceType type of attitude error state
236 */
237 public void setCovarianceType(final AttitudeCovarianceType covarianceType) {
238 this.covarianceType = covarianceType;
239 }
240
241 /** Get attitude rate states.
242 * @return attitude rate states
243 */
244 public RateElementsType getRateStates() {
245 return rateStates;
246 }
247
248 /** Set attitude rate states.
249 * @param rateStates attitude rate states
250 */
251 public void setRateStates(final RateElementsType rateStates) {
252 this.rateStates = rateStates;
253 }
254
255 /** Get rate random walk if {@link #rateStates} is {@link RateElementsType#GYRO_BIAS}.
256 * @return rate random walk if {@link #rateStates} is {@link RateElementsType#GYRO_BIAS}
257 */
258 public double getSigmaU() {
259 return sigmaU;
260 }
261
262 /** Set rate random walk if {@link #rateStates} is {@link RateElementsType#GYRO_BIAS}.
263 * @param sigmaU rate random walk if {@link #rateStates} is {@link RateElementsType#GYRO_BIAS}
264 */
265 public void setSigmaU(final double sigmaU) {
266 this.sigmaU = sigmaU;
267 }
268
269 /** Get angle random walk if {@link #rateStates} is {@link RateElementsType#GYRO_BIAS}.
270 * @return angle random walk if {@link #rateStates} is {@link RateElementsType#GYRO_BIAS}
271 */
272 public double getSigmaV() {
273 return sigmaV;
274 }
275
276 /** Set angle random walk if {@link #rateStates} is {@link RateElementsType#GYRO_BIAS}.
277 * @param sigmaV angle random walk if {@link #rateStates} is {@link RateElementsType#GYRO_BIAS}
278 */
279 public void setSigmaV(final double sigmaV) {
280 this.sigmaV = sigmaV;
281 }
282
283 /** Get process noise standard deviation if {@link #rateStates} is {@link RateElementsType#ANGVEL}.
284 * @return process noise standard deviation if {@link #rateStates} is {@link RateElementsType#ANGVEL}
285 */
286 public double getRateProcessNoiseStdDev() {
287 return rateProcessNoiseStdDev;
288 }
289
290 /** Set process noise standard deviation if {@link #rateStates} is {@link RateElementsType#ANGVEL}.
291 * @param rateProcessNoiseStdDev process noise standard deviation if {@link #rateStates} is {@link RateElementsType#ANGVEL}
292 */
293 public void setRateProcessNoiseStdDev(final double rateProcessNoiseStdDev) {
294 this.rateProcessNoiseStdDev = rateProcessNoiseStdDev;
295 }
296
297 /** Get sensors used.
298 * @return sensors used
299 */
300 public List<AttitudeDeterminationSensor> getSensorsUsed() {
301 return Collections.unmodifiableList(sensorsUsed);
302 }
303
304 /** Add a sensor used.
305 * @param sensor sensor to add
306 */
307 public void addSensor(final AttitudeDeterminationSensor sensor) {
308 for (final AttitudeDeterminationSensor existing : sensorsUsed) {
309 if (sensor.getSensorNumber() == existing.getSensorNumber()) {
310 throw new OrekitException(OrekitMessages.CCSDS_SENSOR_INDEX_ALREADY_USED, sensor.getSensorNumber());
311 }
312 }
313 sensorsUsed.add(sensor);
314 }
315
316 }