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data/sample/initialize_files/components/orbit_observer.ini
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,19 @@ | ||
| [ORBIT_OBSERVER] | ||
| // Noise definition frame | ||
| // INERTIAL: Inertial frame | ||
| // RTN: RTN frame | ||
| noise_frame = INERTIAL | ||
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| // Standard deviation of position and velocity noise [m, m/s] | ||
| // The frame definition can be selected above | ||
| noise_standard_deviation(0) = 1000 // Position-X | ||
| noise_standard_deviation(1) = 2000 // Position-Y | ||
| noise_standard_deviation(2) = 3000 // Position-Z | ||
| noise_standard_deviation(3) = 30 // Velocity-X | ||
| noise_standard_deviation(4) = 20 // Velocity-Y | ||
| noise_standard_deviation(5) = 10 // Velocity-Z | ||
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| [COMPONENT_BASE] | ||
| // Prescaler with respect to the component update period | ||
| prescaler = 1 |
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| Original file line number | Diff line number | Diff line change |
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| # | ||
| # Plot orbit observer | ||
| # | ||
| # arg[1] : read_file_tag : time tag for default CSV output log file. ex. 220627_142946 | ||
| # | ||
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| # | ||
| # Import | ||
| # | ||
| # plots | ||
| import matplotlib.pyplot as plt | ||
| # numpy | ||
| import numpy as np | ||
| # local function | ||
| from common import find_latest_log_tag | ||
| from common import add_log_file_arguments | ||
| from common import read_3d_vector_from_csv | ||
| from common import read_scalar_from_csv | ||
| # arguments | ||
| import argparse | ||
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| # Arguments | ||
| aparser = argparse.ArgumentParser() | ||
| aparser = add_log_file_arguments(aparser) | ||
| aparser.add_argument('--no-gui', action='store_true') | ||
| args = aparser.parse_args() | ||
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| # | ||
| # Read Arguments | ||
| # | ||
| # log file path | ||
| path_to_logs = args.logs_dir | ||
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| read_file_tag = args.file_tag | ||
| if read_file_tag == None: | ||
| print("file tag does not found. use latest.") | ||
| read_file_tag = find_latest_log_tag(path_to_logs) | ||
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| print("log: " + read_file_tag) | ||
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| # | ||
| # CSV file name | ||
| # | ||
| read_file_name = path_to_logs + '/' + 'logs_' + read_file_tag + '/' + read_file_tag + '_default.csv' | ||
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| # | ||
| # Data read and edit | ||
| # | ||
| # Read S2E CSV | ||
| time = read_scalar_from_csv(read_file_name, 'elapsed_time[s]') | ||
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| measured_position_eci_m = read_3d_vector_from_csv(read_file_name, 'orbit_observer_position_i', 'm') | ||
| true_position_eci_m = read_3d_vector_from_csv(read_file_name, 'spacecraft_position_i', 'm') | ||
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| measured_velocity_eci_m_s = read_3d_vector_from_csv(read_file_name, 'orbit_observer_velocity_i', 'm/s') | ||
| true_velocity_eci_m_s = read_3d_vector_from_csv(read_file_name, 'spacecraft_velocity_i', 'm/s') | ||
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| # Statistics | ||
| position_error_m = measured_position_eci_m[:, 1:] - true_position_eci_m[:, 1:] | ||
| position_average = [0.0, 0.0, 0.0] | ||
| position_standard_deviation = [0.0, 0.0, 0.0] | ||
| velocity_error_m = measured_velocity_eci_m_s[:, 1:] - true_velocity_eci_m_s[:, 1:] | ||
| velocity_average = [0.0, 0.0, 0.0] | ||
| velocity_standard_deviation = [0.0, 0.0, 0.0] | ||
| for i in range(3): | ||
| position_average[i] = position_error_m[i].mean() | ||
| position_standard_deviation[i] = position_error_m[i].std() | ||
| velocity_average[i] = velocity_error_m[i].mean() | ||
| velocity_standard_deviation[i] = velocity_error_m[i].std() | ||
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| # | ||
| # Plot | ||
| # | ||
| unit = ' m' | ||
| fig, axis = plt.subplots(3, 1, squeeze = False, tight_layout = True, sharex = True) | ||
| axis[0, 0].plot(time[0], measured_position_eci_m[0], marker=".", c="red", label="MEASURED-X") | ||
| axis[0, 0].plot(time[0], true_position_eci_m[0], marker=".", c="orange", label="TRUE-X") | ||
| axis[0, 0].text(0.01, 0.99, "Error average:" + format(position_average[0], '+.2e') + unit, verticalalignment = 'top', transform = axis[0, 0].transAxes) | ||
| axis[0, 0].text(0.01, 0.79, "Standard deviation:" + format(position_standard_deviation[0], '+.2e') + unit, verticalalignment = 'top', transform = axis[0, 0].transAxes) | ||
| axis[0, 0].legend(loc = 'upper right') | ||
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| axis[1, 0].plot(time[0], measured_position_eci_m[1], marker=".", c="green", label="MEASURED-Y") | ||
| axis[1, 0].plot(time[0], true_position_eci_m[1], marker=".", c="yellow", label="TRUE-Y") | ||
| axis[1, 0].text(0.01, 0.99, "Error average:" + format(position_average[1], '+.2e') + unit, verticalalignment = 'top', transform = axis[1, 0].transAxes) | ||
| axis[1, 0].text(0.01, 0.79, "Standard deviation:" + format(position_standard_deviation[1], '+.2e') + unit, verticalalignment = 'top', transform = axis[1, 0].transAxes) | ||
| axis[1, 0].legend(loc = 'upper right') | ||
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| axis[2, 0].plot(time[0], measured_position_eci_m[2], marker=".", c="blue", label="MEASURED-Z") | ||
| axis[2, 0].plot(time[0], true_position_eci_m[2], marker=".", c="purple", label="TRUE-Z") | ||
| axis[2, 0].text(0.01, 0.99, "Error average:" + format(position_average[2], '+.2e') + unit, verticalalignment = 'top', transform = axis[2, 0].transAxes) | ||
| axis[2, 0].text(0.01, 0.79, "Standard deviation:" + format(position_standard_deviation[2], '+.2e') + unit, verticalalignment = 'top', transform = axis[2, 0].transAxes) | ||
| axis[2, 0].legend(loc = 'upper right') | ||
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| fig.suptitle("Orbit observer position results @ ECI") | ||
| fig.supylabel("Position [m]") | ||
| fig.supxlabel("Time [s]") | ||
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| unit = ' m/s' | ||
| fig, axis = plt.subplots(3, 1, squeeze = False, tight_layout = True, sharex = True) | ||
| axis[0, 0].plot(time[0], measured_velocity_eci_m_s[0], marker=".", c="red", label="MEASURED-X") | ||
| axis[0, 0].plot(time[0], true_velocity_eci_m_s[0], marker=".", c="orange", label="TRUE-X") | ||
| axis[0, 0].text(0.01, 0.99, "Error average:" + format(velocity_average[0], '+.2e') + unit, verticalalignment = 'top', transform = axis[0, 0].transAxes) | ||
| axis[0, 0].text(0.01, 0.79, "Standard deviation:" + format(velocity_standard_deviation[0], '+.2e') + unit, verticalalignment = 'top', transform = axis[0, 0].transAxes) | ||
| axis[0, 0].legend(loc = 'upper right') | ||
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| axis[1, 0].plot(time[0], measured_velocity_eci_m_s[1], marker=".", c="green", label="MEASURED-Y") | ||
| axis[1, 0].plot(time[0], true_velocity_eci_m_s[1], marker=".", c="yellow", label="TRUE-Y") | ||
| axis[1, 0].text(0.01, 0.99, "Error average:" + format(velocity_average[1], '+.2e') + unit, verticalalignment = 'top', transform = axis[1, 0].transAxes) | ||
| axis[1, 0].text(0.01, 0.79, "Standard deviation:" + format(velocity_standard_deviation[1], '+.2e') + unit, verticalalignment = 'top', transform = axis[1, 0].transAxes) | ||
| axis[1, 0].legend(loc = 'upper right') | ||
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| axis[2, 0].plot(time[0], measured_velocity_eci_m_s[2], marker=".", c="blue", label="MEASURED-Z") | ||
| axis[2, 0].plot(time[0], true_velocity_eci_m_s[2], marker=".", c="purple", label="TRUE-Z") | ||
| axis[2, 0].text(0.01, 0.99, "Error average:" + format(velocity_average[2], '+.2e') + unit, verticalalignment = 'top', transform = axis[2, 0].transAxes) | ||
| axis[2, 0].text(0.01, 0.79, "Standard deviation:" + format(velocity_standard_deviation[2], '+.2e') + unit, verticalalignment = 'top', transform = axis[2, 0].transAxes) | ||
| axis[2, 0].legend(loc = 'upper right') | ||
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| fig.suptitle("Orbit observer velocity results @ ECI") | ||
| fig.supylabel("Velocity [m/s]") | ||
| fig.supxlabel("Time [s]") | ||
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| # Data save | ||
| if args.no_gui: | ||
| plt.savefig(read_file_tag + "_orbit_observer.png") # save last figure only | ||
| else: | ||
| plt.show() |
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