├── .gitignore ├── LICENSE ├── LICENSES ├── README.md └── src ├── Albedo Matrices ├── SSO_500_11PM_1_Orbit.mat ├── SSO_500_6PM_1_Orbit_050101.mat ├── SSO_500_6PM_1_Orbit_051231.mat ├── SSO_500_6PM_2_Orbits.mat ├── SSO_500_8PM_2_Orbits.mat ├── SSO_500_9PM_1_Orbit_051231.mat ├── create_albedo_matrices.m ├── iss_albedo.mat └── sso_albedo.mat ├── AlbedoToolbox-1.0 ├── albedo.m ├── albedo_altitude.m ├── albedo_calculation.m ├── albedo_csun.m ├── albedo_full.m ├── albedo_lib.mdl ├── albedo_path.m ├── albedo_toolbox_ref.pdf ├── albedo_wrapper.m ├── double_plot_alb.m ├── double_plot_refl.m ├── earth_albedo_tech_note.pdf ├── earth_mean_refl.m ├── earthfov.m ├── import_refl_dir.m ├── load_refl.m ├── mask.m ├── mean_refl.m ├── plot_alb.m ├── plot_orbit.m ├── plot_refl.m ├── private │ ├── albedoicon.png │ ├── angle_scale.m │ ├── cellarea.m │ ├── d2jd.m │ ├── gridangle.m │ ├── idx2rad.m │ ├── jd2d.m │ ├── jd2file.m │ ├── plot_alb_sphere.m │ ├── plot_refl_sphere.m │ ├── projectionicon.png │ └── rad2idx.m ├── read_refl.m ├── readme.txt ├── refl2mat.m ├── refl_data │ └── 2005 │ │ ├── ga050101-051231.mat │ │ ├── ga050101-051231lat.mat │ │ ├── ga050101-051231latstd.mat │ │ ├── ga050101-051231std.mat │ │ ├── ga050101.mat │ │ ├── ga050102.mat │ │ ├── ga050103.mat │ │ ├── ga050104.mat │ │ ├── ga050105.mat │ │ ├── ga050106.mat │ │ ├── ga050107.mat │ │ ├── ga050108.mat │ │ ├── ga050109.mat │ │ ├── ga050110.mat │ │ ├── ga050111.mat │ │ ├── ga050112.mat │ │ ├── ga050113.mat │ │ ├── ga050114.mat │ │ ├── ga050115.mat │ │ ├── ga050116.mat │ │ ├── ga050117.mat │ │ ├── ga050118.mat │ │ ├── ga050119.mat │ │ ├── ga050120.mat │ │ ├── ga050121.mat │ │ ├── ga050122.mat │ │ ├── ga050123.mat │ │ ├── ga050124.mat │ │ ├── ga050125.mat │ │ ├── ga050126.mat │ │ ├── ga050127.mat │ │ ├── ga050128.mat │ │ ├── ga050129.mat │ │ ├── ga050130.mat │ │ ├── ga050131.mat │ │ ├── ga050201.mat │ │ ├── ga050202.mat │ │ ├── ga050203.mat │ │ ├── ga050204.mat │ │ ├── ga050205.mat │ │ ├── ga050206.mat │ │ ├── ga050207.mat │ │ ├── ga050208.mat │ │ ├── ga050209.mat │ │ ├── ga050210.mat │ │ ├── ga050211.mat │ │ ├── ga050212.mat │ │ ├── ga050213.mat │ │ ├── ga050214.mat │ │ ├── ga050215.mat │ │ ├── ga050216.mat │ │ ├── ga050217.mat │ │ ├── ga050218.mat │ │ ├── ga050219.mat │ │ ├── ga050220.mat │ │ ├── ga050221.mat │ │ ├── ga050222.mat │ │ ├── ga050223.mat │ │ ├── ga050224.mat │ │ ├── ga050225.mat │ │ ├── ga050226.mat │ │ ├── ga050227.mat │ │ ├── ga050228.mat │ │ ├── ga050301.mat │ │ ├── ga050302.mat │ │ ├── ga050303.mat │ │ ├── ga050304.mat │ │ ├── ga050305.mat │ │ ├── ga050306.mat │ │ ├── ga050307.mat │ │ ├── ga050308.mat │ │ ├── ga050309.mat │ │ ├── ga050310.mat │ │ ├── ga050311.mat │ │ ├── ga050312.mat │ │ ├── ga050313.mat │ │ ├── ga050314.mat │ │ ├── ga050315.mat │ │ ├── ga050316.mat │ │ ├── ga050317.mat │ │ ├── ga050318.mat │ │ ├── ga050319.mat │ │ ├── ga050320.mat │ │ ├── ga050321.mat │ │ ├── ga050322.mat │ │ ├── ga050323.mat │ │ ├── ga050324.mat │ │ ├── ga050325.mat │ │ ├── ga050326.mat │ │ ├── ga050327.mat │ │ ├── ga050328.mat │ │ ├── ga050329.mat │ │ ├── ga050330.mat │ │ ├── ga050331.mat │ │ ├── ga050401.mat │ │ ├── ga050402.mat │ │ ├── ga050403.mat │ │ ├── ga050404.mat │ │ ├── ga050405.mat │ │ ├── ga050406.mat │ │ ├── ga050407.mat │ │ ├── ga050408.mat │ │ ├── ga050409.mat │ │ ├── ga050410.mat │ │ ├── ga050411.mat │ │ ├── ga050412.mat │ │ ├── ga050413.mat │ │ ├── ga050414.mat │ │ ├── ga050415.mat │ │ ├── ga050416.mat │ │ ├── ga050417.mat │ │ ├── ga050418.mat │ │ ├── ga050419.mat │ │ ├── ga050420.mat │ │ ├── ga050421.mat │ │ ├── ga050422.mat │ │ ├── ga050423.mat │ │ ├── ga050424.mat │ │ ├── ga050425.mat │ │ ├── ga050426.mat │ │ ├── ga050427.mat │ │ ├── ga050428.mat │ │ ├── ga050429.mat │ │ ├── ga050430.mat │ │ ├── ga050501.mat │ │ ├── ga050502.mat │ │ ├── ga050503.mat │ │ ├── ga050504.mat │ │ ├── ga050505.mat │ │ ├── ga050506.mat │ │ ├── ga050507.mat │ │ ├── ga050508.mat │ │ ├── ga050509.mat │ │ ├── ga050510.mat │ │ ├── ga050511.mat │ │ ├── ga050512.mat │ │ ├── ga050513.mat │ │ ├── ga050514.mat │ │ ├── ga050515.mat │ │ ├── ga050516.mat │ │ ├── ga050517.mat │ │ ├── ga050518.mat │ │ ├── ga050519.mat │ │ ├── ga050520.mat │ │ ├── ga050521.mat │ │ ├── ga050522.mat │ │ ├── ga050523.mat │ │ ├── ga050524.mat │ │ ├── ga050525.mat │ │ ├── ga050526.mat │ │ ├── ga050527.mat │ │ ├── ga050528.mat │ │ ├── ga050529.mat │ │ ├── ga050530.mat │ │ ├── ga050531.mat │ │ ├── ga050601.mat │ │ ├── ga050602.mat │ │ ├── ga050603.mat │ │ ├── ga050604.mat │ │ ├── ga050605.mat │ │ ├── ga050606.mat │ │ ├── ga050607.mat │ │ ├── ga050608.mat │ │ ├── ga050609.mat │ │ ├── ga050610.mat │ │ ├── ga050611.mat │ │ ├── ga050612.mat │ │ ├── ga050613.mat │ │ ├── ga050614.mat │ │ ├── ga050615.mat │ │ ├── ga050616.mat │ │ ├── ga050617.mat │ │ ├── ga050618.mat │ │ ├── ga050619.mat │ │ ├── ga050620.mat │ │ ├── ga050621.mat │ │ ├── ga050622.mat │ │ ├── ga050623.mat │ │ ├── ga050624.mat │ │ ├── ga050625.mat │ │ ├── ga050626.mat │ │ ├── ga050627.mat │ │ ├── ga050628.mat │ │ ├── ga050629.mat │ │ ├── ga050630.mat │ │ ├── ga050701.mat │ │ ├── ga050702.mat │ │ ├── ga050703.mat │ │ ├── ga050704.mat │ │ ├── ga050705.mat │ │ ├── ga050706.mat │ │ ├── ga050707.mat │ │ ├── ga050708.mat │ │ ├── ga050709.mat │ │ ├── ga050710.mat │ │ ├── ga050711.mat │ │ ├── ga050712.mat │ │ ├── ga050713.mat │ │ ├── ga050714.mat │ │ ├── ga050715.mat │ │ ├── ga050716.mat │ │ ├── ga050717.mat │ │ ├── ga050718.mat │ │ ├── ga050719.mat │ │ ├── ga050720.mat │ │ ├── ga050721.mat │ │ ├── ga050722.mat │ │ ├── ga050723.mat │ │ ├── ga050724.mat │ │ ├── ga050725.mat │ │ ├── ga050726.mat │ │ ├── ga050727.mat │ │ ├── ga050728.mat │ │ ├── ga050729.mat │ │ ├── ga050730.mat │ │ ├── ga050731.mat │ │ ├── ga050801.mat │ │ ├── ga050802.mat │ │ ├── ga050803.mat │ │ ├── ga050804.mat │ │ ├── ga050805.mat │ │ ├── ga050806.mat │ │ ├── ga050807.mat │ │ ├── ga050808.mat │ │ ├── ga050809.mat │ │ ├── ga050810.mat │ │ ├── ga050811.mat │ │ ├── ga050812.mat │ │ ├── ga050813.mat │ │ ├── ga050814.mat │ │ ├── ga050815.mat │ │ ├── ga050816.mat │ │ ├── ga050817.mat │ │ ├── ga050818.mat │ │ ├── ga050819.mat │ │ ├── ga050820.mat │ │ ├── ga050821.mat │ │ ├── ga050822.mat │ │ ├── ga050823.mat │ │ ├── ga050824.mat │ │ ├── ga050825.mat │ │ ├── ga050826.mat │ │ ├── ga050827.mat │ │ ├── ga050828.mat │ │ ├── ga050829.mat │ │ ├── ga050830.mat │ │ ├── ga050831.mat │ │ ├── ga050901.mat │ │ ├── ga050902.mat │ │ ├── ga050903.mat │ │ ├── ga050904.mat │ │ ├── ga050905.mat │ │ ├── ga050906.mat │ │ ├── ga050907.mat │ │ ├── ga050908.mat │ │ ├── ga050909.mat │ │ ├── ga050910.mat │ │ ├── ga050911.mat │ │ ├── ga050912.mat │ │ ├── ga050913.mat │ │ ├── ga050914.mat │ │ ├── ga050915.mat │ │ ├── ga050916.mat │ │ ├── ga050917.mat │ │ ├── ga050918.mat │ │ ├── ga050919.mat │ │ ├── ga050920.mat │ │ ├── ga050921.mat │ │ ├── ga050922.mat │ │ ├── ga050923.mat │ │ ├── ga050924.mat │ │ ├── ga050925.mat │ │ ├── ga050926.mat │ │ ├── ga050927.mat │ │ ├── ga050928.mat │ │ ├── ga050929.mat │ │ ├── ga050930.mat │ │ ├── ga051001.mat │ │ ├── ga051002.mat │ │ ├── ga051003.mat │ │ ├── ga051004.mat │ │ ├── ga051005.mat │ │ ├── ga051006.mat │ │ ├── ga051007.mat │ │ ├── ga051008.mat │ │ ├── ga051009.mat │ │ ├── ga051010.mat │ │ ├── ga051011.mat │ │ ├── ga051012.mat │ │ ├── ga051013.mat │ │ ├── ga051014.mat │ │ ├── ga051015.mat │ │ ├── ga051016.mat │ │ ├── ga051017.mat │ │ ├── ga051018.mat │ │ ├── ga051019.mat │ │ ├── ga051020.mat │ │ ├── ga051021.mat │ │ ├── ga051022.mat │ │ ├── ga051023.mat │ │ ├── ga051024.mat │ │ ├── ga051025.mat │ │ ├── ga051026.mat │ │ ├── ga051027.mat │ │ ├── ga051028.mat │ │ ├── ga051029.mat │ │ ├── ga051030.mat │ │ ├── ga051031.mat │ │ ├── ga051101.mat │ │ ├── ga051102.mat │ │ ├── ga051103.mat │ │ ├── ga051104.mat │ │ ├── ga051105.mat │ │ ├── ga051106.mat │ │ ├── ga051107.mat │ │ ├── ga051108.mat │ │ ├── ga051109.mat │ │ ├── ga051110.mat │ │ ├── ga051111.mat │ │ ├── ga051112.mat │ │ ├── ga051113.mat │ │ ├── ga051114.mat │ │ ├── ga051115.mat │ │ ├── ga051116.mat │ │ ├── ga051117.mat │ │ ├── ga051118.mat │ │ ├── ga051119.mat │ │ ├── ga051120.mat │ │ ├── ga051121.mat │ │ ├── ga051122.mat │ │ ├── ga051123.mat │ │ ├── ga051124.mat │ │ ├── ga051125.mat │ │ ├── ga051126.mat │ │ ├── ga051127.mat │ │ ├── ga051128.mat │ │ ├── ga051129.mat │ │ ├── ga051130.mat │ │ ├── ga051201.mat │ │ ├── ga051202.mat │ │ ├── ga051203.mat │ │ ├── ga051204.mat │ │ ├── ga051205.mat │ │ ├── ga051206.mat │ │ ├── ga051207.mat │ │ ├── ga051208.mat │ │ ├── ga051209.mat │ │ ├── ga051210.mat │ │ ├── ga051211.mat │ │ ├── ga051212.mat │ │ ├── ga051213.mat │ │ ├── ga051214.mat │ │ ├── ga051215.mat │ │ ├── ga051216.mat │ │ ├── ga051217.mat │ │ ├── ga051218.mat │ │ ├── ga051219.mat │ │ ├── ga051220.mat │ │ ├── ga051221.mat │ │ ├── ga051222.mat │ │ ├── ga051223.mat │ │ ├── ga051224.mat │ │ ├── ga051225.mat │ │ ├── ga051226.mat │ │ ├── ga051227.mat │ │ ├── ga051228.mat │ │ ├── ga051229.mat │ │ ├── ga051230.mat │ │ └── ga051231.mat ├── refl_struct.m ├── replace_nan.m ├── resize_refl.m ├── slblocks.m ├── ss_proj.m └── std_refl.m ├── Detumbling ├── README.md ├── main_Detumbling.m ├── setParamsFinal_Detumbling.m └── trigger_D2N.m ├── Nadir Pointing ├── Genetic Algorithm │ ├── Genetic_algorithm.m │ └── fitness_function_Nadir_Pointing.m ├── Nadir_Pointing_function.m ├── PD_Nadir_Pointing.m ├── Q_selection.m ├── README.md ├── idealQ.mat ├── main_Nadir_Pointing.m ├── setParamsFinal_Nadir_Pointing.m └── trigger_N2D.m ├── README.md ├── Sun Pointing ├── PD_Sun_Pointing.m ├── README.md ├── main_Sun_Pointing.m ├── q_sun_body.m ├── setParamsFinal_Sun_Pointing.m └── trigger_S2D.m ├── Z-Thomson ├── Control_Thomson.m ├── main_ZThomson.m └── setParams_ZThomson.m ├── attitude_file.m ├── constants └── constants.m ├── cookies ├── README.md ├── msrCookieFinal.m ├── msrCookieFinalExtended.m ├── stateTransCookieFinal.m └── stateTransCookieFinalNominal.m ├── gyro modeling ├── calculate_gyro_noise.m ├── gyro_noise_func.m └── power_law_noise.m ├── igrf ├── datfiles │ ├── 00_readme.txt │ ├── dgrf1945.dat │ ├── dgrf1950.dat │ ├── dgrf1955.dat │ ├── dgrf1960.dat │ ├── dgrf1965.dat │ ├── dgrf1970.dat │ ├── dgrf1975.dat │ ├── dgrf1980.dat │ ├── dgrf1985.dat │ ├── dgrf1990.dat │ ├── dgrf1995.dat │ ├── dgrf2000.dat │ ├── dgrf2005.dat │ ├── dgrf2010.dat │ ├── dgrf2015.dat │ ├── dgrf2020.dat │ ├── igrf1900.dat │ ├── igrf1905.dat │ ├── igrf1910.dat │ ├── igrf1915.dat │ ├── igrf1920.dat │ ├── igrf1925.dat │ ├── igrf1930.dat │ ├── igrf1935.dat │ ├── igrf1940.dat │ ├── igrf2025.dat │ └── igrf2025s.dat ├── ecef2geod.m ├── geod2ecef.m ├── getigrfcoefs.m ├── igrf.m ├── igrfcoefs.mat ├── igrfline.m ├── loadigrfcoefs.m ├── plotbearth.m └── plotbline.m ├── orbit functions ├── README.md ├── orbit_init.m ├── orbit_main_test.m ├── orbit_sgp4.m ├── orbit_sgp4_offset.m └── reference_vectors_calc.m ├── orbit propagator ├── GPS_CoordinateXforms │ ├── DOCS │ │ ├── DMAP UTM Grid Zones of the World.mht │ │ ├── DataSpace2SurfaceTransformations.pdf │ │ └── NIMA Definition of WGS84.pdf │ ├── EarthModel.m │ ├── GHorizon.m │ ├── Get_DirCos_ForwardT.m │ ├── Rotate_ecf2tcs.m │ ├── Source2Ellipsoid.m │ ├── ecf2llhT.m │ ├── ecf2uvwT.m │ ├── llh2ecfT.m │ ├── llh2tcsT.m │ ├── tcs2ecfR.m │ ├── tcs2ecfT.m │ ├── tcs2heightT.m │ ├── tcs2llhT.m │ ├── tcs2tcsT.m │ ├── tcs2uvwT.m │ ├── utm2deg.m │ ├── uvw2ecfT.m │ ├── uvw2llhT.m │ ├── uvw2tcsT.m │ └── wgs2utm.m ├── README.md ├── SGP4 │ ├── DemoData │ │ ├── 2009210.TLE │ │ ├── AAUSAT 4.TLE │ │ ├── AAUSAT-II.TLE │ │ ├── AAUSAT-II1.TLE │ │ ├── ACUBESAT.TLE │ │ ├── CELTEE 1.TLE │ │ ├── CHANDRAYAAN 2.TLE │ │ ├── ENTRYSAT.TLE │ │ ├── LCT-32765-SaoLuis.mat │ │ ├── LITUANICASAT-2.TLE │ │ ├── NEWISS.TLE │ │ ├── SCION-TLE.mat │ │ ├── SL-4 DEB.TLE │ │ ├── SOYUZ-MS 13.TLE │ │ ├── SSO-500-11PM.TLE │ │ ├── SSO-500-6PM.TLE │ │ ├── SSO-500-8PM.TLE │ │ ├── SSO-500-9PM.TLE │ │ ├── SSO-550-new.TLE │ │ ├── SSO-600-11PM.TLE │ │ ├── SSO-600-6PM.TLE │ │ ├── SSO-600-9PM.TLE │ │ ├── SSO500_29_08.TLE │ │ ├── SSO550.TLE │ │ ├── SSO550_2.TLE │ │ └── SWISSCUBE.TLE │ ├── Doc │ │ └── AIAA-2006-6753-Rev1.pdf │ ├── JD2GAST.m │ ├── JD2GMST.m │ ├── ReadTextFiles.m │ ├── RunSGP4.m │ ├── TLEs_2027 │ │ ├── SS0-500-6PM-2027.TLE │ │ ├── SSO-500-10PM.TLE │ │ ├── SSO-500-11PM.TLE │ │ ├── SSO-500-6PM.TLE │ │ ├── SSO-500-9PM.TLE │ │ ├── SSO-600-10PM.TLE │ │ └── SSO-600-11PM.TLE │ ├── angl.m │ ├── constastro.m │ ├── constmath.m │ ├── days2mdh.m │ ├── dpper.m │ ├── dscom.m │ ├── dsinit.m │ ├── dspace.m │ ├── findIntercept.m │ ├── getgravc.m │ ├── gstime.m │ ├── initl.m │ ├── invjday.m │ ├── jday.m │ ├── mag.m │ ├── new_TLEs │ │ ├── SS0-500-10PM-new.TLE │ │ ├── SS0-500-11PM-new.TLE │ │ ├── SS0-500-6AM-new.TLE │ │ ├── SS0-500-6PM-new.TLE │ │ ├── SS0-500-9PM-new.TLE │ │ ├── SS0-600-10PM-new.TLE │ │ └── SS0-600-11PM-new.TLE │ ├── newtonm.m │ ├── newtonnu.m │ ├── rv2coe.m │ ├── satGEOM.m │ ├── sgp4.m │ ├── sgp4_2.m │ ├── sgp4init.m │ ├── siderealtime.m │ ├── spg4_ecf.m │ ├── testmat.m │ ├── twoline2rv.m │ └── twoline2rvMOD.m └── utilities │ ├── LinkZoom.m │ ├── alias.m │ ├── bold_fig.m │ ├── boxcar_avg.m │ ├── colors.m │ ├── computeSI.m │ ├── dB10.m │ ├── dB20.m │ ├── ellipse.m │ ├── findIpeaks.m │ ├── findPeaks.m │ ├── freqs1.m │ ├── line12.m │ ├── line21.m │ ├── nicefftnum.m │ ├── pickfile.m │ ├── pointsIncluded.m │ ├── polyRegion_add.m │ ├── polyrec.m │ ├── position2index.m │ ├── showprogress.m │ ├── taylor.m │ └── turbsim2.m ├── search_files.m ├── statistics ├── angles_confidence_intervals.m └── error_confidence_intervals.m ├── sun vectors ├── README.md ├── calculate_eclipse.m ├── css_compensation.m ├── css_noise.m ├── sun_fov_plots.m └── sun_position.m ├── transformations ├── ECEF2ECI.m ├── ECEF2NED.m ├── ECI2ECEF.m ├── ECI2Orbit.m ├── NED2ECEF.m ├── Orbit2ECI.m ├── Orbit2ECI_DCM.m ├── README.md ├── R_ECI2Orbit.m ├── angles_to_quaternion.m ├── d2q.m ├── e2q_ypr.m ├── q2e_ypr.m └── quat_EB2OB.m ├── utils ├── README.md ├── kf_lib │ ├── @KF │ │ └── KF.m │ ├── @MEKF │ │ └── MEKF.m │ ├── @UKF │ │ └── UKF.m │ ├── Kalman Tuning │ │ ├── Sensor Values │ │ │ ├── accelerometer.mat │ │ │ ├── gyroscope.mat │ │ │ └── magnetometer.mat │ │ ├── fitness_function.m │ │ └── genetic_kalman.m │ ├── UKFMsrUpdatePlot.m │ ├── UKFTimeUpdatePlot.m │ └── import_kf_lib.m ├── quaternions │ ├── angle_calc.m │ ├── quatExp.m │ ├── quatInv.m │ ├── quatLog.m │ ├── quatProd.m │ ├── rotate_vector.m │ └── skew.m ├── rotations │ ├── rot_x.m │ ├── rot_y.m │ └── rot_z.m └── system_model │ ├── SatelliteModel.m │ ├── actuators │ ├── mtq_model.m │ ├── mtq_saturation.m │ ├── mtq_scaling.m │ ├── rw_deadzone.m │ ├── rw_model.m │ └── rw_saturation.m │ ├── disturbances │ ├── aerodynamic_drag.m │ ├── disturbances_bdot.m │ ├── disturbances_pd.m │ ├── gravitational_torque.m │ ├── residual_magnetic_torque.m │ └── solar_pressure.m │ ├── real_SatelliteModel.m │ └── real_SatelliteModel_Bdot.m └── wahba ├── wahba.m └── wahba_magnetic.m /.gitignore: -------------------------------------------------------------------------------- 1 | 2 | *.asv 3 | 4 | instant_error_know.mat 5 | 6 | instant_error_perform.mat 7 | 8 | vectarrow.m 9 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | MIT License 2 | 3 | Copyright (c) 2021 AcubeSAT 4 | 5 | Permission is hereby granted, free of charge, to any person obtaining a copy 6 | of this software and associated documentation files (the "Software"), to deal 7 | in the Software without restriction, including without limitation the rights 8 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell 9 | copies of the Software, and to permit persons to whom the Software is 10 | furnished to do so, subject to the following conditions: 11 | 12 | The above copyright notice and this permission notice shall be included in all 13 | copies or substantial portions of the Software. 14 | 15 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 16 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 17 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 18 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 19 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 20 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE 21 | SOFTWARE. 22 | -------------------------------------------------------------------------------- /src/Albedo Matrices/SSO_500_11PM_1_Orbit.mat: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AcubeSAT/adcs-simulation/53e28f5e07e3859172d3188946477df381804745/src/Albedo Matrices/SSO_500_11PM_1_Orbit.mat -------------------------------------------------------------------------------- /src/Albedo Matrices/SSO_500_6PM_1_Orbit_050101.mat: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AcubeSAT/adcs-simulation/53e28f5e07e3859172d3188946477df381804745/src/Albedo Matrices/SSO_500_6PM_1_Orbit_050101.mat -------------------------------------------------------------------------------- /src/Albedo Matrices/SSO_500_6PM_1_Orbit_051231.mat: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AcubeSAT/adcs-simulation/53e28f5e07e3859172d3188946477df381804745/src/Albedo Matrices/SSO_500_6PM_1_Orbit_051231.mat -------------------------------------------------------------------------------- /src/Albedo Matrices/SSO_500_6PM_2_Orbits.mat: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AcubeSAT/adcs-simulation/53e28f5e07e3859172d3188946477df381804745/src/Albedo Matrices/SSO_500_6PM_2_Orbits.mat -------------------------------------------------------------------------------- /src/Albedo Matrices/SSO_500_8PM_2_Orbits.mat: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AcubeSAT/adcs-simulation/53e28f5e07e3859172d3188946477df381804745/src/Albedo Matrices/SSO_500_8PM_2_Orbits.mat -------------------------------------------------------------------------------- /src/Albedo Matrices/SSO_500_9PM_1_Orbit_051231.mat: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AcubeSAT/adcs-simulation/53e28f5e07e3859172d3188946477df381804745/src/Albedo Matrices/SSO_500_9PM_1_Orbit_051231.mat -------------------------------------------------------------------------------- /src/Albedo Matrices/iss_albedo.mat: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AcubeSAT/adcs-simulation/53e28f5e07e3859172d3188946477df381804745/src/Albedo Matrices/iss_albedo.mat -------------------------------------------------------------------------------- /src/Albedo Matrices/sso_albedo.mat: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AcubeSAT/adcs-simulation/53e28f5e07e3859172d3188946477df381804745/src/Albedo Matrices/sso_albedo.mat -------------------------------------------------------------------------------- /src/AlbedoToolbox-1.0/albedo_calculation.m: -------------------------------------------------------------------------------- 1 | function [total_albedo] = albedo_calculation(i,xsat_ecf,sun_pos_ecef,dt,tf,refl) 2 | 3 | % new_refl = replace_nan(refl,'ga050101-051231.mat'); 4 | 5 | sun_pos_ecef_m = 1.495978707e+11 * sun_pos_ecef; 6 | 7 | a = albedo(xsat_ecf(:,i),sun_pos_ecef_m(:,i),refl); 8 | 9 | total_albedo = sum(sum(a)); % summing all elements 10 | 11 | end 12 | 13 | -------------------------------------------------------------------------------- /src/AlbedoToolbox-1.0/albedo_full.m: -------------------------------------------------------------------------------- 1 | % ALBEDO_FULL Calculate albedo array for 100% sunlight (zenith) at all 2 | % satellite positions at a given altitude. The resulting albedo is the 3 | % maximum albedo for all satellite positions. 4 | % 5 | % a = albedo_full(altitude, refl) 6 | % 7 | % altitude is the altitude of the satellite in meters. refl is the 8 | % reflectivity data. 9 | % 10 | % $Id: albedo_full.m,v 1.7 2006/05/17 14:39:16 danji Exp $ 11 | 12 | function a = albedo_full(altitude,refl); 13 | 14 | CONST.EMR = 6371.01e3; 15 | CONST.AU = 149598000000; 16 | 17 | % Data size 18 | [sy sx] = size(refl.data); 19 | sat = zeros(3,1); 20 | sun = zeros(3,1); 21 | 22 | h = waitbar(0,'Calculating full albedo matrix...'); 23 | for i = 1:sy 24 | for j = 1:sx 25 | [sat_theta sat_phi] = idx2rad(i,j,sy,sx); 26 | [sat(1) sat(2) sat(3)] = sph2cart(sat_theta,sat_phi-pi/2,CONST.EMR+altitude); 27 | [sun(1) sun(2) sun(3)] = sph2cart(sat_theta,sat_phi-pi/2,CONST.AU); 28 | a(i,j) = sum(sum(albedo(sat,sun,refl))); 29 | waitbar(i*j/(sy*sx),h); 30 | end 31 | end 32 | 33 | close(h); 34 | 35 | return 36 | -------------------------------------------------------------------------------- /src/AlbedoToolbox-1.0/albedo_path.m: -------------------------------------------------------------------------------- 1 | % ALBEDO_PATH Returns the path to albedo_path.m, under the assumption that this% is the albedo toolbox installation dir. 2 | % 3 | % pathstr = albedo_path 4 | % 5 | % $Id: albedo_path.m,v 1.3 2006/05/17 14:39:16 danji Exp $ 6 | 7 | function pathstr = albedo_path; 8 | 9 | [pathstr,name,ext] = fileparts(which('albedo_path.m')); 10 | 11 | return 12 | -------------------------------------------------------------------------------- /src/AlbedoToolbox-1.0/albedo_toolbox_ref.pdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AcubeSAT/adcs-simulation/53e28f5e07e3859172d3188946477df381804745/src/AlbedoToolbox-1.0/albedo_toolbox_ref.pdf -------------------------------------------------------------------------------- /src/AlbedoToolbox-1.0/double_plot_alb.m: -------------------------------------------------------------------------------- 1 | % DOUBLE_PLOT_ALB Plot albedo data on subplot with dual view. 2 | % 3 | % double_plot_alb(a) 4 | % 5 | % where a is an albedo matrixx. 6 | % 7 | % $Id: double_plot_alb.m,v 1.3 2006/02/23 08:31:33 danji Exp $ 8 | 9 | function double_plot_alb(a); 10 | 11 | subplot(2,1,1); 12 | plot_alb(a); 13 | 14 | subplot(2,1,2); 15 | [sy sx] = size(a); 16 | dy = 180/sy; 17 | dx = 360/sx; 18 | 19 | lat = [-90+dy/2:dy:90-dy/2]'; 20 | lon = [-180+dx/2:dx:180-dx/2]'; 21 | 22 | hp = surf(lon,lat,a); 23 | axis([-180+dx 180-dx -90+dy 90-dy]); 24 | shading('interp'); 25 | title('Albedo'); 26 | xlabel('Longitude [deg]'); 27 | ylabel('Latitude [deg]'); 28 | zlabel('Irradiance [W/m^2]'); 29 | view(-34,32); 30 | colormap(pink); 31 | 32 | return 33 | -------------------------------------------------------------------------------- /src/AlbedoToolbox-1.0/double_plot_refl.m: -------------------------------------------------------------------------------- 1 | % DOUBLE_PLOT_REFL Plot REFL data on subplot with dual view. 2 | % 3 | % double_plot_refl(refl) 4 | % 5 | % refl is either a REFL struct or REFL matrix. 6 | % 7 | % $Id: double_plot_refl.m,v 1.6 2006/05/17 11:13:22 danji Exp $ 8 | 9 | function double_plot_refl(refl); 10 | 11 | subplot(1,2,1); 12 | plot_refl(refl); 13 | subplot(1,2,2); 14 | n = size(refl.data,1); 15 | [sy sx] = size(refl.data); 16 | dy = 180/sy; 17 | lat = [-90+dy/2:dy:90-dy/2]'; 18 | plot(lat,mean(refl.data'),'b-',lat,max(refl.data'),'b:',lat,min(refl.data'),'b:'); 19 | title('TOMS Reflectivity Data'); 20 | xlabel('Latitude [deg]'); 21 | ylabel('Reflectivity [E.U.]'); 22 | axis([-90+dy 90-dy 0 1]); 23 | legend('Mean','Min/Max'); 24 | 25 | 26 | if nargout > 0 27 | % Return handle if requested 28 | h = gcf; 29 | end 30 | 31 | return 32 | -------------------------------------------------------------------------------- /src/AlbedoToolbox-1.0/earth_albedo_tech_note.pdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AcubeSAT/adcs-simulation/53e28f5e07e3859172d3188946477df381804745/src/AlbedoToolbox-1.0/earth_albedo_tech_note.pdf -------------------------------------------------------------------------------- /src/AlbedoToolbox-1.0/earth_mean_refl.m: -------------------------------------------------------------------------------- 1 | % EARTH_MEAN_REFL Calculate mean Earth reflectivity of REFL data. 2 | % Each data point is weighed with respect to the cell area of the 3 | % associated cell. 4 | % 5 | % total_refl = earth_mean_refl(refl) 6 | % 7 | % refl is a REFL struct. 8 | % 9 | % $Id: earth_mean_refl.m,v 1.7 2006/05/17 14:39:17 danji Exp $ 10 | 11 | function total_refl = earth_mean_refl(refl); 12 | 13 | CONST.EMR = 6371.01e3; 14 | 15 | total_area = 4*pi*CONST.EMR^2; 16 | total_refl = 0; 17 | for i=1:180 18 | for j=1:288 19 | weight = cellarea(i,j)/total_area; 20 | total_refl = total_refl + weight*refl.data(i,j); 21 | end 22 | end 23 | 24 | return 25 | -------------------------------------------------------------------------------- /src/AlbedoToolbox-1.0/mask.m: -------------------------------------------------------------------------------- 1 | % MASK Make masked array from two equal arrays. 2 | % 3 | % res = mask(refl_data,mask,contrast) 4 | % 5 | % refl_data is the reflectivity "background" data. mask is an array of 6 | % logical values of visible indices. contrast [0..1] specifies the contrast of 7 | % visible and not visible data points in refl_data. 8 | % 9 | % $Id: mask.m,v 1.4 2006/05/17 14:39:17 danji Exp $ 10 | 11 | function result = mask(refl_data,mask,contrast); 12 | 13 | if nargin < 3 14 | contrast = 0.3; 15 | end 16 | 17 | result = (~mask*contrast+mask).*refl_data; 18 | 19 | return 20 | -------------------------------------------------------------------------------- /src/AlbedoToolbox-1.0/plot_alb.m: -------------------------------------------------------------------------------- 1 | % PLOT_ALB Plot albedo data. 2 | % 3 | % h = plot_alp(albedo [,type]) 4 | % 5 | % albedo is a matrix. Optional parameter type is 'p' for 3D 6 | % plot or 's' for spherical. Default is 'p'. 7 | % 8 | % $Id: plot_alb.m,v 1.12 2006/05/17 14:39:17 danji Exp $ 9 | 10 | function h = plot_alb(albedo,type,cbar); 11 | 12 | if nargin > 1 && strcmp(type,'s') 13 | if nargin > 2 14 | plot_alb_sphere(albedo,cbar); 15 | else 16 | plot_alb_sphere(albedo); 17 | end 18 | return; 19 | end 20 | 21 | [sy sx] = size(albedo); 22 | dy = 180/sy; 23 | dx = 360/sx; 24 | 25 | lat = [-90+dy/2:dy:90-dy/2]'; 26 | lon = [-180+dx/2:dx:180-dx/2]'; 27 | 28 | hp = surf(lon,lat,albedo); 29 | view(0,90); 30 | axis([-180+dx 180-dx -90+dy 90-dy]); 31 | shading('interp'); 32 | title('Albedo'); 33 | xlabel('Longitude [deg]'); 34 | ylabel('Latitude [deg]'); 35 | zlabel('Irradiance [W/m^2]'); 36 | colormap(pink); 37 | 38 | if ~(nargin > 2) 39 | % Add colorbar 40 | oldh = gca; 41 | cbhandle = colorbar; 42 | axes(cbhandle); 43 | ylabel('Irradiance [W/m^2]'); 44 | axes(oldh); 45 | end 46 | 47 | % return handles, if requested 48 | if nargout > 0 49 | h = gcf; 50 | end 51 | 52 | return 53 | -------------------------------------------------------------------------------- /src/AlbedoToolbox-1.0/plot_orbit.m: -------------------------------------------------------------------------------- 1 | % PLOT_ORBIT Plots the orbit with REFL data background. 2 | % 3 | % plot_orbit(satpos,refl,type) 4 | % 5 | % where satpos is a matrix where each row is the position of the satellite 6 | % in ECEF coordinates, refl is the REFL data to use as backgrpound, and type 7 | % is either 'p' for flat plot or 's' for spherical plot. 8 | % 9 | % $Id: plot_orbit.m,v 1.5 2006/05/17 14:39:17 danji Exp $ 10 | 11 | function plot_orbit(satpos,refl,type) 12 | 13 | if nargin < 3 14 | type = 'p'; 15 | end 16 | 17 | if size(satpos,2) == 4 18 | warning('plot_orbit.m: satpos has dimension of 4. Sure time is not in there?'); 19 | end 20 | 21 | plot_refl(refl,type,'no colorbar'); 22 | hold('on'); 23 | if strcmp(type,'p') 24 | [th,ph,r] = cart2sph(satpos(:,1),satpos(:,2),satpos(:,3)); 25 | th = th.*180/pi; 26 | ph = ph.*180/pi; 27 | plot3(th,ph,ones(size(satpos,1),1)*100,'b.'); 28 | elseif strcmp(type,'s') 29 | for i=1:size(satpos,1) 30 | satpos(i,:) = satpos(i,:)./norm(satpos(i,:)); 31 | end 32 | plot3(satpos(:,1),satpos(:,2),satpos(:,3),'b.'); 33 | else 34 | error('plot_orbit.m: Unknown plot type'); 35 | end 36 | 37 | hold('off'); 38 | title('Orbit'); 39 | 40 | return 41 | -------------------------------------------------------------------------------- /src/AlbedoToolbox-1.0/private/albedoicon.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AcubeSAT/adcs-simulation/53e28f5e07e3859172d3188946477df381804745/src/AlbedoToolbox-1.0/private/albedoicon.png -------------------------------------------------------------------------------- /src/AlbedoToolbox-1.0/private/angle_scale.m: -------------------------------------------------------------------------------- 1 | % ANGLE_SCALE See index to angle conversion. 2 | % 3 | % angle_scale(sy,sx) 4 | % 5 | % where sy and sx are the dimensions of the latitude and longitude scales. 6 | % 7 | % $Id: angle_scale.m,v 1.2 2006/05/17 14:39:17 danji Exp $ 8 | 9 | function angle_scale(sy,sx) 10 | 11 | r2d = 180/pi; 12 | 13 | n=1000; 14 | idx = zeros(n+1,2); 15 | 16 | for i=1:n+1 17 | [idx(i,1) idx(i,2)] = rad2idx((i-1)*2*pi/n-pi,(i-1)*pi/n,sy,sx); 18 | end 19 | 20 | subplot(2,1,1); 21 | plot([0:pi/n:pi]*r2d,idx(:,1)); 22 | title('Elevation map'); 23 | subplot(2,1,2); 24 | plot([-pi:2*pi/n:pi]*r2d,idx(:,2)); 25 | title('Azimuth map'); 26 | 27 | return 28 | -------------------------------------------------------------------------------- /src/AlbedoToolbox-1.0/private/cellarea.m: -------------------------------------------------------------------------------- 1 | % CELLAREA Calculate area of TOMS cell. Input is refl matrix 2 | % indices. 3 | % 4 | % A = cellarea(i,j,sy,sx) 5 | % 6 | % i,j are the indices of the sy x sx REFL matrix. 7 | % 8 | % $Id: cellarea.m,v 1.7 2006/05/17 14:39:17 danji Exp $ 9 | 10 | function A = cellarea(i,j,sy,sx); 11 | 12 | CONST.EMR = 6371.01e3; 13 | CONST.d2r = pi/180; 14 | 15 | [theta,phi] = idx2rad(i,j,sy,sx); 16 | 17 | % Grid size 18 | dphi = (180/sy)*CONST.d2r; 19 | dtheta = (360/sx)*CONST.d2r; 20 | 21 | % Diagonal points 22 | phimax = phi + dphi/2; 23 | phimin = phi - dphi/2; 24 | 25 | A = CONST.EMR^2*dtheta*(cos(phimin)-cos(phimax)); 26 | 27 | return 28 | -------------------------------------------------------------------------------- /src/AlbedoToolbox-1.0/private/d2jd.m: -------------------------------------------------------------------------------- 1 | % D2JD Convert Gregorian Calendar Date to Julian Date. 2 | % 3 | % jd = d2jd(year,month,day,hour,min,sec) 4 | % 5 | % Precision can be reduced by leaving out parameters from right to left, 6 | % e.g. d2jd(2004) gives the Julian Date of Jan 1, 2004 at 0:00 am. 7 | % 8 | % $Id: d2jd.m,v 1.2 2006/05/17 14:39:17 danji Exp $ 9 | 10 | function jd = d2jd(year,month,day,hour,min,sec); 11 | 12 | if nargin < 6 13 | sec = 0; 14 | end 15 | if nargin < 5 16 | min = 0; 17 | end 18 | if nargin < 4 19 | hour = 0; 20 | end 21 | if nargin < 3 22 | day = 1; 23 | end 24 | if nargin < 2 25 | month = 1; 26 | end 27 | if nargin < 1 28 | error('At least one parameter is needed.'); 29 | end 30 | 31 | jd = 367*year-floor(7*(year+floor((month+9)/12))/4) ... 32 | -floor(3*(floor((year+(month-9)/7)/100)+1)/4) ... 33 | +floor(275*month/9)+day+1721028.5+(hour+(min+sec/60)/60)/24; 34 | 35 | return 36 | -------------------------------------------------------------------------------- /src/AlbedoToolbox-1.0/private/gridangle.m: -------------------------------------------------------------------------------- 1 | % GRIDANGLE Calculate angle between two grid index pairs. 2 | % 3 | % rho = gridangle(i1,j1,i2,j2,sy,sx) 4 | % 5 | % $Id: gridangle.m,v 1.3 2006/05/17 14:39:17 danji Exp $ 6 | 7 | function rho = gridangle(i1,j1,i2,j2,sy,sx); 8 | 9 | [theta1,phi1] = idx2rad(i1,j1,sy,sx); 10 | [theta2,phi2] = idx2rad(i2,j2,sy,sx); 11 | 12 | rho = acos(sin(phi1)*sin(phi2)*cos(theta1-theta2)+cos(phi1)*cos(phi2)); 13 | 14 | return 15 | -------------------------------------------------------------------------------- /src/AlbedoToolbox-1.0/private/idx2rad.m: -------------------------------------------------------------------------------- 1 | % IDX2RAD Transform TOMS REFL matrix indices to radians. 2 | % 3 | % [theta,phi] = idx2rad(i,j,sy,sx) 4 | % 5 | % $Id: idx2rad.m,v 1.5 2006/05/17 14:39:18 danji Exp $ 6 | 7 | function [theta,phi] = idx2rad(i,j,sy,sx); 8 | 9 | CONST.d2r = pi/180; 10 | 11 | dx = 2*pi/sx; 12 | dy = pi/sy; 13 | 14 | phi = pi-dy/2-(i-1)*dy; 15 | theta = (j-1)*dx-pi+dx/2; 16 | 17 | return 18 | -------------------------------------------------------------------------------- /src/AlbedoToolbox-1.0/private/plot_alb_sphere.m: -------------------------------------------------------------------------------- 1 | % PLOT_ALB_SPHERE Plot albedo data on a sphere. 2 | % 3 | % plot_alb_sphere(albedo) 4 | % 5 | % albedo is a 180x288 matrix. 6 | % 7 | % $Id: plot_alb_sphere.m,v 1.10 2006/05/17 14:39:18 danji Exp $ 8 | 9 | function h = plot_alb_sphere(albedo) 10 | 11 | d2r = pi/180; 12 | 13 | [sy sx] = size(albedo); 14 | dy = 180/sy; 15 | dx = 360/sx; 16 | 17 | phi = [-90+dy/2:dy:90-dy/2]'.*d2r; 18 | theta = [-180+dx/2:dx:180-dx/2]'.*d2r; 19 | 20 | X = cos(theta)*cos(phi)'; 21 | Y = sin(theta)*cos(phi)'; 22 | Z = ones(sx+1,1)*sin(phi)'; 23 | 24 | X = [X;X(1,:)]; 25 | Y = [Y;Y(1,:)]; 26 | 27 | hp = surf(X,Y,Z,zeros(sx+1,sy)); 28 | hold on; 29 | hp = surf(X,Y,Z,[albedo';albedo(:,1)']); 30 | hold off; 31 | shading('interp'); 32 | title('Albedo'); 33 | view(127.5,16); 34 | colormap(pink); 35 | % Remove useless ticks 36 | set(gca,'XTick',[]) 37 | set(gca,'YTick',[]) 38 | set(gca,'ZTick',[]) 39 | 40 | if ~(nargin > 1) 41 | % Add colorbar 42 | oldh = gca; 43 | cbhandle = colorbar; 44 | axes(cbhandle); 45 | ylabel('Irradiance [W/m^2]'); 46 | axes(oldh); 47 | end 48 | 49 | if nargout > 0 50 | % Return handle if requested 51 | h = gcf; 52 | end 53 | 54 | return 55 | -------------------------------------------------------------------------------- /src/AlbedoToolbox-1.0/private/projectionicon.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AcubeSAT/adcs-simulation/53e28f5e07e3859172d3188946477df381804745/src/AlbedoToolbox-1.0/private/projectionicon.png -------------------------------------------------------------------------------- /src/AlbedoToolbox-1.0/private/rad2idx.m: -------------------------------------------------------------------------------- 1 | % Transform radians to TOMS REFL matrix indices. 2 | % 3 | % [i,j] = rad2idx(theta,phi,sy,sx) 4 | % 5 | % $Id: rad2idx.m,v 1.5 2006/05/17 14:39:18 danji Exp $ 6 | 7 | function [i,j] = rad2idx(theta,phi,sy,sx); 8 | 9 | CONST.d2r = pi/180; 10 | 11 | dx = 2*pi/sx; 12 | dy = pi/sy; 13 | 14 | i = round((pi-dy/2-phi)/dy)+1; 15 | j = round((theta+pi-dx/2)/dx)+1; 16 | 17 | % Fix such that 180/-180 is included in interval. 18 | if i == 0 19 | i = 1; 20 | end 21 | if j == 0 22 | j = 1; 23 | end 24 | 25 | return 26 | -------------------------------------------------------------------------------- /src/AlbedoToolbox-1.0/refl_data/2005/ga050101-051231.mat: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AcubeSAT/adcs-simulation/53e28f5e07e3859172d3188946477df381804745/src/AlbedoToolbox-1.0/refl_data/2005/ga050101-051231.mat -------------------------------------------------------------------------------- /src/AlbedoToolbox-1.0/refl_data/2005/ga050101-051231lat.mat: 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The struct contains the following 2 | % fields: 3 | % - data (reflectivity data) 4 | % - start_time (Julian Date of start time) 5 | % - stop_time (Julian Date of stop time) 6 | % - type (String specifying data description, e.g. Raw or Mean) 7 | % 8 | % refl = refl_struct(data,start_time,stop_time,type) 9 | % 10 | % $Id: refl_struct.m,v 1.2 2006/02/23 08:31:33 danji Exp $ 11 | 12 | function refl = refl_struct(data,start_time,stop_time,type); 13 | 14 | refl.data = data; 15 | refl.start_time = start_time; 16 | refl.stop_time = stop_time; 17 | refl.type = type; 18 | 19 | return 20 | -------------------------------------------------------------------------------- /src/AlbedoToolbox-1.0/ss_proj.m: -------------------------------------------------------------------------------- 1 | % SS_PROJ Projects all cell albedo contributions onto the solar cell normal 2 | % in ECEF. This value is equivalent to the total perpendicular irradiance 3 | % reaching the solar cell. 4 | % 5 | % P = ss_proj(re,n,a) 6 | % 7 | % where a is an albedo matrix, n is the cell normal in ECEF frame, and 8 | % re is the nadir in ECEF frame. 9 | % 10 | % $Id: ss_proj.m,v 1.4 2006/05/17 14:39:17 danji Exp $ 11 | 12 | function P = ss_proj(re,n,a); 13 | 14 | CONST.EMR = 6371.01e3; 15 | CONST.AM0 = 1366.9; 16 | 17 | P = 0; 18 | grid = zeros(3,1); 19 | 20 | [sy sx] = size(a); 21 | 22 | for i=1:sy 23 | for j=1:sx 24 | if a(i,j) > 0 25 | % Grid vector in ECEF 26 | [grid_theta grid_phi] = idx2rad(i,j,sy,sx); 27 | [grid(1) grid(2) grid(3)] = sph2cart(grid_theta,pi/2-grid_phi,CONST.EMR); 28 | % Cosine of the angle from solar cell normal to grid LOS vector (re+grid). 29 | cosphi = n'*(re+grid)/norm(re+grid); 30 | if cosphi > 0 31 | angle(i,j) = acos(cosphi); 32 | P = P + a(i,j)*cosphi; 33 | end 34 | end 35 | end 36 | end 37 | 38 | return 39 | -------------------------------------------------------------------------------- /src/Nadir Pointing/idealQ.mat: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AcubeSAT/adcs-simulation/53e28f5e07e3859172d3188946477df381804745/src/Nadir Pointing/idealQ.mat -------------------------------------------------------------------------------- /src/Sun Pointing/q_sun_body.m: -------------------------------------------------------------------------------- 1 | function q = q_sun_body(sun_eci, q_eci_body,sun_desired) 2 | 3 | sun_eci = sun_eci / norm(sun_eci); 4 | q_sun_body = quatProd(quatconj(q_eci_body'), quatProd([0; sun_eci]', q_eci_body')); 5 | sun_body = q_sun_body(2:4); 6 | sun_desired = sun_desired / norm(sun_desired); 7 | 8 | if dot(sun_body, sun_desired) > 0.999999 9 | q_sun_body(1) = 1; 10 | q_sun_body(2:4) = [0; 0; 0]; 11 | elseif dot(sun_body, sun_desired) < -0.999999 12 | q_sun_body(1) = 0.2; 13 | q_sun_body(2:4) = [-0.4; -0.4; -0.8]; 14 | else 15 | a = cross(sun_body, sun_desired); 16 | q_sun_body(2:4) = a; 17 | q_sun_body(1) = 1 + dot(sun_body, sun_desired); 18 | q_sun_body = q_sun_body / norm(q_sun_body); 19 | end 20 | q = q_sun_body'; 21 | 22 | end 23 | -------------------------------------------------------------------------------- /src/cookies/README.md: -------------------------------------------------------------------------------- 1 | This folder includes functions that return structs which store all required input parameters for specific functions throughout the repository. 2 | 3 | #### msrCookieFinal 4 | Includes the struct variable storing all required inputs for the real satellite measurement model. The satellite model is used to simulate the real attitude at any point during orbit. 5 | 6 | #### msrCookieFinalExtended 7 | Includes the struct variable storing all required inputs for the satellite measurement model used for MEKF correct function. 8 | 9 | #### stateTransCookieFinalNominal 10 | Includes the struct variable storing all required inputs for the satellite state model. The satellite model is used for the MEKF predict function and to simulate the real attitude at any point during orbit. 11 | -------------------------------------------------------------------------------- /src/cookies/msrCookieFinal.m: -------------------------------------------------------------------------------- 1 | % ----------------------------------------------------------------------------- 2 | % 3 | % procedure msrCookieFinal 4 | % 5 | % this procedure is a struct storing all required variables for the 6 | % real satellite model. The satellite model is used to simulate the 7 | % real attitude at any point during orbit. 8 | % 9 | % inputs : 10 | % magn_ref - reference magnetic field vector 11 | % sun_ref - reference sun position vector 12 | % eclipse - existence or not of eclipse conditions 13 | % gyro - gyroscope measurement 14 | % 15 | % outputs : 16 | % cookie - struct including all input variables 17 | % ----------------------------------------------------------------------------*/ 18 | 19 | 20 | function cookie = msrCookieFinal(magn_ref, sun_ref, eclipse, gyro) 21 | 22 | cookie = struct('magn_ref', magn_ref, 'sun_ref', sun_ref, 'eclipse', eclipse, 'gyro', gyro); 23 | 24 | end 25 | -------------------------------------------------------------------------------- /src/cookies/msrCookieFinalExtended.m: -------------------------------------------------------------------------------- 1 | % ----------------------------------------------------------------------------- 2 | % 3 | % procedure msrCookieFinalExtended 4 | % 5 | % this procedure is a struct storing all required variables 6 | % used for MEKF correct function. 7 | % 8 | % inputs : 9 | % magn_ref - reference magnetic field vector 10 | % sun_ref - reference sun position vector 11 | % eclipse - existence or not of eclipse conditions 12 | % gyro - gyroscope measurement 13 | % xsat_eci - satellite position vector in ECI frame 14 | % albedo - albedo disturbance vector 15 | % lamda - Poisson distribution constant for noise 16 | % 17 | % outputs : 18 | % cookie - struct including all input variables 19 | % ----------------------------------------------------------------------------*/ 20 | 21 | function cookie = msrCookieFinalExtended(magn_ref, sun_ref, eclipse, gyro, xsat_eci, albedo, lambda) 22 | 23 | cookie = struct('magn_ref', magn_ref, 'sun_ref', sun_ref, 'eclipse', eclipse, 'gyro', gyro, 'xsat_eci', xsat_eci, 'albedo', albedo, 'lambda', lambda); 24 | 25 | end 26 | -------------------------------------------------------------------------------- /src/cookies/stateTransCookieFinal.m: -------------------------------------------------------------------------------- 1 | function cookie = stateTransCookieFinal(torq) 2 | 3 | cookie = struct('torq', torq); 4 | 5 | end -------------------------------------------------------------------------------- /src/cookies/stateTransCookieFinalNominal.m: -------------------------------------------------------------------------------- 1 | % ----------------------------------------------------------------------------- 2 | % 3 | % procedure stateTransCookieFinalNominal 4 | % 5 | % this procedure is a struct storing all required inputs 6 | % for the satellite state model. The satellite model is used 7 | % for the MEKF predict function and to simulate the real attitude 8 | % at any point during orbit. 9 | % 10 | % inputs : 11 | % torq - commanded torque vector 12 | % rw_ang_momentum - reaction wheel angular momentum 13 | % gyro - gyroscope measurement 14 | % 15 | % outputs : 16 | % cookie - struct including all input variables 17 | % ----------------------------------------------------------------------------*/ 18 | 19 | function cookie = stateTransCookieFinalNominal(torq, rw_ang_momentum, gyro) 20 | 21 | cookie = struct('torq', torq, 'rw_ang_momentum', rw_ang_momentum, 'gyro', gyro); 22 | 23 | end 24 | -------------------------------------------------------------------------------- /src/gyro modeling/gyro_noise_func.m: -------------------------------------------------------------------------------- 1 | %% Script for modeling noise for the MEMS gyroscope 2 | % 3 | % Inputs : 4 | % old_bias - current bias 5 | % dt - sampling interval 6 | % sigma_u - bias instability std deviation 7 | % sigma_v - gaussian noise std deviation 8 | % 9 | % Outputs : 10 | % total_noise - noise 11 | % new_bias - updated bias 12 | % 13 | % Theoratical values for ADXRS453: 14 | % sigma_u = 3.4434e-04 15 | % sigma_v = 0.0004; 16 | % Theoratical values for SCHAT63T: 17 | % sigma_u = 2e-6; 18 | % sigma_v = 2.04e-5; 19 | % 20 | % 21 | % Based on Markley-Crassidis p.147 22 | 23 | function [total_noise, new_bias] = gyro_noise_func(old_bias, dt, sigma_u, sigma_v) 24 | 25 | new_bias = old_bias + sigma_u * sqrt(dt) * randn(3, 1); 26 | 27 | total_noise = 0.5 * (old_bias + new_bias) + sqrt((sigma_v^2 / dt + sigma_u^2 * dt / 12)) * randn(3, 1); 28 | 29 | % new_bias = 0; 30 | % total_noise = 0; 31 | end 32 | -------------------------------------------------------------------------------- /src/igrf/datfiles/dgrf1960.dat: -------------------------------------------------------------------------------- 1 | dgrf1960 2 | 10 6371.2 1960.0 3 | -30421 4 | -2169 5 | 5791 6 | -1555 7 | 3002 8 | -1967 9 | 1590 10 | 206 11 | 1302 12 | -1992 13 | -414 14 | 1289 15 | 224 16 | 878 17 | -130 18 | 957 19 | 800 20 | 135 21 | 504 22 | -278 23 | -394 24 | 3 25 | 269 26 | -255 27 | -222 28 | 362 29 | 16 30 | 242 31 | 125 32 | -26 33 | -117 34 | -156 35 | -114 36 | -63 37 | 81 38 | 46 39 | 58 40 | -10 41 | 1 42 | 99 43 | -237 44 | 60 45 | -1 46 | -20 47 | -2 48 | -11 49 | -113 50 | -17 51 | 67 52 | -56 53 | -55 54 | 5 55 | -28 56 | 15 57 | -6 58 | -32 59 | 7 60 | -7 61 | 23 62 | 17 63 | -18 64 | 8 65 | -17 66 | 15 67 | 6 68 | 11 69 | -4 70 | -14 71 | -11 72 | 7 73 | 2 74 | -18 75 | 10 76 | 4 77 | -5 78 | 23 79 | 10 80 | 1 81 | 8 82 | -20 83 | 4 84 | 6 85 | -18 86 | 0 87 | 12 88 | -9 89 | 2 90 | 1 91 | 0 92 | 4 93 | -3 94 | -1 95 | 9 96 | -2 97 | 8 98 | 3 99 | 0 100 | -1 101 | 5 102 | 1 103 | -3 104 | 4 105 | 4 106 | 1 107 | 0 108 | 0 109 | -1 110 | 2 111 | 4 112 | -5 113 | 6 114 | 1 115 | 1 116 | -1 117 | -1 118 | 6 119 | 2 120 | 0 121 | 0 122 | -7 -------------------------------------------------------------------------------- /src/igrf/datfiles/dgrf1965.dat: -------------------------------------------------------------------------------- 1 | dgrf1965 2 | 10 6371.2 1965.0 3 | -30334 4 | -2119 5 | 5776 6 | -1662 7 | 2997 8 | -2016 9 | 1594 10 | 114 11 | 1297 12 | -2038 13 | -404 14 | 1292 15 | 240 16 | 856 17 | -165 18 | 957 19 | 804 20 | 148 21 | 479 22 | -269 23 | -390 24 | 13 25 | 252 26 | -269 27 | -219 28 | 358 29 | 19 30 | 254 31 | 128 32 | -31 33 | -126 34 | -157 35 | -97 36 | -62 37 | 81 38 | 45 39 | 61 40 | -11 41 | 8 42 | 100 43 | -228 44 | 68 45 | 4 46 | -32 47 | 1 48 | -8 49 | -111 50 | -7 51 | 75 52 | -57 53 | -61 54 | 4 55 | -27 56 | 13 57 | -2 58 | -26 59 | 6 60 | -6 61 | 26 62 | 13 63 | -23 64 | 1 65 | -12 66 | 13 67 | 5 68 | 7 69 | -4 70 | -12 71 | -14 72 | 9 73 | 0 74 | -16 75 | 8 76 | 4 77 | -1 78 | 24 79 | 11 80 | -3 81 | 4 82 | -17 83 | 8 84 | 10 85 | -22 86 | 2 87 | 15 88 | -13 89 | 7 90 | 10 91 | -4 92 | -1 93 | -5 94 | -1 95 | 10 96 | 5 97 | 10 98 | 1 99 | -4 100 | -2 101 | 1 102 | -2 103 | -3 104 | 2 105 | 2 106 | 1 107 | -5 108 | 2 109 | -2 110 | 6 111 | 4 112 | -4 113 | 4 114 | 0 115 | 0 116 | -2 117 | 2 118 | 3 119 | 2 120 | 0 121 | 0 122 | -6 -------------------------------------------------------------------------------- /src/igrf/datfiles/dgrf1970.dat: -------------------------------------------------------------------------------- 1 | dgrf1970 2 | 10 6371.2 1970.0 3 | -30220 4 | -2068 5 | 5737 6 | -1781 7 | 3000 8 | -2047 9 | 1611 10 | 25 11 | 1287 12 | -2091 13 | -366 14 | 1278 15 | 251 16 | 838 17 | -196 18 | 952 19 | 800 20 | 167 21 | 461 22 | -266 23 | -395 24 | 26 25 | 234 26 | -279 27 | -216 28 | 359 29 | 26 30 | 262 31 | 139 32 | -42 33 | -139 34 | -160 35 | -91 36 | -56 37 | 83 38 | 43 39 | 64 40 | -12 41 | 15 42 | 100 43 | -212 44 | 72 45 | 2 46 | -37 47 | 3 48 | -6 49 | -112 50 | 1 51 | 72 52 | -57 53 | -70 54 | 1 55 | -27 56 | 14 57 | -4 58 | -22 59 | 8 60 | -2 61 | 23 62 | 13 63 | -23 64 | -2 65 | -11 66 | 14 67 | 6 68 | 7 69 | -2 70 | -15 71 | -13 72 | 6 73 | -3 74 | -17 75 | 5 76 | 6 77 | 0 78 | 21 79 | 11 80 | -6 81 | 3 82 | -16 83 | 8 84 | 10 85 | -21 86 | 2 87 | 16 88 | -12 89 | 6 90 | 10 91 | -4 92 | -1 93 | -5 94 | 0 95 | 10 96 | 3 97 | 11 98 | 1 99 | -2 100 | -1 101 | 1 102 | -3 103 | -3 104 | 1 105 | 2 106 | 1 107 | -5 108 | 3 109 | -1 110 | 4 111 | 6 112 | -4 113 | 4 114 | 0 115 | 1 116 | -1 117 | 0 118 | 3 119 | 3 120 | 1 121 | -1 122 | -4 -------------------------------------------------------------------------------- /src/igrf/datfiles/dgrf1985.dat: -------------------------------------------------------------------------------- 1 | dgrf1985 2 | 10 6371.2 1985.0 3 | -29873 4 | -1905 5 | 5500 6 | -2072 7 | 3044 8 | -2197 9 | 1687 10 | -306 11 | 1296 12 | -2208 13 | -310 14 | 1247 15 | 284 16 | 829 17 | -297 18 | 936 19 | 780 20 | 232 21 | 361 22 | -249 23 | -424 24 | 69 25 | 170 26 | -297 27 | -214 28 | 355 29 | 47 30 | 253 31 | 150 32 | -93 33 | -154 34 | -164 35 | -75 36 | -46 37 | 95 38 | 53 39 | 65 40 | -16 41 | 51 42 | 88 43 | -185 44 | 69 45 | 4 46 | -48 47 | 16 48 | -1 49 | -102 50 | 21 51 | 74 52 | -62 53 | -83 54 | 3 55 | -27 56 | 24 57 | -2 58 | -6 59 | 20 60 | 4 61 | 17 62 | 10 63 | -23 64 | 0 65 | -7 66 | 21 67 | 6 68 | 8 69 | 0 70 | -19 71 | -11 72 | 5 73 | -9 74 | -23 75 | 4 76 | 11 77 | 4 78 | 14 79 | 4 80 | -15 81 | -4 82 | -11 83 | 5 84 | 10 85 | -21 86 | 1 87 | 15 88 | -12 89 | 9 90 | 9 91 | -6 92 | -3 93 | -6 94 | -1 95 | 9 96 | 7 97 | 9 98 | 1 99 | -7 100 | -5 101 | 2 102 | -4 103 | -4 104 | 1 105 | 3 106 | 0 107 | -5 108 | 3 109 | -2 110 | 6 111 | 5 112 | -4 113 | 3 114 | 0 115 | 1 116 | -1 117 | 2 118 | 4 119 | 3 120 | 0 121 | 0 122 | -6 -------------------------------------------------------------------------------- /src/igrf/datfiles/dgrf1990.dat: -------------------------------------------------------------------------------- 1 | dgrf1990 2 | 10 6371.2 1990.0 3 | -29775 4 | -1848 5 | 5406 6 | -2131 7 | 3059 8 | -2279 9 | 1686 10 | -373 11 | 1314 12 | -2239 13 | -284 14 | 1248 15 | 293 16 | 802 17 | -352 18 | 939 19 | 780 20 | 247 21 | 325 22 | -240 23 | -423 24 | 84 25 | 141 26 | -299 27 | -214 28 | 353 29 | 46 30 | 245 31 | 154 32 | -109 33 | -153 34 | -165 35 | -69 36 | -36 37 | 97 38 | 61 39 | 65 40 | -16 41 | 59 42 | 82 43 | -178 44 | 69 45 | 3 46 | -52 47 | 18 48 | 1 49 | -96 50 | 24 51 | 77 52 | -64 53 | -80 54 | 2 55 | -26 56 | 26 57 | 0 58 | -1 59 | 21 60 | 5 61 | 17 62 | 9 63 | -23 64 | 0 65 | -4 66 | 23 67 | 5 68 | 10 69 | -1 70 | -19 71 | -10 72 | 6 73 | -12 74 | -22 75 | 3 76 | 12 77 | 4 78 | 12 79 | 2 80 | -16 81 | -6 82 | -10 83 | 4 84 | 9 85 | -20 86 | 1 87 | 15 88 | -12 89 | 11 90 | 9 91 | -7 92 | -4 93 | -7 94 | -2 95 | 9 96 | 7 97 | 8 98 | 1 99 | -7 100 | -6 101 | 2 102 | -3 103 | -4 104 | 2 105 | 2 106 | 1 107 | -5 108 | 3 109 | -2 110 | 6 111 | 4 112 | -4 113 | 3 114 | 0 115 | 1 116 | -2 117 | 3 118 | 3 119 | 3 120 | -1 121 | 0 122 | -6 -------------------------------------------------------------------------------- /src/igrf/datfiles/igrf1900.dat: -------------------------------------------------------------------------------- 1 | igrf1900 2 | 10 6371.2 1900.0 3 | -31543 4 | -2298 5 | 5922 6 | -677 7 | 2905 8 | -1061 9 | 924 10 | 1121 11 | 1022 12 | -1469 13 | -330 14 | 1256 15 | 3 16 | 572 17 | 523 18 | 876 19 | 628 20 | 195 21 | 660 22 | -69 23 | -361 24 | -210 25 | 134 26 | -75 27 | -184 28 | 328 29 | -210 30 | 264 31 | 53 32 | 5 33 | -33 34 | -86 35 | -124 36 | -16 37 | 3 38 | 63 39 | 61 40 | -9 41 | -11 42 | 83 43 | -217 44 | 2 45 | -58 46 | -35 47 | 59 48 | 36 49 | -90 50 | -69 51 | 70 52 | -55 53 | -45 54 | 0 55 | -13 56 | 34 57 | -10 58 | -41 59 | -1 60 | -21 61 | 28 62 | 18 63 | -12 64 | 6 65 | -22 66 | 11 67 | 8 68 | 8 69 | -4 70 | -14 71 | -9 72 | 7 73 | 1 74 | -13 75 | 2 76 | 5 77 | -9 78 | 16 79 | 5 80 | -5 81 | 8 82 | -18 83 | 8 84 | 10 85 | -20 86 | 1 87 | 14 88 | -11 89 | 5 90 | 12 91 | -3 92 | 1 93 | -2 94 | -2 95 | 8 96 | 2 97 | 10 98 | -1 99 | -2 100 | -1 101 | 2 102 | -3 103 | -4 104 | 2 105 | 2 106 | 1 107 | -5 108 | 2 109 | -2 110 | 6 111 | 6 112 | -4 113 | 4 114 | 0 115 | 0 116 | -2 117 | 2 118 | 4 119 | 2 120 | 0 121 | 0 122 | -6 -------------------------------------------------------------------------------- /src/igrf/datfiles/igrf1905.dat: -------------------------------------------------------------------------------- 1 | igrf1905 2 | 10 6371.2 1905.0 3 | -31464 4 | -2298 5 | 5909 6 | -728 7 | 2928 8 | -1086 9 | 1041 10 | 1065 11 | 1037 12 | -1494 13 | -357 14 | 1239 15 | 34 16 | 635 17 | 480 18 | 880 19 | 643 20 | 203 21 | 653 22 | -77 23 | -380 24 | -201 25 | 146 26 | -65 27 | -192 28 | 328 29 | -193 30 | 259 31 | 56 32 | -1 33 | -32 34 | -93 35 | -125 36 | -26 37 | 11 38 | 62 39 | 60 40 | -7 41 | -11 42 | 86 43 | -221 44 | 4 45 | -57 46 | -32 47 | 57 48 | 32 49 | -92 50 | -67 51 | 70 52 | -54 53 | -46 54 | 0 55 | -14 56 | 33 57 | -11 58 | -41 59 | 0 60 | -20 61 | 28 62 | 18 63 | -12 64 | 6 65 | -22 66 | 11 67 | 8 68 | 8 69 | -4 70 | -15 71 | -9 72 | 7 73 | 1 74 | -13 75 | 2 76 | 5 77 | -8 78 | 16 79 | 5 80 | -5 81 | 8 82 | -18 83 | 8 84 | 10 85 | -20 86 | 1 87 | 14 88 | -11 89 | 5 90 | 12 91 | -3 92 | 1 93 | -2 94 | -2 95 | 8 96 | 2 97 | 10 98 | 0 99 | -2 100 | -1 101 | 2 102 | -3 103 | -4 104 | 2 105 | 2 106 | 1 107 | -5 108 | 2 109 | -2 110 | 6 111 | 6 112 | -4 113 | 4 114 | 0 115 | 0 116 | -2 117 | 2 118 | 4 119 | 2 120 | 0 121 | 0 122 | -6 -------------------------------------------------------------------------------- /src/igrf/datfiles/igrf1910.dat: -------------------------------------------------------------------------------- 1 | igrf1910 2 | 10 6371.2 1910.0 3 | -31354 4 | -2297 5 | 5898 6 | -769 7 | 2948 8 | -1128 9 | 1176 10 | 1000 11 | 1058 12 | -1524 13 | -389 14 | 1223 15 | 62 16 | 705 17 | 425 18 | 884 19 | 660 20 | 211 21 | 644 22 | -90 23 | -400 24 | -189 25 | 160 26 | -55 27 | -201 28 | 327 29 | -172 30 | 253 31 | 57 32 | -9 33 | -33 34 | -102 35 | -126 36 | -38 37 | 21 38 | 62 39 | 58 40 | -5 41 | -11 42 | 89 43 | -224 44 | 5 45 | -54 46 | -29 47 | 54 48 | 28 49 | -95 50 | -65 51 | 71 52 | -54 53 | -47 54 | 1 55 | -14 56 | 32 57 | -12 58 | -40 59 | 1 60 | -19 61 | 28 62 | 18 63 | -13 64 | 6 65 | -22 66 | 11 67 | 8 68 | 8 69 | -4 70 | -15 71 | -9 72 | 6 73 | 1 74 | -13 75 | 2 76 | 5 77 | -8 78 | 16 79 | 5 80 | -5 81 | 8 82 | -18 83 | 8 84 | 10 85 | -20 86 | 1 87 | 14 88 | -11 89 | 5 90 | 12 91 | -3 92 | 1 93 | -2 94 | -2 95 | 8 96 | 2 97 | 10 98 | 0 99 | -2 100 | -1 101 | 2 102 | -3 103 | -4 104 | 2 105 | 2 106 | 1 107 | -5 108 | 2 109 | -2 110 | 6 111 | 6 112 | -4 113 | 4 114 | 0 115 | 0 116 | -2 117 | 2 118 | 4 119 | 2 120 | 0 121 | 0 122 | -6 -------------------------------------------------------------------------------- /src/igrf/datfiles/igrf1915.dat: -------------------------------------------------------------------------------- 1 | igrf1915 2 | 10 6371.2 1915.0 3 | -31212 4 | -2306 5 | 5875 6 | -802 7 | 2956 8 | -1191 9 | 1309 10 | 917 11 | 1084 12 | -1559 13 | -421 14 | 1212 15 | 84 16 | 778 17 | 360 18 | 887 19 | 678 20 | 218 21 | 631 22 | -109 23 | -416 24 | -173 25 | 178 26 | -51 27 | -211 28 | 327 29 | -148 30 | 245 31 | 58 32 | -16 33 | -34 34 | -111 35 | -126 36 | -51 37 | 32 38 | 61 39 | 57 40 | -2 41 | -10 42 | 93 43 | -228 44 | 8 45 | -51 46 | -26 47 | 49 48 | 23 49 | -98 50 | -62 51 | 72 52 | -54 53 | -48 54 | 2 55 | -14 56 | 31 57 | -12 58 | -38 59 | 2 60 | -18 61 | 28 62 | 19 63 | -15 64 | 6 65 | -22 66 | 11 67 | 8 68 | 8 69 | -4 70 | -15 71 | -9 72 | 6 73 | 2 74 | -13 75 | 3 76 | 5 77 | -8 78 | 16 79 | 6 80 | -5 81 | 8 82 | -18 83 | 8 84 | 10 85 | -20 86 | 1 87 | 14 88 | -11 89 | 5 90 | 12 91 | -3 92 | 1 93 | -2 94 | -2 95 | 8 96 | 2 97 | 10 98 | 0 99 | -2 100 | -1 101 | 2 102 | -3 103 | -4 104 | 2 105 | 2 106 | 1 107 | -5 108 | 2 109 | -2 110 | 6 111 | 6 112 | -4 113 | 4 114 | 0 115 | 0 116 | -2 117 | 1 118 | 4 119 | 2 120 | 0 121 | 0 122 | -6 -------------------------------------------------------------------------------- /src/igrf/datfiles/igrf1925.dat: -------------------------------------------------------------------------------- 1 | igrf1925 2 | 10 6371.2 1925.0 3 | -30926 4 | -2318 5 | 5817 6 | -893 7 | 2969 8 | -1334 9 | 1471 10 | 728 11 | 1140 12 | -1645 13 | -462 14 | 1202 15 | 119 16 | 881 17 | 229 18 | 891 19 | 711 20 | 216 21 | 601 22 | -163 23 | -426 24 | -130 25 | 217 26 | -70 27 | -230 28 | 326 29 | -96 30 | 226 31 | 58 32 | -28 33 | -44 34 | -125 35 | -122 36 | -69 37 | 51 38 | 61 39 | 54 40 | 3 41 | -9 42 | 99 43 | -238 44 | 14 45 | -40 46 | -18 47 | 39 48 | 13 49 | -103 50 | -52 51 | 73 52 | -54 53 | -50 54 | 3 55 | -14 56 | 27 57 | -14 58 | -35 59 | 5 60 | -14 61 | 29 62 | 19 63 | -17 64 | 6 65 | -21 66 | 11 67 | 7 68 | 8 69 | -3 70 | -15 71 | -9 72 | 6 73 | 2 74 | -14 75 | 4 76 | 5 77 | -7 78 | 17 79 | 7 80 | -5 81 | 8 82 | -19 83 | 8 84 | 10 85 | -20 86 | 1 87 | 14 88 | -11 89 | 5 90 | 12 91 | -3 92 | 1 93 | -2 94 | -2 95 | 9 96 | 2 97 | 10 98 | 0 99 | -2 100 | -1 101 | 2 102 | -3 103 | -4 104 | 2 105 | 2 106 | 1 107 | -5 108 | 2 109 | -2 110 | 6 111 | 6 112 | -4 113 | 4 114 | 0 115 | 0 116 | -2 117 | 1 118 | 4 119 | 3 120 | 0 121 | 0 122 | -6 -------------------------------------------------------------------------------- /src/igrf/datfiles/igrf1930.dat: -------------------------------------------------------------------------------- 1 | igrf1930 2 | 10 6371.2 1930.0 3 | -30805 4 | -2316 5 | 5808 6 | -951 7 | 2980 8 | -1424 9 | 1517 10 | 644 11 | 1172 12 | -1692 13 | -480 14 | 1205 15 | 133 16 | 907 17 | 166 18 | 896 19 | 727 20 | 205 21 | 584 22 | -195 23 | -422 24 | -109 25 | 234 26 | -90 27 | -237 28 | 327 29 | -72 30 | 218 31 | 60 32 | -32 33 | -53 34 | -131 35 | -118 36 | -74 37 | 58 38 | 60 39 | 53 40 | 4 41 | -9 42 | 102 43 | -242 44 | 19 45 | -32 46 | -16 47 | 32 48 | 8 49 | -104 50 | -46 51 | 74 52 | -54 53 | -51 54 | 4 55 | -15 56 | 25 57 | -14 58 | -34 59 | 6 60 | -12 61 | 29 62 | 18 63 | -18 64 | 6 65 | -20 66 | 11 67 | 7 68 | 8 69 | -3 70 | -15 71 | -9 72 | 5 73 | 2 74 | -14 75 | 5 76 | 5 77 | -6 78 | 18 79 | 8 80 | -5 81 | 8 82 | -19 83 | 8 84 | 10 85 | -20 86 | 1 87 | 14 88 | -12 89 | 5 90 | 12 91 | -3 92 | 1 93 | -2 94 | -2 95 | 9 96 | 3 97 | 10 98 | 0 99 | -2 100 | -2 101 | 2 102 | -3 103 | -4 104 | 2 105 | 2 106 | 1 107 | -5 108 | 2 109 | -2 110 | 6 111 | 6 112 | -4 113 | 4 114 | 0 115 | 0 116 | -2 117 | 1 118 | 4 119 | 3 120 | 0 121 | 0 122 | -6 -------------------------------------------------------------------------------- /src/igrf/datfiles/igrf1935.dat: -------------------------------------------------------------------------------- 1 | igrf1935 2 | 10 6371.2 1935.0 3 | -30715 4 | -2306 5 | 5812 6 | -1018 7 | 2984 8 | -1520 9 | 1550 10 | 586 11 | 1206 12 | -1740 13 | -494 14 | 1215 15 | 146 16 | 918 17 | 101 18 | 903 19 | 744 20 | 188 21 | 565 22 | -226 23 | -415 24 | -90 25 | 249 26 | -114 27 | -241 28 | 329 29 | -51 30 | 211 31 | 64 32 | -33 33 | -64 34 | -136 35 | -115 36 | -76 37 | 64 38 | 59 39 | 53 40 | 4 41 | -8 42 | 104 43 | -246 44 | 25 45 | -25 46 | -15 47 | 25 48 | 4 49 | -106 50 | -40 51 | 74 52 | -53 53 | -52 54 | 4 55 | -17 56 | 23 57 | -14 58 | -33 59 | 7 60 | -11 61 | 29 62 | 18 63 | -19 64 | 6 65 | -19 66 | 11 67 | 7 68 | 8 69 | -3 70 | -15 71 | -9 72 | 5 73 | 1 74 | -15 75 | 6 76 | 5 77 | -6 78 | 18 79 | 8 80 | -5 81 | 7 82 | -19 83 | 8 84 | 10 85 | -20 86 | 1 87 | 15 88 | -12 89 | 5 90 | 11 91 | -3 92 | 1 93 | -3 94 | -2 95 | 9 96 | 3 97 | 11 98 | 0 99 | -2 100 | -2 101 | 2 102 | -3 103 | -4 104 | 2 105 | 2 106 | 1 107 | -5 108 | 2 109 | -2 110 | 6 111 | 6 112 | -4 113 | 4 114 | 0 115 | 0 116 | -1 117 | 2 118 | 4 119 | 3 120 | 0 121 | 0 122 | -6 -------------------------------------------------------------------------------- /src/igrf/datfiles/igrf2025s.dat: -------------------------------------------------------------------------------- 1 | igrf2025s 2 | 8 6371.2 2030.0 3 | 12.6 4 | 10.0 5 | -21.5 6 | -11.2 7 | -5.3 8 | -27.3 9 | -8.3 10 | -11.1 11 | -1.5 12 | -4.4 13 | 3.8 14 | 0.4 15 | -0.2 16 | -15.6 17 | -3.9 18 | -1.7 19 | -2.3 20 | -1.3 21 | -5.8 22 | 4.1 23 | 5.4 24 | 1.6 25 | -6.8 26 | -4.1 27 | 0.6 28 | 1.3 29 | -0.5 30 | 0.0 31 | 2.1 32 | 0.7 33 | 0.5 34 | 2.3 35 | 1.7 36 | 1.0 37 | 1.9 38 | -0.2 39 | -0.3 40 | 0.3 41 | 0.8 42 | -1.6 43 | 1.2 44 | -0.4 45 | -0.8 46 | 0.8 47 | 0.4 48 | 0.7 49 | 0.9 50 | 0.9 51 | -0.1 52 | -0.1 53 | 0.6 54 | -0.1 55 | 0.5 56 | 0.5 57 | -0.7 58 | -0.1 59 | 0.0 60 | -0.8 61 | -0.9 62 | -0.8 63 | 0.5 64 | 0.9 65 | -0.3 66 | -0.1 67 | 0.2 68 | -0.3 69 | 0.0 70 | 0.4 71 | 0.4 72 | -0.3 73 | -0.1 74 | 0.4 75 | 0.3 76 | -0.5 77 | 0.1 78 | -0.6 79 | 0.0 80 | 0.3 81 | 0.3 82 | 0.2 83 | -------------------------------------------------------------------------------- /src/igrf/igrfcoefs.mat: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AcubeSAT/adcs-simulation/53e28f5e07e3859172d3188946477df381804745/src/igrf/igrfcoefs.mat -------------------------------------------------------------------------------- /src/orbit propagator/GPS_CoordinateXforms/DOCS/DataSpace2SurfaceTransformations.pdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AcubeSAT/adcs-simulation/53e28f5e07e3859172d3188946477df381804745/src/orbit propagator/GPS_CoordinateXforms/DOCS/DataSpace2SurfaceTransformations.pdf -------------------------------------------------------------------------------- /src/orbit propagator/GPS_CoordinateXforms/DOCS/NIMA Definition of WGS84.pdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AcubeSAT/adcs-simulation/53e28f5e07e3859172d3188946477df381804745/src/orbit propagator/GPS_CoordinateXforms/DOCS/NIMA Definition of WGS84.pdf -------------------------------------------------------------------------------- /src/orbit propagator/GPS_CoordinateXforms/EarthModel.m: -------------------------------------------------------------------------------- 1 | function [a,f] = EarthModel 2 | % 3 | % Define the constants for the WGS-84 ellipsoidal Earth model. 4 | % 5 | % Outputs: 6 | % a - semi-major axis of the Earth ellipsoid model 7 | % f - flattening 8 | 9 | a = 6378137.0; %meters 10 | f = 1.0/298.257223563; 11 | 12 | return -------------------------------------------------------------------------------- /src/orbit propagator/GPS_CoordinateXforms/Rotate_ecf2tcs.m: -------------------------------------------------------------------------------- 1 | function D=Rotate_ecf2tcs(origin) 2 | % 3 | % Rotate free ecf vector into alignment with tcs 4 | % xyz=DXYZ 5 | % 6 | clat=cos(origin(1)); slat=sin(origin(1)); 7 | clon=cos(origin(2)); slon=sin(origin(2)); 8 | D=[-slon, clon, 0; -slat*clon, -slat*slon, clat; clat*clon, clat*slon, slat]; 9 | return 10 | -------------------------------------------------------------------------------- /src/orbit propagator/GPS_CoordinateXforms/ecf2llhT.m: -------------------------------------------------------------------------------- 1 | function llh=ecf2llhT(ecf) 2 | % 3 | % Description: 4 | % This function returns the [lat lon hgt] LLH coordinates 5 | % of the given earth center fixed (ECF) coordinates. 6 | % 7 | % Usage: 8 | % llh=ecf2llhT(ecf) 9 | % 10 | % Inputs 11 | % ecf - 3xN Matrix of Vectors in ECF coordinates (meters) 12 | % where 13 | % x(1,:) is Greenwich meridan; (0 lon, 0 lat) 14 | % y(2,:) is Easterly 15 | % z(3,:) is North Pole 16 | % 17 | % Outputs: 18 | % llh - 3xN Matrix of Vectors 19 | % where 20 | % llh(1,:) is latitude positive (radians) 21 | % llh(2,:) is longitude positive East (radians) 22 | % llh(3,:) is height (meters) 23 | % 24 | 25 | % Need an origin to go from ECF to UVW and UVW to LLH. 26 | origin = [0 0 0]; 27 | 28 | uvw = ecf2uvwT(ecf,origin); 29 | 30 | llh=zeros(size(uvw)); 31 | LLH = uvw2llhT(uvw,origin); 32 | llh(1,:)=LLH.lat; 33 | llh(2,:)=LLH.lon; 34 | llh(3,:)=LLH.hgt; 35 | 36 | return 37 | -------------------------------------------------------------------------------- /src/orbit propagator/GPS_CoordinateXforms/ecf2uvwT.m: -------------------------------------------------------------------------------- 1 | function uvw = ecf2uvwT( ecf, origin ) 2 | % 3 | % Description: 4 | % This function will rotate ECF coordinates into UVW coordinates: 5 | % X axis (U axis) is colinear with longitude of origin 6 | % 7 | % Usage: 8 | % uvw = ecf2uvw( ecf, origin ) 9 | % 10 | % Inputs: 11 | % ecf 3xN array of vectors in ECF coordinates 12 | % 13 | % x1 x2 x3 ... xN 14 | % ecf= y1 y2 y3 ... yN 15 | % z1 z2 z3 ... zN 16 | % 17 | % Outputs: 18 | % uvw 3xN array of vectors in UVW coordinates 19 | % 20 | 21 | if isvector(origin) 22 | origin = origin(:); 23 | end 24 | if isvector(ecf) 25 | ecf = ecf(:); 26 | end 27 | 28 | YAW_TYPE = 1; 29 | DC = Get_DirCos_ForwardT (origin(2,:), YAW_TYPE); 30 | 31 | sz = size(origin); 32 | sze = size(ecf); 33 | 34 | if sz(2)==1 35 | uvw = DC*ecf; 36 | elseif sze(2)==1 37 | uvw = zeros(3,sz(2)); 38 | for n=1:sz(2) 39 | uvw(:,n)=DC(:,:,n)*ecf; 40 | end 41 | elseif sz(2)==sze(2) 42 | uvw = zeros(3,sz(2)); 43 | for n=1:sz(2) 44 | uvw(:,n)=DC(:,:,n)*ecf(:,n); 45 | end 46 | else 47 | error('Inconsistent dimensions'); 48 | end 49 | 50 | return -------------------------------------------------------------------------------- /src/orbit propagator/GPS_CoordinateXforms/llh2tcsT.m: -------------------------------------------------------------------------------- 1 | function [tcs]=llh2tcsT(llh,origin); 2 | % 3 | % Description: 4 | % This function returns the x, y, and z topocentric (TCS) 5 | % coordinates of the point specified by llh [lat lon hgt], 6 | % relative to the input origin [lat lon alt]. 7 | % 8 | % Usage: 9 | % tcs=llh2tcs_mks(llh,origin); 10 | % 11 | % Inputs: 12 | % llh - 3xN Matrix of Vectors in LLH coordinates 13 | % where 14 | % llh(1,:) is latitude (radians) 15 | % llh(2,:) is longitude (radians) 16 | % llh(3,:) is height (meters) 17 | % origin - 3xN Matrix of Vectors in LLH coordinates 18 | % where 19 | % origin(1,:) is latitude (radians) 20 | % origin(2,:) is longitude (radians) 21 | % origin(3,:) is height (meters) 22 | % 23 | % Outputs 24 | % tcs - 3XN Matrix of Vectors in TCS coordinates (meters) 25 | % where 26 | % tcs(1,:) is x 27 | % tcs(2,:) is y 28 | % tcs(3,:) is z 29 | % 30 | 31 | 32 | ecf = llh2ecfT(llh); 33 | 34 | uvw = ecf2uvwT(ecf,origin); 35 | 36 | tcs = uvw2tcsT(uvw,origin); 37 | 38 | return 39 | -------------------------------------------------------------------------------- /src/orbit propagator/GPS_CoordinateXforms/tcs2ecfR.m: -------------------------------------------------------------------------------- 1 | function OMEGA=tcs2ecfR(origin) 2 | % Generate tcs2ecf rotation matrix 3 | % v*OMEGA'=tcs2ecf_vel(v,origin); 4 | % 5 | YAW_TYPE = 1; 6 | PITCH_TYPE = 2; 7 | ROLL_TYPE = 3; 8 | 9 | DC1 = Get_DirCos_ForwardT (pi/2, ROLL_TYPE); 10 | DC2 = Get_DirCos_ForwardT (pi/2, PITCH_TYPE); 11 | DC21=DC2*DC1; 12 | DC3 = Get_DirCos_ForwardT (-origin(1,:), ROLL_TYPE); 13 | DC4 = Get_DirCos_ForwardT (-origin(2,:), YAW_TYPE); 14 | 15 | sz=size(origin); 16 | if sz(2)==1 17 | DC = DC3*DC21; 18 | DCINV = DC^(-1); 19 | OMEGA=DC4*DCINV; 20 | else 21 | OMEGA=zeros(3,3,sz(2)); 22 | for n=1:sz(2) 23 | DC=DC3(:,:,n)*DC21; 24 | DCINV=DC^(-1); 25 | OMEGA(:,:,n)=DC4(:,:,n)*DCINV; 26 | end 27 | end 28 | return -------------------------------------------------------------------------------- /src/orbit propagator/GPS_CoordinateXforms/tcs2ecfT.m: -------------------------------------------------------------------------------- 1 | function [ecf] = tcs2ecfT(tcs,origin); 2 | % 3 | % Description: 4 | % Transform from TCS into ECF. 5 | 6 | uvw = tcs2uvwT(tcs,origin); 7 | ecf = uvw2ecfT(uvw,origin); 8 | 9 | return -------------------------------------------------------------------------------- /src/orbit propagator/GPS_CoordinateXforms/tcs2llhT.m: -------------------------------------------------------------------------------- 1 | function [llh]=tcs2llhT(tcs,origin); 2 | % 3 | % Description: 4 | % This function returns the LLH coordinates of the point specified by 5 | % x,y,z topocentric (TCS) coordinates relative to the input origin. 6 | % 7 | % Usage: 8 | % llh=tcs2llhT(tcs,origin); 9 | % 10 | % Inputs: 11 | % tcs - Nx3 Matrix of Vectors in TCS coordinates (meters) 12 | % where 13 | % tcs(1,:) is x 14 | % tcs(2,:) is y 15 | % tcs(3,:) is z 16 | % 17 | % Outputs 18 | % llh - Nx3 Matrix of Vectors in LLH coordinates 19 | % where 20 | % llh(1,:) is latitude (radians) 21 | % llh(2,:) is longitude (radians) 22 | % llh(3,:) is height (meters) 23 | % 24 | 25 | if isvector(tcs) 26 | tcs = tcs(:); 27 | end 28 | if isvector(origin) 29 | origin = origin(:); 30 | end 31 | 32 | uvw=tcs2uvwT(tcs,origin); 33 | 34 | llh=zeros(size(uvw)); 35 | LLH = uvw2llhT(uvw,origin); 36 | llh(1,:)=LLH.lat; 37 | llh(2,:)=LLH.lon; 38 | llh(3,:)=LLH.hgt; 39 | 40 | return 41 | -------------------------------------------------------------------------------- /src/orbit propagator/GPS_CoordinateXforms/tcs2tcsT.m: -------------------------------------------------------------------------------- 1 | function [tcs2] = tcs2tcs(tcs1,origin1,origin2) 2 | % 3 | % Description: 4 | % Transform TCS relative to origin1 into ECF, 5 | % then from ECF to TCS relative to origin2. 6 | % 7 | 8 | uvw1 = tcs2uvwT(tcs1,origin1); 9 | ecf = uvw2ecfT(uvw1,origin1); 10 | uvw2 = ecf2uvwT(ecf,origin2); 11 | tcs2 = uvw2tcsT(uvw2,origin2); 12 | 13 | return 14 | -------------------------------------------------------------------------------- /src/orbit propagator/GPS_CoordinateXforms/uvw2ecfT.m: -------------------------------------------------------------------------------- 1 | function [ecf] = uvw2ecfT(UVW,origin) 2 | % 3 | % Description: 4 | % Rotate UVW into ECF: X axis (U axis) is colinear with longitude of origin. 5 | % 6 | 7 | if isvector(UVW) 8 | UVW = UVW(:); 9 | end 10 | if isvector(origin) 11 | origin = origin(:); 12 | end 13 | 14 | YAW_TYPE = 1; 15 | 16 | DC = Get_DirCos_ForwardT(-origin(2,:),YAW_TYPE); 17 | 18 | sz=size(DC); 19 | if length(sz)==3 20 | ecf = zeros(3,sz(3)); 21 | for n=1:sz(3) 22 | ecf(:,n)=DC(:,:,n)*UVW(:,n); 23 | end 24 | else 25 | ecf = DC*UVW; 26 | end 27 | 28 | return -------------------------------------------------------------------------------- /src/orbit propagator/README.md: -------------------------------------------------------------------------------- 1 | ## Orbit Propagator 2 | This folder includes the SGP4 Orbit Propagator software, directly cloned from the [Aerodynamic Software by David Vallado](https://celestrak.com/software/vallado-sw.php). This model is used to estimate the predicted satellite position on the Earth-Centered Inertial frame based on the satellite time and TLE file. 3 | 4 | The used TLE files can be found in SGP4/DemoData 5 | 6 | ### Important functions: 7 | #### SGP4/twoline2rvMOD.m 8 | Which converts the two line element set character string data to variables and initializes the sgp4 variables. 9 | 10 | #### SPG4/sgp4_2.m 11 | Which is a modified alternative to the sgp4.m function. This procedure is the sgp4 prediction model from space command. The mentioned modification allows the return of orbital parameters, as well as satellite position and velocity vectors. 12 | -------------------------------------------------------------------------------- /src/orbit propagator/SGP4/DemoData/2009210.TLE: -------------------------------------------------------------------------------- 1 | 1 32765U 08017A 09209.18550013 .00001988 00000-0 53832-4 0 3469 2 | 2 32765 13.0144 166.4925 0314115 276.2764 80.1808 14.81449833 69409 3 | -------------------------------------------------------------------------------- /src/orbit propagator/SGP4/DemoData/AAUSAT 4.TLE: -------------------------------------------------------------------------------- 1 | 1 41460U 16025E 19224.21314448 .00001683 00000-0 87612-4 0 9990 2 | 2 41460 98.0948 314.8384 0157961 166.9543 193.5938 15.07452077180880 -------------------------------------------------------------------------------- /src/orbit propagator/SGP4/DemoData/AAUSAT-II.TLE: -------------------------------------------------------------------------------- 1 | 1 32788U 08021F 19222.93605552 .00000329 00000-0 35238-4 0 9999 2 | 2 32788 97.4963 236.3104 0012530 29.0273 331.1643 14.94766136612772 3 | -------------------------------------------------------------------------------- /src/orbit propagator/SGP4/DemoData/AAUSAT-II1.TLE: -------------------------------------------------------------------------------- 1 | 1 32788U 08021F 19237.93096733 .00000424 00000-0 43943-4 0 9998 2 | 2 32788 97.4965 250.6414 0011074 339.2442 20.8328 14.94776076615019 -------------------------------------------------------------------------------- /src/orbit propagator/SGP4/DemoData/ACUBESAT.TLE: -------------------------------------------------------------------------------- 1 | 1 69696U 16025E 20183.00000000 .00002000 00000-0 49111-4 0 6969 2 | 2 69696 51.6359 167.3055 0004697 167.9894 192.1371 15.58104306696969 -------------------------------------------------------------------------------- /src/orbit propagator/SGP4/DemoData/CELTEE 1.TLE: -------------------------------------------------------------------------------- 1 | 1 41850U 16067C 19237.78301040 -.00000402 00000-0 -29646-4 0 9992 2 | 2 41850 97.9195 336.4625 0009345 148.2540 211.9246 14.97037057152112 -------------------------------------------------------------------------------- /src/orbit propagator/SGP4/DemoData/CHANDRAYAAN 2.TLE: -------------------------------------------------------------------------------- 1 | 1 44441U 19042A 19220.90000000 .00000254 00000-0 00000+0 0 9996 2 | 2 44441 21.6390 15.2140 9148223 185.2780 0.5860 0.39660859 211 -------------------------------------------------------------------------------- /src/orbit propagator/SGP4/DemoData/ENTRYSAT.TLE: -------------------------------------------------------------------------------- 1 | 1 44429U 98067QP 19237.91217825 .00005180 00000-0 91161-4 0 9996 2 | 2 44429 51.6427 14.9434 0002870 309.1017 50.9717 15.52286027 8378 -------------------------------------------------------------------------------- /src/orbit propagator/SGP4/DemoData/LCT-32765-SaoLuis.mat: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AcubeSAT/adcs-simulation/53e28f5e07e3859172d3188946477df381804745/src/orbit propagator/SGP4/DemoData/LCT-32765-SaoLuis.mat -------------------------------------------------------------------------------- /src/orbit propagator/SGP4/DemoData/LITUANICASAT-2.TLE: -------------------------------------------------------------------------------- 1 | 1 42768U 17036D 19224.38256985 .00001210 00000-0 54387-4 0 9993 2 | 2 42768 97.3509 280.8467 0015898 34.0067 326.2185 15.22927096118637 -------------------------------------------------------------------------------- /src/orbit propagator/SGP4/DemoData/NEWISS.TLE: -------------------------------------------------------------------------------- 1 | 1 69696U 16025E 23183.00000000 .00002000 00000-0 49111-4 0 6969 2 | 2 69696 51.538 259.7020 0001337 65.6040 292.8300 15.46654936696969 -------------------------------------------------------------------------------- /src/orbit propagator/SGP4/DemoData/SCION-TLE.mat: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AcubeSAT/adcs-simulation/53e28f5e07e3859172d3188946477df381804745/src/orbit propagator/SGP4/DemoData/SCION-TLE.mat -------------------------------------------------------------------------------- /src/orbit propagator/SGP4/DemoData/SL-4 DEB.TLE: -------------------------------------------------------------------------------- 1 | 1 44439U 19041C 19201.93957084 .00694249 12233-4 10000-3 0 9990 2 | 2 44439 51.5972 193.6022 0023036 47.3554 48.0010 16.32998775 33 -------------------------------------------------------------------------------- /src/orbit propagator/SGP4/DemoData/SOYUZ-MS 13.TLE: -------------------------------------------------------------------------------- 1 | 1 44437U 19041A 19223.20985160 .00001115 00000-0 26628-4 0 9991 2 | 2 44437 51.6450 88.2760 0005764 242.1270 219.6998 15.51050586 3346 -------------------------------------------------------------------------------- /src/orbit propagator/SGP4/DemoData/SSO-500-11PM.TLE: -------------------------------------------------------------------------------- 1 | 1 69696U 16025E 23183.00000000 .00002000 00000-0 49111-4 0 6969 2 | 2 69696 97.3759 266.5890 0001000 00.0000 000.0000 15.24261762696969 3 | -------------------------------------------------------------------------------- /src/orbit propagator/SGP4/DemoData/SSO-500-6PM.TLE: -------------------------------------------------------------------------------- 1 | 1 69696U 16025E 23183.00000000 .00002000 00000-0 49111-4 0 6969 2 | 2 69696 97.3759 191.5890 0001000 00.0000 000.0000 15.24261762696969 3 | -------------------------------------------------------------------------------- /src/orbit propagator/SGP4/DemoData/SSO-500-8PM.TLE: -------------------------------------------------------------------------------- 1 | 1 69696U 16025E 23183.00000000 .00002000 00000-0 49111-4 0 6969 2 | 2 69696 97.3759 221.5890 0001000 00.0000 000.0000 15.24261762696969 3 | -------------------------------------------------------------------------------- /src/orbit propagator/SGP4/DemoData/SSO-500-9PM.TLE: -------------------------------------------------------------------------------- 1 | 1 69696U 16025E 23183.00000000 .00002000 00000-0 49111-4 0 6969 2 | 2 69696 97.3759 236.5890 0001000 00.0000 000.0000 15.24261762696969 3 | -------------------------------------------------------------------------------- /src/orbit propagator/SGP4/DemoData/SSO-550-new.TLE: -------------------------------------------------------------------------------- 1 | 1 69696U 16025E 23183.00000000 .00002000 00000-0 49111-4 0 6969 2 | 2 69696 97.5670 30.0000 0001000 00.0001 000.0001 15.07773846696969 3 | -------------------------------------------------------------------------------- /src/orbit propagator/SGP4/DemoData/SSO-600-11PM.TLE: -------------------------------------------------------------------------------- 1 | 1 69696U 16025E 23183.00000000 .00002000 00000-0 49111-4 0 6969 2 | 2 69696 97.7640 266.5890 0001000 00.0000 000.0000 14.89144204204206 3 | -------------------------------------------------------------------------------- /src/orbit propagator/SGP4/DemoData/SSO-600-6PM.TLE: -------------------------------------------------------------------------------- 1 | 1 69696U 16025E 23183.00000000 .00002000 00000-0 49111-4 0 6969 2 | 2 69696 97.7640 191.5890 0001000 00.0000 000.0000 14.89144204204206 3 | -------------------------------------------------------------------------------- /src/orbit propagator/SGP4/DemoData/SSO-600-9PM.TLE: -------------------------------------------------------------------------------- 1 | 1 69696U 16025E 23183.00000000 .00002000 00000-0 49111-4 0 6969 2 | 2 69696 97.7640 236.5890 0001000 00.0000 000.0000 14.89144204204206 3 | 4 | -------------------------------------------------------------------------------- /src/orbit propagator/SGP4/DemoData/SSO500_29_08.TLE: -------------------------------------------------------------------------------- 1 | 1 69696U 16025E 23183.00000000 .00002000 00000-0 49111-4 0 6969 2 | 2 69696 97.3759 10.2738 0001000 00.0000 000.0000 15.24261762696969 -------------------------------------------------------------------------------- /src/orbit propagator/SGP4/DemoData/SSO550.TLE: -------------------------------------------------------------------------------- 1 | 1 69696U 16025E 23202.00000000 .00002000 00000-0 49111-4 0 6969 2 | 2 69696 97.5670 30.0000 0001337 78.4565 281.6749 15.07773846696969 -------------------------------------------------------------------------------- /src/orbit propagator/SGP4/DemoData/SSO550_2.TLE: -------------------------------------------------------------------------------- 1 | 1 69696U 16025E 23356.00000000 .00002000 00000-0 49111-4 0 6969 2 | 2 69696 97.5670 182.0000 0001337 78.4565 281.6749 15.07773846696969 -------------------------------------------------------------------------------- /src/orbit propagator/SGP4/DemoData/SWISSCUBE.TLE: -------------------------------------------------------------------------------- 1 | 1 35932U 09051B 19238.02970181 .00000089 00000-0 31241-4 0 9990 2 | 2 35932 98.5948 46.0278 0006805 323.5229 36.5504 14.56302537526720 -------------------------------------------------------------------------------- /src/orbit propagator/SGP4/Doc/AIAA-2006-6753-Rev1.pdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AcubeSAT/adcs-simulation/53e28f5e07e3859172d3188946477df381804745/src/orbit propagator/SGP4/Doc/AIAA-2006-6753-Rev1.pdf -------------------------------------------------------------------------------- /src/orbit propagator/SGP4/ReadTextFiles.m: -------------------------------------------------------------------------------- 1 | files=dir('*.dat'); 2 | nfiles=length(files); 3 | for nfile=1:nfiles 4 | fprintf('%3i %s \n',nfile,files(nfile).name); 5 | end 6 | nfile=input('Input file number '); 7 | dd=importdata(files(nfile).name); 8 | fprintf('%s \n',... 9 | ' YR MO DY UTSEC X(KM) Y(KM) Z(KM) VX(KM/S) VY(KM/S) VZ(KM/S) DLAT(DEG) DLON(DEG) DALT(KM)') 10 | fprintf('%4i %2i %2i %2i %10.4f %10.4f %10.4f %10.4f %10.4f %10.4f %8.4f %8.4f %8.4f\n',... 11 | dd.data(1,1:13)) 12 | -------------------------------------------------------------------------------- /src/orbit propagator/SGP4/TLEs_2027/SS0-500-6PM-2027.TLE: -------------------------------------------------------------------------------- 1 | 1 60236U 24128B 25097.96093990 .00004252 00000-0 35119-3 0 9997 2 | 2 60236 61.9930 299.3436 0047006 43.8048 316.6754 14.99730040 40774 3 | -------------------------------------------------------------------------------- /src/orbit propagator/SGP4/TLEs_2027/SSO-500-10PM.TLE: -------------------------------------------------------------------------------- 1 | 1 99999U 27112.41666667 -.00064319 00000-0 -13457-2 0 00000 2 | 2 99999 097.4042 180.2343 0251971 089.9629 291.2870 15.20999548000014 3 | -------------------------------------------------------------------------------- /src/orbit propagator/SGP4/TLEs_2027/SSO-500-11PM.TLE: -------------------------------------------------------------------------------- 1 | 1 99999U 27112.41666667 .00000000 00000-0 00000-0 0 00003 2 | 2 99999 097.4116 195.2397 0011825 245.9291 114.0710 15.24069409000015 3 | -------------------------------------------------------------------------------- /src/orbit propagator/SGP4/TLEs_2027/SSO-500-6PM.TLE: -------------------------------------------------------------------------------- 1 | 1 99999U 27112.41666667 .00000000 00000-0 00000-0 0 00003 2 | 2 99999 097.4116 120.2397 0011825 245.9291 114.0710 15.24069409000013 3 | -------------------------------------------------------------------------------- /src/orbit propagator/SGP4/TLEs_2027/SSO-500-9PM.TLE: -------------------------------------------------------------------------------- 1 | 1 99999U 27112.41666667 .00000000 00000-0 00000-0 0 00003 2 | 2 99999 097.4116 165.2397 0011825 245.9291 114.0710 15.24069409000012 3 | -------------------------------------------------------------------------------- /src/orbit propagator/SGP4/TLEs_2027/SSO-600-10PM.TLE: -------------------------------------------------------------------------------- 1 | 1 99999U 27112.41666667 .00000000 00000-0 00000-0 0 00003 2 | 2 99999 097.7976 180.2397 0011626 246.1426 113.8574 14.91366656000010 3 | -------------------------------------------------------------------------------- /src/orbit propagator/SGP4/TLEs_2027/SSO-600-11PM.TLE: -------------------------------------------------------------------------------- 1 | 1 99999U 27112.41666667 .00000000 00000-0 00000-0 0 00003 2 | 2 99999 097.7976 195.2397 0011626 246.1426 113.8574 14.91366656000016 3 | -------------------------------------------------------------------------------- /src/orbit propagator/SGP4/findIntercept.m: -------------------------------------------------------------------------------- 1 | function llh_test=findIntercept(h_intercept,u_sat,rng_sat,origin_llh,varargin) 2 | % llh_test=findIntercept(h_intercept,u_sat,origin_llh) 3 | % Find llh coordinates of h_intercept along ray to satellite defined by u_sat 4 | % 5 | % h_intercept = desired intercept height 6 | % u_sat = unit vector in tcs system pointing to satellite 7 | % origin_llh = tcs origin (llh) 8 | % 9 | if isempty(varargin) 10 | err=100; 11 | else 12 | varargin{1}=err; 13 | end 14 | h_test=0; 15 | rng_test_min=0; 16 | rng_test_max=rng_sat; 17 | while abs(h_test-h_intercept)>err 18 | rng_test=(rng_test_min+rng_test_max)/2; 19 | tcs_test=u_sat*rng_test; 20 | llh_test=tcs2llhT(tcs_test,origin_llh); 21 | h_test=llh_test(3); 22 | if h_test>=h_intercept; 23 | rng_test_max=rng_test; 24 | else 25 | rng_test_min=rng_test; 26 | end 27 | end 28 | return -------------------------------------------------------------------------------- /src/orbit propagator/SGP4/mag.m: -------------------------------------------------------------------------------- 1 | % ------------------------------------------------------------------------------ 2 | % 3 | % function mag 4 | % 5 | % this function finds the magnitude of a vector. the tolerance is set to 6 | % 0.000001, thus the 1.0e-12 for the squared test of underflows. 7 | % 8 | % author : david vallado 719-573-2600 30 may 2002 9 | % 10 | % revisions 11 | % vallado - fix tolerance to match coe, eq, etc 3 sep 2002 12 | % 13 | % inputs description range / units 14 | % vec - vector 15 | % 16 | % outputs : 17 | % mag - magnitude 18 | % 19 | % locals : 20 | % none. 21 | % 22 | % coupling : 23 | % none. 24 | % 25 | % mag = ( vec ); 26 | % ----------------------------------------------------------------------------- } 27 | 28 | function mag = mag ( vec ); 29 | 30 | temp= vec(1)*vec(1) + vec(2)*vec(2) + vec(3)*vec(3); 31 | 32 | if abs( temp ) >= 1.0e-16 33 | mag= sqrt( temp ); 34 | else 35 | mag= 0.0; 36 | end 37 | 38 | -------------------------------------------------------------------------------- /src/orbit propagator/SGP4/new_TLEs/SS0-500-10PM-new.TLE: -------------------------------------------------------------------------------- 1 | 1 69696U 24153.37500000 .00003556 00000-0 14600-3 0 00002 2 | 2 69696 097.4109 220.3413 0013406 246.4376 113.1265 15.24096754000012 -------------------------------------------------------------------------------- /src/orbit propagator/SGP4/new_TLEs/SS0-500-11PM-new.TLE: -------------------------------------------------------------------------------- 1 | 1 69696U 24153.37500000 .00003815 00000-0 15655-3 0 00001 2 | 2 69696 097.4128 235.3402 0013838 242.2789 117.2682 15.24098275000016 -------------------------------------------------------------------------------- /src/orbit propagator/SGP4/new_TLEs/SS0-500-6AM-new.TLE: -------------------------------------------------------------------------------- 1 | 1 69696U 24153.37500000 .00003450 00000-0 14173-3 0 00000 2 | 2 69696 097.4089 339.8654 0013573 245.1569 114.3646 15.24074290000014 -------------------------------------------------------------------------------- /src/orbit propagator/SGP4/new_TLEs/SS0-500-6PM-new.TLE: -------------------------------------------------------------------------------- 1 | 1 69696U 24153.37500000 .00003539 00000-0 14519-3 0 00002 2 | 2 69696 097.4114 160.3432 0013550 241.9278 117.7028 15.24123859000017 -------------------------------------------------------------------------------- /src/orbit propagator/SGP4/new_TLEs/SS0-500-9PM-new.TLE: -------------------------------------------------------------------------------- 1 | 1 69696U 24153.37500000 .00003392 00000-0 13927-3 0 00001 2 | 2 69696 097.4101 205.3425 0013696 242.0652 117.5198 15.24098784000018 -------------------------------------------------------------------------------- /src/orbit propagator/SGP4/new_TLEs/SS0-600-10PM-new.TLE: -------------------------------------------------------------------------------- 1 | 1 69696U 24153.37500000 .00000820 00000-0 82194-4 0 00007 2 | 2 69696 097.7978 220.3420 0012589 241.6962 118.2903 14.91369918000019 -------------------------------------------------------------------------------- /src/orbit propagator/SGP4/new_TLEs/SS0-600-11PM-new.TLE: -------------------------------------------------------------------------------- 1 | 1 69696U 24153.37500000 .00000897 00000-0 89971-4 0 00001 2 | 2 69696 097.7992 235.3408 0012800 242.9732 117.0363 14.91367393000014 -------------------------------------------------------------------------------- /src/orbit propagator/SGP4/siderealtime.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AcubeSAT/adcs-simulation/53e28f5e07e3859172d3188946477df381804745/src/orbit propagator/SGP4/siderealtime.m -------------------------------------------------------------------------------- /src/orbit propagator/SGP4/spg4_ecf.m: -------------------------------------------------------------------------------- 1 | function [satrec, xsat_ecf, vsat_ecf, gst]=spg4_ecf(satrec,tsince); 2 | %USAGE: [satrec, xsat_ecf, vsat_ecf, gst]=spg4_ecf(satrec,tsince); 3 | % Convert spg4 eci output to ecf 4 | 5 | [satrec, xsat_eci, vsat_eci] = sgp4(satrec,tsince); 6 | %This segment converts eci coordinates to ecf 7 | %Compute Greenwich Apparent Siderial Time 8 | gst=gstime(satrec.jdsatepoch+tsince/1440); 9 | %Now rotate the coordinates 10 | CGAST = cos(gst); SGAST = sin(gst); 11 | xsat_ecf(1)= xsat_eci(1)*CGAST+xsat_eci(2)*SGAST; 12 | xsat_ecf(2)=-xsat_eci(1)*SGAST+xsat_eci(2)*CGAST; 13 | xsat_ecf(3)= xsat_eci(3); 14 | %Apply rotation to convert velocity vector from ECI to ECEF coordinates 15 | OMEGAE = 7.29211586D-5; %Earth rotation rate in rad/s 16 | vsat_ecf(1)= vsat_eci(1)*CGAST+vsat_eci(2)*SGAST+OMEGAE*xsat_ecf(2); 17 | vsat_ecf(2)=-vsat_eci(1)*SGAST+vsat_eci(2)*CGAST-OMEGAE*xsat_ecf(1); 18 | vsat_ecf(3)= vsat_eci(3); 19 | return -------------------------------------------------------------------------------- /src/orbit propagator/utilities/alias.m: -------------------------------------------------------------------------------- 1 | function [falias,m]=alias(f,fNyq) 2 | % 3 | nf=length(f); 4 | falias=zeros(1,nf); 5 | for n=1:nf; 6 | err=1.e12; m=0; 7 | while err>fNyq/2 8 | err=abs(f(n)-m*fNyq); 9 | m=m+1; 10 | end 11 | falias(n)=f(n)-(m-1)*fNyq; 12 | end 13 | return -------------------------------------------------------------------------------- /src/orbit propagator/utilities/boxcar_avg.m: -------------------------------------------------------------------------------- 1 | function vbar=boxcar_avg(v,nspan); 2 | % M point running average 3 | npts=length(v); 4 | nmid=floor(nspan/2)+1; nupd=(nmid-1); 5 | vbar=zeros(size(v)); 6 | for m=1:npts 7 | mspan=[max(1,m-nupd):min(m+nupd,npts)]; ntot=length(mspan); 8 | vbar(m)=sum(v(mspan))/ntot; 9 | end 10 | return -------------------------------------------------------------------------------- /src/orbit propagator/utilities/computeSI.m: -------------------------------------------------------------------------------- 1 | function [SI,Ibar]=computeSI(I,nspan) 2 | %USAGE: [SI,Ibar]=computeSI(I,nspan) 3 | % 4 | %Symmetric boxcar average with reflected end corrections 5 | % 6 | npts=length(I); 7 | nmid=floor(nspan/2)+1; nupd=(nmid-1); 8 | Ibar=zeros(size(I)); SI=Ibar; 9 | for m=1:npts 10 | mspan=[max(1,m-nupd):min(m+nupd,npts)]; ntot=length(mspan); 11 | Ibar(m)=sum(I(mspan))/ntot; 12 | SI(m)=sqrt(sum(I(mspan).^2)/(ntot*Ibar(m)^2)-1); 13 | end 14 | return -------------------------------------------------------------------------------- /src/orbit propagator/utilities/dB10.m: -------------------------------------------------------------------------------- 1 | function IdB=dB10(I) 2 | % Compute 10*log10(I) 3 | %USAGE: IdB=dB10(I) 4 | %INPUTS: 5 | % I = input Intensity vector 6 | %OUTPUTS: 7 | % dB if I>0 else NaN 8 | % 9 | 10 | % Chuck Rino 11 | % Rino Consulting 12 | % July 2010 13 | % 14 | IdB=NaN*ones(size(I)); 15 | iOK=find(abs(I)>0); 16 | IdB(iOK)=10*log10(abs(I(iOK))); 17 | return -------------------------------------------------------------------------------- /src/orbit propagator/utilities/dB20.m: -------------------------------------------------------------------------------- 1 | function IdB=dB20(A) 2 | % Compute 20*log10(A) 3 | %USAGE: IdB=dB20(A) 4 | %INPUTS: 5 | % A = input amplitude vector 6 | %OUTPUTS: 7 | % dB if A>0 else NaN 8 | % 9 | 10 | % Chuck Rino 11 | % Rino Consulting 12 | % July 2010 13 | % 14 | IdB=NaN*ones(size(A)); 15 | iOK=find(abs(A)>0); 16 | IdB(iOK)=20*log10(abs(A(iOK))); 17 | return -------------------------------------------------------------------------------- /src/orbit propagator/utilities/freqs1.m: -------------------------------------------------------------------------------- 1 | function f=freqs1(nsamp, fspan, iout) 2 | % Generate DFT frequency vector 3 | %USAGE: f=freqs1(nsamp, fspan, iout) 4 | %INPUTS: 5 | % nsamp= number of samples 6 | % fspan= frequency span (2*fNyq=1/dt) 7 | % iout=0 => natural order (-fNyq:fNyq-df) 8 | % iout=1 => fft order ([0:fNyq,-fNyq:-df]) 9 | %OUTPUTS: 10 | % f= frequency vector 11 | 12 | % 13 | % Chuck Rino 14 | % Rino Consulting 15 | % July 2010 16 | 17 | if 2*fix(nsamp/2)==nsamp 18 | %nsamp is even 19 | ff=([0:nsamp-1]/nsamp-1/2)*fspan; 20 | if iout==1 21 | f(1:nsamp/2)=ff(nsamp/2+1:nsamp); 22 | f(nsamp/2+1:nsamp)=ff(1:nsamp/2); 23 | else 24 | f=ff; 25 | end 26 | else 27 | %nsamp is odd 28 | ff=([0:nsamp-1]-(nsamp-1)/2)*fspan/nsamp; 29 | if iout==1 30 | f(1:(nsamp-1)/2+1)=ff((nsamp-1)/2+1:nsamp); 31 | f((nsamp-1)/2+2:nsamp)=ff(1:(nsamp-1)/2); 32 | else 33 | f=ff; 34 | end 35 | end 36 | return 37 | -------------------------------------------------------------------------------- /src/orbit propagator/utilities/line12.m: -------------------------------------------------------------------------------- 1 | function y=line12(x,xy1,xy2) 2 | % 3 | % Non vertical line versus x passing through xy1 and xy2 4 | % 5 | if xy1(1)==xy2(1) 6 | error('use line21'); 7 | else 8 | y=(xy2(2)-xy1(2))*(x-xy1(1))/(xy2(1)-xy1(1))+xy1(2); 9 | end 10 | return -------------------------------------------------------------------------------- /src/orbit propagator/utilities/line21.m: -------------------------------------------------------------------------------- 1 | function x=line21(y,xy1,xy2) 2 | % 3 | % Non horizontal line versus y passing through xy1 and xy2 4 | % 5 | if xy1(2)==xy2(2) 6 | error('Use line12') 7 | else 8 | x=(xy2(1)-xy1(1))*(y-xy1(2))/(xy2(2)-xy1(2))+xy1(1); 9 | end 10 | return -------------------------------------------------------------------------------- /src/orbit propagator/utilities/nicefftnum.m: -------------------------------------------------------------------------------- 1 | function nfft = nicefftnum(n) 2 | % Find a highly composite even number >= n 3 | % 4 | % C. Wilson 10 October 1999 5 | 6 | testvalues =[1,3,5,9,15,25,27]; 7 | nt=2.^max(1,ceil(log2(n./testvalues))).*testvalues; 8 | nfft=min(nt); 9 | return -------------------------------------------------------------------------------- /src/orbit propagator/utilities/pointsIncluded.m: -------------------------------------------------------------------------------- 1 | function Points=pointsIncluded(xA,yA,polyRegion) 2 | % 3 | % yA,xA = Array coordinates (column, row) physical units 4 | % 5 | % polyRegion = A 2Xnpts array of ordered coordinates that define a closed 6 | % polygon 7 | %OUTPUT 8 | % Points = Subset of points in Array that lie within the polygon or 9 | % on its boundaries 10 | % 11 | 12 | % Lillian Chu 13 | % Vista Research, Inc. 14 | % December 2006 15 | % 16 | [n1,n2]=size(polyRegion); 17 | if n2~=2 18 | error('PolyRegion Error') 19 | elseif n1<3 20 | error('nodes < 3') 21 | else 22 | nodes=n1; 23 | end 24 | 25 | M = length(yA); 26 | N = length(xA); 27 | 28 | minX = min(xA); 29 | maxX = max(xA); 30 | deltaX = (maxX-minX)/(N-1); 31 | 32 | minY = min(yA); 33 | maxY = max(yA); 34 | deltaY = (maxY-minY)/(M-1); 35 | 36 | X = (polyRegion(:,1)-minX)/deltaX + 1; 37 | Y = (polyRegion(:,2)-minY)/deltaY + 1; 38 | 39 | mask = poly2mask(X,Y,M,N); 40 | Points = find(mask==1); 41 | 42 | return -------------------------------------------------------------------------------- /src/orbit propagator/utilities/polyrec.m: -------------------------------------------------------------------------------- 1 | function P=polyrec(Ps,MU) 2 | % P=polyrec(Ps,MU) 3 | % Recover original polynomial coefficients from call to [Ps,S,MU]=polyfit(x,y,N) 4 | % 5 | 6 | N=length(Ps)-1; 7 | %Coefficients are stored in decending order of n 8 | for in=1:N+1; 9 | n=N-in+1; 10 | PsN(in)=Ps(in)/MU(2).^n; 11 | end 12 | P(1)=-PsN(1); 13 | SN=-1; 14 | for in=2:N+1 %Current index 15 | m=N-in+1; %Current power [N-1:-1:0] 16 | P(in)=0; 17 | S=-1; 18 | for l=1:N-m+1 19 | S=S*SN; 20 | P(in)=P(in)+S*PsN(l)*C(N-l+1,m)*MU(1)^(N-l+1-m); 21 | end 22 | P=(-1)^(N-m)*P; 23 | end 24 | return 25 | function result=C(n,m) 26 | if m==0 27 | result=1; 28 | elseif m==1; 29 | result=n; 30 | else 31 | result=factorial(n)/factorial(m)/factorial(n-m); 32 | end 33 | return -------------------------------------------------------------------------------- /src/orbit propagator/utilities/position2index.m: -------------------------------------------------------------------------------- 1 | function [i1,i2]=position2index(ipos,n1) 2 | % 3 | % invert ipos=(i2-1)*n1+i1 4 | % 5 | nn=length(ipos); 6 | i1=zeros(nn,1); 7 | i2=zeros(nn,1); 8 | for n=1:nn 9 | i1(n)=mod(ipos(n),n1); 10 | iZero= i1==0; 11 | i1(iZero)=n1; 12 | i2(n)=(ipos(n)-i1(n))/n1+1; 13 | end 14 | return -------------------------------------------------------------------------------- /src/orbit propagator/utilities/showprogress.m: -------------------------------------------------------------------------------- 1 | function showprogress(j) 2 | % 3 | if mod(j,10)==0 4 | fprintf('*') 5 | else 6 | fprintf('.') 7 | end 8 | if mod(j,50)==0 9 | fprintf('\n') 10 | end -------------------------------------------------------------------------------- /src/orbit propagator/utilities/taylor.m: -------------------------------------------------------------------------------- 1 | function weight = taylor(nx,slldb) 2 | % 3 | %INPUT: 4 | % nx = number of data samples 5 | % slldb = sidelobe suppression in dB 6 | % 7 | %OUTPUT: 8 | % w = column vector of real weights 9 | % 10 | %Chris Wilson 20 August 2001 11 | % 12 | weight = ones(nx,1); %default weights 13 | x = linspace(-(nx-1)/2,(nx-1)/2,nx)/nx; %scaled positions of data samples 14 | a = acosh(10^(abs(slldb)/20))/pi; %scale parameter 15 | nbar = round(2*a^2+0.5); %number of terms in sum 16 | if nbar<2; return; end 17 | sigmasq = nbar^2/(a^2+(nbar-0.5)^2); 18 | %NOTE: vectorizing causes errors for extremely large nx! 19 | f = zeros(1,nbar-1); 20 | for m=1:(nbar-1) 21 | f(m) = (-1)^(m+1)/2; 22 | for n=1:(nbar-1) 23 | f(m)=f(m)*(1-m^2/sigmasq/(a^2+(n-0.5)^2)); 24 | if m~=n 25 | f(m)=f(m)/(1-(m/n)^2); 26 | end 27 | end 28 | weight = weight +2*f(m)*cos(2*pi*m*x'); 29 | end 30 | fsum = 1+2*sum(f); 31 | weight = weight/fsum; 32 | -------------------------------------------------------------------------------- /src/orbit propagator/utilities/turbsim2.m: -------------------------------------------------------------------------------- 1 | function simturb=turbsim2(rootSDF) 2 | % simturb=turbsim2(rootSDF) 3 | % 4 | % Generate realization of field with SDF rootSDF.^2 5 | % 6 | [n1,n2]=size(rootSDF); 7 | xi=zeros(n1,n2)+1i*zeros(n1,n2); 8 | xi(1:n1/2+1,1:n2/2+1) =((randn(n1/2+1,n2/2+1)+1i*randn(n1/2+1,n2/2+1)))/sqrt(2); 9 | xi(n1/2+2:n1,2:n2/2) =((randn(n1/2-1,n2/2-1)+1i*randn(n1/2-1,n2/2-1)))/sqrt(2); 10 | xi(1,1)=0; 11 | xi(1,n2/2+1) =real(xi(1,n2/2+1))/2; 12 | xi(n1/2+1,1) =real(xi(n1/2+1,1))/2; 13 | xi(n1/2+1,n2/2+1)=real(xi(n1/2+1,n2/2+1))/2; 14 | 15 | xi(n1/2+2:n1,1) =conj(xi(n1/2:-1:2,1)); 16 | xi(n1/2+2:n1,n2/2+1)=conj(xi(n1/2:-1:2,n2/2+1)); 17 | xi(1, n2/2+2:n2)=conj(xi(1, n2/2:-1:2)); 18 | xi(n1/2+1,n2/2+2:n2)=conj(xi(n1/2+1,n2/2:-1:2)); 19 | 20 | xi(2:n1/2,n2/2+2:n2) =conj(xi(n1:-1:n1/2+2,n2/2:-1:2)); 21 | xi(n1/2+2:n1,n2/2+2:n2)=conj(xi(n1/2:-1:2, n2/2:-1:2)); 22 | 23 | simturb=real(fft2(fftshift(rootSDF.*xi))); %NOTE: This scaling preserves variance 24 | return -------------------------------------------------------------------------------- /src/transformations/ECEF2NED.m: -------------------------------------------------------------------------------- 1 | % ----------------------------------------------------------------------------- 2 | % 3 | % procedure ECEF2NED2 4 | % 5 | % this procedure rotates a vector from the ECEF to the NED frame 6 | % 7 | % Inputs : 8 | % ref_vec_ecef - Vector in ECEF frame 9 | % lat - Latitude 10 | % long - Longitude 11 | % 12 | % Outputs : 13 | % ref_vector_ned - Vector in NED frame 14 | % 15 | % 16 | % Based on AOCS_DDJF 17 | % ----------------------------------------------------------------------------*/ 18 | 19 | function ref_vector_ned = ECEF2NED(ref_vec_ecef, lat, long) 20 | 21 | % Construct rotation matrix 22 | c1 = [-sin(lat) * cos(long); -sin(lat) * sin(long); cos(lat)]; 23 | c2 = [-sin(long); cos(long); 0]; 24 | c3 = [-cos(lat) * cos(long); -cos(lat) * sin(long); -sin(lat)]; 25 | 26 | % Transpose rotation matrix 27 | R = [c1, c2, c3]'; 28 | 29 | % Rotate vector 30 | ref_vector_ned = R * ref_vec_ecef; 31 | 32 | end 33 | -------------------------------------------------------------------------------- /src/transformations/NED2ECEF.m: -------------------------------------------------------------------------------- 1 | % ----------------------------------------------------------------------------- 2 | % 3 | % procedure NED2ECEF 4 | % 5 | % this procedure rotates a vector from the NED to the ECEF frame 6 | % 7 | % Inputs : 8 | % ref_vec_ned - Vector in NED frame 9 | % lat - Latitude 10 | % long - Longitude 11 | % 12 | % Outputs : 13 | % ref_vector_ecef - Vector in ECEF frame 14 | % 15 | % 16 | % Based on AOCS_DDJF 17 | % ----------------------------------------------------------------------------*/ 18 | 19 | function ref_vector_ecef = NED2ECEF(ref_vec_ned, lat, long) 20 | 21 | % % Construct rotation matrix 22 | c1 = [-sin(lat) * cos(long); -sin(lat) * sin(long); cos(lat)]; 23 | c2 = [-sin(long); cos(long); 0]; 24 | c3 = [-cos(lat) * cos(long); -cos(lat) * sin(long); -sin(lat)]; 25 | R = [c1, c2, c3]; 26 | 27 | % Rotate vector 28 | ref_vector_ecef = R * ref_vec_ned; 29 | 30 | end 31 | -------------------------------------------------------------------------------- /src/transformations/README.md: -------------------------------------------------------------------------------- 1 | ## Transformations 2 | This folder includes the required transformation rotation matrices between all defined frames with regards to the AcubeSAT AOCS design. The defined frames are: 3 | 4 | + Earth-Centered Inertial (ECI) 5 | + Earth-Centered, Earth-Fixed (ECEF/ECF) 6 | + local North-East-Down (NED) 7 | + Orbit frame 8 | 9 | #### Earth-Centered, Earth-Fixed (ECEF) to Earth-Centered Inertial (ECI) frame 10 | 11 | #### Earth-Centered, Earth-Fixed (ECEF) to local North-East-Down (NED) frame 12 | 13 | #### Earth-Centered Inertial (ECI) to Orbit frame 14 | 15 | #### angles to quaternion 16 | This function converts euler angles to quaternion using ZYX rotation sequence 17 | -------------------------------------------------------------------------------- /src/transformations/angles_to_quaternion.m: -------------------------------------------------------------------------------- 1 | % ----------------------------------------------------------------------------- 2 | % 3 | % procedure angles_to_quaternion 4 | % 5 | % this procedure creates a quaternion from the euler angles 6 | % 7 | % Inputs : 8 | % x - Euler Angles in X axis 9 | % y - Euler Angles in Y axis 10 | % z - Euler Angles in Z axis 11 | % 12 | % Outputs : 13 | % quaternion - quaternion from the Euler angles 14 | % ----------------------------------------------------------------------------*/ 15 | 16 | 17 | function [quaternion] = angles_to_quaternion(x, y, z) 18 | 19 | % Construct rotation matrix 20 | Rotation_x = [1, 0, 0; 0, cos(x), -sin(x); 0, sin(x), cos(x)]; 21 | Rotation_y = [cos(y), 0, sin(y); 0, 1, 0; -sin(y), 0, cos(y)]; 22 | Rotation_z = [cos(z), -sin(z), 0; sin(z), cos(z), 0; 0, 0, 1]; 23 | Rotation_final = Rotation_z * Rotation_y * Rotation_x; 24 | 25 | % Rotation matrix to quaternion conversion 26 | quaternion = d2q(Rotation_final); 27 | 28 | end 29 | -------------------------------------------------------------------------------- /src/transformations/quat_EB2OB.m: -------------------------------------------------------------------------------- 1 | % ----------------------------------------------------------------------------- 2 | % 3 | % procedure quat_EB2OB 4 | % 5 | % this procedure creates a quaternion from the ECI to Orbit frame 6 | % 7 | % Inputs : 8 | % q_eci_body - Quaternion from ECI to Body frame 9 | % nodem - Right Ascension of the Ascending Node 10 | % inclm - Inclination 11 | % argpm - Argument of Perigee 12 | % mm - Mean Anomaly 13 | % 14 | % Outputs : 15 | % q_orbit_body - quaternion from Orbit to Body frame 16 | % ----------------------------------------------------------------------------*/ 17 | 18 | 19 | function q_orbit_body = quat_EB2OB(q_eci_body, nodem, inclm, argpm, mm) 20 | 21 | q_orbit_eci = dcm2quat(Orbit2ECI_DCM(nodem, inclm, argpm+mm)); 22 | 23 | q_orbit_body = quatProd(q_orbit_eci, q_eci_body); 24 | q_orbit_body = q_orbit_body / norm(q_orbit_body); 25 | 26 | end 27 | -------------------------------------------------------------------------------- /src/utils/README.md: -------------------------------------------------------------------------------- 1 | ## Contents 2 | + kf_lib: Includes MEKF, UKF and KF implementations 3 | + quaternions: Includes Quaternion mathematics functions 4 | + system_model: Includes System Model functions based on the LEO space environment. -------------------------------------------------------------------------------- /src/utils/kf_lib/Kalman Tuning/Sensor Values/accelerometer.mat: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AcubeSAT/adcs-simulation/53e28f5e07e3859172d3188946477df381804745/src/utils/kf_lib/Kalman Tuning/Sensor Values/accelerometer.mat -------------------------------------------------------------------------------- /src/utils/kf_lib/Kalman Tuning/Sensor Values/gyroscope.mat: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AcubeSAT/adcs-simulation/53e28f5e07e3859172d3188946477df381804745/src/utils/kf_lib/Kalman Tuning/Sensor Values/gyroscope.mat -------------------------------------------------------------------------------- /src/utils/kf_lib/Kalman Tuning/Sensor Values/magnetometer.mat: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AcubeSAT/adcs-simulation/53e28f5e07e3859172d3188946477df381804745/src/utils/kf_lib/Kalman Tuning/Sensor Values/magnetometer.mat -------------------------------------------------------------------------------- /src/utils/kf_lib/import_kf_lib.m: -------------------------------------------------------------------------------- 1 | kf_lib_path = mfilename('fullpath'); 2 | kf_lib_path = strrep(kf_lib_path, 'import_kf_lib', ''); 3 | 4 | addpath(kf_lib_path); 5 | -------------------------------------------------------------------------------- /src/utils/quaternions/angle_calc.m: -------------------------------------------------------------------------------- 1 | %% Script for calculating the cosine of the angle between 2 vectors 2 | % 3 | % Inputs : 4 | % x - 1x3 vector 5 | % y - 1x3 vector 6 | % 7 | % Output : 8 | % output - cosine of the angle between x and y 9 | 10 | function [output] = angle_calc(x, y) 11 | 12 | x_mag = sqrt(x(1)^2+x(2)^2+x(3)^2); 13 | y_mag = sqrt(y(1)^2+y(2)^2+y(3)^2); 14 | 15 | XY_dot = x(1) * y(1) + x(2) * y(2) + x(3) * y(3); 16 | 17 | output = XY_dot / (x_mag * y_mag); 18 | 19 | end 20 | -------------------------------------------------------------------------------- /src/utils/quaternions/quatExp.m: -------------------------------------------------------------------------------- 1 | %% Script that calculates the exponential map of the rotational velocity 2 | % 3 | % Input : 4 | % v_rot - rotational velocity 5 | % 6 | % Output : 7 | % Q - quaternion that causes rotation equal to that of v_rot in unit time 8 | % 9 | % Algorithm : 10 | % v_rot = k*theta, where k is the normalized angle of rotation 11 | % norm(v_rot) = |theta| 12 | % v_rot/norm(v_rot) = k * sign(sin(theta)) 13 | % 14 | % 15 | % The if statement is used to avoid division with small values of norm_v_rot 16 | 17 | function Q = quatExp(v_rot) 18 | 19 | norm_v_rot = norm(v_rot); 20 | theta = norm_v_rot; 21 | 22 | Q = zeros(4, 1); 23 | 24 | if (norm_v_rot > 1e-16) 25 | Q(1) = cos(theta/2); 26 | Q(2:4) = sin(theta/2) * v_rot / norm_v_rot; 27 | else 28 | Q = [1, 0, 0, 0]'; 29 | end 30 | 31 | end 32 | -------------------------------------------------------------------------------- /src/utils/quaternions/quatInv.m: -------------------------------------------------------------------------------- 1 | %% Script for calculating the inverse of a quaternion 2 | % 3 | % Input : 4 | % Q - quaternion 5 | % 6 | % Output : 7 | % invQ - inverse of q 8 | % 9 | % 10 | % Q must have the form Q = [n e] where n is the scalar 11 | % and e the vector part. 12 | % Note: Q does not need to be a unit quaternion. 13 | 14 | function invQ = quatInv(Q) 15 | 16 | invQ = zeros(size(Q)); 17 | 18 | n = (Q' * Q); 19 | if (n < 1e-16) 20 | invQ = zeros(4, 1); 21 | return; 22 | end 23 | 24 | invQ(1) = Q(1); 25 | invQ(2:4) = -Q(2:4); 26 | 27 | invQ = invQ / n; 28 | 29 | end 30 | -------------------------------------------------------------------------------- /src/utils/quaternions/quatLog.m: -------------------------------------------------------------------------------- 1 | %% Script that calculates the logarithmic map of a quaternion 2 | % 3 | % Input : 4 | % Q - quaternion 5 | % 6 | % Output : 7 | % v_rot - rotational velocity that in unit time causes rotation equal to Q 8 | % 9 | % 10 | % The if statement is used, because for small values of the norm_e, 11 | % the function atan is not well defined. 12 | 13 | function v_rot = quatLog(Q) 14 | 15 | n = Q(1); 16 | e = Q(2:4); 17 | norm_e = norm(e); 18 | 19 | if (norm_e > 1e-16) 20 | theta = 2 * real(atan2(norm_e, n)); 21 | v_rot = theta * e / norm_e; 22 | else 23 | v_rot = zeros(size(e)); 24 | end 25 | 26 | end 27 | -------------------------------------------------------------------------------- /src/utils/quaternions/quatProd.m: -------------------------------------------------------------------------------- 1 | %% Script for calculating the product of 2 quaternions 2 | % 3 | % Inputs : 4 | % Q1 - quaternion 5 | % Q2 - quaternion 6 | % 7 | % Output : 8 | % Q12 - product of Q1 and Q2 9 | % 10 | % 11 | % Each element of Q1 and Q2 must be a real number 12 | % Q1 and Q2 must have the form Q = [n e] where n 13 | % is the scalar and e the vector % part. 14 | % Note: Quaternion multiplication is not commutative 15 | 16 | function Q12 = quatProd(Q1, Q2) 17 | 18 | Q1 = Q1(:); 19 | Q2 = Q2(:); 20 | 21 | n1 = Q1(1); 22 | e1 = Q1(2:4); 23 | 24 | n2 = Q2(1); 25 | e2 = Q2(2:4); 26 | 27 | Q12 = zeros(4, 1); 28 | Q12(1) = n1 * n2 - e1' * e2; 29 | Q12(2:4) = n1 * e2 + n2 * e1 + cross(e1, e2); 30 | 31 | end 32 | -------------------------------------------------------------------------------- /src/utils/quaternions/rotate_vector.m: -------------------------------------------------------------------------------- 1 | %% Script for rotating a vector by a quaternion 2 | % 3 | % Inputs : 4 | % quaternion - quaternion representing the rotation 5 | % vector - 3x1 vector to rotate 6 | % 7 | % Output : 8 | % rotated_vector - rotated vector 9 | % 10 | % 11 | % Q must be a unit quaternion. 12 | 13 | function [rotated_vector] = rotate_vector(quaternion, vector) 14 | 15 | % quaternion_norm = sqrt(quaternion' * quaternion); 16 | % quaternion = quaternion / quaternion_norm; 17 | 18 | temp = quatProd(quatconj(quaternion'), quatProd([0; vector], quaternion)); 19 | 20 | rotated_vector = temp(2:4); 21 | 22 | end 23 | -------------------------------------------------------------------------------- /src/utils/quaternions/skew.m: -------------------------------------------------------------------------------- 1 | %% Script for creating the skew symmetric form of a vector 2 | % 3 | % Input : 4 | % x - 1x3 vector 5 | % 6 | % Output : 7 | % X - skew symmetric form of x 8 | 9 | function X = skew(x) 10 | 11 | X = [0, -x(3), x(2); x(3), 0, -x(1); -x(2), x(1), 0]; 12 | 13 | end 14 | -------------------------------------------------------------------------------- /src/utils/rotations/rot_x.m: -------------------------------------------------------------------------------- 1 | %% Script for creating a 3x3 rotation matrix around x axis 2 | % 3 | % Inputs : 4 | % theta - angle of rotation in degrees 5 | % 6 | % Outputs : 7 | % Rx - rotation matrix 8 | 9 | 10 | function Rx = rot_x(theta) 11 | 12 | Rx = [1, 0, 0; 0, cosd(theta), -sind(theta); 0, sind(theta), cosd(theta)]; 13 | 14 | end -------------------------------------------------------------------------------- /src/utils/rotations/rot_y.m: -------------------------------------------------------------------------------- 1 | %% Script for creating a 3x3 rotation matrix around y axis 2 | % 3 | % Inputs : 4 | % theta - angle of rotation in degrees 5 | % 6 | % Outputs : 7 | % Ry - rotation matrix 8 | 9 | 10 | function Ry = rot_y(theta) 11 | 12 | Ry = [cosd(theta), 0, sind(theta); 0, 1, 0; -sind(theta), 0, cosd(theta)]; 13 | 14 | end -------------------------------------------------------------------------------- /src/utils/rotations/rot_z.m: -------------------------------------------------------------------------------- 1 | %% Script for creating a 3x3 rotation matrix around z axis 2 | % 3 | % Inputs : 4 | % theta - angle of rotation in degrees 5 | % 6 | % Outputs : 7 | % Rz - rotation matrix 8 | 9 | function Rz = rot_z(theta) 10 | 11 | Rz = [cosd(theta), -sind(theta), 0; sind(theta), cosd(theta), 0; 0, 0, 1]; 12 | 13 | end -------------------------------------------------------------------------------- /src/utils/system_model/actuators/mtq_scaling.m: -------------------------------------------------------------------------------- 1 | %% ======================================================================== %% 2 | % Function for scaling the desired magnetic dipole, in case it exceeds 3 | % the maximum value that can be provided from each magnetorquer. 4 | % 5 | % Input: Desired Dipole, 6 | % Maximum dipole of each magnetorquer (3 values) 7 | % Ouput: Scaled Magnetic Dipole 8 | % ========================================================================= % 9 | 10 | function [scaled_dipole] = mtq_scaling(M, mtq_max) 11 | 12 | scaled_dipole = M; 13 | max1 = mtq_max(1); 14 | max2 = mtq_max(2); 15 | max3 = mtq_max(3); 16 | 17 | %% If M exceeds max value, then scale M to max 18 | if (M(1) > max1) 19 | scaled_dipole(1) = max1; 20 | end 21 | if (M(2) > max2) 22 | scaled_dipole(2) = max2; 23 | end 24 | if (M(3) > max3) 25 | scaled_dipole(3) = max3; 26 | end 27 | 28 | %% If M exceeds -max value, then scale M to -max 29 | if (M(1) < -max1) 30 | scaled_dipole(1) = -max1; 31 | end 32 | if (M(2) < -max2) 33 | scaled_dipole(2) = -max2; 34 | end 35 | if (M(3) < -max3) 36 | scaled_dipole(3) = -max3; 37 | end 38 | 39 | end -------------------------------------------------------------------------------- /src/utils/system_model/disturbances/gravitational_torque.m: -------------------------------------------------------------------------------- 1 | % ======================================================================== % 2 | % This function calculates the gravitational torque 3 | % 4 | % Inputs: 5 | % R_BO - Rotation matrix from orbit to body frame 6 | % w_o - Satellite angular velocity relative to Earth 7 | % I - Inertia matrix 8 | % 9 | % Ouputs: 10 | % tau_g - Gravitational torque 11 | % 12 | % ======================================================================== % 13 | 14 | function [tau_g] = gravitational_torque(R_BO, w_o, I) 15 | 16 | nadir = R_BO(:, 1); 17 | 18 | tau_g = 3 * w_o^2 * cross(nadir, I*nadir); 19 | 20 | end -------------------------------------------------------------------------------- /src/utils/system_model/disturbances/residual_magnetic_torque.m: -------------------------------------------------------------------------------- 1 | % ======================================================================== % 2 | % This function calculates the residual magnetic torque 3 | % 4 | % Inputs: 5 | % Area - Satellite's area projected to the sun 6 | % cosines - Cosine of angle between body frame axes and orbit frame z-axis 7 | % B_body - Magnetic field expressed in body frame 8 | % 9 | % Ouputs: 10 | % tau_rm - Residual magnetic torque 11 | % rm - Residual magnetic moment 12 | % 13 | % ======================================================================== % 14 | 15 | function [tau_rm, rm] = residual_magnetic_torque(Area, cosines, B_body) 16 | 17 | % mean_rm_base = [0.05 0.05 0.05]'; 18 | mean_rm_base = [0.01 0.01 0.01]'; 19 | maximum_area = [0.034 0.034 0.01]; 20 | 21 | sign_vector = sign(-cosines); 22 | 23 | rm = mean_rm_base + (0.005*(Area./maximum_area).*sign_vector)' + 0.0005*rand(3,1); 24 | 25 | tau_rm = cross(rm, B_body); 26 | end 27 | -------------------------------------------------------------------------------- /src/wahba/wahba_magnetic.m: -------------------------------------------------------------------------------- 1 | function q_mag_body = wahba_magnetic(mag_ref, mag_body) 2 | 3 | mag_ref = mag_ref / norm(mag_ref); 4 | mag_body = mag_body / norm(mag_body); 5 | 6 | if dot(mag_ref, mag_body) > 0.999999 7 | q_mag_body(1) = 1; 8 | q_mag_body(2:4) = [0; 0; 0]; 9 | elseif dot(mag_ref, mag_body) < -0.999999 10 | q_mag_body(1) = 0; 11 | q_mag_body(2:4) = [1; 0; 0]; 12 | else 13 | a = cross(mag_body, mag_ref); 14 | q_mag_body(2:4) = a; 15 | q_mag_body(1) = 1 + dot(mag_ref, mag_body); 16 | q_mag_body = q_mag_body / norm(q_mag_body); 17 | end 18 | 19 | end 20 | --------------------------------------------------------------------------------