Source code for scenarioSpacecraftLocation

#
#  ISC License
#
#  Copyright (c) 2016, Autonomous Vehicle Systems Lab, University of Colorado at Boulder
#
#  Permission to use, copy, modify, and/or distribute this software for any
#  purpose with or without fee is hereby granted, provided that the above
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r"""
Overview
--------

Demonstrates using :ref:`spacecraftLocation` to check for times where the antenna axis on the primary spacecraft
has access to another spacecraft.

The script is found in the folder ``basilisk/examples`` and executed by using::

      python3 scenarioSpacecraftLocation.py

When the simulation completes a plot is shown with the access times illustrated.

.. image:: /_images/Scenarios/scenarioSpacecraftLocation1.svg
   :align: center


"""

#
# Basilisk Scenario Script and Integrated Test
#
# Purpose:  Basic simulation showing a servicer (3-axis attitude controlled) and a tumbling debris object.
# Author:   Hanspeter Schaub
# Creation Date:  Dec. 29, 2019
#

import copy
import os

import matplotlib.pyplot as plt
import numpy as np
from Basilisk.architecture import messaging
from Basilisk.fswAlgorithms import (mrpFeedback, attTrackingError, hillPoint)
from Basilisk.simulation import extForceTorque
from Basilisk.simulation import simpleNav, spacecraft
from Basilisk.simulation import spacecraftLocation
from Basilisk.utilities import (SimulationBaseClass, macros,
                                orbitalMotion, simIncludeGravBody,
                                unitTestSupport, vizSupport)


# The path to the location of Basilisk
# Used to get the location of supporting data.
from Basilisk import __path__
bskPath = __path__[0]
fileName = os.path.basename(os.path.splitext(__file__)[0])


[docs] def run(show_plots): """ The scenarios can be run with the followings setups parameters: Args: show_plots (bool): Determines if the script should display plots """ # Create simulation variable names simTaskName = "simTask" simProcessName = "simProcess" # Create a sim module as an empty container scSim = SimulationBaseClass.SimBaseClass() # set the simulation time variable used later on simulationTime = macros.min2nano(140.) # # create the simulation process # dynProcess = scSim.CreateNewProcess(simProcessName) # create the dynamics task and specify the integration update time simulationTimeStep = macros.sec2nano(1.0) dynProcess.addTask(scSim.CreateNewTask(simTaskName, simulationTimeStep)) # # setup the simulation tasks/objects # # initialize servicer spacecraft object and set properties scObject = spacecraft.Spacecraft() scObject.ModelTag = "Servicer" # define the simulation inertia I = [900., 0., 0., 0., 800., 0., 0., 0., 600.] scObject.hub.mHub = 750.0 # kg - spacecraft mass scObject.hub.IHubPntBc_B = unitTestSupport.np2EigenMatrix3d(I) # create the debris object states scObject2 = spacecraft.Spacecraft() scObject2.ModelTag = "Debris" I2 = [600., 0., 0., 0., 650., 0., 0., 0, 450.] scObject2.hub.mHub = 350.0 # kg scObject2.hub.IHubPntBc_B = unitTestSupport.np2EigenMatrix3d(I2) # add spacecraft object to the simulation process scSim.AddModelToTask(simTaskName, scObject) scSim.AddModelToTask(simTaskName, scObject2) # clear prior gravitational body and SPICE setup definitions gravFactory = simIncludeGravBody.gravBodyFactory() # setup Earth Gravity Body earth = gravFactory.createEarth() earth.isCentralBody = True # ensure this is the central gravitational body mu = earth.mu # attach gravity model to spacecraft gravFactory.addBodiesTo(scObject) gravFactory.addBodiesTo(scObject2) # add external control torque to scObject extFTObject = extForceTorque.ExtForceTorque() extFTObject.ModelTag = "extTorque" scObject.addDynamicEffector(extFTObject) scSim.AddModelToTask(simTaskName, extFTObject) # add the simple Navigation sensor module. This sets the SC attitude, rate, position # velocity navigation message sNavObject = simpleNav.SimpleNav() sNavObject.ModelTag = "SimpleNavigation" sNavObject.scStateInMsg.subscribeTo(scObject.scStateOutMsg) scSim.AddModelToTask(simTaskName, sNavObject) # setup spacecraft location access module scLocation = spacecraftLocation.SpacecraftLocation() scLocation.ModelTag = "scAccess" scLocation.addSpacecraftToModel(scObject2.scStateOutMsg) scLocation.primaryScStateInMsg.subscribeTo(scObject.scStateOutMsg) scLocation.rEquator = earth.radEquator scLocation.rPolar = earth.radEquator*0.98 scLocation.aHat_B = [0, 1, 0] scLocation.theta = np.radians(10.) scLocation.maximumRange = 55. scSim.AddModelToTask(simTaskName, scLocation) # # setup the FSW algorithm tasks # # setup hillPoint guidance module attGuidance = hillPoint.hillPoint() attGuidance.ModelTag = "hillPoint" attGuidance.transNavInMsg.subscribeTo(sNavObject.transOutMsg) scSim.AddModelToTask(simTaskName, attGuidance) # setup the attitude tracking error evaluation module attError = attTrackingError.attTrackingError() attError.ModelTag = "attError" scSim.AddModelToTask(simTaskName, attError) attError.attRefInMsg.subscribeTo(attGuidance.attRefOutMsg) attError.attNavInMsg.subscribeTo(sNavObject.attOutMsg) # create the FSW vehicle configuration message vehicleConfigOut = messaging.VehicleConfigMsgPayload() vehicleConfigOut.ISCPntB_B = I # use the same inertia in the FSW algorithm as in the simulation vcMsg = messaging.VehicleConfigMsg().write(vehicleConfigOut) # setup the MRP Feedback control module mrpControl = mrpFeedback.mrpFeedback() mrpControl.ModelTag = "mrpFeedback" scSim.AddModelToTask(simTaskName, mrpControl) mrpControl.guidInMsg.subscribeTo(attError.attGuidOutMsg) mrpControl.vehConfigInMsg.subscribeTo(vcMsg) mrpControl.K = 3.5 mrpControl.Ki = -1 # make value negative to turn off integral feedback mrpControl.P = 30.0 mrpControl.integralLimit = 2. / mrpControl.Ki * 0.1 extFTObject.cmdTorqueInMsg.subscribeTo(mrpControl.cmdTorqueOutMsg) # # Setup data logging before the simulation is initialized # accessRec = scLocation.accessOutMsgs[0].recorder() scSim.AddModelToTask(simTaskName, accessRec) # # set initial Spacecraft States # # setup the servicer orbit using classical orbit elements oe = orbitalMotion.ClassicElements() oe.a = 10000000.0 # meters oe.e = 0.0 oe.i = 33.3 * macros.D2R oe.Omega = 48.2 * macros.D2R oe.omega = 90.0 * macros.D2R oe.f = 0.0 * macros.D2R rN, vN = orbitalMotion.elem2rv(mu, oe) scObject.hub.r_CN_NInit = rN # m - r_CN_N scObject.hub.v_CN_NInit = vN # m/s - v_CN_N scObject.hub.sigma_BNInit = [[0.1], [0.2], [-0.3]] # sigma_CN_B scObject.hub.omega_BN_BInit = [[0.0], [0.02], [0.01]] # rad/s - omega_CN_B # setup 1st debris object states oe2 = copy.deepcopy(oe) oe2.e += 0.000001 oe2.f += 40./oe2.a r2N, v2N = orbitalMotion.elem2rv(mu, oe2) scObject2.hub.r_CN_NInit = r2N # m - r_CN_N scObject2.hub.v_CN_NInit = v2N # m/s - v_CN_N scObject2.hub.sigma_BNInit = [[0.3], [0.1], [0.2]] # sigma_CN_B scObject2.hub.omega_BN_BInit = [[0.001], [-0.01], [0.03]] # rad/s - omega_CN_B # if this scenario is to interface with the BSK Viz, uncomment the following lines # to save the BSK data to a file, uncomment the saveFile line below if vizSupport.vizFound: viz = vizSupport.enableUnityVisualization(scSim, simTaskName, [scObject, scObject2] # , saveFile=fileName, ) vizSupport.addLocation(viz, stationName="antenna" , parentBodyName='Servicer' , r_GP_P=[0, 2, 0] , gHat_P=[0, 1, 0] , fieldOfView=2*scLocation.theta , range=scLocation.maximumRange , color='pink' ) viz.settings.showLocationCommLines = 1 viz.settings.showLocationCones = 1 viz.settings.showLocationLabels = 1 # # initialize Simulation # scSim.InitializeSimulation() # # configure a simulation stop time and execute the simulation run # scSim.ConfigureStopTime(simulationTime) scSim.ExecuteSimulation() # # plot the results # dataLog = accessRec.hasAccess timeData = accessRec.times() * macros.NANO2MIN plt.figure(1) plt.plot(timeData, dataLog) plt.xlabel('Time [min]') plt.ylabel('Sat-Sat Access') figureList = {} pltName = fileName + "1" figureList[pltName] = plt.figure(1) if show_plots: plt.show() # close the plots being saved off to avoid over-writing old and new figures plt.close("all") return figureList
# # This statement below ensures that the unit test scrip can be run as a # stand-along python script # if __name__ == "__main__": run( True # show_plots )