__all__ = [
'create_beavercube1_cubesat',
'create_beavercube2_cubesat',
'create_3_3_beavercube2_cubesat',
'create_brite_austria',
'create_estcube1_cubesat',
'create_lightsail2',
'create_moveii_cubesat',
'create_rax1_cubesat',
'create_rax2_cubesat',
]
import numpy as np
from typing import List
from ADCS.satellite_factory.actuators import (
create_cubewheel_smallplus_rw,
create_estcube1_magnetorquers,
create_gnb_air_core_magnetorquers,
create_isis_magnetorquer_board,
create_moveii_pcb_magnetorquers,
create_sfl_reaction_wheels,
create_sinclair_interplanetary_momentum_wheel,
create_stras_space_torque_rods,
)
from ADCS.satellite_factory.sensors import (
create_aeroastro_mst,
create_analog_devices_pib_gyros,
create_Clydespace_3U_array,
create_elmos_sun_sensors,
create_gnb_magnetometer,
create_gnb_rate_sensors,
create_gnb_sun_sensors,
create_ICM20948_IMU,
create_adis16405_gyros,
create_adis16405_magnetometers,
create_bmx055_gyros,
create_bmx055_magnetometers,
create_hamamatsu_s3931_sun_sensors,
create_hmc5883l_magnetometers,
create_honeywell_lightsail2_magnetometers,
create_itg3200_gyros,
create_isis_magnetometer,
create_intrepid_mainboard_gyros,
create_micromag3_magnetometers,
create_nano_iss60_sun_sensors,
create_osram_sfh2430_sun_sensors,
)
from ADCS.satellite_hardware.actuators import MTQ, RW
from ADCS.satellite_hardware.errors import Bias
from ADCS.satellite_hardware.sensors import MTM, Gyro, SunPair
from ADCS.satellite_hardware.disturbances import Dipole_Disturbance, GeometryFace, GeometryConfig, Drag_Disturbance, GG_Disturbance, SRP_Disturbance
from ADCS.satellite_hardware.satellite.satellite import Satellite
from ADCS.satellite_hardware.satellite.estimated_satellite import EstimatedSatellite
from ADCS.helpers.math_constants import MathConstants
def _box_geometry_faces(dimensions: np.ndarray) -> List[GeometryFace]:
"""Create a six-face rectangular-prism geometry centered on the body origin."""
x_len, y_len, z_len = np.asarray(dimensions, dtype=float)
half = np.array([x_len, y_len, z_len]) / 2.0
eta_s = 0.5
eta_d = 0.2
eta_a = 0.3
CD = 2.2
return [
GeometryFace(area=y_len*z_len, centroid=half[0]*MathConstants.unitvecs[0], normal=MathConstants.unitvecs[0], eta_s=eta_s, eta_d=eta_d, eta_a=eta_a, CD=CD),
GeometryFace(area=y_len*z_len, centroid=-half[0]*MathConstants.unitvecs[0], normal=-MathConstants.unitvecs[0], eta_s=eta_s, eta_d=eta_d, eta_a=eta_a, CD=CD),
GeometryFace(area=x_len*z_len, centroid=half[1]*MathConstants.unitvecs[1], normal=MathConstants.unitvecs[1], eta_s=eta_s, eta_d=eta_d, eta_a=eta_a, CD=CD),
GeometryFace(area=x_len*z_len, centroid=-half[1]*MathConstants.unitvecs[1], normal=-MathConstants.unitvecs[1], eta_s=eta_s, eta_d=eta_d, eta_a=eta_a, CD=CD),
GeometryFace(area=x_len*y_len, centroid=half[2]*MathConstants.unitvecs[2], normal=MathConstants.unitvecs[2], eta_s=eta_s, eta_d=eta_d, eta_a=eta_a, CD=CD),
GeometryFace(area=x_len*y_len, centroid=-half[2]*MathConstants.unitvecs[2], normal=-MathConstants.unitvecs[2], eta_s=eta_s, eta_d=eta_d, eta_a=eta_a, CD=CD),
]
def _environment_disturbances(geometry_faces: List[GeometryFace]) -> List:
config = GeometryConfig(geometry_faces)
return [GG_Disturbance(), Drag_Disturbance(config), SRP_Disturbance(config)]
def _box_environment_disturbances(dimensions: np.ndarray) -> List:
return _environment_disturbances(_box_geometry_faces(dimensions))
def _lightsail2_geometry_faces() -> List[GeometryFace]:
r"""
Approximate LightSail 2 as a 3U core plus a deployed two-sided sail.
Public mission summaries give a 3U CubeSat bus and a deployed sail area of
32 m^2. The exact panel centroid coordinates are not encoded in the public
factory sources, so the sail is represented as four coplanar triangular
quadrants on each side of a square sail with total area 32 m^2.
"""
faces = _box_geometry_faces(np.array([0.1, 0.1, 0.3]))
total_sail_area = 32.0
half_side = np.sqrt(total_sail_area) / 2.0
centroid_offset = 2.0 * half_side / 3.0
sail_centroids = [
np.array([centroid_offset, 0.0, 0.0]),
np.array([0.0, centroid_offset, 0.0]),
np.array([-centroid_offset, 0.0, 0.0]),
np.array([0.0, -centroid_offset, 0.0]),
]
sail_area = total_sail_area / 4.0
for normal in (MathConstants.unitvecs[2], -MathConstants.unitvecs[2]):
faces.extend(
GeometryFace(area=sail_area, centroid=centroid, normal=normal, eta_s=0.8, eta_d=0.1, eta_a=0.1, CD=2.2)
for centroid in sail_centroids
)
return faces
[docs]
def create_beavercube1_cubesat(estimated: bool = False):
mass = 4
COM = np.zeros(3)
J = np.array([[0.03136490806, 5.88304e-05, -0.00671361357],
[5.88304e-05, 0.03409127827, -0.00012334756],
[-0.00671361357, -0.00012334756, 0.01004091997]])
# Actuators
mtqs: List[MTQ] = create_isis_magnetorquer_board(estimate_bias=estimated)
# Sensors
mtms: List[MTM] = create_isis_magnetometer(estimate_bias=estimated)
gyros: List[Gyro] = create_ICM20948_IMU(estimate_bias=estimated)
solar_panel_1 = create_Clydespace_3U_array(axis=np.array([1, 0, 0]), estimate_bias=estimated)
solar_panel_2 = create_Clydespace_3U_array(axis=np.array([0, 1, 0]), estimate_bias=estimated)
suns: List[SunPair] = solar_panel_1+solar_panel_2
disturbances = _box_environment_disturbances(np.array([0.1, 0.1, 0.3]))
boresight = np.array([0, 1, 0])
if estimated:
return EstimatedSatellite(mass=mass, COM=COM, J_0=J, disturbances=disturbances, sensors=mtms+gyros+suns, actuators=mtqs, boresight=boresight)
else:
return Satellite(mass=mass, COM=COM, J_0=J, disturbances=disturbances, sensors=mtms+gyros+suns, actuators=mtqs, boresight=boresight)
[docs]
def create_brite_austria(estimated: bool = False):
r"""
Create a BRITE-Austria/TUGSAT-1 spacecraft model.
BRITE-Austria used the Generic Nanosatellite Bus with three reaction
wheels, three magnetorquers, three rate sensors, one three-axis
magnetometer, six dedicated Sun sensors, and one AeroAstro Miniature Star
Tracker. The representative BRITE/GNB inertia tensor is used here. No
defensible numerical TUGSAT-1 COM vector was found, so ``COM = 0``.
Disturbances use a 20 cm cube geometry from the public BRITE/GNB bus
description with generic optical and aerodynamic coefficients.
"""
mass = 6.9
COM = np.zeros(3)
J = np.array([
[0.0465, -0.0007, 0.0004],
[-0.0007, 0.0486, -0.0021],
[0.0004, -0.0021, 0.0482],
])
rws: List[RW] = create_sfl_reaction_wheels(estimate_bias=estimated)
mtqs: List[MTQ] = create_gnb_air_core_magnetorquers(estimate_bias=estimated)
gyros: List[Gyro] = create_gnb_rate_sensors(estimate_bias=estimated)
mtms: List[MTM] = create_gnb_magnetometer(estimate_bias=estimated)
suns = create_gnb_sun_sensors(estimate_bias=estimated)
star_trackers = [create_aeroastro_mst(estimate_bias=estimated)]
disturbances = _box_environment_disturbances(np.array([0.2, 0.2, 0.2]))
boresight = np.array([0, 0, 1])
if estimated:
return EstimatedSatellite(mass=mass, COM=COM, J_0=J, disturbances=disturbances, sensors=gyros+mtms+suns+star_trackers, actuators=rws+mtqs, boresight=boresight)
else:
return Satellite(mass=mass, COM=COM, J_0=J, disturbances=disturbances, sensors=gyros+mtms+suns+star_trackers, actuators=rws+mtqs, boresight=boresight)
[docs]
def create_lightsail2(estimated: bool = False):
r"""
Create a LightSail 2 deployed-sail spacecraft model.
LightSail 2 used one +Y Sinclair Interplanetary momentum wheel, three
Stras Space magnetic torque rods, two three-axis Honeywell magnetometers,
three primary PIB gyros, three secondary mainboard gyros, and five coarse
Elmos Sun sensors. The inertia tensor is the published deployed-sail tensor
and the COM is taken from the LightSail-B deployed corner-cube drawing.
Disturbances use a 3U bus plus a two-sided 32 m^2 deployed-sail geometry
with generic aerodynamic and approximate aluminized-Mylar optical
coefficients.
"""
mass = 4.93
COM = np.array([0.00046, -0.00003, 0.13746])
J = np.array([
[3.79, -1.90e-4, -8.18e-4],
[-1.90e-4, 3.79, 1.47e-3],
[-8.18e-4, 1.47e-3, 7.33],
])
rw: List[RW] = [create_sinclair_interplanetary_momentum_wheel(estimate_bias=estimated)]
mtqs: List[MTQ] = create_stras_space_torque_rods(estimate_bias=estimated)
mtms: List[MTM] = create_honeywell_lightsail2_magnetometers(estimate_bias=estimated)
gyros: List[Gyro] = (
create_analog_devices_pib_gyros(estimate_bias=estimated)
+ create_intrepid_mainboard_gyros(estimate_bias=estimated)
)
suns = create_elmos_sun_sensors(estimate_bias=estimated)
disturbances = _environment_disturbances(_lightsail2_geometry_faces())
boresight = np.array([0, 0, 1])
if estimated:
return EstimatedSatellite(mass=mass, COM=COM, J_0=J, disturbances=disturbances, sensors=mtms+gyros+suns, actuators=rw+mtqs, boresight=boresight)
else:
return Satellite(mass=mass, COM=COM, J_0=J, disturbances=disturbances, sensors=mtms+gyros+suns, actuators=rw+mtqs, boresight=boresight)
[docs]
def create_estcube1_cubesat(estimated: bool = False):
r"""
Create an ESTCube-1 magnetic-control CubeSat model.
The preset captures the best-documented ESTCube-1 flight-fitted inertia and
published ADCS component configuration: two Honeywell HMC5883L three-axis
magnetometers, four InvenSense ITG-3200 three-axis gyros, twelve Hamamatsu
S3931 one-dimensional Sun sensor channels arranged as six two-channel Sun
sensor assemblies, and three nominal electromagnetic coils with no reaction
wheels.
Sources:
* `ESTCube-1 attitude determination flight results
<https://ascelibrary.org/doi/10.1061/%28ASCE%29AS.1943-5525.0000504>`__
* `ESTCube-1 magnetic actuator flight results
<https://www.sciencedirect.com/science/article/pii/S0094576515302216>`__
"""
mass = 1.048
COM = np.zeros(3)
J = 1e-3 * np.array([
[1.813, 0.024, 0.042],
[0.024, 1.963, 0.029],
[0.042, 0.029, 1.796],
])
mtqs: List[MTQ] = create_estcube1_magnetorquers(estimate_bias=estimated)
mtms: List[MTM] = [
mtm
for _ in range(2)
for mtm in create_hmc5883l_magnetometers(estimate_bias=estimated)
]
gyros: List[Gyro] = [
gyro
for _ in range(4)
for gyro in create_itg3200_gyros(estimate_bias=estimated)
]
sun_axes = np.repeat(np.vstack((np.eye(3), -np.eye(3))), 2, axis=0)
suns = [
sun
for axis in sun_axes
for sun in create_hamamatsu_s3931_sun_sensors(axes=np.array([axis]), estimate_bias=estimated)
]
geometry_faces: List[GeometryFace] = [
GeometryFace(area=0.1*0.1, centroid=MathConstants.unitvecs[0]*0.05, normal=MathConstants.unitvecs[0], eta_s=0.5, eta_d=0.2, eta_a=0.3, CD=2.2),
GeometryFace(area=0.1*0.1, centroid=-MathConstants.unitvecs[0]*0.05, normal=-MathConstants.unitvecs[0], eta_s=0.5, eta_d=0.2, eta_a=0.3, CD=2.2),
GeometryFace(area=0.1*0.1, centroid=MathConstants.unitvecs[1]*0.05, normal=MathConstants.unitvecs[1], eta_s=0.5, eta_d=0.2, eta_a=0.3, CD=2.2),
GeometryFace(area=0.1*0.1, centroid=-MathConstants.unitvecs[1]*0.05, normal=-MathConstants.unitvecs[1], eta_s=0.5, eta_d=0.2, eta_a=0.3, CD=2.2),
GeometryFace(area=0.1*0.1, centroid=MathConstants.unitvecs[2]*0.05, normal=MathConstants.unitvecs[2], eta_s=0.5, eta_d=0.2, eta_a=0.3, CD=2.2),
GeometryFace(area=0.1*0.1, centroid=-MathConstants.unitvecs[2]*0.05, normal=-MathConstants.unitvecs[2], eta_s=0.5, eta_d=0.2, eta_a=0.3, CD=2.2),
]
config = GeometryConfig(geometry_faces)
disturbances = [GG_Disturbance(), Drag_Disturbance(config), SRP_Disturbance(config)]
boresight = np.array([0, 0, 1])
if estimated:
return EstimatedSatellite(mass=mass, COM=COM, J_0=J, disturbances=disturbances, sensors=mtms+gyros+suns, actuators=mtqs, boresight=boresight)
else:
return Satellite(mass=mass, COM=COM, J_0=J, disturbances=disturbances, sensors=mtms+gyros+suns, actuators=mtqs, boresight=boresight)
[docs]
def create_moveii_cubesat(estimated: bool = False):
r"""
Create a MOVE-II CubeSat model.
MOVE-II is a 1U CubeSat with a distributed magnetorquer-based ADCS: six
ADCS PCBs carry Bosch Sensortec BMX055 gyros and magnetometers, the five
outer panels carry Solar MEMS NANO-ISS60 Sun sensors, and the ADCS panels
include custom PCB magnetorquer coils.
The inertia tensor follows the diagonal values printed in the MOVE-II
magnetic-control simulation paper,
``diag(0.00297, 0.00330, 0.00320) kg m^2``. No public center-of-mass vector
was found in the attached source summary, so the factory uses ``COM = 0``.
Source:
`Hardware-In-The-Loop and Software-In-The-Loop Testing of the MOVE-II
CubeSat <https://doi.org/10.3390/aerospace6120130>`__
"""
mass = 1.2
COM = np.zeros(3)
J = np.diag([0.00297, 0.00330, 0.00320])
mtqs: List[MTQ] = create_moveii_pcb_magnetorquers(estimate_bias=estimated)
mtms: List[MTM] = [
mtm
for _ in range(6)
for mtm in create_bmx055_magnetometers(estimate_bias=estimated)
]
gyros: List[Gyro] = [
gyro
for _ in range(6)
for gyro in create_bmx055_gyros(estimate_bias=estimated)
]
sun_axes = np.vstack((np.eye(3), -np.eye(2, 3)))
suns = [
sun
for axis in sun_axes
for sun in create_nano_iss60_sun_sensors(axes=np.array([axis]), estimate_bias=estimated)
]
geometry_faces: List[GeometryFace] = [
GeometryFace(area=0.1*0.1, centroid=MathConstants.unitvecs[0]*0.05, normal=MathConstants.unitvecs[0], eta_s=0.5, eta_d=0.2, eta_a=0.3, CD=2.2),
GeometryFace(area=0.1*0.1, centroid=-MathConstants.unitvecs[0]*0.05, normal=-MathConstants.unitvecs[0], eta_s=0.5, eta_d=0.2, eta_a=0.3, CD=2.2),
GeometryFace(area=0.1*0.1, centroid=MathConstants.unitvecs[1]*0.05, normal=MathConstants.unitvecs[1], eta_s=0.5, eta_d=0.2, eta_a=0.3, CD=2.2),
GeometryFace(area=0.1*0.1, centroid=-MathConstants.unitvecs[1]*0.05, normal=-MathConstants.unitvecs[1], eta_s=0.5, eta_d=0.2, eta_a=0.3, CD=2.2),
GeometryFace(area=0.1*0.1, centroid=MathConstants.unitvecs[2]*0.05, normal=MathConstants.unitvecs[2], eta_s=0.5, eta_d=0.2, eta_a=0.3, CD=2.2),
GeometryFace(area=0.1*0.1, centroid=-MathConstants.unitvecs[2]*0.05, normal=-MathConstants.unitvecs[2], eta_s=0.5, eta_d=0.2, eta_a=0.3, CD=2.2),
]
config = GeometryConfig(geometry_faces)
residual_dipole = Dipole_Disturbance(dipole_torque=np.array([-0.001, 0.012, -0.045]))
disturbances = [GG_Disturbance(), Drag_Disturbance(config), SRP_Disturbance(config), residual_dipole]
boresight = np.array([0, 0, 1])
if estimated:
return EstimatedSatellite(mass=mass, COM=COM, J_0=J, disturbances=disturbances, sensors=mtms+gyros+suns, actuators=mtqs, boresight=boresight)
else:
return Satellite(mass=mass, COM=COM, J_0=J, disturbances=disturbances, sensors=mtms+gyros+suns, actuators=mtqs, boresight=boresight)
def _rax_inertia() -> np.ndarray:
return 1e-2 * np.diag([2.91058, 2.91058, 0.59261])
def _rax_sun_sensor_layout(variant: int) -> np.ndarray:
if variant == 1:
return np.array([
[0, 0], [180, 0], [90, 0], [270, 0], [0, 90],
[0, 90], [0, 90], [0, -90], [0, -90],
])
if variant == 2:
return np.array([
[17, -10], [0, 20], [-17, -10],
[-162, -10], [180, 20], [162, -10],
[72, 10], [107, 10], [90, -20],
[-107, 10], [-72, 10], [-90, -20],
[0, 90], [0, 90], [0, 90],
[0, -90], [0, -90],
])
raise ValueError("RAX variant must be 1 or 2.")
def _create_rax_cubesat(mass: float, variant: int, estimated: bool = False):
COM = np.zeros(3)
J = _rax_inertia()
gyros: List[Gyro] = create_adis16405_gyros(estimate_bias=estimated)
mtms: List[MTM] = (
create_adis16405_magnetometers(estimate_bias=estimated)
+ create_micromag3_magnetometers(estimate_bias=estimated)
)
suns = create_osram_sfh2430_sun_sensors(
az_el_deg=_rax_sun_sensor_layout(variant),
estimate_bias=estimated,
)
geometry_faces: List[GeometryFace] = [
GeometryFace(area=0.1*0.34, centroid=MathConstants.unitvecs[0]*0.05, normal=MathConstants.unitvecs[0], eta_s=0.5, eta_d=0.2, eta_a=0.3, CD=2.2),
GeometryFace(area=0.1*0.34, centroid=-MathConstants.unitvecs[0]*0.05, normal=-MathConstants.unitvecs[0], eta_s=0.5, eta_d=0.2, eta_a=0.3, CD=2.2),
GeometryFace(area=0.1*0.34, centroid=MathConstants.unitvecs[1]*0.05, normal=MathConstants.unitvecs[1], eta_s=0.5, eta_d=0.2, eta_a=0.3, CD=2.2),
GeometryFace(area=0.1*0.34, centroid=-MathConstants.unitvecs[1]*0.05, normal=-MathConstants.unitvecs[1], eta_s=0.5, eta_d=0.2, eta_a=0.3, CD=2.2),
GeometryFace(area=0.1*0.1, centroid=MathConstants.unitvecs[2]*0.17, normal=MathConstants.unitvecs[2], eta_s=0.5, eta_d=0.2, eta_a=0.3, CD=2.2),
GeometryFace(area=0.1*0.1, centroid=-MathConstants.unitvecs[2]*0.17, normal=-MathConstants.unitvecs[2], eta_s=0.5, eta_d=0.2, eta_a=0.3, CD=2.2),
]
config = GeometryConfig(geometry_faces)
disturbances = [GG_Disturbance(), Drag_Disturbance(config), SRP_Disturbance(config)]
boresight = np.array([0, 0, 1])
if estimated:
return EstimatedSatellite(mass=mass, COM=COM, J_0=J, disturbances=disturbances, sensors=mtms+gyros+suns, actuators=[], boresight=boresight)
else:
return Satellite(mass=mass, COM=COM, J_0=J, disturbances=disturbances, sensors=mtms+gyros+suns, actuators=[], boresight=boresight)
[docs]
def create_rax1_cubesat(estimated: bool = False):
r"""
Create a RAX-1 spacecraft model.
RAX-1 was a 3U CubeSat using passive magnetic attitude stabilization:
four permanent magnets aligned with the long body-Z axis and two HyMu80
hysteresis strips along transverse axes. This package does not yet have
passive magnetic stabilization actuator classes, so those devices are
documented here but are not returned as commandable actuators.
The inertia tensor follows the published RAX dynamics model,
``diag(2.91058, 2.91058, 0.59261) * 1e-2 kg m^2``, reflecting the body-Z
principal symmetry axis.
Source: `RAX attitude determination system design
<https://doi.org/10.1016/j.actaastro.2012.02.001>`__
"""
return _create_rax_cubesat(mass=2.8, variant=1, estimated=estimated)
[docs]
def create_rax2_cubesat(estimated: bool = False):
r"""
Create a RAX-2 spacecraft model.
RAX-2 used the same core RAX attitude-determination hardware as RAX-1, with
the revised 17-photodiode OSRAM SFH2430 Sun-sensor layout. Passive magnetic
stabilization hardware is documented but not represented as commandable
actuators because this package does not yet include permanent-magnet or
hysteresis-strip actuator models.
The inertia tensor follows the published RAX dynamics model,
``diag(2.91058, 2.91058, 0.59261) * 1e-2 kg m^2``, reflecting the body-Z
principal symmetry axis.
Source: `RAX-1/RAX-2 flight attitude-determination results
<https://doi.org/10.1016/j.actaastro.2014.02.026>`__
"""
return _create_rax_cubesat(mass=2.9, variant=2, estimated=estimated)
[docs]
def create_beavercube2_cubesat(estimated: bool = False, include_biases: bool = True):
mass = 4
COM = np.zeros(3)
J = np.array([[0.03136490806, 5.88304e-05, -0.00671361357],
[5.88304e-05, 0.03409127827, -0.00012334756],
[-0.00671361357, -0.00012334756, 0.01004091997]])
estimate_biases = estimated and include_biases
# Actuators
mtq_bias = None if include_biases else [Bias() for _ in range(3)]
rw_bias = None if include_biases else Bias()
mtqs: List[MTQ] = create_isis_magnetorquer_board(bias=mtq_bias, estimate_bias=estimate_biases)
rws: List[RW] = [create_cubewheel_smallplus_rw(axis=np.array([0, 0, 1]), bias=rw_bias, estimate_bias=estimate_biases)]
# Sensors
mtm_bias = None if include_biases else [Bias() for _ in range(3)]
gyro_bias = None if include_biases else [Bias() for _ in range(3)]
sun_bias = None if include_biases else Bias()
mtms: List[MTM] = create_isis_magnetometer(bias=mtm_bias, estimate_bias=estimate_biases)
gyros: List[Gyro] = create_ICM20948_IMU(bias=gyro_bias, estimate_bias=estimate_biases)
solar_panel_1 = create_Clydespace_3U_array(axis=np.array([1, 0, 0]), bias=sun_bias, estimate_bias=estimate_biases)
solar_panel_2 = create_Clydespace_3U_array(axis=np.array([0, 1, 0]), bias=sun_bias, estimate_bias=estimate_biases)
suns: List[SunPair] = solar_panel_1+solar_panel_2
# Disturbances
geometry_faces: List[GeometryFace] = [GeometryFace(area=0.1*0.3, centroid=MathConstants.unitvecs[0]*0.05, normal=MathConstants.unitvecs[0], eta_s=0.5, eta_d=0.2, eta_a=0.3, CD=2.2),
GeometryFace(area=0.1*0.3, centroid=-MathConstants.unitvecs[0]*0.05, normal=-MathConstants.unitvecs[0], eta_s=0.5, eta_d=0.2, eta_a=0.3, CD=2.2),
GeometryFace(area=0.1*0.3, centroid=MathConstants.unitvecs[1]*0.05, normal=MathConstants.unitvecs[1], eta_s=0.5, eta_d=0.2, eta_a=0.3, CD=2.2),
GeometryFace(area=0.1*0.3, centroid=-MathConstants.unitvecs[1]*0.05, normal=-MathConstants.unitvecs[1], eta_s=0.5, eta_d=0.2, eta_a=0.3, CD=2.2),
GeometryFace(area=0.1*0.1, centroid=MathConstants.unitvecs[2]*0.15, normal=MathConstants.unitvecs[2], eta_s=0.5, eta_d=0.2, eta_a=0.3, CD=2.2),
GeometryFace(area=0.1*0.1, centroid=-MathConstants.unitvecs[2]*0.15, normal=-MathConstants.unitvecs[2], eta_s=0.5, eta_d=0.2, eta_a=0.3, CD=2.2)]
config = GeometryConfig(geometry_faces)
gg_dist = [GG_Disturbance()]
drag_dist = [Drag_Disturbance(config)]
srp_dist = [SRP_Disturbance(config)]
boresight = np.array([0, 1, 0])
if estimated:
return EstimatedSatellite(mass=mass, COM=COM, J_0=J, disturbances=gg_dist+drag_dist+srp_dist, sensors=mtms+gyros+suns, actuators=mtqs+rws, boresight=boresight)
else:
return Satellite(mass=mass, COM=COM, J_0=J, disturbances=gg_dist+drag_dist+srp_dist, sensors=mtms+gyros+suns, actuators=mtqs+rws, boresight=boresight)
[docs]
def create_3_3_beavercube2_cubesat(estimated: bool = False, include_biases: bool = True):
mass = 4
COM = np.zeros(3)
J = np.array([[0.03136490806, 5.88304e-05, -0.00671361357],
[5.88304e-05, 0.03409127827, -0.00012334756],
[-0.00671361357, -0.00012334756, 0.01004091997]])
estimate_biases = estimated and include_biases
# Actuators
mtq_bias = None if include_biases else [Bias() for _ in range(3)]
rw_bias = None if include_biases else Bias()
mtqs: List[MTQ] = create_isis_magnetorquer_board(bias=mtq_bias, estimate_bias=estimate_biases)
rws: List[RW] = [create_cubewheel_smallplus_rw(axis=np.array([1, 0, 0]), bias=rw_bias, estimate_bias=estimate_biases),
create_cubewheel_smallplus_rw(axis=np.array([0, 1, 0]), bias=rw_bias, estimate_bias=estimate_biases),
create_cubewheel_smallplus_rw(axis=np.array([0, 0, 1]), bias=rw_bias, estimate_bias=estimate_biases)]
# Sensors
mtm_bias = None if include_biases else [Bias() for _ in range(3)]
gyro_bias = None if include_biases else [Bias() for _ in range(3)]
sun_bias = None if include_biases else Bias()
mtms: List[MTM] = create_isis_magnetometer(bias=mtm_bias, estimate_bias=estimate_biases)
gyros: List[Gyro] = create_ICM20948_IMU(bias=gyro_bias, estimate_bias=estimate_biases)
solar_panel_1 = create_Clydespace_3U_array(axis=np.array([1, 0, 0]), bias=sun_bias, estimate_bias=estimate_biases)
solar_panel_2 = create_Clydespace_3U_array(axis=np.array([0, 1, 0]), bias=sun_bias, estimate_bias=estimate_biases)
suns: List[SunPair] = solar_panel_1+solar_panel_2
# Disturbances
geometry_faces: List[GeometryFace] = [GeometryFace(area=0.1*0.3, centroid=MathConstants.unitvecs[0]*0.05, normal=MathConstants.unitvecs[0], eta_s=0.5, eta_d=0.2, eta_a=0.3, CD=2.2),
GeometryFace(area=0.1*0.3, centroid=-MathConstants.unitvecs[0]*0.05, normal=-MathConstants.unitvecs[0], eta_s=0.5, eta_d=0.2, eta_a=0.3, CD=2.2),
GeometryFace(area=0.1*0.3, centroid=MathConstants.unitvecs[1]*0.05, normal=MathConstants.unitvecs[1], eta_s=0.5, eta_d=0.2, eta_a=0.3, CD=2.2),
GeometryFace(area=0.1*0.3, centroid=-MathConstants.unitvecs[1]*0.05, normal=-MathConstants.unitvecs[1], eta_s=0.5, eta_d=0.2, eta_a=0.3, CD=2.2),
GeometryFace(area=0.1*0.1, centroid=MathConstants.unitvecs[2]*0.15, normal=MathConstants.unitvecs[2], eta_s=0.5, eta_d=0.2, eta_a=0.3, CD=2.2),
GeometryFace(area=0.1*0.1, centroid=-MathConstants.unitvecs[2]*0.15, normal=-MathConstants.unitvecs[2], eta_s=0.5, eta_d=0.2, eta_a=0.3, CD=2.2)]
config = GeometryConfig(geometry_faces)
gg_dist = [GG_Disturbance()]
drag_dist = [Drag_Disturbance(config)]
srp_dist = [SRP_Disturbance(config)]
boresight = np.array([0, 1, 0])
if estimated:
return EstimatedSatellite(mass=mass, COM=COM, J_0=J, disturbances=gg_dist+drag_dist+srp_dist, sensors=mtms+gyros+suns, actuators=mtqs+rws, boresight=boresight)
else:
return Satellite(mass=mass, COM=COM, J_0=J, disturbances=gg_dist+drag_dist+srp_dist, sensors=mtms+gyros+suns, actuators=mtqs+rws, boresight=boresight)