cssWlsEst#
Executive Summary#
A weighted least-squares minimum-norm algorithm is used to estimate the body-relative sun heading using a cluster of coarse sun sensors. Using two successive sun heading evaluation the module also computes the inertial angular velocity vector. As rotations about the sun-heading vector are not observable, this angular velocity vector only contains body rates orthogonal to this sun heading vector. More information on can be found in the
PDF Description
Message Connection Descriptions#
The following table lists all the module input and output messages. The module msg connection is set by the user from python. The msg type contains a link to the message structure definition, while the description provides information on what this message is used for.
Msg Variable Name |
Msg Type |
Description |
|---|---|---|
cssDataInMsg |
CSSArraySensorMsgPayload |
name of the CSS sensor input message |
cssConfigInMsg |
CSSConfigMsgPayload |
name of the CSS configuration input message |
navStateOutMsg |
NavAttMsgPayload |
name of the navigation output message containing the estimated states |
cssWLSFiltResOutMsg |
SunlineFilterMsgPayload |
name of the CSS filter state data out message |
Class CssWlsEst#
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class CssWlsEst : public SysModel#
Top level structure for the CSS weighted least squares estimator. Used to estimate the sun state in the vehicle body frame.
Public Functions
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void reset(uint64_t callTime) override#
This method performs a complete reset of the module. Local module variables that retain time varying states between function calls are reset to their default values.
- Parameters:
callTime – The clock time at which the function was called (nanoseconds)
- Returns:
void
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void updateState(uint64_t callTime) override#
This method takes the parsed CSS sensor data and outputs an estimate of the sun vector in the ADCS body frame
- Parameters:
callTime – The clock time at which the function was called (nanoseconds)
- Returns:
void
Public Members
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ReadFunctor<CSSArraySensorMsgPayload> cssDataInMsg#
The name of the CSS sensor input message.
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ReadFunctor<CSSConfigMsgPayload> cssConfigInMsg#
The name of the CSS configuration input message.
The name of the navigation output message containing the estimated states.
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Message<SunlineFilterMsgPayload> cssWLSFiltResOutMsg#
The name of the CSS filter data out message.
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uint32_t numActiveCss#
[-] Number of currently active CSS sensors
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uint32_t useWeights#
Flag indicating whether or not to use weights for least squares.
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uint32_t priorSignalAvailable#
Flag indicating if a recent prior heading estimate is available.
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double dOld[3]#
The prior sun heading estimate.
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double sensorUseThresh#
Threshold below which we discount sensors.
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uint64_t priorTime#
[ns] Last time the attitude control is called
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CSSConfigMsgPayload cssConfigInBuffer#
CSS constellation configuration message buffer.
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SunlineFilterMsgPayload filtStatus#
Filter message.
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BSKLogger bskLogger = {}#
BSK Logging.
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void reset(uint64_t callTime) override#