From 4d20ec4d6776845bb36a95d0ed91ff5274917ed7 Mon Sep 17 00:00:00 2001 From: Christopher Rabotin Date: Wed, 24 Jul 2024 00:31:56 -0600 Subject: [PATCH 01/11] Allow for prop instance to be quiet Initial work on a GEO test case from QLaw paper using Ruggiero --- Cargo.toml | 8 + examples/03_geo_analysis/drift.rs | 215 ++++++++++++++++++ examples/03_geo_analysis/plot_drift.py | 107 +++++++++ .../03_geo_analysis/plot_orbital_elements.py | 60 +++++ examples/03_geo_analysis/raise.rs | 132 +++++++++++ examples/03_geo_analysis/requirements.txt | 37 +++ src/dynamics/guidance/ruggiero.rs | 3 +- src/mc/montecarlo.rs | 1 + src/od/process/mod.rs | 2 +- src/propagators/instance.rs | 39 +++- src/propagators/propagator.rs | 1 + 11 files changed, 599 insertions(+), 6 deletions(-) create mode 100644 examples/03_geo_analysis/drift.rs create mode 100644 examples/03_geo_analysis/plot_drift.py create mode 100644 examples/03_geo_analysis/plot_orbital_elements.py create mode 100644 examples/03_geo_analysis/raise.rs create mode 100644 examples/03_geo_analysis/requirements.txt diff --git a/Cargo.toml b/Cargo.toml index 572119e4..18432129 100644 --- a/Cargo.toml +++ b/Cargo.toml @@ -105,3 +105,11 @@ path = "examples/01_orbit_prop/main.rs" [[example]] name = "02_jwst" path = "examples/02_jwst_covar_monte_carlo/main.rs" + +[[example]] +name = "03_geo_drift" +path = "examples/03_geo_analysis/drift.rs" + +[[example]] +name = "03_geo_raise" +path = "examples/03_geo_analysis/raise.rs" diff --git a/examples/03_geo_analysis/drift.rs b/examples/03_geo_analysis/drift.rs new file mode 100644 index 00000000..d2750c3e --- /dev/null +++ b/examples/03_geo_analysis/drift.rs @@ -0,0 +1,215 @@ +extern crate log; +extern crate nyx_space as nyx; +extern crate pretty_env_logger as pel; + +use anise::{ + almanac::metaload::MetaFile, + constants::{ + celestial_objects::{MOON, SUN}, + frames::{EARTH_J2000, IAU_EARTH_FRAME}, + }, +}; +use hifitime::{Epoch, Unit}; +use nyx::{ + cosmic::{MetaAlmanac, Orbit, SrpConfig}, + dynamics::{Harmonics, OrbitalDynamics, SolarPressure, SpacecraftDynamics}, + io::{gravity::HarmonicsMem, ExportCfg}, + propagators::Propagator, + Spacecraft, State, +}; +use polars::{df, prelude::ParquetWriter}; + +use std::fs::File; +use std::{error::Error, sync::Arc}; + +fn main() -> Result<(), Box> { + pel::init(); + // Dynamics models require planetary constants and ephemerides to be defined. + // Let's start by grabbing those by using ANISE's latest MetaAlmanac. + // This will automatically download the DE440s planetary ephemeris, + // the daily-updated Earth Orientation Parameters, the high fidelity Moon orientation + // parameters (for the Moon Mean Earth and Moon Principal Axes frames), and the PCK11 + // planetary constants kernels. + // For details, refer to https://github.com/nyx-space/anise/blob/master/data/latest.dhall. + // Note that we place the Almanac into an Arc so we can clone it cheaply and provide read-only + // references to many functions. + let almanac = Arc::new(MetaAlmanac::latest().map_err(Box::new)?); + // Define the orbit epoch + let epoch = Epoch::from_gregorian_utc_hms(2024, 2, 29, 12, 13, 14); + + // Define the orbit. + // First we need to fetch the Earth J2000 from information from the Almanac. + // This allows the frame to include the gravitational parameters and the shape of the Earth, + // defined as a tri-axial ellipoid. Note that this shape can be changed manually or in the Almanac + // by loading a different set of planetary constants. + let earth_j2000 = almanac.frame_from_uid(EARTH_J2000)?; + + // Placing this GEO bird just above Colorado. + // In theory, the eccentricity is zero, but in practice, it's about 1e-5 to 1e-6 at best. + let orbit = Orbit::try_keplerian(42164.0, 1e-5, 0., 163.0, 75.0, 0.0, epoch, earth_j2000)?; + // Print in in Keplerian form. + println!("{orbit:x}"); + + let state_bf = almanac.transform_to(orbit, IAU_EARTH_FRAME, None)?; + let (orig_lat_deg, orig_long_deg, orig_alt_km) = state_bf.latlongalt()?; + + // Nyx is used for high fidelity propagation, not Keplerian propagation as above. + // Nyx only propagates Spacecraft at the moment, which allows it to account for acceleration + // models such as solar radiation pressure. + + // Let's build a cubesat sized spacecraft, with an SRP area of 10 cm^2 and a mass of 9.6 kg. + let sc = Spacecraft::builder() + .orbit(orbit) + .dry_mass_kg(9.60) + .srp(SrpConfig { + area_m2: 10e-4, + cr: 1.1, + }) + .build(); + println!("{sc:x}"); + + // Set up the spacecraft dynamics. + + // Specify that the orbital dynamics must account for the graviational pull of the Moon and the Sun. + // The gravity of the Earth will also be accounted for since the spaceraft in an Earth orbit. + let mut orbital_dyn = OrbitalDynamics::point_masses(vec![MOON, SUN]); + + // We want to include the spherical harmonics, so let's download the gravitational data from the Nyx Cloud. + // We're using the JGM3 model here, which is the default in GMAT. + let mut jgm3_meta = MetaFile { + uri: "http://public-data.nyxspace.com/nyx/models/JGM3.cof.gz".to_string(), + crc32: Some(0xF446F027), // Specifying the CRC32 avoids redownloading it if it's cached. + }; + // And let's download it if we don't have it yet. + jgm3_meta.process()?; + + // Build the spherical harmonics. + // The harmonics must be computed in the body fixed frame. + // We're using the long term prediction of the Earth centered Earth fixed frame, IAU Earth. + let harmonics_21x21 = Harmonics::from_stor( + almanac.frame_from_uid(IAU_EARTH_FRAME)?, + HarmonicsMem::from_cof(&jgm3_meta.uri, 21, 21, true).unwrap(), + ); + + // Include the spherical harmonics into the orbital dynamics. + orbital_dyn.accel_models.push(harmonics_21x21); + + // We define the solar radiation pressure, using the default solar flux and accounting only + // for the eclipsing caused by the Earth. + let srp_dyn = SolarPressure::default(EARTH_J2000, almanac.clone())?; + + // Finalize setting up the dynamics, specifying the force models (orbital_dyn) separately from the + // acceleration models (SRP in this case). Use `from_models` to specify multiple accel models. + let dynamics = SpacecraftDynamics::from_model(orbital_dyn, srp_dyn); + + println!("{dynamics}"); + + // Finally, let's propagate this orbit to the same epoch as above. + // The first returned value is the spacecraft state at the final epoch. + // The second value is the full trajectory where the step size is variable step used by the propagator. + let (future_sc, trajectory) = Propagator::default(dynamics) + .with(sc, almanac.clone()) + .until_epoch_with_traj(epoch + Unit::Day * 60.0)?; + + println!("=== High fidelity propagation ==="); + println!( + "SMA changed by {:.3} km", + orbit.sma_km()? - future_sc.orbit.sma_km()? + ); + println!( + "ECC changed by {:.6}", + orbit.ecc()? - future_sc.orbit.ecc()? + ); + println!( + "INC changed by {:.3e} deg", + orbit.inc_deg()? - future_sc.orbit.inc_deg()? + ); + println!( + "RAAN changed by {:.3} deg", + orbit.raan_deg()? - future_sc.orbit.raan_deg()? + ); + println!( + "AOP changed by {:.3} deg", + orbit.aop_deg()? - future_sc.orbit.aop_deg()? + ); + println!( + "TA changed by {:.3} deg", + orbit.ta_deg()? - future_sc.orbit.ta_deg()? + ); + + // We also have access to the full trajectory throughout the propagation. + println!("{trajectory}"); + + // With the trajectory, let's build a few data products. + + // 1. Export the trajectory as a CCSDS OEM version 2.0 file and as a parquet file, which includes the Keplerian orbital elements. + + let analysis_step = Unit::Minute * 30; + + trajectory.to_parquet_with_cfg( + "./03_geo_hf_prop.parquet", + ExportCfg::builder().step(analysis_step).build(), + almanac.clone(), + )?; + + // 2. Compare the difference in the radial-intrack-crosstrack frame between the high fidelity + // and Keplerian propagation. The RIC frame is commonly used to compute the difference in position + // and velocity of different spacecraft. + // 3. Compute the azimuth, elevation, range, and range-rate data of that spacecraft as seen from Boulder, CO, USA. + + // We iterate over the trajectory, grabbing a state every two minutes. + let mut offset_s = vec![]; + let mut epoch_str = vec![]; + let mut longitude_deg = vec![]; + let mut latitude_deg = vec![]; + let mut altitude_km = vec![]; + + for state in trajectory.every(analysis_step) { + // Convert the GEO bird state into the body fixed frame, and keep track of its latitude, longitude, and altitude. + // These define the GEO stationkeeping box. + + let this_epoch = state.epoch(); + + offset_s.push((this_epoch - orbit.epoch).to_seconds()); + epoch_str.push(this_epoch.to_isoformat()); + + let state_bf = almanac.transform_to(state.orbit, IAU_EARTH_FRAME, None)?; + let (lat_deg, long_deg, alt_km) = state_bf.latlongalt()?; + longitude_deg.push(long_deg); + latitude_deg.push(lat_deg); + altitude_km.push(alt_km); + } + + println!( + "Longitude changed by {:.3} deg -- Box is 0.1 deg E-W", + orig_long_deg - longitude_deg.last().unwrap() + ); + + println!( + "Latitude changed by {:.3} deg -- Box is 0.05 deg N-S", + orig_lat_deg - latitude_deg.last().unwrap() + ); + + println!( + "Altitude changed by {:.3} km -- Box is 30 km", + orig_alt_km - altitude_km.last().unwrap() + ); + + // Build the station keeping data frame. + let mut sk_df = df!( + "Offset (s)" => offset_s.clone(), + "Epoch (UTC)" => epoch_str.clone(), + "Longitude E-W (deg)" => longitude_deg, + "Latitude N-S (deg)" => latitude_deg, + "Altitude (km)" => altitude_km, + + )?; + + // Create a file to write the Parquet to + let file = File::create("./03_geo_lla.parquet").expect("Could not create file"); + + // Create a ParquetWriter and write the DataFrame to the file + ParquetWriter::new(file).finish(&mut sk_df)?; + + Ok(()) +} diff --git a/examples/03_geo_analysis/plot_drift.py b/examples/03_geo_analysis/plot_drift.py new file mode 100644 index 00000000..ffd2446d --- /dev/null +++ b/examples/03_geo_analysis/plot_drift.py @@ -0,0 +1,107 @@ +import polars as pl +import plotly.graph_objs as go +from plotly.subplots import make_subplots + +if __name__ == "__main__": + df_prop = pl.read_parquet("./03_geo_hf_prop.parquet") + df_prop = df_prop.with_columns( + pl.col("Epoch (UTC)").str.to_datetime("%Y-%m-%dT%H:%M:%S%.f") + ).sort("Epoch (UTC)", descending=False) + print(df_prop.describe()) + + df_lla = pl.read_parquet("./03_geo_lla.parquet") + df_lla = df_lla.with_columns( + pl.col("Epoch (UTC)").str.to_datetime("%Y-%m-%dT%H:%M:%S%.f") + ).sort("Epoch (UTC)", descending=False) + print(df_lla.describe()) + + # Create subplots + fig = make_subplots( + rows=2, + cols=1, + shared_xaxes=True, + vertical_spacing=0.1, + subplot_titles=("Latitude vs Epoch", "Longitude vs Epoch"), + ) + + # Scattergl plot for Latitude vs Epoch + fig.add_trace( + go.Scattergl( + x=df_lla["Epoch (UTC)"], + y=df_lla["Latitude N-S (deg)"], + mode="markers+lines", + name="Latitude", + marker=dict(color="blue"), + ), + row=1, + col=1, + ) + + # Scattergl plot for Longitude vs Epoch + fig.add_trace( + go.Scattergl( + x=df_lla["Epoch (UTC)"], + y=df_lla["Longitude E-W (deg)"], + mode="markers+lines", + name="Longitude", + marker=dict(color="blue"), + ), + row=2, + col=1, + ) + + # Add vertical line to the Latitude plot + first_latitude = df_lla["Latitude N-S (deg)"][0] + lower_lat_deg = first_latitude - 0.05 + higher_lat_deg = first_latitude + 0.05 + + fig.add_hline( + lower_lat_deg, + row=1, + col=1, + annotation_text=f"{lower_lat_deg:.3} - 0.05 deg", + annotation_position="top right", + line=dict(color="Red", width=1, dash="dash"), + ) + fig.add_hline( + higher_lat_deg, + row=1, + col=1, + annotation_text=f"{lower_lat_deg:.3} + 0.05 deg", + annotation_position="top right", + line=dict(color="Red", width=1, dash="dash"), + ) + + # Add vertical line to the longitude plot + first_longitude = df_lla["Longitude E-W (deg)"][0] + lower_long_deg = first_longitude - 0.1 + higher_long_deg = first_longitude + 0.1 + + fig.add_hline( + lower_long_deg, + row=2, + col=1, + annotation_text=f"{lower_long_deg:.3} - 0.1 deg", + annotation_position="top right", + line=dict(color="Red", width=1, dash="dash"), + ) + fig.add_hline( + higher_long_deg, + row=2, + col=1, + annotation_text=f"{lower_lat_deg:.3} + 0.1 deg", + annotation_position="top right", + line=dict(color="Red", width=1, dash="dash"), + ) + + # Update layout + fig.update_layout( + title_text="Latitude and Longitude vs Epoch", + xaxis_title="Epoch", + yaxis_title="Latitude N-S (deg)", + xaxis2_title="Epoch", + yaxis2_title="Longitude E-W (deg)", + ) + + # Show the plot + fig.show() diff --git a/examples/03_geo_analysis/plot_orbital_elements.py b/examples/03_geo_analysis/plot_orbital_elements.py new file mode 100644 index 00000000..4158bf37 --- /dev/null +++ b/examples/03_geo_analysis/plot_orbital_elements.py @@ -0,0 +1,60 @@ +from datetime import datetime +import polars as pl +import plotly.graph_objs as go +from plotly.subplots import make_subplots + + +def plot_orbit_elements( + df: pl.DataFrame, +): + """ + Plots the orbital elements: SMA, ECC, INC, RAAN, AOP, TA, True Longitude, AOL + """ + + df = df.with_columns(pl.col("Epoch (UTC)").str.to_datetime("%Y-%m-%dT%H:%M:%S%.f")).sort( + "Epoch (UTC)", descending=False + ) + + columns = [ + "sma (km)", + "ecc", + "inc (deg)", + "raan (deg)", + "aop (deg)", + "ta (deg)", + "aol (deg)", + "tlong (deg)", + ] + + fig = make_subplots( + rows=4, + cols=2, + subplot_titles=columns, + shared_xaxes=True, + vertical_spacing=0.1, + ) + + row_i = 0 + col_i = 0 + + for col in columns: + name = col + + # # Build the color for this data frame + # color = color_values[k % len(color_values)] + # color = f"rgb({int(color[0])}, {int(color[1])}, {int(color[2])})" + + fig.add_trace( + go.Scattergl(x=df["Epoch (UTC)"], y=df[col], name=name), # , marker_color=color), + row=row_i + 1, + col=col_i + 1, + ) + col_i = (col_i + 1) % 2 + if col_i == 0: + row_i = (row_i + 1) % 4 + + fig.show() + + +if __name__ == "__main__": + plot_orbit_elements(pl.read_parquet("03_geo_raise.parquet")) diff --git a/examples/03_geo_analysis/raise.rs b/examples/03_geo_analysis/raise.rs new file mode 100644 index 00000000..619e7c51 --- /dev/null +++ b/examples/03_geo_analysis/raise.rs @@ -0,0 +1,132 @@ +extern crate log; +extern crate nyx_space as nyx; +extern crate pretty_env_logger as pel; + +use anise::{ + almanac::metaload::MetaFile, + constants::{ + celestial_objects::{MOON, SUN}, + frames::{EARTH_J2000, IAU_EARTH_FRAME}, + }, +}; +use hifitime::{Epoch, Unit}; +use nyx::{ + cosmic::{GuidanceMode, MetaAlmanac, Orbit, SrpConfig}, + dynamics::{ + guidance::{GuidanceLaw, Ruggiero, Thruster}, + Harmonics, OrbitalDynamics, SolarPressure, SpacecraftDynamics, + }, + io::{gravity::HarmonicsMem, ExportCfg}, + md::{prelude::Objective, StateParameter}, + propagators::Propagator, + Spacecraft, +}; +use std::{error::Error, sync::Arc}; + +fn main() -> Result<(), Box> { + pel::init(); + + // Dynamics models require planetary constants and ephemerides to be defined. + // Let's start by grabbing those by using ANISE's latest MetaAlmanac. + // This will automatically download the DE440s planetary ephemeris, + // the daily-updated Earth Orientation Parameters, the high fidelity Moon orientation + // parameters (for the Moon Mean Earth and Moon Principal Axes frames), and the PCK11 + // planetary constants kernels. + // For details, refer to https://github.com/nyx-space/anise/blob/master/data/latest.dhall. + // Note that we place the Almanac into an Arc so we can clone it cheaply and provide read-only + // references to many functions. + let almanac = Arc::new(MetaAlmanac::latest().map_err(Box::new)?); + // Fetch the EME2000 frame from the Almabac + let eme2k = almanac.frame_from_uid(EARTH_J2000).unwrap(); + // Define the orbit epoch + let epoch = Epoch::from_gregorian_utc_hms(2024, 2, 29, 12, 13, 14); + + // Build the spacecraft itself. + // Using slide 6 of https://aerospace.org/sites/default/files/2018-11/Davis-Mayberry_HPSEP_11212018.pdf + // for the "next gen" SEP characteristics. + + // GTO start + let orbit = Orbit::keplerian(24505.9, 0.725, 7.05, 0.0, 0.0, 0.0, epoch, eme2k); + + let sc = Spacecraft::builder() + .orbit(orbit) + .dry_mass_kg(1000.0) // 1000 kg of dry mass + .fuel_mass_kg(1500.0) // 1500 kg of fuel, totalling 2.5 tons + .srp(SrpConfig::from_area(3.0 * 6.0)) // Assuming 1 kW/m^2 or 18 kW, giving a margin of 4.35 kW for on-propulsion consumption + .thruster(Thruster { + isp_s: 4435.0, + thrust_N: 0.472, + }) // "NEXT-STEP" row in Table 2 + .mode(GuidanceMode::Thrust) // Start thrusting immediately. + .build(); + + let prop_time = 120.0 * Unit::Day; + + // Define the guidance law -- we're just using a Ruggiero controller as demonstrated in AAS-2004-5089. + let objectives = &[ + Objective::within_tolerance(StateParameter::SMA, 42_165.0, 20.0), + Objective::within_tolerance(StateParameter::Eccentricity, 0.001, 5e-5), + Objective::within_tolerance(StateParameter::Inclination, 0.05, 5e-3), + ]; + + // Define the efficiency thresholds for this controller + let ηthresholds = [0.5, 0.5, 0.85]; + let ruggiero_ctrl = Ruggiero::with_ηthresholds(objectives, &ηthresholds, sc).unwrap(); + + // Define the high fidelity dynamics + + // Set up the spacecraft dynamics. + + // Specify that the orbital dynamics must account for the graviational pull of the Moon and the Sun. + // The gravity of the Earth will also be accounted for since the spaceraft in an Earth orbit. + let mut orbital_dyn = OrbitalDynamics::point_masses(vec![MOON, SUN]); + + // We want to include the spherical harmonics, so let's download the gravitational data from the Nyx Cloud. + // We're using the JGM3 model here, which is the default in GMAT. + let mut jgm3_meta = MetaFile { + uri: "http://public-data.nyxspace.com/nyx/models/JGM3.cof.gz".to_string(), + crc32: Some(0xF446F027), // Specifying the CRC32 avoids redownloading it if it's cached. + }; + // And let's download it if we don't have it yet. + jgm3_meta.process()?; + + // Build the spherical harmonics. + // The harmonics must be computed in the body fixed frame. + // We're using the long term prediction of the Earth centered Earth fixed frame, IAU Earth. + let harmonics = Harmonics::from_stor( + almanac.frame_from_uid(IAU_EARTH_FRAME)?, + HarmonicsMem::from_cof(&jgm3_meta.uri, 8, 8, true).unwrap(), + ); + + // Include the spherical harmonics into the orbital dynamics. + orbital_dyn.accel_models.push(harmonics); + + // We define the solar radiation pressure, using the default solar flux and accounting only + // for the eclipsing caused by the Earth. + let srp_dyn = SolarPressure::default(EARTH_J2000, almanac.clone())?; + + // Finalize setting up the dynamics, specifying the force models (orbital_dyn) separately from the + // acceleration models (SRP in this case). Use `from_models` to specify multiple accel models. + let sc_dynamics = SpacecraftDynamics::from_model(orbital_dyn, srp_dyn) + .with_guidance_law(ruggiero_ctrl.clone()); + + println!("[qlaw_as_ruggiero_case_b] {:x}", orbit); + + let (final_state, traj) = Propagator::default(sc_dynamics.clone()) + .with(sc, almanac.clone()) + .for_duration_with_traj(prop_time)?; + + let fuel_usage = sc.fuel_mass_kg - final_state.fuel_mass_kg; + println!("[qlaw_as_ruggiero_case_b] {:x}", final_state.orbit); + println!("[qlaw_as_ruggiero_case_b] fuel usage: {:.3} kg", fuel_usage); + + // Finally, export the results for analysis. + traj.to_parquet_with_cfg("./03_geo_raise.parquet", ExportCfg::default(), almanac)?; + + assert!( + ruggiero_ctrl.achieved(&final_state).unwrap(), + "objective not achieved" + ); + + Ok(()) +} diff --git a/examples/03_geo_analysis/requirements.txt b/examples/03_geo_analysis/requirements.txt new file mode 100644 index 00000000..fcd2d3ec --- /dev/null +++ b/examples/03_geo_analysis/requirements.txt @@ -0,0 +1,37 @@ +asttokens==2.4.1 +attrs==23.2.0 +decorator==5.1.1 +executing==2.0.1 +iniconfig==2.0.0 +ipython==8.25.0 +jedi==0.19.1 +matplotlib-inline==0.1.7 +maturin==1.6.0 +numpy==1.26.4 +packaging==24.1 +pandas==2.1.4 +parso==0.8.4 +pexpect==4.9.0 +pip==24.0 +plotly==5.16.1 +pluggy==1.5.0 +polars==0.20.31 +prompt-toolkit==3.0.47 +ptyprocess==0.7.0 +pure-eval==0.2.2 +pyarrow==13.0.0 +pygments==2.18.0 +pytest==7.2.2 +python-dateutil==2.9.0.post0 +python-slugify==8.0.4 +pytz==2024.1 +ruff==0.5.0 +scipy==1.11.4 +six==1.16.0 +stack-data==0.6.3 +tenacity==8.3.0 +text-unidecode==1.3 +traitlets==5.14.3 +typing-extensions==4.12.2 +tzdata==2024.1 +wcwidth==0.2.13 diff --git a/src/dynamics/guidance/ruggiero.rs b/src/dynamics/guidance/ruggiero.rs index 68f8d76f..cc993449 100644 --- a/src/dynamics/guidance/ruggiero.rs +++ b/src/dynamics/guidance/ruggiero.rs @@ -49,7 +49,8 @@ impl Ruggiero { Self::with_ηthresholds(objectives, &[0.0; 5], initial) } - /// Creates a new Ruggiero locally optimal control as an Arc + /// Creates a new Ruggiero locally optimal control with the provided efficiency threshold. + /// If the efficiency to correct the mapped orbital element is greater than the threshold, then the control law will be applied to this orbital element. /// Note: this returns an Arc so it can be plugged into the Spacecraft dynamics directly. pub fn with_ηthresholds( objectives: &[Objective], diff --git a/src/mc/montecarlo.rs b/src/mc/montecarlo.rs index efb2b1a6..2d63efe8 100644 --- a/src/mc/montecarlo.rs +++ b/src/mc/montecarlo.rs @@ -251,6 +251,7 @@ where |(arc_prop, tx), (index, dispersed_state)| { let result = arc_prop .with(dispersed_state.state, almanac.clone()) + .quiet() .until_epoch_with_traj(end_epoch); // Build a single run result diff --git a/src/od/process/mod.rs b/src/od/process/mod.rs index 200e0b51..6b4de35b 100644 --- a/src/od/process/mod.rs +++ b/src/od/process/mod.rs @@ -134,7 +134,7 @@ where ) -> Self { let init_state = prop.state; Self { - prop, + prop: prop.quiet(), kf, estimates: Vec::with_capacity(10_000), residuals: Vec::with_capacity(10_000), diff --git a/src/propagators/instance.rs b/src/propagators/instance.rs index 4f235ff0..ae27a510 100644 --- a/src/propagators/instance.rs +++ b/src/propagators/instance.rs @@ -52,6 +52,8 @@ where pub prop: &'a Propagator<'a, D, E>, /// Stores the details of the previous integration step pub details: IntegrationDetails, + /// Should progress reports be logged + pub log_progress: bool, pub(crate) almanac: Arc, pub(crate) step_size: Duration, // Stores the adapted step for the _next_ call pub(crate) fixed_step: bool, @@ -66,6 +68,18 @@ where + Allocator::Size, ::Size> + Allocator::VecLength>, { + /// Sets this instance to not log progress + pub fn quiet(mut self) -> Self { + self.log_progress = false; + self + } + + /// Sets this instance to log progress + pub fn verbose(mut self) -> Self { + self.log_progress = true; + self + } + /// Allows setting the step size of the propagator pub fn set_step(&mut self, step_size: Duration, fixed: bool) { self.step_size = step_size; @@ -85,9 +99,10 @@ where #[cfg(not(target_arch = "wasm32"))] let tick = Instant::now(); - let log_progress = duration.abs() >= 7 * Unit::Day; + #[cfg(not(target_arch = "wasm32"))] + let mut prev_tick = Instant::now(); - if log_progress { + if self.log_progress { // Prevent the print spam for orbit determination cases info!("Propagating for {} until {}", duration, stop_time); } @@ -111,7 +126,7 @@ where // No propagation necessary #[cfg(not(target_arch = "wasm32"))] { - if log_progress { + if self.log_progress { let tock: Duration = tick.elapsed().into(); debug!("Done in {}", tock); } @@ -141,7 +156,7 @@ where #[cfg(not(target_arch = "wasm32"))] { - if log_progress { + if self.log_progress { let tock: Duration = tick.elapsed().into(); debug!("Done in {}", tock); } @@ -149,6 +164,22 @@ where return Ok(self.state); } else { + #[cfg(not(target_arch = "wasm32"))] + { + if self.log_progress { + let tock: Duration = prev_tick.elapsed().into(); + if tock.to_unit(Unit::Minute) > 1.0 { + // Report status every minute + let cur_epoch = self.state.epoch(); + let dur_to_go = (stop_time - cur_epoch).floor(Unit::Second * 1); + info!( + "Propagation in progress: current epoch {}, {} to go", + cur_epoch, dur_to_go + ); + prev_tick = Instant::now(); + } + } + } self.single_step()?; // Publish to channel if provided if let Some(ref chan) = maybe_tx_chan { diff --git a/src/propagators/propagator.rs b/src/propagators/propagator.rs index 363948cc..9e0c0039 100644 --- a/src/propagators/propagator.rs +++ b/src/propagators/propagator.rs @@ -106,6 +106,7 @@ where error: 0.0, attempts: 1, }, + log_progress: true, almanac, step_size: self.opts.init_step, fixed_step: self.opts.fixed_step, From 34e0ec02c023f894be90bcf38c4d07f9bb148687 Mon Sep 17 00:00:00 2001 From: Christopher Rabotin Date: Fri, 26 Jul 2024 23:45:26 -0600 Subject: [PATCH 02/11] Prevent discrepency between throttle and direction in Ruggiero control --- examples/03_geo_analysis/raise.rs | 18 +++++++++++++----- src/dynamics/guidance/ruggiero.rs | 28 ++++++++++++++++++++++------ src/propagators/instance.rs | 5 +---- 3 files changed, 36 insertions(+), 15 deletions(-) diff --git a/examples/03_geo_analysis/raise.rs b/examples/03_geo_analysis/raise.rs index 619e7c51..3faadae0 100644 --- a/examples/03_geo_analysis/raise.rs +++ b/examples/03_geo_analysis/raise.rs @@ -60,7 +60,7 @@ fn main() -> Result<(), Box> { .mode(GuidanceMode::Thrust) // Start thrusting immediately. .build(); - let prop_time = 120.0 * Unit::Day; + let prop_time = 140.0 * Unit::Day; // Define the guidance law -- we're just using a Ruggiero controller as demonstrated in AAS-2004-5089. let objectives = &[ @@ -70,8 +70,9 @@ fn main() -> Result<(), Box> { ]; // Define the efficiency thresholds for this controller - let ηthresholds = [0.5, 0.5, 0.85]; + let ηthresholds = [0.5, 0.75, 0.85]; let ruggiero_ctrl = Ruggiero::with_ηthresholds(objectives, &ηthresholds, sc).unwrap(); + println!("{ruggiero_ctrl}"); // Define the high fidelity dynamics @@ -112,9 +113,12 @@ fn main() -> Result<(), Box> { println!("[qlaw_as_ruggiero_case_b] {:x}", orbit); - let (final_state, traj) = Propagator::default(sc_dynamics.clone()) - .with(sc, almanac.clone()) - .for_duration_with_traj(prop_time)?; + let (final_state, traj) = Propagator::default( + sc_dynamics.clone(), + // PropOpts::::with_tolerance(1e-10), + ) + .with(sc, almanac.clone()) + .for_duration_with_traj(prop_time)?; let fuel_usage = sc.fuel_mass_kg - final_state.fuel_mass_kg; println!("[qlaw_as_ruggiero_case_b] {:x}", final_state.orbit); @@ -123,6 +127,10 @@ fn main() -> Result<(), Box> { // Finally, export the results for analysis. traj.to_parquet_with_cfg("./03_geo_raise.parquet", ExportCfg::default(), almanac)?; + for status_line in ruggiero_ctrl.status(&final_state) { + println!("{status_line}"); + } + assert!( ruggiero_ctrl.achieved(&final_state).unwrap(), "objective not achieved" diff --git a/src/dynamics/guidance/ruggiero.rs b/src/dynamics/guidance/ruggiero.rs index cc993449..4749cf2a 100644 --- a/src/dynamics/guidance/ruggiero.rs +++ b/src/dynamics/guidance/ruggiero.rs @@ -184,6 +184,24 @@ impl Ruggiero { .abs() } } + + /// Returns whether the guidance law has achieved all goals + pub fn status(&self, state: &Spacecraft) -> Vec { + self.objectives + .iter() + .flatten() + .map(|obj| { + let (ok, err) = obj.assess_raw(state.value(obj.parameter).unwrap()); + format!( + "{} achieved: {}\t error = {:.5} {}", + obj, + ok, + err, + obj.parameter.unit() + ) + }) + .collect::>() + } } impl fmt::Display for Ruggiero { @@ -322,13 +340,11 @@ impl GuidanceLaw for Ruggiero { // Either thrust full power or not at all fn throttle(&self, sc: &Spacecraft) -> Result { if sc.mode() == GuidanceMode::Thrust { - for (i, obj) in self.objectives.iter().flatten().enumerate() { - let weight = self.weighting(obj, sc, self.ηthresholds[i]); - if weight.abs() > 0.0 { - return Ok(1.0); - } + if self.direction(sc)?.norm() > 0.0 { + Ok(1.0) + } else { + Ok(0.0) } - Ok(0.0) } else { Ok(0.0) } diff --git a/src/propagators/instance.rs b/src/propagators/instance.rs index ae27a510..75df7639 100644 --- a/src/propagators/instance.rs +++ b/src/propagators/instance.rs @@ -172,10 +172,7 @@ where // Report status every minute let cur_epoch = self.state.epoch(); let dur_to_go = (stop_time - cur_epoch).floor(Unit::Second * 1); - info!( - "Propagation in progress: current epoch {}, {} to go", - cur_epoch, dur_to_go - ); + info!("\t... current epoch {}, remaing {}", cur_epoch, dur_to_go); prev_tick = Instant::now(); } } From d6abac71e45878b132575e9a82fc0f418bf2895b Mon Sep 17 00:00:00 2001 From: Christopher Rabotin Date: Sat, 27 Jul 2024 00:34:44 -0600 Subject: [PATCH 03/11] Pick up work on QLaw --- examples/03_geo_analysis/raise.rs | 4 +- src/dynamics/guidance/mod.rs | 3 + src/dynamics/guidance/qlaw.rs | 430 ++++++++++++++++++++++++++++++ 3 files changed, 435 insertions(+), 2 deletions(-) create mode 100644 src/dynamics/guidance/qlaw.rs diff --git a/examples/03_geo_analysis/raise.rs b/examples/03_geo_analysis/raise.rs index 3faadae0..3ee3bce3 100644 --- a/examples/03_geo_analysis/raise.rs +++ b/examples/03_geo_analysis/raise.rs @@ -60,13 +60,13 @@ fn main() -> Result<(), Box> { .mode(GuidanceMode::Thrust) // Start thrusting immediately. .build(); - let prop_time = 140.0 * Unit::Day; + let prop_time = 120.0 * Unit::Day; // Define the guidance law -- we're just using a Ruggiero controller as demonstrated in AAS-2004-5089. let objectives = &[ Objective::within_tolerance(StateParameter::SMA, 42_165.0, 20.0), Objective::within_tolerance(StateParameter::Eccentricity, 0.001, 5e-5), - Objective::within_tolerance(StateParameter::Inclination, 0.05, 5e-3), + // Objective::within_tolerance(StateParameter::Inclination, 0.05, 5e-3), ]; // Define the efficiency thresholds for this controller diff --git a/src/dynamics/guidance/mod.rs b/src/dynamics/guidance/mod.rs index 56c9b764..01942cf2 100644 --- a/src/dynamics/guidance/mod.rs +++ b/src/dynamics/guidance/mod.rs @@ -34,6 +34,9 @@ mod ruggiero; pub use ruggiero::{Objective, Ruggiero, StateParameter}; use snafu::Snafu; +mod qlaw; +pub use qlaw::QLaw; + use std::fmt; #[cfg(feature = "python")] diff --git a/src/dynamics/guidance/qlaw.rs b/src/dynamics/guidance/qlaw.rs new file mode 100644 index 00000000..087d5f98 --- /dev/null +++ b/src/dynamics/guidance/qlaw.rs @@ -0,0 +1,430 @@ +/* + Nyx, blazing fast astrodynamics + Copyright (C) 2022 Christopher Rabotin + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU Affero General Public License as published + by the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU Affero General Public License for more details. + + You should have received a copy of the GNU Affero General Public License + along with this program. If not, see . +*/ + +use anise::astro::PhysicsResult; +use snafu::ResultExt; + +pub use super::Objective; +use super::{ + unit_vector_from_plane_angles, GuidStateSnafu, GuidanceError, GuidanceLaw, GuidanceMode, + NyxError, Orbit, Spacecraft, Vector3, +}; +use crate::dynamics::guidance::GuidancePhysicsSnafu; +pub use crate::md::StateParameter; +use crate::utils::between_pm_180; +use crate::State; +// use std::f64::consts::FRAC_PI_2 as half_pi; +use std::fmt; +use std::sync::Arc; + +/// QLaw defines the Petropoulos refined laws from AAS/AIAA Space Flight Mechanics Conference, 2005 +#[derive(Copy, Clone, Debug, Default)] +pub struct QLaw { + /// Stores the objectives + pub objectives: [Option; 5], + /// Stores the minimum efficiency to correct a given orbital element, defaults to zero (i.e. always correct) + pub ηthresholds: [f64; 5], + /// The "best quadratic time-to-go" weight, nominally 1 (for now, all W_oe = 1) + pub w_p: f64, +} + +impl QLaw { + /// Creates a new QLaw locally optimal control as an Arc + /// Note: this returns an Arc so it can be plugged into the Spacecraft dynamics directly. + pub fn new(objectives: &[Objective], initial: Spacecraft) -> Result, NyxError> { + Self::with_ηthresholds(objectives, &[0.0; 5], initial) + } + + /// Creates a new QLaw locally optimal control as an Arc + /// Note: this returns an Arc so it can be plugged into the Spacecraft dynamics directly. + pub fn with_ηthresholds( + objectives: &[Objective], + ηthresholds: &[f64], + _initial: Spacecraft, + ) -> Result, NyxError> { + let mut objs: [Option; 5] = [None, None, None, None, None]; + let mut eff: [f64; 5] = [0.0; 5]; + if objectives.len() > 5 || objectives.is_empty() { + return Err(NyxError::GuidanceConfigError { + msg: format!( + "Must provide between 1 and 5 objectives (included), provided {}", + objectives.len() + ), + }); + } else if objectives.len() > ηthresholds.len() { + return Err(NyxError::GuidanceConfigError { + msg: format!( + "Must provide at least {} efficiency threshold values, provided {}", + objectives.len(), + ηthresholds.len() + ), + }); + } + + for (i, obj) in objectives.iter().enumerate() { + if [ + StateParameter::SMA, + StateParameter::Eccentricity, + StateParameter::Inclination, + StateParameter::RAAN, + StateParameter::AoP, + ] + .contains(&obj.parameter) + { + objs[i] = Some(*obj); + } else { + return Err(NyxError::GuidanceConfigError { + msg: format!("Objective {} not supported in Ruggerio", obj.parameter), + }); + } + } + for i in 0..objectives.len() { + objs[i] = Some(objectives[i]); + eff[i] = ηthresholds[i]; + } + Ok(Arc::new(Self { + objectives: objs, + ηthresholds: eff, + w_p: 1.0, + })) + } + + /// Penalty function + pub fn penalty(osc: &Orbit) -> PhysicsResult { + Ok(1.0 + + (1.0 - osc.periapsis_km()? / (150.0 + osc.frame.mean_equatorial_radius_km()?)).exp()) + } + + /// Returns the distance of a given orbital element + fn distance(&self, obj: &Objective, osc: &Orbit) -> PhysicsResult { + let tgt_val = obj.desired_value; + let tgt_tol = obj.tolerance; + + // NOTE: This function will modulo the angle errors +/- 180 deg, but paper recommends 0-180 + let dist = match obj.parameter { + StateParameter::SMA => osc.sma_km()? - tgt_val, + StateParameter::Inclination => osc.inc_deg()? - tgt_val, + StateParameter::Eccentricity => osc.ecc()? - tgt_val, + StateParameter::AoP => (between_pm_180(osc.aop_deg()? - tgt_val).to_radians()) + .cos() + .acos(), + StateParameter::RAAN => (between_pm_180(osc.raan_deg()? - tgt_val).to_radians()) + .cos() + .acos(), + _ => unreachable!(), + }; + + if (dist - tgt_tol).abs() < f64::EPSILON { + Ok(0.0) + } else { + Ok(dist) + } + } + + fn weighting(&self, obj: &Objective, osc: &Orbit, _η_threshold: f64) -> PhysicsResult { + let s = if obj.parameter == StateParameter::SMA { + (1.0 + ((osc.sma_km()? - obj.desired_value) / (3.0 * obj.desired_value)).powi(4)) + .powf(0.5) + } else { + 1.0 + }; + let oe_xx = Self::oe_xx(osc, obj.parameter)?; + Ok(s * (self.distance(obj, osc)? / oe_xx).powi(2)) + } + + fn oe_xx(osc: &Orbit, param: StateParameter) -> PhysicsResult { + match param { + StateParameter::SMA => Ok(2.0 + * ((osc.sma_km()?.powi(3) * (1.0 + osc.ecc()?)) + / (osc.frame.mu_km3_s2()? * (1.0 - osc.ecc()?))) + .sqrt()), + StateParameter::Eccentricity => Ok(2.0 * osc.semi_parameter_km()? / osc.hmag()?), + _ => unreachable!(), + } + } + + /// Computes the partial derivative of Q with respect to the provided orbital element + /// This was computed using Sympy, pasted here for information. + /// + /// # SMA + /// ```python + /// >>> ecc = Symbol('e'); sma = Symbol('a'); mu = Symbol('mu'); h = Symbol('h'); ta = Symbol('ta'); fr = Symbol('fr'); ft = Symbol('ft'); fh = Symbol('fh') + /// >>> f = (fr**2 + ft **2 + fh**2)**0.5 + /// >>> sma_xx = 2 * f * sqrt( (sma**3 * (1+ecc)) / (mu * (1-ecc))) + /// >>> (sma/sma_xx**2).diff(sma) + /// -mu*(1 - e)/(2*a**3*(e + 1)*(fh**2 + fr**2 + ft**2)**1.0) + /// ``` + /// + /// # ECC + /// ```python + /// >>> p = sma * (1.0 - ecc**2) + /// >>> ecc_xx = 2 * f * p / h + /// >>> (ecc/ecc_xx).diff(ecc) + /// e**2*h/(a*(1.0 - e**2)**2*(fh**2 + fr**2 + ft**2)**0.5) + h/(2*a*(1.0 - e**2)*(fh**2 + fr**2 + ft**2)**0.5 + /// ``` + fn dq_doe(osc: &Orbit, param: StateParameter, thrust: f64) -> PhysicsResult { + match param { + StateParameter::SMA => Ok(-osc.frame.mu_km3_s2()? * (1.0 - osc.ecc()?) + / (2.0 * osc.sma_km()?.powi(3) * (1.0 + osc.ecc()?) * thrust)), + StateParameter::Eccentricity => Ok(osc.ecc()?.powi(2) * osc.hmag()? + / (osc.sma_km()? * (1.0 - osc.ecc()?.powi(2)).powi(2) * thrust) + + osc.hmag()? / (2.0 * osc.sma_km()? * (1.0 - osc.ecc()?.powi(2))) * thrust), + _ => unreachable!(), + } + } + + /// Compute the partial derivatives over the thrust vector for each orbital element. + /// Returns doe/dfr, doe/dftheta, deo/dfh + /// + /// # SMA + /// ```python + /// In [14]: ta = Symbol('ta') + /// In [15]: fr = Symbol('fr') + /// In [16]: ft = Symbol('ft') + /// In [17]: fh = Symbol('fh') + /// In [19]: r = Symbol('r') + /// In [20]: gvop_sma = (2*sma**2 / h) * (ecc * sin(ta) * fr + p/r * ft) + /// In [21]: gvop_sma.diff(fr) + /// Out[21]: 2*a**2*e*sin(ta)/h + /// In [22]: gvop_sma.diff(ft) + /// Out[22]: 2*a**3*(1.0 - e**2)/(h*r) + /// In [23]: gvop_sma.diff(fh) + /// Out[23]: 0 + /// ``` + /// + /// # ECC + /// ```python + /// In [24]: gvop_ecc = 1/h * ( p*sin(ta) *fr + ( (p+r) * cos(ta) + r*ecc )* ft ) + /// In [25]: gvop_ecc.diff(fr) + /// Out[25]: a*(1.0 - e**2)*sin(ta)/h + /// In [26]: gvop_ecc.diff(ft) + /// Out[26]: (e*r + (a*(1.0 - e**2) + r)*cos(ta))/h + /// In [27]: gvop_ecc.diff(fh) + /// Out[27]: 0 + /// ``` + fn gaussian_vop_doe(osc: &Orbit, param: StateParameter) -> PhysicsResult> { + match param { + StateParameter::SMA => Ok(Vector3::new( + 2.0 * osc.sma_km()?.powi(2) * osc.ecc()? * osc.ta_deg()?.to_radians().sin() + / osc.hmag()?, + 2.0 * osc.sma_km()?.powi(3) * (1.0 - osc.ecc()?.powi(2)) + / (osc.hmag()? * osc.rmag_km()), + 0.0, + )), + StateParameter::Eccentricity => Ok(Vector3::new( + osc.sma_km()? * (1.0 - osc.ecc()?.powi(2)) * osc.ta_deg()?.to_radians().sin() + / osc.hmag()?, + osc.ecc()? * osc.rmag_km() + + (osc.sma_km()? + * (1.0 - osc.ecc()?.powi(2) + + osc.rmag_km() * osc.ta_deg()?.to_radians().cos())) + / osc.hmag()?, + 0.0, + )), + _ => unreachable!(), + } + } + + /// Returns whether the guidance law has achieved all goals + pub fn status(&self, state: &Spacecraft) -> Vec { + self.objectives + .iter() + .flatten() + .map(|obj| { + let (ok, err) = obj.assess_raw(state.value(obj.parameter).unwrap()); + format!( + "{} achieved: {}\t error = {:.5} {}", + obj, + ok, + err, + obj.parameter.unit() + ) + }) + .collect::>() + } +} + +impl fmt::Display for QLaw { + fn fmt(&self, f: &mut fmt::Formatter<'_>) -> fmt::Result { + write!(f, "QLaw with {} objectives", self.objectives.len()) + } +} + +impl GuidanceLaw for QLaw { + /// Returns whether the guidance law has achieved all goals + fn achieved(&self, state: &Spacecraft) -> Result { + for obj in self.objectives.iter().flatten() { + if !obj + .assess_raw(state.value(obj.parameter).context(GuidStateSnafu)?) + .0 + { + return Ok(false); + } + } + Ok(true) + } + + fn direction(&self, sc: &Spacecraft) -> Result, GuidanceError> { + if sc.mode() == GuidanceMode::Thrust { + let osc = sc.orbit; + // let mut steering = Vector3::zeros(); + let mut d = Vector3::zeros(); + let mut q = 0.0; + for (i, obj) in self.objectives.iter().flatten().enumerate() { + q += self.weighting(obj, &osc, self.ηthresholds[i]).context( + GuidancePhysicsSnafu { + action: "computing Q-Law weights", + }, + )?; + + d += (Self::dq_doe(&osc, obj.parameter, sc.thruster.unwrap().thrust_N).context( + GuidancePhysicsSnafu { + action: "computing Q-Law partial", + }, + )? - sc.value(obj.parameter).unwrap()) + * Self::gaussian_vop_doe(&osc, obj.parameter).context( + GuidancePhysicsSnafu { + action: "computing Q-Law partial", + }, + )?; + + // match obj.parameter { + // StateParameter::SMA => { + + // let num = osc.ecc()? * osc.ta_deg()?.to_radians().sin(); + // let denom = 1.0 + osc.ecc()? * osc.ta_deg()?.to_radians().cos(); + // let alpha = num.atan2(denom); + // // For SMA, we must multiply the weight by the thrust acceleration magnitude + // steering += unit_vector_from_plane_angles(alpha, 0.0) + // * weight + // * sc.thruster.unwrap().thrust_N; + // } + // StateParameter::Eccentricity => { + // let num = osc.ta_deg()?.to_radians().sin(); + // let denom = osc.ta_deg()?.to_radians().cos() + osc.ea().to_radians().cos(); + // let alpha = num.atan2(denom); + // steering += unit_vector_from_plane_angles(alpha, 0.0) * weight; + // } + // StateParameter::Inclination => { + // let beta = half_pi.copysign(((osc.ta() + osc.aop_deg()).to_radians()).cos()); + // steering += unit_vector_from_plane_angles(0.0, beta) * weight; + // } + // StateParameter::RAAN => { + // let beta = half_pi.copysign(((osc.ta() + osc.aop_deg()).to_radians()).sin()); + // steering += unit_vector_from_plane_angles(0.0, beta) * weight; + // } + // StateParameter::AoP => { + // let oe2 = 1.0 - osc.ecc()?.powi(2); + // let e3 = osc.ecc()?.powi(3); + // // Compute the optimal true anomaly for in-plane thrusting + // let sqrt_val = (0.25 * (oe2 / e3).powi(2) + 1.0 / 27.0).sqrt(); + // let opti_ta_alpha = ((oe2 / (2.0 * e3) + sqrt_val).powf(1.0 / 3.0) + // - (-oe2 / (2.0 * e3) + sqrt_val).powf(1.0 / 3.0) + // - 1.0 / osc.ecc()) + // .acos(); + // // Compute the optimal true anomaly for out of plane thrusting + // let opti_ta_beta = (-osc.ecc()? * osc.aop_deg().to_radians().cos()).acos() + // - osc.aop_deg().to_radians(); + // // And choose whether to do an in-plane or out of plane thrust + // if (osc.ta_deg()?.to_radians() - opti_ta_alpha).abs() + // < (osc.ta_deg()?.to_radians() - opti_ta_beta).abs() + // { + // // In plane + // let p = osc.semi_parameter(); + // let (sin_ta, cos_ta) = osc.ta_deg()?.to_radians().sin_cos(); + // let alpha = (-p * cos_ta).atan2((p + osc.rmag_km()) * sin_ta); + // steering += unit_vector_from_plane_angles(alpha, 0.0) * weight; + // } else { + // // Out of plane + // let beta = half_pi + // .copysign(-(osc.ta_deg()?.to_radians() + osc.aop_deg().to_radians()).sin()) + // * osc.inc_deg().to_radians().cos(); + // steering += unit_vector_from_plane_angles(0.0, beta) * weight; + // }; + // } + // _ => unreachable!(), + // } + } + + // Add the penalty factor + d *= Self::penalty(&osc).context(GuidancePhysicsSnafu { + action: "computing Q-Law penalty", + })?; + + // Solve for the optimal angles (we swap the D1 and D2 because our function return the thrust in r, theta, h, not theta, r, h) + let alpha = -d[0].atan2(-d[1]); + let beta = (-d[2] / (d[1].powi(2) + d[0].powi(2)).sqrt()).atan(); + + // dbg!(alpha, beta); + // dbg!(q); + // if q.abs() < 5.0e-3 { + // println!("{:x}", osc); + // panic!(); + // } + + let steering = unit_vector_from_plane_angles(alpha, beta); + + // Convert to inertial -- this whole guidance law is computed in the RCN frame + Ok(osc + .dcm_from_rcn_to_inertial() + .context(GuidancePhysicsSnafu { + action: "computing RCN frame", + })? + * steering) + } else { + Ok(Vector3::zeros()) + } + } + + // Either thrust full power or not at all + fn throttle(&self, sc: &Spacecraft) -> Result { + if sc.mode() == GuidanceMode::Thrust { + let osc = sc.orbit; + for (i, obj) in self.objectives.iter().flatten().enumerate() { + let weight = self.weighting(obj, &osc, self.ηthresholds[i]).context( + GuidancePhysicsSnafu { + action: "computing Q-Law weights", + }, + )?; + if weight.abs() > 0.0 { + return Ok(1.0); + } + } + Ok(0.0) + } else { + Ok(0.0) + } + } + + /// Update the state for the next iteration + fn next(&self, sc: &mut Spacecraft) { + if sc.mode() != GuidanceMode::Inhibit { + if !self.achieved(sc).unwrap() { + if sc.mode() == GuidanceMode::Coast { + info!("enabling steering: {:x}", sc.orbit); + } + sc.mut_mode(GuidanceMode::Thrust); + } else { + if sc.mode() == GuidanceMode::Thrust { + info!("disabling steering: {:x}", sc.orbit); + } + sc.mut_mode(GuidanceMode::Coast); + } + } + } +} From 5eadd741c7f9e8fb6de03568c080e91d043e3a61 Mon Sep 17 00:00:00 2001 From: Christopher Rabotin Date: Sat, 27 Jul 2024 01:51:06 -0600 Subject: [PATCH 04/11] Move qlaw work to another branch --- examples/03_geo_analysis/raise.rs | 4 +- src/dynamics/guidance/mod.rs | 3 - src/dynamics/guidance/qlaw.rs | 430 ------------------------------ 3 files changed, 2 insertions(+), 435 deletions(-) delete mode 100644 src/dynamics/guidance/qlaw.rs diff --git a/examples/03_geo_analysis/raise.rs b/examples/03_geo_analysis/raise.rs index 3ee3bce3..d7429f82 100644 --- a/examples/03_geo_analysis/raise.rs +++ b/examples/03_geo_analysis/raise.rs @@ -66,11 +66,11 @@ fn main() -> Result<(), Box> { let objectives = &[ Objective::within_tolerance(StateParameter::SMA, 42_165.0, 20.0), Objective::within_tolerance(StateParameter::Eccentricity, 0.001, 5e-5), - // Objective::within_tolerance(StateParameter::Inclination, 0.05, 5e-3), + Objective::within_tolerance(StateParameter::Inclination, 0.05, 5e-3), ]; // Define the efficiency thresholds for this controller - let ηthresholds = [0.5, 0.75, 0.85]; + let ηthresholds = [0.001, 0.001, 0.001]; let ruggiero_ctrl = Ruggiero::with_ηthresholds(objectives, &ηthresholds, sc).unwrap(); println!("{ruggiero_ctrl}"); diff --git a/src/dynamics/guidance/mod.rs b/src/dynamics/guidance/mod.rs index 01942cf2..56c9b764 100644 --- a/src/dynamics/guidance/mod.rs +++ b/src/dynamics/guidance/mod.rs @@ -34,9 +34,6 @@ mod ruggiero; pub use ruggiero::{Objective, Ruggiero, StateParameter}; use snafu::Snafu; -mod qlaw; -pub use qlaw::QLaw; - use std::fmt; #[cfg(feature = "python")] diff --git a/src/dynamics/guidance/qlaw.rs b/src/dynamics/guidance/qlaw.rs deleted file mode 100644 index 087d5f98..00000000 --- a/src/dynamics/guidance/qlaw.rs +++ /dev/null @@ -1,430 +0,0 @@ -/* - Nyx, blazing fast astrodynamics - Copyright (C) 2022 Christopher Rabotin - - This program is free software: you can redistribute it and/or modify - it under the terms of the GNU Affero General Public License as published - by the Free Software Foundation, either version 3 of the License, or - (at your option) any later version. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU Affero General Public License for more details. - - You should have received a copy of the GNU Affero General Public License - along with this program. If not, see . -*/ - -use anise::astro::PhysicsResult; -use snafu::ResultExt; - -pub use super::Objective; -use super::{ - unit_vector_from_plane_angles, GuidStateSnafu, GuidanceError, GuidanceLaw, GuidanceMode, - NyxError, Orbit, Spacecraft, Vector3, -}; -use crate::dynamics::guidance::GuidancePhysicsSnafu; -pub use crate::md::StateParameter; -use crate::utils::between_pm_180; -use crate::State; -// use std::f64::consts::FRAC_PI_2 as half_pi; -use std::fmt; -use std::sync::Arc; - -/// QLaw defines the Petropoulos refined laws from AAS/AIAA Space Flight Mechanics Conference, 2005 -#[derive(Copy, Clone, Debug, Default)] -pub struct QLaw { - /// Stores the objectives - pub objectives: [Option; 5], - /// Stores the minimum efficiency to correct a given orbital element, defaults to zero (i.e. always correct) - pub ηthresholds: [f64; 5], - /// The "best quadratic time-to-go" weight, nominally 1 (for now, all W_oe = 1) - pub w_p: f64, -} - -impl QLaw { - /// Creates a new QLaw locally optimal control as an Arc - /// Note: this returns an Arc so it can be plugged into the Spacecraft dynamics directly. - pub fn new(objectives: &[Objective], initial: Spacecraft) -> Result, NyxError> { - Self::with_ηthresholds(objectives, &[0.0; 5], initial) - } - - /// Creates a new QLaw locally optimal control as an Arc - /// Note: this returns an Arc so it can be plugged into the Spacecraft dynamics directly. - pub fn with_ηthresholds( - objectives: &[Objective], - ηthresholds: &[f64], - _initial: Spacecraft, - ) -> Result, NyxError> { - let mut objs: [Option; 5] = [None, None, None, None, None]; - let mut eff: [f64; 5] = [0.0; 5]; - if objectives.len() > 5 || objectives.is_empty() { - return Err(NyxError::GuidanceConfigError { - msg: format!( - "Must provide between 1 and 5 objectives (included), provided {}", - objectives.len() - ), - }); - } else if objectives.len() > ηthresholds.len() { - return Err(NyxError::GuidanceConfigError { - msg: format!( - "Must provide at least {} efficiency threshold values, provided {}", - objectives.len(), - ηthresholds.len() - ), - }); - } - - for (i, obj) in objectives.iter().enumerate() { - if [ - StateParameter::SMA, - StateParameter::Eccentricity, - StateParameter::Inclination, - StateParameter::RAAN, - StateParameter::AoP, - ] - .contains(&obj.parameter) - { - objs[i] = Some(*obj); - } else { - return Err(NyxError::GuidanceConfigError { - msg: format!("Objective {} not supported in Ruggerio", obj.parameter), - }); - } - } - for i in 0..objectives.len() { - objs[i] = Some(objectives[i]); - eff[i] = ηthresholds[i]; - } - Ok(Arc::new(Self { - objectives: objs, - ηthresholds: eff, - w_p: 1.0, - })) - } - - /// Penalty function - pub fn penalty(osc: &Orbit) -> PhysicsResult { - Ok(1.0 - + (1.0 - osc.periapsis_km()? / (150.0 + osc.frame.mean_equatorial_radius_km()?)).exp()) - } - - /// Returns the distance of a given orbital element - fn distance(&self, obj: &Objective, osc: &Orbit) -> PhysicsResult { - let tgt_val = obj.desired_value; - let tgt_tol = obj.tolerance; - - // NOTE: This function will modulo the angle errors +/- 180 deg, but paper recommends 0-180 - let dist = match obj.parameter { - StateParameter::SMA => osc.sma_km()? - tgt_val, - StateParameter::Inclination => osc.inc_deg()? - tgt_val, - StateParameter::Eccentricity => osc.ecc()? - tgt_val, - StateParameter::AoP => (between_pm_180(osc.aop_deg()? - tgt_val).to_radians()) - .cos() - .acos(), - StateParameter::RAAN => (between_pm_180(osc.raan_deg()? - tgt_val).to_radians()) - .cos() - .acos(), - _ => unreachable!(), - }; - - if (dist - tgt_tol).abs() < f64::EPSILON { - Ok(0.0) - } else { - Ok(dist) - } - } - - fn weighting(&self, obj: &Objective, osc: &Orbit, _η_threshold: f64) -> PhysicsResult { - let s = if obj.parameter == StateParameter::SMA { - (1.0 + ((osc.sma_km()? - obj.desired_value) / (3.0 * obj.desired_value)).powi(4)) - .powf(0.5) - } else { - 1.0 - }; - let oe_xx = Self::oe_xx(osc, obj.parameter)?; - Ok(s * (self.distance(obj, osc)? / oe_xx).powi(2)) - } - - fn oe_xx(osc: &Orbit, param: StateParameter) -> PhysicsResult { - match param { - StateParameter::SMA => Ok(2.0 - * ((osc.sma_km()?.powi(3) * (1.0 + osc.ecc()?)) - / (osc.frame.mu_km3_s2()? * (1.0 - osc.ecc()?))) - .sqrt()), - StateParameter::Eccentricity => Ok(2.0 * osc.semi_parameter_km()? / osc.hmag()?), - _ => unreachable!(), - } - } - - /// Computes the partial derivative of Q with respect to the provided orbital element - /// This was computed using Sympy, pasted here for information. - /// - /// # SMA - /// ```python - /// >>> ecc = Symbol('e'); sma = Symbol('a'); mu = Symbol('mu'); h = Symbol('h'); ta = Symbol('ta'); fr = Symbol('fr'); ft = Symbol('ft'); fh = Symbol('fh') - /// >>> f = (fr**2 + ft **2 + fh**2)**0.5 - /// >>> sma_xx = 2 * f * sqrt( (sma**3 * (1+ecc)) / (mu * (1-ecc))) - /// >>> (sma/sma_xx**2).diff(sma) - /// -mu*(1 - e)/(2*a**3*(e + 1)*(fh**2 + fr**2 + ft**2)**1.0) - /// ``` - /// - /// # ECC - /// ```python - /// >>> p = sma * (1.0 - ecc**2) - /// >>> ecc_xx = 2 * f * p / h - /// >>> (ecc/ecc_xx).diff(ecc) - /// e**2*h/(a*(1.0 - e**2)**2*(fh**2 + fr**2 + ft**2)**0.5) + h/(2*a*(1.0 - e**2)*(fh**2 + fr**2 + ft**2)**0.5 - /// ``` - fn dq_doe(osc: &Orbit, param: StateParameter, thrust: f64) -> PhysicsResult { - match param { - StateParameter::SMA => Ok(-osc.frame.mu_km3_s2()? * (1.0 - osc.ecc()?) - / (2.0 * osc.sma_km()?.powi(3) * (1.0 + osc.ecc()?) * thrust)), - StateParameter::Eccentricity => Ok(osc.ecc()?.powi(2) * osc.hmag()? - / (osc.sma_km()? * (1.0 - osc.ecc()?.powi(2)).powi(2) * thrust) - + osc.hmag()? / (2.0 * osc.sma_km()? * (1.0 - osc.ecc()?.powi(2))) * thrust), - _ => unreachable!(), - } - } - - /// Compute the partial derivatives over the thrust vector for each orbital element. - /// Returns doe/dfr, doe/dftheta, deo/dfh - /// - /// # SMA - /// ```python - /// In [14]: ta = Symbol('ta') - /// In [15]: fr = Symbol('fr') - /// In [16]: ft = Symbol('ft') - /// In [17]: fh = Symbol('fh') - /// In [19]: r = Symbol('r') - /// In [20]: gvop_sma = (2*sma**2 / h) * (ecc * sin(ta) * fr + p/r * ft) - /// In [21]: gvop_sma.diff(fr) - /// Out[21]: 2*a**2*e*sin(ta)/h - /// In [22]: gvop_sma.diff(ft) - /// Out[22]: 2*a**3*(1.0 - e**2)/(h*r) - /// In [23]: gvop_sma.diff(fh) - /// Out[23]: 0 - /// ``` - /// - /// # ECC - /// ```python - /// In [24]: gvop_ecc = 1/h * ( p*sin(ta) *fr + ( (p+r) * cos(ta) + r*ecc )* ft ) - /// In [25]: gvop_ecc.diff(fr) - /// Out[25]: a*(1.0 - e**2)*sin(ta)/h - /// In [26]: gvop_ecc.diff(ft) - /// Out[26]: (e*r + (a*(1.0 - e**2) + r)*cos(ta))/h - /// In [27]: gvop_ecc.diff(fh) - /// Out[27]: 0 - /// ``` - fn gaussian_vop_doe(osc: &Orbit, param: StateParameter) -> PhysicsResult> { - match param { - StateParameter::SMA => Ok(Vector3::new( - 2.0 * osc.sma_km()?.powi(2) * osc.ecc()? * osc.ta_deg()?.to_radians().sin() - / osc.hmag()?, - 2.0 * osc.sma_km()?.powi(3) * (1.0 - osc.ecc()?.powi(2)) - / (osc.hmag()? * osc.rmag_km()), - 0.0, - )), - StateParameter::Eccentricity => Ok(Vector3::new( - osc.sma_km()? * (1.0 - osc.ecc()?.powi(2)) * osc.ta_deg()?.to_radians().sin() - / osc.hmag()?, - osc.ecc()? * osc.rmag_km() - + (osc.sma_km()? - * (1.0 - osc.ecc()?.powi(2) - + osc.rmag_km() * osc.ta_deg()?.to_radians().cos())) - / osc.hmag()?, - 0.0, - )), - _ => unreachable!(), - } - } - - /// Returns whether the guidance law has achieved all goals - pub fn status(&self, state: &Spacecraft) -> Vec { - self.objectives - .iter() - .flatten() - .map(|obj| { - let (ok, err) = obj.assess_raw(state.value(obj.parameter).unwrap()); - format!( - "{} achieved: {}\t error = {:.5} {}", - obj, - ok, - err, - obj.parameter.unit() - ) - }) - .collect::>() - } -} - -impl fmt::Display for QLaw { - fn fmt(&self, f: &mut fmt::Formatter<'_>) -> fmt::Result { - write!(f, "QLaw with {} objectives", self.objectives.len()) - } -} - -impl GuidanceLaw for QLaw { - /// Returns whether the guidance law has achieved all goals - fn achieved(&self, state: &Spacecraft) -> Result { - for obj in self.objectives.iter().flatten() { - if !obj - .assess_raw(state.value(obj.parameter).context(GuidStateSnafu)?) - .0 - { - return Ok(false); - } - } - Ok(true) - } - - fn direction(&self, sc: &Spacecraft) -> Result, GuidanceError> { - if sc.mode() == GuidanceMode::Thrust { - let osc = sc.orbit; - // let mut steering = Vector3::zeros(); - let mut d = Vector3::zeros(); - let mut q = 0.0; - for (i, obj) in self.objectives.iter().flatten().enumerate() { - q += self.weighting(obj, &osc, self.ηthresholds[i]).context( - GuidancePhysicsSnafu { - action: "computing Q-Law weights", - }, - )?; - - d += (Self::dq_doe(&osc, obj.parameter, sc.thruster.unwrap().thrust_N).context( - GuidancePhysicsSnafu { - action: "computing Q-Law partial", - }, - )? - sc.value(obj.parameter).unwrap()) - * Self::gaussian_vop_doe(&osc, obj.parameter).context( - GuidancePhysicsSnafu { - action: "computing Q-Law partial", - }, - )?; - - // match obj.parameter { - // StateParameter::SMA => { - - // let num = osc.ecc()? * osc.ta_deg()?.to_radians().sin(); - // let denom = 1.0 + osc.ecc()? * osc.ta_deg()?.to_radians().cos(); - // let alpha = num.atan2(denom); - // // For SMA, we must multiply the weight by the thrust acceleration magnitude - // steering += unit_vector_from_plane_angles(alpha, 0.0) - // * weight - // * sc.thruster.unwrap().thrust_N; - // } - // StateParameter::Eccentricity => { - // let num = osc.ta_deg()?.to_radians().sin(); - // let denom = osc.ta_deg()?.to_radians().cos() + osc.ea().to_radians().cos(); - // let alpha = num.atan2(denom); - // steering += unit_vector_from_plane_angles(alpha, 0.0) * weight; - // } - // StateParameter::Inclination => { - // let beta = half_pi.copysign(((osc.ta() + osc.aop_deg()).to_radians()).cos()); - // steering += unit_vector_from_plane_angles(0.0, beta) * weight; - // } - // StateParameter::RAAN => { - // let beta = half_pi.copysign(((osc.ta() + osc.aop_deg()).to_radians()).sin()); - // steering += unit_vector_from_plane_angles(0.0, beta) * weight; - // } - // StateParameter::AoP => { - // let oe2 = 1.0 - osc.ecc()?.powi(2); - // let e3 = osc.ecc()?.powi(3); - // // Compute the optimal true anomaly for in-plane thrusting - // let sqrt_val = (0.25 * (oe2 / e3).powi(2) + 1.0 / 27.0).sqrt(); - // let opti_ta_alpha = ((oe2 / (2.0 * e3) + sqrt_val).powf(1.0 / 3.0) - // - (-oe2 / (2.0 * e3) + sqrt_val).powf(1.0 / 3.0) - // - 1.0 / osc.ecc()) - // .acos(); - // // Compute the optimal true anomaly for out of plane thrusting - // let opti_ta_beta = (-osc.ecc()? * osc.aop_deg().to_radians().cos()).acos() - // - osc.aop_deg().to_radians(); - // // And choose whether to do an in-plane or out of plane thrust - // if (osc.ta_deg()?.to_radians() - opti_ta_alpha).abs() - // < (osc.ta_deg()?.to_radians() - opti_ta_beta).abs() - // { - // // In plane - // let p = osc.semi_parameter(); - // let (sin_ta, cos_ta) = osc.ta_deg()?.to_radians().sin_cos(); - // let alpha = (-p * cos_ta).atan2((p + osc.rmag_km()) * sin_ta); - // steering += unit_vector_from_plane_angles(alpha, 0.0) * weight; - // } else { - // // Out of plane - // let beta = half_pi - // .copysign(-(osc.ta_deg()?.to_radians() + osc.aop_deg().to_radians()).sin()) - // * osc.inc_deg().to_radians().cos(); - // steering += unit_vector_from_plane_angles(0.0, beta) * weight; - // }; - // } - // _ => unreachable!(), - // } - } - - // Add the penalty factor - d *= Self::penalty(&osc).context(GuidancePhysicsSnafu { - action: "computing Q-Law penalty", - })?; - - // Solve for the optimal angles (we swap the D1 and D2 because our function return the thrust in r, theta, h, not theta, r, h) - let alpha = -d[0].atan2(-d[1]); - let beta = (-d[2] / (d[1].powi(2) + d[0].powi(2)).sqrt()).atan(); - - // dbg!(alpha, beta); - // dbg!(q); - // if q.abs() < 5.0e-3 { - // println!("{:x}", osc); - // panic!(); - // } - - let steering = unit_vector_from_plane_angles(alpha, beta); - - // Convert to inertial -- this whole guidance law is computed in the RCN frame - Ok(osc - .dcm_from_rcn_to_inertial() - .context(GuidancePhysicsSnafu { - action: "computing RCN frame", - })? - * steering) - } else { - Ok(Vector3::zeros()) - } - } - - // Either thrust full power or not at all - fn throttle(&self, sc: &Spacecraft) -> Result { - if sc.mode() == GuidanceMode::Thrust { - let osc = sc.orbit; - for (i, obj) in self.objectives.iter().flatten().enumerate() { - let weight = self.weighting(obj, &osc, self.ηthresholds[i]).context( - GuidancePhysicsSnafu { - action: "computing Q-Law weights", - }, - )?; - if weight.abs() > 0.0 { - return Ok(1.0); - } - } - Ok(0.0) - } else { - Ok(0.0) - } - } - - /// Update the state for the next iteration - fn next(&self, sc: &mut Spacecraft) { - if sc.mode() != GuidanceMode::Inhibit { - if !self.achieved(sc).unwrap() { - if sc.mode() == GuidanceMode::Coast { - info!("enabling steering: {:x}", sc.orbit); - } - sc.mut_mode(GuidanceMode::Thrust); - } else { - if sc.mode() == GuidanceMode::Thrust { - info!("disabling steering: {:x}", sc.orbit); - } - sc.mut_mode(GuidanceMode::Coast); - } - } - } -} From 23f8cb2c13d46f5047d19f9e3bfac946ce79ac52 Mon Sep 17 00:00:00 2001 From: Christopher Rabotin Date: Sat, 27 Jul 2024 15:38:49 -0600 Subject: [PATCH 05/11] Propagator options now follow the typed builder trait --- examples/03_geo_analysis/raise.rs | 36 ++++++++++++++++--------------- src/cosmic/eclipse.rs | 2 +- src/dynamics/guidance/ruggiero.rs | 12 ++++++++--- src/md/objective.rs | 7 +++--- src/propagators/options.rs | 29 ++++++++++++++++++------- 5 files changed, 54 insertions(+), 32 deletions(-) diff --git a/examples/03_geo_analysis/raise.rs b/examples/03_geo_analysis/raise.rs index d7429f82..9115f773 100644 --- a/examples/03_geo_analysis/raise.rs +++ b/examples/03_geo_analysis/raise.rs @@ -9,7 +9,7 @@ use anise::{ frames::{EARTH_J2000, IAU_EARTH_FRAME}, }, }; -use hifitime::{Epoch, Unit}; +use hifitime::{Epoch, TimeUnits, Unit}; use nyx::{ cosmic::{GuidanceMode, MetaAlmanac, Orbit, SrpConfig}, dynamics::{ @@ -18,7 +18,7 @@ use nyx::{ }, io::{gravity::HarmonicsMem, ExportCfg}, md::{prelude::Objective, StateParameter}, - propagators::Propagator, + propagators::{PropOpts, Propagator, RSSCartesianStep}, Spacecraft, }; use std::{error::Error, sync::Arc}; @@ -51,7 +51,7 @@ fn main() -> Result<(), Box> { let sc = Spacecraft::builder() .orbit(orbit) .dry_mass_kg(1000.0) // 1000 kg of dry mass - .fuel_mass_kg(1500.0) // 1500 kg of fuel, totalling 2.5 tons + .fuel_mass_kg(1000.0) // 1500 kg of fuel, totalling 2.5 tons .srp(SrpConfig::from_area(3.0 * 6.0)) // Assuming 1 kW/m^2 or 18 kW, giving a margin of 4.35 kW for on-propulsion consumption .thruster(Thruster { isp_s: 4435.0, @@ -60,18 +60,17 @@ fn main() -> Result<(), Box> { .mode(GuidanceMode::Thrust) // Start thrusting immediately. .build(); - let prop_time = 120.0 * Unit::Day; + let prop_time = 180.0 * Unit::Day; // Define the guidance law -- we're just using a Ruggiero controller as demonstrated in AAS-2004-5089. let objectives = &[ Objective::within_tolerance(StateParameter::SMA, 42_165.0, 20.0), Objective::within_tolerance(StateParameter::Eccentricity, 0.001, 5e-5), - Objective::within_tolerance(StateParameter::Inclination, 0.05, 5e-3), + Objective::within_tolerance(StateParameter::Inclination, 0.05, 1e-2), ]; // Define the efficiency thresholds for this controller - let ηthresholds = [0.001, 0.001, 0.001]; - let ruggiero_ctrl = Ruggiero::with_ηthresholds(objectives, &ηthresholds, sc).unwrap(); + let ruggiero_ctrl = Ruggiero::new(objectives, sc).unwrap(); println!("{ruggiero_ctrl}"); // Define the high fidelity dynamics @@ -96,7 +95,7 @@ fn main() -> Result<(), Box> { // We're using the long term prediction of the Earth centered Earth fixed frame, IAU Earth. let harmonics = Harmonics::from_stor( almanac.frame_from_uid(IAU_EARTH_FRAME)?, - HarmonicsMem::from_cof(&jgm3_meta.uri, 8, 8, true).unwrap(), + HarmonicsMem::from_cof(&jgm3_meta.uri, 0, 0, true).unwrap(), ); // Include the spherical harmonics into the orbital dynamics. @@ -111,18 +110,22 @@ fn main() -> Result<(), Box> { let sc_dynamics = SpacecraftDynamics::from_model(orbital_dyn, srp_dyn) .with_guidance_law(ruggiero_ctrl.clone()); - println!("[qlaw_as_ruggiero_case_b] {:x}", orbit); + println!("{:x}", orbit); - let (final_state, traj) = Propagator::default( + // We specify a minimum step in the propagator because the Ruggiero control would otherwise drive this step very low. + let (final_state, traj) = Propagator::rk89( sc_dynamics.clone(), - // PropOpts::::with_tolerance(1e-10), + PropOpts::builder() + .min_step(10.0_f64.seconds()) + .error_ctrl(RSSCartesianStep {}) + .build(), ) .with(sc, almanac.clone()) .for_duration_with_traj(prop_time)?; let fuel_usage = sc.fuel_mass_kg - final_state.fuel_mass_kg; - println!("[qlaw_as_ruggiero_case_b] {:x}", final_state.orbit); - println!("[qlaw_as_ruggiero_case_b] fuel usage: {:.3} kg", fuel_usage); + println!("{:x}", final_state.orbit); + println!("fuel usage: {:.3} kg", fuel_usage); // Finally, export the results for analysis. traj.to_parquet_with_cfg("./03_geo_raise.parquet", ExportCfg::default(), almanac)?; @@ -131,10 +134,9 @@ fn main() -> Result<(), Box> { println!("{status_line}"); } - assert!( - ruggiero_ctrl.achieved(&final_state).unwrap(), - "objective not achieved" - ); + ruggiero_ctrl + .achieved(&final_state) + .expect("objective not achieved"); Ok(()) } diff --git a/src/cosmic/eclipse.rs b/src/cosmic/eclipse.rs index 93c4b8c3..d4787093 100644 --- a/src/cosmic/eclipse.rs +++ b/src/cosmic/eclipse.rs @@ -252,7 +252,7 @@ impl EventEvaluator for PenumbraEvent { fn epoch_precision(&self) -> Duration { 0.1 * Unit::Second } - /// Finds the slightest penumbra within 2%(i.e. 98% in visibility) + /// Finds the slightest penumbra within 2% (i.e. 98% in visibility) fn value_precision(&self) -> f64 { 0.02 } diff --git a/src/dynamics/guidance/ruggiero.rs b/src/dynamics/guidance/ruggiero.rs index 4749cf2a..b9fff533 100644 --- a/src/dynamics/guidance/ruggiero.rs +++ b/src/dynamics/guidance/ruggiero.rs @@ -206,7 +206,13 @@ impl Ruggiero { impl fmt::Display for Ruggiero { fn fmt(&self, f: &mut fmt::Formatter<'_>) -> fmt::Result { - write!(f, "Ruggiero with {} objectives", self.objectives.len()) + let obj_msg = self + .objectives + .iter() + .flatten() + .map(|obj| format!("{obj}")) + .collect::>(); + write!(f, "Ruggiero Controller: \n {}", obj_msg.join("\n")) } } @@ -355,12 +361,12 @@ impl GuidanceLaw for Ruggiero { if sc.mode() != GuidanceMode::Inhibit { if !self.achieved(sc).unwrap() { if sc.mode() == GuidanceMode::Coast { - info!("enabling steering: {:x}", sc.orbit); + debug!("enabling steering: {:x}", sc.orbit); } sc.mut_mode(GuidanceMode::Thrust); } else { if sc.mode() == GuidanceMode::Thrust { - info!("disabling steering: {:x}", sc.orbit); + debug!("disabling steering: {:x}", sc.orbit); } sc.mut_mode(GuidanceMode::Coast); } diff --git a/src/md/objective.rs b/src/md/objective.rs index 2c721ec0..a4340763 100644 --- a/src/md/objective.rs +++ b/src/md/objective.rs @@ -85,14 +85,15 @@ impl fmt::LowerHex for Objective { write!( f, - "{:?} → {:.prec$} ", + "{:?} → {:.prec$} {}", self.parameter, self.desired_value, - prec = max_obj_tol + self.parameter.unit(), + prec = max_obj_tol, )?; if self.tolerance.abs() < 1e-1 { - write!(f, "(± {:.1e})", self.tolerance) + write!(f, " (± {:.1e})", self.tolerance) } else { write!(f, " (± {:.2})", self.tolerance) } diff --git a/src/propagators/options.rs b/src/propagators/options.rs index cc28519c..1c52e1ab 100644 --- a/src/propagators/options.rs +++ b/src/propagators/options.rs @@ -21,6 +21,7 @@ use std::fmt; use crate::time::{Duration, Unit}; use super::{ErrorCtrl, RSSCartesianStep}; +use typed_builder::TypedBuilder; /// PropOpts stores the integrator options, including the minimum and maximum step sizes, and the /// max error size. @@ -29,15 +30,22 @@ use super::{ErrorCtrl, RSSCartesianStep}; /// methods. To use a fixed step integrator, initialize the options using `with_fixed_step`, and /// use whichever adaptive step integrator is desired. For example, initializing an RK45 with /// fixed step options will lead to an RK4 being used instead of an RK45. -#[derive(Clone, Copy, Debug)] +#[derive(Clone, Copy, Debug, TypedBuilder)] +#[builder(doc)] pub struct PropOpts { + #[builder(default_code = "60.0 * Unit::Second")] pub init_step: Duration, + #[builder(default_code = "0.001 * Unit::Second")] pub min_step: Duration, + #[builder(default_code = "2700.0 * Unit::Second")] pub max_step: Duration, + #[builder(default = 1e-12)] pub tolerance: f64, + #[builder(default = 50)] pub attempts: u8, + #[builder(default = false)] pub fixed_step: bool, - pub _errctrl: E, + pub error_ctrl: E, } impl PropOpts { @@ -47,7 +55,7 @@ impl PropOpts { min_step: Duration, max_step: Duration, tolerance: f64, - errctrl: E, + error_ctrl: E, ) -> Self { PropOpts { init_step: max_step, @@ -56,16 +64,21 @@ impl PropOpts { tolerance, attempts: 50, fixed_step: false, - _errctrl: errctrl, + error_ctrl, } } - pub fn with_adaptive_step_s(min_step: f64, max_step: f64, tolerance: f64, errctrl: E) -> Self { + pub fn with_adaptive_step_s( + min_step: f64, + max_step: f64, + tolerance: f64, + error_ctrl: E, + ) -> Self { Self::with_adaptive_step( min_step * Unit::Second, max_step * Unit::Second, tolerance, - errctrl, + error_ctrl, ) } @@ -116,7 +129,7 @@ impl PropOpts { tolerance: 0.0, fixed_step: true, attempts: 0, - _errctrl: RSSCartesianStep {}, + error_ctrl: RSSCartesianStep {}, } } @@ -151,7 +164,7 @@ impl Default for PropOpts { tolerance: 1e-12, attempts: 50, fixed_step: false, - _errctrl: RSSCartesianStep {}, + error_ctrl: RSSCartesianStep {}, } } } From 714cdf83498cfcef4af3e0e2c5d233436da19cda Mon Sep 17 00:00:00 2001 From: Christopher Rabotin Date: Sat, 27 Jul 2024 16:19:32 -0600 Subject: [PATCH 06/11] Add plotting to GEO raise --- examples/03_geo_analysis/plot_3d_traj.py | 88 ++++++++++++++++++ .../03_geo_analysis/plot_orbital_elements.py | 6 +- .../03_geo_analysis/plots/keplerian-oe.png | Bin 0 -> 235266 bytes .../03_geo_analysis/plots/traj-3d-edge-on.png | Bin 0 -> 208141 bytes examples/03_geo_analysis/plots/traj-3d.png | Bin 0 -> 532866 bytes 5 files changed, 89 insertions(+), 5 deletions(-) create mode 100644 examples/03_geo_analysis/plot_3d_traj.py create mode 100644 examples/03_geo_analysis/plots/keplerian-oe.png create mode 100644 examples/03_geo_analysis/plots/traj-3d-edge-on.png create mode 100644 examples/03_geo_analysis/plots/traj-3d.png diff --git a/examples/03_geo_analysis/plot_3d_traj.py b/examples/03_geo_analysis/plot_3d_traj.py new file mode 100644 index 00000000..8c7e8698 --- /dev/null +++ b/examples/03_geo_analysis/plot_3d_traj.py @@ -0,0 +1,88 @@ +from datetime import datetime +import polars as pl +import plotly.graph_objs as go +from plotly.subplots import make_subplots +import numpy as np + + +def build_sphere(size, num_points=500, opacity=1.0): + """ + Source: https://python.plainenglish.io/how-to-create-a-3d-model-of-the-solar-system-with-plotly-in-python-2a74e672b771 + """ + + color = (86, 180, 233) # #56b4e9 + + theta = np.linspace(0, 2 * np.pi, num_points) + phi = np.linspace(0, np.pi, num_points) + + # Set up coordinates for points on the sphere + x0 = size * np.outer(np.cos(theta), np.sin(phi)) + y0 = size * np.outer(np.sin(theta), np.sin(phi)) + z0 = size * np.outer(np.ones(num_points), np.cos(phi)) + + # Set up trace + trace = go.Surface( + x=x0, + y=y0, + z=z0, + colorscale=[ + [0, f"rgba({int(color[0])}, {int(color[1])}, {int(color[2])}, {opacity})"], + [1, f"rgba({int(color[0])}, {int(color[1])}, {int(color[2])}, {opacity})"], + ], + hoverinfo="none", + ) + trace.update(showscale=False) + + return trace + + +def plot_traj( + df: pl.DataFrame, +): + """ + Plot a trajectory in 3D + + Args: + dfs (pandas.DataFrame): The data frame containing the trajectory (or a list thereof) + title (str): The title of the plot + html_out (str, optional): The path to save the HTML to. Defaults to None. + copyright (str, optional): The copyright to display on the plot. Defaults to None. + fig (plotly.graph_objects.Figure, optional): The figure to add the trajectory to. Defaults to None. + center (str, optional): The name of the center object, e.g. `Luna` (Moon). Defaults to "Earth". + show (bool, optional): Whether to show the plot. Defaults to True. If set to false, the figure will be returned. + """ + + df = df.with_columns(pl.col("Epoch (UTC)").str.to_datetime("%Y-%m-%dT%H:%M:%S%.f")).sort( + "Epoch (UTC)", descending=False + ) + + fig = go.Figure() + + earth_radius = 6378.136300 + + traces = [build_sphere(earth_radius, opacity=0.8)] + + traces += [ + go.Scatter3d( + x=df["x (km)"], + y=df["y (km)"], + z=df["z (km)"], + mode="lines", + line=dict( + color=df["fuel_mass (kg)"], + colorscale="Viridis", + colorbar=dict(title="fuel mass (kg)"), + ), + name="GEO", + ) + ] + + # Now that we have the data, let's plot it + fig.add_traces(traces) + fig.update_layout(scene_aspectmode="data") + + fig.show() + + +if __name__ == "__main__": + plot_traj(pl.read_parquet("03_geo_raise.parquet")) diff --git a/examples/03_geo_analysis/plot_orbital_elements.py b/examples/03_geo_analysis/plot_orbital_elements.py index 4158bf37..00c06be5 100644 --- a/examples/03_geo_analysis/plot_orbital_elements.py +++ 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