Exemplo n.º 1
0
//------------------------------------------------------------------------------
Rmatrix33 ITRFAxes::Skew(Rvector3 vec)
{
	Rmatrix33 r;
	r.SetElement(0,0,0.0);					r.SetElement(0,1,-vec.GetElement(2));	r.SetElement(0,2,vec.GetElement(1));
	r.SetElement(1,0,vec.GetElement(2));	r.SetElement(1,1,0.0);					r.SetElement(1,2,-vec.GetElement(0));
	r.SetElement(2,0,-vec.GetElement(1));	r.SetElement(2,1,vec.GetElement(0));	r.SetElement(2,2,0.0);

	return r;
}
Exemplo n.º 2
0
//------------------------------------------------------------------------------
Rmatrix33 ITRFAxes::R3(Real angle)
{
	Rmatrix33 r;
	Real c = cos(angle);
	Real s = sin(angle);
	r.SetElement(0,0,c);	r.SetElement(0,1,s);	r.SetElement(0,2,0.0);
	r.SetElement(1,0,-s);	r.SetElement(1,1,c);	r.SetElement(1,2,0.0);
	r.SetElement(2,0,0.0);	r.SetElement(2,1,0.0);	r.SetElement(2,2,1.0);

	return r;
}
Exemplo n.º 3
0
void CoordinateConverter::RotationMatrixFromICRFToFK5(const A1Mjd &atEpoch)
{
   Real theEpoch = atEpoch.Get();
   #ifdef DEBUG_ICRF_TOFK5
         MessageInterface::ShowMessage(
            "Enter CoordinateConverter::RotationMatrixFromICRFToFK5 at epoch %18.12lf; \n\n", theEpoch);
   #endif

   // Specify Euler rotation vector for theEpoch:
   Real vec[3];
   ICRFFile* icrfFile = ICRFFile::Instance();
   icrfFile->Initialize();
   icrfFile->GetICRFRotationVector(theEpoch, &vec[0], 3, 9);

   // Calculate rotation matrix based on Euler rotation vector:
   Real angle = GmatMathUtil::Sqrt(vec[0]*vec[0]+vec[1]*vec[1]+vec[2]*vec[2]);
   Real a[3];
   a[0] = vec[0]/angle; a[1] = vec[1]/angle; a[2] = vec[2]/angle;
   Real c = GmatMathUtil::Cos(angle);
   Real s = GmatMathUtil::Sin(angle);

   // rotation matrix from FK5 to ICRF:
   Rmatrix33 rotM;
   rotM.SetElement(0,0, c+a[0]*a[0]*(1-c));
   rotM.SetElement(0,1, a[0]*a[1]*(1-c)+a[2]*s);
   rotM.SetElement(0,2, a[0]*a[2]*(1-c)-a[1]*s);
   rotM.SetElement(1,0, a[0]*a[1]*(1-c)-a[2]*s);
   rotM.SetElement(1,1, c+a[1]*a[1]*(1-c));
   rotM.SetElement(1,2, a[1]*a[2]*(1-c)+a[0]*s);
   rotM.SetElement(2,0, a[0]*a[2]*(1-c)+a[1]*s);
   rotM.SetElement(2,1, a[1]*a[2]*(1-c)-a[0]*s);
   rotM.SetElement(2,2, c+a[2]*a[2]*(1-c));

   // rotation matrix from ICRF to FK5:
   icrfToFK5 = rotM.Transpose();

   // rotation dot matrix from ICRF to FK5:
   icrfToFK5Dot.Set(0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0);

   #ifdef DEBUG_ICRF_TOFK5
      MessageInterface::ShowMessage("theEpoch  = %18.12lf\n",theEpoch);

      MessageInterface::ShowMessage("rotation vector = %18.12e %18.12e %18.12e\n", vec[0], vec[1], vec[2]);
      MessageInterface::ShowMessage("R(0,0)=%18.12e,  R(0,1)=%18.12e,  R(0,2)=%18.12e\n",icrfToFK5(0,0),icrfToFK5(0,1),icrfToFK5(0,2));
      MessageInterface::ShowMessage("R(1,0)=%18.12e,  R(1,1)=%18.12e,  R(1,2)=%18.12e\n",icrfToFK5(1,0),icrfToFK5(1,1),icrfToFK5(1,2));
      MessageInterface::ShowMessage("R(2,0)=%18.12e,  R(2,1)=%18.12e,  R(2,2)=%18.12e\n",icrfToFK5(2,0),icrfToFK5(2,1),icrfToFK5(2,2));

      MessageInterface::ShowMessage("Rdot(0,0)=%18.12e,  Rdot(0,1)=%18.12e,  Rdot(0,2)=%18.12e\n",icrfToFK5Dot(0,0),icrfToFK5Dot(0,1),icrfToFK5Dot(0,2));
      MessageInterface::ShowMessage("Rdot(1,0)=%18.12e,  Rdot(1,1)=%18.12e,  Rdot(1,2)=%18.12e\n",icrfToFK5Dot(1,0),icrfToFK5Dot(1,1),icrfToFK5Dot(1,2));
      MessageInterface::ShowMessage("Rdot(2,0)=%18.12e,  Rdot(2,1)=%18.12e,  Rdot(2,2)=%18.12e\n\n\n",icrfToFK5Dot(2,0),icrfToFK5Dot(2,1),icrfToFK5Dot(2,2));
   #endif

   #ifdef DEBUG_ICRF_TOFK5
      MessageInterface::ShowMessage("NOW exiting CoordinateConverter::RotationMatrixFromICRFToFK5 ...\n\n");
   #endif

}
Exemplo n.º 4
0
//------------------------------------------------------------------------------
void ITRFAxes::CalculateRotationMatrix(const A1Mjd &atEpoch,
                                            bool forceComputation) 
{
   #ifdef DEBUG_FIRST_CALL
      if (!firstCallFired)
         MessageInterface::ShowMessage(
            "Calling ITRF::CalculateRotationMatrix at epoch %18.12lf; \n", atEpoch.Get());
   #endif
   Real theEpoch = atEpoch.Get();

   //  Perform time computations and read EOP file
   Real sec2rad = GmatMathConstants::RAD_PER_DEG/3600;
   Real a1MJD = theEpoch;

   Real utcMJD = TimeConverterUtil::Convert(a1MJD,
                    TimeConverterUtil::A1MJD, TimeConverterUtil::UTCMJD,
                    JD_JAN_5_1941);
   Real offset = JD_JAN_5_1941 - JD_NOV_17_1858;

   Real xp,yp,LOD,dUT1;
   dUT1 = eop->GetUt1UtcOffset(utcMJD +  offset);
   eop->GetPolarMotionAndLod(utcMJD +  offset, xp, yp, LOD);

   xp = xp*sec2rad;
   yp = yp*sec2rad;

   Real ut1MJD = TimeConverterUtil::Convert(a1MJD,
                    TimeConverterUtil::A1MJD, TimeConverterUtil::UT1,
                    JD_JAN_5_1941);

   // Compute elapsed Julian centuries (UT1)
   Real tDiff = JD_JAN_5_1941 - JD_OF_J2000;
   Real jdUT1 = ut1MJD + JD_JAN_5_1941;

   // convert input A1 MJD to TT MJD (for most calculations)
   Real ttMJD = TimeConverterUtil::Convert(a1MJD,
                   TimeConverterUtil::A1MJD, TimeConverterUtil::TTMJD,
                   JD_JAN_5_1941);

   Real jdTT    = ttMJD + JD_JAN_5_1941; // right?
   // Compute Julian centuries of TDB from the base epoch (J2000)
   // NOTE - this is really TT, an approximation of TDB *********
   Real T_TT    = (ttMJD + tDiff) / DAYS_PER_JULIAN_CENTURY;

   //  Compute the Polar Motion Matrix, W, and Earth Rotation Angle, theta
   Real sPrime = -0.000047*sec2rad*T_TT;
   Rmatrix33 W = R3(-sPrime)*R2(xp)*R1(yp);
   Real theta  = fmod(GmatMathConstants::TWO_PI*(0.7790572732640 + 1.00273781191135448*(jdUT1 - 2451545.0)),GmatMathConstants::TWO_PI);

   //  Compute the precession-nutation matrix
   //  . interpolate the XYs data file
   Real data[3];
   if (iauFile == NULL)
   {
      throw CoordinateSystemException("Error: IAUFile object is NULL. GMAT cannot get IAU data.\n");
   }
   iauFile->GetIAUData(jdTT,data,3,9);
   Real X = data[0]*sec2rad;
   Real Y = data[1]*sec2rad;
   Real s = data[2]*sec2rad;

   // . construct the Precession Nutation matrix
   Real b = 1/(1 + sqrt(1- X*X - Y*Y));
   Rmatrix33 CT;
   CT.SetElement(0,0, 1-b*X*X);	CT.SetElement(0,1, -b*X*Y ); CT.SetElement(0,2,X);
   CT.SetElement(1,0, -b*X*Y);   CT.SetElement(1,1, 1-b*Y*Y); CT.SetElement(1,2,Y);
   CT.SetElement(2,0, -X);       CT.SetElement(2,1, -Y);      CT.SetElement(2,2,(1 - b*(X*X + Y*Y)));
   CT = CT*R3(s);

   //  Form the complete rotation matrix from ITRF to GCRF
   Rmatrix33 R    = CT*R3(-theta)*W;
   Real omegaEarth = 7.292115146706979e-5*(1 - LOD/86400);
   Rvector3 vec(0.0, 0.0, omegaEarth);
   Rmatrix33 Rdot = CT*R3(-theta)*Skew(vec)*W;
   rotMatrix = R;
   rotDotMatrix = Rdot;

   #ifdef DEBUG_ITRF_ROT_MATRIX
      MessageInterface::ShowMessage("a1MJD  = %18.10lf\n",a1MJD);
      MessageInterface::ShowMessage("utcMJD = %18.10lf\n",utcMJD);
      MessageInterface::ShowMessage("dUT1=%18.10e, xp=%18.10e, yp=%18.10e, LOD=%18.10e\n",dUT1,xp,yp,LOD);
      MessageInterface::ShowMessage("ut1MJD = %18.10lf\n",ut1MJD);
      MessageInterface::ShowMessage("ttMJD  = %18.10lf\n",ttMJD);
      MessageInterface::ShowMessage("jdTT   = %18.10lf\n",jdTT);
      MessageInterface::ShowMessage("jdUT1  = %18.10lf\n",jdUT1);
      MessageInterface::ShowMessage("T_TT   = %18.10lf\n\n",T_TT);

      MessageInterface::ShowMessage("sPrime = %18.10lf,  theta = %18.10lf\n",sPrime, theta);
      MessageInterface::ShowMessage("W(0,0)=%18.10lf,  W(0,1)=%18.10lf,  W(0,2)=%18.10lf\n",W.GetElement(0,0),W.GetElement(0,1),W.GetElement(0,2));
      MessageInterface::ShowMessage("W(1,0)=%18.10lf,  W(1,1)=%18.10lf,  W(1,2)=%18.10lf\n",W.GetElement(1,0),W.GetElement(1,1),W.GetElement(1,2));
      MessageInterface::ShowMessage("W(2,0)=%18.10lf,  W(2,1)=%18.10lf,  W(2,2)=%18.10lf\n",W.GetElement(2,0),W.GetElement(2,1),W.GetElement(2,2));

      MessageInterface::ShowMessage("X = %18.10lf,   Y = %18.10lf,   s = %18.10lf\n", X, Y, s);
      MessageInterface::ShowMessage("CT(0,0)=%18.10lf,  CT(0,1)=%18.10lf,  CT(0,2)=%18.10lf\n",CT.GetElement(0,0),CT.GetElement(0,1),CT.GetElement(0,2));
      MessageInterface::ShowMessage("CT(1,0)=%18.10lf,  CT(1,1)=%18.10lf,  CT(1,2)=%18.10lf\n",CT.GetElement(1,0),CT.GetElement(1,1),CT.GetElement(1,2));
      MessageInterface::ShowMessage("CT(2,0)=%18.10lf,  CT(2,1)=%18.10lf,  CT(2,2)=%18.10lf\n",CT.GetElement(2,0),CT.GetElement(2,1),CT.GetElement(2,2));

      MessageInterface::ShowMessage("R(0,0)=%18.10lf,  R(0,1)=%18.10lf,  R(0,2)=%18.10lf\n",R.GetElement(0,0),R.GetElement(0,1),R.GetElement(0,2));
      MessageInterface::ShowMessage("R(1,0)=%18.10lf,  R(1,1)=%18.10lf,  R(1,2)=%18.10lf\n",R.GetElement(1,0),R.GetElement(1,1),R.GetElement(1,2));
      MessageInterface::ShowMessage("R(2,0)=%18.10lf,  R(2,1)=%18.10lf,  R(2,2)=%18.10lf\n",R.GetElement(2,0),R.GetElement(2,1),R.GetElement(2,2));

      MessageInterface::ShowMessage("Rdot(0,0)=%18.10lf,  Rdot(0,1)=%18.10lf,  Rdot(0,2)=%18.10lf\n",Rdot.GetElement(0,0),Rdot.GetElement(0,1),Rdot.GetElement(0,2));
      MessageInterface::ShowMessage("Rdot(1,0)=%18.10lf,  Rdot(1,1)=%18.10lf,  Rdot(1,2)=%18.10lf\n",Rdot.GetElement(1,0),Rdot.GetElement(1,1),Rdot.GetElement(1,2));
      MessageInterface::ShowMessage("Rdot(2,0)=%18.10lf,  Rdot(2,1)=%18.10lf,  Rdot(2,2)=%18.10lf\n\n\n",Rdot.GetElement(2,0),Rdot.GetElement(2,1),Rdot.GetElement(2,2));
   #endif

   #ifdef DEBUG_FIRST_CALL
      firstCallFired = true;
      MessageInterface::ShowMessage("NOW exiting ITRFAxes::CalculateRotationMatrix ...\n");
   #endif

}