pub trait GuidanceLaw:
Display
+ Send
+ Sync {
// Required methods
fn direction(
&self,
osc_state: &Spacecraft,
) -> Result<Vector3<f64>, GuidanceError>;
fn throttle(&self, osc_state: &Spacecraft) -> Result<f64, GuidanceError>;
fn next(&self, next_state: &mut Spacecraft, almanac: Arc<Almanac>);
// Provided method
fn achieved(&self, _osc_state: &Spacecraft) -> Result<bool, GuidanceError> { ... }
}
Expand description
The GuidanceLaw
trait handles guidance laws, optimizations, and other such methods for
controlling the overall thrust direction when tied to a BaseSpacecraft
. For delta V control,
tie the DeltaVctrl to a MissionArc.
Required Methods§
sourcefn direction(
&self,
osc_state: &Spacecraft,
) -> Result<Vector3<f64>, GuidanceError>
fn direction( &self, osc_state: &Spacecraft, ) -> Result<Vector3<f64>, GuidanceError>
Returns a unit vector corresponding to the thrust direction in the inertial frame.
sourcefn throttle(&self, osc_state: &Spacecraft) -> Result<f64, GuidanceError>
fn throttle(&self, osc_state: &Spacecraft) -> Result<f64, GuidanceError>
Returns a number between [0;1] corresponding to the engine throttle level. For example, 0 means coasting, i.e. no thrusting, and 1 means maximum thrusting.
sourcefn next(&self, next_state: &mut Spacecraft, almanac: Arc<Almanac>)
fn next(&self, next_state: &mut Spacecraft, almanac: Arc<Almanac>)
Updates the state of the BaseSpacecraft for the next maneuver, e.g. prepares the controller for the next maneuver
Provided Methods§
sourcefn achieved(&self, _osc_state: &Spacecraft) -> Result<bool, GuidanceError>
fn achieved(&self, _osc_state: &Spacecraft) -> Result<bool, GuidanceError>
Returns whether this thrust control has been achieved, if it has an objective
Examples found in repository?
examples/03_geo_analysis/raise.rs (line 147)
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fn main() -> Result<(), Box<dyn Error>> {
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(1000.0) // 1000 kg of fuel, totalling 2.0 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 {
// "NEXT-STEP" row in Table 2
isp_s: 4435.0,
thrust_N: 0.472,
})
.mode(GuidanceMode::Thrust) // Start thrusting immediately.
.build();
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, 1e-2),
];
// Ensure that we only thrust if we have more than 20% illumination.
let ruggiero_ctrl = Ruggiero::from_max_eclipse(objectives, sc, 0.2).unwrap();
println!("{ruggiero_ctrl}");
// 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(true)?;
// 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!("{:x}", orbit);
// 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(),
IntegratorOptions::builder()
.min_step(10.0_f64.seconds())
.error_ctrl(ErrorControl::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!("{:x}", final_state.orbit);
println!("fuel usage: {:.3} kg", fuel_usage);
// Finally, export the results for analysis, including the penumbra percentage throughout the orbit raise.
traj.to_parquet(
"./03_geo_raise.parquet",
Some(vec![
&EclipseLocator::cislunar(almanac.clone()).to_penumbra_event()
]),
ExportCfg::default(),
almanac,
)?;
for status_line in ruggiero_ctrl.status(&final_state) {
println!("{status_line}");
}
ruggiero_ctrl
.achieved(&final_state)
.expect("objective not achieved");
Ok(())
}