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カスタム衛星姿勢とジンバル ステアリングのモデリング
この例では、timetable または timeseries から記録された方向データを使用して、衛星シナリオで衛星またはジンバルを向ける方法を示します。これは、Aerospace Blockset ™ 宇宙機 Dynamics ブロックによって生成されたデータを使用します。データとその生成方法の詳細については、Aerospace Blockset の例 衛星シナリオによる宇宙機姿勢プロファイルの解析 を参照してください。
satelliteScenario オブジェクトを使用すると、以前に生成され、タイムスタンプが付けられたエフェメリスと姿勢データを timeseries または timetable オブジェクトとしてシナリオに読み込むことができます。データはシナリオの時間ステップに合わせて scenario オブジェクトに補間され、Simulink モデルで生成されたデータを新規または既存の satelliteScenario オブジェクトに組み込むことができます。この例では、衛星の軌道と姿勢の状態は 宇宙機 Dynamics ブロックによって事前に計算されます。このデータをワークスペースにロードし、アクセス解析のために衛星を satelliteScenario オブジェクトにモデル化するために使用します。
ミッションパラメーターと衛星初期条件の定義
ミッションの開始日と期間を指定します。この例では、MATLAB ® 構造を使用してミッション データを整理します。これらの構造により、例の後半でのデータへのアクセスがより直感的になります。また、グローバル ベースのワークスペースを整理するのにも役立ちます。
mission.StartDate = datetime(2021,1,1,12,0,0); mission.Duration = hours(1.5);
衛星の初期軌道要素を指定します。
mission.Satellite.SemiMajorAxis = 7.2e6; % meters mission.Satellite.Eccentricity = .05; mission.Satellite.Inclination = 70; % deg mission.Satellite.ArgOfPeriapsis = 0; % deg mission.Satellite.RAAN = 215; % deg mission.Satellite.TrueAnomaly = 200; % deg
衛星の初期姿勢状態を指定します。
mission.Satellite.q0 = [1, 0, 0, 0];
mission.Satellite.pqr = [0, 0, 0]; % deg/sエフェメリスと姿勢プロファイルをロードする
この例のデータを生成するために使用された Simulink ® モデルは、衛星がアマゾンの熱帯雨林の領域を上空飛行してその地域の画像をキャプチャし、その地域の森林破壊の傾向を追跡する地球観測観測ミッションを実行するように構成されています。
衛星は、アクティブに画像を撮影していないときや、ノルウェーのスヴァールバル諸島の地上局にダウンリンクしていないときは、天底を向いています。Aerospace Blockset 姿勢プロファイル ブロックは、コマンドされた姿勢を計算します。衛星は軌道伝播に球面調和関数重力モデル EGM2008 を使用します。重力勾配トルクの寄与も姿勢力学に含まれます。このモデルの詳細については、Aerospace Blockset の例 衛星シナリオによる宇宙機姿勢プロファイルの解析 を参照してください。
timetable オブジェクトには、ミッション全体にわたる衛星の位置と姿勢のデータが含まれています。データは慣性 (ICRF/GCRF) 基準座標系で参照されます。姿勢値は四元数として表現されますが、オイラー角もサポートされています。
mission.Data = load("SatelliteScenarioCustomAttitudeData.mat", "PositionTimeTableGCRF", "AttitudeTimeTableGCRF2Body"); display(mission.Data.PositionTimeTableGCRF)
1148×1 timetable
Time Data
__________ _________________________________________
0 sec 5.2953e+06 4.784e+06 -2.422e+06
5 sec 5.2783e+06 4.7859e+06 -2.4532e+06
10 sec 5.2611e+06 4.7877e+06 -2.4842e+06
13.263 sec 5.2499e+06 4.7888e+06 -2.5045e+06
15 sec 5.2439e+06 4.7894e+06 -2.5152e+06
16.982 sec 5.237e+06 4.79e+06 -2.5275e+06
18.72 sec 5.231e+06 4.7906e+06 -2.5382e+06
20 sec 5.2265e+06 4.791e+06 -2.5462e+06
25 sec 5.209e+06 4.7925e+06 -2.577e+06
30 sec 5.1914e+06 4.7938e+06 -2.6079e+06
35 sec 5.1737e+06 4.7951e+06 -2.6386e+06
40 sec 5.1559e+06 4.7962e+06 -2.6693e+06
45 sec 5.1379e+06 4.7972e+06 -2.6999e+06
50 sec 5.1198e+06 4.7982e+06 -2.7305e+06
55 sec 5.1016e+06 4.799e+06 -2.761e+06
60 sec 5.0832e+06 4.7997e+06 -2.7915e+06
65 sec 5.0648e+06 4.8002e+06 -2.8218e+06
70 sec 5.0462e+06 4.8007e+06 -2.8522e+06
75 sec 5.0275e+06 4.8011e+06 -2.8824e+06
80 sec 5.0087e+06 4.8013e+06 -2.9126e+06
85 sec 4.9898e+06 4.8014e+06 -2.9427e+06
90 sec 4.9708e+06 4.8014e+06 -2.9727e+06
95 sec 4.9516e+06 4.8013e+06 -3.0027e+06
100 sec 4.9324e+06 4.8011e+06 -3.0326e+06
105 sec 4.913e+06 4.8008e+06 -3.0624e+06
110 sec 4.8935e+06 4.8004e+06 -3.0922e+06
115 sec 4.8739e+06 4.7998e+06 -3.1219e+06
120 sec 4.8541e+06 4.7992e+06 -3.1515e+06
125 sec 4.8343e+06 4.7984e+06 -3.181e+06
127.05 sec 4.8261e+06 4.7981e+06 -3.1931e+06
127.91 sec 4.8227e+06 4.7979e+06 -3.1982e+06
128.78 sec 4.8192e+06 4.7978e+06 -3.2033e+06
130 sec 4.8143e+06 4.7975e+06 -3.2105e+06
132.95 sec 4.8025e+06 4.797e+06 -3.2278e+06
135 sec 4.7943e+06 4.7965e+06 -3.2398e+06
140 sec 4.7741e+06 4.7954e+06 -3.2692e+06
145 sec 4.7538e+06 4.7942e+06 -3.2984e+06
150 sec 4.7334e+06 4.7929e+06 -3.3275e+06
155 sec 4.7129e+06 4.7914e+06 -3.3566e+06
160 sec 4.6922e+06 4.7899e+06 -3.3856e+06
165 sec 4.6715e+06 4.7882e+06 -3.4145e+06
170 sec 4.6506e+06 4.7864e+06 -3.4434e+06
175 sec 4.6297e+06 4.7845e+06 -3.4721e+06
180 sec 4.6086e+06 4.7825e+06 -3.5008e+06
185 sec 4.5874e+06 4.7804e+06 -3.5294e+06
190 sec 4.5662e+06 4.7782e+06 -3.5579e+06
195 sec 4.5448e+06 4.7758e+06 -3.5863e+06
200 sec 4.5233e+06 4.7734e+06 -3.6147e+06
205 sec 4.5017e+06 4.7708e+06 -3.6429e+06
210 sec 4.48e+06 4.7681e+06 -3.6711e+06
215 sec 4.4581e+06 4.7653e+06 -3.6992e+06
220 sec 4.4362e+06 4.7624e+06 -3.7272e+06
225 sec 4.4142e+06 4.7594e+06 -3.7551e+06
230 sec 4.3921e+06 4.7563e+06 -3.7829e+06
235 sec 4.3698e+06 4.753e+06 -3.8106e+06
240 sec 4.3475e+06 4.7497e+06 -3.8382e+06
245 sec 4.325e+06 4.7462e+06 -3.8658e+06
250 sec 4.3025e+06 4.7426e+06 -3.8932e+06
255 sec 4.2799e+06 4.7389e+06 -3.9206e+06
260 sec 4.2571e+06 4.7351e+06 -3.9479e+06
265 sec 4.2343e+06 4.7312e+06 -3.975e+06
270 sec 4.2113e+06 4.7271e+06 -4.0021e+06
275 sec 4.1883e+06 4.723e+06 -4.0291e+06
280 sec 4.1651e+06 4.7188e+06 -4.056e+06
285 sec 4.1419e+06 4.7144e+06 -4.0828e+06
290 sec 4.1185e+06 4.7099e+06 -4.1095e+06
295 sec 4.0951e+06 4.7053e+06 -4.1361e+06
300 sec 4.0716e+06 4.7006e+06 -4.1626e+06
305 sec 4.0479e+06 4.6958e+06 -4.189e+06
310 sec 4.0242e+06 4.6909e+06 -4.2153e+06
315 sec 4.0004e+06 4.6858e+06 -4.2415e+06
320 sec 3.9764e+06 4.6807e+06 -4.2676e+06
325 sec 3.9524e+06 4.6754e+06 -4.2936e+06
330 sec 3.9283e+06 4.6701e+06 -4.3195e+06
335 sec 3.9041e+06 4.6646e+06 -4.3453e+06
340 sec 3.8798e+06 4.659e+06 -4.371e+06
345 sec 3.8554e+06 4.6533e+06 -4.3965e+06
350 sec 3.8309e+06 4.6475e+06 -4.422e+06
355 sec 3.8064e+06 4.6415e+06 -4.4474e+06
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455 sec 3.2965e+06 4.4998e+06 -4.9316e+06
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485 sec 3.1372e+06 4.4488e+06 -5.0678e+06
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495 sec 3.0834e+06 4.431e+06 -5.1122e+06
500 sec 3.0565e+06 4.4219e+06 -5.1343e+06
505 sec 3.0294e+06 4.4127e+06 -5.1562e+06
510 sec 3.0023e+06 4.4034e+06 -5.1779e+06
515 sec 2.9751e+06 4.3939e+06 -5.1996e+06
520 sec 2.9478e+06 4.3844e+06 -5.2211e+06
525 sec 2.9205e+06 4.3748e+06 -5.2425e+06
530 sec 2.8931e+06 4.3651e+06 -5.2638e+06
535 sec 2.8656e+06 4.3552e+06 -5.2849e+06
540 sec 2.838e+06 4.3453e+06 -5.3059e+06
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555 sec 2.755e+06 4.3148e+06 -5.3682e+06
560 sec 2.7271e+06 4.3044e+06 -5.3887e+06
565 sec 2.6992e+06 4.294e+06 -5.409e+06
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865 sec 9.2954e+05 3.4824e+06 -6.3694e+06
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1000 sec 96153 3.0097e+06 -6.6176e+06
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3945 sec 4.9937e+05 -2.5906e+06 6.6158e+06
3950 sec 5.3103e+05 -2.5716e+06 6.6227e+06
3955 sec 5.6268e+05 -2.5525e+06 6.6295e+06
3960 sec 5.943e+05 -2.5334e+06 6.636e+06
3965 sec 6.2592e+05 -2.5142e+06 6.6424e+06
3970 sec 6.5751e+05 -2.4949e+06 6.6486e+06
3975 sec 6.8909e+05 -2.4756e+06 6.6546e+06
3980 sec 7.2065e+05 -2.4561e+06 6.6605e+06
3985 sec 7.5218e+05 -2.4367e+06 6.6661e+06
3990 sec 7.837e+05 -2.4171e+06 6.6716e+06
3995 sec 8.152e+05 -2.3975e+06 6.6769e+06
4000 sec 8.4667e+05 -2.3778e+06 6.682e+06
4005 sec 8.7812e+05 -2.3581e+06 6.6869e+06
4010 sec 9.0955e+05 -2.3383e+06 6.6916e+06
4015 sec 9.4095e+05 -2.3184e+06 6.6962e+06
4020 sec 9.7233e+05 -2.2985e+06 6.7006e+06
4025 sec 1.0037e+06 -2.2785e+06 6.7047e+06
4030 sec 1.035e+06 -2.2584e+06 6.7088e+06
4035 sec 1.0663e+06 -2.2383e+06 6.7126e+06
4040 sec 1.0976e+06 -2.2181e+06 6.7162e+06
4045 sec 1.1288e+06 -2.1979e+06 6.7197e+06
4050 sec 1.16e+06 -2.1776e+06 6.723e+06
4055 sec 1.1912e+06 -2.1572e+06 6.7261e+06
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4065 sec 1.2534e+06 -2.1163e+06 6.7317e+06
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4075 sec 1.3156e+06 -2.0752e+06 6.7366e+06
4080 sec 1.3466e+06 -2.0546e+06 6.7388e+06
4085 sec 1.3775e+06 -2.0339e+06 6.7408e+06
4090 sec 1.4085e+06 -2.0131e+06 6.7427e+06
4095 sec 1.4394e+06 -1.9923e+06 6.7443e+06
4100 sec 1.4702e+06 -1.9715e+06 6.7458e+06
4105 sec 1.501e+06 -1.9505e+06 6.7471e+06
4110 sec 1.5318e+06 -1.9296e+06 6.7482e+06
4115 sec 1.5625e+06 -1.9086e+06 6.7491e+06
4120 sec 1.5932e+06 -1.8875e+06 6.7498e+06
4125 sec 1.6239e+06 -1.8664e+06 6.7504e+06
4130 sec 1.6545e+06 -1.8452e+06 6.7507e+06
4135 sec 1.6851e+06 -1.824e+06 6.7509e+06
4140 sec 1.7156e+06 -1.8027e+06 6.751e+06
4145 sec 1.7461e+06 -1.7814e+06 6.7508e+06
4150 sec 1.7765e+06 -1.76e+06 6.7505e+06
4155 sec 1.8069e+06 -1.7386e+06 6.7499e+06
4160 sec 1.8372e+06 -1.7172e+06 6.7492e+06
4165 sec 1.8675e+06 -1.6957e+06 6.7483e+06
4170 sec 1.8977e+06 -1.6741e+06 6.7473e+06
4175 sec 1.9279e+06 -1.6525e+06 6.746e+06
4180 sec 1.958e+06 -1.6309e+06 6.7446e+06
4185 sec 1.9881e+06 -1.6092e+06 6.743e+06
4190 sec 2.0181e+06 -1.5875e+06 6.7412e+06
4195 sec 2.0481e+06 -1.5658e+06 6.7393e+06
4200 sec 2.078e+06 -1.544e+06 6.7371e+06
4205 sec 2.1079e+06 -1.5221e+06 6.7348e+06
4210 sec 2.1377e+06 -1.5002e+06 6.7323e+06
4215 sec 2.1674e+06 -1.4783e+06 6.7297e+06
4220 sec 2.1971e+06 -1.4563e+06 6.7268e+06
4225 sec 2.2268e+06 -1.4343e+06 6.7238e+06
4230 sec 2.2564e+06 -1.4123e+06 6.7206e+06
4235 sec 2.2859e+06 -1.3902e+06 6.7172e+06
4240 sec 2.3153e+06 -1.3681e+06 6.7136e+06
4245 sec 2.3447e+06 -1.346e+06 6.7099e+06
4250 sec 2.3741e+06 -1.3238e+06 6.706e+06
4255 sec 2.4034e+06 -1.3016e+06 6.7019e+06
4260 sec 2.4326e+06 -1.2793e+06 6.6976e+06
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4270 sec 2.4908e+06 -1.2347e+06 6.6886e+06
4275 sec 2.5198e+06 -1.2124e+06 6.6838e+06
4280 sec 2.5488e+06 -1.19e+06 6.6788e+06
4285 sec 2.5777e+06 -1.1676e+06 6.6737e+06
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4295 sec 2.6352e+06 -1.1227e+06 6.6629e+06
4300 sec 2.6639e+06 -1.1002e+06 6.6572e+06
4305 sec 2.6925e+06 -1.0776e+06 6.6514e+06
4310 sec 2.7211e+06 -1.0551e+06 6.6454e+06
4315 sec 2.7496e+06 -1.0325e+06 6.6392e+06
4320 sec 2.778e+06 -1.0099e+06 6.6329e+06
4325 sec 2.8063e+06 -9.8723e+05 6.6263e+06
4330 sec 2.8346e+06 -9.6456e+05 6.6197e+06
4335 sec 2.8627e+06 -9.4187e+05 6.6128e+06
4340 sec 2.8908e+06 -9.1916e+05 6.6057e+06
4345 sec 2.9189e+06 -8.9642e+05 6.5985e+06
4350 sec 2.9468e+06 -8.7366e+05 6.5912e+06
4355 sec 2.9747e+06 -8.5088e+05 6.5836e+06
4360 sec 3.0025e+06 -8.2807e+05 6.5759e+06
4365 sec 3.0303e+06 -8.0524e+05 6.568e+06
4370 sec 3.0579e+06 -7.824e+05 6.5599e+06
4375 sec 3.0855e+06 -7.5953e+05 6.5517e+06
4380 sec 3.113e+06 -7.3664e+05 6.5433e+06
4385 sec 3.1404e+06 -7.1374e+05 6.5347e+06
4390 sec 3.1677e+06 -6.9081e+05 6.526e+06
4395 sec 3.195e+06 -6.6787e+05 6.5171e+06
4400 sec 3.2222e+06 -6.4491e+05 6.508e+06
4405 sec 3.2493e+06 -6.2194e+05 6.4988e+06
4410 sec 3.2763e+06 -5.9894e+05 6.4894e+06
4415 sec 3.3032e+06 -5.7594e+05 6.4798e+06
4420 sec 3.33e+06 -5.5292e+05 6.4701e+06
4425 sec 3.3568e+06 -5.2988e+05 6.4601e+06
4430 sec 3.3834e+06 -5.0683e+05 6.4501e+06
4435 sec 3.41e+06 -4.8377e+05 6.4398e+06
4440 sec 3.4365e+06 -4.6069e+05 6.4294e+06
4445 sec 3.4629e+06 -4.3761e+05 6.4189e+06
4450 sec 3.4892e+06 -4.1451e+05 6.4082e+06
4451.4 sec 3.4964e+06 -4.0819e+05 6.4052e+06
4455 sec 3.5155e+06 -3.914e+05 6.3973e+06
4455.8 sec 3.5198e+06 -3.8753e+05 6.3954e+06
4456.7 sec 3.5242e+06 -3.8366e+05 6.3936e+06
4459.4 sec 3.5383e+06 -3.7123e+05 6.3876e+06
4460 sec 3.5416e+06 -3.6828e+05 6.3862e+06
4460.6 sec 3.5446e+06 -3.6563e+05 6.3849e+06
4461.1 sec 3.5476e+06 -3.6298e+05 6.3836e+06
4462.8 sec 3.5559e+06 -3.5556e+05 6.3801e+06
4465 sec 3.5676e+06 -3.4516e+05 6.375e+06
4467.7 sec 3.5817e+06 -3.3265e+05 6.3689e+06
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4473 sec 3.6091e+06 -3.0812e+05 6.3567e+06
4475 sec 3.6195e+06 -2.9888e+05 6.3521e+06
4478.1 sec 3.6353e+06 -2.8465e+05 6.3449e+06
4480 sec 3.6452e+06 -2.7573e+05 6.3404e+06
4484.3 sec 3.6671e+06 -2.5601e+05 6.3303e+06
4485 sec 3.6709e+06 -2.5257e+05 6.3285e+06
4487.5 sec 3.6838e+06 -2.409e+05 6.3225e+06
4490 sec 3.6965e+06 -2.294e+05 6.3165e+06
4495 sec 3.722e+06 -2.0623e+05 6.3043e+06
4500 sec 3.7474e+06 -1.8305e+05 6.292e+06
4505 sec 3.7727e+06 -1.5987e+05 6.2795e+06
4510 sec 3.7979e+06 -1.3669e+05 6.2668e+06
4515 sec 3.8231e+06 -1.135e+05 6.254e+06
4520 sec 3.8481e+06 -90310 6.241e+06
4525 sec 3.873e+06 -67117 6.2279e+06
4530 sec 3.8978e+06 -43922 6.2146e+06
4535 sec 3.9226e+06 -20726 6.2011e+06
4540 sec 3.9472e+06 2470.9 6.1875e+06
4545 sec 3.9717e+06 25667 6.1737e+06
4550 sec 3.9961e+06 48863 6.1598e+06
4555 sec 4.0205e+06 72058 6.1458e+06
4560 sec 4.0447e+06 95251 6.1315e+06
4565 sec 4.0688e+06 1.1844e+05 6.1172e+06
4570 sec 4.0929e+06 1.4163e+05 6.1026e+06
4575 sec 4.1168e+06 1.6481e+05 6.0879e+06
4580 sec 4.1406e+06 1.8799e+05 6.0731e+06
4585 sec 4.1643e+06 2.1117e+05 6.0581e+06
4590 sec 4.1879e+06 2.3434e+05 6.043e+06
4595 sec 4.2114e+06 2.575e+05 6.0277e+06
4600 sec 4.2348e+06 2.8066e+05 6.0122e+06
4605 sec 4.2581e+06 3.0381e+05 5.9966e+06
4610 sec 4.2813e+06 3.2695e+05 5.9809e+06
4615 sec 4.3044e+06 3.5009e+05 5.965e+06
4620 sec 4.3274e+06 3.7321e+05 5.9489e+06
4625 sec 4.3503e+06 3.9633e+05 5.9327e+06
4630 sec 4.373e+06 4.1944e+05 5.9164e+06
4635 sec 4.3957e+06 4.4253e+05 5.8999e+06
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4645 sec 4.4407e+06 4.8869e+05 5.8665e+06
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4655 sec 4.4852e+06 5.3481e+05 5.8325e+06
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4675 sec 4.5729e+06 6.2686e+05 5.7628e+06
4680 sec 4.5946e+06 6.4984e+05 5.745e+06
4685 sec 4.6161e+06 6.728e+05 5.727e+06
4690 sec 4.6376e+06 6.9575e+05 5.709e+06
4695 sec 4.6589e+06 7.1868e+05 5.6908e+06
4700 sec 4.6801e+06 7.4159e+05 5.6724e+06
4705 sec 4.7012e+06 7.6448e+05 5.6539e+06
4710 sec 4.7221e+06 7.8735e+05 5.6353e+06
4715 sec 4.743e+06 8.102e+05 5.6165e+06
4720 sec 4.7637e+06 8.3304e+05 5.5976e+06
4725 sec 4.7843e+06 8.5585e+05 5.5785e+06
4730 sec 4.8048e+06 8.7864e+05 5.5594e+06
4735 sec 4.8252e+06 9.0141e+05 5.54e+06
4740 sec 4.8455e+06 9.2416e+05 5.5206e+06
4745 sec 4.8656e+06 9.4689e+05 5.501e+06
4750 sec 4.8857e+06 9.6959e+05 5.4812e+06
4755 sec 4.9056e+06 9.9227e+05 5.4614e+06
4760 sec 4.9253e+06 1.0149e+06 5.4414e+06
4765 sec 4.945e+06 1.0376e+06 5.4212e+06
4770 sec 4.9646e+06 1.0602e+06 5.401e+06
4775 sec 4.984e+06 1.0827e+06 5.3806e+06
4780 sec 5.0033e+06 1.1053e+06 5.3601e+06
4785 sec 5.0225e+06 1.1278e+06 5.3394e+06
4788.2 sec 5.0347e+06 1.1423e+06 5.326e+06
4789.2 sec 5.0386e+06 1.1469e+06 5.3218e+06
4790 sec 5.0415e+06 1.1503e+06 5.3186e+06
4791.8 sec 5.0483e+06 1.1583e+06 5.3111e+06
4795 sec 5.0605e+06 1.1728e+06 5.2977e+06
4800 sec 5.0793e+06 1.1952e+06 5.2766e+06
4805 sec 5.098e+06 1.2176e+06 5.2555e+06
4810 sec 5.1165e+06 1.24e+06 5.2341e+06
4815 sec 5.135e+06 1.2624e+06 5.2127e+06
4820 sec 5.1533e+06 1.2847e+06 5.1912e+06
4825 sec 5.1715e+06 1.307e+06 5.1695e+06
4830 sec 5.1895e+06 1.3292e+06 5.1477e+06
4835 sec 5.2075e+06 1.3515e+06 5.1257e+06
4840 sec 5.2253e+06 1.3737e+06 5.1036e+06
4845 sec 5.243e+06 1.3958e+06 5.0815e+06
4850 sec 5.2605e+06 1.4179e+06 5.0592e+06
4855 sec 5.278e+06 1.44e+06 5.0367e+06
4860 sec 5.2953e+06 1.4621e+06 5.0142e+06
4865 sec 5.3124e+06 1.4841e+06 4.9915e+06
4870 sec 5.3295e+06 1.5061e+06 4.9687e+06
4875 sec 5.3464e+06 1.5281e+06 4.9458e+06
4880 sec 5.3632e+06 1.55e+06 4.9227e+06
4885 sec 5.3798e+06 1.5718e+06 4.8996e+06
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4895 sec 5.4128e+06 1.6155e+06 4.8529e+06
4900 sec 5.429e+06 1.6372e+06 4.8294e+06
4905 sec 5.4452e+06 1.659e+06 4.8058e+06
4910 sec 5.4612e+06 1.6806e+06 4.782e+06
4915 sec 5.4771e+06 1.7023e+06 4.7582e+06
4920 sec 5.4928e+06 1.7239e+06 4.7342e+06
4925 sec 5.5084e+06 1.7454e+06 4.7101e+06
4930 sec 5.5239e+06 1.767e+06 4.6859e+06
4935 sec 5.5393e+06 1.7884e+06 4.6616e+06
4940 sec 5.5545e+06 1.8099e+06 4.6372e+06
4945 sec 5.5696e+06 1.8312e+06 4.6126e+06
4950 sec 5.5845e+06 1.8526e+06 4.588e+06
4955 sec 5.5993e+06 1.8739e+06 4.5632e+06
4960 sec 5.614e+06 1.8951e+06 4.5384e+06
4965 sec 5.6285e+06 1.9164e+06 4.5134e+06
4970 sec 5.643e+06 1.9375e+06 4.4883e+06
4975 sec 5.6572e+06 1.9586e+06 4.4631e+06
4980 sec 5.6714e+06 1.9797e+06 4.4378e+06
4985 sec 5.6854e+06 2.0007e+06 4.4124e+06
4990 sec 5.6992e+06 2.0217e+06 4.3869e+06
4995 sec 5.713e+06 2.0426e+06 4.3613e+06
5000 sec 5.7266e+06 2.0635e+06 4.3356e+06
5005 sec 5.74e+06 2.0843e+06 4.3097e+06
5010 sec 5.7534e+06 2.1051e+06 4.2838e+06
5015 sec 5.7665e+06 2.1258e+06 4.2578e+06
5020 sec 5.7796e+06 2.1465e+06 4.2316e+06
5025 sec 5.7925e+06 2.1671e+06 4.2054e+06
5030 sec 5.8053e+06 2.1877e+06 4.1791e+06
5035 sec 5.8179e+06 2.2082e+06 4.1526e+06
5040 sec 5.8304e+06 2.2287e+06 4.1261e+06
5045 sec 5.8428e+06 2.2491e+06 4.0995e+06
5050 sec 5.855e+06 2.2695e+06 4.0728e+06
5055 sec 5.8671e+06 2.2898e+06 4.0459e+06
5060 sec 5.879e+06 2.3101e+06 4.019e+06
5065 sec 5.8908e+06 2.3303e+06 3.992e+06
5070 sec 5.9025e+06 2.3504e+06 3.9649e+06
5075 sec 5.914e+06 2.3705e+06 3.9377e+06
5080 sec 5.9254e+06 2.3905e+06 3.9104e+06
5085 sec 5.9366e+06 2.4105e+06 3.883e+06
5090 sec 5.9477e+06 2.4304e+06 3.8555e+06
5095 sec 5.9587e+06 2.4503e+06 3.8279e+06
5100 sec 5.9695e+06 2.4701e+06 3.8003e+06
5105 sec 5.9802e+06 2.4898e+06 3.7725e+06
5110 sec 5.9907e+06 2.5095e+06 3.7447e+06
5115 sec 6.0011e+06 2.5292e+06 3.7167e+06
5120 sec 6.0114e+06 2.5487e+06 3.6887e+06
5125 sec 6.0215e+06 2.5682e+06 3.6606e+06
5130 sec 6.0314e+06 2.5877e+06 3.6324e+06
5135 sec 6.0413e+06 2.6071e+06 3.6041e+06
5140 sec 6.0509e+06 2.6264e+06 3.5757e+06
5145 sec 6.0605e+06 2.6457e+06 3.5473e+06
5150 sec 6.0699e+06 2.6649e+06 3.5188e+06
5155 sec 6.0791e+06 2.684e+06 3.4901e+06
5160 sec 6.0882e+06 2.7031e+06 3.4614e+06
5165 sec 6.0972e+06 2.7221e+06 3.4326e+06
5170 sec 6.106e+06 2.741e+06 3.4038e+06
5175 sec 6.1147e+06 2.7599e+06 3.3748e+06
5180 sec 6.1233e+06 2.7787e+06 3.3458e+06
5185 sec 6.1316e+06 2.7975e+06 3.3167e+06
5190 sec 6.1399e+06 2.8162e+06 3.2875e+06
5195 sec 6.148e+06 2.8348e+06 3.2583e+06
5200 sec 6.156e+06 2.8533e+06 3.2289e+06
5205 sec 6.1638e+06 2.8718e+06 3.1995e+06
5210 sec 6.1714e+06 2.8902e+06 3.17e+06
5215 sec 6.179e+06 2.9086e+06 3.1405e+06
5220 sec 6.1864e+06 2.9269e+06 3.1108e+06
5225 sec 6.1936e+06 2.9451e+06 3.0811e+06
5230 sec 6.2007e+06 2.9632e+06 3.0514e+06
5235 sec 6.2076e+06 2.9813e+06 3.0215e+06
5240 sec 6.2144e+06 2.9993e+06 2.9916e+06
5245 sec 6.2211e+06 3.0172e+06 2.9616e+06
5250 sec 6.2276e+06 3.0351e+06 2.9315e+06
5255 sec 6.234e+06 3.0529e+06 2.9014e+06
5260 sec 6.2402e+06 3.0706e+06 2.8712e+06
5265 sec 6.2462e+06 3.0883e+06 2.8409e+06
5270 sec 6.2522e+06 3.1059e+06 2.8106e+06
5275 sec 6.2579e+06 3.1234e+06 2.7802e+06
5280 sec 6.2636e+06 3.1408e+06 2.7497e+06
5285 sec 6.2691e+06 3.1582e+06 2.7192e+06
5290 sec 6.2744e+06 3.1754e+06 2.6886e+06
5295 sec 6.2796e+06 3.1926e+06 2.6579e+06
5300 sec 6.2846e+06 3.2098e+06 2.6272e+06
5305 sec 6.2895e+06 3.2268e+06 2.5964e+06
5310 sec 6.2943e+06 3.2438e+06 2.5656e+06
5315 sec 6.2989e+06 3.2607e+06 2.5347e+06
5320 sec 6.3034e+06 3.2776e+06 2.5037e+06
5325 sec 6.3077e+06 3.2943e+06 2.4727e+06
5330 sec 6.3118e+06 3.311e+06 2.4416e+06
5335 sec 6.3158e+06 3.3276e+06 2.4105e+06
5340 sec 6.3197e+06 3.3441e+06 2.3793e+06
5345 sec 6.3234e+06 3.3606e+06 2.3481e+06
5350 sec 6.327e+06 3.377e+06 2.3168e+06
5355 sec 6.3304e+06 3.3933e+06 2.2854e+06
5360 sec 6.3337e+06 3.4095e+06 2.254e+06
5365 sec 6.3369e+06 3.4256e+06 2.2226e+06
5370 sec 6.3398e+06 3.4417e+06 2.191e+06
5375 sec 6.3427e+06 3.4576e+06 2.1595e+06
5380 sec 6.3454e+06 3.4735e+06 2.1279e+06
5385 sec 6.3479e+06 3.4893e+06 2.0962e+06
5390 sec 6.3503e+06 3.5051e+06 2.0645e+06
5395 sec 6.3526e+06 3.5207e+06 2.0327e+06
5400 sec 6.3547e+06 3.5363e+06 2.0009e+06
display(mission.Data.AttitudeTimeTableGCRF2Body)
1148×1 timetable
Time Data
__________ _______________________________________________________
0 sec 0.1509 0.48681 0.30311 -0.80522
5 sec 0.15061 0.48761 0.3033 -0.80472
10 sec 0.15003 0.48914 0.30368 -0.80375
13.263 sec 0.14977 0.48986 0.30387 -0.80329
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4875 sec 0.034606 -0.85098 -0.33179 0.40565
4880 sec 0.033828 -0.84998 -0.33193 0.4077
4885 sec 0.03305 -0.84897 -0.33207 0.40974
4890 sec 0.032272 -0.84795 -0.33221 0.41179
4895 sec 0.031494 -0.84694 -0.33235 0.41383
4900 sec 0.030715 -0.84591 -0.33248 0.41587
4905 sec 0.029937 -0.84489 -0.33261 0.4179
4910 sec 0.029159 -0.84385 -0.33274 0.41993
4915 sec 0.02838 -0.84282 -0.33287 0.42196
4920 sec 0.027602 -0.84178 -0.33299 0.42399
4925 sec 0.026823 -0.84073 -0.33311 0.42601
4930 sec 0.026045 -0.83968 -0.33323 0.42803
4935 sec 0.025266 -0.83863 -0.33335 0.43005
4940 sec 0.024487 -0.83757 -0.33347 0.43206
4945 sec 0.023709 -0.83651 -0.33358 0.43407
4950 sec 0.02293 -0.83544 -0.33369 0.43608
4955 sec 0.022151 -0.83437 -0.3338 0.43809
4960 sec 0.021373 -0.83329 -0.3339 0.44009
4965 sec 0.020594 -0.83221 -0.334 0.44209
4970 sec 0.019815 -0.83113 -0.3341 0.44408
4975 sec 0.019036 -0.83004 -0.3342 0.44608
4980 sec 0.018257 -0.82894 -0.3343 0.44807
4985 sec 0.017479 -0.82785 -0.33439 0.45005
4990 sec 0.0167 -0.82675 -0.33448 0.45203
4995 sec 0.015921 -0.82564 -0.33457 0.45401
5000 sec 0.015142 -0.82453 -0.33466 0.45599
5005 sec 0.014363 -0.82341 -0.33474 0.45797
5010 sec 0.013584 -0.82229 -0.33482 0.45994
5015 sec 0.012805 -0.82117 -0.3349 0.4619
5020 sec 0.012026 -0.82004 -0.33498 0.46387
5025 sec 0.011248 -0.81891 -0.33505 0.46583
5030 sec 0.010469 -0.81778 -0.33513 0.46779
5035 sec 0.0096899 -0.81663 -0.3352 0.46974
5040 sec 0.0089111 -0.81549 -0.33526 0.47169
5045 sec 0.0081324 -0.81434 -0.33533 0.47364
5050 sec 0.0073536 -0.81319 -0.33539 0.47559
5055 sec 0.0065749 -0.81203 -0.33545 0.47753
5060 sec 0.0057962 -0.81087 -0.33551 0.47947
5065 sec 0.0050175 -0.8097 -0.33557 0.4814
5070 sec 0.0042389 -0.80853 -0.33562 0.48334
5075 sec 0.0034603 -0.80736 -0.33567 0.48527
5080 sec 0.0026818 -0.80618 -0.33572 0.48719
5085 sec 0.0019033 -0.805 -0.33577 0.48912
5090 sec 0.0011248 -0.80381 -0.33582 0.49104
5095 sec 0.00034644 -0.80262 -0.33586 0.49295
5100 sec -0.0004319 -0.80142 -0.3359 0.49486
5105 sec -0.0012102 -0.80022 -0.33594 0.49677
5110 sec -0.0019884 -0.79902 -0.33597 0.49868
5115 sec -0.0027666 -0.79781 -0.33601 0.50058
5120 sec -0.0035446 -0.7966 -0.33604 0.50249
5125 sec -0.0043227 -0.79539 -0.33607 0.50438
5130 sec -0.0051006 -0.79417 -0.33609 0.50628
5135 sec -0.0058785 -0.79294 -0.33612 0.50817
5140 sec -0.0066563 -0.79171 -0.33614 0.51005
5145 sec -0.007434 -0.79048 -0.33616 0.51194
5150 sec -0.0082116 -0.78924 -0.33618 0.51382
5155 sec -0.0089892 -0.788 -0.3362 0.51569
5160 sec -0.0097666 -0.78676 -0.33621 0.51757
5165 sec -0.010544 -0.78551 -0.33622 0.51944
5170 sec -0.011321 -0.78426 -0.33623 0.52131
5175 sec -0.012098 -0.783 -0.33624 0.52317
5180 sec -0.012875 -0.78174 -0.33624 0.52503
5185 sec -0.013652 -0.78048 -0.33624 0.52689
5190 sec -0.014429 -0.77921 -0.33625 0.52874
5195 sec -0.015206 -0.77793 -0.33624 0.53059
5200 sec -0.015983 -0.77666 -0.33624 0.53244
5205 sec -0.016759 -0.77538 -0.33623 0.53428
5210 sec -0.017535 -0.77409 -0.33623 0.53612
5215 sec -0.018312 -0.7728 -0.33622 0.53796
5220 sec -0.019088 -0.77151 -0.3362 0.53979
5225 sec -0.019864 -0.77021 -0.33619 0.54162
5230 sec -0.02064 -0.76891 -0.33617 0.54345
5235 sec -0.021415 -0.76761 -0.33615 0.54527
5240 sec -0.022191 -0.7663 -0.33613 0.5471
5245 sec -0.022966 -0.76498 -0.33611 0.54891
5250 sec -0.023742 -0.76367 -0.33608 0.55073
5255 sec -0.024517 -0.76235 -0.33605 0.55254
5260 sec -0.025292 -0.76102 -0.33603 0.55434
5265 sec -0.026067 -0.75969 -0.33599 0.55614
5270 sec -0.026842 -0.75836 -0.33596 0.55794
5275 sec -0.027616 -0.75702 -0.33592 0.55974
5280 sec -0.02839 -0.75568 -0.33589 0.56153
5285 sec -0.029165 -0.75434 -0.33585 0.56332
5290 sec -0.029939 -0.75299 -0.3358 0.56511
5295 sec -0.030713 -0.75164 -0.33576 0.56689
5300 sec -0.031486 -0.75028 -0.33571 0.56867
5305 sec -0.03226 -0.74892 -0.33566 0.57045
5310 sec -0.033033 -0.74756 -0.33561 0.57222
5315 sec -0.033806 -0.74619 -0.33556 0.57399
5320 sec -0.034579 -0.74482 -0.3355 0.57575
5325 sec -0.035352 -0.74344 -0.33545 0.57751
5330 sec -0.036125 -0.74206 -0.33539 0.57927
5335 sec -0.036897 -0.74068 -0.33533 0.58103
5340 sec -0.037669 -0.73929 -0.33526 0.58278
5345 sec -0.038441 -0.7379 -0.3352 0.58452
5350 sec -0.039213 -0.73651 -0.33513 0.58627
5355 sec -0.039985 -0.73511 -0.33506 0.58801
5360 sec -0.040756 -0.7337 -0.33499 0.58975
5365 sec -0.041527 -0.7323 -0.33491 0.59148
5370 sec -0.042298 -0.73089 -0.33484 0.59321
5375 sec -0.043069 -0.72947 -0.33476 0.59494
5380 sec -0.043839 -0.72806 -0.33468 0.59666
5385 sec -0.04461 -0.72663 -0.3346 0.59838
5390 sec -0.04538 -0.72521 -0.33451 0.60009
5395 sec -0.046149 -0.72378 -0.33443 0.60181
5400 sec -0.046919 -0.72235 -0.33434 0.60351
衛星シナリオを作成する
解析に使用する衛星シナリオ オブジェクトを作成します。1 分のタイムステップを指定します。
scenario = satelliteScenario(mission.StartDate, ...
mission.StartDate + mission.Duration, 60);ブラジルとスヴァールバル諸島の地上局として 2 つのターゲットを追加します。
gsNO = groundStation(scenario, 78, 21, Name="Svalbard, NO")gsNO =
GroundStation with properties:
Name: Svalbard, NO
ID: 1
Latitude: 78 degrees
Longitude: 21 degrees
Altitude: 0 meters
MinElevationAngle: 0 degrees
MaskElevationAngle: 0 degrees
MaskAzimuthEdges: [0 360]
ConicalSensors: [1x0 matlabshared.satellitescenario.ConicalSensor]
Gimbals: [1x0 matlabshared.satellitescenario.Gimbal]
Transmitters: [1x0 satcom.satellitescenario.Transmitter]
Receivers: [1x0 satcom.satellitescenario.Receiver]
Accesses: [1x0 matlabshared.satellitescenario.Access]
Eclipse: [1x0 Aero.satellitescenario.Eclipse]
CoordinateAxes: [1x1 matlabshared.satellitescenario.CoordinateAxes]
MarkerColor: [1 0.4118 0.1608]
MarkerSize: 6
ShowLabel: true
LabelFontColor: [1 1 1]
LabelFontSize: 15
gsAmazon = groundStation(scenario, -4.9, -66, Name="Amazon Rainforest")gsAmazon =
GroundStation with properties:
Name: Amazon Rainforest
ID: 2
Latitude: -4.9 degrees
Longitude: -66 degrees
Altitude: 0 meters
MinElevationAngle: 0 degrees
MaskElevationAngle: 0 degrees
MaskAzimuthEdges: [0 360]
ConicalSensors: [1x0 matlabshared.satellitescenario.ConicalSensor]
Gimbals: [1x0 matlabshared.satellitescenario.Gimbal]
Transmitters: [1x0 satcom.satellitescenario.Transmitter]
Receivers: [1x0 satcom.satellitescenario.Receiver]
Accesses: [1x0 matlabshared.satellitescenario.Access]
Eclipse: [1x0 Aero.satellitescenario.Eclipse]
CoordinateAxes: [1x1 matlabshared.satellitescenario.CoordinateAxes]
MarkerColor: [1 0.4118 0.1608]
MarkerSize: 6
ShowLabel: true
LabelFontColor: [1 1 1]
LabelFontSize: 15
読み込まれた軌跡から衛星を追加する
観測衛星をシナリオに追加します。
sat = satellite(scenario, mission.Data.PositionTimeTableGCRF, ... "CoordinateFrame", "inertial", "Name", "ObservationSat");
衛星に、搭載カメラを表す 35 度の半角を持つコニカル センサーを追加します。シナリオ ビューアーで視野の可視化を有効にします。可視化を支援するために、センサーは衛星から 10 m 離れた +z 方向に取り付けられています。
snsr = conicalSensor(sat, MaxViewAngle=70, MountingLocation=[0 0 1]); fieldOfView(snsr);
コニカル センサーと 2 つの地上局間のアクセスを追加します。
acNO = access(snsr, gsNO)
acNO =
Access with properties:
Sequence: [4 1]
LineWidth: 3
LineColor: [0.3922 0.8314 0.0745]
acAmazon = access(snsr, gsAmazon)
acAmazon =
Access with properties:
Sequence: [4 2]
LineWidth: 3
LineColor: [0.3922 0.8314 0.0745]
姿勢プロファイルをロードして衛星を向ける
pointAt メソッドを使用して、記録された姿勢timetable を衛星に関連付けます。パラメーターExtrapolationMethod は、 timetable範囲外での指示動作を制御します。
pointAt(sat, mission.Data.AttitudeTimeTableGCRF2Body, ... "CoordinateFrame", "inertial", "Format", "quaternion", "ExtrapolationMethod", "nadir");
シナリオを可視化する
シナリオを表示して操作するには、 衛星シナリオ ビューアー を開きます。
viewer1 = satelliteScenarioViewer(scenario);
衛星に 3D モデルを割り当て、その座標軸を可視化します。赤、緑、青の矢印は、衛星ボディ座標系の x、y、z 軸に沿っています。
sat.Visual3DModel = "SmallSat.glb";
coordinateAxes(sat, Scale=2);
camtarget(viewer1, sat);
シナリオを開始するには、衛星を天底に向けます。マゼンタのマーカーはコニカル センサーを表します。
衛星はアマゾンの熱帯雨林にあるターゲット 1 に近づくと、このターゲットを指し示して追跡するように旋回します。
撮影セグメントが完了すると、衛星は再び天底を指します。
衛星が北極の地上局の範囲内に入ると、この目標を指すように旋回します。
カスタムジンバル ステアリング
この例では、搭載カメラが衛星の機体に固定されている単純な地球観測衛星ミッションのカスタム姿勢データをインポートする方法を示します。もう 1 つの一般的なアプローチは、センサーをジンバルに固定し、宇宙機の機体ではなくジンバルを操作してセンサーの方向を調整することです。上記のシナリオを変更して、センサーをジンバルに取り付け、ジンバルを操作して衛星の真下の領域を均一にスキャンします。
衛星を常に天底を指すようにリセットし、以前に指定したカスタム姿勢プロファイルを上書きします。
delete(viewer1);
pointAt(sat, "nadir");既存のセンサー オブジェクトを削除して衛星から削除し、同じプロパティを持つ新しいセンサーをジンバルに取り付けます。
delete(snsr); gim = gimbal(sat); snsr = conicalSensor(gim, MaxViewAngle=70, MountingLocation=[0 0 10]); fieldOfView(snsr);
ジンバル ステアリングの方位角と仰角を定義して、衛星の下の時間経過に伴うスイープ パターンをモデル化します。
gimbalSweep.Time = seconds(1:50:5000)'; gimbalSweep.Az = [... 45*ones(1,7),... 45:-5:-45,... -45*ones(1,13),... -45:5:45,... 45*ones(1,13),... 45:-5:-45,... -45*ones(1,13)]; gimbalSweep.Az(end-2:end) = []; gimbalSweep.Az = gimbalSweep.Az + 90; gimbalSweep.El = [... 0:-5:-30,... -30*ones(1,19),... -30:5:30,... 30*ones(1,19),... 30:-5:-30,... -30*ones(1,19),... -30:5:30]; gimbalSweep.El(end-2:end) = [];
コマンドされた方位角と仰角の値を時間の経過に沿ってプロットします。
figure(1) hold on; plot(gimbalSweep.Time', gimbalSweep.Az); plot(gimbalSweep.Time', gimbalSweep.El); hold off; legend(["Az (deg)", "El (deg)"]);
方位角と仰角をtimetable に保存します。
gimbalSweep.TT = timetable(gimbalSweep.Time, [gimbalSweep.Az', gimbalSweep.El']);
timetable でジンバルを操縦します。提供されたデータの範囲外のタイムステップでは、ジンバルはデフォルトの方向に戻ります。
pointAt(gim, gimbalSweep.TT);
更新されたシナリオを 衛星シナリオ ビューアー で表示します。
viewer2 = satelliteScenarioViewer(scenario);
参考
オブジェクト
satelliteScenario|satelliteScenarioViewer|Satellite|GroundStation|ConicalSensor|Gimbal|Access|FieldOfView
