errors module¶

Errors module for attitude determination and control system.

This module computes the attitude and attitude rate errors given the estimated and desired states (attitude and angular velocity) at a given time.

errors.calculate_attitude_error(DCM_desired, DCM_estimated)¶

Computes the attitude error of a spacecraft at a given time

Parameters:	DCM_desired (numpy ndarray) – the DCM that represents the nominal attitude (from the inertial to body frame) of the spacecraft at a given time DCM_estimated (numpy ndarray) – the DCM that represents the estimated attitude (from the inertial to body frame) of the spacecraft at a given time
Returns:	the attitude error (3x1) of the system at the given time
Return type:	numpy ndarray

errors.calculate_attitude_rate_error(w_desired, w_estimated, attitude_err)¶

Computes the attitude rate error of a spacecraft at a given time

Parameters:	w_desired (numpy ndarray) – the nominal angular velocity (rad/s) (3x1) in body coordinates of the spacecraft at a given time w_estimated (numpy ndarray) – the estimated angular velocity (rad/s) (3x1) in body coordinates of the spacecraft at a given time attitude_err (numpy ndarray) – the attitude error (3x1) of the spacecraft at a given time
Returns:	the attitude rate error (3x1) of the system at the given time
Return type:	attitude_rate_error