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Refactor GaussMarkov sensor noise handling #881

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Refactor GaussMarkov sensor noise handling #881

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b26e254
imuSensor errorBounds future name change warning, getters and setters
Natsoulas Dec 21, 2024
b297976
GM scenario rst update
Natsoulas Dec 21, 2024
ee6cf0d
starTracker refactor: getters + setters, initialize GM in constructor
Natsoulas Dec 21, 2024
d99b5df
simpleVoltEstimator: added setter + getter, initialize noise model in…
Natsoulas Dec 21, 2024
16be932
Magnetometer refactor: initialize noise model in constructor, update …
Natsoulas Dec 21, 2024
74aea31
coarseSunSensor refactor: add a prop matrix setter + getter
Natsoulas Dec 21, 2024
e04558d
update known issues + release notes
Natsoulas Dec 21, 2024
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29 changes: 27 additions & 2 deletions src/simulation/sensors/magnetometer/magnetometer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -30,7 +30,23 @@ Magnetometer::Magnetometer()
this->senBias.fill(0.0); // Tesla
this->senNoiseStd.fill(-1.0); // Tesla
this->walkBounds.fill(0.0);
this->noiseModel = GaussMarkov(this->numStates);

// Initialize noise model
this->noiseModel = GaussMarkov(this->numStates, this->RNGSeed);

// Initialize noise matrices with defaults
Eigen::MatrixXd nMatrix;
nMatrix.resize(3,3);
nMatrix.setZero();
this->noiseModel.setNoiseMatrix(nMatrix);

Eigen::MatrixXd pMatrix;
pMatrix.setIdentity(3,3);
this->noiseModel.setPropMatrix(pMatrix);

this->noiseModel.setUpperBounds(this->walkBounds);

// Initialize other parameters
this->scaleFactor = 1.0;
this->maxOutput = 1e200; // Tesla
this->minOutput = -1e200; // Tesla
Expand Down Expand Up @@ -67,10 +83,19 @@ void Magnetometer::Reset(uint64_t CurrentSimNanos)
bskLogger.bskLog(BSK_ERROR, "Spacecraft state message name (stateInMsg) is empty.");
}

// Update noise model parameters
this->noiseModel.setUpperBounds(this->walkBounds);
auto nMatrix = (this->senNoiseStd).asDiagonal();

Eigen::MatrixXd nMatrix;
nMatrix.resize(3,3);
nMatrix.setZero();
nMatrix(0,0) = this->senNoiseStd(0);
nMatrix(1,1) = this->senNoiseStd(1);
nMatrix(2,2) = this->senNoiseStd(2);
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update module RST file on how to set noise values.

this->noiseModel.setNoiseMatrix(nMatrix);
this->noiseModel.setRNGSeed(this->RNGSeed);

// Set saturation bounds
Eigen::MatrixXd satBounds;
satBounds.resize(this->numStates, 2);
satBounds(0, 0) = this->minOutput;
Expand Down