Merge pull request #596 from ut-issl/feature/use-geodetic-position

Use geodetic position in GnssReceiver
ut-issl · Feb 7, 2024 · 093afc7 · 093afc7
2 parents eb93772 + 1204b94
commit 093afc7
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Showing 2 changed files with 6 additions and 9 deletions.
diff --git a/src/components/real/aocs/gnss_receiver.cpp b/src/components/real/aocs/gnss_receiver.cpp
@@ -60,9 +60,9 @@ void GnssReceiver::MainRoutine(const int time_count) {
   if (is_gnss_visible_) {
     // Antenna of GNSS-R can detect GNSS signal
     position_ecef_m_ = dynamics_->GetOrbit().GetPosition_ecef_m();
-    position_llh_ = dynamics_->GetOrbit().GetLatLonAlt();
     velocity_ecef_m_s_ = dynamics_->GetOrbit().GetVelocity_ecef_m_s();
     AddNoise(position_true_eci_, position_ecef_m_);
+    geodetic_position_.UpdateFromEcef(position_ecef_m_);
   } else {
     // position information will not be updated in this case
     utc_ = simulation_time_->GetCurrentUtc();
@@ -229,9 +229,9 @@ std::string GnssReceiver::GetLogValue() const  // For logs
   str_tmp += WriteScalar(utc_.second);
   str_tmp += WriteVector(position_eci_m_, 10);
   str_tmp += WriteVector(velocity_ecef_m_s_, 10);
-  str_tmp += WriteScalar(position_llh_[0], 10);
-  str_tmp += WriteScalar(position_llh_[1], 10);
-  str_tmp += WriteScalar(position_llh_[2], 10);
+  str_tmp += WriteScalar(geodetic_position_.GetLatitude_rad(), 10);
+  str_tmp += WriteScalar(geodetic_position_.GetLongitude_rad(), 10);
+  str_tmp += WriteScalar(geodetic_position_.GetAltitude_m(), 10);
   str_tmp += WriteScalar(is_gnss_visible_);
   str_tmp += WriteScalar(visible_satellite_number_);
 

diff --git a/src/components/real/aocs/gnss_receiver.hpp b/src/components/real/aocs/gnss_receiver.hpp
@@ -113,10 +113,7 @@ class GnssReceiver : public Component, public ILoggable {
    * @fn GetMeasuredGeodeticPosition
    * @brief Return Observed position in the LLH frame [m]
    */
-  inline const GeodeticPosition GetMeasuredGeodeticPosition(void) const {
-    GeodeticPosition geodetic_position(position_llh_[0], position_llh_[1], position_llh_[2]);
-    return geodetic_position;
-  }
+  inline const GeodeticPosition GetMeasuredGeodeticPosition(void) const { return geodetic_position_; }
   /**
    * @fn GetMeasuredVelocity_eci_m_s
    * @brief Return Observed velocity in the ECI frame [m/s]
@@ -158,7 +155,7 @@ class GnssReceiver : public Component, public ILoggable {
   libra::Vector<3> velocity_eci_m_s_{0.0};       //!< Observed velocity in the ECI frame [m/s]
   libra::Vector<3> position_ecef_m_{0.0};        //!< Observed position in the ECEF frame [m]
   libra::Vector<3> velocity_ecef_m_s_{0.0};      //!< Observed velocity in the ECEF frame [m/s]
-  libra::Vector<3> position_llh_{0.0};           //!< Observed position in the geodetic frame [rad,rad,m] TODO: use GeodeticPosition class
+  GeodeticPosition geodetic_position_;           //!< Observed position in the geodetic frame
   UTC utc_ = {2000, 1, 1, 0, 0, 0.0};            //!< Observed time in UTC [year, month, day, hour, min, sec]
   unsigned int gps_time_week_ = 0;               //!< Observed GPS time week part
   double gps_time_s_ = 0.0;                      //!< Observed GPS time second part