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Latest updates to data conversion

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This commit is contained in:
dario
2024-10-08 14:06:54 +02:00
parent 5479773e32
commit 86cdc18c95
14 changed files with 9803 additions and 6360 deletions
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26
spatz/sensors/imu/accelerometer.py
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@@ -32,7 +32,7 @@ class Accelerometer(Sensor):
orientation: NDArray = np.identity(3),
offset: float = 0,
transforms: List[Transform] = []):
"""_summary_
"""Accelerometer sensor base class.
Args:
dataset (Dataset): A dataset object to fetch data from.
@@ -50,30 +50,8 @@ class Accelerometer(Sensor):
self._orientation = orientation
def _get_data(self) -> ArrayLike | float:
"""
acc = self._dataset.get_acceleration('global')
self._logger.write('global_ax', acc[0], self._get_name())
self._logger.write('global_ay', acc[1], self._get_name())
self._logger.write('global_az', acc[2], self._get_name())
# Convert FL to body
acc = self._dataset.global_to_local() @ acc
acc += self._dataset.global_to_local() @ np.array([0, 0, g])
self._logger.write('local_x', acc[0], self._get_name())
self._logger.write('local_y', acc[1], self._get_name())
self._logger.write('local_z', acc[2], self._get_name())
# Rotate the acceleration vector to accomodate the accelerometer's orientation on the rocket.
acc = self._orientation @ acc
# Add the effects of the imu's offset.
omega = self._dataset.get_angular_velocity()
acc += (np.cross(omega, self._offset) + np.cross(omega, np.cross(omega, self._offset)))
"""
acc = self._dataset.get_acceleration('local')
acc += self._dataset.global_to_local() @ np.array([g, 0, 0])
return acc

12
spatz/sensors/imu/iam_20380ht.py
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@@ -6,16 +6,26 @@ from numpy.typing import ArrayLike
from spatz.dataset import ArrayLike, Dataset
from spatz.logger import ArrayLike, Logger
from spatz.sensors import IMU, Accelerometer, Gyroscope, CoordSystem
from spatz.transforms import Transform, GaussianNoise
from spatz.transforms import Transform, GaussianNoise, DriftingBias
class IAM_20380HT(Gyroscope):
def __init__(self, dataset: Dataset, logger: Logger, orientation=np.identity(3), transforms: List[Transform] = []):
super().__init__(dataset, logger, orientation, transforms)
self.__bias = DriftingBias(np.zeros(3), np.array([0.00218, 0.00105, 0.00203]), 400)
self.__constant_bias = np.random.normal(0, 2, 3)
self.__normal = GaussianNoise(0, np.array([0.0049272, 0.00557833, 0.00407826]))
def _get_name(self) -> AnyStr:
return 'IAM-20380HT'
def _sensor_specific_effects(self, x: ArrayLike) -> ArrayLike:
x = (x / np.pi) * 180
t = self._dataset.get_time()
x = self.__constant_bias + self.__normal(t, self.__bias(t, x))
return x

2
spatz/sensors/imu/sca3300.py
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@@ -13,7 +13,7 @@ class SCA3300(Accelerometer):
def __init__(self, dataset: Dataset, logger: Logger, orientation=np.identity(3), offset=0, transforms: List[Transform] = []):
super().__init__(dataset, logger, orientation, offset, transforms)
self.__noise = GaussianNoise(0, 0.001)
self.__noise = GaussianNoise(0, 0.01)
def _get_name(self) -> AnyStr:
return 'SCA3300'