SITL: Add simulation of 3D earth magnetic field
Use an independant method to the flight code using tables that that can updated. Data taken from NOAA online calculator using WMM data at 2016-6-16 date
This commit is contained in:
Paul Riseborough
Andrew Tridgell
parent
2cf5493b40
commit
55b0bbd3f1
@ -158,17 +158,19 @@ void Aircraft::update_position(void)
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*/
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void Aircraft::update_mag_field_bf()
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{
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// assume a earth field strength of 450 mGauss
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Vector3f mag_ef(450, 0, 0);
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// get the magnetic field intensity and orientation
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float intensity;
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float declination;
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float inclination;
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get_mag_field_ef(location.lat*1e-7f,location.lng*1e-7f,intensity,declination,inclination);
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// rotate _Bearth for inclination and declination. -66 degrees
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// is the inclination in Canberra, Australia
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// TODO implement inclination and declination lookup
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// create a field vector and rotate to the required orientation
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Vector3f mag_ef(1e3f * intensity, 0, 0);
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Matrix3f R;
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R.from_euler(0, ToRad(66), ToRad(11));
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R.from_euler(0, ToRad(inclination), ToRad(declination));
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mag_ef = R * mag_ef;
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// calculate height of frame above ground
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// calculate frame height above ground
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float frame_height_agl = fmaxf((-position.z) + home.alt*0.01f - ground_level, 0.0f);
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// calculate scaling factor that varies from 1 at ground level to 1/8 at sitl->mag_anomaly_hgt
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@ -430,4 +432,91 @@ void Aircraft::update_wind(const struct sitl_input &input)
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wind_ef = Vector3f(cosf(radians(input.wind.direction)), sinf(radians(input.wind.direction)), 0) * input.wind.speed;
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}
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/*
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calculate magnetic field intensity and orientation
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*/
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bool Aircraft::get_mag_field_ef(float latitude_deg, float longitude_deg, float &intensity_gauss, float &declination_deg, float &inclination_deg)
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{
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bool valid_input_data = true;
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/* round down to nearest sampling resolution */
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int min_lat = (int)(latitude_deg / SAMPLING_RES) * SAMPLING_RES;
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int min_lon = (int)(longitude_deg / SAMPLING_RES) * SAMPLING_RES;
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/* for the rare case of hitting the bounds exactly
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* the rounding logic wouldn't fit, so enforce it.
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*/
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/* limit to table bounds - required for maxima even when table spans full globe range */
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if (latitude_deg <= SAMPLING_MIN_LAT) {
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min_lat = SAMPLING_MIN_LAT;
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valid_input_data = false;
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}
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if (latitude_deg >= SAMPLING_MAX_LAT) {
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min_lat = (int)(latitude_deg / SAMPLING_RES) * SAMPLING_RES - SAMPLING_RES;
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valid_input_data = false;
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}
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if (longitude_deg <= SAMPLING_MIN_LON) {
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min_lon = SAMPLING_MIN_LON;
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valid_input_data = false;
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}
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if (longitude_deg >= SAMPLING_MAX_LON) {
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min_lon = (int)(longitude_deg / SAMPLING_RES) * SAMPLING_RES - SAMPLING_RES;
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valid_input_data = false;
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}
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/* find index of nearest low sampling point */
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unsigned min_lat_index = (-(SAMPLING_MIN_LAT) + min_lat) / SAMPLING_RES;
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unsigned min_lon_index = (-(SAMPLING_MIN_LON) + min_lon) / SAMPLING_RES;
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/* calculate intensity */
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float data_sw = intensity_table[min_lat_index][min_lon_index];
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float data_se = intensity_table[min_lat_index][min_lon_index + 1];;
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float data_ne = intensity_table[min_lat_index + 1][min_lon_index + 1];
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float data_nw = intensity_table[min_lat_index + 1][min_lon_index];
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/* perform bilinear interpolation on the four grid corners */
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float data_min = ((longitude_deg - min_lon) / SAMPLING_RES) * (data_se - data_sw) + data_sw;
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float data_max = ((longitude_deg - min_lon) / SAMPLING_RES) * (data_ne - data_nw) + data_nw;
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intensity_gauss = ((latitude_deg - min_lat) / SAMPLING_RES) * (data_max - data_min) + data_min;
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/* calculate declination */
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data_sw = declination_table[min_lat_index][min_lon_index];
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data_se = declination_table[min_lat_index][min_lon_index + 1];;
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data_ne = declination_table[min_lat_index + 1][min_lon_index + 1];
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data_nw = declination_table[min_lat_index + 1][min_lon_index];
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/* perform bilinear interpolation on the four grid corners */
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data_min = ((longitude_deg - min_lon) / SAMPLING_RES) * (data_se - data_sw) + data_sw;
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data_max = ((longitude_deg - min_lon) / SAMPLING_RES) * (data_ne - data_nw) + data_nw;
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declination_deg = ((latitude_deg - min_lat) / SAMPLING_RES) * (data_max - data_min) + data_min;
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/* calculate inclination */
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data_sw = inclination_table[min_lat_index][min_lon_index];
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data_se = inclination_table[min_lat_index][min_lon_index + 1];;
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data_ne = inclination_table[min_lat_index + 1][min_lon_index + 1];
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data_nw = inclination_table[min_lat_index + 1][min_lon_index];
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/* perform bilinear interpolation on the four grid corners */
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data_min = ((longitude_deg - min_lon) / SAMPLING_RES) * (data_se - data_sw) + data_sw;
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data_max = ((longitude_deg - min_lon) / SAMPLING_RES) * (data_ne - data_nw) + data_nw;
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inclination_deg = ((latitude_deg - min_lat) / SAMPLING_RES) * (data_max - data_min) + data_min;
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return valid_input_data;
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}
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} // namespace SITL
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@ -177,11 +177,83 @@ protected:
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// update wind vector
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void update_wind(const struct sitl_input &input);
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/*
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* Calculates the magnetic intensity, declination and inclination at a given WGS-84 latitude and longitude.
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* Assumes a WGS-84 height of zero
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* latitude and longitude have units of degrees
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* declination and inclination are returned in degrees
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* intensity is returned in Gauss
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* Boolean returns false if latitude and longitude are outside the valid input range of +-60 latitude and +-180 longitude
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*/
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bool get_mag_field_ef(float latitude_deg, float longitude_deg, float &intensity_gauss, float &declination_deg, float &inclination_deg);
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private:
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uint64_t last_time_us = 0;
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uint32_t frame_counter = 0;
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uint32_t last_ground_contact_ms;
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const uint32_t min_sleep_time;
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/* set this always to the sampling in degrees for the table below */
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#define SAMPLING_RES 10.0f
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#define SAMPLING_MIN_LAT -60.0f
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#define SAMPLING_MAX_LAT 60.0f
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#define SAMPLING_MIN_LON -180.0f
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#define SAMPLING_MAX_LON 180.0f
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/* table data containing magnetic declination angle in degrees */
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const float declination_table[13][37] =
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{
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{47.225,46.016,44.6,43.214,41.929,40.625,38.996,36.648,33.246,28.649,22.973,16.599,10.096,4.0412,-1.2113,-5.7129,-9.9239,-14.505,-19.992,-26.538,-33.881,-41.531,-48.995,-55.908,-62.043,-67.26,-71.433,-74.32,-75.32,-72.759,-61.089,-22.66,24.673,41.679,46.715,47.77,47.225},
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{30.663,30.935,30.729,30.365,30.083,29.989,29.903,29.306,27.493,23.864,18.229,11.012,3.2503,-3.7771,-9.1638,-12.793,-15.299,-17.753,-21.275,-26.491,-33.098,-40.129,-46.619,-51.911,-55.576,-57.256,-56.482,-52.464,-44.092,-30.765,-14.236,1.4682,13.543,21.705,26.727,29.465,30.663},
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{22.141,22.67,22.786,22.665,22.457,22.365,22.478,22.512,21.659,18.814,13.22,5.1441,-3.8724,-11.749,-17.208,-20.303,-21.777,-22.354,-23.04,-25.422,-30.143,-35.947,-41.114,-44.536,-45.603,-43.943,-39.28,-31.541,-21.622,-11.631,-3.1023,3.9413,9.8774,14.757,18.445,20.858,22.141},
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{16.701,17.175,17.415,17.473,17.283,16.943,16.689,16.566,15.935,13.436,7.8847,-0.52637,-9.7982,-17.399,-22.182,-24.63,-25.544,-24.89,-22.583,-20.489,-21.371,-25.128,-29.294,-31.76,-31.569,-28.686,-23.466,-16.487,-9.2421,-3.5196,0.52944,4.0043,7.5112,10.847,13.654,15.633,16.701},
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{13.062,13.307,13.488,13.647,13.552,13.138,12.644,12.281,11.511,8.9083,3.288,-4.9363,-13.534,-20.108,-23.761,-24.943,-24.267,-21.633,-16.975,-11.895,-9.3052,-10.608,-14.22,-17.235,-17.896,-16.21,-12.734,-7.944,-3.1917,-0.09448,1.5925,3.3685,5.7977,8.374,10.643,12.277,13.062},
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{10.819,10.774,10.744,10.873,10.857,10.513,10.051,9.6504,8.6623,5.7203,-0.00103,-7.7113,-15.239,-20.543,-22.747,-22.021,-19.117,-14.884,-10.06,-5.4668,-2.2918,-1.8711,-4.2049,-7.1881,-8.7089,-8.4387,-6.7419,-3.8048,-0.7327,0.90936,1.399,2.3853,4.3796,6.6682,8.7425,10.241,10.819},
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{9.6261,9.4267,9.2035,9.2862,9.3524,9.1115,8.7204,8.235,6.8708,3.4733,-2.2704,-9.2885,-15.646,-19.575,-20.227,-17.864,-13.663,-9.1469,-5.2757,-2.071,0.49345,1.5251,0.29098,-2.0644,-3.6913,-4.1179,-3.5596,-1.9862,-0.1684,0.55548,0.42539,1.019,2.8249,5.1073,7.319,8.9998,9.6261},
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{8.9369,8.9745,8.8157,9.0087,9.2615,9.1408,8.6708,7.7842,5.7199,1.6936,-4.0873,-10.373,-15.479,-17.961,-17.333,-14.207,-9.8358,-5.6345,-2.4989,-0.22009,1.7216,2.8156,2.1698,0.36849,-1.0742,-1.6949,-1.7318,-1.1504,-0.42435,-0.50061,-1.1161,-0.88856,0.69851,3.0638,5.6417,7.8392,8.9369},
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{8.0661,8.9128,9.3097,9.8875,10.445,10.466,9.7864,8.2288,5.1818,0.28672,-5.7524,-11.438,-15.264,-16.348,-14.841,-11.596,-7.5597,-3.7288,-0.91243,0.96946,2.51,3.5079,3.1926,1.8339,0.62026,-0.01417,-0.36046,-0.53631,-0.84781,-1.8165,-3.0616,-3.3677,-2.1514,0.22612,3.1996,6.0876,8.0661},
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{6.6045,8.7101,10.209,11.491,12.418,12.553,11.622,9.3409,5.2254,-0.73322,-7.3408,-12.717,-15.505,-15.494,-13.422,-10.206,-6.4719,-2.8539,-0.05159,1.8185,3.2182,4.1923,4.2452,3.4363,2.5284,1.8671,1.1902,0.25353,-1.1684,-3.2141,-5.2908,-6.2436,-5.4483,-3.1334,0.11904,3.6145,6.6045},
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{4.8686,8.2538,11.062,13.264,14.651,14.898,13.714,10.725,5.4958,-1.7139,-9.1709,-14.568,-16.765,-16.116,-13.666,-10.317,-6.5773,-2.906,0.14042,2.3482,3.9956,5.2703,5.9678,5.9805,5.5419,4.7751,3.4951,1.4836,-1.3442,-4.7282,-7.762,-9.283,-8.7476,-6.4234,-2.9491,1.0086,4.8686},
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{3.5965,7.9367,11.797,14.893,16.888,17.409,16.035,12.22,5.5033,-3.468,-12.144,-17.817,-19.749,-18.751,-15.97,-12.268,-8.1724,-4.1017,-0.46224,2.551,5.0589,7.2268,8.9817,10.082,10.298,9.416,7.21,3.5705,-1.2522,-6.3856,-10.448,-12.313,-11.73,-9.1743,-5.367,-0.9513,3.5965},
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{3.0633,8.0696,12.667,16.527,19.239,20.252,18.783,13.765,4.4393,-7.6723,-18.2,-24.093,-25.554,-23.984,-20.61,-16.25,-11.425,-6.5023,-1.759,2.6571,6.7294,10.458,13.708,16.148,17.3,16.587,13.441,7.6143,-0.14961,-7.7957,-13.103,-15.143,-14.253,-11.262,-6.9868,-2.0631,3.0633}
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};
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/* table data containing magnetic inclination angle in degrees */
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const float inclination_table[13][37] =
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{
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{-77.62,-75.621,-73.703,-71.805,-69.84,-67.703,-65.317,-62.69,-59.968,-57.429,-55.437,-54.313,-54.191,-54.921,-56.118,-57.329,-58.214,-58.643,-58.712,-58.692,-58.934,-59.74,-61.257,-63.461,-66.211,-69.329,-72.657,-76.065,-79.441,-82.661,-85.506,-87.208,-86.36,-84.237,-81.951,-79.73,-77.62},
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{-71.644,-69.722,-67.862,-66.038,-64.191,-62.202,-59.91,-57.194,-54.113,-51.035,-48.639,-47.697,-48.625,-51.137,-54.39,-57.488,-59.821,-61.085,-61.237,-60.574,-59.768,-59.618,-60.616,-62.761,-65.711,-69.044,-72.416,-75.556,-78.175,-79.936,-80.593,-80.201,-79.054,-77.45,-75.591,-73.62,-71.644},
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{-64.379,-62.435,-60.505,-58.564,-56.621,-54.665,-52.574,-50.107,-47.083,-43.756,-41.093,-40.479,-42.721,-47.229,-52.537,-57.471,-61.513,-64.379,-65.669,-65.164,-63.395,-61.672,-61.269,-62.55,-65.012,-67.881,-70.533,-72.526,-73.547,-73.61,-73.075,-72.251,-71.191,-69.844,-68.201,-66.334,-64.379},
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{-54.946,-52.868,-50.792,-48.616,-46.372,-44.193,-42.1,-39.8,-36.829,-33.264,-30.385,-30.266,-34.046,-40.628,-47.854,-54.358,-59.856,-64.283,-67.119,-67.68,-65.968,-63.1,-60.894,-60.535,-61.761,-63.584,-65.189,-66.021,-65.775,-64.769,-63.698,-62.826,-61.898,-60.654,-59.023,-57.056,-54.946},
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{-42.121,-39.754,-37.516,-35.153,-32.626,-30.14,-27.828,-25.343,-22.028,-18.017,-15.062,-15.744,-21.265,-30.112,-39.56,-47.788,-54.306,-59.187,-62.247,-63.04,-61.444,-58.163,-54.854,-53.154,-53.207,-54.092,-55.004,-55.267,-54.381,-52.801,-51.562,-50.874,-50.1,-48.81,-46.97,-44.643,-42.121},
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{-25.138,-22.301,-19.912,-17.531,-14.951,-12.37,-9.9146,-7.1192,-3.3525,0.86465,3.4285,1.8632,-4.8485,-15.374,-26.858,-36.666,-43.599,-47.78,-49.783,-49.893,-48.024,-44.445,-40.638,-38.414,-38.009,-38.508,-39.247,-39.498,-38.5,-36.768,-35.692,-35.432,-34.911,-33.532,-31.323,-28.369,-25.138},
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{-4.9962,-1.7126,0.71401,2.8847,5.219,7.5873,9.91,12.689,16.306,19.897,21.553,19.47,12.842,2.3904,-9.4406,-19.56,-26.119,-29.178,-29.919,-29.286,-27.194,-23.471,-19.459,-17.133,-16.698,-17.132,-17.899,-18.371,-17.66,-16.255,-15.708,-16.114,-16.082,-14.846,-12.422,-8.9145,-4.9962},
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{14.869,18.185,20.462,22.293,24.256,26.334,28.442,30.896,33.762,36.172,36.784,34.538,28.924,20.356,10.616,2.2154,-3.0793,-5.0649,-4.8917,-3.7875,-1.7639,1.5757,5.1722,7.2324,7.5774,7.2059,6.5718,6.0595,6.3467,7.0334,6.8289,5.7043,4.9959,5.5796,7.5845,10.93,14.869},
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{31.164,34.006,36.041,37.647,39.383,41.332,43.382,45.569,47.716,49.104,48.9,46.613,42.181,36.116,29.611,24.084,20.599,19.485,20.056,21.274,22.956,25.416,28.017,29.529,29.786,29.536,29.184,28.895,28.929,28.95,28.145,26.531,25.104,24.717,25.695,28.042,31.164},
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{43.422,45.479,47.235,48.815,50.558,52.55,54.665,56.761,58.528,59.374,58.753,56.548,53.102,49.074,45.208,42.092,40.16,39.643,40.248,41.324,42.606,44.197,45.811,46.815,47.078,47.021,46.948,46.916,46.893,46.555,45.437,43.596,41.72,40.533,40.438,41.516,43.422},
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{53.102,54.356,55.814,57.449,59.331,61.427,63.597,65.639,67.216,67.832,67.107,65.133,62.449,59.699,57.346,55.602,54.591,54.397,54.884,55.703,56.613,57.588,58.539,59.25,59.652,59.904,60.137,60.33,60.32,59.812,58.553,56.66,54.639,53.044,52.229,52.294,53.102},
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{61.877,62.601,63.785,65.363,67.255,69.332,71.425,73.313,74.675,75.099,74.352,72.651,70.529,68.494,66.843,65.687,65.049,64.919,65.198,65.705,66.286,66.893,67.525,68.165,68.802,69.44,70.041,70.469,70.5,69.901,68.591,66.775,64.856,63.228,62.144,61.699,61.877},
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{70.565,71.043,71.969,73.282,74.89,76.669,78.458,80.035,81.082,81.248,80.439,78.963,77.256,75.651,74.334,73.378,72.792,72.544,72.57,72.785,73.123,73.565,74.13,74.845,75.713,76.683,77.618,78.289,78.419,77.836,76.61,75.025,73.414,72.04,71.067,70.568,70.565}
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};
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/* table data containing magnetic intensity in Gauss */
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const float intensity_table[13][37] =
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{
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{0.62195,0.60352,0.58407,0.56378,0.54235,0.5192,0.49375,0.46596,0.43661,0.40734,0.38017,0.35689,0.33841,0.32458,0.31447,0.30707,0.302,0.29983,0.30197,0.31023,0.32606,0.35005,0.38167,0.41941,0.4611,0.50431,0.54648,0.58515,0.61805,0.64341,0.66031,0.66875,0.6695,0.66384,0.65315,0.6388,0.62195},
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{0.58699,0.56471,0.54222,0.51977,0.49699,0.47285,0.44606,0.4159,0.38299,0.3495,0.31875,0.29401,0.2771,0.26745,0.26251,0.25941,0.25657,0.25431,0.25469,0.26104,0.27676,0.30379,0.34157,0.38741,0.43751,0.48812,0.53602,0.57843,0.61292,0.63771,0.65218,0.65693,0.65331,0.64296,0.62744,0.6083,0.58699},
|
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{0.54115,0.51716,0.49337,0.47003,0.44701,0.42359,0.39839,0.37018,0.33882,0.30605,0.27573,0.25265,0.23995,0.23673,0.23869,0.24146,0.24284,0.24258,0.24188,0.24416,0.25504,0.27952,0.31847,0.36815,0.42238,0.47534,0.52306,0.56286,0.59276,0.61199,0.62133,0.62218,0.61584,0.60338,0.58585,0.56455,0.54115},
|
||||
{0.48901,0.46546,0.44226,0.41941,0.39712,0.37544,0.35375,0.33083,0.30548,0.27808,0.25206,0.23294,0.22466,0.22623,0.23284,0.24043,0.24771,0.25392,0.25756,0.2592,0.26416,0.28046,0.31301,0.35947,0.41201,0.4626,0.5061,0.53933,0.56053,0.57088,0.5738,0.57145,0.56393,0.55115,0.53361,0.51231,0.48901},
|
||||
{0.43275,0.41204,0.39186,0.37191,0.35253,0.33441,0.31775,0.3017,0.28442,0.26511,0.24603,0.23176,0.22605,0.22892,0.2372,0.24818,0.2613,0.27524,0.28613,0.2912,0.29315,0.29999,0.32028,0.35581,0.39969,0.44294,0.47952,0.50496,0.51672,0.51792,0.51496,0.51028,0.50215,0.48957,0.47314,0.45367,0.43275},
|
||||
{0.37936,0.36387,0.34916,0.33493,0.32156,0.30968,0.29963,0.29094,0.28194,0.27119,0.25923,0.24862,0.24246,0.2429,0.25003,0.26227,0.27786,0.29465,0.30882,0.3168,0.31873,0.3201,0.32969,0.35219,0.38333,0.41554,0.44325,0.46129,0.46614,0.4614,0.45461,0.44801,0.43895,0.4265,0.41178,0.39569,0.37936},
|
||||
{0.34151,0.33271,0.3248,0.31786,0.31251,0.30889,0.30674,0.30563,0.30411,0.30005,0.29252,0.28275,0.27347,0.26836,0.27051,0.27963,0.29265,0.30666,0.31919,0.32782,0.33164,0.33341,0.33926,0.35308,0.37271,0.39367,0.41222,0.42402,0.42574,0.41956,0.41085,0.40143,0.39009,0.37701,0.36387,0.35184,0.34151},
|
||||
{0.32861,0.32598,0.32444,0.32451,0.32723,0.33225,0.33844,0.34476,0.34925,0.34892,0.34232,0.33071,0.31718,0.30603,0.30142,0.30408,0.3115,0.32118,0.33137,0.34024,0.34686,0.35275,0.36068,0.37146,0.38401,0.39715,0.40907,0.41682,0.418,0.41256,0.40201,0.38791,0.37189,0.35616,0.34293,0.33373,0.32861},
|
||||
{0.34027,0.34127,0.34464,0.3507,0.36038,0.37294,0.3865,0.39917,0.40815,0.4099,0.40274,0.38831,0.37072,0.3552,0.34582,0.34316,0.34566,0.35218,0.36135,0.37089,0.37971,0.38903,0.39965,0.41036,0.42049,0.43072,0.44044,0.44743,0.44945,0.44455,0.43158,0.41195,0.38966,0.369,0.35302,0.34348,0.34027},
|
||||
{0.37253,0.3743,0.38082,0.39172,0.4068,0.42456,0.44274,0.45904,0.47046,0.47349,0.4662,0.45016,0.43012,0.41204,0.39986,0.39392,0.39314,0.39717,0.40505,0.41434,0.42357,0.43356,0.44488,0.45654,0.46802,0.47977,0.49115,0.5,0.50357,0.49896,0.48426,0.46097,0.43398,0.40879,0.38917,0.37703,0.37253},
|
||||
{0.42232,0.42361,0.43153,0.44511,0.46277,0.48222,0.50102,0.51697,0.52763,0.53021,0.5231,0.50749,0.48759,0.46872,0.4545,0.44574,0.44202,0.44314,0.44829,0.45556,0.46359,0.47278,0.48398,0.49721,0.51197,0.52753,0.54226,0.5536,0.55855,0.55434,0.53968,0.51634,0.489,0.46299,0.44215,0.4284,0.42232},
|
||||
{0.48297,0.48409,0.49144,0.50386,0.51947,0.53592,0.55104,0.56298,0.57002,0.57048,0.5635,0.54997,0.53268,0.51524,0.50048,0.48973,0.48333,0.48125,0.48294,0.48735,0.49374,0.50234,0.51385,0.52856,0.54583,0.56407,0.58089,0.59345,0.59903,0.5957,0.58321,0.56356,0.54058,0.51853,0.50058,0.4885,0.48297},
|
||||
{0.53888,0.53954,0.54416,0.55185,0.5613,0.57099,0.5795,0.58558,0.58818,0.58651,0.58029,0.57006,0.55723,0.54365,0.53109,0.52078,0.51346,0.50946,0.50872,0.51103,0.51624,0.52445,0.53585,0.55027,0.56682,0.58384,0.59914,0.61041,0.61575,0.61419,0.60607,0.59307,0.5778,0.563,0.55086,0.54264,0.53888}
|
||||
};
|
||||
|
||||
};
|
||||
|
||||
} // namespace SITL
|
||||
|
||||
Loading…
Reference in New Issue
Block a user