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Task 3 Data?

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This commit is contained in:
Cal Wing 2023-11-02 20:51:26 +10:00
parent 491e992264
commit cbb0cf0452
1 changed files with 34 additions and 7 deletions
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37
main.py
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@ -97,6 +97,7 @@ def importIMUData(mission, imu):
# Load Truth Data # Load Truth Data
TRUTH_N_POS_HEADER = ["Time [s]", "True North Position [m]"] TRUTH_N_POS_HEADER = ["Time [s]", "True North Position [m]"]
TRUTH_FSP_X_HEADER = ["Time [s]", "True FSP_X [m/s^2]"]
m1TruthData = pd.read_csv( m1TruthData = pd.read_csv(
f"./data/N_truth_IMU_M1L.txt", f"./data/N_truth_IMU_M1L.txt",
header=None, skiprows=1, header=None, skiprows=1,
@ -105,6 +106,10 @@ m1TruthData = pd.read_csv(
f"./data/N_truth_IMU_M1H.txt", f"./data/N_truth_IMU_M1H.txt",
header=None, skiprows=1, header=None, skiprows=1,
names=TRUTH_N_POS_HEADER, names=TRUTH_N_POS_HEADER,
), pd.read_csv(
f"./data/FSPB1_truth_IMU_M1.txt",
header=None, skiprows=1,
names=TRUTH_FSP_X_HEADER,
) )
# Load the Mission Data # Load the Mission Data
m1_IMUData = importIMUData(1, 0), importIMUData(1, 1) #(L, H) Data m1_IMUData = importIMUData(1, 0), importIMUData(1, 1) #(L, H) Data
@ -112,9 +117,9 @@ m2_IMUData = importIMUData(2, 0), importIMUData(2, 1)
# NED Translation & Force Functions # NED Translation & Force Functions
INIT_EULER_ANGLES = (0, 0, 0) INIT_EULER_ANGLES = (0, 0, 0)
def attitude_rate_2NED(angles, euler_angles): def attitude_rate_2NED(attitude, euler_angles):
phi, theta, psi = euler_angles phi, theta, psi = euler_angles
p, q, r = angles p, q, r = attitude
transMat = np.array([ [1, sin(phi)*tan(theta), cos(phi)*tan(theta) ], transMat = np.array([ [1, sin(phi)*tan(theta), cos(phi)*tan(theta) ],
[0, cos(phi), -sin(phi) ], [0, cos(phi), -sin(phi) ],
@ -631,15 +636,17 @@ def generateTruthErrorGraphs(missionData):
if __name__ == '__main__': if __name__ == '__main__':
# Task 1 - b, c, d
#Load, Process & Graph Mission Data for Mission 1 #Load, Process & Graph Mission Data for Mission 1
print("Loading / Calculating to Mission 1 Data") print("Loading / Calculating to Mission 1 Data")
missionData = cacheData("./tmp/m1_L_transData.dfz", calculateVelocityPosition, (m1_IMUData[0], INIT_FLIGHT_PRAMS), forceCalc=False), \ missionData = cacheData("./tmp/m1_L_transData.dfz", calculateVelocityPosition, (m1_IMUData[0], INIT_FLIGHT_PRAMS), forceCalc=False), \
cacheData("./tmp/m1_H_transData.dfz", calculateVelocityPosition, (m1_IMUData[1], INIT_FLIGHT_PRAMS), forceCalc=False) cacheData("./tmp/m1_H_transData.dfz", calculateVelocityPosition, (m1_IMUData[1], INIT_FLIGHT_PRAMS), forceCalc=False)
missionData = doTruthComparison(missionData, m1TruthData) missionData = doTruthComparison(missionData, m1TruthData)
print("Starting to Graph Mission 1") print("Starting to Graph Mission 1")
errorPoly = generateTruthErrorGraphs(missionData)[0] #generateGraphs(missionData, 1)
generateGraphs(missionData, 1)
# Task 2 - b
errorPoly = generateTruthErrorGraphs(missionData)[0]
for i, poly in enumerate(errorPoly): for i, poly in enumerate(errorPoly):
string = "" string = ""
for n, c_n in enumerate(poly): for n, c_n in enumerate(poly):
@ -647,11 +654,31 @@ if __name__ == '__main__':
print(f"{'High' if i else 'Low'} Grade Error Poly:" + string[2:]) print(f"{'High' if i else 'Low'} Grade Error Poly:" + string[2:])
# Task 3
t_15_data = m1TruthData[0][IMU_TIME_HEADER + [TRUTH_N_POS_HEADER[1]]].iloc[(m1TruthData[0][IMU_TIME_HEADER[0]]-15).abs().argsort()[:1]].values, \
m1TruthData[2][IMU_TIME_HEADER + [TRUTH_FSP_X_HEADER[1]]].iloc[(m1TruthData[2][IMU_TIME_HEADER[0]]-15).abs().argsort()[:1]].values
if t_15_data[0][0][0] == t_15_data[1][0][0]:
t_15_data = pd.DataFrame({
IMU_TIME_HEADER[0] : [t_15_data[0][0][0]],
TRUTH_N_POS_HEADER[1] : [t_15_data[0][0][1]],
TRUTH_FSP_X_HEADER[1] : [t_15_data[1][0][1]]
})
else:
print(t_15_data)
raise ValueError("Something broke :(")
print(t_15_data)
# Task 4
#Load, Process & Graph Mission Data for Mission 2 #Load, Process & Graph Mission Data for Mission 2
print("Loading / Calculating to Mission 2 Data") print("\nLoading / Calculating to Mission 2 Data")
missionData = cacheData("./tmp/m2_L_transData.dfz", calculateVelocityPosition, (m2_IMUData[0], INIT_FLIGHT_PRAMS), forceCalc=False), \ missionData = cacheData("./tmp/m2_L_transData.dfz", calculateVelocityPosition, (m2_IMUData[0], INIT_FLIGHT_PRAMS), forceCalc=False), \
cacheData("./tmp/m2_H_transData.dfz", calculateVelocityPosition, (m2_IMUData[1], INIT_FLIGHT_PRAMS), forceCalc=False) cacheData("./tmp/m2_H_transData.dfz", calculateVelocityPosition, (m2_IMUData[1], INIT_FLIGHT_PRAMS), forceCalc=False)
print("Starting to Graph Mission 2") print("Starting to Graph Mission 2")
generateGraphs(missionData, 2) generateGraphs(missionData, 2)
print("Complete") print("Complete")