# Aero4200-Ass3 # Cal Wing, Sem 2 2023 # Import System / Common Libs import os, pickle, time import numpy as np import pandas as pd from tqdm import tqdm from numpy import pi, sin, cos, tan #Import makeGraph, a custom graphing wrapper I developed, refer to it for documentation from makeGraph import makeGraph, pltKeyClose, UQ_COLOURS as UQC # Custom Graphing Lib # Make sure the relevant folders folder exists folders = ["./images", "./tmp"] for folder in folders: if not os.path.isdir(folder): os.mkdir(folder) # This is a cacheing function, it checks if a cache file exists and loads it or it calcs & saves it. # TL;DR This takes a file path & either a single variable (defArg) or some sort of callable and either # loads it or dumps it to disk. Note: It does not validate the data inside! def cacheData(dataFilePath: str, calcFunction: callable = lambda x: x, args: tuple = (), kargs: dict = {}, defArg=None): if len(args) == 0 and defArg is not None: args = (defArg, ) data = None dataFileExt = dataFilePath.rsplit(".")[-1] # Check if file exists if os.path.isfile(dataFilePath): print(f"Found data file \"{dataFilePath}\", loading data.") # Check if file is a compressed numpy file if dataFileExt == "npz": data = np.load(dataFilePath, allow_pickle=True)["arr_0"] elif dataFileExt == "pkl": #If its not then just pickle it normally with open(dataFilePath, 'rb') as handle: data = pickle.load(handle) elif dataFileExt == "dfz": data = pd.read_pickle(dataFilePath, compression="gzip") else: raise TypeError(f"Cannot determine file type of: {dataFilePath}") else: print(f"Could not find data file \"{dataFilePath}\", generating & saving data.") # Calculate Value data = calcFunction(*args, **kargs) # Check if file is a compressed numpy file if dataFileExt == "npz": np.savez_compressed(dataFilePath, data, allow_pickle=True) elif dataFileExt == "dfz": data.to_pickle(dataFilePath, compression="gzip") elif dataFileExt == "pkl": #If its not then just pickle it normally with open(dataFilePath, 'wb') as handle: pickle.dump(data, handle) else: raise TypeError(f"Cannot determine file type of: {dataFilePath}") if data is None: raise ValueError("Could not import or generate data requested") return data # IMU Data Loading # I map in to a heading to add units / make things make more sense ## The gyroscopic body angular rates from the IMU are given: # - WBE_1 (in rad/s) - the roll rate about the body-fixed x-axis # - WBE_2 (in rad/s) - the pitch rate about the body-fixed y-axis # - WBE_3 (in rad/s) - the yaw rate about the body-fixed z-axis ## Specific forces: # - FSP_X (in m/s^2) - the specific force in the body-fixed x-direction # - FSP_Y (in m/s^2) - the specific force in the body-fixed y-direction # - FSP_Z (in m/s^2) - the specific force in the body-fixed z-direction IMU_TIME_HEADER = ["Time [s]"] IMU_WBE_HEADERS = ["WBE_1 [rad/s]", "WBE_2 [rad/s]", "WBE_3 [rad/s]"] # Roll, Pitch, Yaw - Rate IMU_FSP_HEADERS = ["FSP_X [m/s^2]", "FSP_Y [m/s^2]", "FSP_Z [m/s^2]"] # Specific Force X, Y , Z IMU_DATA_HEADER = IMU_TIME_HEADER + IMU_WBE_HEADERS + IMU_FSP_HEADERS def importIMUData(mission, imu): # If IMU is not a string, then convert based on bool eval where "H" == True if type(imu) != str: imu = "H" if imu else "L" data = pd.read_csv( f"./data/IMU_M{str(mission) + str(imu)}.txt", header=None, skiprows=1, names=IMU_DATA_HEADER, ) return data # Load the Mission Data m1_IMUData = importIMUData(1, 0), importIMUData(1, 1) #(L, H) Data m2_IMUData = importIMUData(2, 0), importIMUData(2, 1) # NED Translation & Force Functions INIT_EULER_ANGLES = (0, 0, 0) def attidude_rate_2NED(angles, euler_angles): phi, theta, psi = euler_angles p, q, r = angles transMat = np.array([ [1, sin(phi)*tan(theta), cos(phi)*tan(theta) ], [0, cos(phi), -sin(phi) ], [0, sin(phi)/cos(theta), cos(phi)/cos(theta) ] ]) angleMat = np.array([ [p], [q], [r] ]) return np.matmul(transMat, angleMat) def getNEDForces(NEDPos): phi, theta, psi = NEDPos # Roll, Pitch, Yaw R41 = np.array([ [cos(psi)*cos(theta), cos(psi)*sin(theta)*sin(phi)-sin(psi)*cos(phi), cos(psi)*sin(theta)*cos(phi)+sin(psi)*sin(phi)], [sin(psi)*cos(theta), sin(psi)*sin(theta)*sin(phi)+cos(psi)*cos(phi), sin(psi)*sin(theta)*cos(phi)-cos(psi)*sin(phi)], [-sin(theta), cos(theta)*sin(phi), cos(theta)*cos(phi) ] ]) return R41 # Calculate Mission Translation & Force Data TRANS_DATA_HEADER = IMU_TIME_HEADER + IMU_WBE_HEADERS + ["Forces", "ForceSum", "ForceCumSum"] def calculateTranslatedData(missionWBEData) -> pd.DataFrame: print("Translating Motion & Calculating Resulting Forces") translatedData = pd.DataFrame(columns=TRANS_DATA_HEADER) for i in tqdm(range(len(missionWBEData))): dataPoint = missionWBEData[IMU_WBE_HEADERS].iloc[i] # Get the time point data trans = attidude_rate_2NED(dataPoint.values, INIT_EULER_ANGLES).flatten() # Translate to Net forces = getNEDForces(trans) forceSum = np.array([np.sum(forces[:,0].flatten()), np.sum(forces[:,1].flatten()), np.sum(forces[:,2].flatten())]) privForce = translatedData[TRANS_DATA_HEADER[5]].iloc[i-1] if i > 0 else [0, 0, 0] forceCumSum = np.array([ forceSum[ii] + value for ii, value in enumerate(privForce) ]) translatedData.loc[i] = { TRANS_DATA_HEADER[0]: missionWBEData[IMU_TIME_HEADER].iloc[i], TRANS_DATA_HEADER[1]: trans[0], TRANS_DATA_HEADER[2]: trans[1], TRANS_DATA_HEADER[3]: trans[2], TRANS_DATA_HEADER[4]: forces, TRANS_DATA_HEADER[5]: forceSum, TRANS_DATA_HEADER[6]: forceCumSum, } return translatedData if __name__ == '__main__': missionWBEData = m1_IMUData[0][IMU_TIME_HEADER + IMU_WBE_HEADERS] translatedData = cacheData("./tmp/m1_transData.dfz", calculateTranslatedData, (missionWBEData,)) x = np.cumsum(translatedData[IMU_WBE_HEADERS[0]]) y = np.cumsum(translatedData[IMU_WBE_HEADERS[1]]) z = np.cumsum(translatedData[IMU_WBE_HEADERS[2]]) import matplotlib.pyplot as plt fig = plt.figure() ax = plt.axes(projection='3d') plots = translatedData[TRANS_DATA_HEADER[6]].values #x = [p[0] for p in plots] #y = [p[1] for p in plots] #z = [p[2] for p in plots] ax.plot3D(x, y, z) ax.plot3D(x+5, y-2, z+1) plt.show() print("Complete")