Table of Contents

Class Gyroscope

Namespace
NominalSystems.Classes
Assembly
NominalSystems.Classes.dll

[Nominal] The gyroscope class is able to detect the change in orientation and the estimated current orientation of the spacecraft.

public class Gyroscope : Sensor
Inheritance
Gyroscope

Constructors

Gyroscope()

Default constructor

protected Gyroscope()

Fields

Bias

Rotational Sensor bias value

[Unit(UnitType.RADIAN_PER_SECOND)]
public Vector3 Bias

Field Value

Vector3

DiscretizationBinSize

The value for the least significant bit on the discretised noise model. This is the size of the bin used by the discretization utility.

[Unit(UnitType.NONE)]
public double DiscretizationBinSize

Field Value

double

In_SpacecraftStateMsg

A reference to the base spacecraft's state message for computing the state of the object.

public SpacecraftStateMessage? In_SpacecraftStateMsg

Field Value

SpacecraftStateMessage

MaxOutput

Gyro saturation value

[Unit(UnitType.RADIAN_PER_SECOND)]
public double MaxOutput

Field Value

double

Out_GyroscopeDataMsg

Output message for IMU gyroscope data

public GyroscopeDataMessage? Out_GyroscopeDataMsg

Field Value

GyroscopeDataMessage

PMatrix

Cholesky-decomposition or matrix square root of the covariance matrix to apply errors with

[Unit(UnitType.NONE)]
public Matrix3 PMatrix

Field Value

Matrix3

ScaleFactor

Scale factor for the sensor data

[Unit(UnitType.NONE)]
public double ScaleFactor

Field Value

double

WalkBounds

"3-sigma" errors to permit for states

[Unit(UnitType.NONE)]
public Vector3 WalkBounds

Field Value

Vector3

Properties

AngularVelocity_LN_B

Angular velocity of the platform relative to the inertial frame in the body frame.

[Unit("deg/s")]
[ReadOnly]
[Metadata(ContainedIn = "Out_GyroscopeDataMsg")]
public Vector3 AngularVelocity_LN_B { get; }

Property Value

Vector3

DeltaRotation_LN_B

Accumulated delta rotation (DR) in platform relative to the inertial frame in the body frame.

[Unit(UnitType.DEGREE)]
[ReadOnly]
[Metadata(ContainedIn = "Out_GyroscopeDataMsg")]
public Vector3 DeltaRotation_LN_B { get; }

Property Value

Vector3

Methods

OnBegin(double)

Called when the object is beginning ticking for the first time. This is when the simulation calls the very first tick and will run before the update call.

protected override void OnBegin(double time)

Parameters

time double

[s] Current time of the simulation before the tick

OnCreate()

Called when the 'Component' is created from the controller.

protected override void OnCreate()

OnLoad(double)

Called after all of the data has been loaded from a save state on this object. This enables any post-load operations to be performed and extra data to be loaded from the metadata.

protected override void OnLoad(double time)

Parameters

time double

[s] The current clock time of the simulation

OnSave()

Called before the object is saved into the save state. This ensures that any additional metadata can be saved on the object before it is automatically serialized.

protected override void OnSave()

OnUpdate(double, double)

Called when the object should update from the simulation tick. This will take in a time and a step, where the time is the time of the clock before updating the object.

protected override void OnUpdate(double time, double step)

Parameters

time double

[s] Current time of the simulation before the update

step double

[s] The time-step to update during this tick