Differences between revisions 2 and 3

OMEGA

Description

This program

Calculates the angular velocity of a body's rotation by using the position of landmarks in subsequent images

The images should be at least roughly registered (REGISTER) before starting.

The pointing and spacecraft position is originally determined in body-fixed space from a nominal .pck file. Then they are transformed back to inertial space.

If V is the vector of a landmark at time = 0 (PICNM0) then the inertial space vector V' at time = t (PICNM1) is given by

V' = Vcos(a) +(AxV)sin(a)/a +A(A.V)(1-cos(a))/a^2

where A is the inertial space vector OMEGA x t and a is its magnitude with OMEGA = angular velocity.

The program solves for A, for an offset of image PICNM1 due to relative pointing errors and for the inertial space landmark positions at t=0. Many iterations (~100) are required for convergence (but it is very fast) and OMEGA is printed both as an inertial space vector and in RA, DEC,|OMEGA| in deg and deg/da.

Required Files

OMEGA.TXT which has an initial guess for the RA/DEC of omega and its magnitude in deg/da.
PICTLIST.TXT
LMRKLIST.TXT

Inputs

The image name of two images that have some common landmarks in them

Outputs

OMEGA_SUM.TXT - Inertial space RA/DEC of omega, Inertial space RA/DEC of body frame z-axis, and the LAT/LON of the omega vector in the body frame
<imagename>_ROT.TXT - Log of the translation of each common landmark from inertial to body-fixed frame.

Using OMEGA

Here is a sample of the standard input:

$ omega
 Input PICNM0
P601293196F2
 Input PICNM1
P601293203F2

OMEGA:                  0.10196E-04    0.17130E-03   -0.36799E-03


                       ALPHA                          DP1            DL1
       -0.00020        0.00138       -0.00247       -0.05370        0.03372

  -1.3347563804838266E-004

 Iterate? (y/n)
n
        0.02842        0.01714

OMEGA:                 -0.28363E-04    0.19784E-03   -0.35343E-03
ET1 - ET0:                  7.00000
RA DEC DEG/DA:        98.15845      -60.51164     2009.99984

 Return to iteration? (y/n)
n
 Update SUMFILE? (y/n)
n

Example output file P601293196F2_ROT.TXT

 PICNM0 = P601293196F2  PICNM1 = P601293203F2

                              INERTIAL                                    BODY FIXED

EE0001        0.79740E-01   -0.24443E+00   -0.76561E-01   -0.24352E-01    0.26146E+00   -0.28265E-01
EE0002        0.76654E-01   -0.24740E+00   -0.76961E-01   -0.28215E-01    0.26180E+00   -0.28335E-01
EE0003        0.72600E-01   -0.24614E+00   -0.78760E-01   -0.31991E-01    0.26251E+00   -0.28429E-01
EE0004        0.69034E-01   -0.24720E+00   -0.79739E-01   -0.35877E-01    0.26275E+00   -0.28361E-01
EE0006        0.79252E-01   -0.24506E+00   -0.73033E-01   -0.24417E-01    0.26092E+00   -0.32141E-01
EE0007        0.75892E-01   -0.24655E+00   -0.73990E-01   -0.28216E-01    0.26158E+00   -0.32223E-01
...

OMEGA:                 -0.47507E-04    0.15800E-03   -0.37100E-03
RA DEC DEG/DA:         106.73459      -66.02445     2009.99984
ET1 - ET0:               7.00000
Rotation:                0.16285
IMAX:                        76
dP, dL, dS:            -0.91703E+00    0.51699E+00   -0.25762E-03

Body fixed frame:        87.19928      -64.78164     -115.42772

    0.2404600643D+00   -0.3024911368D+01    0.2313284431D+01   SCOBJ
    0.6384185077D+00   -0.4531136654D+00   -0.6280592064D+00   CX
    0.7669571811D+00    0.4425514816D+00    0.4690669420D+00   CY
    0.6479576942D-01   -0.7738450699D+00    0.6360038956D+00   CZ
   -0.5260644620D+00    0.8478532108D+00    0.6696761722D-01   SZ

CategoryPrograms

-  ⇤ ← Revision 2 as of 2016-05-12 12:26:32 → 
  Size: 1362
  Editor: EricPalmer
  Comment:
+   ← Revision 3 as of 2016-05-12 12:34:10 → ⇥
  Size: 3800
  Editor: EricPalmer
  Comment:
-Deletions are marked like this.
+Additions are marked like this.
 Line 8:
-The images should be at least roughly registered (REGISTER) before starting
+The images should be at least roughly registered (REGISTER) before starting.

 The pointing and spacecraft position is originally determined in body-fixed space from a nominal .pck file.  Then they are transformed back to inertial space.  

If V is the vector of a landmark at time = 0 (PICNM0) then the inertial space vector V' at time = t (PICNM1) is  given by

          V' = Vcos(a) +(AxV)sin(a)/a +A(A.V)(1-cos(a))/a^2

    where A is the inertial space vector OMEGA x t and a is its magnitude
    with OMEGA = angular velocity.  

The program solves for A, for an offset of image PICNM1 due to relative pointing errors and for the inertial space landmark positions at t=0.  Many iterations (~100) are required for convergence (but it is very fast) and OMEGA is printed both as an inertial space vector and in RA, DEC,|OMEGA| in deg and deg/da.
-Line 21:
+Line 33:
+ * <imagename>_ROT.TXT - Log of the translation of each common landmark from inertial to body-fixed frame.
-Line 29:
+Line 42:
-omega
+$ omega
-Line 31:
+Line 44:
-P609229428F2
+P601293196F2
-Line 33:
+Line 46:
-P609229440F2
+P601293203F2
-Line 39:
+Line 52:
-.00012        0.00206       -0.00442        0.00000        0.00000
+       -0.00020        0.00138       -0.00247       -0.05370        0.03372
-Line 41:
+Line 54:
-.0000000000000000
+  -1.3347563804838266E-004
-Line 45:
+Line 58:
-            NaN            NaN
+.02842        0.01714
-Line 47:
+Line 60:
-OMEGA:                  0.10196E-04    0.17130E-03   -0.36799E-03
ET1 - ET0:                 12.00000
RA DEC DEG/DA:        86.59369      -64.99963     2009.99984
+OMEGA:                 -0.28363E-04    0.19784E-03   -0.35343E-03
ET1 - ET0:                  7.00000
RA DEC DEG/DA:        98.15845      -60.51164     2009.99984
-Line 53:
+Line 66:
+ Update SUMFILE? (y/n)
n
-Line 55:
+Line 70:
+Example output file
P601293196F2_ROT.TXT
{{{
 PICNM0 = P601293196F2  PICNM1 = P601293203F2

                              INERTIAL                                    BODY FIXED

EE0001        0.79740E-01   -0.24443E+00   -0.76561E-01   -0.24352E-01    0.26146E+00   -0.28265E-01
EE0002        0.76654E-01   -0.24740E+00   -0.76961E-01   -0.28215E-01    0.26180E+00   -0.28335E-01
EE0003        0.72600E-01   -0.24614E+00   -0.78760E-01   -0.31991E-01    0.26251E+00   -0.28429E-01
EE0004        0.69034E-01   -0.24720E+00   -0.79739E-01   -0.35877E-01    0.26275E+00   -0.28361E-01
EE0006        0.79252E-01   -0.24506E+00   -0.73033E-01   -0.24417E-01    0.26092E+00   -0.32141E-01
EE0007        0.75892E-01   -0.24655E+00   -0.73990E-01   -0.28216E-01    0.26158E+00   -0.32223E-01
...

OMEGA:                 -0.47507E-04    0.15800E-03   -0.37100E-03
RA DEC DEG/DA:         106.73459      -66.02445     2009.99984
ET1 - ET0:               7.00000
Rotation:                0.16285
IMAX:                        76
dP, dL, dS:            -0.91703E+00    0.51699E+00   -0.25762E-03

Body fixed frame:        87.19928      -64.78164     -115.42772

    0.2404600643D+00   -0.3024911368D+01    0.2313284431D+01   SCOBJ
    0.6384185077D+00   -0.4531136654D+00   -0.6280592064D+00   CX
    0.7669571811D+00    0.4425514816D+00    0.4690669420D+00   CY
    0.6479576942D-01   -0.7738450699D+00    0.6360038956D+00   CZ
   -0.5260644620D+00    0.8478532108D+00    0.6696761722D-01   SZ
}}}