Modeling Custom Satellite Attitude and Gimbal Steering
This example shows how to point a satellite or gimbal in a satellite scenario using logged orientation data from a timetable or timeseries. It uses data generated by the Aerospace Blockset™ Spacecraft Dynamics block. For more information about the data and how to generate it, see the Aerospace Blockset example Analyzing Spacecraft Attitude Profiles with Satellite Scenario.
The satelliteScenario object lets you load previously generated, time-stamped ephemeris and attitude data into a scenario as timeseries or timetable objects. Data is interpolated in the scenario object to align with the scenario time steps, allowing you to incorporate data generated in a Simulink model into either a new or existing satelliteScenario object. For this example, the satellite orbit and attitude states are precomputed by the Spacecraft Dynamics block. Load this data to the workspace and use it to model a satellite to a satelliteScenario object for access analysis.
Define Mission Parameters and Satellite Initial Conditions
Specify a start date and duration for the mission. This example uses MATLAB® structures to organize mission data. These structures make accessing data later in the example more intuitive. They also help declutter the global base workspace.
mission.StartDate = datetime(2021,1,1,12,0,0); mission.Duration = hours(1.5);
Specify initial orbital elements for the satellite.
mission.Satellite.SemiMajorAxis = 7.2e6; % meters mission.Satellite.Eccentricity = .05; mission.Satellite.Inclination = 70; % deg mission.Satellite.ArgOfPeriapsis = 0; % deg mission.Satellite.RAAN = 215; % deg mission.Satellite.TrueAnomaly = 200; % deg
Specify an initial attitude state for the satellite.
mission.Satellite.q0 = [1, 0, 0, 0];
mission.Satellite.pqr = [0, 0, 0]; % deg/sLoad Ephemeris and Attitude Profile
The Simulink® model used to generate data for this example is configured to perform an Earth Observation mission during which a satellite performs a flyover of a region of the Amazon Rainforest to capture images of, and track deforestation trends in, the area.
The satellite points at the nadir when not actively imaging or downlinking to the ground station in Svalbard, NO. The Aerospace Blockset Attitude Profile block calculates commanded attitude. The satellite uses spherical harmonic gravity model EGM2008 for orbit propagation. Gravity gradient torque contributions are also included in attitude dynamics. For more information about this model, see the Aerospace Blockset example Analyzing Spacecraft Attitude Profiles with Satellite Scenario.
The timetable objects contain position and attitude data for the satellite throughout the mission. The data is referenced in the inertial (ICRF/GCRF) reference frame. Attitude values are expressed as quaternions, although Euler angles are also supported.
mission.Data = load("SatelliteScenarioCustomAttitudeData.mat", "PositionTimeTableGCRF", "AttitudeTimeTableGCRF2Body"); display(mission.Data.PositionTimeTableGCRF)
1148×1 timetable
Time Data
__________ _________________________________________
0 sec 5.2953e+06 4.784e+06 -2.422e+06
5 sec 5.2783e+06 4.7859e+06 -2.4532e+06
10 sec 5.2611e+06 4.7877e+06 -2.4842e+06
13.263 sec 5.2499e+06 4.7888e+06 -2.5045e+06
15 sec 5.2439e+06 4.7894e+06 -2.5152e+06
16.982 sec 5.237e+06 4.79e+06 -2.5275e+06
18.72 sec 5.231e+06 4.7906e+06 -2.5382e+06
20 sec 5.2265e+06 4.791e+06 -2.5462e+06
25 sec 5.209e+06 4.7925e+06 -2.577e+06
30 sec 5.1914e+06 4.7938e+06 -2.6079e+06
35 sec 5.1737e+06 4.7951e+06 -2.6386e+06
40 sec 5.1559e+06 4.7962e+06 -2.6693e+06
45 sec 5.1379e+06 4.7972e+06 -2.6999e+06
50 sec 5.1198e+06 4.7982e+06 -2.7305e+06
55 sec 5.1016e+06 4.799e+06 -2.761e+06
60 sec 5.0832e+06 4.7997e+06 -2.7915e+06
65 sec 5.0648e+06 4.8002e+06 -2.8218e+06
70 sec 5.0462e+06 4.8007e+06 -2.8522e+06
75 sec 5.0275e+06 4.8011e+06 -2.8824e+06
80 sec 5.0087e+06 4.8013e+06 -2.9126e+06
85 sec 4.9898e+06 4.8014e+06 -2.9427e+06
90 sec 4.9708e+06 4.8014e+06 -2.9727e+06
95 sec 4.9516e+06 4.8013e+06 -3.0027e+06
100 sec 4.9324e+06 4.8011e+06 -3.0326e+06
105 sec 4.913e+06 4.8008e+06 -3.0624e+06
110 sec 4.8935e+06 4.8004e+06 -3.0922e+06
115 sec 4.8739e+06 4.7998e+06 -3.1219e+06
120 sec 4.8541e+06 4.7992e+06 -3.1515e+06
125 sec 4.8343e+06 4.7984e+06 -3.181e+06
127.05 sec 4.8261e+06 4.7981e+06 -3.1931e+06
127.91 sec 4.8227e+06 4.7979e+06 -3.1982e+06
128.78 sec 4.8192e+06 4.7978e+06 -3.2033e+06
130 sec 4.8143e+06 4.7975e+06 -3.2105e+06
132.95 sec 4.8025e+06 4.797e+06 -3.2278e+06
135 sec 4.7943e+06 4.7965e+06 -3.2398e+06
140 sec 4.7741e+06 4.7954e+06 -3.2692e+06
145 sec 4.7538e+06 4.7942e+06 -3.2984e+06
150 sec 4.7334e+06 4.7929e+06 -3.3275e+06
155 sec 4.7129e+06 4.7914e+06 -3.3566e+06
160 sec 4.6922e+06 4.7899e+06 -3.3856e+06
165 sec 4.6715e+06 4.7882e+06 -3.4145e+06
170 sec 4.6506e+06 4.7864e+06 -3.4434e+06
175 sec 4.6297e+06 4.7845e+06 -3.4721e+06
180 sec 4.6086e+06 4.7825e+06 -3.5008e+06
185 sec 4.5874e+06 4.7804e+06 -3.5294e+06
190 sec 4.5662e+06 4.7782e+06 -3.5579e+06
195 sec 4.5448e+06 4.7758e+06 -3.5863e+06
200 sec 4.5233e+06 4.7734e+06 -3.6147e+06
205 sec 4.5017e+06 4.7708e+06 -3.6429e+06
210 sec 4.48e+06 4.7681e+06 -3.6711e+06
215 sec 4.4581e+06 4.7653e+06 -3.6992e+06
220 sec 4.4362e+06 4.7624e+06 -3.7272e+06
225 sec 4.4142e+06 4.7594e+06 -3.7551e+06
230 sec 4.3921e+06 4.7563e+06 -3.7829e+06
235 sec 4.3698e+06 4.753e+06 -3.8106e+06
240 sec 4.3475e+06 4.7497e+06 -3.8382e+06
245 sec 4.325e+06 4.7462e+06 -3.8658e+06
250 sec 4.3025e+06 4.7426e+06 -3.8932e+06
255 sec 4.2799e+06 4.7389e+06 -3.9206e+06
260 sec 4.2571e+06 4.7351e+06 -3.9479e+06
265 sec 4.2343e+06 4.7312e+06 -3.975e+06
270 sec 4.2113e+06 4.7271e+06 -4.0021e+06
275 sec 4.1883e+06 4.723e+06 -4.0291e+06
280 sec 4.1651e+06 4.7188e+06 -4.056e+06
285 sec 4.1419e+06 4.7144e+06 -4.0828e+06
290 sec 4.1185e+06 4.7099e+06 -4.1095e+06
295 sec 4.0951e+06 4.7053e+06 -4.1361e+06
300 sec 4.0716e+06 4.7006e+06 -4.1626e+06
305 sec 4.0479e+06 4.6958e+06 -4.189e+06
310 sec 4.0242e+06 4.6909e+06 -4.2153e+06
315 sec 4.0004e+06 4.6858e+06 -4.2415e+06
320 sec 3.9764e+06 4.6807e+06 -4.2676e+06
325 sec 3.9524e+06 4.6754e+06 -4.2936e+06
330 sec 3.9283e+06 4.6701e+06 -4.3195e+06
335 sec 3.9041e+06 4.6646e+06 -4.3453e+06
340 sec 3.8798e+06 4.659e+06 -4.371e+06
345 sec 3.8554e+06 4.6533e+06 -4.3965e+06
350 sec 3.8309e+06 4.6475e+06 -4.422e+06
355 sec 3.8064e+06 4.6415e+06 -4.4474e+06
360 sec 3.7817e+06 4.6355e+06 -4.4726e+06
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375 sec 3.7072e+06 4.6167e+06 -4.5478e+06
380 sec 3.6821e+06 4.6102e+06 -4.5726e+06
385 sec 3.657e+06 4.6036e+06 -4.5974e+06
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510 sec 3.0023e+06 4.4034e+06 -5.1779e+06
515 sec 2.9751e+06 4.3939e+06 -5.1996e+06
520 sec 2.9478e+06 4.3844e+06 -5.2211e+06
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530 sec 2.8931e+06 4.3651e+06 -5.2638e+06
535 sec 2.8656e+06 4.3552e+06 -5.2849e+06
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550 sec 2.7827e+06 4.3251e+06 -5.3476e+06
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560 sec 2.7271e+06 4.3044e+06 -5.3887e+06
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1000 sec 96153 3.0097e+06 -6.6176e+06
1005 sec 65156 2.9911e+06 -6.6244e+06
1010 sec 34158 2.9724e+06 -6.6311e+06
1015 sec 3159 2.9536e+06 -6.6376e+06
1020 sec -27840 2.9347e+06 -6.6439e+06
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4075 sec 1.3156e+06 -2.0752e+06 6.7366e+06
4080 sec 1.3466e+06 -2.0546e+06 6.7388e+06
4085 sec 1.3775e+06 -2.0339e+06 6.7408e+06
4090 sec 1.4085e+06 -2.0131e+06 6.7427e+06
4095 sec 1.4394e+06 -1.9923e+06 6.7443e+06
4100 sec 1.4702e+06 -1.9715e+06 6.7458e+06
4105 sec 1.501e+06 -1.9505e+06 6.7471e+06
4110 sec 1.5318e+06 -1.9296e+06 6.7482e+06
4115 sec 1.5625e+06 -1.9086e+06 6.7491e+06
4120 sec 1.5932e+06 -1.8875e+06 6.7498e+06
4125 sec 1.6239e+06 -1.8664e+06 6.7504e+06
4130 sec 1.6545e+06 -1.8452e+06 6.7507e+06
4135 sec 1.6851e+06 -1.824e+06 6.7509e+06
4140 sec 1.7156e+06 -1.8027e+06 6.751e+06
4145 sec 1.7461e+06 -1.7814e+06 6.7508e+06
4150 sec 1.7765e+06 -1.76e+06 6.7505e+06
4155 sec 1.8069e+06 -1.7386e+06 6.7499e+06
4160 sec 1.8372e+06 -1.7172e+06 6.7492e+06
4165 sec 1.8675e+06 -1.6957e+06 6.7483e+06
4170 sec 1.8977e+06 -1.6741e+06 6.7473e+06
4175 sec 1.9279e+06 -1.6525e+06 6.746e+06
4180 sec 1.958e+06 -1.6309e+06 6.7446e+06
4185 sec 1.9881e+06 -1.6092e+06 6.743e+06
4190 sec 2.0181e+06 -1.5875e+06 6.7412e+06
4195 sec 2.0481e+06 -1.5658e+06 6.7393e+06
4200 sec 2.078e+06 -1.544e+06 6.7371e+06
4205 sec 2.1079e+06 -1.5221e+06 6.7348e+06
4210 sec 2.1377e+06 -1.5002e+06 6.7323e+06
4215 sec 2.1674e+06 -1.4783e+06 6.7297e+06
4220 sec 2.1971e+06 -1.4563e+06 6.7268e+06
4225 sec 2.2268e+06 -1.4343e+06 6.7238e+06
4230 sec 2.2564e+06 -1.4123e+06 6.7206e+06
4235 sec 2.2859e+06 -1.3902e+06 6.7172e+06
4240 sec 2.3153e+06 -1.3681e+06 6.7136e+06
4245 sec 2.3447e+06 -1.346e+06 6.7099e+06
4250 sec 2.3741e+06 -1.3238e+06 6.706e+06
4255 sec 2.4034e+06 -1.3016e+06 6.7019e+06
4260 sec 2.4326e+06 -1.2793e+06 6.6976e+06
4265 sec 2.4617e+06 -1.257e+06 6.6932e+06
4270 sec 2.4908e+06 -1.2347e+06 6.6886e+06
4275 sec 2.5198e+06 -1.2124e+06 6.6838e+06
4280 sec 2.5488e+06 -1.19e+06 6.6788e+06
4285 sec 2.5777e+06 -1.1676e+06 6.6737e+06
4290 sec 2.6065e+06 -1.1451e+06 6.6684e+06
4295 sec 2.6352e+06 -1.1227e+06 6.6629e+06
4300 sec 2.6639e+06 -1.1002e+06 6.6572e+06
4305 sec 2.6925e+06 -1.0776e+06 6.6514e+06
4310 sec 2.7211e+06 -1.0551e+06 6.6454e+06
4315 sec 2.7496e+06 -1.0325e+06 6.6392e+06
4320 sec 2.778e+06 -1.0099e+06 6.6329e+06
4325 sec 2.8063e+06 -9.8723e+05 6.6263e+06
4330 sec 2.8346e+06 -9.6456e+05 6.6197e+06
4335 sec 2.8627e+06 -9.4187e+05 6.6128e+06
4340 sec 2.8908e+06 -9.1916e+05 6.6057e+06
4345 sec 2.9189e+06 -8.9642e+05 6.5985e+06
4350 sec 2.9468e+06 -8.7366e+05 6.5912e+06
4355 sec 2.9747e+06 -8.5088e+05 6.5836e+06
4360 sec 3.0025e+06 -8.2807e+05 6.5759e+06
4365 sec 3.0303e+06 -8.0524e+05 6.568e+06
4370 sec 3.0579e+06 -7.824e+05 6.5599e+06
4375 sec 3.0855e+06 -7.5953e+05 6.5517e+06
4380 sec 3.113e+06 -7.3664e+05 6.5433e+06
4385 sec 3.1404e+06 -7.1374e+05 6.5347e+06
4390 sec 3.1677e+06 -6.9081e+05 6.526e+06
4395 sec 3.195e+06 -6.6787e+05 6.5171e+06
4400 sec 3.2222e+06 -6.4491e+05 6.508e+06
4405 sec 3.2493e+06 -6.2194e+05 6.4988e+06
4410 sec 3.2763e+06 -5.9894e+05 6.4894e+06
4415 sec 3.3032e+06 -5.7594e+05 6.4798e+06
4420 sec 3.33e+06 -5.5292e+05 6.4701e+06
4425 sec 3.3568e+06 -5.2988e+05 6.4601e+06
4430 sec 3.3834e+06 -5.0683e+05 6.4501e+06
4435 sec 3.41e+06 -4.8377e+05 6.4398e+06
4440 sec 3.4365e+06 -4.6069e+05 6.4294e+06
4445 sec 3.4629e+06 -4.3761e+05 6.4189e+06
4450 sec 3.4892e+06 -4.1451e+05 6.4082e+06
4451.4 sec 3.4964e+06 -4.0819e+05 6.4052e+06
4455 sec 3.5155e+06 -3.914e+05 6.3973e+06
4455.8 sec 3.5198e+06 -3.8753e+05 6.3954e+06
4456.7 sec 3.5242e+06 -3.8366e+05 6.3936e+06
4459.4 sec 3.5383e+06 -3.7123e+05 6.3876e+06
4460 sec 3.5416e+06 -3.6828e+05 6.3862e+06
4460.6 sec 3.5446e+06 -3.6563e+05 6.3849e+06
4461.1 sec 3.5476e+06 -3.6298e+05 6.3836e+06
4462.8 sec 3.5559e+06 -3.5556e+05 6.3801e+06
4465 sec 3.5676e+06 -3.4516e+05 6.375e+06
4467.7 sec 3.5817e+06 -3.3265e+05 6.3689e+06
4470 sec 3.5936e+06 -3.2202e+05 6.3636e+06
4473 sec 3.6091e+06 -3.0812e+05 6.3567e+06
4475 sec 3.6195e+06 -2.9888e+05 6.3521e+06
4478.1 sec 3.6353e+06 -2.8465e+05 6.3449e+06
4480 sec 3.6452e+06 -2.7573e+05 6.3404e+06
4484.3 sec 3.6671e+06 -2.5601e+05 6.3303e+06
4485 sec 3.6709e+06 -2.5257e+05 6.3285e+06
4487.5 sec 3.6838e+06 -2.409e+05 6.3225e+06
4490 sec 3.6965e+06 -2.294e+05 6.3165e+06
4495 sec 3.722e+06 -2.0623e+05 6.3043e+06
4500 sec 3.7474e+06 -1.8305e+05 6.292e+06
4505 sec 3.7727e+06 -1.5987e+05 6.2795e+06
4510 sec 3.7979e+06 -1.3669e+05 6.2668e+06
4515 sec 3.8231e+06 -1.135e+05 6.254e+06
4520 sec 3.8481e+06 -90310 6.241e+06
4525 sec 3.873e+06 -67117 6.2279e+06
4530 sec 3.8978e+06 -43922 6.2146e+06
4535 sec 3.9226e+06 -20726 6.2011e+06
4540 sec 3.9472e+06 2470.9 6.1875e+06
4545 sec 3.9717e+06 25667 6.1737e+06
4550 sec 3.9961e+06 48863 6.1598e+06
4555 sec 4.0205e+06 72058 6.1458e+06
4560 sec 4.0447e+06 95251 6.1315e+06
4565 sec 4.0688e+06 1.1844e+05 6.1172e+06
4570 sec 4.0929e+06 1.4163e+05 6.1026e+06
4575 sec 4.1168e+06 1.6481e+05 6.0879e+06
4580 sec 4.1406e+06 1.8799e+05 6.0731e+06
4585 sec 4.1643e+06 2.1117e+05 6.0581e+06
4590 sec 4.1879e+06 2.3434e+05 6.043e+06
4595 sec 4.2114e+06 2.575e+05 6.0277e+06
4600 sec 4.2348e+06 2.8066e+05 6.0122e+06
4605 sec 4.2581e+06 3.0381e+05 5.9966e+06
4610 sec 4.2813e+06 3.2695e+05 5.9809e+06
4615 sec 4.3044e+06 3.5009e+05 5.965e+06
4620 sec 4.3274e+06 3.7321e+05 5.9489e+06
4625 sec 4.3503e+06 3.9633e+05 5.9327e+06
4630 sec 4.373e+06 4.1944e+05 5.9164e+06
4635 sec 4.3957e+06 4.4253e+05 5.8999e+06
4640 sec 4.4182e+06 4.6562e+05 5.8833e+06
4645 sec 4.4407e+06 4.8869e+05 5.8665e+06
4650 sec 4.463e+06 5.1176e+05 5.8496e+06
4655 sec 4.4852e+06 5.3481e+05 5.8325e+06
4660 sec 4.5073e+06 5.5784e+05 5.8153e+06
4665 sec 4.5293e+06 5.8086e+05 5.7979e+06
4670 sec 4.5512e+06 6.0387e+05 5.7804e+06
4675 sec 4.5729e+06 6.2686e+05 5.7628e+06
4680 sec 4.5946e+06 6.4984e+05 5.745e+06
4685 sec 4.6161e+06 6.728e+05 5.727e+06
4690 sec 4.6376e+06 6.9575e+05 5.709e+06
4695 sec 4.6589e+06 7.1868e+05 5.6908e+06
4700 sec 4.6801e+06 7.4159e+05 5.6724e+06
4705 sec 4.7012e+06 7.6448e+05 5.6539e+06
4710 sec 4.7221e+06 7.8735e+05 5.6353e+06
4715 sec 4.743e+06 8.102e+05 5.6165e+06
4720 sec 4.7637e+06 8.3304e+05 5.5976e+06
4725 sec 4.7843e+06 8.5585e+05 5.5785e+06
4730 sec 4.8048e+06 8.7864e+05 5.5594e+06
4735 sec 4.8252e+06 9.0141e+05 5.54e+06
4740 sec 4.8455e+06 9.2416e+05 5.5206e+06
4745 sec 4.8656e+06 9.4689e+05 5.501e+06
4750 sec 4.8857e+06 9.6959e+05 5.4812e+06
4755 sec 4.9056e+06 9.9227e+05 5.4614e+06
4760 sec 4.9253e+06 1.0149e+06 5.4414e+06
4765 sec 4.945e+06 1.0376e+06 5.4212e+06
4770 sec 4.9646e+06 1.0602e+06 5.401e+06
4775 sec 4.984e+06 1.0827e+06 5.3806e+06
4780 sec 5.0033e+06 1.1053e+06 5.3601e+06
4785 sec 5.0225e+06 1.1278e+06 5.3394e+06
4788.2 sec 5.0347e+06 1.1423e+06 5.326e+06
4789.2 sec 5.0386e+06 1.1469e+06 5.3218e+06
4790 sec 5.0415e+06 1.1503e+06 5.3186e+06
4791.8 sec 5.0483e+06 1.1583e+06 5.3111e+06
4795 sec 5.0605e+06 1.1728e+06 5.2977e+06
4800 sec 5.0793e+06 1.1952e+06 5.2766e+06
4805 sec 5.098e+06 1.2176e+06 5.2555e+06
4810 sec 5.1165e+06 1.24e+06 5.2341e+06
4815 sec 5.135e+06 1.2624e+06 5.2127e+06
4820 sec 5.1533e+06 1.2847e+06 5.1912e+06
4825 sec 5.1715e+06 1.307e+06 5.1695e+06
4830 sec 5.1895e+06 1.3292e+06 5.1477e+06
4835 sec 5.2075e+06 1.3515e+06 5.1257e+06
4840 sec 5.2253e+06 1.3737e+06 5.1036e+06
4845 sec 5.243e+06 1.3958e+06 5.0815e+06
4850 sec 5.2605e+06 1.4179e+06 5.0592e+06
4855 sec 5.278e+06 1.44e+06 5.0367e+06
4860 sec 5.2953e+06 1.4621e+06 5.0142e+06
4865 sec 5.3124e+06 1.4841e+06 4.9915e+06
4870 sec 5.3295e+06 1.5061e+06 4.9687e+06
4875 sec 5.3464e+06 1.5281e+06 4.9458e+06
4880 sec 5.3632e+06 1.55e+06 4.9227e+06
4885 sec 5.3798e+06 1.5718e+06 4.8996e+06
4890 sec 5.3964e+06 1.5937e+06 4.8763e+06
4895 sec 5.4128e+06 1.6155e+06 4.8529e+06
4900 sec 5.429e+06 1.6372e+06 4.8294e+06
4905 sec 5.4452e+06 1.659e+06 4.8058e+06
4910 sec 5.4612e+06 1.6806e+06 4.782e+06
4915 sec 5.4771e+06 1.7023e+06 4.7582e+06
4920 sec 5.4928e+06 1.7239e+06 4.7342e+06
4925 sec 5.5084e+06 1.7454e+06 4.7101e+06
4930 sec 5.5239e+06 1.767e+06 4.6859e+06
4935 sec 5.5393e+06 1.7884e+06 4.6616e+06
4940 sec 5.5545e+06 1.8099e+06 4.6372e+06
4945 sec 5.5696e+06 1.8312e+06 4.6126e+06
4950 sec 5.5845e+06 1.8526e+06 4.588e+06
4955 sec 5.5993e+06 1.8739e+06 4.5632e+06
4960 sec 5.614e+06 1.8951e+06 4.5384e+06
4965 sec 5.6285e+06 1.9164e+06 4.5134e+06
4970 sec 5.643e+06 1.9375e+06 4.4883e+06
4975 sec 5.6572e+06 1.9586e+06 4.4631e+06
4980 sec 5.6714e+06 1.9797e+06 4.4378e+06
4985 sec 5.6854e+06 2.0007e+06 4.4124e+06
4990 sec 5.6992e+06 2.0217e+06 4.3869e+06
4995 sec 5.713e+06 2.0426e+06 4.3613e+06
5000 sec 5.7266e+06 2.0635e+06 4.3356e+06
5005 sec 5.74e+06 2.0843e+06 4.3097e+06
5010 sec 5.7534e+06 2.1051e+06 4.2838e+06
5015 sec 5.7665e+06 2.1258e+06 4.2578e+06
5020 sec 5.7796e+06 2.1465e+06 4.2316e+06
5025 sec 5.7925e+06 2.1671e+06 4.2054e+06
5030 sec 5.8053e+06 2.1877e+06 4.1791e+06
5035 sec 5.8179e+06 2.2082e+06 4.1526e+06
5040 sec 5.8304e+06 2.2287e+06 4.1261e+06
5045 sec 5.8428e+06 2.2491e+06 4.0995e+06
5050 sec 5.855e+06 2.2695e+06 4.0728e+06
5055 sec 5.8671e+06 2.2898e+06 4.0459e+06
5060 sec 5.879e+06 2.3101e+06 4.019e+06
5065 sec 5.8908e+06 2.3303e+06 3.992e+06
5070 sec 5.9025e+06 2.3504e+06 3.9649e+06
5075 sec 5.914e+06 2.3705e+06 3.9377e+06
5080 sec 5.9254e+06 2.3905e+06 3.9104e+06
5085 sec 5.9366e+06 2.4105e+06 3.883e+06
5090 sec 5.9477e+06 2.4304e+06 3.8555e+06
5095 sec 5.9587e+06 2.4503e+06 3.8279e+06
5100 sec 5.9695e+06 2.4701e+06 3.8003e+06
5105 sec 5.9802e+06 2.4898e+06 3.7725e+06
5110 sec 5.9907e+06 2.5095e+06 3.7447e+06
5115 sec 6.0011e+06 2.5292e+06 3.7167e+06
5120 sec 6.0114e+06 2.5487e+06 3.6887e+06
5125 sec 6.0215e+06 2.5682e+06 3.6606e+06
5130 sec 6.0314e+06 2.5877e+06 3.6324e+06
5135 sec 6.0413e+06 2.6071e+06 3.6041e+06
5140 sec 6.0509e+06 2.6264e+06 3.5757e+06
5145 sec 6.0605e+06 2.6457e+06 3.5473e+06
5150 sec 6.0699e+06 2.6649e+06 3.5188e+06
5155 sec 6.0791e+06 2.684e+06 3.4901e+06
5160 sec 6.0882e+06 2.7031e+06 3.4614e+06
5165 sec 6.0972e+06 2.7221e+06 3.4326e+06
5170 sec 6.106e+06 2.741e+06 3.4038e+06
5175 sec 6.1147e+06 2.7599e+06 3.3748e+06
5180 sec 6.1233e+06 2.7787e+06 3.3458e+06
5185 sec 6.1316e+06 2.7975e+06 3.3167e+06
5190 sec 6.1399e+06 2.8162e+06 3.2875e+06
5195 sec 6.148e+06 2.8348e+06 3.2583e+06
5200 sec 6.156e+06 2.8533e+06 3.2289e+06
5205 sec 6.1638e+06 2.8718e+06 3.1995e+06
5210 sec 6.1714e+06 2.8902e+06 3.17e+06
5215 sec 6.179e+06 2.9086e+06 3.1405e+06
5220 sec 6.1864e+06 2.9269e+06 3.1108e+06
5225 sec 6.1936e+06 2.9451e+06 3.0811e+06
5230 sec 6.2007e+06 2.9632e+06 3.0514e+06
5235 sec 6.2076e+06 2.9813e+06 3.0215e+06
5240 sec 6.2144e+06 2.9993e+06 2.9916e+06
5245 sec 6.2211e+06 3.0172e+06 2.9616e+06
5250 sec 6.2276e+06 3.0351e+06 2.9315e+06
5255 sec 6.234e+06 3.0529e+06 2.9014e+06
5260 sec 6.2402e+06 3.0706e+06 2.8712e+06
5265 sec 6.2462e+06 3.0883e+06 2.8409e+06
5270 sec 6.2522e+06 3.1059e+06 2.8106e+06
5275 sec 6.2579e+06 3.1234e+06 2.7802e+06
5280 sec 6.2636e+06 3.1408e+06 2.7497e+06
5285 sec 6.2691e+06 3.1582e+06 2.7192e+06
5290 sec 6.2744e+06 3.1754e+06 2.6886e+06
5295 sec 6.2796e+06 3.1926e+06 2.6579e+06
5300 sec 6.2846e+06 3.2098e+06 2.6272e+06
5305 sec 6.2895e+06 3.2268e+06 2.5964e+06
5310 sec 6.2943e+06 3.2438e+06 2.5656e+06
5315 sec 6.2989e+06 3.2607e+06 2.5347e+06
5320 sec 6.3034e+06 3.2776e+06 2.5037e+06
5325 sec 6.3077e+06 3.2943e+06 2.4727e+06
5330 sec 6.3118e+06 3.311e+06 2.4416e+06
5335 sec 6.3158e+06 3.3276e+06 2.4105e+06
5340 sec 6.3197e+06 3.3441e+06 2.3793e+06
5345 sec 6.3234e+06 3.3606e+06 2.3481e+06
5350 sec 6.327e+06 3.377e+06 2.3168e+06
5355 sec 6.3304e+06 3.3933e+06 2.2854e+06
5360 sec 6.3337e+06 3.4095e+06 2.254e+06
5365 sec 6.3369e+06 3.4256e+06 2.2226e+06
5370 sec 6.3398e+06 3.4417e+06 2.191e+06
5375 sec 6.3427e+06 3.4576e+06 2.1595e+06
5380 sec 6.3454e+06 3.4735e+06 2.1279e+06
5385 sec 6.3479e+06 3.4893e+06 2.0962e+06
5390 sec 6.3503e+06 3.5051e+06 2.0645e+06
5395 sec 6.3526e+06 3.5207e+06 2.0327e+06
5400 sec 6.3547e+06 3.5363e+06 2.0009e+06
display(mission.Data.AttitudeTimeTableGCRF2Body)
1148×1 timetable
Time Data
__________ _______________________________________________________
0 sec 0.1509 0.48681 0.30311 -0.80522
5 sec 0.15061 0.48761 0.3033 -0.80472
10 sec 0.15003 0.48914 0.30368 -0.80375
13.263 sec 0.14977 0.48986 0.30387 -0.80329
15 sec 0.14967 0.49013 0.30395 -0.80311
16.982 sec 0.14958 0.49035 0.30402 -0.80297
18.72 sec 0.14954 0.49047 0.30406 -0.80288
20 sec 0.14952 0.49052 0.30409 -0.80285
25 sec 0.14956 0.49043 0.30412 -0.80289
30 sec 0.14975 0.48994 0.30407 -0.80317
35 sec 0.15005 0.48913 0.30395 -0.80365
40 sec 0.15045 0.48809 0.30378 -0.80427
45 sec 0.15092 0.48684 0.30356 -0.80502
50 sec 0.15145 0.48544 0.30331 -0.80586
55 sec 0.15202 0.48392 0.30303 -0.80678
60 sec 0.15263 0.48229 0.30273 -0.80775
65 sec 0.15326 0.48059 0.30242 -0.80876
70 sec 0.15392 0.47882 0.30208 -0.80981
75 sec 0.1546 0.477 0.30174 -0.81088
80 sec 0.15529 0.47514 0.30138 -0.81197
85 sec 0.15599 0.47325 0.30102 -0.81307
90 sec 0.1567 0.47134 0.30065 -0.81419
95 sec 0.15741 0.4694 0.30027 -0.81531
100 sec 0.15813 0.46744 0.29989 -0.81643
105 sec 0.15885 0.46547 0.29951 -0.81756
110 sec 0.15958 0.46349 0.29912 -0.81869
115 sec 0.1603 0.46149 0.29872 -0.81981
120 sec 0.16103 0.45949 0.29833 -0.82094
125 sec 0.16176 0.45748 0.29793 -0.82206
127.05 sec 0.16206 0.45666 0.29777 -0.82252
127.91 sec 0.16218 0.45631 0.2977 -0.82271
128.78 sec 0.16231 0.45596 0.29763 -0.82291
130 sec 0.16249 0.45547 0.29753 -0.82318
132.95 sec 0.16292 0.45427 0.29729 -0.82384
135 sec 0.16322 0.45345 0.29712 -0.8243
140 sec 0.16394 0.45142 0.29672 -0.82541
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1960 sec 0.33632 -0.39796 0.043074 -0.85244
1965 sec 0.33644 -0.40033 0.042141 -0.85133
1970 sec 0.33656 -0.4027 0.041209 -0.85021
1975 sec 0.33667 -0.40507 0.040275 -0.84909
1980 sec 0.33678 -0.40743 0.039341 -0.84796
1985 sec 0.33689 -0.4098 0.038406 -0.84682
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5020 sec 0.012026 -0.82004 -0.33498 0.46387
5025 sec 0.011248 -0.81891 -0.33505 0.46583
5030 sec 0.010469 -0.81778 -0.33513 0.46779
5035 sec 0.0096899 -0.81663 -0.3352 0.46974
5040 sec 0.0089111 -0.81549 -0.33526 0.47169
5045 sec 0.0081324 -0.81434 -0.33533 0.47364
5050 sec 0.0073536 -0.81319 -0.33539 0.47559
5055 sec 0.0065749 -0.81203 -0.33545 0.47753
5060 sec 0.0057962 -0.81087 -0.33551 0.47947
5065 sec 0.0050175 -0.8097 -0.33557 0.4814
5070 sec 0.0042389 -0.80853 -0.33562 0.48334
5075 sec 0.0034603 -0.80736 -0.33567 0.48527
5080 sec 0.0026818 -0.80618 -0.33572 0.48719
5085 sec 0.0019033 -0.805 -0.33577 0.48912
5090 sec 0.0011248 -0.80381 -0.33582 0.49104
5095 sec 0.00034644 -0.80262 -0.33586 0.49295
5100 sec -0.0004319 -0.80142 -0.3359 0.49486
5105 sec -0.0012102 -0.80022 -0.33594 0.49677
5110 sec -0.0019884 -0.79902 -0.33597 0.49868
5115 sec -0.0027666 -0.79781 -0.33601 0.50058
5120 sec -0.0035446 -0.7966 -0.33604 0.50249
5125 sec -0.0043227 -0.79539 -0.33607 0.50438
5130 sec -0.0051006 -0.79417 -0.33609 0.50628
5135 sec -0.0058785 -0.79294 -0.33612 0.50817
5140 sec -0.0066563 -0.79171 -0.33614 0.51005
5145 sec -0.007434 -0.79048 -0.33616 0.51194
5150 sec -0.0082116 -0.78924 -0.33618 0.51382
5155 sec -0.0089892 -0.788 -0.3362 0.51569
5160 sec -0.0097666 -0.78676 -0.33621 0.51757
5165 sec -0.010544 -0.78551 -0.33622 0.51944
5170 sec -0.011321 -0.78426 -0.33623 0.52131
5175 sec -0.012098 -0.783 -0.33624 0.52317
5180 sec -0.012875 -0.78174 -0.33624 0.52503
5185 sec -0.013652 -0.78048 -0.33624 0.52689
5190 sec -0.014429 -0.77921 -0.33625 0.52874
5195 sec -0.015206 -0.77793 -0.33624 0.53059
5200 sec -0.015983 -0.77666 -0.33624 0.53244
5205 sec -0.016759 -0.77538 -0.33623 0.53428
5210 sec -0.017535 -0.77409 -0.33623 0.53612
5215 sec -0.018312 -0.7728 -0.33622 0.53796
5220 sec -0.019088 -0.77151 -0.3362 0.53979
5225 sec -0.019864 -0.77021 -0.33619 0.54162
5230 sec -0.02064 -0.76891 -0.33617 0.54345
5235 sec -0.021415 -0.76761 -0.33615 0.54527
5240 sec -0.022191 -0.7663 -0.33613 0.5471
5245 sec -0.022966 -0.76498 -0.33611 0.54891
5250 sec -0.023742 -0.76367 -0.33608 0.55073
5255 sec -0.024517 -0.76235 -0.33605 0.55254
5260 sec -0.025292 -0.76102 -0.33603 0.55434
5265 sec -0.026067 -0.75969 -0.33599 0.55614
5270 sec -0.026842 -0.75836 -0.33596 0.55794
5275 sec -0.027616 -0.75702 -0.33592 0.55974
5280 sec -0.02839 -0.75568 -0.33589 0.56153
5285 sec -0.029165 -0.75434 -0.33585 0.56332
5290 sec -0.029939 -0.75299 -0.3358 0.56511
5295 sec -0.030713 -0.75164 -0.33576 0.56689
5300 sec -0.031486 -0.75028 -0.33571 0.56867
5305 sec -0.03226 -0.74892 -0.33566 0.57045
5310 sec -0.033033 -0.74756 -0.33561 0.57222
5315 sec -0.033806 -0.74619 -0.33556 0.57399
5320 sec -0.034579 -0.74482 -0.3355 0.57575
5325 sec -0.035352 -0.74344 -0.33545 0.57751
5330 sec -0.036125 -0.74206 -0.33539 0.57927
5335 sec -0.036897 -0.74068 -0.33533 0.58103
5340 sec -0.037669 -0.73929 -0.33526 0.58278
5345 sec -0.038441 -0.7379 -0.3352 0.58452
5350 sec -0.039213 -0.73651 -0.33513 0.58627
5355 sec -0.039985 -0.73511 -0.33506 0.58801
5360 sec -0.040756 -0.7337 -0.33499 0.58975
5365 sec -0.041527 -0.7323 -0.33491 0.59148
5370 sec -0.042298 -0.73089 -0.33484 0.59321
5375 sec -0.043069 -0.72947 -0.33476 0.59494
5380 sec -0.043839 -0.72806 -0.33468 0.59666
5385 sec -0.04461 -0.72663 -0.3346 0.59838
5390 sec -0.04538 -0.72521 -0.33451 0.60009
5395 sec -0.046149 -0.72378 -0.33443 0.60181
5400 sec -0.046919 -0.72235 -0.33434 0.60351
Create the Satellite Scenario
Create a satellite scenario object to use for analysis. Specify a timestep of 1 minute.
scenario = satelliteScenario(mission.StartDate, ...
mission.StartDate + mission.Duration, 60);Add the two targets as ground stations in Brazil and Svalbard.
gsNO = groundStation(scenario, 78, 21, Name="Svalbard, NO")gsNO =
GroundStation with properties:
Name: Svalbard, NO
ID: 1
Latitude: 78 degrees
Longitude: 21 degrees
Altitude: 0 meters
MinElevationAngle: 0 degrees
MaskElevationAngle: 0 degrees
MaskAzimuthEdges: [0 360]
ConicalSensors: [1x0 matlabshared.satellitescenario.ConicalSensor]
Gimbals: [1x0 matlabshared.satellitescenario.Gimbal]
Transmitters: [1x0 satcom.satellitescenario.Transmitter]
Receivers: [1x0 satcom.satellitescenario.Receiver]
Accesses: [1x0 matlabshared.satellitescenario.Access]
Eclipse: [1x0 Aero.satellitescenario.Eclipse]
CoordinateAxes: [1x1 matlabshared.satellitescenario.CoordinateAxes]
MarkerColor: [1 0.4118 0.1608]
MarkerSize: 6
ShowLabel: true
LabelFontColor: [1 1 1]
LabelFontSize: 15
gsAmazon = groundStation(scenario, -4.9, -66, Name="Amazon Rainforest")gsAmazon =
GroundStation with properties:
Name: Amazon Rainforest
ID: 2
Latitude: -4.9 degrees
Longitude: -66 degrees
Altitude: 0 meters
MinElevationAngle: 0 degrees
MaskElevationAngle: 0 degrees
MaskAzimuthEdges: [0 360]
ConicalSensors: [1x0 matlabshared.satellitescenario.ConicalSensor]
Gimbals: [1x0 matlabshared.satellitescenario.Gimbal]
Transmitters: [1x0 satcom.satellitescenario.Transmitter]
Receivers: [1x0 satcom.satellitescenario.Receiver]
Accesses: [1x0 matlabshared.satellitescenario.Access]
Eclipse: [1x0 Aero.satellitescenario.Eclipse]
CoordinateAxes: [1x1 matlabshared.satellitescenario.CoordinateAxes]
MarkerColor: [1 0.4118 0.1608]
MarkerSize: 6
ShowLabel: true
LabelFontColor: [1 1 1]
LabelFontSize: 15
Add the Satellite From the Loaded Trajectory
Add the observation satellite to the scenario.
sat = satellite(scenario, mission.Data.PositionTimeTableGCRF, ... "CoordinateFrame", "inertial", "Name", "ObservationSat");
Add a conical sensor to the satellite, with a 35 deg half angle to represent the onboard camera. Enable field of view visualization in the scenario viewer. To assist in visualization, the sensor is mounted 10m from the satellite in the +z direction.
snsr = conicalSensor(sat, MaxViewAngle=70, MountingLocation=[0 0 1]); fieldOfView(snsr);
Add access between the conical sensor and the two ground stations.
acNO = access(snsr, gsNO)
acNO =
Access with properties:
Sequence: [4 1]
LineWidth: 3
LineColor: [0.3922 0.8314 0.0745]
acAmazon = access(snsr, gsAmazon)
acAmazon =
Access with properties:
Sequence: [4 2]
LineWidth: 3
LineColor: [0.3922 0.8314 0.0745]
Point the Satellite With the Loaded Attitude Profile
Use the pointAt method to associate the logged attitude timetable with the satellite. Parameter ExtrapolationMethod controls the pointing behavior outside of the timetable range.
pointAt(sat, mission.Data.AttitudeTimeTableGCRF2Body, ... "CoordinateFrame", "inertial", "Format", "quaternion", "ExtrapolationMethod", "nadir");
Visualize the Scenario
Open the Satellite Scenario Viewer to view and interact with the scenario.
viewer1 = satelliteScenarioViewer(scenario);
Assign a 3-D model to the satellite and visualize its coordinate axes. The red, green and blue arrows point along the x, y and z axes of the body frame of the satellite.
sat.Visual3DModel = "SmallSat.glb";
coordinateAxes(sat, Scale=2);
camtarget(viewer1, sat);
The satellite points at the nadir to begin the scenario. The magenta marker represents the conical sensor.
As the satellite nears Target 1 in the Amazon Rainforest, it slews to point and track this target.
After the imaging segment is complete, the satellite returns to pointing at the nadir.
As the satellite comes into range of the arctic ground station, it slews to point at this target.
Custom Gimbal Steering
This example shows how to import custom attitude data for a simple Earth Observation satellite mission, where the onboard camera is fixed to the satellite body. Another common approach is to fix the sensor on a gimbal and orient the sensor by maneuvering the gimbal, rather than the spacecraft body itself. Modify the above scenario to mount the sensor on a gimbal and steer the gimbal to perform uniform sweeps of the area directly below the satellite.
Reset the satellite to always point at the nadir, overwriting the previously provided custom attitude profile.
delete(viewer1);
pointAt(sat, "nadir");Delete the existing sensor object to remove it from the satellite and attach a new sensor with the same properties to a gimbal.
delete(snsr); gim = gimbal(sat); snsr = conicalSensor(gim, MaxViewAngle=70, MountingLocation=[0 0 10]); fieldOfView(snsr);
Define azimuth and elevation angles for gimbal steering to model a sweeping pattern over time below the satellite.
gimbalSweep.Time = seconds(1:50:5000)'; gimbalSweep.Az = [... 45*ones(1,7),... 45:-5:-45,... -45*ones(1,13),... -45:5:45,... 45*ones(1,13),... 45:-5:-45,... -45*ones(1,13)]; gimbalSweep.Az(end-2:end) = []; gimbalSweep.Az = gimbalSweep.Az + 90; gimbalSweep.El = [... 0:-5:-30,... -30*ones(1,19),... -30:5:30,... 30*ones(1,19),... 30:-5:-30,... -30*ones(1,19),... -30:5:30]; gimbalSweep.El(end-2:end) = [];
Plot the commanded azimuth and elevation values over time.
figure(1) hold on; plot(gimbalSweep.Time', gimbalSweep.Az); plot(gimbalSweep.Time', gimbalSweep.El); hold off; legend(["Az (deg)", "El (deg)"]);
Store the azimuth and elevation angles in a timetable.
gimbalSweep.TT = timetable(gimbalSweep.Time, [gimbalSweep.Az', gimbalSweep.El']);
Steer the gimbal with the timetable. The gimbal returns to its default orientation for timesteps that are outside of the provided data.
pointAt(gim, gimbalSweep.TT);
View the updated scenario in the Satellite Scenario Viewer.
viewer2 = satelliteScenarioViewer(scenario);
See Also
Objects
satelliteScenario|satelliteScenarioViewer|Satellite|GroundStation|ConicalSensor|Gimbal|Access|FieldOfView
