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sylvain-guillet edited this page Jan 18, 2023
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IO SDK is an astrodynamic framework based on the JPL Spice framework.
Download the latest Linux or Windows release : Releases
At this stage we assume that you have mastered your development environment but if you need some advises we can suggest you these approches :
In this quick start we suggest you to use cross plateform approach with CMake.
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Create a cmake project
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Extract Includes folder from archive IO-Toolkit-Linux-vx.x.xx-x to folder /usr/local/include/IO/.
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Extract Data and Templates folders from archive IO-Toolkit-Linux-vx.x.xx-x to your executable build folder.
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You should have :
YourProject | build | Data | Template -
Copy libIO.SDK.so to /usr/local/lib/
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Create a cmake project
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From the dll package you just downloaded
- Copy Includes folder at the root of the project
- Copy IO.SDK.dll and IO.SDK.lib in the build folder and in the Debug folder. You can also copy the library in parent folder and configure your linker to use the relative path of the library
- Copy folders : Data and Template in the Debug folder\
You should have a folder tree like below
YourProject | Includes | build | IO.SDK.dll | IO.SDK.lib | Debug (generated after the first compile and run) | Data | Template | IO.SDK.dll | IO.SDK.lib
#Clone project
git clone https://github.com/IO-Aerospace-software-engineering/SDK.git
#Go into directory
cd SDK
#Create build directory
mkdir build_release
#Go into build directory
cd build_release
#Configure Cmake project
cmake -DCMAKE_BUILD_TYPE=Release ..
#Build porject
#-j 4 option is used to define how many threads could be used to compile project, is this example will use 4 threads
cmake --build . --config Release --target IO.SDK -j 4
#Install libraries and includes
#This command must be executed with admin rights
cmake --install IO.SDKIn this example we will create a small program to compute maneuvers required to join another spacecraft from earth surface
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(Execute this step only with binary installation) Ensure your CMake projet contains at least these parameters :
cmake_minimum_required(VERSION 3.18.0) project(MyApp VERSION 0.1.0) project (MyApp C CXX) set(CMAKE_C_STANDARD 99) set(CMAKE_CXX_STANDARD 17) set(CMAKE_POSITION_INDEPENDENT_CODE ON) set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON) add_executable(MyApp main.cpp) include_directories(${CMAKE_SOURCE_DIR}/Includes) if (MSVC) target_link_libraries(MyApp IO.SDK.dll) elseif(UNIX) target_link_libraries(MyApp libIO.SDK.so) endif ()
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Create a main.cpp file your project folder.
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Create program in main.cpp file :
#include <memory> #include <string> #include <iostream> #include <chrono> #include <vector> #include <CelestialBody.h> #include <LaunchSite.h> #include <OrbitalParameters.h> #include <Spacecraft.h> #include <StateVector.h> #include <TLE.h> #include <Launch.h> #include <LaunchWindow.h> #include <Window.h> #include <UTC.h> #include <TDB.h> #include <Propagator.h> #include <VVIntegrator.h> #include <OrbitalPlaneChangingManeuver.h> #include <ApogeeHeightChangingManeuver.h> #include <ApsidalAlignmentManeuver.h> #include <PhasingManeuver.h> #include <DataPoolMonitoring.h> int main() { /*========================== Scenario Description ===================================== We are at Cap canaveral and we have to join another spacecraft in orbit. The launch must occurs by day at launch site and recovery site To realize this operation, we'll show you how to use IO SDK to find launch windows then maneuvers sequence to reach our objective. For each maneuver you will obtain the maneuver window, the thrust window, Delta V, Spacecraft or satellite orientation and mass of fuel burned. We also get sun occultations and windows when the moon will be in camera's field of view */ //=======================Configure universe topology====================================== //Bodies id are defined here https://naif.jpl.nasa.gov/pub/naif/toolkit_docs/C/req/naif_ids.html#NAIF%20Object%20ID%20numbers auto sun = std::make_shared<IO::SDK::Body::CelestialBody>(10, "sun"); auto earth = std::make_shared<IO::SDK::Body::CelestialBody>(399, "earth"); auto moon = std::make_shared<IO::SDK::Body::CelestialBody>(301, "moon"); //========================Compute launch parameters======================================= //Define launch site and recovery site auto launchSite = std::make_shared<IO::SDK::Sites::LaunchSite>(3, "S3", IO::SDK::Coordinates::Geodetic(-81.0 * IO::SDK::Constants::DEG_RAD, 28.5 * IO::SDK::Constants::DEG_RAD, 0.0), earth); auto recoverySite = std::make_shared<IO::SDK::Sites::LaunchSite>(4, "S4", IO::SDK::Coordinates::Geodetic(-80.0 * IO::SDK::Constants::DEG_RAD, 28.5 * IO::SDK::Constants::DEG_RAD, 0.0), earth); //Define simulation window. (Warning : When spacecraft is involved, dates must be greater than 2021-01-01 to be compliant with spacecraft clock) IO::SDK::Time::TDB startEpoch("2021-03-02T00:00:00"); IO::SDK::Time::TDB endEpoch("2021-03-05T00:00:00"); //Define parking orbit auto parkingOrbit = std::make_shared<IO::SDK::OrbitalParameters::ConicOrbitalElements>(earth, 6700000.0, 0.3, 50.0 * IO::SDK::Constants::DEG_RAD, 41.0 * IO::SDK::Constants::DEG_RAD, 0.0 * IO::SDK::Constants::DEG_RAD, 0.0, startEpoch, IO::SDK::Frames::InertialFrames::GetICRF()); //Define orbit of the target auto targetOrbit = std::make_shared<IO::SDK::OrbitalParameters::ConicOrbitalElements>(earth, 6800000.0, 0.4, 51.0 * IO::SDK::Constants::DEG_RAD, 43.0 * IO::SDK::Constants::DEG_RAD, 10.0 * IO::SDK::Constants::DEG_RAD, 0.0, startEpoch, IO::SDK::Frames::InertialFrames::GetICRF()); //Compute launch windows, to launch by day on launch site and recovery site when the launch site crosses the parking orbital plane IO::SDK::Maneuvers::Launch launch(launchSite, recoverySite, true, *parkingOrbit); auto launchWindows = launch.GetLaunchWindows(IO::SDK::Time::Window<IO::SDK::Time::UTC>(startEpoch.ToUTC(), endEpoch.ToUTC())); //Display launch window results (this is not necessary) DisplayLaunchWindowsSummary(launchWindows); //===================Compute maneuvers to reach target body================================ //Configure spacecraft at insertion orbit IO::SDK::Body::Spacecraft::Spacecraft spacecraft{-178, "DRAGONFLY", 1000.0, 10000.0, "MIS01", std::make_unique<IO::SDK::OrbitalParameters::ConicOrbitalElements>(*parkingOrbit)}; spacecraft.AddFuelTank("fuelTank1", 9000.0, 9000.0); // Add fuel tank spacecraft.AddEngine("serialNumber1", "engine1", "fuelTank1", {1.0, 2.0, 3.0}, {4.0, 5.0, 6.0}, 450.0, 50.0); //Add engine and link with fuel tank spacecraft.AddPayload("PAY01", "Payload 01", 50.0); //We add a 50 kg payload to the spacecraft //We add an instrument with a circular field of view aligned with the spacecraft Z axis IO::SDK::Math::Vector3D orientation{1.0, 0.0, 0.0}; IO::SDK::Math::Vector3D boresight{0.0, 0.0, 1.0}; IO::SDK::Math::Vector3D fovvector{1.0, 0.0, 0.0}; spacecraft.AddCircularFOVInstrument(600, "CAM600", orientation, boresight, fovvector, 80.0 * IO::SDK::Constants::DEG_RAD); //Target IO::SDK::Body::Spacecraft::Spacecraft spacecraftTarget{-179, "TARGET", 1000.0, 10000.0, "MIS01", std::make_unique<IO::SDK::OrbitalParameters::ConicOrbitalElements>(*targetOrbit)}; spacecraftTarget.AddFuelTank("fuelTank2", 9000.0, 9000.0); // Add fuel tank spacecraftTarget.AddEngine("serialNumber2", "engine2", "fuelTank2", {1.0, 2.0, 3.0}, {4.0, 5.0, 6.0}, 450.0, 50.0); //Add engine and link with fuel tank //Configure propagator auto step{IO::SDK::Time::TimeSpan(1.0s)}; //Add gravity to forces model //You can add your own force model std::vector<IO::SDK::Integrators::Forces::Force *> forces{}; IO::SDK::Integrators::Forces::GravityForce gravityForce; forces.push_back(&gravityForce); //Initialize an integrator IO::SDK::Integrators::VVIntegrator integrator(step, forces); //We assume the ship will be in orbit 10 minutes after launch. IO::SDK::Time::TDB startDatePropagator = launchWindows[0].GetWindow().GetStartDate().ToTDB().Add(IO::SDK::Time::TimeSpan(600.0s)); //Initialize propagator for dragonfly spacecraft IO::SDK::Propagators::Propagator propagator(spacecraft, integrator, IO::SDK::Time::Window(startDatePropagator, endEpoch)); //Intialize propagator for target spacecraft IO::SDK::Propagators::Propagator targetPropagator(spacecraftTarget, integrator, IO::SDK::Time::Window(startDatePropagator, endEpoch)); targetPropagator.Propagate(); //We define which engines can be used to realize maneuvers auto engine1 = spacecraft.GetEngine("serialNumber1"); std::vector<IO::SDK::Body::Spacecraft::Engine> engines; engines.push_back(*engine1); //We configure each maneuver IO::SDK::Maneuvers::OrbitalPlaneChangingManeuver planeAlignment(engines, propagator, targetOrbit.get(), startDatePropagator); //The first maneuver must not start until the launch is complete IO::SDK::Maneuvers::ApsidalAlignmentManeuver apsidalAlignment(engines, propagator, targetOrbit.get()); IO::SDK::Maneuvers::PhasingManeuver phasing(engines, propagator, 1, targetOrbit.get()); IO::SDK::Maneuvers::ApogeeHeightChangingManeuver finalApogeeChanging(engines, propagator, targetOrbit->GetApogeeVector().Magnitude()); //We order maneuvers planeAlignment.SetNextManeuver(apsidalAlignment).SetNextManeuver(phasing).SetNextManeuver(finalApogeeChanging); //We set the first maneuver in standby propagator.SetStandbyManeuver(&planeAlignment); //We execute the propagator propagator.Propagate(); //Find sun occultation auto occultationWindows = spacecraft.FindWindowsOnOccultationConstraint(IO::SDK::Time::Window<IO::SDK::Time::TDB>(startDatePropagator, endEpoch), *sun, *earth, IO::SDK::OccultationType::Any(), IO::SDK::AberrationsEnum::None, IO::SDK::Time::TimeSpan(30s)); //Find when moon will be in instrument field of view auto fovWindows = spacecraft.GetInstrument(600)->FindWindowsWhereInFieldOfView(IO::SDK::Time::Window<IO::SDK::Time::TDB>(startDatePropagator, spacecraft.GetOrientationsCoverageWindow().GetEndDate()), *moon, IO::SDK::Time::TimeSpan(300s), IO::SDK::AberrationsEnum::LT); }
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Run your application, if you read launch windows, maneuvers, occultations and fov windows you will retrieve these informations :
========================================Launch Window 0 ======================================== Launch epoch :2021-03-03 23:09:15.829809 (UTC) Inertial azimuth :47.0059 ° Non inertial azimuth :45.1252 ° Inertial insertion velocity :8794.34 m/s Non inertial insertion velocity :8499.73 m/s ========================================Launch Window 1 ======================================== Launch epoch :2021-03-04 23:05:20.139985 (UTC) Inertial azimuth :47.0059 ° Non inertial azimuth :45.1252 ° Inertial insertion velocity :8794.34 m/s Non inertial insertion velocity :8499.73 m/s ======================================== Plane alignment ======================================== Maneuver window : 2021-03-04 00:33:28.947415 (TDB) => 2021-03-04 00:33:37.083057 (TDB) Thrust window : 2021-03-04 00:33:28.947415 (TDB) => 2021-03-04 00:33:37.083057 (TDB) Thrust duration : 8.13564 s Delta V : 182.335 m/s Spacecraft orientation : X : -0.516358 Y : 0.573323 Z : -0.636141 ( ICRF ) Fuel burned :406.782 kg ======================================== Aspidal alignment ======================================== Maneuver window : 2021-03-04 01:18:24.928793 (TDB) => 2021-03-04 01:18:43.237321 (TDB) Thrust window : 2021-03-04 01:18:24.928793 (TDB) => 2021-03-04 01:18:43.237321 (TDB) Thrust duration : 18.3085 s Delta V : 440.163 m/s Spacecraft orientation : X : -0.844401 Y : -0.286639 Z : 0.452575 ( ICRF ) Fuel burned :915.426 kg ======================================== Phasing ======================================== Maneuver window : 2021-03-04 04:34:57.320071 (TDB) => 2021-03-04 08:18:28.240580 (TDB) Thrust window : 2021-03-04 04:34:57.320071 (TDB) => 2021-03-04 04:35:07.154572 (TDB) Thrust duration : 9.8345 s Delta V : 255.907 m/s Spacecraft orientation : X : -0.549214 Y : 0.335374 Z : 0.765434 ( ICRF ) Fuel burned :491.725 kg ======================================== Apogee height changing ======================================== Maneuver window : 2021-03-04 08:43:16.504286 (TDB) => 2021-03-04 08:43:25.804857 (TDB) Thrust window : 2021-03-04 08:43:16.504286 (TDB) => 2021-03-04 08:43:25.804857 (TDB) Thrust duration : 9.30057 s Delta V : 256.479 m/s Spacecraft orientation : X : 0.549319 Y : -0.335252 Z : -0.765412 ( ICRF ) Fuel burned :465.029 kg ======================================== Sun occultations from dragonfly spacecraft ======================================== Occulation start at :2021-03-03 23:20:25.015236 (TDB) Occulation end at :2021-03-03 23:25:08.727103 (TDB) ======================================== Windows when the moon is in camera's field of view ======================================== Opportunity start at :2021-03-03 23:20:25.187133 (TDB) Opportunity end at :2021-03-04 01:15:44.489464 (TDB) Opportunity start at :2021-03-04 01:21:23.355170 (TDB) Opportunity end at :2021-03-04 04:33:14.824913 (TDB)
Remark : If unspecified, all values are expressed in international system of units (meter, second, radian, m/s, ...)