pathfinder-for-autonomous-navigation / psim

Six DOF flight simulator and related GNC implementations.

MIT License

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Implemented Noise Radius and Config on Thruster Impulse #354

Closed shihaocao closed 2 years ago

shihaocao commented 2 years ago

Implemented Noise Radius and Config on Thruster Impulse

This PR adds a spherical gaussian noise on the thruster impulse. The radius of the noise is specified in a config file.

TODO: do the math to specifiy a good noise radius.

govindchari commented 2 years ago

Other than the name of the noise config parameter this pr lgtm

govindchari commented 2 years ago

ImpulseVsOnTime_wResiduals

Make the noise 1e-3 Ns 3-sigma. This is conservative as can be seen from the above plot residuals. The assumption that we use is that by being conservative, we do not have to explicitly account for the fact that there are four valves rather that three valves aligned with the coordinate axes of the satellite.

shihaocao commented 2 years ago

I just fixed another bug I think, I normalized the vector before multiplying by the sigma. Otherwise, I think we could potentially be adding more variance than intended?

Unsure if this is how the math works out lol...