{ "cells": [ { "cell_type": "markdown", "metadata": {}, "source": [ "# How To : Apply Coning Compensation\n", "\n", "Demonstrate coning compensation on integrated angular rate measurements {cite}`christian2025rungekuttaapproximationsdirectconing`.\n", "\n", "```{contents} Table of Contents\n", ":depth: 2\n", "```" ] }, { "cell_type": "code", "execution_count": 9, "metadata": {}, "outputs": [], "source": [ "import sys, os\n", "\n", "sys.path.insert(0, os.path.join(\"..\", \"..\", \"..\"))\n", "\n", "import numpy as np\n", "from scipy.interpolate import BPoly\n", "\n", "import matplotlib.pyplot as plt\n", "\n", "# %matplotlib ipympl\n", "\n", "from functools import partial\n", "\n", "# Custom package for computing basis functions and derivatives\n", "from hitman.ode import butcher_tableaux, ButcherTableau\n", "from hitman.ode import rkmk_fixed_discrete\n", "from hitman.rotation import LieExponential as SO\n", "from hitman.plot import plot_hermite_spline\n", "from hitman.gyro import functional_factory" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "## Measurement and Solution Functions\n", "\n", "Consider the relationships\n", "\n", "$$ \\Delta R(t) = \\exp\\big(-\\phi(t-\\tau)\\big)\\exp\\big(\\phi(t)\\big) $$\n", "\n", "$$ \\dot{\\phi} = \\left(J_\\phi^r\\right)^{-1} \\omega^r $$\n", "\n", "$$ \\Delta \\theta = \\int_{t-\\tau}^t \\omega^r(s) ds $$\n", "\n", "Our goal is to score methods for approximating change in attitude, $\\Delta \\widetilde{R} $, from measurements $\\Delta \\theta$. As a test case we define an attitude trajectory using a single polynomial function. We may choose to define either $\\omega$ or $\\phi$. The {py:func}`functional_factory` then generates measurement functional $ \\Delta \\theta $ and truth solution $ \\Delta R $ from a single polynomial expression: either $\\omega$ or $\\phi$." ] }, { "cell_type": "code", "execution_count": 10, "metadata": {}, "outputs": [ { "data": { "image/png": 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", "text/plain": [ "
" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "# Benign trajectory\n", "A = np.array(\n", " [\n", " [1, 0, -1],\n", " [4 / 3, 0, -4 / 3],\n", " [11 / 6, 1 / 3, -11 / 3],\n", " [5 / 2, 4 / 3, -4 - np.pi],\n", " ]\n", ")\n", "is_omega = True\n", "\n", "# Generate random control points\n", "np.random.seed(0)\n", "A = np.random.randn(6, 3)\n", "is_omega = False\n", "\n", "# Form polynomial and required model functions\n", "f = BPoly(A[:, np.newaxis, :], [0.0, 1.0])\n", "_, _ = plot_hermite_spline(f, x=[0, 1])\n", "\n", "eval_delta_theta, eval_delta_R, eval_omega = functional_factory(f, is_omega)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "## Propagation Equations\n", "\n", "Differential equations are typically expressed in terms of instantaneous rates. However, many gyroscopes provide integrate rate measurements. Since we have both instantaneous rates, `eval_omega`, and integrated rates, `eval_delta_theta`, we can contrast performance of state propagation algorithms from either measurement category.\n", "\n", "### Instantaneous Rate Propagation\n", "Instantaneous rates can be propagated using the RKMK method {cite}`iserles2000lie`. Different solver orders are utilized depending on which Butcher tableau specified. Note, the tableau determines the number of measurements required as well.\n" ] }, { "cell_type": "code", "execution_count": 11, "metadata": {}, "outputs": [], "source": [ "def rkmk(homega: np.ndarray, tableau: ButcherTableau) -> np.ndarray:\n", " \"\"\"Solve attitude update from instantaneous rates\n", "\n", " Args:\n", " homega: instantaneous rates, scaled by step size\n", " tableau: ButcherTableau specifying the RK method\n", "\n", " Returns:\n", " Rotation matrix\n", " \"\"\"\n", "\n", " # input checking\n", " assert isinstance(tableau, ButcherTableau), \"Input must be tableau\"\n", " N = np.unique(tableau.c).size\n", " # size of homega must match tableau\n", " assert (\n", " homega.shape[0] == N\n", " ), \"For provided tableau, expecting %d samples of omega, received %d\" % (\n", " N,\n", " homega.shape[0],\n", " )\n", "\n", " # apply rkmk algorithm and map to SO(3)\n", " delta_phi = rkmk_fixed_discrete(homega, np.zeros_like(homega[0]), tableau)\n", " return SO.exp(delta_phi)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "### Integrated Rate Propagation\n", "\n", "Propagating integrated rate measurements requires models and approximations. One approach is to model the instantaneous rates as a curve fit to the integrated measurements. Generating samples of instantaneous rate enables use of generalized RK-style solvers." ] }, { "cell_type": "code", "execution_count": 12, "metadata": {}, "outputs": [], "source": [ "def resample_delta_theta(\n", " delta_theta: np.ndarray, tau: float, sample_points=np.array([0, 0.5, 1])\n", "):\n", " \"\"\"Resample delta-theta measurements as polynomial fit of instantaneous rate\"\"\"\n", " if delta_theta.shape[0] == 1:\n", " homega_approx = delta_theta\n", " elif delta_theta.shape[0] == 2:\n", " A = np.array([[-0.5 * (tau**2), tau], [0.5 * (tau**2), tau]])\n", " elif delta_theta.shape[0] == 3:\n", " A = np.array(\n", " [\n", " [(tau**3) / 3, -0.5 * (tau**2), tau],\n", " [(tau**3) / 3, 0.5 * (tau**2), tau],\n", " [7 * (tau**3) / 3, 1.5 * (tau**2), tau],\n", " ]\n", " )\n", " else:\n", " raise NotImplementedError(\n", " \"Requires one, two, or three delta-theta measurements\"\n", " )\n", "\n", " if delta_theta.shape[0] > 1:\n", " p = np.linalg.solve(A, delta_theta)\n", " t_local = tau * sample_points\n", " homega_approx = tau * np.vander(t_local, p.shape[0]) @ p\n", "\n", " return homega_approx" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "\n", "Generalized solvers are computationally expensive. Instead of resampling instantaneous rates and applying generalized solvers, it is possible to approximate the solver solutions from integrated rate measurements directly {cite}`christian2025rungekuttaapproximationsdirectconing`. Here we demonstrate approximations for 2 and 3 integrated rate measurements." ] }, { "cell_type": "code", "execution_count": 13, "metadata": {}, "outputs": [], "source": [ "def SingleSpeed2(delta_theta):\n", " \"\"\"Approximate delta-R from two delta-theta measurements\"\"\"\n", " assert delta_theta.shape[0] == 2, \"Requires two delta-theta measurements\"\n", " delta_phi = np.zeros_like(delta_theta[0])\n", " k = 1\n", " delta_phi += delta_theta[k] + np.cross(delta_theta[k - 1], delta_theta[k]) / 12\n", " return SO.exp(delta_phi)\n", "\n", "\n", "def SingleSpeed3(delta_theta):\n", " \"\"\"Approximate delta-R from three delta-theta measurements\"\"\"\n", " assert delta_theta.shape[0] == 3, \"Requires three delta-theta measurements\"\n", " delta_phi = np.zeros_like(delta_theta[0])\n", " k = 1\n", " delta_phi += (\n", " delta_theta[k]\n", " + (\n", " np.cross(delta_theta[k + 1], delta_theta[k - 1])\n", " + 13 * np.cross(delta_theta[k - 1] - delta_theta[k + 1], delta_theta[k])\n", " )\n", " / 12\n", " / 24\n", " )\n", " return SO.exp(delta_phi)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "## Benchmark Algorithms\n", "Define a dictionary of algorithms to contrast. For each algorithm, we indicate \n", "\n", " * ``func`` : solver functional to operate on the sampled rates\n", " * ``n_samples`` : number of samples required by the solver\n", " * ``rate`` : whether the rate samples are `instantaneous`, $\\omega$; `integrated` ,$\\Delta \\theta$; or `resampled` instantaneous rates derived by curve fitting to integrated rates." ] }, { "cell_type": "code", "execution_count": 14, "metadata": {}, "outputs": [], "source": [ "algorithm_dict = {\n", " \"FwdElr_omega\": {\n", " \"func\": partial(rkmk, tableau=butcher_tableaux[\"FwdElr\"]),\n", " \"n_samples\": 1,\n", " \"rate\": \"instantaneous\",\n", " },\n", " \"ExMid_omega\": {\n", " \"func\": partial(rkmk, tableau=butcher_tableaux[\"ExpMid\"]),\n", " \"n_samples\": 2,\n", " \"rate\": \"instantaneous\",\n", " },\n", " \"RK3_omega\": {\n", " \"func\": partial(rkmk, tableau=butcher_tableaux[\"RK3\"]),\n", " \"n_samples\": 3,\n", " \"rate\": \"instantaneous\",\n", " },\n", " \"RK4_omega\": {\n", " \"func\": partial(rkmk, tableau=butcher_tableaux[\"RK4\"]),\n", " \"n_samples\": 3,\n", " \"rate\": \"instantaneous\",\n", " },\n", " \"FwdElr_delta\": {\n", " \"func\": partial(rkmk, tableau=butcher_tableaux[\"FwdElr\"]),\n", " \"n_samples\": 1,\n", " \"rate\": \"resampled\",\n", " },\n", " \"ExMid_delta\": {\n", " \"func\": partial(rkmk, tableau=butcher_tableaux[\"ExpMid\"]),\n", " \"n_samples\": 2,\n", " \"rate\": \"resampled\",\n", " },\n", " \"RK3_delta\": {\n", " \"func\": partial(rkmk, tableau=butcher_tableaux[\"RK3\"]),\n", " \"n_samples\": 3,\n", " \"rate\": \"resampled\",\n", " },\n", " \"RK4_delta\": {\n", " \"func\": partial(rkmk, tableau=butcher_tableaux[\"RK4\"]),\n", " \"n_samples\": 3,\n", " \"rate\": \"resampled\",\n", " },\n", " \"SingleSpeed2\": {\n", " \"func\": SingleSpeed2,\n", " \"n_samples\": 2,\n", " \"rate\": \"integrated\",\n", " },\n", " \"SingleSpeed3\": {\n", " \"func\": SingleSpeed3,\n", " \"n_samples\": 3,\n", " \"rate\": \"integrated\",\n", " },\n", "}" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "## Sample Trajectory\n", "Define trajectory as a polynomial curve in $\\mathbb{R}\\rightarrow \\mathbb{R}^3$. The curve may represent $\\omega$ or $\\phi$. " ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Score algorithms and save results in :class:`pandas.DataFrame`." ] }, { "cell_type": "code", "execution_count": 15, "metadata": {}, "outputs": [], "source": [ "import pandas as pd\n", "import itertools\n", "\n", "# Increasing step sizes\n", "tau_all = np.logspace(-6, -1, num=20)\n", "\n", "# Random sample points for trajectory\n", "t_all = np.random.uniform(0.1, 0.9, 20)\n", "\n", "# Generate all combinations of tau and t\n", "combinations = list(itertools.product(tau_all, t_all))\n", "\n", "# Create a DataFrame from the combinations\n", "df = pd.DataFrame(combinations, columns=[\"tau\", \"t\"])\n", "\n", "# Iterate over each row in the DataFrame\n", "for index, row in df.iterrows():\n", " tau = row[\"tau\"]\n", " t = row[\"t\"]\n", "\n", " # Generate instantaneous rate measurements\n", " omega = np.array([eval_omega(t) for t in t + tau * np.arange(-1, 0.5, 0.5)])\n", "\n", " # Generate sequential integrated rate measurements\n", " delta_theta = np.vstack([eval_delta_theta(t + k * tau, tau) for k in range(-1, 2)])\n", "\n", " # Define the truth eval_delta_R\n", " Rstar = eval_delta_R(t, tau)\n", " assert eval_omega([1, 1.5]).shape == (2, 3), \"Wrong omega dims!\"\n", "\n", " # Benchmark each algorithm in the dictionary\n", " for key, algorithm_data in algorithm_dict.items():\n", " func = algorithm_data[\"func\"]\n", " n_samples = algorithm_data[\"n_samples\"]\n", " rate = algorithm_data[\"rate\"]\n", "\n", " if rate == \"instantaneous\":\n", " # instantaneous rate measurements\n", " # * Note * RKMK requires measurements scaled by timestep!\n", " dat = tau * np.atleast_2d(omega[0:n_samples, :])\n", " elif rate == \"integrated\" or rate == \"resampled\":\n", " dat = np.atleast_2d(delta_theta[0:n_samples, :])\n", " if rate == \"resampled\":\n", " # approximate h-omega by resampling\n", " dat = resample_delta_theta(dat, tau)[0:n_samples, :]\n", " else:\n", " raise ValueError(f\"Invalid rate: {rate}\")\n", "\n", " # propagate\n", " Rhat = func(dat)\n", " # score\n", " err = np.linalg.norm(Rhat - Rstar)\n", " # retain result\n", " df.at[index, key] = err" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "### Plot Results" ] }, { "cell_type": "code", "execution_count": 16, "metadata": {}, "outputs": [ { "data": { "image/png": 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", "text/plain": [ "
" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "df_mean = df.groupby(\"tau\").mean().reset_index()\n", "\n", "# get column names of df_mean (excluding 'tau')\n", "column_names = df_mean.columns[2:].tolist()\n", "\n", "# plot loglog of df_mean using columns 1:-\n", "for i, column in enumerate(column_names):\n", " if i < len(column_names) - 6: # solid lines for first column\n", " linestyle = \"-\"\n", " marker = None\n", " elif i < len(column_names) - 2: # solid lines for first column\n", " linestyle = \"--\"\n", " marker = \"o\"\n", " else:\n", " linestyle = \":\"\n", " marker = \"x\"\n", "\n", " plt.loglog(\n", " df_mean.iloc[:, 0],\n", " df_mean[column],\n", " linestyle=linestyle,\n", " label=column,\n", " marker=marker,\n", " )\n", "# plt.ylim([1e-16, 1])\n", "plt.legend()\n", "plt.grid(True)\n", "plt.xlabel(\"step size\")\n", "plt.ylabel(\"error\")\n", "plt.show()" ] } ], "metadata": { "kernelspec": { "display_name": "hitman", "language": "python", "name": "python3" }, "language_info": { "codemirror_mode": { "name": "ipython", "version": 3 }, "file_extension": ".py", "mimetype": "text/x-python", "name": "python", "nbconvert_exporter": "python", "pygments_lexer": "ipython3", "version": "3.12.7" } }, "nbformat": 4, "nbformat_minor": 2 }