ENH: Adds GNSS Receiver sensor

rocketpy/__init__.py

@@ -37,7 +37,7 @@
     Tail,
     TrapezoidalFins,
 )
-from .sensors import Accelerometer, Barometer, Gyroscope
+from .sensors import Accelerometer, Barometer, GnssReceiver, Gyroscope
 from .simulation import Flight, MonteCarlo
 from .stochastic import (
     StochasticEllipticalFins,

rocketpy/plots/rocket_plots.py

@@ -3,7 +3,6 @@
 import matplotlib.pyplot as plt
 import numpy as np
 
-from rocketpy.mathutils.vector_matrix import Vector
 from rocketpy.motors import EmptyMotor, HybridMotor, LiquidMotor, SolidMotor
 from rocketpy.rocket.aero_surface import Fins, NoseCone, Tail
 
@@ -166,8 +165,6 @@ def thrust_to_weight(self):
             lower=0, upper=self.rocket.motor.burn_out_time
         )
 
-        return None
-
     def draw(self, vis_args=None, plane="xz"):
         """Draws the rocket in a matplotlib figure.
 
@@ -204,7 +201,7 @@ def draw(self, vis_args=None, plane="xz"):
                 "line_width": 1.0,
             }
 
-        fig, ax = plt.subplots(figsize=(8, 6), facecolor=vis_args["background"])
+        _, ax = plt.subplots(figsize=(8, 6), facecolor=vis_args["background"])
         ax.set_aspect("equal")
         ax.grid(True, linestyle="--", linewidth=0.5)
 
@@ -217,7 +214,7 @@ def draw(self, vis_args=None, plane="xz"):
         self._draw_motor(last_radius, last_x, ax, vis_args)
         self._draw_rail_buttons(ax, vis_args)
         self._draw_center_of_mass_and_pressure(ax)
-        self._draw_sensors(ax, self.rocket.sensors, plane, vis_args)
+        self._draw_sensors(ax, self.rocket.sensors, plane)
 
         plt.title("Rocket Representation")
         plt.xlim()
@@ -386,7 +383,7 @@ def _draw_motor(self, last_radius, last_x, ax, vis_args):
         )
 
         # Get motor patches translated to the correct position
-        motor_patches = self._generate_motor_patches(total_csys, ax, vis_args)
+        motor_patches = self._generate_motor_patches(total_csys, ax)
 
         # Draw patches
         if not isinstance(self.rocket.motor, EmptyMotor):
@@ -407,7 +404,7 @@ def _draw_motor(self, last_radius, last_x, ax, vis_args):
         self._draw_nozzle_tube(last_radius, last_x, nozzle_position, ax, vis_args)
 
     def _generate_motor_patches(
-        self, total_csys, ax, vis_args
+        self, total_csys, ax
     ):  # pylint: disable=unused-argument
         """Generates motor patches for drawing"""
         motor_patches = []
@@ -554,7 +551,7 @@ def _draw_center_of_mass_and_pressure(self, ax):
             cp, 0, label="Static Center of Pressure", color="red", s=10, zorder=10
         )
 
-    def _draw_sensors(self, ax, sensors, plane, vis_args):
+    def _draw_sensors(self, ax, sensors, plane):
         """Draw the sensor as a small thick line at the position of the sensor,
         with a vector pointing in the direction normal of the sensor. Get the
         normal vector from the sensor orientation matrix."""

rocketpy/prints/sensors_prints.py

@@ -16,17 +16,6 @@ def identity(self):
         self._print_aligned("Name:", self.sensor.name)
         self._print_aligned("Type:", self.sensor.__class__.__name__)
 
-    def orientation(self):
-        """Prints the orientation of the sensor."""
-        print("\nOrientation:\n")
-        self._print_aligned("Orientation:", self.sensor.orientation)
-        self._print_aligned("Normal Vector:", self.sensor.normal_vector)
-        print("Rotation Matrix:")
-        for row in self.sensor.rotation_matrix:
-            value = " ".join(f"{val:.2f}" for val in row)
-            value = [float(val) for val in value.split()]
-            self._print_aligned("", value)
-
     def quantization(self):
         """Prints the quantization of the sensor."""
         print("\nQuantization:\n")
@@ -115,3 +104,18 @@ def noise(self):
             "Acceleration Sensitivity:",
             f"{self.sensor.acceleration_sensitivity} rad/s/g",
         )
+
+
+class _GnssReceiverPrints(_SensorPrints):
+    """Class that contains all GnssReceiver prints."""
+
+    def accuracy(self):
+        """Prints the accuracy of the sensor."""
+        print("\nAccuracy:\n")
+        self._print_aligned("Position Accuracy:", f"{self.sensor.position_accuracy} m")
+        self._print_aligned("Altitude Accuracy:", f"{self.sensor.altitude_accuracy} m")
+
+    def all(self):
+        """Prints all information of the sensor."""
+        self.identity()
+        self.accuracy()

rocketpy/rocket/parachute.py

@@ -190,6 +190,7 @@ def __evaluate_trigger_function(self, trigger):
         """This is used to set the triggerfunc attribute that will be used to
         interact with the Flight class.
         """
+        # pylint: disable=unused-argument, function-redefined
         # The parachute is deployed by a custom function
         if callable(trigger):
             # work around for having added sensors to parachute triggers

rocketpy/rocket/rocket.py

@@ -4,8 +4,7 @@
 
 from rocketpy.control.controller import _Controller
 from rocketpy.mathutils.function import Function
-from rocketpy.mathutils.vector_matrix import Vector, Matrix
-from rocketpy.mathutils.vector_matrix import Matrix
+from rocketpy.mathutils.vector_matrix import Matrix, Vector
 from rocketpy.motors.motor import EmptyMotor
 from rocketpy.plots.rocket_plots import _RocketPlots
 from rocketpy.prints.rocket_prints import _RocketPrints

rocketpy/sensors/__init__.py

@@ -1,4 +1,5 @@
 from .accelerometer import Accelerometer
 from .barometer import Barometer
+from .gnss_receiver import GnssReceiver
 from .gyroscope import Gyroscope
 from .sensor import InertialSensor, ScalarSensor, Sensor

rocketpy/sensors/accelerometer.py

@@ -4,6 +4,8 @@
 from ..prints.sensors_prints import _InertialSensorPrints
 from ..sensors.sensor import InertialSensor
 
+# pylint: disable=too-many-arguments
+
 
 class Accelerometer(InertialSensor):
     """Class for the accelerometer sensor
@@ -208,15 +210,13 @@ def measure(self, time, **kwargs):
                 Derivative of the state vector of the rocket.
             - relative_position : np.array
                 Position of the sensor relative to the rocket center of mass.
-            - gravity : float
-                Gravitational acceleration in m/s^2.
-            - pressure : Function
-                Atmospheric pressure profile as a function of altitude in Pa.
+            - environment : Environment
+                Environment object containing the atmospheric conditions.
         """
         u = kwargs["u"]
         u_dot = kwargs["u_dot"]
         relative_position = kwargs["relative_position"]
-        gravity = kwargs["gravity"]
+        gravity = kwargs["environment"].gravity.get_value_opt(u[3])
 
         # Linear acceleration of rocket cdm in inertial frame
         gravity = (

rocketpy/sensors/barometer.py

@@ -150,16 +150,12 @@ def measure(self, time, **kwargs):
                 Derivative of the state vector of the rocket.
             - relative_position : np.array
                 Position of the sensor relative to the rocket center of mass.
-            - gravity : float
-                Gravitational acceleration in m/s^2.
-            - pressure : Function
-                Atmospheric pressure profile as a function of altitude in Pa.
-            - elevation : float
-                Elevation of the launch site in meters.
+            - environment : Environment
+                Environment object containing the atmospheric conditions.
         """
         u = kwargs["u"]
         relative_position = kwargs["relative_position"]
-        pressure = kwargs["pressure"]
+        pressure = kwargs["environment"].pressure
 
         # Calculate the altitude of the sensor
         relative_altitude = (Matrix.transformation(u[6:10]) @ relative_position).z

rocketpy/sensors/gnss_receiver.py

@@ -0,0 +1,125 @@
+import math
+
+import numpy as np
+
+from rocketpy.tools import inverted_haversine
+
+from ..mathutils.vector_matrix import Matrix, Vector
+from ..prints.sensors_prints import _GnssReceiverPrints
+from .sensor import ScalarSensor
+
+
+class GnssReceiver(ScalarSensor):
+    """Class for the GNSS Receiver sensor.
+
+    Attributes
+    ----------
+    prints : _GnssReceiverPrints
+        Object that contains the print functions for the sensor.
+    sampling_rate : float
+        Sample rate of the sensor in Hz.
+    position_accuracy : float
+        Accuracy of the sensor interpreted as the standard deviation of the
+        position in meters.
+    altitude_accuracy : float
+        Accuracy of the sensor interpreted as the standard deviation of the
+        position in meters.
+    name : str
+        The name of the sensor.
+    measurement : tuple
+        The measurement of the sensor.
+    measured_data : list
+        The stored measured data of the sensor.
+    """
+
+    units = "°, m"
+
+    def __init__(
+        self,
+        sampling_rate,
+        position_accuracy=0,
+        altitude_accuracy=0,
+        name="GnssReceiver",
+    ):
+        """Initialize the Gnss Receiver sensor.
+
+        Parameters
+        ----------
+        sampling_rate : float
+            Sample rate of the sensor in Hz.
+        position_accuracy : float
+            Accuracy of the sensor interpreted as the standard deviation of the
+            position in meters. Default is 0.
+        altitude_accuracy : float
+            Accuracy of the sensor interpreted as the standard deviation of the
+            position in meters. Default is 0.
+        name : str
+            The name of the sensor. Default is "GnssReceiver".
+        """
+        super().__init__(sampling_rate=sampling_rate, name=name)
+        self.position_accuracy = position_accuracy
+        self.altitude_accuracy = altitude_accuracy
+
+        self.prints = _GnssReceiverPrints(self)
+
+    def measure(self, time, **kwargs):
+        """Measure the position of the rocket in latitude, longitude and
+        altitude.
+
+        Parameters
+        ----------
+        time : float
+            Current time in seconds.
+        kwargs : dict
+            Keyword arguments dictionary containing the following keys:
+            - u : np.array
+                State vector of the rocket.
+            - u_dot : np.array
+                Derivative of the state vector of the rocket.
+            - relative_position : np.array
+                Position of the sensor relative to the rocket center of mass.
+            - environment : Environment
+                Environment object containing the atmospheric conditions.
+        """
+        u = kwargs["u"]
+        relative_position = kwargs["relative_position"]
+        lat, lon = kwargs["environment"].latitude, kwargs["environment"].longitude
+        earth_radius = kwargs["environment"].earth_radius
+
+        # Get from state u and add relative position
+        x, y, z = (Matrix.transformation(u[6:10]) @ relative_position) + Vector(u[0:3])
+        # Apply accuracy to the position
+        x = np.random.normal(x, self.position_accuracy)
+        y = np.random.normal(y, self.position_accuracy)
+        altitude = np.random.normal(z, self.altitude_accuracy)
+
+        # Convert x and y to latitude and longitude
+        drift = (x**2 + y**2) ** 0.5
+        bearing = (2 * math.pi - math.atan2(-x, y)) * (180 / math.pi)
+
+        # Applies the haversine equation to find final lat/lon coordinates
+        latitude, longitude = inverted_haversine(lat, lon, drift, bearing, earth_radius)
+
+        self.measurement = (latitude, longitude, altitude)
+        self._save_data((time, *self.measurement))
+
+    def export_measured_data(self, filename, file_format="csv"):
+        """Export the measured values to a file
+
+        Parameters
+        ----------
+        filename : str
+            Name of the file to export the values to
+        file_format : str
+            Format of the file to export the values to. Options are "csv" and
+            "json". Default is "csv".
+
+        Returns
+        -------
+        None
+        """
+        self._generic_export_measured_data(
+            filename=filename,
+            file_format=file_format,
+            data_labels=("t", "latitude", "longitude", "altitude"),
+        )

rocketpy/sensors/gyroscope.py

@@ -4,6 +4,8 @@
 from ..prints.sensors_prints import _GyroscopePrints
 from ..sensors.sensor import InertialSensor
 
+# pylint: disable=too-many-arguments
+
 
 class Gyroscope(InertialSensor):
     """Class for the gyroscope sensor
@@ -210,10 +212,8 @@ def measure(self, time, **kwargs):
                 Derivative of the state vector of the rocket.
             - relative_position : np.array
                 Position of the sensor relative to the rocket center of mass.
-            - gravity : float
-                Gravitational acceleration in m/s^2.
-            - pressure : Function
-                Atmospheric pressure profile as a function of altitude in Pa.
+            - environment : Environment
+                Environment object containing the atmospheric conditions.
         """
         u = kwargs["u"]
         u_dot = kwargs["u_dot"]

rocketpy/sensors/sensor.py

@@ -6,6 +6,7 @@
 from rocketpy.mathutils.vector_matrix import Matrix, Vector
 
 
+# pylint: disable=too-many-statements
 class Sensor(ABC):
     """Abstract class for sensors
 
@@ -183,27 +184,22 @@ def _save_data_multiple(self, data):
     @abstractmethod
     def measure(self, time, **kwargs):
         """Measure the sensor data at a given time"""
-        pass
 
     @abstractmethod
     def quantize(self, value):
         """Quantize the sensor measurement"""
-        pass
 
     @abstractmethod
     def apply_noise(self, value):
         """Add noise to the sensor measurement"""
-        pass
 
     @abstractmethod
     def apply_temperature_drift(self, value):
         """Apply temperature drift to the sensor measurement"""
-        pass
 
     @abstractmethod
     def export_measured_data(self, filename, file_format="csv"):
         """Export the measured values to a file"""
-        pass
 
     def _generic_export_measured_data(self, filename, file_format, data_labels):
         """Export the measured values to a file given the data labels of each
@@ -572,7 +568,7 @@ def apply_temperature_drift(self, value):
 
 
 class ScalarSensor(Sensor):
-    """Model of a scalar sensor (barometer, GPS, etc.). Scalar sensors are used
+    """Model of a scalar sensor (e.g. Barometer). Scalar sensors are used
     to measure a single scalar value. The measurements are not affected by the
     sensor's orientation in the rocket.