Overview

This repo provides code for analyzing satellite swarms. Most of the files are just dummy examples. The most recent iteration is nl_recursive_combined_state.py which implements a combined landmark, inter-range, relative-bearing measurement model and uses this to solve the problem in a recursive fashion. In addition it calculates the FIM and finally plots the combined variance and CRB as well as a bunch of other stuff.

Setup

Run the following command to setup up the environment:

conda env create -f environment.yml --name sat_env

Run

The file has the following arguments:

--N determines the number of timesteps

--f update frequency

--ignore_earth whether the satellites should consider earth when taking relative measurements

--num_trials number of Monte Carlo trials

--random_yaml whether to use random satellite configurations to run

--run_all when running with multiple satellites this will run the sim for every single number up to the specified number of satellites

--state_dim number of states per satellite (default 6 and nothing else is supported)

--verbose print logger measurements and timesteps

--measurement_type the type of measurement to use. options are 'land', 'range', 'sat_bearing'. Specify as: --measurement_type land range for example