4 changed files with 570 additions and 0 deletions
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#include "rendezvous_hohmann.h" |
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#include <math.h> |
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#include <float.h> |
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// Mean motion: n = sqrt(mu / a^3)
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static double calc_mean_motion(double radius, double mass) { |
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double mu = G * mass; |
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return sqrt(mu / pow(radius, 3)); |
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} |
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// Hohmann transfer time (half orbit of transfer ellipse)
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static double hohmann_transfer_time(double r1, double r2, double mass) { |
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double mu = G * mass; |
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double a_transfer = (r1 + r2) / 2.0; |
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double T_transfer = 2.0 * M_PI * sqrt(pow(a_transfer, 3) / mu); |
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return T_transfer / 2.0; |
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} |
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// Calculate required angular separation at first burn
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// For Hohmann transfer: target should be at specific angle when chaser burns
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// Returns: required angular separation in radians [0, 2π)
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static double required_separation(double r1, double r2, double mass) { |
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double transfer_time = hohmann_transfer_time(r1, r2, mass); |
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double n2 = calc_mean_motion(r2, mass); |
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double target_angle = n2 * transfer_time; |
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return M_PI - target_angle; |
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} |
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// Normalize angle to [0, 2π)
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static double normalize_angle_2pi(double angle) { |
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while (angle < 0.0) { |
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angle += 2.0 * M_PI; |
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} |
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while (angle >= 2.0 * M_PI) { |
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angle -= 2.0 * M_PI; |
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} |
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return angle; |
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} |
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// Normalize angle to [-π, π] for shortest path
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static double normalize_angle_pi(double angle) { |
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angle = normalize_angle_2pi(angle); |
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while (angle > M_PI) { |
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angle -= 2.0 * M_PI; |
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} |
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while (angle < -M_PI) { |
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angle += 2.0 * M_PI; |
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} |
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return angle; |
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} |
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// Calculate wait time before starting Hohmann transfer
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// Determines how long to wait before executing the first burn so that
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// both chaser and target arrive at the interception point simultaneously.
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// Returns: wait time in seconds. Positive = wait, negative = transfer already late
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double calculate_wait_time_for_hohmann( |
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double initial_orbit_radius, |
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double target_orbit_radius, |
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double angular_separation, |
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double central_mass |
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) { |
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double required_sep = required_separation(initial_orbit_radius, target_orbit_radius, central_mass); |
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double n1 = calc_mean_motion(initial_orbit_radius, central_mass); |
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double n2 = calc_mean_motion(target_orbit_radius, central_mass); |
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double rel_angular_vel = n1 - n2; |
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// Normalize required separation to [0, 2*pi)
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required_sep = normalize_angle_2pi(required_sep); |
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// Normalize current separation to [0, 2*pi)
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double sep = normalize_angle_2pi(angular_separation); |
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// How much more angle needs to close
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double angle_to_close = required_sep - sep; |
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// Normalize to [-pi, pi] for shortest path
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angle_to_close = normalize_angle_pi(angle_to_close); |
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// Wait time = angle_to_close / relative_angular_velocity
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return angle_to_close / rel_angular_vel; |
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} |
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// Calculate required angular separation for Hohmann transfer
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// Computes the ideal angle between chaser and target at the moment
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// of first burn to ensure simultaneous arrival at target orbit.
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// Returns: required angular separation in radians (-2π, 2π)
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double calculate_required_separation_for_hohmann( |
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double initial_orbit_radius, |
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double target_orbit_radius, |
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double central_mass |
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) { |
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double required_sep = required_separation(initial_orbit_radius, target_orbit_radius, central_mass); |
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return normalize_angle_pi(required_sep); |
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} |
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// Verify spacecraft is on correct Hohmann transfer orbit
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// Checks if current orbit matches expected Hohmann transfer parameters.
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// Returns: true if orbit is on Hohmann transfer, false otherwise
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bool verify_hohmann_transfer_orbit( |
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const OrbitalElements* orbit, |
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double r1, |
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double r2, |
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double tolerance |
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) { |
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double expected_a = (r1 + r2) / 2.0; |
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double actual_a = orbit->semi_major_axis; |
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double diff = fabs(actual_a - expected_a); |
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return diff < tolerance; |
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} |
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// Check if Hohmann transfer is complete
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// Determines if transfer time has elapsed and spacecraft is at target radius.
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// Returns: true if transfer is complete, false otherwise
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bool hohmann_transfer_complete( |
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double transfer_start_time, |
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double current_time, |
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double transfer_time, |
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double target_radius, |
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double current_radius, |
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double tolerance |
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) { |
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// Check if enough time has elapsed
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if (current_time < transfer_start_time + transfer_time - tolerance) { |
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return false; |
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} |
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// Check if at target radius
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double radius_diff = fabs(current_radius - target_radius); |
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return radius_diff < tolerance; |
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} |
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#ifndef RENDEZVOUS_HOHMANN_H |
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#define RENDEZVOUS_HOHMANN_H |
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#include "orbital_mechanics.h" |
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#include "simulation.h" |
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#include "maneuver.h" |
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// Hohmann transfer calculations for coplanar circular orbits
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// Provides functions to plan and execute Hohmann transfers between
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// circular coplanar orbits, including phasing calculations to
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// intercept moving targets.
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// Calculate wait time before starting Hohmann transfer
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// Determines how long to wait before executing the first burn so that
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// both chaser and target arrive at the interception point simultaneously.
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// Returns: wait time in seconds. Positive = wait, negative = transfer already late
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double calculate_wait_time_for_hohmann( |
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double initial_orbit_radius, // Current circular orbit radius (meters)
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double target_orbit_radius, // Target circular orbit radius (meters)
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double angular_separation, // Current angle from chaser to target (radians, [0, 2π))
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double central_mass // Mass of central body (kg)
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); |
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// Calculate required angular separation for Hohmann transfer
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// Computes the ideal angle between chaser and target at the moment
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// of first burn to ensure simultaneous arrival at target orbit.
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// Returns: required angular separation in radians (-2π, 2π)
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double calculate_required_separation_for_hohmann( |
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double initial_orbit_radius, // Current circular orbit radius (meters)
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double target_orbit_radius, // Target circular orbit radius (meters)
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double central_mass // Mass of central body (kg)
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); |
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// Create first burn maneuver for Hohmann transfer
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// Adds a prograde burn maneuver to enter the Hohmann transfer orbit.
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// Returns: maneuver index on success, -1 on failure
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int create_hohmann_departure_maneuver( |
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SimulationState* sim, // Simulation state to add maneuver to
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int chaser_index, // Index of chaser spacecraft
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double delta_v, // Delta-v magnitude from calculate_hohmann_transfer (m/s)
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double trigger_true_anomaly // True anomaly for trigger (-1 for immediate)
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); |
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// Create second burn maneuver for Hohmann transfer
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// Adds a circularization burn maneuver to match target orbit.
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// Returns: maneuver index on success, -1 on failure
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int create_hohmann_arrival_maneuver( |
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SimulationState* sim, // Simulation state to add maneuver to
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int chaser_index, // Index of chaser spacecraft
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double delta_v, // Delta-v magnitude from calculate_hohmann_transfer (m/s)
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double trigger_true_anomaly // True anomaly at target orbit for trigger
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); |
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// Verify spacecraft is on correct Hohmann transfer orbit
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// Checks if current orbit matches expected Hohmann transfer parameters.
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// Returns: true if orbit is on Hohmann transfer, false otherwise
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bool verify_hohmann_transfer_orbit( |
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const OrbitalElements* orbit, // Current orbit after first burn
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double r1, // Initial orbit radius (meters)
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double r2, // Target orbit radius (meters)
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double tolerance // Acceptable deviation in semi-major axis (meters)
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); |
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// Check if Hohmann transfer is complete
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// Determines if transfer time has elapsed and spacecraft is at target radius.
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// Returns: true if transfer is complete, false otherwise
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bool hohmann_transfer_complete( |
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double transfer_start_time, // When first burn was executed
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double current_time, // Current simulation time
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double transfer_time, // Expected transfer duration (from calculate_hohmann_transfer)
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double target_radius, // Target orbit radius (meters)
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double current_radius, // Current orbital radius (meters)
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double tolerance // Radius tolerance for completion check (meters)
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); |
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#endif // RENDEZVOUS_HOHMANN_H
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#include <catch2/catch_test_macros.hpp> |
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#include <catch2/matchers/catch_matchers_floating_point.hpp> |
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#include "../src/physics.h" |
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#include "../src/orbital_mechanics.h" |
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#include "../src/simulation.h" |
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#include "../src/orbital_objects.h" |
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#include "../src/rendezvous_hohmann.h" |
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#include "../src/config_loader.h" |
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#include <cmath> |
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#include <cstring> |
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using Catch::Matchers::WithinAbs; |
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// ============================================================================
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// Helper Functions
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// ============================================================================
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// TODO: Add find_spacecraft_by_name() to simulation.h interface
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// FIXME: This helper should be part of the public simulation API for testability
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static int find_spacecraft_by_name(SimulationState* sim, const char* name) { |
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for (int i = 0; i < sim->craft_count; i++) { |
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if (strcmp(sim->spacecraft[i].name, name) == 0) { |
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return i; |
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} |
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} |
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return -1; |
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} |
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TEST_CASE("Config loading for Hohmann transfer", "[rendezvous_hohmann][config]") { |
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const double TIME_STEP = 30.0; |
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SimulationState* sim = create_simulation(3, 5, 10, TIME_STEP); |
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REQUIRE(load_system_config(sim, "tests/test_rendezvous_hohmann.toml")); |
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REQUIRE(sim->body_count == 1); |
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REQUIRE(std::string(sim->bodies[0].name) == "Earth"); |
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REQUIRE(sim->craft_count == 3); |
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REQUIRE(std::string(sim->spacecraft[0].name) == "Target_Satellite"); |
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REQUIRE(std::string(sim->spacecraft[1].name) == "Chaser_Lower"); |
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REQUIRE(std::string(sim->spacecraft[2].name) == "Chaser_Higher"); |
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REQUIRE(sim->spacecraft[0].parent_index == 0); |
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REQUIRE(sim->spacecraft[1].parent_index == 0); |
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REQUIRE(sim->spacecraft[2].parent_index == 0); |
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// Verify initial orbits
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REQUIRE_THAT(sim->spacecraft[0].orbit.semi_major_axis, |
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WithinAbs(6.771e6, 1.0)); // 400 km altitude
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REQUIRE_THAT(sim->spacecraft[1].orbit.semi_major_axis, |
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WithinAbs(6.671e6, 1.0)); // 300 km altitude
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REQUIRE_THAT(sim->spacecraft[2].orbit.semi_major_axis, |
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WithinAbs(6.871e6, 1.0)); // 500 km altitude
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// Verify initial true anomalies
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REQUIRE_THAT(sim->spacecraft[0].orbit.true_anomaly, |
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WithinAbs(0.0, 0.001)); |
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REQUIRE_THAT(sim->spacecraft[1].orbit.true_anomaly, |
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WithinAbs(4.71238898038469, 0.001)); // 270° = 3π/2
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REQUIRE_THAT(sim->spacecraft[2].orbit.true_anomaly, |
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WithinAbs(1.5707963267948966, 0.001)); // 90° = π/2
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destroy_simulation(sim); |
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} |
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TEST_CASE("Calculate wait time for Hohmann transfer (lower to higher)", "[rendezvous_hohmann][phasing]") { |
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const double TIME_STEP = 30.0; |
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SimulationState* sim = create_simulation(3, 5, 10, TIME_STEP); |
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REQUIRE(load_system_config(sim, "tests/test_rendezvous_hohmann.toml")); |
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int target_idx = find_spacecraft_by_name(sim, "Target_Satellite"); |
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int chaser_lower_idx = find_spacecraft_by_name(sim, "Chaser_Lower"); |
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REQUIRE(target_idx >= 0); |
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REQUIRE(chaser_lower_idx >= 0); |
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Spacecraft* target = &sim->spacecraft[target_idx]; |
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Spacecraft* chaser = &sim->spacecraft[chaser_lower_idx]; |
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CelestialBody* earth = &sim->bodies[0]; |
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initialize_orbital_objects(sim); |
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double r1 = vec3_magnitude(chaser->local_position); |
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double r2 = vec3_magnitude(target->local_position); |
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SECTION("Zero angular separation - immediate transfer not possible") { |
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// If chaser is directly behind target, need to wait for target to move ahead
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double angular_separation = 0.0; |
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double wait_time = calculate_wait_time_for_hohmann(r1, r2, angular_separation, earth->mass); |
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INFO("Wait time: " << wait_time << " s"); |
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// Since lower orbit is faster, chaser will catch up, so wait time should be positive
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REQUIRE_THAT(wait_time, WithinAbs(1358.16, 1.0)); |
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} |
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SECTION("Small angular separation") { |
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double angular_separation = 0.5; // ~29 degrees
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double wait_time = calculate_wait_time_for_hohmann(r1, r2, angular_separation, earth->mass); |
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INFO("Angular separation: " << angular_separation << " rad"); |
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INFO("Wait time: " << wait_time << " s"); |
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REQUIRE_THAT(wait_time, WithinAbs(-18192.7, 1.0)); |
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} |
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SECTION("Large angular separation (near 2π)") { |
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double angular_separation = 6.0; // ~344 degrees
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double wait_time = calculate_wait_time_for_hohmann(r1, r2, angular_separation, earth->mass); |
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INFO("Angular separation: " << angular_separation << " rad"); |
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INFO("Wait time: " << wait_time << " s"); |
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REQUIRE_THAT(wait_time, WithinAbs(12431.2, 1.0)); |
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} |
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destroy_simulation(sim); |
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} |
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TEST_CASE("Calculate wait time for Hohmann transfer (higher to lower)", "[rendezvous_hohmann][phasing]") { |
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const double TIME_STEP = 30.0; |
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SimulationState* sim = create_simulation(3, 5, 10, TIME_STEP); |
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REQUIRE(load_system_config(sim, "tests/test_rendezvous_hohmann.toml")); |
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int target_idx = find_spacecraft_by_name(sim, "Target_Satellite"); |
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int chaser_higher_idx = find_spacecraft_by_name(sim, "Chaser_Higher"); |
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REQUIRE(target_idx >= 0); |
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REQUIRE(chaser_higher_idx >= 0); |
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Spacecraft* target = &sim->spacecraft[target_idx]; |
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Spacecraft* chaser = &sim->spacecraft[chaser_higher_idx]; |
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CelestialBody* earth = &sim->bodies[0]; |
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initialize_orbital_objects(sim); |
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double r1 = vec3_magnitude(chaser->local_position); |
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double r2 = vec3_magnitude(target->local_position); |
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SECTION("Zero angular separation - target must catch up") { |
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// Higher orbit is slower, so target must catch up
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double angular_separation = 0.0; |
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double wait_time = calculate_wait_time_for_hohmann(r1, r2, angular_separation, earth->mass); |
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INFO("Wait time: " << wait_time << " s"); |
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REQUIRE_THAT(wait_time, WithinAbs(1414.46, 1.0)); |
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} |
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SECTION("Small angular separation") { |
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double angular_separation = 0.3; // ~17 degrees
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double wait_time = calculate_wait_time_for_hohmann(r1, r2, angular_separation, earth->mass); |
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INFO("Angular separation: " << angular_separation << " rad"); |
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INFO("Wait time: " << wait_time << " s"); |
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REQUIRE_THAT(wait_time, WithinAbs(13586.2, 1.0)); |
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} |
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destroy_simulation(sim); |
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} |
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TEST_CASE("Calculate required separation for Hohmann transfer", "[rendezvous_hohmann][phasing]") { |
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const double TIME_STEP = 30.0; |
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SimulationState* sim = create_simulation(3, 5, 10, TIME_STEP); |
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REQUIRE(load_system_config(sim, "tests/test_rendezvous_hohmann.toml")); |
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int target_idx = find_spacecraft_by_name(sim, "Target_Satellite"); |
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int chaser_lower_idx = find_spacecraft_by_name(sim, "Chaser_Lower"); |
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int chaser_higher_idx = find_spacecraft_by_name(sim, "Chaser_Higher"); |
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REQUIRE(target_idx >= 0); |
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REQUIRE(chaser_lower_idx >= 0); |
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REQUIRE(chaser_higher_idx >= 0); |
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Spacecraft* target = &sim->spacecraft[target_idx]; |
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Spacecraft* chaser_lower = &sim->spacecraft[chaser_lower_idx]; |
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Spacecraft* chaser_higher = &sim->spacecraft[chaser_higher_idx]; |
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CelestialBody* earth = &sim->bodies[0]; |
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initialize_orbital_objects(sim); |
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double r_lower = vec3_magnitude(chaser_lower->local_position); |
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double r_target = vec3_magnitude(target->local_position); |
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double r_higher = vec3_magnitude(chaser_higher->local_position); |
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SECTION("Lower to higher transfer") { |
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double required_separation = calculate_required_separation_for_hohmann(r_lower, r_target, earth->mass); |
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INFO("Required separation: " << required_separation << " rad"); |
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INFO("Required separation (deg): " << required_separation * 180.0 / M_PI << "°"); |
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REQUIRE_THAT(required_separation, WithinAbs(0.034734, 0.001)); |
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} |
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SECTION("Higher to lower transfer") { |
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double required_separation = calculate_required_separation_for_hohmann(r_higher, r_target, earth->mass); |
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INFO("Required separation: " << required_separation << " rad"); |
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INFO("Required separation (deg): " << required_separation * 180.0 / M_PI << "°"); |
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REQUIRE_THAT(required_separation, WithinAbs(-0.0348625, 0.001)); |
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} |
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SECTION("Equal radii - no transfer needed") { |
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double required_separation = calculate_required_separation_for_hohmann(r_target, r_target, earth->mass); |
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INFO("Required separation: " << required_separation << " rad"); |
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REQUIRE_THAT(required_separation, WithinAbs(0.0, 0.001)); |
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} |
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destroy_simulation(sim); |
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} |
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SCENARIO("Complete Hohmann transfer phasing workflow", "[rendezvous_hohmann][workflow]") { |
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const double TIME_STEP = 10.0; |
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SimulationState* sim = create_simulation(3, 5, 10, TIME_STEP); |
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REQUIRE(load_system_config(sim, "tests/test_rendezvous_hohmann.toml")); |
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int target_idx = find_spacecraft_by_name(sim, "Target_Satellite"); |
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int chaser_lower_idx = find_spacecraft_by_name(sim, "Chaser_Lower"); |
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REQUIRE(target_idx >= 0); |
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REQUIRE(chaser_lower_idx >= 0); |
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Spacecraft* target = &sim->spacecraft[target_idx]; |
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Spacecraft* chaser = &sim->spacecraft[chaser_lower_idx]; |
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CelestialBody* earth = &sim->bodies[0]; |
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initialize_orbital_objects(sim); |
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SECTION("Calculate and verify phasing for lower-to-higher transfer") { |
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double r1 = vec3_magnitude(chaser->local_position); |
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double r2 = vec3_magnitude(target->local_position); |
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INFO("Chaser orbit radius: " << r1 << " m"); |
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INFO("Target orbit radius: " << r2 << " m"); |
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|
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// Calculate current angular separation
|
||||
double current_sep = angular_distance(chaser->orbit.true_anomaly, target->orbit.true_anomaly); |
||||
|
||||
INFO("Current angular separation: " << current_sep << " rad"); |
||||
INFO("Current angular separation (deg): " << current_sep * 180.0 / M_PI << "°"); |
||||
|
||||
// Calculate required separation for Hohmann
|
||||
double required_sep = calculate_required_separation_for_hohmann(r1, r2, earth->mass); |
||||
|
||||
INFO("Required separation: " << required_sep << " rad"); |
||||
INFO("Required separation (deg): " << required_sep * 180.0 / M_PI << "°"); |
||||
|
||||
// Calculate wait time
|
||||
double wait_time = calculate_wait_time_for_hohmann(r1, r2, current_sep, earth->mass); |
||||
|
||||
INFO("Wait time: " << wait_time << " s"); |
||||
|
||||
REQUIRE_THAT(wait_time, WithinAbs(-60062.651728, 0.1)); |
||||
|
||||
// Verify orbits are circular
|
||||
REQUIRE_THAT(chaser->orbit.eccentricity, WithinAbs(0.0, 0.001)); |
||||
REQUIRE_THAT(target->orbit.eccentricity, WithinAbs(0.0, 0.001)); |
||||
} |
||||
|
||||
SECTION("Calculate Hohmann transfer parameters") { |
||||
double r1 = vec3_magnitude(chaser->local_position); |
||||
double r2 = vec3_magnitude(target->local_position); |
||||
|
||||
// Use existing calculate_hohmann_transfer from maneuver.h
|
||||
HohmannTransfer hohmann = calculate_hohmann_transfer(r1, r2, earth->mass); |
||||
|
||||
INFO("First burn delta-v: " << hohmann.dv1 << " m/s"); |
||||
INFO("Second burn delta-v: " << hohmann.dv2 << " m/s"); |
||||
INFO("Transfer time: " << hohmann.transfer_time << " s"); |
||||
INFO("Target true anomaly: " << hohmann.true_anomaly_2 << " rad"); |
||||
|
||||
REQUIRE_THAT(hohmann.dv1, WithinAbs(28.699077, 0.01)); |
||||
REQUIRE_THAT(hohmann.dv2, WithinAbs(28.592521, 0.01)); |
||||
REQUIRE_THAT(hohmann.transfer_time, WithinAbs(2741.813778, 0.1)); |
||||
} |
||||
|
||||
destroy_simulation(sim); |
||||
} |
||||
@ -0,0 +1,70 @@
|
||||
# Test Configuration: Hohmann Transfer Between Coplanar Circular Orbits |
||||
# Three spacecraft in circular, coplanar LEO orbits around Earth |
||||
# Tests Hohmann transfer phasing calculations in both directions |
||||
# |
||||
# Configuration: |
||||
# - Target_Satellite: middle orbit (reference) |
||||
# - Chaser_Lower: lower orbit, will transfer UP to target |
||||
# - Chaser_Higher: higher orbit, will transfer DOWN to target |
||||
|
||||
[[bodies]] |
||||
name = "Earth" |
||||
mass = 5.972e24 |
||||
radius = 6.371e6 |
||||
parent_index = -1 |
||||
color = { r = 0.0, g = 0.5, b = 1.0 } |
||||
orbit = { |
||||
semi_major_axis = 0.0, |
||||
eccentricity = 0.0, |
||||
true_anomaly = 0.0 |
||||
} |
||||
|
||||
# ========== TARGET SPACECRAFT ========== |
||||
# Circular LEO orbit at 400 km altitude |
||||
# Reference orbit for Hohmann transfers |
||||
[[spacecraft]] |
||||
name = "Target_Satellite" |
||||
mass = 500.0 |
||||
parent_index = 0 |
||||
orbit = { |
||||
semi_major_axis = 6.771e6, |
||||
eccentricity = 0.0, |
||||
true_anomaly = 0.0, |
||||
inclination = 0.0, |
||||
longitude_of_ascending_node = 0.0, |
||||
argument_of_periapsis = 0.0 |
||||
} |
||||
|
||||
# ========== CHASER LOWER ========== |
||||
# Circular LEO orbit at 300 km altitude (lower than target) |
||||
# Will perform Hohmann transfer UP to target orbit |
||||
# Starts 90 degrees behind target to test phasing |
||||
[[spacecraft]] |
||||
name = "Chaser_Lower" |
||||
mass = 500.0 |
||||
parent_index = 0 |
||||
orbit = { |
||||
semi_major_axis = 6.671e6, |
||||
eccentricity = 0.0, |
||||
true_anomaly = 4.71238898038469, |
||||
inclination = 0.0, |
||||
longitude_of_ascending_node = 0.0, |
||||
argument_of_periapsis = 0.0 |
||||
} |
||||
|
||||
# ========== CHASER HIGHER ========== |
||||
# Circular LEO orbit at 500 km altitude (higher than target) |
||||
# Will perform Hohmann transfer DOWN to target orbit |
||||
# Starts 90 degrees ahead of target to test phasing |
||||
[[spacecraft]] |
||||
name = "Chaser_Higher" |
||||
mass = 500.0 |
||||
parent_index = 0 |
||||
orbit = { |
||||
semi_major_axis = 6.871e6, |
||||
eccentricity = 0.0, |
||||
true_anomaly = 1.5707963267948966, |
||||
inclination = 0.0, |
||||
longitude_of_ascending_node = 0.0, |
||||
argument_of_periapsis = 0.0 |
||||
} |
||||
Loading…
Reference in new issue