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About Naruto-kun

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  1. Hi guys A while back I wrote a small app using C# and MoonSharp to execute a Lua script that would call functions from within my C# app, that would call GDI+ draw commands. This way I could see how my draw elements were being positioned in real time and adjust as I wished as can be seen in the image below. However, I am now looking at creating my own library that will use D3D11 instead of GDI+ to render 2D shapes, and I would like to create the same scripting tool, but this time I want it to use C#. Is there anything like this out there?
  2. Naruto-kun

    Reverse transformation

    Bottom line, I have narrowed down the fault to this piece of code: double yr = (rate[0] * sb + rate[1] * cb) * (1.0 / cp); This is supposed to be the horizon relative yaw rate, made by combining body pitch rate (rate[0]) and body yaw rate (rate[1]). In order to get the proper value, I need to establish what is the relationship rate[1] has with pitch and heading, since those 2 combined are what cause it to go off the expected value.
  3. Naruto-kun

    Reverse transformation

    I will explain the process again: 1: The purpose here is to simulate the detected earth rotation rate that a set of 3 mutually orthogonal ring laser gyroscopes aligned with the aircraft's axes would detect, and then use these detected values to calculate the aircraft's latitude and true heading. An example: If the aircraft is at the equator, and is pointing to true north, the pitch and yaw rate gyroscopes would detect 0 rotation, while the roll rate gyroscope would detect a rotation rate of 15°/hr since the aircraft is in effect, barrel rolling around the earth's axis. If you were to change the heading to 90°, the roll rate would be 0 and the pitch gyro would detect a downward pitch rotation of 15°/hr. At 270°, it would be an upward pitch rotation of the same. Now back to the initial setup (latitude at 0 ie equator, pitch/bank/heading all 0), if you were to shift the latitude up or down, the detected roll rate would change by the cosine of the latitude, while the detected yaw rate would change by the sine of the latitude. It is this latter factor that I am attempting to resolve since this is part of the alignment error checking mechanism in modern inertial navigation systems. Eg If the pilot-entered initial latitude is correct, and the RLG detected latitude doesn't match, then there is likely something faulty with the system. Vice versa, the pilot needs to make sure his initial position entry is correct. 2: Orientation of the aircraft will also affect influence of the earth's rotation rate on the gyroscopes. You can try it in the app in the above link. Changing the aircraft pitch while at the equator with a heading and bank of 0 will have the same effect on the roll and yaw rate gyros as changing latitude ie detected roll rate will change by the cosine of the pitch, and yaw rate by the sine of the pitch. 3: To account for non zero orientations in pitch and bank, the INS computer applies an inverse transform of the aircraft orientation to the detected rates output by the RLG units. This results in the same effect as making the aircraft truly level would. Then you can use the detected pitch and roll rates to calculate aircraft true heading, and the detected yaw rate to calculate aircraft latitude. 4: The inverse transform is working well for pitch and roll as I get a consistently correct true heading output from the calculations. But the inverse transform to the yaw rate is not working all that well since the latitude output of the calculation is only correct when pitch is 0, or heading is +-90 deg and pitch is not equal to 0.
  4. Naruto-kun

    Reverse transformation

    I find it difficult to believe that coincidence is involved because I consistently get the true heading output correct and the aircraft latitude output is also consistently correct when pitch is 0. Here is the test app so you can see for yourself what happens (note, keep the pfx.hlsl shader file in the same location as the exe) : If you compare the actual heading (labelled heading in the text field) with the calculated heading (CH), you will notice they are always equal, and the heading error value (HER) is always 0. Calculated latitude (CLAT) will always be the same as Latitude, unless you change the aircraft pitch to a non zero value, or if pitch is non 0 and heading is == 90 or -90. Such consistency doesn't allow for the probabilities required for coincidence.
  5. Naruto-kun

    Reverse transformation

    I understand that, but this is not your typical flight simulator. It is an advanced sensor model of an inertial navigation system, where I have to calculate the influence of the earth's rotation on the ring laser gyros, which output rotation rates to be integrated later, and then add error signal values to those rotation rates according to manufacturer specs, so that I can get an integrated orientation output with a specified uncertainty that will affect navigation performance. So there is a lot of transforming back and forth. This modelling of the sensor output is also required in order to simulate the alignment function which finds true heading, and also compares the sensed latitude with the pilot latitude input. If there is a significant difference, then it will require a re entry of the position data and a re-alignment in order to rule out pilot error and/or a failure of the system. By applying an inverse of the orientation transform to the sensed outputs, I get accurate pitch and roll rate values which I can then use to determine true heading. The same ought to work on the yaw rate sensor, but for some reason it doesn't unless pitch is 0 and as a result I cannot get accurate latitude values if there is the slightest non 0 pitch. If you look at the second last line in my code sample (and the 2 preceding it) you will see the inverse transformation which is working fine for pitch and roll but not for yaw.
  6. Further update (sorry for the reply spamming. Studying up a bit more on the subject): The link above also indicates that mod and % can only be used with integer values, just like C++. However, you can create your own fmod function for floating point values. It will look like this: (note, GML does have the floor function). //Name this script fmod { var result = argument0 - (floor(argument0 / argument1) * argument1); return result; } //Examples var test = fmod(5.3, 2); test will be 1.3 since 2 goes into 5 twice with 1.3 remaining.
  7. If you don't see a % anywhere, look for the term "mod" or "modulo", as that is what it is called. Sidenote, if you have never seen it before, the default windows calculator has a key called "Mod" in the Scientific and Programmer modes which performs the modulo function. Update: Just searched for it myself. They have both % and mod.
  8. Update: I assumed C++ was in use here (bad assumption). C# allows the use of the % operator and doesn't have the fmod function. I don't know about other languages.
  9. If you are using floating point (float or double) values however, you won't be able to use %. You would have to use fmod instead.
  10. Naruto-kun

    Reverse transformation

    I am using matrices for the most part. But for some reason my inverse of the matrix is not behaving as expected. Picture an sphere representing the earth in the image I posted. Then picture the aircraft (the 3 coloured lines on the left) as rotated according to its pitch/bank/heading around its own origin, then rotated in latitude around the earth's origin (3 coloured lines on the right). All while the entire assembly is rotating west to east at 15 deg/hr. The ring laser gyroscopes aligned with the aircraft's respective axes are detecting this rotation. I should then be able to take that sensed rotation and work backwards to get the aircraft true heading and latitude. As mentioned, the calculations for true heading work. The calculation for latitude only works if pitch is == 0. Solving the latter is what I am trying to do.
  11. Naruto-kun

    Reverse transformation

    Hi guys Back again with reverse transformations for my RLG INS simulation: In the above image, an aircraft is depicted by the set of axes on the left, at 29.54233° latitude on the earth, with a heading of 150.12° and a pitch and bank of 0. The RLGs detect the earth's rotation rate of 15°/hr and the P/R/Y rate values indicate the earth rate sensed by each RLG in its respective axis. By reversing the pitch and roll transformation, and then taking the atan2 of the resulting pitch and roll rates, I can calculate the aircraft true heading (the CH value. Ignore the difference between it and actual heading. That's due to a normally distributed error applied to the calculation to simulate gyro inaccuracies). However, by taking the sin^-1 of the yaw rate/earth rate, I can calculate the aircraft latitude. This works all well and fine when pitch is 0, but quickly goes haywire if I change pitch. I know my other transforms are correct because the calculated heading is always consistent with the actual heading. Could someone spot the error in my reverse transformation for the yaw rate in the code below? Thanks JB double cp = cos(D2A(att1[0])), sp = sin(D2A(att1[0]));//pitch double cb = cos(D2A(att1[1])), sb = sin(D2A(att1[1]));//bank double ch = cos(D2A(att1[2])), sh = sin(D2A(att1[2]));//heading double clat = cos(D2A(lat - 90.0)), slat = sin(D2A(lat - 90.0)); double mat1[3][3]; double mat2[3][3]; mat1[0][0] = cp*cb; mat1[1][0] = cp*sb; mat1[2][0] = -sp; mat1[0][1] = sh*sp*cb - ch*sb; mat1[1][1] = sh*sp*sb + ch*cb; mat1[2][1] = sh*cp; mat1[0][2] = ch*sp*cb + sh*sb; mat1[1][2] = ch*sp*sb - sh*cb; mat1[2][2] = ch*cp; mat2[0][0] = clat; mat2[1][0] = 0; mat2[2][0] = -slat; mat2[0][1] = 0; mat2[1][1] = 0; mat2[2][1] = 0; mat2[0][2] = 0; mat2[1][2] = 0; mat2[2][2] = 0; //Transform pitch/roll/yaw matrix by latitude matrix double mat3[3][3] = { mat1[0][0]*mat2[0][0] + mat1[0][1]*mat2[1][0] + mat1[0][2]*mat2[2][0], mat1[0][0]*mat2[0][1] + mat1[0][1]*mat2[1][1] + mat1[0][2]*mat2[2][1], mat1[0][0]*mat2[0][2] + mat1[0][1]*mat2[1][2] + mat1[0][2]*mat2[2][2], mat1[1][0]*mat2[0][0] + mat1[1][1]*mat2[1][0] + mat1[1][2]*mat2[2][0], mat1[1][0]*mat2[0][1] + mat1[1][1]*mat2[1][1] + mat1[1][2]*mat2[2][1], mat1[1][0]*mat2[0][2] + mat1[1][1]*mat2[1][2] + mat1[1][2]*mat2[2][2], mat1[2][0]*mat2[0][0] + mat1[2][1]*mat2[1][0] + mat1[2][2]*mat2[2][0], mat1[2][0]*mat2[0][1] + mat1[2][1]*mat2[1][1] + mat1[2][2]*mat2[2][1], mat1[2][0]*mat2[0][2] + mat1[2][1]*mat2[1][2] + mat1[2][2]*mat2[2][2] }; //Transform earth rate by pitch/roll/yaw/heading matrix double rate[3] = { 15.0 * mat3[1][0] + 15.0 * mat3[1][1] + 15.0 * mat3[1][2],//Pitch rate 15.0 * mat3[0][0] + 15.0 * mat3[0][1] + 15.0 * mat3[0][2],//Yaw rate 15.0 * mat3[2][0] + 15.0 * mat3[2][1] + 15.0 * mat3[2][2],//Roll rate }; double pr = rate[0] * cb - rate[1] * sb;//This one is fine double rr = rate[2] * cp + rate[1] * sp*cb + rate[0] * sb*sp;//This one is fine double yr = (rate[0] * sb + rate[1] * cb) * (1.0/cp);//This one is faulty. Any ideas? //Calculate latitude from yaw rate double _calclat = A2D(asin(yr / 15.0));
  12. Naruto-kun

    A transformation problem

    (facepalm) I have done this rotation on numerous occasions before. Somehow I got my sines and cosines mixed up. Resolved.
  13. Naruto-kun

    A transformation problem

    Hi guys I have a bit of a transformation challenge to deal with here. I have modelled the sensor outputs of a 3 axis ring laser gyro system which detects the earth's rotation. As you can see in the first image, a simple atan2 of the Prate and the R rate is sufficient to determine true heading. However if the local horizon pitch or bank angle is changed, I can no longer use a simple atan2. In this second image, you can see pitch is set to -1.5 deg. Now the R rate has decreased and I have a signal on the Y rate gyro. This produces an error in the atan2 output even though actual heading has not changed. Any suggestions on how to correct for this? I haven't been successful in my attempts to invert the pitch and roll rotations. Thanks JB
  14. Naruto-kun

    Qdot from 2 quaternions

    Thanks a bunch. Once I have sorted out the polarity I take it I just subtract each individual element in the quaternion? And dividing by dt I take it is again simply dividing each individual element by dt?
  15. Naruto-kun

    Qdot from 2 quaternions

    Hi guys I have a bit of a challenge here. I am attempting to determine body rotation rates from 2 Tait-Bryan angles. I have each set of angles converted to a quaternion, and the time step dt. I know that the formula for obtaining body rotation rates is 2*(qd/dt)*inverse of q. My question is, how do I determine qd/dt from 2 orientation quaternions, and which quaternion I would invert. Thanks JB
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