Class StationBeaconSensor

Inheritance Relationships

Base Type

Class Documentation

class StationBeaconSensor : public lupnt::Application

Ground-tracking sensor, hosted on a physical SurfaceStation agent.

Each epoch it synthesizes the one-way pseudorange (and optional Doppler) to every visible satellite from the satellites’ truth and its own fixed lunar-surface position, then pushes those observations to the GroundOdtsApp estimator on the SurfaceStationManager (manager_->AddMeasurement(...)). This is the ISL-scenario analog of the ground-station example’s GroundStationTrackingApp: the sensor knows the truth (it is the hardware that observes the physical world); the estimator it feeds does not.

Public Functions

StationBeaconSensor() = default
explicit StationBeaconSensor(Config &config)
virtual void Setup() override

Initialize the application and schedule its periodic Step() calls.

Base implementation: if GetFrequency() > 0, schedules Step(t) on the owning agent’s Simulation at Event::Priority::APPLICATION, starting at t=0 with period 1/GetFrequency() seconds; otherwise logs a warning that no frequency is set. Derived classes (e.g. LanderNavApp::Setup, SurfaceStationApp::Setup) override this to additionally initialize their Filter’s time/state/covariance and dynamics/process noise callbacks before (optionally) calling the base behavior.

virtual void Step(Real t) override

Run one simulation step of this application’s mission logic at time t.

Pure virtual: derived classes implement the actual filter predict/update cycle here (e.g. LanderNavApp::Step computes a control input and logs state; the LNSS application’s Step would run the GNSS measurement-update). Invoked periodically by the Simulation event scheduled in Setup(), at the application’s configured frequency.

Parameters:

t – Current simulation time [s, since simulation epoch]

inline virtual void Log(Real) override

Log this application’s current state/diagnostics to the DataLogger.

Base implementation only emits a debug message. Called once after Setup() and thereafter from Agent::Log(t) (which forwards to application_->Log(time) each time the owning agent logs). Derived classes (e.g. LanderNavApp::Log) override this to additionally log their Filter’s state/covariance and any error metrics.

Parameters:

t – Current simulation time [s, since simulation epoch]

Protected Functions

void Initialize()

Protected Attributes

std::string manager_name_
std::vector<std::string> sat_names_
double lat_deg_ = 0.0
double lon_deg_ = 0.0
double alt_m_ = 0.0
double elevation_mask_deg_ = 5.0
double pseudorange_sigma_m_ = 1.0
bool include_doppler_ = true
double doppler_sigma_mps_ = 1.0e-3
int seed_ = 42
bool initialized_ = false
GroundOdtsApp *manager_ = nullptr
std::vector<Spacecraft*> sats_
std::vector<int> sat_index_
Vec3 r_bf_
std::mt19937 rng_