Create Guidance and control modules for Terminal range

[enrique-infinite-orbits]

Guidance block for Terminal range navigation pre-computes a set of points in client's RTN frame though time. Then the control takes the output of this guidance block and compares it with the output of the relative navigation module to compute the relative position error (in servicer body frame?). This error in position is the feed to an LQR, that outputs the force needed. The force is then send to the ForceTorqueThrForceMapping module in a CmdForceBodyMsgPayload type of message.

[enrique-infinite-orbits]

File orbit-simulator/Library/Guidance & Control/TR_RelOrb_Guidance.m computes variables relPos_RTN_ref_TR and relVel_RTN_ref_TR which is then loaded into Software_config.ODCS_TR.rel_posRTN_ref inside ini_Software.m, to be used in Simulator.slx->Simulator/Servicer (Servicer)/Software (Software)/RdvGNCSoftware_GC-Dev/Rdv GNC - Simplified Navigation State Machine/Terminal_Range/Terminal-Range Rdv GNC/Guidance & Control/Relative Orbital Guidance, to be then used in an LQR. Only position is used in the LQR...

relPos_RTN_ref_TR is a timeseries. It is position from Client CoG to Servicer CoG in client RTN frame. Force is then computed in Client RTN frame, but it is used in servicer RTN frame!!, by multiplying by DCM_RTN_Serv2Body_Serv.... It is true that in terminal Range RTN_Client and RTN_Servicer are basically the same, but it is conceptually wrong. Anyway, It makes sense to compute the trajectory in RTN client frame.

[enrique-infinite-orbits]

Function orbit-simulator/Library/Guidance & Control/TR_RelOrb_Guidance.m uses matlab waypointTrajectory() function to compute the constant jerk motion of the target. Constant jerk equations are quite complicated to code, so it is easiest to start by implementing a constant acceleration motion.