Main Page – Real time planet tracking system
Now after connecting all the hardware to the respective pins we start integrating the software for : –
1.Getting MPU readings (discussed before)
2.Getting gps readings – using the codelines discussed before and using smartDelay() for updation,I have also attached a switch at pin 46 to change from normal to trajectory mode:
|
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 |
if (gps.location.isValid()) { Lat = gps.location.lat(); Long = gps.location.lng(); } else { Lat = 12.82; /*my location in case there is no gps readings*/ Long = 80.04; } yy = gps.date.year(); //yy=2016; // Serial.println(yy); mu = gps.date.month(); //mu=5; // Serial.println(mu); dd = gps.date.day(); // dd=4; // Serial.println(dd); if (digitalRead(46) == 1) { if(gps.time.isValid()) { hh = gps.time.hour(); //Serial.println(hh); mm = gps.time.minute(); } else { hh=3; mm=0; } } else if((digitalRead(46) == 0)) { int ss=trajec(); hh = gps.time.hour(); mm = gps.time.minute(); } //smartDelay function static void smartDelay(unsigned long ms) { //Serial.println(“C”); unsigned long start = millis(); do { while (Serial2.available()) gps.encode(Serial2.read()); } while (millis() – start < ms); //Serial.println(“D”); } |
3.calculation of azimuth -altitude : This has already been discussed , here is the consolidated code snippet (The osculating elements are mentioned seperately below )
|
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 |
double ipart(double xx) { //Serial.println(“IPART”); double sgn; if (xx 0) { sgn = 1.0; } double ret = sgn * ((int)fabs(xx)); return ret; } double FNdegmin(double xx) { //Serial.println(“DEGMIN”); double a = ipart(xx) ; double b = xx – a ; double e = ipart(60 * b) ; // deal with carry on minutes if ( e >= 60 ) { e = 0 ; a = a + 1 ; } return (a + (e / 100) ); } double dayno(int dx, int mx, int yx, double fx) { //Serial.println(“DAY NO”); //dno=(367 * yx) – (int)(7*(yx + (int)((mx + 9) / 12)) / 4) + (int)(275 * mx / 9) + dx – 730531.5 + fx; dno = 987 + dx + (fx / 24); //Serial.print(“\ndays:”); //Serial.println(dno); return dno; } double frange(double x) { //Serial.println(“FRANGE”); x = x / (2 * pi); x = (2 * pi) * (x – ipart(x)); if (x = pow(10, -12)); // //Serial.println(“fkepB”); // double v = 2 * atan(sqrt((1 + ecc) / (1 – ecc)) * tan(e / 2)); double v = m + (2 * e – 0.25 *pow(e,3) + 5/96 * pow(e,5)) * sin(m) + (1.25 * pow(e,2) – 11/24 * pow(e,4)) * sin(2*m) + (13/12 * pow(e,3) – 43/64 * pow(e,5)) * sin(3*m) + 103/96 * pow(e,4) * sin(4*m) + 1097/960 * pow(e,5) * sin(5*m); if (v < 0) v = v + (2 * pi); return v; } double fnatan(double x, double y) { //Serial.println(“ATAN”); double a = atan(y / x); if (x < 0) a = a + pi; if ((y 0)) a = a + (2 * pi); return a; } void AltAzCalculate(double RA, double Dec, double Lat, double Long, double hrs, double minut, double dy) { //Serial.println(“G”); // Day offset and Local Siderial Time dy = dy + 4975.5; double LST = (100.46 + 0.985647 * dy + Long + 15 * (hrs + minut / 60) + 360) – (((int)((100.46 + 0.985647 * dy + Long + 15 * (hrs + minut / 60) + 360) / 360)) * 360); // Hour Angle double HA = (LST – RA + 360) – ((int)((LST – RA + 360) / 360)) * 360 ; // HA, DEC, Lat to Alt, AZ double x = cos(HA * (pi / 180)) * cos(Dec * (pi / 180)); double y = sin(HA * (pi / 180)) * cos(Dec * (pi / 180)); double z = sin(Dec * (pi / 180)); double xhor = x * cos((90 – Lat) * (pi / 180)) – z * sin((90 – Lat) * (pi / 180)); double yhor = y; double zhor = x * sin((90 – Lat) * (pi / 180)) + z * cos((90 – Lat) * (pi / 180)); Azimuth = atan2(yhor, xhor) * (180 / pi) + 180; Elevation = asin(zhor) * (180 / pi); } void earth() { //Serial.println(“B”); M[3] = ((n[3] * rads) * d) + (L[3] – p[3]) * rads; M[3] = frange(M[3]); v[3] = fkep(M[3], e[3]); r[3] = a[3] * ((1 – (pow(e[3], 2))) / (1 + (e[3] * cos(v[3])))); x[3] = r[3] * cos(v[3] + p[3] * rads); y[3] = r[3] * sin(v[3] + p[3] * rads); z[3] = 0; } void mainCalculations() { dfrac = hh + (mm / 60); d = dayno(dd, mu, yy, dfrac); //Serial.println(“E”); earth(); //Serial.println(“F”); //Serial.println(“E”); int j; for (j = 0; j <=9; j++) { if (j == 3) continue; if(j==9); // Serial.println(“A”); M[j] = ((n[j] * rads) * d) + (L[j] – p[j]) * rads; if(j==9); // Serial.println(“B”); M[j] = frange(M[j]); if(j==9); // Serial.println(“C”); v[j] = fkep(M[j], e[j]); if(j==9); // Serial.println(“D”); r[j] = a[j] * ((1 – pow(e[j], 2)) / (1 + (e[j] * cos(v[j])))); x[j] = r[j] * (cos(o[j] * rads) * cos(v[j] + p[j] * rads – o[j] * rads) – sin(o[j] * rads) * sin(v[j] + p[j] * rads – o[j] * rads) * cos(i[j] * rads)); y[j] = r[j] * (sin(o[j] * rads) * cos(v[j] + p[j] * rads – o[j] * rads) + cos(o[j] * rads) * sin(v[j] + p[j] * rads – o[j] * rads) * cos(i[j] * rads)); z[j] = r[j] * (sin(v[j] + p[j] * rads – o[j] * rads)) * sin(i[j] * rads); Xi[j] = x[j] – x[3]; Yi[j] = y[j] – y[3]; Zi[j] = z[j]; Xq[j] = Xi[j]; Yq[j] = (Yi[j] * cos(ec)) – (Zi[j] * sin(ec)); Zq[j] = (Yi[j] * sin(ec)) + (Zi[j] * cos(ec)); ra[j] = fnatan(Xq[j], Yq[j]); dec[j] = atan(Zq[j] / sqrt(pow(Xq[j], 2.0) + pow(Yq[j], 2.0))); // Serial.println(j); } //Serial.println(“H”); double alpha = FNdegmin((ra[pno] * degs) / 15); double delta = FNdegmin(dec[pno] * degs); //Serial.println(“G”); AltAzCalculate((alpha * 15), delta, Lat, Long, hh, mm, d); } |
Here are the Osculating elements of 16th August 2013
|
1 2 3 4 5 6 7 |
double i[10] = {0.0, 7.0052, 3.3949, 0.0, 1.8496, 1.3033, 2.4869, 0.7728, 1.7692, 17.1695}; double o[10] = {0.0, 48.493, 76.804, 0.0, 49.668, 100.629, 113.732, 73.989, 131.946, 110.469}; double p[10] = {0.0, 77.669, 131.99, 103.147, 336.322, 14.556, 91.500, 169.602, 6.152, 223.486}; double a[10] = {0.0, 0.387098, 0.723327, 1.0000, 1.523762, 5.20245, 9.52450, 19.1882, 29.9987, 39.2766}; double n[10] = {0.0, 4.09235, 1.60215, 0.985611, 0.523998, 0.083099, 0.033551, 0.011733, 0.006002, 0.004006}; double e[10] = {0.0, 0.205645 , 0.006769, 0.016679, 0.093346, 0.048892, 0.055724, 0.047874, 0.009816, 0.246211}; double L[10] = {0.0, 93.8725, 233.5729, 324.5489, 82.9625, 87.9728, 216.6279, 11.9756, 335.0233, 258.8717}; |
4.Servo mapping and servo feed (discussed before)
5.Planet Selection – I have used a small potentiometer to select different planets as :
|
1 2 3 4 5 6 7 8 9 10 11 12 |
int planetInput(int potval) { if ((potval >= 0) && (potval = 91) && (potval = 192) && (potval = 293) && (potval = 394) && (potval = 495) && (potval = 596) && (potval = 697) && (potval <= 1023)) { Serial.print(“Pluto”); return 9; } } //The Pot takes values from A14 pin ana = analogRead(A14); pno = planetInput(ana); |
6.Trajectory prediction – I have used a switch (connected to pin 46 ) to change from normal mode to trajectory mode In this mode the servos move a little fast giving the future locations of a planet for the complete day.Here is the snippet
|
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 |
int trajec() { hh=0; mm=0; while(hh<24&& (digitalRead(46) == 0)) { while(mm<60&& (digitalRead(46) == 0)) { mainCalculations(); nyaw = 360 – yaw; Azim = Azimuth – nyaw; Azim -= 90; while (Azim < 0) Azim = 360.0 – abs(Azim); Azi = map(Azim, 0, 360, 5, 29); Az = (int)Azi; Elev = map(Elevation, -90, 90, 2, 178); El = (int)Elev; myservoAz.write(Az); myservoEl.write(El); |
As you can see I have just fast forwarded time manually using a loop and calculated the trajectory for a day is relayed through the servo in a minute which makes it move faster showing a trajectory of planets.
Here is final Rough (non – formated ) working code which includes everything :Github
RTPT (Real Time Planet Tracking System and Trajectory Prediction) Copyright © 2016 Shubham Paul , Samhita Ganguly ,Rohit Kumar GNU GPL3+
Dear Shubham,
Nice article, but code is not readable. can you please change the formatting and use syntax hiliting.
The code is quoted bhaiya …it should be readable
I have changed it now…have a look
Pingback: Real-Time Planet Tracking System & Trajectory Prediction | paulsite.com