Scalar Sensor Class#
- class rocketpy.sensors.ScalarSensor[source]#
Model of a scalar sensor (e.g. Barometer). Scalar sensors are used to measure a single scalar value. The measurements are not affected by the sensor’s orientation in the rocket.
- Variables:
sampling_rate (
float
) – Sample rate of the sensor in Hz.measurement_range (
float
,tuple
) – The measurement range of the sensor in the sensor units.resolution (
float
) – The resolution of the sensor in sensor units/LSB.noise_density (
float
) – The noise density of the sensor in sensor units/√Hz.noise_variance (
float
) – The variance of the noise of the sensor in sensor units^2.random_walk_density (
float
) – The random walk density of the sensor in sensor units/√Hz.random_walk_variance (
float
) – The variance of the random walk of the sensor in sensor units^2.constant_bias (
float
) – The constant bias of the sensor in sensor units.operating_temperature (
float
) – The operating temperature of the sensor in Kelvin.temperature_bias (
float
) – The temperature bias of the sensor in sensor units/K.temperature_scale_factor (
float
) – The temperature scale factor of the sensor in %/K.name (
str
) – The name of the sensor.measurement (
float
) – The measurement of the sensor after quantization, noise and temperature drift.measured_data (
list
) – The stored measured data of the sensor after quantization, noise and temperature drift.
- __init__(sampling_rate, measurement_range=inf, resolution=0, noise_density=0, noise_variance=1, random_walk_density=0, random_walk_variance=1, constant_bias=0, operating_temperature=25, temperature_bias=0, temperature_scale_factor=0, name='Sensor')[source]#
Initialize the accelerometer sensor
- Parameters:
sampling_rate (
float
) – Sample rate of the sensormeasurement_range (
float
,tuple
, optional) – The measurement range of the sensor in the sensor units. If a float, the same range is applied both for positive and negative values. If a tuple, the first value is the positive range and the second value is the negative range. Default is np.inf.resolution (
float
, optional) – The resolution of the sensor in sensor units/LSB. Default is 0, meaning no quantization is applied.noise_density (
float
,list
, optional) – The noise density of the sensor for a Gaussian white noise in sensor units/√Hz. Sometimes called “white noise drift”, “angular random walk” for gyroscopes, “velocity random walk” for accelerometers or “(rate) noise density”. Default is 0, meaning no noise is applied.noise_variance (
float
,list
, optional) – The noise variance of the sensor for a Gaussian white noise in sensor units^2. Default is 1, meaning the noise is normally distributed with a standard deviation of 1 unit.random_walk_density (
float
,list
, optional) – The random walk density of the sensor for a Gaussian random walk in sensor units/√Hz. Sometimes called “bias (in)stability” or “bias drift”. Default is 0, meaning no random walk is applied.random_walk_variance (
float
,list
, optional) – The random walk variance of the sensor for a Gaussian random walk in sensor units^2. Default is 1, meaning the noise is normally distributed with a standard deviation of 1 unit.constant_bias (
float
,list
, optional) – The constant bias of the sensor in sensor units. Default is 0, meaning no constant bias is applied.operating_temperature (
float
, optional) – The operating temperature of the sensor in Kelvin. At 298.15 K (25 °C), the sensor is assumed to operate ideally, no temperature related noise is applied. Default is 298.15.temperature_bias (
float
,list
, optional) – The temperature bias of the sensor in sensor units/K. Default is 0, meaning no temperature bias is applied.temperature_scale_factor (
float
,list
, optional) – The temperature scale factor of the sensor in %/K. Default is 0, meaning no temperature scale factor is applied.name (
str
, optional) – The name of the sensor. Default is “Sensor”.
- Return type:
None
See also
TODO
- quantize(value)[source]#
Quantize the sensor measurement
- Parameters:
value (
float
) – The value to quantize- Returns:
The quantized value
- Return type:
float