📄 attest.mdl
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BlockType SubSystem
Name "true tilts"
Ports [2, 1]
Position [520, 24, 575, 91]
DropShadow on
TreatAsAtomicUnit off
System {
Name "true tilts"
Location [233, 290, 736, 508]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
ZoomFactor "100"
Block {
BlockType Inport
Name "Cbi"
Position [220, 58, 250, 72]
}
Block {
BlockType Inport
Name "q"
Position [220, 98, 250, 112]
Port "2"
}
Block {
BlockType Mux
Name "Mux4"
Ports [2, 1]
Position [285, 66, 290, 104]
ShowName off
Inputs "2"
DisplayOption "bar"
}
Block {
BlockType Mux
Name "Mux5"
Ports [3, 1]
Position [420, 56, 425, 114]
ShowName off
Inputs "3"
DisplayOption "bar"
}
Block {
BlockType Fcn
Name "tiltx"
Position [320, 25, 380, 55]
Expr "2.0*(u(10)*u(11)+u(13)*u(12))*u(7)+(u(1"
"3)^2-u(10)^2+u(11)^2-u(12)^2)*u(8)+2.0*(u(11)*u(12)-u(13)*u(10))*u(9)"
}
Block {
BlockType Fcn
Name "tilty"
Position [320, 70, 380, 100]
Expr "2.0*(u(10)*u(12)-u(13)*u(11))*u(1)+2.0*"
"(u(11)*u(12)+u(13)*u(10))*u(2)+(u(13)^2-u(10)^2-u(11)^2+u(12)^2)*u(3)"
}
Block {
BlockType Fcn
Name "tiltz"
Position [320, 115, 380, 145]
Expr "(u(13)^2+u(10)^2-u(11)^2-u(12)^2)*u(4)+"
"2.0*(u(10)*u(11)-u(13)*u(12))*u(5)+2.0*(u(10)*u(12)+u(13)*u(11))*u(6)"
}
Block {
BlockType Outport
Name "tilts"
Position [450, 78, 480, 92]
}
Line {
SrcBlock "Mux4"
SrcPort 1
Points [0, 0; 10, 0]
Branch {
DstBlock "tiltx"
DstPort 1
}
Branch {
Points [0, 0]
Branch {
DstBlock "tilty"
DstPort 1
}
Branch {
DstBlock "tiltz"
DstPort 1
}
}
}
Line {
SrcBlock "tilty"
SrcPort 1
DstBlock "Mux5"
DstPort 2
}
Line {
SrcBlock "tiltx"
SrcPort 1
Points [20, 0]
DstBlock "Mux5"
DstPort 1
}
Line {
SrcBlock "tiltz"
SrcPort 1
Points [20, 0]
DstBlock "Mux5"
DstPort 3
}
Line {
SrcBlock "Cbi"
SrcPort 1
Points [0, 10]
DstBlock "Mux4"
DstPort 1
}
Line {
SrcBlock "Mux5"
SrcPort 1
DstBlock "tilts"
DstPort 1
}
Line {
SrcBlock "q"
SrcPort 1
Points [0, -10]
DstBlock "Mux4"
DstPort 2
}
}
}
Block {
BlockType Outport
Name "Out1"
Position [655, 53, 685, 67]
}
Block {
BlockType Outport
Name "Out2"
Position [600, 258, 630, 272]
Port "2"
}
Block {
BlockType Outport
Name "Out3"
Position [600, 338, 630, 352]
Port "3"
}
Block {
BlockType Outport
Name "Out4"
Position [600, 418, 630, 432]
Port "4"
}
Line {
SrcBlock "true tilts"
SrcPort 1
DstBlock "Sum"
DstPort 1
}
Line {
SrcBlock "est tilts"
SrcPort 1
Points [40, 0]
DstBlock "Sum"
DstPort 2
}
Line {
SrcBlock "In1"
SrcPort 1
DstBlock "true tilts"
DstPort 1
}
Line {
SrcBlock "Sum"
SrcPort 1
DstBlock "Out1"
DstPort 1
}
Line {
SrcBlock "In2"
SrcPort 1
DstBlock "true tilts"
DstPort 2
}
Line {
SrcBlock "In3"
SrcPort 1
Points [0, 0; 15, 0]
Branch {
Points [0, 80]
Branch {
Points [0, 80]
Branch {
DstBlock "est gSF"
DstPort 1
}
Branch {
Points [0, 80]
DstBlock "est sMA"
DstPort 1
}
}
Branch {
DstBlock "est gB"
DstPort 1
}
}
Branch {
DstBlock "est tilts"
DstPort 1
}
}
Line {
SrcBlock "est gB"
SrcPort 1
DstBlock "Out2"
DstPort 1
}
Line {
SrcBlock "est gSF"
SrcPort 1
DstBlock "Out3"
DstPort 1
}
Line {
SrcBlock "est sMA"
SrcPort 1
DstBlock "Out4"
DstPort 1
}
}
}
Block {
BlockType SubSystem
Name "gyro model"
Ports [1, 1]
Position [395, 226, 500, 294]
DropShadow on
TreatAsAtomicUnit off
System {
Name "gyro model"
Location [6, 79, 802, 551]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
ZoomFactor "100"
Block {
BlockType Inport
Name "env rates"
Position [25, 83, 55, 97]
}
Block {
BlockType Mux
Name "Mux1"
Ports [3, 1]
Position [175, 63, 180, 117]
ShowName off
Inputs "3"
DisplayOption "bar"
}
Block {
BlockType Fcn
Name "omega_xm"
Position [95, 25, 155, 55]
Expr "(1.0+0.000500)*u(1)+(0.1/(57.296*3600.))"
}
Block {
BlockType Fcn
Name "omega_ym"
Position [95, 75, 155, 105]
Expr "(1.0+0.000500)*u(2)+(0.1/(57.296*3600.))"
}
Block {
BlockType Fcn
Name "omega_zm"
Position [95, 125, 155, 155]
Expr "(1.0+0.000500)*u(3)+(0.1/(57.296*3600.))"
}
Block {
BlockType Outport
Name "gyro outputs"
Position [205, 83, 235, 97]
}
Line {
SrcBlock "omega_ym"
SrcPort 1
DstBlock "Mux1"
DstPort 2
}
Line {
SrcBlock "omega_xm"
SrcPort 1
DstBlock "Mux1"
DstPort 1
}
Line {
SrcBlock "omega_zm"
SrcPort 1
DstBlock "Mux1"
DstPort 3
}
Line {
SrcBlock "env rates"
SrcPort 1
Points [0, 0; 15, 0]
Branch {
DstBlock "omega_ym"
DstPort 1
}
Branch {
Points [0, -50]
DstBlock "omega_xm"
DstPort 1
}
Branch {
Points [0, 50]
DstBlock "omega_zm"
DstPort 1
}
}
Line {
SrcBlock "Mux1"
SrcPort 1
DstBlock "gyro outputs"
DstPort 1
}
}
}
Block {
BlockType Scope
Name "meas #1 est\nmisalignments"
Ports [1]
Position [1000, 284, 1030, 316]
Location [6, 58, 806, 570]
Open on
NumInputPorts "1"
ZoomMode "xonly"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
List {
ListType SelectedSignals
axes1 ""
}
TimeRange "1200"
YMin "-9.999999999999999e-005"
YMax "9.999999999999999e-005"
SaveName "ScopeData5"
DataFormat "StructureWithTime"
Decimation "10"
}
Block {
BlockType Fcn
Name "omega_x"
Position [220, 195, 280, 225]
Expr "(0.5*pi/180.0)*(0.01*2.0*pi)*sin(0.01*2.0*pi*u("
"1))"
}
Block {
BlockType Fcn
Name "omega_y"
Position [220, 245, 280, 275]
Expr "(0.5*pi/180.0)*(0.0085*2.0*pi)*sin(0.0085*2.0*p"
"i*u(1))"
}
Block {
BlockType Fcn
Name "omega_z"
Position [220, 295, 280, 325]
Expr "(0.5*pi/180.0)*(0.008*2.0*pi)*sin(0.008*2.0*pi*"
"u(1))"
}
Block {
BlockType "S-Function"
Name "q(t)"
Ports [1, 1]
Position [565, 245, 625, 275]
FunctionName "quat_dyn"
Parameters "0.0,0.0,0.0"
}
Line {
SrcBlock "Clock"
SrcPort 1
Points [-20, 0; 40, 0]
Branch {
DstBlock "omega_y"
DstPort 1
}
Branch {
Points [0, -50]
DstBlock "omega_x"
DstPort 1
}
Branch {
Points [0, 50]
DstBlock "omega_z"
DstPort 1
}
}
Line {
SrcBlock "omega_x"
SrcPort 1
Points [10, 0]
DstBlock "Mux"
DstPort 1
}
Line {
SrcBlock "omega_y"
SrcPort 1
DstBlock "Mux"
DstPort 2
}
Line {
SrcBlock "omega_z"
SrcPort 1
Points [10, 0]
DstBlock "Mux"
DstPort 3
}
Line {
SrcBlock "Mux"
SrcPort 1
Points [40, 0]
Branch {
Points [0, -115]
DstBlock "Cbi(t)"
DstPort 1
}
Branch {
DstBlock "gyro model"
DstPort 1
}
}
Line {
SrcBlock "q(t)"
SrcPort 1
Points [0, 0; 20, 0]
Branch {
DstBlock "Mux6"
DstPort 1
}
Branch {
Points [0, -30]
DstBlock "evaluation"
DstPort 2
}
}
Line {
SrcBlock "Cbi(t)"
SrcPort 1
Points [-5, 0; 25, 0]
Branch {
Points [0, -35; -175, 0; 0, 270]
DstBlock "Star meas"
DstPort 1
}
Branch {
Points [330, 0; 0, 55]
DstBlock "evaluation"
DstPort 1
}
}
Line {
SrcBlock "Mux6"
SrcPort 1
DstBlock "align K-filter"
DstPort 1
}
Line {
SrcBlock "evaluation"
SrcPort 2
Points [35, 0; 0, -40]
DstBlock "est gyro\nbias"
DstPort 1
}
Line {
SrcBlock "evaluation"
SrcPort 3
DstBlock "est gyro\n scale-factor"
DstPort 1
}
Line {
SrcBlock "evaluation"
SrcPort 4
Points [35, 0; 0, 40]
DstBlock "meas #1 est\nmisalignments"
DstPort 1
}
Line {
SrcBlock "evaluation"
SrcPort 1
Points [15, 0; 0, -70]
DstBlock "(true-est) tilts"
DstPort 1
}
Line {
SrcBlock "gyro model"
SrcPort 1
Points [0, 0; 25, 0]
Branch {
Points [0, 40; 120, 0; 0, -25]
DstBlock "Mux6"
DstPort 2
}
Branch {
DstBlock "q(t)"
DstPort 1
}
}
Line {
SrcBlock "Star meas"
SrcPort 2
Points [190, 0; 0, -105]
DstBlock "Mux6"
DstPort 3
}
Line {
SrcBlock "Star meas"
SrcPort 1
Points [210, 0; 0, -60]
DstBlock "Mux6"
DstPort 4
}
Line {
SrcBlock "align K-filter"
SrcPort 1
Points [20, 0; 0, -25]
DstBlock "evaluation"
DstPort 3
}
}
}
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