JGM_PLANS_2018

Codebase for the paper: An Open Source Flight Dynamics Model and IMU Signal Simulator (IEEE/ION Position Location and Navigation Symposium 2018)

This is what everything should look like once setup to run.

The following submodules make up this demo:

JSBSim: An open source flight dynamics model written in c++. Read jsbsim/COPYING for license details prior to using.
MATLAB-Groves: INS/GNSS simulation source code written for Matlab, released under a Modified BSD License by Paul Groves, author of Principles of GNSS, Inertial, and Multisensor Integrated Navigation Systems (Second Edition). Read MATLAB-Groves/License.txt prior to using.
tcp_udp_ip: A UDP to matlab utility, copyright (c) 2015, Peter Rydesäter. Read tcp_udp_ip/license.txt prior to using.
flightgear: An open source flight simulator. Read flightgear/COPYING for license details prior to using.

Cloning Locally:

Do this at your command line:

git clone https://github.com/jmcanana/JGM_PLANS_2018.git
cd JGM_PLANS_2018/
git submodule init
git submodule update

You should see this:

[jmcanana@jmpc ~]$ git clone https://github.com/jmcanana/JGM_PLANS_2018.git
Cloning into 'JGM_PLANS_2018'...
remote: Counting objects: 23, done.
remote: Total 23 (delta 0), reused 0 (delta 0), pack-reused 23
Unpacking objects: 100% (23/23), done.
[jmcanana@jmpc ~]$ cd JGM_PLANS_2018/
[jmcanana@jmpc JGM_PLANS_2018](master=)$ git submodule init
Submodule 'MATLAB-Groves' (https://github.com/jmcanana/MATLAB-Groves.git) registered for path 'MATLAB-Groves'
Submodule 'flightgear' (git@github.com:jmcanana/flightgear.git) registered for path 'flightgear'
Submodule 'jsbsim' (https://github.com/jmcanana/jsbsim.git) registered for path 'jsbsim'
Submodule 'simgear' (git@github.com:jmcanana/simgear.git) registered for path 'simgear'
Submodule 'tcp_udp_ip' (https://github.com/jmcanana/tcp_udp_ip.git) registered for path 'tcp_udp_ip'
[jmcanana@jmpc JGM_PLANS_2018](master=)$ git submodule update
Submodule path 'MATLAB-Groves': checked out '7e969a7f49ea318bcca5bac1347870fe6c1f2da0'
Submodule path 'flightgear': checked out '8653db1b23c41710de1548d69893686491fdd43b'
Submodule path 'jsbsim': checked out 'd2d9b75655df24ea65b0e83db307782c5ba04569'
Submodule path 'simgear': checked out '9ae949006123247253bfaf36b6a3d6147ffb7583'
Submodule path 'tcp_udp_ip': checked out '4afd01196d32a0ce1517970ea81c2d0dd47929b7'

JSBSim:

Building JSBSim using CMAKE:

See Section 3 in the INSTALL file.
Something like this:

[jmcanana@jmpc JGM_PLANS_2018](master=)$ cd jsbsim/
jmcanana@jmpc jsbsim]((d2d9b75...))$ mkdir build_linux
[jmcanana@jmpc jsbsim]((d2d9b75...))$ cd build_linux/
[jmcanana@jmpc build_linux]((d2d9b75...))$ cmake ..
-- The C compiler identification is GNU 7.2.1
.
.
.
-- Configuring done
-- Generating done
-- Build files have been written to: /home/jmcanana/JGM_PLANS_2018/jsbsim/build_linux
[jmcanana@jmpc build_linux]((d2d9b75...))$ make
Scanning dependencies of target libJSBSim
[  1%] Building CXX object src/CMakeFiles/libJSBSim.dir/FGFDMExec.cpp.o
[  2%] Building CXX object src/CMakeFiles/libJSBSim.dir/FGJSBBase.cpp.o
.
.
.
[ 99%] Building CXX object utils/aeromatic++/CMakeFiles/aeromatic.dir/aeromatic.cpp.o
[100%] Linking CXX executable aeromatic
[100%] Built target aeromatic
[jmcanana@jmpc build_linux]((d2d9b75...))$ cd ..
[jmcanana@jmpc jsbsim]((d2d9b75...))$  ./build_linux/src/JSBSim --script=scripts/c310_plans_racetrack.xml  --realtime --logdirectivefile=data_output/matlabSocket.xml

The above steps should have JSBSim taking off from MRY to fly a racetrack pattern above the PLANS conference in a Cessna C310. The data described in jsbsim/data_output/matlabSocket.xml will be streamed to a UDP port on localhost:1138 at 50Hz.
Complete the MATLAB-Groves and tcp_udp_ip steps to parse this data and run an INS using MATLAB.
If you want to just see the data at the UDP port (and you are using linux), you may use netcat in a new terminal:

[jmcanana@jmpc Remarkable](master=)$ nc -l -u 1138
   90.58,  36.5939752, -121.878947,   1505.2931, -11.6425513, -210.457783,-0.392873515,0.0110301989,-0.0472051443,  4.65417476
    90.6,  36.5939745, -121.878962,  1505.30094, -11.6399452, -210.468563,-0.391465376,0.0110343134,-0.0472214922,  4.65419072
   90.62,  36.5939739, -121.878976,  1505.30875, -11.6373351, -210.479335,-0.390060735,0.0110382698,-0.0472378113,  4.65420671
   90.64,  36.5939733,  -121.87899,  1505.31654,  -11.634721, -210.490098,-0.388659614,0.0110420693,-0.0472541014,  4.65422272

If you do not have any listeners at port 1138, JSBSim will spew "send: Connection refused" errors until a listening port is opened.
You can connect to JSBSim via telnet to control in realtime from a separate shell with:

[jmcanana@jmpc ~]$ telnet localhost 1137
Connected to localhost.
Escape character is '^]'.
Connected to JSBSim server
JSBSim> set ap/active-waypoint 10
JSBSim> set ap/active-waypoint 11
JSBSim> set ap/active-waypoint 3

As defined in jsbsim/scripts/c310_plans_racetrack.xml:
- Waypoint 10 fly North.
- Waypoint 11 fly East.
- Waypoint 3 rejoins the race track.

MATLAB-Groves:

This codebase has been extended by us with the following functions: ** JsbSim_tightly_coupled_INS_GNSS.m ** JsbSim_loosely_coupled_INS_GNSS.m

These functions run an INS on the jsbSim data. They are dependent on the tcp_udp_ip package. You can inject a lever arm error into JsbSim_loosely_coupled_INS_GNSS.m by setting the lever_arm vector. You can inject GPS update delay of one epoch in JsbSim_tightly_coupled_INS_GNSS.m by setting the use_old_GNSS_data to true.

tcp_udp_ip:

See header of pnet.c for mex compilation instructions.
With jsbsim running as above, you can view the output using tcp_udp_ip/udp_plotter_jsb(1138) within Matlab.

Flight Gear:

Optionally, install flight gear to visualize the output of jsbSim. With jsbsim running as above, you can view the aircraft and map info with:

fgfs --fg-root="{your path}" --aircraft=c310 --native-fdm=socket,in,60,,5550,udp --fdm=external --airport=KMRY --httpd=8050

Within flight gear, you can view both the aircraft model simulation as well as a moving map if you click the menu, Equipment -> Map (opens in browser).

Run with:

[jmcanana@jmpc jsbsim]((d2d9b75...))$ ./build-linux/src/JSBSim --script=scripts/c310_plans_racetrack.xml --realtime --logdirectivefile=data_output/flightgear.xml --logdirectivefile=data_output/matlabSocket.xml