Torque Dipole Conversion Software

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Description

The purpose of this module is to map a desired body frame torque ${\tau }_B$ to an equivalent body from dipole command ${\mu }_B$ given a sensed magnetic field ${}^{\mathcal{B}}\mathbf{B}$ in the body frame. This will produce the torque in the local magnetic field vectors. This assumes data from a Magnetometer.

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Example Use Cases

• Compute dipole commands: Transform a torque command into a dipole command based on local magnetic field readings.

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Module Implementation

The dipole vector in the body frame can be represented by the equation:

$${\mu }_B=\frac{1}{|\mathbf{B}{|}^2}\mathbf{B}\times {\tau }_B$$

The sensed magnetic field is intended to be provided by a three-axis magnetometer (TAM) module, which may also implement various error modules. Alternatively, the user may directly connect the local magnetic field message as an input.

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Assumptions/Limitations

• This module inherits measurement assumptions from the sensed magnetic field state.