BUG: Unecessary Gyroscope Rotation and Wrong Acceleremoter Rotation (#811)

* MNT: rename rotation matrix attribute

* TST: make ideal sensor tests more strict regarding different axes

* MNT: fix rebase errors

* TST: correct matrix transpose

* DEV: changelog

* DOC: fix some axes

* TST: fix gyro detailed test

Author: MateusStano

CHANGELOG.md

@@ -32,7 +32,6 @@ Attention: The newest changes should be on top -->
 
 ### Added
 
-- BUG: Fix StochasticFlight time_overshoot None bug [#805] (https://github.com/RocketPy-Team/RocketPy/pull/805)
 - ENH: Implement Multivariate Rejection Sampling (MRS) [#738] (https://github.com/RocketPy-Team/RocketPy/pull/738) 
 - ENH: Create a rocketpy file to store flight simulations [#800](https://github.com/RocketPy-Team/RocketPy/pull/800)
 - ENH: Support for the RSE file format has been added to the library [#798](https://github.com/RocketPy-Team/RocketPy/pull/798)
@@ -43,9 +42,11 @@ Attention: The newest changes should be on top -->
 
 ### Fixed
 
+- BUG: Unecessary Gyroscope Rotation and Wrong Acceleremoter Rotation [#811](https://github.com/RocketPy-Team/RocketPy/pull/811)
 - BUG: Fix the handling of reference pressure for older rpy files. [#808](https://github.com/RocketPy-Team/RocketPy/pull/808)
 - BUG: Non-overshootable simulations error on time parsing. [#807](https://github.com/RocketPy-Team/RocketPy/pull/807)
 - BUG: Wrong Phi Initialization For nose_to_tail Rockets [#809](https://github.com/RocketPy-Team/RocketPy/pull/809)
+- BUG: Fix StochasticFlight time_overshoot None bug [#805](https://github.com/RocketPy-Team/RocketPy/pull/805)
 
 ## v1.9.0 - 2025-03-24
 

rocketpy/prints/sensors_prints.py

@@ -74,7 +74,7 @@ def orientation(self):
         self._print_aligned("Orientation:", self.sensor.orientation)
         self._print_aligned("Normal Vector:", self.sensor.normal_vector)
         print("Rotation Matrix:")
-        for row in self.sensor.rotation_matrix:
+        for row in self.sensor.rotation_sensor_to_body:
             value = " ".join(f"{val:.2f}" for val in row)
             value = [float(val) for val in value.split()]
             self._print_aligned("", value)

rocketpy/sensors/accelerometer.py

@@ -44,7 +44,7 @@ class Accelerometer(InertialSensor):
         The cross axis sensitivity of the sensor in percentage.
     name : str
         The name of the sensor.
-    rotation_matrix : Matrix
+    rotation_sensor_to_body : Matrix
         The rotation matrix of the sensor from the sensor frame to the rocket
         frame of reference.
     normal_vector : Vector
@@ -241,8 +241,9 @@ def measure(self, time, **kwargs):
             + Vector.cross(omega, Vector.cross(omega, r))
         )
         # Transform to sensor frame
-        inertial_to_sensor = self._total_rotation_matrix @ Matrix.transformation(
-            u[6:10]
+        inertial_to_sensor = (
+            self._total_rotation_sensor_to_body
+            @ Matrix.transformation(u[6:10]).transpose
         )
         A = inertial_to_sensor @ A
 

rocketpy/sensors/gyroscope.py

@@ -1,6 +1,6 @@
 import numpy as np
 
-from ..mathutils.vector_matrix import Matrix, Vector
+from ..mathutils.vector_matrix import Vector
 from ..prints.sensors_prints import _GyroscopePrints
 from ..sensors.sensor import InertialSensor
 
@@ -44,7 +44,7 @@ class Gyroscope(InertialSensor):
         The cross axis sensitivity of the sensor in percentage.
     name : str
         The name of the sensor.
-    rotation_matrix : Matrix
+    rotation_sensor_to_body : Matrix
         The rotation matrix of the sensor from the sensor frame to the rocket
         frame of reference.
     normal_vector : Vector
@@ -222,33 +222,26 @@ def measure(self, time, **kwargs):
         u_dot = kwargs["u_dot"]
         relative_position = kwargs["relative_position"]
 
-        # Angular velocity of the rocket in the rocket frame
+        # Angular velocity of the rocket in the body frame
         omega = Vector(u[10:13])
 
         # Transform to sensor frame
-        inertial_to_sensor = self._total_rotation_matrix @ Matrix.transformation(
-            u[6:10]
-        )
-        W = inertial_to_sensor @ omega
+        W = self._total_rotation_sensor_to_body @ omega
 
         # Apply noise + bias and quantize
         W = self.apply_noise(W)
         W = self.apply_temperature_drift(W)
 
         # Apply acceleration sensitivity
         if self.acceleration_sensitivity != Vector.zeros():
-            W += self.apply_acceleration_sensitivity(
-                omega, u_dot, relative_position, inertial_to_sensor
-            )
+            W += self.apply_acceleration_sensitivity(omega, u_dot, relative_position)
 
         W = self.quantize(W)
 
         self.measurement = tuple([*W])
         self._save_data((time, *W))
 
-    def apply_acceleration_sensitivity(
-        self, omega, u_dot, relative_position, rotation_matrix
-    ):
+    def apply_acceleration_sensitivity(self, omega, u_dot, relative_position):
         """
         Apply acceleration sensitivity to the sensor measurement
 
@@ -260,8 +253,6 @@ def apply_acceleration_sensitivity(
             The time derivative of the state vector
         relative_position : Vector
             The vector from the rocket's center of mass to the sensor
-        rotation_matrix : Matrix
-            The rotation matrix from the rocket frame to the sensor frame
 
         Returns
         -------
@@ -271,7 +262,7 @@ def apply_acceleration_sensitivity(
         # Linear acceleration of rocket cdm in inertial frame
         inertial_acceleration = Vector(u_dot[3:6])
 
-        # Angular velocity and accel of rocket
+        # Angular accel of rocket in body frame
         omega_dot = Vector(u_dot[10:13])
 
         # Acceleration felt in sensor
@@ -281,7 +272,7 @@ def apply_acceleration_sensitivity(
             + Vector.cross(omega, Vector.cross(omega, relative_position))
         )
         # Transform to sensor frame
-        A = rotation_matrix @ A
+        A = self._total_rotation_sensor_to_body @ A
 
         return self.acceleration_sensitivity & A
 

rocketpy/sensors/sensor.py

@@ -460,23 +460,23 @@ def __init__(
 
         # rotation matrix and normal vector
         if any(isinstance(row, (tuple, list)) for row in orientation):  # matrix
-            self.rotation_matrix = Matrix(orientation)
+            self.rotation_sensor_to_body = Matrix(orientation)
         elif len(orientation) == 3:  # euler angles
-            self.rotation_matrix = Matrix.transformation_euler_angles(
+            self.rotation_sensor_to_body = Matrix.transformation_euler_angles(
                 *np.deg2rad(orientation)
             ).round(12)
         else:
             raise ValueError("Invalid orientation format")
         self.normal_vector = Vector(
             [
-                self.rotation_matrix[0][2],
-                self.rotation_matrix[1][2],
-                self.rotation_matrix[2][2],
+                self.rotation_sensor_to_body[0][2],
+                self.rotation_sensor_to_body[1][2],
+                self.rotation_sensor_to_body[2][2],
             ]
         ).unit_vector
 
         # cross axis sensitivity matrix
-        _cross_axis_matrix = 0.01 * Matrix(
+        cross_axis_matrix = 0.01 * Matrix(
             [
                 [100, self.cross_axis_sensitivity, self.cross_axis_sensitivity],
                 [self.cross_axis_sensitivity, 100, self.cross_axis_sensitivity],
@@ -485,7 +485,9 @@ def __init__(
         )
 
         # compute total rotation matrix given cross axis sensitivity
-        self._total_rotation_matrix = self.rotation_matrix @ _cross_axis_matrix
+        self._total_rotation_sensor_to_body = (
+            self.rotation_sensor_to_body @ cross_axis_matrix
+        )
 
     def _vectorize_input(self, value, name):
         if isinstance(value, (int, float)):