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Correct inertial angular acceleration in celestial two-body pointing module - #1628
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Add explicit frame suffixes to local vectors and clarify derivative, projection, and DCM comments. Preserve existing calculations to expose the angular-acceleration frame mismatch before fixing it separately.
Remove dot products that mix reference-frame rate components with inertial-frame basis derivatives. Correct the test truth model and expected acceleration, and add eight finite-difference regression cases covering two-body pointing and fallback reference motion. Validation: all 10 module tests pass.
schaubh
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Description
Fixes incorrect
celestialTwoBodyPointreference angular acceleration caused by dot products between R-frame angular-rate components and N-frame basis-vector derivatives. These terms are geometrically zero when evaluated consistently and are now omitted. Reference attitude and angular rate are unchanged.The commits separate the vector-frame naming clarification from the numerical correction, allowing reviewers to see the frame mismatch before reviewing the fix.
Verification
Documentation
Updated the module documentation and technical report to clarify component frames, explain why the removed terms vanish, correct basis-derivative equations, and use
[RN]^Tfor conversion to N-frame components.Reviewers should also check the revised assumptions and validation descriptions, regenerated PDF, release-note snippet, and known-issues entry.
Future work
None required for #1618. The module’s existing zero-relative-acceleration assumption remains unchanged.