Abstract
The tracking of heliostats with arbitrary orientation of the primary and secondary axes is considered, and the explicit formulas are derived to find the tracking angles for a given position of the sun. It is shown that the inverse kinematics problem leads to a quadratic equation and has two solutions in general case. The solutions can be obtained in vector, matrix or quaternionic form. The advantages of the particular forms and possible applications are discussed. The corrections due to offset between tracking axes and mirror facets are also considered. The paper is accompanied with a Python library, which shows how to implement the tracking algorithms, and an interactive Jupyter notebook.
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