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Commit 3b452765 authored by Luc Maisonobe's avatar Luc Maisonobe
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Fixed derivatives with respect to trigger dates in backward propagation.

parent 3dd16d83
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src/main/java/org/orekit/propagation/TriggerDateJacobianColumnGenerator.java
View file @ 3b452765
......@@ -112,7 +112,7 @@ public class TriggerDateJacobianColumnGenerator
/** Indicator for trigger. */
private boolean triggered;
/** Indicator for forwart propagation. */
/** Indicator for forward propagation. */
private boolean forward;
/** Simple constructor.
......@@ -160,7 +160,7 @@ public class TriggerDateJacobianColumnGenerator
// this allows to get proper Jacobian if we interrupt propagation
// in the middle of a maneuver and restart propagation where it left
final boolean newForward = target.isAfterOrEqualTo(initialState);
if (contribution == null || forward ^ newForward) {
if (contribution == null || (forward ^ newForward)) {
contribution = new TimeSpanMap<>(null);
triggered = false;
}
......@@ -200,9 +200,9 @@ public class TriggerDateJacobianColumnGenerator
// initialize derivatives computation
final RealVector rhs = MatrixUtils.createRealVector(STATE_DIMENSION);
rhs.setEntry(3, sign * acceleration.getX());
rhs.setEntry(4, sign * acceleration.getY());
rhs.setEntry(5, sign * acceleration.getZ());
rhs.setEntry(3, (forward ? sign : -sign) * acceleration.getX());
rhs.setEntry(4, (forward ? sign : -sign) * acceleration.getY());
rhs.setEntry(5, (forward ? sign : -sign) * acceleration.getZ());
// get State Transition Matrix with respect to Cartesian parameters at trigger time
final RealMatrix dY1dY0 = getStm(state);
......
src/test/java/org/orekit/propagation/numerical/TriggersDerivativesTest.java
View file @ 3b452765
......@@ -33,6 +33,7 @@ import org.hipparchus.linear.RealMatrix;
import org.hipparchus.ode.nonstiff.AdaptiveStepsizeIntegrator;
import org.hipparchus.ode.nonstiff.DormandPrince853Integrator;
import org.hipparchus.util.FastMath;
import org.hipparchus.util.MathUtils;
import org.junit.Assert;
import org.junit.Before;
import org.junit.Test;
......@@ -148,67 +149,118 @@ public class TriggersDerivativesTest {
}
@Test
public void testDerivativeWrtStartTimeCartesian() {
doTestDerivativeWrtStartStopTime(true, OrbitType.CARTESIAN,
public void testDerivativeWrtStartTimeCartesianForward() {
doTestDerivativeWrtStartStopTime(true, OrbitType.CARTESIAN, true,
0.022, 0.012, 0.012, 0.013, 0.012, 0.021);
}
@Test
public void testDerivativeWrtStartTimeKeplerian() {
doTestDerivativeWrtStartStopTime(true, OrbitType.KEPLERIAN,
public void testDerivativeWrtStartTimeKeplerianForward() {
doTestDerivativeWrtStartStopTime(true, OrbitType.KEPLERIAN, true,
0.012, 0.011, 0.011, 0.012, 0.011, 0.017);
}
@Test
public void testDerivativeWrtStopTimeCartesian() {
doTestDerivativeWrtStartStopTime(false, OrbitType.CARTESIAN,
public void testDerivativeWrtStartTimeCartesianBackward() {
doTestDerivativeWrtStartStopTime(true, OrbitType.CARTESIAN, false,
0.022, 0.012, 0.012, 0.013, 0.012, 0.021);
}
@Test
public void testDerivativeWrtStartTimeKeplerianBackward() {
doTestDerivativeWrtStartStopTime(true, OrbitType.KEPLERIAN, false,
0.012, 0.011, 0.011, 0.012, 0.011, 0.017);
}
@Test
public void testDerivativeWrtStopTimeCartesianForward() {
doTestDerivativeWrtStartStopTime(false, OrbitType.CARTESIAN, true,
0.00033, 0.00045, 0.00040, 0.00022, 0.00020, 0.00010);
}
@Test
public void testDerivativeWrtStopTimeKeplerianForward() {
doTestDerivativeWrtStartStopTime(false, OrbitType.KEPLERIAN, true,
0.0011, 0.00020, 0.00002, 0.00082, 0.00008, 0.00019);
}
@Test
public void testDerivativeWrtStopTimeCartesianBackward() {
doTestDerivativeWrtStartStopTime(false, OrbitType.CARTESIAN, false,
0.00033, 0.00045, 0.00040, 0.00022, 0.00020, 0.00010);
}
@Test
public void testDerivativeWrtStopTimeKeplerian() {
doTestDerivativeWrtStartStopTime(false, OrbitType.KEPLERIAN,
public void testDerivativeWrtStopTimeKeplerianBackward() {
doTestDerivativeWrtStartStopTime(false, OrbitType.KEPLERIAN, false,
0.0011, 0.00020, 0.00002, 0.00082, 0.00008, 0.00019);
}
@Test
public void testDerivativeWrtMedianCartesian() {
doTestDerivativeWrtMedianTime(OrbitType.CARTESIAN,
public void testDerivativeWrtMedianCartesianForward() {
doTestDerivativeWrtMedianTime(OrbitType.CARTESIAN, true,
0.0011, 0.00020, 0.00002, 0.00082, 0.00008, 0.00019);
}
@Test
public void testDerivativeWrtMedianKeplerianForward() {
doTestDerivativeWrtMedianTime(OrbitType.KEPLERIAN, true,
0.0011, 0.00020, 0.00002, 0.00082, 0.00008, 0.00019);
}
@Test
public void testDerivativeWrtMedianKeplerian() {
doTestDerivativeWrtMedianTime(OrbitType.KEPLERIAN,
public void testDerivativeWrtMedianCartesianBackward() {
doTestDerivativeWrtMedianTime(OrbitType.CARTESIAN, false,
0.0011, 0.00020, 0.00002, 0.00082, 0.00008, 0.00019);
}
@Test
public void testDerivativeWrtDurationCartesian() {
doTestDerivativeWrtDuration(OrbitType.CARTESIAN,
public void testDerivativeWrtMedianKeplerianBackward() {
doTestDerivativeWrtMedianTime(OrbitType.KEPLERIAN, false,
0.0011, 0.00020, 0.00002, 0.00082, 0.00008, 0.00019);
}
@Test
public void testDerivativeWrtDurationCartesianForward() {
doTestDerivativeWrtDuration(OrbitType.CARTESIAN, true,
0.00540, 0.00540, 0.00540, 0.00540, 0.00540, 0.00540);
}
@Test
public void testDerivativeWrtDurationKeplerian() {
doTestDerivativeWrtDuration(OrbitType.KEPLERIAN,
public void testDerivativeWrtDurationKeplerianForward() {
doTestDerivativeWrtDuration(OrbitType.KEPLERIAN, true,
0.00577, 0.00540, 0.00540, 0.00570, 0.00541, 0.00543);
}
private void doTestDerivativeWrtStartStopTime(final boolean start, final OrbitType orbitType, final double...tolerance) {
@Test
public void testDerivativeWrtDurationCartesianBackward() {
doTestDerivativeWrtDuration(OrbitType.CARTESIAN, false,
0.00540, 0.00540, 0.00540, 0.00540, 0.00540, 0.00540);
}
final AbsoluteDate firing = new AbsoluteDate(new DateComponents(2004, 1, 2),
new TimeComponents(4, 15, 34.080),
TimeScalesFactory.getUTC());
@Test
public void testDerivativeWrtDurationKeplerianBackward() {
doTestDerivativeWrtDuration(OrbitType.KEPLERIAN, false,
0.00577, 0.00540, 0.00540, 0.00570, 0.00541, 0.00543);
}
final List<Propagator> propagators = new ArrayList<>();
private void doTestDerivativeWrtStartStopTime(final boolean start, final OrbitType orbitType, final boolean forward,
final double...tolerance) {
// propagators will be combined using finite differences to compute derivatives
final PositionAngle positionAngle = PositionAngle.TRUE;
final int degree = 20;
final double duration = 200.0;
final double h = 1.0;
final double samplingtep = 240.0;
final KeplerianOrbit initial = (KeplerianOrbit) OrbitType.KEPLERIAN.convertType(buildInitialState(buildAttitudeProvider()).getOrbit());
final double firingM = MathUtils.normalizeAngle(FastMath.PI, initial.getMeanAnomaly() + (forward ? FastMath.PI : -FastMath.PI));
final AbsoluteDate apogeeDate = initial.getDate().shiftedBy((firingM - initial.getMeanAnomaly()) / initial.getKeplerianMeanMotion());
final AbsoluteDate firing = apogeeDate.shiftedBy(-0.5 * duration);
final List<Propagator> propagators = new ArrayList<>();
// propagators will be combined using finite differences to compute derivatives
for (int k = -4; k <= 4; ++k) {
final DateBasedManeuverTriggers trigger = start ?
new DateBasedManeuverTriggers("MAN_0", firing.shiftedBy(k * h), duration - k * h) :
......@@ -231,8 +283,12 @@ public class TriggersDerivativesTest {
DerivativesSampler sampler = new DerivativesSampler(harvester, null, null, orbitType, positionAngle,
firing, duration, h, samplingtep);
new PropagatorsParallelizer(propagators, sampler).
propagate(firing.shiftedBy(-30 * samplingtep), firing.shiftedBy(duration + 300 * samplingtep));
final PropagatorsParallelizer parallelizer = new PropagatorsParallelizer(propagators, sampler);
if (forward) {
parallelizer.propagate(firing.shiftedBy(-30 * samplingtep), firing.shiftedBy(duration + 300 * samplingtep));
} else {
parallelizer.propagate(firing.shiftedBy(duration + 30 * samplingtep), firing.shiftedBy(-300 * samplingtep));
}
double[] maxRelativeError = new double[tolerance.length];
for (final Entry entry : sampler.sample) {
......@@ -243,26 +299,34 @@ public class TriggersDerivativesTest {
}
}
analyzeSample(sampler, orbitType, firing, forward, degree,
start ? "start time" : "stop time",
start ? "dt_{start}" : "dt_{stop}",
true, null);
for (int i = 0; i < tolerance.length; ++i) {
Assert.assertEquals(0.0, maxRelativeError[i], tolerance[i]);
}
}
private void doTestDerivativeWrtMedianTime(final OrbitType orbitType, final double...tolerance) {
final AbsoluteDate firing = new AbsoluteDate(new DateComponents(2004, 1, 2),
new TimeComponents(4, 15, 34.080),
TimeScalesFactory.getUTC());
final List<Propagator> propagators = new ArrayList<>();
private void doTestDerivativeWrtMedianTime(final OrbitType orbitType, final boolean forward,
final double...tolerance) {
// propagators will be combined using finite differences to compute derivatives
final PositionAngle positionAngle = PositionAngle.TRUE;
final int degree = 20;
final double duration = 200.0;
final double h = 1.0;
final double samplingtep = 20.0;
final KeplerianOrbit initial = (KeplerianOrbit) OrbitType.KEPLERIAN.convertType(buildInitialState(buildAttitudeProvider()).getOrbit());
final double firingM = MathUtils.normalizeAngle(FastMath.PI, initial.getMeanAnomaly() + (forward ? FastMath.PI : -FastMath.PI));
final AbsoluteDate apogeeDate = initial.getDate().shiftedBy((firingM - initial.getMeanAnomaly()) / initial.getKeplerianMeanMotion());
final AbsoluteDate firing = apogeeDate.shiftedBy(-0.5 * duration);
final List<Propagator> propagators = new ArrayList<>();
// propagators will be combined using finite differences to compute derivatives
for (int k = -4; k <= 4; ++k) {
final DateBasedManeuverTriggers triggers =
new DateBasedManeuverTriggers("MAN_0", firing.shiftedBy(k * h), duration);
......@@ -319,8 +383,12 @@ public class TriggersDerivativesTest {
orbitType, positionAngle,
firing, duration, h, samplingtep);
new PropagatorsParallelizer(propagators, sampler).
propagate(firing.shiftedBy(-30 * samplingtep), firing.shiftedBy(duration + 300 * samplingtep));
final PropagatorsParallelizer parallelizer = new PropagatorsParallelizer(propagators, sampler);
if (forward) {
parallelizer.propagate(firing.shiftedBy(-30 * samplingtep), firing.shiftedBy(duration + 300 * samplingtep));
} else {
parallelizer.propagate(firing.shiftedBy(duration + 30 * samplingtep), firing.shiftedBy(-300 * samplingtep));
}
double[] maxRelativeError = new double[tolerance.length];
for (final Entry entry : sampler.sample) {
......@@ -331,7 +399,7 @@ public class TriggersDerivativesTest {
}
}
analyzeSample(sampler, orbitType, firing, degree, "median-time", "dt_m", true, null);
analyzeSample(sampler, orbitType, firing, forward, degree, "median-time", "dt_m", true, null);
for (int i = 0; i < tolerance.length; ++i) {
Assert.assertEquals(0.0, maxRelativeError[i], tolerance[i]);
......@@ -339,20 +407,23 @@ public class TriggersDerivativesTest {
}
private void doTestDerivativeWrtDuration(final OrbitType orbitType, final double...tolerance) {
final AbsoluteDate firing = new AbsoluteDate(new DateComponents(2004, 1, 2),
new TimeComponents(4, 15, 34.080),
TimeScalesFactory.getUTC());
final List<Propagator> propagators = new ArrayList<>();
private void doTestDerivativeWrtDuration(final OrbitType orbitType, final boolean forward,
final double...tolerance) {
// propagators will be combined using finite differences to compute derivatives
final PositionAngle positionAngle = PositionAngle.TRUE;
final int degree = 20;
final double duration = 200.0;
final double h = 1.0;
final double samplingtep = 240.0;
final KeplerianOrbit initial = (KeplerianOrbit) OrbitType.KEPLERIAN.convertType(buildInitialState(buildAttitudeProvider()).getOrbit());
final double firingM = MathUtils.normalizeAngle(FastMath.PI, initial.getMeanAnomaly() + (forward ? FastMath.PI : -FastMath.PI));
final AbsoluteDate apogeeDate = initial.getDate().shiftedBy((firingM - initial.getMeanAnomaly()) / initial.getKeplerianMeanMotion());
final AbsoluteDate firing = apogeeDate.shiftedBy(-0.5 * duration);
final List<Propagator> propagators = new ArrayList<>();
// propagators will be combined using finite differences to compute derivatives
for (int k = -4; k <= 4; ++k) {
final DateBasedManeuverTriggers triggers =
new DateBasedManeuverTriggers("MAN_0", firing.shiftedBy(-0.5 * k * h), duration + k * h);
......@@ -374,8 +445,12 @@ public class TriggersDerivativesTest {
DerivativesSampler sampler = new DerivativesSampler(harvester, null, null, orbitType, positionAngle,
firing, duration, h, samplingtep);
new PropagatorsParallelizer(propagators, sampler).
propagate(firing.shiftedBy(-30 * samplingtep), firing.shiftedBy(duration + 100 * samplingtep));
final PropagatorsParallelizer parallelizer = new PropagatorsParallelizer(propagators, sampler);
if (forward) {
parallelizer.propagate(firing.shiftedBy(-30 * samplingtep), firing.shiftedBy(duration + 300 * samplingtep));
} else {
parallelizer.propagate(firing.shiftedBy(duration + 30 * samplingtep), firing.shiftedBy(-300 * samplingtep));
}
double[] maxRelativeError = new double[tolerance.length];
for (final Entry entry : sampler.sample) {
......@@ -386,7 +461,7 @@ public class TriggersDerivativesTest {
}
}
analyzeSample(sampler, orbitType, firing, degree, "duration", "dτ", true, null);
analyzeSample(sampler, orbitType, firing, forward, degree, "duration", "dτ", true, null);
for (int i = 0; i < tolerance.length; ++i) {
Assert.assertEquals(0.0, maxRelativeError[i], tolerance[i]);
......@@ -395,7 +470,8 @@ public class TriggersDerivativesTest {
}
private void analyzeSample(final DerivativesSampler sampler, final OrbitType orbitType, final AbsoluteDate firing,
final int degree, final String param, final String der, final boolean plot, final String outputDir) {
final boolean forward, final int degree, final String param, final String der,
final boolean plot, final String outputDir) {
if (!plot) {
return;
}
......@@ -413,7 +489,8 @@ public class TriggersDerivativesTest {
out.format(Locale.US, "set terminal qt size %d, %d title 'complex plotter'%n", 1000, 1000);
} else {
fileName = new File(outputDir,
"triggers-partials-" + param + '-' + orbitType + "-degree-" + degree + ".png").
"triggers-partials-" + param + '-' + orbitType + "-degree-" + degree +
(forward ? "-forward" : "-backward") + ".png").
getAbsolutePath();
out.format(Locale.US, "set terminal pngcairo size %d, %d%n", 1000, 1000);
out.format(Locale.US, "set output '%s'%n", fileName);
......@@ -428,7 +505,9 @@ public class TriggersDerivativesTest {
out.format(Locale.US, "set ylabel 'da/" + der + " (m/s)'%n");
out.format(Locale.US, "set key top left%n");
}
out.format(Locale.US, "set title 'derivatives of %s state, gravity field degree %d'%n", orbitType, degree);
out.format(Locale.US,
"set title 'derivatives of %s state, gravity field degree %d %s'%n",
orbitType, degree, forward ? "forward" : "backward");
out.format(Locale.US, "$data <<EOD%n");
for (final Entry entry : sampler.sample) {
out.format(Locale.US, "%.6f", entry.date.durationFrom(firing));
......@@ -471,16 +550,13 @@ public class TriggersDerivativesTest {
final int degree, final AbsoluteDate firing, final double duration,
final DateBasedManeuverTriggers triggers) {
final double delta = FastMath.toRadians(-7.4978);
final double alpha = FastMath.toRadians(351);
AttitudeProvider attitudeProvider = new InertialProvider(new Rotation(new Vector3D(alpha, delta), Vector3D.PLUS_I));
final AttitudeProvider attitudeProvider = buildAttitudeProvider();
SpacecraftState initialState = buildInitialState(attitudeProvider);
final double isp = 318;
final double f = 420;
PropulsionModel propulsionModel = new BasicConstantThrustPropulsionModel(f, isp, Vector3D.PLUS_I, "ABM");
SpacecraftState initialState = buildInitialState(attitudeProvider);
double[][] tol = NumericalPropagator.tolerances(0.01, initialState.getOrbit(), orbitType);
AdaptiveStepsizeIntegrator integrator = new DormandPrince853Integrator(0.001, 1000, tol[0], tol[1]);
integrator.setInitialStepSize(60);
......@@ -508,15 +584,19 @@ public class TriggersDerivativesTest {
final double OMEGA = FastMath.toRadians(261);
final double lv = 0;
final AbsoluteDate initDate = new AbsoluteDate(new DateComponents(2004, 01, 01),
new TimeComponents(23, 30, 00.000),
final AbsoluteDate initDate = new AbsoluteDate(new DateComponents(2004, 1, 1), new TimeComponents(23, 30, 00.000),
TimeScalesFactory.getUTC());
final Orbit orbit =
new KeplerianOrbit(a, e, i, omega, OMEGA, lv, PositionAngle.TRUE,
FramesFactory.getEME2000(), initDate, Constants.EIGEN5C_EARTH_MU);
final Orbit orbit = new KeplerianOrbit(a, e, i, omega, OMEGA, lv, PositionAngle.TRUE,
FramesFactory.getEME2000(), initDate, Constants.EIGEN5C_EARTH_MU);
return new SpacecraftState(orbit, attitudeProvider.getAttitude(orbit, orbit.getDate(), orbit.getFrame()), mass);
}
private AttitudeProvider buildAttitudeProvider() {
final double delta = FastMath.toRadians(-7.4978);
final double alpha = FastMath.toRadians(351);
return new InertialProvider(new Rotation(new Vector3D(alpha, delta), Vector3D.PLUS_I));
}
private class DerivativesSampler implements MultiSatStepHandler {
final MatricesHarvester harvesterMedian;
......
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