Skip to content
GitLab
Commit 46cc7802 authored by Bryan Cazabonne's avatar Bryan Cazabonne
Browse files

Revert "Revert "Merge branch 'develop' into rferme/orekit-issue-705"" 

This reverts commit 7e4ced0c.
parent 54f5f2eb
Hide whitespace changes
Inline Side-by-side
src/changes/changes.xml
View file @ 46cc7802
......@@ -21,6 +21,52 @@
</properties>
<body>
<release version="10.3" date="TBD" description="TBD">
<action dev="raphael" type="add" issue="686">
Allowed user-defined format for ephemeris data lines in
StreamingAemWriter, AEMWriter, StreamingOemWriter and OEMWriter.
</action>
<action dev="bryan" type="fix" issue="683">
Updated building instructions.
</action>
<action dev="bryan" type="add" issue="734">
Added getters for phase measurement ambiguity driver.
</action>
<action dev="bryan" type="fix" issue="696">
Allowed to configure initial covariance for measurements in Kalman Filter.
</action>
<action dev="thomas, bryan" type="add" issue="709">
Added clock drift contribution to range rate measurements.
</action>
<action dev="bryan" type="fix" issue="687">
Fixed Javadoc of ElevationMask.
</action>
<action dev="raphael" type="fix" issue="711">
Allowed definition of a default interpolation degree in both AEMParser and OEMParser.
</action>
<action dev="bryan" type="add" issue="733">
Added Lense-Thirring and De Sitter relativistic effects.
</action>
<action dev="melanisti" type="fix" issue="725">
Fixed missing measurement parameter in InterSatellitesRange measurement.
</action>
<action dev="bryan" type="add" issue="732">
Added documentation for checkstyle configuration.
</action>
<action dev="thomas" type="fix" issue="730">
Removed useless loop over an empty list
</action>
<action dev="luc" type="fix" issue="731">
Fixed parsing of some ICGEM gravity fields files.
</action>
<action dev="raphael" type="fix" issue="720">
Added support for measurements parameters in UnivariateProcessNoise
</action>
<action dev="luc" type="fix" issue="729">
Fixed wrong handling of RESET-STATE in analytical propagators.
</action>
<action dev="luc" type="add" issue="728">
Allow creating a node detector without an orbit.
</action>
<action dev="bryan" type="add" issue="671">
Added support for laser ranging file formats.
</action>
......
src/main/java/org/orekit/estimation/measurements/AbstractMeasurement.java
View file @ 46cc7802
......@@ -85,9 +85,6 @@ public abstract class AbstractMeasurement<T extends ObservedMeasurement<T>>
final List<ObservableSatellite> satellites) {
this.supportedParameters = new ArrayList<ParameterDriver>();
for (final ParameterDriver parameterDriver : supportedParameters) {
this.supportedParameters.add(parameterDriver);
}
this.date = date;
this.observed = new double[] {
......
src/main/java/org/orekit/estimation/measurements/GroundStation.java
View file @ 46cc7802
......@@ -89,6 +89,9 @@ public class GroundStation {
/** Suffix for ground station position and clock offset parameters names. */
public static final String OFFSET_SUFFIX = "-offset";
/** Suffix for ground clock drift parameters name. */
public static final String DRIFT_SUFFIX = "-drift-clock";
/** Suffix for ground station intermediate frame name. */
public static final String INTERMEDIATE_SUFFIX = "-intermediate";
......@@ -126,6 +129,9 @@ public class GroundStation {
/** Driver for clock offset. */
private final ParameterDriver clockOffsetDriver;
/** Driver for clock drift. */
private final ParameterDriver clockDriftDriver;
/** Driver for position offset along the East axis. */
private final ParameterDriver eastOffsetDriver;
......@@ -205,6 +211,10 @@ public class GroundStation {
0.0, CLOCK_OFFSET_SCALE,
Double.NEGATIVE_INFINITY, Double.POSITIVE_INFINITY);
this.clockDriftDriver = new ParameterDriver(baseFrame.getName() + DRIFT_SUFFIX,
0.0, CLOCK_OFFSET_SCALE,
Double.NEGATIVE_INFINITY, Double.POSITIVE_INFINITY);
this.eastOffsetDriver = new ParameterDriver(baseFrame.getName() + OFFSET_SUFFIX + "-East",
0.0, POSITION_OFFSET_SCALE,
Double.NEGATIVE_INFINITY, Double.POSITIVE_INFINITY);
......@@ -235,6 +245,14 @@ public class GroundStation {
return clockOffsetDriver;
}
/** Get a driver allowing to change station clock drift (which is related to measurement date).
* @return driver for station clock drift
* @since 10.3
*/
public ParameterDriver getClockDriftDriver() {
return clockDriftDriver;
}
/** Get a driver allowing to change station position along East axis.
* @return driver for station position offset along East axis
*/
......
src/main/java/org/orekit/estimation/measurements/InterSatellitesRange.java
View file @ 46cc7802
......@@ -200,6 +200,14 @@ public class InterSatellitesRange extends AbstractMeasurement<InterSatellitesRan
estimated.setStateDerivatives(0, Arrays.copyOfRange(derivatives, 0, 6));
estimated.setStateDerivatives(1, Arrays.copyOfRange(derivatives, 6, 12));
// Set partial derivatives with respect to parameters
for (final ParameterDriver driver : getParametersDrivers()) {
final Integer index = indices.get(driver.getName());
if (index != null) {
estimated.setParameterDerivatives(driver, derivatives[index]);
}
}
return estimated;
}
......
src/main/java/org/orekit/estimation/measurements/ObservableSatellite.java
View file @ 46cc7802
......@@ -29,6 +29,9 @@ public class ObservableSatellite {
/** Prefix for clock offset parameter driver, the propagator index will be appended to it. */
public static final String CLOCK_OFFSET_PREFIX = "clock-offset-satellite-";
/** Prefix for clock drift parameter driver, the propagator index will be appended to it. */
public static final String CLOCK_DRIFT_PREFIX = "clock-drift-satellite-";
/** Clock offset scaling factor.
* <p>
* We use a power of 2 to avoid numeric noise introduction
......@@ -43,6 +46,9 @@ public class ObservableSatellite {
/** Parameter driver for satellite clock offset. */
private final ParameterDriver clockOffsetDriver;
/** Parameter driver for satellite clock drift. */
private final ParameterDriver clockDriftDriver;
/** Simple constructor.
* @param propagatorIndex index of the propagator related to this satellite
*/
......@@ -51,6 +57,9 @@ public class ObservableSatellite {
this.clockOffsetDriver = new ParameterDriver(CLOCK_OFFSET_PREFIX + propagatorIndex,
0.0, CLOCK_OFFSET_SCALE,
Double.NEGATIVE_INFINITY, Double.POSITIVE_INFINITY);
this.clockDriftDriver = new ParameterDriver(CLOCK_DRIFT_PREFIX + propagatorIndex,
0.0, CLOCK_OFFSET_SCALE,
Double.NEGATIVE_INFINITY, Double.POSITIVE_INFINITY);
}
/** Get the index of the propagator related to this satellite.
......@@ -72,4 +81,15 @@ public class ObservableSatellite {
return clockOffsetDriver;
}
/** Get the clock drift parameter driver.
* <p>
* The drift is negative if the satellite clock is slowing down and positive if it is speeding up.
* </p>
* @return clock offset parameter driver
* @since 10.3
*/
public ParameterDriver getClockDriftDriver() {
return clockDriftDriver;
}
}
src/main/java/org/orekit/estimation/measurements/RangeRate.java
View file @ 46cc7802
......@@ -27,6 +27,7 @@ import org.orekit.frames.FieldTransform;
import org.orekit.propagation.SpacecraftState;
import org.orekit.time.AbsoluteDate;
import org.orekit.time.FieldAbsoluteDate;
import org.orekit.utils.Constants;
import org.orekit.utils.ParameterDriver;
import org.orekit.utils.TimeStampedFieldPVCoordinates;
import org.orekit.utils.TimeStampedPVCoordinates;
......@@ -68,6 +69,8 @@ public class RangeRate extends AbstractMeasurement<RangeRate> {
final boolean twoway, final ObservableSatellite satellite) {
super(date, rangeRate, sigma, baseWeight, Arrays.asList(satellite));
addParameterDriver(station.getClockOffsetDriver());
addParameterDriver(station.getClockDriftDriver());
addParameterDriver(satellite.getClockDriftDriver());
addParameterDriver(station.getEastOffsetDriver());
addParameterDriver(station.getNorthOffsetDriver());
addParameterDriver(station.getZenithOffsetDriver());
......@@ -109,7 +112,7 @@ public class RangeRate extends AbstractMeasurement<RangeRate> {
// Parameters:
// - 0..2 - Position of the spacecraft in inertial frame
// - 3..5 - Velocity of the spacecraft in inertial frame
// - 6..n - station parameters (clock offset, station offsets, pole, prime meridian...)
// - 6..n - station parameters (clock offset, clock drift, station offsets, pole, prime meridian...)
int nbParams = 6;
final Map<String, Integer> indices = new HashMap<>();
for (ParameterDriver driver : getParametersDrivers()) {
......@@ -152,7 +155,7 @@ public class RangeRate extends AbstractMeasurement<RangeRate> {
// one-way (downlink) range-rate
final EstimatedMeasurement<RangeRate> evalOneWay1 =
oneWayTheoreticalEvaluation(iteration, evaluation, true,
stationDownlink, transitPV, transitState, indices);
stationDownlink, transitPV, transitState, indices, nbParams);
final EstimatedMeasurement<RangeRate> estimated;
if (twoway) {
// one-way (uplink) light time correction
......@@ -173,7 +176,7 @@ public class RangeRate extends AbstractMeasurement<RangeRate> {
final EstimatedMeasurement<RangeRate> evalOneWay2 =
oneWayTheoreticalEvaluation(iteration, evaluation, false,
stationUplink, transitPV, transitState, indices);
stationUplink, transitPV, transitState, indices, nbParams);
// combine uplink and downlink values
estimated = new EstimatedMeasurement<>(this, iteration, evaluation,
......@@ -223,6 +226,7 @@ public class RangeRate extends AbstractMeasurement<RangeRate> {
* @param transitPV spacecraft coordinates at onboard signal transit
* @param transitState orbital state at onboard signal transit
* @param indices indices of the estimated parameters in derivatives computations
* @param nbParams the number of estimated parameters in derivative computations
* @return theoretical value
* @see #evaluate(SpacecraftStatet)
*/
......@@ -230,7 +234,8 @@ public class RangeRate extends AbstractMeasurement<RangeRate> {
final TimeStampedFieldPVCoordinates<Gradient> stationPV,
final TimeStampedFieldPVCoordinates<Gradient> transitPV,
final SpacecraftState transitState,
final Map<String, Integer> indices) {
final Map<String, Integer> indices,
final int nbParams) {
// prepare the evaluation
final EstimatedMeasurement<RangeRate> estimated =
......@@ -252,8 +257,22 @@ public class RangeRate extends AbstractMeasurement<RangeRate> {
// radial direction
final FieldVector3D<Gradient> lineOfSight = relativePosition.normalize();
// line of sight velocity
final Gradient lineOfSightVelocity = FieldVector3D.dotProduct(relativeVelocity, lineOfSight);
// range rate
final Gradient rangeRate = FieldVector3D.dotProduct(relativeVelocity, lineOfSight);
Gradient rangeRate = lineOfSightVelocity;
if (!twoway) {
// clock drifts, taken in account only in case of one way
final ObservableSatellite satellite = getSatellites().get(0);
final Gradient dtsDot = satellite.getClockDriftDriver().getValue(nbParams, indices);
final Gradient dtgDot = station.getClockDriftDriver().getValue(nbParams, indices);
final Gradient clockDriftBiais = dtgDot.subtract(dtsDot).multiply(Constants.SPEED_OF_LIGHT);
rangeRate = rangeRate.add(clockDriftBiais);
}
estimated.setEstimatedValue(rangeRate.getValue());
......
src/main/java/org/orekit/estimation/measurements/gnss/InterSatellitesPhase.java
View file @ 46cc7802
......@@ -92,6 +92,13 @@ public class InterSatellitesPhase extends AbstractMeasurement<InterSatellitesPha
return wavelength;
}
/** Get the driver for phase ambiguity.
* @return the driver for phase ambiguity
*/
public ParameterDriver getAmbiguityDriver() {
return ambiguityDriver;
}
/** {@inheritDoc} */
@Override
protected EstimatedMeasurement<InterSatellitesPhase> theoreticalEvaluation(final int iteration,
......
src/main/java/org/orekit/estimation/measurements/gnss/OneWayGNSSPhase.java
View file @ 46cc7802
......@@ -108,6 +108,13 @@ public class OneWayGNSSPhase extends AbstractMeasurement<OneWayGNSSPhase> {
return wavelength;
}
/** Get the driver for phase ambiguity.
* @return the driver for phase ambiguity
*/
public ParameterDriver getAmbiguityDriver() {
return ambiguityDriver;
}
/** {@inheritDoc} */
@Override
protected EstimatedMeasurement<OneWayGNSSPhase> theoreticalEvaluation(final int iteration,
......
src/main/java/org/orekit/estimation/measurements/gnss/Phase.java
View file @ 46cc7802
......@@ -112,6 +112,14 @@ public class Phase extends AbstractMeasurement<Phase> {
return wavelength;
}
/** Get the driver for phase ambiguity.
* @return the driver for phase ambiguity
* @since 10.3
*/
public ParameterDriver getAmbiguityDriver() {
return ambiguityDriver;
}
/** {@inheritDoc} */
@Override
protected EstimatedMeasurement<Phase> theoreticalEvaluation(final int iteration,
......
src/main/java/org/orekit/estimation/sequential/DSSTKalmanModel.java
View file @ 46cc7802
......@@ -92,6 +92,9 @@ public class DSSTKalmanModel implements KalmanODModel {
/** Providers for covariance matrices. */
private final List<CovarianceMatrixProvider> covarianceMatricesProviders;
/** Process noise matrix provider for measurement parameters. */
private final CovarianceMatrixProvider measurementProcessNoiseMatrix;
/** Indirection arrays to extract the noise components for estimated parameters. */
private final int[][] covarianceIndirection;
......@@ -134,18 +137,39 @@ public class DSSTKalmanModel implements KalmanODModel {
/** Type of the elements used to define the orbital state.*/
private PropagationType stateType;
/** Kalman process model constructor (package private).
/** Kalman process model constructor.
* @param propagatorBuilders propagators builders used to evaluate the orbits.
* @param covarianceMatricesProviders providers for covariance matrices
* @param estimatedMeasurementParameters measurement parameters to estimate
* @param propagationType type of the orbit used for the propagation (mean or osculating)
* @param stateType type of the elements used to define the orbital state (mean or osculating)
* @deprecated since 10.3, replaced by {@link
* #DSSTKalmanModel(List, List, ParameterDriversList, CovarianceMatrixProvider, PropagationType, PropagationType)}
*/
@Deprecated
public DSSTKalmanModel(final List<IntegratedPropagatorBuilder> propagatorBuilders,
final List<CovarianceMatrixProvider> covarianceMatricesProviders,
final ParameterDriversList estimatedMeasurementParameters,
final PropagationType propagationType,
final PropagationType stateType) {
final List<CovarianceMatrixProvider> covarianceMatricesProviders,
final ParameterDriversList estimatedMeasurementParameters,
final PropagationType propagationType,
final PropagationType stateType) {
this(propagatorBuilders, covarianceMatricesProviders, estimatedMeasurementParameters,
null, propagationType, stateType);
}
/** Kalman process model constructor.
* @param propagatorBuilders propagators builders used to evaluate the orbits.
* @param covarianceMatricesProviders providers for covariance matrices
* @param estimatedMeasurementParameters measurement parameters to estimate
* @param measurementProcessNoiseMatrix provider for measurement process noise matrix
* @param propagationType type of the orbit used for the propagation (mean or osculating)
* @param stateType type of the elements used to define the orbital state (mean or osculating)
*/
public DSSTKalmanModel(final List<IntegratedPropagatorBuilder> propagatorBuilders,
final List<CovarianceMatrixProvider> covarianceMatricesProviders,
final ParameterDriversList estimatedMeasurementParameters,
final CovarianceMatrixProvider measurementProcessNoiseMatrix,
final PropagationType propagationType,
final PropagationType stateType) {
this.builders = propagatorBuilders;
this.estimatedMeasurementsParameters = estimatedMeasurementParameters;
......@@ -221,8 +245,9 @@ public class DSSTKalmanModel implements KalmanODModel {
}
// Store providers for process noise matrices
this.covarianceMatricesProviders = covarianceMatricesProviders;
this.covarianceIndirection = new int[covarianceMatricesProviders.size()][columns];
this.covarianceMatricesProviders = covarianceMatricesProviders;
this.measurementProcessNoiseMatrix = measurementProcessNoiseMatrix;
this.covarianceIndirection = new int[covarianceMatricesProviders.size()][columns];
for (int k = 0; k < covarianceIndirection.length; ++k) {
final ParameterDriversList orbitDrivers = builders.get(k).getOrbitalParametersDrivers();
final ParameterDriversList parametersDrivers = builders.get(k).getPropagationParametersDrivers();
......@@ -285,12 +310,30 @@ public class DSSTKalmanModel implements KalmanODModel {
// Set up initial covariance
final RealMatrix physicalProcessNoise = MatrixUtils.createRealMatrix(columns, columns);
for (int k = 0; k < covarianceMatricesProviders.size(); ++k) {
final RealMatrix noiseK = covarianceMatricesProviders.get(k).
// Number of estimated measurement parameters
final int nbMeas = estimatedMeasurementParameters.getNbParams();
// Number of estimated dynamic parameters (orbital + propagation)
final int nbDyn = orbitsEndColumns[k] - orbitsStartColumns[k] +
estimatedPropagationParameters[k].getNbParams();
// Covariance matrix
final RealMatrix noiseK = MatrixUtils.createRealMatrix(nbDyn + nbMeas, nbDyn + nbMeas);
final RealMatrix noiseP = covarianceMatricesProviders.get(k).
getInitialCovarianceMatrix(correctedSpacecraftStates[k]);
noiseK.setSubMatrix(noiseP.getData(), 0, 0);
if (measurementProcessNoiseMatrix != null) {
final RealMatrix noiseM = measurementProcessNoiseMatrix.
getInitialCovarianceMatrix(correctedSpacecraftStates[k]);
noiseK.setSubMatrix(noiseM.getData(), nbDyn, nbDyn);
}
checkDimension(noiseK.getRowDimension(),
builders.get(k).getOrbitalParametersDrivers(),
builders.get(k).getPropagationParametersDrivers(),
estimatedMeasurementsParameters);
final int[] indK = covarianceIndirection[k];
for (int i = 0; i < indK.length; ++i) {
if (indK[i] >= 0) {
......@@ -944,9 +987,27 @@ public class DSSTKalmanModel implements KalmanODModel {
final RealMatrix physicalProcessNoise = MatrixUtils.createRealMatrix(previousState.getDimension(),
previousState.getDimension());
for (int k = 0; k < covarianceMatricesProviders.size(); ++k) {
final RealMatrix noiseK = covarianceMatricesProviders.get(k).
// Number of estimated measurement parameters
final int nbMeas = estimatedMeasurementsParameters.getNbParams();
// Number of estimated dynamic parameters (orbital + propagation)
final int nbDyn = orbitsEndColumns[k] - orbitsStartColumns[k] +
estimatedPropagationParameters[k].getNbParams();
// Covariance matrix
final RealMatrix noiseK = MatrixUtils.createRealMatrix(nbDyn + nbMeas, nbDyn + nbMeas);
final RealMatrix noiseP = covarianceMatricesProviders.get(k).
getProcessNoiseMatrix(correctedSpacecraftStates[k],
predictedSpacecraftStates[k]);
noiseK.setSubMatrix(noiseP.getData(), 0, 0);
if (measurementProcessNoiseMatrix != null) {
final RealMatrix noiseM = measurementProcessNoiseMatrix.
getProcessNoiseMatrix(correctedSpacecraftStates[k],
predictedSpacecraftStates[k]);
noiseK.setSubMatrix(noiseM.getData(), nbDyn, nbDyn);
}
checkDimension(noiseK.getRowDimension(),
builders.get(k).getOrbitalParametersDrivers(),
builders.get(k).getPropagationParametersDrivers(),
......
src/main/java/org/orekit/estimation/sequential/KalmanEstimator.java
View file @ 46cc7802
......@@ -94,11 +94,31 @@ public class KalmanEstimator {
* @param propagatorBuilders propagators builders used to evaluate the orbit.
* @param processNoiseMatricesProviders providers for process noise matrices
* @param estimatedMeasurementParameters measurement parameters to estimate
* @deprecated since 10.3, replaced by
* {@link #KalmanEstimator(MatrixDecomposer, List, List, ParameterDriversList, CovarianceMatrixProvider)}
*/
@Deprecated
KalmanEstimator(final MatrixDecomposer decomposer,
final List<IntegratedPropagatorBuilder> propagatorBuilders,
final List<CovarianceMatrixProvider> processNoiseMatricesProviders,
final ParameterDriversList estimatedMeasurementParameters) {
this(decomposer, propagatorBuilders, processNoiseMatricesProviders,
estimatedMeasurementParameters, null);
}
/** Kalman filter estimator constructor (package private).
* @param decomposer decomposer to use for the correction phase
* @param propagatorBuilders propagators builders used to evaluate the orbit.
* @param processNoiseMatricesProviders providers for process noise matrices
* @param estimatedMeasurementParameters measurement parameters to estimate
* @param measurementProcessNoiseMatrix provider for measurement process noise matrix
* @since 10.3
*/
KalmanEstimator(final MatrixDecomposer decomposer,
final List<IntegratedPropagatorBuilder> propagatorBuilders,
final List<CovarianceMatrixProvider> processNoiseMatricesProviders,
final ParameterDriversList estimatedMeasurementParameters,
final CovarianceMatrixProvider measurementProcessNoiseMatrix) {
this.propagatorBuilders = propagatorBuilders;
this.referenceDate = propagatorBuilders.get(0).getInitialOrbitDate();
......@@ -107,9 +127,8 @@ public class KalmanEstimator {
// Build the process model and measurement model
this.processModel = propagatorBuilders.get(0).buildKalmanModel(propagatorBuilders,
processNoiseMatricesProviders,
estimatedMeasurementParameters);
//this.processModel = new KalmanModel(propagatorBuilders, processNoiseMatricesProviders,
//estimatedMeasurementParameters);
estimatedMeasurementParameters,
measurementProcessNoiseMatrix);
this.filter = new ExtendedKalmanFilter<>(decomposer, processModel, processModel.getEstimate());
......
src/main/java/org/orekit/estimation/sequential/KalmanEstimatorBuilder.java
View file @ 46cc7802
......@@ -45,6 +45,9 @@ public class KalmanEstimatorBuilder {
/** Process noise matrices providers. */
private List<CovarianceMatrixProvider> processNoiseMatricesProviders;
/** Process noise matrix provider for measurement parameters. */
private CovarianceMatrixProvider measurementProcessNoiseMatrix;
/** Default constructor.
* Set an extended Kalman filter, with linearized covariance prediction.
*/
......@@ -53,6 +56,7 @@ public class KalmanEstimatorBuilder {
this.propagatorBuilders = new ArrayList<>();
this.estimatedMeasurementsParameters = new ParameterDriversList();
this.processNoiseMatricesProviders = new ArrayList<>();
this.measurementProcessNoiseMatrix = null;
}
/** Construct a {@link KalmanEstimator} from the data in this builder.
......@@ -69,7 +73,7 @@ public class KalmanEstimatorBuilder {
throw new OrekitException(OrekitMessages.NO_PROPAGATOR_CONFIGURED);
}
return new KalmanEstimator(decomposer, propagatorBuilders, processNoiseMatricesProviders,
estimatedMeasurementsParameters);
estimatedMeasurementsParameters, measurementProcessNoiseMatrix);
}
/** Configure the matrix decomposer.
......@@ -117,11 +121,28 @@ public class KalmanEstimatorBuilder {
* </p>
* @param estimatedMeasurementsParams The estimated measurements' parameters list.
* @return this object.
*
* @deprecated since 10.3 replaced by {@link #estimatedMeasurementsParameters(ParameterDriversList, CovarianceMatrixProvider)}
*/
@Deprecated
public KalmanEstimatorBuilder estimatedMeasurementsParameters(final ParameterDriversList estimatedMeasurementsParams) {
estimatedMeasurementsParameters = estimatedMeasurementsParams;
return this;
}
/** Configure the estimated measurement parameters.
* <p>
* If this method is not called, no measurement parameters will be estimated.
* </p>
* @param estimatedMeasurementsParams The estimated measurements' parameters list.
* @param provider covariance matrix provider for the estimated measurement parameters
* @return this object.
* @since 10.3
*/
public KalmanEstimatorBuilder estimatedMeasurementsParameters(final ParameterDriversList estimatedMeasurementsParams,
final CovarianceMatrixProvider provider) {
estimatedMeasurementsParameters = estimatedMeasurementsParams;
measurementProcessNoiseMatrix = provider;
return this;
}
}
src/main/java/org/orekit/estimation/sequential/KalmanModel.java
View file @ 46cc7802
......@@ -87,6 +87,9 @@ public class KalmanModel implements KalmanODModel {
/** Providers for covariance matrices. */
private final List<CovarianceMatrixProvider> covarianceMatricesProviders;
/** Process noise matrix provider for measurement parameters. */
private final CovarianceMatrixProvider measurementProcessNoiseMatrix;
/** Indirection arrays to extract the noise components for estimated parameters. */
private final int[][] covarianceIndirection;
......@@ -123,14 +126,29 @@ public class KalmanModel implements KalmanODModel {
/** Corrected measurement. */
private EstimatedMeasurement<?> correctedMeasurement;
/** Kalman process model constructor (package private).
/** Kalman process model constructor.
* @param propagatorBuilders propagators builders used to evaluate the orbits.
* @param covarianceMatricesProviders providers for covariance matrices (orbital and propagation parameters)
* @param estimatedMeasurementParameters measurement parameters to estimate
* @deprecated since 10.3, replaced by {@link #KalmanModel(List, List, ParameterDriversList, CovarianceMatrixProvider)}
*/
@Deprecated
public KalmanModel(final List<IntegratedPropagatorBuilder> propagatorBuilders,
final List<CovarianceMatrixProvider> covarianceMatricesProviders,
final ParameterDriversList estimatedMeasurementParameters) {
this(propagatorBuilders, covarianceMatricesProviders, estimatedMeasurementParameters, null);
}
/** Kalman process model constructor.
* @param propagatorBuilders propagators builders used to evaluate the orbits.
* @param covarianceMatricesProviders providers for covariance matrices
* @param estimatedMeasurementParameters measurement parameters to estimate
* @param measurementProcessNoiseMatrix provider for measurement process noise matrix
*/
public KalmanModel(final List<IntegratedPropagatorBuilder> propagatorBuilders,
final List<CovarianceMatrixProvider> covarianceMatricesProviders,
final ParameterDriversList estimatedMeasurementParameters) {
final List<CovarianceMatrixProvider> covarianceMatricesProviders,
final ParameterDriversList estimatedMeasurementParameters,
final CovarianceMatrixProvider measurementProcessNoiseMatrix) {
this.builders = propagatorBuilders;
this.estimatedMeasurementsParameters = estimatedMeasurementParameters;
......@@ -204,8 +222,9 @@ public class KalmanModel implements KalmanODModel {
}
// Store providers for process noise matrices
this.covarianceMatricesProviders = covarianceMatricesProviders;
this.covarianceIndirection = new int[covarianceMatricesProviders.size()][columns];
this.covarianceMatricesProviders = covarianceMatricesProviders;
this.measurementProcessNoiseMatrix = measurementProcessNoiseMatrix;
this.covarianceIndirection = new int[covarianceMatricesProviders.size()][columns];
for (int k = 0; k < covarianceIndirection.length; ++k) {
final ParameterDriversList orbitDrivers = builders.get(k).getOrbitalParametersDrivers();
final ParameterDriversList parametersDrivers = builders.get(k).getPropagationParametersDrivers();
......@@ -268,12 +287,30 @@ public class KalmanModel implements KalmanODModel {
// Set up initial covariance
final RealMatrix physicalProcessNoise = MatrixUtils.createRealMatrix(columns, columns);