Kalman estimator confuses propagation parameters in multi-sat context
When Kalman estimation is performed in a multi-satellite context, propagation parameters are not put in the proper column of measurement matrix.
The KalmanModel
constructor sets up a propagationParameterColumns
map to associate propagation parameters to columns, but this map is not stored as an instance field. When getMeasurementMatrix
is called, it just counts parameters, assuming the propagation parameters are placed just after the estimated orbital parameters. If we consider two satellites and estimate the 6 orbital parameters and 2 propagation parameters for each. Then the estimated state has dimension 16. The KalmanModel
constructor will properly assign columns 0:5 to orbit 1, 6:11 to orbit 2, 12:13 to propagation parameters 1 and 14:15 to propagation parameters 2. However, getMeasurementMatrix
will fill up the measurement matrix with partial derivatives wrt orbit 1 to columns 0:5, partial derivatives wrt propagation parameters 1 to columns 6:7, partial derivatives wrt orbit 2 to columns 6:11 (overriding derivatives wrt propagation parameters 1), partial derivatives wrt propagation parameters 2 to columns 12:13 and never filling columns 14:15.