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(the "License"); you may not use this file except in compliance with
the License. You may obtain a copy of the License at
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<document>
<properties>
<title>Rugged Changes</title>
</properties>
<body>
<release version="3.0" date="2022-07-05" description="This is a major release.
It fixes a few bugs.
This version depends on Orekit 11.2 and Hipparchus 2.1.">
<action dev="luc" type="update" issue="388">
Fixed longitude normalization issue with tiles.
</action>
<action dev="guylaine" type="update" issue="391">
Fixed inverse location issue with atmospheric refraction.
</action>
Updated dependencies to Orekit 11.2 (and Hipparchus 2.1 ).
<action dev="guylaine" type="update" issue="390">
Changed CS Group website URL.
</action>
<action dev="guylaine" type="update">
Updated link to Sergeï Tanygin's paper about attitude interpolation in documentation.
</action>
</release>
<release version="2.2" date="2020-07-31" description="This is a minor release.
It adds access to algorithm identifier,
corrects an Earth constant for model IERS96,
Automatic building, release and code analysis are available with Gitlab CI.
This version depends on Orekit 10.2 and Hipparchus 1.7.">
Updated dependencies to Orekit 10.2 (and Hipparchus 1.7).
<action dev="guylaine" type="fix" issue="384">
Add connection with Gitlab CI to allow automatic building and release,
as well as automatic code analysis (https://sonar.orekit.org/dashboard?id=org.orekit%3Arugged).
</action>
<action dev="luc" type="fix" issue="386">
Fix a unit test due to CI specificity.
</action>
<action dev="guylaine" type="update" issue="381">
Give access to algorithm identifier (DUVENHAGE,
CONSTANT_ELEVATION_OVER_ELLIPSOID, ...) with the new method getAlgorithmId().
</action>
<action dev="guylaine" type="update" issue="385">
Use the new Derivative<T> interface from Hipparchus.
</action>
<action dev="guylaine" type="fix" issue="379">
Correct erroneous Earth flattening for model IERS96 in RuggedBuilder.
</action>
<action dev="guylaine" type="update" issue="378">
Replace in RuggedBuilder hard-coded constants by Orekit Earth constants.
</action>
<action dev="guylaine" type="update">
Update building explanations in static site and remove redundant BUILDING.txt.
</action>
<action dev="guylaine" type="add">
Create a release guide in static site.
</action>
<action dev="guylaine" type="update">
Update deprecated method of Orekit DataProvidersManager class.
</action>
<action dev="guylaine" type="update" issue="382">
Remove explicit dependency to Hipparchus library.
</action>
<action dev="guylaine" type="add">
Add package-info documentation.
</action>
<release version="2.1" date="2019-03-14" description="This is a minor release.
It adds refraction in inverse location and fixes a few bugs. This version depends
on Orekit 9.3.1 and Hipparchus 1.4.">
Updated dependencies to Orekit 9.3.1 and Hipparchus 1.4.
<action dev="luc" type="fix" issue="376">
Direct location may result to a null result in some very rugged region.
In Duvenhage algorithm, in the refineIntersection method for the DEM,
some rare cases led to no intersection (as a result from SimpleTile.cellIntersection)
with the closeGuess given as input of refineIntersection.By shifting the solution
along the LOS direction, with an iterative process, we are able to find the intersection.
</action>
<action dev="guylaine" type="fix" issue="377">
Add the possibility to suspend and resume the dump.
When performing a dump, in some cases, some extra informations are dumped
but are not relevant.
For instance when updating a tile for a SRTM tile, we need to add the geoid
value of the current point. In the dump file, the geoid tile is also dumped
and it leads to bad results when performing the DumpReplayer, as the geoid
elevations are read instead of the real elevations.
</action>
<action dev="guylaine" type="update">
Enable null in dump of direct or inverse location results.
If direct or inverse location gave "null" as a result, it was not dumped.
</action>
<action dev="guylaine" type="update">
Improve test coverage of classes related to dump (org.orekit.rugged.errors).
</action>
<action dev="guylaine" type="fix" issue="373">
Changed RuggedException from checked to unchecked exception.
Most functions do throw such exceptions. As they are unchecked, they are
not advertised in either `throws` statements in the function signature or
in the javadoc. So users must consider that as soon as they use any Rugged
feature, an unchecked `RuggedException` may be thrown. In most cases, users
will not attempt to recover for this but will only use them to display or
log a meaningful error message.
</action>
<action dev="guylaine" type="fix" issue="372">
Add (optional) atmospheric refraction for inverse location.
In Rugged 2.0, only the direct location can take into account the atmospheric refraction.
</action>
<action dev="guylaine" type="add" due-to="Issam Boukerch">
Changed terms for refining tutorials.
The "fulcrum points" term is changed into "Ground Control Points (GCP)" and
the "liaison points" term into "tie points".
</action>
<action dev="luc" type="fix" issue="371">
For refining computation, correct the constructor of the class
adjustment.measurements.SensorToGroundMapping due to a parameters reversal error.
Bad check of maxDate validity in utils.SpacecraftToObservedBody.SpacecraftToObservedBody
method.
<action dev="luc" type="add" due-to="Lars Næsbye Christensen">
Updated Danish translations of error messages.
</action>
<action dev="luc" type="add" due-to="Roberto Alacevich">
Updated Italian translations of error messages.
</action>
<action dev="guylaine" type="add" due-to="Espen Bjørntvedt">
Updated Norwegian translations of error messages.
</action>
<action dev="luc" type="add" due-to="Beatriz Salazar García">
Updated Spanish translations of error messages.
<release version="2.0" date="2017-12-19" description="This is a major release.
It mainly provides a refinement feature (i.e. adjusting the viewing model
parameters to match ground control points.">
<action dev="guylaine" type="update">
Updated dependencies to Orekit 9.1 and Hipparchus 1.2.
</action>
<action dev="guylaine" type="add" due-to="Jonathan Guinet, Lucie Labat-Allée">
Added refinement feature, to adjust viewing model parameters
</action>
<action dev="luc" type="add" due-to="Lars Næsbye Christensen" issue="343">
<action dev="luc" type="update">
Updated dependency to Hipparchus 1.1, released on 2017, March 16th.
</action>
<action dev="luc" type="add" due-to="Sergio Esteves">
Added atmospheric refraction.
This work was done under the frame of ESA SOCIS 2016 program.
Implements feature #185.
</action>
<action dev="luc" type="update">
Replaced the ad-hoc parameters with Orekit ParameterDriver that are
used in Orekit orbit determination feature.
</action>
<action dev="luc" type="update">
Updated dependencies to Orekit 8.0 and Hipparchus 1.0.
</action>
<action dev="guylaine" type="update">
Converted Rugged to use the Hipparchus library.
</action>
</release>
<release version="1.0" date="2016-02-10"
description="This is the first official release of Rugged. It includes direct and
inverse location for push-broom sensors.">
<action dev="luc" type="add">
Added a getAlgorithm method at Rugged level. This allows for example to
retrieve the DEM elevation for a latitude/longitude pair.
</action>
<action dev="luc" type="add" >
Added a utility to help estimate visibility and set up min/max search lines.
</action>
<action dev="luc" type="fix" >
Improved latitude crossing robustness.
</action>
<action dev="luc" type="add" >
Added a protection against infinite loops in Duvenhage algorithm.
</action>
<action dev="luc" type="add" >
Added a CONSTANT_ELEVATION_OVER_ELLIPSOID algorithm, similar in spirit
to the IGNORE_DEM_USE_ELLIPSOID, but with a user-specified elevation
instead of always using 0.0 elevation.
Implements feature #187.
</action>
<action dev="luc" type="add" due-to="Espen Bjørntvedt">
Added Norwegian translation of error messages.
</action>
<action dev="luc" type="update">
Updated Apache Commons Version as 3.4 has now been released.
</action>
<action dev="luc" type="add" >
Added partial derivatives for line-of-sights with respect to transforms parameters.
This is the first step towards los calibration.
</action>
<action dev="luc" type="add" >
Added sequences of transforms for lines-of-sight.
</action>
Added a builder for line-of-sight lists.
</action>
<action dev="luc" type="update" >
<action dev="luc" type="add" >
Added getters to the RuggedBuilder.
</action>
<action dev="luc" type="fix" >
Force reset of builder interpolator when time span is changed.
</action>
<action dev="luc" type="add" due-to="Lucian Barbulescu">
Added Romanian translation of error messages.
</action>
<action dev="luc" type="update" >
Use builder pattern and fluent interface to create the top level Rugged instance.
</action>
<action dev="luc" type="fix" >
Force geodetic points to remain in the same longitude range as the tile of the
Digital Elevation Model they belong to.
</action>
<action dev="luc" type="fix" >
Added a protection agains some extremely rare numerical problems
in Duvenhage algorithm.
</action>
<action dev="luc" type="add" due-to="Silvia Ríos Bergantiños and Beatriz Salazar">
Added Spanish and Galician translations of error messages.
</action>
<action dev="luc" type="add" due-to="Marina Ludwig">
Added German translation of error messages.
</action>
<action dev="luc" type="add" due-to="Francesco Coccoluto">
Added Italian translation of error messages.
</action>
<action dev="luc" type="fix">
Added detection of wrong position/line-of-sight that misses the ground.
</action>
<action dev="luc" type="add">
Added a way to reuse transform interpolator from one run to another
by dumping its state into a file, thus avoiding costly initialization.
</action>
<action dev="luc" type="add">
Time step for internal transform caching is now user-configurable.
</action>
Switched maven configuration to multi-modules.
</action>
<action dev="luc" type="update">
Updated UML diagrams.
</action>
<action dev="luc" type="update">
Moved TileUpdate to raster package.
</action>
<action dev="luc" type="update">
Finalized direct location diagrams.
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</action>
<action dev="luc" type="update">
renamed core package into intersection.
</action>
<action dev="luc" type="update">
Created a utils package.
</action>
<action dev="luc" type="update">
Moved raster package one level up.
</action>
<action dev="luc" type="fix">
Fixed top package name.
</action>
<action dev="luc" type="update">
Updated maven plugins versions.
</action>
<action dev="luc" type="update">
Updated Apache Commons Version as 3.3 has now been released.
</action>
<action dev="luc" type="update">
Updated Orekit version.
</action>
<action dev="luc" type="update">
Improved performance.
</action>
<action dev="luc" type="update">
Disabled timing test for inverse location.
</action>
<action dev="luc" type="update">
Improved inverse location speed again!
</action>
<action dev="luc" type="update">
Added inverse location from latitude and longitude only.
When only latitude and longitude are specified, the elevation is
automatically computed from the Digital Elevation Model.
</action>
<action dev="luc" type="update">
</action>
<action dev="luc" type="update">
Improved inverse location performances.
</action>
<action dev="luc" type="update">
Added rate to the LineDatation interface.
</action>
<action dev="luc" type="update">
Disable timing test by default.
</action>
<action dev="luc" type="update">
Renamed setLineSensor into addLineSensor.
The new name explains more clearly that several sensors can be set up at
once.
</action>
<action dev="luc" type="fix">
First working version of inverse location.
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</action>
<action dev="luc" type="update">
Streamlined line sensor model.
We now use a single position for all pixels (but of course still
different line-of-sight vectors), as it doesn't really make sense to
consider different positions as pixels are only a few microns away from
each other.
</action>
<action dev="luc" type="update">
Ensure sensor mean plane normal has a deterministic orientation.
</action>
<action dev="luc" type="update">
Slightly changed the intersection refinement in flat-body.
</action>
<action dev="luc" type="update">
Added a flat-body implementation of refineIntersection.
The former implementation ignored the flat-body flag and in fact
corrected the flat-body ...
</action>
<action dev="luc" type="fix">
Fixed mean reference point position.
</action>
<action dev="luc" type="update">
Improved light time correction.
The current altitude must be considered when computing light time
correction. Previous computation was slightly wrong as it only computed
light time from the ellipsoid. This induced problems when computing
inverse correction.
</action>
<action dev="luc" type="fix">
Fixed computation of latitude crossings for line of sight.
In some cases, the line of sight has two intersections with a given
iso-latitude cone, and the selecting the closes one to spacecraft was
not always the appropriate choice. An hint from the caller was needed,
as a point close to the desired intersection.
</action>
<action dev="luc" type="fix">
Fixed non-bracketing error near start of sensor line.
</action>
<action dev="luc" type="update">
Moved reference date from Rugged top class to LineDatation model.
</action>
<action dev="luc" type="update">
Remove check for context, which is ensured since construction.
</action>
<action dev="luc" type="update">
Improved speed of inverse location test.
</action>
<action dev="luc" type="fix">
First working version of inverse location.
It works in simple cases (no light time correction and no aberration of
light correction), and is still really slow.
</action>
<action dev="luc" type="add">
Started implementation of inverse location (not working yet).
</action>
<action dev="luc" type="update">
Removed a check that is not needed anymore.
The indices are now checked at caller level.
</action>
<action dev="luc" type="update">
Added an option to use Duvenhage algorithm with flat-Earth hypothesis.
This option is mainly intended for comparison with existing systems. It
should not be used for operational systems and the full Duvenhage
algorithm with line-of-sight bending in geodetic coordinates should be
used instead.
</action>
<action dev="luc" type="fix">
Avoid array bounds error when interpolating exactly at tile edges.
</action>
<action dev="luc" type="update">
Added automatic mean plane computation for line sensors.
This will allow implementing inverse location.
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</action>
<action dev="luc" type="update">
Allow direct use of Orekit inertial frames and ellipsoids.
</action>
<action dev="luc" type="update">
Added optional aberration of light correction.
</action>
<action dev="luc" type="update">
Renamed ligth travel time compensation into light time correction.
This better matches physics naming conventions.
</action>
<action dev="luc" type="update">
Moved light travel compensation setting out of construction.
This setting is not intended to be used often (in fact it should be used
only for validation against other systems), so forcing user to set it in
all cases was a bad idea. Now the default configuration is to compensate
and if user does not want to compensate, he can inhibate it by calling a
separate method after construction.
</action>
<action dev="luc" type="update">
Fixing light travel time or not is now a user setting.
</action>
<action dev="luc" type="update">
Configure tiles updater at construction time.
</action>
<action dev="luc" type="update">
Replaced setGeneralContext with constructors.
</action>
<action dev="luc" type="update">
Replaced Rugged interface with a class.
</action>
<action dev="luc" type="update">
Moved enumerates out of Rugged top level interface.
</action>
<action dev="luc" type="update">
Removed SatellitePV and SatelliteQ classes.
We now use directly Orekit PVCoordinates and Apache Commons Math
Rotation classes.
</action>
<action dev="luc" type="update">
Remove GroundPoint class.
We use directly the Orekit NormalizedGeodeticPoint now.
</action>
<action dev="luc" type="add">
Added ITRF equinox, for applications that rely on it...
</action>
<action dev="luc" type="fix">
Fixed virtual "wall" appearing at tiles boundaries.
</action>
<action dev="luc" type="fix">
Avoid an infinite loop near tiles boundaries.
</action>
<action dev="luc" type="fix">
Fixed error loading elevation from Aster files.
</action>
<action dev="luc" type="update">
Improved accuracy by taking speed of light into account in transforms.
</action>
<action dev="luc" type="update">
Slight speed-up with a dedicated pointOnGround method.
</action>
<action dev="luc" type="update">
Added writing of grid file to full test.
</action>
<action dev="luc" type="update">
Don't use a numerical propagator within direct location.
As the time between each line is really small (milliseconds), it is
better to propagate first and use an ephemeris later.
</action>
<action dev="luc" type="add">
New global test (temporary, much too computing intensive).
</action>
<action dev="luc" type="add">
Added a default linear model for line datation.
</action>
<action dev="luc" type="update">
Avoid line-of-sight splitting before its start.
</action>
<action dev="luc" type="fix">
Fixed a numerical issue at tile exit.
The low point at tile minimum elevation was computed with a tiny
positive error, meaning the point really was above min elevation (at
micrometer level). The line segment between entry and exit stopped just
before traversing the Digital Elevation Model, and an error was
triggered.
The solution was to take some margin when computing the segment
endpoints at entry and exit: we now start above max elevation and end
below min elevation so the intersection should be really on the line.
</action>
<action dev="luc" type="update">
Greatly improved accuracy of direct location.
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There were some small errors (at centimeter level) as result points may
be slightly out of line of sight. These errors seemed to be due to the
final linear line-of-sight model that is used at pixel level.
An iterative correction step is performed to ensure the point is really
on the line-of-sight.
The residual error is now at nanometer level.
</action>
<action dev="luc" type="add">
Allow tolerance for intersections close to pixel edges.
</action>
<action dev="luc" type="update">
Use the four corners of each pixel to initialize min/max kd-tree.
</action>
<action dev="luc" type="update">
Use point and direction rather than two points for pixel intersection.
</action>
<action dev="luc" type="update">
Added a los conversion between Cartesian and geodetic coordinates.
The conversion is of course accurate only in the neighborhood of the
reference point, as a straight line in Cartesian is not a straight line
in geodetic coordinates. What is converted is the initial direction so
the two curves are tangent at the reference point.
Near Earth surface, the two curves remain within one millimeter of each
other after about 100 m travel.
</action>
<action dev="luc" type="fix">
First working version of Duvenhage algorithm!
</action>
<action dev="luc" type="fix">
Handle degenerate intersection cases.
The cases handled include linear cases (when Digital Elevation Model has
zero curvature) and constant cases (no curvature and line-of-sight
parallel to tile, both in or out-of-tile).
</action>
<action dev="luc" type="fix">
First working version of BasicScanAlgorithm.
The case where the line-of-sight enters the Digital Elevation Model in
one tile on top and exit it in another tile on bottom is not tested yet.
</action>
<action dev="luc" type="add">
Added tests for BasicScanAlgorithm.
</action>
<action dev="luc" type="update">
Don't exclude endpoints when un-merging tiles.
</action>
<action dev="luc" type="update">
Changed private method arguments order for easier understanding.
</action>
<action dev="luc" type="fix">
Fixed computation of sub-tiles crossings.
</action>
<action dev="luc" type="update">
Added library setup test, with and without Orekit.
</action>
<action dev="luc" type="add">
Prepared framework for more complete flight dynamics tests.
</action>
<action dev="luc" type="update">
Implemented intersection at pixel level.
</action>
<action dev="luc" type="update">
Delegate final pixel intersection to Tile.
</action>
<action dev="luc" type="fix">
Added a basic scan algorithm, for testing and validation purposes.
</action>
<action dev="luc" type="update">
Added line-of-sight splitting at sub-tiles boundaries.
</action>
<action dev="luc" type="update">
Added test for level 0 merging row and tall tile.
</action>
<action dev="luc" type="update">
Added methods getLatitudeAtIndex and getLongitudeAtIndex in Tile.
</action>
<action dev="luc" type="update">
Changed semantics of merge methods so they refer to current level.
</action>
<action dev="luc" type="update">
Renamed package dem into raster.
</action>
<action dev="luc" type="update">
Work In Progress on duvenhage algorithm.
</action>
<action dev="luc" type="update">
Added getMergingRow and getMergingColumn methods.
These methods are essential to identify where to split the line-of-sight
in the Duvenhage algorithm, when going from one level in the min/max
kd-tree to the next level.
</action>
<action dev="luc" type="update">
Added isColumnMerging predicate.
</action>
<action dev="luc" type="update">
Added a tolerance around tile for elevation interpolation.
Elevation is going to be interpolated at tiles entry and exit points,
which are computed from geodetic conversions. The result points may be
very slightly out of tiles, at numerical accuracy level. These points
should nevertheless be allowed to be interpolated using the closest
pixel data, so a tolerance was needed.
The SimpleTile class uses a fixed tolerance, arbitrarily set to 1/8
pixel.
</action>
<action dev="luc" type="fix">
Fixed interpolation error.
</action>
<action dev="luc" type="add">
started implementation of the Duvenhage algorithm.
</action>
<action dev="luc" type="update">
Added getLatitudeIndex and getLongitudeIndex in Tile.
</action>
<action dev="luc" type="fix">
Handle properly tiles boundaries.
Tiles are expected to have no inter-tile gap, i.e. the boundary row/columns are repeated in neighboring tiles.
</action>
<action dev="luc" type="update">
Improved identification of point location with respect to tile.
</action>
<action dev="luc" type="update">
Sensor directly uses points and vectors, and no more Line.
</action>
<action dev="luc" type="update">
Intersection algorithms can use the new ExtendedEllipsoid.
This allows them to chop off line-of-sight at DEM cells boundaries.
</action>
<action dev="luc" type="fix">
Fixed wrong package in tests.
</action>
<action dev="luc" type="add">
Added ExtendedEllipsoid to chop off line-of-sight according to DEM.
</action>
<action dev="luc" type="update">
Split top level class from DEM intersection algorithm.
</action>
<action dev="luc" type="update">
Line numbers are double.
</action>
<action dev="luc" type="add">
Started implementation of direct location ...
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</action>
<action dev="luc" type="update">
Added a protection against unknown sensors.
</action>
<action dev="luc" type="add">
Added configuration for sensor lines of sight.
</action>
<action dev="luc" type="update">
Use an offset from a reference date for all computation.
</action>
<action dev="luc" type="update">
Added a getMergeLevel method to identify when pixels share min/max.
This is a first step towards duvenhage's algorithm.
</action>
<action dev="luc" type="fix">
Working version of min/max kd-tree tile.
</action>
<action dev="luc" type="add">
Started implementation of min/max KD-tree tile.
This is work in progress, the min/max computation seems wrong for now.
</action>
<action dev="luc" type="update">
pixels are double.
</action>
<action dev="luc" type="update">
Added protection against empty tiles.
</action>
<action dev="luc" type="update">
Removed AbastractTile.
Specialized tiles should directly extend SimpleTile.
</action>
<action dev="luc" type="add">
Added global min/max handling for any tile.
</action>
<action dev="luc" type="add">
Prepared first implementation for Duvenhage algorithm.
For now, only the (incomplete) API and classes hierarchy has been set
up. The tile is still a simple tile and does not yet creates the min/max
kd-tree. The algorithm doesn't do anything.
</action>
<action dev="luc" type="update">
Boilerplate part for Rugged interface implementation.
</action>
<action dev="luc" type="update">
Added API for global context initialization.
</action>
<action dev="luc" type="update">
Added containers for parsed position/velocity and attitude.
</action>
<action dev="luc" type="update">
Added a hook called after tile update completion.
</action>
<action dev="luc" type="update">
Force use of factory to create simple tiles.
</action>
<action dev="luc" type="update">
Extract an AbstractTile from SimpleTile
</action>
<action dev="luc" type="update">
Added a simple container for inverse location result.
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</action>
<action dev="luc" type="update">
Expanded API.
</action>
<action dev="luc" type="update">
Use new specialized exceptions.
</action>
<action dev="luc" type="update">
Added error messages handling, with translation.
</action>
<action dev="luc" type="update">
Added design document and diagrams.
</action>
<action dev="luc" type="update">
Implemented TilesCache.
</action>
<action dev="luc" type="update">
Added factory for tiles.
The factory is to be implemented by the DEM intersection algorithm, at
very low level (typically tiles based on min/max kd-tree for Duvenhage
algorithm).
The tile updater on the other hand is the responsibility of the mission
specific interface.
</action>
<action dev="luc" type="update">
Added method to check ground point coverage.
</action>
<action dev="luc" type="update">
Reference latitude/longitude must be the minimum.
This ensures simple search for tiles given a ground point.
</action>
</release>
</body>
</document>