From 038bcb8a6e780e90e7cc0946ca44e89df38962e4 Mon Sep 17 00:00:00 2001
From: Jonathan Guinet <jonathan.guinet@c-s.fr>
Date: Tue, 4 Oct 2016 03:24:59 -0400
Subject: [PATCH] noisy measures update
---
.../AffinagePleiades/MeasureGenerator.java | 57 ++++++++++++-------
1 file changed, 37 insertions(+), 20 deletions(-)
diff --git a/src/tutorials/java/AffinagePleiades/MeasureGenerator.java b/src/tutorials/java/AffinagePleiades/MeasureGenerator.java
index aee2486e..38fdf886 100644
--- a/src/tutorials/java/AffinagePleiades/MeasureGenerator.java
+++ b/src/tutorials/java/AffinagePleiades/MeasureGenerator.java
@@ -25,7 +25,7 @@ import org.orekit.rugged.errors.RuggedException;
import org.orekit.time.AbsoluteDate;
import org.hipparchus.geometry.euclidean.threed.Vector3D;
import org.hipparchus.random.UncorrelatedRandomVectorGenerator;
-import org.hipparchus.random.UniformRandomGenerator;
+import org.hipparchus.random.GaussianRandomGenerator;
import org.hipparchus.random.Well19937a;
import org.hipparchus.util.FastMath;
import org.orekit.bodies.GeodeticPoint;
@@ -90,19 +90,27 @@ public class MeasureGenerator {
}
}
}
- public void CreateNoisyMeasure(final int lineSampling,final int pixelSampling) throws RuggedException
+ public void CreateNoisyMeasure(final int lineSampling,final int pixelSampling, double [] pixErr,double [] altErr) throws RuggedException
{
Vector3D latLongError = estimateLatLongError();
- double latError = FastMath.toRadians(latLongError.getX()); // in line: -0.000002 deg
- double lonError = FastMath.toRadians(latLongError.getY()); // in line: 0.000012 deg
- System.out.format("Corresponding error estimation on ground: {lat: %1.10f deg, lon: %1.10f deg} %n", latLongError.getX(), latLongError.getY());
+ double latErrorMean = pixErr[0]*latLongError.getX(); // in line: -0.000002 deg
+ double lonErrorMean = pixErr[2]*latLongError.getY(); // in line: 0.000012 deg
+ double latErrorStd = pixErr[1]*latLongError.getX(); // in line: -0.000002 deg
+ double lonErrorStd = pixErr[3]*latLongError.getY(); // in line: 0.000012 deg
+ System.out.format("Corresponding error estimation on ground: {lat mean: %1.10f rad , lat stddev: %1.10f rad} %n",latErrorMean,latErrorStd);
+ System.out.format("Corresponding error estimation on ground: {lon mean: %1.10f rad, lat stddev: %1.10f rad } %n",lonErrorMean,lonErrorStd);
+ System.out.format("Corresponding error estimation on ground: {alt mean: %1.3f m, alt stddev: %1.3f m } %n",altErr[0], altErr[0]);
+
+
// Gaussian random generator
// Build a null mean random uncorrelated vector generator with standard deviation corresponding to the estimated error on ground
- double mean[] = {0.0,0.0,0.0};
- double std[] = {latError,lonError,0.0};
- UniformRandomGenerator rng = new UniformRandomGenerator(new Well19937a(0xefac03d9be4d24b9l));
+ double mean[] = {latErrorMean,lonErrorMean,altErr[0]};
+ double std[] = {latErrorStd,lonErrorStd,altErr[1]};
+ System.out.format(" mean : %1.10f %1.10f %1.10f %n",mean[0],mean[1],mean[2]);
+ System.out.format(" std : %1.10f %1.10f %1.10f %n",std[0],std[1],std[2]);
+ GaussianRandomGenerator rng = new GaussianRandomGenerator(new Well19937a(0xefac03d9be4d24b9l));
UncorrelatedRandomVectorGenerator rvg = new UncorrelatedRandomVectorGenerator(mean, std, rng);
System.out.format("Add a gaussian noise to measures without biais (null mean) and standard deviation corresponding to the estimated error on ground.%n");
@@ -119,13 +127,13 @@ public class MeasureGenerator {
GeodeticPoint gpNoisy = new GeodeticPoint(gp2.getLatitude()+vecRandom.getX(),
gp2.getLongitude()+vecRandom.getY(),
- gp2.getAltitude()); // no altitude error introducing
+ gp2.getAltitude()+vecRandom.getZ());
- /*if(line == 0) {
- System.out.format("Init gp: (%f,%d): %s %n",line,pixel,gp2.toString());
- System.out.format("Random: (%f,%d): %s %n",line,pixel,vecRandom.toString());
- System.out.format("Final gp: (%f,%d): %s %n",line,pixel,gpNoisy.toString());
- }*/
+ //if(line == 0) {
+ // System.out.format("Init gp: (%f,%d): %s %n",line,pixel,gp2.toString());
+ // System.out.format("Random: (%f,%d): %s %n",line,pixel,vecRandom.toString());
+ // System.out.format("Final gp: (%f,%d): %s %n",line,pixel,gpNoisy.toString());
+ //}
mapping.addMapping(new SensorPixel(line, pixel), gpNoisy);
measureCount++;
@@ -135,13 +143,22 @@ public class MeasureGenerator {
private Vector3D estimateLatLongError() throws RuggedException {
System.out.format("Uncertainty in pixel (in line) for a real geometric refining: 1 pixel (assumption)%n");
- double line=0;
- AbsoluteDate date = sensor.getDate(line);
- GeodeticPoint gp_pix0 = rugged.directLocation(date, sensor.getPosition(), sensor.getLOS(date, 0));
- GeodeticPoint gp_pix1 = rugged.directLocation(date, sensor.getPosition(), sensor.getLOS(date, 1));
- double latErr=FastMath.toDegrees(gp_pix0.getLatitude()-gp_pix1.getLatitude());
- double lonErr=FastMath.toDegrees(gp_pix0.getLongitude()-gp_pix1.getLongitude());
+ final int pix =sensor.getNbPixels()/2;
+ final int line= (int) FastMath.floor(pix); // assumption : same number of line and pixels;
+ System.out.format(" pixel size estimated at position pix : %d line : %d %n", pix, line);
+ final AbsoluteDate date = sensor.getDate(line);
+ GeodeticPoint gp_pix0 = rugged.directLocation(date, sensor.getPosition(), sensor.getLOS(date, pix));
+ final AbsoluteDate date1 = sensor.getDate(line+1);
+ GeodeticPoint gp_pix1 = rugged.directLocation(date1, sensor.getPosition(), sensor.getLOS(date1, pix+1));
+ double latErr=FastMath.abs(gp_pix0.getLatitude()-gp_pix1.getLatitude());
+ double lonErr=FastMath.abs(gp_pix0.getLongitude()-gp_pix1.getLongitude());
+ double dist = FastMath.sqrt(lonErr*lonErr + latErr*latErr)/FastMath.sqrt(2);
+ final double distanceX = DistanceTools.computeDistanceRad(gp_pix0.getLongitude(), gp_pix0.getLatitude(),gp_pix1.getLongitude(), gp_pix0.getLatitude());
+ final double distanceY = DistanceTools.computeDistanceRad(gp_pix0.getLongitude(), gp_pix0.getLatitude(),gp_pix0.getLongitude(), gp_pix1.getLatitude());
+
+ System.out.format(" estimated distance %3.3f %3.3f %n",distanceX, distanceY);
+ //System.out.format(" lat : %1.10f %1.10f %n", latErr, lonErr);
return new Vector3D(latErr,lonErr,0.0);
}
--
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