From 624c926c47ad8987c44b40e46fa4a1c49f40aaad Mon Sep 17 00:00:00 2001
From: Guylaine Prat <guylaine.prat@c-s.fr>
Date: Thu, 12 Feb 2015 15:21:22 +0100
Subject: [PATCH] Source code for Wiki page tutorial InverseLocation
---
.../java/fr/cs/examples/InverseLocation.java | 191 ++++++++++++++++++
1 file changed, 191 insertions(+)
create mode 100644 src/tutorials/java/fr/cs/examples/InverseLocation.java
diff --git a/src/tutorials/java/fr/cs/examples/InverseLocation.java b/src/tutorials/java/fr/cs/examples/InverseLocation.java
new file mode 100644
index 00000000..f3412252
--- /dev/null
+++ b/src/tutorials/java/fr/cs/examples/InverseLocation.java
@@ -0,0 +1,191 @@
+/* Copyright 2013-2015 CS Systèmes d'Information
+ * Licensed to CS Systèmes d'Information (CS) under one or more
+ * contributor license agreements. See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * CS licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License. You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package fr.cs.examples;
+
+import java.io.File;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.Locale;
+
+import org.apache.commons.math3.geometry.euclidean.threed.Rotation;
+import org.apache.commons.math3.geometry.euclidean.threed.Vector3D;
+import org.apache.commons.math3.util.FastMath;
+import org.orekit.bodies.GeodeticPoint;
+import org.orekit.data.DataProvidersManager;
+import org.orekit.data.DirectoryCrawler;
+import org.orekit.errors.OrekitException;
+import org.orekit.frames.Frame;
+import org.orekit.frames.FramesFactory;
+import org.orekit.frames.Transform;
+import org.orekit.rugged.api.AlgorithmId;
+import org.orekit.rugged.api.BodyRotatingFrameId;
+import org.orekit.rugged.api.EllipsoidId;
+import org.orekit.rugged.api.InertialFrameId;
+import org.orekit.rugged.api.Rugged;
+import org.orekit.rugged.api.RuggedBuilder;
+import org.orekit.rugged.errors.RuggedException;
+import org.orekit.rugged.linesensor.LineSensor;
+import org.orekit.rugged.linesensor.LinearLineDatation;
+import org.orekit.rugged.linesensor.SensorPixel;
+import org.orekit.rugged.los.LOSBuilder;
+import org.orekit.rugged.los.FixedRotation;
+import org.orekit.rugged.los.TimeDependentLOS;
+import org.orekit.rugged.utils.ParameterType;
+import org.orekit.time.AbsoluteDate;
+import org.orekit.time.TimeScale;
+import org.orekit.time.TimeScalesFactory;
+import org.orekit.utils.AngularDerivativesFilter;
+import org.orekit.utils.CartesianDerivativesFilter;
+import org.orekit.utils.IERSConventions;
+import org.orekit.utils.PVCoordinates;
+import org.orekit.utils.TimeStampedAngularCoordinates;
+import org.orekit.utils.TimeStampedPVCoordinates;
+
+public class InverseLocation {
+
+ public static void main(String[] args) {
+
+ try {
+
+ // Initialize Orekit, assuming an orekit-data folder is in user home directory
+ File home = new File(System.getProperty("user.home"));
+ File orekitData = new File(home, "orekit-data");
+ DataProvidersManager.getInstance().addProvider(new DirectoryCrawler(orekitData));
+
+ // The raw viewing direction of pixel i with respect to the instrument is defined by the vector:
+ List<Vector3D> rawDirs = new ArrayList<Vector3D>();
+ for (int i = 0; i < 2000; i++) {
+ //20° field of view, 2000 pixels
+ rawDirs.add(new Vector3D(0d, i*FastMath.toRadians(20)/2000d, 1d));
+ }
+
+ // The instrument is oriented 10° off nadir around the X-axis, we need to rotate the viewing
+ // direction to obtain the line of sight in the satellite frame
+ LOSBuilder losBuilder = new LOSBuilder(rawDirs);
+ losBuilder.addTransform(new FixedRotation(ParameterType.FIXED, Vector3D.PLUS_I, FastMath.toRadians(10)));
+
+ TimeDependentLOS lineOfSight = losBuilder.build();
+
+ // We use Orekit for handling time and dates, and Rugged for defining the datation model:
+ TimeScale gps = TimeScalesFactory.getGPS();
+ AbsoluteDate absDate = new AbsoluteDate("2009-12-11T16:59:30.0", gps);
+ LinearLineDatation lineDatation = new LinearLineDatation(absDate, 1d, 20);
+
+ // With the LOS and the datation now defined , we can initialize a line sensor object in Rugged:
+ String sensorName = "mySensor";
+ LineSensor lineSensor = new LineSensor(sensorName, lineDatation, Vector3D.ZERO, lineOfSight);
+
+
+
+ // In our application, we simply need to know the name of the frames we are working with. Positions and
+ // velocities are given in the ITRF terrestrial frame, while the quaternions are given in EME2000
+ // inertial frame.
+ Frame eme2000 = FramesFactory.getEME2000();
+ boolean simpleEOP = true; // we don't want to compute tiny tidal effects at millimeter level
+ Frame itrf = FramesFactory.getITRF(IERSConventions.IERS_2010, simpleEOP);
+
+ ArrayList<TimeStampedAngularCoordinates> satelliteQList = new ArrayList<TimeStampedAngularCoordinates>();
+ ArrayList<TimeStampedPVCoordinates> satellitePVList = new ArrayList<TimeStampedPVCoordinates>();
+
+ addSatelliteQ(gps, satelliteQList, "2009-12-11T16:58:42.592937", -0.340236d, 0.333952d, -0.844012d, -0.245684d);
+ addSatelliteQ(gps, satelliteQList, "2009-12-11T16:59:06.592937", -0.354773d, 0.329336d, -0.837871d, -0.252281d);
+ addSatelliteQ(gps, satelliteQList, "2009-12-11T16:59:30.592937", -0.369237d, 0.324612d, -0.831445d, -0.258824d);
+ addSatelliteQ(gps, satelliteQList, "2009-12-11T16:59:54.592937", -0.3836d, 0.319792d, -0.824743d, -0.265299d);
+ addSatelliteQ(gps, satelliteQList, "2009-12-11T17:00:18.592937", -0.397834d, 0.314883d, -0.817777d, -0.271695d);
+ addSatelliteQ(gps, satelliteQList, "2009-12-11T17:00:42.592937", -0.411912d, 0.309895d, -0.810561d, -0.278001d);
+ addSatelliteQ(gps, satelliteQList, "2009-12-11T17:01:06.592937", -0.42581d, 0.304838d, -0.803111d, -0.284206d);
+ addSatelliteQ(gps, satelliteQList, "2009-12-11T17:01:30.592937", -0.439505d, 0.299722d, -0.795442d, -0.290301d);
+ addSatelliteQ(gps, satelliteQList, "2009-12-11T17:01:54.592937", -0.452976d, 0.294556d, -0.787571d, -0.296279d);
+ addSatelliteQ(gps, satelliteQList, "2009-12-11T17:02:18.592937", -0.466207d, 0.28935d, -0.779516d, -0.302131d);
+
+ addSatellitePV(gps, eme2000, itrf, satellitePVList, "2009-12-11T16:58:42.592937", -726361.466d, -5411878.485d, 4637549.599d, -2463.635d, -4447.634d, -5576.736d);
+ addSatellitePV(gps, eme2000, itrf, satellitePVList, "2009-12-11T16:59:04.192937", -779538.267d, -5506500.533d, 4515934.894d, -2459.848d, -4312.676d, -5683.906d);
+ addSatellitePV(gps, eme2000, itrf, satellitePVList, "2009-12-11T16:59:25.792937", -832615.368d, -5598184.195d, 4392036.13d, -2454.395d, -4175.564d, -5788.201d);
+ addSatellitePV(gps, eme2000, itrf, satellitePVList, "2009-12-11T16:59:47.392937", -885556.748d, -5686883.696d, 4265915.971d, -2447.273d, -4036.368d, -5889.568d);
+ addSatellitePV(gps, eme2000, itrf, satellitePVList, "2009-12-11T17:00:08.992937", -938326.32d, -5772554.875d, 4137638.207d, -2438.478d, -3895.166d, -5987.957d);
+ addSatellitePV(gps, eme2000, itrf, satellitePVList, "2009-12-11T17:00:30.592937", -990887.942d, -5855155.21d, 4007267.717d, -2428.011d, -3752.034d, -6083.317d);
+ addSatellitePV(gps, eme2000, itrf, satellitePVList, "2009-12-11T17:00:52.192937", -1043205.448d, -5934643.836d, 3874870.441d, -2415.868d, -3607.05d, -6175.6d);
+ addSatellitePV(gps, eme2000, itrf, satellitePVList, "2009-12-11T17:01:13.792937", -1095242.669d, -6010981.571d, 3740513.34d, -2402.051d, -3460.291d, -6264.76d);
+ addSatellitePV(gps, eme2000, itrf, satellitePVList, "2009-12-11T17:01:35.392937", -1146963.457d, -6084130.93d, 3604264.372d, -2386.561d, -3311.835d, -6350.751d);
+ addSatellitePV(gps, eme2000, itrf, satellitePVList, "2009-12-11T17:01:56.992937", -1198331.706d, -6154056.146d, 3466192.446d, -2369.401d, -3161.764d, -6433.531d);
+ addSatellitePV(gps, eme2000, itrf, satellitePVList, "2009-12-11T17:02:18.592937", -1249311.381d, -6220723.191d, 3326367.397d, -2350.574d, -3010.159d, -6513.056d);
+
+ Rugged rugged = new RuggedBuilder().
+ setAlgorithm(AlgorithmId.IGNORE_DEM_USE_ELLIPSOID).
+ setEllipsoid(EllipsoidId.WGS84, BodyRotatingFrameId.ITRF).
+ setTimeSpan(absDate, absDate.shiftedBy(60.0), 0.01, 5 / lineSensor.getRate(0)).
+ setTrajectory(InertialFrameId.EME2000,
+ satellitePVList, 4, CartesianDerivativesFilter.USE_P,
+ satelliteQList, 4, AngularDerivativesFilter.USE_R).
+ addLineSensor(lineSensor).
+ build();
+
+ // Point defined by its latitude, longitude and altitude
+ double latitude = FastMath.toRadians(37.585);
+ double longitude = FastMath.toRadians(-96.949);
+ double altitude = 0.0d;
+ GeodeticPoint gp = new GeodeticPoint(latitude, longitude, altitude);
+
+ // Search the sensor pixel seeing point
+ int minLine = 0;
+ int maxLine = 100;
+ SensorPixel sensorPixel = rugged.inverseLocation(sensorName, gp, minLine, maxLine);
+ // we need to test if the sensor pixel is found in the prescribed lines otherwise the sensor pixel is null
+ if (sensorPixel != null){
+ System.out.format(Locale.US, "Sensor Pixel found : line = %5.3f, pixel = %5.3f %n", sensorPixel.getLineNumber(), sensorPixel.getPixelNumber());
+ } else {
+ System.out.println("Sensor Pixel is null: point cannot be seen between the prescribed line numbers\n");
+ }
+
+ // Find the date at which the sensor sees the ground point
+ AbsoluteDate dateLine = rugged.dateLocation(sensorName, gp, minLine, maxLine);
+ System.out.println("Date at which the sensor sees the ground point : " + dateLine);
+
+ } catch (OrekitException oe) {
+ System.err.println(oe.getLocalizedMessage());
+ System.exit(1);
+ } catch (RuggedException re) {
+ System.err.println(re.getLocalizedMessage());
+ System.exit(1);
+ }
+
+ }
+
+ private static void addSatellitePV(TimeScale gps, Frame eme2000, Frame itrf,
+ ArrayList<TimeStampedPVCoordinates> satellitePVList,
+ String absDate,
+ double px, double py, double pz, double vx, double vy, double vz)
+ throws OrekitException {
+ AbsoluteDate ephemerisDate = new AbsoluteDate(absDate, gps);
+ Vector3D position = new Vector3D(px, py, pz);
+ Vector3D velocity = new Vector3D(vx, vy, vz);
+ PVCoordinates pvITRF = new PVCoordinates(position, velocity);
+ Transform transform = itrf.getTransformTo(eme2000, ephemerisDate);
+ PVCoordinates pvEME2000 = transform.transformPVCoordinates(pvITRF);
+ satellitePVList.add(new TimeStampedPVCoordinates(ephemerisDate, pvEME2000.getPosition(), pvEME2000.getVelocity(), Vector3D.ZERO));
+ }
+
+ private static void addSatelliteQ(TimeScale gps, ArrayList<TimeStampedAngularCoordinates> satelliteQList, String absDate,
+ double q0, double q1, double q2, double q3) {
+ AbsoluteDate attitudeDate = new AbsoluteDate(absDate, gps);
+ Rotation rotation = new Rotation(q0, q1, q2, q3, true);
+ TimeStampedAngularCoordinates pair =
+ new TimeStampedAngularCoordinates(attitudeDate, rotation, Vector3D.ZERO, Vector3D.ZERO);
+ satelliteQList.add(pair);
+ }
+
+}
--
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