From 8526d2247d9af6ab57ddaa0e4e078f0f7f27cda4 Mon Sep 17 00:00:00 2001
From: Luc Maisonobe <luc@orekit.org>
Date: Fri, 2 May 2014 21:40:28 +0200
Subject: [PATCH] Fixed inverse localization wrong corrections.
---
.../java/org/orekit/rugged/api/Rugged.java | 23 ++++++++++---------
.../org/orekit/rugged/api/RuggedTest.java | 17 +++++++-------
2 files changed, 20 insertions(+), 20 deletions(-)
diff --git a/src/main/java/org/orekit/rugged/api/Rugged.java b/src/main/java/org/orekit/rugged/api/Rugged.java
index be8eb29f..06b0e931 100644
--- a/src/main/java/org/orekit/rugged/api/Rugged.java
+++ b/src/main/java/org/orekit/rugged/api/Rugged.java
@@ -501,17 +501,17 @@ public class Rugged {
final GeodeticPoint[] gp = new GeodeticPoint[sensor.getNbPixels()];
for (int i = 0; i < gp.length; ++i) {
- final Vector3D pInert = scToInert.transformPosition(sensor.getPosition(i));
+ final Vector3D pInert = scToInert.transformPosition(sensor.getPosition(i));
+ final Vector3D rawLInert = scToInert.transformVector(sensor.getLos(i));
final Vector3D lInert;
if (aberrationOfLightCorrection) {
// apply aberration of light correction
// as the spacecraft velocity is small with respect to speed of light,
// we use classical velocity addition and not relativistic velocity addition
- lInert = new Vector3D(Constants.SPEED_OF_LIGHT, scToInert.transformVector(sensor.getLos(i)),
- 1.0, spacecraftVelocity).normalize();
+ lInert = new Vector3D(Constants.SPEED_OF_LIGHT, rawLInert, 1.0, spacecraftVelocity).normalize();
} else {
// don't apply aberration of light correction
- lInert = scToInert.transformVector(sensor.getLos(i));
+ lInert = rawLInert;
}
if (lightTimeCorrection) {
@@ -535,9 +535,10 @@ public class Rugged {
} else {
// compute DEM intersection without light time correction
- gp[i] = algorithm.intersection(ellipsoid,
- inertToBody.transformPosition(pInert),
- inertToBody.transformVector(lInert));
+ final Vector3D pBody = inertToBody.transformPosition(pInert);
+ final Vector3D lBody = inertToBody.transformVector(lInert);
+ gp[i] = algorithm.refineIntersection(ellipsoid, pBody, lBody,
+ algorithm.intersection(ellipsoid, pBody, lBody));
}
}
@@ -645,18 +646,18 @@ public class Rugged {
}
final Vector3D targetInert = shifted.transformPosition(target);
- Vector3D lInert;
+ final Vector3D rawLInert = targetInert.subtract(meanRefInert).normalize();
+ final Vector3D lInert;
if (aberrationOfLightCorrection) {
// apply aberration of light correction
// as the spacecraft velocity is small with respect to speed of light,
// we use classical velocity addition and not relativistic velocity addition
final Vector3D spacecraftVelocity =
scToInert.transformPVCoordinates(PVCoordinates.ZERO).getVelocity();
- lInert = new Vector3D(Constants.SPEED_OF_LIGHT, targetInert.subtract(meanRefInert).normalize(),
- 1.0, spacecraftVelocity).normalize();
+ lInert = new Vector3D(Constants.SPEED_OF_LIGHT, rawLInert, -1.0, spacecraftVelocity).normalize();
} else {
// don't apply aberration of light correction
- lInert = targetInert.subtract(meanRefInert).normalize();
+ lInert = rawLInert;
}
// direction of the target point in spacecraft frame
diff --git a/src/test/java/org/orekit/rugged/api/RuggedTest.java b/src/test/java/org/orekit/rugged/api/RuggedTest.java
index eb8433ad..6ee999dd 100644
--- a/src/test/java/org/orekit/rugged/api/RuggedTest.java
+++ b/src/test/java/org/orekit/rugged/api/RuggedTest.java
@@ -411,9 +411,9 @@ public class RuggedTest {
Vector3D pWithout = earth.transform(gpWithoutFlatBodyCorrection[i]);
stats.addValue(Vector3D.distance(pWith, pWithout));
}
- Assert.assertEquals(0.005, stats.getMin(), 1.0e-3);
- Assert.assertEquals(6.503, stats.getMax(), 1.0e-3);
- Assert.assertEquals(2.199, stats.getMean(), 1.0e-3);
+ Assert.assertEquals( 0.005, stats.getMin(), 1.0e-3);
+ Assert.assertEquals(49.157, stats.getMax(), 1.0e-3);
+ Assert.assertEquals( 4.870, stats.getMean(), 1.0e-3);
}
@@ -452,17 +452,16 @@ public class RuggedTest {
orbitToPV(orbit, earth, lineDatation, firstLine, lastLine, 0.25), 8,
orbitToQ(orbit, earth, lineDatation, firstLine, lastLine, 0.25), 2);
rugged.setLightTimeCorrection(true);
- rugged.setAberrationOfLightCorrection(false);
+ rugged.setAberrationOfLightCorrection(true);
rugged.setLineSensor("line", los, lineDatation);
- double referenceLine = 100.00;
+ double referenceLine = dimension / 2;
GeodeticPoint[] gp = rugged.directLocalization("line", referenceLine);
- for (int i = 0; i < gp.length; ++i) {
+ for (int i = 1; i < gp.length - 1; ++i) {
SensorPixel sp = rugged.inverseLocalization("line", gp[i], 0, dimension);
- System.out.println(i + " " + (sp.getLineNumber() - referenceLine) + " " + (sp.getPixelNumber() - i));
-// Assert.assertEquals(referenceLine, sp.getLineNumber(), 3.0e-9);
-// Assert.assertEquals(i, sp.getPixelNumber(), 8.0e-5);
+ Assert.assertEquals(referenceLine, sp.getLineNumber(), 5.0e-6);
+ Assert.assertEquals(i, sp.getPixelNumber(), 1.0e-7);
}
}
--
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