From bf48a441c9a81b3415b7d49be3ae3078687b1ae0 Mon Sep 17 00:00:00 2001
From: Luc Maisonobe <luc@orekit.org>
Date: Tue, 29 Apr 2014 11:43:44 +0200
Subject: [PATCH] First working version of inverse localization.
It works in simple cases (no light time correction and no aberration of
light correction), and is still really slow.
---
.../java/org/orekit/rugged/api/Rugged.java | 8 +++----
.../org/orekit/rugged/api/RuggedTest.java | 22 +++++++++++--------
2 files changed, 17 insertions(+), 13 deletions(-)
diff --git a/src/main/java/org/orekit/rugged/api/Rugged.java b/src/main/java/org/orekit/rugged/api/Rugged.java
index 51bddcd3..8d79f3cf 100644
--- a/src/main/java/org/orekit/rugged/api/Rugged.java
+++ b/src/main/java/org/orekit/rugged/api/Rugged.java
@@ -63,7 +63,7 @@ import org.orekit.utils.PVCoordinatesProvider;
public class Rugged {
/** Absolute accuracy to use for inverse localization. */
- private static final double INVERSE_LOCALIZATION_ACCURACY = 1.0e-4;
+ private static final double INVERSE_LOCALIZATION_ACCURACY = 1.0e-8;
/** Maximum number of evaluations for inverse localization. */
private static final int INVERSE_LOCALIZATION_MAX_EVAL = 1000;
@@ -591,7 +591,7 @@ public class Rugged {
checkContext();
final Sensor sensor = getSensor(sensorName);
final Vector3D target = ellipsoid.transform(groundPoint);
- final UnivariateSolver solver = new BracketingNthOrderBrentSolver(INVERSE_LOCALIZATION_ACCURACY, 5);
+ final UnivariateSolver solver = new BracketingNthOrderBrentSolver(0.0, INVERSE_LOCALIZATION_ACCURACY, 5);
// find the line at which ground point crosses sensor mean plane
final SensorMeanPlaneCrossing planeCrossing = new SensorMeanPlaneCrossing(sensor, target);
@@ -642,7 +642,7 @@ public class Rugged {
@Override
public double value(final double lineNumber) throws OrekitExceptionWrapper {
// the target crosses the mean plane if it orthogonal to the normal vector
- return Vector3D.dotProduct(targetDirection(lineNumber), sensor.getMeanPlaneNormal());
+ return Vector3D.angle(targetDirection(lineNumber), sensor.getMeanPlaneNormal()) - 0.5 * FastMath.PI;
}
/** Compute target point direction in spacecraft frame, at line acquisition time.
@@ -716,7 +716,7 @@ public class Rugged {
/** {@inheritDoc} */
@Override
public double value(final double x) {
- return Vector3D.dotProduct(cross, getLOS(x));
+ return Vector3D.angle(cross, getLOS(x)) - 0.5 * FastMath.PI;
}
/** Interpolate sensor pixels at some pixel index.
diff --git a/src/test/java/org/orekit/rugged/api/RuggedTest.java b/src/test/java/org/orekit/rugged/api/RuggedTest.java
index abf3b3a1..426738f1 100644
--- a/src/test/java/org/orekit/rugged/api/RuggedTest.java
+++ b/src/test/java/org/orekit/rugged/api/RuggedTest.java
@@ -63,6 +63,8 @@ import org.orekit.propagation.SpacecraftState;
import org.orekit.propagation.analytical.KeplerianPropagator;
import org.orekit.propagation.numerical.NumericalPropagator;
import org.orekit.rugged.core.raster.RandomLandscapeUpdater;
+import org.orekit.rugged.core.raster.SimpleTileFactory;
+import org.orekit.rugged.core.raster.Tile;
import org.orekit.rugged.core.raster.VolcanicConeElevationUpdater;
import org.orekit.time.AbsoluteDate;
import org.orekit.time.TimeScalesFactory;
@@ -499,16 +501,18 @@ public class RuggedTest {
InertialFrameId.EME2000,
BodyRotatingFrameId.ITRF,
ephemeris);
+ rugged.setLightTimeCorrection(false);
+ rugged.setAberrationOfLightCorrection(false);
rugged.setLineSensor("line", los, lineDatation);
- GeodeticPoint[] gp = rugged.directLocalization("line", 100.24);
-
- GeodeticPoint target =
- new GeodeticPoint(0.75 * gp[17].getLatitude() + 0.25 * gp[18].getLatitude(),
- 0.75 * gp[17].getLongitude() + 0.25 * gp[18].getLongitude(),
- 0.75 * gp[17].getAltitude() + 0.25 * gp[18].getAltitude());
- SensorPixel sp = rugged.inverseLocalization("line", target, 0.0, 200.0);
- Assert.assertEquals(100.24, sp.getLineNumber(), 1.0e-10);
- Assert.assertEquals( 17.25, sp.getPixelNumber(), 1.0e-10);
+
+ double referenceLine = 100.00;
+ GeodeticPoint[] gp = rugged.directLocalization("line", referenceLine);
+
+ for (int i = 1; i < gp.length; ++i) {
+ SensorPixel sp = rugged.inverseLocalization("line", gp[i], 0, dimension);
+ Assert.assertEquals(referenceLine, sp.getLineNumber(), 3.0e-9);
+ Assert.assertEquals(i, sp.getPixelNumber(), 8.0e-5);
+ }
}
--
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