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Commit cea82b17 authored by Luc Maisonobe's avatar Luc Maisonobe
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Various fixes on the generated site.

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pom.xml
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...@@ -83,11 +83,39 @@ ...@@ -83,11 +83,39 @@
</licenses> </licenses>
<scm> <scm>
<connection>scm:git:http://www.orekit.org/git/rugged</connection> <connection>scm:git:https://www.orekit.org/git/rugged-main.git</connection>
<developerConnection>scm:git:ssh://git@www.orekit.org/rugged.git</developerConnection> <developerConnection>scm:git:ssh://git@www.orekit.org/rugged-main.git</developerConnection>
<url>https://www.orekit.org/forge/projects/rugged/repository</url> <url>https://www.orekit.org/forge/projects/rugged/repository</url>
</scm> </scm>
<issueManagement>
<system>Redmine</system>
<url>https://www.orekit.org/forge/projects/rugged/issues</url>
</issueManagement>
<mailingLists>
<mailingList>
<name>Shared Orekit/Rugged announces mailing list</name>
<subscribe>https://www.orekit.org/wws/subscribe/orekit-announces</subscribe>
<unsubscribe>https://www.orekit.org/wws/signoff/orekit-announces</unsubscribe>
<archive>https://www.orekit.org/wws/arc/orekit-announces</archive>
</mailingList>
<mailingList>
<name>Rugged users mailing list</name>
<subscribe>https://www.orekit.org/wws/subscribe/rugged-users</subscribe>
<unsubscribe>https://www.orekit.org/wws/signoff/rugged-users</unsubscribe>
<post>rugged-users@orekit.org</post>
<archive>https://www.orekit.org/wws/arc/rugged-users</archive>
</mailingList>
<mailingList>
<name>Rugged developers mailing list</name>
<subscribe>https://www.orekit.org/wws/subscribe/rugged-developers</subscribe>
<unsubscribe>https://www.orekit.org/wws/signoff/rugged-developers</unsubscribe>
<post>rugged-developers@orekit.org</post>
<archive>https://www.orekit.org/wws/arc/rugged-developers</archive>
</mailingList>
</mailingLists>
<modules> <modules>
<module>core</module> <module>core</module>
<module>aster</module> <module>aster</module>
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src/site/markdown/configuration.md
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...@@ -28,7 +28,7 @@ first time, you will add the following code snippet: ...@@ -28,7 +28,7 @@ first time, you will add the following code snippet:
File home = new File(System.getProperty("user.home")); File home = new File(System.getProperty("user.home"));
File orekitData = new File(home, "orekit-data"); File orekitData = new File(home, "orekit-data");
DataProvidersManager.addProvider(new DirectoryCrawler(orekitData)); DataProvidersManager.getInstance().addProvider(new DirectoryCrawler(orekitData));
This is sufficient to start working. This is sufficient to start working.
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src/site/markdown/contact.md
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...@@ -18,13 +18,14 @@ Contacts ...@@ -18,13 +18,14 @@ Contacts
Mailing lists Mailing lists
------------- -------------
Most discussions should occur on the public mailing lists. Most discussions should occur on the public mailing lists. As Rugged
heavily depends on Orekit, they share the same low traffic announces list.
| topic | post address | subscribe URL | archive URL | | topic | post address | subscribe URL | archive URL |
|---------------|------------------------------|--------------------------------------------------------------------------------------------------------------------|------------------------------------------------------------------------------------------------------| |---------------|------------------------------|--------------------------------------------------------------------------------------------------------------------|------------------------------------------------------------------------------------------------------|
| announces | orekit-announces@orekit.org | [https://www.orekit.org/wws/subscribe/orekit-announces](https://www.orekit.org/wws/subscribe/orekit-announces) | [https://www.orekit.org/wws/arc/orekit-announces](https://www.orekit.org/wws/arc/orekit-announces) | | announces | orekit-announces@orekit.org | [https://www.orekit.org/wws/subscribe/orekit-announces](https://www.orekit.org/wws/subscribe/orekit-announces) | [https://www.orekit.org/wws/arc/orekit-announces](https://www.orekit.org/wws/arc/orekit-announces) |
| users | orekit-users@orekit.org | [https://www.orekit.org/wws/subscribe/orekit-users](https://www.orekit.org/wws/subscribe/orekit-users) | [https://www.orekit.org/wws/arc/orekit-users](https://www.orekit.org/wws/arc/orekit-users) | | users | rugged-users@orekit.org | [https://www.orekit.org/wws/subscribe/rugged-users](https://www.orekit.org/wws/subscribe/rugged-users) | [https://www.orekit.org/wws/arc/rugged-users](https://www.orekit.org/wws/arc/rugged-users) |
| developers | orekit-developers@orekit.org | [https://www.orekit.org/wws/subscribe/orekit-developers](https://www.orekit.org/wws/subscribe/orekit-developers) | [https://www.orekit.org/wws/arc/orekit-developers](https://www.orekit.org/wws/arc/orekit-developers) | | developers | rugged-developers@orekit.org | [https://www.orekit.org/wws/subscribe/rugged-developers](https://www.orekit.org/wws/subscribe/rugged-developers) | [https://www.orekit.org/wws/arc/rugged-developers](https://www.orekit.org/wws/arc/rugged-developers) |
Please register to these mailing lists before attempting to post! Please register to these mailing lists before attempting to post!
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src/site/markdown/design/overview.md
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...@@ -53,21 +53,21 @@ Functional Breakdown ...@@ -53,21 +53,21 @@ Functional Breakdown
The following table sorts out the various topics between the various layers. The following table sorts out the various topics between the various layers.
:--------------------------------:|:-----------------------:|:---------------------------------------------------------------------------------------------------| | Topic | Layer | Comment
Topic | Layer | Comment |----------------------------------|-------------------------|-----------------------------------------------------------------------------
Sensor to ground mapping | Rugged | Direct localization is the base feature provided | Sensor to ground mapping | Rugged | Direct localization is the base feature provided
Ground to sensor mapping | Rugged | Inverse localization is another base feature provided | Ground to sensor mapping | Rugged | Inverse localization is another base feature provided
Individual pixels | Rugged |The API supports any number of pixels, defined by their individual line of sight provided by caller | Individual pixels | Rugged |The API supports any number of pixels, defined by their individual line of sight provided by caller
Optical path | Interface |The folded optical path inside the spacecraft is taken into account by computing an overall transform combining all inside reflections, so each pixel position and line of sight can be computed later on by a single translation and rotation with respect to spacecraft center of mass | Optical path | Interface |The folded optical path inside the spacecraft is taken into account by computing an overall transform combining all inside reflections, so each pixel position and line of sight can be computed later on by a single translation and rotation with respect to spacecraft center of mass
Line time-stamping | Interface/Rugged |The caller must provide a simple time-stamping model (typically linear) that will be applied | Line time-stamping | Interface/Rugged |The caller must provide a simple time-stamping model (typically linear) that will be applied
Orbit and attitude interpolation | Orekit |Both simple interpolation from timestamped position samples and full orbit propagation are available, thanks to Orekit streamlined propagator architecture |Orbit and attitude interpolation | Orekit |Both simple interpolation from timestamped position samples and full orbit propagation are available, thanks to Orekit streamlined propagator architecture
CCSDS Orbit/Attitude file parsing | Orekit |This is supported as long as standard CCSDS Orbit Data Message (CCSDS 502.0-B-2) and CCSDS Attitude Data Messages (CCSDS 504.0-B-1) are used |CCSDS Orbit/Attitude file parsing | Orekit |This is supported as long as standard CCSDS Orbit Data Message (CCSDS 502.0-B-2) and CCSDS Attitude Data Messages (CCSDS 504.0-B-1) are used
Custom Orbit/Attitude file parsing| Interface |Custom files can be loaded by mission specific readers, and the list or orbit/attitude states can be provided to Orekit which is able to handle interpolation from these sample data |Custom Orbit/Attitude file parsing| Interface |Custom files can be loaded by mission specific readers, and the list or orbit/attitude states can be provided to Orekit which is able to handle interpolation from these sample data
Frames transforms | Orekit |Full support to all classical reference inertial and Earth frames is already provided by Orekit (including the legacy EME2000, MOD, TOD, but also the more modern GCRF, ICRF, TIRF or exotic frames like TEME or Veis1950, as well as several versions of ITRF) | Frames transforms | Orekit |Full support to all classical reference inertial and Earth frames is already provided by Orekit (including the legacy EME2000, MOD, TOD, but also the more modern GCRF, ICRF, TIRF or exotic frames like TEME or Veis1950, as well as several versions of ITRF)
IERS data correction | Orekit |All frame transforms support the full set of IERS Earth Orientation Parameters corrections, including of course the large DUT1 time correction, but also the smaller corrections to older IAU-76/80 or newer IAU-2000/2006 precession nutation models as well as the polar wander. The frames level accuracy is at sub-millimeter level | IERS data correction | Orekit |All frame transforms support the full set of IERS Earth Orientation Parameters corrections, including of course the large DUT1 time correction, but also the smaller corrections to older IAU-76/80 or newer IAU-2000/2006 precession nutation models as well as the polar wander. The frames level accuracy is at sub-millimeter level
Grid-post elevation model | Rugged |Only raster elevation models are supported | Grid-post elevation model | Rugged |Only raster elevation models are supported
Triangulated Irregular Network elevation model | Not supported |If vector elevation models are needed, they must be converted to raster form in order to be used |Triangulated Irregular Network elevation model | Not supported |If vector elevation models are needed, they must be converted to raster form in order to be used
Geoid computation | Not in version 1 |The first version only supports Digital Elevation Models computed with respect to a reference ellipsoid. If needed, this feature could be added after version 1, either at Rugged or Orekit level, using Orekit gravity fields | Geoid computation | Not in version 1 |The first version only supports Digital Elevation Models computed with respect to a reference ellipsoid. If needed, this feature could be added after version 1, either at Rugged or Orekit level, using Orekit gravity fields
Time-dependent deformations | Interface/Rugged |The caller must supply a simple line-of-sight model (typically polynomial) that will be applied | Time-dependent deformations | Interface/Rugged |The caller must supply a simple line-of-sight model (typically polynomial) that will be applied
Calibration |Image processing or interface|The calibration phase remains at the mission-specific caller level (pixels geometry, clock synchronization …), the caller is required to provide the already calibrated line of sights | Calibration |Image processing or interface|The calibration phase remains at the mission-specific caller level (pixels geometry, clock synchronization …), the caller is required to provide the already calibrated line of sights
DEM file parsing | Interface |The elevation models are dedicated to the mission and there are several formats (DTED, GeoTIFF, raw data …).Rugged only deals with raw elevation on small latitude/longitude cells | DEM file parsing | Interface |The elevation models are dedicated to the mission and there are several formats (DTED, GeoTIFF, raw data …).Rugged only deals with raw elevation on small latitude/longitude cells
src/site/markdown/design/technical-choices.md
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...@@ -18,48 +18,61 @@ Earth frames ...@@ -18,48 +18,61 @@ Earth frames
As Rugged is built on top of Orekit and Apache Commons Math, all the flight dynamics and As Rugged is built on top of Orekit and Apache Commons Math, all the flight dynamics and
mathematical computation are delegated to these two libraries and the full accuracy available mathematical computation are delegated to these two libraries and the full accuracy available
is used. This implies for example that when computing frames conversions between the inertial is used. This implies for example that when computing frames conversions between the inertial
frame and the Earth frame, the complete set of IERS1 Earth Orientation Parameters (EOP) frame and the Earth frame, the complete set of IERS Earth Orientation Parameters (EOP)
corrections is applied if the IERS files are available. This may lead to results slightly corrections is applied if the IERS files are available. This may lead to results slightly
different from the one produced by some other geometry correction libraries that are limited different from the one produced by some other geometry correction libraries that are limited
to the older equinox-based paradigm (Mean Of Date and True Of Date), apply only DUT1 and pole to the older equinox-based paradigm (Mean Of Date and True Of Date), apply only DUT1 and pole
wander corrections and ignore the other Earth Orientation Parameters corrections. The expected wander corrections and ignore the other Earth Orientation Parameters corrections. The expected
difference with such libraries is due to the missing corrections (δΔε and δΔψ for equinox-based difference with such libraries is due to the missing corrections (δΔε and δΔψ for equinox-based
paradigm) to the IAU-1980 precession (Lieske) and nutation (Wahr) models used in the legacy MOD paradigm) to the IAU-1980 precession (Lieske) and nutation (Wahr) models used in the legacy
and TOD frames. The error is plotted below, showing the coordinates of three points along the three MOD and TOD frames.
canonical X, Y and Z axes, roughly at Earth radius. The plot shows a clear regular signal with
several harmonics, which correspond to the nutation components that were not in this older model. The following figure is a plot of this error, showing the coordinates of three Earth points
This error was small in the 80's but is much higher now (as of 2014, it is of the order of magnitude along the three canonical X, Y and Z axes, roughly at Earth radius. The plot shows a clear
of 3 meters). The error is steadily increasing. regular signal with several harmonics, which correspond to the nutation components that were
not in this older model. This error was small in the 80's but is much higher now (as of 2014,
it is of the order of magnitude of 3 meters). The error is steadily increasing.
![precession/nutation error](../images/ignoring-EOP-1996.png) ![precession/nutation error](../images/ignoring-EOP-1996.png)
As Rugged delegates computation to Orekit, the full set of corrections (DUT1, pole wander, lod, δΔε/δΔψ Note that this error occurs when the initial data for spacecraft position is initially given in
or δx/δy) are automatically loaded and applied. The final accuracy obtained when all EOP are considered inertial frame and must be converted to Earth frame. This typically occurs in mission analysis
is at sub-millimeter level in position, and the expected difference with libraries ignoring δΔε and δΔψ phases as the spacecraft position is computed from orbit propagation. It is however not always
is at a few meters level, Rugged being the more accurate one. the case in operational systems where the position is not provided by orbit propagation but
rather by on-board GPS system which already work in Earth frame and do know about the full
corrections. In these operational cases, the error is less important as it applies only to the
conversion of the attitude quaternions (which are typically given in inertial frame as they are
often produced by star trackers).
As Rugged delegates computation to Orekit, the full set of corrections (DUT1, pole wander, lod,
δΔε/δΔψ or δx/δy) are automatically loaded and applied. The final accuracy obtained when all EOP
are considered is at sub-millimeter level in position, and the expected difference with libraries
ignoring δΔε and δΔψ is at a few meters level, Rugged being the more accurate one.
These legacy models are very old and not recommended anymore by IERS since 2003. IERS also currently These legacy models are very old and not recommended anymore by IERS since 2003. IERS also currently
still provides the correction for these models, but there is no guarantee they will do so indefinitely, still provides the correction for these models, but there is no guarantee they will do so
as they are now providing corrections with respect to newer and more accurate models. The newer frames indefinitely, as they are now providing corrections with respect to newer and more accurate models.
are based on a non-rotating origin paradigm and on different precession and nutation models (IAU-2000/2006), The newer frames are based on a non-rotating origin paradigm and on different precession and nutation
which are much more accurate. The corresponding corrections (δx/δy, not to be confused with the xp/yp models (IAU-2000/2006), which are much more accurate. The corresponding corrections (δx/δy, not to be
pole wander) are smaller because the precession and nutation models are better than the former ones. confused with the xp/yp pole wander) are smaller because the precession and nutation models are
The much better accuracy of these new models can be seen doing the same kind of plot as before, i.e. better than the former ones. The much better accuracy of these new models can be seen doing the same
ignoring temporarily the IERS corrections. The plot below shows the result. kind of plot as before, i.e. ignoring temporarily the IERS corrections. The following figure shows the
result.
![precession/nutation error](../images/ignoring-EOP-2010.png) ![precession/nutation error](../images/ignoring-EOP-2010.png)
The remaining error is very small, of the order of magnitude of 2 or 3 centimeters. Rugged is not limited to The remaining error is very small, of the order of magnitude of 2 or 3 centimeters. Rugged is not
the legacy MOD and TOD frames and can use the newer IERS recommended frames as well. From a user perspective, limited to the legacy MOD and TOD frames and can use the newer IERS recommended frames as well. From
this is completely unnoticeable as user simply selects an Earth frame as an existing predefined object by a user perspective, this is completely unnoticeable as user simply selects an Earth frame as an
name, and doesn't have to care about the transforms and corrections. In fact at Rugged level there is not existing predefined object by name, and doesn't have to care about the transforms and corrections.
even a notion of precession, nutation or EOP corrections. The only interfaces used are the inertial and Earth In fact at Rugged level there is not even a notion of precession, nutation or EOP corrections. The
frames and the date. From these three elements, Orekit computes all geometrical transform, including both the only interfaces used are the inertial and Earth frames names and the date. From these three elements,
theoretical motion models and the IERS corrections, thus greatly leveraging the computation. Orekit computes all geometrical transform, including both the theoretical motion models and the IERS
corrections, thus greatly leveraging the computation.
One consequence of using newer precession and nutation models is that even as shown in the plot above, even One consequence of using newer precession and nutation models is that as shown in previous figure,
when the EOP corrections are not available yet (typically for near real-time analysis of images), it even when the EOP corrections are not available yet (typically for near real-time analysis of images),
is still possible to compute very accurately the geometry of the image. it is still possible to compute very accurately the geometry of the image.
As a summary, Rugged may give results slightly more accurate than other geometric correction As a summary, Rugged may give results slightly more accurate than other geometric correction
libraries, and is compatible with both the legacy frames and the newer frames. libraries, and is compatible with both the legacy frames and the newer frames.
...@@ -213,11 +226,11 @@ Errors compensation summary ...@@ -213,11 +226,11 @@ Errors compensation summary
The following table summarizes the error compensations performed in the Rugged library which are not present in some other geometry correction libraries: The following table summarizes the error compensations performed in the Rugged library which are not present in some other geometry correction libraries:
|-----------------------------------------------------------|-----------------------|-------------------------|:------------------------| | origin | amplitude | location | comment
origin | amplitude | location | comment |------------------------------------------------------------|-----------------------|-------------------------|:------------------------|
δΔε and δΔψ corrections for precession and nutation models | > 3m | horizontal shift |up-to-date precession and nutation models are also available | δΔε and δΔψ corrections for precession and nutation models | > 3m | horizontal shift |up-to-date precession and nutation models are also available, the error is much smaller if positions are already in Earth frame and only attitude is converted
quaternion interpolation | negligible | line-of-sight direction |the effect is important for step sizes above 1 minute | quaternion interpolation | negligible | line-of-sight direction |the effect is important for step sizes above 1 minute
instrument position | 1.5m | along track |coupled with attitude | instrument position | 1.5m | along track |coupled with attitude
light time correction | 1.2m | East-West |pixel-dependent | light time correction | 1.2m | East-West |pixel-dependent, can be switched off if compensated elsewhere in the processing chain
aberration of light | 20m | along track |depends on spacecraft velocity | aberration of light | 20m | along track |depends on spacecraft velocity, can be switched off if compensated elsewhere in the processing chain
flat-body | 0.8m | across line-of-sight |error increases a lot for large fields of view | flat-body | 0.8m | across line-of-sight |error increases a lot for large fields of view, can be switched off, but this is not recommended
src/site/markdown/downloads.md
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...@@ -29,7 +29,7 @@ be easily adapted if you are using one of the numerous Git graphical ...@@ -29,7 +29,7 @@ be easily adapted if you are using one of the numerous Git graphical
user interface available or if Git is supported by you integrated user interface available or if Git is supported by you integrated
development environment: development environment:
git clone http://www.orekit.org/git/rugged git clone https://www.orekit.org/git/rugged-main.git
Released Library versions Released Library versions
------------------------- -------------------------
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src/site/markdown/sources.md
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...@@ -30,12 +30,13 @@ Development version ...@@ -30,12 +30,13 @@ Development version
The development of the Rugged project is done using the [Git](http://git-scm.com/) The development of the Rugged project is done using the [Git](http://git-scm.com/)
source code control system. Rugged Git master repository is available online. source code control system. Rugged Git master repository is available online.
* you can browse it using the [Repository](https://www.orekit.org/forge/projects/rugged/repository) You can browse it using the [Repository](https://www.orekit.org/forge/projects/rugged/repository)
tab in Rugged forge tab in Rugged forge
* you can clone it anonymously with the command:
git clone https://www.orekit.org/git/rugged-main.git You can clone it anonymously with the command:
** if you are a committer, you can clone it using your ssh credentials with the command: git clone https://www.orekit.org/git/rugged-main.git
git clone ssh://git@www.orekit.org/rugged-main.git If you are a committer, you can clone it using your ssh credentials with the command:
git clone ssh://git@www.orekit.org/rugged-main.git
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