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src/test/resources/replay/replay-direct-loc-01.txt 0 → 100644
View file @ acf902ea
# Rugged library dump file, created on 2015-02-11T14:08:32Z
# all units are SI units (m, m/s, rad ...)
direct location: date 2012-01-01T12:30:00.00000000000000Z position 1.500000000000000e+00 0.000000000000000e+00 -2.000000000000000e-01 los 0.000000000000000e+00 -7.547095802227720e-01 6.560590289905073e-01 lightTime true aberration true refraction false
span: minDate 2012-01-01T12:29:59.85000000000000Z maxDate 2012-01-01T12:30:00.15000000000000Z tStep 1.000000000000000e-03 tolerance 5.000000000000000e+00 inertialFrame EME2000
transform: index 150 body r -8.085963389171905e-01 -3.465415132416124e-04 4.896468952533136e-04 -5.883634938068593e-01 Ω -8.740475534355121e-08 1.215132763920863e-09 -7.292109805268457e-05 ΩDot -1.642299174832473e-16 8.973031065833714e-17 1.983408395826415e-19 spacecraft p 1.384771423708159e+04 3.157872644483112e+03 -7.179504513218164e+06 v -3.193269831348565e+01 -8.025700179158079e+00 8.276060585645734e+00 a -9.306388141791047e-01 -8.320023410534990e+00 1.352798021525103e-03 r -6.828948932066574e-01 4.142451147005848e-01 -3.878489669799004e-01 4.600312256701621e-01 Ω -1.009835959093257e-03 1.982938126604663e-04 1.645927204535755e-04 ΩDot -3.647403055483546e-07 2.008714378022283e-07 -1.257148591486377e-06
ellipsoid: ae 6.378137000000000e+06 f 3.352810664747481e-03 frame ITRF_CIO_CONV_2010_SIMPLE_EOP
algorithm: DUVENHAGE
DEM tile: t0 latMin -4.014257279586958e-01 latStep 6.817692390602850e-05 latRows 257 lonMin 2.495820830351891e+00 lonStep 6.817692390602850e-05 lonCols 257
DEM cell: t0 latIndex 192 lonIndex 0 elevation -1.282721242683617e+03
DEM cell: t0 latIndex 80 lonIndex 192 elevation 3.211682285355159e+03
DEM cell: t0 latIndex 96 lonIndex 64 elevation 1.075720914066972e+03
DEM cell: t0 latIndex 97 lonIndex 64 elevation 9.498384803599795e+02
DEM cell: t0 latIndex 96 lonIndex 65 elevation 1.001623033275892e+03
DEM cell: t0 latIndex 97 lonIndex 65 elevation 9.831021315425144e+02
DEM cell: t0 latIndex 98 lonIndex 56 elevation 4.037205937396239e+02
DEM cell: t0 latIndex 99 lonIndex 56 elevation 3.509794615703248e+02
DEM cell: t0 latIndex 98 lonIndex 57 elevation 4.551790818839939e+02
DEM cell: t0 latIndex 99 lonIndex 57 elevation 4.092183869677025e+02
DEM cell: t0 latIndex 100 lonIndex 52 elevation 1.818042833221984e+02
DEM cell: t0 latIndex 101 lonIndex 52 elevation 1.967888111569631e+02
DEM cell: t0 latIndex 100 lonIndex 53 elevation 2.123112720834445e+02
DEM cell: t0 latIndex 101 lonIndex 53 elevation 2.599883852797756e+02
DEM cell: t0 latIndex 99 lonIndex 52 elevation 1.165402192703470e+02
DEM cell: t0 latIndex 99 lonIndex 53 elevation 1.681060844126773e+02
DEM cell: t0 latIndex 98 lonIndex 51 elevation 1.106742561780528e+02
DEM cell: t0 latIndex 99 lonIndex 51 elevation 1.089346532856847e+02
DEM cell: t0 latIndex 98 lonIndex 52 elevation 7.247914242540050e+01
DEM cell: t0 latIndex 98 lonIndex 50 elevation 7.769426987315585e+01
DEM cell: t0 latIndex 99 lonIndex 50 elevation 4.265142906455210e+01
DEM cell: t0 latIndex 97 lonIndex 50 elevation 4.500756443755694e+01
DEM cell: t0 latIndex 97 lonIndex 51 elevation 7.421501844304876e+01
direct location result: latitude -3.947445425992010e-01 longitude 2.499243584750142e+00 elevation 8.434706922629509e+01
direct location: date 2012-01-01T12:30:00.00000000000000Z position 1.500000000000000e+00 0.000000000000000e+00 -2.000000000000000e-01 los 0.000000000000000e+00 -7.548246479094037e-01 6.559266353095021e-01 lightTime true aberration true refraction false
DEM cell: t0 latIndex 96 lonIndex 52 elevation 1.110753711365716e+02
DEM cell: t0 latIndex 97 lonIndex 52 elevation 8.027308091623061e+01
DEM cell: t0 latIndex 96 lonIndex 53 elevation 1.950053829821900e+02
DEM cell: t0 latIndex 97 lonIndex 53 elevation 1.459661208883268e+02
DEM cell: t0 latIndex 97 lonIndex 49 elevation -1.609219755441909e+01
DEM cell: t0 latIndex 98 lonIndex 49 elevation -2.653137720265925e+01
DEM cell: t0 latIndex 97 lonIndex 48 elevation -9.460844691182658e+01
DEM cell: t0 latIndex 98 lonIndex 48 elevation -6.303622859747302e+01
direct location result: latitude -3.947611273580563e-01 longitude 2.499133846389992e+00 elevation -4.295871413137783e+01
direct location: date 2012-01-01T12:30:00.00000000000000Z position 1.500000000000000e+00 0.000000000000000e+00 -2.000000000000000e-01 los 0.000000000000000e+00 -7.595223858294946e-01 6.504811645419663e-01 lightTime true aberration true refraction false
DEM cell: t0 latIndex 91 lonIndex 0 elevation -4.644285910379659e+02
DEM cell: t0 latIndex 92 lonIndex 0 elevation -6.361521230433466e+02
DEM cell: t0 latIndex 91 lonIndex 1 elevation -6.695324221432916e+02
DEM cell: t0 latIndex 92 lonIndex 1 elevation -6.941696826528058e+02
DEM cell: t0 latIndex 96 lonIndex 12 elevation -6.229043689225860e+02
DEM cell: t0 latIndex 97 lonIndex 12 elevation -6.074403513292080e+02
DEM cell: t0 latIndex 96 lonIndex 13 elevation -6.849894309179065e+02
DEM cell: t0 latIndex 97 lonIndex 13 elevation -6.129357249231432e+02
DEM cell: t0 latIndex 90 lonIndex 4 elevation -8.534523757445398e+02
DEM cell: t0 latIndex 91 lonIndex 4 elevation -8.996784383751103e+02
DEM cell: t0 latIndex 90 lonIndex 5 elevation -9.026655203899021e+02
DEM cell: t0 latIndex 91 lonIndex 5 elevation -9.279387777828925e+02
DEM cell: t0 latIndex 92 lonIndex 2 elevation -7.517293327072680e+02
DEM cell: t0 latIndex 93 lonIndex 2 elevation -7.766413818620708e+02
DEM cell: t0 latIndex 92 lonIndex 3 elevation -8.594398740278656e+02
DEM cell: t0 latIndex 93 lonIndex 3 elevation -8.590835217917245e+02
DEM cell: t0 latIndex 90 lonIndex 1 elevation -7.251222469503653e+02
DEM cell: t0 latIndex 90 lonIndex 2 elevation -7.924361301694835e+02
DEM cell: t0 latIndex 91 lonIndex 2 elevation -7.590003401646543e+02
DEM cell: t0 latIndex 90 lonIndex 0 elevation -5.786400093316511e+02
direct location result: latitude -3.952555711362365e-01 longitude 2.495847653590435e+00 elevation -5.905034290161145e+02
direct location: date 2012-01-01T12:30:00.00000000000000Z position 1.500000000000000e+00 0.000000000000000e+00 -2.000000000000000e-01 los 0.000000000000000e+00 -7.596364750290255e-01 6.503479267326657e-01 lightTime true aberration true refraction false
DEM tile: t1 latMin -4.014257279586958e-01 latStep 6.817692390602850e-05 latRows 257 lonMin 2.478367537831948e+00 lonStep 6.817692390602850e-05 lonCols 257
DEM cell: t1 latIndex 192 lonIndex 0 elevation -1.282721242683617e+03
DEM cell: t1 latIndex 80 lonIndex 192 elevation 3.211682285355159e+03
DEM cell: t1 latIndex 90 lonIndex 255 elevation -6.028136533065612e+02
DEM cell: t1 latIndex 90 lonIndex 256 elevation -5.786400093316511e+02
DEM cell: t1 latIndex 91 lonIndex 255 elevation -6.221990476940956e+02
DEM cell: t1 latIndex 91 lonIndex 256 elevation -4.644285910379659e+02
DEM cell: t1 latIndex 92 lonIndex 256 elevation -6.361521230433466e+02
DEM cell: t1 latIndex 91 lonIndex 257 elevation -6.361521230433466e+02
DEM cell: t1 latIndex 92 lonIndex 257 elevation -5.119072938899205e+02
direct location result: latitude -3.952672865845636e-01 longitude 2.495769458919830e+00 elevation -5.923807760050810e+02
direct location: date 2012-01-01T12:30:00.00000000000000Z position 1.500000000000000e+00 0.000000000000000e+00 -2.000000000000000e-01 los 0.000000000000000e+00 -7.597505408555608e-01 6.502146689130315e-01 lightTime true aberration true refraction false
DEM cell: t1 latIndex 92 lonIndex 248 elevation -1.470524675650724e+02
DEM cell: t1 latIndex 93 lonIndex 248 elevation -1.448837787295385e+02
DEM cell: t1 latIndex 92 lonIndex 249 elevation -2.503632800423777e+02
DEM cell: t1 latIndex 93 lonIndex 249 elevation -2.077565123004881e+02
DEM cell: t1 latIndex 90 lonIndex 254 elevation -5.859504161342276e+02
DEM cell: t1 latIndex 91 lonIndex 254 elevation -6.458840770174961e+02
direct location result: latitude -3.952790935038382e-01 longitude 2.495690638626864e+00 elevation -5.963149908542051e+02
src/test/resources/replay/replay-direct-loc-02.txt 0 → 100644
View file @ acf902ea
# Rugged library dump file, created on 2015-04-23T15:12:38Z
# all units are SI units (m, m/s, rad ...)
direct location: date 2013-07-09T08:04:01.64555485306736Z position 0.000000000000000e+00 0.000000000000000e+00 0.000000000000000e+00 los -2.397859534323394e-02 1.069618325126766e-01 9.939739399066714e-01 lightTime false aberration false refraction false
span: minDate 2013-07-09T07:44:31.00000000000000Z maxDate 2013-07-09T08:13:29.00000000000000Z tStep 1.000000000000000e-01 tolerance 1.000000000000000e+01 inertialFrame EME2000
transform: index 11706 body r -9.126227111915787e-01 2.903948203646350e-04 6.031760832458322e-04 4.088023224821415e-01 Ω -9.759363848525831e-08 2.685469893129743e-09 -7.292108611062513e-05 ΩDot -2.894633518922737e-16 -1.401923338483166e-16 3.822089661987461e-19 spacecraft p -9.813172457506880e-01 -2.293861089274287e-01 -7.170114055550980e+06 v 1.721804626498136e-02 -5.160520845023520e-02 -8.541224850640113e+00 a -3.826063343921664e-01 -2.431259446863342e+00 6.594385725102986e-03 r -5.316321568749174e-01 5.693171838660510e-01 4.158849079021506e-01 -4.693452218895723e-01 Ω 1.024382530168276e-03 -9.422884774760976e-05 1.535223674917447e-04 ΩDot -1.147097938604457e-08 1.286556172365012e-07 3.416768201783130e-07
algorithm: DUVENHAGE
ellipsoid: ae 6.378137000000000e+06 f 3.352810664747481e-03 frame ITRF_CIO_CONV_2010_SIMPLE_EOP
DEM tile: t0 latMin -1.745329251994330e-02 latStep 1.454441043328608e-05 latRows 1201 lonMin 6.108652381980153e-01 lonStep 1.454441043328608e-05 lonCols 1201
DEM cell: t0 latIndex 939 lonIndex 2 elevation 1.141932549078131e+03
DEM cell: t0 latIndex 635 lonIndex 1044 elevation 3.059853107443227e+03
DEM cell: t0 latIndex 1184 lonIndex 865 elevation 2.283370902248552e+03
DEM cell: t0 latIndex 1185 lonIndex 865 elevation 2.283369398664941e+03
DEM cell: t0 latIndex 1184 lonIndex 866 elevation 2.275368031868235e+03
DEM cell: t0 latIndex 1185 lonIndex 866 elevation 2.281366531059011e+03
DEM tile: t1 latMin 0.000000000000000e+00 latStep 1.454441043328608e-05 latRows 1201 lonMin 6.108652381980153e-01 lonStep 1.454441043328608e-05 lonCols 1201
DEM cell: t1 latIndex 1162 lonIndex 1200 elevation 8.242020012027025e+02
DEM cell: t1 latIndex 1200 lonIndex 612 elevation 2.889312890594999e+03
DEM cell: t1 latIndex 0 lonIndex 888 elevation 2.114929904457000e+03
DEM cell: t1 latIndex 0 lonIndex 889 elevation 2.115931793474417e+03
DEM cell: t1 latIndex 1 lonIndex 888 elevation 2.114929426260988e+03
DEM cell: t1 latIndex 1 lonIndex 889 elevation 2.109931313132628e+03
DEM cell: t1 latIndex 0 lonIndex 885 elevation 2.135924237404747e+03
DEM cell: t1 latIndex 1 lonIndex 885 elevation 2.135923765646068e+03
DEM cell: t1 latIndex 0 lonIndex 886 elevation 2.129926126422164e+03
DEM cell: t1 latIndex 1 lonIndex 886 elevation 2.129925652517708e+03
DEM cell: t1 latIndex 0 lonIndex 887 elevation 2.124928015439582e+03
DEM cell: t1 latIndex 1 lonIndex 887 elevation 2.124927539389348e+03
direct location result: latitude 6.217101136089454e-06 longitude 6.237751969228724e-01 elevation 2.118695205480773e+03
src/test/resources/replay/replay-direct-loc-03.txt 0 → 100644
View file @ acf902ea
# Rugged library dump file, created on 2015-06-17T12:40:59Z
# all units are SI units (m, m/s, rad ...)
direct location: date 2009-12-10T19:49:15.69409696600003Z position 0.000000000000000e+00 0.000000000000000e+00 0.000000000000000e+00 los -2.222227735527040e-02 -9.103563670459193e-02 9.955996601239552e-01 lightTime false aberration false refraction false
span: minDate 2009-12-10T19:43:11.00000000000000Z maxDate 2009-12-10T19:54:00.00000000000000Z tStep 1.000000000000000e-01 tolerance 1.000000000000000e+01 inertialFrame EME2000
transform: index 3647 body r -9.892006943727071e-01 6.548538144006332e-05 4.928252940714298e-04 1.465665005635631e-01 Ω -7.256918583080753e-08 -1.041477941363816e-09 -7.292111444123439e-05 ΩDot -1.633367752479824e-16 1.747255489539140e-16 1.600518399853031e-19 spacecraft p 1.915468890219927e-01 -8.990556518547237e-01 -7.156923547128990e+06 v -2.488758510805678e-02 8.481932866150421e-02 -4.020837052430704e+00 a -2.066722296571628e-01 -2.090489712840085e+00 -7.003752909213540e-03 r -1.763451310531075e-01 -4.315699021299694e-01 8.655337192606597e-01 1.830333170551214e-01 Ω -8.737537450216512e-04 5.311070290168704e-04 2.103617306756347e-04 ΩDot 1.145446212396803e-07 1.919398959490098e-07 6.635983002829190e-08
algorithm: DUVENHAGE
ellipsoid: ae 6.378137000000000e+06 f 3.352810664747481e-03 frame ITRF_CIO_CONV_2010_SIMPLE_EOP
DEM tile: t0 latMin 1.047197551196598e+00 latStep 1.454441043328608e-05 latRows 1201 lonMin -2.164208272472969e+00 lonStep 2.908882086657216e-05 lonCols 601
DEM cell: t0 latIndex 1200 lonIndex 454 elevation 1.437147018278546e+02
DEM cell: t0 latIndex 928 lonIndex 17 elevation 1.615747402326250e+03
DEM cell: t0 latIndex 749 lonIndex 584 elevation 3.826208316815853e+02
DEM cell: t0 latIndex 749 lonIndex 585 elevation 3.856180070818848e+02
DEM cell: t0 latIndex 749 lonIndex 586 elevation 3.886151824821843e+02
DEM cell: t0 latIndex 750 lonIndex 584 elevation 3.836203882299900e+02
DEM cell: t0 latIndex 750 lonIndex 585 elevation 3.856175611585988e+02
DEM cell: t0 latIndex 750 lonIndex 586 elevation 3.886147340872076e+02
DEM cell: t0 latIndex 751 lonIndex 588 elevation 3.936086266060671e+02
DEM cell: t0 latIndex 752 lonIndex 588 elevation 3.936081732677089e+02
DEM cell: t0 latIndex 751 lonIndex 589 elevation 3.956057970629851e+02
DEM cell: t0 latIndex 752 lonIndex 589 elevation 3.966053412529362e+02
DEM cell: t0 latIndex 736 lonIndex 600 elevation 4.295819170687835e+02
DEM cell: t0 latIndex 737 lonIndex 600 elevation 4.285814340701368e+02
DEM cell: t0 latIndex 736 lonIndex 601 elevation 5.754850304128064e+02
DEM cell: t0 latIndex 737 lonIndex 601 elevation 5.764867282588906e+02
DEM cell: t0 latIndex 748 lonIndex 592 elevation 4.015986981091023e+02
DEM cell: t0 latIndex 749 lonIndex 592 elevation 4.015982348839813e+02
DEM cell: t0 latIndex 748 lonIndex 593 elevation 4.045958759810924e+02
DEM cell: t0 latIndex 749 lonIndex 593 elevation 4.045954102842808e+02
direct location result: latitude 1.058104370487310e+00 longitude -2.147166209870915e+00 elevation 3.882040377058536e+02
src/test/resources/replay/replay-direct-loc-04.txt 0 → 100644
View file @ acf902ea
# Rugged library dump file, created on 2016-08-25T11:36:58Z
# all units are SI units (m, m/s, rad ...)
sensor: sensorName s0 nbPixels 200 position 1.500000000000000e+00 0.000000000000000e+00 -2.000000000000000e-01
sensor datation: sensorName s0 lineNumber 1.000000000000000e+02 date 2012-01-01T12:30:00.00000000000000Z
sensor LOS: sensorName s0 date 2012-01-01T12:30:00.00000000000000Z pixelNumber 0 los 0.000000000000000e+00 -7.547095802227720e-01 6.560590289905073e-01
direct location: date 2012-01-01T12:30:00.00000000000000Z position 1.500000000000000e+00 0.000000000000000e+00 -2.000000000000000e-01 los 0.000000000000000e+00 -7.547095802227720e-01 6.560590289905073e-01 lightTime true aberration true refraction false
span: minDate 2012-01-01T12:29:59.85000000000000Z maxDate 2012-01-01T12:30:00.15000000000000Z tStep 1.000000000000000e-03 tolerance 5.000000000000000e+00 inertialFrame EME2000
transform: index 150 body r -8.085963389171905e-01 -3.465415132634738e-04 4.896468952577882e-04 -5.883634938068593e-01 Ω -8.740475539607400e-08 1.215132816692757e-09 -7.292109805268452e-05 ΩDot -1.641702845856317e-16 8.967282378770661e-17 1.982686818602039e-19 spacecraft p 1.384771423699730e+04 3.157872644810937e+03 -7.179504513218164e+06 v -3.193269795630194e+01 -8.025701643721955e+00 8.276060585691415e+00 a -9.306383564355984e-01 -8.320024052654388e+00 1.352798609222994e-03 r -6.828948932119083e-01 4.142451147050121e-01 -3.878489669751732e-01 4.600312256623658e-01 Ω -1.009835943938631e-03 1.982939067387613e-04 1.645926841490188e-04 ΩDot -3.647402648477413e-07 2.008713174452711e-07 -1.257148546282535e-06
ellipsoid: ae 6.378137000000000e+06 f 3.352810664747481e-03 frame ITRF_CIO_CONV_2010_SIMPLE_EOP
algorithm: CONSTANT_ELEVATION_OVER_ELLIPSOID elevation 1.000000000000000e+02
direct location result: latitude -3.947439031048142e-01 longitude 2.499247813392400e+00 elevation 1.000000008142965e+02
sensor LOS: sensorName s0 date 2012-01-01T12:30:00.00000000000000Z pixelNumber 1 los 0.000000000000000e+00 -7.548246479094037e-01 6.559266353095021e-01
direct location: date 2012-01-01T12:30:00.00000000000000Z position 1.500000000000000e+00 0.000000000000000e+00 -2.000000000000000e-01 los 0.000000000000000e+00 -7.548246479094037e-01 6.559266353095021e-01 lightTime true aberration true refraction false
direct location result: latitude -3.947552846081879e-01 longitude 2.499172490136166e+00 elevation 1.000000008170387e+02
sensor LOS: sensorName s0 date 2012-01-01T12:30:00.00000000000000Z pixelNumber 2 los 0.000000000000000e+00 -7.549396923710934e-01 6.557942214465139e-01
direct location: date 2012-01-01T12:30:00.00000000000000Z position 1.500000000000000e+00 0.000000000000000e+00 -2.000000000000000e-01 los 0.000000000000000e+00 -7.549396923710934e-01 6.557942214465139e-01 lightTime true aberration true refraction false
direct location result: latitude -3.947666718219440e-01 longitude 2.499097114958829e+00 elevation 1.000000008196107e+02
src/test/resources/replay/replay-direct-loc-Issue376-01.txt 0 → 100644
View file @ acf902ea
# Rugged library dump file, created on 2019-02-12T13:28:19Z
# all units are SI units (m, m/s, rad ...)
sensor: sensorName s0 nbPixels 6992 position 0.000000000000000e+00 0.000000000000000e+00 0.000000000000000e+00
sensor datation: sensorName s0 lineNumber 1.093179500000000e+04 date 2018-11-17T09:28:13.50738549333433Z
direct location: date 2018-11-17T09:28:13.50738549333433Z position 0.000000000000000e+00 0.000000000000000e+00 0.000000000000000e+00 los 1.766362001712258e-03 -7.071346636500928e-03 9.999734376572147e-01 lightTime false aberration true refraction false
span: minDate 2018-11-17T09:28:09.75815400000000Z maxDate 2018-11-17T09:28:24.37500000000000Z tStep 1.000000000000000e-03 tolerance 1.000000000000000e+00 inertialFrame EME2000
transform: index 3749 body r -1.582419730578572e-01 -8.877875020391763e-04 1.556906340657658e-04 -9.873999521756794e-01 Ω -1.314379576583188e-07 1.929883563714465e-09 -7.292103298515694e-05 ΩDot -1.238204383721699e-16 -4.429578390177184e-17 2.220234885205757e-19 spacecraft p -2.043780763621181e+06 2.649055676516346e+06 -6.230074460056063e+06 v 8.500193464365886e+03 -1.120156363674237e+04 -7.562611889558547e+03 a -7.774014494482032e+02 -2.165448216679694e+02 2.038618372832540e+02 r -4.471787778551135e-01 -2.556359378108412e-01 7.875656535717214e-01 3.382628404801900e-01 Ω 1.895876683374440e-03 6.208707436271533e-04 6.748857995964048e-04 ΩDot 2.850236048816703e-06 1.374797997377696e-04 -1.976120196823438e-05
algorithm: DUVENHAGE
ellipsoid: ae 6.378137000000000e+06 f 3.352810664747481e-03 frame ITRF_CIO_CONV_2010_SIMPLE_EOP
DEM tile: t0 latMin 7.854054356026650e-01 latStep 1.454441043328608e-05 latRows 1850 lonMin 1.745401974046496e-01 lonStep 1.454441043328608e-05 lonCols 2950
DEM cell: t0 latIndex 1051 lonIndex 2937 elevation 1.309400956268308e+01
DEM cell: t0 latIndex 1809 lonIndex 653 elevation 3.915338283287048e+03
DEM cell: t0 latIndex 1743 lonIndex 2713 elevation 3.241641450760227e+03
DEM cell: t0 latIndex 1744 lonIndex 2713 elevation 3.183645801580853e+03
DEM cell: t0 latIndex 1743 lonIndex 2714 elevation 3.205639259625923e+03
DEM cell: t0 latIndex 1744 lonIndex 2714 elevation 3.139643613453759e+03
DEM cell: t0 latIndex 1744 lonIndex 2704 elevation 2.730665494724698e+03
DEM cell: t0 latIndex 1745 lonIndex 2704 elevation 2.724669818480428e+03
DEM cell: t0 latIndex 1744 lonIndex 2705 elevation 2.812663306597604e+03
DEM cell: t0 latIndex 1745 lonIndex 2705 elevation 2.789667633360545e+03
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DEM cell: t0 latIndex 1745 lonIndex 2694 elevation 2.324684218138123e+03
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DEM cell: t0 latIndex 1747 lonIndex 2695 elevation 2.284691855284797e+03
DEM cell: t0 latIndex 1748 lonIndex 2695 elevation 2.230696145456314e+03
DEM cell: t0 latIndex 1747 lonIndex 2696 elevation 2.312690920710585e+03
DEM cell: t0 latIndex 1748 lonIndex 2696 elevation 2.265695215193176e+03
DEM cell: t0 latIndex 1749 lonIndex 2696 elevation 2.213699509675768e+03
DEM cell: t0 latIndex 1748 lonIndex 2697 elevation 2.299694284930039e+03
DEM cell: t0 latIndex 1749 lonIndex 2697 elevation 2.243698583723704e+03
DEM cell: t0 latIndex 1748 lonIndex 2694 elevation 2.204697075719452e+03
DEM cell: t0 latIndex 1749 lonIndex 2694 elevation 2.151701361579895e+03
DEM cell: t0 latIndex 1749 lonIndex 2695 elevation 2.179700435627831e+03
DEM cell: t0 latIndex 1750 lonIndex 2692 elevation 2.065707490722317e+03
DEM cell: t0 latIndex 1751 lonIndex 2692 elevation 2.019711767960612e+03
DEM cell: t0 latIndex 1750 lonIndex 2693 elevation 2.084706569081327e+03
DEM cell: t0 latIndex 1751 lonIndex 2693 elevation 2.051710850630697e+03
DEM cell: t0 latIndex 1750 lonIndex 2690 elevation 2.054709334004296e+03
DEM cell: t0 latIndex 1751 lonIndex 2690 elevation 2.052713602620443e+03
DEM cell: t0 latIndex 1750 lonIndex 2691 elevation 2.046708412363307e+03
DEM cell: t0 latIndex 1751 lonIndex 2691 elevation 1.988712685290527e+03
DEM cell: t0 latIndex 1752 lonIndex 2690 elevation 1.767717871236589e+03
DEM cell: t0 latIndex 1752 lonIndex 2691 elevation 1.932716958217748e+03
DEM cell: t0 latIndex 1751 lonIndex 2689 elevation 1.977714519950358e+03
DEM cell: t0 latIndex 1752 lonIndex 2689 elevation 1.812718784255430e+03
DEM cell: t0 latIndex 1753 lonIndex 2689 elevation 1.752723048560503e+03
DEM cell: t0 latIndex 1753 lonIndex 2690 elevation 1.771722139852736e+03
direct location result: latitude 8.108879611499973e-01 longitude 2.136511932240912e-01 elevation 1.806659334316842e+03
src/test/resources/replay/replay-direct-loc-Issue376-02.txt 0 → 100644
View file @ acf902ea
# Rugged library dump file, created on 2019-02-12T13:32:28Z
# all units are SI units (m, m/s, rad ...)
sensor: sensorName s0 nbPixels 6992 position 0.000000000000000e+00 0.000000000000000e+00 0.000000000000000e+00
sensor datation: sensorName s0 lineNumber 1.555651300000000e+04 date 2018-11-17T09:28:15.00578210106806Z
direct location: date 2018-11-17T09:28:15.00578210106806Z position 0.000000000000000e+00 0.000000000000000e+00 0.000000000000000e+00 los 1.630437590029585e-03 -1.988452149915022e-02 9.998009539287460e-01 lightTime false aberration true refraction false
span: minDate 2018-11-17T09:28:09.75815400000000Z maxDate 2018-11-17T09:28:24.37500000000000Z tStep 1.000000000000000e-03 tolerance 1.000000000000000e+00 inertialFrame EME2000
transform: index 5248 body r -1.582959385747423e-01 -8.877789928041023e-04 1.557391550098440e-04 -9.873913020806478e-01 Ω -1.314379578439253e-07 1.929883497315641e-09 -7.292103298515672e-05 ΩDot -1.238198063406674e-16 -4.429504278953000e-17 2.220223692809437e-19 spacecraft p -2.031142024066962e+06 2.632378682422574e+06 -6.241283006704280e+06 v 8.397013991525502e+03 -1.122240538848754e+04 -7.476888804772309e+03 a -5.680029219465155e+02 -2.953217064872529e+02 9.484900057803327e+01 r -4.473594211185816e-01 -2.560156449934148e-01 7.879614096264105e-01 3.368120466886735e-01 Ω 1.874199110824172e-03 6.297218887138226e-04 6.941311311658171e-04 ΩDot 2.110863271348145e-05 1.094333236463635e-04 -6.188132051280828e-06
algorithm: DUVENHAGE
ellipsoid: ae 6.378137000000000e+06 f 3.352810664747481e-03 frame ITRF_CIO_CONV_2010_SIMPLE_EOP
DEM tile: t0 latMin 7.854054356026650e-01 latStep 1.454441043328608e-05 latRows 1850 lonMin 1.745401974046496e-01 lonStep 1.454441043328608e-05 lonCols 2950
DEM cell: t0 latIndex 1051 lonIndex 2937 elevation 1.309400956268308e+01
DEM cell: t0 latIndex 1809 lonIndex 653 elevation 3.915338283287048e+03
DEM cell: t0 latIndex 1611 lonIndex 2905 elevation 2.683570229905023e+03
DEM cell: t0 latIndex 1612 lonIndex 2905 elevation 2.659575158110089e+03
DEM cell: t0 latIndex 1611 lonIndex 2906 elevation 2.640567641818916e+03
DEM cell: t0 latIndex 1612 lonIndex 2906 elevation 2.617572573031192e+03
DEM cell: t0 latIndex 1595 lonIndex 2880 elevation 2.623557283660889e+03
DEM cell: t0 latIndex 1596 lonIndex 2880 elevation 2.576562136685689e+03
DEM cell: t0 latIndex 1595 lonIndex 2881 elevation 2.647554647459412e+03
DEM cell: t0 latIndex 1596 lonIndex 2881 elevation 2.594559503491423e+03
DEM cell: t0 latIndex 1592 lonIndex 2872 elevation 2.390563886371358e+03
DEM cell: t0 latIndex 1593 lonIndex 2872 elevation 2.289568715338474e+03
DEM cell: t0 latIndex 1592 lonIndex 2873 elevation 2.342561241148249e+03
DEM cell: t0 latIndex 1593 lonIndex 2873 elevation 2.331566073122576e+03
DEM cell: t0 latIndex 1594 lonIndex 2876 elevation 2.458562987470839e+03
DEM cell: t0 latIndex 1595 lonIndex 2876 elevation 2.494567828466797e+03
DEM cell: t0 latIndex 1594 lonIndex 2877 elevation 2.475560348262151e+03
DEM cell: t0 latIndex 1595 lonIndex 2877 elevation 2.528565192265320e+03
DEM cell: t0 latIndex 1596 lonIndex 2872 elevation 2.190583202239821e+03
DEM cell: t0 latIndex 1597 lonIndex 2872 elevation 2.147588031206936e+03
DEM cell: t0 latIndex 1596 lonIndex 2873 elevation 2.264580569045554e+03
DEM cell: t0 latIndex 1597 lonIndex 2873 elevation 2.203585401019881e+03
DEM cell: t0 latIndex 1596 lonIndex 2868 elevation 2.121593735016887e+03
DEM cell: t0 latIndex 1597 lonIndex 2868 elevation 2.114598551955160e+03
DEM cell: t0 latIndex 1596 lonIndex 2869 elevation 2.106591101822620e+03
DEM cell: t0 latIndex 1597 lonIndex 2869 elevation 2.110595921768104e+03
DEM cell: t0 latIndex 1596 lonIndex 2864 elevation 2.166604267793952e+03
DEM cell: t0 latIndex 1597 lonIndex 2864 elevation 2.083609072703383e+03
DEM cell: t0 latIndex 1596 lonIndex 2865 elevation 2.144601634599685e+03
DEM cell: t0 latIndex 1597 lonIndex 2865 elevation 2.076606442516327e+03
DEM cell: t0 latIndex 1596 lonIndex 2867 elevation 2.148596368211153e+03
DEM cell: t0 latIndex 1597 lonIndex 2867 elevation 2.111601182142215e+03
DEM cell: t0 latIndex 1598 lonIndex 2865 elevation 2.042611250432968e+03
DEM cell: t0 latIndex 1597 lonIndex 2866 elevation 2.091603812329271e+03
DEM cell: t0 latIndex 1598 lonIndex 2866 elevation 2.054608623253123e+03
DEM cell: t0 latIndex 1599 lonIndex 2865 elevation 1.847616058349609e+03
DEM cell: t0 latIndex 1599 lonIndex 2866 elevation 1.838613434176975e+03
DEM cell: t0 latIndex 1598 lonIndex 2864 elevation 1.985613877612813e+03
DEM cell: t0 latIndex 1599 lonIndex 2864 elevation 1.872618682522244e+03
direct location result: latitude 8.086569515781713e-01 longitude 2.161986944259714e-01 elevation 1.912154442728379e+03
src/test/resources/replay/replay-direct-loc-Issue376-03.txt 0 → 100644
View file @ acf902ea
# Rugged library dump file, created on 2019-02-08T16:07:07Z
# all units are SI units (m, m/s, rad ...)
sensor: sensorName s0 nbPixels 6992 position 0.000000000000000e+00 0.000000000000000e+00 0.000000000000000e+00
sensor datation: sensorName s0 lineNumber -6.400000000000001e+02 date 2018-11-17T09:28:09.75815400000000Z
sensor datation: sensorName s0 lineNumber 4.447408424880824e+04 date 2018-11-17T09:28:24.37500000000000Z
sensor datation: sensorName s0 lineNumber 2.826900000000000e+04 date 2018-11-17T09:28:19.12459483660332Z
direct location: date 2018-11-17T09:28:19.12459483660332Z position 0.000000000000000e+00 0.000000000000000e+00 0.000000000000000e+00 los 1.675073979757700e-03 -1.455869843117481e-02 9.998926134476405e-01 lightTime false aberration false refraction false
span: minDate 2018-11-17T09:28:09.75815400000000Z maxDate 2018-11-17T09:28:24.37500000000000Z tStep 1.000000000000000e-03 tolerance 1.000000000000000e+00 inertialFrame EME2000
transform: index 9366 body r -1.584446506666181e-01 -8.881578177468675e-04 1.564888965877765e-04 -9.873674490087516e-01 Ω -1.314379583538120e-07 1.929883314912744e-09 -7.292103298515580e-05 ΩDot -1.238180701885198e-16 -4.429300681876970e-17 2.220189200053709e-19 spacecraft p -1.997175450486062e+06 2.586441579861389e+06 -6.271423934028421e+06 v 8.113280864301501e+03 -1.114024972785023e+04 -7.189075879755639e+03 a -1.053681313757033e+03 -1.503500666930414e+03 -2.459309668330822e+02 r -4.479168627946637e-01 -2.570042078686272e-01 7.890099484043995e-01 3.328402356700476e-01 Ω 1.817311260304385e-03 6.600167203271428e-04 7.119941113907730e-04 ΩDot 4.061126512029496e-05 1.694535855585867e-04 2.046888666103640e-04
algorithm: DUVENHAGE
ellipsoid: ae 6.378137000000000e+06 f 3.352810664747481e-03 frame ITRF_CIO_CONV_2010_SIMPLE_EOP
DEM tile: t0 latMin 7.854054356026650e-01 latStep 1.454441043328608e-05 latRows 1850 lonMin 1.745401974046496e-01 lonStep 1.454441043328608e-05 lonCols 2950
DEM cell: t0 latIndex 1051 lonIndex 2937 elevation 1.309400956268308e+01
DEM cell: t0 latIndex 1809 lonIndex 653 elevation 3.915338283287048e+03
DEM cell: t0 latIndex 1248 lonIndex 2816 elevation 1.597661494047886e+03
DEM cell: t0 latIndex 1249 lonIndex 2816 elevation 1.603667936647203e+03
DEM cell: t0 latIndex 1248 lonIndex 2817 elevation 1.604658335707728e+03
DEM cell: t0 latIndex 1249 lonIndex 2817 elevation 1.605664779237111e+03
DEM cell: t0 latIndex 1231 lonIndex 2793 elevation 8.766249753387451e+02
DEM cell: t0 latIndex 1232 lonIndex 2793 elevation 8.306313965465546e+02
DEM cell: t0 latIndex 1231 lonIndex 2794 elevation 8.766218011874729e+02
DEM cell: t0 latIndex 1232 lonIndex 2794 elevation 8.436282233253479e+02
DEM cell: t0 latIndex 1248 lonIndex 2800 elevation 1.355712027490404e+03
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DEM cell: t0 latIndex 1249 lonIndex 2801 elevation 1.425715297798581e+03
DEM cell: t0 latIndex 1240 lonIndex 2793 elevation 9.406827662090301e+02
DEM cell: t0 latIndex 1241 lonIndex 2793 elevation 1.012689187416840e+03
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DEM cell: t0 latIndex 1241 lonIndex 2794 elevation 1.007686022566223e+03
DEM cell: t0 latIndex 1240 lonIndex 2784 elevation 9.277112582351684e+02
DEM cell: t0 latIndex 1241 lonIndex 2784 elevation 9.847176710723877e+02
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DEM cell: t0 latIndex 1241 lonIndex 2785 elevation 9.967145062217712e+02
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DEM cell: t0 latIndex 1242 lonIndex 2782 elevation 8.257304117507088e+02
DEM cell: t0 latIndex 1242 lonIndex 2783 elevation 8.767272478301578e+02
DEM cell: t0 latIndex 1243 lonIndex 2784 elevation 9.347304967468261e+02
DEM cell: t0 latIndex 1244 lonIndex 2784 elevation 9.137369095840454e+02
DEM cell: t0 latIndex 1243 lonIndex 2785 elevation 9.877273337563408e+02
DEM cell: t0 latIndex 1244 lonIndex 2785 elevation 9.537337475236257e+02
DEM cell: t0 latIndex 1243 lonIndex 2782 elevation 8.687368227277967e+02
DEM cell: t0 latIndex 1243 lonIndex 2783 elevation 8.967336597373114e+02
DEM cell: t0 latIndex 1244 lonIndex 2782 elevation 7.297432337048849e+02
DEM cell: t0 latIndex 1244 lonIndex 2783 elevation 8.807400716444652e+02
DEM cell: t0 latIndex 1242 lonIndex 2780 elevation 6.947367395918104e+02
DEM cell: t0 latIndex 1243 lonIndex 2780 elevation 6.547431487087673e+02
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DEM cell: t0 latIndex 1243 lonIndex 2781 elevation 6.997399857182820e+02
DEM cell: t0 latIndex 1244 lonIndex 2780 elevation 6.207495578257243e+02
DEM cell: t0 latIndex 1244 lonIndex 2781 elevation 6.667463957653046e+02
direct location result: latitude 8.034866377791225e-01 longitude 2.149826025000848e-01 elevation 6.766765876031756e+02
direct location: date 2018-11-17T09:28:19.12459483660332Z position 0.000000000000000e+00 0.000000000000000e+00 0.000000000000000e+00 los 1.675042663896624e-03 -1.456183361787985e-02 9.998925678460457e-01 lightTime false aberration false refraction false
direct location result: latitude 8.034863471945004e-01 longitude 2.149835637695512e-01 elevation 6.803274355079967e+02
direct location: date 2018-11-17T09:28:19.12459483660332Z position 0.000000000000000e+00 0.000000000000000e+00 0.000000000000000e+00 los 1.675011353747724e-03 -1.456496881978930e-02 9.998925222343867e-01 lightTime false aberration false refraction false
direct location result: latitude 8.034860569079852e-01 longitude 2.149845245803098e-01 elevation 6.839735377672140e+02
direct location: date 2018-11-17T09:28:19.12459483660332Z position 0.000000000000000e+00 0.000000000000000e+00 0.000000000000000e+00 los 1.674980049311240e-03 -1.456810403689894e-02 9.998924766126629e-01 lightTime false aberration false refraction false
DEM cell: t0 latIndex 1242 lonIndex 2786 elevation 1.042717756068505e+03
DEM cell: t0 latIndex 1243 lonIndex 2786 elevation 1.034724170765855e+03
DEM cell: t0 latIndex 1242 lonIndex 2787 elevation 1.053714592147954e+03
DEM cell: t0 latIndex 1243 lonIndex 2787 elevation 1.076721007775370e+03
direct location result: latitude 8.034857669188987e-01 longitude 2.149854849334069e-01 elevation 6.876149051242718e+02
direct location: date 2018-11-17T09:28:19.12459483660332Z position 0.000000000000000e+00 0.000000000000000e+00 0.000000000000000e+00 los 1.674948750587419e-03 -1.457123926920459e-02 9.998924309808744e-01 lightTime false aberration false refraction false
DEM cell: t0 latIndex 1243 lonIndex 2779 elevation 6.157463116992526e+02
DEM cell: t0 latIndex 1244 lonIndex 2779 elevation 5.807527198861440e+02
direct location result: latitude 8.034854772265824e-01 longitude 2.149864448298378e-01 elevation 6.912515480966839e+02
direct location: date 2018-11-17T09:28:19.12459483660332Z position 0.000000000000000e+00 0.000000000000000e+00 0.000000000000000e+00 los 1.674917457576505e-03 -1.457437451670205e-02 9.998923853390211e-01 lightTime false aberration false refraction false
direct location result: latitude 8.034781401708480e-01 longitude 2.149980710325160e-01 elevation 8.070092894686161e+02
direct location: date 2018-11-17T09:28:19.12459483660332Z position 0.000000000000000e+00 0.000000000000000e+00 0.000000000000000e+00 los 1.674886170278741e-03 -1.457750977938711e-02 9.998923396871029e-01 lightTime false aberration false refraction false
direct location result: latitude 8.034766451042998e-01 longitude 2.150008551040355e-01 elevation 8.298238649580798e+02
direct location: date 2018-11-17T09:28:19.12459483660332Z position 0.000000000000000e+00 0.000000000000000e+00 0.000000000000000e+00 los 1.674854888694373e-03 -1.458064505725559e-02 9.998922940251196e-01 lightTime false aberration false refraction false
direct location result: latitude 8.034756953353469e-01 longitude 2.150028138458636e-01 elevation 8.439627365661802e+02
direct location: date 2018-11-17T09:28:19.12459483660332Z position 0.000000000000000e+00 0.000000000000000e+00 0.000000000000000e+00 los 1.674823612823641e-03 -1.458378035030327e-02 9.998922483530713e-01 lightTime false aberration false refraction false
direct location result: latitude 8.034755257729028e-01 longitude 2.150035917614869e-01 elevation 8.456884143626966e+02
direct location: date 2018-11-17T09:28:19.12459483660332Z position 0.000000000000000e+00 0.000000000000000e+00 0.000000000000000e+00 los 1.674792342666794e-03 -1.458691565852597e-02 9.998922026709579e-01 lightTime false aberration false refraction false
direct location result: latitude 8.034753542091236e-01 longitude 2.150043727022487e-01 elevation 8.474459228337357e+02
direct location: date 2018-11-17T09:28:19.12459483660332Z position 0.000000000000000e+00 0.000000000000000e+00 0.000000000000000e+00 los 1.674761078224073e-03 -1.459005098191950e-02 9.998921569787793e-01 lightTime false aberration false refraction false
direct location result: latitude 8.034751805962782e-01 longitude 2.150051567402929e-01 elevation 8.492360215613375e+02
sensor datation: sensorName s0 lineNumber 2.827000000000000e+04 date 2018-11-17T09:28:19.12491883400332Z
direct location: date 2018-11-17T09:28:19.12491883400332Z position 0.000000000000000e+00 0.000000000000000e+00 0.000000000000000e+00 los 1.675073979757700e-03 -1.455869843117481e-02 9.998926134476405e-01 lightTime false aberration false refraction false
transform: index 9367 body r -1.584446866682885e-01 -8.881578120866489e-04 1.564889289424889e-04 -9.873674432314973e-01 Ω -1.314379583539358e-07 1.929883314868440e-09 -7.292103298515577e-05 ΩDot -1.238180697668843e-16 -4.429300632436523e-17 2.220189192587132e-19 spacecraft p -1.997167340633883e+06 2.586430434855095e+06 -6.271431123986675e+06 v 8.093431637307245e+03 -1.116772142469675e+04 -7.194252862198937e+03 a -1.116003951062058e+03 -1.540338922892465e+03 -2.412844583841287e+02 r -4.479170084500233e-01 -2.570044435935310e-01 7.890101945163001e-01 3.328392742206238e-01 Ω 1.817282407156245e-03 6.626536544364022e-04 7.166540889464018e-04 ΩDot 3.596261918459965e-05 1.762501149190991e-04 2.132352467042442e-04
direct location result: latitude 8.034861115536909e-01 longitude 2.149827595350881e-01 elevation 6.783715396658736e+02
direct location: date 2018-11-17T09:28:19.12491883400332Z position 0.000000000000000e+00 0.000000000000000e+00 0.000000000000000e+00 los 1.675042663896624e-03 -1.456183361787985e-02 9.998925678460457e-01 lightTime false aberration false refraction false
direct location result: latitude 8.034858212636020e-01 longitude 2.149837203567396e-01 elevation 6.820177172318605e+02
direct location: date 2018-11-17T09:28:19.12491883400332Z position 0.000000000000000e+00 0.000000000000000e+00 0.000000000000000e+00 los 1.675011353747724e-03 -1.456496881978930e-02 9.998925222343867e-01 lightTime false aberration false refraction false
direct location result: latitude 8.034855312710353e-01 longitude 2.149846807205700e-01 elevation 6.856591585036738e+02
direct location: date 2018-11-17T09:28:19.12491883400332Z position 0.000000000000000e+00 0.000000000000000e+00 0.000000000000000e+00 los 1.674980049311240e-03 -1.456810403689894e-02 9.998924766126629e-01 lightTime false aberration false refraction false
direct location result: latitude 8.034852415753052e-01 longitude 2.149856406276390e-01 elevation 6.892958742637608e+02
direct location: date 2018-11-17T09:28:19.12491883400332Z position 0.000000000000000e+00 0.000000000000000e+00 0.000000000000000e+00 los 1.674948750587419e-03 -1.457123926920459e-02 9.998924309808744e-01 lightTime false aberration false refraction false
direct location result: latitude 8.034849521757428e-01 longitude 2.149866000789734e-01 elevation 6.929278751330255e+02
direct location: date 2018-11-17T09:28:19.12491883400332Z position 0.000000000000000e+00 0.000000000000000e+00 0.000000000000000e+00 los 1.674917457576505e-03 -1.457437451670205e-02 9.998923853390211e-01 lightTime false aberration false refraction false
direct location result: latitude 8.034779039700788e-01 longitude 2.149977891017566e-01 elevation 8.040903082873930e+02
direct location: date 2018-11-17T09:28:19.12491883400332Z position 0.000000000000000e+00 0.000000000000000e+00 0.000000000000000e+00 los 1.674886170278741e-03 -1.457750977938711e-02 9.998923396871029e-01 lightTime false aberration false refraction false
direct location result: latitude 8.034764271073798e-01 longitude 2.150005456251370e-01 elevation 8.266152946789650e+02
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direct location: date 2018-11-17T09:28:19.12653882100332Z position 0.000000000000000e+00 0.000000000000000e+00 0.000000000000000e+00 los 1.674823612823641e-03 -1.458378035030327e-02 9.998922483530713e-01 lightTime false aberration false refraction false
direct location result: latitude 8.034735245992095e-01 longitude 2.150027865574396e-01 elevation 8.374757857096932e+02
direct location: date 2018-11-17T09:28:19.12653882100332Z position 0.000000000000000e+00 0.000000000000000e+00 0.000000000000000e+00 los 1.674792342666794e-03 -1.458691565852597e-02 9.998922026709579e-01 lightTime false aberration false refraction false
direct location result: latitude 8.034733420416067e-01 longitude 2.150035841425556e-01 elevation 8.394082406366659e+02
direct location: date 2018-11-17T09:28:19.12653882100332Z position 0.000000000000000e+00 0.000000000000000e+00 0.000000000000000e+00 los 1.674761078224073e-03 -1.459005098191950e-02 9.998921569787793e-01 lightTime false aberration false refraction false
direct location result: latitude 8.034731572176724e-01 longitude 2.150043851534342e-01 elevation 8.413767435665499e+02
sensor datation: sensorName s0 lineNumber 2.827600000000000e+04 date 2018-11-17T09:28:19.12686281840332Z
direct location: date 2018-11-17T09:28:19.12686281840332Z position 0.000000000000000e+00 0.000000000000000e+00 0.000000000000000e+00 los 1.675073979757700e-03 -1.455869843117481e-02 9.998926134476405e-01 lightTime false aberration false refraction false
transform: index 9369 body r -1.584447586673350e-01 -8.881578007668832e-04 1.564889936480546e-04 -9.873674316776738e-01 Ω -1.314379583541834e-07 1.929883314779866e-09 -7.292103298515577e-05 ΩDot -1.238180689236135e-16 -4.429300533555636e-17 2.220189177653981e-19 spacecraft p -1.997151155954951e+06 2.586408096464416e+06 -6.271445512935354e+06 v 8.091271130266433e+03 -1.117060283063097e+04 -7.194676009643846e+03 a -1.044503457528476e+03 -1.341066578308776e+03 -1.818631308446282e+02 r -4.479173029656718e-01 -2.570049126060395e-01 7.890106867331848e-01 3.328373488975490e-01 Ω 1.817345704800610e-03 6.629941506377007e-04 7.170513945397830e-04 ΩDot 2.733498444375428e-05 1.642460865486166e-04 1.840703496106509e-04
direct location result: latitude 8.034829263055876e-01 longitude 2.149837470159440e-01 elevation 6.889971765945945e+02
direct location: date 2018-11-17T09:28:19.12686281840332Z position 0.000000000000000e+00 0.000000000000000e+00 0.000000000000000e+00 los 1.675042663896624e-03 -1.456183361787985e-02 9.998925678460457e-01 lightTime false aberration false refraction false
direct location result: latitude 8.034826336114423e-01 longitude 2.149847114637728e-01 elevation 6.926816957627383e+02
direct location: date 2018-11-17T09:28:19.12686281840332Z position 0.000000000000000e+00 0.000000000000000e+00 0.000000000000000e+00 los 1.675011353747724e-03 -1.456496881978930e-02 9.998925222343867e-01 lightTime false aberration false refraction false
direct location result: latitude 8.034823424316320e-01 longitude 2.149856736119741e-01 elevation 6.963421196761177e+02
direct location: date 2018-11-17T09:28:19.12686281840332Z position 0.000000000000000e+00 0.000000000000000e+00 0.000000000000000e+00 los 1.674980049311240e-03 -1.456810403689894e-02 9.998924766126629e-01 lightTime false aberration false refraction false
direct location result: latitude 8.034820527490903e-01 longitude 2.149866334864504e-01 elevation 6.999787196835825e+02
direct location: date 2018-11-17T09:28:19.12686281840332Z position 0.000000000000000e+00 0.000000000000000e+00 0.000000000000000e+00 los 1.674948750587419e-03 -1.457123926920459e-02 9.998924309808744e-01 lightTime false aberration false refraction false
direct location result: latitude 8.034817645470610e-01 longitude 2.149875911126339e-01 elevation 7.035917622113589e+02
direct location: date 2018-11-17T09:28:19.12686281840332Z position 0.000000000000000e+00 0.000000000000000e+00 0.000000000000000e+00 los 1.674917457576505e-03 -1.457437451670205e-02 9.998923853390211e-01 lightTime false aberration false refraction false
direct location result: latitude 8.034761677048545e-01 longitude 2.149965834455797e-01 elevation 7.916647288555585e+02
direct location: date 2018-11-17T09:28:19.12686281840332Z position 0.000000000000000e+00 0.000000000000000e+00 0.000000000000000e+00 los 1.674886170278741e-03 -1.457750977938711e-02 9.998923396871029e-01 lightTime false aberration false refraction false
direct location result: latitude 8.034749048302526e-01 longitude 2.149990161298855e-01 elevation 8.107851023370356e+02
direct location: date 2018-11-17T09:28:19.12686281840332Z position 0.000000000000000e+00 0.000000000000000e+00 0.000000000000000e+00 los 1.674854888694373e-03 -1.458064505725559e-02 9.998922940251196e-01 lightTime false aberration false refraction false
direct location result: latitude 8.034739925202281e-01 longitude 2.150009181968722e-01 elevation 8.243281503278567e+02
direct location: date 2018-11-17T09:28:19.12686281840332Z position 0.000000000000000e+00 0.000000000000000e+00 0.000000000000000e+00 los 1.674823612823641e-03 -1.458378035030327e-02 9.998922483530713e-01 lightTime false aberration false refraction false
direct location result: latitude 8.034732535744913e-01 longitude 2.150025578599207e-01 elevation 8.351129417466944e+02
direct location: date 2018-11-17T09:28:19.12686281840332Z position 0.000000000000000e+00 0.000000000000000e+00 0.000000000000000e+00 los 1.674792342666794e-03 -1.458691565852597e-02 9.998922026709579e-01 lightTime false aberration false refraction false
direct location result: latitude 8.034730090742463e-01 longitude 2.150034491928779e-01 elevation 8.380309321979194e+02
direct location: date 2018-11-17T09:28:19.12686281840332Z position 0.000000000000000e+00 0.000000000000000e+00 0.000000000000000e+00 los 1.674761078224073e-03 -1.459005098191950e-02 9.998921569787793e-01 lightTime false aberration false refraction false
direct location result: latitude 8.034728223632561e-01 longitude 2.150042530606624e-01 elevation 8.400294644407792e+02
sensor datation: sensorName s0 lineNumber 2.827700000000000e+04 date 2018-11-17T09:28:19.12718681580332Z
direct location: date 2018-11-17T09:28:19.12718681580332Z position 0.000000000000000e+00 0.000000000000000e+00 0.000000000000000e+00 los 1.675073979757700e-03 -1.455869843117481e-02 9.998926134476405e-01 lightTime false aberration false refraction false
direct location result: latitude 8.034823880765704e-01 longitude 2.149839227504206e-01 elevation 6.908852429504817e+02
direct location: date 2018-11-17T09:28:19.12718681580332Z position 0.000000000000000e+00 0.000000000000000e+00 0.000000000000000e+00 los 1.675042663896624e-03 -1.456183361787985e-02 9.998925678460457e-01 lightTime false aberration false refraction false
direct location result: latitude 8.034820969147108e-01 longitude 2.149848848767784e-01 elevation 6.945454001321826e+02
direct location: date 2018-11-17T09:28:19.12718681580332Z position 0.000000000000000e+00 0.000000000000000e+00 0.000000000000000e+00 los 1.675011353747724e-03 -1.456496881978930e-02 9.998925222343867e-01 lightTime false aberration false refraction false
direct location result: latitude 8.034818072516638e-01 longitude 2.149858447270533e-01 elevation 6.981817088394623e+02
direct location: date 2018-11-17T09:28:19.12718681580332Z position 0.000000000000000e+00 0.000000000000000e+00 0.000000000000000e+00 los 1.674980049311240e-03 -1.456810403689894e-02 9.998924766126629e-01 lightTime false aberration false refraction false
direct location result: latitude 8.034815190706375e-01 longitude 2.149868023267313e-01 elevation 7.017944360609551e+02
direct location: date 2018-11-17T09:28:19.12718681580332Z position 0.000000000000000e+00 0.000000000000000e+00 0.000000000000000e+00 los 1.674948750587419e-03 -1.457123926920459e-02 9.998924309808744e-01 lightTime false aberration false refraction false
direct location result: latitude 8.034812323551419e-01 longitude 2.149877577008400e-01 elevation 7.053838439770665e+02
direct location: date 2018-11-17T09:28:19.12718681580332Z position 0.000000000000000e+00 0.000000000000000e+00 0.000000000000000e+00 los 1.674917457576505e-03 -1.457437451670205e-02 9.998923853390211e-01 lightTime false aberration false refraction false
direct location result: latitude 8.034758362031313e-01 longitude 2.149964462828335e-01 elevation 7.902640378623594e+02
direct location: date 2018-11-17T09:28:19.12718681580332Z position 0.000000000000000e+00 0.000000000000000e+00 0.000000000000000e+00 los 1.674886170278741e-03 -1.457750977938711e-02 9.998923396871029e-01 lightTime false aberration false refraction false
direct location result: latitude 8.034746185371490e-01 longitude 2.149988105416534e-01 elevation 8.086652340027457e+02
direct location: date 2018-11-17T09:28:19.12718681580332Z position 0.000000000000000e+00 0.000000000000000e+00 0.000000000000000e+00 los 1.674854888694373e-03 -1.458064505725559e-02 9.998922940251196e-01 lightTime false aberration false refraction false
direct location result: latitude 8.034737269686929e-01 longitude 2.150006812236585e-01 elevation 8.218782262415143e+02
direct location: date 2018-11-17T09:28:19.12718681580332Z position 0.000000000000000e+00 0.000000000000000e+00 0.000000000000000e+00 los 1.674823612823641e-03 -1.458378035030327e-02 9.998922483530713e-01 lightTime false aberration false refraction false
direct location result: latitude 8.034730011002850e-01 longitude 2.150023010970906e-01 elevation 8.324549700724398e+02
direct location: date 2018-11-17T09:28:19.12718681580332Z position 0.000000000000000e+00 0.000000000000000e+00 0.000000000000000e+00 los 1.674792342666794e-03 -1.458691565852597e-02 9.998922026709579e-01 lightTime false aberration false refraction false
direct location result: latitude 8.034726768037741e-01 longitude 2.150033131984376e-01 elevation 8.366425574495763e+02
direct location: date 2018-11-17T09:28:19.12718681580332Z position 0.000000000000000e+00 0.000000000000000e+00 0.000000000000000e+00 los 1.674761078224073e-03 -1.459005098191950e-02 9.998921569787793e-01 lightTime false aberration false refraction false
direct location result: latitude 8.034724882006824e-01 longitude 2.150041199307748e-01 elevation 8.386711993450938e+02
sensor datation: sensorName s0 lineNumber 2.827800000000000e+04 date 2018-11-17T09:28:19.12751081320332Z
direct location: date 2018-11-17T09:28:19.12751081320332Z position 0.000000000000000e+00 0.000000000000000e+00 0.000000000000000e+00 los 1.675073979757700e-03 -1.455869843117481e-02 9.998926134476405e-01 lightTime false aberration false refraction false
DEM cell: t0 latIndex 1241 lonIndex 2781 elevation 7.737271656242370e+02
direct location result: latitude 8.034818503571547e-01 longitude 2.149840977198244e-01 elevation 6.927652369134296e+02
direct location: date 2018-11-17T09:28:19.12751081320332Z position 0.000000000000000e+00 0.000000000000000e+00 0.000000000000000e+00 los 1.675042663896624e-03 -1.456183361787985e-02 9.998925678460457e-01 lightTime false aberration false refraction false
direct location result: latitude 8.034815607175569e-01 longitude 2.149850575398944e-01 elevation 6.964011914450123e+02
direct location: date 2018-11-17T09:28:19.12751081320332Z position 0.000000000000000e+00 0.000000000000000e+00 0.000000000000000e+00 los 1.675011353747724e-03 -1.456496881978930e-02 9.998925222343867e-01 lightTime false aberration false refraction false
direct location result: latitude 8.034812725614497e-01 longitude 2.149860151071217e-01 elevation 7.000135410976690e+02
direct location: date 2018-11-17T09:28:19.12751081320332Z position 0.000000000000000e+00 0.000000000000000e+00 0.000000000000000e+00 los 1.674980049311240e-03 -1.456810403689894e-02 9.998924766126629e-01 lightTime false aberration false refraction false
direct location result: latitude 8.034809858723084e-01 longitude 2.149869704465865e-01 elevation 7.036025485941086e+02
direct location: date 2018-11-17T09:28:19.12751081320332Z position 0.000000000000000e+00 0.000000000000000e+00 0.000000000000000e+00 los 1.674948750587419e-03 -1.457123926920459e-02 9.998924309808744e-01 lightTime false aberration false refraction false
direct location result: latitude 8.034779956693721e-01 longitude 2.149920176475284e-01 elevation 7.502040425837138e+02
direct location: date 2018-11-17T09:28:19.12751081320332Z position 0.000000000000000e+00 0.000000000000000e+00 0.000000000000000e+00 los 1.674917457576505e-03 -1.457437451670205e-02 9.998923853390211e-01 lightTime false aberration false refraction false
direct location result: latitude 8.034754957031464e-01 longitude 2.149963227453380e-01 elevation 7.890065316861063e+02
direct location: date 2018-11-17T09:28:19.12751081320332Z position 0.000000000000000e+00 0.000000000000000e+00 0.000000000000000e+00 los 1.674886170278741e-03 -1.457750977938711e-02 9.998923396871029e-01 lightTime false aberration false refraction false
direct location result: latitude 8.034743239202250e-01 longitude 2.149986175620463e-01 elevation 8.066777501202871e+02
direct location: date 2018-11-17T09:28:19.12751081320332Z position 0.000000000000000e+00 0.000000000000000e+00 0.000000000000000e+00 los 1.674854888694373e-03 -1.458064505725559e-02 9.998922940251196e-01 lightTime false aberration false refraction false
direct location result: latitude 8.034734541552684e-01 longitude 2.150004552473356e-01 elevation 8.195438593706660e+02
direct location: date 2018-11-17T09:28:19.12751081320332Z position 0.000000000000000e+00 0.000000000000000e+00 0.000000000000000e+00 los 1.674823612823641e-03 -1.458378035030327e-02 9.998922483530713e-01 lightTime false aberration false refraction false
direct location result: latitude 8.034727421461642e-01 longitude 2.150020541475587e-01 elevation 8.299001135596468e+02
direct location: date 2018-11-17T09:28:19.12751081320332Z position 0.000000000000000e+00 0.000000000000000e+00 0.000000000000000e+00 los 1.674792342666794e-03 -1.458691565852597e-02 9.998922026709579e-01 lightTime false aberration false refraction false
direct location result: latitude 8.034723452368835e-01 longitude 2.150031761455188e-01 elevation 8.352430095654670e+02
direct location: date 2018-11-17T09:28:19.12751081320332Z position 0.000000000000000e+00 0.000000000000000e+00 0.000000000000000e+00 los 1.674761078224073e-03 -1.459005098191950e-02 9.998921569787793e-01 lightTime false aberration false refraction false
direct location result: latitude 8.034721547367586e-01 longitude 2.150039857498851e-01 elevation 8.373018396690280e+02
sensor datation: sensorName s0 lineNumber 2.827900000000000e+04 date 2018-11-17T09:28:19.12783481060332Z
direct location: date 2018-11-17T09:28:19.12783481060332Z position 0.000000000000000e+00 0.000000000000000e+00 0.000000000000000e+00 los 1.675073979757700e-03 -1.455869843117481e-02 9.998926134476405e-01 lightTime false aberration false refraction false
transform: index 9370 body r -1.584447946689907e-01 -8.881577951066632e-04 1.564890260027538e-04 -9.873674259004180e-01 Ω -1.314379583543072e-07 1.929883314735572e-09 -7.292103298515577e-05 ΩDot -1.238180685019781e-16 -4.429300484115192e-17 2.220189170187407e-19 spacecraft p -1.997143065200118e+06 2.586396925207659e+06 -6.271452707697343e+06 v 8.090244501492019e+03 -1.117189407867757e+04 -7.194843017558988e+03 a -1.008754382913370e+03 -1.241429493725617e+03 -1.521527079090525e+02 r -4.479174503627756e-01 -2.570051470512479e-01 7.890109328281188e-01 3.328363861229399e-01 Ω 1.817370882825691e-03 6.631553957239936e-04 7.172281736707170e-04 ΩDot 2.302105874949273e-05 1.582441209968415e-04 1.694879125788701e-04
direct location result: latitude 8.034813131445031e-01 longitude 2.149842719248564e-01 elevation 6.946372031899516e+02
direct location: date 2018-11-17T09:28:19.12783481060332Z position 0.000000000000000e+00 0.000000000000000e+00 0.000000000000000e+00 los 1.675042663896624e-03 -1.456183361787985e-02 9.998925678460457e-01 lightTime false aberration false refraction false
direct location result: latitude 8.034810250172490e-01 longitude 2.149852294536607e-01 elevation 6.982491127248313e+02
direct location: date 2018-11-17T09:28:19.12783481060332Z position 0.000000000000000e+00 0.000000000000000e+00 0.000000000000000e+00 los 1.675011353747724e-03 -1.456496881978930e-02 9.998925222343867e-01 lightTime false aberration false refraction false
direct location result: latitude 8.034807383583591e-01 longitude 2.149861847525656e-01 elevation 7.018376578533130e+02
direct location: date 2018-11-17T09:28:19.12783481060332Z position 0.000000000000000e+00 0.000000000000000e+00 0.000000000000000e+00 los 1.674980049311240e-03 -1.456810403689894e-02 9.998924766126629e-01 lightTime false aberration false refraction false
direct location result: latitude 8.034804531515740e-01 longitude 2.149871378462499e-01 elevation 7.054030970968001e+02
direct location: date 2018-11-17T09:28:19.12783481060332Z position 0.000000000000000e+00 0.000000000000000e+00 0.000000000000000e+00 los 1.674948750587419e-03 -1.457123926920459e-02 9.998924309808744e-01 lightTime false aberration false refraction false
direct location result: latitude 8.034772479117380e-01 longitude 2.149925105079432e-01 elevation 7.554259544974287e+02
direct location: date 2018-11-17T09:28:19.12783481060332Z position 0.000000000000000e+00 0.000000000000000e+00 0.000000000000000e+00 los 1.674917457576505e-03 -1.457437451670205e-02 9.998923853390211e-01 lightTime false aberration false refraction false
direct location result: latitude 8.034751472160672e-01 longitude 2.149962112990982e-01 elevation 7.878761228217490e+02
direct location: date 2018-11-17T09:28:19.12783481060332Z position 0.000000000000000e+00 0.000000000000000e+00 0.000000000000000e+00 los 1.674886170278741e-03 -1.457750977938711e-02 9.998923396871029e-01 lightTime false aberration false refraction false
direct location result: latitude 8.034740214410198e-01 longitude 2.149984364845999e-01 elevation 8.048153762291109e+02
direct location: date 2018-11-17T09:28:19.12783481060332Z position 0.000000000000000e+00 0.000000000000000e+00 0.000000000000000e+00 los 1.674854888694373e-03 -1.458064505725559e-02 9.998922940251196e-01 lightTime false aberration false refraction false
direct location result: latitude 8.034731743163441e-01 longitude 2.150002399065484e-01 elevation 8.173212888576050e+02
direct location: date 2018-11-17T09:28:19.12783481060332Z position 0.000000000000000e+00 0.000000000000000e+00 0.000000000000000e+00 los 1.674823612823641e-03 -1.458378035030327e-02 9.998922483530713e-01 lightTime false aberration false refraction false
direct location result: latitude 8.034724768554609e-01 longitude 2.150018167908085e-01 elevation 8.274460918626510e+02
direct location: date 2018-11-17T09:28:19.12783481060332Z position 0.000000000000000e+00 0.000000000000000e+00 0.000000000000000e+00 los 1.674792342666794e-03 -1.458691565852597e-02 9.998922026709579e-01 lightTime false aberration false refraction false
direct location result: latitude 8.034720143803415e-01 longitude 2.150030380202833e-01 elevation 8.338321804411532e+02
direct location: date 2018-11-17T09:28:19.12783481060332Z position 0.000000000000000e+00 0.000000000000000e+00 0.000000000000000e+00 los 1.674761078224073e-03 -1.459005098191950e-02 9.998921569787793e-01 lightTime false aberration false refraction false
direct location result: latitude 8.034718219783675e-01 longitude 2.150038505039797e-01 elevation 8.359212754610172e+02
src/test/resources/replay/replay-inverse-loc-01.txt 0 → 100644
View file @ acf902ea
# Rugged library dump file, created on 2015-02-25T14:11:26Z
# all units are SI units (m, m/s, rad ...)
algorithm: DUVENHAGE
DEM tile: t0 latMin -4.014257279586958e-01 latStep 6.817692390602850e-05 latRows 257 lonMin 2.495820830351891e+00 lonStep 6.817692390602850e-05 lonCols 257
DEM cell: t0 latIndex 192 lonIndex 0 elevation -6.124011631478857e+02
DEM cell: t0 latIndex 128 lonIndex 128 elevation 3.151327114467009e+03
DEM cell: t0 latIndex 122 lonIndex 99 elevation 1.778606495649060e+03
DEM cell: t0 latIndex 122 lonIndex 100 elevation 1.809481571226391e+03
DEM cell: t0 latIndex 123 lonIndex 99 elevation 1.772149770526270e+03
DEM cell: t0 latIndex 123 lonIndex 100 elevation 1.804520334312959e+03
inverse location: sensorName s0 latitude -3.930524233859007e-01 longitude 2.502596047891660e+00 elevation 1.785429914217195e+03 minLine 0 maxLine 2000 lightTime true aberration true refraction false
sensor: sensorName s0 nbPixels 2000 position 1.500000000000000e+00 0.000000000000000e+00 -2.000000000000000e-01
sensor mean plane: sensorName s0 minLine 0 maxLine 2000 maxEval 50 accuracy 1.000000000000000e-02 normal 1.000000000000000e+00 0.000000000000000e+00 0.000000000000000e+00 cachedResults 0
sensor datation: sensorName s0 lineNumber 1.000000000000000e+03 date 2012-01-01T12:30:00.00000000000000Z
span: minDate 2012-01-01T12:29:57.50000000000000Z maxDate 2012-01-01T12:30:02.50000000000000Z tStep 1.000000000000000e-03 tolerance 5.000000000000000e+00 inertialFrame EME2000
transform: index 2500 body r -8.085963389171905e-01 -3.465415132416124e-04 4.896468952533136e-04 -5.883634938068593e-01 Ω -8.740475534355121e-08 1.215132763920863e-09 -7.292109805268457e-05 ΩDot -1.642299174832473e-16 8.973031065833714e-17 1.983408395826415e-19 spacecraft p 1.384770770635060e+04 3.157810312896036e+03 -7.179504513258174e+06 v -3.180198832979256e+01 -6.779040795561070e+00 8.276861119339028e+00 a -9.324121873999545e-01 -8.319728238691058e+00 1.345786832372742e-03 r -6.828948903548651e-01 4.142451171315383e-01 -3.878489660867486e-01 4.600312284675194e-01 Ω -1.009782076972198e-03 1.982726233227751e-04 1.647740165426390e-04 ΩDot -3.649972672343429e-07 2.007836645730816e-07 -1.257082123046451e-06
ellipsoid: ae 6.378137000000000e+06 f 3.352810664747481e-03 frame ITRF_CIO_CONV_2010_SIMPLE_EOP
sensor rate: sensorName s0 lineNumber 1.000000000000000e+03 rate 6.666666666666666e+02
sensor datation: sensorName s0 lineNumber 1.753125119831697e+03 date 2012-01-01T12:30:01.12968767974755Z
transform: index 3630 body r -8.086205790715331e-01 -3.465213511527127e-04 4.896611176157392e-04 -5.883301787746077e-01 Ω -8.740475552913246e-08 1.215132865316375e-09 -7.292109805268537e-05 ΩDot -1.642303315278493e-16 8.973086775115428e-17 1.983413459366029e-19 spacecraft p 1.381161686138390e+04 3.149035127746873e+03 -7.179495156850004e+06 v -3.198309695268937e+01 -7.869713919215563e+00 8.283718407079078e+00 a -9.313885738644379e-01 -8.324782304826440e+00 1.354189237138481e-03 r -6.826577475060918e-01 4.145470548488056e-01 -3.882264160785311e-01 4.597927673908209e-01 Ω -1.009835304084986e-03 1.983572786405474e-04 1.645625945551068e-04 ΩDot -3.648903522451360e-07 2.009701619867746e-07 -1.257044812963575e-06
sensor rate: sensorName s0 lineNumber 1.753125119831697e+03 rate 6.666666666666666e+02
sensor datation: sensorName s0 lineNumber 1.753079999999987e+03 date 2012-01-01T12:30:01.12961999999998Z
sensor rate: sensorName s0 lineNumber 1.753079999999987e+03 rate 6.666666666666666e+02
sensor LOS: sensorName s0 date 2012-01-01T12:30:01.12961999999998Z pixelNumber 999 los 0.000000000000000e+00 -7.660363365669057e-01 6.427972705753770e-01
sensor LOS: sensorName s0 date 2012-01-01T12:30:01.12961999999998Z pixelNumber 1000 los 0.000000000000000e+00 -7.660525495492120e-01 6.427779486954669e-01
sensor LOS: sensorName s0 date 2012-01-01T12:30:01.12961999999998Z pixelNumber 0 los 0.000000000000000e+00 -7.495978631423039e-01 6.618935288794506e-01
sensor LOS: sensorName s0 date 2012-01-01T12:30:01.12961999999998Z pixelNumber 1 los 0.000000000000000e+00 -7.496145577932898e-01 6.618746216198131e-01
sensor LOS: sensorName s0 date 2012-01-01T12:30:01.12961999999998Z pixelNumber 16 los 0.000000000000000e+00 -7.498649203239307e-01 6.615909622021642e-01
sensor LOS: sensorName s0 date 2012-01-01T12:30:01.12961999999998Z pixelNumber 17 los 0.000000000000000e+00 -7.498816073432156e-01 6.615720482066600e-01
sensor LOS: sensorName s0 date 2012-01-01T12:30:01.12961999999998Z pixelNumber 18 los 0.000000000000000e+00 -7.498982938854290e-01 6.615531337902669e-01
sensor datation: sensorName s0 lineNumber 1.753080000000047e+03 date 2012-01-01T12:30:01.12962000000007Z
inverse location result: lineNumber 1.753080000000047e+03 pixelNumber 1.700000000063574e+01
src/test/resources/replay/replay-inverse-loc-02.txt 0 → 100644
View file @ acf902ea
# Rugged library dump file, created on 2015-03-24T07:07:27Z
# all units are SI units (m, m/s, rad ...)
algorithm: DUVENHAGE
DEM tile: t0 latMin -4.014257279586958e-01 latStep 6.817692390602850e-05 latRows 257 lonMin 2.495820830351891e+00 lonStep 6.817692390602850e-05 lonCols 257
DEM cell: t0 latIndex 192 lonIndex 0 elevation -6.124011631478857e+02
DEM cell: t0 latIndex 128 lonIndex 128 elevation 3.151327114467009e+03
DEM cell: t0 latIndex 123 lonIndex 101 elevation 1.838123293450827e+03
DEM cell: t0 latIndex 123 lonIndex 102 elevation 1.870339491485550e+03
DEM cell: t0 latIndex 124 lonIndex 101 elevation 1.832853313250435e+03
DEM cell: t0 latIndex 124 lonIndex 102 elevation 1.866819199623890e+03
sensor: sensorName s0 nbPixels 2000 position 1.500000000000000e+00 0.000000000000000e+00 -2.000000000000000e-01
inverse location: sensorName s0 latitude -3.930305027145593e-01 longitude 2.502739578717502e+00 elevation 1.853045504720662e+03 minLine 0 maxLine 2000 lightTime true aberration true refraction false
sensor mean plane: sensorName s0 minLine 0 maxLine 2000 maxEval 50 accuracy 1.000000000000000e-02 normal 1.000000000000000e+00 0.000000000000000e+00 0.000000000000000e+00 cachedResults 5 lineNumber 1.753079999999941e+03 date 2012-01-01T12:30:01.12961999999991Z target -4.733584770718903e+06 3.515842173828561e+06 -2.428300713188566e+06 targetDirection 4.440892098500626e-16 -7.496646388847980e-01 6.618178973144536e-01 -1.357198500050715e-08 -1.198160098465607e-08 -1.357198500050715e-08 lineNumber 1.753079999999936e+03 date 2012-01-01T12:30:01.12961999999990Z target -4.733634454810624e+06 3.515791377291927e+06 -2.428292161157289e+06 targetDirection 1.221245327087672e-15 -7.496479456645485e-01 6.618368058373009e-01 -1.357209409884309e-08 -1.198230643978911e-08 -1.357209409884309e-08 lineNumber 1.753080000000098e+03 date 2012-01-01T12:30:01.12962000000015Z target -4.733684171891571e+06 3.515740571824192e+06 -2.428283613116900e+06 targetDirection 2.664535259100376e-15 -7.496312519673904e-01 6.618557139390744e-01 -1.357220357852602e-08 -1.198301226854942e-08 -1.357220357852602e-08 lineNumber 1.753080000000016e+03 date 2012-01-01T12:30:01.12962000000002Z target -4.733734047015606e+06 3.515689711809538e+06 -2.428275079609979e+06 targetDirection 1.110223024625157e-15 -7.496145577933011e-01 6.618746216197999e-01 -1.357231495356307e-08 -1.198371980774984e-08 -1.357231495356307e-08 lineNumber 1.753080000000124e+03 date 2012-01-01T12:30:01.12962000000019Z target -4.733783920649958e+06 3.515638855451895e+06 -2.428266547191616e+06 targetDirection 1.665334536937735e-15 -7.495978631423109e-01 6.618935288794415e-01 -1.357242629275803e-08 -1.198442735245515e-08 -1.357242629275803e-08
sensor datation: sensorName s0 lineNumber 1.000000000000000e+03 date 2012-01-01T12:30:00.00000000000000Z
span: minDate 2012-01-01T12:29:57.50000000000000Z maxDate 2012-01-01T12:30:02.50000000000000Z tStep 1.000000000000000e-03 tolerance 5.000000000000000e+00 inertialFrame EME2000
transform: index 2500 body r -8.085963389171905e-01 -3.465415132416124e-04 4.896468952533136e-04 -5.883634938068593e-01 Ω -8.740475534355121e-08 1.215132763920863e-09 -7.292109805268457e-05 ΩDot -1.642299174832473e-16 8.973031065833714e-17 1.983408395826415e-19 spacecraft p 1.384770770635060e+04 3.157810312896036e+03 -7.179504513258174e+06 v -3.180198832979256e+01 -6.779040795561070e+00 8.276861119339028e+00 a -9.324121873999545e-01 -8.319728238691058e+00 1.345786832372742e-03 r -6.828948903548651e-01 4.142451171315383e-01 -3.878489660867486e-01 4.600312284675194e-01 Ω -1.009782076972198e-03 1.982726233227751e-04 1.647740165426390e-04 ΩDot -3.649972672343429e-07 2.007836645730816e-07 -1.257082123046451e-06
ellipsoid: ae 6.378137000000000e+06 f 3.352810664747481e-03 frame ITRF_CIO_CONV_2010_SIMPLE_EOP
sensor datation: sensorName s0 lineNumber 1.753080000000073e+03 date 2012-01-01T12:30:01.12962000000011Z
transform: index 3630 body r -8.086205790715331e-01 -3.465213511527127e-04 4.896611176157392e-04 -5.883301787746077e-01 Ω -8.740475552913246e-08 1.215132865316375e-09 -7.292109805268537e-05 ΩDot -1.642303315278493e-16 8.973086775115428e-17 1.983413459366029e-19 spacecraft p 1.381161686138390e+04 3.149035127746873e+03 -7.179495156850004e+06 v -3.198309695268937e+01 -7.869713919215563e+00 8.283718407079078e+00 a -9.313885738644379e-01 -8.324782304826440e+00 1.354189237138481e-03 r -6.826577475060918e-01 4.145470548488056e-01 -3.882264160785311e-01 4.597927673908209e-01 Ω -1.009835304084986e-03 1.983572786405474e-04 1.645625945551068e-04 ΩDot -3.648903522451360e-07 2.009701619867746e-07 -1.257044812963575e-06
sensor rate: sensorName s0 lineNumber 1.753080000000073e+03 rate 6.666666666666666e+02
sensor datation: sensorName s0 lineNumber 1.753079999999983e+03 date 2012-01-01T12:30:01.12961999999997Z
sensor LOS: sensorName s0 date 2012-01-01T12:30:01.12961999999997Z pixelNumber 999 los 0.000000000000000e+00 -7.660363365669057e-01 6.427972705753770e-01
sensor LOS: sensorName s0 date 2012-01-01T12:30:01.12961999999997Z pixelNumber 1000 los 0.000000000000000e+00 -7.660525495492120e-01 6.427779486954669e-01
sensor LOS: sensorName s0 date 2012-01-01T12:30:01.12961999999997Z pixelNumber 0 los 0.000000000000000e+00 -7.495978631423039e-01 6.618935288794506e-01
sensor LOS: sensorName s0 date 2012-01-01T12:30:01.12961999999997Z pixelNumber 1 los 0.000000000000000e+00 -7.496145577932898e-01 6.618746216198131e-01
sensor LOS: sensorName s0 date 2012-01-01T12:30:01.12961999999997Z pixelNumber 4 los 0.000000000000000e+00 -7.496646388847948e-01 6.618178973144580e-01
sensor LOS: sensorName s0 date 2012-01-01T12:30:01.12961999999997Z pixelNumber 5 los 0.000000000000000e+00 -7.496813316281102e-01 6.617989883705653e-01
sensor LOS: sensorName s0 date 2012-01-01T12:30:01.12961999999997Z pixelNumber 6 los 0.000000000000000e+00 -7.496980238944815e-01 6.617800790056386e-01
sensor datation: sensorName s0 lineNumber 1.753079999999893e+03 date 2012-01-01T12:30:01.12961999999984Z
inverse location result: lineNumber 1.753079999999893e+03 pixelNumber 5.000000000428289e+00
inverse location: sensorName s0 latitude -3.930323254721546e-01 longitude 2.502727645691323e+00 elevation 1.847490708944211e+03 minLine 0 maxLine 2000 lightTime true aberration true refraction false
sensor datation: sensorName s0 lineNumber 1.753080000000180e+03 date 2012-01-01T12:30:01.12962000000027Z
sensor rate: sensorName s0 lineNumber 1.753080000000180e+03 rate 6.666666666666666e+02
sensor datation: sensorName s0 lineNumber 1.753080000000150e+03 date 2012-01-01T12:30:01.12962000000022Z
sensor LOS: sensorName s0 date 2012-01-01T12:30:01.12962000000022Z pixelNumber 7 los 0.000000000000000e+00 -7.497147156838981e-01 6.617611692196904e-01
sensor datation: sensorName s0 lineNumber 1.753080000000120e+03 date 2012-01-01T12:30:01.12962000000018Z
inverse location result: lineNumber 1.753080000000120e+03 pixelNumber 6.000000000570598e+00
inverse location: sensorName s0 latitude -3.930341476421113e-01 longitude 2.502715716159622e+00 elevation 1.841953904196975e+03 minLine 0 maxLine 2000 lightTime true aberration true refraction false
sensor datation: sensorName s0 lineNumber 1.753080000000450e+03 date 2012-01-01T12:30:01.12962000000067Z
sensor rate: sensorName s0 lineNumber 1.753080000000450e+03 rate 6.666666666666666e+02
sensor LOS: sensorName s0 date 2012-01-01T12:30:01.12962000000027Z pixelNumber 8 los 0.000000000000000e+00 -7.497314069963494e-01 6.617422590127325e-01
sensor datation: sensorName s0 lineNumber 1.753079999999910e+03 date 2012-01-01T12:30:01.12961999999986Z
inverse location result: lineNumber 1.753079999999910e+03 pixelNumber 7.000000000854453e+00
src/test/resources/replay/replay-inverse-loc-03.txt 0 → 100644
View file @ acf902ea
# Rugged library dump file, created on 2015-07-23T14:25:51Z
# all units are SI units (m, m/s, rad ...)
sensor: sensorName s0 nbPixels 2552 position 0.000000000000000e+00 0.000000000000000e+00 0.000000000000000e+00
inverse location: sensorName s0 latitude 1.426113542156674e+00 longitude -8.868185262195961e-01 elevation 3.102209319249422e+01 minLine -23040 maxLine 39851 lightTime false aberration false refraction false
sensor mean plane: sensorName s0 minLine -23040 maxLine 39851 maxEval 50 accuracy 1.000000000000000e-02 normal 9.994827482027009e-01 -2.652758464258975e-02 1.818029972819145e-02 cachedResults 6 lineNumber 2.496503931691230e+04 date 2015-07-07T18:40:12.48786757028467Z target 5.829885691015603e+05 -7.150938152185429e+05 6.289925119642745e+06 targetDirection -1.574993670955663e-02 8.911384689865436e-02 9.958969132317702e-01 -2.069121568391233e-07 2.118875364268554e-08 -2.069121568391233e-07 lineNumber 2.498990311831761e+04 date 2015-07-07T18:40:12.52680428328538Z target 5.827831035018093e+05 -7.152819110623585e+05 6.290040934506435e+06 targetDirection -1.574653262138034e-02 8.923613956787135e-02 9.958860166231007e-01 -2.106025594148216e-07 6.293169679808365e-08 -2.106025594148216e-07 lineNumber 2.501446735659665e+04 date 2015-07-07T18:40:12.56527188043036Z target 5.825914009565986e+05 -7.154869255677856e+05 6.290306437975926e+06 targetDirection -1.574243698611968e-02 8.937839743168323e-02 9.958733241483490e-01 -2.139580511938570e-07 1.003165269577007e-07 -2.139580511938570e-07 lineNumber 2.503906484840334e+04 date 2015-07-07T18:40:12.60379155259964Z target 5.823982602071301e+05 -7.156902096509174e+05 6.290556499572599e+06 targetDirection -1.573844749711850e-02 8.951962023030334e-02 9.958607025403716e-01 -2.164310151145369e-07 1.276529299636964e-07 -2.164310151145369e-07 lineNumber 2.506393183649445e+04 date 2015-07-07T18:40:12.64273325595032Z target 5.821928312311379e+05 -7.158784186376551e+05 6.290673076115117e+06 targetDirection -1.573492577246402e-02 8.964463942750402e-02 9.958495120914844e-01 -2.189036239175299e-07 1.552935576937779e-07 -2.189036239175299e-07 lineNumber 2.508894303441162e+04 date 2015-07-07T18:40:12.68190079188860Z target 5.819807540563018e+05 -7.160584640312950e+05 6.290717393595084e+06 targetDirection -1.573177124337613e-02 8.976098395370098e-02 9.958390819470831e-01 -2.207684005657831e-07 1.758718590383612e-07 -2.207684005657831e-07
sensor datation: sensorName s0 lineNumber 8.405500000000000e+03 date 2015-07-07T18:39:46.55562900000000Z
span: minDate 2015-07-07T18:38:55.00000000000000Z maxDate 2015-07-07T18:40:35.80000000000000Z tStep 1.000000000000000e-01 tolerance 1.000000000000000e+01 inertialFrame EME2000
transform: index 516 body r -2.177937215786530e-01 -7.327669555860111e-04 1.897190121950331e-04 -9.759945296466600e-01 Ω -1.102119044807511e-07 3.608696529657919e-09 -7.292106718403156e-05 ΩDot -1.242024347024099e-16 -2.613635776865916e-17 1.864594523542536e-19 spacecraft p -3.566422630398301e+02 -4.258914869799046e+02 -7.158956735101774e+06 v -7.418089019766342e+01 -3.428198127164766e+02 -1.850797604708845e-01 a 1.095670688921161e+02 1.182390694645536e+03 -7.505797508270007e-02 r -6.234703793985741e-02 7.494015157786920e-01 6.578869048593570e-01 4.117080790195870e-02 Ω 1.016965607321450e-03 -1.766672912355467e-04 2.200251772998514e-04 ΩDot -8.541831902061166e-07 1.677502045483661e-04 4.581593874451730e-05
ellipsoid: ae 6.378137000000000e+06 f 3.352810664747481e-03 frame ITRF_CIO_CONV_2010_SIMPLE_EOP
sensor datation: sensorName s0 lineNumber 2.496503925597668e+04 date 2015-07-07T18:40:12.48786747485948Z
transform: index 775 body r -2.187152841723702e-01 -7.325893313267924e-04 1.904097590204008e-04 -9.757884255956278e-01 Ω -1.102119076976303e-07 3.608695853043322e-09 -7.292106718404156e-05 ΩDot -1.242034967780088e-16 -2.611193104220005e-17 1.864622725616803e-19 spacecraft p 5.893360284424853e+01 2.270010215908405e+02 -7.158967334657327e+06 v -1.256875338933382e+02 -2.315544869961368e+02 -6.143872625348799e-01 a -2.991050511747990e+02 -4.922561897467523e+03 -1.631427367003653e-01 r -7.121951955935480e-02 7.504990196615283e-01 6.562822802914443e-01 3.118605611938691e-02 Ω 1.025791280551210e-03 -1.602743286567663e-04 2.237358366388949e-04 ΩDot -5.506323746359040e-05 -6.847191984170615e-04 5.295499556290598e-05
sensor rate: sensorName s0 lineNumber 2.496503925597668e+04 rate 6.385696040868454e+02
sensor datation: sensorName s0 lineNumber 2.496503931691246e+04 date 2015-07-07T18:40:12.48786757028491Z
sensor LOS: sensorName s0 date 2015-07-07T18:40:12.48786757028491Z pixelNumber 1275 los -1.530469679155502e-02 1.052282317151670e-01 9.943303201181274e-01
sensor LOS: sensorName s0 date 2015-07-07T18:40:12.48786757028491Z pixelNumber 1276 los -1.530505436550880e-02 1.052156640641227e-01 9.943316445464334e-01
sensor LOS: sensorName s0 date 2015-07-07T18:40:12.48786757028491Z pixelNumber 0 los -1.481288944757218e-02 1.212648644244146e-01 9.925096528308137e-01
sensor LOS: sensorName s0 date 2015-07-07T18:40:12.48786757028491Z pixelNumber 1 los -1.481330341735178e-02 1.212522760703962e-01 9.925111846168859e-01
sensor LOS: sensorName s0 date 2015-07-07T18:40:12.48786757028491Z pixelNumber 2550 los -1.572509919997303e-02 8.921598849965143e-02 9.958881607144354e-01
sensor LOS: sensorName s0 date 2015-07-07T18:40:12.48786757028491Z pixelNumber 2551 los -1.572540117814331e-02 8.920343838289327e-02 9.958892801604283e-01
sensor datation: sensorName s0 lineNumber 2.496331776312614e+04 date 2015-07-07T18:40:12.48517161705554Z
sensor LOS: sensorName s0 date 2015-07-07T18:40:12.48517161705554Z pixelNumber 2550 los -1.572509919997303e-02 8.921598849965143e-02 9.958881607144354e-01
sensor LOS: sensorName s0 date 2015-07-07T18:40:12.48517161705554Z pixelNumber 2551 los -1.572540117814331e-02 8.920343838289327e-02 9.958892801604283e-01
inverse location result: lineNumber 2.496331776312614e+04 pixelNumber 2.558141579736633e+03
src/tutorials/java/fr/cs/examples/AtmosphericRefractionExamples.java 0 → 100644
View file @ acf902ea
package fr.cs.examples;
import java.io.File;
import java.net.URISyntaxException;
import java.text.DecimalFormat;
import java.text.DecimalFormatSymbols;
import java.util.ArrayList;
import java.util.List;
import java.util.Locale;
import org.hipparchus.geometry.euclidean.threed.Rotation;
import org.hipparchus.geometry.euclidean.threed.Vector3D;
import org.hipparchus.stat.descriptive.DescriptiveStatistics;
import org.hipparchus.util.FastMath;
import org.orekit.bodies.GeodeticPoint;
import org.orekit.data.DataContext;
import org.orekit.data.DirectoryCrawler;
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.linesensor.LineSensor;
import org.orekit.rugged.linesensor.LinearLineDatation;
import org.orekit.rugged.linesensor.SensorPixel;
import org.orekit.rugged.los.FixedRotation;
import org.orekit.rugged.los.LOSBuilder;
import org.orekit.rugged.los.TimeDependentLOS;
import org.orekit.rugged.refraction.AtmosphericRefraction;
import org.orekit.rugged.refraction.MultiLayerModel;
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;
/** A simple example of how to use the atmospheric refraction correction.
*/
public class AtmosphericRefractionExamples {
public static void main(String[] args) throws URISyntaxException {
// 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");
DataContext.getDefault().getDataProvidersManager().addProvider(new DirectoryCrawler(orekitData));
// Sensor's definition
// ===================
// Line of sight
// -------------
// 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(0., i*FastMath.toRadians(20.)/2000., 1.));
}
// 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("10-degrees-rotation", Vector3D.PLUS_I, FastMath.toRadians(10.)));
TimeDependentLOS lineOfSight = losBuilder.build();
// Datation model
// --------------
// 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, 1., 20.);
// Line sensor
// -----------
// With the LOS and the datation now define, we can initialize a line sensor object in Rugged:
LineSensor lineSensor = new LineSensor("mySensor", lineDatation, Vector3D.ZERO, lineOfSight);
// Satellite position, velocity and attitude
// =========================================
// Reference frames
// ----------------
// 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);
// Satellite attitude
// ------------------
ArrayList<TimeStampedAngularCoordinates> satelliteQList = new ArrayList<TimeStampedAngularCoordinates>();
addSatelliteQ(gps, satelliteQList, "2009-12-11T16:58:42.592937", -0.340236, 0.333952, -0.844012, -0.245684);
addSatelliteQ(gps, satelliteQList, "2009-12-11T16:59:06.592937", -0.354773, 0.329336, -0.837871, -0.252281);
addSatelliteQ(gps, satelliteQList, "2009-12-11T16:59:30.592937", -0.369237, 0.324612, -0.831445, -0.258824);
addSatelliteQ(gps, satelliteQList, "2009-12-11T16:59:54.592937", -0.3836, 0.319792, -0.824743, -0.265299);
addSatelliteQ(gps, satelliteQList, "2009-12-11T17:00:18.592937", -0.397834, 0.314883, -0.817777, -0.271695);
addSatelliteQ(gps, satelliteQList, "2009-12-11T17:00:42.592937", -0.411912, 0.309895, -0.810561, -0.278001);
addSatelliteQ(gps, satelliteQList, "2009-12-11T17:01:06.592937", -0.42581, 0.304838, -0.803111, -0.284206);
addSatelliteQ(gps, satelliteQList, "2009-12-11T17:01:30.592937", -0.439505, 0.299722, -0.795442, -0.290301);
addSatelliteQ(gps, satelliteQList, "2009-12-11T17:01:54.592937", -0.452976, 0.294556, -0.787571, -0.296279);
addSatelliteQ(gps, satelliteQList, "2009-12-11T17:02:18.592937", -0.466207, 0.28935, -0.779516, -0.302131);
// Positions and velocities
// ------------------------
ArrayList<TimeStampedPVCoordinates> satellitePVList = new ArrayList<TimeStampedPVCoordinates>();
addSatellitePV(gps, eme2000, itrf, satellitePVList, "2009-12-11T16:58:42.592937", -726361.466, -5411878.485, 4637549.599, -2463.635, -4447.634, -5576.736);
addSatellitePV(gps, eme2000, itrf, satellitePVList, "2009-12-11T16:59:04.192937", -779538.267, -5506500.533, 4515934.894, -2459.848, -4312.676, -5683.906);
addSatellitePV(gps, eme2000, itrf, satellitePVList, "2009-12-11T16:59:25.792937", -832615.368, -5598184.195, 4392036.13, -2454.395, -4175.564, -5788.201);
addSatellitePV(gps, eme2000, itrf, satellitePVList, "2009-12-11T16:59:47.392937", -885556.748, -5686883.696, 4265915.971, -2447.273, -4036.368, -5889.568);
addSatellitePV(gps, eme2000, itrf, satellitePVList, "2009-12-11T17:00:08.992937", -938326.32, -5772554.875, 4137638.207, -2438.478, -3895.166, -5987.957);
addSatellitePV(gps, eme2000, itrf, satellitePVList, "2009-12-11T17:00:30.592937", -990887.942, -5855155.21, 4007267.717, -2428.011, -3752.034, -6083.317);
addSatellitePV(gps, eme2000, itrf, satellitePVList, "2009-12-11T17:00:52.192937", -1043205.448, -5934643.836, 3874870.441, -2415.868, -3607.05, -6175.600);
addSatellitePV(gps, eme2000, itrf, satellitePVList, "2009-12-11T17:01:13.792937", -1095242.669, -6010981.571, 3740513.34, -2402.051, -3460.291, -6264.760);
addSatellitePV(gps, eme2000, itrf, satellitePVList, "2009-12-11T17:01:35.392937", -1146963.457, -6084130.93, 3604264.372, -2386.561, -3311.835, -6350.751);
addSatellitePV(gps, eme2000, itrf, satellitePVList, "2009-12-11T17:01:56.992937", -1198331.706, -6154056.146, 3466192.446, -2369.401, -3161.764, -6433.531);
addSatellitePV(gps, eme2000, itrf, satellitePVList, "2009-12-11T17:02:18.592937", -1249311.381, -6220723.191, 3326367.397, -2350.574, -3010.159, -6513.056);
// Rugged initialization
// ---------------------
RuggedBuilder builder = 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 Rugged without atmospheric refraction model
Rugged ruggedWithout = builder.build();
// Defines atmospheric refraction model (with the default multi layers model)
AtmosphericRefraction atmosphericRefraction = new MultiLayerModel(ruggedWithout.getEllipsoid());
// One can use its own atmospheric model that must extend the abstract refraction.AtmosphericRefraction class.
// Set the optional grid steps, for the inverse location computation. Useless for direct location computation.
// This setting is optional as default values exist. But can be useful for instance to improve results by given smaller steps
// or to speed up the computation bigger steps.
int pixelStep = 100;
int lineStep = 100;
atmosphericRefraction.setGridSteps(pixelStep, lineStep);
// To compute the inverse location grid with atmospheric refraction, a default margin is available:
// atmosphericRefraction.getComputationParameters().getDefaultInverseLocMargin();
// but can be modified with:
// atmosphericRefraction.setInverseLocMargin(margin);
// Build Rugged with atmospheric refraction model
builder.setRefractionCorrection(atmosphericRefraction);
Rugged ruggedWith = builder.build();
// Direct location on a line WITHOUT and WITH atmospheric correction
// -----------------------------------------------------------------
double chosenLine = 200.;
// Without atmosphere
GeodeticPoint[] gpWithoutAtmosphericRefractionCorrection = ruggedWithout.directLocation("mySensor", chosenLine);
// With atmosphere
GeodeticPoint[] gpWithAtmosphericRefractionCorrection = ruggedWith.directLocation("mySensor", chosenLine);
double earthRadius = ruggedWithout.getEllipsoid().getEquatorialRadius();
DescriptiveStatistics statDistance = new DescriptiveStatistics();
for (int i = 0; i < gpWithAtmosphericRefractionCorrection.length; i++) {
double currentRadius = earthRadius + (gpWithAtmosphericRefractionCorrection[i].getAltitude()+ gpWithoutAtmosphericRefractionCorrection[i].getAltitude())/2.;
double distance = computeDistanceInMeter(currentRadius, gpWithAtmosphericRefractionCorrection[i], gpWithoutAtmosphericRefractionCorrection[i]);
statDistance.addValue(distance);
}
System.out.format("Distance must be > 0 and < 2m:" +
" Max = " + DFS.format(statDistance.getMax()) +
" Min = " + DFS.format(statDistance.getMin()) +
" Median = " + DFS.format(statDistance.getPercentile(50.)) +
" Mean = " + DFS.format(statDistance.getMean()) +
" Std deviation= " + DFS.format(statDistance.getStandardDeviation()) +
"\n");
// Inverse loc WITH atmospheric correction
// ==========================================================================
final double epsilonPixel = 1.e-3;
final double epsilonLine = 1.1e-2;
int minLine = (int) FastMath.floor(lineSensor.getLine(ruggedWithout.getMinDate()));
int maxLine = (int) FastMath.ceil(lineSensor.getLine(ruggedWithout.getMaxDate()));
for (int i = 0; i < gpWithAtmosphericRefractionCorrection.length; i++) {
// to check if we go back to the initial point when taking the geodetic point with atmospheric correction
GeodeticPoint gpWith = gpWithAtmosphericRefractionCorrection[i];
SensorPixel sensorPixelReverseWith = ruggedWith.inverseLocation("mySensor", gpWith, minLine, maxLine);
if (sensorPixelReverseWith != null) {
// Compare the computed pixel vs expected
if (FastMath.abs(i - sensorPixelReverseWith.getPixelNumber()) > epsilonPixel) {
System.out.format("Problem with pixel " + i + " . Delta pixel= " + DFS.format((i - sensorPixelReverseWith.getPixelNumber())) + "\n");
}
// Compare the computed line vs the expected
if (FastMath.abs(chosenLine - sensorPixelReverseWith.getLineNumber())> epsilonLine) {
System.out.format("Probem with line, for pixel " + i + ". Delta line= " + DFS.format((chosenLine - sensorPixelReverseWith.getLineNumber())) + "\n");
}
} else {
System.out.println("Inverse location failed for pixel " + i + " with atmospheric refraction correction for geodetic point computed with" );
}
} // end loop on pixel i
System.out.format("Inverse location gave same pixel and line as direct location input for" +
" epsilon pixel= " + DFS.format(epsilonPixel) +
" and epsilon line= " + DFS.format(epsilonLine) +
"\n");
}
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) {
AbsoluteDate ephemerisDate = new AbsoluteDate(absDate, gps);
Vector3D position = new Vector3D(px, py, pz); // in ITRF, unit: m
Vector3D velocity = new Vector3D(vx, vy, vz); // in ITRF, unit: m/s
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); // q0 is the scalar term
TimeStampedAngularCoordinates pair =
new TimeStampedAngularCoordinates(attitudeDate, rotation, Vector3D.ZERO, Vector3D.ZERO);
satelliteQList.add(pair);
}
private static double computeDistanceInMeter(double earthRadius, final GeodeticPoint gp1, final GeodeticPoint gp2) {
// get vectors on unit sphere from angular coordinates
final Vector3D p1 = new Vector3D(gp1.getLongitude(), gp1.getLatitude());
final Vector3D p2 = new Vector3D(gp2.getLongitude(), gp2.getLatitude());
return earthRadius * Vector3D.angle(p1, p2);
}
/** Definition of print format. */
private static final DecimalFormatSymbols SYMBOLS = new DecimalFormatSymbols(Locale.US);
/** Defined of number of digit after the point. */
private static final DecimalFormat DFS = new DecimalFormat("#.#####", SYMBOLS);
}
src/tutorials/java/fr/cs/examples/DirectLocation.java 0 → 100644
View file @ acf902ea
/* Copyright 2013-2022 CS GROUP
* Licensed to CS GROUP (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.hipparchus.geometry.euclidean.threed.Rotation;
import org.hipparchus.geometry.euclidean.threed.Vector3D;
import org.hipparchus.util.FastMath;
import org.orekit.bodies.GeodeticPoint;
import org.orekit.data.DataContext;
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.los.FixedRotation;
import org.orekit.rugged.los.LOSBuilder;
import org.orekit.rugged.los.TimeDependentLOS;
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 DirectLocation {
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");
DataContext.getDefault().getDataProvidersManager().addProvider(new DirectoryCrawler(orekitData));
// Sensor's definition
// ===================
// Line of sight
// -------------
// 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("10-degrees-rotation", Vector3D.PLUS_I, FastMath.toRadians(10)));
TimeDependentLOS lineOfSight = losBuilder.build();
// Datation model
// --------------
// 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);
// Line sensor
// -----------
// With the LOS and the datation now defined, we can initialize a line sensor object in Rugged:
LineSensor lineSensor = new LineSensor("mySensor", lineDatation, Vector3D.ZERO, lineOfSight);
// Satellite position, velocity and attitude
// =========================================
// Reference frames
// ----------------
// 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);
// Satellite attitude
// ------------------
ArrayList<TimeStampedAngularCoordinates> satelliteQList = new ArrayList<TimeStampedAngularCoordinates>();
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);
// Positions and velocities
// ------------------------
ArrayList<TimeStampedPVCoordinates> satellitePVList = new ArrayList<TimeStampedPVCoordinates>();
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 initialization
// ---------------------
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();
// Direct location of a single sensor pixel (first line, first pixel)
// ------------------------------------------------------------------
Vector3D position = lineSensor.getPosition(); // This returns a zero vector since we set the relative position of the sensor w.r.T the satellite to 0.
AbsoluteDate firstLineDate = lineSensor.getDate(0);
Vector3D los = lineSensor.getLOS(firstLineDate, 0);
GeodeticPoint upLeftPoint = rugged.directLocation(firstLineDate, position, los);
System.out.format(Locale.US, "upper left point: φ = %8.3f °, λ = %8.3f °, h = %8.3f m%n",
FastMath.toDegrees(upLeftPoint.getLatitude()),
FastMath.toDegrees(upLeftPoint.getLongitude()),
upLeftPoint.getAltitude());
} 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) {
AbsoluteDate ephemerisDate = new AbsoluteDate(absDate, gps);
Vector3D position = new Vector3D(px, py, pz); // in ITRF, unit: m
Vector3D velocity = new Vector3D(vx, vy, vz); // in ITRF, unit: m/s
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); // q0 is the scalar term
TimeStampedAngularCoordinates pair =
new TimeStampedAngularCoordinates(attitudeDate, rotation, Vector3D.ZERO, Vector3D.ZERO);
satelliteQList.add(pair);
}
}
src/tutorials/java/fr/cs/examples/DirectLocationWithDEM.java 0 → 100644
View file @ acf902ea
/* Copyright 2013-2022 CS GROUP
* Licensed to CS GROUP (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.hipparchus.geometry.euclidean.threed.Rotation;
import org.hipparchus.geometry.euclidean.threed.Vector3D;
import org.hipparchus.util.FastMath;
import org.orekit.bodies.GeodeticPoint;
import org.orekit.data.DataContext;
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.los.FixedRotation;
import org.orekit.rugged.los.LOSBuilder;
import org.orekit.rugged.los.TimeDependentLOS;
import org.orekit.rugged.raster.TileUpdater;
import org.orekit.rugged.raster.UpdatableTile;
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.Constants;
import org.orekit.utils.IERSConventions;
import org.orekit.utils.PVCoordinates;
import org.orekit.utils.TimeStampedAngularCoordinates;
import org.orekit.utils.TimeStampedPVCoordinates;
public class DirectLocationWithDEM {
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");
DataContext.getDefault().getDataProvidersManager().addProvider(new DirectoryCrawler(orekitData));
// Sensor's definition
// ===================
// Line of sight
// -------------
// 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("10-degrees-rotation", Vector3D.PLUS_I, FastMath.toRadians(10)));
TimeDependentLOS lineOfSight = losBuilder.build();
// Datation model
// --------------
// 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);
// Line sensor
// -----------
// With the LOS and the datation now defined, we can initialize a line sensor object in Rugged:
LineSensor lineSensor = new LineSensor("mySensor", lineDatation, Vector3D.ZERO, lineOfSight);
// Satellite position, velocity and attitude
// =========================================
// Reference frames
// ----------------
// 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);
// Satellite attitude
// ------------------
ArrayList<TimeStampedAngularCoordinates> satelliteQList = new ArrayList<TimeStampedAngularCoordinates>();
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);
// Positions and velocities
// ------------------------
ArrayList<TimeStampedPVCoordinates> satellitePVList = new ArrayList<TimeStampedPVCoordinates>();
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 initialization
// ---------------------
Rugged rugged = new RuggedBuilder().
setAlgorithm(AlgorithmId.DUVENHAGE).
setDigitalElevationModel(new VolcanicConeElevationUpdater(new GeodeticPoint(FastMath.toRadians(37.58),
FastMath.toRadians(-96.95),
2463.0),
FastMath.toRadians(30.0), 16.0,
FastMath.toRadians(1.0), 1201),
8).
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();
// Direct location of a single sensor pixel (first line, first pixel)
// ------------------------------------------------------------------
Vector3D position = lineSensor.getPosition(); // This returns a zero vector since we set the relative position of the sensor w.r.T the satellite to 0.
AbsoluteDate firstLineDate = lineSensor.getDate(0);
Vector3D los = lineSensor.getLOS(firstLineDate, 0);
GeodeticPoint upLeftPoint = rugged.directLocation(firstLineDate, position, los);
System.out.format(Locale.US, "upper left point: φ = %8.3f °, λ = %8.3f °, h = %8.3f m%n",
FastMath.toDegrees(upLeftPoint.getLatitude()),
FastMath.toDegrees(upLeftPoint.getLongitude()),
upLeftPoint.getAltitude());
} 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) {
AbsoluteDate ephemerisDate = new AbsoluteDate(absDate, gps);
Vector3D position = new Vector3D(px, py, pz); // in ITRF, unit: m
Vector3D velocity = new Vector3D(vx, vy, vz); // in ITRF, unit: m/s
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); // q0 is the scalar term
TimeStampedAngularCoordinates pair =
new TimeStampedAngularCoordinates(attitudeDate, rotation, Vector3D.ZERO, Vector3D.ZERO);
satelliteQList.add(pair);
}
private static class VolcanicConeElevationUpdater implements TileUpdater {
private GeodeticPoint summit;
private double slope;
private double base;
private double size;
private int n;
public VolcanicConeElevationUpdater(GeodeticPoint summit, double slope, double base,
double size, int n) {
this.summit = summit;
this.slope = slope;
this.base = base;
this.size = size;
this.n = n;
}
@Override
public void updateTile(double latitude, double longitude, UpdatableTile tile) {
double step = size / (n - 1);
double minLatitude = size * FastMath.floor(latitude / size);
double minLongitude = size * FastMath.floor(longitude / size);
double sinSlope = FastMath.sin(slope);
tile.setGeometry(minLatitude, minLongitude, step, step, n, n);
for (int i = 0; i < n; ++i) {
double cellLatitude = minLatitude + i * step;
for (int j = 0; j < n; ++j) {
double cellLongitude = minLongitude + j * step;
double distance = Constants.WGS84_EARTH_EQUATORIAL_RADIUS *
FastMath.hypot(cellLatitude - summit.getLatitude(),
cellLongitude - summit.getLongitude());
double altitude = FastMath.max(summit.getAltitude() - distance * sinSlope,
base);
tile.setElevation(i, j, altitude);
}
}
}
}
}
src/tutorials/java/fr/cs/examples/InverseLocation.java 0 → 100644
View file @ acf902ea
/* Copyright 2013-2022 CS GROUP
* Licensed to CS GROUP (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.hipparchus.geometry.euclidean.threed.Rotation;
import org.hipparchus.geometry.euclidean.threed.Vector3D;
import org.hipparchus.util.FastMath;
import org.orekit.bodies.GeodeticPoint;
import org.orekit.bodies.OneAxisEllipsoid;
import org.orekit.data.DataContext;
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.FixedRotation;
import org.orekit.rugged.los.LOSBuilder;
import org.orekit.rugged.los.TimeDependentLOS;
import org.orekit.rugged.utils.RoughVisibilityEstimator;
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");
DataContext.getDefault().getDataProvidersManager().addProvider(new DirectoryCrawler(orekitData));
// Sensor's definition
// ===================
// Line of sight
// -------------
// 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("10-degrees-rotation", Vector3D.PLUS_I, FastMath.toRadians(10)));
TimeDependentLOS lineOfSight = losBuilder.build();
// Datation model
// --------------
// 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);
// Line sensor
// -----------
// 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);
// Satellite position, velocity and attitude
// =========================================
// Reference frames
// ----------------
// 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);
// Satellite attitude
// ------------------
ArrayList<TimeStampedAngularCoordinates> satelliteQList = new ArrayList<TimeStampedAngularCoordinates>();
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);
// Positions and velocities
// ------------------------
ArrayList<TimeStampedPVCoordinates> satellitePVList = new ArrayList<TimeStampedPVCoordinates>();
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 initialization
// ---------------------
RuggedBuilder ruggedBuilder = new RuggedBuilder();
ruggedBuilder.setAlgorithm(AlgorithmId.IGNORE_DEM_USE_ELLIPSOID);
ruggedBuilder.setEllipsoid(EllipsoidId.WGS84, BodyRotatingFrameId.ITRF);
ruggedBuilder.setTimeSpan(absDate, absDate.shiftedBy(60.0), 0.01, 5 / lineSensor.getRate(0));
ruggedBuilder.setTrajectory(InertialFrameId.EME2000,
satellitePVList, 4, CartesianDerivativesFilter.USE_P,
satelliteQList, 4, AngularDerivativesFilter.USE_R).
addLineSensor(lineSensor);
Rugged rugged = ruggedBuilder.build();
// Inverse location of a Geodetic Point
// ------------------------------------
// Point defined by its latitude, longitude and altitude
double latitude = FastMath.toRadians(37.585);
double longitude = FastMath.toRadians(-96.949);
double altitude = 0.0d;
// For a GeodeticPoint : angles are given in radians and altitude in meters
GeodeticPoint gp = new GeodeticPoint(latitude, longitude, altitude);
// Search the sensor pixel seeing point
// ....................................
// interval of lines where to search the 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
// Be careful: no exception is thrown if the pixel is not found
if (sensorPixel != null){
// The pixel was found
System.out.format(Locale.US, "Sensor Pixel found : line = %5.3f, pixel = %5.3f %n", sensorPixel.getLineNumber(), sensorPixel.getPixelNumber());
} else {
// The pixel was not found: set to null
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);
// How to find min and max lines ? with the RoughVisibilityEstimator
// -------------------------------
// Create a RoughVisibilityEstimator for inverse location
OneAxisEllipsoid oneAxisEllipsoid = ruggedBuilder.getEllipsoid();
Frame pvFrame = ruggedBuilder.getInertialFrame();
// Initialize the RoughVisibilityEstimator
RoughVisibilityEstimator roughVisibilityEstimator = new RoughVisibilityEstimator(oneAxisEllipsoid, pvFrame, satellitePVList);
// Compute the approximated line with a rough estimator
AbsoluteDate roughLineDate = roughVisibilityEstimator.estimateVisibility(gp);
double roughLine = lineSensor.getLine(roughLineDate);
// Compute the min / max lines interval using a margin around the roughLine
int sensorMinLine= 0;
int sensorMaxLine = 1000;
int margin = 100;
int minLineRough = (int) FastMath.max(roughLine - margin, sensorMinLine);
int maxLineRough = (int) FastMath.min(roughLine + margin, sensorMaxLine);
SensorPixel sensorPixelRoughLine = rugged.inverseLocation(sensorName, gp, minLineRough, maxLineRough);
System.out.format(Locale.US, "Rough line found = %5.1f; InverseLocation gives (margin of %d around rough line): line = %5.3f, pixel = %5.3f %n", roughLine, margin, sensorPixelRoughLine.getLineNumber(), sensorPixel.getPixelNumber());
} 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) {
AbsoluteDate ephemerisDate = new AbsoluteDate(absDate, gps);
Vector3D position = new Vector3D(px, py, pz); // in ITRF, unit: m
Vector3D velocity = new Vector3D(vx, vy, vz); // in ITRF, unit: m/s
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); // q0 is the scalar term
TimeStampedAngularCoordinates pair =
new TimeStampedAngularCoordinates(attitudeDate, rotation, Vector3D.ZERO, Vector3D.ZERO);
satelliteQList.add(pair);
}
}
src/tutorials/java/fr/cs/examples/refiningPleiades/GroundRefining.java 0 → 100644
View file @ acf902ea
/* Copyright 2013-2022 CS GROUP
* Licensed to CS GROUP (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.refiningPleiades;
import java.io.File;
import java.util.List;
import java.util.Locale;
import org.hipparchus.geometry.euclidean.threed.Vector3D;
import org.hipparchus.util.FastMath;
import org.orekit.bodies.BodyShape;
import org.orekit.bodies.GeodeticPoint;
import org.orekit.data.DataContext;
import org.orekit.data.DirectoryCrawler;
import org.orekit.errors.OrekitException;
import org.orekit.forces.gravity.potential.NormalizedSphericalHarmonicsProvider;
import org.orekit.orbits.Orbit;
import org.orekit.rugged.adjustment.measurements.SensorToGroundMapping;
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.time.AbsoluteDate;
import org.orekit.utils.AngularDerivativesFilter;
import org.orekit.utils.CartesianDerivativesFilter;
import org.orekit.utils.PVCoordinates;
import org.orekit.utils.TimeStampedAngularCoordinates;
import org.orekit.utils.TimeStampedPVCoordinates;
import fr.cs.examples.refiningPleiades.generators.GroundMeasurementGenerator;
import fr.cs.examples.refiningPleiades.generators.Noise;
import fr.cs.examples.refiningPleiades.metrics.DistanceTools;
import fr.cs.examples.refiningPleiades.models.OrbitModel;
import fr.cs.examples.refiningPleiades.models.PleiadesViewingModel;
/**
* Class for testing refining (Ground Control Points GCP study)
* with or without noisy measurements
* @author Jonathan Guinet
* @author Lucie Labat-Allee
* @author Guylaine Prat
* @see SensorToGroundMapping
* @see GroundMeasurementGenerator
* @since 2.0
*/
public class GroundRefining extends Refining {
/** Pleiades viewing model */
private static PleiadesViewingModel pleiadesViewingModel;
/** Sensor name */
private static String sensorName;
/** Main function
*/
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");
DataContext.getDefault().getDataProvidersManager().addProvider(new DirectoryCrawler(orekitData));
// Initialize refining context
// ---------------------------
GroundRefining refining = new GroundRefining();
// Sensor's definition: create Pleiades viewing model
// --------------------------------------------------
System.out.format("**** Build Pleiades viewing model and orbit definition **** %n");
AbsoluteDate minDate = pleiadesViewingModel.getMinDate();
AbsoluteDate maxDate = pleiadesViewingModel.getMaxDate();
AbsoluteDate refDate = pleiadesViewingModel.getDatationReference();
LineSensor lineSensor = pleiadesViewingModel.getLineSensor();
// Satellite position, velocity and attitude: create an orbit model
// ----------------------------------------------------------------
OrbitModel orbitmodel = new OrbitModel();
BodyShape earth = orbitmodel.createEarth();
NormalizedSphericalHarmonicsProvider gravityField = orbitmodel.createGravityField();
Orbit orbit = orbitmodel.createOrbit(gravityField.getMu(), refDate);
// Nadir's pointing
final double [] rollPoly = {0.0,0.0,0.0};
double[] pitchPoly = {0.0,0.0};
double[] yawPoly = {0.0,0.0,0.0};
orbitmodel.setLOFTransform(rollPoly, pitchPoly, yawPoly, minDate);
// Satellite attitude
List<TimeStampedAngularCoordinates> satelliteQList =
orbitmodel.orbitToQ(orbit, earth, minDate.shiftedBy(-0.0), maxDate.shiftedBy(+0.0), 0.25);
int nbQPoints = 2;
// Position and velocities
PVCoordinates PV = orbit.getPVCoordinates(earth.getBodyFrame());
List<TimeStampedPVCoordinates> satellitePVList =
orbitmodel.orbitToPV(orbit, earth, minDate.shiftedBy(-0.0), maxDate.shiftedBy(+0.0), 0.25);
int nbPVPoints = 8;
// Convert frame and coordinates type in one call
GeodeticPoint gp = earth.transform(PV.getPosition(), earth.getBodyFrame(), orbit.getDate());
System.out.format(Locale.US, "Geodetic Point at date %s : φ = %8.10f °, λ = %8.10f %n",
orbit.getDate().toString(),
FastMath.toDegrees(gp.getLatitude()),
FastMath.toDegrees(gp.getLongitude()));
// Rugged initialization
// ---------------------
System.out.format("\n**** Rugged initialization **** %n");
RuggedBuilder ruggedBuilder = new RuggedBuilder();
ruggedBuilder.addLineSensor(lineSensor);
ruggedBuilder.setAlgorithm(AlgorithmId.IGNORE_DEM_USE_ELLIPSOID);
ruggedBuilder.setEllipsoid(EllipsoidId.WGS84, BodyRotatingFrameId.ITRF);
ruggedBuilder.setTimeSpan(minDate,maxDate, 0.001, 5.0);
ruggedBuilder.setTrajectory(InertialFrameId.EME2000, satellitePVList,nbPVPoints,
CartesianDerivativesFilter.USE_PV, satelliteQList,
nbQPoints, AngularDerivativesFilter.USE_R);
ruggedBuilder.setName("Rugged_refining");
Rugged rugged = ruggedBuilder.build();
// Compute ground sample distance (GSD)
// ------------------------------------
double [] gsd = refining.computeGSD(rugged, lineSensor);
System.out.format("GSD - X: %2.2f Y: %2.2f **** %n", gsd[0], gsd[1]);
// Initialize disruptions:
// -----------------------
// Introduce rotations around instrument axes (roll and pitch translations, scale factor)
System.out.format("\n**** Add disruptions: roll and pitch rotations, scale factor **** %n");
double rollValue = FastMath.toRadians(-0.01);
double pitchValue = FastMath.toRadians(0.02);
double factorValue = 1.05;
System.out.format("roll: %3.5f \tpitch: %3.5f \tfactor: %3.5f \n",rollValue, pitchValue, factorValue);
// Apply disruptions on physical model
refining.applyDisruptions(rugged, sensorName, rollValue, pitchValue, factorValue);
// Generate measurements (observations) from physical model disrupted
// ------------------------------------------------------------------
int lineSampling = 1000;
int pixelSampling = 1000;
// Noise definition
// distribution: gaussian(0), vector dimension:3
final Noise noise = new Noise(0,3);
// lat mean, long mean, alt mean
final double[] mean = {0.0,0.0,0.0};
// lat std, long std, alt std}
final double[] standardDeviation = {0.0,0.0,0.0};
noise.setMean(mean);
noise.setStandardDeviation(standardDeviation);
// Ground measurements
GroundMeasurementGenerator measurements = refining.generateNoisyPoints(lineSampling, pixelSampling,
rugged, sensorName,
pleiadesViewingModel.getDimension(),
noise);
// Compute ground truth residuals
// ------------------------------
System.out.format("\n**** Ground truth residuals **** %n");
refining.computeMetrics(measurements.getGroundMapping(), rugged, false);
// Initialize physical model without disruptions
// ---------------------------------------------
System.out.format("\n**** Initialize physical model without disruptions: reset Roll/Pitch/Factor **** %n");
refining.resetModel(rugged, sensorName, true);
// Compute initial residuals
// -------------------------
System.out.format("\n**** Initial Residuals **** %n");
refining.computeMetrics(measurements.getGroundMapping(), rugged, false);
// Start optimization
// ------------------
System.out.format("\n**** Start optimization **** %n");
int maxIterations = 100;
double convergenceThreshold = 1.e-11;
refining.optimization(maxIterations, convergenceThreshold, measurements.getObservables(), rugged);
// Check estimated values
// ----------------------
System.out.format("\n**** Check parameters ajustement **** %n");
refining.paramsEstimation(rugged, sensorName, rollValue, pitchValue, factorValue);
// Compute statistics
// ------------------
System.out.format("\n**** Compute Statistics **** %n");
// Residuals computed in meters
refining.computeMetrics(measurements.getGroundMapping(), rugged, false);
// Residuals computed in degrees
refining.computeMetrics(measurements.getGroundMapping(), rugged, true);
} catch (OrekitException oe) {
System.err.println(oe.getLocalizedMessage());
System.exit(1);
} catch (RuggedException re) {
System.err.println(re.getLocalizedMessage());
System.exit(1);
}
}
/** Constructor */
private GroundRefining() {
sensorName = "line";
pleiadesViewingModel = new PleiadesViewingModel(sensorName);
}
/** Estimate ground sample distance (GSD)
* @param LineSensor line sensor
* @return the GSD
*/
private double[] computeGSD(final Rugged rugged, final LineSensor lineSensor) {
// Get number of line
int dimension = pleiadesViewingModel.getDimension();
// Get position
Vector3D position = lineSensor.getPosition(); // This returns a zero vector since we set the relative position of the sensor w.r.T the satellite to 0.
// Get upper left geodetic point
AbsoluteDate firstLineDate = lineSensor.getDate(0);
Vector3D los = lineSensor.getLOS(firstLineDate,0);
GeodeticPoint upLeftPoint = rugged.directLocation(firstLineDate, position, los);
los = lineSensor.getLOS(firstLineDate,dimension-1);
// Get center geodetic point
AbsoluteDate lineDate = lineSensor.getDate(dimension/2);
los = lineSensor.getLOS(lineDate,dimension/2);
// Get upper right geodetic point
int pixelPosition = dimension-1;
los = lineSensor.getLOS(firstLineDate,pixelPosition);
GeodeticPoint upperRight = rugged.directLocation(firstLineDate, position, los);
// Get lower left geodetic point
AbsoluteDate lineDate_y = lineSensor.getDate(dimension-1);
los = lineSensor.getLOS(lineDate_y,0);
GeodeticPoint lowerLeft = rugged.directLocation(lineDate_y, position, los);
double gsdX = DistanceTools.computeDistanceInMeter(upLeftPoint, upperRight)/dimension;
double gsdY = DistanceTools.computeDistanceInMeter(upLeftPoint, lowerLeft)/dimension;
double [] gsd = {gsdX, gsdY};
return gsd;
}
// /**
// * Get the Pleiades viewing model
// * @return the Pleiades viewing model
// */
// public PleiadesViewingModel getPleiadesViewingModel() {
// return pleiadesViewingModel;
// }
//
// /**
// * Set the Pleiades viewing model
// * @param pleiadesViewingModel Pleiades viewing model to set
// */
// public void setPleiadesViewingModel(final PleiadesViewingModel pleiadesViewingModel) {
// this.pleiadesViewingModel = pleiadesViewingModel;
// }
//
// /**
// * Get the orbit model
// * @return the orbit model
// */
// public OrbitModel getOrbitmodel() {
// return orbitmodel;
// }
//
// /**
// * Set the orbit model
// * @param orbitmodel the orbit model to set
// */
// public void setOrbitmodel(final OrbitModel orbitmodel) {
// this.orbitmodel = orbitmodel;
// }
//
// /**
// * Get the sensor name
// * @return the sensor name
// */
// public String getSensorName() {
// return sensorName;
// }
//
// /**
// * Get the Rugged instance
// * @return the rugged instance
// */
// public Rugged getRugged() {
// return rugged;
// }
//
// /**
// * Set the Rugged instance
// * @param rugged the Rugged instance to set
// */
// public void setRugged(final Rugged rugged) {
// this.rugged = rugged;
// }
}
src/tutorials/java/fr/cs/examples/refiningPleiades/InterRefining.java 0 → 100644
View file @ acf902ea
/* Copyright 2013-2022 CS GROUP
* Licensed to CS GROUP (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.refiningPleiades;
import java.io.File;
import java.util.Arrays;
import java.util.List;
import java.util.Locale;
import org.hipparchus.geometry.euclidean.threed.Vector3D;
import org.hipparchus.util.FastMath;
import org.orekit.bodies.BodyShape;
import org.orekit.bodies.GeodeticPoint;
import org.orekit.data.DataContext;
import org.orekit.data.DirectoryCrawler;
import org.orekit.errors.OrekitException;
import org.orekit.orbits.Orbit;
import org.orekit.rugged.adjustment.measurements.SensorToGroundMapping;
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.time.AbsoluteDate;
import org.orekit.utils.AngularDerivativesFilter;
import org.orekit.utils.CartesianDerivativesFilter;
import org.orekit.utils.Constants;
import org.orekit.utils.PVCoordinates;
import org.orekit.utils.TimeStampedAngularCoordinates;
import org.orekit.utils.TimeStampedPVCoordinates;
import fr.cs.examples.refiningPleiades.generators.GroundMeasurementGenerator;
import fr.cs.examples.refiningPleiades.generators.InterMeasurementGenerator;
import fr.cs.examples.refiningPleiades.generators.Noise;
import fr.cs.examples.refiningPleiades.metrics.DistanceTools;
import fr.cs.examples.refiningPleiades.models.OrbitModel;
import fr.cs.examples.refiningPleiades.models.PleiadesViewingModel;
/**
* Class for testing refining (tie points study)
* with or without noisy measurements
* @author Jonathan Guinet
* @author Lucie Labat-Allee
* @author Guylaine Prat
* @see SensorToGroundMapping
* @see GroundMeasurementGenerator
* @since 2.0
*/
public class InterRefining extends Refining {
/** Pleiades viewing model A */
private static PleiadesViewingModel pleiadesViewingModelA;
/** Pleiades viewing model B */
private static PleiadesViewingModel pleiadesViewingModelB;
/** Sensor name A corresponding to viewing model A */
private static String sensorNameA;
/** Sensor name A corresponding to viewing model B */
private static String sensorNameB;
/** Main function
*/
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");
DataContext.getDefault().getDataProvidersManager().addProvider(new DirectoryCrawler(orekitData));
// Initialize refining context
// ---------------------------
InterRefining refining = new InterRefining();
// Sensors's definition: creation of 2 Pleiades viewing models
// -----------------------------------------------------------
System.out.format("**** Build Pleiades viewing model A and its orbit definition **** %n");
// 1/- Create First Pleiades Viewing Model
final AbsoluteDate minDateA = pleiadesViewingModelA.getMinDate();
final AbsoluteDate maxDateA = pleiadesViewingModelA.getMaxDate();
final AbsoluteDate refDateA = pleiadesViewingModelA.getDatationReference();
LineSensor lineSensorA = pleiadesViewingModelA.getLineSensor();
System.out.format(Locale.US, "Viewing model A - date min: %s max: %s ref: %s %n", minDateA, maxDateA, refDateA);
// ----Satellite position, velocity and attitude: create orbit model A
OrbitModel orbitmodelA = new OrbitModel();
BodyShape earthA = orbitmodelA.createEarth();
Orbit orbitA = orbitmodelA.createOrbit(Constants.EIGEN5C_EARTH_MU, refDateA);
// ----If no LOF Transform Attitude Provider is Nadir Pointing Yaw Compensation
final double [] rollPoly = {0.0,0.0,0.0};
double[] pitchPoly = {0.025,0.0};
double[] yawPoly = {0.0,0.0,0.0};
orbitmodelA.setLOFTransform(rollPoly, pitchPoly, yawPoly, minDateA);
// ----Satellite attitude
List<TimeStampedAngularCoordinates> satelliteQListA = orbitmodelA.orbitToQ(orbitA, earthA, minDateA.shiftedBy(-0.0), maxDateA.shiftedBy(+0.0), 0.25);
int nbQPoints = 2;
// ----Position and velocities
PVCoordinates PVA = orbitA.getPVCoordinates(earthA.getBodyFrame());
List<TimeStampedPVCoordinates> satellitePVListA = orbitmodelA.orbitToPV(orbitA, earthA, minDateA.shiftedBy(-0.0), maxDateA.shiftedBy(+0.0), 0.25);
int nbPVPoints = 8;
// ----Convert frame and coordinates type in one call
GeodeticPoint gpA = earthA.transform(PVA.getPosition(), earthA.getBodyFrame(), orbitA.getDate());
System.out.format(Locale.US, "(A) Geodetic Point at date %s : φ = %8.10f °, λ = %8.10f %n",
orbitA.getDate().toString(),
FastMath.toDegrees(gpA.getLatitude()),
FastMath.toDegrees(gpA.getLongitude()));
// Rugged A initialization
// ---------------------
System.out.format("**** Rugged A initialization **** %n");
RuggedBuilder ruggedBuilderA = new RuggedBuilder();
ruggedBuilderA.addLineSensor(lineSensorA);
ruggedBuilderA.setAlgorithm(AlgorithmId.IGNORE_DEM_USE_ELLIPSOID);
ruggedBuilderA.setEllipsoid(EllipsoidId.WGS84, BodyRotatingFrameId.ITRF);
ruggedBuilderA.setTimeSpan(minDateA,maxDateA, 0.001, 5.0);
ruggedBuilderA.setTrajectory(InertialFrameId.EME2000, satellitePVListA, nbPVPoints,
CartesianDerivativesFilter.USE_PV, satelliteQListA,
nbQPoints, AngularDerivativesFilter.USE_R);
ruggedBuilderA.setLightTimeCorrection(false);
ruggedBuilderA.setAberrationOfLightCorrection(false);
ruggedBuilderA.setName("RuggedA");
Rugged ruggedA = ruggedBuilderA.build();
System.out.format("\n**** Build Pleiades viewing model B and its orbit definition **** %n");
// 2/- Create Second Pleiades Viewing Model
final AbsoluteDate minDateB = pleiadesViewingModelB.getMinDate();
final AbsoluteDate maxDateB = pleiadesViewingModelB.getMaxDate();
final AbsoluteDate refDateB = pleiadesViewingModelB.getDatationReference();
LineSensor lineSensorB = pleiadesViewingModelB.getLineSensor();
System.out.format(Locale.US, "Viewing model B - date min: %s max: %s ref: %s %n", minDateB, maxDateB, refDateB);
// ----Satellite position, velocity and attitude: create orbit model B
OrbitModel orbitmodelB = new OrbitModel();
BodyShape earthB = orbitmodelB.createEarth();
Orbit orbitB = orbitmodelB.createOrbit(Constants.EIGEN5C_EARTH_MU, refDateB);
// ----Satellite attitude
List<TimeStampedAngularCoordinates> satelliteQListB = orbitmodelB.orbitToQ(orbitB, earthB, minDateB.shiftedBy(-0.0), maxDateB.shiftedBy(+0.0), 0.25);
// ----Position and velocities
PVCoordinates PVB = orbitB.getPVCoordinates(earthB.getBodyFrame());
List<TimeStampedPVCoordinates> satellitePVListB = orbitmodelB.orbitToPV(orbitB, earthB, minDateB.shiftedBy(-0.0), maxDateB.shiftedBy(+0.0), 0.25);
GeodeticPoint gpB = earthB.transform(PVB.getPosition(), earthB.getBodyFrame(), orbitB.getDate());
System.out.format(Locale.US, "(B) Geodetic Point at date %s : φ = %8.10f °, λ = %8.10f %n",orbitA.getDate().toString(),
FastMath.toDegrees(gpB.getLatitude()),
FastMath.toDegrees(gpB.getLongitude()));
// Rugged B initialization
// ---------------------
System.out.format("**** Rugged B initialization **** %n");
RuggedBuilder ruggedBuilderB = new RuggedBuilder();
ruggedBuilderB.addLineSensor(lineSensorB);
ruggedBuilderB.setAlgorithm(AlgorithmId.IGNORE_DEM_USE_ELLIPSOID);
ruggedBuilderB.setEllipsoid(EllipsoidId.WGS84, BodyRotatingFrameId.ITRF);
ruggedBuilderB.setTimeSpan(minDateB,maxDateB, 0.001, 5.0);
ruggedBuilderB.setTrajectory(InertialFrameId.EME2000, satellitePVListB, nbPVPoints,
CartesianDerivativesFilter.USE_PV, satelliteQListB,
nbQPoints, AngularDerivativesFilter.USE_R);
ruggedBuilderB.setLightTimeCorrection(false);
ruggedBuilderB.setAberrationOfLightCorrection(false);
ruggedBuilderB.setName("RuggedB");
Rugged ruggedB = ruggedBuilderB.build();
// Compute distance between LOS
// -----------------------------
double distance = refining.computeDistanceBetweenLOS(ruggedA, lineSensorA, ruggedB, lineSensorB);
System.out.format("distance %f meters %n",distance);
// Initialize disruptions:
// -----------------------
// Introduce rotations around instrument axes (roll and pitch translations, scale factor)
System.out.format("\n**** Add disruptions on both acquisitions (A,B): roll and pitch rotations, scale factor **** %n");
double rollValueA = FastMath.toRadians(0.004);
double pitchValueA = FastMath.toRadians(0.0008);
double rollValueB = FastMath.toRadians(-0.004);
double pitchValueB = FastMath.toRadians(0.0008);
double factorValue = 1.0;
System.out.format("Acquisition A roll: %3.5f \tpitch: %3.5f \tfactor: %3.5f \n",rollValueA,pitchValueA,factorValue);
System.out.format("Acquisition B roll: %3.5f \tpitch: %3.5f \tfactor: %3.5f \n",rollValueB,pitchValueB,factorValue);
// Apply disruptions on physical model (acquisition A)
refining.applyDisruptions(ruggedA, sensorNameA, rollValueA, pitchValueA, factorValue);
// Apply disruptions on physical model (acquisition B)
refining.applyDisruptions(ruggedB, sensorNameB, rollValueB, pitchValueB, factorValue);
// Generate measurements (observations) from physical model disrupted
// ------------------------------------------------------------------
int lineSampling = 1000;
int pixelSampling = 1000;
// Noise definition
// distribution: gaussian(0), vector dimension: 2
final Noise noise = new Noise(0,2);
// {pixelA mean, pixelB mean}
final double[] mean = {5.0,0.0};
// {pixelB std, pixelB std}
final double[] standardDeviation = {0.1,0.1};
noise.setMean(mean);
noise.setStandardDeviation(standardDeviation);
System.out.format("\tSensor A mean: %f std %f %n",mean[0],standardDeviation[0]);
System.out.format("\tSensor B mean: %f std %f %n",mean[1],standardDeviation[1]);
// Inter-measurements (between both viewing models)
InterMeasurementGenerator measurements = refining.generateNoisyPoints(lineSampling, pixelSampling,
ruggedA, sensorNameA,
pleiadesViewingModelA.getDimension(),
ruggedB, sensorNameB,
pleiadesViewingModelB.getDimension(),
noise);
// Compute ground truth residuals
// ------------------------------
System.out.format("\n**** Ground truth residuals **** %n");
refining.computeMetrics(measurements.getInterMapping(), ruggedA, ruggedB, false);
// Initialize physical models without disruptions
// -----------------------------------------------
System.out.format("\n**** Initialize physical models (A,B) without disruptions: reset Roll/Pitch/Factor **** %n");
refining.resetModel(ruggedA, sensorNameA, false);
refining.resetModel(ruggedB, sensorNameB, false);
// Compute initial residuals
// -------------------------
System.out.format("\n**** Initial Residuals **** %n");
refining.computeMetrics(measurements.getInterMapping(), ruggedA, ruggedB, false);
// Start optimization
// ------------------
System.out.format("\n**** Start optimization **** %n");
final int maxIterations = 100;
final double convergenceThreshold = 1.e-7;
List<Rugged> ruggedList = Arrays.asList(ruggedA, ruggedB);
refining.optimization(maxIterations, convergenceThreshold,
measurements.getObservables(), ruggedList);
// Check estimated values
// ----------------------
System.out.format("\n**** Check parameters ajustement **** %n");
System.out.format("Acquisition A:%n");
refining.paramsEstimation(ruggedA, sensorNameA, rollValueA, pitchValueA, factorValue);
System.out.format("Acquisition B:%n");
refining.paramsEstimation(ruggedB, sensorNameB, rollValueB, pitchValueB, factorValue);
// Compute statistics
// ------------------
System.out.format("\n**** Compute Statistics **** %n");
refining.computeMetrics(measurements.getInterMapping(), ruggedA, ruggedB, false);
} catch (OrekitException oe) {
System.err.println(oe.getLocalizedMessage());
System.exit(1);
} catch (RuggedException re) {
System.err.println(re.getLocalizedMessage());
System.exit(1);
}
}
/** Constructor */
private InterRefining() {
sensorNameA = "SensorA";
final double incidenceAngleA = -5.0;
final String dateA = "2016-01-01T11:59:50.0";
pleiadesViewingModelA = new PleiadesViewingModel(sensorNameA, incidenceAngleA, dateA);
sensorNameB = "SensorB";
final double incidenceAngleB = 0.0;
final String dateB = "2016-01-01T12:02:50.0";
pleiadesViewingModelB = new PleiadesViewingModel(sensorNameB, incidenceAngleB, dateB);
}
/** Estimate distance between LOS
* @param lineSensorA line sensor A
* @param lineSensorB line sensor B
* @return GSD
*/
private double computeDistanceBetweenLOS(final Rugged ruggedA, final LineSensor lineSensorA,
final Rugged ruggedB, final LineSensor lineSensorB) {
// Get number of line of sensors
int dimensionA = pleiadesViewingModelA.getDimension();
int dimensionB = pleiadesViewingModelB.getDimension();
Vector3D positionA = lineSensorA.getPosition();
// This returns a zero vector since we set the relative position of the sensor w.r.T the satellite to 0.
AbsoluteDate lineDateA = lineSensorA.getDate(dimensionA/2);
Vector3D losA = lineSensorA.getLOS(lineDateA,dimensionA/2);
GeodeticPoint centerPointA = ruggedA.directLocation(lineDateA, positionA, losA);
System.out.format(Locale.US, "\ncenter geodetic position A : φ = %8.10f °, λ = %8.10f °, h = %8.3f m%n",
FastMath.toDegrees(centerPointA.getLatitude()),
FastMath.toDegrees(centerPointA.getLongitude()),centerPointA.getAltitude());
Vector3D positionB = lineSensorB.getPosition();
// This returns a zero vector since we set the relative position of the sensor w.r.T the satellite to 0.
AbsoluteDate lineDateB = lineSensorB.getDate(dimensionB/2);
Vector3D losB = lineSensorB.getLOS(lineDateB,dimensionB/2);
GeodeticPoint centerPointB = ruggedB.directLocation(lineDateB, positionB, losB);
System.out.format(Locale.US, "center geodetic position B : φ = %8.10f °, λ = %8.10f °, h = %8.3f m%n",
FastMath.toDegrees(centerPointB.getLatitude()),
FastMath.toDegrees(centerPointB.getLongitude()),centerPointB.getAltitude());
lineDateB = lineSensorB.getDate(0);
losB = lineSensorB.getLOS(lineDateB,0);
GeodeticPoint firstPointB = ruggedB.directLocation(lineDateB, positionB, losB);
System.out.format(Locale.US, "first geodetic position B : φ = %8.10f °, λ = %8.10f °, h = %8.3f m%n",
FastMath.toDegrees(firstPointB.getLatitude()),
FastMath.toDegrees(firstPointB.getLongitude()),firstPointB.getAltitude());
lineDateB = lineSensorB.getDate(dimensionB-1);
losB = lineSensorB.getLOS(lineDateB,dimensionB-1);
GeodeticPoint lastPointB = ruggedB.directLocation(lineDateB, positionB, losB);
System.out.format(Locale.US, "last geodetic position B : φ = %8.10f °, λ = %8.10f °, h = %8.3f m%n",
FastMath.toDegrees(lastPointB.getLatitude()),
FastMath.toDegrees(lastPointB.getLongitude()),lastPointB.getAltitude());
double distance = DistanceTools.computeDistanceInMeter(centerPointA, centerPointB);
return distance;
}
}
src/tutorials/java/fr/cs/examples/refiningPleiades/Refining.java 0 → 100644
View file @ acf902ea
/* Copyright 2013-2022 CS GROUP
* Licensed to CS GROUP (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.refiningPleiades;
import java.util.ArrayList;
import java.util.Collection;
import java.util.Collections;
import java.util.List;
import org.hipparchus.optim.nonlinear.vector.leastsquares.LeastSquaresOptimizer.Optimum;
import org.orekit.rugged.adjustment.AdjustmentContext;
import org.orekit.rugged.adjustment.measurements.Observables;
import org.orekit.rugged.adjustment.measurements.SensorToGroundMapping;
import org.orekit.rugged.adjustment.measurements.SensorToSensorMapping;
import org.orekit.rugged.api.Rugged;
import org.orekit.rugged.errors.RuggedException;
import org.orekit.rugged.errors.RuggedMessages;
import fr.cs.examples.refiningPleiades.generators.GroundMeasurementGenerator;
import fr.cs.examples.refiningPleiades.generators.InterMeasurementGenerator;
import fr.cs.examples.refiningPleiades.generators.Noise;
import fr.cs.examples.refiningPleiades.metrics.LocalisationMetrics;
/**
* Class for refining problems common methods
* @author Jonathan Guinet
* @author Lucie Labat-Allee
* @author Guylaine Prat
* @see SensorToGroundMapping
* @see SensorToSensorMapping
* @see GroundMeasurementGenerator
* @see InterMeasurementGenerator
* @since 2.0
*/
public class Refining {
/**
* Constructor
*/
public Refining() {
}
/** Apply disruptions on acquisition for roll, pitch and scale factor
* @param rugged Rugged instance
* @param sensorName line sensor name
* @param rollValue rotation on roll value
* @param pitchValue rotation on pitch value
* @param factorValue scale factor
*/
public void applyDisruptions(final Rugged rugged, final String sensorName,
final double rollValue, final double pitchValue, final double factorValue) {
rugged.
getLineSensor(sensorName).
getParametersDrivers().
filter(driver -> driver.getName().equals(sensorName + rollSuffix)).
findFirst().get().setValue(rollValue);
rugged.
getLineSensor(sensorName).
getParametersDrivers().
filter(driver -> driver.getName().equals(sensorName + pitchSuffix)).
findFirst().get().setValue(pitchValue);
rugged.
getLineSensor(sensorName).
getParametersDrivers().
filter(driver -> driver.getName().equals(factorName)).
findFirst().get().setValue(factorValue);
}
/** Generate measurements without noise (sensor to ground mapping)
* @param lineSampling line sampling
* @param pixelSampling pixel sampling
* @param rugged Rugged instance
* @param sensorName line sensor name
* @param dimension number of line of the sensor
* @return ground measurements generator (sensor to ground mapping)
*/
public GroundMeasurementGenerator generatePoints(final int lineSampling, final int pixelSampling,
final Rugged rugged, final String sensorName,
final int dimension) {
GroundMeasurementGenerator measurements = new GroundMeasurementGenerator(rugged, sensorName, dimension);
System.out.format("\n**** Generate measurements (without noise; sensor to ground mapping) **** %n");
// Generation measurements without noise
measurements.createMeasurement(lineSampling, pixelSampling);
System.out.format("Number of tie points generated: %d %n", measurements.getMeasurementCount());
return measurements;
}
/** Generate measurements without noise (sensor to sensor mapping)
* @param lineSampling line sampling
* @param pixelSampling pixel sampling
* @param ruggedA Rugged instance of acquisition A
* @param sensorNameA line sensor name A
* @param dimensionA dimension for acquisition A
* @param ruggedB Rugged instance of acquisition B
* @param sensorNameB line sensor name B
* @param dimensionB dimension for acquisition B
* @return inter measurements generator (sensor to sensor mapping)
*/
public InterMeasurementGenerator generatePoints(final int lineSampling, final int pixelSampling,
final Rugged ruggedA, final String sensorNameA, final int dimensionA,
final Rugged ruggedB, final String sensorNameB, final int dimensionB) {
// Outliers control
final double outlierValue = 1e+2;
// Earth constraint weight
final double earthConstraintWeight = 0.1;
// Generate measurements with constraints on outliers control and Earth distance
InterMeasurementGenerator measurements = new InterMeasurementGenerator(ruggedA, sensorNameA, dimensionA,
ruggedB, sensorNameB, dimensionB,
outlierValue,
earthConstraintWeight);
System.out.format("\n**** Generate measurements (without noise; sensor to sensor mapping) **** %n");
// Generation measurements without noise
measurements.createMeasurement(lineSampling, pixelSampling);
System.out.format("Number of tie points generated: %d %n", measurements.getMeasurementCount());
return measurements;
}
/** Generate noisy measurements (sensor to ground mapping)
* @param lineSampling line sampling
* @param pixelSampling pixel sampling
* @param rugged Rugged instance
* @param sensorName line sensor name
* @param dimension dimension
* @param noise Noise structure to generate noisy measurements
* @return ground measurements generator (sensor to ground mapping)
*/
public GroundMeasurementGenerator generateNoisyPoints(final int lineSampling, final int pixelSampling,
final Rugged rugged, final String sensorName, final int dimension,
final Noise noise) {
// Generate ground measurements
GroundMeasurementGenerator measurements = new GroundMeasurementGenerator(rugged, sensorName, dimension);
System.out.format("\n**** Generate noisy measurements (sensor to ground mapping) **** %n");
// Generate noisy measurements
measurements.createNoisyMeasurement(lineSampling, pixelSampling, noise);
System.out.format("Number of tie points generated: %d %n", measurements.getMeasurementCount());
return measurements;
}
/** Generate noisy measurements (sensor to sensor mapping)
* @param lineSampling line sampling
* @param pixelSampling pixel sampling
* @param ruggedA Rugged instance of acquisition A
* @param sensorNameA line sensor name A
* @param dimensionA dimension for acquisition A
* @param ruggedB Rugged instance of acquisition B
* @param sensorNameB line sensor name B
* @param dimensionB dimension for acquisition B
* @param noise noise structure to generate noisy measurements
* @return inter-measurements generator (sensor to sensor mapping)
*/
public InterMeasurementGenerator generateNoisyPoints(final int lineSampling, final int pixelSampling,
final Rugged ruggedA, final String sensorNameA, final int dimensionA,
final Rugged ruggedB, final String sensorNameB, final int dimensionB,
final Noise noise) {
// Outliers control
final double outlierValue = 1.e+2;
// Earth constraint weight
final double earthConstraintWeight = 0.1;
// Generate measurements with constraints on Earth distance and outliers control
InterMeasurementGenerator measurements = new InterMeasurementGenerator(ruggedA, sensorNameA, dimensionA,
ruggedB, sensorNameB, dimensionB,
outlierValue,
earthConstraintWeight);
System.out.format("\n**** Generate noisy measurements (sensor to sensor mapping) **** %n");
// Generation noisy measurements
measurements.createNoisyMeasurement(lineSampling, pixelSampling, noise);
System.out.format("Number of tie points generated: %d %n", measurements.getMeasurementCount());
return measurements;
}
/** Compute metrics to evaluate geometric performances in location,
* for Ground Control Points GCP study.
* @param groundMapping sensor to ground mapping
* @param rugged Rugged instance
* @param unit flag to know if distance is computed in meters (false) or with angular (true)
*/
public void computeMetrics(final SensorToGroundMapping groundMapping,
final Rugged rugged, final boolean unit) {
String stUnit = null;
if(unit) {
stUnit="degrees";
} else {
stUnit="meters";
}
LocalisationMetrics residuals = new LocalisationMetrics(groundMapping, rugged, unit);
System.out.format("Max: %3.4e Mean: %3.4e %s%n",residuals.getMaxResidual(),residuals.getMeanResidual(), stUnit);
}
/** Compute metrics to evaluate geometric performances in location,
* for tie points study.
* @param interMapping sensor to sensor mapping
* @param ruggedA Rugged instance A
* @param ruggedB Rugged instance B
* @param unit flag to know if distance is computed in meters (false) or with angular (true)
*/
public void computeMetrics(final SensorToSensorMapping interMapping,
final Rugged ruggedA, final Rugged ruggedB,
final boolean unit) {
String stUnit = null;
if(unit) stUnit="degrees";
else stUnit="meters";
LocalisationMetrics residuals = new LocalisationMetrics(interMapping, ruggedA, ruggedB, unit);
System.out.format("Max: %1.4e Mean: %1.4e %s%n",residuals.getMaxResidual(),residuals.getMeanResidual(), stUnit);
System.out.format("LOS distance Max: %1.4e Mean: %1.4e %s%n",residuals.getLosMaxDistance(),residuals.getLosMeanDistance(), stUnit);
System.out.format("Earth distance Max: %1.4e Mean: %1.4e %s%n",residuals.getEarthMaxDistance(),residuals.getEarthMeanDistance(), stUnit);
}
/** Reset a model
* @param rugged Rugged instance
* @param sensorName line sensor name
* @param isSelected flag to known if factor parameter is selected or not
*/
public void resetModel(final Rugged rugged, final String sensorName, final boolean isSelected) {
rugged.
getLineSensor(sensorName).
getParametersDrivers().
filter(driver -> driver.getName().equals(sensorName + rollSuffix)
|| driver.getName().equals(sensorName + pitchSuffix)).
forEach(driver -> {
driver.setSelected(true);
driver.setValue(0.0);
});
rugged.
getLineSensor(sensorName).
getParametersDrivers().
filter(driver -> driver.getName().equals(factorName)).
forEach(driver -> {
driver.setSelected(isSelected);
// default value: no Z scale factor applied
driver.setValue(1.0);
});
}
/** Start optimization to adjust parameters (Ground Control Points GCP study).
* @param maxIterations iterations max
* @param convergenceThreshold threshold of convergence
* @param measurements ground measurements
* @param rugged Rugged instance
*/
public void optimization(final int maxIterations, final double convergenceThreshold,
final Observables measurements, final Rugged rugged) {
System.out.format("Iterations max: %d\tconvergence threshold: %3.6e \n", maxIterations, convergenceThreshold);
AdjustmentContext adjustmentContext = new AdjustmentContext(Collections.singletonList(rugged), measurements);
Optimum optimum = adjustmentContext.estimateFreeParameters(Collections.singletonList(rugged.getName()), maxIterations, convergenceThreshold);
// Print statistics
System.out.format("Max value: %3.6e %n", optimum.getResiduals().getMaxValue());
System.out.format("Optimization performed in %d iterations \n", optimum.getIterations());
System.out.format("Optimization performed with %d evaluations of model (objective) function \n", optimum.getEvaluations());
System.out.format("RMSE: %f \n", optimum.getRMS());
}
/** Start optimization to adjust parameters (tie points study).
* @param maxIterations iterations max
* @param convergenceThreshold threshold of convergence
* @param measurements measurements
* @param ruggeds Rugged instances A and B
*/
public void optimization(final int maxIterations, final double convergenceThreshold,
final Observables measurements,
final Collection<Rugged> ruggeds) {
System.out.format("Iterations max: %d\tconvergence threshold: %3.6e \n", maxIterations, convergenceThreshold);
if(ruggeds.size()!= 2 ) {
throw new RuggedException(RuggedMessages.UNSUPPORTED_REFINING_CONTEXT,ruggeds.size());
}
AdjustmentContext adjustmentContext = new AdjustmentContext(ruggeds, measurements);
List<String> ruggedNameList = new ArrayList<String>();
for(Rugged rugged : ruggeds) {
ruggedNameList.add(rugged.getName());
}
Optimum optimum = adjustmentContext.estimateFreeParameters(ruggedNameList, maxIterations, convergenceThreshold);
// Print statistics
System.out.format("Max value: %3.6e %n", optimum.getResiduals().getMaxValue());
System.out.format("Optimization performed in %d iterations \n", optimum.getIterations());
System.out.format("Optimization performed with %d evaluations of model (objective) function \n", optimum.getEvaluations());
System.out.format("RMSE: %f \n", optimum.getRMS());
}
/** Check adjusted parameters of an acquisition
* @param rugged Rugged instance
* @param sensorName line sensor name
* @param rollValue rotation on roll value
* @param pitchValue rotation on pitch value
* @param factorValue scale factor
*/
public void paramsEstimation(final Rugged rugged, final String sensorName,
final double rollValue, final double pitchValue, final double factorValue) {
// Estimate Roll
double estimatedRoll = rugged.getLineSensor(sensorName).
getParametersDrivers().
filter(driver -> driver.getName().equals(sensorName + rollSuffix)).
findFirst().get().getValue();
double rollError = (estimatedRoll - rollValue);
System.out.format("Estimated roll: %3.5f\troll error: %3.6e %n", estimatedRoll, rollError);
// Estimate pitch
double estimatedPitch = rugged.getLineSensor(sensorName).
getParametersDrivers().
filter(driver -> driver.getName().equals(sensorName + pitchSuffix)).
findFirst().get().getValue();
double pitchError = (estimatedPitch - pitchValue);
System.out.format("Estimated pitch: %3.5f\tpitch error: %3.6e %n", estimatedPitch, pitchError);
// Estimate scale factor
double estimatedFactor = rugged.getLineSensor(sensorName).
getParametersDrivers().
filter(driver -> driver.getName().equals(factorName)).
findFirst().get().getValue();
double factorError = (estimatedFactor - factorValue);
System.out.format("Estimated factor: %3.5f\tfactor error: %3.6e %n", estimatedFactor, factorError);
}
/**
* Part of the name of parameter drivers
*/
static final String rollSuffix = "_roll";
static final String pitchSuffix = "_pitch";
static final String factorName = "factor";
public static String getRollsuffix() {
return rollSuffix;
}
public static String getPitchsuffix() {
return pitchSuffix;
}
public static String getFactorname() {
return factorName;
}
}
src/tutorials/java/fr/cs/examples/refiningPleiades/generators/GroundMeasurementGenerator.java 0 → 100644
View file @ acf902ea
/* Copyright 2013-2022 CS GROUP
* Licensed to CS GROUP (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.refiningPleiades.generators;
import org.hipparchus.geometry.euclidean.threed.Vector3D;
import org.hipparchus.random.GaussianRandomGenerator;
import org.hipparchus.random.UncorrelatedRandomVectorGenerator;
import org.hipparchus.random.Well19937a;
import org.hipparchus.util.FastMath;
import org.orekit.bodies.GeodeticPoint;
import org.orekit.rugged.adjustment.measurements.Observables;
import org.orekit.rugged.adjustment.measurements.SensorToGroundMapping;
import org.orekit.rugged.api.Rugged;
import org.orekit.rugged.linesensor.LineSensor;
import org.orekit.rugged.linesensor.SensorPixel;
import org.orekit.time.AbsoluteDate;
/** Ground measurements generator (sensor to ground mapping).
* @author Jonathan Guinet
* @author Lucie Labat-Allee
* @author Guylaine Prat
* @since 2.0
*/
public class GroundMeasurementGenerator implements Measurable {
/** Sensor to ground mapping. */
private SensorToGroundMapping groundMapping;
/** Observables which contains ground mapping. */
private Observables observables;
/** Rugged instance */
private Rugged rugged;
/** Line sensor */
private LineSensor sensor;
/** Number of lines of the sensor */
private int dimension;
/** Number of measurements */
private int measurementCount;
/** Simple constructor.
* @param rugged Rugged instance
* @param sensorName sensor name
* @param dimension number of line of the sensor
*/
public GroundMeasurementGenerator(final Rugged rugged, final String sensorName, final int dimension) {
// Generate reference mapping
this.groundMapping = new SensorToGroundMapping(rugged.getName(), sensorName);
// Create observables for one model
this.observables = new Observables(1);
this.rugged = rugged;
this.sensor = rugged.getLineSensor(groundMapping.getSensorName());
this.dimension = dimension;
this.measurementCount = 0;
}
/** Get the sensor to ground mapping
* @return the sensor to ground mapping
*/
public SensorToGroundMapping getGroundMapping() {
return groundMapping;
}
/** Get the observables which contains the ground mapping
* @return the observables which contains the ground mapping
*/
public Observables getObservables() {
return observables;
}
@Override
public int getMeasurementCount() {
return measurementCount;
}
@Override
public void createMeasurement(final int lineSampling, final int pixelSampling) {
for (double line = 0; line < dimension; line += lineSampling) {
final AbsoluteDate date = sensor.getDate(line);
for (int pixel = 0; pixel < sensor.getNbPixels(); pixel += pixelSampling) {
final GeodeticPoint gp2 = rugged.directLocation(date, sensor.getPosition(),
sensor.getLOS(date, pixel));
groundMapping.addMapping(new SensorPixel(line, pixel), gp2);
// increment the number of measurements
measurementCount++;
}
}
observables.addGroundMapping(groundMapping);
}
@Override
public void createNoisyMeasurement(final int lineSampling, final int pixelSampling, final Noise noise) {
// Estimate latitude and longitude errors (rad)
final Vector3D latLongError = estimateLatLongError();
// Get noise features
final double[] mean = noise.getMean(); // [latitude, longitude, altitude] mean
final double[] std = noise.getStandardDeviation(); // [latitude, longitude, altitude] standard deviation
final double latErrorMean = mean[0] * latLongError.getX();
final double lonErrorMean = mean[1] * latLongError.getY();
final double latErrorStd = std[0] * latLongError.getX();
final double lonErrorStd = std[1] * latLongError.getY();
// Gaussian random generator
// Build a null mean random uncorrelated vector generator with standard deviation corresponding to the estimated error on ground
final double meanGenerator[] = {latErrorMean, lonErrorMean, mean[2]};
final double stdGenerator[] = {latErrorStd, lonErrorStd, std[2]};
// seed has been fixed for tests purpose
final GaussianRandomGenerator rng = new GaussianRandomGenerator(new Well19937a(0xefac03d9be4d24b9l));
final UncorrelatedRandomVectorGenerator rvg = new UncorrelatedRandomVectorGenerator(meanGenerator, stdGenerator, rng);
for (double line = 0; line < dimension; line += lineSampling) {
final AbsoluteDate date = sensor.getDate(line);
for (int pixel = 0; pixel < sensor.getNbPixels(); pixel += pixelSampling) {
// Components of generated vector follow (independent) Gaussian distribution
final Vector3D vecRandom = new Vector3D(rvg.nextVector());
final GeodeticPoint gp2 = rugged.directLocation(date, sensor.getPosition(),
sensor.getLOS(date, pixel));
final GeodeticPoint gpNoisy = new GeodeticPoint(gp2.getLatitude() + vecRandom.getX(),
gp2.getLongitude() + vecRandom.getY(),
gp2.getAltitude() + vecRandom.getZ());
groundMapping.addMapping(new SensorPixel(line, pixel), gpNoisy);
// increment the number of measurements
measurementCount++;
}
}
this.observables.addGroundMapping(groundMapping);
}
/** Compute latitude and longitude errors
* @return the latitude and longitude errors (rad)
*/
private Vector3D estimateLatLongError() {
final int pix = sensor.getNbPixels() / 2;
final int line = (int) FastMath.floor(pix); // assumption : same number of line and pixels;
final AbsoluteDate date = sensor.getDate(line);
final GeodeticPoint gp_pix0 = rugged.directLocation(date, sensor.getPosition(), sensor.getLOS(date, pix));
final AbsoluteDate date1 = sensor.getDate(line + 1);
final GeodeticPoint gp_pix1 = rugged.directLocation(date1, sensor.getPosition(), sensor.getLOS(date1, pix + 1));
final double latErr = FastMath.abs(gp_pix0.getLatitude() - gp_pix1.getLatitude());
final double lonErr = FastMath.abs(gp_pix0.getLongitude() - gp_pix1.getLongitude());
return new Vector3D(latErr, lonErr, 0.0);
}
}
src/tutorials/java/fr/cs/examples/refiningPleiades/generators/InterMeasurementGenerator.java 0 → 100644
View file @ acf902ea
/* Copyright 2013-2022 CS GROUP
* Licensed to CS GROUP (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.refiningPleiades.generators;
import org.hipparchus.random.GaussianRandomGenerator;
import org.hipparchus.random.UncorrelatedRandomVectorGenerator;
import org.hipparchus.random.Well19937a;
import org.orekit.bodies.GeodeticPoint;
import org.orekit.rugged.api.Rugged;
import org.orekit.rugged.errors.RuggedException;
import org.orekit.rugged.errors.RuggedMessages;
import org.orekit.rugged.linesensor.LineSensor;
import org.orekit.rugged.linesensor.SensorPixel;
import org.orekit.rugged.adjustment.measurements.Observables;
import org.orekit.rugged.adjustment.measurements.SensorToSensorMapping;
import org.orekit.rugged.utils.SpacecraftToObservedBody;
import org.orekit.time.AbsoluteDate;
import fr.cs.examples.refiningPleiades.metrics.DistanceTools;
/**
* Inter-measurements generator (sensor to sensor mapping).
* @author Jonathan Guinet
* @author Lucie Labatallee
* @author Guylaine Prat
* @since 2.0
*/
public class InterMeasurementGenerator implements Measurable {
/** Mapping from sensor A to sensor B. */
private SensorToSensorMapping interMapping;
/** Observables which contains sensor to sensor mapping.*/
private Observables observables;
/** Rugged instance corresponding to the viewing model A */
private Rugged ruggedA;
/** Rugged instance corresponding to the viewing model B */
private Rugged ruggedB;
/** Sensor A */
private LineSensor sensorA;
/** Sensor B */
private LineSensor sensorB;
/** Number of measurements */
private int measurementCount;
/** Sensor name B */
private String sensorNameB;
/** Number of line for acquisition A */
private int dimensionA;
/** Number of line for acquisition B */
private int dimensionB;
/** Limit value for outlier points */
private double outlier;
/** Default constructor: measurements generation without outlier points control
* and without Earth distance constraint.
* @param ruggedA Rugged instance corresponding to the viewing model A
* @param sensorNameA sensor name A
* @param dimensionA number of line for acquisition A
* @param ruggedB Rugged instance corresponding to the viewing model B
* @param sensorNameB sensor name B
* @param dimensionB number of line for acquisition B
*/
public InterMeasurementGenerator(final Rugged ruggedA, final String sensorNameA, final int dimensionA,
final Rugged ruggedB, final String sensorNameB, final int dimensionB) {
// Initialize parameters
initParams(ruggedA, sensorNameA, dimensionA, ruggedB, sensorNameB, dimensionB);
// Generate reference mapping, without Earth distance constraint
interMapping = new SensorToSensorMapping(sensorNameA, sensorNameB);
// Create observables for two models
observables = new Observables(2);
}
/** Constructor for measurements generation taking into account outlier points control,
* without Earth distance constraint.
* @param ruggedA Rugged instance corresponding to the viewing model A
* @param sensorNameA sensor name A
* @param dimensionA dimension for acquisition A
* @param ruggedB Rugged instance corresponding to the viewing model B
* @param sensorNameB sensor name B
* @param dimensionB dimension for acquisition B
* @param outlier limit value for outlier points
*/
public InterMeasurementGenerator(final Rugged ruggedA, final String sensorNameA, final int dimensionA,
final Rugged ruggedB, final String sensorNameB, final int dimensionB,
final double outlier) {
this(ruggedA, sensorNameA, dimensionA, ruggedB, sensorNameB, dimensionB);
this.outlier = outlier;
}
/** Constructor for measurements generation taking into account outlier points control,
* and Earth distance constraint.
* @param ruggedA Rugged instance corresponding to the viewing model A
* @param sensorNameA sensor name A
* @param dimensionA dimension for acquisition A
* @param ruggedB Rugged instance corresponding to the viewing model B
* @param sensorNameB sensor name B
* @param dimensionB dimension for acquisition B
* @param outlier limit value for outlier points
* @param earthConstraintWeight weight given to the Earth distance constraint
* with respect to the LOS distance (between 0 and 1).
*/
public InterMeasurementGenerator(final Rugged ruggedA, final String sensorNameA, final int dimensionA,
final Rugged ruggedB, final String sensorNameB, final int dimensionB,
final double outlier, final double earthConstraintWeight) {
// Initialize parameters
initParams(ruggedA, sensorNameA, dimensionA, ruggedB, sensorNameB, dimensionB);
// Generate reference mapping, with Earth distance constraints.
// Weighting will be applied as follow :
// (1-earthConstraintWeight) for losDistance weighting
// earthConstraintWeight for earthDistance weighting
interMapping = new SensorToSensorMapping(sensorNameA, ruggedA.getName(), sensorNameB, ruggedB.getName(), earthConstraintWeight);
// Outlier points control
this.outlier = outlier;
// Observables which contains sensor to sensor mapping
this.observables = new Observables(2);
}
/** Get the mapping from sensor A to sensor B
* @return the mapping from sensor A to sensor B
*/
public SensorToSensorMapping getInterMapping() {
return interMapping;
}
/** Get the observables which contains sensor to sensor mapping
* @return the observables which contains sensor to sensor mapping
*/
public Observables getObservables() {
return observables;
}
@Override
public int getMeasurementCount() {
return measurementCount;
}
@Override
public void createMeasurement(final int lineSampling, final int pixelSampling) {
// Search the sensor pixel seeing point
final int minLine = 0;
final int maxLine = dimensionB - 1;
for (double line = 0; line < dimensionA; line += lineSampling) {
final AbsoluteDate dateA = sensorA.getDate(line);
for (double pixelA = 0; pixelA < sensorA.getNbPixels(); pixelA += pixelSampling) {
final GeodeticPoint gpA = ruggedA.directLocation(dateA, sensorA.getPosition(),
sensorA.getLOS(dateA, pixelA));
final SensorPixel sensorPixelB = ruggedB.inverseLocation(sensorNameB, gpA, minLine, maxLine);
// We need to test if the sensor pixel is found in the prescribed lines
// otherwise the sensor pixel is null
if (sensorPixelB != null) {
final AbsoluteDate dateB = sensorB.getDate(sensorPixelB.getLineNumber());
final double pixelB = sensorPixelB.getPixelNumber();
final SpacecraftToObservedBody scToBodyA = ruggedA.getScToBody();
final GeodeticPoint gpB = ruggedB.directLocation(dateB, sensorB.getPosition(),
sensorB.getLOS(dateB, pixelB));
final double geoDistance = DistanceTools.computeDistanceInMeter(gpA, gpB);
if (geoDistance < this.outlier) {
final SensorPixel realPixelA = new SensorPixel(line, pixelA);
final SensorPixel realPixelB = new SensorPixel(sensorPixelB.getLineNumber(), sensorPixelB.getPixelNumber());
final AbsoluteDate realDateA = sensorA.getDate(realPixelA.getLineNumber());
final AbsoluteDate realDateB = sensorB.getDate(realPixelB.getLineNumber());
final double[] distanceLOSB = ruggedB.distanceBetweenLOS(sensorA, realDateA, realPixelA.getPixelNumber(), scToBodyA,
sensorB, realDateB, realPixelB.getPixelNumber());
final double losDistance = 0.0;
final double earthDistance = distanceLOSB[1];
interMapping.addMapping(realPixelA, realPixelB, losDistance, earthDistance);
// Increment the number of measurements
this.measurementCount++;
}
}
}
}
this.observables.addInterMapping(interMapping);
}
/** Tie point creation from direct 1ocation with Rugged A and inverse location with Rugged B
* @param lineSampling sampling along lines
* @param pixelSampling sampling along columns
* @param noise errors to apply to measure for pixel A and pixel B
*/
public void createNoisyMeasurement(final int lineSampling, final int pixelSampling, final Noise noise) {
// Get noise features (errors)
// [pixelA, pixelB] mean
final double[] mean = noise.getMean();
// [pixelA, pixelB] standard deviation
final double[] std = noise.getStandardDeviation();
// Search the sensor pixel seeing point
final int minLine = 0;
final int maxLine = dimensionB - 1;
final double meanA[] = { mean[0], mean[0] };
final double stdA[] = { std[0], std[0] };
final double meanB[] = { mean[1], mean[1] };
final double stdB[] = { std[1], std[1] };
// Seed has been fixed for tests purpose
final GaussianRandomGenerator rngA = new GaussianRandomGenerator(new Well19937a(0xefac03d9be4d24b9l));
final UncorrelatedRandomVectorGenerator rvgA = new UncorrelatedRandomVectorGenerator(meanA, stdA, rngA);
// Seed has been fixed for tests purpose
final GaussianRandomGenerator rngB = new GaussianRandomGenerator(new Well19937a(0xdf1c03d9be0b34b9l));
final UncorrelatedRandomVectorGenerator rvgB = new UncorrelatedRandomVectorGenerator(meanB, stdB, rngB);
for (double line = 0; line < dimensionA; line += lineSampling) {
final AbsoluteDate dateA = sensorA.getDate(line);
for (double pixelA = 0; pixelA < sensorA.getNbPixels(); pixelA += pixelSampling) {
final GeodeticPoint gpA = ruggedA.directLocation(dateA, sensorA.getPosition(),
sensorA.getLOS(dateA, pixelA));
final SensorPixel sensorPixelB = ruggedB.inverseLocation(sensorNameB, gpA, minLine, maxLine);
// We need to test if the sensor pixel is found in the prescribed lines
// otherwise the sensor pixel is null
if (sensorPixelB != null) {
final AbsoluteDate dateB = sensorB.getDate(sensorPixelB.getLineNumber());
final double pixelB = sensorPixelB.getPixelNumber();
// Get spacecraft to body transform of Rugged instance A
final SpacecraftToObservedBody scToBodyA = ruggedA.getScToBody();
final GeodeticPoint gpB = ruggedB.directLocation(dateB, sensorB.getPosition(),
sensorB.getLOS(dateB, pixelB));
final double geoDistance = DistanceTools.computeDistanceInMeter(gpA, gpB);
// Create the inter mapping if distance is below outlier value
if (geoDistance < outlier) {
final double[] vecRandomA = rvgA.nextVector();
final double[] vecRandomB = rvgB.nextVector();
final SensorPixel realPixelA = new SensorPixel(line + vecRandomA[0], pixelA + vecRandomA[1]);
final SensorPixel realPixelB = new SensorPixel(sensorPixelB.getLineNumber() + vecRandomB[0],
sensorPixelB.getPixelNumber() + vecRandomB[1]);
final AbsoluteDate realDateA = sensorA.getDate(realPixelA.getLineNumber());
final AbsoluteDate realDateB = sensorB.getDate(realPixelB.getLineNumber());
final double[] distanceLOSB = ruggedB.distanceBetweenLOS(sensorA, realDateA, realPixelA.getPixelNumber(), scToBodyA,
sensorB, realDateB, realPixelB.getPixelNumber());
final Double losDistance = 0.0;
final Double earthDistance = distanceLOSB[1];
interMapping.addMapping(realPixelA, realPixelB, losDistance, earthDistance);
// Increment the number of measurements
this.measurementCount++;
} // end test if geoDistance < outlier
} // end test if sensorPixelB != null
} // end loop on pixel of sensorA
} // end loop on line of sensorA
this.observables.addInterMapping(interMapping);
}
/** Default constructor: measurements generation without outlier points control
* and Earth distances constraint.
* @param rA Rugged instance A
* @param sNameA sensor name A
* @param dimA dimension for acquisition A
* @param rB Rugged instance B
* @param sNameB sensor name B
* @param dimB dimension for acquisition B
*/
private void initParams(final Rugged rA, final String sNameA, final int dimA,
final Rugged rB, final String sNameB, final int dimB) {
this.sensorNameB = sNameB;
// Check that sensors's name is different
if (sNameA.contains(sNameB)) {
throw new RuggedException(RuggedMessages.DUPLICATED_PARAMETER_NAME, sNameA);
}
this.ruggedA = rA;
this.ruggedB = rB;
this.sensorA = rA.getLineSensor(sNameA);
this.sensorB = rB.getLineSensor(sNameB);
this.dimensionA = dimA;
this.dimensionB = dimB;
this.measurementCount = 0;
}
}
src/tutorials/java/fr/cs/examples/refiningPleiades/generators/Measurable.java 0 → 100644
View file @ acf902ea
/* Copyright 2013-2022 CS GROUP
* Licensed to CS GROUP (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.refiningPleiades.generators;
/** For measurements generator.
* @author Lucie Labat-Allee
* @author Guylaine Prat
* @since 2.0
*/
public interface Measurable {
/** Get the number of measurements
* @return the number of measurements
*/
int getMeasurementCount();
/** Create measurements (without noise)
* @param lineSampling line sampling
* @param pixelSampling pixel sampling
*/
void createMeasurement(int lineSampling, int pixelSampling);
/** Create noisy measurements
* @param lineSampling line sampling
* @param pixelSampling pixel sampling
* @param noise the noise to add to the measurements
*/
void createNoisyMeasurement(int lineSampling, int pixelSampling, Noise noise);
}