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/* Copyright 2002-2019 CS Systèmes d'Information
* Licensed to CS Systèmes d'Information (CS) under one or more
* contributor license agreements. See the NOTICE file distributed with
* this work for additional information regarding copyright ownership.
* CS licenses this file to You under the Apache License, Version 2.0
* (the "License"); you may not use this file except in compliance with
* the License. You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
package fr.cs.examples.estimation;
import java.io.BufferedReader;
import java.io.File;
import java.io.FileInputStream;
import java.io.IOException;
import java.io.InputStreamReader;
import java.io.PrintStream;
import java.io.UnsupportedEncodingException;
import java.net.URISyntaxException;
import java.text.ParseException;
import java.util.ArrayList;
import java.util.Collections;
import java.util.Comparator;
import java.util.HashMap;
import java.util.List;
import java.util.Locale;
import java.util.Map;
import java.util.NoSuchElementException;
import java.util.SortedSet;
import java.util.TreeSet;
import java.util.regex.Pattern;
import org.hipparchus.exception.LocalizedCoreFormats;
import org.hipparchus.geometry.euclidean.threed.Vector3D;
import org.hipparchus.linear.QRDecomposer;
import org.hipparchus.optim.nonlinear.vector.leastsquares.GaussNewtonOptimizer;
import org.hipparchus.optim.nonlinear.vector.leastsquares.LeastSquaresOptimizer;
import org.hipparchus.optim.nonlinear.vector.leastsquares.LeastSquaresProblem;
import org.hipparchus.optim.nonlinear.vector.leastsquares.LevenbergMarquardtOptimizer;
import org.hipparchus.stat.descriptive.StreamingStatistics;
import org.hipparchus.util.FastMath;
import org.hipparchus.util.Precision;
import org.orekit.attitudes.AttitudeProvider;
import org.orekit.attitudes.BodyCenterPointing;
import org.orekit.attitudes.LofOffset;
import org.orekit.attitudes.NadirPointing;
import org.orekit.attitudes.YawCompensation;
import org.orekit.attitudes.YawSteering;
import org.orekit.bodies.CelestialBody;
import org.orekit.bodies.CelestialBodyFactory;
import org.orekit.bodies.GeodeticPoint;
import org.orekit.bodies.OneAxisEllipsoid;
import org.orekit.data.DataProvidersManager;
import org.orekit.data.DirectoryCrawler;
import org.orekit.errors.OrekitException;
import org.orekit.errors.OrekitMessages;
import org.orekit.estimation.leastsquares.BatchLSEstimator;
import org.orekit.estimation.leastsquares.BatchLSObserver;
import org.orekit.estimation.measurements.AngularAzEl;
import org.orekit.estimation.measurements.EstimatedMeasurement;
import org.orekit.estimation.measurements.EstimationsProvider;
import org.orekit.estimation.measurements.GroundStation;
import org.orekit.estimation.measurements.ObservableSatellite;
import org.orekit.estimation.measurements.ObservedMeasurement;
import org.orekit.estimation.measurements.PV;
import org.orekit.estimation.measurements.Range;
import org.orekit.estimation.measurements.RangeRate;
import org.orekit.estimation.measurements.modifiers.AngularRadioRefractionModifier;
import org.orekit.estimation.measurements.modifiers.Bias;
import org.orekit.estimation.measurements.modifiers.OnBoardAntennaRangeModifier;
import org.orekit.estimation.measurements.modifiers.OutlierFilter;
import org.orekit.estimation.measurements.modifiers.RangeRateTroposphericDelayModifier;
import org.orekit.estimation.measurements.modifiers.RangeTroposphericDelayModifier;
import org.orekit.forces.PolynomialParametricAcceleration;
import org.orekit.forces.drag.DragForce;
import org.orekit.forces.drag.DragSensitive;
import org.orekit.forces.drag.IsotropicDrag;
import org.orekit.forces.gravity.HolmesFeatherstoneAttractionModel;
import org.orekit.forces.gravity.OceanTides;
import org.orekit.forces.gravity.Relativity;
import org.orekit.forces.gravity.SolidTides;
import org.orekit.forces.gravity.ThirdBodyAttraction;
import org.orekit.forces.gravity.potential.GravityFieldFactory;
import org.orekit.forces.gravity.potential.NormalizedSphericalHarmonicsProvider;
import org.orekit.forces.radiation.IsotropicRadiationSingleCoefficient;
import org.orekit.forces.radiation.RadiationSensitive;
import org.orekit.forces.radiation.SolarRadiationPressure;
import org.orekit.frames.EOPHistory;
import org.orekit.frames.Frame;
import org.orekit.frames.FramesFactory;
import org.orekit.frames.LOFType;
import org.orekit.frames.TopocentricFrame;
import org.orekit.gnss.MeasurementType;
import org.orekit.gnss.ObservationData;
import org.orekit.gnss.ObservationDataSet;
import org.orekit.gnss.RinexLoader;
import org.orekit.gnss.SatelliteSystem;
import org.orekit.models.AtmosphericRefractionModel;
import org.orekit.models.earth.EarthITU453AtmosphereRefraction;
import org.orekit.models.earth.atmosphere.Atmosphere;
import org.orekit.models.earth.atmosphere.NRLMSISE00;
import org.orekit.models.earth.atmosphere.data.MarshallSolarActivityFutureEstimation;
import org.orekit.models.earth.displacement.OceanLoading;
import org.orekit.models.earth.displacement.OceanLoadingCoefficientsBLQFactory;
import org.orekit.models.earth.displacement.StationDisplacement;
import org.orekit.models.earth.displacement.TidalDisplacement;
import org.orekit.models.earth.troposphere.DiscreteTroposphericModel;
import org.orekit.models.earth.troposphere.EstimatedTroposphericModel;
import org.orekit.models.earth.troposphere.GlobalMappingFunctionModel;
import org.orekit.models.earth.troposphere.MappingFunction;
import org.orekit.models.earth.troposphere.NiellMappingFunctionModel;
import org.orekit.models.earth.troposphere.ViennaModelCoefficientsLoader;
import org.orekit.models.earth.troposphere.ViennaModelType;
import org.orekit.models.earth.troposphere.ViennaThreeModel;
import org.orekit.orbits.CartesianOrbit;
import org.orekit.orbits.CircularOrbit;
import org.orekit.orbits.EquinoctialOrbit;
import org.orekit.orbits.KeplerianOrbit;
import org.orekit.orbits.Orbit;
import org.orekit.orbits.PositionAngle;
import org.orekit.propagation.SpacecraftState;
import org.orekit.propagation.analytical.tle.TLE;
import org.orekit.propagation.analytical.tle.TLEPropagator;
import org.orekit.propagation.conversion.DormandPrince853IntegratorBuilder;
import org.orekit.propagation.conversion.NumericalPropagatorBuilder;
import org.orekit.time.AbsoluteDate;
import org.orekit.time.TimeScale;
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import org.orekit.time.TimeScalesFactory;
import org.orekit.utils.Constants;
import org.orekit.utils.IERSConventions;
import org.orekit.utils.PVCoordinates;
import org.orekit.utils.ParameterDriver;
import org.orekit.utils.ParameterDriversList;
import fr.cs.examples.KeyValueFileParser;
/** Orekit tutorial for orbit determination.
* @author Luc Maisonobe
*/
public class OrbitDetermination { // Class 1
/** Program entry point.
* @param args program arguments (unused here)
*/
public static void main(String[] args) {
try {
// configure Orekit
File home = new File(System.getProperty("user.home"));
File orekitData = new File(home, "orekit-data");
if (!orekitData.exists()) {
System.err.format(Locale.US, "Failed to find %s folder%n",
orekitData.getAbsolutePath());
System.err.format(Locale.US, "You need to download %s from %s, unzip it in %s and rename it 'orekit-data' for this tutorial to work%n",
"orekit-data-master.zip", "https://gitlab.orekit.org/orekit/orekit-data/-/archive/master/orekit-data-master.zip",
home.getAbsolutePath());
System.exit(1);
}
// input in tutorial resources directory/output
final String inputPath = OrbitDetermination.class.getClassLoader().getResource("maxvalier.in").toURI().getPath(); // Brings in input file with orbit data
DataProvidersManager manager = DataProvidersManager.getInstance();
manager.addProvider(new DirectoryCrawler(orekitData));
manager.addProvider(new DirectoryCrawler(new File(input.getParentFile(), "Vienna-Model")));
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long t0 = System.currentTimeMillis(); // Returns current time in milliseconds
new OrbitDetermination().run(input, home);
long t1 = System.currentTimeMillis();
System.out.println("wall clock run time (s): " + (0.001 * (t1 - t0)));
} catch (URISyntaxException urise) {
System.err.println(urise.getLocalizedMessage());
System.exit(1);
} catch (IOException ioe) {
System.err.println(ioe.getLocalizedMessage());
System.exit(1);
} catch (IllegalArgumentException iae) {
iae.printStackTrace(System.err);
System.err.println(iae.getLocalizedMessage());
System.exit(1);
} catch (OrekitException oe) {
System.err.println(oe.getLocalizedMessage());
System.exit(1);
} catch (ParseException pe) {
System.err.println(pe.getLocalizedMessage());
System.exit(1);
}
}
private void run(final File input, final File home) // Starts an initial guess and then propagates that
throws IOException, IllegalArgumentException, OrekitException, ParseException {
// read input parameters
KeyValueFileParser<ParameterKey> parser = new KeyValueFileParser<ParameterKey>(ParameterKey.class);
try (final FileInputStream fis = new FileInputStream(input)) {
parser.parseInput(input.getAbsolutePath(), fis);
}
// log file
final String baseName;
final PrintStream logStream;
if (parser.containsKey(ParameterKey.OUTPUT_BASE_NAME) &&
parser.getString(ParameterKey.OUTPUT_BASE_NAME).length() > 0) {
baseName = parser.getString(ParameterKey.OUTPUT_BASE_NAME);
logStream = new PrintStream(new File(home, baseName + "-log.out"), "UTF-8");
} else {
baseName = null;
logStream = null;
}
final RangeLog rangeLog = new RangeLog(home, baseName);
final RangeRateLog rangeRateLog = new RangeRateLog(home, baseName);
final AzimuthLog azimuthLog = new AzimuthLog(home, baseName);
final ElevationLog elevationLog = new ElevationLog(home, baseName);
final PositionLog positionLog = new PositionLog(home, baseName);
final VelocityLog velocityLog = new VelocityLog(home, baseName);
try {
// gravity field
final NormalizedSphericalHarmonicsProvider gravityField = createGravityField(parser);
// Orbit initial guess
final Orbit initialGuess = createOrbit(parser, gravityField.getMu());
// IERS conventions
final IERSConventions conventions;
if (!parser.containsKey(ParameterKey.IERS_CONVENTIONS)) {
conventions = IERSConventions.IERS_2010;
} else {
conventions = IERSConventions.valueOf("IERS_" + parser.getInt(ParameterKey.IERS_CONVENTIONS));
}
// central body
final OneAxisEllipsoid body = createBody(parser);
// propagator builder
final NumericalPropagatorBuilder propagatorBuilder =
createPropagatorBuilder(parser, conventions, gravityField, body, initialGuess);
// estimator
final BatchLSEstimator estimator = createEstimator(parser, propagatorBuilder);
final Map<String, StationData> stations = createStationsData(parser, conventions, body);
final PVData pvData = createPVData(parser);
final ObservableSatellite satellite = createObservableSatellite(parser);
final Bias<Range> satRangeBias = createSatRangeBias(parser);
final OnBoardAntennaRangeModifier satAntennaRangeModifier = createSatAntennaRangeModifier(parser);
final Weights weights = createWeights(parser);
final OutlierFilter<Range> rangeOutliersManager = createRangeOutliersManager(parser);
final OutlierFilter<RangeRate> rangeRateOutliersManager = createRangeRateOutliersManager(parser);
final OutlierFilter<AngularAzEl> azElOutliersManager = createAzElOutliersManager(parser);
final OutlierFilter<PV> pvOutliersManager = createPVOutliersManager(parser);
// measurements
final List<ObservedMeasurement<?>> measurements = new ArrayList<ObservedMeasurement<?>>();
for (final String fileName : parser.getStringsList(ParameterKey.MEASUREMENTS_FILES, ',')) {
System.out.println("The imported file is: " + fileName);
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if (Pattern.matches(RinexLoader.DEFAULT_RINEX_2_SUPPORTED_NAMES, fileName) ||
Pattern.matches(RinexLoader.DEFAULT_RINEX_3_SUPPORTED_NAMES, fileName)) {
// the measurements come from a Rinex file
measurements.addAll(readRinex(new File(input.getParentFile(), fileName),
parser.getString(ParameterKey.SATELLITE_ID_IN_RINEX_FILES),
stations, satellite, satRangeBias, satAntennaRangeModifier, weights,
rangeOutliersManager, rangeRateOutliersManager));
} else {
// the measurements come from an Orekit custom file
measurements.addAll(readMeasurements(new File(input.getParentFile(), fileName),
stations, pvData, satellite,
satRangeBias, satAntennaRangeModifier, weights,
rangeOutliersManager,
rangeRateOutliersManager,
azElOutliersManager,
pvOutliersManager));
}
}
for (ObservedMeasurement<?> measurement : measurements) {
estimator.addMeasurement(measurement);
}
// estimate orbit
estimator.setObserver(new BatchLSObserver() {
private PVCoordinates previousPV;
{
previousPV = initialGuess.getPVCoordinates();
if (!parser.getBoolean(ParameterKey.OD_LOG_EXTENDED)) {
final String header = "iteration evaluations ΔP(m) ΔV(m/s) RMS nb Range nb Range-rate nb Angular nb PV%n"; // nb = number
System.out.format(Locale.US, header);
if (logStream != null) {
logStream.format(Locale.US, header);
}
}
/** {@inheritDoc} */
@Override
public void evaluationPerformed(final int iterationsCount, final int evaluationsCount,
final Orbit[] orbits,
final ParameterDriversList estimatedOrbitalParameters,
final ParameterDriversList estimatedPropagatorParameters,
final ParameterDriversList estimatedMeasurementsParameters,
final EstimationsProvider evaluationsProvider,
final LeastSquaresProblem.Evaluation lspEvaluation) {
Double pos = Vector3D.distance(currentPV.getPosition(), Vector3D.ZERO);
pos = (pos - body.getEquatorialRadius())/1000;
String altitude = Double.toString(pos);
double pxg = -5253194;
double pyg = -4400295;
double pzg = 80075;
double vxg = -559;
double vyg = 764;
double vzg = 7585;
Vector3D genPosition = new Vector3D(pxg, pyg, pzg);
Vector3D genVelocity = new Vector3D(vxg, vyg,vzg) ;
Double positionSeperation = Vector3D.distance(genPosition, currentPV.getPosition());
Double velocitySeperation = Vector3D.distance(genVelocity, currentPV.getVelocity());
final EvaluationCounter<Range> rangeCounter = new EvaluationCounter<Range>();
final EvaluationCounter<RangeRate> rangeRateCounter = new EvaluationCounter<RangeRate>();
final EvaluationCounter<AngularAzEl> angularCounter = new EvaluationCounter<AngularAzEl>();
final EvaluationCounter<PV> pvCounter = new EvaluationCounter<PV>();
for (final Map.Entry<ObservedMeasurement<?>, EstimatedMeasurement<?>> entry : estimator.getLastEstimations().entrySet()) {
if (entry.getKey() instanceof Range) {
@SuppressWarnings("unchecked")
EstimatedMeasurement<Range> evaluation = (EstimatedMeasurement<Range>) entry.getValue();
rangeCounter.add(evaluation);
} else if (entry.getKey() instanceof RangeRate) {
@SuppressWarnings("unchecked")
EstimatedMeasurement<RangeRate> evaluation = (EstimatedMeasurement<RangeRate>) entry.getValue();
rangeRateCounter.add(evaluation);
} else if (entry.getKey() instanceof AngularAzEl) {
@SuppressWarnings("unchecked")
EstimatedMeasurement<AngularAzEl> evaluation = (EstimatedMeasurement<AngularAzEl>) entry.getValue();
angularCounter.add(evaluation);
} else if (entry.getKey() instanceof PV) {
@SuppressWarnings("unchecked")
EstimatedMeasurement<PV> evaluation = (EstimatedMeasurement<PV>) entry.getValue();
pvCounter.add(evaluation);
}
if (!parser.getBoolean(ParameterKey.OD_LOG_EXTENDED)) {
final String formatNormalLog0 = " %2d %2d %16.12f %s %s %s %s%n";
final String formatNormalLog = " %2d %2d %13.6f %12.9f %16.12f %s %s %s %s%n";
if (evaluationsCount == 1) {
System.out.format(Locale.US, formatNormalLog0,
iterationsCount, evaluationsCount,
lspEvaluation.getRMS(),
rangeCounter.format(8), rangeRateCounter.format(8),
angularCounter.format(8), pvCounter.format(8));
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if (logStream != null) {
logStream.format(Locale.US, formatNormalLog0,
iterationsCount, evaluationsCount,
lspEvaluation.getRMS(),
rangeCounter.format(8), rangeRateCounter.format(8),
angularCounter.format(8), pvCounter.format(8));
}
} else {
System.out.format(Locale.US, formatNormalLog,
iterationsCount, evaluationsCount,
Vector3D.distance(previousPV.getPosition(), currentPV.getPosition()),
Vector3D.distance(previousPV.getVelocity(), currentPV.getVelocity()),
lspEvaluation.getRMS(),
rangeCounter.format(8), rangeRateCounter.format(8),
angularCounter.format(8), pvCounter.format(8));
if (logStream != null) {
logStream.format(Locale.US, formatNormalLog,
iterationsCount, evaluationsCount,
Vector3D.distance(previousPV.getPosition(), currentPV.getPosition()),
Vector3D.distance(previousPV.getVelocity(), currentPV.getVelocity()),
lspEvaluation.getRMS(),
rangeCounter.format(8), rangeRateCounter.format(8),
angularCounter.format(8), pvCounter.format(8));
}
final String iterationNumber = "Iteration Number: ";
final String evaluationNumber = "Evaluations performed: ";
final String PVCoords = "The estimated Cartesian parameters: ";
final String cd = "Estimated propagator parameters changes: ";
final String Position = "Altitude (km):";
final String dP = "ΔP(m):";
final String dV = "ΔV(m/s):";
final String rms = "RMS:";
final String nbRr = "nb Range-rate:";
final String posSep = "Position separation (m)";
final String velSep = "Velocity separation (m/s)";
final String formatExtendedLog0 = "%s %2d, %s %2d, %s %s, %s %16.12f, %s %s %n %s %s %n %s %s, %s %s%n" ;
final String formatExtendedLog = "%n%n%s %2d, %s %2d, %s %s, %s %13.6f, %s %12.9f, %s %16.12f, %s %s %n %s %s %n %s %s, %s %s%n" ;
int length = 0;
for (final ParameterDriver parameterDriver : estimatedOrbitalParameters.getDrivers()) {
length = FastMath.max(length, parameterDriver.getName().length());
}
for (final ParameterDriver parameterDriver : estimatedPropagatorParameters.getDrivers()) {
length = FastMath.max(length, parameterDriver.getName().length());
}
for (final ParameterDriver parameterDriver : estimatedMeasurementsParameters.getDrivers()) {
length = FastMath.max(length, parameterDriver.getName().length());
}
if (evaluationsCount == 1) {
System.out.format(Locale.US, formatExtendedLog0, iterationNumber, iterationsCount,
evaluationNumber, evaluationsCount, Position, altitude,
rms, lspEvaluation.getRMS(), nbRr, rangeRateCounter.format(8),
PVCoords, currentPV, posSep, positionSeperation, velSep, velocitySeperation);
displayParametersChanges(System.out, "Estimated orbital parameters changes: ",
displayParametersChanges(System.out, "Estimated propagator parameters changes: ",
displayParametersChanges(System.out, "Estimated measurements parameters changes: ",
if (logStream != null) {
logStream.format(Locale.US, formatExtendedLog0, iterationNumber, iterationsCount, evaluationNumber, evaluationsCount, Position, altitude,
rms, lspEvaluation.getRMS(), nbRr, rangeRateCounter.format(8), PVCoords, currentPV, posSep, positionSeperation, velSep, velocitySeperation);
displayParametersChanges(logStream, "Estimated orbital parameters changes: ",
false, length, estimatedOrbitalParameters);
displayParametersChanges(logStream, "Estimated propagator parameters changes: ",
true, length, estimatedPropagatorParameters);
displayParametersChanges(logStream, "Estimated measurements parameters changes: ",
true, length, estimatedMeasurementsParameters);
}
} else {
System.out.format(Locale.US, formatExtendedLog, iterationNumber, iterationsCount, evaluationNumber, evaluationsCount, Position, altitude,
dP, Vector3D.distance(previousPV.getPosition(), currentPV.getPosition()),
dV, Vector3D.distance(previousPV.getVelocity(), currentPV.getVelocity()),
rms, lspEvaluation.getRMS(), nbRr, rangeRateCounter.format(8), PVCoords, currentPV, posSep, positionSeperation, velSep, velocitySeperation);
displayParametersChanges(System.out, "Estimated orbital parameters changes: ",
displayParametersChanges(System.out, "Estimated propagator parameters changes: ",
displayParametersChanges(System.out, "Estimated measurements parameters changes: ",
if (logStream != null) {
logStream.format(Locale.US, formatExtendedLog, iterationNumber, iterationsCount, evaluationNumber, evaluationsCount, Position, altitude,
dP, Vector3D.distance(previousPV.getPosition(), currentPV.getPosition()),
dV, Vector3D.distance(previousPV.getVelocity(), currentPV.getVelocity()),
rms, lspEvaluation.getRMS(), nbRr, rangeRateCounter.format(8), PVCoords, currentPV, posSep, positionSeperation, velSep, velocitySeperation);
displayParametersChanges(logStream, "Estimated orbital parameters changes: ",
false, length, estimatedOrbitalParameters);
displayParametersChanges(logStream, "Estimated propagator parameters changes: ",
true, length, estimatedPropagatorParameters);
displayParametersChanges(logStream, "Estimated measurements parameters changes: ",
true, length, estimatedMeasurementsParameters);
}
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}
previousPV = currentPV;
}
});
Orbit estimated = estimator.estimate()[0].getInitialState().getOrbit();
// compute some statistics
for (final Map.Entry<ObservedMeasurement<?>, EstimatedMeasurement<?>> entry : estimator.getLastEstimations().entrySet()) {
if (entry.getKey() instanceof Range) {
@SuppressWarnings("unchecked")
EstimatedMeasurement<Range> evaluation = (EstimatedMeasurement<Range>) entry.getValue();
rangeLog.add(evaluation);
} else if (entry.getKey() instanceof RangeRate) {
@SuppressWarnings("unchecked")
EstimatedMeasurement<RangeRate> evaluation = (EstimatedMeasurement<RangeRate>) entry.getValue();
rangeRateLog.add(evaluation);
} else if (entry.getKey() instanceof AngularAzEl) {
@SuppressWarnings("unchecked")
EstimatedMeasurement<AngularAzEl> evaluation = (EstimatedMeasurement<AngularAzEl>) entry.getValue();
azimuthLog.add(evaluation);
elevationLog.add(evaluation);
} else if (entry.getKey() instanceof PV) {
@SuppressWarnings("unchecked")
EstimatedMeasurement<PV> evaluation = (EstimatedMeasurement<PV>) entry.getValue();
positionLog.add(evaluation);
velocityLog.add(evaluation);
}
}
int iDrag = 6 ;
int iDopplerBias1 = 7 ;
int iDopplerBias2 = 8 ;
Double dopplerBiasSD1 = 0.00;
Double dragDopplerBias1Correlation = 0.00;
if (parser.getBoolean(ParameterKey.OD_LOG_COVARIANCES)) {
final RealMatrix covariance = estimator.getPhysicalCovariances(1*Math.pow(10,-15));
//System.out.println(covariance);
//logStream.println(covariance);
//System.out.println(covariance.getEntry(6,6));
dragSD = FastMath.sqrt(covariance.getEntry(iDrag, iDrag));// This gives the standard deviation of the drag with the drag, the larger this is the more difficult the drag was to estimate
dopplerBiasSD1 = FastMath.sqrt(covariance.getEntry(iDopplerBias1, iDopplerBias1)) ;
dragDopplerBias1Correlation = covariance.getEntry(iDrag, iDopplerBias1)/(dopplerBiasSD1 * dragSD) ; // Range between -1 and +1, greater mag is more correlated and 0 isn't correlated
System.out.println("Estimated orbit: " + estimated);
if (logStream != null) {
logStream.println("Estimated orbit: " + estimated);
}
final ParameterDriversList orbitalParameters = estimator.getOrbitalParametersDrivers(true);
final ParameterDriversList propagatorParameters = estimator.getPropagatorParametersDrivers(true);
final ParameterDriversList measurementsParameters = estimator.getMeasurementsParametersDrivers(true);
int length = 0;
for (final ParameterDriver parameterDriver : orbitalParameters.getDrivers()) {
length = FastMath.max(length, parameterDriver.getName().length());
}
for (final ParameterDriver parameterDriver : propagatorParameters.getDrivers()) {
length = FastMath.max(length, parameterDriver.getName().length());
}
for (final ParameterDriver parameterDriver : measurementsParameters.getDrivers()) {
length = FastMath.max(length, parameterDriver.getName().length());
}
displayParametersChanges(System.out, "Estimated orbital parameters changes: ",
false, length, orbitalParameters);
if (logStream != null) {
displayParametersChanges(logStream, "Estimated orbital parameters changes: ",
false, length, orbitalParameters);
}
displayParametersChanges(System.out, "Estimated propagator parameters changes: ",
true, length, propagatorParameters);
if (parser.getBoolean(ParameterKey.OD_LOG_COVARIANCES)) {
System.out.println("Standard deviation of the estimated drag: " + dragSD);
}
if (logStream != null) {
displayParametersChanges(logStream, "Estimated propagator parameters changes: ",
true, length, propagatorParameters);
}
displayParametersChanges(System.out, "Estimated measurements parameters changes: ",
true, length, measurementsParameters);
if (logStream != null) {
displayParametersChanges(logStream, "Estimated measurements parameters changes: ",
}
System.out.println("Number of iterations: " + estimator.getIterationsCount());
System.out.println("Number of evaluations: " + estimator.getEvaluationsCount());
rangeLog.displaySummary(System.out);
rangeRateLog.displaySummary(System.out);
azimuthLog.displaySummary(System.out);
elevationLog.displaySummary(System.out);
positionLog.displaySummary(System.out);
velocityLog.displaySummary(System.out);
if (parser.getBoolean(ParameterKey.OD_LOG_COVARIANCES)) {
System.out.println("Standard deviation of the estimated drag: " + dragSD);
System.out.println("Standard deviation of the range rate bias: " + dopplerBiasSD1);
System.out.println("Correlation of drag and doppler bias: " + dragDopplerBias1Correlation);
if (logStream != null) {
logStream.println("Number of iterations: " + estimator.getIterationsCount());
logStream.println("Number of evaluations: " + estimator.getEvaluationsCount());
rangeLog.displaySummary(logStream);
rangeRateLog.displaySummary(logStream);
azimuthLog.displaySummary(logStream);
elevationLog.displaySummary(logStream);
positionLog.displaySummary(logStream);
velocityLog.displaySummary(logStream);
if (parser.getBoolean(ParameterKey.OD_LOG_COVARIANCES)) {
logStream.println("Standard deviation of the estimated drag: " + dragSD);
logStream.println("Standard deviation of the range rate bias: " + dopplerBiasSD1);
logStream.println("Correlation of drag and doppler bias: " + dragDopplerBias1Correlation);
final List orbitalParameters2 = estimator.getOrbitalParametersDrivers(true).getDrivers() ;
final List propagatorParameters2 = estimator.getPropagatorParametersDrivers(true).getDrivers() ;
final List measurementsParameters2 = estimator.getMeasurementsParametersDrivers(true).getDrivers();
System.out.println(orbitalParameters2.toString()+"\n"+propagatorParameters2.toString()+"\n"+measurementsParameters2.toString());
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rangeLog.displayResiduals();
rangeRateLog.displayResiduals();
azimuthLog.displayResiduals();
elevationLog.displayResiduals();
positionLog.displayResiduals();
velocityLog.displayResiduals();
} finally {
if (logStream != null) {
logStream.close();
}
rangeLog.close();
rangeRateLog.close();
azimuthLog.close();
elevationLog.close();
positionLog.close();
velocityLog.close();
}
}
/** Display parameters changes.
* @param stream output stream
* @param header header message
* @param sort if true, parameters will be sorted lexicographically
* @param parameters parameters list
*/
private void displayParametersChanges(final PrintStream out, final String header, final boolean sort,
final int length, final ParameterDriversList parameters) {
List<ParameterDriver> list = new ArrayList<ParameterDriver>(parameters.getDrivers());
if (sort) {
// sort the parameters lexicographically
Collections.sort(list, new Comparator<ParameterDriver>() {
/** {@inheritDoc} */
@Override
public int compare(final ParameterDriver pd1, final ParameterDriver pd2) {
return pd1.getName().compareTo(pd2.getName());
}
});
}
out.println(header);
int index = 0;
for (final ParameterDriver parameter : list) {
if (parameter.isSelected()) {
final double factor;
if (parameter.getName().endsWith("/az bias") || parameter.getName().endsWith("/el bias")) {
factor = FastMath.toDegrees(1.0);
} else {
factor = 1.0;
}
final double initial = parameter.getReferenceValue();
final double value = parameter.getValue();
out.format(Locale.US, " %2d %s", ++index, parameter.getName());
for (int i = parameter.getName().length(); i < length; ++i) {
out.format(Locale.US, " ");
}
out.format(Locale.US, " %+.12f (final value: % .12f)%n",
factor * (value - initial), factor * value);
}
}
}
/** Create a propagator builder from input parameters
* @param parser input file parser
* @param conventions IERS conventions to use
* @param gravityField gravity field
* @param body central body
* @param orbit first orbit estimate
* @return propagator builder
* @throws NoSuchElementException if input parameters are missing
*/
private NumericalPropagatorBuilder createPropagatorBuilder(final KeyValueFileParser<ParameterKey> parser,
final IERSConventions conventions,
final NormalizedSphericalHarmonicsProvider gravityField,
final OneAxisEllipsoid body,
final Orbit orbit)
throws NoSuchElementException {
final double minStep;
if (!parser.containsKey(ParameterKey.PROPAGATOR_MIN_STEP)) {
minStep = 0.001;
} else {
minStep = parser.getDouble(ParameterKey.PROPAGATOR_MIN_STEP);
}
final double maxStep;
if (!parser.containsKey(ParameterKey.PROPAGATOR_MAX_STEP)) {
maxStep = 300;
} else {
maxStep = parser.getDouble(ParameterKey.PROPAGATOR_MAX_STEP);
}
final double dP;
if (!parser.containsKey(ParameterKey.PROPAGATOR_POSITION_ERROR)) {
dP = 10.0;
} else {
dP = parser.getDouble(ParameterKey.PROPAGATOR_POSITION_ERROR);
}
final double positionScale;
if (!parser.containsKey(ParameterKey.ESTIMATOR_ORBITAL_PARAMETERS_POSITION_SCALE)) {
positionScale = dP;
} else {
positionScale = parser.getDouble(ParameterKey.ESTIMATOR_ORBITAL_PARAMETERS_POSITION_SCALE);
}
final NumericalPropagatorBuilder propagatorBuilder =
new NumericalPropagatorBuilder(orbit,
new DormandPrince853IntegratorBuilder(minStep, maxStep, dP),
PositionAngle.MEAN,
positionScale);
// initial mass
final double mass;
if (!parser.containsKey(ParameterKey.MASS)) {
mass = 1000.0;
} else {
mass = parser.getDouble(ParameterKey.MASS);
}
propagatorBuilder.setMass(mass);
// gravity field force model
propagatorBuilder.addForceModel(new HolmesFeatherstoneAttractionModel(body.getBodyFrame(), gravityField));
// ocean tides force model
if (parser.containsKey(ParameterKey.OCEAN_TIDES_DEGREE) &&
parser.containsKey(ParameterKey.OCEAN_TIDES_ORDER)) {
final int degree = parser.getInt(ParameterKey.OCEAN_TIDES_DEGREE);
final int order = parser.getInt(ParameterKey.OCEAN_TIDES_ORDER);
if (degree > 0 && order > 0) {
propagatorBuilder.addForceModel(new OceanTides(body.getBodyFrame(),
gravityField.getAe(), gravityField.getMu(),
degree, order, conventions,
TimeScalesFactory.getUT1(conventions, true)));
}
}
// solid tides force model
List<CelestialBody> solidTidesBodies = new ArrayList<CelestialBody>();
if (parser.containsKey(ParameterKey.SOLID_TIDES_SUN) &&
parser.getBoolean(ParameterKey.SOLID_TIDES_SUN)) {
solidTidesBodies.add(CelestialBodyFactory.getSun());
}
if (parser.containsKey(ParameterKey.SOLID_TIDES_MOON) &&
parser.getBoolean(ParameterKey.SOLID_TIDES_MOON)) {
solidTidesBodies.add(CelestialBodyFactory.getMoon());
}
if (!solidTidesBodies.isEmpty()) {
propagatorBuilder.addForceModel(new SolidTides(body.getBodyFrame(),
gravityField.getAe(), gravityField.getMu(),
gravityField.getTideSystem(), conventions,
TimeScalesFactory.getUT1(conventions, true),
solidTidesBodies.toArray(new CelestialBody[solidTidesBodies.size()])));
}
// third body attraction
if (parser.containsKey(ParameterKey.THIRD_BODY_SUN) &&
parser.getBoolean(ParameterKey.THIRD_BODY_SUN)) {
propagatorBuilder.addForceModel(new ThirdBodyAttraction(CelestialBodyFactory.getSun()));
}
if (parser.containsKey(ParameterKey.THIRD_BODY_MOON) &&
parser.getBoolean(ParameterKey.THIRD_BODY_MOON)) {
propagatorBuilder.addForceModel(new ThirdBodyAttraction(CelestialBodyFactory.getMoon()));
}
// drag
if (parser.containsKey(ParameterKey.DRAG) && parser.getBoolean(ParameterKey.DRAG)) {
final double cd = parser.getDouble(ParameterKey.DRAG_CD);
final double area = parser.getDouble(ParameterKey.DRAG_AREA);
final boolean cdEstimated = parser.getBoolean(ParameterKey.DRAG_CD_ESTIMATED);
if (parser.containsKey(ParameterKey.DRAG_CD_MIN)) {
System.out.println(parser.getDouble(ParameterKey.DRAG_CD_MIN));
}
else {
System.out.println("No min");
}
if (parser.containsKey(ParameterKey.DRAG_CD_MAX)) {
System.out.println(parser.getDouble(ParameterKey.DRAG_CD_MAX));
}
else {
System.out.println("No min");
}
MarshallSolarActivityFutureEstimation msafe =
new MarshallSolarActivityFutureEstimation(MarshallSolarActivityFutureEstimation.DEFAULT_SUPPORTED_NAMES,
MarshallSolarActivityFutureEstimation.StrengthLevel.AVERAGE);
DataProvidersManager manager = DataProvidersManager.getInstance();
manager.feed(msafe.getSupportedNames(), msafe);
//Atmosphere atmosphere = new DTM2000(msafe, CelestialBodyFactory.getSun(), body);
Atmosphere atmosphere = new NRLMSISE00(msafe, CelestialBodyFactory.getSun(), body);
propagatorBuilder.addForceModel(new DragForce(atmosphere, new IsotropicDrag(area, cd)));
if (cdEstimated) {
for (final ParameterDriver driver : propagatorBuilder.getPropagationParametersDrivers().getDrivers()) {
if (driver.getName().equals(DragSensitive.DRAG_COEFFICIENT)) {
driver.setSelected(true);
if (parser.containsKey(ParameterKey.DRAG_CD_MIN)) {
driver.setMinValue(parser.getDouble(ParameterKey.DRAG_CD_MIN));
}
if (parser.containsKey(ParameterKey.DRAG_CD_MAX)) {
driver.setMaxValue(parser.getDouble(ParameterKey.DRAG_CD_MAX));
}
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}
// solar radiation pressure
if (parser.containsKey(ParameterKey.SOLAR_RADIATION_PRESSURE) && parser.getBoolean(ParameterKey.SOLAR_RADIATION_PRESSURE)) {
final double cr = parser.getDouble(ParameterKey.SOLAR_RADIATION_PRESSURE_CR);
final double area = parser.getDouble(ParameterKey.SOLAR_RADIATION_PRESSURE_AREA);
final boolean cREstimated = parser.getBoolean(ParameterKey.SOLAR_RADIATION_PRESSURE_CR_ESTIMATED);
propagatorBuilder.addForceModel(new SolarRadiationPressure(CelestialBodyFactory.getSun(),
body.getEquatorialRadius(),
new IsotropicRadiationSingleCoefficient(area, cr)));
if (cREstimated) {
for (final ParameterDriver driver : propagatorBuilder.getPropagationParametersDrivers().getDrivers()) {
if (driver.getName().equals(RadiationSensitive.REFLECTION_COEFFICIENT)) {
driver.setSelected(true);
}
}
}
}
// post-Newtonian correction force due to general relativity
if (parser.containsKey(ParameterKey.GENERAL_RELATIVITY) && parser.getBoolean(ParameterKey.GENERAL_RELATIVITY)) {
propagatorBuilder.addForceModel(new Relativity(gravityField.getMu()));
}
// extra polynomial accelerations
if (parser.containsKey(ParameterKey.POLYNOMIAL_ACCELERATION_NAME)) {
final String[] names = parser.getStringArray(ParameterKey.POLYNOMIAL_ACCELERATION_NAME);
final Vector3D[] directions = parser.getVectorArray(ParameterKey.POLYNOMIAL_ACCELERATION_DIRECTION_X,
ParameterKey.POLYNOMIAL_ACCELERATION_DIRECTION_Y,
ParameterKey.POLYNOMIAL_ACCELERATION_DIRECTION_Z);
final List<String>[] coefficients = parser.getStringsListArray(ParameterKey.POLYNOMIAL_ACCELERATION_COEFFICIENTS, ',');
final boolean[] estimated = parser.getBooleanArray(ParameterKey.POLYNOMIAL_ACCELERATION_ESTIMATED);
for (int i = 0; i < names.length; ++i) {
final PolynomialParametricAcceleration ppa =
new PolynomialParametricAcceleration(directions[i], true, names[i], null,
coefficients[i].size() - 1);
for (int k = 0; k < coefficients[i].size(); ++k) {
final ParameterDriver driver = ppa.getParameterDriver(names[i] + "[" + k + "]");
driver.setValue(Double.parseDouble(coefficients[i].get(k)));
driver.setSelected(estimated[i]);
}
propagatorBuilder.addForceModel(ppa);
}
}
// attitude mode
final AttitudeMode mode;
if (parser.containsKey(ParameterKey.ATTITUDE_MODE)) {
mode = AttitudeMode.valueOf(parser.getString(ParameterKey.ATTITUDE_MODE));
} else {
mode = AttitudeMode.NADIR_POINTING_WITH_YAW_COMPENSATION;
}
propagatorBuilder.setAttitudeProvider(mode.getProvider(orbit.getFrame(), body));
return propagatorBuilder;
}
/** Create a gravity field from input parameters
* @param parser input file parser
* @return gravity field
* @throws NoSuchElementException if input parameters are missing
*/
private NormalizedSphericalHarmonicsProvider createGravityField(final KeyValueFileParser<ParameterKey> parser)
throws NoSuchElementException {
final int degree = parser.getInt(ParameterKey.CENTRAL_BODY_DEGREE);
final int order = FastMath.min(degree, parser.getInt(ParameterKey.CENTRAL_BODY_ORDER));
return GravityFieldFactory.getNormalizedProvider(degree, order);
}
/** Create an orbit from input parameters
* @param parser input file parser
* @param mu central attraction coefficient
* @throws NoSuchElementException if input parameters are missing
*/
private OneAxisEllipsoid createBody(final KeyValueFileParser<ParameterKey> parser)
throws NoSuchElementException {
final Frame bodyFrame;
if (!parser.containsKey(ParameterKey.BODY_FRAME)) {
bodyFrame = FramesFactory.getITRF(IERSConventions.IERS_2010, true);
} else {
bodyFrame = parser.getEarthFrame(ParameterKey.BODY_FRAME);
}
final double equatorialRadius;
if (!parser.containsKey(ParameterKey.BODY_EQUATORIAL_RADIUS)) {
equatorialRadius = Constants.WGS84_EARTH_EQUATORIAL_RADIUS;
} else {
equatorialRadius = parser.getDouble(ParameterKey.BODY_EQUATORIAL_RADIUS);
}
final double flattening;
if (!parser.containsKey(ParameterKey.BODY_INVERSE_FLATTENING)) {
flattening = Constants.WGS84_EARTH_FLATTENING;
} else {
flattening = 1.0 / parser.getDouble(ParameterKey.BODY_INVERSE_FLATTENING);
}
return new OneAxisEllipsoid(equatorialRadius, flattening, bodyFrame);
}
/** Create an orbit from input parameters
* @param parser input file parser
* @param mu central attraction coefficient
* @throws NoSuchElementException if input parameters are missing
*/
private Orbit createOrbit(final KeyValueFileParser<ParameterKey> parser,
final double mu)
throws NoSuchElementException {
final Frame frame;
if (!parser.containsKey(ParameterKey.INERTIAL_FRAME)) {
frame = FramesFactory.getEME2000();
} else {
frame = parser.getInertialFrame(ParameterKey.INERTIAL_FRAME);
}
// Orbit definition
PositionAngle angleType = PositionAngle.MEAN;
if (parser.containsKey(ParameterKey.ORBIT_ANGLE_TYPE)) {
angleType = PositionAngle.valueOf(parser.getString(ParameterKey.ORBIT_ANGLE_TYPE).toUpperCase());
}
if (parser.containsKey(ParameterKey.ORBIT_KEPLERIAN_A)) {
return new KeplerianOrbit(parser.getDouble(ParameterKey.ORBIT_KEPLERIAN_A),
parser.getDouble(ParameterKey.ORBIT_KEPLERIAN_E),
parser.getAngle(ParameterKey.ORBIT_KEPLERIAN_I),
parser.getAngle(ParameterKey.ORBIT_KEPLERIAN_PA),
parser.getAngle(ParameterKey.ORBIT_KEPLERIAN_RAAN),
parser.getAngle(ParameterKey.ORBIT_KEPLERIAN_ANOMALY),
angleType,
frame,
parser.getDate(ParameterKey.ORBIT_DATE,
TimeScalesFactory.getUTC()),
mu);
} else if (parser.containsKey(ParameterKey.ORBIT_EQUINOCTIAL_A)) {
return new EquinoctialOrbit(parser.getDouble(ParameterKey.ORBIT_EQUINOCTIAL_A),
parser.getDouble(ParameterKey.ORBIT_EQUINOCTIAL_EX),