Newer
Older
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
/* Copyright 2013-2016 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 AffinagePleiades;
import org.hipparchus.geometry.euclidean.threed.Vector3D;
import org.hipparchus.optim.nonlinear.vector.leastsquares.LeastSquaresOptimizer.Optimum;
import org.hipparchus.util.FastMath;
import java.io.File;
import java.util.Locale;
import java.util.Collections;
import java.util.List;
import org.orekit.bodies.BodyShape;
import org.orekit.bodies.GeodeticPoint;
import org.orekit.data.DataProvidersManager;
import org.orekit.data.DirectoryCrawler;
import org.orekit.errors.OrekitException;
import org.orekit.errors.OrekitExceptionWrapper;
import org.orekit.forces.gravity.potential.NormalizedSphericalHarmonicsProvider;
import org.orekit.orbits.Orbit;
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.refining.generators.GroundMeasureGenerator;
import org.orekit.rugged.refining.measures.Noise;
import org.orekit.rugged.refining.measures.SensorToGroundMapping;
import org.orekit.rugged.refining.metrics.DistanceTools;
import org.orekit.rugged.refining.metrics.LocalisationMetrics;
import org.orekit.rugged.refining.models.OrbitModel;
import org.orekit.rugged.refining.models.PleiadesViewingModel;
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;
/**
* Class for testing refining (fulcrum points study)
* with or without noisy measurements
* @author Jonathan Guinet
* @author Lucie Labat-Allee
* @see SensorToGroundMapping
* @see GroundMeasureGenerator
*/
public class GroundRefining {
/** Pleiades viewing model */
PleiadesViewingModel pleiadesViewingModel;
/** Orbit model */
OrbitModel orbitmodel;
/** Sensor name */
String sensorName;
/** Ground measurements */
GroundMeasureGenerator measures;
/**
* Constructor
*/
public GroundRefining() throws RuggedException, OrekitException {
sensorName = "line";
pleiadesViewingModel = new PleiadesViewingModel(sensorName);
orbitmodel = new OrbitModel();
}
/** Main function
* @param args
*/
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, "COTS/orekit-data");
DataProvidersManager.getInstance().addProvider(new DirectoryCrawler(orekitData));
// Initialize refining context
// ---------------------------
GroundRefining refining = new GroundRefining();
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
// Sensor's definition: create Pleiades viewing model
// --------------------------------------------------
System.out.format("**** Build Pleiades viewing model and orbit definition **** %n");
PleiadesViewingModel pleiadesViewingModel = refining.getPleiadesViewingModel();
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 = refining.getOrbitmodel();
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).
setTrajectory(InertialFrameId.EME2000,
satellitePVList,nbPVPoints, CartesianDerivativesFilter.USE_PV,
satelliteQList,nbQPoints, AngularDerivativesFilter.USE_R);
refining.setRugged(ruggedBuilder.build());
// Compute ground sample distance (GSD)
// ------------------------------------
double [] gsd = refining.computeGSD(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(refining.getRugged(), refining.getSensorName(),
rollValue, pitchValue, factorValue);
// Generate measures (observations) from physical model disrupted
// --------------------------------------------------------------
int lineSampling = 1000;
int pixelSampling = 1000;
// Noise definition
final Noise noise = new Noise(0,3); /* distribution: gaussian(0), vector dimension:3 */
final double[] mean = {0.0,0.0,0.0}; /* {lat mean, long mean, alt mean} */
final double[] standardDeviation = {0.0,0.0,0.0}; /* {lat std, long std, alt std} */
noise.setMean(mean);
noise.setStandardDeviation(standardDeviation);
GroundMeasureGenerator measures = refining.generateNoisyPoints(lineSampling, pixelSampling,
refining.getRugged(), refining.getSensorName(),
refining.getPleiadesViewingModel().getDimension(),
noise);
// // To test with measures without noise
// GroundMeasureGenerator measures = refining.generatePoints(lineSampling, pixelSampling,
// refining.getRugged(), refining.getSensorName(),
// refining.getPleiadesViewingModel().getDimension());
refining.setMeasures(measures);
// Compute ground truth residues
// -----------------------------
System.out.format("\n**** Ground truth residuals **** %n");
refining.computeMetrics(measures.getGroundMapping(), refining.getRugged(), false);
// Initialize physical model without disruptions
// ---------------------------------------------
System.out.format("\n**** Initialize physical model without disruptions: reset Roll/Pitch/Factor **** %n");
refining.resetModel(refining.getRugged(), refining.getSensorName());
// Compute initial residues
// ------------------------
System.out.format("\n**** Initial Residuals **** %n");
refining.computeMetrics(measures.getGroundMapping(), refining.getRugged(), false);
// Start optimization
// ------------------
System.out.format("\n**** Start optimization **** %n");
int maxIterations = 100;
double convergenceThreshold = 1e-14;
refining.optimization(maxIterations, convergenceThreshold, measures.getGroundMapping(), refining.getRugged());
// Check estimated values
// ----------------------
System.out.format("\n**** Check parameters ajustement **** %n");
refining.paramsEstimation(refining.getRugged(), refining.getSensorName(),
rollValue, pitchValue, factorValue);
// Compute statistics
// ------------------
System.out.format("\n**** Compute Statistics **** %n");
// Residues computed in meters
refining.computeMetrics(measures.getGroundMapping(), refining.getRugged(), false);
refining.computeMetrics(measures.getGroundMapping(), refining.getRugged(), true);
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
} catch (OrekitException oe) {
System.err.println(oe.getLocalizedMessage());
System.exit(1);
} catch (RuggedException re) {
System.err.println(re.getLocalizedMessage());
System.exit(1);
}
}
/**
* @return the pleiadesViewingModel
*/
public PleiadesViewingModel getPleiadesViewingModel() {
return pleiadesViewingModel;
}
/**
* @param pleiadesViewingModel the pleiadesViewingModel to set
*/
public void setPleiadesViewingModel(PleiadesViewingModel pleiadesViewingModel) {
this.pleiadesViewingModel = pleiadesViewingModel;
}
/**
* @return the orbitmodel
*/
public OrbitModel getOrbitmodel() {
return orbitmodel;
}
/**
* @param orbitmodel the orbitmodel to set
*/
public void setOrbitmodel(OrbitModel orbitmodel) {
this.orbitmodel = orbitmodel;
}
/**
* @return the sensorName
*/
public String getSensorName() {
return sensorName;
}
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
/**
* @return the rugged
*/
public Rugged getRugged() {
return rugged;
}
/**
* @param rugged the rugged to set
*/
public void setRugged(Rugged rugged) {
this.rugged = rugged;
}
/**
* @param measure the measure to set
*/
public void setMeasures(GroundMeasureGenerator measures) {
this.measures = measures;
}
/** Estimate ground sample distance (GSD)
* @param LineSensor line sensor
* @return GSD
*/
public double[] computeGSD(LineSensor lineSensor) throws RuggedException {
// 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,pleiadesViewingModel.dimension-1);
// Get center geodetic point
AbsoluteDate lineDate = lineSensor.getDate(pleiadesViewingModel.dimension/2);
los = lineSensor.getLOS(lineDate,pleiadesViewingModel.dimension/2);
// GeodeticPoint centerPoint = rugged.directLocation(lineDate, position, los);
// System.out.format(Locale.US, "center geodetic position : φ = %8.10f °, λ = %8.10f °, h = %8.3f m%n",
// FastMath.toDegrees(centerPoint.getLatitude()),
// FastMath.toDegrees(centerPoint.getLongitude()),centerPoint.getAltitude());
// Get upper right geodetic point
int pixelPosition = pleiadesViewingModel.dimension-1;
los = lineSensor.getLOS(firstLineDate,pixelPosition);
GeodeticPoint upperRight = rugged.directLocation(firstLineDate, position, los);
// Get lower left geodetic point
AbsoluteDate lineDate_y = lineSensor.getDate(pleiadesViewingModel.dimension-1);
los = lineSensor.getLOS(lineDate_y,0);
GeodeticPoint lowerLeft = rugged.directLocation(lineDate_y, position, los);
double gsdX = DistanceTools.computeDistanceInMeter(upLeftPoint.getLongitude(), upLeftPoint.getLatitude(),upperRight.getLongitude() , upperRight.getLatitude())/pleiadesViewingModel.dimension;
double gsdY = DistanceTools.computeDistanceInMeter(upLeftPoint.getLongitude(), upLeftPoint.getLatitude(),lowerLeft.getLongitude() , lowerLeft.getLatitude())/pleiadesViewingModel.dimension;
double [] gsd = {gsdX, gsdY};
return gsd;
}
/** Apply disruptions
* @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
* @throws OrekitException
* @throws RuggedException
*/
public void applyDisruptions(Rugged rugged, String sensorName, double rollValue, double pitchValue, double factorValue) throws OrekitException, RuggedException {
final String commonFactorName = "factor";
getLineSensor(sensorName).
filter(driver -> driver.getName().equals(sensorName+"_roll")).
findFirst().get().setValue(rollValue);
rugged.
getLineSensor(sensorName).
filter(driver -> driver.getName().equals(sensorName+"_pitch")).
findFirst().get().setValue(pitchValue);
rugged.
getLineSensor(sensorName).
filter(driver -> driver.getName().equals(commonFactorName)).
}
/** Generate points of measures
* @param rugged Rugged instance
* @param sensorName line sensor name
* @param isNoise flag to known if measures are noisy or not
* @throws OrekitException
* @throws RuggedException
*/
public GroundMeasureGenerator generateNoisyPoints(int lineSampling, int pixelSampling ,
Rugged rugged, String sensorName, int dimension,
Noise noise) throws OrekitException, RuggedException {
GroundMeasureGenerator measures = new GroundMeasureGenerator(rugged, sensorName, dimension);
System.out.format("\n**** Generate noisy measures **** %n");
// Generation noisy measures
measures.createNoisyMeasure(lineSampling, pixelSampling, noise);
System.out.format("Number of tie points generated: %d %n", measures.getMeasureCount());
return measures;
}
/** Generate points of measures
* @param rugged Rugged instance
* @param sensorName line sensor name
* @param isNoise flag to known if measures are noisy or not
* @throws OrekitException
* @throws RuggedException
*/
public GroundMeasureGenerator generatePoints(int lineSampling, int pixelSampling,
Rugged rugged, String sensorName,
int dimension) throws OrekitException, RuggedException {
GroundMeasureGenerator measures = new GroundMeasureGenerator(rugged, sensorName, dimension);
System.out.format("\n**** Generate measures (without noise) **** %n");
// Generation measures without noise
measures.createMeasure(lineSampling, pixelSampling);
System.out.format("Number of tie points generated: %d %n", measures.getMeasureCount());
return measures;
}
/** Compute metrics
* @param unit
* @throws OrekitException
* @throws RuggedException
*/
public void computeMetrics(SensorToGroundMapping groundMapping,
Rugged rugged, boolean unit) throws RuggedException {
String stUnit = null;
if(unit) stUnit="degrees";
else stUnit="meters";
LocalisationMetrics residues = new LocalisationMetrics(groundMapping, rugged, unit);
System.out.format("Max: %3.4e Mean: %3.4e %s%n",residues.getMaxResidual(),residues.getMeanResidual(), stUnit);
}
/** Reset a model
* @param rugged Rugged instance
* @param sensorName line sensor name
* @throws OrekitException
* @throws RuggedException
*/
public void resetModel(Rugged rugged, String sensorName) throws OrekitException, RuggedException {
final String commonFactorName = "factor";
getLineSensor(sensorName).
filter(driver -> driver.getName().equals(sensorName+"_roll")
|| driver.getName().equals(sensorName+"_pitch")).
forEach(driver -> {
try {
driver.setSelected(true);
driver.setValue(0.0);
} catch (OrekitException e) {
throw new OrekitExceptionWrapper(e);
}
});
rugged.
getLineSensor(sensorName).
filter(driver -> driver.getName().equals(commonFactorName)).
forEach(driver -> {
try {
driver.setSelected(true);
driver.setValue(1.0); // default value: no Z scale factor applied
} catch (OrekitException e) {
throw new OrekitExceptionWrapper(e);
}
});
}
/** Start optimization
* @throws OrekitException
* @throws RuggedException
*/
public void optimization(int maxIterations, double convergenceThreshold,
SensorToGroundMapping groundMapping,
Rugged rugged) throws OrekitException, RuggedException {
System.out.format("Iterations max: %d\tconvergence threshold: %3.6e \n",maxIterations, convergenceThreshold);
// Adapt parameters
Optimum optimum = rugged.estimateFreeParameters(Collections.singletonList(groundMapping),
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.getEvaluations());
System.out.format("RMSE: %f \n",optimum.getRMS());
}
/** Check parameters estimation
* @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
* @throws OrekitException
* @throws RuggedException
*/
public void paramsEstimation(Rugged rugged, String sensorName,
double rollValue, double pitchValue, double factorValue) throws OrekitException, RuggedException {
final String commonFactorName = "factor";
double estimatedRoll = rugged.getLineSensor(sensorName).
filter(driver -> driver.getName().equals(sensorName+"_roll")).
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).
filter(driver -> driver.getName().equals(sensorName+"_pitch")).
findFirst().get().getValue();
double pitchError = (estimatedPitch - pitchValue);
System.out.format("Estimated pitch: %3.5f\tpitch error: %3.6e %n", estimatedPitch, pitchError);
// Estimate factor
double estimatedFactor = rugged.getLineSensor(sensorName).
filter(driver -> driver.getName().equals(commonFactorName)).
findFirst().get().getValue();
double factorError = (estimatedFactor - factorValue);
System.out.format("Estimated factor: %3.5f\tfactor error: %3.6e %n", estimatedFactor, factorError);
}
}