Examples with NumericalPropagatorBuilder org.orekit.propagation.conversion.NumericalPropagatorBuilder used on opensource projects

Example 36 with NumericalPropagatorBuilder

use of org.orekit.propagation.conversion.NumericalPropagatorBuilder in project Orekit by CS-SI.

the class RangeRateTest method testStateDerivativesOneWay.

@Test
public void testStateDerivativesOneWay() throws OrekitException {
    Context context = EstimationTestUtils.eccentricContext("regular-data:potential:tides");
    final NumericalPropagatorBuilder propagatorBuilder = context.createBuilder(OrbitType.KEPLERIAN, PositionAngle.TRUE, true, 1.0e-6, 60.0, 0.001);
    // create perfect range rate measurements
    final Propagator propagator = EstimationTestUtils.createPropagator(context.initialOrbit, propagatorBuilder);
    final List<ObservedMeasurement<?>> measurements = EstimationTestUtils.createMeasurements(propagator, new RangeRateMeasurementCreator(context, false), 1.0, 3.0, 300.0);
    for (final ObservedMeasurement<?> m : measurements) {
        Assert.assertFalse(((RangeRate) m).isTwoWay());
    }
    propagator.setSlaveMode();
    double maxRelativeError = 0;
    for (final ObservedMeasurement<?> measurement : measurements) {
        // measurement.getObservedValue()[0] / Constants.SPEED_OF_LIGHT;
        final double meanDelay = 1;
        final AbsoluteDate date = measurement.getDate().shiftedBy(-0.75 * meanDelay);
        final SpacecraftState state = propagator.propagate(date);
        final EstimatedMeasurement<?> estimated = measurement.estimate(0, 0, new SpacecraftState[] { state });
        Assert.assertEquals(2, estimated.getParticipants().length);
        final double[][] jacobian = estimated.getStateDerivatives(0);
        final double[][] finiteDifferencesJacobian = Differentiation.differentiate(new StateFunction() {

            public double[] value(final SpacecraftState state) throws OrekitException {
                return measurement.estimate(0, 0, new SpacecraftState[] { state }).getEstimatedValue();
            }
        }, 1, propagator.getAttitudeProvider(), OrbitType.CARTESIAN, PositionAngle.TRUE, 15.0, 3).value(state);
        Assert.assertEquals(finiteDifferencesJacobian.length, jacobian.length);
        Assert.assertEquals(finiteDifferencesJacobian[0].length, jacobian[0].length);
        for (int i = 0; i < jacobian.length; ++i) {
            for (int j = 0; j < jacobian[i].length; ++j) {
                // check the values returned by getStateDerivatives() are correct
                maxRelativeError = FastMath.max(maxRelativeError, FastMath.abs((finiteDifferencesJacobian[i][j] - jacobian[i][j]) / finiteDifferencesJacobian[i][j]));
            }
        }
    }
    Assert.assertEquals(0, maxRelativeError, 1.6e-8);
}

Example 37 with NumericalPropagatorBuilder

use of org.orekit.propagation.conversion.NumericalPropagatorBuilder in project Orekit by CS-SI.

the class RangeTest method genericTestValues.

/**
 * Generic test function for values of the range
 * @param printResults Print the results ?
 * @throws OrekitException
 */
void genericTestValues(final boolean printResults) throws OrekitException {
    Context context = EstimationTestUtils.eccentricContext("regular-data:potential:tides");
    final NumericalPropagatorBuilder propagatorBuilder = context.createBuilder(OrbitType.KEPLERIAN, PositionAngle.TRUE, true, 1.0e-6, 60.0, 0.001);
    // Create perfect range measurements
    final Propagator propagator = EstimationTestUtils.createPropagator(context.initialOrbit, propagatorBuilder);
    final List<ObservedMeasurement<?>> measurements = EstimationTestUtils.createMeasurements(propagator, new RangeMeasurementCreator(context), 1.0, 3.0, 300.0);
    // Lists for results' storage - Used only for derivatives with respect to state
    // "final" value to be seen by "handleStep" function of the propagator
    final List<Double> absoluteErrors = new ArrayList<Double>();
    final List<Double> relativeErrors = new ArrayList<Double>();
    // Set master mode
    // Use a lambda function to implement "handleStep" function
    propagator.setMasterMode((OrekitStepInterpolator interpolator, boolean isLast) -> {
        for (final ObservedMeasurement<?> measurement : measurements) {
            // Play test if the measurement date is between interpolator previous and current date
            if ((measurement.getDate().durationFrom(interpolator.getPreviousState().getDate()) > 0.) && (measurement.getDate().durationFrom(interpolator.getCurrentState().getDate()) <= 0.)) {
                // We intentionally propagate to a date which is close to the
                // real spacecraft state but is *not* the accurate date, by
                // compensating only part of the downlink delay. This is done
                // in order to validate the partial derivatives with respect
                // to velocity. If we had chosen the proper state date, the
                // range would have depended only on the current position but
                // not on the current velocity.
                final double meanDelay = measurement.getObservedValue()[0] / Constants.SPEED_OF_LIGHT;
                final AbsoluteDate date = measurement.getDate().shiftedBy(-0.75 * meanDelay);
                final SpacecraftState state = interpolator.getInterpolatedState(date);
                // Values of the Range & errors
                final double RangeObserved = measurement.getObservedValue()[0];
                final EstimatedMeasurement<?> estimated = measurement.estimate(0, 0, new SpacecraftState[] { state });
                final TimeStampedPVCoordinates[] participants = estimated.getParticipants();
                Assert.assertEquals(3, participants.length);
                Assert.assertEquals(0.5 * Constants.SPEED_OF_LIGHT * participants[2].getDate().durationFrom(participants[0].getDate()), estimated.getEstimatedValue()[0], 2.0e-8);
                // the real state used for estimation is adjusted according to downlink delay
                double adjustment = state.getDate().durationFrom(estimated.getStates()[0].getDate());
                Assert.assertTrue(adjustment > 0.006);
                Assert.assertTrue(adjustment < 0.010);
                final double RangeEstimated = estimated.getEstimatedValue()[0];
                final double absoluteError = RangeEstimated - RangeObserved;
                absoluteErrors.add(absoluteError);
                relativeErrors.add(FastMath.abs(absoluteError) / FastMath.abs(RangeObserved));
                // Print results on console ?
                if (printResults) {
                    final AbsoluteDate measurementDate = measurement.getDate();
                    String stationName = ((Range) measurement).getStation().getBaseFrame().getName();
                    System.out.format(Locale.US, "%-15s  %-23s  %-23s  %19.6f  %19.6f  %13.6e  %13.6e%n", stationName, measurementDate, date, RangeObserved, RangeEstimated, FastMath.abs(RangeEstimated - RangeObserved), FastMath.abs((RangeEstimated - RangeObserved) / RangeObserved));
                }
            }
        // End if measurement date between previous and current interpolator step
        }
    // End for loop on the measurements
    });
    // Print results on console ? Header
    if (printResults) {
        System.out.format(Locale.US, "%-15s  %-23s  %-23s  %19s  %19s  %13s  %13s%n", "Station", "Measurement Date", "State Date", "Range observed [m]", "Range estimated [m]", "ΔRange [m]", "rel ΔRange");
    }
    // Rewind the propagator to initial date
    propagator.propagate(context.initialOrbit.getDate());
    // Sort measurements chronologically
    measurements.sort(new ChronologicalComparator());
    // Propagate to final measurement's date
    propagator.propagate(measurements.get(measurements.size() - 1).getDate());
    // Convert lists to double array
    final double[] absErrors = absoluteErrors.stream().mapToDouble(Double::doubleValue).toArray();
    final double[] relErrors = relativeErrors.stream().mapToDouble(Double::doubleValue).toArray();
    // Statistics' assertion
    final double absErrorsMedian = new Median().evaluate(absErrors);
    final double absErrorsMin = new Min().evaluate(absErrors);
    final double absErrorsMax = new Max().evaluate(absErrors);
    final double relErrorsMedian = new Median().evaluate(relErrors);
    final double relErrorsMax = new Max().evaluate(relErrors);
    // Print the results on console ? Final results
    if (printResults) {
        System.out.println();
        System.out.println("Absolute errors median: " + absErrorsMedian);
        System.out.println("Absolute errors min   : " + absErrorsMin);
        System.out.println("Absolute errors max   : " + absErrorsMax);
        System.out.println("Relative errors median: " + relErrorsMedian);
        System.out.println("Relative errors max   : " + relErrorsMax);
    }
    Assert.assertEquals(0.0, absErrorsMedian, 4.9e-8);
    Assert.assertEquals(0.0, absErrorsMin, 2.2e-7);
    Assert.assertEquals(0.0, absErrorsMax, 2.1e-7);
    Assert.assertEquals(0.0, relErrorsMedian, 1.0e-14);
    Assert.assertEquals(0.0, relErrorsMax, 2.6e-14);
}

Example 38 with NumericalPropagatorBuilder

use of org.orekit.propagation.conversion.NumericalPropagatorBuilder in project Orekit by CS-SI.

the class RangeTest method genericTestParameterDerivatives.

void genericTestParameterDerivatives(final boolean isModifier, final boolean printResults, final double refErrorsMedian, final double refErrorsMean, final double refErrorsMax) throws OrekitException {
    Context context = EstimationTestUtils.eccentricContext("regular-data:potential:tides");
    final NumericalPropagatorBuilder propagatorBuilder = context.createBuilder(OrbitType.KEPLERIAN, PositionAngle.TRUE, true, 1.0e-6, 60.0, 0.001);
    // Create perfect range measurements
    for (final GroundStation station : context.stations) {
        station.getEastOffsetDriver().setSelected(true);
        station.getNorthOffsetDriver().setSelected(true);
        station.getZenithOffsetDriver().setSelected(true);
    }
    final Propagator propagator = EstimationTestUtils.createPropagator(context.initialOrbit, propagatorBuilder);
    final List<ObservedMeasurement<?>> measurements = EstimationTestUtils.createMeasurements(propagator, new RangeMeasurementCreator(context), 1.0, 3.0, 300.0);
    // List to store the results
    final List<Double> relErrorList = new ArrayList<Double>();
    // Set master mode
    // Use a lambda function to implement "handleStep" function
    propagator.setMasterMode((OrekitStepInterpolator interpolator, boolean isLast) -> {
        for (final ObservedMeasurement<?> measurement : measurements) {
            // Play test if the measurement date is between interpolator previous and current date
            if ((measurement.getDate().durationFrom(interpolator.getPreviousState().getDate()) > 0.) && (measurement.getDate().durationFrom(interpolator.getCurrentState().getDate()) <= 0.)) {
                // Add modifiers if test implies it
                final RangeTroposphericDelayModifier modifier = new RangeTroposphericDelayModifier(SaastamoinenModel.getStandardModel());
                if (isModifier) {
                    ((Range) measurement).addModifier(modifier);
                }
                // Parameter corresponding to station position offset
                final GroundStation stationParameter = ((Range) measurement).getStation();
                // We intentionally propagate to a date which is close to the
                // real spacecraft state but is *not* the accurate date, by
                // compensating only part of the downlink delay. This is done
                // in order to validate the partial derivatives with respect
                // to velocity. If we had chosen the proper state date, the
                // range would have depended only on the current position but
                // not on the current velocity.
                final double meanDelay = measurement.getObservedValue()[0] / Constants.SPEED_OF_LIGHT;
                final AbsoluteDate date = measurement.getDate().shiftedBy(-0.75 * meanDelay);
                final SpacecraftState state = interpolator.getInterpolatedState(date);
                final ParameterDriver[] drivers = new ParameterDriver[] { stationParameter.getEastOffsetDriver(), stationParameter.getNorthOffsetDriver(), stationParameter.getZenithOffsetDriver() };
                if (printResults) {
                    String stationName = ((Range) measurement).getStation().getBaseFrame().getName();
                    System.out.format(Locale.US, "%-15s  %-23s  %-23s  ", stationName, measurement.getDate(), date);
                }
                for (int i = 0; i < 3; ++i) {
                    final double[] gradient = measurement.estimate(0, 0, new SpacecraftState[] { state }).getParameterDerivatives(drivers[i]);
                    Assert.assertEquals(1, measurement.getDimension());
                    Assert.assertEquals(1, gradient.length);
                    // Compute a reference value using finite differences
                    final ParameterFunction dMkdP = Differentiation.differentiate(new ParameterFunction() {

                        /**
                         * {@inheritDoc}
                         */
                        @Override
                        public double value(final ParameterDriver parameterDriver) throws OrekitException {
                            return measurement.estimate(0, 0, new SpacecraftState[] { state }).getEstimatedValue()[0];
                        }
                    }, drivers[i], 3, 20.0);
                    final double ref = dMkdP.value(drivers[i]);
                    if (printResults) {
                        System.out.format(Locale.US, "%10.3e  %10.3e  ", gradient[0] - ref, FastMath.abs((gradient[0] - ref) / ref));
                    }
                    final double relError = FastMath.abs((ref - gradient[0]) / ref);
                    relErrorList.add(relError);
                // Assert.assertEquals(ref, gradient[0], 6.1e-5 * FastMath.abs(ref));
                }
                if (printResults) {
                    System.out.format(Locale.US, "%n");
                }
            }
        // End if measurement date between previous and current interpolator step
        }
    // End for loop on the measurements
    });
    // Rewind the propagator to initial date
    propagator.propagate(context.initialOrbit.getDate());
    // Sort measurements chronologically
    measurements.sort(new ChronologicalComparator());
    // Print results ? Header
    if (printResults) {
        System.out.format(Locale.US, "%-15s  %-23s  %-23s  " + "%10s  %10s  %10s  " + "%10s  %10s  %10s%n", "Station", "Measurement Date", "State Date", "ΔdQx", "rel ΔdQx", "ΔdQy", "rel ΔdQy", "ΔdQz", "rel ΔdQz");
    }
    // Propagate to final measurement's date
    propagator.propagate(measurements.get(measurements.size() - 1).getDate());
    // Convert error list to double[]
    final double[] relErrors = relErrorList.stream().mapToDouble(Double::doubleValue).toArray();
    // Compute statistics
    final double relErrorsMedian = new Median().evaluate(relErrors);
    final double relErrorsMean = new Mean().evaluate(relErrors);
    final double relErrorsMax = new Max().evaluate(relErrors);
    // Print the results on console ?
    if (printResults) {
        System.out.println();
        System.out.format(Locale.US, "Relative errors dR/dQ -> Median: %6.3e / Mean: %6.3e / Max: %6.3e%n", relErrorsMedian, relErrorsMean, relErrorsMax);
    }
    Assert.assertEquals(0.0, relErrorsMedian, refErrorsMedian);
    Assert.assertEquals(0.0, relErrorsMean, refErrorsMean);
    Assert.assertEquals(0.0, relErrorsMax, refErrorsMax);
}

Example 39 with NumericalPropagatorBuilder

use of org.orekit.propagation.conversion.NumericalPropagatorBuilder in project Orekit by CS-SI.

the class OrbitDetermination method run.

private void run(final File input, final File home) 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);
        // measurements
        final List<ObservedMeasurement<?>> measurements = new ArrayList<ObservedMeasurement<?>>();
        for (final String fileName : parser.getStringsList(ParameterKey.MEASUREMENTS_FILES, ',')) {
            measurements.addAll(readMeasurements(new File(input.getParentFile(), fileName), createStationsData(parser, body), createPVData(parser), createSatRangeBias(parser), createWeights(parser), createRangeOutliersManager(parser), createRangeRateOutliersManager(parser), createAzElOutliersManager(parser), createPVOutliersManager(parser)));
        }
        for (ObservedMeasurement<?> measurement : measurements) {
            estimator.addMeasurement(measurement);
        }
        // estimate orbit
        estimator.setObserver(new BatchLSObserver() {

            private PVCoordinates previousPV;

            {
                previousPV = initialGuess.getPVCoordinates();
                final String header = "iteration evaluations      ΔP(m)        ΔV(m/s)           RMS          nb Range    nb Range-rate  nb Angular     nb PV%n";
                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) {
                PVCoordinates currentPV = orbits[0].getPVCoordinates();
                final String format0 = "    %2d         %2d                                 %16.12f     %s       %s     %s     %s%n";
                final String format = "    %2d         %2d      %13.6f %12.9f %16.12f     %s       %s     %s     %s%n";
                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 (evaluationsCount == 1) {
                    System.out.format(Locale.US, format0, iterationsCount, evaluationsCount, lspEvaluation.getRMS(), rangeCounter.format(8), rangeRateCounter.format(8), angularCounter.format(8), pvCounter.format(8));
                    if (logStream != null) {
                        logStream.format(Locale.US, format0, iterationsCount, evaluationsCount, lspEvaluation.getRMS(), rangeCounter.format(8), rangeRateCounter.format(8), angularCounter.format(8), pvCounter.format(8));
                    }
                } else {
                    System.out.format(Locale.US, format, 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, format, 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));
                    }
                }
                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);
            }
        }
        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 (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: ", true, length, measurementsParameters);
        }
        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 (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);
        }
        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();
    }
}

Example 40 with NumericalPropagatorBuilder

use of org.orekit.propagation.conversion.NumericalPropagatorBuilder in project Orekit by CS-SI.

the class KalmanEstimatorTest method testCartesianRangeRate.

/**
 * Perfect range rate measurements with a perfect start
 * Cartesian formalism
 * @throws OrekitException
 */
@Test
public void testCartesianRangeRate() throws OrekitException {
    // Create context
    Context context = EstimationTestUtils.eccentricContext("regular-data:potential:tides");
    // Create initial orbit and propagator builder
    final OrbitType orbitType = OrbitType.CARTESIAN;
    final PositionAngle positionAngle = PositionAngle.TRUE;
    final boolean perfectStart = true;
    final double minStep = 1.e-6;
    final double maxStep = 60.;
    final double dP = 1.;
    final NumericalPropagatorBuilder propagatorBuilder = context.createBuilder(orbitType, positionAngle, perfectStart, minStep, maxStep, dP);
    // Create perfect range measurements
    final Propagator propagator = EstimationTestUtils.createPropagator(context.initialOrbit, propagatorBuilder);
    final List<ObservedMeasurement<?>> measurements = EstimationTestUtils.createMeasurements(propagator, new RangeRateMeasurementCreator(context, false), 1.0, 3.0, 300.0);
    // Reference propagator for estimation performances
    final NumericalPropagator referencePropagator = propagatorBuilder.buildPropagator(propagatorBuilder.getSelectedNormalizedParameters());
    // Reference position/velocity at last measurement date
    final Orbit refOrbit = referencePropagator.propagate(measurements.get(measurements.size() - 1).getDate()).getOrbit();
    // Cartesian covariance matrix initialization
    // 100m on position / 1e-2m/s on velocity
    final RealMatrix cartesianP = MatrixUtils.createRealDiagonalMatrix(new double[] { 1e-4, 1e-4, 1e-4, 1e-10, 1e-10, 1e-10 });
    // Jacobian of the orbital parameters w/r to Cartesian
    final Orbit initialOrbit = orbitType.convertType(context.initialOrbit);
    final double[][] dYdC = new double[6][6];
    initialOrbit.getJacobianWrtCartesian(PositionAngle.TRUE, dYdC);
    final RealMatrix Jac = MatrixUtils.createRealMatrix(dYdC);
    // Initial covariance matrix
    final RealMatrix initialP = Jac.multiply(cartesianP.multiply(Jac.transpose()));
    // Process noise matrix
    final RealMatrix cartesianQ = MatrixUtils.createRealDiagonalMatrix(new double[] { 1.e-6, 1.e-6, 1.e-6, 1.e-12, 1.e-12, 1.e-12 });
    final RealMatrix Q = Jac.multiply(cartesianQ.multiply(Jac.transpose()));
    // Build the Kalman filter
    final KalmanEstimatorBuilder kalmanBuilder = new KalmanEstimatorBuilder();
    kalmanBuilder.builder(propagatorBuilder);
    kalmanBuilder.estimatedMeasurementsParameters(new ParameterDriversList());
    kalmanBuilder.initialCovarianceMatrix(initialP);
    kalmanBuilder.processNoiseMatrixProvider(new ConstantProcessNoise(Q));
    final KalmanEstimator kalman = kalmanBuilder.build();
    // Filter the measurements and check the results
    final double expectedDeltaPos = 0.;
    final double posEps = 9.50e-4;
    final double expectedDeltaVel = 0.;
    final double velEps = 3.49e-7;
    final double[] expectedSigmasPos = { 0.324398, 1.347031, 1.743310 };
    final double sigmaPosEps = 1e-6;
    final double[] expectedSigmasVel = { 2.856883e-4, 5.765844e-4, 5.056186e-4 };
    final double sigmaVelEps = 1e-10;
    EstimationTestUtils.checkKalmanFit(context, kalman, measurements, refOrbit, positionAngle, expectedDeltaPos, posEps, expectedDeltaVel, velEps, expectedSigmasPos, sigmaPosEps, expectedSigmasVel, sigmaVelEps);
}