org.orekit.estimation.sequential

Class SemiAnalyticalUnscentedKalmanModel

java.lang.Object

org.orekit.estimation.sequential.SemiAnalyticalUnscentedKalmanModel

All Implemented Interfaces:

UnscentedProcess<MeasurementDecorator>, KalmanEstimation, SemiAnalyticalProcess

public class SemiAnalyticalUnscentedKalmanModel
extends Object
implements KalmanEstimation, UnscentedProcess<MeasurementDecorator>, SemiAnalyticalProcess

Class defining the process model dynamics to use with a SemiAnalyticalUnscentedKalmanEstimator.

Since:

11.3

Author:

Gaëtan Pierre, Bryan Cazabonne

Constructor Summary

Constructors

Modifier	Constructor and Description
protected	SemiAnalyticalUnscentedKalmanModel(DSSTPropagatorBuilder propagatorBuilder, CovarianceMatrixProvider covarianceMatrixProvider, ParameterDriversList estimatedMeasurementParameters, CovarianceMatrixProvider measurementProcessNoiseMatrix) Unscented Kalman process model constructor (package private).

Method Summary

Modifier and Type	Method and Description
void	finalizeEstimation(ObservedMeasurement<?> observedMeasurement, ProcessEstimate estimate) Finalize estimation.
void	finalizeOperationsObservationGrid() Finalize estimation operations on the observation grid.
EstimatedMeasurement<?>	getCorrectedMeasurement() Get the estimated measurement.
SpacecraftState[]	getCorrectedSpacecraftStates() Get the corrected spacecraft states.
AbsoluteDate	getCurrentDate() Get the current date.
int	getCurrentMeasurementNumber() Get the current measurement number.
ProcessEstimate	getEstimate() Get the current corrected estimate.
ParameterDriversList	getEstimatedMeasurementsParameters() Get the list of estimated measurements parameters.
ParameterDriversList	getEstimatedOrbitalParameters() Get the list of estimated orbital parameters.
ParameterDriversList	getEstimatedPropagationParameters() Get the list of estimated propagation parameters.
DSSTPropagator	getEstimatedPropagator() Get the propagator estimated with the values set in the propagator builder.
UnscentedEvolution	getEvolution(double previousTime, RealVector[] sigmaPoints, MeasurementDecorator measurement)
RealVector	getInnovation(MeasurementDecorator measurement, RealVector predictedMeas, RealVector predictedState, RealMatrix innovationCovarianceMatrix)
int	getNumberSelectedMeasurementDrivers() Get the number of estimated measurement parameters.
int	getNumberSelectedOrbitalDrivers() Get the number of estimated orbital parameters.
int	getNumberSelectedPropagationDrivers() Get the number of estimated propagation parameters.
KalmanObserver	getObserver() Get the observer for Kalman Filter estimations.
RealMatrix	getPhysicalEstimatedCovarianceMatrix() Get the "physical" estimated covariance matrix (i.e.
RealVector	getPhysicalEstimatedState() Get the "physical" estimated state (i.e.
RealMatrix	getPhysicalInnovationCovarianceMatrix() Get the physical innovation covariance matrix.
RealMatrix	getPhysicalKalmanGain() Get the physical Kalman gain matrix.
RealMatrix	getPhysicalMeasurementJacobian() Get the physical Jacobian of the measurement with respect to the state (H matrix).
RealMatrix	getPhysicalStateTransitionMatrix() Get physical state transition matrix between previous state and estimated (but not yet corrected) state.
EstimatedMeasurement<?>	getPredictedMeasurement() Get the predicted measurement.
SpacecraftState[]	getPredictedSpacecraftStates() Get the predicted spacecraft states.
void	initializeShortPeriodicTerms(SpacecraftState meanState) Initialize the short periodic terms for the Kalman Filter.
DSSTPropagator	processMeasurements(List<ObservedMeasurement<?>> observedMeasurements, UnscentedKalmanFilter<MeasurementDecorator> filter) Process measurements.
void	setObserver(KalmanObserver observer) Set the observer.
void	updateNominalSpacecraftState(SpacecraftState nominal) Update the nominal spacecraft state.
void	updateShortPeriods(SpacecraftState state) Update the DSST short periodic terms.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

SemiAnalyticalUnscentedKalmanModel

protected SemiAnalyticalUnscentedKalmanModel(DSSTPropagatorBuilder propagatorBuilder,
                                             CovarianceMatrixProvider covarianceMatrixProvider,
                                             ParameterDriversList estimatedMeasurementParameters,
                                             CovarianceMatrixProvider measurementProcessNoiseMatrix)

Unscented Kalman process model constructor (package private).

Parameters:

propagatorBuilder - propagators builders used to evaluate the orbits.

covarianceMatrixProvider - provider for covariance matrix

estimatedMeasurementParameters - measurement parameters to estimate

measurementProcessNoiseMatrix - provider for measurement process noise matrix

Method Detail

getObserver

public KalmanObserver getObserver()

Get the observer for Kalman Filter estimations.

Specified by:

getObserver in interface SemiAnalyticalProcess

Returns:

the observer for Kalman Filter estimations

setObserver

public void setObserver(KalmanObserver observer)

Set the observer.

Parameters:

observer - the observer

getEstimate

public ProcessEstimate getEstimate()

Get the current corrected estimate.

For the Unscented Semi-analytical Kalman Filter it corresponds to the corrected filter correction. In other words, it doesn't represent an orbital state.

Returns:

current corrected estimate

processMeasurements

public DSSTPropagator processMeasurements(List<ObservedMeasurement<?>> observedMeasurements,
                                          UnscentedKalmanFilter<MeasurementDecorator> filter)

Process measurements.

Parameters:

observedMeasurements - the list of measurements to process

filter - Unscented Kalman Filter

Returns:

estimated propagator

getEstimatedPropagator

public DSSTPropagator getEstimatedPropagator()

Get the propagator estimated with the values set in the propagator builder.

Returns:

propagator based on the current values in the builder

getEvolution

public UnscentedEvolution getEvolution(double previousTime,
                                       RealVector[] sigmaPoints,
                                       MeasurementDecorator measurement)

Specified by:

getEvolution in interface UnscentedProcess<MeasurementDecorator>

getInnovation

public RealVector getInnovation(MeasurementDecorator measurement,
                                RealVector predictedMeas,
                                RealVector predictedState,
                                RealMatrix innovationCovarianceMatrix)

Specified by:

getInnovation in interface UnscentedProcess<MeasurementDecorator>

finalizeEstimation

public void finalizeEstimation(ObservedMeasurement<?> observedMeasurement,
                               ProcessEstimate estimate)

Finalize estimation.

Specified by:

finalizeEstimation in interface SemiAnalyticalProcess

Parameters:

observedMeasurement - measurement that has just been processed

estimate - corrected estimate

finalizeOperationsObservationGrid

public void finalizeOperationsObservationGrid()

Finalize estimation operations on the observation grid.

Specified by:

finalizeOperationsObservationGrid in interface SemiAnalyticalProcess

getEstimatedOrbitalParameters

public ParameterDriversList getEstimatedOrbitalParameters()

Get the list of estimated orbital parameters.

Specified by:

getEstimatedOrbitalParameters in interface KalmanEstimation

Returns:

the list of estimated orbital parameters

getEstimatedPropagationParameters

public ParameterDriversList getEstimatedPropagationParameters()

Get the list of estimated propagation parameters.

Specified by:

getEstimatedPropagationParameters in interface KalmanEstimation

Returns:

the list of estimated propagation parameters

getEstimatedMeasurementsParameters

public ParameterDriversList getEstimatedMeasurementsParameters()

Get the list of estimated measurements parameters.

Specified by:

getEstimatedMeasurementsParameters in interface KalmanEstimation

Returns:

the list of estimated measurements parameters

getPredictedSpacecraftStates

public SpacecraftState[] getPredictedSpacecraftStates()

Get the predicted spacecraft states.

Predicted state is osculating.

Specified by:

getPredictedSpacecraftStates in interface KalmanEstimation

Returns:

predicted spacecraft states

getCorrectedSpacecraftStates

public SpacecraftState[] getCorrectedSpacecraftStates()

Get the corrected spacecraft states.

Corrected state is osculating.

Specified by:

getCorrectedSpacecraftStates in interface KalmanEstimation

Returns:

corrected spacecraft states

getPhysicalEstimatedState

public RealVector getPhysicalEstimatedState()

Get the "physical" estimated state (i.e. not normalized)

Specified by:

getPhysicalEstimatedState in interface KalmanEstimation

Returns:

the "physical" estimated state

getPhysicalEstimatedCovarianceMatrix

public RealMatrix getPhysicalEstimatedCovarianceMatrix()

Get the "physical" estimated covariance matrix (i.e. not normalized)

Specified by:

getPhysicalEstimatedCovarianceMatrix in interface KalmanEstimation

Returns:

the "physical" estimated covariance matrix

getPhysicalStateTransitionMatrix

public RealMatrix getPhysicalStateTransitionMatrix()

Get physical state transition matrix between previous state and estimated (but not yet corrected) state.

Specified by:

getPhysicalStateTransitionMatrix in interface KalmanEstimation

Returns:

state transition matrix between previous state and estimated state (but not yet corrected) (may be null for initial process estimate)

getPhysicalMeasurementJacobian

public RealMatrix getPhysicalMeasurementJacobian()

Get the physical Jacobian of the measurement with respect to the state (H matrix).

Specified by:

getPhysicalMeasurementJacobian in interface KalmanEstimation

Returns:

physical Jacobian of the measurement with respect to the state (may be null for initial process estimate or if the measurement has been ignored)

getPhysicalInnovationCovarianceMatrix

public RealMatrix getPhysicalInnovationCovarianceMatrix()

Get the physical innovation covariance matrix.

Specified by:

getPhysicalInnovationCovarianceMatrix in interface KalmanEstimation

Returns:

physical innovation covariance matrix (may be null for initial process estimate or if the measurement has been ignored)

getPhysicalKalmanGain

public RealMatrix getPhysicalKalmanGain()

Get the physical Kalman gain matrix.

Specified by:

getPhysicalKalmanGain in interface KalmanEstimation

Returns:

Kalman gain matrix (may be null for initial process estimate or if the measurement has been ignored)

getCurrentMeasurementNumber

public int getCurrentMeasurementNumber()

Get the current measurement number.

Specified by:

getCurrentMeasurementNumber in interface KalmanEstimation

Returns:

current measurement number

getCurrentDate

public AbsoluteDate getCurrentDate()

Get the current date.

Specified by:

getCurrentDate in interface KalmanEstimation

Returns:

current date

getPredictedMeasurement

public EstimatedMeasurement<?> getPredictedMeasurement()

Get the predicted measurement.

This estimation has been evaluated on the last predicted orbits

Specified by:

getPredictedMeasurement in interface KalmanEstimation

Returns:

predicted measurement

getCorrectedMeasurement

public EstimatedMeasurement<?> getCorrectedMeasurement()

Get the estimated measurement.

This estimation has been evaluated on the last corrected orbits

Specified by:

getCorrectedMeasurement in interface KalmanEstimation

Returns:

corrected measurement

updateNominalSpacecraftState

public void updateNominalSpacecraftState(SpacecraftState nominal)

Update the nominal spacecraft state.

Specified by:

updateNominalSpacecraftState in interface SemiAnalyticalProcess

Parameters:

nominal - nominal spacecraft state

updateShortPeriods

public void updateShortPeriods(SpacecraftState state)

Update the DSST short periodic terms.

Specified by:

updateShortPeriods in interface SemiAnalyticalProcess

Parameters:

state - current mean state

initializeShortPeriodicTerms

public void initializeShortPeriodicTerms(SpacecraftState meanState)

Initialize the short periodic terms for the Kalman Filter.

Specified by:

initializeShortPeriodicTerms in interface SemiAnalyticalProcess

Parameters:

meanState - mean state for auxiliary elements

getNumberSelectedOrbitalDrivers

public int getNumberSelectedOrbitalDrivers()

Get the number of estimated orbital parameters.

Returns:

the number of estimated orbital parameters

getNumberSelectedPropagationDrivers

public int getNumberSelectedPropagationDrivers()

Get the number of estimated propagation parameters.

Returns:

the number of estimated propagation parameters

getNumberSelectedMeasurementDrivers

public int getNumberSelectedMeasurementDrivers()

Get the number of estimated measurement parameters.

Returns:

the number of estimated measurement parameters