public class UnscentedKalmanModel extends Object implements KalmanEstimation, UnscentedProcess<MeasurementDecorator>
UnscentedKalmanEstimator
.Modifier | Constructor and Description |
---|---|
protected |
UnscentedKalmanModel(List<NumericalPropagatorBuilder> propagatorBuilders,
List<CovarianceMatrixProvider> covarianceMatrixProviders,
ParameterDriversList estimatedMeasurementParameters,
CovarianceMatrixProvider measurementProcessNoiseMatrix)
Unscented Kalman process model constructor (package private).
|
Modifier and Type | Method and Description |
---|---|
void |
finalizeEstimation(ObservedMeasurement<?> observedMeasurement,
ProcessEstimate estimate)
Finalize estimation.
|
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.
|
Propagator[] |
getEstimatedPropagators()
Get the propagators estimated with the values set in the propagators builders.
|
UnscentedEvolution |
getEvolution(double previousTime,
RealVector[] sigmaPoints,
MeasurementDecorator measurement) |
RealVector |
getInnovation(MeasurementDecorator measurement,
RealVector predictedMeas,
RealVector predictedState,
RealMatrix innovationCovarianceMatrix) |
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.
|
protected UnscentedKalmanModel(List<NumericalPropagatorBuilder> propagatorBuilders, List<CovarianceMatrixProvider> covarianceMatrixProviders, ParameterDriversList estimatedMeasurementParameters, CovarianceMatrixProvider measurementProcessNoiseMatrix)
propagatorBuilders
- propagators builders used to evaluate the orbits.covarianceMatrixProviders
- provider for covariance matrixestimatedMeasurementParameters
- measurement parameters to estimatemeasurementProcessNoiseMatrix
- provider for measurement process noise matrixpublic UnscentedEvolution getEvolution(double previousTime, RealVector[] sigmaPoints, MeasurementDecorator measurement)
getEvolution
in interface UnscentedProcess<MeasurementDecorator>
public RealVector getInnovation(MeasurementDecorator measurement, RealVector predictedMeas, RealVector predictedState, RealMatrix innovationCovarianceMatrix)
getInnovation
in interface UnscentedProcess<MeasurementDecorator>
public void finalizeEstimation(ObservedMeasurement<?> observedMeasurement, ProcessEstimate estimate)
observedMeasurement
- measurement that has just been processedestimate
- corrected estimatepublic Propagator[] getEstimatedPropagators()
public ProcessEstimate getEstimate()
public ParameterDriversList getEstimatedOrbitalParameters()
getEstimatedOrbitalParameters
in interface KalmanEstimation
public ParameterDriversList getEstimatedPropagationParameters()
getEstimatedPropagationParameters
in interface KalmanEstimation
public ParameterDriversList getEstimatedMeasurementsParameters()
getEstimatedMeasurementsParameters
in interface KalmanEstimation
public SpacecraftState[] getPredictedSpacecraftStates()
getPredictedSpacecraftStates
in interface KalmanEstimation
public SpacecraftState[] getCorrectedSpacecraftStates()
getCorrectedSpacecraftStates
in interface KalmanEstimation
public RealVector getPhysicalEstimatedState()
getPhysicalEstimatedState
in interface KalmanEstimation
public RealMatrix getPhysicalEstimatedCovarianceMatrix()
getPhysicalEstimatedCovarianceMatrix
in interface KalmanEstimation
public RealMatrix getPhysicalStateTransitionMatrix()
getPhysicalStateTransitionMatrix
in interface KalmanEstimation
public RealMatrix getPhysicalMeasurementJacobian()
getPhysicalMeasurementJacobian
in interface KalmanEstimation
public RealMatrix getPhysicalInnovationCovarianceMatrix()
getPhysicalInnovationCovarianceMatrix
in interface KalmanEstimation
public RealMatrix getPhysicalKalmanGain()
getPhysicalKalmanGain
in interface KalmanEstimation
public int getCurrentMeasurementNumber()
getCurrentMeasurementNumber
in interface KalmanEstimation
public AbsoluteDate getCurrentDate()
getCurrentDate
in interface KalmanEstimation
public EstimatedMeasurement<?> getPredictedMeasurement()
This estimation has been evaluated on the last predicted orbits
getPredictedMeasurement
in interface KalmanEstimation
public EstimatedMeasurement<?> getCorrectedMeasurement()
This estimation has been evaluated on the last corrected orbits
getCorrectedMeasurement
in interface KalmanEstimation
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