org.orekit.estimation.sequential

Class UnscentedKalmanModel

java.lang.Object

org.orekit.estimation.sequential.UnscentedKalmanModel

All Implemented Interfaces:

org.hipparchus.filtering.kalman.unscented.UnscentedProcess<MeasurementDecorator>, KalmanEstimation

public class UnscentedKalmanModel
extends Object
implements KalmanEstimation, org.hipparchus.filtering.kalman.unscented.UnscentedProcess<MeasurementDecorator>

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

Since:

11.3

Author:

Gaëtan Pierre, Bryan Cazabonne

Constructor Summary

Constructors

Modifier	Constructor and Description
protected	UnscentedKalmanModel(List<PropagatorBuilder> propagatorBuilders, List<CovarianceMatrixProvider> covarianceMatrixProviders, ParameterDriversList estimatedMeasurementParameters, CovarianceMatrixProvider measurementProcessNoiseMatrix) Unscented Kalman process model constructor (package private).

Method Summary

Modifier and Type	Method and Description
void	finalizeEstimation(ObservedMeasurement<?> observedMeasurement, org.hipparchus.filtering.kalman.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.
org.hipparchus.filtering.kalman.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.
org.hipparchus.filtering.kalman.unscented.UnscentedEvolution	getEvolution(double previousTime, org.hipparchus.linear.RealVector[] sigmaPoints, MeasurementDecorator measurement)
org.hipparchus.linear.RealVector	getInnovation(MeasurementDecorator measurement, org.hipparchus.linear.RealVector predictedMeas, org.hipparchus.linear.RealVector predictedState, org.hipparchus.linear.RealMatrix innovationCovarianceMatrix)
org.hipparchus.linear.RealMatrix	getPhysicalEstimatedCovarianceMatrix() Get the "physical" estimated covariance matrix (i.e.
org.hipparchus.linear.RealVector	getPhysicalEstimatedState() Get the "physical" estimated state (i.e.
org.hipparchus.linear.RealMatrix	getPhysicalInnovationCovarianceMatrix() Get the physical innovation covariance matrix.
org.hipparchus.linear.RealMatrix	getPhysicalKalmanGain() Get the physical Kalman gain matrix.
org.hipparchus.linear.RealMatrix	getPhysicalMeasurementJacobian() Get the physical Jacobian of the measurement with respect to the state (H matrix).
org.hipparchus.linear.RealMatrix	getPhysicalStateTransitionMatrix() Get physical state transition matrix between previous state and estimated (but not yet corrected) state.
EstimatedMeasurement<?>	getPredictedMeasurement() Get the predicted measurement.
org.hipparchus.linear.RealVector[]	getPredictedMeasurements(org.hipparchus.linear.RealVector[] predictedSigmaPoints, MeasurementDecorator measurement)
SpacecraftState[]	getPredictedSpacecraftStates() Get the predicted spacecraft states.

Methods inherited from class java.lang.Object

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

Constructor Detail

UnscentedKalmanModel

protected UnscentedKalmanModel(List<PropagatorBuilder> propagatorBuilders,
                               List<CovarianceMatrixProvider> covarianceMatrixProviders,
                               ParameterDriversList estimatedMeasurementParameters,
                               CovarianceMatrixProvider measurementProcessNoiseMatrix)

Unscented Kalman process model constructor (package private).

Parameters:

propagatorBuilders - propagators builders used to evaluate the orbits.

covarianceMatrixProviders - provider for covariance matrix

estimatedMeasurementParameters - measurement parameters to estimate

measurementProcessNoiseMatrix - provider for measurement process noise matrix

Method Detail

getEvolution

public org.hipparchus.filtering.kalman.unscented.UnscentedEvolution getEvolution(double previousTime,
                                                                                 org.hipparchus.linear.RealVector[] sigmaPoints,
                                                                                 MeasurementDecorator measurement)

Specified by:

getEvolution in interface org.hipparchus.filtering.kalman.unscented.UnscentedProcess<MeasurementDecorator>

getPredictedMeasurements

public org.hipparchus.linear.RealVector[] getPredictedMeasurements(org.hipparchus.linear.RealVector[] predictedSigmaPoints,
                                                                   MeasurementDecorator measurement)

Specified by:

getPredictedMeasurements in interface org.hipparchus.filtering.kalman.unscented.UnscentedProcess<MeasurementDecorator>

getInnovation

public org.hipparchus.linear.RealVector getInnovation(MeasurementDecorator measurement,
                                                      org.hipparchus.linear.RealVector predictedMeas,
                                                      org.hipparchus.linear.RealVector predictedState,
                                                      org.hipparchus.linear.RealMatrix innovationCovarianceMatrix)

Specified by:

getInnovation in interface org.hipparchus.filtering.kalman.unscented.UnscentedProcess<MeasurementDecorator>

finalizeEstimation

public void finalizeEstimation(ObservedMeasurement<?> observedMeasurement,
                               org.hipparchus.filtering.kalman.ProcessEstimate estimate)

Finalize estimation.

Parameters:

observedMeasurement - measurement that has just been processed

estimate - corrected estimate

getEstimatedPropagators

public Propagator[] getEstimatedPropagators()

Get the propagators estimated with the values set in the propagators builders.

Returns:

propagators based on the current values in the builder

getEstimate

public org.hipparchus.filtering.kalman.ProcessEstimate getEstimate()

Get the current corrected estimate.

Returns:

current corrected estimate

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.

Specified by:

getPredictedSpacecraftStates in interface KalmanEstimation

Returns:

predicted spacecraft states

getCorrectedSpacecraftStates

public SpacecraftState[] getCorrectedSpacecraftStates()

Get the corrected spacecraft states.

Specified by:

getCorrectedSpacecraftStates in interface KalmanEstimation

Returns:

corrected spacecraft states

getPhysicalEstimatedState

public org.hipparchus.linear.RealVector getPhysicalEstimatedState()

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

Specified by:

getPhysicalEstimatedState in interface KalmanEstimation

Returns:

the "physical" estimated state

getPhysicalEstimatedCovarianceMatrix

public org.hipparchus.linear.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 org.hipparchus.linear.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 org.hipparchus.linear.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 org.hipparchus.linear.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 org.hipparchus.linear.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