Package org.orekit.estimation.measurements

Class AbstractMeasurement<T extends ObservedMeasurement<T>>

java.lang.Object

org.orekit.estimation.measurements.AbstractMeasurement<T>

Type Parameters:

T - the type of the measurement

All Implemented Interfaces:

Comparable<ComparableMeasurement>, ComparableMeasurement, ObservedMeasurement<T>, TimeStamped, ParameterDriversProvider

Direct Known Subclasses:

AbstractOnBoardMeasurement, GroundReceiverMeasurement, InterSatellitesRange, MultiplexedMeasurement, Position, PV

public abstract class AbstractMeasurement<T extends ObservedMeasurement<T>>
extends Object
implements ObservedMeasurement<T>

Abstract class handling measurements boilerplate.

Since:

8.0

Author:

Luc Maisonobe

Constructor Summary

Constructors

Modifier	Constructor	Description
protected	AbstractMeasurement(AbsoluteDate date, double[] observed, double[] sigma, double[] baseWeight, List<ObservableSatellite> satellites)	Simple constructor, for multi-dimensional measurements.
protected	AbstractMeasurement(AbsoluteDate date, double observed, double sigma, double baseWeight, List<ObservableSatellite> satellites)	Simple constructor for mono-dimensional measurements.

Method Summary

Modifier and Type	Method	Description
void	addModifier(EstimationModifier<T> modifier)	Add a modifier.
protected void	addParameterDriver(ParameterDriver driver)	Add a parameter driver.
EstimatedMeasurement<T>	estimate(int iteration, int evaluation, SpacecraftState[] states)	Estimate the theoretical value of the measurement, with derivatives.
EstimatedMeasurementBase<T>	estimateWithoutDerivatives(int iteration, int evaluation, SpacecraftState[] states)	Estimate the theoretical value of the measurement, without derivatives.
double[]	getBaseWeight()	Get the base weight associated with the measurement
static TimeStampedFieldPVCoordinates<Gradient>	getCoordinates(SpacecraftState state, int firstDerivative, int freeParameters)	Get Cartesian coordinates as derivatives.
AbsoluteDate	getDate()	Get the date.
int	getDimension()	Get the dimension of the measurement.
List<EstimationModifier<T>>	getModifiers()	Get the modifiers that apply to a measurement.
double[]	getObservedValue()	Get the observed value.
List<ParameterDriver>	getParametersDrivers()	Get the drivers for parameters.
List<ObservableSatellite>	getSatellites()	Get the satellites related to this measurement.
double[]	getTheoreticalStandardDeviation()	Get the theoretical standard deviation.
boolean	isEnabled()	Check if a measurement is enabled.
void	setEnabled(boolean enabled)	Enable or disable a measurement.
void	setObservedValue(double[] newObserved)	Set the observed value.
static <T extends CalculusFieldElement<T>> T	signalTimeOfFlightAdjustableEmitter(FieldPVCoordinatesProvider<T> adjustableEmitter, FieldAbsoluteDate<T> approxEmissionDate, FieldVector3D<T> receiverPosition, FieldAbsoluteDate<T> signalArrivalDate, Frame frame)	Compute propagation delay on a link leg (typically downlink or uplink).
static double	signalTimeOfFlightAdjustableEmitter(PVCoordinatesProvider adjustableEmitter, AbsoluteDate approxEmissionDate, Vector3D receiverPosition, AbsoluteDate signalArrivalDate, Frame frame)	Compute propagation delay on a link leg (typically downlink or uplink).
static <T extends CalculusFieldElement<T>> T	signalTimeOfFlightAdjustableEmitter(TimeStampedFieldPVCoordinates<T> adjustableEmitterPV, FieldVector3D<T> receiverPosition, FieldAbsoluteDate<T> signalArrivalDate, Frame frame)	Compute propagation delay on a link leg (typically downlink or uplink).
static double	signalTimeOfFlightAdjustableEmitter(TimeStampedPVCoordinates adjustableEmitterPV, Vector3D receiverPosition, AbsoluteDate signalArrivalDate, Frame frame)	Compute propagation delay on a link leg (typically downlink or uplink).
static <T extends CalculusFieldElement<T>> T	signalTimeOfFlightAdjustableReceiver(FieldVector3D<T> emitterPosition, FieldAbsoluteDate<T> emissionDate, FieldPVCoordinatesProvider<T> adjustableReceiver, FieldAbsoluteDate<T> approxReceptionDate, Frame frame)	Compute propagation delay on a link leg (typically downlink or uplink).
static <T extends CalculusFieldElement<T>> T	signalTimeOfFlightAdjustableReceiver(FieldVector3D<T> emitterPosition, FieldAbsoluteDate<T> emissionDate, TimeStampedFieldPVCoordinates<T> adjustableReceiverPV, FieldAbsoluteDate<T> approxReceptionDate, Frame frame)	Compute propagation delay on a link leg (typically downlink or uplink).
static double	signalTimeOfFlightAdjustableReceiver(Vector3D emitterPosition, AbsoluteDate emissionDate, PVCoordinatesProvider adjustableReceiver, AbsoluteDate approxReceptionDate, Frame frame)	Compute propagation delay on a link leg (typically downlink or uplink).
static double	signalTimeOfFlightAdjustableReceiver(Vector3D emitterPosition, AbsoluteDate emissionDate, TimeStampedPVCoordinates adjustableReceiverPV, AbsoluteDate approxReceptionDate, Frame frame)	Compute propagation delay on a link leg (typically downlink or uplink).
protected abstract EstimatedMeasurement<T>	theoreticalEvaluation(int iteration, int evaluation, SpacecraftState[] states)	Estimate the theoretical value.
protected EstimatedMeasurementBase<T>	theoreticalEvaluationWithoutDerivatives(int iteration, int evaluation, SpacecraftState[] states)	Estimate the theoretical value without derivatives.

Methods inherited from class java.lang.Object

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

Methods inherited from interface org.orekit.estimation.measurements.ComparableMeasurement

compareTo

Methods inherited from interface org.orekit.estimation.measurements.ObservedMeasurement

estimateWithoutDerivatives, getMeasurementType

Methods inherited from interface org.orekit.utils.ParameterDriversProvider

getNbParametersDriversValue, getParameterDriver, getParameters, getParameters, getParameters, getParameters, getParametersAllValues, getParametersAllValues, isSupported

Methods inherited from interface org.orekit.time.TimeStamped

durationFrom

Constructor Detail

AbstractMeasurement

protected AbstractMeasurement(AbsoluteDate date,
                              double observed,
                              double sigma,
                              double baseWeight,
                              List<ObservableSatellite> satellites)

Simple constructor for mono-dimensional measurements.

At construction, a measurement is enabled.

Parameters:

date - date of the measurement

observed - observed value

sigma - theoretical standard deviation

baseWeight - base weight

satellites - satellites related to this measurement

Since:

9.3

AbstractMeasurement

protected AbstractMeasurement(AbsoluteDate date,
                              double[] observed,
                              double[] sigma,
                              double[] baseWeight,
                              List<ObservableSatellite> satellites)

Simple constructor, for multi-dimensional measurements.

At construction, a measurement is enabled.

Parameters:

date - date of the measurement

observed - observed value

sigma - theoretical standard deviation

baseWeight - base weight

satellites - satellites related to this measurement

Since:

9.3

Method Detail

setObservedValue

public void setObservedValue(double[] newObserved)

Set the observed value.

The observed value is the value that was measured by the instrument.

Specified by:

setObservedValue in interface ComparableMeasurement

Parameters:

newObserved - observed value

addParameterDriver

protected void addParameterDriver(ParameterDriver driver)

Add a parameter driver.

Parameters:

driver - parameter driver to add

Since:

9.3

getParametersDrivers

public List<ParameterDriver> getParametersDrivers()

Get the drivers for parameters.

Specified by:

getParametersDrivers in interface ParameterDriversProvider

Returns:

drivers for parameters

setEnabled

public void setEnabled(boolean enabled)

Enable or disable a measurement.

Disabling a measurement allow to not consider it at one stage of the orbit determination (for example when it appears to be an outlier as per current estimated covariance).

Specified by:

setEnabled in interface ObservedMeasurement<T extends ObservedMeasurement<T>>

Parameters:

enabled - if true the measurement will be enabled, otherwise it will be disabled

isEnabled

public boolean isEnabled()

Check if a measurement is enabled.

Specified by:

isEnabled in interface ObservedMeasurement<T extends ObservedMeasurement<T>>

Returns:

true if the measurement is enabled

getDimension

public int getDimension()

Get the dimension of the measurement.

Dimension is the size of the array containing the value. It will be one for a scalar measurement like a range or range-rate, but 6 for a position-velocity measurement.

Specified by:

getDimension in interface ObservedMeasurement<T extends ObservedMeasurement<T>>

Returns:

dimension of the measurement

getTheoreticalStandardDeviation

public double[] getTheoreticalStandardDeviation()

Get the theoretical standard deviation.

The theoretical standard deviation is a theoretical value used for normalizing the residuals. It acts as a weighting factor to mix appropriately measurements with different units and different accuracy. The value has the same dimension as the measurement itself (i.e. when a residual is divided by this value, it becomes dimensionless).

Specified by:

getTheoreticalStandardDeviation in interface ObservedMeasurement<T extends ObservedMeasurement<T>>

Returns:

expected standard deviation

See Also:

ObservedMeasurement.getBaseWeight()

getBaseWeight

public double[] getBaseWeight()

Get the base weight associated with the measurement

The base weight is used on residuals already normalized thanks to ObservedMeasurement.getTheoreticalStandardDeviation() to increase or decrease relative effect of some measurements with respect to other measurements. It is a dimensionless value, typically between 0 and 1 (but it can really have any non-negative value).

Specified by:

getBaseWeight in interface ObservedMeasurement<T extends ObservedMeasurement<T>>

Returns:

base weight

See Also:

ObservedMeasurement.getTheoreticalStandardDeviation()

getSatellites

public List<ObservableSatellite> getSatellites()

Get the satellites related to this measurement.

Specified by:

getSatellites in interface ObservedMeasurement<T extends ObservedMeasurement<T>>

Returns:

satellites related to this measurement

theoreticalEvaluationWithoutDerivatives

protected EstimatedMeasurementBase<T> theoreticalEvaluationWithoutDerivatives(int iteration,
                                                                              int evaluation,
                                                                              SpacecraftState[] states)

Estimate the theoretical value without derivatives. The default implementation uses the computation with derivatives and ought to be overwritten for performance.

The theoretical value does not have any modifiers applied.

Parameters:

iteration - iteration number

evaluation - evaluation number

states - orbital states at measurement date

Returns:

theoretical value

Since:

12.0

See Also:

estimate(int, int, SpacecraftState[])

theoreticalEvaluation

protected abstract EstimatedMeasurement<T> theoreticalEvaluation(int iteration,
                                                                 int evaluation,
                                                                 SpacecraftState[] states)

Estimate the theoretical value.

The theoretical value does not have any modifiers applied.

Parameters:

iteration - iteration number

evaluation - evaluation number

states - orbital states at measurement date

Returns:

theoretical value

See Also:

estimate(int, int, SpacecraftState[])

estimateWithoutDerivatives

public EstimatedMeasurementBase<T> estimateWithoutDerivatives(int iteration,
                                                              int evaluation,
                                                              SpacecraftState[] states)

Estimate the theoretical value of the measurement, without derivatives. For use in orbit determination.

The estimated value is the combination of the raw estimated value and all the modifiers that apply to the measurement.

Specified by:

estimateWithoutDerivatives in interface ObservedMeasurement<T extends ObservedMeasurement<T>>

Parameters:

iteration - iteration number

evaluation - evaluations number

states - orbital states corresponding to ObservedMeasurement.getSatellites() at measurement date

Returns:

estimated measurement

estimate

public EstimatedMeasurement<T> estimate(int iteration,
                                        int evaluation,
                                        SpacecraftState[] states)

Estimate the theoretical value of the measurement, with derivatives.

The estimated value is the combination of the raw estimated value and all the modifiers that apply to the measurement.

Specified by:

estimate in interface ObservedMeasurement<T extends ObservedMeasurement<T>>

Parameters:

iteration - iteration number

evaluation - evaluations number

states - orbital states corresponding to ObservedMeasurement.getSatellites() at measurement date

Returns:

estimated measurement

getDate

public AbsoluteDate getDate()

Get the date.

Specified by:

getDate in interface TimeStamped

Returns:

date attached to the object

getObservedValue

public double[] getObservedValue()

Get the observed value.

The observed value is the value that was measured by the instrument.

Specified by:

getObservedValue in interface ComparableMeasurement

Returns:

observed value

addModifier

public void addModifier(EstimationModifier<T> modifier)

Add a modifier.

The modifiers are applied in the order in which they are added in order to estimate the measurement.

Specified by:

addModifier in interface ObservedMeasurement<T extends ObservedMeasurement<T>>

Parameters:

modifier - modifier to add

See Also:

ObservedMeasurement.getModifiers()

getModifiers

public List<EstimationModifier<T>> getModifiers()

Get the modifiers that apply to a measurement.

Specified by:

getModifiers in interface ObservedMeasurement<T extends ObservedMeasurement<T>>

Returns:

modifiers that apply to a measurement

See Also:

ObservedMeasurement.addModifier(EstimationModifier)

signalTimeOfFlightAdjustableEmitter

public static double signalTimeOfFlightAdjustableEmitter(TimeStampedPVCoordinates adjustableEmitterPV,
                                                         Vector3D receiverPosition,
                                                         AbsoluteDate signalArrivalDate,
                                                         Frame frame)

Compute propagation delay on a link leg (typically downlink or uplink).

Parameters:

adjustableEmitterPV - position/velocity of emitter that may be adjusted

receiverPosition - fixed position of receiver at signalArrivalDate

frame - inertial frame in which both adjustableEmitterPV and receiverPosition are defined

signalArrivalDate - date at which the signal arrives to receiver

Returns:

positive delay between signal emission and signal reception dates

Since:

13.0

signalTimeOfFlightAdjustableEmitter

public static double signalTimeOfFlightAdjustableEmitter(PVCoordinatesProvider adjustableEmitter,
                                                         AbsoluteDate approxEmissionDate,
                                                         Vector3D receiverPosition,
                                                         AbsoluteDate signalArrivalDate,
                                                         Frame frame)

Compute propagation delay on a link leg (typically downlink or uplink).

Parameters:

adjustableEmitter - position/velocity provider of emitter

approxEmissionDate - approximate emission date

receiverPosition - fixed position of receiver at signalArrivalDate

signalArrivalDate - date at which the signal arrives to receiver

frame - inertial frame in which receiver is defined

Returns:

positive delay between signal emission and signal reception dates

Since:

13.0

signalTimeOfFlightAdjustableReceiver

public static double signalTimeOfFlightAdjustableReceiver(Vector3D emitterPosition,
                                                          AbsoluteDate emissionDate,
                                                          TimeStampedPVCoordinates adjustableReceiverPV,
                                                          AbsoluteDate approxReceptionDate,
                                                          Frame frame)

Compute propagation delay on a link leg (typically downlink or uplink).

Parameters:

emitterPosition - fixed position of emitter

emissionDate - emission date

adjustableReceiverPV - position/velocity of receiver that may be adjusted

approxReceptionDate - approximate reception date

frame - inertial frame in which both emitterPosition and adjustableReceiverPV are defined

Returns:

positive delay between signal emission and signal reception dates

Since:

13.0

signalTimeOfFlightAdjustableReceiver

public static double signalTimeOfFlightAdjustableReceiver(Vector3D emitterPosition,
                                                          AbsoluteDate emissionDate,
                                                          PVCoordinatesProvider adjustableReceiver,
                                                          AbsoluteDate approxReceptionDate,
                                                          Frame frame)

Compute propagation delay on a link leg (typically downlink or uplink).

Parameters:

emitterPosition - fixed position of emitter

emissionDate - emission date

adjustableReceiver - provider for adjusting receiver position

approxReceptionDate - approximate reception date

frame - inertial frame in which emitter is defined

Returns:

positive delay between signal emission and signal reception dates

Since:

13.0

signalTimeOfFlightAdjustableEmitter

public static <T extends CalculusFieldElement<T>> T signalTimeOfFlightAdjustableEmitter(TimeStampedFieldPVCoordinates<T> adjustableEmitterPV,
                                                                                        FieldVector3D<T> receiverPosition,
                                                                                        FieldAbsoluteDate<T> signalArrivalDate,
                                                                                        Frame frame)

Compute propagation delay on a link leg (typically downlink or uplink).

Type Parameters:

T - the type of the components

Parameters:

adjustableEmitterPV - position/velocity of emitter that may be adjusted

receiverPosition - fixed position of receiver at signalArrivalDate, in the same frame as adjustableEmitterPV

signalArrivalDate - date at which the signal arrives to receiver

frame - inertial frame in which both adjustableEmitterPV and receiverPosition are defined

Returns:

positive delay between signal emission and signal reception dates

Since:

13.0

signalTimeOfFlightAdjustableEmitter

public static <T extends CalculusFieldElement<T>> T signalTimeOfFlightAdjustableEmitter(FieldPVCoordinatesProvider<T> adjustableEmitter,
                                                                                        FieldAbsoluteDate<T> approxEmissionDate,
                                                                                        FieldVector3D<T> receiverPosition,
                                                                                        FieldAbsoluteDate<T> signalArrivalDate,
                                                                                        Frame frame)

Compute propagation delay on a link leg (typically downlink or uplink).

Type Parameters:

T - the type of the components

Parameters:

adjustableEmitter - position/velocity provider of emitter

approxEmissionDate - approximate emission date

receiverPosition - fixed position of receiver at signalArrivalDate, in the same frame as adjustableEmitterPV

signalArrivalDate - date at which the signal arrives to receiver

frame - inertial frame in which receiver is defined

Returns:

positive delay between signal emission and signal reception dates

Since:

13.0

signalTimeOfFlightAdjustableReceiver

public static <T extends CalculusFieldElement<T>> T signalTimeOfFlightAdjustableReceiver(FieldVector3D<T> emitterPosition,
                                                                                         FieldAbsoluteDate<T> emissionDate,
                                                                                         TimeStampedFieldPVCoordinates<T> adjustableReceiverPV,
                                                                                         FieldAbsoluteDate<T> approxReceptionDate,
                                                                                         Frame frame)

Compute propagation delay on a link leg (typically downlink or uplink).

Type Parameters:

T - the type of the components

Parameters:

emitterPosition - fixed position of emitter

emissionDate - emission date

adjustableReceiverPV - position/velocity of emitter that may be adjusted

approxReceptionDate - approximate reception date

frame - inertial frame in which both emitterPosition and adjustableReceiverPV are defined

Returns:

positive delay between signal emission and signal reception dates

Since:

13.0

signalTimeOfFlightAdjustableReceiver

public static <T extends CalculusFieldElement<T>> T signalTimeOfFlightAdjustableReceiver(FieldVector3D<T> emitterPosition,
                                                                                         FieldAbsoluteDate<T> emissionDate,
                                                                                         FieldPVCoordinatesProvider<T> adjustableReceiver,
                                                                                         FieldAbsoluteDate<T> approxReceptionDate,
                                                                                         Frame frame)

Compute propagation delay on a link leg (typically downlink or uplink).

Type Parameters:

T - the type of the components

Parameters:

emitterPosition - fixed position of emitter

emissionDate - emission date

adjustableReceiver - provider for adjusting receiver position

approxReceptionDate - approximate reception date

frame - inertial frame in which emitter is defined

Returns:

positive delay between signal emission and signal reception dates

Since:

13.0

getCoordinates

public static TimeStampedFieldPVCoordinates<Gradient> getCoordinates(SpacecraftState state,
                                                                     int firstDerivative,
                                                                     int freeParameters)

Get Cartesian coordinates as derivatives.

The position will correspond to variables firstDerivative, firstDerivative + 1 and firstDerivative + 2. The velocity will correspond to variables firstDerivative + 3, firstDerivative + 4 and firstDerivative + 5. The acceleration will correspond to constants.

Parameters:

state - state of the satellite considered

firstDerivative - index of the first derivative

freeParameters - total number of free parameters in the gradient

Returns:

Cartesian coordinates as derivatives

Since:

10.2