Package org.orekit.estimation.sequential

Class UnscentedKalmanModel

java.lang.Object

org.orekit.estimation.sequential.UnscentedKalmanModel

All Implemented Interfaces:

UnscentedProcess<MeasurementDecorator>, KalmanEstimation

public class UnscentedKalmanModel
extends Object
implements 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	Description
protected	UnscentedKalmanModel(List<PropagatorBuilder> propagatorBuilders, List<CovarianceMatrixProvider> covarianceMatricesProviders, ParameterDriversList estimatedMeasurementParameters, CovarianceMatrixProvider measurementProcessNoiseMatrix)	Unscented Kalman process model constructor (package private).

Method Summary

Modifier and Type	Method	Description
void	finalizeEstimation(ObservedMeasurement<?> observedMeasurement, ProcessEstimate estimate)	Finalize estimation.
List<PropagatorBuilder>	getBuilders()	Getter for the propagators.
protected ProcessEstimate	getCorrectedEstimate()	Getter for the correctedEstimate.
EstimatedMeasurement<?>	getCorrectedMeasurement()	Get the estimated measurement.
SpacecraftState[]	getCorrectedSpacecraftStates()	Get the corrected spacecraft states.
protected int[][]	getCovarianceIndirection()	Getter for the covarianceIndirection.
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.
protected ParameterDriversList[]	getEstimatedOrbitalParametersArray()	Getter for the estimatedOrbitalParameters.
ParameterDriversList	getEstimatedPropagationParameters()	Get the list of estimated propagation parameters.
protected ParameterDriversList[]	getEstimatedPropagationParametersArray()	Getter for the estimatedPropagationParameters.
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)
protected Map<String,Integer>	getMeasurementParameterColumns()	Getter for the measurementParameterColumns.
protected RealMatrix	getNormalizedProcessNoise(int stateDimension)	Get the normalized process noise matrix.
protected int[]	getOrbitsStartColumns()	Getter for the orbitsStartColumns.
RealMatrix	getPhysicalEstimatedCovarianceMatrix()	Get the "physical" estimated covariance matrix (i.e. not normalized)
RealVector	getPhysicalEstimatedState()	Get the "physical" estimated state (i.e. not normalized)
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.
RealVector[]	getPredictedMeasurements(RealVector[] predictedSigmaPoints, MeasurementDecorator measurement)
SpacecraftState[]	getPredictedSpacecraftStates()	Get the predicted spacecraft states.
RealMatrix	getProcessNoiseMatrix(double previousTime, RealVector predictedState, MeasurementDecorator measurement)
protected Map<String,Integer>	getPropagationParameterColumns()	Getter for the propagationParameterColumns.
protected AbsoluteDate	getReferenceDate()	Getter for the referenceDate.
protected double[]	getScale()	Getter for the scale.
protected void	incrementCurrentMeasurementNumber()	Increment current measurement number.
protected void	setCorrectedEstimate(ProcessEstimate correctedEstimate)	Setter for the correctedEstimate.
protected void	setCorrectedMeasurement(EstimatedMeasurement<?> correctedMeasurement)	Setter for the correctedMeasurement.
protected void	setCorrectedSpacecraftState(SpacecraftState correctedSpacecraftState, int index)	Set correctedSpacecraftState at index.
protected void	setCurrentDate(AbsoluteDate currentDate)	Setter for the currentDate.
protected void	setPredictedMeasurement(EstimatedMeasurement<?> predictedMeasurement)	Setter for the predictedMeasurement.
protected void	setPredictedSpacecraftState(SpacecraftState predictedSpacecraftState, int index)	Set predictedSpacecraftState at index.

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> covarianceMatricesProviders,
                               ParameterDriversList estimatedMeasurementParameters,
                               CovarianceMatrixProvider measurementProcessNoiseMatrix)

Unscented Kalman process model constructor (package private).

Parameters:

propagatorBuilders - propagators builders used to evaluate the orbits.

covarianceMatricesProviders - provider for covariance matrix

estimatedMeasurementParameters - measurement parameters to estimate

measurementProcessNoiseMatrix - provider for measurement process noise matrix

Method Detail

getEvolution

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

Specified by:

getEvolution in interface UnscentedProcess<MeasurementDecorator>

getProcessNoiseMatrix

public RealMatrix getProcessNoiseMatrix(double previousTime,
                                        RealVector predictedState,
                                        MeasurementDecorator measurement)

Specified by:

getProcessNoiseMatrix in interface UnscentedProcess<MeasurementDecorator>

getPredictedMeasurements

public RealVector[] getPredictedMeasurements(RealVector[] predictedSigmaPoints,
                                             MeasurementDecorator measurement)

Specified by:

getPredictedMeasurements 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.

Parameters:

observedMeasurement - measurement that has just been processed

estimate - corrected estimate

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)

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

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

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

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

getEstimate

public ProcessEstimate getEstimate()

Get the current corrected estimate.

Returns:

current corrected estimate

getBuilders

public List<PropagatorBuilder> getBuilders()

Getter for the propagators.

Returns:

the propagators

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

getNormalizedProcessNoise

protected RealMatrix getNormalizedProcessNoise(int stateDimension)

Get the normalized process noise matrix.

Parameters:

stateDimension - state dimension

Returns:

the normalized process noise matrix

getOrbitsStartColumns

protected int[] getOrbitsStartColumns()

Getter for the orbitsStartColumns.

Returns:

the orbitsStartColumns

getPropagationParameterColumns

protected Map<String,Integer> getPropagationParameterColumns()

Getter for the propagationParameterColumns.

Returns:

the propagationParameterColumns

getMeasurementParameterColumns

protected Map<String,Integer> getMeasurementParameterColumns()

Getter for the measurementParameterColumns.

Returns:

the measurementParameterColumns

getEstimatedPropagationParametersArray

protected ParameterDriversList[] getEstimatedPropagationParametersArray()

Getter for the estimatedPropagationParameters.

Returns:

the estimatedPropagationParameters

getEstimatedOrbitalParametersArray

protected ParameterDriversList[] getEstimatedOrbitalParametersArray()

Getter for the estimatedOrbitalParameters.

Returns:

the estimatedOrbitalParameters

getCovarianceIndirection

protected int[][] getCovarianceIndirection()

Getter for the covarianceIndirection.

Returns:

the covarianceIndirection

getScale

protected double[] getScale()

Getter for the scale.

Returns:

the scale

getCorrectedEstimate

protected ProcessEstimate getCorrectedEstimate()

Getter for the correctedEstimate.

Returns:

the correctedEstimate

setCorrectedEstimate

protected void setCorrectedEstimate(ProcessEstimate correctedEstimate)

Setter for the correctedEstimate.

Parameters:

correctedEstimate - the correctedEstimate

getReferenceDate

protected AbsoluteDate getReferenceDate()

Getter for the referenceDate.

Returns:

the referenceDate

incrementCurrentMeasurementNumber

protected void incrementCurrentMeasurementNumber()

Increment current measurement number.

setCurrentDate

protected void setCurrentDate(AbsoluteDate currentDate)

Setter for the currentDate.

Parameters:

currentDate - the currentDate

setCorrectedSpacecraftState

protected void setCorrectedSpacecraftState(SpacecraftState correctedSpacecraftState,
                                           int index)

Set correctedSpacecraftState at index.

Parameters:

correctedSpacecraftState - corrected S/C state o set

index - index where to set in the array

setPredictedSpacecraftState

protected void setPredictedSpacecraftState(SpacecraftState predictedSpacecraftState,
                                           int index)

Set predictedSpacecraftState at index.

Parameters:

predictedSpacecraftState - predicted S/C state o set

index - index where to set in the array

setPredictedMeasurement

protected void setPredictedMeasurement(EstimatedMeasurement<?> predictedMeasurement)

Setter for the predictedMeasurement.

Parameters:

predictedMeasurement - the predictedMeasurement

setCorrectedMeasurement

protected void setCorrectedMeasurement(EstimatedMeasurement<?> correctedMeasurement)

Setter for the correctedMeasurement.

Parameters:

correctedMeasurement - the correctedMeasurement