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  package org.orekit.estimation.sequential;
  
  import java.io.File;
  import java.io.IOException;
  import java.net.URISyntaxException;
  import java.util.ArrayList;
  import java.util.List;
  import java.util.Locale;
  import java.util.NoSuchElementException;
  
  import org.hipparchus.geometry.euclidean.threed.Vector3D;
  import org.hipparchus.linear.MatrixUtils;
  import org.hipparchus.linear.RealMatrix;
  import org.hipparchus.util.FastMath;
  import org.junit.jupiter.api.Assertions;
  import org.junit.jupiter.api.Test;
  import org.orekit.KeyValueFileParser;
  import org.orekit.Utils;
  import org.orekit.attitudes.AttitudeProvider;
  import org.orekit.bodies.CelestialBody;
  import org.orekit.bodies.OneAxisEllipsoid;
  import org.orekit.estimation.common.AbstractOrbitDetermination;
  import org.orekit.estimation.common.ParameterKey;
  import org.orekit.estimation.common.ResultKalman;
  import org.orekit.forces.ForceModel;
  import org.orekit.forces.drag.DragForce;
  import org.orekit.forces.drag.DragSensitive;
  import org.orekit.forces.empirical.AccelerationModel;
  import org.orekit.forces.empirical.ParametricAcceleration;
  import org.orekit.forces.empirical.PolynomialAccelerationModel;
  import org.orekit.forces.gravity.HolmesFeatherstoneAttractionModel;
  import org.orekit.forces.gravity.OceanTides;
  import org.orekit.forces.gravity.Relativity;
  import org.orekit.forces.gravity.SolidTides;
  import org.orekit.forces.gravity.ThirdBodyAttraction;
  import org.orekit.forces.gravity.potential.GravityFieldFactory;
  import org.orekit.forces.gravity.potential.ICGEMFormatReader;
  import org.orekit.forces.gravity.potential.NormalizedSphericalHarmonicsProvider;
  import org.orekit.forces.radiation.KnockeRediffusedForceModel;
  import org.orekit.forces.radiation.RadiationSensitive;
  import org.orekit.forces.radiation.SolarRadiationPressure;
  import org.orekit.models.earth.atmosphere.Atmosphere;
  import org.orekit.orbits.Orbit;
  import org.orekit.orbits.OrbitType;
  import org.orekit.orbits.PositionAngleType;
  import org.orekit.propagation.conversion.NumericalPropagatorBuilder;
  import org.orekit.propagation.conversion.ODEIntegratorBuilder;
  import org.orekit.time.TimeScalesFactory;
  import org.orekit.utils.IERSConventions;
  import org.orekit.utils.ParameterDriver;
  import org.orekit.utils.ParameterDriversList;
  import org.orekit.utils.ParameterDriversList.DelegatingDriver;
  
  class SequentialNumericalOrbitDeterminationTest extends AbstractOrbitDetermination<NumericalPropagatorBuilder> {
  
      /** Gravity field. */
      private NormalizedSphericalHarmonicsProvider gravityField;
  
      /** {@inheritDoc} */
      @Override
      protected void createGravityField(final KeyValueFileParser<ParameterKey> parser)
          throws NoSuchElementException {
  
          final int degree = parser.getInt(ParameterKey.CENTRAL_BODY_DEGREE);
          final int order  = FastMath.min(degree, parser.getInt(ParameterKey.CENTRAL_BODY_ORDER));
          gravityField = GravityFieldFactory.getNormalizedProvider(degree, order);
  
      }
  
      /** {@inheritDoc} */
      @Override
      protected double getMu() {
          return gravityField.getMu();
      }
  
      /** {@inheritDoc} */
      @Override
      protected NumericalPropagatorBuilder createPropagatorBuilder(final Orbit referenceOrbit,
                                                                   final ODEIntegratorBuilder builder,
                                                                   final double positionScale) {
          return new NumericalPropagatorBuilder(referenceOrbit, builder, PositionAngleType.MEAN,
                                                positionScale);
      }
 
     /** {@inheritDoc} */
     @Override
     protected void setMass(final NumericalPropagatorBuilder propagatorBuilder,
                                 final double mass) {
         propagatorBuilder.setMass(mass);
     }
 
     /** {@inheritDoc} */
     @Override
     protected List<ParameterDriver> setGravity(final NumericalPropagatorBuilder propagatorBuilder,
                                                final OneAxisEllipsoid body) {
         final ForceModel gravityModel = new HolmesFeatherstoneAttractionModel(body.getBodyFrame(), gravityField);
         propagatorBuilder.addForceModel(gravityModel);
         return gravityModel.getParametersDrivers();
     }
 
     /** {@inheritDoc} */
     @Override
     protected List<ParameterDriver> setOceanTides(final NumericalPropagatorBuilder propagatorBuilder,
                                                   final IERSConventions conventions,
                                                   final OneAxisEllipsoid body,
                                                   final int degree, final int order) {
         final ForceModel tidesModel = new OceanTides(body.getBodyFrame(),
                                                      gravityField.getAe(), gravityField.getMu(),
                                                      degree, order, conventions,
                                                      TimeScalesFactory.getUT1(conventions, true));
         propagatorBuilder.addForceModel(tidesModel);
         return tidesModel.getParametersDrivers();
     }
 
     /** {@inheritDoc} */
     @Override
     protected List<ParameterDriver> setSolidTides(final NumericalPropagatorBuilder propagatorBuilder,
                                                   final IERSConventions conventions,
                                                   final OneAxisEllipsoid body,
                                                   final CelestialBody[] solidTidesBodies) {
         final ForceModel tidesModel = new SolidTides(body.getBodyFrame(),
                                                      gravityField.getAe(), gravityField.getMu(),
                                                      gravityField.getTideSystem(), conventions,
                                                      TimeScalesFactory.getUT1(conventions, true),
                                                      solidTidesBodies);
         propagatorBuilder.addForceModel(tidesModel);
         return tidesModel.getParametersDrivers();
     }
 
     /** {@inheritDoc} */
     @Override
     protected List<ParameterDriver> setThirdBody(final NumericalPropagatorBuilder propagatorBuilder,
                                                  final CelestialBody thirdBody) {
         final ForceModel thirdBodyModel = new ThirdBodyAttraction(thirdBody);
         propagatorBuilder.addForceModel(thirdBodyModel);
         return thirdBodyModel.getParametersDrivers();
     }
 
     /** {@inheritDoc} */
     @Override
     protected List<ParameterDriver> setDrag(final NumericalPropagatorBuilder propagatorBuilder,
                                             final Atmosphere atmosphere, final DragSensitive spacecraft) {
         final ForceModel dragModel = new DragForce(atmosphere, spacecraft);
         propagatorBuilder.addForceModel(dragModel);
         return dragModel.getParametersDrivers();
     }
 
     /** {@inheritDoc} */
     @Override
     protected List<ParameterDriver> setSolarRadiationPressure(final NumericalPropagatorBuilder propagatorBuilder, final CelestialBody sun,
                                                               final OneAxisEllipsoid earth, final RadiationSensitive spacecraft) {
         final ForceModel srpModel = new SolarRadiationPressure(sun, earth, spacecraft);
         propagatorBuilder.addForceModel(srpModel);
         return srpModel.getParametersDrivers();
     }
 
     /** {@inheritDoc} */
     @Override
     protected List<ParameterDriver> setAlbedoInfrared(final NumericalPropagatorBuilder propagatorBuilder,
                                                       final CelestialBody sun, final double equatorialRadius,
                                                       final double angularResolution,
                                                       final RadiationSensitive spacecraft) {
         final ForceModel albedoIR = new KnockeRediffusedForceModel(sun, spacecraft, equatorialRadius, angularResolution);
         propagatorBuilder.addForceModel(albedoIR);
         return albedoIR.getParametersDrivers();
     }
 
     /** {@inheritDoc} */
     @Override
     protected List<ParameterDriver> setRelativity(final NumericalPropagatorBuilder propagatorBuilder) {
         final ForceModel relativityModel = new Relativity(gravityField.getMu());
         propagatorBuilder.addForceModel(relativityModel);
         return relativityModel.getParametersDrivers();
     }
 
     /** {@inheritDoc} */
     @Override
     protected List<ParameterDriver> setPolynomialAcceleration(final NumericalPropagatorBuilder propagatorBuilder,
                                                               final String name, final Vector3D direction, final int degree) {
         final AccelerationModel accModel = new PolynomialAccelerationModel(name, null, degree);
         final ForceModel polynomialModel = new ParametricAcceleration(direction, true, accModel);
         propagatorBuilder.addForceModel(polynomialModel);
         return polynomialModel.getParametersDrivers();
     }
 
     /** {@inheritDoc} */
     @Override
     protected void setAttitudeProvider(final NumericalPropagatorBuilder propagatorBuilder,
                                        final AttitudeProvider attitudeProvider) {
         propagatorBuilder.setAttitudeProvider(attitudeProvider);
     }
 
 
     @Test
     void testLageos2Extended() throws URISyntaxException, IOException {
 
         // Position/velocity accuracy
         final double distanceAccuracy = 2.47;
         final double velocityAccuracy = 1.1e-3;
 
         // Smoother position/velocity accuracy
         final double smoothDistanceAccuracy = 5.13;
         final double smoothVelocityAccuracy = 2.6e-3;
         final double distanceStd = 12.79;
         final double velocityStd = 6.2e-3;
 
         // Batch LS values
         //final double[] stationOffSet = { 1.659203,  0.861250,  -0.885352 };
         //final double rangeBias = -0.286275;
         final double[] stationOffSet = { 0.043893,  0.044721,  -0.037796 };
         final double rangeBias = 0.041171;
 
         // Batch LS values
         //final double[] refStatRange = { -2.431135, 2.218644, 0.038483, 0.982017 };
         final double[] refStatRange = { -5.910596, 3.306617, -0.037131, 1.454304 };
 
         testLageos2(distanceAccuracy, velocityAccuracy, stationOffSet, rangeBias, refStatRange,
                 smoothDistanceAccuracy, smoothVelocityAccuracy, distanceStd, velocityStd,
                 false, false);
     }
 
     @Test
     void testLageos2Unscented() throws URISyntaxException, IOException {
 
         // Position/velocity accuracy
         final double distanceAccuracy = 2.46;
         final double velocityAccuracy = 1.8e-4;
 
         // Smoother position/velocity accuracy
         final double smoothDistanceAccuracy = 3.97;
         final double smoothVelocityAccuracy = 2.0e-3;
         final double distanceStd = 19.65;
         final double velocityStd = 0.011;
 
         // Batch LS values
         //final double[] stationOffSet = { 1.659203,  0.861250,  -0.885352 };
         //final double rangeBias = -0.286275;
         final double[] stationOffSet = { 0.044850,  0.030216,  -0.035853 };
         final double rangeBias = 0.035252;
 
         // Batch LS values
         //final double[] refStatRange = { -2.431135, 2.218644, 0.038483, 0.982017 };
         final double[] refStatRange = { -6.212086, 3.196686, -0.012196, 1.456780 };
 
         testLageos2(distanceAccuracy, velocityAccuracy, stationOffSet, rangeBias, refStatRange,
                 smoothDistanceAccuracy, smoothVelocityAccuracy, distanceStd, velocityStd,
                 false, true);
     }
 
 
     // Orbit determination for Lageos2 based on SLR (range) measurements
     protected void testLageos2(final double distanceAccuracy, final double velocityAccuracy,
                                final double[] stationOffSet, final double rangeBias, final double[] refStatRange,
                                final double smoothDistanceAccuracy, final double smoothVelocityAccuracy,
                                final double smoothDistanceStd, final double smoothVelocityStd,
                                final boolean print, final boolean isUnscented) throws URISyntaxException, IOException {
 
         // input in resources directory
         final String inputPath = SequentialNumericalOrbitDeterminationTest.class.getClassLoader()
                 .getResource("orbit-determination/Lageos2/kalman_od_test_Lageos2.in").toURI().getPath();
         final File input  = new File(inputPath);
 
         // configure Orekit data acces
         Utils.setDataRoot("orbit-determination/february-2016:potential/icgem-format");
         GravityFieldFactory.addPotentialCoefficientsReader(new ICGEMFormatReader("eigen-6s-truncated", true));
 
         // Choice of an orbit type to use
         // Default for test is Cartesian
         final OrbitType orbitType = OrbitType.CARTESIAN;
 
         // Cartesian covariance matrix initialization
         final double posVar = FastMath.pow(1e3, 2);
         final double velVar = FastMath.pow(1.0, 2);
         final RealMatrix cartesianOrbitalP = MatrixUtils.createRealDiagonalMatrix(new double [] {
                 posVar, posVar, posVar, velVar, velVar, velVar
         });
 
         // Orbital Cartesian process noise matrix (Q)
         final RealMatrix cartesianOrbitalQ = MatrixUtils.createRealMatrix(6, 6);
 
         // Initial measurement covariance matrix and process noise matrix
         final double measVar = FastMath.pow(1.0, 2);
         final RealMatrix measurementP = MatrixUtils.createRealDiagonalMatrix(new double [] {
                 measVar, measVar, measVar, measVar
         });
         final RealMatrix measurementQ = MatrixUtils.createRealMatrix(4, 4);
 
         // Kalman orbit determination run.
         ResultKalman kalmanLageos2 = runKalman(input, orbitType, print,
                                                cartesianOrbitalP, cartesianOrbitalQ,
                                                null, null,
                                                measurementP, measurementQ, isUnscented);
 
         // Tests
         // Note: The reference initial orbit is the same as in the batch LS tests
         // -----
 
         // Number of measurements processed
         final int numberOfMeas  = 258;
         Assertions.assertEquals(numberOfMeas, kalmanLageos2.getNumberOfMeasurements());
 
         // Estimated position and velocity
         final Vector3D estimatedPos = kalmanLageos2.getEstimatedPV().getPosition();
         final Vector3D estimatedVel = kalmanLageos2.getEstimatedPV().getVelocity();
 
         // Reference position and velocity at initial date (same as in batch LS test)
         final Vector3D refPos0 = new Vector3D(-5532131.956902, 10025696.592156, -3578940.040009);
         final Vector3D refVel0 = new Vector3D(-3871.275109, -607.880985, 4280.972530);
 
         // Run the reference until Kalman last date
         final Orbit refOrbit = runReference(input, orbitType, refPos0, refVel0, null,
                                             kalmanLageos2.getEstimatedPV().getDate());
         final Vector3D refPos = refOrbit.getPosition();
         final Vector3D refVel = refOrbit.getVelocity();
 
         // Check distances
         final double dP = Vector3D.distance(refPos, estimatedPos);
         final double dV = Vector3D.distance(refVel, estimatedVel);
 
         // Print orbit deltas
         if (print) {
             System.out.println("Test performances:");
             System.out.format("\t%-30s\n",
                             "ΔEstimated / Reference");
             System.out.format(Locale.US, "\t%-10s %20.6f\n",
                               "ΔP [m]", dP);
             System.out.format(Locale.US, "\t%-10s %20.6f\n",
                               "ΔV [m/s]", dV);
         }
 
         Assertions.assertEquals(0.0, dP, distanceAccuracy);
         Assertions.assertEquals(0.0, dV, velocityAccuracy);
 
         // Run the reference to initial date
         final Orbit initialOrbit = runReference(input, orbitType, refPos0, refVel0, null,
                 kalmanLageos2.getSmoothedState().getDate());
         final Vector3D initialPos = initialOrbit.getPosition();
         final Vector3D initialVel = initialOrbit.getVelocity();
 
         // Check smoother distances
         final double[] smoothedState = kalmanLageos2.getSmoothedState().getState().toArray();
         final Vector3D smoothedPos = new Vector3D(smoothedState[0], smoothedState[1], smoothedState[2]);
         final Vector3D smoothedVel = new Vector3D(smoothedState[3], smoothedState[4], smoothedState[5]);
         final double dPSmooth = Vector3D.distance(initialPos, smoothedPos);
         final double dVSmooth = Vector3D.distance(initialVel, smoothedVel);
 
         // Check smoother variances
         final RealMatrix smoothedCov = kalmanLageos2.getSmoothedState().getCovarianceMatrix();
         final double posStd = FastMath.sqrt(smoothedCov.getEntry(0, 0) +
                 smoothedCov.getEntry(1, 1) + smoothedCov.getEntry(2, 2));
         final double velStd = FastMath.sqrt(smoothedCov.getEntry(3, 3) +
                 smoothedCov.getEntry(4, 4) + smoothedCov.getEntry(5, 5));
 
         // Print smoother orbit deltas
         if (print) {
             System.out.println("Smoother performances:");
             System.out.format("\t%-30s\n",
                     "ΔEstimated / Reference & std. dev.");
             System.out.format(Locale.US, "\t%-10s %20.6f %20.6f\n",
                     "ΔP [m]", dPSmooth, posStd);
             System.out.format(Locale.US, "\t%-10s %20.6f %20.6f\n",
                     "ΔV [m/s]", dVSmooth, velStd);
         }
 
         Assertions.assertEquals(0.0, dPSmooth, smoothDistanceAccuracy);
         Assertions.assertEquals(0.0, dVSmooth, smoothVelocityAccuracy);
         Assertions.assertEquals(0.0, posStd, smoothDistanceStd);
         Assertions.assertEquals(0.0, velStd, smoothVelocityStd);
 
 
         // Accuracy for tests
         final double parametersAccuracy = 2e-6;
 
         // Test on measurements parameters
         final List<DelegatingDriver> list = new ArrayList<>(kalmanLageos2.getMeasurementsParameters().getDrivers());
         sortParametersChanges(list);
 
         Assertions.assertEquals(stationOffSet[0], list.get(0).getValue(), parametersAccuracy);
         Assertions.assertEquals(stationOffSet[1], list.get(1).getValue(), parametersAccuracy);
         Assertions.assertEquals(stationOffSet[2], list.get(2).getValue(), parametersAccuracy);
         Assertions.assertEquals(rangeBias,        list.get(3).getValue(), parametersAccuracy);
 
         //test on statistic for the range residuals
         final long nbRange = 258;
         Assertions.assertEquals(nbRange, kalmanLageos2.getRangeStat().getN());
         Assertions.assertEquals(refStatRange[0], kalmanLageos2.getRangeStat().getMin(),               parametersAccuracy);
         Assertions.assertEquals(refStatRange[1], kalmanLageos2.getRangeStat().getMax(),               parametersAccuracy);
         Assertions.assertEquals(refStatRange[2], kalmanLageos2.getRangeStat().getMean(),              parametersAccuracy);
         Assertions.assertEquals(refStatRange[3], kalmanLageos2.getRangeStat().getStandardDeviation(), parametersAccuracy);
 
     }
 
     @Test
     void testW3BExtended() throws URISyntaxException, IOException {
         // Batch LS result: -0.2154;
         final double dragCoef  = 2.0010;
 
         // Batch LS results: 8.002e-6
         final double leakAccelerationNorm0 = 2.7e-9;
 
         // Batch LS results: 3.058e-10
         final double leakAccelerationNorm1 = 8.1e-13;
 
         // Batch LS results
         // final double[] CastleAzElBias  = { 0.062701342, -0.003613508 };
         // final double   CastleRangeBias = 11274.4677;
         final double[] castleAzElBias  = { 0.086129, -0.032682};
         final double   castleRangeBias = 11473.6163;
 
         // Batch LS results
         // final double[] FucAzElBias  = { -0.053526137, 0.075483886 };
         // final double   FucRangeBias = 13467.8256;
         final double[] fucAzElBias  = { -0.067443, 0.064578 };
         final double   fucRangeBias = 13468.9624;
 
         // Batch LS results
         // final double[] KumAzElBias  = { -0.023574208, -0.054520756 };
         // final double   KumRangeBias = 13512.57594;
         final double[] kumAzElBias  = { -0.000102, -0.066097 };
         final double   kumRangeBias = 13527.0004;
 
         // Batch LS results
         // final double[] PreAzElBias = { 0.030201539, 0.009747877 };
         // final double PreRangeBias = 13594.11889;
         final double[] preAzElBias = { 0.029971, 0.011135 };
         final double   preRangeBias = 13370.1890;
 
         // Batch LS results
         // final double[] UraAzElBias = { 0.167814449, -0.12305252 };
         // final double UraRangeBias = 13450.26738;
         final double[] uraAzElBias = { 0.148459, -0.138353 };
         final double   uraRangeBias = 13314.9300;
 
         //statistics for the range residual (min, max, mean, std)
         final double[] refStatRange = { -0.5948, 35.4751, 0.3061, 2.7790 };
 
         //statistics for the azimuth residual (min, max, mean, std)
         final double[] refStatAzi = { -0.024691, 0.020452, -0.001111, 0.006750 };
 
         //statistics for the elevation residual (min, max, mean, std)
         final double[] refStatEle = { -0.030255, 0.026307, 0.002044, 0.007260 };
 
         // Expected covariance
         final double dragVariance = 0.999722;
         final double leakXVariance = 0.9999e-12;
         final double leakYVariance = 1e-12;
         final double leakZVariance = 1e-12;
 
         // Prediction position/velocity accuracies
         // FIXME: debug - Comparison with batch LS is bad
         final double predictionDistanceAccuracy = 2127.851;
         final double predictionVelocityAccuracy = 1.073;
 
         testW3B(dragCoef, leakAccelerationNorm0, leakAccelerationNorm1,
                 castleAzElBias, castleRangeBias, fucAzElBias, fucRangeBias, kumAzElBias, kumRangeBias,
                 preAzElBias, preRangeBias, uraAzElBias, uraRangeBias,
                 refStatRange, refStatAzi, refStatEle, dragVariance,
                 leakXVariance, leakYVariance, leakZVariance,
                 predictionDistanceAccuracy, predictionVelocityAccuracy, false, false);
     }
 
     // Orbit determination for range, azimuth elevation measurements
     protected void testW3B(final double dragCoef, final double leakAccelerationNorm0, final double leakAccelerationNorm1,
                            final double[] castleAzElBias, final double castleRangeBias,
                            final double[] fucAzElBias, final double fucRangeBias,
                            final double[] kumAzElBias, final double kumRangeBias,
                            final double[] preAzElBias, final double preRangeBias,
                            final double[] uraAzElBias, final double uraRangeBias,
                            final double[] refStatRange, final double[] refStatAzi, final double[] refStatEle,
                            final double dragVariance,
                            final double leakXVariance, final double leakYVariance, final double leakZVariance,
                            final double predictionDistanceAccuracy, final double predictionVelocityAccuracy,
                            final boolean print, final boolean isUnscented) throws URISyntaxException, IOException {
 
         // input in resources directory
         final String inputPath = SequentialNumericalOrbitDeterminationTest.class.getClassLoader().getResource("orbit-determination/W3B/od_test_W3.in").toURI().getPath();
         final File input  = new File(inputPath);
 
         // Configure Orekit data access
         Utils.setDataRoot("orbit-determination/W3B:potential/icgem-format");
         GravityFieldFactory.addPotentialCoefficientsReader(new ICGEMFormatReader("eigen-6s-truncated", true));
 
         // Choice of an orbit type to use
         // Default for test is Cartesian
         final OrbitType orbitType = OrbitType.CARTESIAN;
 
         // Initial orbital Cartesian covariance matrix
         final double positionP = FastMath.pow(1e4, 2);
         final double velocityP = FastMath.pow(10.0, 2);
         final RealMatrix cartesianOrbitalP = MatrixUtils.createRealDiagonalMatrix(new double [] {
                 positionP, positionP, positionP, velocityP, velocityP, velocityP
         });
 
         // Orbital Cartesian process noise matrix (Q)
         final double positionQ = FastMath.pow(100.0, 2);
         final double velocityQ = FastMath.pow(1.0, 2);
         final RealMatrix cartesianOrbitalQ = MatrixUtils.createRealDiagonalMatrix(new double [] {
                 positionQ, positionQ, positionQ, velocityQ, velocityQ, velocityQ
         });
 
         // Propagation covariance and process noise matrices
         final RealMatrix propagationP = MatrixUtils.createRealDiagonalMatrix(new double [] {
                 FastMath.pow(1.0, 2), // Cd
                 FastMath.pow(1e-6, 2), FastMath.pow(1e-10, 2),   // leak-X
                 FastMath.pow(1e-6, 2), FastMath.pow(1e-10, 2), // leak-Y
                 FastMath.pow(1e-6, 2), FastMath.pow(1e-10, 2)  // leak-Z
         });
         final RealMatrix propagationQ = MatrixUtils.createRealMatrix(7, 7);
 
         // Measurement covariance and process noise matrices
         final double angularVariance = FastMath.pow(1e-2, 2);
         final double rangeVariance   = FastMath.pow(10.0, 2);
         final RealMatrix measurementP = MatrixUtils.createRealDiagonalMatrix(new double [] {
                 angularVariance, angularVariance, rangeVariance,
                 angularVariance, angularVariance, rangeVariance,
                 angularVariance, angularVariance, rangeVariance,
                 angularVariance, angularVariance, rangeVariance,
                 angularVariance, angularVariance, rangeVariance,
         });
         final RealMatrix measurementQ = MatrixUtils.createRealMatrix(15, 15);
 
         // Kalman orbit determination run.
         ResultKalman kalmanW3B = runKalman(input, orbitType, print,
                                            cartesianOrbitalP, cartesianOrbitalQ,
                                            propagationP, propagationQ,
                                            measurementP, measurementQ, isUnscented);
 
         // Tests
         // -----
 
         // Definition of the accuracy for the test
         final double distanceAccuracy = 1e-4;
         final double angleAccuracy    = 1e-6; // degrees
 
         // Number of measurements processed
         final int numberOfMeas  = 521;
         Assertions.assertEquals(numberOfMeas, kalmanW3B.getNumberOfMeasurements());
 
 
         // Test on propagator parameters
         // -----------------------------
         final ParameterDriversList propagatorParameters = kalmanW3B.getPropagatorParameters();
         Assertions.assertEquals(dragCoef, propagatorParameters.getDrivers().get(0).getValue(), 1e-4);
         final Vector3D leakAcceleration0 =
                         new Vector3D(propagatorParameters.getDrivers().get(1).getValue(),
                                      propagatorParameters.getDrivers().get(3).getValue(),
                                      propagatorParameters.getDrivers().get(5).getValue());
         Assertions.assertEquals(leakAccelerationNorm0, leakAcceleration0.getNorm(), 1.0e-9);
 
         final Vector3D leakAcceleration1 =
                         new Vector3D(propagatorParameters.getDrivers().get(2).getValue(),
                                      propagatorParameters.getDrivers().get(4).getValue(),
                                      propagatorParameters.getDrivers().get(6).getValue());
         Assertions.assertEquals(leakAccelerationNorm1, leakAcceleration1.getNorm(), 1.0e-13);
 
         // Test on measurements parameters
         // -------------------------------
 
         final List<DelegatingDriver> list = new ArrayList<>(kalmanW3B.getMeasurementsParameters().getDrivers());
         sortParametersChanges(list);
 
         // Station CastleRock
         Assertions.assertEquals(castleAzElBias[0], FastMath.toDegrees(list.get(0).getValue()), angleAccuracy);
         Assertions.assertEquals(castleAzElBias[1], FastMath.toDegrees(list.get(1).getValue()), angleAccuracy);
         Assertions.assertEquals(castleRangeBias,   list.get(2).getValue(),                     distanceAccuracy);
 
         // Station Fucino
         Assertions.assertEquals(fucAzElBias[0], FastMath.toDegrees(list.get(3).getValue()), angleAccuracy);
         Assertions.assertEquals(fucAzElBias[1], FastMath.toDegrees(list.get(4).getValue()), angleAccuracy);
         Assertions.assertEquals(fucRangeBias,   list.get(5).getValue(),                     distanceAccuracy);
 
         // Station Kumsan
         Assertions.assertEquals(kumAzElBias[0], FastMath.toDegrees(list.get(6).getValue()), angleAccuracy);
         Assertions.assertEquals(kumAzElBias[1], FastMath.toDegrees(list.get(7).getValue()), angleAccuracy);
         Assertions.assertEquals(kumRangeBias,   list.get(8).getValue(),                     distanceAccuracy);
 
         // Station Pretoria
         Assertions.assertEquals(preAzElBias[0], FastMath.toDegrees(list.get( 9).getValue()), angleAccuracy);
         Assertions.assertEquals(preAzElBias[1], FastMath.toDegrees(list.get(10).getValue()), angleAccuracy);
         Assertions.assertEquals(preRangeBias,   list.get(11).getValue(),                     distanceAccuracy);
 
         // Station Uralla
         Assertions.assertEquals(uraAzElBias[0], FastMath.toDegrees(list.get(12).getValue()), angleAccuracy);
         Assertions.assertEquals(uraAzElBias[1], FastMath.toDegrees(list.get(13).getValue()), angleAccuracy);
         Assertions.assertEquals(uraRangeBias,   list.get(14).getValue(),                     distanceAccuracy);
 
 
         // Test on statistic for the range residuals
         final long nbRange = 182;
         Assertions.assertEquals(nbRange, kalmanW3B.getRangeStat().getN());
         Assertions.assertEquals(refStatRange[0], kalmanW3B.getRangeStat().getMin(),               distanceAccuracy);
         Assertions.assertEquals(refStatRange[1], kalmanW3B.getRangeStat().getMax(),               distanceAccuracy);
         Assertions.assertEquals(refStatRange[2], kalmanW3B.getRangeStat().getMean(),              distanceAccuracy);
         Assertions.assertEquals(refStatRange[3], kalmanW3B.getRangeStat().getStandardDeviation(), distanceAccuracy);
 
         //test on statistic for the azimuth residuals
         final long nbAzi = 339;
         Assertions.assertEquals(nbAzi, kalmanW3B.getAzimStat().getN());
         Assertions.assertEquals(refStatAzi[0], kalmanW3B.getAzimStat().getMin(),               angleAccuracy);
         Assertions.assertEquals(refStatAzi[1], kalmanW3B.getAzimStat().getMax(),               angleAccuracy);
         Assertions.assertEquals(refStatAzi[2], kalmanW3B.getAzimStat().getMean(),              angleAccuracy);
         Assertions.assertEquals(refStatAzi[3], kalmanW3B.getAzimStat().getStandardDeviation(), angleAccuracy);
 
         //test on statistic for the elevation residuals
         final long nbEle = 339;
         Assertions.assertEquals(nbEle, kalmanW3B.getElevStat().getN());
         Assertions.assertEquals(refStatEle[0], kalmanW3B.getElevStat().getMin(),               angleAccuracy);
         Assertions.assertEquals(refStatEle[1], kalmanW3B.getElevStat().getMax(),               angleAccuracy);
         Assertions.assertEquals(refStatEle[2], kalmanW3B.getElevStat().getMean(),              angleAccuracy);
         Assertions.assertEquals(refStatEle[3], kalmanW3B.getElevStat().getStandardDeviation(), angleAccuracy);
 
         RealMatrix covariances = kalmanW3B.getCovariances();
         Assertions.assertEquals(28, covariances.getRowDimension());
         Assertions.assertEquals(28, covariances.getColumnDimension());
 
         // drag coefficient variance
         Assertions.assertEquals(dragVariance, covariances.getEntry(6, 6), 1.0e-6);
 
         // leak-X constant term variance
         Assertions.assertEquals(leakXVariance, covariances.getEntry(7, 7), 1.0e-16);
 
         // leak-Y constant term variance
         Assertions.assertEquals(leakYVariance, covariances.getEntry(9, 9), 1.0e-16);
 
         // leak-Z constant term variance
         Assertions.assertEquals(leakZVariance, covariances.getEntry(11, 11), 1.0e-16);
 
         // Test on orbital parameters
         // Done at the end to avoid changing the estimated propagation parameters
         // ----------------------------------------------------------------------
 
         // Estimated position and velocity
         final Vector3D estimatedPos = kalmanW3B.getEstimatedPV().getPosition();
         final Vector3D estimatedVel = kalmanW3B.getEstimatedPV().getVelocity();
 
         // Reference position and velocity at initial date (same as in batch LS test)
         final Vector3D refPos0 = new Vector3D(-40541446.255, -9905357.41, 206777.413);
         final Vector3D refVel0 = new Vector3D(759.0685, -1476.5156, 54.793);
 
         // Gather the selected propagation parameters and initialize them to the values found
         // with the batch LS method
         final ParameterDriversList refPropagationParameters = kalmanW3B.getPropagatorParameters();
         final double dragCoefRef = -0.215433133145843;
         final double[] leakXRef = {+5.69040439901955E-06, 1.09710906802403E-11};
         final double[] leakYRef = {-7.66440256777678E-07, 1.25467464335066E-10};
         final double[] leakZRef = {-5.574055079952E-06  , 2.78703463746911E-10};
 
         for (DelegatingDriver driver : refPropagationParameters.getDrivers()) {
             switch (driver.getName()) {
                 case "drag coefficient" : driver.setValue(dragCoefRef); break;
                 case "leak-X[0]"        : driver.setValue(leakXRef[0]); break;
                 case "leak-X[1]"        : driver.setValue(leakXRef[1]); break;
                 case "leak-Y[0]"        : driver.setValue(leakYRef[0]); break;
                 case "leak-Y[1]"        : driver.setValue(leakYRef[1]); break;
                 case "leak-Z[0]"        : driver.setValue(leakZRef[0]); break;
                 case "leak-Z[1]"        : driver.setValue(leakZRef[1]); break;
             }
         }
 
         // Run the reference until Kalman last date
         final Orbit refOrbit = runReference(input, orbitType, refPos0, refVel0, refPropagationParameters,
                                             kalmanW3B.getEstimatedPV().getDate());
 
         // Test on last orbit
         final Vector3D refPos = refOrbit.getPosition();
         final Vector3D refVel = refOrbit.getVelocity();
 
         // Check distances
         final double dP = Vector3D.distance(refPos, estimatedPos);
         final double dV = Vector3D.distance(refVel, estimatedVel);
 
         // Print orbit deltas
         if (print) {
             System.out.println("Test performances:");
             System.out.format("\t%-30s\n",
                             "ΔEstimated / Reference");
             System.out.format(Locale.US, "\t%-10s %20.6f\n",
                               "ΔP [m]", dP);
             System.out.format(Locale.US, "\t%-10s %20.6f\n",
                               "ΔV [m/s]", dV);
         }
 
         Assertions.assertEquals(0.0, dP, predictionDistanceAccuracy);
         Assertions.assertEquals(0.0, dV, predictionVelocityAccuracy);
 
     }
 
 }