Package org.orekit.estimation.sequential

Class KalmanEstimator

java.lang.Object

org.orekit.estimation.sequential.AbstractKalmanEstimator

org.orekit.estimation.sequential.KalmanEstimator

public class KalmanEstimator
extends AbstractKalmanEstimator

Implementation of a Kalman filter to perform orbit determination.

The filter uses a PropagatorBuilder to initialize its reference trajectory. The Kalman estimator can be used with a NumericalPropagator, TLEPropagator, BrouwerLyddanePropagator, EcksteinHechlerPropagator, KeplerianPropagator, or Ephemeris.

Kalman estimation using a semi-analytical orbit propagator must be done using the SemiAnalyticalKalmanEstimator.

The estimated parameters are driven by ParameterDriver objects. They are of 3 different types:

1. Orbital parameters:The position and velocity of the spacecraft, or, more generally, its orbit.
   These parameters are retrieved from the reference trajectory propagator builder when the filter is initialized.
2. Propagation parameters: Some parameters modelling physical processes (SRP or drag coefficients etc...).
   They are also retrieved from the propagator builder during the initialization phase.
3. Measurements parameters: Parameters related to measurements (station biases, positions etc...).
   They are passed down to the filter in its constructor.

The total number of estimated parameters is m, the size of the state vector.

The Kalman filter implementation used is provided by the underlying mathematical library Hipparchus. All the variables seen by Hipparchus (states, covariances, measurement matrices...) are normalized using a specific scale for each estimated parameters or standard deviation noise for each measurement components.

A KalmanEstimator object is built using the build method of a KalmanEstimatorBuilder.

Since:

9.2

Author:

Romain Gerbaud, Maxime Journot, Luc Maisonobe

Method Summary

Modifier and Type	Method	Description
Propagator[]	estimationStep(ObservedMeasurement<?> observedMeasurement)	Process a single measurement.
protected KalmanEstimation	getKalmanEstimation()	Get the provider for kalman filter estimations.
Propagator[]	processMeasurements(Iterable<ObservedMeasurement<?>> observedMeasurements)	Process several measurements.
void	setObserver(KalmanObserver observer)	Set the observer.

Methods inherited from class org.orekit.estimation.sequential.AbstractKalmanEstimator

getCurrentDate, getCurrentMeasurementNumber, getEstimatedMeasurementsParameters, getOrbitalParametersDrivers, getPhysicalEstimatedCovarianceMatrix, getPhysicalEstimatedState, getPropagationParametersDrivers

Methods inherited from class java.lang.Object

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

Method Detail

getKalmanEstimation

protected KalmanEstimation getKalmanEstimation()

Get the provider for kalman filter estimations..

Specified by:

getKalmanEstimation in class AbstractKalmanEstimator

Returns:

the provider for Kalman filter estimations

setObserver

public void setObserver(KalmanObserver observer)

Set the observer.

Parameters:

observer - the observer

estimationStep

public Propagator[] estimationStep(ObservedMeasurement<?> observedMeasurement)

Process a single measurement.

Update the filter with the new measurement by calling the estimate method.

Parameters:

observedMeasurement - the measurement to process

Returns:

estimated propagators

processMeasurements

public Propagator[] processMeasurements(Iterable<ObservedMeasurement<?>> observedMeasurements)

Process several measurements.

Parameters:

observedMeasurements - the measurements to process in chronologically sorted order

Returns:

estimated propagators