TurnAroundRangeTroposphericDelayModifier.java
/* Copyright 2002-2019 CS Systèmes d'Information
* Licensed to CS Systèmes d'Information (CS) under one or more
* contributor license agreements. See the NOTICE file distributed with
* this work for additional information regarding copyright ownership.
* CS licenses this file to You under the Apache License, Version 2.0
* (the "License"); you may not use this file except in compliance with
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*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
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package org.orekit.estimation.measurements.modifiers;
import java.util.Arrays;
import java.util.List;
import org.hipparchus.Field;
import org.hipparchus.RealFieldElement;
import org.hipparchus.analysis.differentiation.DerivativeStructure;
import org.hipparchus.geometry.euclidean.threed.FieldVector3D;
import org.hipparchus.geometry.euclidean.threed.Vector3D;
import org.orekit.estimation.measurements.EstimatedMeasurement;
import org.orekit.estimation.measurements.EstimationModifier;
import org.orekit.estimation.measurements.GroundStation;
import org.orekit.estimation.measurements.TurnAroundRange;
import org.orekit.models.earth.troposphere.DiscreteTroposphericModel;
import org.orekit.propagation.FieldSpacecraftState;
import org.orekit.propagation.Propagator;
import org.orekit.propagation.SpacecraftState;
import org.orekit.utils.Differentiation;
import org.orekit.utils.ParameterDriver;
import org.orekit.utils.ParameterFunction;
/** Class modifying theoretical turn-around TurnAroundRange measurement with tropospheric delay.
* The effect of tropospheric correction on the TurnAroundRange is directly computed
* through the computation of the tropospheric delay.
*
* In general, for GNSS, VLBI, ... there is hardly any frequency dependence in the delay.
* For SLR techniques however, the frequency dependence is sensitive.
*
* @author Maxime Journot
* @since 9.0
*/
public class TurnAroundRangeTroposphericDelayModifier implements EstimationModifier<TurnAroundRange> {
/** Tropospheric delay model. */
private final DiscreteTroposphericModel tropoModel;
/** Constructor.
*
* @param model Tropospheric delay model appropriate for the current TurnAroundRange measurement method.
*/
public TurnAroundRangeTroposphericDelayModifier(final DiscreteTroposphericModel model) {
tropoModel = model;
}
/** Get the station height above mean sea level.
*
* @param station ground station (or measuring station)
* @return the measuring station height above sea level, m
*/
private double getStationHeightAMSL(final GroundStation station) {
// FIXME height should be computed with respect to geoid WGS84+GUND = EGM2008 for example
final double height = station.getBaseFrame().getPoint().getAltitude();
return height;
}
/** Get the station height above mean sea level.
* @param <T> type of the elements
* @param field field of the elements
* @param station ground station (or measuring station)
* @return the measuring station height above sea level, m
*/
private <T extends RealFieldElement<T>> T getStationHeightAMSL(final Field<T> field,
final GroundStation station) {
// FIXME heigth should be computed with respect to geoid WGS84+GUND = EGM2008 for example
final T height = station.getBaseFrame().getPoint(field).getAltitude();
return height;
}
/** Compute the measurement error due to Troposphere.
* @param station station
* @param state spacecraft state
* @return the measurement error due to Troposphere
*/
private double rangeErrorTroposphericModel(final GroundStation station, final SpacecraftState state) {
//
final Vector3D position = state.getPVCoordinates().getPosition();
// elevation
final double elevation = station.getBaseFrame().getElevation(position,
state.getFrame(),
state.getDate());
// only consider measures above the horizon
if (elevation > 0) {
// altitude AMSL in meters
final double height = getStationHeightAMSL(station);
// Delay in meters
final double delay = tropoModel.pathDelay(elevation, height, tropoModel.getParameters(), state.getDate());
return delay;
}
return 0;
}
/** Compute the measurement error due to Troposphere.
* @param <T> type of the element
* @param station station
* @param state spacecraft state
* @param parameters tropospheric model parameters
* @return the measurement error due to Troposphere
*/
private <T extends RealFieldElement<T>> T rangeErrorTroposphericModel(final GroundStation station,
final FieldSpacecraftState<T> state,
final T[] parameters) {
// Field
final Field<T> field = state.getDate().getField();
final T zero = field.getZero();
//
final FieldVector3D<T> position = state.getPVCoordinates().getPosition();
final T dsElevation = station.getBaseFrame().getElevation(position,
state.getFrame(),
state.getDate());
// only consider measures above the horizon
if (dsElevation.getReal() > 0) {
// altitude AMSL in meters
final T height = getStationHeightAMSL(field, station);
// Delay in meters
final T delay = tropoModel.pathDelay(dsElevation, height, parameters, state.getDate());
return delay;
}
return zero;
}
/** Compute the Jacobian of the delay term wrt state using
* automatic differentiation.
*
* @param derivatives tropospheric delay derivatives
* @param freeStateParameters dimension of the state.
*
* @return Jacobian of the delay wrt state
*/
private double[][] rangeErrorJacobianState(final double[] derivatives, final int freeStateParameters) {
final double[][] finiteDifferencesJacobian = new double[1][6];
for (int i = 0; i < freeStateParameters; i++) {
// First element is the value of the delay
finiteDifferencesJacobian[0][i] = derivatives[i + 1];
}
return finiteDifferencesJacobian;
}
/** Compute the derivative of the delay term wrt parameters.
*
* @param station ground station
* @param driver driver for the station offset parameter
* @param state spacecraft state
* @return derivative of the delay wrt station offset parameter
*/
private double rangeErrorParameterDerivative(final GroundStation station,
final ParameterDriver driver,
final SpacecraftState state) {
final ParameterFunction rangeError = new ParameterFunction() {
/** {@inheritDoc} */
@Override
public double value(final ParameterDriver parameterDriver) {
return rangeErrorTroposphericModel(station, state);
}
};
final ParameterFunction rangeErrorDerivative = Differentiation.differentiate(rangeError, 3, 10.0 * driver.getScale());
return rangeErrorDerivative.value(driver);
}
/** Compute the derivative of the delay term wrt parameters using
* automatic differentiation.
*
* @param derivatives tropospheric delay derivatives
* @param freeStateParameters dimension of the state.
* @return derivative of the delay wrt tropospheric model parameters
*/
private double[] rangeErrorParameterDerivative(final double[] derivatives, final int freeStateParameters) {
// 0 -> value of the delay
// 1 ... freeStateParameters -> derivatives of the delay wrt state
// freeStateParameters + 1 ... n -> derivatives of the delay wrt tropospheric parameters
final int dim = derivatives.length - 1 - freeStateParameters;
final double[] rangeError = new double[dim];
for (int i = 0; i < dim; i++) {
rangeError[i] = derivatives[1 + freeStateParameters + i];
}
return rangeError;
}
/** {@inheritDoc} */
@Override
public List<ParameterDriver> getParametersDrivers() {
return tropoModel.getParametersDrivers();
}
/** {@inheritDoc} */
@Override
public void modify(final EstimatedMeasurement<TurnAroundRange> estimated) {
final TurnAroundRange measurement = estimated.getObservedMeasurement();
final GroundStation masterStation = measurement.getMasterStation();
final GroundStation slaveStation = measurement.getSlaveStation();
final SpacecraftState state = estimated.getStates()[0];
final double[] oldValue = estimated.getEstimatedValue();
// Update estimated derivatives with Jacobian of the measure wrt state
final TroposphericDSConverter converter = new TroposphericDSConverter(state, 6, Propagator.DEFAULT_LAW);
final FieldSpacecraftState<DerivativeStructure> dsState = converter.getState(tropoModel);
final DerivativeStructure[] dsParameters = converter.getParameters(dsState, tropoModel);
final DerivativeStructure masterDSDelay = rangeErrorTroposphericModel(masterStation, dsState, dsParameters);
final DerivativeStructure slaveDSDelay = rangeErrorTroposphericModel(slaveStation, dsState, dsParameters);
final double[] masterDerivatives = masterDSDelay.getAllDerivatives();
final double[] slaveDerivatives = masterDSDelay.getAllDerivatives();
final double[][] masterDjac = rangeErrorJacobianState(masterDerivatives, converter.getFreeStateParameters());
final double[][] slaveDjac = rangeErrorJacobianState(slaveDerivatives, converter.getFreeStateParameters());
final double[][] stateDerivatives = estimated.getStateDerivatives(0);
for (int irow = 0; irow < stateDerivatives.length; ++irow) {
for (int jcol = 0; jcol < stateDerivatives[0].length; ++jcol) {
stateDerivatives[irow][jcol] += masterDjac[irow][jcol] + slaveDjac[irow][jcol];
}
}
estimated.setStateDerivatives(0, stateDerivatives);
int indexMaster = 0;
for (final ParameterDriver driver : getParametersDrivers()) {
if (driver.isSelected()) {
// update estimated derivatives with derivative of the modification wrt tropospheric parameters
double parameterDerivative = estimated.getParameterDerivatives(driver)[0];
final double[] derivatives = rangeErrorParameterDerivative(masterDerivatives, converter.getFreeStateParameters());
parameterDerivative += derivatives[indexMaster];
estimated.setParameterDerivatives(driver, parameterDerivative);
indexMaster += 1;
}
}
int indexSlave = 0;
for (final ParameterDriver driver : getParametersDrivers()) {
if (driver.isSelected()) {
// update estimated derivatives with derivative of the modification wrt tropospheric parameters
double parameterDerivative = estimated.getParameterDerivatives(driver)[0];
final double[] derivatives = rangeErrorParameterDerivative(slaveDerivatives, converter.getFreeStateParameters());
parameterDerivative += derivatives[indexSlave];
estimated.setParameterDerivatives(driver, parameterDerivative);
indexSlave += 1;
}
}
// Update derivatives with respect to master station position
for (final ParameterDriver driver : Arrays.asList(masterStation.getClockOffsetDriver(),
masterStation.getEastOffsetDriver(),
masterStation.getNorthOffsetDriver(),
masterStation.getZenithOffsetDriver())) {
if (driver.isSelected()) {
double parameterDerivative = estimated.getParameterDerivatives(driver)[0];
parameterDerivative += rangeErrorParameterDerivative(masterStation, driver, state);
estimated.setParameterDerivatives(driver, parameterDerivative);
}
}
// Update derivatives with respect to slave station position
for (final ParameterDriver driver : Arrays.asList(slaveStation.getEastOffsetDriver(),
slaveStation.getNorthOffsetDriver(),
slaveStation.getZenithOffsetDriver())) {
if (driver.isSelected()) {
double parameterDerivative = estimated.getParameterDerivatives(driver)[0];
parameterDerivative += rangeErrorParameterDerivative(slaveStation, driver, state);
estimated.setParameterDerivatives(driver, parameterDerivative);
}
}
// Update estimated value taking into account the tropospheric delay.
// The tropospheric delay is directly added to the TurnAroundRange.
final double[] newValue = oldValue.clone();
newValue[0] = newValue[0] + masterDSDelay.getReal() + slaveDSDelay.getReal();
estimated.setEstimatedValue(newValue);
}
}