org.orekit.estimation.sequential

Class AbstractKalmanModel

java.lang.Object

org.orekit.estimation.sequential.AbstractKalmanModel

All Implemented Interfaces:

NonLinearProcess<MeasurementDecorator>, KalmanEstimation

Direct Known Subclasses:

DSSTKalmanModel, KalmanModel, TLEKalmanModel

public abstract class AbstractKalmanModel
extends Object
implements KalmanEstimation, NonLinearProcess<MeasurementDecorator>

Abstract class defining the process model dynamics to use with a KalmanEstimator.

Since:

11.0

Author:

Romain Gerbaud, Maxime Journot, Bryan Cazabonne, Thomas Paulet

Constructor Summary

Constructors

Modifier	Constructor and Description
protected	AbstractKalmanModel(List<OrbitDeterminationPropagatorBuilder> propagatorBuilders, List<CovarianceMatrixProvider> covarianceMatricesProviders, ParameterDriversList estimatedMeasurementParameters, CovarianceMatrixProvider measurementProcessNoiseMatrix, MatricesHarvester[] harvesters) Kalman process model constructor (package private).
protected	AbstractKalmanModel(List<OrbitDeterminationPropagatorBuilder> propagatorBuilders, List<CovarianceMatrixProvider> covarianceMatricesProviders, ParameterDriversList estimatedMeasurementParameters, CovarianceMatrixProvider measurementProcessNoiseMatrix, MatricesHarvester[] harvesters, PropagationType propagationType, PropagationType stateType) Kalman process model constructor (package private).

Method Summary

Modifier and Type	Method and Description
protected void	analyticalDerivativeComputations(AbstractJacobiansMapper mapper, SpacecraftState state) Deprecated. as of 11.1, not used anymore
void	finalizeEstimation(ObservedMeasurement<?> observedMeasurement, ProcessEstimate estimate) Finalize estimation.
List<OrbitDeterminationPropagatorBuilder>	getBuilders() Getter for the propagators.
EstimatedMeasurement<?>	getCorrectedMeasurement() Get the estimated measurement.
SpacecraftState[]	getCorrectedSpacecraftStates() Get the corrected spacecraft states.
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.
ParameterDriversList	getEstimatedPropagationParameters() Get the list of estimated propagation parameters.
Propagator[]	getEstimatedPropagators() Get the propagators estimated with the values set in the propagators builders.
NonLinearEvolution	getEvolution(double previousTime, RealVector previousState, MeasurementDecorator measurement)
RealVector	getInnovation(MeasurementDecorator measurement, NonLinearEvolution evolution, RealMatrix innovationCovarianceMatrix)
AbstractJacobiansMapper[]	getMappers() Deprecated. as of 11.1, not used anymore
RealMatrix	getPhysicalEstimatedCovarianceMatrix() Get the "physical" estimated covariance matrix (i.e.
RealVector	getPhysicalEstimatedState() Get the "physical" estimated state (i.e.
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.
SpacecraftState[]	getPredictedSpacecraftStates() Get the predicted spacecraft states.
Propagator[]	getReferenceTrajectories() Getter for the reference trajectories.
void	setHarvesters(MatricesHarvester[] harvesters) Setter for the jacobian harvesters.
void	setMappers(AbstractJacobiansMapper[] mappers) Deprecated. as of 11.1, replaced by setHarvesters(MatricesHarvester[])
void	setReferenceTrajectories(Propagator[] referenceTrajectories) Setter for the reference trajectories.
protected abstract void	updateReferenceTrajectories(Propagator[] propagators, PropagationType pType, PropagationType sType) Update the reference trajectories using the propagators as input.

Methods inherited from class java.lang.Object

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

Constructor Detail

AbstractKalmanModel

protected AbstractKalmanModel(List<OrbitDeterminationPropagatorBuilder> propagatorBuilders,
                              List<CovarianceMatrixProvider> covarianceMatricesProviders,
                              ParameterDriversList estimatedMeasurementParameters,
                              CovarianceMatrixProvider measurementProcessNoiseMatrix,
                              MatricesHarvester[] harvesters)

Kalman process model constructor (package private). This constructor is used whenever state type and propagation type do not matter. It is used for KalmanModel and TLEKalmanModel.

Parameters:

propagatorBuilders - propagators builders used to evaluate the orbits.

covarianceMatricesProviders - providers for covariance matrices

estimatedMeasurementParameters - measurement parameters to estimate

measurementProcessNoiseMatrix - provider for measurement process noise matrix

harvesters - harvesters for extracting Jacobians from integrated states

AbstractKalmanModel

protected AbstractKalmanModel(List<OrbitDeterminationPropagatorBuilder> propagatorBuilders,
                              List<CovarianceMatrixProvider> covarianceMatricesProviders,
                              ParameterDriversList estimatedMeasurementParameters,
                              CovarianceMatrixProvider measurementProcessNoiseMatrix,
                              MatricesHarvester[] harvesters,
                              PropagationType propagationType,
                              PropagationType stateType)

Kalman process model constructor (package private). This constructor is used whenever propagation type and/or state type are to be specified. It is used for DSSTKalmanModel.

Parameters:

propagatorBuilders - propagators builders used to evaluate the orbits.

covarianceMatricesProviders - providers for covariance matrices

estimatedMeasurementParameters - measurement parameters to estimate

measurementProcessNoiseMatrix - provider for measurement process noise matrix

harvesters - harvesters for extracting Jacobians from integrated states

propagationType - type of the orbit used for the propagation (mean or osculating), applicable only for DSST

stateType - type of the elements used to define the orbital state (mean or osculating), applicable only for DSST

Method Detail

updateReferenceTrajectories

protected abstract void updateReferenceTrajectories(Propagator[] propagators,
                                                    PropagationType pType,
                                                    PropagationType sType)

Update the reference trajectories using the propagators as input.

Parameters:

propagators - The new propagators to use

pType - propagationType type of the orbit used for the propagation (mean or osculating)

sType - type of the elements used to define the orbital state (mean or osculating)

analyticalDerivativeComputations

protected void analyticalDerivativeComputations(AbstractJacobiansMapper mapper,
                                                SpacecraftState state)

Deprecated. as of 11.1, not used anymore

Not used anymore.

Parameters:

mapper - Jacobian mapper to calculate short period perturbations

state - state used to calculate short period perturbations

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

getEvolution

public NonLinearEvolution getEvolution(double previousTime,
                                       RealVector previousState,
                                       MeasurementDecorator measurement)

Specified by:

getEvolution in interface NonLinearProcess<MeasurementDecorator>

getInnovation

public RealVector getInnovation(MeasurementDecorator measurement,
                                NonLinearEvolution evolution,
                                RealMatrix innovationCovarianceMatrix)

Specified by:

getInnovation in interface NonLinearProcess<MeasurementDecorator>

finalizeEstimation

public void finalizeEstimation(ObservedMeasurement<?> observedMeasurement,
                               ProcessEstimate estimate)

Finalize estimation.

Parameters:

observedMeasurement - measurement that has just been processed

estimate - corrected estimate

getBuilders

public List<OrbitDeterminationPropagatorBuilder> getBuilders()

Getter for the propagators.

Returns:

the propagators

getReferenceTrajectories

public Propagator[] getReferenceTrajectories()

Getter for the reference trajectories.

Returns:

the referencetrajectories

setReferenceTrajectories

public void setReferenceTrajectories(Propagator[] referenceTrajectories)

Setter for the reference trajectories.

Parameters:

referenceTrajectories - the reference trajectories to be setted

getMappers

@Deprecated
public AbstractJacobiansMapper[] getMappers()

Deprecated. as of 11.1, not used anymore

Getter for the jacobian mappers.

Returns:

the jacobian mappers

setMappers

@Deprecated
public void setMappers(AbstractJacobiansMapper[] mappers)

Deprecated. as of 11.1, replaced by setHarvesters(MatricesHarvester[])

Setter for the jacobian mappers.

Parameters:

mappers - the jacobian mappers to set

setHarvesters

public void setHarvesters(MatricesHarvester[] harvesters)

Setter for the jacobian harvesters.

Parameters:

harvesters - the jacobian harvesters to set

Since:

11.1

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