SemiAnalyticalKalmanModel (ORbit Extrapolation KIT 11.1.2 API)

java.lang.Object
- org.orekit.estimation.sequential.SemiAnalyticalKalmanModel

All Implemented Interfaces:

NonLinearProcess<MeasurementDecorator>, KalmanEstimation
```
public class SemiAnalyticalKalmanModel
extends Object
implements KalmanEstimation, NonLinearProcess<MeasurementDecorator>
```
Process model to use with a SemiAnalyticalKalmanEstimator.

Since:

11.1

Author:

Julie Bayard, Bryan Cazabonne, Maxime Journot

See Also:

"Folcik Z., Orbit Determination Using Modern Filters/Smoothers and Continuous Thrust Modeling, Master of Science Thesis, Department of Aeronautics and Astronautics, MIT, June, 2008.", "Cazabonne B., Bayard J., Journot M., and Cefola P. J., A Semi-analytical Approach for Orbit Determination based on Extended Kalman Filter, AAS Paper 21-614, AAS/AIAA Astrodynamics Specialist Conference, Big Sky, August 2021."

Constructor Summary

Constructors
Modifier	Constructor and Description
`protected`	`SemiAnalyticalKalmanModel(DSSTPropagatorBuilder propagatorBuilder, CovarianceMatrixProvider covarianceMatrixProvider, ParameterDriversList estimatedMeasurementParameters, CovarianceMatrixProvider measurementProcessNoiseMatrix)` Kalman process model constructor (package private).

Method Summary

All Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`void`	`finalizeEstimation(ObservedMeasurement<?> observedMeasurement, ProcessEstimate estimate)` Finalize estimation.
`void`	`finalizeOperationsObservationGrid()` Finalize estimation operations on the observation grid.
`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.
`DSSTPropagator`	`getEstimatedPropagator()` Get the propagator estimated with the values set in the propagator builder.
`NonLinearEvolution`	`getEvolution(double previousTime, RealVector previousState, MeasurementDecorator measurement)`
`RealVector`	`getInnovation(MeasurementDecorator measurement, NonLinearEvolution evolution, RealMatrix innovationCovarianceMatrix)`
`KalmanObserver`	`getObserver()` Get the observer for Kalman Filter estimations.
`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.
`void`	`initializeShortPeriodicTerms(SpacecraftState meanState)` Initialize the short periodic terms for the Kalman Filter.
`DSSTPropagator`	`processMeasurements(List<ObservedMeasurement<?>> observedMeasurements, ExtendedKalmanFilter<MeasurementDecorator> filter)` Process a single measurement.
`void`	`setObserver(KalmanObserver observer)` Set the observer.
`void`	`updateNominalSpacecraftState(SpacecraftState nominal)` Update the nominal spacecraft state.
`void`	`updateReferenceTrajectory(DSSTPropagator propagator)` Update the reference trajectories using the propagator as input.
`void`	`updateShortPeriods(SpacecraftState state)` Update the DSST short periodic terms.

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

- Constructor Detail
  - SemiAnalyticalKalmanModel
```
protected SemiAnalyticalKalmanModel(DSSTPropagatorBuilder propagatorBuilder,
                                    CovarianceMatrixProvider covarianceMatrixProvider,
                                    ParameterDriversList estimatedMeasurementParameters,
                                    CovarianceMatrixProvider measurementProcessNoiseMatrix)
```
    Kalman process model constructor (package private).
    
    Parameters:
    
    propagatorBuilder - propagators builders used to evaluate the orbits.
    
    covarianceMatrixProvider - provider for covariance matrix
    
    estimatedMeasurementParameters - measurement parameters to estimate
    
    measurementProcessNoiseMatrix - provider for measurement process noise matrix
- Method Detail
  - getObserver
```
public KalmanObserver getObserver()
```
    Get the observer for Kalman Filter estimations.
    
    Returns:
    
    the observer for Kalman Filter estimations
  - setObserver
```
public void setObserver(KalmanObserver observer)
```
    Set the observer.
    
    Parameters:
    
    observer - the observer
  - getEstimate
```
public ProcessEstimate getEstimate()
```
    Get the current corrected estimate.
    
    Returns:
    
    current corrected estimate
  - processMeasurements
```
public DSSTPropagator processMeasurements(List<ObservedMeasurement<?>> observedMeasurements,
                                          ExtendedKalmanFilter<MeasurementDecorator> filter)
```
    Process a single measurement.
    Update the filter with the new measurements.
    
    Parameters:
    
    observedMeasurements - the list of measurements to process
    
    filter - Extended Kalman Filter
    
    Returns:
    
    estimated propagator
  - getEstimatedPropagator
```
public DSSTPropagator getEstimatedPropagator()
```
    Get the propagator estimated with the values set in the propagator builder.
    
    Returns:
    
    propagator based on the current values in the builder
  - 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
  - finalizeOperationsObservationGrid
```
public void finalizeOperationsObservationGrid()
```
    Finalize estimation operations on the observation grid.
  - 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
  - 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
  - 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
  - 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)
  - 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
  - updateNominalSpacecraftState
```
public void updateNominalSpacecraftState(SpacecraftState nominal)
```
    Update the nominal spacecraft state.
    
    Parameters:
    
    nominal - nominal spacecraft state
  - updateReferenceTrajectory
```
public void updateReferenceTrajectory(DSSTPropagator propagator)
```
    Update the reference trajectories using the propagator as input.
    
    Parameters:
    
    propagator - The new propagator to use
  - updateShortPeriods
```
public void updateShortPeriods(SpacecraftState state)
```
    Update the DSST short periodic terms.
    
    Parameters:
    
    state - current mean state
  - initializeShortPeriodicTerms
```
public void initializeShortPeriodicTerms(SpacecraftState meanState)
```
    Initialize the short periodic terms for the Kalman Filter.
    
    Parameters:
    
    meanState - mean state for auxiliary elements

Class SemiAnalyticalKalmanModel

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Constructor Detail

SemiAnalyticalKalmanModel

Method Detail

getObserver

setObserver

getEstimate

processMeasurements

getEstimatedPropagator

getEvolution

getInnovation

finalizeEstimation

finalizeOperationsObservationGrid

getEstimatedOrbitalParameters

getEstimatedPropagationParameters

getEstimatedMeasurementsParameters

getPredictedSpacecraftStates

getCorrectedSpacecraftStates

getPhysicalEstimatedState

getPhysicalEstimatedCovarianceMatrix

getPhysicalStateTransitionMatrix

getPhysicalMeasurementJacobian

getPhysicalInnovationCovarianceMatrix

getPhysicalKalmanGain

getCurrentMeasurementNumber

getCurrentDate

getPredictedMeasurement

getCorrectedMeasurement

updateNominalSpacecraftState

updateReferenceTrajectory

updateShortPeriods

initializeShortPeriodicTerms