UnscentedKalmanEstimator (OREKIT 12.2 API)

java.lang.Object
- org.orekit.estimation.sequential.AbstractKalmanEstimator
- - org.orekit.estimation.sequential.UnscentedKalmanEstimator

```
public class UnscentedKalmanEstimator
extends AbstractKalmanEstimator
```
Implementation of an Unscented Kalman filter to perform orbit determination.
The filter uses a PropagatorBuilder to initialize its reference trajectory.

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.

An UnscentedKalmanEstimator object is built using the build method of a UnscentedKalmanEstimatorBuilder. The builder is generalized to accept any PropagatorBuilder. Howerver, it is absolutely not recommended to use a DSSTPropagatorBuilder. A specific semi-analytical unscented Kalman Filter is implemented and shall be used.
Since:

11.3

Author:

Gaëtan Pierre, Bryan Cazabonne

Method Summary

All Methods Instance Methods Concrete Methods
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 propagator
  - processMeasurements
```
public Propagator[] processMeasurements(Iterable<ObservedMeasurement<?>> observedMeasurements)
```
    Process several measurements.
    
    Parameters:
    
    observedMeasurements - the measurements to process in chronologically sorted order
    
    Returns:
    
    estimated propagator