Class UnscentedKalmanEstimatorBuilder
- java.lang.Object
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- org.orekit.estimation.sequential.UnscentedKalmanEstimatorBuilder
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public class UnscentedKalmanEstimatorBuilder extends Object
Builder for an Unscented Kalman filter estimator.The builder is generalized to accept any
PropagatorBuilder
. Howerver, it is absolutely not recommended to use aDSSTPropagatorBuilder
. A specificsemi-analytical unscented Kalman Filter
is implemented and shall be used.- Since:
- 11.3
- Author:
- Gaƫtan Pierre, Bryan Cazabonne
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Constructor Summary
Constructors Constructor Description UnscentedKalmanEstimatorBuilder()
Default constructor.
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Method Summary
All Methods Instance Methods Concrete Methods Modifier and Type Method Description UnscentedKalmanEstimatorBuilder
addPropagationConfiguration(PropagatorBuilder builder, CovarianceMatrixProvider provider)
Add a propagation configuration.UnscentedKalmanEstimator
build()
Construct aUnscentedKalmanEstimator
from the data in this builder.UnscentedKalmanEstimatorBuilder
decomposer(MatrixDecomposer matrixDecomposer)
Configure the matrix decomposer.UnscentedKalmanEstimatorBuilder
estimatedMeasurementsParameters(ParameterDriversList estimatedMeasurementsParams, CovarianceMatrixProvider provider)
Configure the estimated measurement parameters.UnscentedKalmanEstimatorBuilder
unscentedTransformProvider(UnscentedTransformProvider transformProvider)
Configure the unscented transform provider.
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Method Detail
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build
public UnscentedKalmanEstimator build()
Construct aUnscentedKalmanEstimator
from the data in this builder.Before this method is called,
addPropagationConfiguration()
must have been called at least once, otherwise configuration is incomplete and an exception will be raised.In addition, the
unscentedTransformProvider()
must be called to configure the unscented transform provider use during the estimation process, otherwise configuration is incomplete and an exception will be raised.- Returns:
- a new
UnscentedKalmanEstimator
.
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decomposer
public UnscentedKalmanEstimatorBuilder decomposer(MatrixDecomposer matrixDecomposer)
Configure the matrix decomposer.- Parameters:
matrixDecomposer
- decomposer to use for the correction phase- Returns:
- this object.
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unscentedTransformProvider
public UnscentedKalmanEstimatorBuilder unscentedTransformProvider(UnscentedTransformProvider transformProvider)
Configure the unscented transform provider.- Parameters:
transformProvider
- unscented transform to use for the prediction phase- Returns:
- this object.
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addPropagationConfiguration
public UnscentedKalmanEstimatorBuilder addPropagationConfiguration(PropagatorBuilder builder, CovarianceMatrixProvider provider)
Add a propagation configuration.This method must be called once for each propagator to managed with the
unscented kalman estimatior
. The propagators order in the Kalman filter will be the call order.The
provider
should return a matrix with dimensions and ordering consistent with thebuilder
configuration. The first 6 rows/columns correspond to the 6 orbital parameters which must all be present, regardless of the fact they are estimated or not. The remaining elements correspond to the subset of propagation parameters that are estimated, in the same order as propagatorBuilder.getPropagationParametersDrivers()
.getDrivers()
(but filtering out the non selected drivers).- Parameters:
builder
- The propagator builder to use in the Kalman filter.provider
- The process noise matrices provider to use, consistent with the builder.- Returns:
- this object.
- See Also:
getProcessNoiseMatrix(previous, current)
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estimatedMeasurementsParameters
public UnscentedKalmanEstimatorBuilder estimatedMeasurementsParameters(ParameterDriversList estimatedMeasurementsParams, CovarianceMatrixProvider provider)
Configure the estimated measurement parameters.If this method is not called, no measurement parameters will be estimated.
- Parameters:
estimatedMeasurementsParams
- The estimated measurements' parameters list.provider
- covariance matrix provider for the estimated measurement parameters- Returns:
- this object.
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