EstimatedEarthFrameProvider.java
/* Copyright 2002-2020 CS GROUP
* Licensed to CS GROUP (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
* the License. You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
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package org.orekit.estimation.measurements;
import java.io.Serializable;
import java.util.Map;
import org.hipparchus.RealFieldElement;
import org.hipparchus.analysis.differentiation.DSFactory;
import org.hipparchus.analysis.differentiation.DerivativeStructure;
import org.hipparchus.analysis.differentiation.Gradient;
import org.hipparchus.geometry.euclidean.threed.FieldRotation;
import org.hipparchus.geometry.euclidean.threed.FieldVector3D;
import org.hipparchus.geometry.euclidean.threed.Rotation;
import org.hipparchus.geometry.euclidean.threed.RotationConvention;
import org.hipparchus.geometry.euclidean.threed.Vector3D;
import org.hipparchus.util.FastMath;
import org.orekit.errors.OrekitException;
import org.orekit.errors.OrekitInternalError;
import org.orekit.errors.OrekitMessages;
import org.orekit.frames.FieldTransform;
import org.orekit.frames.Transform;
import org.orekit.frames.TransformProvider;
import org.orekit.time.AbsoluteDate;
import org.orekit.time.FieldAbsoluteDate;
import org.orekit.time.UT1Scale;
import org.orekit.utils.IERSConventions;
import org.orekit.utils.ParameterDriver;
/** Class modeling an Earth frame whose Earth Orientation Parameters can be estimated.
* <p>
* This class adds parameters for an additional polar motion
* and an additional prime meridian orientation on top of an underlying regular Earth
* frame like {@link org.orekit.frames.FramesFactory#getITRF(IERSConventions, boolean) ITRF}.
* The polar motion and prime meridian orientation are applied <em>after</em> regular Earth
* orientation parameters, so the value of the estimated parameters will be correction to EOP,
* they will not be the complete EOP values by themselves. Basically, this means that for
* Earth, the following transforms are applied in order, between inertial frame and this frame:
* </p>
* <ol>
* <li>precession/nutation, as theoretical model plus celestial pole EOP parameters</li>
* <li>body rotation, as theoretical model plus prime meridian EOP parameters</li>
* <li>polar motion, which is only from EOP parameters (no theoretical models)</li>
* <li>additional body rotation, controlled by {@link #getPrimeMeridianOffsetDriver()} and {@link #getPrimeMeridianDriftDriver()}</li>
* <li>additional polar motion, controlled by {@link #getPolarOffsetXDriver()}, {@link #getPolarDriftXDriver()},
* {@link #getPolarOffsetYDriver()} and {@link #getPolarDriftYDriver()}</li>
* </ol>
* @author Luc Maisonobe
* @since 9.1
*/
public class EstimatedEarthFrameProvider implements TransformProvider {
/** Earth Angular Velocity, in rad/s, from TIRF model. */
public static final double EARTH_ANGULAR_VELOCITY = 7.292115146706979e-5;
/** Serializable UID. */
private static final long serialVersionUID = 20170922L;
/** Angular scaling factor.
* <p>
* We use a power of 2 to avoid numeric noise introduction
* in the multiplications/divisions sequences.
* </p>
*/
private static final double ANGULAR_SCALE = FastMath.scalb(1.0, -22);
/** Underlying raw UT1. */
private final UT1Scale baseUT1;
/** Estimated UT1. */
private final transient UT1Scale estimatedUT1;
/** Driver for prime meridian offset. */
private final transient ParameterDriver primeMeridianOffsetDriver;
/** Driver for prime meridian drift. */
private final transient ParameterDriver primeMeridianDriftDriver;
/** Driver for pole offset along X. */
private final transient ParameterDriver polarOffsetXDriver;
/** Driver for pole drift along X. */
private final transient ParameterDriver polarDriftXDriver;
/** Driver for pole offset along Y. */
private final transient ParameterDriver polarOffsetYDriver;
/** Driver for pole drift along Y. */
private final transient ParameterDriver polarDriftYDriver;
/** Build an estimated Earth frame.
* <p>
* The initial values for the pole and prime meridian parametric linear models
* ({@link #getPrimeMeridianOffsetDriver()}, {@link #getPrimeMeridianDriftDriver()},
* {@link #getPolarOffsetXDriver()}, {@link #getPolarDriftXDriver()},
* {@link #getPolarOffsetXDriver()}, {@link #getPolarDriftXDriver()}) are set to 0.
* </p>
* @param baseUT1 underlying base UT1
* @since 9.1
*/
public EstimatedEarthFrameProvider(final UT1Scale baseUT1) {
this.primeMeridianOffsetDriver = new ParameterDriver("prime-meridian-offset",
0.0, ANGULAR_SCALE,
-FastMath.PI, FastMath.PI);
this.primeMeridianDriftDriver = new ParameterDriver("prime-meridian-drift",
0.0, ANGULAR_SCALE,
Double.NEGATIVE_INFINITY, Double.POSITIVE_INFINITY);
this.polarOffsetXDriver = new ParameterDriver("polar-offset-X",
0.0, ANGULAR_SCALE,
-FastMath.PI, FastMath.PI);
this.polarDriftXDriver = new ParameterDriver("polar-drift-X",
0.0, ANGULAR_SCALE,
Double.NEGATIVE_INFINITY, Double.POSITIVE_INFINITY);
this.polarOffsetYDriver = new ParameterDriver("polar-offset-Y",
0.0, ANGULAR_SCALE,
-FastMath.PI, FastMath.PI);
this.polarDriftYDriver = new ParameterDriver("polar-drift-Y",
0.0, ANGULAR_SCALE,
Double.NEGATIVE_INFINITY, Double.POSITIVE_INFINITY);
this.baseUT1 = baseUT1;
this.estimatedUT1 = new EstimatedUT1Scale();
}
/** Get a driver allowing to add a prime meridian rotation.
* <p>
* The parameter is an angle in radians. In order to convert this
* value to a DUT1 in seconds, the value must be divided by
* {@link #EARTH_ANGULAR_VELOCITY} (nominal Angular Velocity of Earth).
* </p>
* @return driver for prime meridian rotation
*/
public ParameterDriver getPrimeMeridianOffsetDriver() {
return primeMeridianOffsetDriver;
}
/** Get a driver allowing to add a prime meridian rotation rate.
* <p>
* The parameter is an angle rate in radians per second. In order to convert this
* value to a LOD in seconds, the value must be multiplied by -86400 and divided by
* {@link #EARTH_ANGULAR_VELOCITY} (nominal Angular Velocity of Earth).
* </p>
* @return driver for prime meridian rotation rate
*/
public ParameterDriver getPrimeMeridianDriftDriver() {
return primeMeridianDriftDriver;
}
/** Get a driver allowing to add a polar offset along X.
* <p>
* The parameter is an angle in radians
* </p>
* @return driver for polar offset along X
*/
public ParameterDriver getPolarOffsetXDriver() {
return polarOffsetXDriver;
}
/** Get a driver allowing to add a polar drift along X.
* <p>
* The parameter is an angle rate in radians per second
* </p>
* @return driver for polar drift along X
*/
public ParameterDriver getPolarDriftXDriver() {
return polarDriftXDriver;
}
/** Get a driver allowing to add a polar offset along Y.
* <p>
* The parameter is an angle in radians
* </p>
* @return driver for polar offset along Y
*/
public ParameterDriver getPolarOffsetYDriver() {
return polarOffsetYDriver;
}
/** Get a driver allowing to add a polar drift along Y.
* <p>
* The parameter is an angle rate in radians per second
* </p>
* @return driver for polar drift along Y
*/
public ParameterDriver getPolarDriftYDriver() {
return polarDriftYDriver;
}
/** Get the estimated UT1 time scale.
* @return estimated UT1 time scale
*/
public UT1Scale getEstimatedUT1() {
return estimatedUT1;
}
/** {@inheritDoc} */
@Override
public Transform getTransform(final AbsoluteDate date) {
// take parametric prime meridian shift into account
final double theta = linearModel(date, primeMeridianOffsetDriver, primeMeridianDriftDriver);
final double thetaDot = primeMeridianDriftDriver.getValue();
final Transform meridianShift =
new Transform(date,
new Rotation(Vector3D.PLUS_K, theta, RotationConvention.FRAME_TRANSFORM),
new Vector3D(0, 0, thetaDot));
// take parametric pole shift into account
final double xpNeg = -linearModel(date, polarOffsetXDriver, polarDriftXDriver);
final double ypNeg = -linearModel(date, polarOffsetYDriver, polarDriftYDriver);
final double xpNegDot = -polarDriftXDriver.getValue();
final double ypNegDot = -polarDriftYDriver.getValue();
final Transform poleShift =
new Transform(date,
new Transform(date,
new Rotation(Vector3D.PLUS_J, xpNeg, RotationConvention.FRAME_TRANSFORM),
new Vector3D(0.0, xpNegDot, 0.0)),
new Transform(date,
new Rotation(Vector3D.PLUS_I, ypNeg, RotationConvention.FRAME_TRANSFORM),
new Vector3D(ypNegDot, 0.0, 0.0)));
return new Transform(date, meridianShift, poleShift);
}
/** {@inheritDoc} */
@Override
public <T extends RealFieldElement<T>> FieldTransform<T> getTransform(final FieldAbsoluteDate<T> date) {
final T zero = date.getField().getZero();
// prime meridian shift parameters
final T theta = linearModel(date, primeMeridianOffsetDriver, primeMeridianDriftDriver);
final T thetaDot = zero.add(primeMeridianDriftDriver.getValue());
// pole shift parameters
final T xpNeg = linearModel(date, polarOffsetXDriver, polarDriftXDriver).negate();
final T ypNeg = linearModel(date, polarOffsetYDriver, polarDriftYDriver).negate();
final T xpNegDot = zero.subtract(polarDriftXDriver.getValue());
final T ypNegDot = zero.subtract(polarDriftYDriver.getValue());
return getTransform(date, theta, thetaDot, xpNeg, xpNegDot, ypNeg, ypNegDot);
}
/** Get the transform with derivatives.
* @param date date of the transform
* @param factory factory for the derivatives
* @param indices indices of the estimated parameters in derivatives computations
* @return computed transform with derivatives
* @deprecated as of 10.2, replaced by {@link #getTransform(FieldAbsoluteDate, int, Map)}
*/
@Deprecated
public FieldTransform<DerivativeStructure> getTransform(final FieldAbsoluteDate<DerivativeStructure> date,
final DSFactory factory,
final Map<String, Integer> indices) {
// prime meridian shift parameters
final DerivativeStructure theta = linearModel(factory, date,
primeMeridianOffsetDriver, primeMeridianDriftDriver,
indices);
final DerivativeStructure thetaDot = primeMeridianDriftDriver.getValue(factory, indices);
// pole shift parameters
final DerivativeStructure xpNeg = linearModel(factory, date,
polarOffsetXDriver, polarDriftXDriver, indices).negate();
final DerivativeStructure ypNeg = linearModel(factory, date,
polarOffsetYDriver, polarDriftYDriver, indices).negate();
final DerivativeStructure xpNegDot = polarDriftXDriver.getValue(factory, indices).negate();
final DerivativeStructure ypNegDot = polarDriftYDriver.getValue(factory, indices).negate();
return getTransform(date, theta, thetaDot, xpNeg, xpNegDot, ypNeg, ypNegDot);
}
/** Get the transform with derivatives.
* @param date date of the transform
* @param freeParameters total number of free parameters in the gradient
* @param indices indices of the estimated parameters in derivatives computations
* @return computed transform with derivatives
* @since 10.2
*/
public FieldTransform<Gradient> getTransform(final FieldAbsoluteDate<Gradient> date,
final int freeParameters,
final Map<String, Integer> indices) {
// prime meridian shift parameters
final Gradient theta = linearModel(freeParameters, date,
primeMeridianOffsetDriver, primeMeridianDriftDriver,
indices);
final Gradient thetaDot = primeMeridianDriftDriver.getValue(freeParameters, indices);
// pole shift parameters
final Gradient xpNeg = linearModel(freeParameters, date,
polarOffsetXDriver, polarDriftXDriver, indices).negate();
final Gradient ypNeg = linearModel(freeParameters, date,
polarOffsetYDriver, polarDriftYDriver, indices).negate();
final Gradient xpNegDot = polarDriftXDriver.getValue(freeParameters, indices).negate();
final Gradient ypNegDot = polarDriftYDriver.getValue(freeParameters, indices).negate();
return getTransform(date, theta, thetaDot, xpNeg, xpNegDot, ypNeg, ypNegDot);
}
/** Get the transform with derivatives.
* @param date date of the transform
* @param theta angle of the prime meridian
* @param thetaDot angular rate of the prime meridian
* @param xpNeg opposite of the angle of the pole motion along X
* @param xpNegDot opposite of the angular rate of the pole motion along X
* @param ypNeg opposite of the angle of the pole motion along Y
* @param ypNegDot opposite of the angular rate of the pole motion along Y
* @param <T> type of the field elements
* @return computed transform with derivatives
*/
private <T extends RealFieldElement<T>> FieldTransform<T> getTransform(final FieldAbsoluteDate<T> date,
final T theta, final T thetaDot,
final T xpNeg, final T xpNegDot,
final T ypNeg, final T ypNegDot) {
final T zero = date.getField().getZero();
final FieldVector3D<T> plusI = FieldVector3D.getPlusI(date.getField());
final FieldVector3D<T> plusJ = FieldVector3D.getPlusJ(date.getField());
final FieldVector3D<T> plusK = FieldVector3D.getPlusK(date.getField());
// take parametric prime meridian shift into account
final FieldTransform<T> meridianShift =
new FieldTransform<>(date,
new FieldRotation<>(plusK, theta, RotationConvention.FRAME_TRANSFORM),
new FieldVector3D<>(zero, zero, thetaDot));
// take parametric pole shift into account
final FieldTransform<T> poleShift =
new FieldTransform<>(date,
new FieldTransform<>(date,
new FieldRotation<>(plusJ, xpNeg, RotationConvention.FRAME_TRANSFORM),
new FieldVector3D<>(zero, xpNegDot, zero)),
new FieldTransform<>(date,
new FieldRotation<>(plusI, ypNeg, RotationConvention.FRAME_TRANSFORM),
new FieldVector3D<>(ypNegDot, zero, zero)));
return new FieldTransform<>(date, meridianShift, poleShift);
}
/** Evaluate a parametric linear model.
* @param date current date
* @param offsetDriver driver for the offset parameter
* @param driftDriver driver for the drift parameter
* @return current value of the linear model
*/
private double linearModel(final AbsoluteDate date,
final ParameterDriver offsetDriver, final ParameterDriver driftDriver) {
if (offsetDriver.getReferenceDate() == null) {
throw new OrekitException(OrekitMessages.NO_REFERENCE_DATE_FOR_PARAMETER,
offsetDriver.getName());
}
final double dt = date.durationFrom(offsetDriver.getReferenceDate());
final double offset = offsetDriver.getValue();
final double drift = driftDriver.getValue();
return dt * drift + offset;
}
/** Evaluate a parametric linear model.
* @param date current date
* @param offsetDriver driver for the offset parameter
* @param driftDriver driver for the drift parameter
* @return current value of the linear model
* @param <T> type of the filed elements
*/
private <T extends RealFieldElement<T>> T linearModel(final FieldAbsoluteDate<T> date,
final ParameterDriver offsetDriver,
final ParameterDriver driftDriver) {
if (offsetDriver.getReferenceDate() == null) {
throw new OrekitException(OrekitMessages.NO_REFERENCE_DATE_FOR_PARAMETER,
offsetDriver.getName());
}
final T dt = date.durationFrom(offsetDriver.getReferenceDate());
final double offset = offsetDriver.getValue();
final double drift = driftDriver.getValue();
return dt.multiply(drift).add(offset);
}
/** Evaluate a parametric linear model.
* @param factory factory for the derivatives
* @param date current date
* @param offsetDriver driver for the offset parameter
* @param driftDriver driver for the drift parameter
* @param indices indices of the estimated parameters in derivatives computations
* @return current value of the linear model
* @deprecated as of 10.2, replaced by {@link #linearModel(int, FieldAbsoluteDate, ParameterDriver, ParameterDriver, Map)}
*/
@Deprecated
private DerivativeStructure linearModel(final DSFactory factory, final FieldAbsoluteDate<DerivativeStructure> date,
final ParameterDriver offsetDriver, final ParameterDriver driftDriver,
final Map<String, Integer> indices) {
if (offsetDriver.getReferenceDate() == null) {
throw new OrekitException(OrekitMessages.NO_REFERENCE_DATE_FOR_PARAMETER,
offsetDriver.getName());
}
final DerivativeStructure dt = date.durationFrom(offsetDriver.getReferenceDate());
final DerivativeStructure offset = offsetDriver.getValue(factory, indices);
final DerivativeStructure drift = driftDriver.getValue(factory, indices);
return dt.multiply(drift).add(offset);
}
/** Evaluate a parametric linear model.
* @param freeParameters total number of free parameters in the gradient
* @param date current date
* @param offsetDriver driver for the offset parameter
* @param driftDriver driver for the drift parameter
* @param indices indices of the estimated parameters in derivatives computations
* @return current value of the linear model
* @since 10.2
*/
private Gradient linearModel(final int freeParameters, final FieldAbsoluteDate<Gradient> date,
final ParameterDriver offsetDriver, final ParameterDriver driftDriver,
final Map<String, Integer> indices) {
if (offsetDriver.getReferenceDate() == null) {
throw new OrekitException(OrekitMessages.NO_REFERENCE_DATE_FOR_PARAMETER,
offsetDriver.getName());
}
final Gradient dt = date.durationFrom(offsetDriver.getReferenceDate());
final Gradient offset = offsetDriver.getValue(freeParameters, indices);
final Gradient drift = driftDriver.getValue(freeParameters, indices);
return dt.multiply(drift).add(offset);
}
/** Replace the instance with a data transfer object for serialization.
* <p>
* This intermediate class serializes the files supported names, the ephemeris type
* and the body name.
* </p>
* @return data transfer object that will be serialized
*/
private Object writeReplace() {
return new DataTransferObject(baseUT1,
primeMeridianOffsetDriver.getValue(),
primeMeridianDriftDriver.getValue(),
polarOffsetXDriver.getValue(),
polarDriftXDriver.getValue(),
polarOffsetYDriver.getValue(),
polarDriftYDriver.getValue());
}
/** Local time scale for estimated UT1. */
private class EstimatedUT1Scale extends UT1Scale {
/** Serializable UID. */
private static final long serialVersionUID = 20170922L;
/** Simple constructor.
*/
EstimatedUT1Scale() {
super(baseUT1.getEOPHistory(), baseUT1.getUTCScale());
}
/** {@inheritDoc} */
@Override
public <T extends RealFieldElement<T>> T offsetFromTAI(final FieldAbsoluteDate<T> date) {
final T dut1 = linearModel(date, primeMeridianOffsetDriver, primeMeridianDriftDriver).divide(EARTH_ANGULAR_VELOCITY);
return baseUT1.offsetFromTAI(date).add(dut1);
}
/** {@inheritDoc} */
@Override
public double offsetFromTAI(final AbsoluteDate date) {
final double dut1 = linearModel(date, primeMeridianOffsetDriver, primeMeridianDriftDriver) / EARTH_ANGULAR_VELOCITY;
return baseUT1.offsetFromTAI(date) + dut1;
}
/** {@inheritDoc} */
@Override
public String getName() {
return baseUT1.getName() + "/estimated";
}
}
/** Internal class used only for serialization. */
private static class DataTransferObject implements Serializable {
/** Serializable UID. */
private static final long serialVersionUID = 20171124L;
/** Underlying raw UT1. */
private final UT1Scale baseUT1;
/** Current prime meridian offset. */
private final double primeMeridianOffset;
/** Current prime meridian drift. */
private final double primeMeridianDrift;
/** Current pole offset along X. */
private final double polarOffsetX;
/** Current pole drift along X. */
private final double polarDriftX;
/** Current pole offset along Y. */
private final double polarOffsetY;
/** Current pole drift along Y. */
private final double polarDriftY;
/** Simple constructor.
* @param baseUT1 underlying raw UT1
* @param primeMeridianOffset current prime meridian offset
* @param primeMeridianDrift current prime meridian drift
* @param polarOffsetX current pole offset along X
* @param polarDriftX current pole drift along X
* @param polarOffsetY current pole offset along Y
* @param polarDriftY current pole drift along Y
*/
DataTransferObject(final UT1Scale baseUT1,
final double primeMeridianOffset, final double primeMeridianDrift,
final double polarOffsetX, final double polarDriftX,
final double polarOffsetY, final double polarDriftY) {
this.baseUT1 = baseUT1;
this.primeMeridianOffset = primeMeridianOffset;
this.primeMeridianDrift = primeMeridianDrift;
this.polarOffsetX = polarOffsetX;
this.polarDriftX = polarDriftX;
this.polarOffsetY = polarOffsetY;
this.polarDriftY = polarDriftY;
}
/** Replace the deserialized data transfer object with a {@link EstimatedEarthFrameProvider}.
* @return replacement {@link EstimatedEarthFrameProvider}
*/
private Object readResolve() {
try {
final EstimatedEarthFrameProvider provider = new EstimatedEarthFrameProvider(baseUT1);
provider.getPrimeMeridianOffsetDriver().setValue(primeMeridianOffset);
provider.getPrimeMeridianDriftDriver().setValue(primeMeridianDrift);
provider.getPolarOffsetXDriver().setValue(polarOffsetX);
provider.getPolarDriftXDriver().setValue(polarDriftX);
provider.getPolarOffsetYDriver().setValue(polarOffsetY);
provider.getPolarDriftYDriver().setValue(polarDriftY);
return provider;
} catch (OrekitException oe) {
// this should never happen as values already come from previous drivers
throw new OrekitInternalError(oe);
}
}
}
}