Laas2015.java
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/*
* MIT License
*
* Copyright (c) 2019 Romain Serra
*
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* of this software and associated documentation files (the "Software"), to deal
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package org.orekit.ssa.collision.shorttermencounter.probability.twod;
import org.hipparchus.CalculusFieldElement;
import org.hipparchus.Field;
import org.hipparchus.linear.FieldVector;
import org.hipparchus.linear.MatrixUtils;
import org.hipparchus.stat.StatUtils;
import org.hipparchus.util.FastMath;
import org.hipparchus.util.MathArrays;
import org.hipparchus.util.MathUtils;
import org.orekit.ssa.metrics.FieldProbabilityOfCollision;
import org.orekit.ssa.metrics.ProbabilityOfCollision;
/**
* Compute the probability of collision using the method described in : "SERRA, Romain, ARZELIER, Denis, JOLDES, Mioara, et
* al. Fast and accurate computation of orbital collision probability for short-term encounters. Journal of Guidance,
* Control, and Dynamics, 2016, vol. 39, no 5, p. 1009-1021.".
* <p>
* It is one of the recommended methods to use.
* <p>
* It assumes :
* <ul>
* <li>Short encounter leading to a linear relative motion.</li>
* <li>Spherical collision object.</li>
* <li>Uncorrelated positional covariance.</li>
* <li>Gaussian distribution of the position uncertainties.</li>
* <li>Deterministic velocity i.e. no velocity uncertainties.</li>
* </ul>
* <p>
* The following constants are defined when using the empty constructor :
* <ul>
* <li>A default absolute accuracy of 1e-30.</li>
* <li>A maximum number of computed terms of 37000.</li>
* </ul>
* <p>
* This implementation has been translated from python from the provided source code of Romain SERRA on the
* <a href="https://github.com/Serrof/SST/blob/master/collision/short_term_poc.py">following github account</a>
*
* @author Vincent Cucchietti
* @author Romain Serra
* @since 12.0
*/
public class Laas2015 extends AbstractShortTermEncounter2DPOCMethod {
/** Default scaling threshold to use when sum becomes large. */
public static final double DEFAULT_SCALING_THRESHOLD = 1e10;
/**
* Defines the absolute accuracy of this method. For example, given an absolute accuracy of 1e-10, the probability of
* collision will be exact until its 1e-10 digit.
*/
private final double absoluteAccuracy;
/** Defines the max number of terms that the method will use, thus reducing the computation time in particular cases. */
private final int maxNumberOfTerms;
/**
* Default constructor.
* <p>
* It uses a default absolute accuracy of 1e-30 and a maximum number of terms of 37000 which is the max number of terms
* computed based on Romain SERRA's observation (p.56 of "Romain Serra. Opérations de proximité en orbite : * évaluation
* du risque de collision et calcul de manoeuvres optimales pour l’évitement et le rendez-vous. Automatique / *
* Robotique. INSA de Toulouse, 2015. Français. NNT : 2015ISAT0035. tel-01261497") about Alfano test case 5 where he
* explains that 37000 terms were enough to meet the required precision of 5 significant digits.
*/
public Laas2015() {
this(1.E-30, 37000);
}
/** Simple constructor.
* @param absoluteAccuracy absolute accuracy of the result
* @param maxNumberOfTerms max number of terms to compute
*/
public Laas2015(final double absoluteAccuracy, final int maxNumberOfTerms) {
super(ShortTermEncounter2DPOCMethodType.LAAS_2015.name());
this.absoluteAccuracy = absoluteAccuracy;
this.maxNumberOfTerms = maxNumberOfTerms;
}
/** {@inheritDoc} */
public final ProbabilityOfCollision compute(final double xm, final double ym,
final double sigmaX,
final double sigmaY,
final double radius) {
// CHECKSTYLE: stop Indentation check
// Initializing recurrent terms
final double xmSquared = xm * xm;
final double ymSquared = ym * ym;
final double sigmaXSq = sigmaX * sigmaX;
final double sigmaYSq = sigmaY * sigmaY;
final double radiusSquared = radius * radius;
final double p = 1. / (2. * (sigmaX * sigmaX));
final double phiY = 1. - (sigmaX / sigmaY * sigmaX / sigmaY);
final double omegaX = (xm / (2. * sigmaXSq)) * (xm / (2. * sigmaXSq));
final double omegaY = (ym / (2. * sigmaYSq)) * (ym / (2. * sigmaYSq));
final double bigOmega = phiY * 0.5 + (omegaX + omegaY) / p;
final double alpha0 = 0.5 * FastMath.exp(-(xmSquared / sigmaXSq + ymSquared / sigmaYSq) * 0.5) / sigmaX / sigmaY;
// Lower boundary
final double l0 = alpha0 * (1. - FastMath.exp(-p * radiusSquared)) / p;
// Upper boundary
final double u0Temp = alpha0 * (FastMath.exp(p * bigOmega * radiusSquared) -
FastMath.exp(-p * radiusSquared)) / (p * (1. + bigOmega));
final double u0 = u0Temp > 1 ? 1 : u0Temp;
// If the boundaries are close enough to the actual value according to defined relative accuracy
if (u0 - l0 <= absoluteAccuracy) {
return new ProbabilityOfCollision(StatUtils.mean(u0, l0), u0, l0, getName(),
isAMaximumProbabilityOfCollisionMethod());
}
// Otherwise
else {
final int n1 = (int) (2. * FastMath.ceil(FastMath.E * p * radiusSquared * (1. + bigOmega)));
final double n2_inter =
alpha0 * FastMath.exp(p * radiusSquared * bigOmega) /
(absoluteAccuracy * p * FastMath.sqrt(MathUtils.TWO_PI * n1) *
(1. + bigOmega));
final int n2 = (int) FastMath.ceil(FastMath.log(2, n2_inter));
// Number of terms to get the relative accuracy desired
int nMax = FastMath.max(n1, n2) - 1;
nMax = FastMath.min(nMax, maxNumberOfTerms);
// Initializing terms used in the equations
final double pSquared = p * p;
final double pCubed = pSquared * p;
final double pTimesRadiusSquared = p * radiusSquared;
final double radiusFourth = radiusSquared * radiusSquared;
final double radiusSixth = radiusFourth * radiusSquared;
final double phiYSquared = phiY * phiY;
final double pPhiY = p * phiY;
final double omegaSum = omegaX + omegaY;
final double pSqTimesHalfPhiYSqPlusOne = pSquared * MathArrays.linearCombination(0.5, phiYSquared, 1., 1.);
final double recurrentTerm0 = MathArrays.linearCombination(0.5, phiY, 1., 1.);
final double recurrentTerm1 = MathArrays.linearCombination(p, recurrentTerm0, 1., omegaSum);
final double recurrentTerm2 = MathArrays.linearCombination(1., pSqTimesHalfPhiYSqPlusOne, 2., pPhiY * omegaY);
final double recurrentTerm3 = recurrentTerm1 * recurrentTerm1;
final double auxiliaryTerm0 = radiusSixth * pCubed * phiYSquared * omegaX;
final double auxiliaryTerm1 = radiusFourth * pSquared * phiY;
final double auxiliaryTerm2 = 2. * omegaX * recurrentTerm0;
final double auxiliaryTerm3 = phiY * MathArrays.linearCombination(2., omegaX, 1.5, p) + omegaSum;
final double auxiliaryTerm4 = pPhiY * recurrentTerm0 * 2.;
final double auxiliaryTerm5 = p * (2. * phiY + 1.);
double kPlus2 = 2.;
double kPlus3 = 3.;
double kPlus4 = 4.;
double kPlus5 = 5.;
double halfY = 2.5;
// Initialize recurrence
double c0 = alpha0 * radiusSquared;
double c1 = c0 * radiusSquared * 0.5 * recurrentTerm1;
double c2 = c0 * (radiusFourth / 12.) * (recurrentTerm3 + recurrentTerm2);
double c3 = c0 * (radiusSixth / 144.) * (recurrentTerm1 * (recurrentTerm3 + 3. * recurrentTerm2) +
2. * (pCubed * (1. + phiYSquared * phiY * 0.5) + 3. * pSquared * phiYSquared * omegaY));
final double[] initialCoefficients = new double[] { c0, c1, c2, c3 };
double sum = 0.;
double rescalingCounter = 0.;
for (int i = 0; i < FastMath.min(nMax, 4); i++) {
sum += initialCoefficients[i];
// Rescale quantities if necessary
if (sum > DEFAULT_SCALING_THRESHOLD) {
rescalingCounter += FastMath.log10(DEFAULT_SCALING_THRESHOLD);
c0 /= DEFAULT_SCALING_THRESHOLD;
c1 /= DEFAULT_SCALING_THRESHOLD;
c2 /= DEFAULT_SCALING_THRESHOLD;
c3 /= DEFAULT_SCALING_THRESHOLD;
sum /= DEFAULT_SCALING_THRESHOLD;
}
}
// Iterate
double temp;
for (int k = 0; k < nMax - 4; k++) {
// Rescale quantities if necessary
if (sum > DEFAULT_SCALING_THRESHOLD) {
rescalingCounter += FastMath.log10(DEFAULT_SCALING_THRESHOLD);
c0 /= DEFAULT_SCALING_THRESHOLD;
c1 /= DEFAULT_SCALING_THRESHOLD;
c2 /= DEFAULT_SCALING_THRESHOLD;
c3 /= DEFAULT_SCALING_THRESHOLD;
sum /= DEFAULT_SCALING_THRESHOLD;
}
// Recurrence relation
final double denominator = kPlus4 * kPlus3;
temp = c3 * MathArrays.linearCombination(1, recurrentTerm1, kPlus3, auxiliaryTerm5);
temp -= c2 * pTimesRadiusSquared * MathArrays.linearCombination(halfY, auxiliaryTerm4, 1, auxiliaryTerm3) /
kPlus4;
temp += c1 * auxiliaryTerm1 * MathArrays.linearCombination(halfY, pPhiY, 1., auxiliaryTerm2) / denominator;
temp -= c0 * auxiliaryTerm0 / (denominator * kPlus2);
temp *= radiusSquared / (kPlus4 * kPlus5);
c0 = c1;
c1 = c2;
c2 = c3;
c3 = temp;
// Update intermediate variables
kPlus2 = kPlus3;
kPlus3 = kPlus4;
kPlus4 = kPlus5;
kPlus5 = kPlus5 + 1.;
halfY += 1.;
// Update sum
sum += c3;
}
// CHECKSTYLE: resume Indentation check
final double value = sum *
FastMath.exp(MathArrays.linearCombination(FastMath.log(10.), rescalingCounter, -p, radiusSquared));
return new ProbabilityOfCollision(value, l0, u0, getName(), isAMaximumProbabilityOfCollisionMethod());
}
}
/** {@inheritDoc} */
public final <T extends CalculusFieldElement<T>> FieldProbabilityOfCollision<T> compute(final T xm, final T ym,
final T sigmaX,
final T sigmaY,
final T radius) {
// CHECKSTYLE: stop Indentation check
// Initializing recurrent terms
final Field<T> field = xm.getField();
final T zero = field.getZero();
final T one = field.getOne();
final T xmSquared = xm.multiply(xm);
final T ymSquared = ym.multiply(ym);
final T sigmaXSquared = sigmaX.multiply(sigmaX);
final T sigmaYSquared = sigmaY.multiply(sigmaY);
final T twoSigmaXY = sigmaX.multiply(sigmaY).multiply(2);
final T radiusSquared = radius.multiply(radius);
final T radiusFourth = radiusSquared.multiply(radiusSquared);
final T radiusSixth = radiusFourth.multiply(radiusSquared);
final T p = sigmaX.multiply(sigmaX).reciprocal().multiply(0.5);
final T pTimesRadiusSquared = p.multiply(radiusSquared);
final T phiY = sigmaXSquared.divide(sigmaYSquared).negate().add(1.);
final T omegaX = xm.divide(sigmaXSquared.multiply(2.)).pow(2.);
final T omegaY = ym.divide(sigmaYSquared.multiply(2.)).pow(2.);
final T omegaSum = omegaX.add(omegaY);
final T bigOmega = phiY.multiply(0.5).add(omegaX.add(omegaY).divide(p));
final T minusP = p.negate();
final T pSquared = p.multiply(p);
final T pCubed = p.multiply(pSquared);
final T pPhiY = p.multiply(phiY);
final T phiYSquared = phiY.multiply(phiY);
final T pRadiusSquaredBigOmega = p.multiply(radiusSquared).multiply(bigOmega);
final T bigOmegaPlusOne = bigOmega.add(1.);
final T pSqTimesHalfPhiYSqPlusOne = pSquared.multiply(phiYSquared.multiply(0.5).add(1.));
final T alpha0 = xmSquared.divide(sigmaXSquared).add(ymSquared.divide(sigmaYSquared)).multiply(-0.5).exp()
.divide(twoSigmaXY);
// Lower boundary
final T l0 = alpha0.multiply(radiusSquared.multiply(minusP).exp().negate().add(1.)).divide(p);
// Upper boundary
final T u0Temp = alpha0.multiply(pRadiusSquaredBigOmega.exp().subtract(radiusSquared.multiply(minusP).exp()))
.divide(p.multiply(bigOmegaPlusOne));
final T u0 = u0Temp.getReal() > 1 ? one : u0Temp;
// If the boundaries are close enough to the actual value according to defined relative accuracy
if (u0.getReal() - l0.getReal() <= absoluteAccuracy) {
return new FieldProbabilityOfCollision<>(u0.add(l0).multiply(0.5), u0, l0, getName(),
isAMaximumProbabilityOfCollisionMethod());
}
// Otherwise
else {
final int n1 = (int) (2. *
FastMath.ceil(FastMath.E * p.multiply(radiusSquared).multiply(bigOmegaPlusOne).getReal()));
final double n2_inter =
alpha0.getReal() * FastMath.exp(pRadiusSquaredBigOmega.getReal()) /
(absoluteAccuracy * p.getReal() * FastMath.sqrt(MathUtils.TWO_PI * n1) *
(1. + bigOmega.getReal()));
final int n2 = (int) FastMath.ceil(FastMath.log(2., n2_inter));
// Number of terms to get the relative accuracy desired
int nMax = FastMath.max(n1, n2) - 1;
nMax = FastMath.min(nMax, maxNumberOfTerms);
// Recurrent term in the equations
final T recurrentTerm0 = phiY.multiply(0.5).add(1);
final T recurrentTerm1 = p.multiply(recurrentTerm0).add(omegaSum);
final T recurrentTerm2 = pSqTimesHalfPhiYSqPlusOne.add(pPhiY.multiply(omegaY).multiply(2.));
final T recurrentTerm3 = recurrentTerm1.multiply(recurrentTerm1);
final T auxiliaryTerm0 = radiusSixth.multiply(pCubed).multiply(phiYSquared).multiply(omegaX);
final T auxiliaryTerm1 = radiusFourth.multiply(pSquared).multiply(phiY);
final T auxiliaryTerm2 = omegaX.multiply(recurrentTerm0).multiply(2.);
final T auxiliaryTerm3 = phiY.multiply(omegaX.multiply(2.).add(p.multiply(1.5))).add(omegaSum);
final T auxiliaryTerm4 = pPhiY.multiply(recurrentTerm0).multiply(2.);
final T auxiliaryTerm5 = p.multiply(phiY.multiply(2.).add(1.));
T kPlus2 = one.multiply(2.);
T kPlus3 = one.multiply(3.);
T kPlus4 = one.multiply(4.);
T kPlus5 = one.multiply(5.);
T halfY = one.multiply(2.5);
// Initialize recurrence
T c0 = alpha0.multiply(radiusSquared);
T c1 = c0.multiply(radiusSquared).multiply(0.5).multiply(recurrentTerm1);
T c2 = c0.multiply(radiusFourth.divide(12.)).multiply(recurrentTerm3.add(recurrentTerm2));
T c3 = c0.multiply(radiusSixth.divide(144.)).multiply(
recurrentTerm1.multiply(recurrentTerm2.multiply(3.).add(recurrentTerm3))
.add(pCubed.multiply(2.).multiply(phiYSquared.multiply(phiY).multiply(0.5).add(1.)))
.add(pSquared.multiply(phiYSquared).multiply(omegaY).multiply(6.)));
final FieldVector<T> initialCoefficients = MatrixUtils.createFieldVector(field, 4);
initialCoefficients.setEntry(0, c0);
initialCoefficients.setEntry(1, c1);
initialCoefficients.setEntry(2, c2);
initialCoefficients.setEntry(3, c3);
T sum = zero;
T rescalingCounter = zero;
for (int i = 0; i < FastMath.min(nMax, 4); i++) {
sum = sum.add(initialCoefficients.getEntry(i));
// Rescale quantities if necessary
if (sum.getReal() > DEFAULT_SCALING_THRESHOLD) {
rescalingCounter = rescalingCounter.add(FastMath.log10(DEFAULT_SCALING_THRESHOLD));
c0 = c0.divide(DEFAULT_SCALING_THRESHOLD);
c1 = c1.divide(DEFAULT_SCALING_THRESHOLD);
c2 = c2.divide(DEFAULT_SCALING_THRESHOLD);
c3 = c3.divide(DEFAULT_SCALING_THRESHOLD);
sum = sum.divide(DEFAULT_SCALING_THRESHOLD);
}
}
// Iterate
T temp;
for (int k = 0; k < nMax - 4; k++) {
// Rescale quantities if necessary
if (sum.getReal() > DEFAULT_SCALING_THRESHOLD) {
rescalingCounter = rescalingCounter.add(FastMath.log10(DEFAULT_SCALING_THRESHOLD));
c0 = c0.divide(DEFAULT_SCALING_THRESHOLD);
c1 = c1.divide(DEFAULT_SCALING_THRESHOLD);
c2 = c2.divide(DEFAULT_SCALING_THRESHOLD);
c3 = c3.divide(DEFAULT_SCALING_THRESHOLD);
sum = sum.divide(DEFAULT_SCALING_THRESHOLD);
}
// Recurrence relation
final T denominator = kPlus4.multiply(kPlus3);
temp = c3.multiply(recurrentTerm1.add(auxiliaryTerm5.multiply(kPlus3)));
temp = temp.subtract(
c2.multiply(pTimesRadiusSquared).multiply(auxiliaryTerm4.multiply(halfY).add(auxiliaryTerm3))
.divide(kPlus4));
temp = temp.add(
c1.multiply(auxiliaryTerm1).multiply(pPhiY.multiply(halfY).add(auxiliaryTerm2)).divide(denominator));
temp = temp.subtract(c0.multiply(auxiliaryTerm0).divide(denominator.multiply(kPlus2)));
temp = temp.multiply(radiusSquared.divide(kPlus4.multiply(kPlus5)));
c0 = c1;
c1 = c2;
c2 = c3;
c3 = temp;
// Update intermediate variables
kPlus2 = kPlus3;
kPlus3 = kPlus4;
kPlus4 = kPlus5;
kPlus5 = kPlus5.add(1.);
halfY = halfY.add(1.);
// Update sum
sum = sum.add(c3);
}
final T value =
sum.multiply((rescalingCounter.multiply(FastMath.log(10.)).subtract(pTimesRadiusSquared)).exp());
return new FieldProbabilityOfCollision<>(value, l0, u0, getName(), isAMaximumProbabilityOfCollisionMethod());
// CHECKSTYLE: resume Indentation check
}
}
/** {@inheritDoc} */
@Override
public ShortTermEncounter2DPOCMethodType getType() {
return ShortTermEncounter2DPOCMethodType.LAAS_2015;
}
}