Package org.orekit.propagation.numerical

Class NumericalPropagator

java.lang.Object

org.orekit.propagation.AbstractPropagator

org.orekit.propagation.integration.AbstractIntegratedPropagator

org.orekit.propagation.numerical.NumericalPropagator

All Implemented Interfaces:

Propagator, PVCoordinatesProvider

public class NumericalPropagator
extends AbstractIntegratedPropagator

This class propagates orbits using numerical integration.

Numerical propagation is much more accurate than analytical propagation like for example Keplerian or Eckstein-Hechler, but requires a few more steps to set up to be used properly. Whereas analytical propagators are configured only thanks to their various constructors and can be used immediately after construction, numerical propagators configuration involve setting several parameters between construction time and propagation time.

The configuration parameters that can be set are:

• the initial spacecraft state (setInitialState(SpacecraftState))
• the central attraction coefficient (setMu(double))
• the various force models (addForceModel(ForceModel), removeForceModels())
• the type of orbital parameters to be used for propagation (setOrbitType(OrbitType)),
• the type of position angle to be used in orbital parameters to be used for propagation where it is relevant (setPositionAngleType(PositionAngleType)),
• whether state transition matrices and Jacobians matrices should be propagated along with orbital state (AbstractPropagator.setupMatricesComputation(String, RealMatrix, DoubleArrayDictionary)),
• whether additional derivatives should be propagated along with orbital state (AbstractIntegratedPropagator.addAdditionalDerivativesProvider(AdditionalDerivativesProvider)),
• the discrete events that should be triggered during propagation (AbstractIntegratedPropagator.addEventDetector(EventDetector), AbstractIntegratedPropagator.clearEventsDetectors())
• the binding logic with the rest of the application (AbstractPropagator.getMultiplexer())

From these configuration parameters, only the initial state is mandatory. The default propagation settings are in equinoctial parameters with PositionAngleType.ECCENTRIC longitude argument. If the central attraction coefficient is not explicitly specified, the one used to define the initial orbit will be used. However, specifying only the initial state and perhaps the central attraction coefficient would mean the propagator would use only Keplerian forces. In this case, the simpler KeplerianPropagator class would perhaps be more effective.

The underlying numerical integrator set up in the constructor may also have its own configuration parameters. Typical configuration parameters for adaptive stepsize integrators are the min, max and perhaps start step size as well as the absolute and/or relative errors thresholds.

The state that is seen by the integrator is a simple seven elements double array. The six first elements are either:

• the equinoctial orbit parameters (a, e_x, e_y, h_x, h_y, λ_M or λ_E or λ_v) in meters and radians,
• the Keplerian orbit parameters (a, e, i, ω, Ω, M or E or v) in meters and radians,
• the circular orbit parameters (a, e_x, e_y, i, Ω, α_M or α_E or α_v) in meters and radians,
• the Cartesian orbit parameters (x, y, z, v_x, v_y, v_z) in meters and meters per seconds.

The last element is the mass in kilograms and changes only during thrusters firings

The following code snippet shows a typical setting for Low Earth Orbit propagation in equinoctial parameters and true longitude argument:

 final double dP       = 0.001;
 final double minStep  = 0.001;
 final double maxStep  = 500;
 final double initStep = 60;
 final double[][] tolerance = ToleranceProvider.getDefaultToleranceProvider(dP).getTolerances(orbit, OrbitType.EQUINOCTIAL);
 AdaptiveStepsizeIntegrator integrator = new DormandPrince853Integrator(minStep, maxStep, tolerance[0], tolerance[1]);
 integrator.setInitialStepSize(initStep);
 propagator = new NumericalPropagator(integrator);
 

By default, at the end of the propagation, the propagator resets the initial state to the final state, thus allowing a new propagation to be started from there without recomputing the part already performed. This behaviour can be changed by calling AbstractIntegratedPropagator.setResetAtEnd(boolean).

Beware the same instance cannot be used simultaneously by different threads, the class is not thread-safe.

Author:

Mathieu Roméro, Luc Maisonobe, Guylaine Prat, Fabien Maussion, Véronique Pommier-Maurussane

See Also:

SpacecraftState, ForceModel, OrekitStepHandler, OrekitFixedStepHandler, IntegratedEphemeris, TimeDerivativesEquations

Nested Class Summary

Nested classes/interfaces inherited from class org.orekit.propagation.integration.AbstractIntegratedPropagator

AbstractIntegratedPropagator.MainStateEquations

Field Summary

Fields

Modifier and Type	Field	Description
static OrbitType	DEFAULT_ORBIT_TYPE	Default orbit type.
static PositionAngleType	DEFAULT_POSITION_ANGLE_TYPE	Default position angle type.

Fields inherited from interface org.orekit.propagation.Propagator

DEFAULT_MASS

Constructor Summary

Constructors

Constructor	Description
NumericalPropagator(ODEIntegrator integrator)	Create a new instance of NumericalPropagator, based on orbit definition mu.
NumericalPropagator(ODEIntegrator integrator, AttitudeProvider attitudeProvider)	Create a new instance of NumericalPropagator, based on orbit definition mu.

Method Summary

Modifier and Type	Method	Description
void	addForceModel(ForceModel model)	Add a force model.
protected void	beforeIntegration(SpacecraftState initialState, AbsoluteDate tEnd)	Method called just before integration.
protected AbstractMatricesHarvester	createHarvester(String stmName, RealMatrix initialStm, DoubleArrayDictionary initialJacobianColumns)	Create the harvester suitable for propagator.
protected StateMapper	createMapper(AbsoluteDate referenceDate, double mu, OrbitType orbitType, PositionAngleType positionAngleType, AttitudeProvider attitudeProvider, Frame frame)	Create a mapper between raw double components and spacecraft state.
List<ForceModel>	getAllForceModels()	Get all the force models, perturbing forces and Newtonian attraction included.
protected AbstractIntegratedPropagator.MainStateEquations	getMainStateEquations(ODEIntegrator integrator)	Get the differential equations to integrate (for main state only).
OrbitType	getOrbitType()	Get propagation parameter type.
PositionAngleType	getPositionAngleType()	Get propagation parameter type.
protected AttitudeProvider	initializeAttitudeProviderForDerivatives()	Method called when initializing the attitude provider used when evaluating derivatives.
void	removeForceModels()	Remove all force models (except central attraction).
void	resetInitialState(SpacecraftState state)	Reset the propagator initial state.
void	setIgnoreCentralAttraction(boolean ignoreCentralAttraction)	Set the flag to ignore or not the creation of a NewtonianAttraction.
void	setInitialState(SpacecraftState initialState)	Set the initial state.
void	setMu(double mu)	Set the central attraction coefficient μ.
void	setOrbitType(OrbitType orbitType)	Set propagation orbit type.
void	setPositionAngleType(PositionAngleType positionAngleType)	Set position angle type.
protected void	setUpStmAndJacobianGenerators()	Set up State Transition Matrix and Jacobian matrix handling.
static double[][]	tolerances(double dP, double dV, Orbit orbit, OrbitType type)	Deprecated. since 13.0.
static double[][]	tolerances(double dP, Orbit orbit, OrbitType type)	Estimate tolerance vectors for integrators when propagating in orbits.
static double[][]	tolerances(double dP, AbsolutePVCoordinates absPva)	Deprecated. since 13.0.

Methods inherited from class org.orekit.propagation.integration.AbstractIntegratedPropagator

addAdditionalDerivativesProvider, addEventDetector, afterIntegration, clearEventsDetectors, getAdditionalDerivativesProviders, getBasicDimension, getCalls, getEphemerisGenerator, getEventDetectors, getInitialIntegrationState, getIntegrator, getIntegratorName, getManagedAdditionalStates, getMu, getPropagationType, getResetAtEnd, initMapper, isAdditionalStateManaged, propagate, propagate, resetInitialState, setAttitudeProvider, setResetAtEnd, setUpEventDetector, setUpUserEventDetectors

Methods inherited from class org.orekit.propagation.AbstractPropagator

addAdditionalStateProvider, getAdditionalStateProviders, getAttitudeProvider, getFrame, getHarvester, getInitialState, getMultiplexer, getStartDate, initializeAdditionalStates, initializePropagation, setStartDate, setupMatricesComputation, stateChanged, updateAdditionalStates, updateUnmanagedStates

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Methods inherited from interface org.orekit.propagation.Propagator

clearStepHandlers, getPosition, getPVCoordinates, setStepHandler, setStepHandler

Field Detail

DEFAULT_ORBIT_TYPE

public static final OrbitType DEFAULT_ORBIT_TYPE

Default orbit type.

DEFAULT_POSITION_ANGLE_TYPE

public static final PositionAngleType DEFAULT_POSITION_ANGLE_TYPE

Default position angle type.

Constructor Detail

NumericalPropagator

@DefaultDataContext
public NumericalPropagator(ODEIntegrator integrator)

Create a new instance of NumericalPropagator, based on orbit definition mu. After creation, the instance is empty, i.e. the attitude provider is set to an unspecified default law and there are no perturbing forces at all. This means that if addForceModel is not called after creation, the integrated orbit will follow a Keplerian evolution only. The defaults are OrbitType.EQUINOCTIAL for propagation orbit type and PositionAngleType.ECCENTRIC for position angle type.

This constructor uses the default data context.

Parameters:

integrator - numerical integrator to use for propagation.

See Also:

NumericalPropagator(ODEIntegrator, AttitudeProvider)

NumericalPropagator

public NumericalPropagator(ODEIntegrator integrator,
                           AttitudeProvider attitudeProvider)

Create a new instance of NumericalPropagator, based on orbit definition mu. After creation, the instance is empty, i.e. the attitude provider is set to an unspecified default law and there are no perturbing forces at all. This means that if addForceModel is not called after creation, the integrated orbit will follow a Keplerian evolution only. The defaults are OrbitType.EQUINOCTIAL for propagation orbit type and PositionAngleType.ECCENTRIC for position angle type.

Parameters:

integrator - numerical integrator to use for propagation.

attitudeProvider - the attitude law.

Since:

10.1

Method Detail

setIgnoreCentralAttraction

public void setIgnoreCentralAttraction(boolean ignoreCentralAttraction)

Set the flag to ignore or not the creation of a NewtonianAttraction.

Parameters:

ignoreCentralAttraction - if true, NewtonianAttraction is not added automatically if missing

setMu

public void setMu(double mu)

Set the central attraction coefficient μ.

Setting the central attraction coefficient is equivalent to add a NewtonianAttraction force model. *

Overrides:

setMu in class AbstractIntegratedPropagator

Parameters:

mu - central attraction coefficient (m³/s²)

See Also:

addForceModel(ForceModel), getAllForceModels()

addForceModel

public void addForceModel(ForceModel model)

Add a force model.

If this method is not called at all, the integrated orbit will follow a Keplerian evolution only.

Parameters:

model - ForceModel to add (it can be either a perturbing force model or an instance of NewtonianAttraction)

See Also:

removeForceModels(), setMu(double)

removeForceModels

public void removeForceModels()

Remove all force models (except central attraction).

Once all perturbing forces have been removed (and as long as no new force model is added), the integrated orbit will follow a Keplerian evolution only.

See Also:

addForceModel(ForceModel)

getAllForceModels

public List<ForceModel> getAllForceModels()

Get all the force models, perturbing forces and Newtonian attraction included.

Returns:

list of perturbing force models, with Newtonian attraction being the last one

See Also:

addForceModel(ForceModel), setMu(double)

setOrbitType

public void setOrbitType(OrbitType orbitType)

Set propagation orbit type.

Overrides:

setOrbitType in class AbstractIntegratedPropagator

Parameters:

orbitType - orbit type to use for propagation, null for propagating using AbsolutePVCoordinates rather than Orbit

getOrbitType

public OrbitType getOrbitType()

Get propagation parameter type.

Overrides:

getOrbitType in class AbstractIntegratedPropagator

Returns:

orbit type used for propagation, null for propagating using AbsolutePVCoordinates rather than Orbit

setPositionAngleType

public void setPositionAngleType(PositionAngleType positionAngleType)

Set position angle type.

The position parameter type is meaningful only if propagation orbit type support it. As an example, it is not meaningful for propagation in Cartesian parameters.

Overrides:

setPositionAngleType in class AbstractIntegratedPropagator

Parameters:

positionAngleType - angle type to use for propagation

getPositionAngleType

public PositionAngleType getPositionAngleType()

Get propagation parameter type.

Overrides:

getPositionAngleType in class AbstractIntegratedPropagator

Returns:

angle type to use for propagation

setInitialState

public void setInitialState(SpacecraftState initialState)

Set the initial state.

Parameters:

initialState - initial state

resetInitialState

public void resetInitialState(SpacecraftState state)

Reset the propagator initial state.

Specified by:

resetInitialState in interface Propagator

Overrides:

resetInitialState in class AbstractPropagator

Parameters:

state - new initial state to consider

createHarvester

protected AbstractMatricesHarvester createHarvester(String stmName,
                                                    RealMatrix initialStm,
                                                    DoubleArrayDictionary initialJacobianColumns)

Create the harvester suitable for propagator.

Overrides:

createHarvester in class AbstractPropagator

Parameters:

stmName - State Transition Matrix state name

initialStm - initial State Transition Matrix ∂Y/∂Y₀, if null (which is the most frequent case), assumed to be 6x6 identity

initialJacobianColumns - initial columns of the Jacobians matrix with respect to parameters, if null or if some selected parameters are missing from the dictionary, the corresponding initial column is assumed to be 0

Returns:

harvester to retrieve computed matrices during and after propagation

setUpStmAndJacobianGenerators

protected void setUpStmAndJacobianGenerators()

Set up State Transition Matrix and Jacobian matrix handling.

Overrides:

setUpStmAndJacobianGenerators in class AbstractIntegratedPropagator

initializeAttitudeProviderForDerivatives

protected AttitudeProvider initializeAttitudeProviderForDerivatives()

Method called when initializing the attitude provider used when evaluating derivatives.

Overrides:

initializeAttitudeProviderForDerivatives in class AbstractIntegratedPropagator

Returns:

attitude provider for derivatives

createMapper

protected StateMapper createMapper(AbsoluteDate referenceDate,
                                   double mu,
                                   OrbitType orbitType,
                                   PositionAngleType positionAngleType,
                                   AttitudeProvider attitudeProvider,
                                   Frame frame)

Create a mapper between raw double components and spacecraft state. /** Simple constructor.

The position parameter type is meaningful only if propagation orbit type support it. As an example, it is not meaningful for propagation in Cartesian parameters.

Specified by:

createMapper in class AbstractIntegratedPropagator

Parameters:

referenceDate - reference date

mu - central attraction coefficient (m³/s²)

orbitType - orbit type to use for mapping

positionAngleType - angle type to use for propagation

attitudeProvider - attitude provider

frame - inertial frame

Returns:

new mapper

getMainStateEquations

protected AbstractIntegratedPropagator.MainStateEquations getMainStateEquations(ODEIntegrator integrator)

Get the differential equations to integrate (for main state only).

Specified by:

getMainStateEquations in class AbstractIntegratedPropagator

Parameters:

integrator - numerical integrator to use for propagation.

Returns:

differential equations for main state

tolerances

@Deprecated
public static double[][] tolerances(double dP,
                                    AbsolutePVCoordinates absPva)

Deprecated.

since 13.0. Use ToleranceProvider for default and custom tolerances.

Estimate tolerance vectors for integrators when propagating in absolute position-velocity-acceleration.

Parameters:

dP - user specified position error

absPva - reference absolute position-velocity-acceleration

Returns:

a two rows array, row 0 being the absolute tolerance error and row 1 being the relative tolerance error

tolerances

public static double[][] tolerances(double dP,
                                    Orbit orbit,
                                    OrbitType type)

Estimate tolerance vectors for integrators when propagating in orbits.

The errors are estimated from partial derivatives properties of orbits, starting from a scalar position error specified by the user. Considering the energy conservation equation V = sqrt(mu (2/r - 1/a)), we get at constant energy (i.e. on a Keplerian trajectory):

 V r² |dV| = mu |dr|
 

So we deduce a scalar velocity error consistent with the position error. From here, we apply orbits Jacobians matrices to get consistent errors on orbital parameters.

The tolerances are only orders of magnitude, and integrator tolerances are only local estimates, not global ones. So some care must be taken when using these tolerances. Setting 1mm as a position error does NOT mean the tolerances will guarantee a 1mm error position after several orbits integration.

Parameters:

dP - user specified position error

orbit - reference orbit

type - propagation type for the meaning of the tolerance vectors elements (it may be different from orbit.getType())

Returns:

a two rows array, row 0 being the absolute tolerance error and row 1 being the relative tolerance error

tolerances

@Deprecated
public static double[][] tolerances(double dP,
                                    double dV,
                                    Orbit orbit,
                                    OrbitType type)

Deprecated.

since 13.0. Use ToleranceProvider for default and custom tolerances.

Estimate tolerance vectors for integrators when propagating in orbits.

The errors are estimated from partial derivatives properties of orbits, starting from scalar position and velocity errors specified by the user.

The tolerances are only orders of magnitude, and integrator tolerances are only local estimates, not global ones. So some care must be taken when using these tolerances. Setting 1mm as a position error does NOT mean the tolerances will guarantee a 1mm error position after several orbits integration.

Parameters:

dP - user specified position error

dV - user specified velocity error

orbit - reference orbit

type - propagation type for the meaning of the tolerance vectors elements (it may be different from orbit.getType())

Returns:

a two rows array, row 0 being the absolute tolerance error and row 1 being the relative tolerance error

Since:

10.3

beforeIntegration

protected void beforeIntegration(SpacecraftState initialState,
                                 AbsoluteDate tEnd)

Method called just before integration.

The default implementation does nothing, it may be specialized in subclasses.

Overrides:

beforeIntegration in class AbstractIntegratedPropagator

Parameters:

initialState - initial state

tEnd - target date at which state should be propagated