OneWayGNSSPhase.java
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package org.orekit.estimation.measurements.gnss;
import java.util.Arrays;
import java.util.IdentityHashMap;
import java.util.Map;
import org.hipparchus.analysis.differentiation.Gradient;
import org.orekit.estimation.measurements.EstimatedMeasurement;
import org.orekit.estimation.measurements.EstimatedMeasurementBase;
import org.orekit.estimation.measurements.ObservableSatellite;
import org.orekit.estimation.measurements.QuadraticClockModel;
import org.orekit.propagation.SpacecraftState;
import org.orekit.time.AbsoluteDate;
import org.orekit.utils.Constants;
import org.orekit.utils.PVCoordinatesProvider;
import org.orekit.utils.ParameterDriver;
import org.orekit.utils.TimeSpanMap.Span;
import org.orekit.utils.TimeStampedPVCoordinates;
/** One-way GNSS phase measurement.
* <p>
* This class can be used in precise orbit determination applications
* for modeling a phase measurement between a GNSS satellite (emitter)
* and a LEO satellite (receiver).
* <p>
* The one-way GNSS phase measurement assumes knowledge of the orbit and
* the clock offset of the emitting GNSS satellite. For instance, it is
* possible to use a SP3 file or a GNSS navigation message to recover
* the satellite's orbit and clock.
* <p>
* This class is very similar to {@link InterSatellitesPhase} measurement
* class. However, using the one-way GNSS phase measurement, the orbit and clock
* of the emitting GNSS satellite are <b>NOT</b> estimated simultaneously with
* LEO satellite coordinates.
*
* @author Bryan Cazabonne
* @since 10.3
*/
public class OneWayGNSSPhase extends AbstractOneWayGNSSMeasurement<OneWayGNSSPhase> {
/** Type of the measurement. */
public static final String MEASUREMENT_TYPE = "OneWayGNSSPhase";
/** Name for ambiguity driver.
* @deprecated as of 12.1 not used anymore
*/
@Deprecated
public static final String AMBIGUITY_NAME = "ambiguity";
/** Temporary map to build remote provider names.
* @since 12.1
* @deprecated this map is only a temporary hack for compatibility purposes
* it will be removed in Orekit 13.0
*/
@Deprecated
private static final Map<PVCoordinatesProvider, String> REMOTE_NAMES = new IdentityHashMap<>();
/** Driver for ambiguity. */
private final AmbiguityDriver ambiguityDriver;
/** Wavelength of the phase observed value [m]. */
private final double wavelength;
/** Simple constructor.
* @param remote provider for GNSS satellite which simply emits the signal
* @param dtRemote clock offset of the GNSS satellite, in seconds
* @param date date of the measurement
* @param phase observed value, in cycles
* @param wavelength phase observed value wavelength, in meters
* @param sigma theoretical standard deviation
* @param baseWeight base weight
* @param local satellite which receives the signal and perform the measurement
* @deprecated as of 12.1, replaced by {@link #OneWayGNSSPhase(PVCoordinatesProvider,
* String, QuadraticClockModel, AbsoluteDate, double, double, double, double,
* ObservableSatellite, AmbiguityCache)}
*/
@Deprecated
public OneWayGNSSPhase(final PVCoordinatesProvider remote,
final double dtRemote,
final AbsoluteDate date,
final double phase, final double wavelength, final double sigma,
final double baseWeight, final ObservableSatellite local) {
this(remote,
REMOTE_NAMES.computeIfAbsent(remote, r -> "remote-" + REMOTE_NAMES.size()),
new QuadraticClockModel(date, dtRemote, 0.0, 0.0),
date, phase, wavelength, sigma, baseWeight, local,
AmbiguityCache.DEFAULT_CACHE);
}
/** Simple constructor.
* @param remote provider for GNSS satellite which simply emits the signal
* @param remoteName name of the remote
* @param remoteClock clock offset of the GNSS satellite
* @param date date of the measurement
* @param phase observed value, in cycles
* @param wavelength phase observed value wavelength, in meters
* @param sigma theoretical standard deviation
* @param baseWeight base weight
* @param local satellite which receives the signal and perform the measurement
* @param cache from which ambiguity drive should come
* @since 12.1
*/
public OneWayGNSSPhase(final PVCoordinatesProvider remote,
final String remoteName,
final QuadraticClockModel remoteClock,
final AbsoluteDate date,
final double phase, final double wavelength, final double sigma,
final double baseWeight, final ObservableSatellite local,
final AmbiguityCache cache) {
// Call super constructor
super(remote, remoteClock, date, phase, sigma, baseWeight, local);
// Initialize phase ambiguity driver
ambiguityDriver = cache.getAmbiguity(remoteName, local.getName(), wavelength);
// The local satellite clock offset affects the measurement
addParameterDriver(ambiguityDriver);
addParameterDriver(local.getClockOffsetDriver());
// Initialise fields
this.wavelength = wavelength;
}
/** Get the wavelength.
* @return wavelength (m)
*/
public double getWavelength() {
return wavelength;
}
/** Get the driver for phase ambiguity.
* @return the driver for phase ambiguity
*/
public AmbiguityDriver getAmbiguityDriver() {
return ambiguityDriver;
}
/** {@inheritDoc} */
@Override
protected EstimatedMeasurementBase<OneWayGNSSPhase> theoreticalEvaluationWithoutDerivatives(final int iteration,
final int evaluation,
final SpacecraftState[] states) {
final OnBoardCommonParametersWithoutDerivatives common = computeCommonParametersWithout(states, false);
// prepare the evaluation
final EstimatedMeasurementBase<OneWayGNSSPhase> estimatedPhase =
new EstimatedMeasurementBase<>(this, iteration, evaluation,
new SpacecraftState[] {
common.getState()
}, new TimeStampedPVCoordinates[] {
common.getRemotePV(),
common.getTransitPV()
});
// Phase value
final double cOverLambda = Constants.SPEED_OF_LIGHT / wavelength;
final double ambiguity = ambiguityDriver.getValue(common.getState().getDate());
final double phase = (common.getTauD() + common.getLocalOffset() - common.getRemoteOffset()) * cOverLambda +
ambiguity;
// Set value of the estimated measurement
estimatedPhase.setEstimatedValue(phase);
// Return the estimated measurement
return estimatedPhase;
}
/** {@inheritDoc} */
@Override
protected EstimatedMeasurement<OneWayGNSSPhase> theoreticalEvaluation(final int iteration,
final int evaluation,
final SpacecraftState[] states) {
final OnBoardCommonParametersWithDerivatives common = computeCommonParametersWith(states, false);
// prepare the evaluation
final EstimatedMeasurement<OneWayGNSSPhase> estimatedPhase =
new EstimatedMeasurement<>(this, iteration, evaluation,
new SpacecraftState[] {
common.getState()
}, new TimeStampedPVCoordinates[] {
common.getRemotePV().toTimeStampedPVCoordinates(),
common.getTransitPV().toTimeStampedPVCoordinates()
});
// Phase value
final double cOverLambda = Constants.SPEED_OF_LIGHT / wavelength;
final Gradient ambiguity = ambiguityDriver.getValue(common.getTauD().getFreeParameters(), common.getIndices(),
common.getState().getDate());
final Gradient phase = common.getTauD().add(common.getLocalOffset()).subtract(common.getRemoteOffset()).
multiply(cOverLambda).
add(ambiguity);
final double[] phaseDerivatives = phase.getGradient();
// Set value and state first order derivatives of the estimated measurement
estimatedPhase.setEstimatedValue(phase.getValue());
estimatedPhase.setStateDerivatives(0, Arrays.copyOfRange(phaseDerivatives, 0, 6));
// Set first order derivatives with respect to parameters
for (final ParameterDriver phaseMeasurementDriver : getParametersDrivers()) {
for (Span<String> span = phaseMeasurementDriver.getNamesSpanMap().getFirstSpan(); span != null; span = span.next()) {
final Integer index = common.getIndices().get(span.getData());
if (index != null) {
estimatedPhase.setParameterDerivatives(phaseMeasurementDriver, span.getStart(), phaseDerivatives[index]);
}
}
}
// Return the estimated measurement
return estimatedPhase;
}
}