SP3.java
/* Copyright 2002-2012 Space Applications Services
* 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,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
package org.orekit.files.sp3;
import java.util.ArrayList;
import java.util.Collection;
import java.util.Collections;
import java.util.Iterator;
import java.util.LinkedHashMap;
import java.util.List;
import java.util.Map;
import java.util.SortedSet;
import java.util.TreeSet;
import org.hipparchus.geometry.euclidean.threed.Vector3D;
import org.hipparchus.util.FastMath;
import org.hipparchus.util.Precision;
import org.orekit.errors.OrekitException;
import org.orekit.errors.OrekitMessages;
import org.orekit.files.general.EphemerisFile;
import org.orekit.frames.Frame;
import org.orekit.frames.Transform;
import org.orekit.gnss.IGSUtils;
import org.orekit.time.AbsoluteDate;
import org.orekit.time.ChronologicalComparator;
import org.orekit.utils.PVCoordinates;
/**
* Represents a parsed SP3 orbit file.
* @author Thomas Neidhart
* @author Evan Ward
*/
public class SP3 implements EphemerisFile<SP3Coordinate, SP3Segment> {
/** Header.
* @since 12.0
*/
private final SP3Header header;
/** Standard gravitational parameter in m³ / s². */
private final double mu;
/** Number of samples to use when interpolating. */
private final int interpolationSamples;
/** Reference frame. */
private final Frame frame;
/** A map containing satellite information. */
private final Map<String, SP3Ephemeris> satellites;
/**
* Create a new SP3 file object.
*
* @param mu is the standard gravitational parameter in m³ / s².
* @param interpolationSamples number of samples to use in interpolation.
* @param frame reference frame
*/
public SP3(final double mu, final int interpolationSamples, final Frame frame) {
this(new SP3Header(), mu, interpolationSamples, frame);
}
/**
* Create a new SP3 file object.
*
* @param header header
* @param mu is the standard gravitational parameter in m³ / s².
* @param interpolationSamples number of samples to use in interpolation.
* @param frame reference frame
* @since 12.1
*/
public SP3(final SP3Header header,
final double mu, final int interpolationSamples, final Frame frame) {
this.header = header;
this.mu = mu;
this.interpolationSamples = interpolationSamples;
this.frame = frame;
this.satellites = new LinkedHashMap<>(); // must be linked hash map to preserve order of satellites in the file
}
/** Check file is valid.
* @param parsing if true, we are parsing an existing file, and are more lenient
* in order to accept some common errors (like between 86 and 99 satellites
* in SP3a, SP3b or SP3c files)
* @param fileName file name to generate the error message
* @exception OrekitException if file is not valid
*/
public void validate(final boolean parsing, final String fileName) throws OrekitException {
// check available data
final SortedSet<AbsoluteDate> epochs = new TreeSet<>(new ChronologicalComparator());
boolean hasAccuracy = false;
for (final Map.Entry<String, SP3Ephemeris> entry : satellites.entrySet()) {
SP3Coordinate previous = null;
for (final SP3Segment segment : entry.getValue().getSegments()) {
for (final SP3Coordinate coordinate : segment.getCoordinates()) {
final AbsoluteDate previousDate = previous == null ? header.getEpoch() : previous.getDate();
final double nbSteps = coordinate.getDate().durationFrom(previousDate) / header.getEpochInterval();
if (FastMath.abs(nbSteps - FastMath.rint(nbSteps)) > 0.001) {
// not an integral number of steps
throw new OrekitException(OrekitMessages.INCONSISTENT_SAMPLING_DATE,
previousDate.shiftedBy(FastMath.rint(nbSteps) * header.getEpochInterval()),
coordinate.getDate());
}
epochs.add(coordinate.getDate());
previous = coordinate;
hasAccuracy |= !(coordinate.getPositionAccuracy() == null &&
coordinate.getVelocityAccuracy() == null &&
Double.isNaN(coordinate.getClockAccuracy()) &&
Double.isNaN(coordinate.getClockRateAccuracy()));
}
}
}
// check versions limitations
if (getSatelliteCount() > getMaxAllowedSatCount(parsing)) {
throw new OrekitException(OrekitMessages.SP3_TOO_MANY_SATELLITES_FOR_VERSION,
header.getVersion(), getMaxAllowedSatCount(parsing), getSatelliteCount(),
fileName);
}
header.validate(parsing, hasAccuracy, fileName);
// check epochs
if (epochs.size() != header.getNumberOfEpochs()) {
throw new OrekitException(OrekitMessages.SP3_NUMBER_OF_EPOCH_MISMATCH,
epochs.size(), fileName, header.getNumberOfEpochs());
}
}
/** Get the header.
* @return header
* @since 12.0
*/
public SP3Header getHeader() {
return header;
}
/** Get maximum number of satellites allowed for format version.
* @param parsing if true, we are parsing an existing file, and are more lenient
* in order to accept some common errors (like between 86 and 99 satellites
* in SP3a, SP3b or SP3c files)
* @return maximum number of satellites allowed for format version
* @since 12.0
*/
private int getMaxAllowedSatCount(final boolean parsing) {
return header.getVersion() < 'd' ? (parsing ? 99 : 85) : 999;
}
/** Splice several SP3 files together.
* <p>
* Splicing SP3 files is intended to be used when continuous computation
* covering more than one file is needed. The files should all have the exact same
* metadata: {@link SP3Header#getType() type}, {@link SP3Header#getTimeSystem() time system},
* {@link SP3Header#getCoordinateSystem() coordinate system}, except for satellite accuracy
* which can be different from one file to the next one, and some satellites may
* be missing in some files… Once sorted (which is done internally), if the gap between
* segments from two file is at most {@link SP3Header#getEpochInterval() epoch interval},
* then the segments are merged as one segment, otherwise the segments are kept separated.
* </p>
* <p>
* The spliced file only contains the satellites that were present in all files.
* Satellites present in some files and absent from other files are silently
* dropped.
* </p>
* <p>
* Depending on producer, successive SP3 files either have a gap between the last
* entry of one file and the first entry of the next file (for example files with
* a 5 minutes epoch interval may end at 23:55 and the next file start at 00:00),
* or both files have one point exactly at the splicing date (i.e. 24:00 one day
* and 00:00 next day). In the later case, the last point of the early file is dropped
* and the first point of the late file takes precedence, hence only one point remains
* in the spliced file ; this design choice is made to enforce continuity and
* regular interpolation.
* </p>
* @param sp3 SP3 files to merge
* @return merged SP3
* @since 12.0
*/
public static SP3 splice(final Collection<SP3> sp3) {
// sort the files
final ChronologicalComparator comparator = new ChronologicalComparator();
final SortedSet<SP3> sorted = new TreeSet<>((s1, s2) -> comparator.compare(s1.header.getEpoch(), s2.header.getEpoch()));
sorted.addAll(sp3);
// prepare spliced file
final SP3 first = sorted.first();
final SP3 spliced = new SP3(first.mu, first.interpolationSamples, first.frame);
spliced.header.setVersion(first.header.getVersion());
spliced.header.setFilter(first.header.getFilter());
spliced.header.setType(first.header.getType());
spliced.header.setTimeSystem(first.header.getTimeSystem());
spliced.header.setDataUsed(first.header.getDataUsed());
spliced.header.setEpoch(first.header.getEpoch());
spliced.header.setGpsWeek(first.header.getGpsWeek());
spliced.header.setSecondsOfWeek(first.header.getSecondsOfWeek());
spliced.header.setModifiedJulianDay(first.header.getModifiedJulianDay());
spliced.header.setDayFraction(first.header.getDayFraction());
spliced.header.setEpochInterval(first.header.getEpochInterval());
spliced.header.setCoordinateSystem(first.header.getCoordinateSystem());
spliced.header.setOrbitTypeKey(first.header.getOrbitTypeKey());
spliced.header.setAgency(first.header.getAgency());
spliced.header.setPosVelBase(first.header.getPosVelBase());
spliced.header.setClockBase(first.header.getClockBase());
first.header.getComments().forEach(spliced.header::addComment);
// identify the satellites that are present in all files
final List<String> commonSats = new ArrayList<>(first.header.getSatIds());
for (final SP3 current : sorted) {
for (final Iterator<String> iter = commonSats.iterator(); iter.hasNext();) {
final String sat = iter.next();
if (!current.containsSatellite(sat)) {
iter.remove();
break;
}
}
}
// create the spliced list
for (final String sat : commonSats) {
spliced.addSatellite(sat);
}
// in order to be conservative, we keep the worst accuracy from all SP3 files for this satellite
for (int i = 0; i < commonSats.size(); ++i) {
final String sat = commonSats.get(i);
double accuracy = 0;
for (final SP3 current : sorted) {
accuracy = FastMath.max(accuracy, current.header.getAccuracy(sat));
}
spliced.header.setAccuracy(i, accuracy);
}
// splice files
SP3 previous = null;
int epochCount = 0;
for (final SP3 current : sorted) {
epochCount += current.header.getNumberOfEpochs();
if (previous != null) {
// check metadata and check if we should drop the last entry of previous file
final boolean dropLast = current.checkSplice(previous);
if (dropLast) {
--epochCount;
}
// append the pending data from previous file
for (final Map.Entry<String, SP3Ephemeris> entry : previous.satellites.entrySet()) {
if (commonSats.contains(entry.getKey())) {
final SP3Ephemeris splicedEphemeris = spliced.getEphemeris(entry.getKey());
for (final SP3Segment segment : entry.getValue().getSegments()) {
final List<SP3Coordinate> coordinates = segment.getCoordinates();
for (int i = 0; i < coordinates.size() - (dropLast ? 1 : 0); ++i) {
splicedEphemeris.addCoordinate(coordinates.get(i), spliced.header.getEpochInterval());
}
}
}
}
}
previous = current;
}
spliced.header.setNumberOfEpochs(epochCount);
// append the pending data from last file
for (final Map.Entry<String, SP3Ephemeris> entry : previous.satellites.entrySet()) {
if (commonSats.contains(entry.getKey())) {
final SP3Ephemeris splicedEphemeris = spliced.getEphemeris(entry.getKey());
for (final SP3Segment segment : entry.getValue().getSegments()) {
for (final SP3Coordinate coordinate : segment.getCoordinates()) {
splicedEphemeris.addCoordinate(coordinate, spliced.header.getEpochInterval());
}
}
}
}
return spliced;
}
/** Change the frame of an SP3 file.
* @param original original SP3 file
* @param newFrame frame to use for the changed SP3 file
* @return changed SP3 file
* @since 12.1
*/
public static SP3 changeFrame(final SP3 original, final Frame newFrame) {
// copy header
final SP3Header header = new SP3Header();
final SP3Header originalHeader = original.header;
header.setVersion(originalHeader.getVersion());
header.setFilter(originalHeader.getFilter());
header.setType(originalHeader.getType());
header.setTimeSystem(originalHeader.getTimeSystem());
header.setDataUsed(originalHeader.getDataUsed());
header.setEpoch(originalHeader.getEpoch());
header.setGpsWeek(originalHeader.getGpsWeek());
header.setSecondsOfWeek(originalHeader.getSecondsOfWeek());
header.setModifiedJulianDay(originalHeader.getModifiedJulianDay());
header.setDayFraction(originalHeader.getDayFraction());
header.setEpochInterval(originalHeader.getEpochInterval());
header.setOrbitTypeKey(originalHeader.getOrbitTypeKey());
header.setAgency(originalHeader.getAgency());
header.setPosVelBase(originalHeader.getPosVelBase());
header.setClockBase(originalHeader.getClockBase());
header.setNumberOfEpochs(originalHeader.getNumberOfEpochs());
originalHeader.getComments().forEach(header::addComment);
// change the frame in the header
header.setCoordinateSystem(IGSUtils.frameName(newFrame));
// prepare file
final SP3 changed = new SP3(header,
original.mu,
original.interpolationSamples,
newFrame);
// first loop to add satellite ids only
final List<String> ids = originalHeader.getSatIds();
ids.forEach(changed::addSatellite);
// now that the header knows the number of satellites,
// it can lazily allocate the accuracies array,
// so we can perform a second loop to set individual accuracies
for (int i = 0; i < ids.size(); ++i) {
header.setAccuracy(i, originalHeader.getAccuracy(ids.get(i)));
}
// convert data to new frame
for (final Map.Entry<String, SP3Ephemeris> entry : original.satellites.entrySet()) {
final SP3Ephemeris originalEphemeris = original.getEphemeris(entry.getKey());
final SP3Ephemeris changedEphemeris = changed.getEphemeris(entry.getKey());
for (final SP3Segment segment : originalEphemeris.getSegments()) {
for (SP3Coordinate c : segment.getCoordinates()) {
final Transform t = originalEphemeris.getFrame().getTransformTo(newFrame, c.getDate());
final PVCoordinates newPV = t.transformPVCoordinates(c);
final Vector3D newP = newPV.getPosition();
final Vector3D newPA = c.getPositionAccuracy() == null ?
null :
t.transformVector(c.getPositionAccuracy());
final Vector3D newV = c.getVelocity() == null ? Vector3D.ZERO : newPV.getVelocity();
final Vector3D newVA = c.getVelocityAccuracy() == null ?
null :
t.transformVector(c.getVelocityAccuracy());
final SP3Coordinate newC = new SP3Coordinate(c.getDate(),
newP, newPA, newV, newVA,
c.getClockCorrection(),
c.getClockAccuracy(),
c.getClockRateChange(),
c.getClockRateAccuracy(),
c.hasClockEvent(),
c.hasClockPrediction(),
c.hasOrbitManeuverEvent(),
c.hasOrbitPrediction());
changedEphemeris.addCoordinate(newC, originalHeader.getEpochInterval());
}
}
}
return changed;
}
/** Check if instance can be spliced after previous one.
* @param previous SP3 file (should already be sorted to be before current instance), can be null
* @return true if last entry of previous file should be dropped as first entry of current file
* is at very close date and will take precedence
* @exception OrekitException if metadata are incompatible
* @since 12.0
*/
private boolean checkSplice(final SP3 previous) throws OrekitException {
if (!(previous.header.getType() == header.getType() &&
previous.header.getTimeSystem() == header.getTimeSystem() &&
previous.header.getOrbitType() == header.getOrbitType() &&
previous.header.getCoordinateSystem().equals(header.getCoordinateSystem()) &&
previous.header.getDataUsed().equals(header.getDataUsed()) &&
previous.header.getAgency().equals(header.getAgency()))) {
throw new OrekitException(OrekitMessages.SP3_INCOMPATIBLE_FILE_METADATA);
}
boolean dropLast = false;
for (final Map.Entry<String, SP3Ephemeris> entry : previous.satellites.entrySet()) {
final SP3Ephemeris previousEphem = entry.getValue();
final SP3Ephemeris currentEphem = satellites.get(entry.getKey());
if (currentEphem != null) {
if (!(previousEphem.getAvailableDerivatives() == currentEphem.getAvailableDerivatives() &&
previousEphem.getFrame() == currentEphem.getFrame() &&
previousEphem.getInterpolationSamples() == currentEphem.getInterpolationSamples() &&
Precision.equals(previousEphem.getMu(), currentEphem.getMu(), 2))) {
throw new OrekitException(OrekitMessages.SP3_INCOMPATIBLE_SATELLITE_MEDATADA,
entry.getKey());
} else {
final double dt = currentEphem.getStart().durationFrom(previousEphem.getStop());
dropLast = dt < 0.001 * header.getEpochInterval();
}
}
}
return dropLast;
}
/** Add a new satellite with a given identifier to the list of
* stored satellites.
* @param satId the satellite identifier
*/
public void addSatellite(final String satId) {
header.addSatId(satId);
satellites.putIfAbsent(satId, new SP3Ephemeris(satId, mu, frame, interpolationSamples, header.getFilter()));
}
@Override
public Map<String, SP3Ephemeris> getSatellites() {
return Collections.unmodifiableMap(satellites);
}
/** Get an ephemeris.
* @param index index of the satellite
* @return satellite ephemeris
* @since 12.0
*/
public SP3Ephemeris getEphemeris(final int index) {
int n = index;
for (final Map.Entry<String, SP3Ephemeris> entry : satellites.entrySet()) {
if (n == 0) {
return entry.getValue();
}
n--;
}
// satellite not found
throw new OrekitException(OrekitMessages.INVALID_SATELLITE_ID, index);
}
/** Get an ephemeris.
* @param satId satellite identifier
* @return satellite ephemeris, or null if not found
* @since 12.0
*/
public SP3Ephemeris getEphemeris(final String satId) {
final SP3Ephemeris ephemeris = satellites.get(satId);
if (ephemeris == null) {
throw new OrekitException(OrekitMessages.INVALID_SATELLITE_ID, satId);
} else {
return ephemeris;
}
}
/** Get the number of satellites contained in this orbit file.
* @return the number of satellites
*/
public int getSatelliteCount() {
return satellites.size();
}
/** Tests whether a satellite with the given id is contained in this orbit
* file.
* @param satId the satellite id
* @return {@code true} if the satellite is contained in the file,
* {@code false} otherwise
*/
public boolean containsSatellite(final String satId) {
return header.getSatIds().contains(satId);
}
}