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/***********************************************/
/**
* @file observationGradiometer.cpp
*
* @brief GOCE gradiometer observations.
*
* @author Torsten Mayer-Guerr
* @date 2011-05-14
*
*/
/***********************************************/
#include "base/import.h"
#include "files/fileMatrix.h"
#include "files/fileInstrument.h"
#include "classes/earthRotation/earthRotation.h"
#include "classes/tides/tides.h"
#include "classes/gravityfield/gravityfield.h"
#include "classes/parametrizationGravity/parametrizationGravity.h"
#include "classes/parametrizationTemporal/parametrizationTemporal.h"
#include "misc/observation/observationMisc.h"
#include "classes/observation/observation.h"
#include "classes/observation/observationGradiometer.h"
/***********************************************/
ObservationGradiometer::ObservationGradiometer(Config &config)
{
try
{
FileName orbitName, starCameraName, covarianceName;
FileName sigmaName, covName;
renameDeprecatedConfig(config, "representation", "parametrizationGravity", date2time(2020, 6, 3));
readConfig(config, "rightHandSide", rhs, Config::MUSTSET, "", "input for the observation vector");
readConfig(config, "inputfileOrbit", orbitName, Config::MUSTSET, "", "");
readConfig(config, "inputfileStarCamera", starCameraName, Config::MUSTSET, "", "");
readConfig(config, "earthRotation", earthRotation, Config::MUSTSET, "", "");
readConfig(config, "ephemerides", ephemerides, Config::OPTIONAL, "jpl", "");
readConfig(config, "parametrizationGravity", parametrization, Config::MUSTSET, "", "");
readConfig(config, "parametrizationBias", sggBias, Config::DEFAULT, "", "per arc");
readConfig(config, "useXX", useXX, Config::DEFAULT, "1", "");
readConfig(config, "useYY", useYY, Config::DEFAULT, "1", "");
readConfig(config, "useZZ", useZZ, Config::DEFAULT, "1", "");
readConfig(config, "useXY", useXY, Config::DEFAULT, "0", "");
readConfig(config, "useXZ", useXZ, Config::DEFAULT, "1", "");
readConfig(config, "useYZ", useYZ, Config::DEFAULT, "0", "");
if(readConfigSequence(config, "covarianceSgg", Config::MUSTSET, "", ""))
{
readConfig(config, "sigma", sigma, Config::DEFAULT, "1", "general variance factor");
readConfig(config, "inputfileSigmasPerArc", sigmaName, Config::OPTIONAL, "", "different accuaries for each arc (multplicated with sigma)");
readConfig(config, "inputfileCovarianceFunction", covName, Config::OPTIONAL, "", "covariance function in time");
endSequence(config);
}
if(isCreateSchema(config)) return;
orbitFile.open(orbitName);
starCameraFile.open(starCameraName);
InstrumentFile::checkArcCount({orbitFile, starCameraFile});
for(UInt rhsNo=0; rhsNo<rhs.size(); rhsNo++)
{
InstrumentFile::checkArcCount({orbitFile, *rhs.at(rhsNo)->gradiometerFile});
for(UInt k=0; k<rhs.at(rhsNo)->referenceFile.size(); k++)
InstrumentFile::checkArcCount({orbitFile, *rhs.at(rhsNo)->referenceFile.at(k)});
}
componentCount = useXX + useXY + useXZ + useYY + useYZ + useZZ;
if(!sigmaName.empty())
readFileMatrix(sigmaName, sigmaArc);
// covariance matrix from covariance function
// ------------------------------------------
if(!covName.empty())
{
Matrix cov;
readFileMatrix(covName, cov);
CovCholesky = Matrix(componentCount*cov.rows(), Matrix::SYMMETRIC, Matrix::UPPER);
for(UInt i=0; i<cov.rows(); i++)
for(UInt k=i; k<cov.rows(); k++)
{
UInt idx = 0;
if(useXX) {CovCholesky(componentCount*i+idx, componentCount*k+idx) = cov(k-i, 1+0); idx++;}
if(useXY) {CovCholesky(componentCount*i+idx, componentCount*k+idx) = cov(k-i, 1+1); idx++;}
if(useXZ) {CovCholesky(componentCount*i+idx, componentCount*k+idx) = cov(k-i, 1+2); idx++;}
if(useYY) {CovCholesky(componentCount*i+idx, componentCount*k+idx) = cov(k-i, 1+3); idx++;}
if(useYZ) {CovCholesky(componentCount*i+idx, componentCount*k+idx) = cov(k-i, 1+4); idx++;}
if(useZZ) {CovCholesky(componentCount*i+idx, componentCount*k+idx) = cov(k-i, 1+5); idx++;}
}
cholesky(CovCholesky);
}
}
catch(std::exception &e)
{
GROOPS_RETHROW(e)
}
}
/************************************************************************/
void ObservationGradiometer::observation(UInt arcNo, Matrix &l, Matrix &A, Matrix &B)
{
try
{
OrbitArc orbit = orbitFile.readArc(arcNo);
StarCameraArc starCamera = starCameraFile.readArc(arcNo);
const UInt epochCount = orbit.size();
const UInt rhsCount = rhs.size();
Arc::checkSynchronized({orbit, starCamera});
// earth rotation
// --------------
std::vector<Rotary3d> rotEarth(epochCount);
for(UInt i=0; i<epochCount; i++)
rotEarth.at(i) = earthRotation->rotaryMatrix(orbit.at(i).time);
// reduced observations
// ---------------------
l = Matrix(componentCount*epochCount, rhsCount);
for(UInt rhsNo=0; rhsNo<rhsCount; rhsNo++)
{
GradiometerArc gradiometer = rhs.at(rhsNo)->gradiometerFile->readArc(arcNo);
Arc::checkSynchronized({orbit, gradiometer});
std::vector<GradiometerArc> reference(rhs.at(rhsNo)->referenceFile.size());
for(UInt k=0; k<rhs.at(rhsNo)->referenceFile.size(); k++)
{
reference.at(k) = rhs.at(rhsNo)->referenceFile.at(k)->readArc(arcNo);
Arc::checkSynchronized({orbit, reference.at(k)});
}
for(UInt i=0; i<epochCount; i++)
{
const Time time = orbit.at(i).time;
const Vector3d posEarth = rotEarth.at(i).rotate(orbit.at(i).position);
// referencefield + tides
const Tensor3d tns = rhs.at(rhsNo)->referencefield->gravityGradient(time, posEarth)
+ rhs.at(rhsNo)->tides->gradient(time, posEarth, rotEarth.at(i), earthRotation, ephemerides);
// observed minus computed
Tensor3d gravityGradient = gradiometer.at(i).gravityGradient - starCamera.at(i).rotary.inverseRotate(rotEarth.at(i).inverseRotate(tns));
// gradients from files
for(UInt k=0; k<reference.size(); k++)
gravityGradient -= reference.at(k).at(i).gravityGradient;
UInt idx = 0;
if(useXX) l(componentCount*i+idx++, rhsNo) = gravityGradient.xx();
if(useXY) l(componentCount*i+idx++, rhsNo) = gravityGradient.xy();
if(useXZ) l(componentCount*i+idx++, rhsNo) = gravityGradient.xz();
if(useYY) l(componentCount*i+idx++, rhsNo) = gravityGradient.yy();
if(useYZ) l(componentCount*i+idx++, rhsNo) = gravityGradient.yz();
if(useZZ) l(componentCount*i+idx++, rhsNo) = gravityGradient.zz();
}
}
// rotary matrix from TRF to satellite system
// ------------------------------------------
Matrix rotGRF(componentCount*epochCount, 5*epochCount);
for(UInt i=0; i<epochCount; i++)
{
Matrix rot = inverse(rotEarth.at(i) * starCamera.at(i).rotary).matrix();
MatrixSlice R(rotGRF.slice(componentCount*i, 5*i, componentCount,5));
// One row of the rotary matrix for one gradiometer component (e.g. Txy: i=0, k=1)
auto rotationLine = [&](UInt i, UInt k, UInt row)
{
R(row, 0) = rot(i,0)*rot(k,0) - rot(i,2)*rot(k,2);
R(row, 1) = rot(i,0)*rot(k,1) + rot(i,1)*rot(k,0);
R(row, 2) = rot(i,0)*rot(k,2) + rot(i,2)*rot(k,0);
R(row, 3) = rot(i,1)*rot(k,1) - rot(i,2)*rot(k,2);
R(row, 4) = rot(i,1)*rot(k,2) + rot(i,2)*rot(k,1);
};
UInt idx = 0;
if(useXX) rotationLine(0, 0, idx++);
if(useXY) rotationLine(0, 1, idx++);
if(useXZ) rotationLine(0, 2, idx++);
if(useYY) rotationLine(1, 1, idx++);
if(useYZ) rotationLine(1, 2, idx++);
if(useZZ) rotationLine(2, 2, idx++);
}
// gradiometer bias for each component
// -----------------------------------
B = Matrix();
const std::vector<Time> times = orbit.times();
sggBias->setInterval(times.front(), times.back()+medianSampling(times), TRUE);
if(sggBias->parameterCount())
{
B = Matrix(componentCount*epochCount, componentCount*sggBias->parameterCount());
const Matrix I = identityMatrix(componentCount);
for(UInt i=0; i<epochCount; i++)
sggBias->designMatrix(times.at(i), I, B.row(componentCount*i, componentCount));
}
// apply sigmas
// ------------
Double factor = 1./sigma;
if(sigmaArc.size())
factor *= 1./sigmaArc(arcNo);
if(factor!=1.)
{
rotGRF *= factor;
l *= factor;
if(B.size())
B *= factor;
}
// decorrelation
// -------------
if(CovCholesky.size())
{
if(CovCholesky.rows()<l.rows())
throw(Exception("covariance matrix to small"));
const_MatrixSlice W(CovCholesky.slice(0,0,l.rows(),l.rows()).trans());
triangularSolve(1., W, rotGRF);
triangularSolve(1., W, l);
if(B.size())
triangularSolve(1.,W, B);
}
// Design matrix A
// ---------------
A = Matrix(componentCount*epochCount, parameterCount());
Matrix tns(6, parametrization->parameterCount());
for(UInt i=0; i<epochCount; i++)
{
parametrization->gravityGradient(orbit.at(i).time, rotEarth.at(i).rotate(orbit.at(i).position), tns);
matMult(1., rotGRF.column(5*i,5), tns.row(0,5), A.column(0,tns.columns()));
}
}
catch(std::exception &e)
{
GROOPS_RETHROW(e)
}
}
/***********************************************/
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