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/***********************************************/
/**
* @file instrumentAccelerometerEstimateBiasScale.cpp
*
* @brief Estimate accelerometer bias and scale.
*
* @author Beate Klinger
* @date 2014-11-27
*/
/***********************************************/
// Latex documentation
#define DOCSTRING docstring
static const char *docstring = R"(
This program calibrates \configFile{inputfileAccelerometer}{instrument} with respect to
simulated accelerometer data, see \program{SimulateAccelerometer}.
The parameters \configFile{outputfileSolution}{matrix}
of \configClass{parametrizationAcceleration}{parametrizationAccelerationType}
are estimated and the effect is reduced to calibrate the \file{accelerometer data}{instrument}.
If \configFile{inputfileThruster}{instrument} is given, the corresponding epochs
(within \config{marginThruster}) are not used for the parameter estimation,
but the accelerometer epochs are still calibrated afterwards.
An arbitrary instrument file is allowed here.
The \configFile{inputfileOrbit}{instrument}, \configFile{inputfileStarCamera}{instrument},
\configClass{earthRotation}{earthRotationType}, \configClass{ephemerides}{ephemeridesType},
and \configFile{satelliteModel}{satelliteModel} are only needed for some special parametrizations.
)";
/***********************************************/
#include "programs/program.h"
#include "files/fileMatrix.h"
#include "files/fileInstrument.h"
#include "files/fileSatelliteModel.h"
#include "classes/earthRotation/earthRotation.h"
#include "classes/ephemerides/ephemerides.h"
#include "classes/parametrizationAcceleration/parametrizationAcceleration.h"
/***** CLASS ***********************************/
/** @brief Estimate accelerometer bias and scale.
* @ingroup programsGroup */
class InstrumentAccelerometerEstimateBiasScale
{
InstrumentFile accFile;
InstrumentFile accFileSim;
InstrumentFile thrusterFile;
InstrumentFile orbitFile;
InstrumentFile starCameraFile;
Double margin;
EarthRotationPtr earthRotation;
EphemeridesPtr ephemerides;
ParametrizationAccelerationPtr parameterAcceleration;
SatelliteModelPtr satellite;
void observationEquation(UInt arcNo, AccelerometerArc &acc, Vector &l, Matrix &A, Matrix &B);
public:
void run(Config &config, Parallel::CommunicatorPtr comm);
};
GROOPS_REGISTER_PROGRAM(InstrumentAccelerometerEstimateBiasScale, PARALLEL, "estimate accelerometer bias and scale.", Instrument)
/***********************************************/
void InstrumentAccelerometerEstimateBiasScale::run(Config &config, Parallel::CommunicatorPtr comm)
{
try
{
FileName accelerometerOutName, solutionOutName;
FileName accelerometerInName, accelerometerInNameSim;
FileName thrusterInName;
FileName orbitInName;
FileName starCameraInName;
FileName satelliteModelInName;
renameDeprecatedConfig(config, "satelliteModel", "inputfileSatelliteModel", date2time(2020, 8, 19));
renameDeprecatedConfig(config, "parameter", "parametrizationAcceleration", date2time(2020, 6, 3));
readConfig(config, "outputfileAccelerometer", accelerometerOutName, Config::MUSTSET, "", "");
readConfig(config, "outputfileSolution", solutionOutName, Config::OPTIONAL, "", "");
readConfig(config, "inputfileAccelerometer", accelerometerInName, Config::MUSTSET, "", "");
readConfig(config, "inputfileAccelerometerSim", accelerometerInNameSim, Config::MUSTSET, "", "");
readConfig(config, "inputfileThruster", thrusterInName, Config::OPTIONAL, "", "remove thruster events");
readConfig(config, "marginThruster", margin, Config::DEFAULT, "1e-5", "margin size (on both sides) [seconds]");
readConfig(config, "inputfileOrbit", orbitInName, Config::OPTIONAL, "", "");
readConfig(config, "inputfileStarCamera", starCameraInName, Config::OPTIONAL, "", "");
readConfig(config, "earthRotation", earthRotation, Config::OPTIONAL, "file", "");
readConfig(config, "ephemerides", ephemerides, Config::OPTIONAL, "jpl", "may be needed by parametrizationAcceleration");
readConfig(config, "inputfileSatelliteModel", satelliteModelInName, Config::OPTIONAL, "{groopsDataDir}/satelliteModel/", "satellite macro model");
readConfig(config, "parametrizationAcceleration", parameterAcceleration, Config::MUSTSET, "", "");
if(isCreateSchema(config)) return;
// ======================================================
// init instrument files + satellite model
// ---------------------------------------
logStatus<<"read instrument data <"<<accelerometerInName<<">"<<Log::endl;
logStatus<<"read simulated instrument data <"<<accelerometerInNameSim<<">"<<Log::endl;
accFile.open(accelerometerInName);
accFileSim.open(accelerometerInNameSim);
orbitFile.open(orbitInName);
starCameraFile.open(starCameraInName);
thrusterFile.open(thrusterInName);
InstrumentFile::checkArcCount({accFile, accFileSim, orbitFile, starCameraFile});
if(!satelliteModelInName.empty())
readFileSatelliteModel(satelliteModelInName, satellite);
const UInt countParameter = parameterAcceleration->parameterCount();
// ======================================================
// estiamte accelerometer bias/scale
// ---------------------------------
Vector x;
if(countParameter)
{
logStatus<<"estimate bias/scale"<<Log::endl;
logInfo<<" parameter count = "<<countParameter<<Log::endl;
Matrix N(countParameter, Matrix::SYMMETRIC);
Vector n(countParameter);
Parallel::forEach(accFile.arcCount(), [&](UInt arcNo)
{
AccelerometerArc acc;
Vector l;
Matrix A, B;
observationEquation(arcNo, acc, l, A, B);
// remove thruster events (incl. margin)
Arc thruster = thrusterFile.readArc(arcNo);
if(thruster.size())
{
UInt idxThruster = 0;
for(UInt i=0; i<acc.size(); i++)
{
while(idxThruster<thruster.size() && ((thruster.at(idxThruster).time-acc.at(i).time).seconds() < -margin))
idxThruster++;
if(idxThruster<thruster.size() && ((thruster.at(idxThruster).time-acc.at(i).time).seconds() > margin))
{
if(l.size()) l.row(3*i,3).setNull();
if(A.size()) A.row(3*i,3).setNull();
if(B.size()) B.row(3*i,3).setNull();
}
}
}
// accumulate normals
// ------------------
if(B.size())
eliminationParameter(B, A, l);
if(A.size())
{
rankKUpdate(1, A, N);
matMult(1., A.trans(), l, n);
}
}, comm);
Parallel::reduceSum(N, 0, comm);
Parallel::reduceSum(n, 0, comm);
if(Parallel::isMaster(comm))
{
// regularize not used parameters
// ------------------------------
for(UInt i=0; i<N.rows(); i++)
if(N(i,i)==0)
N(i,i) = 1.0;
x = solve(N, n);
if(!solutionOutName.empty())
{
logStatus<<"write solution to <"<<solutionOutName<<">"<<Log::endl;
writeFileMatrix(solutionOutName, x);
}
} // if(Parallel::isMaster(comm))
Parallel::broadCast(x, 0, comm);
}
// Apply estimated parameters
// --------------------------
std::vector<Arc> arcList(accFile.arcCount());
Parallel::forEach(arcList, [&](UInt arcNo)
{
AccelerometerArc acc;
Vector l;
Matrix A, B;
observationEquation(arcNo, acc, l, A, B);
Vector Ax(l.rows());
if(A.size())
Ax = A*x;
if(B.size())
matMult(1, B, leastSquares(Matrix(B), l-Ax), Ax);
for(UInt i=0; i<acc.size(); i++)
{
acc.at(i).acceleration.x() += Ax(3*i+0);
acc.at(i).acceleration.y() += Ax(3*i+1);
acc.at(i).acceleration.z() += Ax(3*i+2);
}
return acc;
}, comm);
if(Parallel::isMaster(comm))
{
logStatus<<"write calibrated accelerometer file <"<<accelerometerOutName<<">"<<Log::endl;
InstrumentFile::write(accelerometerOutName, arcList);
}
}
catch(std::exception &e)
{
GROOPS_RETHROW(e)
}
}
/***********************************************/
void InstrumentAccelerometerEstimateBiasScale::observationEquation(UInt arcNo, AccelerometerArc &acc, Vector &l, Matrix &A, Matrix &B)
{
try
{
acc = accFile.readArc(arcNo);
AccelerometerArc accSim = accFileSim.readArc(arcNo);
OrbitArc orbit = orbitFile.readArc(arcNo);
StarCameraArc starCamera = starCameraFile.readArc(arcNo);
const UInt epochCount = acc.size();
Arc::checkSynchronized({acc, accSim, orbit, starCamera});
parameterAcceleration->setIntervalArc(acc.at(0).time, acc.back().time+medianSampling(acc.times()));
l = Vector(3*epochCount);
A = Matrix(3*epochCount, parameterAcceleration->parameterCount());
B = Matrix(3*epochCount, parameterAcceleration->parameterCountArc());
for(UInt i=0; i<epochCount; i++)
{
l(3*i+0) = accSim.at(i).acceleration.x()-acc.at(i).acceleration.x();
l(3*i+1) = accSim.at(i).acceleration.y()-acc.at(i).acceleration.y();
l(3*i+2) = accSim.at(i).acceleration.z()-acc.at(i).acceleration.z();
Rotary3d rotEarth, rotSat;
Vector3d position, velocity;
if(earthRotation) rotEarth = earthRotation->rotaryMatrix(acc.at(i).time);
if(starCamera.size()) rotSat = starCamera.at(i).rotary;
if(orbit.size()) position = orbit.at(i).position;
if(orbit.size()) velocity = orbit.at(i).velocity;
Matrix AEpoch(3, parameterAcceleration->parameterCount());
Matrix BEpoch(3, parameterAcceleration->parameterCountArc());
parameterAcceleration->compute(satellite, acc.at(i).time, position, velocity, rotSat, rotEarth, ephemerides, AEpoch, BEpoch);
const Matrix R = (rotEarth*rotSat).matrix(); // rotate into accelerometer frame
if(A.size()) matMult(1.0, R.trans(), AEpoch, A.row(3*i,3));
if(B.size()) matMult(1.0, R.trans(), BEpoch, B.row(3*i,3));
}
}
catch(std::exception &e)
{
GROOPS_RETHROW(e)
}
}
/***********************************************/
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