//------------------------------------------------------------------------
RealArray PhysicalMeasurement::TroposphereCorrection(Real freq, Rvector3 rVec, Rmatrix Ro_j2k)
{
RealArray tropoCorrection;
if (troposphere != NULL)
{
Real wavelength = GmatPhysicalConstants::SPEED_OF_LIGHT_VACUUM / (freq*1.0e6);
troposphere->SetWaveLength(wavelength);
Real elevationAngle = asin((Ro_j2k*rVec.GetUnitVector()).GetElement(2));
troposphere->SetElevationAngle(elevationAngle);
troposphere->SetRange(rVec.GetMagnitude()*GmatMathConstants::KM_TO_M);
tropoCorrection = troposphere->Correction();
// Real rangeCorrection = tropoCorrection[0]/GmatMathConstants::KM_TO_M;
#ifdef DEBUG_RANGE_CALC_WITH_EVENTS
MessageInterface::ShowMessage(" Apply Troposphere media correction:\n");
MessageInterface::ShowMessage(" .Wave length = %.12lf m\n", wavelength);
MessageInterface::ShowMessage(" .Elevation angle = %.12lf degree\n", elevationAngle*GmatMathConstants::DEG_PER_RAD);
MessageInterface::ShowMessage(" .Range correction = %.12lf m\n", tropoCorrection[0]);
#endif
}
else
{
tropoCorrection.push_back(0.0);
tropoCorrection.push_back(0.0);
tropoCorrection.push_back(0.0);
}
return tropoCorrection;
}
bool ASMs1D::getGridParameters (RealArray& prm, int nSegPerSpan) const
{
if (!curv) return false;
if (nSegPerSpan < 1)
{
std::cerr <<" *** ASMs1D::getGridParameters: Too few knot-span points "
<< nSegPerSpan+1 << std::endl;
return false;
}
RealArray::const_iterator uit = curv->basis().begin();
double ucurr = 0.0, uprev = *(uit++);
while (uit != curv->basis().end())
{
ucurr = *(uit++);
if (ucurr > uprev)
if (nSegPerSpan == 1)
prm.push_back(uprev);
else for (int i = 0; i < nSegPerSpan; i++)
{
double xg = (double)(2*i-nSegPerSpan)/(double)nSegPerSpan;
prm.push_back(0.5*(ucurr*(1.0+xg) + uprev*(1.0-xg)));
}
uprev = ucurr;
}
if (ucurr > prm.back())
prm.push_back(ucurr);
return true;
}
bool ASMs1DSpec::getGridParameters (RealArray& prm, int nSegPerSpan) const
{
if (!curv) return false;
// Evaluate the Gauss-Lobatto-Legendre points
Vector dummy, xGLL;
if (!Legendre::GLL(dummy,xGLL,curv->order())) return false;
if (xGLL.size() != (size_t)(nSegPerSpan+1))
{
nSegPerSpan = xGLL.size() - 1;
std::cout <<"Spectral elements: Number of nodes per knot-span reset to "
<< nSegPerSpan <<" (GLL points)"<< std::endl;
}
RealArray::const_iterator uit = curv->basis().begin();
double ucurr, uprev = *(uit++);
while (uit != curv->basis().end())
{
ucurr = *(uit++);
if (ucurr > uprev)
for (int i = 1; i <= nSegPerSpan; i++)
prm.push_back(0.5*(ucurr-uprev)*(1.0+xGLL(i)) + uprev);
uprev = ucurr;
}
prm.push_back(curv->basis().endparam());
return true;
}
bool ASMs2DSpec::getGridParameters (RealArray& prm, int dir,
int nSegPerSpan) const
{
if (!surf) return false;
// Evaluate the Gauss-Lobatto-Legendre points in this direction
Vector dummy, xGLL;
int p = dir == 0 ? surf->order_u() : surf->order_v();
if (!Legendre::GLL(dummy,xGLL,p)) return false;
if (xGLL.size() != (size_t)(nSegPerSpan+1))
{
nSegPerSpan = xGLL.size() - 1;
std::cout <<"Spectral elements: Number of nodes per knot-span in "
<< char('u'+dir) <<"-directon reset to "<< nSegPerSpan
<<" (GLL points)"<< std::endl;
}
RealArray::const_iterator uit = surf->basis(dir).begin();
double uprev = *(uit++);
while (uit != surf->basis(dir).end())
{
double ucurr = *(uit++);
if (ucurr > uprev)
for (int i = 1; i <= nSegPerSpan; i++)
prm.push_back(0.5*(ucurr-uprev)*(1.0+xGLL(i)) + uprev);
uprev = ucurr;
}
prm.push_back(surf->basis(dir).endparam());
return true;
}
bool ASMs1D::refine (const RealArray& xi)
{
if (!curv || xi.empty()) return false;
if (xi.front() < 0.0 || xi.back() > 1.0) return false;
if (shareFE) return true;
RealArray extraKnots;
RealArray::const_iterator uit = curv->basis().begin();
double ucurr, uprev = *(uit++);
while (uit != curv->basis().end())
{
ucurr = *(uit++);
if (ucurr > uprev)
for (size_t i = 0; i < xi.size(); i++)
if (i > 0 && xi[i] < xi[i-1])
return false;
else
extraKnots.push_back(ucurr*xi[i] + uprev*(1.0-xi[i]));
uprev = ucurr;
}
curv->insertKnot(extraKnots);
return true;
}
//------------------------------------------------------------------------------
void LocatedEventTable::CollectData(const wxString &forCurve, RealArray &xv,
RealArray &yv)
{
xv.clear();
yv.clear();
for (UnsignedInt i = 0; i < events.size(); ++i)
{
if ((events[i]->dataName == forCurve) && (events[i]->partner != NULL))
{
if (events[i]->isEntry)
{
xv.push_back(events[i]->epoch);
yv.push_back(events[i]->duration);
}
}
}
}
bool ASMs2D::getQuasiInterplParameters (RealArray& prm, int dir) const
{
if (!surf || dir < 0 || dir > 1) return false;
const Go::BsplineBasis& basis = surf->basis(dir);
RealArray knots_simple;
basis.knotsSimple(knots_simple);
prm.clear();
for (size_t i = 0; i+1 < knots_simple.size(); i++)
{
prm.push_back(knots_simple[i]);
prm.push_back(0.5*(knots_simple[i]+knots_simple[i+1]));
}
prm.push_back(knots_simple.back());
return true;
}
//---------------------------------------------------------------------------
// RealArray Ionosphere::Correction()
// This function is used to calculate Ionosphere correction
// Return values:
// . Range correction (unit: m)
// . Angle correction (unit: radian)
// . Time correction (unit: s)
//---------------------------------------------------------------------------
RealArray Ionosphere::Correction()
{
Real freq = GmatPhysicalConstants::SPEED_OF_LIGHT_VACUUM / waveLength;
Real tec = TEC(); // Equation 6.70 of MONTENBRUCK and GILL
Real drho = 40.3*tec/(freq*freq); // Equation 6.69 of MONTENBRUCK and GILL // unit: meter
Real dphi = 0; //BendingAngle()*180/GmatConstants::PI;
// It has not been defined yet
Real dtime = drho/GmatPhysicalConstants::SPEED_OF_LIGHT_VACUUM; // unit: s
//MessageInterface::ShowMessage
// ("Ionosphere::Correction: freq = %.12lf MHz, tec = %.12lfe16, "
// "drho = %.12lfm, dphi = %f, dtime = %.12lfs\n", freq/1.0e6,
// tec/1.0e16, drho, dphi*3600, dtime);
RealArray ra;
ra.push_back(drho);
ra.push_back(dphi);
ra.push_back(dtime);
return ra;
}
bool ASMu2D::getGrevilleParameters (RealArray& prm, int dir) const
{
if (!lrspline || dir < 0 || dir > 1) return false;
prm.clear();
prm.reserve(lrspline->nBasisFunctions());
for(LR::Basisfunction *b : lrspline->getAllBasisfunctions())
prm.push_back(b->getGrevilleParameter()[dir]);
return true;
}
bool SplineField2D::valueGrid (RealArray& val, const int* npe) const
{
val.clear();
if (!basis) return false;
// Compute parameter values of the visualization points
std::array<RealArray,2> gpar;
for (int dir = 0; dir < 2; dir++)
{
int nSegPerSpan = npe[dir] - 1;
if (nSegPerSpan < 1) return false;
RealArray::const_iterator uit = basis->basis(dir).begin();
double ucurr = 0.0, uprev = *(uit++);
while (uit != basis->basis(dir).end())
{
ucurr = *(uit++);
if (ucurr > uprev)
if (nSegPerSpan == 1)
gpar[dir].push_back(uprev);
else for (int i = 0; i < nSegPerSpan; i++)
{
double xg = (double)(2*i-nSegPerSpan)/(double)nSegPerSpan;
gpar[dir].push_back(0.5*(ucurr*(1.0+xg) + uprev*(1.0-xg)));
}
uprev = ucurr;
}
if (ucurr > gpar[dir].back())
gpar[dir].push_back(ucurr);
}
// Evaluate the field in the visualization points
val.reserve(gpar[0].size()*gpar[1].size());
for (size_t j = 0; j < gpar[1].size(); j++)
for (size_t i = 0; i < gpar[0].size(); i++)
{
Go::BasisPtsSf spline;
basis->computeBasis(gpar[0][i],gpar[1][j],spline);
IntVec ip;
ASMs2D::scatterInd(basis->numCoefs_u(),basis->numCoefs_v(),
basis->order_u(),basis->order_v(),
spline.left_idx,ip);
Vector Vnod;
utl::gather(ip,1,values,Vnod);
val.push_back(Vnod.dot(spline.basisValues));
}
return true;
}
void FieldsFuncBase::addPatchField (ASMbase* pch, const RealArrays& coefs)
{
if (coefs.size() == 1)
field.push_back(Fields::create(pch,coefs.front(),1,pch->getNoFields(1)));
else if (coefs.size() > 1)
{
RealArray coef;
coef.reserve(coefs.size()*coefs.front().size());
for (size_t i = 0; i < coefs.front().size(); i++)
for (size_t j = 0; j < coefs.size(); j++)
coef.push_back(coefs[j][i]);
field.push_back(Fields::create(pch,coef,1,pch->getNoFields(1)));
}
}
bool ASMs1D::uniformRefine (int nInsert)
{
if (!curv || nInsert < 1) return false;
if (shareFE) return true;
RealArray extraKnots;
RealArray::const_iterator uit = curv->basis().begin();
double ucurr, uprev = *(uit++);
while (uit != curv->basis().end())
{
ucurr = *(uit++);
if (ucurr > uprev)
for (int i = 0; i < nInsert; i++)
{
double xi = (double)(i+1)/(double)(nInsert+1);
extraKnots.push_back(ucurr*xi + uprev*(1.0-xi));
}
uprev = ucurr;
}
curv->insertKnot(extraKnots);
return true;
}
//------------------------------------------------------------------------------
RealArray Troposphere::Correction()
{
// Determine Re value
if (!solarSystem)
{
MessageInterface::ShowMessage("Troposphere::Correction: Solar System is NULL; Cannot obtain Earth radius\n");
throw MeasurementException("Troposphere::Correction: Solar System is NULL; Cannot obtain Earth radius\n");
}
CelestialBody *earth= solarSystem->GetBody(GmatSolarSystemDefaults::EARTH_NAME);
if (!earth)
{
MessageInterface::ShowMessage("Troposphere::Correction: Cannot obtain Earth radius\n");
throw MeasurementException("Troposphere::Correction: Cannot obtain Earth radius\n");
}
Real Re = earth->GetEquatorialRadius()*GmatMathConstants::KM_TO_M; // get Erath radius in meters
#ifdef DEBUG_TROPOSPHERE_CORRECTION
MessageInterface::ShowMessage("Troposphere::Correction():\n");
MessageInterface::ShowMessage(" temperature = %f K , pressure = %f hPa, humidity = %f\n", temperature, pressure, humidityFraction);
MessageInterface::ShowMessage(" range = %lfm , elevationAngle = %lf radian, waveLenght = %lfm\n", range, elevationAngle, waveLength);
MessageInterface::ShowMessage(" earth radius = %lf m\n",Re);
#endif
// Specify Ce and Crho:
double lambda = waveLength;
double lp2_inv = 1.0 / ((lambda * 1.0E+06)*(lambda * 1.0E+06));
double denom = (173.3 - lp2_inv);
double term1 = 170.2649 / denom;
double Ce = term1*term2;
double term3 = (173.3 + lp2_inv)/denom;
double Crho = Ce * term3;
#ifdef DEBUG_TROPOSPHERE_CORRECTION
MessageInterface::ShowMessage(" Ce = %lf , Crho = %lf\n", Ce, Crho);
#endif
// Specify inputs:
double p = pressure;
double T = temperature;
double fh = humidityFraction;
double E = elevationAngle;
double rho = range;
// refractivities
double N[2];
// compute dry component refractivity
N[0] = 77.624 * p / T;
// compute wet component refractivity
double Tc = T + GmatPhysicalConstants::ABSOLUTE_ZERO_C;
double e = 6.10 * fh * exp(17.15 * Tc /(234.7 + Tc));
N[1] = 371900.0 * e / (T*T) - 12.92 * e/T;
// troposphere heights
double h[2];
// compute dry troposphere height
h[0] = 5.0 * 0.002277 * p / (N[0] * 1.0E-06);
// compute wet troposphere height
h[1] = 5.0 * 0.002277 * e * (1255.0/T + 0.05) / (N[1] * 1.0E-06);
// distances to top of the troposphere
double r[2];
double alpha[9][2];
double beta[7][2];
double cosE = cos(E);
double cosE2 = cosE * cosE;
double sinE = sin(E);
for (int j = 0; j < 2; j++)
{
r[j] = sqrt((Re + h[j])*(Re + h[j]) - (Re*Re*cosE2)) - Re*sinE;
double aj = -1.0 * sinE/h[j];
double bj = - 1.0 * cosE2/(2.0 * h[j] * Re);
alpha[0][j] = 1.0;
alpha[1][j] = 4.0*aj;
alpha[2][j] = 6.0*aj*aj + 4.0*bj;
alpha[3][j] = 4.0*aj*(aj*aj + 3.0*bj);
alpha[4][j] = pow(aj, 4) + 12.0*aj*aj*bj + 6.0*bj*bj;
alpha[5][j] = 4.0*aj*bj*(aj*aj + 3.0*bj);
alpha[6][j] = bj*bj*(6.0*aj*aj + 4.0*bj);
alpha[7][j] = 4.0 * aj * bj*bj*bj;
alpha[8][j] = pow(bj,4);
beta[0][j] = 1.0;
beta[1][j] = 3.0*aj;
beta[2][j] = 3.0*(aj*aj + bj);
beta[3][j] = aj*(aj*aj + 6.0*bj);
beta[4][j] = 3.0*bj*(aj*aj + bj);
beta[5][j] = 3.0 * aj * bj*bj;
beta[6][j] = pow(bj,3);
}
double drho = 0.0;
double dE = 0.0;
for (int j = 0; j < 2; j++)
{
double sum1 = 0.0;
for (int i = 0; i < 9; i++)
{
double ii = (double)i;
double temp1 = alpha[i][j]*pow(r[j],(i+1))/(ii+1.0);
sum1 = sum1 + temp1;
}
double sum2 = 0.0;
for (int k = 0; k < 7; k++)
{
double kk = (double)k;
double temp2 = beta[k][j]*pow(r[j],(k+2))/((kk+1.0)*(kk+2.0)) + beta[k][j]*pow(r[j],(k+1))*(rho - r[j])/(kk+1);
sum2 = sum2 + temp2;
}
drho = drho + N[j] * 1.0E-06 * sum1;
dE = dE + N[j] * 1.0E-06 * sum2 / h[j];
}
drho = Crho * drho;
dE = Ce * 4.0 * cosE * dE/ rho;
dE = dE / GmatMathConstants::RAD_PER_ARCSEC;
RealArray out;
out.push_back(drho);
out.push_back(dE);
out.push_back(drho/GmatPhysicalConstants::SPEED_OF_LIGHT_VACUUM);
#ifdef DEBUG_TROPOSPHERE_CORRECTION
MessageInterface::ShowMessage(" Troposphere correction result:\n");
MessageInterface::ShowMessage(" Range correction = %f m\n", drho);
MessageInterface::ShowMessage(" Elevation angle correction = %f arcsec", dE);
MessageInterface::ShowMessage(" Time correction = %f sec\n", drho/GmatPhysicalConstants::SPEED_OF_LIGHT_VACUUM);
#endif
return out;
}
//------------------------------------------------------------------------------
void Estimator::PlotResiduals()
{
#ifdef DEBUG_RESIDUAL_PLOTS
MessageInterface::ShowMessage("Entered PlotResiduals\n");
MessageInterface::ShowMessage("Processing plot with %d Residuals\n",
measurementResiduals.size());
#endif
std::vector<RealArray*> dataBlast;
RealArray epochs;
RealArray values;
RealArray hiErrors;
RealArray lowErrors;
RealArray *hi = NULL, *low = NULL;
for (UnsignedInt i = 0; i < residualPlots.size(); ++i)
{
dataBlast.clear();
epochs.clear();
values.clear();
if (showErrorBars)
{
hiErrors.clear();
lowErrors.clear();
if (hiLowData.size() > 0)
{
hi = hiLowData[0];
if (hiLowData.size() > 1)
{
low = hiLowData[1];
}
}
}
// Collect residuals by plot
for (UnsignedInt j = 0; j < measurementResiduals.size(); ++j)
{
if (residualPlots[i]->UsesData(measurementResidualID[j]) >= 0)
{
epochs.push_back(measurementEpochs[j]);
values.push_back(measurementResiduals[j]);
if (hi && showErrorBars)
{
hiErrors.push_back((*hi)[j]);
}
if (low && showErrorBars)
lowErrors.push_back((*low)[j]);
}
}
if (epochs.size() > 0)
{
dataBlast.push_back(&epochs);
dataBlast.push_back(&values);
residualPlots[i]->TakeAction("ClearData");
residualPlots[i]->Deactivate();
residualPlots[i]->SetData(dataBlast, hiErrors, lowErrors);
residualPlots[i]->TakeAction("Rescale");
residualPlots[i]->Activate();
}
#ifdef DEBUG_RESIDUALS
// Dump the data to screen
MessageInterface::ShowMessage("DataDump for residuals plot %d:\n", i);
for (UnsignedInt k = 0; k < epochs.size(); ++k)
{
MessageInterface::ShowMessage(" %.12lf %.12lf", epochs[k], values[k]);
if (hi)
if (hi->size() > k)
if (low)
MessageInterface::ShowMessage(" + %.12lf", (*hi)[k]);
else
MessageInterface::ShowMessage(" +/- %.12lf", (*hi)[k]);
if (low)
if (low->size() > k)
MessageInterface::ShowMessage(" - %.12lf", (*low)[k]);
MessageInterface::ShowMessage("\n");
}
#endif
}
}
RealArray PhysicalMeasurement::IonosphereCorrection(Real freq, Rvector3 r1, Rvector3 r2, Real epoch)
{
RealArray ionoCorrection;
if (ionosphere != NULL)
{
// 1. Set wave length:
Real wavelength = GmatPhysicalConstants::SPEED_OF_LIGHT_VACUUM / (freq*1.0e6); // unit: meter
ionosphere->SetWaveLength(wavelength);
// 2. Set time:
ionosphere->SetTime(epoch); // unit: Julian day
// 3. Set station and spacecraft positions:
GroundstationInterface* gs = (GroundstationInterface*)participants[0];
CoordinateSystem* cs = gs->GetBodyFixedCoordinateSystem();
Rvector inState(6, 1.0, 2.0, 3.0, 4.0, 5.0, 6.0);
Rvector outState(6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0);
// Rvector bogusOut = cs->FromMJ2000Eq(epoch, bogusIn, true);
// Rmatrix33 R_g_j2k = cs->GetLastRotationMatrix().Transpose();
CoordinateConverter* cv = new CoordinateConverter();
A1Mjd time(epoch);
CoordinateSystem* fk5cs = Moderator::Instance()->GetCoordinateSystem("EarthMJ2000Eq");
cv->Convert(time, inState, cs, outState, fk5cs); // convert EarthFK5 coordinate system to EarthBodyFixed coordinate system
Rmatrix33 R_g_j2k = cv->GetLastRotationMatrix().Transpose();
// MessageInterface::ShowMessage("[ %f %f %f\n", R_g_j2k.GetElement(0,0), R_g_j2k.GetElement(0,1), R_g_j2k.GetElement(0,2));
// MessageInterface::ShowMessage(" %f %f %f\n", R_g_j2k.GetElement(1,0), R_g_j2k.GetElement(1,1), R_g_j2k.GetElement(1,2));
// MessageInterface::ShowMessage(" %f %f %f]\n", R_g_j2k.GetElement(2,0), R_g_j2k.GetElement(2,1), R_g_j2k.GetElement(2,2));
ionosphere->SetStationPosition(R_g_j2k*r1); // unit: km
ionosphere->SetSpacecraftPosition(R_g_j2k*r2); // unit: km
// 4. Set earth radius:
SpacePoint* earth = (SpacePoint*)gs->GetRefObject(Gmat::SPACE_POINT, "Earth");
Real earthRadius = earth->GetRealParameter("EquatorialRadius");
ionosphere->SetEarthRadius(earthRadius); // unit: km
#ifdef DEBUG_IONOSPHERE_MEDIA_CORRECTION
MessageInterface::ShowMessage(" *Run Ionosphere media correction for:\n");
MessageInterface::ShowMessage(" +Earth radius = %lf km\n", earthRadius);
MessageInterface::ShowMessage(" +Wave length = %.12lf m\n", wavelength);
MessageInterface::ShowMessage(" +Time = %.12lf\n", epoch);
MessageInterface::ShowMessage(" +Station location in Earth body fixed coordinate system (km):\n"
" (%s)", (R_g_j2k*r1).ToString().c_str());
MessageInterface::ShowMessage(" +Spacecraft location in Earth body fixed coordinate system (km):\n"
" (%s)", (R_g_j2k*r2).ToString().c_str());
#endif
// 5. Run ionosphere correction:
ionoCorrection = ionosphere->Correction();
Real rangeCorrection = ionoCorrection[0]*GmatMathConstants::M_TO_KM; // unit: meter
#ifdef DEBUG_IONOSPHERE_MEDIA_CORRECTION
MessageInterface::ShowMessage(" *Ionosphere media correction result:\n");
MessageInterface::ShowMessage(" +Range correction = %.12lf m\n", rangeCorrection*GmatMathConstants::KM_TO_M);
#endif
}
else
{
ionoCorrection.push_back(0.0);
ionoCorrection.push_back(0.0);
ionoCorrection.push_back(0.0);
}
return ionoCorrection;
}
