Struct TimeSeries
pub struct TimeSeries { /* private fields */ }Expand description
An iterator of a sequence of evenly spaced Epochs.
(Python documentation hints) :type start: Epoch :type end: Epoch :type step: Duration :type inclusive: bool
Implementations§
§impl TimeSeries
impl TimeSeries
pub fn exclusive(start: Epoch, end: Epoch, step: Duration) -> TimeSeries ⓘ
pub fn exclusive(start: Epoch, end: Epoch, step: Duration) -> TimeSeries ⓘ
Return an iterator of evenly spaced Epochs, inclusive on start and exclusive on end.
use hifitime::{Epoch, Unit, TimeSeries};
let start = Epoch::from_gregorian_utc_at_midnight(2017, 1, 14);
let end = Epoch::from_gregorian_utc_at_noon(2017, 1, 14);
let step = Unit::Hour * 2;
let time_series = TimeSeries::exclusive(start, end, step);
let mut cnt = 0;
for epoch in time_series {
println!("{}", epoch);
cnt += 1
}
assert_eq!(cnt, 6)pub fn first_epoch(&self) -> Epoch
pub fn first_epoch(&self) -> Epoch
Returns first Epoch of this TimeSeries, without consuming the iterator.
pub fn last_epoch(&self) -> Epoch
pub fn last_epoch(&self) -> Epoch
Returns last Epoch of this TimeSeries, without consuming the iterator.
pub fn inclusive(start: Epoch, end: Epoch, step: Duration) -> TimeSeries ⓘ
pub fn inclusive(start: Epoch, end: Epoch, step: Duration) -> TimeSeries ⓘ
Return an iterator of evenly spaced Epochs, inclusive on start and on end.
use hifitime::{Epoch, Unit, TimeSeries};
let start = Epoch::from_gregorian_utc_at_midnight(2017, 1, 14);
let end = Epoch::from_gregorian_utc_at_noon(2017, 1, 14);
let step = Unit::Hour * 2;
let time_series = TimeSeries::inclusive(start, end, step);
let mut cnt = 0;
for epoch in time_series {
println!("{}", epoch);
cnt += 1
}
assert_eq!(cnt, 7)Examples found in repository?
35fn main() -> Result<(), Box<dyn Error>> {
36 pel::init();
37
38 // ====================== //
39 // === ALMANAC SET UP === //
40 // ====================== //
41
42 // Dynamics models require planetary constants and ephemerides to be defined.
43 // Let's start by grabbing those by using ANISE's MetaAlmanac.
44
45 let output_folder: PathBuf = [env!("CARGO_MANIFEST_DIR"), "../data", "04_output"]
46 .iter()
47 .collect();
48
49 let data_folder: PathBuf = [env!("CARGO_MANIFEST_DIR"), "examples", "04_lro_od"]
50 .iter()
51 .collect();
52
53 let meta = data_folder.join("lro-dynamics.dhall");
54
55 // Load this ephem in the general Almanac we're using for this analysis.
56 let mut almanac = MetaAlmanac::new(meta.to_string_lossy().as_ref())
57 .map_err(Box::new)?
58 .process(true)
59 .map_err(Box::new)?;
60
61 let mut moon_pc = almanac.get_planetary_data_from_id(MOON).unwrap();
62 moon_pc.mu_km3_s2 = 4902.74987;
63 almanac.set_planetary_data_from_id(MOON, moon_pc).unwrap();
64
65 let mut earth = almanac.get_planetary_data_from_id(EARTH).unwrap();
66 earth.mu_km3_s2 = 398600.436;
67 almanac.set_planetary_data_from_id(EARTH, earth).unwrap();
68
69 // Save this new kernel for reuse.
70 // In an operational context, this would be part of the "Lock" process, and should not change throughout the mission.
71 almanac
72 .planetary_data
73 .values()
74 .next()
75 .unwrap()
76 .save_as(&data_folder.join("lro-specific.pca"), true)?;
77
78 // Lock the almanac (an Arc is a read only structure).
79 let almanac = Arc::new(almanac);
80
81 // Orbit determination requires a Trajectory structure, which can be saved as parquet file.
82 // In our case, the trajectory comes from the BSP file, so we need to build a Trajectory from the almanac directly.
83 // To query the Almanac, we need to build the LRO frame in the J2000 orientation in our case.
84 // Inspecting the LRO BSP in the ANISE GUI shows us that NASA has assigned ID -85 to LRO.
85 let lro_frame = Frame::from_ephem_j2000(-85);
86
87 // To build the trajectory we need to provide a spacecraft template.
88 let sc_template = Spacecraft::builder()
89 .mass(Mass::from_dry_and_prop_masses(1018.0, 900.0)) // Launch masses
90 .srp(SRPData {
91 // SRP configuration is arbitrary, but we will be estimating it anyway.
92 area_m2: 3.9 * 2.7,
93 coeff_reflectivity: 0.96,
94 })
95 .orbit(Orbit::zero(MOON_J2000)) // Setting a zero orbit here because it's just a template
96 .build();
97 // Now we can build the trajectory from the BSP file.
98 // We'll arbitrarily set the tracking arc to 24 hours with a five second time step.
99 let traj_as_flown = Traj::from_bsp(
100 lro_frame,
101 MOON_J2000,
102 almanac.clone(),
103 sc_template,
104 5.seconds(),
105 Some(Epoch::from_str("2024-01-01 00:00:00 UTC")?),
106 Some(Epoch::from_str("2024-01-02 00:00:00 UTC")?),
107 Aberration::LT,
108 Some("LRO".to_string()),
109 )?;
110
111 println!("{traj_as_flown}");
112
113 // ====================== //
114 // === MODEL MATCHING === //
115 // ====================== //
116
117 // Set up the spacecraft dynamics.
118
119 // Specify that the orbital dynamics must account for the graviational pull of the Earth and the Sun.
120 // The gravity of the Moon will also be accounted for since the spaceraft in a lunar orbit.
121 let mut orbital_dyn = OrbitalDynamics::point_masses(vec![EARTH, SUN, JUPITER_BARYCENTER]);
122
123 // We want to include the spherical harmonics, so let's download the gravitational data from the Nyx Cloud.
124 // We're using the GRAIL JGGRX model.
125 let mut jggrx_meta = MetaFile {
126 uri: "http://public-data.nyxspace.com/nyx/models/Luna_jggrx_1500e_sha.tab.gz".to_string(),
127 crc32: Some(0x6bcacda8), // Specifying the CRC32 avoids redownloading it if it's cached.
128 };
129 // And let's download it if we don't have it yet.
130 jggrx_meta.process(true)?;
131
132 // Build the spherical harmonics.
133 // The harmonics must be computed in the body fixed frame.
134 // We're using the long term prediction of the Moon principal axes frame.
135 let moon_pa_frame = MOON_PA_FRAME.with_orient(31008);
136 let sph_harmonics = GravityField::new(GravityFieldData::from_shadr(
137 &jggrx_meta.uri,
138 80,
139 80,
140 true,
141 almanac.frame_info(moon_pa_frame)?,
142 )?);
143
144 // Include the spherical harmonics into the orbital dynamics.
145 orbital_dyn.accel_models.push(sph_harmonics);
146
147 // We define the solar radiation pressure, using the default solar flux and accounting only
148 // for the eclipsing caused by the Earth and Moon.
149 // Note that by default, enabling the SolarPressure model will also enable the estimation of the coefficient of reflectivity.
150 let srp_dyn = SolarPressure::new(vec![EARTH_J2000, MOON_J2000], &almanac)?;
151
152 // Finalize setting up the dynamics, specifying the force models (orbital_dyn) separately from the
153 // acceleration models (SRP in this case). Use `from_models` to specify multiple accel models.
154 let dynamics = SpacecraftDynamics::from_model(orbital_dyn, srp_dyn);
155
156 println!("{dynamics}");
157
158 // Now we can build the propagator.
159 let setup = Propagator::default_dp78(dynamics.clone());
160
161 // For reference, let's build the trajectory with Nyx's models from that LRO state.
162 let (sim_final, traj_as_sim) = setup
163 .with(*traj_as_flown.first(), almanac.clone())
164 .until_epoch_with_traj(traj_as_flown.last().epoch())?;
165
166 println!("SIM INIT: {:x}", traj_as_flown.first());
167 println!("SIM FINAL: {sim_final:x}");
168 // Compute RIC difference between SIM and LRO ephem
169 let sim_lro_delta = sim_final
170 .orbit
171 .ric_difference(&traj_as_flown.last().orbit)?;
172 println!("{traj_as_sim}");
173 println!(
174 "SIM v LRO - RIC Position (m): {:.3}",
175 sim_lro_delta.radius_km * 1e3
176 );
177 println!(
178 "SIM v LRO - RIC Velocity (m/s): {:.3}",
179 sim_lro_delta.velocity_km_s * 1e3
180 );
181
182 traj_as_sim.ric_diff_to_parquet(
183 &traj_as_flown,
184 output_folder.join("./04_lro_sim_truth_error.parquet"),
185 ExportCfg::default(),
186 )?;
187
188 // ==================== //
189 // === OD SIMULATOR === //
190 // ==================== //
191
192 // After quite some time trying to exactly match the model, we still end up with an oscillatory difference on the order of 150 meters between the propagated state
193 // and the truth LRO state.
194
195 // Therefore, we will actually run an estimation from a dispersed LRO state.
196 // The sc_seed is the true LRO state from the BSP.
197 let sc_seed = *traj_as_flown.first();
198
199 // Load the Deep Space Network ground stations.
200 // Nyx allows you to build these at runtime but it's pretty static so we can just load them from YAML.
201 let ground_station_file: PathBuf = [
202 env!("CARGO_MANIFEST_DIR"),
203 "examples",
204 "04_lro_od",
205 "dsn-network.yaml",
206 ]
207 .iter()
208 .collect();
209
210 let devices = GroundStation::load_named(ground_station_file)?;
211
212 let mut proc_devices = devices.clone();
213
214 // Increase the noise in the devices to accept more measurements.
215 for gs in proc_devices.values_mut() {
216 if let Some(noise) = &mut gs
217 .stochastic_noises
218 .as_mut()
219 .unwrap()
220 .get_mut(&MeasurementType::Range)
221 {
222 *noise.white_noise.as_mut().unwrap() *= 3.0;
223 }
224 }
225
226 // Typical OD software requires that you specify your own tracking schedule or you'll have overlapping measurements.
227 // Nyx can build a tracking schedule for you based on the first station with access.
228 let trkconfg_yaml: PathBuf = [
229 env!("CARGO_MANIFEST_DIR"),
230 "examples",
231 "04_lro_od",
232 "tracking-cfg.yaml",
233 ]
234 .iter()
235 .collect();
236
237 let configs: BTreeMap<String, TrkConfig> = TrkConfig::load_named(trkconfg_yaml)?;
238
239 // Build the tracking arc simulation to generate a "standard measurement".
240 let mut trk = TrackingArcSim::<Spacecraft, GroundStation>::with_seed(
241 devices.clone(),
242 traj_as_flown.clone(),
243 configs,
244 123, // Set a seed for reproducibility
245 )?;
246
247 trk.build_schedule(almanac.clone())?;
248 let arc = trk.generate_measurements(almanac.clone())?;
249 // Save the simulated tracking data
250 arc.to_parquet_simple(output_folder.join("04_lro_simulated_tracking.parquet"))?;
251
252 // We'll note that in our case, we have continuous coverage of LRO when the vehicle is not behind the Moon.
253 println!("{arc}");
254
255 // Now that we have simulated measurements, we'll run the orbit determination.
256
257 // ===================== //
258 // === OD ESTIMATION === //
259 // ===================== //
260
261 let sc = SpacecraftUncertainty::builder()
262 .nominal(sc_seed)
263 .frame(LocalFrame::RIC)
264 .x_km(0.5)
265 .y_km(0.5)
266 .z_km(0.5)
267 .vx_km_s(5e-3)
268 .vy_km_s(5e-3)
269 .vz_km_s(5e-3)
270 .build();
271
272 // Build the filter initial estimate, which we will reuse in the filter.
273 let mut initial_estimate = sc.to_estimate()?;
274 initial_estimate.covar *= 3.0;
275
276 println!("== FILTER STATE ==\n{sc_seed:x}\n{initial_estimate}");
277
278 // Build the SNC in the Moon J2000 frame, specified as a velocity noise over time.
279 let process_noise = ProcessNoise3D::from_velocity_km_s(
280 &[1e-12, 1e-12, 1e-12],
281 1 * Unit::Hour,
282 10 * Unit::Minute,
283 None,
284 );
285
286 println!("{process_noise}");
287
288 // We'll set up the OD process to reject measurements whose residuals are move than 3 sigmas away from what we expect.
289 let odp = SpacecraftKalmanOD::new(
290 setup,
291 KalmanVariant::ReferenceUpdate,
292 Some(ResidRejectCrit::default()),
293 proc_devices,
294 almanac.clone(),
295 )
296 .with_process_noise(process_noise);
297
298 let od_sol = odp.process_arc(initial_estimate, &arc)?;
299
300 let final_est = od_sol.estimates.last().unwrap();
301
302 println!("{final_est}");
303
304 let ric_err = traj_as_flown
305 .at(final_est.epoch())?
306 .orbit
307 .ric_difference(&final_est.orbital_state())?;
308 println!("== RIC at end ==");
309 println!("RIC Position (m): {:.3}", ric_err.radius_km * 1e3);
310 println!("RIC Velocity (m/s): {:.3}", ric_err.velocity_km_s * 1e3);
311
312 println!(
313 "Num residuals rejected: #{}",
314 od_sol.rejected_residuals().len()
315 );
316 println!(
317 "Percentage within +/-3: {}",
318 od_sol.residual_ratio_within_threshold(3.0).unwrap()
319 );
320 println!("Ratios normal? {}", od_sol.is_normal(None).unwrap());
321
322 od_sol.to_parquet(
323 output_folder.join("04_lro_od_results.parquet"),
324 ExportCfg::default(),
325 )?;
326
327 // Create the ephemeris
328 let ephem = od_sol.to_ephemeris("LRO rebuilt".to_string());
329 let ephem_start = ephem.start_epoch().unwrap();
330 let ephem_end = ephem.end_epoch().unwrap();
331 // Check that the covariance is PSD throughout the ephemeris by interpolating it.
332 for epoch in TimeSeries::inclusive(ephem_start, ephem_end, Unit::Minute * 5) {
333 ephem
334 .covar_at(
335 epoch,
336 anise::ephemerides::ephemeris::LocalFrame::RIC,
337 &almanac,
338 )
339 .unwrap_or_else(|e| panic!("covar not PSD at {epoch}: {e}"));
340 }
341 // Export as BSP!
342 ephem
343 .write_spice_bsp(
344 -85,
345 output_folder.join("04_lro_rebuilt.bsp").to_str().unwrap(),
346 None,
347 )
348 .expect("could not built BSP");
349 let new_almanac = Almanac::default()
350 .load(output_folder.join("04_lro_rebuilt.bsp").to_str().unwrap())
351 .unwrap();
352 new_almanac.describe(None, None, None, None, None, None, None, None);
353 let (spk_start, spk_end) = new_almanac.spk_domain(-85).unwrap();
354
355 assert!((ephem_start - spk_start).abs() < Unit::Microsecond * 1);
356 assert!((ephem_end - spk_end).abs() < Unit::Microsecond * 1);
357
358 // In our case, we have the truth trajectory from NASA.
359 // So we can compute the RIC state difference between the real LRO ephem and what we've just estimated.
360 // Export the OD trajectory first.
361 let od_trajectory = od_sol.to_traj()?;
362 // Build the RIC difference.
363 od_trajectory.ric_diff_to_parquet(
364 &traj_as_flown,
365 output_folder.join("04_lro_od_truth_error.parquet"),
366 ExportCfg::default(),
367 )?;
368
369 Ok(())
370}Trait Implementations§
§impl Clone for TimeSeries
impl Clone for TimeSeries
§fn clone(&self) -> TimeSeries ⓘ
fn clone(&self) -> TimeSeries ⓘ
1.0.0 (const: unstable) · Source§fn clone_from(&mut self, source: &Self)
fn clone_from(&mut self, source: &Self)
source. Read more§impl Debug for TimeSeries
impl Debug for TimeSeries
impl DerefToPyAny for TimeSeries
§impl Display for TimeSeries
impl Display for TimeSeries
§impl DoubleEndedIterator for TimeSeries
impl DoubleEndedIterator for TimeSeries
§fn next_back(&mut self) -> Option<Epoch>
fn next_back(&mut self) -> Option<Epoch>
Source§fn advance_back_by(&mut self, n: usize) -> Result<(), NonZero<usize>>
fn advance_back_by(&mut self, n: usize) -> Result<(), NonZero<usize>>
iter_advance_by)n elements. Read more1.37.0 (const: unstable) · Source§fn nth_back(&mut self, n: usize) -> Option<Self::Item>
fn nth_back(&mut self, n: usize) -> Option<Self::Item>
nth element from the end of the iterator. Read more1.27.0 (const: unstable) · Source§fn try_rfold<B, F, R>(&mut self, init: B, f: F) -> R
fn try_rfold<B, F, R>(&mut self, init: B, f: F) -> R
Iterator::try_fold(): it takes
elements starting from the back of the iterator. Read moreimpl Eq for TimeSeries
§impl ExactSizeIterator for TimeSerieswhere
TimeSeries: Iterator,
impl ExactSizeIterator for TimeSerieswhere
TimeSeries: Iterator,
§impl<'py> IntoPyObject<'py> for TimeSeries
impl<'py> IntoPyObject<'py> for TimeSeries
§type Target = TimeSeries
type Target = TimeSeries
§type Output = Bound<'py, <TimeSeries as IntoPyObject<'py>>::Target>
type Output = Bound<'py, <TimeSeries as IntoPyObject<'py>>::Target>
§fn into_pyobject(
self,
py: Python<'py>,
) -> Result<<TimeSeries as IntoPyObject<'py>>::Output, <TimeSeries as IntoPyObject<'py>>::Error>
fn into_pyobject( self, py: Python<'py>, ) -> Result<<TimeSeries as IntoPyObject<'py>>::Output, <TimeSeries as IntoPyObject<'py>>::Error>
§impl Iterator for TimeSeries
impl Iterator for TimeSeries
§fn size_hint(&self) -> (usize, Option<usize>)
fn size_hint(&self) -> (usize, Option<usize>)
Source§fn next_chunk<const N: usize>(
&mut self,
) -> Result<[Self::Item; N], IntoIter<Self::Item, N>>where
Self: Sized,
fn next_chunk<const N: usize>(
&mut self,
) -> Result<[Self::Item; N], IntoIter<Self::Item, N>>where
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Source§fn intersperse(self, separator: Self::Item) -> Intersperse<Self>
fn intersperse(self, separator: Self::Item) -> Intersperse<Self>
iter_intersperse)separator between items
of the original iterator. Read moreSource§fn intersperse_with<G>(self, separator: G) -> IntersperseWith<Self, G>
fn intersperse_with<G>(self, separator: G) -> IntersperseWith<Self, G>
iter_intersperse)separator
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fn filter<P>(self, predicate: P) -> Filter<Self, P>
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fn filter_map<B, F>(self, f: F) -> FilterMap<Self, F>
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Self: Sized,
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Self: Sized,
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§impl LowerExp for TimeSeries
impl LowerExp for TimeSeries
§impl LowerHex for TimeSeries
impl LowerHex for TimeSeries
§impl Octal for TimeSeries
impl Octal for TimeSeries
§impl PartialEq for TimeSeries
impl PartialEq for TimeSeries
§impl Pointer for TimeSeries
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§impl PyClass for TimeSeries
impl PyClass for TimeSeries
§impl PyTypeInfo for TimeSeries
impl PyTypeInfo for TimeSeries
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