Struct TrkConfig 

pub struct TrkConfig {
    pub scheduler: Option<Scheduler>,
    pub sampling: Duration,
    pub strands: Option<Vec<Strand>>,
}

Stores a tracking configuration, there is one per tracking data simulator (e.g. one for ground station #1 and another for #2). By default, the tracking configuration is continuous and the tracking arc is from the beginning of the simulation to the end. In Python, any value that is set to None at initialization will use the default values.

Fields

scheduler: Option<Scheduler>

Set to automatically build a tracking schedule based on some criteria

sampling: Duration

Sampling rate once tracking has started

strands: Option<Vec<Strand>>

List of tracking strands during which the given tracker will be tracking

Implementations

impl TrkConfig

pub fn builder() -> TrkConfigBuilder<((), (), ())>

Create a builder for building TrkConfig. On the builder, call .scheduler(...)(optional), .sampling(...)(optional), .strands(...)(optional) to set the values of the fields. Finally, call .build() to create the instance of TrkConfig.

Examples found in repository

examples/05_cislunar_spacecraft_link_od/main.rs (line 164)

fn main() -> Result<(), Box<dyn Error>> {
    pel::init();

    // ====================== //
    // === ALMANAC SET UP === //
    // ====================== //

    let manifest_dir =
        PathBuf::from(std::env::var("CARGO_MANIFEST_DIR").unwrap_or(".".to_string()));

    let out = manifest_dir.join("data/04_output/");

    let almanac = Arc::new(
        Almanac::new(
            &manifest_dir
                .join("data/01_planetary/pck08.pca")
                .to_string_lossy(),
        )
        .unwrap()
        .load(
            &manifest_dir
                .join("data/01_planetary/de440s.bsp")
                .to_string_lossy(),
        )
        .unwrap(),
    );

    let eme2k = almanac.frame_from_uid(EARTH_J2000).unwrap();
    let moon_iau = almanac.frame_from_uid(IAU_MOON_FRAME).unwrap();

    let epoch = Epoch::from_gregorian_tai(2021, 5, 29, 19, 51, 16, 852_000);
    let nrho = Orbit::cartesian(
        166_473.631_302_239_7,
        -274_715.487_253_382_7,
        -211_233.210_176_686_7,
        0.933_451_604_520_018_4,
        0.436_775_046_841_900_9,
        -0.082_211_021_250_348_95,
        epoch,
        eme2k,
    );

    let tx_nrho_sc = Spacecraft::from(nrho);

    let state_luna = almanac.transform_to(nrho, MOON_J2000, None).unwrap();
    println!("Start state (dynamics: Earth, Moon, Sun gravity):\n{state_luna}");

    let bodies = vec![EARTH, SUN];
    let dynamics = SpacecraftDynamics::new(OrbitalDynamics::point_masses(bodies));

    let setup = Propagator::rk89(
        dynamics,
        IntegratorOptions::builder().max_step(0.5.minutes()).build(),
    );

    /* == Propagate the NRHO vehicle == */
    let prop_time = 1.1 * state_luna.period().unwrap();

    let (nrho_final, mut tx_traj) = setup
        .with(tx_nrho_sc, almanac.clone())
        .for_duration_with_traj(prop_time)
        .unwrap();

    tx_traj.name = Some("NRHO Tx SC".to_string());

    println!("{tx_traj}");

    /* == Propagate an LLO vehicle == */
    let llo_orbit =
        Orbit::try_keplerian_altitude(110.0, 1e-4, 90.0, 0.0, 0.0, 0.0, epoch, moon_iau).unwrap();

    let llo_sc = Spacecraft::builder().orbit(llo_orbit).build();

    let (_, llo_traj) = setup
        .with(llo_sc, almanac.clone())
        .until_epoch_with_traj(nrho_final.epoch())
        .unwrap();

    // Export the subset of the first two hours.
    llo_traj
        .clone()
        .filter_by_offset(..2.hours())
        .to_parquet_simple(out.join("05_caps_llo_truth.pq"), almanac.clone())?;

    /* == Setup the interlink == */

    let mut measurement_types = IndexSet::new();
    measurement_types.insert(MeasurementType::Range);
    measurement_types.insert(MeasurementType::Doppler);

    let mut stochastics = IndexMap::new();

    let sa45_csac_allan_dev = 1e-11;

    stochastics.insert(
        MeasurementType::Range,
        StochasticNoise::from_hardware_range_km(
            sa45_csac_allan_dev,
            10.0.seconds(),
            link_specific::ChipRate::StandardT4B,
            link_specific::SN0::Average,
        ),
    );

    stochastics.insert(
        MeasurementType::Doppler,
        StochasticNoise::from_hardware_doppler_km_s(
            sa45_csac_allan_dev,
            10.0.seconds(),
            link_specific::CarrierFreq::SBand,
            link_specific::CN0::Average,
        ),
    );

    let interlink = InterlinkTxSpacecraft {
        traj: tx_traj,
        measurement_types,
        integration_time: None,
        timestamp_noise_s: None,
        ab_corr: Aberration::LT,
        stochastic_noises: Some(stochastics),
    };

    // Devices are the transmitter, which is our NRHO vehicle.
    let mut devices = BTreeMap::new();
    devices.insert("NRHO Tx SC".to_string(), interlink);

    let mut configs = BTreeMap::new();
    configs.insert(
        "NRHO Tx SC".to_string(),
        TrkConfig::builder()
            .strands(vec![Strand {
                start: epoch,
                end: nrho_final.epoch(),
            }])
            .build(),
    );

    let mut trk_sim =
        TrackingArcSim::with_seed(devices.clone(), llo_traj.clone(), configs, 0).unwrap();
    println!("{trk_sim}");

    let trk_data = trk_sim.generate_measurements(almanac.clone()).unwrap();
    println!("{trk_data}");

    trk_data
        .to_parquet_simple(out.clone().join("nrho_interlink_msr.pq"))
        .unwrap();

    // Run a truth OD where we estimate the LLO position
    let llo_uncertainty = SpacecraftUncertainty::builder()
        .nominal(llo_sc)
        .x_km(1.0)
        .y_km(1.0)
        .z_km(1.0)
        .vx_km_s(1e-3)
        .vy_km_s(1e-3)
        .vz_km_s(1e-3)
        .build();

    let mut proc_devices = devices.clone();

    // Define the initial estimate, randomized, seed for reproducibility
    let mut initial_estimate = llo_uncertainty.to_estimate_randomized(Some(0)).unwrap();
    // Inflate the covariance -- https://github.com/nyx-space/nyx/issues/339
    initial_estimate.covar *= 2.5;

    // Increase the noise in the devices to accept more measurements.

    for link in proc_devices.values_mut() {
        for noise in &mut link.stochastic_noises.as_mut().unwrap().values_mut() {
            *noise.white_noise.as_mut().unwrap() *= 3.0;
        }
    }

    let init_err = initial_estimate
        .orbital_state()
        .ric_difference(&llo_orbit)
        .unwrap();

    println!("initial estimate:\n{initial_estimate}");
    println!("RIC errors = {init_err}",);

    let odp = InterlinkKalmanOD::new(
        setup.clone(),
        KalmanVariant::ReferenceUpdate,
        Some(ResidRejectCrit::default()),
        proc_devices,
        almanac.clone(),
    );

    // Shrink the data to process.
    let arc = trk_data.filter_by_offset(..2.hours());

    let od_sol = odp.process_arc(initial_estimate, &arc).unwrap();

    println!("{od_sol}");

    od_sol
        .to_parquet(
            out.join(format!("05_caps_interlink_od_sol.pq")),
            ExportCfg::default(),
        )
        .unwrap();

    let od_traj = od_sol.to_traj().unwrap();

    od_traj
        .ric_diff_to_parquet(
            &llo_traj,
            out.join(format!("05_caps_interlink_llo_est_error.pq")),
            ExportCfg::default(),
        )
        .unwrap();

    let final_est = od_sol.estimates.last().unwrap();
    assert!(final_est.within_3sigma(), "should be within 3 sigma");

    println!("ESTIMATE\n{final_est:x}\n");
    let truth = llo_traj.at(final_est.epoch()).unwrap();
    println!("TRUTH\n{truth:x}");

    let final_err = truth
        .orbit
        .ric_difference(&final_est.orbital_state())
        .unwrap();
    println!("ERROR {final_err}");

    // Build the residuals versus reference plot.
    let rvr_sol = odp
        .process_arc(initial_estimate, &arc.resid_vs_ref_check())
        .unwrap();

    rvr_sol
        .to_parquet(
            out.join(format!("05_caps_interlink_resid_v_ref.pq")),
            ExportCfg::default(),
        )
        .unwrap();

    let final_rvr = rvr_sol.estimates.last().unwrap();

    println!("RMAG error {:.3} m", final_err.rmag_km() * 1e3);
    println!(
        "Pure prop error {:.3} m",
        final_rvr
            .orbital_state()
            .ric_difference(&final_est.orbital_state())
            .unwrap()
            .rmag_km()
            * 1e3
    );

    Ok(())
}

impl TrkConfig

pub fn from_sample_rate(sampling: Duration) -> Self

Initialize a default TrkConfig providing only the sample rate. Note: this will also set the sample alignment time to the provided duration.

Trait Implementations

impl Clone for TrkConfig

fn clone(&self) -> TrkConfig

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl ConfigRepr for TrkConfig

fn load<P>(path: P) -> Result<Self, ConfigError>

where P: AsRef<Path>,

Builds the configuration representation from the path to a yaml

fn load_many<P>(path: P) -> Result<Vec<Self>, ConfigError>

where P: AsRef<Path>,

Builds a sequence of “Selves” from the provided path to a yaml

fn load_named<P>(path: P) -> Result<BTreeMap<String, Self>, ConfigError>

where P: AsRef<Path>,

Builds a map of names to “selves” from the provided path to a yaml

fn loads_many(data: &str) -> Result<Vec<Self>, ConfigError>

Builds a sequence of “Selves” from the provided string of a yaml

fn loads_named(data: &str) -> Result<BTreeMap<String, Self>, ConfigError>

Builds a sequence of “Selves” from the provided string of a yaml

impl Debug for TrkConfig

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl Default for TrkConfig

fn default() -> Self

The default configuration is to generate a measurement every minute (continuously) while the vehicle is visible

impl<'de> Deserialize<'de> for TrkConfig

fn deserialize<__D>(__deserializer: __D) -> Result<Self, __D::Error>

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl FromStr for TrkConfig

type Err = ConfigError

The associated error which can be returned from parsing.

fn from_str(s: &str) -> Result<Self, Self::Err>

Parses a string s to return a value of this type.

impl PartialEq for TrkConfig

fn eq(&self, other: &TrkConfig) -> bool

Tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &Rhs) -> bool

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl Serialize for TrkConfig

fn serialize<__S>(&self, __serializer: __S) -> Result<__S::Ok, __S::Error>

where __S: Serializer,

Serialize this value into the given Serde serializer.

impl StructuralPartialEq for TrkConfig