nyx_space/od/
mod.rs

1/*
2    Nyx, blazing fast astrodynamics
3    Copyright (C) 2018-onwards Christopher Rabotin <christopher.rabotin@gmail.com>
4
5    This program is free software: you can redistribute it and/or modify
6    it under the terms of the GNU Affero General Public License as published
7    by the Free Software Foundation, either version 3 of the License, or
8    (at your option) any later version.
9
10    This program is distributed in the hope that it will be useful,
11    but WITHOUT ANY WARRANTY; without even the implied warranty of
12    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
13    GNU Affero General Public License for more details.
14
15    You should have received a copy of the GNU Affero General Public License
16    along with this program.  If not, see <https://www.gnu.org/licenses/>.
17*/
18
19use crate::dynamics::DynamicsError;
20pub use crate::dynamics::{Dynamics, NyxError};
21use crate::errors::StateError;
22use crate::io::{ConfigError, InputOutputError};
23use crate::linalg::OVector;
24use crate::md::prelude::SpacecraftDynamics;
25use crate::md::trajectory::TrajError;
26use crate::propagators::PropagationError;
27use crate::time::Epoch;
28pub use crate::{State, TimeTagged};
29use anise::almanac::planetary::PlanetaryDataError;
30use anise::errors::AlmanacError;
31use hifitime::Duration;
32use snafu::prelude::Snafu;
33use std::sync::Arc;
34
35pub mod kalman;
36
37/// Provides a range and range rate measuring models.
38mod ground_station;
39pub use ground_station::GroundStation;
40
41/// Provides Estimate handling functionalities.
42pub mod estimate;
43
44/// Provides noise modeling
45pub mod noise;
46
47/// Provides all of the support measurement models
48pub mod msr;
49
50/// Provides all of the functionality to simulate measurements from ground stations
51pub mod simulator;
52
53/// Provides the interfaces to the orbit determination process
54pub mod process;
55
56pub use simulator::TrackingDevice;
57
58/// Provides all state noise compensation functionality
59pub mod snc;
60
61/// Provides the Batch least squares initial state solver.
62pub mod blse;
63
64#[cfg(feature = "premium")]
65pub mod interlink;
66
67/// A helper type for spacecraft orbit determination.
68pub type SpacecraftKalmanOD = self::process::KalmanODProcess<
69    SpacecraftDynamics,
70    nalgebra::Const<2>,
71    nalgebra::Const<3>,
72    GroundStation,
73>;
74
75/// A helper type for spacecraft orbit determination sequentially processing measurements
76pub type SpacecraftKalmanScalarOD = self::process::KalmanODProcess<
77    SpacecraftDynamics,
78    nalgebra::Const<1>,
79    nalgebra::Const<3>,
80    GroundStation,
81>;
82
83/// A helper type for spacecraft to spacecraft orbit determination.
84#[cfg(feature = "premium")]
85pub type InterlinkKalmanOD = self::process::KalmanODProcess<
86    SpacecraftDynamics,
87    nalgebra::Const<2>,
88    nalgebra::Const<3>,
89    interlink::InterlinkTxSpacecraft,
90>;
91
92#[allow(unused_imports)]
93pub mod prelude {
94    pub use super::estimate::*;
95    pub use super::ground_station::*;
96    pub use super::kalman::KalmanVariant;
97    pub use super::kalman::*;
98    pub use super::msr::*;
99    pub use super::noise::{GaussMarkov, StochasticNoise, WhiteNoise};
100    pub use super::process::*;
101    pub use super::simulator::TrackingArcSim;
102    pub use super::simulator::*;
103    pub use super::snc::*;
104    pub use super::*;
105
106    pub use crate::time::{Duration, Epoch, TimeUnits, Unit};
107}
108
109#[derive(Debug, PartialEq, Snafu)]
110#[snafu(visibility(pub(crate)))]
111pub enum ODError {
112    #[snafu(display("during an orbit determination, encountered {source}"))]
113    ODPropError { source: PropagationError },
114    #[snafu(display("during an orbit determination, encountered {source}"))]
115    ODDynamicsError { source: DynamicsError },
116    #[snafu(display("at least {need} measurements required for {action}"))]
117    TooFewMeasurements { need: usize, action: &'static str },
118    #[snafu(display("invalid step size: {step}"))]
119    StepSizeError { step: Duration },
120    #[snafu(display("filter iteration did not converge in {loops} iterations"))]
121    Diverged { loops: usize },
122    #[snafu(display("STM is singular"))]
123    SingularStateTransitionMatrix,
124    #[snafu(display("invalid measurement @ {epoch} = {val}"))]
125    InvalidMeasurement { epoch: Epoch, val: f64 },
126    #[snafu(display("Kalman gain is singular"))]
127    SingularKalmanGain,
128    #[snafu(display("Information matrix is singular"))]
129    SingularInformationMatrix,
130    #[snafu(display("noise matrix is singular"))]
131    SingularNoiseRk,
132    #[snafu(display("{kind} noise not configured"))]
133    NoiseNotConfigured { kind: String },
134    #[snafu(display("measurement sim error: {details}"))]
135    MeasurementSimError { details: String },
136    #[snafu(display("during an OD encountered {source}: {details}"))]
137    ODTrajError { source: TrajError, details: String },
138    #[snafu(display("OD failed because {source}"))]
139    ODConfigError { source: ConfigError },
140    #[snafu(display("OD failed because of an I/O error: {source}"))]
141    ODIOError { source: InputOutputError },
142    #[snafu(display("OD failed due to Almanac: {action} {source}"))]
143    ODAlmanac {
144        #[snafu(source(from(AlmanacError, Box::new)))]
145        source: Box<AlmanacError>,
146        action: &'static str,
147    },
148    #[snafu(display("OD failed due to planetary data in Almanac: {action} {source}"))]
149    ODPlanetaryData {
150        #[snafu(source(from(PlanetaryDataError, Box::new)))]
151        source: Box<PlanetaryDataError>,
152        action: &'static str,
153    },
154    #[snafu(display("not enough residuals to {action}"))]
155    ODNoResiduals { action: &'static str },
156    #[snafu(display("could not {action} OD results: {source}"))]
157    ODStateError {
158        #[snafu(source(from(StateError, Box::new)))]
159        source: Box<StateError>,
160        action: &'static str,
161    },
162    #[snafu(display("Maximum iterations ({max_iter}) reached without convergence"))]
163    ODMaxIterations { max_iter: usize },
164    #[snafu(display("Nyx orbit determination limitation: {action}"))]
165    ODLimitation { action: &'static str },
166}
nyx_space/od/mod.rs

nyx_space/od/
mod.rs
