Class GroundOdtsApp¶
Defined in File ground_odts_app.h
Inheritance Relationships¶
Base Type¶
public lupnt::Application(Class Application)
Class Documentation¶
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class GroundOdtsApp : public lupnt::Application¶
Centralized ground-segment ODTS filter, hosted on a
SurfaceStationManager.A single EKF estimating every satellite’s joint orbit + clock 8-state from
IslStationObss pushed by theStationBeaconSensors on the physical surface-station agents — no inter-satellite links. As onboard software it never synthesizes measurements from truth: it only consumes what the station sensors deliver and runs a predict/update cycle with its own (filter) dynamics. (Truth is read once, at setup, to seed the a-priori guess — the analog of an uploaded a-priori ephemeris, as in the ground-station example.) Range-only ground tracking is weakly observable, so it uses a larger process noise and normalized-residual outlier rejection.Public Functions
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GroundOdtsApp() = default¶
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virtual void Setup() override¶
Initialize the application and schedule its periodic Step() calls.
Base implementation: if GetFrequency() > 0, schedules
Step(t)on the owning agent’s Simulation at Event::Priority::APPLICATION, starting at t=0 with period 1/GetFrequency() seconds; otherwise logs a warning that no frequency is set. Derived classes (e.g. LanderNavApp::Setup, SurfaceStationApp::Setup) override this to additionally initialize their Filter’s time/state/covariance and dynamics/process noise callbacks before (optionally) calling the base behavior.
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virtual void Step(Real t) override¶
Run one simulation step of this application’s mission logic at time
t.Pure virtual: derived classes implement the actual filter predict/update cycle here (e.g. LanderNavApp::Step computes a control input and logs state; the LNSS application’s Step would run the GNSS measurement-update). Invoked periodically by the Simulation event scheduled in Setup(), at the application’s configured frequency.
- Parameters:
t – Current simulation time [s, since simulation epoch]
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inline virtual void Log(Real) override¶
Log this application’s current state/diagnostics to the DataLogger.
Base implementation only emits a debug message. Called once after Setup() and thereafter from Agent::Log(t) (which forwards to
application_->Log(time)each time the owning agent logs). Derived classes (e.g. LanderNavApp::Log) override this to additionally log their Filter’s state/covariance and any error metrics.- Parameters:
t – Current simulation time [s, since simulation epoch]
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int SatIndex(const std::string &sat_name) const¶
Resolve a satellite name to its filter-state block index (for the sensors).
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inline int EpochIndex(double t) const¶
Uniform-grid epoch index for time
t[s].
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inline void AddMeasurement(const IslStationObs &m)¶
A station sensor pushes one observation into the current epoch’s buffer.
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inline const std::vector<std::string> &SatelliteNames() const¶
Public Static Attributes
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static int kSub = 8¶
Protected Attributes
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int seed_ = 42¶
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double dt_s_ = 60.0¶
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double duration_s_ = 21600.0¶
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int moon_gravity_degree_filter_ = 8¶
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int moon_gravity_order_filter_ = 8¶
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bool include_earth_ = true¶
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bool include_sun_ = true¶
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bool use_relativity_ = true¶
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double integration_step_s_ = 60.0¶
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double pseudorange_sigma_m_ = 1.0¶
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bool include_station_doppler_ = true¶
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double station_doppler_sigma_mps_ = 1.0e-3¶
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double process_accel_sigma_mps2_ = 1.0e-6¶
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double outlier_threshold_ = 3.0¶
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double initial_position_sigma_m_ = 200.0¶
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double initial_velocity_sigma_mps_ = 0.1¶
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double initial_clock_bias_sigma_s_ = 1.0e-6¶
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double initial_clock_drift_sigma_sps_ = 1.0e-9¶
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std::vector<std::string> sat_names_¶
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std::vector<std::string> station_names_¶
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bool initialized_ = false¶
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int n_sat_ = 0¶
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int n_state_ = 0¶
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std::vector<Spacecraft*> sats_¶
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std::map<std::string, int> sat_index_¶
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std::vector<IslStationObs> inbox_¶
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std::mt19937 rng_¶
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GroundOdtsApp() = default¶