Breaking changes: runtime filtering of measurements and selection of processing for simultaneous measurements #379

ChristopherRabotin · 2024-11-23T00:47:12Z

Summary

Orbit determination measurements are no longer their own type. Instead, they're all part of the Measurement structure which can store multiple simultaneous measurements in a HashMap. All tracking devices are represented as a BTreeMap. All tracking data is also represented as a BTreeMap.

This leads to significant code simplifications, along with runtime flexibility to enable or disable specific measurement types from specific ground stations (or trackers in general). This is an important requirement for operations where a specific measurement type by a given ground station may be unreliable.

Architectural Changes

OD Process no longer typed by the measurement type it should ingest.
OD Process now typed by the number of measurements to process at once.
Replacement of Range, Doppler, and RangeDoppler structures with a single Measurement structure.
Replacement of EstimateFrom with Sensitivity trait, which must be implemented for the tracking device.
Removal of DynamicTrackingArc
Replacement of TrackingArcSim with TrackingDataArc, and it is no longer typed.

Closes #333

New Features

Runtime filtering of measurements by trackers (to be tested)
Add Azimuth/Elevation measurement type

Improvements

Serialization of the integration time for each ground station (closes Deserialization of ground stations from YAML should include integration time #140 ).

Bug Fixes

No change

Testing and validation

Update LRO example with filter ingesting range and Doppler simultaneously
Add integration test with filter ingesting range and Doppler sequentially
Add integration test with filter ingesting range only
Add integration test with filter ingesting Doppler only
Add integration test with azimuth and elevation only, comparing the results to az+range, el+Doppler
Add integration test comparing sequential to simultaneous range and doppler
Add integration test showing all four measurement kinds together with two-way (to test that the code doesn't compute two way for az/el)

Documentation

This PR does not primarily deal with documentation changes.

github-actions · 2024-11-23T01:04:27Z

Visit the preview URL for this PR (updated for commit 0937fe7):

https://nyx-rustdoc--pr379-feat-gh-333-od-msr-j-jlj40tik.web.app

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Coverage now takes 8 min on my desktop, so I'm moving it to the normal workflow

ChristopherRabotin · 2024-11-23T05:45:50Z

~~Executing the LRO example without any range data led to Error: SingularNoiseRk error.~~

Fixed by setting the default measurement noise to identity.

Doppler and some range

To test, simply remove the range_km entry in the measurement_types of Goldstone and Canberra, and run the LRO example. When there is ranging data injected, we can see the uncertainty on the range to rise because the postfit values are larger than the prefits (which are zero), and similarly the Doppler uncertainty drops because in our model the velocity does not suffer from the oscillation we see in the range (refer to https://nyxspace.com/nyxspace/showcase/04_lro_od/ for details).

Azimuth and Doppler

codecov · 2024-11-23T07:08:32Z

Codecov Report

Attention: Patch coverage is 79.08951% with 271 lines in your changes missing coverage. Please review.

Project coverage is 66.27%. Comparing base (923aca9) to head (0937fe7).
Report is 32 commits behind head on master.

Files with missing lines	Patch %	Lines
src/od/ground_station/mod.rs	71.65%	70 Missing ⚠️
src/od/msr/data_arc.rs	79.47%	62 Missing ⚠️
src/od/msr/sensitivity.rs	65.81%	40 Missing ⚠️
src/od/simulator/arc.rs	76.19%	25 Missing ⚠️
src/od/msr/measurement.rs	48.83%	22 Missing ⚠️
src/od/process/mod.rs	84.61%	16 Missing ⚠️
src/od/noise/mod.rs	0.00%	9 Missing ⚠️
src/od/ground_station/trk_device.rs	90.69%	8 Missing ⚠️
src/od/msr/types.rs	82.92%	7 Missing ⚠️
src/od/process/export.rs	85.71%	4 Missing ⚠️
... and 5 more

Additional details and impacted files

@@             Coverage Diff             @@
##           master     #379       +/-   ##
===========================================
- Coverage   76.29%   66.27%   -10.02%     
===========================================
  Files          84       88        +4     
  Lines       13332    13386       +54     
===========================================
- Hits        10172     8872     -1300     
- Misses       3160     4514     +1354

☔ View full report in Codecov by Sentry.
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Currently have a bug where there are two elevation residuals at the same time. Not sure what is happening there.

With the code on master, the prefits are within the measurement noise bounds and running with range+doppler simultaneously or sequentially leads to very similar results.

Azimuth error is higher than elevation, which is higher than range, and which is higher than Doppler. Will try to improve

Residual ratios are still too optimistic as a denominator.

ChristopherRabotin added 9 commits November 18, 2024 23:05

Initial work on new tracking arc and measurement serialization.

7ee8169

Usability improvements to new generic tracking data arc

3d60740

Computation of sensitivity in new framework

105a0cb

Time to test this new sensitivity formulation

9aa07c0

Superb! Sensitivity matrix computation matches previous computation

c271300

Impl snafu for measurement type

6aca68f

Simulated measurements now match the original version

e536886

Finish refactoring OD processor for new measurement structure

5c22717

Add specific tests to the coverage report

3aa4fb8

ChristopherRabotin changed the title ~~Feat/gh 333 od msr jit filtering~~ Breaking changes: runtime filtering of measurements and selection of processing for simultaneous measurements Nov 23, 2024

ChristopherRabotin added 2 commits November 22, 2024 17:59

Move ground station to its own module for maintainability

52a4163

Merge branch 'master' into feat/gh-333-od-msr-jit-filtering

1afddb0

ChristopherRabotin added 8 commits November 22, 2024 18:14

Switch to serde_yml

baf92ae

Remove unused rust-embed

b1eb2d7

WIP az/el

bbf019f

Ground station stochastics now indexmap instead of explicit

62b7e78

Fix LRO ground network

b162282

Trying to debug the gs ut on github actions

2bc2fb1

Again

81de67c

Fix trkconfig previously with walagen unwraps

5103c8f

Coverage now takes 8 min on my desktop, so I'm moving it to the normal workflow

ChristopherRabotin added 2 commits November 22, 2024 22:48

Add two tests to coverage + fix LRO ground station config

79e808d

Fix coverage report building

af0cf16

ChristopherRabotin added 5 commits November 23, 2024 17:59

Fix singular noise matrix if only one measurement type is used.

6b447da

Support az/el in OD (manual test with LRO example)

e882b43

Fix reloading of parquet in one way ekf test

6830def

WIP support for az/el in tracking data reloading

9a29b16

WIP variable size simultaneous KF processing

a3dc3e1

ChristopherRabotin added 9 commits November 24, 2024 17:56

Fix eporting residuals with all measurement types

6927ec3

Status:

9cc143f

Currently have a bug where there are two elevation residuals at the same time. Not sure what is happening there.

Fixed sensitivity of azimuth/elevation + fixed duplicates in export

3881e21

Debugging in progress

6c3fd08

Still debugging ... status follows

63006e1

With the code on master, the prefits are within the measurement noise bounds and running with range+doppler simultaneously or sequentially leads to very similar results.

Better prefit ratio computation

82db8c0

Add h tilde verification test, looks decent

ab832ac

Azimuth error is higher than elevation, which is higher than range, and which is higher than Doppler. Will try to improve

Az/el measurement types work, but noisy

dfa3cf5

Residual ratios are still too optimistic as a denominator.

Cleanup az/el msr types

0937fe7

Provide feedback

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Breaking changes: runtime filtering of measurements and selection of processing for simultaneous measurements #379

Breaking changes: runtime filtering of measurements and selection of processing for simultaneous measurements #379

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Breaking changes: runtime filtering of measurements and selection of processing for simultaneous measurements #379

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Breaking changes: runtime filtering of measurements and selection of processing for simultaneous measurements #379

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ChristopherRabotin commented Nov 23, 2024 • edited Loading

Summary

Architectural Changes

New Features

Improvements

Bug Fixes

Testing and validation

Documentation

github-actions bot commented Nov 23, 2024 • edited Loading

ChristopherRabotin commented Nov 23, 2024 • edited Loading

Doppler and some range

Azimuth and Doppler

codecov bot commented Nov 23, 2024 • edited Loading

Codecov Report

ChristopherRabotin commented Nov 23, 2024 •

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github-actions bot commented Nov 23, 2024 •

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ChristopherRabotin commented Nov 23, 2024 •

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