ootk 6.0.0-rc.2 → 6.0.0-rc.3

This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
Files changed (13) hide show
  1. package/dist/orbit_determination/GaussIOD.d.ts +2 -2
  2. package/dist/orbit_determination/GaussIOD.js +4 -1
  3. package/dist/orbit_determination/GaussIOD.js.map +1 -1
  4. package/dist/orbit_determination/GoodingIOD.d.ts +59 -5
  5. package/dist/orbit_determination/GoodingIOD.js +222 -168
  6. package/dist/orbit_determination/GoodingIOD.js.map +1 -1
  7. package/dist/orbit_determination/ModifiedGoodingIOD.d.ts +5 -4
  8. package/dist/orbit_determination/ModifiedGoodingIOD.js +18 -8
  9. package/dist/orbit_determination/ModifiedGoodingIOD.js.map +1 -1
  10. package/dist/propagator/RungeKuttaAdaptive.js +1 -1
  11. package/dist/propagator/RungeKuttaAdaptive.js.map +1 -1
  12. package/package.json +1 -1
  13. package/src/orbit_determination/GaussIOD.ts +5 -2
package/dist/orbit_determination/GaussIOD.d.ts CHANGED
@@ -22,8 +22,8 @@
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  * You should have received a copy of the GNU Affero General Public License along with
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  * Orbital Object ToolKit. If not, see <http://www.gnu.org/licenses/>.
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  */
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- import { J2000 } from '@src/main';
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- import { ObservationOptical } from '@src/observation/ObservationOptical';
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+ import { J2000 } from '../coordinate';
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+ import { ObservationOptical } from '../observation/ObservationOptical';
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  /**
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  * Gauss Initial Orbit Determination using three optical observations.
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  *
package/dist/orbit_determination/GaussIOD.js CHANGED
@@ -22,7 +22,10 @@
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  * You should have received a copy of the GNU Affero General Public License along with
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  * Orbital Object ToolKit. If not, see <http://www.gnu.org/licenses/>.
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  */
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- import { DEG2RAD, Earth, J2000, Matrix, Vector3D } from '@src/main';
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+ import { Earth } from '../body';
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+ import { J2000 } from '../coordinate';
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+ import { Matrix, Vector3D } from '../main';
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+ import { DEG2RAD } from '../utils';
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  import { GibbsIOD } from './GibbsIOD';
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  import { HerrickGibbsIOD } from './HerrickGibbsIOD';
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  /**
package/dist/orbit_determination/GaussIOD.js.map CHANGED
@@ -1 +1 @@
1
- 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package/dist/orbit_determination/GoodingIOD.d.ts CHANGED
@@ -86,9 +86,6 @@ export declare class GoodingIOD {
86
86
  * @returns Orbit estimate referenced to the epoch of the second observation
87
87
  */
88
88
  estimate(o1: ObservationOptical, o2: ObservationOptical, o3: ObservationOptical, rho1init?: Kilometers | null, rho3init?: Kilometers | null, nRev?: number, direction?: boolean): J2000;
89
- private _getPositionOnLoS2;
90
- private _modifyIterate;
91
- private _computeDerivatives;
92
89
  /**
93
90
  * @param r1Init - Initial guess for range at first observation
94
91
  * @param r3Init - Initial guess for range at third observation
@@ -96,6 +93,63 @@ export declare class GoodingIOD {
96
93
  * @param direction - Direction of orbit (true for prograde, false for retrograde)
97
94
  * @returns
98
95
  */
99
- private solve_;
100
- private _solveRangeProblem;
96
+ solve(o1: ObservationOptical, o2: ObservationOptical, o3: ObservationOptical, r1Init: Kilometers, r3Init: Kilometers, nRev?: number, direction?: boolean): J2000;
97
+ /**
98
+ * Solve the range problem when three line of sight are given.
99
+ * @param frame frame to be used (orbit frame)
100
+ * @param rho1init initial value for range R1, in meters
101
+ * @param rho3init initial value for range R3, in meters
102
+ * @param T13 time of flight 1->3, in seconds
103
+ * @param T12 time of flight 1->2, in seconds
104
+ * @param nRev number of revolutions
105
+ * @param direction posigrade (true) or retrograde
106
+ * @param lineOfSight1 line of sight 1
107
+ * @param lineOfSight2 line of sight 2
108
+ * @param lineOfSight3 line of sight 3
109
+ */
110
+ private solveRangeProblem_;
111
+ private modifyIterate_;
112
+ /**
113
+ * Compute the derivatives by finite-differences for the range problem.
114
+ * Specifically, we are trying to solve the problem:
115
+ * f(x, y) = 0
116
+ * g(x, y) = 0
117
+ * So, in a Newton-Raphson process, we would need the derivatives:
118
+ * fx, fy, gx, gy
119
+ * Enventually,
120
+ * dx =-f*gy / D
121
+ * dy = f*gx / D
122
+ * where D is the determinant of the Jacobian matrix.
123
+ *
124
+ * @param frame frame to be used (orbit frame)
125
+ * @param x current range 1
126
+ * @param y current range 3
127
+ * @param lineOfSight1 line of sight
128
+ * @param lineOfSight3 line of sight
129
+ * @param Pin basis vector
130
+ * @param Ein basis vector
131
+ * @param F value of the f-function
132
+ * @param T13 time of flight 1->3, in seconds
133
+ * @param T12 time of flight 1->2, in seconds
134
+ * @param withHalley use Halley iterative method
135
+ * @param nRev number of revolutions
136
+ * @param direction direction of motion
137
+ * @param FD derivatives of f wrt (rho1, rho3) by finite differences
138
+ * @param GD derivatives of g wrt (rho1, rho3) by finite differences
139
+ */
140
+ private computeDerivatives_;
141
+ /**
142
+ * Calculate the position along sight-line (forced planar mock-up for debugging).
143
+ * @param frame frame to be used (orbit frame)
144
+ * @param E1 line of sight 1 (ignored in planar mock-up)
145
+ * @param RO1 distance along E1 (used for R1)
146
+ * @param E3 line of sight 3 (ignored in planar mock-up)
147
+ * @param RO3 distance along E3 (used for R3)
148
+ * @param T13 time of flight 1->3
149
+ * @param T12 time of flight 1->2
150
+ * @param nRev number of revolutions
151
+ * @param posigrade direction of motion
152
+ * @return (R2-O2) in normalized units
153
+ */
154
+ private getPositionOnLoS2_;
101
155
  }
package/dist/orbit_determination/GoodingIOD.js CHANGED
@@ -29,7 +29,7 @@ export class GoodingIOD {
29
29
  /** Finite difference factor for numerical derivatives */
30
30
  static FINITE_DIFF_FACTOR = 1e-6;
31
31
  /** Convergence tolerance for iterative solver */
32
- static CONVERGENCE_TOLERANCE = 1e-12;
32
+ static CONVERGENCE_TOLERANCE = 1e-14;
33
33
  /** Maximum iterations for range problem solver */
34
34
  static MAX_ITERATIONS = 100;
35
35
  /** Minimum determinant value to avoid numerical issues */
@@ -99,9 +99,6 @@ export class GoodingIOD {
99
99
  */
100
100
  estimate(o1, o2, o3, rho1init = null, rho3init = null, nRev = 0, direction = true) {
101
101
  let orbit = null;
102
- this.o1_ = o1;
103
- this.o2_ = o2;
104
- this.o3_ = o3;
105
102
  if (rho1init === null || rho3init === null) {
106
103
  const gaussIod = new GaussIOD(this._mu);
107
104
  orbit = gaussIod.estimate(o1, o2, o3);
@@ -118,34 +115,165 @@ export class GoodingIOD {
118
115
  rho1init = rho1init ?? rho1Gauss;
119
116
  rho3init = rho3init ?? rho3Gauss;
120
117
  }
121
- return this.solve_(rho1init, rho3init, nRev, direction);
118
+ return this.solve(o1, o2, o3, rho1init, rho3init, nRev, direction);
122
119
  }
123
- _getPositionOnLoS2({ e1, r01, e3, r03, t13, t12, nRev, posigrade, }) {
124
- const p1 = this.vObserverPosition1_.add(e1.scale(r01));
125
- this.r1_ = p1.magnitude();
126
- const p3 = this.vObserverPosition3_.add(e3.scale(r03));
127
- this.r3_ = p3.magnitude();
128
- const p13 = p1.cross(p3);
129
- let th = Math.atan2(p13.magnitude(), p1.dot(p3));
130
- if (!posigrade) {
131
- th = TAU - th;
120
+ /**
121
+ * @param r1Init - Initial guess for range at first observation
122
+ * @param r3Init - Initial guess for range at third observation
123
+ * @param nRev - Number of revolutions
124
+ * @param direction - Direction of orbit (true for prograde, false for retrograde)
125
+ * @returns
126
+ */
127
+ solve(o1, o2, o3, r1Init, r3Init, nRev = 0, direction = true) {
128
+ this.o1_ = o1;
129
+ this.o2_ = o2;
130
+ this.o3_ = o3;
131
+ const lineOfSight1 = this.o1_.observation.lineOfSight();
132
+ const lineOfSight2 = this.o2_.observation.lineOfSight();
133
+ const lineOfSight3 = this.o3_.observation.lineOfSight();
134
+ this.r_ = Math.max(r1Init, r3Init);
135
+ this.v_ = Math.sqrt(this._mu / this.r_);
136
+ this.t_ = this.r_ / this.v_;
137
+ // Normalize observer positions (dimensionless)
138
+ const invR = 1.0 / this.r_;
139
+ this.vObserverPosition1_ = this.o1_.site.position.scale(invR);
140
+ this.vObserverPosition2_ = this.o2_.site.position.scale(invR);
141
+ this.vObserverPosition3_ = this.o3_.site.position.scale(invR);
142
+ const converged = this.solveRangeProblem_({
143
+ rho1init: r1Init / this.r_,
144
+ rho3init: r3Init / this.r_,
145
+ t13: this.o3_.epoch.difference(this.o1_.epoch) / this.t_,
146
+ t12: this.o2_.epoch.difference(this.o1_.epoch) / this.t_,
147
+ nRev,
148
+ direction,
149
+ lineOfSight1,
150
+ lineOfSight2,
151
+ lineOfSight3,
152
+ maxIterations: GoodingIOD.MAX_ITERATIONS,
153
+ });
154
+ if (!converged) {
155
+ throw new Error(`Gooding IOD failed to converge after ${GoodingIOD.MAX_ITERATIONS} iterations. ` +
156
+ 'Try different initial range estimates or check observation quality.');
132
157
  }
133
- const v1 = new Float64Array(2);
134
- const exitflag = LambertIOD.solve(this.r1_, this.r3_, th, t13, nRev, v1);
135
- if (exitflag) {
136
- const pn = p1.cross(p3);
137
- const pt = pn.cross(p1);
138
- let rt = pt.magnitude();
139
- if (!posigrade) {
140
- rt = -rt;
158
+ const gibbs = new GibbsIOD(this._mu);
159
+ const p1 = this.vObserverPosition1_.add(lineOfSight1.scale(this.rho1_)).scale(this.r_);
160
+ const p2 = this.vObserverPosition2_.add(lineOfSight2.scale(this.rho2_)).scale(this.r_);
161
+ const p3 = this.vObserverPosition3_.add(lineOfSight3.scale(this.rho3_)).scale(this.r_);
162
+ return gibbs.solve(p1, p2, p3, this.o2_.epoch, this.o3_.epoch);
163
+ }
164
+ /**
165
+ * Solve the range problem when three line of sight are given.
166
+ * @param frame frame to be used (orbit frame)
167
+ * @param rho1init initial value for range R1, in meters
168
+ * @param rho3init initial value for range R3, in meters
169
+ * @param T13 time of flight 1->3, in seconds
170
+ * @param T12 time of flight 1->2, in seconds
171
+ * @param nRev number of revolutions
172
+ * @param direction posigrade (true) or retrograde
173
+ * @param lineOfSight1 line of sight 1
174
+ * @param lineOfSight2 line of sight 2
175
+ * @param lineOfSight3 line of sight 3
176
+ */
177
+ solveRangeProblem_({ rho1init, rho3init, t13, t12, nRev, direction, lineOfSight1, lineOfSight2, lineOfSight3, maxIterations, }) {
178
+ this.rho1_ = rho1init;
179
+ this.rho3_ = rho3init;
180
+ let iter = 0;
181
+ let withHalley = false; // Start with Newton-Raphson, switch to Halley's method later
182
+ let stoppingCriterion = 10.0 * GoodingIOD.CONVERGENCE_TOLERANCE;
183
+ while (iter < maxIterations && Math.abs(stoppingCriterion) > GoodingIOD.CONVERGENCE_TOLERANCE) {
184
+ this.facFiniteDiff_ = GoodingIOD.FINITE_DIFF_FACTOR;
185
+ // Switch to Halley's method after half the iterations for better convergence
186
+ if (iter >= maxIterations / 2) {
187
+ withHalley = true;
141
188
  }
142
- const vel1 = p1.scale(v1[0] / this.r1_).add(pt.scale(v1[1] / rt));
143
- const p2 = new RungeKutta89Propagator(new J2000(this.o1_.epoch, p1, vel1), this._forceModel).propagate(this.o1_.epoch.roll(t12)).position;
144
- return p2;
189
+ const p2 = this.getPositionOnLoS2_({
190
+ e1: lineOfSight1,
191
+ r01: this.rho1_,
192
+ e3: lineOfSight3,
193
+ r03: this.rho3_,
194
+ t13,
195
+ t12,
196
+ nRev,
197
+ posigrade: direction,
198
+ });
199
+ if (p2 === null) {
200
+ this.modifyIterate_(lineOfSight1, lineOfSight3);
201
+ }
202
+ else {
203
+ this.r2_ = p2.magnitude();
204
+ const c = p2.subtract(this.vObserverPosition2_);
205
+ this.rho2_ = c.magnitude();
206
+ const cr = lineOfSight2.dot(c);
207
+ const u = lineOfSight2.cross(c);
208
+ const p = u.cross(lineOfSight2).normalize();
209
+ const ent = lineOfSight2.cross(p);
210
+ const enr = ent.magnitude();
211
+ if (enr === 0.0) {
212
+ break; // Solution found - line of sight and position are aligned
213
+ }
214
+ const en = ent.normalize();
215
+ const fc = p.dot(c);
216
+ const gc = en.dot(c);
217
+ const fd = new Float64Array(2);
218
+ const gd = new Float64Array(2);
219
+ this.computeDerivatives_({
220
+ x: this.rho1_,
221
+ y: this.rho3_,
222
+ lineOfSight1,
223
+ lineOfSight3,
224
+ pin: p,
225
+ ein: en,
226
+ fc,
227
+ gc,
228
+ t13,
229
+ t12,
230
+ withHalley,
231
+ nrev: nRev,
232
+ direction,
233
+ fd,
234
+ gd,
235
+ });
236
+ const fr1 = fd[0];
237
+ const fr3 = fd[1];
238
+ const gr1 = gd[0];
239
+ const gr3 = gd[1];
240
+ const detj = fr1 * gr3 - fr3 * gr1;
241
+ // Check for singular Jacobian matrix
242
+ if (Math.abs(detj) < GoodingIOD.MIN_DETERMINANT) {
243
+ throw new Error('Jacobian determinant is near zero - system is ill-conditioned.');
244
+ }
245
+ /**
246
+ * Compute Newton-Raphson corrections
247
+ * Per Gooding's algorithm:
248
+ * D3 is the correction for rho1 (range at obs 1)
249
+ * D1 is the correction for rho3 (range at obs 3)
250
+ */
251
+ this.d3_ = (-gr3 * fc) / detj;
252
+ this.d1_ = (gr1 * fc) / detj;
253
+ // Update range estimates - note the swap per Gooding's algorithm
254
+ this.rho1_ = (this.rho1_ + this.d3_);
255
+ this.rho3_ = (this.rho3_ + this.d1_);
256
+ const den = Math.max(cr, this.r2_);
257
+ stoppingCriterion = fc / den;
258
+ }
259
+ ++iter;
145
260
  }
146
- return null;
261
+ // Store final convergence state for diagnostics
262
+ const converged = Math.abs(stoppingCriterion) <= GoodingIOD.CONVERGENCE_TOLERANCE;
263
+ if (!converged) {
264
+ /* eslint-disable no-console */
265
+ console.warn('Gooding IOD convergence diagnostics:');
266
+ console.warn(` Iterations: ${iter}/${maxIterations}`);
267
+ console.warn(` Final residual: ${Math.abs(stoppingCriterion).toExponential(3)}`);
268
+ console.warn(` Target tolerance: ${GoodingIOD.CONVERGENCE_TOLERANCE.toExponential(3)}`);
269
+ console.warn(` rho1: ${(this.rho1_ * this.r_).toFixed(2)} km`);
270
+ console.warn(` rho2: ${(this.rho2_ * this.r_).toFixed(2)} km`);
271
+ console.warn(` rho3: ${(this.rho3_ * this.r_).toFixed(2)} km`);
272
+ /* eslint-enable no-console */
273
+ }
274
+ return converged;
147
275
  }
148
- _modifyIterate(lineOfSight1, lineOfSight3) {
276
+ modifyIterate_(lineOfSight1, lineOfSight3) {
149
277
  const r13 = this.vObserverPosition3_.subtract(this.vObserverPosition1_);
150
278
  this.d1_ = r13.dot(lineOfSight1);
151
279
  this.d3_ = r13.dot(lineOfSight3);
@@ -154,12 +282,40 @@ export class GoodingIOD {
154
282
  this.rho1_ = Math.max((this.d1_ - this.d3_ * d2) / d4, 0.0);
155
283
  this.rho3_ = Math.max((this.d1_ * d2 - this.d3_) / d4, 0.0);
156
284
  }
157
- _computeDerivatives({ x, y, lineOfSight1, lineOfSight3, pin, ein, fc, gc, t13, t12, withHalley, nrev, direction, fd, gd, }) {
285
+ /**
286
+ * Compute the derivatives by finite-differences for the range problem.
287
+ * Specifically, we are trying to solve the problem:
288
+ * f(x, y) = 0
289
+ * g(x, y) = 0
290
+ * So, in a Newton-Raphson process, we would need the derivatives:
291
+ * fx, fy, gx, gy
292
+ * Enventually,
293
+ * dx =-f*gy / D
294
+ * dy = f*gx / D
295
+ * where D is the determinant of the Jacobian matrix.
296
+ *
297
+ * @param frame frame to be used (orbit frame)
298
+ * @param x current range 1
299
+ * @param y current range 3
300
+ * @param lineOfSight1 line of sight
301
+ * @param lineOfSight3 line of sight
302
+ * @param Pin basis vector
303
+ * @param Ein basis vector
304
+ * @param F value of the f-function
305
+ * @param T13 time of flight 1->3, in seconds
306
+ * @param T12 time of flight 1->2, in seconds
307
+ * @param withHalley use Halley iterative method
308
+ * @param nRev number of revolutions
309
+ * @param direction direction of motion
310
+ * @param FD derivatives of f wrt (rho1, rho3) by finite differences
311
+ * @param GD derivatives of g wrt (rho1, rho3) by finite differences
312
+ */
313
+ computeDerivatives_({ x, y, lineOfSight1, lineOfSight3, pin, ein, fc, gc, t13, t12, withHalley, nrev, direction, fd, gd, }) {
158
314
  const p = pin.normalize();
159
315
  const en = ein.normalize();
160
316
  const dx = this.facFiniteDiff_ * x;
161
317
  const dy = this.facFiniteDiff_ * y;
162
- const pm1 = this._getPositionOnLoS2({
318
+ const pm1 = this.getPositionOnLoS2_({
163
319
  e1: lineOfSight1,
164
320
  r01: (x - dx),
165
321
  e3: lineOfSight3,
@@ -175,7 +331,7 @@ export class GoodingIOD {
175
331
  const cm1 = pm1.subtract(this.vObserverPosition2_);
176
332
  const fm1 = p.dot(cm1);
177
333
  const gm1 = en.dot(cm1);
178
- const pp1 = this._getPositionOnLoS2({
334
+ const pp1 = this.getPositionOnLoS2_({
179
335
  e1: lineOfSight1,
180
336
  r01: (x + dx),
181
337
  e3: lineOfSight3,
@@ -193,7 +349,7 @@ export class GoodingIOD {
193
349
  const gp1 = en.dot(cp1);
194
350
  const fx = (fp1 - fm1) / (2.0 * dx);
195
351
  const gx = (gp1 - gm1) / (2.0 * dx);
196
- const pm3 = this._getPositionOnLoS2({
352
+ const pm3 = this.getPositionOnLoS2_({
197
353
  e1: lineOfSight1,
198
354
  r01: x,
199
355
  e3: lineOfSight3,
@@ -209,7 +365,7 @@ export class GoodingIOD {
209
365
  const cm3 = pm3.subtract(this.vObserverPosition2_);
210
366
  const fm3 = p.dot(cm3);
211
367
  const gm3 = en.dot(cm3);
212
- const pp3 = this._getPositionOnLoS2({
368
+ const pp3 = this.getPositionOnLoS2_({
213
369
  e1: lineOfSight1,
214
370
  r01: x,
215
371
  e3: lineOfSight3,
@@ -241,7 +397,7 @@ export class GoodingIOD {
241
397
  const gxx = (gp1 + gm1 - 2.0 * gc) / hrho1Sq;
242
398
  const fyy = (fp3 + fm3 - 2.0 * fc) / hrho3Sq;
243
399
  const gyy = (gp3 + gm3 - 2.0 * gc) / hrho3Sq;
244
- const pp13 = this._getPositionOnLoS2({
400
+ const pp13 = this.getPositionOnLoS2_({
245
401
  e1: lineOfSight1,
246
402
  r01: (x + dx),
247
403
  e3: lineOfSight3,
@@ -257,7 +413,7 @@ export class GoodingIOD {
257
413
  const cp13 = pp13.subtract(this.vObserverPosition2_);
258
414
  const fp13 = p.dot(cp13);
259
415
  const gp13 = en.dot(cp13);
260
- const pm13 = this._getPositionOnLoS2({
416
+ const pm13 = this.getPositionOnLoS2_({
261
417
  e1: lineOfSight1,
262
418
  r01: (x - dx),
263
419
  e3: lineOfSight3,
@@ -294,144 +450,42 @@ export class GoodingIOD {
294
450
  }
295
451
  }
296
452
  /**
297
- * @param r1Init - Initial guess for range at first observation
298
- * @param r3Init - Initial guess for range at third observation
299
- * @param nRev - Number of revolutions
300
- * @param direction - Direction of orbit (true for prograde, false for retrograde)
301
- * @returns
453
+ * Calculate the position along sight-line (forced planar mock-up for debugging).
454
+ * @param frame frame to be used (orbit frame)
455
+ * @param E1 line of sight 1 (ignored in planar mock-up)
456
+ * @param RO1 distance along E1 (used for R1)
457
+ * @param E3 line of sight 3 (ignored in planar mock-up)
458
+ * @param RO3 distance along E3 (used for R3)
459
+ * @param T13 time of flight 1->3
460
+ * @param T12 time of flight 1->2
461
+ * @param nRev number of revolutions
462
+ * @param posigrade direction of motion
463
+ * @return (R2-O2) in normalized units
302
464
  */
303
- solve_(r1Init, r3Init, nRev = 0, direction = true) {
304
- const lineOfSight1 = this.o1_.observation.lineOfSight();
305
- const lineOfSight2 = this.o2_.observation.lineOfSight();
306
- const lineOfSight3 = this.o3_.observation.lineOfSight();
307
- this.r_ = Math.max(r1Init, r3Init);
308
- this.v_ = Math.sqrt(this._mu / this.r_);
309
- this.t_ = this.r_ / this.v_;
310
- // Normalize observer positions (dimensionless)
311
- const invR = 1.0 / this.r_;
312
- this.vObserverPosition1_ = this.o1_.site.position.scale(invR);
313
- this.vObserverPosition2_ = this.o2_.site.position.scale(invR);
314
- this.vObserverPosition3_ = this.o3_.site.position.scale(invR);
315
- const converged = this._solveRangeProblem({
316
- rho1init: r1Init / this.r_,
317
- rho3init: r3Init / this.r_,
318
- t13: this.o3_.epoch.difference(this.o1_.epoch) / this.t_,
319
- t12: this.o2_.epoch.difference(this.o1_.epoch) / this.t_,
320
- nrev: nRev,
321
- direction,
322
- lineOfSight1,
323
- lineOfSight2,
324
- lineOfSight3,
325
- maxIterations: GoodingIOD.MAX_ITERATIONS,
326
- });
327
- if (!converged) {
328
- throw new Error(`Gooding IOD failed to converge after ${GoodingIOD.MAX_ITERATIONS} iterations. ` +
329
- 'Try different initial range estimates or check observation quality.');
465
+ getPositionOnLoS2_({ e1, r01, e3, r03, t13, t12, nRev, posigrade, }) {
466
+ const p1 = this.vObserverPosition1_.add(e1.scale(r01));
467
+ this.r1_ = p1.magnitude();
468
+ const p3 = this.vObserverPosition3_.add(e3.scale(r03));
469
+ this.r3_ = p3.magnitude();
470
+ const p13 = p1.cross(p3);
471
+ let th = Math.atan2(p13.magnitude(), p1.dot(p3));
472
+ if (!posigrade) {
473
+ th = TAU - th;
330
474
  }
331
- const gibbs = new GibbsIOD(this._mu);
332
- const p1 = this.vObserverPosition1_.add(lineOfSight1.scale(this.rho1_)).scale(this.r_);
333
- const p2 = this.vObserverPosition2_.add(lineOfSight2.scale(this.rho2_)).scale(this.r_);
334
- const p3 = this.vObserverPosition3_.add(lineOfSight3.scale(this.rho3_)).scale(this.r_);
335
- return gibbs.solve(p1, p2, p3, this.o2_.epoch, this.o3_.epoch);
336
- }
337
- _solveRangeProblem({ rho1init, rho3init, t13, t12, nrev, direction, lineOfSight1, lineOfSight2, lineOfSight3, maxIterations, }) {
338
- this.rho1_ = rho1init;
339
- this.rho3_ = rho3init;
340
- let iter = 0;
341
- let withHalley = false; // Start with Newton-Raphson, switch to Halley's method later
342
- let stoppingCriterion = 10.0 * GoodingIOD.CONVERGENCE_TOLERANCE;
343
- while (iter < maxIterations && Math.abs(stoppingCriterion) > GoodingIOD.CONVERGENCE_TOLERANCE) {
344
- this.facFiniteDiff_ = GoodingIOD.FINITE_DIFF_FACTOR;
345
- // Switch to Halley's method after half the iterations for better convergence
346
- if (iter >= maxIterations / 2) {
347
- withHalley = true;
348
- }
349
- const p2 = this._getPositionOnLoS2({
350
- e1: lineOfSight1,
351
- r01: this.rho1_,
352
- e3: lineOfSight3,
353
- r03: this.rho3_,
354
- t13,
355
- t12,
356
- nRev: nrev,
357
- posigrade: direction,
358
- });
359
- if (p2 === null) {
360
- this._modifyIterate(lineOfSight1, lineOfSight3);
361
- }
362
- else {
363
- this.r2_ = p2.magnitude();
364
- const c = p2.subtract(this.vObserverPosition2_);
365
- this.rho2_ = c.magnitude();
366
- const cr = lineOfSight2.dot(c);
367
- const u = lineOfSight2.cross(c);
368
- const p = u.cross(lineOfSight2).normalize();
369
- const ent = lineOfSight2.cross(p);
370
- const enr = ent.magnitude();
371
- if (enr === 0.0) {
372
- break; // Solution found - line of sight and position are aligned
373
- }
374
- const en = ent.normalize();
375
- const fc = p.dot(c);
376
- const gc = en.dot(c);
377
- const fd = new Float64Array(2);
378
- const gd = new Float64Array(2);
379
- this._computeDerivatives({
380
- x: this.rho1_,
381
- y: this.rho3_,
382
- lineOfSight1,
383
- lineOfSight3,
384
- pin: p,
385
- ein: en,
386
- fc,
387
- gc,
388
- t13,
389
- t12,
390
- withHalley,
391
- nrev,
392
- direction,
393
- fd,
394
- gd,
395
- });
396
- const fr1 = fd[0];
397
- const fr3 = fd[1];
398
- const gr1 = gd[0];
399
- const gr3 = gd[1];
400
- const detj = fr1 * gr3 - fr3 * gr1;
401
- // Check for singular Jacobian matrix
402
- if (Math.abs(detj) < GoodingIOD.MIN_DETERMINANT) {
403
- throw new Error('Jacobian determinant is near zero - system is ill-conditioned.');
404
- }
405
- /**
406
- * Compute Newton-Raphson corrections
407
- * Per Gooding's algorithm:
408
- * D3 is the correction for rho1 (range at obs 1)
409
- * D1 is the correction for rho3 (range at obs 3)
410
- */
411
- this.d3_ = (-gr3 * fc) / detj;
412
- this.d1_ = (gr1 * fc) / detj;
413
- // Update range estimates - note the swap per Gooding's algorithm
414
- this.rho1_ = (this.rho1_ + this.d3_);
415
- this.rho3_ = (this.rho3_ + this.d1_);
416
- const den = Math.max(cr, this.r2_);
417
- stoppingCriterion = fc / den;
475
+ const v1 = new Float64Array(2);
476
+ const exitflag = LambertIOD.solve(this.r1_, this.r3_, th, t13, nRev, v1);
477
+ if (exitflag) {
478
+ const pn = p1.cross(p3);
479
+ const pt = pn.cross(p1);
480
+ let rt = pt.magnitude();
481
+ if (!posigrade) {
482
+ rt = -rt;
418
483
  }
419
- ++iter;
420
- }
421
- // Store final convergence state for diagnostics
422
- const converged = Math.abs(stoppingCriterion) <= GoodingIOD.CONVERGENCE_TOLERANCE;
423
- if (!converged) {
424
- /* eslint-disable no-console */
425
- console.warn('Gooding IOD convergence diagnostics:');
426
- console.warn(` Iterations: ${iter}/${maxIterations}`);
427
- console.warn(` Final residual: ${Math.abs(stoppingCriterion).toExponential(3)}`);
428
- console.warn(` Target tolerance: ${GoodingIOD.CONVERGENCE_TOLERANCE.toExponential(3)}`);
429
- console.warn(` rho1: ${(this.rho1_ * this.r_).toFixed(2)} km`);
430
- console.warn(` rho2: ${(this.rho2_ * this.r_).toFixed(2)} km`);
431
- console.warn(` rho3: ${(this.rho3_ * this.r_).toFixed(2)} km`);
432
- /* eslint-enable no-console */
484
+ const vel1 = p1.scale(v1[0] / this.r1_).add(pt.scale(v1[1] / rt));
485
+ const p2 = new RungeKutta89Propagator(new J2000(this.o1_.epoch, p1, vel1), this._forceModel).propagate(this.o1_.epoch.roll(t12)).position;
486
+ return p2;
433
487
  }
434
- return converged;
488
+ return null;
435
489
  }
436
490
  }
437
491
  //# sourceMappingURL=GoodingIOD.js.map
package/dist/orbit_determination/GoodingIOD.js.map CHANGED
@@ -1 +1 @@
1
- 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package/dist/orbit_determination/ModifiedGoodingIOD.d.ts CHANGED
@@ -30,11 +30,12 @@ type SolveOptions = {
30
30
  * Used for orbit determination from multiple optical observations.
31
31
  */
32
32
  export declare class ModifiedGoodingIOD {
33
- private readonly observations_;
33
+ private observations_;
34
34
  private readonly mu_;
35
- constructor(observations: ObservationOptical[], mu?: number);
35
+ constructor(mu?: number);
36
36
  private createInitial_;
37
- private _createErrorFunction;
38
- solve(r0: Kilometers, rN: Kilometers, { nRev, direction, posSearch, velSearch, tolerance, printIter, }: SolveOptions): J2000;
37
+ private createErrorFunction_;
38
+ solve(observations: ObservationOptical[], r0?: Kilometers, rN?: Kilometers, { nRev, direction, posSearch, velSearch, tolerance, printIter, }?: SolveOptions): J2000;
39
+ private defaultSolveOptions_;
39
40
  }
40
41
  export {};
package/dist/orbit_determination/ModifiedGoodingIOD.js CHANGED
@@ -27,15 +27,14 @@ import { GoodingIOD } from './GoodingIOD';
27
27
  export class ModifiedGoodingIOD {
28
28
  observations_;
29
29
  mu_;
30
- constructor(observations, mu = Earth.mu) {
31
- this.observations_ = observations;
30
+ constructor(mu = Earth.mu) {
32
31
  this.mu_ = mu;
33
32
  }
34
- createInitial_(r0, rN, nRev, direction) {
33
+ createInitial_(r1Init, rNInit, nRev, direction) {
35
34
  const iod = new GoodingIOD(this.mu_);
36
- return iod.estimate(this.observations_[0], this.observations_[Math.floor(this.observations_.length / 2)], this.observations_[this.observations_.length - 1], r0, rN, nRev, direction);
35
+ return iod.estimate(this.observations_[0], this.observations_[Math.floor(this.observations_.length / 2)], this.observations_[this.observations_.length - 1], r1Init, rNInit, nRev, direction);
37
36
  }
38
- _createErrorFunction(aprioriEpoch) {
37
+ createErrorFunction_(aprioriEpoch) {
39
38
  const forceModel = new ForceModel().setGravity(this.mu_);
40
39
  const scoreFn = (x) => {
41
40
  const position = new Vector3D(x[0], x[1], x[2]);
@@ -55,13 +54,14 @@ export class ModifiedGoodingIOD {
55
54
  };
56
55
  return scoreFn;
57
56
  }
58
- solve(r0, rN, { nRev = 0, direction = true, posSearch = 10.0, velSearch = 0.1, tolerance = 1e-6, printIter = false, }) {
57
+ solve(observations, r0, rN, { nRev = 0, direction = true, posSearch = 10.0, velSearch = 0.1, tolerance = 1e-6, printIter = false, } = this.defaultSolveOptions_()) {
58
+ this.observations_ = observations;
59
59
  if (this.observations_.length < 3) {
60
60
  throw new Error('At least 3 observations required for Gooding IOD.');
61
61
  }
62
- const init = this.createInitial_(r0, rN, nRev, direction);
62
+ const init = this.createInitial_(r0 ?? null, rN ?? null, nRev, direction);
63
63
  const guess = Float64Array.from([...init.position.toArray(), ...init.velocity.toArray()]);
64
- const solveFn = this._createErrorFunction(init.epoch);
64
+ const solveFn = this.createErrorFunction_(init.epoch);
65
65
  const simplex = [
66
66
  Float64Array.from(guess),
67
67
  Float64Array.from([guess[0] + posSearch, guess[1], guess[2], guess[3], guess[4], guess[5]]),
@@ -79,5 +79,15 @@ export class ModifiedGoodingIOD {
79
79
  });
80
80
  return new J2000(init.epoch, new Vector3D(result[0], result[1], result[2]), new Vector3D(result[3], result[4], result[5]));
81
81
  }
82
+ defaultSolveOptions_() {
83
+ return {
84
+ nRev: 0,
85
+ direction: true,
86
+ posSearch: 10.0,
87
+ velSearch: 0.1,
88
+ tolerance: 1e-6,
89
+ printIter: false,
90
+ };
91
+ }
82
92
  }
83
93
  //# sourceMappingURL=ModifiedGoodingIOD.js.map
package/dist/orbit_determination/ModifiedGoodingIOD.js.map CHANGED
@@ -1 +1 @@
1
- {"version":3,"file":"ModifiedGoodingIOD.js","sourceRoot":"","sources":["../../src/orbit_determination/ModifiedGoodingIOD.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;;;;;;GAeG;AAEH,OAAO,EAAE,UAAU,EAAE,MAAM,qBAAqB,CAAC;AACjD,OAAO,EAAE,KAAK,EAAY,KAAK,EAAmC,gBAAgB,EAAE,QAAQ,EAAE,MAAM,SAAS,CAAC;AAC9G,OAAO,EAAE,sBAAsB,EAAE,MAAM,sCAAsC,CAAC;AAE9E,OAAO,EAAE,eAAe,EAAE,MAAM,+BAA+B,CAAC;AAEhE,OAAO,EAAE,UAAU,EAAE,MAAM,cAAc,CAAC;AAW1C;;;;GAIG;AACH,MAAM,OAAO,kBAAkB;IACZ,aAAa,CAAuB;IACpC,GAAG,CAAS;IAE7B,YAAY,YAAkC,EAAE,KAAa,KAAK,CAAC,EAAE;QACnE,IAAI,CAAC,aAAa,GAAG,YAAY,CAAC;QAClC,IAAI,CAAC,GAAG,GAAG,EAAE,CAAC;IAChB,CAAC;IAEO,cAAc,CAAC,EAAc,EAAE,EAAc,EAAE,IAAY,EAAE,SAAkB;QACrF,MAAM,GAAG,GAAG,IAAI,UAAU,CACxB,IAAI,CAAC,GAAG,CACT,CAAC;QAEF,OAAO,GAAG,CAAC,QAAQ,CAAC,IAAI,CAAC,aAAa,CAAC,CAAC,CAAC,EACvC,IAAI,CAAC,aAAa,CAAC,IAAI,CAAC,KAAK,CAAC,IAAI,CAAC,aAAa,CAAC,MAAM,GAAG,CAAC,CAAC,CAAC,EAC7D,IAAI,CAAC,aAAa,CAAC,IAAI,CAAC,aAAa,CAAC,MAAM,GAAG,CAAC,CAAC,EAAE,EAAE,EAAE,EAAE,EAAE,IAAI,EAAE,SAAS,CAAC,CAAC;IAChF,CAAC;IAEO,oBAAoB,CAAC,YAAsB;QACjD,MAAM,UAAU,GAAG,IAAI,UAAU,EAAE,CAAC,UAAU,CAAC,IAAI,CAAC,GAAG,CAAC,CAAC;QACzD,MAAM,OAAO,GAAG,CAAC,CAAe,EAAU,EAAE;YAC1C,MAAM,QAAQ,GAAG,IAAI,QAAQ,CAAC,CAAC,CAAC,CAAC,CAAe,EAAE,CAAC,CAAC,CAAC,CAAe,EAAE,CAAC,CAAC,CAAC,CAAe,CAAC,CAAC;YAC1F,MAAM,QAAQ,GAAG,IAAI,QAAQ,CAC3B,CAAC,CAAC,CAAC,CAAwB,EAC3B,CAAC,CAAC,CAAC,CAAwB,EAC3B,CAAC,CAAC,CAAC,CAAwB,CAC5B,CAAC;YACF,MAAM,KAAK,GAAG,IAAI,KAAK,CAAC,YAAY,EAAE,QAAQ,EAAE,QAAQ,CAAC,CAAC;YAC1D,MAAM,UAAU,GAAG,IAAI,sBAAsB,CAAC,KAAK,EAAE,UAAU,CAAC,CAAC;YACjE,IAAI,KAAK,GAAG,CAAC,CAAC;YAEd,KAAK,MAAM,EAAE,IAAI,IAAI,CAAC,aAAa,EAAE,CAAC;gBACpC,MAAM,EAAE,GAAG,UAAU,CAAC,SAAS,CAAC,EAAE,CAAC,KAAK,CAAC,CAAC;gBAC1C,MAAM,EAAE,GAAG,EAAE,CAAC,IAAI,CAAC;gBACnB,MAAM,QAAQ,GAAG,EAAE,CAAC,WAAW,CAAC,WAAW,EAAE,CAAC;gBAC9C,MAAM,MAAM,GAAG,gBAAgB,CAAC,eAAe,CAAC,EAAE,EAAE,EAAE,CAAC,CAAC,WAAW,EAAE,CAAC;gBACtE,MAAM,KAAK,GAAG,QAAQ,CAAC,KAAK,CAAC,MAAM,CAAC,CAAC;gBAErC,KAAK,IAAI,KAAK,CAAC;YACjB,CAAC;YAED,OAAO,KAAK,CAAC;QACf,CAAC,CAAC;QAEF,OAAO,OAAO,CAAC;IACjB,CAAC;IAED,KAAK,CACH,EAAc,EACd,EAAc,EACd,EACE,IAAI,GAAG,CAAC,EACR,SAAS,GAAG,IAAI,EAChB,SAAS,GAAG,IAAI,EAChB,SAAS,GAAG,GAAG,EACf,SAAS,GAAG,IAAI,EAChB,SAAS,GAAG,KAAK,GACJ;QAEf,IAAI,IAAI,CAAC,aAAa,CAAC,MAAM,GAAG,CAAC,EAAE,CAAC;YAClC,MAAM,IAAI,KAAK,CAAC,mDAAmD,CAAC,CAAC;QACvE,CAAC;QACD,MAAM,IAAI,GAAG,IAAI,CAAC,cAAc,CAAC,EAAE,EAAE,EAAE,EAAE,IAAI,EAAE,SAAS,CAAC,CAAC;QAC1D,MAAM,KAAK,GAAG,YAAY,CAAC,IAAI,CAAC,CAAC,GAAG,IAAI,CAAC,QAAQ,CAAC,OAAO,EAAE,EAAE,GAAG,IAAI,CAAC,QAAQ,CAAC,OAAO,EAAE,CAAC,CAAC,CAAC;QAC1F,MAAM,OAAO,GAAG,IAAI,CAAC,oBAAoB,CAAC,IAAI,CAAC,KAAK,CAAC,CAAC;QACtD,MAAM,OAAO,GAAG;YACd,YAAY,CAAC,IAAI,CAAC,KAAK,CAAC;YACxB,YAAY,CAAC,IAAI,CAAC,CAAC,KAAK,CAAC,CAAC,CAAC,GAAG,SAAS,EAAE,KAAK,CAAC,CAAC,CAAC,EAAE,KAAK,CAAC,CAAC,CAAC,EAAE,KAAK,CAAC,CAAC,CAAC,EAAE,KAAK,CAAC,CAAC,CAAC,EAAE,KAAK,CAAC,CAAC,CAAC,CAAC,CAAC;YAC3F,YAAY,CAAC,IAAI,CAAC,CAAC,KAAK,CAAC,CAAC,CAAC,EAAE,KAAK,CAAC,CAAC,CAAC,GAAG,SAAS,EAAE,KAAK,CAAC,CAAC,CAAC,EAAE,KAAK,CAAC,CAAC,CAAC,EAAE,KAAK,CAAC,CAAC,CAAC,EAAE,KAAK,CAAC,CAAC,CAAC,CAAC,CAAC;YAC3F,YAAY,CAAC,IAAI,CAAC,CAAC,KAAK,CAAC,CAAC,CAAC,EAAE,KAAK,CAAC,CAAC,CAAC,EAAE,KAAK,CAAC,CAAC,CAAC,GAAG,SAAS,EAAE,KAAK,CAAC,CAAC,CAAC,EAAE,KAAK,CAAC,CAAC,CAAC,EAAE,KAAK,CAAC,CAAC,CAAC,CAAC,CAAC;YAC3F,YAAY,CAAC,IAAI,CAAC,CAAC,KAAK,CAAC,CAAC,CAAC,EAAE,KAAK,CAAC,CAAC,CAAC,EAAE,KAAK,CAAC,CAAC,CAAC,EAAE,KAAK,CAAC,CAAC,CAAC,GAAG,SAAS,EAAE,KAAK,CAAC,CAAC,CAAC,EAAE,KAAK,CAAC,CAAC,CAAC,CAAC,CAAC;YAC3F,YAAY,CAAC,IAAI,CAAC,CAAC,KAAK,CAAC,CAAC,CAAC,EAAE,KAAK,CAAC,CAAC,CAAC,EAAE,KAAK,CAAC,CAAC,CAAC,EAAE,KAAK,CAAC,CAAC,CAAC,EAAE,KAAK,CAAC,CAAC,CAAC,GAAG,SAAS,EAAE,KAAK,CAAC,CAAC,CAAC,CAAC,CAAC;YAC3F,YAAY,CAAC,IAAI,CAAC,CAAC,KAAK,CAAC,CAAC,CAAC,EAAE,KAAK,CAAC,CAAC,CAAC,EAAE,KAAK,CAAC,CAAC,CAAC,EAAE,KAAK,CAAC,CAAC,CAAC,EAAE,KAAK,CAAC,CAAC,CAAC,EAAE,KAAK,CAAC,CAAC,CAAC,GAAG,SAAS,CAAC,CAAC;SAC5F,CAAC;QACF,MAAM,MAAM,GAAG,eAAe,CAAC,YAAY,CAAC,OAAO,EAAE,OAAO,EAAE;YAC5D,QAAQ,EAAE,IAAI;YACd,UAAU,EAAE,SAAS;YACrB,UAAU,EAAE,SAAS;YACrB,SAAS;SACV,CAAC,CAAC;QAEH,OAAO,IAAI,KAAK,CACd,IAAI,CAAC,KAAK,EACV,IAAI,QAAQ,CAAC,MAAM,CAAC,CAAC,CAAe,EAAE,MAAM,CAAC,CAAC,CAAe,EAAE,MAAM,CAAC,CAAC,CAAe,CAAC,EACvF,IAAI,QAAQ,CACV,MAAM,CAAC,CAAC,CAAwB,EAChC,MAAM,CAAC,CAAC,CAAwB,EAChC,MAAM,CAAC,CAAC,CAAwB,CACjC,CACF,CAAC;IACJ,CAAC;CACF"}
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package/dist/propagator/RungeKuttaAdaptive.js CHANGED
@@ -97,8 +97,8 @@ export class RungeKuttaAdaptive extends Propagator {
97
97
  if (!Number.isFinite(teVal) || teVal === 0) {
98
98
  throw new RangeError(`Invalid error value in integration: ${teVal}`);
99
99
  }
100
- let hNew = 0.9 * step * (this.tolerance_ / teVal) ** (1.0 / this.order);
101
100
  const hOld = Math.abs(step);
101
+ let hNew = 0.9 * hOld * (this.tolerance_ / teVal) ** (1.0 / this.order);
102
102
  hNew = Math.max(0.2 * hOld, Math.min(5.0 * hOld, hNew));
103
103
  hNew = Math.max(1e-5, Math.min(1000.0, hNew));
104
104
  // Verify step size is valid
package/dist/propagator/RungeKuttaAdaptive.js.map CHANGED
@@ -1 +1 @@
1
- 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package/package.json CHANGED
@@ -1,6 +1,6 @@
1
1
  {
2
2
  "name": "ootk",
3
- "version": "6.0.0-rc.2",
3
+ "version": "6.0.0-rc.3",
4
4
  "type": "module",
5
5
  "module": "dist/main.js",
6
6
  "description": "Orbital Object Toolkit including Multiple Propagators, Initial Orbit Determination, and Maneuver Calculations.",
package/src/orbit_determination/GaussIOD.ts CHANGED
@@ -23,8 +23,11 @@
23
23
  * Orbital Object ToolKit. If not, see <http://www.gnu.org/licenses/>.
24
24
  */
25
25
 
26
- import { DEG2RAD, Earth, J2000, Kilometers, KilometersPerSecond, Matrix, Radians, Vector3D } from '@src/main';
27
- import { ObservationOptical } from '@src/observation/ObservationOptical';
26
+ import { Earth } from '../body';
27
+ import { J2000 } from '../coordinate';
28
+ import { Kilometers, KilometersPerSecond, Matrix, Radians, Vector3D } from '../main';
29
+ import { ObservationOptical } from '../observation/ObservationOptical';
30
+ import { DEG2RAD } from '../utils';
28
31
  import { GibbsIOD } from './GibbsIOD';
29
32
  import { HerrickGibbsIOD } from './HerrickGibbsIOD';
30
33