{ "cells": [ { "cell_type": "markdown", "metadata": {}, "source": [ "# Tutorial 09: Linear Kalman Filter and EKF Setup\n", "\n", "This tutorial covers the implementation and setup of **Linear Kalman Filters (LKF)** and **Extended Kalman Filters (EKF)** for spacecraft navigation and tracking.\n", "\n", "We will demonstrate:\n", "1. **Linear KF**: 1D Constant Velocity Tracking (Simple formulation).\n", "2. **Extended KF (EKF)**: 3D Relative Navigation tracking with ranging devices (Non-linear measurement model).\n", "\n", "---" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "## 1. Theory Prerequisite: Linear Kalman Filter\n", "\n", "The Linear Kalman Filter estimates the state $x \\in \\mathbb{R}^n$ of a discrete-time process governed by the linear stochastic difference equation:\n", "\n", "$$x_k = F x_{k-1} + B u_{k-1} + w_{k-1}$$\n", "\n", "with a measurement $z \\in \\mathbb{R}^m$:\n", "\n", "$$z_k = H x_k + v_k$$\n", "\n", "Where:\n", "- $F$: State transition matrix\n", "- $B$: Control input matrix\n", "- $H$: Measurement matrix\n", "- $w \\sim \\mathcal{N}(0, Q)$: Process Noise\n", "- $v \\sim \\mathcal{N}(0, R)$: Measurement Noise\n", "\n", "### Predict/Update Cycles\n", "1. **Predict**:\n", " - $\\hat{x}_{k|k-1} = F \\hat{x}_{k-1|k-1} + B u_{k-1}$\n", " - $P_{k|k-1} = F P_{k-1|k-1} F^T + Q$\n", "\n", "2. **Update**:\n", " - $K_k = P_{k|k-1} H^T (H P_{k|k-1} H^T + R)^{-1}$\n", " - $\\hat{x}_{k|k} = \\hat{x}_{k|k-1} + K_k (z_k - H \\hat{x}_{k|k-1})$\n", " - $P_{k|k} = (I - K_k H) P_{k|k-1}$" ] }, { "cell_type": "code", "execution_count": 7, "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "Imports successful.\n" ] } ], "source": [ "import numpy as np\n", "import matplotlib.pyplot as plt\n", "from opengnc.kalman_filters.kf import KF\n", "from opengnc.kalman_filters.ekf import EKF\n", "\n", "np.random.seed(42) # For reproducible tutorial results\n", "print(\"Imports successful.\")" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "### 1.1 Demonstration: 1D Constant Velocity Tracking\n", "We track a satellite's relative range along a single axis assuming constant velocity." ] }, { "cell_type": "code", "execution_count": 8, "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "Linear KF run complete.\n" ] } ], "source": [ "dt = 1.0 # Time step [s]\n", "steps = 100\n", "\n", "# Initialize Filter\n", "linear_kf = KF(dim_x=2, dim_z=1) # State: [Position, Velocity]\n", "\n", "# System Matrices\n", "linear_kf.F = np.array([[1, dt],\n", " [0, 1]])\n", "linear_kf.H = np.array([[1, 0]]) # Measure range only\n", "\n", "# Noise and Covariance Setup\n", "linear_kf.R = np.array([[0.1]]) # Measurement Noise Var\n", "linear_kf.Q = np.array([[0.001, 0], \n", " [0, 0.001]]) # Process Noise Var\n", "linear_kf.P *= 10.0 # High initial uncertainty\n", "\n", "# True Initial State\n", "true_x = np.array([0.0, 10.0]) # Pos=0m, Vel=10m/s\n", "\n", "history_true = []\n", "history_est = []\n", "history_meas = []\n", "history_cov = []\n", "\n", "for k in range(steps):\n", " # Step Simulation\n", " process_noise = np.random.multivariate_normal(np.zeros(2), linear_kf.Q)\n", " true_x = np.dot(linear_kf.F, true_x) + process_noise\n", " \n", " # Measure\n", " meas_noise = np.random.normal(0, np.sqrt(linear_kf.R[0, 0]))\n", " z = np.dot(linear_kf.H, true_x) + meas_noise\n", " \n", " # Filter update\n", " linear_kf.predict()\n", " linear_kf.update(z)\n", " \n", " # Save for plotting\n", " history_true.append(true_x.copy())\n", " history_est.append(linear_kf.x.copy())\n", " history_meas.append(z)\n", " history_cov.append(linear_kf.P.diagonal().copy())\n", "\n", "history_true = np.array(history_true)\n", "history_est = np.array(history_est)\n", "history_meas = np.array(history_meas)\n", "history_cov = np.array(history_cov)\n", "\n", "print(\"Linear KF run complete.\")" ] }, { "cell_type": "code", "execution_count": 9, "metadata": {}, "outputs": [ { "data": { "image/png": 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", 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", "text/plain": [ "
" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "# Plotting Linear KF Results\n", "time = np.arange(steps) * dt\n", "plt.figure(figsize=(10, 6))\n", "plt.plot(time, history_true[:, 0], 'g-', label='True Position')\n", "plt.scatter(time, history_meas, c='r', s=5, alpha=0.5, label='Measurements')\n", "plt.plot(time, history_est[:, 0], 'b--', label='Estimated Position')\n", "plt.title('Linear KF: 1D Constant Velocity')\n", "plt.xlabel('Time [s]')\n", "plt.ylabel('Position [m]')\n", "plt.legend()\n", "plt.grid(True)\n", "plt.show()\n", "\n", "plt.figure(figsize=(10, 4))\n", "plt.plot(time, history_true[:, 0] - history_est[:, 0], 'k-', label='Position Error')\n", "plt.fill_between(time, -3*np.sqrt(history_cov[:,0]), 3*np.sqrt(history_cov[:,0]), color='blue', alpha=0.2, label='$3\\sigma$ Bound')\n", "plt.title('Estimation Error with Covariance Bounds')\n", "plt.xlabel('Time [s]')\n", "plt.ylabel('Error [m]')\n", "plt.legend()\n", "plt.grid(True)\n", "plt.show()" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "> [!NOTE]\n", "> **Linear KF Performance**: Brief, occasional 1-step exceedances of the $3\\sigma$ bounds followed by automatic recovery are normal statistical variances for stochastic filters. $3\\sigma$ encompasses $99.73\\%$ of cases; for 100-step simulations, sparse failures are theoretically consistent with normal noise distribution.\n" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "---\n", "## 2. Theory Prerequisite: Extended Kalman Filter\n", "\n", "For non-linear systems:\n", "\n", "$$x_k = f(x_{k-1}, u_{k-1}) + w_{k-1}$$\n", "$$z_k = h(x_k) + v_k$$\n", "\n", "We linearize about the current estimate using Taylor series expansion:\n", "- **Dynamics Jacobian**: $F_{k-1} = \\frac{\\partial f}{\\partial x}\\Big|_{\\hat{x}_{k-1|k-1}}$\n", "- **Measurement Jacobian**: $H_k = \\frac{\\partial h}{\\partial x}\\Big|_{\\hat{x}_{k|k-1}}$\n", "\n", "The filter cycles proceed identically to the linear case, but use the Jacobian matrices for covariance propagation and the non-linear functions for predicting the state and measurement residuals." ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "### 2.1 Demonstration: 3D Relative Navigation with Range-Only Measurement\n", "We use **Clohessy-Wiltshire (CW)** equations for dynamics (linear) but assume a **non-linear measurement** from a laser rangefinder calculating distance to target." ] }, { "cell_type": "code", "execution_count": 10, "metadata": {}, "outputs": [], "source": [ "# State: [rx, ry, rz, vx, vy, vz]\n", "n_orbit = 0.0011 # Orbit mean motion (approx 90 min LEO orbit)\n", "\n", "def cw_dynamics_step(x, dt):\n", " \"\"\"Clohessy-Wiltshire State Transition\"\"\"\n", " r0 = x[0:3]\n", " v0 = x[3:6]\n", " \n", " # Matrix formulation of CW\n", " sn = np.sin(n_orbit * dt)\n", " cn = np.cos(n_orbit * dt)\n", " \n", " # Pos propagation\n", " rx = r0[0]*(4 - 3*cn) + v0[0]*sn/n_orbit + (2*v0[1]/n_orbit)*(1 - cn)\n", " ry = 6*r0[0]*(sn - n_orbit*dt) + r0[1] + 2*v0[0]*(cn - 1)/n_orbit + v0[1]*(4*sn - 3*n_orbit*dt)/n_orbit\n", " rz = r0[2]*cn + v0[2]*sn/n_orbit\n", " \n", " # Vel propagation\n", " vx = r0[0]*3*n_orbit*sn + v0[0]*cn + 2*v0[1]*sn\n", " vy = 6*r0[0]*n_orbit*(cn - 1) - 2*v0[0]*sn + v0[1]*(4*cn - 3)\n", " vz = -r0[2]*n_orbit*sn + v0[2]*cn\n", " \n", " return np.array([rx, ry, rz, vx, vy, vz])\n", "\n", "def f_func(x, dt, u, **kwargs):\n", " return cw_dynamics_step(x, dt)\n", "\n", "def f_jac(x, dt, u, **kwargs):\n", " # Analytical Jacobian of CW is the CW matrix itself\n", " sn = np.sin(n_orbit * dt)\n", " cn = np.cos(n_orbit * dt)\n", " F = np.zeros((6,6))\n", " F[0,0] = 4 - 3*cn; F[0,1] = 0; F[0,2] = 0; F[0,3] = sn/n_orbit; F[0,4] = 2*(1-cn)/n_orbit; F[0,5] = 0\n", " F[1,0] = 6*(sn - n_orbit*dt); F[1,1] = 1; F[1,2] = 0; F[1,3] = 2*(cn-1)/n_orbit; F[1,4] = (4*sn - 3*n_orbit*dt)/n_orbit; F[1,5] = 0\n", " F[2,2] = cn; F[2,5] = sn/n_orbit\n", " F[3,0] = 3*n_orbit*sn; F[3,3] = cn; F[3,4] = 2*sn\n", " F[4,0] = 6*n_orbit*(cn-1); F[4,3] = -2*sn; F[4,4] = 4*cn-3\n", " F[5,2] = -n_orbit*sn; F[5,5] = cn\n", " return F\n", "\n", "def h_func(x, **kwargs):\n", " # Measurement is range to origin\n", " range_val = np.linalg.norm(x[0:3])\n", " return np.array([range_val])\n", "\n", "def h_jac(x, **kwargs):\n", " pos = x[0:3]\n", " norm = np.linalg.norm(pos)\n", " if norm < 1e-6:\n", " return np.zeros((1,6))\n", " H = np.zeros((1,6))\n", " H[0, 0:3] = pos / norm\n", " return H" ] }, { "cell_type": "code", "execution_count": 11, "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "EKF run complete.\n" ] } ], "source": [ "dt_ekf = 5.0 # Seconds\n", "steps_ekf = 60\n", "\n", "ekf = EKF(dim_x=6, dim_z=1)\n", "ekf.x = np.array([100.0, 50.0, 10.0, 0.0, -0.1, 0.0]) # Setup Initial Guess slightly off\n", "\n", "ekf.P = np.eye(6) * 10.0\n", "ekf.Q = np.eye(6) * 0.00001 # Stable relative dynamics\n", "ekf.R = np.array([[1.0]]) # 1m range error std\n", "\n", "true_x_ekf = np.array([110.0, 45.0, 12.0, 0.02, -0.08, 0.01]) # True initial\n", "\n", "history_ekf_true = []\n", "history_ekf_est = []\n", "history_ekf_meas = []\n", "history_ekf_cov = []\n", "\n", "for k in range(steps_ekf):\n", " # Physics step\n", " true_x_ekf = cw_dynamics_step(true_x_ekf, dt_ekf)\n", " \n", " # Measure\n", " z = h_func(true_x_ekf) + np.random.normal(0, 1.0)\n", " \n", " # EKF Step\n", " ekf.predict(f_func, f_jac, dt_ekf)\n", " ekf.update(z, h_func, h_jac)\n", " \n", " history_ekf_true.append(true_x_ekf.copy())\n", " history_ekf_est.append(ekf.x.copy())\n", " history_ekf_meas.append(z)\n", " history_ekf_cov.append(ekf.P.diagonal().copy())\n", " \n", "history_ekf_true = np.array(history_ekf_true)\n", "history_ekf_est = np.array(history_ekf_est)\n", "history_ekf_cov = np.array(history_ekf_cov)\n", "\n", "print(\"EKF run complete.\")" ] }, { "cell_type": "code", "execution_count": 12, "metadata": {}, "outputs": [ { "data": { "image/png": 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", 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" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "time_ekf = np.arange(steps_ekf) * dt_ekf\n", "\n", "plt.figure(figsize=(10, 6))\n", "plt.plot(time_ekf, history_ekf_true[:, 0], 'g-', label='True $r_x$')\n", "plt.plot(time_ekf, history_ekf_est[:, 0], 'b--', label='Est $r_x$')\n", "plt.plot(time_ekf, history_ekf_true[:, 1], 'g:', label='True $r_y$')\n", "plt.plot(time_ekf, history_ekf_est[:, 1], 'b:', label='Est $r_y$')\n", "plt.title('EKF: Continuous Relative Orbit Position estimate')\n", "plt.xlabel('Time [s]')\n", "plt.ylabel('Distance [m]')\n", "plt.legend()\n", "plt.grid(True)\n", "plt.show()\n", "\n", "plt.figure(figsize=(10, 4))\n", "error = history_ekf_true[:, 0] - history_ekf_est[:, 0]\n", "bound = 3 * np.sqrt(history_ekf_cov[:, 0])\n", "plt.plot(time_ekf, error, 'r-', label='Position $r_x$ Error')\n", "plt.fill_between(time_ekf, -bound, bound, color='red', alpha=0.1, label='$3\\sigma$ Bound')\n", "plt.title('Estimator Convergence (Position axis X)')\n", "plt.xlabel('Time [s]')\n", "plt.ylabel('Error [m]')\n", "plt.legend()\n", "plt.grid(True)\n", "plt.show()" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "> [!IMPORTANT]\n", "> **EKF Range-Only (3D)**: Out-of-plane position $r_z$ is decoupled in Clohessy-Wiltshire state equations and range sensitivity is extremely low ($\\approx r_z / \\text{range}$ using single beacons). Expanding initial covariance state representations avoids overconfident settle lag causing boundary escapes.\n" ] } ], "metadata": { "kernelspec": { "display_name": "Python 3", "language": "python", "name": "python3" }, "language_info": { "codemirror_mode": { "name": "ipython", "version": 3 }, "file_extension": ".py", "mimetype": "text/x-python", "name": "python", "nbconvert_exporter": "python", "pygments_lexer": "ipython3", "version": "3.10.11" } }, "nbformat": 4, "nbformat_minor": 4 }