{ "cells": [ { "cell_type": "markdown", "metadata": {}, "source": [ "# Tutorial 11: Unscented Kalman Filter (UKF)\n", "\n", "This tutorial covers the **Unscented Kalman Filter (UKF)** for highly non-linear spacecraft tracking problems.\n", "\n", "While EKFs approximate non-linearities using first-order Taylor series (Jacobians), the UKF uses the **Unscented Transform** to propagate the mean and covariance through non-linear functions directly using a deterministic set of **Sigma Points**.\n", "\n", "---" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "## 1. Theory Prerequisite: Unscented Transform\n", "\n", "Given a state $x \\sim \\mathcal{N}(\\hat{x}, P)$, we generate $2n+1$ sigma points $\\mathcal{X}_i$:\n", "\n", "1. $\\mathcal{X}_0 = \\hat{x}$\n", "2. $\\mathcal{X}_i = \\hat{x} + (\\sqrt{(n+\\lambda) P})_i$\n", "3. $\\mathcal{X}_{i+n} = \\hat{x} - (\\sqrt{(n+\\lambda) P})_i$\n", "\n", "Where $\\lambda$ is a scaling parameter. These points are propagated through the non-linear function $f(x)$ or $h(x)$.\n", "\n", "### Advantage over EKF\n", "- **No Jacobians required**: Extremely useful for complex/discrete functions.\n", "- **Higher accuracy**: Captures mean and covariance to the 2nd order of Taylor series (EKF is 1st order).\n", "- **Stable Square-Root (SR-UKF)**: Maintains is the Cholesky factor $S$ of $P$ ($P = S S^T$) ensuring positive-definiteness throughout execution." ] }, { "cell_type": "code", "execution_count": 5, "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.ukf import UKF\n", "\n", "np.random.seed(42)\n", "print(\"Imports successful.\")" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "### 1.1 Demonstration: Angle-Only Relative Navigation\n", "We track a target satellite using **Bearing Angles only** (Azimuth and Elevation). This requires solving highly non-linear measurements since range information is extracted implicitly through the orbital mechanics coupling over time." ] }, { "cell_type": "code", "execution_count": 6, "metadata": {}, "outputs": [], "source": [ "n_orbit = 0.0011 # LEO mean motion\n", "\n", "def cw_dynamics_step(x, dt):\n", " \"\"\"Clohessy-Wiltshire State Transition\"\"\"\n", " r0 = x[0:3]; v0 = x[3:6]\n", " sn = np.sin(n_orbit * dt); cn = np.cos(n_orbit * dt)\n", " \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", " 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", " return np.array([rx, ry, rz, vx, vy, vz])\n", "\n", "def fx(x, dt):\n", " return cw_dynamics_step(x, dt)\n", "\n", "def hx(x):\n", " \"\"\"\n", " Angle-only (Bearing) measurement model.\n", " Outputs: [Azimuth, Elevation]\n", " \"\"\"\n", " rx, ry, rz = x[0], x[1], x[2]\n", " norm_xy = np.sqrt(rx**2 + ry**2)\n", " \n", " if norm_xy < 1e-6:\n", " return np.array([0.0, 0.0])\n", " \n", " az = np.arctan2(ry, rx) # azimuth\n", " el = np.arctan2(rz, norm_xy) # elevation\n", " return np.array([az, el])" ] }, { "cell_type": "code", "execution_count": 7, "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "UKF run complete.\n" ] } ], "source": [ "dt = 10.0 # Time step\n", "steps = 150\n", "\n", "ukf = UKF(dim_x=6, dim_z=2)\n", "\n", "# true initial relative state\n", "true_x = np.array([500.0, 100.0, -50.0, 0.0, -0.3, 0.1])\n", "\n", "# Filter initialization with off state (Range high error to simulate bearing coupling lookup)\n", "ukf.x = np.array([550.0, 90.0, -30.0, 0.0, -0.1, 0.0])\n", "\n", "ukf.P = np.eye(6) * 500.0 # Increased to account correctly for initial error (50 index 0)\n", "ukf.Q = np.eye(6) * 0.00001\n", "ukf.R = np.eye(2) * (np.radians(0.1)**2) # 0.1 deg accuracy bearing measurements\n", "\n", "history_true = []\n", "history_est = []\n", "history_cov = []\n", "history_meas = []\n", "\n", "for k in range(steps):\n", " # Physics cycle\n", " true_x = cw_dynamics_step(true_x, dt)\n", " \n", " # Measurement (Az, El) with noise\n", " true_z = hx(true_x)\n", " z = true_z + np.random.normal(0, np.radians(0.1), 2)\n", " \n", " # UKF Step\n", " ukf.predict(dt, fx)\n", " ukf.update(z, hx)\n", " \n", " # Save states\n", " history_true.append(true_x.copy())\n", " history_est.append(ukf.x.copy())\n", " history_meas.append(z.copy())\n", " history_cov.append(ukf.P.diagonal().copy())\n", " \n", "history_true = np.array(history_true)\n", "history_est = np.array(history_est)\n", "history_cov = np.array(history_cov)\n", "history_meas = np.array(history_meas)\n", "\n", "print(\"UKF run complete.\")" ] }, { "cell_type": "code", "execution_count": 8, "metadata": {}, "outputs": [ { "data": { "image/png": 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", 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", "text/plain": [ "
" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "time = np.arange(steps) * dt\n", "\n", "plt.figure(figsize=(12, 6))\n", "plt.subplot(2, 1, 1)\n", "plt.plot(time, history_true[:, 0], 'g-', label='True $r_x$')\n", "plt.plot(time, history_est[:, 0], 'b--', label='Est $r_x$')\n", "plt.ylabel('Distance X [m]')\n", "plt.legend()\n", "plt.grid(True)\n", "plt.title('UKF Angle-Only Tracking: Relative Coordinates Coordinate recovery')\n", "\n", "plt.subplot(2, 1, 2)\n", "plt.plot(time, history_true[:, 1], 'g-', label='True $r_y$')\n", "plt.plot(time, history_est[:, 1], 'b--', label='Est $r_y$')\n", "plt.ylabel('Distance Y [m]')\n", "plt.xlabel('Time [s]')\n", "plt.legend()\n", "plt.grid(True)\n", "plt.show()\n", "\n", "# Plot position error and bounds\n", "plt.figure(figsize=(10, 4))\n", "error = history_true[:, 0] - history_est[:, 0]\n", "bound = 3 * np.sqrt(history_cov[:, 0])\n", "\n", "plt.plot(time, error, 'r-', label='Position $r_x$ Error')\n", "plt.fill_between(time, -bound, bound, color='red', alpha=0.1, label='$3\\sigma$ Bound')\n", "plt.title('Convergence Accuracy with UKF')\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", "> **UKF Angle-Only Performance**: Coordinate tracking for bearing-only state structures develops settle lag at extended durations ($P0\text{s}$). Without absolute range observability telemetry, this represents natural convergence boundaries of circular arc map distributions after significant orbit traversal.\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 }