University of Colorado Boulder ASEN 5070: Statistical Orbit Determination I Fall 2015 Professor Brandon A. Jones Lecture 1: Course Introduction

University of Colorado Boulder  Full syllabus available online via D2L ◦ There will be time available in lecture on Wed. for syllabus questions  The following slides summarize the contents of the syllabus 2

University of Colorado Boulder  Instructors ◦ Prof. Brandon A. Jones  Office: ECNT 420  Office Hours: Wed. 3-4pm, Thurs 11-12noon  Teaching/Course Assistants ◦ TA: Eduardo Villalba  Office: ECAE 135  Office Hours: Wed. 2-3pm, Thurs 2:30-4:30pm  Office Hour Location: CCAR Meeting Room (3 rd Floor, ECNT) ◦ CA: Mihir Patel  Office Hours: By appointment for grading issues ◦ Guest Lecturer: Daniel Bryant  Office: ECAE 143  Office Hours: By appointment for lecture questions 3

University of Colorado Boulder  Brandon A. Jones ◦ Undergraduate: UT-Austin  Mathematics and Physics ◦ Contractor at NASA/JSC  Titan Corporation (now L-3)  Odyssey Space Research ◦ Graduate: CU-Boulder  M.S. and Ph.D.  Postdoc ( )  Assistant Research Professor (2013- present)  Orbit state and uncertainty prop.  Orbit determination and navigation  Multi-target, multi-sensor tracking 4

University of Colorado Boulder Course Textbook Tapley, B.D., B.E. Schutz, and G.H. Born, Statistical Orbit Determination, Elsevier Academic Press, New York, 2004.

University of Colorado Boulder  Vallado and McClain, Fundamentals of Astrodynamics and Applications, Microcosm Press,  Montenbruck and Gill, Satellite Orbits: Models, Methods, Applications, Springer,  Ristic, et al., Beyond the Kalman Filter: Particle Filters for Tracking Applications, Artech House,

University of Colorado Boulder  Course website: ccar.colorado.edu/asen5070 ◦ Homework, project, and reference materials  Desire2Learn: learn.colorado.edu ◦ Dropbox, Lecture Quizzes, etc. ◦ Short quizzes summarizing material from previous week’s lectures  Details to come  Provides feedback on what you are (or aren’t) getting out of lecture  Helps to illustrate key elements from the lectures 7

University of Colorado Boulder  Homework = 25% ◦ 11 assignments + Concept Quizzes ◦ Concept quizzes averaged to form a single homework  Possible Scores: 5 (over 60% correct), 3 (less than 60% correct), 0 (not done or 0% correct)  Exams = 45% ◦ 2 in-class mid-terms ◦ 1 take-home final ◦ Highest exam grade has a weight of 2  Course Project = 30 % ◦ Due during finals week ◦ Details provided in October 8

University of Colorado Boulder  Total of 11 assignments  They are a combination of coding, derivations, and proofs  Draft of assignments are already posted to website and D2L, but we reserve the right to change them before the official date assigned! ◦ This date, along with the due date/time, is provided on the assignment 9

University of Colorado Boulder  Uploaded to D2L as a searchable PDF ◦ Each homework has a folder on D2L with at least:  PDF copy of the assignment  Dropbox for uploading your manuscript ◦ Good opportunity to learn LaTeX (not required) ◦ Derivations may be scanned/photographed, but must be legible to receive credit  Physical copies will not be accepted  Software must be uploaded to D2L as appendix in assignment write-up ◦ Only.pdf files accepted ◦ No.zip,.docx,.m, etc.  Plagiarism detection will be enabled! 10

University of Colorado Boulder  Each student is given one “freebie” ◦ First late assignment may be turned in up to one week late without penalty ◦ Intended to account for conferences, work requirements, etc.  Any late assignments after the freebie will be penalized 10% off maximum score per school day ◦ Late is defined by the time indicated on the assignment ◦ Usually the start of lecture on a given day  Only exception: documented approval from instructor ◦ Documented approval defined as written extension ( or typed) not verbal ◦ Meant to allow for concessions for religious holidays, medical emergencies, etc. 11

University of Colorado Boulder  Several homework assignments establish tools for final project: ◦ HW 1: Two-Body Orbit Propagation ◦ HW 2: Propagation with Special Perturbations ◦ HW 6: Propagating the STM and Measurement Modeling ◦ HW 9: Batch Filter for the Project ◦ HW 10: Conventional Kalman Filter for the Project  Make sure you get these right! ◦ Final answers, but not full solutions (code, etc.), will be provided online ◦ A delay in completing these assignments hinders your ability to complete the next on the list 12

University of Colorado Boulder  You are expected to follow the Honor Code (details at  This course teaches you to navigate spacecraft. Spacecraft are worth many $Millions. Don’t crash them. It is not a good way to make the national news.  You can work together, but you are responsible for your own write-up and software.  D2L uses software to detect plagiarism. The Honor Code will be enforced. This software is surprisingly thorough!  If you’re concerned about your grade, please come talk to us rather than cheating. 13

University of Colorado Boulder  Draft of lecture slides will be posted to the website in advance for you to print and take notes on ◦ There may be some changes to the slides between being posted and the lecture  The final version (with annotations) will be included on D2L for your reference 14

University of Colorado Boulder  This class is being recorded via Be Boulder Anywhere ◦ Some students are taking the class as distance students ◦ You will also have access to recordings through D2L ◦ If you miss class, use the recording as an opportunity to catch up! ◦ There is a positive correlation between attendance and course performance  Audio is recorded throughout the room ◦ Please be careful not to cover (or tap) microphones on the tables 15

University of Colorado Boulder 16

University of Colorado Boulder 17

University of Colorado Boulder 18  Exam Three – Take Home, Due: TBD  Project, Due : TBD (details in early-Oct.)

University of Colorado Boulder  The university sets certain policies in regards to: ◦ Accommodations due to disability ◦ Medical conditions/injuries ◦ Religious observances ◦ Discrimination ◦ etc.  See syllabus (D2L and website) and university guidelines for more information 19

University of Colorado Boulder  Text in blue is a question posed to you  A “cold call” is not beneficial to you or your fellow students  I will pause (a couple of seconds), let you think, and then call on a student ◦ What is orbit determination? 20

University of Colorado Boulder  I am away for a conference ◦ Lectures will be pre- or post-recorded and available online through D2L ◦ I will day/time of recording session for those that would like to attend ◦ Lectures available through D2L ◦ My office hours are cancelled for that week  I will work with the TA for him to offer extra help that week 21

University of Colorado Boulder  What programming experience do you have? ◦ MATLAB? ◦ Python? ◦ C/C++/Fortran/Ada/… ◦ None?  Most students use MATLAB in this class, but you are free to choose! ◦ Would a MATLAB overview be useful on Wednesday? 22

University of Colorado Boulder  Any Questions? 23

University of Colorado Boulder 24 Introduction to Statistical Orbit Determination

University of Colorado Boulder  It is the process of estimating the state/orbit of a satellite using a collection of observations.  We never know where a satellite is. ◦ Launch errors ◦ Modeling errors ◦ Spacecraft performance errors  maneuvers, electromagnetic interactions with the environment, etc  Track a satellite ◦ Observation errors  Locations of tracking stations  Atmosphere  Hardware modeling ◦ Geometry issues 25

University of Colorado Boulder 26  These dots represent many measurements (with some error) of a single point. ◦ How would you estimate the true point? (Remember, blue font is a question to think about!) X Y

University of Colorado Boulder 27  These dots represent many measurements (with some error) of a single point. ◦ What about for this case? X Y

University of Colorado Boulder  How would you alter the method for a moving object?  Combining our knowledge of dynamics and noisy observations allows for estimation and prediction 28 Required skills: Astrodynamics, Linear Algebra, Probability/Statistics Data Analysis, Creativity Time

University of Colorado Boulder  Navigate satellites and spacecraft! ◦ A huge portion of the population of people in the world who navigate satellites learned their skills from Born, Tapley and Schutz. ◦ Commercial:  GEO communication sats  Human spaceflight ◦ Defense:  Spy satellites  Orbital debris ◦ Interplanetary:  JPL, Goddard, APL ◦ Human Exploration:  ISS, Orion  Missions to LEO, Moon, NEOs, Mars 29

University of Colorado Boulder  Low accuracy (~1 km) ◦ Low resolution imaging, space surveillance  Medium accuracy (~100 m) ◦ Medium resolution imaging, orbit prediction, laser tracking  High accuracy (<10 cm) ◦ Relative motion/formation flying ◦ Scientific studies of the Earth 30

University of Colorado Boulder  You do not have to turn it in, but we recommend you complete it if you have never used a numeric integrator  Introduction to numeric integ. 31 ◦ Use favorite integrator to model the motion of a simple harmonic oscillator ◦ Compare solution to analytic solution

University of Colorado Boulder Homework # 1 Problem 1: Problem 2:

University of Colorado Boulder Homework # 1 Problem 3: Problem 4:

University of Colorado Boulder Homework # 1 Problem 5: Problem 6:

University of Colorado Boulder Homework # 1 Problem 7: Solution method discussed next week!