ODTK GUI & Objects Overview

AKA ODTK for Dummies 

ODTK Version 6.5.3

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Agenda
• Overview • Child Object Types
• Object Browser/Properties – Initial OD
• Toolbars – Least Squares
• Preferences – GNSS Receiver/Antenna
– Transponder
• Scenario Properties
– Measurements • Message Viewer
– State Controls & Orbit Classifications • Working with Measurements
– Earth Definition • ODTK Launchpad
– Sat Ephemeris & Units – Resources
• ODTK Objects – Scenarios
– Satellite – Utilities
– Tracking System/Station • Static Product Builder
– Filter – Common Products
– Smoother • Residual Ratios
• Residuals with Bias
– Simulator • Histogram\Residual QQ
– GNSS Constellation • Position/Velocity Uncertainties
• Position/Velocity Consistency Checks
• SPR/Ballistic Coefficient Estimates

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GUI Overview
• Menu Bar
• Toolbars
• Object Browser
• Object
Properties
• Workspace
• Message Viewer
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ODTK Help
• Built-in Help
– Access from Help menu bar
– Press F1 while selecting any
ODTK object or property to
see specific help information
– ODTK Documentation
• How-to documents
• Technical documentation
• Online help
– http://help.agi.com/ODTK/in
dex.htm

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Object Browser/Properties
• Object Browser
– Initial scenario objects limited to the scenario
icon
– Similar to STK, users may insert new objects
from the menu, by selecting Insert, New…
– Or by using the insert object toolbar icon
• Object Properties
– Default location is attached below object
browser
– ODTK object properties are cascading lists
• Using Object properties Window
– Whenever properties are updated, they must
be applied before ODTK will use the new
settings
– To collapse all list items use the << button
– To expand all list items use the >> button
– Typically users move the properties window to
the right of the browser
– To do so drag the properties and hover over
the centrally located left arrow as shown here
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 ODTK Toolbars
• Overview
– Accessed through the View menu, or by
right-clicking in the toolbar area
• Customize
– Allows users to create new toolbars,
rename or delete existing toolbars, or
reset toolbars to default
– Users may also drag and drop
commands into toolbars from the
commands tab
– Similarly users can remove commands
by dragging from the toolbar and
dropping into the commands tab
• Arranging Toolbars
– Toolbars may be moved by clicking the
attachment point and dragging/dropping
the toolbar in a new location
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 Toolbars Overview
• Default Toolbar
– New scenario
– Open scenario
– Save scenario
– Edit functions
– Prints active workspace window or report
– New object or child object
• Based on user selected scenario or object in object browser
– Arrange Windows
– Object Controls
• Stop, Pause, Run, Step Forward
– Measurements
• Preview, View, Save
– Transfer to Satellite
– Launch Difference Tool
– Add/Remove GNSS Satellites
• To/From GNSS constellation object
• Static Product Builder
– Launches Static Product Builder
• Dynamic Product Selector
– Launches Dynamic Product Selector
• HTML Viewer Controls
– Provides controls for HTML viewer when HTML utilities are run
• ODTK Wizard
– With no scenario open, allows the user to build a simulator scenario 7
from an imported tracking system or GNSS constellation
ODTK Preferences (Part 1)
• Find File
– Enables user to customize default location(s)
for ODTK to look for each file type
• GNSS
– Enables the user to customize which GNSS
constellations and in what order they be
added to a scenario
• Plugins
– Enables the user to add custom data formats
and remove existing data formats
• UI Plugins
– Enables the user to manage all registered UI
plugins
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 ODTK Preferences (Part 2)
• Workbooks
– Enables the user to manage how workbook preferences are
saved and loaded. Saving workbooks, enables the same
layout to be saved and/or loaded for subsequent ODTK
sessions
– Application workbooks define the default settings and
behavior for ODTK when creating a new scenario
– Scenario workbooks define the default settings and behavior
when working with existing scenarios
– Auto Load
• When checked, will automatically load the workbook file with the
default settings for the application (for new scenarios) or the scenario
itself (for existing scenarios)
• If check boxes for both application and scenarios are checked, ODTK
will load the settings for the scenario when loading that scenario
– Auto Save
• When checked will automatically save the workbook file with the
current settings for the application (no scenario open) or the scenario
itself (if there is a scenario open)
• Set as Default
– If checked, all settings in the preference window will remain
in effect whenever ODTK is opened
– If not, settings will only apply to the current ODTK session

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Scenario Properties Overview
• Scenario properties define many of the default
satellite and filter settings for the scenario
• The measurement files are loaded into the
scenario by adding files here
• The state controls enable the user to vary
default altitudes for applying SRP/drag forces
to the satellite in the filter
• The Earth Definition Settings are important
when matching external ephemeris
generators, such as STK Astrogator, with the
Earth force model in ODTK

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ODTK Objects: Satellite Overview
• Estimate yes or no?
– If using measurements to estimate the state of
spacecraft, set Estimate Orbit to True
– If using a reference ephemeris to simulate
observations or calibration, set Estimate Orbit to False
• Orbit state is normally viewed in Keplerian elements
for Earth orbiting satellites
• Measurement Processing
– Tracking ID is what links the measurements in
tracking data files to the Satellite
• Force Model
– Enables the user to configure the various forces
acting on the satellite, including maneuvers
• Orbit Uncertainty
– Initial orbit covariance in sigma/correlation form.
Default values often require refinement
– LeastSquares object can transfer those sigmas and
correlations to the satellite properties
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ODTK Objects: Tracking System Overview
• Grouping/Storing
– The tracking system object stores and groups
Facility objects
• Common Settings
– It also enables the users to set common
troposphere/ionosphere modeling options for the
entire system
• Import/Export
– Tracking systems may be imported/exported
using the .tso file format
– Import .tso files by selecting the scenario icon in
the object browser, then select
File/Import/Import Object from the Menu bar
– Export .tso files (with or without facilities) by
selecting the tracking system in the object
browser, then select File/Export from the Menu
bar
– Tracking facilities may be imported/exported by
selecting the tracking system or facility and using
the same process as above
• Works with STK/ODTK facilities and STK place and
target objects.
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ODTK Objects: Tracking Facility Overview
• Position
– Based on imported or user input data
• Measurement Statistics
– Based on the sensor types, data types provided by
the facility and calibration information
– ODTK uses measurement statistics when
processing measurements in Filter and Least
Squares objects
– Properly configured measurement statistics
enable realistic covariance estimation and
representative data simulations
• Measurement Processing
– Tracking ID is what links the measurements in
tracking data files to the facility
• Elevation and AzElMask
– Customizable by the user
– AzElMask compatible with STK .aem format
– Used when selecting measurements for
processing or simulation

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ODTK Objects: Filter Overview
• The filter provides optimal sequential estimation in ODTK
• The initial set of filter parameters allow the user to limit
the satellites, trackers, emitters, etc. that the filter
considers when running
– The default is to use everything in the scenario
• The process control determines how the filter operates
and over what time
– Direction
• The default and most used direction is forward in time
– Start Mode
• If the scenario objects are well calibrated, set to restart for
optimal processing of new measurements
– Stop Mode
• May be set to last measurement, a time span, or a stop time
• Optional Solve for Parameters
– If estimating tracking station measurement statistics,
ensure measurement biases flag is set to True
• Output
– Smoother Data
• Set Generate to True if using a smoother object in the
scenario to generate definitive ephemeris
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ODTK Objects: Smoother Overview
• The smoother runs backwards in time and provides
refined covariance and more accurate definitive
trajectories than the filter alone
– To run smoother, the Filter must be run with the
SmootherData\Generate parameter set to true
• Input
– Use the input files parameter to select the Filter
generated .rough file(s)
• Process control
– The process control defaults to run across the entire
Filter time
• Output
– Filter Differencing Controls
• In order to run differenced products and consistency checks,
set Generate parameter to True
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ODTK Objects: Simulator Overview
• Uses
– Enables users to plan for critical events, conduct
training, establish pattern recognition, and optimize
sensor coverage
• Requirements
– Based on the following scenario objects
• Satellite/Emitter
• Tracking systems
• Measurement types
• Timeframe
– Can run for a specified time frame at defined intervals,
or using custom tracking interval
• Outputs
– Outputs measurement files and reference ephemeris
that observations are based on
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ODTK Objects: GNSS Constellation
• Primary Use
– For processing raw GPS receiver
data (pseudorange and phase
count)
• Requirements for processing
GPS data
– Requires source file
• SP3, RINEX, SEM, YUMA, AUX
– Reference Point
• Based on source file
– SVError
• CatalogFile
• Or basic constellation object

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ODTK Child Object: IOD
• Primary Use
– Provide a reasonable orbital state for the
spacecraft prior to running Least Squares or
Filter
• IOD Methods
– HerrickGibbs
• Uses sets of range/direction measurements
• User selects 3 measurement times
• Useful for radar data
– Gooding Angles
• Uses sets of angle only measurements
• Users selects 3 measurement times
• Estimate the number of half revs (true anomaly)
between 1st and last observation
• Useful for optical data
– GPS Nav Solution
• Uses pseudo-range or navigation solution data
• Transfer IOD to Satellite
– After running IOD object
– Click Transfer to Satellite Icon to update the
initial orbital state in the satellite’s properties
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 ODTK Child Objects: Least Squares
• Each Least Squares run is governed by the user defined stages
• Transfer to Satellite
– Once least squares completes, transfers states specified
above to satellite
• Output
– Match Satellite elements
– States to Transfer
• Set to true for each type you’re estimating in the defined stages
– Covariance Sigma
• Increase Sigma scale multiplier
– Least squares covariance is typically overly optimistic
• Recommended Orbit State Update
– Equinoctial
• Recommended Solve for Method
– QR
• Consider States Measurement Bias
– Set to true if tracking stations include unknown bias states.
– Set other flags to true if unknown and not estimating
• Stages
– Add a stage for each time frame
– Ensure data frequency is set to include all data

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 ODTK Child Objects: GNSS Receiver
• Clock parameters
– Not needed for Single Differenced
(SD) data
• Measurement processing
– Should match information in RINEX
file
– Signal to noise used if S1 flag
available in RINEX file
• Measurement Statistics
– Based on data in RINEX file
• Antenna
– Default is center of mass
– Better results with antenna object
• Accurately offset from center of mass
• See next slide for antenna settings

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ODTK Child Objects: Antenna
• Attached to GNSS Receiver
• Phase Center Location
– Offset from spacecraft center of
mass
• Boresight
– Pointing Boresight
– Min Elevation
• Restricts measurement use
• 0-90, 90 being collinear with
boresight
• Increasing may reduce ionosphere
effects, but may result in poor
GDOP
• Attitude
– User must also accurately model
attitude in satellite properties if
using antenna object

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ODTK Child Objects: Transponder
• Used for primarily for 2-
way ranging data
• Biases
– May be calibrated with
additional data
– Best to calibrate prior to
launch
• Antenna
– Add antenna objects if
there are multiple
transponder and antenna
paths 22
Message Viewer
• While ODTK is running a process, information about that process
will be displayed in the message viewer
– When processes are running, a status will be displayed below the
message viewer
– It will also indicate when the process is complete
• The best way to know if something has failed is to review the
message viewer for errors
• For least squares, filter, smoother, and simulator objects, any
failures will be documented in the message viewer
– This may help the user determine what went wrong and if any
parameters need to be changed to improve the likelihood of solving the
problem

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 Working with Measurements
• Load Measurements
– Go to
Scenario\Measurements
\Files\”click to edit”
– Click Add
– Click to edit
– Browse to file and select
open
– Click ok and Apply
changes to scenario
properties
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Working with Measurements
• Preview Measurements
– Allows the user to validate that all
satellites and tracking stations have
been setup correctly
• Run Preview Measurements
– Select the preview measurements
icon in the default toolbar
– Or select the scenario and select
preview measurements menu item
• Review results in message viewer
– Tracking IDs not found in object
properties
– Tracking IDs corrected

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Working with Measurements
• View Measurements
– Enables the user to view the
measurements report to verify
that they loaded the correct data
• Run View Measurements
– Select the view measurements
icon in the default toolbar
– Or select the scenario and select
View measurements menu item
– ODTK launches static product
builder and runs the
measurements report

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 ODTK Launch Pad: Resources
• Getting Started
– Provides overview guides and tutorials to
get users started with ODTK
– Provides links to help system and release
notes
• Animations
– STK Videos that visualize ODTK derived
covariance vs truth data
• ODTK Utilities
– Links to installed HTML utilities
• ODTK Data
– Links to update EOP, Leap Second, and
Solar weather data on AGI’s FTP site
• Handy References
– Links to Help File printable Manuals
• Contact Support
– Provides link to support team contact info
and required user’s system information
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ODTK Launch Pad: Scenarios
• Enables users to open
scenarios from within
ODTK
– Recently loaded
scenarios
– Installed example
scenarios
• Preferences
– Enables the user to add
or remove features to
scenario and utilities
tabs
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ODTK Launch Pad: Utilities
• Enables users to run HTML
utilities
• Previously Loaded
– Enables users to launch
recently run utilities
• Installed Utilities
– All of the HTML utilities that
are installed with ODTK
• Additional Utilities
– Users may write their own
HTML utilities
• Default user directory
• Map custom location

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Commonly Used Utilities
• Initial State Tool
– Updates satellite’s initial state
based on user input orbit source
• Select Satellite
– Choose which satellite to update
• Select Orbit Source Type
– Commonly used:
• STK Ephemeris
• TLE
• Initialize Covariance
– Will transfer covariance
information from reference file to
satellite properties

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Commonly Used Utilities
• Residuals versus Reference
• Filter
– Select the filter if there is more than one in
the scenario
• Ephemeris source
– Reference
• Browse to reference .e, .eph, or .oem file
– Embedded
• Use if reference trajectory is embedded in
measurements file
• Covariance source
– Reference
• If included in reference file
– None
• If ephemeris represents truth (e.g. STK
Astrogator ephemeris)
– Constant
• If covariance is not in reference ephemeris
file, ODTK will use covariance in satellite
properties as constant
• Run Filter
– Runs filter on tracking measurement
residuals compared to reference ephemeris
• View Results
– View Residual Ratios Plot
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Commonly Used Utilities
• State Difference Tool
– Used for differencing filter, smoother,
least squares, IOD, simulator runs,
and ephemeris files
– Enables users to conduct trade
analysis reference truth data or
between OD objects
– Outputs .difrun files
– Enables use of difference and
consistency check static products
• Save cross correlations
– Use if cross correlations from
covariance matrix are output as part
of .*run files
– Default is disabled

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Commonly Used Utilities
• Run STK
– Enables ODTK user
to launch STK
– Easily export ODTK
facilities and
satellites to STK
– Compute Access
between ODTK
objects in STK
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Commonly Used Utilities
• Data Update Utility
– Launched from the Utilities
Menu
– Informs the user of all
expired Astro data in Red
– Displays
• Latest available version from
AGI
• Latest installed version
• If file is updatable
– Enables the user to schedule
automatic updates
Updated data files are placed under the All Users data area (Ex: C:\ProgramData\AGI\ODTK 6)
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Static Products Builder Overview

• Launch Static Products Builder

(SPB)
– Click SPB button in toolbar
– Open from View Menu item
• SPB Overview
– Data Products Controls
– Data Products List
– Data Products Outputs Tab
• Default Output products
– Data Products Inputs Tab
• Data limiting tab
– User can filter out data within
input file using this pane
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Static Product Builder Controls Overview
Static Product Builder Toolbar Buttons
Button Action

Add a data product to the list.

Remove the selected data product(s) from the list.

Make a copy of the selected data product. Users typically make a copy of a product if the input file or output type is the same for multiple products.
Copying an existing product with the same input file, for example, makes adding a product much faster.
Move the selected data product up toward the beginning of the list.

Move the selected data product down toward the end of the list.

Generate all data products in the list.

Generate all selected data products in the list. Users may select multiple data products by holding the Ctrl key while clicking individual products.
Alternatively, users may select a range of products by clicking on the first product, holding the Shift key, and clicking on the last product in the range.
Halt generation of data products. After starting the generation of the products, click the halt button to stop the process of generating the products.

Create a new data products list. A message window gives you the option to save the current list before creating the new one.
Open an existing list of data products. If you have made changes in the currently displayed list, a message window gives you the option to save that
list before opening the new one.
Save the currently displayed list. Not available if the currently displayed products have not previously been saved as a list. See note below on
automatic reloading of previously saved data products lists.
Save the currently displayed products to a specified file name (Save As). Enter the path and file name in the dialog that displays. See note below on
automatic reloading of previously saved data products lists.
NOTE: If you load a data products list and then save the scenario and close it, the data products list will be reloaded automatically
when you re-open the scenario if (1) the .dpl file has the same name as the scenario (i.e. <Scenario name>.dpl) , (2) the .dpl file is
in the <USER HOME>\Styles folder or the same folder as the scenario .sco file, and (3) the Static Product Builder is open. 36
Static Product Builder
• Adding a Product
• Requirements
– Select Output
• Select the product style from the output
tab by clicking on it
– Select Input
• Click on the inputs tab
• Click the add button, then click to edit
• Select an input file based on the output
product style and click open
– Icon changes from ? To graph or report
icon indicating input and output are
correct
• Rename the Product
– Click the product name or click the
product icon and press F2
– Describe what the product input and
output for future reference
• Run the Product
– Run all or run selected options 37
Commonly Used Static Products
• Residual Ratios
– Graphs normalized residual ratios based
on measurement sigma (aka Residual
Root Variance)
– Enables residuals of multiple
measurement types to be plotted on the
same graph
• Input
– Requires valid .filrun file
• Goal
– 99% of all measurements within ± 3
sigma
– Denoted by black lines
• Interpretation
– 99% of measurements within ± 3
sigma, filter has a good state on the
spacecraft
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 Commonly Used Products
• Residuals with Bias
– Graphs residuals with ± 3 sigma bounds
and includes the bias estimate
• Input
– Requires valid .filrun file
• Goal
– Ensure that the ± 3 sigma values are only
related to white noise (bias correction line
is flat)
• Interpretation
– Top graph shows well calibrated data with
Gaussian distribution and 0 bias correction
– Bottom graph shows poorly calibrated data
with Gaussian distribution, but large bias
corrections
– Easier to interpret if data is limited to one
tracking system and one measurement
type
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 Commonly Used Products
• Histogram
– Compares distribution of residual ratios for
selected measurement versus normal distribution
– Can display multiple measurement types
simultaneously
– May filter data using Input tab, Data Limiting pane
• Input
– Requires valid .filrun file
• Goal
– Ensure that measurement approach normal
distribution
• Interpretation
– Top histogram is well calibrated with normal
distribution for both measurement types
– Bottom graph white noise sigma values are too
large, with larger percentage of measurements in
the center of the graph than the normal
distribution
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 Commonly Used Products
• Residual Ratio QQ
– A QQ-plot of residual ratios with Royston acceptance
boundaries.
– The filter residual ratio quantile points are plotted
against the same test quantile from a Normal
distribution.
• Input
– Requires valid .filrun file
• Goal
– Ensure that residuals align with perfect normal line
with slope = 1 and within the confidence bounds
• Interpretation
– Top plot has well calibrated white noise sigma with
slope = 1. There is some data out of bounds at -3
sigma, likely due to random, temporally bound errors
in measurements that are not Gaussian
– Bottom plot has slope less than one and needs to
decrease white noise sigma. If slope is greater than
1, white noise sigma should be increased 41
 Commonly Used Products
• Position/Velocity Uncertainties
– Graphs the uncertainty taken from the
covariance matrix
– Basic uncertainty output graphs 2 sigma, but
options are available for 1-3 sigma
• Input
– Requires valid .filrun or .smtrun file
• Goal
– Utilize tracking stations to minimize uncertainty
associated with each satellite being tracked
• Interpretation
– The top graph shows that position uncertainty
was overly optimistic at the beginning of the
filter run in the in-track and cross-track
directions
– The bottom graph shows that velocity
uncertainty was much more accurate at the
beginning of the filter run and spikes in the
middle during a gap in measurements 42
 Commonly Used Products
• Position/Velocity Consistency
– Graphs the Filter-Smoother Consistency Test value
for RIC position and velocity coordinates
– Other parameters may be used for consistency as
well
• Atmospheric density
• Ballistic Coefficient
• Tracker Bias
• SRP Coefficient
• Transponder Bias
• Input
– Requires valid .difrun file
• Goal
– Ensures smoother and filter states and covariance
are consistent (within ± 3 sigma)
• Interpretation
– Top graph shows some in-track in-consistencies
between filter & smoother. Essentially the 3
sigma covariance uncertainties do not always
agree
– Bottom graph shows good velocity consistency,
with all sample points within ± 3 43
Commonly Used Products
• SRP Estimate
– Displays solar pressure correction
estimate vs the ± 2 sigma bounds
– Based on the defined SPR model in the
satellite force model
• Inputs
– Requires valid .filrun or .smtrun file
• Goal
– Ensure that SRP modeling is correct (Cr,
sigma, half-life, etc.)
• Interpretation
– SPR estimate fluctuates as filter is
initialized, but settle back towards
original value
– Initial state may not be within stated
uncertainty bounds
• Filter is compensating by increasing SRP
44
 Commonly Used Products
• Ballistic Coefficient
– Graphs the ballistic coefficient state parameter as
the unitless dB/B (y1 axis) vs the sigma (y2 axis)
• Input
– Requires valid .lsrun, .filrun, .smtrun, or simrun file
• Goal
– Ensure that ballistic coefficient modeling is correct
(CD, M, A, bias, half-life etc.)
• Interpretation
– Graph shows dB/B continuously increasing from 0
to ~0.0053
– By viewing satellite properties, you can see that
even though ODTK calculates ballistic coefficient =
0.0048, but the initial estimate in the Gauss
Markov model is 0, so that’s where the filter starts
– Refine Gauss Markov settings and run filter until
ballistic coefficient correction matches satellite
expected behavior (e.g. constant)
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