= TestF3G - Results =

== Definitions ==

'''CompareOBJ RMS:''' The root mean square of the distance from each bigmap pixel/line location to the nearest facet of the truth OBJ.<<BR>>
'''SCOBJ:''' The S/C position vector from the center of the asteroid.

== Comments ==

The results show no significant difference in the final S/C position (SCOBJ) and model accuracy (as measured with CompareOBJ RMS) with respect to the magnitude of S/C position and pointing perturbation within the ranges tested, indicating that the SPC-driven modeling is immune to S/C position and pointing perturbation up to three standard deviations.

It should be noted that S/C position perturbation was divided equally between the SCOBJ components, resulting in a distance from the truth position which was a multiple of the standard deviation of 6.4m. Therefore:
 * maximum lateral perturbation was a multiple of 3.7m (6.4m/sqrt(3));
 * normal perturbation (wrt body center) was 3.7m (6.4m/sqrt(3)). 
It is assumed that the worst case scenario is a 3 x sigma (19.2m) lateral perturbation. The maximum possible lateral perturbation tested was 3 x 3.7m = 11.1m.

In all cases, the final SPC-derived S/C position is within an approx. 8m-radius sphere around the true S/C position, but in only two cases is within 2m of the true S/C position. The actual distance from the true S/C position is not dependent on the initial perturbed position - for example in the 0.25 x sigma case, the SPC-derived S/C position (distance from truth: 1.6m to 6.9m) in most cases moves further away from the true S/C position than its initial position (distance from truth: 1.6m).

== CompareOBJ RMS ==

CompareOBJ does not appear to be affected by the magnitude of S/C position and pointing perturbation within the ranges tested.

{{attachment:CompareOBJ_RMS_resized.png}}

== Image Footprints ==

The first graph shows footprints for all Detailed Survey PolyCam pictures which were included in the model. The second graph shows the four pictures down-selected due to their coverage of the 20m x 20m evaluation region, and their almost complete containment within the iterated 100m x 100m region.

{{attachment:vertices_all_resized.png}}

{{attachment:vertices_eval_resized.png}}

== Distance SCOBJ(truth) to SCOBJ(solution) ==

The distance of the final SPC-derived S/C position from the true S/C position is plotted for the full Detailed Survey PolyCam image set for each magnitude of perturbation. The evaluation images are plotted in red.

3D graphs of final SPC-derived SCOBJ and true SCOBJ are then plotted for each picture. The first four are the down-selected evaluation pictures, the rest of the image set is included for comparison.

The pattern of final SPC-derived SCOBJ is broadly consistent across magnitudes of perturbation. The position correction is mostly a normal correction with lateral movement, bringing the modeled S/C position within an approx. 8m-radius sphere around the true position (or, in the case of perturbations<8m, pushing SCOBJ outwards up to 8m). 

{{attachment:scobj_distance_resized.png}}

=== Evaluation Pictures ===

'''Example nominal SCOBJs:'''

{{attachment:P601293751G3_nominal_resized.png}}

''' Final solution SCOBJs:'''

{{attachment:P601293751G3_final_resized.png}}

{{attachment:P601372862G2_final_resized.png}}

{{attachment:P601372868G2_final_resized.png}}

{{attachment:P601372874G2_final_resized.png}}

=== Remaining Detailed Survey PolyCam Pictures ===

{{attachment:P601293196G2_final_resized.png}}

{{attachment:P601293757G3_final_resized.png}}

{{attachment:P601372298G3_final_resized.png}}

{{attachment:P601372304G3_final_resized.png}}

{{attachment:P601372310G3_final_resized.png}}

{{attachment:P601372316G3_final_resized.png}}

{{attachment:P601372856G2_final_resized.png}}