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.
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 8m of 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).

The final SPC-derived S/C positions appear to be clustered around an incorrect solution 2m-8m distant from the true S/C position.

CompareOBJ RMS

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

CompareOBJ Optimal Translations:

Sub-Test	Perturbation Magnitude	Translation (cm)
F3G7	0.25 x sigma	85.0698	62.3596	-14.3765
F3G6	0.50 x sigma	84.5538	61.6624	-15.3434
F3G5	0.75 x sigma	95.8438 59.9313 -21.6901
F3G3	1.00 x sigma	106.4870 58.2162 -27.3527
F3G4	1.50 x sigma	79.1224 63.2865 -19.6432
F3G2	2.00 x sigma	110.1339 58.9454 -23.2403
F3G1	3.00 x sigma	93.5937 61.6997 -26.8422

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.

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).

Evaluation Pictures

Example nominal SCOBJs:

Final solution SCOBJs: