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ABSTRACT
We present the progress that has been made towards implementing a Square Root Information Filter
(SRIF) into the asteroid-modelling software shape. First, we implemented a global-parameter optimizer to replace the existing sequential optimizer. We then compared SRIFs performance with the
current fitting algorithm, with the conclusion that SRIF has the potential to perform substantially
better than its predecessor. We present the results of SRIF operating on previously collected delaydoppler data for the asteroid 2000 ET70. We also discuss potential future changes to improve shapes
fitting speed and accuracy.
Keywords: asteroids, 2000 ET70, shape, model
1. INTRODUCTION
Earth-based radar is a powerful tool for gathering information about bodies in the Solar System. Radar can
dramatically improve the determination of orbital elements of both planets and minor bodies (such as asteroids and comets). An important development in the past
two decades has been computing asteroid shapes based
on their radar signature (Hudson & Ostro 1994; Ostro
et al. 1995; Hudson & Ostro 1995). This problem is not
trivial without information about the spin axis of the
asteroid, the underlying shape of the body cannot be
uniquely determined from radar images. Furthermore,
even if spin information were known, certain peculiarities of radar images (such as the many-to-one mapping
between surface elements on the object and pixels within
the radar image) make recovery of the physical shape extremely difficult (Ostro 1993). The best method to accomplish this is by fitting a model for the physical shape
to the observed radar images. Unfortunately, this is a
computationally intensive problem, potentially involving
hundreds to thousands of free parameters, and millions
of data points.
Despite the computational cost, astronomers are keen
on deriving shape information from asteroid radar images. The most compelling reason to do so is the fact
that radar is the only Earth-based technique that can
produce detailed 3d information of near-Earth objects.
This is possible because radar instruments achieve spatial resolutions that dramatically surpass the diffraction
limit. In other words, radar instruments can resolve objects substantially smaller than the beamwidth of the antenna used to obtain the images. For example, Arecibo,
the primary instrument used for the data presented in
this paper, has a beamwidth of 2 arcminutes. Yet
Arecibo can easily gather shape information to an accuracy of decameters for objects several millions of kilometers from Earth, achieving an effective spatial resolution
of 1 milliarcsecond.
Radar has other advantages as well. Unlike most observational techniques inside the Solar System, radar does
not rely on any external sources of light, be it reflected
sunlight, transmitted starlight, or thermal emission.
Figure 1. A time-series of delay-Doppler images of the asteroid 2000 ET70 (Naidu et al. 2013), starting in the top left and proceeding to
the right. These images were taken 18 minutes apart. Distance from the observer increases downwards, and Doppler increases to the right.
3. GAUSS-NEWTON ROUTINE
~
R
.
~x
(1)
Implementing an Improved Algorithm for Asteroid Shape Reconstruction using Radar Images 3
Table 1
Run statistics for SPF and SRIF test fits, using simulated data. These test fits correspond to the plots in figure 3
Model
Sphere
Oblate ell.
Prolate ell.
Sphere
Oblate ell.
Prolate ell.
Sphere
Oblate ell.
Prolate ell.
2red,initial
#1
#1
#1
#2
#2
#2
#3
#3
#3
5.11
4.95
3.22
6.31
4.37
2.72
7.13
4.77
2.59
2red,f inal
SPF
LM SRIF
1.60 1.72
1.01
2.57 2.26
1.83
1.38 2.40
1.10
2.06 1.98
1.00
1.46 1.55
1.08
1.45 1.65
1.44
2.66 1.80
1.02
2.30 2.10
1.00
1.22 1.46
1.04
W = I.
Then
3 2 + 2
3 2
(A| W A) =
3 2
3 2 + 2
3 2 3 2
= 3 2 3 2 ,
Runtime (hours)
SPF
LM SRIF
12.0
8.2
4.2
12.0
6.4
4.9
12.0
9.0
11.9
12.0
4.1
3.7
12.0
2.8
11.9
12.0
2.9
6.3
12.0 11.5
6.7
12.0
4.8
6.2
12.0
4.5
6.8
is minimized.
1
A matrix H is defined such that HW 2 A is upper triangular. H is orthogonal and can be generated by the
product of m Householder operation matrices. Note that
the orthogonality of H guarantees that
1
(M ) ||M ||,
~
~ x) + W 2 Ax||
= ||W 2 R(~
~ = ||H(W 2 R(~
~
~ x) + W 2 Ax||
~ x) + W 2 Ax)||
||W 2 R(~
1
~
~ x) + HW 2 Ax||
= ||HW 2 R(~
1
a)
b)
Figure 2. a) The initial shape, a prolate ellipsoid, before any of the spherical harmonic parameters have been changed.
b) A perturbed prolate ellipsoid. This shape will serve as one of the test objects to be fitted for, with results given in figure 3.
or
~ = A01 R~0 .
x
x
, where
(2)
~
Q00 = Q(~x + x)
is minimized. This minimization is done with a grid
search over 6 decades. The additional minimization adds
a trivial additional computation cost to the overall minimization of 2 , but allows for faster convergence, and the
possibility of skipping over local minima in the 2 -space.
4.2. Penalty functions
The SPF routine can currently fit models to data while
taking into account a suite of penalty functions, to ensure that the models that are generated are physical.
In a way, these penalty functions serve to make the fit
operate in a more global context there may be a local minimum in 2 -space towards which the fitting algorithm would want to tend, but that minimum can be
ruled out a priori thanks to physical limitations. These
penalty functions include limits on ellipsoid axis ratios,
constraints to surface concavities, limits on the model
center of mass distance from the image center, as well as
others. We have implemented these penalty functions in
the SRIF framework. Specifically, this has been accomplished by redefining the residual vector as
~
~ 00 = ~z m
R
p~
w
p1 w1
..
p~w =
.
pN wN
for which {pi } , {wi } are the set of penalty functions and
penalty weights, respectively, and
R~00
~x
. The algorithm then progresses as described in sec~ replaced with R
~ 00 and A00 replacing A0 .
tion 3.1, with R
A00 =
5. RESULTS
Implementing an Improved Algorithm for Asteroid Shape Reconstruction using Radar Images 5
Table 2
Run statistics for SPF and SRIF fits for 2000 ET70 data.
Model
2000 ET70: Ellipsoid
2000 ET70: Sph. Harm.
2initial
3.7
2.4
2f inal
SPF SRIF
2.8
2.4
2.12
2.10
Runtime (hours)
SPF
SRIF
0.02
0.129
3.83
376.30
The data that are fit with shape are typically split into
sets, with each set corresponding to a different observing
run, geometry, or observing setup (for the same object).
Correspondingly, the models that are fit to these data
have both local and global variables, meaning there are
(local) parameters that are tied to the set, and (global)
parameters that are tied to the object itself. For example, shape parameters are global, but parameters that
correct for the antenna temperature are date-specific,
and are thus local. Intelligent grouping of local and
global parameters can potentially lead to a substantial
computation time decrease.
6.2. Additional fitting methods
Tests that we have run with the simulated and real
data have indicated that the 2 -space for shape-models
is not smooth. Figure 6 shows a two-dimensional slice of
the 2 -space for a spherical harmonic model against 2000
ET70 data. The multi-valleyed nature of this space may
explain why SPF can result in a better fit to the data
than SRIF, as SPF can miss the nearest local minimum,
and fall into a farther, deeper minimum. In light of this,
global fitting mechanisms such as simulated annealing
or Markov Chain Monte Carlo may be better suited for
this problem. These methods can be supplemented by
a gradient descent method like SRIF. In fact, utilizing a
hybrid of these methods may prove to be the optimal solution for this class of problem. Until such methods are
implemented, convergence on a global minimum will be
dependent on a good choice of starting conditions, and
identifying such starting conditions is not always practical.
6.3. Additional shape representations
There are serious drawbacks to using spherical harmonics to represent shapes. Many asteroid shapes are
poorly approximated by spherical harmonics, and there
are entire classes of shapes that can not be described at
all. Traditionally, this problem has been solved by the
use of vertex models, but these shape representations
typically involve a large number of parameters. We are
currently looking into new representation methods, some
of which may allow for a greater range of shapes, while
at the same time cutting down on the number of free
parameters.
Figure 3. Results of three fitting algorithms (Sequential Parameter Fit, Levenberg-Marquardt, and Square-Root Information Filter) with
three artificial shapes (perturbed versions of a sphere, oblate ellipsoid, and prolate ellipsoid). Bold lines indicate fits which converged to a
2red < 1.1. Dashed lines indicate the assumed future state for fits that had converged on a solution before the 12-hour time frame.
Figure 4. Results comparing SRIF, LM and SPF operating on real asteroid shapes with simulated 2 -distributed errors. Dashed lines
indicate the assumed future state for fits that had converged on a solution before the 12-hour time frame. Note that the solution arrived
at by SPF for 1999 KW4 was a non-physical, pebble-sized asteroid.
Implementing an Improved Algorithm for Asteroid Shape Reconstruction using Radar Images 7
a)
b)
c)
Figure 5.
a) The starting condition shape for the ellipsoid model fit for 2000 ET70. b) The best fit ellipsoid for 2000 ET70. This ellipsoid is converted
into a spherical harmonic representation and then used to seed the next stage of the fit. c) The final best fit spherical harmonic model for
2000 ET70.
Figure 6. A two-dimensional slice of the 2 space for fitting shape models to radar data. This contour map represents 2 for a spherical
harmonic model with all parameters fixed except two of the elements of the primary coefficient matrix. Note that the blue regions indicate
low 2 , and that there are several of these regions for a derivative-based optimizer to fall towards, depending on the initial set of starting
conditions.
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