Appendix A. Listing — различия между версиями

try
    close(handle_fig_main); % Close old output form
end

close all
clear
clc

globals;

addpath([pwd '/func/tracking']); % Functions for tracking algorithm
addpath([pwd '/func/solve']); % Functions for solving without noise
addpath([pwd '/func/interface']); % Functions for interface

Tmod = 3.2*60*60;  %[s], duration of the simulation

% Magic constants
hF_cont = 0; % Last figure's handles
Font_Size = 8; % Font size for output interface
mu_earth = 3.9860044e14; % [m^3/s^2] Gravity constant
omega_e = 0.7292115e-4; % [rad/s] Earth's rotation rate
options_solve = optimset('Display','off');  % Turn off display for fsolve

% Load true trajectory of SV
load TrueTrajectory.mat
Nmod = fix(Tmod/T);
if Nmod > Nmod_max
    Nmod = Nmod_max;
    Tmod = (Nmod-1)*T;
end
resize_arrays; % resize arrays for new Tmod

handle_fig_main = fig_main(); % open GUI form

global Font_Size mu_earth omega_e

global SV_GLO_List SV_GLO  

global Xist Xextr Xest Xest_won

global Tmod dTmod tmod Nmod

global start_handle hF_cont

global options_solve

function varargout = fig_main(varargin)
% FIG_MAIN M-file for fig_main.fig
%      FIG_MAIN, by itself, creates a new FIG_MAIN or raises the existing
%      singleton*.
%
%      H = FIG_MAIN returns the handle to a new FIG_MAIN or the handle to
%      the existing singleton*.
%
%      FIG_MAIN('CALLBACK',hObject,eventData,handles,...) calls the local
%      function named CALLBACK in FIG_MAIN.M with the given input arguments.
%
%      FIG_MAIN('Property','Value',...) creates a new FIG_MAIN or raises the
%      existing singleton*.  Starting from the left, property value pairs are
%      applied to the GUI before fig_main_OpeningFcn gets called.  An
%      unrecognized property name or invalid value makes property application
%      stop.  All inputs are passed to fig_main_OpeningFcn via varargin.
%
%      *See GUI Options on GUIDE's Tools menu.  Choose "GUI allows only one
%      instance to run (singleton)".
%
% See also: GUIDE, GUIDATA, GUIHANDLES

% Edit the above text to modify the response to help fig_main

% Last Modified by GUIDE v2.5 13-Jun-2012 12:18:01

% Begin initialization code - DO NOT EDIT
gui_Singleton = 1;
gui_State = struct('gui_Name',       mfilename, ...
                   'gui_Singleton',  gui_Singleton, ...
                   'gui_OpeningFcn', @fig_main_OpeningFcn, ...
                   'gui_OutputFcn',  @fig_main_OutputFcn, ...
                   'gui_LayoutFcn',  [] , ...
                   'gui_Callback',   []);
if nargin && ischar(varargin{1})
    gui_State.gui_Callback = str2func(varargin{1});
end

if nargout
    [varargout{1:nargout}] = gui_mainfcn(gui_State, varargin{:});
else
    gui_mainfcn(gui_State, varargin{:});
end
% End initialization code - DO NOT EDIT


% --- Executes just before fig_main is made visible.
function fig_main_OpeningFcn(hObject, eventdata, handles, varargin)
% This function has no output args, see OutputFcn.
% hObject    handle to figure
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
% varargin   command line arguments to fig_main (see VARARGIN)

% Choose default command line output for fig_main
handles.output = hObject;

% Update handles structure
guidata(hObject, handles);

set(handles.fig_main, 'Units', 'pixels');
set(0, 'Units', 'pixels');

% Locate form
ScreenSize = get(0,'ScreenSize');
if ((ScreenSize(3) < 1280)||(ScreenSize(4) < 720))
    msgbox('Sceeen size too small!');
    close(handles.fig_main);
end
FigWeigth = 1250;
FigWeigth_border = fix((ScreenSize(3) - FigWeigth)/2);
FigHeigth = 670;
FigHeigth_border = fix((ScreenSize(4) - FigHeigth)/2);
set(handles.fig_main, 'Position', [FigWeigth_border FigHeigth_border FigWeigth FigHeigth]);
set(handles.pan_Tracking, 'Position', get(handles.pan_Orbital_Elements, 'Position'));
set(handles.pan_Sch, 'Position', get(handles.pan_Orbital_Elements, 'Position'));

% Draw functional scheme
fig_main_pictureData = imread('Sch1.png');
image(fig_main_pictureData, 'Parent', handles.axes_Sch1);
set(handles.axes_Sch1, 'XTick', []);
set(handles.axes_Sch1, 'YTick', []);

% Set widget's function
for i = 1:5
    for j = 1:5
        set(eval(['handles.axes_OE_' num2str(i) num2str(j)]), 'DrawMode', 'fast');
        plot_axes_OE(handles, 0, [num2str(i) num2str(j)]);
        set(eval(['handles.axes_OE_' num2str(i) num2str(j)]), 'Tag', ['axes_OE_' num2str(i) num2str(j)]);
        set(eval(['handles.axes_OE_' num2str(i) num2str(j)]), 'ButtonDownFcn', str2func('@(hObject,eventdata)fig_main(''axes_OE_ButtonDownFcn'',hObject,eventdata,guidata(hObject))'));
        pos = get(eval(['handles.axes_OE_' num2str(i) num2str(j)]), 'Position');
        pos(1) = pos(1) + (j-1)*45;
        pos(2) = pos(2) - (i-1)*32 - 35;
        pos(3) = pos(3) + 40;
        pos(4) = pos(4) + 35;
        set(eval(['handles.axes_OE_' num2str(i) num2str(j)]), 'Position', pos);
    end
end
for i = 1:5
    for j = 1:5
        set(eval(['handles.axes_Track_' num2str(i) num2str(j)]), 'DrawMode', 'fast');
        plot_axes_Track(handles, 0, [num2str(i) num2str(j)]);
        set(eval(['handles.axes_Track_' num2str(i) num2str(j)]), 'Tag', ['axes_Track_' num2str(i) num2str(j)]);
        set(eval(['handles.axes_Track_' num2str(i) num2str(j)]), 'ButtonDownFcn', str2func('@(hObject,eventdata)fig_main(''axes_Track_ButtonDownFcn'',hObject,eventdata,guidata(hObject))'));
        pos = get(eval(['handles.axes_Track_' num2str(i) num2str(j)]), 'Position');
        pos(1) = pos(1) + (j-1)*45;
        pos(2) = pos(2) - (i-1)*32 - 35;
        pos(3) = pos(3) + 40;
        pos(4) = pos(4) + 35;
        set(eval(['handles.axes_Track_' num2str(i) num2str(j)]), 'Position', pos);        
    end
end
plot_axes_Earth(handles, 0);
globals;

% Set constants
start_handle = handles;


% UIWAIT makes fig_main wait for user response (see UIRESUME)
% uiwait(handles.fig_main);


% --- Outputs from this function are returned to the command line.
function varargout = fig_main_OutputFcn(hObject, eventdata, handles)
% varargout  cell array for returning output args (see VARARGOUT);
% hObject    handle to figure
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)

% Get default command line output from handles structure
varargout{1} = handles.output;


% --- Executes on mouse press over axes background.
function axes_3D_ButtonDownFcn(hObject, eventdata, handles)
% hObject    handle to axes_3D (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
globals;
plot_axes_Earth(handles, next_hF());


% --- Executes on mouse press over axes background.
function axes_OE_ButtonDownFcn(hObject, eventdata, handles)
% hObject    handle to axes_OE_ (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
dig = get(hObject, 'Tag'); dig = dig(end-1:end);
plot_axes_OE(handles, next_hF(), dig)


% --- Executes on mouse press over axes background.
function axes_Track_ButtonDownFcn(hObject, eventdata, handles)
% hObject    handle to axes_OE_ (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
dig = get(hObject, 'Tag'); dig = dig(end-1:end);
plot_axes_Track(handles, next_hF(), dig)


% --- Executes on button press in pb_Track.
function pb_Track_Callback(hObject, eventdata, handles)
% hObject    handle to pb_Track (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
std_x = str2double(get(handles.ed_stdX, 'String'));
if ~((std_x >= 0)&&(std_x < 1000))
    msgbox('Coordinate''s RMS is incorrect', 'Error', 'error');
    set(handles.ed_stdX, 'String', '10');
    return
end
std_V = str2double(get(handles.ed_stdV, 'String'));
if ~((std_V >= 0)&&(std_V < 5))
    msgbox('Velocity''s RMS is incorrect', 'Error', 'error');
    set(handles.ed_stdV, 'String', '0.01');
    return
end
track_with_noise(handles, std_x, std_V);

% --- Executes on button press in pb_True.
function pb_True_Callback(hObject, eventdata, handles)
% hObject    handle to pb_True (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
set(handles.pan_Orbital_Elements, 'Visible', 'on');
set(handles.pan_Tracking, 'Visible', 'off');
set(handles.pan_Sch, 'Visible', 'off');


% --- Executes on button press in pb_Tracking.
function pb_Tracking_Callback(hObject, eventdata, handles)
% hObject    handle to pb_Tracking (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
set(handles.pan_Orbital_Elements, 'Visible', 'off');
set(handles.pan_Tracking, 'Visible', 'on');
set(handles.pan_Sch, 'Visible', 'off');


% --- Executes on button press in pb_Solve.
function pb_Solve_Callback(hObject, eventdata, handles)
% hObject    handle to pb_Solve (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
solve_wo_noise(handles);



function ed_stdX_Callback(hObject, eventdata, handles)
% hObject    handle to ed_stdX (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)

% Hints: get(hObject,'String') returns contents of ed_stdX as text
%        str2double(get(hObject,'String')) returns contents of ed_stdX as a double


% --- Executes during object creation, after setting all properties.
function ed_stdX_CreateFcn(hObject, eventdata, handles)
% hObject    handle to ed_stdX (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    empty - handles not created until after all CreateFcns called

% Hint: edit controls usually have a white background on Windows.
%       See ISPC and COMPUTER.
if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
    set(hObject,'BackgroundColor','white');
end



function ed_stdV_Callback(hObject, eventdata, handles)
% hObject    handle to ed_stdV (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)

% Hints: get(hObject,'String') returns contents of ed_stdV as text
%        str2double(get(hObject,'String')) returns contents of ed_stdV as a double


% --- Executes during object creation, after setting all properties.
function ed_stdV_CreateFcn(hObject, eventdata, handles)
% hObject    handle to ed_stdV (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    empty - handles not created until after all CreateFcns called

% Hint: edit controls usually have a white background on Windows.
%       See ISPC and COMPUTER.
if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
    set(hObject,'BackgroundColor','white');
end


% --- Executes on button press in pb_Sch.
function pb_Sch_Callback(hObject, eventdata, handles)
% hObject    handle to pb_Sch (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
set(handles.pan_Orbital_Elements, 'Visible', 'off');
set(handles.pan_Tracking, 'Visible', 'off');
set(handles.pan_Sch, 'Visible', 'on');

%> ======================================================================
%> @brief plot Caclulate and draw RMSes
%> @param handles Main handles struct
% ======================================================================
function draw_Errors(handles)
globals;
begin_i = Nmod - 300; end_i = Nmod;

set(handles.txt_Err_11, 'String', num2str(sprintf('%.1E', mean(sqrt((Xest.e(begin_i:end_i) - Xist.e(begin_i:end_i)).^2)))));
set(handles.txt_Err_12, 'String', num2str(sprintf('%.1E', mean(sqrt((Xest.d_e(begin_i:end_i) - Xist.d_e(begin_i:end_i)).^2)))));
set(handles.txt_Err_21, 'String', num2str(sprintf('%.1E', mean(sqrt((Xest.p(begin_i:end_i) - Xist.p(begin_i:end_i)).^2)))));
set(handles.txt_Err_22, 'String', num2str(sprintf('%.1E', mean(sqrt((Xest.d_p(begin_i:end_i) - Xist.d_p(begin_i:end_i)).^2)))));
set(handles.txt_Err_31, 'String', num2str(sprintf('%.1E', mean(sqrt((Xest.theta(begin_i:end_i) - Xist.theta(begin_i:end_i)).^2)))));
set(handles.txt_Err_32, 'String', num2str(sprintf('%.1E', mean(sqrt((Xest.d_theta(begin_i:end_i) - Xist.d_theta(begin_i:end_i)).^2)))));
set(handles.txt_Err_41, 'String', num2str(sprintf('%.1E', mean(sqrt((Xest.omega(begin_i:end_i) - Xist.omega(begin_i:end_i)).^2)))));
set(handles.txt_Err_42, 'String', num2str(sprintf('%.1E', mean(sqrt((Xest.d_omega(begin_i:end_i) - Xist.d_omega(begin_i:end_i)).^2)))));
set(handles.txt_Err_51, 'String', num2str(sprintf('%.1E', mean(sqrt((Xest.Omega(begin_i:end_i) - Xist.Omega(begin_i:end_i)).^2)))));
set(handles.txt_Err_52, 'String', num2str(sprintf('%.1E', mean(sqrt((Xest.d_Omega(begin_i:end_i) - Xist.d_Omega(begin_i:end_i)).^2)))));
set(handles.txt_Err_61, 'String', num2str(sprintf('%.1E', mean(sqrt((Xest.i(begin_i:end_i) - Xist.i(begin_i:end_i)).^2)))));
set(handles.txt_Err_62, 'String', num2str(sprintf('%.1E', mean(sqrt((Xest.d_i(begin_i:end_i) - Xist.d_i(begin_i:end_i)).^2)))));
set(handles.txt_Err_71, 'String', num2str(sprintf('%.1E', mean(sqrt((Xest.x0(begin_i:end_i) - Xist.x0(begin_i:end_i)).^2)))));
set(handles.txt_Err_72, 'String', num2str(sprintf('%.1E', mean(sqrt((Xest.d_x0(begin_i:end_i) - Xist.d_x0(begin_i:end_i)).^2)))));
set(handles.txt_Err_81, 'String', num2str(sprintf('%.1E', mean(sqrt((Xest.y0(begin_i:end_i) - Xist.y0(begin_i:end_i)).^2)))));
set(handles.txt_Err_82, 'String', num2str(sprintf('%.1E', mean(sqrt((Xest.d_y0(begin_i:end_i) - Xist.d_y0(begin_i:end_i)).^2)))));
set(handles.txt_Err_91, 'String', num2str(sprintf('%.1E', mean(sqrt((Xest.z0(begin_i:end_i) - Xist.z0(begin_i:end_i)).^2)))));
set(handles.txt_Err_92, 'String', num2str(sprintf('%.1E', mean(sqrt((Xest.d_z0(begin_i:end_i) - Xist.d_z0(begin_i:end_i)).^2)))));

end

function hF_cont = next_hF()
global hF_cont

hF_cont = hF_cont + 1;
end

%> ======================================================================
%> @brief 3D-Earth, SV's orbits
%> @param handles Main handles struct
%> @param hF Flag (handle) for separate window
% ======================================================================
function plot_axes_Earth(handles, hF)
globals;

R_earth_pol = 6356777; % Polar radius of Earth
R_earth_equa = 6378160; % Equatorial radius of Earth
Earth_axe_angl = deg2rad(23);

[x,y,z] = sphere(50);
x = R_earth_equa * x; y = R_earth_equa * y; z = R_earth_pol * z;
load('topo.mat','topo','topomap1');
% cla reset
% axis square off
props.AmbientStrength = 0.1;
props.DiffuseStrength = 1;
props.SpecularColorReflectance = .5;
props.SpecularExponent = 20;
props.SpecularStrength = 1;
props.FaceColor= 'texture';
props.EdgeColor = 'none';
props.FaceLighting = 'phong';
props.Cdata = topo;
alpha_earth = pi/1;
x_new = x*cos(alpha_earth) + y*sin(alpha_earth);
y_new = -x*sin(alpha_earth) + y*cos(alpha_earth);

if hF
    figure(hF);
    hA = gca;
else
    set(handles.fig_main,'CurrentAxes', handles.axes_3D)
    hA = handles.axes_3D;
end

cla(hA);
surface(x_new, y_new, z, props);
light('position',[-1 -1 1*tan(Earth_axe_angl)]*R_earth_equa*2);
% campos([+1 0 -1*tan(Earth_axe_angl)]*R_earth_equa*2);
% camtarget([0 0 0])
view(3)        
view(40,-8);
hold(hA, 'on');
plot3(hA, Xest.x, Xest.y, Xest.z, Xist.x, Xist.y, Xist.z, 'LineWidth', 2);  
hold(hA, 'off');

xlim([-8e6 8e6]); ylim([-8e6 8e6]); zlim([-8e6 8e6]);
title(hA, 'Space View');
if ~hF
    set(hA, 'XTick', []);
    set(hA, 'YTick', []);
    set(hA, 'ZTick', []);
    set(hA, 'FontSize', Font_Size);
else
    xlabel(hA, 'x, m');
    ylabel(hA, 'y, m');
    zlabel(hA, 'z, m');
    grid(hA, 'on');
end

%> ======================================================================
%> @brief plot True trajectory graphs
%> @param handles Main handles struct
%> @param hF Flag (handle) for separate window
%> @param ij Indexies of axes (2-el string)
% ======================================================================
function plot_axes_OE(handles, hF, ij)
globals;

if hF
    figure(hF);
    hA = gca;
    XLab = 't, s';
else
    hA = eval(['handles.axes_OE_' ij]);
    set(handles.fig_main,'CurrentAxes', hA)
    XLab = '';
    YLab = '';
end
titl = '';
X1 = tmod; X2 = tmod; X3 = tmod; X4 = tmod;
Y1 = nan(1, Nmod); Y2 = nan(1, Nmod); Y3 = nan(1, Nmod); Y4 = nan(1, Nmod);
leg_str ='';
switch ij
    case '11'
        Y1 = Xist.sqrtA;
        YLab = 'a^{1/2}, m^{1/2}';
        titl = 'Square root of semimajor axis';
    case '12'
        Y1 = Xist.e;
        YLab = 'e';
        titl = 'Eccentricity';
    case '13'
        Y1 = Xist.Crc;
        Y2 = Xist.Crs;
        YLab = 'C_{rc}, C_{rs}, m';        
        titl = 'Harmonic coefficients for radius';
        leg_str = 'legend(hA, ''C_{rc}'', ''C_{rs}'')';
    case '14'
        Y1 = Xist.r;
        Y2 = Xist.A;
        YLab = 'r, a, m';
        titl = 'Full radius, semimajor axis';
        leg_str = 'legend(hA, ''Radius'', ''Semimajor axis'')';
    case '21'
        Y1 = Xist.i0;
        YLab = 'i_0, rad';
        titl = 'Base inclination';
    case '22'
        Y1 = Xist.i_dot;
        YLab = 'i_{dot}, rad/s';
        titl = 'Derivative of the base inclination';
    case '23'
        Y1 = Xist.Cic;
        Y2 = Xist.Cis;
        YLab = 'C_{ic}, C_{is}, rad';        
        titl = 'Harmonic coefficients for inclination';
        leg_str = 'legend(hA, ''C_{ic}'', ''C_{is}'')';        
    case '24'
        Y1 = Xist.i;
        YLab = 'i, rad';
        titl = 'Full inclination';
    case '31'
        Y1 = Xist.M0;
        Y2 = Xist.E;
        Y3 = Xist.theta;
        YLab = 'M_0, E, \theta, rad';        
        titl = 'Mean, eccentricity and true anomaly';
        leg_str = 'legend(hA, ''M_0'', ''E'', ''\theta'')';        
    case '32'
        Y1 = Xist.omega;
        YLab = '\omega, rad';
        titl = 'Argument of periapsis';
    case '33'
        Y1 = Xist.Cuc;
        Y2 = Xist.Cus;
        YLab = 'C_{uc}, C_{us}, rad';        
        titl = 'Harmonic coefficients for argument of latitude';
        leg_str = 'legend(hA, ''C_{uc}'', ''C_{us}'')';
    case '34'
        Y1 = Xist.u;
        YLab = 'u, rad';
        titl = 'Argument of latitude';
    case '41'
        Y1 = Xist.Omega;
        YLab = '\Omega, rad';
        titl = 'Longitude of the ascending node';
    case '42'
        Y1 = Xist.Omega_dot;
        YLab = '\Omega_{dot}, rad/s';        
        titl = 'Derivative of the longitude of the ascending node';
    case '43'
        Y1 = Xist.x0;
        Y2 = Xist.y0;
        Y3 = Xist.z0;
        YLab = 'x_0, y_0, z_0, m';
        titl = 'Coordinates in the inertial coordinate system';
        leg_str = 'legend(hA, ''x_0'', ''y_0'', ''z_0'')';        
    case '44'
        Y1 = Xist.d_x0;
        Y2 = Xist.d_y0;
        Y3 = Xist.d_z0;
        YLab = 'V_x, V_y, V_z, m';
        titl = 'Velocities in the inertial coordinate system';
        leg_str = 'legend(hA, ''V_x'', ''V_y'', ''V_z'')';
end

if isnan(Y4(1))
    if isnan(Y3(1))
        if isnan(Y2(1))
            if isnan(Y1(1))
                set(hA, 'Visible', 'off');
            else
                plot(hA, X1, Y1);
                set(hA, 'Visible', 'on');
            end
        else
            plot(hA, X1, Y1, X2, Y2);
            set(hA, 'Visible', 'on');
        end
    else
        plot(hA, X1, Y1, X2, Y2, X3, Y3);
        set(hA, 'Visible', 'on');
    end
else
    plot(hA, X1, Y1, X2, Y2, X3, Y3, X4, Y4);
    set(hA, 'Visible', 'on');
end

if hF
    title(hA, titl);
    eval(leg_str);
end

ly = ylabel(YLab);
lx = xlabel(XLab);
grid(hA, 'on');

if ~hF
    set(hA, 'XTick', []);
    set(hA, 'YTick', []);
    set(ly, 'FontSize', Font_Size);
end

%> ======================================================================
%> @brief plot Tracking graphs
%> @param handles Main handles struct
%> @param hF Flag (handle) for separate window
%> @param ij Indexies of axes (2-el string)
% ======================================================================
function plot_axes_Track(handles, hF, ij)
globals;

if hF
    figure(hF);
    hA = gca;
    XLab = 't, s';
else
    hA = eval(['handles.axes_Track_' ij]);
    set(handles.fig_main,'CurrentAxes', hA)
    XLab = '';
    YLab = '';
end

titl = '';
X1 = tmod; X2 = tmod; X3 = tmod; X4 = tmod; X5 = tmod; X6 = tmod;
Y1 = nan(1, Nmod); Y2 = nan(1, Nmod); Y3 = nan(1, Nmod); Y4 = nan(1, Nmod); Y5 = nan(1, Nmod); Y6 = nan(1, Nmod);
switch ij
    case '11'
        Y1 = Xest.e;
        Y2 = Xest_won.e;
        YLab = 'e';
        titl = 'Eccentricity';
        leg_str = 'legend(hA, ''Estimation'', ''True'')';
    case '12'
        Y1 = Xest.d_e;
        Y2 = Xest_won.d_e;
        YLab = 'e''';
        titl = 'Eccentricity rate';
        leg_str = 'legend(hA, ''Estimation'', ''True'')';
    case '13'
        Y1 = Xest.p;
        Y2 = Xest_won.p;
        YLab = 'p, m';
        titl = 'Focal parameter';
        leg_str = 'legend(hA, ''Estimation'', ''True'')';
    case '14'
        Y1 = Xest.d_p;
        Y2 = Xest_won.d_p;
        YLab = 'p'', m/s';
        titl = 'Focal parameter rate';
        leg_str = 'legend(hA, ''Estimation'', ''True'')';
    case '21'
        Y1 = Xest.theta;
        Y2 = Xest_won.theta;
        YLab = '\theta, rad';
        titl = 'True anomaly';
        leg_str = 'legend(hA, ''Estimation'', ''True'')';
    case '22'
        Y1 = Xest.d_theta;
        Y2 = Xest_won.d_theta;
        YLab = '\theta'', rad/s';
        titl = 'True anomaly rate';
        leg_str = 'legend(hA, ''Estimation'', ''True'')';
    case '23'
        Y1 = Xest.omega;
        Y2 = Xest_won.omega;
        YLab = '\omega, rad';
        titl = 'Argument of periapsis';
        leg_str = 'legend(hA, ''Estimation'', ''True'')';
    case '24'
        Y1 = Xest.d_omega;
        Y2 = Xest_won.d_omega;
        YLab = '\omega'', rad/s';
        titl = 'Argument of periapsis rate';
        leg_str = 'legend(hA, ''Estimation'', ''True'')';
    case '31'
        Y1 = Xest.Omega;
        Y2 = Xest_won.Omega;
        YLab = '\Omega, rad';
        titl = 'Longitude of the ascending node';
        leg_str = 'legend(hA, ''Estimation'', ''True'')';
    case '32'
        Y1 = Xest.d_Omega;
        Y2 = Xest_won.d_Omega;
        YLab = '\Omega'', rad/s';
        titl = 'Longitude of the ascending node rate';
        leg_str = 'legend(hA, ''Estimation'', ''True'')';
    case '33'
        Y1 = Xest.i;
        Y2 = Xest_won.i;
        YLab = 'i, rad';
        titl = 'Inclination';
        leg_str = 'legend(hA, ''Estimation'', ''True'')';
    case '34'
        Y1 = Xest.d_i;
        Y2 = Xest_won.d_i;
        YLab = 'i'', rad/s';
        titl = 'Inclination rate';
        leg_str = 'legend(hA, ''Estimation'', ''True'')';
    case '41'
        Y1 = Xest.x0;
        Y2 = Xest.y0;
        Y3 = Xest.z0;
        Y4 = Xest_won.x0;
        Y5 = Xest_won.y0;
        Y6 = Xest_won.z0;
        YLab = 'x_0, y_0, z_0, m';
        titl = 'Coordinates in the inertial coordinate system';        
        leg_str = 'legend(hA, ''Estimation x_0'', ''Estimation y_0'', ''Estimation z_0'', ''True x_0'', ''True y_0'', ''True z_0'')';
    case '42'
        Y1 = Xest.d_x0;
        Y2 = Xest.d_y0;
        Y3 = Xest.d_z0;
        Y4 = Xest_won.d_x0;
        Y5 = Xest_won.d_y0;
        Y6 = Xest_won.d_z0;
        YLab = 'V_x, V_y, V_z, m/s';
        titl = 'Velocities in the inertial coordinate system';        
        leg_str = 'legend(hA, ''Estimation V_x'', ''Estimation V_y'', ''Estimation V_z'', ''True V_x'', ''True V_y'', ''True V_z'')';
    case '43'
        Y1 = sqrt((Xest.x0 - Xist.x0).^2 + (Xest.y0 - Xist.y0).^2 + (Xest.z0 - Xist.z0).^2);
        Y2 = sqrt((Xest_won.x0 - Xist.x0).^2 + (Xest_won.y0 - Xist.y0).^2 + (Xest_won.z0 - Xist.z0).^2);
        YLab = 'Error XYZ, m';
        titl = 'Error of coordinate estimation';    
        leg_str = 'legend(hA, ''Estimation'', ''True'')';
    case '44'
        Y1 = sqrt((Xest.d_x0 - Xist.d_x0).^2 + (Xest.d_y0 - Xist.d_y0).^2 + (Xest.d_z0 - Xist.d_z0).^2);
        Y2 = sqrt((Xest_won.d_x0 - Xist.d_x0).^2 + (Xest_won.d_y0 - Xist.d_y0).^2 + (Xest_won.d_z0 - Xist.d_z0).^2);
        YLab = 'Error V, m/s';
        titl = 'Error of velocity estimation';      
        leg_str = 'legend(hA, ''Estimation'', ''True'')';
end

if isnan(Y6(1))
    if isnan(Y5(1))
        if isnan(Y4(1))
            if isnan(Y3(1))
                if isnan(Y2(1))
                    if isnan(Y1(1))
                        set(hA, 'Visible', 'off');
                    else
                        plot(hA, X1, Y1);
                        set(hA, 'Visible', 'on');
                    end
                else
                    plot(hA, X1, Y1, X2, Y2);
                    set(hA, 'Visible', 'on');
                end
            else
                plot(hA, X1, Y1, X2, Y2, X3, Y3);
                set(hA, 'Visible', 'on');
            end
        else
            plot(hA, X1, Y1, X2, Y2, X3, Y3, X4, Y4);
            set(hA, 'Visible', 'on');
        end
    else
        plot(hA, X1, Y1, X2, Y2, X3, Y3, X4, Y4, X5, Y5);
        set(hA, 'Visible', 'on');
    end
else
    plot(hA, X1, Y1, X2, Y2, X3, Y3, X4, Y4, X5, Y5, X6, Y6);
    set(hA, 'Visible', 'on');
end


if hF
    title(hA, titl);
    eval(leg_str);
end

ly = ylabel(YLab);
lx = xlabel(XLab);
grid(hA, 'on');

if ~hF
    set(hA, 'XTick', []);
    set(hA, 'YTick', []);
    set(ly, 'FontSize', Font_Size);
end

function Ysolve = fsolve_Kepler(Xs, Xizm, Yizm, Zizm, VXizm, VYizm, VZizm)

global mu_earth

%%%%Xsolve = r, u, Omega, i, d_r, d_u
% Xsolve = theta, omega_p, Omega, i, e, p
theta = Xs(1);
omega_p = Xs(2);
Omega = Xs(3);
i = Xs(4);
e = Xs(5);
p = Xs(6);

[x, y, z, Vx, Vy, Vz] = get_vector_XV( e, p, theta, omega_p, Omega, i);

ErrX = Xizm - x;
ErrY = Yizm - y;
ErrZ = Zizm - z;

ErrVx = VXizm - Vx;
ErrVy = VYizm - Vy;
ErrVz = VZizm - Vz;

Ysolve = [ErrX, ErrY, ErrZ, ErrVx, ErrVy, ErrVz];

end

%> ======================================================================
%> @brief Calculate true osculating elements for true trajectory
%> @param handles Main handles struct
%> ======================================================================
function solve_wo_noise( handles )

globals;

% Initial point
Xs(1) = Xist.theta(1);
Xs(2) = Xist.omega(1);
Xs(3) = Xist.Omega(1);
Xs(4) = Xist.i(1);
Xs(5) = Xist.e(1);
Xs(6) = Xist.p(1);
   
set(handles.pb_Solve, 'Enable', 'off');
drawnow
pause(0.01);
for i = 1:Nmod
   
    % Calculating osculating elements by means of the true coordinates and velocities
    Xs = fsolve(@(Xfs)(fsolve_Kepler(Xfs, Xist.x0(i), Xist.y0(i), Xist.z0(i),...
         Xist.d_x0(i), Xist.d_y0(i), Xist.d_z0(i))), Xs, options_solve);
   
    % Saving of results
    Xest_won.e(i) = Xs(5);
    Xest_won.theta(i) = Xs(1);    
    Xest_won.omega(i) = Xs(2);
    Xest_won.Omega(i) = Xs(3);
    Xest_won.i(i) = Xs(4);
    Xest_won.p(i) = Xs(6);
    Xest_won.r(i) = Xest_won.p(i) ./ (1 + Xest_won.e(i)*cos(Xest_won.theta(i)));

    % Get coordinates for oculating elements (for test)
    [Xest_won.x0(i) Xest_won.y0(i) Xest_won.z0(i) ...
        Xest_won.d_x0(i) Xest_won.d_y0(i) Xest_won.d_z0(i)] = ...
        get_vector_XV( Xest_won.e(i), Xest_won.p(i), Xest_won.theta(i), ...
                           Xest_won.omega(i), Xest_won.Omega(i), Xest_won.i(i));    
%     [Xest_won.x0(i) Xest_won.y0(i) Xest_won.z0(i)] = get_vector_XYZ( Xest_won.r(i),...
%                 Xest_won.Omega(i), Xest_won.i(i), Xest_won.theta(i)+Xest_won.omega(i) );

    if ~mod(i, fix(Nmod/100))
        set(handles.txt_Solve, 'String', sprintf('%.0f %%', i/Nmod*100));
    end
    drawnow
    pause(0.01);
end
set(handles.txt_Solve, 'String', sprintf('%.0f %%', 100));

% Calculation of derivatives
Xest_won.d_theta = diff(Xest_won.theta)/dTmod;
Xest_won.d_theta(end+1)=Xest_won.d_theta(end);
Xest_won.d_omega = diff(Xest_won.omega)/dTmod;
Xest_won.d_omega(end+1)=Xest_won.d_omega(end);
Xest_won.d_Omega = diff(Xest_won.Omega)/dTmod;
Xest_won.d_Omega(end+1)=Xest_won.d_Omega(end);
Xest_won.d_i = diff(Xest_won.i)/dTmod;
Xest_won.d_i(end+1)=Xest_won.d_i(end);
Xest_won.d_e = diff(Xest_won.e)/dTmod;
Xest_won.d_e(end+1)=Xest_won.d_e(end);
Xest_won.d_p = diff(Xest_won.p)/dTmod;
Xest_won.d_p(end+1)=Xest_won.d_p(end);
Xest_won.d_r = diff(Xest_won.r)/dTmod;
Xest_won.d_r(end+1)=Xest_won.d_r(end);
   
for i = 1:Nmod
        % Saving of results
    if Xest_won.e(i) > 0;
        Xest_won.e(i) = Xest_won.e(i);
        Xest_won.theta(i) = mod_pm_pi(Xest_won.theta(i));    
        Xest_won.omega(i) = mod_pm_pi(Xest_won.omega(i));
    else
        Xest_won.e(i) = -Xest_won.e(i);
        Xest_won.theta(i) = mod_pm_pi(-Xest_won.theta(i));    
        Xest_won.omega(i) = mod_pm_pi(-Xest_won.omega(i));
    end    
    Xest_won.Omega(i) = mod_pm_pi(Xest_won.Omega(i));
    Xest_won.i(i) = mod_pm_pi(Xest_won.i(i));
end

% Output results to form
for i = 1:5
    for j = 1:5
        set(eval(['handles.axes_Track_' num2str(i) num2str(j)]), 'DrawMode', 'fast');
        plot_axes_Track(handles, 0, [num2str(i) num2str(j)]);
        set(eval(['handles.axes_Track_' num2str(i) num2str(j)]), 'Tag', ['axes_Track_' num2str(i) num2str(j)]);
        set(eval(['handles.axes_Track_' num2str(i) num2str(j)]), 'ButtonDownFcn', str2func('@(hObject,eventdata)fig_main(''axes_Track_ButtonDownFcn'',hObject,eventdata,guidata(hObject))'));
    end
end

set(handles.pan_Orbital_Elements, 'Visible', 'off');
set(handles.pan_Tracking, 'Visible', 'on');
set(handles.pb_Track, 'Enable', 'on');
set(handles.ed_stdX, 'Enable', 'on');
set(handles.ed_stdV, 'Enable', 'on');

end

function [x, y, z, Vx, Vy, Vz] = get_vector_XV( e, p, theta, omega, Omega, i)
%GET_VECTOR_XV Get vectors x, y, z and Vx, Vy, Vz

global mu_earth

munapi = sqrt(mu_earth / p);
Vr = munapi*e*sin(theta);
Vu = munapi*(1+e*cos(theta));
r = p / (1+e*cos(theta));
u = theta + omega;

xyz = U3(-Omega)*U1(-i)*U3(-u)*[r; 0; 0];

x = xyz(1);
y = xyz(2);
z = xyz(3);

Vx = Vr.*x./r - Vu.*(sin(u).*cos(Omega) + cos(u).*sin(Omega).*cos(i));
Vy = Vr.*y./r - Vu.*(sin(u).*sin(Omega) - cos(u).*cos(Omega).*cos(i));
Vz = Vr.*z./r + Vu.*cos(u).*sin(i);

end