MISR Visualization Experimental Environment MISR STK Study Rémi Blanchette Thales Canada Inc. 1 Chrysalis Way Ottawa, Ontario K2G 6P9 Document Control No: 1773C.006-STK-Study Rev. 01 Contract No.: W7701-071670/A Scientific Authority: Alain Bouchard (418) 844-4000 x4744 Defence R&D Canada – Valcartier Contract Report DRDC Valcartier CR 2008-128 March 2008 The scientific or technical validity of this Contract Report is entirely the responsibility of the contractor and the contents do not necessarily have the approval or endorsement of Defence R&D Canada.
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MISR Visualization Experimental EnvironmentMISR STK Study
The scientific or technical validity of this Contract Report is entirely the responsibility of the contractor and thecontents do not necessarily have the approval or endorsement of Defence R&D Canada.
MISR Visualization Experimental EnvironmentMISR STK Study
Contract No: W7701-071670/A Document Control No: 1773C.006-STK-Study Rev. 01
RDDC-DRDC Document No: CR 2008-128
Date: 28 March 2008
– RESTRICTIONS ON DISCLOSURE – The information contained in this document has been prepared by Thales Systems Canada, a Division of Thales Canada Inc. for the Government of Canada in accordance with Contract W7701-071670/A. The restriction and rights on disclosure shall be in accordance with the contract terms and conditions.
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MISR Visualization Experimental Environment MISR STK Study
3 STK OVERVIEW ....................................................................................................................... 7 3.1 The AGI Product Line ................................................................................................................ 7 3.1.1 Objects Types Supported .......................................................................................................... 8 3.1.2 Visualisation Capabilities........................................................................................................... 8 3.1.3 Weakness .................................................................................................................................. 9 3.1.4 Strength ..................................................................................................................................... 9 3.2 The Experience........................................................................................................................ 10 4 TEST RESULT ........................................................................................................................ 11 4.1 Section Overview..................................................................................................................... 11 4.2 Integration of the CHBD Format .............................................................................................. 11 4.2.1 About the CHDB Format..........................................................................................................12 4.2.2 The Approach .......................................................................................................................... 12 4.2.3 The CHDB to Great Arc Conversion Program......................................................................... 13 4.2.4 Great Arc File........................................................................................................................... 14 4.2.5 Results..................................................................................................................................... 14 4.3 Integration of the WPG formatGPW Format............................................................................ 14 4.4 OTH-GOLD Integration in RT3................................................................................................ 15 4.4.1 About RT3................................................................................................................................ 15 4.4.2 Results..................................................................................................................................... 15 4.5 STK integration in IMAGO.......................................................................................................15 4.5.1 About Imago ............................................................................................................................ 15 4.5.2 Approach ................................................................................................................................. 15 4.5.3 Results..................................................................................................................................... 15 5 RECOMMENDATION ............................................................................................................. 16
6 ANNEX 1: INTEGRATION WITH ECLIPSE ........................................................................... 17 6.1 STK Java API - Configuring the Samples with the Eclipse IDE .............................................. 17
LIST OF FIGURES
Page Figure 3-1: STK Object Type................................................................................................................................... 8 Figure 3-2: STK 2d View ......................................................................................................................................... 9 Figure 3-3: STK 3d View ......................................................................................................................................... 9 Figure 3-4: Visualisation and Analysis Integration with STK................................................................................. 10 Figure 4-1: CHDB to Great Arc Program............................................................................................................... 13
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LIST OF ACRONYMS AND ABBREVIATIONS
C
CSV Comma Separated Value
I
IDE Integrated Development Environment
R
RT3 Real-Time Tracking Technology
S
SAD System Architecture Document
STK Satellite Toolkit
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1 INTRODUCTION
1.1 Purpose
The purpose of this document is present the result of the experimentation and study of the Satellite Toolkit (STK) and other AGI related product such as AGI viewer and RT3.
1.2 Scope and Limitations
The first objective of this document is to transmit the general feelings acquired during the experimentation and trial period of the software.
The second objective is to describe the result of specific tests conducted with the STK software and present conclusions and recommendations on those tests.
The third objective of this document is to put the SKT product in perspective and to formulate general recommendations on its uses and further study.
1.3 Document Overview
The document will be divided into three clear sections, one for each objective. Some sections will be more subjective than the typical text found in this kind of document in an effort to convey the general feeling which is not only based on facts but on the general experience of the writer.
2 REFERENCED DOCUMENTS
Table 2-1: Referenced Documents
N° Reference Source Title
[1]
[2]
3 STK OVERVIEW
3.1 The AGI Product Line
The AGI product line is composed of many products. The main platform is the STK suite. The AGI website states:
“STK performs complex analysis of land, sea, air, and space assets, and shares results in one integrated solution.”
Basically, it’s a modelling environment focused on assets deployment, trajectory calculation and time tracking. It allows the target user, an expert with at least minimal skills in geodetics and astronomy, to create many kinds of objects in the modelling environments and qualify its capacity.
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3.1.1 Objects Types Supported
Objects type created in the STK modeling space can be of many kinds such as these illustrated in the figure to the right. Of great interest to the DND client is that they support:
1. Aircraft;
2. Area Target;
3. Ground Facility;
4. Ground Vehicle;
5. Launch Vehicle;
6. Missile;
7. Satellite;
8. Ship;
9. Target;
10. Line target.
For example, a complete high intensity warfare joint mission could be modelled and planned using STK and allow for careful analysis of assets deployment through time and space constraints. This allows for good planning thus improving global situation awareness.
Also, the depth of information that can be associated with those objects is quite impressive. It covers route, 2d graphics display, 3d graphics display and time and spatial constraints. The interfaces also hint at the capacity to integrate custom object visibility scripts created in “MATLAB”, “Perl” or “VB-script”.
Figure 3-1: STK Object Type
The product also supports sensors which are associated with all the information to able to calculate communication windows between them. For example, STK can easily give you a report of when as LAV truck could communicate with a passing satellite.
Finally, STK has a lot of module and extension to perform all sort of specialized analysis. These are listed on the website and they where not evaluated as part of this study. http://www.agi.com/products/desktopApp/stkFamily/
3.1.2 Visualisation Capabilities
STK is based around the concept of a scenario. A scenario is basically a file that contains the object to be used in the simulation, their positions in space and time, and the background information for analysis and calculation. STK displays of the scenario are offered in two main displays; a 2d view and a 3d view.
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Figure 3-2: STK 2d View
Figure 3-3: STK 3d View
Both views display the same object from the scenario and can be zoomed to some extent. STK is not a full fledged GIS but rather a simulation environment. The time component of each moving object in the scenario is paramount to understand what this product does well. Although it is not very open to other formats (such as Oracle SDO), the STK does support importing of shape files and imagery.
3.1.3 Weakness
Look and Feel
Surprisingly enough, STK real strength does not seem to be in the display area although it is not bad in terms of visualization; it is far from a state of the art display. Labels appear easily cluttered and the options to clean things up are hard to find.
GIS
STK is not a full scale GIS but a specialised simulation environment that offers some GIS capabilities to put everything in context. As such, the GIS tools provided are quite simple.
The type of supported imagery is done through image conversion which uses up disk space and is bound to degrade the image slightly. They do however support quite a few formats but the documentation states limitations on projections. Imagery integration seems a bit clunky and is centered on ESRI products rather then an open OGC format.
Navigation
The zoom and pan function are a bit confusing, controls are sometimes disabled for reasons hard to explain.
3.1.4 Strength
Simulation and Target Market
The product can coordinate and simulate thousands of vehicle and orbits and display everything rather smoothly. Rarely do we find an “off the shelf” product that applies so well to the military community. It is already supporting
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most military objects and concepts. It is not a generic engine that needs to be configured by code and module. It can serve as a planning tool AS-IS.
Analysis
For once, “rocket science” does apply to what this product does in terms of analysis. For someone with a master’s in astrophysics this is nothing extraordinary but for the “average Joe”, the capacity to calculate access analysis and coverage in astounding. The capacity to generate reports of these analyses is also very good. For example, if you want to know at what time your ground vehicle will be able to send their contact report directly to a specific satellite is really a simple matter in STK as long as your objects are configured correctly.
Integration
Although the review of the integration possible with STK was not in the scope of this project; it is pretty clear that it is a strong aspect of the product. STK provide COM based interoperability in the form of API and visual control.
The figure to the right shows an integration decision tree that is part of the STK documentation. It demonstrates that the STK API, built on AGI 4DX technology is reusable from any COM language. It also demonstrates the underlying STK object and the ESRI based display.
This diagram demonstrates that the application was built as reusable parts. While this is great news for the product, the interface offered by such a complex application is bound to be just as complex. The full fledged API will be costly to understand and develop on unless someone on the development team is very familiar with the API though past experience or a very good training.
Also, depending on the client technology chosen, COM interoperability always come with a level of complexity in itself especially when it comes to memory management.
Figure 3-4: Visualisation and Analysis Integration with STK
RT3
The real-time tracking tool is a real time data feed handler for STK. It allows to capture many types of data feed and parse them into actual objects to be displayed. It seemed to be quite well designed with good flexibility on each part of the design. Take note that this was not tested and would need to be prototyped before going further.
3.2 The Experience
The STK software is massive, and as an IT consultant with only a minor background in science I was overwhelmed by the depth of information and the astrophysics aspects of the product. The interface is a bit scary
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when you fall into object properties and you get this feeling that if you are not an expert, even the simplest thing will be hard to do.
After a few days of trial it is not far from the truth. Still, the product documentation is quite good and they offer many great samples, tutorial and technical support which is very helpful. The possibility of this software as an integrated component is intriguing and is probably worth the investment. Generally speaking this product seems to address well the planning of joint operation and to handle the complex access calculation that could make the difference between life and death on critical mission. At the Canadian level however, I get the feeling that we are generally not geared toward that kind of large scale mission but I am not an authority on the subject.
4 TEST RESULT
4.1 Section Overview
In this section, we will present the specific result obtained for some specific tasks asked by the client.
4.2 Integration of the CHBD Format
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4.2.1 About the CHDB Format
The CHDB format is a CSV file which comes in many flavours. The two data files we where given did not have exactly the same column which complicates any process of conversion. The CHDB files look like this:
trk# report# name flag cat threat rpt_date inserted_date lat lon source sensor 1 1 ATLANTIC SPRUCE CA MER AFD 01-Aug-05 31/07/2005 21:11 45.2583 -66.0591 INNAV1 2 2 ATLANTIC LARCH CA MER FRD 01-Aug-05 31/07/2005 21:11 45.2583 -66.0591 INNAV1
It contains a track number, report number, the name of the ship, the inserted date and a latitude longitude position.
4.2.2 The Approach
The simplest approach we found to integrate the CHDB format was to develop a small program to parse the file and output a number of files called “Great Arc Files” that STK can consume. However, it is not the best approach to automate the creation of a complete STK scenario since the GA files does not create the Ship entity; it merely contains the waypoints of the ship. Here is the workflow supported by the chosen approach:
1. run the conversion program; 1.1. select the CHDB file to convert; 1.2. enter the number of header lines to skip; 1.3. enter the epoch start date;
2. for each generated file; 2.1. create a ship entity with the name of the file; 2.2. import the great arc file for the waypoint;
3. set the scenario start epoch with the first inserted date in the CHDB file; 4. create other object as necessary in STK; 5. Run the simulation.
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4.2.3 The CHDB to Great Arc Conversion Program
The following picture is a screen shot of the conversion program that output the great arc file. It was done very quickly to demonstrate a capability. Again, it should the client need a more complete scenario generation, the approach should be change to use the STK API directly. This program outputs files in the “My Documents” folder of the user.
Figure 4-1: CHDB to Great Arc Program
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4.2.4 Great Arc File
Below is the content of a typical Great Arc File generated by the program.
The integration of the files worked quite easily. The conversion program is certainly not perfect but the epoch calculation seems good.
4.3 Integration of the WPG format
The WPG format is just another database schema format containing the same kind of information as the CHDB. Consequently, and since we had no access to a SQL server instance with test data, no real integration test was performed for this task. Even so, we can certify that at least the same approach of generation great arc files would work. As with the CHDB however, the great arc generation is not the best solution for a good integration. Using the STK relevant API would be a better and more complete solution.
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4.4 OTH-GOLD Integration in RT3
4.4.1 About RT3
The real time extension of STK, RT3 is capable of handling real time feed and display the moving objects in real time with STK. RT3 comes with a data feed simulator that can be used for user training or demonstration.
4.4.2 Results
Since the OTH-GOLD is just another format that needs parsing the real question was: “Can we parse a live feed with RT3?”
I could never bring the RT3 data feed simulator to work properly with STK, which was my first test to complete with RT3 before moving on more complex task. The lack of tutorial on how to use RT3 with the simulator has gone a great length in slowing our testing down.
Our results are inconclusive and for better results we would need to invest more time into the comprehension of RT3. The documentation however clearly indicates the RT3 application can be customized at different layer in their architecture to allow for a custom format such as OTH-GOLD.
4.5 STK integration in IMAGO
4.5.1 About Imago
Imago is a java based ontology editor. It is built on the JENA API and the “LiveSpace” collaborative environment. You can think of the application as an interactive visualization test bed in which various tools are showcased and evaluated. Thus, by definition, if any integration is possible, it should be done is the most lightweight manner possible.
4.5.2 Approach
Implementing the integration of STK should follow the guidelines given by the Visualization Preview System Architecture Document (SAD).
4.5.3 Results
The STK product offers a JAVA API for integration; the integration of the java library in eclipse is covered into the Annex 1. The annex is actually a part of the STK documentation that was copied here for convenience.
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5 RECOMMENDATION
The satellite toolkit product is not some small and cheap geo-referenced object viewer. It is a very complex and powerful simulation environment. Accordingly here are our recommendations:
• Verify the needs at joint strategic level for such a simulation tool;
• Verify with Land, Air and Marine force the need for such a simulation tool;
• Organize a demo of STK done by the AGI staff;
• Keep separate the study of the AGI product line and the IMAGO project; as they have very little in common and both are projects in themselves;
• If any development effort is envisioned with the AGI product line, make sure to add an AGI engineer on the implementation and architecture team in the beginning to align the solution correctly with the API.
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6 ANNEX 1: INTEGRATION WITH ECLIPSE
6.1 STK Java API - Configuring the Samples with the Eclipse IDE
The following instructions explain how to configure the STK Java API samples within the eclipse Integrated Development Environment (IDE).
1. Download the latest eclipse IDE from http://www.eclipse.org.
2. Extract the eclipse IDE to your preferred install location.
3. Start up the eclipse IDE. When asked to select a Workspace, browse to the <INSTALL DIR>\Help\stkX\Samples\Java directory, and click OK.
Note:If the eclipse IDE launches without displaying the above dialog, open the File menu and select Switch Workspace to display it, then browse to the above directory.
4. Close the eclipse IDE's Welcome screen.
5. From the File menu, select Import....
6. In the Import dialog, open the General folder, select Existing Projects into Workspace, and click Next.
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7. Choose "Select root directory" and click the Browse button. Do not change the directory; instead, just
click OK to dismiss the Browse for Folder dialog.
8. Make certain that the AGI item is selected in the Projects area, and click Finish.
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9. Navigate to the Java Build Path area on the project's Properties page.
Note: If you were not presented with the Properties page, display it by right-clicking on the AGI project in the Package Explorer and selecting Properties from the context menu.
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10. In the Source tab, check that the Default output folder (at the bottom of the tab) is AGI/classes.
11. Click the Libraries tab, and note the jar files listed there and the directory path given for them. Go to the
indicated directory (e.g. with Windows Explorer) to verify that all the listed files are, in fact, in the indicated directory. If they are, you can skip the next step.
Note: In the illustration, the 8 jar files are in the bin folder in the default STK install directory. This is the default location for the jar files.
Tip: Some of the following steps may require editing of the project's Properties. Before performing such editing, you may want to make sure that the file is writable. See the section on Saving Project Settings at the end of this page.
12. If the jar files are not in the indicated directory, then select all the jar files in the Libraries tab and click the Remove button. Click the Add External JARs... button, navigate to the bin folder in the default STK install directory, select all the jar files except agi.javadocs.jar, and click Open.
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13. The Javadoc location for each jar file in the project should have been set automatically to
agi.javadocs.jar when you imported the project. To verify that the location has been set or, if it has not been set, to set the location:
a. Select the jar file in the Libraries tab and expand its tree.
b. If "Javadoc location" is set to "(None)", then click the Edit.... button and:
i. Select the "Javadoc in archive" option, and click Browse.
ii. In the Java Archive Selection dialog, navigate to the folder that contains this project's jar files (probably the bin folder of the default STK install directory), select agi.javadocs.jar, and click Open.
iii. Click OK to dismiss the "Javadoc For ..." dialog and return to the Libraries tab.
c. Repeat the preceding steps once for each remaining jar file whose Javadoc location you wish to verify or set.
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14. The following 5 jar files require the use of JNI libraries to provide the STK Java API runtime capabilities:
o agi.core.jar
o agi.stkutil.jar
o agi.stkx.jar
o agi.stkobjects.jar
o agi.stk.jar
To verify that the native library path for each of these jar files has been set (or, if necessary, to set the path), proceed as follows:
a. Select the jar file in the Libraries tab and expand its tree.
b. If "Native library location" is set to " (None)", then click the Edit.... button, select the External Folder... button, navigate to the bin folder of the default STK install directory, and click OK twice to return to the Libraries tab.
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c. Repeat the preceding steps once for each of the other 4 listed jar files whose native library path you wish to verify or set.
2. If you have changed any settings on the Properties page, verify that it is writable, and click OK to save the
settings and dismiss the page.
3. Check to see if the samples have already been compiled. The eclipse IDE automatically compiles Java files when they are added or changed within a project. Open the Project menu and see whether a check mark appears next to the Build Automatically item. If so, the samples have been compiled, and you can skip the next step.
4. If the samples have not yet been compiled, then right-click on the AGI project in the Package Explorer and select Build Project.
5. Note that one sample will not compile, namely the agi.samples.omtutbeg.Main.java source file. The errors are due to intentional gaps that you are to fill as an exercise and compare against the agi.samples.omtutend.Main.java file. Doing so will give you practice with the SDK, the STK Object Model and the eclipse IDE.
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Saving Project Settings
To make certain that you will be able to save any changes you make to the project's Properties page, find the .classpath file and verify that it is writable. The .classpath file is located at:
<INSTALL DIR>\Help\stkX\Samples\Java\AGI\
If you do not see the .classpath file at that location, open Windows Explorer, select Folder Options from the Tools menu, click the View tab, and select the 'Show hidden files and folders' option:
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dcd03e rev.(10-1999)
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