Breaking changes: runtime filtering of measurements and selection of processing for simultaneous measurements

[ChristopherRabotin]

Summary

Orbit determination measurements are no longer their own type. Instead, they're all part of the Measurement structure which can store multiple simultaneous measurements in a HashMap. All tracking devices are represented as a BTreeMap. All tracking data is also represented as a BTreeMap.

This leads to significant code simplifications, along with runtime flexibility to enable or disable specific measurement types from specific ground stations (or trackers in general). This is an important requirement for operations where a specific measurement type by a given ground station may be unreliable.

Architectural Changes

• OD Process no longer typed by the measurement type it should ingest.
• OD Process now typed by the number of measurements to process at once.
• Replacement of Range, Doppler, and RangeDoppler structures with a single Measurement structure.
• Replacement of EstimateFrom with Sensitivity trait, which must be implemented for the tracking device.
• Removal of DynamicTrackingArc
• Replacement of TrackingArcSim with TrackingDataArc, and it is no longer typed.

Closes #333

New Features

• Runtime filtering of measurements by trackers (to be tested)
• Add Azimuth/Elevation measurement type

Improvements

• Serialization of the integration time for each ground station (closes Deserialization of ground stations from YAML should include integration time #140 ).

Bug Fixes

No change

Testing and validation

• Update LRO example with filter ingesting range and Doppler simultaneously
• Add integration test with filter ingesting range and Doppler sequentially
• Add integration test with range+doppler+azimuth+elevation in that order, and comparing the results to az+range, el+Doppler
• Add integration test comparing sequential to simultaneous range and doppler
• Add integration test showing all four measurement kinds together with two-way (to test that the code doesn't compute two way for az/el)
• Remove Chi square plot and update LRO documentation on website.

Documentation

This PR does not primarily deal with documentation changes.

[github-actions]

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[ChristopherRabotin]

Executing the LRO example without any range data led to Error: SingularNoiseRk error.

Fixed by setting the default measurement noise to identity.

Doppler and some range

To test, simply remove the range_km entry in the measurement_types of Goldstone and Canberra, and run the LRO example. When there is ranging data injected, we can see the uncertainty on the range to rise because the postfit values are larger than the prefits (which are zero), and similarly the Doppler uncertainty drops because in our model the velocity does not suffer from the oscillation we see in the range (refer to https://nyxspace.com/nyxspace/showcase/04_lro_od/ for details).

Azimuth and Doppler

[codecov]

Codecov Report

Attention: Patch coverage is 78.60922% with 283 lines in your changes missing coverage. Please review.

Project coverage is 66.21%. Comparing base (923aca9) to head (1ec99a9).
Report is 74 commits behind head on master.

Files with missing lines	Patch %	Lines
src/od/ground_station/mod.rs	71.65%	70 Missing ⚠️
src/od/msr/data_arc.rs	79.47%	62 Missing ⚠️
src/od/msr/sensitivity.rs	65.81%	40 Missing ⚠️
src/od/simulator/arc.rs	76.19%	25 Missing ⚠️
src/od/msr/measurement.rs	48.83%	22 Missing ⚠️
src/od/process/mod.rs	80.35%	22 Missing ⚠️
src/od/ground_station/trk_device.rs	84.94%	14 Missing ⚠️
src/od/noise/mod.rs	0.00%	9 Missing ⚠️
src/od/msr/types.rs	82.92%	7 Missing ⚠️
src/od/process/export.rs	85.71%	4 Missing ⚠️
... and 5 more

Additional details and impacted files

@@             Coverage Diff             @@
##           master     #379       +/-   ##
===========================================
- Coverage   76.29%   66.21%   -10.09%     
===========================================
  Files          84       88        +4     
  Lines       13332    13406       +74     
===========================================
- Hits        10172     8877     -1295     
- Misses       3160     4529     +1369     

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