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Kalman Filter at Brookhaven National Laboratory
Kalman Filter at Brookhaven National Laboratory
Kalman Filter at Brookhaven National Laboratory
Kalman filter
in the MOORE framework
(progress report )
Y. Fisyak, BNL
Outline
Kalman filter
Geometry
Design of Muon reconstruction based on
Kalman filter
Digits and Digitization parameters
New packages
Integration into Athena
Kalman Filter
The Kalman filter is a recursive technique of obtaining the solution
by a least squares fit. This recursive method has the advantage of
computational efficiency.
In addition, the quality of hit to be included in the fit is known prior to
the fit. It could be very useful in sense of offline detector element
alignment.
In addition, the Kalman filter is able to extrapolate the fit track to the
next hit point at which time actual hits may be searched for in some
window of the extrapolation.
An advantage of Kalman filter is natural accounting multiple
scattering and energy loss. But this requires a complete description
of geometry including dead materials.
It was natural to try xKalman codes developed for Inner Tracker.
Unfortunately to speed up reconstruction I.Gavrilenko built a lot
knowledge about Inner Tracker geometry into the codes. From other
side the Inner Tracker geometry is much more regular and simpler
than the Muon System one. Thus this attempt has failed.
GEANT3,
GEANT4, and
new ROOT Geo package.
One more package called "Material Service" is being developed in
ATLAS which will hopefully answer the questions.
Geometry (cont.)
GEANT4:
The main issue of GEANT4 usage is to keep consistency between hits produced
in GEANT3 and detector geometry description in GEANT4. There is no tool to
create a one to one copy of GEANT3 geometry description in GEANT4
I dont have experience with track propagation in GEANT4 a `la GEANE. But I am
afraid that GEANT4 usage in reconstruction would be difficult because of
memory consumption (and speed).
ROOT Geo package:
practically direct copy of GEANT3 structures and it is good candidate.
There is a tool to populate the ROOT geometry description from GEANT3
(g2root).
But the package is ~8 months old and it is not mature enough to jump on it right
away.
My guess is that the new ROOT Geo package becomes stable in ~6 months. I
hope to see an update on this package status during CHEP03.
GEANT3:
For now this is only one geometry package which can be used in reconstruction.
The usage of GEANT3 for reconstruction in ATLAS Muon System has been
demonstrated with Cobra package (GEANE approach).
The idea is to use GEANT3 as tracking engine only in order to replace it in future.
This assumes that: we for now have to have two geometry descriptions:
One to do tracking (GEANT3) and
One to organize digit/hit geometry relation ( TVolume/TVolumeView), and
problem to keep consistency between these two geometry descriptions and
between geometry description and digits/hits.
New packages
MooxKal (steering)
Steering includes reconstruction in the following steps:
rough approximation for track segments in each
station,
refit track segments with full information,
fit tracks from track segments, and
refit tracks using full (digits) information
The steps are the same as in MooiPat.
Thus as soon as the above tool for converting Atlas
Identifier to GEANT3 one will be available then
MooxKal can used complementary to MooiPat i.e.
To use tracks or/and track segments from
MooiPat and refit them using dead material
information
MooxKal (cont.)
Propagator:
The Propagator is based on GEANT3.
Access to GEANT3 is done via C++ wrapper (TGeant3, borrowed
from ALICE).
The propagator provides:
transport of track parameters from one detector element to
an other,
calculate transport matrix,
calculate covariance matrix due to Multiple Scattering and
Energy Loss Straggling.
Fitter:
The original codes were written in FORTRAN for the CMS Muon
system and now they are ported in C++.
TR: Linear algebra package for semi positive symmetric matrices:
It is based on CERNLIB tr-package.
Temporarily the package is in Database/AthenaRoot/ RootKernel.
The package is working within atlsim. The next step is to integrate it into
athena.
In order to access Atlsim from athena it is necessary to load ZERBA common blocks
into executable (otherwise it will be multiple instances of common blocks in the
different shared libraries which do not know about each other).
Srini has created the package Application/AtlsimAthena which contains:
Creation of Atlsim.exe which is obtained by linking together athena and whole
Atlsim except its main program.
To do this it is only needed to create archive library of atlsim which is linked as
whole with athena.
AtlsimSvc which is the main atlsim program and provides GEANT3 initialization,
and
AtlsimAlg which provide event processing
It is needed to obtain approval:
of modification of AtlsimMain requirement file from Pavel Nevski in order to
create the archive library, and
of new package from A-team.
Conclusion
Different pieces of Muon reconstruction based on
Kalman filter are coming together.
Of course it will require tuning and adjustments in the
direction of the ATLAS Event Data Model.
The main issue right now is the integration of MooxKal
package into athena framework. There is a way how to
do this with minimum modifications. The way has to be
approved.