Minor corrections to IKI delivery, generated RM+SP MK. (5c6a98fa) · Commits · Alessandro Frigeri / MaMISSspice

kernels/ck/emrsp_sp_lander_20200318.bc→kernels/ck/emrsp_sp_surf_20200318_v001.bc

LFS

(129 B)

File moved.

kernels/fk/emrsp_sp_v004.tf

+177 −150

Original line number	Diff line number	Diff line
		KPL/FK

		ExoMars Surface Platform (ExoMars-20) Frames Kernel
		ExoMarsRSP Kazachok Surface Platform (SP) Frames Kernel
		===============================================================================

		This frame kernel contains a complete set of frame definitions for the
		@@ -13,18 +13,17 @@ Version and Date
		------------------------------------------------------------------------

		Version 0.0.4 -- March 18, 2020 -- Stanislav Bober, IKI
		Marc Costa Sitja, ESAC/ESA

		SP_LANDER attitude was linked to SP_LANDED_LOCAL frame
		using CK file. LARA_ANT_BASE and SP_TS_CAM_BASE was redefined
		relative to SP_LANDER.

		relative to SP_LANDER. Updated formatting and fixed some typos.

		Version 0.0.3 -- January 20, 2019 -- Stanislav Bober, IKI

		Added observation cameras frames and positions
		(SP_TS_CAM_1 .. SP_TS_CAM_4).


		Version 0.0.2 -- December 30, 2019 -- Stanislav Bober, IKI

		SP_AFTER_RM was removed from frame chaining. If platform
		@@ -34,13 +33,11 @@ Version and Date
		will be changed in next version.
		SP_CRUISE frame now redefined relative to CM_SPACECRAFT.


		Version 0.0.1 -- October 30, 2019 -- Stanislav Bober, IKI

		Descent path was removed from frame chaining.
		LARA frames added. Added several frame definitions.


		Version 0.0.0-draft -- September 23, 2019 -- Stanislav Bober, IKI

		Draft Version. Based on ExoMars-16 EDM (Schiaparelli)
		@@ -71,12 +68,12 @@ References
		Contact Information
		------------------------------------------------------------------------

		If you have any questions regarding this file contact SPICE support at
		ESAC:
		If you have any questions regarding this file contact
		the ESA SPICE Service at ESAC:

		Marc Costa Sitja
		(+34) 91-8131-457
		mcosta@sciops.esa.int, esa_spice@sciops.esa.int
		marc.costa@esa.int, esa_spice@sciops.esa.int

		or SPICE support at IKI:

		@@ -88,12 +85,6 @@ Contact Information
		+7 (985) 285-24-94
		stasbober@rlab.iki.rssi.ru

		or NAIF at JPL:

		Boris Semenov
		+1 (818) 354-8136
		Boris.Semenov@jpl.nasa.gov


		Implementation Notes
		------------------------------------------------------------------------
		@@ -344,13 +335,13 @@ ExoMars Surface Platform Spacecraft Frames

		- +Z axis is orthogonal to Mars surface, points outside Mars;

		- +Y axis completes the right-handed frame.
		- +Y axis completes the right-handed frame;

		- center located at ExoMars Surface Platform actual landing point above
		Mars surface;
		- the origin is located at ExoMars Surface Platform actual landing
		point above Mars surface;

		- Frame text kernel and binary SPK located in sp_topo_xxxxxxxx.tf,
		sp_topo_xxxxxxxx.bsp.
		- Frame text kernel and binary SPK located in sp_topo_YYYYMMDD.tf,
		sp_topo_YYYYMMDD.bsp.


		ExoMars Surface Platform landing site reference frame
		@@ -359,7 +350,8 @@ ExoMars Surface Platform Spacecraft Frames
		- Frame built by fixed rotation relative to SP_TOPO using
		angles acquired after SP landing.

		- Origin of this frame is located at the landing point on Mars surface.
		- Origin of this frame is located at the landing point on
		Mars surface.


		These diagrams illustrate the ExoMars Surface Platform frame (SP_LANDER):
		@@ -433,43 +425,147 @@ ExoMars Surface Platform Spacecraft Frames
		'-._____.-'


		These sets of keywords define the ExoMars Surface Platform Spacecraft
		frames:

		\begindata

		FRAME_SP_LANDER = -173000
		FRAME_-173000_NAME = 'SP_LANDER'
		FRAME_-173000_CLASS = 3
		FRAME_-173000_CLASS_ID = -173000
		FRAME_-173000_CENTER = -173
		CK_-173000_SCLK = -173
		CK_-173000_SPK = -173
		OBJECT_-173_FRAME = 'SP_LANDER'


		FRAME_SP_CRUISE = -173001
		FRAME_-173001_NAME = 'SP_CRUISE'
		FRAME_-173001_CLASS = 4
		FRAME_-173001_CLASS_ID = -173001
		FRAME_-173001_CENTER = -174
		TKFRAME_-173001_RELATIVE = 'CM_SPACECRAFT'
		TKFRAME_-173001_SPEC = 'ANGLES'
		TKFRAME_-173001_UNITS = 'DEGREES'
		TKFRAME_-173001_AXES = ( 3, 2, 3 )
		TKFRAME_-173001_ANGLES = ( 0.0, 0.0, 0.0 )



		FRAME_SP_LANDED_LOCAL = -173901
		FRAME_-173901_NAME = 'SP_LANDED_LOCAL'
		FRAME_-173901_CLASS = 4
		FRAME_-173901_CLASS_ID = -173901
		FRAME_-173901_CENTER = -173
		TKFRAME_-173901_RELATIVE = 'SP_TOPO'
		TKFRAME_-173901_SPEC = 'ANGLES'
		TKFRAME_-173901_UNITS = 'DEGREES'
		TKFRAME_-173901_AXES = ( 3, 2, 3 )
		TKFRAME_-173901_ANGLES = ( 0.0, 90.0, 0.0 )

		\begintext


		ExoMars Surface Platform LARA antennas frames
		---------------------------------------------

		ExoMars Surface Platform LARA antennas frames base
		-- LARA_ANT_BASE -- is defined as follows:
		ExoMars Surface Platform LARA antennas frames base -- LARA_ANT_BASE -- is
		defined as follows:

		- Frame origin located at SP_LANDER origin.

		- +X axis points at zenith direction of Surface Platform

		ExoMars Surface Platform LARA antennas frames
		-- LARA_ANT_TX1, LARA_ANT_TX2, LARA_ANT_RX -- is defined as follows:
		ExoMars Surface Platform LARA antennas frames -- LARA_ANT_TX1,
		LARA_ANT_TX2, LARA_ANT_RX -- are defined as follows:

		- Frame origins located in LARA_ANT_TX1, LARA_ANT_TX2, LARA_ANT_RX objects.
		- Frame origins located in LARA_ANT_TX1, LARA_ANT_TX2a and LARA_ANT_RX
		objects.

		- SPK kernels for LARA_ANT_TX1, LARA_ANT_TX2, LARA_ANT_RX objects have
		fixed offset relative to LARA_ANT_BASE origin.

		- Orientation is rotated by fixed angles relative to LARA_ANT_BASE (i.e. SP zenith),
		rotation angles acquired during calibration procedure.
		- Orientation is rotated by fixed angles relative to LARA_ANT_BASE
		(i.e. SP zenith), rotation angles acquired during calibration
		procedure.


		These sets of keywords define the ExoMars Surface Platform LARA atennas
		frames:

		\begindata

		FRAME_LARA_ANT_BASE = -197000
		FRAME_-197000_NAME = 'LARA_ANT_BASE'
		FRAME_-197000_CLASS = 4
		FRAME_-197000_CLASS_ID = -197000
		FRAME_-197000_CENTER = -197
		TKFRAME_-197000_RELATIVE = 'SP_LANDER'
		TKFRAME_-197000_SPEC = 'ANGLES'
		TKFRAME_-197000_UNITS = 'DEGREES'
		TKFRAME_-197000_AXES = ( 3, 2, 3 )
		TKFRAME_-197000_ANGLES = ( 0.0, 0.0, 0.0 )

		FRAME_LARA_ANT_TX1 = -197011
		FRAME_-197011_NAME = 'LARA_ANT_TX1'
		FRAME_-197011_CLASS = 4
		FRAME_-197011_CLASS_ID = -197011
		FRAME_-197011_CENTER = -197001
		TKFRAME_-197011_RELATIVE = 'LARA_ANT_BASE'
		TKFRAME_-197011_SPEC = 'ANGLES'
		TKFRAME_-197011_UNITS = 'DEGREES'
		TKFRAME_-197011_AXES = ( 3, 2, 3 )
		TKFRAME_-197011_ANGLES = ( 0.0, 90.0, 0.0 )
		OBJECT_-197001_FRAME = -197011

		FRAME_LARA_ANT_TX2 = -197012
		FRAME_-197012_NAME = 'LARA_ANT_TX2'
		FRAME_-197012_CLASS = 4
		FRAME_-197012_CLASS_ID = -197012
		FRAME_-197012_CENTER = -197002
		TKFRAME_-197012_RELATIVE = 'LARA_ANT_BASE'
		TKFRAME_-197012_SPEC = 'ANGLES'
		TKFRAME_-197012_UNITS = 'DEGREES'
		TKFRAME_-197012_AXES = ( 3, 2, 3 )
		TKFRAME_-197012_ANGLES = ( 0.0, 90.0, 0.0 )
		OBJECT_-197002_FRAME = -197012

		FRAME_LARA_ANT_RX = -197013
		FRAME_-197013_NAME = 'LARA_ANT_RX'
		FRAME_-197013_CLASS = 4
		FRAME_-197013_CLASS_ID = -197013
		FRAME_-197013_CENTER = -197003
		TKFRAME_-197013_RELATIVE = 'LARA_ANT_BASE'
		TKFRAME_-197013_SPEC = 'ANGLES'
		TKFRAME_-197013_UNITS = 'DEGREES'
		TKFRAME_-197013_AXES = ( 3, 2, 3 )
		TKFRAME_-197013_ANGLES = ( 0.0, 90.0, 0.0 )
		OBJECT_-197003_FRAME = -197013

		\begintext


		ExoMars Surface Platform Television System (TS) cameras frames
		--------------------------------------------------------------

		ExoMars Surface Platform SP_TS_CAM_ observation cameras
		-- SP_TS_CAM_1, SP_TS_CAM_2, SP_TS_CAM_3, SP_TS_CAM_4 -- is defined as follows:
		ExoMars Surface Platform SP_TS_CAM_ observation cameras frames
		-- SP_TS_CAM_1, SP_TS_CAM_2, SP_TS_CAM_3, SP_TS_CAM_4 -- are
		defined as follows:

		- Frame origins located in SP_TS_CAM_1, SP_TS_CAM_2, SP_TS_CAM_3,
		SP_TS_CAM_4 objects.

		- Frame origins located in SP_TS_CAM_1, SP_TS_CAM_2, SP_TS_CAM_3, SP_TS_CAM_4 objects.
		- SPK kernels for SP_TS_CAM_1, SP_TS_CAM_2, SP_TS_CAM_3,
		SP_TS_CAM_4 objects have a fixed offset relative to SP_TS_CAM_BASE
		origin as follows:

		- SPK kernels for SP_TS_CAM_1, SP_TS_CAM_2, SP_TS_CAM_3, SP_TS_CAM_4 objects have
		fixed offset relative to SP_TS_CAM_BASE origin:
		- Z coordinate is +/- 439.8 mm,
		- Y coordinate is +/- 633.5 mm.

		- Cameras orientation is defined by fixed angles relative to SP_TS_CAM__BASE
		to satisfy following conditions:
		- The orientation of the cameras is defined by fixed angles
		relative to SP_TS_CAM__BASE to satisfy following conditions:

		- cameras boresight should be at 32 degrees below main plane (XZ)
		- cameras boresight projections to XZ plane should be:
		- at +45 degrees relative to +Y axis for SP_TS_CAM_1,
		@@ -477,10 +573,13 @@ ExoMars Surface Platform Television System (TS) cameras frames
		- at -135 degrees relative to +Y axis for SP_TS_CAM_3,
		- at +135 degrees relative to +Y axis for SP_TS_CAM_4.

		These diagrams illustrate the ExoMars Surface Platform Television
		System frames:

		+Xsc view (from below the platform)
		-----------------------------------


		+Zcam1 _.-----._
		^ _.-' '-._ +Zcam2
		'. _.-' '-._ .^
		@@ -516,7 +615,6 @@ ExoMars Surface Platform Television System (TS) cameras frames
		'-._____.-'



		+Ycam1 view (side view to camera)
		---------------------------------

		@@ -553,92 +651,11 @@ ExoMars Surface Platform Television System (TS) cameras frames
		+Zcam4 \| +Zcam3


		These sets of keywords define the ExoMars Surface Platform Spacecraft frames:
		These sets of keywords define the ExoMars Surface Platform Television
		cameras frames:

		\begindata

		FRAME_SP_LANDER = -173000
		FRAME_-173000_NAME = 'SP_LANDER'
		FRAME_-173000_CLASS = 3
		FRAME_-173000_CLASS_ID = -173000
		FRAME_-173000_CENTER = -173
		CK_-173000_SCLK = -173
		CK_-173000_SPK = -173
		OBJECT_-173_FRAME = 'SP_LANDER'


		FRAME_SP_CRUISE = -173001
		FRAME_-173001_NAME = 'SP_CRUISE'
		FRAME_-173001_CLASS = 4
		FRAME_-173001_CLASS_ID = -173001
		FRAME_-173001_CENTER = -174
		TKFRAME_-173001_RELATIVE = 'CM_SPACECRAFT'
		TKFRAME_-173001_SPEC = 'ANGLES'
		TKFRAME_-173001_UNITS = 'DEGREES'
		TKFRAME_-173001_AXES = ( 3, 2, 3 )
		TKFRAME_-173001_ANGLES = ( 0.0, 0.0, 0.0 )



		FRAME_SP_LANDED_LOCAL = -173901
		FRAME_-173901_NAME = 'SP_LANDED_LOCAL'
		FRAME_-173901_CLASS = 4
		FRAME_-173901_CLASS_ID = -173901
		FRAME_-173901_CENTER = -173
		TKFRAME_-173901_RELATIVE = 'SP_TOPO'
		TKFRAME_-173901_SPEC = 'ANGLES'
		TKFRAME_-173901_UNITS = 'DEGREES'
		TKFRAME_-173901_AXES = ( 3, 2, 3 )
		TKFRAME_-173901_ANGLES = ( 0.0, 90.0, 0.0 )

		FRAME_LARA_ANT_BASE = -197000
		FRAME_-197000_NAME = 'LARA_ANT_BASE'
		FRAME_-197000_CLASS = 4
		FRAME_-197000_CLASS_ID = -197000
		FRAME_-197000_CENTER = -197
		TKFRAME_-197000_RELATIVE = 'SP_LANDER'
		TKFRAME_-197000_SPEC = 'ANGLES'
		TKFRAME_-197000_UNITS = 'DEGREES'
		TKFRAME_-197000_AXES = ( 3, 2, 3 )
		TKFRAME_-197000_ANGLES = ( 0.0, 0.0, 0.0 )

		FRAME_LARA_ANT_TX1 = -197011
		FRAME_-197011_NAME = 'LARA_ANT_TX1'
		FRAME_-197011_CLASS = 4
		FRAME_-197011_CLASS_ID = -197011
		FRAME_-197011_CENTER = -197001
		TKFRAME_-197011_RELATIVE = 'LARA_ANT_BASE'
		TKFRAME_-197011_SPEC = 'ANGLES'
		TKFRAME_-197011_UNITS = 'DEGREES'
		TKFRAME_-197011_AXES = ( 3, 2, 3 )
		TKFRAME_-197011_ANGLES = ( 0.0, 90.0, 0.0 )
		OBJECT_-197001_FRAME = -197011

		FRAME_LARA_ANT_TX2 = -197012
		FRAME_-197012_NAME = 'LARA_ANT_TX2'
		FRAME_-197012_CLASS = 4
		FRAME_-197012_CLASS_ID = -197012
		FRAME_-197012_CENTER = -197002
		TKFRAME_-197012_RELATIVE = 'LARA_ANT_BASE'
		TKFRAME_-197012_SPEC = 'ANGLES'
		TKFRAME_-197012_UNITS = 'DEGREES'
		TKFRAME_-197012_AXES = ( 3, 2, 3 )
		TKFRAME_-197012_ANGLES = ( 0.0, 90.0, 0.0 )
		OBJECT_-197002_FRAME = -197012

		FRAME_LARA_ANT_RX = -197013
		FRAME_-197013_NAME = 'LARA_ANT_RX'
		FRAME_-197013_CLASS = 4
		FRAME_-197013_CLASS_ID = -197013
		FRAME_-197013_CENTER = -197003
		TKFRAME_-197013_RELATIVE = 'LARA_ANT_BASE'
		TKFRAME_-197013_SPEC = 'ANGLES'
		TKFRAME_-197013_UNITS = 'DEGREES'
		TKFRAME_-197013_AXES = ( 3, 2, 3 )
		TKFRAME_-197013_ANGLES = ( 0.0, 90.0, 0.0 )
		OBJECT_-197003_FRAME = -197013


		FRAME_SP_TS_CAM_BASE = -173920
		FRAME_-173920_NAME = 'SP_TS_CAM_BASE'
		FRAME_-173920_CLASS = 4
		@@ -700,13 +717,13 @@ ExoMars Surface Platform Television System (TS) cameras frames
		ExoMars Surface Platform NAIF ID Codes -- Definitions
		===============================================================================

		This section contains name to NAIF ID mappings for the ExoMars-20 mission.
		This section contains name to NAIF ID mappings for the ExoMarsRSP mission.
		Once the contents of this file is loaded into the KERNEL POOL, these
		mappings become available within SPICE, making it possible to use names
		instead of ID code in the high level SPICE routine calls.

		Name ID Synonyms
		--------------------- ------- -----------------------
		------------------------ -------- ------------------------------

		EXOMARS SURFACE PLATFORM -173 (synonyms:
		EXOMARS RSP SURFACE PLATFORM,
		@@ -732,15 +749,24 @@ ExoMars Surface Platform NAIF ID Codes -- Definitions

		\begindata

		NAIF_BODY_NAME += ( 'EXOMARS SURFACE PLATFORM' )
		NAIF_BODY_NAME += ( 'EXOMARS RSP SURFACE PLATFORM' )
		NAIF_BODY_CODE += ( -173 )

		NAIF_BODY_NAME += ( 'EXOMARS RSP SURFACE PLATFORM' )
		NAIF_BODY_NAME += ( 'EM RSP SP' )
		NAIF_BODY_CODE += ( -173 )

		NAIF_BODY_NAME += ( 'EXOMARS RSP SP' )
		NAIF_BODY_CODE += ( -173 )

		NAIF_BODY_NAME += ( 'EXOMARS SURFACE PLATFORM' )
		NAIF_BODY_CODE += ( -173 )

		NAIF_BODY_NAME += ( 'EXOMARS LARA' )
		NAIF_BODY_CODE += ( -197 )

		NAIF_BODY_NAME += ( 'EXOMARS RSP LARA' )
		NAIF_BODY_CODE += ( -197 )

		NAIF_BODY_NAME += ( 'LARA' )
		NAIF_BODY_CODE += ( -197 )

		@@ -764,6 +790,7 @@ ExoMars Surface Platform NAIF ID Codes -- Definitions

		NAIF_BODY_NAME += ( 'SP_TS_CAM_4' )
		NAIF_BODY_CODE += ( -173014 )

		\begintext

kernels/mk/emrsp_test_rec_0003_v001.tm

0 → 100644

+121 −0

Original line number	Diff line number	Diff line
		KPL/MK

		Meta-kernel for ExoMarsRSP Dataset v060 -- Telemetry 20191204_001
		==========================================================================

		This meta-kernel lists the ExoMarsRSP Operational SPICE kernels
		providing information for the full mission based on predicted, test
		and/or measured data.


		Usage of the Meta-kernel
		-------------------------------------------------------------------------

		The set of kernels listed in this meta-kernel and the order in which
		they are listed are picked to provide the best available data and
		the most complete coverage based on the information about the
		kernels available at the time this meta-kernel was made for the
		ExoMarsRSP Operational scenario.

		This file is used by the SPICE system as follows: programs that make use
		of this frame kernel must "load" the kernel normally during program
		initialization. Loading the kernel associates the data items with
		their names in a data structure called the "kernel pool". The SPICELIB
		routine FURNSH loads a kernel into the pool.

		Reading the comments of the binary SPK and C-Kernels is very helpful to
		understand the implemented S/C position and orientation. You can use the
		following NAIF command line utility to extract that information from the
		kernels:

		> commnt -r emrsp_*

		The kernels listed below can be obtained from the ESA SPICE FTP server:

		ftp://spiftp.esac.esa.int/data/SPICE/ExoMarsRSP/kernels/


		Implementation Notes
		------------------------------------------------s-------------------------

		It is recommended that users make a local copy of this file and
		modify the value of the PATH_VALUES keyword to point to the actual
		location of the ExoMarsRSP SPICE data set's ``data'' directory on
		their system. Replacing ``/'' with ``\'' and converting line
		terminators to the format native to the user's system may also be
		required if this meta-kernel is to be used on a non-UNIX workstation.


		-------------------

		This file was created on December 20, 2019 by Marc Costa Sitja ESA/ESAC.


		\begindata

		PATH_VALUES = ( '..' )

		PATH_SYMBOLS = ( 'KERNELS' )

		KERNELS_TO_LOAD = (

		'$KERNELS/fk/emrsp_rm_v005.tf'
		'$KERNELS/fk/emrsp_dsk_surfaces_v000.tf'
		'$KERNELS/fk/emrsp_sp_v004.tf'

		'$KERNELS/lsk/naif0012.tls'

		'$KERNELS/sclk/emrsp_rm_test_ret_20191128_v001.tsc'
		'$KERNELS/sclk/emrsp_sp_fict_20191031.tsc'

		'$KERNELS/pck/pck00010.tpc'
		'$KERNELS/pck/de-403-masses.tpc'

		'$KERNELS/ik/emrsp_rm_navcam_v001.ti'
		'$KERNELS/ik/emrsp_rm_pancam_v001.ti'
		'$KERNELS/ik/emrsp_rm_loccam_v000.ti'
		'$KERNELS/ik/emrsp_rm_isem_v000.ti'
		'$KERNELS/ik/emrsp_rm_adron_v000.ti'
		'$KERNELS/ik/emrsp_rm_wisdom_v000.ti'
		'$KERNELS/ik/emrsp_rm_clupi_v000.ti'
		'$KERNELS/ik/emrsp_sp_ts_v000.ti'

		'$KERNELS/ck/emrsp_rm_surf_test_interp-tlm_0003_v001.bc'
		'$KERNELS/ck/emrsp_rm_surf_test_rec_0003_v001.bc'
		'$KERNELS/ck/emrsp_sp_surf_20200318_v001.bc'

		'$KERNELS/spk/emrsp_rm_ls-plan_v001.bsp'
		'$KERNELS/spk/emrsp_rm_test_interp-tlm_0003_v001.bsp'
		'$KERNELS/spk/emrsp_rm_test_rec_0003_v001.bsp'
		'$KERNELS/spk/emrsp_rm_sites_v001.bsp'
		'$KERNELS/spk/emrsp_rm_struct_v000.bsp'
		'$KERNELS/spk/emrsp_sp_struct_v002.bsp'

		'$KERNELS/spk/de432s.bsp'
		'$KERNELS/spk/mar097.bsp'

		'$KERNELS/dsk/emrsp_rm_site_001_001_v001.bds'

		)

		\begintext


		Contact Information
		------------------------------------------------------------------------

		If you have any questions regarding this file contact the
		ESA SPICE Service at ESAC:

		Marc Costa Sitja
		(+34) 91-8131-457
		marc.costa@esa.int, esa_spice@sciops.esa.int

		or ROCC at Altec Space:

		Federico Salvioli
		(+39) 011-7430-097
		federico.salvioli@altecspace.it


		End of MK file.

misc/release_notes/emrsp_skd_060.txt

+2 −0

Original line number	Diff line number	Diff line
		@@ -36,6 +36,8 @@ Notes

		Added and updated readme files for each kernel directory.

		Integrated Surface Platform updates.


		Issues fixed for this release
		--------------------------------------------------------