Done several corrections to the SP Draft FK and minor corrections to the RM (602b3533) · Commits · Alessandro Frigeri / MaMISSspice

kernels/fk/emrsp_sp_v000.tf

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		KPL/FK

		ExoMarsRSP Kazachok Surface Platform (SP) Frames Kernel
		===============================================================================

		This frame kernel contains a complete set of frame definitions for the
		ExoMars RSP Surface Platform including definitions for the structures
		science instrument frames. This kernel also contains NAIF ID/name mapping
		for the ExoMars RSP Surface Platform instruments.


		Version and Date
		------------------------------------------------------------------------

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

		Draft Version. Based on ExoMars 2016 EDM (Schiaparelli) Frame
		Definitions Kernel (em16_edm_v01.tf).


		References
		------------------------------------------------------------------------

		1. ``Frames Required Reading'', NAIF

		2. ``Kernel Pool Required Reading'', NAIF

		3. ``C-Kernel Required Reading'', NAIF

		4. Email from Marc Costa <mcosta@sciops.esa.int>
		``Special consideration for LaRa in the Surface Platform FK''
		on 12 July 2019

		5. Email from Alexander Abbakumov <aabbakumov@romance.iki.rssi.ru>
		``The layout of the EM2020 DM'' on 31 July 2019

		6. Email from Oleg Batanov <obat@romance.iki.rssi.ru>
		``EM20 PNI'' on 19 September 2019


		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 SPICE support at IKI:

		Alexander Abbakumov
		+7 (495) 333-40-13
		aabbakumov@romance.iki.rssi.ru

		Stanislav Bober
		+7 (985) 285-24-94
		stasbober@rlab.iki.rssi.ru


		Implementation Notes
		------------------------------------------------------------------------

		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 as shown below:

		FORTRAN: (SPICELIB)

		CALL FURNSH ( frame_kernel_name )

		C: (CSPICE)

		furnsh_c ( frame_kernel_name );

		IDL: (ICY)

		cspice_furnsh, frame_kernel_name

		MATLAB: (MICE)

		cspice_furnsh ( 'frame_kernel_name' )

		PYTHON: (SPICEYPY)*

		furnsh( frame_kernel_name )

		In order for a program or routine to extract data from the pool, the
		SPICELIB routines GDPOOL, GIPOOL, and GCPOOL are used. See [2] for
		more details.

		This file was created and may be updated with a text editor or word
		processor.

		* SPICEPY is a non-official, community developed Python wrapper for the
		NAIF SPICE toolkit. Its development is managed on Github.
		It is available at: https://github.com/AndrewAnnex/SpiceyPy


		SP NAIF ID Codes -- Summary Section
		------------------------------------------------------------------------

		The following names and NAIF ID codes are assigned to the ExoMars Surface
		Platform, its structures and science instruments (the keywords implementing
		these definitions are located in the section "ExoMars Surface Platform NAIF
		ID Codes -- Definitions Section" at the end of this file):

		ExoMars Surface Platform and it's Structures names/IDs:

		EXOMARS SURFACE PLATFORM -173 (synonyms:
		EXOMARS RSP SURFACE PLATFORM,
		EXOMARS RSP SP, SP)

		SP_LANDER -173000
		SP_CRUISE -173001
		SP_DESCENT -173002
		SP_EIP -173901
		SP_TOPO -173900
		SP_LANDED_LOCAL -173902
		SP_AFTER_RM -173903


		ExoMars Surface Platform Frames
		------------------------------------------------------------------------

		The following ExoMars Surface Platform frames are defined in this kernel
		file:

		Name Relative to Type NAIF ID
		====================== ========================== ======= =======

		SP_CRUISE J2000 CK -173001
		SP_DESCENT IAU_MARS CK -173002
		SP_TOPO IAU_MARS FIXED -173900
		SP_EIP IAU_MARS FIXED -173901
		SP_LANDED_LOCAL SP_TOPO FIXED -173902
		SP_AFTER_RM SP_TOPO FIXED -173903

		SP_LANDER SSP_CRUISE, CK -173000
		SP_DESCENT,
		SP_LANDED_LOCAL,
		SP_AFTER_RM



		SP Frames Hierarchy
		--------------------------------------------------------------------------

		The diagram below shows the ExoMars Surface Platform frames hierarchy:


		"J2000" INERTIAL
		+-------------------------------+
		\| \|
		\|<--ck \|<--pck
		\| \|
		v v
		"SP_CRUISE" "IAU_MARS"
		----------- +-----------------------+
		\| \| \|
		\| \|<--fixed \|<--fixed
		\| \| \|
		\| v v
		\| "SP_EIP" "SP_TOPO"
		\| -------- +-------------------+
		\| \| \| \|
		\| \|<--ck \|<--fixed \|<--fixed
		\| \| \| \|
		\| v v v
		\| "SP_DESCENT" "SP_LANDED_LOCAL" "SP_AFTER_RM"
		\| ------------ ----------------- -------------
		\| \| \| \|
		\|<--ck() \|<--ck() \|<--ck() \|<--ck()
		\| \| \| \|
		\| \| \| \|
		\| \| \| \|
		v v "SP_LANDER" v v
		-----------------------------------------------------------


		(*) In these cases transformation is fixed but it has to be
		stored in a CK to make SPICE "traverse" appropriate frame
		tree branch based on the time of interest and/or loaded
		kernels.


		Implementation of Frame Chains for Different Mission Phases
		-------------------------------------------------------------------------------

		Different routes along the branches of the SP frame hierarchy
		are implemented for different mission phases depending on the
		availability of the orientation data and the source, format and type
		of the data.

		This subsection summarizes mission phase specific implementations.


		Cruise
		------

		"J2000" Inertial
		----------------
		\|
		\| <----------- CK segment containing telemetry data
		\|
		v
		"SP_CRUISE"
		-----------
		\|
		\| <----------- CK segment representing fixed rotation defined
		\| by the lander design and to make SPICE "transverse"
		V to the appropriate frame chain
		"SP_LANDER"
		-----------


		Entry-Descent-Landing
		---------------------

		"J2000" Inertial
		----------------
		\|
		\| <----------- PCK-based transformation
		V
		"IAU_MARS"
		----------
		\|
		\| <----------- Fixed rotation based on frame definitions
		\|
		V
		"SP_EIP" (Entry Insertion Point)
		--------
		\|
		\| <----------- CK segment
		\|

		"SP_DESCENT" (Entry-Descent-Landing)
		------------
		\|
		\| <----------- CK segment representing fixed rotation defined
		\| by the lander design and to make SPICE "transverse"
		V to the appropriate frame chain
		"SP_LANDER"
		-----------


		Surface Mission (after landing and before rover disposal)
		---------------------------------------------------------

		"J2000" Inertial
		----------------
		\|
		\| <----------- PCK-based transformation
		V
		"IAU_MARS"
		----------
		\|
		\| <----------- Fixed rotation based on the landing site
		\| coordinates
		V
		"SP_TOPO"
		---------
		\|
		\| <----------- Fixed rotation based on frame definitions
		V
		"SP_AFTER_RM"
		-------------
		\|
		\| <----------- CK segment representing fixed rotation per
		\| initial quaternion and to make SPICE "transverse"
		V to the appropriate frame chain.
		"SP_LANDER"
		-----------


		Surface Mission (after rover disposal)
		--------------------------------------

		"J2000" Inertial
		----------------
		\|
		\| <----------- PCK-based transformation
		V
		"IAU_MARS"
		----------
		\|
		\| <----------- Fixed rotation based on the landing site
		\| coordinates
		V
		"SP_TOPO"
		---------
		\|
		\| <----------- Fixed rotation based on frame definitions
		V
		"SP_LANDED_LOCAL"
		-----------------
		\|
		\| <----------- CK segment representing fixed rotation per
		\| initial quaternion and to make SPICE "transverse"
		V to the appropriate frame chain.
		"SP_LANDER"
		-----------


		SP Platform Spacecraft and Spacecraft Structures Frames
		--------------------------------------------------------------------

		This section of the file contains the definitions of the spacecraft
		and spacecraft structures frames.


		SP Spacecraft Frames
		------------------------------------------

		According to [?] the ExoMars Surface Platform landing site reference frame
		-- SP_TOPO -- is defined as follows:

		- +X axis points to Mars north pole;

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

		- +Y axis completes the right-handed frame;

		- the origin is located at the SP landing point above the surface
		of Mars.


		According to [5] the ExoMars Surface Platform spacecraft reference frame
		-- SP_LANDER -- is defined as follows:

		- +X axis is orthogonal to the base plane (octogonal platform)
		and points towards the Mars surface;

		- +Y axis points along rover;

		- +Z axis completes the right-handed frame;

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


		These diagrams illustrate the SP_LANDER frame:

		-Y Surface Platform side view:
		------------------------------

		__
		/\\\
		_____________________ \|\\\| +Ysc is into the
		\|\| \|\|\ page.
		\|\| \|\| \
		\|\| \|\| \
		.---------\|\| \|\|---'-----.
		/ \|\| \|\| \
		\| \|\| \|\| \|
		\| \|\| \|\| \|
		_______\|___________\|\|_______+Ysc____________\|\|___________\|______
		\|________________________________x---> +Zsc________BASE PLANE____\|
		`. \| .'
		`. \| +Xsc .'
		`.__________________________v__________________________.'
		\| / .' `. .' `. \ \|
		\| / .' `.________.' `. \ \|
		\| / .' `. \ \|
		\| /.' \| `.\ \|
		'._\|/'__.' \| '.__`\\|_.'
		====== \| ======
		v towards Mars


		-X Surface Platform top view:
		-----------------------------

		_.-----._
		_.-' '-._
		_.-' '-._
		_.-' '-._
		_.-' '-._
		-' BASE PLANE '-
		/ .--. .--. \
		/ \_\| \|_/ \
		/ \
		/ =================\| \|================= \
		/--\|---------------. .---------------\|--\
		/ \| \|\| \|\| \| \
		/ \| \|\| \|\| \| \
		/ \| \|\| .-------. \|\| \| \
		/ \| \|\| / \ \|\| \| \
		. \| \|\|/ +Ysc\\|\| \| .
		\| \| \|' +Xsc x---> '\| \| \|
		\| \| \|' \| '\| \| \|
		' \| \|\|\ \| +Zsc/\|\| \| '
		\ \| \|\| \ v / \|\| \| /
		\ \| \|\| `-------' \|\| \| /
		\ \| \|\| \|\| \| /
		\ \| \|\| \|\| \| /
		\--\|---------------' '---------------\|--/
		\ =================\| \|================= /
		\ _ _ /
		\ / \| \| \ /
		\_ '--' '--' _/ +Xsc is into
		'-._ _.-' the page.
		'-._ _.-'
		'-._ _.-'
		'-._ _.-'
		'-._____.-'


		These sets of keywords define the ExoMarsRSP 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 = 3
		FRAME_-173001_CLASS_ID = -173001
		FRAME_-173001_CENTER = -173
		CK_-173001_SCLK = -173
		CK_-173001_SPK = -173
		OBJECT_-173_FRAME = 'SP_CRUISE'

		FRAME_SP_DESCENT = -173002
		FRAME_-173002_NAME = 'SP_DESCENT'
		FRAME_-173002_CLASS = 3
		FRAME_-173002_CLASS_ID = -173003
		FRAME_-173002_CENTER = -173
		CK_-173002_SCLK = -173
		CK_-173002_SPK = -173
		OBJECT_-173_FRAME = 'SP_DESCENT'

		FRAME_SP_EIP = -173901
		FRAME_-173901_NAME = 'SP_EIP'
		FRAME_-173901_CLASS = 4
		FRAME_-173901_CLASS_ID = -173901
		FRAME_-173901_CENTER = 499

		TKFRAME_-173901_SPEC = 'ANGLES'
		TKFRAME_-173901_RELATIVE = 'IAU_MARS'
		TKFRAME_-173901_UNITS = 'DEGREES'
		TKFRAME_-173901_AXES = ( 3, 2, 3 )
		TKFRAME_-173901_ANGLES = ( 0.0, 0.0, 0.0 )

		FRAME_SP_TOPO = -173900
		FRAME_-173900_NAME = 'SP_TOPO'
		FRAME_-173900_CLASS = 4
		FRAME_-173900_CLASS_ID = -173900
		FRAME_-173900_CENTER = -173900

		TKFRAME_-173900_RELATIVE = 'IAU_MARS'
		TKFRAME_-173900_SPEC = 'ANGLES'
		TKFRAME_-173900_UNITS = 'DEGREES'
		TKFRAME_-173900_AXES = ( 3, 2, 3 )
		TKFRAME_-173900_ANGLES = ( 0.0, 0.0, 0.0 )

		FRAME_SP_LANDED_LOCAL = -173902
		FRAME_-173902_NAME = 'SP_LANDED_LOCAL'
		FRAME_-173902_CLASS = 4
		FRAME_-173902_CLASS_ID = -173902
		FRAME_-173902_CENTER = -173

		TKFRAME_-173902_RELATIVE = 'SP_TOPO'
		TKFRAME_-173902_SPEC = 'ANGLES'
		TKFRAME_-173902_UNITS = 'DEGREES'
		TKFRAME_-173902_AXES = ( 1, 2, 3 )
		TKFRAME_-173902_ANGLES = ( 180.0, 0.0, 0.0 )

		FRAME_SP_AFTER_RM = -173903
		FRAME_-173903_NAME = 'SP_AFTER_RM'
		FRAME_-173903_CLASS = 4
		FRAME_-173903_CLASS_ID = -173903
		FRAME_-173903_CENTER = -173

		TKFRAME_-173903_RELATIVE = 'SP_TOPO'
		TKFRAME_-173903_SPEC = 'ANGLES'
		TKFRAME_-173903_UNITS = 'DEGREES'
		TKFRAME_-173903_AXES = ( 1, 2, 3 )
		TKFRAME_-173903_ANGLES = ( 180.0, 0.0, 0.0 )

		\begintext


		SP NAIF ID Codes -- Definitions
		===============================================================================

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

		Surface Platform:
		-----------------
		SP -173 EXOMARS RSP SURFACE PLATFORM
		EXOMARS RSP SP
		EM RSP SP

		The mappings summarized in this table are implemented by the keywords
		below.

		\begindata

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

		NAIF_BODY_NAME += ( 'EXOMARS RSP SURFACE PLATFORM' )
		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 += ( 'SP_LANDER' )
		NAIF_BODY_CODE += ( -173000 )

		\begintext


		End of FK file.

kernels/fk/emrsp_rm_v004.tf

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