New version from IKI (99360f8a) · Commits · Alessandro Frigeri / MaMISSspice

kernels/fk/emrsp_sp_v002.tf

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Original line number	Diff line number	Diff line
		KPL/FK

		ExoMars Surface Platform (ExoMars-20) Frames Kernel
		===============================================================================

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


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

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

		SP_AFTER_RM was removed from frame chaining. If platform
		attitude will be changed after RM disposal then new attitude
		will be incorporated in CK kernel.
		LARA_ANT_BASE temporarily defined relative to SP_LANDED_LOCAL and
		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)
		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>
		``Компоновка ЭМ2020 ДМ'' on 31 July 2019

		6. Email from Oleg Batanov <obat@romance.iki.rssi.ru>
		``ЭМ20 ПНИ'' on 19 September 2019



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

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

		Marc Costa Sitja
		(+34) 91-8131-457
		mcosta@sciops.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

		or NAIF at JPL:

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


		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


		ExoMars Surface Platform 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_LANDER -173000
		SP_CRUISE -173001
		SP_TOPO -173900
		SP_LANDED_LOCAL -173901

		LARA -197 (synonyms:
		EXOMARS LARA,
		EXOMARS RSP LARA)

		LARA_ANT_BASE -197000
		LARA_ANT_TX1 -197001
		LARA_ANT_TX2 -197002
		LARA_ANT_RX -197003

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

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

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

		SP_CRUISE CM_SPACECRAFT FIXED -173001
		SP_TOPO IAU_MARS FIXED -173900
		SP_LANDED_LOCAL SP_TOPO FIXED -173901

		SP_LANDER SP_CRUISE, CK -173000
		SP_LANDED_LOCAL

		LARA_ANT_BASE SP_LANDER FIXED -197000
		LARA_ANT_TX1 LARA_ANT_BASE FIXED -197001
		LARA_ANT_TX2 LARA_ANT_BASE FIXED -197002
		LARA_ANT_RX LARA_ANT_BASE FIXED -197003

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

		The diagram below shows the ExoMars Surface Platform frames hierarchy:


		"J2000" INERTIAL
		+-------------------------------+
		\| \|
		\| <--ck \| <--pck
		\| \|
		v v
		"CM_SPACECRAFT" "IAU_MARS"
		--------------- +
		\| \|
		\| <--fixed \| <--fixed
		\| \|
		v v
		"SP_CRUISE" "SP_TOPO"
		----------- +
		\| \|
		\| \| <--fixed
		\| \|
		\| v
		\| "SP_LANDED_LOCAL"
		\| -----------------
		\| \|
		\| <--ck() \| <--ck()
		\| \|
		v v
		+--------------------+----------+
		\|
		v
		"SP_LANDER"
		------------
		\|
		\| <--fixed
		v
		"LARA_ANT_BASE"
		+---------------+---------------+
		\| \| \|
		\|<--fixed \|<--fixed \|<--fixed
		v v v
		"LARA_ANT_TX1" "LARA_ANT_TX2" "LARA_ANT_RX"


		(*) 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
		"CM_SPACECRAFT"
		---------------
		\|
		\| <----------- Fixed rotation based on frame definitions
		\|
		v
		"SP_CRUISE"
		-----------
		\|
		\|
		\| <----------- CK segment representing fixed rotation defined
		\| by the lander design and to make SPICE "transverse"
		V to the appropiate frame chain
		"SP_LANDER"
		------------

		Surface Mission (after landing)
		---------------------------------------------------------

		"J2000" Inertial
		----------------
		\|
		\| <----------- PCK-based transformation
		V
		"IAU_MARS"
		----------
		\|
		\| <----------- Fixed rotation based on the landing site
		\| coordinates. Generated using PINPOINT utility.
		V (See sp_topo_xxxxxxxx.tf, sp_topo_xxxxxxxx.bsp)
		"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 appropiate frame chain.
		"SP_LANDER"
		------------


		ExoMars Surface Platform Spacecraft and Spacecraft Structures Frames
		--------------------------------------------------------------------

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


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

		ExoMars Surface Platform landing site topocentric 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.

		- center 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.


		ExoMars Surface Platform landing site reference frame
		-- SP_LANDED_LOCAL -- is defined as follows:

		- 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.

		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:

		- Frame origins located in LARA_ANT_TX1, LARA_ANT_TX2, 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.


		These diagrams illustrate the ExoMars Surface Platform frame (SP_LANDER):

		-Y side view:
		-------------


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



		-X top view:
		------------



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



		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 = ( 2, 3, 2 )
		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 = ( 2, 3, 2 )
		TKFRAME_-173901_ANGLES = ( 90.0, 180.0, 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_LANDED_LOCAL'
		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, 0.0, 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, 0.0, 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, 0.0, 0.0 )
		OBJECT_-197003_FRAME = -197013

		\begintext


		ExoMars Surface Platform NAIF ID Codes -- Definitions
		===============================================================================

		This section contains name to NAIF ID mappings for the ExoMars-20 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,
		EXOMARS RSP SP,
		EM RSP SP)

		LARA -197 (synonyms:
		EXOMARS LARA,
		EXOMARS RSP LARA)

		LARA_ANT_TX1 -197001
		LARA_ANT_TX2 -197002
		LARA_ANT_RX -197003


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

		\begindata

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

		NAIF_BODY_NAME += ( 'LARA_ANT_TX1' )
		NAIF_BODY_CODE += ( -197001 )

		NAIF_BODY_NAME += ( 'LARA_ANT_TX2' )
		NAIF_BODY_CODE += ( -197002 )

		NAIF_BODY_NAME += ( 'LARA_ANT_RX' )
		NAIF_BODY_CODE += ( -197003 )

		\begintext


		End of FK file.
		No newline at end of file

kernels/fk/sp_topo_20191031.tf

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Original line number	Diff line number	Diff line
		KPL/FK

		FILE: kernels/fk/sp_topo_20191031.tf

		This file was created by PINPOINT.

		PINPOINT Version 3.2.0 --- September 6, 2016
		PINPOINT RUN DATE/TIME: 2019-10-31T17:35:47
		PINPOINT DEFINITIONS FILE: landing_site/em2020_landing_site.def
		PINPOINT PCK FILE: kernels/pck/pck00010.tpc
		PINPOINT SPK FILE: kernels/spk/sp_landing_site_20191031.bsp

		The input definitions file is appended to this
		file as a comment block.


		Body-name mapping follows:

		\begindata

		NAIF_BODY_NAME += 'SP_LANDING_SITE'
		NAIF_BODY_CODE += -173

		\begintext


		Reference frame specifications follow:


		Topocentric frame SP_TOPO

		The Z axis of this frame points toward the zenith.
		The X axis of this frame points North.

		Topocentric frame SP_TOPO is centered at the
		site SP_LANDING_SITE, which has Cartesian coordinates

		X (km): 0.2933715517398E+04
		Y (km): -0.1340064276528E+04
		Z (km): 0.1047961997344E+04

		and planetodetic coordinates

		Longitude (deg): -24.5500000000000
		Latitude (deg): 18.2000000000000
		Altitude (km): -0.3000000000000E+01

		These planetodetic coordinates are expressed relative to
		a reference spheroid having the dimensions

		Equatorial radius (km): 3.3961900000000E+03
		Polar radius (km): 3.3762000000000E+03

		All of the above coordinates are relative to the frame IAU_MARS.


		\begindata

		FRAME_SP_TOPO = -173902
		FRAME_-173902_NAME = 'SP_TOPO'
		FRAME_-173902_CLASS = 4
		FRAME_-173902_CLASS_ID = -173902
		FRAME_-173902_CENTER = -173

		OBJECT_-173_FRAME = 'SP_TOPO'

		TKFRAME_-173902_RELATIVE = 'IAU_MARS'
		TKFRAME_-173902_SPEC = 'ANGLES'
		TKFRAME_-173902_UNITS = 'DEGREES'
		TKFRAME_-173902_AXES = ( 3, 2, 3 )
		TKFRAME_-173902_ANGLES = ( -335.4500000000000,
		-71.8000000000000,
		180.0000000000000 )

		\begintext


		Definitions file landing_site/em2020_landing_site.def
		--------------------------------------------------------------------------------

		Oxia Planum Site, Mars, Solar System
		Using data from:
		https://exploration.esa.int/web/mars/-/54724-oxia-planum
		https://en.wikipedia.org/wiki/Oxia_Planum

		Created by Stanislav Bober, IKI

		begindata

		SITES = ('SP_LANDING_SITE')
		SP_LANDING_SITE_TOPO_FRAME = 'SP_TOPO'
		SP_LANDING_SITE_TOPO_ID = -173902
		SP_LANDING_SITE_FRAME = 'IAU_MARS'
		SP_LANDING_SITE_IDCODE = -173
		SP_LANDING_SITE_LATLON = ( 18.20, 335.45, -3.0 )
		SP_LANDING_SITE_CENTER = 499
		SP_LANDING_SITE_BOUNDS = ( @2019-10-01T00:00:00.0, @2040-01-01T00:00:00.0 )
		SP_LANDING_SITE_UP = 'Z'
		SP_LANDING_SITE_NORTH = 'X'

		begintext

		[End of definitions file]

kernels/spk/emrsp_sp_struct_v000.bsp

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