Developments for v030 release. (de9ba8c0) · Commits · Alessandro Frigeri / MaMISSspice

kernels/fk/emrsp_rm_v01.tf→kernels/fk/emrsp_rm_v02.tf

+1041 −116

File changed and moved.

Preview size limit exceeded, changes collapsed.

kernels/ik/emrsp_rm_clupi_v00.ti

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+283 −0

Original line number	Diff line number	Diff line
		KPL/IK

		CLUPI Instrument kernel
		===============================================================================

		This instrument kernel (I-kernel) contains Rover Module Close-Up Imager
		(CLUPI) optics, detector, and field-of-view parameters.


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

		Version 0.0 -- February 14, 2019 -- Marc Costa Sitja, ESA/ESAC

		Preliminary Version.


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

		1. RM Frames Definition Kernel (FK), latest version

		2. ''Kernel Pool Required Reading''

		3. ``ExoMars/CLUPI Science Requirements Specification Document'',
		EXM.CL.RSD.SPX.1501, Space Exploration Institute,
		Issue 1, Rev. 0, July 2015


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

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

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

		or ROCC at Altec Space:

		Federico Salvioli
		+1 (818) 354-8136
		federico.salvioli@altecspace.it


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

		Applications that need SPICE I-kernel data must ``load'' the I-kernel file,
		normally during program initialization. The SPICE routine FURNSH loads a
		kernel file into the pool as shown below.

		CALL FURNSH ( 'frame_kernel_name' ) -- FORTRAN
		furnsh_c ( "frame_kernel_name" ); -- C
		cspice_furnsh, frame_kernel_name -- IDL
		cspice_furnsh( 'frame_kernel_name' ) -- MATLAB
		spiceypy.furnsh( 'frame_kernel_name' ) -- PYTHON

		Loading the kernel using the SPICELIB routine FURNSH causes the data
		items and their associated values present in the kernel to become
		associated with a data structure called the ``kernel pool''.

		Once the file has been loaded, the SPICE routine GETFOV (getfov_c in
		C, cspice_getfov in IDL and MATLAB) can be used to retrieve FOV
		parameters for a given instrument or structure.

		The application program may obtain the value(s) for any other IK data
		item using the SPICELIB routines GDPOOL, GIPOOL, GCPOOL (gdpool_c, gipool_c,
		gcpool_c in C, cspice_gdpool, cspice_gipool, cspice_gcpool in IDL and
		MATLAB). See [1] for details.

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


		Naming Conventions and Conventions for Specifying Data
		-------------------------------------------------------------------------------

		Data items are specified using ``keyword=value'' assignments [1].
		All keywords referencing values in this I-kernel start with the
		characters `INS' followed by the NAIF RM instrument ID code.
		The Star Tracker instrument IDs are defined in [1] as follows:

		Instrument name ID
		-------------------- -------
		RM_CLUPI_FOV1 -174601
		RM_CLUPI_FOV2 -174602
		RM_CLUPI_FOV3 -174603


		The remainder of the keyword is an underscore character followed by
		the unique name of the data item. For example, the boresight of
		the CLUPI FOV1 (RM_CLUPI_FOV1) is specified by

		INS-174601_BORESIGHT

		The upper bound on the length of all keywords is 32 characters.

		If a keyword is included in more than one file, or if the same
		keyword appears more than once within a single file, the last
		assignment supersedes any earlier assignments.


		Overview
		-------------------------------------------------------------------------------

		TBD.


		Apparent FOV Layout
		---------------------------------------------------------------------------

		This section provides a diagram illustrating the LOCCAM_L and LOCCAM_R
		detectors apparent FOVs layout in the corresponding reference frames.

		The characteristics of the imaged surface with CLUPI using the FOV1 are
		presented in the following table with various working distances:

		Working Viewed area Resolution Depth of
		Distance (2652 x 1768 pixels) per pixel field
		-----------------------------------------------------------
		10 cm 1.9 cm x 1.3 cm 7 pm/pixel 0.12 cm
		50 cm 10.4 cm x 7.0 cm 39 pm/pixel 1.6 cm
		100 cm 20.9 cm x 13.9 cm 79 pm/pixel 5.9 cm
		111 cm 23.2 cm x 15.4 cm 87 μm/pixel 7.1 cm

		This results into different half angle values, the following are used:
		5.96 degrees and 3.97 degrees.

		CLUPI FOV1 represents the full slit of CLUPI:

		^ +Yfov1
		\| (+Xbracket)
		\|
		--- +-------------\|-------------+
		^ \| \| \|
		\| 7.9 deg \| \| \|
		\| \| \| \|
		\| \| \| \|
		\| 1768 \| o----------------> +Xfov1
		\| lines \| +Zbracket \| (+Ybracket)
		\| \| \|
		\| \| \|
		V \| \|
		--- Pixel (0,0)-------------------------+
		2652 pixels/line

		\| 11.8 deg \| Boresight (+Z axis)
		\|<------------------------->\| is out of the page
		\| \|


		CLUPI's FOV2 is defined as a crop of FOV2, which results into half angle
		values of 5.96 degrees and 2.52 degrees:

		^ +Yfov2
		\|
		\|
		--- +-------------\|-------------+
		^ \| \| \|
		\| 5.04 deg \| \| \|
		\| \| o----------------> +Xfov2
		\| \| \|
		\| 1128 \| o +Zopt \|
		V lines +---------------------------+
		--- Pixel (0,0)\| \|

		\| \|
		+- - - - - - - - - - - - - -+
		2652 pixels/line

		\| 11.8 deg \| Boresight (+Z axis)
		\|<------------------------->\| is out of the page
		\| \|

		CLUPI's FOV2 is defined as a crop of FOV3, which results into half angle
		values of 5.96 degrees and 1.43 degrees:

		+- - - - - - - - - - - - - -+
		\| ^ +Xfov3 \|
		\|
		\| \| \|
		\|
		640 \| o +Zdrilltip \|
		--- lines +------------\|--------------+
		^ \| \| \|
		\| 2.86 deg \| o----------------> +Yfov3
		V \| \|
		--- Pixel (0,0)------------------------+
		2652 pixels/line

		\| 11.8 deg \| Boresight (+Z axis)
		\|<------------------------->\| is out ofinto the page
		\| \|


		Please note that the FOV reference and cross angles are defined with half
		angle values.


		Mounting Alignment
		-------------------------------------------------------------------------------

		Refer to the latest version of the RM Frames Definition Kernel
		(FK) [1] for the CLUPI reference frames definitions and
		mounting alignment information.

		Please note that the boresights of FOV2 and FOV3 are implemented by
		using the center of the FOVs and therefore do not correspond to
		the +Z axis of their reference frames. The following Python code
		snippet illustrates how the boresight is computed for RM_CLUPI_FOV2:

		#!/usr/bin/env python3

		import math
		import spiceypy

		spiceypy.unorm([math.tan(math.radians(3.97-2.52)),0,1])

		>> (array([0.02530457, 0. , 0.99967979]), 1.0003203145403574)


		Optical Parameters
		---------------------------------------------------------------------------

		TBD.


		CCD Parameters
		---------------------------------------------------------------------------

		TBD.


		FOV Definitions
		-------------------------------------------------------------------------------

		This section contains definitions for the CLUPI FOVs. These definitions
		are provided in the format required by the SPICE (CSPICE) function GETFOV
		(getfov_c).

		Please note that the FOV reference and cross angles are defined with half
		angle values. The FoV definition corresponds to the NAIF Body Name:
		RM_CLUPI_FOV1, RM_CLUPI_FOV2 and RM_CLUPI_FOV3.


		\begindata

		INS-174601_NAME = 'RM_CLUPI_FOV1'
		INS-174601_BORESIGHT = ( 0.000 0.0000 1.000 )
		INS-174601_FOV_FRAME = 'RM_CLUPI_BRACKET'
		INS-174601_FOV_SHAPE = 'RECTANGLE'
		INS-174601_FOV_CLASS_SPEC = 'ANGLES'
		INS-174601_FOV_REF_VECTOR = ( 1.000 0.000 0.0000 )
		INS-174601_FOV_REF_ANGLE = ( 5.96 )
		INS-174601_FOV_CROSS_ANGLE = ( 3.97 )
		INS-174601_FOV_ANGLE_UNITS = 'DEGREES'

		INS-174602_NAME = 'RM_CLUPI_FOV2'
		INS-174602_BORESIGHT = ( 0.02530457, 0.0, 0.99967979 )
		INS-174602_FOV_FRAME = 'RM_CLUPI_OPT_AXIS'
		INS-174602_FOV_SHAPE = 'RECTANGLE'
		INS-174602_FOV_CLASS_SPEC = 'ANGLES'
		INS-174602_FOV_REF_VECTOR = ( 1.000 0.000 0.0000 )
		INS-174602_FOV_REF_ANGLE = ( 5.96 )
		INS-174602_FOV_CROSS_ANGLE = ( 2.52 )
		INS-174602_FOV_ANGLE_UNITS = 'DEGREES'

		INS-174603_NAME = 'RM_CLUPI_FOV3'
		INS-174603_BORESIGHT = ( -0.0348995, 0.0, 0.99939083 )
		INS-174603_FOV_FRAME = 'RM_CLUPI_DRILL_TIP'
		INS-174603_FOV_SHAPE = 'RECTANGLE'
		INS-174603_FOV_CLASS_SPEC = 'ANGLES'
		INS-174603_FOV_REF_VECTOR = ( 1.000 0.000 0.0000 )
		INS-174603_FOV_REF_ANGLE = ( 5.96 )
		INS-174603_FOV_CROSS_ANGLE = ( 1.43 )
		INS-174603_FOV_ANGLE_UNITS = 'DEGREES'

		\begintext


		End of IK file.
		No newline at end of file

kernels/ik/emrsp_rm_wisdom_v00.ti

0 → 100644

+203 −0

Original line number	Diff line number	Diff line
		KPL/IK

		WISDOM Instrument kernel
		===============================================================================

		This instrument kernel (I-kernel) contains Rover Module Water Ice
		Subsurface Deposit Observation on Mars (WISDOM) ground-penetrating
		radar, detector, and field-of-view parameters.


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

		Version 0.0 -- February 14, 2019 -- Marc Costa Sitja, ESA/ESAC

		Preliminary Version.


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

		1. RM Frames Definition Kernel (FK), latest version.

		2. ''Kernel Pool Required Reading''.

		3. ``The WISDOM Radar: Unveiling the Subsurface Beneath the ExoMars
		Rover and Identifying the Best Locations for Drilling'',
		V. Ciarletti, et al, ASTROBIOLOGY Volume 17, Number 6 and 7,
		2017, DOI: 10.1089/ast.2016.1543

		4. ``Water Ice and Subsurface Deposit Observations on Mars WISDOM
		instrument'', MICD, EXM-WI-DRW-LAT-0152 Issue 02, Rev. 01,
		A. Galic, March 2018


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

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

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

		or ROCC at Altec Space:

		Federico Salvioli
		+1 (818) 354-8136
		federico.salvioli@altecspace.it


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

		Applications that need SPICE I-kernel data must ``load'' the I-kernel file,
		normally during program initialization. The SPICE routine FURNSH loads a
		kernel file into the pool as shown below.

		CALL FURNSH ( 'frame_kernel_name' ) -- FORTRAN
		furnsh_c ( "frame_kernel_name" ); -- C
		cspice_furnsh, frame_kernel_name -- IDL
		cspice_furnsh( 'frame_kernel_name' ) -- MATLAB
		spiceypy.furnsh( 'frame_kernel_name' ) -- PYTHON

		Loading the kernel using the SPICELIB routine FURNSH causes the data
		items and their associated values present in the kernel to become
		associated with a data structure called the ``kernel pool''.

		Once the file has been loaded, the SPICE routine GETFOV (getfov_c in
		C, cspice_getfov in IDL and MATLAB) can be used to retrieve FOV
		parameters for a given instrument or structure.

		The application program may obtain the value(s) for any other IK data
		item using the SPICELIB routines GDPOOL, GIPOOL, GCPOOL (gdpool_c, gipool_c,
		gcpool_c in C, cspice_gdpool, cspice_gipool, cspice_gcpool in IDL and
		MATLAB). See [1] for details.

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


		Naming Conventions and Conventions for Specifying Data
		-------------------------------------------------------------------------------

		Data items are specified using ``keyword=value'' assignments [1].
		All keywords referencing values in this I-kernel start with the
		characters `INS' followed by the NAIF RM instrument ID code.
		The WISDOM instrument IDs are defined in [1] as follows:

		Instrument name ID
		-------------------- -------
		RM_WISDOM_ANT1 -174410
		RM_WISDOM_ANT2 -174420


		The remainder of the keyword is an underscore character followed by
		the unique name of the data item. For example, the boresight of
		WISDOM_ANT1 is specified by

		INS-174410_BORESIGHT

		The upper bound on the length of all keywords is 32 characters.

		If a keyword is included in more than one file, or if the same
		keyword appears more than once within a single file, the last
		assignment supersedes any earlier assignments.


		Overview
		-------------------------------------------------------------------------------

		WISDOM was designed to investigate the dielectric properties and structure
		of the near subsurface, down to a depth of 2–3 m, with a vertical
		resolution of a few centimeters.

		WISDOM employs two similar dedicated antennas to transmit and receive
		signals over a very large frequency bandwidth. They will be mounted next
		to each other at the rear of the rover, where the interaction with the
		rover body and wheels will be minimized. To enhance the scientific return
		of WISDOM data, polarimetric soundings are planned. As a consequence, each
		antenna has been designed to allow transmission or reception with two
		perpendicular polarizations.


		Apparent FOV Layout
		---------------------------------------------------------------------------

		This section provides a diagram illustrating the WISDOM detectors apparent
		FOVs layout in the corresponding reference frames.

		The WISDOM Antenna's apparent slit creates a rectangular field of view with
		half cone angle of 40 degrees. The following diagrams illustrate the above
		field of view in the instrument frame:

		Y X
		ins ins
		^ / ^ /
		\| / \| /
		\| / \| /
		\| / \| /
		X \| / o Y \| / o
		ins \|/ 40 ins \|/ 40
		x--------> o-------->
		\|\ Z \|\ Z
		\| \ ins \| \ ins
		\| \ \| \
		\| \ \| \
		\| \ \| \
		\| \ \| \
		Plane X = 0 Plane Y = 0


		Please note that the FOV reference and cross angles are defined with half
		angle values.


		Mounting Alignment
		-------------------------------------------------------------------------------

		Refer to the latest version of the RM Frames Definition Kernel
		(FK) [1] for the WISDOM reference frames definitions and
		mounting alignment information.


		FOV Definitions
		-------------------------------------------------------------------------------

		This section contains definitions for the WISDOM Antennas FOV. These
		definitions are provided in the format required by the SPICE (CSPICE)
		function GETFOV (getfov_c).

		Please note that the FOV reference and cross angles are defined with half
		angle values. The FoV definition corresponds to the NAIF Body Names:
		RM_WISDOM.


		\begindata

		INS-174410_NAME = 'RM_WISDOM_ANT1'
		INS-174410_BORESIGHT = ( 0.000 0.0000 1.000 )
		INS-174410_FOV_FRAME = 'RM_WISDOM_ANT1'
		INS-174410_FOV_SHAPE = 'RECTANGLE'
		INS-174410_FOV_CLASS_SPEC = 'ANGLES'
		INS-174410_FOV_REF_VECTOR = ( 1.000 0.000 0.0000 )
		INS-174410_FOV_REF_ANGLE = ( 40.0 )
		INS-174410_FOV_CROSS_ANGLE = ( 40.0 )
		INS-174410_FOV_ANGLE_UNITS = 'DEGREES'

		INS-174420_NAME = 'RM_WISDOM_ANT2'
		INS-174420_BORESIGHT = ( 0.000 0.0000 1.000 )
		INS-174420_FOV_FRAME = 'RM_WISDOM_ANT2'
		INS-174420_FOV_SHAPE = 'RECTANGLE'
		INS-174420_FOV_CLASS_SPEC = 'ANGLES'
		INS-174420_FOV_REF_VECTOR = ( 1.000 0.000 0.0000 )
		INS-174420_FOV_REF_ANGLE = ( 40.0 )
		INS-174420_FOV_CROSS_ANGLE = ( 40.0 )
		INS-174420_FOV_ANGLE_UNITS = 'DEGREES'

		\begintext


		End of IK file.
		No newline at end of file

kernels/mk/emrsp_preops.tm

+3 −1

Original line number	Diff line number	Diff line
		@@ -59,7 +59,7 @@ Implementation Notes

		KERNELS_TO_LOAD = (

		'$KERNELS/fk/emrsp_rm_v01.tf'
		'$KERNELS/fk/emrsp_rm_v02.tf'

		'$KERNELS/lsk/naif0012.tls'

		@@ -73,6 +73,8 @@ Implementation Notes
		'$KERNELS/ik/emrsp_rm_loccam_v00.ti'
		'$KERNELS/ik/emrsp_rm_isem_v00.ti'
		'$KERNELS/ik/emrsp_rm_adron-rm_v00.ti'
		'$KERNELS/ik/emrsp_rm_wisdom_v00.ti'
		'$KERNELS/ik/emrsp_rm_clupi_v00.ti'

		'$KERNELS/ck/emrsp_rm_rov_sot_20201101_20201102_f20190208_v01.bc'
		'$KERNELS/ck/emrsp_rm_ptr_sot_20201101_20201102_f20190208_v01.bc'

misc/release_notes/emrsp_skd_current.txt

+47 −9

Original line number	Diff line number	Diff line
		ExoMarsRSP SPICE Kernel Dataset Release Notes v0.2.0
		ExoMarsRSP SPICE Kernel Dataset Release Notes v0.3.0
		===========================================================================

		This release notes file describes the status of the mission's SPICE
		Kernel Dataset for the given version. This version (0.2.0) provides
		Kernel Dataset for the given version. This version (0.3.0) provides
		a tag in the ExoMarsRSP Git repository at the SOCCI Bitbucket:

		https://repos.cosmos.esa.int/socci/projects/SPICE/

		Created by Marc Costa Sitja, ESAC/ESA, February 8, 2018.
		Created by Marc Costa Sitja, ESAC/ESA, February 14, 2018.


		Contact Information
		@@ -30,24 +30,62 @@ Contact Information
		Notes
		--------------------------------------------------------

		February 9, 2019 v0.2.0
		February 14, 2019 v0.3.0

		Updated RM IDs all across the SKD from -999 to -174.
		Added reference frames, references, diagrams and IDs for the drill,
		MaMiss, WISDOM and CLUPI in the RM FK and generated corresponding
		draft IKs.

		Added LOCCAM, ISEM and ADRON-RM frame and ID definitions in RM Frames
		Kernel and generated corresponding draft IKs.
		Added test CK and SPK for the Drill, with this the simulation scenario
		becomes:

		2020 NOV 01 00:00:00 TDB - Lander Disposal
		2020 NOV 01 00:00:01 TDB - Drive 5 meters
		2020 NOV 01 00:01:42 TDB - Turn Right
		2020 NOV 01 00:02:43 TDB - Drive 5 meters
		2020 NOV 01 00:04:06 TDB - Turn Left
		2020 NOV 01 00:04:34 TDB - Drive 3.7 meters
		2020 NOV 01 00:05:46 TDB - Stop at ( -1.3e-02 -2.e-03 0 ) [km]

		2020 NOV 01 01:04:22 UTC - Start PTR Pan to 20 degrees
		2020 NOV 01 01:04:40 UTC - PTR Pan at 20 degrees
		2020 NOV 01 01:04:41 UTC - Start PTR Tilt to 10 degrees
		2020 NOV 01 01:04:42 UTC - PTR Tilt at 10 degrees

		2020 NOV 01 10:04:50 UTC - Start PTR Tilt to 0 degrees
		2020 NOV 01 10:10:04 UTC - PTR Tilt at 0 degrees
		2020 NOV 01 10:10:07 UTC - Start PTR Pan to 0 degrees
		2020 NOV 02 10:10:19 UTC - PTR Pan at 0 degrees

		- Drill to LIFTING PHASE [TRA=130, ROT=0]
		- Drill to VERTICAL ALIGN. [TRA=130, ROT=90]
		- Drill to LOWERING PHASE [TRA=-240, ROT=90]
		- Drill to LIFTING PHASE [TRA=130, ROT=90]
		- Drill to HOR. ALIGN. [TRA=135, ROT=180]
		- Drill to SAMPLE DISCH. [TRA=130, ROT=150]
		- Drill to STOWED POSITION [TRA=0, ROT=0]


		2020 NOV 02 00:00:00 TDB - End of test scenario


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

		[SPICEMNGT-52] - EMRSP SKD 0.2.0 DRAFT - LocCam, ISEM and ADRON
		[SPICEMNGT-57] - EMRSP SPICE kernels ICD 0.1
		[SPICEMNGT-53] - EMRSP SKD 0.3.0 DRAFT - MaMiss, WISDOM and CLUPI


		Appendix: Release History
		===========================================================================

		February 9, 2019 v0.2.0

		Updated RM IDs all across the SKD from -999 to -174.

		Added LOCCAM, ISEM and ADRON-RM frame and ID definitions in RM Frames
		Kernel and generated corresponding draft IKs.


		June 10, 2018 v0.1.0

		This is the first release of the ExoMarsRSP SPICE Kernel Dataset