Working changes for SP iteratins (eb843705) · Commits · Alessandro Frigeri / MaMISSspice

kernels/fk/ground_stations_bl_klz_20191031.tf→kernels/fk/earthstns_ru_20191031.tf

+1 −1

Original line number	Diff line number	Diff line
		KPL/FK

		FILE: kernels/fk/ground_stations_bl_klz_20191031.tf
		FILE: kernels/fk/earthstns_ru_20191031.tf

		This file was created by PINPOINT.

kernels/fk/emrsp_rm_v004.tf

+91 −72

Original line number	Diff line number	Diff line
		@@ -229,7 +229,9 @@ RM Frames

		RM Rover and Rover Structures frames:
		------------------------------------------------
		RM_ROVER RM_MLG CK -174000
		RM_ROVER RM_MLG, CK -174000
		RM_ROVER_CRUISE
		RM_ROVER_CRUISE CM_SPACECRAFT FIXED -174001
		RM_MAST_ZERO RM_ROVER FIXED -174010
		RM_MAST RM_MAST_ZERO CK -174011
		RM_PTR_ZERO RM_MAST FIXED -174012
		@@ -254,7 +256,6 @@ RM Frames
		RM_SA+Y_ZERO RM_ROVER FIXED -174001
		RM_SA+Y_PRI RM_SA+Y_ZERO CK -174002


		PanCam frames:
		------------------------------------------------
		RM_PANCAM_BASE RM_PB FIXED -174100
		@@ -360,24 +361,24 @@ RM Frames Hierarchy


		"J2000" INERTIAL
		+---------------------------------+
		\| \|
		\|<-pck \|<-pck
		\| \|
		v v
		"IAU_MARS" "IAU_EARTH"
		MARS BODY-FIXED (MCMF) EARTH BODY-FIXED
		+--------------------+ ----------------
		+----------------------------------------+
		\| \| \|
		\| \|<-pck \|<-pck
		\| \| \|
		\| v v
		v "IAU_MARS" "IAU_EARTH"
		"CM_SPACECRAFT" MARS BODY-FIXED (MCMF) EARTH BODY-FIXED
		--------------- ---------------------- ----------------
		\| \|
		\|<-fixed \|<-fixed
		\| \|
		\| \|
		v v
		"RM_LANDING_SITE" "RM_MLG"
		MARS TOPOGRAPHIC MARS TOPOGRAPHIC
		----------------- ----------------
		\| v
		v "RM_MLG" (**)
		RM_ROVER_CRUISE MARS TOPOGRAPHIC
		--------------- -----------------
		\| \|
		\|<-ck \|<-ck
		\|<-ck(*) \|<-ck
		\| \|
		"RM_SA+Y_SEC" \| \| "RM_SA-Y_SEC"
		------------- \| \| -------------
		@@ -452,65 +453,16 @@ RM Frames Hierarchy
		hierarchy of each payload; and to the RM science operations frame
		definitions kernel for further details on these frame definitions.

		(*) 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.

		RM Surface Frames
		------------------------------------------------------------------------

		This section defines a series of Rover Module Mars Surface Frames.


		Mars Local Geodetic Landing Site Frame:
		-------------------------------------------------

		The Rover landing site site Gaussian longitude and latitude upon which the
		definition is built are:

		Lon = 335.45 degrees East
		Lat = 18.20 degrees North

		This corresponds to one of the two final landing site locations.

		The coordinates specified above are given with respect to the 'IAU_MARS'
		instance defined by the rotation/shape model from the the PCK file
		'pck00010.tpc'.

		Topocentric frame RM_LANDING_SITE is centered at the site RM_LANDING_SITE
		which has planetodetic coordinates

		Longitude (deg): -24.5500000000000E+00
		Latitude (deg): 18.2000000000000E+00
		Altitude (km): -0.0000000000000E+00

		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

		These keywords implement the frame definition.

		\begindata

		FRAME_RM_LANDING_SITE = -174900
		FRAME_-174900_NAME = 'RM_LANDING_SITE'
		FRAME_-174900_CLASS = 4
		FRAME_-174900_CLASS_ID = -174900
		FRAME_-174900_CENTER = -174700

		OBJECT_-174900_FRAME = 'RM_LANDING_SITE'

		TKFRAME_-174900_RELATIVE = 'IAU_MARS'
		TKFRAME_-174900_SPEC = 'ANGLES'
		TKFRAME_-174900_UNITS = 'DEGREES'
		TKFRAME_-174900_AXES = ( 3, 2, 3 )
		TKFRAME_-174900_ANGLES = ( -335.4500000000000,
		-71.8000000000000,
		270.0000000000000 )

		\begintext
		(**) This frame is equivalent to the SP_TOPOT frame defined in the
		ExoMarsRSP Surface Platform Frames Kernel (emrsp_sp_vNNN.tf)


		Mars Local Geodetic Frames
		RM Mars Local Geodetic Frames
		-------------------------------------------------

		The Rover Module Mars Local Geodetic frame (Topocentric) -- RM_MLG -- is
		@@ -554,7 +506,7 @@ Mars Local Geodetic Frames
		FRAME_-174700_CLASS_ID = -174700
		FRAME_-174700_CENTER = -174700

		OBJECT_-174700_FRAME = 'RM_LANDING_SITE'
		OBJECT_-174700_FRAME = 'RM_MLG'

		TKFRAME_-174700_RELATIVE = 'IAU_MARS'
		TKFRAME_-174700_SPEC = 'ANGLES'
		@@ -723,6 +675,49 @@ RM Rover Frames
		\begintext


		RM Rover Cruise Frame
		----------------------------------------------------------------------------

		The RM Rover Cruise frame -- RM_LANDER_CRUISE -- is a special
		frame used in cruise in order to "attach" the RM rover to CM
		during the cruise phase, it is defined as follows (from [4]):

		- +Z axis is parallel to CM's +Z axis;

		- +X axis is parallel to CM's +X axis;

		- +Y axis completes the right-handed frame;

		- the origin of this frame is the RM/SP interface
		point on the separation plane.


		This frame is defined a fixed-offset frame.

		Since the SPICE frames subsystem calls for specifying the reverse
		transformation--going from the instrument or structure frame to the
		base frame--as compared to the description given above, the order of
		rotations assigned to the TKFRAME_*_AXES keyword is also reversed
		compared to the above text, and the signs associated with the
		rotation angles assigned to the TKFRAME_*_ANGLES keyword are the
		opposite from what is written in the above text.

		\begindata

		FRAME_RM_ROVER_CRUISE = -174001
		FRAME_-174001_NAME = 'RM_ROVER_CRUISE'
		FRAME_-174001_CLASS = 4
		FRAME_-174001_CLASS_ID = -174001
		FRAME_-174001_CENTER = -174
		TKFRAME_-174001_RELATIVE = 'CM_SPACECRAFT'
		TKFRAME_-174001_SPEC = 'ANGLES'
		TKFRAME_-174001_UNITS = 'DEGREES'
		TKFRAME_-174001_AXES = ( 1, 3, 1 )
		TKFRAME_-174001_ANGLES = ( 0.0, 0.0, 0.0 )

		\begintext


		RM Deployable Mast, Pan & Tilt Mechanism and Payload Bracket Frames
		----------------------------------------------------------------------------

		@@ -2811,6 +2806,30 @@ RM NAIF ID Codes -- Definitions
		NAIF_BODY_NAME += ( 'RM_MLG_002' )
		NAIF_BODY_CODE += ( -174702 )

		NAIF_BODY_NAME += ( 'RM_MLG_003' )
		NAIF_BODY_CODE += ( -174703 )

		NAIF_BODY_NAME += ( 'RM_MLG_004' )
		NAIF_BODY_CODE += ( -174704 )

		NAIF_BODY_NAME += ( 'RM_MLG_005' )
		NAIF_BODY_CODE += ( -174705 )

		NAIF_BODY_NAME += ( 'RM_MLG_006' )
		NAIF_BODY_CODE += ( -174706 )

		NAIF_BODY_NAME += ( 'RM_MLG_007' )
		NAIF_BODY_CODE += ( -174707 )

		NAIF_BODY_NAME += ( 'RM_MLG_008' )
		NAIF_BODY_CODE += ( -174708 )

		NAIF_BODY_NAME += ( 'RM_MLG_009' )
		NAIF_BODY_CODE += ( -174709 )

		NAIF_BODY_NAME += ( 'RM_MLG_010' )
		NAIF_BODY_CODE += ( -174710 )

		\begintext

kernels/fk/emrsp_sp_v00.tf

deleted100644 → 0

+0 −568

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kernels/fk/emrsp_sp_v000.tf

+2 −4

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		@@ -116,11 +116,9 @@ SP NAIF ID Codes -- Summary Section

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


		ExoMars Surface Platform Frames

kernels/fk/emrsp_sp_v001.tf

+344 −175

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