diff --git a/ale/drivers/mex_drivers.py b/ale/drivers/mex_drivers.py index d28cffd1e53c3d79e030cfa65d3ccf11c7be3949..179d7efa1fa293bf802bd9a69c56ff40979cb1ef 100644 --- a/ale/drivers/mex_drivers.py +++ b/ale/drivers/mex_drivers.py @@ -15,8 +15,8 @@ from ale.base.data_naif import NaifSpice from ale.base.label_pds3 import Pds3Label from ale.base.label_isis import IsisLabel from ale.base.type_sensor import LineScanner +from ale.base.type_sensor import Framer from ale.base.type_distortion import RadialDistortion -from ale.util import find_latest_metakernel FILTER_SPECIFIC_LOOKUP = { # This table contains the filter specific information from the ISIS iak kernel. The format is as follows: @@ -497,6 +497,21 @@ class MexHrscIsisLabelNaifSpiceDriver(LineScanner, IsisLabel, NaifSpice, RadialD raise Exception ("Instrument ID is wrong.") return self.label['IsisCube']['Archive']['DetectorId'] + + @property + def sensor_name(self): + """ + Returns the name of the instrument. Need to over-ride isis_label because + InstrumentName is not defined in the ISIS label for MEX HSRC cubes. + + Returns + ------- + : str + Name of the sensor + """ + return self.instrument_id + + @property def sensor_model_version(self): """ @@ -584,3 +599,135 @@ class MexHrscIsisLabelNaifSpiceDriver(LineScanner, IsisLabel, NaifSpice, RadialD Naif ID code used in calculating focal length """ return spice.bods2c(self.instrument_id) + + +class MexSrcPds3NaifSpiceDriver(Framer, Pds3Label, NaifSpice, RadialDistortion, Driver): + """ + Driver for a PDS3 Mars Express (Mex) High Resolution Stereo Camera (HRSC) - Super Resolution + Channel (SRC) image. + """ + + @property + def odtk(self): + """ + The coefficients for the distortion model. No distortion model, so pass in all zeroes. + + Returns + ------- + : list + Radial distortion coefficients. + """ + return [0.0, 0.0, 0.0] + + + @property + def ikid(self): + """ + Returns the Naif ID code for HRSC SRC. + + Returns + ------- + : int + Naif ID used to for indentifying the instrument in Spice kernels + """ + return spice.bods2c("MEX_HRSC_SRC") + + + @property + def instrument_id(self): + """ + Returns the short name of the instrument + + MEX HRSC has nine different filters each with their own name. + + Returns + ------- + : str + Short name of the instrument + """ + if(super().instrument_id != "HRSC"): + raise Exception ("Instrument ID is wrong.") + return self.label['DETECTOR_ID'] + + + @property + def spacecraft_name(self): + """ + Spacecraft name used in various SPICE calls to acquire + ephemeris data. MEX HRSC img PDS3 labels do not the have SPACECRAFT_NAME + keyword, so we override it here to use the label_pds3 property for + instrument_host_id + + Returns + ------- + : str + Spacecraft name + """ + return self.instrument_host_id + + + @property + def focal2pixel_lines(self): + """ + NOTE: These values are pulled from ISIS iak kernels. + + Returns + ------- + : list<double> + focal plane to detector lines + """ + return [0.0, 0.0, 111.111111111111] + + + @property + def focal2pixel_samples(self): + """ + NOTE: These values are pulled from ISIS iak kernels. + + Returns + ------- + : list<double> + focal plane to detector samples + """ + return [0.0, 111.111111111111, 0.0] + + + @property + def detector_center_line(self): + """ + Returns the center detector line. + + Returns + ------- + : float + Detector line of the principal point + """ + return 512.0 + + + @property + def detector_center_sample(self): + """ + Returns the center detector sample. + + This is + different from ISIS's center sample because ISIS uses + 0.5-based samples. + + Returns + ------- + : float + Detector sample of the principal point + """ + return 512.0 + + + @property + def sensor_model_version(self): + """ + Returns + ------- + : int + ISIS sensor model version + """ + return 1 diff --git a/tests/pytests/data/H0010_0023_SR2/ATNM_MEASURED_040101_050101_V03_0_sliced_-41001.xc b/tests/pytests/data/H0010_0023_SR2/ATNM_MEASURED_040101_050101_V03_0_sliced_-41001.xc new file mode 100644 index 0000000000000000000000000000000000000000..bfbeb81d1724a727332cab896dab3d911c5a60a4 --- /dev/null +++ b/tests/pytests/data/H0010_0023_SR2/ATNM_MEASURED_040101_050101_V03_0_sliced_-41001.xc @@ -0,0 +1,64 @@ +DAFETF NAIF DAF ENCODED TRANSFER FILE +'DAF/CK ' +'2' +'6' +'MEX CK; MEASURED; OBTAINED FROM TELEMETRY ' +BEGIN_ARRAY 1 43 +'MEX MEASURED ATTITUDE ' +'124591B6082^B' +'1245926CA7B^B' +'-A029' +'1' +'3' +'1' +43 +'1C03A61D1A1F56^0' +'3954C69BA9111^0' +'13A448099CEEAC^0' +'F7240734FA7588^0' +'-31103EE98F678^-2' +'-C34FB53FB4FF48^-3' +'166E1B16079174^-2' +'1C0B44C0011506^0' +'394DC6801635AE^0' +'13D16FBFDB96A2^0' +'F7212E0033FB88^0' +'-311A469EA0DD1C^-2' +'-C0CF4CA4DD0DB8^-3' +'16F36E10C67BBB^-2' +'1C1FBA7FE21B3A^0' +'393DB00036A74A^0' +'143D2F40347883^0' +'F719D9FFD4FBB8^0' +'-31F41D6FA5CA76^-2' +'-B7242AF349E57^-3' +'1874AD00FD45B9^-2' +'1C36C57FE29F83^0' +'392EAE7FF7E06^0' +'14AB06002EAAE2^0' +'F71199FFDFB878^0' +'-323107D041659A^-2' +'-BF76CB16BA03A^-3' +'17787AB7F90EA^-2' +'1C3FD09D95C745^0' +'3927D8C350B0BA^0' +'14DA844A3C102C^0' +'F70E2A5D9902F8^0' +'-320C56FC7BB3A6^-2' +'-C0D3BF88B07968^-3' +'177878A400885^-2' +'124591B6082^B' +'124591D105E^B' +'124592110BA^B' +'1245925105DFFF^B' +'1245926CA7B^B' +'124591B6082^B' +'1^1' +'5^1' +END_ARRAY 1 43 +TOTAL_ARRAYS 1 + ~NAIF/SPC BEGIN COMMENTS~ +This CK is for testing with the image: /scratch/mex2020/H0010_0023_SR2.IMG.cub + +This CK was generated using the following command: {} + ~NAIF/SPC END COMMENTS~ diff --git a/tests/pytests/data/H0010_0023_SR2/ATNM_MEASURED_040101_050101_V03_1_sliced_-41001.xc b/tests/pytests/data/H0010_0023_SR2/ATNM_MEASURED_040101_050101_V03_1_sliced_-41001.xc new file mode 100644 index 0000000000000000000000000000000000000000..e20bbeb48b49741d9a40e1204e38815a629ccb44 --- /dev/null +++ b/tests/pytests/data/H0010_0023_SR2/ATNM_MEASURED_040101_050101_V03_1_sliced_-41001.xc @@ -0,0 +1,56 @@ +DAFETF NAIF DAF ENCODED TRANSFER FILE +'DAF/CK ' +'2' +'6' +'MEX CK; MEASURED; OBTAINED FROM TELEMETRY ' +BEGIN_ARRAY 1 35 +'MEX MEASURED ATTITUDE ' +'1245C013751^B' +'1245C0C6CF9^B' +'-A029' +'1' +'3' +'1' +35 +'2CABB1E52EEBD4^0' +'27ED2E74B5BFE6^0' +'70ECD6CF174808^0' +'DDCC443116C7E8^0' +'-459A3710142DB4^-2' +'-11171370C0D785^-2' +'21D559731704B2^-2' +'2CC0AC0001353C^0' +'27CB570011D4B^0' +'7170AB0021CD8^0' +'DD8ACDFFCBD46^0' +'-4591C44DF3F0B^-2' +'-115A53A28A9396^-2' +'21F36333BCDF34^-2' +'2CD6667FD901A4^0' +'27A77F8025C5B^0' +'71F9AA00253114^0' +'DD467BFFF4A528^0' +'-4596991578D92^-2' +'-1137C2805CB3D1^-2' +'21C06538C9B0C8^-2' +'2CE8670CB4FEB8^0' +'2789B44F95AA88^0' +'726C837B7E3ABC^0' +'DD0CDDBC5EC448^0' +'-4595E8BC3626D4^-2' +'-111DE08DFEA872^-2' +'21EA18389517D8^-2' +'1245C013751^B' +'1245C051063FFF^B' +'1245C0910BFFFF^B' +'1245C0C6CF9^B' +'1245C013751^B' +'1^1' +'4^1' +END_ARRAY 1 35 +TOTAL_ARRAYS 1 + ~NAIF/SPC BEGIN COMMENTS~ +This CK is for testing with the image: /scratch/mex2020/H0010_0023_SR2.IMG.cub + +This CK was generated using the following command: {} + ~NAIF/SPC END COMMENTS~ diff --git a/tests/pytests/data/H0010_0023_SR2/H0010_0023_SR2.IMG_0.xsp b/tests/pytests/data/H0010_0023_SR2/H0010_0023_SR2.IMG_0.xsp new file mode 100644 index 0000000000000000000000000000000000000000..a75fa9c762b3bff62950906b441375a0f4ba1e83 --- /dev/null +++ b/tests/pytests/data/H0010_0023_SR2/H0010_0023_SR2.IMG_0.xsp @@ -0,0 +1,295 @@ +DAFETF NAIF DAF ENCODED TRANSFER FILE +'DAF/SPK ' +'2' +'6' +'SPKMERGE ' +BEGIN_ARRAY 1 94 +'../incoming/ORMM_FDLMMA_DA_031222180906_' +'79216F9CEA3EC^7' +'7921705389FD38^7' +'-29' +'1F3' +'1' +'12' +94 +'-7195C7F81FF948^3' +'-3129E9E6F5D112^3' +'-F6AB7E60BC1BD8^3' +'1A8C231126C3ED^1' +'-34B1028B316A86^1' +'191B7918720D7F^1' +'1A8C231126F46D^1' +'-34B1028B315568^1' +'191B79187276C8^1' +'3B3108C8085514^-2' +'195FD57EE9B3AE^-2' +'80791D099EDE9^-2' +'-70B4A595B8E788^3' +'-32E7826E5BE0DA^3' +'-F5D5EFCABBFFC^3' +'1AAB73C6856F7F^1' +'-34A34AFD356E48^1' +'195F9714C2C24E^1' +'1AAB73C684FF5A^1' +'-34A34AFD35A0FC^1' +'195F9714C1CD93^1' +'3B3E70048E356C^-2' +'1A81CEB547316F^-2' +'81265F913CFD1^-2' +'-6FD3734638A144^3' +'-34A2BB621D1D62^3' +'-F4FF0DCB0A0DC8^3' +'1ACAA8A56E6BED^1' +'-349509114A320A^1' +'19A3C4E1E24CC9^1' +'1ACAA8A56E363E^1' +'-349509114A4B5C^1' +'19A3C4E1E1D73E^1' +'3B4A05B988B34E^-2' +'1BA6AA322484F1^-2' +'81D18B141B5278^-2' +'-6EF23178CBB398^3' +'-365B96A2AFC9B^3' +'-F426DA2ED8CDA8^3' +'1AE9C10B46E598^1' +'-34863C6A5DB7A8^1' +'19E801714D2DCA^1' +'1AE9C10B470126^1' +'-34863C6A5DAA^1' +'19E801714D6A84^1' +'3B53C41022D5B^-2' +'1CCE61958A9B62^-2' +'827A90F698F258^-2' +'-6E10E09A0BE194^3' +'-3812160EC11714^3' +'-F34D56BD6CDA58^3' +'1B08BC55214A48^1' +'-3476E4AE610DC2^1' +'1A2C4BB25BD16C^1' +'1B08BC552109BF^1' +'-3476E4AE612E9C^1' +'1A2C4BB25B42A2^1' +'3B5BA54350C37E^-2' +'1DF8EE31DB9EAA^-2' +'83216299112548^-2' +'-6D2F8114072654^3' +'-39C63B8327C9E^3' +'-F272853823A09^3' +'1B2799DFC1138^1' +'-346701865334F6^1' +'1A70A29244ABB1^1' +'1B2799DFC105E2^1' +'-34670186533C26^1' +'1A70A292448D78^1' +'3B61A3A0B8EF98^-2' +'1F26490B73B156^-2' +'83C5F1595FA26^-2' +'-6C4E134E46AFBC^3' +'-3B7808DAD70D18^3' +'-F196675A7A2648^3' +'1B465907A47B3^1' +'-3456929E48EC0A^1' +'1AB504FC2B680D^1' +'1B465907A49A04^1' +'-3456929E48DB1E^1' +'1AB504FC2BACD1^1' +'3B65B98987A66^-2' +'20566AD8824DB6^-2' +'84682E9451FFB8^-2' +'79216E527CAC98^7' +'79216ED9DCD0D^7' +'79216F60A82B8^7' +'79216FE6E0619^7' +'7921706C87151^7' +'792170F19DE55^7' +'79217176266EE^7' +'0^0' +'6^1' +'7^1' +END_ARRAY 1 94 +BEGIN_ARRAY 2 39 +'DE-0721LE-0721 ' +'79216F9CEA3EC^7' +'7921705389FD38^7' +'A' +'0' +'1' +'2' +39 +'793F74^7' +'A8C^5' +'7EBCC071C50714^5' +'13220A303C141C^4' +'-14799005183154^2' +'-13F360DCC79A8^0' +'5C353DC3636C8^-2' +'-316E29B9CAFDF8^-2' +'5327C5307F597^-3' +'-215FA7F227B668^-4' +'-DF6D2052916C68^-5' +'3134D3F1A74FE8^-5' +'-53612FB65AE5D8^-6' +'-5BEB05F3F73F14^5' +'1BDB45DCE2B694^4' +'C57A5F9A01B73^1' +'-42219D6A91DAB8^-1' +'FCA4E8D295C198^-2' +'-F2E25EE199B19^-3' +'-2DFF2CE9A3FABE^-3' +'A7D15C34C284F8^-4' +'-12233BA08A9D54^-4' +'8746CD4E2BAD9^-6' +'345097C3AFF28E^-6' +'-2A56AB3337B8A8^5' +'B4F1375C26D^3' +'5B82D271AB39F^1' +'-2F30E80B12A91E^-1' +'8265FCEF1E9068^-2' +'-28434C7A61D854^-3' +'-212EDA55ADF738^-3' +'5D14981E1AFD6C^-4' +'-83D98BA816BCE8^-5' +'-96F41FB2540698^-7' +'24971A1D662FBC^-6' +'7896B4^7' +'1518^6' +'23^2' +'1^1' +END_ARRAY 2 39 +BEGIN_ARRAY 3 39 +'DE-0721LE-0721 ' +'79216F9CEA3EC^7' +'7921705389FD38^7' +'4' +'0' +'1' +'2' +39 +'79E834^7' +'1518^6' +'666FE1693BF634^7' +'-1AB83EBC4FECB8^7' +'-93A2417763E99^5' +'772DFCAD7A16BC^4' +'-D392AE4C740F8^1' +'-B7A9887AA6712^1' +'461C23D7FE83B4^0' +'-36E46F28B8D6D^-2' +'-8E1D58F8409AE^-3' +'41BF563ED07DD8^-4' +'-1B095DFC987F15^-5' +'AA4BC4A6CBFFD^7' +'101F848AB353A9^7' +'-F67EE7152398D8^5' +'-228B2432A8B452^4' +'25919A5D37108A^3' +'-65DEC5F1F7B928^1' +'-1D38F6BAF1E5AD^0' +'1AEDECB6F04B2^-1' +'-70983091673068^-3' +'-238E8D25CDEC1^-4' +'10D58C0AE72A08^-5' +'4B5AB3C9B72EE4^7' +'81DE589BBBB448^6' +'-6D125649389334^5' +'-13109249D7E549^4' +'11410E53AC7BA3^3' +'-29C21F42485A8C^1' +'-F4B3EA5F6D02C8^-1' +'C6FD2A37E31C2^-2' +'-306CE4A7BAAE8^-3' +'-128ABCD2CB183B^-4' +'95482C366D2968^-6' +'7896B4^7' +'2A3^6' +'23^2' +'1^1' +END_ARRAY 3 39 +BEGIN_ARRAY 4 54 +'MAR097 ' +'79216F9CEA3EC^7' +'7921705389FD38^7' +'1F3' +'4' +'1' +'3' +54 +'792273^7' +'2A3^4' +'178B64A5197B1C^-3' +'-18F18951480DB7^-3' +'-7CB1F642D78F74^-3' +'1320992C9300E6^-3' +'12F8EFC3178006^-3' +'-1514D66ED776DA^-4' +'-E60AA9DF01B6C^-5' +'-1F7FACC014CFC^-6' +'-216552252DE122^-3' +'9562194694CFF^-3' +'-41253CB25D98C4^-3' +'-34C70DC41CF9F4^-3' +'A18E4B4F6BF9D8^-4' +'458FECFD354D6^-4' +'-60D091F62BDB98^-5' +'-2116583F98573^-5' +'-1F4294509F0F52^-3' +'59DF031A4DEBE^-3' +'21465E71E91D0E^-3' +'-259EC855136D88^-3' +'-4F268D88E2BD5C^-4' +'2F63A9153FF1A2^-4' +'494025088DDC98^-5' +'-101A7AEB5429A^-5' +'9C89D85348FA38^-7' +'-87B1703A0F4AC^-6' +'267CC73A6929AE^-6' +'35795C35F61BEC^-6' +'-509B40C4CE3BE^-7' +'-416F1F40921F8^-7' +'-A73F206DA8873^-9' +'0^0' +'481D2589B4252^-7' +'-45E9D7C9E0509^-6' +'-684BB25E04E214^-6' +'1CEA24B7A066A3^-6' +'FCD74EC31AD2A8^-7' +'-1B89D55289A173^-7' +'-AFAE64AF57E67^-8' +'0^0' +'-344FE43059164^-7' +'24C5AC169AA308^-6' +'-4AB53B2DE82F34^-6' +'-DB502499798F8^-7' +'AE62649BB7DD08^-7' +'14D5F180B9FCC1^-7' +'-5580D7BFC125D4^-8' +'0^0' +'791FD^7' +'546^4' +'32^2' +'1^1' +END_ARRAY 4 54 +TOTAL_ARRAYS 4 + ~NAIF/SPC BEGIN COMMENTS~ +; /scratch/mex2020/H0010_0023_SR2.IMG_0.bsp LOG FILE + +; Created 2020-04-09/15:45:43.00. +; +; BEGIN SPKMERGE COMMANDS + +LEAPSECONDS_KERNEL = /usgs/cpkgs/isis3/data/base/kernels/lsk/naif0012.tls + +SPK_KERNEL = /scratch/mex2020/H0010_0023_SR2.IMG_0.bsp +SOURCE_SPK_KERNEL = /usgs/cpkgs/isis3/data/mex/kernels/spk/ORMM__031222180906_00052.BSP + INCLUDE_COMMENTS = NO + BODIES = -41 + BEGIN_TIME = 2004 JAN 10 13:49:45.623 + END_TIME = 2004 JAN 10 13:49:57.037 + SOURCE_SPK_KERNEL = /usgs/cpkgs/isis3/data/base/kernels/spk/mar097.bsp + INCLUDE_COMMENTS = NO + BODIES = 4, 10, 499 + BEGIN_TIME = 2004 JAN 10 13:49:45.623 + END_TIME = 2004 JAN 10 13:49:57.037 + +; END SPKMERGE COMMANDS + ~NAIF/SPC END COMMENTS~ diff --git a/tests/pytests/data/H0010_0023_SR2/H0010_0023_SR2.IMG_1.xsp b/tests/pytests/data/H0010_0023_SR2/H0010_0023_SR2.IMG_1.xsp new file mode 100644 index 0000000000000000000000000000000000000000..8301164ee1a7f9717eb1183a946ac541671ed7be --- /dev/null +++ b/tests/pytests/data/H0010_0023_SR2/H0010_0023_SR2.IMG_1.xsp @@ -0,0 +1,295 @@ +DAFETF NAIF DAF ENCODED TRANSFER FILE +'DAF/SPK ' +'2' +'6' +'SPKMERGE ' +BEGIN_ARRAY 1 94 +'../incoming/ORMM_FDLMMA_DA_031222180906_' +'79219DFA56CA4C^7' +'79219EADAEDAAC^7' +'-29' +'1F3' +'1' +'12' +94 +'-1576F1F90CC76E^3' +'-B9066D8837E068^3' +'-87B5BF78605E5^3' +'23480F4D2C405A^1' +'-23CA027DC8A61^1' +'32BCF935A624D2^1' +'23480F4D2C4EE4^1' +'-23CA027DC8290E^1' +'32BCF935A6808E^1' +'1358504AB1943^-2' +'A60713301120F^-2' +'79FE3EDB8360F8^-2' +'-14930D1EAFCEA4^3' +'-B9ECA7CD78B578^3' +'-866D88F405D96^3' +'234FB5B0035BCC^1' +'-2386CC7E72078A^1' +'32EE0123EF1E72^1' +'234FB5B0034526^1' +'-2386CC7E72D48E^1' +'32EE0123EE8A52^1' +'1291A87F601F8E^-2' +'A714AC1947EBE^-2' +'7902F746F78B18^-2' +'-13AF2143C5B5E7^3' +'-BAD105787A228^3' +'-85245300EAB1F8^3' +'23570A61F867AA^1' +'-234336D5D7F1B^1' +'331E9A0751E57^1' +'23570A61F868BC^1' +'-234336D5D7E7BC^1' +'331E9A0751EC8C^1' +'11CA09D16A81BB^-2' +'A81DF6A9FF037^-2' +'78039D18415FF4^-2' +'-12CB2E4A96375D^3' +'-BBB386FD370FA^3' +'-83DA1DA035701^3' +'235E0D309B42AC^1' +'-22FF42BF7710DA^1' +'334EC2DCB942BC^1' +'235E0D309B41AE^1' +'-22FF42BF771AD8^1' +'334EC2DCB93BA^1' +'11017F54E948CD^-2' +'A922E1D1D4EE08^-2' +'77003D1B2E274C^-2' +'-11E734150D651^3' +'-BC942CCB27BA08^3' +'-828EE8D01398F^3' +'2364BDEBC0A46E^1' +'-22BAF179E06802^1' +'337E7AA3DCF1DC^1' +'2364BDEBC09612^1' +'-22BAF179E0FEE^1' +'337E7AA3DC8942^1' +'1038143763B74F^-2' +'AA235C9BC29FE8^-2' +'75F8E4627B7914^-2' +'-11033284C060B4^3' +'-BD72F74D3E43F8^3' +'-8142B48BC18EF8^3' +'236B1C6586D0C^1' +'-22764446C04974^1' +'33ADC05F4AC49^1' +'236B1C6586DE16^1' +'-22764446BFB554^1' +'33ADC05F4B29AE^1' +'F6DD3C5901736^-3' +'AB1F5631D813E8^-2' +'74EDA0570FBE74^-2' +'-101F297AF1FD63^3' +'-BE4FE6E9E3D44^3' +'-7FF580CB927798^3' +'237128725D1FDE^1' +'-22313C6ADD0AE6^1' +'33DC931479C6C6^1' +'237128725D170E^1' +'-22313C6ADD73C^1' +'33DC931479803E^1' +'EA2C96F6FA7CD^-3' +'AC16BDE6FAA81^-2' +'73DE7EC44DED^-2' +'79219D18FAA178^7' +'79219D8048ADD^7' +'79219DE783FE7^7' +'79219E4EAD9758^7' +'79219EB5C67C38^7' +'79219F1CCFB068^7' +'79219F83CA36D^7' +'0^0' +'6^1' +'7^1' +END_ARRAY 1 94 +BEGIN_ARRAY 2 39 +'DE-0721LE-0721 ' +'79219DFA56CA4C^7' +'79219EADAEDAAC^7' +'A' +'0' +'1' +'2' +39 +'793F74^7' +'A8C^5' +'7EBCC071C50714^5' +'13220A303C141C^4' +'-14799005183154^2' +'-13F360DCC79A8^0' +'5C353DC3636C8^-2' +'-316E29B9CAFDF8^-2' +'5327C5307F597^-3' +'-215FA7F227B668^-4' +'-DF6D2052916C68^-5' +'3134D3F1A74FE8^-5' +'-53612FB65AE5D8^-6' +'-5BEB05F3F73F14^5' +'1BDB45DCE2B694^4' +'C57A5F9A01B73^1' +'-42219D6A91DAB8^-1' +'FCA4E8D295C198^-2' +'-F2E25EE199B19^-3' +'-2DFF2CE9A3FABE^-3' +'A7D15C34C284F8^-4' +'-12233BA08A9D54^-4' +'8746CD4E2BAD9^-6' +'345097C3AFF28E^-6' +'-2A56AB3337B8A8^5' +'B4F1375C26D^3' +'5B82D271AB39F^1' +'-2F30E80B12A91E^-1' +'8265FCEF1E9068^-2' +'-28434C7A61D854^-3' +'-212EDA55ADF738^-3' +'5D14981E1AFD6C^-4' +'-83D98BA816BCE8^-5' +'-96F41FB2540698^-7' +'24971A1D662FBC^-6' +'7896B4^7' +'1518^6' +'23^2' +'1^1' +END_ARRAY 2 39 +BEGIN_ARRAY 3 39 +'DE-0721LE-0721 ' +'79219DFA56CA4C^7' +'79219EADAEDAAC^7' +'4' +'0' +'1' +'2' +39 +'79E834^7' +'1518^6' +'666FE1693BF634^7' +'-1AB83EBC4FECB8^7' +'-93A2417763E99^5' +'772DFCAD7A16BC^4' +'-D392AE4C740F8^1' +'-B7A9887AA6712^1' +'461C23D7FE83B4^0' +'-36E46F28B8D6D^-2' +'-8E1D58F8409AE^-3' +'41BF563ED07DD8^-4' +'-1B095DFC987F15^-5' +'AA4BC4A6CBFFD^7' +'101F848AB353A9^7' +'-F67EE7152398D8^5' +'-228B2432A8B452^4' +'25919A5D37108A^3' +'-65DEC5F1F7B928^1' +'-1D38F6BAF1E5AD^0' +'1AEDECB6F04B2^-1' +'-70983091673068^-3' +'-238E8D25CDEC1^-4' +'10D58C0AE72A08^-5' +'4B5AB3C9B72EE4^7' +'81DE589BBBB448^6' +'-6D125649389334^5' +'-13109249D7E549^4' +'11410E53AC7BA3^3' +'-29C21F42485A8C^1' +'-F4B3EA5F6D02C8^-1' +'C6FD2A37E31C2^-2' +'-306CE4A7BAAE8^-3' +'-128ABCD2CB183B^-4' +'95482C366D2968^-6' +'7896B4^7' +'2A3^6' +'23^2' +'1^1' +END_ARRAY 3 39 +BEGIN_ARRAY 4 54 +'MAR097 ' +'79219DFA56CA4C^7' +'79219EADAEDAAC^7' +'1F3' +'4' +'1' +'3' +54 +'792273^7' +'2A3^4' +'178B64A5197B1C^-3' +'-18F18951480DB7^-3' +'-7CB1F642D78F74^-3' +'1320992C9300E6^-3' +'12F8EFC3178006^-3' +'-1514D66ED776DA^-4' +'-E60AA9DF01B6C^-5' +'-1F7FACC014CFC^-6' +'-216552252DE122^-3' +'9562194694CFF^-3' +'-41253CB25D98C4^-3' +'-34C70DC41CF9F4^-3' +'A18E4B4F6BF9D8^-4' +'458FECFD354D6^-4' +'-60D091F62BDB98^-5' +'-2116583F98573^-5' +'-1F4294509F0F52^-3' +'59DF031A4DEBE^-3' +'21465E71E91D0E^-3' +'-259EC855136D88^-3' +'-4F268D88E2BD5C^-4' +'2F63A9153FF1A2^-4' +'494025088DDC98^-5' +'-101A7AEB5429A^-5' +'9C89D85348FA38^-7' +'-87B1703A0F4AC^-6' +'267CC73A6929AE^-6' +'35795C35F61BEC^-6' +'-509B40C4CE3BE^-7' +'-416F1F40921F8^-7' +'-A73F206DA8873^-9' +'0^0' +'481D2589B4252^-7' +'-45E9D7C9E0509^-6' +'-684BB25E04E214^-6' +'1CEA24B7A066A3^-6' +'FCD74EC31AD2A8^-7' +'-1B89D55289A173^-7' +'-AFAE64AF57E67^-8' +'0^0' +'-344FE43059164^-7' +'24C5AC169AA308^-6' +'-4AB53B2DE82F34^-6' +'-DB502499798F8^-7' +'AE62649BB7DD08^-7' +'14D5F180B9FCC1^-7' +'-5580D7BFC125D4^-8' +'0^0' +'791FD^7' +'546^4' +'32^2' +'1^1' +END_ARRAY 4 54 +TOTAL_ARRAYS 4 + ~NAIF/SPC BEGIN COMMENTS~ +; /scratch/mex2020/H0010_0023_SR2.IMG_1.bsp LOG FILE + +; Created 2020-04-09/15:45:44.00. +; +; BEGIN SPKMERGE COMMANDS + +LEAPSECONDS_KERNEL = /usgs/cpkgs/isis3/data/base/kernels/lsk/naif0012.tls + +SPK_KERNEL = /scratch/mex2020/H0010_0023_SR2.IMG_1.bsp +SOURCE_SPK_KERNEL = /usgs/cpkgs/isis3/data/mex/kernels/spk/ORMM__031222180906_00052.BSP + INCLUDE_COMMENTS = NO + BODIES = -41 + BEGIN_TIME = 2004 JAN 10 14:02:07.462 + END_TIME = 2004 JAN 10 14:02:18.671 + SOURCE_SPK_KERNEL = /usgs/cpkgs/isis3/data/base/kernels/spk/mar097.bsp + INCLUDE_COMMENTS = NO + BODIES = 4, 10, 499 + BEGIN_TIME = 2004 JAN 10 14:02:07.462 + END_TIME = 2004 JAN 10 14:02:18.671 + +; END SPKMERGE COMMANDS + ~NAIF/SPC END COMMENTS~ diff --git a/tests/pytests/data/H0010_0023_SR2/H0010_0023_SR2_isis3.lbl b/tests/pytests/data/H0010_0023_SR2/H0010_0023_SR2_isis3.lbl new file mode 100644 index 0000000000000000000000000000000000000000..2c4f79deacfd0347b0931e61a41bab0377f993b0 --- /dev/null +++ b/tests/pytests/data/H0010_0023_SR2/H0010_0023_SR2_isis3.lbl @@ -0,0 +1,351 @@ +Object = IsisCube + Object = Core + StartByte = 65537 + Format = Tile + TileSamples = 1008 + TileLines = 1008 + + Group = Dimensions + Samples = 1008 + Lines = 1008 + Bands = 1 + End_Group + + Group = Pixels + Type = SignedWord + ByteOrder = Lsb + Base = 0.0 + Multiplier = 1.0 + End_Group + End_Object + + Group = Instrument + SpacecraftName = "MARS EXPRESS" + InstrumentId = SRC + StartTime = 2004-01-10T14:02:57.817 + StopTime = 2004-01-10T14:02:57.820 + SpacecraftClockStartCount = 1/0021823325.32303 + SpacecraftClockStopCount = 1/0021823574.56834 + MissionPhaseName = MC_Phase_0 + TargetName = Mars + ExposureDuration = 3.024 <ms> + InstrumentTemperature = 14.2424 <degC> + End_Group + + Group = Archive + DataSetId = MEX-M-HRSC-3-RDR-V3.0 + DetectorId = MEX_HRSC_SRC + EventType = MARS-REGIONAL-MAPPING-Vo-Im-Tc + OrbitNumber = 10 + ProductId = H0010_0023_SR2.IMG + End_Group + + Group = BandBin + Width = 250.0 <nm> + Center = 600.0 <nm> + End_Group + + Group = Kernels + NaifIkCode = -41220 + LeapSecond = $base/kernels/lsk/naif0012.tls + TargetAttitudeShape = $base/kernels/pck/pck00009.tpc + TargetPosition = (Table, $base/kernels/spk/de430.bsp, + $base/kernels/spk/mar097.bsp) + InstrumentPointing = (Table, + $mex/kernels/ck/ATNM_MEASURED_040101_050101_V- + 03.BC, $mex/kernels/fk/MEX_V14.TF) + Instrument = $mex/kernels/ik/MEX_HRSC_V03.TI + SpacecraftClock = $mex/kernels/sclk/MEX_200219_STEP.TSC + InstrumentPosition = (Table, + $mex/kernels/spk/ORMM__031222180906_00052.BSP) + InstrumentAddendum = $mex/kernels/iak/hrscsrcAddendum001.ti + ShapeModel = $base/dems/molaMarsPlanetaryRadius0005.cub + InstrumentPositionQuality = Reconstructed + InstrumentPointingQuality = Reconstructed + CameraVersion = 1 + Source = isis + End_Group +End_Object + +Object = Label + Bytes = 65536 +End_Object + +Object = Table + Name = InstrumentPointing + StartByte = 2104884 + Bytes = 64 + Records = 1 + ByteOrder = Lsb + TimeDependentFrames = (-41001, 1) + ConstantFrames = (-41220, -41200, -41000, -41001) + ConstantRotation = (6.63224917165212e-04, 0.99999870208735, + -0.0014683175140289, -0.999999553943, + 6.62236618915141e-04, -6.73466011123212e-04, + -6.72492763397173e-04, 0.0014687635185151, + 0.99999869524275) + CkTableStartTime = 127015396.64583 + CkTableEndTime = 127015396.64583 + CkTableOriginalSize = 1 + FrameTypeCode = 3 + Description = "Created by spiceinit" + Kernels = ($mex/kernels/ck/ATNM_MEASURED_040101_050101_V03.BC, + $mex/kernels/fk/MEX_V14.TF) + + Group = Field + Name = J2000Q0 + Type = Double + Size = 1 + End_Group + + Group = Field + Name = J2000Q1 + Type = Double + Size = 1 + End_Group + + Group = Field + Name = J2000Q2 + Type = Double + Size = 1 + End_Group + + Group = Field + Name = J2000Q3 + Type = Double + Size = 1 + End_Group + + Group = Field + Name = AV1 + Type = Double + Size = 1 + End_Group + + Group = Field + Name = AV2 + Type = Double + Size = 1 + End_Group + + Group = Field + Name = AV3 + Type = Double + Size = 1 + End_Group + + Group = Field + Name = ET + Type = Double + Size = 1 + End_Group +End_Object + +Object = Table + Name = InstrumentPosition + StartByte = 2104948 + Bytes = 56 + Records = 1 + ByteOrder = Lsb + CacheType = Linear + SpkTableStartTime = 127015396.64583 + SpkTableEndTime = 127015396.64583 + SpkTableOriginalSize = 1.0 + Description = "Created by spiceinit" + Kernels = $mex/kernels/spk/ORMM__031222180906_00052.BSP + + Group = Field + Name = J2000X + Type = Double + Size = 1 + End_Group + + Group = Field + Name = J2000Y + Type = Double + Size = 1 + End_Group + + Group = Field + Name = J2000Z + Type = Double + Size = 1 + End_Group + + Group = Field + Name = J2000XV + Type = Double + Size = 1 + End_Group + + Group = Field + Name = J2000YV + Type = Double + Size = 1 + End_Group + + Group = Field + Name = J2000ZV + Type = Double + Size = 1 + End_Group + + Group = Field + Name = ET + Type = Double + Size = 1 + End_Group +End_Object + +Object = Table + Name = BodyRotation + StartByte = 2105004 + Bytes = 64 + Records = 1 + ByteOrder = Lsb + TimeDependentFrames = (10014, 1) + CkTableStartTime = 127015396.64583 + CkTableEndTime = 127015396.64583 + CkTableOriginalSize = 1 + FrameTypeCode = 2 + PoleRa = (317.68143, -0.1061, 0.0) + PoleDec = (52.8865, -0.0609, 0.0) + PrimeMeridian = (176.63, 350.89198226, 0.0) + Description = "Created by spiceinit" + Kernels = ($base/kernels/spk/de430.bsp, + $base/kernels/spk/mar097.bsp, + $base/kernels/pck/pck00009.tpc) + SolarLongitude = 331.18846855952 + + Group = Field + Name = J2000Q0 + Type = Double + Size = 1 + End_Group + + Group = Field + Name = J2000Q1 + Type = Double + Size = 1 + End_Group + + Group = Field + Name = J2000Q2 + Type = Double + Size = 1 + End_Group + + Group = Field + Name = J2000Q3 + Type = Double + Size = 1 + End_Group + + Group = Field + Name = AV1 + Type = Double + Size = 1 + End_Group + + Group = Field + Name = AV2 + Type = Double + Size = 1 + End_Group + + Group = Field + Name = AV3 + Type = Double + Size = 1 + End_Group + + Group = Field + Name = ET + Type = Double + Size = 1 + End_Group +End_Object + +Object = Table + Name = SunPosition + StartByte = 2105068 + Bytes = 56 + Records = 1 + ByteOrder = Lsb + CacheType = Linear + SpkTableStartTime = 127015396.64583 + SpkTableEndTime = 127015396.64583 + SpkTableOriginalSize = 1.0 + Description = "Created by spiceinit" + Kernels = ($base/kernels/spk/de430.bsp, + $base/kernels/spk/mar097.bsp) + + Group = Field + Name = J2000X + Type = Double + Size = 1 + End_Group + + Group = Field + Name = J2000Y + Type = Double + Size = 1 + End_Group + + Group = Field + Name = J2000Z + Type = Double + Size = 1 + End_Group + + Group = Field + Name = J2000XV + Type = Double + Size = 1 + End_Group + + Group = Field + Name = J2000YV + Type = Double + Size = 1 + End_Group + + Group = Field + Name = J2000ZV + Type = Double + Size = 1 + End_Group + + Group = Field + Name = ET + Type = Double + Size = 1 + End_Group +End_Object + +Object = History + Name = IsisCube + StartByte = 2105124 + Bytes = 2243 +End_Object + +Object = OriginalLabel + Name = IsisCube + StartByte = 2098089 + Bytes = 6795 +End_Object + +Object = NaifKeywords + BODY_CODE = 499 + BODY499_RADII = (3396.19, 3396.19, 3376.2) + BODY_FRAME_CODE = 10014 + INS-41220_FOCAL_LENGTH = 988.6 + INS-41220_PIXEL_SIZE = 9.0 + INS-41220_TRANSX = (0.0, 0.0, 0.009) + INS-41220_TRANSY = (0.0, 0.009, 0.0) + INS-41220_ITRANSS = (0.0, 0.0, 111.11111111111) + INS-41220_ITRANSL = (0.0, 111.11111111111, 0.0) + INS-41220_CCD_CENTER = (512.5, 512.5) + CLOCK_ET_-41_1/0021823325.32303_COMPUTED = 4b55959267489e41 +End_Object +End diff --git a/tests/pytests/data/H0010_0023_SR2/H0010_0023_SR2_pds3.lbl b/tests/pytests/data/H0010_0023_SR2/H0010_0023_SR2_pds3.lbl new file mode 100644 index 0000000000000000000000000000000000000000..0c6e502648470afa6f79f31736d7e155db356642 --- /dev/null +++ b/tests/pytests/data/H0010_0023_SR2/H0010_0023_SR2_pds3.lbl @@ -0,0 +1,145 @@ +PDS_VERSION_ID = PDS3 + +/* FILE DATA ELEMENTS */ +RECORD_TYPE = FIXED_LENGTH +RECORD_BYTES = 2016 +FILE_RECORDS = 1016 +LABEL_RECORDS = 5 + +/* POINTERS TO DATA OBJECTS */ +^IMAGE_HEADER = 6 +^IMAGE = 9 + +/* IDENTIFICATION DATA ELEMENTS */ +FILE_NAME = H0010_0023_SR2.IMG +DATA_SET_ID = MEX-M-HRSC-3-RDR-V3.0 +DATA_SET_NAME = "MARS EXPRESS HRSC RADIOMETRIC RDR V3.0" +DETECTOR_ID = MEX_HRSC_SRC +EVENT_TYPE = MARS-REGIONAL-MAPPING-Vo-Im-Tc +INSTRUMENT_HOST_ID = MEX +INSTRUMENT_HOST_NAME = "MARS EXPRESS" +INSTRUMENT_ID = HRSC +INSTRUMENT_NAME = "HIGH RESOLUTION STEREO CAMERA" +MISSION_NAME = "MARS EXPRESS" +MISSION_PHASE_NAME = MC_Phase_0 +PROCESSING_LEVEL_ID = 2 +PRODUCT_CREATION_TIME = 2015-03-17T09:07:21.000Z +PRODUCT_ID = H0010_0023_SR2.IMG +RELEASE_ID = 0001 +REVISION_ID = 0000 + +/* TIME DATA ELEMENTS */ +SPACECRAFT_CLOCK_START_COUNT = 1/0021823325.32303 +SPACECRAFT_CLOCK_STOP_COUNT = 1/0021823574.56834 +IMAGE_TIME = 2004-01-10T14:02:57.819Z +START_TIME = 2004-01-10T14:02:57.817Z +STOP_TIME = 2004-01-10T14:02:57.820Z + +/* ORBITAL DATA ELEMENTS */ +ASCENDING_NODE_LONGITUDE = 228.73 +MAXIMUM_RESOLUTION = 2.529 <m/pixel> +FOOTPRINT_POINT_LATITUDE = (-6.20052, -6.19903, -6.19702, -6.1957, + -6.19442, -6.19297, -6.19016, -6.18836, + -6.1864, -6.18478, -6.18308, -6.18163, + -6.18013, -6.1777, -6.17651, -6.17536, + -6.17314, -6.17164, -6.16926, -6.1675, + -6.16613, -6.16464, -6.16306, -6.16169, + -6.16003, -6.15883, -6.15883, -6.15883, + -6.15883, -6.15883, -6.15883, -6.15883, + -6.15883, -6.15883, -6.15883, -6.15883, + -6.15883, -6.15883, -6.15883, -6.15883, + -6.15883, -6.15883, -6.15883, -6.15883, + -6.15883, -6.15883, -6.15883, -6.15883, + -6.15883, -6.15883, -6.15956, -6.16225, + -6.1634, -6.16545, -6.16776, -6.17016, + -6.17174, -6.17417, -6.17605, -6.17741, + -6.17929, -6.18095, -6.18249, -6.18492, + -6.18671, -6.18804, -6.18987, -6.19102, + -6.19252, -6.19486, -6.19631, -6.19845, + -6.20015, -6.20182, -6.20182, -6.20182, + -6.20182, -6.20182, -6.20182, -6.20181, + -6.20181, -6.20181, -6.20181, -6.20181, + -6.20181, -6.20181, -6.20181, -6.20181, + -6.20181, -6.20181, -6.20181, -6.20181, + -6.20181, -6.20181, -6.2018, -6.2018, -6.2018, + -6.2018, -6.2018, -6.20052) +FOOTPRINT_POINT_LONGITUDE = (90.457, 90.457, 90.457, 90.457, 90.457, + 90.457, 90.457, 90.457, 90.457, 90.457, 90.457, + 90.457, 90.457, 90.457, 90.457, 90.457, 90.457, + 90.457, 90.457, 90.4571, 90.4571, 90.4571, + 90.4571, 90.4571, 90.4571, 90.4571, 90.4589, + 90.4606, 90.4623, 90.464, 90.4657, 90.4674, + 90.4692, 90.4709, 90.4726, 90.4743, 90.476, + 90.4778, 90.4795, 90.4812, 90.4829, 90.4846, + 90.4864, 90.4881, 90.4898, 90.4915, 90.4932, + 90.495, 90.4967, 90.4984, 90.5004, 90.5004, + 90.5004, 90.5004, 90.5004, 90.5002, 90.5002, + 90.5002, 90.5002, 90.5002, 90.5002, 90.5002, + 90.5002, 90.5002, 90.5002, 90.5002, 90.5002, + 90.5002, 90.5002, 90.5002, 90.5002, 90.5002, + 90.5002, 90.5002, 90.4984, 90.4967, 90.495, + 90.4933, 90.4916, 90.4899, 90.4881, 90.4864, + 90.4847, 90.483, 90.4813, 90.4795, 90.4778, + 90.4761, 90.4744, 90.4727, 90.471, 90.4692, + 90.4675, 90.4658, 90.4641, 90.4624, 90.4606, + 90.4589, 90.4572, 90.457) +ORBIT_NUMBER = 10 +ORBITAL_ECCENTRICITY = 0.717 +ORBITAL_INCLINATION = 86.63 +ORBITAL_SEMIMAJOR_AXIS = 12956.1 +PERIAPSIS_ALTITUDE = 274.15 +PERIAPSIS_ARGUMENT_ANGLE = 357.88 +PERIAPSIS_TIME = 2004-01-10T14:03:56.000Z +SPACECRAFT_ORIENTATION = (0.0, 1.0, 0.0) +^MEX_ORIENTATION_DESC = MEX_ORIENTATION_DESC.TXT +SPACECRAFT_POINTING_MODE = NADIR +^MEX_POINTING_DESC = MEX_POINTING_DESC.TXT +RIGHT_ASCENSION = -1e+32 +DECLINATION = -1e+32 +OFFSET_ANGLE = -1e+32 +SPACECRAFT_SOLAR_DISTANCE = 2.22398e+08 +TARGET_NAME = MARS + +/* CAMERA DATA ELEMENTS */ +BUFFER_MODE_ID = DIRECT +EXPOSURE_DURATION = 3.024 <ms> +INST_CMPRS_NAME = "DISCRETE COSINE TRANSFORMATION (DCT)" +INST_CMPRS_RATIO = 17.5589 +INST_CMPRS_QUALITY = 0 +INST_CMPRS_QUANTZ_TBL_ID = 0 +INSTRUMENT_TEMPERATURE = 14.2424 <degC> +LINE_FIRST_PIXEL = 9 +MISSING_FRAMES = 0 +SAMPLE_FIRST_PIXEL = 13 +START_BIT = 0 + +/* RADIOMETRIC DATA ELEMENTS */ +BANDWIDTH = 250.0 <nm> +CENTER_FILTER_WAVELENGTH = 600.0 <nm> +RADIANCE_OFFSET = -9.99e+31 <W*m**-2*sr**-1> +RADIANCE_SCALING_FACTOR = -9.99e+31 <W*m**-2*sr**-1> +REFLECTANCE_SCALING_FACTOR = -9.99e+31 + +/* DATA OBJECT DEFINITIONS */ +Object = IMAGE + INTERCHANGE_FORMAT = BINARY + LINES = 1008 + LINE_SAMPLES = 1008 + SAMPLE_TYPE = MSB_INTEGER + SAMPLE_BITS = 16 + BANDS = 1 + BAND_STORAGE_TYPE = BAND_SEQUENTIAL + MAXIMUM = 4683 + MEAN = 3512.55 + MINIMUM = 2940 + STANDARD_DEVIATION = 98.1897 +End_Object + +/* IMAGE HEADER DATA ELEMENTS */ +Object = IMAGE_HEADER + HEADER_TYPE = VICAR2 + INTERCHANGE_FORMAT = ASCII + BYTES = 6048 + ^DESCRIPTION = VICAR2.TXT +End_Object +End diff --git a/tests/pytests/data/H0010_0023_SR2/MEX_200219_STEP.TSC b/tests/pytests/data/H0010_0023_SR2/MEX_200219_STEP.TSC new file mode 100644 index 0000000000000000000000000000000000000000..5ac388556147c224d6d8233b29de13b11b0b1042 --- /dev/null +++ b/tests/pytests/data/H0010_0023_SR2/MEX_200219_STEP.TSC @@ -0,0 +1,1309 @@ +KPL/SCLK + +Mars Express SCLK File +=========================================================================== + + This file is a SPICE spacecraft clock (SCLK) kernel containing + information required for Mars Express spacecraft on-board clock to UTC + conversion. + + +Production/History of this SCLK file +-------------------------------------------------------- + + This file was generated by the NAIF utility program MAKCLK + from the most recent Mars Express Time Correlation Packet (TCP) data + converted to SCLKvSCET format using TCP2SCET program. + + +Usage +-------------------------------------------------------- + + This file must be loaded into the users program by a call to the + FURNSH subroutine + + CALL FURNSH( 'this_file_name' ) + + in order to use the SPICELIB SCLK family of subroutines to convert + Mars Express spacecraft on-board clock to ET and vice versa. + + +SCLK Format +-------------------------------------------------------- + + The on-board clock, the conversion for which is provided by this SCLK + file, consists of two fields: + + SSSSSSSSSS:FFFFF + + where: + + SSSSSSSSSS -- count of on-board seconds + + FFFFF -- count of fractions of a second with one fraction + being 1/65536 of a second + + +References +-------------------------------------------------------- + + 1. SCLK Required Reading Document + + 2. TCP2SCET Users Guide Document + + 3. MAKCLK Users Guide Document + + +Inquiries +-------------------------------------------------------- + + If you have any questions regarding this file contact + + esa_spice@sciops.esa.int + + + or NAIF at JPL + + Charles H. Acton, Jr + (818) 354-3869 + Chuck.Acton@jpl.nasa.gov + + Boris V. Semenov + (818) 354-8136 + Boris.Semenov@jpl.nasa.gov + + +SCLKvSCET File Header +-------------------------------------------------------- + +MISSION_NAME = MARS EXPRESS; +SPACECRAFT_NAME = MARS EXPRESS; +DATA_SET_ID = SCLK_SCET; +FILE_NAME = /home/adcs/ADCS/tmp/2020-02-21T08_t2c/sclk_scet.dat; +PRODUCT_CREATION_TIME = 2020-02-21T08:10:02; +PRODUCT_VERSION_ID = N/A; +PRODUCER_ID = J. Vazquez/MIG/ESA; +APPLICABLE_START_TIME = 2003-153T19:47:41.542; +APPLICABLE_STOP_TIME = N/A; +MISSION_ID = 41; +SPACECRAFT_ID = 41; + + + +MAKCLK Setup file +-------------------------------------------------------- + + +SCLKSCET_FILE = /home/adcs/ADCS/tmp/2020-02-21T08_t2c/sclk_scet.dat +OLD_SCLK_KERNEL = /home/adcs/ADCS/tmp/2020-02-21T08_t2c/MEX_old.tsc +FILE_NAME = /home/adcs/ADCS/tmp/2020-02-21T08_t2c/MEX_new.tsc +NAIF_SPACECRAFT_ID = -41 +LEAPSECONDS_FILE = /home/adcs/ADCS/tmp/2020-02-21T08_t2c/NAIF0012.TLS +PARTITION_TOLERANCE = 6554 +LOG_FILE = /home/adcs/ADCS/tmp/2020-02-21T08_t2c/makclk.log + + + + +Kernel DATA +-------------------------------------------------------- + +\begindata + + +SCLK_KERNEL_ID = ( @2020-02-21/08:10:03.34 ) + +SCLK_DATA_TYPE_41 = ( 1 ) +SCLK01_TIME_SYSTEM_41 = ( 2 ) +SCLK01_N_FIELDS_41 = ( 2 ) +SCLK01_MODULI_41 = ( 4294967296 65536 ) +SCLK01_OFFSETS_41 = ( 0 0 ) +SCLK01_OUTPUT_DELIM_41 = ( 1 ) + +SCLK_PARTITION_START_41 = ( 1.7453909782200E+11 ) + 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b/tests/pytests/data/H0010_0023_SR2/MEX_HRSC_V03.TI @@ -0,0 +1,806 @@ +KPL/IK + +HRSC Instrument kernel +=========================================================================== + + This instrument kernel (I-kernel) contains Mars Express High + Resolution Stereo Camera (HRSC) main camera and Super Resolution + Channel (SRC) camera optics, detector, and field-of-view parameters. + + +Version and Date +--------------------------------------------------------------------------- + + Version 0.3 -- December 16, 2003 -- Boris Semenov, NAIF/JPL + + Updated focal length for SRC (988.6 mm instead of 975.0 mm) + + Corrected SRC size and central pixel location to be consistent + with the values accepted by HRSC team. + + Corrected SRC diagram showing its relationship to the frame + (it is rotated extra 90 degrees) and the cross- and along-track + directions. + + Version 0.2 -- May 19, 2003 -- Boris Semenov, NAIF/JPL + + Cleaned up terminology and grammar. + + Version 0.1 -- November 4, 2002 -- Boris Semenov, NAIF/JPL + + Corrected error in HRSC/SRC FOV definition (replaced full angle, + 0.54, degrees with half angle, 0.27 degrees, as GETFOV + specification requires.) Replaced INS######_CENTER keywords with + INS######_CCD_CENTER. Fixed acronym for the "RED" detector ("RD" was + replaced with "RE".) Replaced SRC physical CCD sizes with active + matrix sizes and added note clarifying the difference between them. + + Version 0.0 -- May 21, 2002 -- Boris Semenov, NAIF/JPL + + Initial release. + + +References +--------------------------------------------------------------------------- + + 1. ``Kernel Pool Required Reading'' + + 2. ``C-kernel Required Reading'' + + 3. ``HRSC ICD'', MSP01-97-0008, June 10, 1999 + + 4. Mars Express Frames Definition Kernel (FK), latest version. + + 5. ``HRSC Geometric Calibration Data'', set of 9 ASCII tables provided + by T. Roatsch/DLR, February 2002 + + 6. ``HRSC On Mars Express'', presentation by R. Pischel, et al at HRSC + Science Team Meeting, May 9-11, 2001 + + 7. N/A + + 8. Review comments from Thomas Roatsch, HRSC Team, May-Nov 2002. + + 9. E-mails from Thomas Roatsch, Sep 11 & Dec 15, 2003. + + +Implementation Notes +-------------------------------------------------------- + + Applications that need SPICE I-kernel data must ``load'' the I-kernel + file, normally during program initialization. + + 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''. The + application program may then obtain the value(s) for any IK data + item using the SPICELIB routines GDPOOL, GIPOOL, GCPOOL. Routine + GETFOV may be used if the file contains instrument field-of-view + (FOV) specification. See [1] for details. + + This file was created with, and can be updated with a text editor or + word processor. + + +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 MEX instrument ID code, + constructed using the spacecraft ID number (-41) followed by the NAIF + three digit ID number for HRSC main camera head (210), individual + HRSC line arrays (211-219) or SRC (220). These IDs are defined in + [4] as follows: + + Instrument name ID + -------------------- ------ + MEX_HRSC_HEAD -41210 + + MEX_HRSC_S2 -41211 + MEX_HRSC_RED -41212 + MEX_HRSC_P2 -41213 + MEX_HRSC_BLUE -41214 + MEX_HRSC_NADIR -41215 + MEX_HRSC_GREEN -41216 + MEX_HRSC_P1 -41217 + MEX_HRSC_IR -41218 + MEX_HRSC_S1 -41219 + + MEX_HRSC_SRC -41220 + + The remainder of the keyword is an underscore character followed by the + unique name of the data item. For example, the focal length of the + main HRSC camera is specified by + + INS-41210_FOCAL_LENGTH + + The upper bound on the length of all keywords is 32 characters. + + If a keyword is included in more then one file, or if the same + keyword appears more than once within a single file, the last + assignment supersedes any earlier assignments. + + +Overview +-------------------------------------------------------- + + From [TBD]: + + "HRCS description. To be copied from TBD source provided by + the HRSC team." + + +Mounting Alignment +-------------------------------------------------------- + + Refer to the latest version of the Mars Express Frames Definition + Kernel (FK) [4] for the HRSC reference frame definitions and + mounting alignment information. + + +Detector Layout +-------------------------------------------------------- + + This section provides a set of diagrams illustrating the HRSC line + detector and SRC camera detector layout in the corresponding camera + reference frames. + + +HRSC Camera + + The HRSC camera includes 9 line detectors, each 5184 pixels long: + + Name Acronym + -------------- ------- + STEREO-1 S1 + INFRARED IR + PHOTOMETRIC-1 P1 + GREEN GR + NADIR ND + BLUE BL + PHOTOMETRIC-2 P2 + RED RE + STEREO-2 S2 + + The view directions of these detectors in the MEX_HRSC_HEAD frame are + as follows: + + ^ s/c velocity + | along track + | + View Direction + of the central pixel + of the line S1 + .' + `-. .'.' Yhrsc + `-..'.'.' ^ + .'`-.' | + S1 .'.'.' `-. | + IR .'.' .'.'`-. | + Zhrsc P1 .' .'.'.' `-.| + <--- <--------------.'.-----------o + Nadir GR .'.'.' .' .' Focal + ND .'.' .'.' .' Point + BL .' .'.'.' v + .'.'.' Xhrsc + P2 .'.'.' + RE .'.' + S2 .' + + .' + v' + Cross-Track + + + As seen on the diagram the view direction of the central pixel of + the S1 (STEREO-1) line is in the (+Y,+Z) quadrant looking forward + with regard to the s/c motion, while the view direction of the + central pixel of the S2 line is in the (-Y,+Z) quadrant, looking + backwards. Other pixel view directions extend from the focal point + through the corresponding line point. + + This diagram shows view direction and HRSC camera head axes projected + onto the Mars surface: + + + ^ +Yhrsc -- s/c velocity/along track + | + | + Pixel 1 | + """"""""""""""|"""""""""""""" S1 + """"""""""""""|"""""""""""""" IR + """"""""""""""|"""""""""""""" P1 + | + | + """"""""""""""|"""""""""""""" GR + <------------------x """"""""""""" ND + +Xhrsc """""""""" +Zhrsc """"""""""" BL + cross-track boresight + (into page) + """"""""""""""""""""""""""""" P2 + """"""""""""""""""""""""""""" RE + """"""""""""""""""""""""""""" S2 + 5184 pixels + + +SRC Camera + + The SRC camera comprises a single square CCD detector. The view + directions of the corners and the axes of the MEX_HRSC_SRC frame + projected onto the Mars surface look like this: + + + ^ +Ysrc (cross-track) + | + Pixel | + (1,1)-------|---------+ + | | | + | | | + | | | + | | | + <-------------x | 1024 -------> + +Xsrc | +Zsrc | lines direction of + (along-track) | boresight | flight + | (into page) | (s/c +Y axis) + | | + +-------------------+ + 1024 pixels/line + + +Optical Parameters +-------------------------------------------------------- + + The following HRSC and SRC camera first order optical parameters are + included in the data section below, taken from [6]: + + ----------------------------------------------------------------- + parameter HRSC HRSC/SRC + ----------------------------------------------------------------- + Focal Length, mm 175.0 988.6 (4) + f/ratio f/5.6 f/9.2 + IFOV, rad/pixel 0.000040 0.0000092 + Field of view (rad) + Cross-track 0.200000 (1) 0.0094 (3) + Along-track 0.659734 (2) 0.0094 (3) + ----------------------------------------------------------------- + + (1) The HRSC main camera cross-track FOV is nominally 11.9 degrees. + + (2) The HRSC main camera combined along-track FOV size is assumed to be + equal to the angular separation between the first and last line + detectors. It is nominally equal to 2 * 18.9 degrees = 37.8 + degrees, where 18.9 degrees is the nominal stereo angle. + + (3) The SRC along-track FOV is assumed to have the same size as the + cross-track FOV -- nominally 0.54 degrees. + + (4) Actual calibrated FL from [9]; nominal value is 975.0 mm. + + Note that the value for HRSC cross-track FOV is not equal to the value + of IFOV multiplied by the the number of pixels in the line arrays. + This is due to the fact that [6] provided nominal reference values. + + This data section also provides nominal data for each of the HRSC main + camera line detectors. In these, the FOV_ANGULAR_SIZE keyword's along- + track FOV dimension is set to IFOV. + + Angular size values in the keywords are given radians, with the + cross-track size being the first value and the along-track size being + the second value in each pair. + + \begindata + + INS-41210_FOCAL_LENGTH = ( 175.0 ) + INS-41210_F/RATIO = ( 5.6 ) + INS-41210_FOV_ANGULAR_SIZE = ( 0.200, 0.659734 ) + INS-41210_IFOV = ( 0.000040 ) + + + INS-41211_FOCAL_LENGTH = ( 175.0 ) + INS-41211_F/RATIO = ( 5.6 ) + INS-41211_FOV_ANGULAR_SIZE = ( 0.200, 0.000040 ) + INS-41211_IFOV = ( 0.000040 ) + + INS-41212_FOCAL_LENGTH = ( 175.0 ) + INS-41212_F/RATIO = ( 5.6 ) + INS-41212_FOV_ANGULAR_SIZE = ( 0.200, 0.000040 ) + INS-41212_IFOV = ( 0.000040 ) + + INS-41213_FOCAL_LENGTH = ( 175.0 ) + INS-41213_F/RATIO = ( 5.6 ) + INS-41213_FOV_ANGULAR_SIZE = ( 0.200, 0.000040 ) + INS-41213_IFOV = ( 0.000040 ) + + INS-41214_FOCAL_LENGTH = ( 175.0 ) + INS-41214_F/RATIO = ( 5.6 ) + INS-41214_FOV_ANGULAR_SIZE = ( 0.200, 0.000040 ) + INS-41214_IFOV = ( 0.000040 ) + + INS-41215_FOCAL_LENGTH = ( 175.0 ) + INS-41215_F/RATIO = ( 5.6 ) + INS-41215_FOV_ANGULAR_SIZE = ( 0.200, 0.000040 ) + INS-41215_IFOV = ( 0.000040 ) + + INS-41216_FOCAL_LENGTH = ( 175.0 ) + INS-41216_F/RATIO = ( 5.6 ) + INS-41216_FOV_ANGULAR_SIZE = ( 0.200, 0.000040 ) + INS-41216_IFOV = ( 0.000040 ) + + INS-41217_FOCAL_LENGTH = ( 175.0 ) + INS-41217_F/RATIO = ( 5.6 ) + INS-41217_FOV_ANGULAR_SIZE = ( 0.200, 0.000040 ) + INS-41217_IFOV = ( 0.000040 ) + + INS-41218_FOCAL_LENGTH = ( 175.0 ) + INS-41218_F/RATIO = ( 5.6 ) + INS-41218_FOV_ANGULAR_SIZE = ( 0.200, 0.000040 ) + INS-41218_IFOV = ( 0.000040 ) + + INS-41219_FOCAL_LENGTH = ( 175.0 ) + INS-41219_F/RATIO = ( 5.6 ) + INS-41219_FOV_ANGULAR_SIZE = ( 0.200, 0.000040 ) + INS-41219_IFOV = ( 0.000040 ) + + + INS-41220_FOCAL_LENGTH = ( 988.6 ) + INS-41220_F/RATIO = ( 9.2 ) + INS-41220_FOV_ANGULAR_SIZE = ( 0.0094, 0.0094 ) + INS-41220_IFOV = ( 0.0000092 ) + + \begintext + + +Detector CCD Parameters +-------------------------------------------------------- + + The HRSC and SRC CCD detector geometry parameters are included in the + data section below, taken from [6]: + + ----------------------------------------------------------------- + parameter HRSC SRC + ----------------------------------------------------------------- + Pixel Size, microns + Cross-track 7.0 9.0 + Along-track 7.0 9.0 + Detector Array Size + Cross-track 5184 (2) 1024 (3) + Along-track 1 (1) 1024 (3) + Detector Array Center + Cross-track 2592.5 512.5 + Along-track 0.5 (1) 512.5 + ----------------------------------------------------------------- + + (1) This dimension is given for individual line detectors, each of which + is 1 pixel wide. No combined CCD dimensions are provided for the + HRSC main camera because they are not applicable. + + (2) The HRSC sensor lines have 5272 "physical" pixels but only 5184 of + them are active and used for image reconstruction and processing ([8]). + + (3) The SRC has 1032 pixels and 1024 lines; only 1024 pixels are + transferred to the data processing unit; only 1016 samples are + transmitted to Earth; and only 1008 lines and 1008 pixels are + available after calibration [8]. The 1024 by 1024 CCD and + (512.5,512.5) for its center were chosen by the HRSC team as + a reference for geometric calibration. + + The values are given in microns for PIXEL_SIZE keywords and in counts + for PIXEL_SAMPLES, PIXEL_LINES, and CENTER keywords. + + \begindata + + INS-41211_PIXEL_SIZE = ( 7, 7 ) + INS-41211_PIXEL_SAMPLES = ( 5184 ) + INS-41211_PIXEL_LINES = ( 1 ) + INS-41211_CCD_CENTER = ( 2592.5, 0.5 ) + + INS-41212_PIXEL_SIZE = ( 7, 7 ) + INS-41212_PIXEL_SAMPLES = ( 5184 ) + INS-41212_PIXEL_LINES = ( 1 ) + INS-41212_CCD_CENTER = ( 2592.5, 0.5 ) + + INS-41213_PIXEL_SIZE = ( 7, 7 ) + INS-41213_PIXEL_SAMPLES = ( 5184 ) + INS-41213_PIXEL_LINES = ( 1 ) + INS-41213_CCD_CENTER = ( 2592.5, 0.5 ) + + INS-41214_PIXEL_SIZE = ( 7, 7 ) + INS-41214_PIXEL_SAMPLES = ( 5184 ) + INS-41214_PIXEL_LINES = ( 1 ) + INS-41214_CCD_CENTER = ( 2592.5, 0.5 ) + + INS-41215_PIXEL_SIZE = ( 7, 7 ) + INS-41215_PIXEL_SAMPLES = ( 5184 ) + INS-41215_PIXEL_LINES = ( 1 ) + INS-41215_CCD_CENTER = ( 2592.5, 0.5 ) + + INS-41216_PIXEL_SIZE = ( 7, 7 ) + INS-41216_PIXEL_SAMPLES = ( 5184 ) + INS-41216_PIXEL_LINES = ( 1 ) + INS-41216_CCD_CENTER = ( 2592.5, 0.5 ) + + INS-41217_PIXEL_SIZE = ( 7, 7 ) + INS-41217_PIXEL_SAMPLES = ( 5184 ) + INS-41217_PIXEL_LINES = ( 1 ) + INS-41217_CCD_CENTER = ( 2592.5, 0.5 ) + + INS-41218_PIXEL_SIZE = ( 7, 7 ) + INS-41218_PIXEL_SAMPLES = ( 5184 ) + INS-41218_PIXEL_LINES = ( 1 ) + INS-41218_CCD_CENTER = ( 2592.5, 0.5 ) + + INS-41219_PIXEL_SIZE = ( 7, 7 ) + INS-41219_PIXEL_SAMPLES = ( 5184 ) + INS-41219_PIXEL_LINES = ( 1 ) + INS-41219_CCD_CENTER = ( 2592.5, 0.5 ) + + INS-41220_PIXEL_SIZE = ( 9, 9 ) + INS-41220_PIXEL_SAMPLES = ( 1024 ) + INS-41220_PIXEL_LINES = ( 1024 ) + INS-41220_CCD_CENTER = ( 512.5, 512.5 ) + + \begintext + + +Wavelength Ranges +--------------------------------------------------------------------------- + + This section contains assignments specifying HRSC and SRC detector + wavelength ranges. + + +HRSC Camera + + The following line detector wavelength band center/width data are + taken from [6]: + + ------------------------------------------- + Detector Band Center, Bandwidth, + # nanometers nanometers (1) + ------------------------------------------- + S1 675 180 + RED 750 40 + P2 675 180 + BLUE 440 90 + NADIR 675 180 + GREEN 530 90 + P1 675 180 + IR 970 90 + S1 675 180 + ------------------------------------------- + + (1) in [6] the bandwidth was specified as 1/2 of the value provided + in this table (i.e. +/- 90 for 180 bandwidth given above.) + + The set of assignments below specifies wavelength center and bandwidth + for each detector, with units the same as in the table above. + + \begindata + + INS-41211_FILTER_BANDCENTER = ( 675 ) + INS-41211_FILTER_BANDWIDTH = ( 180 ) + + INS-41212_FILTER_BANDCENTER = ( 750 ) + INS-41212_FILTER_BANDWIDTH = ( 40 ) + + INS-41213_FILTER_BANDCENTER = ( 675 ) + INS-41213_FILTER_BANDWIDTH = ( 180 ) + + INS-41214_FILTER_BANDCENTER = ( 440 ) + INS-41214_FILTER_BANDWIDTH = ( 90 ) + + INS-41215_FILTER_BANDCENTER = ( 675 ) + INS-41215_FILTER_BANDWIDTH = ( 180 ) + + INS-41216_FILTER_BANDCENTER = ( 530 ) + INS-41216_FILTER_BANDWIDTH = ( 90 ) + + INS-41217_FILTER_BANDCENTER = ( 675 ) + INS-41217_FILTER_BANDWIDTH = ( 180 ) + + INS-41218_FILTER_BANDCENTER = ( 970 ) + INS-41218_FILTER_BANDWIDTH = ( 90 ) + + INS-41219_FILTER_BANDCENTER = ( 675 ) + INS-41219_FILTER_BANDWIDTH = ( 180 ) + + \begintext + + +SRC Camera + + No wavelength data has been made available for this camera at the + time when this IK file was made. + + begindata + + INS-41220_FILTER_BANDCENTER = ( '?' ) + INS-41220_FILTER_BANDWIDTH = ( '?' ) + + begintext + + +FOV Definitions +--------------------------------------------------------------------------- + + This section contains definitions for the HRSC main camera combined FOV, + HRSC line detector individual FOVs, and SRC camera FOV. These definitions + are provided in a format consistent required by the SPICE (CSPICE) + function GETFOV (getfov_c). + + +HRSC Camera Individual Line Detector FOVs + + The sets of keywords in the data section below define individual + HRSC line detector FOVs with respect to the MEX_HRSC_HEAD frame. + + Each of these FOVS is a rectangle with the edges defined by the + outer corners of the first and last pixels of that line detector. The + boresight of each of these FOVs is defined such that it points along + the detector center's view direction (with the center being the point + between the two middle pixels.) + + The data from which the view directions for the corner pixels + have been computed are provided in the camera geometric calibration + tables ([5]). This reference specifies coordinates for each pixel of + each line detector in the CCD plane -- the plane normal to the + camera boresight (+Z axis) and located at the focal length behind + the focal point. The view direction of each pixel can then be + determined as a vector pointing from that pixel's location on that + plane through the focal point, as illustrated by this diagram: + + Corner pixel + view direction + ^ + Center pixel \ Y + view <. \ ^ CCD plane + direction `-. \ | + `-. \ | .^ X + `-. \ | .' + `-.\ F | .' + <-----------`o.-----o' Detector line in + Z Focal \`-. | . the CCD plane + point \ `-*' + \ .'| Center pixel + * | + Corner + pixel + + Assuming that the CCD plane coordinates of the first and last pixel + of the detector line N are (Xf,Yf) and (Xl,Yl) and the coordinates + of the two pixels on either side of the geometric middle point of the + line are (Xm1,Ym1) and (Xm2,Ym2), the FOV definition for that line can + be constructed as: + + INS<INSTID>_FOV_FRAME = 'MEX_HRSC_HEAD' + INS<INSTID>_FOV_SHAPE = 'RECTANGLE' + INS<INSTID>_BORESIGHT = ( + -(Xm1+Xm2)/2, -(Ym1+Ym2)/2, FL + ) + INS<INSTID>_FOV_BOUNDARY_CORNERS = ( + -(Xf-HP), -(Yf-HP), FL + -(Xf-HP), -(Yf+HP), FL + -(Xl+HP), -(Yl+HP), FL + -(Xl+HP), -(Yl-HP), FL + ) + + where HP is 1/2 of the pixel size, and FL is the focal length. + + The boresight and corner vectors included in the frame definition + below have intentionally been left un-unitized to allow easier back + tracking to the original calibration data and focal length and pixel + size values defined earlier in this I-kernel. + + Refer to [7] for definitions of the keywords used in these assignments. + + \begindata + + + INS-41211_FOV_FRAME = 'MEX_HRSC_HEAD' + INS-41211_FOV_SHAPE = 'RECTANGLE' + INS-41211_BORESIGHT = ( + -0.028300 -60.035700 175.000000 + ) + INS-41211_FOV_BOUNDARY_CORNERS = ( + 18.128100 -60.032900 175.000000 + 18.128100 -60.039900 175.000000 + -18.186200 -60.043500 175.000000 + -18.186200 -60.036500 175.000000 + ) + + + INS-41212_FOV_FRAME = 'MEX_HRSC_HEAD' + INS-41212_FOV_SHAPE = 'RECTANGLE' + INS-41212_BORESIGHT = ( + -0.052100 -49.818000 175.000000 + ) + INS-41212_FOV_BOUNDARY_CORNERS = ( + 18.112200 -49.816100 175.000000 + 18.112200 -49.823100 175.000000 + -18.217400 -49.821800 175.000000 + -18.217400 -49.814800 175.000000 + ) + + + INS-41213_FOV_FRAME = 'MEX_HRSC_HEAD' + INS-41213_FOV_SHAPE = 'RECTANGLE' + INS-41213_BORESIGHT = ( + -0.023700 -39.592400 175.000000 + ) + INS-41213_FOV_BOUNDARY_CORNERS = ( + 18.145600 -39.597300 175.000000 + 18.145600 -39.604300 175.000000 + -18.191600 -39.591500 175.000000 + -18.191600 -39.584500 175.000000 + ) + + + INS-41214_FOV_FRAME = 'MEX_HRSC_HEAD' + INS-41214_FOV_SHAPE = 'RECTANGLE' + INS-41214_BORESIGHT = ( + 0.064300 -10.229000 175.000000 + ) + INS-41214_FOV_BOUNDARY_CORNERS = ( + 18.184500 -10.219900 175.000000 + 18.184500 -10.226900 175.000000 + -18.053200 -10.233100 175.000000 + -18.053200 -10.226100 175.000000 + ) + + + INS-41215_FOV_FRAME = 'MEX_HRSC_HEAD' + INS-41215_FOV_SHAPE = 'RECTANGLE' + INS-41215_BORESIGHT = ( + 0.032200 -0.005800 175.000000 + ) + INS-41215_FOV_BOUNDARY_CORNERS = ( + 18.174900 -0.002900 175.000000 + 18.174900 -0.009900 175.000000 + -18.110800 -0.007700 175.000000 + -18.110800 -0.000700 175.000000 + ) + + + INS-41216_FOV_FRAME = 'MEX_HRSC_HEAD' + INS-41216_FOV_SHAPE = 'RECTANGLE' + INS-41216_BORESIGHT = ( + 0.042600 10.213000 175.000000 + ) + INS-41216_FOV_BOUNDARY_CORNERS = ( + 18.186200 10.232000 175.000000 + 18.186200 10.225000 175.000000 + -18.100700 10.191500 175.000000 + -18.100700 10.198500 175.000000 + ) + + + INS-41217_FOV_FRAME = 'MEX_HRSC_HEAD' + INS-41217_FOV_SHAPE = 'RECTANGLE' + INS-41217_BORESIGHT = ( + 0.031600 39.612600 175.000000 + ) + INS-41217_FOV_BOUNDARY_CORNERS = ( + 18.202500 39.617200 175.000000 + 18.202500 39.610200 175.000000 + -18.138900 39.603100 175.000000 + -18.138900 39.610100 175.000000 + ) + + + INS-41218_FOV_FRAME = 'MEX_HRSC_HEAD' + INS-41218_FOV_SHAPE = 'RECTANGLE' + INS-41218_BORESIGHT = ( + 0.015100 49.903900 175.000000 + ) + INS-41218_FOV_BOUNDARY_CORNERS = ( + 18.198200 49.912100 175.000000 + 18.198200 49.905100 175.000000 + -18.169300 49.890100 175.000000 + -18.169300 49.897100 175.000000 + ) + + + INS-41219_FOV_FRAME = 'MEX_HRSC_HEAD' + INS-41219_FOV_SHAPE = 'RECTANGLE' + INS-41219_BORESIGHT = ( + 0.021500 60.057200 175.000000 + ) + INS-41219_FOV_BOUNDARY_CORNERS = ( + 18.187000 60.064100 175.000000 + 18.187000 60.057100 175.000000 + -18.142000 60.040600 175.000000 + -18.142000 60.047600 175.000000 + ) + + \begintext + + +HRSC Camera Combined FOV + + The set of assignments in the data section below defines the combined HRSC + main camera FOV with respect to the MEX_HRSC_HEAD frame to be a + rectangle with the edges defined by the outer corners of the first + and last pixels of the S1 and S2 detectors and the boresight along the +Z + axis of the MEX_HRSC_HEAD frame. The corner view direction are taken + from the corresponding individual detector FOV defined in the + previous section. + + \begindata + + INS-41210_FOV_FRAME = 'MEX_HRSC_HEAD' + INS-41210_FOV_SHAPE = 'RECTANGLE' + INS-41210_BORESIGHT = ( + 0.000000 0.000000 175.000000 + ) + INS-41210_FOV_BOUNDARY_CORNERS = ( + 18.187000 60.064100 175.000000 + 18.128100 -60.039900 175.000000 + -18.186200 -60.043500 175.000000 + -18.142000 60.047600 175.000000 + ) + + \begintext + + +SRC Camera FOV + + The set of assignments in the data section below defines the SRC FOV + with respect to the MEX_HRSC_SRC frame to be a rectangle with the + corners defined by the first and last pixels of the first and last + lines of the CCD and the boresight along the +Z axis of the MEX_HRSC_SRC + frame. This FOV definition uses angular extent style specification + with the cross and along track angular sizes taken from the ``Optics + Parameters'' section above. + + \begindata + + INS-41220_FOV_FRAME = 'MEX_HRSC_SRC' + INS-41220_FOV_SHAPE = 'RECTANGLE' + INS-41220_BORESIGHT = ( + 0.000000 0.000000 988.600000 + ) + INS-41220_FOV_CLASS_SPEC = 'ANGLES' + INS-41220_FOV_REF_VECTOR = ( + 1.000000 0.000000 0.000000 + ) + INS-41220_FOV_REF_ANGLE = ( 0.27 ) + INS-41220_FOV_CROSS_ANGLE = ( 0.27 ) + INS-41220_FOV_ANGLE_UNITS = 'DEGREES' + + \begintext + + +Optical Distortion +-------------------------------------------------------- + + This section provides optical distortion and geometric calibration + data for HRSC and SRC cameras. + + +HRSC Camera + + The optical distortion for the HRSC provided in [5] has not been included + in this version of the I-kernel. + + +SRC Camera + + The optical distortion for the SRC camera was not available at the time + when this version of the IK was released. + + +Platform ID +--------------------------------------------------------------------------- + + This number is the NAIF instrument ID of the platform on which the + cameras are mounted. For both cameras this platform is the + spacecraft. + + \begindata + + INS-41210_PLATFORM_ID = ( -41000 ) + INS-41220_PLATFORM_ID = ( -41000 ) + + \begintext + diff --git a/tests/pytests/data/H0010_0023_SR2/MEX_V14.TF b/tests/pytests/data/H0010_0023_SR2/MEX_V14.TF new file mode 100644 index 0000000000000000000000000000000000000000..6c4c0b5b51bf35f29c7f6a5ea6e68d59260880a3 --- /dev/null +++ b/tests/pytests/data/H0010_0023_SR2/MEX_V14.TF @@ -0,0 +1,3535 @@ +KPL/FK + +Mars Express Spacecraft and Beagle-2 Lander Frames Kernel +======================================================================== + + This frame kernel contains complete set of frame definitions for the + Mars Express Spacecraft (MEX) and Beagle-2 Lander (BEAGLE2) including + definitions for the MEX fixed and MEX science instrument frames and + BEAGLE2 fixed, BEAGLE2 instrument, and landing site local frames. This + kernel also contains NAIF ID/name mapping for the MEX and BEAGLE2 + instruments. + + +Version and Date +======================================================================== + + Version 1.4 -- January 23, 2019 -- Boris Semenov, NAIF + Marc Costa Sitja, ESAC/ESA + + Corrected typo in the MEX_PFS_NADIR_SWC definition (SCW->SWC) + + Updated SPICAM port frame description and diagram + + Added more details to Version 1.3 version entry + + Corrected VMC frame definition typo. + + Version 1.3 -- January 13, 2019 -- Marc Costa Sitja, ESAC/ESA + + Updated PFS frames: + + - removed generic nadir frame -- MEX_PFS_NADIR/-41533 + + - added PFS nadir channel frames -- MEX_PFS_NADIR_LWC/-41537 + and MEX_PFS_NADIR_SWC/-41533 + + - incorporated actual alignments into all LWC and SWC + frames -- MEX_PFS_SWC/-41510, MEX_PFS_LWC/-41520, + MEX_PFS_NADIR_LWC/-41537, and MEX_PFS_NADIR_SWC/-41533 + + Updated SPICAM frames: + + - removed old SUV/SIR frames -- MEX_SPICAM_SUV/-41620, + MEX_SPICAM_SIR/-41610, MEX_SPICAM_SIR_SOLAR/-41611, and + MEX_SPICAM_SUV_SOLAR/-41621 + + - added detector port frames -- MEX_SPICAM_STELLAR/-41601, + MEX_SPICAM_SOLAR/-41602, and MEX_SPICAM_NADIR/-41603 + + Added Star Tracker frames -- MEX_STR_A/-41051, MEX_STR_B/MEX_STR_B + + Added MARSIS base frame -- MEX_MARSIS_BASE/-41300 + + Removed some SPICAM name/ID mappings: + + MEX_SPICAM_SIR -41610 + MEX_SPICAM_SIR_SOLAR -41611 + MEX_SPICAM_SUV -41620 + MEX_SPICAM_SUV_SOLAR -41621 + + Added new STR, MARSIS, PFS, and SPICAM name/ID mappings: + + MEX_STR_A -41071 + MEX_STR_B -41072 + + MEX_MARSIS_250KM -41301 + MEX_MARSIS_1400KM -41302 + + MEX_PFS_SWC_25_LEFT -41511 + MEX_PFS_SWC_12_LEFT -41512 + MEX_PFS_SWC_NADIR -41513 + MEX_PFS_SWC_12_RIGHT -41514 + MEX_PFS_SWC_25_RIGHT -41515 + MEX_PFS_SWC_COLD_SPACE -41516 + MEX_PFS_LWC_25_LEFT -41521 + MEX_PFS_LWC_12_LEFT -41522 + MEX_PFS_LWC_NADIR -41523 + MEX_PFS_LWC_12_RIGHT -41524 + MEX_PFS_LWC_25_RIGHT -41525 + MEX_PFS_LWC_COLD_SPACE -41526 + + MEX_SPICAM_UV -41610 + MEX_SPICAM_UV1_STAR -41611 + MEX_SPICAM_UV2_SUN -41612 + MEX_SPICAM_UV1_NADIR_SLIT -41613 + MEX_SPICAM_UV1_NADIR_BIN_2 -41614 + MEX_SPICAM_UV1_NADIR_BIN_4 -41615 + MEX_SPICAM_UV1_NADIR_BIN_8 -41616 + MEX_SPICAM_UV1_NADIR_BIN_16 -41617 + MEX_SPICAM_UV1_NADIR_BIN_32 -41618 + MEX_SPICAM_UV1_CCD -41619 + MEX_SPICAM_IR -41620 + MEX_SPICAM_IR1_STELLAR -41621 + MEX_SPICAM_IR2_SOLAR -41622 + MEX_SPICAM_IR1_NADIR -41623 + + Edited comments and updated contact information. + + Version 1.2 -- December 10, 2013 -- J. Vazquez, PSA/ESA, + B. Semenov, NAIF + + Updated HRSC SRC frame orientation with information provided by + T. Duxbury and T. Roatsch ([17]). + + Version 1.1 -- January 21, 2011 -- J. Vazquez, PSA/ESAC + + Changed rotation angle for MEX_PFS_COLD_SPACE from 90 deg. to 85 deg. + + Version 1.0 -- June 16, 2008 -- Jorge Diaz del Rio, MIG + + Added Visual Monitoring Camera (VMC) frame. + + Version 0.9 -- May 21, 2008 -- J. Vazquez + + Added MEX_SA+Y_ZERO and MEX_SA-Y_ZERO, fixed offset frames with + respect to MEX_SPACECRAFT. + + Modified MEX_SA_+Y and MEX_SA_-Y. The cells of the Solar Arrays + face the +Z axis of the frames. The frames are type 3 frames that + rotate with respect to MEX_SA+Y_ZERO and MEX_SA-Y_ZERO. + + Version 0.8 -- September 17, 2004 -- Boris Semenov, NAIF + + Added ASPERA_IMAS frame. This frame was introduced because it + matches the "natural" IMA spherical coordinate system and the way + IMA operates better than the ASPERA_IMA frame defined originally + (see the latest ASPERA IK file for more discussion on this + issue.) + + Version 0.7 -- July 19, 2004 -- Boris Semenov, NAIF + + Corrected HGA frame to incorporate 5 degree boresight offset + towards +Z. + + Version 0.6 -- March 15, 2004 -- Boris Semenov, NAIF + + Incorporated revised OMEGA frame layout (no OMEGA_BASE and + OMEGA_SWIR frames, OMEGA_SWIR_S defined w.r.t. SPACECRAFT, + OMEGA_SWIR_L and OMEGA_VNIR defined w.r.t OMEGA_SWIR_S) and + initial in-flight calibrated alignments provided by Nicolas + Manaud on March 12, 2004. Renamed OMEGA_SWIR_S to OMEGA_SWIR_C + for consistency with the conventions accepted by OMEGA team. + + Version 0.5 -- December 15, 2003 -- Boris Semenov, NAIF + + Incorporated in-flight calibrated alignments provided by Thomas + Roatsch on December 15, 2003 into the HRSC_HEAD and HRSC_SRC + frame definitions. + + Renamed and re-defined ASPERA Solar Sensor frames, MEX_ASPERA_SS1 + and MEX_ASPERA_SS2. + + Version 0.4 -- October 5, 2003 -- Boris Semenov, NAIF + + Modified ASPERA frames to match the conventions accepted by the + ASPERA team, specifically: + + -- changed MEX_ASPERA_BASE frame name to MEX_ASPERA_URF + + -- changed MEX_ASPERA_SCANNER frame name to MEX_ASPERA_SAF + + -- replaced MEX_ASPERA_NPD frame with MEX_ASPERA_NPD1 and + MEX_ASPERA_NPD2 + + -- added MEX_ASPERA_IMA_URF frame (in the IMA branch between + MEX_SPACECRAFT and MEX_ASPERA_IMA frames) + + -- added MEX_ASPERA_SS0 and MEX_ASPERA_SS1 frames + + Updated ASPERA frame tree diagrams and descriptions accordingly + + Modified MEX_HRSC_SRC frame to incorporate 90 degree rotation + w.r.t to the MEX_HRSC_BASE frame (per HRSC calibration results) + + Updated BEAGLE2_LOCAL_LEVEL frame to correspond to the project + official landing site coordinates (areocentric LON=90.75 & + LAT=11.6) + + Version 0.3 -- June 2, 2003 -- Boris Semenov, NAIF + + Changed the types of and relationship between the MEX_SPACECRAFT + (mechanical) and MEX_SC_REF (ACS reference) frames. Now the + MEX_SC_REF frame is CK-based because telemetry and S/C CKs + contains orientation for it and the MEX_SPACECRAFT frame is fixed + offset (rotated by 180 about Z) with respect to MEX_SC_REF. + + Version 0.2 -- January 2, 2002 -- Boris Semenov, NAIF + + Added frames and IDs for the short and long wavelength OMEGA SWIR + channels per review feedback from Yves Langevin, OMEGA Team + (December 2001.) + + Version 0.1 -- December 5, 2001 -- Boris Semenov, NAIF + + Updated SPICAM frames per review feedback from Emmanuel Dimarellis + (e-mail from November 11, 2001.) + + Version 0.0 -- June 18, 2001 -- Boris Semenov, NAIF + + Preliminary Version. Pending review and approval by MEX and + BEAGLE2 instrument teams and ESOC Science operations team. + + +References +======================================================================== + + 1. ``Frames Required Reading'', NAIF. + + 2. ``Kernel Pool Required Reading'', NAIF. + + 3. ``C-Kernel Required Reading'', NAIF. + + 4. ``ASPERA-3'' ME-ASP-DS-0002, Draft Rev. 1, 23 April, 1999. + + 5. ``HRSC on Mars Express'' Presentation by R.Pischel et al, May 9, 2001. + + 6. ``Mars Express Hypotheses for AOCS Studies'', Draft, Issue 02, Rev 00, + 9/11/00, by Astrium. + + 7. ``OMEGA PID'', PID-B, OME-CI-0022-003-IAS, 25/02/00. + + 8. ``PFS Instrument Description'', PFS-ICDR-02, June 5, 2000. + + 9. ``SPICAM LIGHT'', PID-B, PS-DES-011, August 19, 1999. + + 10. ``Beagle-2 Landing Site Selection Press Release'', December 20, 2000 + http://spdext.estec.esa.nl/content/news/index.cfm?aid=9&cid=260 + &oid=25649. + + 11. Review comments by Emmanuel Dimarellis, SPICAM Team, e-mail from + November 11, 2001. + + 12. Review comments by Yves Langevin, OMEGA Team, personal communication + in December 2001. + + 13. ASPERA Sensor Numbering, by Stas Barabash, Latest Version, Aug 2003. + + 14. HRSC Earth-Moon Calibration Results, notes by T. Roatsch, Jul 2003. + + 15. OMEGA in-flight calibrated alignments, e-mail by N. Manaud, Mar 2004. + + 16. ``VMC for MEX. Flight User Manual'', MEX-ESA-VMC-MA-0003, Issue 4, + Revision 2, January 17, 2003. + + 17. ``SRC Alignment & Geometric Calibration, NAIF SPICE Kernels, Image + Restoration and Vesta'', Harald Hoffmann, Thomas Roatsch, Stephan + Elgner and Klaus-Dieter Matz, November 25, 2013. + + 18. ``MARS EXPRESS SPICAM GEOMETRY Computation'', + SPICAM_GEOMETRY_DESC.TXT, version 014, September 15th, 2005. + + 19. ``Planetary Fourier Spectrometer Instrument Calibration Report, + Volume II, V. Formisano, M. GIiuranna, et al., CNR IFSI, December 2002. + + 20. ``MEX conditions for STR blindings'', e-mail from Michael Mueller, + 13th September 2017. + + +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 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. The SPICELIB routine FURNSH and CSPICE function furnsh_c + load a kernel file into the kernel pool as shown below. + + CALL FURNSH ( 'frame_kernel_name' ) + furnsh_c ( "frame_kernel_name" ); + + This file was created and may be updated with a text editor or word + processor. + + +Mars Express Mission NAIF ID Codes +======================================================================== + + The following names and NAIF ID codes are assigned to the MEX spacecraft, + its structures and science instruments (the keywords implementing these + definitions are located in the section "Mars Express Mission NAIF ID + Codes -- Definition Section" at the end of this file): + + MEX Spacecraft and Spacecraft Structures names/IDs: + + MEX -41 (synonyms: MARS EXPRESS, + MARS-EXPRESS, MARS_EXPRESS) + MEX_SPACECRAFT -41000 (synonym: MEX_SC) + MEX_SA+Y -41011 + MEX_SA-Y -41012 + MEX_SA+Y_GIMBAL -41013 + MEX_SA-Y_GIMBAL -41014 + MEX_HGA -41020 + MEX_MELACOM_1 -41031 + MEX_MELACOM_2 -41032 + MEX_LGA -41040 + MEX_STR_A -41071 + MEX_STR_B -41072 + + + ASPERA names/IDs: + + MEX_ASPERA -41100 + MEX_ASPERA_URF -41110 + MEX_ASPERA_SAF -41111 + MEX_ASPERA_ELS -41120 + MEX_ASPERA_NPI -41130 + MEX_ASPERA_NPD1 -41141 + MEX_ASPERA_NPD2 -41142 + MEX_ASPERA_IMA_URF -41150 + MEX_ASPERA_IMA -41151 + MEX_ASPERA_IMAS -41152 + MEX_ASPERA_SS1 -41161 + MEX_ASPERA_SS2 -41162 + + HRSC names/IDs: + + MEX_HRSC -41200 + MEX_HRSC_HEAD -41210 + MEX_HRSC_S2 -41211 + MEX_HRSC_RED -41212 + MEX_HRSC_P2 -41213 + MEX_HRSC_BLUE -41214 + MEX_HRSC_NADIR -41215 + MEX_HRSC_GREEN -41216 + MEX_HRSC_P1 -41217 + MEX_HRSC_IR -41218 + MEX_HRSC_S1 -41219 + MEX_HRSC_SRC -41220 + + MARSIS names/IDs: + + MEX_MARSIS -41300 + MEX_MARSIS_250KM -41301 + MEX_MARSIS_1400KM -41302 + MEX_MARSIS_DIPOLE_1 -41310 + MEX_MARSIS_DIPOLE_2 -41320 + MEX_MARSIS_MONOPOLE -41330 + + OMEGA names/IDs: + + MEX_OMEGA -41400 + MEX_OMEGA_VNIR -41410 + MEX_OMEGA_SWIR -41420 + MEX_OMEGA_SWIR_C -41421 + MEX_OMEGA_SWIR_L -41422 + + PFS names/IDs: + + MEX_PFS -41500 + MEX_PFS_SWC -41510 + MEX_PFS_SWC_25_LEFT -41511 + MEX_PFS_SWC_12_LEFT -41512 + MEX_PFS_SWC_NADIR -41513 + MEX_PFS_SWC_12_RIGHT -41514 + MEX_PFS_SWC_25_RIGHT -41515 + MEX_PFS_SWC_COLD_SPACE -41516 + MEX_PFS_LWC -41520 + MEX_PFS_LWC_25_LEFT -41521 + MEX_PFS_LWC_12_LEFT -41522 + MEX_PFS_LWC_NADIR -41523 + MEX_PFS_LWC_12_RIGHT -41524 + MEX_PFS_LWC_25_RIGHT -41525 + MEX_PFS_LWC_COLD_SPACE -41526 + MEX_PFS_SCANNER -41530 + + SPICAM names/IDs: + + MEX_SPICAM -41600 + MEX_SPICAM_UV -41610 + MEX_SPICAM_UV1_STAR -41611 + MEX_SPICAM_UV2_SUN -41612 + MEX_SPICAM_UV1_NADIR_SLIT -41613 + MEX_SPICAM_UV1_NADIR_BIN_2 -41614 + MEX_SPICAM_UV1_NADIR_BIN_4 -41615 + MEX_SPICAM_UV1_NADIR_BIN_8 -41616 + MEX_SPICAM_UV1_NADIR_BIN_16 -41617 + MEX_SPICAM_UV1_NADIR_BIN_32 -41618 + MEX_SPICAM_UV1_CCD -41619 + MEX_SPICAM_IR -41620 + MEX_SPICAM_IR1_STELLAR -41621 + MEX_SPICAM_IR2_SOLAR -41622 + MEX_SPICAM_IR1_NADIR -41623 + + + VMC names/IDs: + + MEX_VMC -41700 + + + The following names and NAIF ID codes are assigned to the Beagle-2 + lander, its structures and science instruments: + + BEAGLE2 -44 (synonyms: BEAGLE 2, BEAGLE-2, + BEAGLE_2) + BEAGLE2_LANDER -44000 + BEAGLE2_GAP -44100 + BEAGLE2_PAW -44200 + BEAGLE2_LANDING_SITE -44900 (synonyms: BEAGLE2_LS, + BEAGLE2_SITE) + + +Mars Express Frames +======================================================================== + + The following MEX and BEAGLE2 frames are defined in this kernel file: + + Name Relative to Type NAIF ID + ====================== =================== ============ ======= + + MEX Spacecraft and Spacecraft Structures frames: + ------------------------------------------------ + MEX_SPACECRAFT MEX_SC_REF FIXED -41000 + MEX_SC_REF J2000 CK -41001 + MEX_SA+Y_ZERO MEX_SPACECRAFT FIXED -41013 + MEX_SA+Y MEX_SA+Y_ZERO CK -41011 + MEX_SA-Y_ZERO MEX_SPACECRAFT FIXED -41014 + MEX_SA-Y MEX_SA-Y_ZERO CK -41012 + MEX_HGA MEX_SPACECRAFT FIXED -41020 + MEX_MELACOM_1 MEX_SPACECRAFT FIXED -41031 + MEX_MELACOM_2 MEX_SPACECRAFT FIXED -41032 + MEX_LGA MEX_SPACECRAFT FIXED -41040 + MEX_STR_A MEX_SPACECRAFT FIXED -41051 + MEX_STR_B MEX_SPACECRAFT FIXED -41052 + + ASPERA frames: + -------------- + MEX_ASPERA_URF MEX_SPACECRAFT FIXED -41110 + MEX_ASPERA_SAF MEX_ASPERA_URF CK -41111 + MEX_ASPERA_ELS MEX_ASPERA_SAF FIXED -41120 + MEX_ASPERA_NPI MEX_ASPERA_SAF FIXED -41130 + MEX_ASPERA_NPD1 MEX_ASPERA_SAF FIXED -41141 + MEX_ASPERA_NPD2 MEX_ASPERA_SAF FIXED -41142 + MEX_ASPERA_IMA_URF MEX_SPACECRAFT FIXED -41150 + MEX_ASPERA_IMA MEX_ASPERA_IMA_URF FIXED -41151 + MEX_ASPERA_IMAS MEX_ASPERA_IMA FIXED -41152 + MEX_ASPERA_SS1 MEX_ASPERA_SAF FIXED -41161 + MEX_ASPERA_SS2 MEX_ASPERA_SAF FIXED -41162 + + HRSC frames: + ------------ + MEX_HRSC_BASE MEX_SPACECRAFT FIXED -41200 + MEX_HRSC_HEAD MEX_HRSC_BASE FIXED -41210 + MEX_HRSC_SRC MEX_HRSC_BASE FIXED -41220 + + MARSIS frames: + -------------- + MEX_MARSIS_BASE MEX_SPACECRAFT FIXED -41300 + MEX_MARSIS_DIPOLE_1 MEX_SPACECRAFT FIXED -41310 + MEX_MARSIS_DIPOLE_2 MEX_SPACECRAFT FIXED -41320 + MEX_MARSIS_MONOPOLE MEX_SPACECRAFT FIXED -41330 + + OMEGA frames: + ------------- + MEX_OMEGA_SWIR_C MEX_SPACECRAFT FIXED -41421 + MEX_OMEGA_SWIR_L MEX_OMEGA_SWIR_C FIXED -41422 + MEX_OMEGA_VNIR MEX_OMEGA_SWIR_C FIXED -41410 + + PFS frames: + ------------- + MEX_PFS_BASE MEX_SPACECRAFT FIXED -41500 + MEX_PFS_SCANNER MEX_PFS_BASE CK -41530 + MEX_PFS_SWC MEX_PFS_SCANNER FIXED -41510 + MEX_PFS_LWC MEX_PFS_SCANNER FIXED -41520 + MEX_PFS_25_LEFT MEX_PFS_BASE FIXED -41531 + MEX_PFS_12_LEFT MEX_PFS_BASE FIXED -41532 + MEX_PFS_NADIR_SWC MEX_PFS_BASE FIXED -41533 + MEX_PFS_NADIR_LWC MEX_PFS_BASE FIXED -41537 + MEX_PFS_12_RIGHT MEX_PFS_BASE FIXED -41534 + MEX_PFS_25_RIGHT MEX_PFS_BASE FIXED -41535 + MEX_PFS_COLD_SPACE MEX_PFS_BASE FIXED -41536 + + SPICAM frames: + -------------- + MEX_SPICAM_BASE MEX_SPACECRAFT FIXED -41600 + MEX_SPICAM_STELLAR MEX_SPICAM_BASE FIXED -41601 + MEX_SPICAM_SOLAR MEX_SPICAM_BASE FIXED -41602 + MEX_SPICAM_NADIR MEX_SPICAM_BASE FIXED -41603 + + VMC frames: + ----------- + MEX_VMC MEX_SPACECRAFT FIXED -41700 + + + Beagle-2 Lander Frame: + --------------- + BEAGLE2_LOCAL_LEVEL IAU_MARS FIXED -44900 + BEAGLE2_LANDER BEAGLE2_LOCAL_LEVEL FIXED -44000 + + Other Beagle-2 frames are TBD. + + +Spacecraft and Its Structures Frame Tree +======================================================================== + + The diagram below shows the Mars Express spacecraft and its structures + frame hierarchy (not including science instrument frames.) + + + "J2000" INERTIAL + +-----------------------------------------------------+ + | | | + |<-pck | |<-pck + | | | + V | V + "IAU_MARS" | "IAU_EARTH" + MARS BODY-FIXED | EARTH BODY-FIXED + --------------- | ---------------- + | | + |<-fixed | + | | + V | + "BEAGLE2_LOCAL_LEVEL" | + -------------------- | + | | + |<-fixed | + | | + V | + "BEAGLE2_LANDER" | + ---------------- | + | + |<-ck "MEX_STR_A" + | ----------- + V ^ + "MEX_SC_REF" | + ------------ | "MEX_STR_B" + | | ----------- + |<-fixed | ^ + | | | + V fixed->| |<-fixed + "MEX_SPACECRAFT" | | + +----------------------------------------------------+-----+ + | | . | | | | + |<-fixed |<-fixed . fixed->| | | |<-fixed + | | . | | | | + V V . V | | V + "MEX_SA+Y_ZERO" "MEX_SA-Y_ZERO" . "MEX_HGA" | | "MEX_LGA" + -------------- -------------- . --------- | | --------- + | | . | | + |<-ck |<-ck . fixed->| |<-fixed + | | . | | + V v . V V + "MEX_SA+Y" "MEX_SA-Y" . "MEX_MELACOM_1" "MEX_MELACOM_2" + --------- ---------- . --------------- --------------- + . + . + V + Individual instrument frame trees are provided + in the corresponding sections of this file + + + +MEX Spacecraft and Spacecraft Structures Frames +======================================================================== + + This section of the file contains the definitions of the spacecraft + and spacecraft structures frames. + + +MEX Spacecraft Frames +-------------------------------------- + + Two reference frames are defined for the MEX spacecraft (see [6]) -- + "mechanical/structure frame" (Xb,Yb,Zb) and "spacecraft reference + frame" (Xa,Ya,Za). + + The "mechanical/structure frame" frame (Xb,Yb,Zb), with respect to + which orientation of all science instruments and spacecraft + structures is defined, is called MEX_SPACECRAFT frame in the MEX + SPICE implementation. + + This frame is defined as follows: + + - the payloads are located on the +Zb axis (the Main Engine being + on the -Zb axis); + + - the HGA is located on -Xb axis; + + - the +Y axis is defined so that the (Xb,Yb,Zb) frame is right- + handed. + + - the origin of this frames is the launch vehicle interface point. + + The "spacecraft reference frame" (Xa,Ya,Za) frame, used primarily in + AOSC studies, is the one for which orientation is determined + on-board the spacecraft. This frame is called MEX_SC_REF in MEX + SPICE implementation. + + This frame is related to MEX_SPACECRAFT frame (Xb,Yb,Zb) as a + follows: + + - +Xa = -Xb; + + - +Ya = -Yb; + + - +Za = Zb ; + + - the origin of this frame is also located at the launch vehicle + interface point. + + These diagrams illustrate the MEX_SPACECRAFT and MEX_SC_REF frames: + + +X S/C side view: + ----------------- + ^ + | Nadir + | Direction + of flight + ----> + + Beagle-2 .'. + .' `. + \_____/ + ._____________. + |Science Deck | + =====================o | | o===================== + -Y Solar Array | +Zsc | +Y Solar Array + | +Zsc_ref | + | ^ | + | | | + | | | + .______|______. +Xsc is out + | | | of the page + +Ysc_ref <-------*-------> +Ysc + / \ +Xsc_ref is into + /_____\ Main Engine the page + + +Z S/C side view: + ----------------- + HGA + ____ +Xsc_ref + \ ^ / + .________________. .__`.__|__.'__. .________________. + | \ | | | / | + | \ | _|_ | / | + | +Ysc_ref .' | ` +Ysc | | + | |o<-------o------->o| | + | | | `_|+Zsc | | | + | / | |+Zsc_ref \ | + ._________________/ .______|______. \_________________. + -Y Solar Array | +Y Solar Array + V +Xsc + + Both, +Zsc and +Zsc_ref + are out of the page + + + As seen on the diagram, the MEX_SPACECRAFT and MEX_SC_REF frames are + rotated 180 degrees about +Z with respect to each other. + + Since the orientation of the MEX_SC_REF frame is computed on-board, + sent down in telemetry, and stored in the S/C CK files, it is + defined as a CK-based frame. + + The MEX_SPACECRAFT frame is then defined as a fixed-offset frame -- + rotated by 180 degrees about +Z axis -- with respect to the + MEX_SC_REF frame. + + These sets of keywords define the MEX_SPACECRAFT and MEX_SC_REF frames: + + \begindata + + FRAME_MEX_SPACECRAFT = -41000 + FRAME_-41000_NAME = 'MEX_SPACECRAFT' + FRAME_-41000_CLASS = 4 + FRAME_-41000_CLASS_ID = -41000 + FRAME_-41000_CENTER = -41 + TKFRAME_-41000_RELATIVE = 'MEX_SC_REF' + TKFRAME_-41000_SPEC = 'ANGLES' + TKFRAME_-41000_UNITS = 'DEGREES' + TKFRAME_-41000_AXES = ( 1, 2, 3 ) + TKFRAME_-41000_ANGLES = ( 0.0, 0.0, 180.0 ) + + FRAME_MEX_SC_REF = -41001 + FRAME_-41001_NAME = 'MEX_SC_REF' + FRAME_-41001_CLASS = 3 + FRAME_-41001_CLASS_ID = -41001 + FRAME_-41001_CENTER = -41 + CK_-41001_SCLK = -41 + CK_-41001_SPK = -41 + + \begintext + + +MEX Solar Array Frames +-------------------------------------- + + Note that, unlike in most spacecrafts, the +Y panel is situated along the + -Y axis of the MEX_SPACECRAFT frame, and the -Y panel is situated along + the +Y axis. The reason is that the solar arrays are named with respect to + the MEX_SC_REF frame. + + Two auxiliary frames, MEX_SA+Y_ZERO and MEX_SA-Y_ZERO, fixed with respect + to the MEX_SPACECRAFT frame, are defined as follows: + + - +Y is parallel to the longest side of the array, positively orientated + from the yoke to the end of the wing. + + - +Z is orientated along the -X axis of MEX_SPACECRAFT. It is equal to + the -X axis of MEX_SPACECRAFT. + + - +X is defined such that (X,Y,Z) is right handed. + + Since the MEX solar arrays can be articulated (having one degree of + freedom), the solar Array frames, MEX_SA+Y and MEX_SA-Y, are defined as + CK frames with their orientation given relative to MEX_SA+Y_ZERO and + MEX_SA-Y_ZERO. + + Both array frames are defined as follows (from [6]): + + - +Y is parallel to the longest side of the array, positively oriented + from the yoke to the end of the wing; + + - +Z is normal to the solar array plane, the solar cells facing +Z; + + - +X is defined such that (X,Y,Z) is right handed; + + - the origin of the frame is located at the yoke geometric center. + + The axis of rotation is parallel to the Y axis of the spacecraft and + solar array frames. + + This diagram illustrates the solar array frames: + + +X S/C side view: + ----------------- + + + ^ +Zsc + | + .'. ^ +Xsa-y_zero + / | \ | + /Beagle-2 | + +Zsa+y_zero \_____/ | +Zsa-y_zero is into the page + is into the page .______|______. | + +Ysa+y_zero <------x |Science Deck | x---------> +Ysa-y_zero + ._____________________|__ | | | ________________________. + | | \ | | | / | + | | o| | |o | + |_____________________|__/ | | | \________________________| + | | | o---------> +Ysc + | | +Xsc | + V | (out of the page ) + +Xsa+y_zero ._____________. + | | + ._________. + / \ + /_____\ Main Engine + + + + + These sets of keywords define solar array frames as CK frames: + + \begindata + + FRAME_MEX_SA+Y_ZERO = -41013 + FRAME_-41013_NAME = 'MEX_SA+Y_ZERO' + FRAME_-41013_CLASS = 4 + FRAME_-41013_CLASS_ID = -41013 + FRAME_-41013_CENTER = -41 + TKFRAME_-41013_SPEC = 'ANGLES' + TKFRAME_-41013_RELATIVE = 'MEX_SPACECRAFT' + TKFRAME_-41013_ANGLES = ( 180.0, -90.0, 0.0 ) + TKFRAME_-41013_AXES = ( 3, 2, 3 ) + TKFRAME_-41013_UNITS = 'DEGREES' + + FRAME_MEX_SA+Y = -41011 + FRAME_-41011_NAME = 'MEX_SA+Y' + FRAME_-41011_CLASS = 3 + FRAME_-41011_CLASS_ID = -41011 + FRAME_-41011_CENTER = -41 + CK_-41011_SCLK = -41 + CK_-41011_SPK = -41 + + FRAME_MEX_SA-Y_ZERO = -41014 + FRAME_-41014_NAME = 'MEX_SA-Y_ZERO' + FRAME_-41014_CLASS = 4 + FRAME_-41014_CLASS_ID = -41014 + FRAME_-41014_CENTER = -41 + TKFRAME_-41014_SPEC = 'ANGLES' + TKFRAME_-41014_RELATIVE = 'MEX_SPACECRAFT' + TKFRAME_-41014_ANGLES = ( 0.0, 90.0, 0.0 ) + TKFRAME_-41014_AXES = ( 3, 2, 1 ) + TKFRAME_-41014_UNITS = 'DEGREES' + + FRAME_MEX_SA-Y = -41012 + FRAME_-41012_NAME = 'MEX_SA-Y' + FRAME_-41012_CLASS = 3 + FRAME_-41012_CLASS_ID = -41012 + FRAME_-41012_CENTER = -41 + CK_-41012_SCLK = -41 + CK_-41012_SPK = -41 + + \begintext + + +MEX High Gain Antenna Frame +-------------------------------------- + + The MEX High Gain Antenna is rigidly attached to the -X side of the + S/C bus. Therefore, the MEX HGA frame, MEX_HGA, is defined as a fixed + offset frame with its orientation given relative to the MEX_SPACECRAFT + frame. + + The MEX_HGA frame is defined as follows: + + - +Z axis is in the antenna boresight direction (nominally + 5 degrees off the S/C -X axis towards the S/C +Z axis); + + - +Y axis is in the direction of the S/C +Y axis ; + + - +X completes the right hand frame; + + - the origin of the frame is located at the geometric center of the + HGA dish outer rim circle. + + This diagram illustrates the MEX_HGA frame: + + +Z S/C side view: + ----------------- + ^+Zhga + | + | + | + +Xhga | +Yhga + _____o-------> + \ / + .________________. .__`._____.'__. .________________. + | \ |Beagle-2 | / | + | \ | ___ | / | + | | | .' ` +Ysc | | + | |o=| | o------->o| | + | | | `_|+Zsc | | | + | / | | | \ | + ._________________/ .______|______. \_________________. + -Y Solar Array | +Y Solar Array + V +Xsc + + + Nominally a single rotation of -85 degrees about the +Y axis is needed to + co-align the S/C frame with the HGA 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_MEX_HGA = -41020 + FRAME_-41020_NAME = 'MEX_HGA' + FRAME_-41020_CLASS = 4 + FRAME_-41020_CLASS_ID = -41020 + FRAME_-41020_CENTER = -41 + TKFRAME_-41020_RELATIVE = 'MEX_SPACECRAFT' + TKFRAME_-41020_SPEC = 'ANGLES' + TKFRAME_-41020_UNITS = 'DEGREES' + TKFRAME_-41020_AXES = ( 1, 2, 3 ) + TKFRAME_-41020_ANGLES = ( 0.0, 85.0, 0.0 ) + + \begintext + + +MEX Lander Communication Antenna Frames +-------------------------------------- + + Both Mars Lander Communication (MELACOM) Antennas are rigidly mounted + on the instrument deck of the S/C bus. Therefore, the MELACOM antenna + frames, MEX_MELACOM_1 and MEX_MELACOM_2, are defined as fixed offset + frames with their orientation given relative to the MEX_SPACECRAFT frame. + + The MEX_MELACOM_1 and MEX_MELACOM_2 frames are defined as follows: + + - +Z axis is in the direction of the antenna boresight (nominally + along the S/C +Z axis); + + - +Y axis is in the direction of the S/C +Y axis; + + - X completes the right hand frame; + + - the origin of the frame is located at the geometric center of the + outer side of the antenna. + + This diagram illustrates the MEX_MELACOM_1 and MEX_MELACOM_2 frames: + + +X S/C side view: + ----------------- + ^ +Zm1 ^ +Zm2 + | | +Xm1, +Xm2 + | | are out of + | | the page + | +Ym1 | +Ym2 + .o-------> .o-------> + | | .' `. | | + MELACOM 1 | | \_____/ | | MELACOM 2 + ._____________. + |Science Deck | + =====================o | | o===================== + -Y SA | | +Y SA + | +Zsc | + | ^ | + | | | + | | | + .______|______. + | | | + .____o-------> +Ysc + +Xsc \ + /_____\ Main Engine + + + Nominally both antenna frames are co-aligned with the S/C 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_MEX_MELACOM_1 = -41031 + FRAME_-41031_NAME = 'MEX_MELACOM_1' + FRAME_-41031_CLASS = 4 + FRAME_-41031_CLASS_ID = -41031 + FRAME_-41031_CENTER = -41 + TKFRAME_-41031_RELATIVE = 'MEX_SPACECRAFT' + TKFRAME_-41031_SPEC = 'ANGLES' + TKFRAME_-41031_UNITS = 'DEGREES' + TKFRAME_-41031_AXES = ( 1, 2, 3 ) + TKFRAME_-41031_ANGLES = ( 0.0, 0.0, 0.0 ) + + FRAME_MEX_MELACOM_2 = -41032 + FRAME_-41032_NAME = 'MEX_MELACOM_2' + FRAME_-41032_CLASS = 4 + FRAME_-41032_CLASS_ID = -41032 + FRAME_-41032_CENTER = -41 + TKFRAME_-41032_RELATIVE = 'MEX_SPACECRAFT' + TKFRAME_-41032_SPEC = 'ANGLES' + TKFRAME_-41032_UNITS = 'DEGREES' + TKFRAME_-41032_AXES = ( 1, 2, 3 ) + TKFRAME_-41032_ANGLES = ( 0.0, 0.0, 0.0 ) + + \begintext + + +MEX Low Gain Antenna Frame +-------------------------------------- + + The MEX_LGA frame is a fixed offset frame with its orientation give + relative to the MEX_SPACECRAFT frame. + + The MEX_LGA frame is defined as follows: + + - Z axis is along <<TBD>> ; + + - Y axis is along <<TBD>> ; + + - X completes the right hand frame; + + - the origin of the MEX_LGA frame is located at <<TBD>> . + + 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_MEX_LGA = -41040 + FRAME_-41040_NAME = 'MEX_LGA' + FRAME_-41040_CLASS = 4 + FRAME_-41040_CLASS_ID = -41040 + FRAME_-41040_CENTER = -41 + TKFRAME_-41040_RELATIVE = 'MEX_SPACECRAFT' + TKFRAME_-41040_SPEC = 'ANGLES' + TKFRAME_-41040_UNITS = 'DEGREES' + TKFRAME_-41040_AXES = ( 1, 2, 3 ) + TKFRAME_-41040_ANGLES = ( 000.000, 000.000, 000.000 ) + + \begintext + + +Star Tracker Frames +-------------------------------------- + + The Star Tracker STR_A and STR_B frames -- MEX_STR_A and MEX_STR_B + -- are defined as follows: + + - +Z axis points along the Star Tracker boresight; + + - +Y axis is nominally parallel to the S/C YZ plane and points + in the direction of the S/C -Y axis; + + - +X axis completes the right hand frame; + + - the origin of the frame is located at the Star Tracker focal + point. + + This diagram illustrates the Star Tracker frames: + + +Z S/C side (science deck side) view: + ------------------------------------------------- + + ~15 deg ~15 deg + \<--->| |<--->/ + + +Zstr-b ^ ^ +Zstr-a + \ / + \ / + .\___________/. + <-------* <-------* | + +Ystr-b |/ +Ystr-a \| + / \ +Ysc + o==/ /==================o/| o------->o==================/ /==o + -Y Solar Array v | | | v +Y Solar Array + +Xstr-b | | | +Xstr-a + .______|______. + .' V +Xsc + HGA /___________\ +Zsc is out of the page + `.|.' + +Zstr-a, +Zstr-b, +Xstr-a and + +Xstr-b are ~45 deg below the page + + +Ystr-a is ~20 deg below the page + + +Ystr-b is ~20 deg above the page + + + Star Tracker frame alignment matrices rotating vectors from the S/C + frame to the Star Tracker frames had been provided by Michael Mueller + (ESOC) and were cited in [20]: + + STR_A boresight in S/C frame: [-0.682765542 0.258035685 -0.683555996] + STR_B boresight in S/C frame: [-0.682268486 -0.259031278 -0.683675735] + + + The boresights are defined relative to the MEX_SPACECRAFT frame. Given + the boresight the rotation from the MEX_SPACECRAFT frame to the + MEX_STR_A and MEX_STR_B frames can be represented by the following + rotation angles in degrees: + + str-a + M = |0.0| * |-43.06013208133495| * |-159.3189701261016| + sc Z Y X + + str-b + M = |0.0| * |-43.02116586137415| * |159.24928820009603| + sc Z Y X + + + Here, we need the rotation matrices from the Star Tracker frames to + the S/C frame, and hence the inverse of the above matrices, which is + the same as the transpose for rotation matrices. This is incorporated + by the frame definitions below. + + \begindata + + FRAME_MEX_STR_A = -41051 + FRAME_-41051_NAME = 'MEX_STR_A' + FRAME_-41051_CLASS = 4 + FRAME_-41051_CLASS_ID = -41051 + FRAME_-41051_CENTER = -41 + TKFRAME_-41051_RELATIVE = 'MEX_SPACECRAFT' + TKFRAME_-41051_SPEC = 'ANGLES' + TKFRAME_-41051_UNITS = 'DEGREES' + TKFRAME_-41051_AXES = ( 1, 2, 3 ) + TKFRAME_-41051_ANGLES = ( + 159.3189701261016, 43.06013208133495, 0.0 + ) + + FRAME_MEX_STR_B = -41052 + FRAME_-41052_NAME = 'MEX_STR_B' + FRAME_-41052_CLASS = 4 + FRAME_-41052_CLASS_ID = -41052 + FRAME_-41052_CENTER = -41 + TKFRAME_-41052_RELATIVE = 'MEX_SPACECRAFT' + TKFRAME_-41052_SPEC = 'ANGLES' + TKFRAME_-41052_UNITS = 'DEGREES' + TKFRAME_-41052_AXES = ( 1, 2, 3 ) + TKFRAME_-41052_ANGLES = ( + -159.24928820009603, 43.02116586137415, 0.0 + ) + + \begintext + + +ASPERA Frames +======================================================================== + + This section of the file contains the definitions of the ASPERA + instrument frames. + + +ASPERA Frame Tree +-------------------------------------- + + The diagram below shows the ASPERA frame hierarchy. + + + "J2000" INERTIAL + +-----------------------------------------------------+ + | | | + |<-pck | |<-pck + | | | + V | V + "IAU_MARS" | "IAU_EARTH" + MARS BODY-FIXED |<-ck EARTH BODY-FIXED + --------------- | ---------------- + V + "MEX_SPACECRAFT" + +-----------------------------------+ + | | + |<-fixed |<-fixed + | | + V V + "MEX_ASPERA_URF" "MEX_ASPERA_IMA_URF" + ---------------- -------------------- + | | + | |<-fixed + | | + | V + | "MEX_ASPERA_IMA" + | ---------------- + | | + | |<-fixed + | | + | V + | "MEX_ASPERA_IMAS" + | ----------------- + | + | + | + | "MEX_ASPERA_SS1" "MEX_ASPERA_SS2" + | ---------------- ---------------- + | | | + |<-ck |<-fixed |<-fixed + | | | + V | | + "MEX_ASPERA_SAF" | | + -----------------------------------------------------------------+ + | | | | + |<-fixed |<-fixed |<-fixed fixed->| + | | | | + V V V V + "MEX_ASPERA_ELS" "MEX_ASPERA_NPI" "MEX_ASPERA_NPD1" "MEX_ASPERA_NPD2" + ---------------- ---------------- ----------------- ----------------- + + +ASPERA Main Unit URF and SAF Frames +-------------------------------------- + + The ASPERA main unit base is rigidly mounted on the S/C science + deck. Therefore, the frame associated with it -- the ASPERA main + unit reference frame, MEX_ASPERA_URF, -- is a fixed offset frame + with its orientation given relative to the MEX_SPACECRAFT frame. + + The MEX_ASPERA_URF frame is defined as follows: + + - +Z axis is along the scanner rotation axis and points from the + main unit mounting plate toward the scanner (nominally this + axis is co-aligned with the S/C +Z axis); + + - +X axis is parallel to the longer side of the main unit base + and points from the NPD side towards the ELS side for scanner + in "90 degrees" position (nominally this axis is co-aligned + with the S/C -Y axis); + + - +Y completes the right handed frame; + + - the origin of the frame is located at the intersection of the + mounting surface of the main unit base and the axis of the + mounting screw hole located at NPD2 side for scanner in "90 + degrees" position. + + Nominally this frame is rotated by -90 degrees about Z axis from the + S/C frame. + + Since ASPERA main unit scanner rotates with respect to its base with + 0..180 angle range clockwise about Z axis of the MEX_ASPERA_URF + frame, the frame associated with it -- the sensor assembly frame, + MEX_ASPERA_SAF, -- is defined as a CK frame with its orientation + provided in a CK file relative to the MEX_ASPERA_URF frame. + + The MEX_ASPERA_SAF frame is defined as follows: + + - +Z axis is along the scanner rotation axis and points from the + main unit mounting plate toward the scanner; this axis is + co-aligned with the +Z axis of the MEX_ASPERA_URF frame; + + - +X axis is along the ASPERA sensor assembly central axis and + points from the NPD sensor towards the ELS sensor; this axis + is co-aligned with the +X axis of the MEX_ASPERA_URF frame + when scanner is in "90 degrees" position. + + - +Y axis completes the right handed frame; + + - the origin of the MEX_ASPERA_SAF frame is located at the + intersection of the scanner rotation axis and the bottom + (mounting) surface of the scanner base. + + This diagram illustrates the MEX_ASPERA_URF and MEX_ASPERA_SAF + frames for the scanner angle of 135 degrees: + + +Z S/C side view: + ----------------- + "180 deg" + position + "135 deg" | + position `. . + ` | + HGA + +Xsaf ^. ___________ + "90 deg" `. \ / + position _________ `.__`._____.'__ _________________ + -.- \ o +Zsaf | / | + | +Xurf <---.'--o +Zurf | / | + | .' | | | | | + | V|o=| | o-------> +Ysc | + | +Ysaf | | | | +Zsc | . | + | / | V | | \ | + ._________________/ +Yurf |______. \_________________. + -Y Solar Array V +Y Solar Array + +Xsc + | + . + | + "0 deg" +Zsc, +Zsaf and +Zurf + position axes are out of the page + + In general the MEX_ASPERA_SAF frame is rotated with respect to the + MEX_ASPERA_URF frame by ( 90-<angle> ) degrees about +Z axis for + scanner in <angle> position. This rotation as a function of time is + provided in the ASPERA scanner CK files. + + Thus, in "0 degrees" scanner position the SAF frame is co-aligned + with the S/C frame; in "90 degrees" scanner position the SAF frame + is co-aligned with the URF frame: + + "0 deg" position: "90 deg" position + ----------------- ----------------- + + o-------> +Ysaf +Xsaf <-------o + <-----|-o <-----|-o + +Xurf | | +Xurf | | + | | o-------> +Ysc | | o--------> +Ysc + +Xsaf V | | +Ysaf V | | + V | V | + +Yurf | +Yurf | + V V + +Xsc +Xsc + + These sets of keywords define the ASPERA URF and SAF frames: + + \begindata + + FRAME_MEX_ASPERA_URF = -41110 + FRAME_-41110_NAME = 'MEX_ASPERA_URF' + FRAME_-41110_CLASS = 4 + FRAME_-41110_CLASS_ID = -41110 + FRAME_-41110_CENTER = -41 + TKFRAME_-41110_RELATIVE = 'MEX_SPACECRAFT' + TKFRAME_-41110_SPEC = 'ANGLES' + TKFRAME_-41110_UNITS = 'DEGREES' + TKFRAME_-41110_AXES = ( 1, 2, 3 ) + TKFRAME_-41110_ANGLES = ( 0.0, 0.0, 90.0 ) + + FRAME_MEX_ASPERA_SAF = -41111 + FRAME_-41111_NAME = 'MEX_ASPERA_SAF' + FRAME_-41111_CLASS = 3 + FRAME_-41111_CLASS_ID = -41111 + FRAME_-41111_CENTER = -41 + CK_-41111_SCLK = -41 + CK_-41111_SPK = -41 + + \begintext + + +ASPERA Main Unit Sensor Frames +-------------------------------------- + + Because ASPERA main unit sensors are rigidly mounted on the scanner, + their corresponding frames -- MEX_ASPERA_ELS, MEX_ASPERA_NPI, + MEX_ASPERA_NPD1, and MEX_ASPERA_NPD2 -- are defined as fixed-offset + frames with respect to the MEX_ASPERA_SAF frame. + + ELS and NPI sensor frames are defined such that their axes are + co-aligned with the axes of the MEX_ASPERA_SAF frame and their + origins are at the sensors' "focal points", located at the + intersection of the sensor's aperture plane and the sensor's + symmetry axis. + + NPD1 and NPD2 sensor frames are defined such that their +Y and +Z + axes are in the sensor's aperture plane, with the +Z axis along the + central axis of the aperture (view direction of the middle sector), + and +X axis is perpendicular to the aperture plane and points in + direction of the SAF frame +X axis. The origins of these frames are + at the sensor "focal points", which are located in the sensor's + aperture plane at the point here the sensor sector view directions + intersect. + + In all cases the "focal point" of a particular sensor is the point + from which all sensor view direction are emanating. + + This diagram illustrates the ELS, NPI, NPD1, and NPD2 sensor frames + orientation w.r.t to the SAF, URF and spacecraft frames (for scanner + at 90 degrees position: + + +Xels + .--- ^ ---. ELS + | | | + +Yels |<---o | - - - - - - - - - - - - - - + | | ELS aperture + +Xnpi ^ -----. NPI plane + +Xss2 ^ | | + +Ynpi <---o | - - - - - - - - - - - - - + ----------- +Yss2 <---o o---> +Yss1 -. NPI aperture + / .--------------|----------. | plane + | | +Xsaf^ V +Xss1 | | + \ | | | | + / | +Ysaf <---o +Xnpd1 | | YZ of "npd1" frame + | | ^ +Znpd1 are in the aperture + \ | .-\--.^.| plane + / +Xnpd2 +Ynpd1 <--o' || +Xnpd1 is into the page + | ^ `------'| +Ynpd1 and +Znpd1 are + \ .---\---. NPD1 | | out of the page + / +Ynpd2 <---o | | | + | `--.'---' NPD2 Scanner | | YZ of "npd2" frame + \ +Znpd2 <'________________________. | are in the aperture + / | | | plane + | |^ +Xurf | | + \ || Base | | +Ynpd1 is into the page + \ +Yurf <---o____________________. | +Xnpd1 and +Znpd1 are + \ | out of the page + +Xsc \____ Nadir deck | + <---o \____________ | + | \__________________| +Z axes of all frames + V +Ysc are out of the page + + + These sets of keywords define the MEX_ASPERA_ELS and MEX_ASPERA_NPI + frames: + + \begindata + + FRAME_MEX_ASPERA_ELS = -41120 + FRAME_-41120_NAME = 'MEX_ASPERA_ELS' + FRAME_-41120_CLASS = 4 + FRAME_-41120_CLASS_ID = -41120 + FRAME_-41120_CENTER = -41 + TKFRAME_-41120_RELATIVE = 'MEX_ASPERA_SAF' + TKFRAME_-41120_SPEC = 'ANGLES' + TKFRAME_-41120_UNITS = 'DEGREES' + TKFRAME_-41120_AXES = ( 1, 2, 3 ) + TKFRAME_-41120_ANGLES = ( 0.0, 0.0, 0.0 ) + + FRAME_MEX_ASPERA_NPI = -41130 + FRAME_-41130_NAME = 'MEX_ASPERA_NPI' + FRAME_-41130_CLASS = 4 + FRAME_-41130_CLASS_ID = -41130 + FRAME_-41130_CENTER = -41 + TKFRAME_-41130_RELATIVE = 'MEX_ASPERA_SAF' + TKFRAME_-41130_SPEC = 'ANGLES' + TKFRAME_-41130_UNITS = 'DEGREES' + TKFRAME_-41130_AXES = ( 1, 2, 3 ) + TKFRAME_-41130_ANGLES = ( 0.0, 0.0, 0.0 ) + + \begintext + + The NPD1 aperture plane is tilted by 15 degrees towards +X axis of + the SAF frame about +Y/+Z line of the SAF frame. Thus, to align the + SAF frame with the NPD1 frame the SAF frame has to be rotated by +45 + degrees about X axis and then by +15 degrees about new position of Y + axis. + + The NPD2 aperture plane is tilted by 15 degrees towards -X axis of + the SAF frame about -Y/+Z line of the SAF frame. Thus, to align the + SAF frame with the NPD2 frame the SAF frame has to be rotated by -45 + degrees about X axis and then by -15 degrees about new position of Y + axis. + + 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. + + These sets of keywords define the MEX_ASPERA_NPD1 and MEX_ASPERA_NPD2 + frames: + + \begindata + + FRAME_MEX_ASPERA_NPD1 = -41141 + FRAME_-41141_NAME = 'MEX_ASPERA_NPD1' + FRAME_-41141_CLASS = 4 + FRAME_-41141_CLASS_ID = -41141 + FRAME_-41141_CENTER = -41 + TKFRAME_-41141_RELATIVE = 'MEX_ASPERA_SAF' + TKFRAME_-41141_SPEC = 'ANGLES' + TKFRAME_-41141_UNITS = 'DEGREES' + TKFRAME_-41141_AXES = ( 1, 2, 1 ) + TKFRAME_-41141_ANGLES = ( -45.0, -15.0, 0.0 ) + + FRAME_MEX_ASPERA_NPD2 = -41142 + FRAME_-41142_NAME = 'MEX_ASPERA_NPD2' + FRAME_-41142_CLASS = 4 + FRAME_-41142_CLASS_ID = -41142 + FRAME_-41142_CENTER = -41 + TKFRAME_-41142_RELATIVE = 'MEX_ASPERA_SAF' + TKFRAME_-41142_SPEC = 'ANGLES' + TKFRAME_-41142_UNITS = 'DEGREES' + TKFRAME_-41142_AXES = ( 1, 2, 1 ) + TKFRAME_-41142_ANGLES = ( 45.0, 15.0, 0.0 ) + + \begintext + + The ASPERA Solar Sensor 1 frame, MEX_ASPERA_SS1, is defined as follows: + + - +X axis is co-aligned with +X axis of the MEX_ASPERA_SAF + frame; + + - +Z axis is 15 degrees off +Z axis of the MEX_ASPERA_SAF frame + towards -Y axis of MEX_ASPERA_SAF frame; + + - +Y completes the right handed frame and is along the sensor + boresight direction; + + - the origin of the frame is located at the sensor's FOV focal + point. + + The ASPERA Solar Sensor 2 frame, MEX_ASPERA_SS2, is defined as follows: + + - +X axis is co-aligned with -X axis of the MEX_ASPERA_SAF + frame; + + - +Z axis is 15 degrees off +Z axis of the MEX_ASPERA_SAF frame + towards +Y axis of MEX_ASPERA_SAF frame; + + - +Y completes the right handed frame and is along the sensor + boresight direction; + + - the origin of the frame is located at the sensor's FOV focal + point. + + This diagram illustrates the MEX_ASPERA_SS1 and MEX_ASPERA_SS2 + frames: + + ^ +Zsaf + | + +Zss1 ^ | ^ +Zss2 + ..\.|./.. + .' \|/ `. + +Yss2 <-. .' | `. .-> +Yss1 + `-. /|\ .-' + . `-. / | \ .-' . + . +Xss2`x | o'+Xss1 . + . o--------------> +Ysaf + . +Xsaf . + . . + . . + . . + `. .' + ` ......... ' + + + Both frames are defined as fixed offset frames with respect to the + MEX_ASPERA_SAF frame. + + To align the SAF frame with the SS1 frame the SAF frame has to be + rotated by +15 degrees about X axis. + + To align the SAF frame with the SS2 frame the SAF frame has to be + rotated by 180 degrees about Z axis and then by +15 degrees about + new position of X axis. + + 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. + + These sets of keywords define the MEX_ASPERA_SS1 and MEX_ASPERA_SS2 + frames: + + \begindata + + FRAME_MEX_ASPERA_SS1 = -41161 + FRAME_-41161_NAME = 'MEX_ASPERA_SS1' + FRAME_-41161_CLASS = 4 + FRAME_-41161_CLASS_ID = -41161 + FRAME_-41161_CENTER = -41 + TKFRAME_-41161_RELATIVE = 'MEX_ASPERA_SAF' + TKFRAME_-41161_SPEC = 'ANGLES' + TKFRAME_-41161_UNITS = 'DEGREES' + TKFRAME_-41161_AXES = ( 3, 2, 1 ) + TKFRAME_-41161_ANGLES = ( 0.0, 0.0, -15.0 ) + + FRAME_MEX_ASPERA_SS2 = -41162 + FRAME_-41162_NAME = 'MEX_ASPERA_SS2' + FRAME_-41162_CLASS = 4 + FRAME_-41162_CLASS_ID = -41162 + FRAME_-41162_CENTER = -41 + TKFRAME_-41162_RELATIVE = 'MEX_ASPERA_SAF' + TKFRAME_-41162_SPEC = 'ANGLES' + TKFRAME_-41162_UNITS = 'DEGREES' + TKFRAME_-41162_AXES = ( 3, 2, 1 ) + TKFRAME_-41162_ANGLES = ( 180.0, 0.0, -15.0 ) + + \begintext + + +ASPERA Ion Mass Analyzer Unit Frames +-------------------------------------- + + The ASPERA IMA unit is rigidly mounted in the -X/-Y quadrant of the + on the S/C -Z ("main engine") deck and has no moving parts. + Therefore, the three ASPERA IMA frames -- IMA Unit Reference Frame + (MEX_ASPERA_IMA_URF), IMA sensor frame (MEX_ASPERA_IMA), and IMA + sensor head frame (MEX_ASPERA_IMAS) -- are defined as fixed offset + frames. + + The MEX_ASPERA_IMA_URF frame is defined as follows: + + - +Z axis is normal to the UMA unit mounting plate and points + from the the mounting plate toward the sensor (nominally this + axis is co-aligned with the S/C -Z axis); + + - +X axis is parallel to the longer side of the IMA unit base + and sensor symmetry axis and points towards the sensors + aperture side (nominally this axis is co-aligned with + the S/C -Y axis); + + - +Y completes the right handed frame; + + - the origin of the frame is located at the intersection of the + mounting surface of the IMA unit base and the axis of the + mounting screw hole located far right from the sensor aperture + (as seen on the top view with the sensor aperture at the bottom + on the page) + + The MEX_ASPERA_IMA frame is defined such that its axes are + co-aligned with the axes of the MEX_ASPERA_IMA_URF frame and its + origin is at the sensor's "focal point", located at the intersection + of the sensor's aperture symmetry plane and the sensor's symmetry + axis. + + The MEX_ASPERA_IMAS frame is defined such that its axes are aligned + with the axes of the MEX_ASPERA_IMA frame as follows: + + - +Z-imas points along the +X-ima axis + + - +X-imas axis points along the +Y-ima axis + + - +Y-imas axis points along the +Z-ima axis + + The origin of the MEX_ASPERA_IMAS is also at the sensor's "focal point". + + These diagrams illustrate the MEX_ASPERA_IMA_URF, MEX_ASPERA_IMA, and + MEX_ASPERA_IMAS frames: + + -Z S/C side view ("main engine" side): + -------------------------------------- + + +Xsc + -Y Solar Array ^ +Y Solar Array + ._________________ .______|______. .________________. + | \ | | | / | + | \ | | | / | + | | | |+Zsc | | | + | +Zimas |+Yimas x------->o| | + | +Xima |+Zima +Ysc . | + | <----o +Zimau | \ | + ._________________/ <----o__________. \_________________. + +Ximau | |' `. + V /|________\ + +Ximas V HGA + +Yima +Yimau + + +Zsc is into the page + +Zima, +Zimau, and +Yimas + are out of the page + + + -Z S/C side view ("main engine" side) -- zoom in: + ------------------------------------------------- + + -- ^ +Xsc + | \ | + | \__ | + | \_________ | + | \ | + | \ x-------> + IMA |._____________. \ +Zsc +Ysc + Aperture || o o | \ + .___________________. | \____ + +Zimas | | +Yimas | | \ + +Xima | | +Zima | | \ + <-------o | | | \ + | | | | | | IMA | + | | | | | | Mounting \ + .___|_______________. | plate | + | || o <-------o | | + +Ximas V |. +Ximau ___|_. / + +Yima | | | "Main Engine" + .____________|_______________/ Deck + | + +Yimau V + + + As seen in the diagram two rotations are needed to align the S/C + frame (MEX_SPACECRAFT) with the IMA URF frame (MEX_ASPERA_IMA_URF) + -- first rotation is by 180 degrees about Y axis, and then by -90 + degrees about new position of Z axis. + + No rotations are needed to align the IMA URF frame + (MEX_ASPERA_IMA_URF) with the IMA sensor frame (MEX_ASPERA_IMA). + + Two rotations -- first by +90 degrees about X axis and then by +90 + degrees about Y axis -- are needed to align the IMA sensor frame + (MEX_ASPERA_IMA) with the IMA sensor head frame (MEX_ASPERA_IMAS). + + 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_MEX_ASPERA_IMA_URF = -41150 + FRAME_-41150_NAME = 'MEX_ASPERA_IMA_URF' + FRAME_-41150_CLASS = 4 + FRAME_-41150_CLASS_ID = -41150 + FRAME_-41150_CENTER = -41 + TKFRAME_-41150_RELATIVE = 'MEX_SPACECRAFT' + TKFRAME_-41150_SPEC = 'ANGLES' + TKFRAME_-41150_UNITS = 'DEGREES' + TKFRAME_-41150_AXES = ( 1, 2, 3 ) + TKFRAME_-41150_ANGLES = ( 0.0, 180.0, 90.0 ) + + FRAME_MEX_ASPERA_IMA = -41151 + FRAME_-41151_NAME = 'MEX_ASPERA_IMA' + FRAME_-41151_CLASS = 4 + FRAME_-41151_CLASS_ID = -41151 + FRAME_-41151_CENTER = -41 + TKFRAME_-41151_RELATIVE = 'MEX_ASPERA_IMA_URF' + TKFRAME_-41151_SPEC = 'ANGLES' + TKFRAME_-41151_UNITS = 'DEGREES' + TKFRAME_-41151_AXES = ( 1, 2, 3 ) + TKFRAME_-41151_ANGLES = ( 0.0, 0.0, 0.0 ) + + FRAME_MEX_ASPERA_IMAS = -41152 + FRAME_-41152_NAME = 'MEX_ASPERA_IMAS' + FRAME_-41152_CLASS = 4 + FRAME_-41152_CLASS_ID = -41152 + FRAME_-41152_CENTER = -41 + TKFRAME_-41152_RELATIVE = 'MEX_ASPERA_IMA' + TKFRAME_-41152_SPEC = 'ANGLES' + TKFRAME_-41152_UNITS = 'DEGREES' + TKFRAME_-41152_AXES = ( 3 , 1, 2 ) + TKFRAME_-41152_ANGLES = ( 0.0, -90.0, -90.0 ) + + \begintext + + +HRSC Frames +======================================================================== + + This section of the file contains the definitions of the HRSC camera + frames. + + +HRSC Frame Tree +-------------------------------------- + + The diagram below shows the HRSC frame hierarchy. + + + "J2000" INERTIAL + +-----------------------------------------------------+ + | | | + |<-pck | |<-pck + | | | + V | V + "IAU_MARS" | "IAU_EARTH" + MARS BODY-FIXED |<-ck EARTH BODY-FIXED + --------------- | ---------------- + V + "MEX_SPACECRAFT" + ---------------- + | + |<-fixed + | + V + "MEX_HRSC_BASE" + +-----------------+ + | | + |<-fixed |<-fixed + | | + V V + "MEX_HRSC_HEAD" "MEX_HRSC_SRC" + --------------- -------------- + + +HRSC Base Frame +-------------------------------------- + + The HRSC camera base frame is defined by the camera design and its + mounting on the S/C as follows: + + - +Z axis is in the nominal direction of the HRSC main and SRC + camera boresights; it nominally points in the direction of the + S/C +Z axis; + + - +Y axis is perpendicular to the nominal direction of HRSC main + camera and SRC camera CCD lines and nominally points along the + S/C +Y axis, in the direction of flight; + + - +X completes the right hand frame and is parallel to the nominal + CCD detector lines; it nominally points in the direction of the + S/C +X axis; + + - the origin of the frame is located at the HRSC main camera focal + point. + + Because the HRSC camera is rigidly mounted on the S/C, the HRSC base + frame is defined as a fixed-offset frame with its orientation given + relative to the MEX_SPACECRAFT frame. Any misalignment between nominal + and actual HRSC camera mounting alignment measured pre-launch should + be incorporated into the definition of this frame. + + This diagram illustrates nominal MEX_HRSC_BASE frame with respect to the + spacecraft frame. + + +Z S/C side view: + ----------------- + direction + of flight (+Ysc) + ___________ HGA ----------> + \ / + .________________. .__`._____.'__. .________________. + | \ | | / | + | \ | | / | + | | | +Zsc +Ysc | | + | |o= o------->o| | + | | | | .___| . +Yhbase | + | / | | | o-------> | + ._________________/ .______|__._|_. \_________________. + -Y Solar Array | | HRSC +Y Solar Array + +Xsc V | + | + V +Xhbase + + +Zsc and +Zhbase are + out of page + + + Nominally, the HRSC base frame is co-aligned with the S/C 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_MEX_HRSC_BASE = -41200 + FRAME_-41200_NAME = 'MEX_HRSC_BASE' + FRAME_-41200_CLASS = 4 + FRAME_-41200_CLASS_ID = -41200 + FRAME_-41200_CENTER = -41 + TKFRAME_-41200_RELATIVE = 'MEX_SPACECRAFT' + TKFRAME_-41200_SPEC = 'ANGLES' + TKFRAME_-41200_UNITS = 'DEGREES' + TKFRAME_-41200_AXES = ( 1, 2, 3 ) + TKFRAME_-41200_ANGLES = ( 0.0, 0.0, 0.0 ) + + \begintext + + +HRSC Main Camera Frame +-------------------------------------- + + The HRSC main camera frame, MEX_HRSC_HEAD, is defined exactly as, and + is nominally co-aligned with, the HRSC camera base frame + MEX_HRSC_BASE. This frame is introduced to allow incorporating into + the HRSC frame chain any misalignment between the camera base and main + camera measured prior to delivering the camera for installation on the + S/C. + + The following in-flight calibrated misalignment angles were provided + by Thomas Roatsch on December 15, 2003: + + HRSC: ( -0.3340, 0.0101, 0.0 ) + + These values are included in the definition below. + + \begindata + + FRAME_MEX_HRSC_HEAD = -41210 + FRAME_-41210_NAME = 'MEX_HRSC_HEAD' + FRAME_-41210_CLASS = 4 + FRAME_-41210_CLASS_ID = -41210 + FRAME_-41210_CENTER = -41 + TKFRAME_-41210_RELATIVE = 'MEX_HRSC_BASE' + TKFRAME_-41210_SPEC = 'ANGLES' + TKFRAME_-41210_UNITS = 'DEGREES' + TKFRAME_-41210_AXES = ( 1, 2, 3 ) + TKFRAME_-41210_ANGLES = ( -0.3340, 0.0101, 0.0 ) + + \begintext + + +HRSC Super Resolution Camera Frame +-------------------------------------- + + The HRSC SRC camera frame, MEX_HRSC_SRC, frame is introduced to + allow incorporating into the HRSC frame chain any misalignment + between the camera base and the SRC camera. This frame is fixed with + respect to the the HRSC camera base frame, MEX_HRSC_BASE, and is + nominally rotated by -90 degrees about +Z from it, as shown on the + diagram: + + +Z S/C side view: + ----------------- + direction + of flight (+Ysc) + ___________ HGA ----------> + \ / + .________________. .__`._____.'__. .________________. + | \ | | / | + | \ | | / | + | | | +Zsc +Ysc | | + | |o= o------->o| | + | | | | .___| . +Yhbase | + | / +Xsrc <-------o-------> | + ._________________/ .______|__._|_. \_________________. + -Y Solar Array | | HRSC +Y Solar Array + +Xsc V | + | + V +Xhbase + +Ysrc + + +Zsc and +Zhbase are + out of page + + + The following in-flight calibrated misalignment angles were provided + by Thomas Roatsch on December 15, 2003 and were used in the FK versions + 0.5 to 1.1: + + SRC: ( -0.0735, -0.0301, 90.0 ) + + The following in-flight calibrated misalignment angles were provided + by Thomas Duxbury on December 3, 2013 and are currently used in the FK: + + SRC: ( -0.084154, -0.038531, 90.038 ) + + These values are included in the definition below. + + \begindata + + FRAME_MEX_HRSC_SRC = -41220 + FRAME_-41220_NAME = 'MEX_HRSC_SRC' + FRAME_-41220_CLASS = 4 + FRAME_-41220_CLASS_ID = -41220 + FRAME_-41220_CENTER = -41 + TKFRAME_-41220_RELATIVE = 'MEX_HRSC_BASE' + TKFRAME_-41220_SPEC = 'ANGLES' + TKFRAME_-41220_UNITS = 'DEGREES' + TKFRAME_-41220_AXES = ( 1, 2, 3 ) + TKFRAME_-41220_ANGLES = ( -0.084154, -0.038531, 90.038 ) + + \begintext + + +MARSIS Frames +======================================================================== + + This section of the file contains the definitions of the MARSIS + antenna frames. + + +MARSIS Frame Tree +-------------------------------------- + + The diagram below shows the MARSIS frame hierarchy. + + + "J2000" INERTIAL + +-----------------------------------------------------+ + | | | + |<-pck | |<-pck + | | | + V | V + "IAU_MARS" | "IAU_EARTH" + MARS BODY-FIXED |<-ck EARTH BODY-FIXED + --------------- | ---------------- + V + "MEX_SPACECRAFT" + +---------------------------------------------------------------+ + | | | | + |<-fixed |<-fixed |<-fixed | + | | | | + V V V | + "MEX_MARSIS_DIPOLE_1" "MEX_MARSIS_DIPOLE_2" "MEX_MARSIS_MONOPOLE" | + --------------------- --------------------- --------------------- | + | + fixed->| + | + V + "MEX_MARSIS_BASE" + ----------------- + + +MARSIS Antenna Frames +-------------------------------------- + + Because all three MARSIS antennas are rigidly mounted on the S/C, the + MARSIS antenna frames are defined as fixed-offset frames with their + orientation given relative to the MEX_SPACECRAFT frame. + + \begindata + + FRAME_MEX_MARSIS_BASE = -41300 + FRAME_-41300_NAME = 'MEX_MARSIS_BASE' + FRAME_-41300_CLASS = 4 + FRAME_-41300_CLASS_ID = -41300 + FRAME_-41300_CENTER = -41 + TKFRAME_-41300_RELATIVE = 'MEX_SPACECRAFT' + TKFRAME_-41300_SPEC = 'ANGLES' + TKFRAME_-41300_UNITS = 'DEGREES' + TKFRAME_-41300_AXES = ( 1, 2, 3 ) + TKFRAME_-41300_ANGLES = ( 000.000, 000.000, 000.000 ) + + FRAME_MEX_MARSIS_DIPOLE_1 = -41310 + FRAME_-41310_NAME = 'MEX_MARSIS_DIPOLE_1' + FRAME_-41310_CLASS = 4 + FRAME_-41310_CLASS_ID = -41310 + FRAME_-41310_CENTER = -41 + TKFRAME_-41310_RELATIVE = 'MEX_SPACECRAFT' + TKFRAME_-41310_SPEC = 'ANGLES' + TKFRAME_-41310_UNITS = 'DEGREES' + TKFRAME_-41310_AXES = ( 1, 2, 3 ) + TKFRAME_-41310_ANGLES = ( 000.000, 000.000, 000.000 ) + + FRAME_MEX_MARSIS_DIPOLE_2 = -41320 + FRAME_-41320_NAME = 'MEX_MARSIS_DIPOLE_2' + FRAME_-41320_CLASS = 4 + FRAME_-41320_CLASS_ID = -41320 + FRAME_-41320_CENTER = -41 + TKFRAME_-41320_RELATIVE = 'MEX_SPACECRAFT' + TKFRAME_-41320_SPEC = 'ANGLES' + TKFRAME_-41320_UNITS = 'DEGREES' + TKFRAME_-41320_AXES = ( 1, 2, 3 ) + TKFRAME_-41320_ANGLES = ( 000.000, 000.000, 000.000 ) + + FRAME_MEX_MARSIS_MONOPOLE = -41330 + FRAME_-41330_NAME = 'MEX_MARSIS_MONOPOLE' + FRAME_-41330_CLASS = 4 + FRAME_-41330_CLASS_ID = -41330 + FRAME_-41330_CENTER = -41 + TKFRAME_-41330_RELATIVE = 'MEX_SPACECRAFT' + TKFRAME_-41330_SPEC = 'ANGLES' + TKFRAME_-41330_UNITS = 'DEGREES' + TKFRAME_-41330_AXES = ( 1, 2, 3 ) + TKFRAME_-41330_ANGLES = ( 000.000, 000.000, 000.000 ) + + \begintext + + +OMEGA Frames +======================================================================== + + This section of the file contains the definitions of the OMEGA + frames. + + +OMEGA Frame Tree +-------------------------------------- + + The diagram below shows the OMEGA frame hierarchy. + + + "J2000" INERTIAL + +-----------------------------------------------------+ + | | | + |<-pck | |<-pck + | | | + V | V + "IAU_MARS" | "IAU_EARTH" + MARS BODY-FIXED |<-ck EARTH BODY-FIXED + --------------- | ---------------- + V + "MEX_SPACECRAFT" + ---------------- + | + |<-fixed + | + V + "MEX_OMEGA_SWIR_C" + +-----------------+ + | | + |<-fixed |<-fixed + | | + V V + "MEX_OMEGA_VNIR" "MEX_OMEGA_SWIR_L" + ---------------- ----------------- + + +OMEGA Frames +-------------------------------------- + + All three OMEGA frames -- MEX_OMEGA_SWIR_C, MEX_OMEGA_SWIR_L, and + MEX_OMEGA_VNIR -- are defined by the instrument design and mounting + on the S/C as follows: + + - +Z axis is nominally in the direction of the OMEGA VNIR and SWIR + channel boresights; it nominally points in the direction of the + S/C +Z axis; + + - +Y axis is perpendicular to the nominal OMEGA VNIR and SWIR image + lines; it nominally points along the S/C +Y axis, in the + direction of flight; + + - +X completes the right hand frame and is parallel to the nominal + VNIR and SWIR image lines; it nominally points along the S/C +X + axis; + + - the origins of the frames are located at the OMEGA SWIR and + VNIR channel telescope focal points. + + Because OMEGA is rigidly mounted on the S/C and its telescopes are + rigidly mounted to the instrument enclosure, all three frames are + defined as a fixed-offset frames. + + This diagram illustrates nominal MEX_OMEGA_* frames with respect to the + spacecraft frame. + + +Z S/C side view: + ----------------- + direction + of flight (+Ysc) + ___________ HGA ----------> + \ / + .________________. .__`._____.'__. .________________. + | \ | | / | + | \ | | / | + | | | +Zsc +Ysc | | + | |o= o------->o| | + | | | |._. | +Yomega_* | + | / | ||o-------> | + ._________________/ .______|.|.___. \__________________. + -Y Solar Array | | OMEGA +Y Solar Array + +Xsc V | + | + V +Xomega_* + + +Zsc and +Zomega_* are + out of the page + + + Nominally, all three OMEGA frames are co-aligned with the S/C frame. + + Because of the way the alignment calibrations have been performed, + the orientation of the MEX_OMEGA_SWIR_C frame is defined w.r.t. to + the MEX_SPACECRAFT frame while the orientations of the MEX_OMEGA_SWIR_L + and MEX_OMEGA_VNIR are given relative to it. + + The definitions below are based on the initial in-flight calibrated + values provided by N. Manaud on March 12, 2004 ([15]). + + \begindata + + FRAME_MEX_OMEGA_SWIR_C = -41421 + FRAME_-41421_NAME = 'MEX_OMEGA_SWIR_C' + FRAME_-41421_CLASS = 4 + FRAME_-41421_CLASS_ID = -41421 + FRAME_-41421_CENTER = -41 + TKFRAME_-41421_RELATIVE = 'MEX_SPACECRAFT' + TKFRAME_-41421_SPEC = 'ANGLES' + TKFRAME_-41421_UNITS = 'DEGREES' + TKFRAME_-41421_AXES = ( 1, 2, 3 ) + TKFRAME_-41421_ANGLES = ( -0.030, 0.249, 0.0 ) + + FRAME_MEX_OMEGA_SWIR_L = -41422 + FRAME_-41422_NAME = 'MEX_OMEGA_SWIR_L' + FRAME_-41422_CLASS = 4 + FRAME_-41422_CLASS_ID = -41422 + FRAME_-41422_CENTER = -41 + TKFRAME_-41422_RELATIVE = 'MEX_OMEGA_SWIR_C' + TKFRAME_-41422_SPEC = 'ANGLES' + TKFRAME_-41422_UNITS = 'DEGREES' + TKFRAME_-41422_AXES = ( 1, 2, 3 ) + TKFRAME_-41422_ANGLES = ( 0.0715, -0.0135, 0.0 ) + + FRAME_MEX_OMEGA_VNIR = -41410 + FRAME_-41410_NAME = 'MEX_OMEGA_VNIR' + FRAME_-41410_CLASS = 4 + FRAME_-41410_CLASS_ID = -41410 + FRAME_-41410_CENTER = -41 + TKFRAME_-41410_RELATIVE = 'MEX_OMEGA_SWIR_C' + TKFRAME_-41410_SPEC = 'ANGLES' + TKFRAME_-41410_UNITS = 'DEGREES' + TKFRAME_-41410_AXES = ( 1, 2, 3 ) + TKFRAME_-41410_ANGLES = ( -0.3067, 0.0, 0.0 ) + + \begintext + + +PFS Frames +======================================================================== + + This section of the file contains the definitions of the PFS frames. + + +PFS Frame Tree +-------------------------------------- + + The diagram below shows the PFS frame hierarchy. + + "J2000" INERTIAL + +-----------------------------------------------------+ + | | | + |<-pck | |<-pck + | | | + V | V + "IAU_MARS" | "IAU_EARTH" + MARS BODY-FIXED |<-ck EARTH BODY-FIXED + --------------- | ---------------- + V + "MEX_SPACECRAFT" + ---------------- + | + |<-fixed + | + V + "MEX_PFS_BASE" + +------------------------------------------+ + | | + |<-fixed |<-ck + | | + | V + | "MEX_PFS_SCANNER" + | +-----------------+ + | | | + | |<-fixed |<-fixed + | | | + | V V + | "MEX_PFS_SWC" "MEX_PFS_LWC" + | ------------- ------------- + | + V + "MEX_PFS_{NADIR_LWC/SWC,25_LEFT,12_LEFT,25_RIGHT,12_RIGHT,COLD_SPACE}" + ---------------------------------------------------------------------- + + +PFS Base and Scanner Frames +-------------------------------------- + + The PFS instrument is rigidly mounted on the S/C science + deck. Therefore, the PFS base frame, MEX_PFS_BASE, is a fixed offset + frame with its orientation given relative to the MEX_SPACECRAFT frame. + + The MEX_PFS_BASE frame is defined by the instrument design and its + mounting on the S/C as follows: + + - +Y axis is along the nominal PFS 'S' module scanner rotation + axis and nominal PFS 'O' module optical axis, and points from the + PFS 'S' module toward the PFS 'O' module; nominally this axis + is co-aligned with the S/C +Y axis; + + - +Z axis is parallel to the nominal direction of the PFS 'S' + scanner boresight in its 'nadir' (zero) position; it nominally + points in the same direction as the S/C +Z axis; + + - +X completes the right hand frame; it nominally points + in the same direction as the S/C +X axis; + + - the origin of this frame is located at the intersection of the + PFS 'S' scanner rotation axis and the scanner cylinder central + axis. + + Nominally this frame is co-aligned with the S/C frame. Any misalignment + between nominal and actual PFS mounting alignment measured pre-launch + can be incorporated into the definition of this frame. + + Since the PFS 'S' scanner rotates with respect to its base, the + MEX_PFS_SCANNER frame is defined as a CK frame with its orientation + provided in a CK file relative to the MEX_PFS_BASE frame. + + The MEX_PFS_SCANNER frame is defined as follows: + + - +Y axis is along the nominal PFS 'S' module scanner rotation + axis and nominal PFS 'O' module optical axis, and points from the + PFS 'S' module toward PFS 'O' module; nominally this axis + is co-aligned with the +Y axis of the MEX_PFS_BASE frame; + + - +Z axis is parallel to the PFS 'S' scanner boresight; in 'nadir' + scanner position it is co-aligned with the +Z axis of + the MEX_PFS_BASE frame; + + - +X completes the right hand frame; + + - the origin of this frame is located at the intersection of the + PFS 'S' scanner rotation axis and the scanner central axis. + + For an arbitrary scanner angle, the MEX_PFS_SCANNER frame is rotated by + this angle about the +Y axis with respect to the MEX_PFS_BASE frame. + + This diagram illustrates the MEX_PFS_BASE and MEX_PFS_SCANNER + frames for scanner angles of +25 degrees ('25 left') and -25 degrees + ('25 right'). Both diagrams are +Y S/C side view: + + + Scanner in '25 left' position Scanner in '25 right' position + ----------------------------- ------------------------------ + + +Zbase +Zbase + +Zscan ^ ^ +Zscan + ^ | +Xscan | ^ + \ | Science ^. | / Science + \ | PFS Deck `. | / Deck + \|___________. `.|/__________. + <-------o | | <-------o | | + +Xbase .' | =o======== +Xbase | | =o======== + .'|___. SA+Y PFS___. SA+Y + <' | +Zsc | | +Zsc | + +Xscan | ^ | | ^ | + | | | | | | + | | | | | | + .______|______. .______|______. + | | | | | | + <-------o____. <-------o____. + +Xsc / +Ysc +Xsc / +Ysc + /_____\ /_____\ + Main Engine Main Engine + + +Ysc, +Ybase, and +Yscan are out of the page + + + These sets of keywords define PFS base and scanner frames: + + \begindata + + FRAME_MEX_PFS_BASE = -41500 + FRAME_-41500_NAME = 'MEX_PFS_BASE' + FRAME_-41500_CLASS = 4 + FRAME_-41500_CLASS_ID = -41500 + FRAME_-41500_CENTER = -41 + TKFRAME_-41500_RELATIVE = 'MEX_SPACECRAFT' + TKFRAME_-41500_SPEC = 'ANGLES' + TKFRAME_-41500_UNITS = 'DEGREES' + TKFRAME_-41500_AXES = ( 1, 2, 3 ) + TKFRAME_-41500_ANGLES = ( 0.0, 0.0, 0.0 ) + + FRAME_MEX_PFS_SCANNER = -41530 + FRAME_-41530_NAME = 'MEX_PFS_SCANNER' + FRAME_-41530_CLASS = 3 + FRAME_-41530_CLASS_ID = -41530 + FRAME_-41530_CENTER = -41 + CK_-41530_SCLK = -41 + CK_-41530_SPK = -41 + + \begintext + + +PFS Detector Frames +-------------------------------------- + + Since both PFS detectors receive radiation through the scanner + and both essentially have a single pixel, their frames, MEX_PFS_SWC + and MEX_PFS_LWC, are defined to be nominally co-aligned with the PFS + scanner frame, MEX_PFS_SCANNER. These frames are introduced to allow + incorporating into the PFS frame chain any misalignment between the + scanner boresight direction and the individual detector view directions + measured prior to delivering the instrument for installation + on the S/C. + + The misalignment of the PFS detectors was done during comissioning + (see [19]): SW is pointing in the S/C +Y axis by 0.55 degrees. The LW + channel is pointing backward by 1.3, 0.945 degrees. + + \begindata + + FRAME_MEX_PFS_SWC = -41510 + FRAME_-41510_NAME = 'MEX_PFS_SWC' + FRAME_-41510_CLASS = 4 + FRAME_-41510_CLASS_ID = -41510 + FRAME_-41510_CENTER = -41 + TKFRAME_-41510_RELATIVE = 'MEX_PFS_SCANNER' + TKFRAME_-41510_SPEC = 'ANGLES' + TKFRAME_-41510_UNITS = 'DEGREES' + TKFRAME_-41510_AXES = ( 1, 2, 3 ) + TKFRAME_-41510_ANGLES = ( -0.55, 0.0, 0.0 ) + + FRAME_MEX_PFS_LWC = -41520 + FRAME_-41520_NAME = 'MEX_PFS_LWC' + FRAME_-41520_CLASS = 4 + FRAME_-41520_CLASS_ID = -41520 + FRAME_-41520_CENTER = -41 + TKFRAME_-41520_RELATIVE = 'MEX_PFS_SCANNER' + TKFRAME_-41520_SPEC = 'ANGLES' + TKFRAME_-41520_UNITS = 'DEGREES' + TKFRAME_-41520_AXES = ( 1, 2, 3 ) + TKFRAME_-41520_ANGLES = ( 1.3, -0.945, 0.0 ) + + \begintext + + +PFS Scanner Fixed Positions Frames +-------------------------------------- + + Because the PFS 'S' scanner can be rotated to only a limited number of + positions for external observations -- 'nadir', '25 deg left', '12.5 + deg left', '25 deg right', '12.5 deg right', and 'cold_space' -- a + fixed frame co-aligned with the scanner frame in each of these + positions is defined to allow computing scanner orientation without + needing to use CK. + + Each of these 'fixed-scanner-position' convenience frames is defined + as a fixed offset frame with respect to the MEX_PFS_BASE frame as follows: + + - +Y axis is along the nominal PFS 'S' module scanner rotation + axis and nominal PFS 'O' module optical axis, and points from the + PFS 'S' module toward PFS 'O' module; nominally this axis + is co-aligned with the +Y axis of the MEX_PFS_BASE frame; + + - +Z axis is parallel to the PFS 'S' scanner boresight at a particular + angle; + + - +X completes the right hand frame; + + - the origin of this frame is located at the intersection of the + PFS 'S' scanner rotation axis and scanner central axis. + + This diagram illustrates fixed PFS scanner pointing directions co-aligned + with the +Z axis of the corresponding 'fixed-scanner-position' (fsp) + frame: + + +Y S/C side view + ---------------- + +Zbase + ^ + | + + nadir + | + 12.5 left | 12.5 right + . | . + 25 left \ . | . / 25 right + \ .|. / + \.|./ + \|/__________. Science Deck + <--- cold -------o | | + +Xbase space | | =o======== + |___. SA+Y + PFS +Zsc | + | ^ | + | | | + | | | + .______|______. + | | | + <-------o____. + +Xsc / +Ysc + /_____\ + Main Engine + + +Ysc, +Ybase, and +Yfsp are out of the page + + + The 'fixed-scanner-position' frames are nominally rotated about the + +Y axis of the MEX_PFS_BASE frames by the following angles: + + Frame name Rotation Angle, deg + ---------------------- ------------------- + MEX_PFS_25_RIGHT -25.0 + MEX_PFS_12_RIGHT -12.5 + MEX_PFS_NADIR_LWC ~0.0 (*) + MEX_PFS_NADIR_SWC ~0.0 (*) + MEX_PFS_12_LEFT 12.5 + MEX_PFS_25_LEFT 25.0 + MEX_PFS_COLD_SPACE 85.0 + + + (*) Note that the MEX_PFS_NADIR_ include the comissioning missalignent + whereas the rest of the scanner fixed positions do not include the + missalignment. + + 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_MEX_PFS_25_RIGHT = -41535 + FRAME_-41535_NAME = 'MEX_PFS_25_RIGHT' + FRAME_-41535_CLASS = 4 + FRAME_-41535_CLASS_ID = -41535 + FRAME_-41535_CENTER = -41 + TKFRAME_-41535_RELATIVE = 'MEX_PFS_BASE' + TKFRAME_-41535_SPEC = 'ANGLES' + TKFRAME_-41535_UNITS = 'DEGREES' + TKFRAME_-41535_AXES = ( 1, 2, 3 ) + TKFRAME_-41535_ANGLES = ( 0.0, 25.0, 0.0 ) + + FRAME_MEX_PFS_12_RIGHT = -41534 + FRAME_-41534_NAME = 'MEX_PFS_12_RIGHT' + FRAME_-41534_CLASS = 4 + FRAME_-41534_CLASS_ID = -41534 + FRAME_-41534_CENTER = -41 + TKFRAME_-41534_RELATIVE = 'MEX_PFS_BASE' + TKFRAME_-41534_SPEC = 'ANGLES' + TKFRAME_-41534_UNITS = 'DEGREES' + TKFRAME_-41534_AXES = ( 1, 2, 3 ) + TKFRAME_-41534_ANGLES = ( 0.0, 12.5, 0.0 ) + + FRAME_MEX_PFS_NADIR_LWC = -41537 + FRAME_-41537_NAME = 'MEX_PFS_NADIR_LWC' + FRAME_-41537_CLASS = 4 + FRAME_-41537_CLASS_ID = -41537 + FRAME_-41537_CENTER = -41 + TKFRAME_-41537_RELATIVE = 'MEX_PFS_BASE' + TKFRAME_-41537_SPEC = 'ANGLES' + TKFRAME_-41537_UNITS = 'DEGREES' + TKFRAME_-41537_AXES = ( 1, 2, 3 ) + TKFRAME_-41537_ANGLES = ( 1.3, -0.945, 0.0 ) + + FRAME_MEX_PFS_NADIR_SWC = -41533 + FRAME_-41533_NAME = 'MEX_PFS_NADIR_SWC' + FRAME_-41533_CLASS = 4 + FRAME_-41533_CLASS_ID = -41533 + FRAME_-41533_CENTER = -41 + TKFRAME_-41533_RELATIVE = 'MEX_PFS_BASE' + TKFRAME_-41533_SPEC = 'ANGLES' + TKFRAME_-41533_UNITS = 'DEGREES' + TKFRAME_-41533_AXES = ( 1, 2, 3 ) + TKFRAME_-41533_ANGLES = ( -0.55, 0.0, 0.0 ) + + FRAME_MEX_PFS_12_LEFT = -41532 + FRAME_-41532_NAME = 'MEX_PFS_12_LEFT' + FRAME_-41532_CLASS = 4 + FRAME_-41532_CLASS_ID = -41532 + FRAME_-41532_CENTER = -41 + TKFRAME_-41532_RELATIVE = 'MEX_PFS_BASE' + TKFRAME_-41532_SPEC = 'ANGLES' + TKFRAME_-41532_UNITS = 'DEGREES' + TKFRAME_-41532_AXES = ( 1, 2, 3 ) + TKFRAME_-41532_ANGLES = ( 0.0, -12.5, 0.0 ) + + FRAME_MEX_PFS_25_LEFT = -41531 + FRAME_-41531_NAME = 'MEX_PFS_25_LEFT' + FRAME_-41531_CLASS = 4 + FRAME_-41531_CLASS_ID = -41531 + FRAME_-41531_CENTER = -41 + TKFRAME_-41531_RELATIVE = 'MEX_PFS_BASE' + TKFRAME_-41531_SPEC = 'ANGLES' + TKFRAME_-41531_UNITS = 'DEGREES' + TKFRAME_-41531_AXES = ( 1, 2, 3 ) + TKFRAME_-41531_ANGLES = ( 0.0, -25.0, 0.0 ) + + FRAME_MEX_PFS_COLD_SPACE = -41536 + FRAME_-41536_NAME = 'MEX_PFS_COLD_SPACE' + FRAME_-41536_CLASS = 4 + FRAME_-41536_CLASS_ID = -41536 + FRAME_-41536_CENTER = -41 + TKFRAME_-41536_RELATIVE = 'MEX_PFS_BASE' + TKFRAME_-41536_SPEC = 'ANGLES' + TKFRAME_-41536_UNITS = 'DEGREES' + TKFRAME_-41536_AXES = ( 1, 2, 3 ) + TKFRAME_-41536_ANGLES = ( 0.0, -85.0, 0.0 ) + + \begintext + + +SPICAM Frames +======================================================================== + + This section of the file contains the definitions of the SPICAM + frames. + + +SPICAM Frame Tree +-------------------------------------- + + The diagram below shows the SPICAM frame hierarchy. + + + "J2000" INERTIAL + +-----------------------------------------------------+ + | | | + |<-pck | |<-pck + | | | + V | V + "IAU_MARS" | "IAU_EARTH" + MARS BODY-FIXED |<-ck EARTH BODY-FIXED + --------------- | ---------------- + V + "MEX_SPACECRAFT" + ---------------- + | + |<-fixed + | + V + "MEX_SPICAM_BASE" + +-----------------------------------------------+ + | | | + |<-fixed |<--fixed |<--fixed + | | | + V V V + "MEX_SPICAM_STELLAR "MEX_SPICAM_NADIR" "MEX_SPICAM_SUN" + -------------------- ------------------ ---------------- + + +SPICAM Base Frame +-------------------------------------- + + SPICAM has two openings for Nadir viewing, one for UV channel, the other + for IR channel (UV1, IR1 nominally near the +Z S/C axis). In addition, + the UV and IR channel have an opening for Solar viewing (UV2, IR2, in the + XY plane nominally around 30 deg from the +X axis of the S/C ref frame). + + The SPICAM base frame is defined by the instrument design and its + mounting on the S/C as follows: + + - +Z axis is in the nominal direction of the SPICAM UV/nadir and + IR detector boresights; it nominally points in the direction of the + S/C +Z axis; + + - +X axis is parallel to the nominal direction of SPICAM UV CCD + columns; it is nominally along the S/C +X axis; + + - +Y completes the right hand frame; it is nominally along + the S/C +Y axis and points in the direction of flight; (*) + + - the origin of the frame is located at the SPICAM SUV detector + focal point. + + (*) SPICAM UV spectral dimension is along CCD lines, which are parallel + to Y,Z plane. SPICAM IR has a single pixel. + + Because the SPICAM instrument is rigidly mounted to the S/C, the SPICAM + base frame is defined as a fixed-offset frame with its orientation + given relative to the MEX_SPACECRAFT frame. Any misalignment between the + nominal and actual SPICAM mounting alignment measured pre-launch + can be incorporated into the definition of this frame. + + This diagram illustrates the nominal MEX_SPICAM_BASE frame with respect + to the spacecraft frame. + + +Z S/C side view: + ----------------- + direction + of flight (+Ysc) + ___________ HGA ----------> + \ / + .________________. .__`._____.'__. .________________. + | \ | | / | + | \ | +Ybase | / | + | | .____. | | | + | |o=|o---> o------->o| | + | SPICAM .|___. |+Zsc |+Ysc | + | / || | | \ | + ._________________/ .|_____|______. \_________________. + -Y Solar Array | | +Y Solar Array + V V + +Xbase +Xsc + + +Zsc and +Zbase are + out of the page + + + Nominally, the SPICAM base frame is co-aligned the S/C 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_MEX_SPICAM_BASE = -41600 + FRAME_-41600_NAME = 'MEX_SPICAM_BASE' + FRAME_-41600_CLASS = 4 + FRAME_-41600_CLASS_ID = -41600 + FRAME_-41600_CENTER = -41 + TKFRAME_-41600_RELATIVE = 'MEX_SPACECRAFT' + TKFRAME_-41600_SPEC = 'ANGLES' + TKFRAME_-41600_UNITS = 'DEGREES' + TKFRAME_-41600_AXES = ( 1, 2, 3 ) + TKFRAME_-41600_ANGLES = ( 0.0, 0.0, 0.0 ) + + \begintext + + +SPICAM Detector Frames +-------------------------------------- + + The SPICAM UV/IR detectors nadir and stellar occultation port frames -- + MEX_SPICAM_NADIR and MEX_SPICAM_STELLAR -- are defined as follows: + + - +Y axis points along IR/UV nadir and stellar occultation port + boresights; + + - +Z axis points nominally along the S/C -X axis; + + - +X axis completes the right hand frame; + + - the origin of the frame is located at the focal point. + + The SPICAM IR and UV detector solar port frame -- MEX_SPICAM_SOLAR -- + is defined as follows: + + - +X axis points along IR/UV solar port boresight; + + - +Z axis points nominally along the S/C +Z axis; + + - +Y axis completes the right hand frame; + + - the origin of the frame is located at the focal point. + + All three SPICAM detector port frames are defined with respect to the + SPICAM base frame -- MEX_SPICAM_BASE -- and incorporate into the SPICAM + frame chain misalignments between the instrument base and ports. The + alignment of the IR and VIR sensors is considered to be the same. + + This diagram illustrates all three SPICAM detector port frames: + + +Z S/C side view: + ----------------- + direction + +Zstel of flight (+Ysc) + +Xsol +Znad _________ HGA ----------> + ^ ^ / + .________________. \ .|_ ._____.'__. .________________. + | \ \ || | / | + | \ \|| | / | + | +Xstel | .o|___. +Ybase | | + | +Xnad <-------o-----o-> ----> | | + | <-' | .|___. | |+Ysc | + | +Ysol / || | | \ | + ._________________/ .|_____|______. \_________________. + -Y Solar Array | | +Y Solar Array + V V + +Xbase +Xsc + + +Ynad is the nadir port boresight (out of the the page) + + +Ystel is the stellar port boresight (out of the the page) + + +Xsol is the solar port boresight (in the page plane) + + +Zsc, +Zbase, and +Zsol are out of the page + + + The in-flight calibrated misalignments provided in [18], giving the + the rotations from the MEX_SPICAM_BASE frame to the MEX_SPICAM_STELLAR, + MEX_SPICAM_NADIR and MEX_SPICAM_SOLAR frames determined from the in-flight + calibration data, are incorporated in the frame definitions below. + + \begindata + + FRAME_MEX_SPICAM_STELLAR = -41601 + FRAME_-41601_NAME = 'MEX_SPICAM_STELLAR' + FRAME_-41601_CLASS = 4 + FRAME_-41601_CLASS_ID = -41601 + FRAME_-41601_CENTER = -41 + TKFRAME_-41601_RELATIVE = 'MEX_SPICAM_BASE' + TKFRAME_-41601_SPEC = 'ANGLES' + TKFRAME_-41601_UNITS = 'DEGREES' + TKFRAME_-41601_AXES = ( 1, 2, 3 ) + TKFRAME_-41601_ANGLES = ( 0.0, 89.83 , 90.0 ) + + FRAME_MEX_SPICAM_SOLAR = -41602 + FRAME_-41602_NAME = 'MEX_SPICAM_SOLAR' + FRAME_-41602_CLASS = 4 + FRAME_-41602_CLASS_ID = -41602 + FRAME_-41602_CENTER = -41 + TKFRAME_-41602_RELATIVE = 'MEX_SPICAM_BASE' + TKFRAME_-41602_SPEC = 'ANGLES' + TKFRAME_-41602_UNITS = 'DEGREES' + TKFRAME_-41602_AXES = ( 1, 2, 3 ) + TKFRAME_-41602_ANGLES = ( 0.0, -0.05, -210.30 ) + + FRAME_MEX_SPICAM_NADIR = -41603 + FRAME_-41603_NAME = 'MEX_SPICAM_NADIR' + FRAME_-41603_CLASS = 4 + FRAME_-41603_CLASS_ID = -41603 + FRAME_-41603_CENTER = -41 + TKFRAME_-41603_RELATIVE = 'MEX_SPICAM_BASE' + TKFRAME_-41603_SPEC = 'ANGLES' + TKFRAME_-41603_UNITS = 'DEGREES' + TKFRAME_-41603_AXES = ( 1, 2, 3 ) + TKFRAME_-41603_ANGLES = ( 0.0, 89.83 , 90.0 ) + + \begintext + + +VMC Frames +======================================================================== + + This section of the file contains the definitions of the VMC + frames. + + +VMC Frame Tree +-------------------------------------- + + The diagram below shows the VMC frame hierarchy. + + + "J2000" INERTIAL + +-----------------------------------------------------+ + | | | + |<-pck | |<-pck + | | | + V | V + "IAU_MARS" | "IAU_EARTH" + MARS BODY-FIXED |<-ck EARTH BODY-FIXED + --------------- | ---------------- + V + "MEX_SPACECRAFT" + ---------------- + | + |<-fixed + | + V + "MEX_VMC" + --------- + + +Visual Monitoring Camera (VMC) Frame +---------------------------------------- + + The MEX Visual Monitoring Camera is rigidly mounted on the instrument + deck of the S/C bus, therefore the VMC camera frame, MEX_VMC, is defined + as fixed offset frame with its orientation given relative to the + MEX_SPACECRAFT frame, and is nominally rotated by -19 degrees about S/C + +X, i.e. toward S/C +Y axis. + + The MEX_VMC frame is defined by the camera design and its mounting + on the S/C as follows: + + - +Z axis is in the nominal direction of the VMC camera boresight; + it points towards the S/C +Z axis, tilted 19 degrees towards the + S/C +Y axis. + + - +X axis is perpendicular to the CCD detector lines, and its nominally + along the S/C +X axis. + + - +Y completes the right hand frame; + + - the origin of the frame is located at the VMC camera focal point. + + This diagram illustrates the VMC frame: + + +X S/C side view: + ----------------- + + +Xvmc is + out of + the page + ^ +Zvmc + .' + .' `. + '\_____/ + +Xvmc_o.__________. + | `. | + =====================o | `.> | o===================== + -Y SA | +Yvmc| +Y SA + | +Zsc | + | ^ | + | | | + | | | + .______|______. + | | | + .____o-------> +Ysc + +Xsc \ + /_____\ Main Engine + + + + 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_MEX_VMC = -41700 + FRAME_-41700_NAME = 'MEX_VMC' + FRAME_-41700_CLASS = 4 + FRAME_-41700_CLASS_ID = -41700 + FRAME_-41700_CENTER = -41 + TKFRAME_-41700_RELATIVE = 'MEX_SPACECRAFT' + TKFRAME_-41700_SPEC = 'ANGLES' + TKFRAME_-41700_UNITS = 'DEGREES' + TKFRAME_-41700_AXES = ( 3, 2, 1 ) + TKFRAME_-41700_ANGLES = ( 0.0, 0.0, 19.0 ) + + \begintext + + +BEAGLE2 Frames +======================================================================== + + This section of the file contains the definitions of the Beagle-2 local + level, lander and instrument frames. + + +Beagle-2 Frame Tree +-------------------------------------- + + The diagram below shows the Beagle-2 Lander and its instruments frame + hierarchy. + + + "J2000" INERTIAL + +-----------------------------------------------------+ + | | | + |<-ck | |<-pck + | | | + V | V + "MEX_SPACECRAFT" | "IAU_EARTH" + --------------- |<-pck EARTH BODY-FIXED + | ---------------- + V + "IAU_MARS" + MARS BODY-FIXED + --------------- + | + |<-fixed + | + V + "BEAGLE2_LOCAL_LEVEL" + -------------------- + | + |<-fixed + | + V + "BEAGLE2_LANDER" + ---------------- + | + | + | + V + (Beagle-2 instrument + frames) + + +Beagle-2 Local Level frame +-------------------------------------- + + This BEAGLE2_LOCAL_LEVEL frame at the landing site is defined as + follows: + + - +Z axis is the normal outward at the landing site; + - +X axis points at local north; + - +Y completes the right hand frame; + - the origin of this frame is located on the surface under + the geometric center of the lander capsule; + + The orientation of the frame is fixed relative to the Mars fixed + rotating frame 'IAU_MARS' and is determined by the landing site + coordinates. + + The target Beagle-2 landing site selected on December 20, 2000 is + located at: + + 270.0 degrees west planetographic longitude, and + 10.6 degrees north planetographic latitude + + which is in Isidis Basin of Utopia Planitia. + + More accurate coordinates used by the project during summer/fall + 2003 are: + + 269.250 degrees west planetographic longitude, and + 11.734 degrees north planetographic latitude + + The transformation from 'BEAGLE2_LOCAL_LEVEL' frame to 'IAU_MARS' + frame is a 3-2-3 rotation with angles defined as the negative of the + site longitude, the negative of the site colatitude, 180 degrees. + + \begindata + + FRAME_BEAGLE2_LOCAL_LEVEL = -44900 + FRAME_-44900_NAME = 'BEAGLE2_LOCAL_LEVEL' + FRAME_-44900_CLASS = 4 + FRAME_-44900_CLASS_ID = -44900 + FRAME_-44900_CENTER = -44 + TKFRAME_-44900_RELATIVE = 'IAU_MARS' + TKFRAME_-44900_SPEC = 'ANGLES' + TKFRAME_-44900_UNITS = 'DEGREES' + TKFRAME_-44900_AXES = ( 3, 2, 3 ) + TKFRAME_-44900_ANGLES = ( 269.250, -78.266, 180.0 ) + + \begintext + + +Beagle-2 Lander Frame +-------------------------------------- + + The BEAGLE2 lander frame, BEAGLE2_LANDER, is defined by the lander + design as follows: + + - +Z axis is parallel to the lander capsule symmetry axis and + points up; + - +X axis point from +Z toward robotic arm; + - +Y axis completes the right hand frame; + - the origin of the frame is located at the intersection of the lander + main capsule outer rim plane and the lander main capsule symmetry + axis. + + Once landed the lander orientation is constant with respect to the + surface and, therefore, this frame is defined as a fixed-offset frame + with its orientation provided with respect to the BEAGLE2_LOCAL_LEVEL + frame. Should the lander orientation change due to sliding and/or science + instrument operations, BEAGLE2_LANDER frame should be re-defined as + a CK based frame. + + For nominal applications, the BEAGLE2_LANDER frame is assumed to be + co-aligned with the BEAGLE2_LOCAL_LEVEL frame. + + \begindata + + FRAME_BEAGLE2_LANDER = -44000 + FRAME_-44000_NAME = 'BEAGLE2_LANDER' + FRAME_-44000_CLASS = 4 + FRAME_-44000_CLASS_ID = -44000 + FRAME_-44000_CENTER = -44 + TKFRAME_-44000_RELATIVE = 'BEAGLE2_LOCAL_LEVEL' + TKFRAME_-44000_SPEC = 'ANGLES' + TKFRAME_-44000_UNITS = 'DEGREES' + TKFRAME_-44000_AXES = ( 1, 2, 3 ) + TKFRAME_-44000_ANGLES = ( 0.0, 0.0, 0.0 ) + + \begintext + + +Beagle-2 Instrument Frames +-------------------------------------- + + Beagle-2 instrument frames are TDB. + + +Mars Express Mission NAIF ID Codes -- Definition Section +======================================================================== + + This section contains name to NAIF ID mappings for the MEX mission. + + +Mars Express Spacecraft (MEX) spacecraft and instruments IDs: +------------------------------------------------------------- + + This table summarizes MEX Spacecraft IDs: + + Name ID Synonyms + --------------------- ------- --------------------------- + MEX -41 MARS EXPRESS, MARS-EXPRESS, + MARS_EXPRESS + Notes: + + -- 'MEX', 'MARS EXPRESS', 'MARS-EXPRESS', and 'MARS_EXPRESS' are + synonyms and all map to the official MEX S/C ID (-41); + + Name-ID Mapping keywords: + + \begindata + + NAIF_BODY_NAME += ( 'MEX' ) + NAIF_BODY_CODE += ( -41 ) + + NAIF_BODY_NAME += ( 'MARS EXPRESS' ) + NAIF_BODY_CODE += ( -41 ) + + NAIF_BODY_NAME += ( 'MARS-EXPRESS' ) + NAIF_BODY_CODE += ( -41 ) + + NAIF_BODY_NAME += ( 'MARS_EXPRESS' ) + NAIF_BODY_CODE += ( -41 ) + + \begintext + + +MEX Spacecraft Structures IDs +-------------------------------------- + + This table summarizes MEX Spacecraft Structure IDs: + + Name ID Synonyms + --------------------- ------- ------------------------- + MEX_SPACECRAFT -41000 MEX_SC + MEX_SA+Y -41011 + MEX_SA-Y -41012 + MEX_SA+Y_GIMBAL -41013 + MEX_SA-Y_GIMBAL -41014 + + MEX_HGA -41020 + MEX_MELACOM_1 -41031 + MEX_MELACOM_2 -41032 + MEX_LGA -41040 + + MEX_STR_A -41051 + MEX_STR_B -41052 + + Notes: + + -- 'MEX_SC' and 'MEX_SPACECRAFT' are synonyms and all map to the MEX + S/C bus structure ID (-41000); + + + Name-ID Mapping keywords: + + \begindata + + NAIF_BODY_NAME += ( 'MEX_SC' ) + NAIF_BODY_CODE += ( -41000 ) + + NAIF_BODY_NAME += ( 'MEX_SPACECRAFT' ) + NAIF_BODY_CODE += ( -41000 ) + + NAIF_BODY_NAME += ( 'MEX_SA+Y' ) + NAIF_BODY_CODE += ( -41011 ) + + NAIF_BODY_NAME += ( 'MEX_SA-Y' ) + NAIF_BODY_CODE += ( -41012 ) + + NAIF_BODY_NAME += ( 'MEX_SA+Y_GIMBAL' ) + NAIF_BODY_CODE += ( -41013 ) + + NAIF_BODY_NAME += ( 'MEX_SA-Y_GIMBAL' ) + NAIF_BODY_CODE += ( -41014 ) + + NAIF_BODY_NAME += ( 'MEX_HGA' ) + NAIF_BODY_CODE += ( -41020 ) + + NAIF_BODY_NAME += ( 'MEX_MELACOM_1' ) + NAIF_BODY_CODE += ( -41031 ) + + NAIF_BODY_NAME += ( 'MEX_MELACOM_2' ) + NAIF_BODY_CODE += ( -41032 ) + + NAIF_BODY_NAME += ( 'MEX_LGA' ) + NAIF_BODY_CODE += ( -41040 ) + + NAIF_BODY_NAME += ( 'MEX_STR_A' ) + NAIF_BODY_CODE += ( -41051 ) + + NAIF_BODY_NAME += ( 'MEX_STR_B' ) + NAIF_BODY_CODE += ( -41052 ) + + \begintext + + +ASPERA IDs +-------------------------------------- + + This table summarizes ASPERA IDs: + + + Name ID + --------------------- ------- + MEX_ASPERA -41100 + MEX_ASPERA_URF -41110 + MEX_ASPERA_SAF -41111 + MEX_ASPERA_ELS -41120 + MEX_ASPERA_NPI -41130 + MEX_ASPERA_NPD1 -41141 + MEX_ASPERA_NPD2 -41142 + MEX_ASPERA_IMA_URF -41150 + MEX_ASPERA_IMA -41151 + MEX_ASPERA_IMAS -41152 + MEX_ASPERA_SS1 -41161 + MEX_ASPERA_SS2 -41162 + + Name-ID Mapping keywords: + + \begindata + + NAIF_BODY_NAME += ( 'MEX_ASPERA' ) + NAIF_BODY_CODE += ( -41100 ) + + NAIF_BODY_NAME += ( 'MEX_ASPERA_URF' ) + NAIF_BODY_CODE += ( -41110 ) + + NAIF_BODY_NAME += ( 'MEX_ASPERA_SAF' ) + NAIF_BODY_CODE += ( -41111 ) + + NAIF_BODY_NAME += ( 'MEX_ASPERA_ELS' ) + NAIF_BODY_CODE += ( -41120 ) + + NAIF_BODY_NAME += ( 'MEX_ASPERA_NPI' ) + NAIF_BODY_CODE += ( -41130 ) + + NAIF_BODY_NAME += ( 'MEX_ASPERA_NPD1' ) + NAIF_BODY_CODE += ( -41141 ) + + NAIF_BODY_NAME += ( 'MEX_ASPERA_NPD2' ) + NAIF_BODY_CODE += ( -41142 ) + + NAIF_BODY_NAME += ( 'MEX_ASPERA_IMA_URF' ) + NAIF_BODY_CODE += ( -41150 ) + + NAIF_BODY_NAME += ( 'MEX_ASPERA_IMA' ) + NAIF_BODY_CODE += ( -41151 ) + + NAIF_BODY_NAME += ( 'MEX_ASPERA_IMAS' ) + NAIF_BODY_CODE += ( -41152 ) + + NAIF_BODY_NAME += ( 'MEX_ASPERA_SS1' ) + NAIF_BODY_CODE += ( -41161 ) + + NAIF_BODY_NAME += ( 'MEX_ASPERA_SS2' ) + NAIF_BODY_CODE += ( -41162 ) + + \begintext + +HRSC IDs +-------------------------------------- + + This table summarizes HRSC IDs: + + Name ID + --------------------- ------- + MEX_HRSC -41200 + MEX_HRSC_HEAD -41210 + MEX_HRSC_S2 -41211 + MEX_HRSC_RED -41212 + MEX_HRSC_P2 -41213 + MEX_HRSC_BLUE -41214 + MEX_HRSC_NADIR -41215 + MEX_HRSC_GREEN -41216 + MEX_HRSC_P1 -41217 + MEX_HRSC_IR -41218 + MEX_HRSC_S1 -41219 + MEX_HRSC_SRC -41220 + + Notes: + + -- each CCD line detector has its own ID to allow individual + CCD detector FOV definitions in the Instrument Kernel (IK). + + Name-ID Mapping keywords: + + \begindata + + NAIF_BODY_NAME += ( 'MEX_HRSC' ) + NAIF_BODY_CODE += ( -41200 ) + + NAIF_BODY_NAME += ( 'MEX_HRSC_HEAD' ) + NAIF_BODY_CODE += ( -41210 ) + + NAIF_BODY_NAME += ( 'MEX_HRSC_S2' ) + NAIF_BODY_CODE += ( -41211 ) + + NAIF_BODY_NAME += ( 'MEX_HRSC_RED' ) + NAIF_BODY_CODE += ( -41212 ) + + NAIF_BODY_NAME += ( 'MEX_HRSC_P2' ) + NAIF_BODY_CODE += ( -41213 ) + + NAIF_BODY_NAME += ( 'MEX_HRSC_BLUE' ) + NAIF_BODY_CODE += ( -41214 ) + + NAIF_BODY_NAME += ( 'MEX_HRSC_NADIR' ) + NAIF_BODY_CODE += ( -41215 ) + + NAIF_BODY_NAME += ( 'MEX_HRSC_GREEN' ) + NAIF_BODY_CODE += ( -41216 ) + + NAIF_BODY_NAME += ( 'MEX_HRSC_P1' ) + NAIF_BODY_CODE += ( -41217 ) + + NAIF_BODY_NAME += ( 'MEX_HRSC_IR' ) + NAIF_BODY_CODE += ( -41218 ) + + NAIF_BODY_NAME += ( 'MEX_HRSC_S1' ) + NAIF_BODY_CODE += ( -41219 ) + + NAIF_BODY_NAME += ( 'MEX_HRSC_SRC' ) + NAIF_BODY_CODE += ( -41220 ) + + \begintext + + +MARSIS IDs: +-------------------------------------- + + This table summarizes MARSIS IDs: + + Name ID + --------------------- ------- + MEX_MARSIS -41300 + MEX_MARSIS_250KM -41301 + MEX_MARSIS_1400KM -41302 + MEX_MARSIS_DIPOLE_1 -41310 + MEX_MARSIS_DIPOLE_2 -41320 + MEX_MARSIS_MONOPOLE -41330 + + Name-ID Mapping keywords: + + \begindata + + NAIF_BODY_NAME += ( 'MEX_MARSIS' ) + NAIF_BODY_CODE += ( -41300 ) + + NAIF_BODY_NAME += ( 'MEX_MARSIS_250KM' ) + NAIF_BODY_CODE += ( -41301 ) + + NAIF_BODY_NAME += ( 'MEX_MARSIS_1400KM' ) + NAIF_BODY_CODE += ( -41302 ) + + NAIF_BODY_NAME += ( 'MEX_MARSIS_DIPOLE_1' ) + NAIF_BODY_CODE += ( -41310 ) + + NAIF_BODY_NAME += ( 'MEX_MARSIS_DIPOLE_2' ) + NAIF_BODY_CODE += ( -41320 ) + + NAIF_BODY_NAME += ( 'MEX_MARSIS_MONOPOLE' ) + NAIF_BODY_CODE += ( -41330 ) + + \begintext + + +OMEGA IDs +-------------------------------------- + + This table summarizes OMEGA IDs: + + Name ID + --------------------- ------- + MEX_OMEGA -41400 + MEX_OMEGA_VNIR -41410 + MEX_OMEGA_SWIR -41420 + MEX_OMEGA_SWIR_C -41421 + MEX_OMEGA_SWIR_L -41422 + + Name-ID Mapping keywords: + + \begindata + + NAIF_BODY_NAME += ( 'MEX_OMEGA' ) + NAIF_BODY_CODE += ( -41400 ) + + NAIF_BODY_NAME += ( 'MEX_OMEGA_VNIR' ) + NAIF_BODY_CODE += ( -41410 ) + + NAIF_BODY_NAME += ( 'MEX_OMEGA_SWIR' ) + NAIF_BODY_CODE += ( -41420 ) + + NAIF_BODY_NAME += ( 'MEX_OMEGA_SWIR_C' ) + NAIF_BODY_CODE += ( -41421 ) + + NAIF_BODY_NAME += ( 'MEX_OMEGA_SWIR_L' ) + NAIF_BODY_CODE += ( -41422 ) + + \begintext + + +PFS IDs +-------------------------------------- + + This table summarizes PFS IDs: + + + Name ID + --------------------- ------- + MEX_PFS -41500 + MEX_PFS_SWC -41510 + MEX_PFS_SWC_25_LEFT -41511 + MEX_PFS_SWC_12_LEFT -41512 + MEX_PFS_SWC_NADIR -41513 + MEX_PFS_SWC_12_RIGHT -41514 + MEX_PFS_SWC_25_RIGHT -41515 + MEX_PFS_SWC_COLD_SPACE -41516 + MEX_PFS_LWC -41520 + MEX_PFS_LWC_25_LEFT -41521 + MEX_PFS_LWC_12_LEFT -41522 + MEX_PFS_LWC_NADIR -41523 + MEX_PFS_LWC_12_RIGHT -41524 + MEX_PFS_LWC_COLD_SPACE -41525 + MEX_PFS_SCANNER -41530 + + Name-ID Mapping keywords: + + \begindata + + NAIF_BODY_NAME += ( 'MEX_PFS' ) + NAIF_BODY_CODE += ( -41500 ) + + NAIF_BODY_NAME += ( 'MEX_PFS_SWC' ) + NAIF_BODY_CODE += ( -41510 ) + + NAIF_BODY_NAME += ( 'MEX_PFS_SWC_25_LEFT' ) + NAIF_BODY_CODE += ( -41511 ) + + NAIF_BODY_NAME += ( 'MEX_PFS_SWC_12_LEFT' ) + NAIF_BODY_CODE += ( -41512 ) + + NAIF_BODY_NAME += ( 'MEX_PFS_SWC_NADIR' ) + NAIF_BODY_CODE += ( -41513 ) + + NAIF_BODY_NAME += ( 'MEX_PFS_SWC_12_RIGHT' ) + NAIF_BODY_CODE += ( -41514 ) + + NAIF_BODY_NAME += ( 'MEX_PFS_SWC_25_RIGHT' ) + NAIF_BODY_CODE += ( -41515 ) + + NAIF_BODY_NAME += ( 'MEX_PFS_SWC_COLD_SPACE' ) + NAIF_BODY_CODE += ( -41516 ) + + NAIF_BODY_NAME += ( 'MEX_PFS_LWC' ) + NAIF_BODY_CODE += ( -41520 ) + + NAIF_BODY_NAME += ( 'MEX_PFS_LWC_25_LEFT' ) + NAIF_BODY_CODE += ( -41521 ) + + NAIF_BODY_NAME += ( 'MEX_PFS_LWC_12_LEFT' ) + NAIF_BODY_CODE += ( -41522 ) + + NAIF_BODY_NAME += ( 'MEX_PFS_LWC_NADIR' ) + NAIF_BODY_CODE += ( -41523 ) + + NAIF_BODY_NAME += ( 'MEX_PFS_LWC_12_RIGHT' ) + NAIF_BODY_CODE += ( -41524 ) + + NAIF_BODY_NAME += ( 'MEX_PFS_LWC_25_RIGHT' ) + NAIF_BODY_CODE += ( -41525 ) + + NAIF_BODY_NAME += ( 'MEX_PFS_LWC_COLD_SPACE' ) + NAIF_BODY_CODE += ( -41526 ) + + NAIF_BODY_NAME += ( 'MEX_PFS_SCANNER' ) + NAIF_BODY_CODE += ( -41530 ) + + \begintext + + +SPICAM IDs +-------------------------------------- + + This table summarizes SPICAM IDs: + + Name ID + -------------------------- ------- + MEX_SPICAM -41600 + MEX_SPICAM_UV -41610 + MEX_SPICAM_UV1_STAR -41611 + MEX_SPICAM_UV2_SUN -41612 + MEX_SPICAM_UV1_NADIR_SLIT -41613 + MEX_SPICAM_UV1_NADIR_BIN_2 -41614 + MEX_SPICAM_UV1_NADIR_BIN_4 -41615 + MEX_SPICAM_UV1_NADIR_BIN_8 -41616 + MEX_SPICAM_UV1_NADIR_BIN_16 -41617 + MEX_SPICAM_UV1_NADIR_BIN_32 -41618 + MEX_SPICAM_UV1_CCD -41619 + MEX_SPICAM_IR -41620 + MEX_SPICAM_IR1_STELLAR -41621 + MEX_SPICAM_IR2_SOLAR -41622 + MEX_SPICAM_IR1_NADIR -41623 + + Name-ID Mapping keywords: + + \begindata + + NAIF_BODY_NAME += ( 'MEX_SPICAM' ) + NAIF_BODY_CODE += ( -41600 ) + + NAIF_BODY_NAME += ( 'MEX_SPICAM_UV' ) + NAIF_BODY_CODE += ( -41610 ) + + NAIF_BODY_NAME += ( 'MEX_SPICAM_UV1_STAR' ) + NAIF_BODY_CODE += ( -41611 ) + + NAIF_BODY_NAME += ( 'MEX_SPICAM_UV2_SUN' ) + NAIF_BODY_CODE += ( -41612 ) + + NAIF_BODY_NAME += ( 'MEX_SPICAM_UV1_NADIR_SLIT' ) + NAIF_BODY_CODE += ( -41613 ) + + NAIF_BODY_NAME += ( 'MEX_SPICAM_UV1_NADIR_BIN_2' ) + NAIF_BODY_CODE += ( -41614 ) + + NAIF_BODY_NAME += ( 'MEX_SPICAM_UV1_NADIR_BIN_4' ) + NAIF_BODY_CODE += ( -41615 ) + + NAIF_BODY_NAME += ( 'MEX_SPICAM_UV1_NADIR_BIN_8' ) + NAIF_BODY_CODE += ( -41616 ) + + NAIF_BODY_NAME += ( 'MEX_SPICAM_UV1_NADIR_BIN_16' ) + NAIF_BODY_CODE += ( -41617 ) + + NAIF_BODY_NAME += ( 'MEX_SPICAM_UV1_NADIR_BIN_32' ) + NAIF_BODY_CODE += ( -41618 ) + + NAIF_BODY_NAME += ( 'MEX_SPICAM_UV1_CCD' ) + NAIF_BODY_CODE += ( -41619 ) + + NAIF_BODY_NAME += ( 'MEX_SPICAM_IR' ) + NAIF_BODY_CODE += ( -41620 ) + + NAIF_BODY_NAME += ( 'MEX_SPICAM_IR1_STAR' ) + NAIF_BODY_CODE += ( -41621 ) + + NAIF_BODY_NAME += ( 'MEX_SPICAM_IR2_SUN' ) + NAIF_BODY_CODE += ( -41622 ) + + NAIF_BODY_NAME += ( 'MEX_SPICAM_IR1_NADIR' ) + NAIF_BODY_CODE += ( -41623 ) + + \begintext + + +VMC IDs +-------------------------------------- + + This table summarizes VMC IDs: + + Name ID + -------------------------- ------- + MEX_VMC -41700 + + Name-ID Mapping keywords: + + \begindata + + NAIF_BODY_NAME += ( 'MEX_VMC' ) + NAIF_BODY_CODE += ( -41700 ) + + \begintext + + +Mars Express Beagle-2 (BEAGLE2) Lander and its instruments IDs +-------------------------------------------------------------- + + This table summarizes Beagle-2 lander and its instrument IDs: + + Name ID Synonyms + --------------------- ------- ------------------------- + BEAGLE2 -44 BEAGLE 2, BEAGLE-2, + BEAGLE_2 + BEAGLE2_LANDER -44000 + BEAGLE2_GAP -44100 + BEAGLE2_PAW -44200 + BEAGLE2_LANDING_SITE -44900 BEAGLE2_LS, BEAGLE2_SITE + + Notes: + + -- 'BEAGLE2', 'BEAGLE 2', 'BEAGLE-2', and 'BEAGLE_2' are + synonyms and all map to the official Beagle-2 S/C ID (-44); + + -- 'BEAGLE2_LANDING_SITE', 'BEAGLE2_LS' and 'BEAGLE2_SITE' are + synonyms and all map to Beagle-2 landing site ID (-44000); + + Name-ID Mapping keywords: + + \begindata + + NAIF_BODY_NAME += ( 'BEAGLE2' ) + NAIF_BODY_CODE += ( -44 ) + + NAIF_BODY_NAME += ( 'BEAGLE 2' ) + NAIF_BODY_CODE += ( -44 ) + + NAIF_BODY_NAME += ( 'BEAGLE-2' ) + NAIF_BODY_CODE += ( -44 ) + + NAIF_BODY_NAME += ( 'BEAGLE_2' ) + NAIF_BODY_CODE += ( -44 ) + + NAIF_BODY_NAME += ( 'BEAGLE2_LANDER' ) + NAIF_BODY_CODE += ( -44000 ) + + NAIF_BODY_NAME += ( 'BEAGLE2_GAP' ) + NAIF_BODY_CODE += ( -44100 ) + + NAIF_BODY_NAME += ( 'BEAGLE2_PAW' ) + NAIF_BODY_CODE += ( -44200 ) + + NAIF_BODY_NAME += ( 'BEAGLE2_LANDING_SITE' ) + NAIF_BODY_CODE += ( -44900 ) + + NAIF_BODY_NAME += ( 'BEAGLE2_LS' ) + NAIF_BODY_CODE += ( -44900 ) + + NAIF_BODY_NAME += ( 'BEAGLE2_SITE' ) + NAIF_BODY_CODE += ( -44900 ) + + \begintext + + +End of FK file. \ No newline at end of file diff --git a/tests/pytests/data/H0010_0023_SR2/naif0012.tls b/tests/pytests/data/H0010_0023_SR2/naif0012.tls new file mode 100644 index 0000000000000000000000000000000000000000..e1afdee1b626e01a3f1b04ef8a43154e83972e56 --- /dev/null +++ b/tests/pytests/data/H0010_0023_SR2/naif0012.tls @@ -0,0 +1,152 @@ +KPL/LSK + + +LEAPSECONDS KERNEL FILE +=========================================================================== + +Modifications: +-------------- + +2016, Jul. 14 NJB Modified file to account for the leapsecond that + will occur on December 31, 2016. + +2015, Jan. 5 NJB Modified file to account for the leapsecond that + will occur on June 30, 2015. + +2012, Jan. 5 NJB Modified file to account for the leapsecond that + will occur on June 30, 2012. + +2008, Jul. 7 NJB Modified file to account for the leapsecond that + will occur on December 31, 2008. + +2005, Aug. 3 NJB Modified file to account for the leapsecond that + will occur on December 31, 2005. + +1998, Jul 17 WLT Modified file to account for the leapsecond that + will occur on December 31, 1998. + +1997, Feb 22 WLT Modified file to account for the leapsecond that + will occur on June 30, 1997. + +1995, Dec 14 KSZ Corrected date of last leapsecond from 1-1-95 + to 1-1-96. + +1995, Oct 25 WLT Modified file to account for the leapsecond that + will occur on Dec 31, 1995. + +1994, Jun 16 WLT Modified file to account for the leapsecond on + June 30, 1994. + +1993, Feb. 22 CHA Modified file to account for the leapsecond on + June 30, 1993. + +1992, Mar. 6 HAN Modified file to account for the leapsecond on + June 30, 1992. + +1990, Oct. 8 HAN Modified file to account for the leapsecond on + Dec. 31, 1990. + + +Explanation: +------------ + +The contents of this file are used by the routine DELTET to compute the +time difference + +[1] DELTA_ET = ET - UTC + +the increment to be applied to UTC to give ET. + +The difference between UTC and TAI, + +[2] DELTA_AT = TAI - UTC + +is always an integral number of seconds. The value of DELTA_AT was 10 +seconds in January 1972, and increases by one each time a leap second +is declared. Combining [1] and [2] gives + +[3] DELTA_ET = ET - (TAI - DELTA_AT) + + = (ET - TAI) + DELTA_AT + +The difference (ET - TAI) is periodic, and is given by + +[4] ET - TAI = DELTA_T_A + K sin E + +where DELTA_T_A and K are constant, and E is the eccentric anomaly of the +heliocentric orbit of the Earth-Moon barycenter. Equation [4], which ignores +small-period fluctuations, is accurate to about 0.000030 seconds. + +The eccentric anomaly E is given by + +[5] E = M + EB sin M + +where M is the mean anomaly, which in turn is given by + +[6] M = M + M t + 0 1 + +where t is the number of ephemeris seconds past J2000. + +Thus, in order to compute DELTA_ET, the following items are necessary. + + DELTA_TA + K + EB + M0 + M1 + DELTA_AT after each leap second. + +The numbers, and the formulation, are taken from the following sources. + + 1) Moyer, T.D., Transformation from Proper Time on Earth to + Coordinate Time in Solar System Barycentric Space-Time Frame + of Reference, Parts 1 and 2, Celestial Mechanics 23 (1981), + 33-56 and 57-68. + + 2) Moyer, T.D., Effects of Conversion to the J2000 Astronomical + Reference System on Algorithms for Computing Time Differences + and Clock Rates, JPL IOM 314.5--942, 1 October 1985. + +The variable names used above are consistent with those used in the +Astronomical Almanac. + +\begindata + +DELTET/DELTA_T_A = 32.184 +DELTET/K = 1.657D-3 +DELTET/EB = 1.671D-2 +DELTET/M = ( 6.239996D0 1.99096871D-7 ) + +DELTET/DELTA_AT = ( 10, @1972-JAN-1 + 11, @1972-JUL-1 + 12, @1973-JAN-1 + 13, @1974-JAN-1 + 14, @1975-JAN-1 + 15, @1976-JAN-1 + 16, @1977-JAN-1 + 17, @1978-JAN-1 + 18, @1979-JAN-1 + 19, @1980-JAN-1 + 20, @1981-JUL-1 + 21, @1982-JUL-1 + 22, @1983-JUL-1 + 23, @1985-JUL-1 + 24, @1988-JAN-1 + 25, @1990-JAN-1 + 26, @1991-JAN-1 + 27, @1992-JUL-1 + 28, @1993-JUL-1 + 29, @1994-JUL-1 + 30, @1996-JAN-1 + 31, @1997-JUL-1 + 32, @1999-JAN-1 + 33, @2006-JAN-1 + 34, @2009-JAN-1 + 35, @2012-JUL-1 + 36, @2015-JUL-1 + 37, @2017-JAN-1 ) + +\begintext + + diff --git a/tests/pytests/data/H0010_0023_SR2/pck00009.tpc b/tests/pytests/data/H0010_0023_SR2/pck00009.tpc new file mode 100644 index 0000000000000000000000000000000000000000..bfadaab2b26817327189ff3173e9609f49dedc9d --- /dev/null +++ b/tests/pytests/data/H0010_0023_SR2/pck00009.tpc @@ -0,0 +1,3639 @@ +KPL/PCK + + +P_constants (PcK) SPICE kernel file +=========================================================================== + + By: Nat Bachman (NAIF) 2010 March 3 + + +Purpose +-------------------------------------------------------- + + This file makes available for use in SPICE-based application + software orientation and size/shape data for natural bodies. The + principal source of the data is a published report by the IAU/IAG + Working Group on Cartographic Coordinates and Rotational Elements [1]. + + Orientation and size/shape data not provided by this file may be + available in mission-specific PCK files. Such PCKs may be the preferred + data source for mission-related applications. Mission-specific PCKs can + be found in PDS archives or on the NAIF web site at URL: + + http://naif.jpl.nasa.gov + + +File Organization +-------------------------------------------------------- + + The contents of this file are as follows. + + Introductory Information: + + -- Purpose + + -- File Organization + + -- Version description + + -- Disclaimer + + -- Sources + + -- Explanatory notes + + -- Body numbers and names + + + PcK Data: + + + Orientation Data + ---------------- + + -- Orientation constants for the Sun and planets. + Additional items included in this section: + + - Earth north geomagnetic centered dipole values + for epochs 1945-2000 + + - Mars prime meridian offset "lambda_a" + + -- Orientation constants for satellites + + -- Orientation constants for asteroids Eros, Gaspra, Ida, + Itokawa, and Vesta + + -- Orientation constants for comets 19P/Borrelly + and 9P/Tempel 1 + + + Radii of Bodies + --------------- + + -- Radii of Sun and planets + + -- Radii of satellites, where available + + -- Radii of asteroids Ceres, Eros, Gaspra, Ida, Itokawa, + Mathilde, Toutatis, and Vesta. + + -- Radii of comets 19P/Borrelly, Halley, 9P/Tempel 1, + and 81P/Wild 2 + + + +Version Description +-------------------------------------------------------- + + This file was created on March 3, 2010. This version + incorporates data from reference [1]. + + This file contains size, shape, and orientation data for all + objects described by the previous version of the file, except + for Kleopatra: a shape model for this body is not provided in [1] + because, according to this source, it had been "modeled from + low resolution radar data, and cannot be mapped from those + data." + + New objects covered by this file but not the previous + version are: + + 19P/Borrelly + Halley + 9P/Tempel 1 + 81P/Wild 2 + Ceres + Itokawa + Mathilde + Toutatis + + +Disclaimer +-------------------------------------------------------- + +Applicability of Data + + This P_constants file may not contain the parameter values that + you prefer. NAIF suggests that you inspect this file visually + before proceeding with any critical or extended data processing. + +File Modifications by Users + + Note that this file may be readily modified by you to change + values or add/delete parameters. NAIF requests that you update the + "by line," date, and version description section if you modify + this file. + +Known Limitations and Caveats + + Accuracy + -------- + + In general, the orientation models given here are claimed by the + IAU/IAG Working Group Report [1] to be accurate to 0.1 degree + ([1], p.158). However, NAIF notes that orientation models for + natural satellites and asteroids have in some cases changed + substantially with the availability of new observational data, so + users are urged to investigate the suitability for their + applications of the models presented here. + + Earth orientation + ----------------- + + NAIF strongly cautions against using the earth rotation model + (from [1]) for work demanding high accuracy. This model has been + determined by NAIF to have an error in the prime meridian location + of magnitude at least 150 arcseconds, with a local minimum + occurring during the year 1999. Regarding availability of better + earth orientation data for use with the SPICE system: + + Earth orientation data are available from NAIF in the form of + binary earth PCK files. NAIF employs an automated process to + create these files; each time JPL's Tracking Systems and + Applications Section produces a new earth orientation parameter + (EOP) file, a new PCK is produced. These PCKs cover a roughly + 10 year time span starting at Jan. 1, 2000. In these PCK files, + the following effects are accounted for in modeling the earth's + rotation: + + - Precession: 1976 IAU model + + - Nutation: 1980 IAU model, plus interpolated + EOP nutation corrections + + - Polar motion: interpolated from EOP file + + - True sidereal time: + + UT1 - UT1R (if needed): given by analytic formula + + TAI - UT1 (or UT1R): interpolated from EOP file + + UT1 - GMST: given by analytic formula + + equation of equinoxes: given by analytic formula + + where + + TAI = International Atomic Time + UT1 = Greenwich hour angle of computed mean sun - 12h + UT1R = Regularized UT1 + GMST = Greenwich mean sidereal time + + These kernels are available from the NAIF web site + + http://naif.jpl.nasa.gov + + (follow the links to Data, generic_kernels, and PCK data) or + + ftp://naif.jpl.nasa.gov/pub/naif/generic_kernels/pck + + or via anonymous ftp from the server + + naif.jpl.nasa.gov + + The kernels are in the path + + pub/naif/generic_kernels/pck + + At this time, these kernels have file names of the form + + earth_000101_yymmdd_yymmdd.bpc + + The second and third dates are, respectively, the file's + coverage end time and the epoch of the last datum. + + These binary PCK files are very accurate (error < 0.1 + microradian) for epochs preceding the epoch of the last datum. + For later epochs, the error rises to several microradians. + + Binary PCK files giving accurate earth orientation from 1972 to + 2007 and *low accuracy* predicted earth orientation from + 2007 to 2037 are also available in the same location. See the + aareadme.txt file at the "pck" URL above for details. + + Characteristics and names of the binary kernels described here + are subject to change. See the "pck" URL above for information + on current binary earth PCKs. + + + Lunar orientation + ----------------- + + The lunar orientation formula provided by this file is a + trigonometric polynomial approximation yielding the orientation of + the lunar "Mean Earth/Polar Axis" (ME) reference frame. A more + accurate approximation can be obtained by using both the NAIF + lunar frame kernel and the binary lunar orientation PCK file, + which are available on the NAIF web site (see URLS above) + and in the NAIF server's ftp area. The lunar frame kernel + is located in the path + + pub/naif/generic_kernels/fk/satellites + + and has a name of the form + + moon_yymmdd.tf + + The binary lunar PCK is in the path + + pub/naif/generic_kernels/pck + + and has a name of the form + + moon_pa_dennn_yyyy-yyyy.bpc + + See the "aareadme.txt" files in the paths shown above for details + on file contents and versions. We also suggest you refer to the + SPICE tutorial named "lunar_earth_pck-fk," which is available from + the NAIF web site. + + + Earth geomagnetic dipole + ------------------------ + + The SPICE Toolkit doesn't currently contain software to model the + earth's north geomagnetic centered dipole as a function of time. + As a convenience for users, the north dipole location from the + J2000 epoch was selected as a representative datum, and the + planetocentric longitude and latitude of this location have been + associated with the keywords + + BODY399_N_GEOMAG_CTR_DIPOLE_LON + BODY399_N_GEOMAG_CTR_DIPOLE_LAT + + Values for the earth's north geomagnetic centered dipole are + presented in comments as a discrete time series for the time range + 1945-2000. For details concerning the geomagnetic field model from + which these values were derived, including a discussion of the + model's accuracy, see [9]. + + + Mars prime meridian offset + -------------------------- + + The Mars prime meridian offset given by [5] is not used by + SPICE geometry software for computations involving the shape + of Mars (for example, in sub-observer point or surface intercept + computations). The value is provided for informational + purposes only. + + + Software limitations + -------------------- + + SPICE Toolkits prior to version N0057 cannot make use of + trigonometric polynomial terms in the formulas for orientation of + the planets. The only planets for which such terms are used are + Jupiter and Neptune. Use of trigonometric polynomial terms for + natural satellites is and has been supported for all SPICE Toolkit + versions. + + The second nutation precession angle (M2) for Mars is represented + by a quadratic polynomial in the 2006 IAU report. The SPICELIB + subroutine BODEUL can not handle this term (which is extremely + small), so we truncate the polynomial to a linear one. The + resulting orientation error has a maximum magnitude of less + than 0.0032 degrees over the time span 1996-2015 and less than + 0.0082 degrees over the time span 1986-2025. + + +Sources +-------------------------------------------------------- + + The sources for the constants listed in this file are: + + + [1] Seidelmann, P.K., Archinal, B.A., A'Hearn, M.F., + Conrad, A., Consolmagno, G.J., Hestroffer, D., + Hilton, J.L., Krasinsky, G.A., Neumann, G., + Oberst, J., Stooke, P., Tedesco, E.F., Tholen, D.J., + and Thomas, P.C. "Report of the IAU/IAG Working Group + on cartographic coordinates and rotational elements: 2006." + + [2] Seidelmann, P.K., Archinal, B.A., A'Hearn, M.F., + Cruikshank, D.P., Hilton, J.L., Keller, H.U., Oberst, J., + Simon, J.L., Stooke, P., Tholen, D.J., and Thomas, P.C. + "Report of the IAU/IAG Working Group on Cartographic + Coordinates and Rotational Elements of the Planets and + Satellites: 2003." + + [3] Nautical Almanac Office, United States Naval Observatory + and H.M. Nautical Almanac Office, Rutherford Appleton + Laboratory (2010). "The Astronomical Almanac for + the Year 2010," U.S. Government Printing Office, + Washington, D.C.: and The Stationary Office, London. + + [4] Nautical Almanac Office, United States Naval Observatory, + H.M. Nautical Almanac Office, Royal Greenwich + Observatory, Jet Propulsion Laboratory, Bureau des + Longitudes, and The Time Service and Astronomy + Departments, United States Naval Observatory (1992). + "Explanatory Supplement to the Astronomical Almanac," P. + Kenneth Seidelmann, ed. University Science Books, 20 + Edgehill Road, Mill Valley, CA 9494. + + [5] Duxbury, Thomas C. (2001). "IAU/IAG 2000 Mars Cartographic + Conventions," presentation to the Mars Express Data + Archive Working Group, Dec. 14, 2001. + + [6] Russell, C.T. and Luhmann, J.G. (1990). "Earth: Magnetic + Field and Magnetosphere." <http://www-ssc.igpp.ucla. + edu/personnel/russell/papers/earth_mag>. Originally + published in "Encyclopedia of Planetary Sciences," J.H. + Shirley and R.W. Fainbridge, eds. Chapman and Hall, + New York, pp 208-211. + + [7] Russell, C.T. (1971). "Geophysical Coordinate + Transformations," Cosmic Electrodynamics 2 184-186. + NAIF document 181.0. + + [8] ESA/ESTEC Space Environment Information System (SPENVIS) + (2003). Web page: "Dipole approximations of the + geomagnetic field." <http://www.spenvis.oma.be/spenvis/ + help/background/magfield/cd.html>. + + [9] International Association of Geomagnetism and Aeronomy + and International Union of Geodesy and Geophysics (2004). + Web page: "The 9th Generation International Geomagnetic + Reference Field." <http://www.ngdc.noaa.gov/ + IAGA/vmod/igrf.html>. + + [10] Davies, M.E., Abalakin, V.K., Bursa, M., Hunt, G.E., + and Lieske, J.H. (1989). "Report of the IAU/IAG/COSPAR + Working Group on Cartographic Coordinates and Rotational + Elements of the Planets and Satellites: 1988," Celestial + Mechanics and Dynamical Astronomy, v.46, no.2, pp. + 187-204. + + + Most values are from [1]. All exceptions are + commented where they occur in this file. The exceptions are: + + + -- Radii for the Sun are from [3]. + + -- The second nutation precession angle (M2) for Mars is + represented by a quadratic polynomial in the 2000 + IAU report. The SPICELIB subroutine BODEUL can not + handle this term (which is extremely small), so we + truncate the polynomial to a linear one. + + -- Earth north geomagnetic centered dipole values are from + [8]. The article [6] was used to check most of + these values, and the values were also re-computed from + the 9th generation IGRF [9] by Nat Bachman. + + -- The Mars prime meridian offset angle is from [5]. + + + "Old values" listed are from the SPICE P_constants file + pck00008.tpc dated September 21, 2004. Most of these values came + from the 2003 IAU report [2]. + + + + +Explanatory Notes +-------------------------------------------------------- + + This file, which is logically part of the SPICE P-kernel, contains + constants used to model the orientation, size and shape of the + Sun, planets, natural satellites, and selected comets and + asteroids. The orientation models express the direction of the + pole and location of the prime meridian of a body as a function of + time. The size/shape models ("shape models" for short) represent + all bodies as ellipsoids, using two equatorial radii and a polar + radius. Spheroids and spheres are obtained when two or all three + radii are equal. + + The SPICE Toolkit routines that use this file are documented in + the SPICE "Required Reading" file pck.req. They are also + documented in the "PCK" SPICE tutorial, which is available on + the NAIF web site. + +File Format + + A terse description of the PCK file format is given here. See the + SPICE "Required Reading" files pck.req and kernel.req for a + detailed explanation of the SPICE text kernel file format. The + files pck.req and kernel.req are included in the documentation + provided with the SPICE Toolkit. + + The file starts out with the ``ID word'' string + + KPL/PCK + + This string identifies the file as a text kernel containing PCK + data. + + This file consists of a series of comment blocks and data blocks. + Comment blocks, which contain free-form descriptive or explanatory + text, are preceded by a \begintext token. Data blocks follow a + \begindata token. In order to be recognized, each of these tokens + must be placed on a line by itself. + + The portion of the file preceding the first data block is treated + as a comment block; it doesn't require an initial \begintext + token. + + This file identifies data using a series of + + KEYWORD = VALUE + + assignments. The left hand side of each assignment is a + "kernel variable" name; the right hand side is an associated value + or list of values. The SPICE subroutine API allows SPICE routines + and user applications to retrieve the set of values associated + with each kernel variable name. + + Kernel variable names are case-sensitive and are limited to + 32 characters in length. + + Numeric values may be integer or floating point. String values + are normally limited to 80 characters in length; however, SPICE + provides a mechanism for identifying longer, "continued" strings. + See the SPICE routine STPOOL for details. + + String values are single quoted. + + When the right hand side of an assignment is a list of values, + the list items may be separated by commas or simply by blanks. + The list must be bracketed by parentheses. Example: + + BODY399_RADII = ( 6378.14 6378.14 6356.75 ) + + Any blanks preceding or following keyword names, values and equal + signs are ignored. + + Assignments may be spread over multiple lines, for example: + + BODY399_RADII = ( 6378.14 + 6378.14 + 6356.75 ) + + This file may contain blank lines anywhere. Non-printing + characters including TAB should not be present in the file: the + presence of such characters may cause formatting errors when the + file is viewed. + +Time systems and reference frames + + The 2006 IAU/IAG Working Group Report [1] states the time scale + used as the independent variable for the rotation formulas is + Barycentric Dynamical Time (TDB) and that the epoch of variable + quantities is J2000 TDB (2000 Jan 1 12:00 TDB). Throughout SPICE + documentation and in this file, we use the names "J2000 TDB" and + "J2000" for this epoch. The name "J2000.0" is equivalent. + + SPICE documentation refers to the time system used in this file + as either "ET" or "TDB." SPICE software makes no distinction + between TDB and the time system associated with the independent + variable of the JPL planetary ephemerides T_eph. + + The inertial reference frame used for the rotational elements in + this file is identified by [1] as the ICRF (International + Celestial Reference Frame). + + The SPICE PCK software that reads this file uses the label "J2000" + to refer to the ICRF; this is actually a mislabeling which has + been retained in the interest of backward compatibility. Using + data from this file, by means of calls to the SPICE frame + transformation routines, will actually compute orientation + relative to the ICRF. + + The difference between the J2000 frame and the ICRF is + on the order of tens of milliarcseconds and is well below the + accuracy level of the formulas in this file. + +Orientation models + + All of the orientation models use three Euler angles to describe + the orientation of the coordinate axes of the "Body Equator and + Prime Meridian" system with respect to an inertial system. By + default, the inertial system is the ICRF (labeled as "J2000"), but + other frames can be specified in the file. See the PCK Required + Reading for details. + + The first two angles, in order, are the ICRF right ascension and + declination (henceforth RA and DEC) of the north pole of a body as + a function of time. The third angle is the prime meridian location + (represented by "W"), which is expressed as a rotation about the + north pole, and is also a function of time. + + For each body, the expressions for the north pole's right + ascension and declination, as well as prime meridian location, are + sums (as far as the models that appear in this file are concerned) + of quadratic polynomials and trigonometric polynomials, where the + independent variable is time. + + In this file, the time arguments in expressions always refer to + Barycentric Dynamical Time (TDB), measured in centuries or days + past a reference epoch. By default, the reference epoch is the + J2000 epoch, which is Julian ephemeris date 2451545.0, but other + epochs can be specified in the file. See the PCK Required Reading + for details. + + Orientation models for satellites and some planets (including + Jupiter) involve both polynomial terms and trigonometric terms. + The arguments of the trigonometric terms are linear polynomials. + In this file, we call the arguments of these trigonometric terms + "nutation precession angles." + + Example: 2006 IAU Model for orientation of Jupiter. Note that + these values are used as an example only; see the data area below + for current values. + + Right ascension + --------------- + + alpha = 268.056595 - 0.006499 T + 0.000117 sin(Ja) + 0 + 0.000938 sin(Jb) + 0.001432 sin(Jc) + + 0.000030 sin(Jd) + 0.002150 sin(Je) + + Declination + ----------- + + delta = 64.495303 + 0.002413 T + 0.000050 cos(Ja) + 0 + 0.000404 cos(Jb) + 0.000617 cos(Jc) + - 0.000013 cos(Jd) + 0.000926 cos(Je) + + Prime meridian + -------------- + + W = 284.95 + 870.5366420 d + + + Here + + T represents centuries past J2000 ( TDB ), + + d represents days past J2000 ( TDB ). + + Ja-Je are nutation precession angles. + + In this file, the polynomials' coefficients above are assigned + to kernel variable names (left-hand-side symbols) as follows + + BODY599_POLE_RA = ( 268.056595 -0.006499 0. ) + BODY599_POLE_DEC = ( 64.495303 0.002413 0. ) + BODY599_PM = ( 284.95 870.5366420 0. ) + + and the trigonometric polynomials' coefficients are assigned + as follows + + BODY599_NUT_PREC_RA = ( 0. 0. 0. 0. 0. 0. 0. 0. 0. 0. 0.000117 + 0.000938 + 0.001432 + 0.000030 + 0.002150 ) + + BODY599_NUT_PREC_DEC = ( 0. 0. 0. 0. 0. 0. 0. 0. 0. 0. 0.000050 + 0.000404 + 0.000617 + -0.000013 + 0.000926 ) + + BODY599_NUT_PREC_PM = ( 0. 0. 0. 0. 0. 0. 0. 0. 0. 0. 0.0 + 0.0 + 0.0 + 0.0 + 0.0 ) + + Note the number "599"; this is the NAIF ID code for Jupiter. + + In this file, the polynomial expressions for the nutation + precession angles are listed along with the planet's RA, DEC, and + prime meridian terms. Below are the 2006 IAU nutation precession + angles for the Jupiter system. + + J1 = 73.32 + 91472.9 T + J2 = 24.62 + 45137.2 T + J3 = 283.90 + 4850.7 T + J4 = 355.80 + 1191.3 T + J5 = 119.90 + 262.1 T + J6 = 229.80 + 64.3 T + J7 = 352.25 + 2382.6 T + J8 = 113.35 + 6070.0 T + + J9 = 146.64 + 182945.8 T + J10 = 49.24 + 90274.4 T + + Ja = 99.360714 + 4850.4046 T + Jb = 175.895369 + 1191.9605 T + Jc = 300.323162 + 262.5475 T + Jd = 114.012305 + 6070.2476 T + Je = 49.511251 + 64.3000 T + + Here + + T represents centuries past J2000 ( TDB ) + + J1-J10 and Ja-Je are the nutation precession angles. The angles + J9 and J10 are equal to 2*J1 and 2*J2, respectively. + + Angles J9 and J10 are not present in [1]; they have been added + to fit the terms 2*J1 and 2*J2, which appear in the orientation + models of several satellites, into a form that can be accepted + by the PCK system. + + The assignment of the nutation precession angles for the + Jupiter system is as follows: + + BODY5_NUT_PREC_ANGLES = ( 73.32 91472.9 + 24.62 45137.2 + 283.90 4850.7 + 355.80 1191.3 + 119.90 262.1 + 229.80 64.3 + 352.25 2382.6 + 113.35 6070.0 + 146.64 182945.8 + 49.24 90274.4 + 99.360714 4850.4046 + 175.895369 1191.9605 + 300.323162 262.5475 + 114.012305 6070.2476 + 49.511251 64.3000 ) + + You'll see an additional symbol grouped with the ones listed + above; it is + + BODY599_LONG_AXIS + + This term is zero for all bodies except Mars. It represents the + angular offset between the meridian containing the longest axis of + the triaxial ellipsoid used to model a body's surface and the + prime meridian of the body. + + The pattern of the formulas for satellite orientation is similar + to that for Jupiter. Example: 2006 IAU values for Io. Again, these + values are used as an example only; see the data area below for + current values. + + Right ascension + --------------- + + alpha = 268.05 - 0.009 T + 0.094 sin(J3) + 0.024 sin(J4) + 0 + + Declination + ----------- + + delta = 64.50 + 0.003 T + 0.040 cos(J3) + 0.011 cos(J4) + 0 + + Prime meridian + -------------- + + W = 200.39 + 203.4889538 d - 0.085 sin(J3) - 0.022 sin(J4) + + + d represents days past J2000. + + J3 and J4 are nutation precession angles. + + The polynomial terms are assigned to symbols by the statements + + BODY501_POLE_RA = ( 268.05 -0.009 0. ) + BODY501_POLE_DEC = ( 64.50 0.003 0. ) + BODY501_PM = ( 200.39 203.4889538 0. ) + + The coefficients of the trigonometric terms are assigned to symbols by + the statements + + BODY501_NUT_PREC_RA = ( 0. 0. 0.094 0.024 ) + BODY501_NUT_PREC_DEC = ( 0. 0. 0.040 0.011 ) + BODY501_NUT_PREC_PM = ( 0. 0. -0.085 -0.022 ) + + 501 is the NAIF ID code for Io. + + SPICE software expects the models for satellite orientation to + follow the form of the model shown here: the polynomial portions of the + RA, DEC, and W expressions are expected to be quadratic, the + trigonometric terms for RA and W (satellite prime meridian) are expected + to be linear combinations of sines of nutation precession angles, the + trigonometric terms for DEC are expected to be linear combinations of + cosines of nutation precession angles, and the polynomials for the + nutation precession angles themselves are expected to be linear. + + Eventually, the software will handle more complex expressions, we + expect. + + +Shape models + + There is only one kind of shape model supported by the SPICE Toolkit + software at present: the triaxial ellipsoid. The 2006 IAU report does + not use any other models, except in the case of Mars, where + separate values are given for the north and south polar radii. + + For each body, three radii are listed: The first number is + the largest equatorial radius (the length of the semi-axis + containing the prime meridian), the second number is the smaller + equatorial radius, and the third is the polar radius. + + Example: Radii of the Earth. + + BODY399_RADII = ( 6378.14 6378.14 6356.75 ) + + +Body Numbers and Names +-------------------------------------------------------- + + + 1 Mercury barycenter + 2 Venus barycenter + 3 Earth barycenter + 4 Mars barycenter + 5 Jupiter barycenter + 6 Saturn barycenter + 7 Uranus barycenter + 8 Neptune barycenter + 9 Pluto barycenter + 10 Sun + + + 199 Mercury + + + 299 Venus + + + 399 Earth + + 301 Moon + + + 499 Mars + + 401 Phobos 402 Deimos + + + 599 Jupiter + + 501 Io 502 Europa 503 Ganymede 504 Callisto + 505 Amalthea 506 Himalia 507 Elara 508 Pasiphae + 509 Sinope 510 Lysithea 511 Carme 512 Ananke + 513 Leda 514 Thebe 515 Adrastea 516 Metis + + + 699 Saturn + + 601 Mimas 602 Enceladus 603 Tethys 604 Dione + 605 Rhea 606 Titan 607 Hyperion 608 Iapetus + 609 Phoebe 610 Janus 611 Epimetheus 612 Helene + 613 Telesto 614 Calypso 615 Atlas 616 Prometheus + 617 Pandora 618 Pan + + + 799 Uranus + + 701 Ariel 702 Umbriel 703 Titania 704 Oberon + 705 Miranda 706 Cordelia 707 Ophelia 708 Bianca + 709 Cressida 710 Desdemona 711 Juliet 712 Portia + 713 Rosalind 714 Belinda 715 Puck + + + 899 Neptune + + 801 Triton 802 Nereid 803 Naiad 804 Thalassa + 805 Despina 806 Galatea 807 Larissa 808 Proteus + + + 999 Pluto + + 901 Charon + + + 1000005 Comet 19P/Borrelly + 1000036 Comet Halley + 1000093 Comet 9P/Tempel 1 + 1000107 Comet 81P/Wild 2 + + 2000001 Asteroid Ceres + 2000004 Asteroid Vesta + 2000216 Asteroid Kleopatra + 2000253 Asteroid Mathilde + 2000433 Asteroid Eros + 2004179 Asteroid Toutatis + 2025143 Asteroid Itokawa + 2431010 Asteroid Ida + 9511010 Asteroid Gaspra + + +Orientation Constants for the Sun and Planets +-------------------------------------------------------- + + +Sun + + Old values: + + Values are from the 2003 IAU report. + + + body10_pole_ra = ( 286.13 0. 0. ) + body10_pole_dec = ( 63.87 0. 0. ) + body10_pm = ( 84.10 14.18440 0. ) + body10_long_axis = ( 0. ) + + Current values: + + \begindata + + BODY10_POLE_RA = ( 286.13 0. 0. ) + BODY10_POLE_DEC = ( 63.87 0. 0. ) + BODY10_PM = ( 84.176 14.18440 0. ) + BODY10_LONG_AXIS = ( 0. ) + + \begintext + +Mercury + + Old values: + + Values are unchanged in the 2006 IAU report. + + + Current values: + + \begindata + + BODY199_POLE_RA = ( 281.01 -0.033 0. ) + BODY199_POLE_DEC = ( 61.45 -0.005 0. ) + BODY199_PM = ( 329.548 6.1385025 0. ) + + BODY199_LONG_AXIS = ( 0. ) + + \begintext + + +Venus + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + BODY299_POLE_RA = ( 272.76 0. 0. ) + BODY299_POLE_DEC = ( 67.16 0. 0. ) + BODY299_PM = ( 160.20 -1.4813688 0. ) + + BODY299_LONG_AXIS = ( 0. ) + + \begintext + + +Earth + + Old values: + + Values are unchanged in the 2006 report. + + + Current values: + + \begindata + + BODY399_POLE_RA = ( 0. -0.641 0. ) + BODY399_POLE_DEC = ( 90. -0.557 0. ) + BODY399_PM = ( 190.147 360.9856235 0. ) + BODY399_LONG_AXIS = ( 0. ) + + \begintext + + + Nutation precession angles for the Earth-Moon system: + + The linear coefficients have been scaled up from degrees/day + to degrees/century, because the SPICELIB PCK reader expects + these units. The original constants were: + + 125.045D0 -0.0529921D0 + 250.089D0 -0.1059842D0 + 260.008D0 13.0120009D0 + 176.625D0 13.3407154D0 + 357.529D0 0.9856003D0 + 311.589D0 26.4057084D0 + 134.963D0 13.0649930D0 + 276.617D0 0.3287146D0 + 34.226D0 1.7484877D0 + 15.134D0 -0.1589763D0 + 119.743D0 0.0036096D0 + 239.961D0 0.1643573D0 + 25.053D0 12.9590088D0 + + + \begindata + + + BODY3_NUT_PREC_ANGLES = ( 125.045 -1935.5364525000 + 250.089 -3871.0729050000 + 260.008 475263.3328725000 + 176.625 487269.6299850000 + 357.529 35999.0509575000 + 311.589 964468.4993100000 + 134.963 477198.8693250000 + 276.617 12006.3007650000 + 34.226 63863.5132425000 + 15.134 -5806.6093575000 + 119.743 131.8406400000 + 239.961 6003.1503825000 + 25.053 473327.7964200000 ) + + + \begintext + + + Earth north geomagnetic centered dipole: + + Old values: + + Values are from [7]. Note the year of publication was 1971. + + body399_mag_north_pole_lon = ( -69.761 ) + body399_mag_north_pole_lat = ( 78.565 ) + + + Current values: + + The north dipole location is time-varying. The values shown + below, taken from [8], represent a discrete sampling of the + north dipole location from 1945 to 2000. The terms DGRF and + IGRF refer to, respectively, "Definitive Geomagnetic + Reference Field" and "International Geomagnetic Reference + Field." See references [6], [8], and [9] for details. + + Coordinates are planetocentric. + + Data source Lat Lon + ----------- ----- ------ + DGRF 1945 78.47 291.47 + DGRF 1950 78.47 291.15 + DGRF 1955 78.46 290.84 + DGRF 1960 78.51 290.53 + DGRF 1965 78.53 290.15 + DGRF 1970 78.59 289.82 + DGRF 1975 78.69 289.53 + DGRF 1980 78.81 289.24 + DGRF 1985 78.97 289.10 + DGRF 1990 79.13 288.89 + IGRF 1995 79.30 288.59 + IGRF 2000 79.54 288.43 + + + Values are given for the epoch 2000 and are from the final row + of the above table, which is from [8]. As shown by the table + these values constitute a low-accuracy approximation for epochs + not close to 2000. + + \begindata + + BODY399_N_GEOMAG_CTR_DIPOLE_LON = ( 288.43 ) + BODY399_N_GEOMAG_CTR_DIPOLE_LAT = ( 79.54 ) + + \begintext + + +Mars + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + BODY499_POLE_RA = ( 317.68143 -0.1061 0. ) + BODY499_POLE_DEC = ( 52.88650 -0.0609 0. ) + BODY499_PM = ( 176.630 350.89198226 0. ) + + \begintext + + Source [5] specifies the following value for the lambda_a term + (BODY499_LONG_AXIS ) for Mars. This term is the POSITIVE EAST + LONGITUDE, measured from the prime meridian, of the meridian + containing the longest axis of the reference ellipsoid. + (CAUTION: previous values were POSITIVE WEST.) + + body499_long_axis = ( 252. ) + + We list this lambda_a value for completeness. The IAU report + [1] gives equal values for both equatorial radii, so the + lambda_a offset does not apply to the IAU model. + + The 2003 IAU report defines M2, the second nutation precession angle, + by: + + 2 + 192.93 + 1128.4096700 d + 8.864 T + + We truncate the M2 series to a linear expression, because the PCK + software cannot handle the quadratic term. + + Again, the linear terms are scaled by 36525.0: + + -0.4357640000000000 --> -15916.28010000000 + 1128.409670000000 --> 41215163.19675000 + -1.8151000000000000E-02 --> -662.9652750000000 + + We also introduce a fourth nutation precession angle, which + is the pi/2-complement of the third angle. This angle is used + in computing the prime meridian location for Deimos. See the + discussion of this angle below in the section containing orientation + constants for Deimos. + + \begindata + + BODY4_NUT_PREC_ANGLES = ( 169.51 -15916.2801 + 192.93 41215163.19675 + 53.47 -662.965275 + 36.53 662.965275 ) + + \begintext + + +Jupiter + + Old values: + + Values are from the 2003 IAU report. + + + body599_pole_ra = ( 268.05 -0.009 0. ) + body599_pole_dec = ( 64.49 0.003 0. ) + body599_pm = ( 284.95 870.5366420 0. ) + body599_long_axis = ( 0. ) + + body5_nut_prec_angles = ( 73.32 91472.9 + 24.62 45137.2 + 283.90 4850.7 + 355.80 1191.3 + 119.90 262.1 + 229.80 64.3 + 352.35 2382.6 + 113.35 6070.0 + 146.64 182945.8 + 49.24 90274.4 ) + + + + Current values: + + The number of nutation precession angles is 15. The ninth and + tenth are twice the first and second, respectively. The + eleventh through fifteenth correspond to angles JA-JE in + the 2006 IAU report; angles JA-JE were not used prior to that + report. + + \begindata + + + BODY599_POLE_RA = ( 268.056595 -0.006499 0. ) + BODY599_POLE_DEC = ( 64.495303 0.002413 0. ) + BODY599_PM = ( 284.95 870.5366420 0. ) + BODY599_LONG_AXIS = ( 0. ) + + BODY599_NUT_PREC_RA = ( 0. 0. 0. 0. 0. 0. 0. 0. 0. 0. 0.000117 + 0.000938 + 0.001432 + 0.000030 + 0.002150 ) + + BODY599_NUT_PREC_DEC = ( 0. 0. 0. 0. 0. 0. 0. 0. 0. 0. 0.000050 + 0.000404 + 0.000617 + -0.000013 + 0.000926 ) + + BODY599_NUT_PREC_PM = ( 0. 0. 0. 0. 0. 0. 0. 0. 0. 0. 0.0 + 0.0 + 0.0 + 0.0 + 0.0 ) + + + BODY5_NUT_PREC_ANGLES = ( 73.32 91472.9 + 24.62 45137.2 + 283.90 4850.7 + 355.80 1191.3 + 119.90 262.1 + 229.80 64.3 + 352.25 2382.6 + 113.35 6070.0 + 146.64 182945.8 + 49.24 90274.4 + 99.360714 4850.4046 + 175.895369 1191.9605 + 300.323162 262.5475 + 114.012305 6070.2476 + 49.511251 64.3000 ) + \begintext + + +Saturn + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + BODY699_POLE_RA = ( 40.589 -0.036 0. ) + BODY699_POLE_DEC = ( 83.537 -0.004 0. ) + BODY699_PM = ( 38.90 810.7939024 0. ) + BODY699_LONG_AXIS = ( 0. ) + + \begintext + + The first seven angles given here are the angles S1 + through S7 from the 2000 report; the eighth and + ninth angles are 2*S1 and 2*S2, respectively. + + + \begindata + + BODY6_NUT_PREC_ANGLES = ( 353.32 75706.7 + 28.72 75706.7 + 177.40 -36505.5 + 300.00 -7225.9 + 316.45 506.2 + 345.20 -1016.3 + 29.80 -52.1 + 706.64 151413.4 + 57.44 151413.4 ) + \begintext + + +Uranus + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + BODY799_POLE_RA = ( 257.311 0. 0. ) + BODY799_POLE_DEC = ( -15.175 0. 0. ) + BODY799_PM = ( 203.81 -501.1600928 0. ) + BODY799_LONG_AXIS = ( 0. ) + + \begintext + + The first 16 angles given here are the angles U1 + through U16 from the 2000 report; the 17th and + 18th angles are 2*U11 and 2*U12, respectively. + + \begindata + + BODY7_NUT_PREC_ANGLES = ( 115.75 54991.87 + 141.69 41887.66 + 135.03 29927.35 + 61.77 25733.59 + 249.32 24471.46 + 43.86 22278.41 + 77.66 20289.42 + 157.36 16652.76 + 101.81 12872.63 + 138.64 8061.81 + 102.23 -2024.22 + 316.41 2863.96 + 304.01 -51.94 + 308.71 -93.17 + 340.82 -75.32 + 259.14 -504.81 + 204.46 -4048.44 + 632.82 5727.92 ) + + \begintext + + + +Neptune + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + BODY899_POLE_RA = ( 299.36 0. 0. ) + BODY899_POLE_DEC = ( 43.46 0. 0. ) + BODY899_PM = ( 253.18 536.3128492 0. ) + BODY899_LONG_AXIS = ( 0. ) + + + BODY899_NUT_PREC_RA = ( 0.70 0. 0. 0. 0. 0. 0. 0. ) + BODY899_NUT_PREC_DEC = ( -0.51 0. 0. 0. 0. 0. 0. 0. ) + BODY899_NUT_PREC_PM = ( -0.48 0. 0. 0. 0. 0. 0. 0. ) + + \begintext + + The 2000 report defines the nutation precession angles + + N, N1, N2, ... , N7 + + and also uses the multiples of N1 and N7 + + 2*N1 + + and + + 2*N7, 3*N7, ..., 9*N7 + + In this file, we treat the angles and their multiples as + separate angles. In the kernel variable + + BODY8_NUT_PREC_ANGLES + + the order of the angles is + + N, N1, N2, ... , N7, 2*N1, 2*N7, 3*N7, ..., 9*N7 + + Each angle is defined by a linear polynomial, so two + consecutive array elements are allocated for each + angle. The first term of each pair is the constant term, + the second is the linear term. + + \begindata + + BODY8_NUT_PREC_ANGLES = ( 357.85 52.316 + 323.92 62606.6 + 220.51 55064.2 + 354.27 46564.5 + 75.31 26109.4 + 35.36 14325.4 + 142.61 2824.6 + 177.85 52.316 + 647.840 125213.200 + 355.700 104.632 + 533.550 156.948 + 711.400 209.264 + 889.250 261.580 + 1067.100 313.896 + 1244.950 366.212 + 1422.800 418.528 + 1600.650 470.844 ) + + \begintext + + + +Pluto + + Old values: + + Values are from the 2003 IAU report. + + BODY999_POLE_RA = ( 313.02 0. 0. ) + BODY999_POLE_DEC = ( 9.09 0. 0. ) + BODY999_PM = ( 236.77 -56.3623195 0. ) + BODY999_LONG_AXIS = ( 0. ) + + + Current values: + + \begindata + + BODY999_POLE_RA = ( 312.993 0. 0. ) + BODY999_POLE_DEC = ( 6.163 0. 0. ) + BODY999_PM = ( 237.305 -56.3625225 0. ) + BODY999_LONG_AXIS = ( 0. ) + + \begintext + + + + +Orientation constants for the satellites +-------------------------------------------------------- + + +Satellites of Earth + + Old values: + + Values are unchanged in the 2006 IAU report. + + + New values: + + \begindata + + + + + + BODY301_POLE_RA = ( 269.9949 0.0031 0. ) + BODY301_POLE_DEC = ( 66.5392 0.0130 0. ) + BODY301_PM = ( 38.3213 13.17635815 -1.4D-12 ) + BODY301_LONG_AXIS = ( 0. ) + + BODY301_NUT_PREC_RA = ( -3.8787 -0.1204 0.0700 -0.0172 + 0.0 0.0072 0.0 0.0 + 0.0 -0.0052 0.0 0.0 + 0.0043 ) + + BODY301_NUT_PREC_DEC = ( 1.5419 0.0239 -0.0278 0.0068 + 0.0 -0.0029 0.0009 0.0 + 0.0 0.0008 0.0 0.0 + -0.0009 ) + + BODY301_NUT_PREC_PM = ( 3.5610 0.1208 -0.0642 0.0158 + 0.0252 -0.0066 -0.0047 -0.0046 + 0.0028 0.0052 0.0040 0.0019 + -0.0044 ) + \begintext + + + +Satellites of Mars + + + Phobos + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + The quadratic prime meridian term is scaled by 1/36525**2: + + 8.864000000000000 ---> 6.6443009930565219E-09 + + \begindata + + BODY401_POLE_RA = ( 317.68 -0.108 0. ) + BODY401_POLE_DEC = ( 52.90 -0.061 0. ) + BODY401_PM = ( 35.06 1128.8445850 6.6443009930565219E-09 ) + + BODY401_LONG_AXIS = ( 0. ) + + BODY401_NUT_PREC_RA = ( 1.79 0. 0. 0. ) + BODY401_NUT_PREC_DEC = ( -1.08 0. 0. 0. ) + BODY401_NUT_PREC_PM = ( -1.42 -0.78 0. 0. ) + + + \begintext + + + Deimos + + Old values: + + Values are unchanged in the 2006 IAU report. + + + New values: + + The Deimos prime meridian expression is: + + + 2 + W = 79.41 + 285.1618970 d - 0.520 T - 2.58 sin M + 3 + + + 0.19 cos M . + 3 + + + At the present time, the PCK kernel software (the routine + BODEUL in particular) cannot handle the cosine term directly, + but we can represent it as + + 0.19 sin M + 4 + + where + + M = 90.D0 - M + 4 3 + + Therefore, the nutation precession angle assignments for Phobos + and Deimos contain four coefficients rather than three. + + The quadratic prime meridian term is scaled by 1/36525**2: + + -0.5200000000000000 ---> -3.8978300049519307E-10 + + \begindata + + BODY402_POLE_RA = ( 316.65 -0.108 0. ) + BODY402_POLE_DEC = ( 53.52 -0.061 0. ) + BODY402_PM = ( 79.41 285.1618970 -3.897830D-10 ) + BODY402_LONG_AXIS = ( 0. ) + + BODY402_NUT_PREC_RA = ( 0. 0. 2.98 0. ) + BODY402_NUT_PREC_DEC = ( 0. 0. -1.78 0. ) + BODY402_NUT_PREC_PM = ( 0. 0. -2.58 0.19 ) + + \begintext + + + + +Satellites of Jupiter + + + Io + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + BODY501_POLE_RA = ( 268.05 -0.009 0. ) + BODY501_POLE_DEC = ( 64.50 0.003 0. ) + BODY501_PM = ( 200.39 203.4889538 0. ) + BODY501_LONG_AXIS = ( 0. ) + + BODY501_NUT_PREC_RA = ( 0. 0. 0.094 0.024 ) + BODY501_NUT_PREC_DEC = ( 0. 0. 0.040 0.011 ) + BODY501_NUT_PREC_PM = ( 0. 0. -0.085 -0.022 ) + + \begintext + + + + Europa + + + Old values: + + Values are from the 2003 IAU report. + + + body502_pole_ra = ( 268.08 -0.009 0. ) + body502_pole_dec = ( 64.51 0.003 0. ) + body502_pm = ( 35.67 101.3747235 0. ) + body502_long_axis = ( 0. ) + + body502_nut_prec_ra = ( 0. 0. 0. 1.086 0.060 0.015 0.009 ) + body502_nut_prec_dec = ( 0. 0. 0. 0.468 0.026 0.007 0.002 ) + body502_nut_prec_pm = ( 0. 0. 0. -0.980 -0.054 -0.014 -0.008 ) + + + Current values: + + \begindata + + BODY502_POLE_RA = ( 268.08 -0.009 0. ) + BODY502_POLE_DEC = ( 64.51 0.003 0. ) + BODY502_PM = ( 36.022 101.3747235 0. ) + BODY502_LONG_AXIS = ( 0. ) + + BODY502_NUT_PREC_RA = ( 0. 0. 0. 1.086 0.060 0.015 0.009 ) + BODY502_NUT_PREC_DEC = ( 0. 0. 0. 0.468 0.026 0.007 0.002 ) + BODY502_NUT_PREC_PM = ( 0. 0. 0. -0.980 -0.054 -0.014 -0.008 ) + + \begintext + + + Ganymede + + Old values: + + Values are unchanged in the 2006 IAU report. + + + Current values: + + \begindata + + BODY503_POLE_RA = ( 268.20 -0.009 0. ) + BODY503_POLE_DEC = ( 64.57 0.003 0. ) + BODY503_PM = ( 44.064 50.3176081 0. ) + BODY503_LONG_AXIS = ( 0. ) + + BODY503_NUT_PREC_RA = ( 0. 0. 0. -0.037 0.431 0.091 ) + BODY503_NUT_PREC_DEC = ( 0. 0. 0. -0.016 0.186 0.039 ) + BODY503_NUT_PREC_PM = ( 0. 0. 0. 0.033 -0.389 -0.082 ) + + \begintext + + + Callisto + + Old values: + + Values are unchanged in the 2006 IAU report. + + + Current values: + + + \begindata + + BODY504_POLE_RA = ( 268.72 -0.009 0. ) + BODY504_POLE_DEC = ( 64.83 0.003 0. ) + BODY504_PM = ( 259.51 21.5710715 0. ) + BODY504_LONG_AXIS = ( 0. ) + + BODY504_NUT_PREC_RA = ( 0. 0. 0. 0. -0.068 0.590 0. 0.010 ) + BODY504_NUT_PREC_DEC = ( 0. 0. 0. 0. -0.029 0.254 0. -0.004 ) + BODY504_NUT_PREC_PM = ( 0. 0. 0. 0. 0.061 -0.533 0. -0.009 ) + + \begintext + + + Amalthea + + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + BODY505_POLE_RA = ( 268.05 -0.009 0. ) + BODY505_POLE_DEC = ( 64.49 0.003 0. ) + BODY505_PM = ( 231.67 722.6314560 0. ) + BODY505_LONG_AXIS = ( 0. ) + + BODY505_NUT_PREC_RA = ( -0.84 0. 0. 0. 0. 0. 0. 0. 0.01 0. ) + BODY505_NUT_PREC_DEC = ( -0.36 0. 0. 0. 0. 0. 0. 0. 0. 0. ) + BODY505_NUT_PREC_PM = ( 0.76 0. 0. 0. 0. 0. 0. 0. -0.01 0. ) + + \begintext + + + Thebe + + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + BODY514_POLE_RA = ( 268.05 -0.009 0. ) + BODY514_POLE_DEC = ( 64.49 0.003 0. ) + BODY514_PM = ( 8.56 533.7004100 0. ) + BODY514_LONG_AXIS = ( 0. ) + + BODY514_NUT_PREC_RA = ( 0. -2.11 0. 0. 0. 0. 0. 0. 0. 0.04 ) + BODY514_NUT_PREC_DEC = ( 0. -0.91 0. 0. 0. 0. 0. 0. 0. 0.01 ) + BODY514_NUT_PREC_PM = ( 0. 1.91 0. 0. 0. 0. 0. 0. 0. -0.04 ) + + \begintext + + + Adrastea + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + + + BODY515_POLE_RA = ( 268.05 -0.009 0. ) + BODY515_POLE_DEC = ( 64.49 0.003 0. ) + BODY515_PM = ( 33.29 1206.9986602 0. ) + BODY515_LONG_AXIS = ( 0. ) + + \begintext + + + Metis + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + BODY516_POLE_RA = ( 268.05 -0.009 0. ) + BODY516_POLE_DEC = ( 64.49 0.003 0. ) + BODY516_PM = ( 346.09 1221.2547301 0. ) + BODY516_LONG_AXIS = ( 0. ) + + \begintext + + + +Satellites of Saturn + + + Mimas + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + BODY601_POLE_RA = ( 40.66 -0.036 0. ) + BODY601_POLE_DEC = ( 83.52 -0.004 0. ) + BODY601_PM = ( 337.46 381.9945550 0. ) + BODY601_LONG_AXIS = ( 0. ) + + BODY601_NUT_PREC_RA = ( 0. 0. 13.56 0. 0. 0. 0. 0. 0. ) + BODY601_NUT_PREC_DEC = ( 0. 0. -1.53 0. 0. 0. 0. 0. 0. ) + BODY601_NUT_PREC_PM = ( 0. 0. -13.48 0. -44.85 0. 0. 0. 0. ) + + \begintext + + + Enceladus + + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + BODY602_POLE_RA = ( 40.66 -0.036 0. ) + BODY602_POLE_DEC = ( 83.52 -0.004 0. ) + BODY602_PM = ( 2.82 262.7318996 0. ) + BODY602_LONG_AXIS = ( 0. ) + + \begintext + + + + Tethys + + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + BODY603_POLE_RA = ( 40.66 -0.036 0. ) + BODY603_POLE_DEC = ( 83.52 -0.004 0. ) + BODY603_PM = ( 10.45 190.6979085 0. ) + BODY603_LONG_AXIS = ( 0. ) + + BODY603_NUT_PREC_RA = ( 0. 0. 0. 9.66 0. 0. 0. 0. 0. ) + BODY603_NUT_PREC_DEC = ( 0. 0. 0. -1.09 0. 0. 0. 0. 0. ) + BODY603_NUT_PREC_PM = ( 0. 0. 0. -9.60 2.23 0. 0. 0. 0. ) + + \begintext + + + Dione + + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + BODY604_POLE_RA = ( 40.66 -0.036 0. ) + BODY604_POLE_DEC = ( 83.52 -0.004 0. ) + BODY604_PM = ( 357.00 131.5349316 0. ) + BODY604_LONG_AXIS = ( 0. ) + + \begintext + + + + Rhea + + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + BODY605_POLE_RA = ( 40.38 -0.036 0. ) + BODY605_POLE_DEC = ( 83.55 -0.004 0. ) + BODY605_PM = ( 235.16 79.6900478 0. ) + BODY605_LONG_AXIS = ( 0. ) + + BODY605_NUT_PREC_RA = ( 0. 0. 0. 0. 0. 3.10 0. 0. 0. ) + BODY605_NUT_PREC_DEC = ( 0. 0. 0. 0. 0. -0.35 0. 0. 0. ) + BODY605_NUT_PREC_PM = ( 0. 0. 0. 0. 0. -3.08 0. 0. 0. ) + + \begintext + + + + Titan + + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + BODY606_POLE_RA = ( 36.41 -0.036 0. ) + BODY606_POLE_DEC = ( 83.94 -0.004 0. ) + BODY606_PM = ( 189.64 22.5769768 0. ) + BODY606_LONG_AXIS = ( 0. ) + + BODY606_NUT_PREC_RA = ( 0. 0. 0. 0. 0. 0. 2.66 0. 0 ) + BODY606_NUT_PREC_DEC = ( 0. 0. 0. 0. 0. 0. -0.30 0. 0 ) + BODY606_NUT_PREC_PM = ( 0. 0. 0. 0. 0. 0. -2.64 0. 0 ) + + \begintext + + + + Hyperion + + The IAU report does not give an orientation model for Hyperion. + Hyperion's rotation is in chaotic and is not predictable for + long periods. + + + Iapetus + + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + BODY608_POLE_RA = ( 318.16 -3.949 0. ) + BODY608_POLE_DEC = ( 75.03 -1.143 0. ) + BODY608_PM = ( 350.20 4.5379572 0. ) + BODY608_LONG_AXIS = ( 0. ) + + \begintext + + + + Phoebe + + + Old values: + + Values are from the 2003 IAU report. + + body609_pole_ra = ( 355.00 0. 0. ) + body609_pole_dec = ( 68.70 0. 0. ) + body609_pm = ( 304.70 930.8338720 0. ) + body609_long_axis = ( 0. ) + + Current values: + + \begindata + + BODY609_POLE_RA = ( 356.90 0. 0. ) + BODY609_POLE_DEC = ( 77.80 0. 0. ) + BODY609_PM = ( 178.58 931.639 0. ) + BODY609_LONG_AXIS = ( 0. ) + + \begintext + + + Janus + + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + BODY610_POLE_RA = ( 40.58 -0.036 0. ) + BODY610_POLE_DEC = ( 83.52 -0.004 0. ) + BODY610_PM = ( 58.83 518.2359876 0. ) + BODY610_LONG_AXIS = ( 0. ) + + BODY610_NUT_PREC_RA = ( 0. -1.623 0. 0. 0. 0. 0. 0. 0.023 ) + BODY610_NUT_PREC_DEC = ( 0. -0.183 0. 0. 0. 0. 0. 0. 0.001 ) + BODY610_NUT_PREC_PM = ( 0. 1.613 0. 0. 0. 0. 0. 0. -0.023 ) + + \begintext + + + + Epimetheus + + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + BODY611_POLE_RA = ( 40.58 -0.036 0. ) + BODY611_POLE_DEC = ( 83.52 -0.004 0. ) + BODY611_PM = ( 293.87 518.4907239 0. ) + BODY611_LONG_AXIS = ( 0. ) + + BODY611_NUT_PREC_RA = ( -3.153 0. 0. 0. 0. 0. 0. 0.086 0. ) + BODY611_NUT_PREC_DEC = ( -0.356 0. 0. 0. 0. 0. 0. 0.005 0. ) + BODY611_NUT_PREC_PM = ( 3.133 0. 0. 0. 0. 0. 0. -0.086 0. ) + + \begintext + + + + Helene + + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + BODY612_POLE_RA = ( 40.85 -0.036 0. ) + BODY612_POLE_DEC = ( 83.34 -0.004 0. ) + BODY612_PM = ( 245.12 131.6174056 0. ) + BODY612_LONG_AXIS = ( 0. ) + + \begintext + + + + Telesto + + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + BODY613_POLE_RA = ( 50.51 -0.036 0. ) + BODY613_POLE_DEC = ( 84.06 -0.004 0. ) + BODY613_PM = ( 56.88 190.6979332 0. ) + BODY613_LONG_AXIS = ( 0. ) + + \begintext + + + + Calypso + + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + BODY614_POLE_RA = ( 36.41 -0.036 0. ) + BODY614_POLE_DEC = ( 85.04 -0.004 0. ) + BODY614_PM = ( 153.51 190.6742373 0. ) + BODY614_LONG_AXIS = ( 0. ) + + \begintext + + + + Atlas + + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + BODY615_POLE_RA = ( 40.58 -0.036 0. ) + BODY615_POLE_DEC = ( 83.53 -0.004 0. ) + BODY615_PM = ( 137.88 598.3060000 0. ) + BODY615_LONG_AXIS = ( 0. ) + + \begintext + + + + Prometheus + + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + BODY616_POLE_RA = ( 40.58 -0.036 ) + BODY616_POLE_DEC = ( 83.53 -0.004 ) + BODY616_PM = ( 296.14 587.289000 ) + BODY616_LONG_AXIS = ( 0. ) + + \begintext + + + + Pandora + + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + BODY617_POLE_RA = ( 40.58 -0.036 0. ) + BODY617_POLE_DEC = ( 83.53 -0.004 0. ) + BODY617_PM = ( 162.92 572.7891000 0. ) + BODY617_LONG_AXIS = ( 0. ) + + \begintext + + + + Pan + + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + BODY618_POLE_RA = ( 40.6 -0.036 0. ) + BODY618_POLE_DEC = ( 83.5 -0.004 0. ) + BODY618_PM = ( 48.8 626.0440000 0. ) + BODY618_LONG_AXIS = ( 0. ) + + \begintext + + + + + +Satellites of Uranus + + + + Ariel + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + BODY701_POLE_RA = ( 257.43 0. 0. ) + BODY701_POLE_DEC = ( -15.10 0. 0. ) + BODY701_PM = ( 156.22 -142.8356681 0. ) + BODY701_LONG_AXIS = ( 0. ) + + BODY701_NUT_PREC_RA = ( 0. 0. 0. 0. 0. + 0. 0. 0. 0. 0. 0. 0. 0.29 ) + + BODY701_NUT_PREC_DEC = ( 0. 0. 0. 0. 0. + 0. 0. 0. 0. 0. 0. 0. 0.28 ) + + BODY701_NUT_PREC_PM = ( 0. 0. 0. 0. 0. + 0. 0. 0. 0. 0. 0. 0.05 0.08 ) + \begintext + + + + Umbriel + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + BODY702_POLE_RA = ( 257.43 0. 0. ) + BODY702_POLE_DEC = ( -15.10 0. 0. ) + BODY702_PM = ( 108.05 -86.8688923 0. ) + BODY702_LONG_AXIS = ( 0. ) + + BODY702_NUT_PREC_RA = ( 0. 0. 0. 0. 0. + 0. 0. 0. 0. 0. 0. 0. 0. 0.21 ) + + BODY702_NUT_PREC_DEC = ( 0. 0. 0. 0. 0. + 0. 0. 0. 0. 0. 0. 0. 0. 0.20 ) + + BODY702_NUT_PREC_PM = ( 0. 0. 0. 0. 0. + 0. 0. 0. 0. 0. 0. -0.09 0. 0.06 ) + + \begintext + + + + Titania + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + BODY703_POLE_RA = ( 257.43 0. 0. ) + BODY703_POLE_DEC = ( -15.10 0. 0. ) + BODY703_PM = ( 77.74 -41.3514316 0. ) + BODY703_LONG_AXIS = ( 0. ) + + BODY703_NUT_PREC_RA = ( 0. 0. 0. 0. 0. + 0. 0. 0. 0. 0. 0. 0. 0. 0. 0.29 ) + + BODY703_NUT_PREC_DEC = ( 0. 0. 0. 0. 0. + 0. 0. 0. 0. 0. 0. 0. 0. 0. 0.28 ) + + BODY703_NUT_PREC_PM = ( 0. 0. 0. 0. 0. + 0. 0. 0. 0. 0. 0. 0. 0. 0. 0.08 ) + \begintext + + + + Oberon + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + BODY704_POLE_RA = ( 257.43 0. 0. ) + BODY704_POLE_DEC = ( -15.10 0. 0. ) + BODY704_PM = ( 6.77 -26.7394932 0. ) + BODY704_LONG_AXIS = ( 0. ) + + + BODY704_NUT_PREC_RA = ( 0. 0. 0. 0. 0. + 0. 0. 0. 0. 0. + 0. 0. 0. 0. 0. 0.16 ) + + BODY704_NUT_PREC_DEC = ( 0. 0. 0. 0. 0. + 0. 0. 0. 0. 0. + 0. 0. 0. 0. 0. 0.16 ) + + BODY704_NUT_PREC_PM = ( 0. 0. 0. 0. 0. + 0. 0. 0. 0. 0. + 0. 0. 0. 0. 0. 0.04 ) + \begintext + + + + Miranda + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + + BODY705_POLE_RA = ( 257.43 0. 0. ) + BODY705_POLE_DEC = ( -15.08 0. 0. ) + BODY705_PM = ( 30.70 -254.6906892 0. ) + BODY705_LONG_AXIS = ( 0. ) + + BODY705_NUT_PREC_RA = ( 0. 0. 0. 0. 0. + 0. 0. 0. 0. 0. + 4.41 0. 0. 0. 0. + 0. -0.04 0. ) + + BODY705_NUT_PREC_DEC = ( 0. 0. 0. 0. 0. + 0. 0. 0. 0. 0. + 4.25 0. 0. 0. 0. + 0. -0.02 0. ) + + BODY705_NUT_PREC_PM = ( 0. 0. 0. 0. 0. + 0. 0. 0. 0. 0. + 1.15 -1.27 0. 0. 0. + 0. -0.09 0.15 ) + \begintext + + + + Cordelia + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + BODY706_POLE_RA = ( 257.31 0. 0. ) + BODY706_POLE_DEC = ( -15.18 0. 0. ) + BODY706_PM = ( 127.69 -1074.5205730 0. ) + BODY706_LONG_AXIS = ( 0. ) + + BODY706_NUT_PREC_RA = ( -0.15 0. 0. 0. 0. + 0. 0. 0. 0. 0. + 0. 0. 0. 0. 0. + 0. 0. 0. ) + + BODY706_NUT_PREC_DEC = ( 0.14 0. 0. 0. 0. + 0. 0. 0. 0. 0. + 0. 0. 0. 0. 0. + 0. 0. 0. ) + + BODY706_NUT_PREC_PM = ( -0.04 0. 0. 0. 0. + 0. 0. 0. 0. 0. + 0. 0. 0. 0. 0. + 0. 0. 0. ) + + \begintext + + + + Ophelia + + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + BODY707_POLE_RA = ( 257.31 0. 0. ) + BODY707_POLE_DEC = ( -15.18 0. 0. ) + BODY707_PM = ( 130.35 -956.4068150 0. ) + BODY707_LONG_AXIS = ( 0. ) + + BODY707_NUT_PREC_RA = ( 0. -0.09 0. 0. 0. + 0. 0. 0. 0. 0. + 0. 0. 0. 0. 0. + 0. 0. 0. ) + + BODY707_NUT_PREC_DEC = ( 0. 0.09 0. 0. 0. + 0. 0. 0. 0. 0. + 0. 0. 0. 0. 0. + 0. 0. 0. ) + + BODY707_NUT_PREC_PM = ( 0. -0.03 0. 0. 0. + 0. 0. 0. 0. 0. + 0. 0. 0. 0. 0. + 0. 0. 0. ) + + \begintext + + + + Bianca + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + BODY708_POLE_RA = ( 257.31 0. 0. ) + BODY708_POLE_DEC = ( -15.18 0. 0. ) + BODY708_PM = ( 105.46 -828.3914760 0. ) + BODY708_LONG_AXIS = ( 0. ) + + BODY708_NUT_PREC_RA = ( 0. 0. -0.16 0. 0. + 0. 0. 0. 0. 0. + 0. 0. 0. 0. 0. + 0. 0. 0. ) + + BODY708_NUT_PREC_DEC = ( 0. 0. 0.16 0. 0. + 0. 0. 0. 0. 0. + 0. 0. 0. 0. 0. + 0. 0. 0. ) + + BODY708_NUT_PREC_PM = ( 0. 0. -0.04 0. 0. + 0. 0. 0. 0. 0. + 0. 0. 0. 0. 0. + 0. 0. 0. ) + + \begintext + + + + Cressida + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + + BODY709_POLE_RA = ( 257.31 0. 0. ) + BODY709_POLE_DEC = ( -15.18 0. 0. ) + BODY709_PM = ( 59.16 -776.5816320 0. ) + BODY709_LONG_AXIS = ( 0. ) + + + BODY709_NUT_PREC_RA = ( 0. 0. 0. -0.04 0. + 0. 0. 0. 0. 0. + 0. 0. 0. 0. 0. + 0. 0. 0. ) + + + BODY709_NUT_PREC_DEC = ( 0. 0. 0. 0.04 0. + 0. 0. 0. 0. 0. + 0. 0. 0. 0. 0. + 0. 0. 0. ) + + + BODY709_NUT_PREC_PM = ( 0. 0. 0. -0.01 0. + 0. 0. 0. 0. 0. + 0. 0. 0. 0. 0. + 0. 0. 0. ) + + + \begintext + + + + Desdemona + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + BODY710_POLE_RA = ( 257.31 0. 0. ) + BODY710_POLE_DEC = ( -15.18 0. 0. ) + BODY710_PM = ( 95.08 -760.0531690 0. ) + BODY710_LONG_AXIS = ( 0. ) + + BODY710_NUT_PREC_RA = ( 0. 0. 0. 0. -0.17 + 0. 0. 0. 0. 0. + 0. 0. 0. 0. 0. + 0. 0. 0. ) + + BODY710_NUT_PREC_DEC = ( 0. 0. 0. 0. 0.16 + 0. 0. 0. 0. 0. + 0. 0. 0. 0. 0. + 0. 0. 0. ) + + BODY710_NUT_PREC_PM = ( 0. 0. 0. 0. -0.04 + 0. 0. 0. 0. 0. + 0. 0. 0. 0. 0. + 0. 0. 0. ) + + \begintext + + + + Juliet + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + BODY711_POLE_RA = ( 257.31 0. 0. ) + BODY711_POLE_DEC = ( -15.18 0. 0. ) + BODY711_PM = ( 302.56 -730.1253660 0. ) + BODY711_LONG_AXIS = ( 0. ) + + BODY711_NUT_PREC_RA = ( 0. 0. 0. 0. 0. + -0.06 0. 0. 0. 0. + 0. 0. 0. 0. 0. + 0. 0. 0. ) + + BODY711_NUT_PREC_DEC = ( 0. 0. 0. 0. 0. + 0.06 0. 0. 0. 0. + 0. 0. 0. 0. 0. + 0. 0. 0. ) + + BODY711_NUT_PREC_PM = ( 0. 0. 0. 0. 0. + -0.02 0. 0. 0. 0. + 0. 0. 0. 0. 0. + 0. 0. 0. ) + + \begintext + + + + Portia + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + BODY712_POLE_RA = ( 257.31 0. 0. ) + BODY712_POLE_DEC = ( -15.18 0. 0. ) + BODY712_PM = ( 25.03 -701.4865870 0. ) + BODY712_LONG_AXIS = ( 0. ) + + BODY712_NUT_PREC_RA = ( 0. 0. 0. 0. 0. + 0. -0.09 0. 0. 0. + 0. 0. 0. 0. 0. + 0. 0. 0. ) + + BODY712_NUT_PREC_DEC = ( 0. 0. 0. 0. 0. + 0. 0.09 0. 0. 0. + 0. 0. 0. 0. 0. + 0. 0. 0. ) + + BODY712_NUT_PREC_PM = ( 0. 0. 0. 0. 0. + 0. -0.02 0. 0. 0. + 0. 0. 0. 0. 0. + 0. 0. 0. ) + + \begintext + + + + Rosalind + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + BODY713_POLE_RA = ( 257.31 0. 0. ) + BODY713_POLE_DEC = ( -15.18 0. 0. ) + BODY713_PM = ( 314.90 -644.6311260 0. ) + BODY713_LONG_AXIS = ( 0. ) + + BODY713_NUT_PREC_RA = ( 0. 0. 0. 0. 0. + 0. 0. -0.29 0. 0. + 0. 0. 0. 0. 0. + 0. 0. 0. ) + + BODY713_NUT_PREC_DEC = ( 0. 0. 0. 0. 0. + 0. 0. 0.28 0. 0. + 0. 0. 0. 0. 0. + 0. 0. 0. ) + + BODY713_NUT_PREC_PM = ( 0. 0. 0. 0. 0. + 0. 0. -0.08 0. 0. + 0. 0. 0. 0. 0. + 0. 0. 0. ) + + \begintext + + + + Belinda + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + BODY714_POLE_RA = ( 257.31 0. 0. ) + BODY714_POLE_DEC = ( -15.18 0. 0. ) + BODY714_PM = ( 297.46 -577.3628170 0. ) + BODY714_LONG_AXIS = ( 0. ) + + BODY714_NUT_PREC_RA = ( 0. 0. 0. 0. 0. + 0. 0. 0. -0.03 0. + 0. 0. 0. 0. 0. + 0. 0. 0. ) + + BODY714_NUT_PREC_DEC = ( 0. 0. 0. 0. 0. + 0. 0. 0. 0.03 0. + 0. 0. 0. 0. 0. + 0. 0. 0. ) + + BODY714_NUT_PREC_PM = ( 0. 0. 0. 0. 0. + 0. 0. 0. -0.01 0. + 0. 0. 0. 0. 0. + 0. 0. 0. ) + \begintext + + + + Puck + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + BODY715_POLE_RA = ( 257.31 0. 0. ) + BODY715_POLE_DEC = ( -15.18 0. 0. ) + BODY715_PM = ( 91.24 -472.5450690 0. ) + BODY715_LONG_AXIS = ( 0. ) + + BODY715_NUT_PREC_RA = ( 0. 0. 0. 0. 0. + 0. 0. 0. 0. -0.33 + 0. 0. 0. 0. 0. + 0. 0. 0. ) + + BODY715_NUT_PREC_DEC = ( 0. 0. 0. 0. 0. + 0. 0. 0. 0. 0.31 + 0. 0. 0. 0. 0. + 0. 0. 0. ) + + BODY715_NUT_PREC_PM = ( 0. 0. 0. 0. 0. + 0. 0. 0. 0. -0.09 + 0. 0. 0. 0. 0. + 0. 0. 0. ) + + \begintext + + + + +Satellites of Neptune + + + Triton + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + BODY801_POLE_RA = ( 299.36 0. 0. ) + BODY801_POLE_DEC = ( 41.17 0. 0. ) + BODY801_PM = ( 296.53 -61.2572637 0. ) + BODY801_LONG_AXIS = ( 0. ) + + + BODY801_NUT_PREC_RA = ( 0. 0. 0. 0. + 0. 0. 0. -32.35 + 0. -6.28 -2.08 -0.74 + -0.28 -0.11 -0.07 -0.02 + -0.01 ) + + + BODY801_NUT_PREC_DEC = ( 0. 0. 0. 0. + 0. 0. 0. 22.55 + 0. 2.10 0.55 0.16 + 0.05 0.02 0.01 0. + 0. ) + + + BODY801_NUT_PREC_PM = ( 0. 0. 0. 0. + 0. 0. 0. 22.25 + 0. 6.73 2.05 0.74 + 0.28 0.11 0.05 0.02 + 0.01 ) + + \begintext + + + + + Nereid + + Old values: + + Values are from the 1988 IAU report [10]. Note that this + rotation model pre-dated the 1989 Voyager 2 Neptune + encounter. + + + body802_pole_ra = ( 273.48 0. 0. ) + body802_pole_dec = ( 67.22 0. 0. ) + body802_pm = ( 237.22 0.9996465 0. ) + body802_long_axis = ( 0. ) + + + The report seems to have a typo: in the nut_prec_ra expression, + where the report gives -0.51 sin 3N3, we use -0.51 3N2. + + body802_nut_prec_ra = ( 0. -17.81 + 0. 0. 0. 0. + 0. 0. 0. + 2.56 -0.51 0.11 -0.03 ) + + body802_nut_prec_dec = ( 0. -6.67 + 0. 0. 0. 0. + 0. 0. 0. + 0.47 -0.07 0.01 ) + + body802_nut_prec_pm = ( 0. 16.48 + 0. 0. 0. 0. + 0. 0. 0. + -2.57 0.51 -0.11 0.02 ) + + + + Current values: + + The 2006 report [1] states that values for Nereid are not + given because Nereid is not in synchronous rotation with Neptune + (p. 167). + + + + Naiad + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + + \begindata + + BODY803_POLE_RA = ( 299.36 0. 0. ) + BODY803_POLE_DEC = ( 43.36 0. 0. ) + BODY803_PM = ( 254.06 +1222.8441209 0. ) + BODY803_LONG_AXIS = ( 0. ) + + + BODY803_NUT_PREC_RA = ( 0.70 -6.49 0. 0. + 0. 0. 0. 0. + 0.25 0. 0. 0. + 0. 0. 0. 0. + 0. ) + + BODY803_NUT_PREC_DEC = ( -0.51 -4.75 0. 0. + 0. 0. 0. 0. + 0.09 0. 0. 0. + 0. 0. 0. 0. + 0. ) + + BODY803_NUT_PREC_PM = ( -0.48 4.40 0. 0. + 0. 0. 0. 0. + -0.27 0. 0. 0. + 0. 0. 0. 0. + 0. ) + + \begintext + + + + + Thalassa + + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + BODY804_POLE_RA = ( 299.36 0. 0. ) + BODY804_POLE_DEC = ( 43.45 0. 0. ) + BODY804_PM = ( 102.06 1155.7555612 0. ) + BODY804_LONG_AXIS = ( 0. ) + + + BODY804_NUT_PREC_RA = ( 0.70 0. -0.28 0. + 0. 0. 0. 0. + 0. 0. 0. 0. + 0. 0. 0. 0. + 0. ) + + + BODY804_NUT_PREC_DEC = ( -0.51 0. -0.21 0. + 0. 0. 0. 0. + 0. 0. 0. 0. + 0. 0. 0. 0. + 0. ) + + BODY804_NUT_PREC_PM = ( -0.48 0. 0.19 0. + 0. 0. 0. 0. + 0. 0. 0. 0. + 0. 0. 0. 0. + 0. ) + + \begintext + + + + Despina + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + + \begindata + + BODY805_POLE_RA = ( 299.36 0. 0. ) + BODY805_POLE_DEC = ( 43.45 0. 0. ) + BODY805_PM = ( 306.51 +1075.7341562 0. ) + BODY805_LONG_AXIS = ( 0. ) + + + BODY805_NUT_PREC_RA = ( 0.70 0. 0. -0.09 + 0. 0. 0. 0. + 0. 0. 0. 0. + 0. 0. 0. 0. + 0. ) + + BODY805_NUT_PREC_DEC = ( -0.51 0. 0. -0.07 + 0. 0. 0. 0. + 0. 0. 0. 0. + 0. 0. 0. 0. + 0. ) + + BODY805_NUT_PREC_PM = ( -0.49 0. 0. 0.06 + 0. 0. 0. 0. + 0. 0. 0. 0. + 0. 0. 0. 0. + 0. ) + \begintext + + + + Galatea + + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + + \begindata + + BODY806_POLE_RA = ( 299.36 0. 0. ) + BODY806_POLE_DEC = ( 43.43 0. 0. ) + BODY806_PM = ( 258.09 839.6597686 0. ) + BODY806_LONG_AXIS = ( 0. ) + + + BODY806_NUT_PREC_RA = ( 0.70 0. 0. 0. + -0.07 0. 0. 0. + 0. 0. 0. 0. + 0. 0. 0. 0. + 0. ) + + BODY806_NUT_PREC_DEC = ( -0.51 0. 0. 0. + -0.05 0. 0. 0. + 0. 0. 0. 0. + 0. 0. 0. 0. + 0. ) + + BODY806_NUT_PREC_PM = ( -0.48 0. 0. 0. + 0.05 0. 0. 0. + 0. 0. 0. 0. + 0. 0. 0. 0. + 0. ) + \begintext + + + Larissa + + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + BODY807_POLE_RA = ( 299.36 0. 0. ) + BODY807_POLE_DEC = ( 43.41 0. 0. ) + BODY807_PM = ( 179.41 +649.0534470 0. ) + BODY807_LONG_AXIS = ( 0. ) + + + BODY807_NUT_PREC_RA = ( 0.70 0. 0. 0. + 0. -0.27 0. 0. + 0. 0. 0. 0. + 0. 0. 0. 0. + 0. ) + + BODY807_NUT_PREC_DEC = ( -0.51 0. 0. 0. + 0. -0.20 0. 0. + 0. 0. 0. 0. + 0. 0. 0. 0. + 0. ) + + BODY807_NUT_PREC_PM = ( -0.48 0. 0. 0. + 0. 0.19 0. 0. + 0. 0. 0. 0. + 0. 0. 0. 0. + 0. ) + \begintext + + + + Proteus + + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + BODY808_POLE_RA = ( 299.27 0. 0. ) + BODY808_POLE_DEC = ( 42.91 0. 0. ) + BODY808_PM = ( 93.38 +320.7654228 0. ) + BODY808_LONG_AXIS = ( 0. ) + + + BODY808_NUT_PREC_RA = ( 0.70 0. 0. 0. + 0. 0. -0.05 0. + 0. 0. 0. 0. + 0. 0. 0. 0. + 0. ) + + BODY808_NUT_PREC_DEC = ( -0.51 0. 0. 0. + 0. 0. -0.04 0. + 0. 0. 0. 0. + 0. 0. 0. 0. + 0. ) + + BODY808_NUT_PREC_PM = ( -0.48 0. 0. 0. + 0. 0. 0.04 0. + 0. 0. 0. 0. + 0. 0. 0. 0. + 0. ) + + \begintext + + + + + +Satellites of Pluto + + Charon + + Old values: + + Values are from the 2003 IAU report. + + body901_pole_ra = ( 313.02 0. 0. ) + body901_pole_dec = ( 9.09 0. 0. ) + body901_pm = ( 56.77 -56.3623195 0. ) + body901_long_axis = ( 0. ) + + Current values: + + \begindata + + BODY901_POLE_RA = ( 312.993 0. 0. ) + BODY901_POLE_DEC = ( 6.163 0. 0. ) + BODY901_PM = ( 57.305 -56.3625225 0. ) + BODY901_LONG_AXIS = ( 0. ) + + \begintext + + + +Orientation constants for Selected Comets and Asteroids +-------------------------------------------------------- + + + +19P/Borrelly + + + Current values: + + \begindata + + BODY1000005_POLE_RA = ( 218.5 0. 0. ) + BODY1000005_POLE_DEC = ( -12.5 0. 0. ) + BODY1000005_PM = ( 000. 390.0 0. ) + BODY1000005_LONG_AXIS = ( 0. ) + + \begintext + + + +9P/Tempel 1 + + + Current values: + + \begindata + + BODY1000093_POLE_RA = ( 294. 0. 0. ) + BODY1000093_POLE_DEC = ( 73. 0. 0. ) + BODY1000093_PM = ( 252.63 212.064 0. ) + BODY1000093_LONG_AXIS = ( 0. ) + + \begintext + + +Vesta + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + BODY2000004_POLE_RA = ( 301. 0. 0. ) + BODY2000004_POLE_DEC = ( 41. 0. 0. ) + BODY2000004_PM = ( 292. 1617.332776 0. ) + BODY2000004_LONG_AXIS = ( 0. ) + + \begintext + +Eros + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + BODY2000433_POLE_RA = ( 11.35 0. 0. ) + BODY2000433_POLE_DEC = ( 17.22 0. 0. ) + BODY2000433_PM = ( 326.07 1639.38864745 0. ) + BODY2000433_LONG_AXIS = ( 0. ) + + \begintext + + +Itokawa + + + Current values: + + \begindata + + BODY2025143_POLE_RA = ( 90.53 0. 0. ) + BODY2025143_POLE_DEC = ( -66.30 0. 0. ) + BODY2025143_PM = ( 000.0 712.143 0. ) + BODY2025143_LONG_AXIS = ( 0. ) + + \begintext + + + +Ida + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + BODY2431010_POLE_RA = ( 168.76 0. 0. ) + BODY2431010_POLE_DEC = ( -2.88 0. 0. ) + BODY2431010_PM = ( 265.95 +1864.6280070 0. ) + BODY2431010_LONG_AXIS = ( 0. ) + + \begintext + +Gaspra + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + BODY9511010_POLE_RA = ( 9.47 0. 0. ) + BODY9511010_POLE_DEC = ( 26.70 0. 0. ) + BODY9511010_PM = ( 83.67 1226.9114850 0. ) + BODY9511010_LONG_AXIS = ( 0. ) + + \begintext + + + + + + + + + + +Radii of Sun and Planets +-------------------------------------------------------- + + +Sun + + Value for the Sun is from the [3], page K7. + + \begindata + + BODY10_RADII = ( 696000. 696000. 696000. ) + + \begintext + + +Mercury + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + BODY199_RADII = ( 2439.7 2439.7 2439.7 ) + + \begintext + + +Venus + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + BODY299_RADII = ( 6051.8 6051.8 6051.8 ) + + \begintext + + +Earth + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + + \begindata + + BODY399_RADII = ( 6378.14 6378.14 6356.75 ) + + \begintext + + +Mars + + + Old values: + + body499_radii = ( 3397. 3397. 3375. ) + + Current values: + + + The IAU report gives separate values for the north and south + polar radii: + + north: 3373.19 + south: 3379.21 + + We use the average of these values as the polar radius for + the triaxial model. + + \begindata + + BODY499_RADII = ( 3396.19 3396.19 3376.20 ) + + \begintext + + + +Jupiter + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + BODY599_RADII = ( 71492 71492 66854 ) + + \begintext + + + +Saturn + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + BODY699_RADII = ( 60268 60268 54364 ) + + \begintext + + + +Uranus + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + BODY799_RADII = ( 25559 25559 24973 ) + + \begintext + + + +Neptune + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + (Values are for the 1 bar pressure level.) + + \begindata + + BODY899_RADII = ( 24764 24764 24341 ) + + \begintext + + + +Pluto + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + BODY999_RADII = ( 1195 1195 1195 ) + + \begintext + + + + +Radii of Satellites +-------------------------------------------------------- + + +Moon + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + BODY301_RADII = ( 1737.4 1737.4 1737.4 ) + + \begintext + + + +Satellites of Mars + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + BODY401_RADII = ( 13.4 11.2 9.2 ) + BODY402_RADII = ( 7.5 6.1 5.2 ) + + \begintext + + + +Satellites of Jupiter + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + BODY501_RADII = ( 1829.4 1819.3 1815.7 ) + BODY502_RADII = ( 1564.13 1561.23 1560.93 ) + BODY503_RADII = ( 2632.4 2632.29 2632.35 ) + BODY504_RADII = ( 2409.4 2409.2 2409.3 ) + BODY505_RADII = ( 125 73 64 ) + + \begintext + + Only mean radii are available in the 2003 IAU report for bodies + 506-513. + + \begindata + + BODY506_RADII = ( 85 85 85 ) + BODY507_RADII = ( 40 40 40 ) + BODY508_RADII = ( 18 18 18 ) + BODY509_RADII = ( 14 14 14 ) + BODY510_RADII = ( 12 12 12 ) + BODY511_RADII = ( 15 15 15 ) + BODY512_RADII = ( 10 10 10 ) + BODY513_RADII = ( 5 5 5 ) + BODY514_RADII = ( 58 49 42 ) + BODY515_RADII = ( 10 8 7 ) + + \begintext + + The value for the second radius for body 516 is not given in + 2003 IAU report. The values given are: + + BODY516_RADII = ( 30 --- 20 ) + + For use within the SPICE system, we use only the mean radius. + \begindata + + BODY516_RADII = ( 21.5 21.5 21.5 ) + + \begintext + + + +Satellites of Saturn + + + Old values: + + Values are from the 2003 IAU report. + + body601_radii = ( 209.1 196.2 191.4 ) + body602_radii = ( 256.3 247.3 244.6 ) + body603_radii = ( 535.6 528.2 525.8 ) + body604_radii = ( 560 560 560 ) + body605_radii = ( 764 764 764 ) + body606_radii = ( 2575 2575 2575 ) + body607_radii = ( 164 130 107 ) + body608_radii = ( 718 718 718 ) + body609_radii = ( 115 110 105 ) + body610_radii = ( 97.0 95.0 77.0 ) + body611_radii = ( 69.0 55.0 55.0 ) + + + Only the first equatorial radius for Helene (body 612) was given in the + 2003 IAU report: + + body612_radii = ( 17.5 --- --- ) + + The mean radius was 16km; we used this radius for all three axes, as + we do for the satellites for which only the mean radius is available. + + + body612_radii = ( 16 16 16 ) + body613_radii = ( 15 12.5 7.5 ) + body614_radii = ( 15.0 8.0 8.0 ) + body615_radii = ( 18.5 17.2 13.5 ) + body616_radii = ( 74.0 50.0 34.0 ) + body617_radii = ( 55.0 44.0 31.0 ) + + + + Current values: + + \begindata + + BODY601_RADII = ( 207.4 196.8 190.6 ) + BODY602_RADII = ( 256.6 251.4 248.3 ) + BODY603_RADII = ( 540.4 531.1 527.5 ) + BODY604_RADII = ( 563.8 561.0 560.3 ) + BODY605_RADII = ( 767.2 762.5 763.1 ) + BODY606_RADII = ( 2575 2575 2575 ) + BODY607_RADII = ( 164 130 107 ) + BODY608_RADII = ( 747.4 747.4 712.4 ) + BODY609_RADII = ( 108.6 107.7 101.5 ) + BODY610_RADII = ( 97.0 95.0 77.0 ) + BODY611_RADII = ( 69.0 55.0 55.0 ) + + \begintext + + Only the first equatorial radius for Helene (body 612) is given in the + 2006 IAU report: + + BODY612_RADII = ( 17.5 --- --- ) + + The mean radius is 16km; we use this radius for all three axes, as + we do for the satellites for which only the mean radius is available. + + + \begindata + + BODY612_RADII = ( 17.5 17.5 17.5 ) + BODY613_RADII = ( 15 12.5 7.5 ) + BODY614_RADII = ( 15.0 8.0 8.0 ) + BODY615_RADII = ( 18.5 17.2 13.5 ) + BODY616_RADII = ( 74.0 50.0 34.0 ) + BODY617_RADII = ( 55.0 44.0 31.0 ) + + \begintext + + + For Pan, only a mean radius is given in the 2006 report. + + \begindata + + BODY618_RADII = ( 10 10 10 ) + + \begintext + + + +Satellites of Uranus + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + \begindata + + BODY701_RADII = ( 581.1 577.9 577.7 ) + BODY702_RADII = ( 584.7 584.7 584.7 ) + BODY703_RADII = ( 788.9 788.9 788.9 ) + BODY704_RADII = ( 761.4 761.4 761.4 ) + BODY705_RADII = ( 240.4 234.2 232.9 ) + + \begintext + + The 2000 report gives only mean radii for satellites 706--715. + + \begindata + + BODY706_RADII = ( 13 13 13 ) + BODY707_RADII = ( 15 15 15 ) + BODY708_RADII = ( 21 21 21 ) + BODY709_RADII = ( 31 31 31 ) + BODY710_RADII = ( 27 27 27 ) + BODY711_RADII = ( 42 42 42 ) + BODY712_RADII = ( 54 54 54 ) + BODY713_RADII = ( 27 27 27 ) + BODY714_RADII = ( 33 33 33 ) + BODY715_RADII = ( 77 77 77 ) + + \begintext + + + + +Satellites of Neptune + + + Old values: + + Values are unchanged in the 2006 IAU report. + + Current values: + + The 2000 report gives mean radii only for bodies 801-806. + + \begindata + + BODY801_RADII = ( 1352.6 1352.6 1352.6 ) + BODY802_RADII = ( 170 170 170 ) + BODY803_RADII = ( 29 29 29 ) + BODY804_RADII = ( 40 40 40 ) + BODY805_RADII = ( 74 74 74 ) + BODY806_RADII = ( 79 79 79 ) + + \begintext + + + The second equatorial radius for Larissa is not given in the 2000 + report. The available values are: + + BODY807_RADII = ( 104 --- 89 ) + + For use within the SPICE system, we use only the mean radius. + \begindata + + BODY807_RADII = ( 96 96 96 ) + BODY808_RADII = ( 218 208 201 ) + + \begintext + + + + +Satellites of Pluto + + + Old values: + + Values are from the 2003 IAU report. + + BODY901_RADII = ( 593 593 593 ) + + Current values: + + \begindata + + BODY901_RADII = ( 605 605 605 ) + + \begintext + + + +Radii for Selected Comets and Asteroids +-------------------------------------------------------- + + +19P/Borrelly + + + Current values: + + + The value in the data assignment below is the + "effective radius." + + The first principal axis length is + + 3.5 km + + The lengths of the other semi-axes are not provided + by [1]. + + \begindata + + BODY1000005_RADII = ( 4.22 4.22 4.22 ) + + \begintext + + + +Halley + + + Current values: + + \begindata + + BODY1000036_RADII = ( 8.0 4.0 4.0 ) + + \begintext + + + +9P/Tempel 1 + + + Current values: + + + The value in the data assignment below is the + "effective radius." + + According to [1]: + + The maximum and minimum radii are not properly + the values of the principal semi-axes, they + are half the maximum and minimum values of the + diameter. Due to the large deviations from a + simple ellipsoid, they may not correspond with + measurements along the principal axes, or be + orthogonal to each other. + + \begindata + + BODY1000093_RADII = ( 3.0 3.0 3.0 ) + + \begintext + + +81P/Wild 2 + + + Current values: + + + \begindata + + BODY1000107_RADII = ( 2.7 1.9 1.5 ) + + \begintext + + +Ceres + + + Current values: + + + \begindata + + BODY2000001_RADII = ( 487.3 487.3 454.7 ) + + \begintext + + +Vesta + + + Current values: + + + \begindata + + BODY2000004_RADII = ( 289. 280. 229. ) + + \begintext + + +Toutatis + + + Current values: + + + \begindata + + BODY2004179_RADII = ( 2.13 1.015 0.85 ) + + \begintext + + +Kleopatra + + + Old values: + + Values are from the 2003 report. + + + body2000216_radii = ( 108.5 47 40.5 ) + + + Current values: + + + No values are provided in the 2006 report. + + +Mathilde + + + Current values: + + + \begindata + + BODY2000253_RADII = ( 33. 24. 23. ) + + \begintext + +Eros + + + Current values: + + + \begindata + + BODY2000433_RADII = ( 17.0 5.5 5.5 ) + + \begintext + + +Itokawa + + + Current values: + + + \begindata + + BODY2025143_RADII = ( 0.535 0.294 0.209 ) + + \begintext + + + +Gaspra + + + Current values: + + + \begindata + + BODY9511010_RADII = ( 9.1 5.2 4.4 ) + + \begintext + + + + +Ida + + + Current values: + + + \begindata + + BODY2431010_RADII = ( 26.8 12.0 7.6 ) + + \begintext + + + +=========================================================================== +End of file pck00009.tpc +=========================================================================== + + + diff --git a/tests/pytests/data/isds/mexhrsc_isd.json b/tests/pytests/data/isds/mexhrsc_isd.json new file mode 100644 index 0000000000000000000000000000000000000000..be7e8d3d1c766605758ff8fb9c95c4c8c56bc5e1 --- /dev/null +++ b/tests/pytests/data/isds/mexhrsc_isd.json @@ -0,0 +1,497 @@ + { + "isis_camera_version": 1, + "naif_keywords": { + "BODY499_RADII": [ + 3396.19, + 3396.19, + 3376.2 + ], + 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-0.0014683175140289342, + -0.9999995539429968, + 0.0006622366189151796, + -0.0006734660111232121, + -0.0006724927633971734, + 0.001468763518515065, + 0.9999986952427538 + ] + }, + "body_rotation": { + "time_dependent_frames": [ + 10014, + 1 + ], + "ck_table_start_time": 127015396.64734519, + "ck_table_end_time": 127015396.64734519, + "ck_table_original_size": 1, + "ephemeris_times": [ + 127015396.64734519 + ], + "quaternions": [ + [ + -0.04598506398809, + -0.2246409766576803, + 0.22545165605830253, + -0.9468861369123871 + ] + ], + "angular_velocity": [ + [ + 3.162434532527514e-05, + -2.8798992833710347e-05, + 5.652258189188276e-05 + ] + ], + "reference_frame": 1 + }, + "instrument_position": { + "spk_table_start_time": 127015396.64734519, + "spk_table_end_time": 127015396.64734519, + "spk_table_original_size": 1, + "ephemeris_times": [ + 127015396.64734519 + ], + "positions": [ + [ + -301.33667654827565, + -3002.7406414312904, + -2110.634347661829 + ] + ], + "velocities": [ + [ + 2.2104769081410343, + -2.1882970971365943, + 3.2062624534366946 + ] + ], + "reference_frame": 1 + }, + "sun_position": { + "spk_table_start_time": 127015396.64734519, + "spk_table_end_time": 127015396.64734519, + "spk_table_original_size": 1, + "ephemeris_times": [ + 127015396.64734519 + ], + "positions": [ + [ + -123610491.75355303, + -169290951.16735008, + -74308725.95399317 + ] + ], + "velocities": [ + [ + 19.2183285857141, + -13.9337871854119, + -6.91036204155162 + ] + ], + "reference_frame": 1 + } +} + diff --git a/tests/pytests/test_mex_drivers.py b/tests/pytests/test_mex_drivers.py index fe541f719b9d4c94cef66e02af9bdd1c0a55b74f..d2691107c175345d7ae78d72797f82926d8595b8 100644 --- a/tests/pytests/test_mex_drivers.py +++ b/tests/pytests/test_mex_drivers.py @@ -5,10 +5,9 @@ import spiceypy as spice import json from unittest.mock import patch, PropertyMock import unittest -from conftest import get_image_label, get_image_kernels, convert_kernels, compare_dicts +from conftest import get_image_label, get_image_kernels, convert_kernels, get_isd, compare_dicts import ale -from ale.drivers.mex_drivers import MexHrscPds3NaifSpiceDriver, MexHrscIsisLabelNaifSpiceDriver -from ale.formatters.usgscsm_formatter import to_usgscsm +from ale.drivers.mex_drivers import MexHrscPds3NaifSpiceDriver, MexHrscIsisLabelNaifSpiceDriver, MexSrcPds3NaifSpiceDriver @pytest.fixture() def usgscsm_compare_dict(): @@ -535,21 +534,39 @@ def usgscsm_compare_dict(): } }} -@pytest.fixture(scope="module") -def test_kernels(): + +@pytest.fixture() +def test_mex_src_kernels(scope="module", autouse=True): + kernels = get_image_kernels("H0010_0023_SR2") + updated_kernels = kernels + updated_kernels, binary_kernels = convert_kernels(kernels) + yield updated_kernels + for kern in binary_kernels: + os.remove(kern) + +@pytest.fixture() +def test_mex_hrsc_kernels(scope="module", autouse=True): kernels = get_image_kernels('h5270_0000_ir2') updated_kernels, binary_kernels = convert_kernels(kernels) yield updated_kernels - print(updated_kernels) for kern in binary_kernels: os.remove(kern) +def test_mex_src_load(test_mex_src_kernels): + label_file = get_image_label("H0010_0023_SR2", 'pds3') + compare_dict = get_isd("mexsrc") + isd_str = ale.loads(label_file, props={'kernels': test_mex_src_kernels}, verbose=True) + isd_obj = json.loads(isd_str) + print(json.dumps(isd_obj, indent=2)) + assert compare_dicts(isd_obj, compare_dict) == [] + + # Eventually all label/formatter combinations should be tested. For now, isis3/usgscsm and # pds3/isis will fail. @pytest.mark.parametrize("label,formatter", [('isis3','isis'), ('pds3', 'usgscsm'), pytest.param('isis3','usgscsm', marks=pytest.mark.xfail), pytest.param('pds3','isis', marks=pytest.mark.xfail),]) -def test_mex_load(test_kernels, formatter, usgscsm_compare_dict, label): +def test_mex_load(test_mex_hrsc_kernels, formatter, usgscsm_compare_dict, label): label_file = get_image_label('h5270_0000_ir2', label) with patch('ale.drivers.mex_drivers.MexHrscPds3NaifSpiceDriver.binary_ephemeris_times', \ @@ -570,7 +587,7 @@ def test_mex_load(test_kernels, formatter, usgscsm_compare_dict, label): binary_exposure_durations.return_value = [0.012800790786743165, 0.012800790786743165, 0.013227428436279297] binary_lines.return_value = [0.5, 1.5, 15086.5] - usgscsm_isd = ale.load(label_file, props={'kernels': test_kernels}, formatter=formatter) + usgscsm_isd = ale.load(label_file, props={'kernels': test_mex_hrsc_kernels}, formatter=formatter) assert compare_dicts(usgscsm_isd, usgscsm_compare_dict['h5270_0000_ir2'][formatter]) == [] # ========= Test mex pds3label and naifspice driver ========= @@ -686,7 +703,7 @@ class test_mex_pds3_naif(unittest.TestCase): def test_sensor_model_version(self): assert self.driver.sensor_model_version == 1 -# ========= Test mex pds3label and naifspice driver ========= +# ========= Test mex isis3label and naifspice driver ========= class test_mex_isis3_naif(unittest.TestCase): def setUp(self): @@ -740,3 +757,51 @@ class test_mex_isis3_naif(unittest.TestCase): def test_sensor_model_version(self): assert self.driver.sensor_model_version == 1 + + +# ========= Test mex - SRC - pds3label and naifspice driver ========= +class test_mex_src_pds3_naif(unittest.TestCase): + def setUp(self): + label = get_image_label("H0010_0023_SR2", "pds3") + self.driver = MexSrcPds3NaifSpiceDriver(label) + + def test_short_mission_name(self): + assert self.driver.short_mission_name=='mex' + + def test_odtk(self): + assert self.driver.odtk == [0.0, 0.0, 0.0] + + def test_ikid(self): + with patch('ale.drivers.mex_drivers.spice.bods2c', return_value=12345) as bods2c: + assert self.driver.ikid == 12345 + bods2c.assert_called_with('MEX_HRSC_SRC') + + def test_instrument_id(self): + assert self.driver.instrument_id == 'MEX_HRSC_SRC' + + def test_spacecraft_name(self): + assert self.driver.spacecraft_name =='MEX' + + def test_focal_length(self): + with patch('ale.drivers.mex_drivers.spice.gdpool', return_value=[10.0]) as gdpool, \ + patch('ale.drivers.mex_drivers.spice.bods2c', return_value=-12345) as bods2c: + assert self.driver.ikid == -12345 + bods2c.assert_called_with('MEX_HRSC_SRC') + assert self.driver.focal_length == 10.0 + + def test_focal2pixel_lines(self): + np.testing.assert_almost_equal(self.driver.focal2pixel_lines, + [0.0, 0.0, 111.1111111]) + + def test_focal2pixel_samples(self): + np.testing.assert_almost_equal(self.driver.focal2pixel_samples, + [0.0, 111.1111111, 0.0]) + + def test_detector_center_line(self): + assert self.driver.detector_center_line == 512.0 + + def test_detector_center_sample(self): + assert self.driver.detector_center_sample == 512.0 + + def test_sensor_model_version(self): + assert self.driver.sensor_model_version == 1