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KPL/FK
ExoMarsRSP Rosalind Franklin Rover Module (RM) Frames Kernel
===============================================================================
This frame kernel contains a complete set of frame definitions for the
ExoMars RSP Rosalind Franklin Rover Module (RM) including definitions for
the RM structures and RM science instrument frames. This kernel also
contains NAIF ID/name mapping for the RM instruments.
Version and Date
------------------------------------------------------------------------
Version 0.0.6 -- June 3, 2020 -- Marc Costa Sitja, ESAC/ESA
Added Rover locomotion and solar arrays frames and IDs.
Corrected FRAME_RM_MAST_ZERO frame definition.
Updated the the RM_ROVER_DRILL_TIP_MOV defintion to a type 3 frame.
Corrected RM_CLUPI_BRACKET and LOCCAM frame definitions.
Updated reference frame centers to their ephemeris objects.
Version 0.0.5 -- December 20, 2019 -- Marc Costa Sitja, ESAC/ESA
Corrected FRAME_RM_MAST_ZERO frame definition
Version 0.0.4 -- December 20, 2019 -- Marc Costa Sitja, ESAC/ESA
Added reference frames, references, diagrams and IDs for Solar
Arrays. Corrected Sites definitions. Defined frames for cruise
phase. Corrected PTR frames. Corrected ADRON frames. This should
be considered a work in progress version.
Version 0.0.3 -- February 28, 2019 -- Marc Costa Sitja, ESAC/ESA
Added reference frames, references, diagrams and IDs for ALD
components, updated diagrams and done some minor edits.
Version 0.0.2 -- February 14, 2019 -- Marc Costa Sitja, ESAC/ESA
Added reference frames, references, diagrams and IDs for the drill,
MaMiss, WISDOM and CLUPI.
Version 0.0.1 -- February 8, 2019 -- Marc Costa Sitja, ESAC/ESA
Updated ID from -999 to -174 and done several edits including
updated updated diagrams and frame trees.
Added reference frames and IDs for LOCCAM, ISEM and ADRON.
Version 0.0.0 -- June 8, 2018 -- Marc Costa Sitja, ESAC/ESA
Preliminary version.
References
------------------------------------------------------------------------
1. ``Frames Required Reading'', NAIF
2. ``Kernel Pool Required Reading'', NAIF
3. ``C-Kernel Required Reading'', NAIF
4. ``ExoMars Rover and Surface Platform Mission Implementation Plan'',
EXM-G2-PLN-ESC-00004, ExoMars Ground Segment Team, Issue 1, Revision 2,
ESOC, August 8, 2017
5. ``EXOMARS 2018 ROVER MODULE Coordinate Systems & Conventions for RM
control'', EXM-RM-TNO-AI-0448, A. Merlo, Thales Alenia Space,
Issue 1, November 2015
6. ExoMars RSP Mars Local Geodetic Frames (emrsp_mlg_vVVV.tf),
latest version
7. ``ExoMars Rover Vehicle Coordinate Systems and Conventions
Specifications'', EXM-RM-SYS-ASU-00101, Airbus Defense and Space,
Issue 2, April 2016
8. ``Description of Frames and Conventions Related to Localisation
Camera Data Sets'', EXM-RM-TNO-AS U-00209, K. MacManamon,
Airbus Defense and Space, Issue 2, Revision 0, July 2014
9. ``ExoMars/CLUPI Science Requirements Specification Document'',
EXM.CL.RSD.SPX.1501, Space Exploration Institute,
Issue 1, Rev. 0, July 2015
10. ``Water Ice and Subsurface Deposit Observations on Mars WISDOM
instrument'', MICD, EXM-WI-DRW-LAT-0152, Issue 02, Rev. 01,
A. Galic, March 2018
11. ``ExoMars ICD ALD Structure - ALD Structure Interface Control
Document'', EXM-RM-ICD-KT-0002, Q. Muhlbauer, OHB System AG,
Issue 4, May 2016
12. ``Rover Module Outline Drawing'', EXM-D2-ICD-AI-0078,
Thales Alenia Space, Revision A, 4th September 2017
Contact Information
------------------------------------------------------------------------
If you have any questions regarding this file contact the
ESA SPICE Service at ESAC:
Marc Costa Sitja
(+34) 91-8131-457
marc.costa@esa.int, esa_spice@sciops.esa.int
or ROCC at Altec Space:
Federico Salvioli
(+39) 011-7430-097
federico.salvioli@altecspace.it
Implementation Notes
------------------------------------------------------------------------
This file is used by the SPICE system as follows: programs that make use
of this frame kernel must "load" the kernel normally during program
initialization. Loading the kernel associates the data items with
their names in a data structure called the "kernel pool". The SPICELIB
routine FURNSH loads a kernel into the pool as shown below:
FORTRAN: (SPICELIB)
CALL FURNSH ( frame_kernel_name )
C: (CSPICE)
furnsh_c ( frame_kernel_name );
IDL: (ICY)
cspice_furnsh, frame_kernel_name
MATLAB: (MICE)
cspice_furnsh ( 'frame_kernel_name' )
PYTHON: (SPICEYPY)*
furnsh( frame_kernel_name )
In order for a program or routine to extract data from the pool, the
SPICELIB routines GDPOOL, GIPOOL, and GCPOOL are used. See [2] for
more details.
This file was created and may be updated with a text editor or word
processor.
* SPICEPY is a non-official, community developed Python wrapper for the
NAIF SPICE toolkit. Its development is managed on Github.
It is available at: https://github.com/AndrewAnnex/SpiceyPy
RM NAIF ID Codes -- Summary Section
------------------------------------------------------------------------
The following names and NAIF ID codes are assigned to the ExoMars RSP
rover, its structures and science instruments (the keywords implementing
these definitions are located in the section "RM NAIF ID Codes --
Definition Section" at the end of this file):
RM and RM Structures names/IDs:
RM -174 (synonyms: EXOMARS RSP RM,
EXOMARS RSP ROVER,
EXOMARS RSP ROVER MODULE
and EXOMARS ROVER)
RM_ROVER -174000
RM_MAST -174010
RM_PTR -174012
RM_PB -174013
RM_NAVCAM -174020
RM_NAVCAM_L -174021
RM_NAVCAM_R -174022
RM_LOCCAM -174030
RM_LOCCAM_L -174031
RM_LOCCAM_R -174031
RM_DRILL_POS_FIX -174040
RM_DRILL_POS_MOV -174041
RM_DRILL_TIP_FIX -174042
RM_DRILL_TIP_MOV -174043
RM_ALD -174050
RM_ALD_CSTM -174051
RM_ALD_PSDDS -174053
RM_ALD_PSHS -174055
RM_SAF1_PRI -174062
RM_SAF1_SEC -174063
RM_SAF2_PRI -174065
RM_SAF2_SEC -174066
RM_BOGIE_LF -174071
RM_BOGIE_LR -174074
RM_BOGIE_RR -174076
RM_WHEEL_LF -174081
RM_WHEEL_LM -174082
RM_WHEEL_RF -174083
RM_WHEEL_RM -174084
RM_WHEEL_LR -174085
RM_WHEEL_RR -174086
RM_CALTAR_FIDM1
RM_CALTAR_FIDM2
RM_CALTAR_FIDM3
RM_CALTAR_PCT
RM_CALTAR_PCT_SHPOST_1
RM_CALTAR_PCT_SHPOST_2
RM_CALTAR_PCT_YELLOW
RM_CALTAR_PCT_RED
RM_INSPECTION_MIRROR
( ... )
PanCam names/IDs:
RM_PANCAM -174100
RM_PANCAM_WAC_L -174110
RM_PANCAM_WAC_R -174120
RM_PANCAM_HRC -174130
ISEM names/IDs:
RM_ISEM -174200
ADRON-RM name/IDs:
RM_ADRON-RM -174300
WISDOM name/IDs:
RM_WISDOM -174400
RM_WISDOM_ANT1 -174410
RM_WISDOM_ANT2 -174420
MaMiss name/IDs:
RM_MAMISS -174500
CLUPI name/IDs:
RM_CLUPI -174600
RM_CLUPI_FOV1 -174601
RM_CLUPI_FOV2 -174602
RM_CLUPI_FOV3 -174603
RM_CLUPI_DRILL_TIP -174620
RM_CLUPI_BRACKET -174630
Sites name/IDs:
RM_SITE_000 -174700 (synonym: RM_LANDING_SITE)
RM_SITE_NNN* -174XXX**
(*) NNN corresponds to the travel sequence number and it has a range
from 000 (refers to the position of the Rover at landing site)
to 299.
(**) XXX ranges from 701 up to 899.
RM Frames
------------------------------------------------------------------------
The following RM frames are defined in this kernel file:
Name Relative to Type NAIF ID
====================== =================== ============ =======
RM Rover and Rover Structures frames:
------------------------------------------------
RM_ROVER RM_MLG, CK -174000
RM_ROVER_CRUISE
RM_ROVER_CRUISE CM_SPACECRAFT FIXED -174001
RM_MAST_ZERO RM_ROVER FIXED -174010
RM_MAST RM_MAST_ZERO CK -174011
RM_PTR_ZERO RM_MAST FIXED -174012
RM_PTR RM_PTR_ZERO CK -174013
RM_PB RM_PTR FIXED -174014
RM_NAVCAM_BASE RM_PB FIXED -174020
RM_NAVCAM_L RM_NAVCAM_BASE FIXED -174021
RM_NAVCAM_R RM_NAVCAM_BASE FIXED -174022
RM_LOCCAM_BASE RM_PB FIXED -174030
RM_LOCCAM_L RM_LOCCAM_BASE FIXED -174031
RM_LOCCAM_R RM_LOCCAM_BASE FIXED -174032
RM_DRILL_POS_FIX RM_ROVER FIXED -174040
RM_DRILL_POS_MOV RM_DRILL_POS_FIX CK -174041
RM_DRILL_TIP_FIX RM_DRILL_POS_MOV FIXED -174042
RM_DRILL_TIP_MOV RM_DRILL_TIP_FIX CK(*) -174043
RM_ALD_CSTM_FIX RM_ROVER FIXED -174052
RM_ALD_CSTM_MOV RM_ALD_CSTM_FIX FIXED(*) -174053
RM_ALD_PSDDS_FIX RM_ROVER FIXED -174052
RM_ALD_PSDDS_MOV RM_ALD_PSDDS_FIX FIXED -174053
RM_ALD_PSHS_FIX RM_ROVER FIXED -174054
RM_ALD_PSHS_MOV RM_ALD_PSHS_FIX CK -174055
RM_SA1_ZERO RM_ROVER FIXED -174061
RM_SA1_PRI RM_SA1_ZERO CK -174062
RM_SA1_SEC RM_SA1_PRI CK -174063
RM_SA2_ZERO RM_ROVER FIXED -174064
RM_SA2_PRI RM_SA2_ZERO CK -174065
RM_SA2_SEC RM_SA2_PRI CK -174066
RM_BOGIE_LF_FIX RM_ROVER FIXED -174071
RM_BOGIE_LF_MOV RM_BOGIE_LF_FIX CK -174072
RM_BOGIE_RF_FIX RM_ROVER FIXED -174073
RM_BOGIE_RF_MOV RM_BOGIE_LF_FIX CK -174074
RM_BOGIE_MR_FIX RM_ROVER FIXED -174075
RM_BOGIE_MR_MOV RM_BOGIE_MR_FIX CK -174076
RM_WHEEL_LF_FIX RM_BOGIE_LF_MOV FIXED -1740810
RM_WHEEL_LF_STR RM_WHEEL_LF_FIX CK -1740811
RM_WHEEL_LF_MOV RM_WHEEL_LF_STR CK -1740812
RM_WHEEL_LM_FIX RM_BOGIE_LF_MOV FIXED -1740820
RM_WHEEL_LM_STR RM_WHEEL_LM_FIX CK -1740821
RM_WHEEL_LM_MOV RM_WHEEL_LM_STR CK -1740822
RM_WHEEL_RF_FIX RM_BOGIE_RF_MOV FIXED -1740830
RM_WHEEL_RF_STR RM_WHEEL_RF_FIX CK -1740831
RM_WHEEL_RF_MOV RM_WHEEL_RF_STR CK -1740832
RM_WHEEL_RM_FIX RM_BOGIE_RF_MOV FIXED -1740840
RM_WHEEL_RM_STR RM_WHEEL_RM_FIX CK -1740841
RM_WHEEL_RM_MOV RM_WHEEL_RM_STR CK -1740842
RM_WHEEL_LR_FIX RM_BOGIE_MR_MOV FIXED -1740850
RM_WHEEL_LR_STR RM_WHEEL_LR_FIX CK -1740851
RM_WHEEL_LR_MOV RM_WHEEL_LR_STR CK -1740852
RM_WHEEL_RR_FIX RM_BOGIE_MR_MOV FIXED -1740860
RM_WHEEL_RR_STR RM_WHEEL_RR_FIX CK -1740861
RM_WHEEL_RR_MOV RM_WHEEL_RR_STR CK -1740862
RM_CALIBR_TARGET RM_ROVER FIXED
RM_MIRROR_ RM_ROVER FIXED
PanCam frames:
------------------------------------------------
RM_PANCAM_BASE RM_PB FIXED -174100
RM_PANCAM_WAC_L RM_PANCAM_BASE FIXED -174110
RM_PANCAM_WAC_R RM_PANCAM_BASE FIXED -174120
RM_PANCAM_HRC RM_PANCAM_BASE FIXED -174130
ISEM frames:
------------------------------------------------
RM_ISEM RM_PB FIXED -174200
ADRON-RM frames:
------------------------------------------------
RM_ADRON-RM RM_ROVER FIXED -174300
WISDOM frames:
------------------------------------------------
RM_WISDOM_BASE RM_ROVER FIXED -174400
RM_WISDOM_ANT1 RM_WISDOM_BASE FIXED -174410
RM_WISDOM_ANT2 RM_WISDOM_BASE FIXED -174420
MaMiss frames:
------------------------------------------------
RM_MAMISS RM_DRILL_TIP_MOV FIXED -174500
CLUPI frames:
------------------------------------------------
RM_CLUPI_BASE RM_DRILL_POS_MOV FIXED -174500
RM_CLUPI_OPT_AXIS RM_CLUPI_BASE FIXED -174510
RM_CLUPI_DRILL_TIP RM_CLUPI_OPT_AXIS FIXED -174520
RM_CLUPI_BRACKET RM_DRILL_POS_FIX FIXED -174530
In addition, the following frames, in use by the ExoMars RSP mission, are
defined in another kernel:
Name Relative to Type NAIF ID
====================== =================== ============ =======
ExoMars RSP Local Geodetic Frames (1):
---------------------------------------------------
RM_LANDING_SITE IAU_MARS FIXED -174900
RM_MLG* IAU_MARS FIXED -174700
(*) The frame is implemented with an SPK to account for the
translation of its origin to the different RM_SITE_NNN objects.
ExoMars RSP Mission Description
--------------------------------------------------------------------------
The mission can be broadly described as follows: launch the ExoMarsRSP
Spacecraft and fly it to Mars; land on Mars, deliver the Rover to the
surface and perform the nominal exploration mission on the surface.
The launch configuration is the Spacecraft Composite (SCC), which is
composed of the Carrier Module (CM) and the Descent Module (DM). The CM
is jettisoned upon arrival at Mars, and the DM will enter the Mars
atmosphere and land, carrying the ``Kazachok'' Surface Platform (SP) and
the ``Rosalind Franklin'' Rover (RM). The CM and the RM are developed by
ESA. The DM and SP are developed by Roscosmos with ESA contributions.
The elements of the spacecraft composite are shown below.
CM DM SP RM
| .'. =
|--. .' | | |
)-| | | | ------------- |----------- RM
|--' '. | '-------' /\____\|
| '.' / \ 0 0 0
| | | |
| | | |
| | | |
| | | V _=_______
| | | |0 0 0\
| | '-------------> (+) ----> ------------- LPC
| | '-------'
| | | / \
| | |
| | |
| | V .'.
| | .' -o|
| '----------------------------> (+) ----> | | || DM
| '.._o|
| | '.'
| |
| |
| V | .'.
| |--. .' -o|
'----------------------------------------> (+) ----> )-| || | || SCC
|--' '.._o|
| '.'
Please note that this Frames Kernel file solely implements the Frames for
the ExoMars RSP Lander Component (RM).
RM Frames Hierarchy
--------------------------------------------------------------------------
The diagram below shows the ExoMars RM frames hierarchy (except
for science operations frames):
"J2000" INERTIAL
+--------------------------------------------+
| | |
|<-ck |<-pck |<-pck
| | |
| v v
v "IAU_EARTH" "IAU_MARS"
"CM_SPACECRAFT" EARTH BODY-FIXED MARS BODY-FIXED (MCMF)
--------------- ---------------- ----------------------
| |
|<-fixed |<-fixed
| |
| |
| v
v "RM_MLG" (**)
RM_ROVER_CRUISE MARS TOPOGRAPHIC
--------------- -----------------
| |
|<-ck(*) |< -ck
| |
| RM_WHEEL_L{F,M,R}_MOV RM_WHEEL_R{F,M,R}_MOV |
| --------------------- --------------------- |
| | | |
| |<-ck |<-ck |
| | | |
| v v |
| RM_WHEEL_L{F,M,R}_STR RM_WHEEL_R{F,M,R}_STR |
| --------------------- --------------------- |
| | | |
| |<-ck |<-ck |
| | | |
| v v |
"RM_SA1_SEC" | RM_WHEEL_L{F,M,R}_FIX RM_WHEEL_R{F,M,R}_FIX | "RM_SA2_SEC"
------------- | --------------------- --------------------- | ------------
^ | | | | ^
| | |<-fixed |<-fixed | |
|<-ck | | | | |<-ck
| | v v | |
"RM_SA1Y_PRI" | "RM_BOGIE_{LF,RF,MR}_MOV" | "RM_SA2_PRI"
------------- | +----------------------+ | ------------
^ | | | ^
| | |<-ck | |
|<-ck | | | |<-ck
| | v | |
"RM_SA1_ZERO" | "RM_BOGIE_{LF,RF,MR}_FIX" | "RM_SA2_ZERO"
------------- | ------------------------- | -------------
| | | | |
|<-fixed | |<-fixed | |<-fixed
| | | | |
v v v "RM_ROVER" v v
+-------------------------------------------------------------------+
| | | | | . |
| |<-fixed |<-fixed |<-fixed |<-fixed . |<-fixed
| | | | | . |
| | | v | . |
| | | "RM_MAST_ZERO" | . |
| | | -------------- | . |
| | | | | . |
| | | |<-ck | . |
| | | | | . |
| | | v v . v
| | | "RM_MAST" "RM_LOCCCAM_BASE" . "RM_DRILL_POS_FIX"
| | | --------- ----------------- . +----------------+
| | v | . . |
| | "RM_ALD_CSTM_FIX" |<-fixed . . |<-ck
| | ----------------- | . . |
| | | v . . v
| | fixed->| "RM_PTR_ZERO" . . "RM_DRILL_POS_MOV"
| | | ------------- . . +----------------+
| | v | . . . |
| | "RM_ALD_CSTM_MOV" |<-ck . . . fixed->|
| | ----------------- | . . . |
| | v . . . v
| | "RM_PTR" . . . "RM_DRILL_TIP_FIX"
| V -------- . . . ------------------
| "RM_ALD_PSHS_FIX" | . . . |
| ----------------- |<-fixed . . . |<-ck
| | | . . . |
| ck->| v . . . v
| | "RM_PB" . . . "RM_DRILL_TIP_MOV"
| v +--------------+ . . . ------------------
| "RM_ALD_PSHS_MOV" . | . . . .
| ----------------- . |<-fixed . . . .
| . | . . . .
|<-fixed . V . . . .
| . "RM_NAVCAM_BASE" . . . .
v . +----------------+ . . . .
"RM_ALD_PSDDS_FIX" . | | . . . .
------------------ . |<-fixed fixed->| . . . .
| . | | . . . .
ck->| . v v . . . .
| . "RM_NAVCAM_L" "RM_NAVCAM_R" . . . .
v . ------------- ------------- . . . .
"RM_ALD_PSDDS_MOV" . . . . .
------------------ . . . . .
. . . . .
V V V V V
Individual instrument frame trees are provided in the other
sections of this file
Please refer to the PanCam, NavCam sections for the frame
hierarchy of each payload; and to the RM science operations frame
definitions kernel for further details on these frame definitions.
(*) In these cases transformation is fixed but it has to be
stored in a CK to make SPICE "traverse" appropriate frame
tree branch based on the time of interest and/or loaded
kernels.
(**) This frame is equivalent to the SP_TOPO frame defined in the
ExoMarsRSP Surface Platform Frames Kernel (emrsp_sp_vNNN.tf)
RM Mars Local Geodetic Frames
-------------------------------------------------
The Rover Module Mars Local Geodetic frame (Topocentric) -- RM_MLG -- is
defined as follows:
- +Z axis is in the direction of the vertical (i.e. approximately the
negative gravity vector; "Zenith", assuming that the small local
variation can be ignored),
- +X axis is tangential to the local geodetic horizontal in an eastern
direction (i.e. parallel to lines of latitude; "East"),
- +Y axis completes the right hand frame ("North");
- the origin of the frame is initially defined to be coincident with
the origin of the Rover Body frame, RM_ROVER, prior to the start of
travel. During a travel sequence, this frame remains fixed with Mars,
but becomes reset at the start of a new travel sequence. The rationale
for this is that a travel sequence requires a stationary reference
frame in which to measure position and coordinate navigation maps.
The start of travel when the frame is reset may be at the start of
each sol, or when new targets are generated.
If we assume that the total traverse distance during the mission will be
relatively short (hundreds of meters, not kilometers) and, therefore, the
local north and nadir directions, defining surface frame orientations, will
be approximately the same at any point along the traverse path. This
assumption allows defining a single surface frame as a fixed offset frame
to Mars body-fixed frame, IAU_MARS. With this assumption we will always
use the Mars Local Geodetic Landing Site frame that is defined hereafter.
RM surface fixed frame -- RM_MLG -- is nominally co-aligned in orientation
with the RM_LANDING_SITE and its origin changes throughout the mission.
Therefore, this frame is defined as a zero-offset, fixed frame with respect
to the RM_LANDING_SITE frame.
\begindata
FRAME_RM_MLG = -174700
FRAME_-174700_NAME = 'RM_MLG'
FRAME_-174700_CLASS = 4
FRAME_-174700_CLASS_ID = -174700
FRAME_-174700_CENTER = -174700
OBJECT_-174700_FRAME = 'RM_MLG'
TKFRAME_-174700_RELATIVE = 'IAU_MARS'
TKFRAME_-174700_SPEC = 'ANGLES'
TKFRAME_-174700_UNITS = 'DEGREES'
TKFRAME_-174700_AXES = ( 3, 2, 3 )
TKFRAME_-174700_ANGLES = ( -335.4500000000000,
-71.8000000000000,
270.0000000000000 )
\begintext
RM Lander and Lander Structures Frames
------------------------------------------------------------------------
This section of the file contains the definitions of the rover
and rover structures frames.
DISCLAIMER: The origin of the frames specified in the following
definitions are not implemented. The ``true'' origin of all frames
is in the center of the RM_ROVER frame, the center of which
is defined by the position given by the SPK (ephemeris) kernel in
use.
RM Rover Frames
--------------------------------------
According to [4] the RM rover reference frame -- RM_ROVER -- is
defined as follows:
- +Z axis, lies vertically upwards, antiparallel to the gravity vector
when the rover is on flat, horizontal terrain;
- +X axis lies towards the front of the Rover in the nominal direction
of travel;
- +Y axis completes the right-handed frame;
- the origin of this frame at the intersection of the following planes:
- A plane 252.5 mm aft (i.e. negative offset in +X axis) and
parallel to Plane 1 (the plane formed by the nominal bolt axes
of the front body HDRMs);
- Plane 2, the plane of symmetry between the front body HDRM
nominal bolt axes - equivalent to the rover body mid-plane;
- A plane 30 mm below and parallel to Plane 3 (the plane of the
rover body base).
These diagrams illustrate the RM_ROVER frame:
-Y Rover side view:
-------------------
.-.
| |
| |
|_|
|_|
|
|
|
|
|
|
|
|
| +Zrm
_|_ ^
| | |
-------------------|-------------------------------------
,------------|------------.
| | |
___| | |
/ | +Xrm | |
\___|__<---------o ____________. +Yrm is out the page
| | +Yrm | |
__------/ \-----__ / \.__
| |-----\_/----| | \__. |
.| |. .| |. .| |.
/ |__| \ / |__| \ / |__| \
\ / \ / \ /
`-..-' `-..-' `-..-'
+Z Rover side view:
-------------------
.-------------------------..-------------------------.
.-----| || |
| .--.| || |
| | || || |
`-| |'-------------------------''-------------------------'
.------------------.
| '----------.
'----. |
| | |
| | .-. .'
| | | +Xrm +Zrm |
| | | |<---------o |
| | | | | |
| | '-' | '.
'--| | | +Zrm is out of the page
'-----. .-|--------'
'---------' v
.--------------- +Yrm ----..-------------------------.
| || |
| || |
| || |
'-------------------------''-------------------------'
+X Rover side view (drill in stowed position):
----------------------------------------------
o-o-=O===O--o
|o|___|
_\/
|_|_
|_|
|
|
|
|
|
|
|
|
|
_|_ +Zrm
| | ^
--------------------------|-------------------------
| | | | | | | |
'---| | | | 0 | .--'--'
'--.-----------|----------|
.--| | |---.
.-. |============= o--------> ====| .-.
|___|=| +Xrm | |+Yrm |=|___|
|.-. .-.|
|| | | || +Xrm is out of the
`| | | |' page
'_' '_'
~~~~~~~~ ~~~~~~~~
Since the RM bus attitude with respect to an inertial frame is provided
by a C-kernel (see [3] for more information), this frame is defined as
a CK-based frame.
These sets of keywords define the RM_ROVER frame:
\begindata
FRAME_RM_ROVER = -174000
FRAME_-174000_NAME = 'RM_ROVER'
FRAME_-174000_CLASS = 3
FRAME_-174000_CLASS_ID = -174000
FRAME_-174000_CENTER = -174000
CK_-174000_SCLK = -174
CK_-174000_SPK = -174
OBJECT_-174_FRAME = 'RM_ROVER'
\begintext
RM Rover Cruise Frame
----------------------------------------------------------------------------
The RM Rover Cruise frame -- RM_LANDER_CRUISE -- is a special
frame used in cruise in order to "attach" the RM rover to CM
during the cruise phase, it is defined as follows (from [4]):
- +Z axis is parallel to CM's +Z axis;
- +X axis is parallel to CM's +X axis;
- +Y axis completes the right-handed frame;
- the origin of this frame is the RM/SP interface
point on the separation plane.
This frame is defined a fixed-offset frame.
Since the SPICE frames subsystem calls for specifying the reverse
transformation--going from the instrument or structure frame to the
base frame--as compared to the description given above, the order of
rotations assigned to the TKFRAME_*_AXES keyword is also reversed
compared to the above text, and the signs associated with the
rotation angles assigned to the TKFRAME_*_ANGLES keyword are the
opposite from what is written in the above text.
\begindata
FRAME_RM_ROVER_CRUISE = -174001
FRAME_-174001_NAME = 'RM_ROVER_CRUISE'
FRAME_-174001_CLASS = 4
FRAME_-174001_CLASS_ID = -174001
FRAME_-174001_CENTER = -174000
TKFRAME_-174001_RELATIVE = 'CM_SPACECRAFT'
TKFRAME_-174001_SPEC = 'ANGLES'
TKFRAME_-174001_UNITS = 'DEGREES'
TKFRAME_-174001_AXES = ( 1, 3, 1 )
TKFRAME_-174001_ANGLES = ( 0.0, 0.0, 0.0 )
\begintext
RM Deployable Mast, Pan & Tilt Mechanism and Payload Bracket Frames
----------------------------------------------------------------------------
The RM Deployable Mast Assembly (RM_MAST) accommodates the Pan & Tilt
Mechanism and the PanCam, NavCam and ISEM instruments, The DMA frame is
positioned at the base of the mast. The frame RM_MAST_ZERO has its origin at
the base of the mast and its axes are nominally co-aligned to the RM_ROVER
frame axes (within knowledge alignment errors), since the mast needs to be
deployed and can be rotated, this rotation is incorporated by the
RM_MAST frame [12]. When the mast is folded it is 'resting' on the
rover body.
The Mast Pan & Tilt Rotation Mechanism (PTR) is the structure on top of the
Rover Module mast that accommodates the Stereo Bench where PanCam and the
NAVCAMs re placed. A series of reference frames are defined in order to
capture the Pan and Tilt rotations of the structure.
The Pan & Tilt Zero Rotation frame -- RM_PTR_ZERO -- has the origin at the
top of the mast, just below the actual pan & tilt mechanism. The axes are
nominally aligned to the RM_LANDER frame with null pan & tilt; however the
RM_PTR_ZERO frame can take into account possible deformations of the mast
and knowledge alignment errors. The frame is defined as follows:
- +Y axis is parallel to tilt axis of rotation, and nominally lies
horizontally sideways
- +Z axis, is parallel to the pan axis of rotation, and nominally
lies vertically upwards;
- +X axis completes the right-handed frame;
- the origin of this frame is defined as the intersection of the tilt
axis of rotation and a line intersecting the axis which lies normal
to both the tilt axis and pan axis. This intersection is assumed
fixed with respect to the top of the mast. and allows for the
eventually of the tilt axis and pan axis not intersecting.
In order to incorporate the pan & tilt rotations, the Pan & Tilt Rotating
frame is defined -- RM_PTR -- , it is identical to the RM_PTR_ZERO frame
(i.e. a fixed translation in the Rover Body frame), but rotating with the
direction of the Pan & Tilt. Pan and Tilt are then defined by the 3-2-1
Euler rotation, where pan is the first rotation (about the +Z axis), tilt is
the second rotation (about the +Y axis), and there is no possibility of
rotation about the +X axis.
The Payload Bracket frame -- RM_PB -- is fixed relative to the payload
bracket (which itself is fixed to the tilt actuator rotor). The orientation
of this frame is not fixed with respect to the RM_LANDER frame, but it
changes, e.g. when the Deployable Mast Assembly is deployed or when, while
in deployed configuration, the mast bends or either the pan and tilt angles
are modified. The frame is defined as follows:
- +X axis is perpendicular to the +Y axis and is parallel to the
interface plane between the payload bracket and the PanCam;
- +Y axis is co-aligned with the tilt axis;
- +Z axis completes the right-handed frame;
- the origin of this frame is the intersection of the pan and tilt axes,
therefore it is located within the tilt actuator, along the axis of
the tilt actuator shaft where this intersects with the pan axis.
This diagram illustrates the RM_MAST_ZERO, RM_MAST, RM_PTR_ZERO, RM_PTR and
RM_PB frames:
+X Rover side view (with fully deployed mast):
----------------------------------------------
+Zptr0
^
|
o-o-=O=|=O--o
|o|_|_|
_|/
|_|_
o------------> +Yptr0
+Xptr0
|
|
+Zmast,+Xmast0
^
|
|
|
|
_|_ +Zrm
| o----------> +Ymast,+Ymast0
------------------ +Xmast ---------------------------
| | | ^ +Zrm | | |
'---| | | | 0 | .--'--'
'--.-----------|----------|
.--| | |---.
.-. |============= o--------> ====| .-.
|___|=| +Xrm | | +Yrm |=|___|
|.-. .-.|
|| | | || +Xrm, +Xmast and
`| | | |' +Zptr0 are out of
'_' '_' the page. +Zmast0 is
~~~~~~~~ ~~~~~~~~ into the page.
-Y Rover side view:
-------------------
.-.
| |
| |
|_|
|_|
|
|
|
|
|
|
|
|
| +Zrm
_|_ ^
| | |
-------------------|-------------------------------------
,------------|------------.
| | |
___| | |
/ | +Xrm | |
\___|__<---------o ____________. +Yrm is out of the page
| | +Yrm | |
__------/ \-----__ / \.__
| |-----\_/----| | \__. |
.| |. .| |. .| |.
/ |__| \ / |__| \ / |__| \
\ / \ / \ /
`-..-' `-..-' `-..-'
These sets of keywords define the Pan & Tilt Mechanism and Rotation and
Payload Bracket frames:
\begindata
FRAME_RM_MAST_ZERO = -174010
FRAME_-174010_NAME = 'RM_MAST_ZERO'
FRAME_-174010_CLASS = 4
FRAME_-174010_CLASS_ID = -174010
FRAME_-174010_CENTER = -174010
TKFRAME_-174010_RELATIVE = 'RM_ROVER'
TKFRAME_-174010_SPEC = 'ANGLES'
TKFRAME_-174010_UNITS = 'DEGREES'
TKFRAME_-174010_AXES = ( 3, 1, 2 )
TKFRAME_-174010_ANGLES = ( 0.0, 90.0, 0.0 )
FRAME_RM_MAST = -174011
FRAME_-174011_NAME = 'RM_MAST'
FRAME_-174011_CLASS = 3
FRAME_-174011_CLASS_ID = -174011
FRAME_-174011_CENTER = -174010
CK_-174011_SCLK = -174
CK_-174011_SPK = -174
FRAME_RM_PTR_ZERO = -174012
FRAME_-174012_NAME = 'RM_PTR_ZERO'
FRAME_-174012_CLASS = 4
FRAME_-174012_CLASS_ID = -174012
FRAME_-174012_CENTER = -174012
TKFRAME_-174012_RELATIVE = 'RM_MAST'
TKFRAME_-174012_SPEC = 'ANGLES'
TKFRAME_-174012_UNITS = 'DEGREES'
TKFRAME_-174012_AXES = ( 3, 1, 2 )
TKFRAME_-174012_ANGLES = ( 0.0, 0.0, 0.0 )
FRAME_RM_PTR = -174013
FRAME_-174013_NAME = 'RM_PTR'
FRAME_-174013_CLASS = 3
FRAME_-174013_CLASS_ID = -174013
FRAME_-174013_CENTER = -174012
CK_-174013_SCLK = -174
CK_-174013_SPK = -174
FRAME_RM_PB = -174014
FRAME_-174014_NAME = 'RM_PB'
FRAME_-174014_CLASS = 4
FRAME_-174014_CLASS_ID = -174014
FRAME_-174014_CENTER = -174012
TKFRAME_-174014_RELATIVE = 'RM_PTR'
TKFRAME_-174014_SPEC = 'ANGLES'
TKFRAME_-174014_UNITS = 'DEGREES'