emrsp_rm_v006.tf

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