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new file: kernels/fk/emrsp_sp_v00.tf 

	Draft version for SP frame kernel (IKI)
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KPL/FK
ExoMars Surface Platform (ExoMars-20) Frames Kernel
===============================================================================
This frame kernel contains a complete set of frame definitions for the
ExoMars Surface Platform including definitions for the structures science
instrument frames. This kernel also contains NAIF ID/name mapping for the
ExoMars Surface Platform instruments.
Version and Date
------------------------------------------------------------------------
Version 0.0-draft -- September 23, 2019 -- Stanislav Bober, IKI
Draft Version. Based on ExoMars-16 EDM (Schiaparelli)
Frame Definitions Kernel (em16_edm_v01.tf)
References
------------------------------------------------------------------------
1. ``Frames Required Reading'', NAIF
2. ``Kernel Pool Required Reading'', NAIF
3. ``C-Kernel Required Reading'', NAIF
4. Email from Marc Costa <mcosta@sciops.esa.int>
``Special consideration for LaRa in the Surface Platform FK''
on 12 July 2019
5. Email from Alexander Abbakumov <aabbakumov@romance.iki.rssi.ru>
``Компоновка ЭМ2020 ДМ'' on 31 July 2019
6. Email from Oleg Batanov <obat@romance.iki.rssi.ru>
``ЭМ20 ПНИ'' on 19 September 2019
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 SPICE support at IKI:
Alexander Abbakumov
+7 (495) 333-40-13
aabbakumov@romance.iki.rssi.ru
Stanislav Bober
+7 (985) 285-24-94
stasbober@rlab.iki.rssi.ru
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. 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
ExoMars Surface Platform NAIF ID Codes -- Summary Section
------------------------------------------------------------------------
The following names and NAIF ID codes are assigned to the ExoMars Surface
Platform, its structures and science instruments (the keywords implementing
these definitions are located in the section "ExoMars Surface Platform NAIF
ID Codes -- Definitions Section" at the end of this file):
ExoMars Surface Platform and it's Structures names/IDs:
EXOMARS SURFACE PLATFORM -173 (synonyms:
EXOMARS RSP SURFACE PLATFORM,
EXOMARS RSP SP)
ESP_LANDER -173000
ESP_CRUISE -173001
ESP_DESCENT -173002
ESP_EIP -173901
ESP_TOPO -173900
ESP_LANDED_LOCAL -173902
ESP_AFTER_RM -173903
ExoMars Surface Platform Frames
------------------------------------------------------------------------
The following ExoMars Surface Platform frames are defined in this kernel file:
Name Relative to Type NAIF ID
====================== ========================== ======= =======
ESP_CRUISE J2000 CK -173001
ESP_DESCENT IAU_MARS CK -173002
ESP_TOPO IAU_MARS FIXED -173900
ESP_EIP IAU_MARS FIXED -173901
ESP_LANDED_LOCAL ESP_TOPO FIXED -173902
ESP_AFTER_RM ESP_TOPO FIXED -173903
ESP_LANDER ESP_CRUISE, CK -173000
ESP_DESCENT,
ESP_LANDED_LOCAL,
ESP_AFTER_RM
ExoMars Surface Platform Frames Hierarchy
--------------------------------------------------------------------------
The diagram below shows the ExoMars Surface Platform frames hierarchy:
"J2000" INERTIAL
+-------------------------------+
| |
| <--ck | <--pck
| |
v v
"ESP_CRUISE" "IAU_MARS"
------------ +-----------------------+
| | |
| | <--fixed | <--fixed
| | |
| v v
| "ESP_EIP" "ESP_TOPO"
| --------- +-------------------+
| | | |
| | <--ck | <--fixed | <--fixed
| | | |
| | v v
| "ESP_DESCENT" "ESP_LANDED_LOCAL" "ESP_AFTER_RM"
| ------------- ------------------ --------------
| | | |
| <--ck(*) | <--ck(*) | <--ck(*) | <--ck(*)
| | | |
v v v v
+--------------------+------+---------+-------------------+
|
v
"ESP_LANDER"
------------
(*) 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.
Implementation of Frame Chains for Different Mission Phases
-------------------------------------------------------------------------------
Different routes along the branches of the ESP frame hierarchy
are implemented for different mission phases depending on the
availability of the orientation data and the source, format and type
of the data.
This subsection summarizes mission phase specific implementations.
Cruise
------
"J2000" Inertial
----------------
|
| <----------- CK segment containing telemetry data
|
v
"ESP_CRUISE"
------------
|
| <----------- CK segment representing fixed rotation defined
| by the lander design and to make SPICE "transverse"
V to the appropiate frame chain
"ESP_LANDER"
------------
Entry-Descent-Landing
---------------------
"J2000" Inertial
----------------
|
| <----------- PCK-based transformation
V
"IAU_MARS"
----------
|
| <----------- Fixed rotation based on frame definitions
|
V
"ESP_EIP" (Entry Insertion Point)
---------
|
| <----------- CK segment
|
"ESP_DESCENT" (Entry-Descent-Landing)
-------------
|
| <----------- CK segment representing fixed rotation defined
| by the lander design and to make SPICE "transverse"
V to the appropiate frame chain
"ESP_LANDER"
------------
Surface Mission (after landing and before rover disposal)
---------------------------------------------------------
"J2000" Inertial
----------------
|
| <----------- PCK-based transformation
V
"IAU_MARS"
----------
|
| <----------- Fixed rotation based on the landing site
| coordinates
V
"ESP_TOPO"
----------
|
| <----------- Fixed rotation based on frame definitions
V
"ESP_AFTER_RM"
--------------
|
| <----------- CK segment representing fixed rotation per
| initial quaternion and to make SPICE "transverse"
V to the appropiate frame chain.
"ESP_LANDER"
------------
Surface Mission (after rover disposal)
--------------------------------------
"J2000" Inertial
----------------
|
| <----------- PCK-based transformation
V
"IAU_MARS"
----------
|
| <----------- Fixed rotation based on the landing site
| coordinates
V
"ESP_TOPO"
----------
|
| <----------- Fixed rotation based on frame definitions
V
"ESP_LANDED_LOCAL"
------------------
|
| <----------- CK segment representing fixed rotation per
| initial quaternion and to make SPICE "transverse"
V to the appropiate frame chain.
"ESP_LANDER"
------------
ExoMars Surface Platform Spacecraft and Spacecraft Structures Frames
--------------------------------------------------------------------
This section of the file contains the definitions of the spacecraft
and spacecraft structures frames.
ExoMars Surface Platform Spacecraft Frames
------------------------------------------
According to [?] the ExoMars Surface Platform landing site reference frame
-- ESP_TOPO -- is defined as follows:
- +X axis points to Mars north pole;
- +Z axis is orthogonal to Mars surface, points outside Mars;
- +Y axis completes the right-handed frame.
- center located at ExoMars Surface Platform actual landing point above
Mars surface;
According to [5] the ExoMars Surface Platform spacecraft reference frame
-- ESP_LANDER --
is defined as follows:
- +X axis is orthogonal to the base plane (octogonal platform)
and points towards the Mars surface;
- +Y axis points along rover ;
- +Z axis completes the right-handed frame.
- the origin of this frame is located at the landing point of Mars surface
and defined by .
These diagrams illustrate the ExoMars Surface Platform frame:
-Y side view:
-------------
__
/\\\
_____________________ |\\|
|| ||\
|| || \
|| || \
.---------|| ||---'-----.
/ || || \
| || || |
| || || |
_______|___________||_______+Ysc____________||___________|______
|________________________________x---> +Zsc________BASE PLANE____|
`. | .'
`. | +Xsc .'
`.__________________________v__________________________.'
| / .' `. .' `. \ |
| / .' `.________.' `. \ |
| / .' `. \ |
| /.' | `.\ |
'._|/'__.' | '.__`\|_.'
====== | ======
v towards Mars
-X top view:
------------
_.-----._
_.-' '-._
_.-' '-._
_.-' '-._
_.-' '-._
-' BASE PLANE '-
/ .--. .--. \
/ \_| |_/ \
/ \
/ =================| |================= \
/--|---------------. .---------------|--\
/ | || || | \
/ | || || | \
/ | || .-------. || | \
/ | || / \ || | \
. | ||/ +Ysc\|| | .
| | |' +Xsc x---> '| | |
| | |' | '| | |
' | ||\ | +Zsc/|| | '
\ | || \ v / || | /
\ | || `-------' || | /
\ | || || | /
\ | || || | /
\--|---------------' '---------------|--/
\ =================| |================= /
\ _ _ /
\ / | | \ /
\_ '--' '--' _/
'-._ _.-'
'-._ _.-'
'-._ _.-'
'-._ _.-'
'-._____.-'
These sets of keywords define the ExoMars Surface Platform Spacecraft frames:
\begindata
FRAME_ESP_LANDER = -173000
FRAME_-173000_NAME = 'ESP_LANDER'
FRAME_-173000_CLASS = 3
FRAME_-173000_CLASS_ID = -173000
FRAME_-173000_CENTER = -173
CK_-173000_SCLK = -173
CK_-173000_SPK = -173
OBJECT_-173_FRAME = 'ESP_LANDER'
FRAME_ESP_CRUISE = -173001
FRAME_-173001_NAME = 'ESP_CRUISE'
FRAME_-173001_CLASS = 3
FRAME_-173001_CLASS_ID = -173001
FRAME_-173001_CENTER = -173
CK_-173001_SCLK = -173
CK_-173001_SPK = -173
OBJECT_-173_FRAME = 'ESP_CRUISE'
FRAME_ESP_DESCENT = -173002
FRAME_-173002_NAME = 'ESP_DESCENT'
FRAME_-173002_CLASS = 3
FRAME_-173002_CLASS_ID = -173003
FRAME_-173002_CENTER = -173
CK_-173002_SCLK = -173
CK_-173002_SPK = -173
OBJECT_-173_FRAME = 'ESP_DESCENT'
FRAME_ESP_EIP = -173901
FRAME_-173901_NAME = 'ESP_EIP'
FRAME_-173901_CLASS = 4
FRAME_-173901_CLASS_ID = -173901
FRAME_-173901_CENTER = 499
TKFRAME_-173901_SPEC = 'ANGLES'
TKFRAME_-173901_RELATIVE = 'IAU_MARS'
TKFRAME_-173901_UNITS = 'DEGREES'
TKFRAME_-173901_AXES = ( 3, 2, 3 )
TKFRAME_-173901_ANGLES = ( 0.0, 0.0, 0.0 )
FRAME_ESP_TOPO = -173900
FRAME_-173900_NAME = 'ESP_TOPO'
FRAME_-173900_CLASS = 4
FRAME_-173900_CLASS_ID = -173900
FRAME_-173900_CENTER = -173900
TKFRAME_-173900_RELATIVE = 'IAU_MARS'
TKFRAME_-173900_SPEC = 'ANGLES'
TKFRAME_-173900_UNITS = 'DEGREES'
TKFRAME_-173900_AXES = ( 3, 2, 3 )
TKFRAME_-173900_ANGLES = ( 0.0, 0.0, 0.0 )
FRAME_ESP_LANDED_LOCAL = -173902
FRAME_-173902_NAME = 'ESP_LANDED_LOCAL'
FRAME_-173902_CLASS = 4
FRAME_-173902_CLASS_ID = -173902
FRAME_-173902_CENTER = -173
TKFRAME_-173902_RELATIVE = 'ESP_TOPO'
TKFRAME_-173902_SPEC = 'ANGLES'
TKFRAME_-173902_UNITS = 'DEGREES'
TKFRAME_-173902_AXES = ( 1, 2, 3 )
TKFRAME_-173902_ANGLES = ( 180.0, 0.0, 0.0 )
FRAME_ESP_AFTER_RM = -173903
FRAME_-173903_NAME = 'ESP_AFTER_RM'
FRAME_-173903_CLASS = 4
FRAME_-173903_CLASS_ID = -173903
FRAME_-173903_CENTER = -173
TKFRAME_-173903_RELATIVE = 'ESP_TOPO'
TKFRAME_-173903_SPEC = 'ANGLES'
TKFRAME_-173903_UNITS = 'DEGREES'
TKFRAME_-173903_AXES = ( 1, 2, 3 )
TKFRAME_-173903_ANGLES = ( 180.0, 0.0, 0.0 )
\begintext
ExoMars Surface Platform NAIF ID Codes -- Definitions
===============================================================================
This section contains name to NAIF ID mappings for the ExoMars-20 mission.
Once the contents of this file is loaded into the KERNEL POOL, these
mappings become available within SPICE, making it possible to use names
instead of ID code in the high level SPICE routine calls.
Name ID Synonyms
--------------------- ------- -----------------------
EXOMARS SURFACE PLATFORM -173 (synonyms:
EXOMARS RSP SURFACE PLATFORM,
EXOMARS RSP SP,
EM RSP SP)
The mappings summarized in this table are implemented by the keywords
below.
\begindata
NAIF_BODY_NAME += ( 'EXOMARS SURFACE PLATFORM' )
NAIF_BODY_CODE += ( -173 )
NAIF_BODY_NAME += ( 'EXOMARS RSP SURFACE PLATFORM' )
NAIF_BODY_CODE += ( -173 )
NAIF_BODY_NAME += ( 'EXOMARS RSP SP' )
NAIF_BODY_CODE += ( -173 )
NAIF_BODY_NAME += ( 'ESP_LANDER' )
NAIF_BODY_CODE += ( -173000 )
NAIF_BODY_NAME += ( 'ESP_CRUISE' )
NAIF_BODY_CODE += ( -173001 )
NAIF_BODY_NAME += ( 'ESP_DESCENT' )
NAIF_BODY_CODE += ( -173002 )
NAIF_BODY_NAME += ( 'ESP_TOPO' )
NAIF_BODY_CODE += ( -173900 )
NAIF_BODY_NAME += ( 'ESP_EIP' )
NAIF_BODY_CODE += ( -173901 )
NAIF_BODY_NAME += ( 'ESP_LANDED_LOCAL' )
NAIF_BODY_CODE += ( -173902 )
NAIF_BODY_NAME += ( 'ESP_AFTER_RM' )
NAIF_BODY_CODE += ( -173903 )
\begintext
End of FK file.
\ No newline at end of file
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