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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