diff --git a/kernels/fk/emrsp_rm_v006.tf b/kernels/fk/emrsp_rm_v006.tf
index e35b068d724249aac7edc78cd6dc000a9e926f25..41943fc48eb8ff3417f615629d653248f05f0c30 100644
--- a/kernels/fk/emrsp_rm_v006.tf
+++ b/kernels/fk/emrsp_rm_v006.tf
@@ -1,3676 +1,3676 @@
-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'
- TKFRAME_-174014_AXES = ( 1, 2, 3 )
- TKFRAME_-174014_ANGLES = ( 0.0, 0.0, 0.0 )
-
- \begintext
-
-
-RM NavCam Frames
-----------------------------------------------------------------------------
-
- The Navigation Cameras reference frame -- RM_NAVCAM_BASE --, where the
- terrain stereo reconstruction (for Navigation) occurs, is attached to the
- cameras stereo bench, the axes are aligned to the PTR frame (moving
- according to pan & tilt mechanisms rotations) and is defined as follows:
-
- - +X axis is defined as the projection of the cameras optical axis on
- the plane perpendicular to the +Y axis;
-
- - +Y axis is in the direction from the right camera optical centre to
- the left camera optical centre;
-
- - +Z axis completes the right-handed frame;
-
- - The origin is a fixed translation from the PTR frame.
-
-
- These sets of keywords define the NavCam frames:
-
- \begindata
-
- FRAME_RM_NAVCAM_BASE = -174020
- FRAME_-174020_NAME = 'RM_NAVCAM_BASE'
- FRAME_-174020_CLASS = 4
- FRAME_-174020_CLASS_ID = -174020
- FRAME_-174020_CENTER = -174020
- TKFRAME_-174020_RELATIVE = 'RM_PB'
- TKFRAME_-174020_SPEC = 'ANGLES'
- TKFRAME_-174020_UNITS = 'DEGREES'
- TKFRAME_-174020_AXES = ( 1, 2, 3 )
- TKFRAME_-174020_ANGLES = ( 0.0, 0.0, 0.0 )
-
- FRAME_RM_NAVCAM_L = -174021
- FRAME_-174021_NAME = 'RM_NAVCAM_L'
- FRAME_-174021_CLASS = 4
- FRAME_-174021_CLASS_ID = -174021
- FRAME_-174021_CENTER = -174021
- TKFRAME_-174021_RELATIVE = 'RM_NAVCAM_BASE'
- TKFRAME_-174021_SPEC = 'ANGLES'
- TKFRAME_-174021_UNITS = 'DEGREES'
- TKFRAME_-174021_AXES = ( 1, 2, 3 )
- TKFRAME_-174021_ANGLES = ( 0.0, -90.0, 0.0 )
-
- FRAME_RM_NAVCAM_R = -174022
- FRAME_-174022_NAME = 'RM_NAVCAM_R'
- FRAME_-174022_CLASS = 4
- FRAME_-174022_CLASS_ID = -174022
- FRAME_-174022_CENTER = -174022
- TKFRAME_-174022_RELATIVE = 'RM_NAVCAM_BASE'
- TKFRAME_-174022_SPEC = 'ANGLES'
- TKFRAME_-174022_UNITS = 'DEGREES'
- TKFRAME_-174022_AXES = ( 1, 2, 3 )
- TKFRAME_-174022_ANGLES = ( 0.0, -90.0, 0.0 )
-
- \begintext
-
-
-LocCam Frames
-------------------------------------------------------------------------
-
- This section of the file contains the definitions of the Localisation
- Cameras (LocCam) instrument frames.
-
- The Localisation Cameras reference frame -- RM_LOCCAM_BASE --, where the
- terrain stereo reconstruction (for Localisation) occurs, is attached to
- the cameras stereo bench and is defined as follows:
-
- - +X axis is the the projection of the cameras optical axis on the plane
- perpendicular to the +Y axis;
-
- - +Y axis is in the direction from the right camera optical centre to the
- left camera optical centre;
-
- - +Z axis completes the right-handed frame;
-
- - the origin, is located at the middle of the segment linking the optical
- centres of the left and right localisation cameras.
-
-
- The following diagram describes the LocCam frames:
-
- -Y Rover side view:
- -------------------
-
- .-.
- | |
- | |
- |_|
- |_|
- |
- |
- |
- |
- +Zloc |
- ^ |
- . |
- . |
- . | +Zrm
- . _|_ ^
- .| | |
- ---- .o +Yloc --------|-------------------------------------
- .' ,------------|------------.
- .' | | |
- .' ___| | |
- <' / | +Xrm | |
- +Xloc \___|__<---------o ____________. +Yrm and +Yloc
- | | +Yrm | | are out of the
- __------/ \-----__ / \.__ page.
- | |-----\_/----| | \__. |
- .| |. .| |. .| |.
- / |__| \ / |__| \ / |__| \
- \ / \ / \ /
- `-..-' `-..-' `-..-'
-
-
- The origin is nominally a fixed translation from the Rover Module frame
- -- RM_ROVER --, and the axes are rotated 18 degrees around the +Y axis of
- the RM_ROVER frame [8]. These sets of keywords define the LocCam frames:
-
-
- \begindata
-
- FRAME_RM_LOCCAM_BASE = -174030
- FRAME_-174030_NAME = 'RM_LOCCAM_BASE'
- FRAME_-174030_CLASS = 4
- FRAME_-174030_CLASS_ID = -174030
- FRAME_-174030_CENTER = -174030
- TKFRAME_-174030_RELATIVE = 'RM_ROVER'
- TKFRAME_-174030_SPEC = 'ANGLES'
- TKFRAME_-174030_UNITS = 'DEGREES'
- TKFRAME_-174030_AXES = ( 3, 1, 2 )
- TKFRAME_-174030_ANGLES = ( 0.0, 0.0, -18.0 )
-
- FRAME_RM_LOCCAM_L = -174031
- FRAME_-174031_NAME = 'RM_LOCCAM_L'
- FRAME_-174031_CLASS = 4
- FRAME_-174031_CLASS_ID = -174031
- FRAME_-174031_CENTER = -174031
- TKFRAME_-174031_RELATIVE = 'RM_LOCCAM_BASE'
- TKFRAME_-174031_SPEC = 'ANGLES'
- TKFRAME_-174031_UNITS = 'DEGREES'
- TKFRAME_-174031_AXES = ( 1, 2, 3 )
- TKFRAME_-174031_ANGLES = ( 0.0, -90.0, 0.0 )
-
- FRAME_RM_LOCCAM_R = -174032
- FRAME_-174032_NAME = 'RM_LOCCAM_R'
- FRAME_-174032_CLASS = 4
- FRAME_-174032_CLASS_ID = -174032
- FRAME_-174032_CENTER = -174032
- TKFRAME_-174032_RELATIVE = 'RM_LOCCAM_BASE'
- TKFRAME_-174032_SPEC = 'ANGLES'
- TKFRAME_-174032_UNITS = 'DEGREES'
- TKFRAME_-174032_AXES = ( 1, 2, 3 )
- TKFRAME_-174032_ANGLES = ( 0.0, -90.0, 0.0 )
-
- \begintext
-
-
-RM Drill Frames
-----------------------------------------------------------------------------
-
- The Drill is in charge of extracting the samples from the Mars subsurface
- and delivering them to the Core Sample Transport Mechanism (CSTM), such
- that they are transported inside the Analytical Laboratory Drawer (ALD),
- where they are processed and analysed by the scientific instruments.
- The drill implements a multi-rod concept to allow drilling and sample
- collection down to 2 meter depth.
-
- The drill string is composed, at its maximum length, of a drill tool
- (with sample collection capability) and three extension rods. Three
- ``main'' active joints are needed to accomplish the Drill operations:
-
- - Positioner Translation Joint, which allows all the translational
- movements of the Drill box.
-
- - Positioner Rotational Joint, which allows all the rotational
- movements of the Drill box.
-
- - Drilling Joint, which groups several mechanisms devoted to the drill
- rod insertion in the terrain (drilling/coring).
-
-
-RM Drill Positioner frames:
-~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
- The Drill Positioner Fixed frame -- RM_DRILL_POS_FIX -- is placed on the
- Rover to Drill Positioner interface and is invariant to the Drill
- Positioner Translational and Rotational mechanisms position. It is
- defined as follows:
-
- - +X axis is nominally co-aligned with the RM_ROVER +X axis frame;
-
- - +Y axis is nominally co-aligned with the RM_ROVER +Y axis frame;
-
- - +Z axis completes the right-handed frame;
-
- - the origin is defined as the intersection of the Drill Positioner
- Rotational Joint axis and the Drill Translational Joint axis,
- assuming the Drill Positioner in stowed configuration, this is
- incorporated by the RM_DRILL_POS_FIX body.
-
-
- The Drill Postioner Moving frame -- RM_DRILL_POS_MOV -- is placed on the
- Rover to Drill Positioner interface and moves according to the Drill
- Positioner Translational (TRA) and Rotational (ROT) mechanisms position.
- This frame is coincident with RM_DRILL_POS_FIX frame when the Drill is in
- stowed configuration (TRA=0 mm; ROT=0 deg), and follows the Drill Positioner
- Joints motion rototranslating according to Drill Positioner Translational
- (TRA) and Rotational (ROT) mechanisms positions. The frame can be defined
- as follows:
-
- - +Y axis is co-aligned with the longitudinal direction of the drill
- and points towards the apperture of the drill;
-
- - +Z axis is rotated a positive rotational (ROT) angle from the +Z axis
- of the RM_DRILL_POS_FIX frame around the +X axis of the
- RM_DRILL_POS_FIX frame;
-
- - +X axis completes the right-handed frame;
-
- - the origin is defined as the intersection of the Drill Positioner
- Rotational Joint axis and the Drill Translational Joint axis,
- with a longitudinal offset w.r.t. the origin of RM_DRILL_POS frame
- along the +Y axis defined by the Transitional position (TRA).
-
-
- +X Rover side view (drill in stowed position):
- ----------------------------------------------
-
-
- o-o-=O===O--o
- |o|___|
- _\/
- |_|_
- |_|
- |
- |
- |
- |
- |
- |
- | +Zpdf
- | ^
- | |
- _|_ +Zrm |
- | | ^ |
- --------------------------|----|---------------------
- | | | | | | | | |
- '---| | | | o-----------> +Ydpf
- '--.-----------|----------|
- .--|#DRILL#BOX#|##########|---.
- .-. |============= o--------> ====| .-.
- |___|=| +Xrm | |+Yrm |=|___|
- |.-. .-.|
- || | | || +Xrm is out of the
- `| | | |' page
- '_' '_'
- ~~~~~~~~ ~~~~~~~~
-
-
- The following diagrams describe the different operational positions of the
- drill positioner frames for different Translational (TRA) and Rotational
- (ROT) mechanisms positions (Units in mm and degrees):
-
- 1. STOWED POSITION 2. LIFTING PHASE
- [TRA=0, ROT=0] [TRA=130, ROT=0]
-
- ^ +Zdpm
- +Zdpf, +Zdpm |
- | ^ | | | |
- | | | +Zdpf ^ | Ydpm
- | | | .-------------o------->
- | | | +Ydpf,+Ydpm |_____________|_____| +Ydpf
- .-------------o-------> | o------->
- |___________________| | |
- | | | |
-
-
- 3. VERTICAL ALIGNMENT 4. LOWERING PHASE (drilling position)
- [TRA=130, ROT=90] [TRA=-240, ROT=90]
- __
- | |
- | |
- | |
- | |
- | | +Zdpf +Zdpm __
- | || o-------> | || +Zdpf
- | || ^ | | || ^ |
- |__|| | | | || | |
- | | | +Ydpf | || | | +Ydpf
- | o-------> | || o------->
- | | | | || |
- | v | | || |
- +Ydpm | | o-------> +Zdpm
- |__| |
- |
- v +Ydpm
-
-
- 3. LIFTING PHASE (after sample) 4. HORIZONTAL ALIGNMENT (before sample
- collection) [TRA=130, ROT=90] discharge) [TRA=130, ROT=180]
- __
- | |
- | |
- | |
- | |
- | | +Zdpf +Zdpm .--------------------->
- | || o-------> |_____________^_____|
- | || ^ | <-------o +Zdpf
- |__|| | | +Ydpm | | |
- | | | +Ydpf | | | +Ydpf
- | o-------> | o------->
- | | | | | |
- | v | | v |
- +Ydpm +Zpm
-
-
- 5. SAMPLE DISCHARGE PHASE (from drill tip to CSTM container)
- [TRA=130, ROT=150]
-
- .'\
- .' .'
- .' .'
- .' .'
- .' .'
- .' .'o +Zdpf
- \.'.'|\|
- .'| | \ +Ydpf
- .' | o--\---->
- <' | | v
- +Ypdm | | +Zpdm
-
-
- +X Rover side view (drill in discharge phase):
- ----------------------------------------------
-
-
- o-o-=O===O--o
- |o|___|
- _\/
- |_|_
- |_|
- |
- |
- |
- |
- |
- | .
- | . ' \
- | . ' \
- _|_ . ' ^+dZpf. '
- | . ' | . '
- --------------------. ' . | |-------------------
- | | . ' . ' | | | | |
- '---| \ . ' ^ | o------> +Ydpf
- '--. \. ' |+Zrm | |
- .--' | | | ''---.
- .-. |============= o-----> =======| .-.
- |___|=| +Xrm | +Yrm |=|___|
- |.-. .-.|
- || | | || +Yrm and +Ydpf is
- `| | | |' out of the page
- '_' '_'
- ~~~~~~~~ ~~~~~~~~
-
-
- These sets of keywords define the Drill Positioner frames:
-
- \begindata
-
- FRAME_RM_DRILL_POS_FIX = -174040
- FRAME_-174040_NAME = 'RM_DRILL_POS_FIX'
- FRAME_-174040_CLASS = 4
- FRAME_-174040_CLASS_ID = -174040
- FRAME_-174040_CENTER = -174040
- TKFRAME_-174040_RELATIVE = 'RM_ROVER'
- TKFRAME_-174040_SPEC = 'ANGLES'
- TKFRAME_-174040_UNITS = 'DEGREES'
- TKFRAME_-174040_AXES = ( 1, 2, 3 )
- TKFRAME_-174040_ANGLES = ( 0.0, 0.0, 0.0 )
-
- FRAME_RM_DRILL_POS_MOV = -174041
- FRAME_-174041_NAME = 'RM_DRILL_POS_MOV'
- FRAME_-174041_CLASS = 3
- FRAME_-174041_CLASS_ID = -174041
- FRAME_-174041_CENTER = -174041
- CK_-174041_SCLK = -174
- CK_-174041_SPK = -174041
-
- \begintext
-
-
-Drill Tip frames:
-~~~~~~~~~~~~~~~~~
-
- The Drill Tip Fixed frame -- RM_ROVER_DRILL_TIP_FIX -- is placed on the
- Rover Drill Tip (when fully retracted) and is invariant to the Drill Rod
- position. It is defined as follows:
-
- - +X axis is nominally parallel to the +X axis of the
- RM_DRILL_POS_FIX frame;
-
- - +Y axis, is nominally parallel to the +Y axis of the
- RM_DRILL_POS_MOV frame;
-
- - +Z axis completes the right-handed frame;
-
- - the origin is defined as the tip of the Drill Rod assuming that the
- Drill Rod is fully retracted.
-
-
- The following diagrams show the RM_ROVER_DRILL_TIP_FIX in some of the drill
- positions:
-
-
- SAMPLE DISCHARGE PHASE LOWERING PHASE
- [TRA=130, ROT=150] [TRA=-240, ROT=90]
- __
- .'\ | || +Zdpf
- .' .' | || ^ |
- .' .' | || | |
- .' .' | || | | +Ydpf
- .' .' | || o------->
- .' .'o +Zdpf | || |
- o.'.'|\| | || |
- .' .'. | \ +Ydpf | | o-------> +Zdpm
- +Ydtf <' .' 'o--\----> |o---------> +Zdtf
- <' | '.| v +Zpdm | |
- +Ypdm | '> +Zdtf | v +Ydpm
- |
- v +Ydtf
-
-
- The Drill Tip Moving frame -- RM_ROVER_DRILL_TIP_MOV -- is attached to the
- Rover Drill Tip and moves according to the Drill Translational Joint
- (DRILL). Its orientation is defined by the rotation of the drill tip around
- the +Y axis of the RM_ROVER_DRILL_TIP_FIX frame. The origin is coincident
- with the RM_ROVER_DRILL_TIP_FIX frame when the Drill Rod is fully retracted
- (DRILL = 0mm). When the Drill Translational Joint mechanism moves, the
- RM_ROVER_DRILL_TIP_MOV frame rigidly translates with respect to the +X axis
- of the RM_ROVER_DRILL_TIP_FIX frame a DRILL distance in mm. Note that the
- Drill Translational Joint is composed by a group several mechanisms devoted
- to the drill rod insertion in the terrain (drilling/coring). It is defined
- as follows:
-
- - +Y axis, is nominally parallel to the +Y axis of the
- RM_ROVER_DRILL_TIP_FIX;
-
- - +Z axis, is rotated the drill tip rotation with respect to the
- +Z axis of the RM_ROVER_DRILL_TIP_FIX frame;
-
- - +X axis completes the right-handed frame;
-
- - the origin is defined as the tip of the Drill Rod.
-
-
- The following diagram describes the Drill tip frames:
-
-
- +X Rover side view (drilling position):
- ---------------------------------------
-
- [TRA=-240, ROT=90, DRILL=150]
- o-o-=O===O--o
- |o|___|
- _\/
- |_|_
- |_|
- |
- |
- |
- |
- |
- |
- |
- |
- _|_ ^+dZpf
- | | |
- -------------------------.----.-|----------------------
- | | | | | | | |
- '---| |^ | o------> +Ydpf
- '--. ||+Zrm | |
- .--' || | | ''---.
- .-. |============= o-----> =======| .-.
- |___|=| | | +Yrm |=|___|
- |.-. | | .-.|
- || | | | | || +Yrm, +Ydpf +Ydtm
- `| | | | | |' are out of the page
- '_' | | '_'
- ~~~~~~~~~~~~~~~~~~~~~~~'----'~~~~~~~~~~~~~~~~~~~~ __
- || ^
- || |
- .. | DRILL
- .. | ~1.5m
- |
- .. |
- .. |
- || v
- \/ Dril --
- o-------> +Zdtm
- |
- |. drill tip rotation
- <-'
- |
- v +Ydtm
-
-
- These sets of keywords define the Drill tip frames:
-
- \begindata
-
- FRAME_RM_DRILL_TIP_FIX = -174042
- FRAME_-174042_NAME = 'RM_DRILL_TIP_FIX'
- FRAME_-174042_CLASS = 4
- FRAME_-174042_CLASS_ID = -174042
- FRAME_-174042_CENTER = -174042
- TKFRAME_-174042_RELATIVE = 'RM_DRILL_POS_MOV'
- TKFRAME_-174042_SPEC = 'ANGLES'
- TKFRAME_-174042_UNITS = 'DEGREES'
- TKFRAME_-174042_AXES = ( 1, 2, 3 )
- TKFRAME_-174042_ANGLES = ( 0.0, 0.0, 0.0 )
-
- FRAME_RM_DRILL_TIP_MOV = -174043
- FRAME_-174043_NAME = 'RM_DRILL_TIP_MOV'
- FRAME_-174043_CLASS = 3
- FRAME_-174043_CLASS_ID = -174043
- FRAME_-174043_CENTER = -174043
- CK_-174043_SCLK = -174
- CK_-174043_SPK = -174043
-
- \begintext
-
-
-ALD Frames
-------------------------------------------------------------------------
-
- The Rover will collect samples with the drill and deliver them to the
- Analytical Laboratory Drawer (ALD) in the body of the rover, via the
- sample delivery window. Within the ALD the samples will be analysed
- with an infrared spectrometer (MicrOmega), a raman spectrometer (RLS),
- and the Mars organics molecule analyser (MOMA) instrument.
-
- The samples will be collected by a drill and delivered to the Core Sample
- Handling System (CSHS) component of the SPDS, which is made up of the Core
- Sample Transportation Mechanism (CSTM) and the Blank Sample Dispenser (BSD).
- The CSTM will carry the samples into the ALD, where they will be released
- through a trapdoor into the Crushing Station (CS) and be reduced to powder.
- The BSD will deliver 'blank' samples brought from Earth for verification
- purposes. The powdered samples then pass from the CS to
-
- The Powder Sample Dosing and Distribution System (PSDDS) delivers a measured
- quantity of powder into the Refillable Container (RC) that is mounted on the
- Powdered Sample Handling System (PSHS). The PSHS is a carousel that moves
- the samples to various stations for processing and analysis. One station is
- equipped with a fixed 'scraper', the Powder Sample Flattening Mechanism
- (PSFM), which levels the surface of the powdered sample in the RC. Another
- station houses the Refillable Container Cleaning Mechanism (RCCM), while
- further stations will have instruments to examine the surface of the samples
- and pyrolysis ovens to feed the MOMA GC-MS.
-
-
-ALD CSTM Frames
-~~~~~~~~~~~~~~~
-
- The CSTM is placed diagonally on top of the upper ALD plate to reach the
- sample handover point of the drill by opening the ALD door. It then retracts
- after having received the sample from the drill in its sample container.
-
- The ALD Core Sample Transportation Mechanism (CSTM) Fixed frame
- -- RM_ALD_CSTM_FIX -- is attached to the CSTM and invariant to the CSTM
- mechanism position. It is defined as follows:
-
- - +Z axis is nominally parallel to the +Z axis of the RM_ROVER frame;
-
- - +X axis is the motion direction of the CSTM mechanism
- (from close to open);
-
- - +Y axis completes the right-handed frame;
-
- - the origin is located in the geometrical centre of the CSTM sample
- receptacle, assuming the CSTM mechanism fully retracted. It is a
- fixed translation from the RM_ROVER.
-
- The ALD CSTM Fixed frame axes are rotated around the +Z axis of the
- ROVER_RM frame a nominal angle of -26.5 degrees [10].
-
- The ALD CTSM Moving frame -- RM_ALD_CSTM_MOV -- is is attached to the Core
- Sample Transport Mechanism and moves according to CSTM mechanism position.
- Its orientation is the same as ACF frame and its origin is coincident with
- ACF frame when the CSTM mechanism is fully retracted (0mm). When the CSTM
- mechanisms moves (up to 300mm), the ACM frame rigidly translates with
- respect to the RM_ALD_CSTM_FIX frame along the +X axis RM_ALD_CSTM_FIX.
-
- This diagram illustrate the RM_ALD_CSTM_FIX frame:
-
- +Z Rover side view:
- -------------------
-
- .-------------------------..-------------------------.
- .-----| || |
- | .--.| || |
- | | || || |
- `-| |'-------------------------''-------------------------'
- .------------------.
- +Xcstm | '----------.
- <. '----. |
- ' .| |+Zcstm |
- ' o .-. .'
- | .| | +Xrm +Zrm |
- ' | | |<---------o |
- ' | | | | |
- +Ycstm <'| | '-' | '.
- '--| | | +Zrm and +Zcstm are
- '-----. .-|--------' out of the page.
- '---------' v
- .--------------- +Yrm ----..-------------------------.
- | || |
- | || |
- | || |
- '-------------------------''-------------------------'
-
-
- These sets of keywords define the ALD CSTM frames:
-
- \begindata
-
- FRAME_RM_ALD_CSTM_FIX = -174052
- FRAME_-174052_NAME = 'RM_ALD_CSTM_FIX'
- FRAME_-174052_CLASS = 4
- FRAME_-174052_CLASS_ID = -174052
- FRAME_-174052_CENTER = -174052
- TKFRAME_-174052_RELATIVE = 'RM_ROVER'
- TKFRAME_-174052_SPEC = 'ANGLES'
- TKFRAME_-174052_UNITS = 'DEGREES'
- TKFRAME_-174052_AXES = ( 1, 2, 3 )
- TKFRAME_-174052_ANGLES = ( 0.0, 0.0, 26.5 )
-
- FRAME_RM_ALD_CSTM_MOV = -174053
- FRAME_-174053_NAME = 'RM_ALD_CSTM_MOV'
- FRAME_-174053_CLASS = 4
- FRAME_-174053_CLASS_ID = -174053
- FRAME_-174053_CENTER = -174053
- TKFRAME_-174053_RELATIVE = 'RM_ALD_CSTM_FIX'
- TKFRAME_-174053_SPEC = 'ANGLES'
- TKFRAME_-174053_UNITS = 'DEGREES'
- TKFRAME_-174053_AXES = ( 1, 2, 3 )
- TKFRAME_-174053_ANGLES = ( 0.0, 0.0, 0.0 )
-
- \begintext
-
-
-ALD PSDDS and PSHS Frames
-~~~~~~~~~~~~~~~~~~~~~~~~~
-
- The PSDDS collects the crushed samples in its sample containers and
- distributes the sample powder to the receptacles placed on the PSHS.
-
- The PSHS with its carousel transports the powdered sample received by the
- PSDDS by rotation to the ports of the optical instruments of the ALD namely
- MicrOmega, RLS and MOMA LD-MS.
-
- The Powder Sample Dosing and Distribution System (PSDDS) and the Powdered
- Sample Handling System (PSHS, the carousel) frames are defined solely to
- provide the rotation angle of their mechanisms. For PSDDS the angle ranges
- from 0 to 340.06 degrees and provides the position of the POSITIONER whereas
- for PSHS the angles ranges from 0 to 345 degrees and provides the position
- of the CAROUSEL. For both zero position is equivalent to 0 degrees.
- Because of this for both structures a FIXED and a MOVING frame are defined;
- the MOVING frame incorporates the rotation being defined as a CK-based
- frame.
-
- The ALD PSDDS Fixed frame -- RM_ALD_PSDDS_FIX -- is attached to the Powder
- Sample Dosing and Distribution System, is invariant to the PSDDS
- mechanism position and is parallel to the RM_ROVER frame.
- It is defined as follows:
-
- - +X axis is nominally co-aligned with the RM_ROVER +X axis frame;
-
- - +Y axis is nominally co-aligned with the RM_ROVER +Y axis frame;
-
- - +Z axis completes the right-handed frame;
-
- - The origin is located in the geometrical centre of the PSDDS,
- defined as the intersection of the PSDDS mechanism rotation axis and
- the PSDDS upper panel (perpendicular to the RM_ROVER +Z axis).
-
-
- The ALD PSDDS Moving frame -- RM_ALD_PSDDS_MOV -- is attached to the
- Powder Sample Dosing and Distribution System and moves according to the
- PSDDS mechanism rotation. Its origin is coincident with the
- RM_ALD_PSDDS_FIX frame, and its orientation is the same when the
- PSDDS mechanism is in zero position (PSDDS = 0deg). When the PSDDS
- mechanisms moves, the frame rotates around the +Z axis of the
- RM_ALD_PSDDS_MOV fame.
-
- The ALD PSHS Fixed frame -- RM_ALD_PSHS_FIX -- is attached to the Powder
- Sample Handiling System and is invariant to the PSHS mechanism position.
- It is defined as follows:
-
- - +X axis is nominally co-aligned with the RM_ROVER +X axis frame;
-
- - +Y axis is nominally co-aligned with the RM_ROVER +Y axis frame;
-
- - +Z axis completes the right-handed frame;
-
- - The origin is located in the geometrical centre of the PSHS, defined
- as the intersection of the PSHS mechanism rotation axis and the PSHS
- upper panel (perpendicular to the RM_ROVER +Z axis).
-
-
- The ALD PSHS Moving frame -- RM_ALD_PSHS_MOV -- is attached to the Powder
- Sample Dosing and Distribution System and moves according to the PSHS
- mechanism rotation. Its origin is coincident with the RM_ALD_PSHS_FIX frame,
- and its orientation is the same when the PSDDS mechanism is in zero position
- (PSHS = 0deg). When the PSHS mechanisms moves, the frame rotates around the
- +Z axis of the RM_ALD_PSHS_MOV fame.
-
- These sets of keywords define the ALD PSDDS and PSHS frames:
-
- \begindata
-
- FRAME_RM_ALD_PSDDS_FIX = -174055
- FRAME_-174055_NAME = 'RM_ALD_PSDDS_FIX'
- FRAME_-174055_CLASS = 4
- FRAME_-174055_CLASS_ID = -174055
- FRAME_-174055_CENTER = -174055
- TKFRAME_-174055_RELATIVE = 'RM_ROVER'
- TKFRAME_-174055_SPEC = 'ANGLES'
- TKFRAME_-174055_UNITS = 'DEGREES'
- TKFRAME_-174055_AXES = ( 1, 2, 3 )
- TKFRAME_-174055_ANGLES = ( 0.0, 0.0, 0.0 )
-
- FRAME_RM_ALD_PSDDS_MOV = -174056
- FRAME_-174056_NAME = 'RM_ALD_PSDDS_MOV'
- FRAME_-174056_CLASS = 3
- FRAME_-174056_CLASS_ID = -174056
- FRAME_-174056_CENTER = -174055
- CK_-174056_SCLK = -174
- CK_-174056_SPK = -174
-
- FRAME_RM_ALD_PSHS_FIX = -174058
- FRAME_-174058_NAME = 'RM_ALD_PSHS_FIX'
- FRAME_-174058_CLASS = 4
- FRAME_-174058_CLASS_ID = -174058
- FRAME_-174058_CENTER = -174058
- TKFRAME_-174058_RELATIVE = 'RM_ROVER'
- TKFRAME_-174058_SPEC = 'ANGLES'
- TKFRAME_-174058_UNITS = 'DEGREES'
- TKFRAME_-174058_AXES = ( 1, 2, 3 )
- TKFRAME_-174058_ANGLES = ( 0.0, 0.0, 0.0 )
-
- FRAME_RM_ALD_PSHS_MOV = -174059
- FRAME_-174059_NAME = 'RM_ALD_PSHS_MOV'
- FRAME_-174059_CLASS = 3
- FRAME_-174059_CLASS_ID = -174059
- FRAME_-174059_CENTER = -174058
- CK_-174059_SCLK = -174
- CK_-174059_SPK = -174
-
- \begintext
-
-
-Solar Arrays Frames
-----------------------------------------------------------------------------
-
- This section contains the definitions of the Solar Arrays (SA) frames
- as specified in [7].
-
- The RM has two groups of SA panels, the Right SA and the Left SA. Each
- group consists of two panels (in addition to the panels present on top
- of the RM body): the primary and the secondary panel -- RM_SA1_PRI,
- RM_SA1_SEC and RM_SA2_PRI, RM_SA2_SEC --, these two panels are
- connected by hinges that allow them rotate (and thus be deployed).
- For each panel, the conventions for the hinge deployment axis are the
- following:
-
- The Primary Hinge deployment axis rotation convention is:
-
- - Zero angle when the primary panels are in the nominal fully
- deployed position with normal to the Photovoltaic assembly (PVA)
- face parallel to the +Z axis of the RM_ROVER.
-
- - Positive rotations deploy the primary panels from their stowed
- positions: right side hinges rotate clockwise about +X axis of
- the RM_ROVER frame and left side hinges rotate anticlockwise about
- +X axis of the RM_ROVER using right-hand grip rule.
-
- The Secondary Hinge deployment axis rotation convention is:
-
- - Zero angle when the secondary panels are in the nominal
- fully-deployed position with normal to the PVA face parallel
- to the +Z axis of the RM_ROVER.
-
- - Positive rotations deploy the secondary panels from their stowed
- positions below the primary panels: when the primary panels are
- deployed to -90 degrees the right side secondary hinges rotate
- anticlockwise about +Z axis of the RM_ROVER and left side secondary
- hinges rotate clockwise about +Z axis of the RM_ROVER using
- right-hand grip rule.
-
- Please note that all the rotations range from -180 to 0 degrees (stowed
- to fully deployed).
-
- For each group three reference frames are defined, a zero one that is
- parallel to the Rover Body frame, a primary for the pimary array of the
- group and a secondary for the secondary array of each group the frames
- are defined hereafter.
-
- The Solar Array 1 and 2 zero frames -- RM_SA1_ZERO, RM_SA2_ZERO -- are
- defined as follows:
-
- - +X axis is nominally co-aligned with the RM_ROVER +X axis frame;
-
- - +Y axis is nominally co-aligned with the RM_ROVER +Y axis frame;
-
- - +Z axis completes the right-handed frame;
-
- - The origin is located in the geometrical centre of the first hinge
- of the Solar Array (the one closer to the front of the RM).
-
-
- The Primary Solar Array 1 frame - RM_SA1_PRI -- frame is defined as
- follows:
-
- - +Z axis is normal to the PVA face;
-
- - +X axis is anti-parallel to the +X axis of the RM_ROVER frame and
- is the rotation axis of the primary solar array (Left Primary
- Deployment angle LPD);
-
- - +Y axis completes the right-handed frame;
-
- - The origin is located in the geometrical centre of the first hinge
- of the Primary Solar Array (the one closer to the front of the RM).
-
-
- The Secondary Solar Array 1 frame - RM_SA1_PRI -- frame is defined as
- follows:
-
- - +Z axis is normal to the PVA face;
-
- - +X axis is parallel to the +Y axis of the RM_ROVER frame when
- the primary array is fully deployed and is the rotation axis of the
- secondary solar array (Left Secondary Deployment angle LSD);
-
- - +Y axis completes the right-handed frame;
-
- - The origin is located in the geometrical centre of the first hinge
- of the Secondary Solar Array (the one closer to the RM body).
-
-
- The Primary Solar Array 2 frame - RM_SA2_PRI -- frame is defined as
- follows:
-
- - +Z axis is normal to the PVA face;
-
- - +X axis is parallel to the +X axis of the RM_ROVER frame and
- is the rotation axis of the primary solar array (Right Primary
- Deployment angle RPD);
-
- - +Y axis completes the right-handed frame;
-
- - The origin is located in the geometrical centre of the first hinge
- of the Primary Solar Array (the one closer to the front of the RM).
-
-
- The Secondary Solar Array 2 frame - RM_SA2_SEC -- frame is defined as
- follows:
-
- - +Z axis is normal to the PVA face;
-
- - +X axis is anti-parallel to the +Y axis of the RM_ROVER frame when
- the primary array is fully deployed and is the rotation axis of the
- secondary solar array (Right Secondary Deployment angle RSD);
-
- - +Y axis completes the right-handed frame;
-
- - The origin is located in the geometrical centre of the first hinge
- of the Secondary Solar Array (the one closer to the RM body).
-
-
- This diagram illustrate solar arrays frames:
-
- +Z Rover side view:
- -------------------
-
- Right secondary hinge
- '
- +Xsa2-sec ^'
- |'
- .-------------------------|.-------------------------.
- .-----| +Ysa2-sec || |
- Right primary .--.| +Zsa2-zero <-------o| |
- hinge | | || +Zsa2-pri |+Zsa2-sec |
- - - - - - |' <---------o -----------''-------------------------'
- +Xsa2-pri ---------|. '
- +Xsa2-zero |'----------. ' +Zrm, +Zsa1-zero,
- '----. | | +Zsa1-pri, +Zsa1-sec,
- | | v +Ysa2-zero +Zsa2-zero, +Zsa1-pri
- | | .-. +Ysa2-pri .' and +Zsa1-sec are out
- | | | +Xrm +Zrm | of the page.
- | | | |<---------o |
- | | |+Ysa2-pri | |
- | +Ysa2-zero ^ | '.
- '--| | | | +Zrm and
- '-----. | .-|--------' out of the page.
- - - - - - '------|--' v +Yrm
- Left primary . +Zsa1-pri o--------> --..-------------------------.
- hinge | +Zsa1-zero +Xsa1-pr |+Zsa1-sec |
- | +Xsa1-zero o--------> +Ysa1-sec |
- | || |
- '-------------------------|'-------------------------'
- |'
- +Xsa2-sec v'
- '
- Left secondary hinge
-
-
- The following frames implement the definitions provided below:
-
- \begindata
-
- FRAME_RM_SA1_ZERO = -174061
- FRAME_-174061_NAME = 'RM_SA1_ZERO'
- FRAME_-174061_CLASS = 4
- FRAME_-174061_CLASS_ID = -174061
- FRAME_-174061_CENTER = -174062
- TKFRAME_-174061_RELATIVE = 'RM_ROVER'
- TKFRAME_-174061_SPEC = 'ANGLES'
- TKFRAME_-174061_UNITS = 'DEGREES'
- TKFRAME_-174061_AXES = ( 1, 2, 3 )
- TKFRAME_-174061_ANGLES = ( 0.0, 0.0, 0.0 )
-
- FRAME_RM_SA1_PRI = -174062
- FRAME_-174062_NAME = 'RM_SA1_PRI'
- FRAME_-174062_CLASS = 3
- FRAME_-174062_CLASS_ID = -174062
- FRAME_-174062_CENTER = -174062
- CK_-174062_SCLK = -174
- CK_-174062_SPK = -174
-
- FRAME_RM_SA1_SEC = -174063
- FRAME_-174063_NAME = 'RM_SA1_SEC'
- FRAME_-174063_CLASS = 3
- FRAME_-174063_CLASS_ID = -174063
- FRAME_-174063_CENTER = -174063
- CK_-174063_SCLK = -174
- CK_-174063_SPK = -174
-
- FRAME_RM_SA2_ZERO = -174064
- FRAME_-174064_NAME = 'RM_SA2_ZERO'
- FRAME_-174064_CLASS = 4
- FRAME_-174064_CLASS_ID = -174064
- FRAME_-174064_CENTER = -174065
- TKFRAME_-174064_RELATIVE = 'RM_ROVER'
- TKFRAME_-174064_SPEC = 'ANGLES'
- TKFRAME_-174064_UNITS = 'DEGREES'
- TKFRAME_-174064_AXES = ( 1, 2, 3 )
- TKFRAME_-174064_ANGLES = ( 0.0, 0.0, 0.0 )
-
- FRAME_RM_SA2_PRI = -174065
- FRAME_-174065_NAME = 'RM_SA2_PRI'
- FRAME_-174065_CLASS = 3
- FRAME_-174065_CLASS_ID = -174065
- FRAME_-174065_CENTER = -174065
- CK_-174065_SCLK = -174
- CK_-174065_SPK = -174
-
- FRAME_RM_SA2_SEC = -174066
- FRAME_-174066_NAME = 'RM_SA2_SEC'
- FRAME_-174066_CLASS = 3
- FRAME_-174066_CLASS_ID = -174066
- FRAME_-174066_CENTER = -174066
- CK_-174066_SCLK = -174
- CK_-174066_SPK = -174
-
- \begintext
-
-
-Locomotion Frames
-----------------------------------------------------------------------------
-
- This section contains the definitions of Rover Locomotion system frames
- as specified in [7].
-
- It should be noted that the frames described within this section have been
- defined so that when the rover is fully deployed, is in flat terrain and all
- steering angles are zero, these frames are intended as being aligned with
- the Rover Body frame.
-
-
-Bogie Frame definitions
-~~~~~~~~~~~~~~~~~~~~~~~
-
- There are three bogie fixed frames, that correspond to the three bogie
- bodies: the Left Front Boogie fixed frame -- RM_BOGIE_LF_FIX --, the
- Right Front Bogie fixed frame -- RM_BOGIE_RF_FIX -- and the Middle Rear
- Bogie fixed frame -- RM_BOGIE_MR_FIX --. These frames have a fixed
- transformation with respect to the Rover Body frame. The bogie frames are
- defined as follows:
-
- - +Z axis points vertically upwards, anti-parallel to the gravity vector.
- It is parallel to +Z axis of the RM_ROVER (within knowledge alignment
- errors) and invariant to pivot angle;
-
- - +X axis points towards the front of the Rover in the nominal direction
- of travel. It is parallel to +X axis of the RM_ROVER frame (within
- knowledge alignment errors) and is invariant to pivot angle;
-
- - +Z axis completes the right-handed frame;
-
- - The origin lies on the rotational axis of the bogie in the
- plane of symmetry.
-
- There are three bogie moving frames that define a pure rotation with respect
- to RM_BOGIE_LF_FIX, RM_BOGIE_RF_FIX and RM_BOGIE_MR_FIX according to the
- pivot angles LFB, RFB and MRB, the rotations are defined as follows:
-
- Left Front Bogie Moving -- RM_BOGIE_LF_MOV -- with origin coincident with
- RM_BOGIE_LF_FIX and rotating LFB around its +Y axis. This frame has the same
- orientation as the FIX frame when the rover is on flat, horizontal terrain.
-
- Right Front Bogie Moving -- RM_BOGIE_RF_MOV -- with origin coincident with
- RM_BOGIE_RF_FIX and rotating RFB around its +Y axis. This frame has the same
- orientation as the FIX frame when the rover is on flat, horizontal terrain.
-
- Middle Rear Bogie Moving -- RM_BOGIE_MR_MOV -- with origin coincident with
- RM_BOGIE_MR_FIX and rotating MRB around its +X axis. This frame has the same
- orientation as the FIX frame when the rover is on flat, horizontal terrain.
-
- These diagrams illustrate the Bogie frames:
-
- +Y Rover side view (only bogies and wheels):
- --------------------------------------------
-
- +Zrm +Yrm, +Ybmr and +Yblf
- ^ are out of the page.
- |
- +Zblf ^ | +Zbmr ^
- | +Xrm | |
- |_<---------o ___________|.
- +Xblf ||| +Yrm |||
- <---------o +Yblf _ <---------o +Ybmr
- | |-----\_/----| | +Xbmr \__. |
- .| |. .| |. .| |.
- / |__| \ / |__| \ / |__| \
- \ / \ / \ /
- `-..-' `-..-' `-..-'
- Left Front Bogie Middle Rear Bogie
-
-
- +X Rover side view (only bogies and wheels):
- --------------------------------------------
-
- +Zbrf +Zbmr +Zblf
- ^ ^ ^
- | | |
- | | |
- | .----------------|---------------. | +Xblf
- +Xbrf o--------> ------- o--------> ----. |.o--------> +Yblf
- |___|=| +Ybrf +Xbmr +Ybmr |=|___|
- |.-. .-.| +Xbmr, +Xblf and
- || | | || +Xbrf are out of
- `| | | |' the page.
- '_' '_'
- ~~~~~~~~ ~~~~~~~~
-
-
- +X Rover side view (drill in stowed position):
- ----------------------------------------------
-
- o-o-=O===O--o
- |o|___|
- _\/
- |_|_
- |_|
- |
- | +Xrm and +Xbrf are
- | out of the page.
- |
- |
- |
- |
- |
- |
- _|_ +Zrm
- | | ^
- ------ +Zbrf +Zbrm ------|-------------------------
- | ^ | ^ | | | | | |
- '-|-| . | | | 0 | .--'--'
- .| .-------------|----------|
- / |' | | |---.
- / \ o --------> ---- o--------> ====| .-.
- /.''. '. +Ybrm +Xrm | |+Yrm |=|___|
- / / '. .-.|
- / / v | ||
- './ +Ybrm | |'
- .---. '_'
- ~~~' '~~~~ ~~~~~~~~
-
-
- These sets of keywords define the Bugie fixed and moving frames:
-
- \begindata
-
- FRAME_RM_BOGIE_LF_FIX = -174071
- FRAME_-174071_NAME = 'RM_BOGIE_LF_FIX'
- FRAME_-174071_CLASS = 4
- FRAME_-174071_CLASS_ID = -174071
- FRAME_-174071_CENTER = -174071
- TKFRAME_-174071_RELATIVE = 'RM_ROVER'
- TKFRAME_-174071_SPEC = 'ANGLES'
- TKFRAME_-174071_UNITS = 'DEGREES'
- TKFRAME_-174071_AXES = ( 1, 2, 3 )
- TKFRAME_-174071_ANGLES = ( 0.0, 0.0, 0.0 )
-
- FRAME_RM_BOGIE_LF_MOV = -174072
- FRAME_-174072_NAME = 'RM_BOGIE_LF_MOV'
- FRAME_-174072_CLASS = 3
- FRAME_-174072_CLASS_ID = -174072
- FRAME_-174072_CENTER = -174071
- CK_-174072_SCLK = -174
- CK_-174072_SPK = -174
-
- FRAME_RM_BOGIE_RF_FIX = -174073
- FRAME_-174073_NAME = 'RM_BOGIE_RF_FIX'
- FRAME_-174073_CLASS = 4
- FRAME_-174073_CLASS_ID = -174073
- FRAME_-174073_CENTER = -174073
- TKFRAME_-174073_RELATIVE = 'RM_ROVER'
- TKFRAME_-174073_SPEC = 'ANGLES'
- TKFRAME_-174073_UNITS = 'DEGREES'
- TKFRAME_-174073_AXES = ( 1, 2, 3 )
- TKFRAME_-174073_ANGLES = ( 0.0, 0.0, 0.0 )
-
- FRAME_RM_BOGIE_RF_MOV = -174074
- FRAME_-174074_NAME = 'RM_BOGIE_RF_MOV'
- FRAME_-174074_CLASS = 3
- FRAME_-174074_CLASS_ID = -174074
- FRAME_-174074_CENTER = -174073
- CK_-174074_SCLK = -174
- CK_-174074_SPK = -174
-
- FRAME_RM_BOGIE_MR_FIX = -174075
- FRAME_-174075_NAME = 'RM_BOGIE_MR_FIX'
- FRAME_-174075_CLASS = 4
- FRAME_-174075_CLASS_ID = -174075
- FRAME_-174075_CENTER = -174075
- TKFRAME_-174075_RELATIVE = 'RM_ROVER'
- TKFRAME_-174075_SPEC = 'ANGLES'
- TKFRAME_-174075_UNITS = 'DEGREES'
- TKFRAME_-174075_AXES = ( 1, 2, 3 )
- TKFRAME_-174075_ANGLES = ( 0.0, 0.0, 0.0 )
-
- FRAME_RM_BOGIE_MR_MOV = -174076
- FRAME_-174076_NAME = 'RM_BOGIE_MR_MOV'
- FRAME_-174076_CLASS = 3
- FRAME_-174076_CLASS_ID = -174076
- FRAME_-174076_CENTER = -174075
- CK_-174076_SCLK = -174
- CK_-174076_SPK = -174
-
- \begintext
-
-
-Wheel Frame definitions
-~~~~~~~~~~~~~~~~~~~~~~~
-
- There are six wheels fixed frames: RM_WHEEL_LF_FIX, RM_WHEEL_LM_FIX,
- RM_WHEEL_RF_FIX, RM_WHEEL_RM_FIX, RM_WHEEL_LR_FIX and RM_WHEEL_RR_FIX which
- correspond to the fix frame associated with every wheel wich are implemented
- by a fixed transformation with respect to the corresponding bogie moving
- frames -- RM_BOGIE_LF_MOV, RM_BOGIE_RF_MOV and RM_BOGIE_MR_MOV --, invariant
- to the rotation on the steering and driving axis and assuming a full
- deployment of the deployment mechanism. The center of the frames is the
- center of the corresponding wheel:
-
- - Front left wheel (LF), middle left wheel (LM)
- (mounted on the Left Front Bogie);
-
- - Front right wheel (RF), middle right wheel (RM)
- (mounted on the Right Front Bogie);
-
- - Left rear wheel (LR), right rear wheel (RR)
- (mounted on the Right Front Bogie);
-
-
- In addition, six wheels steering angle frames are defined: RM_WHEEL_LF_STR,
- RM_WHEEL_LM_STR, RM_WHEEL_RF_STR, RM_WHEEL_RM_STR, RM_WHEEL_LR_STR and
- RM_WHEEL_RR_STR. These frames are defined with respect to their
- corresponding fixed frame and implement the steering angle (STR) around the
- +Z axis of their corresponding fixed frame.
-
- Finally, six wheel moving frames are defined: RM_WHEEL_LF_MOV,
- RM_WHEEL_LM_MOV, RM_WHEEL_RF_MOV, RM_WHEEL_RM_MOV, RM_WHEEL_LR_MOV and
- RM_WHEEL_RR_MOV. These frames are defined with respect to their
- corresponding steering frame and implement the forward movement rotation or
- rototrnaslation angle (DRV) around the +Y axis of their corresponding
- steering frame.
-
- Note that for each frame the wheel deployment mechanism is fully deployed
- and the steering is in its zero position the moving frame is coincident
- with the steering frame an d the bogie frames.
-
- These diagrams illustrate the Wheels frames:
-
- +Y Rover side view (only bogies and wheels):
- --------------------------------------------
-
- +Zrm +Yrm, +Ybmr, +Yblf,
- ^ +Ywlr, +Ywlr, +Ywlr
- | are out of the page.
- +Zblf ^ | +Zbmr ^
- | +Xrm | |
- +Zblf |_<---------o ___________|.
- +Zwlr ^ || +Zwlr ^ +Yrm +Ybmr || ^ +Zwlr
- <-|-------o +Yblf | <---------o |
- | ||-----\_/----| || +Xbmr \__. ||
- +Xwlf .| |. +Xwlm .| ||. .| ||.
- <------o| \ <------o| \ +Xwlr <------o| \
- \+Ywlr / \+Ywlr / \+Ywlr /
- `-..-' `-..-' `-..-'
- Front left wheel Middle left wheel Left rear wheel
- Left Front Bogie Middle Rear Bogie
-
-
- +Y Rover side view (without solar arrays):
- ------------------------------------------
-
- +Xlrs
- <
- ' .
- '/ ' .
- +Xlrf <----'--o ' . .-----. .-----.
- /|' / '----- +Xrrf <-----o--'
- .--- /=|========='-. +Xrrs | || +Zrm, +Zlrs, +Zlrf, are
- | / | '----------.| || +Zrrf, +Zrrs, +Zlmf and
- '- v . v | |v +Zlms are out of the
- +Ylrs | +Ylrf +Ylrf +Ylrs page.
- .-. .' |
- | | | +Xrm +Zrm | |
- | | |<---------o | |
- | | | | | |
- | | '-' | '.|
- '--| | ||
- . +Xlms ========. v +Yrm --||
- . +Xlmf <-----o--. .-----.
- '-----' '--|--' '-----'
- |
- +Ylmf |
- +Ylms v
-
-
- +Y Rover side view (only bogies and wheels, with all STR=0):
- ------------------------------------------------------------
-
- +Zlfs +Zlrs +Ylrs, +Ylrm,
- +Xlfm ^ +Zlfm ^ +Ylfs and +Ylfm
- ^ | -- ^ / \-----__ +Zlrm < . \._| are out of the
- ' .| ||-.'---\_/----| | \'. || page.
- .'.|.' .| |. .'.||.
- +Xlfs <-------o| \ / |__| \ +Xlrs <-------o| \
- \ / \ / \ .' / DRV = 45 deg
- `-..-' `-..-' .`-..-'
- DRV = -45 deg +Xlrm v
-
-
- These sets of keywords define the Wheels fixed, steering and moving frames:
-
- \begindata
-
- FRAME_RM_WHEEL_LF_FIX = -1740810
- FRAME_-1740810_NAME = 'RM_BOGIE_LF_MOV'
- FRAME_-1740810_CLASS = 4
- FRAME_-1740810_CLASS_ID = -1740810
- FRAME_-1740810_CENTER = -174081
- TKFRAME_-1740810_RELATIVE = 'RM_ROVER'
- TKFRAME_-1740810_SPEC = 'ANGLES'
- TKFRAME_-1740810_UNITS = 'DEGREES'
- TKFRAME_-1740810_AXES = ( 1, 2, 3 )
- TKFRAME_-1740810_ANGLES = ( 0.0, 0.0, 0.0 )
-
- FRAME_RM_WHEEL_LF_STR = -1740811
- FRAME_-1740811_NAME = 'RM_WHEEL_LF_FIX'
- FRAME_-1740811_CLASS = 3
- FRAME_-1740811_CLASS_ID = -1740811
- FRAME_-1740811_CENTER = -174081
- CK_-1740811_SCLK = -174
- CK_-1740811_SPK = -174
-
- FRAME_RM_WHEEL_LF_MOV = -1740812
- FRAME_-1740812_NAME = 'RM_WHEEL_LF_STR'
- FRAME_-1740812_CLASS = 3
- FRAME_-1740812_CLASS_ID = -1740812
- FRAME_-1740812_CENTER = -174081
- CK_-1740812_SCLK = -174
- CK_-1740812_SPK = -174
-
- FRAME_RM_WHEEL_LM_FIX = -1740820
- FRAME_-1740820_NAME = 'RM_BOGIE_LF_MOV'
- FRAME_-1740820_CLASS = 4
- FRAME_-1740820_CLASS_ID = -1740820
- FRAME_-1740820_CENTER = -174082
- TKFRAME_-1740820_RELATIVE = 'RM_ROVER'
- TKFRAME_-1740820_SPEC = 'ANGLES'
- TKFRAME_-1740820_UNITS = 'DEGREES'
- TKFRAME_-1740820_AXES = ( 1, 2, 3 )
- TKFRAME_-1740820_ANGLES = ( 0.0, 0.0, 0.0 )
-
- FRAME_RM_WHEEL_LM_STR = -1740821
- FRAME_-1740821_NAME = 'RM_WHEEL_LM_FIX'
- FRAME_-1740821_CLASS = 3
- FRAME_-1740821_CLASS_ID = -1740821
- FRAME_-1740821_CENTER = -174082
- CK_-1740821_SCLK = -174
- CK_-1740821_SPK = -174
-
- FRAME_RM_WHEEL_LM_MOV = -1740822
- FRAME_-1740822_NAME = 'RM_WHEEL_LM_STR'
- FRAME_-1740822_CLASS = 3
- FRAME_-1740822_CLASS_ID = -1740822
- FRAME_-1740822_CENTER = -174082
- CK_-1740822_SCLK = -174
- CK_-1740822_SPK = -174
-
- FRAME_RM_WHEEL_RF_FIX = -1740830
- FRAME_-1740830_NAME = 'RM_BOGIE_RF_MOV'
- FRAME_-1740830_CLASS = 4
- FRAME_-1740830_CLASS_ID = -1740830
- FRAME_-1740830_CENTER = -174083
- TKFRAME_-1740830_RELATIVE = 'RM_ROVER'
- TKFRAME_-1740830_SPEC = 'ANGLES'
- TKFRAME_-1740830_UNITS = 'DEGREES'
- TKFRAME_-1740830_AXES = ( 1, 2, 3 )
- TKFRAME_-1740830_ANGLES = ( 0.0, 0.0, 0.0 )
-
- FRAME_RM_WHEEL_RF_STR = -1740831
- FRAME_-1740831_NAME = 'RM_WHEEL_RF_FIX'
- FRAME_-1740831_CLASS = 3
- FRAME_-1740831_CLASS_ID = -1740831
- FRAME_-1740831_CENTER = -174083
- CK_-1740831_SCLK = -174
- CK_-1740831_SPK = -174
-
- FRAME_RM_WHEEL_RF_MOV = -1740832
- FRAME_-1740832_NAME = 'RM_WHEEL_RF_STR'
- FRAME_-1740832_CLASS = 3
- FRAME_-1740832_CLASS_ID = -1740832
- FRAME_-1740832_CENTER = -174083
- CK_-1740832_SCLK = -174
- CK_-1740832_SPK = -174
-
- FRAME_RM_WHEEL_RM_FIX = -1740840
- FRAME_-1740840_NAME = 'RM_BOGIE_RM_MOV'
- FRAME_-1740840_CLASS = 4
- FRAME_-1740840_CLASS_ID = -1740840
- FRAME_-1740840_CENTER = -174084
- TKFRAME_-1740840_RELATIVE = 'RM_ROVER'
- TKFRAME_-1740840_SPEC = 'ANGLES'
- TKFRAME_-1740840_UNITS = 'DEGREES'
- TKFRAME_-1740840_AXES = ( 1, 2, 3 )
- TKFRAME_-1740840_ANGLES = ( 0.0, 0.0, 0.0 )
-
- FRAME_RM_WHEEL_RM_STR = -1740841
- FRAME_-1740841_NAME = 'RM_WHEEL_RM_FIX'
- FRAME_-1740841_CLASS = 3
- FRAME_-1740841_CLASS_ID = -1740841
- FRAME_-1740841_CENTER = -174084
- CK_-1740841_SCLK = -174
- CK_-1740841_SPK = -174
-
- FRAME_RM_WHEEL_RM_MOV = -1740842
- FRAME_-1740842_NAME = 'RM_WHEEL_RM_STR'
- FRAME_-1740842_CLASS = 3
- FRAME_-1740842_CLASS_ID = -1740842
- FRAME_-1740842_CENTER = -174084
- CK_-1740842_SCLK = -174
- CK_-1740842_SPK = -174
-
- FRAME_RM_WHEEL_LR_FIX = -1740850
- FRAME_-1740850_NAME = 'RM_BOGIE_LR_MOV'
- FRAME_-1740850_CLASS = 4
- FRAME_-1740850_CLASS_ID = -1740850
- FRAME_-1740850_CENTER = -174085
- TKFRAME_-1740850_RELATIVE = 'RM_ROVER'
- TKFRAME_-1740850_SPEC = 'ANGLES'
- TKFRAME_-1740850_UNITS = 'DEGREES'
- TKFRAME_-1740850_AXES = ( 1, 2, 3 )
- TKFRAME_-1740850_ANGLES = ( 0.0, 0.0, 0.0 )
-
- FRAME_RM_WHEEL_LR_STR = -1740851
- FRAME_-1740851_NAME = 'RM_WHEEL_LR_FIX'
- FRAME_-1740851_CLASS = 3
- FRAME_-1740851_CLASS_ID = -1740851
- FRAME_-1740851_CENTER = -174085
- CK_-1740851_SCLK = -174
- CK_-1740851_SPK = -174
-
- FRAME_RM_WHEEL_LR_MOV = -1740852
- FRAME_-1740852_NAME = 'RM_WHEEL_LR_STR'
- FRAME_-1740852_CLASS = 3
- FRAME_-1740852_CLASS_ID = -1740852
- FRAME_-1740852_CENTER = -174085
- CK_-1740852_SCLK = -174
- CK_-1740852_SPK = -174
-
- FRAME_RM_WHEEL_RR_FIX = -1740860
- FRAME_-1740860_NAME = 'RM_BOGIE_RR_MOV'
- FRAME_-1740860_CLASS = 4
- FRAME_-1740860_CLASS_ID = -1740860
- FRAME_-1740860_CENTER = -174086
- TKFRAME_-1740860_RELATIVE = 'RM_ROVER'
- TKFRAME_-1740860_SPEC = 'ANGLES'
- TKFRAME_-1740860_UNITS = 'DEGREES'
- TKFRAME_-1740860_AXES = ( 1, 2, 3 )
- TKFRAME_-1740860_ANGLES = ( 0.0, 0.0, 0.0 )
-
- FRAME_RM_WHEEL_RR_STR = -1740861
- FRAME_-1740861_NAME = 'RM_WHEEL_RR_FIX'
- FRAME_-1740861_CLASS = 3
- FRAME_-1740861_CLASS_ID = -1740861
- FRAME_-1740861_CENTER = -174086
- CK_-1740861_SCLK = -174
- CK_-1740861_SPK = -174
-
- FRAME_RM_WHEEL_RR_MOV = -1740862
- FRAME_-1740862_NAME = 'RM_WHEEL_RR_STR'
- FRAME_-1740862_CLASS = 3
- FRAME_-1740862_CLASS_ID = -1740862
- FRAME_-1740862_CENTER = -174086
- CK_-1740862_SCLK = -174
- CK_-1740862_SPK = -174
-
- \begintext
-
-
-PanCam Frames
-------------------------------------------------------------------------
-
- This section of the file contains the definitions of the Panoramic
- Camera (PanCam) instrument frames.
-
-
-PanCam Frame Tree
-~~~~~~~~~~~~~~~~~
-
- The diagram below shows the PanCam frame hierarchy.
-
- "RM_PB"
- -------
- |
- |<-fixed
- |
- V
- "RM_PANCAM_BASE"
- +----------------------------------------+
- | | |
- fixed->| fixed->| fixed->|
- | | |
- v v v
- "RM_PANCAM_HRC" "RM_PANCAM_WAC_L" "RM_PANCAM_WAC_R"
- --------------- ----------------- -----------------
-
-
-PanCam Frame definitions
-~~~~~~~~~~~~~~~~~~~~~~~~
-
- The Panoramic Cameras reference frame (PANCAM) is attached to the PanCam
- stereo bench that is rigidly mounted on the Payload Bench on top of the
- Rover Mast. Therefore, the base frame associated with it -- the
- RM PANCAM Base rame, RM_PANCAM_BASE -- is specified as a fixed offset frame
- with its orientation given relative to the RM_ROVER frame as follows:
-
- - +X axis is defined as the projection of the cameras optical axis on
- the plane perpendicular to the +Y axis;
-
- - +Y axis is in the direction from the right WAC camera optical centre
- to the left WAC camera optical centre;
-
- - +Z axis completes the right-handed frame;
-
- - The origin is located at the middle of the segment linking the optical
- centres of the left and right WAC cameras.
-
-
- These diagrams illustrate the nominal RM_PANCAM_BASE, RM_PANCAM_WAC_L,
- RM_PANCAM_WAC_R and RM_PANCAM_HRC frame with respect to the rover frame.
-
-
- +X Rover side view:
- -------------------
-
- +Zpancam
- ^
- |
- |
- |
- |
- o-o-=Oo--------> +Ypancam
- +Xpancam _|
- _\/
- |_|_
- |_|
- |
- |
- |
- |
- |
- |
- |
- |
- |
- _|_ +Zrm
- | | ^
- --------------------------|--------------------------
- | | | | | | | |
- '---| | | | 0 | .--'--'
- '--.-----------|----------|
- .--| | |---.
- .-. |============= o--------> ====| .-.
- |___|=| +Xrm | +Yrm |=|___|
- |.-. .-.|
- || | | || +Yrm is out of the
- `| | | |' page
- '_' '_'
- ~~~~~~~~ ~~~~~~~~
-
-
- +X Rover Mast view:
- -------------------
-
- +Xpwacl +Xphrc +Xpwacr
- ^ ^ ^
- | | |
- | PanCamHRC | ______________________ |
- .--|-------------|---| |-----------------|--.
- | /o-------> / o--------> +Yphrc /^\ | /o------->
- | \_/ WAC-L \__/ | \_/ \_/ | PanCam WAC-R \_/ | +Ypwacr
- '____________________| NavCaM |____________________'
- .-----.'----------------------'
- | /^\ |====|----== +Zpancam
- | \_/ |====| / ^ \ | +Zpwacl, +Zphrc, +Zpwacr
- '-----' | / | \ | and +Xpancam are out of
- ISEM . . | . . the page.
- . |
- o--------> +Ypancam
- +Xpancam
-
-
- 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_PANCAM_BASE = -174100
- FRAME_-174100_NAME = 'RM_PANCAM_BASE'
- FRAME_-174100_CLASS = 4
- FRAME_-174100_CLASS_ID = -174100
- FRAME_-174100_CENTER = -174100
- TKFRAME_-174100_RELATIVE = 'RM_PB'
- TKFRAME_-174100_SPEC = 'ANGLES'
- TKFRAME_-174100_UNITS = 'DEGREES'
- TKFRAME_-174100_AXES = ( 3, 2, 1 )
- TKFRAME_-174100_ANGLES = ( 0.0, 0.0, 0.0 )
-
- FRAME_RM_PANCAM_WAC_L = -174110
- FRAME_-174110_NAME = 'RM_PANCAM_WAC_L'
- FRAME_-174110_CLASS = 4
- FRAME_-174110_CLASS_ID = -174110
- FRAME_-174110_CENTER = -174110
- TKFRAME_-174110_RELATIVE = 'RM_PANCAM_BASE'
- TKFRAME_-174110_SPEC = 'ANGLES'
- TKFRAME_-174110_UNITS = 'DEGREES'
- TKFRAME_-174110_AXES = ( 3, 2, 1 )
- TKFRAME_-174110_ANGLES = ( 0.0, -90.0, 0.0 )
-
- FRAME_RM_PANCAM_WAC_R = -174120
- FRAME_-174120_NAME = 'RM_PANCAM_WAC_R'
- FRAME_-174120_CLASS = 4
- FRAME_-174120_CLASS_ID = -174120
- FRAME_-174120_CENTER = -174120
- TKFRAME_-174120_RELATIVE = 'RM_PANCAM_BASE'
- TKFRAME_-174120_SPEC = 'ANGLES'
- TKFRAME_-174120_UNITS = 'DEGREES'
- TKFRAME_-174120_AXES = ( 3, 2, 1 )
- TKFRAME_-174120_ANGLES = ( 0.0, -90.0, 0.0 )
-
- FRAME_RM_PANCAM_HRC = -174130
- FRAME_-174130_NAME = 'RM_PANCAM_HRC'
- FRAME_-174130_CLASS = 4
- FRAME_-174130_CLASS_ID = -174130
- FRAME_-174130_CENTER = -174130
- TKFRAME_-174130_RELATIVE = 'RM_PANCAM_BASE'
- TKFRAME_-174130_SPEC = 'ANGLES'
- TKFRAME_-174130_UNITS = 'DEGREES'
- TKFRAME_-174130_AXES = ( 3, 2, 1 )
- TKFRAME_-174130_ANGLES = ( 0.0, -90.0, 0.0 )
-
- \begintext
-
-
-ISEM Frames
-------------------------------------------------------------------------
-
- This section of the file contains the definitions of the Infrared
- Spectrometer for ExoMars (ISEM).
-
-
-ISEM Frame Tree
-~~~~~~~~~~~~~~~~~
-
- The diagram below shows the ISEM frame hierarchy.
-
- "RM_PB"
- -------
- |
- |<-fixed
- |
- V
- "RM_ISEM"
- ---------
-
-
-ISEM Frame Definition
-~~~~~~~~~~~~~~~~~~~~~
-
- The ISEM reference frame -- RM_ISEM -- is attached to the ISEM instrument
- and is nominally parallel Payload Bench -- RM_PB -- and is defined as
- follows:
-
- - +X axis is parallel to the +X axis of the RM_PB frame;
-
- - +Y axis is parallel to the +Y axis of the RM_PB frame;
-
- - +Z axis completes the right-handed frame;
-
- - the origin is located on the instrument optical axis, exactly at the
- end of the ISEM Optical Box.
-
-
- The following diagram describes the RM_ISEM reference frame:
-
- +X Rover side view:
- -------------------
-
- +Zisem
- ^
- |
- |
- |
- o-o-|O===O--o
- |o---------> +Yisem
- _\/
- |_|_
- |_|
- |
- |
- |
- |
- |
- |
- |
- |
- |
- _|_ +Zrm
- | | ^
- --------------------------|--------------------------
- | | | | | | | |
- '---| | | | 0 | .--'--'
- '--.-----------|----------|
- .--| | |---.
- .-. |============= o--------> ====| .-.
- |___|=| +Xrm | +Yrm |=|___|
- |.-. .-.|
- || | | || +Xrm and +Xisem are
- `| | | |' out of the page.
- '_' '_'
- ~~~~~~~~ ~~~~~~~~
-
-
- +X Rover Mast view:
- -------------------
-
- +Zisem ______________________
- .--------------- ^ --| |--------------------.
- | /^\ PanCam /| \ | /^\ /^\ | /^\ |
- | \_/ WAC-L \|_/ | \_/ \_/ | PanCam WAC-R \_/ |
- '________________|___| NavCaM |____________________'
- .--|--.'----------------------'
- | /o---------> == +Zpb
- | \_/ |== +Yisem ^ \ | +Xpb and +Xisem are
- '-----' | / | \ | out of the page.
- ISEM . . | . .
- . |
- o--------> +Ypb
- +Xpb
-
-
- These sets of keywords define the ISEM frame:
-
- \begindata
-
- FRAME_RM_ISEM = -174200
- FRAME_-174200_NAME = 'RM_ISEM'
- FRAME_-174200_CLASS = 4
- FRAME_-174200_CLASS_ID = -174200
- FRAME_-174200_CENTER = -174200
- TKFRAME_-174200_RELATIVE = 'RM_PB'
- TKFRAME_-174200_SPEC = 'ANGLES'
- TKFRAME_-174200_UNITS = 'DEGREES'
- TKFRAME_-174200_AXES = ( 1, 2, 3 )
- TKFRAME_-174200_ANGLES = ( 0.0, 0.0, 0.0 )
-
- \begintext
-
-
-ADRON-RM Frames
-------------------------------------------------------------------------
-
- This section of the file contains the definitions of the Autonomous
- Detector of Radiation of Neutrons Onboard Rover (ADRON-RM) frames.
-
-
-ADRON-RM Frame Tree
-~~~~~~~~~~~~~~~~~~~
-
- The diagram below shows the ADRON-RM frame hierarchy.
-
- "RM_ROVER"
- ----------
- |
- |<-fixed
- |
- V
- "RM_ADRON-RM"
- -------------
-
-
-ADRON-RM Frame Definition
-~~~~~~~~~~~~~~~~~~~~~~~~~
-
- The ISEM reference frame -- RM_ADRON-RM -- is attached to the ADRON-RM
- instrument and is fixed with respect to the rover frame -- RM_ROVER --, and
- defined as follows:
-
- - +X axis is parallel to the +X axis of the RM_ROVER frame;
-
- - +Y axis is parallel to the +Y axis of the RM_ROVER frame;
-
- - +Z axis completes the right-handed frame;
-
- - the origin is located on the instrument center.
-
-
- The following diagram describes the RM_ADRON-RM reference frame:
-
- -Y Rover side view:
- -------------------
-
- - · - · -
- |
- | +Zrm +Zadr
- _|_ ^ ^
- | | | |
- -------------------|-------------|-----------------------
- ,------------|------------.|
- | | |
- ___| | |
- / | +Xrm | +Xadr |
- \___|__<---------o __<---------o +Yrm and +Yadr are out
- | | +Yrm | | of the page.
- __------/ \-----__ / \.__
- | |-----\_/----| | \__. |
- .| |. .| |. .| |.
- / |__| \ / |__| \ / |__| \
- \ / \ / \ /
- `-..-' `-..-' `-..-'
-
-
- These sets of keywords define the ADRON frame:
-
- \begindata
-
- FRAME_RM_ADRON-RM = -174300
- FRAME_-174300_NAME = 'RM_ADRON-RM'
- FRAME_-174300_CLASS = 4
- FRAME_-174300_CLASS_ID = -174300
- FRAME_-174300_CENTER = -174300
- TKFRAME_-174300_RELATIVE = 'RM_ROVER'
- TKFRAME_-174300_SPEC = 'ANGLES'
- TKFRAME_-174300_UNITS = 'DEGREES'
- TKFRAME_-174300_AXES = ( 1, 2, 3 )
- TKFRAME_-174300_ANGLES = ( 0.0, 0.0, 0.0 )
-
- \begintext
-
-
-WISDOM Frames
-------------------------------------------------------------------------
-
- This section of the file contains the definitions of the Water Ice
- Subsurface Deposit Observation on Mars (WISDOM) ground-penetrating
- radar frames.
-
-
-WISDOM Frame Tree
-~~~~~~~~~~~~~~~~~
-
- The diagram below shows the WISDOM frame hierarchy.
-
- "RM_ROVER"
- ----------
- |
- |<-fixed
- |
- V
- "RM_WISDOM_BASE"
- +-------------------------+
- | |
- |<-fixed fixed->|
- | |
- v v
- "RM_WISDOM_ANT1" "RM_WISDOM_ANT2"
- --------------- ----------------
-
-
-WISDOM Frame Definitions:
-~~~~~~~~~~~~~~~~~~~~~~~~~
-
- The WISDOM base reference frame -- RM_WISDOM_BASE --, where the subsurface
- stratigrafy reconstruction occurs, is placed on the WISDOM instrument, is
- fixed with respect to the rover frame -- RM_ROVER --, and defined as
- follows:
-
- - +X axis is nominally parallel to the +X axis of the RM_ROVER frame;
-
- - +Y axis is nominally parallel to the +Y axis of the RM_ROVER frame;
-
- - +Z axis completes the right-handed frame;
-
- - The origin is located at the middle of the segment linking the two
- WISDOM hornet mounting positions.
-
-
- The WISDOM antennas ANT1 and ANT2 -- RM_WISDOM_ANT1, RM_WISDOM_ANT2 --
- are rotated 8 degrees with respect to the RM_WISDOM_BASE frame around
- the +Y axis and are defined as follows [10]:
-
- - +Z axis points towards the direction of the antenna boresight;
-
- - +X is rotated 135 degrees around the WISDOM base frame +Y axis
- towards the WISDOM base frame +Z axis;
-
- - +Y axis is parallel to the WISDOM base frame +Y axis and completes
- the right-handed frame;
-
- - The origin is located at focal point of the antennas.
-
-
- The following diagram describes the WISDOM reference frames:
-
- -Y Rover side view:
- -------------------
-
- - · - · -
- |
- | +Zrm +Zwis
- _|_ ^ ^
- | | | | +Xant1, +Xant2
- -------------------|-------------|------- ^ --------------
- ,------------|------------.| .'
- | | | .'
- ___| | | .'
- / | +Xrm | +Xwis | .'
- \___|__<---------o __<---------o. +Yrm, +Ywis, +Yant1 and
- | | +Yrm | |'. +Yant2 are out of the
- __------/ \-----__ / \._'. page.
- | |-----\_/----| | \__. |'.
- .| |. .| |. .| |. v
- / |__| \ / |__| \ / |__| +Zant1, +Zant2
- \ / \ / \ /
- `-..-' `-..-' `-..-'
-
-
- These sets of keywords define the WISDOM frame:
-
- \begindata
-
- FRAME_RM_WISDOM_BASE = -174400
- FRAME_-174400_NAME = 'RM_WISDOM_BASE'
- FRAME_-174400_CLASS = 4
- FRAME_-174400_CLASS_ID = -174400
- FRAME_-174400_CENTER = -174
- TKFRAME_-174400_RELATIVE = 'RM_ROVER'
- TKFRAME_-174400_SPEC = 'ANGLES'
- TKFRAME_-174400_UNITS = 'DEGREES'
- TKFRAME_-174400_AXES = ( 1, 2, 3 )
- TKFRAME_-174400_ANGLES = ( 0.0, 0.0, 0.0 )
-
- FRAME_RM_WISDOM_ANT1 = -174410
- FRAME_-174410_NAME = 'RM_WISDOM_ANT1'
- FRAME_-174410_CLASS = 4
- FRAME_-174410_CLASS_ID = -174410
- FRAME_-174410_CENTER = -174
- TKFRAME_-174410_RELATIVE = 'RM_WISDOM_BASE'
- TKFRAME_-174410_SPEC = 'ANGLES'
- TKFRAME_-174410_UNITS = 'DEGREES'
- TKFRAME_-174410_AXES = ( 1, 2, 3 )
- TKFRAME_-174410_ANGLES = ( 0.0, 172.0, 0.0 )
-
- FRAME_RM_WISDOM_ANT2 = -174420
- FRAME_-174420_NAME = 'RM_WISDOM_ANT2'
- FRAME_-174420_CLASS = 4
- FRAME_-174420_CLASS_ID = -174420
- FRAME_-174420_CENTER = -174
- TKFRAME_-174420_RELATIVE = 'RM_WISDOM_BASE'
- TKFRAME_-174420_SPEC = 'ANGLES'
- TKFRAME_-174420_UNITS = 'DEGREES'
- TKFRAME_-174420_AXES = ( 1, 2, 3 )
- TKFRAME_-174420_ANGLES = ( 0.0, 172.0, 0.0 )
-
- \begintext
-
-
-MaMiss Frames
-------------------------------------------------------------------------
-
- This section of the file contains the definitions of the Mars
- Multispectral Imager for Subsurface Studies (MaMiss) frames.
-
-
-MaMiss Frame Tree:
-~~~~~~~~~~~~~~~~~~
-
- The diagram below shows the MaMiss frame hierarchy.
-
- RM_ROVER
- --------
- |
- |<-fixed
- |
- v
- "RM_DRILL_POS_FIX"
- +----------------+
- . |
- . |<-ck
- . |
- . v
- . "RM_DRILL_POS_MOV"
- . +----------------+
- . . |
- . . fixed->|
- . . |
- . . v
- . . "RM_DRILL_TIP_FIX"
- . . ------------------
- . . |
- . . |<-fixed
- . . |
- . . v
- . . "RM_DRILL_TIP_MOV"
- . . ------------------
- . . |
- . . |<-fixed
- . . |
- v v v
- "RM_MAMISS"
- -----------
-
-
-MaMiss Frame Definitions:
-~~~~~~~~~~~~~~~~~~~~~~~~~
-
- The MaMiss frame (MaMiss) is placed on the Rover Drill Rod with origin on
- the MaMiss sapphire window and is parallel to the Drill Tip moving frame.
- It is defined as follows:
-
- - +X axis is nominally parallel to the +X axis of the RM_DRILL_TIP_MOV
- frame;
-
- - +Y axis is nominally parallel to the +Y axis of the RM_DRILL_TIP_MOV
- frame;
-
- - +Z axis completes the right-handed frame;
-
- - The origin, is defined as the intersection between the Drill Rod
- extension direction and the MaMiss sapphire window.
-
-
- The following diagram describes the MaMiss reference frame:
-
- +X side of the extended Rod:
- ----------------------------
-
- ..
- ..
- || +Xdtm and +Xmmis
- \/ Dril are out of the page
- o-------> +Zdtm, +Zmmiss
- |
- |
- |
- v +Ydtm, +Ymmiss
-
-
- These sets of keywords define the MaMiss frame:
-
- \begindata
-
- FRAME_RM_MAMISS = -174500
- FRAME_-174500_NAME = 'RM_MAMISS'
- FRAME_-174500_CLASS = 4
- FRAME_-174500_CLASS_ID = -174500
- FRAME_-174500_CENTER = -174043
- TKFRAME_-174500_RELATIVE = 'RM_DRILL_TIP_MOV'
- TKFRAME_-174500_SPEC = 'ANGLES'
- TKFRAME_-174500_UNITS = 'DEGREES'
- TKFRAME_-174500_AXES = ( 1, 2, 3 )
- TKFRAME_-174500_ANGLES = ( 0.0, 0.0, 0.0 )
-
- \begintext
-
-
-CLUPI Frames
-------------------------------------------------------------------------
-
- This section of the file contains the definitions of the Close-Up Imager
- (CLUPI) frames.
-
- CLUPI will be accommodated on the drill box of the rover. By using the
- degrees of freedom provided by both the rover and the drill box, CLUPI
- will be angled and raised so that it can observe in a variety of viewing
- modes. The use of two fixed mirrors—one flat and one concave will provide
- three FOVs.
-
-
-CLUPI Frame Tree:
-~~~~~~~~~~~~~~~~~
-
- The diagram below shows the CLUPI frame hierarchy.
-
- RM_ROVER
- --------
- |
- |<-fixed
- |
- v
- "RM_DRILL_POS_FIX"
- +---------------------------------+
- | |
- |<-fixed |<-ck
- | |
- V v
- "RM_CLUPI_BRACKET" "RM_DRILL_POS_MOV"
- ------------------ +--------------------------+
- | |
- fixed->| fixed->|
- | |
- v v
- "RM_CLUPI_BASE" "RM_DRILL_TIP_FIX"
- --------------- ------------------
- | |
- |<-fixed |<-fixed
- | |
- v v
- "RM_CLUPI_OPT_AXIS" "RM_DRILL_TIP_MOV"
- ------------------- ------------------
- | .
- |<-fixed .
- | .
- v v
- "RM_CLUPI_DRILL_TIP"
- --------------------
-
-
-CLUPI Frame Definitions:
-~~~~~~~~~~~~~~~~~~~~~~~~
-
- The CLUPI Base frame -- RM_CLUPI_BASE -- is placed on the CLUPI image
- sensor, which is fixed to the Drill Positioner. Hence its frame is
- rigidly following the RM_DRILL_POS_MOV frame and is defined as follows
- It is defined as follows:
-
- - +X axis is nominally parallel to the +X axis of the RM_DRILL_TIP_MOV
- frame;
-
- - +Y axis is nominally parallel to the +X axis of the RM_DRILL_POS_MOV
- frame;
-
- - +Z axis completes the right-handed frame;
-
- - the origin is located in the CLUPI image sensor optical centre.
-
-
- The CLUPI Optical Axis frame -- RM_CLUPI_OPT_AXIS -- is nominally
- parallel to the RM_CLUPI_BASE with a rotation such that the CLUPI boresight
- is along the +Z axis instead of the +Y axis. This frame is implemented to
- incorporate possible missalignments of the optical axis.
- The frame RM_CLUPI_OPT_AXIS is defined as follows:
-
- - +Z axis is the optical axis of CLUPI;
-
- - +X axis is nominally parallel to the +X axis of the RM_DRILL_TIP_MOV
- frame;
-
- - +Y axis completes the right-handed frame;
-
- - the origin is located in the CLUPI image sensor optical centre.
-
-
- The CLUPI Drill Tip mirror reference frame -- RM_CLUPI_DRILL_TIP --,
- provides the reflection direction of CLUPI's 2nd mirror. CLUPI's 2nd mirror
- (or drill mirror) is fixed on the drill box near the front end of the box
- and splits the FOV into two parts: (i) the main part, RM_CLUPI_FOV2, 2 is
- not deflected and looks in the direction of the optical axis of CLUPI and
- (ii) the smaller part of the sensor RM_CLUPI_FOV3, looks toward the drill
- tip. The RM_CLUPI_DRILL_TIP is defined as a fixed rotation of 54 degrees
- around the RM_CLUPI_OPT_AXIS frame.
-
- - +Y axis is nominally rotated a fixed angle of 54 degrees around the
- +X axis of the RM_CLUPI_OPT_AXIS frame;
-
- - +Z axis is the boresight of the mirrored portion of CLUPI's FOV
- (FOV3);
-
- - +X axis completes the right-handed frame;
-
- - the origin is located in the tip mirror reflecting point of CLUPI's
- FOV3 boresight.
-
-
- When the drill is in stowed position, the CLUPI FOV 1 is looking at the
- surface in front of the rover due to the first mirror (or bracket mirror),
- fixed on the rover bracket that holds the drill when in stowed position.
- The fixed orientation of CLUPI’s axis is toward the surface with an angle
- of 20 degrees with respect to the horizontal of the rover.
- To implement FOV1 we define the Rover Bracket Mirror frame as follows:
-
- - +Z axis is the boresight of CLUPI's mirrored FOV (FOV1);
-
- - +Y axis is parallel to the sensor pixel samples;
-
- - +X axis completes the right-handed frame;
-
- - the origin is located in the bracket mirror reflecting point of
- CLUPI's FOV1 boresight.
-
-
- The following diagrams illustrate the CLUPI frames:
-
- +X Rover side view (drill in discharge phase):
- ----------------------------------------------
-
- o-o-=O===O--o
- |o|___|
- _\/
- |_|_
- |_|
- |
- |
- |
- |
- |
- | .
- | . ' \
- | . ' \
- _|_ . ' ^+dZpf. '
- | . ' | . '
- -----------------.o-. ' . | |-------------------
- | . '. '\ . ' | | | | |
- +Zopt, . ' \ \ . ' ^ | o------> +Ydpf
- +Ybas < '--. o. '\ |+Zrm | |
- .--. ' \ \ | | | ''--.
- .- . '===== \== v = o-----> ======| .-.
- +Ydtf <' =| \ +Zbas, +Yrm |=|___|
- |.-. v +Yopt .-.|
- || | +Zdtf | || +Xrm, +Xdtf, +Xopt
- `| | | |' and +Xbas are out
- '_' '_' of the page
- ~~~~~~~~ ~~~~~~~~
-
-
- +X Rover side view (drill in hor. align. before discharge):
- -----------------------------------------------------------
-
- - · - · -
- |
- _|_ +Zrm
- | | ^
- - +Zopt <-------o--------|--------------------------
- | | .'|'. -----|---------. | |
- '--- .'| | '. | |.--'--'
- .'--'-|----'.--|-------- '|
- +Zcdt V .--' v '> +Ycdt | '---.
- .-. |== +Yopt === o--------> ====| .-.
- |___|=| +Xrm | |+Yrm |=|___|
- |.-. .-.|
- || | | || +Xrm, +Xopt, +Zcdt
- `| | | |' are out of the
- '_' '_' page
- ~~~~~~~~ ~~~~~~~~
-
-
- -Y Rover side view:
- -------------------
-
- - · - · -
- |
- | +Zrm
- _|_ ^
- | | |
- -------------------|-------------------------------------
- ,------------|------------.
- | | |
- o__| | |
- / | +Xrm | |
- /\___|__<---------o ____________. +Yrm is out
- / | | +Yrm | | of the page.
- /_------/ \-----__ / \.__
- v |-----\_/----| | \__. |
- +Zbrk |. .| |. .| |.
- / |__| \ / |__| \ / |__| \
- \ / \ / \ /
- `-..-' `-..-' `-..-'
-
-
- Relevant frames (for all diagrams):
- rm: RM_ROVER
- dtf: RM_DRILL_TIP_FIX
- opt: RM_CLUPI_OPT_AXIS
- bas: RM_CLUPI_BASE
- cdt: RM_CLUPI_DRILL_TIP
- brk: RM_CLUPI_BRACKET
-
-
- These sets of keywords define the CLUPI frames:
-
- \begindata
-
- FRAME_RM_CLUPI_BASE = -174600
- FRAME_-174600_NAME = 'RM_CLUPI_BASE'
- FRAME_-174600_CLASS = 4
- FRAME_-174600_CLASS_ID = -174600
- FRAME_-174600_CENTER = -174600
- TKFRAME_-174600_RELATIVE = 'RM_DRILL_POS_MOV'
- TKFRAME_-174600_SPEC = 'ANGLES'
- TKFRAME_-174600_UNITS = 'DEGREES'
- TKFRAME_-174600_AXES = ( 1, 2, 3 )
- TKFRAME_-174600_ANGLES = ( 0.0, 0.0, 0.0 )
-
- FRAME_RM_CLUPI_OPT_AXIS = -174610
- FRAME_-174610_NAME = 'RM_CLUPI_OPT_AXIS'
- FRAME_-174610_CLASS = 4
- FRAME_-174610_CLASS_ID = -174610
- FRAME_-174610_CENTER = -174600
- TKFRAME_-174610_RELATIVE = 'RM_CLUPI_BASE'
- TKFRAME_-174610_SPEC = 'ANGLES'
- TKFRAME_-174610_UNITS = 'DEGREES'
- TKFRAME_-174610_AXES = ( 3, 2, 1 )
- TKFRAME_-174610_ANGLES = ( 0.0, 0.0, -90.0 )
-
- FRAME_RM_CLUPI_DRILL_TIP = -174620
- FRAME_-174620_NAME = 'RM_CLUPI_DRILL_TIP'
- FRAME_-174620_CLASS = 4
- FRAME_-174620_CLASS_ID = -174620
- FRAME_-174620_CENTER = -174620
- TKFRAME_-174620_RELATIVE = 'RM_CLUPI_OPT_AXIS'
- TKFRAME_-174620_SPEC = 'ANGLES'
- TKFRAME_-174620_UNITS = 'DEGREES'
- TKFRAME_-174620_AXES = ( 3, 2, 1 )
- TKFRAME_-174620_ANGLES = ( 0.0, 0.0, -54.0 )
-
- FRAME_RM_CLUPI_BRACKET = -174630
- FRAME_-174630_NAME = 'RM_CLUPI_BRACKET'
- FRAME_-174630_CLASS = 4
- FRAME_-174630_CLASS_ID = -174630
- FRAME_-174630_CENTER = -174630
- TKFRAME_-174630_RELATIVE = 'RM_DRILL_POS_FIX'
- TKFRAME_-174630_SPEC = 'ANGLES'
- TKFRAME_-174630_UNITS = 'DEGREES'
- TKFRAME_-174630_AXES = ( 3, 2, 1 )
- TKFRAME_-174630_ANGLES = ( 0.0, -160.0, 0.0 )
-
- \begintext
-
-
-
-RM NAIF ID Codes -- Definitions
-===============================================================================
-
- This section contains name to NAIF ID mappings for the ExoMarsRSP RM
- 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
- --------------------- ------- -----------------------
-
- Rover:
- -----------
- RM -174 EXOMARS RSP ROVER MODULE
- EXOMARS RSP RM
- EXOMARS RSP ROVER
- EXOMARS ROVER
- RM_ROVER -174000
- RM_MAST -174011
- RM_PTR -174013
- RM_PB -174014
- 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_CSTM_FIX -174052
- RM_ALD_CSTM_MOV -174053
- RM_ALD_PSDDS -174055
- RM_ALD_PSHS -174058
- RM_SA1_PRI -174062
- RM_SA1_SEC -174063
- RM_SA2_PRI -174065
- RM_SA2_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
-
- The mappings summarized in this table are implemented by the keywords
- below.
-
- \begindata
-
- NAIF_BODY_NAME += ( 'RM' )
- NAIF_BODY_CODE += ( -174 )
-
- NAIF_BODY_NAME += ( 'EXOMARS RSP ROVER MODULE' )
- NAIF_BODY_CODE += ( -174 )
-
- NAIF_BODY_NAME += ( 'EXOMARS RSP RM' )
- NAIF_BODY_CODE += ( -174 )
-
- NAIF_BODY_NAME += ( 'EXOMARS RSP ROVER' )
- NAIF_BODY_CODE += ( -174 )
-
- NAIF_BODY_NAME += ( 'EXOMARS ROVER' )
- NAIF_BODY_CODE += ( -174 )
-
- NAIF_BODY_NAME += ( 'RM_ROVER' )
- NAIF_BODY_CODE += ( -174000 )
-
- NAIF_BODY_NAME += ( 'RM_SITE_DISPOSAL' )
- NAIF_BODY_CODE += ( -174900 )
-
- NAIF_BODY_NAME += ( 'RM_MAST_ZERO' )
- NAIF_BODY_CODE += ( -174010 )
-
- NAIF_BODY_NAME += ( 'RM_MAST' )
- NAIF_BODY_CODE += ( -174011 )
-
- NAIF_BODY_NAME += ( 'RM_PTR_ZERO' )
- NAIF_BODY_CODE += ( -174012 )
-
- NAIF_BODY_NAME += ( 'RM_PTR' )
- NAIF_BODY_CODE += ( -174013 )
-
- NAIF_BODY_NAME += ( 'RM_NAVCAM' )
- NAIF_BODY_CODE += ( -174020 )
-
- NAIF_BODY_NAME += ( 'RM_NAVCAM_L' )
- NAIF_BODY_CODE += ( -174021 )
-
- NAIF_BODY_NAME += ( 'RM_NAVCAM_R' )
- NAIF_BODY_CODE += ( -174022 )
-
- NAIF_BODY_NAME += ( 'RM_LOCCAM' )
- NAIF_BODY_CODE += ( -174030 )
-
- NAIF_BODY_NAME += ( 'RM_LOCCAM_L' )
- NAIF_BODY_CODE += ( -174031 )
-
- NAIF_BODY_NAME += ( 'RM_LOCCAM_R' )
- NAIF_BODY_CODE += ( -174032 )
-
- NAIF_BODY_NAME += ( 'RM_DRILL_POS_FIX' )
- NAIF_BODY_CODE += ( -174040 )
-
- NAIF_BODY_NAME += ( 'RM_DRILL_POS_MOV' )
- NAIF_BODY_CODE += ( -174041 )
-
- NAIF_BODY_NAME += ( 'RM_DRILL_TIP_FIX' )
- NAIF_BODY_CODE += ( -174042 )
-
- NAIF_BODY_NAME += ( 'RM_DRILL_TIP_MOV' )
- NAIF_BODY_CODE += ( -174043 )
-
- NAIF_BODY_NAME += ( 'RM_ALD' )
- NAIF_BODY_CODE += ( -174050 )
-
- NAIF_BODY_NAME += ( 'RM_ALD_CSTM' )
- NAIF_BODY_CODE += ( -174051 )
-
- NAIF_BODY_NAME += ( 'RM_ALD_CSTM_FIX' )
- NAIF_BODY_CODE += ( -174052 )
-
- NAIF_BODY_NAME += ( 'RM_ALD_CSTM_MOV' )
- NAIF_BODY_CODE += ( -174053 )
-
- NAIF_BODY_NAME += ( 'RM_ALD_PSDDS' )
- NAIF_BODY_CODE += ( -174055 )
-
- NAIF_BODY_NAME += ( 'RM_ALD_PSHS' )
- NAIF_BODY_CODE += ( -174058 )
-
- NAIF_BODY_NAME += ( 'RM_SA1_PRI' )
- NAIF_BODY_CODE += ( -174062 )
-
- NAIF_BODY_NAME += ( 'RM_SA1_SEC' )
- NAIF_BODY_CODE += ( -174063 )
-
- NAIF_BODY_NAME += ( 'RM_SA2_PRI' )
- NAIF_BODY_CODE += ( -174065 )
-
- NAIF_BODY_NAME += ( 'RM_SA2_SEC' )
- NAIF_BODY_CODE += ( -174066 )
-
- NAIF_BODY_NAME += ( 'RM_BOGIE_LF' )
- NAIF_BODY_CODE += ( -174071 )
-
- NAIF_BODY_NAME += ( 'RM_BOGIE_LR' )
- NAIF_BODY_CODE += ( -174074 )
-
- NAIF_BODY_NAME += ( 'RM_BOGIE_RR' )
- NAIF_BODY_CODE += ( -174076 )
-
- NAIF_BODY_NAME += ( 'RM_WHEEL_LF' )
- NAIF_BODY_CODE += ( -174081 )
-
- NAIF_BODY_NAME += ( 'RM_WHEEL_LM' )
- NAIF_BODY_CODE += ( -174082 )
-
- NAIF_BODY_NAME += ( 'RM_WHEEL_RF' )
- NAIF_BODY_CODE += ( -174083 )
-
- NAIF_BODY_NAME += ( 'RM_WHEEL_RM' )
- NAIF_BODY_CODE += ( -174084 )
-
- NAIF_BODY_NAME += ( 'RM_WHEEL_LR' )
- NAIF_BODY_CODE += ( -174085 )
-
- NAIF_BODY_NAME += ( 'RM_WHEEL_RR' )
- NAIF_BODY_CODE += ( -174086 )
-
- \begintext
-
-
- PanCam:
- -----------
- RM_PANCAM -174100
- RM_PANCAM_WAC_L -174110
- RM_PANCAM_WAC_R -174120
- RM_PANCAM_HRC -174130
-
- The mappings summarised in this table are implemented by the keywords
- below.
-
- \begindata
-
- NAIF_BODY_NAME += ( 'RM_PANCAM' )
- NAIF_BODY_CODE += ( -174100 )
-
- NAIF_BODY_NAME += ( 'RM_PANCAM_WAC_L' )
- NAIF_BODY_CODE += ( -174110 )
-
- NAIF_BODY_NAME += ( 'RM_PANCAM_WAC_R' )
- NAIF_BODY_CODE += ( -174120 )
-
- NAIF_BODY_NAME += ( 'RM_PANCAM_HRC' )
- NAIF_BODY_CODE += ( -174130 )
-
- \begintext
-
-
- ISEM:
- -----------
- RM_ISEM -174200
-
- The mappings summarised in this table are implemented by the keywords
- below.
-
- \begindata
-
- NAIF_BODY_NAME += ( 'RM_ISEM' )
- NAIF_BODY_CODE += ( -174200 )
-
- \begintext
-
- ADRON-RM:
- -----------
- RM_ADRON-RM -174300
-
- The mappings summarised in this table are implemented by the keywords
- below.
-
- \begindata
-
- NAIF_BODY_NAME += ( 'RM_ADRON-RM' )
- NAIF_BODY_CODE += ( -174300 )
-
- \begintext
-
-
- WISDOM:
- -----------
- RM_WISDOM -174400
- RM_WISDOM_ANT1 -174410
- RM_WISDOM_ANT1 -174410
-
- The mappings summarised in this table are implemented by the keywords
- below.
-
- \begindata
-
- NAIF_BODY_NAME += ( 'RM_WISDOM' )
- NAIF_BODY_CODE += ( -174400 )
-
- NAIF_BODY_NAME += ( 'RM_WISDOM_ANT1' )
- NAIF_BODY_CODE += ( -174410 )
-
- NAIF_BODY_NAME += ( 'RM_WISDOM_ANT2' )
- NAIF_BODY_CODE += ( -174420 )
-
- \begintext
-
-
- MaMiss:
- -----------
- RM_MAMISS -174500
-
- The mappings summarised in this table are implemented by the keywords
- below.
-
- \begindata
-
- NAIF_BODY_NAME += ( 'RM_MAMISS' )
- NAIF_BODY_CODE += ( -174500 )
-
- \begintext
-
-
- CLUPI:
- -----------
- RM_CLUPI -174600
- RM_CLUPI_FOV1 -174601
- RM_CLUPI_FOV2 -174602
- RM_CLUPI_FOV3 -174603
- RM_CLUPI_DRILL_TIP -174620
- RM_CLUPI_BRACKET -174630
-
- The mappings summarised in this table are implemented by the keywords
- below.
-
- \begindata
-
- NAIF_BODY_NAME += ( 'RM_CLUPI' )
- NAIF_BODY_CODE += ( -174600 )
-
- NAIF_BODY_NAME += ( 'RM_CLUPI_FOV1' )
- NAIF_BODY_CODE += ( -174601 )
-
- NAIF_BODY_NAME += ( 'RM_CLUPI_FOV2' )
- NAIF_BODY_CODE += ( -174602 )
-
- NAIF_BODY_NAME += ( 'RM_CLUPI_FOV3' )
- NAIF_BODY_CODE += ( -174603 )
-
- NAIF_BODY_NAME += ( 'RM_CLUPI_DRILL_TIP' )
- NAIF_BODY_CODE += ( -174620 )
-
- NAIF_BODY_NAME += ( 'RM_CLUPI_BRACKET' )
- NAIF_BODY_CODE += ( -174630 )
-
- \begintext
-
-
- Sites:
- -----------
- RM_SITE_000 -174700 (synonym: RM_LANDING_SITE)
- RM_SITE_NNN -174XXX
-
- The mappings summarised in this table are implemented by the keywords
- below.
-
- \begindata
-
- NAIF_BODY_NAME += ( 'RM_SITE_000' )
- NAIF_BODY_CODE += ( -174700 )
-
- NAIF_BODY_NAME += ( 'RM_LANDING_SITE' )
- NAIF_BODY_CODE += ( -174700 )
-
- NAIF_BODY_NAME += ( 'RM_SITE_001' )
- NAIF_BODY_CODE += ( -174701 )
-
- NAIF_BODY_NAME += ( 'RM_SITE_002' )
- NAIF_BODY_CODE += ( -174702 )
-
- NAIF_BODY_NAME += ( 'RM_SITE_003' )
- NAIF_BODY_CODE += ( -174703 )
-
- NAIF_BODY_NAME += ( 'RM_SITE_004' )
- NAIF_BODY_CODE += ( -174704 )
-
- NAIF_BODY_NAME += ( 'RM_SITE_005' )
- NAIF_BODY_CODE += ( -174705 )
-
- NAIF_BODY_NAME += ( 'RM_SITE_006' )
- NAIF_BODY_CODE += ( -174706 )
-
- NAIF_BODY_NAME += ( 'RM_SITE_007' )
- NAIF_BODY_CODE += ( -174707 )
-
- NAIF_BODY_NAME += ( 'RM_SITE_008' )
- NAIF_BODY_CODE += ( -174708 )
-
- NAIF_BODY_NAME += ( 'RM_SITE_009' )
- NAIF_BODY_CODE += ( -174709 )
-
- NAIF_BODY_NAME += ( 'RM_SITE_010' )
- NAIF_BODY_CODE += ( -174710 )
-
- NAIF_BODY_NAME += ( 'RM_SITE_011' )
- NAIF_BODY_CODE += ( -174711 )
-
- NAIF_BODY_NAME += ( 'RM_SITE_012' )
- NAIF_BODY_CODE += ( -174712 )
-
- NAIF_BODY_NAME += ( 'RM_SITE_013' )
- NAIF_BODY_CODE += ( -174713 )
-
- NAIF_BODY_NAME += ( 'RM_SITE_014' )
- NAIF_BODY_CODE += ( -174714 )
-
- NAIF_BODY_NAME += ( 'RM_SITE_015' )
- NAIF_BODY_CODE += ( -174715 )
-
- NAIF_BODY_NAME += ( 'RM_SITE_016' )
- NAIF_BODY_CODE += ( -174716 )
-
- \begintext
-
-
+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'
+ TKFRAME_-174014_AXES = ( 1, 2, 3 )
+ TKFRAME_-174014_ANGLES = ( 0.0, 0.0, 0.0 )
+
+ \begintext
+
+
+RM NavCam Frames
+----------------------------------------------------------------------------
+
+ The Navigation Cameras reference frame -- RM_NAVCAM_BASE --, where the
+ terrain stereo reconstruction (for Navigation) occurs, is attached to the
+ cameras stereo bench, the axes are aligned to the PTR frame (moving
+ according to pan & tilt mechanisms rotations) and is defined as follows:
+
+ - +X axis is defined as the projection of the cameras optical axis on
+ the plane perpendicular to the +Y axis;
+
+ - +Y axis is in the direction from the right camera optical centre to
+ the left camera optical centre;
+
+ - +Z axis completes the right-handed frame;
+
+ - The origin is a fixed translation from the PTR frame.
+
+
+ These sets of keywords define the NavCam frames:
+
+ \begindata
+
+ FRAME_RM_NAVCAM_BASE = -174020
+ FRAME_-174020_NAME = 'RM_NAVCAM_BASE'
+ FRAME_-174020_CLASS = 4
+ FRAME_-174020_CLASS_ID = -174020
+ FRAME_-174020_CENTER = -174020
+ TKFRAME_-174020_RELATIVE = 'RM_PB'
+ TKFRAME_-174020_SPEC = 'ANGLES'
+ TKFRAME_-174020_UNITS = 'DEGREES'
+ TKFRAME_-174020_AXES = ( 1, 2, 3 )
+ TKFRAME_-174020_ANGLES = ( 0.0, 0.0, 0.0 )
+
+ FRAME_RM_NAVCAM_L = -174021
+ FRAME_-174021_NAME = 'RM_NAVCAM_L'
+ FRAME_-174021_CLASS = 4
+ FRAME_-174021_CLASS_ID = -174021
+ FRAME_-174021_CENTER = -174021
+ TKFRAME_-174021_RELATIVE = 'RM_NAVCAM_BASE'
+ TKFRAME_-174021_SPEC = 'ANGLES'
+ TKFRAME_-174021_UNITS = 'DEGREES'
+ TKFRAME_-174021_AXES = ( 1, 2, 3 )
+ TKFRAME_-174021_ANGLES = ( 0.0, -90.0, 0.0 )
+
+ FRAME_RM_NAVCAM_R = -174022
+ FRAME_-174022_NAME = 'RM_NAVCAM_R'
+ FRAME_-174022_CLASS = 4
+ FRAME_-174022_CLASS_ID = -174022
+ FRAME_-174022_CENTER = -174022
+ TKFRAME_-174022_RELATIVE = 'RM_NAVCAM_BASE'
+ TKFRAME_-174022_SPEC = 'ANGLES'
+ TKFRAME_-174022_UNITS = 'DEGREES'
+ TKFRAME_-174022_AXES = ( 1, 2, 3 )
+ TKFRAME_-174022_ANGLES = ( 0.0, -90.0, 0.0 )
+
+ \begintext
+
+
+LocCam Frames
+------------------------------------------------------------------------
+
+ This section of the file contains the definitions of the Localisation
+ Cameras (LocCam) instrument frames.
+
+ The Localisation Cameras reference frame -- RM_LOCCAM_BASE --, where the
+ terrain stereo reconstruction (for Localisation) occurs, is attached to
+ the cameras stereo bench and is defined as follows:
+
+ - +X axis is the the projection of the cameras optical axis on the plane
+ perpendicular to the +Y axis;
+
+ - +Y axis is in the direction from the right camera optical centre to the
+ left camera optical centre;
+
+ - +Z axis completes the right-handed frame;
+
+ - the origin, is located at the middle of the segment linking the optical
+ centres of the left and right localisation cameras.
+
+
+ The following diagram describes the LocCam frames:
+
+ -Y Rover side view:
+ -------------------
+
+ .-.
+ | |
+ | |
+ |_|
+ |_|
+ |
+ |
+ |
+ |
+ +Zloc |
+ ^ |
+ . |
+ . |
+ . | +Zrm
+ . _|_ ^
+ .| | |
+ ---- .o +Yloc --------|-------------------------------------
+ .' ,------------|------------.
+ .' | | |
+ .' ___| | |
+ <' / | +Xrm | |
+ +Xloc \___|__<---------o ____________. +Yrm and +Yloc
+ | | +Yrm | | are out of the
+ __------/ \-----__ / \.__ page.
+ | |-----\_/----| | \__. |
+ .| |. .| |. .| |.
+ / |__| \ / |__| \ / |__| \
+ \ / \ / \ /
+ `-..-' `-..-' `-..-'
+
+
+ The origin is nominally a fixed translation from the Rover Module frame
+ -- RM_ROVER --, and the axes are rotated 18 degrees around the +Y axis of
+ the RM_ROVER frame [8]. These sets of keywords define the LocCam frames:
+
+
+ \begindata
+
+ FRAME_RM_LOCCAM_BASE = -174030
+ FRAME_-174030_NAME = 'RM_LOCCAM_BASE'
+ FRAME_-174030_CLASS = 4
+ FRAME_-174030_CLASS_ID = -174030
+ FRAME_-174030_CENTER = -174030
+ TKFRAME_-174030_RELATIVE = 'RM_ROVER'
+ TKFRAME_-174030_SPEC = 'ANGLES'
+ TKFRAME_-174030_UNITS = 'DEGREES'
+ TKFRAME_-174030_AXES = ( 3, 1, 2 )
+ TKFRAME_-174030_ANGLES = ( 0.0, 0.0, -18.0 )
+
+ FRAME_RM_LOCCAM_L = -174031
+ FRAME_-174031_NAME = 'RM_LOCCAM_L'
+ FRAME_-174031_CLASS = 4
+ FRAME_-174031_CLASS_ID = -174031
+ FRAME_-174031_CENTER = -174031
+ TKFRAME_-174031_RELATIVE = 'RM_LOCCAM_BASE'
+ TKFRAME_-174031_SPEC = 'ANGLES'
+ TKFRAME_-174031_UNITS = 'DEGREES'
+ TKFRAME_-174031_AXES = ( 1, 2, 3 )
+ TKFRAME_-174031_ANGLES = ( 0.0, -90.0, 0.0 )
+
+ FRAME_RM_LOCCAM_R = -174032
+ FRAME_-174032_NAME = 'RM_LOCCAM_R'
+ FRAME_-174032_CLASS = 4
+ FRAME_-174032_CLASS_ID = -174032
+ FRAME_-174032_CENTER = -174032
+ TKFRAME_-174032_RELATIVE = 'RM_LOCCAM_BASE'
+ TKFRAME_-174032_SPEC = 'ANGLES'
+ TKFRAME_-174032_UNITS = 'DEGREES'
+ TKFRAME_-174032_AXES = ( 1, 2, 3 )
+ TKFRAME_-174032_ANGLES = ( 0.0, -90.0, 0.0 )
+
+ \begintext
+
+
+RM Drill Frames
+----------------------------------------------------------------------------
+
+ The Drill is in charge of extracting the samples from the Mars subsurface
+ and delivering them to the Core Sample Transport Mechanism (CSTM), such
+ that they are transported inside the Analytical Laboratory Drawer (ALD),
+ where they are processed and analysed by the scientific instruments.
+ The drill implements a multi-rod concept to allow drilling and sample
+ collection down to 2 meter depth.
+
+ The drill string is composed, at its maximum length, of a drill tool
+ (with sample collection capability) and three extension rods. Three
+ ``main'' active joints are needed to accomplish the Drill operations:
+
+ - Positioner Translation Joint, which allows all the translational
+ movements of the Drill box.
+
+ - Positioner Rotational Joint, which allows all the rotational
+ movements of the Drill box.
+
+ - Drilling Joint, which groups several mechanisms devoted to the drill
+ rod insertion in the terrain (drilling/coring).
+
+
+RM Drill Positioner frames:
+~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+ The Drill Positioner Fixed frame -- RM_DRILL_POS_FIX -- is placed on the
+ Rover to Drill Positioner interface and is invariant to the Drill
+ Positioner Translational and Rotational mechanisms position. It is
+ defined as follows:
+
+ - +X axis is nominally co-aligned with the RM_ROVER +X axis frame;
+
+ - +Y axis is nominally co-aligned with the RM_ROVER +Y axis frame;
+
+ - +Z axis completes the right-handed frame;
+
+ - the origin is defined as the intersection of the Drill Positioner
+ Rotational Joint axis and the Drill Translational Joint axis,
+ assuming the Drill Positioner in stowed configuration, this is
+ incorporated by the RM_DRILL_POS_FIX body.
+
+
+ The Drill Postioner Moving frame -- RM_DRILL_POS_MOV -- is placed on the
+ Rover to Drill Positioner interface and moves according to the Drill
+ Positioner Translational (TRA) and Rotational (ROT) mechanisms position.
+ This frame is coincident with RM_DRILL_POS_FIX frame when the Drill is in
+ stowed configuration (TRA=0 mm; ROT=0 deg), and follows the Drill Positioner
+ Joints motion rototranslating according to Drill Positioner Translational
+ (TRA) and Rotational (ROT) mechanisms positions. The frame can be defined
+ as follows:
+
+ - +Y axis is co-aligned with the longitudinal direction of the drill
+ and points towards the apperture of the drill;
+
+ - +Z axis is rotated a positive rotational (ROT) angle from the +Z axis
+ of the RM_DRILL_POS_FIX frame around the +X axis of the
+ RM_DRILL_POS_FIX frame;
+
+ - +X axis completes the right-handed frame;
+
+ - the origin is defined as the intersection of the Drill Positioner
+ Rotational Joint axis and the Drill Translational Joint axis,
+ with a longitudinal offset w.r.t. the origin of RM_DRILL_POS frame
+ along the +Y axis defined by the Transitional position (TRA).
+
+
+ +X Rover side view (drill in stowed position):
+ ----------------------------------------------
+
+
+ o-o-=O===O--o
+ |o|___|
+ _\/
+ |_|_
+ |_|
+ |
+ |
+ |
+ |
+ |
+ |
+ | +Zpdf
+ | ^
+ | |
+ _|_ +Zrm |
+ | | ^ |
+ --------------------------|----|---------------------
+ | | | | | | | | |
+ '---| | | | o-----------> +Ydpf
+ '--.-----------|----------|
+ .--|#DRILL#BOX#|##########|---.
+ .-. |============= o--------> ====| .-.
+ |___|=| +Xrm | |+Yrm |=|___|
+ |.-. .-.|
+ || | | || +Xrm is out of the
+ `| | | |' page
+ '_' '_'
+ ~~~~~~~~ ~~~~~~~~
+
+
+ The following diagrams describe the different operational positions of the
+ drill positioner frames for different Translational (TRA) and Rotational
+ (ROT) mechanisms positions (Units in mm and degrees):
+
+ 1. STOWED POSITION 2. LIFTING PHASE
+ [TRA=0, ROT=0] [TRA=130, ROT=0]
+
+ ^ +Zdpm
+ +Zdpf, +Zdpm |
+ | ^ | | | |
+ | | | +Zdpf ^ | Ydpm
+ | | | .-------------o------->
+ | | | +Ydpf,+Ydpm |_____________|_____| +Ydpf
+ .-------------o-------> | o------->
+ |___________________| | |
+ | | | |
+
+
+ 3. VERTICAL ALIGNMENT 4. LOWERING PHASE (drilling position)
+ [TRA=130, ROT=90] [TRA=-240, ROT=90]
+ __
+ | |
+ | |
+ | |
+ | |
+ | | +Zdpf +Zdpm __
+ | || o-------> | || +Zdpf
+ | || ^ | | || ^ |
+ |__|| | | | || | |
+ | | | +Ydpf | || | | +Ydpf
+ | o-------> | || o------->
+ | | | | || |
+ | v | | || |
+ +Ydpm | | o-------> +Zdpm
+ |__| |
+ |
+ v +Ydpm
+
+
+ 3. LIFTING PHASE (after sample) 4. HORIZONTAL ALIGNMENT (before sample
+ collection) [TRA=130, ROT=90] discharge) [TRA=130, ROT=180]
+ __
+ | |
+ | |
+ | |
+ | |
+ | | +Zdpf +Zdpm .--------------------->
+ | || o-------> |_____________^_____|
+ | || ^ | <-------o +Zdpf
+ |__|| | | +Ydpm | | |
+ | | | +Ydpf | | | +Ydpf
+ | o-------> | o------->
+ | | | | | |
+ | v | | v |
+ +Ydpm +Zpm
+
+
+ 5. SAMPLE DISCHARGE PHASE (from drill tip to CSTM container)
+ [TRA=130, ROT=150]
+
+ .'\
+ .' .'
+ .' .'
+ .' .'
+ .' .'
+ .' .'o +Zdpf
+ \.'.'|\|
+ .'| | \ +Ydpf
+ .' | o--\---->
+ <' | | v
+ +Ypdm | | +Zpdm
+
+
+ +X Rover side view (drill in discharge phase):
+ ----------------------------------------------
+
+
+ o-o-=O===O--o
+ |o|___|
+ _\/
+ |_|_
+ |_|
+ |
+ |
+ |
+ |
+ |
+ | .
+ | . ' \
+ | . ' \
+ _|_ . ' ^+dZpf. '
+ | . ' | . '
+ --------------------. ' . | |-------------------
+ | | . ' . ' | | | | |
+ '---| \ . ' ^ | o------> +Ydpf
+ '--. \. ' |+Zrm | |
+ .--' | | | ''---.
+ .-. |============= o-----> =======| .-.
+ |___|=| +Xrm | +Yrm |=|___|
+ |.-. .-.|
+ || | | || +Yrm and +Ydpf is
+ `| | | |' out of the page
+ '_' '_'
+ ~~~~~~~~ ~~~~~~~~
+
+
+ These sets of keywords define the Drill Positioner frames:
+
+ \begindata
+
+ FRAME_RM_DRILL_POS_FIX = -174040
+ FRAME_-174040_NAME = 'RM_DRILL_POS_FIX'
+ FRAME_-174040_CLASS = 4
+ FRAME_-174040_CLASS_ID = -174040
+ FRAME_-174040_CENTER = -174040
+ TKFRAME_-174040_RELATIVE = 'RM_ROVER'
+ TKFRAME_-174040_SPEC = 'ANGLES'
+ TKFRAME_-174040_UNITS = 'DEGREES'
+ TKFRAME_-174040_AXES = ( 1, 2, 3 )
+ TKFRAME_-174040_ANGLES = ( 0.0, 0.0, 0.0 )
+
+ FRAME_RM_DRILL_POS_MOV = -174041
+ FRAME_-174041_NAME = 'RM_DRILL_POS_MOV'
+ FRAME_-174041_CLASS = 3
+ FRAME_-174041_CLASS_ID = -174041
+ FRAME_-174041_CENTER = -174041
+ CK_-174041_SCLK = -174
+ CK_-174041_SPK = -174041
+
+ \begintext
+
+
+Drill Tip frames:
+~~~~~~~~~~~~~~~~~
+
+ The Drill Tip Fixed frame -- RM_ROVER_DRILL_TIP_FIX -- is placed on the
+ Rover Drill Tip (when fully retracted) and is invariant to the Drill Rod
+ position. It is defined as follows:
+
+ - +X axis is nominally parallel to the +X axis of the
+ RM_DRILL_POS_FIX frame;
+
+ - +Y axis, is nominally parallel to the +Y axis of the
+ RM_DRILL_POS_MOV frame;
+
+ - +Z axis completes the right-handed frame;
+
+ - the origin is defined as the tip of the Drill Rod assuming that the
+ Drill Rod is fully retracted.
+
+
+ The following diagrams show the RM_ROVER_DRILL_TIP_FIX in some of the drill
+ positions:
+
+
+ SAMPLE DISCHARGE PHASE LOWERING PHASE
+ [TRA=130, ROT=150] [TRA=-240, ROT=90]
+ __
+ .'\ | || +Zdpf
+ .' .' | || ^ |
+ .' .' | || | |
+ .' .' | || | | +Ydpf
+ .' .' | || o------->
+ .' .'o +Zdpf | || |
+ o.'.'|\| | || |
+ .' .'. | \ +Ydpf | | o-------> +Zdpm
+ +Ydtf <' .' 'o--\----> |o---------> +Zdtf
+ <' | '.| v +Zpdm | |
+ +Ypdm | '> +Zdtf | v +Ydpm
+ |
+ v +Ydtf
+
+
+ The Drill Tip Moving frame -- RM_ROVER_DRILL_TIP_MOV -- is attached to the
+ Rover Drill Tip and moves according to the Drill Translational Joint
+ (DRILL). Its orientation is defined by the rotation of the drill tip around
+ the +Y axis of the RM_ROVER_DRILL_TIP_FIX frame. The origin is coincident
+ with the RM_ROVER_DRILL_TIP_FIX frame when the Drill Rod is fully retracted
+ (DRILL = 0mm). When the Drill Translational Joint mechanism moves, the
+ RM_ROVER_DRILL_TIP_MOV frame rigidly translates with respect to the +X axis
+ of the RM_ROVER_DRILL_TIP_FIX frame a DRILL distance in mm. Note that the
+ Drill Translational Joint is composed by a group several mechanisms devoted
+ to the drill rod insertion in the terrain (drilling/coring). It is defined
+ as follows:
+
+ - +Y axis, is nominally parallel to the +Y axis of the
+ RM_ROVER_DRILL_TIP_FIX;
+
+ - +Z axis, is rotated the drill tip rotation with respect to the
+ +Z axis of the RM_ROVER_DRILL_TIP_FIX frame;
+
+ - +X axis completes the right-handed frame;
+
+ - the origin is defined as the tip of the Drill Rod.
+
+
+ The following diagram describes the Drill tip frames:
+
+
+ +X Rover side view (drilling position):
+ ---------------------------------------
+
+ [TRA=-240, ROT=90, DRILL=150]
+ o-o-=O===O--o
+ |o|___|
+ _\/
+ |_|_
+ |_|
+ |
+ |
+ |
+ |
+ |
+ |
+ |
+ |
+ _|_ ^+dZpf
+ | | |
+ -------------------------.----.-|----------------------
+ | | | | | | | |
+ '---| |^ | o------> +Ydpf
+ '--. ||+Zrm | |
+ .--' || | | ''---.
+ .-. |============= o-----> =======| .-.
+ |___|=| | | +Yrm |=|___|
+ |.-. | | .-.|
+ || | | | | || +Yrm, +Ydpf +Ydtm
+ `| | | | | |' are out of the page
+ '_' | | '_'
+ ~~~~~~~~~~~~~~~~~~~~~~~'----'~~~~~~~~~~~~~~~~~~~~ __
+ || ^
+ || |
+ .. | DRILL
+ .. | ~1.5m
+ |
+ .. |
+ .. |
+ || v
+ \/ Dril --
+ o-------> +Zdtm
+ |
+ |. drill tip rotation
+ <-'
+ |
+ v +Ydtm
+
+
+ These sets of keywords define the Drill tip frames:
+
+ \begindata
+
+ FRAME_RM_DRILL_TIP_FIX = -174042
+ FRAME_-174042_NAME = 'RM_DRILL_TIP_FIX'
+ FRAME_-174042_CLASS = 4
+ FRAME_-174042_CLASS_ID = -174042
+ FRAME_-174042_CENTER = -174042
+ TKFRAME_-174042_RELATIVE = 'RM_DRILL_POS_MOV'
+ TKFRAME_-174042_SPEC = 'ANGLES'
+ TKFRAME_-174042_UNITS = 'DEGREES'
+ TKFRAME_-174042_AXES = ( 1, 2, 3 )
+ TKFRAME_-174042_ANGLES = ( 0.0, 0.0, 0.0 )
+
+ FRAME_RM_DRILL_TIP_MOV = -174043
+ FRAME_-174043_NAME = 'RM_DRILL_TIP_MOV'
+ FRAME_-174043_CLASS = 3
+ FRAME_-174043_CLASS_ID = -174043
+ FRAME_-174043_CENTER = -174043
+ CK_-174043_SCLK = -174
+ CK_-174043_SPK = -174043
+
+ \begintext
+
+
+ALD Frames
+------------------------------------------------------------------------
+
+ The Rover will collect samples with the drill and deliver them to the
+ Analytical Laboratory Drawer (ALD) in the body of the rover, via the
+ sample delivery window. Within the ALD the samples will be analysed
+ with an infrared spectrometer (MicrOmega), a raman spectrometer (RLS),
+ and the Mars organics molecule analyser (MOMA) instrument.
+
+ The samples will be collected by a drill and delivered to the Core Sample
+ Handling System (CSHS) component of the SPDS, which is made up of the Core
+ Sample Transportation Mechanism (CSTM) and the Blank Sample Dispenser (BSD).
+ The CSTM will carry the samples into the ALD, where they will be released
+ through a trapdoor into the Crushing Station (CS) and be reduced to powder.
+ The BSD will deliver 'blank' samples brought from Earth for verification
+ purposes. The powdered samples then pass from the CS to
+
+ The Powder Sample Dosing and Distribution System (PSDDS) delivers a measured
+ quantity of powder into the Refillable Container (RC) that is mounted on the
+ Powdered Sample Handling System (PSHS). The PSHS is a carousel that moves
+ the samples to various stations for processing and analysis. One station is
+ equipped with a fixed 'scraper', the Powder Sample Flattening Mechanism
+ (PSFM), which levels the surface of the powdered sample in the RC. Another
+ station houses the Refillable Container Cleaning Mechanism (RCCM), while
+ further stations will have instruments to examine the surface of the samples
+ and pyrolysis ovens to feed the MOMA GC-MS.
+
+
+ALD CSTM Frames
+~~~~~~~~~~~~~~~
+
+ The CSTM is placed diagonally on top of the upper ALD plate to reach the
+ sample handover point of the drill by opening the ALD door. It then retracts
+ after having received the sample from the drill in its sample container.
+
+ The ALD Core Sample Transportation Mechanism (CSTM) Fixed frame
+ -- RM_ALD_CSTM_FIX -- is attached to the CSTM and invariant to the CSTM
+ mechanism position. It is defined as follows:
+
+ - +Z axis is nominally parallel to the +Z axis of the RM_ROVER frame;
+
+ - +X axis is the motion direction of the CSTM mechanism
+ (from close to open);
+
+ - +Y axis completes the right-handed frame;
+
+ - the origin is located in the geometrical centre of the CSTM sample
+ receptacle, assuming the CSTM mechanism fully retracted. It is a
+ fixed translation from the RM_ROVER.
+
+ The ALD CSTM Fixed frame axes are rotated around the +Z axis of the
+ ROVER_RM frame a nominal angle of -26.5 degrees [10].
+
+ The ALD CTSM Moving frame -- RM_ALD_CSTM_MOV -- is is attached to the Core
+ Sample Transport Mechanism and moves according to CSTM mechanism position.
+ Its orientation is the same as ACF frame and its origin is coincident with
+ ACF frame when the CSTM mechanism is fully retracted (0mm). When the CSTM
+ mechanisms moves (up to 300mm), the ACM frame rigidly translates with
+ respect to the RM_ALD_CSTM_FIX frame along the +X axis RM_ALD_CSTM_FIX.
+
+ This diagram illustrate the RM_ALD_CSTM_FIX frame:
+
+ +Z Rover side view:
+ -------------------
+
+ .-------------------------..-------------------------.
+ .-----| || |
+ | .--.| || |
+ | | || || |
+ `-| |'-------------------------''-------------------------'
+ .------------------.
+ +Xcstm | '----------.
+ <. '----. |
+ ' .| |+Zcstm |
+ ' o .-. .'
+ | .| | +Xrm +Zrm |
+ ' | | |<---------o |
+ ' | | | | |
+ +Ycstm <'| | '-' | '.
+ '--| | | +Zrm and +Zcstm are
+ '-----. .-|--------' out of the page.
+ '---------' v
+ .--------------- +Yrm ----..-------------------------.
+ | || |
+ | || |
+ | || |
+ '-------------------------''-------------------------'
+
+
+ These sets of keywords define the ALD CSTM frames:
+
+ \begindata
+
+ FRAME_RM_ALD_CSTM_FIX = -174052
+ FRAME_-174052_NAME = 'RM_ALD_CSTM_FIX'
+ FRAME_-174052_CLASS = 4
+ FRAME_-174052_CLASS_ID = -174052
+ FRAME_-174052_CENTER = -174052
+ TKFRAME_-174052_RELATIVE = 'RM_ROVER'
+ TKFRAME_-174052_SPEC = 'ANGLES'
+ TKFRAME_-174052_UNITS = 'DEGREES'
+ TKFRAME_-174052_AXES = ( 1, 2, 3 )
+ TKFRAME_-174052_ANGLES = ( 0.0, 0.0, 26.5 )
+
+ FRAME_RM_ALD_CSTM_MOV = -174053
+ FRAME_-174053_NAME = 'RM_ALD_CSTM_MOV'
+ FRAME_-174053_CLASS = 4
+ FRAME_-174053_CLASS_ID = -174053
+ FRAME_-174053_CENTER = -174053
+ TKFRAME_-174053_RELATIVE = 'RM_ALD_CSTM_FIX'
+ TKFRAME_-174053_SPEC = 'ANGLES'
+ TKFRAME_-174053_UNITS = 'DEGREES'
+ TKFRAME_-174053_AXES = ( 1, 2, 3 )
+ TKFRAME_-174053_ANGLES = ( 0.0, 0.0, 0.0 )
+
+ \begintext
+
+
+ALD PSDDS and PSHS Frames
+~~~~~~~~~~~~~~~~~~~~~~~~~
+
+ The PSDDS collects the crushed samples in its sample containers and
+ distributes the sample powder to the receptacles placed on the PSHS.
+
+ The PSHS with its carousel transports the powdered sample received by the
+ PSDDS by rotation to the ports of the optical instruments of the ALD namely
+ MicrOmega, RLS and MOMA LD-MS.
+
+ The Powder Sample Dosing and Distribution System (PSDDS) and the Powdered
+ Sample Handling System (PSHS, the carousel) frames are defined solely to
+ provide the rotation angle of their mechanisms. For PSDDS the angle ranges
+ from 0 to 340.06 degrees and provides the position of the POSITIONER whereas
+ for PSHS the angles ranges from 0 to 345 degrees and provides the position
+ of the CAROUSEL. For both zero position is equivalent to 0 degrees.
+ Because of this for both structures a FIXED and a MOVING frame are defined;
+ the MOVING frame incorporates the rotation being defined as a CK-based
+ frame.
+
+ The ALD PSDDS Fixed frame -- RM_ALD_PSDDS_FIX -- is attached to the Powder
+ Sample Dosing and Distribution System, is invariant to the PSDDS
+ mechanism position and is parallel to the RM_ROVER frame.
+ It is defined as follows:
+
+ - +X axis is nominally co-aligned with the RM_ROVER +X axis frame;
+
+ - +Y axis is nominally co-aligned with the RM_ROVER +Y axis frame;
+
+ - +Z axis completes the right-handed frame;
+
+ - The origin is located in the geometrical centre of the PSDDS,
+ defined as the intersection of the PSDDS mechanism rotation axis and
+ the PSDDS upper panel (perpendicular to the RM_ROVER +Z axis).
+
+
+ The ALD PSDDS Moving frame -- RM_ALD_PSDDS_MOV -- is attached to the
+ Powder Sample Dosing and Distribution System and moves according to the
+ PSDDS mechanism rotation. Its origin is coincident with the
+ RM_ALD_PSDDS_FIX frame, and its orientation is the same when the
+ PSDDS mechanism is in zero position (PSDDS = 0deg). When the PSDDS
+ mechanisms moves, the frame rotates around the +Z axis of the
+ RM_ALD_PSDDS_MOV fame.
+
+ The ALD PSHS Fixed frame -- RM_ALD_PSHS_FIX -- is attached to the Powder
+ Sample Handiling System and is invariant to the PSHS mechanism position.
+ It is defined as follows:
+
+ - +X axis is nominally co-aligned with the RM_ROVER +X axis frame;
+
+ - +Y axis is nominally co-aligned with the RM_ROVER +Y axis frame;
+
+ - +Z axis completes the right-handed frame;
+
+ - The origin is located in the geometrical centre of the PSHS, defined
+ as the intersection of the PSHS mechanism rotation axis and the PSHS
+ upper panel (perpendicular to the RM_ROVER +Z axis).
+
+
+ The ALD PSHS Moving frame -- RM_ALD_PSHS_MOV -- is attached to the Powder
+ Sample Dosing and Distribution System and moves according to the PSHS
+ mechanism rotation. Its origin is coincident with the RM_ALD_PSHS_FIX frame,
+ and its orientation is the same when the PSDDS mechanism is in zero position
+ (PSHS = 0deg). When the PSHS mechanisms moves, the frame rotates around the
+ +Z axis of the RM_ALD_PSHS_MOV fame.
+
+ These sets of keywords define the ALD PSDDS and PSHS frames:
+
+ \begindata
+
+ FRAME_RM_ALD_PSDDS_FIX = -174055
+ FRAME_-174055_NAME = 'RM_ALD_PSDDS_FIX'
+ FRAME_-174055_CLASS = 4
+ FRAME_-174055_CLASS_ID = -174055
+ FRAME_-174055_CENTER = -174055
+ TKFRAME_-174055_RELATIVE = 'RM_ROVER'
+ TKFRAME_-174055_SPEC = 'ANGLES'
+ TKFRAME_-174055_UNITS = 'DEGREES'
+ TKFRAME_-174055_AXES = ( 1, 2, 3 )
+ TKFRAME_-174055_ANGLES = ( 0.0, 0.0, 0.0 )
+
+ FRAME_RM_ALD_PSDDS_MOV = -174056
+ FRAME_-174056_NAME = 'RM_ALD_PSDDS_MOV'
+ FRAME_-174056_CLASS = 3
+ FRAME_-174056_CLASS_ID = -174056
+ FRAME_-174056_CENTER = -174055
+ CK_-174056_SCLK = -174
+ CK_-174056_SPK = -174
+
+ FRAME_RM_ALD_PSHS_FIX = -174058
+ FRAME_-174058_NAME = 'RM_ALD_PSHS_FIX'
+ FRAME_-174058_CLASS = 4
+ FRAME_-174058_CLASS_ID = -174058
+ FRAME_-174058_CENTER = -174058
+ TKFRAME_-174058_RELATIVE = 'RM_ROVER'
+ TKFRAME_-174058_SPEC = 'ANGLES'
+ TKFRAME_-174058_UNITS = 'DEGREES'
+ TKFRAME_-174058_AXES = ( 1, 2, 3 )
+ TKFRAME_-174058_ANGLES = ( 0.0, 0.0, 0.0 )
+
+ FRAME_RM_ALD_PSHS_MOV = -174059
+ FRAME_-174059_NAME = 'RM_ALD_PSHS_MOV'
+ FRAME_-174059_CLASS = 3
+ FRAME_-174059_CLASS_ID = -174059
+ FRAME_-174059_CENTER = -174058
+ CK_-174059_SCLK = -174
+ CK_-174059_SPK = -174
+
+ \begintext
+
+
+Solar Arrays Frames
+----------------------------------------------------------------------------
+
+ This section contains the definitions of the Solar Arrays (SA) frames
+ as specified in [7].
+
+ The RM has two groups of SA panels, the Right SA and the Left SA. Each
+ group consists of two panels (in addition to the panels present on top
+ of the RM body): the primary and the secondary panel -- RM_SA1_PRI,
+ RM_SA1_SEC and RM_SA2_PRI, RM_SA2_SEC --, these two panels are
+ connected by hinges that allow them rotate (and thus be deployed).
+ For each panel, the conventions for the hinge deployment axis are the
+ following:
+
+ The Primary Hinge deployment axis rotation convention is:
+
+ - Zero angle when the primary panels are in the nominal fully
+ deployed position with normal to the Photovoltaic assembly (PVA)
+ face parallel to the +Z axis of the RM_ROVER.
+
+ - Positive rotations deploy the primary panels from their stowed
+ positions: right side hinges rotate clockwise about +X axis of
+ the RM_ROVER frame and left side hinges rotate anticlockwise about
+ +X axis of the RM_ROVER using right-hand grip rule.
+
+ The Secondary Hinge deployment axis rotation convention is:
+
+ - Zero angle when the secondary panels are in the nominal
+ fully-deployed position with normal to the PVA face parallel
+ to the +Z axis of the RM_ROVER.
+
+ - Positive rotations deploy the secondary panels from their stowed
+ positions below the primary panels: when the primary panels are
+ deployed to -90 degrees the right side secondary hinges rotate
+ anticlockwise about +Z axis of the RM_ROVER and left side secondary
+ hinges rotate clockwise about +Z axis of the RM_ROVER using
+ right-hand grip rule.
+
+ Please note that all the rotations range from -180 to 0 degrees (stowed
+ to fully deployed).
+
+ For each group three reference frames are defined, a zero one that is
+ parallel to the Rover Body frame, a primary for the pimary array of the
+ group and a secondary for the secondary array of each group the frames
+ are defined hereafter.
+
+ The Solar Array 1 and 2 zero frames -- RM_SA1_ZERO, RM_SA2_ZERO -- are
+ defined as follows:
+
+ - +X axis is nominally co-aligned with the RM_ROVER +X axis frame;
+
+ - +Y axis is nominally co-aligned with the RM_ROVER +Y axis frame;
+
+ - +Z axis completes the right-handed frame;
+
+ - The origin is located in the geometrical centre of the first hinge
+ of the Solar Array (the one closer to the front of the RM).
+
+
+ The Primary Solar Array 1 frame - RM_SA1_PRI -- frame is defined as
+ follows:
+
+ - +Z axis is normal to the PVA face;
+
+ - +X axis is anti-parallel to the +X axis of the RM_ROVER frame and
+ is the rotation axis of the primary solar array (Left Primary
+ Deployment angle LPD);
+
+ - +Y axis completes the right-handed frame;
+
+ - The origin is located in the geometrical centre of the first hinge
+ of the Primary Solar Array (the one closer to the front of the RM).
+
+
+ The Secondary Solar Array 1 frame - RM_SA1_PRI -- frame is defined as
+ follows:
+
+ - +Z axis is normal to the PVA face;
+
+ - +X axis is parallel to the +Y axis of the RM_ROVER frame when
+ the primary array is fully deployed and is the rotation axis of the
+ secondary solar array (Left Secondary Deployment angle LSD);
+
+ - +Y axis completes the right-handed frame;
+
+ - The origin is located in the geometrical centre of the first hinge
+ of the Secondary Solar Array (the one closer to the RM body).
+
+
+ The Primary Solar Array 2 frame - RM_SA2_PRI -- frame is defined as
+ follows:
+
+ - +Z axis is normal to the PVA face;
+
+ - +X axis is parallel to the +X axis of the RM_ROVER frame and
+ is the rotation axis of the primary solar array (Right Primary
+ Deployment angle RPD);
+
+ - +Y axis completes the right-handed frame;
+
+ - The origin is located in the geometrical centre of the first hinge
+ of the Primary Solar Array (the one closer to the front of the RM).
+
+
+ The Secondary Solar Array 2 frame - RM_SA2_SEC -- frame is defined as
+ follows:
+
+ - +Z axis is normal to the PVA face;
+
+ - +X axis is anti-parallel to the +Y axis of the RM_ROVER frame when
+ the primary array is fully deployed and is the rotation axis of the
+ secondary solar array (Right Secondary Deployment angle RSD);
+
+ - +Y axis completes the right-handed frame;
+
+ - The origin is located in the geometrical centre of the first hinge
+ of the Secondary Solar Array (the one closer to the RM body).
+
+
+ This diagram illustrate solar arrays frames:
+
+ +Z Rover side view:
+ -------------------
+
+ Right secondary hinge
+ '
+ +Xsa2-sec ^'
+ |'
+ .-------------------------|.-------------------------.
+ .-----| +Ysa2-sec || |
+ Right primary .--.| +Zsa2-zero <-------o| |
+ hinge | | || +Zsa2-pri |+Zsa2-sec |
+ - - - - - |' <---------o -----------''-------------------------'
+ +Xsa2-pri ---------|. '
+ +Xsa2-zero |'----------. ' +Zrm, +Zsa1-zero,
+ '----. | | +Zsa1-pri, +Zsa1-sec,
+ | | v +Ysa2-zero +Zsa2-zero, +Zsa1-pri
+ | | .-. +Ysa2-pri .' and +Zsa1-sec are out
+ | | | +Xrm +Zrm | of the page.
+ | | | |<---------o |
+ | | |+Ysa2-pri | |
+ | +Ysa2-zero ^ | '.
+ '--| | | | +Zrm and
+ '-----. | .-|--------' out of the page.
+ - - - - - '------|--' v +Yrm
+ Left primary . +Zsa1-pri o--------> --..-------------------------.
+ hinge | +Zsa1-zero +Xsa1-pr |+Zsa1-sec |
+ | +Xsa1-zero o--------> +Ysa1-sec |
+ | || |
+ '-------------------------|'-------------------------'
+ |'
+ +Xsa2-sec v'
+ '
+ Left secondary hinge
+
+
+ The following frames implement the definitions provided below:
+
+ \begindata
+
+ FRAME_RM_SA1_ZERO = -174061
+ FRAME_-174061_NAME = 'RM_SA1_ZERO'
+ FRAME_-174061_CLASS = 4
+ FRAME_-174061_CLASS_ID = -174061
+ FRAME_-174061_CENTER = -174062
+ TKFRAME_-174061_RELATIVE = 'RM_ROVER'
+ TKFRAME_-174061_SPEC = 'ANGLES'
+ TKFRAME_-174061_UNITS = 'DEGREES'
+ TKFRAME_-174061_AXES = ( 1, 2, 3 )
+ TKFRAME_-174061_ANGLES = ( 0.0, 0.0, 0.0 )
+
+ FRAME_RM_SA1_PRI = -174062
+ FRAME_-174062_NAME = 'RM_SA1_PRI'
+ FRAME_-174062_CLASS = 3
+ FRAME_-174062_CLASS_ID = -174062
+ FRAME_-174062_CENTER = -174062
+ CK_-174062_SCLK = -174
+ CK_-174062_SPK = -174
+
+ FRAME_RM_SA1_SEC = -174063
+ FRAME_-174063_NAME = 'RM_SA1_SEC'
+ FRAME_-174063_CLASS = 3
+ FRAME_-174063_CLASS_ID = -174063
+ FRAME_-174063_CENTER = -174063
+ CK_-174063_SCLK = -174
+ CK_-174063_SPK = -174
+
+ FRAME_RM_SA2_ZERO = -174064
+ FRAME_-174064_NAME = 'RM_SA2_ZERO'
+ FRAME_-174064_CLASS = 4
+ FRAME_-174064_CLASS_ID = -174064
+ FRAME_-174064_CENTER = -174065
+ TKFRAME_-174064_RELATIVE = 'RM_ROVER'
+ TKFRAME_-174064_SPEC = 'ANGLES'
+ TKFRAME_-174064_UNITS = 'DEGREES'
+ TKFRAME_-174064_AXES = ( 1, 2, 3 )
+ TKFRAME_-174064_ANGLES = ( 0.0, 0.0, 0.0 )
+
+ FRAME_RM_SA2_PRI = -174065
+ FRAME_-174065_NAME = 'RM_SA2_PRI'
+ FRAME_-174065_CLASS = 3
+ FRAME_-174065_CLASS_ID = -174065
+ FRAME_-174065_CENTER = -174065
+ CK_-174065_SCLK = -174
+ CK_-174065_SPK = -174
+
+ FRAME_RM_SA2_SEC = -174066
+ FRAME_-174066_NAME = 'RM_SA2_SEC'
+ FRAME_-174066_CLASS = 3
+ FRAME_-174066_CLASS_ID = -174066
+ FRAME_-174066_CENTER = -174066
+ CK_-174066_SCLK = -174
+ CK_-174066_SPK = -174
+
+ \begintext
+
+
+Locomotion Frames
+----------------------------------------------------------------------------
+
+ This section contains the definitions of Rover Locomotion system frames
+ as specified in [7].
+
+ It should be noted that the frames described within this section have been
+ defined so that when the rover is fully deployed, is in flat terrain and all
+ steering angles are zero, these frames are intended as being aligned with
+ the Rover Body frame.
+
+
+Bogie Frame definitions
+~~~~~~~~~~~~~~~~~~~~~~~
+
+ There are three bogie fixed frames, that correspond to the three bogie
+ bodies: the Left Front Boogie fixed frame -- RM_BOGIE_LF_FIX --, the
+ Right Front Bogie fixed frame -- RM_BOGIE_RF_FIX -- and the Middle Rear
+ Bogie fixed frame -- RM_BOGIE_MR_FIX --. These frames have a fixed
+ transformation with respect to the Rover Body frame. The bogie frames are
+ defined as follows:
+
+ - +Z axis points vertically upwards, anti-parallel to the gravity vector.
+ It is parallel to +Z axis of the RM_ROVER (within knowledge alignment
+ errors) and invariant to pivot angle;
+
+ - +X axis points towards the front of the Rover in the nominal direction
+ of travel. It is parallel to +X axis of the RM_ROVER frame (within
+ knowledge alignment errors) and is invariant to pivot angle;
+
+ - +Z axis completes the right-handed frame;
+
+ - The origin lies on the rotational axis of the bogie in the
+ plane of symmetry.
+
+ There are three bogie moving frames that define a pure rotation with respect
+ to RM_BOGIE_LF_FIX, RM_BOGIE_RF_FIX and RM_BOGIE_MR_FIX according to the
+ pivot angles LFB, RFB and MRB, the rotations are defined as follows:
+
+ Left Front Bogie Moving -- RM_BOGIE_LF_MOV -- with origin coincident with
+ RM_BOGIE_LF_FIX and rotating LFB around its +Y axis. This frame has the same
+ orientation as the FIX frame when the rover is on flat, horizontal terrain.
+
+ Right Front Bogie Moving -- RM_BOGIE_RF_MOV -- with origin coincident with
+ RM_BOGIE_RF_FIX and rotating RFB around its +Y axis. This frame has the same
+ orientation as the FIX frame when the rover is on flat, horizontal terrain.
+
+ Middle Rear Bogie Moving -- RM_BOGIE_MR_MOV -- with origin coincident with
+ RM_BOGIE_MR_FIX and rotating MRB around its +X axis. This frame has the same
+ orientation as the FIX frame when the rover is on flat, horizontal terrain.
+
+ These diagrams illustrate the Bogie frames:
+
+ +Y Rover side view (only bogies and wheels):
+ --------------------------------------------
+
+ +Zrm +Yrm, +Ybmr and +Yblf
+ ^ are out of the page.
+ |
+ +Zblf ^ | +Zbmr ^
+ | +Xrm | |
+ |_<---------o ___________|.
+ +Xblf ||| +Yrm |||
+ <---------o +Yblf _ <---------o +Ybmr
+ | |-----\_/----| | +Xbmr \__. |
+ .| |. .| |. .| |.
+ / |__| \ / |__| \ / |__| \
+ \ / \ / \ /
+ `-..-' `-..-' `-..-'
+ Left Front Bogie Middle Rear Bogie
+
+
+ +X Rover side view (only bogies and wheels):
+ --------------------------------------------
+
+ +Zbrf +Zbmr +Zblf
+ ^ ^ ^
+ | | |
+ | | |
+ | .----------------|---------------. | +Xblf
+ +Xbrf o--------> ------- o--------> ----. |.o--------> +Yblf
+ |___|=| +Ybrf +Xbmr +Ybmr |=|___|
+ |.-. .-.| +Xbmr, +Xblf and
+ || | | || +Xbrf are out of
+ `| | | |' the page.
+ '_' '_'
+ ~~~~~~~~ ~~~~~~~~
+
+
+ +X Rover side view (drill in stowed position):
+ ----------------------------------------------
+
+ o-o-=O===O--o
+ |o|___|
+ _\/
+ |_|_
+ |_|
+ |
+ | +Xrm and +Xbrf are
+ | out of the page.
+ |
+ |
+ |
+ |
+ |
+ |
+ _|_ +Zrm
+ | | ^
+ ------ +Zbrf +Zbrm ------|-------------------------
+ | ^ | ^ | | | | | |
+ '-|-| . | | | 0 | .--'--'
+ .| .-------------|----------|
+ / |' | | |---.
+ / \ o --------> ---- o--------> ====| .-.
+ /.''. '. +Ybrm +Xrm | |+Yrm |=|___|
+ / / '. .-.|
+ / / v | ||
+ './ +Ybrm | |'
+ .---. '_'
+ ~~~' '~~~~ ~~~~~~~~
+
+
+ These sets of keywords define the Bugie fixed and moving frames:
+
+ \begindata
+
+ FRAME_RM_BOGIE_LF_FIX = -174071
+ FRAME_-174071_NAME = 'RM_BOGIE_LF_FIX'
+ FRAME_-174071_CLASS = 4
+ FRAME_-174071_CLASS_ID = -174071
+ FRAME_-174071_CENTER = -174071
+ TKFRAME_-174071_RELATIVE = 'RM_ROVER'
+ TKFRAME_-174071_SPEC = 'ANGLES'
+ TKFRAME_-174071_UNITS = 'DEGREES'
+ TKFRAME_-174071_AXES = ( 1, 2, 3 )
+ TKFRAME_-174071_ANGLES = ( 0.0, 0.0, 0.0 )
+
+ FRAME_RM_BOGIE_LF_MOV = -174072
+ FRAME_-174072_NAME = 'RM_BOGIE_LF_MOV'
+ FRAME_-174072_CLASS = 3
+ FRAME_-174072_CLASS_ID = -174072
+ FRAME_-174072_CENTER = -174071
+ CK_-174072_SCLK = -174
+ CK_-174072_SPK = -174
+
+ FRAME_RM_BOGIE_RF_FIX = -174073
+ FRAME_-174073_NAME = 'RM_BOGIE_RF_FIX'
+ FRAME_-174073_CLASS = 4
+ FRAME_-174073_CLASS_ID = -174073
+ FRAME_-174073_CENTER = -174073
+ TKFRAME_-174073_RELATIVE = 'RM_ROVER'
+ TKFRAME_-174073_SPEC = 'ANGLES'
+ TKFRAME_-174073_UNITS = 'DEGREES'
+ TKFRAME_-174073_AXES = ( 1, 2, 3 )
+ TKFRAME_-174073_ANGLES = ( 0.0, 0.0, 0.0 )
+
+ FRAME_RM_BOGIE_RF_MOV = -174074
+ FRAME_-174074_NAME = 'RM_BOGIE_RF_MOV'
+ FRAME_-174074_CLASS = 3
+ FRAME_-174074_CLASS_ID = -174074
+ FRAME_-174074_CENTER = -174073
+ CK_-174074_SCLK = -174
+ CK_-174074_SPK = -174
+
+ FRAME_RM_BOGIE_MR_FIX = -174075
+ FRAME_-174075_NAME = 'RM_BOGIE_MR_FIX'
+ FRAME_-174075_CLASS = 4
+ FRAME_-174075_CLASS_ID = -174075
+ FRAME_-174075_CENTER = -174075
+ TKFRAME_-174075_RELATIVE = 'RM_ROVER'
+ TKFRAME_-174075_SPEC = 'ANGLES'
+ TKFRAME_-174075_UNITS = 'DEGREES'
+ TKFRAME_-174075_AXES = ( 1, 2, 3 )
+ TKFRAME_-174075_ANGLES = ( 0.0, 0.0, 0.0 )
+
+ FRAME_RM_BOGIE_MR_MOV = -174076
+ FRAME_-174076_NAME = 'RM_BOGIE_MR_MOV'
+ FRAME_-174076_CLASS = 3
+ FRAME_-174076_CLASS_ID = -174076
+ FRAME_-174076_CENTER = -174075
+ CK_-174076_SCLK = -174
+ CK_-174076_SPK = -174
+
+ \begintext
+
+
+Wheel Frame definitions
+~~~~~~~~~~~~~~~~~~~~~~~
+
+ There are six wheels fixed frames: RM_WHEEL_LF_FIX, RM_WHEEL_LM_FIX,
+ RM_WHEEL_RF_FIX, RM_WHEEL_RM_FIX, RM_WHEEL_LR_FIX and RM_WHEEL_RR_FIX which
+ correspond to the fix frame associated with every wheel wich are implemented
+ by a fixed transformation with respect to the corresponding bogie moving
+ frames -- RM_BOGIE_LF_MOV, RM_BOGIE_RF_MOV and RM_BOGIE_MR_MOV --, invariant
+ to the rotation on the steering and driving axis and assuming a full
+ deployment of the deployment mechanism. The center of the frames is the
+ center of the corresponding wheel:
+
+ - Front left wheel (LF), middle left wheel (LM)
+ (mounted on the Left Front Bogie);
+
+ - Front right wheel (RF), middle right wheel (RM)
+ (mounted on the Right Front Bogie);
+
+ - Left rear wheel (LR), right rear wheel (RR)
+ (mounted on the Right Front Bogie);
+
+
+ In addition, six wheels steering angle frames are defined: RM_WHEEL_LF_STR,
+ RM_WHEEL_LM_STR, RM_WHEEL_RF_STR, RM_WHEEL_RM_STR, RM_WHEEL_LR_STR and
+ RM_WHEEL_RR_STR. These frames are defined with respect to their
+ corresponding fixed frame and implement the steering angle (STR) around the
+ +Z axis of their corresponding fixed frame.
+
+ Finally, six wheel moving frames are defined: RM_WHEEL_LF_MOV,
+ RM_WHEEL_LM_MOV, RM_WHEEL_RF_MOV, RM_WHEEL_RM_MOV, RM_WHEEL_LR_MOV and
+ RM_WHEEL_RR_MOV. These frames are defined with respect to their
+ corresponding steering frame and implement the forward movement rotation or
+ rototrnaslation angle (DRV) around the +Y axis of their corresponding
+ steering frame.
+
+ Note that for each frame the wheel deployment mechanism is fully deployed
+ and the steering is in its zero position the moving frame is coincident
+ with the steering frame an d the bogie frames.
+
+ These diagrams illustrate the Wheels frames:
+
+ +Y Rover side view (only bogies and wheels):
+ --------------------------------------------
+
+ +Zrm +Yrm, +Ybmr, +Yblf,
+ ^ +Ywlr, +Ywlr, +Ywlr
+ | are out of the page.
+ +Zblf ^ | +Zbmr ^
+ | +Xrm | |
+ +Zblf |_<---------o ___________|.
+ +Zwlr ^ || +Zwlr ^ +Yrm +Ybmr || ^ +Zwlr
+ <-|-------o +Yblf | <---------o |
+ | ||-----\_/----| || +Xbmr \__. ||
+ +Xwlf .| |. +Xwlm .| ||. .| ||.
+ <------o| \ <------o| \ +Xwlr <------o| \
+ \+Ywlr / \+Ywlr / \+Ywlr /
+ `-..-' `-..-' `-..-'
+ Front left wheel Middle left wheel Left rear wheel
+ Left Front Bogie Middle Rear Bogie
+
+
+ +Y Rover side view (without solar arrays):
+ ------------------------------------------
+
+ +Xlrs
+ <
+ ' .
+ '/ ' .
+ +Xlrf <----'--o ' . .-----. .-----.
+ /|' / '----- +Xrrf <-----o--'
+ .--- /=|========='-. +Xrrs | || +Zrm, +Zlrs, +Zlrf, are
+ | / | '----------.| || +Zrrf, +Zrrs, +Zlmf and
+ '- v . v | |v +Zlms are out of the
+ +Ylrs | +Ylrf +Ylrf +Ylrs page.
+ .-. .' |
+ | | | +Xrm +Zrm | |
+ | | |<---------o | |
+ | | | | | |
+ | | '-' | '.|
+ '--| | ||
+ . +Xlms ========. v +Yrm --||
+ . +Xlmf <-----o--. .-----.
+ '-----' '--|--' '-----'
+ |
+ +Ylmf |
+ +Ylms v
+
+
+ +Y Rover side view (only bogies and wheels, with all STR=0):
+ ------------------------------------------------------------
+
+ +Zlfs +Zlrs +Ylrs, +Ylrm,
+ +Xlfm ^ +Zlfm ^ +Ylfs and +Ylfm
+ ^ | -- ^ / \-----__ +Zlrm < . \._| are out of the
+ ' .| ||-.'---\_/----| | \'. || page.
+ .'.|.' .| |. .'.||.
+ +Xlfs <-------o| \ / |__| \ +Xlrs <-------o| \
+ \ / \ / \ .' / DRV = 45 deg
+ `-..-' `-..-' .`-..-'
+ DRV = -45 deg +Xlrm v
+
+
+ These sets of keywords define the Wheels fixed, steering and moving frames:
+
+ \begindata
+
+ FRAME_RM_WHEEL_LF_FIX = -1740810
+ FRAME_-1740810_NAME = 'RM_BOGIE_LF_MOV'
+ FRAME_-1740810_CLASS = 4
+ FRAME_-1740810_CLASS_ID = -1740810
+ FRAME_-1740810_CENTER = -174081
+ TKFRAME_-1740810_RELATIVE = 'RM_ROVER'
+ TKFRAME_-1740810_SPEC = 'ANGLES'
+ TKFRAME_-1740810_UNITS = 'DEGREES'
+ TKFRAME_-1740810_AXES = ( 1, 2, 3 )
+ TKFRAME_-1740810_ANGLES = ( 0.0, 0.0, 0.0 )
+
+ FRAME_RM_WHEEL_LF_STR = -1740811
+ FRAME_-1740811_NAME = 'RM_WHEEL_LF_FIX'
+ FRAME_-1740811_CLASS = 3
+ FRAME_-1740811_CLASS_ID = -1740811
+ FRAME_-1740811_CENTER = -174081
+ CK_-1740811_SCLK = -174
+ CK_-1740811_SPK = -174
+
+ FRAME_RM_WHEEL_LF_MOV = -1740812
+ FRAME_-1740812_NAME = 'RM_WHEEL_LF_STR'
+ FRAME_-1740812_CLASS = 3
+ FRAME_-1740812_CLASS_ID = -1740812
+ FRAME_-1740812_CENTER = -174081
+ CK_-1740812_SCLK = -174
+ CK_-1740812_SPK = -174
+
+ FRAME_RM_WHEEL_LM_FIX = -1740820
+ FRAME_-1740820_NAME = 'RM_BOGIE_LF_MOV'
+ FRAME_-1740820_CLASS = 4
+ FRAME_-1740820_CLASS_ID = -1740820
+ FRAME_-1740820_CENTER = -174082
+ TKFRAME_-1740820_RELATIVE = 'RM_ROVER'
+ TKFRAME_-1740820_SPEC = 'ANGLES'
+ TKFRAME_-1740820_UNITS = 'DEGREES'
+ TKFRAME_-1740820_AXES = ( 1, 2, 3 )
+ TKFRAME_-1740820_ANGLES = ( 0.0, 0.0, 0.0 )
+
+ FRAME_RM_WHEEL_LM_STR = -1740821
+ FRAME_-1740821_NAME = 'RM_WHEEL_LM_FIX'
+ FRAME_-1740821_CLASS = 3
+ FRAME_-1740821_CLASS_ID = -1740821
+ FRAME_-1740821_CENTER = -174082
+ CK_-1740821_SCLK = -174
+ CK_-1740821_SPK = -174
+
+ FRAME_RM_WHEEL_LM_MOV = -1740822
+ FRAME_-1740822_NAME = 'RM_WHEEL_LM_STR'
+ FRAME_-1740822_CLASS = 3
+ FRAME_-1740822_CLASS_ID = -1740822
+ FRAME_-1740822_CENTER = -174082
+ CK_-1740822_SCLK = -174
+ CK_-1740822_SPK = -174
+
+ FRAME_RM_WHEEL_RF_FIX = -1740830
+ FRAME_-1740830_NAME = 'RM_BOGIE_RF_MOV'
+ FRAME_-1740830_CLASS = 4
+ FRAME_-1740830_CLASS_ID = -1740830
+ FRAME_-1740830_CENTER = -174083
+ TKFRAME_-1740830_RELATIVE = 'RM_ROVER'
+ TKFRAME_-1740830_SPEC = 'ANGLES'
+ TKFRAME_-1740830_UNITS = 'DEGREES'
+ TKFRAME_-1740830_AXES = ( 1, 2, 3 )
+ TKFRAME_-1740830_ANGLES = ( 0.0, 0.0, 0.0 )
+
+ FRAME_RM_WHEEL_RF_STR = -1740831
+ FRAME_-1740831_NAME = 'RM_WHEEL_RF_FIX'
+ FRAME_-1740831_CLASS = 3
+ FRAME_-1740831_CLASS_ID = -1740831
+ FRAME_-1740831_CENTER = -174083
+ CK_-1740831_SCLK = -174
+ CK_-1740831_SPK = -174
+
+ FRAME_RM_WHEEL_RF_MOV = -1740832
+ FRAME_-1740832_NAME = 'RM_WHEEL_RF_STR'
+ FRAME_-1740832_CLASS = 3
+ FRAME_-1740832_CLASS_ID = -1740832
+ FRAME_-1740832_CENTER = -174083
+ CK_-1740832_SCLK = -174
+ CK_-1740832_SPK = -174
+
+ FRAME_RM_WHEEL_RM_FIX = -1740840
+ FRAME_-1740840_NAME = 'RM_BOGIE_RM_MOV'
+ FRAME_-1740840_CLASS = 4
+ FRAME_-1740840_CLASS_ID = -1740840
+ FRAME_-1740840_CENTER = -174084
+ TKFRAME_-1740840_RELATIVE = 'RM_ROVER'
+ TKFRAME_-1740840_SPEC = 'ANGLES'
+ TKFRAME_-1740840_UNITS = 'DEGREES'
+ TKFRAME_-1740840_AXES = ( 1, 2, 3 )
+ TKFRAME_-1740840_ANGLES = ( 0.0, 0.0, 0.0 )
+
+ FRAME_RM_WHEEL_RM_STR = -1740841
+ FRAME_-1740841_NAME = 'RM_WHEEL_RM_FIX'
+ FRAME_-1740841_CLASS = 3
+ FRAME_-1740841_CLASS_ID = -1740841
+ FRAME_-1740841_CENTER = -174084
+ CK_-1740841_SCLK = -174
+ CK_-1740841_SPK = -174
+
+ FRAME_RM_WHEEL_RM_MOV = -1740842
+ FRAME_-1740842_NAME = 'RM_WHEEL_RM_STR'
+ FRAME_-1740842_CLASS = 3
+ FRAME_-1740842_CLASS_ID = -1740842
+ FRAME_-1740842_CENTER = -174084
+ CK_-1740842_SCLK = -174
+ CK_-1740842_SPK = -174
+
+ FRAME_RM_WHEEL_LR_FIX = -1740850
+ FRAME_-1740850_NAME = 'RM_BOGIE_LR_MOV'
+ FRAME_-1740850_CLASS = 4
+ FRAME_-1740850_CLASS_ID = -1740850
+ FRAME_-1740850_CENTER = -174085
+ TKFRAME_-1740850_RELATIVE = 'RM_ROVER'
+ TKFRAME_-1740850_SPEC = 'ANGLES'
+ TKFRAME_-1740850_UNITS = 'DEGREES'
+ TKFRAME_-1740850_AXES = ( 1, 2, 3 )
+ TKFRAME_-1740850_ANGLES = ( 0.0, 0.0, 0.0 )
+
+ FRAME_RM_WHEEL_LR_STR = -1740851
+ FRAME_-1740851_NAME = 'RM_WHEEL_LR_FIX'
+ FRAME_-1740851_CLASS = 3
+ FRAME_-1740851_CLASS_ID = -1740851
+ FRAME_-1740851_CENTER = -174085
+ CK_-1740851_SCLK = -174
+ CK_-1740851_SPK = -174
+
+ FRAME_RM_WHEEL_LR_MOV = -1740852
+ FRAME_-1740852_NAME = 'RM_WHEEL_LR_STR'
+ FRAME_-1740852_CLASS = 3
+ FRAME_-1740852_CLASS_ID = -1740852
+ FRAME_-1740852_CENTER = -174085
+ CK_-1740852_SCLK = -174
+ CK_-1740852_SPK = -174
+
+ FRAME_RM_WHEEL_RR_FIX = -1740860
+ FRAME_-1740860_NAME = 'RM_BOGIE_RR_MOV'
+ FRAME_-1740860_CLASS = 4
+ FRAME_-1740860_CLASS_ID = -1740860
+ FRAME_-1740860_CENTER = -174086
+ TKFRAME_-1740860_RELATIVE = 'RM_ROVER'
+ TKFRAME_-1740860_SPEC = 'ANGLES'
+ TKFRAME_-1740860_UNITS = 'DEGREES'
+ TKFRAME_-1740860_AXES = ( 1, 2, 3 )
+ TKFRAME_-1740860_ANGLES = ( 0.0, 0.0, 0.0 )
+
+ FRAME_RM_WHEEL_RR_STR = -1740861
+ FRAME_-1740861_NAME = 'RM_WHEEL_RR_FIX'
+ FRAME_-1740861_CLASS = 3
+ FRAME_-1740861_CLASS_ID = -1740861
+ FRAME_-1740861_CENTER = -174086
+ CK_-1740861_SCLK = -174
+ CK_-1740861_SPK = -174
+
+ FRAME_RM_WHEEL_RR_MOV = -1740862
+ FRAME_-1740862_NAME = 'RM_WHEEL_RR_STR'
+ FRAME_-1740862_CLASS = 3
+ FRAME_-1740862_CLASS_ID = -1740862
+ FRAME_-1740862_CENTER = -174086
+ CK_-1740862_SCLK = -174
+ CK_-1740862_SPK = -174
+
+ \begintext
+
+
+PanCam Frames
+------------------------------------------------------------------------
+
+ This section of the file contains the definitions of the Panoramic
+ Camera (PanCam) instrument frames.
+
+
+PanCam Frame Tree
+~~~~~~~~~~~~~~~~~
+
+ The diagram below shows the PanCam frame hierarchy.
+
+ "RM_PB"
+ -------
+ |
+ |<-fixed
+ |
+ V
+ "RM_PANCAM_BASE"
+ +----------------------------------------+
+ | | |
+ fixed->| fixed->| fixed->|
+ | | |
+ v v v
+ "RM_PANCAM_HRC" "RM_PANCAM_WAC_L" "RM_PANCAM_WAC_R"
+ --------------- ----------------- -----------------
+
+
+PanCam Frame definitions
+~~~~~~~~~~~~~~~~~~~~~~~~
+
+ The Panoramic Cameras reference frame (PANCAM) is attached to the PanCam
+ stereo bench that is rigidly mounted on the Payload Bench on top of the
+ Rover Mast. Therefore, the base frame associated with it -- the
+ RM PANCAM Base rame, RM_PANCAM_BASE -- is specified as a fixed offset frame
+ with its orientation given relative to the RM_ROVER frame as follows:
+
+ - +X axis is defined as the projection of the cameras optical axis on
+ the plane perpendicular to the +Y axis;
+
+ - +Y axis is in the direction from the right WAC camera optical centre
+ to the left WAC camera optical centre;
+
+ - +Z axis completes the right-handed frame;
+
+ - The origin is located at the middle of the segment linking the optical
+ centres of the left and right WAC cameras.
+
+
+ These diagrams illustrate the nominal RM_PANCAM_BASE, RM_PANCAM_WAC_L,
+ RM_PANCAM_WAC_R and RM_PANCAM_HRC frame with respect to the rover frame.
+
+
+ +X Rover side view:
+ -------------------
+
+ +Zpancam
+ ^
+ |
+ |
+ |
+ |
+ o-o-=Oo--------> +Ypancam
+ +Xpancam _|
+ _\/
+ |_|_
+ |_|
+ |
+ |
+ |
+ |
+ |
+ |
+ |
+ |
+ |
+ _|_ +Zrm
+ | | ^
+ --------------------------|--------------------------
+ | | | | | | | |
+ '---| | | | 0 | .--'--'
+ '--.-----------|----------|
+ .--| | |---.
+ .-. |============= o--------> ====| .-.
+ |___|=| +Xrm | +Yrm |=|___|
+ |.-. .-.|
+ || | | || +Yrm is out of the
+ `| | | |' page
+ '_' '_'
+ ~~~~~~~~ ~~~~~~~~
+
+
+ +X Rover Mast view:
+ -------------------
+
+ +Xpwacl +Xphrc +Xpwacr
+ ^ ^ ^
+ | | |
+ | PanCamHRC | ______________________ |
+ .--|-------------|---| |-----------------|--.
+ | /o-------> / o--------> +Yphrc /^\ | /o------->
+ | \_/ WAC-L \__/ | \_/ \_/ | PanCam WAC-R \_/ | +Ypwacr
+ '____________________| NavCaM |____________________'
+ .-----.'----------------------'
+ | /^\ |====|----== +Zpancam
+ | \_/ |====| / ^ \ | +Zpwacl, +Zphrc, +Zpwacr
+ '-----' | / | \ | and +Xpancam are out of
+ ISEM . . | . . the page.
+ . |
+ o--------> +Ypancam
+ +Xpancam
+
+
+ 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_PANCAM_BASE = -174100
+ FRAME_-174100_NAME = 'RM_PANCAM_BASE'
+ FRAME_-174100_CLASS = 4
+ FRAME_-174100_CLASS_ID = -174100
+ FRAME_-174100_CENTER = -174100
+ TKFRAME_-174100_RELATIVE = 'RM_PB'
+ TKFRAME_-174100_SPEC = 'ANGLES'
+ TKFRAME_-174100_UNITS = 'DEGREES'
+ TKFRAME_-174100_AXES = ( 3, 2, 1 )
+ TKFRAME_-174100_ANGLES = ( 0.0, 0.0, 0.0 )
+
+ FRAME_RM_PANCAM_WAC_L = -174110
+ FRAME_-174110_NAME = 'RM_PANCAM_WAC_L'
+ FRAME_-174110_CLASS = 4
+ FRAME_-174110_CLASS_ID = -174110
+ FRAME_-174110_CENTER = -174110
+ TKFRAME_-174110_RELATIVE = 'RM_PANCAM_BASE'
+ TKFRAME_-174110_SPEC = 'ANGLES'
+ TKFRAME_-174110_UNITS = 'DEGREES'
+ TKFRAME_-174110_AXES = ( 3, 2, 1 )
+ TKFRAME_-174110_ANGLES = ( 0.0, -90.0, 0.0 )
+
+ FRAME_RM_PANCAM_WAC_R = -174120
+ FRAME_-174120_NAME = 'RM_PANCAM_WAC_R'
+ FRAME_-174120_CLASS = 4
+ FRAME_-174120_CLASS_ID = -174120
+ FRAME_-174120_CENTER = -174120
+ TKFRAME_-174120_RELATIVE = 'RM_PANCAM_BASE'
+ TKFRAME_-174120_SPEC = 'ANGLES'
+ TKFRAME_-174120_UNITS = 'DEGREES'
+ TKFRAME_-174120_AXES = ( 3, 2, 1 )
+ TKFRAME_-174120_ANGLES = ( 0.0, -90.0, 0.0 )
+
+ FRAME_RM_PANCAM_HRC = -174130
+ FRAME_-174130_NAME = 'RM_PANCAM_HRC'
+ FRAME_-174130_CLASS = 4
+ FRAME_-174130_CLASS_ID = -174130
+ FRAME_-174130_CENTER = -174130
+ TKFRAME_-174130_RELATIVE = 'RM_PANCAM_BASE'
+ TKFRAME_-174130_SPEC = 'ANGLES'
+ TKFRAME_-174130_UNITS = 'DEGREES'
+ TKFRAME_-174130_AXES = ( 3, 2, 1 )
+ TKFRAME_-174130_ANGLES = ( 0.0, -90.0, 0.0 )
+
+ \begintext
+
+
+ISEM Frames
+------------------------------------------------------------------------
+
+ This section of the file contains the definitions of the Infrared
+ Spectrometer for ExoMars (ISEM).
+
+
+ISEM Frame Tree
+~~~~~~~~~~~~~~~~~
+
+ The diagram below shows the ISEM frame hierarchy.
+
+ "RM_PB"
+ -------
+ |
+ |<-fixed
+ |
+ V
+ "RM_ISEM"
+ ---------
+
+
+ISEM Frame Definition
+~~~~~~~~~~~~~~~~~~~~~
+
+ The ISEM reference frame -- RM_ISEM -- is attached to the ISEM instrument
+ and is nominally parallel Payload Bench -- RM_PB -- and is defined as
+ follows:
+
+ - +X axis is parallel to the +X axis of the RM_PB frame;
+
+ - +Y axis is parallel to the +Y axis of the RM_PB frame;
+
+ - +Z axis completes the right-handed frame;
+
+ - the origin is located on the instrument optical axis, exactly at the
+ end of the ISEM Optical Box.
+
+
+ The following diagram describes the RM_ISEM reference frame:
+
+ +X Rover side view:
+ -------------------
+
+ +Zisem
+ ^
+ |
+ |
+ |
+ o-o-|O===O--o
+ |o---------> +Yisem
+ _\/
+ |_|_
+ |_|
+ |
+ |
+ |
+ |
+ |
+ |
+ |
+ |
+ |
+ _|_ +Zrm
+ | | ^
+ --------------------------|--------------------------
+ | | | | | | | |
+ '---| | | | 0 | .--'--'
+ '--.-----------|----------|
+ .--| | |---.
+ .-. |============= o--------> ====| .-.
+ |___|=| +Xrm | +Yrm |=|___|
+ |.-. .-.|
+ || | | || +Xrm and +Xisem are
+ `| | | |' out of the page.
+ '_' '_'
+ ~~~~~~~~ ~~~~~~~~
+
+
+ +X Rover Mast view:
+ -------------------
+
+ +Zisem ______________________
+ .--------------- ^ --| |--------------------.
+ | /^\ PanCam /| \ | /^\ /^\ | /^\ |
+ | \_/ WAC-L \|_/ | \_/ \_/ | PanCam WAC-R \_/ |
+ '________________|___| NavCaM |____________________'
+ .--|--.'----------------------'
+ | /o---------> == +Zpb
+ | \_/ |== +Yisem ^ \ | +Xpb and +Xisem are
+ '-----' | / | \ | out of the page.
+ ISEM . . | . .
+ . |
+ o--------> +Ypb
+ +Xpb
+
+
+ These sets of keywords define the ISEM frame:
+
+ \begindata
+
+ FRAME_RM_ISEM = -174200
+ FRAME_-174200_NAME = 'RM_ISEM'
+ FRAME_-174200_CLASS = 4
+ FRAME_-174200_CLASS_ID = -174200
+ FRAME_-174200_CENTER = -174200
+ TKFRAME_-174200_RELATIVE = 'RM_PB'
+ TKFRAME_-174200_SPEC = 'ANGLES'
+ TKFRAME_-174200_UNITS = 'DEGREES'
+ TKFRAME_-174200_AXES = ( 1, 2, 3 )
+ TKFRAME_-174200_ANGLES = ( 0.0, 0.0, 0.0 )
+
+ \begintext
+
+
+ADRON-RM Frames
+------------------------------------------------------------------------
+
+ This section of the file contains the definitions of the Autonomous
+ Detector of Radiation of Neutrons Onboard Rover (ADRON-RM) frames.
+
+
+ADRON-RM Frame Tree
+~~~~~~~~~~~~~~~~~~~
+
+ The diagram below shows the ADRON-RM frame hierarchy.
+
+ "RM_ROVER"
+ ----------
+ |
+ |<-fixed
+ |
+ V
+ "RM_ADRON-RM"
+ -------------
+
+
+ADRON-RM Frame Definition
+~~~~~~~~~~~~~~~~~~~~~~~~~
+
+ The ISEM reference frame -- RM_ADRON-RM -- is attached to the ADRON-RM
+ instrument and is fixed with respect to the rover frame -- RM_ROVER --, and
+ defined as follows:
+
+ - +X axis is parallel to the +X axis of the RM_ROVER frame;
+
+ - +Y axis is parallel to the +Y axis of the RM_ROVER frame;
+
+ - +Z axis completes the right-handed frame;
+
+ - the origin is located on the instrument center.
+
+
+ The following diagram describes the RM_ADRON-RM reference frame:
+
+ -Y Rover side view:
+ -------------------
+
+ - · - · -
+ |
+ | +Zrm +Zadr
+ _|_ ^ ^
+ | | | |
+ -------------------|-------------|-----------------------
+ ,------------|------------.|
+ | | |
+ ___| | |
+ / | +Xrm | +Xadr |
+ \___|__<---------o __<---------o +Yrm and +Yadr are out
+ | | +Yrm | | of the page.
+ __------/ \-----__ / \.__
+ | |-----\_/----| | \__. |
+ .| |. .| |. .| |.
+ / |__| \ / |__| \ / |__| \
+ \ / \ / \ /
+ `-..-' `-..-' `-..-'
+
+
+ These sets of keywords define the ADRON frame:
+
+ \begindata
+
+ FRAME_RM_ADRON-RM = -174300
+ FRAME_-174300_NAME = 'RM_ADRON-RM'
+ FRAME_-174300_CLASS = 4
+ FRAME_-174300_CLASS_ID = -174300
+ FRAME_-174300_CENTER = -174300
+ TKFRAME_-174300_RELATIVE = 'RM_ROVER'
+ TKFRAME_-174300_SPEC = 'ANGLES'
+ TKFRAME_-174300_UNITS = 'DEGREES'
+ TKFRAME_-174300_AXES = ( 1, 2, 3 )
+ TKFRAME_-174300_ANGLES = ( 0.0, 0.0, 0.0 )
+
+ \begintext
+
+
+WISDOM Frames
+------------------------------------------------------------------------
+
+ This section of the file contains the definitions of the Water Ice
+ Subsurface Deposit Observation on Mars (WISDOM) ground-penetrating
+ radar frames.
+
+
+WISDOM Frame Tree
+~~~~~~~~~~~~~~~~~
+
+ The diagram below shows the WISDOM frame hierarchy.
+
+ "RM_ROVER"
+ ----------
+ |
+ |<-fixed
+ |
+ V
+ "RM_WISDOM_BASE"
+ +-------------------------+
+ | |
+ |<-fixed fixed->|
+ | |
+ v v
+ "RM_WISDOM_ANT1" "RM_WISDOM_ANT2"
+ --------------- ----------------
+
+
+WISDOM Frame Definitions:
+~~~~~~~~~~~~~~~~~~~~~~~~~
+
+ The WISDOM base reference frame -- RM_WISDOM_BASE --, where the subsurface
+ stratigrafy reconstruction occurs, is placed on the WISDOM instrument, is
+ fixed with respect to the rover frame -- RM_ROVER --, and defined as
+ follows:
+
+ - +X axis is nominally parallel to the +X axis of the RM_ROVER frame;
+
+ - +Y axis is nominally parallel to the +Y axis of the RM_ROVER frame;
+
+ - +Z axis completes the right-handed frame;
+
+ - The origin is located at the middle of the segment linking the two
+ WISDOM hornet mounting positions.
+
+
+ The WISDOM antennas ANT1 and ANT2 -- RM_WISDOM_ANT1, RM_WISDOM_ANT2 --
+ are rotated 8 degrees with respect to the RM_WISDOM_BASE frame around
+ the +Y axis and are defined as follows [10]:
+
+ - +Z axis points towards the direction of the antenna boresight;
+
+ - +X is rotated 135 degrees around the WISDOM base frame +Y axis
+ towards the WISDOM base frame +Z axis;
+
+ - +Y axis is parallel to the WISDOM base frame +Y axis and completes
+ the right-handed frame;
+
+ - The origin is located at focal point of the antennas.
+
+
+ The following diagram describes the WISDOM reference frames:
+
+ -Y Rover side view:
+ -------------------
+
+ - · - · -
+ |
+ | +Zrm +Zwis
+ _|_ ^ ^
+ | | | | +Xant1, +Xant2
+ -------------------|-------------|------- ^ --------------
+ ,------------|------------.| .'
+ | | | .'
+ ___| | | .'
+ / | +Xrm | +Xwis | .'
+ \___|__<---------o __<---------o. +Yrm, +Ywis, +Yant1 and
+ | | +Yrm | |'. +Yant2 are out of the
+ __------/ \-----__ / \._'. page.
+ | |-----\_/----| | \__. |'.
+ .| |. .| |. .| |. v
+ / |__| \ / |__| \ / |__| +Zant1, +Zant2
+ \ / \ / \ /
+ `-..-' `-..-' `-..-'
+
+
+ These sets of keywords define the WISDOM frame:
+
+ \begindata
+
+ FRAME_RM_WISDOM_BASE = -174400
+ FRAME_-174400_NAME = 'RM_WISDOM_BASE'
+ FRAME_-174400_CLASS = 4
+ FRAME_-174400_CLASS_ID = -174400
+ FRAME_-174400_CENTER = -174
+ TKFRAME_-174400_RELATIVE = 'RM_ROVER'
+ TKFRAME_-174400_SPEC = 'ANGLES'
+ TKFRAME_-174400_UNITS = 'DEGREES'
+ TKFRAME_-174400_AXES = ( 1, 2, 3 )
+ TKFRAME_-174400_ANGLES = ( 0.0, 0.0, 0.0 )
+
+ FRAME_RM_WISDOM_ANT1 = -174410
+ FRAME_-174410_NAME = 'RM_WISDOM_ANT1'
+ FRAME_-174410_CLASS = 4
+ FRAME_-174410_CLASS_ID = -174410
+ FRAME_-174410_CENTER = -174
+ TKFRAME_-174410_RELATIVE = 'RM_WISDOM_BASE'
+ TKFRAME_-174410_SPEC = 'ANGLES'
+ TKFRAME_-174410_UNITS = 'DEGREES'
+ TKFRAME_-174410_AXES = ( 1, 2, 3 )
+ TKFRAME_-174410_ANGLES = ( 0.0, 172.0, 0.0 )
+
+ FRAME_RM_WISDOM_ANT2 = -174420
+ FRAME_-174420_NAME = 'RM_WISDOM_ANT2'
+ FRAME_-174420_CLASS = 4
+ FRAME_-174420_CLASS_ID = -174420
+ FRAME_-174420_CENTER = -174
+ TKFRAME_-174420_RELATIVE = 'RM_WISDOM_BASE'
+ TKFRAME_-174420_SPEC = 'ANGLES'
+ TKFRAME_-174420_UNITS = 'DEGREES'
+ TKFRAME_-174420_AXES = ( 1, 2, 3 )
+ TKFRAME_-174420_ANGLES = ( 0.0, 172.0, 0.0 )
+
+ \begintext
+
+
+MaMiss Frames
+------------------------------------------------------------------------
+
+ This section of the file contains the definitions of the Mars
+ Multispectral Imager for Subsurface Studies (MaMiss) frames.
+
+
+MaMiss Frame Tree:
+~~~~~~~~~~~~~~~~~~
+
+ The diagram below shows the MaMiss frame hierarchy.
+
+ RM_ROVER
+ --------
+ |
+ |<-fixed
+ |
+ v
+ "RM_DRILL_POS_FIX"
+ +----------------+
+ . |
+ . |<-ck
+ . |
+ . v
+ . "RM_DRILL_POS_MOV"
+ . +----------------+
+ . . |
+ . . fixed->|
+ . . |
+ . . v
+ . . "RM_DRILL_TIP_FIX"
+ . . ------------------
+ . . |
+ . . |<-fixed
+ . . |
+ . . v
+ . . "RM_DRILL_TIP_MOV"
+ . . ------------------
+ . . |
+ . . |<-fixed
+ . . |
+ v v v
+ "RM_MAMISS"
+ -----------
+
+
+MaMiss Frame Definitions:
+~~~~~~~~~~~~~~~~~~~~~~~~~
+
+ The MaMiss frame (MaMiss) is placed on the Rover Drill Rod with origin on
+ the MaMiss sapphire window and is parallel to the Drill Tip moving frame.
+ It is defined as follows:
+
+ - +X axis is nominally parallel to the +X axis of the RM_DRILL_TIP_MOV
+ frame;
+
+ - +Y axis is nominally parallel to the +Y axis of the RM_DRILL_TIP_MOV
+ frame;
+
+ - +Z axis completes the right-handed frame;
+
+ - The origin, is defined as the intersection between the Drill Rod
+ extension direction and the MaMiss sapphire window.
+
+
+ The following diagram describes the MaMiss reference frame:
+
+ +X side of the extended Rod:
+ ----------------------------
+
+ ..
+ ..
+ || +Xdtm and +Xmmis
+ \/ Dril are out of the page
+ o-------> +Zdtm, +Zmmiss
+ |
+ |
+ |
+ v +Ydtm, +Ymmiss
+
+
+ These sets of keywords define the MaMiss frame:
+
+ \begindata
+
+ FRAME_RM_MAMISS = -174500
+ FRAME_-174500_NAME = 'RM_MAMISS'
+ FRAME_-174500_CLASS = 4
+ FRAME_-174500_CLASS_ID = -174500
+ FRAME_-174500_CENTER = -174043
+ TKFRAME_-174500_RELATIVE = 'RM_DRILL_TIP_MOV'
+ TKFRAME_-174500_SPEC = 'ANGLES'
+ TKFRAME_-174500_UNITS = 'DEGREES'
+ TKFRAME_-174500_AXES = ( 1, 2, 3 )
+ TKFRAME_-174500_ANGLES = ( 0.0, 0.0, 0.0 )
+
+ \begintext
+
+
+CLUPI Frames
+------------------------------------------------------------------------
+
+ This section of the file contains the definitions of the Close-Up Imager
+ (CLUPI) frames.
+
+ CLUPI will be accommodated on the drill box of the rover. By using the
+ degrees of freedom provided by both the rover and the drill box, CLUPI
+ will be angled and raised so that it can observe in a variety of viewing
+ modes. The use of two fixed mirrors—one flat and one concave will provide
+ three FOVs.
+
+
+CLUPI Frame Tree:
+~~~~~~~~~~~~~~~~~
+
+ The diagram below shows the CLUPI frame hierarchy.
+
+ RM_ROVER
+ --------
+ |
+ |<-fixed
+ |
+ v
+ "RM_DRILL_POS_FIX"
+ +---------------------------------+
+ | |
+ |<-fixed |<-ck
+ | |
+ V v
+ "RM_CLUPI_BRACKET" "RM_DRILL_POS_MOV"
+ ------------------ +--------------------------+
+ | |
+ fixed->| fixed->|
+ | |
+ v v
+ "RM_CLUPI_BASE" "RM_DRILL_TIP_FIX"
+ --------------- ------------------
+ | |
+ |<-fixed |<-fixed
+ | |
+ v v
+ "RM_CLUPI_OPT_AXIS" "RM_DRILL_TIP_MOV"
+ ------------------- ------------------
+ | .
+ |<-fixed .
+ | .
+ v v
+ "RM_CLUPI_DRILL_TIP"
+ --------------------
+
+
+CLUPI Frame Definitions:
+~~~~~~~~~~~~~~~~~~~~~~~~
+
+ The CLUPI Base frame -- RM_CLUPI_BASE -- is placed on the CLUPI image
+ sensor, which is fixed to the Drill Positioner. Hence its frame is
+ rigidly following the RM_DRILL_POS_MOV frame and is defined as follows
+ It is defined as follows:
+
+ - +X axis is nominally parallel to the +X axis of the RM_DRILL_TIP_MOV
+ frame;
+
+ - +Y axis is nominally parallel to the +X axis of the RM_DRILL_POS_MOV
+ frame;
+
+ - +Z axis completes the right-handed frame;
+
+ - the origin is located in the CLUPI image sensor optical centre.
+
+
+ The CLUPI Optical Axis frame -- RM_CLUPI_OPT_AXIS -- is nominally
+ parallel to the RM_CLUPI_BASE with a rotation such that the CLUPI boresight
+ is along the +Z axis instead of the +Y axis. This frame is implemented to
+ incorporate possible missalignments of the optical axis.
+ The frame RM_CLUPI_OPT_AXIS is defined as follows:
+
+ - +Z axis is the optical axis of CLUPI;
+
+ - +X axis is nominally parallel to the +X axis of the RM_DRILL_TIP_MOV
+ frame;
+
+ - +Y axis completes the right-handed frame;
+
+ - the origin is located in the CLUPI image sensor optical centre.
+
+
+ The CLUPI Drill Tip mirror reference frame -- RM_CLUPI_DRILL_TIP --,
+ provides the reflection direction of CLUPI's 2nd mirror. CLUPI's 2nd mirror
+ (or drill mirror) is fixed on the drill box near the front end of the box
+ and splits the FOV into two parts: (i) the main part, RM_CLUPI_FOV2, 2 is
+ not deflected and looks in the direction of the optical axis of CLUPI and
+ (ii) the smaller part of the sensor RM_CLUPI_FOV3, looks toward the drill
+ tip. The RM_CLUPI_DRILL_TIP is defined as a fixed rotation of 54 degrees
+ around the RM_CLUPI_OPT_AXIS frame.
+
+ - +Y axis is nominally rotated a fixed angle of 54 degrees around the
+ +X axis of the RM_CLUPI_OPT_AXIS frame;
+
+ - +Z axis is the boresight of the mirrored portion of CLUPI's FOV
+ (FOV3);
+
+ - +X axis completes the right-handed frame;
+
+ - the origin is located in the tip mirror reflecting point of CLUPI's
+ FOV3 boresight.
+
+
+ When the drill is in stowed position, the CLUPI FOV 1 is looking at the
+ surface in front of the rover due to the first mirror (or bracket mirror),
+ fixed on the rover bracket that holds the drill when in stowed position.
+ The fixed orientation of CLUPI’s axis is toward the surface with an angle
+ of 20 degrees with respect to the horizontal of the rover.
+ To implement FOV1 we define the Rover Bracket Mirror frame as follows:
+
+ - +Z axis is the boresight of CLUPI's mirrored FOV (FOV1);
+
+ - +Y axis is parallel to the sensor pixel samples;
+
+ - +X axis completes the right-handed frame;
+
+ - the origin is located in the bracket mirror reflecting point of
+ CLUPI's FOV1 boresight.
+
+
+ The following diagrams illustrate the CLUPI frames:
+
+ +X Rover side view (drill in discharge phase):
+ ----------------------------------------------
+
+ o-o-=O===O--o
+ |o|___|
+ _\/
+ |_|_
+ |_|
+ |
+ |
+ |
+ |
+ |
+ | .
+ | . ' \
+ | . ' \
+ _|_ . ' ^+dZpf. '
+ | . ' | . '
+ -----------------.o-. ' . | |-------------------
+ | . '. '\ . ' | | | | |
+ +Zopt, . ' \ \ . ' ^ | o------> +Ydpf
+ +Ybas < '--. o. '\ |+Zrm | |
+ .--. ' \ \ | | | ''--.
+ .- . '===== \== v = o-----> ======| .-.
+ +Ydtf <' =| \ +Zbas, +Yrm |=|___|
+ |.-. v +Yopt .-.|
+ || | +Zdtf | || +Xrm, +Xdtf, +Xopt
+ `| | | |' and +Xbas are out
+ '_' '_' of the page
+ ~~~~~~~~ ~~~~~~~~
+
+
+ +X Rover side view (drill in hor. align. before discharge):
+ -----------------------------------------------------------
+
+ - · - · -
+ |
+ _|_ +Zrm
+ | | ^
+ - +Zopt <-------o--------|--------------------------
+ | | .'|'. -----|---------. | |
+ '--- .'| | '. | |.--'--'
+ .'--'-|----'.--|-------- '|
+ +Zcdt V .--' v '> +Ycdt | '---.
+ .-. |== +Yopt === o--------> ====| .-.
+ |___|=| +Xrm | |+Yrm |=|___|
+ |.-. .-.|
+ || | | || +Xrm, +Xopt, +Zcdt
+ `| | | |' are out of the
+ '_' '_' page
+ ~~~~~~~~ ~~~~~~~~
+
+
+ -Y Rover side view:
+ -------------------
+
+ - · - · -
+ |
+ | +Zrm
+ _|_ ^
+ | | |
+ -------------------|-------------------------------------
+ ,------------|------------.
+ | | |
+ o__| | |
+ / | +Xrm | |
+ /\___|__<---------o ____________. +Yrm is out
+ / | | +Yrm | | of the page.
+ /_------/ \-----__ / \.__
+ v |-----\_/----| | \__. |
+ +Zbrk |. .| |. .| |.
+ / |__| \ / |__| \ / |__| \
+ \ / \ / \ /
+ `-..-' `-..-' `-..-'
+
+
+ Relevant frames (for all diagrams):
+ rm: RM_ROVER
+ dtf: RM_DRILL_TIP_FIX
+ opt: RM_CLUPI_OPT_AXIS
+ bas: RM_CLUPI_BASE
+ cdt: RM_CLUPI_DRILL_TIP
+ brk: RM_CLUPI_BRACKET
+
+
+ These sets of keywords define the CLUPI frames:
+
+ \begindata
+
+ FRAME_RM_CLUPI_BASE = -174600
+ FRAME_-174600_NAME = 'RM_CLUPI_BASE'
+ FRAME_-174600_CLASS = 4
+ FRAME_-174600_CLASS_ID = -174600
+ FRAME_-174600_CENTER = -174600
+ TKFRAME_-174600_RELATIVE = 'RM_DRILL_POS_MOV'
+ TKFRAME_-174600_SPEC = 'ANGLES'
+ TKFRAME_-174600_UNITS = 'DEGREES'
+ TKFRAME_-174600_AXES = ( 1, 2, 3 )
+ TKFRAME_-174600_ANGLES = ( 0.0, 0.0, 0.0 )
+
+ FRAME_RM_CLUPI_OPT_AXIS = -174610
+ FRAME_-174610_NAME = 'RM_CLUPI_OPT_AXIS'
+ FRAME_-174610_CLASS = 4
+ FRAME_-174610_CLASS_ID = -174610
+ FRAME_-174610_CENTER = -174600
+ TKFRAME_-174610_RELATIVE = 'RM_CLUPI_BASE'
+ TKFRAME_-174610_SPEC = 'ANGLES'
+ TKFRAME_-174610_UNITS = 'DEGREES'
+ TKFRAME_-174610_AXES = ( 3, 2, 1 )
+ TKFRAME_-174610_ANGLES = ( 0.0, 0.0, -90.0 )
+
+ FRAME_RM_CLUPI_DRILL_TIP = -174620
+ FRAME_-174620_NAME = 'RM_CLUPI_DRILL_TIP'
+ FRAME_-174620_CLASS = 4
+ FRAME_-174620_CLASS_ID = -174620
+ FRAME_-174620_CENTER = -174620
+ TKFRAME_-174620_RELATIVE = 'RM_CLUPI_OPT_AXIS'
+ TKFRAME_-174620_SPEC = 'ANGLES'
+ TKFRAME_-174620_UNITS = 'DEGREES'
+ TKFRAME_-174620_AXES = ( 3, 2, 1 )
+ TKFRAME_-174620_ANGLES = ( 0.0, 0.0, -54.0 )
+
+ FRAME_RM_CLUPI_BRACKET = -174630
+ FRAME_-174630_NAME = 'RM_CLUPI_BRACKET'
+ FRAME_-174630_CLASS = 4
+ FRAME_-174630_CLASS_ID = -174630
+ FRAME_-174630_CENTER = -174630
+ TKFRAME_-174630_RELATIVE = 'RM_DRILL_POS_FIX'
+ TKFRAME_-174630_SPEC = 'ANGLES'
+ TKFRAME_-174630_UNITS = 'DEGREES'
+ TKFRAME_-174630_AXES = ( 3, 2, 1 )
+ TKFRAME_-174630_ANGLES = ( 0.0, -160.0, 0.0 )
+
+ \begintext
+
+
+
+RM NAIF ID Codes -- Definitions
+===============================================================================
+
+ This section contains name to NAIF ID mappings for the ExoMarsRSP RM
+ 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
+ --------------------- ------- -----------------------
+
+ Rover:
+ -----------
+ RM -174 EXOMARS RSP ROVER MODULE
+ EXOMARS RSP RM
+ EXOMARS RSP ROVER
+ EXOMARS ROVER
+ RM_ROVER -174000
+ RM_MAST -174011
+ RM_PTR -174013
+ RM_PB -174014
+ 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_CSTM_FIX -174052
+ RM_ALD_CSTM_MOV -174053
+ RM_ALD_PSDDS -174055
+ RM_ALD_PSHS -174058
+ RM_SA1_PRI -174062
+ RM_SA1_SEC -174063
+ RM_SA2_PRI -174065
+ RM_SA2_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
+
+ The mappings summarized in this table are implemented by the keywords
+ below.
+
+ \begindata
+
+ NAIF_BODY_NAME += ( 'RM' )
+ NAIF_BODY_CODE += ( -174 )
+
+ NAIF_BODY_NAME += ( 'EXOMARS RSP ROVER MODULE' )
+ NAIF_BODY_CODE += ( -174 )
+
+ NAIF_BODY_NAME += ( 'EXOMARS RSP RM' )
+ NAIF_BODY_CODE += ( -174 )
+
+ NAIF_BODY_NAME += ( 'EXOMARS RSP ROVER' )
+ NAIF_BODY_CODE += ( -174 )
+
+ NAIF_BODY_NAME += ( 'EXOMARS ROVER' )
+ NAIF_BODY_CODE += ( -174 )
+
+ NAIF_BODY_NAME += ( 'RM_ROVER' )
+ NAIF_BODY_CODE += ( -174000 )
+
+ NAIF_BODY_NAME += ( 'RM_SITE_DISPOSAL' )
+ NAIF_BODY_CODE += ( -174900 )
+
+ NAIF_BODY_NAME += ( 'RM_MAST_ZERO' )
+ NAIF_BODY_CODE += ( -174010 )
+
+ NAIF_BODY_NAME += ( 'RM_MAST' )
+ NAIF_BODY_CODE += ( -174011 )
+
+ NAIF_BODY_NAME += ( 'RM_PTR_ZERO' )
+ NAIF_BODY_CODE += ( -174012 )
+
+ NAIF_BODY_NAME += ( 'RM_PTR' )
+ NAIF_BODY_CODE += ( -174013 )
+
+ NAIF_BODY_NAME += ( 'RM_NAVCAM' )
+ NAIF_BODY_CODE += ( -174020 )
+
+ NAIF_BODY_NAME += ( 'RM_NAVCAM_L' )
+ NAIF_BODY_CODE += ( -174021 )
+
+ NAIF_BODY_NAME += ( 'RM_NAVCAM_R' )
+ NAIF_BODY_CODE += ( -174022 )
+
+ NAIF_BODY_NAME += ( 'RM_LOCCAM' )
+ NAIF_BODY_CODE += ( -174030 )
+
+ NAIF_BODY_NAME += ( 'RM_LOCCAM_L' )
+ NAIF_BODY_CODE += ( -174031 )
+
+ NAIF_BODY_NAME += ( 'RM_LOCCAM_R' )
+ NAIF_BODY_CODE += ( -174032 )
+
+ NAIF_BODY_NAME += ( 'RM_DRILL_POS_FIX' )
+ NAIF_BODY_CODE += ( -174040 )
+
+ NAIF_BODY_NAME += ( 'RM_DRILL_POS_MOV' )
+ NAIF_BODY_CODE += ( -174041 )
+
+ NAIF_BODY_NAME += ( 'RM_DRILL_TIP_FIX' )
+ NAIF_BODY_CODE += ( -174042 )
+
+ NAIF_BODY_NAME += ( 'RM_DRILL_TIP_MOV' )
+ NAIF_BODY_CODE += ( -174043 )
+
+ NAIF_BODY_NAME += ( 'RM_ALD' )
+ NAIF_BODY_CODE += ( -174050 )
+
+ NAIF_BODY_NAME += ( 'RM_ALD_CSTM' )
+ NAIF_BODY_CODE += ( -174051 )
+
+ NAIF_BODY_NAME += ( 'RM_ALD_CSTM_FIX' )
+ NAIF_BODY_CODE += ( -174052 )
+
+ NAIF_BODY_NAME += ( 'RM_ALD_CSTM_MOV' )
+ NAIF_BODY_CODE += ( -174053 )
+
+ NAIF_BODY_NAME += ( 'RM_ALD_PSDDS' )
+ NAIF_BODY_CODE += ( -174055 )
+
+ NAIF_BODY_NAME += ( 'RM_ALD_PSHS' )
+ NAIF_BODY_CODE += ( -174058 )
+
+ NAIF_BODY_NAME += ( 'RM_SA1_PRI' )
+ NAIF_BODY_CODE += ( -174062 )
+
+ NAIF_BODY_NAME += ( 'RM_SA1_SEC' )
+ NAIF_BODY_CODE += ( -174063 )
+
+ NAIF_BODY_NAME += ( 'RM_SA2_PRI' )
+ NAIF_BODY_CODE += ( -174065 )
+
+ NAIF_BODY_NAME += ( 'RM_SA2_SEC' )
+ NAIF_BODY_CODE += ( -174066 )
+
+ NAIF_BODY_NAME += ( 'RM_BOGIE_LF' )
+ NAIF_BODY_CODE += ( -174071 )
+
+ NAIF_BODY_NAME += ( 'RM_BOGIE_LR' )
+ NAIF_BODY_CODE += ( -174074 )
+
+ NAIF_BODY_NAME += ( 'RM_BOGIE_RR' )
+ NAIF_BODY_CODE += ( -174076 )
+
+ NAIF_BODY_NAME += ( 'RM_WHEEL_LF' )
+ NAIF_BODY_CODE += ( -174081 )
+
+ NAIF_BODY_NAME += ( 'RM_WHEEL_LM' )
+ NAIF_BODY_CODE += ( -174082 )
+
+ NAIF_BODY_NAME += ( 'RM_WHEEL_RF' )
+ NAIF_BODY_CODE += ( -174083 )
+
+ NAIF_BODY_NAME += ( 'RM_WHEEL_RM' )
+ NAIF_BODY_CODE += ( -174084 )
+
+ NAIF_BODY_NAME += ( 'RM_WHEEL_LR' )
+ NAIF_BODY_CODE += ( -174085 )
+
+ NAIF_BODY_NAME += ( 'RM_WHEEL_RR' )
+ NAIF_BODY_CODE += ( -174086 )
+
+ \begintext
+
+
+ PanCam:
+ -----------
+ RM_PANCAM -174100
+ RM_PANCAM_WAC_L -174110
+ RM_PANCAM_WAC_R -174120
+ RM_PANCAM_HRC -174130
+
+ The mappings summarised in this table are implemented by the keywords
+ below.
+
+ \begindata
+
+ NAIF_BODY_NAME += ( 'RM_PANCAM' )
+ NAIF_BODY_CODE += ( -174100 )
+
+ NAIF_BODY_NAME += ( 'RM_PANCAM_WAC_L' )
+ NAIF_BODY_CODE += ( -174110 )
+
+ NAIF_BODY_NAME += ( 'RM_PANCAM_WAC_R' )
+ NAIF_BODY_CODE += ( -174120 )
+
+ NAIF_BODY_NAME += ( 'RM_PANCAM_HRC' )
+ NAIF_BODY_CODE += ( -174130 )
+
+ \begintext
+
+
+ ISEM:
+ -----------
+ RM_ISEM -174200
+
+ The mappings summarised in this table are implemented by the keywords
+ below.
+
+ \begindata
+
+ NAIF_BODY_NAME += ( 'RM_ISEM' )
+ NAIF_BODY_CODE += ( -174200 )
+
+ \begintext
+
+ ADRON-RM:
+ -----------
+ RM_ADRON-RM -174300
+
+ The mappings summarised in this table are implemented by the keywords
+ below.
+
+ \begindata
+
+ NAIF_BODY_NAME += ( 'RM_ADRON-RM' )
+ NAIF_BODY_CODE += ( -174300 )
+
+ \begintext
+
+
+ WISDOM:
+ -----------
+ RM_WISDOM -174400
+ RM_WISDOM_ANT1 -174410
+ RM_WISDOM_ANT1 -174410
+
+ The mappings summarised in this table are implemented by the keywords
+ below.
+
+ \begindata
+
+ NAIF_BODY_NAME += ( 'RM_WISDOM' )
+ NAIF_BODY_CODE += ( -174400 )
+
+ NAIF_BODY_NAME += ( 'RM_WISDOM_ANT1' )
+ NAIF_BODY_CODE += ( -174410 )
+
+ NAIF_BODY_NAME += ( 'RM_WISDOM_ANT2' )
+ NAIF_BODY_CODE += ( -174420 )
+
+ \begintext
+
+
+ MaMiss:
+ -----------
+ RM_MAMISS -174500
+
+ The mappings summarised in this table are implemented by the keywords
+ below.
+
+ \begindata
+
+ NAIF_BODY_NAME += ( 'RM_MAMISS' )
+ NAIF_BODY_CODE += ( -174500 )
+
+ \begintext
+
+
+ CLUPI:
+ -----------
+ RM_CLUPI -174600
+ RM_CLUPI_FOV1 -174601
+ RM_CLUPI_FOV2 -174602
+ RM_CLUPI_FOV3 -174603
+ RM_CLUPI_DRILL_TIP -174620
+ RM_CLUPI_BRACKET -174630
+
+ The mappings summarised in this table are implemented by the keywords
+ below.
+
+ \begindata
+
+ NAIF_BODY_NAME += ( 'RM_CLUPI' )
+ NAIF_BODY_CODE += ( -174600 )
+
+ NAIF_BODY_NAME += ( 'RM_CLUPI_FOV1' )
+ NAIF_BODY_CODE += ( -174601 )
+
+ NAIF_BODY_NAME += ( 'RM_CLUPI_FOV2' )
+ NAIF_BODY_CODE += ( -174602 )
+
+ NAIF_BODY_NAME += ( 'RM_CLUPI_FOV3' )
+ NAIF_BODY_CODE += ( -174603 )
+
+ NAIF_BODY_NAME += ( 'RM_CLUPI_DRILL_TIP' )
+ NAIF_BODY_CODE += ( -174620 )
+
+ NAIF_BODY_NAME += ( 'RM_CLUPI_BRACKET' )
+ NAIF_BODY_CODE += ( -174630 )
+
+ \begintext
+
+
+ Sites:
+ -----------
+ RM_SITE_000 -174700 (synonym: RM_LANDING_SITE)
+ RM_SITE_NNN -174XXX
+
+ The mappings summarised in this table are implemented by the keywords
+ below.
+
+ \begindata
+
+ NAIF_BODY_NAME += ( 'RM_SITE_000' )
+ NAIF_BODY_CODE += ( -174700 )
+
+ NAIF_BODY_NAME += ( 'RM_LANDING_SITE' )
+ NAIF_BODY_CODE += ( -174700 )
+
+ NAIF_BODY_NAME += ( 'RM_SITE_001' )
+ NAIF_BODY_CODE += ( -174701 )
+
+ NAIF_BODY_NAME += ( 'RM_SITE_002' )
+ NAIF_BODY_CODE += ( -174702 )
+
+ NAIF_BODY_NAME += ( 'RM_SITE_003' )
+ NAIF_BODY_CODE += ( -174703 )
+
+ NAIF_BODY_NAME += ( 'RM_SITE_004' )
+ NAIF_BODY_CODE += ( -174704 )
+
+ NAIF_BODY_NAME += ( 'RM_SITE_005' )
+ NAIF_BODY_CODE += ( -174705 )
+
+ NAIF_BODY_NAME += ( 'RM_SITE_006' )
+ NAIF_BODY_CODE += ( -174706 )
+
+ NAIF_BODY_NAME += ( 'RM_SITE_007' )
+ NAIF_BODY_CODE += ( -174707 )
+
+ NAIF_BODY_NAME += ( 'RM_SITE_008' )
+ NAIF_BODY_CODE += ( -174708 )
+
+ NAIF_BODY_NAME += ( 'RM_SITE_009' )
+ NAIF_BODY_CODE += ( -174709 )
+
+ NAIF_BODY_NAME += ( 'RM_SITE_010' )
+ NAIF_BODY_CODE += ( -174710 )
+
+ NAIF_BODY_NAME += ( 'RM_SITE_011' )
+ NAIF_BODY_CODE += ( -174711 )
+
+ NAIF_BODY_NAME += ( 'RM_SITE_012' )
+ NAIF_BODY_CODE += ( -174712 )
+
+ NAIF_BODY_NAME += ( 'RM_SITE_013' )
+ NAIF_BODY_CODE += ( -174713 )
+
+ NAIF_BODY_NAME += ( 'RM_SITE_014' )
+ NAIF_BODY_CODE += ( -174714 )
+
+ NAIF_BODY_NAME += ( 'RM_SITE_015' )
+ NAIF_BODY_CODE += ( -174715 )
+
+ NAIF_BODY_NAME += ( 'RM_SITE_016' )
+ NAIF_BODY_CODE += ( -174716 )
+
+ \begintext
+
+
End of FK file.
\ No newline at end of file