ExoMarsRFM CK files =========================================================================== This ``aareadme.txt'' file describes the contents of the kernels/ck directory of the ExoMarsRFM SPICE Kernel Dataset. It was last modified on August 31, 2026 by Alfredo Escalante, ESAC/ESA. Brief Summary -------------------------------------------------------- CK (Camera-Matrix Kernel) files contain time varying orientation for the ExoMarsRFM rover, its structures, and science instruments. File naming conventions -------------------------------------------------------- Naming Scheme for ExoMars RFM rover CKs: The naming scheme for the ExoMarsRFM rover CKs is: emrfm_rm_surf[_test]_TYPE_XXXX_vNNN.bc where TYPE: Variable char that specifies the type of data in the CK file. Its values are: gnc-zero: This file includes gnc zero rotation of the rover with respect to RM_MLG reference frame. gnc-tlm: This file includes gnc telemetry from the rover with respect to site frames (including landing site frame). mech-tlm: This file includes mechanism orientation as per rover telemetry. mech-zero: This file includes default or zero rotation for the rover mechanisms orientation. interp-tlm: This file includes rover gnc and mechanisms telemetry interpolated with data gaps filled assuming rover they are not moving if telemetry is not available. This kernel will include the gnc orientation extrapolated with a zero order interpolation for 7 sols beyond the latest telemetry received to allow for rover-orbiter link budget calculation. rec: This file includes the rover orientation relative to MLG or WISDOM grid orientation relative to the latest site frame. test: This file include data that is used for test or rehearsal (optional). XXXX: Kernel generation sol number, this corresponds to the end sol of its telemetry coverage. This number is 4 digits long and left padded with 0s starting from 0. This field is optional in case of kernels of type test. This number corresponds to the one appearing in the OEM filename. NNN: 3 digit version number, incremental, starting from 0. Current CK Kernels Set -------------------------------------------------------- emrfm_rm_surf_gnc-zero_vNNN.bc SPICE CK file that contains the default or zero rotation for the rover orientation with respect to RM_MLG reference frame. Created by the ESA SPICE Service (ESS). emrfm_rm_surf_mech-zero_vNNN.bc SPICE CK file that contains the default or zero rotation for the rover mechanisms orientation. Created by the ESA SPICE Service (ESS). emrfm_rm_surf_mech-tlm_XXXX_vNNN.bc SPICE CK file that contains gnc telemetry from the rover with respect to site frames (including landing site frame). Created by the Rover Control Center (ROCC). emrfm_rm_surf_gnc-tlm_XXXX_vNNN.bc SPICE CK file that contains mechanism orientation as per rover telemetry. Created by the Rover Control Center (ROCC). emrfm_rm_surf_rec_XXXX_vNNN.bc SPICE CK file that includes the rover orientation relative to MLG or WISDOM grid orientation relative to the latest site frame. Created by the Rover Control Center (ROCC). emrfm_rm_surf_interp-tlm_XXXX_vNNN.bc SPICE CK file that includes rover gnc and mechanisms telemetry interpolated with data gaps filled assuming rover they are not moving if telemetry is not available. This kernel will include the gnc orientation extrapolated with a zero order interpolation for 7 sols beyond the latest telemetry received to allow for rover-orbiter link budget calculation. emrfm_sp_surf_YYYMMDD_vNN.bc SPICE CK test file that contains gnc telemetry from the surface platform with respect to the landing site frames. Created by NNK/IKI. emrfm_rm_surf_test_mech-tlm_XXXX_vNNN.bc SPICE CK test file that contains gnc telemetry from the rover with respect to site frames (including landing site frame). Created by the Rover Control Center (ROCC). emrfm_rm_surf_test_gnc-tlm_XXXX_vNNN.bc SPICE CK test file that contains mechanism orientation as per rover telemetry. Created by the Rover Control Center (ROCC). emrfm_rm_surf_test_rec_XXXX_vNNN.bc SPICE CK test file that includes the rover orientation relative to MLG or WISDOM grid orientation relative to the latest site frame. Created by the Rover Control Center (ROCC). emrfm_rm_surf_test_interp-tlm_XXXX_vNNN.bc SPICE CK test file that includes rover gnc and mechanisms telemetry interpolated with data gaps filled assuming rover they are not moving if telemetry is not available. This kernel will include the gnc orientation extrapolated with a zero order interpolation for 7 sols beyond the latest telemetry received to allow for rover-orbiter link budget calculation. Other directory contents -------------------------------------------------------- aareadme.txt This file. Particulars -------------------------------------------------------- Nothing to report. Kernel File Details -------------------------------------------------------- The most detailed description of the data in a binary CK file is provided in metadata included inside the comment area of the file. This information can be viewed using the utility programs COMMNT and SPACIT included in the NAIF Toolkit. Contact Information -------------------------------------------------------- If you have any questions regarding this file, please contact the ESA SPICE Service at ESAC: Alfredo Escalante Lopez (+34) 91-8131-429 spice@cosmos.esa.int or ROCC at Altec Space: Diego Bussi +39 011 7430 097 diego.bussi@altecspace.it References and required readings -------------------------------------------------------- 1. ``Frames Required Reading'', NAIF Document 2. ``C-Kernel Required Reading'', NAIF Document 3. ``SCLK Required Reading'', NAIF Document 4. ``TIME Required Reading'', NAIF Document End of aareadme file.