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 0.1 -- 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-RM. Version 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, 6. ExoMars RSP Mars Local Geodetic Frames (emrsp_mlg_vVVV.tf), latest version. 7. EXM-RM-SYS-ASU-00101 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 Contact Information ------------------------------------------------------------------------ If you have any questions regarding this file contact SPICE support at ESA: Marc Costa Sitja (+34) 91-8131-457 mcosta@sciops.esa.int, esa_spice@sciops.esa.int or ROCC at Altec Space: Federico Salvioli +1 (818) 354-8136 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_L -174021 RM_NAVCAM_R -174022 RM_LOCCAM_L -174031 RM_LOCCAM_R -174031 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 name/IDs: RM_ADRON-RM -174300 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_NN* CK -174000 RM_MAST RM_ROVER FIXED -174010 RM_PTR_ZERO RM_MAST FIXED -174011 RM_PTR RM_PTRM_ZERO CK -174012 RM_PB RM_PTR FIXED -174013 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 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 RM ISEM frames: ------------------------------------------------ RM_ISEM RM_PB FIXED -174200 RM ADRON frames: ------------------------------------------------ RM_ADRON-RM RM_PB FIXED -174300 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_MLG_DISPOSAL IAU_MARS FIXED -174900 RM_MLG_DISPOSAL_FIXED IAU_MARS FIXED -174910 RM_MLG_NN* IAU_MARS FIXED -1749NN0 RM_MLG_DISPISAL_NN_FIXED* IAU_MARS FIXED -1749NN1 * NN corresponds to the travel sequence number. 00 refers to the position of the Rover after Rover Disposal and this frame definition is equivalent to the RM_MLG_DISPOSAL frame. (1) This frame is defined in the ExoMars RSP Mars Local Geodetic Frames Definitions kernel file (see [6]). 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 Surface Platform (SP) and the 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 +---------------------------------+ | | |<-pck |<-pck | | v v "IAU_MARS" "IAU_EARTH" MARS BODY-FIXED EARTH BODY-FIXED +------------------+ ---------------- | | "RM_MLG_DISPOSAL_FIXED" |<-fixed |<-fixed "RM_MLG_NN*_FIXED" ----------------------- | | ------------------ ^ | | ^ | v v | fixed->| "RM_MLG_DISPOSAL" "RM_MLG_NN*" |<-fixed | MARS TOPOGRAPHIC MARS TOPOGRAPHIC | +-----------------------+ +-------------------------+ | | |<-ck |<-ck | | | | v "RM_ROVER" v +------------------------------------+ | | . |<-fixed |<-fixed . | | . v v . "RM_MAST" "RM_LOCCAM_BASE" . --------- ---------------- . | . |<-fixed . | V v Individual instrument frame trees are "RM_PTR_ZERO" provided in the other sections of this ------------- file | |<-ck | v "RM_PTR" -------- | |<-fixed | v "RM_PB" +------------------------+ | . |<-fixed . | . V . "RM_NAVCAM_BASE" . +-----------------+ . | | . |<-fixed fixed->| . | | . v v . "RM_NAVCAM_L" "RM_NAVCAM_R" . ------------- ------------- . . 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. RM Surface Frames ------------------------------------------------------------------------ This section defines a series of Rover Module Mars Surface Frames. Mars Local Geodetic Frames ------------------------------------------------- A series of Rover Module Mars Local Geodetic and Mars Local Geodetic Fixed frames (topocentric) frames are defined. The definition of their axis is common whereas the Rover Module Mars Local Geodetic have the origin on the origin of the Rover Body Frame and the Fixed ones have their origin fixed on the coordinates of the site. The Rover Module Mars Local Geodetic frames -- RM_MLG_NN -- are 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 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. The Rover Mars Local Geodetic Fixed frames -- RM_MLG_NN_FIXED -- are equivalent to their corresponding RM_MLG_NN frames but its origin does not move during the mission and corresponds to a the surface point given by the travel sequence. Therefore, these frames are defined as zero-offset, fixed frames with respect to the RM_MLG_NN frames. The implementation of the Mars Local Geodetic Frames for the different travel sequences is provided by the ExoMars RSP Mars Local Geodetic Frames Kernel (see [6]) nevertheless this file provides the definition for the Local Geodetic Frame after rover disposal. 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 surface frames as fixed offset frames with respect to each other and/or to Mars body-fixed frame, IAU_MARS. With this assumption we could always used the Mars Local Geodetic Disposal frame that is defined hereafter. Mars Local Geodetic Disposal Frame: ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The Rover disposal site Gaussian longitude and latitude upon which the definition is built are: Lon = 335.45 degrees East Lat = 18.20 degrees North This corresponds to one of the two final landing site locations. The coordinates specified above are given with respect to the 'IAU_MARS' instance defined by the rotation/shape model from the the PCK file 'pck00010.tpc'. Topocentric frame RM_MLG_DISPOSAL is centered at the site RM_SITE_DISPOSAL which has planetodetic coordinates Longitude (deg): -24.5500000000000 Latitude (deg): 18.2000000000000 Altitude (km): -0.0000000000000E+00 These planetodetic coordinates are expressed relative to a reference spheroid having the dimensions Equatorial radius (km): 3.3961900000000E+03 Polar radius (km): 3.3762000000000E+03 These keywords implement the frame definition. \begindata FRAME_RM_MLG_DISPOSAL = -174900 FRAME_-174900_NAME = 'RM_MLG_DISPOSAL' FRAME_-174900_CLASS = 4 FRAME_-174900_CLASS_ID = -174900 FRAME_-174900_CENTER = -174000 OBJECT_-174900_FRAME = 'RM_MLG_DISPOSAL' TKFRAME_-174900_RELATIVE = 'IAU_MARS' TKFRAME_-174900_SPEC = 'ANGLES' TKFRAME_-174900_UNITS = 'DEGREES' TKFRAME_-174900_AXES = ( 3, 2, 3 ) TKFRAME_-174900_ANGLES = ( -335.4500000000000, -71.8000000000000, 270.0000000000000 ) \begintext Mars Local Geodetic Disposal Fixed Frame: ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ MSL surface fixed frame -- MSL_SURFACE_FIXED -- is nominally co-aligned in orientation with the MSL_LOCAL_LEVEL frame but its origin does not move during the mission. Therefore, this frame is defined as a zero-offset, fixed frame with respect to the MSL_LOCAL_LEVEL frame. \begindata FRAME_RM_MLG_DISPOSAL_FIXED = -174910 FRAME_-174910_NAME = 'RM_MLG_DISPOSAL_FIXED' FRAME_-174910_CLASS = 4 FRAME_-174910_CLASS_ID = -174010 FRAME_-174910_CENTER = -174900 TKFRAME_-174910_RELATIVE = 'RM_MLG_DISPOSAL' TKFRAME_-174910_SPEC = 'ANGLES' TKFRAME_-174910_UNITS = 'DEGREES' TKFRAME_-174910_AXES = ( 3, 1, 2 ) TKFRAME_-174910_ANGLES = ( 0.0, 0.0, 0.0 ) \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: ------------------- o-o-=O===O--o |o|___| _\/ |_|_ |_| | | | | | | | | | _|_ +Zrm | | ^ --------------------------|-------------------------- | | | | | | '---| | | .--'--' '--.-----------|----------| .--| | |---. .-. |============= 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 = -174 CK_-174000_SCLK = -174 CK_-174000_SPK = -174 OBJECT_-174_FRAME = 'RM_ROVER' \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 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). 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, RM_PTR_ZERO, RM_PTR and RM_PB frames: +X Rover side view: ------------------- +Zptr0 ^ | o-o-=O=|=O--o |o|_|_| _|/ |_|_ o------------> +Yptr0 +Xptr0 | | +Zmast ^ | | | | _|_ +Zrm | o----------> +Ymast ------------------ +Xmast --------------------------- | | | ^ +Zrm | | '---| | | .--'--' '--.-----------|----------| .--| | |---. .-. |============= o--------> ====| .-. |___|=| +Xrm +Yrm |=|___| |.-. .-.| || | | || +Xrm, +Xmast and `| | | |' +Zptr0 are out of '_' '_' 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 = -174010 FRAME_-174010_NAME = 'RM_MAST' FRAME_-174010_CLASS = 4 FRAME_-174010_CLASS_ID = -174010 FRAME_-174010_CENTER = -174 TKFRAME_-174010_RELATIVE = 'RM_ROVER' TKFRAME_-174010_SPEC = 'ANGLES' TKFRAME_-174010_UNITS = 'DEGREES' TKFRAME_-174010_AXES = ( 3, 1, 2 ) TKFRAME_-174010_ANGLES = ( 0.0, 0.0, 0.0 ) FRAME_RM_PTR_ZERO = -174011 FRAME_-174011_NAME = 'RM_PTR_ZERO' FRAME_-174011_CLASS = 4 FRAME_-174011_CLASS_ID = -174011 FRAME_-174011_CENTER = -174 TKFRAME_-174011_RELATIVE = 'RM_MAST' TKFRAME_-174011_SPEC = 'ANGLES' TKFRAME_-174011_UNITS = 'DEGREES' TKFRAME_-174011_AXES = ( 3, 1, 2 ) TKFRAME_-174011_ANGLES = ( 0.0, 0.0, 0.0 ) FRAME_RM_PTR = -174012 FRAME_-174012_NAME = 'RM_PTR' FRAME_-174012_CLASS = 3 FRAME_-174012_CLASS_ID = -174012 FRAME_-174012_CENTER = -174 CK_-174012_SCLK = -174 CK_-174012_SPK = -174 FRAME_RM_PB = -174013 FRAME_-174013_NAME = 'RM_PB' FRAME_-174013_CLASS = 4 FRAME_-174013_CLASS_ID = -174013 FRAME_-174013_CENTER = -174 TKFRAME_-174013_RELATIVE = 'RM_PTR' TKFRAME_-174013_SPEC = 'ANGLES' TKFRAME_-174013_UNITS = 'DEGREES' TKFRAME_-174013_AXES = ( 1, 2, 3 ) TKFRAME_-174013_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 = -174 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 = -174 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 = -174 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 = -174 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_NAVCAM_L = -174021 FRAME_-174021_NAME = 'RM_NAVCAM_L' FRAME_-174021_CLASS = 4 FRAME_-174021_CLASS_ID = -174021 FRAME_-174021_CENTER = -174 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 = -174 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 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. . . V "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_HRCframe with respect to the rover frame. +X Rover side view: ------------------- +Zpancam ^ | | | | o-o-=Oo--------> +Ypancam +Xpancam _| _\/ |_|_ |_| | | | | | | | | | _|_ +Zrm | | ^ --------------------------|-------------------------- | | | | | | '---| | | .--'--' '--.-----------|----------| .--| | |---. .-. |============= 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 = -174 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 = -174 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 = -174 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 = -174 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. . . V "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 | | ^ --------------------------|-------------------------- | | | | | | '---| | | .--'--' '--.-----------|----------| .--| | |---. .-. |============= 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 = -174 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. . . V "RM_ROVER" · · · ---------+ | |<-fixed | V "RM_ADRON-RM" ------------- ADRON 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-RM 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 = -174 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 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 -174010 RM_PTR -174012 RM_PB -174013 RM_NAVCAM_L -174021 RM_NAVCAM_R -174022 RM_LOCCAM_L -174031 RM_LOCCAM_R -174031 PanCam: ----------- RM_PANCAM -174100 RM_PANCAM_WAC_L -174110 RM_PANCAM_WAC_R -174120 RM_PANCAM_HRC -174130 ISEM: ----------- RM_ISEM -174200 ADRON: ----------- RM_ADRON-RM -174300 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' ) NAIF_BODY_CODE += ( -174010 ) NAIF_BODY_NAME += ( 'RM_PTR' ) NAIF_BODY_CODE += ( -174012 ) 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_L' ) NAIF_BODY_CODE += ( -174031 ) NAIF_BODY_NAME += ( 'RM_LOCCAM_R' ) NAIF_BODY_CODE += ( -174032 ) 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 ) NAIF_BODY_NAME += ( 'RM_ISEM' ) NAIF_BODY_CODE += ( -174200 ) NAIF_BODY_NAME += ( 'RM_ADRON-RM' ) NAIF_BODY_CODE += ( -174300 ) \begintext End of FK file.