ExoMarsRSP SPICE Kernel Dataset Release Notes v0.8.7 =========================================================================== This release notes file describes the status of the mission's SPICE Kernel Dataset for the given version. This version (0.8.7) provides a tag in the ExoMarsRSP Git repository at the SOCCI Bitbucket: https://repos.cosmos.esa.int/socci/projects/SPICE/ Created by Alfredo Escalante Lopez, ESAC/ESA, February 19, 2024. 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: Federico Salvioli +39 011 7430 097 federico.salvioli@altecspace.it Notes -------------------------------------------------------- February 19, 2024 v0.8.7 Added reference frame RM_PTR_PAN incorporating only the PTR PAN angle. Added CLUPI reference frame names RM_CLUPI_BRACKET to RM_CLUPI_M1 and RM_CLUPI_DRILL_TIP to RM_CLUPI_M2. Added optical distortion and geometric calibration sections. Issues fixed for this release -------------------------------------------------------- [SPICEPCR-1336] - Merge ROCC Pull Request and SKD update. Appendix: Release History =========================================================================== January 11, 2023 v0.8.6 Review CLUPI frames orientations and descriptions. Add SPK and CK for zero GNC pose after turn-on. Corrected comments in IKs. Update installation section in README. Fixes in fsalvioli telephone number. Removed SCLK template 'emrsp_rm_ret_20191128_v001.tsc'. Updated contact information in aareadme's April 18, 2022 v0.8.5 Added preliminary version for MaMiss IK. Corrected CLUPI frames. Updated CLUPI, MaMiss and ISEM positions from TASi documentation. Added components zero rotation bootstrapping CK. November 23, 2021 v0.8.4 Corrected test RM_SITE_001 position to be located at the planned landing site position. November 4, 2021 v0.8.3 Corrected RM_DRILL_TIP_FIX body center to RM_DRILL_POS_MOV. Added version number in filename for SP SCLKs. Added Cosmographia configuration for RM_DRILL_TIP_MOV body. July 15, 2021 v0.8.2 Corrected LMST SCLK so to have first coefficient at LMST midnight before landing on 2023-06-10. May 6, 2021 v0.8.1 Implemented PanCam calibration data. Updated PanCam WAC-L, WAC-R and HRC reference frames from calibration data. Defined auxiliary frame RM_PANCAM_JR. Added Pan and Tilt axis offset to RM_PANCAM_BASE reference frame. Updated PanCam focus point positions and PTM origin from calibration data in structures SPK. May 6, 2021 v0.8.0 FK Corrected MAST_ZERO reference frame orientation. Added wheels steer IDs/bodies association. Corrected wheel bogies names. SCLK Corrected clock string delimiter from ":" to "." SPK and CK Generated new trajectory for RM traverse test motion covering from 2023-Jun to 2024-Apr based on the previous traverse geometry. Generated test CK providing Mast, Ptr, Drillbox and Wheels motion during the traverse. Implemented full Cosmographia configuration defining each RM component as independent bodies (3D models have been separated) allowing motion visualization. March 9, 2021 v0.7.3 Fix frames names and IDs in FK. November 12, 2020 v0.7.2 Corrected Structures SPK adding RM_MAST and RM_MAST_ZERO placeholder definitions. October 14, 2020 v0.7.1 Added default information for orientation of all mechanisms. Performed by Federico Salvioli. June 3, 2020 v0.7.0 Updated ADRON to ADRON-RM in all relevant files. Updated Surface Platform FK with corrected LARA Antennas IDs. For the Rover frames kernel: - 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. Updated Rover Structures SPK according to the FK updates. April 16, 2020 v0.6.1 Updated meta-kernel for test data and added Jupyter Notebook that illustrates how to generate a simple traverse map. Updated aareadme files to accomodate test files for PDS4 Bundle generation. April 13, 2020 v0.6.0 - Renamed Landing site file from emrsp_rm_ls-plan_v001.bsp to emrsp_ls-plan_v001.bsp; for it is to be used for both RM and SP. - Renamed Mars Ephemeris. - Included updates provided by NNK for Surface Platform kernels. - Updated readme files. December 20, 2019 v0.5.0 Generated a test scenario. Description TDB. 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. February 28, 2019 v0.4.0 Added reference frames, references, diagrams and IDs for or ALD components in the RM FK. Added test CK for ALD components and corrected RM SPK. February 14, 2019 v0.3.0 Added reference frames, references, diagrams and IDs for the drill, MaMiss, WISDOM and CLUPI in the RM FK and generated corresponding draft IKs. Added test CK and SPK for the Drill, with this the simulation scenario becomes: 2020 NOV 01 00:00:00 TDB - Lander Disposal 2020 NOV 01 00:00:01 TDB - Drive 5 meters 2020 NOV 01 00:01:42 TDB - Turn Right 2020 NOV 01 00:02:43 TDB - Drive 5 meters 2020 NOV 01 00:04:06 TDB - Turn Left 2020 NOV 01 00:04:34 TDB - Drive 3.7 meters 2020 NOV 01 00:05:46 TDB - Stop at ( -1.3e-02 -2.e-03 0 ) [km] 2020 NOV 01 01:04:22 UTC - Start PTR Pan to 20 degrees 2020 NOV 01 01:04:40 UTC - PTR Pan at 20 degrees 2020 NOV 01 01:04:41 UTC - Start PTR Tilt to 10 degrees 2020 NOV 01 01:04:42 UTC - PTR Tilt at 10 degrees 2020 NOV 01 10:04:50 UTC - Start PTR Tilt to 0 degrees 2020 NOV 01 10:10:04 UTC - PTR Tilt at 0 degrees 2020 NOV 01 10:10:07 UTC - Start PTR Pan to 0 degrees 2020 NOV 02 10:10:19 UTC - PTR Pan at 0 degrees 2020 NOV 02 12:00:00 UTC - Drill to LIFTING PHASE [TRA=130, ROT=0] 2020 NOV 02 12:30:00 UTC - Drill to VERTICAL ALIGN. [TRA=130, ROT=90] 2020 NOV 02 13:00:00 UTC - Drill to LOWERING PHASE [TRA=-240, ROT=90] 2020 NOV 02 13:30:00 UTC - Drill to LIFTING PHASE [TRA=130, ROT=90] 2020 NOV 02 14:00:00 UTC - Drill to HOR. ALIGN. [TRA=135, ROT=180] 2020 NOV 02 14:30:00 UTC - Drill to SAMPLE DISCH. [TRA=130, ROT=150] 2020 NOV 02 15:00:00 UTC - Drill to STOWED POSITION [TRA=0, ROT=0] 2020 NOV 03 00:00:00 TDB - End of test scenario February 9, 2019 v0.2.0 Updated RM IDs all across the SKD from -999 to -174. Added LOCCAM, ISEM and ADRON-RM frame and ID definitions in RM Frames Kernel and generated corresponding draft IKs. June 10, 2018 v0.1.0 This is the first release of the ExoMarsRSP SPICE Kernel Dataset it is in draft state and it is aimed to provide the ROCC the capability to start testing SPICE in their systems. It includes a basic set of reference frames defined for the RM structures and PanCam and includes sample IKs for NavCam and PanCam, it also includes an example of an structures SPKs and several sample SPKs and CKs. The scenario that this release covers simulates a first travel of the rover and a first observation by moving the payload bench on top of the mast by a given pan and tilt set of angles. The travel of the rover can be depicted as follows (XY plane): .----------------. . . . . +Ydisp | | ^ | | | Rover Disposal | . | | '.__________________o-----> | +Xdisp | | | X End Point The timeline of the scenario is as follows: 2020 NOV 01 00:00:00 TDB - Lander Disposal 2020 NOV 01 00:00:01 TDB - Drive 5 meters 2020 NOV 01 00:01:42 TDB - Turn Right 2020 NOV 01 00:02:43 TDB - Drive 5 meters 2020 NOV 01 00:04:06 TDB - Turn Left 2020 NOV 01 00:04:34 TDB - Drive 3.7 meters 2020 NOV 01 00:05:46 TDB - Stop at ( -1.3e-02 -2.e-03 0 ) [km] 2020 NOV 01 01:04:22 UTC - Start PTR Pan to 20 degrees 2020 NOV 01 01:04:40 UTC - PTR Pan at 20 degrees 2020 NOV 01 01:04:41 UTC - Start PTR Tilt to 10 degrees 2020 NOV 01 01:04:42 UTC - PTR Tilt at 10 degrees 2020 NOV 01 10:04:50 UTC - Start PTR Tilt to 0 degrees 2020 NOV 01 10:10:04 UTC - PTR Tilt at 0 degrees 2020 NOV 01 10:10:07 UTC - Start PTR Pan to 0 degrees 2020 NOV 02 10:10:19 UTC - PTR Pan at 0 degrees 2020 NOV 02 00:00:00 TDB - End of test scenario End of text file.