Remote Sensing Hands-On Lesson (FORTRAN) =========================================================================== October 14, 2004 Overview -------------------------------------------------------- In this lesson you will develop a series of simple programs that demonstrate the usage of SPICE to compute a variety of different geometric quantities applicable to experiments carried out by a remote sensing instrument flown on an interplanetary spacecraft. This particular lesson focuses on a framing camera flying on the Cassini spacecraft, but many of the concepts are easily extended and generalized to other scenarios. References -------------------------------------------------------- Tutorials The following SPICE tutorials are referred to by the discussions in this lesson: Name Lesson steps/routines it describes --------------- ----------------------------------------- Time Time Conversion SCLK and LSK Time Conversion SPK Obtaining Ephemeris Data Frames Reference Frames Using Frames Reference Frames PCK Planetary Constants Data CK Spacecraft Orientation Data These tutorials are available from the NAIF ftp server at JPL: ftp://naif.jpl.nasa.gov/pub/naif/toolkit_docs/Tutorials Required Readings The Required Reading documents are provided with the Toolkit and are located under the ``toolkit/doc'' directory in the FORTRAN installation tree. Name Lesson steps/routines that it describes --------------- ----------------------------------------- time.req Time Conversion sclk.req SCLK Time Conversion spk.req Obtaining Ephemeris Data frames.req Using Reference Frames pck.req Obtaining Planetary Constants Data ck.req Obtaining Spacecraft Orientation Data naif_ids.req Determining Body ID Codes The Permuted Index Another useful document distributed with the Toolkit is the permuted index. This is located under the ``toolkit/doc'' directory in the FORTRAN installation tree. This text document provides a simple mechanism to discover what SPICE routines perform a particular function of interest as well as the name of the source module that contains the routine. This is particularly useful for FORTRAN programmers because some of the routines are entry points and, therefore, the name does not translate directly into the name of the source module that contains them. Source Code Headers The most detailed specification of a given SPICE routine is contained in the header section of its source code. The source code is distributed with the Toolkit and is located under ``toolkit/src/spicelib'' in the FORTRAN versions. For example the header of STR2ET is contained in the file: toolkit/src/spicelib/str2et.for or ... toolkit/src/spicelib/str2et.f Some of the FORTRAN routines are entry points -- these are part of a source module that has a different name. The aforementioned permuted index is helpful in locating the files that contain the entry point headers. Kernels Used -------------------------------------------------------- The programs that are produced in the course of this lesson will compute geometry for the Cassini orbiter. The following CASSINI SPICE kernels will be used: # FILE NAME TYPE DESCRIPTION -- ------------------------- ---- ------------------------ 1 naif0007.tls LSK Generic LSK 2 cas00084.tsc SCLK Cassini SCLK 3 sat128.bsp SPK Saturnian Satellite Ephemeris 4 981005_PLTEPH-DE405S.bsp SPK Solar System Ephemeris 5 020514_SE_SAT105.bsp SPK Saturnian Satellite Ephemeris 6 030201AP_SK_SM546_T45.bsp SPK Cassini Spacecraft SPK 7 cas_v37.tf FK Cassini FK 8 04135_04171pc_psiv2.bc CK Cassini Spacecraft CK 9 cpck05Mar2004.tpc PCK Cassini Project PCK 10 cas_iss_v09.ti IK ISS Instrument Kernel SPICE Modules Used -------------------------------------------------------- This section provides a complete summary of the routines, and the kernels that are suggested for usage in each of the exercises in this tutorial. (You may wish to not look at this list unless/until you ``get stuck'' while working on your own.) CHAPTER EXERCISE ROUTINES FUNCTIONS KERNELS ------- --------- --------- --------- --------- 1 convtm FURNSH 1,2 PROMPT STR2ET ETCAL TIMOUT SCE2C SCE2S 2 getsta FURNSH VNORM 1,3-6 PROMPT STR2ET SPKEZR SPKPOS CONVRT 3 xform FURNSH VSEP 1-9 PROMPT STR2ET SPKEZR SXFORM MXVG SPKPOS PXFORM MXV CONVRT 4 subpts FURNSH 1,3-6,9 PROMPT STR2ET SUBPT SUBSOL 5 fovint FURNSH DPR 1-10 PROMPT STR2ET BODN2C BYEBYE GETFOV SRFXPT RECLAT 6 angles FURNSH DPR 1-10 PROMPT STR2ET BODN2C BYEBYE GETFOV SRFXPT RECLAT ILLUM ET2LST Refer to the headers of the various routines listed above, as detailed interface specifications are provided with the source code. Time Conversion (convtm) =========================================================================== Task Statement -------------------------------------------------------- Write a program that prompts the user for an input UTC time string, converts it to the following time systems and output formats: 1. Ephemeris Time (ET) in seconds past J2000 2. Calendar Ephemeris Time 3. Spacecraft Clock Time and displays the results. Use the program to convert "2004 jun 11 19:32:00" UTC into these alternate systems. Learning Goals -------------------------------------------------------- Familiarity with the various time conversion and parsing routines available in the Toolkit. Exposure to source code headers and their usage in learning to call routines. Approach -------------------------------------------------------- The solution to the problem can be broken down into a series of simple steps: -- Decide which SPICE kernels are necessary. Prepare a meta-kernel listing the kernels and load it into the program. -- Prompt the user for an input UTC time string. -- Convert the input time string into ephemeris time expressed as seconds past J2000 TDB. Display the result. -- Convert ephemeris time into a calendar format. Display the result. -- Convert ephemeris time into a spacecraft clock string. Display the result. You may find it useful to consult the permuted index, the headers of various source modules, and the ``Time Required Reading'' and ``SCLK Required Reading'' documents. When completing the ``calendar format'' step above, consider using one of two possible methods: ETCAL or TIMOUT. Solution -------------------------------------------------------- Solution Meta-Kernel The meta-kernel we created for the solution to this exercise is named 'convtm.mk'. Its contents follow: KPL/MK This is the meta-kernel used in the solution of the ``Time Conversion'' task in the Remote Sensing Hands On Lesson. \begindata KERNELS_TO_LOAD = ( 'kernels/lsk/naif0007.tls', 'kernels/sclk/cas00084.tsc' ) \begintext Solution Source Code A sample solution to the problem follows: PROGRAM CONVTM IMPLICIT NONE C C Local Parameters C C The name of the meta-kernel that lists the kernels C to load into the program. C CHARACTER*(*) METAKR PARAMETER ( METAKR = 'convtm.mk' ) C C The spacecraft clock ID code for CASSINI. C INTEGER SCLKID PARAMETER ( SCLKID = -82 ) C C The length of various string variables. C INTEGER STRLEN PARAMETER ( STRLEN = 50 ) C C Local Variables C CHARACTER*(STRLEN) CALET CHARACTER*(STRLEN) SCLKST CHARACTER*(STRLEN) UTCTIM DOUBLE PRECISION ET C C Load the kernels this program requires. C Both the spacecraft clock kernel and a C leapseconds kernel should be listed C in the meta-kernel. C CALL FURNSH ( METAKR ) C C Prompt the user for the input time string. C CALL PROMPT ( 'Input UTC Time: ', UTCTIM ) WRITE (*,*) 'Converting UTC Time: ', UTCTIM C C Convert UTCTIM to ET. C CALL STR2ET ( UTCTIM, ET ) WRITE (*,'(A,F16.3)') ' ET Seconds Past 2000: ', ET C C Now convert ET to a formal calendar time C string. This can be accomplished in two C ways. C CALL ETCAL ( ET, CALET ) WRITE (*,*) ' Calendar ET (ETCAL): ', CALET C C Or use TIMOUT for finer control over the C output format. The picture below was built C by examining the header of TIMOUT. C CALL TIMOUT ( ET, 'YYYY-MON-DDTHR:MN:SC ::TDB', CALET ) WRITE (*,*) ' Calendar ET (TIMOUT): ', CALET C C Convert ET to spacecraft clock time. C CALL SCE2S ( SCLKID, ET, SCLKST ) WRITE (*,*) ' Spacecraft Clock Time: ', SCLKST END Solution Sample Output After compiling the program, execute it: Converting UTC Time: 2004 jun 11 19:32:00 ET Seconds Past 2000: 140254384.185 Calendar ET (ETCAL): 2004 JUN 11 19:33:04.184 Calendar ET (TIMOUT): 2004-JUN-11T19:33:04 Spacecraft Clock Time: 1/1465674964.105 Obtaining Target States and Positions (getsta) =========================================================================== Task Statement -------------------------------------------------------- Write a program that prompts the user for an input UTC time string, computes the following quantities at that epoch: 1. The apparent state of Phoebe as seen from CASSINI in the J2000 frame, in kilometers and kilometers/second. This vector itself is not of any particular interest, but it is a useful intermediate quantity in some geometry calculations. 2. The apparent position of the Earth as seen from CASSINI in the J2000 frame, in kilometers. 3. The one-way light time between CASSINI and the apparent position of Earth, in seconds. 4. The apparent position of the Sun as seen from Phoebe in the J2000 frame (J2000), in kilometers. 5. The actual (geometric) distance between the Sun and Phoebe, in astronomical units. and displays the results. Use the program to compute these quantities at "2004 jun 11 19:32:00" UTC. Learning Goals -------------------------------------------------------- Understand the anatomy of an SPKEZR call. Discover the difference between SPKEZR and SPKPOS. Familiarity with the Toolkit utility ``brief''. Exposure to unit conversion with SPICE. Approach -------------------------------------------------------- The solution to the problem can be broken down into a series of simple steps: -- Decide which SPICE kernels are necessary. Prepare a meta-kernel listing the kernels and load it into the program. -- Prompt the user for an input time string. -- Convert the input time string into ephemeris time expressed as seconds past J2000 TDB. -- Compute the state of Phoebe relative to CASSINI in the J2000 reference frame, corrected for aberrations. -- Compute the position of Earth relative to CASSINI in the J2000 reference frame, corrected for aberrations. (The routine in the library that computes this also returns the one-way light time between CASSINI and Earth.) -- Compute the position of the Sun relative to Phoebe in the J2000 reference frame, corrected for aberrations. -- Compute the position of the Sun relative to Phoebe without correcting for aberration. -- Compute the length of this vector. This provides the desired distance in kilometers. -- Convert the distance in kilometers into AU. You may find it useful to consult the permuted index, the headers of various source modules, and the ``SPK Required Reading'' document. When deciding which SPK files to load, the Toolkit utility ``brief'' may be of some use. ``brief'' is located in the ``toolkit/exe'' directory for FORTRAN toolkits. Consult its user's guide available in ``toolkit/doc/brief.ug'' for details. Solution -------------------------------------------------------- Solution Meta-Kernel The meta-kernel we created for the solution to this exercise is named 'getsta.mk'. Its contents follow: KPL/MK This is the meta-kernel used in the solution of the ``Obtaining Target States and Positions'' task in the Remote Sensing Hands On Lesson. \begindata KERNELS_TO_LOAD = ( 'kernels/lsk/naif0007.tls', 'kernels/spk/sat128.bsp' 'kernels/spk/981005_PLTEPH-DE405S.bsp', 'kernels/spk/020514_SE_SAT105.bsp', 'kernels/spk/030201AP_SK_SM546_T45.bsp' ) \begintext Solution Source Code A sample solution to the problem follows: PROGRAM GETSTA IMPLICIT NONE C C SPICELIB Functions C DOUBLE PRECISION VNORM C C Local Parameters C C C The name of the meta-kernel that lists the kernels C to load into the program. C CHARACTER*(*) METAKR PARAMETER ( METAKR = 'getsta.mk' ) C C The length of various string variables. C INTEGER STRLEN PARAMETER ( STRLEN = 50 ) C C Local Variables C CHARACTER*(STRLEN) UTCTIM DOUBLE PRECISION DIST DOUBLE PRECISION ET DOUBLE PRECISION LTIME DOUBLE PRECISION POS ( 3 ) DOUBLE PRECISION STATE ( 6 ) C C Load the kernels that this program requires. We C will need a leapseconds kernel to convert input C UTC time strings into ET. We also will need the C necessary SPK files with coverage for the bodies C in which we are interested. C CALL FURNSH ( METAKR ) C C Prompt the user for the input time string. C CALL PROMPT ( 'Input UTC Time: ', UTCTIM ) WRITE (*,*) 'Converting UTC Time: ', UTCTIM C C Convert UTCTIM to ET. C CALL STR2ET ( UTCTIM, ET ) WRITE (*,'(A,F16.3)') ' ET Seconds Past 2000: ', ET C C Compute the apparent state of Phoebe as seen from C CASSINI in the J2000 frame. All of the ephemeris C readers return states in units of kilometers and C kilometers per second. C CALL SPKEZR ( 'PHOEBE', ET, 'J2000', 'LT+S', . 'CASSINI', STATE, LTIME ) WRITE (*,*) ' Apparent State of Phoebe as seen from ' .// 'CASSINI in the J2000 frame' WRITE (*,*) ' (kilometers and kilometers per ' .// 'second):' WRITE (*,'(A,F16.3)') ' X = ', STATE(1) WRITE (*,'(A,F16.3)') ' Y = ', STATE(2) WRITE (*,'(A,F16.3)') ' Z = ', STATE(3) WRITE (*,'(A,F16.3)') ' VX = ', STATE(4) WRITE (*,'(A,F16.3)') ' VY = ', STATE(5) WRITE (*,'(A,F16.3)') ' VZ = ', STATE(6) C C Compute the apparent position of Earth as seen from C CASSINI in the J2000 frame. Note: We could have continued C using SPKEZR and simply ignored the velocity components. C CALL SPKPOS ( 'EARTH', ET, 'J2000', 'LT+S', . 'CASSINI', POS, LTIME ) WRITE (*,*) ' Apparent Position of Earth as seen from ' .// 'CASSINI in the J2000' WRITE (*,*) ' frame (kilometers):' WRITE (*,'(A,F16.3)') ' X = ', POS(1) WRITE (*,'(A,F16.3)') ' Y = ', POS(2) WRITE (*,'(A,F16.3)') ' Z = ', POS(3) C C We need only display LTIME, as it is precisely the light C time in which we are interested. C WRITE (*,*) ' One way light time between CASSINI and the ' .// 'apparent position' WRITE (*,'(A,F16.3)') ' of Earth (seconds): ', LTIME C C Compute the apparent position of the Sun as seen from C Phoebe in the J2000 frame. C CALL SPKPOS ( 'SUN', ET, 'J2000', 'LT+S', . 'PHOEBE', POS, LTIME ) WRITE (*,*) ' Apparent position of Sun as seen from ' .// 'Phoebe in the' WRITE (*,*) ' J2000 frame (kilometers):' WRITE (*,'(A,F16.3)') ' X = ', POS(1) WRITE (*,'(A,F16.3)') ' Y = ', POS(2) WRITE (*,'(A,F16.3)') ' Z = ', POS(3) C C Now we need to compute the actual distance between the Sun C and Phoebe. The above SPKPOS call gives us the apparent C distance, so we need to adjust our aberration correction C appropriately. C CALL SPKPOS ( 'SUN', ET, 'J2000', 'NONE', . 'PHOEBE', POS, LTIME ) C C Compute the distance between the body centers in C kilometers. C DIST = VNORM(POS) C C Convert this value to AU using CONVRT. C CALL CONVRT ( DIST, 'KM', 'AU', DIST ) WRITE (*,*) ' Actual distance between Sun and Phoebe body ' .// 'centers: ' WRITE (*,'(A,F16.3)') ' (AU):', DIST END Solution Sample Output After compiling the program, execute it: Converting UTC Time: 2004 jun 11 19:32:00 ET Seconds Past 2000: 140254384.185 Apparent State of Phoebe as seen from CASSINI in the J2000 fram (kilometers and kilometers per second): X = -119.921 Y = 2194.139 Z = -57.639 VX = -5.980 VY = -2.119 VZ = -0.295 Apparent Position of Earth as seen from CASSINI in the J2000 frame (kilometers): X = 353019393.123 Y = -1328180352.140 Z = -568134171.697 One way light time between CASSINI and the apparent position of Earth (seconds): 4960.427 Apparent position of Sun as seen from Phoebe in the J2000 frame (kilometers): X = 376551465.272 Y = -1190495630.303 Z = -508438699.110 Actual distance between Sun and Phoebe body centers: (AU): 9.012 Spacecraft Orientation and Reference Frames (xform) =========================================================================== Task Statement -------------------------------------------------------- Write a program that prompts the user for an input time string, computes the following at the epoch of interest: 1. The apparent state of Phoebe as seen from CASSINI in the IAU_PHOEBE body-fixed frame. This vector itself is not of any particular interest, but it is a useful intermediate quantity in some geometry calculations. 2. The angular separation between the apparent position of Earth as seen from CASSINI and the nominal boresight of the CASSINI high gain antenna. and displays the results. Use the program to compute these quantities at the epoch "2004 jun 11 19:32:00" UTC. Learning Goals -------------------------------------------------------- Familiarity with the different types of kernels involved in chaining reference frames together, both inertial and non-inertial. Discover some of the matrix and vector math routines. Understand the difference between PXFORM and SXFORM. Approach -------------------------------------------------------- The solution to the problem can be broken down into a series of simple steps: -- Decide which SPICE kernels are necessary. Prepare a meta-kernel listing the kernels and load it into the program. -- Prompt the user for an input time string. -- Convert the input time string into ephemeris time expressed as seconds past J2000 TDB. -- Compute the state of Phoebe relative to CASSINI in the J2000 reference frame, corrected for aberrations. -- Compute the state transformation matrix from J2000 to IAU_PHOEBE at the epoch, adjusted for light time. -- Multiply the state of Phoebe relative to CASSINI in the J2000 reference frame by the state transformation matrix computed in the previous step. -- Compute the position of Earth relative to CASSINI in the J2000 reference frame, corrected for aberrations. -- Determine what the nominal boresight of the CASSINI high gain antenna is by examining the frame kernel's content. -- Compute the rotation matrix from the CASSINI high gain antenna frame to J2000. -- Multiply the nominal boresight expressed in the CASSINI high gain antenna frame by the rotation matrix from the previous step. -- Compute the separation between the result of the previous step and the apparent position of the Earth relative to CASSINI in the J2000 frame. HINT: Several of the steps above may be compressed into a single using SPICE routines with which you are already familiar. The ``long-way'' presented above is intended to facilitate the introduction of the routines PXFORM and SXFORM. You may find it useful to consult the permuted index, the headers of various source modules, and the following toolkit documentation: 1. Frames Required Reading 2. PCK Required Reading 3. SPK Required Reading 4. CK Required Reading This particular example makes use of many of the different types of SPICE kernels. You should spend a few moments thinking about which kernels you will need and what data they provide. Solution -------------------------------------------------------- Solution Meta-Kernel The meta-kernel we created for the solution to this exercise is named 'xform.mk'. Its contents follow: KPL/MK This is the meta-kernel used in the solution of the ``Spacecraft Orientation and Reference Frames'' task in the Remote Sensing Hands On Lesson. \begindata KERNELS_TO_LOAD = ( 'kernels/lsk/naif0007.tls', 'kernels/sclk/cas00084.tsc', 'kernels/spk/sat128.bsp' 'kernels/spk/981005_PLTEPH-DE405S.bsp', 'kernels/spk/020514_SE_SAT105.bsp', 'kernels/spk/030201AP_SK_SM546_T45.bsp', 'kernels/fk/cas_v37.tf', 'kernels/ck/04135_04171pc_psiv2.bc', 'kernels/pck/cpck05Mar2004.tpc' ) \begintext Solution Source Code A sample solution to the problem follows: PROGRAM XFORM IMPLICIT NONE C C SPICELIB Functions C DOUBLE PRECISION VSEP C C Local Parameters C C C The name of the meta-kernel that lists the kernels C to load into the program. C CHARACTER*(*) METAKR PARAMETER ( METAKR = 'xform.mk' ) C C The length of various string variables. C INTEGER STRLEN PARAMETER ( STRLEN = 50 ) C C Local Variables C CHARACTER*(STRLEN) UTCTIM DOUBLE PRECISION ET DOUBLE PRECISION LTIME DOUBLE PRECISION STATE ( 6 ) DOUBLE PRECISION BFIXST ( 6 ) DOUBLE PRECISION POS ( 3 ) DOUBLE PRECISION SFORM ( 6, 6 ) DOUBLE PRECISION PFORM ( 3, 3 ) DOUBLE PRECISION BSIGHT ( 3 ) DOUBLE PRECISION SEP C C Load the kernels that this program requires. We C will need: C C A leapseconds kernel C A spacecraft clock kernel for CASSINI C The necessary ephemerides C A planetary constants file (PCK) C A spacecraft orientation kernel for CASSINI (CK) C A frame kernel (TF) C CALL FURNSH ( METAKR ) C C Prompt the user for the input time string. C CALL PROMPT ( 'Input UTC Time: ', UTCTIM ) WRITE (*,*) 'Converting UTC Time: ', UTCTIM C C Convert UTCTIM to ET. C CALL STR2ET ( UTCTIM, ET ) WRITE (*,'(A,F16.3)') ' ET Seconds Past 2000: ', ET C C Compute the apparent state of Phoebe as seen from CASSINI C in the J2000 reference frame. C CALL SPKEZR ( 'PHOEBE', ET, 'J2000', 'LT+S', . 'CASSINI', STATE, LTIME ) C C Now obtain the transformation from the inertial C J2000 frame to the non-inertial body-fixed IAU_PHOEBE C frame. Since we want the apparent position, we need to C subtract LTIME from ET. C CALL SXFORM ( 'J2000', 'IAU_PHOEBE', ET-LTIME, SFORM ) C C Now rotate the apparent J200) state into IAU_PHOEBE C with the following matrix multiplication: C CALL MXVG ( SFORM, STATE, 6, 6, BFIXST ) C C Display the results. C WRITE (*,*) ' Apparent state of Phoebe as seen from ' .// 'CASSINI in the IAU_PHOEBE' WRITE (*,*) ' body-fixed frame (kilometers and ' .// 'kilometers per' WRITE (*,*) ' second):' WRITE (*,'(A,F19.6)') ' X = ', BFIXST(1) WRITE (*,'(A,F19.6)') ' Y = ', BFIXST(2) WRITE (*,'(A,F19.6)') ' Z = ', BFIXST(3) WRITE (*,'(A,F19.6)') ' VX = ', BFIXST(4) WRITE (*,'(A,F19.6)') ' VY = ', BFIXST(5) WRITE (*,'(A,F19.6)') ' VZ = ', BFIXST(6) C C It is worth pointing out, all of the above could have C been done with a single call to SPKEZR: C CALL SPKEZR ( 'PHOEBE', ET, 'IAU_PHOEBE', 'LT+S', . 'CASSINI', STATE, LTIME ) C C Display the results. C WRITE (*,*) ' Apparent state of Phoebe as seen from CASSINI .// 'in the IAU_PHOEBE' WRITE (*,*) ' body-fixed frame (kilometers and ' .// 'kilometers per' WRITE (*,*) ' second) obtained using SPKEZR ' .// 'directly:' WRITE (*,'(A,F19.6)') ' X = ', STATE(1) WRITE (*,'(A,F19.6)') ' Y = ', STATE(2) WRITE (*,'(A,F19.6)') ' Z = ', STATE(3) WRITE (*,'(A,F19.6)') ' VX = ', STATE(4) WRITE (*,'(A,F19.6)') ' VY = ', STATE(5) WRITE (*,'(A,F19.6)') ' VZ = ', STATE(6) C C Now we are to compute the angular separation between C the apparent position of the Earth as seen from the C orbiter and the nominal boresight of the high gain C antenna. First, compute the apparent position of C the Earth as seen from CASSINI in the J2000 frame. C CALL SPKPOS ( 'EARTH', ET, 'J2000', 'LT+S', . 'CASSINI', POS, LTIME ) C C Now compute the location of the antenna boresight C at this same epoch. From reading the frame kernel C we know that the antenna boresight is nominally the C +Z axis of the CASSINI_HGA frame defined there. C BSIGHT(1) = 0.0D0 BSIGHT(2) = 0.0D0 BSIGHT(3) = 1.0D0 C C Now compute the rotation matrix from CASSINI_HGA into C J2000. C CALL PXFORM ( 'CASSINI_HGA', 'J2000', ET, PFORM ) C C And multiply the result to obtain the nominal antenna C boresight in the J2000 reference frame. C CALL MXV ( PFORM, BSIGHT, BSIGHT ) C C Lastly compute the angular separation. C CALL CONVRT ( VSEP(BSIGHT, POS), 'RADIANS', . 'DEGREES', SEP ) WRITE (*,*) ' Angular separation between the ' .// 'apparent position of' WRITE (*,*) ' Earth and the CASSINI high ' .// 'gain antenna boresight (degrees): ' WRITE (*,'(A,F19.3)') ' ', SEP C C Or, alternately we can work in the antenna C frame directly. C CALL SPKPOS ( 'EARTH', ET, 'CASSINI_HGA', 'LT+S', . 'CASSINI', POS, LTIME ) C C The antenna boresight is the Z-axis in the C CASSINI_HGA frame. C BSIGHT(1) = 0.0D0 BSIGHT(2) = 0.0D0 BSIGHT(3) = 1.0D0 C C Lastly compute the angular separation. C CALL CONVRT ( VSEP(BSIGHT, POS), 'RADIANS', . 'DEGREES', SEP ) WRITE (*,*) ' Angular separation between the ' .// 'apparent position of' WRITE (*,*) ' Earth and the CASSINI high gain ' .// 'antenna boresight computed ' WRITE (*,*) ' using vectors in the CASSINI_HGA ' .// 'frame (degrees): ' WRITE (*,'(A,F19.3)') ' ', SEP END Solution Sample Output After compiling the program, execute it: Converting UTC Time: 2004 jun 11 19:32:00 ET Seconds Past 2000: 140254384.185 Apparent state of Phoebe as seen from CASSINI in the IAU_PHOEBE body-fixed frame (kilometers and kilometers per second): X = -1982.639762 Y = -934.530471 Z = -166.562595 VX = 3.970729 VY = -3.812531 VZ = -2.371665 Apparent state of Phoebe as seen from CASSINI in the IAU_PHOEBE body-fixed frame (kilometers and kilometers per second) obtained using SPKEZR directly: X = -1982.639762 Y = -934.530471 Z = -166.562595 VX = 3.970729 VY = -3.812531 VZ = -2.371665 Angular separation between the apparent position of Earth and the CASSINI high gain antenna boresight (degrees): 71.924 Angular separation between the apparent position of Earth and the CASSINI high gain antenna boresight computed using vectors in the CASSINI_HGA frame (degrees): 71.924 Computing Sub-spacecraft and Sub-solar Points (subpts) =========================================================================== Task Statement -------------------------------------------------------- Write a program that prompts the user for an input UTC time string, computes the following quantities at that epoch: 1. The apparent sub-observer point of CASSINI on Phoebe in the body fixed frame IAU_PHOEBE in kilometers. 2. The apparent sub-solar point on Phoebe as seen from CASSINI in the body fixed frame IAU_PHOEBE in kilometers. and displays the results. Use the program to compute these quantities at "2004 jun 11 19:32:00" UTC. Learning Goals -------------------------------------------------------- Discover higher level geometry calculation routines in SPICE and their usage as it relates to CASSINI. Approach -------------------------------------------------------- This particular problem is more of an exercise in searching the permuted index to find the appropriate routines and then reading their headers to understand how to call them. One point worth considering: Which method do you want to use to compute the sub-solar (or sub-observer) point? Solution -------------------------------------------------------- Solution Meta-Kernel The meta-kernel we created for the solution to this exercise is named 'subpts.mk'. Its contents follow: KPL/MK This is the meta-kernel used in the solution of the ``Computing Sub-spacecraft and Sub-solar Points'' task in the Remote Sensing Hands On Lesson. \begindata KERNELS_TO_LOAD = ( 'kernels/lsk/naif0007.tls', 'kernels/spk/sat128.bsp' 'kernels/spk/981005_PLTEPH-DE405S.bsp', 'kernels/spk/020514_SE_SAT105.bsp', 'kernels/spk/030201AP_SK_SM546_T45.bsp', 'kernels/pck/cpck05Mar2004.tpc' ) \begintext Solution Source Code A sample solution to the problem follows: PROGRAM SUBPTS IMPLICIT NONE C C Local Parameters C C C The name of the meta-kernel that lists the kernels C to load into the program. C CHARACTER*(*) METAKR PARAMETER ( METAKR = 'subpts.mk' ) C C The length of various string variables. C INTEGER STRLEN PARAMETER ( STRLEN = 50 ) C C Local Variables C CHARACTER*(STRLEN) UTCTIM DOUBLE PRECISION ALT DOUBLE PRECISION ET DOUBLE PRECISION SPOINT ( 3 ) C C Load the kernels that this program requires. We C will need: C C A leapseconds kernel C The necessary ephemerides C A planetary constants file (PCK) C CALL FURNSH ( METAKR ) C C Prompt the user for the input time string. C CALL PROMPT ( 'Input UTC Time: ', UTCTIM ) WRITE (*,*) 'Converting UTC Time: ', UTCTIM C C Convert UTCTIM to ET. C CALL STR2ET ( UTCTIM, ET ) WRITE (*,'(A,F16.3)') ' ET Seconds Past 2000: ', ET C C Compute the apparent sub-observer point of CASSINI on Phoebe. C CALL SUBPT ( 'NEAR POINT', 'PHOEBE', ET, 'LT+S', . 'CASSINI', SPOINT, ALT ) WRITE (*,*) ' Apparent Sub-Observer point of CASSINI ' .// 'on Phoebe in IAU_PHOEBE' WRITE (*,*) ' (kilometers):' WRITE (*,'(A,F16.3)') ' X = ', SPOINT(1) WRITE (*,'(A,F16.3)') ' Y = ', SPOINT(2) WRITE (*,'(A,F16.3)') ' Z = ', SPOINT(3) WRITE (*,'(A,F16.3)') ' ALT = ', ALT C C Compute the apparent sub-solar point on Phoebe as seen C from CASSINI. C CALL SUBSOL ( 'NEAR POINT', 'PHOEBE', ET, 'LT+S', . 'CASSINI', SPOINT ) WRITE (*,*) ' Apparent Sub-Solar point on Phoebe as ' .// 'seen from CASSINI in IAU_PHOEBE' WRITE (*,*) ' (kilometers):' WRITE (*,'(A,F16.3)') ' X = ', SPOINT(1) WRITE (*,'(A,F16.3)') ' Y = ', SPOINT(2) WRITE (*,'(A,F16.3)') ' Z = ', SPOINT(3) END Solution Sample Output After compiling the program, execute it: Converting UTC Time: 2004 jun 11 19:32:00 ET Seconds Past 2000: 140254384.185 Apparent Sub-Observer point of CASSINI on Phoebe in IAU_PHOEBE (kilometers): X = 104.498 Y = 45.269 Z = 7.383 ALT = 2084.116 Apparent Sub-Solar point on Phoebe as seen from CASSINI in IAU_ (kilometers): X = 78.681 Y = 76.879 Z = -21.885 Intersecting Vectors with a Triaxial Ellipsoid (fovint) =========================================================================== Task Statement -------------------------------------------------------- Write a program that prompts the user for an input UTC time string and computes the intersection of the CASSINI ISS NAC camera boresight with the surface of Phoebe and presents it in the following coordinates: 1. Cartesian vector in the IAU_PHOEBE frame 2. Planetocentric (latitudinal) If this intersection is found, the program displays the results of the above computations, otherwise it indicates no intersection has occurred. Use this program to compute values at the following epochs: 1. 2004 jun 11 19:32:00 UTC Learning Goals -------------------------------------------------------- Understand how field of view parameters are retrieved from instrument kernels. Learn how various standard planetary constants are retrieved from text PCKs. Discover how to compute the intersection of field of view vectors with triaxial ellipsoidal target bodies. Approach -------------------------------------------------------- This problem can be broken down into several simple, small steps: -- Decide which SPICE kernels are necessary. Prepare a meta-kernel listing the kernels and load it into the program. Remember, you will need to find a kernel with information about the CASSINI NAC camera. -- Prompt the user for an input time string. -- Convert the input time string into ephemeris time expressed as seconds past J2000 TDB. -- Retrieve the field of view configuration for the CASSINI ISS NAC camera. -- Determine if an intercept of the camera boresight and Phoebe exists. -- Convert the position vector of the intercept into planetocentric coordinates. It may be useful to consult the CASSINI ISS instrument kernel to determine the name of the NAC camera as well as its configuration. This exercise may make use of some of the concepts and (loosely) code from the ``Spacecraft Orientation and Reference Frames'' task. Solution -------------------------------------------------------- Solution Meta-Kernel The meta-kernel we created for the solution to this exercise is named 'fovint.mk'. Its contents follow: KPL/MK This is the meta-kernel used in the solution of the ``Intersecting Vectors with a Triaxial Ellipsoid'' task in the Remote Sensing Hands On Lesson. \begindata KERNELS_TO_LOAD = ( 'kernels/lsk/naif0007.tls', 'kernels/sclk/cas00084.tsc', 'kernels/spk/sat128.bsp' 'kernels/spk/981005_PLTEPH-DE405S.bsp', 'kernels/spk/020514_SE_SAT105.bsp', 'kernels/spk/030201AP_SK_SM546_T45.bsp', 'kernels/fk/cas_v37.tf', 'kernels/ck/04135_04171pc_psiv2.bc', 'kernels/pck/cpck05Mar2004.tpc', 'kernels/ik/cas_iss_v09.ti' ) \begintext Solution Source Code A sample solution to the problem follows: PROGRAM FOVINT IMPLICIT NONE C C Local Parameters C C C The name of the meta-kernel that lists the kernels C to load into the program. C CHARACTER*(*) METAKR PARAMETER ( METAKR = 'fovint.mk' ) C C The length of various string variables. C INTEGER STRLEN PARAMETER ( STRLEN = 50 ) C C The maximum number of boundary corner vectors C we can retrieve. C INTEGER BCVLEN PARAMETER ( BCVLEN = 4 ) C C Local Variables C CHARACTER*(STRLEN) FRAME CHARACTER*(STRLEN) SHAPE CHARACTER*(STRLEN) UTCTIM DOUBLE PRECISION BOUNDS ( 3, BCVLEN ) DOUBLE PRECISION BSIGHT ( 3 ) DOUBLE PRECISION DIST DOUBLE PRECISION ET DOUBLE PRECISION LAT DOUBLE PRECISION LON DOUBLE PRECISION OBSPOS ( 3 ) DOUBLE PRECISION POINT ( 3 ) DOUBLE PRECISION RADIUS DOUBLE PRECISION TRGEPC INTEGER N INTEGER NACID LOGICAL FOUND C C SPICELIB functions C DOUBLE PRECISION DPR C C Load the kernels that this program requires. We C will need: C C A leapseconds kernel. C A SCLK kernel for CASSINI. C Any necessary ephemerides. C The CASSINI frame kernel. C A CASSINI C-kernel. C A PCK file with Phoebe constants. C The CASSINI ISS I-kernel. C CALL FURNSH ( METAKR ) C C Prompt the user for the input time string. C CALL PROMPT ( 'Input UTC Time: ', UTCTIM ) WRITE (*,*) 'Converting UTC Time: ', UTCTIM C C Convert UTCTIM to ET. C CALL STR2ET ( UTCTIM, ET ) WRITE (*,'(A,F16.3)') ' ET Seconds Past 2000: ', ET C C Now we need to obtain the FOV configuration of the NAC C camera. To do this we will need the ID code for C CASSINI_ISS_NAC. C CALL BODN2C ( 'CASSINI_ISS_NAC', NACID, FOUND ) C C Stop the program if the code was not found. C IF ( .NOT. FOUND ) THEN WRITE (*,*) 'Unable to locate the ID code for ' . // 'CASSINI_ISS_NAC' CALL BYEBYE ( 'FAILURE' ) END IF C C Now retrieve the field of view parameters. C CALL GETFOV ( NACID, BCVLEN, SHAPE, FRAME, . BSIGHT, N, BOUNDS ) C C Call SRFXPT to determine coordinates of the C intersection of the NAC boresight with the surface C of Phoebe. C CALL SRFXPT ( 'Ellipsoid', 'PHOEBE', ET, 'LT+S', . 'CASSINI', FRAME, BSIGHT, POINT, . DIST, TRGEPC, OBSPOS, FOUND ) C C Check the found flag. Display a message if the point C of intersection was not found and stop. C IF ( .NOT. FOUND ) THEN WRITE (*,*) 'No intersection point found at this ' . // 'epoch.' CALL BYEBYE ( 'SUCCESS' ) END IF C C Now, we have discovered a point of intersection. C Start by displaying the position vector in the C IAU_PHOEBE frame of the intersection. C WRITE (*,*) ' Position vector of CASSINI NA camera ' .// 'boresight surface intercept ' WRITE (*,'(A,F16.3)') ' in the IAU_PHOEBE frame (km):' WRITE (*,'(A,F16.3)') ' X = ', POINT(1) WRITE (*,'(A,F16.3)') ' Y = ', POINT(2) WRITE (*,'(A,F16.3)') ' Z = ', POINT(3) C C Now express the coordinates of this point in C planetocentric latitude and longitude. C CALL RECLAT ( POINT, RADIUS, LON, LAT ) C C Convert the angles to degrees for displaying. C WRITE (*,*) ' Planetocentric coordinates of the ' .// 'intercept (degrees):' WRITE (*,'(A,F16.3)') ' LAT = ', LAT * DPR() WRITE (*,'(A,F16.3)') ' LON = ', LON * DPR() END Solution Sample Output After compiling the program, execute it: Converting UTC Time: 2004 jun 11 19:32:00 ET Seconds Past 2000: 140254384.185 Position vector of CASSINI NA camera boresight surface intercep in the IAU_PHOEBE frame (km): X = 86.390 Y = 72.089 Z = 8.255 Planetocentric coordinates of the intercept (degrees): LAT = 4.196 LON = 39.844 Computing Illumination Angles and Local Time (angles) =========================================================================== Task Statement -------------------------------------------------------- Write a program that prompts the user for an input time string and computes the intersection of the CASSINI NAC camera boresight and field of view boundary vectors with the surface of Phoebe. At these points of intersection, if they exist, compute the following: 1. Phase angle 2. Solar incidence angle 3. Emission angle Additionally compute the local solar time at the intercept of the camera boresight with the surface of Phoebe. Display the results of the above computations if an intersection occurs, otherwise indicate the absence of an intersection. Use this program to compute values at the epoch "2004-01-12T4:15.24.000" UTC. Learning Goals -------------------------------------------------------- Discover another high level geometry routine and another time conversion routine in SPICE. Reinforce the concepts introduced in the previous task. Approach -------------------------------------------------------- Making use of the code you wrote for the previous task is probably the fastest means to an end. A significant percentage of the task is devoted to similar computations. This problem can be broken down into several steps: -- Decide which SPICE kernels are necessary. Prepare a meta-kernel listing these kernels and load it into the program. -- Prompt the user for an input time string. -- Convert the input time string into ephemeris time expressed as seconds past J2000 TDB. -- Retrieve the FOV (field of view) configuration for the CASSINI NAC camera. For each vector in the set of boundary corner vectors, and for the boresight vector, perform the following operations: -- Compute the intercept of the vector with Phoebe. -- If this intercept is found, then compute the phase, solar incidence, and emission angles. Otherwise indicate to the user no intercept was found for this vector. At this point, if a boresight intercept was located, then proceed. -- Compute the planetocentric longitude of the boresight intercept. -- Compute the local solar time at this longitude on a 24-hour clock. Solution -------------------------------------------------------- Solution Meta-Kernel The meta-kernel we created for the solution to this exercise is named 'angles.mk'. Its contents follow: KPL/MK This is the meta-kernel used in the solution of the ``Computing Illumination Angles and Local Time'' task in the Remote Sensing Hands On Lesson. \begindata KERNELS_TO_LOAD = ( 'kernels/lsk/naif0007.tls', 'kernels/sclk/cas00084.tsc', 'kernels/spk/sat128.bsp' 'kernels/spk/981005_PLTEPH-DE405S.bsp', 'kernels/spk/020514_SE_SAT105.bsp', 'kernels/spk/030201AP_SK_SM546_T45.bsp', 'kernels/fk/cas_v37.tf', 'kernels/ck/04135_04171pc_psiv2.bc', 'kernels/pck/cpck05Mar2004.tpc', 'kernels/ik/cas_iss_v09.ti' ) \begintext Solution Source Code A sample solution to the problem follows: PROGRAM ANGLES IMPLICIT NONE C C Local Parameters C C C The name of the meta-kernel that lists the kernels C to load into the program. C CHARACTER*(*) METAKR PARAMETER ( METAKR = 'angles.mk' ) C C The length of various string variables. C INTEGER STRLEN PARAMETER ( STRLEN = 50 ) C C The maximum number of boundary corner vectors C we can retrieve. C INTEGER BCVLEN PARAMETER ( BCVLEN = 5 ) C C Local Variables C CHARACTER*(STRLEN) AMPM CHARACTER*(STRLEN) FRAME CHARACTER*(STRLEN) SHAPE CHARACTER*(STRLEN) TIME CHARACTER*(STRLEN) UTCTIM CHARACTER*(STRLEN) VECNAM ( BCVLEN ) DOUBLE PRECISION BOUNDS ( 3, BCVLEN ) DOUBLE PRECISION BSIGHT ( 3 ) DOUBLE PRECISION DIST DOUBLE PRECISION EMISSN DOUBLE PRECISION ET DOUBLE PRECISION LAT DOUBLE PRECISION LON DOUBLE PRECISION OBSPOS ( 3 ) DOUBLE PRECISION PHASE DOUBLE PRECISION POINT ( 3 ) DOUBLE PRECISION RADIUS DOUBLE PRECISION SOLAR DOUBLE PRECISION TRGEPC INTEGER HR INTEGER I INTEGER PHOEID INTEGER MN INTEGER N INTEGER SC INTEGER NACID LOGICAL FOUND C C SPICELIB functions C DOUBLE PRECISION DPR C C Load the kernels that this program requires. We C will need: C C A leapseconds kernel. C A SCLK kernel for CASSINI. C Any necessary ephemerides. C The CASSINI frame kernel. C A CASSINI C-kernel. C A PCK file with Phoebe constants. C The CASSINI ISS I-kernel. C CALL FURNSH ( METAKR ) C C Prompt the user for the input time string. C CALL PROMPT ( 'Input UTC Time: ', UTCTIM ) WRITE (*,*) 'Converting UTC Time: ', UTCTIM C C Convert UTCTIM to ET. C CALL STR2ET ( UTCTIM, ET ) WRITE (*,'(A,F16.3)') ' ET Seconds Past 2000: ', ET C C Now we need to obtain the FOV configuration of the NAC C camera. To do this we will need the ID code for C CASSINI_ISS_NAC. C CALL BODN2C ( 'CASSINI_ISS_NAC', NACID, FOUND ) C C Stop the program if the code was not found. C IF ( .NOT. FOUND ) THEN WRITE (*,*) 'Unable to locate the ID code for ' . // 'CASSINI_ISS_NAC' CALL BYEBYE ( 'FAILURE' ) END IF C C Now retrieve the field of view parameters. C CALL GETFOV ( NACID, BCVLEN, SHAPE, FRAME, . BSIGHT, N, BOUNDS ) C C Rather than treat BSIGHT as a separate vector, C copy it into the last slot of BOUNDS. C CALL MOVED ( BSIGHT, 3, BOUNDS(1,5) ) C C Define names for each of the vectors for display C purposes. C VECNAM (1) = 'Boundary Corner 1' VECNAM (2) = 'Boundary Corner 2' VECNAM (3) = 'Boundary Corner 3' VECNAM (4) = 'Boundary Corner 4' VECNAM (5) = 'Boresight' C C Now perform the same set of calculations for each C vector listed in the BOUNDS array. C DO I = 1, 5 C C Call SRFXPT to determine coordinates of the C intersection of this vector with the surface C of Phoebe. C CALL SRFXPT ( 'Ellipsoid', 'PHOEBE', ET, 'LT+S', . 'CASSINI', FRAME, BOUNDS(1,I), POINT, . DIST, TRGEPC, OBSPOS, FOUND ) C C Check the found flag. Display a message if the point C of intersection was not found, otherwise continue with C the calculations. C WRITE (*,*) 'Vector: ', VECNAM(I) IF ( .NOT. FOUND ) THEN WRITE (*,*) 'No intersection point found at ' . // 'this epoch for this vector.' ELSE C C Display the planetocentric latitude and longitude C of the intercept. C CALL RECLAT ( POINT, RADIUS, LON, LAT ) WRITE (*,*) ' Planetocentric coordinates of the ' . // 'intercept (degrees):' WRITE (*,'(A,F16.3)') ' LAT = ', LAT * DPR() WRITE (*,'(A,F16.3)') ' LON = ', LON * DPR() C C Compute the illumination angles at this C point. C CALL ILLUM ( 'PHOEBE', ET, 'LT+S', 'CASSINI', . POINT, PHASE, SOLAR, EMISSN ) WRITE (*,'(A,F16.3)') ' Phase angle (degrees):' . // ' ', PHASE * DPR() WRITE (*,'(A,F16.3)') ' Solar incidence angle ' . // '(degrees): ', SOLAR * DPR() WRITE (*,'(A,F16.3)') ' Emission angle (degree' . // 's): ', EMISSN* DPR() END IF WRITE (*,*) ' ' END DO C C Lastly compute the local solar time at the boresight C intersection. C IF ( FOUND ) THEN C C Get Phoebe ID. C CALL BODN2C ( 'PHOEBE', PHOEID, FOUND ) C C Stop the program if the code was not found. C IF ( .NOT. FOUND ) THEN WRITE (*,*) 'Unable to locate the ID code for ' . // 'PHOEBE' CALL BYEBYE ( 'FAILURE' ) END IF C C Compute local time. C CALL ET2LST ( ET, . PHOEID, . LON, . 'PLANETOCENTRIC', . HR, . MN, . SC, . TIME, . AMPM ) WRITE (*,*) ' Local Solar Time at boresight ' . // 'intercept (24 Hour Clock): ' WRITE (*,*) ' ', TIME ELSE WRITE (*,*) ' No boresight intercept to compute ' . // 'local solar time.' END IF END Solution Sample Output After compiling the program, execute it: Converting UTC Time: 2004 jun 11 19:32:00 ET Seconds Past 2000: 140254384.185 Vector: Boundary Corner 1 Planetocentric coordinates of the intercept (degrees): LAT = 1.028 LON = 36.433 Phase angle (degrees): 28.110 Solar incidence angle (degrees): 16.121 Emission angle (degrees): 14.627 Vector: Boundary Corner 2 Planetocentric coordinates of the intercept (degrees): LAT = 7.492 LON = 36.556 Phase angle (degrees): 27.894 Solar incidence angle (degrees): 22.894 Emission angle (degrees): 14.988 Vector: Boundary Corner 3 Planetocentric coordinates of the intercept (degrees): LAT = 7.373 LON = 43.430 Phase angle (degrees): 28.171 Solar incidence angle (degrees): 21.315 Emission angle (degrees): 21.977 Vector: Boundary Corner 4 Planetocentric coordinates of the intercept (degrees): LAT = 0.865 LON = 43.239 Phase angle (degrees): 28.385 Solar incidence angle (degrees): 13.882 Emission angle (degrees): 21.763 Vector: Boresight Planetocentric coordinates of the intercept (degrees): LAT = 4.196 LON = 39.844 Phase angle (degrees): 28.140 Solar incidence angle (degrees): 18.247 Emission angle (degrees): 17.858 Local Solar Time at boresight intercept (24 Hour Clock): 11:31:50