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| /__\ /__` '__\ /__` |__) | / ` |__ /__` |__ |__) \ / | / ` |__ |
| \__, .__/ \__/ .__/ | | \__, |___ .__/ |___ | \ \/ | \__, |___ |
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+-----------------------------------------------------------------------------+
The ExoMars 2016 Mission Archived SPICE Kernel Data set
Last update: 2021-09-09T14:49:14
Introduction
============
This document describes the ExoMars 2016 SPICE kernel data set (SKD)
containing observation geometry and other ancillary data in the form of
SPICE System kernel files for the TGO spacecraft its
instruments and targets. It describes the data set directory structure,
kernels included in the data set, their naming conventions, and provides
pointers to the SPICE software and documentation.
Table of Contents
=================
Introduction
Table of Contents
Overview
Errata
Archive Contents
Kernel Types
Kernel Details
SPK Files
PCK Files
IK Files
CK Files
LSK Files
SCLK Files
FK Files
DSK Files
MK Files
SPICE Software and Documentation
Contact Information
Overview
========
This archive includes the complete set of ExoMars 2016 SPICE data files
(kernel files), which can be accessed using SPICE software. The
SPICE data contain geometric and other ancillary information needed
to recover the full value of science instrument data. In particular
SPICE kernels provide spacecraft and planetary ephemerides,
spacecraft and instrument orientation, instrument mounting
alignments, and data needed for relevant time conversions. Data in
the SPICE kernel files must be accessed using the software called
the SPICE Toolkit produced and distributed by the Navigation and
Ancillary Information Facility (NAIF) Node of the Planetary Data
System.
This archive includes data covering from ExoMars 2016 launch,
through the end time of the latest spacecraft orientation file
supplied in the archive. Until the end of the spacecraft lifespan
this archive will be accumulating with new data added according to
the project archiving plan.
Back to Table of Contents
Errata
======
1. This document is a simple HTML document. Providing documents in a
simple mark-up format was allowed by earlier versions of the PDS4
Standards but became prohibited in later versions starting summer
2015. Since the document was compliant at the time when the first
SPICE Bundle was released and for the sake of cross agency
consistency of SPICE bundles, it will exist in the archive
as an HTML document.
2. Kernels for the EDM Lander (Schiaparelli) and CK files for
CaSSIS have not been included in the present version of the
bundle on purpose. These files will be present in future versions
of the bundle.
3. C-Matrix Kernels generated from Housekeeping Telemetry contain several
gaps for different known reasons. Some of the gaps might be restored in
future versions of the bundle. Note that for S/C attitude those gaps
are covered by predicted CK files. For High Gain Antenna and Solar
Arrays the user can load the CK files that provide canonical (zero)
orientation. Note that these last files are not included in the
meta-kernel.
4. Meta-kernels before version 003 use the low precision Earth rotation
model which is used by the ESA Tracking Stations. Results using these
versions differ considerably and are discouraged.
Back to Table of Contents
Archive Contents
================
Files in this archive are organized into a set of subdirectories
below the top-level directory. The following diagram shows the
structure and content of these directories. The directory names are
enclosed in square brackets ([]).
[top-level-directory]
|
|- bundle_em16_spice_v*.xml Bundle PDS4 label, one or more versions.
|- readme.txt Bundle top-level readme file.
|
|-[spice_kernels] Directory containing SPICE kernels.
| |
| |- collection_spice_kernels_v*.xml PDS4 labels for Spice Kernels collections.
| |- collection_spice_kernels_inventory_v*.tab
| | Spice Kernels collections' inventories.
| |
| |-[ck] Directory containing CK files.
| | |
| | |-- *.bc Binary CK files.
| | +-- *.xml PDS4 labels for CK files.
| |
| |-[dsk] Directory containing DSK files.
| | |
| | |-- *.bds Binary DSK files.
| | +-- *.xml PDS4 labels for DSK files.
| |
| |-[fk] Directory containing FK files.
| | |
| | |-- *.tf Text FK files.
| | +-- *.xml PDS4 labels for FK files.
| |
| |-[ik] Directory containing IK files.
| | |
| | |-- *.ti Text IK files.
| | +-- *.xml PDS4 labels for IK files.
| |
| |-[lsk] Directory containing LSK files.
| | |
| | |-- *.tls Text LSK files.
| | +-- *.xml PDS4 labels for LSK files.
| |
| |--[mk] Directory containing MK files.
| | |
| | |-- *.tm Text Meta-kernel files.
| | +-- *.xml PDS4 labels for MK files.
| |
| |-[pck] Directory containing PCK files.
| | |
| | |-- *.tpc Text PCK files.
| | |-- *.bpc Binary PCK files.
| | +-- *.xml PDS4 labels for PCK files.
| |
| |-[sclk] Directory containing SCLK files.
| | |
| | |-- *.tsc Text SCLK files.
| | +-- *.xml PDS4 labels for SCLK files.
| |
| +-[spk] Directory containing SPK files.
| |
| |-- *.bsp Binary SPK files.
| +-- *.xml PDS4 labels for SPK files.
|
+-[document] Directory containing documents.
|
|- collection_document_v*.xml PDS4 labels for document collections.
|- collection_document_inventory_v*.tab
| Document collections' inventories.
|
|- spiceds_v*.html This file and its earlier versions.
+- spiceds_v*.xml PDS4 labels for this file and its earlier versions.
Back to Table of Contents
Kernel Types
============
Different SPICE kernel types are used to store different kinds of
ancillary data.
SPK (Spacecraft Planet Kernel) files contain ephemerides (position
and velocity) for spacecraft, planets, satellites, comets and
asteroids as well as for moving or fixed spacecraft and instrument
structures. SPK files are located under the spice_kernels/spk
directory of this archive.
PCK (Planetary Constants Kernel) files contain certain physical,
dynamical and cartographic constants for target bodies, such as size
and shape specifications, and orientation of the spin axis and prime
meridian. PCK files are located under the spice_kernels/pck
directory of this archive.
IK (Instrument Kernel) files contain instrument parameters relevant
for computing an instrument's geometry such as field-of-view
definitions, CCD and optical distortion characteristics, and internal
timing parameters. IK files are located under the spice_kernels/ik
directory of this archive.
CK (C-matrix Kernel) files contain time varying orientations for
spacecraft, spacecraft structures, and articulating science
instruments. CK files are located under the spice_kernels/ck
directory of this archive.
LSK (Leapseconds Kernel) files contain the leapseconds and the
values of other constants required to perform a transformation
between Universal Time Coordinated (UTC) and Ephemeris time (ET),
which is also known as Barycentric Dynamical Time (TDB). LSK
files are located under the spice_kernels/lsk directory of
this archive.
SCLK (Spacecraft Clock Kernel) files contain on-board clock
calibration data required to perform a transformation between
Ephemeris time (ET) and spacecraft on-board time (SCLK). SCLK files
are located under the spice_kernels/sclk directory of this
archive.
FK (Frame definitions Kernel) files contain information required to
define reference frames, sources of frame orientation data and
connections between these frames and other frames supported within
the SPICE system. The science instrument frame definitions provided
in the FK files include mounting alignment information for the
instruments. FK files are located under the spice_kernels/fk
directory of this archive.
DSK (Digital Shape Kernel) files contain detailed shape models for
extended objects. These objects typically are solar system bodies such as
planets, dwarf planets, natural satellites, asteroids, and comet nuclei.
DSK data also can represent shapes of artificial objects such as spacecraft
components or represent abstractions such as a magnetic field model.
DSK files are located under the spice_kernels/dsk
directory of this archive.
MK (Meta-Kernel) files list sets of related SPICE kernels that
should be used together, providing an easy way to make data from
these kernel sets available to a SPICE-based application by loading
meta-kernels into the program using the high level SPICE data loader
routine FURNSH. MK files are located the spice_kernels/mk
directory of this archive.
Back to Table of Contents
Archived Kernel Details
=======================
The subsections below provide details, such as file naming
conventions and specific details, for each of the kernel types
included in this archive.
Please note that the most detailed description of the data in each file is
provided in metadata included inside the file or the comment area of the
file. For binary files this information can be viewed using the utility
program COMMNT included in the NAIF Toolkit.
Back to Table of Contents
SPK Files
This directory contains the SPICE SP-Kernel files for the ExoMars 2016
mission, including mission analysis, nominal and operational spacecraft
trajectory SPKs, generic planetary and satellite ephemeris SPKs.
Naming Scheme for ExoMars 2016 spacecraft SPKs:
The naming scheme for the ExoMars 2016 spacecraft trajectory SPKs is:
em16_SC_TYPE[_ID][_DESC]_YYYYMMDD_YYYYMMDD_vNN.bsp
where
SC acronym of the spacecraft:
tgo: for the Trace Gas Orbiter (TGO) spacecraft;
edm: for the Schiaparelli (EDM) lander;
TYPE Data type, where a reference to the originator of the
data, the type of data and the reference period is
provided. This is a three letter acronym. The first
letter defines the file originator:
s: Science Operations Center;
m: Mission Analysis;
f: Flight Dynamics;
the second letter defines the reference period of the
data:
c: Cruise phase reference;
p: Pre-aerobraking phase reference;
a: Aerobraking phase reference;
l: Science phase Long term reference;
m: Science phase Medium term reference;
s: Science phase Short term reference;
o: Undefined reference;
the third letter indicates the type of data
p: Predicted and often reconstructed data;
r: Reconstructed data;
t: Test data;
ID mapping to the original file product IDs as defined
per an ICD document (optional);
DESC free text description of any particular aspect of the
data (optional);
YYYYMMDD coverage start and stop times in TDB (required);
NN version number, starting from 01 (required; e.g. 01);
The naming scheme for the ExoMars 2016 spacecraft center-of-gravity
SPKs is:
em16_SC_cog[_ID][_YYYYMMDD_YYYYMMDD]_vNN.bsp
where
SC acronym of the spacecraft:
tgo: for the Trace Gas Orbiter (TGO) spacecraft;
edm: for the Schiaparelli (EDM) lander;
ID mapping to the original file product IDs as defined
per an ICD document (optional);
YYYYMMDD coverage start and stop times in TDB (optional);
NN version number, starting from 01 (required; e.g. 01);
The naming scheme for the ExoMars 2016 spacecraft structures SPKs is:
em16_SC_structures_vNN.bsp
where
SC acronym of the spacecraft:
tgo: for the Trace Gas Orbiter (TGO) spacecraft;
edm: for the Schiaparelli (EDM) lander;
NN version number, starting from 01 (required; e.g. 01);
Naming Scheme for Generic Planetary Ephemeris SPKs
The naming scheme for generic planetary SPKs is:
deNNN.bsp
where
NNN DE version (required; e.g. 421);
Naming Scheme for Generic Mars Satellite Ephemeris SPKs
The naming scheme for generic mars satellite SPKs is:
marNNN[_EXTRA].bsp
where
NNN satellite ephemeris number (required; e.g. 083);
EXTRA additional information token (optional);
Naming Scheme for Generic Outer Planets Ephemeris SPKs
The naming scheme for generic mars satellite SPKs is:
outerplanets_vNNNN.BSP
where
NNNN version (required; e.g. 0004);
Naming Scheme for ESA ESTRACK ground stations SPKs
The naming scheme for ESA ESTRACK ground stations SPKs is:
estrack_vNN.bsp
where
NN version (required; e.g. 01);
Naming Scheme for ESA New Norcia ground station SPKs
The naming scheme for ESA New Norcia ground stations SPKs is:
new_norcia.bsp
Back to Table of Contents
PCK Files
This directory contains generic and mission-specific SPICE Planetary
Constants Kernel files for the ExoMars 2016 mission. The data in these
kernels correspond to the best knowledge of the orientation, size and
shape of Mars, its satellites and the Earth.
Naming Scheme for Generic PCKs
The naming scheme for generic PCKs is:
pckNNNNN.tpc
where
NNNNN version number (required; e.g. 00010);
If multiple versions of a generic PCK Kernel file are
provided, always use the latest version (unless an
earlier version is needed for some special reasons.)
The naming scheme for generic PCK containing masses for Solar System
bodies is:
de-NNN-masses.tpc
where
NNN planetary ephemeris version number (required; e.g. 403);
If multiple versions of a generic PCK Kernel file are
provided, always use the latest version (unless an
earlier version is needed for some special reasons.)
Naming Scheme for Earth high-precision PCKs
The naming scheme for the Earth high-precision PCKs is:
earth_SDAT_EDAT_PDAT.bpc
where
SDAT is the file's coverage start time in YYMMDD format;
EDAT is the file's coverage end time in YYMMDD format;
PDAT is the date from which the information contained
in the file corresponds to predicted data. Any data
prior to this date corresponds to actual measurements.
Back to Table of Contents
IK Files
This directory contains the SPICE Instrument Kernel files for the
ExoMars 2016 Trace Gas Orbiter (TGO) remote sensing instruments.
The naming scheme for ExoMars2016 IKs is:
em16_SC_INST_vNN.ti
where
SC acronym of the spacecraft (required):
tgo: for the Trace Gas Orbiter (TGO) spacecraft;
edm: for the Schiaparelli (EDM) lander;
INST instrument identifier (required):
acs for ACS
cassis for CaSSIS
frend for FREND
nomad for NOMAD
str for Star Trackers
NN version number (required; e.g. 01);
If multiple versions of an IK file are provided for an
instrument, always use the latest version (unless
earlier version is needed for some special reasons.)
Back to Table of Contents
CK Files
CK (Camera-Matrix Kernel) files contain time varying orientation for
the ExoMars2016 TGO spacecraft, its structures, and science instruments.
ExoMars2016 spacecraft CK:
The naming scheme for the ExoMars2016 spacecraft CKs is:
em16_SC_INST_TYPE[_ID][_DESC]_YYYYMMDD_YYYYMMDD_SCLK_vNN.bc
where
SC acronym of the spacecraft (required):
tgo: for the Trace Gas Orbiter (TGO) spacecraft;
edm: for the Schiaparelli (EDM) lander;
INST instrument/structure/sensor identifier (required):
sc: for the TGO/EDM spacecraft frame;
cassis: for the CaSSIS Telescope frame;
nomad: for the NOMAD LNO Scanning mirror frame;
acs: for the Atmospheric Chemistry Suite ACS;
TYPE Data type, where a reference to the originator of the
data, the type of data and the and the reference period
is provided. This is a three letter acronym. The first
letter defines the file originator:
s: Science Operations Center;
m: Mission Analysis;
f: Flight Dynamics;
i: Instrument Team;
the second letter defines the reference period of the
data:
c: Cruise phase reference;
p: Pre-aerobraking phase reference;
a: Aerobraking phase reference;
l: Science phase Long term reference;
m: Science phase Medium term reference;
s: Science phase Short term reference;
o: Undefined reference;
the third letter indicates the type of data
p: Predicted data;
m: Measured data;
r: Reconstructed data;
t: Test data;
ID mapping to the original file product IDs as defined per
an ICD document (optional);
DESC description of the original reference file of any
particular of the original file (optional) e.g:
npo: Nadir Power-optimized s/c attitude;
noa: Nadir Orbit-aligned s/c attitude;
axis: Orientation of the spin axis of EDM;
spin: Angular velocity of the spin axis of EDM;
YYYYMMDD coverage start and stop times in TDB (required);
SCLK reference to SCLK used to created the CK (required):
sYYYYMMDD: SCLK version YYMMDD for type ``step''
tYYYYMMDD: SCLK version YYMMDD for type ``stretch''
fYYYYMMDD: SCLK version YYMMDD for type ``fictional''
NN version number -- 2 digits (required; e.g. 01).
See [5] for further details on the SCLK types available to ExoMars2016.
If multiple versions of a C-Kernel file are provided, always use the latest
version (unless earlier version is needed for some special reasons.)
Back to Table of Contents
LSK Files
This directory contains the generic SPICE Leapseconds Kernel files for
the ExoMars 2016 mission.
The naming scheme for generic LSKs is:
naifNNNN.tls
where
NNNN version number (required; e.g. 0011);
If multiple versions of a generic LSK Kernel file are
provided, always use the latest version (unless earlier
version is needed for some special reasons.)
Back to Table of Contents
SCLK Files
This directory contains the SPICE Spacecraft Clock-Kernel files for the
ExoMars 2016 Trace Gas Orbiter (TGO) spacecraft on-board clock.
The naming scheme for TGO SCLKs is:
em16_tgo_TYPE_YYYYMMDD.tsc
where
TYPE SCLK data type contained within the file:
fict: ``fictional'' data;
stre: SCLK created using a 'stretch' strategy, i.e. TCPs
are considered only the time they start to be
applicable, and then the correlation is made by
linking these points, i.e. not taking into
consideration the gradient and offsets provided
within the TCPs;
step: SLKC created using a 'step' strategy, i.e.
additional TCPs are created between real ones in
order to match the time correlation provided by a
TCP packet N at 60 seconds before TCP packet N+1,
so that continuity is forced.
YYYYMMDD start time of applicability, i.e. either release date for
fictional SCLKs or date of the last TCP used to generate
the SCLK in stretch/step mode.
Back to Table of Contents
FK Files
This directory contains the SPICE Frames Definition Kernel files for the
ExoMars 2016 TGO spacecraft, its structures, and science instruments, as
well as for the Ground Earth Stations. Moreover, it contains frame
definitions for science operations and for data analysis and scientific
investigations.
The following table provides information on which file contains which
frames, their file naming conventions and some particular details:
File Contents
--------------------------- -----------------------------------------
earthfixediau.tf Makes the IAU_EARTH coincide with
the Earth fixed reference frame.
earthfixeditrf93.tf Makes the ITRF93 frame coincide with
the Earth fixed reference frame.
estrack_vNN.tf ESA Ground Stations topocentric frames.
new_norcia_topo.tf ESA New Norcia topocentric frame.
earth_topo_050714.tf NASA DSN Ground Stations topocentric
frames.
rssd0002.tf Cross-mission frames kernel that defines
frames of interest not ``built'' in the
SPICE toolkit.
em16_tgo_ops_vNN.tf ExoMars 2016 TGO science operations
frames.
em16_tgo_vNN.tf ExoMars2016 TGO spacecraft, structures,
instruments and sensors frames.
em16_dsk_surfaces_vNN.tf ExoMars2016 TGO Surface definitions for
Digital Shape Kernels.
where
NN version number -- two digits (required; e.g. 01)
If multiple versions of a Frames Kernel file are
provided, always use the latest version (unless
earlier version is needed for some special reasons.)
Back to Table of Contents
DSK Files
This directory contains the SPICE Digital Shape-Kernel files for
ExoMars2016 target bodies and spacecraft components.
The naming scheme for the ExoMars2016 S/C DSKs is:
em16_SC_BODY_vNN.bds
where
SC spacecraft:
tgo for TGO
edm for Schiaparelli
BODY body:
bus for S/C Bus
hga for High Gain Antenna
samz for -Z Solar Array
sapz for +Z Solar Array
NN version number (required; e.g. 01)
The naming scheme for the Natural Bodies DSKs is:
BODY_RRRR_PRO[_ID][_DESC]_vNN.bds
where
BODY body:
mars for Mars
phobos for Phobos
deimos for Deimos
RRRR number of plates:
Knnn for nnn thousand plates
Mnnn for nnn million plates
PRO producer:
esa for European Space Agency
dlr for Deutsches Zentrum fur Luft- und
Raumfahrt e.V.
gas for Gaskell, R.W.
tho for Thomas, P.
mol for Mars Global Surveyor MOLA data.
NN version number (required; e.g. 01)
Back to Table of Contents
MK Files
Meta-kernel (MK) files (a.k.a 'furnsh' files) provide lists of the
archived kernels included in this archive suitable for loading into
a SPICE-based application via the high level SPICE data loader
routine FURNSH. Using meta-kernels makes it easy to load with
one call a comprehensive SPICE data collection for a given period.
The text MK files are provided under the spice_kernels/mk
directory and are named according to the following scheme:
- ExoMars 2016 MK files
em16_vVVV.tm
where
VVV is the version; the file with the latest
version supersedes all similarly named
files with earlier versions.
The reasons for adding new kernels include (but are not limited to)
adding new kinds of kernels, adding new versions of existing kernels
containing more complete or more accurate data, and adding new
versions of existing kernels superseding the existing kernels that
had errors. The file with the latest version number supersedes all
earlier versions.
Although the meta-kernels were created such that on a UNIX
workstation they can be loaded into a SPICE-based application
directly from the directory in which they reside -- because the
PATH_VALUES keyword is set to '..' and '/' is used as the path
delimiter -- it is recommended that users make local copies of these
files and update the PATH_VALUES keyword in each of them to point to
the actual location of the archive's 'spice_kernels' directory on
their system. Additional changes including replacing '/' and '\' in
all path specifications and converting UNIX line terminators to
terminators native to the user's system may be required to use these
meta-kernels on non-UNIX workstation.
The following guidelines were followed to pick and set priority --
determined by the order in which the kernel files are listed, with
the latest one taking precedence -- for the kernel files included in
these meta-kernels:
- the latest archived versions of LSK, PCK, SCLK, IK, FK, generic
SPKs, fixed offset SPKs, and fixed orientation CKs were included
- the latest reconstructed SPKs were included
- the latest predicted and reconstructed CKs were included
Additional description of the kernels sets listed in a text MK file is
provided in metadata included inside the description area of the
file. This information can be viewed using any text editor program.
Back to Table of Contents
File Formats
============
All text documents and other meta information files such as
descriptions, detached PDS4 labels, and inventory tables are stream
format files, with a carriage return (ASCII 13) and a line feed
character (ASCII 10) at the end of the records. This allows the
files to be read by most operating systems.
The text kernel files in this archive -- LSKs, PCKs, SCLKs, IKs, FKs,
and MKs -- are UNIX text files, with a line feed character (ASCII 10) at
the end of the line, and binary kernels files -- SPKs, CKs and DSKs --
are IEEE LSB binary files. While data files in this archive can be used
'as is' with SPICE toolkits for the majority of supported
environments, converting the files to the binary or text format
native to the user's computer may be required for use of the data
with FORTRAN toolkits on incompatible environments. Refer to the
documentation provided with the SPICE Toolkit to find out whether
conversion is needed in each specific case.
NAIF provides a tool (BINGO) that can convert either binary or text
kernels from one format to another. This means that text files can
have their line terminator changed and binary files can be converted
to the native format of the platform of interest. BINGO is available
from the utilities page at the NAIF Node of the PDS:
https://naif.jpl.nasa.gov/naif/utilities.html
Back to Table of Contents
SPICE Software and Documentation
================================
The latest SPICE Toolkit for a variety of computer platforms,
additional utility programs, documentation, tutorials, and hands-on
lessons are available at the NAIF Node of the PDS:
https://naif.jpl.nasa.gov
specifically:
Toolkit: https://naif.jpl.nasa.gov/naif/toolkit.html
Utilities: https://naif.jpl.nasa.gov/naif/utilities.html
Tutorials: https://naif.jpl.nasa.gov/naif/tutorials.html
Lessons: https://naif.jpl.nasa.gov/naif/lessons.html
Back to Table of Contents
Contact Information
===============================
If you have any questions regarding this directory or its
contents, please contact the ESA SPICE Service:
Alfredo Escalante Lopez
(+34) 91-8131-429
spice@sciops.esa.int
or NAIF at JPL:
Boris Semenov
(818) 354-8136
Boris.Semenov@jpl.nasa.gov
Marc Costa Sitja
(626) 469-1244
Marc.Costa.Sitja@jpl.nasa.gov
Back to Table of Contents
Cognisant Persons
===============================
This archive was produced by Marc Costa Sitja and Alfredo Escalante
Lopez, ESA SPICE Service, Archives and SPICE Software Development and
Operations Work Area, Data and Engineering Division (SCI-OP),
Directorate of Science (D/SCI), European Space Astronomy
Centre (ESAC), European Space Agency (ESA), Villanueva de la
Canada, Spain.
End of ExoMars 2016 SPICE archive description.
Back to Table of Contents