KPL/FK Schiaparelli Entry, Descent and Landing Demonstrator Module (EDM) Frames Kernel =============================================================================== This frame kernel contains a complete set of frame definitions for the ExoMars-16 Schiaparelli Entry, Descent and Landing Demonstrator Module (EDM) including definitions for the EDM structures and EDM science instrument frames. This kernel also contains NAIF ID/name mapping for the EDM instruments. Version and Date ------------------------------------------------------------------------ Version 0.0 -- August 05, 2016 -- Marc Costa Sitja, ESAC/ESA Preliminary Version. Only EDM Name to NAIF ID mappings and basic frame definitions. This version is based on the latest InSight Frame Definitions Kernel (insight_v01.tf). References ------------------------------------------------------------------------ 1. ``Frames Required Reading'', NAIF 2. ``Kernel Pool Required Reading'', NAIF 3. ``C-Kernel Required Reading'', NAIF 4. ``ExoMars System User Manual'', EXM-MS-MAN-AI-0005, 2016-02-19, Thales Alenia Space. 5. ``EXOMARS OMB frame definitions and conventions'', EXM-OM-TNO-AF-0361, Issue 3, 2011-10-14, Thales Alenia Space. 6. ``EXOMARS EDL DEMONSTRATOR MODULE (EDM) design report, EXM-DM-DRP-AI-0022, Issue 5, 2015-09-15, Thales Alenia Space. Contact Information ------------------------------------------------------------------------ If you have any questions regarding this file contact SPICE support at ESAC: Marc Costa Sitja (+34) 91-8131-457 mcosta@sciops.esa.int, esa_spice@sciops.esa.int or SPICE support at IKI: Anton Ledkov +7 (495) 333-12-66 aledkov@rssi.ru or NAIF at JPL: Boris Semenov (818) 354-8136 Boris.Semenov@jpl.nasa.gov 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 routine that loads a kernel into the pool is 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' ) This file was created and may be updated with a text editor or word processor. EDM NAIF ID Codes -- Summary Section ------------------------------------------------------------------------ The following names and NAIF ID codes are assigned to the EDM spacecraft, its structures and science instruments (the keywords implementing these definitions are located in the section "EDM NAIF ID Codes -- Definition Section" at the end of this file): EDM Spacecraft and Spacecraft Structures names/IDs: EDM -117 (synonyms: EXOMARS 2016 EDM EDM_LANDING_SITE -117900 and EDL DEMONSTRATOR MODULE) EDM_LANDER -117000 AMELIA names/IDs: EDM_AMELIA -117100 COMARS names/IDs: EDM_COMARS -117200 DECA names/IDs: EDM_DECA -117500 DREAMS names/IDs: EDM_DREAMS -117300 INRRI names/IDs: EDM_INRRI -117400 EDM Lander Frames ------------------------------------------------------------------------ The following EDM frames are defined in this kernel file: Name Relative to Type NAIF ID ====================== =================== ============ ======= Lander frames (-11700x): ------------------------ EDM_LANDER_CRUISE J2000 CK -117001 EDM_LANDER EDM_LANDER_CRUISE, CK -117000 EDM_LANDED_LOCAL Surface/descent frames (-1179xx): --------------------------------- EDM_TOPO IAU_MARS FIXED -117900 EDM_SURFACE_FIXED EDM_TOPO FIXED -117901 EDM_LANDED_LOCAL EDM_TOPO FIXED -117902 AMELIA frames: -------------- EDM_AMELIA_BASE EDM_LANDER FIXED -117100 COMARS frames: -------------- EDM_COMARS_BASE EDM_LANDER FIXED -117200 DECA frames: ------------- EDM_DECA_BASE EDM_LANDER FIXED -117200 DREAMS frames: ------------- EDM_DREAMS_BASE EDM_LANDER FIXED -117300 INRRI frames: ------------- EDM_INRRI_BASE EDM_LANDER FIXED -117200 ExoMars-2016 Frames Hierarchy -------------------------------------------------------------------------- The diagram below shows the ExoMars-2016 frames hierarchy (except for science operations frames): "J2000" INERTIAL +-----------------------------------------------------+ | | | |<-pck |<-pck |<-ck | | | v v | "IAU_EARTH" "IAU_MARS" v EARTH BODY-FIXED MARS BODY-FIXED "TGO_SPACECRAFT" ---------------- +-----------------------+ ---------------- | | |<--fixed | | | v | "EDM_TOPO" | +------------+ | | | | | fixed->| | | | | fixed->| v | | "EDM_SURFACE_FIXED" | | ------------------- |<-fixed | | v v "EDM_LOCAL_LANDED" "EDM_LANDER_CRUISE" ------------------ ------------------ | | |<-ck(*) |<-ck(*) | | v "EDM_LANDER" v +------------------------------------------------+ . . . . . . . . . . . . . . . . . . V Individual instrument frame trees are provided in the other sections of this file (*) In these cases transformation is fixed but it has to be stored in a CK to make SPICE "traverse" appropriate frame tree branch based on the time of interest and/or loaded kernels. Implementation of Frame Chains for Different Mission Phases ------------------------------------------------------------------------------- Different routes along the branches of the EDM frame hierarchy are implemented for different mission phases depending on the availability of the orientation data and the source, format and type of the data. This subsection summarizes mission phase specific implementations. Cruise ------ "J2000" Inertial ---------------- | | <----------- CK segment containing TLM quaternions or AEM data | v "TGO_SPACECRAFT" ---------------- | | <----------- Fixed rotation based on frame definitions | V "EDM_LANDER_CRUISE" ------------------- | | <----------- CK segment representing fixed rotation defined | by the lander design and to make SPICE "transverse" V to the appropiate frame chain "EDM_LANDER" ------------ Entry-Descent-Landing --------------------- "J2000" Inertial ---------------- | | <----------- PCK-based transformation V "IAU_MARS" ---------- | | <----------- Fixed rotation based on frame definitions | V "EDM_LANDER_CRUISE" ------------------- | | <----------- CK segment representing fixed rotation defined | by the lander design and to make SPICE "transverse" V to the appropiate frame chain "EDM_LANDER" ------------ Surface Operations ------------------ During surface operations the lander orientation is available from the following source(s): - initial orientation is provided by the spacecraft team in the form of quaternion defining orientation of the EDM_LANDER frame with respect to the EDM_LANDED_LOCAL frame; To accommodate this(ese) source(s) the following frame chain(s) can be implemented: Chain 1 (based on spacecraft team quaternion): "J2000" Inertial ---------------- | | <----------- PCK-based transformation V "IAU_MARS" ---------- | | <----------- Fixed rotation based on the landing site | coordinates V "EDM_TOPO" ---------- | | <----------- Fixed rotation based on frame definitions V "EDM_LANDED_LOCAL" ------------------ | | <----------- CK segment representing fixed rotation per | initial quaternion and to make SPICE "transverse" V to the appropiate frame chain. "EDM_LANDER" ------------ EDM Lander Frames ------------------------------------------------------------------------ This section of the file contains the definitions of the spacecraft and spacecraft structures frames. EDM Lander Cruise Frame ----------------------- According to [4] the EDM lander reference frame -- EDM_LANDER_CRUISE is defined as follows: - +X axis is parallel to the the revolution axis of the conical shape pointing positively to the Front Shield nose (same orientation and direction as +Xsc in the TGO_SPACECRAFT frame when EDM is stowed on the OB); - +Y axis is parallel to the plane of back shell base, pointing positively to the EDM anchorage mechanism located on the HEPA filter side. When EDM is stowed on the OB, +Yedm shall have the same orientation and direction as +Ysc; - +Z axis completes the right-handed frame. - The origin of this frame is the vertex of the EDM upper cone EDM Lander Frame ---------------- According to [4] the EDM Surface Platform reference frame -- EDM_LANDER is defined as follows: - +X axis is parallel to the the revolution axis of the conical shape pointing positively to the Front Shield nose (same orientation and direction as +Xlnd in the EDM_LANDER_CRUISE frame); - +Y axis is parallel to the plane of back shell base, pointing positively to the EDM anchorage mechanism located on the HEPA filter side. +Ylnd is parallel to +Ylnd_cru; - +Z axis completes the right-handed frame. - The origin of this frame is in-plane with the upper face of the Surface Platform. These diagrams illustrate the EDM_LANDER_CRUISE and the EDM_LANDER frames: +Y EDM full lander (Hepa filter side) view: ------------------------------------------- Parachute __....---....__ EDM Back Shell .'---------------'. .'-. _____ .-'. .' .' / \ '. '. .' .' / \ '. '. .' .' ' ' '. '. .'--' `-------' '--'. .' '. .' __ '. .' / \ Hepa Filter '. .' \__/ '. .' '. .' +Ylnd '. /_______________________<-------o_______________________________\ ( +Zlnd | ) \_ | _/ ''--.__ | __.--'' ''--.__ v +Xlnd __.--'' ''--.__ +Ylnd_cru __.--'' '<-------o_....--'' +Ysc +Zlnd_cru | <-------o | +Zsc | EDM Front Shield | | v | +Xlnd_cru v +Xsc -X EDM surface platform side view: ---------------------------------- __...--""--....__ _ _'' ''_ _ (/\.-' '-./\) _ \/ \/ _ (/\/ ___ _ \/\) _ \/ .-''-. O___O +Ylnd (_).-''-. \/ _ (/\/ / \ ^ / \ \/\) \/ | | | | | \/ : \ / | \ / : | `-..-' | `-..-' | | ___ x-------> +Zlnd | ; / \ +Xlnd .-''-. ; \ | | / \ / \ \___/ .-''-. | | / \ / \ \ / / . | | `-..-' .' '. \ / .' ',_ `-..-' _,' ''--....____....--'' |_| |_| |_| (_) (_) (_) -Y EDM surface platform side view: ---------------------------------- __ _ \/ \|___O || .-''-. || .-''-. || .-''-. _/ \___||_/___+Ylnd_|| / \_ /|| | |/\ x----------> ||\ /.---------------| ||| || |-----+Zlnd--.\ /_| |__|||_||__| |_\ |____________________|__________________| \ \ .-'|-. / / '--._\/___|__\/__.--' | V +Xlnd Lander Frame Definitions ------------------------ Both lander frames are defined as CK frames for the following reasons: - during cruise and descent the s/c "flies" using the EDM_LANDER_CRUISE frame; the orientation of this frame is determined on-board with respect to the J2000 frame; this orientation is sent down in the chanellized telemetry, from which it is extracted and stored in the cruise CK file; - after landing the initial orientation of the EDM_LANDER_CRUISE frame is determined with respect the Landed Local Vertical, Local Horizontal frame (EDM_LANDED_LOCAL); it is stored in the surface orientation CK file(s); - after landing the orientation of the EDM_LANDER frame may be determined with respect the local level or topocentric frame; this orientation is stored in the surface orientation CK file(s); - for different periods (cruise, descent, surface ops) the EDM_LANDER frame can be specified as offset to the EDM_LANDER_CRUISE frame or the LL frame depending on for which of these the orientation data is available. Also, should the landed orientation change during surface operations due to the arm or other activities, the change in orientation will be captured in the landed CK file(s). These sets of keywords define the EDM_LANDER_CRUISE frame: \begindata FRAME_EDM_LANDER = -117000 FRAME_-117000_NAME = 'EDM_LANDER' FRAME_-117000_CLASS = 3 FRAME_-117000_CLASS_ID = -117000 FRAME_-117000_CENTER = -117 CK_-117000_SCLK = -117 CK_-117000_SPK = -117 OBJECT_-117_FRAME = 'EDM_LANDER' FRAME_EDM_LANDER_CRUISE = -117001 FRAME_-117001_NAME = 'EDM_LANDER_CRUISE' FRAME_-117001_CLASS = 3 FRAME_-117001_CLASS_ID = -117001 FRAME_-117001_CENTER = -117 CK_-117001_SCLK = -117 CK_-117001_SPK = -117 OBJECT_-117_FRAME = 'EDM_LANDER_CRUISE' \begintext EDM Surface/descent frames ------------------------------------------------------------------------ EDM Topocentric Frame --------------------- This frame defines the z axis as the normal outward at the landing site, the x axis points at local north with the y axis completing the right handed frame (points at local west.) Orientation of the frame is given relative to the body fixed rotating frame 'IAU_MARS' (x - along the line of zero longitude intersecting the equator, z - along the spin axis, y - completing the right hand coordinate frame.) The transformation from 'EDM_TOPO' frame to 'IAU_MARS' frame is a 3-2-3 rotation with defined angles as the negative of the site longitude, the negative of the site colatitude, 180 degrees. This frame is currently defined for the target landing site EDL-LS1mod in the Meridiani area as defined in [6]. The landing site longitude and latitude upon which the definition is built are: Lon = 6.15 degrees West Lat = 1.82 degrees South The coordinates specified above are given with respect to the 'IAU_MARS' instance defined by the rotation/shape model from the PCK file 'pck00010.tpc'. These keywords implement the frame definition. \begindata FRAME_EDM_TOPO = -117900 FRAME_-117900_NAME = 'EDM_TOPO' FRAME_-117900_CLASS = 4 FRAME_-117900_CLASS_ID = -117900 FRAME_-117900_CENTER = -117900 TKFRAME_-117900_RELATIVE = 'IAU_MARS' TKFRAME_-117900_SPEC = 'ANGLES' TKFRAME_-117900_UNITS = 'DEGREES' TKFRAME_-117900_AXES = ( 3, 2, 3 ) TKFRAME_-117900_ANGLES = ( 6.15, -91.82, 180.000 ) \begintext EDM Surface Fixed Frame ------------------------------------------------------------------------------- The orientation of the SURFACE_FIXED frame is by definition the same as of the EDM_TOPO frame. Therefore this frame is defined as a zero offset frame relative to the EDM_TOPO frame. \begindata FRAME_EDM_SURFACE_FIXED = -117901 FRAME_-117901_NAME = 'EDM_SURFACE_FIXED' FRAME_-117901_CLASS = 4 FRAME_-117901_CLASS_ID = -117901 FRAME_-117901_CENTER = -117 TKFRAME_-117901_RELATIVE = 'EDM_TOPO' TKFRAME_-117901_SPEC = 'ANGLES' TKFRAME_-117901_UNITS = 'DEGREES' TKFRAME_-117901_AXES = ( 1, 2, 3 ) TKFRAME_-117901_ANGLES = ( 0.000, 0.000, 0.000 ) \begintext EDM Landed Local Vertical, Local Horizontal (LANDED_LOCAL) Frame ------------------------------------------------------------------------------- This frame is the frame with respect to which the landed lander orientation is determined by the on-board attitude. The axes of this frame point as follows: - +Z axis points along local gravity vector - +X axis points towards local North - +Y axis completes the right-hand frame (and, thus points towards local East) In this file the EDM_LANDED_LOCAL frame is defined as a fixed offset frame with respect to the EDM_TOPO frame that is based on the planetographic latitude. \begindata FRAME_EDM_LANDED_LOCAL = -117903 FRAME_-117903_NAME = 'EDM_LANDED_LOCAL' FRAME_-117903_CLASS = 4 FRAME_-117903_CLASS_ID = -117903 FRAME_-117903_CENTER = -117 TKFRAME_-117903_RELATIVE = 'EDM_TOPO' TKFRAME_-117903_SPEC = 'ANGLES' TKFRAME_-117903_UNITS = 'DEGREES' TKFRAME_-117903_AXES = ( 1, 2, 3 ) TKFRAME_-117903_ANGLES = ( 180.000, 0.000, 0.000 ) \begintext EDM NAIF ID Codes -- Definitions =============================================================================== This section contains name to NAIF ID mappings for the ExoMars-16 EDM 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. \begindata NAIF_BODY_NAME += ( 'EDL DEMONSTRATOR MODULE' ) NAIF_BODY_CODE += ( -117 ) NAIF_BODY_NAME += ( 'EDM' ) NAIF_BODY_CODE += ( -117 ) NAIF_BODY_NAME += ( 'EXOMARS 2016 EDM' ) NAIF_BODY_CODE += ( -117 ) NAIF_BODY_NAME += ( 'EDM_LANDER' ) NAIF_BODY_CODE += ( -117000 ) NAIF_BODY_NAME += ( 'EDM_LANDING_SITE' ) NAIF_BODY_CODE += ( -117900 ) NAIF_BODY_NAME += ( 'EDM_AMELIA' ) NAIF_BODY_CODE += ( -117100 ) NAIF_BODY_NAME += ( 'EDM_COMARS' ) NAIF_BODY_CODE += ( -117200 ) NAIF_BODY_NAME += ( 'EDM_DECA' ) NAIF_BODY_CODE += ( -117500 ) NAIF_BODY_NAME += ( 'EDM_DREAMS' ) NAIF_BODY_CODE += ( -117300 ) NAIF_BODY_NAME += ( 'EDM_INRRI' ) NAIF_BODY_CODE += ( -117400 ) \begintext