KPL/FK Topocentric Frame kernel for the Russian ground stations ======================================================== This is a frame kernel defining a topocentric reference frame for the Russian ground stations. Location data used to define this frame are taken from the EXOMARS 2016 Navigation ICD ESOC/RKPNI (EXM-GS-ICD-ESC-50005). References ----------------------------------------------------------------------------- 1. ``Frames Required Reading'', NAIF 2. ``Kernel Pool Required Reading'', NAIF 3. ``C-Kernel Required Reading'', NAIF 4. EXOMARS 2016 Navigation ICD ESOC/RKPNI (EXM-GS-ICD-ESC-50005) Contact Information ----------------------------------------------------------------------------- If you have any questions regarding this file contact the ESA SPICE Service at ESAC: Alfredo Escalante Lopez (+34) 91-8131-429 alfredo.escalante@esa.int or SPICE support at IKI: Alexander Abbakumov +7 (495) 333-40-13 aabbakumov@romance.iki.rssi.ru Implementation Notes ----------------------------------------------------------------------------- This file is used by the SPICE system as follows: programs that make use of this frame kernel must "load" the kernel normally during program initialization. Loading the kernel associates the data items with their names in a data structure called the "kernel pool". The SPICELIB routine FURNSH loads a kernel into the pool as shown below: FORTRAN: (SPICELIB) CALL FURNSH ( frame_kernel_name ) C: (CSPICE) furnsh_c ( frame_kernel_name ); IDL: (ICY) cspice_furnsh, frame_kernel_name MATLAB: (MICE) cspice_furnsh ( 'frame_kernel_name' ) PYTHON: (SPICEYPY)* furnsh( frame_kernel_name ) In order for a program or routine to extract data from the pool, the SPICELIB routines GDPOOL, GIPOOL, and GCPOOL are used. See [2] for more details. This file was created and may be updated with a text editor or word processor. * SPICEYPY is a non-official, community developed Python wrapper for the NAIF SPICE toolkit. Its development is managed on Github. It is available at: https://github.com/AndrewAnnex/SpiceyPy Stations Frames ----------------------------------------------------------------------------- The topocentric frame defines the z axis as the normal outward at the station site, the x axis points at local north (geographic) with the y axis completing the right handed frame. Positive azimuth is measured counter clockwise from the x axis. The equatorial radius and flattening factor for the ITRF93 reference ellipsoid are radius = 6378.1363 flattening = 1.0/298.257 Please note that all rotations mean the rotation of the coordinate frames about an axis and not of the vectors. The rotation defined in this file transforms vectors from the topocentric frame defined as z - normal to the surface at the site x - local north y - local west to an earth-fixed frame defined as x - along the line of zero longitude intersecting the equator z - along the spin axis y - completing the right hand coordinate frame This is a 3-2-3 rotation with angles defined as the negative of the site longitude, the negative of the site colatitude, 180 degrees. This file uses the reference frame alias EARTH_FIXED. In order to use this file in a SPICE-based program, the alias must be mapped to the frames ITRF93 or IAU_EARTH by a text kernel. An example of the text kernel assignments mapping EARTH_FIXED to ITRF93 is: TKFRAME_EARTH_FIXED_RELATIVE = 'ITRF93' TKFRAME_EARTH_FIXED_SPEC = 'MATRIX' TKFRAME_EARTH_FIXED_MATRIX = ( 1 0 0 0 1 0 0 0 1 ) These assignments must be preceded by the \begindata marker alone on a line. See the Frames Required Reading for details. The ITRF93 frame should be used for high-accuracy work. A binary high-precision earth PCK file should be used to convert the station location from terrestrial to inertial coordinates. \begindata NAIF_BODY_NAME += 'BEAR_LAKES' NAIF_BODY_CODE += 399603 NAIF_BODY_NAME += 'KALYAZIN' NAIF_BODY_CODE += 399604 \begintext Reference frame specifications follow: Topocentric frame BL_TOPO The Z axis of this frame points toward the zenith. The X axis of this frame points North. Topocentric frame BL_TOPO is centered at the site BEAR_LAKES, which at the epoch 2005 JAN 01 00:00:00.000 TDB has Cartesian coordinates X (km): 0.2828547498000E+04 Y (km): 0.2206064086000E+04 Z (km): 0.5256395991000E+04 and planetodetic coordinates Longitude (deg): 37.9516746689565 Latitude (deg): 55.8682066148442 Altitude (km): 0.2097967323084E+00 These planetodetic coordinates are expressed relative to a reference spheroid having the dimensions Equatorial radius (km): 6.3781366000000E+03 Polar radius (km): 6.3567519000000E+03 All of the above coordinates are relative to the frame ITRF93. \begindata FRAME_BL_TOPO = 1399603 FRAME_1399603_NAME = 'BL_TOPO' FRAME_1399603_CLASS = 4 FRAME_1399603_CLASS_ID = 1399603 FRAME_1399603_CENTER = 399603 OBJECT_399603_FRAME = 'BL_TOPO' TKFRAME_1399603_RELATIVE = 'ITRF93' TKFRAME_1399603_SPEC = 'ANGLES' TKFRAME_1399603_UNITS = 'DEGREES' TKFRAME_1399603_AXES = ( 3, 2, 3 ) TKFRAME_1399603_ANGLES = ( -37.9516746689565, -34.1317933851558, 180.0000000000000 ) \begintext Topocentric frame KLZ_TOPO The Z axis of this frame points toward the zenith. The X axis of this frame points North. Topocentric frame KLZ_TOPO is centered at the site KALYAZIN, which at the epoch 2005 JAN 01 00:00:00.000 TDB has Cartesian coordinates X (km): 0.2731191749000E+04 Y (km): 0.2126199292000E+04 Z (km): 0.5339538091000E+04 and planetodetic coordinates Longitude (deg): 37.9003203524384 Latitude (deg): 57.2230158501456 Altitude (km): 0.1814397680015E+00 These planetodetic coordinates are expressed relative to a reference spheroid having the dimensions Equatorial radius (km): 6.3781366000000E+03 Polar radius (km): 6.3567519000000E+03 All of the above coordinates are relative to the frame ITRF93. \begindata FRAME_KLZ_TOPO = 1399604 FRAME_1399604_NAME = 'KLZ_TOPO' FRAME_1399604_CLASS = 4 FRAME_1399604_CLASS_ID = 1399604 FRAME_1399604_CENTER = 399604 OBJECT_399604_FRAME = 'KLZ_TOPO' TKFRAME_1399604_RELATIVE = 'ITRF93' TKFRAME_1399604_SPEC = 'ANGLES' TKFRAME_1399604_UNITS = 'DEGREES' TKFRAME_1399604_AXES = ( 3, 2, 3 ) TKFRAME_1399604_ANGLES = ( -37.9003203524384, -32.7769841498544, 180.0000000000000 ) \begintext End of FK file.