Rover Orientation Data, Where can one find detailed rover orientation data? |
Rover Orientation Data, Where can one find detailed rover orientation data? |
May 28 2011, 04:20 AM
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#1
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Senior Member Group: Members Posts: 2228 Joined: 1-December 04 From: Marble Falls, Texas, USA Member No.: 116 |
I am trying to quantify Spirit's final resting orientation, but I would generally like to learn how to determine the orientation of either rover for any particular sol. I'm sure this data is in the MMB files somewhere, but I haven't been able to identify it. Likewise, I am sure it is somewhere in the Analyst's Notebook database and/or the Pancam data tracking database, but again, I can't find it.
Spirit's final orientation is the main thing I am looking for, but any orientation assistance would be greatly appreciated. Thanks. -------------------- ...Tom
I'm not a Space Fan, I'm a Space Exploration Enthusiast. |
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May 28 2011, 04:27 AM
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#2
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Founder Group: Chairman Posts: 14434 Joined: 8-February 04 Member No.: 1 |
The PDS label label for just about every image, I think, includes a lot of orientation data. It's huge - but here's a segment of it
CODE ...... ROVER_MOTION_COUNTER = (138, 1230, 11, 148, 221) ROVER_MOTION_COUNTER_NAME = (SITE, DRIVE, IDD, PMA, HGA) ..... /* COORDINATE SYSTEM STATE: ROVER */ GROUP = ROVER_COORDINATE_SYSTEM COORDINATE_SYSTEM_INDEX = (138, 1230, 11, 148, 221) COORDINATE_SYSTEM_INDEX_NAME = (SITE, DRIVE, IDD, PMA, HGA) COORDINATE_SYSTEM_NAME = ROVER_FRAME ORIGIN_OFFSET_VECTOR = (-0.227241, 0.177903, 0.0358358) ORIGIN_ROTATION_QUATERNION = (0.885949, -0.169903, 0.00321267, -0.431529) POSITIVE_AZIMUTH_DIRECTION = CLOCKWISE POSITIVE_ELEVATION_DIRECTION = UP QUATERNION_MEASUREMENT_METHOD = COARSE REFERENCE_COORD_SYSTEM_INDEX = 138 REFERENCE_COORD_SYSTEM_NAME = SITE_FRAME END_GROUP = ROVER_COORDINATE_SYSTEM /* COORDINATE SYSTEM STATE: INSTRUMENT DEPLOYMENT DEVICE */ GROUP = IDD_COORDINATE_SYSTEM COORDINATE_SYSTEM_INDEX = (138, 1230, 11, 148, 221) COORDINATE_SYSTEM_INDEX_NAME = (SITE, DRIVE, IDD, PMA, HGA) COORDINATE_SYSTEM_NAME = MI_FRAME ORIGIN_OFFSET_VECTOR = (0.998908, -0.112816, -0.124504) ORIGIN_ROTATION_QUATERNION = (0.559273, -0.497552, -0.443273, 0.493117) POSITIVE_AZIMUTH_DIRECTION = CLOCKWISE POSITIVE_ELEVATION_DIRECTION = DOWN REFERENCE_COORD_SYSTEM_INDEX = (138, 1230, 11, 148, 221) REFERENCE_COORD_SYSTEM_NAME = ROVER_FRAME END_GROUP = IDD_COORDINATE_SYSTEM /* ARTICULATION DEVICE STATE: PANCAM MAST ASSEMBLY */ GROUP = PMA_ARTICULATION_STATE ARTICULATION_DEVICE_ID = "PMA" ARTICULATION_DEVICE_NAME = "PANCAM MAST ASSEMBLY" ARTICULATION_DEVICE_ANGLE = (0.553583 <rad>, 0.69753 <rad>, 0.553568 <rad>, 0.69766 <rad>, 1.21798 <rad>, -0.296728 <rad>) ARTICULATION_DEVICE_ANGLE_NAME = ("AZIMUTH-MEASURED", "ELEVATION-MEASURED", "AZIMUTH-REQUESTED", "ELEVATION-REQUESTED", "AZIMUTH-INITIAL", "ELEVATION-INITIAL") ARTICULATION_DEVICE_MODE = DEPLOYED END_GROUP = PMA_ARTICULATION_STATE /* ARTICULATION DEVICE STATE: HIGH GAIN ANTENNA */ GROUP = HGA_ARTICULATION_STATE ARTICULATION_DEVICE_ID = "HGA" ARTICULATION_DEVICE_NAME = "HIGH GAIN ANTENNA" ARTICULATION_DEVICE_ANGLE = (2.88001 <rad>, 0.0198442 <rad>) ARTICULATION_DEVICE_ANGLE_NAME = (AZIMUTH, ELEVATION) END_GROUP = HGA_ARTICULATION_STATE /* ARTICULATION DEVICE STATE: FILTER */ GROUP = FILTER_ARTICULATION_STATE ARTICULATION_DEVICE_ID = "FILTER" ARTICULATION_DEVICE_NAME = "FILTER ACTUATORS" ARTICULATION_DEV_POSITION = (8, 8, 1) ARTICULATION_DEV_POSITION_ID = ("PANCAM_L8_440NM_SOL_ND5", "PANCAM_R8_880NM_SOL_ND5", "MI_CLOSED") ARTICULATION_DEV_POSITION_NAME = ("LEFT PANCAM FILTER", "RIGHT PANCAM FILTER", "MI DUST COVER") END_GROUP = FILTER_ARTICULATION_STATE /* ARTICULATION DEVICE STATE: INSTRUMENT DEPLOYMENT DEVICE */ GROUP = IDD_ARTICULATION_STATE ARTICULATION_DEVICE_ID = "IDD" ARTICULATION_DEVICE_NAME = "INSTRUMENT DEPLOYMENT DEVICE" ARTICULATION_DEVICE_ANGLE = (-0.118184 <rad>, -0.899982 <rad>, 1.53029 <rad>, 2.38935 <rad>, 1.5708 <rad>, -0.126481 <rad>, -0.903681 <rad>, 1.53503 <rad>, 2.38834 <rad>, 1.516 <rad>) ARTICULATION_DEVICE_ANGLE_NAME = ("JOINT 1 AZIMUTH-ENCODER", "JOINT 2 ELEVATION-ENCODER", "JOINT 3 ELBOW-ENCODER", "JOINT 4 WRIST-ENCODER", "JOINT 5 TURRET-ENCODER", "JOINT 1 AZIMUTH-POTENTIOMETER", "JOINT 2 ELEVATION-POTENTIOMETER", "JOINT 3 ELBOW-POTENTIOMETER", "JOINT 4 WRIST-POTENTIOMETER", "JOINT 5 TURRET-POTENTIOMETER") ARTICULATION_DEVICE_MODE = "FREE SPACE" ARTICULATION_DEVICE_TEMP = (-23.8068 <degC>, -14.6212 <degC>) ARTICULATION_DEVICE_TEMP_NAME = ("AZIMUTH JOINT 1", "TURRET JOINT 5") ARTICULATION_DEV_VECTOR = (0.140944, -0.303824, 0.942245) ARTICULATION_DEV_INSTRUMENT_ID = "MI" ARTICULATION_DEV_VECTOR_NAME = GRAVITY CONTACT_SENSOR_STATE = ("NO CONTACT", "NO CONTACT", CONTACT, CONTACT, "NO CONTACT", "NO CONTACT", OPEN, "NO CONTACT") CONTACT_SENSOR_STATE_NAME = ("MI SWITCH 1", "MI SWITCH 2", "RAT SWITCH 1", "RAT SWITCH 2", "MB SWITCH 1", "MB SWITCH 2", "APXS DOOR SWITCH", "APXS CONTACT SWITCH") END_GROUP = IDD_ARTICULATION_STATE /* COORDINATE SYSTEM STATE: PANCAM MAST ASSEMBLY */ GROUP = PMA_COORDINATE_SYSTEM COORDINATE_SYSTEM_INDEX = (138, 1230, 11, 148, 221) COORDINATE_SYSTEM_INDEX_NAME = (SITE, DRIVE, IDD, PMA, HGA) COORDINATE_SYSTEM_NAME = MAST_FRAME ORIGIN_OFFSET_VECTOR = (0.45781, 0.02779, -1.09668) ORIGIN_ROTATION_QUATERNION = (0.894388, -0.100912, 0.35272, 0.255881) POSITIVE_AZIMUTH_DIRECTION = CLOCKWISE POSITIVE_ELEVATION_DIRECTION = UP REFERENCE_COORD_SYSTEM_INDEX = (138, 1230, 11, 148, 221) REFERENCE_COORD_SYSTEM_NAME = ROVER_FRAME END_GROUP = PMA_COORDINATE_SYSTEM /* ARTICULATION DEVICE STATE: MOBILITY CHASSIS */ GROUP = CHASSIS_ARTICULATION_STATE ARTICULATION_DEVICE_ID = "CHASSIS" ARTICULATION_DEVICE_NAME = "MOBILITY CHASSIS" ARTICULATION_DEVICE_ANGLE = (-0.0120352 <rad>, 0.00844853 <rad>, -0.0256182 <rad>, -0.0516135 <rad>, -0.382922 <rad>, -0.459977 <rad>, 0.158197 <rad>) ARTICULATION_DEVICE_ANGLE_NAME = ("LEFT FRONT WHEEL POTENTIOMETER", "RIGHT FRONT WHEEL POTENTIOMETER", "LEFT REAR WHEEL POTENTIOMETER", "RIGHT REAR WHEEL POTENTIOMETER", "LEFT BOGIE POTENTIOMETER", "RIGHT BOGIE POTENTIOMETER", "DIFFERENTIAL BOGIE POTENTIOMETER") ARTICULATION_DEVICE_MODE = DEPLOYED END_GROUP = CHASSIS_ARTICULATION_STATE .... /* DERIVED GEOMETRY DATA ELEMENTS: ROVER FRAME */ GROUP = ROVER_DERIVED_GEOMETRY_PARMS INSTRUMENT_AZIMUTH = 31.9313 <deg> INSTRUMENT_ELEVATION = 43.0455 <deg> REFERENCE_COORD_SYSTEM_INDEX = (138, 1230, 11, 148, 221) REFERENCE_COORD_SYSTEM_NAME = ROVER_FRAME END_GROUP = ROVER_DERIVED_GEOMETRY_PARMS /* DERIVED GEOMETRY DATA ELEMENTS: SITE FRAME */ GROUP = SITE_DERIVED_GEOMETRY_PARMS INSTRUMENT_AZIMUTH = -38.2947 <deg> INSTRUMENT_ELEVATION = 42.3127 <deg> REFERENCE_COORD_SYSTEM_INDEX = 138 REFERENCE_COORD_SYSTEM_NAME = SITE_FRAME SOLAR_AZIMUTH = 326.775 <deg> SOLAR_ELEVATION = 45.0107 <deg> END_GROUP = SITE_DERIVED_GEOMETRY_PARMS That basically includes the complete 'state' of the vehicle. IDD, PMA, Wheels, Chassis, suspension...everything. |
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