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Rover Orientation Data, Where can one find detailed rover orientation data?
post May 28 2011, 04:20 AM
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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.


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post Jun 2 2011, 05:53 AM
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QUOTE (djellison @ May 30 2011, 10:41 AM) *
... They do fine calibration of the IMU on a regular basis - (normally cited as a 'QFE' I believe) - and I'm sure one would have occurred very close to the final location.

Thanks for that tip. I am currently trying to identify the latest fine calibration of the IMU, in order to determine when the last, most accurate, attitude was known. Apparently, it is actually called a QFA (get Quick Fine Attitude). The latest one I am sure of was on sol 2148. There might have been one done on sol 2163, but I am not sure. I am still a newbie with regard to digging through the Analyst's Notebook.

I grabbed a new quaternion from sol 2149 to see what Spirit's orientation looked like on the sol after the QFA. The results are below. Although the tilts are almost the same as those James posted earlier for the last known location(~50 sols later), the heading is about 25 degrees closer to north. I wonder, is there another Fine Attitude adjustment that is not "Quick" that I should be looking for?

ORIGIN_ROTATION_QUATERNION     = (0.96302, -0.160651, 0.0309119, -0.214075)            

heading  -23.937463611379624    degrees
attitude   7.372538578449687    degrees
bank     -17.376799086843732    degrees

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post Jun 2 2011, 11:02 AM
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Looking at these angles makes me wonder what the real pointing accuracy of a MER is. Or "was", for Spirit. sad.gif

I mean, a figure down in the 10-15 of a degree range equates to an angle of around six inches at one light year. Almost-sort-of handy when doing the maths on multiple quaternion rotations (and then rounding down) but essentially meaningless in any real sense.

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Posts in this topic
- CosmicRocker   Rover Orientation Data   May 28 2011, 04:20 AM
- - djellison   The PDS label label for just about every image, I ...   May 28 2011, 04:27 AM
- - CosmicRocker   Thanks, Doug. I wasn't aware of the label dat...   May 28 2011, 04:59 PM
|- - AndyG   QUOTE (CosmicRocker @ May 28 2011, 05:59 ...   May 30 2011, 10:35 AM
- - CosmicRocker   I'm just following up on my own question. I f...   May 29 2011, 06:28 AM
- - nprev   Tom, I don't know if I'd discard the attit...   May 29 2011, 07:35 AM
- - CosmicRocker   Thanks for the support, Nick. I haven't given...   May 30 2011, 05:43 AM
- - nprev   Tom, my experience with inertial nav systems is al...   May 30 2011, 01:06 PM
- - jamescanvin   Tom, I played around with rover quaternions years ...   May 30 2011, 01:13 PM
- - nprev   James, all I can think is that the heading figure ...   May 30 2011, 04:38 PM
- - djellison   I could believe a heading of 310 deg. They do fin...   May 30 2011, 04:41 PM
- - Tesheiner   IIRC the rover's attitude is recalculated when...   May 30 2011, 05:26 PM
- - nprev   Eduardo, do you mean for heading? I don't thin...   May 30 2011, 05:40 PM
- - CosmicRocker   This is turning into quite an interesting topic. ...   May 30 2011, 07:45 PM
- - CosmicRocker   Aside from simply wanting to know what Spirit...   May 31 2011, 05:05 AM
- - CosmicRocker   QUOTE (djellison @ May 30 2011, 10:41 AM)...   Jun 2 2011, 05:53 AM
|- - AndyG   Looking at these angles makes me wonder what the r...   Jun 2 2011, 11:02 AM
- - CosmicRocker   Of course, most of those digits are meaningless. ...   Jun 2 2011, 05:43 PM
- - Deimos   A few thoughts on the IMU/QFA issue ... - The IMU...   Jun 2 2011, 08:18 PM
- - CosmicRocker   Mark: Thanks for taking the time to post those in...   Jun 3 2011, 05:10 PM
- - nprev   Yes, thank you, Deimos, for taking the time for th...   Jun 4 2011, 12:07 AM
- - CosmicRocker   Now that we have Spirit's final orientation de...   Jun 4 2011, 09:05 PM

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