regres

Category B	Version 3.0.1

Description

This program generates a set of ascii interface files, one for each image, containing optical navigation observables, partials, and relevant ancillary information for use in the FDS navigation software suite(s). Both MIRAGE (KinetX) and GEODYN (GSFC) are currently ingesting these files. A file is created for each image in the restricted picture list, PICTLISTR.TXT, and only landmarks from a restricted landmark list, LMRKLISTR.TXT, are used. If the PICTLISTR.TXT file does not exist, the software defaults to PICTLIST.TXT.

Each interface file contains the following information:

SPICE IDs, image epoch, camera parameters

TITV matrix (inertial to camera frame transformation)

TPMI matrix (body-fixed to inertial transformation)

SPC solution for:

Spacecraft-to-object vector

Camera pointing (RA, Dec, Twist)

Spacecraft position sigma

Camera pointing and twist sigmas

Nominal (a priori):

Spacecraft-to-object vector

Camera pointing (RA, Dec, Twist)

Solar unit vector

For each landmark identified in the image from SPC process:

Landmark name

Body-fixed control point vector

Body-fixed control point sigma

Observed landmark center in (pixel, line) image coordinates

Predicted landmark center in (pixel, line) image coordinates based on nominal S/C position and SPC solution for camera pointing

Partial derivatives for (pixel, line) w.r.t. spacecraft-body position vector (SCOBJ)

Partial derivatives for (pixel, line) w.r.t. camera pointing (RA, Dec, Twist)

List of all SPICE kernels used

regres requires the directory "REGRES_FILES" in the working directory. regres exports files for each picture (<PICTURE NAME>.TXT) to the "REGRES_FILES" directory.

regres uses all pictures in PICTLIST.TXT and landmarks in LMRKLISTR.TXT to make the exported regres files. However, if you have created a PICTLISTR.TXT, regres will only use the pictures from that file.

regres uses data from NOMINAL

Input Files

PICTLIST.TXT or PICTLISTR.TXT

LMRKLISTR.TXT

NOMINALS/

SUMFILES/

INIT_LITHOS.TXT

make_sumfiles.txt

Output Files

<path to working directory>/REGRES_FILES/<picture name>.TXT

Using regres

If all required inputs are available in the working directory, simply execute regres to produce the output files.

Here is a sample output file from regres :

REGRES FILE. CREATED Tue Oct 3 14:47:34 2017PARTIALS UNITS: PX/KM, PX/DEGN599562509F0 IMAGE ID2018-12-31T21:07:21.000_NCAM_L0b_V005.fits ORIGINAL NAMEORX_NAVCAM1 CAMERA ID -64 SPACECRAFT ID 2101955 TARGET IDLT+S ABCORR2018 DEC 31 21:07:21.000 UTC 0.5995625102D+09 ET SEC PAST J2000 2592 1944 1000 65535 NPX, NLN, THRSH 0.7680000000D+01 0.1296500000D+04 0.9725000000D+03 MMFL, CTR 454.5455 0.0000 0.0000 0.0000 -454.5455 0.0000 K-MATRIXCamera temperature (deg C) = N/A CAMERA TEMPDistortion type = OPENCV DISTORT BEGINParameters: DISTORT CONTINUEP( 0) = 0.0000000D+00 DISTORT CONTINUEP( 1) = -0.5357300D+00 DISTORT CONTINUEP( 2) = 0.3611700D+00 DISTORT CONTINUEP( 3) = -0.1534700D-06 DISTORT CONTINUEP( 4) = 0.0000000D+00 DISTORT CONTINUEP( 5) = 0.0000000D+00 DISTORT CONTINUEP( 6) = 0.0000000D+00 DISTORT CONTINUEP( 7) = 0.0000000D+00 DISTORT CONTINUEP( 8) = 0.0000000D+00 DISTORT END 0.5815432282D+00 -0.6754376338D+00 -0.4534219630D+00 ROW 1 TITV MATRIX -0.8014742143D+00 -0.5712327735D+00 -0.1770090457D+00 ROW 2 TITV MATRIX -0.1394509146D+00 0.4663444234D+00 -0.8735423980D+00 ROW 3 TITV MATRIX 0.8583303375D+00 -0.5130525373D+00 0.6791585157D-02 ROW 1 TPMI MATRIX -0.4619122250D+00 -0.7668748603D+00 0.4455783264D+00 ROW 2 TPMI MATRIX -0.2233967950D+00 -0.3855905115D+00 -0.8952171968D+00 ROW 3 TPMI MATRIXLITHOS SOLUTION: -0.1877903947D+00 0.1184174267D+01 -0.1797326337D+01 SC - OBJ VECTOR 0.1066482361D+03 -0.6087293551D+02 -0.2132491821D+02 CAMERA RA, DC, TW 0.1732050808D-01 S/C POSITION SIG 0.8102846845D-08 PNT SIGMA (DEG) 0.5729577951D-08 TWIST SIGMA (DEG)NOMINAL STATE: -0.1877903947D+00 0.1184174267D+01 -0.1797326337D+01 SC - OBJ VECTOR 0.1066482361D+03 -0.6087293551D+02 -0.2132491821D+02 CAMERA RA, DC, TW -0.5629404130D+00 -0.7205839705D+00 -0.4047923329D+00 SOLAR UNIT VECTORLANDMARKS:END LANDMARKSKERNEL LISTatt_nte2_m3a-m4a_truth.bcORX_SCLKSCET.00000.example.tscnaif0012.tlsorx_ocams_v05.tiorx_181215_190112_190108_od012_v1.bsporx_v06rwg.tfde424.bspbennu_nte2_truth.tpcpck00010.tpcEND FILE

(Compiled by KD)

regres-3.0A2

CategoryThreeOhOne