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## page was renamed from regress
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||Category B ||Version 3.0.1 ||
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Compiled by KD
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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]].
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The program regres takes position and SPICE file information from SPC and puts it in files for export to other users. Specifically, that other user has mainly been KinetX so they can use SPC info in their navigation software. Each interface file contains the following information:
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For regrets to run a directory called "REGRES_FILES" needs to be made in the working directory. When regres is then run, export files for each picture are made (<PICTURE NAME>.TXT) and placed in the REGRES_FILES directory.  * 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
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All pictures in [[PICLIST.TXT]] will be used to make the exported regres files along with landmarks in [[LMKLIST.TXT]]. However, if a [[PICLISTR.TXT]] and [[LMKRLIST.TXT]] have been made, regres will only use the pictures and landmarks from those files when making the exported regres files. '''regres''' requires the directory "REGRES_FILES" in the working directory. '''regres''' exports files for each picture (<PICTURE NAME>.TXT) to the "REGRES_FILES" directory.
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== Exported File Information == '''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''':
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REGRES FILE. CREATED [time of creation]
C PARTIALS UNITS: PX/KM, PX/DEG
C
C CAMERA ID
C SPACECRAFT ID
C TARGET ID
C ABCORR
C
C UTC [Image time]
C ET SEC PAST J2000
C
C NPX, NLN [Image size ib pixels and lines]
C MMFL, CTR [Camera focal length and image center]
C K-MATRIX
C
C TITV [Inertial to camera frame rotation]
C TPMI [Body-fixed to inertial rotation]
C
C LITHOS SOLUTION:
C
C SC - OBJ VECTOR
C CAMERA RA, DC, TW
C S/C POSITION SIG
C PNT SIGMA (DEG)
C TWIST SIGMA (DEG)
C
C NOMINAL SOLUTION:
C
C SC - OBJ VECTOR
C CAMERA RA, DC, TW
C SOLAR UNIT VECTOR
C
C LANDMARKS: [One for each landmark]
C
C BODY-FIXED VLM
C B-F VLM SIGMA [Formal uncertainty in LM position]
C PX, LN OBSERVED [Landmark location in image]
C PX, LN PREDICTED [Uses nominal scobj, solved pointing]
C dpx/dW1, dln/dW1
C dpx/dW2, dln/dW2 [Partials wrt scobj]
C dpx/dW3, dln/dW3
C dpx/dRA, dln/dRA
C dpx/dDC, dln/dDC [Partials wrt pointing Euler angles]
C dpx/dTW, dln/dTW
C
C END LANDMARKS
C
C KERNEL LIST
C
C [list of all spice kernels used]
C
C END FILE		 REGRES FILE. CREATED Tue Oct 3 14:47:34 2017
PARTIALS UNITS: PX/KM, PX/DEG

N599562509F0 IMAGE ID
2018-12-31T21:07:21.000_NCAM_L0b_V005.fits ORIGINAL NAME
ORX_NAVCAM1 CAMERA ID
       -64 SPACECRAFT ID
   2101955 TARGET ID
LT+S ABCORR

2018 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-MATRIX

Camera temperature (deg C) = N/A CAMERA TEMP

Distortion type = OPENCV DISTORT BEGIN
Parameters: DISTORT CONTINUE
P( 0) = 0.0000000D+00 DISTORT CONTINUE
P( 1) = -0.5357300D+00 DISTORT CONTINUE
P( 2) = 0.3611700D+00 DISTORT CONTINUE
P( 3) = -0.1534700D-06 DISTORT CONTINUE
P( 4) = 0.0000000D+00 DISTORT CONTINUE
P( 5) = 0.0000000D+00 DISTORT CONTINUE
P( 6) = 0.0000000D+00 DISTORT CONTINUE
P( 7) = 0.0000000D+00 DISTORT CONTINUE
P( 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 MATRIX

LITHOS 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 VECTOR

LANDMARKS:

END LANDMARKS

KERNEL LIST

att_nte2_m3a-m4a_truth.bc
ORX_SCLKSCET.00000.example.tsc
naif0012.tls
orx_ocams_v05.ti
orx_181215_190112_190108_od012_v1.bsp
orx_v06rwg.tf
de424.bsp
bennu_nte2_truth.tpc
pck00010.tpc

END FILE
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----------
''(Compiled by KD)''

[[regres-3.0A2]]
----
CategoryThreeOhOne

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

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 2017
PARTIALS UNITS: PX/KM, PX/DEG

N599562509F0                                                   IMAGE ID
2018-12-31T21:07:21.000_NCAM_L0b_V005.fits                     ORIGINAL NAME
ORX_NAVCAM1                                                    CAMERA ID
       -64                                                     SPACECRAFT ID
   2101955                                                     TARGET ID
LT+S                                                           ABCORR

2018 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-MATRIX

Camera temperature (deg C) =    N/A                            CAMERA TEMP

Distortion type =   OPENCV                                     DISTORT BEGIN
Parameters:                                                    DISTORT CONTINUE
P( 0) =   0.0000000D+00                                        DISTORT CONTINUE
P( 1) =  -0.5357300D+00                                        DISTORT CONTINUE
P( 2) =   0.3611700D+00                                        DISTORT CONTINUE
P( 3) =  -0.1534700D-06                                        DISTORT CONTINUE
P( 4) =   0.0000000D+00                                        DISTORT CONTINUE
P( 5) =   0.0000000D+00                                        DISTORT CONTINUE
P( 6) =   0.0000000D+00                                        DISTORT CONTINUE
P( 7) =   0.0000000D+00                                        DISTORT CONTINUE
P( 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 MATRIX

LITHOS 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 VECTOR

LANDMARKS:

END LANDMARKS

KERNEL LIST

att_nte2_m3a-m4a_truth.bc
ORX_SCLKSCET.00000.example.tsc
naif0012.tls
orx_ocams_v05.ti
orx_181215_190112_190108_od012_v1.bsp
orx_v06rwg.tf
de424.bsp
bennu_nte2_truth.tpc
pck00010.tpc

END FILE

(Compiled by KD)

regres-3.0A2

CategoryThreeOhOne

regres (last edited 2017-12-21 15:43:15 by EricPalmer)