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