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 Wed Apr 29 20:34:15 2015
PARTIALS UNITS: PX/KM, PX/DEG
N623289668F1 IMAGE ID
ORX_NAVCAM1 CAMERA ID
-64 SPACECRAFT ID
2101955 TARGET ID
LT+S ABCORR
2019 OCT 02 12:00:00.008 UTC
0.6232896682D+09 ET SEC PAST J2000
2592 1944 NPX, NLN
0.7680000000D+01 0.1296500000D+04 0.9725000000D+03 MMFL, CTR
454.54000 0.00000 0.00000 0.00000 454.54000 0.00000 K-MATRIX
0.4167218694D+00 0.1508423817D+00 -0.8964315141D+00 ROW 1 TITV MATRIX
-0.1002232288D+00 -0.9725005793D+00 -0.2102330316D+00 ROW 2 TITV MATRIX
-0.9034922180D+00 0.1774519627D+00 -0.3901443489D+00 ROW 3 TITV MATRIX
-0.8416684487D-01 0.9961460552D+00 0.2467750054D-01 ROW 1 TPMI MATRIX
0.9050351234D+00 0.6605965715D-01 0.4201756147D+00 ROW 2 TPMI MATRIX
0.4169260938D+00 0.5769886053D-01 -0.9071072008D+00 ROW 3 TPMI MATRIX
LITHOS SOLUTION:
-0.8539152169D+00 0.7675400726D-01 -0.4192041549D+00 SC - OBJ VECTOR
0.1688881638D+03 -0.2296348151D+02 -0.1319860164D+02 CAMERA RA, DC, TW
0.3156646094D-02 S/C POSITION SIG
0.1907813987D+00 PNT SIGMA (DEG)
0.1239755051D+00 TWIST SIGMA (DEG)
NOMINAL STATE:
-0.8552344544D+00 0.8056067381D-01 -0.4216482513D+00 SC - OBJ VECTOR
0.1690289200D+03 -0.2295621356D+02 -0.1322499002D+02 CAMERA RA, DC, TW
-0.8224094726D-01 0.8675187062D+00 0.4905585806D+00 SOLAR UNIT VECTOR
LANDMARKS:
BM0015
0.4821573859D-01 0.2760869435D+00 -0.1314530556D-02 BODY-FIXED VLM
0.1000000000D-02 0.1000000000D-02 0.1000000000D-02 B-F VLM SIGMA
1899.080 993.050 PX, LN OBSERVED
1904.833 979.438 PX, LN PREDICTED
0.2850843890D+04 -0.4887094674D+03 dpx/dW1, dln/dW1
0.5954180086D+03 -0.4830384827D+04 dpx/dW2, dln/dW2
-0.4113364721D+04 -0.1039993194D+04 dpx/dW3, dln/dW3
0.1306940425D+02 -0.5050726643D+02 dpx/dRA, dln/dRA
0.6108584435D+02 0.1398423057D+02 dpx/dDC, dln/dDC
0.2699815957D+00 -0.1050701138D+02 dpx/dTW, dln/dTW
BM0016
0.1340913433D+00 0.2321940770D+00 0.7206226376D-03 BODY-FIXED VLM
0.1000000000D-02 0.1000000000D-02 0.1000000000D-02 B-F VLM SIGMA
1677.430 643.200 PX, LN OBSERVED
1689.931 629.556 PX, LN PREDICTED
0.2412842844D+04 -0.8793501411D+03 dpx/dW1, dln/dW1
0.6088223201D+03 -0.4444000705D+04 dpx/dW2, dln/dW2
-0.3966564871D+04 -0.1156572551D+04 dpx/dW3, dln/dW3
0.1587273934D+02 -0.5262379766D+02 dpx/dRA, dln/dRA
0.5989231816D+02 0.1343303168D+02 dpx/dDC, dln/dDC
-0.5883447054D+01 -0.6761144950D+01 dpx/dTW, dln/dTW
BM0017
0.1996997399D+00 0.1700290227D+00 -0.6593567678D-03 BODY-FIXED VLM
0.1000000000D-02 0.1000000000D-02 0.1000000000D-02 B-F VLM SIGMA
1466.890 446.290 PX, LN OBSERVED
1478.346 432.880 PX, LN PREDICTED
0.1995974593D+04 -0.1032383177D+04 dpx/dW1, dln/dW1
0.6093903386D+03 -0.4067248714D+04 dpx/dW2, dln/dW2
-0.3770461133D+04 -0.1164316639D+04 dpx/dW3, dln/dW3
0.1693751587D+02 -0.5480225706D+02 dpx/dRA, dln/dRA
0.5935414909D+02 0.1380812600D+02 dpx/dDC, dln/dDC
-0.9352136608D+01 -0.3071213556D+01 dpx/dTW, dln/dTW
BM0072
0.4157625393D-01 0.2411433202D+00 -0.8933739081D-01 BODY-FIXED VLM
0.1000000000D-02 0.1000000000D-02 0.1000000000D-02 B-F VLM SIGMA
1449.960 1152.860 PX, LN OBSERVED
1462.489 1139.005 PX, LN PREDICTED
0.2296831852D+04 -0.2854490797D+03 dpx/dW1, dln/dW1
0.7115333955D+03 -0.4901449394D+04 dpx/dW2, dln/dW2
-0.4386382744D+04 -0.9574620719D+03 dpx/dW3, dln/dW3
0.1154506760D+02 -0.5365016936D+02 dpx/dRA, dln/dRA
0.5946360510D+02 0.1410798003D+02 dpx/dDC, dln/dDC
0.3056630615D+01 -0.2749189499D+01 dpx/dTW, dln/dTW
BM0073
0.1205293732D+00 0.2110745420D+00 -0.8998194565D-01 BODY-FIXED VLM
0.1000000000D-02 0.1000000000D-02 0.1000000000D-02 B-F VLM SIGMA
1288.590 807.220 PX, LN OBSERVED
1296.135 796.051 PX, LN PREDICTED
0.1987905383D+04 -0.6961075426D+03 dpx/dW1, dln/dW1
0.7198210502D+03 -0.4597413173D+04 dpx/dW2, dln/dW2
-0.4277447157D+04 -0.1097203715D+04 dpx/dW3, dln/dW3
0.1398632063D+02 -0.5480009955D+02 dpx/dRA, dln/dRA
0.5931329851D+02 0.1397877539D+02 dpx/dDC, dln/dDC
-0.2969001550D+01 0.1484731911D+00 dpx/dTW, dln/dTW
BM0074
0.1837006946D+00 0.1549259204D+00 -0.8872772419D-01 BODY-FIXED VLM
0.1000000000D-02 0.1000000000D-02 0.1000000000D-02 B-F VLM SIGMA
1125.310 595.430 PX, LN OBSERVED
1132.004 582.775 PX, LN PREDICTED
0.1657606688D+04 -0.8909016118D+03 dpx/dW1, dln/dW1
0.7053312861D+03 -0.4220752757D+04 dpx/dW2, dln/dW2
-0.4052958622D+04 -0.1124376559D+04 dpx/dW3, dln/dW3
0.1519236131D+02 -0.5638214765D+02 dpx/dRA, dln/dRA
0.5953152592D+02 0.1443161312D+02 dpx/dDC, dln/dDC
-0.6727354847D+01 0.3005389503D+01 dpx/dTW, dln/dTW
BM0085
-0.1818858187D-03 0.1956229667D+00 -0.1674006499D+00 BODY-FIXED VLM
0.1000000000D-02 0.1000000000D-02 0.1000000000D-02 B-F VLM SIGMA
1090.690 1473.590 PX, LN OBSERVED
1090.448 1460.559 PX, LN PREDICTED
0.1798556997D+04 0.1291498536D+03 dpx/dW1, dln/dW1
0.7984134768D+03 -0.4936041801D+04 dpx/dW2, dln/dW2
-0.4550734726D+04 -0.7705493667D+03 dpx/dW3, dln/dW3
0.9981768512D+01 -0.5730720369D+02 dpx/dRA, dln/dRA
0.5941598897D+02 0.1369798606D+02 dpx/dDC, dln/dDC
0.8676626226D+01 0.3774930636D+01 dpx/dTW, dln/dTW
BM0086
0.9442562501D-01 0.1639022086D+00 -0.1562907790D+00 BODY-FIXED VLM
0.1000000000D-02 0.1000000000D-02 0.1000000000D-02 B-F VLM SIGMA
954.830 1045.340 PX, LN OBSERVED
971.696 1023.940 PX, LN PREDICTED
0.1557236157D+04 -0.4068414242D+03 dpx/dW1, dln/dW1
0.7834136197D+03 -0.4564709771D+04 dpx/dW2, dln/dW2
-0.4366304511D+04 -0.9572303054D+03 dpx/dW3, dln/dW3
0.1264487090D+02 -0.5692489238D+02 dpx/dRA, dln/dRA
0.5983296209D+02 0.1384822892D+02 dpx/dDC, dln/dDC
0.1011018684D+01 0.5834035310D+01 dpx/dTW, dln/dTW
BM0095
0.2243429623D-01 0.1257428908D+00 -0.2165439910D+00 BODY-FIXED VLM
0.1000000000D-02 0.1000000000D-02 0.1000000000D-02 B-F VLM SIGMA
730.340 1458.920 PX, LN OBSERVED
750.266 1437.798 PX, LN PREDICTED
0.1280447431D+04 0.9395146388D+02 dpx/dW1, dln/dW1
0.8305848265D+03 -0.4632402407D+04 dpx/dW2, dln/dW2
-0.4452558162D+04 -0.7358186029D+03 dpx/dW3, dln/dW3
0.1112299957D+02 -0.5968355477D+02 dpx/dRA, dln/dRA
0.6051940290D+02 0.1291298759D+02 dpx/dDC, dln/dDC
0.8251038813D+01 0.9718934020D+01 dpx/dTW, dln/dTW
BM0096
0.9358618872D-01 0.8001544759D-01 -0.2142182692D+00 BODY-FIXED VLM
0.1000000000D-02 0.1000000000D-02 0.1000000000D-02 B-F VLM SIGMA
620.990 1154.700 PX, LN OBSERVED
632.685 1144.489 PX, LN PREDICTED
0.1070673293D+04 -0.2435403325D+03 dpx/dW1, dln/dW1
0.8069358717D+03 -0.4289596963D+04 dpx/dW2, dln/dW2
-0.4243157845D+04 -0.8350237509D+03 dpx/dW3, dln/dW3
0.1264081695D+02 -0.5946738441D+02 dpx/dRA, dln/dRA
0.6138393016D+02 0.1339284428D+02 dpx/dDC, dln/dDC
0.3096538048D+01 0.1175914500D+02 dpx/dTW, dln/dTW
END LANDMARKS
KERNEL LIST
naif0011.tls
orx_v04_draft1.tf
orx_aux_v01.ti
pck00010.tpc
bennu_v10.tpc
ORX_SCLKSCET.00000.example.tsc
de424.bsp
sb-101955-76.bsp
orex_pred_191002_191014_ODTT3_TestA.bsp
ODTT3A_NominalAttitude.bc
END FILE(Compiled by KD)