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)