Modify Process Generating Reconstructed RKSML

1. Modify Process Generating Reconstructed RKSML Boris Semenov

2. Querying MER-B -- SSTB1 Data • RKSML stands for Rover Kinematics State Markup Language • RKSML is an XML file • RKSML contains various rover mobility and articulation items as a function of time • RMCs • Position (X,Y,Z) • Orientation (Local Level to body Roll/Pitch/Heading and/or quaternion) • IDD, PMA, HGA, mobility system joint angles, etc. • There is an RKSML SIS (by John Wright) • Predicted RKSML: • Generated by RSVP (Brian Cooper) by doing kinematics modeling for a given sequence • Used by NAIF to generate complete set predicted SPICE kernels • Reconstructed RKSLM • Generated by Product Generation Tools (Collete Wilklow) by picking up appropriate values from channelized TLM and TLM products • Used by RSVP for initial conditions and rover traverse/activity playback • Used by NAIF to generate complete set of reconstructed SPICE kernels

3. Querying MER-B -- SSTB1 Data • Issue: • as of now reconstructed RKSML incorporates data only from channelized TLM and one product (mobility report -- APID 53, Subtype 000(?) and is too spare to generate usable SPICE kernels • Proposed solution: • extend reconstructed RKSML generation process to pick up appropriate values from other products (ideally from all products that contain values of interest), specifically: • Image products (APIDs 21-30, all subtypes) • MB, MTES, APXS (APIDS 31-33) • RAT (APIDs 34) • IDD h/k (APID 35, some subtypes) • Mobility, etc. (APIDs 48, 50, 53) • Proposed Implementation: • Most of the products listed above have mer_dp_view XML maps. One can identify the fields from these maps corresponding to the sought for RKSML • Done • Confirm these identified items on product-by-product basis with FSW and GDS development engineers • Done for 21-30, 31-35, 53 • Needs to be done for 48 & 50 • Implement mapping (in semi-automated fashion) of these fields to RKSML