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SPICE Overview N IF Navigation and Ancillary Information Facility An Overview of SPICE NASA’s Observation Geometry System for Space Science Missions January 2020 N IF What Can One Do With SPICE? Navigation and Ancillary Information Facility Compute many kinds of observation geometry parameters at selected times Examples • Positions and velocities of planets, satellites, comets, asteroids and spacecraft • Size, shape and orientation of planets, satellites, comets and asteroids • Orientation of a spacecraft and its various moving structures • Instrument field-of-view location on a planet’s surface or atmosphere Overview of SPICE 2 N IF What One Can Do With SPICE Navigation and Ancillary Information Facility Find times when a specified “geometric event” occurs Examples 50 100 150 When is the spacecraft’s When is an object altitude within a given in shadow (occultation) ? range (say 50 to 100 km)? When is an When is an object in front of instrument another, as seen from a pointing at spacecraft (transit)? an object? Overview of SPICE 3 N IF Examples of How SPICE Is Used Navigation and Ancillary Information Facility Evaluation of a planned trajectory Spacecraft Visibility Angular size of Phobos Station #1 as seen from the MEX spacecraft Station #2 Mission engineering Station #3 analyses Time Planning an instrument pointing profile Observation geometry Elevation visualization Science data archiving and analysis Latitude Longitude Overview of SPICE 4 N IF SPICE Pictorial Summary Navigation and Ancillary Information Facility From assorted sources Planet ephemeris S/C trajectory S/C orientation Your Program SPICE Distances Utility Your Velocities Programs Modules SPICE Altitudes Kernels Latitudes (Data) A Few Longitudes SPICE Lighting Angles Modules etc., etc. Text editor Spacecraft geometry Ancillary Observation Instrument geometry Data Files Geometry Planet size, shape, orientation Parameters From assorted sources or Time Intervals Overview of SPICE 5 N IF What are “Ancillary Data?” Navigation and Ancillary Information Facility Orientation and Antenna size/shape J2000 reference frame reference of Earth (ICRF) frame Sun Spacecraft Reference frames Earth Positions/velocities • Solar System Barycenter Orientations Sizes/shapes Instrument reference frame Time Conversions Positions and velocities of spacecraft and solar system bodies Planet reference Orientation frame of spacecraft Orientation and size/shape of planet The Solar System Planet Time Conversion Calculations Overview of SPICE 6 N IF How Use Ancillary Data? Navigation and Ancillary Information Facility • Ancillary data are those that help scientists and engineers determine observation geometry, such as: – where the spacecraft was located – how the spacecraft and its instruments were oriented (pointed) – what was the location, size, shape and orientation of the target being observed – where on the surface the instrument was looking • The text above uses past tense, but doing the same functions for future times to support mission planning is equally applicable Overview of SPICE 7 N IF From Where do Ancillary Data Come? Navigation and Ancillary Information Facility • From the spacecraft • From the mission control center • From the spacecraft and instrument builders • From science organizations • SPICE is used to organize and package these data in a collection of stable file types–called "kernels”– used by scientists and engineers Overview of SPICE 8 N IF Why Use SPICE? Navigation and Ancillary Information Facility • Knowing observation geometry and geometric events is an important element of: – space mission design, – selection of observation opportunities, – analysis of the science data returned from the instruments, – mission engineering activities, and – preparation of science data archives. • Having a proven, extensive and reusable means for producing and using ancillary data reduces cost and risk, and can help scientists and engineers achieve more substantive, accurate and timely results. Overview of SPICE 9 N IF SPICE System Components Navigation and Ancillary Information Facility Ancillary data files (“kernels”)………..………… Software (SPICE Toolkit) ………….. Documentation ………......... Tutorials ………...... Programming lessons ….. Training classes …………………… User consultation ………….…………………….... Overview of SPICE 10 N IF Origin of the SPICE Acronym* Navigation and Ancillary Information Facility S Spacecraft P Planet I Instrument C C-matrix (“Camera matrix”) E Events * Coined by Dr. Hugh Kieffer, USGS Astrogeology Branch, Flagstaff AZ, circa 1985 Overview of SPICE 11 N IF SPICE Data Overview Navigation and Ancillary Information Facility Logical Components Kernels Contents S Space vehicle or target Spacecraft SPK Body trajectory (ephemeris) P Target Body size, Planet PcK shape and orientation I Instrument field-of-view size, Instrument IK shape and orientation Orientation of space vehicle or C any articulating structure on it Camera-matrix CK Events information: - Science Plan (ESP) E EK - Sequence of events (ESQ) Events ESP ESQ ENB - Experimenter’s NoteBook (ENB) FK Reference frame specifications Others LSK Leapseconds taBulation SCLK Spacecraft clock coefficients DSK Digital shape models MK Meta-kernel Overview of SPICE 12 N IF SPICE Kernels Details- 1 Navigation and Ancillary Information Facility • Space vehicle ephemeris (trajectory) SPK • Planet, satellite, comet and asteroid ephemerides • More generally, position of something relative to something else • Planet, satellite, comet and asteroid PcK orientations, sizes, shapes • See also DSK • Possibly other similar “constants” such as parameters for gravitational model, atmospheric model or rings model • Instrument field-of-view size, shape, IK orientation • Possibly additional information, such as internal timing Overview of SPICE 13 N IF SPICE Kernels Details- 2 Navigation and Ancillary Information Facility • Instrument platform (e.g. spacecraft) attitude CK • More generally, orientation of something relative to a specified reference frame • “Events,” broken into three components: EK – ESP: Science observation plans 3 components – ESQ: Spacecraft & instrument commands – ENB: Experiment “notebooks” and ground data system logs EK is not much used Overview of SPICE 14 N IF SPICE System Data - 3 Navigation and Ancillary Information Facility • Frames - Definitions of and specification of relationships FK between reference frames (coordinate systems) - Both “fixed” and “dynamic” frames are available LSK • Leapseconds Tabulation - Used for UTC <--> TDB (ET) time conversions SCLK • Spacecraft Clock Coefficients - Used for SCLK <--> TDB (ET) time conversions • Shape models (tessellated plate model and digital DSK elevation model*) (DSK) *DEM portion under development UTC = Coordinated Universal Time TDB = Barycentric Dynamical Time ET = Ephemeris Time SCLK = Spacecraft Clock Time Overview of SPICE 15 N IF SPICE System Data - 4 Navigation and Ancillary Information Facility • Meta-kernel MK - A means to conveniently specify a collection of real kernels you would like to use together Overview of SPICE 16 N IF SPICE Toolkit Software Navigation and Ancillary Information Facility Contents Versions • Library of APIs (modules) • Five (nine) languages – But typically just a few are used – Fortran 77 within a customer’s program to – C compute quantities derived from – IDL SPICE data files – MATLAB • Programs – Java Native Interface (JNI) – Python, Ruby, Swift, Julia – SPICE data production (provided by 3rd parties) – SPICE data management • Four platforms • Documentation – PC/Linux – PC/Windows – Highly annotated source code – Sun/Solaris – Technical Reference Manuals – Mac/OSX – User Guides • Several compilers – For the Fortran and C Toolkits All combinations provided by NAIF are fully built and individually tested before being made available to customers Overview of SPICE 17 Using SPICE: N IF Mission Planning Example Navigation and Ancillary Information Facility SPK PcK User’s Planning Program Evaluation of a IK planned orbit CK User’s Own Modules Instrument pointing plan EK Observation Selected geometry SCLK SPICE Toolkit visualization Library LSK Modules Analysis of expected communications FK Maybe some link performance other needed DSK data as well Select kernel types and specific kernels as needed Overview of SPICE 18 Using SPICE: N IF Science Data Analysis Example Navigation and Ancillary Information Facility SPK PcK User’s Geometry Program IK Instrument Data CK User’s Own Modules User’s Derived Science EK Observation Data Geometry Analysis Selected Program SCLK SPICE Toolkit Instrument Library Calibration LSK Modules Data FK Wonderful DSK Science Results Select kernel types and specific kernels as needed Overview of SPICE 19 Using SPICE: N IF Science Data Peer Review Example Navigation and Ancillary Information Facility SPK PcK WebGeocalc Server User’s Computer IK with Web Browser CK Numeric Results Internet FK Graphic Results SCLK LSK DSK Overview of SPICE 20 N IF SPICE System Characteristics - 1 Navigation and Ancillary Information Facility • SPICE Toolkit software is portable between computers • New Toolkits are released irregularly, when enough new capability warrants it • Code is very well tested before being released to users • New Toolkits are always 100% backwards compatible • Source code is provided, and is well documented • Extensive user-oriented documentation is provided • Software includes built-in exception handling – Catches most invalid inputs Overview of SPICE 21 N IF SPICE System Characteristics - 2 Navigation and Ancillary Information
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