---
# System prepended metadata

title: Check MSL global OPC
tags: [PRoViP, ExoMars, PRo3D, SPICE, MSL, Mastcam-Z]

---

# Check MSL global OPC
###### tags: `PRoViP` `PRo3D` `ExoMars` `Mastcam-Z` `MSL` `SPICE`

## Check global coordinates
- Mission: Mars Science Laboratory (MSL)
- Rover: Curiosity
- Instrument: Mastcam
- Landed: 6.8.2012 UTC
- SOL 0-2482
- Particularly focus on Shaler site, SOL 309-324

## Issue Rob
- Regarding the issue raised a while back about the discrepancies in positioning between the orbital DTM opcs and the rover opcs in PRO3D I have just noticed something in a scene i have been working on on the shaler outcrop, and the positioning information provided is:
![](https://i.imgur.com/xRvwS76.png)
- After comparing this to the Shaler position in google earth and lat/longs given in Edgar et al 2018 to the coordinates given above, it seems that the rover OPC locations are around 500 m lower (google earth puts shaler at around -4400 m) and the outcrop is presented at being at long 137 and lat 5 in Edgar et al, whereas it is at 222 and 4.65 in PRo3D.
- Is this an issue with the SPICE data? I remember when i have imported HiRISE OPCs into scenes with roevr data already in them, the HiRISE data appeared ~500 m above the rover data. I have wondered before whether this was an issue with the rover data or with the orbital data, it seems now that the problem lies in the location of the rover OPCs. 
- Additional comparison between the measurements i have collected with the Shaler (MSL Sols 309 - 324) data and those presented in Edgar et al 2018 would imply that the orientations of the OPCs are consistent with the orbital data, though, so fortunately it seems that the measuremets i have collected are still usable, they are just in the wrong location. This might need checking before i publish any though. 
- This would seem to be a pretty important issue to look into before we do any more OPC processing.. do you have any thoughts on what might be responsible for it?

- [Edgar et al](https://onlinelibrary.wiley.com/doi/full/10.1111/sed.12370)

- Vergleich 
    - Google Mars: lon/lat/height: 137/5/-4400
    - PRo3D: 222,4.65/-4942 (???)

# Shaler
- Google Earth 
    ![](https://i.imgur.com/UDYigFt.png)
    ![](https://i.imgur.com/qCbuvDq.png)
- https://trek.nasa.gov/mars
    ![](https://i.imgur.com/KHg5kQr.png)
    stimmt überein

## PRoViP OPC example
- SOL 0316, Instrument MR, Sequence ID 001298, Sequence Line 017
- Number of input stereos: 18
- Horizontal/vertical range: 33.05/14.65 grad
- Camera distance range (raw): [6.21,28.46] m, 10-90% percentile: [6.95,20.36] m
- Stereo accuracy: [0.017,0.144] m
- Job_0316_001298_MSLMST_0004
    ![](https://i.imgur.com/PL2YnJ9.png)
    ![](https://i.imgur.com/Cq32FVu.jpg)
- e.g. example stereo
    - 0316MR0012980000300570E01_DRCL
        - 1339x1196
        - CAHV
        ```
        MODEL_COMPONENT_1 = ( 7.223142e-01, 4.708661e-01, -1.974280e+00 )
        MODEL_COMPONENT_2 = ( -5.904219e-01, 7.967499e-01, 1.288086e-01 )
        MODEL_COMPONENT_3 = ( -1.123641e+04, -7.485885e+03, 2.781650e+01 )
        MODEL_COMPONENT_4 = ( 6.285969e+02, -9.480704e+02, 1.345050e+04 )
        ```
        - Timestamp (to be used for SPICE)
        ```
        START_TIME = 2013-06-27T00:51:55.447
        STOP_TIME = 2013-06-27T00:51:56.718
        ```
        - PAR-file
        ```
        <ParameterSet version="1.000" magic_nr="1397900624" frametype="rover">
		<Par key="ORBX" nvalues="1" type="float">0.6971448</Par>
		<Par key="ORBY" nvalues="1" type="float">0.4970487</Par>
		<Par key="ORBZ" nvalues="1" type="float">-1.970752</Par>
        ...
        <ParameterSet version="1.000" magic_nr="1397900625" frametype="mars">
		<Par key="ORBX" nvalues="1" type="float">-2490137.0786267</Par>
		<Par key="ORBY" nvalues="1" type="float">2285877.7734645</Par>
		<Par key="ORBZ" nvalues="1" type="float">-271401.7100997</Par>
        ```
        
    - 0316ML0012980000107380E01_DRCL
        - 1155x433
        - CAHV
        ```
        MODEL_COMPONENT_1 = ( 9.254871e-01, 6.212628e-01, -1.975536e+00 )
        MODEL_COMPONENT_2 = ( -6.293691e-01, 7.669439e-01, 1.252665e-01 )
        MODEL_COMPONENT_3 = ( -3.920803e+03, -2.537999e+03, 8.343071e+01 )
        MODEL_COMPONENT_4 = ( 2.532117e+02, -2.818023e+02, 4.629990e+03 )
        ```
        - Timestamp
        ```
        START_TIME = 2013-06-27T00:51:52.447
        STOP_TIME = 2013-06-27T00:51:53.210
        ```
    - Local2Global.sop
    ```
    [position]
    x=-2490135.40567714670000000000
    y=2285876.87456405020000000000
    z=-271400.70503880852000000000
    ```
    
## PRo3D-CooTransformation
- zuständig für die Anzeige von Long/lat ist die CooTransformation.dll
- siehe C:\Program Files\JOANNEUM RESEARCH\PRo3D\20191204_PRo3DViewer_2_9_10_prerelease5\bin
- SVN https://digital-svn.joanneum.at/svn/PRo3D-Extensions/
- Hier gibt es den SPICE-Kernel pck00010.tpc
- mit folgendem Eintrag (Zeile 1149) bekommt man long=137 statt 222:
    BODY499_PGR_POSITIVE_LON = 'EAST'

## TEST mit SPICE --> Philipp
- Test für eine Location
    - MSL Mastcam 
    - SOL 0316, Instrument MR, Sequence ID 001298, Sequence Line 017
    - 0316MR0012980000300570E01_DRCL
    - PDS3 START_TIME = 2013-06-27T00:51:55.447
    - PDS3 STOP_TIME = 2013-06-27T00:51:56.718
    - ToDo
        - get rover coordinates (Rectangular)
        - [get lander coordinates (Rectangular)]
        - get global Mars coordinates (Rectangular & Planetographic)
- Test für die gesamte Trajektorie
    - SOL 0-2482
        - sample increment 1 SOL, or 1h
        - Continue, wenn keine Bewegung
    - get global Mars coordinates (Rectangular & Planetographic)
- Checks
    - Vergleich mit [Where is Curiosity?](https://mars.nasa.gov/msl/mission/where-is-the-rover/?page=0&per_page=25&order=sol+desc&search=&category=176%3A295&url_suffix=%3Fsite%3Dmsl)
    - Vergleich mit Google Mars
    - [Vergleich mit HiRISE]
    - Standard for coordinate systems? IAU-MARS, spheroid radii, flattening coefficients. Docu?
    - planetographic longitude measured positive east or west?
    - Was verwendet Google Mars?
    - Export in kml (Python simplekml)
- SPICE Kernels auf \\\\Dig-file\dig_mva\PRoViP\Common\SpiceKernels\MSL\20190728
- 

