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Mars Science Laboratory Frame Manager for Centralized Frame Tree Database and Target PointingThe FM (Frame Manager) flight software module is responsible for maintaining the frame tree database containing coordinate transforms between frames. The frame tree is a proper tree structure of directed links, consisting of surface and rover subtrees. Actual frame transforms are updated by their owner. FM updates site and saved frames for the surface tree. As the rover drives to a new area, a new site frame with an incremented site index can be created. Several clients including ARM and RSM (Remote Sensing Mast) update their related rover frames that they own. Through the onboard centralized FM frame tree database, client modules can query transforms between any two frames. Important applications include target image pointing for RSM-mounted cameras and frame-referenced arm moves. The use of frame tree eliminates cumbersome, error-prone calculations of coordinate entries for commands and thus simplifies flight operations significantly.
Document ID
20150007461
Document Type
Conference Paper
External Source(s)
Authors
Kim, Won S. (Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Leger, Chris (Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Peters, Stephen (Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Carsten, Joseph (Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Diaz-Calderon, Antonio (Johns Hopkins Univ. Laurel, MD, United States)
Date Acquired
May 6, 2015
Publication Date
June 2, 2013
Subject Category
Computer Systems
Lunar and Planetary Science and Exploration
Meeting Information
International Conference on System of Systems Engineering (SoSE 2013)(Wailea-Makena, HI)
Distribution Limits
Public
Copyright
Other
Keywords
quaternion
frame tree
flight software
target poiting
coordinate transform