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The “SPICE” system 1 has been widely used since the days of the Magellan mission to Venus as the method for scientists and engineers to access a variety of space mission geometry such as positions, velocities, directions, orientations, sizes and shapes, and field-of-view projections (Acton, 1996) . While originally focused on supporting NASA’s planetary missions, the use of SPICE has slowly grown to include most worldwide planetary missions, and it has also been finding application in heliophysics and other space science disciplines. This paper peeks under the covers to see what new capabilities are being developed or planned at SPICE headquarters to better support the future of space science. The SPICE system is implemented and maintained by NASA’s Navigation and Ancillary Information Facility (NAIF) located at the Jet Propulsion Laboratory in Pasadena, California ( http://naif.jpl.nasa.gov ).

The IAU Commission 4 Working Group on Standardizing Access to Ephemerides recommends the use of the Spacecraft and Planet Kernel (SPK) format to provide a uniform format for the position ephemerides of planets and other natural solar system bodies, and the use of the Planetary Constants Kernel (PCK) for the orientation of these bodies. These formats are used by the SPICE system, developed by the Navigation and Ancillary Information Facility of NASA's Jet Propulsion Laboratory. The working group's final report is currently undergoing final preparations for publication. A long version of this report will be available at the IAU Commission 4: Ephemerides (or its successor) web site. This long version will contain a full description of that portion of the SPK and PCK formats required to duplicate these file types for this application.

This paper studies the photogrammetric mapping properties and capabilities of the Mars Global Surveyor (MGS) mapping data. Starting from the raw MGS data, we decompress the MOC narrow angle images, extract, and calculate their exterior orientation from the SPICE kernels, and calculate the 3D coordinates of MOLA footprints from MOLA PEDR files. A new approach is proposed that registers a MOLA profile to stereo MOC images over the same area with robust and faster convergence. Intersection is conducted to determine the 3D positions of image points measured on MOC stereo pairs. It is shown that there is a nearly constant uncertainty of one MOLA ground spacing distance (approximately 325 m) along the flight direction in MOC and MOLA registration. This is caused by the uncertainties in SPICE kernels, MOLA points, and the determination of time tags for MOC scan lines, which possibly constitutes the dominant error source for the registration. Intersection calculation reaches an optimal balance by distributing the uncertainty evenly in the two images of a stereo pair. As for the photogrammetric mapping capabilities, an uncertainty of 180.8 m in planimetric distance and 30.8 m in elevation difference is estimated. A number of numerical and graphic results over three of the selected candidate landing sites for the Mars Exploration Rover mission are presented for analysis and illustration.

Experiments with the Rocky 7 rover were performed in the Mojave Desert to better understand how to conduct rover-based, long-distance (kilometers) geological traverses on Mars. The rover was equipped with stereo imaging systems for remote sensing science and hazard avoidance and 57Fe Mossbauer and nuclear magnetic resonance spectrometers for in situ determination of mineralogy of unprepared rock and soil surfaces. Laboratory data were also obtained using the spectrometers and an X ray diffraction (XRD)/XRF instrument for unprepared samples collected from the rover sites. Simulated orbital and descent image data assembled for the test sites were found to be critical for assessing the geologic setting, formulating hypotheses to be tested with rover observations, planning traverses, locating the rover, and providing a regional context for interpretation of rover-based observations. Analyses of remote sensing and in situ observations acquired by the rover confirmed inferences made from orbital and simulated descent images that the Sunshine Volcanic Field is composed of basalt flows. Rover data confirmed the idea that Lavic Lake is a recharge playa and that an alluvial fan composed of sediments with felsic compositions has prograded onto the playa. Rover-based discoveries include the inference that the basalt flows are mantled with aeolian sediment and covered with a dense pavement of varnished basalt cobbles. Results demonstrate that the combination of rover remote sensing and in situ analytical observations will significantly increase our understanding of Mars and provide key connecting links between orbital and descent data and analyses of returned samples.

The Navigation Ancillary Information Facility (NAIF) at Caltech’s Jet Propulsion Laboratory, acting under the directions of NASA’s Office of Space Science, has built a data system–named SPICE–to assist scientists in planning and interpreting scientific observations. SPICE provides geometric and some other ancillary information needed to recover the full value of science instrument data, including correlation of individual instrument data sets with data from other instruments on the same or other spacecraft.The primary SPICE data sets are called “kernels.” One of these kernel types provides ready access to ephemerides of spacecraft, planets, satellites, comets and asteroids. A second kernel type provides a set of data specifying target body size, shape and orientation. These data are currently based primarily on IAU/IAG/-COSPAR models.The SPICE system includes FORTRAN subroutines needed to read the kernel files and to calculate many common observation geometry parameters. Users integrate these SPICE “Toolkit” subroutines into their own application programs to compute needed information.

JPL's Navigation and Ancillary Information Facility (NAIF) has primary responsibility for design and implementation of the SPICE ancillary information system, supporting a wide range of space science mission design, observation planning and data analysis functions. NAIF also serves as the ancillary data node of the Planetary Data System (PDS). As part of the PDS, NAIF archives SPICE and other ancillary data produced by flight projects. NAIF then distributes these data, and associated data access software and high-level tools, free of charge, to researchers funded by NASA's Office of Space Science, and to the broader space science community to the extent NAIF resources and NASA and JPL policy permit. This paper describes the SPICE system, identifies current and future SPICE applications, and summarizes customer support offered by NAIF. This information is current as of Spring 1995.

The NASA Discovery Stardust spacecraft flew by the main belt asteroid 5535 Annefrank at a distance of 3100 km and a speed of 7.4 km/s in November 2002 to test the encounter sequence developed for its primary science target, the comet 81P/Wild2. During this testing, over 70 images of Annefrank were obtained, taken over a phase angle range from 40 to 140 degrees.

The Navigation Ancillary Information Facility (NAIF) at Caltech’s Jet Propulsion Laboratory, acting under the directions of NASA’s Office of Space Science, has built a data system-named SPICE-to assist scientists in planning and interpreting scientific observations. SPICE provides geometric and some other ancillary information needed to recover the full value of science instrument data, including correlation of individual instrument data sets with data from other instruments on the same or other spacecraft.

The development of a process for performing image navigation in near real time is described. The process was used to accurately determine the camera pointing for pictures returned by the Voyager 2 spacecraft at Neptune Encounter. Image navigation improves knowledge of the pointing of an imaging instrument at a particular epoch by correlating the spacecraft-relative locations of target bodies in inertial space with the locations of their images in a picture taken at that epoch. More than 8,500 pictures returned by Voyager 2 at Neptune were processed in near real time. The results were used in several applications, including improving pointing knowledge for nonimaging instruments ('C-smithing'), making 'Neptune, the Movie', and providing immediate access to geometrical quantities similar to those traditionally supplied in the Supplementary Experiment Data Record.

The Mariner 9 spacecraft's science television camera provided an optical navigation experiment with TV pictures containing images of Mars' natural satellites against star backgrounds. Required TV image data and spacecraft engineering data were extracted from the spacecraft telemetry stream in this near-real time experiment designed to validate the navigation content of spacecraft-based optical data. This paper discusses the computer programs developed to prepare optical data for use in a navigation filter. Ground and in-flight calibration allowed pointing knowledge of better than 6 arc seconds. System performance during Mars approach was excellent, leading to extremely accurate trajectory estimates. The experiment provides a basis for the design of equivalent systems for future missions.

The development of a family of techniques, collectively called C-smithing, for improving spacecraft nonimaging instrument pointing knowledge is discussed. C-smithing studies using data from the Voyager 2 Uranus Encounter show that significant improvements in pointing knowledge for nonimaging instruments can be achieved with these techniques. This improved pointing information can be used to regenerate instrument viewing geometry parameters for the encounter, which can then be made available to science investigators.