ISIS Planetary Geodesy Software (formerly RAND/USGS Planetary Geodesy (RUPG) Software) Randlsq Program Parameter Input format File: ISIS-PG-FMT501.doc, .pdf, or .asc Version: 2006.08.10 ======================================================================= Description: Primary input of randlsq program flow parameters. This version is for now standard 7 character control point names, although was originally only for lunar solutions. File input: Group 1 (1 record, note 2): Name Columns Format Description (units) npic 1-5 I5 Number of images (unitless). npoi 6-15 I10 Number of control points (unitless). nmea 16-25 I10 Number of measurements (unitless). nit 26-30 I5 Number of iterations of solution (unitless). Note 7. iout 31-35 I5 If iout=0, then an output pole, points, and picture file is not produced. If iout=1, then an output pole, points, and picture file is produced. ntot 36-40 I5 Number of types of variables for which a solution is required. The variable types are given below under group 3 input. nsw 41-45 I5 Number of single variables to be weighted (unitless). isol 46-50 I5 If isol=1 then individual radii are used at control points. If isol=2, then a single body-wide radius is used. If isol=3, then a tri-axial ellipsoid is being used (and the "pole, points, and picture" file must have apriori values for these). iew 51-55 I5 If iew=0, then east longitudes are used. If iew=1, then west longitudes are used. list 56-60 I5 If list=0, then output is directed to the terminal. If list=1, then output is direct to a user-specified file. nfirst 61-70 I10 Number of conjugate gradient solution iterations (unitless). k100 71-75 I5 If DATFMT parameter equals "RANDCLEM", then this is multiplied by 100000 and added to "nmea". (The reason for this is currently not clear, but is perhaps to increase the size of buffer space for Clementine solutions) (unitless). iawt 76-80 I5 Angle weighting type. If 0, use RAND (power of 10) style weighting. If 1, actual uncertainty is given. Sample (from Mars solution): => 6371 37652 90130 4 1 6 2 1 1 1 99998<= Group 2 (1 record): Body 1-10 A10 Name of the target planetary body (all uppercase and left justified). Allowable names are: ADRASTEA AMALTHEA ARIEL CALLISTO DIONE ENCELADUS EUROPA GANYMEDE GASPRA IAPETUS IDA IO MARS MERCURY METIS MIMAS MIRANDA MOON PHOEBE RHEA TETHYS THEBE TITAN TRITON Sample (from Mars solution, par0014-030606.dat): =>MARS<= Group 3 ("ntot" records): Idtot 1-6 I6 Variable type for which a solution is required. Possible types are: 1: latitude of point (degrees) 2: longitude of point (degrees) 3: radius of point (km) 4: alpha angle of C matrix (degrees) 5: delta angle of C matrix (degrees) 6: kappa angle of C matrix (degrees) 7: right ascension of pole (degrees) 8: declination of pole (degrees) 9: rotation rate of pole (degrees/day) 10: a-axis of ellipsoid (km) 11: b-axis of ellipsoid (km) 12: c-axis of ellipsoid (km) 13: ellipsoidal longitude offset (degrees) gweight 7-11 I5 If "iawt"=0, weight to apply to the above variable (power of ten, units as described above). Use e.g. "-38" to allow a variable to freely adjust and "20" to fix it to the a priori value. E.g. use "20" for Mars radii known from MOLA. Note 6. gunc 12-35 D24.16 If "iawt"=1, uncertainty to be used to compute weight (weight = 1 / uncertainty**2) to apply to the above variable (units as described above) (degrees). If this value is zero or less than 1.D0-10, it is reset to 1.D0-20. Note 5. Ignored if iawt.ne.1 or if idtot is not 4, 5, or 6. Sample (from Mars solution, par0014-030606, fixing radii of all points, as input from MOLA interpolation): => 1 -38<= => 2 -38<= => 3 20<= => 4 -38<= => 5 -38<= => 6 -38<= Group 4 ("nsw" records): iswt 1-6 I6 Single variable for which a weight is required. sweight 7-11 I5 Weight to apply to the above variable (power of ten, units as described above). Use e.g. "-38" to allow a variable to freely adjust and "20" to fix it to the a priori value. E.g. use "20" for the latitude, longitude, and radii of a landing site whose coordinates are known by radio tracking. Note 6. Sample (from Mars solution, par0014-030606.dat, fixing latitude and longitude of first point, the Pathfinder landing site): => 1 20<= => 2 20<= Notes: 1. Currently read from randlsq program unit 11. 2. This record was read with a "(I6,11I5)" format by the weighter2.f (Mars control network) program, which has been superseded by the randlsq.F program. 3. Lines beginning with a "#" will eventually be treated as comments. 4. If use of a ground point file is specified as a randlsq program parameter, the radii will be fixed via weighting, on the assumption that if radii are available for any points, they should be available for all points (and should be set as a priori values). 5. In (mostly test) versions of randlsq.F before 2005.11.17, this value was treated as the actual weight to be applied (rather then the uncertainty). Unfortunately most lunar (Clementine) control network runs (from 2004.08 to 2005.11) had assumed this was the uncertainty, when in fact it was used as the weight itself, and therefore need to be treated with caution. BA, 2005.11.17. 6. In versions of randlsq.F after about 2005.11 (and special Clementine solution versions before that) point weights can be set individually in the poles, points, and positions file, and the angle weights can be set for each type of angle if iawt.eq.1. In either case, these weights will override any set here using the gweight or sweight values. However, a bug currently exists that the old listing of these RAND style weights at the top of the residual output file (under "WEIGHTS") will incorrectly still list these weights as being the ones applied when they are not. BA, 2005.12.27. 7. If the number of iterations is 1, as a minor bug, the names of the parameters will be blank in any parameter uncertainty output, since they are not set until the end of the first iteration. BA, 2006.02.20. ======================================================================= Reference: Model, program, and format generally follow that specified in: Colvin, Tim R. (1992). "Photogrammetric Algorithms and Software for Spacecraft Optical Imaging Systems," A RAND NOTE, N-3330-JPL. Note that the original format indicates the use of 5 character control point names. ======================================================================= Document History: Begun 2006.08.10 by B. Archinal, based on RUPG-FMT5032.doc. Modifications: ======================================================================= (End of document.)