Index Page spkcvo_c

A B C D E F G H I J K L M N O P Q R S T U V W X

Procedure Abstract Required_Reading Keywords Brief_I/O Detailed_Input | Detailed_Output Parameters Exceptions Files Particulars Examples | Restrictions Literature_References Author_and_Institution Version Index_Entries

#### Procedure

       void spkcvo_c ( ConstSpiceChar       * target,
                       SpiceDouble            et,
                       ConstSpiceChar       * outref,
                       ConstSpiceChar       * refloc,
                       ConstSpiceChar       * abcorr,
                       ConstSpiceDouble       obssta [6],
                       SpiceDouble            obsepc,
                       ConstSpiceChar       * obsctr,
                       ConstSpiceChar       * obsref,
                       SpiceDouble            state  [6],
                       SpiceDouble          * lt         )

#### Abstract

       Return the state of a specified target relative to an "observer,"
       where the observer has constant velocity in a specified reference
       frame.  The observer's state is provided by the calling program
       rather than by loaded SPK files.

#### Required_Reading

       FRAMES
       PCK
       SPK
       TIME

#### Keywords

       EPHEMERIS

#### Brief_I/O

       Variable  I/O  Description
       --------  ---  --------------------------------------------------
       target     I   Name of target ephemeris object.
       et         I   Observation epoch.
       outref     I   Reference frame of output state.
       refloc     I   Output reference frame evaluation locus.
       abcorr     I   Aberration correction.
       obssta     I   Observer state relative to center of motion.
       obsepc     I   Epoch of observer state.
       obsctr     I   Center of motion of observer.
       obsref     I   Frame of observer state.
       state      O   State of target with respect to observer.
       lt         O   One way light time between target and
                      observer.

#### Detailed_Input

       target      is the name of a target body. Optionally, you may supply
                   the ID code of the object as an integer string. For
                   example, both "EARTH" and "399" are legitimate strings
                   to supply to indicate the target is earth.

                   Case and leading and trailing blanks are not significant
                   in the string `target'.

       et          is the ephemeris time at which the state of the target
                   relative to the observer is to be computed. `et' is
                   expressed as seconds past J2000 TDB. `et' refers to time
                   at the observer's location.

                   `et' is independent of the observer epoch `obsepc'.

       outref      is the name of the reference frame with respect to which
                   the output state is expressed.

                   When `outref' is time-dependent (non-inertial), its
                   orientation relative to the J2000 frame is evaluated in
                   the manner commanded by the input argument `refloc' (see
                   description below).

                   Case and leading and trailing blanks are not significant
                   in the string `outref'.

       refloc      is a string indicating the output reference frame
                   evaluation locus: this is the location associated
                   with the epoch at which this routine is to evaluate
                   the orientation, relative to the J2000 frame, of the
                   output frame `outref'. The values and meanings of
                   `refloc' are:

                      "OBSERVER"  Evaluate `outref' at the observer's
                                  epoch `et'.

                                  Normally the locus "OBSERVER" should
                                  be selected when `outref' is centered
                                  at the observer.

                      "TARGET"    Evaluate `outref' at the target epoch;
                                  letting `lt' be the one-way light time
                                  between the target and observer, the
                                  target epoch is

                                     et-lt  if reception aberration
                                            corrections are used

                                     et+lt  if transmission aberration
                                            corrections are used

                                     et     if no aberration corrections
                                            are used

                                  Normally the locus "TARGET" should
                                  be selected when `outref' is centered
                                  at the target object.

                      "CENTER"    Evaluate the frame `outref' at the epoch
                                  associated its center. This epoch,
                                  which we'll call `etctr', is determined
                                  as follows:

                                     Let `ltctr' be the one-way light time
                                     between the observer and the center
                                     of `outref'. Then `etctr' is

                                        et-ltctr  if reception
                                                  aberration corrections
                                                  are used

                                        et+ltctr  if transmission
                                                  aberration corrections
                                                  are used

                                        et        if no aberration
                                                  corrections are used

                                  The locus "CENTER" should be selected
                                  when the user intends to obtain
                                  results compatible with those produced
                                  by spkezr_c.

                   When `outref' is inertial, all choices of `refloc'
                   yield the same results.

                   Case and leading and trailing blanks are not
                   significant in the string `refloc'.

       abcorr      indicates the aberration corrections to be applied to
                   the observer-target state to account for one-way
                   light time and stellar aberration.

                   `abcorr' may be any of the following:

                      "NONE"     Apply no correction. Return the
                                 geometric state of the target
                                 relative to the observer.

                   The following values of `abcorr' apply to the
                   "reception" case in which photons depart from the
                   target's location at the light-time corrected epoch
                   et-lt and *arrive* at the observer's location at `et':

                      "LT"       Correct for one-way light time (also
                                 called "planetary aberration") using a
                                 Newtonian formulation. This correction
                                 yields the state of the target at the
                                 moment it emitted photons arriving at
                                 the observer at `et'.

                                 The light time correction uses an
                                 iterative solution of the light time
                                 equation. The solution invoked by the
                                 "LT" option uses one iteration.

                      "LT+S"     Correct for one-way light time and
                                 stellar aberration using a Newtonian
                                 formulation. This option modifies the
                                 state obtained with the "LT" option to
                                 account for the observer's velocity
                                 relative to the solar system
                                 barycenter. The result is the apparent
                                 state of the target---the position and
                                 velocity of the target as seen by the
                                 observer.

                      "CN"       Converged Newtonian light time
                                 correction. In solving the light time
                                 equation, the "CN" correction iterates
                                 until the solution converges.

                      "CN+S"     Converged Newtonian light time
                                 and stellar aberration corrections.

                   The following values of `abcorr' apply to the
                   "transmission" case in which photons *depart* from
                   the observer's location at `et' and arrive at the
                   target's location at the light-time corrected epoch
                   et+lt:

                      "XLT"      "Transmission" case:  correct for
                                 one-way light time using a Newtonian
                                 formulation. This correction yields the
                                 state of the target at the moment it
                                 receives photons emitted from the
                                 observer's location at `et'.

                      "XLT+S"    "Transmission" case:  correct for
                                 one-way light time and stellar
                                 aberration using a Newtonian
                                 formulation  This option modifies the
                                 state obtained with the "XLT" option to
                                 account for the observer's velocity
                                 relative to the solar system
                                 barycenter. The position component of
                                 the computed target state indicates the
                                 direction that photons emitted from the
                                 observer's location must be "aimed" to
                                 hit the target.

                      "XCN"      "Transmission" case:  converged
                                 Newtonian light time correction.

                      "XCN+S"    "Transmission" case:  converged
                                 Newtonian light time and stellar
                                 aberration corrections.

                   Neither special nor general relativistic effects are
                   accounted for in the aberration corrections applied
                   by this routine.

                   Case and leading and trailing blanks are not
                   significant in the string `abcorr'.

       obssta      is the geometric state of an observer moving at
                   constant velocity relative to its center of motion
                   `obsctr', expressed in the reference frame `obsref', at
                   the epoch `obsepc'.

                   `obssta' is a six-dimensional vector representing
                   position and velocity in cartesian coordinates: the
                   first three components represent the position of an
                   observer relative to its center of motion; the last
                   three components represent the velocity of the
                   observer.

                   Units are always km and km/sec.

       obsepc      is the epoch, expressed as seconds past J2000 TDB, at
                   which the observer state `obssta' is applicable. For
                   other epochs, the position of the observer relative
                   to its center of motion is linearly extrapolated
                   using the velocity component of `obssta'.

                   `obsepc' is independent of the epoch `et' at which the
                   state of the target relative to the observer is to be
                   computed.

       obsctr      is the name of the center of motion of `obssta'. The
                   ephemeris of `obsctr' is provided by loaded SPK files.

                   Optionally, you may supply the integer ID code for
                   the object as an integer string. For example both
                   "MOON" and "301" are legitimate strings that indicate
                   the moon is the center of motion.

                   Case and leading and trailing blanks are not
                   significant in the string `obsctr'.

       obsref      is the name of the reference frame relative to which
                   the input state `obssta' is expressed. The observer has
                   constant velocity relative to its center of motion
                   in this reference frame.

                   Case and leading and trailing blanks are not
                   significant in the string `obsref'.

#### Detailed_Output

       state       is a Cartesian state vector representing the position
                   and velocity of the target relative to the specified
                   observer. `state' is corrected for the specified
                   aberrations and is expressed with respect to the
                   reference frame specified by `outref'. The first three
                   components of `state' represent the x-, y- and
                   z-components of the target's position; the last three
                   components form the corresponding velocity vector.

                   The position component of `state' points from the
                   observer's location at `et' to the aberration-corrected
                   location of the target. Note that the sense of the
                   position vector is independent of the direction of
                   radiation travel implied by the aberration
                   correction.

                   The velocity component of `state' is the derivative
                   with respect to time of the position component of
                   `state'.

                   Units are always km and km/sec.

                   When `state' is expressed in a time-dependent
                   (non-inertial) output frame, the orientation of that
                   frame relative to the J2000 frame is evaluated in the
                   manner indicated by the input argument `refloc' (see
                   description above).

       lt          is the one-way light time between the observer and
                   target in seconds. If the target state is corrected
                   for aberrations, then `lt' is the one-way light time
                   between the observer and the light time corrected
                   target location.

#### Parameters

       None.

#### Exceptions

       1)  If either the name of the center of motion or the target
           cannot be translated to its NAIF ID code, the error
           SPICE(IDCODENOTFOUND) is signaled.

       2)  If the reference frame `outref' is unrecognized, the error
           SPICE(IDCODENOTFOUND) is signaled.

       3)  If the reference frame `obsref' is unrecognized, the error will
           be diagnosed by a routine in the call tree of this routine.

       4)  If the frame evaluation locus `refloc' is not recognized,
           the error SPICE(NOTSUPPORTED) is signaled.

       5)  If the loaded kernels provide insufficient data to compute
           the requested state vector, the deficiency will be diagnosed
           by a routine in the call tree of this routine.

       6)  If an error occurs while reading an SPK or other kernel file,
           the error  will be diagnosed by a routine in the call tree of
           this routine.

       7)  If the aberration correction `abcorr' is not recognized,
           the error will be diagnosed by a routine in the call tree of
           this routine.

       8)  If any input string pointer is null, or if the output state
           pointer is null, the error SPICE(NULLPOINTER) will be signaled.

       9)  If any input string has length zero, the error SPICE(EMPTYSTRING)
           will be signaled.

#### Files

       Appropriate kernels must be loaded by the calling program before
       this routine is called.

       The following data are required:

          -  SPK data: ephemeris data for the observer center and target
             must be loaded. If aberration corrections are used, the
             states of the observer center and target relative to the solar
             system barycenter must be calculable from the available
             ephemeris data. Typically ephemeris data are made available
             by loading one or more SPK files using furnsh_c.

       The following data may be required:

          -  PCK data: if the target frame is a PCK frame, rotation data
             for the target frame must be loaded. These may be provided
             in a text or binary PCK file.

          -  Frame data: if a frame definition not built into SPICE is
             required, for example to convert the observer-target state
             to the output frame, that definition must be available in
             the kernel pool. Typically frame definitions are supplied
             by loading a frame kernel using furnsh_c.

          -  Additional kernels: if any frame used in this routine's
             state computation is a CK frame, then at least one CK and
             corresponding SCLK kernel is required. If dynamic frames
             are used, additional SPK, PCK, CK, or SCLK kernels may be
             required.

       In all cases, kernel data are normally loaded once per program
       run, NOT every time this routine is called.

#### Particulars

       This routine computes observer-target states for observers whose
       trajectories are not provided by SPK files.

       Observers supported by this routine must have constant velocity
       with respect to a specified center of motion, expressed in a
       caller-specified reference frame. The state of the center of
       motion relative to the target must be computable using
       loaded SPK data.

       For applications in which the observer has zero velocity
       relative to its center of motion, the CSPICE routine

          spkcpo_c     { SPK, constant position observer }

       can be used. spkcpo_c has a simpler interface than that of spkcvo_c.

       This routine is suitable for computing states of target ephemeris
       objects, as seen from landmarks on the surface of an extended
       object, in cases where no SPK data are available for those
       landmarks.

       This routine's treatment of the output reference frame differs
       from that of the principal SPK API routines

          spkezr_c
          spkez_c
          spkpos_c
          spkezp_c

       which require both observer and target ephemerides to be provided
       by loaded SPK files:

          The SPK API routines listed above evaluate the orientation of the
          output reference frame (with respect to the J2000 frame) at an
          epoch corrected for one-way light time between the observer and
          the center of the output frame. When the center of the output
          frame is not the target (for example, when the target is on the
          surface of Mars and the output frame is centered at Mars'
          center), the epoch of evaluation may not closely match the
          light-time corrected epoch associated with the target itself. A
          similar problem may occur when the observer is a surface point on
          an extended body and the output frame is centered at the body
          center: the listed routines will correct the orientation of the
          output frame for one-way light time between the frame center and
          the observer.

          This routine allows the caller to dictate how the orientation
          of the output reference frame is to be evaluated. The caller
          passes to this routine an input string called the output
          frame's evaluation "locus." This string specifies the location
          associated with the output frame's evaluation epoch. The three
          possible values of the locus are

             "TARGET"
             "OBSERVER"
             "CENTER"

          The choice of locus has an effect when aberration corrections
          are used and the output frame is non-inertial.

          When the locus is "TARGET" and light time corrections are
          used, the orientation of the output frame is evaluated at the
          epoch obtained by correcting the observation epoch `et' for
          one-way light time `lt'. The evaluation epoch will be either
          et-lt or et+lt for reception or transmission corrections
          respectively.

          For remote sensing applications where the target is a surface
          point on an extended object, and the orientation of that
          object should be evaluated at the emission time, the locus
          "TARGET" should be used.

          When the output frame's orientation should be evaluated at
          the observation epoch `et', which is the case when the
          output frame is centered at the observer, the locus
          "OBSERVER" should be used.

          The locus option "CENTER" is provided for compatibility
          with existing SPK state computation APIs such as spkezr_c.

          Note that the output frame evaluation locus does not affect
          the computation of light time between the target and
          observer.

       The SPK routines that compute observer-target states for
       combinations of objects having ephemerides provided by the SPK
       system and objects having constant position or constant velocity
       are

          spkcpo_c {SPK, Constant position observer}
          spkcpt_c {SPK, Constant position target}
          spkcvo_c {SPK, Constant velocity observer}
          spkcvt_c {SPK, Constant velocity target}

#### Examples

       The numerical results shown for these examples may differ across
       platforms. The results depend on the SPICE kernels used as
       input, the compiler and supporting libraries, and the machine
       specific arithmetic implementation.

       1) Compute apparent solar azimuth and elevation as seen from a
          specified surface point on the earth.

          Task Description
          ================

          In this example we'll use the location of the DSN station
          DSS-14 as our surface point.

          We'll perform the solar azimuth and elevation computation two
          ways:

             - Using a station frame kernel to provide the
               specification of a topocentric reference frame
               centered at DSS-14.

             - Computing inline the transformation from the earth-fixed,
               earth-centered frame ITRF93 to a topocentric frame
               centered at DSS-14.

               Note that results of the two computations will differ
               slightly. This is due to differences in the orientations
               of the topocentric frames. There are two sources of the
               differences:

                  1) The station position is time-dependent due to tectonic
                     plate motion, and epochs of the station positions used
                     to specify the axes of the topocentric frame are
                     different in the two cases. This gives rise to different
                     orientations of the frame's axes relative to the frame
                     ITRF93.

                  2) The two computations use different earth radii; this
                     results in computation of different geodetic latitudes
                     of the station. This difference also affects the
                     topocentric frame orientation relative to ITRF93.

          Kernels
          =======

          Use the meta-kernel shown below to load the required SPICE
          kernels.

          KPL/MK

             File name: spkcvo.tm

             This is the meta-kernel file for the header code example for
             the subroutine spkcvo_c. These kernel files can be found on
             the NAIF website.

             In order for an application to use this meta-kernel, the
             kernels referenced here must be present in the user's
             current working directory.

             The names and contents of the kernels referenced
             by this meta-kernel are as follows:

                File name                        Contents
                ---------                        --------
                de421.bsp                        Planetary ephemeris
                pck00010.tpc                     Planet orientation and
                                                 radii
                naif0010.tls                     Leapseconds
                earth_720101_070426.bpc          Earth historical
                                                 binary PCK
                earthstns_itrf93_050714.bsp      DSN station SPK
                earth_topo_050714.tf             DSN station FK
                mgs_moc_v20.ti                   MGS MOC instrument
                                                 parameters
                mgs_sclkscet_00061.tsc           MGS SCLK coefficients
                mgs_sc_ext12.bc                  MGS s/c bus attitude
                mgs_ext12_ipng_mgs95j.bsp        MGS ephemeris

             \begindata

             KERNELS_TO_LOAD = ( 'de421.bsp',
                                 'pck00010.tpc',
                                 'naif0010.tls',
                                 'earth_720101_070426.bpc',
                                 'earthstns_itrf93_050714.bsp',
                                 'earth_topo_050714.tf',
                                 'mgs_moc_v20.ti',
                                 'mgs_sclkscet_00061.tsc',
                                 'mgs_sc_ext12.bc',
                                 'mgs_ext12_ipng_mgs95j.bsp'  )

             \begintext

             End of meta-kernel.

          Example code begins here.

             /.
                Program spkcvo_ex1

                This program uses spkcvo_c to compute solar azimuth
                and elevation at a given surface point on the earth.

             ./

             #include <stdio.h>
             #include <string.h>
             #include <stdlib.h>
             #include "SpiceUsr.h"

             int main()
             {
                /.
                Local constants
                ./
                #define  META     "spkcvo.tm"
                #define  FRNMLN   33
                #define  SHAPLN   33
                #define  TIMFMT   "YYYY MON DD HR:MN:SC.###### UTC"
                #define  TIMFM2   "YYYY MON DD HR:MN:SC.###### TDB ::TDB"
                #define  TIMLEN   41

                /.
                Local variables
                ./
                SpiceChar             * abcorr;
                SpiceChar               emitim  [ TIMLEN ];
                SpiceChar               epcstr  [ TIMLEN ];
                SpiceChar             * refloc;
                SpiceChar             * obsctr;
                SpiceChar             * obsref;
                SpiceChar             * obstim;
                SpiceChar             * outref;
                SpiceChar             * target;

                SpiceDouble             az;
                SpiceDouble             el;
                SpiceDouble             et;
                SpiceDouble             f;
                SpiceDouble             lat;
                SpiceDouble             lon;
                SpiceDouble             lt0;
                SpiceDouble             lt1;
                SpiceDouble             normal [ 3 ] ;
                SpiceDouble             obsalt;
                SpiceDouble             obslat;
                SpiceDouble             obslon;
                SpiceDouble             obsepc;
                SpiceDouble             obssta [ 6 ];
                SpiceDouble             r;
                SpiceDouble             radii  [ 3 ];
                SpiceDouble             re;
                SpiceDouble             rp;
                SpiceDouble             state0 [ 6 ];
                SpiceDouble             state1 [ 6 ];
                SpiceDouble             topvec [ 3 ];
                SpiceDouble             xform  [ 3 ][ 3 ];

                SpiceDouble             z [ 3 ]  = { 0.0, 0.0, 1.0 };

                SpiceInt                n;

                /.
                Load SPICE kernels.
                ./
                furnsh_c ( META );

                /.
                Convert the observation time to seconds past J2000 TDB.
                ./
                obstim = "2003 OCT 13 06:00:00.000000 UTC";

                str2et_c ( obstim, &et );

                /.
                Set the target, observer center, and observer frame.
                ./
                target = "SUN";
                obsctr = "EARTH";
                obsref = "ITRF93";

                /.
                Set the state of DSS-14 relative to the earth's
                center at the J2000 epoch, expressed in the
                ITRF93 reference frame. Values come from the
                earth station SPK specified in the meta-kernel.

                The velocity is non-zero due to tectonic
                plate motion.
                ./
                obsepc    =  0.0;

                obssta[0] =  -2353.6213656676991;
                obssta[1] =  -4641.3414911499403;
                obssta[2] =   3677.0523293197439;
                obssta[3] =     -0.00000000000057086;
                obssta[4] =      0.00000000000020549;
                obssta[5] =     -0.00000000000012171;

                /.
                Find the apparent state of the sun relative
                to the station in the DSS-14_TOPO reference frame.
                Evaluate the output frame's orientation, that is the
                orientation of the DSS-14_TOPO frame relative to the
                J2000 frame, at the observation epoch. This
                correction is obtained by setting `refloc' to
                "OBSERVER".
                ./

                outref = "DSS-14_TOPO";
                abcorr = "CN+S";

                refloc = "OBSERVER";

                /.
                Compute the observer-target state.
                ./
                spkcvo_c ( target, et,     outref, refloc,
                           abcorr, obssta, obsepc, obsctr,
                           obsref, state0, &lt0            );

                /.
                Compute planetocentric coordinates of the
                observer-target position in the local
                topocentric reference frame DSS-14_TOPO.
                ./
                reclat_c ( state0, &r, &lon, &lat );

                /.
                Compute solar azimuth. The latitude we've
                already computed is the elevation. Express
                both angles in degrees.
                ./
                el =   lat * dpr_c();
                az = - lon * dpr_c();

                if ( az < 0.0 )
                {
                   az +=  360.0;
                }

                /.
                Display the computed state, light time. and angles.
                ./
                timout_c ( et-lt0, TIMFMT, TIMLEN, emitim );
                timout_c ( obsepc, TIMFM2, TIMLEN, epcstr );

                printf ( "\n"
                         " Frame evaluation locus:     %s\n"
                         "\n"
                         " Target:                     %s\n"
                         " Observation time:           %s\n"
                         " Observer center:            %s\n"
                         " Observer-center state time: %s\n"
                         " Observer frame:             %s\n"
                         " Emission time:              %s\n"
                         " Output reference frame:     %s\n"
                         " Aberration correction:      %s\n"
                         "\n"
                         " Observer-target position (km):\n"
                         "   %20.8f %20.8f %20.8f\n"
                         " Observer-target velocity (km/s):\n"
                         "   %20.8f %20.8f %20.8f\n"
                         " Light time (s):        %20.8f\n",

                         refloc,    target,    obstim,    obsctr,
                         epcstr,    obsref,    emitim,    outref,
                         abcorr,    state0[0], state0[1], state0[2],
                         state0[3], state0[4], state0[5], lt0   );

                printf ( "\n"
                         " Solar azimuth (deg):   %20.8f\n"
                         " Solar elevation (deg): %20.8f\n",
                         az, el                             );

                /.
                For an arbitrary surface point, we might not
                have a frame kernel available. In this case
                we can look up the state in the observer frame
                using spkcvo_c and then convert the state to
                the local topocentric frame. We'll first
                create the transformation matrix for converting
                vectors in the observer frame to the topocentric
                frame.

                First step: find the geodetic (planetodetic)
                coordinates of the observer. We need the
                equatorial radius and flattening coefficient
                of the reference ellipsoid.
                ./
                bodvrd_c ( "EARTH", "RADII", 3, &n, radii );

                re = radii[0];
                rp = radii[2];

                f  = ( re - rp ) / re;

                recgeo_c ( obssta, re, f, &obslon, &obslat, &obsalt );

                /.
                Find the outward surface normal on the reference
                ellipsoid at the observer's longitude and latitude.
                ./
                latrec_c ( 1.0, obslon, obslat, normal );

                /.
                The topocentric frame has its +Z axis aligned
                with NORMAL and its +X axis pointed north.
                The north direction is aligned with the component
                of the ITRF93 +Z axis orthogonal to the topocentric
                +Z axis.
                ./
                twovec_c ( normal, 3, z, 1, xform );

                outref = "ITRF93";
                abcorr = "CN+S";

                refloc = "OBSERVER";

                /.
                Compute the observer-target state.
                ./
                spkcvo_c ( target, et,     outref, refloc,
                           abcorr, obssta, obsepc, obsctr,
                           obsref, state1, &lt1            );
                /.
                Convert the position to the topocentric frame.
                ./
                mxv_c ( xform, state1, topvec );

                /.
                Compute azimuth and elevation.
                ./
                reclat_c ( topvec, &r, &lon, &lat );

                el =   lat * dpr_c();
                az = - lon * dpr_c();

                if ( az < 0.0 )
                {
                   az +=  360.0;
                }

                printf ( "\n\n\n"
                         " AZ/EL computed without frame kernel:\n\n"
                         " Distance between last two "
                         "positions (km):   %20.8f\n",
                         vdist_c( state0, topvec )   );

                printf ( "\n"
                         " Solar azimuth (deg):   %20.8f\n"
                         " Solar elevation (deg): %20.8f\n"
                         "\n",
                         az, el                             );

                return ( 0 );
             }

          When this program was executed on a PC/Linux/gcc
          platform, the output was:

             Frame evaluation locus:     OBSERVER

             Target:                     SUN
             Observation time:           2003 OCT 13 06:00:00.000000 UTC
             Observer center:            EARTH
             Observer-center state time: 2000 JAN 01 12:00:00.000000 TDB
             Observer frame:             ITRF93
             Emission time:              2003 OCT 13 05:51:42.068322 UTC
             Output reference frame:     DSS-14_TOPO
             Aberration correction:      CN+S

             Observer-target position (km):
                  62512272.82076501    58967494.42506485  -122059095.46751761
             Observer-target velocity (km/s):
                      2475.97326517       -9870.26706232       -3499.90809969
             Light time (s):                497.93167797

             Solar azimuth (deg):           316.67141599
             Solar elevation (deg):         -54.85253168

             AZ/EL computed without frame kernel:

             Distance between last two positions (km):             3.07056970

             Solar azimuth (deg):           316.67141786
             Solar elevation (deg):         -54.85253216

       2) Demonstrate applications of the output frame evaluation locus.

          The following program is not necessarily realistic: for
          brevity, it combines several unrelated computations.

          Task Description
          ================

          Find the state of the Mars Global Surveyor spacecraft, as seen
          from a given surface point on earth, corrected for light time
          and stellar aberration, expressed in the earth fixed reference
          frame ITRF93. The surface point is the position of the DSN
          station DSS-14.

          Contrast the states computed by setting the output frame
          evaluation locus to "OBSERVER" and to "CENTER". Show that the
          latter choice produces results very close to those that
          can be obtained using spkezr_c.

          Also compute the central meridian longitude on Mars of DSS-14.
          This computation performs aberration corrections for the center
          of Mars.

          Note that in general, the routine subpnt_c should be used for
          sub-observer point computations when high-accuracy aberration
          corrections are desired.

          The observation epoch is 2003 OCT 13 06:00:00 UTC.

          Kernels
          =======

          Use the meta-kernel of example 1 above.

          Example code begins here.

             /.
                Program spkcvo_ex2

                   This program demonstrates the use of spkcvo_c.
                   Computations are performed using all three possible
                   values of the output frame evaluation locus `refloc':

                      "OBSERVER"
                      "CENTER"
                      "TARGET"

                   Several unrelated computations are performed in this
                   program. In particular, computation of the
                   central meridian longitude on Mars is included simply
                   to demonstrate use of the "TARGET" option.
             ./

             #include <stdio.h>
             #include <string.h>
             #include <stdlib.h>
             #include "SpiceUsr.h"

             int main()
             {
                /.
                Local constants
                ./

                #define  META     "spkcvo.tm"
                #define  FRNMLN   33
                #define  SHAPLN   33
                #define  TIMFMT   "YYYY MON DD HR:MN:SC.###### UTC"
                #define  TIMFM2   "YYYY MON DD HR:MN:SC.###### TDB ::TDB"
                #define  TIMLEN   41

                /.
                Local variables
                ./
                SpiceChar             * abcorr;
                SpiceChar               emitim  [ TIMLEN ];
                SpiceChar               epcstr  [ TIMLEN ];
                SpiceChar             * refloc;
                SpiceChar             * obsctr;
                SpiceChar             * obsref;
                SpiceChar             * obsrvr;
                SpiceChar             * obstim;
                SpiceChar             * outref;
                SpiceChar             * target;

                SpiceDouble             et;
                SpiceDouble             lat;
                SpiceDouble             lon;
                SpiceDouble             lt0;
                SpiceDouble             lt1;
                SpiceDouble             lt2;
                SpiceDouble             lt3;
                SpiceDouble             obsepc;
                SpiceDouble             obssta [ 6 ];
                SpiceDouble             obsvec [ 3 ];
                SpiceDouble             r;
                SpiceDouble             state0 [ 6 ];
                SpiceDouble             state1 [ 6 ];
                SpiceDouble             state2 [ 6 ];
                SpiceDouble             state3 [ 6 ];

                /.
                Load SPICE kernels.
                ./
                furnsh_c ( META );

                /.
                Convert the observation time to seconds past J2000 TDB.
                ./
                obstim = "2003 OCT 13 06:00:00.000000 UTC";

                str2et_c ( obstim, &et );

                /.
                Set the target, observer center, and observer frame.
                ./
                target = "MGS";
                obsctr = "EARTH";
                obsref = "ITRF93";

                /.
                Set the state of DSS-14 relative to the earth's
                center at the J2000 epoch, expressed in the
                ITRF93 reference frame. Values come from the
                earth station SPK specified in the meta-kernel.

                The velocity is non-zero due to tectonic
                plate motion.
                ./
                obsepc    =  0.0;

                obssta[0] =  -2353.6213656676991;
                obssta[1] =  -4641.3414911499403;
                obssta[2] =   3677.0523293197439;
                obssta[3] =     -0.00000000000057086;
                obssta[4] =      0.00000000000020549;
                obssta[5] =     -0.00000000000012171;

                /.
                Find the apparent state of the spacecraft relative
                to the station in the ITRF93 reference frame.
                Evaluate the earth's orientation, that is the
                orientation of the ITRF93 frame relative to the
                J2000 frame, at the observation epoch. This
                correction is obtained by setting `refloc' to
                "OBSERVER".
                ./

                outref = "ITRF93";
                abcorr = "CN+S";

                refloc = "OBSERVER";

                /.
                Compute the observer-target state.
                ./
                spkcvo_c ( target, et,     outref, refloc,
                           abcorr, obssta, obsepc, obsctr,
                           obsref, state0, &lt0            );

                /.
                Display the computed state and light time.
                ./
                timout_c ( et-lt0, TIMFMT, TIMLEN, emitim );
                timout_c ( obsepc, TIMFM2, TIMLEN, epcstr );

                printf ( "\n"
                         " Frame evaluation locus:     %s\n"
                         "\n"
                         " Target:                     %s\n"
                         " Observation time:           %s\n"
                         " Observer center:            %s\n"
                         " Observer-center state time: %s\n"
                         " Observer frame:             %s\n"
                         " Emission time:              %s\n"
                         " Output reference frame:     %s\n"
                         " Aberration correction:      %s\n"
                         "\n"
                         " Observer-target position (km):\n"
                         "   %20.8f %20.8f %20.8f\n"
                         " Observer-target velocity (km/s):\n"
                         "   %20.8f %20.8f %20.8f\n"
                         " Light time (s):   %20.8f\n",

                         refloc,    target,    obstim,    obsctr,
                         epcstr,    obsref,    emitim,    outref,
                         abcorr,    state0[0], state0[1], state0[2],
                         state0[3], state0[4], state0[5], lt0   );

                /.
                Repeat the computation, this time evaluating the
                earth's orientation at the epoch obtained by
                subtracting from the observation time the one way
                light time from the earth's center.

                This is equivalent to looking up the observer-target
                state using spkezr_c.
                ./
                refloc = "CENTER";

                spkcvo_c ( target, et,     outref, refloc,
                           abcorr, obssta, obsepc, obsctr,
                           obsref, state1, &lt1            );

                /.
                Display the computed state and light time.
                ./
                timout_c ( et-lt1, TIMFMT, TIMLEN, emitim );

                printf ( "\n\n"
                         " Frame evaluation locus:     %s\n"
                         "\n"
                         " Target:                     %s\n"
                         " Observation time:           %s\n"
                         " Observer center:            %s\n"
                         " Observer-center state time: %s\n"
                         " Observer frame:             %s\n"
                         " Emission time:              %s\n"
                         " Output reference frame:     %s\n"
                         " Aberration correction:      %s\n"
                         "\n"
                         " Observer-target position (km):\n"
                         "   %20.8f %20.8f %20.8f\n"
                         " Observer-target velocity (km/s):\n"
                         "   %20.8f %20.8f %20.8f\n"
                         " Light time (s):   %20.8f\n",

                         refloc,    target,    obstim,    obsctr,
                         epcstr,    obsref,    emitim,    outref,
                         abcorr,    state1[0], state1[1], state1[2],
                         state1[3], state1[4], state1[5], lt1      );

                printf ( "\n"
                         " Distance between above positions (km):  "
                         "       %20.8f\n"
                         " Velocity difference magnitude  (km/s):"
                         "         %20.8f\n",
                         vdist_c( state0,   state1   ),
                         vdist_c( state0+3, state1+3 )                     );

                /.
                Check: compare the state computed directly above
                to one produced by spkezr_c:
                ./
                obsrvr = "DSS-14";

                spkezr_c ( target,  et,      outref,  abcorr,
                           obsrvr,  state2,  &lt2            );

                printf ( "\n\n"
                         " State computed using spkezr_c:\n"
                         "\n"
                         " Target:                 %s\n"
                         " Observation time:       %s\n"
                         " Output reference frame: %s\n"
                         " Aberration correction:  %s\n"
                         " Observer:               %s\n"
                         "\n"
                         " Observer-target position (km):\n"
                         "   %20.8f %20.8f %20.8f\n"
                         " Observer-target velocity (km/s):\n"
                         "   %20.8f %20.8f %20.8f\n"
                         " Light time (s): %20.8f\n",

                         target,    obstim,    outref,
                         abcorr,    obsrvr,
                         state2[0], state2[1], state2[2],
                         state2[3], state2[4], state2[5], lt2   );

                printf ( "\n"
                         " Distance between last two "
                         "positions (km):   %20.8f\n"
                         " Velocity difference magnitude    "
                         " (km/s):   %20.8f\n",
                         vdist_c( state1,   state2   ),
                         vdist_c( state1+3, state2+3 )          );

                /.
                Finally, compute an observer-target state in
                a frame centered at the target.
                This state can be used to compute the sub-observer
                longitude. The reference frame is the Mars-fixed
                frame IAU_MARS.
                ./

                target = "MARS";
                outref = "IAU_MARS";

                refloc = "TARGET";

                spkcvo_c ( target, et,     outref, refloc,
                           abcorr, obssta, obsepc, obsctr,
                           obsref, state3, &lt3            );

                /.
                Central meridian longitude is the longitude of the
                observer relative to the target center, so we must
                negate the position portion of the state we just
                computed.
                ./
                vminus_c ( state3, obsvec );

                reclat_c ( obsvec, &r, &lon, &lat );

                printf ( "\n\n"
                         " Frame evaluation locus:     %s\n"
                         "\n"
                         " Target:                     %s\n"
                         " Observation time:           %s\n"
                         " Observer center:            %s\n"
                         " Observer-center state time: %s\n"
                         " Observer frame:             %s\n"
                         " Emission time:              %s\n"
                         " Output reference frame:     %s\n"
                         " Aberration correction:      %s\n"
                         "\n"
                         " Observer-target position (km):\n"
                         "   %20.8f %20.8f %20.8f\n"
                         " Observer-target velocity (km/s):\n"
                         "   %20.8f %20.8f %20.8f\n"
                         " Light time (s):   %20.8f\n",

                         refloc,    target,    obstim,    obsctr,
                         epcstr,    obsref,    emitim,    outref,
                         abcorr,    state3[0], state3[1], state3[2],
                         state3[3], state3[4], state3[5], lt3   );

                printf ( "\n"
                         " Central meridian\n"
                         " longitude (deg):  %20.8f\n\n\n",
                         lon * dpr_c()                       );

                return ( 0 );
             }

          When this program was executed on a PC/Linux/gcc
          platform, the output was:

             Frame evaluation locus:     OBSERVER

             Target:                     MGS
             Observation time:           2003 OCT 13 06:00:00.000000 UTC
             Observer center:            EARTH
             Observer-center state time: 2000 JAN 01 12:00:00.000000 TDB
             Observer frame:             ITRF93
             Emission time:              2003 OCT 13 05:55:44.201144 UTC
             Output reference frame:     ITRF93
             Aberration correction:      CN+S

             Observer-target position (km):
                 -53720675.37940782   -51381249.05338467   -18838416.34716543
             Observer-target velocity (km/s):
                     -3751.69274754        3911.73417167          -2.17503628
             Light time (s):           255.79885530

             Frame evaluation locus:     CENTER

             Target:                     MGS
             Observation time:           2003 OCT 13 06:00:00.000000 UTC
             Observer center:            EARTH
             Observer-center state time: 2000 JAN 01 12:00:00.000000 TDB
             Observer frame:             ITRF93
             Emission time:              2003 OCT 13 05:55:44.201144 UTC
             Output reference frame:     ITRF93
             Aberration correction:      CN+S

             Observer-target position (km):
                 -53720595.74378239   -51381332.31467460   -18838416.34737090
             Observer-target velocity (km/s):
                     -3751.69880992        3911.72835653          -2.17503628
             Light time (s):           255.79885530

             Distance between above positions (km):                 115.21404098
             Velocity difference magnitude  (km/s):                   0.00840050

             State computed using spkezr_c:

             Target:                 MGS
             Observation time:       2003 OCT 13 06:00:00.000000 UTC
             Output reference frame: ITRF93
             Aberration correction:  CN+S
             Observer:               DSS-14

             Observer-target position (km):
                 -53720595.74378239   -51381332.31467460   -18838416.34737090
             Observer-target velocity (km/s):
                     -3751.69880992        3911.72835653          -2.17503628
             Light time (s):         255.79885530

             Distance between last two positions (km):             0.00000000
             Velocity difference magnitude     (km/s):             0.00000000

             Frame evaluation locus:     TARGET

             Target:                     MARS
             Observation time:           2003 OCT 13 06:00:00.000000 UTC
             Observer center:            EARTH
             Observer-center state time: 2000 JAN 01 12:00:00.000000 TDB
             Observer frame:             ITRF93
             Emission time:              2003 OCT 13 05:55:44.201144 UTC
             Output reference frame:     IAU_MARS
             Aberration correction:      CN+S

             Observer-target position (km):
                 -71445232.12767348     2312773.74169024    27766441.52046534
             Observer-target velocity (km/s):
                       155.65895286        5061.78618477           5.09447029
             Light time (s):           255.79702283

             Central meridian
             longitude (deg):           -1.85409037

#### Restrictions

       1)  This routine may not be suitable for work with stars or other
           objects having large distances from the observer, due to loss
           of precision in position vectors.

#### Literature_References

       None.

#### Author_and_Institution

       N.J. Bachman    (JPL)
       S.C. Krening    (JPL)
       B.V. Semenov    (JPL)

#### Version

       -CSPICE Version 1.0.1, 09-SEP-2015 (NJB)

           The Exceptions section of the header was updated
           to mention exceptions involving null pointers and
           empty input strings.

       -CSPICE Version 1.0.0, 27-MAR-2012 (NJB) (SCK) (BVS)

#### Index_Entries

       state relative to constant_velocity_observer
       state relative to constant_velocity surface_point
       state relative to surface_point on extended_object
       state relative to landmark on extended_object

#### Link to routine spkcvo_c source file spkcvo_c.c

    Wed Apr  5 17:54:43 2017