ExoMars Rover Vehicle - European Space...

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ExoMars Rover Vehicle

Ref: EXM-RM-RQM-ASU-0025 Issue: 1

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© Astrium Ltd 2010

Astrium Ltd owns the copyright of this document which is supplied in confidence and which shall not be used for any purpose other than that for which it is supplied and shall not in whole or in part be reproduced, copied, or

communicated to any person without written permission from the owner.

Astrium Limited, Registered in England and Wales No. 2449259 Registered Office: Gunnels Wood Road, Stevenage, Hertfordshire, SG1 2AS, England

Rover Vehicle Localisation Cameras Requirements Specification


Rover Vehicle Localisation Cameras Requirements

Specification DRD: ENG-40

CI CODE: E211000302

Prepared by: Date:

Checked by: Date:

Approved by: Date:

Authorised by: Date:

Export Control: This document has been rated for UK and EC export (no. 1183/2007 of 18Sep07).

Rated at: 9E001 relating to 9A004 Rated By : N. Silva

This document may be exported from the UK to the EU without the need for an export licence. These technologies will require an export licence if exported out of the EU.

Exporting to the US, Canada & Switzerland can be done under the CGEA No EU001

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Rover Vehicle Localisation Cameras Requirements Specification Astrium Ltd owns the copyright of this document which is supplied in confidence and which shall not be used for any purpose other than that for which it is supplied and shall not in

whole or in part be reproduced, copied, or communicated to any person without written permission from the owner.

PAGE INTENTIONALLY LEFT BLANK

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TABLE OF CONTENTS

1 Introduction & Scope ................................................................................................................................. 5

1.1 Purpose and Scope of this Document ............................................................................................... 5 1.2 ExoMars System Definition................................................................................................................ 5

1.2.1 Rover Vehicle Summary ............................................................................................................. 5 1.3 Priority of Requirements .................................................................................................................... 7 1.4 Control of this Document ................................................................................................................... 7 1.5 Format of Requirements .................................................................................................................... 8

2 Reference Documents............................................................................................................................... 9 2.1 Normative References ....................................................................................................................... 9 2.2 Informative References...................................................................................................................... 9

3 Terms, Definitions, Conventions and Coordinate Systems..................................................................... 10 3.1 Terms and Definitions ...................................................................................................................... 10 3.2 Units ................................................................................................................................................. 11 3.3 Definitions ........................................................................................................................................ 12

3.3.1 Principal Planes and points ...................................................................................................... 12 3.3.2 Focal length .............................................................................................................................. 13 3.3.3 Angle of View ............................................................................................................................ 13 3.3.4 F-Number.................................................................................................................................. 14 3.3.5 Object distance ......................................................................................................................... 14 3.3.6 Image distance.......................................................................................................................... 14 3.3.7 Object height............................................................................................................................. 14 3.3.8 Image height ............................................................................................................................. 14

4 Design and Performance Requirements ................................................................................................. 15 4.1 Functional Requirements ................................................................................................................. 15

4.1.1 Alignment .................................................................................................................................. 16 4.1.2 Calibration................................................................................................................................. 17

4.2 Performance Requirements ............................................................................................................. 18 4.2.1 Camera optics and sensor........................................................................................................ 19 4.2.2 Camera Efficiency..................................................................................................................... 20 4.2.3 Calibration and alignment ......................................................................................................... 23

4.3 Operational Requirements ............................................................................................................... 24 4.3.1 Command and Data Handling .................................................................................................. 24 4.3.2 Fault Management .................................................................................................................... 27 4.3.3 Lifetime ..................................................................................................................................... 27 4.3.4 Reliability and Redundancy ...................................................................................................... 27 4.3.5 Design Safety............................................................................................................................ 27

4.4 Power Requirements........................................................................................................................ 27 4.5 Mechanical Requirements ............................................................................................................... 28

4.5.1 Envelope ................................................................................................................................... 28 4.5.2 Mass Properties ........................................................................................................................ 28 4.5.3 Optical Bench............................................................................................................................ 28

4.6 Thermal Requirements .................................................................................................................... 28 4.7 Software Requirements ................................................................................................................... 29 4.8 Planetary Protection Requirements ................................................................................................. 29 4.9 Cleanliness and Contamination Control Requirements ................................................................... 29 4.10 Assembly, Integration and Verification Requirements ................................................................. 29

4.10.1 Transportation, Handling and Storage...................................................................................... 29 4.10.2 Accessibility and Maintainability ............................................................................................... 29 4.10.3 Identification and Marking......................................................................................................... 30 4.10.4 Inspection.................................................................................................................................. 30

5 Interface Requirements ........................................................................................................................... 31 5.1 Power Interface Requirements ........................................................................................................ 31

5.1.1 Databus Requirements ............................................................................................................. 31 5.1.2 EMC Requirements .................................................................................................................. 31 5.1.3 Grounding Requirements.......................................................................................................... 31 5.1.4 Harness and Connector Requirements .................................................................................... 31

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5.2 Mechanical Interface Requirements ................................................................................................ 31 5.3 Thermal Interface Requirements ..................................................................................................... 31 5.4 Electrical Interface Requirements .................................................................................................... 32 5.5 Software Interface Requirements .................................................................................................... 32 5.6 EGSE Interface Requirements......................................................................................................... 32

6 Environmental Requirements.................................................................................................................. 34 6.1 Mechanical Environment.................................................................................................................. 34

6.1.1 Quasi-Static Design Loads ....................................................................................................... 34 6.1.2 Sine Vibration............................................................................................................................ 34 6.1.3 Random Vibration ..................................................................................................................... 34 6.1.4 Shock ........................................................................................................................................ 35 6.1.5 Mars Surface Operations.......................................................................................................... 35

6.2 Thermal Environment....................................................................................................................... 36 6.3 Launch Pressure Profile................................................................................................................... 36 6.4 Electromagnetic Compatibility Environment .................................................................................... 36 6.5 Radiation Environment..................................................................................................................... 36 6.6 Martian Surface Environment .......................................................................................................... 36 6.7 Mars Entry and Descent Environments ........................................................................................... 36

6.7.1 EDL Contaminants.................................................................................................................... 36 7 Product Assurance Requirements .......................................................................................................... 37 8 GDIR Applicability Matrix ........................................................................................................................ 38 9 Annex A: List of TBD's ............................................................................................................................ 54 10 Annex B: List of TBC's......................................................................................................................... 55

LIST OF TABLES

Table 4.6-1: Mission Thermal Operational and Non-Operational Design Limits............................................ 28 Table 4.8-1: LocCam Bio-Burden Allocation .................................................................................................. 29

LIST OF FIGURES

Figure 1.2-1: ExoMars Rover Configuration..................................................................................................... 6 Figure 1.2-2: Rover GNC elements.................................................................................................................. 7 Figure 3.3-1: Lens parameters (1).................................................................................................................. 12 Figure 3.3-2: Lens parameters (2).................................................................................................................. 12 Figure 3.3-3: Focal length............................................................................................................................... 13 Figure 3.3-4: Angle of view............................................................................................................................. 13 Figure 4.1-1: Unit Axis Systems ..................................................................................................................... 17 Figure 4.2-1: Camera operations ................................................................................................................... 18

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1 INTRODUCTION & SCOPE

1.1 Purpose and Scope of this Document

This document defines the technical requirements and constraints applicable to the ExoMars Rover Vehicle Localisation Cameras stereo bench unit (LocCam).

This document responds to the GNC Requirements Specification [ID 03], which in turn responds to the higher level requirements of the ExoMars Rover Vehicle mission.

Its objectives are to:

• Allocate Rover GNC design and verification constraints to the Localisation cameras

• Identify the functionality and performance that needs to be fulfilled by the Localisation cameras

• Provide a clear baseline for verification

• Identify the flow-down of higher level requirements to equipment level

This section (section 1) is only for information, no requirements are defined in this section. It introduces the document in terms of purpose and scope, and outlines priority, traceability issues.

Section 2 identifies the higher, equal and lower level documents and their relevance to this document.

Section 3 defines the terms, definitions and conventions that are applicable to the interpretation of the requirements.

Sections 4 through 8 define all the requirements applicable to the LocCam.

1.2 ExoMars System Definition

1.2.1 Rover Vehicle Summary

The basic configuration of the Rover Vehicle is illustrated in Figure 1.2-1.

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Figure 1.2-1: ExoMars Rover Configuration

The ExoMars Rover Vehicle consists of the following major systems:

• Rover Vehicle Structure;

• Locomotion Subsystem;

• Guidance, Navigation and Control Subsystem;

• Thermal Control Subsystem;

• Electrical Power Subsystem;

• Data Handling Subsystem;

• TT & C Subsystem;

• Onboard Software.

In addition the following Payload Support Equipments are also to be provided:

Deployment Mast Assembly.

1.2.1.1 Rover GNC elements

The Rover GNC relies on the following elements:

• a set of sensors (sub-assembly of the Avionics sub-system), that supply information about the Rover state vector: absolute attitude, relative attitude and position, and terrain topographic information;

• a Locomotion Sub-System (LSS) which comprises the wheel axes low level control including its position and speed sensors, the LSS hardware management, the state machine management

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including the transitions management. The LSS is the GNC actuator that executes the Rover control commands allowing the vehicle to follow the commanded path to the target;

• a data handling system with its embedded Application Software which performs the management of numerical data and every calculations required from the processing of sensors data to the elaboration and the transmission of the commands to the LSS low level control through a CAN bus;

• a communications system with the ROCC to know its tasks.

A schematics is shown is Figure 1.2-2. The sensors, high level algorithms/functions and actuators are presented.

Figure 1.2-2: Rover GNC elements

1.3 Priority of Requirements

The priority of the requirement is indicated by the use of “shall” or should” as follows:

Priority Meaning Description shall Mandatory Mandatory requirements, or hard requirements, which must be implemented .

They constitute core requirements of the project in order to fulfil the mission objectives.

should Goal These requirements are aiming at improving the performances or outcome of the mission. They may be eventually be re-negotiated if their implementation would be demonstrated to be conflicting with the implementation of a mandatory requirement, or overall programmatic constraints.

1.4 Control of this Document

This document is prepared by Astrium Ltd. It will be maintained and distributed according to the RV Configuration and Data Management Plan. Once this document has been formally issues (at issue 1) changes and updates to this document will be made through a CCB process.

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In this document:

• TBD (To Be Determined) indicates the need for data that are currently not available.

• TBC (To Be Confirmed) indicates that the data supplied are preliminary.

The requirements presented in this document are managed within the database on Astrium Ltd's DOORS server. This database interfaces with DOORS databases provide by the customer TAS-I to manage the links to applicable documents.

1.5 Format of Requirements

Requirements are specified throughout this document in a format as shown below:

RV-LC-XXXX / Customer Link / R : Requirement Title

Requirement Text ...

Where:

• RV-LC-XXXX: is the requirement identifier. “RV-LC” is the requirement code for this document and XXXX is a unique number that is assigned to each requirement. Once assigned, the number can never be reassigned.

• /Customer Link: provides the traceability to the parent requirement.

• / R,A,I,T: indicates the verification methods to be used to verify the requirements

• R - Review

• A - Analysis

• I - Inspection

• T - Test

• : Requirement Title: provides an individual heading of the requirement (if used).

• Requirement Text ...: The requirements should be traceable, unique, single, verifiable, unambiguous and referenced as necessary to other requirements. Notes and/or rationale may be added for clarification and explanation.

When a requirement has more than one verification method listed, then a combination of all the verification methods listed against this requirement shall be necessary in order to verify the requirement in it's entirety. Note that for some requirements this may mean that different aspects of the requirement are verified by different verification methods listed against this requirement, as appropriate. In this case it may not be necessary to employ each of the verification methods listed against the requirement to verify each individual aspect of the requirement. When employing different verification methods for different aspects of the requirement the unit supplier shall identify which verification method is used for each different part of the requirement, and shall require the agreement of Astrium Ltd.

All document elements not presented in the format explained above are not technical requirements and will not be verified.

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2 REFERENCE DOCUMENTS

In case of conflict between Normative References and this document the ExoMars Rover Vehicle Project Office shall be informed for resolution.

2.1 Normative References

Normative References are directly applicable in their entirety to this document and are listed below as dated or undated references. These normative references may be cited at appropriate places in the text. For dated references, subsequent amendments to or revisions of any of these document apply to this requirements specification only when incorporated in it by amendment or revision. For undated references, the latest signed version is applicable and must be incorporated by the contractor in the project baseline.

ND 01 Deleted ND 02 Deleted ND 03 Front LocCam Interface Requiments Drawing DT0508452 ND 04 SpaceWire - Links, nodes, routers and networks ECSS-E-50-12C ND 05 Rover Vehicle SpaceWire Interface Requirements Document EXM-RM-IRD-ASU-00102 ND 06 Coordinate Systems Specifications EXM-RM-SYS-ASU-00101

2.2 Informative References

Informative References are applicable to this document only when specifically called up in the text with specific indications of the parts of the document that are to be applicable. Otherwise the documents are listed below for information only as an aid for the purpose of understanding. For dated references, subsequent amendments to or revisions of any of these document apply to this statement of work only when incorporated in it by amendment or revision. For undated references, the latest signed version is applicable and must be incorporated by the contractor in the project baseline pending the use of the document as explained above.

ID 01 Deleted ID 02 Deleted ID 03 ExoMars Rover GNC Requirements Specification EXM-RM-RQM-ASU-00110 ID 04 ExoMars Mission Environmental Specification EXM-MS-RS-ESA-00013 ID 05 SW PA requirements for subcontractors EXM-MS-RQM-AI-0010 ID 06 Product Assurance Requirements for ASIC and FPGA design

model development and validation EXM-RM-RQM-ASU-00120

ID 07 Space product assurance - ASIC and FPGA development ECSS-Q-60-02 ID 08 Designing for Planetary Protection EXM-RM-TNO-ASU-00107 ID 09 General Design & Interface Requirements EXM-RM-RQM-ASU-0015

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3 TERMS, DEFINITIONS, CONVENTIONS AND COORDINATE SYSTEMS

3.1 Terms and Definitions

ASU Astrium UK Spacecraft Term to generically refer to the System Elements (Carrier or Orbiter, Descent

Module) as well as to the Rover Composite The combination of several System Elements (spacecraft) during the launch

and cruise phases Orbiter The System Element (spacecraft) to be placed into Mars orbit, acting as data

relay between the Rover and Earth. In the “DM + Carrier” scenario the Orbiter is an element external to the ExoMars System. In that case the use of the NASA Mars Reconnaissance Orbiter is envisaged

Carrier The System Element (spacecraft) carrying and releasing the Descent Module into its entry, descent and landing trajectory, in the DM + Carrier Scenario

Descent Module Composite The combination of System Element (DM + Rover Module) which performs the Entry, Descent and Landing to the Martian surface

EDLS The subsystem of the DM that enables the DM to perform the entry, descent and landing onto the Mars surface

SES (Support & Egress System)

The structural part of the DM supporting and protecting the Rover during flight and landing and enabling its Egress

Rover Module The spacecraft that is part of the Descent Module prior to landing and which is capable (i.e.) of travelling over the Martian surface. It consists of the Vehicle, the Pasteur Payload and the Payload Support Equipment

Vehicle The part of the Rover that is complementary to the Pasteur payload and the payload support equipment. It consists of a chassis/locomotion and the various subsystem needed to perform the mission (such as power, thermal control, communications, data handling Rover Navigation plus all the structure and relevant mechanisms) It provide also the support where the Mission SW will run

Locomotion Subsystem The Rover’s locomotion subsystem consisting of wheels, suspension members, actuators, sensors, electronics and software necessary to provide Rover mobility.

Pasteur Payload The Rover scientific payload consisting of a set of instruments, as specified in [NR 02]

Payload Support Equipment The devices necessary for the collection of samples, from the Martian subsurface and from surface rocks, as well as the tools required to process and prepare the samples for in-situ analysis

Operational Mode Rover System Mode used while travelling to the next sampling location or conducting science.

Sleep Mode Rover System Mode for minimum power consumption with transceiver in receive mode

Safe Mode A System Mode of a spacecraft to be entered in nonnominal situations (failure or contingency cases), which can be sustained for a certain time awaiting Ground Control recovery actions.

Hibernation Rover state for survival during long period of limited activities (or no activities) like dust storm

Terrain Radiometry Quantity of light originating from the terrain and received by a pixel of an imager MOLA Mars Orbiter Laser Altimerer, the instrument on board the NASA Mars Global

Surveyor that has generated an elevation map of the planet Altitude (in Mars) is specified in reference to the MOLA zero level

(<http://ltpwww.gsfc.nasa.gov/tharsis/mola.html>) Sol A Martian day (24.6 hours in duration) Ground Control synonym for the Mission Control System part of the Ground Segment Gradeability Rover capability to negotiate a given grade (slope) Point Turning Turning on the spot, i.e. changing heading without changing location of the

Rover’s body centre

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ASU Astrium UK Formal Verification Methods Are specific fault avoidance techniques that help in the reduction of errors

introduced into a system, particularly at the earlier stages of design. They complement fault removal techniques like testing. Applied to computer systems development, formal methods provide mathematically based techniques that describe system properties. As such, they present a framework for systematically specifying, developing, and verifying systems

GEP The Geophysical/Environmental Payload, a stationary package designed to acquire geophysical and environmental data on the Martian Surface

Global Dust Storm Season The conventional period of time corresponding to 3 months before and months after the Mars Perihelion in which global dust storm are statistically more frequent

EGSE Electrical Ground Support Equipment OBC On-Board Computer PANGU Planet and Asteroid Natural Scene Generation Utility CCD Charged-Coupled Device CMOS Complementary Metal-Oxide-Semiconductor EDL Entry, Descent, and Landing MLE Mars Landing Engine Cross talk Undesired capacitive, inductive, or conductive coupling from one circuit, part of

a circuit, or channel, to another. Any phenomenon by which a signal transmitted on one circuit or channel of a transmission system creates an undesired effect in another circuit or channel. In a camera sensor, pixel crosstalk refers to when the photons falling on one pixel are "Falsely" sensed by other pixels around it.

Straylight Unwanted light in the optical system. The light may be from the intended source, but follow paths other than intended, or it may be from a source other than the intended source. It is most problematic when observing faint objects neat the Sun. Its possible causes include: scatter from optical or mechanical surfaces, ghost reflections, edge scatter or "glints", diffraction around edges.

QE Quantum Efficiency: quantity defined for a photosensitive device as the percentage of photons hitting the photoreactive surface that will produce an electron-hole pair (ratio of induced current to incident flux).

(Optical) transmittance Fraction of incident light at a specified wavelength that passes through the optics.

3.2 Units

The International System of Units (SI units) will be used throughout the ExoMars Project as shown below.

Quantity Name Symbol Variations Length Meter m mm (10-3 m) Mass Kilogram kg g (10-3 kg) Time Second s ms (10-3 s) Power Watts W mW (10-3 W) Temperature Kelvin K mK (10-3 K) Pressure Pascal Pa kPa (103 Pa)

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3.3 Definitions

Figure 3.3-1: Lens parameters (1)

Figure 3.3-2: Lens parameters (2)

3.3.1 Principal Planes and points

3.3.1.1 Principal planes

The two principal planes have the property that a ray emerging from the lens appears to have crossed the rear principal plane at the same distance from the axis that the ray appeared to cross the front principal plane, as viewed from the front of the lens. This means that the lens can be treated as if all of the refraction happened at the principal planes.

3.3.1.2 Principal points

The principal points are the points where the principal planes cross the optical axis. They can also be referred to as optical centres.

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3.3.2 Focal length

Figure 3.3-3: Focal length

Rays from infinitely distance objects are condensed internally in the lens at a common point on the optical axis. The point at which the image sensor of the camera is positioned, is called a focal point. Lenses have 2 principal points (F and F' in Figure 3.3-1 - thin lens approximation makes them coincident), a principal and a secondary principal point, the distance between the secondary focal point and the focal point (image sensor) determines the focal length of the lens.

'1

'

uu

af

+=

3.3.3 Angle of View

Figure 3.3-4: Angle of view

The angle formed by the 2 lines from the principal point to the image sensor is called the angle of view. Therefore, the focal length of the lens is fixed regardless of the image format size of the camera. Conversely, the angle of view varies in accordance with the image size.

It is used interchangeably with the term "field of view".

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'2arctan2

fD=θ

3.3.3.1 Vertical angle of view

Similarly to the angle of view, the vertical angle of view is given by:

'2arctan2

fh

v =θ

3.3.3.2 Horizontal angle of view

Similarly to the angle of view, the horizontal angle of view is given by:

'2arctan2

fw

h =θ

3.3.4 F-Number

The F number is the index for the amount of light that passes through a lens. The smaller the number, the greater the amount of light. The F number is a ratio between focal length and effective aperture (Figure 3.3-2) as follows.

Df

numberF'=

3.3.5 Object distance

Referring to Figure 3.3-1, the object distance is:

'1'

1fLa ⋅��

�

��

� +==β

3.3.6 Image distance

Referring to Figure 3.3-1, the image distance is:

( ) ''1' fa ⋅+= β

3.3.7 Object height

Referring to Figure 3.3-1, the object height is:

'1'

ufa

u ⋅��

��

�−=

3.3.8 Image height

Referring to Figure 3.3-1, the image height is:

u

fa

u ⋅−

=1

1'

'

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4 DESIGN AND PERFORMANCE REQUIREMENTS

The requirements in this document apply to the Localisation stereo bench unit (LocCam). The stereo bench unit is constituted by:

• A mechanical bench

• Two cameras (one pair) mounted together on the mechanical bench

• A calibration cube

• Associated electronics

Interconnecting harness between the cameras and the electronics unit, including connectors at both ends

4.1 Functional Requirements

RV-LC-466 / Created / I,R : Benches and stereo baseline

There shall be one stereo bench including two stereo cameras with a stereo baseline of 100mm.

RV-LC-468 / RV-GNC-1404, RV-GNC-1406 / R : Shuttering

The cameras shall have a global shutter, i.e., it shall expose all pixels of the array at the same time.

RV-LC-517 / RV-GNC-1404, RV-GNC-1406 / R : Scan type

The cameras shall be progress scan.

NOTE: In a progressive scan, the entire imager is reset before integration (as for a global shutter). The photodiodes then accumulate charge during the exposure. At the end of the integration period, all charges are simultaneously transferred to light shielded areas of the sensor. Together with a global shutter, this implies equal exposure time in the entire imager.

Sometimes global shutter implies that a progressive scan is performed. However, for clarity sake, both aspects are specified.

RV-LC-471 / RV-GNC-1074 / R : Colour

The cameras shall be monochrome.

RV-LC-518 / RV-GNC-759 / T,R : Sun tolerance

The cameras shall not suffer any damage from having the Sun in the field of view while imaging.

Note: the range of the optical depth τ is: 0.1≤τ≤2

RV-LC-1363 / RV-GNC-769, RV-GNC-794 / T,R : Saturation type with Sun in FoV

When the Sun is in the field of view, if a line saturates (DN=255), that line shall be horizontal.

RV-LC-473 / RV-GNC-1074, RV-GNC-1093 / T,R : Readout modes

The camera hardware shall have the following readout capabilities:

• Full-frame : the entire image region is read out at full resolution;

• N x M binned mode: the image region is charge summed in the column direction, in multiples of N rows; then charge summed in the row direction, in multiples off M columns. The limits shall be: 1≤(N,M)≤2. When N=M=1 it corresponds to the full-frame mode.

• Windowed mode: only a specified number of (contiguous) rows and columns (TBC) are read out from the detector - row i to row j, and column u to column v. Windowed mode in rows is mandatory, for columns it is a goal.

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• Windowed and binned mode simultaneously.

RV-LC-505 / RV-GNC-1074 / T,R : Exposure types

The LocCam shall provide the following exposure types:

• None: no image acquisition, mainly for when the LocCam is not in use but ON;

• Manual: acquire an image with a user-specified exposure time;

• Auto (TBC): return an image acquired with an autocalculated exposure time based on scene content;

• Test: the test exposure will return a fixed-pattern image whose digital number (DN) values are all equal to TBD. The test exposure is not expected to be used during the surface phase of the mission.

RV-LC-1035 / RV-GNC-1074 / R : Autofocus

The cameras shall not have autofocus capability.

Note: RV-NC-1035 is expected to be met by a fixed focal length.

RV-LC-1036 / RV-GNC-1074 / R : Fixed zoom

The cameras shall not change zoom.

Note: RV-NC-1036 is expected to be met by a fixed focal length.

RV-LC-1290 / Created / R : Pixels shape

The cameras sensor pixels shall be square.

4.1.1 Alignment

RV-LC-477 / Created / R : Calibration and readiness for flight

The stereo bench unit shall be setup and calibrated (to meet the alignment/operational parameters specified) and delivered as a unit ready for flight.

RV-LC-496 / RV-GNC-1378, RV-GNC-1090 / I : Alignment Cube

The stereo bench shall include an optical reference cube for the purpose of aligning the optical bench on the Rover Vehicle.

Note: the optical reference cube may be removed for flight.

RV-LC-1142 / Created / I : Alignment Cube visibility

The LocCam calibration cube shall at least be visible from +XRB, +YRB, and +ZRB.

RV-LC-497 / Created / R : Alignment Reference Frame

The normals to three of the optical cube faces shall be used to form a right handed Cartesian reference frame, the Alignment Reference Frame (OXYZ_unit_aP) as shown in Figure 4.1-1.

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+X_unit_mP

+Z_unit_aP

O_unit_aP

+X_unit_aP

+Y_unit_aP

O_unit_mP

+Y_unit_mP

+Z_unit_mP

Figure 4.1-1: Unit Axis Systems

RV-LC-499 / Created / R : Measurement Reference Frame

For the purposes of alignment accuracy the LocCam unit shall employ the Stereo Bench Reference frame as defined in [ND 06].

RV-LC-500 / RV-GNC-1378 / R : Transfer Matrix

The Localisation Cameras unit supplier shall deliver all transfer matrix data necessary for transformation from the LocCam Alignment reference frame to the LocCam Stereo Bench reference frame.

Additional requirements on alignment are provided in GDIR (ID 09), their applicability matrix is provided in Section 8.

4.1.2 Calibration

RV-LC-1038 / RV-GNC-1074, RV-GNC-1075 / R : Calibration sets

The LocCam stereo bench unit calibration data shall include:

• Distortion correction for each optics;

• Stereo baseline as defined in [ND 6];

• Optical centre projection coordinates for each camera in photosensitive (sensor) coordinate frame;

• Stereo Bench Reference frame to alignment reference frame transformation (translation and rotation);

• Focal length of each optics;

• Offset of the principal point.

Note: if to meet other requirements other calibration data is needed (eg. sensor properties), this has to be identified and delivered.

Note: RV-LC-500 is related to RV-LC-1038.

RV-LC-1040 / RV-GNC-522, RV-GNC-1079 / T,R : Calibration validity

The stereo bench unit calibration data set shall remain valid through the entire thermal and mechanical range of: Earth operations, launch, cruise, landing and Mars surface operations.

Note: by valid one means that the required calibration accuracy (Section 4.2.3) is met during the duration of Mars surface operations without any corrections after delivery.

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4.2 Performance Requirements

The following definitions apply:

• Exposure (integration) time is the duration the light sensitive part of the camera is exposed to light, ie, the period when the photodiodes accumulate charge;

• If a CCD is used, "transfer time" is the duration, at the end if the integration period, for all charges to be transferred to the light shielded area of the sensor (refer to Figure 4.2-1);

• Readout time is the duration between the end of exposure (or transfer dor a CCD) and when the image is available.

Figure 4.2-1: Camera operations

RV-LC-1042 / RV-GNC-1154 / T,A : External coating erosion

The LocCam performances as required in Section 4.2 shall be compatible with erosion on the equipment external coating.

RV-LC-1043 / RV-GNC-1152 / T,A : Accumulated dust

The LocCam performances as required in Section 4.2 shall be compatible with the presence of accumulated (captured and self generated) dust in its specific operation environment.

RV-LC-472 / RV-GNC-1074 / T,R : Vignetting

Vignetting effects on each camera shall be such that when a homogenously illuminated object fills the camera view angle, the relative illuminance at the focal plane shall be higher than 70% (TBC).

Note: This is to be assessed between the brighter and darker set of pixels (typically centre and peripheral ones) under the test conditions in RV-LC-1059.

Note: in case this is not possible in the entire image, if the region of the image where this is guaranteed still respects the angle of view requirements (RV-LC-482 and RV-LC-1056), this may be acceptable as long as the other requirements are met.

RV-LC-1045 / RV-GNC-1074, RV-GNC-1412 / T : Cameras similarity

Images obtained by the two cameras from the LocCam unit under the same conditions should not differ by more than 10% (TBC) in illuminance.

Note: this requirement is to be verified under the test conditions of RV-LC-901. It applies to minimum, average and maximum illuminances obtained on the pixels.

Note: the same picture is to be taken as the reference picture where the illuminance difference is calculated. The contractor cannot use one picture as reference for the minimum illuminance, and another for the average for example.

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RV-LC-1361 / RV-GNC-769, RV-GNC-794 / T : Image quality with the Sun in the FoV: terrain view

When the Sun is at 54deg in the vertical field of view, the image up to 35deg in the vertical field of view shall have all pixels with a digital number between 115 and 140 (TBC) when imaging an homogeneous standard 18% grey surface.

Note: The following figure depitcs the areas considered in RV-LC-1361.

4.2.1 Camera optics and sensor

RV-LC-481 / RV-GNC-1074, RV-GNC-1093, RV-GNC-1396, RV-GNC-1398 / I,R : Resolution

The camera resolution shall be either a 512 by 512 pixels sensor or a 1024 by 1024 pixels sensor.

NOTE: This resolution only refers to light sensitive part of the sensor.

RV-LC-485 / RV-GNC-1396, RV-GNC-1398 / R : Analog-Digital Conversion digitisation

Cameras shall have 8 bit/pixel resolution.

RV-LC-482 / RV-GNC-1396, RV-GNC-1398 / T,R : Horizontal Angle of View

The horizontal Angle of View shall be in the range 60 deg to 70 deg.

Note: this is the effective angle of view, i.e., after correction of distortion and using all light sensitive part of the sensor.

RV-LC-1056 / RV-GNC-1396, RV-GNC-1398 / T,R : Vertical Angle of View

The vertical Angle of View shall be in the range 60 deg to 70 deg.

Note: this is the effective angle of view, i.e., after correction of distortion and using all light sensitive part of the sensor.

RV-LC-493 / Created / R : Lens focal number

The lens focal number should be between 4 and 15.

RV-LC-1058 / Created / T,R : Horizontal and Vertical angles of view ratio

Each camera horizontal and vertical angles of view should be equal.

RV-LC-516 / Created / A : Focus

The camera shall be designed such that the best (fixed) focus condition shall be achieved when object is at 2.2m from object principal plane.

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RV-LC-492 / Created / T,R : Exposure time range

Exposure (integration) time range shall at least from 1ms to 1s (TBC), with a step smaller than 5ms (1ms preferred).

RV-LC-502 / RV-GNC-1093 / T,R : Camera transfer time

The camera transfer time shall be no higher than 1ms.

RV-LC-503 / RV-GNC-1093 / T,R : Camera readout time

The camera readout time shall be inferior to 1.2s for the full-frame mode. For the binned and windowed modes it shall be proportionally lower.

RV-LC-1066 / RV-GNC-1093 / T,R : Goal for camera readout time

The camera readout time should be less than to 0.12s for the full-frame mode.

RV-LC-1399 / RV-GNC-1093 / T : Time characteristics

The camera time characteristics shall be known with an accuracy of 1ms or better.

Note: this includes without being limited to: transfer time, readout time and integration time (if in "Auto" mode).

4.2.2 Camera Efficiency

It is mandatory for the camera to be sentitive in the visible spectrum, while it is only a design goal for it to be sensitive in the near infrared spectrum. In addition, it is the contractor responsability to deduce the sensor QE and the optics transmittance needed to obtain sufficient sensitivity as specified in Section 4.2.2. Design goals of sensor QE and optics transmittance are provided with the intention of guiding the contractor, requirements are only given at camera level and for the visible spectrum.

RV-LC-1059 / RV-GNC-1412, RV-GNC-1150 / T,A : Camera sensitivity efficiency at maximum light level (t=0.1, zenith)

The camera efficiency shall be such that an integration time less than 10ms (TBC) is necessary to obtain all illuminated pixels with at least half of their dynamic range (between 115 and 140 TBC) in the following conditions:

• Picture of an homogeneous standard 18% grey surface under 30000 lux (±5% TBC) lighting with the following spectral distribution:

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0

0.1

0.2

0.3

0.4

0.5

0.6

0.7

0.8

0.9

1

300 400 500 600 700 800 900 1000 1100

Light wavelength (nm)

Rel

ativ

e po

wer

Goal

Mandatory

Note: local adjustments up to 5% (TBC) on relative power are allowed in order to allow for experimental set-up. Deviations higher than this value need to be agreed by ASU in a case by case basis.

RV-LC-1067 / RV-GNC-1412, RV-GNC-1150 / T,A : Camera sensitivity efficiency at minimum light level (t=1.0, 20deg elevation)

The camera efficiency should be such that an integration time less than 100ms (TBC) is necessary to obtain all illuminated pixels with at least half of their dynamic range (between 115 and 140 TBC) in the following conditions:

• Picture of an homogeneous standard 18% grey surface under 11500 lux (±5% TBC) lighting with the following spectral distribution:

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0

0.1

0.2

0.3

0.4

0.5

0.6

0.7

0.8

0.9

1

300 400 500 600 700 800 900 1000 1100

Light wavelength (nm)

Rel

ativ

e po

wer

Goal

Mandatory

Note: local adjustments up to 5% (TBC) on relative power are allowed in order to allow for experimental set-up. Deviations higher than this value need to be agreed by ASU in a case by case basis.

RV-LC-1047 / RV-GNC-759, RV-GNC-1404, RV-GNC-1406 / T,R : Sensor: visible spectrum

The cameras sensor should have a Quantum Efficiency of at least 5% (TBC) between 400 nm and 750 nm.

RV-LC-1049 / RV-GNC-759, RV-GNC-1404, RV-GNC-1406 / T,R : Sensor: near infrared spectrum

The cameras sensor should have a Quantum Efficiency of at least 5% (TBC) between 750 nm and 1000 nm.

RV-LC-1051 / RV-GNC-759, RV-GNC-1404, RV-GNC-1406 / T,R : Optics: visible spectrum

The cameras optics should have a transmittance of at least 75% (TBC) between 400nm and 750 nm.

RV-LC-1053 / RV-GNC-759 / T,R : Optics: near infrared spectrum

The cameras optics should have a transmittance of at least 75% (TBC) between 750 nm and 1000 nm.

RV-LC-901 / RV-GNC-1394, RV-GNC-1402, RV-GNC-1412 / T,A : Camera picture noise

The picture noise, at the output of the data link, should be less than 2 bit (from LSB, i.e., 3 DN)..

Note: this is to be verified in the following cases:

In both lighting cases of RV-LC-1059 and RV-LC-1067, a picture of:

• A standard white card (90% reflectance) - integration time such as all pixels values are at 255;

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• A standard black card (3% reflectance) - integration time such as all pixel values at 0 but ≥1ms;

• A neutral gray card (18% reflectance) with all illuminated pixel values equal (with stated tolerance) and between 120 and 140. If issues with vignetting exist with this case (and demonstration is required), a central region of at least half the image size may be used.

NOTE: This noise level includes all phenomenon from when a photon enters the camera optics, to when the picture is available at the output (eg. residual of calibration of focal length (including its temperature sensibility) and optical distortions (including chromatism); detector Photo Response Non Uniformity (PRNU), detector Dark Signal Non Uniformity (DSNU); detector dark current spikes (if relevant according to detector technology); detector fixed pattern noise (FPN) (of relevant according to sensor technology); etc.).

4.2.3 Calibration and alignment

RV-LC-1070 / Created / T,I : Parallel optical axis

Once mounted on the optical bench, the two cameras optical axes shall be parallel to an accuracy of 0.02 deg.

RV-LC-1398 / Created / T,I : Aligned sensor and optical frames.

The sensor and the optics frames ([ND 06]) angular misalignment shall be less than FoV/4096.

Note: FoV is the smaller field of view between vertical and horizontal fields of view.

RV-LC-483 / Created / T,A : Calibration

After applying optical distortion correction, the maximum residual distortion error shall be better than 1/4th of a pixel.

Notes:

• It is not expected that a clean room is mandatory for this calibration however, it shall remain valid through the phases in requirement RV-LC-1040.

• The distortion correction accuracy is to be met using a correction law no more complex than a 3rd order degree polynomial law.

• This includes the intersection of the optical axis with the sensor plane (XS O YS).

RV-LC-1071 / Created / T,R : Calibration resolution

Optics distortion correction data shall have a minimal resolution of 1 out of 4 pixels (TBC).

Note: this requirement can be relaxed as long as RV-LC-483 is met on all pixels (including the ones where interpolation is done and no experimental data is available).

RV-LC-501 / RV-GNC-752 / A,R : Stereo Bench frame rotation calibration

The Stereo Bench Reference frame to Alignment Reference frame rotation transformation shall be known with an accuracy better than 25 arcsec.

RV-LC-1074 / RV-GNC-752 / T,A : Stereo Bench frame translation calibration

The Stereo Bench Reference frame to Alignment Reference frame translation transformation shall be known with an accuracy better than 0.1mm in each axis.

Note: accuracy measured in the Alignment Reference frame.

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RV-LC-1075 / RV-GNC-752 / T,A : Validity of calibration throughout the mission

During the on-surface mission, the Stereo Bench Reference frame to Alignment Reference frame rotation transformation shall not differ by more than 0.01deg with respect to the calibration data from RV-LC-1073.

Note: this applies during the Martian day (not night). However, it means that calibration data need to remain valid to the stated accuracy after storage, launch, cruise, landing, and on-surface mission operations (including thermal gradients).

RV-LC-1077 / RV-GNC-752 / T,A : Mounting on rover alignment stability

During the on-surface mission, the variation of the Stereo Bench Reference frame to the structure where the unit is mounted, shall not exceed 0.01deg with respect to pre-flight calibration.

Note: this applies during the Martian day (not night). However, it means that relative orientation to the mast (by thermal gradients for example) remains inside the required tolerance after launch, cruise, landing, and on-surface mission operations.

Note: assume that the unit is fixed to the interface.

RV-LC-1080 / RV-GNC-752 / T,A : Focal length accuracy

Focal length accuracy should be better than 0.1 mm (TBC) (3σ).

4.3 Operational Requirements

4.3.1 Command and Data Handling

Images are time-tagged with the Rover Elapsed Time by the Rover OBSW using information from a cyclic counter in the camera unit.

RV-LC-495 / RV-GNC-1412 / T,R : Camera controls

The camera controls shall allow setting at least the following parameters or modes:

• Gain

• Exposure (integration) time and type

• Camera binned and windowed modes and parameters

RV-LC-1081 / RV-GNC-1074, RV-GNC-1075, RV-GNC-1082 / T,R : Option for adjusted pictures

The stereo bench unit should be able to provide images where optical distortion was already corrected using the calibration data of RV-LC-1038.

Note: this is a goal, not mandatory. In case of compliance, one shall remain able to request and obtain the raw images.

RV-LC-1083 / RV-GNC-1099, RV-GNC-1100 / T,R : Command to take stereo pictures

The LocCam stereo bench unit shall allow for a single command to: take the stereo pair of pictures, store them in memory and return an acknowledgement flag.

RV-LC-1084 / Created / T,R : Command to picture from a particular camera

The LocCam stereo bench unit shall allow for a single command to: take a picture from one of the two cameras (camera identification specified in the command), store it in memory and return an acknowledgement flag.

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RV-LC-1085 / RV-GNC-1099, RV-GNC-1100 / T,R : Command to retrieve stereo pictures

The LocCam stereo bench unit shall allow for a single command to send the stereo pair of pictures stored in the LocCam memory to the Rover via the spacewire link.

RV-LC-1086 / Created / T,R : Command to retrieve picture from a particular camera

The LocCam stereo bench unit shall allow for a single command to send a camera picture (camera identification specified in the command) stored in the LocCam memory to the Rover via the spacewire link.

RV-LC-1087 / Created / T,R : Storing pictures

The LocCam stereo bench unit shall be able to store at least two pairs of pictures in memory (2 from each camera).

RV-LC-908 / RV-GNC-1077 / T : Commands frequency

The LocCam shall allow for cyclic (regular) and on request commands.

RV-LC-480 / RV-GNC-1075, RV-GNC-1077, RV-GNC-1094 / T,R : Picture synchronisation

The cameras shall be synchronous, i.e., the picture from both cameras shall be triggered at the same time with an accuracy of less 10ms (TBC).

RV-LC-1088 / Created / T : Delay between command and picture

The delay between reception of the command to take pictures and start of integration shall be less than 0.1s (TBC).

RV-LC-1089 / RV-GNC-1077, RV-GNC-1094 / T,A : Delay repeatability taking pictures

The delay between reception of the command to take pictures and start of integration shall be repeatable and known.

RV-LC-1090 / Created / T : Delay between command and retrieving pictures

The delay between reception of the command to retrieve pictures from the LocCam memory and its transmission to the Spacewire link shall be less than 0.1s (TBC).

RV-LC-1091 / RV-GNC-1097, RV-GNC-1094 / T,A : Delay repeatability retrieving pictures

The delay between reception of the command to retrieve pictures from the LocCam memory and its transmittion to the Spacewire link shall be repeatable and known.

RV-LC-910 / RV-GNC-1077 / T : TM requests frequency

The LocCam shall allow for cyclic (regular) and on request housekeeping data acquisition.

NOTE: This requirement is applicable to commands not generating data (like RV-LC-910), it relates to commands that only require "existing" data.

RV-LC-914 / RV-GNC-1097 / T : Command after switching on

Commanding to the LocCam shall be possible within 10s (TBC) after switch on.

RV-LC-915 / RV-GNC-1097 / T : Telemetry after switching on

Housekeeping from the LocCam shall be available within 2s (TBC) after switch on.

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RV-LC-1385 / Created / R : Minimum housekeeping

The LocCam housekeeping telemetry shall include as a minimum:

• Pictures of both cameras;

• Health status for each camera;

• Health status for common electronics between both cameras;

• Temperature for each camera;

• Temperature for common electronics between both cameras;

• Dark current measurement of non-exposed pixels (in case these pixels exist in the design).

RV-LC-918 / RV-GNC-451 / T,R : Self-test

The LocCam shall include a self-test capability that can be commanded at any time they are ON.

4.3.1.1 Spacewire Interface

RV-LC-907 / Created / T,R : LocCams data interface

The stereo bench unit shall provide a single SpaceWire interface to be used for all command, monitoring, synchronisation and data transfer purposes.

RV-LC-504 / Created / R : Spacewire ECSS

The stereo bench unit Spacewire interface shall be compliant to [ND 04].

Notes:

• There is no need for redundant connectors;

• The supplier is not required to provide the SpaceWire cable to connect the unit to the Rover OBC.

RV-LC-1396 / Created / R : Connector positioning

The stereo bench unit Spacewire interface shall be compatible with the ExoMars Rover body design.

Note: RV-LC-1396 aims in particular at connector positioning.

RV-LC-1096 / Created / R : ExoMars Spacewire

The stereo bench unit Spacewire interface shall be compliant to [ND 05].

RV-LC-1097 / Created / R : Command protocol

The stereo bench unit Spacewire command protocol over the Spacewire link shall be compatible with [ND 05].

RV-LC-1098 / Created / R : TM protocol

The stereo bench unit monitoring or telemetry protocol over the Spacewire link shall be compatible with [ND 05].

RV-LC-1391 / Created / T : Internal counter

The stereo bench unit shal provide a cyclic counter value with a minimum resolution of 1ms available for reading by the OBC.

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RV-LC-912 / Created / R : Picture time reference

The stereo bench unit shall store the cyclic counter value (RV-LC-1391) in an addressable memory readable by the OBC for each image that is acquired.

Note: the counter value to store is the one corresponding to the start of the integration time of the sensor.

RV-LC-1392 / Created / T : Picture time reference accuracy

The accuracy of the time reference associated with a picture (RV-LC-912) shall be 1ms or better.

RV-LC-1102 / Created / T,R : Image format

The stereo bench unit shall transfer images data over the Spacewire link in raw format.

4.3.2 Fault Management

Requirements on fault management are provided in GDIR (ID 09), their applicability matrix is provided in Section 8.

4.3.3 Lifetime

Requirements on the equipment lifetime are provided in GDIR (ID 09), their applicability matrix is provided in Section 8.

RV-LC-1386 / Created / T,A : Duty cycle

At each sol, the LocCam shall be able to provide the stereo pair of pictures at 0.2Hz during:

• 6h continuously, or

• 91 consecutive cycles of: [115, 175] seconds in standby (no pictures) followed by [140, 250] seconds of continuous imaging.

Note: A cycle is defined by [115, 175] seconds where the two stereo pairs are taken, followed by a [140, 250] seconds with no images.

4.3.4 Reliability and Redundancy

Requirements on reliability and redundancy are provided in GDIR (ID 09), their applicability matrix is provided in Section 8.

4.3.5 Design Safety

Requirements on design safety are provided in GDIR (ID 09), their applicability matrix is provided in Section 8.

4.4 Power Requirements

RV-LC-365 / RV-GNC-1426 / T : Peak power consumption

The peak power consumption of the LocCams shall be less than 5 W in the operational temperature range.

RV-LC-1103 / RV-GNC-1426 / T : Standby power consumption

The standby power consumption of the LocCams shall be less than 1.5W (TBC) in the operational temperature range.

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4.5 Mechanical Requirements

4.5.1 Envelope

RV-LC-342 / Created / R : Allowable Volume

The LocCam (including mounting feet, electronics and connectors) shall be accommodated within the allowable static volume defined in ND 03.

4.5.2 Mass Properties

RV-LC-344 / RV-GNC-1430 / T : Mass

The total mass of the LocCam shall be less than 0.6 kg.

NOTE: This is the total mass of all elements required for the LocCam to meet the requirements, including mounting (screws included). If elements not explicitly mentioned in this document are needed to comply with the requirements, the mass of that element shall be included when assessing compliance with RV-LC-344.

4.5.3 Optical Bench

RV-LC-1106 / Created / R : Thermoelastic Interface

The LocCam optical bench design shall take into account differential thermal expansion with respect to the Rover interface assuming it is infinitely stiff with zero coefficient of thermal expansion.

Maximum induced shear loads at the bolted attachments shall not exceed 2000 N.

4.6 Thermal Requirements

RV-LC-1231 / RV-GNC-1079, RV-GDIR-2991 / T,A : Temperature ranges

The unit shall be designed to withstand without degradation the temperatures ranges defined in Table 4.6-1 corresponding to the mission.

Operational Non-Operational Min Max Min Max

Optics and Structure -80 +40 -120 +40 Electronics -50* +40 -120 +40

Table 4.6-1: Mission Thermal Operational and Non-Operational Design Limits

Notes:

-Qualification may require a larger temperature envelope as per GDIR (ID 09).

-All temperatures are quoted in celsius.

-The Rover is responsible for ensuring that the unit is in the operational envelope.

-The Temperature Reference Point (TRP) will be at the electronics interface point.

* As a goal, the minimal temperature is -80degC. The intention is to minimise the energy consumption for warm-up.

NOTE: it is preferred to have a minimal operational temperature close to the non-operational one specified in RV-LC-1283.

RV-LC-1286 / Created / T,R : Non-Operation

The LocCam unit shall survive at non-operating temperatures without heater power.

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Additional thermal requirements are provided in GDIR (ID 09), their applicability matrix is provided in Section 8.

4.7 Software Requirements

RV-LC-1117 / Created / R : ASIC/FPGA

If any ASIC/FPGA elements exist in the LocCam, [ID 06] and [ID 07] shall be applied.

RV-LC-1118 / Created / R : Embedded SW

If any Software exists in the LocCam (e.g., written in C, even if burnt in PROM or EEPROM), [ID 05] shall be applied.

In the case any Software exists in the LocCam, additional requirements on software are provided in GDIR (ID 09), their applicability matrix is provided in Section 8.

4.8 Planetary Protection Requirements

RV-LC-1119 / RV-GDIR-4906 / R : Design for Planetary Protection

The LocCam supplier shall apply the rules for 'Designing for Planetary Protection' as identified in [ID 08]

RV-LC-1120 / Created / A : Bio-Burden Allocation

The total bio-burden for one LocCam unit shall comply with the maximum allocations specified in Table 4.8-1 after sterilisation.

Surface Spores /m2

Surface Spores Encapsulated Spores

LocCam (Total) N/A (TBC) 15 N/A (TBC)

Table 4.8-1: LocCam Bio-Burden Allocation

Note: the expected bioburden management process is solvent wipe for optics and electronics, and DHMR for the harness. A HEPA filter may also be used for the electronics but this is a design choice.

Additional requirements on cleanliness and contamination control are provided in GDIR (ID 09), their applicability matrix is provided in Section 8.

4.9 Cleanliness and Contamination Control Requirements

Requirements on equipment assembly, integration and verification are provided in GDIR (ID 09) - their applicability matrix is provided in Section 8.

4.10 Assembly, Integration and Verification Requirements

Requirements on transportation, handling and storage are provided in GDIR (ID 09) - their applicability matrix is provided in Section 8.

4.10.1 Transportation, Handling and Storage

Requirements on transportation, handling and storage are provided in GDIR (ID 09) - their applicability matrix is provided in Section 8.

4.10.2 Accessibility and Maintainability

Requirements on equipment accessibility and maintainability are provided in GDIR (ID 09), their applicability matrix is provided in Section 8.

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4.10.3 Identification and Marking

Requirements on equipment identification and marking are provided in GDIR (ID 09), their applicability matrix is provided in Section 8.

4.10.4 Inspection

Requirements on equipment inspection are provided in GDIR (ID 09), their applicability matrix is provided in Section 8.

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5 INTERFACE REQUIREMENTS

5.1 Power Interface Requirements

RV-LC-361 / Created / T,R : LocCam power supply

The stereo bench unit shall operate when supplied with a +28VDC regulated power at its power input interface.

NOTE: There is no need for redudant connectors

The other applicable requirements are provided in GDIR (ID 09), and their applicability matrix is provided in RV-LC-519.

5.1.1 Databus Requirements

Requirements on databus are provided in GDIR (ID 09), their applicability matrix is provided in Section 8.

5.1.2 EMC Requirements

Requirements on EMC are provided in GDIR (ID 09), their applicability matrix is provided in Section 8.

5.1.3 Grounding Requirements

Requirements on grounding are provided in GDIR (ID 09), their applicability matrix is provided in Section 8.

5.1.4 Harness and Connector Requirements

RV-LC-1113 / Created / I : Harness

The contractor shall provide the harness to connect the cameras to the electronics unit.

Note: RV-LC-1113 does not limit the harness to be delivered to meet the requirements in this document.

RV-LC-1115 / Created / I : Connectors

The contractor shall provide connectors at both ends, i.e., of the cameras and of the electronics unit.

Note: RV-LC-1115 does not limit the harness to be delivered to meet the requirements in this document.

Additional requirements on harness and connector are provided in GDIR (ID 09), their applicability matrix is provided in Section 8.

5.2 Mechanical Interface Requirements

RV-LC-391 / Created / R : Mechanical Interface

The LocCam mechanical attachment interface shall be within the area defined in ND 03.

RV-LC-514 / Created / R : Harness exit

The LocCam connector interface shall be positioned to permit the Rover harness to exit the allowable envelope volume within the area defined in ND 03.

5.3 Thermal Interface Requirements

Requirements on thermal interface are provided in GDIR (ID 09), their applicability matrix is provided in Section 8.

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5.4 Electrical Interface Requirements

Requirements on equipment electrical interface are provided in GDIR (ID 09), their applicability matrix is provided in Section 8.

5.5 Software Interface Requirements

Requirements on equipment software interface are provided in GDIR (ID 09), their applicability matrix is provided in Section 8.

5.6 EGSE Interface Requirements

Pictures are sent to the camera stimulation interface by ASU. The pictures are compatible to what the cameras sensors would provide at their output for the command sent by the OBSW. For example, if it is a 1024x1024 sensor, if the OBSW command asks for a binned picture by a factor of 2, and if the binning is performed before the camera stimulation interface, the simulated picture will be 512x512 pixels. ASU uses the PANGU tool to generate pictures together with a camera model. The camera model replaces the optical and sensor (CCD or CMOS for example) by producing a similar picture. Afterwards, the camera electronics deals with the pictures as it would usually deal with pictures taken through the camera optics and sensor.

The camera stimulation interface type and protocol will be agreed by ASU with the supplier.

RV-LC-399 / RV-GNC-1230 / T,A,R : Stimulation Interface

The Localisation Cameras shall provide an interface to enable stimulation of the Localisation Cameras electronics, to support ASU closed loop subsystem testing, at both subsystem and Rover Vehicle level.

Note: the Rover SW needs to be able to send TC and to retrieve TM from the LocCam unit as the flight model. Each camera of the stereo pair receives a raw image from the EGSE to replace the photosensitive part reading.

RV-LC-1136 / RV-GNC-1230 / R : Simulated images format

The camera stimulation interface shall be compatible with simulated images supplied in raw format.

Note: in case of windowing or binning performed at the sensor readout (i.e. before the electronics), the simulated pictures are at the adequate resolution.

RV-LC-1138 / RV-GNC-1230 / R : Stimulation interface type

The camera stimulation interface type shall be a standard type by being complaint with the RV GDIR.

RV-LC-1139 / RV-GNC-1230 / T,R : Stimulation synchronisation

A TBD method shall be used for synchronising the transmission of the simulated images to the camera with the camera electronics which acquire the image from the sensor.

Note: the method will be agreed by ASU with the supplier.

RV-LC-1141 / RV-GNC-1230 / R : Cable length

The camera stimulation interface shall support a length of cable between the SimFE generating the images and the camera up to 30m (TBC).

RV-LC-1389 / RV-GNC-1230 / R : Test connector access

There shall be easy access to the stimulation test connector once the camera is mounted on the RV.

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RV-LC-1390 / RV-GNC-1230 / I : Connector blanking cap

A removable blanking cap shall be provided for the test connector.

RV-LC-400 / RV-GNC-1230 / T,R : Stimulation Interference

Stimulation will be provided by the subsystem or system level test equipment. The presence of stimulation circuitry when no stimulation is applied shall not affect the performance of the Localisation Cameras.

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6 ENVIRONMENTAL REQUIREMENTS

6.1 Mechanical Environment

The following mechanical environments apply to the LocCam hard-mounted at the interface to the Rover.

RV-LC-435 / RV-GNC-1079 / T

Mechanical environment levels for verification by test shall be as follows:

Acceptance = 1.0 x Flight Limit

Qualification = 1.25 x Flight Limit

Specified environments are at qualification level. For acceptance testing the levels shall be factored down accordingly.

6.1.1 Quasi-Static Design Loads

RV-LC-405 / RM-MEVT-0370 / A : Quasi-Static Design Loads

The LocCam shall withstand the following design / qualification level quasi-static accelerations.

Any direction ± 25 g

6.1.2 Sine Vibration

RV-LC-409 / RM-MEVT-0380 / T,A : Sine Vibration Loads

The LocCam shall withstand the following qualification level sine vibration environments.

XRB and YRB-axis

5 Hz 1 g

5 - 30 Hz linear slope

30 - 100 Hz 25 g

ZRB-axis

5 Hz 1 g

5 - 30 Hz linear slope

20 - 120 Hz 25 g

Sweep rate:

Acceptance 4 oct/min

Qualification 2 oct/min

6.1.3 Random Vibration

RV-LC-410 / RM-MEVT-0390 / T,A : Random Vibration Loads

The LocCam shall withstand the following qualification level random vibration environments.

XRB and YRB-axis

20 - 40 Hz +6 dB/oct

40 - 450 Hz 0.16 g2/Hz

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450 - 2000 Hz -6 dB/oct

ZRB-axis

20 - 40 Hz +6 dB/oct

40 - 450 Hz 0.16 g2/Hz

450 - 2000 Hz -6 dB/oct

Duration per axis:

Acceptance 1 min

Qualification 2 min

6.1.4 Shock

RV-LC-411 / RM-MEVT-0400 / T : Shock Response Spectrum

The LocCam shall withstand the following enveloping qualification SRS shock environment (Q=10).

100 Hz 25 g

100 - 2000 Hz linear log-log slope

2000 - 10000 Hz 1500 g

6.1.5 Mars Surface Operations

RV-LC-423 / RV-GNC-1079 / T,A : Surface Shock Loading

The LocCam shall withstand the following maximum qualification and operational impulse loading during Mars surface operations.

XRB-axis ± 7.5 g

YRB-axis ± 9.0 g

ZRB-axis ± 12 g

The loads shall be considered in combination. The accelerations may be considered as quasi-static.

Note: Functionality and performance required in this document are to be met also when subjected to the shocks described in RV-LC-423.

RV-LC-438 / RV-GNC-1079 / T,A : Surface Shock Fatigue Spectrum

The LocCam shall be subjected to the following fatigue spectrum of shock impulse loads during the nominal operational life on Mars.

Load Factor Number of Impulses

0.15 650000

0.65 100000

0.80 9000

0.90 2000

1.00 500

The load factor is a multiplier on the magnitude of the maximum shock impulse defined by RV-LC-423.

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Page: 36 of 58



6.2 Thermal Environment

Requirements on thermal environment are provided in GDIR (ID 09), their applicability matrix is provided in Section 8.

6.3 Launch Pressure Profile

Requirements the launch pressure profile are provided in GDIR (ID 09), their applicability matrix is provided in Section 8.

6.4 Electromagnetic Compatibility Environment

Requirements on the electromagnetic compatibility are provided in GDIR (ID 09), their applicability matrix is provided in Section 8.

6.5 Radiation Environment

Requirements on the radiation environment are provided in GDIR (ID 09), their applicability matrix is provided in Section 8.

6.6 Martian Surface Environment

Requirements on the Mars surface environment are provided in GDIR (ID 09), their applicability matrix is provided in Section 8.

6.7 Mars Entry and Descent Environments

6.7.1 EDL Contaminants

The EDL architecture will employ a hydrazine monopropellant propulsion system to achieve a soft landing.

The descent engines are canted away from the Rover so any plume products deposited on the Rovers will likely be due to atmospheric re-circulation of the plume.

The plume constituents are unburnt hydrazine and gaseus ammonia (NH3) , nitrogen (N2) and hydrogen (H2). It is not possible to quantify the levels of contaminant at this stage of the mission programme.

RV-LC-1295 / Created / T,A : Plume resistence

The LocCam functionality and performance shall be obtained after exposure to the plume effects of the landing system.

Note: A removable lenses protection could be used; the equipment can be shown to meet the requirements after withstanding the plume effects with no additional protection; etc.

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7 PRODUCT ASSURANCE REQUIREMENTS

Requirements on product assurance are provided in GDIR (ID 09), their applicability matrix is provided in Section 8.

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8 GDIR APPLICABILITY MATRIX

The following table lists the applicable requirements of the GDIR.

It contains, in the first column, the Local ID for each applicable GDIR requirement number.

The second column contains the GDIR Requirement number and the opening text of the requirement.

The third column defines the Applicability Y/N

The final column shows the intended verification method. If no method is shown it shall be assumed that verification is required and the method is TBD

Req No. Reference Applicability Verif. Method

RV-LC-521 RV-GDIR-203: All drawings, specifications and engineering data ...

Y R

RV-LC-522 RV-GDIR-4380: All hardware shall be designed for a life during w ...

Y R

RV-LC-523 RV-GDIR-4381: Hardware shall be designed to allow for a minimum ...

Y R

RV-LC-524 RV-GDIR-138: Equipment shall be designed to require no periodic ...

Y R

RV-LC-525 RV-GDIR-140: Equipment shall be designed and fabricated with co ...

Y R

RV-LC-526 RV-GDIR-141: General safety requirements for electronic units a ...

Y A

RV-LC-527 RV-GDIR-142: All units that could represent a hazard to personn ...

Y I

RV-LC-528 RV-GDIR-4382: All hardware shall be single point failure toleran ...

Y R

RV-LC-529 RV-GDIR-145: Failure propagation from a function to another sha ...

Y I

RV-LC-530 RV-GDIR-149: The design shall ensure that the failed function c ...

Y R

RV-LC-531 RV-GDIR-154: All failures that are identified as potential caus ...

Y A

RV-LC-532 RV-GDIR-155: The detection and disconnection function shall be ...

Y A

RV-LC-533 RV-GDIR-159: A unit shall be able to vent within a depressure r ...

Y A,R

RV-LC-534 RV-GDIR-4988: All hardware shall have a suitable venting provisi ...

Y R

RV-LC-538 RV-GDIR-5296: Equipments shall be designed to withstand without ...

Y A

RV-LC-539 RV-GDIR-5297: Equipments shall be designed to withstand without ...

Y A

RV-LC-535 RV-GDIR-4989: Outgassing vents for units shall be between 1.5mm ...

Y R

RV-LC-536 RV-GDIR-161: The venting path shall include a labyrinth seal to ...

Y R

RV-LC-537 RV-GDIR-4991: The venting path shall include a labyrinth path to ...

Y R

RV-LC-540 RV-GDIR-164: All Rover Vehicle units of the same part or config ...

Y R

RV-LC-541 RV-GDIR-166: The unit hardware shall be identified with a namep ...

Y I

RV-LC-542 RV-GDIR-167: The unit identification nameplate shall be mounted ...

Y I

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Page: 39 of 58




RV-LC-543 RV-GDIR-168: For the particular case of connector identificatio ...

Y I

RV-LC-546 RV-GDIR-170: The design of the unit, the position of the connec ...

Y R

RV-LC-547 RV-GDIR-5377: Equipment shall be designed for installation and r ...

Y R

RV-LC-548 RV-GDIR-4480: The design shall ensure that the field of view of ...

Y R

RV-LC-549 RV-GDIR-172: No field maintenance, servicing or adjustment shal ...

Y R

RV-LC-550 RV-GDIR-5378: All external surfaces of flight hardware (excludin ...

Y R

RV-LC-551 RV-GDIR-175: Units shall be transported using a container speci ...

Y R

RV-LC-552 RV-GDIR-176: The unit containers, covers (for optics and expose ...

Y R

RV-LC-553 RV-GDIR-178: The storage container shall be designed to protect ...

Y R

RV-LC-554 RV-GDIR-5302: During storage the unit shall be stored under the ...

Y R

RV-LC-556 RV-GDIR-181: All units shall be packaged to ensure that it is s ...

Y I

RV-LC-557 RV-GDIR-183: Each container shall be labelled, tagged or marked ...

Y I

RV-LC-558 RV-GDIR-4481: The transport container shall have the statement: ...

Y I

RV-LC-555 RV-GDIR-180: Protective covers shall be provided to preclude th ...

Y R

RV-LC-544 RV-GDIR-5455: All items to be removed prior to test shall be col ...

Y R

RV-LC-545 RV-GDIR-5456: All items to be removed prior to flight shall be c ...

Y R

RV-LC-559 RV-GDIR-188: Unless justified and agreed beforehand, any therma ...

Y I,R

RV-LC-560 RV-GDIR-190: Magnetic materials shall only be used where necess ...

Y R

RV-LC-561 RV-GDIR-193: Any seals used shall comply with all the applicabl ...

Y R

RV-LC-562 RV-GDIR-194: Any life limited items requiring periodic replacem ...

Y R

RV-LC-563 RV-GDIR-196: No lubricants shall be used without the prior writ ...

Y R

RV-LC-564 RV-GDIR-204: The structural design of the equipment shall be pe ...

Y R

RV-LC-565 RV-GDIR-276: Units fixed on a rigid interface shall have their ...

Y T,A

RV-LC-566 RV-GDIR-277: The stiffness requirements shall be demonstrated t ...

Y T,A

RV-LC-567 RV-GDIR-207: The following failure modes, for units at all leve ...

Y A

RV-LC-568 RV-GDIR-208: The unit shall be designed to withstand the enviro ...

Y A,R

RV-LC-569 RV-GDIR-296: The structural margins of safety shall be applied ...

Y A

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RV-LC-570 RV-GDIR-390: All mechanical elements shall demonstrate positive ...

Y A

RV-LC-571 RV-GDIR-397: All bolts shall be sized to prevent sliding under ...

Y A

RV-LC-572 RV-GDIR-406: For sine and random vibrations, the mechanical siz ...

Y A

RV-LC-573 RV-GDIR-5380: Structural items shall be capable of surviving the ...

Y A

RV-LC-574 RV-GDIR-443: Flight Model equipment shall be able to survive: ...

Y A

RV-LC-575 RV-GDIR-5372: Proto-Flight Model equipment shall be able to surv ...

Y A

RV-LC-576 RV-GDIR-5371: Engineering Qualification Model / Qualification Mo ...

Y A

RV-LC-577 RV-GDIR-5379: Structural elements shall comply with the reduced ...

Y R

RV-LC-578 RV-GDIR-409: The following causes of misalignment shall be anal ...

Y R

RV-LC-579 RV-GDIR-4384: The Mass predicted (Mp) of each unit/equipment sha ...

Y R

RV-LC-580 RV-GDIR-4385: The Maturity Factor (Mf) of a unit or equipment sh ...

Y R

RV-LC-581 RV-GDIR-240: The mass of an item shall be measured with an accu ...

Y T

RV-LC-582 RV-GDIR-241: Note: Any difference between unit mass properties ...

Y R

RV-LC-583 RV-GDIR-243: The uncertainty of each item COG and MOI calculati ...

Y T,A

RV-LC-584 RV-GDIR-271: The unit centre of gravity shall be determined wit ...

Y T

RV-LC-585 RV-GDIR-272: The unit moment of inertia shall be determined wit ...

Y A

RV-LC-586 RV-GDIR-5448: The surface of a mounting plane shall be flat to w ...

Y I

RV-LC-587 RV-GDIR-5449: The mounting surface of a unit shall have a surfac ...

Y I

RV-LC-588 RV-GDIR-5450: The contact area for a unit mounting foot shall be ...

Y I,R

RV-LC-589 RV-GDIR-5451: The thickness of a unit mounting foot shall be at ...

Y I,R

RV-LC-590 RV-GDIR-5452: Unit mounting feet shall be designed to provide ac ...

Y R

RV-LC-626 RV-GDIR-525: Unit mounting surfaces shall not be painted or ano ...

Y R

RV-LC-591 RV-GDIR-399: Panel inserts shall be designed in accordance with ...

Y R

RV-LC-592 RV-GDIR-5454: Fasteners shall be designed in accordance with [NR ...

Y R

RV-LC-593 RV-GDIR-5453: Titanium alloy fasteners smaller than M5 shall not ...

Y R

RV-LC-594 RV-GDIR-412: The tensile load per interface bolt of a unit moun ...

Y A

RV-LC-595 RV-GDIR-417: Unit hole dimensions and tolerances shall be as de ...

Y I,R

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RV-LC-596 RV-GDIR-436: Interface foot loads due to differential thermal e ...

Y A

RV-LC-597 RV-GDIR-439: Unit mounting hole/lugs shall be designed as defin ...

Y I,R

RV-LC-598 RV-GDIR-198: All fasteners used on the unit shall be locked by ...

Y I,R

RV-LC-600 RV-GDIR-445: Units requiring alignment with an accuracy better ...

Y R

RV-LC-601 RV-GDIR-446: Optical references are required to withstand all t ...

Y R

RV-LC-602 RV-GDIR-449: The optical reference design shall comply with Tab ...

Y R

RV-LC-607 RV-GDIR-472: The mechanical configuration and its interface req ...

Y R

RV-LC-608 RV-GDIR-5375: Dimensional general tolerances shall conform to th ...

Y R

RV-LC-609 RV-GDIR-5376: Manufacturing drawings shall conform to the standa ...

Y R

RV-LC-610 RV-GDIR-476: The unit coordinate system (OU, XU, YU, ZU) shall ...

Y R

RV-LC-611 RV-GDIR-477: The unit alignment reference frame (if required) s ...

Y R

RV-LC-612 RV-GDIR-479: The dimensioning of the attachment hole pattern sh ...

Y A

RV-LC-1154

RV-GDIR-483: Finite elements models shall be provided for all u ...

Y

RV-LC-613 RV-GDIR-5195: The thermal design and qualification for the unit ...

Y T,R

RV-LC-614 RV-GDIR-5182: The internal thermal design of the unit shall be c ...

Y T,A

RV-LC-616 RV-GDIR-5180: The margin philosophy for the unit shall be in acc ...

Y R

RV-LC-617 RV-GDIR-5436: The thermal performance of the units shall be main ...

Y T,A

RV-LC-621 RV-GDIR-581: The unit shall include a TRP that represents the t ...

Y T,A

RV-LC-1155

RV-GDIR-583: The contractor shall provide any internal temperat ...

Y R

RV-LC-622 RV-GDIR-5192: Maximum local instantaneous peak harness wire or i ...

Y T,A

RV-LC-1156

RV-GDIR-577: The unit thermal control must be testable on groun ...

Y R

RV-LC-623 RV-GDIR-578: If special equipment is delivered by the unit subc ...

Y R

RV-LC-624 RV-GDIR-5185: The baseplate contact area shall be sized in order ...

Y R

RV-LC-1157

RV-GDIR-528: The unit surface emissivity shall be less than 0.0 ...

Y I

RV-LC-628 RV-GDIR-588: A Thermal ICD shall be provided for the unit in ac ...

Y

RV-LC-1158

RV-GDIR-5184: The contractor shall carry out a thermal analysis ...

Y

RV-LC-1159

RV-GDIR-592: The contractor shall provide a reduced thermal mod ...

Y

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RV-LC-629 RV-GDIR-596: For each optical surface, the physical dimension s ...

Y R

RV-LC-1160

RV-GDIR-598: Glass types and material quality shall be selected ...

Y R

RV-LC-630 RV-GDIR-600: The use of optical cements shall be avoided as far ...

Y R

RV-LC-631 RV-GDIR-602: Coating shall be designed such that performance, a ...

Y T,R

RV-LC-632 RV-GDIR-603: Metallic layers of the coatings, if any, shall be ...

Y R

RV-LC-633 RV-GDIR-606: High efficiency anti-reflective coatings shall be ...

Y R

RV-LC-634 RV-GDIR-609: The optical performance of the unit shall be verif ...

Y T

RV-LC-635 RV-GDIR-610: Alignment and interface with regard to other optic ...

Y T

RV-LC-636 RV-GDIR-612: The contractor shall provide an Optical Interface ...

Y

RV-LC-637 RV-GDIR-613: The free mechanical aperture of optical surfaces s ...

Y R

RV-LC-638 RV-GDIR-5467: The electrical, electronic, electromagnetic and mi ...

Y R

RV-LC-639 RV-GDIR-806: If undervoltage protection is implemented by the l ...

Y T,R

RV-LC-640 RV-GDIR-8393: If undervoltage protection is implemented by the l ...

Y T,R

RV-LC-641 RV-GDIR-4998: The power source voltage ripple shall be less than ...

Y T,R

RV-LC-642 RV-GDIR-807: In case of an inductive load, when considering the ...

Y T,A

RV-LC-643 RV-GDIR-8395: The load shall not be irreversibly degraded for an ...

Y R

RV-LC-644 RV-GDIR-809: No fuse protection shall be implemented. ...

Y R

RV-LC-645 RV-GDIR-810: Primary current protection shall not be implemente ...

Y R

RV-LC-646 RV-GDIR-8143: All units connected to the 28V regulated bus shall ...

Y T,R

RV-LC-647 RV-GDIR-812: All electronic logic circuits shall assume a defin ...

Y T,R

RV-LC-648 RV-GDIR-813: All power converters shall work in free-running mo ...

Y T

RV-LC-649 RV-GDIR-814: The free-running frequency shall be limited to ± 1 ...

Y T

RV-LC-650 RV-GDIR-8398: Equipments shall be designed taking into account t ...

Y A

RV-LC-651 RV-GDIR-8399: At the point of regulation, the impedance of the v ...

Y A

RV-LC-1161

RV-GDIR-8390: A power consumption test shall be required at temp ...

Y

RV-LC-652 RV-GDIR-5364: The Power Predicted (Pp) of each unit/equipment sh ...

Y R

RV-LC-653 RV-GDIR-5365: At unit/equipment level, the following Pmm shall b ...

Y R

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RV-LC-654 RV-GDIR-928: It shall be possible to switch on the source unit ...

Y T

RV-LC-655 RV-GDIR-929: The source unit shall be protected against short-c ...

Y T

RV-LC-656 RV-GDIR-4485: Overvoltage protections shall be implemented on un ...

Y R

RV-LC-657 RV-GDIR-936: Specified driver (or source) characteristics shall ...

Y R

RV-LC-658 RV-GDIR-937: All data and signal interface drivers shall surviv ...

Y T,A

RV-LC-659 RV-GDIR-938: The unit shall tolerate active signal interfaces w ...

Y T,A

RV-LC-660 RV-GDIR-940: In case no load is specified, the characteristics ...

Y R

RV-LC-661 RV-GDIR-941: Signal interfaces shall withstand without damage p ...

Y A

RV-LC-662 RV-GDIR-950: Interface signal drivers shall consider the capaci ...

Y R

RV-LC-1162

RV-GDIR-1226: Low-Voltage Differential Signalling (LVDS) link sh ...

Y T,R

RV-LC-1163

RV-GDIR-1227: With reference to Figure RV-GDIR-1228: The A termi ...

Y T,R

RV-LC-1164

RV-GDIR-5368: The contractor shall design his side of the Low Vo ...

Y T,R

RV-LC-1165

RV-GDIR-1247: The LVDS link signal waveform shall comply with th ...

Y T,R

RV-LC-1166

RV-GDIR-1250: No LVDS configuration involving more than one LVDS ...

Y R

RV-LC-663 RV-GDIR-2099: The design of electrical connector interfaces shal ...

Y R

RV-LC-664 RV-GDIR-2100: For the Rover Vehicle cable harness the following ...

Y R

RV-LC-665 RV-GDIR-2101: All connectors mounted on units shall use the foll ...

Y R

RV-LC-666 RV-GDIR-2102: The number times flight connectors are mated / dem ...

Y R

RV-LC-667 RV-GDIR-2103: Different connector classes shall be implemented i ...

Y R

RV-LC-668 RV-GDIR-2104: Signals falling into different EMC classifications ...

Y A,R

RV-LC-669 RV-GDIR-5325: Signal interfaces shall withstand without damage p ...

Y A,R

RV-LC-670 RV-GDIR-2105: Sensitive, "High Quality" secondary power shall no ...

Y R

RV-LC-671 RV-GDIR-2107: Connectors at interfaces shall be clearly identifi ...

Y R

RV-LC-672 RV-GDIR-2108: Equipment or structure-mounted connectors shall be ...

Y R

RV-LC-673 RV-GDIR-2109: The connector type used for primary power shall no ...

Y R

RV-LC-674 RV-GDIR-2111: Male and female connectors shall be mechanically l ...

Y R

RV-LC-1167

RV-GDIR-8416: Each active signal line shall have a corresponding ...

Y I,R

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RV-LC-675 RV-GDIR-2112: Active lines together with their return shall be o ...

Y I,R

RV-LC-676 RV-GDIR-2113: Connectors shall be made of Non magnetic material ...

Y R

RV-LC-677 RV-GDIR-2115: Each connector shall provide one free pin internal ...

Y R

RV-LC-678 RV-GDIR-2119: All electrical connectors shall be located to prov ...

Y R

RV-LC-679 RV-GDIR-2120: Connectors shall be arranged in such a way that th ...

Y R

RV-LC-680 RV-GDIR-5326: The minimum free space around each connector shall ...

Y R

RV-LC-606 RV-GDIR-470: Mated male and female connectors shall be mechanic ...

Y I,R

RV-LC-681 RV-GDIR-2121: Mechanical methods in conjunction with identificat ...

Y I,R

RV-LC-682 RV-GDIR-2122: Connector savers shall be utilized on all flight s ...

Y R

RV-LC-683 RV-GDIR-2123: The connection shield ground pin to case shall be ...

Y R

RV-LC-684 RV-GDIR-2124: The use of a connector saver for ground testing sh ...

Y T,A

RV-LC-685 RV-GDIR-2126: Test connectors shall have sufficient protection t ...

Y R

RV-LC-686 RV-GDIR-2127: Test connectors shall be protected by EMC metal co ...

Y I,R

RV-LC-687 RV-GDIR-2128: The metallic protection cover shall be capable of ...

Y R

RV-LC-688 RV-GDIR-2129: Signals at spacecraft skin connectors interfacing ...

Y I,R

RV-LC-689 RV-GDIR-2131: Cables falling into different EMC classifications ...

Y I,R

RV-LC-690 RV-GDIR-2132: All cable bundles shall be routed as close as poss ...

Y I,R

RV-LC-691 RV-GDIR-2133: In wiring through connectors all leads shall be ke ...

Y I,R

RV-LC-692 RV-GDIR-2134: The DC resistance between the single cable shield ...

Y T

RV-LC-693 RV-GDIR-2136: Where shielded wires are used, the shield shall be ...

Y R

RV-LC-694 RV-GDIR-2137: The structure termination of shields shall be made ...

Y I,R

RV-LC-695 RV-GDIR-2138: The maximum unshielded length of any shielded wire ...

Y R

RV-LC-696 RV-GDIR-5327: Cable shields shall be grounded at both ends. Note ...

Y R

RV-LC-697 RV-GDIR-2139: Daisy chaining of shield terminations shall be avo ...

Y R

RV-LC-698 RV-GDIR-2140: Shields shall not be used as an intentional curren ...

Y R

RV-LC-699 RV-GDIR-2141: Overall cable shields shall be made of double wrap ...

Y R

RV-LC-700 RV-GDIR-5328: Overall shields shall be terminated to the connect ...

Y R

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RV-LC-701 RV-GDIR-2143: Interface signal drivers shall consider the capaci ...

Y A

RV-LC-702 RV-GDIR-5439: Any FPGA or ASIC used shall comply with all the re ...

Y R

RV-LC-703 RV-GDIR-5440: For any FPGA firmware, the following margins on th ...

Y R

RV-LC-704 RV-GDIR-2163: Interfaces will be formally controlled within the ...

Y R

RV-LC-705 RV-GDIR-2167: Bonds shall be resistant against corrosion and sha ...

Y R

RV-LC-706 RV-GDIR-2168: Metallic parts of each electrical equipment chassi ...

Y T

RV-LC-707 RV-GDIR-2169: Joint faces shall be flat and clean before assembl ...

Y I,R

RV-LC-708 RV-GDIR-2170: For the purpose of electrostatic protection, all e ...

Y T

RV-LC-709 RV-GDIR-2171: Each electrical equipment chassis (case) shall be ...

Y T

RV-LC-710 RV-GDIR-5329: The bonding interfaces shall be designed not to ex ...

Y T

RV-LC-711 RV-GDIR-5330: Bondstraps shall have a length to width ratio of 5 ...

Y T

RV-LC-712 RV-GDIR-2172: Metallic receptacles of connectors shall be electr ...

Y T

RV-LC-717 RV-GDIR-2179: The DC resistance between two mating metal parts s ...

Y T

RV-LC-719 RV-GDIR-2181: Conductive structural components without a shieldi ...

Y T,R

RV-LC-720 RV-GDIR-2182: Conductive structural components used for electrom ...

Y T,R

RV-LC-721 RV-GDIR-2183: Metallic structural components without an electric ...

Y T

RV-LC-722 RV-GDIR-2184: Metal fittings used for the attachment of conducti ...

Y T

RV-LC-723 RV-GDIR-2185: The DC resistance between any other conductive com ...

Y T

RV-LC-724 RV-GDIR-2187: Mechanical Parts without electrical nor shielding ...

Y T,R

RV-LC-725 RV-GDIR-2188: Mechanical Parts used for electromagnetic shieldin ...

Y T,R

RV-LC-726 RV-GDIR-2191: Each electrical equipment unit shall provide a gro ...

Y I

RV-LC-727 RV-GDIR-2192: CFRP and SiC shall not be used as an electrical bo ...

Y R

RV-LC-728 RV-GDIR-5332: Grounding rails shall be used as bonding path. ...

Y R

RV-LC-729 RV-GDIR-2200: External surface resistivity shall be lower than 1 ...

Y R

RV-LC-1168

RV-GDIR-2210: Internal elements of heaters, thermistors and othe ...

Y T,R

RV-LC-730 RV-GDIR-2216: Within all electrical equipment units the primary ...

Y T,R

RV-LC-732 RV-GDIR-2218: The structure shall not be used intentionally to c ...

Y T,R

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RV-LC-733 RV-GDIR-2219: All electrical equipment units (except PCDE) shall ...

Y T,R

RV-LC-734 RV-GDIR-2222: Grounding: All secondary power supplies, inside a ...

Y I,R

RV-LC-735 RV-GDIR-2223: Prior to connection of the unit internal starpoint ...

Y T,R

RV-LC-736 RV-GDIR-2224: For secondaries distributed between units (1 suppl ...

Y R

RV-LC-737 RV-GDIR-2225: Secondaries distributed between units (1 supplier; ...

Y R

RV-LC-738 RV-GDIR-2226: After grounding, the impedance between the unit se ...

Y T

RV-LC-739 RV-GDIR-2227: Grounding diagram including zero volts interconnec ...

Y I

RV-LC-740 RV-GDIR-2228: The symbols below shall be used in the production ...

Y A,R

RV-LC-741 RV-GDIR-2231: Signal circuits interfacing between equipment shal ...

Y R

RV-LC-742 RV-GDIR-2232: Where single-ended signal transmitters are used, i ...

Y T,R

RV-LC-743 RV-GDIR-2233: The use of common signal return paths is only perm ...

Y R

RV-LC-744 RV-GDIR-2235: EGSE signal and power circuits interfacing with fl ...

Y R

RV-LC-745 RV-GDIR-2252: In all project specific documentation including co ...

Y T,R

RV-LC-747 RV-GDIR-2255: The equipment/instrument bit/byte numbering for an ...

Y T,R

RV-LC-748 RV-GDIR-2262: The equipment contractor shall identify appropriat ...

Y R

RV-LC-749 RV-GDIR-2263: The equipment shall at all times be in a clearly d ...

Y T,R

RV-LC-750 RV-GDIR-2264: The contractor shall identify all internal and ext ...

Y R

RV-LC-751 RV-GDIR-2265: It shall be possible to transfer the equipment int ...

Y T

RV-LC-752 RV-GDIR-2266: The equipment shall provide sufficient telemetry t ...

Y T

RV-LC-753 RV-GDIR-2267: The contractor shall identify all transition times ...

Y R

RV-LC-754 RV-GDIR-2268: Completion of any equipment mode/state transitions ...

Y T

RV-LC-755 RV-GDIR-2270: Upon switch-on all equipments shall automatically ...

Y T

RV-LC-756 RV-GDIR-5457: Upon switch-on all equipments shall execute a heal ...

Y T

RV-LC-1169

RV-GDIR-2273: Mode/State transitions with duration longer than T ...

Y R

RV-LC-1170

RV-GDIR-2274: Commanding to the equipment shall be possible with ...

Y T

RV-LC-1171

RV-GDIR-2275: Housekeeping data from the equipment shall be avai ...

Y T

RV-LC-757 RV-GDIR-2280: It shall be possible to command all the equipment ...

Y T

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RV-LC-758 RV-GDIR-2285: The function of a command shall not change through ...

Y T

RV-LC-759 RV-GDIR-5301: The function of a command shall not depend on any ...

Y R

RV-LC-760 RV-GDIR-2289: Onboard functions of each equipment shall have wel ...

Y R

RV-LC-761 RV-GDIR-2295: Changes to onboard data or software/firmware param ...

Y T

RV-LC-762 RV-GDIR-2296: Readouts of loaded onboard data or software parame ...

Y T

RV-LC-763 RV-GDIR-2297: A telecommand (e.g. memory dump) in execution shal ...

Y T

RV-LC-764 RV-GDIR-2299: Commands with variable bit-fields meaning shall no ...

Y R

RV-LC-765 RV-GDIR-2300: The equipment design shall avoid any conflict betw ...

Y T

RV-LC-766 RV-GDIR-2303: The capability shall be provided to perform comple ...

Y R

RV-LC-767 RV-GDIR-2307: Acknowledgement of commands shall be direct (i.e. ...

Y T

RV-LC-768 RV-GDIR-2311: Successful execution of a command to the equipment ...

Y T

RV-LC-769 RV-GDIR-2312: Failures in the acceptance or the execution of com ...

Y T

RV-LC-770 RV-GDIR-2314: The equipment shall provide means to handle confli ...

Y T

RV-LC-771 RV-GDIR-2319: The equipment shall provide housekeeping telemetry ...

Y T

RV-LC-1172

RV-GDIR-2321: The equipment shall allow for cyclic (regular) and ...

Y T

RV-LC-772 RV-GDIR-2322: The equipment shall provide the necessary instrume ...

Y T

RV-LC-773 RV-GDIR-2327: Status information in telemetry shall be provided ...

Y T

RV-LC-774 RV-GDIR-2328: Telemetry measurement sensors shall be designed su ...

Y T

RV-LC-775 RV-GDIR-2330: Information to indicate all actions taken by onboa ...

Y R

RV-LC-776 RV-GDIR-2332: The equipment status telemetry shall be capable of ...

Y I,R

RV-LC-777 RV-GDIR-2333: Telemetry shall always be available to determine t ...

Y R

RV-LC-778 RV-GDIR-2336: When a key parameter is derived onboard from sever ...

Y T

RV-LC-779 RV-GDIR-2340: The value of a monitoring (telemetry) parameter sh ...

Y R

RV-LC-780 RV-GDIR-2341: The equipment shall provide telemetry to identify ...

Y T,I,R

RV-LC-781 RV-GDIR-2342: The TM acquisition process by the data bus shall n ...

Y T

RV-LC-782 RV-GDIR-2343: The equipment design shall avoid any conflict betw ...

Y T

RV-LC-783 RV-GDIR-5441: TM acquisition shall be possible at any time accor ...

Y T

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Page: 48 of 58




RV-LC-784 RV-GDIR-2344: TM acquisitions with conditional meaning shall not ...

Y R

RV-LC-785 RV-GDIR-2345: Analogue TM acquisitions shall have a measurement ...

Y T

RV-LC-786 RV-GDIR-2348: The calibration curve of an analogue parameter sha ...

Y R

RV-LC-787 RV-GDIR-2350: The configuration of the equipment at elementary f ...

Y T

RV-LC-788 RV-GDIR-2353: Any configuration command register shall be observ ...

Y R

RV-LC-789 RV-GDIR-2354: The acquisition of the equipment configuration/sta ...

Y R

RV-LC-1173

RV-GDIR-2355: The acquisition of an ON/OFF status for a relay sh ...

Y R

RV-LC-790 RV-GDIR-5459: Equipment shall be able to provide sufficient tele ...

Y T,R

RV-LC-791 RV-GDIR-2366: The execution of any command or command sequence s ...

Y A

RV-LC-1174

RV-GDIR-2367: Commanding of critical functions shall be implemen ...

Y R

RV-LC-792 RV-GDIR-2369: Equipments shall provide an unambiguous health sta ...

Y T

RV-LC-793 RV-GDIR-2371: The equipment shall indicate within telemetry , wh ...

Y T

RV-LC-794 RV-GDIR-2373: The equipment shall time-stamp all its telemetry p ...

Y T

RV-LC-795 RV-GDIR-2379: It shall be possible to perform memory dumps for a ...

Y T

RV-LC-796 RV-GDIR-2380: It shall be possible to perform memory checks for ...

Y T

RV-LC-797 RV-GDIR-2381: It shall be possible to perform memory patches for ...

Y T

RV-LC-1175

RV-GDIR-8142: All PROMs shall be accessible and removeable after ...

Y I

RV-LC-1176

RV-GDIR-8581: All PROMs shall be sized with the following margin ...

Y A

RV-LC-798 RV-GDIR-2382: Memory patch/dump/check operations shall be possib ...

Y T

RV-LC-799 RV-GDIR-2387: Unnecessary equipment reconfigurations shall be av ...

Y A

RV-LC-800 RV-GDIR-2388: It shall be possible to enable/disable/reset all e ...

Y T

RV-LC-801 RV-GDIR-2390: Initialisation of a equipment mode/state shall inc ...

Y T

RV-LC-802 RV-GDIR-2391: Equipment onboard logic shall be available to prev ...

Y T

RV-LC-1177

RV-GDIR-5443: The allowed and forbidden mode transitions between ...

Y T

RV-LC-1178

RV-GDIR-2392: Telemetry shall be associated to all equipment aut ...

Y T

RV-LC-1179

RV-GDIR-2393: Any input used by the equipment autonomous functio ...

Y T

RV-LC-803 RV-GDIR-2394: All actions generated by automatic onboard logic ( ...

Y T

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Page: 49 of 58




RV-LC-804 RV-GDIR-2395: For all the automatic logic using several criteria ...

Y T

RV-LC-805 RV-GDIR-2396: The capability to change all onboard logic (hardwa ...

Y T

RV-LC-806 RV-GDIR-2399: Any equipment shall be able to withstand interrupt ...

Y T

RV-LC-807 RV-GDIR-2400: Any equipment shall be able to withstand interrupt ...

Y T

RV-LC-808 RV-GDIR-2401: It shall be possible to repeat any command several ...

Y T

RV-LC-809 RV-GDIR-2403: All equipment that perform regular self-checks sha ...

Y T

RV-LC-810 RV-GDIR-2404: All equipment that perform self-tests at start-up ...

Y T

RV-LC-1180

RV-GDIR-2408: Fault detection, isolation and recovery shall be p ...

Y R

RV-LC-811 RV-GDIR-2409: The equipment shall autonomously detect any equipm ...

Y T

RV-LC-812 RV-GDIR-2410: Failures at equipment level shall be detectable by ...

Y A

RV-LC-1181

RV-GDIR-2411: Equipment anomalies and the autonomous actions tak ...

Y T

RV-LC-813 RV-GDIR-2413: Failure detection algorithms shall avoid continuou ...

Y T

RV-LC-1182

RV-GDIR-2414: When the number of same Warning/Low or Medium Seve ...

Y T

RV-LC-814 RV-GDIR-2418: Failure detection algorithms shall report in event ...

Y R

RV-LC-815 RV-GDIR-2419: Failure isolation shall be performed at switchable ...

Y R

RV-LC-816 RV-GDIR-2421: The need for intervention of higher levels to reac ...

Y A

RV-LC-817 RV-GDIR-2423: Failures that require a reaction time less than TB ...

Y T

RV-LC-818 RV-GDIR-2424: Failure which requires a reaction time between TBD ...

Y R

RV-LC-1183

RV-GDIR-2434: The contractor shall provide a design justificatio ...

Y

RV-LC-1184

RV-GDIR-2436: The equipment contractor shall provide inputs to t ...

Y

RV-LC-820 RV-GDIR-2440: The definitions in Table RV-GDIR-2440 shall be use ...

Y R

RV-LC-1185

RV-GDIR-8437: The onboard software should not contain redundant, ...

Y R

RV-LC-1186

RV-GDIR-8439: All onboard software, including new and reused sof ...

Y R

RV-LC-1187

RV-GDIR-8440: All onboard software executed in ASIC, FPGA or oth ...

Y R

RV-LC-1188

RV-GDIR-8441: All software licenses for any software used to dev ...

Y R

RV-LC-1189

RV-GDIR-8442: For any onboard unit embedding software, a softwar ...

Y R

RV-LC-1190

RV-GDIR-8443: The software development and maintenance facility ...

Y R

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Page: 50 of 58




RV-LC-1191

RV-GDIR-8444: Onboard software shall be designed in accordance w ...

Y R

RV-LC-1192

RV-GDIR-8445: The preferred/selected language, kernel and tools ...

Y R

RV-LC-1193

RV-GDIR-8446: Functionality implemented by software shall be sub ...

Y R

RV-LC-1194

RV-GDIR-8447: Onboard software shall be written in a high-level ...

Y R

RV-LC-1195

RV-GDIR-8448: Use of a non high-level language code (e.g., assem ...

Y R

RV-LC-1196

RV-GDIR-8449: Onboard software execution shall be deterministic, ...

Y R

RV-LC-1197

RV-GDIR-8450: Onboard software shall support software modificati ...

Y T

RV-LC-1198

RV-GDIR-8451: Onboard software shall support direct patching, in ...

Y T

RV-LC-1199

RV-GDIR-8452: Onboard software shall support the dump to ground ...

Y T

RV-LC-1200

RV-GDIR-8453: All software products shall store their version/re ...

Y T

RV-LC-1201

RV-GDIR-8454: The onboard software version number shall be retri ...

Y T

RV-LC-1202

RV-GDIR-8455: Onboard software shall be modular, minimising the ...

Y R

RV-LC-1203

RV-GDIR-8456: Onboard software shall be implemented with a layer ...

Y R

RV-LC-1204

RV-GDIR-8458: In case of unexpected interruptions or exceptions ...

Y T

RV-LC-1205

RV-GDIR-8460: Onboard software shall not contain any obsolete co ...

Y R

RV-LC-1206

RV-GDIR-8461: The onboard software shall be table-driven for eas ...

Y R

RV-LC-1207

RV-GDIR-8462: All onboard software data that are anticipated to ...

Y R

RV-LC-1208

RV-GDIR-8464: The onboard software shall be designed to avoid er ...

Y R

RV-LC-1209

RV-GDIR-8465: Onboard software shall protect itself against infi ...

Y R

RV-LC-1210

RV-GDIR-8472: Whenever an unexpected arithmetic overflow conditi ...

Y T

RV-LC-1211

RV-GDIR-8473: Whenever an illegal programme instruction is encou ...

Y T

RV-LC-1212

RV-GDIR-8474: Whenever a data bus error is detected by software, ...

Y T

RV-LC-1213

RV-GDIR-8475: Whenever a memory corruption is detected by an err ...

Y T

RV-LC-1214

RV-GDIR-8476: Whenever a checksum error is detected, an event re ...

Y T

RV-LC-1215

RV-GDIR-8479: The event reports that are generated in the case o ...

Y T

RV-LC-1216

RV-GDIR-8482: The onboard software developed shall be composed o ...

Y R

RV-LC-1217

RV-GDIR-8483: The initialisation software shall : Execute in PRO ...

Y T

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Page: 51 of 58




RV-LC-1218

RV-GDIR-8485: The equipment/subsystem shall contain a non-volati ...

Y T

RV-LC-1219

RV-GDIR-8486: The non-volatile memory of the initialisation soft ...

Y T

RV-LC-1220

RV-GDIR-8487: The initialisation software shall support the comm ...

Y T

RV-LC-1221

RV-GDIR-8488: The initialisation software shall generate a boot ...

Y T

RV-LC-1222

RV-GDIR-8489: The initialisation software shall have the capabil ...

Y T

RV-LC-1223


Y T

RV-LC-1224


Y T

RV-LC-1225

RV-GDIR-8492: The initialisation software shall never reach HALT ...

Y T

RV-LC-1226

RV-GDIR-8493: A failed test shall not lead to a dead lock of the ...

Y T

RV-LC-821 RV-GDIR-4908: To avoid degradation of materials and improve trea ...

Y R

RV-LC-822 RV-GDIR-5299: The function and performance of flight hardware sh ...

Y T,A,R

RV-LC-823 RV-GDIR-5300: GSE used in common facilities to sterilize flight ...

Y T,A,R

RV-LC-824 RV-GDIR-4912: The flight hardware (and delivered GSE) shall be a ...

Y T,A

RV-LC-825 RV-GDIR-4913: Sterilization effects (in particular, thermal expa ...

Y A,R

RV-LC-826 RV-GDIR-4917: The flight hardware and appropriate GSE shall be c ...

Y R

RV-LC-827 RV-GDIR-4919: Surfaces, cavities or discontinuities inaccessible ...

Y R

RV-LC-828 RV-GDIR-4920: All spacecraft hardware shall be compatible with d ...

Y A,R

RV-LC-829 RV-GDIR-4921: Organic Materials Inventory: a complete list of co ...

Y R

RV-LC-830 RV-GDIR-4909: Materials for hardware where bioburden assessment ...

Y R

RV-LC-831 RV-GDIR-4922: Where bimetallic (galvanic) couples do not fall in ...

Y R

RV-LC-832 RV-GDIR-4923: Any other locations considered to be non-assayable ...

Y R

RV-LC-833 RV-GDIR-4924: All flight hardware and appropriate GSE at deliver ...

Y I

RV-LC-834 RV-GDIR-4925: An estimate (highest accuracy possible) of the tot ...

Y R

RV-LC-835 RV-GDIR-5468: Equipment shall comply with the cleanliness and co ...

Y I,R

RV-LC-836 RV-GDIR-5281: The following materials are potential contaminants ...

Y A

RV-LC-837 RV-GDIR-5282: Equipment shall not require purging after delivery ...

Y A,R

RV-LC-838 RV-GDIR-5283: All non-metallic materials used on flight hardware ...

Y R

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Page: 52 of 58




RV-LC-839 RV-GDIR-5288: Materials used shall have the following characteri ...

Y R

RV-LC-840 RV-GDIR-5290: Materials and process that could result in particu ...

Y T,R

RV-LC-841 RV-GDIR-5293: The cleanliness level of hardware at delivery shal ...

Y T

RV-LC-842 RV-GDIR-5286: Equipment shall comply with the contamination cont ...

Y R

RV-LC-843 RV-GDIR-2455: The unit shall be designed to withstand a relative ...

Y R

RV-LC-844 RV-GDIR-4386: All externally mounted hardware shall be designed ...

Y T

RV-LC-845 RV-GDIR-2987: For AIV and storage, the unit shall withstand temp ...

Y T,A

RV-LC-846 RV-GDIR-2989: The flight hardware transportation containers shal ...

Y T,A

RV-LC-847 RV-GDIR-4498: The definition of the thermal environment at the M ...

Y A

RV-LC-848 RV-GDIR-5081: All hardware shall meet all performance requiremen ...

Y T,A

RV-LC-849 RV-GDIR-3036: All hardware shall meet all performance requiremen ...

Y T,A

RV-LC-850 RV-GDIR-5174: All hardware shall survive and recover from solar ...

Y T,A

RV-LC-851 RV-GDIR-5175: All hardware shall survive and recover from exposu ...

Y T,A

RV-LC-852 RV-GDIR-5177: Parts that are susceptible to destructive SEE shal ...

Y R

RV-LC-853 RV-GDIR-5178: MOSFETs that are susceptible to Single Event Gate ...

Y R

RV-LC-854 RV-GDIR-3043: Processors, memories and other components shall be ...

Y A,R

RV-LC-855 RV-GDIR-3044: The reset or data corruption occurrence rate due t ...

Y R

RV-LC-856 RV-GDIR-3048: Microcircuits containing CMOS technologies shall b ...

Y A,R

RV-LC-857 RV-GDIR-5179: Devices which are known to be susceptible to latch ...

Y R

RV-LC-858 RV-GDIR-3077: Inrush current at unit switch on shall not exceed ...

Y T,A

RV-LC-1227

RV-GDIR-3079: The transient on the primary power bus distributio ...

Y T,A

RV-LC-1228

RV-GDIR-8559: The voltage transient during switching on/off for ...

Y T,A

RV-LC-860 RV-GDIR-3083: Conducted narrow band current emissions (different ...

Y T,A

RV-LC-861 RV-GDIR-3085: Conducted narrow band current emissions (common mo ...

Y T

RV-LC-862 RV-GDIR-3087: In case of internal redundancy, conducted emission ...

Y T,A

RV-LC-863 RV-GDIR-3089: Time domain conducted differential mode voltage ri ...

Y T,A

RV-LC-864 RV-GDIR-3090: For Primary Power users (regulated power), time do ...

Y T,A

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Page: 53 of 58




RV-LC-1229

RV-GDIR-8563: The peak to peak input current ripple (including s ...

Y T,A

RV-LC-865 RV-GDIR-3093: In the event of a single failure, the amplitude of ...

Y T,A

RV-LC-866 RV-GDIR-3097: The maximum voltage emission levels for secondary ...

Y T,A

RV-LC-867 RV-GDIR-3099: The voltage ripple and spikes on secondary power s ...

Y T,A,R

RV-LC-868 RV-GDIR-3101: Conducted Narrow band conducted emissions (common ...

Y T,A,R

RV-LC-869 RV-GDIR-3105: Primary power bus powered units shall not exhibit ...

Y T,A

RV-LC-870 RV-GDIR-3107: Primary power bus powered units shall not exhibit ...

Y T,A

RV-LC-871 RV-GDIR-3109: The unit shall not exhibit any failures, malfuncti ...

Y T,A

RV-LC-872 RV-GDIR-3159: When secondary lines power a unit, the unit shall ...

Y T

RV-LC-873 RV-GDIR-3160: When a unit delivers secondary lines, the unit sha ...

Y T

RV-LC-874 RV-GDIR-3162: The conducted susceptibility for secondary power s ...

Y T

RV-LC-875 RV-GDIR-3164: A margin of at least +6dB shall be demonstrated in ...

Y T,A,R

RV-LC-876 RV-GDIR-3166: The unit shall not exceed the radiated electric fi ...

Y T,A

RV-LC-877 RV-GDIR-3227: The radiated H field generated by units shall not ...

Y T,A

RV-LC-878 RV-GDIR-3230: The unit shall not show any malfunction or deviati ...

Y T,A

RV-LC-879 RV-GDIR-3231: The unit shall not show any malfunction or deviati ...

Y T,A

RV-LC-880 RV-GDIR-3313: Units shall not show any malfunction or deviation ...

Y T,A

RV-LC-881 RV-GDIR-3314: In the case where a unit uses technologies which a ...

Y T,A

RV-LC-882 RV-GDIR-3317: The use of ferro-magnetics shall be avoided for pa ...

Y I,R

RV-LC-883 RV-GDIR-3319: Steel or other magnetic materials shall be avoided ...

Y T,I,R

RV-LC-884 RV-GDIR-3325: Units shall not be susceptible when submitted to c ...

Y T,A

RV-LC-1230

RV-GDIR-8558: Units shall not be susceptible when submitted to r ...

Y T,A

RV-LC-885 RV-GDIR-5465: Verification of requirements shall be conducted in ...

Y R

RV-LC-886 RV-GDIR-5196: Testing performed at unit level shall be performed ...

Y R

RV-LC-887 RV-GDIR-3974: The mechanical and optical configuration and its i ...

Y R

RV-LC-888 RV-GDIR-4108: All unit thermal interfaces shall be described wit ...

Y R

RV-LC-889 RV-GDIR-4180: All unit electrical interfaces shall be described ...

Y R

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Page: 54 of 58



9 ANNEX A: LIST OF TBD'S

TBD Keywords Actionee Due For RV-LC-505 DN to output in test mode ASU March 2011 RV-LC-1139 Method to be used for synchronisation of the simulated

image with the camera electronics ASU September 2011

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Page: 55 of 58



10 ANNEX B: LIST OF TBC'S

TBC Keywords Actionee Due For RV-LC-473 The need for windowing with columns ASU March 2011 RV-LC-505 The need for the “Auto” mode ASU September 2011 RV-LC-472 Vignetting maximal effect ASU September 2011 RV-LC-1045 Maximal difference of illuminance for a same target

between the left and right cameras ASU September 2011

RV-LC-1047 Quantum efficiency in visible spectrum ASU September 2011 RV-LC-1049 Quantum efficiency in near infrared spectrum ASU September 2011 RV-LC-1051 Optics relative transmittance in visible spectrum ASU September 2011 RV-LC-1053 Optics relative transmittance in near infrared spectrum ASU September 2011 RV-LC-1059 • Integration time limit

• Digital number range • Tolerance in light intensity

ASU September 2011

RV-LC-1067 • Integration time limit • Digital number range • Tolerance in light intensity

ASU September 2011

RV-LC-1361 Digital Number range ASU September 2011 RV-LC-492 Maximum integration time ASU September 2011 RV-LC-1071 Optical distortion calibration accuracy ASU September 2011 RV-LC-1080 Focal length calibration accuracy ASU September 2011 RV-LC-480 Maximum difference in time between left and right

cameras triggering ASU September 2011

RV-LC-1088 Maximum delay between command and actual start of integration

ASU September 2011

RV-LC-1090 Maximum delay to retrieve images from the LocCam memory

ASU September 2011

RV-LC-914 Maximum duration between switch-on and availability for operations

ASU March 2011

RV-LC-915 Maximum duration between switch-on and housekeeping data availability

ASU March 2011

RV-LC-1103 Standby consumption power ASU March 2011 RV-LC-1120 • Is number of surface spores applicable?

• Are encapsulated spores applicable? ASU March 2011

RV-LC-1141 Maximum cable length ASU September 2011

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Page: 56 of 58



Requirement/Section Cross Reference Page numbers are the pages where the sections start

RV-LC-342..........4.5.1 ................28 RV-LC-344..........4.5.2 ................28 RV-LC-361..........5.1 ...................31 RV-LC-365..........4.4 ...................27 RV-LC-391..........5.2 ...................31 RV-LC-399..........5.6 ...................32 RV-LC-400..........5.6 ...................32 RV-LC-405..........6.1.1 ................34 RV-LC-409..........6.1.2 ................34 RV-LC-410..........6.1.3 ................34 RV-LC-411..........6.1.4 ................35 RV-LC-423..........6.1.5 ................35 RV-LC-435..........6.1 ...................34 RV-LC-438..........6.1.5 ................35 RV-LC-466..........4.1 ...................15 RV-LC-468..........4.1 ...................15 RV-LC-471..........4.1 ...................15 RV-LC-472..........4.2 ...................18 RV-LC-473..........4.1 ...................15 RV-LC-477..........4.1.1 ................16 RV-LC-480..........4.3.1 ................24 RV-LC-481..........4.2.1 ................19 RV-LC-482..........4.2.1 ................19 RV-LC-483..........4.2.3 ................23 RV-LC-485..........4.2.1 ................19 RV-LC-492..........4.2.1 ................19 RV-LC-493..........4.2.1 ................19 RV-LC-495..........4.3.1 ................24 RV-LC-496..........4.1.1 ................16 RV-LC-497..........4.1.1 ................16 RV-LC-499..........4.1.1 ................16 RV-LC-500..........4.1.1 ................16 RV-LC-501..........4.2.3 ................23 RV-LC-502..........4.2.1 ................19 RV-LC-503..........4.2.1 ................19 RV-LC-504..........4.3.1.1 .............26 RV-LC-505..........4.1 ...................15 RV-LC-514..........5.2 ...................31 RV-LC-516..........4.2.1 ................19 RV-LC-517..........4.1 ...................15 RV-LC-518..........4.1 ...................15 RV-LC-901..........4.2.2 ................20 RV-LC-907..........4.3.1.1 .............26 RV-LC-908..........4.3.1 ................24 RV-LC-910..........4.3.1 ................24 RV-LC-912..........4.3.1.1 .............26 RV-LC-914..........4.3.1 ................24 RV-LC-915..........4.3.1 ................24 RV-LC-918..........4.3.1 ................24 RV-LC-1035........4.1 ...................15 RV-LC-1036........4.1 ...................15 RV-LC-1038........4.1.2 ................17 RV-LC-1040........4.1.2 ................17 RV-LC-1042........4.2 ...................18 RV-LC-1043........4.2 ...................18 RV-LC-1045........4.2 ...................18 RV-LC-1047........4.2.2 ................20 RV-LC-1049........4.2.2 ................20

RV-LC-1051 ....... 4.2.2 ................ 20 RV-LC-1053 ....... 4.2.2 ................ 20 RV-LC-1056 ....... 4.2.1 ................ 19 RV-LC-1058 ....... 4.2.1 ................ 19 RV-LC-1059 ....... 4.2.2 ................ 20 RV-LC-1066 ....... 4.2.1 ................ 19 RV-LC-1067 ....... 4.2.2 ................ 20 RV-LC-1070 ....... 4.2.3 ................ 23 RV-LC-1071 ....... 4.2.3 ................ 23 RV-LC-1074 ....... 4.2.3 ................ 23 RV-LC-1075 ....... 4.2.3 ................ 23 RV-LC-1077 ....... 4.2.3 ................ 23 RV-LC-1080 ....... 4.2.3 ................ 23 RV-LC-1081 ....... 4.3.1 ................ 24 RV-LC-1083 ....... 4.3.1 ................ 24 RV-LC-1084 ....... 4.3.1 ................ 24 RV-LC-1085 ....... 4.3.1 ................ 24 RV-LC-1086 ....... 4.3.1 ................ 24 RV-LC-1087 ....... 4.3.1 ................ 24 RV-LC-1088 ....... 4.3.1 ................ 24 RV-LC-1089 ....... 4.3.1 ................ 24 RV-LC-1090 ....... 4.3.1 ................ 24 RV-LC-1091 ....... 4.3.1 ................ 24 RV-LC-1096 ....... 4.3.1.1 ............. 26 RV-LC-1097 ....... 4.3.1.1 ............. 26 RV-LC-1098 ....... 4.3.1.1 ............. 26 RV-LC-1102 ....... 4.3.1.1 ............. 26 RV-LC-1103 ....... 4.4 ................... 27 RV-LC-1106 ....... 4.5.3 ................ 28 RV-LC-1113 ....... 5.1.4 ................ 31 RV-LC-1115 ....... 5.1.4 ................ 31 RV-LC-1117 ....... 4.7 ................... 29 RV-LC-1118 ....... 4.7 ................... 29 RV-LC-1119 ....... 4.8 ................... 29 RV-LC-1120 ....... 4.8 ................... 29 RV-LC-1136 ....... 5.6 ................... 32 RV-LC-1138 ....... 5.6 ................... 32 RV-LC-1139 ....... 5.6 ................... 32 RV-LC-1141 ....... 5.6 ................... 32 RV-LC-1142 ....... 4.1.1 ................ 16 RV-LC-1231 ....... 4.6 ................... 28 RV-LC-1286 ....... 4.6 ................... 28 RV-LC-1290 ....... 4.1 ................... 15 RV-LC-1295 ....... 6.7.1 ................ 36 RV-LC-1361 ....... 4.2 ................... 18 RV-LC-1363 ....... 4.1 ................... 15 RV-LC-1385 ....... 4.3.1 ................ 24 RV-LC-1386 ....... 4.3.3 ................ 27 RV-LC-1389 ....... 5.6 ................... 32 RV-LC-1390 ....... 5.6 ................... 32 RV-LC-1391 ....... 4.3.1.1 ............. 26 RV-LC-1392 ....... 4.3.1.1 ............. 26 RV-LC-1396 ....... 4.3.1.1 ............. 26 RV-LC-1398 ....... 4.2.3 ................ 23 RV-LC-1399 ....... 4.2.1 ................ 19

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Rover Vehicle Localisation Cameras Requirements Specification Astrium Ltd owns the copyright of this document which is supplied in confidence and which shall not be used for any purpose other than that for which it is supplied and shall

not in whole or in part be reproduced, copied, or communicated to any person without written permission from the owner.

PAGE INTENTIONALLY LEFT BLANK

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Page: 58 of 58

Rover Vehicle Localisation Cameras Requirements Specification Astrium Ltd owns the copyright of this document which is supplied in confidence and which shall not be used for any purpose other than that for which it is supplied and shall

not in whole or in part be reproduced, copied, or communicated to any person without written permission from the owner.

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ASU: CADM ESA: CADM M Roe P Baglioni J Clemmet L Joudrier I Renouf B Boyes ESA: CADM A Davies F Ravera N Silva A Allasio R Lancaster A Merlo D Lachat L Stenqvist E Bean G Pasero A Bull R Slade M Foulkes M Neal G Jones Configuration Management

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