CCSDS_ACM_VERS = 2.0

CREATION_DATE = 2017-12-30T00:00:00
ORIGINATOR    = NASA
MESSAGE_ID    = A7015Z7

META_START
OBJECT_NAME              = LRO
INTERNATIONAL_DESIGNATOR = 2009-031A
TIME_SYSTEM              = UTC
EPOCH_TZERO              = 2017-12-30T00:00:00.0
ACM_DATA_ELEMENTS        = COV, AD
META_STOP

COV_START
COMMENT Diagonal Covariance for LRO Onboard Kalman Filter
COV_BASIS               = DETERMINED_OBC
COV_REF_FRAME           = SC_BODY_1
COV_TYPE                = ANGLE_GYROBIAS
 0.0      6.74E-11 8.10E-11 9.22E-11 1.11E-15 1.11E-15 1.12E-15
 1.096694 6.74E-11 8.10E-11 9.22E-11 1.11E-15 1.11E-15 1.12E-15
59.896697 6.74E-11 8.10E-11 9.22E-11 1.11E-15 1.11E-15 1.12E-15
COV_STOP

AD_START
COMMENT LRO Onboard Filter, A Multiplicative Extended Kalman Filter
AD_METHOD           = EKF
ATTITUDE_SOURCE     = OBC
NUMBER_STATES       = 7
ATTITUDE_STATES     = QUATERNION
COV_TYPE            = ANGLE_GYROBIAS
REF_FRAME_A         = EME2000
REF_FRAME_B         = SC_BODY_1
RATE_STATES         = GYRO_BIAS
SENSOR_START
SENSOR_NUMBER       = 1
SENSOR_USED         = AST1
SENSOR_STOP
SENSOR_START
SENSOR_NUMBER       = 2
SENSOR_USED         = AST2
SENSOR_STOP
SENSOR_START
SENSOR_NUMBER       = 3
SENSOR_USED         = IMU
SENSOR_STOP
AD_STOP
