ps1 moving object processing system (mops) software requirement specification (srs) ·...

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Pan-STARRS Project Management System

PS1 Moving Object Processing System (MOPS)

Software Requirement Specification (SRS)

Institute for Astronomy, University of Hawaii

2680 Woodlawn Drive, Honolulu, Hawaii 96822

An Equal Opportunity/Affirmative Action Institution

Grant Award No. : F29601-02-1-0268

Prepared For : Pan-STARRS Team, IfA

Document No. : PSDC-530-001

Document Date : 2006 November 3

Revision : 05

Pan-STARRS Document Control

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Revision History Revision Date Affected Pages Explanation of Change

DR.v6 2004 July 2 All • Incorporates changes from many people. Particularly Andy Douglas, Will Burgett and Gene Magnier.

DR.v7 2004 July 9 All • almost every single requirement was touched

DR.v8 2004 July 14 Many • changes suggested by Tim Spahr, Steve Chesley, and Jim Heasley

01 2005 Jan 31 Many • incorporates changes suggested/motivated by the MOPS SRR – PSDC-540-001-00

02 2005 April 3 Many • incorporates changes suggested/by Andy Douglas

• Added Tracklets DB (4.3.8)

• Added Shape Model DB (4.3.7)

• Changed Attributed Detections DB to Attributed Tracklets DB (Error! Reference source not found.)

03 2005 April 22 • changes suggested by Larry Denneau

• bugzilla 369 re: Shape Model DB

• bugzilla 370 re: Shape Model DB

• bugzilla 372 re: Shutdown state

• bugzilla 376 re: Bitflags in Metadata DB

04 •

05 2006 November 3

All • Updated for the MOPS CDR


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Table of Contents

Revision History ....................................................................................................................... 2 Table of Contents...................................................................................................................... 3 List of Figures ........................................................................................................................... 5 List of Tables ............................................................................................................................ 5 1 Scope................................................................................................................................. 6

1.1 Identification ............................................................................................................. 6

1.2 System Overview...................................................................................................... 6

1.3 Moving Object Processing System Overview ..........................................................7

1.4 PS1 Solar System Science Goals .............................................................................. 7

1.5 PS1 MOPS Top Level Requirements ....................................................................... 7

1.6 Moving Object Processing System Summary...........................................................8

1.7 Document Overview ................................................................................................. 8

2 Referenced Documents ..................................................................................................... 9 2.1 Government Documents ........................................................................................... 9

2.2 Non-Government Documents ................................................................................... 9

3 Qualification Provisions.................................................................................................. 10 4 Requirements .................................................................................................................. 11

4.1 Modes and States .................................................................................................... 11

4.1.1 Running........................................................................................................... 11

4.1.2 Shutdown ........................................................................................................ 11

4.1.3 Stopped ........................................................................................................... 11

4.2 Capability Requirements......................................................................................... 11

4.2.1 System monitoring.......................................................................................... 11

4.2.2 Ephemeris generation...................................................................................... 12

4.2.3 Linkage ........................................................................................................... 12

4.2.4 Orbits............................................................................................................... 14

4.3 External Interface Requirements............................................................................. 16

4.3.1 Identification ................................................................................................... 16

4.3.2 All DB............................................................................................................. 16

4.3.3 Fields DB ........................................................................................................ 17

4.3.4 Low Confidence (LC) Single Occurrence Transient (SOT) DB .................... 17


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4.3.5 High Confidence (HC) Single Occurrence Transient (SOT) DB ................... 18

4.3.6 Derived Objects DB........................................................................................ 19

4.3.7 Synthetic Objects DB...................................................................................... 20

4.3.8 Tracklets DB ................................................................................................... 21

4.3.9 World’s observations DB................................................................................ 22

4.3.10 World Derived Parameters DB(s)................................................................... 22

4.4 Internal Interface Requirements.............................................................................. 22

4.5 Internal Data Requirements .................................................................................... 23

4.6 Computer Resource Requirements ......................................................................... 23

4.7 Software Quality Factors ........................................................................................ 23

4.7.1 Maintainability................................................................................................ 23

4.7.2 Portability........................................................................................................ 24

4.8 Design and implementation constraints .................................................................. 24

4.8.1 Design & implementation standards...............................................................24

4.9 Logistics-related requirements................................................................................ 27

4.9.1 System Backups .............................................................................................. 27

4.10 Other requirements.................................................................................................. 27

4.10.1 Inputs............................................................................................................... 27

5 Requirements Traceability .............................................................................................. 30 6 Notes ............................................................................................................................... 34 7 Appendices...................................................................................................................... 35

7.1 Definitions............................................................................................................... 35


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List of Figures

Figure 1 – Relationship between detections, tracklets and tracks. ......................................... 12

Figure 2 – Orbit Convergence Notifications........................................................................... 14

Figure 3 – Orbit Determination Failure Modes ...................................................................... 15

Figure 4 -MOPS Databases..................................................................................................... 16

List of Tables

Table 2-1 – Government Documents........................................................................................ 9

Table 2-2 – Non-Government Documents................................................................................ 9

Table 3-1 – Qualification Methods List.................................................................................. 10

Table 4-1 – Minimum efficiency requirement for selected solar system objects. .................. 13

Table 4-2 – Database Identification........................................................................................ 16

Table 4-3: Disk Storage Requirements at end of PS1 Operations ......................................... 23

Table 4-4 – Hungarian Notation ............................................................................................. 25

Table 5-1 – Requirements Traceability................................................................................... 30

Table 7-1 – Acronym Definitions (alphabetical) .................................................................... 35

Table 7-2 – Object Identification Terminology...................................................................... 36


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1 Scope

1.1 Identification This document is the Software Requirements Specification (SRS) for the Panoramic Survey Telescope and Rapid Response System (Pan-STARRS) Moving Object Processing System (MOPS) for the prototype telescope PS1, and is a System-level controlled specification/design description document in the official Pan-STARRS engineering specification tree.

1.2 System Overview

Project sponsor AFRL, United States Air Force

Acquirer University of Hawaii Institute for Astronomy

User Astronomical community

Developer University of Hawaii Institute for Astronomy, participating institutions, and associated subcontractors

The Institute for Astronomy at the University of Hawaii is developing a large optical synoptic survey telescope system, the Panoramic Survey Telescope and Rapid Response System (Pan-STARRS). Pan-STARRS will be an array of four 1.8m telescopes each with a 7 deg2 field of view, giving the system an ĕtendue (defined as the product of the collecting area A multiplied by the field-of-view solid angle Ω) larger than all existing survey instruments combined. Each telescope will be equipped with a 1.44 billion pixel CCD camera with low noise and rapid read-out, and the data will be reduced in near real time to produce both cumulative static sky and difference images from which transient, moving, and variable objects can be detected. Pan-STARRS will be able to survey up to ~6,000 deg2 per night to a detection limit of approximately 24th magnitude. This unique combination of sensitivity and sky coverage will open up many new possibilities in time domain astronomy including a major goal of surveying the Potentially Hazardous Object (PHO) population down to a diameter of ~300 meters. In addition, the Pan-STARRS data will be used to investigate a broad range of astronomical problems of extreme current interest concerning the Solar System, the Galaxy, and the Cosmos at large. A prototype single telescope system, PS1, is being developed as a preliminary step before construction of the complete four telescope system. The science goals, priorities, top-level concept of operations with associated operational requirements, and system performance drivers with associated system performance requirements are described in the PS1 Science Goals Statement (SGS: PSDC-230-001).


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1.3 Moving Object Processing System Overview One of the major scientific goals for PS1 is the identification of Potentially Hazardous and other solar system objects (PS1 Science Goals Statement, PSDC-230-001)). The MOPS sub-system provides the ability to address this need by analyzing detections made by the IPP, selecting those that are moving, and calculating orbital elements and other parameters for related sets of detections.

1.4 PS1 Solar System Science Goals The primary goal of the PS1 MOPS system is to validate the MOPS operations.

The top level MOPS science goals as specified in the PS1 Science Goals Statement (SGS: PSDC-230-001) are:

4.2.8 Solar system object parameters

For those objects that PS1 identifies as solar system objects, the minimum set of object parameters to be calculated for each object shall be the orbital elements, an Earth-object MOID, and the absolute magnitude.

4.2.9 Asteroid discovery

PS1 shall be able to detect a 1000 meter asteroid at a distance of 2.5 AU at opposition, or, equivalently a 140 meter asteroid at a distance of 0.72 AU at opposition. (The equations by which these limits are derived, and the assumptions regarding the properties of the bodies are given in the the PS1 Mission Concept document, PSDC-230-002-00).

1.5 PS1 MOPS Top Level Requirements To maximize the solar system science capability of the PS1 system, the MOPS top level requirements for PS1 are:

9.2.1 MOPS shall create and maintain a DB of detections and object parameters (e.g., orbit elements, absolute magnitudes) for all objects that it detects.

9.2.2 MOPS shall determine object parameters for >90% of the PHOs that are continuously above S/N=5 for ≥12 consecutive days at any time during the course of PS1 operations.

9.2.3 MOPS shall determine object parameters for >80% of the non-PHO solar system objects (e.g. Main Belt, Trojan, Centaur, TNO, Comet) that are continuously above S/N=5 for ≥12 consecutive days at any time during the course of PS1 operations.

9.2.4 MOPS shall determine the efficiency and accuracy for detection, attributing, linking, orbit identification, etc., for solar system objects as a function of (at minimum) semi-major axis, eccentricity, inclination, absolute magnitude, position with respect to opposition and galactic latitude.


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1.6 Moving Object Processing System Summary The MOPS will handle the identification of new and known solar system objects identified in the course of PS1 surveying. A schematic view of the MOPS is available in the SCD (see Figure 32)

The MOPS will obtain transients detections in sets of images separated by a Transient Time Interval (TTI) from the IPP. It will then link together multiple detections of the same moving object and maintain a DB of observations and orbits for solar system objects. General tasks that need to be completed on a regular basis:

1) Intra-night linking of possible detections of the same object

2) Inter-night linking of previously unknown object’s intra-night linked detections

3) Linking detections of the same object in different lunations and apparitions

4) Attributing detections of known solar system objects in PS1 images

5) Updating, calculating, integrating orbits for all known objects

6) Providing/obtaining selected observations and orbits to/from the international community

7) Monitoring of the MOPS efficiency

1.7 Document Overview The PS1 MOPS Software Requirements Specification contains the system requirements of the PS1 MOPS in order to meet the goals specified by the SGS as flowed from the PS1 DRM. The requirements flow begun in the DRM and continued in the SGS is further developed in this SRS to provide additional derived system and subsystem requirements.


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2 Referenced Documents

2.1 Government Documents

Table 2-1 – Government Documents

Document ID Document Title

DI-IPSC-81431A (mil-std-498)

http://www.pogner.demon.co.uk/mil_498

System/Subsystem Specification (SSS)

2.2 Non-Government Documents PSDC documents in Table 2-2 that omit the version number always refer to the latest version.

Table 2-2 – Non-Government Documents Document ID Document Title

PSDC-230-001 Pan-STARRS PS1 Reference Mission

PSDC-430-004 Pan-STARRS Code Conventions

PSDC-430-005 Pan-STARRS PS1 IPP SRS

PSDC-430-005 Pan-STARRS IPP SRS (psLib only)

PSDC-430-006 Pan-STARRS IPP ADD (psLib only)

IEEE-754 IEEE Std. 754 for binary floating-point arithmetic

PSDC-540-001 PS1 MOPS SRR Report


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3 Qualification Provisions Each requirement in this document is immediately followed by a QUALIFICATION METHOD identifying the means to be used to ensure that the requirement is met. The qualification methods are summarized in Table 3-1.

Table 3-1 – Qualification Methods List

Qualification Method Meaning

Demonstration Observed functional operation of the component not requiring the use of external instrumentation or subsequent analysis.

Test Observed functional operation of the component using external instrumentation for subsequent analysis.

Analysis Processing accumulated data obtained from other qualification methods.

Inspection Visual examination.

Special Special qualification methods.


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4 Requirements

4.1 Modes and States There is no difference between a mode and state in the MOPS. The MOPS shall have two states termed ‘Running’ and ‘Stopped’:

4.1.1 Running While in this state the MOPS data and software shall be operating automatically with no human intervention possible except for commanding the MOPS to change into it’s ‘Stopped’ state.

4.1.2 Shutdown Once the MOPS has been commanded to enter its ‘Stopped’ state (4.1.3) it shall enter into a ‘Shutdown’ state during which it will complete all the tasks that it was performing when the command was received before entering the ‘Stopped’ state.

4.1.3 Stopped While in this state the MOPS data and software shall be available for update and maintenance by approved MOPS personnel.

4.2 Capability Requirements

4.2.1 System monitoring The MOPS shall self-monitor its operation for the following:

4.2.1.1 Warnings QUALIFICATION METHOD: TEST

When a MOPS sub-process’ running average or nearly-instantaneous efficiency drops below the specified efficiency for the sub-process the MOPS shall email a warning summary report to the MOPS lead and operations personnel.

4.2.1.2 Errors QUALIFICATION METHOD: TEST

The MOPS shall monitor error conditions generated during each sub-process’ operations and email a summary report to the MOPS lead and operations personnel when an error condition is detected.


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4.2.1.3 Status On a daily basis the MOPS shall email a report summarizing MOPS operations to the MOPS lead and operations personnel.

4.2.1.4 Critical Notifications The MOPS shall halt its operations (set itself into it’s ‘Stopped’ state: 4.1.2) and notify the MOPS lead and operations personnel of its condition when an error (4.2.1.2) occurs.

4.2.2 Ephemeris generation

4.2.2.1 Daily ephemerides QUALIFICATION METHOD: ANALYSIS

The MOPS shall be capable of determining the astrometric location and apparent magnitude (to a precision equal to or exceeding the astrometric and photometric precision of the PS system) of 108 solar system objects for each day of the survey and provide error estimates on each value.

4.2.3 Linkage Figure 1 shows the relationship between detections, tracklets and tracks. Tracklets are composed of multiple detections. Tracks are composed of more than one tracklet. Tracks that can be fit to orbits with low residual are known as derived objects.

Figure 1 – Relationship between detections, tracklets and tracks.

4.2.3.1 Attribution efficiency QUALIFICATION METHOD: ANALYSIS

The MOPS shall be >99% efficient at linking ≥ 2 detections (S/N>5) of a known moving object on the same night to the known orbit when the estimated error in the location is <15".


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4.2.3.2 Attribution accuracy QUALIFICATION METHOD: ANALYSIS

The false attribution rate shall be less than 0.1%.

4.2.3.3 Intra-lunation linking efficiency QUALIFICATION METHOD: ANALYSIS

The MOPS shall meet the following minimum efficiency requirements at identifying multiple detections (S/N>5) of the same unknown object detected on at least 3 nights within a lunation for different classes of solar system objects:

Table 4-1 – Minimum efficiency requirement for selected solar system objects.

Object Type Minimum Efficiency

PHO 95%

MB 98%

KBO 99%

4.2.3.4 Intra-lunation linking accuracy QUALIFICATION METHOD: ANALYSIS

The false linking rate (after orbit determination) shall be less than 0.1%.

4.2.3.5 Orbit identification efficiency QUALIFICATION METHOD: ANALYSIS

The MOPS shall be >95% efficient at linking intra-lunation short-arc orbits of at least 10 days to other intra-lunation short-arc orbits of at least 10 days for the same object observed in other lunations or apparitions.

4.2.3.6 Orbit identification accuracy QUALIFICATION METHOD: ANALYSIS

The orbit misidentification rate shall be less than 0.1%.

4.2.3.7 High Confidence (HC) SOT False Detections QUALIFICATION METHOD: TEST

The MOPS shall meet the stated efficiency and accuracy requirements (4.2.3.1-4.2.3.6) when the false detection rate for S/N>5 detections is ≤2•102/deg2.

4.2.3.8 Low Confidence (LC) SOT False Detections QUALIFICATION METHOD: TEST

The MOPS shall meet the stated efficiency and accuracy requirements (4.2.3.1-4.2.3.6) when the false detection rate for S/N>3 detections is ≤2•105/deg2.


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4.2.3.9 Detection identifier QUALIFICATION METHOD: ANALYSIS

Each detection shall be assigned a unique identifier.

4.2.3.10 Tracklet identifier QUALIFICATION METHOD: ANALYSIS

Each (intra-night) tracklet shall be assigned a unique identifier.

4.2.3.11 Track identifier QUALIFICATION METHOD: ANALYSIS

Each (intra-lunation) track shall be assigned a unique identifier.

4.2.3.12 Orbit identifier QUALIFICATION METHOD: ANALYSIS

Each orbit shall be assigned a unique identifier.

4.2.3.13 Co-ordination with IAU designations QUALIFICATION METHOD: ANALYSIS

The MOPS shall coordinate the Pan-STARRS internal designation with the official IAU designation for an object when it becomes available.

4.2.3.14 Culling QUALIFICATION METHOD: ANALYSIS

The MOPS shall remove all incorrectly attributed tracklets from orbits as they are identified.

4.2.4 Orbits

4.2.4.1 Convergence Notification QUALIFICATION METHOD: TEST

The MOPS orbit software shall return an indication of the following possible outcomes of an orbit determination:

Figure 2 – Orbit Convergence Notifications

Outcome Meaning

Success Converged with no problems.

Qualified Success Converged but with possible problems.

Failed No convergence

4.2.4.2 Orbit Determination Failures QUALIFICATION METHOD: TEST

The MOPS orbit software shall indicate at least the following failure modes.


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Figure 3 – Orbit Determination Failure Modes

Outcome Meaning

Single Step Not Converged Orbit did not converge because only a single fitting step was requested.

RMS Paralyzed RMS not changing even though elements are moving.

Diverging Unable to identify a path to a converging orbit.

Unreasonably large RMS RMS between orbit and detections is too large

Negative Eccentricity Minimization resulted in unphysical eccentricity

Negative Perihelion Minimization results in unphysical perihelion distance.

Eccentricity > 1 Hyperbolic orbit

Exceed Max. Iterations Too much iteration steps before convergence

Error in lower level routine Failure occurred in lower level library code.

Perihelion too small Derived perihelion is so small that integration time becomes too long.

4.2.4.3 Orbit Determination Failure Notification QUALIFICATION METHOD: TEST

The result of an orbit determination failure (4.2.4.2) on correct linkages of synthetic objects shall be forwarded to a central processing location for further analysis.

4.2.4.4 Orbit Determination Failure Email QUALIFICATION METHOD: TEST

The result of an orbit determination failure (4.2.4.2) on correct linkages of synthetic objects shall be sent to the MOPS lead and operations personnel informing them of the failure.

4.2.4.5 Heliocentric orbits QUALIFICATION METHOD: TEST

The MOPS shall be capable of calculating heliocentric orbits to a maximum precision in every element of 1012.

4.2.4.6 Single lunation QUALIFICATION METHOD: TEST

The MOPS shall be capable of IOD for >99% of all correctly linked intra-lunation arcs (> 1 day and < 1 lunation) of detections.

4.2.4.7 Integration QUALIFICATION METHOD: TEST

The MOPS shall be capable on a daily basis of integrating all known orbits to any date within Pan-STARRS’s operational lifetime of 10 years.


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4.2.4.8 Reproducibility QUALIFICATION METHOD: TEST

The MOPS shall be capable of re-creating the history of detections and determination of derived object parameters for all derived objects.

4.3 External Interface Requirements The following sections refer to the interfaces between the MOPS and its internal databases as shown in Figure 4.

Figure 4 -MOPS Databases

4.3.1 Identification

Table 4-2 – Database Identification

Database Section

Fields 4.3.3

Low Confidence (LC) SOT 4.3.4

High Confidence (HC) SOT 4.3.5

Derived Objects 4.3.6

Synthetic Objects 4.3.7

Tracklets 4.3.8

4.3.2 All DB

4.3.2.1 Backups QUALIFICATION METHOD: DEMONSTRATION

On a per lunation basis there shall be 2 full backups of all MOPS DBs.

4.3.2.2 On-site backup. QUALIFICATION METHOD: DEMONSTRATION

One of the two backups (4.3.2.1) shall be on-site.

Moving Object Processing System (MOPS)

Low-Confidence

Single

Occurrence

Transients

High-Confidence

Single

Occurrence

Transients

TrackletsAttributed

Detections

Derived

Objects

Synthetic

Objects

Moving Object Processing System (MOPS)

Low-Confidence

Single

Occurrence

Transients

High-Confidence

Single

Occurrence

Transients

TrackletsAttributed

Detections

Derived

Objects

Synthetic

Objects


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4.3.2.3 Off-site backup. QUALIFICATION METHOD: DEMONSTRATION

One of the two backups (4.3.2.1) shall be at a remote site.

4.3.2.4 Backup reliability. QUALIFICATION METHOD: DEMONSTRATION

The backups (4.3.2.1) shall be capable of recovering 99% of all MOPS data acquired prior to the day on which a backup is required.

4.3.3 Fields DB

4.3.3.1 Existence QUALIFICATION METHOD: DEMONSTRATION

The MOPS shall implement a fields DB.

4.3.3.2 Content QUALIFICATION METHOD: DEMONSTRATION

The MOPS fields DB shall include all items necessary for, and at a precision to meet, the MOPS Top Level Requirements (see section 1.5) and all derived requirements herein. Detailed implementation is to be left to the design.

4.3.3.3 Size QUALIFICATION METHOD: DEMONSTRATION

The fields DB shall be capable of storing at least 2×106 records.

(103 images/night × 365 nights/year × 4 years of operation.)

4.3.3.4 Read access QUALIFICATION METHOD: DEMONSTRATION

4.3.3.4.1 Rate At least 103 records for a specific night shall be retrievable within 1s.

4.3.3.4.2 TTI Pairs All image sets (same boresight) separated within a TTI for a single night shall be retrievable within 1s.

4.3.4 Low Confidence (LC) Single Occurrence Transie nt (SOT) DB


The MOPS shall implement a LC SOT DB.


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The MOPS LC SOT DB shall include all items necessary for, and at a precision to meet, the MOPS Top Level Requirements (see section 1.5) and all derived requirements herein. Detailed implementation is to be left to the design.


The LC SOT DB shall be capable of storing at least 1013 records.

(>~2 × 105 detections/deg2 × 7 deg2/image × 1000 images/night × 365 nights/year × 4 years of operation)

4.3.4.4 Read access

4.3.4.4.1 Extraction of HC SOT detections QUALIFICATION METHOD: DEMONSTRATION

The MOPS shall be capable of retrieving at least 106 HC SOT from the LC SOT DB within 1000 seconds.

4.3.4.4.2 Attribution of LC SOT detections QUALIFICATION METHOD: DEMONSTRATION

The MOPS shall be capable of retrieving at least 107 LC SOT from TTI pairs of images within 50 arc-seconds of the predicted location of derived objects (see Section 4.3.6) in under one hour.

4.3.4.5 Write access

4.3.4.5.1 Synthetic detections QUALIFICATION METHOD: DEMONSTRATION

The MOPS shall be capable of writing all the parameters for synthetic detections into the LC SOT DB for 5×107 synthetic detections in under one hour.

4.3.4.5.2 Detection attribution QUALIFICATION METHOD: DEMONSTRATION

The MOPS shall be capable of modifying any single parameter within the LC SOT DB detections record for 107 objects in under one hour.

4.3.5 High Confidence (HC) Single Occurrence Transi ent (SOT) DB


The MOPS shall implement a HC SOT DB.


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The MOPS HC SOT DB shall include all items necessary for, and at a precision to meet, the MOPS Top Level Requirements (see section 1.5) and all derived requirements herein. Detailed implementation is to be left to the design.


The HC SOT DB shall be capable of storing 1010 records.

(>~2 × 102 detections/deg2 × 7 deg2/image × 1000 images/night × 365 nights/year × 4 years of operation)

4.3.5.4 Read Access

4.3.5.4.1 Extraction of tracklets QUALIFICATION METHOD: DEMONSTRATION

The MOPS shall be capable of retrieving at least 1000 HC SOT tracklets for a TTI pair of images from the LC SOT DB within one second.

4.3.5.5 Write access QUALIFICATION METHOD: DEMONSTRATION

4.3.5.5.1 Synthetic Noise QUALIFICATION METHOD: DEMONSTRATION

The MOPS shall be capable of writing all synthetic detection parameters into the HC SOT DB for synthetic noise detections at a rate of 1000/second.

4.3.5.5.2 Detection attribution QUALIFICATION METHOD: DEMONSTRATION

The MOPS shall be capable of modifying any single parameter within the HC SOT DB at a rate of 1000/second.

4.3.6 Derived Objects DB


The MOPS shall implement a DB containing derived parameters for objects detected by the system.


The MOPS derived objects DB shall include all items necessary for, and at a precision to meet, the MOPS Top Level Requirements (see section 1.5) and all derived requirements herein. Detailed implementation is to be left to the design.


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4.3.6.3 Interface QUALIFICATION METHOD: DEMONSTRATION

The interface to the MOPS Derived objects DB shall provide access to each of the parameters for every object detected by the system.


The derived objects DB shall be capable of holding at least 108 orbits.

4.3.6.5 Read Access QUALIFICATION METHOD: DEMONSTRATION

The MOPS shall be capable of extracting all parameters for objects within the Derived Objects DB at a rate of 1000/s.

4.3.6.6 Write Access QUALIFICATION METHOD: DEMONSTRATION

The MOPS shall be capable of writing or modifing all parameters for at least 106 objects within the Derived Objects DB at a rate of 1000/s.

4.3.7 Synthetic Objects DB


The MOPS shall implement a DB containing parameters for synthetic objects.

4.3.7.2 Content

4.3.7.2.1 Parameters QUALIFICATION METHOD: DEMONSTRATION

The MOPS synthetic objects DB shall include all items necessary for, and at a precision to meet, the MOPS Top Level Requirements (see section 1.5) and all derived requirements herein. Detailed implementation is to be left to the design.

4.3.7.2.2 Synthetic Regular Objects QUALIFICATION METHOD: DEMONSTRATION

The synthetic object DB shall re-create the expected (selection effect corrected) orbit distribution of all solar system objects that might be acquired by PS4 in ten years of operation.

4.3.7.2.3 Synthetic Unusual Objects QUALIFICATION METHOD: DEMONSTRATION

The MOPS shall incorporate a population of extremely rare or unknown types of orbits in the synthetic population not to exceed 5% of the total population of synthetic regular objects.


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4.3.7.2.4 Synthetic Unusual Object Flag QUALIFICATION METHOD: DEMONSTRATION

Unusual synthetic objects (Section 4.3.7.2.1) shall be flagged as such in all DBs in which they appear.

4.3.7.3 Size

4.3.7.3.1 Orbits QUALIFICATION METHOD: DEMONSTRATION

This DB shall be capable of holding 108 orbits.

4.3.7.3.2 Shapes QUALIFICATION METHOD: DEMONSTRATION

This DB shall be capable of holding 106 shape models.


The MOPS shall be capable of extracting all parameters for all objects within the Synthetic Objects DB at a rate of 1000/s.


The MOPS shall be capable of writing or modifying all parameters for all objects within the Synthetic Objects DB at a rate of 1000/s.

4.3.8 Tracklets DB


The MOPS shall implement a tracklets DB.


The MOPS tracklets DB shall include all items necessary for, and at a precision to meet, the MOPS Top Level Requirements (see section 1.5) and all derived requirements herein. Detailed implementation is to be left to the design.


The tracklets DB shall be capable of storing 1010 records.

(>~3 × 102 objects/deg2 × 7 deg2/image × 1000 images/night × 365 nights/year × 4 years of operation × 1.0 tracklets/detection)


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4.3.8.4 Read access QUALIFICATION METHOD: DEMONSTRATION

The MOPS shall be capable of extracting all tracklets within 120 arcsec and with rates of motion within 10% of a specified value at the extrapolated time on a given night at a rate of 100/s.

4.3.8.5 Write access QUALIFICATION METHOD: DEMONSTRATION

The MOPS shall be capable of appending 1000 tracklets to the DB within 1s.

4.3.9 World’s observations DB The central repository for the world’s observations of Minor Planets is the Minor Planet Center (MPC).

4.3.9.1 Coordination QUALIFICATION METHOD: DEMONSTRATION

On a regular basis new PS1 observations shall be uploaded to the MPC and new angles-only observations from other observatories shall be downloaded.

4.3.9.2 Interface QUALIFICATION METHOD: DEMONSTRATION

The MOPS shall be capable of retrieving all available parameters in the LC SOT DB from the MPC’s observations DB.


The MOPS shall be capable of downloading MPC observations and writing them into the LC SOT DB at a rate of 1000/s.


The MOPS shall be capable of uploading PS1 observations to the MPC at a rate of 1000/s.

4.3.10 World Derived Parameters DB(s)

4.3.10.1 Read/Write Access QUALIFICATION METHOD: DEMONSTRATION

Read and write access to the various world-derived parameters shall be at a rate of 1000 objects/s.

4.4 Internal Interface Requirements QUALIFICATION METHOD: N/A


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All internal interface requirements are to be left to the design.

4.5 Internal Data Requirements QUALIFICATION METHOD: N/A

All internal data requirements are to be left to the design.

4.6 Computer Resource Requirements

4.6.1.1 Disk Storage QUALIFICATION METHOD: DEMONSTRATION

The MOPS shall provide disk storage for each of the DBs of Section 4.2.4.7 according to Table 4-3.

Table 4-3: Disk Storage Requirements at end of PS1 Operations

Database Size (GB)

Fields 0.2

LC SOT Detections 500,000

HC LOT Detections 500

Derived Object Parameters 1,000

Synthetic Object Parameters 1,100

Tracklets 1,200

4.7 Software Quality Factors

4.7.1 Maintainability QUALIFICATION METHOD: DEMONSTRATION

The MOPS shall be in its stopped mode (4.1.2) for less than 4 hours per week.

Each of the following requirements is intended to increase code maintainability.

4.7.1.1 Regression Tests QUALIFICATION METHOD: DEMONSTRATION

The MOPS shall develop regression tests for all critical components.

4.7.1.2 Unit Tests QUALIFICATION METHOD: DEMONSTRATION

The MOPS shall develop unit tests for all critical components.


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4.7.1.3 Internal documentation QUALIFICATION METHOD: INSPECTION

The MOPS shall provide internal documentation.

4.7.1.4 Operations Documentation & Procedures QUALIFICATION METHOD: INSPECTION

The MOPS shall provide operations documentation and procedures including maintenance instructions updated at least every 6 months.

4.7.2 Portability QUALIFICATION METHOD: DEMONSTRATION

Portability shall be limited to those platforms listed in Section 4.8.1.9.

4.8 Design and implementation constraints

4.8.1 Design & implementation standards QUALIFICATION METHOD: INSPECTION

The MOPS shall follow the IPP programming languages, standards, conventions, architectural requirements, etc, defined in the Pan-STARRS IPP documents PSDC-430-004 and PSDC-430-005 with the following exceptions and/or additions:

4.8.1.1 Version Control and Distribution QUALIFICATION METHOD: INSPECTION

All source code shall be regularly maintained and distributed via CVS.

4.8.1.2 Source Code Installation and Building QUALIFICATION METHOD: INSPECTION

The MOPS shall provide an automated installation and build package for the MOPS for the supported hardware architectures.

4.8.1.3 New source code QUALIFICATION METHOD: INSPECTION

New C code is to comply with ANSI Standard C99

4.8.1.4 Existing source code QUALIFICATION METHOD: INSPECTION

All existing source code (e.g., libraries, legacy and third party code) is to remain in its native language. PERL or SWIG interfaces to non-C code shall be provided.

4.8.1.5 Third party binaries QUALIFICATION METHOD: INSPECTION

Third party binaries shall be x86 ELF compatible.


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4.8.1.6 Scripting language QUALIFICATION METHOD: INSPECTION

All scripting shall be in Perl 5.8.

Table 4-4 – Hungarian Notation

Scope / Type Prefix

static s

global g

float f

int i,n

char c

string sz

Boolean b

long l

short s

double d

pointer p

In this system a double pointer to long shall then have the prefix ‘ppl’

4.8.1.7 Coding style & conventions QUALIFICATION METHOD: INSPECTION

4.8.1.7.1 Hungarian notation

All internally developed C code shall adopt Hungarian prefix notation to indicate variable type. This notation specifies for each variable its scope and/or type according to the following Table 4-4.

4.8.1.7.2 Unit Specification All internally developed C code shall adopt a variable naming convention such that a suffix on each variable with a unit shall be specified.

4.8.1.7.3 Units notation The units suffix shall be an underscore followed by a standardized lower-case abbreviation for the unit. e.g., fDistanceToMoon_au, fXPosition_pix, dRA_deg.

4.8.1.8 Comment conventions QUALIFICATION METHOD: INSPECTION OF CODE AND DOXYGEN OUTPUT


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4.8.1.8.1 C code

Commenting of new C code shall be consistent throughout the code, independent of developer, and compatible with Doxygen parsing.

4.8.1.8.2 Doxygen templates

All Doxygen blocks shall be based upon standardized PS Doxygen templates.

4.8.1.8.3 Other languages

Commenting of new PERL code shall conform to standard PERL documentation procedures.

4.8.1.9 Operating system QUALIFICATION METHOD: TEST ON UNIX SYSTEM

The delivered code is required to run within UNIX operating systems and shall be in compliance with the language-independent UNIX operating system standard, POSIX, Open Group Base Specifications Issue 6, IEEE Std. 1003.1, 2003.

4.8.1.10 Documentation QUALIFICATION METHOD: INSPECTION OF CODE AND DOXYGEN OUTPUT

Documentation shall be provided through the Doxygen commenting conventions or through external PDF files.

4.8.1.11 Makefiles QUALIFICATION METHOD: TEST

Makefiles shall be provided with appropriate flags set so that all code compiles without warnings with “gcc –Wall” (gcc v2.95 and higher) under x86/Linux. This “compilation without warnings” requirement is to be extendable to other identified architectures/operating systems with minimal modifications to Makefiles or configuration scripts.

4.8.1.12 Exit Flags QUALIFICATION METHOD: INSPECTION, TEST

4.8.1.12.1 Existence All code exits shall be flagged by a numerical return value indicating the exit status.

4.8.1.12.2 Values An exit status of 0 (zero) shall indicate successful completion of a code unit.

4.8.1.12.3 Usage The exit status of all routines shall be checked and responded to appropriately by the calling routine.

4.8.1.13 Flexibility and Expandability QUALIFICATION METHOD: INSPECTION, TEST


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4.8.1.13.1 Parallelization SW design and implementation shall take advantage of the parallel nature of the processing tasks.

4.8.1.13.2 Configurability The system shall be capable of being reconfigured to allow for changes in hardware configuration (e.g., number of nodes in a Beowulf cluster).

4.9 Logistics-related requirements

4.9.1 System Backups

4.9.1.1 On-site DB backups QUALIFICATION METHOD: DEMONSTRATION

The MOPS DBs shall be backed up on-site to provide 100% data recovery in the event of disk failure.

4.10 Other requirements The following requirements are identified here as interface specifications with other PS1 components.

4.10.1 Inputs

4.10.1.1 Efficiency of single occurrence transient detections QUALIFICATION METHOD: ANALYSIS

4.10.1.1.1 Detection Efficiency QUALIFICATION METHOD: DEMONSTRATION

Detection efficiency shall be defined as ε=ND/NA where NA is the actual number of objects in a region and ND is the number of those objects identified in the same region to within the required photometric and astrometric accuracy.

4.10.1.1.2 Efficiency parameterization QUALIFICATION METHOD: DEMONSTRATION

The MOPS shall be provided a measure of the detection efficiency (4.10.1.1.1) in each image for identifying SOTs (asteroids and comets) as a function of their magnitude and rate of motion.

4.10.1.1.3 Accuracy QUALIFICATION METHOD: DEMONSTRATION


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The absolute detection efficiency (4.10.1.1.1) shall be known to better than 1% at every flux level corresponding to S/N>5 detections.

4.10.1.2 Single occurrence detections in PS1 images

4.10.1.2.1 Nearly stationary moving objects QUALIFICATION METHOD: ANALYSIS

The search algorithm for transient detections of moving objects with a stellar stationary PSF (e.g. asteroids) in PS1 images shall have a detection efficiency (4.10.1.1.1) of >99% efficient for (total) S/N>5 detections moving at ≥0.1˝/week and <1

o/day.

4.10.1.2.2 Rapidly moving objects QUALIFICATION METHOD: ANALYSIS

The search algorithm for transient detections of moving objects with a stellar stationary PSF (e.g. asteroids) in PS1 images shall have a detection efficiency (4.10.1.1.1) of >95% for (total) S/N>5 detections moving at ≥1

o/day and <10

o/day.

4.10.1.3 Detection of comets in PS1 images

4.10.1.3.1 Nearly stationary moving objects QUALIFICATION METHOD: ANALYSIS

The search algorithm for transient detections of moving objects with a non-stellar stationary PSF (e.g. comets) in PS1 images shall have a detection efficiency (4.10.1.1.1) of >98% for (total) S/N>5 magnitude detections moving at ≥1˝/week and <1

o/day.

4.10.1.3.2 Rapidly moving objects QUALIFICATION METHOD: ANALYSIS

The search algorithm for single occurrence detections of moving objects with a non-stellar stationary PSF (e.g. comets) in PS1 images shall have a detection efficiency (4.10.1.1.1) of >95% efficient for (total) S/N>5 detections moving at ≥1

o/day and

<10o/day.

4.10.1.4 Astrometry QUALIFICATION METHOD: ANALYSIS

Astrometry shall be reported to the MOPS in ICRS coordinates.

4.10.1.5 Astrometric accuracy QUALIFICATION METHOD: ANALYSIS

Astrometry of moving objects reported to the MOPS shall be no worse than 150% of the accuracy for stationary objects of the same integrated flux.


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4.10.1.6 Time standard QUALIFICATION METHOD: ANALYSIS

The time corresponding to an astrometric measurement shall be reported to the MOPS in UTC accurate to at least 50ms.

4.10.1.7 Photometric accuracy QUALIFICATION METHOD: ANALYSIS

Solar system object photometry reported to the MOPS shall be no worse than 150% of the accuracy for stationary objects of the same integrated flux.


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5 Requirements Traceability

Table 5-1 – Requirements Traceability

SRS Requirement Parent Requirement

4.1.1

4.1.2

4.1.3

4.2.1.1

4.2.1.2

4.2.1.3

4.2.1.4

4.2.2.1 9.2.4

4.2.3.1 9.2.4

4.2.3.2

4.2.3.3 9.2.4

4.2.3.4

4.2.3.5 9.2.4

4.2.3.6

4.2.3.7

4.2.3.8

4.2.3.9 9.2.1

4.2.3.10 9.2.1

4.2.3.11 9.2.1

4.2.3.12 9.2.1

4.2.3.13

4.2.3.14

4.2.4.1 9.2.2 & 9.2.3

4.2.4.2 9.2.2 & 9.2.3

4.2.4.3

4.2.4.4

4.2.4.5 9.2.2 & 9.2.3

4.2.4.6 9.2.2 & 9.2.3

4.2.4.7 9.2.2 & 9.2.3


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4.2.4.8

4.3.2.1 9.2.1

4.3.2.2 9.2.1

4.3.2.3 9.2.1

4.3.2.4 9.2.1

4.3.3.1 9.2.1

4.3.3.2 9.2.1

4.3.3.3 9.2.1

4.3.3.4.1 9.2.1

4.3.3.4.2 9.2.1

4.3.4.1 9.2.1

4.3.4.2 9.2.1

4.3.4.3 9.2.1

4.3.4.4.1 9.2.1

4.3.4.4.2 9.2.1

4.3.4.5.1 9.2.1

4.3.4.5.2 9.2.1

4.3.5.1 9.2.1

4.3.5.2 9.2.1

4.3.5.3 9.2.1

4.3.5.4.1 9.2.1

4.3.5.5.1 9.2.1

4.3.5.5.2 9.2.1

4.3.6.1 9.2.1

4.3.6.2 9.2.1

4.3.6.3 9.2.1

4.3.6.4 9.2.1

4.3.6.5 9.2.1

4.3.6.6 9.2.1

4.3.7.1 9.2.4

4.3.7.2.1 9.2.4

4.3.7.2.2 9.2.4

4.3.7.2.3 9.2.4

4.3.7.2.4 9.2.4


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4.3.7.3.1 9.2.4

4.3.7.3.2 9.2.4

4.3.7.4 9.2.4

4.3.7.5 9.2.4

4.3.8.1 9.2.1

4.3.8.2 9.2.1

4.3.8.3 9.2.1

4.3.8.4 9.2.1

4.3.8.5 9.2.1

4.3.9.1

4.3.9.2

4.3.9.3

4.3.9.4

4.3.10

4.3.10.1

4.6

4.6.1.1

4.7.1

4.7.1.1 4.7.1

4.7.1.2 4.7.1

4.7.1.3 4.7.1

4.7.1.4 4.7.1

4.7.2 4.7.1

4.8.1 4.7.1

4.8.1.1 4.7.1

4.8.1.2 4.7.1

4.8.1.3 4.7.1

4.8.1.4 4.7.1

4.8.1.5 4.7.1

4.8.1.6 4.7.1

4.8.1.7 4.7.1

4.8.1.7.1 4.7.1

4.8.1.7.2 4.7.1

4.8.1.7.3 4.7.1


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4.8.1.8.1 4.7.1

4.8.1.8.2 4.7.1

4.8.1.8.3 4.7.1

4.8.1.9 4.7.1

4.8.1.10 4.7.1

4.8.1.11 4.7.1

4.8.1.12.1 4.1

4.8.1.12.2 4.1

4.8.1.12.3 4.1

4.8.1.13.1 4.7.1

4.8.1.13.2 4.7.1

4.9.1.1 9.2.1

4.10.1.1.1 9.2.4

4.10.1.1.2 9.2.4

4.10.1.1.3 9.2.4

4.10.1.2.1 9.2.2 & 9.2.3

4.10.1.2.2 9.2.2 & 9.2.3

4.10.1.3.1 9.2.2 & 9.2.3

4.10.1.3.2 9.2.2 & 9.2.3

4.10.1.4 9.2.2 & 9.2.3

4.10.1.5 9.2.2 & 9.2.3

4.10.1.6 9.2.2 & 9.2.3

4.10.1.7 9.2.2 & 9.2.3


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6 Notes


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7 Appendices

7.1 Definitions

Table 7-1 – Acronym Definitions (alphabetical)

Acronym Meaning

IAU International Astronomical Union

CfA Center for Astrophysics (Harvard)

CSCI Computer Software Configuration Item

DB Database - could be any format or structure, relational or flat data base, distributed or local, satisfying access and search speed requirements. Final format left to MOPS design.

EPO Education & Public Outreach

FIFO First in First out

HC High Confidence

IAU International Astronomical Union

ICRS International Celestial Reference System

IEO Interior to Earth’s Orbit

IOD Initial Orbit Determination

IPP Image Processing Pipeline

JPL Jet Propulsion Laboratory

KBO Kuiper Belt Object

LC Low Confidence

MB Main Belt of asteroids between Mars and Jupiter

MOPS Moving Object Processing System for PS1

MPC Minor Planet Center of the IAU currently located at the CfA.

MVP MOPS Verification Program

NEO Near Earth Object. An orbject with an orbit with perihelion <1.3AU.

PHO Potentially Hazardous Object. An object with an orbit that approaches Earth’s orbit to within 0.05AU.

PS Pan-STARRS – the full Pan-STARRS system

PS1 Pan-STARRS 1 – the first Pan-STARRS telescope


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PSF Point Spread Function

PSPS Published Science Products Subsystem

PTS1 PS1 Telescope Scheduler

SCD System Concept Definition

SDO Scattered Disk Object

SGS Science Goals Statement

SOT Single Occurrence Transient

SRS Software Requirement Specification

SS Solar System

TAI International Atomic Time

TBD To Be Determined

TBR To Be Reviewed

TLA Three Letter Acronym

TNO Trans-Neptunian Object. Objects beyond the orbit of Neptune include the classical Kuiper Belt, resonant objects, Scattered Disk Objects, Oort cloud objects, etc.

TTI Transient Time Interval. The desired time interval between successive exposures for identifying moving objects in pairs of images.

∆TTI Delta Transient Time Interval. The allowed departure (plus/minus) from a TTI between successive images used in identifying moving objects.

WBS Work Breakdown Structure

Table 7-2 – Object Identification Terminology

Terms Meaning

Detection A signal above a specified S/N in an image.

Observation A detection that has been associated with an object.

Designation The identifying label assigned to newly identified objects.

Orbit Identification The identification of two separately determined orbits as representing the same object.

Attribution The identification of a detection with a known orbit.

Linkage The identification of sets of detections that allow an orbit determination for an object.