[dtparr]

Speaking of reference frames, I deal with quite a few for Earth-bound things, and the primary ones we use are ECEF (Earth-Centered, Earth-Fixed) and ECI (Earth-Centered, Inertial), which then we will often move to a relative local frame for whatever object matters.

Is the equivalent set available for Martian Nav (MCMF/MCI, I guess), or do you have different/specialized/etc. frames based on something unique to Mars.

[foobarbecue]

Yes... there are similar frames for Mars and other bodies. A good intro: https://naif.jpl.nasa.gov/pub/naif/toolkit_docs/Tutorials/pd...

For the rover, we're pretty much always dealing in local coordinate systems based on reference frames defined using the rover's observations of the sun and alignment of local imagery with orbital imagery. The two frames used most frequently are called RNAV (centered on the rover) and SITE (centered on where we last did a sun observation). But then there is a tree of frame transformations for knowing the location and orientation of each part of the rover with a lot of named frames (especially important for operating the robotic arm, which I also do).