KPL/FK Mars Express Spacecraft and Beagle-2 Lander Frames Kernel ======================================================================== This frame kernel contains complete set of frame definitions for the Mars Express Spacecraft (MEX) and Beagle-2 Lander (BEAGLE2) including definitions for the MEX fixed and MEX science instrument frames and BEAGLE2 fixed, BEAGLE2 instrument, and landing site local frames. This kernel also contains NAIF ID/name mapping for the MEX and BEAGLE2 instruments. Version and Date ======================================================================== Version 1.4 -- January 23, 2019 -- Boris Semenov, NAIF Marc Costa Sitja, ESAC/ESA Corrected typo in the MEX_PFS_NADIR_SWC definition (SCW->SWC) Updated SPICAM port frame description and diagram Added more details to Version 1.3 version entry Corrected VMC frame definition typo. Version 1.3 -- January 13, 2019 -- Marc Costa Sitja, ESAC/ESA Updated PFS frames: - removed generic nadir frame -- MEX_PFS_NADIR/-41533 - added PFS nadir channel frames -- MEX_PFS_NADIR_LWC/-41537 and MEX_PFS_NADIR_SWC/-41533 - incorporated actual alignments into all LWC and SWC frames -- MEX_PFS_SWC/-41510, MEX_PFS_LWC/-41520, MEX_PFS_NADIR_LWC/-41537, and MEX_PFS_NADIR_SWC/-41533 Updated SPICAM frames: - removed old SUV/SIR frames -- MEX_SPICAM_SUV/-41620, MEX_SPICAM_SIR/-41610, MEX_SPICAM_SIR_SOLAR/-41611, and MEX_SPICAM_SUV_SOLAR/-41621 - added detector port frames -- MEX_SPICAM_STELLAR/-41601, MEX_SPICAM_SOLAR/-41602, and MEX_SPICAM_NADIR/-41603 Added Star Tracker frames -- MEX_STR_A/-41051, MEX_STR_B/MEX_STR_B Added MARSIS base frame -- MEX_MARSIS_BASE/-41300 Removed some SPICAM name/ID mappings: MEX_SPICAM_SIR -41610 MEX_SPICAM_SIR_SOLAR -41611 MEX_SPICAM_SUV -41620 MEX_SPICAM_SUV_SOLAR -41621 Added new STR, MARSIS, PFS, and SPICAM name/ID mappings: MEX_STR_A -41071 MEX_STR_B -41072 MEX_MARSIS_250KM -41301 MEX_MARSIS_1400KM -41302 MEX_PFS_SWC_25_LEFT -41511 MEX_PFS_SWC_12_LEFT -41512 MEX_PFS_SWC_NADIR -41513 MEX_PFS_SWC_12_RIGHT -41514 MEX_PFS_SWC_25_RIGHT -41515 MEX_PFS_SWC_COLD_SPACE -41516 MEX_PFS_LWC_25_LEFT -41521 MEX_PFS_LWC_12_LEFT -41522 MEX_PFS_LWC_NADIR -41523 MEX_PFS_LWC_12_RIGHT -41524 MEX_PFS_LWC_25_RIGHT -41525 MEX_PFS_LWC_COLD_SPACE -41526 MEX_SPICAM_UV -41610 MEX_SPICAM_UV1_STAR -41611 MEX_SPICAM_UV2_SUN -41612 MEX_SPICAM_UV1_NADIR_SLIT -41613 MEX_SPICAM_UV1_NADIR_BIN_2 -41614 MEX_SPICAM_UV1_NADIR_BIN_4 -41615 MEX_SPICAM_UV1_NADIR_BIN_8 -41616 MEX_SPICAM_UV1_NADIR_BIN_16 -41617 MEX_SPICAM_UV1_NADIR_BIN_32 -41618 MEX_SPICAM_UV1_CCD -41619 MEX_SPICAM_IR -41620 MEX_SPICAM_IR1_STELLAR -41621 MEX_SPICAM_IR2_SOLAR -41622 MEX_SPICAM_IR1_NADIR -41623 Edited comments and updated contact information. Version 1.2 -- December 10, 2013 -- J. Vazquez, PSA/ESA, B. Semenov, NAIF Updated HRSC SRC frame orientation with information provided by T. Duxbury and T. Roatsch ([17]). Version 1.1 -- January 21, 2011 -- J. Vazquez, PSA/ESAC Changed rotation angle for MEX_PFS_COLD_SPACE from 90 deg. to 85 deg. Version 1.0 -- June 16, 2008 -- Jorge Diaz del Rio, MIG Added Visual Monitoring Camera (VMC) frame. Version 0.9 -- May 21, 2008 -- J. Vazquez Added MEX_SA+Y_ZERO and MEX_SA-Y_ZERO, fixed offset frames with respect to MEX_SPACECRAFT. Modified MEX_SA_+Y and MEX_SA_-Y. The cells of the Solar Arrays face the +Z axis of the frames. The frames are type 3 frames that rotate with respect to MEX_SA+Y_ZERO and MEX_SA-Y_ZERO. Version 0.8 -- September 17, 2004 -- Boris Semenov, NAIF Added ASPERA_IMAS frame. This frame was introduced because it matches the "natural" IMA spherical coordinate system and the way IMA operates better than the ASPERA_IMA frame defined originally (see the latest ASPERA IK file for more discussion on this issue.) Version 0.7 -- July 19, 2004 -- Boris Semenov, NAIF Corrected HGA frame to incorporate 5 degree boresight offset towards +Z. Version 0.6 -- March 15, 2004 -- Boris Semenov, NAIF Incorporated revised OMEGA frame layout (no OMEGA_BASE and OMEGA_SWIR frames, OMEGA_SWIR_S defined w.r.t. SPACECRAFT, OMEGA_SWIR_L and OMEGA_VNIR defined w.r.t OMEGA_SWIR_S) and initial in-flight calibrated alignments provided by Nicolas Manaud on March 12, 2004. Renamed OMEGA_SWIR_S to OMEGA_SWIR_C for consistency with the conventions accepted by OMEGA team. Version 0.5 -- December 15, 2003 -- Boris Semenov, NAIF Incorporated in-flight calibrated alignments provided by Thomas Roatsch on December 15, 2003 into the HRSC_HEAD and HRSC_SRC frame definitions. Renamed and re-defined ASPERA Solar Sensor frames, MEX_ASPERA_SS1 and MEX_ASPERA_SS2. Version 0.4 -- October 5, 2003 -- Boris Semenov, NAIF Modified ASPERA frames to match the conventions accepted by the ASPERA team, specifically: -- changed MEX_ASPERA_BASE frame name to MEX_ASPERA_URF -- changed MEX_ASPERA_SCANNER frame name to MEX_ASPERA_SAF -- replaced MEX_ASPERA_NPD frame with MEX_ASPERA_NPD1 and MEX_ASPERA_NPD2 -- added MEX_ASPERA_IMA_URF frame (in the IMA branch between MEX_SPACECRAFT and MEX_ASPERA_IMA frames) -- added MEX_ASPERA_SS0 and MEX_ASPERA_SS1 frames Updated ASPERA frame tree diagrams and descriptions accordingly Modified MEX_HRSC_SRC frame to incorporate 90 degree rotation w.r.t to the MEX_HRSC_BASE frame (per HRSC calibration results) Updated BEAGLE2_LOCAL_LEVEL frame to correspond to the project official landing site coordinates (areocentric LON=90.75 & LAT=11.6) Version 0.3 -- June 2, 2003 -- Boris Semenov, NAIF Changed the types of and relationship between the MEX_SPACECRAFT (mechanical) and MEX_SC_REF (ACS reference) frames. Now the MEX_SC_REF frame is CK-based because telemetry and S/C CKs contains orientation for it and the MEX_SPACECRAFT frame is fixed offset (rotated by 180 about Z) with respect to MEX_SC_REF. Version 0.2 -- January 2, 2002 -- Boris Semenov, NAIF Added frames and IDs for the short and long wavelength OMEGA SWIR channels per review feedback from Yves Langevin, OMEGA Team (December 2001.) Version 0.1 -- December 5, 2001 -- Boris Semenov, NAIF Updated SPICAM frames per review feedback from Emmanuel Dimarellis (e-mail from November 11, 2001.) Version 0.0 -- June 18, 2001 -- Boris Semenov, NAIF Preliminary Version. Pending review and approval by MEX and BEAGLE2 instrument teams and ESOC Science operations team. References ======================================================================== 1. ``Frames Required Reading'', NAIF. 2. ``Kernel Pool Required Reading'', NAIF. 3. ``C-Kernel Required Reading'', NAIF. 4. ``ASPERA-3'' ME-ASP-DS-0002, Draft Rev. 1, 23 April, 1999. 5. ``HRSC on Mars Express'' Presentation by R.Pischel et al, May 9, 2001. 6. ``Mars Express Hypotheses for AOCS Studies'', Draft, Issue 02, Rev 00, 9/11/00, by Astrium. 7. ``OMEGA PID'', PID-B, OME-CI-0022-003-IAS, 25/02/00. 8. ``PFS Instrument Description'', PFS-ICDR-02, June 5, 2000. 9. ``SPICAM LIGHT'', PID-B, PS-DES-011, August 19, 1999. 10. ``Beagle-2 Landing Site Selection Press Release'', December 20, 2000 http://spdext.estec.esa.nl/content/news/index.cfm?aid=9&cid=260 &oid=25649. 11. Review comments by Emmanuel Dimarellis, SPICAM Team, e-mail from November 11, 2001. 12. Review comments by Yves Langevin, OMEGA Team, personal communication in December 2001. 13. ASPERA Sensor Numbering, by Stas Barabash, Latest Version, Aug 2003. 14. HRSC Earth-Moon Calibration Results, notes by T. Roatsch, Jul 2003. 15. OMEGA in-flight calibrated alignments, e-mail by N. Manaud, Mar 2004. 16. ``VMC for MEX. Flight User Manual'', MEX-ESA-VMC-MA-0003, Issue 4, Revision 2, January 17, 2003. 17. ``SRC Alignment & Geometric Calibration, NAIF SPICE Kernels, Image Restoration and Vesta'', Harald Hoffmann, Thomas Roatsch, Stephan Elgner and Klaus-Dieter Matz, November 25, 2013. 18. ``MARS EXPRESS SPICAM GEOMETRY Computation'', SPICAM_GEOMETRY_DESC.TXT, version 014, September 15th, 2005. 19. ``Planetary Fourier Spectrometer Instrument Calibration Report, Volume II, V. Formisano, M. GIiuranna, et al., CNR IFSI, December 2002. 20. ``MEX conditions for STR blindings'', e-mail from Michael Mueller, 13th September 2017. Contact Information ======================================================================== If you have any questions regarding this file contact SPICE support at ESAC: Marc Costa Sitja (+34) 91-8131-457 mcosta@sciops.esa.int, esa_spice@sciops.esa.int or NAIF at JPL: Boris Semenov +1 (818) 354-8136 Boris.Semenov@jpl.nasa.gov Implementation Notes ======================================================================== This file is used by the SPICE system as follows: programs that make use of this frame kernel must `load' the kernel, normally during program initialization. The SPICELIB routine FURNSH and CSPICE function furnsh_c load a kernel file into the kernel pool as shown below. CALL FURNSH ( 'frame_kernel_name' ) furnsh_c ( "frame_kernel_name" ); This file was created and may be updated with a text editor or word processor. Mars Express Mission NAIF ID Codes ======================================================================== The following names and NAIF ID codes are assigned to the MEX spacecraft, its structures and science instruments (the keywords implementing these definitions are located in the section "Mars Express Mission NAIF ID Codes -- Definition Section" at the end of this file): MEX Spacecraft and Spacecraft Structures names/IDs: MEX -41 (synonyms: MARS EXPRESS, MARS-EXPRESS, MARS_EXPRESS) MEX_SPACECRAFT -41000 (synonym: MEX_SC) MEX_SA+Y -41011 MEX_SA-Y -41012 MEX_SA+Y_GIMBAL -41013 MEX_SA-Y_GIMBAL -41014 MEX_HGA -41020 MEX_MELACOM_1 -41031 MEX_MELACOM_2 -41032 MEX_LGA -41040 MEX_STR_A -41071 MEX_STR_B -41072 ASPERA names/IDs: MEX_ASPERA -41100 MEX_ASPERA_URF -41110 MEX_ASPERA_SAF -41111 MEX_ASPERA_ELS -41120 MEX_ASPERA_NPI -41130 MEX_ASPERA_NPD1 -41141 MEX_ASPERA_NPD2 -41142 MEX_ASPERA_IMA_URF -41150 MEX_ASPERA_IMA -41151 MEX_ASPERA_IMAS -41152 MEX_ASPERA_SS1 -41161 MEX_ASPERA_SS2 -41162 HRSC names/IDs: MEX_HRSC -41200 MEX_HRSC_HEAD -41210 MEX_HRSC_S2 -41211 MEX_HRSC_RED -41212 MEX_HRSC_P2 -41213 MEX_HRSC_BLUE -41214 MEX_HRSC_NADIR -41215 MEX_HRSC_GREEN -41216 MEX_HRSC_P1 -41217 MEX_HRSC_IR -41218 MEX_HRSC_S1 -41219 MEX_HRSC_SRC -41220 MARSIS names/IDs: MEX_MARSIS -41300 MEX_MARSIS_250KM -41301 MEX_MARSIS_1400KM -41302 MEX_MARSIS_DIPOLE_1 -41310 MEX_MARSIS_DIPOLE_2 -41320 MEX_MARSIS_MONOPOLE -41330 OMEGA names/IDs: MEX_OMEGA -41400 MEX_OMEGA_VNIR -41410 MEX_OMEGA_SWIR -41420 MEX_OMEGA_SWIR_C -41421 MEX_OMEGA_SWIR_L -41422 PFS names/IDs: MEX_PFS -41500 MEX_PFS_SWC -41510 MEX_PFS_SWC_25_LEFT -41511 MEX_PFS_SWC_12_LEFT -41512 MEX_PFS_SWC_NADIR -41513 MEX_PFS_SWC_12_RIGHT -41514 MEX_PFS_SWC_25_RIGHT -41515 MEX_PFS_SWC_COLD_SPACE -41516 MEX_PFS_LWC -41520 MEX_PFS_LWC_25_LEFT -41521 MEX_PFS_LWC_12_LEFT -41522 MEX_PFS_LWC_NADIR -41523 MEX_PFS_LWC_12_RIGHT -41524 MEX_PFS_LWC_25_RIGHT -41525 MEX_PFS_LWC_COLD_SPACE -41526 MEX_PFS_SCANNER -41530 SPICAM names/IDs: MEX_SPICAM -41600 MEX_SPICAM_UV -41610 MEX_SPICAM_UV1_STAR -41611 MEX_SPICAM_UV2_SUN -41612 MEX_SPICAM_UV1_NADIR_SLIT -41613 MEX_SPICAM_UV1_NADIR_BIN_2 -41614 MEX_SPICAM_UV1_NADIR_BIN_4 -41615 MEX_SPICAM_UV1_NADIR_BIN_8 -41616 MEX_SPICAM_UV1_NADIR_BIN_16 -41617 MEX_SPICAM_UV1_NADIR_BIN_32 -41618 MEX_SPICAM_UV1_CCD -41619 MEX_SPICAM_IR -41620 MEX_SPICAM_IR1_STELLAR -41621 MEX_SPICAM_IR2_SOLAR -41622 MEX_SPICAM_IR1_NADIR -41623 VMC names/IDs: MEX_VMC -41700 The following names and NAIF ID codes are assigned to the Beagle-2 lander, its structures and science instruments: BEAGLE2 -44 (synonyms: BEAGLE 2, BEAGLE-2, BEAGLE_2) BEAGLE2_LANDER -44000 BEAGLE2_GAP -44100 BEAGLE2_PAW -44200 BEAGLE2_LANDING_SITE -44900 (synonyms: BEAGLE2_LS, BEAGLE2_SITE) Mars Express Frames ======================================================================== The following MEX and BEAGLE2 frames are defined in this kernel file: Name Relative to Type NAIF ID ====================== =================== ============ ======= MEX Spacecraft and Spacecraft Structures frames: ------------------------------------------------ MEX_SPACECRAFT MEX_SC_REF FIXED -41000 MEX_SC_REF J2000 CK -41001 MEX_SA+Y_ZERO MEX_SPACECRAFT FIXED -41013 MEX_SA+Y MEX_SA+Y_ZERO CK -41011 MEX_SA-Y_ZERO MEX_SPACECRAFT FIXED -41014 MEX_SA-Y MEX_SA-Y_ZERO CK -41012 MEX_HGA MEX_SPACECRAFT FIXED -41020 MEX_MELACOM_1 MEX_SPACECRAFT FIXED -41031 MEX_MELACOM_2 MEX_SPACECRAFT FIXED -41032 MEX_LGA MEX_SPACECRAFT FIXED -41040 MEX_STR_A MEX_SPACECRAFT FIXED -41051 MEX_STR_B MEX_SPACECRAFT FIXED -41052 ASPERA frames: -------------- MEX_ASPERA_URF MEX_SPACECRAFT FIXED -41110 MEX_ASPERA_SAF MEX_ASPERA_URF CK -41111 MEX_ASPERA_ELS MEX_ASPERA_SAF FIXED -41120 MEX_ASPERA_NPI MEX_ASPERA_SAF FIXED -41130 MEX_ASPERA_NPD1 MEX_ASPERA_SAF FIXED -41141 MEX_ASPERA_NPD2 MEX_ASPERA_SAF FIXED -41142 MEX_ASPERA_IMA_URF MEX_SPACECRAFT FIXED -41150 MEX_ASPERA_IMA MEX_ASPERA_IMA_URF FIXED -41151 MEX_ASPERA_IMAS MEX_ASPERA_IMA FIXED -41152 MEX_ASPERA_SS1 MEX_ASPERA_SAF FIXED -41161 MEX_ASPERA_SS2 MEX_ASPERA_SAF FIXED -41162 HRSC frames: ------------ MEX_HRSC_BASE MEX_SPACECRAFT FIXED -41200 MEX_HRSC_HEAD MEX_HRSC_BASE FIXED -41210 MEX_HRSC_SRC MEX_HRSC_BASE FIXED -41220 MARSIS frames: -------------- MEX_MARSIS_BASE MEX_SPACECRAFT FIXED -41300 MEX_MARSIS_DIPOLE_1 MEX_SPACECRAFT FIXED -41310 MEX_MARSIS_DIPOLE_2 MEX_SPACECRAFT FIXED -41320 MEX_MARSIS_MONOPOLE MEX_SPACECRAFT FIXED -41330 OMEGA frames: ------------- MEX_OMEGA_SWIR_C MEX_SPACECRAFT FIXED -41421 MEX_OMEGA_SWIR_L MEX_OMEGA_SWIR_C FIXED -41422 MEX_OMEGA_VNIR MEX_OMEGA_SWIR_C FIXED -41410 PFS frames: ------------- MEX_PFS_BASE MEX_SPACECRAFT FIXED -41500 MEX_PFS_SCANNER MEX_PFS_BASE CK -41530 MEX_PFS_SWC MEX_PFS_SCANNER FIXED -41510 MEX_PFS_LWC MEX_PFS_SCANNER FIXED -41520 MEX_PFS_25_LEFT MEX_PFS_BASE FIXED -41531 MEX_PFS_12_LEFT MEX_PFS_BASE FIXED -41532 MEX_PFS_NADIR_SWC MEX_PFS_BASE FIXED -41533 MEX_PFS_NADIR_LWC MEX_PFS_BASE FIXED -41537 MEX_PFS_12_RIGHT MEX_PFS_BASE FIXED -41534 MEX_PFS_25_RIGHT MEX_PFS_BASE FIXED -41535 MEX_PFS_COLD_SPACE MEX_PFS_BASE FIXED -41536 SPICAM frames: -------------- MEX_SPICAM_BASE MEX_SPACECRAFT FIXED -41600 MEX_SPICAM_STELLAR MEX_SPICAM_BASE FIXED -41601 MEX_SPICAM_SOLAR MEX_SPICAM_BASE FIXED -41602 MEX_SPICAM_NADIR MEX_SPICAM_BASE FIXED -41603 VMC frames: ----------- MEX_VMC MEX_SPACECRAFT FIXED -41700 Beagle-2 Lander Frame: --------------- BEAGLE2_LOCAL_LEVEL IAU_MARS FIXED -44900 BEAGLE2_LANDER BEAGLE2_LOCAL_LEVEL FIXED -44000 Other Beagle-2 frames are TBD. Spacecraft and Its Structures Frame Tree ======================================================================== The diagram below shows the Mars Express spacecraft and its structures frame hierarchy (not including science instrument frames.) "J2000" INERTIAL +-----------------------------------------------------+ | | | |<-pck | |<-pck | | | V | V "IAU_MARS" | "IAU_EARTH" MARS BODY-FIXED | EARTH BODY-FIXED --------------- | ---------------- | | |<-fixed | | | V | "BEAGLE2_LOCAL_LEVEL" | -------------------- | | | |<-fixed | | | V | "BEAGLE2_LANDER" | ---------------- | | |<-ck "MEX_STR_A" | ----------- V ^ "MEX_SC_REF" | ------------ | "MEX_STR_B" | | ----------- |<-fixed | ^ | | | V fixed->| |<-fixed "MEX_SPACECRAFT" | | +----------------------------------------------------+-----+ | | . | | | | |<-fixed |<-fixed . fixed->| | | |<-fixed | | . | | | | V V . V | | V "MEX_SA+Y_ZERO" "MEX_SA-Y_ZERO" . "MEX_HGA" | | "MEX_LGA" -------------- -------------- . --------- | | --------- | | . | | |<-ck |<-ck . fixed->| |<-fixed | | . | | V v . V V "MEX_SA+Y" "MEX_SA-Y" . "MEX_MELACOM_1" "MEX_MELACOM_2" --------- ---------- . --------------- --------------- . . V Individual instrument frame trees are provided in the corresponding sections of this file MEX Spacecraft and Spacecraft Structures Frames ======================================================================== This section of the file contains the definitions of the spacecraft and spacecraft structures frames. MEX Spacecraft Frames -------------------------------------- Two reference frames are defined for the MEX spacecraft (see [6]) -- "mechanical/structure frame" (Xb,Yb,Zb) and "spacecraft reference frame" (Xa,Ya,Za). The "mechanical/structure frame" frame (Xb,Yb,Zb), with respect to which orientation of all science instruments and spacecraft structures is defined, is called MEX_SPACECRAFT frame in the MEX SPICE implementation. This frame is defined as follows: - the payloads are located on the +Zb axis (the Main Engine being on the -Zb axis); - the HGA is located on -Xb axis; - the +Y axis is defined so that the (Xb,Yb,Zb) frame is right- handed. - the origin of this frames is the launch vehicle interface point. The "spacecraft reference frame" (Xa,Ya,Za) frame, used primarily in AOSC studies, is the one for which orientation is determined on-board the spacecraft. This frame is called MEX_SC_REF in MEX SPICE implementation. This frame is related to MEX_SPACECRAFT frame (Xb,Yb,Zb) as a follows: - +Xa = -Xb; - +Ya = -Yb; - +Za = Zb ; - the origin of this frame is also located at the launch vehicle interface point. These diagrams illustrate the MEX_SPACECRAFT and MEX_SC_REF frames: +X S/C side view: ----------------- ^ | Nadir | Direction of flight ----> Beagle-2 .'. .' `. \_____/ ._____________. |Science Deck | =====================o | | o===================== -Y Solar Array | +Zsc | +Y Solar Array | +Zsc_ref | | ^ | | | | | | | .______|______. +Xsc is out | | | of the page +Ysc_ref <-------*-------> +Ysc / \ +Xsc_ref is into /_____\ Main Engine the page +Z S/C side view: ----------------- HGA ____ +Xsc_ref \ ^ / .________________. .__`.__|__.'__. .________________. | \ | | | / | | \ | _|_ | / | | +Ysc_ref .' | ` +Ysc | | | |o<-------o------->o| | | | | `_|+Zsc | | | | / | |+Zsc_ref \ | ._________________/ .______|______. \_________________. -Y Solar Array | +Y Solar Array V +Xsc Both, +Zsc and +Zsc_ref are out of the page As seen on the diagram, the MEX_SPACECRAFT and MEX_SC_REF frames are rotated 180 degrees about +Z with respect to each other. Since the orientation of the MEX_SC_REF frame is computed on-board, sent down in telemetry, and stored in the S/C CK files, it is defined as a CK-based frame. The MEX_SPACECRAFT frame is then defined as a fixed-offset frame -- rotated by 180 degrees about +Z axis -- with respect to the MEX_SC_REF frame. These sets of keywords define the MEX_SPACECRAFT and MEX_SC_REF frames: \begindata FRAME_MEX_SPACECRAFT = -41000 FRAME_-41000_NAME = 'MEX_SPACECRAFT' FRAME_-41000_CLASS = 4 FRAME_-41000_CLASS_ID = -41000 FRAME_-41000_CENTER = -41 TKFRAME_-41000_RELATIVE = 'MEX_SC_REF' TKFRAME_-41000_SPEC = 'ANGLES' TKFRAME_-41000_UNITS = 'DEGREES' TKFRAME_-41000_AXES = ( 1, 2, 3 ) TKFRAME_-41000_ANGLES = ( 0.0, 0.0, 180.0 ) FRAME_MEX_SC_REF = -41001 FRAME_-41001_NAME = 'MEX_SC_REF' FRAME_-41001_CLASS = 3 FRAME_-41001_CLASS_ID = -41001 FRAME_-41001_CENTER = -41 CK_-41001_SCLK = -41 CK_-41001_SPK = -41 \begintext MEX Solar Array Frames -------------------------------------- Note that, unlike in most spacecrafts, the +Y panel is situated along the -Y axis of the MEX_SPACECRAFT frame, and the -Y panel is situated along the +Y axis. The reason is that the solar arrays are named with respect to the MEX_SC_REF frame. Two auxiliary frames, MEX_SA+Y_ZERO and MEX_SA-Y_ZERO, fixed with respect to the MEX_SPACECRAFT frame, are defined as follows: - +Y is parallel to the longest side of the array, positively orientated from the yoke to the end of the wing. - +Z is orientated along the -X axis of MEX_SPACECRAFT. It is equal to the -X axis of MEX_SPACECRAFT. - +X is defined such that (X,Y,Z) is right handed. Since the MEX solar arrays can be articulated (having one degree of freedom), the solar Array frames, MEX_SA+Y and MEX_SA-Y, are defined as CK frames with their orientation given relative to MEX_SA+Y_ZERO and MEX_SA-Y_ZERO. Both array frames are defined as follows (from [6]): - +Y is parallel to the longest side of the array, positively oriented from the yoke to the end of the wing; - +Z is normal to the solar array plane, the solar cells facing +Z; - +X is defined such that (X,Y,Z) is right handed; - the origin of the frame is located at the yoke geometric center. The axis of rotation is parallel to the Y axis of the spacecraft and solar array frames. This diagram illustrates the solar array frames: +X S/C side view: ----------------- ^ +Zsc | .'. ^ +Xsa-y_zero / | \ | /Beagle-2 | +Zsa+y_zero \_____/ | +Zsa-y_zero is into the page is into the page .______|______. | +Ysa+y_zero <------x |Science Deck | x---------> +Ysa-y_zero ._____________________|__ | | | ________________________. | | \ | | | / | | | o| | |o | |_____________________|__/ | | | \________________________| | | | o---------> +Ysc | | +Xsc | V | (out of the page ) +Xsa+y_zero ._____________. | | ._________. / \ /_____\ Main Engine These sets of keywords define solar array frames as CK frames: \begindata FRAME_MEX_SA+Y_ZERO = -41013 FRAME_-41013_NAME = 'MEX_SA+Y_ZERO' FRAME_-41013_CLASS = 4 FRAME_-41013_CLASS_ID = -41013 FRAME_-41013_CENTER = -41 TKFRAME_-41013_SPEC = 'ANGLES' TKFRAME_-41013_RELATIVE = 'MEX_SPACECRAFT' TKFRAME_-41013_ANGLES = ( 180.0, -90.0, 0.0 ) TKFRAME_-41013_AXES = ( 3, 2, 3 ) TKFRAME_-41013_UNITS = 'DEGREES' FRAME_MEX_SA+Y = -41011 FRAME_-41011_NAME = 'MEX_SA+Y' FRAME_-41011_CLASS = 3 FRAME_-41011_CLASS_ID = -41011 FRAME_-41011_CENTER = -41 CK_-41011_SCLK = -41 CK_-41011_SPK = -41 FRAME_MEX_SA-Y_ZERO = -41014 FRAME_-41014_NAME = 'MEX_SA-Y_ZERO' FRAME_-41014_CLASS = 4 FRAME_-41014_CLASS_ID = -41014 FRAME_-41014_CENTER = -41 TKFRAME_-41014_SPEC = 'ANGLES' TKFRAME_-41014_RELATIVE = 'MEX_SPACECRAFT' TKFRAME_-41014_ANGLES = ( 0.0, 90.0, 0.0 ) TKFRAME_-41014_AXES = ( 3, 2, 1 ) TKFRAME_-41014_UNITS = 'DEGREES' FRAME_MEX_SA-Y = -41012 FRAME_-41012_NAME = 'MEX_SA-Y' FRAME_-41012_CLASS = 3 FRAME_-41012_CLASS_ID = -41012 FRAME_-41012_CENTER = -41 CK_-41012_SCLK = -41 CK_-41012_SPK = -41 \begintext MEX High Gain Antenna Frame -------------------------------------- The MEX High Gain Antenna is rigidly attached to the -X side of the S/C bus. Therefore, the MEX HGA frame, MEX_HGA, is defined as a fixed offset frame with its orientation given relative to the MEX_SPACECRAFT frame. The MEX_HGA frame is defined as follows: - +Z axis is in the antenna boresight direction (nominally 5 degrees off the S/C -X axis towards the S/C +Z axis); - +Y axis is in the direction of the S/C +Y axis ; - +X completes the right hand frame; - the origin of the frame is located at the geometric center of the HGA dish outer rim circle. This diagram illustrates the MEX_HGA frame: +Z S/C side view: ----------------- ^+Zhga | | | +Xhga | +Yhga _____o-------> \ / .________________. .__`._____.'__. .________________. | \ |Beagle-2 | / | | \ | ___ | / | | | | .' ` +Ysc | | | |o=| | o------->o| | | | | `_|+Zsc | | | | / | | | \ | ._________________/ .______|______. \_________________. -Y Solar Array | +Y Solar Array V +Xsc Nominally a single rotation of -85 degrees about the +Y axis is needed to co-align the S/C frame with the HGA frame. Since the SPICE frames subsystem calls for specifying the reverse transformation--going from the instrument or structure frame to the base frame--as compared to the description given above, the order of rotations assigned to the TKFRAME_*_AXES keyword is also reversed compared to the above text, and the signs associated with the rotation angles assigned to the TKFRAME_*_ANGLES keyword are the opposite from what is written in the above text. \begindata FRAME_MEX_HGA = -41020 FRAME_-41020_NAME = 'MEX_HGA' FRAME_-41020_CLASS = 4 FRAME_-41020_CLASS_ID = -41020 FRAME_-41020_CENTER = -41 TKFRAME_-41020_RELATIVE = 'MEX_SPACECRAFT' TKFRAME_-41020_SPEC = 'ANGLES' TKFRAME_-41020_UNITS = 'DEGREES' TKFRAME_-41020_AXES = ( 1, 2, 3 ) TKFRAME_-41020_ANGLES = ( 0.0, 85.0, 0.0 ) \begintext MEX Lander Communication Antenna Frames -------------------------------------- Both Mars Lander Communication (MELACOM) Antennas are rigidly mounted on the instrument deck of the S/C bus. Therefore, the MELACOM antenna frames, MEX_MELACOM_1 and MEX_MELACOM_2, are defined as fixed offset frames with their orientation given relative to the MEX_SPACECRAFT frame. The MEX_MELACOM_1 and MEX_MELACOM_2 frames are defined as follows: - +Z axis is in the direction of the antenna boresight (nominally along the S/C +Z axis); - +Y axis is in the direction of the S/C +Y axis; - X completes the right hand frame; - the origin of the frame is located at the geometric center of the outer side of the antenna. This diagram illustrates the MEX_MELACOM_1 and MEX_MELACOM_2 frames: +X S/C side view: ----------------- ^ +Zm1 ^ +Zm2 | | +Xm1, +Xm2 | | are out of | | the page | +Ym1 | +Ym2 .o-------> .o-------> | | .' `. | | MELACOM 1 | | \_____/ | | MELACOM 2 ._____________. |Science Deck | =====================o | | o===================== -Y SA | | +Y SA | +Zsc | | ^ | | | | | | | .______|______. | | | .____o-------> +Ysc +Xsc \ /_____\ Main Engine Nominally both antenna frames are co-aligned with the S/C frame. Since the SPICE frames subsystem calls for specifying the reverse transformation--going from the instrument or structure frame to the base frame--as compared to the description given above, the order of rotations assigned to the TKFRAME_*_AXES keyword is also reversed compared to the above text, and the signs associated with the rotation angles assigned to the TKFRAME_*_ANGLES keyword are the opposite from what is written in the above text. \begindata FRAME_MEX_MELACOM_1 = -41031 FRAME_-41031_NAME = 'MEX_MELACOM_1' FRAME_-41031_CLASS = 4 FRAME_-41031_CLASS_ID = -41031 FRAME_-41031_CENTER = -41 TKFRAME_-41031_RELATIVE = 'MEX_SPACECRAFT' TKFRAME_-41031_SPEC = 'ANGLES' TKFRAME_-41031_UNITS = 'DEGREES' TKFRAME_-41031_AXES = ( 1, 2, 3 ) TKFRAME_-41031_ANGLES = ( 0.0, 0.0, 0.0 ) FRAME_MEX_MELACOM_2 = -41032 FRAME_-41032_NAME = 'MEX_MELACOM_2' FRAME_-41032_CLASS = 4 FRAME_-41032_CLASS_ID = -41032 FRAME_-41032_CENTER = -41 TKFRAME_-41032_RELATIVE = 'MEX_SPACECRAFT' TKFRAME_-41032_SPEC = 'ANGLES' TKFRAME_-41032_UNITS = 'DEGREES' TKFRAME_-41032_AXES = ( 1, 2, 3 ) TKFRAME_-41032_ANGLES = ( 0.0, 0.0, 0.0 ) \begintext MEX Low Gain Antenna Frame -------------------------------------- The MEX_LGA frame is a fixed offset frame with its orientation give relative to the MEX_SPACECRAFT frame. The MEX_LGA frame is defined as follows: - Z axis is along <> ; - Y axis is along <> ; - X completes the right hand frame; - the origin of the MEX_LGA frame is located at <> . Since the SPICE frames subsystem calls for specifying the reverse transformation--going from the instrument or structure frame to the base frame--as compared to the description given above, the order of rotations assigned to the TKFRAME_*_AXES keyword is also reversed compared to the above text, and the signs associated with the rotation angles assigned to the TKFRAME_*_ANGLES keyword are the opposite from what is written in the above text. \begindata FRAME_MEX_LGA = -41040 FRAME_-41040_NAME = 'MEX_LGA' FRAME_-41040_CLASS = 4 FRAME_-41040_CLASS_ID = -41040 FRAME_-41040_CENTER = -41 TKFRAME_-41040_RELATIVE = 'MEX_SPACECRAFT' TKFRAME_-41040_SPEC = 'ANGLES' TKFRAME_-41040_UNITS = 'DEGREES' TKFRAME_-41040_AXES = ( 1, 2, 3 ) TKFRAME_-41040_ANGLES = ( 000.000, 000.000, 000.000 ) \begintext Star Tracker Frames -------------------------------------- The Star Tracker STR_A and STR_B frames -- MEX_STR_A and MEX_STR_B -- are defined as follows: - +Z axis points along the Star Tracker boresight; - +Y axis is nominally parallel to the S/C YZ plane and points in the direction of the S/C -Y axis; - +X axis completes the right hand frame; - the origin of the frame is located at the Star Tracker focal point. This diagram illustrates the Star Tracker frames: +Z S/C side (science deck side) view: ------------------------------------------------- ~15 deg ~15 deg \<--->| |<--->/ +Zstr-b ^ ^ +Zstr-a \ / \ / .\___________/. <-------* <-------* | +Ystr-b |/ +Ystr-a \| / \ +Ysc o==/ /==================o/| o------->o==================/ /==o -Y Solar Array v | | | v +Y Solar Array +Xstr-b | | | +Xstr-a .______|______. .' V +Xsc HGA /___________\ +Zsc is out of the page `.|.' +Zstr-a, +Zstr-b, +Xstr-a and +Xstr-b are ~45 deg below the page +Ystr-a is ~20 deg below the page +Ystr-b is ~20 deg above the page Star Tracker frame alignment matrices rotating vectors from the S/C frame to the Star Tracker frames had been provided by Michael Mueller (ESOC) and were cited in [20]: STR_A boresight in S/C frame: [-0.682765542 0.258035685 -0.683555996] STR_B boresight in S/C frame: [-0.682268486 -0.259031278 -0.683675735] The boresights are defined relative to the MEX_SPACECRAFT frame. Given the boresight the rotation from the MEX_SPACECRAFT frame to the MEX_STR_A and MEX_STR_B frames can be represented by the following rotation angles in degrees: str-a M = |0.0| * |-43.06013208133495| * |-159.3189701261016| sc Z Y X str-b M = |0.0| * |-43.02116586137415| * |159.24928820009603| sc Z Y X Here, we need the rotation matrices from the Star Tracker frames to the S/C frame, and hence the inverse of the above matrices, which is the same as the transpose for rotation matrices. This is incorporated by the frame definitions below. \begindata FRAME_MEX_STR_A = -41051 FRAME_-41051_NAME = 'MEX_STR_A' FRAME_-41051_CLASS = 4 FRAME_-41051_CLASS_ID = -41051 FRAME_-41051_CENTER = -41 TKFRAME_-41051_RELATIVE = 'MEX_SPACECRAFT' TKFRAME_-41051_SPEC = 'ANGLES' TKFRAME_-41051_UNITS = 'DEGREES' TKFRAME_-41051_AXES = ( 1, 2, 3 ) TKFRAME_-41051_ANGLES = ( 159.3189701261016, 43.06013208133495, 0.0 ) FRAME_MEX_STR_B = -41052 FRAME_-41052_NAME = 'MEX_STR_B' FRAME_-41052_CLASS = 4 FRAME_-41052_CLASS_ID = -41052 FRAME_-41052_CENTER = -41 TKFRAME_-41052_RELATIVE = 'MEX_SPACECRAFT' TKFRAME_-41052_SPEC = 'ANGLES' TKFRAME_-41052_UNITS = 'DEGREES' TKFRAME_-41052_AXES = ( 1, 2, 3 ) TKFRAME_-41052_ANGLES = ( -159.24928820009603, 43.02116586137415, 0.0 ) \begintext ASPERA Frames ======================================================================== This section of the file contains the definitions of the ASPERA instrument frames. ASPERA Frame Tree -------------------------------------- The diagram below shows the ASPERA frame hierarchy. "J2000" INERTIAL +-----------------------------------------------------+ | | | |<-pck | |<-pck | | | V | V "IAU_MARS" | "IAU_EARTH" MARS BODY-FIXED |<-ck EARTH BODY-FIXED --------------- | ---------------- V "MEX_SPACECRAFT" +-----------------------------------+ | | |<-fixed |<-fixed | | V V "MEX_ASPERA_URF" "MEX_ASPERA_IMA_URF" ---------------- -------------------- | | | |<-fixed | | | V | "MEX_ASPERA_IMA" | ---------------- | | | |<-fixed | | | V | "MEX_ASPERA_IMAS" | ----------------- | | | | "MEX_ASPERA_SS1" "MEX_ASPERA_SS2" | ---------------- ---------------- | | | |<-ck |<-fixed |<-fixed | | | V | | "MEX_ASPERA_SAF" | | -----------------------------------------------------------------+ | | | | |<-fixed |<-fixed |<-fixed fixed->| | | | | V V V V "MEX_ASPERA_ELS" "MEX_ASPERA_NPI" "MEX_ASPERA_NPD1" "MEX_ASPERA_NPD2" ---------------- ---------------- ----------------- ----------------- ASPERA Main Unit URF and SAF Frames -------------------------------------- The ASPERA main unit base is rigidly mounted on the S/C science deck. Therefore, the frame associated with it -- the ASPERA main unit reference frame, MEX_ASPERA_URF, -- is a fixed offset frame with its orientation given relative to the MEX_SPACECRAFT frame. The MEX_ASPERA_URF frame is defined as follows: - +Z axis is along the scanner rotation axis and points from the main unit mounting plate toward the scanner (nominally this axis is co-aligned with the S/C +Z axis); - +X axis is parallel to the longer side of the main unit base and points from the NPD side towards the ELS side for scanner in "90 degrees" position (nominally this axis is co-aligned with the S/C -Y axis); - +Y completes the right handed frame; - the origin of the frame is located at the intersection of the mounting surface of the main unit base and the axis of the mounting screw hole located at NPD2 side for scanner in "90 degrees" position. Nominally this frame is rotated by -90 degrees about Z axis from the S/C frame. Since ASPERA main unit scanner rotates with respect to its base with 0..180 angle range clockwise about Z axis of the MEX_ASPERA_URF frame, the frame associated with it -- the sensor assembly frame, MEX_ASPERA_SAF, -- is defined as a CK frame with its orientation provided in a CK file relative to the MEX_ASPERA_URF frame. The MEX_ASPERA_SAF frame is defined as follows: - +Z axis is along the scanner rotation axis and points from the main unit mounting plate toward the scanner; this axis is co-aligned with the +Z axis of the MEX_ASPERA_URF frame; - +X axis is along the ASPERA sensor assembly central axis and points from the NPD sensor towards the ELS sensor; this axis is co-aligned with the +X axis of the MEX_ASPERA_URF frame when scanner is in "90 degrees" position. - +Y axis completes the right handed frame; - the origin of the MEX_ASPERA_SAF frame is located at the intersection of the scanner rotation axis and the bottom (mounting) surface of the scanner base. This diagram illustrates the MEX_ASPERA_URF and MEX_ASPERA_SAF frames for the scanner angle of 135 degrees: +Z S/C side view: ----------------- "180 deg" position "135 deg" | position `. . ` | HGA +Xsaf ^. ___________ "90 deg" `. \ / position _________ `.__`._____.'__ _________________ -.- \ o +Zsaf | / | | +Xurf <---.'--o +Zurf | / | | .' | | | | | | V|o=| | o-------> +Ysc | | +Ysaf | | | | +Zsc | . | | / | V | | \ | ._________________/ +Yurf |______. \_________________. -Y Solar Array V +Y Solar Array +Xsc | . | "0 deg" +Zsc, +Zsaf and +Zurf position axes are out of the page In general the MEX_ASPERA_SAF frame is rotated with respect to the MEX_ASPERA_URF frame by ( 90- ) degrees about +Z axis for scanner in position. This rotation as a function of time is provided in the ASPERA scanner CK files. Thus, in "0 degrees" scanner position the SAF frame is co-aligned with the S/C frame; in "90 degrees" scanner position the SAF frame is co-aligned with the URF frame: "0 deg" position: "90 deg" position ----------------- ----------------- o-------> +Ysaf +Xsaf <-------o <-----|-o <-----|-o +Xurf | | +Xurf | | | | o-------> +Ysc | | o--------> +Ysc +Xsaf V | | +Ysaf V | | V | V | +Yurf | +Yurf | V V +Xsc +Xsc These sets of keywords define the ASPERA URF and SAF frames: \begindata FRAME_MEX_ASPERA_URF = -41110 FRAME_-41110_NAME = 'MEX_ASPERA_URF' FRAME_-41110_CLASS = 4 FRAME_-41110_CLASS_ID = -41110 FRAME_-41110_CENTER = -41 TKFRAME_-41110_RELATIVE = 'MEX_SPACECRAFT' TKFRAME_-41110_SPEC = 'ANGLES' TKFRAME_-41110_UNITS = 'DEGREES' TKFRAME_-41110_AXES = ( 1, 2, 3 ) TKFRAME_-41110_ANGLES = ( 0.0, 0.0, 90.0 ) FRAME_MEX_ASPERA_SAF = -41111 FRAME_-41111_NAME = 'MEX_ASPERA_SAF' FRAME_-41111_CLASS = 3 FRAME_-41111_CLASS_ID = -41111 FRAME_-41111_CENTER = -41 CK_-41111_SCLK = -41 CK_-41111_SPK = -41 \begintext ASPERA Main Unit Sensor Frames -------------------------------------- Because ASPERA main unit sensors are rigidly mounted on the scanner, their corresponding frames -- MEX_ASPERA_ELS, MEX_ASPERA_NPI, MEX_ASPERA_NPD1, and MEX_ASPERA_NPD2 -- are defined as fixed-offset frames with respect to the MEX_ASPERA_SAF frame. ELS and NPI sensor frames are defined such that their axes are co-aligned with the axes of the MEX_ASPERA_SAF frame and their origins are at the sensors' "focal points", located at the intersection of the sensor's aperture plane and the sensor's symmetry axis. NPD1 and NPD2 sensor frames are defined such that their +Y and +Z axes are in the sensor's aperture plane, with the +Z axis along the central axis of the aperture (view direction of the middle sector), and +X axis is perpendicular to the aperture plane and points in direction of the SAF frame +X axis. The origins of these frames are at the sensor "focal points", which are located in the sensor's aperture plane at the point here the sensor sector view directions intersect. In all cases the "focal point" of a particular sensor is the point from which all sensor view direction are emanating. This diagram illustrates the ELS, NPI, NPD1, and NPD2 sensor frames orientation w.r.t to the SAF, URF and spacecraft frames (for scanner at 90 degrees position: +Xels .--- ^ ---. ELS | | | +Yels |<---o | - - - - - - - - - - - - - - | | ELS aperture +Xnpi ^ -----. NPI plane +Xss2 ^ | | +Ynpi <---o | - - - - - - - - - - - - - ----------- +Yss2 <---o o---> +Yss1 -. NPI aperture / .--------------|----------. | plane | | +Xsaf^ V +Xss1 | | \ | | | | / | +Ysaf <---o +Xnpd1 | | YZ of "npd1" frame | | ^ +Znpd1 are in the aperture \ | .-\--.^.| plane / +Xnpd2 +Ynpd1 <--o' || +Xnpd1 is into the page | ^ `------'| +Ynpd1 and +Znpd1 are \ .---\---. NPD1 | | out of the page / +Ynpd2 <---o | | | | `--.'---' NPD2 Scanner | | YZ of "npd2" frame \ +Znpd2 <'________________________. | are in the aperture / | | | plane | |^ +Xurf | | \ || Base | | +Ynpd1 is into the page \ +Yurf <---o____________________. | +Xnpd1 and +Znpd1 are \ | out of the page +Xsc \____ Nadir deck | <---o \____________ | | \__________________| +Z axes of all frames V +Ysc are out of the page These sets of keywords define the MEX_ASPERA_ELS and MEX_ASPERA_NPI frames: \begindata FRAME_MEX_ASPERA_ELS = -41120 FRAME_-41120_NAME = 'MEX_ASPERA_ELS' FRAME_-41120_CLASS = 4 FRAME_-41120_CLASS_ID = -41120 FRAME_-41120_CENTER = -41 TKFRAME_-41120_RELATIVE = 'MEX_ASPERA_SAF' TKFRAME_-41120_SPEC = 'ANGLES' TKFRAME_-41120_UNITS = 'DEGREES' TKFRAME_-41120_AXES = ( 1, 2, 3 ) TKFRAME_-41120_ANGLES = ( 0.0, 0.0, 0.0 ) FRAME_MEX_ASPERA_NPI = -41130 FRAME_-41130_NAME = 'MEX_ASPERA_NPI' FRAME_-41130_CLASS = 4 FRAME_-41130_CLASS_ID = -41130 FRAME_-41130_CENTER = -41 TKFRAME_-41130_RELATIVE = 'MEX_ASPERA_SAF' TKFRAME_-41130_SPEC = 'ANGLES' TKFRAME_-41130_UNITS = 'DEGREES' TKFRAME_-41130_AXES = ( 1, 2, 3 ) TKFRAME_-41130_ANGLES = ( 0.0, 0.0, 0.0 ) \begintext The NPD1 aperture plane is tilted by 15 degrees towards +X axis of the SAF frame about +Y/+Z line of the SAF frame. Thus, to align the SAF frame with the NPD1 frame the SAF frame has to be rotated by +45 degrees about X axis and then by +15 degrees about new position of Y axis. The NPD2 aperture plane is tilted by 15 degrees towards -X axis of the SAF frame about -Y/+Z line of the SAF frame. Thus, to align the SAF frame with the NPD2 frame the SAF frame has to be rotated by -45 degrees about X axis and then by -15 degrees about new position of Y axis. Since the SPICE frames subsystem calls for specifying the reverse transformation--going from the instrument or structure frame to the base frame--as compared to the description given above, the order of rotations assigned to the TKFRAME_*_AXES keyword is also reversed compared to the above text, and the signs associated with the rotation angles assigned to the TKFRAME_*_ANGLES keyword are the opposite from what is written in the above text. These sets of keywords define the MEX_ASPERA_NPD1 and MEX_ASPERA_NPD2 frames: \begindata FRAME_MEX_ASPERA_NPD1 = -41141 FRAME_-41141_NAME = 'MEX_ASPERA_NPD1' FRAME_-41141_CLASS = 4 FRAME_-41141_CLASS_ID = -41141 FRAME_-41141_CENTER = -41 TKFRAME_-41141_RELATIVE = 'MEX_ASPERA_SAF' TKFRAME_-41141_SPEC = 'ANGLES' TKFRAME_-41141_UNITS = 'DEGREES' TKFRAME_-41141_AXES = ( 1, 2, 1 ) TKFRAME_-41141_ANGLES = ( -45.0, -15.0, 0.0 ) FRAME_MEX_ASPERA_NPD2 = -41142 FRAME_-41142_NAME = 'MEX_ASPERA_NPD2' FRAME_-41142_CLASS = 4 FRAME_-41142_CLASS_ID = -41142 FRAME_-41142_CENTER = -41 TKFRAME_-41142_RELATIVE = 'MEX_ASPERA_SAF' TKFRAME_-41142_SPEC = 'ANGLES' TKFRAME_-41142_UNITS = 'DEGREES' TKFRAME_-41142_AXES = ( 1, 2, 1 ) TKFRAME_-41142_ANGLES = ( 45.0, 15.0, 0.0 ) \begintext The ASPERA Solar Sensor 1 frame, MEX_ASPERA_SS1, is defined as follows: - +X axis is co-aligned with +X axis of the MEX_ASPERA_SAF frame; - +Z axis is 15 degrees off +Z axis of the MEX_ASPERA_SAF frame towards -Y axis of MEX_ASPERA_SAF frame; - +Y completes the right handed frame and is along the sensor boresight direction; - the origin of the frame is located at the sensor's FOV focal point. The ASPERA Solar Sensor 2 frame, MEX_ASPERA_SS2, is defined as follows: - +X axis is co-aligned with -X axis of the MEX_ASPERA_SAF frame; - +Z axis is 15 degrees off +Z axis of the MEX_ASPERA_SAF frame towards +Y axis of MEX_ASPERA_SAF frame; - +Y completes the right handed frame and is along the sensor boresight direction; - the origin of the frame is located at the sensor's FOV focal point. This diagram illustrates the MEX_ASPERA_SS1 and MEX_ASPERA_SS2 frames: ^ +Zsaf | +Zss1 ^ | ^ +Zss2 ..\.|./.. .' \|/ `. +Yss2 <-. .' | `. .-> +Yss1 `-. /|\ .-' . `-. / | \ .-' . . +Xss2`x | o'+Xss1 . . o--------------> +Ysaf . +Xsaf . . . . . . . `. .' ` ......... ' Both frames are defined as fixed offset frames with respect to the MEX_ASPERA_SAF frame. To align the SAF frame with the SS1 frame the SAF frame has to be rotated by +15 degrees about X axis. To align the SAF frame with the SS2 frame the SAF frame has to be rotated by 180 degrees about Z axis and then by +15 degrees about new position of X axis. Since the SPICE frames subsystem calls for specifying the reverse transformation--going from the instrument or structure frame to the base frame--as compared to the description given above, the order of rotations assigned to the TKFRAME_*_AXES keyword is also reversed compared to the above text, and the signs associated with the rotation angles assigned to the TKFRAME_*_ANGLES keyword are the opposite from what is written in the above text. These sets of keywords define the MEX_ASPERA_SS1 and MEX_ASPERA_SS2 frames: \begindata FRAME_MEX_ASPERA_SS1 = -41161 FRAME_-41161_NAME = 'MEX_ASPERA_SS1' FRAME_-41161_CLASS = 4 FRAME_-41161_CLASS_ID = -41161 FRAME_-41161_CENTER = -41 TKFRAME_-41161_RELATIVE = 'MEX_ASPERA_SAF' TKFRAME_-41161_SPEC = 'ANGLES' TKFRAME_-41161_UNITS = 'DEGREES' TKFRAME_-41161_AXES = ( 3, 2, 1 ) TKFRAME_-41161_ANGLES = ( 0.0, 0.0, -15.0 ) FRAME_MEX_ASPERA_SS2 = -41162 FRAME_-41162_NAME = 'MEX_ASPERA_SS2' FRAME_-41162_CLASS = 4 FRAME_-41162_CLASS_ID = -41162 FRAME_-41162_CENTER = -41 TKFRAME_-41162_RELATIVE = 'MEX_ASPERA_SAF' TKFRAME_-41162_SPEC = 'ANGLES' TKFRAME_-41162_UNITS = 'DEGREES' TKFRAME_-41162_AXES = ( 3, 2, 1 ) TKFRAME_-41162_ANGLES = ( 180.0, 0.0, -15.0 ) \begintext ASPERA Ion Mass Analyzer Unit Frames -------------------------------------- The ASPERA IMA unit is rigidly mounted in the -X/-Y quadrant of the on the S/C -Z ("main engine") deck and has no moving parts. Therefore, the three ASPERA IMA frames -- IMA Unit Reference Frame (MEX_ASPERA_IMA_URF), IMA sensor frame (MEX_ASPERA_IMA), and IMA sensor head frame (MEX_ASPERA_IMAS) -- are defined as fixed offset frames. The MEX_ASPERA_IMA_URF frame is defined as follows: - +Z axis is normal to the UMA unit mounting plate and points from the the mounting plate toward the sensor (nominally this axis is co-aligned with the S/C -Z axis); - +X axis is parallel to the longer side of the IMA unit base and sensor symmetry axis and points towards the sensors aperture side (nominally this axis is co-aligned with the S/C -Y axis); - +Y completes the right handed frame; - the origin of the frame is located at the intersection of the mounting surface of the IMA unit base and the axis of the mounting screw hole located far right from the sensor aperture (as seen on the top view with the sensor aperture at the bottom on the page) The MEX_ASPERA_IMA frame is defined such that its axes are co-aligned with the axes of the MEX_ASPERA_IMA_URF frame and its origin is at the sensor's "focal point", located at the intersection of the sensor's aperture symmetry plane and the sensor's symmetry axis. The MEX_ASPERA_IMAS frame is defined such that its axes are aligned with the axes of the MEX_ASPERA_IMA frame as follows: - +Z-imas points along the +X-ima axis - +X-imas axis points along the +Y-ima axis - +Y-imas axis points along the +Z-ima axis The origin of the MEX_ASPERA_IMAS is also at the sensor's "focal point". These diagrams illustrate the MEX_ASPERA_IMA_URF, MEX_ASPERA_IMA, and MEX_ASPERA_IMAS frames: -Z S/C side view ("main engine" side): -------------------------------------- +Xsc -Y Solar Array ^ +Y Solar Array ._________________ .______|______. .________________. | \ | | | / | | \ | | | / | | | | |+Zsc | | | | +Zimas |+Yimas x------->o| | | +Xima |+Zima +Ysc . | | <----o +Zimau | \ | ._________________/ <----o__________. \_________________. +Ximau | |' `. V /|________\ +Ximas V HGA +Yima +Yimau +Zsc is into the page +Zima, +Zimau, and +Yimas are out of the page -Z S/C side view ("main engine" side) -- zoom in: ------------------------------------------------- -- ^ +Xsc | \ | | \__ | | \_________ | | \ | | \ x-------> IMA |._____________. \ +Zsc +Ysc Aperture || o o | \ .___________________. | \____ +Zimas | | +Yimas | | \ +Xima | | +Zima | | \ <-------o | | | \ | | | | | | IMA | | | | | | | Mounting \ .___|_______________. | plate | | || o <-------o | | +Ximas V |. +Ximau ___|_. / +Yima | | | "Main Engine" .____________|_______________/ Deck | +Yimau V As seen in the diagram two rotations are needed to align the S/C frame (MEX_SPACECRAFT) with the IMA URF frame (MEX_ASPERA_IMA_URF) -- first rotation is by 180 degrees about Y axis, and then by -90 degrees about new position of Z axis. No rotations are needed to align the IMA URF frame (MEX_ASPERA_IMA_URF) with the IMA sensor frame (MEX_ASPERA_IMA). Two rotations -- first by +90 degrees about X axis and then by +90 degrees about Y axis -- are needed to align the IMA sensor frame (MEX_ASPERA_IMA) with the IMA sensor head frame (MEX_ASPERA_IMAS). Since the SPICE frames subsystem calls for specifying the reverse transformation--going from the instrument or structure frame to the base frame--as compared to the description given above, the order of rotations assigned to the TKFRAME_*_AXES keyword is also reversed compared to the above text, and the signs associated with the rotation angles assigned to the TKFRAME_*_ANGLES keyword are the opposite from what is written in the above text. \begindata FRAME_MEX_ASPERA_IMA_URF = -41150 FRAME_-41150_NAME = 'MEX_ASPERA_IMA_URF' FRAME_-41150_CLASS = 4 FRAME_-41150_CLASS_ID = -41150 FRAME_-41150_CENTER = -41 TKFRAME_-41150_RELATIVE = 'MEX_SPACECRAFT' TKFRAME_-41150_SPEC = 'ANGLES' TKFRAME_-41150_UNITS = 'DEGREES' TKFRAME_-41150_AXES = ( 1, 2, 3 ) TKFRAME_-41150_ANGLES = ( 0.0, 180.0, 90.0 ) FRAME_MEX_ASPERA_IMA = -41151 FRAME_-41151_NAME = 'MEX_ASPERA_IMA' FRAME_-41151_CLASS = 4 FRAME_-41151_CLASS_ID = -41151 FRAME_-41151_CENTER = -41 TKFRAME_-41151_RELATIVE = 'MEX_ASPERA_IMA_URF' TKFRAME_-41151_SPEC = 'ANGLES' TKFRAME_-41151_UNITS = 'DEGREES' TKFRAME_-41151_AXES = ( 1, 2, 3 ) TKFRAME_-41151_ANGLES = ( 0.0, 0.0, 0.0 ) FRAME_MEX_ASPERA_IMAS = -41152 FRAME_-41152_NAME = 'MEX_ASPERA_IMAS' FRAME_-41152_CLASS = 4 FRAME_-41152_CLASS_ID = -41152 FRAME_-41152_CENTER = -41 TKFRAME_-41152_RELATIVE = 'MEX_ASPERA_IMA' TKFRAME_-41152_SPEC = 'ANGLES' TKFRAME_-41152_UNITS = 'DEGREES' TKFRAME_-41152_AXES = ( 3 , 1, 2 ) TKFRAME_-41152_ANGLES = ( 0.0, -90.0, -90.0 ) \begintext HRSC Frames ======================================================================== This section of the file contains the definitions of the HRSC camera frames. HRSC Frame Tree -------------------------------------- The diagram below shows the HRSC frame hierarchy. "J2000" INERTIAL +-----------------------------------------------------+ | | | |<-pck | |<-pck | | | V | V "IAU_MARS" | "IAU_EARTH" MARS BODY-FIXED |<-ck EARTH BODY-FIXED --------------- | ---------------- V "MEX_SPACECRAFT" ---------------- | |<-fixed | V "MEX_HRSC_BASE" +-----------------+ | | |<-fixed |<-fixed | | V V "MEX_HRSC_HEAD" "MEX_HRSC_SRC" --------------- -------------- HRSC Base Frame -------------------------------------- The HRSC camera base frame is defined by the camera design and its mounting on the S/C as follows: - +Z axis is in the nominal direction of the HRSC main and SRC camera boresights; it nominally points in the direction of the S/C +Z axis; - +Y axis is perpendicular to the nominal direction of HRSC main camera and SRC camera CCD lines and nominally points along the S/C +Y axis, in the direction of flight; - +X completes the right hand frame and is parallel to the nominal CCD detector lines; it nominally points in the direction of the S/C +X axis; - the origin of the frame is located at the HRSC main camera focal point. Because the HRSC camera is rigidly mounted on the S/C, the HRSC base frame is defined as a fixed-offset frame with its orientation given relative to the MEX_SPACECRAFT frame. Any misalignment between nominal and actual HRSC camera mounting alignment measured pre-launch should be incorporated into the definition of this frame. This diagram illustrates nominal MEX_HRSC_BASE frame with respect to the spacecraft frame. +Z S/C side view: ----------------- direction of flight (+Ysc) ___________ HGA ----------> \ / .________________. .__`._____.'__. .________________. | \ | | / | | \ | | / | | | | +Zsc +Ysc | | | |o= o------->o| | | | | | .___| . +Yhbase | | / | | | o-------> | ._________________/ .______|__._|_. \_________________. -Y Solar Array | | HRSC +Y Solar Array +Xsc V | | V +Xhbase +Zsc and +Zhbase are out of page Nominally, the HRSC base frame is co-aligned with the S/C frame. Since the SPICE frames subsystem calls for specifying the reverse transformation--going from the instrument or structure frame to the base frame--as compared to the description given above, the order of rotations assigned to the TKFRAME_*_AXES keyword is also reversed compared to the above text, and the signs associated with the rotation angles assigned to the TKFRAME_*_ANGLES keyword are the opposite from what is written in the above text. \begindata FRAME_MEX_HRSC_BASE = -41200 FRAME_-41200_NAME = 'MEX_HRSC_BASE' FRAME_-41200_CLASS = 4 FRAME_-41200_CLASS_ID = -41200 FRAME_-41200_CENTER = -41 TKFRAME_-41200_RELATIVE = 'MEX_SPACECRAFT' TKFRAME_-41200_SPEC = 'ANGLES' TKFRAME_-41200_UNITS = 'DEGREES' TKFRAME_-41200_AXES = ( 1, 2, 3 ) TKFRAME_-41200_ANGLES = ( 0.0, 0.0, 0.0 ) \begintext HRSC Main Camera Frame -------------------------------------- The HRSC main camera frame, MEX_HRSC_HEAD, is defined exactly as, and is nominally co-aligned with, the HRSC camera base frame MEX_HRSC_BASE. This frame is introduced to allow incorporating into the HRSC frame chain any misalignment between the camera base and main camera measured prior to delivering the camera for installation on the S/C. The following in-flight calibrated misalignment angles were provided by Thomas Roatsch on December 15, 2003: HRSC: ( -0.3340, 0.0101, 0.0 ) These values are included in the definition below. \begindata FRAME_MEX_HRSC_HEAD = -41210 FRAME_-41210_NAME = 'MEX_HRSC_HEAD' FRAME_-41210_CLASS = 4 FRAME_-41210_CLASS_ID = -41210 FRAME_-41210_CENTER = -41 TKFRAME_-41210_RELATIVE = 'MEX_HRSC_BASE' TKFRAME_-41210_SPEC = 'ANGLES' TKFRAME_-41210_UNITS = 'DEGREES' TKFRAME_-41210_AXES = ( 1, 2, 3 ) TKFRAME_-41210_ANGLES = ( -0.3340, 0.0101, 0.0 ) \begintext HRSC Super Resolution Camera Frame -------------------------------------- The HRSC SRC camera frame, MEX_HRSC_SRC, frame is introduced to allow incorporating into the HRSC frame chain any misalignment between the camera base and the SRC camera. This frame is fixed with respect to the the HRSC camera base frame, MEX_HRSC_BASE, and is nominally rotated by -90 degrees about +Z from it, as shown on the diagram: +Z S/C side view: ----------------- direction of flight (+Ysc) ___________ HGA ----------> \ / .________________. .__`._____.'__. .________________. | \ | | / | | \ | | / | | | | +Zsc +Ysc | | | |o= o------->o| | | | | | .___| . +Yhbase | | / +Xsrc <-------o-------> | ._________________/ .______|__._|_. \_________________. -Y Solar Array | | HRSC +Y Solar Array +Xsc V | | V +Xhbase +Ysrc +Zsc and +Zhbase are out of page The following in-flight calibrated misalignment angles were provided by Thomas Roatsch on December 15, 2003 and were used in the FK versions 0.5 to 1.1: SRC: ( -0.0735, -0.0301, 90.0 ) The following in-flight calibrated misalignment angles were provided by Thomas Duxbury on December 3, 2013 and are currently used in the FK: SRC: ( -0.084154, -0.038531, 90.038 ) These values are included in the definition below. \begindata FRAME_MEX_HRSC_SRC = -41220 FRAME_-41220_NAME = 'MEX_HRSC_SRC' FRAME_-41220_CLASS = 4 FRAME_-41220_CLASS_ID = -41220 FRAME_-41220_CENTER = -41 TKFRAME_-41220_RELATIVE = 'MEX_HRSC_BASE' TKFRAME_-41220_SPEC = 'ANGLES' TKFRAME_-41220_UNITS = 'DEGREES' TKFRAME_-41220_AXES = ( 1, 2, 3 ) TKFRAME_-41220_ANGLES = ( -0.084154, -0.038531, 90.038 ) \begintext MARSIS Frames ======================================================================== This section of the file contains the definitions of the MARSIS antenna frames. MARSIS Frame Tree -------------------------------------- The diagram below shows the MARSIS frame hierarchy. "J2000" INERTIAL +-----------------------------------------------------+ | | | |<-pck | |<-pck | | | V | V "IAU_MARS" | "IAU_EARTH" MARS BODY-FIXED |<-ck EARTH BODY-FIXED --------------- | ---------------- V "MEX_SPACECRAFT" +---------------------------------------------------------------+ | | | | |<-fixed |<-fixed |<-fixed | | | | | V V V | "MEX_MARSIS_DIPOLE_1" "MEX_MARSIS_DIPOLE_2" "MEX_MARSIS_MONOPOLE" | --------------------- --------------------- --------------------- | | fixed->| | V "MEX_MARSIS_BASE" ----------------- MARSIS Antenna Frames -------------------------------------- Because all three MARSIS antennas are rigidly mounted on the S/C, the MARSIS antenna frames are defined as fixed-offset frames with their orientation given relative to the MEX_SPACECRAFT frame. \begindata FRAME_MEX_MARSIS_BASE = -41300 FRAME_-41300_NAME = 'MEX_MARSIS_BASE' FRAME_-41300_CLASS = 4 FRAME_-41300_CLASS_ID = -41300 FRAME_-41300_CENTER = -41 TKFRAME_-41300_RELATIVE = 'MEX_SPACECRAFT' TKFRAME_-41300_SPEC = 'ANGLES' TKFRAME_-41300_UNITS = 'DEGREES' TKFRAME_-41300_AXES = ( 1, 2, 3 ) TKFRAME_-41300_ANGLES = ( 000.000, 000.000, 000.000 ) FRAME_MEX_MARSIS_DIPOLE_1 = -41310 FRAME_-41310_NAME = 'MEX_MARSIS_DIPOLE_1' FRAME_-41310_CLASS = 4 FRAME_-41310_CLASS_ID = -41310 FRAME_-41310_CENTER = -41 TKFRAME_-41310_RELATIVE = 'MEX_SPACECRAFT' TKFRAME_-41310_SPEC = 'ANGLES' TKFRAME_-41310_UNITS = 'DEGREES' TKFRAME_-41310_AXES = ( 1, 2, 3 ) TKFRAME_-41310_ANGLES = ( 000.000, 000.000, 000.000 ) FRAME_MEX_MARSIS_DIPOLE_2 = -41320 FRAME_-41320_NAME = 'MEX_MARSIS_DIPOLE_2' FRAME_-41320_CLASS = 4 FRAME_-41320_CLASS_ID = -41320 FRAME_-41320_CENTER = -41 TKFRAME_-41320_RELATIVE = 'MEX_SPACECRAFT' TKFRAME_-41320_SPEC = 'ANGLES' TKFRAME_-41320_UNITS = 'DEGREES' TKFRAME_-41320_AXES = ( 1, 2, 3 ) TKFRAME_-41320_ANGLES = ( 000.000, 000.000, 000.000 ) FRAME_MEX_MARSIS_MONOPOLE = -41330 FRAME_-41330_NAME = 'MEX_MARSIS_MONOPOLE' FRAME_-41330_CLASS = 4 FRAME_-41330_CLASS_ID = -41330 FRAME_-41330_CENTER = -41 TKFRAME_-41330_RELATIVE = 'MEX_SPACECRAFT' TKFRAME_-41330_SPEC = 'ANGLES' TKFRAME_-41330_UNITS = 'DEGREES' TKFRAME_-41330_AXES = ( 1, 2, 3 ) TKFRAME_-41330_ANGLES = ( 000.000, 000.000, 000.000 ) \begintext OMEGA Frames ======================================================================== This section of the file contains the definitions of the OMEGA frames. OMEGA Frame Tree -------------------------------------- The diagram below shows the OMEGA frame hierarchy. "J2000" INERTIAL +-----------------------------------------------------+ | | | |<-pck | |<-pck | | | V | V "IAU_MARS" | "IAU_EARTH" MARS BODY-FIXED |<-ck EARTH BODY-FIXED --------------- | ---------------- V "MEX_SPACECRAFT" ---------------- | |<-fixed | V "MEX_OMEGA_SWIR_C" +-----------------+ | | |<-fixed |<-fixed | | V V "MEX_OMEGA_VNIR" "MEX_OMEGA_SWIR_L" ---------------- ----------------- OMEGA Frames -------------------------------------- All three OMEGA frames -- MEX_OMEGA_SWIR_C, MEX_OMEGA_SWIR_L, and MEX_OMEGA_VNIR -- are defined by the instrument design and mounting on the S/C as follows: - +Z axis is nominally in the direction of the OMEGA VNIR and SWIR channel boresights; it nominally points in the direction of the S/C +Z axis; - +Y axis is perpendicular to the nominal OMEGA VNIR and SWIR image lines; it nominally points along the S/C +Y axis, in the direction of flight; - +X completes the right hand frame and is parallel to the nominal VNIR and SWIR image lines; it nominally points along the S/C +X axis; - the origins of the frames are located at the OMEGA SWIR and VNIR channel telescope focal points. Because OMEGA is rigidly mounted on the S/C and its telescopes are rigidly mounted to the instrument enclosure, all three frames are defined as a fixed-offset frames. This diagram illustrates nominal MEX_OMEGA_* frames with respect to the spacecraft frame. +Z S/C side view: ----------------- direction of flight (+Ysc) ___________ HGA ----------> \ / .________________. .__`._____.'__. .________________. | \ | | / | | \ | | / | | | | +Zsc +Ysc | | | |o= o------->o| | | | | |._. | +Yomega_* | | / | ||o-------> | ._________________/ .______|.|.___. \__________________. -Y Solar Array | | OMEGA +Y Solar Array +Xsc V | | V +Xomega_* +Zsc and +Zomega_* are out of the page Nominally, all three OMEGA frames are co-aligned with the S/C frame. Because of the way the alignment calibrations have been performed, the orientation of the MEX_OMEGA_SWIR_C frame is defined w.r.t. to the MEX_SPACECRAFT frame while the orientations of the MEX_OMEGA_SWIR_L and MEX_OMEGA_VNIR are given relative to it. The definitions below are based on the initial in-flight calibrated values provided by N. Manaud on March 12, 2004 ([15]). \begindata FRAME_MEX_OMEGA_SWIR_C = -41421 FRAME_-41421_NAME = 'MEX_OMEGA_SWIR_C' FRAME_-41421_CLASS = 4 FRAME_-41421_CLASS_ID = -41421 FRAME_-41421_CENTER = -41 TKFRAME_-41421_RELATIVE = 'MEX_SPACECRAFT' TKFRAME_-41421_SPEC = 'ANGLES' TKFRAME_-41421_UNITS = 'DEGREES' TKFRAME_-41421_AXES = ( 1, 2, 3 ) TKFRAME_-41421_ANGLES = ( -0.030, 0.249, 0.0 ) FRAME_MEX_OMEGA_SWIR_L = -41422 FRAME_-41422_NAME = 'MEX_OMEGA_SWIR_L' FRAME_-41422_CLASS = 4 FRAME_-41422_CLASS_ID = -41422 FRAME_-41422_CENTER = -41 TKFRAME_-41422_RELATIVE = 'MEX_OMEGA_SWIR_C' TKFRAME_-41422_SPEC = 'ANGLES' TKFRAME_-41422_UNITS = 'DEGREES' TKFRAME_-41422_AXES = ( 1, 2, 3 ) TKFRAME_-41422_ANGLES = ( 0.0715, -0.0135, 0.0 ) FRAME_MEX_OMEGA_VNIR = -41410 FRAME_-41410_NAME = 'MEX_OMEGA_VNIR' FRAME_-41410_CLASS = 4 FRAME_-41410_CLASS_ID = -41410 FRAME_-41410_CENTER = -41 TKFRAME_-41410_RELATIVE = 'MEX_OMEGA_SWIR_C' TKFRAME_-41410_SPEC = 'ANGLES' TKFRAME_-41410_UNITS = 'DEGREES' TKFRAME_-41410_AXES = ( 1, 2, 3 ) TKFRAME_-41410_ANGLES = ( -0.3067, 0.0, 0.0 ) \begintext PFS Frames ======================================================================== This section of the file contains the definitions of the PFS frames. PFS Frame Tree -------------------------------------- The diagram below shows the PFS frame hierarchy. "J2000" INERTIAL +-----------------------------------------------------+ | | | |<-pck | |<-pck | | | V | V "IAU_MARS" | "IAU_EARTH" MARS BODY-FIXED |<-ck EARTH BODY-FIXED --------------- | ---------------- V "MEX_SPACECRAFT" ---------------- | |<-fixed | V "MEX_PFS_BASE" +------------------------------------------+ | | |<-fixed |<-ck | | | V | "MEX_PFS_SCANNER" | +-----------------+ | | | | |<-fixed |<-fixed | | | | V V | "MEX_PFS_SWC" "MEX_PFS_LWC" | ------------- ------------- | V "MEX_PFS_{NADIR_LWC/SWC,25_LEFT,12_LEFT,25_RIGHT,12_RIGHT,COLD_SPACE}" ---------------------------------------------------------------------- PFS Base and Scanner Frames -------------------------------------- The PFS instrument is rigidly mounted on the S/C science deck. Therefore, the PFS base frame, MEX_PFS_BASE, is a fixed offset frame with its orientation given relative to the MEX_SPACECRAFT frame. The MEX_PFS_BASE frame is defined by the instrument design and its mounting on the S/C as follows: - +Y axis is along the nominal PFS 'S' module scanner rotation axis and nominal PFS 'O' module optical axis, and points from the PFS 'S' module toward the PFS 'O' module; nominally this axis is co-aligned with the S/C +Y axis; - +Z axis is parallel to the nominal direction of the PFS 'S' scanner boresight in its 'nadir' (zero) position; it nominally points in the same direction as the S/C +Z axis; - +X completes the right hand frame; it nominally points in the same direction as the S/C +X axis; - the origin of this frame is located at the intersection of the PFS 'S' scanner rotation axis and the scanner cylinder central axis. Nominally this frame is co-aligned with the S/C frame. Any misalignment between nominal and actual PFS mounting alignment measured pre-launch can be incorporated into the definition of this frame. Since the PFS 'S' scanner rotates with respect to its base, the MEX_PFS_SCANNER frame is defined as a CK frame with its orientation provided in a CK file relative to the MEX_PFS_BASE frame. The MEX_PFS_SCANNER frame is defined as follows: - +Y axis is along the nominal PFS 'S' module scanner rotation axis and nominal PFS 'O' module optical axis, and points from the PFS 'S' module toward PFS 'O' module; nominally this axis is co-aligned with the +Y axis of the MEX_PFS_BASE frame; - +Z axis is parallel to the PFS 'S' scanner boresight; in 'nadir' scanner position it is co-aligned with the +Z axis of the MEX_PFS_BASE frame; - +X completes the right hand frame; - the origin of this frame is located at the intersection of the PFS 'S' scanner rotation axis and the scanner central axis. For an arbitrary scanner angle, the MEX_PFS_SCANNER frame is rotated by this angle about the +Y axis with respect to the MEX_PFS_BASE frame. This diagram illustrates the MEX_PFS_BASE and MEX_PFS_SCANNER frames for scanner angles of +25 degrees ('25 left') and -25 degrees ('25 right'). Both diagrams are +Y S/C side view: Scanner in '25 left' position Scanner in '25 right' position ----------------------------- ------------------------------ +Zbase +Zbase +Zscan ^ ^ +Zscan ^ | +Xscan | ^ \ | Science ^. | / Science \ | PFS Deck `. | / Deck \|___________. `.|/__________. <-------o | | <-------o | | +Xbase .' | =o======== +Xbase | | =o======== .'|___. SA+Y PFS___. SA+Y <' | +Zsc | | +Zsc | +Xscan | ^ | | ^ | | | | | | | | | | | | | .______|______. .______|______. | | | | | | <-------o____. <-------o____. +Xsc / +Ysc +Xsc / +Ysc /_____\ /_____\ Main Engine Main Engine +Ysc, +Ybase, and +Yscan are out of the page These sets of keywords define PFS base and scanner frames: \begindata FRAME_MEX_PFS_BASE = -41500 FRAME_-41500_NAME = 'MEX_PFS_BASE' FRAME_-41500_CLASS = 4 FRAME_-41500_CLASS_ID = -41500 FRAME_-41500_CENTER = -41 TKFRAME_-41500_RELATIVE = 'MEX_SPACECRAFT' TKFRAME_-41500_SPEC = 'ANGLES' TKFRAME_-41500_UNITS = 'DEGREES' TKFRAME_-41500_AXES = ( 1, 2, 3 ) TKFRAME_-41500_ANGLES = ( 0.0, 0.0, 0.0 ) FRAME_MEX_PFS_SCANNER = -41530 FRAME_-41530_NAME = 'MEX_PFS_SCANNER' FRAME_-41530_CLASS = 3 FRAME_-41530_CLASS_ID = -41530 FRAME_-41530_CENTER = -41 CK_-41530_SCLK = -41 CK_-41530_SPK = -41 \begintext PFS Detector Frames -------------------------------------- Since both PFS detectors receive radiation through the scanner and both essentially have a single pixel, their frames, MEX_PFS_SWC and MEX_PFS_LWC, are defined to be nominally co-aligned with the PFS scanner frame, MEX_PFS_SCANNER. These frames are introduced to allow incorporating into the PFS frame chain any misalignment between the scanner boresight direction and the individual detector view directions measured prior to delivering the instrument for installation on the S/C. The misalignment of the PFS detectors was done during comissioning (see [19]): SW is pointing in the S/C +Y axis by 0.55 degrees. The LW channel is pointing backward by 1.3, 0.945 degrees. \begindata FRAME_MEX_PFS_SWC = -41510 FRAME_-41510_NAME = 'MEX_PFS_SWC' FRAME_-41510_CLASS = 4 FRAME_-41510_CLASS_ID = -41510 FRAME_-41510_CENTER = -41 TKFRAME_-41510_RELATIVE = 'MEX_PFS_SCANNER' TKFRAME_-41510_SPEC = 'ANGLES' TKFRAME_-41510_UNITS = 'DEGREES' TKFRAME_-41510_AXES = ( 1, 2, 3 ) TKFRAME_-41510_ANGLES = ( -0.55, 0.0, 0.0 ) FRAME_MEX_PFS_LWC = -41520 FRAME_-41520_NAME = 'MEX_PFS_LWC' FRAME_-41520_CLASS = 4 FRAME_-41520_CLASS_ID = -41520 FRAME_-41520_CENTER = -41 TKFRAME_-41520_RELATIVE = 'MEX_PFS_SCANNER' TKFRAME_-41520_SPEC = 'ANGLES' TKFRAME_-41520_UNITS = 'DEGREES' TKFRAME_-41520_AXES = ( 1, 2, 3 ) TKFRAME_-41520_ANGLES = ( 1.3, -0.945, 0.0 ) \begintext PFS Scanner Fixed Positions Frames -------------------------------------- Because the PFS 'S' scanner can be rotated to only a limited number of positions for external observations -- 'nadir', '25 deg left', '12.5 deg left', '25 deg right', '12.5 deg right', and 'cold_space' -- a fixed frame co-aligned with the scanner frame in each of these positions is defined to allow computing scanner orientation without needing to use CK. Each of these 'fixed-scanner-position' convenience frames is defined as a fixed offset frame with respect to the MEX_PFS_BASE frame as follows: - +Y axis is along the nominal PFS 'S' module scanner rotation axis and nominal PFS 'O' module optical axis, and points from the PFS 'S' module toward PFS 'O' module; nominally this axis is co-aligned with the +Y axis of the MEX_PFS_BASE frame; - +Z axis is parallel to the PFS 'S' scanner boresight at a particular angle; - +X completes the right hand frame; - the origin of this frame is located at the intersection of the PFS 'S' scanner rotation axis and scanner central axis. This diagram illustrates fixed PFS scanner pointing directions co-aligned with the +Z axis of the corresponding 'fixed-scanner-position' (fsp) frame: +Y S/C side view ---------------- +Zbase ^ | nadir | 12.5 left | 12.5 right . | . 25 left \ . | . / 25 right \ .|. / \.|./ \|/__________. Science Deck <--- cold -------o | | +Xbase space | | =o======== |___. SA+Y PFS +Zsc | | ^ | | | | | | | .______|______. | | | <-------o____. +Xsc / +Ysc /_____\ Main Engine +Ysc, +Ybase, and +Yfsp are out of the page The 'fixed-scanner-position' frames are nominally rotated about the +Y axis of the MEX_PFS_BASE frames by the following angles: Frame name Rotation Angle, deg ---------------------- ------------------- MEX_PFS_25_RIGHT -25.0 MEX_PFS_12_RIGHT -12.5 MEX_PFS_NADIR_LWC ~0.0 (*) MEX_PFS_NADIR_SWC ~0.0 (*) MEX_PFS_12_LEFT 12.5 MEX_PFS_25_LEFT 25.0 MEX_PFS_COLD_SPACE 85.0 (*) Note that the MEX_PFS_NADIR_ include the comissioning missalignent whereas the rest of the scanner fixed positions do not include the missalignment. Since the SPICE frames subsystem calls for specifying the reverse transformation--going from the instrument or structure frame to the base frame--as compared to the description given above, the order of rotations assigned to the TKFRAME_*_AXES keyword is also reversed compared to the above text, and the signs associated with the rotation angles assigned to the TKFRAME_*_ANGLES keyword are the opposite from what is written in the above text. \begindata FRAME_MEX_PFS_25_RIGHT = -41535 FRAME_-41535_NAME = 'MEX_PFS_25_RIGHT' FRAME_-41535_CLASS = 4 FRAME_-41535_CLASS_ID = -41535 FRAME_-41535_CENTER = -41 TKFRAME_-41535_RELATIVE = 'MEX_PFS_BASE' TKFRAME_-41535_SPEC = 'ANGLES' TKFRAME_-41535_UNITS = 'DEGREES' TKFRAME_-41535_AXES = ( 1, 2, 3 ) TKFRAME_-41535_ANGLES = ( 0.0, 25.0, 0.0 ) FRAME_MEX_PFS_12_RIGHT = -41534 FRAME_-41534_NAME = 'MEX_PFS_12_RIGHT' FRAME_-41534_CLASS = 4 FRAME_-41534_CLASS_ID = -41534 FRAME_-41534_CENTER = -41 TKFRAME_-41534_RELATIVE = 'MEX_PFS_BASE' TKFRAME_-41534_SPEC = 'ANGLES' TKFRAME_-41534_UNITS = 'DEGREES' TKFRAME_-41534_AXES = ( 1, 2, 3 ) TKFRAME_-41534_ANGLES = ( 0.0, 12.5, 0.0 ) FRAME_MEX_PFS_NADIR_LWC = -41537 FRAME_-41537_NAME = 'MEX_PFS_NADIR_LWC' FRAME_-41537_CLASS = 4 FRAME_-41537_CLASS_ID = -41537 FRAME_-41537_CENTER = -41 TKFRAME_-41537_RELATIVE = 'MEX_PFS_BASE' TKFRAME_-41537_SPEC = 'ANGLES' TKFRAME_-41537_UNITS = 'DEGREES' TKFRAME_-41537_AXES = ( 1, 2, 3 ) TKFRAME_-41537_ANGLES = ( 1.3, -0.945, 0.0 ) FRAME_MEX_PFS_NADIR_SWC = -41533 FRAME_-41533_NAME = 'MEX_PFS_NADIR_SWC' FRAME_-41533_CLASS = 4 FRAME_-41533_CLASS_ID = -41533 FRAME_-41533_CENTER = -41 TKFRAME_-41533_RELATIVE = 'MEX_PFS_BASE' TKFRAME_-41533_SPEC = 'ANGLES' TKFRAME_-41533_UNITS = 'DEGREES' TKFRAME_-41533_AXES = ( 1, 2, 3 ) TKFRAME_-41533_ANGLES = ( -0.55, 0.0, 0.0 ) FRAME_MEX_PFS_12_LEFT = -41532 FRAME_-41532_NAME = 'MEX_PFS_12_LEFT' FRAME_-41532_CLASS = 4 FRAME_-41532_CLASS_ID = -41532 FRAME_-41532_CENTER = -41 TKFRAME_-41532_RELATIVE = 'MEX_PFS_BASE' TKFRAME_-41532_SPEC = 'ANGLES' TKFRAME_-41532_UNITS = 'DEGREES' TKFRAME_-41532_AXES = ( 1, 2, 3 ) TKFRAME_-41532_ANGLES = ( 0.0, -12.5, 0.0 ) FRAME_MEX_PFS_25_LEFT = -41531 FRAME_-41531_NAME = 'MEX_PFS_25_LEFT' FRAME_-41531_CLASS = 4 FRAME_-41531_CLASS_ID = -41531 FRAME_-41531_CENTER = -41 TKFRAME_-41531_RELATIVE = 'MEX_PFS_BASE' TKFRAME_-41531_SPEC = 'ANGLES' TKFRAME_-41531_UNITS = 'DEGREES' TKFRAME_-41531_AXES = ( 1, 2, 3 ) TKFRAME_-41531_ANGLES = ( 0.0, -25.0, 0.0 ) FRAME_MEX_PFS_COLD_SPACE = -41536 FRAME_-41536_NAME = 'MEX_PFS_COLD_SPACE' FRAME_-41536_CLASS = 4 FRAME_-41536_CLASS_ID = -41536 FRAME_-41536_CENTER = -41 TKFRAME_-41536_RELATIVE = 'MEX_PFS_BASE' TKFRAME_-41536_SPEC = 'ANGLES' TKFRAME_-41536_UNITS = 'DEGREES' TKFRAME_-41536_AXES = ( 1, 2, 3 ) TKFRAME_-41536_ANGLES = ( 0.0, -85.0, 0.0 ) \begintext SPICAM Frames ======================================================================== This section of the file contains the definitions of the SPICAM frames. SPICAM Frame Tree -------------------------------------- The diagram below shows the SPICAM frame hierarchy. "J2000" INERTIAL +-----------------------------------------------------+ | | | |<-pck | |<-pck | | | V | V "IAU_MARS" | "IAU_EARTH" MARS BODY-FIXED |<-ck EARTH BODY-FIXED --------------- | ---------------- V "MEX_SPACECRAFT" ---------------- | |<-fixed | V "MEX_SPICAM_BASE" +-----------------------------------------------+ | | | |<-fixed |<--fixed |<--fixed | | | V V V "MEX_SPICAM_STELLAR "MEX_SPICAM_NADIR" "MEX_SPICAM_SUN" -------------------- ------------------ ---------------- SPICAM Base Frame -------------------------------------- SPICAM has two openings for Nadir viewing, one for UV channel, the other for IR channel (UV1, IR1 nominally near the +Z S/C axis). In addition, the UV and IR channel have an opening for Solar viewing (UV2, IR2, in the XY plane nominally around 30 deg from the +X axis of the S/C ref frame). The SPICAM base frame is defined by the instrument design and its mounting on the S/C as follows: - +Z axis is in the nominal direction of the SPICAM UV/nadir and IR detector boresights; it nominally points in the direction of the S/C +Z axis; - +X axis is parallel to the nominal direction of SPICAM UV CCD columns; it is nominally along the S/C +X axis; - +Y completes the right hand frame; it is nominally along the S/C +Y axis and points in the direction of flight; (*) - the origin of the frame is located at the SPICAM SUV detector focal point. (*) SPICAM UV spectral dimension is along CCD lines, which are parallel to Y,Z plane. SPICAM IR has a single pixel. Because the SPICAM instrument is rigidly mounted to the S/C, the SPICAM base frame is defined as a fixed-offset frame with its orientation given relative to the MEX_SPACECRAFT frame. Any misalignment between the nominal and actual SPICAM mounting alignment measured pre-launch can be incorporated into the definition of this frame. This diagram illustrates the nominal MEX_SPICAM_BASE frame with respect to the spacecraft frame. +Z S/C side view: ----------------- direction of flight (+Ysc) ___________ HGA ----------> \ / .________________. .__`._____.'__. .________________. | \ | | / | | \ | +Ybase | / | | | .____. | | | | |o=|o---> o------->o| | | SPICAM .|___. |+Zsc |+Ysc | | / || | | \ | ._________________/ .|_____|______. \_________________. -Y Solar Array | | +Y Solar Array V V +Xbase +Xsc +Zsc and +Zbase are out of the page Nominally, the SPICAM base frame is co-aligned the S/C frame. Since the SPICE frames subsystem calls for specifying the reverse transformation--going from the instrument or structure frame to the base frame--as compared to the description given above, the order of rotations assigned to the TKFRAME_*_AXES keyword is also reversed compared to the above text, and the signs associated with the rotation angles assigned to the TKFRAME_*_ANGLES keyword are the opposite from what is written in the above text. \begindata FRAME_MEX_SPICAM_BASE = -41600 FRAME_-41600_NAME = 'MEX_SPICAM_BASE' FRAME_-41600_CLASS = 4 FRAME_-41600_CLASS_ID = -41600 FRAME_-41600_CENTER = -41 TKFRAME_-41600_RELATIVE = 'MEX_SPACECRAFT' TKFRAME_-41600_SPEC = 'ANGLES' TKFRAME_-41600_UNITS = 'DEGREES' TKFRAME_-41600_AXES = ( 1, 2, 3 ) TKFRAME_-41600_ANGLES = ( 0.0, 0.0, 0.0 ) \begintext SPICAM Detector Frames -------------------------------------- The SPICAM UV/IR detectors nadir and stellar occultation port frames -- MEX_SPICAM_NADIR and MEX_SPICAM_STELLAR -- are defined as follows: - +Y axis points along IR/UV nadir and stellar occultation port boresights; - +Z axis points nominally along the S/C -X axis; - +X axis completes the right hand frame; - the origin of the frame is located at the focal point. The SPICAM IR and UV detector solar port frame -- MEX_SPICAM_SOLAR -- is defined as follows: - +X axis points along IR/UV solar port boresight; - +Z axis points nominally along the S/C +Z axis; - +Y axis completes the right hand frame; - the origin of the frame is located at the focal point. All three SPICAM detector port frames are defined with respect to the SPICAM base frame -- MEX_SPICAM_BASE -- and incorporate into the SPICAM frame chain misalignments between the instrument base and ports. The alignment of the IR and VIR sensors is considered to be the same. This diagram illustrates all three SPICAM detector port frames: +Z S/C side view: ----------------- direction +Zstel of flight (+Ysc) +Xsol +Znad _________ HGA ----------> ^ ^ / .________________. \ .|_ ._____.'__. .________________. | \ \ || | / | | \ \|| | / | | +Xstel | .o|___. +Ybase | | | +Xnad <-------o-----o-> ----> | | | <-' | .|___. | |+Ysc | | +Ysol / || | | \ | ._________________/ .|_____|______. \_________________. -Y Solar Array | | +Y Solar Array V V +Xbase +Xsc +Ynad is the nadir port boresight (out of the the page) +Ystel is the stellar port boresight (out of the the page) +Xsol is the solar port boresight (in the page plane) +Zsc, +Zbase, and +Zsol are out of the page The in-flight calibrated misalignments provided in [18], giving the the rotations from the MEX_SPICAM_BASE frame to the MEX_SPICAM_STELLAR, MEX_SPICAM_NADIR and MEX_SPICAM_SOLAR frames determined from the in-flight calibration data, are incorporated in the frame definitions below. \begindata FRAME_MEX_SPICAM_STELLAR = -41601 FRAME_-41601_NAME = 'MEX_SPICAM_STELLAR' FRAME_-41601_CLASS = 4 FRAME_-41601_CLASS_ID = -41601 FRAME_-41601_CENTER = -41 TKFRAME_-41601_RELATIVE = 'MEX_SPICAM_BASE' TKFRAME_-41601_SPEC = 'ANGLES' TKFRAME_-41601_UNITS = 'DEGREES' TKFRAME_-41601_AXES = ( 1, 2, 3 ) TKFRAME_-41601_ANGLES = ( 0.0, 89.83 , 90.0 ) FRAME_MEX_SPICAM_SOLAR = -41602 FRAME_-41602_NAME = 'MEX_SPICAM_SOLAR' FRAME_-41602_CLASS = 4 FRAME_-41602_CLASS_ID = -41602 FRAME_-41602_CENTER = -41 TKFRAME_-41602_RELATIVE = 'MEX_SPICAM_BASE' TKFRAME_-41602_SPEC = 'ANGLES' TKFRAME_-41602_UNITS = 'DEGREES' TKFRAME_-41602_AXES = ( 1, 2, 3 ) TKFRAME_-41602_ANGLES = ( 0.0, -0.05, -210.30 ) FRAME_MEX_SPICAM_NADIR = -41603 FRAME_-41603_NAME = 'MEX_SPICAM_NADIR' FRAME_-41603_CLASS = 4 FRAME_-41603_CLASS_ID = -41603 FRAME_-41603_CENTER = -41 TKFRAME_-41603_RELATIVE = 'MEX_SPICAM_BASE' TKFRAME_-41603_SPEC = 'ANGLES' TKFRAME_-41603_UNITS = 'DEGREES' TKFRAME_-41603_AXES = ( 1, 2, 3 ) TKFRAME_-41603_ANGLES = ( 0.0, 89.83 , 90.0 ) \begintext VMC Frames ======================================================================== This section of the file contains the definitions of the VMC frames. VMC Frame Tree -------------------------------------- The diagram below shows the VMC frame hierarchy. "J2000" INERTIAL +-----------------------------------------------------+ | | | |<-pck | |<-pck | | | V | V "IAU_MARS" | "IAU_EARTH" MARS BODY-FIXED |<-ck EARTH BODY-FIXED --------------- | ---------------- V "MEX_SPACECRAFT" ---------------- | |<-fixed | V "MEX_VMC" --------- Visual Monitoring Camera (VMC) Frame ---------------------------------------- The MEX Visual Monitoring Camera is rigidly mounted on the instrument deck of the S/C bus, therefore the VMC camera frame, MEX_VMC, is defined as fixed offset frame with its orientation given relative to the MEX_SPACECRAFT frame, and is nominally rotated by -19 degrees about S/C +X, i.e. toward S/C +Y axis. The MEX_VMC frame is defined by the camera design and its mounting on the S/C as follows: - +Z axis is in the nominal direction of the VMC camera boresight; it points towards the S/C +Z axis, tilted 19 degrees towards the S/C +Y axis. - +X axis is perpendicular to the CCD detector lines, and its nominally along the S/C +X axis. - +Y completes the right hand frame; - the origin of the frame is located at the VMC camera focal point. This diagram illustrates the VMC frame: +X S/C side view: ----------------- +Xvmc is out of the page ^ +Zvmc .' .' `. '\_____/ +Xvmc_o.__________. | `. | =====================o | `.> | o===================== -Y SA | +Yvmc| +Y SA | +Zsc | | ^ | | | | | | | .______|______. | | | .____o-------> +Ysc +Xsc \ /_____\ Main Engine Since the SPICE frames subsystem calls for specifying the reverse transformation--going from the instrument or structure frame to the base frame--as compared to the description given above, the order of rotations assigned to the TKFRAME_*_AXES keyword is also reversed compared to the above text, and the signs associated with the rotation angles assigned to the TKFRAME_*_ANGLES keyword are the opposite from what is written in the above text. \begindata FRAME_MEX_VMC = -41700 FRAME_-41700_NAME = 'MEX_VMC' FRAME_-41700_CLASS = 4 FRAME_-41700_CLASS_ID = -41700 FRAME_-41700_CENTER = -41 TKFRAME_-41700_RELATIVE = 'MEX_SPACECRAFT' TKFRAME_-41700_SPEC = 'ANGLES' TKFRAME_-41700_UNITS = 'DEGREES' TKFRAME_-41700_AXES = ( 3, 2, 1 ) TKFRAME_-41700_ANGLES = ( 0.0, 0.0, 19.0 ) \begintext BEAGLE2 Frames ======================================================================== This section of the file contains the definitions of the Beagle-2 local level, lander and instrument frames. Beagle-2 Frame Tree -------------------------------------- The diagram below shows the Beagle-2 Lander and its instruments frame hierarchy. "J2000" INERTIAL +-----------------------------------------------------+ | | | |<-ck | |<-pck | | | V | V "MEX_SPACECRAFT" | "IAU_EARTH" --------------- |<-pck EARTH BODY-FIXED | ---------------- V "IAU_MARS" MARS BODY-FIXED --------------- | |<-fixed | V "BEAGLE2_LOCAL_LEVEL" -------------------- | |<-fixed | V "BEAGLE2_LANDER" ---------------- | | | V (Beagle-2 instrument frames) Beagle-2 Local Level frame -------------------------------------- This BEAGLE2_LOCAL_LEVEL frame at the landing site is defined as follows: - +Z axis is the normal outward at the landing site; - +X axis points at local north; - +Y completes the right hand frame; - the origin of this frame is located on the surface under the geometric center of the lander capsule; The orientation of the frame is fixed relative to the Mars fixed rotating frame 'IAU_MARS' and is determined by the landing site coordinates. The target Beagle-2 landing site selected on December 20, 2000 is located at: 270.0 degrees west planetographic longitude, and 10.6 degrees north planetographic latitude which is in Isidis Basin of Utopia Planitia. More accurate coordinates used by the project during summer/fall 2003 are: 269.250 degrees west planetographic longitude, and 11.734 degrees north planetographic latitude The transformation from 'BEAGLE2_LOCAL_LEVEL' frame to 'IAU_MARS' frame is a 3-2-3 rotation with angles defined as the negative of the site longitude, the negative of the site colatitude, 180 degrees. \begindata FRAME_BEAGLE2_LOCAL_LEVEL = -44900 FRAME_-44900_NAME = 'BEAGLE2_LOCAL_LEVEL' FRAME_-44900_CLASS = 4 FRAME_-44900_CLASS_ID = -44900 FRAME_-44900_CENTER = -44 TKFRAME_-44900_RELATIVE = 'IAU_MARS' TKFRAME_-44900_SPEC = 'ANGLES' TKFRAME_-44900_UNITS = 'DEGREES' TKFRAME_-44900_AXES = ( 3, 2, 3 ) TKFRAME_-44900_ANGLES = ( 269.250, -78.266, 180.0 ) \begintext Beagle-2 Lander Frame -------------------------------------- The BEAGLE2 lander frame, BEAGLE2_LANDER, is defined by the lander design as follows: - +Z axis is parallel to the lander capsule symmetry axis and points up; - +X axis point from +Z toward robotic arm; - +Y axis completes the right hand frame; - the origin of the frame is located at the intersection of the lander main capsule outer rim plane and the lander main capsule symmetry axis. Once landed the lander orientation is constant with respect to the surface and, therefore, this frame is defined as a fixed-offset frame with its orientation provided with respect to the BEAGLE2_LOCAL_LEVEL frame. Should the lander orientation change due to sliding and/or science instrument operations, BEAGLE2_LANDER frame should be re-defined as a CK based frame. For nominal applications, the BEAGLE2_LANDER frame is assumed to be co-aligned with the BEAGLE2_LOCAL_LEVEL frame. \begindata FRAME_BEAGLE2_LANDER = -44000 FRAME_-44000_NAME = 'BEAGLE2_LANDER' FRAME_-44000_CLASS = 4 FRAME_-44000_CLASS_ID = -44000 FRAME_-44000_CENTER = -44 TKFRAME_-44000_RELATIVE = 'BEAGLE2_LOCAL_LEVEL' TKFRAME_-44000_SPEC = 'ANGLES' TKFRAME_-44000_UNITS = 'DEGREES' TKFRAME_-44000_AXES = ( 1, 2, 3 ) TKFRAME_-44000_ANGLES = ( 0.0, 0.0, 0.0 ) \begintext Beagle-2 Instrument Frames -------------------------------------- Beagle-2 instrument frames are TDB. Mars Express Mission NAIF ID Codes -- Definition Section ======================================================================== This section contains name to NAIF ID mappings for the MEX mission. Mars Express Spacecraft (MEX) spacecraft and instruments IDs: ------------------------------------------------------------- This table summarizes MEX Spacecraft IDs: Name ID Synonyms --------------------- ------- --------------------------- MEX -41 MARS EXPRESS, MARS-EXPRESS, MARS_EXPRESS Notes: -- 'MEX', 'MARS EXPRESS', 'MARS-EXPRESS', and 'MARS_EXPRESS' are synonyms and all map to the official MEX S/C ID (-41); Name-ID Mapping keywords: \begindata NAIF_BODY_NAME += ( 'MEX' ) NAIF_BODY_CODE += ( -41 ) NAIF_BODY_NAME += ( 'MARS EXPRESS' ) NAIF_BODY_CODE += ( -41 ) NAIF_BODY_NAME += ( 'MARS-EXPRESS' ) NAIF_BODY_CODE += ( -41 ) NAIF_BODY_NAME += ( 'MARS_EXPRESS' ) NAIF_BODY_CODE += ( -41 ) \begintext MEX Spacecraft Structures IDs -------------------------------------- This table summarizes MEX Spacecraft Structure IDs: Name ID Synonyms --------------------- ------- ------------------------- MEX_SPACECRAFT -41000 MEX_SC MEX_SA+Y -41011 MEX_SA-Y -41012 MEX_SA+Y_GIMBAL -41013 MEX_SA-Y_GIMBAL -41014 MEX_HGA -41020 MEX_MELACOM_1 -41031 MEX_MELACOM_2 -41032 MEX_LGA -41040 MEX_STR_A -41051 MEX_STR_B -41052 Notes: -- 'MEX_SC' and 'MEX_SPACECRAFT' are synonyms and all map to the MEX S/C bus structure ID (-41000); Name-ID Mapping keywords: \begindata NAIF_BODY_NAME += ( 'MEX_SC' ) NAIF_BODY_CODE += ( -41000 ) NAIF_BODY_NAME += ( 'MEX_SPACECRAFT' ) NAIF_BODY_CODE += ( -41000 ) NAIF_BODY_NAME += ( 'MEX_SA+Y' ) NAIF_BODY_CODE += ( -41011 ) NAIF_BODY_NAME += ( 'MEX_SA-Y' ) NAIF_BODY_CODE += ( -41012 ) NAIF_BODY_NAME += ( 'MEX_SA+Y_GIMBAL' ) NAIF_BODY_CODE += ( -41013 ) NAIF_BODY_NAME += ( 'MEX_SA-Y_GIMBAL' ) NAIF_BODY_CODE += ( -41014 ) NAIF_BODY_NAME += ( 'MEX_HGA' ) NAIF_BODY_CODE += ( -41020 ) NAIF_BODY_NAME += ( 'MEX_MELACOM_1' ) NAIF_BODY_CODE += ( -41031 ) NAIF_BODY_NAME += ( 'MEX_MELACOM_2' ) NAIF_BODY_CODE += ( -41032 ) NAIF_BODY_NAME += ( 'MEX_LGA' ) NAIF_BODY_CODE += ( -41040 ) NAIF_BODY_NAME += ( 'MEX_STR_A' ) NAIF_BODY_CODE += ( -41051 ) NAIF_BODY_NAME += ( 'MEX_STR_B' ) NAIF_BODY_CODE += ( -41052 ) \begintext ASPERA IDs -------------------------------------- This table summarizes ASPERA IDs: Name ID --------------------- ------- MEX_ASPERA -41100 MEX_ASPERA_URF -41110 MEX_ASPERA_SAF -41111 MEX_ASPERA_ELS -41120 MEX_ASPERA_NPI -41130 MEX_ASPERA_NPD1 -41141 MEX_ASPERA_NPD2 -41142 MEX_ASPERA_IMA_URF -41150 MEX_ASPERA_IMA -41151 MEX_ASPERA_IMAS -41152 MEX_ASPERA_SS1 -41161 MEX_ASPERA_SS2 -41162 Name-ID Mapping keywords: \begindata NAIF_BODY_NAME += ( 'MEX_ASPERA' ) NAIF_BODY_CODE += ( -41100 ) NAIF_BODY_NAME += ( 'MEX_ASPERA_URF' ) NAIF_BODY_CODE += ( -41110 ) NAIF_BODY_NAME += ( 'MEX_ASPERA_SAF' ) NAIF_BODY_CODE += ( -41111 ) NAIF_BODY_NAME += ( 'MEX_ASPERA_ELS' ) NAIF_BODY_CODE += ( -41120 ) NAIF_BODY_NAME += ( 'MEX_ASPERA_NPI' ) NAIF_BODY_CODE += ( -41130 ) NAIF_BODY_NAME += ( 'MEX_ASPERA_NPD1' ) NAIF_BODY_CODE += ( -41141 ) NAIF_BODY_NAME += ( 'MEX_ASPERA_NPD2' ) NAIF_BODY_CODE += ( -41142 ) NAIF_BODY_NAME += ( 'MEX_ASPERA_IMA_URF' ) NAIF_BODY_CODE += ( -41150 ) NAIF_BODY_NAME += ( 'MEX_ASPERA_IMA' ) NAIF_BODY_CODE += ( -41151 ) NAIF_BODY_NAME += ( 'MEX_ASPERA_IMAS' ) NAIF_BODY_CODE += ( -41152 ) NAIF_BODY_NAME += ( 'MEX_ASPERA_SS1' ) NAIF_BODY_CODE += ( -41161 ) NAIF_BODY_NAME += ( 'MEX_ASPERA_SS2' ) NAIF_BODY_CODE += ( -41162 ) \begintext HRSC IDs -------------------------------------- This table summarizes HRSC IDs: Name ID --------------------- ------- MEX_HRSC -41200 MEX_HRSC_HEAD -41210 MEX_HRSC_S2 -41211 MEX_HRSC_RED -41212 MEX_HRSC_P2 -41213 MEX_HRSC_BLUE -41214 MEX_HRSC_NADIR -41215 MEX_HRSC_GREEN -41216 MEX_HRSC_P1 -41217 MEX_HRSC_IR -41218 MEX_HRSC_S1 -41219 MEX_HRSC_SRC -41220 Notes: -- each CCD line detector has its own ID to allow individual CCD detector FOV definitions in the Instrument Kernel (IK). Name-ID Mapping keywords: \begindata NAIF_BODY_NAME += ( 'MEX_HRSC' ) NAIF_BODY_CODE += ( -41200 ) NAIF_BODY_NAME += ( 'MEX_HRSC_HEAD' ) NAIF_BODY_CODE += ( -41210 ) NAIF_BODY_NAME += ( 'MEX_HRSC_S2' ) NAIF_BODY_CODE += ( -41211 ) NAIF_BODY_NAME += ( 'MEX_HRSC_RED' ) NAIF_BODY_CODE += ( -41212 ) NAIF_BODY_NAME += ( 'MEX_HRSC_P2' ) NAIF_BODY_CODE += ( -41213 ) NAIF_BODY_NAME += ( 'MEX_HRSC_BLUE' ) NAIF_BODY_CODE += ( -41214 ) NAIF_BODY_NAME += ( 'MEX_HRSC_NADIR' ) NAIF_BODY_CODE += ( -41215 ) NAIF_BODY_NAME += ( 'MEX_HRSC_GREEN' ) NAIF_BODY_CODE += ( -41216 ) NAIF_BODY_NAME += ( 'MEX_HRSC_P1' ) NAIF_BODY_CODE += ( -41217 ) NAIF_BODY_NAME += ( 'MEX_HRSC_IR' ) NAIF_BODY_CODE += ( -41218 ) NAIF_BODY_NAME += ( 'MEX_HRSC_S1' ) NAIF_BODY_CODE += ( -41219 ) NAIF_BODY_NAME += ( 'MEX_HRSC_SRC' ) NAIF_BODY_CODE += ( -41220 ) \begintext MARSIS IDs: -------------------------------------- This table summarizes MARSIS IDs: Name ID --------------------- ------- MEX_MARSIS -41300 MEX_MARSIS_250KM -41301 MEX_MARSIS_1400KM -41302 MEX_MARSIS_DIPOLE_1 -41310 MEX_MARSIS_DIPOLE_2 -41320 MEX_MARSIS_MONOPOLE -41330 Name-ID Mapping keywords: \begindata NAIF_BODY_NAME += ( 'MEX_MARSIS' ) NAIF_BODY_CODE += ( -41300 ) NAIF_BODY_NAME += ( 'MEX_MARSIS_250KM' ) NAIF_BODY_CODE += ( -41301 ) NAIF_BODY_NAME += ( 'MEX_MARSIS_1400KM' ) NAIF_BODY_CODE += ( -41302 ) NAIF_BODY_NAME += ( 'MEX_MARSIS_DIPOLE_1' ) NAIF_BODY_CODE += ( -41310 ) NAIF_BODY_NAME += ( 'MEX_MARSIS_DIPOLE_2' ) NAIF_BODY_CODE += ( -41320 ) NAIF_BODY_NAME += ( 'MEX_MARSIS_MONOPOLE' ) NAIF_BODY_CODE += ( -41330 ) \begintext OMEGA IDs -------------------------------------- This table summarizes OMEGA IDs: Name ID --------------------- ------- MEX_OMEGA -41400 MEX_OMEGA_VNIR -41410 MEX_OMEGA_SWIR -41420 MEX_OMEGA_SWIR_C -41421 MEX_OMEGA_SWIR_L -41422 Name-ID Mapping keywords: \begindata NAIF_BODY_NAME += ( 'MEX_OMEGA' ) NAIF_BODY_CODE += ( -41400 ) NAIF_BODY_NAME += ( 'MEX_OMEGA_VNIR' ) NAIF_BODY_CODE += ( -41410 ) NAIF_BODY_NAME += ( 'MEX_OMEGA_SWIR' ) NAIF_BODY_CODE += ( -41420 ) NAIF_BODY_NAME += ( 'MEX_OMEGA_SWIR_C' ) NAIF_BODY_CODE += ( -41421 ) NAIF_BODY_NAME += ( 'MEX_OMEGA_SWIR_L' ) NAIF_BODY_CODE += ( -41422 ) \begintext PFS IDs -------------------------------------- This table summarizes PFS IDs: Name ID --------------------- ------- MEX_PFS -41500 MEX_PFS_SWC -41510 MEX_PFS_SWC_25_LEFT -41511 MEX_PFS_SWC_12_LEFT -41512 MEX_PFS_SWC_NADIR -41513 MEX_PFS_SWC_12_RIGHT -41514 MEX_PFS_SWC_25_RIGHT -41515 MEX_PFS_SWC_COLD_SPACE -41516 MEX_PFS_LWC -41520 MEX_PFS_LWC_25_LEFT -41521 MEX_PFS_LWC_12_LEFT -41522 MEX_PFS_LWC_NADIR -41523 MEX_PFS_LWC_12_RIGHT -41524 MEX_PFS_LWC_COLD_SPACE -41525 MEX_PFS_SCANNER -41530 Name-ID Mapping keywords: \begindata NAIF_BODY_NAME += ( 'MEX_PFS' ) NAIF_BODY_CODE += ( -41500 ) NAIF_BODY_NAME += ( 'MEX_PFS_SWC' ) NAIF_BODY_CODE += ( -41510 ) NAIF_BODY_NAME += ( 'MEX_PFS_SWC_25_LEFT' ) NAIF_BODY_CODE += ( -41511 ) NAIF_BODY_NAME += ( 'MEX_PFS_SWC_12_LEFT' ) NAIF_BODY_CODE += ( -41512 ) NAIF_BODY_NAME += ( 'MEX_PFS_SWC_NADIR' ) NAIF_BODY_CODE += ( -41513 ) NAIF_BODY_NAME += ( 'MEX_PFS_SWC_12_RIGHT' ) NAIF_BODY_CODE += ( -41514 ) NAIF_BODY_NAME += ( 'MEX_PFS_SWC_25_RIGHT' ) NAIF_BODY_CODE += ( -41515 ) NAIF_BODY_NAME += ( 'MEX_PFS_SWC_COLD_SPACE' ) NAIF_BODY_CODE += ( -41516 ) NAIF_BODY_NAME += ( 'MEX_PFS_LWC' ) NAIF_BODY_CODE += ( -41520 ) NAIF_BODY_NAME += ( 'MEX_PFS_LWC_25_LEFT' ) NAIF_BODY_CODE += ( -41521 ) NAIF_BODY_NAME += ( 'MEX_PFS_LWC_12_LEFT' ) NAIF_BODY_CODE += ( -41522 ) NAIF_BODY_NAME += ( 'MEX_PFS_LWC_NADIR' ) NAIF_BODY_CODE += ( -41523 ) NAIF_BODY_NAME += ( 'MEX_PFS_LWC_12_RIGHT' ) NAIF_BODY_CODE += ( -41524 ) NAIF_BODY_NAME += ( 'MEX_PFS_LWC_25_RIGHT' ) NAIF_BODY_CODE += ( -41525 ) NAIF_BODY_NAME += ( 'MEX_PFS_LWC_COLD_SPACE' ) NAIF_BODY_CODE += ( -41526 ) NAIF_BODY_NAME += ( 'MEX_PFS_SCANNER' ) NAIF_BODY_CODE += ( -41530 ) \begintext SPICAM IDs -------------------------------------- This table summarizes SPICAM IDs: Name ID -------------------------- ------- MEX_SPICAM -41600 MEX_SPICAM_UV -41610 MEX_SPICAM_UV1_STAR -41611 MEX_SPICAM_UV2_SUN -41612 MEX_SPICAM_UV1_NADIR_SLIT -41613 MEX_SPICAM_UV1_NADIR_BIN_2 -41614 MEX_SPICAM_UV1_NADIR_BIN_4 -41615 MEX_SPICAM_UV1_NADIR_BIN_8 -41616 MEX_SPICAM_UV1_NADIR_BIN_16 -41617 MEX_SPICAM_UV1_NADIR_BIN_32 -41618 MEX_SPICAM_UV1_CCD -41619 MEX_SPICAM_IR -41620 MEX_SPICAM_IR1_STELLAR -41621 MEX_SPICAM_IR2_SOLAR -41622 MEX_SPICAM_IR1_NADIR -41623 Name-ID Mapping keywords: \begindata NAIF_BODY_NAME += ( 'MEX_SPICAM' ) NAIF_BODY_CODE += ( -41600 ) NAIF_BODY_NAME += ( 'MEX_SPICAM_UV' ) NAIF_BODY_CODE += ( -41610 ) NAIF_BODY_NAME += ( 'MEX_SPICAM_UV1_STAR' ) NAIF_BODY_CODE += ( -41611 ) NAIF_BODY_NAME += ( 'MEX_SPICAM_UV2_SUN' ) NAIF_BODY_CODE += ( -41612 ) NAIF_BODY_NAME += ( 'MEX_SPICAM_UV1_NADIR_SLIT' ) NAIF_BODY_CODE += ( -41613 ) NAIF_BODY_NAME += ( 'MEX_SPICAM_UV1_NADIR_BIN_2' ) NAIF_BODY_CODE += ( -41614 ) NAIF_BODY_NAME += ( 'MEX_SPICAM_UV1_NADIR_BIN_4' ) NAIF_BODY_CODE += ( -41615 ) NAIF_BODY_NAME += ( 'MEX_SPICAM_UV1_NADIR_BIN_8' ) NAIF_BODY_CODE += ( -41616 ) NAIF_BODY_NAME += ( 'MEX_SPICAM_UV1_NADIR_BIN_16' ) NAIF_BODY_CODE += ( -41617 ) NAIF_BODY_NAME += ( 'MEX_SPICAM_UV1_NADIR_BIN_32' ) NAIF_BODY_CODE += ( -41618 ) NAIF_BODY_NAME += ( 'MEX_SPICAM_UV1_CCD' ) NAIF_BODY_CODE += ( -41619 ) NAIF_BODY_NAME += ( 'MEX_SPICAM_IR' ) NAIF_BODY_CODE += ( -41620 ) NAIF_BODY_NAME += ( 'MEX_SPICAM_IR1_STAR' ) NAIF_BODY_CODE += ( -41621 ) NAIF_BODY_NAME += ( 'MEX_SPICAM_IR2_SUN' ) NAIF_BODY_CODE += ( -41622 ) NAIF_BODY_NAME += ( 'MEX_SPICAM_IR1_NADIR' ) NAIF_BODY_CODE += ( -41623 ) \begintext VMC IDs -------------------------------------- This table summarizes VMC IDs: Name ID -------------------------- ------- MEX_VMC -41700 Name-ID Mapping keywords: \begindata NAIF_BODY_NAME += ( 'MEX_VMC' ) NAIF_BODY_CODE += ( -41700 ) \begintext Mars Express Beagle-2 (BEAGLE2) Lander and its instruments IDs -------------------------------------------------------------- This table summarizes Beagle-2 lander and its instrument IDs: Name ID Synonyms --------------------- ------- ------------------------- BEAGLE2 -44 BEAGLE 2, BEAGLE-2, BEAGLE_2 BEAGLE2_LANDER -44000 BEAGLE2_GAP -44100 BEAGLE2_PAW -44200 BEAGLE2_LANDING_SITE -44900 BEAGLE2_LS, BEAGLE2_SITE Notes: -- 'BEAGLE2', 'BEAGLE 2', 'BEAGLE-2', and 'BEAGLE_2' are synonyms and all map to the official Beagle-2 S/C ID (-44); -- 'BEAGLE2_LANDING_SITE', 'BEAGLE2_LS' and 'BEAGLE2_SITE' are synonyms and all map to Beagle-2 landing site ID (-44000); Name-ID Mapping keywords: \begindata NAIF_BODY_NAME += ( 'BEAGLE2' ) NAIF_BODY_CODE += ( -44 ) NAIF_BODY_NAME += ( 'BEAGLE 2' ) NAIF_BODY_CODE += ( -44 ) NAIF_BODY_NAME += ( 'BEAGLE-2' ) NAIF_BODY_CODE += ( -44 ) NAIF_BODY_NAME += ( 'BEAGLE_2' ) NAIF_BODY_CODE += ( -44 ) NAIF_BODY_NAME += ( 'BEAGLE2_LANDER' ) NAIF_BODY_CODE += ( -44000 ) NAIF_BODY_NAME += ( 'BEAGLE2_GAP' ) NAIF_BODY_CODE += ( -44100 ) NAIF_BODY_NAME += ( 'BEAGLE2_PAW' ) NAIF_BODY_CODE += ( -44200 ) NAIF_BODY_NAME += ( 'BEAGLE2_LANDING_SITE' ) NAIF_BODY_CODE += ( -44900 ) NAIF_BODY_NAME += ( 'BEAGLE2_LS' ) NAIF_BODY_CODE += ( -44900 ) NAIF_BODY_NAME += ( 'BEAGLE2_SITE' ) NAIF_BODY_CODE += ( -44900 ) \begintext End of FK file.