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 1.2 -- 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 Document No.____
2. ``Kernel Pool Required Reading'', NAIF Document No.____
3. ``C-Kernel Required Reading'', NAIF Document No.____
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.
Contact Information
========================================================================
- Boris V. Semenov, NAIF/JPL, (818)-354-8136, boris.semenov@jpl.nasa.gov
- Jorge Diaz del Rio, MIG/ESA,(34)-918-131-166, jdiaz@sciops.esa.int
- Jose Luis Vazquez Garcia, MIG/ESA, (34)-918-131-310, jlvazquez@sciops.esa.int
and
- ESA SPICE Support Team, esa_spice@sciops.esa.int
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_VMC -41050
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_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_LWC -41520
MEX_PFS_SCANNER -41530
SPICAM names/IDs:
MEX_SPICAM -41600
MEX_SPICAM_SIR -41610
MEX_SPICAM_SIR_SOLAR -41611
MEX_SPICAM_SUV -41620
MEX_SPICAM_SUV_SOLAR -41621
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_VMC MEX_SPACECRAFT FIXED -41050
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_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 MEX_PFS_BASE FIXED -41533
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_SIR MEX_SPICAM_BASE FIXED -41610
MEX_SPICAM_SIR_SOLAR MEX_SPICAM_BASE FIXED -41611
MEX_SPICAM_SUV MEX_SPICAM_BASE FIXED -41620
MEX_SPICAM_SUV_SOLAR MEX_SPICAM_BASE FIXED -41621
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
|
V
"MEX_SC_REF"
------------
|
|<-fixed
|
V
"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 <<TBD>> ;
- Y axis is along <<TBD>> ;
- X completes the right hand frame;
- the origin of the MEX_LGA frame is located at <<TBD>> .
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
MEX 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 = -41050
FRAME_-41050_NAME = 'MEX_VMC'
FRAME_-41050_CLASS = 4
FRAME_-41050_CLASS_ID = -41050
FRAME_-41050_CENTER = -41
TKFRAME_-41050_RELATIVE = 'MEX_SPACECRAFT'
TKFRAME_-41050_SPEC = 'ANGLES'
TKFRAME_-41050_UNITS = 'DEGREES'
TKFRAME_-41050_AXES = ( 3, 2, 1 )
TKFRAME_-41050_ANGLES = ( 0.0, 0.0, 19.0 )
\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-<angle> ) degrees about +Z axis for
scanner in <angle> 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"
--------------------- --------------------- ---------------------
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.
DUE TO INSUFFICIENT MARSIS DOCUMENTATION AVAILABLE TO NAIF AT THE
TIME WHEN THIS FILE WAS CREATED, THE MARSIS ANTENNA FRAMES DEFINED IN
THIS FILE ARE PLACE-HOLDERS MAKING ALL MARSIS ANTENNA FRAMES CO-ALIGNED
WITH THE S/C FRAME (BVS, 06/13/01)
\begindata
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,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.
Currently no misalignment data are available, and, therefore, the set of
keywords below makes these frames co-aligned with their reference.
\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 = ( 0.0, 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 = ( 0.0, 0.0, 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 0.0
MEX_PFS_12_LEFT 12.5
MEX_PFS_25_LEFT 25.0
MEX_PFS_COLD_SPACE 85.0
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 = -41533
FRAME_-41533_NAME = 'MEX_PFS_NADIR'
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 = ( 0.0, 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 |<--fixed
| | | |
V | V |
"MEX_SPICAM_SIR" | "MEX_SPICAM_SUV" |
---------------- | ---------------- |
V V
"MEX_SPICAM_SIR_SOLAR" "MEX_SPICAM_SUV_SOLAR"
---------------------- ----------------------
SPICAM Base 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 SUV/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 SUV 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 SUV spectral dimension is along CCD lines, which are parallel
to Y,Z plane. SPICAM SIR 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 ---------->
\ /
.________________. .__`._____.'__. .________________.
| \ | | / |
| \ | +Ysbase | / |
| | .____. | | |
| |o=|o---> o------->o| |
| SPICAM .|___. |+Zsc |+Ysc |
| / || | | \ |
._________________/ .|_____|______. \_________________.
-Y Solar Array | | +Y Solar Array
V V
+Xsbase +Xsc
+Zsc and +Zsbase 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 = ( 000.000, 000.000, 000.000 )
\begintext
SPICAM Detector Frames
--------------------------------------
The SPICAM detector nadir port frames -- MEX_SPICAM_SUV and
MEX_SPICAM_SIR -- are defined exactly as, and are nominally co-aligned
with, the SPICAM base frame MEX_SPICAM_BASE. These frames are
introduced to allow incorporating into the SPICAM frame chain any
misalignment between the instrument base and detectors measured prior
to delivering the instrument for installation on the s/c.
The SPICAM SIR and SUV detector solar port frames -- MEX_SPICAM_SIR_SOLAR
and MEX_SPICAM_SUV_SOLAR -- are defined in the same way as follows:
- +Z axis points along SIR/SUV solar port boresight;
- +X axis is parallel to the Sensor Unit assembly symmetry axis
and points towards the SPICAM SUV/SIR opening side; it points
nominally along the s/c +Z axis;
- +Y axis completes the right hand frame;
- the origin of the frame is located at the SPICAM SIR/SUV detector
focal point.
This diagram illustrates all three SPICAM detector port frames:
+Z s/c side view:
-----------------
direction
HGA of flight (+Ysc)
+Zsir_solar ___________ ---------->
+Zsuv_solar ^ \ ^ +Ysir_solar
.________________. \ .__` .' +Ysuv_solar.________________.
| \ \ | .' | / |
| +Xsir_solar\|.' +Ybase| / |
| +Xsuv_solar o____. +Ysuv | | +Ysc |
| |o=|o-------> |=o| -------> |
| SPICAM .|__o-------> | | |
| / || | +Ysir \ |
._________________/ .|__|_________. \_________________.
-Y Solar Array | | +Y Solar Array
+Xbase V |
+Xsuv V +Xsir
| +Zsc, +Zbase, +Zsuv,
| +Zsir, +Xsir_solar,
V +Xsc and +Xsuv_solar
are out of the page
Nominally, the SPICAM SIR and SUV frames are co-aligned the SPICAM base
frame while the SPICAM SIR and SUV solar port frames are first rotated
from it by -90 degrees about +Y, and then rotated by +30 degrees about
the new position of +X.
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_SIR = -41610
FRAME_-41610_NAME = 'MEX_SPICAM_SIR'
FRAME_-41610_CLASS = 4
FRAME_-41610_CLASS_ID = -41610
FRAME_-41610_CENTER = -41
TKFRAME_-41610_RELATIVE = 'MEX_SPICAM_BASE'
TKFRAME_-41610_SPEC = 'ANGLES'
TKFRAME_-41610_UNITS = 'DEGREES'
TKFRAME_-41610_AXES = ( 1, 2, 3 )
TKFRAME_-41610_ANGLES = ( 0.0, 0.0, 0.0 )
FRAME_MEX_SPICAM_SUV = -41620
FRAME_-41620_NAME = 'MEX_SPICAM_SUV'
FRAME_-41620_CLASS = 4
FRAME_-41620_CLASS_ID = -41620
FRAME_-41620_CENTER = -41
TKFRAME_-41620_RELATIVE = 'MEX_SPICAM_BASE'
TKFRAME_-41620_SPEC = 'ANGLES'
TKFRAME_-41620_UNITS = 'DEGREES'
TKFRAME_-41620_AXES = ( 1, 2, 3 )
TKFRAME_-41620_ANGLES = ( 0.0, 0.0, 0.0 )
FRAME_MEX_SPICAM_SIR_SOLAR = -41611
FRAME_-41611_NAME = 'MEX_SPICAM_SIR_SOLAR'
FRAME_-41611_CLASS = 4
FRAME_-41611_CLASS_ID = -41611
FRAME_-41611_CENTER = -41
TKFRAME_-41611_RELATIVE = 'MEX_SPICAM_BASE'
TKFRAME_-41611_SPEC = 'ANGLES'
TKFRAME_-41611_UNITS = 'DEGREES'
TKFRAME_-41611_AXES = ( 3, 2, 1 )
TKFRAME_-41611_ANGLES = ( 0.0, 90.0, -30.0 )
FRAME_MEX_SPICAM_SUV_SOLAR = -41621
FRAME_-41621_NAME = 'MEX_SPICAM_SUV_SOLAR'
FRAME_-41621_CLASS = 4
FRAME_-41621_CLASS_ID = -41621
FRAME_-41621_CENTER = -41
TKFRAME_-41621_RELATIVE = 'MEX_SPICAM_BASE'
TKFRAME_-41621_SPEC = 'ANGLES'
TKFRAME_-41621_UNITS = 'DEGREES'
TKFRAME_-41621_AXES = ( 3, 2, 1 )
TKFRAME_-41621_ANGLES = ( 0.0, 90.0, -30.0 )
\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
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_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_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_LWC -41520
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_LWC' )
NAIF_BODY_CODE += ( -41520 )
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_SIR -41610
MEX_SPICAM_SIR_SOLAR -41611
MEX_SPICAM_SUV -41620
MEX_SPICAM_SUV_SOLAR -41621
Name-ID Mapping keywords:
\begindata
NAIF_BODY_NAME += ( 'MEX_SPICAM' )
NAIF_BODY_CODE += ( -41600 )
NAIF_BODY_NAME += ( 'MEX_SPICAM_SIR' )
NAIF_BODY_CODE += ( -41610 )
NAIF_BODY_NAME += ( 'MEX_SPICAM_SIR_SOLAR' )
NAIF_BODY_CODE += ( -41611 )
NAIF_BODY_NAME += ( 'MEX_SPICAM_SUV' )
NAIF_BODY_CODE += ( -41620 )
NAIF_BODY_NAME += ( 'MEX_SPICAM_SUV_SOLAR' )
NAIF_BODY_CODE += ( -41621 )
\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_VMC -41050
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_SPACECRAFT' )
NAIF_BODY_CODE += ( -41000 )
NAIF_BODY_NAME += ( 'MEX_SC' )
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_VMC' )
NAIF_BODY_CODE += ( -41050 )
\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