KPL/FK ****************************************************************************** IN THIS KERNEL, THE ROTATION ANGLES ABOUT X AND Y FOR THE AMIE CCD FRAME ARE THE NEGATIVE OF THOSE IN VERSION 0.9 ****************************************************************************** SMART-1 Spacecraft Frames Kernel ======================================================================== This frame kernel contains the complete set of frame definitions for the SMART-1 Spacecraft (SMART-1) including definitions for the SMART-1 spacecraft and SMART-1 science instrument frames. This kernel also contains NAIF ID/name mapping for the SMART-1 instruments. Version and Date ======================================================================== Version 0.9 -- April 19, 2007 -- Jose Luis Vazquez , RSSD/ESA Updated after discussion within RSSD AMIE team (Bjoern Grieger, Detlef Koschny, J. Vazquez). See S1-AMIE-RSSD-TN-008 for details. Corrections made on AMIE frames. Position of the X and Y filters swapped on the figure, and rotation angles corrected. Corrected AMIE frame (SMART_AMIE_CCD) specification. Updated the AMIE frames description. Version 0.8 -- November 28, 2005 -- Jorge Diaz del Rio, RSSD/ESA Solar Panels' corner points name/ID pairs included. For each of the solar panels, 4 corner point name/ID pairs are defined: SMART1_SA+Y_C1, SMART1_SA+Y_C2, SMART1_SA+Y_C3, SMART1_SA+Y_C4, SMART1_SA-Y_C1, SMART1_SA-Y_C2, SMART1_SA-Y_C3, SMART1_SA-Y_C4. Typo corrected in the SPEDE instrument names Version 0.7 -- November 18, 2005 -- Jorge Diaz del Rio, RSSD/ESA Correction of the rotation angles of the SMART1_XSM frame definition after email sent by Jyri Naranen (XSM team). The nominal values from Version 0.3 of this frame have been included again. Version 0.6 -- June 17, 2005 -- Jorge Diaz del Rio, RSSD/ESA Corrections in the D-CIXS diagram proposed by D-CIXS team. Version 0.5 -- May 27, 2005 -- Jorge Diaz del Rio, RSSD/ESA Reorganization of D-CIXS frame names and tree. DCIXS_BASE renamed to DCIXS. DCIXS_FACET1, DCIXS_FACET2, DCIXS_FACET3 removed from the DCIXS frame tree. Information about facet's boresights is provided in the SMART1/D-CIXS IK. Version 0.4 -- April 20, 2005 -- Jorge Diaz del Rio, RSSD/ESA Correction of the rotation angles of the SMART1_XSM frame definition after the review of XSM Instrument Team. Version 0.3 -- March 10, 2005 -- Jorge Diaz del Rio, RSSD/ESA Solar Array BAPTA frames included. Corrections to the instrument frames alignment values applied. Preliminary Version. Pending review and approval by SMART-1 instrument teams. Version 0.2 -- January 20, 2005 -- Jorge Diaz del Rio, RSSD/ESA SPEDE frames added. Preliminary Version. Pending review and approval by SMART-1 instrument teams and ESTEC Science Operations Team. Version 0.1 -- January 06, 2005 -- Jorge Diaz del Rio, RSSD/ESA D-CIXS, XSM frames added. Preliminary Version. Pending review and approval by SMART-1 instrument teams and ESTEC Science operations team. Version 0.0 -- December 10, 2004 -- Jorge Diaz del Rio, RSSD/ESA Preliminary Version. Pending review and approval by SMART-1 instrument teams and ESTEC Science operations team. References ======================================================================== 1. ``Frames Required Reading'' 2. ``Kernel Pool Required Reading'' 3. ``C-Kernel Required Reading'' 4. Experiment Interface Document - Part A (EID-A), Issue 4 Doc.: S1-EST-EID-3 001, 17-April-2001 5. AMIE boresight analysis D/- (28-Oct-2004). S1-AMIE-RSSD-TN-004 6. AMIE Flight User Manual Issue 2.1 (30-Jan-2004). S1-AMI-MA-3001 7. AMIE-SIR Co-Alignment analysis Issue 1/c (24-Oct-2004). S1-AMIE-RSSD-TN-003 8. DCIXS/XSM User Manual Issue 7 (27-Mar-2003). S1-CIX-MA-3002 9. BAPTA potentiometer and SA positions. (06-Dec-2001) S1-MEC-BAPTA-TN-22 10. Solar Array ICD, Issue 4. October 2001. S1-FS-IC-001/S1-FKS-ICD-2049 11. BAPTA Technical Description, Issue 0, (16-May-2000). FS00131731 12. Email from J. De Bruin (SMART-1 Flight Control Team), 18-Feb-2005 13. SMART-1 AMIE Frame and clock kernel tests, S1-AMIE-RSSD-TN-008 Bjoern Grieger. Contact Information ======================================================================== Jose Luis Vazquez, RSSD/ESA, +34 91 8131 310, jlvazquez@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. SMART-1 mission NAIF ID Codes -- Summary Section ======================================================================== The following names and NAIF ID codes are assigned to the SMART-1 spacecraft, its structures and science instruments (the keywords implementing these definitions are located in the section "SMART-1 Mission NAIF ID Codes -- Definition Section" at the end of this file): SMART-1 Spacecraft and Spacecraft Structures names/IDs: SMART-1 -238 (synonyms: SMART1, SM1, S1 ) SMART1_SPACECRAFT -238000 (synonym: SMART1_SC) SMART1_SA+Y -238010 SMART1_SA+Y_BAPTA -238011 SMART1_SA+Y_C1 -238012 SMART1_SA+Y_C2 -238013 SMART1_SA+Y_C3 -238014 SMART1_SA+Y_C4 -238015 SMART1_SA-Y -238020 SMART1_SA-Y_BAPTA -238021 SMART1_SA-Y_C1 -238022 SMART1_SA-Y_C2 -238023 SMART1_SA-Y_C3 -238024 SMART1_SA-Y_C4 -238025 SMART1_MGA -238030 SMART1_LGA-1 -238040 SMART1_LGA-2 -238050 SMART1_SEPP -238060 SMART1_SS1 -238070 SMART1_SS2 -238071 SMART1_SS3 -238072 AMIE names/IDs: SMART1_AMIE_CCD -238100 SMART1_AMIE_NONE -238110 SMART1_AMIE_LASER -238120 SMART1_AMIE_VIS_X -238130 SMART1_AMIE_VIS_Y -238131 SMART1_AMIE_FEL_X -238140 SMART1_AMIE_FEL_Y -238141 SMART1_AMIE_FEH_X -238150 SMART1_AMIE_FEH_Y -238151 SIR names/IDs: SMART1_SIR -238200 D-CIXS names/IDs: SMART1_DCIXS -238300 SMART1_DCIXS_FACET1 -238310 SMART1_DCIXS_FACET2 -238320 SMART1_DCIXS_FACET3 -238330 KATE/RSIS names/IDs: SMART1_KATE_X -238400 SMART1_KATE_KA -238410 EPDP names/IDs: [TBD] SPEDE names/IDs: SMART1_SPEDE+X -238600 SMART1_SPEDE-X -238610 XSM names/IDs: SMART1_XSM -238700 SMART-1 Frames ======================================================================== The following SMART-1 frames are defined in this kernel file: Name Relative to Type NAIF ID ====================== =================== ============ ======= SMART-1 Spacecraft and Spacecraft Structures frames: ---------------------------------------------------- SMART1_SPACECRAFT J2000 CK -238000 SMART1_SA+Y SMART1_SA+Y_BAPTA FIXED -238010 SMART1_SA+Y_BAPTA SMART1_SPACECRAFT CK -238011 SMART1_SA-Y SMART1_SA-Y_BAPTA FIXED -238020 SMART1_SA-Y_BAPTA SMART1_SPACECRAFT CK -238021 SMART1_MGA SMART1_SPACECRAFT FIXED -238030 SMART1_LGA-1 SMART1_SPACECRAFT FIXED -238040 SMART1_LGA-2 SMART1_SPACECRAFT FIXED -238050 SMART1_SEPP SMART1_SPACECRAFT FIXED -238060 SMART1_SS1 SMART1_SPACECRAFT FIXED -238070 SMART1_SS2 SMART1_SPACECRAFT FIXED -238071 SMART1_SS3 SMART1_SPACECRAFT FIXED -238072 AMIE Frames: ------------ SMART1_AMIE_CCD SMART1_SPACECRAFT FIXED -238100 SMART1_AMIE_NONE SMART1_AMIE_CCD FIXED -238110 SMART1_AMIE_LASER SMART1_AMIE_CCD FIXED -238120 SMART1_AMIE_VIS_X SMART1_AMIE_CCD FIXED -238130 SMART1_AMIE_VIS_Y SMART1_AMIE_CCD FIXED -238131 SMART1_AMIE_FEL_X SMART1_AMIE_CCD FIXED -238140 SMART1_AMIE_FEL_Y SMART1_AMIE_CCD FIXED -238141 SMART1_AMIE_FEH_X SMART1_AMIE_CCD FIXED -238150 SMART1_AMIE_FEH_Y SMART1_AMIE_CCD FIXED -238151 SIR Frames: ----------- SMART1_SIR SMART1_SPACECRAFT FIXED -238200 D-CIXS Frames: -------------- SMART1_DCIXS SMART1_SPACECRAFT FIXED -238300 KATE/RSIS Frames: ----------------- SMART1_KATE_X SMART1_SPACECRAFT FIXED -238400 SMART1_KATE_KA SMART1_SPACECRAFT FIXED -238410 EPDP Frames: ------------ [TBD] SPEDE Frames: ------------- SMART1_SPEDE+X SMART1_SPACECRAFT FIXED -238600 SMART1_SPEDE-X SMART1_SPACECRAFT FIXED -238610 XSM Frames: ----------- SMART1_XSM SMART1_SPACECRAFT FIXED -238700 SMART-1 Spacecraft and Spacecraft Structures Frame Tree ======================================================================== The diagram below shows the frame hierarchy for the SMART1 spacecraft and its structure frame (not including science instrument frames.) "J2000" INERTIAL +---------------------------------------------------+ | | | | | | |<-pck | pck->| | | | V | V "IAU_MOON" | "IAU_EARTH" MOON BODY-FIXED | EARTH BODY-FIXED --------------- | ---------------- | |<-ck | V "SMART1-SPACECRAFT" +--------------------------------------------------------------+ | | . | | | | | | | |<-ck | . fixed->| | | | | | |<-fixed | | . | | | | | | | V | . V | | | | | V "SMART1_SA+Y_BAPTA" |<-ck . "SMART1_SS1" | | | | | "SMART1_LGA-2" ------------------ | . ----------- | | | | | -------------- | V . | | | | | | "SMART1_SA-Y_BAPTA" . fixed->| | | | |<-fixed | ------------------ . | | | | | | | . V | | | V | | . "SMART1_SS2" | | | "SMART1_LGA-1" |<-fixed fixed->| . ------------ | | | ------------- | | . | | | V V . fixed->| | |<-fixed "SMART1_SA+Y" "SMART1_SA-Y" . | | | ------------- ------------- . V | V . "SMART1_SS3" | "SMART1_MGA" . ------------ | ------------ . | . |<-fixed . V . "SMART1_SEPP" . ------------- V Individual instrument frame trees are provided in the other sections of this file SMART-1 Spacecraft and Spacecraft Structures Frames ======================================================================== This section of the file contains the definitions of the spacecraft and spacecraft structures frames. SMART-1 Spacecraft Frame -------------------------------------- According to [4] the SMART-1 spacecraft frame is defined as follows: - +Z axis is perpendicular to the launcher interface plane, directed positively through the S/C body; - +X axis is perpendicular to the Z-axis and the solar array drive axis, directed positively through the side of the S/C containing the Medium Gain Antenna; - +Y axis completes the right-handed system. - the origin of this frame is the launch vehicle interface point. These diagrams illustrate the SMART1_SPACECRAFT frame: +X s/c side view: ----------------- ^ | Nadir | ._____________. | . | =====================o | 'o`| o===================== -Y Solar Array | `.'KaTE +Y Solar Array | +Zsc 'o`| | ^ `-'| | | . | | | 'o` MGA .______|__`-'_. +Xsc is out | | | of the page .____o-------> +Ysc / \ /_____\ Main Engine +Z s/c side view: ----------------- ____ MGA \ / .________________. ._____\^/_____. .________________. | \ | |+Xsc | / | | \ | | | / | | | | | +Ysc | | | |o=| x------->o| | | | | +Zsc | | | | / | | \ | ._________________/ ._____________. \_________________. -Y Solar Array +Y Solar Array +Zsc is into the page. Since the orientation of the SM1_SPACECRAFT 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. \begindata FRAME_SMART1_SPACECRAFT = -238000 FRAME_-238000_NAME = 'SMART1_SPACECRAFT' FRAME_-238000_CLASS = 3 FRAME_-238000_CLASS_ID = -238000 FRAME_-238000_CENTER = -238 CK_-238000_SCLK = -238 CK_-238000_SPK = -238 \begintext SMART-1 Solar Array Frames -------------------------------------- The SMART-1 solar arrays can be articulated (having one degree of freedom). The solar array frames are defined in a way consistent with the other instrument frames, with +Z axis pointing normal to the active solar panel cells. Because of this, it is required to incorporate a new frame in the chain, the SMART-1 Solar Array BAPTA frames that describe the solar arrays frames as described in the documentation and ingeneering models, and are defined as a CK-based frames. SMART-1 Solar Array BAPTA Frames -------------------------------- Since the SMART-1 solar arrays can be articulated, and to comply with the documentation available for SMART-1, the solar Array BAPTA frames, SMART1_SA+Y_BAPTA and SMART1_SA-Y_BAPTA, are defined as CK frames with their orientation given relative to the SMART1_SPACECRAFT frame. Both arrays BAPTA frames are defined as follows (from [10], [11] and [12]): - +Y is parallel to the longest side of the array, positively oriented from the yoke to the end of the wing; - +X is normal to the solar array plane, the solar cells facing +X; - +Z 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. The zero position of the Solar Panel is when the BAPTA's +X axis is aligned with the -Z s/c axis. Note that for solar array +Y and -Y, the positive and negative angles are exactly opposite (in the nominal case), i.e. when both solar arrays are pointing in the +X s/c direction, the Solar Panel +Y is -90 degrees position, while the Solar Panel -Y is in +90 degrees. This diagram illustrates the SMART1_SA+Y_BAPTA and SMART1_SA-Y_BAPTA frames: +X s/c side view: ----------------- +Xsa-y_b ^ ^ +Xsa+y_b | | | | | | +Ysa-y_b | ._____________. | +Ysa+y_b -Y SA cell side <---------o | . | x---------> +Y SA, cell side =====================o | 'o`| o===================== | `.'| | +Zsc 'o` KaTE | ^ `-'| | | . | +Zsa+y_b is into the page | | 'o` MGA +Zsa-y_b is out of the page .______|__`-'_. | | | .____o-------> +Ysc +Xsc \ /_____\ Main Engine Since the orientation of both array BAPTA frames is computed on-board, sent down in telemetry, and stored in the Solar Array CK files, they are defined as a CK-based frame. \begindata FRAME_SMART1_SA+Y_BAPTA = -238011 FRAME_-238011_NAME = 'SMART1_SA+Y_BAPTA' FRAME_-238011_CLASS = 3 FRAME_-238011_CLASS_ID = -238011 FRAME_-238011_CENTER = -238 CK_-238011_SCLK = -238 CK_-238011_SPK = -238 FRAME_SMART1_SA-Y_BAPTA = -238021 FRAME_-238021_NAME = 'SMART1_SA-Y_BAPTA' FRAME_-238021_CLASS = 3 FRAME_-238021_CLASS_ID = -238021 FRAME_-238021_CENTER = -238 CK_-238021_SCLK = -238 CK_-238021_SPK = -238 \begintext Solar Array Frames ------------------ The Solar Array frames are defined as follows, for consistency with other instruments on the spacecraft: - +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 Solar Array frames, SMART1_SA+Y and SMART1_SA-Y, are defined with respect to an CK-based itermediate frame, SMART1_SA+Y_BAPTA and SMART1_SA-Y_BAPTA. Nominally, as single rotation of 90 degrees about the +Y axis is required to co-align each of the BAPTA frames with its Solar Array frame. +Z s/c side view: ----------------- -Y SA, cell side +Y SA, cell side .________^_______. ._____________. .________^_______. | |+Xsa-y \ | | / +Zsa+y_b| | | | \ | | / | +Ysa+y | | | | | | | +Ysa+y_b | <-----o-o |o=| |=o| o-o-----> | | +Ysa-y | | | | | | | | +Ysa-y_b | / | | \ | | .__________|+Zsa-y_b ._____________. \_______|+Xsa+y___. v v -Y Solar Array +Y Solar Array +Zsa-y and +Zsa+y are out of the page. +Xsa-y_b and +Xsa+y_b are out of the page. 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_SMART1_SA+Y = -238010 FRAME_-238010_NAME = 'SMART1_SA+Y' FRAME_-238010_CLASS = 4 FRAME_-238010_CLASS_ID = -238010 FRAME_-238010_CENTER = -238 TKFRAME_-238010_RELATIVE = 'SMART1_SA+Y_BAPTA' TKFRAME_-238010_SPEC = 'ANGLES' TKFRAME_-238010_UNITS = 'DEGREES' TKFRAME_-238010_ANGLES = ( 0.000, -90.000, 0.000 ) TKFRAME_-238010_AXES = ( 1, 2, 3 ) FRAME_SMART1_SA-Y = -238020 FRAME_-238020_NAME = 'SMART1_SA-Y' FRAME_-238020_CLASS = 4 FRAME_-238020_CLASS_ID = -238020 FRAME_-238020_CENTER = -238 TKFRAME_-238020_RELATIVE = 'SMART1_SA-Y_BAPTA' TKFRAME_-238020_SPEC = 'ANGLES' TKFRAME_-238020_UNITS = 'DEGREES' TKFRAME_-238020_ANGLES = ( 0.000, -90.000, 0.000 ) TKFRAME_-238020_AXES = ( 1, 2, 3 ) \begintext SMART-1 Medium Gain Antenna Frame -------------------------------------- The SMART-1 Medium Gain Antenna is rigidly attached to the +X side of the s/c bus. Therefore, the SMART1 MGA frame, SMART1_MGA, is defined as a fixed offset frame with its orientation given relative to the SMART1_SPACECRAFT frame. The SMART1_MGA frame is defined as follows: - +Z axis is in the antenna boresight direction (nominally along the s/c +X 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 MGA horn. This diagram illustrates the SMART1_MGA frame: +Z s/c side view: ----------------- ^ |+Zmga | +Xmga | +Ymga __o-------> \ / MGA .________________. ._____\^/_____. .________________. | \ | |+Xsc | / | | \ | | | / | | | | | +Ysc | | | |o=| x------->o| | | | | +Zsc | | | | / | | \ | ._________________/ ._____________. \_________________. -Y Solar Array +Y Solar Array +Xmga is out of the page. +Zsc is into the page. Nominally a single rotation of +90 degrees about the +Y axis is needed to co-align the s/c frame with the MGA 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_SMART1_MGA = -238030 FRAME_-238030_NAME = 'SMART1_MGA' FRAME_-238030_CLASS = 4 FRAME_-238030_CLASS_ID = -238030 FRAME_-238030_CENTER = -238 TKFRAME_-238030_RELATIVE = 'SMART1_SPACECRAFT' TKFRAME_-238030_SPEC = 'ANGLES' TKFRAME_-238030_UNITS = 'DEGREES' TKFRAME_-238030_ANGLES = ( 0.000, -90.000, 0.000 ) TKFRAME_-238030_AXES = ( 1, 2, 3 ) \begintext SMART-1 Low Gain Antennas Frames -------------------------------------- The SMART-1 Low Gain Antennas are rigidly attached to the +X and -X side of the s/c bus. Therefore, the SMART-1 Low Gain Antenna frames, SMART1_LGA-1 and SMART1_LGA-2, are defined as fixed offset frames with their orientation given relative to the SMART1_SPACECRAFT frame. The frames for the two SMART-1 Low Gain antennas -- LGA-1 and LGA-2 -- are defined as follows: - +Z axis is in the antenna boresight direction; - +Y axis is nominally parallel to the s/c +Y axis; - +X axis completes the right hand frame; - the origin of the frame is located at the geometric center of the antenna outer side. LGA-1 and LGA-2 antennas are rigidly mounted on the +X and -X spacecraft panels, respectively. This diagram illustrates the SMART1_LGA-1 and SMART1_LGA-2 frames: +Z s/c side view: ----------------- ^ |+Zlga1 | +Xlga1 | +Ylga1 o-------> || .________________. ._||___^______. .________________. | \ | |+Xsc | / | | \ | | | / | | | | | +Ysc | | | |o=| x------->o| | | | | +Zsc | | | | / | | \ | ._________________/ ._____________. \_________________. -Y Solar Array || +Y Solar Array || +Xlga2 x-------> | +Ylga2 | | +Zlga2 v +Xlga1 is out of the page. +Zsc and +Xlga2 are into the page. Nominally a single rotation of +90 degrees about the +Y axis is needed to co-align the s/c frame with the LGA-1 frame. A single rotation of -90 degrees about the +Y axis is required to co-align the s/c frame with the LGA-2 antenna 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_SMART1_LGA-1 = -238040 FRAME_-238040_NAME = 'SMART1_LGA-1' FRAME_-238040_CLASS = 4 FRAME_-238040_CLASS_ID = -238040 FRAME_-238040_CENTER = -238 TKFRAME_-238040_RELATIVE = 'SMART1_SPACECRAFT' TKFRAME_-238040_SPEC = 'ANGLES' TKFRAME_-238040_UNITS = 'DEGREES' TKFRAME_-238040_ANGLES = ( 0.000, -90.000, 0.000 ) TKFRAME_-238040_AXES = ( 1, 2, 3 ) FRAME_SMART1_LGA-2 = -238050 FRAME_-238050_NAME = 'SMART1_LGA-2' FRAME_-238050_CLASS = 4 FRAME_-238050_CLASS_ID = -238050 FRAME_-238050_CENTER = -238 TKFRAME_-238050_RELATIVE = 'SMART1_SPACECRAFT' TKFRAME_-238050_SPEC = 'ANGLES' TKFRAME_-238050_UNITS = 'DEGREES' TKFRAME_-238050_ANGLES = ( 0.000, +90.000, 0.000 ) TKFRAME_-238050_AXES = ( 1, 2, 3 ) \begintext SMART-1 Solar Sensor Frames -------------------------------------- TBW/TBD SMART-1 Solar Electric Primary Propulsion Frame ---------------------------------------------------- TBW/TBD AMIE Frames ======================================================================== This section of the file contains the definitions of the AMIE frames. AMIE Frame Tree -------------------------------------- The diagram below shows the AMIE frames hierarchy. "J2000" INERTIAL +---------------------------------------------------+ | | | | | | |<-pck | pck->| | | | V | V "IAU_MOON" | "IAU_EARTH" MOON BODY-FIXED | EARTH BODY-FIXED --------------- | ---------------- | |<-ck | V "SMART1-SPACECRAFT" ------------------- | | |<-fixed | V "SMART1_AMIE_CCD" +------------------------------------------------------+ | | | | | | | | | | | | | | | | |<-fixed | | | | | | | | | | | | | | | V | | | | | | | "SMART1_AMIE_NONE" |<-fixed | | | | | | ------------------ | | | | | | | V | | | | | | "SMART1_AMIE_LASER" | | | | | | ------------------- | | | | | | | | | | | |<-fixed | | | | | | V | | | | V "SMART1_AMIE_VIS_X" | | | | "SMART1_AMIE_VIS_Y" ------------------- | | | | ------------------- | | | | fixed->| | | |<-fixed | | | | V | | V "SMART1_AMIE_FEL_X" | | "SMART1_AMIE_FEL_Y" ------------------- | | ------------------- | | fixed->| |<-fixed | | V V "SMART1_AMIE_FEH_X" "SMART1_AMIE_FEH_Y" ------------------- ------------------- AMIE Camera Frames -------------------------------------- For a detailed description of the following procedure, please consult [13]. The AMIE camera is mounted on the -X side on the spacecraft, that is, on the side paralel to the YZ plane of the SMART-1 frame towards the -X direction of the same frame, as it is drawn in the figure below: _____ MGA \ / .________________. ._____\^+Xsc__. .________________. | \ | | | / | | \ | | | / | | | +Ysc | | | | | |o<-------o |=o| | | | | +Zsc | | | | / | | \ | ._________________/ ._____________. \.________________. +Y Solar Array | | -Y Solar Array | O | |___| AMIE The AMIE CCD frame allows to model several effects present, namely: - The AMIE camera is not perfectly aligned, on purpose. There is a small misalignment that we have to take into account. - There is a lens between the AMIE CCD and the "real world", which turns the images upside down and left to right. The AMIE CCD frame, as physically seen in the spacecraft, is defined as follows: - The +Z axis of the frame is aligned with the boresight of the camera, which, if we don't take into account the misalignment, is aligned with the +Z axis of the spacecraft frame (SMART1_SPACECRAFT). - The +X axis of the AMIE CCD frame is aligned (apart from misalignments) with the +Y axis of the spacecraft frame (SMART1_SPACECRAFT). - The +Y axis of the AMIE CCD frame is aligned (apart from misalignments) with the -X axis of the spacecraft frame (SMART1_SPACECRAFT). This situation is drawn in the next diagram: _____ MGA \ / .________________. ._____\^+Xsc__. .________________. | \ | | | / | | \ | | | / | | | +Ysc | | | | | |o<-------o |=o| | | | | +Zsc | | | / | | \ | ._________________/ ._____________. \.________________. +Y Solar Array | | -Y Solar Array <-----|-O | +Xccd |_|_| AMIE | | V +Yccd The lens, as stated above, introduces a rotation by 180 degrees in the image, so, the images appear to be flipped vertically and horizontally in the CCD. This situation is drawn in the next diagram: ^+Yccd ^+Xsc | | | | | | | | | | | | O-----------> +Xccd <-----------O+Zsc +Zccd +Ysc Thus, in order to align the CCD frame with the spacecraft frame, the former has to be rotated +90 degrees about the +Z axis. Now the misalignment has to be compensated. When the +Z axis of the spacecraft points to a star, it appears in the CCD as in the next diagram: ^ +Yccd | | | .----------------------------------. | | | | | alpha | | |<-------->* Star| | | ^ | | | | | | | beta | | | | | | | | V | |-----------------O----------------|----------> +Xccd | |+Zccd | | | | | | | | | | | | | | | | | | | | | | . | . ---------------------------------- The star is offset on the CCD by two angles, which according to [5] have the following values: alpha : 0.537 degrees betha : 0.665 degrees After performing the 90 degrees rotation about the +Z axis, the CCD is orientated as in the next figure: ^ +Xccd | | | .----------------------------------. | | | | | alpha | | |<-------->* Star| | | ^ | | | | | | | betha | | | | | | | | V | <----------|-----------------O----------------| +Yccd | |+Zccd | | | | | | | | | | | | | | | | | | | | | | . | . ---------------------------------- So, in order to align the CCD frame to the spacecraft frame, three rotations have to be performed: 1) Rotate the CCD frame 90 degrees about the +Z axis. Note that after this rotation, the star appears in the 4th quadrant, that is, its x coordinate is positive and its y coordinate is negative. 2) Rotate the CCD frame -beta degrees about the +Y axis. 3) Rotate the CCD frame -alpha degrees about the +X axis. If Mccd->sc is the matrix that turns the CCD frame into the spacecraft frame (that is the way it has to be specified in a frames kernel), then, Mccd->sc = [-0.537] [-0.665] [ 90 ] X Y Z Note that the actual Euler angles are being approximated by the offset angles. These values are included in the definition below. \begindata FRAME_SMART1_AMIE_CCD = -238100 FRAME_-238100_NAME = 'SMART1_AMIE_CCD' FRAME_-238100_CLASS = 4 FRAME_-238100_CLASS_ID = -238100 FRAME_-238100_CENTER = -238 TKFRAME_-238100_RELATIVE = 'SMART1_SPACECRAFT' TKFRAME_-238100_SPEC = 'ANGLES' TKFRAME_-238100_UNITS = 'DEGREES' TKFRAME_-238100_ANGLES = ( 0.537, 0.665, 90.0 ) TKFRAME_-238100_AXES = ( 1, 2, 3 ) \begintext AMIE Filters Reference Frames -------------------------------------- The following figure shows the position of the boresight of the different filters in the AMIE_CCD frame: .---------------------------------------. | | | | +Z | | | o VIS_Y | | | | | | | +Z | |-------------------| o NONE | | | | | +Z | | | o FeL_Y | | | | | | |+Z | |-------------------o--CCD--------------| | | | | | +Z | | | | o FeH_Y | | | | | | | | +Z | +Z | +Z | |---------. FeH_X | FeL_X | VIS_X | | | o | o | o | ^ | +Z | | | | | +Yccd | o LAS| | | | | | | | | | | . | | | . | --------------------------------------- o--------> +Xccd +Zccd is out of the page. The angles between the AMIE CCD boresight and the boresight of each of filters are specified in 5: Offset Angle Offset Angle in y direction in x direction Filter in degrees in degrees ------------------- --------------- -------------- Visible Y +1.9875 +1.325 Fe. Low Y +0.6625 +1.325 None +1.325 -1.325 Fe. High Y -0.6625 +1.325 Laser -1.9875 +1.9875 Fe. Low X -1.325 -0.6625 Visible X -1.325 -1.9875 Fe. High X -1.325 +0.6625 The first angle measures the angle that we have to travel along the +Y axis of the CCD in order to find the filter boresight, therefore it specifies a rotation about the +X axis of the CCD. The second angle measures the angle that we have to travel along the +X axis of the CCD in order to find the filter boresight, therefore it specifies a rotation about the +Y axis of the CCD. Note: 'Fe' stands for iron. The 'Fe' filters are used to study the iron absorption line. \begindata FRAME_SMART1_AMIE_VIS_Y = -238131 FRAME_-238131_NAME = 'SMART1_AMIE_VIS_Y' FRAME_-238131_CLASS = 4 FRAME_-238131_CLASS_ID = -238131 FRAME_-238131_CENTER = -238 TKFRAME_-238131_RELATIVE = 'SMART1_AMIE_CCD' TKFRAME_-238131_SPEC = 'ANGLES' TKFRAME_-238131_UNITS = 'DEGREES' TKFRAME_-238131_ANGLES = ( 1.9875, 1.325, 0.0 ) TKFRAME_-238131_AXES = ( 1, 2, 3 ) FRAME_SMART1_AMIE_FEL_Y = -238141 FRAME_-238141_NAME = 'SMART1_AMIE_FEL_Y' FRAME_-238141_CLASS = 4 FRAME_-238141_CLASS_ID = -238141 FRAME_-238141_CENTER = -238 TKFRAME_-238141_RELATIVE = 'SMART1_AMIE_CCD' TKFRAME_-238141_SPEC = 'ANGLES' TKFRAME_-238141_UNITS = 'DEGREES' TKFRAME_-238141_ANGLES = ( 0.6625, 1.325, 0.0 ) TKFRAME_-238141_AXES = ( 1, 2, 3 ) FRAME_SMART1_AMIE_NONE = -238110 FRAME_-238110_NAME = 'SMART1_AMIE_NONE' FRAME_-238110_CLASS = 4 FRAME_-238110_CLASS_ID = -238110 FRAME_-238110_CENTER = -238 TKFRAME_-238110_RELATIVE = 'SMART1_AMIE_CCD' TKFRAME_-238110_SPEC = 'ANGLES' TKFRAME_-238110_UNITS = 'DEGREES' TKFRAME_-238110_ANGLES = ( 1.325, -1.325, 0.0 ) TKFRAME_-238110_AXES = ( 1, 2, 3 ) FRAME_SMART1_AMIE_FEH_Y = -238151 FRAME_-238151_NAME = 'SMART1_AMIE_FEH_Y' FRAME_-238151_CLASS = 4 FRAME_-238151_CLASS_ID = -238151 FRAME_-238151_CENTER = -238 TKFRAME_-238151_RELATIVE = 'SMART1_AMIE_CCD' TKFRAME_-238151_SPEC = 'ANGLES' TKFRAME_-238151_UNITS = 'DEGREES' TKFRAME_-238151_ANGLES = ( -0.6625, 1.325, 0.0 ) TKFRAME_-238151_AXES = ( 1, 2, 3 ) FRAME_SMART1_AMIE_LASER = -238120 FRAME_-238120_NAME = 'SMART1_AMIE_LASER' FRAME_-238120_CLASS = 4 FRAME_-238120_CLASS_ID = -238120 FRAME_-238120_CENTER = -238 TKFRAME_-238120_RELATIVE = 'SMART1_AMIE_CCD' TKFRAME_-238120_SPEC = 'ANGLES' TKFRAME_-238120_UNITS = 'DEGREES' TKFRAME_-238120_ANGLES = ( -1.9875, 1.9875, 0.0 ) TKFRAME_-238120_AXES = ( 1, 2, 3 ) FRAME_SMART1_AMIE_FEL_X = -238140 FRAME_-238140_NAME = 'SMART1_AMIE_FEL_X' FRAME_-238140_CLASS = 4 FRAME_-238140_CLASS_ID = -238140 FRAME_-238140_CENTER = -238 TKFRAME_-238140_RELATIVE = 'SMART1_AMIE_CCD' TKFRAME_-238140_SPEC = 'ANGLES' TKFRAME_-238140_UNITS = 'DEGREES' TKFRAME_-238140_ANGLES = ( -1.325, -0.6625, 0.0 ) TKFRAME_-238140_AXES = ( 1, 2, 3 ) FRAME_SMART1_AMIE_VIS_X = -238130 FRAME_-238130_NAME = 'SMART1_AMIE_VIS_X' FRAME_-238130_CLASS = 4 FRAME_-238130_CLASS_ID = -238130 FRAME_-238130_CENTER = -238 TKFRAME_-238130_RELATIVE = 'SMART1_AMIE_CCD' TKFRAME_-238130_SPEC = 'ANGLES' TKFRAME_-238130_UNITS = 'DEGREES' TKFRAME_-238130_ANGLES = ( -1.325, -1.9875, 0.0 ) TKFRAME_-238130_AXES = ( 1, 2, 3 ) FRAME_SMART1_AMIE_FEH_X = -238150 FRAME_-238150_NAME = 'SMART1_AMIE_FEH_X' FRAME_-238150_CLASS = 4 FRAME_-238150_CLASS_ID = -238150 FRAME_-238150_CENTER = -238 TKFRAME_-238150_RELATIVE = 'SMART1_AMIE_CCD' TKFRAME_-238150_SPEC = 'ANGLES' TKFRAME_-238150_UNITS = 'DEGREES' TKFRAME_-238150_ANGLES = ( -1.325, 0.6625, 0.0 ) TKFRAME_-238150_AXES = ( 1, 2, 3 ) \begintext D-CIXS frames: ======================================================================== This section of the file contains the definitions of the D-CIXS frames. D-CIXS Frame Tree -------------------------------------- The diagram below shows the D-CIXS frame hierarchy. "J2000" INERTIAL +---------------------------------------------------+ | | | | | | |<-pck | pck->| | | | V | V "IAU_MOON" | "IAU_EARTH" MOON BODY-FIXED | EARTH BODY-FIXED --------------- | ---------------- | |<-ck | V "SMART1-SPACECRAFT" ------------------- | | |<-fixed | V "SMART1_DCIXS" -------------- D-CIXS Sensor Frame -------------------------------------- The D-CIXS detector frame -- SMART1_DCIXS -- is defined as follows: - +Z axis is nominally co-aligned with the s/c +Z axis; - +Y axis is parallel to the detector array and it is nominally co-aligned with the s/c +Y axis; - +X axis completes the right hand frame; it is nominally co-aligned with the s/c +X axis; - the origin of the frame is located at detector focal point. The DCIXS frame, SMART1_DCIXS frame is defining the aligment of the DCIXS spectrometer with respect to the SMART-1 Spacecraft mechanical frame. This frame is fixed with respect to the spacecraft mechanical frame, SMART1_SPACECRAFT, and is nominally co-aligned with it, as shown on the diagram: +Z s/c side view: ----------------- _____ MGA \ / .________________. ._____\^/_____. .________________. | \ | |+Xsc | / | | \ | | ^ | / | | | +Ysc | |+Xdb| | | |o<-------o | |=o| | | | | ._|_| . | | / | <------o | \ | ._________________/ .____+Ydb_.___. \_________________. +Y Solar Array DCIXS -Y Solar Array +Zsc and +Zdb are out of page db = DCIXS These sets of keywords define the DCIXS frame: \begindata FRAME_SMART1_DCIXS = -238300 FRAME_-238300_NAME = 'SMART1_DCIXS' FRAME_-238300_CLASS = 4 FRAME_-238300_CLASS_ID = -238300 FRAME_-238300_CENTER = -238 TKFRAME_-238300_RELATIVE = 'SMART1_SPACECRAFT' TKFRAME_-238300_SPEC = 'ANGLES' TKFRAME_-238300_UNITS = 'DEGREES' TKFRAME_-238300_ANGLES = ( 0.000, 0.000, 0.000 ) TKFRAME_-238300_AXES = ( 1, 2, 3 ) \begintext XSM frames: ======================================================================== This section of the file contains the definitions of the X-Ray Solar Monitor frame. XSM Frame Tree -------------------------------------- The diagram below shows the XSM frame hierarchy. "J2000" INERTIAL +---------------------------------------------------+ | | | | | | |<-pck | pck->| | | | V | V "IAU_MOON" | "IAU_EARTH" MOON BODY-FIXED | EARTH BODY-FIXED --------------- | ---------------- | |<-ck | V "SMART1-SPACECRAFT" ------------------- | | |<-fixed | V "SMART1_XSM" ------------ X-Ray Solar Monitor Frame -------------------------------------- The X-Ray Solar Monitor (XSM) is mounted on the +X panel of the S/C, opposite to the D-CIXS detector. The XSM frame -- SMART1_XSM -- is fixed with respect to the spacecraft mechanical frame, SMART1_SPACECRAFT, and is defined as follows as described in [8]: - +Z axis points in the boresight direction; and it is nominally rotated by -45 degrees from the s/c -Z axis about the s/c +Y axis; - +Y axis is nominally co-aligned with the s/c +Y axis; - +X axis completes the right hand frame; - the origin of the frame is located at the detector focal point. X-Ray Solar Monitor frame, SMART1_XSM, is fixed with respect to the SMART1 spacecraft frame, SMART1_SPACECRAFT, and is nominally rotated by +135 degrees about +Y from it, as shown in the diagram: +Y s/c side view ---------------- ._____________. +Zsc ^ | | | =======o======== | | SA+Y +Xsc | | | <-----o+Ysc | .--| | XSM |o +Yxsm | .'-`._____________. .' `. +Xxsm | .' `._______. '+Zxsm / /_____\ Main Engine +Ysc and +Yxsm are out of the page 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_SMART1_XSM = -238700 FRAME_-238700_NAME = 'SMART1_XSM' FRAME_-238700_CLASS = 4 FRAME_-238700_CLASS_ID = -238700 FRAME_-238700_CENTER = -238 TKFRAME_-238700_RELATIVE = 'SMART1_SPACECRAFT' TKFRAME_-238700_SPEC = 'ANGLES' TKFRAME_-238700_UNITS = 'DEGREES' TKFRAME_-238700_ANGLES = ( 0.000, -135.000, 0.000 ) TKFRAME_-238700_AXES = ( 1, 2, 3 ) \begintext EPDP frames: ======================================================================== [TBD] KaTE/RSIS frames: ======================================================================== This section of the file contains the definitions of the KaTE Antenna frames. KaTE Frame Tree -------------------------------------- The diagram below shows the KaTE frame hierarchy. "J2000" INERTIAL +---------------------------------------------------+ | | | | | | |<-pck | pck->| | | | V | V "IAU_MOON" | "IAU_EARTH" MOON BODY-FIXED | EARTH BODY-FIXED --------------- | ---------------- | |<-ck | V "SMART1-SPACECRAFT" +---------------------------------+ | | | | | |<-fixed |<-fixed | | V V "SMART1_KATE_KA" "SMART1_KATE_X" ---------------- --------------- KaTE Antenna Frames -------------------------------------- The SMART-1 Deep Space X/Ka-band TT&C Experiment (KaTE) Antennas are rigidly attached to the +X side of the s/c bus. Therefore, the SMART1 KATE frames, SMART1_KATE_X and SMART1_KATE_KA, are defined as a fixed offset frames with their orientation given relative to the SMART1_SPACECRAFT frame. The SMART1 KATE frames are defined as follows: - +Z axis is in the antenna boresight direction (nominally along the s/c +X 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 antenna's horn. This diagram illustrates the SMART1_KATE_X and SMART1_KATE_KA frames: +Z s/c side view: ----------------- ^ +Zka/+Zx | | +Xka/+Xx | +Yka/+Yx __o-------> \ /KaTE .________________. ._____\^/_____. .________________. | \ | |+Xsc | / | | \ | | | / | | | | | +Ysc | | | |o=| x------->o| | | | | +Zsc | | | | / | | \ | ._________________/ ._____________. \_________________. -Y Solar Array +Y Solar Array +Xka and +Xx are out of the page. +Zsc is into the page. +X s/c side view: ----------------- ._____________. | . | =====================o | 'o`| o===================== -Y SA cell side | `-'| +Y SA, cell side | 'o------> | `|'| +Yka/+Yx | +Zsc ^ | | | | |+Xka/+x .______|____v_. | | | .____o-------> +Ysc +Xsc \ /_____\ Main Engine +Zka and +Zx are into the page. +Xsc is out of the page Nominally a single rotation of +90 degrees about the +Y axis is needed to co-align the s/c frame with the KATE frames. 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_SMART1_KATE_X = -238400 FRAME_-238400_NAME = 'SMART1_KATE_X' FRAME_-238400_CLASS = 4 FRAME_-238400_CLASS_ID = -238400 FRAME_-238400_CENTER = -238 TKFRAME_-238400_RELATIVE = 'SMART1_SPACECRAFT' TKFRAME_-238400_SPEC = 'ANGLES' TKFRAME_-238400_UNITS = 'DEGREES' TKFRAME_-238400_ANGLES = ( 0.000, -90.000, 0.000 ) TKFRAME_-238400_AXES = ( 1, 2, 3 ) FRAME_SMART1_KATE_KA = -238410 FRAME_-238410_NAME = 'SMART1_KATE_KA' FRAME_-238410_CLASS = 4 FRAME_-238410_CLASS_ID = -238410 FRAME_-238410_CENTER = -238 TKFRAME_-238410_RELATIVE = 'SMART1_SPACECRAFT' TKFRAME_-238410_SPEC = 'ANGLES' TKFRAME_-238410_UNITS = 'DEGREES' TKFRAME_-238410_ANGLES = ( 0.000, -90.000, 0.000 ) TKFRAME_-238410_AXES = ( 1, 2, 3 ) \begintext SIR frames: ======================================================================== This section of the file contains the definitions of the SIR frames. SIR Frame Tree -------------------------------------- The diagram below shows the SIR frame hierarchy. "J2000" INERTIAL +---------------------------------------------------+ | | | | | | |<-pck | pck->| | | | V | V "IAU_MOON" | "IAU_EARTH" MOON BODY-FIXED | EARTH BODY-FIXED --------------- | ---------------- | |<-ck | V "SMART1-SPACECRAFT" ------------------- | | | |<-fixed | V "SMART1_SIR" ------------ SIR Detector Frame -------------------------------------- Since SIR detector receive radiation through the prism and essentially has a single pixel in terms of spatial resolution, its frame, SMART1_SIR in such way that SIR boresight direction is nominally co-aligned with AMIE's boresight. The SIR Detector frame -- SMART1_SIR -- is defined as follows: - +Z axis points along the camera boresight; - +X axis is nominally co-aligned with the s/c +X axis; - +Y axis completes the right hand frame; - the origin of the frame is located at the fiber tip focal point. +Z s/c side view: ----------------- _____ MGA \ / .________________. ._____\^/_____. .________________. | \ | |+Xsc | / | | \ | | ^ | / | | | +Ysc | |+Xsir | | |o<-------o | |=o| | | | | ._|_| . | | / | <------o | \ | ._________________/ .___+Ysir_.___. \_________________. +Y Solar Array SIR -Y Solar Array +Zsc and +Zsir are out of page The following in-flight calibrated misalignment angles were provided in [5] and [7]. The actual s/c +Z axis direction is specified in [5] as an offset from the AMIE boresight direction by the following two angles: Offset from Z AMIE: x (deg) = 0.537 Offset from Z AMIE: y (deg) = 0.665 These offset angles have been measured after performing the rotation about +Z amie axis. The actual SIR boresight direction is specified in [7] as an offset from the AMIE boresigth direction by the following two angles: Offset from Z AMIE: x (deg) = 0.502 Offset from Z AMIE: y (deg) = 0.690 The first of the two angles -- ``Offset Angle from Z AMIE: x'' -- is the angle between the projection of the boresight onto the AMIE XZ plane and the AMIE +Z axis, measured positive from the AMIE +Z toward the AMIE +X axis. The second of the two angles -- ``Offset Angle from Z AMIE: y'' -- is the angle between the projection of the boresight onto the AMIE YZ plane and the AMIE +Z axis, measured positive from the AMIE +Z toward the AMIE +Y axis. The actual SIR boresight can be specified as an offset from the s/c +Z axis direction by the following two angles, computed from the offsets given above: Offset from Z s/c: x (deg) = 0.502 - 0.537 = -0.0350 Offset from Z s/c: y (deg) = 0.690 - 0.665 = 0.0250 The first of the two angles -- ``Offset Angle from Z s/c: x'' -- is the angle between the projection of the boresight onto the s/c XZ plane and the s/c +Z axis, measured positive from the s/c +Z toward the s/c +X axis. The second of the two angles -- ``Offset Angle from Z s/c: y'' -- is the angle between the projection of the boresight onto the s/c YZ plane and the s/c +Z axis, measured positive from the s/c +Z toward the s/c +Y axis. The following set of rotations can be applied to the s/c axes to align the SIR frame's +Z axis with the boresight defined by the angles above (rotation about +Z is not defined in [5] and assumed to be zero in this set of rotations): Msc->sir = [0.0]z * [-0.034999996668]y * [-0.0250]x These values are included in the definition below. 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_SMART1_SIR = -238200 FRAME_-238200_NAME = 'SMART1_SIR' FRAME_-238200_CLASS = 4 FRAME_-238200_CLASS_ID = -238200 FRAME_-238200_CENTER = -238 TKFRAME_-238200_RELATIVE = 'SMART1_SPACECRAFT' TKFRAME_-238200_SPEC = 'ANGLES' TKFRAME_-238200_UNITS = 'DEGREES' TKFRAME_-238200_ANGLES = ( 0.0250, 0.034999996668, 0.0 ) TKFRAME_-238200_AXES = ( 1, 2, 3 ) \begintext SPEDE frames: ======================================================================== This section of the file contains the definitions of the Spacecraft Potential, Electron and Dust Experiment frames. SPEDE Frame Tree -------------------------------------- The diagram below shows the XSM frame hierarchy. "J2000" INERTIAL +---------------------------------------------------+ | | | | | | |<-pck | pck->| | | | V | V "IAU_MOON" | "IAU_EARTH" MOON BODY-FIXED | EARTH BODY-FIXED --------------- | ---------------- | |<-ck | V "SMART1-SPACECRAFT" +-----------------------+ | | | | |<-fixed |<-fixed | | V V "SMART1_SPEDE+X" "SMART1_SPEDE-X" ---------------- ---------------- SPEDE Boom Frames -------------------------------------- The Spacecraft Potential, Electron and Dust Experiment (SPEDE) consists in two symmetric booms rigidly attached to the +X and -X panels of the s/c bus. Therefore, the SPEDE frames, -- SMART1_SPEDE+X and SMART1_SPEDE-X -- are defined as fixed offset frames with their orientation given relative to the spacecraft mechanical frame, SMART1_SPACECRAFT. The frames for the two SPEDE booms -- SPEDE+X and SPEDE-X -- are defined as follows: - +Z axis points from the base of the boom to its tip, nominally aligned with the s/c X axis; - +Y axis is nominally co-aligned with the s/c +Y axis; - +X axis completes the right hand frame; - the origin of the frame is located at the boom's tip. SPEDE booms are rigidly mounted on the +X and -X spacecraft panels, respectively. This diagram illustrates the SMART1_SPEDE+X and SMART1_SPEDE-X frames: +Y s/c side view ---------------- ._____________. ^ | | | +Xs-x =======o======== | | SA+Y | +X SPEDE Boom +Zsc | | +Ys-x <-------o====| ^ |====o-------> +Zs-x +Zs+x | +Ys+x | | -X SPEDE Boom | | | | | .______|______. +Xs+x | | | | v <-------o____. +Xsc / +Ysc /_____\ Main Engine +Ysc, +Ys+x and +Ys-x are out of the page. Nominally a single rotation of +90 degrees about the +Y axis is needed to co-align the s/c frame with the SPEDE+X frame. A single rotation of -90 degrees about the +Y axis is required to co-align the s/c frame with the SPEDE-X 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_SMART1_SPEDE+X = -238600 FRAME_-238600_NAME = 'SMART1_SPEDE+X' FRAME_-238600_CLASS = 4 FRAME_-238600_CLASS_ID = -238600 FRAME_-238600_CENTER = -238 TKFRAME_-238600_RELATIVE = 'SMART1_SPACECRAFT' TKFRAME_-238600_SPEC = 'ANGLES' TKFRAME_-238600_UNITS = 'DEGREES' TKFRAME_-238600_ANGLES = ( 0.000, -90.000, 0.000 ) TKFRAME_-238600_AXES = ( 1, 2, 3 ) FRAME_SMART1_SPEDE-X = -238610 FRAME_-238610_NAME = 'SMART1_SPEDE-X' FRAME_-238610_CLASS = 4 FRAME_-238610_CLASS_ID = -238610 FRAME_-238610_CENTER = -238 TKFRAME_-238610_RELATIVE = 'SMART1_SPACECRAFT' TKFRAME_-238610_SPEC = 'ANGLES' TKFRAME_-238610_UNITS = 'DEGREES' TKFRAME_-238610_ANGLES = ( 0.000, 90.000, 0.000 ) TKFRAME_-238610_AXES = ( 1, 2, 3 ) \begintext SMART-1 Mission NAIF ID Codes -- Definition Section ======================================================================== This section contains name to NAIF ID mappings for the SMART-1 mission. SMART-1 Spacecraft and instruments IDs: ------------------------------------------------------------- This table summarizes SMART-1 Spacecraft IDs: Name ID Synonyms --------------------- ------- --------------------------- SMART-1 -238 S1, SMART1, SM1 Notes: -- 'SM1', 'S1', 'SMART-1', 'SMART1' are synonyms and all map to the official SMART-1 s/c ID (-238); Name-ID Mapping keywords: \begindata NAIF_BODY_NAME += ( 'SM1' ) NAIF_BODY_CODE += ( -238 ) NAIF_BODY_NAME += ( 'S1' ) NAIF_BODY_CODE += ( -238 ) NAIF_BODY_NAME += ( 'SMART-1' ) NAIF_BODY_CODE += ( -238 ) NAIF_BODY_NAME += ( 'SMART1' ) NAIF_BODY_CODE += ( -238 ) \begintext SMART-1 Spacecraft Structures IDs -------------------------------------- This table summarizes SMART-1 Spacecraft Structure IDs: Name ID Synonyms --------------------- ------- ------------------------- SMART1_SPACECRAFT -238000 SMART1_SC SMART1_SA+Y -238010 SMART1_SA+Y_BAPTA -238011 SMART1_SA+Y_C1 -238012 SMART1_SA+Y_C2 -238013 SMART1_SA+Y_C3 -238014 SMART1_SA+Y_C4 -238015 SMART1_SA-Y -238020 SMART1_SA-Y_BAPTA -238021 SMART1_SA-Y_C1 -238022 SMART1_SA-Y_C2 -238023 SMART1_SA-Y_C3 -238024 SMART1_SA-Y_C4 -238025 SMART1_MGA -238030 SMART1_LGA-1 -238040 SMART1_LGA-2 -238050 SMART1_SEPP -238060 SMART1_SS1 -238070 SMART1_SS2 -238071 SMART1_SS3 -238072 Notes: - 'SMART1_SC' and 'SMART1_SPACECRAFT' are synonyms and all map to the SMART-1 s/c bus structure ID (-238000); Name-ID Mapping keywords: \begindata NAIF_BODY_NAME += ( 'SMART1_SPACECRAFT' ) NAIF_BODY_CODE += ( -238000 ) NAIF_BODY_NAME += ( 'SMART1_SC' ) NAIF_BODY_CODE += ( -238000 ) NAIF_BODY_NAME += ( 'SMART1_SA+Y' ) NAIF_BODY_CODE += ( -238010 ) NAIF_BODY_NAME += ( 'SMART1_SA+Y_BAPTA' ) NAIF_BODY_CODE += ( -238011 ) NAIF_BODY_NAME += ( 'SMART1_SA+Y_C1' ) NAIF_BODY_CODE += ( -238012 ) NAIF_BODY_NAME += ( 'SMART1_SA+Y_C2' ) NAIF_BODY_CODE += ( -238013 ) NAIF_BODY_NAME += ( 'SMART1_SA+Y_C3' ) NAIF_BODY_CODE += ( -238014 ) NAIF_BODY_NAME += ( 'SMART1_SA+Y_C4' ) NAIF_BODY_CODE += ( -238015 ) NAIF_BODY_NAME += ( 'SMART1_SA-Y' ) NAIF_BODY_CODE += ( -238020 ) NAIF_BODY_NAME += ( 'SMART1_SA-Y_BAPTA' ) NAIF_BODY_CODE += ( -238021 ) NAIF_BODY_NAME += ( 'SMART1_SA-Y_C1' ) NAIF_BODY_CODE += ( -238022 ) NAIF_BODY_NAME += ( 'SMART1_SA-Y_C2' ) NAIF_BODY_CODE += ( -238023 ) NAIF_BODY_NAME += ( 'SMART1_SA-Y_C3' ) NAIF_BODY_CODE += ( -238024 ) NAIF_BODY_NAME += ( 'SMART1_SA-Y_C4' ) NAIF_BODY_CODE += ( -238025 ) NAIF_BODY_NAME += ( 'SMART1_MGA' ) NAIF_BODY_CODE += ( -238030 ) NAIF_BODY_NAME += ( 'SMART1_LGA-1' ) NAIF_BODY_CODE += ( -238040 ) NAIF_BODY_NAME += ( 'SMART1_LGA-2' ) NAIF_BODY_CODE += ( -238050 ) NAIF_BODY_NAME += ( 'SMART1_SEPP' ) NAIF_BODY_CODE += ( -238060 ) NAIF_BODY_NAME += ( 'SMART1_SS1' ) NAIF_BODY_CODE += ( -238070 ) NAIF_BODY_NAME += ( 'SMART1_SS2' ) NAIF_BODY_CODE += ( -238071 ) NAIF_BODY_NAME += ( 'SMART1_SS3' ) NAIF_BODY_CODE += ( -238072 ) \begintext AMIE IDs -------------------------------------- This table summarizes AMIE IDs: Name ID --------------------- ------- SMART1_AMIE_CCD -238100 SMART1_AMIE_NONE -238110 SMART1_AMIE_LASER -238120 SMART1_AMIE_VIS_X -238130 SMART1_AMIE_VIS_Y -238131 SMART1_AMIE_FEL_X -238140 SMART1_AMIE_FEL_Y -238141 SMART1_AMIE_FEH_X -238150 SMART1_AMIE_FEH_Y -238151 Name-ID Mapping keywords: \begindata NAIF_BODY_NAME += ( 'SMART1_AMIE_CCD' ) NAIF_BODY_CODE += ( -238100 ) NAIF_BODY_NAME += ( 'SMART1_AMIE_NONE' ) NAIF_BODY_CODE += ( -238110 ) NAIF_BODY_NAME += ( 'SMART1_AMIE_LASER' ) NAIF_BODY_CODE += ( -238120 ) NAIF_BODY_NAME += ( 'SMART1_AMIE_VIS_X' ) NAIF_BODY_CODE += ( -238130 ) NAIF_BODY_NAME += ( 'SMART1_AMIE_VIS_Y' ) NAIF_BODY_CODE += ( -238131 ) NAIF_BODY_NAME += ( 'SMART1_AMIE_FEL_X' ) NAIF_BODY_CODE += ( -238140 ) NAIF_BODY_NAME += ( 'SMART1_AMIE_FEL_Y' ) NAIF_BODY_CODE += ( -238141 ) NAIF_BODY_NAME += ( 'SMART1_AMIE_FEH_X' ) NAIF_BODY_CODE += ( -238150 ) NAIF_BODY_NAME += ( 'SMART1_AMIE_FEH_Y' ) NAIF_BODY_CODE += ( -238151 ) \begintext D-CIXS IDs -------------------------------------- This table summarizes D-CIXS IDs: Name ID --------------------- ------- SMART1_DCIXS_BASE -238300 SMART1_DCIXS_FACET1 -238310 SMART1_DCIXS_FACET2 -238320 SMART1_DCIXS_FACET3 -238330 Name-ID Mapping keywords: \begindata NAIF_BODY_NAME += ( 'SMART1_DCIXS_BASE' ) NAIF_BODY_CODE += ( -238300 ) NAIF_BODY_NAME += ( 'SMART1_DCIXS_FACET1' ) NAIF_BODY_CODE += ( -238310 ) NAIF_BODY_NAME += ( 'SMART1_DCIXS_FACET2' ) NAIF_BODY_CODE += ( -238320 ) NAIF_BODY_NAME += ( 'SMART1_DCIXS_FACET3' ) NAIF_BODY_CODE += ( -238330 ) \begintext EPDP IDs -------------------------------------- This table summarizes EPDP IDs: Name ID --------------------- ------- Name-ID Mapping keywords: \begindata NAIF_BODY_NAME += ( '111' ) NAIF_BODY_CODE += ( 111 ) \begintext KATE/RSIS IDs -------------------------------------- This table summarizes KATE/RSIS IDs: Name ID --------------------- ------- SMART1_KATE_X -238400 SMART1_KATE_KA -238410 Name-ID Mapping keywords: \begindata NAIF_BODY_NAME += ( 'SMART1_KATE_X' ) NAIF_BODY_CODE += ( -238400 ) NAIF_BODY_NAME += ( 'SMART1_KATE_KA' ) NAIF_BODY_CODE += ( -238410 ) \begintext SIR IDs -------------------------------------- This table summarizes SIR IDs: Name ID --------------------- ------- SMART1_SIR -238200 Name-ID Mapping keywords: \begindata NAIF_BODY_NAME += ( 'SMART1_SIR' ) NAIF_BODY_CODE += ( -238200 ) \begintext SPEDE IDs -------------------------------------- This table summarizes SPEDE IDs: Name ID --------------------- ------- SMART1_SPEDE+X -238600 SMART1_SPEDE-X -238610 Name-ID Mapping keywords: \begindata NAIF_BODY_NAME += ( 'SMART1_SPEDE+X' ) NAIF_BODY_CODE += ( -238600 ) NAIF_BODY_NAME += ( 'SMART1_SPEDE-X' ) NAIF_BODY_CODE += ( -238610 ) \begintext XSM IDs -------------------------------------- This table summarizes XSM IDs: Name ID --------------------- ------- SMART1_XSM -238700 Name-ID Mapping keywords: \begindata NAIF_BODY_NAME += ( 'SMART1_XSM' ) NAIF_BODY_CODE += ( -238700 ) \begintext