KPL/FK BepiColombo MPO Spacecraft Frames Kernel ============================================================================= This frame kernel contains complete set of frame definitions for the BepiColombo MPO Spacecraft (MPO) including definitions for the MPO fixed and MPO science instrument frames. This kernel also contains NAIF ID/name mapping for the MPO instruments. Version and Date ----------------------------------------------------------------------------- The TEXT_KERNEL_ID stores version information of loaded project text kernels. Each entry associated with the keyword is a string that consists of four parts: the kernel name, version, entry date, and type. BEPICOLOMBO MPO Frame Kernel Version: \begindata TEXT_KERNEL_ID += 'MPO_FRAMES V0.0.3 08-FEB-2016 FK' \begintext Version 0.0.3 -- February 08, 2016 -- J. McAuliffe SIXS sub-unit IDs updated. Version 0.0.2 -- December 19, 2014 -- S. Martinez SIXS frame details included Version 0.0.1 -- February 11, 2013 -- J. McAuliffe Initial prototype. Based on MESSENGER Frames Kernel V2.1.0 13-OCT-2010 (msgr_v210.tf) Version 0.0.0 -- May 28, 2000 -- J. Vazquez Preliminary Version. Only template frames for the spacecraft. References ----------------------------------------------------------------------------- 1. "Frames Required Reading" 2. "Kernel Pool Required Reading" 3. "C-Kernel Required Reading" 4. "BC-ASD-TN-00096, Iss.2.0, Angular Movement HGA and MGA" Contact Information ----------------------------------------------------------------------------- Questions or comments about the contents of this kernel to: SGS DHA team, bepic-dha at 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. Loading the kernel associates the data items with their names in a data structure called the "kernel pool". The SPICELIB routine FURNSH loads a kernel into the pool as shown below: FORTRAN: (SPICELIB) CALL FURNSH ( frame_kernel_name ) C: (CSPICE) furnsh_c ( frame_kernel_name ); IDL: (ICY) cspice_furnsh, frame_kernel_name PYTHON: (SPICEYPY)* furnsh( frame_kernel_name ) In order for a program or routine to extract data from the pool, the SPICELIB routines GDPOOL, GIPOOL, and GCPOOL are used. See [2] for more details. This file was created and may be updated with a text editor or word processor. * SPICEPY is a non-official, community developed Python wrapper for the NAIF SPICE toolkit. Its development is managed on Github. It is available at: https://github.com/AndrewAnnex/SpiceyPy BepiColombo MPO Mission NAIF ID Codes ----------------------------------------------------------------------------- The following names and NAIF ID codes are assigned to the MPO spacecraft, its structures and science instruments (the keywords implementing these definitions are located in the section "BepiColombo Mission NAIF ID Codes -- Definition Section" at the end of this file): MPO Spacecraft and Spacecraft Structures names/IDs: MPO -69 MPO_SPACECRAFT -69000 (synonyms: MPO_SC) MPO_SA_ZERO -69011 MPO_SA -69012 MPO_OB -69015 (MPO Optical Bench) MPO_HGA -69050 MPO_MGA -69051 MPO_LGA -69042 BepiColombo MPO Frames ----------------------------------------------------------------------------- The following MPO frames are defined in this kernel file: NOTE: AS OF 2013-02-12 THE NAIF ID VALUES ARE PLACEHOLDERS Frame Name Relative To Type NAIF ID ======================= =================== ======= ======== MPO frames: ----------- MPO_SPACECRAFT varies CK -69000 MPO_SPIN_AXIS J2000 CK -69001 MPO_SA_ZERO MPO_SPACECRAFT FIXED -69011 MPO_SA MPO_SA_ZERO CK -69012 MPO_OB MPO_SPACECRAFT FIXED -69015 Antenna Frames: --------------- MPO_HGA MPO_SPACECRAFT FIXED -69050 MPO_MGA MPO_SPACECRAFT FIXED -69051 MPO_LGA MPO_SPACECRAFT FIXED -69052 BELA Frames: ------------ MPO_BELA_TRANSMITTER MPO_OB FIXED -69100 MPO_BELA_RECEIVER MPO_OB FIXED -69101 ISA Frames: ----------- MPO_ISA MPO_SPACECRAFT FIXED -69150 MERTIS Frames: ------------- MPO_MERTIS_PLANET MPO_SPACECRAFT FIXED -69200 MPO_MERTIS_SPACE MPO_SPACECRAFT FIXED -69210 MGNS Frames: ------------ MPO_MGNS MPO_SPACECRAFT FIXED -69300 MIXS Frames: ------------ MPO_MIXS_C MPO_SPACECRAFT FIXED -69350 MPO_MIXS_T MPO_SPACECRAFT FIXED -69355 MORE Frames: ------------ MPO_MORE MPO_SPACECRAFT FIXED -69400 MPOMAG Frames: -------------- MPO_MPOMAG MPO_SPACECRAFT FIXED -69450 PHEBUS Frames: -------------- MPO_PHEBUS MPO_SPACECRAFT CK -69500 SERENA Frames: -------------- MPO_SERENA_ELENA MPO_SPACECRAFT FIXED -69551 MPO_SERENA_MIPA MPO_SPACECRAFT FIXED -69552 MPO_SERENA_PICAM MPO_SPACECRAFT FIXED -69553 MPO_SERENA_STROFIO MPO_SPACECRAFT FIXED -69554 MPO_SERENA_STROFIO_FWD MPO_SERENA_STROFIO FIXED -69555 MPO_SERENA_STROFIO_BAK MPO_SERENA_STROFIO FIXED -69556 SIMBIOSYS Frames: ----------------- MPO_SIMBIOSYS_HRIC MPO_OB FIXED -69600 MPO_SIMBIOSYS_STC MPO_OB FIXED -69610 MPO_SIMBIOSYS_STC_FWD MPO_SIMBIOSYS_STC FIXED -69611 MPO_SIMBIOSYS_STC_BAK MPO_SIMBIOSYS_STC FIXED -69612 MPO_SIMBIOSYS_VIHI MPO_OB FIXED -69620 SIXS Frames: ------------ MPO_SIXS MPO_SPACECRAFT FIXED -69710 NOTE: These should be removed: MPO_SIXS_P_1 MPO_SIXS FIXED -69711 MPO_SIXS_P_2 MPO_SIXS FIXED -69712 MPO_SIXS_P_3 MPO_SIXS FIXED -69713 MPO_SIXS_P_4 MPO_SIXS FIXED -69714 MPO_SIXS_P_5 MPO_SIXS FIXED -69715 MPO_SIXS_X_1 MPO_SIXS FIXED -69721 MPO_SIXS_X_2 MPO_SIXS FIXED -69722 MPO_SIXS_X_3 MPO_SIXS FIXED -69723 BERM Frames: ------------ MPO_BERM MPO_SPACECRAFT FIXED -69800 Star Trackers Frames: --------------------- MPO_STR_1 MPO_SPACECRAFT FIXED -69900 MPO_STR_2 MPO_SPACECRAFT FIXED -69900 MPO_STR_3 MPO_SPACECRAFT FIXED -69900 Spacecraft and Its Structures Frame Tree ----------------------------------------------------------------------------- The diagram below shows the BepiColombo MPO spacecraft and its structures frame hierarchy (not including science instrument frames.) TODO: Include BC_MERCURY_ME_2006 frame in figure! "J2000" INERTIAL +-------------------------------------------------------+ | | | |<-pck | |<-pck | | | V | V "IAU_MERCURY" | "IAU_EARTH" MERCURY BODY-FIXED | EARTH BODY-FIXED ------------------ | ---------------- | | | | | |<-ck | V "MPO_SPACECRAFT" +-------------------+------------------------------------------+ | | . | |<-fixed |<- fixed . fixed->| | | . | V V . V "MPO_SA_ZERO" "MPO_OB" . "MPO_HGA" ------------- -------- . --------- | . |<-ck . | . V . "MPO_SA" . -------- . . . V Individual instrument frame trees are provided in the corresponding sections of this file MPO Spacecraft and Spacecraft Structures Frames ----------------------------------------------------------------------------- This section of the file contains the definitions of the spacecraft and spacecraft structures frames. MPO Spacecraft Frames --------------------- TODO: Get reference for MPO spacecraft frame! According to [TBD] the MPO spacecraft frame is defined as follows: - +Z axis is perpendicular to the launch vehicle interface plane and points toward the payload side; representing the spacecraft line of sight toward Mercury during science operation; - +X axis is perpendicular to the HGA mounting plane and points toward HGA; - +Y axis completes the right-handed frame. - the origin of this frame is the launch vehicle interface point. TODO: Check the origin of the MPO spacecraft frame! These diagram(s) illustrate the MPO_SPACECRAFT frame: +Z s/c side view: ----------------- ___. Steerable / | Rotating HGA -----> \______/ / | Radiator Solar Panel || / | Panel _____,____________,____________, .___OO____/ | /////|////////////|////////////| | | /////|////////////|////////////| | | /////|////////////|////////////|___| | /////|////////////|////////////|---| o-------------> -Ysc /////|////////////|////////////| | | | /////|////////////|////////////| | | | -----'------------'------------' '______|__ | / | \ | / V \ | MGA --> O -Xsc \ | \___; \ +Zsc/nadir is MPO \ out of the Magnetometer ---> \ page. Boom \ InBoard --> 0 Sensor \ \ OutBoard --> 0 Sensor Since the orientation of the MPO_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_MPO_SPACECRAFT = -69000 FRAME_-69000_NAME = 'MPO_SPACECRAFT' FRAME_-69000_CLASS = 3 FRAME_-69000_CLASS_ID = -69000 FRAME_-69000_CENTER = -69 CK_-69000_SCLK = -69 CK_-69000_SPK = -69 \begintext Spin Axis Frame ---------------------------------------------------------------------------- The MPO_SPIN_AXIS frame is a special frame used in the cruise orientation CK files. In these files the MPO_SPACECRAFT frame orientation is not stored relative to the J2000 frame. Instead it is "decomposed" into two orientations: the nominal spin axis orientation captured in the segments providing the orientation of the MPO_SPIN_AXIS frame relative to the J2000 frame and the nominal rotation about the spin axis captured in the segments providing the orientation of the '/ Boom __/ | O V MGA --> o--n_____ | __________n-------o--o | | \ Rotating | O \ Solar Panel .o-/ \ | . ' | o-----------> -Ysc V . ' \ | | \ . ' `24 deg | \ Radiator . ' \_ | | \ Panel . ' ._________|________\ . ' ^ | | V | +Zsc/nadir | Science +Xsc is out Deck of the page These sets of keywords define solar array frames as CK frames: \begindata FRAME_MPO_SA = -69011 FRAME_-69011_NAME = 'MPO_SA' FRAME_-69011_CLASS = 3 FRAME_-69011_CLASS_ID = -69011 FRAME_-69011_CENTER = -69 CK_-69011_SCLK = -69 CK_-69011_SPK = -69 FRAME_MPO_SA_ZERO = -69012 FRAME_-69012_NAME = 'MPO_SA_ZERO' FRAME_-69012_CLASS = 4 FRAME_-69012_CLASS_ID = -69012 FRAME_-69012_CENTER = -69 TKFRAME_-69012_RELATIVE = 'MPO_SPACECRAFT' TKFRAME_-69012_SPEC = 'ANGLES' TKFRAME_-69012_UNITS = 'DEGREES' TKFRAME_-69012_ANGLES = ( 0.0, -90.0, 24.0 ) TKFRAME_-69012_AXES = ( 3, 2, 1 ) \begintext MPO High Gain Antenna Frame --------------------------- BepiColombo MPO has an adjustable high gain antenna (HGA). [4] The HGA is used as the main antenna in all mission phases except during Safe and Survival Mode where it is only activated under ground control. In interplanetary cruise phase ground may alternate between HGA and MGA. The HGA is located on the +X side of the MPO top panel with an angle of -43 degrees relative to the MPO coordinate system. [4] The HGA has two antenna pointing mechanisms (APMs) for Azimuth and Elevation of the antenna. The HGA azimuth articulation range is +/-179.5 degrees limited by mechanical endstops. The HGA elevation articulation range is -5 degress to 145 degrees also limited by mechanical endstops. 1 degree margin to the mechanical endstops is implemented in the AOCS S/W resulting in operational ranges of +/-178.5 degrees for HGA Azimuth and -4 degrees to +144 degress for HGA Elevation. [4] Further S/W limits are implemented to avoid mechanical clashes with the MOSIF structure during the Interplanetary Cruise phase and the Mercury Orbit Insertion Phase. The MPO_HGA frame is defined as follows: TODO: Add definition of the MPO HGA frame! - +Z axis is ...; - +Y axis is ...; - +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 MPO High Gain Antennas frames: +Z s/c side view: ----------------- TODO: Add diagram of the MPO 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_MPO_HGA = -69021 FRAME_-69021_NAME = 'MPO_HGA' FRAME_-69021_CLASS = 4 FRAME_-69021_CLASS_ID = -69021 FRAME_-69021_CENTER = -69 TKFRAME_-69021_RELATIVE = 'MPO_SPACECRAFT' TKFRAME_-69021_SPEC = 'ANGLES' TKFRAME_-69021_UNITS = 'DEGREES' TKFRAME_-69021_AXES = ( 1, 3, 1 ) TKFRAME_-69021_ANGLES = ( 0.0, 47.0, -90.0 ) \begintext MPO Medium Gain Antenna Frame ----------------------------- TODO: Include MGA frame details... MPO LOW Gain Antenna Frame -------------------------- TODO: Include LGA frame details... MPO Star Trackers Frames ------------------------ TODO: Include Star Trackers frame details... MPO Optical Bench Frame ----------------------- This section of the file contains the definitions of the MPO Optical Bench frame. Optical Bench Frame Tree: ------------------------- The diagram below shows the BELA frame hierarchy. "J2000" INERTIAL --------------- | | |<-ck | V "MPO_SPACECRAFT" | | |<-fixed | V "MPO_OB" -------- Optical Bench Frame: -------------------- TODO: Check the definition of the Optical Bench frame! The nominal Optical Bench frame is defined as follows: - +Z axis co-aligned with the MPO_SPACECRAFT +Z axis representing the spacecraft line of sight toward Mercury during science operations; - +X axis is co-aligned with the MPO_SPACECRAFT +X axis - +Y axis completes the right-handed frame. - the origin of this frame is ... TODO: Check the origin of the nominal Optical Bench frame! This diagram illustrates the nominal Optical Bench frame: +Z s/c side (science deck side) view: ------------------------------------- ___. Steerable / | Rotating HGA -----> \______/ / | Radiator Solar Panel || / | Panel _____,___________,__________, .___OO____/ | /////|///////////|//////////| | | /////|///////////|//////////| | | /////|///////////|//////////|___| | /////|///////////|//////////|---| o-------------> -Ysc, /////|///////////|//////////| | | | -Yob -----'-----------'----------' '______|__ | / | \ | / V \ | MGA --> O -Xsc, \ | -Xob \___; \ +Zsc, +Zob, are \ out of the page. \ MPO \ Magnetometer ---> 0 <-- InBoard Boom \ Sensor \ 0 <-- OutBoard Sensor The nominal Optical Bench frame is co-aligned with the s/c frame. \begindata FRAME_MPO_OB = -69015 FRAME_-69015_NAME = 'MPO_OB' FRAME_-69015_CLASS = 4 FRAME_-69015_CLASS_ID = -69015 FRAME_-69015_CENTER = -69 TKFRAME_-69015_RELATIVE = 'MPO_SPACECRAFT' TKFRAME_-69015_SPEC = 'ANGLES' TKFRAME_-69015_UNITS = 'DEGREES' TKFRAME_-69015_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-69015_AXES = ( 1, 2, 3 ) \begintext BEPICOLOMBO MPO INSTRUMENT FRAMES ============================================================================== BELA (BepiColombo Laser Altimeter) Frames: ------------------------------------------ This section of the file contains the definitions of the BELA frames. BELA Frame Tree: ---------------- The diagram below shows the BELA frame hierarchy. "J2000" INERTIAL --------------- | | |<-ck | V "MPO_SPACECRAFT" | | |<-fixed | V "MPO_OB" +---------------------------------------+ | | |<-fixed |<-fixed | | V V "MPO_BELA_TRANSMITTER" "MPO_BELA_RECEIVER" ---------------------- ------------------- BELA Frames: ------------ TODO: Check the definition of the BELA frame! The BELA frames -- MPO_BELA_TRANSMITTER (Laser) and MPO_BELA_RECEIVER (Telescope) -- are defined as follows: - +Z axis points along the boresight of both BELA_TRANSMITTER and BELA_RECEIVER; - +X axis is nominally co-aligned with the s/c +X axis; - +Y axis completes the right-hand frame and is co-aligned with the s/c +Y axis; - the origin of the frame is located at the [TBD]. This diagram illustrates the BELA frames: +Z s/c side (science deck side) view: ------------------------------------- ___. Steerable / | Rotating HGA -----> \______/ / | Radiator Solar Panel || / | Panel _____,____________,____________, .___OO____/ | /////|////////////|////////////| | | /////|////////////|////////////| | | /////|////////////|////////////|___| | /////|////////////|////////////|---| o-------------> -Ysc, /////|////////////|////////////| | | | -Ybela-receiver, /////|////////////|////////////| | | | -Ybela-transmitter -----'------------'------------' '______|__ | / | \ | / V \ | MGA --> O -Xsc, \ | -Xbela, \___; -Xbela-receiver \ +Zsc, +Zbela-transmitter, -Xbela-transmitter \ and +Zbela-receiver are \ out of the page. MPO \ Magnetometer ---> 0 <-- InBoard Boom \ Sensor \ 0 <-- OutBoard Sensor The BELA frames are co-aligned with the s/c frame. \begindata FRAME_MPO_BELA_RECEIVER = -69100 FRAME_-69100_NAME = 'MPO_BELA_RECEIVER' FRAME_-69100_CLASS = 4 FRAME_-69100_CLASS_ID = -69100 FRAME_-69100_CENTER = -69 TKFRAME_-69100_RELATIVE = 'MPO_OB' TKFRAME_-69100_SPEC = 'ANGLES' TKFRAME_-69100_UNITS = 'DEGREES' TKFRAME_-69100_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-69100_AXES = ( 1, 2, 3 ) FRAME_MPO_BELA_TRANSMITTER = -69101 FRAME_-69101_NAME = 'MPO_BELA_TRANSMITTER' FRAME_-69101_CLASS = 4 FRAME_-69101_CLASS_ID = -69101 FRAME_-69101_CENTER = -69 TKFRAME_-69101_RELATIVE = 'MPO_OB' TKFRAME_-69101_SPEC = 'ANGLES' TKFRAME_-69101_UNITS = 'DEGREES' TKFRAME_-69101_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-69101_AXES = ( 1, 2, 3 ) \begintext MERTIS (MErcury Radiometer and Thermal Infrared Spectrometer) Frames: --------------------------------------------------------------------- This section of the file contains the definitions of the MERTIS frames. MERTIS Frame Tree: ------------------ The diagram below shows the MIXS frame hierarchy. "J2000" INERTIAL --------------- | |<-ck | V "MPO_SPACECRAFT" +------------------------------------+ | | |<-fixed |<-fixed | | V V "MPO_MERTIS_PLANET" "MPO_MERTIS_SPACE" ------------------- ------------------ MERTIS Frames: -------------- MERTIS Planet Frame: -------------------- The MERTIS_PLANET frame is defined as follows: - +Z axis points along the planet port boresight, it is co-aligned with the s/c +Z axis (nadir); - +Y axis is parallel to the apparent spatial resolution direction (i.e. along the slit); it is nominally co-aligned with the s/c +Y axis; - +X axis completes the right hand frame; it is co-aligned with the s/c +X axis; - the origin of the frame is located at ... TODO: Specify origin of MERTIS planet frame! This diagram illustrates the MERTIS_PLANET frame: +Z s/c side (science deck side) view: ------------------------------------- ___. Steerable / | Rotating HGA -----> \______/ / | Radiator Solar Panel || / | Panel _____,____________,____________, .___OO____/ | /////|////////////|////////////| | | /////|////////////|////////////| | | /////|////////////|////////////|___| | /////|////////////|////////////|---| o-------------> -Ysc, /////|////////////|////////////| | | | -Ymertis-planet /////|////////////|////////////| | | | -----'------------'------------' '______|__ | / | \ | / V \ | MGA --> O -Xsc, \ | -Xmertis-planet \___; \ +Zsc, +Zmertis-planet, \ are out of the page. MPO \ Magnetometer ---> \ Boom 0 <-- InBoard \ Sensor \ 0 <-- OutBoard Sensor The MERTIS_PLANET frame is co-aligned with the s/c frame. MERTIS Space Frame: ------------------- The MERTIS_SPACE frame is defined as follows: - +Z axis points along the space port boresight, it is co-aligned with the s/c -Y axis (radiator); - +Y axis is parallel to the apparent spatial resolution direction (i.e. along the slit); it is nominally co-aligned with the s/c -Z axis; - +X axis completes the right hand frame; it is co-aligned with the s/c +X axis; - the origin of the frame is located at ... TODO: Specify origin of MERTIS planet frame! This diagram illustrates the MERTIS_SPACE frame: +X s/c side view: ----------------- . \ MPO Steerable ' . / Magnetometer HGA ---> '/ Boom __/ | O V MGA --> o--n_____ | __________n-------o--o | | \ Rotating | O \ Radiator Solar Panel .o-/ \ Panel | . ' | o-----------> -Ysc V . ' \ | | \ . ' `24 deg | o-----------> +Zmertis-space . ' \_ | | | \ . ' ._________|____|___\ . ' ^ | | | V | +Xmertis-space, | +Zsc | and +Xsc is out | nadir V of the page Science +Ymertis- Deck space To go to the MERTIS_SPACE frame from the MERTIS_PLANET or s/c frame a positive rotaion of 90 degress around the MERTIS_PLANET or s/c +X axis is performed. 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_MPO_MERTIS_PLANET = -69200 FRAME_-69200_NAME = 'MPO_MERTIS_PLANET' FRAME_-69200_CLASS = 4 FRAME_-69200_CLASS_ID = -69200 FRAME_-69200_CENTER = -69 TKFRAME_-69200_RELATIVE = 'MPO_SPACECRAFT' TKFRAME_-69200_SPEC = 'ANGLES' TKFRAME_-69200_UNITS = 'DEGREES' TKFRAME_-69200_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-69200_AXES = ( 1, 2, 3 ) FRAME_MPO_MERTIS_SPACE = -69210 FRAME_-69210_NAME = 'MPO_MERTIS_SPACE' FRAME_-69210_CLASS = 4 FRAME_-69210_CLASS_ID = -69210 FRAME_-69210_CENTER = -69 TKFRAME_-69210_RELATIVE = 'MPO_SPACECRAFT' TKFRAME_-69210_SPEC = 'ANGLES' TKFRAME_-69210_UNITS = 'DEGREES' TKFRAME_-69210_ANGLES = ( -90.0, 0.0, 0.0 ) TKFRAME_-69210_AXES = ( 1, 2, 3 ) \begintext MIXS (Mercury Imaging X-Ray Spectrometer) Frames: ------------------------------------------------- This section of the file contains the definitions of the MIXS frames. MIXS Frame Tree: ---------------- The diagram below shows the MIXS frame hierarchy. "J2000" INERTIAL --------------- | |<-ck | V "MPO_SPACECRAFT" +----------------------------------+ | | |<-fixed |<-fixed | | V V "MPO_MIXS_C" "MPO_MIXS_T" ------------ ------------ MIXS Frames: ------------ TODO: Check the definition of the MIXS frame! The MIXS camera frames -- MIXS_C and MIXS_T -- are defined as follows: - +Z axis points along the camera boresight; - +X axis is parallel to the apparent image columns; it is nominally co-aligned with the s/c +X axis; - +Y axis completes the right hand frame; it is nominally parallel the to the apparent image lines and co-aligned with the s/c +Y axis; - the origin of the frame is located at the camera focal point. This diagram illustrates the MIXS camera frames: +Z s/c side (science deck side) view: ------------------------------------- ___. Steerable / | Rotating HGA -----> \______/ / | Radiator Solar Panel || / | Panel _____,____________,____________, .___OO____/ | /////|////////////|////////////| | | /////|////////////|////////////| | | /////|////////////|////////////|___| | /////|////////////|////////////|---| o-------------> -Ysc, -Ymixs-t, /////|////////////|////////////| | | | -Ymixs-c /////|////////////|////////////| | | | -----'------------'------------' '______|__ | / | \ | / V \ | MGA --> O -Xsc, \ | -Xmixs-t, \___; -Xmixs-c \ +Zsc, +Zmixs-t, \ and +Zmixs-c are MPO \ out of the page. Magnetometer ---> \ Boom 0 <-- InBoard \ Sensor \ 0 <-- OutBoard Sensor The MIXS frames are co-aligned with the s/c frame. \begindata FRAME_MPO_MIXS_C = -69350 FRAME_-69350_NAME = 'MPO_MIXS_C' FRAME_-69350_CLASS = 4 FRAME_-69350_CLASS_ID = -69350 FRAME_-69350_CENTER = -69 TKFRAME_-69350_RELATIVE = 'MPO_SPACECRAFT' TKFRAME_-69350_SPEC = 'ANGLES' TKFRAME_-69350_UNITS = 'DEGREES' TKFRAME_-69350_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-69350_AXES = ( 1, 2, 3 ) FRAME_MPO_MIXS_T = -69360 FRAME_-69360_NAME = 'MPO_MIXS_T' FRAME_-69360_CLASS = 4 FRAME_-69360_CLASS_ID = -69360 FRAME_-69360_CENTER = -69 TKFRAME_-69360_RELATIVE = 'MPO_SPACECRAFT' TKFRAME_-69360_SPEC = 'ANGLES' TKFRAME_-69360_UNITS = 'DEGREES' TKFRAME_-69360_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-69360_AXES = ( 1, 2, 3 ) \begintext SIMBIO-SYS (Spectrometers and Imagers Integrated Observatory SYStem) Frames: ---------------------------------------------------------------------------- This section of the file contains the definitions of the SIMBIO-SYS frames. SIMBIO-SYS Frame Tree: ---------------------- The diagram below shows the SIMBIO-SYS frame hierarchy. "J2000" INERTIAL --------------- | | |<-ck | V "MPO_SPACECRAFT" | | |<-fixed | V "MPO_OB" +----------------------+----------------------+ | | | | | | |<-fixed | <-fixed |<-fixed | | | V | V "MPO_SIMBIOSYS_HRIC" | "MPO_SIMBIOSYS_VIHI" -------------------- | -------------------- | V "MPO_SIMBIOSYS_STC" +--------------------------------+ | | | | |<-fixed |<-fixed | | V V "MPO_SIMBIOSYS_STC_FWD" "MPO_SIMBIOSYS_STC_BAK" ----------------------- ----------------------- SIMBIO-SYS Frames: ------------------ The SIMBIO-SYS channel frames -- MPO_SIMBIOSYS_HRIC, MPO_SIMBIOSYS_STC and MPO_SIMBIOSYS_VIHI -- are defined as follows: - +Z axis points along the camera boresight of MPO_SIMBIOSYS_HRIC and MPO_SIMBIOSYS_VIHI, the boresights of MPO_SIMBIOSYS_STC_FWD and MPO_SIMBIOSYS_STC_BAK are 20 degrees in the +/-X directions (respectively) from this axis; - +X axis is nominally co-aligned with the s/c +X axis; - +Y axis completes the right hand frame; it is nominally co-aligned with the s/c +Y axis; - the origin of the frame is located at the <**WHERE**>. TODO: Specify origin of SIMBIO-SYS frames! This diagram illustrates the SIMBIO-SYS camera frames: +Z s/c side (science deck side) view: ------------------------------------- ___. Steerable / | Rotating HGA -----> \______/ / | Radiator Solar Panel || / | Panel _____,____________,____________, .___OO____/ | /////|////////////|////////////| | | /////|////////////|////////////| | | /////|////////////|////////////|___| | -Ysc /////|////////////|////////////|---| o-------------> -Ysimbio-hric, /////|////////////|////////////| | | | -Ysimbio-stc, /////|////////////|////////////| | | | -Ysimbio-vihi -----'------------'------------' '______|__ | / | \ | / V \ | MGA --> O -Xsc, \ | -Xsimbio-hric, \___; -Xsimbio-stc, \ +Zsc, +Zsimbio-hric, -Xsimbio-vihi \ +Zsimbio-stc and \ +Zsimbio-vihi are MPO Magnetometer ---> \ out of the page. Boom 0 <-- InBoard \ Sensor \ 0 <-- OutBoard Sensor The SIMBIO-SYS frames are co-aligned with the s/c frame. TODO: Add more explanation on frame rotations for STC channels. \begindata FRAME_MPO_SIMBIOSYS_HRIC = -69600 FRAME_-69600_NAME = 'MPO_SIMBIOSYS_HRIC' FRAME_-69600_CLASS = 4 FRAME_-69600_CLASS_ID = -69600 FRAME_-69600_CENTER = -69 TKFRAME_-69600_RELATIVE = 'MPO_OB' TKFRAME_-69600_SPEC = 'ANGLES' TKFRAME_-69600_UNITS = 'DEGREES' TKFRAME_-69600_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-69600_AXES = ( 1, 2, 3 ) FRAME_MPO_SIMBIOSYS_STC = -69610 FRAME_-69610_NAME = 'MPO_SIMBIOSYS_STC' FRAME_-69610_CLASS = 4 FRAME_-69610_CLASS_ID = -69610 FRAME_-69610_CENTER = -69 TKFRAME_-69610_RELATIVE = 'MPO_OB' TKFRAME_-69610_SPEC = 'ANGLES' TKFRAME_-69610_UNITS = 'DEGREES' TKFRAME_-69610_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-69610_AXES = ( 1, 2, 3 ) FRAME_MPO_SIMBIOSYS_STC_FWD = -69611 FRAME_-69611_NAME = 'MPO_SIMBIOSYS_STC_FWD' FRAME_-69611_CLASS = 4 FRAME_-69611_CLASS_ID = -69611 FRAME_-69611_CENTER = -69 TKFRAME_-69611_RELATIVE = 'MPO_SIMBIOSYS_STC' TKFRAME_-69611_SPEC = 'ANGLES' TKFRAME_-69611_UNITS = 'DEGREES' TKFRAME_-69611_ANGLES = ( 0.0, -20.0, 0.0 ) TKFRAME_-69611_AXES = ( 1, 2, 3 ) FRAME_MPO_SIMBIOSYS_STC_BAK = -69612 FRAME_-69612_NAME = 'MPO_SIMBIOSYS_STC_BAK' FRAME_-69612_CLASS = 4 FRAME_-69612_CLASS_ID = -69612 FRAME_-69612_CENTER = -69 TKFRAME_-69612_RELATIVE = 'MPO_SIMBIOSYS_STC' TKFRAME_-69612_SPEC = 'ANGLES' TKFRAME_-69612_UNITS = 'DEGREES' TKFRAME_-69612_ANGLES = ( 0.0, 20.0, 0.0 ) TKFRAME_-69612_AXES = ( 1, 2, 3 ) FRAME_MPO_SIMBIOSYS_VIHI = -69620 FRAME_-69620_NAME = 'MPO_SIMBIOSYS_VIHI' FRAME_-69620_CLASS = 4 FRAME_-69620_CLASS_ID = -69620 FRAME_-69620_CENTER = -69 TKFRAME_-69620_RELATIVE = 'MPO_OB' TKFRAME_-69620_SPEC = 'ANGLES' TKFRAME_-69620_UNITS = 'DEGREES' TKFRAME_-69620_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-69620_AXES = ( 1, 2, 3 ) \begintext SIXS (Solar Intensity X-Ray Spectrometer) Frames: ------------------------------------------------------------------------------ This section of the file contains the definitions of the SIXS frames. SIXS Frame Tree: ---------------- The diagram below shows the SIXS frame hierarchy. "J2000" INERTIAL --------------- | |<-ck | V "MPO_SPACECRAFT" | | <-fixed | V "MPO_SIXS" +--------------------------------+ | | | | |<-fixed |<-fixed | | V V "MPO_SIXS_X" "MPO_SIXS_P" ------------ ------------ SIXS Frames: ------------ The SIXS frame is defined as follows: TODO: Add SIXS frames defintion! \begindata FRAME_MPO_SIXS = -69710 FRAME_-69710_NAME = 'MPO_SIXS' FRAME_-69710_CLASS = 4 FRAME_-69710_CLASS_ID = -69710 FRAME_-69710_CENTER = -69 TKFRAME_-69710_RELATIVE = 'MPO_SPACECRAFT' TKFRAME_-69710_SPEC = 'ANGLES' TKFRAME_-69710_UNITS = 'DEGREES' TKFRAME_-69710_ANGLES = ( 180.0, -90.0, 0.0 ) TKFRAME_-69710_AXES = ( 1, 3, 1 ) \begintext NAIF ID Codes to Name Mapping ------------------------------------------------------------------------------ This section contains name to NAIF ID mappings for the BepiColombo MPO. BepiColombo Spacecraft (MPO/MMO) spacecraft and instruments IDs: ---------------------------------------------------------------- This table summarizes BepiColombo Spacecraft IDs: ------ ------ ---------- Name ID Synonyms ------ ------ ---------- MMO -68 BC_MMO MPO -69 BC_MPO ------ ------ ---------- *'BC_MMO' are synonyms and all map to the official MMO s/c ID (-68) *'BC_MPO' are synonyms and all map to the official MPO s/c ID (-69) Name-ID Mapping keywords: \begindata NAIF_BODY_NAME += ( 'MMO' ) NAIF_BODY_CODE += ( -68 ) NAIF_BODY_NAME += ( 'BC_MMO' ) NAIF_BODY_CODE += ( -68 ) NAIF_BODY_NAME += ( 'MMO_SPACECRAFT' ) NAIF_BODY_CODE += ( -68000 ) NAIF_BODY_NAME += ( 'MMO_SC' ) NAIF_BODY_CODE += ( -68000 ) NAIF_BODY_NAME += ( 'MPO' ) NAIF_BODY_CODE += ( -69 ) NAIF_BODY_NAME += ( 'BC_MPO' ) NAIF_BODY_CODE += ( -69 ) NAIF_BODY_NAME += ( 'MPO_SPACECRAFT' ) NAIF_BODY_CODE += ( -69000 ) NAIF_BODY_NAME += ( 'MPO_SC' ) NAIF_BODY_CODE += ( -69000 ) NAIF_BODY_NAME += ( 'MPO_OB' ) NAIF_BODY_CODE += ( -69015 ) \begintext BELA IDs: --------- This table summarizes BELA IDs: ---------------------- -------- Name ID ---------------------- -------- MPO_BELA_RECEIVER -69100 MPO_BELA_TRANSMITTER -69101 ---------------------- -------- Name-ID Mapping keywords: \begindata NAIF_BODY_NAME += ( 'MPO_BELA_RECEIVER' ) NAIF_BODY_CODE += ( -69100 ) NAIF_BODY_NAME += ( 'MPO_BELA_TRANSMITTER' ) NAIF_BODY_CODE += ( -69101 ) \begintext MERTIS IDs: ----------- This table summarizes MERTIS IDs: ---------------------- -------- Name ID ---------------------- -------- MPO_MERTIS_PLANET -69200 MPO_MERTIS_PLANET_TIS -69201 MPO_MERTIS_PLANET_TIR -69202 MPO_MERTIS_SPACE -69210 MPO_MERTIS_SPACE_TIS -69211 MPO_MERTIS_SPACE_TIR -69212 ---------------------- -------- Name-ID Mapping keywords: \begindata NAIF_BODY_NAME += ( 'MPO_MERTIS_PLANET' ) NAIF_BODY_CODE += ( -69200 ) NAIF_BODY_NAME += ( 'MPO_MERTIS_PLANET_TIS' ) NAIF_BODY_CODE += ( -69201 ) NAIF_BODY_NAME += ( 'MPO_MERTIS_PLANET_TIR' ) NAIF_BODY_CODE += ( -69202 ) NAIF_BODY_NAME += ( 'MPO_MERTIS_SPACE' ) NAIF_BODY_CODE += ( -69210 ) NAIF_BODY_NAME += ( 'MPO_MERTIS_SPACE_TIS' ) NAIF_BODY_CODE += ( -69211 ) NAIF_BODY_NAME += ( 'MPO_MERTIS_SPACE_TIR' ) NAIF_BODY_CODE += ( -69212 ) \begintext MIXS IDs: --------- This table summarizes MIXS IDs: ------------ -------- Name ID ------------ -------- MPO_MIXS_C -69350 MPO_MIXS_T -69355 ------------ -------- Name-ID Mapping keywords: \begindata NAIF_BODY_NAME += ( 'MPO_MIXS_C' ) NAIF_BODY_CODE += ( -69350 ) NAIF_BODY_NAME += ( 'MPO_MIXS_T' ) NAIF_BODY_CODE += ( -69355 ) \begintext SIMBIO-SYS IDs: -------------- This table summarizes SIMBIO-SYS IDs: ------------------------- -------- Name ID ------------------------- -------- MPO_SIMBIOSYS_HRIC -69600 MPO_SIMBIOSYS_HRIC_F550 -69601 MPO_SIMBIOSYS_HRIC_P650 -69602 MPO_SIMBIOSYS_HRIC_F700 -69603 MPO_SIMBIOSYS_HRIC_F880 -69604 MPO_SIMBIOSYS_STC -69610 MPO_SIMBIOSYS_STC_FWD -69611 MPO_SIMBIOSYS_STC_BAK -69612 MPO_SIMBIOSYS_VIHI -69620 ------------------------- -------- Name-ID Mapping keywords: \begindata NAIF_BODY_NAME += ( 'MPO_SIMBIOSYS_HRIC' ) NAIF_BODY_CODE += ( -69600 ) NAIF_BODY_NAME += ( 'MPO_SIMBIOSYS_HRIC_F550' ) NAIF_BODY_CODE += ( -69601 ) NAIF_BODY_NAME += ( 'MPO_SIMBIOSYS_HRIC_P650' ) NAIF_BODY_CODE += ( -69602 ) NAIF_BODY_NAME += ( 'MPO_SIMBIOSYS_HRIC_F700' ) NAIF_BODY_CODE += ( -69603 ) NAIF_BODY_NAME += ( 'MPO_SIMBIOSYS_HRIC_F880' ) NAIF_BODY_CODE += ( -69604 ) NAIF_BODY_NAME += ( 'MPO_SIMBIOSYS_STC' ) NAIF_BODY_CODE += ( -69610 ) NAIF_BODY_NAME += ( 'MPO_SIMBIOSYS_STC_FWD' ) NAIF_BODY_CODE += ( -69611 ) NAIF_BODY_NAME += ( 'MPO_SIMBIOSYS_STC_BAK' ) NAIF_BODY_CODE += ( -69612 ) NAIF_BODY_NAME += ( 'MPO_SIMBIOSYS_STC_F550' ) NAIF_BODY_CODE += ( -69613 ) NAIF_BODY_NAME += ( 'MPO_SIMBIOSYS_STC_F420' ) NAIF_BODY_CODE += ( -69614 ) NAIF_BODY_NAME += ( 'MPO_SIMBIOSYS_STC_P700' ) NAIF_BODY_CODE += ( -69615 ) NAIF_BODY_NAME += ( 'MPO_SIMBIOSYS_STC_P700' ) NAIF_BODY_CODE += ( -69616 ) NAIF_BODY_NAME += ( 'MPO_SIMBIOSYS_STC_F920' ) NAIF_BODY_CODE += ( -69617 ) NAIF_BODY_NAME += ( 'MPO_SIMBIOSYS_STC_F700' ) NAIF_BODY_CODE += ( -69618 ) NAIF_BODY_NAME += ( 'MPO_SIMBIOSYS_VIHI' ) NAIF_BODY_CODE += ( -69620 ) \begintext SIXS IDs: --------- This table summarizes SIXS IDs: -------------- -------- Name ID -------------- -------- MPO_SIXS_P_1 -69711 MPO_SIXS_P_2 -69712 MPO_SIXS_P_3 -69713 MPO_SIXS_P_4 -69714 MPO_SIXS_P_5 -69715 MPO_SIXS_X_1 -69721 MPO_SIXS_X_2 -69722 MPO_SIXS_X_3 -69723 -------------- -------- Name-ID Mapping keywords: \begindata NAIF_BODY_NAME += ( 'MPO_SIXS_P_1' ) NAIF_BODY_CODE += ( -69711 ) NAIF_BODY_NAME += ( 'MPO_SIXS_P_2' ) NAIF_BODY_CODE += ( -69712 ) NAIF_BODY_NAME += ( 'MPO_SIXS_P_3' ) NAIF_BODY_CODE += ( -69713 ) NAIF_BODY_NAME += ( 'MPO_SIXS_P_4' ) NAIF_BODY_CODE += ( -69714 ) NAIF_BODY_NAME += ( 'MPO_SIXS_P_5' ) NAIF_BODY_CODE += ( -69715 ) NAIF_BODY_NAME += ( 'MPO_SIXS_X_1' ) NAIF_BODY_CODE += ( -69721 ) NAIF_BODY_NAME += ( 'MPO_SIXS_X_2' ) NAIF_BODY_CODE += ( -69722 ) NAIF_BODY_NAME += ( 'MPO_SIXS_X_3' ) NAIF_BODY_CODE += ( -69723 ) \begintext