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 science instruments and s/c structures (see the last section of the file). Version and Date ----------------------------------------------------------------------------- Version 0.4 -- August 12, 2016 -- Marc Costa Sitja, ESAC/ESA Updated filename and version numbering. Corrected bad non-ASCII characters. Updated BEPICOLOMBO MPO IDs from -69 to -121. Added draft MPO Magnetometer Boom Frames. Removed kernel name and version assignment. Version 0.3 -- February 08, 2016 -- J. McAuliffe, ESAC/ESA SIXS sub-unit IDs updated. Version 0.2 -- December 19, 2014 -- S. Martinez, ESAC/ESA SIXS frame details included Version 0.1 -- February 11, 2013 -- J. McAuliffe, ESAC/ESA Initial prototype. Based on MESSENGER Frames Kernel V2.1.0 13-OCT-2010 (msgr_v210.tf) Version 0.0 -- May 28, 2000 -- J. Vazquez, ESAC/ESA 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 ----------------------------------------------------------------------------- If you have any questions regarding this file contact SPICE support at ESAC: Marc Costa Sitja (+34) 91-8131-457 mcosta@sciops.esa.int, esa_spice@sciops.esa.int or NAIF at JPL: Boris Semenov (818) 354-8136 Boris.Semenov@jpl.nasa.gov Implementation Notes ----------------------------------------------------------------------------- This file is used by the SPICE system as follows: programs that make use of this frame kernel must "load" the kernel normally during program initialization. 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 MATLAB: (MICE) 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 -121 (synonyms: BEPICOLOMBO MPO, MERCURY PLANETARY ORBITER) MPO_SPACECRAFT -121000 (synonym: MPO_SC) MPO_SA_ZERO -121010 MPO_SA -121011 MPO_OB -121012 (MPO Optical Bench) MPO_HGA -121020 MPO_MGA -121021 MPO_LGA -121022 MPO_MAG_BOOM -121031 MPO_STR-1 MPO_STR-2 MPO_STR-3 TODO: Include the IDs of the science instruments BepiColombo MPO Mission Frames ----------------------------------------------------------------------------- The following MPO frames are defined in this kernel file: Name Relative to Type NAIF ID ====================== ===================== ============ ========= Spacecraft frames: ------------------ MPO_SPACECRAFT J2000 CK -121000 MPO_SPIN_AXIS J2000 CK -121001 MPO_SA_ZERO MPO_SPACECRAFT FIXED -121010 MPO_SA MPO_SA_ZERO CK -121011 MPO_OB MPO_SPACECRAFT FIXED -121012 Antenna Frames: --------------- MPO_HGA MPO_SPACECRAFT FIXED -121050 MPO_MGA MPO_SPACECRAFT FIXED -121051 MPO_LGA MPO_SPACECRAFT FIXED -121052 BELA Frames: ------------ MPO_BELA_TRANSMITTER MPO_OB FIXED -121100 MPO_BELA_RECEIVER MPO_OB FIXED -121101 ISA Frames: ----------- MPO_ISA MPO_SPACECRAFT FIXED -121150 MERTIS Frames: ------------- MPO_MERTIS_PLANET MPO_SPACECRAFT FIXED -121200 MPO_MERTIS_SPACE MPO_SPACECRAFT FIXED -121210 MGNS Frames: ------------ MPO_MGNS MPO_SPACECRAFT FIXED -121300 MIXS Frames: ------------ MPO_MIXS_C MPO_SPACECRAFT FIXED -121350 MPO_MIXS_T MPO_SPACECRAFT FIXED -121355 MORE Frames: ------------ MPO_MORE MPO_SPACECRAFT FIXED -121400 MPOMAG Frames: -------------- MPO_MPOMAG MPO_SPACECRAFT FIXED -121450 PHEBUS Frames: -------------- MPO_PHEBUS MPO_SPACECRAFT CK -121500 SERENA Frames: -------------- MPO_SERENA_ELENA MPO_SPACECRAFT FIXED -121551 MPO_SERENA_MIPA MPO_SPACECRAFT FIXED -121552 MPO_SERENA_PICAM MPO_SPACECRAFT FIXED -121553 MPO_SERENA_STROFIO MPO_SPACECRAFT FIXED -121554 MPO_SERENA_STROFIO_FWD MPO_SERENA_STROFIO FIXED -121555 MPO_SERENA_STROFIO_BAK MPO_SERENA_STROFIO FIXED -121556 SIMBIOSYS Frames: ----------------- MPO_SIMBIOSYS_HRIC MPO_OB FIXED -121600 MPO_SIMBIOSYS_STC MPO_OB FIXED -121610 MPO_SIMBIOSYS_STC_FWD MPO_SIMBIOSYS_STC FIXED -121611 MPO_SIMBIOSYS_STC_BAK MPO_SIMBIOSYS_STC FIXED -121612 MPO_SIMBIOSYS_VIHI MPO_OB FIXED -121620 SIXS Frames: ------------ MPO_SIXS MPO_SPACECRAFT FIXED -121710 NOTE: These should be removed: MPO_SIXS_P_1 MPO_SIXS FIXED -121711 MPO_SIXS_P_2 MPO_SIXS FIXED -121712 MPO_SIXS_P_3 MPO_SIXS FIXED -121713 MPO_SIXS_P_4 MPO_SIXS FIXED -121714 MPO_SIXS_P_5 MPO_SIXS FIXED -121715 MPO_SIXS_X_1 MPO_SIXS FIXED -121721 MPO_SIXS_X_2 MPO_SIXS FIXED -121722 MPO_SIXS_X_3 MPO_SIXS FIXED -121723 BERM Frames: ------------ MPO_BERM MPO_SPACECRAFT FIXED -121800 Star Trackers Frames: --------------------- MPO_STR-1 MPO_SPACECRAFT FIXED -121900 MPO_STR-2 MPO_SPACECRAFT FIXED -121900 MPO_STR-3 MPO_SPACECRAFT FIXED -121900 In addition, the following frames, in use by the BepiColombo mission, are defined in other kernels or `built into' the SPICE system: Name Relative to Type NAIF ID ====================== ===================== ============ ========= BepiColombo mission specific science frames (2): ------------------------------------------------ BC_MME_IAU2006_OF_DATE J2000 DYNAMIC -121921 BC_MME_IAU2006_J2000 J2000 FIXED -121922 BC_MME_IAU2009_OF_DATE J2000 DYNAMIC -121923 BC_MME_IAU2009_J2000 J2000 FIXED -121924 (2) These frames are defined in the frame kernel file "bc_sci_vVV.tf" (VV is the version number) SPICE 'Built-in' PCK frames in use by BepiColombo (3): ------------------------------------------------------ IAU_MERCURY J2000 PCK built-in IAU_EARTH J2000 PCK built-in (3) Data for these frames is loaded using either the PCK file "pckVVVVV.tpc" or one of the mission specific PCK files "juice_jupVVV.tpc" (VVV is the version number) BepiColombo MPO Frames Hierarchy ----------------------------------------------------------------------------- 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 Bus Frame ----------------------------------------------------------------------------- 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 = -121000 FRAME_-121000_NAME = 'MPO_SPACECRAFT' FRAME_-121000_CLASS = 3 FRAME_-121000_CLASS_ID = -121000 FRAME_-121000_CENTER = -121 CK_-121000_SCLK = -121 CK_-121000_SPK = -121 \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 = -121011 FRAME_-121011_NAME = 'MPO_SA' FRAME_-121011_CLASS = 3 FRAME_-121011_CLASS_ID = -121011 FRAME_-121011_CENTER = -121 CK_-121011_SCLK = -121 CK_-121011_SPK = -121 FRAME_MPO_SA_ZERO = -121012 FRAME_-121012_NAME = 'MPO_SA_ZERO' FRAME_-121012_CLASS = 4 FRAME_-121012_CLASS_ID = -121012 FRAME_-121012_CENTER = -121 TKFRAME_-121012_RELATIVE = 'MPO_SPACECRAFT' TKFRAME_-121012_SPEC = 'ANGLES' TKFRAME_-121012_UNITS = 'DEGREES' TKFRAME_-121012_ANGLES = ( 0.0, -90.0, 24.0 ) TKFRAME_-121012_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 = -121021 FRAME_-121021_NAME = 'MPO_HGA' FRAME_-121021_CLASS = 4 FRAME_-121021_CLASS_ID = -121021 FRAME_-121021_CENTER = -121 TKFRAME_-121021_RELATIVE = 'MPO_SPACECRAFT' TKFRAME_-121021_SPEC = 'ANGLES' TKFRAME_-121021_UNITS = 'DEGREES' TKFRAME_-121021_AXES = ( 1, 3, 1 ) TKFRAME_-121021_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 Magnetometer Boom Frames ---------------------------- This section contains the definition of the Magnetometer Boom (MAG Boom) frames. The Magnetometer Boom (MAG Boom) is one of the Instrument Supporting structures of the MPO spacecraft. The MAG Boom is attached to the -X/-Z corner of the spacecraft main body and supports toward its outer end the J-MAG Inboard, Outboard and Scatterometer sensors, and the Radio Wave Instrument and the Scalar Magnetometer of the Radio and Plasma Wave Instrument (RPWI) experiments. The MAG Boom is a deployable structure comprising that ranges from 3.6m long in stowed configuration at launch (along +Zsc axis), up to 10.6m long in deployed configuration (in the -Xc, -Zsc quadrant). Magnetometer Boom Frames Tree ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The diagram below shows the Magnetometer Boom Frames frame hierarchy: "MPO_SPACECRAFT" ---------------- | |<-fixed | v "MPO_MAG_BOOM-H" ---------------- | |<-ck | v "MPO_MAG_BOOM" -------------- MAG Boom Hinge frame ~~~~~~~~~~~~~~~~~~~~ MAG Boom frame ~~~~~~~~~~~~~~ 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 = -121015 FRAME_-121015_NAME = 'MPO_OB' FRAME_-121015_CLASS = 4 FRAME_-121015_CLASS_ID = -121015 FRAME_-121015_CENTER = -121 TKFRAME_-121015_RELATIVE = 'MPO_SPACECRAFT' TKFRAME_-121015_SPEC = 'ANGLES' TKFRAME_-121015_UNITS = 'DEGREES' TKFRAME_-121015_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-121015_AXES = ( 1, 2, 3 ) \begintext 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 = -121100 FRAME_-121100_NAME = 'MPO_BELA_RECEIVER' FRAME_-121100_CLASS = 4 FRAME_-121100_CLASS_ID = -121100 FRAME_-121100_CENTER = -121 TKFRAME_-121100_RELATIVE = 'MPO_OB' TKFRAME_-121100_SPEC = 'ANGLES' TKFRAME_-121100_UNITS = 'DEGREES' TKFRAME_-121100_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-121100_AXES = ( 1, 2, 3 ) FRAME_MPO_BELA_TRANSMITTER = -121101 FRAME_-121101_NAME = 'MPO_BELA_TRANSMITTER' FRAME_-121101_CLASS = 4 FRAME_-121101_CLASS_ID = -121101 FRAME_-121101_CENTER = -121 TKFRAME_-121101_RELATIVE = 'MPO_OB' TKFRAME_-121101_SPEC = 'ANGLES' TKFRAME_-121101_UNITS = 'DEGREES' TKFRAME_-121101_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-121101_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 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 = -121200 FRAME_-121200_NAME = 'MPO_MERTIS_PLANET' FRAME_-121200_CLASS = 4 FRAME_-121200_CLASS_ID = -121200 FRAME_-121200_CENTER = -121 TKFRAME_-121200_RELATIVE = 'MPO_SPACECRAFT' TKFRAME_-121200_SPEC = 'ANGLES' TKFRAME_-121200_UNITS = 'DEGREES' TKFRAME_-121200_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-121200_AXES = ( 1, 2, 3 ) FRAME_MPO_MERTIS_SPACE = -121210 FRAME_-121210_NAME = 'MPO_MERTIS_SPACE' FRAME_-121210_CLASS = 4 FRAME_-121210_CLASS_ID = -121210 FRAME_-121210_CENTER = -121 TKFRAME_-121210_RELATIVE = 'MPO_SPACECRAFT' TKFRAME_-121210_SPEC = 'ANGLES' TKFRAME_-121210_UNITS = 'DEGREES' TKFRAME_-121210_ANGLES = ( -90.0, 0.0, 0.0 ) TKFRAME_-121210_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 = -121350 FRAME_-121350_NAME = 'MPO_MIXS_C' FRAME_-121350_CLASS = 4 FRAME_-121350_CLASS_ID = -121350 FRAME_-121350_CENTER = -121 TKFRAME_-121350_RELATIVE = 'MPO_SPACECRAFT' TKFRAME_-121350_SPEC = 'ANGLES' TKFRAME_-121350_UNITS = 'DEGREES' TKFRAME_-121350_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-121350_AXES = ( 1, 2, 3 ) FRAME_MPO_MIXS_T = -121360 FRAME_-121360_NAME = 'MPO_MIXS_T' FRAME_-121360_CLASS = 4 FRAME_-121360_CLASS_ID = -121360 FRAME_-121360_CENTER = -121 TKFRAME_-121360_RELATIVE = 'MPO_SPACECRAFT' TKFRAME_-121360_SPEC = 'ANGLES' TKFRAME_-121360_UNITS = 'DEGREES' TKFRAME_-121360_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-121360_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 = -121600 FRAME_-121600_NAME = 'MPO_SIMBIOSYS_HRIC' FRAME_-121600_CLASS = 4 FRAME_-121600_CLASS_ID = -121600 FRAME_-121600_CENTER = -121 TKFRAME_-121600_RELATIVE = 'MPO_OB' TKFRAME_-121600_SPEC = 'ANGLES' TKFRAME_-121600_UNITS = 'DEGREES' TKFRAME_-121600_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-121600_AXES = ( 1, 2, 3 ) FRAME_MPO_SIMBIOSYS_STC = -121610 FRAME_-121610_NAME = 'MPO_SIMBIOSYS_STC' FRAME_-121610_CLASS = 4 FRAME_-121610_CLASS_ID = -121610 FRAME_-121610_CENTER = -121 TKFRAME_-121610_RELATIVE = 'MPO_OB' TKFRAME_-121610_SPEC = 'ANGLES' TKFRAME_-121610_UNITS = 'DEGREES' TKFRAME_-121610_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-121610_AXES = ( 1, 2, 3 ) FRAME_MPO_SIMBIOSYS_STC_FWD = -121611 FRAME_-121611_NAME = 'MPO_SIMBIOSYS_STC_FWD' FRAME_-121611_CLASS = 4 FRAME_-121611_CLASS_ID = -121611 FRAME_-121611_CENTER = -121 TKFRAME_-121611_RELATIVE = 'MPO_SIMBIOSYS_STC' TKFRAME_-121611_SPEC = 'ANGLES' TKFRAME_-121611_UNITS = 'DEGREES' TKFRAME_-121611_ANGLES = ( 0.0, -20.0, 0.0 ) TKFRAME_-121611_AXES = ( 1, 2, 3 ) FRAME_MPO_SIMBIOSYS_STC_BAK = -121612 FRAME_-121612_NAME = 'MPO_SIMBIOSYS_STC_BAK' FRAME_-121612_CLASS = 4 FRAME_-121612_CLASS_ID = -121612 FRAME_-121612_CENTER = -121 TKFRAME_-121612_RELATIVE = 'MPO_SIMBIOSYS_STC' TKFRAME_-121612_SPEC = 'ANGLES' TKFRAME_-121612_UNITS = 'DEGREES' TKFRAME_-121612_ANGLES = ( 0.0, 20.0, 0.0 ) TKFRAME_-121612_AXES = ( 1, 2, 3 ) FRAME_MPO_SIMBIOSYS_VIHI = -121620 FRAME_-121620_NAME = 'MPO_SIMBIOSYS_VIHI' FRAME_-121620_CLASS = 4 FRAME_-121620_CLASS_ID = -121620 FRAME_-121620_CENTER = -121 TKFRAME_-121620_RELATIVE = 'MPO_OB' TKFRAME_-121620_SPEC = 'ANGLES' TKFRAME_-121620_UNITS = 'DEGREES' TKFRAME_-121620_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-121620_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 = -121710 FRAME_-121710_NAME = 'MPO_SIXS' FRAME_-121710_CLASS = 4 FRAME_-121710_CLASS_ID = -121710 FRAME_-121710_CENTER = -121 TKFRAME_-121710_RELATIVE = 'MPO_SPACECRAFT' TKFRAME_-121710_SPEC = 'ANGLES' TKFRAME_-121710_UNITS = 'DEGREES' TKFRAME_-121710_ANGLES = ( 180.0, -90.0, 0.0 ) TKFRAME_-121710_AXES = ( 1, 3, 1 ) \begintext BEPICOLOMBO MPO NAIF ID Codes to Name Mapping ------------------------------------------------------------------------------ This section contains name to NAIF ID mappings for the BepiColombo MPO mission. Once the contents of this file is loaded into the KERNEL POOL, these mappings become available within SPICE, making it possible to use names instead of ID code in the high level SPICE routine calls. Spacecraft: ---------------------------------------------------------------- This table presents the BepiColombo Spacecraft and its main structures' names and --------------------- ------- -------------------------- Name ID Synonyms --------------------- ------- -------------------------- MPO -121 BEPICOLOMBO MPO, MERCURY PLANETARY ORBITER MPO_SPACECRAFT -121000 MPO_SC MPO_OB -121015 MPO_MAG_BOOM -121030 --------------------- ------- -------------------------- Notes: -- 'MPO', 'BEPICOLOMBO MPO' and 'MERCURY PLANETARY ORBITER' are synonyms and all map to the BepiColombo MPO spacecraft ID (-121); -- 'MPO_SC' and 'MPO_SPACECRAFT' are synonyms and all map to the BepiColombo MPO s/c bus structure ID (-121000); The mappings summarized in this table are implemented by the keywords below. \begindata NAIF_BODY_NAME += ( 'MMO' ) NAIF_BODY_CODE += ( -68 ) NAIF_BODY_NAME += ( 'BEPICOLOMBO MMO' ) NAIF_BODY_CODE += ( -68 ) NAIF_BODY_NAME += ( 'MERCURY MAGNETOSPHERIC ORBITER' ) 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 += ( -121 ) NAIF_BODY_NAME += ( 'BEPICOLOMBO MPO' ) NAIF_BODY_CODE += ( -121 ) NAIF_BODY_NAME += ( 'MERCURY PLANETARY ORBITER' ) NAIF_BODY_CODE += ( -121 ) NAIF_BODY_NAME += ( 'MPO_SPACECRAFT' ) NAIF_BODY_CODE += ( -121000 ) NAIF_BODY_NAME += ( 'MPO_SC' ) NAIF_BODY_CODE += ( -121000 ) NAIF_BODY_NAME += ( 'MPO_OB' ) NAIF_BODY_CODE += ( -121015 ) NAIF_BODY_NAME += ( 'MPO_MAG_BOOM' ) NAIF_BODY_CODE += ( -121030 ) \begintext BELA: ----- This table summarizes BELA IDs: ---------------------- -------- Name ID ---------------------- -------- MPO_BELA_RECEIVER -121100 MPO_BELA_TRANSMITTER -121101 ---------------------- -------- Name-ID Mapping keywords: \begindata NAIF_BODY_NAME += ( 'MPO_BELA_RECEIVER' ) NAIF_BODY_CODE += ( -121100 ) NAIF_BODY_NAME += ( 'MPO_BELA_TRANSMITTER' ) NAIF_BODY_CODE += ( -121101 ) \begintext MERTIS: ------- This table summarizes MERTIS IDs: ---------------------- -------- Name ID ---------------------- -------- MPO_MERTIS_PLANET -121200 MPO_MERTIS_PLANET_TIS -121201 MPO_MERTIS_PLANET_TIR -121202 MPO_MERTIS_SPACE -121210 MPO_MERTIS_SPACE_TIS -121211 MPO_MERTIS_SPACE_TIR -121212 ---------------------- -------- Name-ID Mapping keywords: \begindata NAIF_BODY_NAME += ( 'MPO_MERTIS_PLANET' ) NAIF_BODY_CODE += ( -121200 ) NAIF_BODY_NAME += ( 'MPO_MERTIS_PLANET_TIS' ) NAIF_BODY_CODE += ( -121201 ) NAIF_BODY_NAME += ( 'MPO_MERTIS_PLANET_TIR' ) NAIF_BODY_CODE += ( -121202 ) NAIF_BODY_NAME += ( 'MPO_MERTIS_SPACE' ) NAIF_BODY_CODE += ( -121210 ) NAIF_BODY_NAME += ( 'MPO_MERTIS_SPACE_TIS' ) NAIF_BODY_CODE += ( -121211 ) NAIF_BODY_NAME += ( 'MPO_MERTIS_SPACE_TIR' ) NAIF_BODY_CODE += ( -121212 ) \begintext MIXS: ----- This table summarizes MIXS IDs: ------------ -------- Name ID ------------ -------- MPO_MIXS_C -121350 MPO_MIXS_T -121355 ------------ -------- Name-ID Mapping keywords: \begindata NAIF_BODY_NAME += ( 'MPO_MIXS_C' ) NAIF_BODY_CODE += ( -121350 ) NAIF_BODY_NAME += ( 'MPO_MIXS_T' ) NAIF_BODY_CODE += ( -121355 ) \begintext SIMBIO-SYS: ----------- This table summarizes SIMBIO-SYS IDs: ------------------------- -------- Name ID ------------------------- -------- MPO_SIMBIOSYS_HRIC -121600 MPO_SIMBIOSYS_HRIC_F550 -121601 MPO_SIMBIOSYS_HRIC_P650 -121602 MPO_SIMBIOSYS_HRIC_F700 -121603 MPO_SIMBIOSYS_HRIC_F880 -121604 MPO_SIMBIOSYS_STC -121610 MPO_SIMBIOSYS_STC_FWD -121611 MPO_SIMBIOSYS_STC_BAK -121612 MPO_SIMBIOSYS_VIHI -121620 ------------------------- -------- Name-ID Mapping keywords: \begindata NAIF_BODY_NAME += ( 'MPO_SIMBIOSYS_HRIC' ) NAIF_BODY_CODE += ( -121600 ) NAIF_BODY_NAME += ( 'MPO_SIMBIOSYS_HRIC_F550' ) NAIF_BODY_CODE += ( -121601 ) NAIF_BODY_NAME += ( 'MPO_SIMBIOSYS_HRIC_P650' ) NAIF_BODY_CODE += ( -121602 ) NAIF_BODY_NAME += ( 'MPO_SIMBIOSYS_HRIC_F700' ) NAIF_BODY_CODE += ( -121603 ) NAIF_BODY_NAME += ( 'MPO_SIMBIOSYS_HRIC_F880' ) NAIF_BODY_CODE += ( -121604 ) NAIF_BODY_NAME += ( 'MPO_SIMBIOSYS_STC' ) NAIF_BODY_CODE += ( -121610 ) NAIF_BODY_NAME += ( 'MPO_SIMBIOSYS_STC_FWD' ) NAIF_BODY_CODE += ( -121611 ) NAIF_BODY_NAME += ( 'MPO_SIMBIOSYS_STC_BAK' ) NAIF_BODY_CODE += ( -121612 ) NAIF_BODY_NAME += ( 'MPO_SIMBIOSYS_STC_F550' ) NAIF_BODY_CODE += ( -121613 ) NAIF_BODY_NAME += ( 'MPO_SIMBIOSYS_STC_F420' ) NAIF_BODY_CODE += ( -121614 ) NAIF_BODY_NAME += ( 'MPO_SIMBIOSYS_STC_P700' ) NAIF_BODY_CODE += ( -121615 ) NAIF_BODY_NAME += ( 'MPO_SIMBIOSYS_STC_P700' ) NAIF_BODY_CODE += ( -121616 ) NAIF_BODY_NAME += ( 'MPO_SIMBIOSYS_STC_F920' ) NAIF_BODY_CODE += ( -121617 ) NAIF_BODY_NAME += ( 'MPO_SIMBIOSYS_STC_F700' ) NAIF_BODY_CODE += ( -121618 ) NAIF_BODY_NAME += ( 'MPO_SIMBIOSYS_VIHI' ) NAIF_BODY_CODE += ( -121620 ) \begintext SIXS: ----- This table summarizes SIXS IDs: -------------- -------- Name ID -------------- -------- MPO_SIXS_P_1 -121711 MPO_SIXS_P_2 -121712 MPO_SIXS_P_3 -121713 MPO_SIXS_P_4 -121714 MPO_SIXS_P_5 -121715 MPO_SIXS_X_1 -121721 MPO_SIXS_X_2 -121722 MPO_SIXS_X_3 -121723 -------------- -------- Name-ID Mapping keywords: \begindata NAIF_BODY_NAME += ( 'MPO_SIXS_P_1' ) NAIF_BODY_CODE += ( -121711 ) NAIF_BODY_NAME += ( 'MPO_SIXS_P_2' ) NAIF_BODY_CODE += ( -121712 ) NAIF_BODY_NAME += ( 'MPO_SIXS_P_3' ) NAIF_BODY_CODE += ( -121713 ) NAIF_BODY_NAME += ( 'MPO_SIXS_P_4' ) NAIF_BODY_CODE += ( -121714 ) NAIF_BODY_NAME += ( 'MPO_SIXS_P_5' ) NAIF_BODY_CODE += ( -121715 ) NAIF_BODY_NAME += ( 'MPO_SIXS_X_1' ) NAIF_BODY_CODE += ( -121721 ) NAIF_BODY_NAME += ( 'MPO_SIXS_X_2' ) NAIF_BODY_CODE += ( -121722 ) NAIF_BODY_NAME += ( 'MPO_SIXS_X_3' ) NAIF_BODY_CODE += ( -121723 ) \begintext End of FK file.