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 0.5 -- November 3, 2016 -- Marc Costa Sitja, ESAC/ESA Updated diagrams for MPO Spacecraft frame. Added description for SA frame and corrected its definition. Completed MPO HGA frames and added new definitions. Added MPO Medium Gain Antenna frames. Added MPO Low Gain Antenna frames and MPO Star Tracker frames. Updated minor edits as well. Added corresponding NAIF ID definitions. Added references from [5] to [12]. 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. ``BepiColombo - System Design Description'', BC-ASD-DD-00004, Airbus DS GmbH, Issue 2, 29th November 2014 5. ``AOCS Study Assumptions for BepiColombo'', BC-ASD-TN-00051, Issue 11, Revision 1, Airbus DS GmbH, 3rd of June 2016 6. ``MPO Solar Array Control User Manual'', BC-ASD-MA-00027, Airbus DS GmbH, Issue 4.1, 19th April 2016 7. ``BC PFM MPO Configuration'', BC-ASD-DW-00081, Issue A, Astrium GmbH, 12 October 2012 8. ``HGAMA IDCD'', BC-ALS-ID-00002, Issue 3, Revision 2, Thales Alenia Space, 30 July 2010 9. ``Angular Movement of HGA and MGA'', BC-ASD-TN-00096, Issue 2.0, EADS Astrium GmbH, 17th May 2013 10. ``MGB Interfaces'', BC-SEN-ID-10002, SENER, 20th October 2009 11. ``MGAMA Interface Drawing'', BC-SEN-ID-10002, SENER, 10th February 2011 12. ``BepiColombo - MGA Major Assembly & HGA Pointing Assembly - MGAMA Users Manual'', BC-SEN-UM-10001, SENER, Revision 1, 14th March 2005 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 -121012 MPO_OB -121013 (MPO Optical Bench) MPO_MAG_BOOM -121031 MPO_HGA -121023 MPO_MGA -121043 MPO_LGA+X -121050 MPO_LGA-X -121051 MPO_STR-1 -121061 MPO_STR-2 -121062 MPO_STR-3 -121063 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_GIMBAL MPO_SPACECRAFT FIXED -121010 MPO_SA_SADM MPO_SA_GIMBAL FIXED -121011 MPO_SA MPO_SA_SADM CK -121012 MPO_OB MPO_SPACECRAFT FIXED -121013 MPO_MAG_BOOM-H MPO_SPACECRAFT FIXED -121030 MPO_MAG_BOOM MPO_MAG_BOOM-H CK -121031 Antenna Frames: --------------- MPO_HGA_APM MPO_SPACECRAFT FIXED -121020 MPO_HGA_EL MPO_HGA_ZERO CK -121021 MPO_HGA_AZ MPO_HGA_EL CK -121022 MPO_HGA MPO_HGA_AZ FIXED -121023 MPO_MGA_BOOM-H MPO_SPACECRAFT FIXED -121040 MPO_MGA_BOOM MPO_MGA_BOOM-H CK -121041 MPO_MGA_ZERO MPO_MGA_BOOM FIXED -121042 MPO_MGA MPO_MGA_ZERO FIXED -121043 MPO_LGA+X MPO_SPACECRAFT FIXED -121050 MPO_LGA-X MPO_SPACECRAFT FIXED -121051 Star Trackers Frames: --------------------- MPO_STR-1 MPO_SPACECRAFT FIXED -121061 MPO_STR-2 MPO_SPACECRAFT FIXED -121062 MPO_STR-3 MPO_SPACECRAFT FIXED -121063 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 TODO: 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 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) TODO: Include position of the center of the reference frames in an SPK file. BepiColombo MPO Frames Hierarchy ----------------------------------------------------------------------------- The diagram below shows the BepiColombo MPO spacecraft and its structures frame hierarchy (not including science instrument frames.) TODO: Complete the Frames Hirearchy. Including BC_MERCURY_ME_2006 "J2000" INERTIAL +-------------------------------------------------------+ | | | |<-pck |<-ck |<-pck | | | V | V "IAU_MERCURY" | "IAU_EARTH" MERCURY BODY-FIXED | EARTH BODY-FIXED ------------------ | ---------------- | | | | "MPO_LGA-X" | ----------- | ^ | | | fixed->| | | | "MPO_LGA+X" | "MPO_STR-1" | "MPO_STR-2" "MPO_STR-3" ----------- | ----------- | ----------- ----------- ^ | ^ | ^ ^ | | | | | | |<-fixed | fixed->| V |<-fixed |<-fixed | | | "MPO_SPACECRAFT" | | +----------------------------------------------------------------+ | | | . | | |<-fixed |<- fixed |<- fixed . fixed->| fixed->| | | | . | | V | V . V V "MPO_SA_GIMBAL" | "MPO_MAG_BOOM-H" . "MPO_MGA_BOOM-H" "MPO_HGA_APM" -------------- | ---------------- . ------------- ------------- | | | . | | |<-fixed v |<-ck . ck->| fixed->| | "MPO_OB" | . | | V -------- V . V V "MPO_SA_SADM" "MPO_MAG_BOOM" . "MPO_MGA_BOOM "MPO_HGA_ZERO" ------------- -------------- . ------------- -------------- | . | | |<-ck . fixed->| ck->| | . | | V . v v "MPO_SA" . "MPO_MGA_ZERO" "MPO_HGA_EL" -------- . ------------- ------------ . | | . ck->| ck->| . | | . V V . "MPO_MGA" "MPO_HGA_AZ" . ------------ ------------ . | . fixed->| . | . v . "MPO_HGA" . --------- V Individual instrument frame trees are provided in the corresponding sections of this file MPO Spacecraft Bus Frame ----------------------------------------------------------------------------- The MPO spacecraft frame -- MPO_SPACECRAFT --, is defined by the S/C design as follows [4]: - +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 the HGA in stowed configuration; - +Y axis completes the right-handed frame. - the origin of this frame is the Mercury Transfer Module/MPO interface point on the separation plane. These diagram(s) illustrate the MPO_SPACECRAFT frame: +Z S/C side (Science Deck) view: -------------------------------- Steerable HGA -----> \__O__/ __ || ,---. Rotating | |-' ,' | Solar Panel ,-------,' | Radiator ,________, ,________, ,________, ,--------' | Panel |////////| |////////| |////////|\ | | |////////|=|////////|=|////////|\\ | | |////////| |////////| |////////| \\____| -Zsc | |////////| |////////| |////////| /,----| x-------------> -Ysc |////////|=|////////|=|////////|// | | | |////////| |////////| |////////|/ | | | '--------' '--------' '--------' |______|_ | / | '. | / | '. | / v '. | _ 0 -Xsc '._; MGA --> -)[_] \ MPO \ Magnetometer ---> \ Boom \ InBoard --> 0 +Zsc/nadir is Sensor \ out of the \ page. OutBoard --> 0 Sensor -Z S/C side view: ----------------- MPO 0 Magnetometer ---> / Boom / 0 / _ / MGA --> -)[_] -Xsc / 0 ^ . .-/ Rotating \ | . ' ,' 0| Solar Panel \ . '| ,' | ,________, ,________, ,_______, o-------|--' | |////////| |////////| |///////|\ | | | |////////|=|////////|=|///////|\\ | | | |////////| |////////| |///////| \\____| | | |////////| |////////| |///////| /,----| o-------------> -Ysc |////////|=|////////|=|///////|// | -Zsc | |////////| |////////| |///////|/ | | '--------' '--------' '-------' '. | '._________ | | | '. \ | |__|\ '. \ | __||__ '-'--' -Zsc is out of / O \ the page. +X S/C side view: ----------------- \ MPO Steerable / Magnetometer HGA ---> O/ Boom __/ | _ ______||___ V MGA --> -)[_]0==n/ '/ () \________n=====o==o ,| ' \__/ / \ .o | / ' \ Rotating . ' . `| ' / \ Solar Panel . ' '.|/ <---------o ' (*)\<---- LGA . ' 24 deg |+Ysc - - - -|- / \ . ' | | ' \ . ' | |/ \ . ' '----------- |---------\ ^ | | v | +Zsc/nadir Science +Xsc is out of Deck the page -Y S/C side (Radiator Panel) view: ---------------------------------- _____________ Rotating |/////////////| Solar Panel |/////////////| |/////////////| __||_____||__ |/////////////| .---------------------------------. |O=======.----. ========== STR-1 O| |========| \\|===== STR-3 ==( )==| Steerable |========|___\\=======( )=========| HGA |========= Phebus ========( )=====| .-''-. -Xsc <---------------------o===== STR-2 ===|-/ \ / \ |=================|===============| | O | |=================|===============|-\ | / |O================|==============O| `-..-' 0====0=============|_|===|_|--------|---------------' ^ ^ | | | | MPO MGA | -Ysc is out of Magnetometer v the page Boom -Zsc Since the S/C bus attitude with respect to an inertial frame is provided by a C-kernel (see [3] for more information), this frame 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 -- MPO_SPIN_AXIS -- 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 MPO_SPACECRAFT frame relative to the MPO_SPIN_AXIS frame. MPO_SPIN_AXIS is defined as a CK-based frame. \begindata FRAME_MPO_SPIN_AXIS = -121001 FRAME_-121001_NAME = 'MPO_SPIN_AXIS' FRAME_-121001_CLASS = 3 FRAME_-121001_CLASS_ID = -121001 FRAME_-121001_CENTER = -121 CK_-121001_SCLK = -121 CK_-121001_SPK = -121 \begintext MPO Solar Array Frames -------------------------------------------------------------------------- The MPO solar array is articulated and can rotate 360 degrees with respect to its longitudinal axis (having one degree of freedom). The rotation axis is in the Y/Z plane and is tilted 24 degrees around the S/C X axis from +Y towards +Z [6]. The drive angle around the rotation axis is often abbreviated as SADM (Solar Array Drive Mechanishm) or as SADM rotation angle. If the SADM rotation angle is zero, the normal vector of the solar array cell face is in the Y/Z plane and pointing to the -Z hemisphere. The Solar Array frame (MPO_SA) is defined as a CK frame with its orientation given relative to the MPO Solar Array Drive Mechanism (MPO_SADM) -that assumes a SADM = 0 degrees-. which at the same time is tilted downward of 24 degrees with respect to the +X spacecraft axis [5]. The MPO solar array gimbal frame -- MPO_SA_GIMBAL -- is an auxiliary ``fixed-offset'' frame defined with respect to MPO_SPACECRAFT, as follows (from [6]): - +Y is parallel to the spacecraft bus +Yc, pointing to the direction of the deployed solar arrays; - +Z is anti-parallel to the spacecraft bus -Zsc, pointing to the opposite direction of the Nadir direction; - +X completes the right-handed frame; - the origin of the frame is located at the yoke geometric center. The MPO Solar Array Drive Mechanism -- MPO_SA_SADM -- frame is a ``fixed-offset'' frame defined with respect to MPO_SA_GIMBAL, as follows (from [6]): - +Z is tilted downward 24 degrees with respect to the +Zsa_gim axis; - +X is parallel to the +Xsa_gimbal axis; - +Y completes the right-handed frame; - the origin of the frame is located at the yoke geometric center. The MPO Solar Array -- MPO_SA -- frame is defined as follows (from [6]): - +Y is parallel to the longest side of the array, positively oriented from the yoke to the end of the wing; - +Z is normal to the solar array plane, the solar cells facing +Z; - +X completes the right-handed frame; - 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 the solar array frames. These diagrams illustrate the MPO Solar Array Frames: +X S/C side view: ----------------- +Zsa_gim \ +Zsa_sadm ^ ^ / \ | O/ \ | __/ \ | ______||___ \ | / '/ () \________n=====o==o \|,| ' \__/ / \ +Ysa_gim <------------x +Xsa_gim,+Xsa_sadm ' \ . ' . `| ' +Xsc / \ +Ysa, . ' '.|/ <---------o ' (*)\` +Ysa_sadm < ' 66 deg |+Ysc - - - -|- / \ . ' | | ' \ . ' | |/ \ . ' '----------- |---------\ Rotating ^ | Solar Panel | v | +Zsc/nadir Science +Xsc is out of Deck the page +Ysa_0 is into page +Z SA side view: ---------------- 0 / / +Xsa 0 ^ / _ | / -)[_] | / 0 | . .-/ Rotating \| . ' ,' O| Solar Panel | . ' ,' | ,________, ,________, ,_______, |.----------' | |////////| |////////| |///////|\ || | |////////|=|////////|=|///////|\\ || | |////////| |////////| |///////| \\___|| | <--------------------------------------o| | +Ysa,+Ysa_sadm////////|=|///////|// | | |////////| |////////| |///////|/ | | '--------' '--------' '-------' '. | '._________ | | | '. \ | |__|\ '. \ | __||__ '-'--' +Zsa is out / O \ of the page +Y SA side view: ---------------- 0 +Xsa_sadm | ^ 0 +Zsa | | ^ +Xsa | | .' ^ | | .' '. .-------|-------. .' '. | | | .' '.| | .' < '.------|----- .' '. SADM rotation angle | '. | ,' | \ | '. | ,' | ' | '.|.' | | | o-------------------> +Zsa_sadm | +Ysa | | | | | |_______________| | .-''-. | | / \ | '---| +Zsa,+Zsa_sadm \ / +Zsa, +Zsa_gim 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_MPO_SA_GIMBAL = -121010 FRAME_-121010_NAME = 'MPO_SA_GIMBAL' FRAME_-121010_CLASS = 4 FRAME_-121010_CLASS_ID = -121010 FRAME_-121010_CENTER = -121 TKFRAME_-121010_RELATIVE = 'MPO_SPACECRAFT' TKFRAME_-121010_SPEC = 'ANGLES' TKFRAME_-121010_UNITS = 'DEGREES' TKFRAME_-121010_AXES = ( 2, 3, 1 ) TKFRAME_-121010_ANGLES = ( -180, 0.0, 0.0 ) FRAME_MPO_SA_SADM = -121011 FRAME_-121011_NAME = 'MPO_SA_SADM' FRAME_-121011_CLASS = 4 FRAME_-121011_CLASS_ID = -121011 FRAME_-121011_CENTER = -121 TKFRAME_-121011_RELATIVE = 'MPO_SA_GIMBAL' TKFRAME_-121011_SPEC = 'ANGLES' TKFRAME_-121011_UNITS = 'DEGREES' TKFRAME_-121011_AXES = ( 1, 2, 1 ) TKFRAME_-121011_ANGLES = ( 24.0, 0.0, 0.0 ) FRAME_MPO_SA = -121012 FRAME_-121012_NAME = 'MPO_SA' FRAME_-121012_CLASS = 3 FRAME_-121012_CLASS_ID = -121012 FRAME_-121012_CENTER = -121 CK_-121012_SCLK = -121 CK_-121012_SPK = -121 \begintext MPO High Gain Antenna Frames -------------------------------------------------------------------------- BepiColombo MPO has an adjustable high gain antenna (HGA). 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. Telecommunications are suited for the communication with the Earth during all mission phases. It uses a redundant X/Ka-band deep space transponder able to transmit data in X- and Ka-band and receive data in the X-band. An adjustable High Gain Antenna with 1.1 m diameter is used, which can be pointed in the directions of the MPO +X hemisphere and partially the -X hemisphere. 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. The HGA has two antenna pointing mechanisms (APM) 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. A 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. 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. To incorporate rotations in the antenna pointing mechanisms gimbals with respect to the high gain antenna the HGA frame chain includes the following frames: MPO_HGA_APM, MPO_HGA_ZERO, MPO_HGA_EL, MPO_HGA_AZ, and MPO_HGA. The High Gain Antenna Poining Mechanishms frame -- MPO_HGA_APM -- is defined as a fixed offset with respect to the MPO_SPACECRAFT frame as follows (from [8]): - +X axis is rotated 43 degrees about MPO spacecraft +Y axis; - +Y is parallel to the MPO spaceraft +Y axis; - +Z axis completes the right hand frame; - the origin of the frame is located at the APM yoke geometric center. The MPO High Gain Antenna Elevation frame -- MPO_HGA_EL -- is a CK frame based on the MPO_HGA_APM frame and is rotated an Elevation Angle about the MPO_HGA_APM +Y axis, it is defined as follows: - +Z axis is parallel to the MPO_HGA_APM frame +Z axis; - +X axis is rotated an Elevation Angle from the MPO_HGA_APM frame +X axis around the MPO_HGA_APM frame +Y axis; - +Y completes the right hand frame; - the origin of the frame is located at the APM yoke geometric center. The MPO High Gain Antenna Azimuth frame -- MPO_HGA_AZ -- is a CK frame based on the MPO_HGA_EL frame and is rotated an Azimuth Angle about the MPO_HGA_EL +Z axis, it is defined as follows: - +Z axis is parallel to the MPO_HGA_APM frame +Z axis; - +X axis is rotated an Azimuth Angle from the MPO_HGA_EL frame +X axis around the MPO_HGA_EL frame +Z axis; - +Y completes the right hand frame; - the origin of the frame is located at the APM yoke geometric center. The MPO_HGA_APM frame and is co-aligned with the MPO_HGA_EL frame when elevation is zero and the MPO_HGA_EL and MPO_HGA_AZ frames are co-aligned with the MPO_HGA_APM frame in the zero position. In a non-zero position the MPO_HGA_EL is rotated from the HGA APM frame by an elevation angle about +Y and the MPO_HGA_AZ frame is rotated from the MPO_HGA_EL frame by an azimuth angle about +Z. These rotations are stored in separated segments in CK files. The HGA stowed position is at Elevation = -64 deg and Azimuth = 0 deg. After release, it is driven to a nominal position of Elevation = 10 deg and Azimuth = 0 deg. The MPO High Gain Antenna -- MPO_HGA -- frame is defined a fixed offset frame relative to the MPO_HGA_AZ as follows: - +Z axis is in the antenna boresight direction; - +X axis points from the gimbal toward the antenna dish symmetry axis; - +Y axis completes the right hand frame; - the origin of the frame is located at the geometric center of the HGA dish outer rim circle. These diagrams illustrate the MPO High Gain Antenna Frames: +Y S/C side view: ----------------- +Xhga_el ^ / \/'. Elevation Angle +Zhga <''--.. // '. .^ ''--.. // .' +Xhga_apm -Zhga_az, ''-- _// .' -Zhga_el, <.. | o .' ''--.. // .' \ stowed ''-'// .' ' elevation = -64 deg __//.' ' +Yhga_apm, +Yhga_el 0''--.. | '. \'. ''--.. .' '. \ '. '' .' ^ +Xsc '. \ '.+Zhga_apm | '. \ v .' | '. \ .' | 43 deg / '.\ .' | | 'o' | ---------------O------------ o-----------> +Zsc +Ysc Zapm = Azimuth Axis Yapm = Elevation Axis +Ysc and +Yhga_apm and +Yhga_el are out of the page. +Z HGA side (Azimuthal plane) view: ----------------------------------- +Xhga_el ^ \ _ . - .. _ _ ' _ ' \ / steering around +Yhga_az \ azimuth axis / ^. \ '. \ ..> Yhga_el / '. .-''-. ..--'' \ '.\ _..--'' | .__ __ . x +Zhga_el,+Zhga_az | .' '..' . ; / +Zhga .'\._.. ' ; . `. .' . \ | `o' | / . .'|'. . . \ .' | '. / ' .`. .'. +Yhga ' .' < ` --- ' '> _ ' v ' - . ._ _. - +Xhga_az, Azimuth +Zhga_el and +Zhga_az are +Xhga Angle into the page. +Zhga is 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_MPO_HGA_APM = -121020 FRAME_-121020_NAME = 'MPO_HGA_APM' FRAME_-121020_CLASS = 4 FRAME_-121020_CLASS_ID = -121020 FRAME_-121020_CENTER = -121 TKFRAME_-121020_RELATIVE = 'MPO_SPACECRAFT' TKFRAME_-121020_SPEC = 'ANGLES' TKFRAME_-121020_UNITS = 'DEGREES' TKFRAME_-121020_AXES = ( 1, 2, 3 ) TKFRAME_-121020_ANGLES = ( 0.0, 47.0, 0.0 ) FRAME_MPO_HGA_EL = -121021 FRAME_-121021_NAME = 'MPO_HGA_EL' FRAME_-121021_CLASS = 3 FRAME_-121021_CLASS_ID = -121021 FRAME_-121021_CENTER = -121 CK_-121021_SCLK = -121 CK_-121021_SPK = -121 FRAME_MPO_HGA_AZ = -121022 FRAME_-121022_NAME = 'MPO_HGA_AZ' FRAME_-121022_CLASS = 3 FRAME_-121022_CLASS_ID = -121022 FRAME_-121022_CENTER = -121 CK_-121022_SCLK = -121 CK_-121022_SPK = -121 FRAME_MPO_HGA = -121023 FRAME_-121023_NAME = 'MPO_HGA' FRAME_-121023_CLASS = 4 FRAME_-121023_CLASS_ID = -121023 FRAME_-121023_CENTER = -121 TKFRAME_-121023_RELATIVE = 'MPO_HGA_AZ' TKFRAME_-121023_SPEC = 'ANGLES' TKFRAME_-121023_UNITS = 'DEGREES' TKFRAME_-121023_AXES = ( 3, 2, 1 ) TKFRAME_-121023_ANGLES = ( 0.0, 0.0, 180.0 ) \begintext MPO Medium Gain Antenna Frames -------------------------------------------------------------------------- MPO has a Medium Gain Antenna (MGA) that serves as backup for the HGA. Whilst the HGA can be used for X/Ka-band up- and down-link the MGA supports only X-band. During the interplanetary cruise phase ground may alternate between HGA and MGA. The X-Band MGA is used primarily during the cruise phase and in Safe and Survival Modes. The MGA is mounted on a boom with 2 axes Antenna Pointing Mechanism. The MGA will be released after separation and will operate during the Interplanetary Cruise Phase and in safe mode. The MGA provides nearly complete spherical coverage with the aid of the 2-axes APM. The MGA operates in X-band. The MGA Antenna Pointing Mechanism (MGA APM) is a beam over boom two degrees of freedom gimbal which points the boom and horn structure. The boom actuator in linked to the support structure and provides coverage between 30 degrees and 240 degrees (Boom Angle). A boom degree of freedom steers the antenna along an axis resulting from tilting 18 degrees around X axis the Z axis. The other degree of freedom rotates the boom along the boom axis (Beam Angle) to point the horn antenna mounted perpendicular to the boom (360 deg. rotation), to complete the spherical coverage. The MGA boom is mounted on the corner between the MPO +Y, -Z and -X panels. The MGA boom in its stowed configuration will be attached to the +Y panel of the MPO. The MGA is "manually" released during LEOP via ground command. The length of the MGA boom is 2.007 m. The MGA Boom Hinge frame (MPO_MGA_BOOM-H) is a ``fixed-offset'', defined with respect to the MPO_SPACECRAFT frame as follows (from [5]): - +X axis is aligned with the S/C +X axis; - +Y axis is rotated 72 degrees on the S/C +X axis from the S/C -Y axis; - +Z completes the right hand frame; - the origin of the frame is located on the corner between the MPO +Y, -Z and -X panels. The MGA Boom frame (MPO_MGA_BOOM) is a CK frame based on the MPO_MGA_BOOM-H and is defined as follows: - +Z axis is parallel to the MGA boom's hinge rotation axis; - +X axis is parallel to the boom and points from the boom deployment hinge toward its tip; and in stowed configuration 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 boom's hinge geometrical center. The MPO_MGA_BOOM frame is rotated a Boom Angle about the MPO_MGA_BOOM-H frame +Z axis. In the stowed position the angles are (from reference [12]): Boom Angle = 0 degrees; Beam Angle = 95 degrees; in the nominal deployed position the angles are: Boom Angle = 50 degrees; Beam Angle = 95 degrees; The MGA Zero (MPO_MGA_ZERO) frame is a ``fixed-offset'', defined with respect to the MPO_MGA_BOOM frame as follows: - +Y axis is in the direction of the MPO_MGA_BOOM +X axis; - +Z axis is in the initial antenna boresight direction (nominally anti-parallel to the MPO_MGA_BOOM Z axis); - +X completes the right hand frame; - the origin of the frame is located at the geometric center of the MGA dish outer rim circle. The MGA frame (MPO_MGA) is a CK frame based on the MPO_MGA_ZERO frame and is rotated a Beam Angle about the MPO_HGA_ZERO +Y axis, it is defined as follows: - +Z axis is in the antenna boresight direction; - +Y axis is in the direction of the MPO_MGA_BOOM +Y axis; - +X completes the right hand frame; - the origin of the frame is located at the geometric center of the MGA dish outer rim circle. These diagrams illustrate the MPO Medium Gain Antenna Frames: -Z S/C side view (with MGA Boom in stowed configuration): --------------------------------------------------------- /\/ / . .-/ . ' ,' 0| . ' ,' | /___, ,_______, o.----------' | \///| |///////|\ || | ////|=|///////|\\ || | \///| |///////| \\___|| | ////| |///////| /,---|| | \///|=|///////|// _|| | ////| |///////|/ |_|| | +Ysc \---' '-------' /|\'. | <-------------o '._________ | | | | | '. \ | | | |__|\ '. \ | | | __||__ '-'--' | +Zsc is into v / O \ | tha page. +Xmga_boom-h v +Xsc +X S/C side view (with MGA Boom in stowed configuration): -------------------------------------------------------- +Ymga_boom-h ^ | \ '. 72 deg / '. ,.-| O/ '.' __/ '. |+Xmga_boom-h_ '(o)/ '/ () \________n=====o==o / | ' \__/ / \ /'.| / ' \ Rotating . '/ | ' / \ Solar Panel . ' / 18deg <---------o ' (*)\ . ' / |+Ysc - - - -|- / \ . ' / | | ' \ . ' / | |/ \ . ' v '------------|---------\ +Zmga_boom-h, | +Zmga_boom v +Zsc/nadir +Xsc and +Xmha_boom-h are out of the page -Z MGA Boom side view (S/C for reference): ----------------------------------------- +Xmga_boom, ^ +Ymga_zero \ .> +Xmga_zero \ . ' \ . ' +Ymga_boom +Zmga_boom, (o). ' .> +Zmga_boom-h, \ Boom Angle . ' /\/ -Zmga_zero \ . - . . ' .-/ . \ '. ' ,' 0| +Ymga_boom-h | \ . ' ,' | /___, ,_____<--------x.----------' | \///| |///////|\ || | ////|=|///////|\\ || | \///| |///////| \\___|| | ////| |///////| /,---|| | \///|=|///////|// v| | ////| |///////|/ +Xmga_boom-h | \---' '-------' '. | '._________ | | | \ | |__|\ \ | __||__ '--' / O \ +Zmga_boom-h, +Zmga_boom are into the page +Zmga_zero is out of the page -Y MGA side view: ----------------- MGA Beam direction ^ / / +Zmga_zero +Zmga ^ ^ | / | / ....|.... / .' | /`. .' | / `. ' | / ' . | / . . +Ymga, |/ . +Ymga_zero, x--------------> +Xmga_zero +Xmga_boom |'. . . | '. . '. | '. ' Beam . | '. ' Angle `. | .'. ` ....|.... ' '> +Xmga v +Zmga_boom +Ymga, +Ymga_zero and +Xmga_boom are into 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_MPO_MGA_BOOM-H = -121040 FRAME_-121040_NAME = 'MPO_MGA_BOOM-H' FRAME_-121040_CLASS = 4 FRAME_-121040_CLASS_ID = -121040 FRAME_-121040_CENTER = -121 TKFRAME_-121040_RELATIVE = 'MPO_SPACECRAFT' TKFRAME_-121040_SPEC = 'ANGLES' TKFRAME_-121040_UNITS = 'DEGREES' TKFRAME_-121040_AXES = ( 2, 3, 1 ) TKFRAME_-121040_ANGLES = ( 0.0, 0.0, 18.0 ) FRAME_MPO_MGA_BOOM = -121041 FRAME_-121041_NAME = 'MPO_MGA_BOOM' FRAME_-121041_CLASS = 3 FRAME_-121041_CLASS_ID = -121041 FRAME_-121041_CENTER = -121 CK_-121041_SCLK = -121 CK_-121041_SPK = -121 FRAME_MPO_MGA_ZERO = -121042 FRAME_-121042_NAME = 'MPO_MGA_ZERO' FRAME_-121042_CLASS = 4 FRAME_-121042_CLASS_ID = -121042 FRAME_-121042_CENTER = -121 TKFRAME_-121042_RELATIVE = 'MPO_MGA_BOOM' TKFRAME_-121042_SPEC = 'ANGLES' TKFRAME_-121042_UNITS = 'DEGREES' TKFRAME_-121042_AXES = ( 2, 3, 1 ) TKFRAME_-121042_ANGLES = ( 0.0, -90.0, 180.0 ) FRAME_MPO_MGA = -121043 FRAME_-121043_NAME = 'MPO_MGA' FRAME_-121043_CLASS = 3 FRAME_-121043_CLASS_ID = -121043 FRAME_-121043_CENTER = -121 CK_-121043_SCLK = -121 CK_-121043_SPK = -121 \begintext MPO Low Gain Antenna Frames -------------------------------------------------------------------------- In addition to the HGA and the MGA, MPO has 2 X-band low gain antennas (LGAs) providing omni-directional coverage for up-link during all mission phases and hemispherical coverage for down-link, depending on the attitude of the spacecraft. They serve for emergency commanding an during the LEOP phase. The LGA installed in the +X panel of MPO frame -- MPO_LGA+X -- is a ``fixed-offset'', defined with respect to the MPO_SPACECRAFT frame as follows: - +Z axis is in the antenna boresight direction (nominally co-aligned to the spacecraft +X axis); - +Y axis is in the direction of the spacecraft +X axis; - +X completes the right hand frame; - the origin of the frame is located at the geometric center of the HGA dish outer rim circle. The LGA installed in the -X panel of MPO frame -- MPO_LGA-X -- is a ``fixed-offset'', defined with respect to the MPO_SPACECRAFT frame as follows: - +Z axis is in the antenna boresight direction (nominally co-aligned to the spacecraft -X axis); - +Y axis is in the direction of the spacecraft Z axis; - +X completes the right hand frame; - the origin of the frame is located at the geometric center of the HGA dish outer rim circle. These diagrams illustrate the MPO Low Gain Antennas frames: +X S/C side view: ----------------- \ MPO Steerable / Magnetometer HGA ---> O/ Boom __/ | _ ______||___ V MGA --> -)[_]0==n/ '/ () \________n=====o==o ,| ' \__/ / \ .o | / ' \ Rotating . ' . `| ' +Xlga_px \ Solar Panel . ' '.|/ <------o <--------o)\<---- LGA . ' 24 deg |+Ysc- - -| - - / | \ . ' | | ' | \ . ' | | / | \ . ' '---------|----------|-\ | | v v +Zsc/nadir +Ylga_px +Xsc and +Zlga_px are out of the page -X S/C side view: ----------------- / \ \O ||\__ .---------. o==o======n________/ \_ +Zlga_mp |\ <--------o) | o. +Xlga_mx / | |/ ' . Rotating / | x-------> | ' . Solar Panel / | | +Ysc | ' . / | | | ' . / | | | ' . /-v------|-------------' +Ylga_mx | v +Zsc/nadir Xsc is into the page +Zlga_mx is 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_MPO_LGA+X = -121050 FRAME_-121050_NAME = 'MPO_LGA+X' FRAME_-121050_CLASS = 4 FRAME_-121050_CLASS_ID = -121050 FRAME_-121050_CENTER = -121 TKFRAME_-121050_RELATIVE = 'MPO_SPACECRAFT' TKFRAME_-121050_SPEC = 'ANGLES' TKFRAME_-121050_UNITS = 'DEGREES' TKFRAME_-121050_AXES = ( 3, 1, 2 ) TKFRAME_-121050_ANGLES = ( 0.0, -90.0, -90.0 ) FRAME_MPO_LGA-X = -121051 FRAME_-121051_NAME = 'MPO_LGA-X' FRAME_-121051_CLASS = 4 FRAME_-121051_CLASS_ID = -121051 FRAME_-121051_CENTER = -121 TKFRAME_-121051_RELATIVE = 'MPO_SPACECRAFT' TKFRAME_-121051_SPEC = 'ANGLES' TKFRAME_-121051_UNITS = 'DEGREES' TKFRAME_-121051_AXES = ( 3, 1, 2 ) TKFRAME_-121051_ANGLES = ( 00.0, -90.0, 90.0 ) \begintext MPO Star Trackers Frames -------------------------------------------------------------------------- There are three Star Trackers (STRs) mounted in the Radiator Panel of MPO (-Y S/C side). The STRs are nominally oriented with their boresights on a cone with half-cone-angle of 47 degrees in the direction of the S/C -Y axis The boresight of each STR, -- the STR Z axis -- is at a position beta in the cone plane itself. The beta angle for each star tracker is: STR-1 = -74 degrees; STR-2 = 0 degrees; STR-3 = 74 degrees. The X and Y axis of the STR frames, which are aligned with the sensors Active Pixel Sensor (APS) rows and columns respectively, are oriented such that the starts cros both columns and rows of the STR APS matrix at the same time in Mercury orbit nadir pointing. This requires a 45 degrees rotation of the STR frame (from [5]). The Star Tracker STR-1, STR-2 and STR-3 frames -- MPO_STR-1, MPO_STR-2 and MPO-STR-3 -- are defined as follows: - +Z axis points along the Star Tracker boresight; - +X axis is nominally parallel to the APS sensor rows; - +Y axis completes the right hand frame; - the origin of the frame is located at the Star Tracker focal point. These diagrams illustrate the Star Trackers frames: +X S/C side view: ----------------- \ MPO Steerable / Magnetometer HGA ---> O/ Boom __/ | ^ Zstr-2 _ ______||___ V / MGA --> -)[_]0==n/ '/ () \________n=====/==o ,| ' \__/ / \ / .o | / ' \ / Rotating . ' . `| ' / \ / Solar Panel . ' '.|/ <---------o ' (*)\/ . ' 24 deg |+Ysc - - - -|- / \' . . ' | | ' \ ' . . ' | |/ \ ' . . ' '----------- |---------\ ' XY str-2 ^ | plane | v | +Zsc/nadir Science +Xsc is out of Deck the page The rotation matrices from the Star Tracker frames to the S/C frame is the inverse of the matrices that result of the following relationship: Vector = [45 deg] [47 deg] [-beta] [90 deg] Vector STR-* frame Z axis X axis Z axis X axis MPO_SPACECRAFT \___________________________________/ | M str-* M = ( -0.2687, -0.6585, 0.7030, str-1 -0.5171, -0.5171, -0.6820, 0.8126, -0.5468, -0.2016 ) M = ( 0.7071, -0.7071, 0.0, str-2 -0.5171, -0.5171, -0.6820, 0.4822, 0.4822, -0.7314 ) M = ( 0.6585, 0.2687, -0.7030, str-3 -0.5171, -0.5171, -0.6820, -0.5171, 0.8126, -0.2016 ) This is incorporated by the frame definitions below. \begindata FRAME_MPO_STR-1 = -112061 FRAME_-112061_NAME = 'MPO_STR-1' FRAME_-112061_CLASS = 4 FRAME_-112061_CLASS_ID = -112061 FRAME_-112061_CENTER = -112 TKFRAME_-112061_RELATIVE = 'MPO_SPACECRAFT' TKFRAME_-112061_SPEC = 'MATRIX' TKFRAME_-112061_MATRIX = ( -0.26868484, -0.5171821, 0.81266246, -0.65847634, -0.51711598, -0.54680441, 0.70298394, -0.68205932, -0.20157653 ) FRAME_MPO_STR-2 = -112062 FRAME_-112062_NAME = 'MPO_STR-2' FRAME_-112062_CLASS = 4 FRAME_-112062_CLASS_ID = -112062 FRAME_-112062_CENTER = -112 TKFRAME_-112062_RELATIVE = 'MPO_SPACECRAFT' TKFRAME_-112062_SPEC = 'MATRIX' TKFRAME_-112062_MATRIX = ( 0.70711356, -0.51720675, 0.48227373, -0.70711356, -0.51720675, 0.48227373, 0.0, -0.68197182, -0.7313306 ) FRAME_MPO_STR-3 = -112063 FRAME_-112063_NAME = 'MPO_STR-3' FRAME_-112063_CLASS = 4 FRAME_-112063_CLASS_ID = -112063 FRAME_-112063_CENTER = -112 TKFRAME_-112063_RELATIVE = 'MPO_SPACECRAFT' TKFRAME_-112063_SPEC = 'MATRIX' TKFRAME_-112063_MATRIX = ( 0.66934659, -0.52565263, -0.55583116, 0.25252944, -0.50449491, 0.82607804, -0.69897668, -0.68520631, -0.2049042 ) \begintext MPO Magnetometer 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 MERMAG Inboard and Outboard sensors. The Magnetometer Boom is a one segment hinge boom with a deployed length of 2.8 m. The outboard MERMAG sensor is located at the tip of the boom, and the inboard MERMAG sensor at 0.8 m inwards. The magnetometer boom (MAG_BOOM) will be operated only in two conditions, i.e. stowed and deployed. MAG Boom Hinge frame ~~~~~~~~~~~~~~~~~~~~ The Magnetometer's boom hinge -- MPO_MAG_BOOM-H is defined as follows (from [5]): - +X axis is nominally co-aligned with the S/C +X axis; and co-aligned with the boom such that this axis points from the inboard magnetometer sensor towards the outboard magnetometer. - +X axis is rotated 180 degrees on the S/C +X axis from the S/C -Y axis; - +Z axis completes the right hand frame; and its nominally co-aligned with the Magnetometer boom's hinge rotation axis; - the origin of the frame is located at the boom's hinge geometrical center. These diagram illustrates the MPO MAG Boom Hinge frame: -Z S/C side view: ----------------- _ MGA --> -)[_] -Xsc +Zmag_boom_h 0 ^ . .-.0 o-------> +Ymag_boom_h \ | . ' ,' || | \ . '| ,' || | /___, ,_______, o-------|--' || | \///| |///////|\ | | || v ////|=|///////|\\ | | ||+Xmag_boom_h \///| |///////| \\____| | || ////| |///////| /,----| x-------------> -Ysc \///|=|///////|// | -Zsc || ////| |///////|/ | || \---' '-------' '. |0 '._________ || | | '. \ || |__|\ '. \ |0 __||__ '-'--' -Zsc and +Zmag_boom_h / O \ 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_MPO_MAG_BOOM-H = -121030 FRAME_-121030_NAME = 'MPO_MAG_BOOM-H' FRAME_-121030_CLASS = 4 FRAME_-121030_CLASS_ID = -121030 FRAME_-121030_CENTER = -121 TKFRAME_-121030_RELATIVE = 'MPO_SPACECRAFT' TKFRAME_-121030_SPEC = 'ANGLES' TKFRAME_-121030_UNITS = 'DEGREES' TKFRAME_-121030_AXES = ( 2, 3, 1 ) TKFRAME_-121030_ANGLES = ( 0.0, 0.0, 180.0 ) \begintext MAG Boom frame ~~~~~~~~~~~~~~ Since both, pre- and post- deployment orientation of the Magnetometer Boom could be required for MERMAG data analysis, the boom's frame is defined as a CK-based frame with its orientation provided in CK files. This frame is describing the time dependent relationship between the Magnetometer Boom hinge and MPO spacecraft fixed frames. Nominally the Magnetometer Boom only has two positions: stowed -- Boom Angle = 0 degrees -- and deployed -- Boom Angle = 180 degrees --. The Magnetometer Boom frame is defined as follows (from [5]): - +Z axis is parallel to the Magnetometer boom's hinge rotation axis; - +X axis is parallel to the boom and points from the boom deployment hinge toward its tip; and in stowed configuration 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 boom's hinge geometrical center. The following diagram illustrates the MPO MAG Boom frame: -Z S/C side view: ----------------- ^ Xmga_boom / / / MPO 0 Magnetometer ---> / Boom / Ymga_boom 0 <--.. / _ ''--.. / MGA --> -)[_] ''--.. / 0 -Xsc ^ ''--.. ./+Zmag_boom_h,+Zmag_boom \ | . ' ,'''0o-------> \ . '| ,' || Ymag_boom_h /___, ,_______, o-------|--' || \///| |///////|\ | | || ////|=|///////|\\ | | |v \///| |///////| \\____| | |Xmag_boom_h ////| |///////| /,----| o-------------> -Ysc \///|=|///////|// | -Zsc | ////| |///////|/ | | \---' '-------' '. | '._________ | | | '. \ | |__|\ '. \ | __||__ '-'--' / O \ -Zsc, +Zmag_boom_h and +Zmag_boom are out of the page. These sets of keywords define the Magnetometer's boom frame as a CK frame: \begindata FRAME_MPO_MAG_BOOM = -121031 FRAME_-121031_NAME = 'MPO_MAG_BOOM' FRAME_-121031_CLASS = 3 FRAME_-121031_CLASS_ID = -121031 FRAME_-121031_CENTER = -121 CK_-1211031_SCLK = -121 CK_-1211031_SPK = -121 \begintext 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 Optical Bench 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 nominal 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) view: -------------------------------- Steerable HGA -----> \__O__/ __ || ,---. Rotating | |-' ,' | Solar Panel ,-------,' | Radiator ,________, ,________, ,________, ,--------' | Panel |////////| |////////| |////////|\ | | |////////|=|////////|=|////////|\\ | | |////////| |////////| |////////| \\____| -Zsc | |////////| |////////| |////////| /,----| x-------------> -Ysc, |////////|=|////////|=|////////|// | | | -Yob |////////| |////////| |////////|/ | | | '--------' '--------' '--------' |______|_ | / | '. | / | '. | / v '. | _ 0 -Xsc, '._; MGA --> -)[_] -Xob, \ MPO \ Magnetometer ---> \ Boom \ InBoard --> 0 +Zsc/nadir and Sensor \ +Zob are out of \ the page. OutBoard --> 0 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_AXES = ( 1, 2, 3 ) TKFRAME_-121015_ANGLES = ( 0.0, 0.0, 0.0 ) \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. MPO -121 (synonyms: BEPICOLOMBO MPO, MERCURY PLANETARY ORBITER) MPO_SPACECRAFT -121000 (synonym: MPO_SC) MPO_SA -121012 MPO_OB -121013 (MPO Optical Bench) MPO_MAG_BOOM -121031 MPO_HGA -121023 MPO_MGA -121043 MPO_LGA+X -121050 MPO_LGA-X -121051 MPO_STR-1 -121061 MPO_STR-2 -121062 MPO_STR-3 -121063 \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_SA' ) NAIF_BODY_CODE += ( -121012 ) NAIF_BODY_NAME += ( 'MPO_OB' ) NAIF_BODY_CODE += ( -121013 ) NAIF_BODY_NAME += ( 'MPO_MAG_BOOM' ) NAIF_BODY_CODE += ( -121031 ) NAIF_BODY_NAME += ( 'MPO_HGA' ) NAIF_BODY_CODE += ( -121023 ) NAIF_BODY_NAME += ( 'MPO_MGA' ) NAIF_BODY_CODE += ( -121043 ) NAIF_BODY_NAME += ( 'MPO_LGA+X' ) NAIF_BODY_CODE += ( -121050 ) NAIF_BODY_NAME += ( 'MPO_LGA-X' ) NAIF_BODY_CODE += ( -121051 ) NAIF_BODY_NAME += ( 'MPO_STR-1' ) NAIF_BODY_CODE += ( -121061 ) NAIF_BODY_NAME += ( 'MPO_STR-2' ) NAIF_BODY_CODE += ( -121062 ) NAIF_BODY_NAME += ( 'MPO_STR-3' ) NAIF_BODY_CODE += ( -121063 ) \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.