KPL/FK BepiColombo MPO Spacecraft Frames Kernel ============================================================================= This frame kernel contains complete set of frame definitions for the BepiColombo Mercury Planetary Orbiter 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 0.9 -- March 1, 2017 -- Marc Costa Sitja, ESAC/ESA Added a STROFIO frame in order to implement CK dependency for the FoV. Corrected several typos. Version 0.8 -- February 15, 2017 -- Marc Costa Sitja, ESAC/ESA Corrected diagrams and descriptions. Updated all instrument frames and added MPO_SERENA, MPO_PHEBUS and MPO_ISA frames. Added references to MPO Science Operations frames. Replaced SIMBIOSYS references to SIMBIO-SYS. Removed MMO ID and frame definitions. Version 0.7 -- December 14, 2016 -- Marc Costa Sitja, ESAC/ESA Corrected and updated MPO_SIMBIO-SYS and MPO_SIXS frames. Added reference [17]. Version 0.6 -- November 25, 2016 -- Marc Costa Sitja, ESAC/ESA Corrected diagrams and minor edits. Updated and added MPO_SIMBIO-SYS and MPO_BELA, MPO_MERTIS frame definitions. Added MPO_PHEBUS frame definitions. Added references from [13] and [16]. 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 13. ``BepiColombo MPO Calibration Working Group - MPO Pointing Plan'', BC-SGS-TN-054, Issue 2, 10th June 2016 14. ``Simbio-Sys Experiment Interface Document Part - B'', BC-EST-RS-02523, Issue 1, 25th September 2012 15. ``BepiColombo MIXS - MIXS Instrument User Manual'', BC-MIX-UM-001, Issue 3, Revision 2, University of Leicester, 1st April 2015 16. ``BepiColombo MERTIS - Instrument User Manual (FM)'', MER-DLR-MA-001, Issue 1, Revision 3, German Aerospace Center, 13th September 2013 17. ``SIXS Experiment Interface Document Part - B'', BC-EST-RS-02518, Issue 1, Revision 3, 14th October 2013 18. ``SERENA Experiment Interface Document Part - B'', BC-EST-RS-02522, Draft 3, 13th February 2009 19. ``BepiColombo PHEBUS - Instrument User Manual'', PHEB_UM_INST_111107_1_LATMOS, Issue 1, Release 1, Draft 4, 15th October 2015 20. ``BepiColombo ISA - Instrument User Manual'', BC-ISA-UM-00160, Issue 4, Release 1, 2nd December 2015 21. ``MGNS Experiment Interface Document Part - B'', BC-EST-RS-02516, Draft 3, 13th February 2009 22. ``MERMAG Experiment Interface Document Part - B'', BC-EST-RS-02514, Draft 2, 12th December 2007 23. ``BepiColombo MIXS - MIXS Instrument User Manual'', BC-MIX-UM-001, Issue 3, Revision Draft, University of Leicester, 2nd December 2015 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 BELA names/IDs: MPO_BELA -121100 MPO_BELA_TRANSMITTER -121101 MPO_BELA_RECEIVER -121102 MERTIS names/IDs: MPO_MERTIS_PLANET -121201 MPO_MERTIS_SPACE -121202 MPO_MERTIS_TIS -121210 MPO_MERTIS_PLANET_TIS -121211 MPO_MERTIS_SPACE_TIS -121212 MPO_MERTIS_TIR -121220 MPO_MERTIS_PLANET_TIR -121221 MPO_MERTIS_SPACE_TIR -121222 MPO_MERTIS -121230 MIXS names/IDs: MPO_MIXS-C -121350 MPO_MIXS-T -121355 PHEBUS names/IDs: MPO_PHEBUS -121430 MPO_PHEBUS_EUV -121431 MPO_PHEBUS_FUV -121432 MPO_PHEBUS_NUV -121433 MPO_PHEBUS_NUV_CA -121434 MPO_PHEBUS_NUV_K -121435 MPO_PHEBUS_FULL-1 -121432 MPO_PHEBUS_FULL-2 -121433 MPO_PHEBUS_FULL-3 -121434 MPO_PHEBUS_FULL-4 -121435 MPO_PHEBUS_PB -121411 SERENA names/IDs: MPO_SERENA_ELENA -121510 MPO_SERENA_MIPA -121520 MPO_SERENA_PICAM -121530 MPO_SERENA_STROFIO -121540 MPO_SERENA_STROFIO+X -121541 MPO_SERENA_STROFIO-X -121542 SIMBIO-SYS names/IDs: MPO_SIMBIO-SYS_HRIC -121610 MPO_SIMBIO-SYS_HRIC_F550 -121611 MPO_SIMBIO-SYS_HRIC_P650 -121612 MPO_SIMBIO-SYS_HRIC_F750 -121613 MPO_SIMBIO-SYS_HRIC_F880 -121614 MPO_SIMBIO-SYS_STC -121630 MPO_SIMBIO-SYS_STC-L -121631 MPO_SIMBIO-SYS_STC-H -121632 MPO_SIMBIO-SYS_STC-L_F550 -121623 MPO_SIMBIO-SYS_STC-L_F420 -121624 MPO_SIMBIO-SYS_STC-L_P700 -121625 MPO_SIMBIO-SYS_STC-H_P700 -121626 MPO_SIMBIO-SYS_STC-H_F920 -121627 MPO_SIMBIO-SYS_STC-H_F700 -121628 MPO_SIMBIO-SYS_VIHI -121630 SIXS names/IDs: MPO_SIXS -121700 MPO_SIXS-X -121710 MPO_SIXS-X-1 -121711 MPO_SIXS-X-2 -121712 MPO_SIXS-X-3 -121713 MPO_SIXS-P -121720 MPO_SIXS-P-0 -121721 MPO_SIXS-P-1 -121722 MPO_SIXS-P-2 -121723 MPO_SIXS-P-3 -121724 MPO_SIXS-P-4 -121725 ISA names/IDs: MPO_ISA -121810 MPO_ISA_ACCEL-X -121811 MPO_ISA_ACCEL-Y -121812 MPO_ISA_ACCEL-Z -121813 MORE names/IDs: MPO_MORE -121800 MGNS names/IDs: MPO_MGNS -121810 MPO-MAG names/IDs: MPO_MPO-MAG -121900 MPO_MPO-MAG_IBS -121901 MPO_MPO-MAG_OBS -121902 BERM names/IDs: MPO_BERM -121903 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_BASE MPO_OB FIXED -121100 MPO_BELA_TRANSMITTER MPO_BELA_BASE FIXED -121101 MPO_BELA_RECEIVER MPO_BELA_BASE FIXED -121102 MERTIS Frames: ------------- MPO_MERTIS_BASE MPO_SPACECRAFT FIXED -121200 MPO_MERTIS_PLANET MPO_MERTIS_BASE FIXED -121201 MPO_MERTIS_SPACE MPO_MERTIS_BASE FIXED -121202 MPO_MERTIS MPO_MERTIS_BASE CK -121230 MIXS Frames: ------------ MPO_MIXS_OB MPO_SPACECRAFT FIXED -121300 MPO_MIXS-C MPO_MIXS_OB FIXED -121310 MPO_MIXS-T MPO_MIXS_OB FIXED -121320 PHEBUS Frames: -------------- MPO_PHEBUS_SM MPO_SPACECRAFT FIXED -121400 MPO_PHEBUS_PB_BASE MPO_SPACECRAFT FIXED -121410 MPO_PHEBUS_PB MPO_PHEBUS_PB_BASE FIXED -121411 MPO_PHEBUS_SCAN_ZERO MPO_PHEBUS_SM FIXED -121420 MPO_PHEBUS_SCAN MPO_PHEBUS_SM CK -121421 MPO_PHEBUS MPO_PHEBUS_SCAN FIXED -121430 MPO_PHEBUS_ZERO MPO_PHEBUS_SCAN_ZERO FIXED -121431 SERENA Frames: -------------- MPO_SERENA_ELENA MPO_SPACECRAFT FIXED -121510 MPO_SERENA_MIPA MPO_SPACECRAFT FIXED -121520 MPO_SERENA_PICAM MPO_SPACECRAFT FIXED -121530 MPO_SERENA_STROFIO_BASE MPO_SPACECRAFT FIXED -121540 MPO_SERENA_STROFIO+X MPO_SERENA_STROFIO_BASE FIXED -121541 MPO_SERENA_STROFIO-X MPO_SERENA_STROFIO_BASE FIXED -121542 SIMBIO-SYS Frames: ------------------ MPO_SIMBIO-SYS_MU MPO_OB FIXED -121600 MPO_SIMBIO-SYS_HRIC MPO_SIMBIO-SYS_BASE FIXED -121610 MPO_SIMBIO-SYS_STC_H MPO_SIMBIO-SYS_BASE FIXED -121621 MPO_SIMBIO-SYS_STC_L MPO_SIMBIO-SYS_BASE FIXED -121622 MPO_SIMBIO-SYS_VIHI MPO_SIMBIO-SYS_BASE FIXED -121630 SIXS Frames: ----------------- MPO_SIXS_SU MPO_SPACECRAFT FIXED -121701 MPO_SIXS-X MPO_SIXS_SU FIXED -121710 MPO_SIXS-X-1 MPO_SIXS-X FIXED -121711 MPO_SIXS-X-2 MPO_SIXS-X FIXED -121712 MPO_SIXS-X-3 MPO_SIXS-X FIXED -121713 MPO_SIXS-P MPO_SIXS_SU FIXED -121720 MPO_SIXS-P-0 MPO_SIXS-P FIXED -121721 MPO_SIXS-P-1 MPO_SIXS-P FIXED -121722 MPO_SIXS-P-2 MPO_SIXS-P FIXED -121723 MPO_SIXS-P-3 MPO_SIXS-P FIXED -121724 MPO_SIXS-P-4 MPO_SIXS-P FIXED -121725 ISA Frames: ----------- MPO_ISA MPO_SPACECRAFT FIXED -121810 MPO_ISA_ACCEL-X MPO_ISA FIXED -121811 MPO_ISA_ACCEL-Y MPO_ISA FIXED -121812 MPO_ISA_ACCEL-Z MPO_ISA FIXED -121813 MGNS Frames: ------------ MPO_MGNS MPO_SPACECRAFT FIXED -121820 MPO-MAG Frames: --------------- MPO_MPO-MAG_IBS MPO_MAG_BOOM FIXED -121901 MPO_MPO-MAG_OBS MPO_MAG_BOOM FIXED -121902 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 science operations frames (1): -------------------------------------------------- MPO_MERCURY_NOA J2000 DYNAMIC -121911 MPO_MERCURY_NPO J2000 DYNAMIC -121912 (1) These frames are defined in the frame kernel file "bc_ops_vVV.tf" In order to use them with this frames kernel, additional fixed-offset frames kernel(s) need to be loaded. See the section ``Using these frames'' in the "bc_ops_vVV.tf" comment area for further details (VV is the version number). 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 IAU_VENUS J2000 PCK built-in (3) Data for these frames is loaded using either the PCK file "pckVVVVV.tpc" (VVVVV 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.) "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 V Individual instrument frame trees are provided in the corresponding sections of this file MPO Spacecraft and Spacecraft Structures Frames ------------------------------------------------------------------------ This section of the file contains the definitions of the spacecraft and spacecraft structures frames. DISCLAIMER: The origin of the frames specified in the following definitions are not implemented. The ``true'' origin of all frames is in the center of the MPO_SPACECRAFT frame, the center of which is defined by the position given by the SPK (ephemeris) kernel in use. 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 MPO 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: ~~~~~~~~~~~~~~~~~~~~ The Carbon fiber reinforced polymer (CFRP) Optical Bench (OB) provides stable accommodation for instruments with high pointing/alignment requirements (BELA, SIMBIO-SYS) plus the Star Trackers and the gyros. The OB is placed in the Science Deck of MPO. 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 the geometrical center of the Optical Bench. 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 = -121013 FRAME_-121013_NAME = 'MPO_OB' FRAME_-121013_CLASS = 4 FRAME_-121013_CLASS_ID = -121013 FRAME_-121013_CENTER = -121 TKFRAME_-121013_RELATIVE = 'MPO_SPACECRAFT' TKFRAME_-121013_SPEC = 'ANGLES' TKFRAME_-121013_UNITS = 'DEGREES' TKFRAME_-121013_AXES = ( 1, 2, 3 ) TKFRAME_-121013_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 | V "MPO_BELA_BASE" +---------------------------------------+ | | |<-fixed |<-fixed | | V V "MPO_BELA_TRANSMITTER" "MPO_BELA_RECEIVER" ---------------------- ------------------- BELA Frames: ~~~~~~~~~~~~ The BELA Laser Altimeter is rigidly mounted on a Baseplate Unit attached to the spacecraft Optical Bench. Therefore, the frame associated with it -- the MPO_BELA_BASE frame -- is specified as a fixed offset frame with its orientation given relative to the MPO_OB frame and is defined as follows: - +Z axis is nominally co-aligned with the S/C +Z axis; - +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 center of the Base Plate Unit. The BELA frames -- MPO_BELA_TRANSMITTER (Laser) and MPO_BELA_RECEIVER (Telescope) -- are co-aligned with the MPO_BELA_BASE frames and are defined 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 center of the Buffer Unit of the transmitter and the receiver respectively. This diagram illustrates the BELA frames: +Z S/C side (science deck side) view: ------------------------------------- Steerable HGA -----> \__O__/ __ || ,---. Rotating | |-' ,' | Solar Panel ,-------,' | Radiator ,________, ,________, ,________, ,--------' | Panel |////////| |////////| |////////|\ | | |////////|=|////////|=|////////|\\ | | |////////| |////////| |////////| \\____| -Zsc | |////////| |////////| |////////| /,----| x-------------> -Ysc, |////////|=|////////|=|////////|// | | |-Ybela_receiver |////////| |////////| |////////|/ | | |-Ybela_transmitter '--------' '--------' '--------' |______|_ |-Ybela_base / | '. | / | '. | / v '. | _ 0 -Xsc, '._; MGA --> -)[_] -Xbela_receiver \ -Xbela_transmitter \ -Xbela_base \ /\/ +Zsc, +Zbela_transmitter, +Zbela_base and +Zbela_receiver are out of the page. The BELA frames are co-aligned with the S/C frame. \begindata FRAME_MPO_BELA_BASE = -121100 FRAME_-121100_NAME = 'MPO_BELA_BASE' 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_RECEIVER = -121101 FRAME_-121101_NAME = 'MPO_BELA_RECEIVER' FRAME_-121101_CLASS = 4 FRAME_-121101_CLASS_ID = -121101 FRAME_-121101_CENTER = -121 TKFRAME_-121101_RELATIVE = 'MPO_BELA_BASE' TKFRAME_-121101_SPEC = 'ANGLES' TKFRAME_-121101_UNITS = 'DEGREES' TKFRAME_-121101_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-121101_AXES = ( 1, 2, 3 ) FRAME_MPO_BELA_TRANSMITTER = -121102 FRAME_-121102_NAME = 'MPO_BELA_TRANSMITTER' FRAME_-121102_CLASS = 4 FRAME_-121102_CLASS_ID = -121102 FRAME_-121102_CENTER = -121 TKFRAME_-121102_RELATIVE = 'MPO_BELA_BASE' TKFRAME_-121102_SPEC = 'ANGLES' TKFRAME_-121102_UNITS = 'DEGREES' TKFRAME_-121102_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-121102_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 has a flip mirror that provides the possibility of observations both planet and space observations (from [16]). Since this flip mirror rotates with respect to the MERTIS base, the MPO_MERTIS frame is dedfined as a CK frame with its orientation provided in a CK file relative to the MPO_MERTIS_BASE frame. Note that since the flip mirror only has to positions two auxiliary frames -- MPO_MERTIS_PLANET and MPO_MERTIS_SPACE -- are provided in order to avoid the CK dependency for certain uses of the MERTIS frames. MERTIS Frame Tree: ~~~~~~~~~~~~~~~~~~ The diagram below shows the MERTIS frame hierarchy. "J2000" INERTIAL --------------- | |<-ck | V "MPO_SPACECRAFT" | |<-fixed | V "MPO_MERTIS_BASE" +-----------------------------------+ | | | |<-fixed |<-ck |<-fixed | | | V | V "MPO_MERTIS_PLANET" | "MPO_MERTIS_SPACE" ------------------- | ------------------ | V "MPO_MERTIS" ------------ MERTIS Base Frame: ~~~~~~~~~~~~~~~~~~ The MERTIS_BASE frame is defined as follows: - +Z axis is co-aligned with the S/C +Z axis (nadir); - +Y axis 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 this frame is located at the intersection of the spectrometer flip mirror rotation axis and mirror central axis. 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 this frame is located at the intersection of the spectrometer flip mirror rotation axis and mirror central axis. This diagram illustrates the MERTIS_PLANET frame: +Z S/C side (science deck side) view: ------------------------------------- Steerable HGA -----> \__O__/ __ || ,---. Rotating | |-' ,' | Solar Panel ,-------,' | Radiator ,________, ,________, ,________, ,--------' | Panel |////////| |////////| |////////|\ | | |////////|=|////////|=|////////|\\ | | |////////| |////////| |////////| \\____| -Zsc | |////////| |////////| |////////| /,----| x-------------> -Ysc, |////////|=|////////|=|////////|// | | | -Ymertis_base |////////| |////////| |////////|/ | | | -Ymertis_planet '--------' '--------' '--------' |______|_ | / | '. | / | '. | / v '. | _ 0 -Xsc, '._; MGA --> -)[_] -Xmertis_base \ -Xmertis_planet \ Magnetometer ---> \ Boom \ InBoard --> 0 +Zsc, +Zmertis_planet, Sensor \ +Zmertis_base are out of \ the page. OutBoard --> 0 Sensor 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 the center of the rotation mirror of the Pointing Unit. This diagram illustrates the MERTIS_SPACE frame: +X S/C side view: ----------------- \ MPO Steerable / Magnetometer HGA ---> O/ Boom __/ | _ ______||___ V MGA --> -)[_]0==n/ '/ () \________n========o ,| ' \__/ / \ .o | / ' \ Rotating . ' . `| ' / \ Solar Panel . ' '.|/ <---------o ' (*)\ . ' 24 deg |+Ysc - - - -|- / \ . ' | | ' o-----------> +Zmertis-space . ' | |/ | \ . ' '----------- |-----|---\ ^ | | | v | | +Zsc/nadir | Science | Deck v +Ymertis-space +Xmertis-space, and +Xsc are out of the page 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_BASE = -121200 FRAME_-121200_NAME = 'MPO_MERTIS_BASE' 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_PLANET = -121201 FRAME_-121201_NAME = 'MPO_MERTIS_PLANET' FRAME_-121201_CLASS = 4 FRAME_-121201_CLASS_ID = -121201 FRAME_-121201_CENTER = -121 TKFRAME_-121201_RELATIVE = 'MPO_SPACECRAFT' TKFRAME_-121201_SPEC = 'ANGLES' TKFRAME_-121201_UNITS = 'DEGREES' TKFRAME_-121201_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-121201_AXES = ( 1, 2, 3 ) FRAME_MPO_MERTIS_SPACE = -121202 FRAME_-121202_NAME = 'MPO_MERTIS_SPACE' FRAME_-121202_CLASS = 4 FRAME_-121202_CLASS_ID = -121202 FRAME_-121202_CENTER = -121 TKFRAME_-121202_RELATIVE = 'MPO_SPACECRAFT' TKFRAME_-121202_SPEC = 'ANGLES' TKFRAME_-121202_UNITS = 'DEGREES' TKFRAME_-121202_ANGLES = ( -90.0, 0.0, 0.0 ) TKFRAME_-121202_AXES = ( 1, 2, 3 ) FRAME_MPO_MERTIS = -121230 FRAME_-121230_NAME = 'MPO_MERTIS' FRAME_-121230_CLASS = 3 FRAME_-121230_CLASS_ID = -121230 FRAME_-121230_CENTER = -121 CK_-121230_SCLK = -121 CK_-121230_SPK = -121 \begintext MIXS (Mercury Imaging X-Ray Spectrometer) Frames: ------------------------------------------------- This section of the file contains the definitions of the MIXS frames. MIX consists of two instruments: the narrow-field, high resolution, telescope (MIXS-T) and the The wide-field collimator (MIXS-C). The optical bench (OB) carries MIXS-T and MIXS-C on a base plate assembly (from [15]). MIXS Frame Tree: ~~~~~~~~~~~~~~~~ The diagram below shows the MIXS frame hierarchy. "J2000" INERTIAL --------------- | |<-ck | V "MPO_SPACECRAFT" ---------------- | |<-fixed | V "MPO_MIXS_OB" +----------------------------------+ | | |<-fixed |<-fixed | | V V "MPO_MIXS-C" "MPO_MIXS-T" ------------ ------------ MIXS Frames: ~~~~~~~~~~~~ The MIXS Optical Bench frame -- MPO_MIXS_OB -- is defined as follows: - +Z axis is the outward normal to the mounting plane; it is nominally co-aligned with the S/C +Z axis; - +X axis points along to the nominal MIXS-C line-of-sight; it is nominally co-aligned with the S/C +X axis; - +Y axis completes the right hand frame; it is co-aligned with the S/C +Y axis; - The origin of the frame is in the centre of the MIXS reference hole, in the plane of the mounting surface. The MIXS-C camera frames -- MIXS-C -- is defined as follows: - +Z axis is nominally co-aligned with the MIXS Optical Bench +Z axis; - +X axis points along to the nominal line-of-sight; it is nominally co-aligned with the MIXS Optical Bench +X axis; - +Y axis completes the right hand frame; it is co-aligned with the MIXS Optical Bench +Y axis; - the origin of the frame is located at the camera focal point. The MIXS-T camera frames -- MIXS-T -- is defined as follows: - +Z axis points along the camera boresight; - +X axis is parallel to the apparent image columns; - +Y axis completes the right hand frame; - 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 HGA -----> \__O__/ __ || ,---. Rotating | |-' ,' | Solar Panel ,-------,' | Radiator ,________, ,________, ,________, ,--------' | Panel |////////| |////////| |////////|\ | | |////////|=|////////|=|////////|\\ | | |////////| |////////| |////////| \\____| -Zsc | |////////| |////////| |////////| /,----| x-------------> -Ysc, |////////|=|////////|=|////////|// | | | -Ymisx_ob, |////////| |////////| |////////|/ | | | -Ymixs_c, '--------' '--------' '--------' |______|_ | -Ymixs_t / | '. | / | '. | / v '. | _ 0 -Xsc, '._; MGA --> -)[_] -Xmixs_ob, \ -Xmixs_c, \ -Xmixs_t /\/ +Zsc, +Zmixs_ob, +Zmixs_t and +Zmixs-c are out of the page. The MIXS Optical Bench and MIXS-C frames are co-aligned with the S/C frame. The rotation matrix from the MIXS-T frames to the MIXS Optical Bench frame is the inverse of the following rotation matrix [from (23)]: M = ( 0.99999878, 0.00013381, -0.00155630, mixs-t -0.00013381, 0.99999999, 0.00000021, 0.00155625, 0.00000000, 0.99999879 ) This is incorporated by the MIXS-T frame definition below. \begindata FRAME_MPO_MIXS_OB = -121300 FRAME_-121300_NAME = 'MPO_MIXS_OB' FRAME_-121300_CLASS = 4 FRAME_-121300_CLASS_ID = -121300 FRAME_-121300_CENTER = -121 TKFRAME_-121300_RELATIVE = 'MPO_SPACECRAFT' TKFRAME_-121300_SPEC = 'ANGLES' TKFRAME_-121300_UNITS = 'DEGREES' TKFRAME_-121300_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-121300_AXES = ( 1, 2, 3 ) FRAME_MPO_MIXS-C = -121310 FRAME_-121310_NAME = 'MPO_MIXS-C' FRAME_-121310_CLASS = 4 FRAME_-121310_CLASS_ID = -121310 FRAME_-121310_CENTER = -121 TKFRAME_-121310_RELATIVE = 'MPO_MIXS_OB' TKFRAME_-121310_SPEC = 'ANGLES' TKFRAME_-121310_UNITS = 'DEGREES' TKFRAME_-121310_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-121310_AXES = ( 1, 2, 3 ) FRAME_MPO_MIXS-T = -121320 FRAME_-121320_NAME = 'MPO_MIXS-T' FRAME_-121320_CLASS = 4 FRAME_-121320_CLASS_ID = -121320 FRAME_-121320_CENTER = -121 TKFRAME_-121320_RELATIVE = 'MPO_SPACECRAFT' TKFRAME_-121320_SPEC = 'MATRIX' TKFRAME_-121320_MATRIX = ( 0.99999881, -0.000133809843, 0.0015563000, -0.000133809516, 1.00000003, -0.000000418248262, -0.00155625004, 0.00000020824182, 0.999998788 ) \begintext PHEBUS (Probing of Hermean Exosphere By Ultraviolet Spectroscopy) Frames: ------------------------------------------------------------------------- This section of the file contains the definitions of the PHEBUS frames. The PHEBUS instrument is sitting behind the MPO radiator on the S/C -Y side with a rotating baffle extending through the radiator. The baffle allows 360 degree rotation and as it is angled at 10 degrees from the radiator. During instrument non-operational phases, the baffle is parked in front of a bracket so that the baffle aperture is protected from the space outer light environment. PHEBUS Frame Tree: ~~~~~~~~~~~~~~~~~~ The diagram below shows the PHEBUS frame hierarchy. "J2000" INERTIAL --------------- | |<-ck | V "MPO_SPACECRAFT" +----------------------------------+ | | |<-fixed |<-fixed | | V V "MPO_PHEBUS_PB_BASE" "MPO_PHEBUS_SM" -------------------- --------------- | | |<-fixed fixed->| | | V V "MPO_PHEBUS_PB" "MPO_PHEBUS_SCAN_ZERO" --------------- +--------------------+ | | ck->| fixed->| | | V V "MPO_PHEBUS" "MPO_PHEBUS_ZERO" ------------ ----------------- PHEBUS Scanner Mechanism and Parking Braket Base frame definitions: ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The PHEBUS Scanner Mechanism (SM) is rigidly mounted on the spacecraft Radiator Deck. Therefore, the frame associated with it -- the PHEBUS SM frame, MPO_PHEBUS_SM -- is specified as a fixed offset frame relative with its orientation given relative to the MPO_SPACECRAFT frame. The PHEBUS Scanner Mechanism -- MPO_PHEBUS_SM -- frame is defined as follows (from [19]): - +X axis is parallel to the Scanner Attachment Plate and the Interface Mounting Plane of the Instrument, directed towards the FUV detector and is nominaly co-aligned with the S/C -X axis; - +Y axis is perpendicular to the Scanner Attachment Plate and parallel to the Interface Mounting Plane of the Instrument and directed towards the grating assembly and is nominaly co-aligned with the S/C -Y axis; it is also co-aligned with the PHEBUS Scanner rotation axis; - +Z axis completes the right hand frame; - the origin of the frame is located at the on the attachment point near the scanner attachment plate on the EUV detector side. Any misalignment between the nominal and actual PHEBUS Scanner rotation axis measured pre-launch or during in-flight calibration should be incorporated into the definition of this frame. The PHEBUS Parking Bracket base -- MPO_PHEBUS_PB_BASE -- frame is defined as follows (from [19]): - +Y axis is Parallel to the Parking Bracket disc and is nominaly antiparallel to the S/C +Y axis; - +Z axis is rotated 45 degrees with respect to the nominal S/C +Y axis towards the S/C +X axis; - +X axis completes the right hand frame; - the origin of the frame is located at the on the attachment point of the Parking Braket with the S/C bus. These diagrams illustrate the PHEBUS Scanner Mechanism and Parking Bracket Base frames: +X S/C side view: ----------------- \ MPO Steerable / Magnetometer HGA ---> O/ Boom __/ | _ ______||___ V MGA --> -)[_]0==n/ '/ () \________n=====o==o ,| ' \__/ / \ .o | / ' \ . ' . `|+Ysc / \ . ' '.|/ <---------o ' (*)\<---- LGA . ' | - - - -|- / \ ' | | / o---------> +Yphebus_pb_base, | |/ | +Yphebus_sm '----------- |---------| | | v | +Zsc/nadir v -Zphebus_sm +Xsc and +Xphebus_sm are out of the page -Y S/C side (Radiator Panel) view: ---------------------------------- ___ -Zphebus_sm ////| ^ ////| | /////////| | |_____||__ | //////////| .---------- | --------------------. |O=======.--|-. ================ O| |========| o----------> +Xphebus_am Steerable |========|___\\=======( )=========| HGA |= Phebus === o ========( )=====| .-''-. -Xsc <---------------. '-\-o===== STR-2 ===|-/ \ / \ |====== . ' =====\|===============| | O | +Xphebus_pb_base <' ==========\===============|-\ | / |O======= =======|\=============O| `-..-' 0====0=============|_|===|_|--------|-v-------------' ^ ^ | -Zphebus_pb_base | | | MPO MGA | -Ysc and +Yphebus_pb_base Magnetometer v are out of the page Boom -Zsc +Yphebus_sm is into the page Nominally, a single rotation of 180 degrees about +Z axis is required to co-align the MPO_PHEBUS_SM and the MPO_SPACECRAFT frames. Nominally, a rotation of 180 degrees about +X axis and a rotation about the +Y axis of 45 degrees is required to co-align the MPO_PHEBUS_PB_BASE and the MPO_SPACECRAFT frames. Since the SPICE frames subsystem calls for specifying the reverse transformation--going from the instrument or structure frame to the base frame--as compared to the description given above, the order of rotations assigned to the TKFRAME_*_AXES keyword is also reversed compared to the above text, and the signs associated with the rotation angles assigned to the TKFRAME_*_ANGLES keyword are the opposite from what is written in the above text. \begindata FRAME_MPO_PHEBUS_SM = -121400 FRAME_-121400_NAME = 'MPO_PHEBUS_SM' FRAME_-121400_CLASS = 4 FRAME_-121400_CLASS_ID = -121400 FRAME_-121400_CENTER = -121 TKFRAME_-121400_RELATIVE = 'MPO_SPACECRAFT' TKFRAME_-121400_SPEC = 'ANGLES' TKFRAME_-121400_UNITS = 'DEGREES' TKFRAME_-121400_AXES = ( 2, 3, 1 ) TKFRAME_-121400_ANGLES = ( 0.0, 0.0, 180.0 ) FRAME_MPO_PHEBUS_PB_BASE = -121410 FRAME_-121410_NAME = 'MPO_PHEBUS_PB_BASE' FRAME_-121410_CLASS = 4 FRAME_-121410_CLASS_ID = -121700 FRAME_-121410_CENTER = -121 TKFRAME_-121410_RELATIVE = 'MPO_SPACECRAFT' TKFRAME_-121410_SPEC = 'ANGLES' TKFRAME_-121410_UNITS = 'DEGREES' TKFRAME_-121410_AXES = ( 1, 2, 1 ) TKFRAME_-121410_ANGLES = ( 0.0, 45.0, 180.0 ) \begintext PHEBUS Scanner Zero Rotation and Scanner frame definitions: ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The PHEBUS Scanner Mechanism allows the baffle and the mirror to rotate 360 degrees around the instrument. The assembly composed of the baffle and the mirror can be moved to a parking position in front of the Parking Bracket which occludes the baffle entrance. The PHEBUS Scanner Zero Position frame accounts for the default position of the baffle and mirror rotation. This default rotation angle corresponds to an azimuth angle (rotation angle) of 45 degrees about the MPO_PHEBUS_SM +Y axis. Therefore, the frame associated with it -- MPO_PHEBUS_SCAN_ZERO -- is specified as a fixed offset frame relative with its orientation given relative to the MPO_PHEBUS_SM frame. The PHEBUS Scanner Zero Position -- MPO_PHEBUS_SCAN_ZERO -- frame is defined as follows (from [19]): - +Y axis is perpendicular to the Scanner Attachment Plate and parallel to the Interface Mounting Plane of the Instrument and directed towards the grating assembly and is nominaly co-aligned with the MPO_PHEBUS_RM +Y axis; it is also co-aligned with the PHEBUS Scanner rotation axis; - +Z axis is parallel to the projection of the PHEBUS baffle into the +XZ plane of the Phebus Scanner Mechanism frame (the S/C radiator deck) when the baffle is in parking position; - +X axis completes the right hand frame; - the origin of the frame is located at the on the intersection of the Scanner Roation Axis with the S/C deck. The PHEBUS Scanner frame accounts for the position of the baffle and mirror rotation. This rotation angle corresponds to an angle commanded from ground which ranges from 0 to 360 degrees. Therefore, the frame associated with it -- MPO_PHEBUS_SCAN -- is specified as a C-Kernel frame with its orientation given relative to the MPO_PHEBUS_SCAN_ZERO frame. The PHEBUS Scanner frame -- MPO_PHEBUS_SCAN -- is defined by the Scanner Rotation as follows (from [19]): - +Y axis is perpendicular to the Scanner Attachment Plate and parallel to the Interface Mounting Plane of the Instrument and directed towards the grating assembly and is nominaly co-aligned with the MPO_PHEBUS_RM +Y axis; it is also co-aligned with the PHEBUS Scanner rotation axis; - +Z axis is co-aligned with the TGO_CASSIS_CRU +Z axis, when the motor is in its 'zero' position; - +Z axis is parallel to the projection of the PHEBUS baffle into the +XZ plane of the Phebus Scanner Mechanism frame (the S/C radiator deck); - +X axis completes the right hand frame; - the origin of the frame is located at the on the intersection of the Scanner Roation Axis with the S/C deck. These diagrams illustrate the PHEBUS Scanner Zero Roration and PHEBUS Scanner frames: -X PHEBUS Scanner Mechanism side view: -------------------------------------- +Yphebus_sm, +Yphebus_scan_zero (PHEBUS Baffle and Mirror rotation axis) ^ | | | +Xphebus_sm ------------- o-------> ------- | | ^ +Ysc | | | \ Scanner / | \ Mechanism / | _ _ _ _\_______________/_ _ _ _ _ | | | | .---------. <-----------o \ \ / | +Zsc +Xsc \ \/__| \ / '. - - - - - - - - - - - - - \ / ' . ' . ' \\ ' . ' . ' ' . ' . ' . . ' . ' . '--. 10 deg. ' . '/ _ \ ' ' . | (_)| ' ' .\ / ' . / +Zphebus_sm and +Xsc ''--' ' . ' are out of the page ' . ' > +Zphebus, +Zphebus_zero, (if azimuth = 0 deg) -Y PHEBUS Scanner Mechanism side view (with Baffle in Parking position): ------------------------------------------------------------------------ | / | / 45 deg. |- . +Zphebus_scan_zero ' . ^ | ' /- . '/ ' . azimuth | ___/ \ . > +Zphebus_scan /\ (_)\ ' . ' | / '---/ . ' / / / . ' | / / / . ' ____________ / / /______ | .-----_/ / /. | +Xsc | | .' /\ / / | | ^ | | / / / __/ | | | | | | | /x-----------------> +Xphebus_sm | | | \ \_| '. ' .| | | | | `.__|_ .'. |' . | | | |______|_____'.| ' . | |____________|_______'._____| ' . <------------x | '. ' . +Zsc +Ysc | '. ' > v v +Xphebus_scan_zero -Zphebus_sm +Xphebus_scan +Yphebus_sm, +Yphebus_scan_zero +Yphebus_scan and +Ysc are into the page Nominally, a single rotation of 45 degrees about +Y axis is required to co-align the MPO_PHEBUS_SM and the MPO_SPACECRAFT frames. For an arbitrary scanner angle, the MPO_PHEBUS_SCAN frame is rotated by an azimuth angle about the +Y axis with respect to the MPO_PHEBUS_SCAN_ZERO 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. This set of keywords define the Scanner Zero Rotation and Scanner frames: \begindata FRAME_MPO_PHEBUS_SCAN_ZERO = -121420 FRAME_-121420_NAME = 'MPO_PHEBUS_SCAN_ZERO' FRAME_-121420_CLASS = 4 FRAME_-121420_CLASS_ID = -121400 FRAME_-121420_CENTER = -121 TKFRAME_-121420_RELATIVE = 'MPO_PHEBUS_SM' TKFRAME_-121420_SPEC = 'ANGLES' TKFRAME_-121420_UNITS = 'DEGREES' TKFRAME_-121420_AXES = ( 1, 3, 2 ) TKFRAME_-121420_ANGLES = ( 0.0, 0.0, -45.0 ) FRAME_MPO_PHEBUS_SCAN = -121421 FRAME_-121421_NAME = 'MPO_PHEBUS_SCAN' FRAME_-121421_CLASS = 3 FRAME_-121421_CLASS_ID = -121421 FRAME_-121421_CENTER = -121 CK_-121421_SCLK = -121 CK_-121421_SPK = -121 \begintext PHEBUS Zero and PHEBUS frame definitions: ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The PHEBUS Buffer boresight nominally points 10 degrees off from the PHEBUS rotation axis normal plane -- MPO_PHEBUS_SCAN +X axis, towards the -Y MPO_PHEBUS_SCAN axis. This angle is necessary to guarantee the Unobstructed Field-of-View to be free from any spacecraft surface and has been defined as an angle from the Nadir-Velocity vector plane. This frame is used to define the PHEBUS Field-of-view. Therefore, the frame associated with it -- MPO_PHEBUS -- is specified as a fixed offset frame relative with its orientation given relative to the MPO_PHEBUS_SCAN frame. The PHEBUS frame -- MPO_PHEBUS -- is defined as follows (from [19]): - +Z axis is co-aligned with PHEBUS baffle entrance tube which is equivalent to the spectrometer optical boresight; - +X axis is parallel to the PHEBUS_SCAN +X axis; - +Y axis completes the right hand frame; - the origin of the frame is located at the geometrical center of the Entrance Mirror. The PHEBUS_ZERO frame is equivalent to the PHEBUS frame when the PHEBUS Buffer is in parking position. The PHEBUS Zero frame -- MPO_PHEBUS_ZERO -- is defined as follows (from [19]): - +Z axis is co-aligned with PHEBUS baffle entrance tube which is equivalent to the spectrometer optical boresight when the Buffle is in parking position; - +X axis is parallel to the PHEBUS_SCAN_ZERO +X axis; - +Y axis completes the right hand frame; - the origin of the frame is located at the geometrical center of the Entrance Mirror. These diagrams illustrate the MPO_PHEBUS and MPO_PHEBUS_ZERO frames with respect to the MPO_PHEBUS_SCAN and MPO_PHEBUS_SCAN_ZERO frames: -Y PHEBUS Scanner Mechanism side view (with Baffle in Parking position): ------------------------------------------------------------------------ +Yphebus_scan, +Yphebus_scan_zero ^ | | | +Yphebus, | +Yphebus_zero | ^ +Zphebus_scan, | \ +Zphebus_scan_zero | _______________\________ <-----------------o | \\ . ' / . ' . ' PHEBUS '. \\ . ' 10deg \ . ' . ' Parking '. \\ . ' . ' . ' Braket '._ \\ . ' . ' . ' '. \\. ' . ' . ' \ \\ . ' . ' \ \\ . ' . ' \ .o . ' . '\ \\ . ' Phebus Baffle . ' \_\\. ' +Zphebus, < ' +Zphebus_zero +Xphebus and +Xphebus_zero are out of the page +Z PHEBUS side view: -------------------- ________________________ | / \ | | / \ | |___/__________\___| | +Yphebus | ^ | | | | | _.-""|"-._ | | .' | `. | |/ .-|-. \| | / | \ | | | o------------> +Xphebus | \ / | \ `-.-' / +Zphebus is out `._ _.' out the page `-....-' Nominally, a single rotation of 10 degrees about +X axis is required to co-align the MPO_PHEBUS and MPO_PHEBUS_ZERO with respect to the MPO_PHEBUS_SCAN and MPO_PHEBUS_SCAN_ZERO frames respectively. 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_PHEBUS = -121430 FRAME_-121430_NAME = 'MPO_PHEBUS' FRAME_-121430_CLASS = 4 FRAME_-121430_CLASS_ID = -121430 FRAME_-121430_CENTER = -121 TKFRAME_-121430_RELATIVE = 'MPO_PHEBUS_SCAN' TKFRAME_-121430_SPEC = 'ANGLES' TKFRAME_-121430_UNITS = 'DEGREES' TKFRAME_-121430_AXES = ( 3, 2, 1 ) TKFRAME_-121430_ANGLES = ( 0.0, 0.0, -10.0 ) FRAME_MPO_PHEBUS_ZERO = -121431 FRAME_-121431_NAME = 'MPO_PHEBUS_ZERO' FRAME_-121431_CLASS = 4 FRAME_-121431_CLASS_ID = -121431 FRAME_-121431_CENTER = -121 TKFRAME_-121431_RELATIVE = 'MPO_PHEBUS_SCAN_ZERO' TKFRAME_-121431_SPEC = 'ANGLES' TKFRAME_-121431_UNITS = 'DEGREES' TKFRAME_-121431_AXES = ( 3, 2, 1 ) TKFRAME_-121431_ANGLES = ( 0.0, 0.0, -10.0 ) \begintext PHEBUS Parking Braket frame definition: ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The PHEBUS Parking Bracket -- MPO_PHEBUS_PB -- frame is defined as follows (from [19]): - +Y axis is Parallel to the Parking Bracket disc and is nominaly co-aligned to the MPO_PHEBUS_PB_BASE +Y axis; - +Z axis is perpendicular to the Parking Bracket disc which is parallel to the baffle in zero position and nominaly is rotated 10 degrees with respect to the MPO_PHEBUS_PB_BASE +X axis towards the MPO_PHEBUS_PB_BASE +Y axis; - +X axis completes the right hand frame; - the origin of the frame is located at the on the attachment point of the Parking Braket with the S/C bus. These diagrams illustrate the PHEBUS Base frames: -X PHEBUS Partking Braket side view: ------------------------------------ +Yphebus_pb ^ \ \ __\ .> -Zphebus_pb \ \\ . ' . \ \\ . ' . 10 deg \ \o' . \ \ . \ \ - - - - - \ '._ \ '. \ '. \ '. \ | --------------x---------> ----- | +Zphebus_pb_base | +Xphebus_pb and | +Xphebus are out of | the page v -Yphebus_pb_base +Z PHEBUS Parking Braket side view: ----------------------------------- +Yphebus_pb ^ | __|__ .' | '. / | \ . | . | o--------> +Xphebus_pb . . \ / `. .' \ / ) ( | | | | +Zphebus_pb is outside | | the page | | -----------o---------> -- +Xphebus_pb_base 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_PHEBUS_PB_BASE = -121410 FRAME_-121411_NAME = 'MPO_PHEBUS_PB_BASE' FRAME_-121411_CLASS = 4 FRAME_-121411_CLASS_ID = -121700 FRAME_-121411_CENTER = -121 TKFRAME_-121411_RELATIVE = 'MPO_SPACECRAFT' TKFRAME_-121411_SPEC = 'ANGLES' TKFRAME_-121411_UNITS = 'DEGREES' TKFRAME_-121411_AXES = ( 1, 2, 1 ) TKFRAME_-121411_ANGLES = ( 0.0, 45.0, 180.0 ) \begintext SERENA (Spectrometers and Imagers Integrated Observatory SYStem) Frames: ---------------------------------------------------------------------------- This section of the file contains the definitions of the SERENA frames. SERENA is a suite of instrumentation that includes four units: ELENA, STROFIO, MIPA and PICAM. SERENA Frame Tree: ~~~~~~~~~~~~~~~~~~ The diagram below shows the SERENA frame hierarchy. "J2000" INERTIAL --------------- | |<-ck | V "MPO_SPACECRAFT" +----------------------------------------------------+ | | | | |<-fixed |<-fixed |<-fixed |<-fixed | | | | V | V V "MPO_SERENA_ELENA" | "MPO_SERENA_PICAM" "MPO_SERENA_STROFIO_BASE" ------------------ | ------------------ +----------------------+ V | | | "MPO_SERENA_MIPA" |<-fixed | fixed->| ----------------- | | | V |<-ck | "MPO_SERENA_STROFIO-X" | | ---------------------- | | | | v | "MPO_SERENA_STROFIO" | -------------------- | | V "MPO_SERENA_STROFIO+X" ---------------------- SERENA ELENA Unit frame definition: ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The SERENA ELENA unit is located on the S/C -X panel and its baffle is pointing along the Nadir direction. The SERENA ELENA Unit -- MPO_SERENA_ELENA -- frame is defined as follows (from [16]): - +Z axis points along the nominal spacecraft nadir direction; and it is co-aligned with the S/C +Z axis; - +X axis is nominally co-aligned with the S/C +X axis; - +Y axis completes the right hand frame; - the origin of the frame is located at the geometrical center of the internal chardged particle deflectors. This diagram illustrates the SERENA ELENA Unit frame: -X S/C side view: ----------------- / \ \O ||\__ .---------. o==o======n________/ \_ / |\ / | o. / |/ ' . Rotating / x-------> | ' . Solar Panel / | +Ysc | ' . / | | ' . / | o-----------> ' . /--------|----|--------' +Yelena | | v | +Zsc/nadir | | V +Zelena Xsc is into the page +Zelena 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_SERENA_ELENA = -121510 FRAME_-121510_NAME = 'MPO_SERENA_ELENA' FRAME_-121510_CLASS = 4 FRAME_-121510_CLASS_ID = -121510 FRAME_-121510_CENTER = -121 TKFRAME_-121510_RELATIVE = 'MPO_SPACECRAFT' TKFRAME_-121510_SPEC = 'ANGLES' TKFRAME_-121510_UNITS = 'DEGREES' TKFRAME_-121510_AXES = ( 1, 3, 1 ) TKFRAME_-121510_ANGLES = ( 0.0, 0.0, 0.0 ) \begintext SERENA MIPA Unit frame definition: ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The SERENA MIPA unit is located on the S/C -X panel behind the radiator below the SERENA PICAM unit. Its boresight is poinitng along the S/C -X axis. The SERENA MIPA Unit -- MPO_SERENA_MIPA -- frame is defined as follows (from [16]): - +Z axis is co-aligned with the S/C -X axis; - +X axis is nominally co-aligned with the S/C +Z axis; - +Y axis completes the right hand frame; - the origin of the frame is located at the geometrical center of of the deflection plates. This diagram illustrates the SERENA MIPA Unit frame: -Y S/C side (Radiator Panel) view: ---------------------------------- _____________ +Xmipa |/////////////| ^ |/////////////| | |/////////////| | __||_____||__ | |/////////////| |---------------------------------. |O=======.----. ========== STR-1 O| +Zmipa <------------x========| \\|===== 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 +Ymipa is 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_SERENA_MIPA = -121520 FRAME_-121520_NAME = 'MPO_SERENA_MIPA' FRAME_-121520_CLASS = 4 FRAME_-121520_CLASS_ID = -121520 FRAME_-121520_CENTER = -121 TKFRAME_-121520_RELATIVE = 'MPO_SPACECRAFT' TKFRAME_-121520_SPEC = 'ANGLES' TKFRAME_-121520_UNITS = 'DEGREES' TKFRAME_-121520_AXES = ( 1, 3, 2 ) TKFRAME_-121520_ANGLES = ( 0.0, 0.0, 90.0 ) \begintext SERENA PICAM Unit frame definition: ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The SERENA PICAM unit is located on the S/C -X panel. Its boresight is poinitng along the S/C -X axis. The SERENA PICAM Unit -- MPO_SERENA_PICAM -- frame is defined as follows (from [16]): - +Z axis is co-aligned with the S/C -X axis; - +X axis is nominally co-aligned with the S/C +Z axis; - +Y axis completes the right hand frame; - the origin of the frame is located at the geometrical center of of the deflection plates. This diagram illustrates the SERENA PICAM Unit frame: -Y S/C side (Radiator Panel) view: ---------------------------------- _____________ |/////////////| +Xpicam |/////////////| ^ |/////////////| | __||_____||__ | |/////////////| |---------------------------------. |O=======.----. ========== STR-1 O| |========| \\|===== STR-3 ==( )==| Steerable +Zpicam <------------x========|___\\=======( )=========| HGA |========= Phebus ========( )=====| .-''-. -Xsc <---------------------o===== STR-2 ===|-/ \ / \ |=================|===============| | O | |=================|===============|-\ | / |O================|==============O| `-..-' 0====0=============|_|===|_|--------|---------------' ^ ^ | | | | MPO MGA | -Ysc is out of Magnetometer v the page. Boom -Zsc +Ypicam is 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_SERENA_PICAM = -121530 FRAME_-121530_NAME = 'MPO_SERENA_PICAM' FRAME_-121530_CLASS = 4 FRAME_-121530_CLASS_ID = -121530 FRAME_-121530_CENTER = -121 TKFRAME_-121530_RELATIVE = 'MPO_SPACECRAFT' TKFRAME_-121530_SPEC = 'ANGLES' TKFRAME_-121530_UNITS = 'DEGREES' TKFRAME_-121530_AXES = ( 1, 3, 2 ) TKFRAME_-121530_ANGLES = ( 0.0, 0.0, 90.0 ) \begintext SERENA STROFIO Unit frames definitions: ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The SERENA STROFIO unit is located in the S/C +X panel. STROFIO has two baffles, one pointing along the S/C +X axis and another along the S/C -X axis. The SERENA STROFIO Unit -- MPO_SERENA_STRFIO_BASE -- frame is defined as follows (from [16]): - +Z axis points along the nominal spacecraft nadir direction; and it is co-aligned with the S/C +Z axis; - +X axis is nominally co-aligned with the S/C +X axis; - +Y axis completes the right hand frame; - the origin of the frame is located at the geometrical center of the cylindrical detector head. The SERENA STROFIO +X Baffle -- MPO_SERENA_STRFIO+X -- frame is defined as follows (from [16]): - +Z axis points along the nominal spacecraft +X direction; and it is co-aligned with the S/C +X axis; - +X axis is nominally co-aligned with the S/C +Z axis; - +Y axis completes the right hand frame; - the origin of the frame is located at the geometrical center of the spectrometer detector. The SERENA STROFIO -X Baffle -- MPO_SERENA_STRFIO-X -- frame is defined as follows (from [16]): - +Z axis points along the nominal spacecraft -X direction; and it is co-aligned with the S/C -X axis; - +X axis is nominally co-aligned with the S/C +Z axis; - +Y axis completes the right hand frame; - the origin of the frame is located at the geometrical center of the spectrometer detector. The SERENA STROFIO Baffle -- MPO_SERENA_STRFIO -- frame is defined as a CK frame as follows (from [16]): - +Z axis is the projection of the MPO inertially referenced velocity vector relative to the target body (Mercury) into the plane defined by the MPO_SERENA_STROFIO_BASE +Y and +X axis; - +X axis is the primary vector and is nominally co-aligned with the S/C +Z axis; - +Y axis completes the right hand frame; - the origin of the frame is located at the geometrical center of the spectrometer detector. This diagram illustrates the SERENA ELENA Unit frame: +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 - - - -|- / \ . ' | | ' \ . ' | |/ \ . ' '----------- |---------\ +Ystrofio <---------o| | '|' v | +Zsc/nadir | | v +Zstrofio, +Xstrofio-x, +Xsc, +Xstrofio and +Xstrofio+x +Zstrofio+x are out of the page. +Zstrofio-x is into the page. -Y S/C side (Radiator Panel) view: ---------------------------------- +Zstrofio ^ +Xstrofio-x | +Xstrofio+x _____________ ^ | ^ Rotating |///////////// | | | Solar Panel |///////////// | | | |///////////// | | | +Xstrofio | x--|------> +Zstrofio-x <--------x=| |=o---------> +Zstrofio+x .---------------------------------. |O=======.----. ========== STR-1 O| |========| \\|===== STR-3 ==( )==| Steerable |========|___\\=======( )=========| HGA |========= Phebus ========( )=====| .-''-. -Xsc <---------------------o===== STR-2 ===|-/ \ / \ |=================|===============| | O | |=================|===============|-\ | / |O================|==============O| `-..-' 0====0=============|_|===|_|--------|---------------' ^ ^ | | | | MPO MGA | -Ysc and +Ystrofio+x are Magnetometer v out of the page. Boom -Zsc +Ystrofio-x and +Ystrofio 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_SERENA_STROFIO_BASE = -121540 FRAME_-121540_NAME = 'MPO_SERENA_STROFIO_BASE' FRAME_-121540_CLASS = 4 FRAME_-121540_CLASS_ID = -121540 FRAME_-121540_CENTER = -121 TKFRAME_-121540_RELATIVE = 'MPO_SPACECRAFT' TKFRAME_-121540_SPEC = 'ANGLES' TKFRAME_-121540_UNITS = 'DEGREES' TKFRAME_-121540_AXES = ( 1, 3, 1 ) TKFRAME_-121540_ANGLES = ( 0.0, 0.0, 0.0 ) FRAME_MPO_SERENA_STROFIO+X = -121541 FRAME_-121541_NAME = 'MPO_SERENA_STROFIO+X' FRAME_-121541_CLASS = 4 FRAME_-121541_CLASS_ID = -121541 FRAME_-121541_CENTER = -121 TKFRAME_-121541_RELATIVE = 'MPO_SERENA_STROFIO_BASE' TKFRAME_-121541_SPEC = 'ANGLES' TKFRAME_-121541_UNITS = 'DEGREES' TKFRAME_-121541_AXES = ( 1, 3, 2 ) TKFRAME_-121541_ANGLES = ( 0.0, 0.0, -90.0 ) FRAME_MPO_SERENA_STROFIO-X = -121542 FRAME_-121542_NAME = 'MPO_SERENA_STROFIO-X' FRAME_-121542_CLASS = 4 FRAME_-121542_CLASS_ID = -121542 FRAME_-121542_CENTER = -121 TKFRAME_-121542_RELATIVE = 'MPO_SERENA_STROFIO_BASE' TKFRAME_-121542_SPEC = 'ANGLES' TKFRAME_-121542_UNITS = 'DEGREES' TKFRAME_-121542_AXES = ( 1, 3, 2 ) TKFRAME_-121542_ANGLES = ( 0.0, 0.0, 90.0 ) FRAME_MPO_SERENA_STROFIO = -121543 FRAME_-121543_NAME = 'MPO_SERENA_STROFIO' FRAME_-121543_CLASS = 3 FRAME_-121543_CLASS_ID = -121543 FRAME_-121543_CENTER = -121 CK_-121543_SCLK = -121 CK_-121543_SPK = -121 \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 is a suite of instrumentation that includes two distinct mechanical units: one common to STC and VIHI and one separated for HRIC 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 | | | V | "MPO_SIMBIO-SYS_MU" | +-------------------------+ | | | | | | |<-fixed | | | | | V | V | "MPO_SIMBIO-SYS_HRIC" | "MPO_SIMBIO-SYS_VIHI" | -------------------- | --------------------- | | | |<-fixed |<-fixed | | V V "MPO_SIMBIO-SYS_STC-H" "MPO_SIMBI-OSYS_STC-L" --------------------- --------------------- SIMBIO-SYS Frames: ~~~~~~~~~~~~~~~~~~ The SIMBIO-SYS High Resolution Imaging Channel and Visual and Infrared Hyperspectral Imager Mehcanical Unit frame -- MPO_SIMBIO-SYS_MU -- is defined as follows: - +Z is nominally co-aligned with the S/C +Z 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 geometrical center of the Mechanical Unit. The SIMBIO-SYS High Resolution Imaging Channel and Visual and Infrared Hyperspectral Imager frames -- MPO_SIMBIO-SYS_HRIC and MPO_SIMBIO-SYS_VIHI -- are defined as follows: - +Z axis points along the camera boresight of MPO_SIMBIO-SYS_HRIC and MPO_SIMBIO-SYS_VIHI respectively; - +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 camera focal point. The SIMBIO-SYS Stereo Imaging Channel Sub-channel L and Sub-channel H frames -- MPO_SIMBIO-SYS_STC-L and MPO_SIMBIO-SYS_STC-H -- are defined as follows: - +Y axis is nominally co-aligned with the S/C +Y axis; - +Z axis points along the camera boresight of MPO_SIMBIO-SYS_STC-L and MPO_SIMBIO-SYS_STC-H respectively; - +X 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 camera focal point. This diagram illustrates the SIMBIO-SYS imager frames: +Z S/C side (science deck side) view: ------------------------------------- Steerable HGA -----> \__O__/ __ || ,---. Rotating | |-' ,' | Solar Panel ,-------,' | Radiator ,________, ,________, ,________, ,--------' | Panel |////////| |////////| |////////|\ | | |////////|=|////////|=|////////|\\ | | |////////| |////////| |////////| \\____| -Zsc | |////////| |////////| |////////| /,----| x-------------> -Ysc, |////////|=|////////|=|////////|// | | | -Ysimbio_mu, |////////| |////////| |////////|/ | | | -Ysimbio_hric, '--------' '--------' '--------' |______|_ | -Ysimbio_vhi, / | '. | / | '. | / v '. | _ 0 -Xsc, '._; MGA --> -)[_] -Xsimbio_mu, \ -Xsimbio_hric, \ -Xsimbio_vihi /\/ +Zsc, +Zsimbio_mu, +Zsimbio_hric and +Zsimbio_vihi are out of the page. -Y S/C side view: ----------------- 0 | 0 | | | .---------------. | | | | |---------------| .> +Zsimbio_stc-l | | , ' | | , ' | |. ' -Zsc <---------x x- - - - - - - - | | /|' . | | / | \ ' . | | / | \ ' . |_______|___/___| \ '> +Zsimbio_stc-h | .-v-./ | \ | +Xsc / \ | \ '---| / |--' \ \ v / v +Ysc, +Xsimbio-stc-l +Xsimbio-stc-h +Xsimbio-stc-l +Ysimbio-stc-h, are into the page The SIMBIO-SYS BASE, HRIC and VIHI frames are co-aligned with the S/C frame. To go to the MPO_SIMBIO-SYS_STC-H frame from the MPO_SIMBIO-SYS_MU or the S/C frame a positive rotation of 20 degress around the MPO_SIMBIO-SYS_MU or S/C +Y axis is performed. To go to the MPO_SIMBIO-SYS_STC-L frame from the MPO_SIMBIO-SYS_MU or the S/C frame a positive rotation of 20 degress around the MPO_SIMBIO-SYS_MU or S/C +Y 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_SIMBIO-SYS_MU = -121600 FRAME_-121600_NAME = 'MPO_SIMBIO-SYS_MU' 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_SIMBIO-SYS_HRIC = -121610 FRAME_-121610_NAME = 'MPO_SIMBIO-SYS_HRIC' 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_SIMBIO-SYS_STC-L = -121621 FRAME_-121621_NAME = 'MPO_SIMBIO-SYS_STC-L' FRAME_-121621_CLASS = 4 FRAME_-121621_CLASS_ID = -121621 FRAME_-121621_CENTER = -121 TKFRAME_-121621_RELATIVE = 'MPO_SIMBIO-SYS_MU' TKFRAME_-121621_SPEC = 'ANGLES' TKFRAME_-121621_UNITS = 'DEGREES' TKFRAME_-121621_ANGLES = ( 0.0, -21.3, 0.0 ) TKFRAME_-121621_AXES = ( 1, 2, 3 ) FRAME_MPO_SIMBIO-SYS_STC-H = -121622 FRAME_-121622_NAME = 'MPO_SIMBIO-SYS_STC-H' FRAME_-121622_CLASS = 4 FRAME_-121622_CLASS_ID = -121622 FRAME_-121622_CENTER = -121 TKFRAME_-121622_RELATIVE = 'MPO_SIMBIO-SYS_MU' TKFRAME_-121622_SPEC = 'ANGLES' TKFRAME_-121622_UNITS = 'DEGREES' TKFRAME_-121622_ANGLES = ( 0.0, 21.3, 0.0 ) TKFRAME_-121622_AXES = ( 1, 2, 3 ) FRAME_MPO_SIMBIO-SYS_VIHI = -121630 FRAME_-121630_NAME = 'MPO_SIMBIO-SYS_VIHI' FRAME_-121630_CLASS = 4 FRAME_-121630_CLASS_ID = -121630 FRAME_-121630_CENTER = -121 TKFRAME_-121630_RELATIVE = 'MPO_SIMBIO-SYS_MU' TKFRAME_-121630_SPEC = 'ANGLES' TKFRAME_-121630_UNITS = 'DEGREES' TKFRAME_-121630_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-121630_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_SU" +--------------------------------+ | | | "MPO_SIXS-P-0" | "MPO_SIXS-P-3" | -------------- | -------------- |<-fixed ^ | ^ | | fixed->| | | fixed->| | fixed->| V | V | "MPO_SIXS-X" | "MPO_SIXS-P" | +-------------------+ +-------------------+ | | | | | | fixed->| fixed->| fixed->| fixed->| fixed->| fixed->| | | | | | | | v | | v | | "MPO_SIXS-X-2" | | "MPO_SIXS-P-2" | | -------------- | | -------------- | v v v v "MPO_SIXS-X-1" "MPO_SIXS-X-3" "MPO_SIXS-P-1" "MPO_SIXS-X-4" -------------- -------------- -------------- -------------- SIXS Sensor Unit Frame: ~~~~~~~~~~~~~~~~~~~~~~~ The SIXS Sensor Unit (SU) is acommodated on the S/C -Z panel, which guarantees the SIXS X-ray detectors an unobstructed view to the Sun. The location on the BepiColombo MPO S/C -Z panel, as close as possible to the radiator, is mainly based on the possibility of achieving a proper thermal environment. The temporary blockage from S/C body and from HGA is acceptable for SIXS (from [17]). Therefore, the frame associated with it -- the SIXS Sensor Unit frame, MPO_SIXS_SU -- is specified as a fixed offset frame relative with its orientation given relative to the MPO_SPACECRAFT frame. The SIXS Sensor Unit frame -- MPO_SIXS_SU -- is defined as (from [17]): - +Y axis is nominaly co-aligned with the S/C +X axis; - +Z axis is antiparallel to the S/C +Z axis; - +X axis completes the right-handed frame; and it is parallel to the detector array lines and the wide side of the slit; - the origin of this frame is located at the geometrical center of the interface in between SIXS and the S/C body. These diagrams illustrate the nominal MPO_SIXS_SU frame with respect to the spacecraft frame. -Y S/C side (Radiator Panel) view: ---------------------------------- _____________ Rotating |/////////////| Solar Panel |/////////////| |/////////////| __||_____||__ |/////////////| .---------------------------------. |O=======.----. ========== STR-1 O| |========| \\|===== STR-3 ==( )==| Steerable -Zsixs_su '---\\=======( )=========| HGA |=== ^ == Phebus ========( )=====| .-''-. -Xsc <--------|------------o===== STR-2 ===|-/ \ / \ |=== | ===========|===============| | O | |=== | ===========|===============|-\ | / |O== | +Ysixs_su =|==============O| `-..-' 0====0=============|_|=x-------> ---|---------------' ^ .---. | | '---' | MPO O | -Ysc is out of Magnetometer ^ v the page Boom | -Zsc SIXS radiator and particle detector +X SIXS Sensor Unit (SU) side view: ----------------------------------- P-0 Particle protecting ---> .-==-. dome and sensors P-1|O O| P-4 .---------------------------------. | /'. () .'\ | | / 'X-2.' \ | <--- X-ray detectors | / '' \ | | / () () \ | | / X-1 X-3 \ | +Ysc | / \ | o----------> '---------------------------------' | +Xsc || || | .---------------. | | ^ +Zsixs_su | | | | v | | | +Zsc | | | +Ysixs_su -------------- o----------> ------ MPO S/C +Xsixs_su +Xsixs_su and +Ysc are out of the page -X SIXS Sensor Unit (SU) side view: ----------------------------------- P-0 Particle protecting ---> .-==-. dome and sensors P-3|O O| P-2 .---------------------------------. | ================================| | ================================| <--- Radiator | ================================| | ================================| | ================================| +Ysc | ================================| <------------o '---------------------------------' +Xsc | || || | .---------------. | | ^ +Zsixs_su | | | | v | | | +Zsc +Ysixs_su | | | --- <---------o----------------- MPO S/C +Xsixs_su +Xsixs_su and +Ysc are out of the page Nominally, a single rotation of 90 degrees about +Z spacecraft axis and a rotation of 180 degrees around the resulting +X axis is required to alignt the MPO_SPACECRAFT to the MPO_SIXS_SU 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_SIXS_SU = -121701 FRAME_-121701_NAME = 'MPO_SIXS_SU' FRAME_-121701_CLASS = 4 FRAME_-121701_CLASS_ID = -121701 FRAME_-121701_CENTER = -121 TKFRAME_-121701_RELATIVE = 'MPO_SPACECRAFT' TKFRAME_-121701_SPEC = 'ANGLES' TKFRAME_-121701_UNITS = 'DEGREES' TKFRAME_-121701_ANGLES = ( 180.0, 90.0, 0.0 ) TKFRAME_-121701_AXES = ( 1, 3, 1 ) \begintext SIXS X-Ray detector Frames: ~~~~~~~~~~~~~~~~~~~~~~~~~~~ The X-Ray detectors are placed in the X-Ray detector cover and the axis of their boresights have the following orientation: X-Ray detector Azimuth [degrees] Elevation [degrees] -------------- ----------------- ------------------- X-1 -45.00 25.00 X-2 0.00 65.00 X-3 45.00 25.00 An auxiliary base frame for the X-Ray detector -- MPO_SIXS-X -- is used as a reference for the frame of each individial X-Ray Detector. The MPO_SIXS-X frame is coaligned with the SIXS System Unit frame. The SIXS X-ray detectors frames -- MPO_SIXS-X-1, MPO_SIXS-X-2 and MPO_SIXS-X-3 -- are defined as (from [17]): - +Z is parallel to the boresight of the given X-Ray detector; - +Y axis is parallel to the apparent spatial resolution direction (i.e. along the slit); - +X axis completes the right hand frame; - the origin of the frame is located at the instrument focal point. This diagrams partially illustrates the nominal SIXS X-Ray detectors frames with respect to the spacecraft and SIXS System Unit frames. +Y SIXS Sensor Unit (SU) side view: ----------------------------------- +Zsixs_p0 ^ \ \ > +Zsixs_p1* \ . ' P-0 \ . ' .-==-.' Particle protecting --> P-2 |O O| P-1 .> +Zsixs_x2 dome and sensors .--.--. . ' | | '. ' | | '. | | \ | | \ | | O \ <--- X-ray detectors | | X-2 \ '--'----------- || +Xsc .--. x----------> +Xsixs_su, | ^|+Zsixs_su | +Ysc and +Ysc are out | || | of the page | || | | || | *is a projection ---- x------> --- MPO S/C v +Ysixs_su +Xsixs_su +Zsc Here we use the rotation matrices from the SIXS X-Ray detectors frames to the SIXS X-Ray detectors base frame. This is incorporated by the frame definitions below. \begindata FRAME_MPO_SIXS-X = -121710 FRAME_-121710_NAME = 'MPO_SIXS-X' FRAME_-121710_CLASS = 4 FRAME_-121710_CLASS_ID = -121710 FRAME_-121710_CENTER = -121 TKFRAME_-121710_RELATIVE = 'MPO_SIXS_SU' TKFRAME_-121710_SPEC = 'ANGLES' TKFRAME_-121710_UNITS = 'DEGREES' TKFRAME_-121710_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-121710_AXES = ( 1, 2, 3 ) FRAME_MPO_SIXS-X-1 = -121711 FRAME_-121711_NAME = 'MPO_SIXS-X-1' FRAME_-121711_CLASS = 4 FRAME_-121711_CLASS_ID = -121711 FRAME_-121711_CENTER = -121 TKFRAME_-121711_RELATIVE = 'MPO_SIXS-X' TKFRAME_-121711_SPEC = 'MATRIX' TKFRAME_-121711_MATRIX = ( -0.29883624, 0.29883624, 0.90630779, -0.70710678, -0.70710678, 0.0, 0.64085638, -0.64085638, 0.42261826 ) FRAME_MPO_SIXS-X-2 = -121712 FRAME_-121712_NAME = 'MPO_SIXS-X-2' FRAME_-121712_CLASS = 4 FRAME_-121712_CLASS_ID = -121712 FRAME_-121712_CENTER = -121 TKFRAME_-121712_RELATIVE = 'MPO_SIXS-X' TKFRAME_-121712_SPEC = 'MATRIX' TKFRAME_-121712_MATRIX = ( -0.90630779, 0.0, 0.42261826, 0.0, -1.0, 0.0, 0.42261826, 0.0, 0.90630779 ) FRAME_MPO_SIXS-X-3 = -121713 FRAME_-121713_NAME = 'MPO_SIXS-X-3' FRAME_-121713_CLASS = 4 FRAME_-121713_CLASS_ID = -121713 FRAME_-121713_CENTER = -121 TKFRAME_-121713_RELATIVE = 'MPO_SIXS-X' TKFRAME_-121713_SPEC = 'MATRIX' TKFRAME_-121713_MATRIX = ( -0.29883624, -0.29883624, 0.90630779, 0.70710678, -0.70710678, 0.0, 0.64085638, 0.64085638, 0.42261826 ) \begintext SIXS Particle detector Frames: ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The Particle detectors are placed in the Particle detector cover and the axis of their boresights have the following orientation: Particle detector Azimuth [degrees] Elevation [degrees] ----------------- ----------------- ------------------- P-0 180.00 83.00 P-1 135.00 -5.00 P-2 -135.00 -5.00 P-3 -45.00 5.00 P-4 45.00 5.00 An auxiliary base frame for the Particle detector -- MPO_SIXS-P -- is used as a reference for the frame of each individial Particle Detector. The MPO_SIXS-P frame is coaligned with the SIXS System Unit frame. The SIXS Particle detectors frames -- MPO_SIXS-P-0, MPO_SIXS-P-1, MPO_SIXS-P-2, MPO_SIXS-P-4, MPO_SIXS-P-4 -- are defined as (from [17]): - +Z is parallel to the boresight of the given Particle detector; - +Y axis is parallel to the core detector longer side; - +X axis completes the right-handed frame; - the origin of this frame is located at the intersection of the detector boresight with the core detector scintillator. This diagrams partially illustrates the nominal SIXS Particle detectors frames with respect to the spacecraft and SIXS System Unit frames. +Y SIXS Sensor Unit (SU) side view: ----------------------------------- +Zsixs_p0 ^ \ \ > +Zsixs_p1* \ . ' P-0 \ . ' .-==-.' Particle protecting --> P-2 |O O| P-1 .> +Zsixs_x2 dome and sensors .--.--. . ' | | '. ' | | '. | | \ | | \ | | O \ <--- X-ray detectors | | X-2 \ '--'----------- || +Xsc .--. x----------> +Xsixs_su, | ^|+Zsixs_su | +Ysc and +Ysc are out | || | of the page | || | | || | *is a projection ---- x------> --- MPO S/C v +Ysixs_su +Xsixs_su +Zsc Here we use the rotation matrices from the SIXS Particle detectors frames to the SIXS Particle detectors base frame. This is incorporated by the frame definitions below. \begindata FRAME_MPO_SIXS-P = -121720 FRAME_-121720_NAME = 'MPO_SIXS-P' FRAME_-121720_CLASS = 4 FRAME_-121720_CLASS_ID = -121720 FRAME_-121720_CENTER = -121 TKFRAME_-121720_RELATIVE = 'MPO_SIXS_SU' TKFRAME_-121720_SPEC = 'ANGLES' TKFRAME_-121720_UNITS = 'DEGREES' TKFRAME_-121720_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-121720_AXES = ( 1, 3, 1 ) FRAME_MPO_SIXS-P-0 = -121721 FRAME_-121721_NAME = 'MPO_SIXS-P-0' FRAME_-121721_CLASS = 4 FRAME_-121721_CLASS_ID = -121721 FRAME_-121721_CENTER = -121 TKFRAME_-121721_RELATIVE = 'MPO_SIXS-P' TKFRAME_-121721_SPEC = 'MATRIX' TKFRAME_-121721_MATRIX = ( 0.99254615, -0.0, 0.12186934, 0.0, 1.0, 0.0, -0.12186934, 0.0, 0.99254615 ) FRAME_MPO_SIXS-P-1 = -121722 FRAME_-121722_NAME = 'MPO_SIXS-P-1' FRAME_-121722_CLASS = 4 FRAME_-121722_CLASS_ID = -121722 FRAME_-121722_CENTER = -121 TKFRAME_-121722_RELATIVE = 'MPO_SIXS-P' TKFRAME_-121722_SPEC = 'MATRIX' TKFRAME_-121722_MATRIX = ( 0.06162842, -0.06162842, -0.9961947, -0.70710678, -0.70710678, 0.0, -0.70441603, 0.70441603, -0.08715574 ) FRAME_MPO_SIXS-P-2 = -121723 FRAME_-121723_NAME = 'MPO_SIXS-P-2' FRAME_-121723_CLASS = 4 FRAME_-121723_CLASS_ID = -121723 FRAME_-121723_CENTER = -121 TKFRAME_-121723_RELATIVE = 'MPO_SIXS-P' TKFRAME_-121723_SPEC = 'MATRIX' TKFRAME_-121723_MATRIX = ( 0.06162842, 0.06162842, -0.9961947, 0.70710678, -0.70710678, 0.0, -0.70441603, -0.70441603, -0.08715574 ) FRAME_MPO_SIXS-P-3 = -121724 FRAME_-121724_NAME = 'MPO_SIXS-P-3' FRAME_-121724_CLASS = 4 FRAME_-121724_CLASS_ID = -121724 FRAME_-121724_CENTER = -121 TKFRAME_-121724_RELATIVE = 'MPO_SIXS-P' TKFRAME_-121724_SPEC = 'MATRIX' TKFRAME_-121724_MATRIX = ( -0.06162842, 0.06162842, 0.9961947, -0.70710678, -0.70710678, 0.0, 0.70441603, -0.70441603, 0.08715574 ) FRAME_MPO_SIXS-P-4 = -121725 FRAME_-121725_NAME = 'MPO_SIXS-P-4' FRAME_-121725_CLASS = 4 FRAME_-121725_CLASS_ID = -121725 FRAME_-121725_CENTER = -121 TKFRAME_-121725_RELATIVE = 'MPO_SIXS-P' TKFRAME_-121725_SPEC = 'MATRIX' TKFRAME_-121725_MATRIX = ( -0.06162842, -0.06162842, 0.9961947, 0.70710678, -0.70710678, 0.0, 0.70441603, 0.70441603, 0.08715574 ) \begintext ISA (Italian Spring Accelerometer) Frames: ------------------------------------------------------------------------------ This section of the file contains the definitions of the ISA frames. ISA Frame Tree: ~~~~~~~~~~~~~~~~ The diagram below shows the ISA frame hierarchy. "J2000" INERTIAL --------------- | |<-ck | V "MPO_SPACECRAFT" ---------------- | |<-fixed | V "MPO_ISA" +---------------------------------+ | | | |<-fixed |<-fixed |<-fixed | | | V V V "MPO_ISA_ACCEL-X" "MPO_ISA_ACCEL-Y" "MPO_ISA_ACCEL-Z" ----------------- ----------------- ----------------- ISA Frame: ~~~~~~~~~~ The ISA accelerometers are acommodated on the S/C +X panel the S/C bus. Therefore, the frame associated with it -- the ISA frame, MPO_ISA -- is specified as a fixed offset frame relative with its orientation given relative to the MPO_SPACECRAFT frame. The ISA frame -- MPO_ISA -- is defined as (from [17]): - +Y axis is nominaly co-aligned with the S/C +Y axis; - +Z axis is nominaly co-aligned with the S/C +Z axis; - +X axis completes the right-handed frame; - the origin of this frame is located at geometrical center of the top left panel support connector. This diagram illustrates the nominal MPO_ISA frame with respect to the spacecraft frame. -X S/C side view: ----------------- / \ \O ||\__ .---------. o==o======n________/ \_ / |\ / | o. / |/ ' . Rotating / x-------> | ' . Solar Panel / | +Ysc | ' . / | | ' . / | o-----------> ' . /--------|----|--------' +Yisa | | v | +Zsc/nadir | | V +Zisa Xsc is into the page +Zisa is out of the page \begindata FRAME_MPO_ISA = -121810 FRAME_-121810_NAME = 'MPO_ISA' FRAME_-121810_CLASS = 4 FRAME_-121810_CLASS_ID = -121810 FRAME_-121810_CENTER = -121 TKFRAME_-121810_RELATIVE = 'MPO_SPACECRAFT' TKFRAME_-121810_SPEC = 'ANGLES' TKFRAME_-121810_UNITS = 'DEGREES' TKFRAME_-121810_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-121810_AXES = ( 1, 2, 3 ) \begintext ISA Accelerometers Frames: ~~~~~~~~~~~~~~~~~~~~~~~~~~ The ISA accelerometers are acommodated on the S/C +X panel the S/C bus. Therefore, the frame associated with them -- the ISA Accelerometer X, Y and Z frames, MPO_ISA-X, MPO_ISA-Y and MPO_ISA-Z -- are specified as fixed offset frames relative with its orientation given relative to the MPO_ISA frame. The ISA Accelerometer X frame -- MPO_ISA-X -- is defined as (from [17]): - +Z axis is nominaly co-aligned with the ISA +X axis; - +X axis is nominaly co-aligned with the ISA +Y axis; - +Y axis completes the right-handed frame; - the origin of this frame is located at geometrical center of the accelerometer. The ISA Accelerometer Y frame -- MPO_ISA-Y -- is defined as (from [17]): - +Z axis is nominaly co-aligned with the ISA +Y axis; - +X axis is nominaly co-aligned with the ISA +Z axis; - +Y axis completes the right-handed frame; - the origin of this frame is located at geometrical center of the accelerometer. The ISA Accelerometer Z frame -- MPO_ISA-Z -- is defined as (from [17]): - +Z axis is nominaly co-aligned with the ISA +Z axis; - +X axis is nominaly co-aligned with the ISA +X axis; - +Y axis completes the right-handed frame; - the origin of this frame is located at geometrical center of the accelerometer. These diagrams illustrate the nominal MPO_ISA-* frames with respect to the spacecraft frame (where * is X, Y and Z). +Z ISA side view: ----------------- +Yisa .---------- o----------> ------------------------------------. | | | | | .---------. .--------------------. | | +Xisa| | | | | | | .--------v---------. | | | | | | |ACCEL-X | |ACCEL-Y | | ACCEL-Z | | | | o-----> | | o-----> | o-----> | | | | | +Xisa-x| | | +Zisa-y | +Yisa-z | | | | | | | | | | | | '--------v---------' | v | | v | | | +Zisa-x | +Yisa-y | | +Xisa-z | | | '---------' '--------------------' | |____________________________________________________________| +Zisa, +Yisa-X, +Xisa-Y and +Zisa-Z are out of the page +X ISA side view: ----------------- ACCEL-X ACCEL-Y ACCEL-Z +Yisa-x ^ +Xisa-x ^ +Zisa-z ^ .---|---. .----|----. .----------|---------. | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | o-------> | o------>| o------> | | +Zisa +Xisa-x | +Zisa-y +Yisa-z _| ^ |_ | | | | | | | | | | | '----------|-------'__'---------'__'--------------------' |=======|================================| |==| | |=====| |==| |==| | |=====| |==| ------------ o---------------> ------------------------------- +Yisa +Xisa, +Zisa-X, +Yisa-Y and +Xisa-Z are out of the page Nominally, simple rotations of 90 degrees about different ISA axis are required to align the MPO_ISA to the MPO_ISA-* frames. Since the SPICE frames subsystem calls for specifying the reverse transformation -- going from the instrument or structure frame to the base frame -- as compared to the description given above, the order of rotations assigned to the TKFRAME_*_AXES keyword is also reversed compared to the above text, and the signs associated with the rotation angles assigned to the TKFRAME_*_ANGLES keyword are the opposite from what is written in the above text. \begindata FRAME_MPO_ISA-X = -121811 FRAME_-121811_NAME = 'MPO_ISA-X' FRAME_-121811_CLASS = 4 FRAME_-121811_CLASS_ID = -121811 FRAME_-121811_CENTER = -121 TKFRAME_-121811_RELATIVE = 'MPO_SPACECRAFT' TKFRAME_-121811_SPEC = 'ANGLES' TKFRAME_-121811_UNITS = 'DEGREES' TKFRAME_-121811_ANGLES = ( 0.0, -90.0, -90.0 ) TKFRAME_-121811_AXES = ( 3, 1, 2 ) FRAME_MPO_ISA-Y = -121812 FRAME_-121812_NAME = 'MPO_ISA-Y' FRAME_-121812_CLASS = 4 FRAME_-121812_CLASS_ID = -121812 FRAME_-121812_CENTER = -121 TKFRAME_-121812_RELATIVE = 'MPO_SPACECRAFT' TKFRAME_-121812_SPEC = 'ANGLES' TKFRAME_-121812_UNITS = 'DEGREES' TKFRAME_-121812_ANGLES = ( 0.0, -90.0, -90.0 ) TKFRAME_-121812_AXES = ( 3, 2, 1 ) FRAME_MPO_ISA-Z = -121813 FRAME_-121813_NAME = 'MPO_ISA-Z' FRAME_-121813_CLASS = 4 FRAME_-121813_CLASS_ID = -121813 FRAME_-121813_CENTER = -121 TKFRAME_-121813_RELATIVE = 'MPO_SPACECRAFT' TKFRAME_-121813_SPEC = 'ANGLES' TKFRAME_-121813_UNITS = 'DEGREES' TKFRAME_-121813_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-121813_AXES = ( 1, 2, 3 ) \begintext MGNS (Mercury Gamma and Neutron Spectrometer) Frames: ------------------------------------------------------------------------------ This section of the file contains the definitions of the MGNS frames. MGNS Frame Tree: ~~~~~~~~~~~~~~~~ The diagram below shows the MGNS frame hierarchy. "J2000" INERTIAL --------------- | |<-ck | V "MPO_SPACECRAFT" ---------------- | |<-fixed | V "MPO_MGNS" ---------- MGNS base frame ~~~~~~~~~~~~~~~~ The Mercury Gamma and Neutron Spectrometer (MGNS) is rigidly mounted on the spacecraft Science Deck. The base frame -- MPO_MGNS, associated to it, maps the MPO spacecraft reference axis defined in the mechanical drawings and it is specified as a fixed-offset frame with its orientation aligned to the MPO_SPACECRAFT frame. The MGNS base frame is defined by the detector design and its mounting on the spacecraft as follows (from [21]): - +Y axis passes through the next fixation hole at the same side of the unit; it is nominally co-aligned with the spacecraft +Z axis; - +Z axis is is perpendicular to the interface plane towards the unit; it is nominally co-aligned with the spacecraft +Z axis; - +X axis completes the right-handed frame; - the origin is located at the unit reference foot at the unit to spacecraft interface plane. This diagram illustrates the nominal MPO_MGNS frame with respect to the spacecraft frame. -X S/C side view: ----------------- / \ \O ||\__ .---------. o==o======n________/ \_ / |\ / | o. / |/ ' . Rotating / x-------> | ' . Solar Panel / | +Ysc | ' . / | | ' . / | o-----------> ' . /--------|----|--------' +Ymgns | | v | +Zsc/nadir | | V +Zmgns Xsc is into the page +Zmgns is out of the page Nominally, the MPO_MGNS and the MPO_SPACECRAFT frames are co-aligned. \begindata FRAME_MPO_MGNS = -121820 FRAME_-121820_NAME = 'MPO_MGNS' FRAME_-121820_CLASS = 4 FRAME_-121820_CLASS_ID = -121820 FRAME_-121820_CENTER = -121 TKFRAME_-121820_RELATIVE = 'MPO_SPACECRAFT' TKFRAME_-121820_SPEC = 'ANGLES' TKFRAME_-121820_UNITS = 'DEGREES' TKFRAME_-121820_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-121820_AXES = ( 1, 2, 3 ) \begintext MPO-MAG Frames: -------------------------------------------------------------------------- This section contains the definition of the MPO Mercury Magnetometer (MPO-MAG) instrument frames. The MPO-MAG instrument is the MPO component of the Magnetic Field Investigation on the BepiColombo mission (MERMAG). MPO-MAG Frame Tree: ~~~~~~~~~~~~~~~~~~~ The diagram below shows the MPO_MAG frame hierarchy: "MPO_SPACECRAFT" ------------------ | |<-fixed | v "MPO_MAG_BOOM-H" ------------------ | |<-ck | v "MPO_MAG_BOOM" +------------------------+ | | |<-fixed |<-fixed | | v v "MPO_MPO-MAG_IBS" "MPO_MPO-MAG_OBS" ----------------- ----------------- MPO-MAG frames definitions: ~~~~~~~~~~~~~~~~~~~~~~~~~~~ The MPO-MAG experiment comprises two sensors mounted in the MPO Magnetometer Boom at different distances from the boom's hinge. The deployable boom that is located on the -X side in the plane of the radiator and tilted 10 degrees to nadir. The innermost is called the in-board sensor (IBS) and it is a fluxgate magnetometer. A second fluxgate magnetometer, called the out-board sensor (OBS), is located at the tip of the boom. Each of the sensor's frames -- MPO_MPO-MAG_IBS, MPO_MPO-MAG_OBS -- are defined as follows (from [22]): - +Z axis is parallel to the boom and points from the boom deployment hinge toward the sensor; - +X axis is nominally co-aligned with the boom's +X axis; - +Y axis completes the right hand frame; - the origin of the frame is located at the geometric center of the sensor. These diagrams illustrates the MPO_MPO-MAG sensors' frames: +X Magnetometer Boom side view: ------------------------------- +Zobs ^ | .-|-. +Yobs MPO-MAG Outboard Sensor | o--------> (MPO-MAG_OBS) '---' | | | | | | | | |^ +Zibs ||| .-|-. +Yibs MPO-MAG Inboard Sensor | o--------> (MPO-MAG_IBS) '---' | | | | ~~~ ~~~ | | | | |^ +Zmagb ||| ||| ||| +Ymagb o--------> +Xmagb +Xmagb, +Xibs, +Xobs and +Xsca are out of the page -Z S/C side view: ----------------- ^ Xmga_boom / / / MPO 0 <--- MPO-MAG_OBS Magnetometer ---> / Boom / Ymga_boom 0 <--- MPO-MAG_IBS <--.. / _ ''--.. / 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. Nominally, the two MPO-MAG sensors frames are co-aligned with the magnetometer 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_MPO-MAG_IBS = -121901 FRAME_-121901_NAME = 'MPO_MPO-MAG_IBS' FRAME_-121901_CLASS = 4 FRAME_-121901_CLASS_ID = -121901 FRAME_-121901_CENTER = -121 TKFRAME_-121901_RELATIVE = 'MPO_MAG_BOOM' TKFRAME_-121901_SPEC = 'ANGLES' TKFRAME_-121901_UNITS = 'DEGREES' TKFRAME_-121901_AXES = ( 1, 2, 3 ) TKFRAME_-121901_ANGLES = ( 0.0, 0.0, 0.0 ) FRAME_MPO_MPO-MAG_OBS = -121902 FRAME_-121902_NAME = 'MPO_MPO-MAG_OBS' FRAME_-121902_CLASS = 4 FRAME_-121902_CLASS_ID = -121902 FRAME_-121902_CENTER = -121 TKFRAME_-121902_RELATIVE = 'MPO_MAG_BOOM' TKFRAME_-121902_SPEC = 'ANGLES' TKFRAME_-121902_UNITS = 'DEGREES' TKFRAME_-121902_AXES = ( 1, 2, 3 ) TKFRAME_-121902_ANGLES = ( 0.0, 0.0, 0.0 ) \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_SA -121012 MPO_OB -121013 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 --------------------- ------- -------------------------- 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); \begindata 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 -121100 MPO_BELA_TRANSMITTER -121101 MPO_BELA_RECEIVER -121102 ---------------------- -------- Name-ID Mapping keywords: \begindata NAIF_BODY_NAME += ( 'MPO_BELA' ) NAIF_BODY_CODE += ( -121101 ) NAIF_BODY_NAME += ( 'MPO_BELA_TRANSMITTER' ) NAIF_BODY_CODE += ( -121101 ) NAIF_BODY_NAME += ( 'MPO_BELA_RECEIVER' ) NAIF_BODY_CODE += ( -121102 ) \begintext MERTIS: ------- This table summarizes MERTIS IDs: ---------------------- -------- Name ID ---------------------- -------- MPO_MERTIS_PLANET -121201 MPO_MERTIS_SPACE -121202 MPO_MERTIS_TIS -121210 MPO_MERTIS_TIS_PLANET -121211 MPO_MERTIS_TIS_SPACE -121212 MPO_MERTIS_TIR -121220 MPO_MERTIS_TIR_PLANET -121221 MPO_MERTIS_TIR_SPACE -121222 MPO_MERTIS -121230 ---------------------- -------- Name-ID Mapping keywords: \begindata NAIF_BODY_NAME += ( 'MPO_MERTIS_PLANET' ) NAIF_BODY_CODE += ( -121201 ) NAIF_BODY_NAME += ( 'MPO_MERTIS_SPACE' ) NAIF_BODY_CODE += ( -121202 ) NAIF_BODY_NAME += ( 'MPO_MERTIS_TIS' ) NAIF_BODY_CODE += ( -121210 ) NAIF_BODY_NAME += ( 'MPO_MERTIS_TIS_PLANET' ) NAIF_BODY_CODE += ( -121211 ) NAIF_BODY_NAME += ( 'MPO_MERTIS_TIS_SPACE' ) NAIF_BODY_CODE += ( -121212 ) NAIF_BODY_NAME += ( 'MPO_MERTIS_TIR' ) NAIF_BODY_CODE += ( -121220 ) NAIF_BODY_NAME += ( 'MPO_MERTIS_TIR_PLANET' ) NAIF_BODY_CODE += ( -121221 ) NAIF_BODY_NAME += ( 'MPO_MERTIS_TIR_SPACE' ) NAIF_BODY_CODE += ( -121222 ) NAIF_BODY_NAME += ( 'MPO_MERTIS' ) NAIF_BODY_CODE += ( -121230 ) \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 += ( -121310 ) NAIF_BODY_NAME += ( 'MPO_MIXS-T' ) NAIF_BODY_CODE += ( -121320 ) \begintext PHEBUS: ------- This table summarizes PHEBUS IDs: ---------------------- -------- Name ID ---------------------- -------- MPO_PHEBUS -121430 MPO_PHEBUS_EUV -121431 MPO_PHEBUS_FUV -121432 MPO_PHEBUS_NUV -121433 MPO_PHEBUS_NUV_CA -121434 MPO_PHEBUS_NUV_K -121435 MPO_PHEBUS_FULL-1 -121432 MPO_PHEBUS_FULL-2 -121433 MPO_PHEBUS_FULL-3 -121434 MPO_PHEBUS_FULL-4 -121435 MPO_PHEBUS_PB -121411 ---------------------- -------- Name-ID Mapping keywords: \begindata NAIF_BODY_NAME += ( 'MPO_PHEBUS' ) NAIF_BODY_CODE += ( -121430 ) NAIF_BODY_NAME += ( 'MPO_PHEBUS_FUV' ) NAIF_BODY_CODE += ( -121432 ) NAIF_BODY_NAME += ( 'MPO_PHEBUS_NUV' ) NAIF_BODY_CODE += ( -121433 ) NAIF_BODY_NAME += ( 'MPO_PHEBUS_NUV_CA' ) NAIF_BODY_CODE += ( -121434 ) NAIF_BODY_NAME += ( 'MPO_PHEBUS_NUV_K' ) NAIF_BODY_CODE += ( -121435 ) NAIF_BODY_NAME += ( 'MPO_PHEBUS_EUV' ) NAIF_BODY_CODE += ( -121431 ) NAIF_BODY_NAME += ( 'MPO_PHEBUS_FULL-1' ) NAIF_BODY_CODE += ( -121432 ) NAIF_BODY_NAME += ( 'MPO_PHEBUS_FULL-2' ) NAIF_BODY_CODE += ( -121433 ) NAIF_BODY_NAME += ( 'MPO_PHEBUS_FULL-3' ) NAIF_BODY_CODE += ( -121434 ) NAIF_BODY_NAME += ( 'MPO_PHEBUS_FULL-4' ) NAIF_BODY_CODE += ( -121435 ) NAIF_BODY_NAME += ( 'MPO_PHEBUS_PB' ) NAIF_BODY_CODE += ( -121411 ) \begintext SERENA: ------- This table summarizes PHEBUS IDs: ---------------------- -------- Name ID ---------------------- -------- MPO_SERENA_ELENA -121510 MPO_SERENA_MIPA -121520 MPO_SERENA_PICAM -121530 MPO_SERENA_STROFIO -121543 MPO_SERENA_STROFIO+X -121541 MPO_SERENA_STROFIO-X -121542 ---------------------- -------- Name-ID Mapping keywords: \begindata NAIF_BODY_NAME += ( 'MPO_SERENA_ELENA' ) NAIF_BODY_CODE += ( -121510 ) NAIF_BODY_NAME += ( 'MPO_SERENA_MIPA' ) NAIF_BODY_CODE += ( -121520 ) NAIF_BODY_NAME += ( 'MPO_SERENA_PICAM' ) NAIF_BODY_CODE += ( -121530 ) NAIF_BODY_NAME += ( 'MPO_SERENA_STROFIO+X' ) NAIF_BODY_CODE += ( -121541 ) NAIF_BODY_NAME += ( 'MPO_SERENA_STROFIO-X' ) NAIF_BODY_CODE += ( -121542 ) NAIF_BODY_NAME += ( 'MPO_SERENA_STROFIO' ) NAIF_BODY_CODE += ( -121543 ) \begintext SIMBIO-SYS: ----------- This table summarizes SIMBIO-SYS IDs: ------------------------- -------- Name ID ------------------------- -------- MPO_SIMBIO-SYS_HRIC -121610 MPO_SIMBIO-SYS_HRIC_F550 -121611 MPO_SIMBIO-SYS_HRIC_P650 -121612 MPO_SIMBIO-SYS_HRIC_F750 -121613 MPO_SIMBIO-SYS_HRIC_F880 -121614 MPO_SIMBIO-SYS_STC -121630 MPO_SIMBIO-SYS_STC-L -121631 MPO_SIMBIO-SYS_STC-H -121632 MPO_SIMBIO-SYS_STC-L_F550 -121623 MPO_SIMBIO-SYS_STC-L_F420 -121624 MPO_SIMBIO-SYS_STC-L_P700 -121625 MPO_SIMBIO-SYS_STC-H_P700 -121626 MPO_SIMBIO-SYS_STC-H_F920 -121627 MPO_SIMBIO-SYS_STC-H_F700 -121628 MPO_SIMBIO-SYS_VIHI -121630 ------------------------- -------- Name-ID Mapping keywords: \begindata NAIF_BODY_NAME += ( 'MPO_SIMBIO-SYS_HRIC' ) NAIF_BODY_CODE += ( -121610 ) NAIF_BODY_NAME += ( 'MPO_SIMBIO-SYS_HRIC_F550' ) NAIF_BODY_CODE += ( -121611 ) NAIF_BODY_NAME += ( 'MPO_SIMBIO-SYS_HRIC_P650' ) NAIF_BODY_CODE += ( -121612 ) NAIF_BODY_NAME += ( 'MPO_SIMBIO-SYS_HRIC_F750' ) NAIF_BODY_CODE += ( -121613 ) NAIF_BODY_NAME += ( 'MPO_SIMBIO-SYS_HRIC_F880' ) NAIF_BODY_CODE += ( -121614 ) NAIF_BODY_NAME += ( 'MPO_SIMBIO-SYS_STC' ) NAIF_BODY_CODE += ( -121620 ) NAIF_BODY_NAME += ( 'MPO_SIMBIO-SYS_STC-L' ) NAIF_BODY_CODE += ( -121621 ) NAIF_BODY_NAME += ( 'MPO_SIMBIO-SYS_STC-H' ) NAIF_BODY_CODE += ( -121622 ) NAIF_BODY_NAME += ( 'MPO_SIMBIO-SYS_STC-L_F550' ) NAIF_BODY_CODE += ( -121623 ) NAIF_BODY_NAME += ( 'MPO_SIMBIO-SYS_STC-L_F420' ) NAIF_BODY_CODE += ( -121624 ) NAIF_BODY_NAME += ( 'MPO_SIMBIO-SYS_STC-L_P700' ) NAIF_BODY_CODE += ( -121625 ) NAIF_BODY_NAME += ( 'MPO_SIMBIO-SYS_STC-H_P700' ) NAIF_BODY_CODE += ( -121626 ) NAIF_BODY_NAME += ( 'MPO_SIMBIO-SYS_STC-H_F920' ) NAIF_BODY_CODE += ( -121627 ) NAIF_BODY_NAME += ( 'MPO_SIMBIO-SYS_STC-H_F700' ) NAIF_BODY_CODE += ( -121628 ) NAIF_BODY_NAME += ( 'MPO_SIMBIO-SYS_VIHI' ) NAIF_BODY_CODE += ( -121630 ) \begintext SIXS: ----- This table summarizes SIXS IDs: -------------- -------- Name ID -------------- -------- MPO_SIXS -121700 MPO_SIXS-X -121710 MPO_SIXS-X-1 -121711 MPO_SIXS-X-2 -121712 MPO_SIXS-X-3 -121713 MPO_SIXS-P -121720 MPO_SIXS-P-0 -121721 MPO_SIXS-P-1 -121722 MPO_SIXS-P-2 -121723 MPO_SIXS-P-3 -121724 MPO_SIXS-P-4 -121725 -------------- -------- Name-ID Mapping keywords: \begindata NAIF_BODY_NAME += ( 'MPO_SIXS' ) NAIF_BODY_CODE += ( -121700 ) NAIF_BODY_NAME += ( 'MPO_SIXS-X' ) NAIF_BODY_CODE += ( -121710 ) NAIF_BODY_NAME += ( 'MPO_SIXS-X-1' ) NAIF_BODY_CODE += ( -121711 ) NAIF_BODY_NAME += ( 'MPO_SIXS-X-2' ) NAIF_BODY_CODE += ( -121712 ) NAIF_BODY_NAME += ( 'MPO_SIXS-X-3' ) NAIF_BODY_CODE += ( -121713 ) NAIF_BODY_NAME += ( 'MPO_SIXS-P' ) NAIF_BODY_CODE += ( -121720 ) NAIF_BODY_NAME += ( 'MPO_SIXS-P-0' ) NAIF_BODY_CODE += ( -121721 ) NAIF_BODY_NAME += ( 'MPO_SIXS-P-1' ) NAIF_BODY_CODE += ( -121722 ) NAIF_BODY_NAME += ( 'MPO_SIXS-P-2' ) NAIF_BODY_CODE += ( -121723 ) NAIF_BODY_NAME += ( 'MPO_SIXS-P-3' ) NAIF_BODY_CODE += ( -121724 ) NAIF_BODY_NAME += ( 'MPO_SIXS-P-4' ) NAIF_BODY_CODE += ( -121725 ) \begintext ISA: ---- This table summarizes ISA IDs: -------------- -------- Name ID -------------- -------- MPO_ISA -121810 MPO_ISA_ACCEL-X -121811 MPO_ISA_ACCEL-Y -121812 MPO_ISA_ACCEL-Z -121813 ---------------- -------- Name-ID Mapping keywords: \begindata NAIF_BODY_NAME += ( 'MPO_ISA' ) NAIF_BODY_CODE += ( -121810 ) NAIF_BODY_NAME += ( 'MPO_ISA_ACCEL-X' ) NAIF_BODY_CODE += ( -121811 ) NAIF_BODY_NAME += ( 'MPO_ISA_ACCEL-Y' ) NAIF_BODY_CODE += ( -121812 ) NAIF_BODY_NAME += ( 'MPO_ISA_ACCEL-Z' ) NAIF_BODY_CODE += ( -121813 ) \begintext MORE: ----- This table summarizes MORE IDs: -------------- -------- Name ID -------------- -------- MPO_MORE -121800 -------------- -------- Name-ID Mapping keywords: \begindata NAIF_BODY_NAME += ( 'MPO_MORE' ) NAIF_BODY_CODE += ( -121800 ) \begintext MGNS: ----- This table summarizes MGNS IDs: -------------- -------- Name ID -------------- -------- MPO_MGNS -121810 -------------- -------- Name-ID Mapping keywords: \begindata NAIF_BODY_NAME += ( 'MPO_MGNS' ) NAIF_BODY_CODE += ( -121810 ) \begintext MPO-MAG: -------- This table summarizes MPO-MAG IDs: ---------------- -------- Name ID ---------------- -------- MPO_MPO-MAG -121900 MPO_MPO-MAG_IBS -121901 MPO_MPO-MAG_OBS -121902 -------------- -------- Name-ID Mapping keywords: \begindata NAIF_BODY_NAME += ( 'MPO_MPO-MAG' ) NAIF_BODY_CODE += ( -121900 ) NAIF_BODY_NAME += ( 'MPO_MPO-MAG_IBS' ) NAIF_BODY_CODE += ( -121901 ) NAIF_BODY_NAME += ( 'MPO_MPO-MAG_OBS' ) NAIF_BODY_CODE += ( -121902 ) \begintext BERM: ----- This table summarizes BERM IDs: -------------- -------- Name ID -------------- -------- MPO_BERM -121903 -------------- -------- Name-ID Mapping keywords: \begindata NAIF_BODY_NAME += ( 'MPO_BERM' ) NAIF_BODY_CODE += ( -121903 ) \begintext End of FK file.