KPL/FK BepiColombo MTM Spacecraft Frames Kernel ============================================================================= This frame kernel contains complete set of frame definitions for the BepiColombo Mercury Transfer Module Spacecraft (MTM) including definitions for the MTM fixed and MTM instrument frames. This kernel also contains NAIF ID/name mapping for the MTM science instruments and S/C structures (see the last section of the file). Version and Date ----------------------------------------------------------------------------- Version 0.0 -- October 2, 2017 -- Michele Zusi, INAF James Windsor, ESTEC/ESA Marc Costa Sitja, ESAC/ESA Initial prototype release. References ----------------------------------------------------------------------------- TO BE UPDATED! 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 8. ``HGAMA IDCD'', BC-ALS-ID-00002, Issue 3, Revision 2, Thales Alenia Space, 30 July 2010 9. ``Angular Movement of HGA and MGA'', BC-ASD-TN-00096, Issue 2.0, EADS Astrium GmbH, 17th May 2013 10. ``MGB Interfaces'', BC-SEN-ID-10002, SENER, 20th October 2009 11. ``MGAMA Interface Drawing'', BC-SEN-ID-10002, SENER, 10th February 2011 12. ``BepiColombo - MGA Major Assembly & HGA Pointing Assembly - MGAMA Users Manual'', BC-SEN-UM-10001, SENER, Revision 1, 14th March 2005 Contact Information ----------------------------------------------------------------------------- If you have any questions regarding this file contact SPICE support at ESAC: Marc Costa Sitja (+34) 91-8131-457 mcosta@sciops.esa.int, esa_spice@sciops.esa.int or NAIF at JPL: Boris Semenov (818) 354-8136 Boris.Semenov@jpl.nasa.gov Implementation Notes ----------------------------------------------------------------------------- This file is used by the SPICE system as follows: programs that make use of this frame kernel must "load" the kernel normally during program initialization. Loading the kernel associates the data items with their names in a data structure called the "kernel pool". The SPICELIB routine FURNSH loads a kernel into the pool as shown below: FORTRAN: (SPICELIB) CALL FURNSH ( frame_kernel_name ) C: (CSPICE) furnsh_c ( frame_kernel_name ); IDL: (ICY) cspice_furnsh, frame_kernel_name MATLAB: (MICE) cspice_furnsh ( 'frame_kernel_name' ) PYTHON: (SPICEYPY)* furnsh( frame_kernel_name ) In order for a program or routine to extract data from the pool, the SPICELIB routines GDPOOL, GIPOOL, and GCPOOL are used. See [2] for more details. This file was created and may be updated with a text editor or word processor. * SPICEPY is a non-official, community developed Python wrapper for the NAIF SPICE toolkit. Its development is managed on Github. It is available at: https://github.com/AndrewAnnex/SpiceyPy BepiColombo MTM Mission NAIF ID Codes ----------------------------------------------------------------------------- The following names and NAIF ID codes are assigned to the MTM 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): MTM Spacecraft and Spacecraft Structures names/IDs: MTM -174 (synonyms: BEPICOLOMBO MTM, MERCURY TRANSFERM MODULE) MTM_SPACECRAFT -174000 (synonym: MTM_SC) MTM_SA -174012 M-CAM names/ID: MTM_MCAM1 -174950 MTM_MCAM2 -174960 MTM_MCAM3 -174970 MTM_MCAMum -174980 BepiColombo MTM Mission Frames ----------------------------------------------------------------------------- The following MTM frames are defined in this kernel file: Name Relative to Type NAIF ID ====================== ===================== ============ ========= Spacecraft frames: ------------------ MTM_SPACECRAFT J2000 CK -174000 MTM_SPACECRAFT_CRUISE MPO_SPACECRAFT CK -174001 MTM_MRC-1 MTM_SPACECRAFT FIXED -174002 MTM_SA_GIMBAL MTM_SPACECRAFT FIXED -174010 MTM_SA_SADM MTM_SA_GIMBAL FIXED -174011 MTM_SA MTM_SA_SADM CK -174012 MCAM Frames: ------------------ MTM_MCAM1 XXX XXX -174950 MTM_MCAM2 XXX XXX -174960 MTM_MCAM3 XXX XXX -174970 MTM_MCAMum XXX XXX -174980 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 MTM Frames Hierarchy ----------------------------------------------------------------------------- The diagram below shows the BepiColombo MTM spacecraft and its structures frame hierarchy (not including science instrument frames.) BC_MME_IAU2006_OF_DATE ---------------------- ^ | BC_MME_IAU2006_J2000 | -------------------- | ^ | | BC_MME_IAU2009_OF_DATE BC_MERCURY_BSM | | ---------------------- -------------- | | ^ ^ | | | BC_MME_IAU2009_J2000 MERCURY_SUN_ORB | | | | -------------------- --------------- | | | | ^ ^ | | | | | | | dyn->| fxd->| dyn->| fxd->| dyn->| dyn->| | | | | | | | | | | J2000" INERTIAL | | +-----------------------------------------------------------+ | | | | |<-pck |<-ck |<-pck |<-pck | | | | V | V V "IAU_MERCURY" | "IAU_EARTH" "IAU_VENUS" ------------- | ----------- ---------- | | V "MTM_SPACECRAFT" +----------------------------------------------------------------+ | |<-fixed | V "MTM_SA_GIMBAL" -------------- | |<-fixed | V "MTM_SA_SADM" ------------- | |<-ck | V "MTM_SA" -------- MTM 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 MTM_SPACECRAFT frame, the center of which is defined by the position given by the SPK (ephemeris) kernel in use. MTM Spacecraft Bus Frame ----------------------------------------------------------------------------- The MTM spacecraft frame -- MTM_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/MTM interface point on the separation plane. These diagram(s) illustrate the MTM_SPACECRAFT frame: TO BE UPDATED 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_MTM_SPACECRAFT = -174000 FRAME_-174000_NAME = 'MTM_SPACECRAFT' FRAME_-174000_CLASS = 3 FRAME_-174000_CLASS_ID = -174000 FRAME_-174000_CENTER = -174 CK_-174000_SCLK = -174 CK_-174000_SPK = -174 \begintext MTM Spacecraft Cruise Frame ---------------------------------------------------------------------------- The MMO Spacecraft Cruise frame -- MMO_SPACECRAFT_CRUISE -- is a special frame used in cruise in order to "attach" the MTM spacecraft to the MCS during the cruise phase, it is defined as follows (from [4]): - +Z axis is TBD; - +X axis is TBD; - +Y axis completes the right-handed frame; - the origin of this frame is the Mercury Transfer Module/MPO interface point on the separation plane. This frame is defined a fixed-offset 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_MTM_SPACECRAFT_CRUISE = -174001 FRAME_-174001_NAME = 'MTM_SPACECRAFT_CRUISE' FRAME_-174001_CLASS = 4 FRAME_-174001_CLASS_ID = -174001 FRAME_-174001_CENTER = -174 TKFRAME_-174001_RELATIVE = 'MPO_SPACECRAFT' TKFRAME_-174001_SPEC = 'ANGLES' TKFRAME_-174001_UNITS = 'DEGREES' TKFRAME_-174001_AXES = ( 1, 3, 1 ) TKFRAME_-174001_ANGLES = ( 0.0, 0.0, 0.0 ) \begintext MTM Master Reference Cubes Frames ----------------------------------------------------------------------------- ??? MTM Master Reference Cube -Y Direction Frame: ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ??? \begindata FRAME_MTM_MRC-1 = -174002 FRAME_-174002_NAME = 'MTM_MRC-1' FRAME_-174002_CLASS = 4 FRAME_-174002_CLASS_ID = -174002 FRAME_-174002_CENTER = -174 TKFRAME_-174002_RELATIVE = 'MTM_SPACECRAFT' TKFRAME_-174002_SPEC = 'ANGLES' TKFRAME_-174002_UNITS = 'DEGREES' TKFRAME_-174002_AXES = ( 1, 2, 3 ) TKFRAME_-174002_ANGLES = ( 0.0, 0.0, 135.0 ) \begintext MTM Solar Array Frames -------------------------------------------------------------------------- The MTM 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 (MTM_SA) is defined as a CK frame with its orientation given relative to the MTM Solar Array Drive Mechanism (MTM_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 MTM solar array gimbal frame -- MTM_SA_GIMBAL -- is an auxiliary ``fixed-offset'' frame defined with respect to MTM_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 MTM Solar Array Drive Mechanism -- MTM_SA_SADM -- frame is a ``fixed-offset'' frame defined with respect to MTM_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 MTM Solar Array -- MTM_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 MTM Solar Array 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_MTM_SA_GIMBAL = -1274010 FRAME_-174010_NAME = 'MTM_SA_GIMBAL' FRAME_-174010_CLASS = 4 FRAME_-174010_CLASS_ID = -174010 FRAME_-174010_CENTER = -174 TKFRAME_-174010_RELATIVE = 'MTM_SPACECRAFT' TKFRAME_-174010_SPEC = 'ANGLES' TKFRAME_-174010_UNITS = 'DEGREES' TKFRAME_-174010_AXES = ( 2, 3, 1 ) TKFRAME_-174010_ANGLES = ( -180, 0.0, 0.0 ) FRAME_MTM_SA_SADM = -174011 FRAME_-174011_NAME = 'MTM_SA_SADM' FRAME_-174011_CLASS = 4 FRAME_-174011_CLASS_ID = -174011 FRAME_-174011_CENTER = -174 TKFRAME_-174011_RELATIVE = 'MTM_SA_GIMBAL' TKFRAME_-174011_SPEC = 'ANGLES' TKFRAME_-174011_UNITS = 'DEGREES' TKFRAME_-174011_AXES = ( 1, 2, 1 ) TKFRAME_-174011_ANGLES = ( 24.0, 0.0, 0.0 ) FRAME_MTM_SA = -174012 FRAME_-174012_NAME = 'MTM_SA' FRAME_-174012_CLASS = 3 FRAME_-174012_CLASS_ID = -174012 FRAME_-174012_CENTER = -174 CK_-174012_SCLK = -174 CK_-174012_SPK = -174 \begintext MCAM Frames: ~~~~~~~~~~~~~~~~~~ The MCAM Mehcanical Unit frame -- MTM_MCAM_MU -- is defined as follows: TO BE UPDATED! - +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 MCAM1 frame -- MTM_MCAM1 -- is defined as follows: TO BE UPDATED! - +Z axis points along the camera boresight of XXX; - +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 MCAM2 frame -- MTM_MCAM2 -- is defined as follows: TO BE UPDATED! - +Y axis is nominally co-aligned with the S/C +Y axis; - +Z axis points along the camera boresight of XXX; - +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. The MCAM3 frame -- MTM_MCAM3 -- is defined as follows: TO BE UPDATED! - +Y axis is nominally co-aligned with the S/C +Y axis; - +Z axis points along the camera boresight of XXX; - +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 MCAM imager frames: TO BE UPDATED XXX 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. VALUES TO BE CHECKED: - FRAME_-174980_CLASS - TKFRAME_-174980_RELATIVE - TKFRAME_-174950_RELATIVE - TKFRAME_-174960_RELATIVE - TKFRAME_-174970_RELATIVE \begindata FRAME_MTM_MCAM_MU = -174980 FRAME_-174980_NAME = 'MTM_MCAM_MU' FRAME_-174980_CLASS = 4 FRAME_-174980_CLASS_ID = -174980 FRAME_-174980_CENTER = -174 TKFRAME_-174980_RELATIVE = 'MTM_SPACECRAFT' TKFRAME_-174980_SPEC = 'ANGLES' TKFRAME_-174980_UNITS = 'DEGREES' TKFRAME_-174980_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-174980_AXES = ( 1, 2, 3 ) FRAME_MTM_MCAM1 = -174950 FRAME_-174950_NAME = 'MTM_MCAM1' FRAME_-174950_CLASS = 4 FRAME_-174950_CLASS_ID = -174950 FRAME_-174950_CENTER = -174 TKFRAME_-174950_RELATIVE = 'MTM_SPACECRAFT' TKFRAME_-174950_SPEC = 'ANGLES' TKFRAME_-174950_UNITS = 'DEGREES' TKFRAME_-174950_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-174950_AXES = ( 1, 2, 3 ) FRAME_MTM_MCAM2 = -174960 FRAME_-174960_NAME = 'MTM_MCAM2' FRAME_-174960_CLASS = 4 FRAME_-174960_CLASS_ID = -174960 FRAME_-174960_CENTER = -174 TKFRAME_-174960_RELATIVE = 'MTM_SPACECRAFT' TKFRAME_-174960_SPEC = 'ANGLES' TKFRAME_-174960_UNITS = 'DEGREES' TKFRAME_-174960_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-174960_AXES = ( 1, 2, 3 ) FRAME_MTM_MCAM3 = -174970 FRAME_-174970_NAME = 'MTM_MCAM3' FRAME_-174970_CLASS = 4 FRAME_-174970_CLASS_ID = -174970 FRAME_-174970_CENTER = -174 TKFRAME_-174970_RELATIVE = 'MTM_SPACECRAFT' TKFRAME_-174970_SPEC = 'ANGLES' TKFRAME_-174970_UNITS = 'DEGREES' TKFRAME_-174970_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-174970_AXES = ( 1, 2, 3 ) \begintext BEPICOLOMBO MTM NAIF ID Codes to Name Mapping ------------------------------------------------------------------------------ This section contains name to NAIF ID mappings for the BepiColombo MTM 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 --------------------- ------- -------------------------- MTM -174 BEPICOLOMBO MTM, MERCURY TRANSFER MODLE MTM_SPACECRAFT -174000 MTM_SC MTM_SA -174012 --------------------- ------- -------------------------- Notes: -- 'MTM', 'BEPICOLOMBO MTM' and 'MERCURY TRANSFER MODULE' are synonyms and all map to the BepiColombo MTM spacecraft ID (-174); -- 'MTM_SC' and 'MTM_SPACECRAFT' are synonyms and all map to the BepiColombo MTM S/C bus structure ID (-174000); \begindata NAIF_BODY_NAME += ( 'MTM' ) NAIF_BODY_CODE += ( -174 ) NAIF_BODY_NAME += ( 'BEPICOLOMBO MTM' ) NAIF_BODY_CODE += ( -174 ) NAIF_BODY_NAME += ( 'MERCURY TRANSFER MODULE' ) NAIF_BODY_CODE += ( -174 ) NAIF_BODY_NAME += ( 'MTM_SPACECRAFT' ) NAIF_BODY_CODE += ( -174000 ) NAIF_BODY_NAME += ( 'MTM_SC' ) NAIF_BODY_CODE += ( -174000 ) NAIF_BODY_NAME += ( 'MTM_SA' ) NAIF_BODY_CODE += ( -174012 ) \begintext MCAM: ----------- This table summarizes MCAMs IDs: ------------------------- -------- Name ID ------------------------- -------- MTM_MCAM1 -174950 MTM_MCAM2 -174960 MTM_MCAM3 -174970 MTM_MCAMum -174980 ------------------------- -------- Name-ID Mapping keywords: \begindata NAIF_BODY_NAME += ( 'MTM_MCAM1' ) NAIF_BODY_CODE += ( -174950 ) NAIF_BODY_NAME += ( 'MTM_MCAM2' ) NAIF_BODY_CODE += ( -174960 ) NAIF_BODY_NAME += ( 'MTM_MCAM3' ) NAIF_BODY_CODE += ( -174970 ) NAIF_BODY_NAME += ( 'MTM_MCAM_MU' ) NAIF_BODY_CODE += ( -174980 ) \begintext End of FK file.