KPL/FK Frame (FK) SPICE kernel file for BepiColombo-specific Science frames ============================================================================= These frames are sorted in two groups: those that are BEPICOLOMBO mission specific and those that are Mercury generic. The first group contains the frames defined by and for the BEPICOLOMBO mission, while the second provides the frames that are commonly accepted by the scientific community for Mercury. The IAU body-fixed rotational frames for Mercury and Venus is an exception to this grouping, as they are provided in a separate PCK kernel file. Version and Date ------------------------------------------------------------------------------- Version 0.5 -- November 13, 2019 -- Marc Costa Sitja, ESAC/ESA Changed the Frames IDs to avoid clash with MPO Solar Array IDs. Version 0.4 -- April 9, 2018 -- Marc Costa Sitja, ESAC/ESA Recovered Mercury Mean Equator at J2000 Frame which had been left out. Updated IDs for several frames. Version 0.3 -- February 12, 2018 -- Marc Costa Sitja, ESAC/ESA General update following the indications of the Hermean Environment Working Group (HEWG). Version 0.2 -- June 20, 2017 -- Marc Costa Sitja, ESAC/ESA Added Mercury Solar Magnetospheric frame and Mercury Orbital generic frame. Updated some definitions and file outline. Version 0.1 -- July 04, 2016 -- Marc Costa Sitja, ESAC/ESA Updated BEPICOLOMBO MPO IDs from -69 to -121. Version 0.0 -- February 26, 2015 -- Boris Semenov, NAIF Initial version. References ------------------------------------------------------------------------------- 1. ``Frames Required Reading'' 2. ``Kernel Pool Required Reading'' 3. Russell, C.T., "Geophysical Coordinate Transformations," Cosmic Electrodynamics, 2, 184-196, 1971 4. pck00009.tpc, based on IAU 2006 constants 5. pck00010.tpc, based on IAU 2009 constants 6. MERCURY_MME/999999 frame definition provided by Dr. Jonathan McAuliffe, ESA, 20 Feb 2015 7. ``MESSENGER Dynamic Frame Definitions Kernel'', msgr_dyn_v500.tf, extracted from the MESS-E/V/H-SPICE-6-V1.0 Archive Dataset, Scott Turner, July 2008. 8. Russell, C.T., "Geophysical Coordinate Transformations," Cosmic Electrodynamics, 2, 184-196, 1971 9. Planetary Fact Sheets - Mercury Fact Sheet, David R. Williams, NASA Goddard Space Flight Center https://nssdc.gsfc.nasa.gov/planetary/factsheet/mercuryfact.html Accessed on 12th February 2018 Contact Information ----------------------------------------------------------------------------- If you have any questions regarding this file contact the ESA SPICE Service at ESAC: Marc Costa Sitja (+34) 91-8131-457 marc.costa@esa.int, esa_spice@sciops.esa.int Implementation Notes ----------------------------------------------------------------------------- This file is used by the SPICE system as follows: programs that make use of this frame kernel must "load" the kernel normally during program initialization. Loading the kernel associates the data items with their names in a data structure called the "kernel pool". The SPICELIB routine FURNSH loads a kernel into the pool as shown below: FORTRAN: (SPICELIB) CALL FURNSH ( frame_kernel_name ) C: (CSPICE) furnsh_c ( frame_kernel_name ); IDL: (ICY) cspice_furnsh, frame_kernel_name 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 Science Frames names and NAIF ID Codes ------------------------------------------------------------------------------- The following BepiColombo science frames are defined in this kernel file: SPICE Frame Name Long-name -------------------------- ------------------------------------------ Mercury based frames for the in-orbit phase(**): BC_MSO Mercury-Centric Solar Orbital BC_MSO_AB Mercury-Centric Solar Orbital Aberrated BC_MSM Mercury-Centric Solar Magnetospheric BC_MBF Mercury Body Fixed BC_MME_IAU2006_OF_DATE Mean Mercury Equator and IAU vector of date using IAU 2006 Mercury rotation constants BC_MME_IAU2006_J2000 BC_MME_IAU2006_OF_DATE frame frozen at J2000 TDB BC_MME_IAU2009_OF_DATE Mean Mercury Equator and IAU vector of date using IAU 2009 Mercury rotation constants BC_MME_IAU2009_J2000 BC_MME_IAU2009_OF_DATE frame frozen at J2000 TDB Sun based frames for the interplanetary cruise phase: BC_MPO_RTN MPO Radial-Tangential-Normal Heliocentric BC_MMO_RTN MMO Radial-Tangential-Normal Heliocentric Earth based frames for the interplanetary cruise flybys: BC_GSE Geocentric Solar Ecliptic BC_GSM Geocentric Solar Magnetospheric Venus based frames for the interplanetary cruise flybys: BC_VSO Venus Solar Orbital (**) These frames are commonly used by other missions for data analysis and scientific research. In the future NAIF may include some of them in their official generic frames kernel for the Jupiter system. When this happens the frames will be removed from this kernel. These frames have the following centers, frame class and NAIF IDs: SPICE Frame Name Center Class NAIF ID -------------------------- ---------- ------- ---------- BC_MSO MERCURY DYNAMIC -121971 BC_MSO_AB MERCURY FIXED -121952 BC_MSM MERCURY DYNAMIC -121933 BC_MBF MERCURY FIXED -121934 BC_MME_IAU2006_OF_DATE MERCURY DYNAMIC -121961 BC_MME_IAU2006_J2000 MERCURY FIXED -121962 BC_MME_IAU2009_OF_DATE MERCURY DYNAMIC -121943 BC_MME_IAU2009_J2000 MERCURY FIXED -121944 BC_MPO_RTN SUN DYNAMIC -121971 BC_MMO_RTN SUN DYNAMIC -121952 BC_GSE EARTH DYNAMIC -121961 BC_GSM EARTH DYNAMIC -121962 BC_VSO VENUS DYNAMIC -121971 The keywords implementing these frame definitions are located in the section "Frame Definitions." General Notes About This File ------------------------------------------------------------------------------- About Required Data: -------------------- Most of the dynamic frames defined in this file require at least one of the following kernels to be loaded prior to their evaluation, normally during program initialization: - Planetary ephemeris data (SPK), i.e. de403, de405, etc; - Planetary constants data (PCK); - Earth generic frames definitions (FK). Note that loading different kernels will lead to different orientations of the same frame at a given epoch, providing different results from each other, in terms of state vectors referred to these frames. About Implementation: --------------------- The SPICE frames defined within this file and their corresponding references in literature might not be equivalent, both due to variations in the SPICE kernels on which the SPICE frame depends, and due to possible differences in both the frame's definition and implementation (e.g. GSE can be defined using the instantaneous orbital plane or mean ecliptic; the mean ecliptic is a function of the ecliptic model). Please refer to each applicable frame description section for particular details on the current SPICE kernel implementation. Frame Definitions ------------------------------------------------------------------------------- This section contains the definitions of the Mercury Science frames. Mercury Based Frames ------------------------------------------------------------------------------- These dynamic frames are used for analyzing data in a reference frame tied to the dynamics of Mercury. BepiColombo Mercury-centric Solar Orbital frame (BC_MSO) ------------------------------------------------------------------------ Definition: ----------- The Mercury-centric solar orbital frame is defined as follows: - +X axis is the position of the Sun relative to Mercury; it's the primary vector and points from Mercury to Sun; - +Y axis is the component of the inertially referenced velocity of Sun relative to Mercury orthogonal to the +X axis; - +Z axis completes the right-handed system; - the origin of this frame is the center of mass of Mercury. All vectors are geometric: no corrections are used. Required Data: -------------- This frame is defined as a two-vector frame using two different types of specifications for the primary and secondary vectors. The primary vector is defined as an 'observer-target position' vector. Therefore, the ephemeris data required to compute the Mercury-Sun vector in J2000 reference frame have to be loaded before using this frame. The secondary vector is defined as an 'observer-target velocity' vector. Therefore, the ephemeris data required to compute the Mercury-Sun velocity vector in the J2000 reference frame have to be loaded before using this frame. Remarks: -------- This frame is defined based on SPK data: different planetary ephemerides for Mercury, Sun and the Sun Barycenter will lead to a different frame orientation at a given time. It is strongly recommended to indicate what data have been used in the evaluation of this frame when referring to it, e.g. MERCURY_SUN_ORB using de405 ephemerides. \begindata FRAME_BC_MSO = -121971 FRAME_-121971_NAME = 'BC_MSO' FRAME_-121971_CLASS = 5 FRAME_-121971_CLASS_ID = -121971 FRAME_-121971_CENTER = 199 FRAME_-121971_RELATIVE = 'J2000' FRAME_-121971_DEF_STYLE = 'PARAMETERIZED' FRAME_-121971_FAMILY = 'TWO-VECTOR' FRAME_-121971_PRI_AXIS = 'X' FRAME_-121971_PRI_VECTOR_DEF = 'OBSERVER_TARGET_POSITION' FRAME_-121971_PRI_OBSERVER = 'MERCURY' FRAME_-121971_PRI_TARGET = 'SUN' FRAME_-121971_PRI_ABCORR = 'NONE' FRAME_-121971_SEC_AXIS = 'Y' FRAME_-121971_SEC_VECTOR_DEF = 'OBSERVER_TARGET_VELOCITY' FRAME_-121971_SEC_OBSERVER = 'MERCURY' FRAME_-121971_SEC_TARGET = 'SUN' FRAME_-121971_SEC_ABCORR = 'NONE' FRAME_-121971_SEC_FRAME = 'J2000' \begintext BepiColombo Mercury-centric Solar Orbital Aberrated frame (BC_MSO_AB) --------------------------------------------------------------------- Definition: ----------- The Mercury-centric solar orbital aberrated frame is defined is defined, based on the definition in [8], section 3.3.7) for the Geocentric Solar Wind frame, as follows: - +Z is perpendicular to the orbital plane of Mercury and is positive towards North; - +X axis is the component of the solar wind direction vector that is orthogonal to the +Z-axis. This axis lies in the orbital plane of Mercury and is positive in the direction opposite to the solar wind; - +Y axis completes the right-handed system; - the origin of this frame is the center of mass of Mercury. Uses and applications: ---------------------- The Jupiter Solar Wind frame is useful in analyzing the impact of solar wind on hemispheric events (from [8], section 3.3.7). Remarks: -------- A critical issue to consider in the definition of this frame is aberration - the bow shock of Mercury is rotated in the plane of the orbit of Mercury by angle Vplanet/Vsolar_wind, where Vplanet is the velocity of Mercury in its orbit and Vsolar_wind is the solar wind speed. The sense of rotation is such the bow shock lags its un-rotated location on the anti-sunward side of Mercury. This is the +Y direction for Mercury-centric solar orbital frame (BC_MSO). Strictly speaking Vplanet should be the component perpendicular to the solar wind. Th solar wind streams off of the Sun in all directions at speeds of about 400 km/s. Nevertheless, the solar wind is not uniform. Although it is always directed away from the Sun, it changes speed and carries with it magnetic clouds, interacting regions where high speed wind catches up with slow speed wind, and composition variations. The solar wind speed can range from high (800 km/s) over coronal holes to low velocities (300 km/s) over streamers (see [13]). Mercury's orbital velocity ranges from 58.98 km/s to 38.86 km/s with an average of 47.36 km/s (see [9]). For Mercury under normal solar wind conditions (v ~400 km/s) the angle of aberration ranges from 8.4483 degrees for the maximum orbital velocity to 5.5663 degrees for the minimum orbital velocity of Mercury. By convention, the average velocity for Mercury in its orbit and for the solar wind at Mercury will be used in the definition of this frame, which is highly significant for determining magnetopause and bow shock locations. This value is determined to be 6.7838 degrees. Since the minimum aberration is of approximately 2.7831 degrees (maximum solar wind and minimum Mercury orbital velocities) and the maximum aberration is of approximately 11.2643 degrees (minimum solar wind and maximum Mercury orbital velocities), the error in the definition of the +X-axis direction is between -4.0007 to 4.4805 degrees. This frame is defined relative to BC_MSO, which is dynamic. This aspect shall be taken into account if/when using this frame to define other dynamic frames. For further details, please refer to [1]. \begindata FRAME_BC_MSO_AB = -121952 FRAME_-121952_NAME = 'BC_MSO_AB' FRAME_-121952_CLASS = 4 FRAME_-121952_CLASS_ID = -121952 FRAME_-121952_CENTER = 599 TKFRAME_-121952_SPEC = 'ANGLES' TKFRAME_-121952_RELATIVE = 'BC_MSO' TKFRAME_-121952_ANGLES = ( -6.7838, 0.0, 0.0 ) TKFRAME_-121952_AXES = ( 3, 2, 3 ) TKFRAME_-121952_UNITS = 'DEGREES' \begintext BepiColombo Mercury-centric Solar Magnetospheric (BC_MSM) ------------------------------------------------------------------------ Definition: ----------- The Mercury-centric solar magnetospheric frame is defined as follows: - +Z axis is the projection of the Mercury magnetic dipole axis (positive north) on to the plane perpendicular to the +X axis. - +X axis is the position of the Sun relative to Mercury; it's the primary vector and points from Mercury to Sun; - +Y axis completes the right-handed system; - the origin of this frame is the center of mass of Mercury. All vectors are geometric: no corrections are used. Required Data: -------------- This frame is defined as a two-vector frame using two different types of specifications for the primary and secondary vectors. The primary vector is defined as an 'observer-target position' vector. Therefore, the ephemeris data required to compute the Mercury-Sun vector in J2000 reference frame have to be loaded before using this frame. The secondary vector is defined as an 'observer-target velocity' vector. Therefore, the ephemeris data required to compute the Mercury-Sun velocity vector in the J2000 reference frame have to be loaded before using this frame. Remarks: -------- This frame is defined based on SPK data: different planetary ephemerides for Mercury, Sun and the Sun Barycenter will lead to a different frame orientation at a given time. It is strongly recommended to indicate what data have been used in the evaluation of this frame when referring to it, e.g. MERCURY_SUN_ORB using de405 ephemerides. \begindata FRAME_BC_MSM = -121933 FRAME_-121933_NAME = 'BC_MSM' FRAME_-121933_CLASS = 5 FRAME_-121933_CLASS_ID = -121933 FRAME_-121933_CENTER = 199 FRAME_-121933_RELATIVE = 'J2000' FRAME_-121933_DEF_STYLE = 'PARAMETERIZED' FRAME_-121933_FAMILY = 'TWO-VECTOR' FRAME_-121933_PRI_AXIS = 'X' FRAME_-121933_PRI_VECTOR_DEF = 'OBSERVER_TARGET_POSITION' FRAME_-121933_PRI_OBSERVER = 'MERCURY' FRAME_-121933_PRI_TARGET = 'SUN' FRAME_-121933_PRI_ABCORR = 'NONE' FRAME_-121933_SEC_AXIS = 'Z' FRAME_-121933_SEC_VECTOR_DEF = 'CONSTANT' FRAME_-121933_SEC_SPEC = 'LATITUDINAL' FRAME_-121933_SEC_UNITS = 'DEGREES' FRAME_-121933_SEC_LONGITUDE = 0.0 FRAME_-121933_SEC_LATITUDE = 90.0 FRAME_-121933_SEC_FRAME = 'IAU_MERCURY' \begintext BepiColombo Mercury Body Fixed (BC_MBF) ------------------------------------------------------------------------ Definition: ----------- The Mercury Body Fixed frame is equivalent to the predefined Mercury Body Fixed frame (IAU_MERCURY) which is defined as a PCK (body-fixed) frame. PCK frames are reference frames whose orientation with respect to inertial frames is supplied through either binary or text PCK files. \begindata FRAME_BC_MBF = -121934 FRAME_-121934_NAME = 'BC_MBF' FRAME_-121934_CLASS = 4 FRAME_-121934_CLASS_ID = -121934 FRAME_-121934_CENTER = 199 TKFRAME_-121934_SPEC = 'MATRIX' TKFRAME_-121934_RELATIVE = 'IAU_MERCURY' TKFRAME_-121934_MATRIX = ( 1, 0, 0, 0, 1, 0, 0, 0, 1 ) \begintext BepiColombo Mercury Mean Equator of Date Frame based on IAU2006 Constants ------------------------------------------------------------------------- The BC_MME_IAU2006_OF_DATE frame is based on Mean Mercury Equator and IAU vector of date computed using IAU 2006 Mercury rotation constants The BC_MME_IAU2006_OF_DATE frame is implemented as an Euler frame mathematically identical to the PCK frame IAU_MERCURY based on IAU 2006 Mercury rotation constants but without prime meridian rotation terms. The IAU 2006 PCK data from [4] defining the IAU_MERCURY frame are: BODY199_POLE_RA = ( 281.01 -0.033 0. ) BODY199_POLE_DEC = ( 61.45 -0.005 0. ) BODY199_PM = ( 329.548 6.1385025 0. ) Here pole RA/Dec terms in the PCK are in degrees and degreeS/Century; the rates here have been converted to degrees/sec ( = (rate deg/cen)/ (86400.0 * 36525.0)). Prime meridia terms from the PCK are disregarded. The 3x3 transformation matrix M defined by the angles is M = [ 0.0] [angle_2] [angle_3] 3 1 3 Vectors are mapped from the J2000 base frame to the BC_MME_IAU2006_OF_DATE frame via left multiplication by M. The relationship of these Euler angles to RA/Dec for the J2000-to-IAU Mercury Mean Equator and IAU vector of date transformation is as follows: angle_1 is 0.0 angle_2 is 90 - Dec angle_3 is 90 + RA, mapped into the range 0 < angle_3 < 2*pi Since when we define the BC_MME_IAU2006_OF_DATE frame we're defining the *inverse* of the above transformation, the angles for our Euler frame definition are reversed and the signs negated: angle_1 is -90 - RA, mapped into the range 0 < angle_3 < 2*pi angle_2 is -90 + Dec angle_3 is 0.0 Then our frame definition is: \begindata FRAME_BC_MME_IAU2006_OF_DATE = -121961 FRAME_-121961_NAME = 'BC_MME_IAU2006_OF_DATE' FRAME_-121961_CLASS = 5 FRAME_-121961_CLASS_ID = -121961 FRAME_-121961_CENTER = 199 FRAME_-121961_RELATIVE = 'J2000' FRAME_-121961_DEF_STYLE = 'PARAMETERIZED' FRAME_-121961_FAMILY = 'EULER' FRAME_-121961_EPOCH = @2000-JAN-1/12:00:00 FRAME_-121961_AXES = ( 3 1 3 ) FRAME_-121961_UNITS = 'DEGREES' FRAME_-121961_ANGLE_1_COEFFS = ( -11.01 1.0457068978629554e-11 ) FRAME_-121961_ANGLE_2_COEFFS = ( -28.55 -1.5844043907014476e-12 ) FRAME_-121961_ANGLE_3_COEFFS = ( 0.0 ) FRAME_-121961_ROTATION_STATE = 'INERTIAL' \begintext BepiColombo Mercury Mean Equator at J2000 Frame based on IAU2006 Constants -------------------------------------------------------------------------- The BC_MME_IAU2006_J2000 frame is the BC_MME_IAU2006_OF_DATE frame frozen at J2000 TDB. For efficiency it is defined as a offset frame using pre-computed rotation matrix transforming vectors from BC_MME_IAU2006_OF_DATE to J2000 at J2000 TDB. For consistency with earlier BepiColombo usage the matrix below is from [6]. \begindata FRAME_BC_MME_IAU2006_J2000 = -121962 FRAME_-121962_NAME = 'BC_MME_IAU2006_J2000' FRAME_-121962_CLASS = 4 FRAME_-121962_CLASS_ID = -121962 FRAME_-121962_CENTER = 199 TKFRAME_-121962_RELATIVE = 'J2000' TKFRAME_-121962_SPEC = 'MATRIX' TKFRAME_-121962_MATRIX = ( 0.981593866044678, 0.190980318733265, 1.45064023353692E-15, -0.167757184264224, 0.862232423481673, 0.477925491080635, 0.0912743626173337, -0.469128730471140, 0.878400378515027 ) \begintext BepiColombo Mercury Mean Equator of Date Frame based on IAU2009 Constants ------------------------------------------------------------------------- The BC_MME_IAU2009_OF_DATE frame is based on Mean Mercury Equator and IAU vector of date computed using IAU 2009 Mercury rotation constants The BC_MME_IAU2009_OF_DATE frame is implemented as as Euler frame mathematically identical to the PCK frame IAU_MERCURY based on IAU 2009 Mercury rotation constants but without prime meridian rotation terms. The IAU 2009 PCK data from [5] defining the IAU_MERCURY frame are: BODY199_POLE_RA = ( 281.0097 -0.0328 0. ) BODY199_POLE_DEC = ( 61.4143 -0.0049 0. ) BODY199_PM = ( 329.5469 6.1385025 0. ) Here pole RA/Dec terms in the PCK are in degrees and degreeS/Century; the rates here have been converted to degrees/sec ( = (rate deg/cen)/ (86400.0 * 36525.0)). Prime meridia terms from the PCK are disregarded. The 3x3 transformation matrix M defined by the angles is M = [ 0.0] [angle_2] [angle_3] 3 1 3 Vectors are mapped from the J2000 base frame to the BC_MME_IAU2009_OF_DATE frame via left multiplication by M. The relationship of these Euler angles to RA/Dec for the J2000-to-IAU Mercury Mean Equator and IAU vector of date transformation is as follows: angle_1 is 0.0 angle_2 is 90 - Dec angle_3 is 90 + RA, mapped into the range 0 < angle_3 < 2*pi Since when we define the BC_MME_IAU2009_OF_DATE frame we're defining the *inverse* of the above transformation, the angles for our Euler frame definition are reversed and the signs negated: angle_1 is -90 - RA, mapped into the range 0 < angle_3 < 2*pi angle_2 is -90 + Dec angle_3 is 0.0 Then our frame definition is: \begindata FRAME_BC_MME_IAU2009_OF_DATE = -121943 FRAME_-121943_NAME = 'BC_MME_IAU2009_OF_DATE' FRAME_-121943_CLASS = 5 FRAME_-121943_CLASS_ID = -121943 FRAME_-121943_CENTER = 199 FRAME_-121943_RELATIVE = 'J2000' FRAME_-121943_DEF_STYLE = 'PARAMETERIZED' FRAME_-121943_FAMILY = 'EULER' FRAME_-121943_EPOCH = @2000-JAN-1/12:00:00 FRAME_-121943_AXES = ( 3 1 3 ) FRAME_-121943_UNITS = 'DEGREES' FRAME_-121943_ANGLE_1_COEFFS = ( -11.0097 1.0393692803001496e-11 ) FRAME_-121943_ANGLE_2_COEFFS = ( -28.5857 -1.5527163028874185e-12 ) FRAME_-121943_ANGLE_3_COEFFS = ( 0.0 ) FRAME_-121943_ROTATION_STATE = 'INERTIAL' \begintext Mercury Mean Equator at J2000 Frame based on IAU2009 Constants -------------------------------------------------------------- The BC_MME_IAU2009_J2000 frame is the BC_MME_IAU2009_OF_DATE frame frozen at J2000 TDB. For efficiency it is defined as a offset frame using pre-computed rotation matrix transforming vectors from BC_MME_IAU2009_OF_DATE to J2000 at J2000 TDB. \begindata FRAME_BC_MME_IAU2009_J2000 = -121944 FRAME_-121944_NAME = 'BC_MME_IAU2009_J2000' FRAME_-121944_CLASS = 4 FRAME_-121944_CLASS_ID = -121944 FRAME_-121944_CENTER = 199 TKFRAME_-121944_RELATIVE = 'J2000' TKFRAME_-121944_SPEC = 'MATRIX' TKFRAME_-121944_MATRIX = ( +9.8159486600183365E-01 +1.9097517911718839E-01 +0.0000000000000000E+00 -1.6769576713227249E-01 +8.6194082826998297E-01 +4.7847271421385607E-01 +9.1376412299678439E-02 -4.6966635979428373E-01 +8.7810242099246349E-01 ) \begintext Sun Based Frames ------------------------------------------------------------------------------- BepiColombo MPO Heliocentric Radial-Tangential-Normal (BC_MPO_RTN) ------------------------------------------------------------------------ Definition: ----------- The BepiColombo MPO Heliocentric Radial-Tangential-Normal frame is defined as follows (from [4]): - the position of MPO relative to the Sun is the primary vector: +X axis points from the Sun to MPO; - the projection of the solar rotational axis perpendicular to the +X axis defines the frame's +Z axis; - +Y axis completes the right-handed system; - the origin of this frame is the center of mass of the Sun. All vectors are geometric: no aberration corrections are used. Uses and applications (from [6]): ---------------------------------- This frame is used to define the velocity and field direction of the plasma environment that the spacecraft finds itself in. Required Data: -------------- This frame is defined as a two-vector frame using two different types of specifications for the primary and secondary vectors. The primary vector is defined as an 'observer-target position' vector, therefore, the ephemeris data required to compute the Sun-MPO position vector in the J2000 reference frame must be loaded before using this frame. The secondary vector is defined as a constant vector in the IAU_SUN frame, which is a PCK-based frame, therefore a PCK file containing the orientation constants for the Sun must be loaded before using this frame. Remarks: -------- This frame is defined based on SPK data: different planetary ephemerides for Mercury, the Sun, the Solar System Barycenter and MPO spacecraft will lead to different frame orientation at a given time. This frame is also defined based on the IAU_SUN frame, whose evaluation is based on the data included in the loaded PCK file: different orientation constants for the Sun's spin axis will lead to different frame orientation at a given time. It is strongly recommended to indicate what data have been used in the evaluation of this frame when referring to it, e.g. BC_RTN using the IAU 2009 constants, the DE432 ephemeris and the MPO ephemeris version N. \begindata FRAME_BC_MPO_RTN = -121971 FRAME_-121971_NAME = 'BC_MPO_RTN' FRAME_-121971_CLASS = 5 FRAME_-121971_CLASS_ID = -121971 FRAME_-121971_CENTER = 10 FRAME_-121971_RELATIVE = 'J2000' FRAME_-121971_DEF_STYLE = 'PARAMETERIZED' FRAME_-121971_FAMILY = 'TWO-VECTOR' FRAME_-121971_PRI_AXIS = 'X' FRAME_-121971_PRI_VECTOR_DEF = 'OBSERVER_TARGET_POSITION' FRAME_-121971_PRI_OBSERVER = 'SUN' FRAME_-121971_PRI_TARGET = 'MPO' FRAME_-121971_PRI_ABCORR = 'NONE' FRAME_-121971_SEC_AXIS = 'Z' FRAME_-121971_SEC_VECTOR_DEF = 'CONSTANT' FRAME_-121971_SEC_FRAME = 'IAU_SUN' FRAME_-121971_SEC_SPEC = 'RECTANGULAR' FRAME_-121971_SEC_VECTOR = ( 0, 0, 1 ) \begintext BepiColombo MMO Heliocentric Radial-Tangential-Normal (BC_MMO_RTN) ------------------------------------------------------------------------ Definition: ----------- The BepiColombo MMO Heliocentric Radial-Tangential-Normal frame is defined as follows (from [4]): - the position of MMO relative to the Sun is the primary vector: +X axis points from the Sun to MPO; - the projection of the solar rotational axis perpendicular to the +X axis defines the frame's +Z axis; - +Y axis completes the right-handed system; - the origin of this frame is the center of mass of the Sun. All vectors are geometric: no aberration corrections are used. Uses and applications (from [6]): ---------------------------------- This frame is used to define the velocity and field direction of the plasma environment that the spacecraft finds itself in. Required Data: -------------- This frame is defined as a two-vector frame using two different types of specifications for the primary and secondary vectors. The primary vector is defined as an 'observer-target position' vector, therefore, the ephemeris data required to compute the Sun-MMO position vector in the J2000 reference frame must be loaded before using this frame. The secondary vector is defined as a constant vector in the IAU_SUN frame, which is a PCK-based frame, therefore a PCK file containing the orientation constants for the Sun must be loaded before using this frame. Remarks: -------- This frame is defined based on SPK data: different planetary ephemerides for Mercury, the Sun, the Solar System Barycenter and MPO spacecraft will lead to different frame orientation at a given time. This frame is also defined based on the IAU_SUN frame, whose evaluation is based on the data included in the loaded PCK file: different orientation constants for the Sun's spin axis will lead to different frame orientation at a given time. It is strongly recommended to indicate what data have been used in the evaluation of this frame when referring to it, e.g. BC_RTN using the IAU 2009 constants, the DE432 ephemeris and the MMO ephemeris version N. \begindata FRAME_BC_MMO_RTN = -121952 FRAME_-121952_NAME = 'BC_MMO_RTN' FRAME_-121952_CLASS = 5 FRAME_-121952_CLASS_ID = -121952 FRAME_-121952_CENTER = 10 FRAME_-121952_RELATIVE = 'J2000' FRAME_-121952_DEF_STYLE = 'PARAMETERIZED' FRAME_-121952_FAMILY = 'TWO-VECTOR' FRAME_-121952_PRI_AXIS = 'X' FRAME_-121952_PRI_VECTOR_DEF = 'OBSERVER_TARGET_POSITION' FRAME_-121952_PRI_OBSERVER = 'SUN' FRAME_-121952_PRI_TARGET = 'MMO' FRAME_-121952_PRI_ABCORR = 'NONE' FRAME_-121952_SEC_AXIS = 'Z' FRAME_-121952_SEC_VECTOR_DEF = 'CONSTANT' FRAME_-121952_SEC_FRAME = 'IAU_SUN' FRAME_-121952_SEC_SPEC = 'RECTANGULAR' FRAME_-121952_SEC_VECTOR = ( 0, 0, 1 ) \begintext Earth based Frames ------------------------------------------------------------------------------- BepiColombo Geocentric Solar Ecliptic (BC_GSE) ------------------------------------------------------------------------ Definition: ----------- The Bepicolombo Geoentric solar ecliptic frame is defined as follows: - +Z axis is perpendicular to the plane of the Earth's orbit around the Sun (positive North); - +X axis is the position of the Sun relative to the Earth; it's the primary vector and points from Earth to Sun; - +Y axis completes the right-handed system; - the origin of this frame is the center of mass of the Earth. All vectors are geometric: no corrections are used. Required Data: -------------- This frame is defined as a two-vector frame using two different types of specifications for the primary and secondary vectors. The primary vector is defined as an 'observer-target position' vector. Therefore, the ephemeris data required to compute the Earth-Sun vector in J2000 reference frame have to be loaded before using this frame. The secondary vector is defined as an 'observer-target velocity' vector. Therefore, the ephemeris data required to compute the Earth-Sun velocity vector in the J2000 reference frame have to be loaded before using this frame. Remarks: -------- This frame is defined based on SPK data: different planetary ephemerides for Earth, Sun and the Sun Barycenter will lead to a different frame orientation at a given time. It is strongly recommended to indicate what data have been used in the evaluation of this frame when referring to it, e.g. BC_GSE using de405 ephemerides. The definition of the BepiColombo Geocentric Solar Ecliptic frame is as follows: \begindata FRAME_BC_GSE = -121961 FRAME_-121961_NAME = 'BC_GSE' FRAME_-121961_CLASS = 5 FRAME_-121961_CLASS_ID = -121961 FRAME_-121961_CENTER = 399 FRAME_-121961_RELATIVE = 'J2000' FRAME_-121961_DEF_STYLE = 'PARAMETERIZED' FRAME_-121961_FAMILY = 'TWO-VECTOR' FRAME_-121961_PRI_AXIS = 'X' FRAME_-121961_PRI_VECTOR_DEF = 'OBSERVER_TARGET_POSITION' FRAME_-121961_PRI_OBSERVER = 'EARTH' FRAME_-121961_PRI_TARGET = 'SUN' FRAME_-121961_PRI_ABCORR = 'NONE' FRAME_-121961_SEC_AXIS = '-Y' FRAME_-121961_SEC_VECTOR_DEF = 'OBSERVER_TARGET_VELOCITY' FRAME_-121961_SEC_OBSERVER = 'SUN' FRAME_-121961_SEC_TARGET = 'EARTH' FRAME_-121961_SEC_FRAME = 'J2000' FRAME_-121961_SEC_ABCORR = 'NONE \begintext BepiColombo Geocentric Solar Magnetospheric (BC_GSM) ------------------------------------------------------------------------ Definition: ----------- The Bepicolombo Geoventric solar magnetospheric frame is defined as follows: - +Z axis is the projection of the Earth's magnetic dipole axis (positive North) on to the plane perpendicular to the X axis; - +X axis is the position of the Sun relative to the Earth; it's the primary vector and points from Earth to Sun; - +Y axis completes the right-handed system; - the origin of this frame is the center of mass of the Earth. All vectors are geometric: no corrections are used. Required Data: -------------- This frame is defined as a two-vector frame using two different types of specifications for the primary and secondary vectors. The primary vector is defined as an 'observer-target position' vector. Therefore, the ephemeris data required to compute the Earth-Sun vector in J2000 reference frame have to be loaded before using this frame. Remarks: -------- The magnetic latitude of the Earth magnetic north pole is 79.8 degrees North, the longitude is 288.2 degrees East. This frame is defined based on SPK data: different planetary ephemerides for Earth, Sun and the Sun Barycenter will lead to a different frame orientation at a given time. It is strongly recommended to indicate what data have been used in the evaluation of this frame when referring to it, e.g. BC_GSE using de405 ephemerides. The definition of the BepiColombo Geocentric Solar Magnetospheric frame is as follows: \begindata FRAME_BC_GSM = -121962 FRAME_-121962_NAME = 'BC_GSM' FRAME_-121962_CLASS = 5 FRAME_-121962_CLASS_ID = -121962 FRAME_-121962_CENTER = 399 FRAME_-121962_RELATIVE = 'J2000' FRAME_-121962_DEF_STYLE = 'PARAMETERIZED' FRAME_-121962_FAMILY = 'TWO-VECTOR' FRAME_-121962_PRI_AXIS = 'X' FRAME_-121962_PRI_VECTOR_DEF = 'OBSERVER_TARGET_POSITION' FRAME_-121962_PRI_OBSERVER = 'EARTH' FRAME_-121962_PRI_TARGET = 'SUN' FRAME_-121962_PRI_ABCORR = 'NONE' FRAME_-121962_SEC_AXIS = 'Z' FRAME_-121962_SEC_VECTOR_DEF = 'CONSTANT' FRAME_-121962_SEC_SPEC = 'LATITUDINAL' FRAME_-121962_SEC_UNITS = 'DEGREES' FRAME_-121962_SEC_LONGITUDE = 288.2 FRAME_-121962_SEC_LATITUDE = 79.8 FRAME_-121962_SEC_FRAME = 'EARTH_FIXED' \begintext Venus based Frames ------------------------------------------------------------------------------- BepiColombo Venus-centric Solar Orbital frame (BC_VSO) ------------------------------------------------------------------------ Definition: ----------- The Venus-centric solar orbital frame is defined as follows: - +X axis is the position of the Sun relative to Venus; it's the primary vector and points from Mercury to Sun; - +Y axis is the component of the inertially referenced velocity of Sun relative to Venus orthogonal to the +X axis; - +Z axis completes the right-handed system; - the origin of this frame is the center of mass of Mercury. All vectors are geometric: no corrections are used. Required Data: -------------- This frame is defined as a two-vector frame using two different types of specifications for the primary and secondary vectors. The primary vector is defined as an 'observer-target position' vector. Therefore, the ephemeris data required to compute the Venus-Sun vector in J2000 reference frame have to be loaded before using this frame. The secondary vector is defined as an 'observer-target velocity' vector. Therefore, the ephemeris data required to compute the Venus-Sun velocity vector in the J2000 reference frame have to be loaded before using this frame. Remarks: -------- This frame is defined based on SPK data: different planetary ephemerides for Venus, Sun and the Sun Barycenter will lead to a different frame orientation at a given time. It is strongly recommended to indicate what data have been used in the evaluation of this frame when referring to it, e.g. BC_VSO using de405 ephemerides. \begindata FRAME_BC_VSO = -121971 FRAME_-121971_NAME = 'BC_VSO' FRAME_-121971_CLASS = 5 FRAME_-121971_CLASS_ID = -121971 FRAME_-121971_CENTER = 299 FRAME_-121971_RELATIVE = 'J2000' FRAME_-121971_DEF_STYLE = 'PARAMETERIZED' FRAME_-121971_FAMILY = 'TWO-VECTOR' FRAME_-121971_PRI_AXIS = 'X' FRAME_-121971_PRI_VECTOR_DEF = 'OBSERVER_TARGET_POSITION' FRAME_-121971_PRI_OBSERVER = 'VENUS' FRAME_-121971_PRI_TARGET = 'SUN' FRAME_-121971_PRI_ABCORR = 'NONE' FRAME_-121971_SEC_AXIS = 'Y' FRAME_-121971_SEC_VECTOR_DEF = 'OBSERVER_TARGET_VELOCITY' FRAME_-121971_SEC_OBSERVER = 'VENUS' FRAME_-121971_SEC_TARGET = 'SUN' FRAME_-121971_SEC_ABCORR = 'NONE' FRAME_-121971_SEC_FRAME = 'J2000' \begintext End of FK file.