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 0.6 -- April 3, 2020 -- Marc Costa Sitja, ESAC/ESA
Updated GSM frame description.
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
10. E-Mail ``BepiColombo SPICE GSM frame'' from Johannes Z. D. Mieth
on 12th March 2020.
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 north geomagnetic pole is
79.8 degrees North, the longitude is 288.2 degrees East. Please
note that when we refer to the ``north geomagnetic pole'' we refer to
the location of the magnetic dipole axis axis penetrating through the
surface of Earth on the northern hemisphere (from [10]).
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.