KPL/FK EnVision Spacecraft Frames Kernel ============================================================================= This frame kernel contains complete set of frame definitions for the EnVision including definitions for the Envision fixed and EnVision science instrument frames. This kernel also contains NAIF ID/name mapping for the EnVision science instruments and s/c structures (see the last section of the file). Version and Date ----------------------------------------------------------------------------- Version 0.2 -- February 10, 2023 -- Alfredo Escalante Lopez, ESAC/ESA Ricardo Valles Blanco, ESAC/ESA Added VenSpec reference frame definitions and NAIF ID to body association. Corrected typos and added missing descriptions. Version 0.1 -- April 4, 2022 -- Alfredo Escalante Lopez, ESAC/ESA Replaced incorrect VENUS_NPO frame by NADIR velocity-aligned frame. Corrected spacecraft reference frame diagrams. Version 0.0 -- January 2, 2019 -- Marc Costa Sitja, ESAC/ESA Preliminary Version. Only basic ID and frame definitions. References ----------------------------------------------------------------------------- 1. ``Frames Required Reading'' 2. ``Kernel Pool Required Reading'' 3. ``C-Kernel Required Reading'' Contact Information ----------------------------------------------------------------------------- If you have any questions regarding this file contact the ESA SPICE Service at ESAC: Alfredo Escalante Lopez (+34) 91-8131-429 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. * SPICEYPY 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 EnVision Mission NAIF ID Codes ----------------------------------------------------------------------------- The following names and NAIF ID codes are assigned to the EnVision spacecraft, its structures and science instruments (the keywords implementing these definitions are located in the section "EnVision Mission NAIF ID Codes -- Definition Section" at the end of this file): EnVision Spacecraft and Spacecraft Structures names/IDs: ENVISION -668 ENVISION_SPACECRAFT -668000 (synonym: ENVISION_SC) ENVISION_VENSPEC_M -668310 ENVISION_VENSPEC_H -668320 ENVISION_VENSPEC_U -668330 EnVision Mission Frames ----------------------------------------------------------------------------- The following EnVision frames are defined in this kernel file: Name Relative to Type NAIF ID ====================== ======================== ========== ========= Spacecraft frames: ------------------ ENVISION_SPACECRAFT J2000 CK -668000 ENVISION_VENUS_NADIR J2000 DYNAMIC -668010 VenSpec frames: ------------------ ENVISION_VENSPEC_M ENVISION_SPACECRAFT FIXED -668310 ENVISION_VENSPEC_H ENVISION_SPACECRAFT FIXED -668320 ENVISION_VENSPEC_U ENVISION_SPACECRAFT FIXED -668330 SPICE 'Built-in' PCK frames in use by EnVision (3): ------------------------------------------------------ IAU_EARTH J2000 PCK built-in (3) Data for these frames is loaded using either the PCK file "pckVVVVV.tpc" (VVVVV is the version number) EnVision Frames Hierarchy ----------------------------------------------------------------------------- The diagram below shows the EnVision spacecraft and its structures frame hierarchy (not including science instrument frames.) "J2000" INERTIAL +------------------------------------+ | | |<-pck | | | V | "EARTH_FIXED" | ------------- | | |<-ck | V "ENVISION_SPACECRAFT" --------------------- . . . . V Individual instrument frame trees are provided in the corresponding sections of this file EnVision Spacecraft and Spacecraft Structures Frames ======================================================================== This section of the file contains the definitions of the spacecraft and spacecraft structures frames. EnVision Spacecraft Frame -------------------------------------- The EnVision spacecraft frame is defined as follows: - +X axis is along the nominal boresight direction of the nadir looking instruments; - +Z axis is along the nominal boresight direction of the HGA; - +Y axis completes the right-hand frame; - the origin of this frame is the launch vehicle interface point. These diagrams illustrate the ENVISION_SPACECRAFT frame: +Z s/c side (HGA side) view: ---------------------------- +Zsc ME .-o-----> +Ysc .____\_|_/____. .__ _______________. | .__|__. | .______________ ___. | \ \ \ | .' V `. | / \ \ | | / / \ |/ +Xsc \| / / / | | \ \ `. . | . .' \ \ | | / / | o| o |o | / / | | \ \ .' . .' `. . `. \ \ | | / / / |\ ` /| \ / / | .__\ \_______________/ | `._______.' | \_______________\ \__. -Y Solar Array ._____________. +Y Solar Array o==/ /========================|_____|========================/ /==o Boom +Zsc is out of the page -X s/c side view: ----------------- _______________________ |_______|_______|_______| .____|___|____. | | | | | +Xsc_ +Ysc o==/ /==================o | | x----->|o==================/ /==o -Y Solar Array | '|' | +Y Solar Array | | | o==/ /====================.______|______.===================/ /==o Boom .--V +Zsc HGA .' `. /___________\ `.|.' +Xsc is into the page Since the orientation of the ENVISION_SPACECRAFT frame is computed on-board, sent down in telemetry, and stored in the s/c CK files, it is defined as a CK-based frame. \begindata FRAME_ENVISION_SPACECRAFT = -668000 FRAME_-668000_NAME = 'ENVISION_SPACECRAFT' FRAME_-668000_CLASS = 3 FRAME_-668000_CLASS_ID = -668000 FRAME_-668000_CENTER = -668 CK_-668000_SCLK = -668 CK_-668000_SPK = -668 \begintext \begindata FRAME_ENVISION_VENUS_NADIR = -668010 FRAME_-668010_NAME = 'ENVISION_VENUS_NADIR' FRAME_-668010_CLASS = 5 FRAME_-668010_CLASS_ID = -668010 FRAME_-668010_CENTER = -668 FRAME_-668010_RELATIVE = 'J2000' FRAME_-668010_DEF_STYLE = 'PARAMETERIZED' FRAME_-668010_FAMILY = 'TWO-VECTOR' FRAME_-668010_PRI_AXIS = '+X' FRAME_-668010_PRI_VECTOR_DEF = 'OBSERVER_TARGET_POSITION' FRAME_-668010_PRI_OBSERVER = 'ENVISION' FRAME_-668010_PRI_TARGET = 'VENUS' FRAME_-668010_PRI_ABCORR = 'NONE' FRAME_-668010_SEC_AXIS = '+Y' FRAME_-668010_SEC_VECTOR_DEF = 'OBSERVER_TARGET_VELOCITY' FRAME_-668010_SEC_OBSERVER = 'VENUS' FRAME_-668010_SEC_TARGET = 'ENVISION' FRAME_-668010_SEC_ABCORR = 'NONE' FRAME_-668010_SEC_FRAME = 'J2000' \begintext VenSpec Frames ======================================================================== This section of the file contains the definitions of the Venus Spectrometer (VenSpec) frames. VenSpec Frame Tree -------------------------------------- The diagram below shows the VenSpec frame hierarchy. "J2000" INERTIAL ---------------- | |<-ck | V "ENVISION_SPACECRAFT" +--------------------------------------------+ | | | |<-fixed |<-fixed |<-fixed | | | V V V "ENVISION_VENSPEC_M" "ENVISION_VENSPEC_H" "ENVISION_VENSPEC_U" -------------------- -------------------- -------------------- VenSpec Frames -------------------------------------- The Venus Spectrometer frames -- ENVISION_VENSPEC_M, ENVISION_VENSPEC_H, ENVISION_VENSPEC_U -- are defined as follows: - +Z axis points along the camera boresight, parallel to the nadir direction; - +X axis is parallel to the apparent image lines; it is nominally co-aligned with the s/c +X axis; - +Y axis completes the right handed frame; it is nominally parallel to the apparent image columns and co-aligned with the s/c +Y axis; - the origin of the frame is located at the sensor focal point. Nominally, the VenSpec frames are co-aligned with the s/c frame: \begindata FRAME_ENVISION_VENSPEC_M = -668310 FRAME_-668310_NAME = 'ENVISION_VENSPEC_M' FRAME_-668310_CLASS = 4 FRAME_-668310_CLASS_ID = -668310 FRAME_-668310_CENTER = -668310 TKFRAME_-668310_RELATIVE = 'ENVISION_SPACECRAFT' TKFRAME_-668310_SPEC = 'ANGLES' TKFRAME_-668310_UNITS = 'DEGREES' TKFRAME_-668310_AXES = ( 2, 3, 1 ) TKFRAME_-668310_ANGLES = ( -90.0, 0.0, 0.0 ) FRAME_ENVISION_VENSPEC_H = -668320 FRAME_-668320_NAME = 'ENVISION_VENSPEC_H' FRAME_-668320_CLASS = 4 FRAME_-668320_CLASS_ID = -668320 FRAME_-668320_CENTER = -668320 TKFRAME_-668320_RELATIVE = 'ENVISION_SPACECRAFT' TKFRAME_-668320_SPEC = 'ANGLES' TKFRAME_-668320_UNITS = 'DEGREES' TKFRAME_-668320_AXES = ( 2, 3, 1 ) TKFRAME_-668320_ANGLES = ( -90.0, 0.0, 0.0 ) FRAME_ENVISION_VENSPEC_U = -668330 FRAME_-668330_NAME = 'ENVISION_VENSPEC_U' FRAME_-668330_CLASS = 4 FRAME_-668330_CLASS_ID = -668330 FRAME_-668330_CENTER = -668330 TKFRAME_-668330_RELATIVE = 'ENVISION_SPACECRAFT' TKFRAME_-668330_SPEC = 'ANGLES' TKFRAME_-668330_UNITS = 'DEGREES' TKFRAME_-668330_AXES = ( 2, 3, 1 ) TKFRAME_-668330_ANGLES = ( -90.0, 0.0, 0.0 ) \begintext EnVision NAIF ID Codes to Name Mapping ------------------------------------------------------------------------------ This section contains name to NAIF ID mappings for the EnVision 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 EnVision Spacecraft and its main structures' names. --------------------- ------- -------------------------- Name ID Synonyms --------------------- ------- -------------------------- ENVISION -668 ENVISION_SPACECRAFT -668000 ENVISION_SC --------------------- ------- -------------------------- Notes: -- 'ENVISION_SC' and 'ENVISION_SPACECRAFT' are synonyms and all map to the EnVision s/c bus structure ID (-668000); \begindata NAIF_BODY_NAME += ( 'ENVISION' ) NAIF_BODY_CODE += ( -668 ) NAIF_BODY_NAME += ( 'ENVISION_SC' ) NAIF_BODY_CODE += ( -668000 ) NAIF_BODY_NAME += ( 'ENVISION_SPACECRAFT' ) NAIF_BODY_CODE += ( -668000 ) \begintext Venus Spectrometer: ---------------------------------------------------------------- This table presents the EnVision Venus Spectrometer sensors. --------------------- ------- -------------------------- Name ID Synonyms --------------------- ------- -------------------------- ENVISION_VENSPEC_M -668310 ENVISION_VENSPEC_H -668320 ENVISION_VENSPEC_U -668330 --------------------- ------- -------------------------- Name-ID Mapping keywords: \begindata NAIF_BODY_NAME += ( 'ENVISION_VENSPEC_M' ) NAIF_BODY_CODE += ( -668310 ) NAIF_BODY_NAME += ( 'ENVISION_VENSPEC_H' ) NAIF_BODY_CODE += ( -668320 ) NAIF_BODY_NAME += ( 'ENVISION_VENSPEC_U' ) NAIF_BODY_CODE += ( -668330 ) \begintext End of FK file.