KPL/FK Schiaparelli Entry, Descent and Landing Demonstrator Module (EDM) Frames Kernel =============================================================================== This frame kernel contains a complete set of frame definitions for the ExoMars 2016 Schiaparelli Entry, Descent and Landing Demonstrator Module (EDM) including definitions for the EDM structures and EDM science instrument frames. This kernel also contains NAIF ID/name mapping for the EDM instruments. Version and Date ------------------------------------------------------------------------ Version 0.2 -- April 6, 2021 -- Ricardo Valles Blanco, ESAC/ESA Fixed typos for PDS4 Bundle release Version 2.0, updated "Implementation Notes" section and updated contact information. Version 0.1 -- September 27, 2016 -- Marc Costa Sitja, ESAC/ESA Following a meeting with the AMELIA team at the ExoMars 2016 SWT #11 the following changes have been implemented. Added EDM_DECA, EDM_MARS_EIP, EDM_LANDER_COAST frame definitions and removed references to the rest of unused frames. Removed EDM_SURFACE_FIXED frame. Corrected minor typos and updated diagrams. Added references [7] and [8]. Version 0.0 -- August 05, 2016 -- Marc Costa Sitja, ESAC/ESA Preliminary Version. Only EDM Name to NAIF ID mappings and basic frame definitions. This version is based on the latest InSight Frame Definitions Kernel (insight_v01.tf). References ------------------------------------------------------------------------ 1. ``Frames Required Reading'', NAIF 2. ``Kernel Pool Required Reading'', NAIF 3. ``C-Kernel Required Reading'', NAIF 4. ``ExoMars System User Manual'', EXM-MS-MAN-AI-0005, 2016-02-19, Thales Alenia Space. 5. ``EXOMARS OMB frame definitions and conventions'', EXM-OM-TNO-AF-0361, Issue 3, 2011-10-14, Thales Alenia Space. 6. ``EXOMARS EDL DEMONSTRATOR MODULE (EDM) design report, EXM-DM-DRP-AI-0022, Issue 5, 2015-09-15, Thales Alenia Space. 7. ``DECA User Manual'', EXM-DECA-UM-RSSD-0001, Issue 2, Revision 5, 28 July, 2014. 8. Communication from AMELIA Contact Information ------------------------------------------------------------------------ If you have any questions regarding this file contact SPICE support at ESAC: Alfredo Escalante Lopez (+34) 91-8131-429 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. * 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 EDM NAIF ID Codes -- Summary Section ------------------------------------------------------------------------ The following names and NAIF ID codes are assigned to the EDM spacecraft, its structures and science instruments (the keywords implementing these definitions are located in the section "EDM NAIF ID Codes -- Definition Section" at the end of this file): EDM Spacecraft and Spacecraft Structures names/IDs: EDM -117 (synonyms: EXOMARS 2016 EDM EDM_LANDING_SITE -117900 and EDL DEMONSTRATOR MODULE) EDM_LANDER -117000 AMELIA names/IDs: EDM_AMELIA -117200 COMARS names/IDs: EDM_COMARS -117300 DECA names/IDs: EDM_DECA -117100 DREAMS names/IDs: EDM_DREAMS -117400 INRRI names/IDs: EDM_INRRI -117500 EDM Lander Frames ------------------------------------------------------------------------ The following EDM frames are defined in this kernel file: Name Relative to Type NAIF ID ====================== =================== ============ ======= Lander frames (-11700x): ------------------------ EDM_LANDER_CRUISE J2000 CK -117001 EDM_LANDER_COAST J2000 CK -117002 EDM_LANDER_DESCENT EDM_MME_EIP CK -117003 EDM_LANDER EDM_LANDER_CRUISE, CK -117000 EDM_LANDER_DESCENT, EDM_LANDED_LOCAL, Surface/descent frames (-1179xx): --------------------------------- EDM_MME_EIP IAU_MARS FIXED -117901 EDM_TOPO IAU_MARS FIXED -117900 EDM_LANDED_LOCAL EDM_TOPO FIXED -117902 DECA frames: ------------- EDM_DECA EDM_LANDER FIXED -117100 ExoMars 2016 EDM Frames Hierarchy -------------------------------------------------------------------------- The diagram below shows the ExoMars 2016 EDM frames hierarchy (except for science operations frames): "J2000" INERTIAL +--------------------------------------------------------------+ | | | | |<--pck |<--pck |<--ck |<--ck | | | | v v | v "IAU_EARTH" "IAU_MARS" | "TGO_SPACECRAFT" ----------- +-----------------------+ | ---------------- | | | | |<--fixed fixed-->| | | | | | | v v | | "EDM_TOPO" "EDM_MME_EIP" | | ---------- ------------- | | | | | | | | | | | | | | fixed-->| ck-->| | |<--fixed | | v | | | "EDM_LANDER_COAST" | | | ------------------ | v v | v "EDM_LOCAL_LANDED" "EDM_LANDER_DESCENT" | "EDM_LANDER_CRUISE" ------------------ -------------------- | ------------------- | | | | |<--ck(*) |<--ck(*) |<--ck(*) |<--ck(*) | | | | | v | | v "EDM_LANDER" v v +---------------------------------------------+ . . . . . . . . V Individual instrument frame trees are provided in the other sections of this file (*) In these cases transformation is fixed but it has to be stored in a CK to make SPICE "traverse" appropriate frame tree branch based on the time of interest and/or loaded kernels. Implementation of Frame Chains for Different Mission Phases ------------------------------------------------------------------------------- Different routes along the branches of the EDM frame hierarchy are implemented for different mission phases depending on the availability of the orientation data and the source, format and type of the data. This subsection summarizes mission phase specific implementations. Cruise ------ "J2000" Inertial ---------------- | | <----------- CK segment containing TLM quaternions or AEM data | v "TGO_SPACECRAFT" ---------------- | | <----------- Fixed rotation based on frame definitions | V "EDM_LANDER_CRUISE" ------------------- | | <----------- CK segment representing fixed rotation defined | by the lander design and to make SPICE "transverse" V to the appropriate frame chain "EDM_LANDER" ------------ Coasting -------- During the Coasting phase EDM will be mostly in Hibernation (all units off but timer) with a short wake-up to initiate RCS warm-up and a final wake-up about 75 min prior EIP. During this phase the predicted attitude will be determined by the initial rotation state of EDM after separation from TGO. "J2000" Inertial ---------------- | | <----------- CK segment containing TLM quaternions or AEM data | V "EDM_LANDER_COAST" ------------------ | | <----------- CK segment representing fixed rotation defined | by the lander design and to make SPICE "transverse" V to the appropriate frame chain "EDM_LANDER" ------------ Entry-Descent-Landing --------------------- During the EDL phase which starts when the Lander reaches an altitude of 120 km over the surface of Mars the orientation is provided by the AMELIA team. The predicted attitude is obtained by using an integrator that takes into account the initial position, velocity and rotation states at the EIP point. "J2000" Inertial ---------------- | | <----------- PCK-based transformation V "IAU_MARS" ---------- | | <----------- Fixed rotation based on frame definitions | V "EDM_MARS_EIP" -------------- | | <----------- CK segment | "EDM_LANDER_DESCENT" ------------------- | | <----------- CK segment representing fixed rotation defined | by the lander design and to make SPICE "transverse" V to the appropriate frame chain "EDM_LANDER" ------------ Surface Mission --------------- During surface operations the lander orientation is available from the following source(s): - initial orientation is provided by the lander team in the form of quaternion defining orientation of the EDM_LANDER frame with respect to the EDM_LANDED_LOCAL frame; To accommodate this(ese) source(s) the following frame chain(s) can be implemented: "J2000" Inertial ---------------- | | <----------- PCK-based transformation V "IAU_MARS" ---------- | | <----------- Fixed rotation based on the landing site | coordinates V "EDM_TOPO" ---------- | | <----------- Fixed rotation based on frame definitions V "EDM_LANDED_LOCAL" ------------------ | | <----------- CK segment representing fixed rotation per | initial quaternion and to make SPICE "transverse" V to the appropriate frame chain. "EDM_LANDER" ------------ EDM Lander Frames ------------------------------------------------------------------------ This section of the file contains the definitions of the spacecraft and spacecraft structures frames. EDM Lander Cruise Frame ----------------------- According to [4] the EDM lander reference frame -- EDM_LANDER_CRUISE is defined as follows: - +X axis is parallel to the revolution axis of the conical shape pointing positively to the Front Shield nose (same orientation and direction as +Xsc in the TGO_SPACECRAFT frame when EDM is stowed on the OB); - +Y axis is parallel to the plane of back shell base, pointing positively to the EDM anchorage mechanism located on the HEPA filter side. When EDM is stowed on the OB, +Yedm shall have the same orientation and direction as +Ysc; - +Z axis completes the right-handed frame. - The origin of this frame is the vertex of the EDM upper cone. EDM Lander Coast Frame ------------------------ The EDM Lander Coast Frame -- EDM_LANDER_COAST is equivalent to the EDM Lander Cruise Frame and therefore is defined as follows: - +X axis is parallel to the revolution axis of the conical shape pointing positively to the Front Shield nose (same orientation and direction as +Xsc in the TGO_SPACECRAFT frame when EDM is stowed on the OB); - +Y axis is parallel to the plane of back shell base, pointing positively to the EDM anchorage mechanism located on the HEPA filter side. When EDM is stowed on the OB, +Yedm shall have the same orientation and direction as +Ysc; - +Z axis completes the right-handed frame. - The origin of this frame is the vertex of the EDM upper cone. EDM Lander Descent Frame ------------------------ The EDM Lander Descent Frame -- EDM_LANDER_DESCENT is equivalent to the EDM Lander Cruise Frame and therefore is defined as follows: - +X axis is parallel to the revolution axis of the conical shape pointing positively to the Front Shield nose (same orientation and direction as +Xsc in the TGO_SPACECRAFT frame when EDM is stowed on the OB); - +Y axis is parallel to the plane of back shell base, pointing positively to the EDM anchorage mechanism located on the HEPA filter side. When EDM is stowed on the OB, +Yedm shall have the same orientation and direction as +Ysc; - +Z axis completes the right-handed frame. - The origin of this frame is the vertex of the EDM upper cone. EDM Lander Frame ---------------- According to [4] the EDM Surface Platform reference frame -- EDM_LANDER is defined as follows: - +X axis is parallel to the revolution axis of the conical shape pointing positively to the Front Shield nose (same orientation and direction as +Xlnd in the EDM_LANDER_CRUISE frame); - +Y axis is parallel to the plane of back shell base, pointing positively to the EDM anchorage mechanism located on the HEPA filter side. +Ylnd is parallel to +Ylnd_cru; - +Z axis completes the right-handed frame. - The origin of this frame is in-plane with the upper face of the Surface Platform. These diagrams illustrate the EDM_LANDER_CRUISE and the EDM_LANDER frames: +Y EDM full lander (Hepa filter side) view: ------------------------------------------- Parachute __....---....__ EDM Back Shell .'---------------'. .'-. _____ .-'. .' .' / \ '. '. .' .' / \ '. '. .' .' ' ' '. '. .'--' `-------' '--'. .' '. .' __ '. .' / \ Hepa Filter '. .' \__/ '. .' '. .' +Ylnd '. /_______________________<-------o_______________________________\ ( +Zlnd | ) \_ | _/ ''--.__ | __.--'' ''--.__ v +Xlnd __.--'' ''--.__ +Ylnd_cru __.--'' '<-------o_....--'' +Ysc +Zlnd_cru | <-------o | +Zsc | EDM Front Shield | | v | +Xlnd_cru v +Xsc | toward Landing Site | | V -X EDM surface platform side view: ---------------------------------- __...--""--....__ _ _'' ''_ _ (/\.-' '-./\) _ \/ \/ _ (/\/ ___ _ \/\) _ \/ .-''-. O___O +Ylnd (_).-''-. \/ _ (/\/ / \ ^ / \ \/\) \/ | | | | | \/ : \ / | \ / : | `-..-' | `-..-' | | ___ x-------> +Zlnd | ; / \ +Xlnd .-''-. ; \ | | / \ / \ \___/ .-''-. | | / \ / \ \ / / . | | `-..-' .' '. \ / .' ',_ `-..-' _,' ''--....____....--'' |_| |_| |_| (_) (_) (_) -Y EDM surface platform side view: ---------------------------------- __ _ \/ \|___O || .-''-. || .-''-. || .-''-. _/ \___||_/___+Ylnd_|| / \_ /|| | |/\ x----------> ||\ /.---------------| ||| || |-----+Zlnd--.\ /_| |__|||_||__| |_\ |____________________|__________________| \ \ .-'|-. / / '--._\/___|__\/__.--' | V +Xlnd Lander Frame Definitions ------------------------ The lander frames are defined as CK and fixed frames for the following reasons: - during cruise phase the Lander has a fixed rotation with respect to the TGO_SPACECRAFT frame. - during the coasting phase after separation the s/c "flies" using the EDM_LANDER_COASTING frame; the orientation of this frame is determined by propagating the initial rotation after separation from TGO; - during descent the s/c "flies" using the EDM_LANDER_DESCENT frame; the orientation of this frame is relative to the EDM Mars Body Fixed frozen at Entry Insertion Point epoch (EDM_MARS_EIP) determined by the AMELIA team; this orientation is predicted using an EDL integrator and after landing is reconstructed using data acquired by AMELIA and DECA; - after landing the initial orientation of the EDM_LANDER frame is determined with respect the Landed Local Vertical, Local Horizontal frame (EDM_LANDED_LOCAL); it is stored in the surface orientation CK file(s); - after landing the orientation of the EDM_LANDER frame may be determined with respect the local level or topocentric frame; this orientation is stored in the surface orientation CK file(s); - for different periods (cruise, descent, surface ops) the EDM_LANDER frame can be specified as offset to the EDM_LANDER_CRUISE frame or the other frames depending on for which of these the orientation data is available. Also, should the landed orientation change during surface operations due to the arm or other activities, the change in orientation will be captured in the landed CK file(s). These sets of keywords define the EDM_LANDER, EDM_LANDER_CRUISE, EDM_LANDER_COASTING and EDM_LANDER_DESCENT frames: \begindata FRAME_EDM_LANDER = -117000 FRAME_-117000_NAME = 'EDM_LANDER' FRAME_-117000_CLASS = 3 FRAME_-117000_CLASS_ID = -117000 FRAME_-117000_CENTER = -117 CK_-117000_SCLK = -117 CK_-117000_SPK = -117 OBJECT_-117_FRAME = 'EDM_LANDER' FRAME_EDM_LANDER_CRUISE = -117001 FRAME_-117001_NAME = 'EDM_LANDER_CRUISE' FRAME_-117001_CLASS = 4 FRAME_-117001_CLASS_ID = -117001 FRAME_-117001_CENTER = -117 TKFRAME_-117001_RELATIVE = 'TGO_SPACECRAFT' TKFRAME_-117001_SPEC = 'ANGLES' TKFRAME_-117001_UNITS = 'DEGREES' TKFRAME_-117001_AXES = ( 1, 2, 3 ) TKFRAME_-117001_ANGLES = ( 0.000, 0.000, 0.000 ) FRAME_EDM_LANDER_COAST = -117002 FRAME_-117002_NAME = 'EDM_LANDER_COAST' FRAME_-117002_CLASS = 3 FRAME_-117002_CLASS_ID = -117002 FRAME_-117002_CENTER = -117 CK_-117002_SCLK = -117 CK_-117002_SPK = -117 OBJECT_-117_FRAME = 'EDM_LANDER_COAST' FRAME_EDM_LANDER_DESCENT = -117003 FRAME_-117003_NAME = 'EDM_LANDER_DESCENT' FRAME_-117003_CLASS = 3 FRAME_-117003_CLASS_ID = -117003 FRAME_-117003_CENTER = -117 CK_-117003_SCLK = -117 CK_-117003_SPK = -117 OBJECT_-117_FRAME = 'EDM_LANDER_DESCENT' \begintext EDM Surface/descent frames ------------------------------------------------------------------------ EDM Mars Mean Equator of Entry Interface Point epoch ----------------------------------------------------- The Mars Mean Equator of EIP frame is defined as follows (from [8]): - X-Y plane is defined by the Mars equator of date: the +Z axis, primary vector, is parallel to the Mars' rotation axis of date, pointing toward the North side of the invariant plane; - +X axis is defined by the intersection of the Mars' equator of date with the EIP epoch equator; - +Y axis completes the right-handed system; - the origin of this frame is Mars' center of mass. All vectors are geometric: no corrections are used. \begindata FRAME_EDM_MME_EIP = -117901 FRAME_-117901_NAME = 'EDM_MME_EIP' FRAME_-117901_CLASS = 4 FRAME_-117901_CLASS_ID = -117901 FRAME_-117901_CENTER = 499 TKFRAME_-117901_SPEC = 'ANGLES' TKFRAME_-117901_RELATIVE = 'IAU_MARS' TKFRAME_-117901_ANGLES = ( 6.099, 0.0, 0.0 ) TKFRAME_-117901_AXES = ( 3, 2, 3 ) TKFRAME_-117901_UNITS = 'DEGREES' \begintext Required Data: -------------- This frame is defined relative to the IAU_MARS frame, which is a PCK-based frame, therefore a PCK file containing the orientation constants for Mars has to be loaded before using this frame. At the EIP epoch: 2016-10-19 14:51:43.179660 UTC according to the Flight Dynamics reference trajectory the Planetocentric coordinates in the IAU_MARS reference frame are: Lon = 173.9 degrees Lat = 2.05 degrees North The direction of increasing longitude is from the +X axis towards the +Y axis. The range of `longitude' is [-180, 180] degrees. We need to convert the range from [0, 360] therefore the resulting Longitude is: Lon = -6.099 degrees Remarks: -------- This frame is defined based on the IAU_MARS frame, whose evaluation is based on the data included in the loaded PCK file: different orientation constants for Mars' spin axis will lead to different frames. It is strongly recommended to indicate which data have been used in the evaluation of this frame when referring to it, i.e. EDM_MME_EIP using IAU 2000 constants. EDM Topocentric Frame --------------------- This frame defines the Z axis as the normal outward at the landing site, the X axis points at local north with the Y axis completing the right handed frame (points at local west.) Orientation of the frame is given relative to the body fixed rotating frame 'IAU_MARS' (X - along the line of zero longitude intersecting the equator, Z - along the spin axis, Y - completing the right hand coordinate frame.) The transformation from 'EDM_TOPO' frame to 'IAU_MARS' frame is a 3-2-3 rotation with defined angles as the negative of the site longitude, the negative of the site colatitude, 180 degrees. This frame is currently defined for the target landing site EDL-LS1mod in the Meridiani area as defined in [6]. The landing site longitude and latitude upon which the definition is built are: Lon = 6.15 degrees West Lat = 1.82 degrees South The coordinates specified above are given with respect to the 'IAU_MARS' instance defined by the rotation/shape model from the PCK file 'pck00010.tpc'. These keywords implement the frame definition. \begindata FRAME_EDM_TOPO = -117900 FRAME_-117900_NAME = 'EDM_TOPO' FRAME_-117900_CLASS = 4 FRAME_-117900_CLASS_ID = -117900 FRAME_-117900_CENTER = -117900 TKFRAME_-117900_RELATIVE = 'IAU_MARS' TKFRAME_-117900_SPEC = 'ANGLES' TKFRAME_-117900_UNITS = 'DEGREES' TKFRAME_-117900_AXES = ( 3, 2, 3 ) TKFRAME_-117900_ANGLES = ( 6.15, -91.82, 180.000 ) \begintext EDM Landed Local Vertical, Local Horizontal (LANDED_LOCAL) Frame ------------------------------------------------------------------------------- This frame is the frame with respect to which the landed lander orientation is determined by the on-board attitude. The axes of this frame point as follows: - +Z axis points along local gravity vector - +X axis points towards local North - +Y axis completes the right-hand frame (and, thus points towards local East) In this file the EDM_LANDED_LOCAL frame is defined as a fixed offset frame with respect to the EDM_TOPO frame that is based on the planetographic latitude. \begindata FRAME_EDM_LANDED_LOCAL = -117902 FRAME_-117902_NAME = 'EDM_LANDED_LOCAL' FRAME_-117902_CLASS = 4 FRAME_-117902_CLASS_ID = -117902 FRAME_-117902_CENTER = -117 TKFRAME_-117902_RELATIVE = 'EDM_TOPO' TKFRAME_-117902_SPEC = 'ANGLES' TKFRAME_-117902_UNITS = 'DEGREES' TKFRAME_-117902_AXES = ( 1, 2, 3 ) TKFRAME_-117902_ANGLES = ( 180.000, 0.000, 0.000 ) \begintext DECA Frames ------------------------------------------------------------------------ This section of the file contains the definitions of the Descent Camera (DECA) instrument frames. DECA Frame Tree ~~~~~~~~~~~~~~~~ The diagram below shows the NOMAD frame hierarchy. "J2000" INERTIAL +--------------------------------------------------------------+ | | | | |<--pck |<--pck |<--ck |<--ck | | | | v v | v "IAU_EARTH" "IAU_MARS" | "TGO_SPACECRAFT" ----------- +-----------------------+ | ---------------- | | | | |<--fixed fixed-->| | | | | | | v v | | "EDM_TOPO" "EDM_MME_EIP" | | ---------- ------------- | | | | | | | | | | | | | | fixed-->| ck-->| | |<--fixed | | v | | | "EDM_LANDER_COASTING" | | | --------------------- | v v | v "EDM_LOCAL_LANDED" "EDM_LANDER_DESCENT" | "EDM_LANDER_CRUISE" ------------------ -------------------- | ------------------- | | | | |<--ck(*) |<--ck(*) |<--ck(*) |<--ck(*) | | | | | v | | v "EDM_LANDER" v v +---------------------------------------------+ | fixed->| | v "EDM_DECA" ---------- DECA Frame ~~~~~~~~~~ The Descent Camera is rigidly mounted on the EDM surface platform. Therefore, the base frame associated with it -- the DECA frame, EDM_DECA -- is specified as a fixed offset frame with its orientation given relative to the EDM_LANDER frame, and is nominally rotated by -19 degrees about the lander +X axis and rotated 70 degrees with respect to the surface platform plane (ZY plane). The DECA frame is defined as follows (from [7]): - +Z axis is parallel to the CCD detector lines and is rotated 19 degrees from the lander +Y axis towards the lander -Z axis in the YZ plane; - +Y axis is along the camera nominal boresight and is rotated 70 degrees from the EDM Surface Platform plane (parallel to the +Z axis) towards the lander +X axis; - +X axis completes the right-handed frame, and it is normal to the detector array lines and the wide side of the slit; - the origin of this frame is located at the Descent Camera focal point. These diagrams illustrate the DECA_FRAME and the with respect to the spacecraft frame: -X EDM Surface Platform side view: ---------------------------------- __...--""--....__ _ _'' ''_ _ (/\.-' '-./\) _ \/ \/ _ (/\/ ___ _ \/\) _ \/ .-''-. O___O +Ylnd (_).-''-. \/ _ (/\/ / \ ^ / \ \/\) +Zdeca \/ | | | | | \/ ^ : \ / | \ / : '. | `-..-' | `-..-' | - - - - - - -| ___ x-------> +Zlnd | | '. ; / \ +Xlnd .-''-. ; \ ',.' \ | | / \ / 19deg `. \x +Xdeca \___/ .-''-. | | / .' \.' \ / \ \ / / .' . | | `-..-' .' .' '. \ / .' v ',_ `-..-' _,' +Ydeca (*) ''--....____....--'' |_| |_| |_| (_) (_) (_) +Xdeca and +Xlnd are into the page. (*) The represented +Ydeca axis is projected into the Lander XY plane. -Y EDM surface platform section view normal to the XZ plane ------------------------------------------------------------- Deca ________ / / \ EDM Surface Platform / ,.--------------\ +Zdeca/ / | / +Ylnd - - - - - '.x / | \ x-------> +Zlnd | .' '. ''--.._________/ | 70deg \ .' '. \ | .' '> / | +Xlnd v +Xdeca V +Ydeca +Zdeca and +Ylnd are into the page. Nominally, a rotation of 19+90 degrees about -X lander axis and a rotation of 70 degrees around the resulting +Z axis is required to align the EDM_DECA frame to the EDM_LANDER 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_EDM_DECA = -117100 FRAME_-117100_NAME = 'EDM_DECA' FRAME_-117100_CLASS = 4 FRAME_-117100_CLASS_ID = -117100 FRAME_-117100_CENTER = -117 TKFRAME_-117100_RELATIVE = 'EDM_LANDER' TKFRAME_-117100_SPEC = 'ANGLES' TKFRAME_-117100_UNITS = 'DEGREES' TKFRAME_-117100_AXES = ( 1, 3, 2 ) TKFRAME_-117100_ANGLES = ( 109.0, 70.0, 0 ) \begintext EDM NAIF ID Codes -- Definitions =============================================================================== This section contains name to NAIF ID mappings for the ExoMars-16 EDM 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. \begindata NAIF_BODY_NAME += ( 'EDL DEMONSTRATOR MODULE' ) NAIF_BODY_CODE += ( -117 ) NAIF_BODY_NAME += ( 'EDM' ) NAIF_BODY_CODE += ( -117 ) NAIF_BODY_NAME += ( 'EXOMARS 2016 EDM' ) NAIF_BODY_CODE += ( -117 ) NAIF_BODY_NAME += ( 'EDM_LANDER' ) NAIF_BODY_CODE += ( -117000 ) NAIF_BODY_NAME += ( 'EDM_LANDING_SITE' ) NAIF_BODY_CODE += ( -117900 ) NAIF_BODY_NAME += ( 'EDM_AMELIA' ) NAIF_BODY_CODE += ( -117200 ) NAIF_BODY_NAME += ( 'EDM_COMARS' ) NAIF_BODY_CODE += ( -117300 ) NAIF_BODY_NAME += ( 'EDM_DECA' ) NAIF_BODY_CODE += ( -117100 ) NAIF_BODY_NAME += ( 'EDM_DREAMS' ) NAIF_BODY_CODE += ( -117400 ) NAIF_BODY_NAME += ( 'EDM_INRRI' ) NAIF_BODY_CODE += ( -117500 ) \begintext End of FK file.