KPL/FK Juventas Spacecraft Frames Kernel ============================================================================= This frame kernel contains complete set of frame definitions for Juventas, including definitions for the Juventas fixed and Juventas science instrument frames. This kernel also contains NAIF ID/name mapping for the Juventas science instruments and s/c structures (see the last section of the file). Version and Date ----------------------------------------------------------------------------- Version 0.4 -- June 20, 2024 -- Alfredo Escalante Lopez, ESAC/ESA Ricardo Valles Blanco, ESAC/ESA Added reference frames and NAIF ID/body definitions for Solar Arrays, Inter-satellite Link antennas (ISL) and Context camera. Corrected Start Trackers alignment. Renamed reference frame JUVENTAS_CONCAM to JUVENTAS_CCAM. Version 0.3 -- February 28, 2024 -- Rafael Andres Blasco, ESAC/ESA Updated JUVENTAS_SPACECRAFT to be defined as a CK-based frame. Version 0.2 -- August 25, 2023 -- Rafael Andres Blasco, ESAC/ESA Added STR reference frames and NAIF ID/body definitions. Version 0.1 -- May 5, 2023 -- Alfredo Escalante Lopez, ESAC/ESA Added JURA, GRASS, NAVCAM and LIDAR reference frames and NAIF ID/body definitions. Corrected JUVENTAS diagrams and Y axis alignment. Version 0.0 -- June 20, 2022 -- Alfredo Escalante Lopez, 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 Juventas Mission NAIF ID Codes ----------------------------------------------------------------------------- The following names and NAIF ID codes are assigned to the Juventas spacecraft, its structures and science instruments (the keywords implementing these definitions are located in the section "Juventas Mission NAIF ID Codes -- Definition Section" at the end of this file): Juventas Spacecraft and Spacecraft Structures names/IDs: JUVENTAS -15513 JUVENTAS_SPACECRAFT -15513000 (synonym: JUVENTAS_SC) JUVENTAS_SA+Y -15513011 JUVENTAS_SA-Y -15513015 JUVENTAS_ISL+X -15513071 JUVENTAS_ISL-X -15513072 Juventas JURA IDs: JUVENTAS_JURA -15513110 JUVENTAS_JURA+X -15513111 JUVENTAS_JURA-X -15513112 JUVENTAS_JURA+Y -15513113 JUVENTAS_JURA-Y -15513114 Juventas GRASS IDs: JUVENTAS_GRASS+X -15513210 JUVENTAS_GRASS+Z -15513220 Juventas NAVCAM IDs: JUVENTAS_NAVCAM -15513310 Juventas LIDAR IDs: JUVENTAS_LIDAR -15513410 Juventas STR IDs: JUVENTAS_STR-1 -15513510 JUVENTAS_STR-2 -15513520 Juventas Context camera IDs: JUVENTAS_CCAM -15513610 Juventas Mission Frames ----------------------------------------------------------------------------- The following Juventas frames are defined in this kernel file: Name Relative to Type NAIF ID ====================== ======================== ========== ========= Spacecraft frames: ------------------- JUVENTAS_SPACECRAFT J2000 DYNAMIC -15513000 JUVENTAS_SA+Y_ZERO JUVENTAS_SPACECRAFT FIXED -15513010 JUVENTAS_SA+Y JUVENTAS_SA+Y_ZERO SWITCH -15513011 JUVENTAS_SA+Y_PLAN JUVENTAS_SA+Y_ZERO CK -15513012 JUVENTAS_SA+Y_MEAS JUVENTAS_SA+Y_ZERO CK -15513013 JUVENTAS_SA-Y_ZERO JUVENTAS_SPACECRAFT FIXED -15513014 JUVENTAS_SA-Y JUVENTAS_SA-Y_ZERO SWITCH -15513015 JUVENTAS_SA-Y_PLAN JUVENTAS_SA-Y_ZERO CK -15513016 JUVENTAS_SA-Y_MEAS JUVENTAS_SA-Y_ZERO CK -15513017 JUVENTAS_ISL+X JUVENTAS_SPACECRAFT FIXED -15513071 JUVENTAS_ISL-X JUVENTAS_SPACECRAFT FIXED -15513072 JURA frames: ------------ JUVENTAS_JURA JUVENTAS_SPACECRAFT FIXED -15513110 JUVENTAS_JURA+X JUVENTAS_SPACECRAFT FIXED -15513111 JUVENTAS_JURA-X JUVENTAS_SPACECRAFT FIXED -15513112 JUVENTAS_JURA+Y JUVENTAS_SPACECRAFT FIXED -15513113 JUVENTAS_JURA-Y JUVENTAS_SPACECRAFT FIXED -15513114 GRASS frames: ------------- JUVENTAS_GRASS+X JUVENTAS_SPACECRAFT FIXED -15513210 JUVENTAS_GRASS+Z JUVENTAS_SPACECRAFT FIXED -15513220 NAVCAM frames: -------------- JUVENTAS_NAVCAM JUVENTAS_SPACECRAFT FIXED -15513310 LIDAR frames: ------------- JUVENTAS_LIDAR JUVENTAS_SPACECRAFT FIXED -15513410 STR frames: ------------- JUVENTAS_STR-1 JUVENTAS_SPACECRAFT FIXED -15513510 JUVENTAS_STR-2 JUVENTAS_SPACECRAFT FIXED -15513520 Context Camera frames: ---------------------- JUVENTAS_CCAM JUVENTAS_SPACECRAFT FIXED -15513610 Juventas Frames Hierarchy ----------------------------------------------------------------------------- The diagram below shows the Juventas spacecraft and its structures frame hierarchy (not including science instrument frames.) "J2000" INERTIAL +----------------------------------------------------+ | | | |<-pck | |<-pck | | | V | V "EARTH_FIXED" | "DIDYMOS_FIXED" ------------- | --------------- | | |<-dynamic |<-dynamic | | V V "JUVENTAS_SPACECRAFT" "DIMORPHOS_FIXED" --------------------- ----------------- . | . |<-dynamic . | . V . "DIMORPHOS_IMPACT_TOPO" . ----------------------- . V Individual instrument frame trees are provided in the corresponding sections of this file Juventas Spacecraft and Spacecraft Structures Frames ======================================================================== This section of the file contains the definitions of the spacecraft and spacecraft structures frames. Juventas Spacecraft Frame -------------------------------------- The Juventas spacecraft frame is defined as follows: - +Z axis is along the nominal boresight direction of the imager; toward the asteroid. - +Y axis is along the left solar array direction; - +X axis completes the right-hand frame; - the origin of this frame is the launch vehicle interface point. These diagrams illustrate the JUVENTAS_SPACECRAFT frame: +X s/c side view: ----------------- .__ __..__________. | / / || | .___________..__ ___. | / / || | | || / / | | \ \ || |o._______. | || \ \ | | / / || | | |o| || / / | .__ __..__________. . . | || \ \ | | +Xsc | .___________..__ ___. +Ysc <-------o | |.--|--.| || | || ||__V__|| | +Zsc | ._______. +Xsc is out of the page. | | toward asteroid | V +Z s/c side (science deck side) view: ------------------------------------- ^ | toward Sun | +Xsc .___^___. | | | | | | .__/ /__.._____+Ysc<-----o----o._________..__/ /___. | +Zsc | ._______. +Y Solar Array -Y Solar Array +Zsc is out of the page. Since the orientation of the JUVENTAS_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_JUVENTAS_SPACECRAFT = -15513000 FRAME_-15513000_NAME = 'JUVENTAS_SPACECRAFT' FRAME_-15513000_CLASS = 3 FRAME_-15513000_CLASS_ID = -15513000 FRAME_-15513000_CENTER = -15513 CK_-15513000_SCLK = -15513 CK_-15513000_SPK = -15513 \begintext Juventas Solar Array Frames Tree -------------------------------------------------------------------------- The diagram below shows the Juventas Solar Array frames hierarchy: "JUVENTAS_SPACECRAFT" +---------------------------------------+ | | fixed->| |<-fixed | | v v "JUVENTAS_SA+Y_ZERO" "JUVENTAS_SA-Y_ZERO" +-------------------+ +-------------------+ | | | | ck->| ck->| ck->| ck->| | | | | v | v | "JUVENTAS_SA+Y_PLAN" | "JUVENTAS_SA-Y_PLAN" | -------------------- | -------------------- | | | | | | "JUVENTAS_SA+Y_MEAS" | "JUVENTAS_SA-Y_MEAS" | -------------------- | -------------------- | | | | v v v v +-------------------+ +-------------------+ | | switch->| switch->| | | v v "JUVENTAS_SA+Y" "JUVENTAS_SA-Y" --------------- --------------- JUVENTAS_SA+Y_ZERO and JUVENTAS_SA-Y_ZERO are two ``fixed-offset'' frames, defined with respect to JUVENTAS_SPACECRAFT as follows: - +Y is parallel to the longest side of the array, positively oriented from the yoke to the end of the wing; - +Z is aligned to the spacecraft bus +Z, pointing on the nominal direction of nadir; - +X completes the right-handed frame. - the origin of the frame is located at the yoke geometric center. The rest of Solar Array frames -- JUVENTAS_SA+Y, JUVENTAS_SA+Y_PLAN, JUVENTAS_SA+Y_MEAS, JUVENTAS_SA-Y, JUVENTAS_SA-Y_PLAN, JUVENTAS_SA-Y_MEAS -- are defined as follows: - +Y is parallel to the longest side of the array, positively oriented from the yoke to the end of the wing; - +Z is normal to the solar array plane, the solar cells facing +Z; - +X completes the right-handed frame; - the origin of the frame is located at the yoke geometric center. The axis of rotation is parallel to the Y axis of the spacecraft and the solar array frames. Please note that in all the diagrams of this file the Solar Arrays are rotated 90 degrees. The solar array frames JUVENTAS_SA-Y and JUVENTAS_SA+Y are implemented as Switch frame and their orientation is provided by either JUVENTAS_SA+Y_MEAS and JUVENTAS_SA-Y_MEAS when measured orientation is available or otherwise, by JUVENTAS_SA+Y_PLAN and JUVENTAS_SA-Y_PLAN when predicted orientation is available (see Section ``Juventas Spacecraft Frame'' and [1] for more information). This diagram illustrates the JUVENTAS_SA+Y and JUVENTAS_SA-Y frames: +X s/c side view: ----------------- +Xsa+y .__ __..__________.^ | / / || || .___________..__ ___. | / / || || | || / / | | \ \ |+Ysa+y<-----o.______+Zsa-y || \ \ | | / / || +Zsa+y |o----->+Ysa-y|| / / | .__ __..__________. . .|| || \ \ | | +Xsc ||.___________..__ ___. +Ysc <-------o |V |.--|--.+Xsa-y || | || ||__V__|| | +Zsc | ._______. +Xsc is out of the page. +Zsa+y and +Zsa-y are out of the page. These sets of keywords define solar array frames: \begindata FRAME_JUVENTAS_SA+Y_ZERO = -15513010 FRAME_-15513010_NAME = 'JUVENTAS_SA+Y_ZERO' FRAME_-15513010_CLASS = 4 FRAME_-15513010_CLASS_ID = -15513010 FRAME_-15513010_CENTER = -15513011 TKFRAME_-15513010_RELATIVE = 'JUVENTAS_SPACECRAFT' TKFRAME_-15513010_SPEC = 'ANGLES' TKFRAME_-15513010_UNITS = 'DEGREES' TKFRAME_-15513010_AXES = ( 3, 2, 1 ) TKFRAME_-15513010_ANGLES = ( 0.0, 0.0, 0.0 ) FRAME_JUVENTAS_SA+Y = -15513011 FRAME_-15513011_NAME = 'JUVENTAS_SA+Y' FRAME_-15513011_CLASS = 6 FRAME_-15513011_CLASS_ID = -15513011 FRAME_-15513011_CENTER = -15513011 FRAME_-15513011_ALIGNED_WITH = ( 'JUVENTAS_SA+Y_PLAN' 'JUVENTAS_SA+Y_MEAS' ) FRAME_JUVENTAS_SA+Y_PLAN = -15513012 FRAME_-15513012_NAME = 'JUVENTAS_SA+Y_PLAN' FRAME_-15513012_CLASS = 3 FRAME_-15513012_CLASS_ID = -15513012 FRAME_-15513012_CENTER = -15513011 CK_-15513012_SCLK = -15513999 CK_-15513012_SPK = -15513011 FRAME_JUVENTAS_SA+Y_MEAS = -15513013 FRAME_-15513013_NAME = 'JUVENTAS_SA+Y_MEAS' FRAME_-15513013_CLASS = 3 FRAME_-15513013_CLASS_ID = -15513013 FRAME_-15513013_CENTER = -15513011 CK_-15513013_SCLK = -15513 CK_-15513013_SPK = -15513011 FRAME_JUVENTAS_SA-Y_ZERO = -15513014 FRAME_-15513014_NAME = 'JUVENTAS_SA-Y_ZERO' FRAME_-15513014_CLASS = 4 FRAME_-15513014_CLASS_ID = -15513014 FRAME_-15513014_CENTER = -15513015 TKFRAME_-15513014_RELATIVE = 'JUVENTAS_SPACECRAFT' TKFRAME_-15513014_SPEC = 'ANGLES' TKFRAME_-15513014_UNITS = 'DEGREES' TKFRAME_-15513014_AXES = ( 3, 2, 1 ) TKFRAME_-15513014_ANGLES = ( 0.0, 180.0, 180.0 ) FRAME_JUVENTAS_SA-Y = -15513015 FRAME_-15513015_NAME = 'JUVENTAS_SA-Y' FRAME_-15513015_CLASS = 6 FRAME_-15513015_CLASS_ID = -15513015 FRAME_-15513015_CENTER = -15513015 FRAME_-15513015_ALIGNED_WITH = ( 'JUVENTAS_SA-Y_PLAN' 'JUVENTAS_SA-Y_MEAS' ) FRAME_JUVENTAS_SA-Y_PLAN = -15513016 FRAME_-15513016_NAME = 'JUVENTAS_SA-Y_PLAN' FRAME_-15513016_CLASS = 3 FRAME_-15513016_CLASS_ID = -15513016 FRAME_-15513016_CENTER = -15513015 CK_-15513016_SCLK = -15513999 CK_-15513016_SPK = -15513015 FRAME_JUVENTAS_SA-Y_MEAS = -15513017 FRAME_-15513017_NAME = 'JUVENTAS_SA-Y_MEAS' FRAME_-15513017_CLASS = 3 FRAME_-15513017_CLASS_ID = -15513017 FRAME_-15513017_CENTER = -15513015 CK_-15513017_SCLK = -15513 CK_-15513017_SPK = -15513015 \begintext Juventas Inter-Satellite Link Antennas Frames --------------------------------------------- The Juventas Inter-Satellite Link Antennas are rigidly attached to the +X and -X sides of the S/C bus. Therefore, the Juventas ISL frames, JUVENTAS_ISL+X and JUVENTAS_ISL_X, are defined as fixed offset frames with its orientation given relative to the JUVENTAS_SPACECRAFT frame and is defined as follows: - +Z axis is in the antenna boresight direction (nominally aligned with the spacecraft +X or -X axis respectively); - +Y axis is in the direction of the S/C +Y axis ; - +X completes the right hand frame; - the origin of the frame is located at the geometric center of the antenna circle. This diagram illustrates the JUVENTAS_ISL+X and JUVENTAS_ISL-X frames: +Z s/c side (science deck side) view: ------------------------------------- +Xsc ^ ^ | | toward Sun | | +Ysc<-----o +Zsc +Zisl+x ^ | +Yisl+x<-----x___. |+Xisl+x| +Y Solar Array | | -Y Solar Array .___/ /__.._________.o o._________..__/ /___. |+Xisl-x| +Yisl-x<-----o___. | V +Zsc and +Xisl-x are out of the page. +Zisl-x +Xisl+x is into the page. Nominally a single rotation of +-90 degrees about the +Y axis is needed to co-align the S/C frame with the ISL antenna frames. Since the SPICE frames subsystem calls for specifying the reverse transformation--going from the instrument or structure frame to the base frame--as compared to the description given above, the order of rotations assigned to the TKFRAME_*_AXES keyword is also reversed compared to the above text, and the signs associated with the rotation angles assigned to the TKFRAME_*_ANGLES keyword are the opposite from what is written in the above text. \begindata FRAME_JUVENTAS_ISL+X = -15513071 FRAME_-15513071_NAME = 'JUVENTAS_ISL+X' FRAME_-15513071_CLASS = 4 FRAME_-15513071_CLASS_ID = -15513071 FRAME_-15513071_CENTER = -15513071 TKFRAME_-15513071_RELATIVE = 'JUVENTAS_SPACECRAFT' TKFRAME_-15513071_SPEC = 'ANGLES' TKFRAME_-15513071_UNITS = 'DEGREES' TKFRAME_-15513071_AXES = ( 1, 2, 3 ) TKFRAME_-15513071_ANGLES = ( 0.0, -90.0, 0.0 ) FRAME_JUVENTAS_ISL-X = -15513072 FRAME_-15513072_NAME = 'JUVENTAS_ISL-X' FRAME_-15513072_CLASS = 4 FRAME_-15513072_CLASS_ID = -15513072 FRAME_-15513072_CENTER = -15513072 TKFRAME_-15513072_RELATIVE = 'JUVENTAS_SPACECRAFT' TKFRAME_-15513072_SPEC = 'ANGLES' TKFRAME_-15513072_UNITS = 'DEGREES' TKFRAME_-15513072_AXES = ( 1, 2, 3 ) TKFRAME_-15513072_ANGLES = ( 0.0, +90.0, 0.0 ) \begintext JURA Frames ------------------------------------------------------------------------ This section of the file contains the definitions of the Juventas Radar (JURA) instrument frames. JURA Frame Tree ~~~~~~~~~~~~~~~ The diagram below shows the JURA frame hierarchy. "J2000" INERTIAL .... ---------------------------------- ... | | |<-ck | V "JUVENTAS_SPACECRAFT" +----------------------------------------------------------+ | | | | | |<-fixed |<-fixed |<-fixed |<-fixed |<-fixed | | | | | v | v | v "JUVENTAS_JURA" | "JUVENTAS_JURA-X" | "JUVENTAS_JURA-Y" --------------- | ----------------- | ----------------- v v "JUVENTAS_JURA+X" "JUVENTAS_JURA+Y" ----------------- ----------------- JURA Frames ~~~~~~~~~~~ The Juventas Radar (JURA) is rigidly mounted on the spacecraft Science Deck. Therefore, the frames associated with it -- the JUVENTAS_JURA, JUVENTAS_JURA+X, JUVENTAS_JURA-X, JUVENTAS_JURA+Y and JUVENTAS_JURA-Y -- are specified as fixed offset frames with its orientation given relative to the JUVENTAS_SPACECRAFT frame. The JURA frames are defined as follows: - +Z axis are nominally co-aligned with the spacecraft +Z axis; - +X axis are nominally co-aligned with the deployable antenna boom from the hinge to the tip; - +Y axis completes the right-hand frame; - the origin of this frame is the Hera interface point. These diagrams illustrate the nominal JURA frames with respect to the spacecraft frame. +Z s/c side (science deck side) view: ------------------------------------- ^ | toward Sun | | | | +Yjura-y +Xjura+x ^ ^| | || | || +Xsc o------> +Xjura-y +Yjura+y <------o.___^___.--------------------- | | | +Y Solar Array | | | .__/ /__.._____+Ysc<-----o |o._________..__/ /___. +Xjura+y <------o| +Zsc | -Y Solar Array --------------------|._______.o------> +Yjura-x | || V || +Yjura+y |V +Zsc, +Zjura+x, +Zjura-x, +Xjura-x +Zjura+y and +Zjura-y are | out of the page. | | 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_JUVENTAS_JURA = -15513110 FRAME_-15513110_NAME = 'JUVENTAS_JURA' FRAME_-15513110_CLASS = 4 FRAME_-15513110_CLASS_ID = -15513110 FRAME_-15513110_CENTER = -15513 TKFRAME_-15513110_RELATIVE = 'JUVENTAS_SPACECRAFT' TKFRAME_-15513110_SPEC = 'ANGLES' TKFRAME_-15513110_UNITS = 'DEGREES' TKFRAME_-15513110_AXES = ( 2, 3, 1 ) TKFRAME_-15513110_ANGLES = ( 0.0, 0.0, 0.0 ) FRAME_JUVENTAS_JURA+X = -15513111 FRAME_-15513111_NAME = 'JUVENTAS_JURA+X' FRAME_-15513111_CLASS = 4 FRAME_-15513111_CLASS_ID = -15513111 FRAME_-15513111_CENTER = -15513111 TKFRAME_-15513111_RELATIVE = 'JUVENTAS_SPACECRAFT' TKFRAME_-15513111_SPEC = 'ANGLES' TKFRAME_-15513111_UNITS = 'DEGREES' TKFRAME_-15513111_AXES = ( 2, 3, 1 ) TKFRAME_-15513111_ANGLES = ( 0.0, 0.0, 0.0 ) FRAME_JUVENTAS_JURA-X = -15513112 FRAME_-15513112_NAME = 'JUVENTAS_JURA-X' FRAME_-15513112_CLASS = 4 FRAME_-15513112_CLASS_ID = -15513112 FRAME_-15513112_CENTER = -15513112 TKFRAME_-15513112_RELATIVE = 'JUVENTAS_SPACECRAFT' TKFRAME_-15513112_SPEC = 'ANGLES' TKFRAME_-15513112_UNITS = 'DEGREES' TKFRAME_-15513112_AXES = ( 2, 3, 1 ) TKFRAME_-15513112_ANGLES = ( 0.0, 180.0, 0.0 ) FRAME_JUVENTAS_JURA+Y = -15513113 FRAME_-15513113_NAME = 'JUVENTAS_JURA+Y' FRAME_-15513113_CLASS = 4 FRAME_-15513113_CLASS_ID = -15513113 FRAME_-15513113_CENTER = -15513113 TKFRAME_-15513113_RELATIVE = 'JUVENTAS_SPACECRAFT' TKFRAME_-15513113_SPEC = 'ANGLES' TKFRAME_-15513113_UNITS = 'DEGREES' TKFRAME_-15513113_AXES = ( 2, 3, 1 ) TKFRAME_-15513113_ANGLES = ( 0.0, -90.0, 0.0 ) FRAME_JUVENTAS_JURA-Y = -15513114 FRAME_-15513114_NAME = 'JUVENTAS_JURA-Y' FRAME_-15513114_CLASS = 4 FRAME_-15513114_CLASS_ID = -15513114 FRAME_-15513114_CENTER = -15513114 TKFRAME_-15513114_RELATIVE = 'JUVENTAS_SPACECRAFT' TKFRAME_-15513114_SPEC = 'ANGLES' TKFRAME_-15513114_UNITS = 'DEGREES' TKFRAME_-15513114_AXES = ( 2, 3, 1 ) TKFRAME_-15513114_ANGLES = ( 0.0, 90.0, 0.0 ) \begintext GRASS Frames ------------------------------------------------------------------------ This section of the file contains the definitions of the GRAvimeter for Small Solar system objects (GRASS) instrument frames. GRASS Frame Tree ~~~~~~~~~~~~~~~~ The diagram below shows the GRASS frame hierarchy. "J2000" INERTIAL .... ---------------------------------- ... | | |<-ck | V "JUVENTAS_SPACECRAFT" +----------------------------------+ | | |<-fixed |<-fixed | | v v "JUVENTAS_GRASS+X" "JUVENTAS_GRASS+Z" ------------------ ------------------ GRASS Frames ~~~~~~~~~~~~ The Gravimeter for Small Solar system objects (GRASS) is rigidly mounted on the spacecraft Science Deck. Therefore, the frames associated with it -- the JUVENTAS_GRASS+X and JUVENTAS_GRASS+Z -- are specified as fixed offset frames with its orientation given relative to the JUVENTAS_SPACECRAFT frame. The GRASS frames are defined as follows: - +Z axis are nominally co-aligned with gravimeters axes; - +Y axis is along the right solar array direction, and is nominally co-aligned with the spacecraft +Y axis; - +X axis completes the right-hand frame; - the origin of this frame is the Hera interface point. These diagrams illustrate the nominal GRASS frames with respect to the spacecraft frame. +Y s/c side view: ----------------- ^ | toward asteroid | +Zgra+z ^ |+Zsc .===|=^=====. +Xgra+z<-|---o | | +Zgra+x<-----o | | +Xsc<-|---o | | | +Ysc | | V | +Xgra+x_______. +Ysc, +Ygra+x and +Ygra+z are out of the page. 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_JUVENTAS_GRASS+X = -15513210 FRAME_-15513210_NAME = 'JUVENTAS_GRASS+X' FRAME_-15513210_CLASS = 4 FRAME_-15513210_CLASS_ID = -15513210 FRAME_-15513210_CENTER = -15513210 TKFRAME_-15513210_RELATIVE = 'JUVENTAS_SPACECRAFT' TKFRAME_-15513210_SPEC = 'ANGLES' TKFRAME_-15513210_UNITS = 'DEGREES' TKFRAME_-15513210_AXES = ( 3, 2, 1 ) TKFRAME_-15513210_ANGLES = ( 0.0, -90.0, 0.0 ) FRAME_JUVENTAS_GRASS+Z = -15513220 FRAME_-15513220_NAME = 'JUVENTAS_GRASS+Z' FRAME_-15513220_CLASS = 4 FRAME_-15513220_CLASS_ID = -15513220 FRAME_-15513220_CENTER = -15513220 TKFRAME_-15513220_RELATIVE = 'JUVENTAS_SPACECRAFT' TKFRAME_-15513220_SPEC = 'ANGLES' TKFRAME_-15513220_UNITS = 'DEGREES' TKFRAME_-15513220_AXES = ( 3, 2, 1 ) TKFRAME_-15513220_ANGLES = ( 0.0, 0.0, 0.0 ) \begintext NAVCAM Frames ------------------------------------------------------------------------ This section of the file contains the definitions of the Navigation Camera (NAVCAM) instrument frames. NAVCAM Frame Tree ~~~~~~~~~~~~~~~~~ The diagram below shows the NAVCAM frame hierarchy. "J2000" INERTIAL .... ---------------------------------- ... | | |<-ck | V "JUVENTAS_SPACECRAFT" --------------------- | |<-fixed | v "JUVENTAS_NAVCAM" ----------------- NAVCAM Frames ~~~~~~~~~~~~~ The Navigation Camera (NAVCAM) is rigidly mounted on the spacecraft +Z face (nadir direction). Therefore, the frame associated with it -- JUVENTAS_NAVCAM -- is specified as fixed offset frames with its orientation given relative to the JUVENTAS_SPACECRAFT frame. The NAVCAM reference frame is defined as follows: - +Z axis is along the nominal boresight direction of the instrument, and is nominally co-aligned with the spacecraft +Z axis; - +Y axis is along the right solar array direction, and is nominally co-aligned with the spacecraft +Y axis; - +X axis completes the right-hand frame, and is nominally co-aligned with the spacecraft +X axis; - the origin of this frame is the camera focal point. These diagrams illustrate the nominal NAVCAM frames with respect to the spacecraft frame. +Z s/c side (science deck side) view: ------------------------------------- +Xsc .____^____. | | | +Ysc | | +Xnav o==/ /==-============-- +Zccam o==/ /==-============--