KPL/FK INTEGRAL Spacecraft Frames Kernel ============================================================================= This frame kernel contains complete set of frame definitions for the INTEGRAL (International Gamma Ray Astrophysics Laboratory) including definitions for the INTEGRAL fixed and INTEGRAL science instrument frames. This kernel also contains NAIF ID/name mapping for the INTEGRAL science instruments and s/c structures (see the last section of the file). Version and Date ----------------------------------------------------------------------------- Version 0.1 -- July 14, 2022 -- Alfredo Escalante Lopez, ESAC/ESA Added IBIS fully coded NAIF/ID body association. Version 0.0 -- March 16, 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. * 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 INTEGRAL Mission NAIF ID Codes ----------------------------------------------------------------------------- The following names and NAIF ID codes are assigned to the INTEGRAL spacecraft, its structures and science instruments (the keywords implementing these definitions are located in the section "INTEGRAL Mission NAIF ID Codes -- Definition Section" at the end of this file): INTEGRAL Spacecraft and Spacecraft Structures names/IDs: INTEGRAL -275 INTEGRAL_SPACECRAFT -275000 (synonym: INTEGRAL_SC) Imager on Board the Integral Satellite (IBIS) names/IDs: INTEGRAL_IBIS -275110 INTEGRAL Mission Frames ----------------------------------------------------------------------------- The following INTEGRAL frames are defined in this kernel file: Name Relative to Type NAIF ID ====================== ======================== ========== ========= Spacecraft frames: ------------------ INTEGRAL_SPACECRAFT J2000 CK -275000 Imager on Board the Integral Satellite Frames (IBIS): ----------------------------------------------------- INTEGRAL_IBIS INTEGRAL_SPACECRAFT FIXED -275110 INTEGRAL Frames Hierarchy ----------------------------------------------------------------------------- The diagram below shows the INTEGRAL spacecraft and its structures frame hierarchy (not including science instrument frames.) "J2000" INERTIAL +----------------------------+ | | |<-pck | | | V | "EARTH_FIXED" | ------------- | | |<-ck | V "INTEGRAL_SPACECRAFT" + . . . . . . . V Individual instrument frame trees are provided in the corresponding sections of this file INTEGRAL Spacecraft and Spacecraft Structures Frames ======================================================================== This section of the file contains the definitions of the spacecraft and spacecraft structures frames. INTEGRAL Spacecraft Frame -------------------------------------- The INTEGRAL spacecraft frame is defined as follows: - +X axis is along the nominal boresight direction of instrument deck; - +Y axis is along the positive Solar Arrays axis; - +Z axis completes the right-hand frame; - the origin of this frame is the launch vehicle interface point. These diagrams illustrate the INTEGRAL_SPACECRAFT frame: +X s/c side (science deck side) view: ------------------------------------- ._____+Zsc_____. / | | ^ | | \ / | | | | | \ | | | | | |+Ysc| o==/ /==-=============--o| | .___o-------> |o---===============-=/ /==o -Y Solar Array | | /+Xsc | | +Y Solar Array | \ | | / | \ \ \___/ / / \____\_______/____/ +Xsc is out of the page. -Z s/c side view: ------------------------------------- .-------------. | | | | | | | | .__ __..___________. | | .___________..__ ___. | / / || | \ | +Xsc | / | || \ \ | | \ \ || | \ .__/|______^______|\__. / | || / / | | / / || | o| | | | |o | || \ \ | | \ \ || | / | | | +Ysc | | \ | || / / | .__\ \_..___________|./ ._|_______ x----->__|_. \.|__________..__\ \__. +Zsc +Zsc is into the page. Since the orientation of the INTEGRAL_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_INTEGRAL_SPACECRAFT = -275000 FRAME_-275000_NAME = 'INTEGRAL_SPACECRAFT' FRAME_-275000_CLASS = 3 FRAME_-275000_CLASS_ID = -275000 FRAME_-275000_CENTER = -275 CK_-275000_SCLK = -275 CK_-275000_SPK = -275 \begintext IBIS Frames ======================================================================== This section of the file contains the definitions of the Imager Board the Integral Satellite (IBIS) frames. IBIS Frame Tree -------------------------------------- The diagram below shows the IBIS frame hierarchy. "J2000" INERTIAL +----------------------------+ | | |<-pck | | | V | "EARTH_FIXED" | ------------- | | |<-ck | V "INTEGRAL_SPACECRAFT" --------------------- | |<-fixed | V "INTEGRAL_IBIS" --------------- IBIS Frames -------------------------------------- The Imager Board the Integral Satellite frame -- INTEGRAL_IBIS -- is defined as follows: - +Z axis points along the camera boresight; - +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 camera focal point. This diagram illustrates the IBIS imager frames: -Z s/c side view: ----------------- .-------------. | +Zibis | | ^ | | | | | | +Yibis .__ __..___________. | o----->| .___________..__ ___. | / / || | \ | +Xibis | / | || \ \ | | \ \ || | \ .__/|______^+Xsc__|\__. / | || / / | | / / || | o| | | | |o | || \ \ | | \ \ || | / | | | +Ysc | | \ | || / / | .__\ \_..___________|./ ._|_______ x----->__|_. \.|__________..__\ \__. +Zsc +Zsc is into the page. +Xibis is out of the page. Nominally, the IBIS frame is rotated 90 degrees around the +Y s/c frame: \begindata FRAME_INTEGRAL_IBIS = -275110 FRAME_-275110_NAME = 'INTEGRAL_IBIS' FRAME_-275110_CLASS = 4 FRAME_-275110_CLASS_ID = -275110 FRAME_-275110_CENTER = -275 TKFRAME_-275110_RELATIVE = 'INTEGRAL_SPACECRAFT' TKFRAME_-275110_SPEC = 'ANGLES' TKFRAME_-275110_UNITS = 'DEGREES' TKFRAME_-275110_ANGLES = ( 0.0, -90.0, 0.0 ) TKFRAME_-275110_AXES = ( 1, 2, 3 ) \begintext INTEGRAL NAIF ID Codes to Name Mapping ------------------------------------------------------------------------------ This section contains name to NAIF ID mappings for the INTEGRAL 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 INTEGRAL Spacecraft and its main structures' names. --------------------- ------- -------------------------- Name ID Synonyms --------------------- ------- -------------------------- INTEGRAL -275 INTEGRAL_SPACECRAFT -275000 INTEGRAL_SC --------------------- ------- -------------------------- Notes: -- 'INTEGRAL_SC' and 'INTEGRAL_SPACECRAFT' are synonyms and all map to the INTEGRAL s/c bus structure ID (-275000); \begindata NAIF_BODY_NAME += ( 'INTEGRAL' ) NAIF_BODY_CODE += ( -275 ) NAIF_BODY_NAME += ( 'INTEGRAL_SC' ) NAIF_BODY_CODE += ( -275000 ) NAIF_BODY_NAME += ( 'INTEGRAL_SPACECRAFT' ) NAIF_BODY_CODE += ( -275000 ) \begintext IBIS: ----- This table summarizes IBIS IDs: ---------------------- -------- Name ID ---------------------- -------- INTEGRAL_IBIS -275110 ---------------------- -------- Name-ID Mapping keywords: \begindata NAIF_BODY_NAME += ( 'INTEGRAL_IBIS' ) NAIF_BODY_CODE += ( -275110 ) NAIF_BODY_NAME += ( 'INTEGRAL_IBIS_FC' ) NAIF_BODY_CODE += ( -275111 ) \begintext End of FK file.