KPL/FK JUpiter ICy moons Explorer (JUICE) Frames Kernel =============================================================================== This frame kernel contains complete set of frame definitions for the Jupiter Icy Moons Explorer (JUICE) spacecraft, its structures and science instruments. This frame kernel also contains name - to - NAIF ID mappings for JUICE science instruments and s/c structures (see the last section of the file.) Version and Date ----------------------------------------------------------------------------- Version 0.2 -- March 06, 2016 -- Jorge Diaz del Rio, ODC Space Preliminary Version. Updated to include frames for GALA, JANUS, MAGIS SWI and UVS. Version 0.1 -- January 19, 2016 -- Marc Costa Sitja, ESAC/ESA Preliminary Version. Updated to use Cosmographia based on initial release for SOLab. Version 0.0 -- November 23, 2015 -- Jorge Diaz del Rio, ODC Space Initial Release: very preliminary draft for its use in WGC. References ----------------------------------------------------------------------------- 1. ``Frames Required Reading'', NAIF 2. ``Kernel Pool Required Reading'', NAIF 3. ``C-Kernel Required Reading'', NAIF 4. ``JUICE - Jupiter Icy Moons Explorer. Experiment Interface Document part A,'' JUI-EST-SYS-EID-001, Issue 2.5, 18/06/2015 5. ``JUICE - Jupiter Icy Moons Explorer. Exploring the emergence of habitable worlds around gas giants. Definition Study report,'' ESA/SRE(2014)1, September 2014 (JUICE Red book v1.0) 6. ``JUICE - JUpiter Icy Moons Explorer SWI - Submillimetre Wave Instrument. Experiment Interface Document EID-B,'' JUI-MPS-SWI-EID-001 Issue 4.3, 17 July 2015 7. ``JUICE - JUpiter Icy Moons Explorer MAJIS - Moons And Jupiter Imaging Spectrometer Experiment Interface Document - Part B,'' JUI-IAS-MAJ-EID-001 Issue 1.2, 30 January 2014 8. ``JANUS - Camera for the ESA JUICE mission Experiment Interface Document – Part B,'' JUI-JAC-JAN-EID-B-001, Issue 0.7, 10 November 2015 Contact Information ------------------------------------------------------------------------ If you have any questions regarding this file contact SPICE support at ESAC: Marc Costa Sitja (+34) 91-8131-457 mcosta@sciops.esa.int, esa_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 routine that loads a kernel into the pool is 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' ) This file was created and may be updated with a text editor or word processor JUICE Mission NAIF ID Codes ----------------------------------------------------------------------------- The following names and NAIF ID codes are assigned to the JUICE spacecraft, its structures and science instruments (the keywords implementing these definitions are located in the section "JUICE Mission NAIF ID Codes -- Definition Section" at the end of this file): JUICE Spacecraft and Spacecraft Structures names/IDs: JUICE -907 JUICE_SPACECRAFT -907000 (synonym: JUICE_SC) JUICE_SA+Y_ZERO -907010 JUICE_SA+Y -907011 JUICE_SA-Y_ZERO -907012 JUICE_SA-Y -907013 JUICE_HGA -907020 JUICE_HGA_X -907021 JUICE_HGA_KA -907022 JUICE_LGA+X JUICE_LGA-X JUICE_MGA_GIMBAL JUICE_MGA_X JUICE_MGA_KA JUICE_NAVCAM-1 JUICE_NAVCAM-2 JUICE_STR-1 JUICE_STR-2 JUICE_STR-3 JUICE_RADEM JUICE_RADEM_PT JUICE_RADEM_ES JUICE_JMC-1 JUICE_JMU-2 GALA names/IDs: JUICE_GALA -907100 JUICE_GALA_LHM -907110 JUICE_GALA_RXT -907120 JANUS names/IDs: JUICE_JANUS -907200 J-MAG names/IDs: JUICE_JMAG JUICE_JMAG_MAGIBS JUICE_JMAG_MAGOBS JUICE_JMAG_MAGSCA MAGIS names/IDs: JUICE_MAGIS -907400 JUICE_MAGIS_VISNIR -907410 JUICE_MAGIS_VISNIR_B2 -907412 JUICE_MAGIS_VISNIR_B4 -907414 JUICE_MAGIS_IR -907420 JUICE_MAGIS_IR_B2 -907422 JUICE_MAGIS_IR_B4 -907424 PEP names/IDs: Particle Environment Package RIME names/IDs: Radar for Icy Moons Exploration RPWI names/IDs: Radio & Plasma Wave Investigation SWI names/IDs: JUICE_SWI_BASE -907800 JUICE_SWI -907810 UVS names/IDs: JUICE_UVS -907850 JUICE_UVS_AP -907851 JUICE_UVS_AP_NARROW -907852 JUICE_UVS_AP_WIDE -907853 JUICE_UVS_HP -907860 JUICE_UVS_SP -907870 [JDR] In addition to these payload the following experiments will be performed: 3GM: Gravity & Geophysics of Jupiter and Galilean Moons - This instrument uses a Ka transponder. Is 3GM specific or spacecraft structure? PRIDE: Planetary Radio Interferometer & Doppler Experiment - This experiment requires VLBI stations to perform precise measurements of JUICE spacecraft position and velocity to investigate the gravity fields of Jupiter JUICE Mission Frames ----------------------------------------------------------------------------- The following JUICE frames are defined in this kernel file: Name Relative to Type NAIF ID ====================== ===================== ============ ========= Spacecraft frames: ----------------- JUICE_SPACECRAFT J2000 CK -907000 JUICE_SA+Y_ZERO JUICE_SPACECRAFT FIXED -907010 JUICE_SA+Y JUICE_SA+Y_ZERO CK -907011 JUICE_SA-Y_ZERO JUICE_SPACECRAFT FIXED -907012 JUICE_SA-Y_ZERO JUICE_SA-Y_ZERO CK -907013 JUICE_HGA JUICE_SPACECRAFT FIXED -907020 JUICE_HGA_X JUICE_HGA FIXED -907021 JUICE_HGA_KA JUICE_HGA FIXED -907022 GALA frames: ------------ JUICE_GALA_BASE JUICE_SPACECRAFT FIXED -907100 JUICE_GALA_LHM JUICE_GALA_BASE FIXED -907110 JUICE_GALA_RXT JUICE_GALA_BASE FIXED -907120 JANUS frames: ------------- JUICE_JANUS JUICE_SPACECRAFT FIXED -907200 MAGIS frames: ------------- JUICE_MAGIS_BASE JUICE_SPACECRAFT FIXED -907400 JUICE_MAGIS_SCAN JUICE_MAGIS_BASE CK -907401 JUICE_MAGIS_VISNIR JUICE_MAGIS_SCAN FIXED -907410 JUICE_MAGIS_IR JUICE_MAGIS_SCAN FIXED -907420 SWI frames: ----------- JUICE_SWI_BASE JUICE_SPACECRAFT FIXED -907800 JUICE_SWI_SCANNER JUICE_SWI_BASE CK -907810 UVS frames: ----------- JUICE_UVS JUICE_SPACECRAFT FIXED -907850 JUICE_UVS_SP JUICE_UVS FIXED -907870 In addition, the following frames, in use by the JUICE mission, are defined in other kernels or `built into' the SPICE system: Name Relative to Type NAIF ID ====================== ===================== ============ ========= JUICE mission science operations frames (1): -------------------------------------------- CALLISTO_NAD_ORB_ALIGN J2000 DYNAMIC -90790X CALLISTO_NAD_PWOPT J2000 DYNAMIC -90790X JUICE_EARTH_COMMS J2000 DYNAMIC -90790x EUROPA_NAD_ALIGN J2000 DYNAMIC -90790X EUROPA_NAD_PWOPT J2000 DYNAMIC -90790X JUPITER_NAD_ORB_ALIGN J2000 DYNAMIC -90790X JUPITER_NAD_PWOPT J2000 DYNAMIC -90790X GANYMEDE_NAD_ORB_ALIGN J2000 DYNAMIC -90790X GANYMEDE_NAD_ORB_ALIGN J2000 DYNAMIC -90790X (1) These frames are defined in the frame kernel file "juice_ops_v00.tf" In order to use them with this frames kernel, additional fixed-offset frames kernel(s) need to be loaded. See the section ``Using these frames'' in the "juice_ops_v00.tf" comment area for further details. JUICE mission specific science frames (2): ------------------------------------------ JUICE_HGRTN J2000 DYNAMIC -907999 JUICE_SUN_RTN J2000 DYNAMIC -907998 JUPITER_JUICE_DM J2000 DYNAMIC -907997 JUPITER_MAG IAU_JUPITER FIXED -907996 JUPITER_SUN_BEQXS J2000 DYNAMIC -907995 JUPITER_SUN_BSM J2000 DYNAMIC -907994 JUPITER_SUN_SJC J2000 DYNAMIC -907993 JUPITER_SUN_SM J2000 DYNAMIC -907992 JUPITER_SW JUPITER_SUN_ORB FIXED -907991 JUPITER_SWM JUPITER_SUN_BSM FIXED -907990 Jupiter System generic frames (2): ---------------------------------- CALLISTO_JUPITER_ORB J2000 DYNAMIC 500504000 EUROPA_JUPITER_ORB J2000 DYNAMIC 500502000 GANYMEDE_JUPITER_ORB J2000 DYNAMIC 500503000 JUPITER_CALLISTO_BCSF J2000 DYNAMIC 500599006 JUPITER_EUROPA_BCSF J2000 DYNAMIC 500599004 JUPITER_GANYMEDE_BCSF J2000 DYNAMIC 500599005 JUPITER_MEQUD J2000 DYNAMIC 500599000 JUPITER_SUN_EQU J2000 DYNAMIC 500599001 JUPITER_SUN_ORB J2000 DYNAMIC 500599002 (2) These frames are defined in the frame kernel file "juice_sci_v00.tf" SPICE 'Built-in' PCK frames in use by JUICE (2): ------------------------------------------------ IAU_CALLISTO J2000 PCK built-in IAU_EUROPA J2000 PCK built-in IAU_JUPITER J2000 PCK built-in IAU_GANYMEDE J2000 PCK built-in (3) Data for these frames is loaded using the PCK file "pck00010.tpc" JUICE Frames Hierarchy -------------------------------------------------------------------------- The diagram below shows the JUICE frames hierarchy: [JDR ADD DIAGRAM] JUICE Spacecraft Bus Frame -------------------------------------------------------------------------- The spacecraft frame is defined by the S/C design as follows [4]: - +Z is perpendicular to the launch vehicle interface plane and points toward the payload side, through the spacecraft in the launch direction; - -X axis is perpendicular to the HGA mounting plane and points in the opposite direction of the nominal HGA boresight; - +Y axis completes the right-handed frame. - the origin of this frame is the launch vehicle interface point, located at the separation plane between the spacecraft and the launch adapter, in the centre of the launch adapter. These diagrams illustrate the JUICE_SPACECRAFT frame: +X S/C side (opposite to HGA side) view: ---------------------------------------- ^ .---------. | Nadir .---------. | | | | | | | Science Deck | | '----.----' .-------. '----.----' /----. .----'----. .---------._ | | _.---------. .----'----. .-----\ \ |_| |_| | \| |/ | |_| |_| / / | | | | |_/| ^ |\_| | | | | \ \----' '----.----' '---------' | |+Zsc '---------' '----.----' '-----/ .----'----. '---|---' .----'----. | | / | \ +Ysc | | | | '-o------> | | '---------' +Xsc '---------' (out of the page) -Y S/C side view: ----------------- ^ ~~ | || | Nadir direction || | oo | . .------||------. |`. | Science Deck | HGA | \ | || | | \| || | | | || | | | /||\ | | x \||/ | | | || | | | |'^ | | /| |'|+Zsc | | / | |'| | |.' | |'| | '------|'|-----' +Xsc /__oox----------> || +Ysc || (into de page) ~~ Since the S/C bus attitude with respect to an inertial frame is provided by a C-kernel (see [3] for more information), this frame is defined as a CK-based frame. \begindata FRAME_JUICE_SPACECRAFT = -907000 FRAME_-907000_NAME = 'JUICE_SPACECRAFT' FRAME_-907000_CLASS = 3 FRAME_-907000_CLASS_ID = -907000 FRAME_-907000_CENTER = -907 CK_-907000_SCLK = -907 CK_-907000_SPK = -907 \begintext JUICE Solar Array Frames -------------------------------------------------------------------------- JUICE solar arrays are articulated (having one degree of freedom), therefore the Solar Array frames, JUICE_SA+Y and JUICE_SA-Y, are defined as CK frames with their orientation given relative to JUICE_SA+Y_ZERO and JUICE_SA-Y_ZERO respectively. JUICE_SA+Y_ZERO and JUICE_SA-Y_ZERO are two ``fixed-offset'' frames, defined with respect to JUICE_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 -Xsc, pointing on the nominal direction of the HGA boresigh; - +X completes the right-handed frame. - the origin of the frame is located at the yoke geometric center. Both Solar Array frames (JUICE_SA+Y and JUICE_SA-Y) 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. This diagram illustrates the JUICE_SA+Y and JUICE_SA-Y frames: +X s/c side (HGA side) view: ---------------------------- \--------. ^ .--------/ / | | Nadir | \ \ | | | / / | +Xsa+y_zero ^.---------. | \ \-.------' || | '------.-/ /-"------. .-------------. || .---. | .-------------. .------"-\ \ | | +Ysa+y_zero |-||/ HGA \| ,-| | | / / |=| <-------o| x |o-------> |=| \ \ | | |_/|\ /||\_| +Ysa-y_zero | / /-.------' '-------------' | '.___.' || '-------------' '------.-\ \-"------. '---------'| .------"-/ / | / \ v +Xsa-y_zero | \ \ | '---' | / / | ^ +Zsc Main Engine | \ \--------' | '--------/ | +Ysc | <--------x +Xsc is into the page +Xsc +Zsa+y_zero is out of the page +Zsa-y_zero is out of the page These sets of keywords define solar array frames: \begindata FRAME_JUICE_SA+Y_ZERO = -907010 FRAME_-907010_NAME = 'JUICE_SA+Y_ZERO' FRAME_-907010_CLASS = 4 FRAME_-907010_CLASS_ID = -907010 FRAME_-907010_CENTER = -907 TKFRAME_-907010_RELATIVE = 'JUICE_SPACECRAFT' TKFRAME_-907010_SPEC = 'ANGLES' TKFRAME_-907010_UNITS = 'DEGREES' TKFRAME_-907010_ANGLES = ( 0.0, -90.0, 0.0 ) TKFRAME_-907010_AXES = ( 3, 2, 1 ) FRAME_JUICE_SA+Y = -907011 FRAME_-907011_NAME = 'JUICE_SA+Y' FRAME_-907011_CLASS = 3 FRAME_-907011_CLASS_ID = -907011 FRAME_-907011_CENTER = -907 CK_-907011_SCLK = -907 CK_-907011_SPK = -907 FRAME_JUICE_SA-Y_ZERO = -907012 FRAME_-907012_NAME = 'JUICE_SA-Y_ZERO' FRAME_-907012_CLASS = 4 FRAME_-907012_CLASS_ID = -907012 FRAME_-907012_CENTER = -907 TKFRAME_-907012_RELATIVE = 'JUICE_SPACECRAFT' TKFRAME_-907012_SPEC = 'ANGLES' TKFRAME_-907012_UNITS = 'DEGREES' TKFRAME_-907012_ANGLES = ( -180.0, -90.0, 0.0 ) TKFRAME_-907012_AXES = ( 3, 2, 1 ) FRAME_JUICE_SA-Y = -907013 FRAME_-907013_NAME = 'JUICE_SA-Y' FRAME_-907013_CLASS = 3 FRAME_-907013_CLASS_ID = -907013 FRAME_-907013_CENTER = -907 CK_-907013_SCLK = -907 CK_-907013_SPK = -907 \begintext JUICE High Gain Antenna Frames -------------------------------------------------------------------------- JUICE spacecraft has a 2.4m diameter High Gain Antenna in X- and Ka-bands for nominal operations, Science data download and Radio Science Experiments. It is used as a sunshield during the cruise phase when close to the Sun. The JUICE High Gain Antenna, HGA, is rigidly attached to the -X side of the spacecraft bus. Therefore, the JUICE High Antenna frame, JUICE_HGA, is defined as a fixed offset frame with its orientation given relative to the JUICE_SPACECRAFT frame. The JUICE_HGA frame is defined as follows: - +Z axis is in the antenna boresight direction (nominally co-aligned to the spacecraft -X axis); - +Y axis is in the direction of the spacecraft +Y axis; - +X completes the right hand frame; - the origin of the frame is located at the geometric center of the HGA dish outer rim circle. X- and Ka-band antenna frames are defined such that their axes are nominally co-aligned with the axes of the JUICE_HGA frame and their origins are at the geometric centre of the HGA dish outer rim circle. These frames are introduced in order to include any possible misalignments between the X- and Ka-band pointing direction (maximum radiation power direction and gain). This diagram illustrates the JUICE High Gain Antenna frames: -Y S/C side view: ----------------- ^ ~~ | +Xhga_ka || | Nadir direction +Xhga_x || | +Xhga oo | ^ . .------||------. | |`. | Science Deck | | | \ | || | +Zhga_ka | | \| || | +Zhga_x | | | || | +Zhga |/| | /||\ | <-----------x | | \||/ | +Yhga | || | +Yhga_x | | |'^ | +Yhga_ka | /| |'|+Zsc | | / | |'| | |.' | |'| | '------|'|-----' +Xsc /__oox----------> || +Ysc || (into de page) ~~ +Ysc is into the page +Yhga is into the page Nominally a single rotation of +90 degrees about the +Y axis is needed to co-align the spacecraft frame with the High Gain Antenna 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_JUICE_HGA = -907020 FRAME_-907020_NAME = 'JUICE_HGA' FRAME_-907020_CLASS = 4 FRAME_-907020_CLASS_ID = -907020 FRAME_-907020_CENTER = -907 TKFRAME_-907020_RELATIVE = 'JUICE_SPACECRAFT' TKFRAME_-907020_SPEC = 'ANGLES' TKFRAME_-907020_UNITS = 'DEGREES' TKFRAME_-907020_ANGLES = ( 0.0, 0.0, -90.0 ) TKFRAME_-907020_AXES = ( 1, 3, 2 ) FRAME_JUICE_HGA_X = -907021 FRAME_-907021_NAME = 'JUICE_HGA_X' FRAME_-907021_CLASS = 4 FRAME_-907021_CLASS_ID = -907021 FRAME_-907021_CENTER = -907 TKFRAME_-907021_RELATIVE = 'JUICE_HGA' TKFRAME_-907021_SPEC = 'ANGLES' TKFRAME_-907021_UNITS = 'DEGREES' TKFRAME_-907021_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-907021_AXES = ( 1, 3, 2 ) FRAME_JUICE_HGA_KA = -907022 FRAME_-907022_NAME = 'JUICE_HGA_KA' FRAME_-907022_CLASS = 4 FRAME_-907022_CLASS_ID = -907022 FRAME_-907022_CENTER = -907 TKFRAME_-907022_RELATIVE = 'JUICE_HGA' TKFRAME_-907022_SPEC = 'ANGLES' TKFRAME_-907022_UNITS = 'DEGREES' TKFRAME_-907022_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-907022_AXES = ( 1, 3, 2 ) \begintext GALA Frames -------------------------------------------------------------------------- This section contains the definition of the GAnymede Laser Altimeter (GALA) instrument frames. GALA Frame Tree ~~~~~~~~~~~~~~~ The diagram below shows the GALA frame hierarchy: "JUICE_SPACECRAFT" ------------------ | |<-fixed | v "JUICE_GALA_BASE" +----------------------------+ | | | | |<-fixed |<-fixed | | v v "JUICE_GALA_LHM" "JUICE_GALA_RXT" ---------------- ---------------- GALA instrument Base frame ~~~~~~~~~~~~~~~~~~~~~~~~~~ The GALA main unit is rigidly mounted on the spacecraft science deck. Therefore, the frame associated with it -- the GALA main unit base frame, JUICE_GALA_BASE -- is specified as a fixed offset frame relative with its orientation given relative to the JUICE_SPACECRAFT frame. The GALA main unit base frame is defined by the laser altimeter design and its mounting on the spacecraft as follows: - +Z axis is along the nominal GALA laser head transmitter and receiver telescope boresights; it is nominally co-aligned with the spacecraft +Z axis; - +Y axis is co-aligned with the +Y spacecraft axis; - +X axis completes the right-handed frame; - the origin of the frame is located at the center of the GALA reference hole (RH) at the instrument's interface plane, i.e. the unit mounting plane to the spacecraft. Any misalignment between the nominal and actual GALA mounting alignment measured pre-launch should be incorporated into the definition of this frame. This diagram illustrates nominal JUICE_GALA_BASE frame with respect to the spacecraft frame. +Z s/c side view: ----------------- direction of flight ___________ HGA <--------------> \ / \ .__`._____.'__. \ / | | / \ | | \ / | +Zsc +Ysc / \=>o<===============>o-| o------->o<===============>o<=\ / -Y Solar Array |___. | | +Y Solar Array / \ | o------> | \ / ._|_|__|__+Ygala_base / \ | | \ | V +Xsc V +Xgala_base +Zsc and +Zgala_base are out of page Nominally, the GALA base frame is co-aligned with the s/c 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_JUICE_GALA_BASE = -907100 FRAME_-907100_NAME = 'JUICE_GALA_BASE' FRAME_-907100_CLASS = 4 FRAME_-907100_CLASS_ID = -907100 FRAME_-907100_CENTER = -907 TKFRAME_-907100_RELATIVE = 'JUICE_SPACECRAFT' TKFRAME_-907100_SPEC = 'ANGLES' TKFRAME_-907100_UNITS = 'DEGREES' TKFRAME_-907100_AXES = ( 1, 2, 3 ) TKFRAME_-907100_ANGLES = ( 0.0, 0.0, 0.0 ) \begintext GALA Laser Head Module frame ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The GALA Laser Head Module (LHM) frame, JUICE_GALA_LHM, is defined exactly as, and is nominally co-aligned with, the GALA base frame JUICE_GALA_BASE. This frame is introduced to allow incorporating into the Laser Head Module frame chain any misalignment between the instrument base and the laser beam transmitter measured prior to delivering the camera for installation on the spacecraft. \begindata FRAME_JUICE_GALA_LHM = -907110 FRAME_-907110_NAME = 'JUICE_GALA_LHM' FRAME_-907110_CLASS = 4 FRAME_-907110_CLASS_ID = -907110 FRAME_-907110_CENTER = -907 TKFRAME_-907110_RELATIVE = 'JUICE_GALA_BASE' TKFRAME_-907110_SPEC = 'ANGLES' TKFRAME_-907110_UNITS = 'DEGREES' TKFRAME_-907110_AXES = ( 1, 2, 3 ) TKFRAME_-907110_ANGLES = ( 0.0, 0.0, 0.0 ) \begintext GALA Receiver Telescope frame ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The GALA Receiver Telescope (RXT) frame, JUICE_GALA_RXT, is defined exactly as, and is nominally co-aligned with, the GALA base frame JUICE_GALA_BASE. This frame is introduced to allow incorporating into the Receiver Telescope frame chain any misalignment between the instrument base and the laser beam receiver telescope measured prior to delivering the camera for installation on the spacecraft. \begindata FRAME_JUICE_GALA_RXT = -907120 FRAME_-907120_NAME = 'JUICE_GALA_RXT' FRAME_-907120_CLASS = 4 FRAME_-907120_CLASS_ID = -907120 FRAME_-907120_CENTER = -907 TKFRAME_-907120_RELATIVE = 'JUICE_GALA_BASE' TKFRAME_-907120_SPEC = 'ANGLES' TKFRAME_-907120_UNITS = 'DEGREES' TKFRAME_-907120_AXES = ( 1, 2, 3 ) TKFRAME_-907120_ANGLES = ( 0.0, 0.0, 0.0 ) \begintext JANUS Frames -------------------------------------------------------------------------- This section contains the definition of the Jovis, Amorum ac Natorum Undique Scrutator (JANUS) camera system instrument frames. JANUS Frame Tree ~~~~~~~~~~~~~~~~ The diagram below shows the JANUS frame hierarchy: "JUICE_SPACECRAFT" ------------------ | |<-fixed | v "JUICE_JANUS" ------------- JANUS Camera System Frame ~~~~~~~~~~~~~~~~~~~~~~~~~ The JANUS camera frame -- JUICE_JANUS -- is defined as follows (see [8]): - +Z axis points along the camera boresight; - +Y axis is parallel to the apparent image columns; it is nominally co-aligned with the spacecraft +Y axis; - +X axis completes the right hand frame; it is nominally parallel the to the apparent image lines and co-aligned with the spacecraft +X axis; - the origin of the frame is located at the camera focal point. This diagram illustrates the JANUS camera frame: +Z s/c side view: ----------------- direction of flight ___________ HGA <--------------> \ / \ .__`._____.'__. \ / | | / \ | | \ / | +Zsc +Ysc / \=>o<===============>o-| o------->o<===============>o<=\ / -Y Solar Array |___. | | +Y Solar Array / \ | o------> | \ / ._|_|__|__+Yjanus / \ | | \ | V +Xsc V +Xjanus +Zsc and +Zjanus are out of page Nominally, the JANUS camera frame is co-aligned with the spacecraft 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_JUICE_JANUS = -907200 FRAME_-907200_NAME = 'JUICE_JANUS' FRAME_-907200_CLASS = 4 FRAME_-907200_CLASS_ID = -907200 FRAME_-907200_CENTER = -907 TKFRAME_-907200_RELATIVE = 'JUICE_SPACECRAFT' TKFRAME_-907200_SPEC = 'ANGLES' TKFRAME_-907200_UNITS = 'DEGREES' TKFRAME_-907200_AXES = ( 1, 2, 3 ) TKFRAME_-907200_ANGLES = ( 0.0, 0.0, 0.0 ) \begintext MAGIS Frames -------------------------------------------------------------------------- This section contains the definition of the Moons And Jupiter Imaging Spectrometer (MAJIS) instrument frames. MAGIS Frame Tree ~~~~~~~~~~~~~~~~ The diagram below shows the MAGIS frame hierarchy: "JUICE_SPACECRAFT" ------------------ | |<-fixed | v "JUICE_MAGIS_BASE" ------------------ | | |<-CK | v "JUICE_MAGIS_SCAN" +-----------------------------------+ | | |<-fixed |<-fixed | | v v "JUICE_MAGIS_VISNIR" "JUICE_MAGIS_IR" -------------------- ---------------- MAGIS frames definitions ~~~~~~~~~~~~~~~~~~~~~~~~ Currently, there are four different frames defined for the Moons and Jupiter Imaging Spectrometer (MAJIS), each aiming at incorporating different possible misalignments: - JUICE_MAGIS_BASE is a fixed-offset frame aiming at introducing any possible misalignment between the the instrument mirror rotation axis and the spacecraft +X axis. This misalignment is constant therefore this frame is defined as a fixed offset frame relative to the JUICE_SPACECRAFT frame. - JUICE_MAGIS_SCAN is defined to capture orientation of the reflected instrument view direction due to the scan mirror motion. This frame is defined as CK-based frame because this orientation is time-varying and is stored in a CK file. - JUICE_MAGIS_VISIR and JUICE_MAGIS_IR are defined to capture misalignments for each of the two instrument channels relative to the reflected view direction. These frames are defined as fixed offset frames relative to the JUICE_MAGIS_SCAN frame. Each of the MAGIS frames listed above is defined in the same way as follows (from [7]): - +Z axis points along the boresight (for JUICE_MAGIS boresight is the nominal center pixel view direction for the scan mirror in "zero" position; for JUICE_MAGIS_SCAN boresight is the nominal center pixel view direction, "off-pointed" due to the scan mirror; for JUICE_MAGIS_VISNIR and JUICE_MAGIS_IR boresight is the particular detector center pixel view direction, "off-pointed" due to the scan mirror; adjusted for all known misalignments with the scan mirror in "zero" position) - +X axis is parallel to the apparent spatial resolution direction; it is nominally co-aligned with the s/c +X axis; - +Y axis completes the right hand frame; - the origin of the frame is located at the instrument focal point for JUICE_MAGIS_VISNIR and JUICE_MAGIS_IR frames and at the intersection of the nominal center pixel view direction and the scan mirror axis for JUICE_MAGIS and JUICE_MAGIS_SCAN frames. This diagram illustrates the MAGIS frames orientation (with MAGIS scan mirror in "zero" position) with respect to the spacecraft frame. +Z s/c side view: ----------------- direction of flight ___________ HGA <--------------> \ / \ .__`._____.'__. \ / | | / \ | | \ / | +Zsc +Ysc / \=>o<===============>o-| o------->o<===============>o<=\ / -Y Solar Array |___. | | +Y Solar Array / \ | o------>+Ymagis_scan \ / ._|_|__|__+Ymagis_base / \ | | +Ymagis_visnir/ir \ | V V +Xsc +Xmagis_scan +Xmagis_base +Xmagis_visnir/ir +Zsc, +Zmagis_scan, +Zmagis_base +Zmagis_visnir and +Zmagis_ir are out of page Nominally, in "zero" scan mirror position all four MAGIS frames are co-aligned with each other and the s/c 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_JUICE_MAGIS_BASE = -907400 FRAME_-907400_NAME = 'JUICE_MAGIS_BASE' FRAME_-907400_CLASS = 4 FRAME_-907400_CLASS_ID = -907400 FRAME_-907400_CENTER = -907 TKFRAME_-907400_RELATIVE = 'JUICE_SPACECRAFT' TKFRAME_-907400_SPEC = 'ANGLES' TKFRAME_-907400_UNITS = 'DEGREES' TKFRAME_-907400_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-907400_AXES = ( 1, 2, 3 ) FRAME_JUICE_MAGIS_SCAN = -907401 FRAME_-907401_NAME = 'JUICE_MAGIS_SCAN' FRAME_-907401_CLASS = 3 FRAME_-907401_CLASS_ID = -907401 FRAME_-907401_CENTER = -907 CK_-907401_SCLK = -907 CK_-907401_SPK = -907 FRAME_JUICE_MAGIS_VISNIR = -907410 FRAME_-907410_NAME = 'JUICE_MAGIS_VISNIR' FRAME_-907410_CLASS = 4 FRAME_-907410_CLASS_ID = -907410 FRAME_-907410_CENTER = -907 TKFRAME_-907410_RELATIVE = 'JUICE_MAGIS_SCAN' TKFRAME_-907410_SPEC = 'ANGLES' TKFRAME_-907410_UNITS = 'DEGREES' TKFRAME_-907410_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-907410_AXES = ( 1, 2, 3 ) FRAME_JUICE_MAGIS_IR = -907420 FRAME_-907420_NAME = 'JUICE_MAGIS_IR' FRAME_-907420_CLASS = 4 FRAME_-907420_CLASS_ID = -907420 FRAME_-907420_CENTER = -907 TKFRAME_-907420_RELATIVE = 'JUICE_MAGIS_SCAN' TKFRAME_-907420_SPEC = 'ANGLES' TKFRAME_-907420_UNITS = 'DEGREES' TKFRAME_-907420_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-907420_AXES = ( 1, 2, 3 ) \begintext SWI Frames -------------------------------------------------------------------------- This section contains the definition of the Sub-millimeter Wave Instrument (SWI) instrument frames. SWI Frame Tree ~~~~~~~~~~~~~~~ The diagram below shows the SWI frame hierarchy: "JUICE_SPACECRAFT" ------------------ | |<-fixed | v "JUICE_SWI_BASE" ---------------- | | |<-CK | v "JUICE_SWI_SCANNER" ------------------- SWI instrument Base frame ~~~~~~~~~~~~~~~~~~~~~~~~~ The SWI base frame, JUICE_SWI_BASE, is fixed with respect to the spacecraft and defined as follows: - +Z axis is normal to the instrument mounting plane and points towards the Nadir direction; it is nominally aligned to the +Z spacecraft axis; - +X axis is parallel to the along-track (Jupiter) rotation axis and is nominally aligned to the +X spacecraft axis; - +Y axis completes the right-handed frame - the origin of the frame is at the center of the reference mounting hole. Any misalignment between the nominal and actual SWI mounting alignment measured pre-launch should be incorporated into the definition of this frame. This diagram illustrates nominal JUICE_GALA_BASE frame with respect to the spacecraft frame. +Z s/c side view: ----------------- direction of flight ___________ HGA <--------------> \ / \ .__`._____.'__. \ / | | / \ | | \ / | +Zsc +Ysc / \=>o<===============>o-| o------->o<===============>o<=\ / -Y Solar Array |___. | | +Y Solar Array / \ | o------> | \ / ._|_|__|__+Yswi_base / \ | | \ | V +Xsc V +Xswi_base +Zsc and +Zswi_base are out of page Nominally, the SWI base frame is co-aligned with the s/c 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_JUICE_SWI_BASE = -907800 FRAME_-907800_NAME = 'JUICE_SWI_BASE' FRAME_-907800_CLASS = 4 FRAME_-907800_CLASS_ID = -907800 FRAME_-907800_CENTER = -907 TKFRAME_-907800_RELATIVE = 'JUICE_SPACECRAFT' TKFRAME_-907800_SPEC = 'ANGLES' TKFRAME_-907800_UNITS = 'DEGREES' TKFRAME_-907800_AXES = ( 1, 2, 3 ) TKFRAME_-907800_ANGLES = ( 0.0, 0.0, 0.0 ) \begintext SWI Scanner frame: ~~~~~~~~~~~~~~~~~~ SWI telescope is equipped with a two-axis scan mechanism to allow scanning around the nadir viewing direction in a range of +/- 76 degrees inside the spacecraft’s orbital plane (along-track) and +/- 4.3 degree perpendicular to the plane (across-track) (see [6]) The SWI Scanner frame, JUICE_SWI_SCANNER, is a CK-based frame defined as follows: - +Z axis is aligned to the SWI antenna boresight direction; i.e. direction of maximum gain of the receiver radiation pattern. In the scanning mechanism "zero" position, it is nominally co-aligned to the JUICE_SWI_BASE +Z axis and points Nadir; - +X axis is parallel to the along-track (Jupiter) rotation axis; - +Y axis completes the right-handed frame; - the origin of the frame is located at the geometric center of the primary reflector dish outer rim circle. \begindata FRAME_JUICE_SWI_SCANNER = -907810 FRAME_-907810_NAME = 'JUICE_SWI_SCANNER' FRAME_-907810_CLASS = 3 FRAME_-907810_CLASS_ID = -907810 FRAME_-907810_CENTER = -907 CK_-907810_SCLK = -907 CK_-907810_SPK = -907 \begintext UVS Frames -------------------------------------------------------------------------- This section contains the definition of the Ultraviolet Spectrograph (UVS) instrument frames. UVS Frame Tree ~~~~~~~~~~~~~~~ The diagram below shows the UVS frame hierarchy: "JUICE_SPACECRAFT" ------------------ | |<-fixed | v "JUICE_UVS" ----------- | | |<-fixed | v "JUICE_UVS_SP" -------------- UVS instrument frame ~~~~~~~~~~~~~~~~~~~~ The Ultraviolet Spectrograph is rigidly mounted on the spacecraft science deck, with its main entrance aperture in the +Z spacecraft panel and a solar aperture in the +X spacecraft panel. Therefore, the frame associated with it -- the UVS instrument base frame, JUICE_UVS -- is specified as a fixed offset frame relative with its orientation given relative to the JUICE_SPACECRAFT frame. The UVS instrument frame is defined by the spectrograph design and its mounting on the spacecraft as follows: - +Z axis is along the nominal UVS main entrance aperture boresight; it is nominally co-aligned with the spacecraft +Z axis; - +X axis is parallel to the apparent spatial resolution direction (i.e. along the slit); it is nominally co-aligned with the spacecraft +X axis; - +Y axis completes the right hand frame; it is nominally co-aligned with the s/c +Y axis; - the origin of the frame is located at the instrument focal point. Any misalignment between the nominal and actual UVS mounting alignment measured pre-launch should be incorporated into the definition of this frame. This diagram illustrates nominal JUICE_UVS frame with respect to the spacecraft frame. +Z s/c side view: ----------------- direction of flight ___________ HGA <--------------> \ / \ .__`._____.'__. \ / | | / \ | | \ / | +Zsc +Ysc / \=>o<===============>o-| o------->o<===============>o<=\ / -Y Solar Array | | .___| +Y Solar Array / \ | | | o------> \ / .______|__|_|_. +Yuvs / \ | | \ +Xsc V | v +Xuvs +Zsc and +Zgala_base are out of page Nominally, the UVS instrument frame is co-aligned with the s/c 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_JUICE_UVS = -907850 FRAME_-907850_NAME = 'JUICE_UVS' FRAME_-907850_CLASS = 4 FRAME_-907850_CLASS_ID = -907850 FRAME_-907850_CENTER = -907 TKFRAME_-907850_RELATIVE = 'JUICE_SPACECRAFT' TKFRAME_-907850_SPEC = 'ANGLES' TKFRAME_-907850_UNITS = 'DEGREES' TKFRAME_-907850_AXES = ( 1, 2, 3 ) TKFRAME_-907850_ANGLES = ( 0.0, 0.0, 0.0 ) \begintext UVS Solar Port frame ~~~~~~~~~~~~~~~~~~~~ The UVS Solar Port (SP) frame, JUICE_UVS_AP, is defined as follows (from [5], pp. 53 and 54): - +Z axis is along the nominal UVS solar port aperture boresight, which is located on the +Y spacecraft panel; it is nominally at an angle of 60 degrees from the main entrance Airglow Port (AP) towards UVS +Y axis; - +X axis is aligned with the apparent spatial resolution direction (i.e. along the main slit); it is nominally co-aligned with the UVS +X axis; - +Y axis completes the right hand frame; - the origin of the frame is located at the instrument focal point. Any misalignment between the UVS nominal boresight direction and the solar port boresight direction measured post instrument integration should be incorporated into the definition of this frame. This diagram illustrates nominal JUICE_UVS_SP frame with respect to the JUICE_UVS frame. -X UVS instrument side: ----------------------- +Xsc +Zsc x--------------> | | .------------------------------------. | | C&DH | | | LVPS | | +------------. | v | .-| HVPS | +Ysc | Detector | '-----------------------'--. | elect. | ,---, . | | | Detector/ |<-- Grating | | / / ' | +----------'-----'---'-- --------------| | . +Xuvs +Xuvs_sp +Zuvs OAP --> | x--------------x--------------------------> AP & HP nominal | ' | .' `. 60 deg boresight '-------|----------.'---. `. .---------' | .' `. `. `. | .' `. `. `. | v `. `. v +Yuvs_sp `. +Yuvs v +Zuvs_sp SP nominal boresight +Ysc, +Yuvs and +Yuvs_sp are into 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_JUICE_UVS_SP = -907870 FRAME_-907870_NAME = 'JUICE_UVS_SP' FRAME_-907870_CLASS = 4 FRAME_-907870_CLASS_ID = -907870 FRAME_-907870_CENTER = -907 TKFRAME_-907870_RELATIVE = 'JUICE_UVS' TKFRAME_-907870_SPEC = 'ANGLES' TKFRAME_-907870_UNITS = 'DEGREES' TKFRAME_-907870_AXES = ( 3, 1, 3 ) TKFRAME_-907870_ANGLES = ( 0.0, 60.0, 0.0 ) \begintext JUICE NAIF ID Codes -- Definitions =============================================================================== This section contains name to NAIF ID mappings for the JUICE 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 JUICE Spacecraft and its main structures' names and IDs Name ID Synonyms --------------------- ------- ----------------------- JUICE -907 JUICE_SPACECRAFT -907000 JUICE_SC Notes: -- 'JUICE_SC' and 'JUICE_SPACECRAFT' are synonyms and all map to the JUICE s/c bus structure ID (-907000); The mappings summarized in this table are implemented by the keywords below. \begindata NAIF_BODY_NAME += ( 'JUICE' ) NAIF_BODY_CODE += ( -907 ) NAIF_BODY_NAME += ( 'JUICE_SPACECRAFT' ) NAIF_BODY_CODE += ( -907000 ) NAIF_BODY_NAME += ( 'JUICE_SC' ) NAIF_BODY_CODE += ( -907000 ) \begintext GAnymede Laser Altimeter: ------------------------- This table presents the GAnymede Laser Altimeter (GALA) instrument and structures' names and IDs: Name ID Synonyms --------------------- ------- ----------------------- JUICE_GALA -907100 JUICE_GALA_LHM -907110 JUICE_GALA_RXT -907120 The mappings summarized in this table are implemented by the keywords below. \begindata NAIF_BODY_NAME += ( 'JUICE_GALA' ) NAIF_BODY_CODE += ( -907100 ) NAIF_BODY_NAME += ( 'JUICE_GALA_LHM' ) NAIF_BODY_CODE += ( -907110 ) NAIF_BODY_NAME += ( 'JUICE_GALA_RXT' ) NAIF_BODY_CODE += ( -907120 ) \begintext Jovis, Amorum ac Natorum Undique Scrutator: ------------------------------------------- This table presents the Jovis, Amorum ac Natorum Undique Scrutator (JANUS) instrument name and ID: Name ID Synonyms --------------------- ------- ----------------------- JUICE_JANUS -907200 The mappings summarized in this table are implemented by the keywords below. \begindata NAIF_BODY_NAME += ( 'JUICE_JANUS' ) NAIF_BODY_CODE += ( -907200 ) \begintext Moons And Jupiter Imaging Spectrometer: --------------------------------------- This table presents the Moons And Jupiter Imaging Spectrometer (MAGIS) instrument and structures' names and IDs: Name ID Synonyms --------------------- ------- ----------------------- JUICE_MAGIS -907400 JUICE_MAGIS_VISNIR -907410 JUICE_MAGIS_VISNIR_B2 -907412 JUICE_MAGIS_VISNIR_B4 -907414 JUICE_MAGIS_IR -907420 JUICE_MAGIS_IR_B2 -907422 JUICE_MAGIS_IR_B4 -907424 The mappings summarized in this table are implemented by the keywords below. \begindata NAIF_BODY_NAME += ( 'JUICE_MAGIS' ) NAIF_BODY_CODE += ( -907400 ) NAIF_BODY_NAME += ( 'JUICE_MAGIS_VISNIR' ) NAIF_BODY_CODE += ( -907410 ) NAIF_BODY_NAME += ( 'JUICE_MAGIS_VISNIR_B2' ) NAIF_BODY_CODE += ( -907412 ) NAIF_BODY_NAME += ( 'JUICE_MAGIS_VISNIR_B4' ) NAIF_BODY_CODE += ( -907414 ) NAIF_BODY_NAME += ( 'JUICE_MAGIS_IR' ) NAIF_BODY_CODE += ( -907420 ) NAIF_BODY_NAME += ( 'JUICE_MAGIS_IR_B2' ) NAIF_BODY_CODE += ( -907422 ) NAIF_BODY_NAME += ( 'JUICE_MAGIS_IR_B4' ) NAIF_BODY_CODE += ( -907424 ) \begintext Sub-millimeter Wave Instrument: ------------------------------- This table presents the Sub-millimeter Wave Instrument (SWI) instrument and structures' names and IDs: Name ID Synonyms --------------------- ------- ----------------------- JUICE_SWI_BASE -907800 JUICE_SWI -907810 The mappings summarized in this table are implemented by the keywords below. \begindata NAIF_BODY_NAME += ( 'JUICE_SWI_BASE' ) NAIF_BODY_CODE += ( -907800 ) NAIF_BODY_NAME += ( 'JUICE_SWI' ) NAIF_BODY_CODE += ( -907810 ) \begintext Ultraviolet Spectrograph: ------------------------- This table presents the Ultraviolet Spectrograph (UVS) instrument and sensors' names and IDs: Name ID Synonyms --------------------- ------- ----------------------- JUICE_UVS -907850 JUICE_UVS_AP -907851 JUICE_UVS_AP_NARROW -907852 JUICE_UVS_AP_WIDE -907853 JUICE_UVS_HP -907860 JUICE_UVS_SP -907870 The mappings summarized in this table are implemented by the keywords below. \begindata NAIF_BODY_NAME += ( 'JUICE_UVS' ) NAIF_BODY_CODE += ( -907850 ) NAIF_BODY_NAME += ( 'JUICE_UVS_AP' ) NAIF_BODY_CODE += ( -907851 ) NAIF_BODY_NAME += ( 'JUICE_UVS_AP_NARROW' ) NAIF_BODY_CODE += ( -907852 ) NAIF_BODY_NAME += ( 'JUICE_UVS_AP_WIDE' ) NAIF_BODY_CODE += ( -907853 ) NAIF_BODY_NAME += ( 'JUICE_UVS_HP' ) NAIF_BODY_CODE += ( -907860 ) NAIF_BODY_NAME += ( 'JUICE_UVS_SP' ) NAIF_BODY_CODE += ( -907870 ) \begintext