KPL/FK M-Matisse Spacecrafts Frames Kernel ============================================================================= This frame kernel contains complete set of frame definitions for the M-Matisse spacecrafts including definitions for the M-Matisse fixed and M-Matisse science instrument frames. This kernel also contains NAIF ID/name mapping for the M-Matisse science instruments and s/c structures (see the last section of the file). Version and Date ----------------------------------------------------------------------------- Version 0.1 -- June 17, 2024 -- Alfredo Escalante Lopez, ESAC/ESA Defined reference frames for Solar Arrays and High Gain Antenna. Added instruments reference frames for COMPASS booms, 3DVI, M-EAS, SPAM, M-INEA, M-MSA, M-SOSPIM, and M-AC. Defined HENRI_SPACECRAFT and MARGUERITE_SPACECRAFT reference frames as SWITCH frames. Version 0.0 -- March 27, 2024 -- 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@cosmos.esa.int or NAIF at JPL: Boris Semenov +1 (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. * 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 M-Matisse Mission NAIF ID Codes ----------------------------------------------------------------------------- The following names and NAIF ID codes are assigned to the M-Matisse spacecrafts, its structures and science instruments (the keywords implementing these definitions are located in the section "M-Matisse Mission NAIF ID Codes -- Definition Section" at the end of this file): M-Matisse Spacecrafts and Spacecraft Structures names/IDs: HENRI -101 MARGUERITE -102 HENRI_SPACECRAFT -101000 (synonym: HENRI_SC) MARGUERITE_SPACECRAFT -102000 (synonym: MARGUERITE_SC) HENRI_SA+Y_ZERO -101010 HENRI_SA-Y_ZERO -101014 MARGUERITE_SA+Y_ZERO -102010 MARGUERITE_SA-Y_ZERO -102014 HENRI_HGA -101020 MARGUERITE_HGA -102020 COMPASS names/IDs: HENRI_COMPASS_BOOM1 -101191 HENRI_COMPASS_BOOM2 -101192 MARGUERITE_COMPASS_BOOM1 -102191 MARGUERITE_COMPASS_BOOM2 -102192 3DVI names/IDs: HENRI_3DVI -101100 MARGUERITE_3DVI -102100 M-EAS names/IDs: HENRI_M-EAS1 -101201 HENRI_M-EAS2 -101202 MARGUERITE_M-EAS1 -102201 MARGUERITE_M-EAS2 -102202 SPAM names/IDs: HENRI_SPAM -101300 HENRI_SPAM1 -101301 HENRI_SPAM2 -101302 MARGUERITE_SPAM -102300 MARGUERITE_SPAM1 -102301 MARGUERITE_SPAM2 -102302 M-INEA names/IDs: HENRI_M-INEA -101400 MARGUERITE_M-INEA -102400 M-MSA names/IDs: HENRI_M-MSA -101500 MARGUERITE_M-MSA -102500 M-SOSPIM names/IDs: HENRI_M-SOSPIM -101600 MARGUERITE_M-SOSPIM -102600 M-AC names/IDs: HENRI_M-AC -101700 MARGUERITE_M-AC -102700 M-Matisse Mission Frames ----------------------------------------------------------------------------- The following M-Matisse frames are defined in this kernel file: Name Relative to Type NAIF ID ====================== ======================== ========== ========= Spacecraft frames: ----------------- HENRI_SPACECRAFT J2000 SWITCH -101000 HENRI_SPACECRAFT_PLAN J2000 CK -101001 HENRI_SPACECRAFT_MEAS J2000 CK -101002 MARGUERITE_SPACECRAFT J2000 SWITCH -102000 MARGUERITE_SPACECRAFT_PLAN J2000 CK -102001 MARGUERITE_SPACECRAFT_MEAS J2000 CK -102002 HENRI_SA+Y_ZERO HENRI_SPACECRAFT FIXED -101010 HENRI_SA-Y_ZERO HENRI_SPACECRAFT FIXED -101014 MARGUERITE_SA+Y_ZERO MARGUERITE_SPACECRAFT FIXED -102010 MARGUERITE_SA-Y_ZERO MARGUERITE_SPACECRAFT FIXED -102014 HENRI_HGA HENRI_SPACECRAFT FIXED -101020 MARGUERITE_HGA MARGUERITE_SPACECRAFT FIXED -102020 COMPASS frames: --------------- HENRI_COMPASS_BOOM1 HENRI_SPACECRAFT FIXED -101191 HENRI_COMPASS_BOOM2 HENRI_SPACECRAFT FIXED -101192 MARGUERITE_COMPASS_BOOM1 MARGUERITE_SPACECRAFT FIXED -102191 MARGUERITE_COMPASS_BOOM2 MARGUERITE_SPACECRAFT FIXED -102192 3DVI frames: ------------ HENRI_3DVI_BASE HENRI_SPACECRAFT FIXED -101100 MARGUERITE_3DVI_BASE MARGUERITE_SPACECRAFT FIXED -102100 M-EAS frames: ------------- HENRI_M-EAS_BASE HENRI_SPACECRAFT FIXED -101200 HENRI_M-EAS1 HENRI_SPACECRAFT FIXED -101201 HENRI_M-EAS2 HENRI_SPACECRAFT FIXED -101202 MARGUERITE_M-EAS_BASE MARGUERITE_SPACECRAFT FIXED -102200 MARGUERITE_M-EAS1 MARGUERITE_SPACECRAFT FIXED -102201 MARGUERITE_M-EAS2 MARGUERITE_SPACECRAFT FIXED -102202 SPAM frames: ------------ HENRI_SPAM_BASE HENRI_SPACECRAFT FIXED -101300 HENRI_SPAM1 HENRI_SPACECRAFT FIXED -101301 HENRI_SPAM2 HENRI_SPACECRAFT FIXED -101302 MARGUERITE_SPAM_BASE MARGUERITE_SPACECRAFT FIXED -102300 MARGUERITE_SPAM1 MARGUERITE_SPACECRAFT FIXED -102301 MARGUERITE_SPAM2 MARGUERITE_SPACECRAFT FIXED -102302 M-INEA frames: -------------- HENRI_M-INEA_BASE HENRI_SPACECRAFT FIXED -101400 MARGUERITE_M-INEA_BASE MARGUERITE_SPACECRAFT FIXED -102400 M-MSA frames: ------------- HENRI_M-MSA_BASE HENRI_SPACECRAFT FIXED -101500 MARGUERITE_M-MSA_BASE MARGUERITE_SPACECRAFT FIXED -102500 M-SOSPIM frames: ---------------- HENRI_M-SOSPIM_BASE HENRI_SPACECRAFT FIXED -101600 MARGUERITE_M-SOSPIM_BASE MARGUERITE_SPACECRAFT FIXED -102600 M-AC frames: ------------ HENRI_M-AC_BASE HENRI_SPACECRAFT FIXED -101700 MARGUERITE_M-AC_BASE MARGUERITE_SPACECRAFT FIXED -102700 M-Matisse Frames Hierarchy ----------------------------------------------------------------------------- The diagram below shows the M-Matisse spacecraft and its structures frame hierarchy (not including science instrument frames.) "J2000" INERTIAL +------------------------------------------------------------+ | | | | | | |<-pck | | | | |<-pck | | | | | | V | | | | V "EARTH_FIXED" | | | | "IAU_MARS" ------------- | | | | ---------- | | | | |<-ck |<-ck |<-ck |<-ck | | | | V | | V "MARGUERITE_SPACECRAFT_MEAS" | | "HENRI_SPACECRAFT_MEAS" ---------------------------- | | ----------------------- | | | | | | | | | V V | | "MARGUERITE_SPACECRAFT_PLAN" "HENRI_SPACECRAFT_PLAN" | | ---------------------------- ----------------------- | | | | | | | | | +-----------------------+ +-----------------------+ | | |<-switch |<-switch | | V V "MARGUERITE_SPACECRAFT" "HENRI_SPACECRAFT" ----------------------- ------------------ . . . . . . . . . . . . . . V V Individual instrument frame trees are provided in the corresponding sections of this file M-Matisse Spacecrafts and Spacecraft Structures Frames ======================================================================== This section of the file contains the definitions of the spacecraft and spacecraft structures frames. M-Matisse Spacecrafts Frame -------------------------------------- The Henri spacecraft frame is defined as follows: - +Z axis is along the nominal boresight direction of the camera; - +X axis is perpendicular to the RAM panel; - +Y axis completes the right-hand frame; - the origin of this frame is the launch vehicle interface point. These diagrams illustrate the HENRI_SPACECRAFT frame: +X s/c side (HGA side) view: ---------------------------- ^ | toward Mars | Science Deck .__ __..___________. .__________________ .___________..__ ___. | / / || |\ | | /| || / / | | / / || | \ . . / | || \ \ | | \ \ || | \ | | / | || / / | | / / || | o| |o | || \ \ | | \ \ || | / | +Zsc ^ | \ | || / / | | / / || | / | | | \ | || / / | .__\ \_..___________./ ._________|________. \.___________..__\ \__. | o-------> +Ysc +Xsc +Xsc is out of the page. +Z s/c side (science deck side) view: ------------------------------------- .________________. | | | +Ysc | o==/ /==-=============---o| +Zsc o-----> |o---===============-=/ /==o -Y Solar Array | | | +Y Solar Array .________|_______. V +Xsc +Zsc is out of the page. The s/c bus attitude with respect to an inertial frame is provided by a Switch Frame (see [1] for more information) aligned with one of the different CK-based base frames (HENRI_SPACECRAFT_MEAS or HENRI_SPACECRAFT_PLAN and MARGUERITE_SPACECRAFT_MEAS or MARGUERITE_SPACECRAFT_PLAN) depending on coverage. HENRI_SPACECRAFT_MEAS and MARGUERITE_SPACECRAFT_MEAS have priority over HENRI_SPACECRAFT_PLAN and MARGUERITE_SPACECRAFT_PLAN whenever coverage for both is available. \begindata FRAME_HENRI_SPACECRAFT = -101000 FRAME_-101000_NAME = 'HENRI_SPACECRAFT' FRAME_-101000_CLASS = 6 FRAME_-101000_CLASS_ID = -101000 FRAME_-101000_CENTER = -101000 FRAME_-101000_ALIGNED_WITH = ( 'HENRI_SPACECRAFT_PLAN' 'HENRI_SPACECRAFT_MEAS' ) FRAME_MARGUERITE_SPACECRAFT = -102000 FRAME_-102000_NAME = 'MARGUERITE_SPACECRAFT' FRAME_-102000_CLASS = 6 FRAME_-102000_CLASS_ID = -102000 FRAME_-102000_CENTER = -102000 FRAME_-102000_ALIGNED_WITH = ( 'MARGUERITE_SPACECRAFT_PLAN' 'MARGUERITE_SPACECRAFT_MEAS' ) \begintext The HENRI and MARGUERITE spacecraft planning reference frames -- HENRI_SPACECRAFT_PLAN and MARGUERITE_SPACECRAFT_PLAN -- are defined in order to accommodate the C-kernels that have been generated with a fictional SCLK kernel. These CK kernels contain predicted and test data and are used for planning purposes. The before-mentioned CKs are generated with a fictional SCLK kernel due to the fact that successive updates of the real SCLK kernel would lead to erroneous results for the predicted data provided by those kernels after the last Time Correlation Packet offered by the real SCLK. Since the s/c bus predicted attitude is defined with respect to an inertial frame and provided by a C-kernel (see [3] for more information), this frame is defined as a CK-based frame. These sets of keywords define the HENRI_SPACECRAFT_PLAN and MARGUERITE_SPACECRAFT_PLAN frames. \begindata FRAME_HENRI_SPACECRAFT_PLAN = -101001 FRAME_-101001_NAME = 'HENRI_SPACECRAFT_PLAN' FRAME_-101001_CLASS = 3 FRAME_-101001_CLASS_ID = -101001 FRAME_-101001_CENTER = -101000 CK_-101001_SCLK = -101999 CK_-101001_SPK = -101 FRAME_MARGUERITE_SPACECRAFT_PLAN = -102001 FRAME_-102001_NAME = 'MARGUERITE_SPACECRAFT_PLAN' FRAME_-102001_CLASS = 3 FRAME_-102001_CLASS_ID = -102001 FRAME_-102001_CENTER = -102000 CK_-102001_SCLK = -102999 CK_-102001_SPK = -102 \begintext The HENRI and MARGUERITE spacecraft measured reference frames -- HENRI_SPACECRAFT_MEAS and MARGUERITE_SPACECRAFT_MEAS -- are defined in order to accommodate the C-kernels that have been generated with a real SCLK kernel. These C-kernels contain measured data from the housekeeping telemetry (commanded or as-flown) and are mainly used for data analysis. Since the s/c bus measured attitude is defined with respect to an inertial frame and provided by a C-kernel (see [3] for more information), this frame is defined as a CK-based frame. \begindata FRAME_HENRI_SPACECRAFT_MEAS = -101002 FRAME_-101002_NAME = 'HENRI_SPACECRAFT_MEAS' FRAME_-101002_CLASS = 3 FRAME_-101002_CLASS_ID = -101002 FRAME_-101002_CENTER = -101000 CK_-101002_SCLK = -101 CK_-101002_SPK = -101 FRAME_MARGUERITE_SPACECRAFT_MEAS = -102002 FRAME_-102002_NAME = 'MARGUERITE_SPACECRAFT_MEAS' FRAME_-102002_CLASS = 3 FRAME_-102002_CLASS_ID = -102002 FRAME_-102002_CENTER = -102000 CK_-102002_SCLK = -102 CK_-102002_SPK = -102 \begintext M-Matisse Solar Array Frames -------------------------------------------------------------------------- M-Matisse solar arrays are rigidly attached to the +Y and -Y side of the spacecraft bus. Therefore, the M-Matisse solar arrays frames -- HENRI_SA+Y_ZERO, HENRI_SA-Y_ZERO, MARGUERITE_SA+Y_ZERO, MARGUERITE_SA-Y_ZERO -- are defined as fixed offset frames with its orientation given relative to the HENRI_SPACECRAFT and MARGUERITE_SPACECRAFT reference frames. M-Matisse Solar Array Frames Tree ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The diagram below shows the M-Matisse Solar Array frames hierarchy: . . . . . . V V "HENRI_SPACECRAFT" "MARGUERITE_SPACECRAFT" +-------------------+ +-------------------+ | | | | fixed->| fixed->| fixed->| fixed->| | | | | v v v | "HENRI_SA+Y_ZERO" "HENRI_SA-Y_ZERO" "MARGUERITE_SA+Y_ZERO" | ----------------- ----------------- ---------------------- | | V "MARGUERITE_SA-Y_ZERO" ---------------------- HENRI_SA+Y_ZERO and HENRI_SA-Y_ZERO, are two ``fixed-offset'' frames, defined with respect to HENRI_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. MARGUERITE_SA+Y_ZERO and MARGUERITE_SA-Y_ZERO, are two ``fixed-offset'' frames, defined with respect to MARGUERITE_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. This diagram illustrates the M-Matisse Solar Array frames: -Z s/c side (HGA side) view: ---------------------------- o ^ o \ | Ram / _o \ | /.' +Xsa-y_zero ^.---------.^ +Xsa+y_zero /-"------. .-------------. || .---. || .-------------. .------"-\ \ | | +Ysa-y_zero |-||/ HGA \||,-| | | / / |=| <-------o| x |x-------> |=| \ \ | | |_/|\ /| \_| +Ysa+y_zero | / /-.------' '-------------' | '.___.' | '-------------' '------.-\ '---------' /___\ ^ +Xsc Main Engine | | | +Ysc x---------> +Zsc is into the page +Zsc +Zsa+y_zero is into the page +Zsa-y_zero is out of the page These sets of keywords define solar array frames: \begindata FRAME_HENRI_SA+Y_ZERO = -101010 FRAME_-101010_NAME = 'HENRI_SA+Y_ZERO' FRAME_-101010_CLASS = 4 FRAME_-101010_CLASS_ID = -101010 FRAME_-101010_CENTER = -101010 TKFRAME_-101010_RELATIVE = 'HENRI_SPACECRAFT' TKFRAME_-101010_SPEC = 'ANGLES' TKFRAME_-101010_UNITS = 'DEGREES' TKFRAME_-101010_AXES = ( 3, 2, 1 ) TKFRAME_-101010_ANGLES = ( 0.0, 0.0, 0.0 ) FRAME_HENRI_SA-Y_ZERO = -101014 FRAME_-101014_NAME = 'HENRI_SA-Y_ZERO' FRAME_-101014_CLASS = 4 FRAME_-101014_CLASS_ID = -101014 FRAME_-101014_CENTER = -101014 TKFRAME_-101014_RELATIVE = 'HENRI_SPACECRAFT' TKFRAME_-101014_SPEC = 'ANGLES' TKFRAME_-101014_UNITS = 'DEGREES' TKFRAME_-101014_AXES = ( 3, 2, 1 ) TKFRAME_-101014_ANGLES = ( 180.0, 180.0, 0.0 ) FRAME_MARGUERITE_SA+Y_ZERO = -102010 FRAME_-102010_NAME = 'MARGUERITE_SA+Y_ZERO' FRAME_-102010_CLASS = 4 FRAME_-102010_CLASS_ID = -102010 FRAME_-102010_CENTER = -102010 TKFRAME_-102010_RELATIVE = 'MARGUERITE_SPACECRAFT' TKFRAME_-102010_SPEC = 'ANGLES' TKFRAME_-102010_UNITS = 'DEGREES' TKFRAME_-102010_AXES = ( 3, 2, 1 ) TKFRAME_-102010_ANGLES = ( 0.0, 0.0, 0.0 ) FRAME_MARGUERITE_SA-Y_ZERO = -102014 FRAME_-102014_NAME = 'MARGUERITE_SA-Y_ZERO' FRAME_-102014_CLASS = 4 FRAME_-102014_CLASS_ID = -102014 FRAME_-102014_CENTER = -102014 TKFRAME_-102014_RELATIVE = 'MARGUERITE_SPACECRAFT' TKFRAME_-102014_SPEC = 'ANGLES' TKFRAME_-102014_UNITS = 'DEGREES' TKFRAME_-102014_AXES = ( 3, 2, 1 ) TKFRAME_-102014_ANGLES = ( 180.0, 180.0, 0.0 ) \begintext M-Matisse High Gain Antenna Frames -------------------------------------------------------------------------- The M-Matisse High Gain Antenna, HGA, is rigidly attached to the -Z side of the Henri and Marguerite spacecraft bus. Therefore, the High Antenna frames, HENRI_HGA and MARGUERITE_HGA, are defined as fixed offset frames with its orientation given relative to HENRI_SPACECRAFT and MARGUERITE_SPACECRAFT frames respectively. The HENRI_HGA frame is defined as follows: - +Z axis is in the antenna boresight direction (nominally co-aligned to the spacecraft -Z 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. The MARGUERITE_HGA frame is defined as follows: - +Z axis is in the antenna boresight direction (nominally co-aligned to the spacecraft -Z 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. This diagram illustrates the M-Matisse High Gain Antenna frames: -Y s/c side view: ----------------- ^ ~~ | || | Ram direction || | +Xhga oo | ^ .------||------. ||'. | || | +Zhga || '| /||\ | Nadir direction <-----------x| | \||/ | ------------> +Yhga | .| ||^+Xsc | |.' | |'| | '------|'|-----' +Zsc /__ooo-------> || +Ysc || (out of the page) ~~ +Ysc is out of the page +Yhga is into the page Nominally a single rotation of 180 degrees about the +X 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_HENRI_HGA = -101020 FRAME_-101020_NAME = 'HENRI_HGA' FRAME_-101020_CLASS = 4 FRAME_-101020_CLASS_ID = -101020 FRAME_-101020_CENTER = -101020 TKFRAME_-101020_RELATIVE = 'HENRI_SPACECRAFT' TKFRAME_-101020_SPEC = 'ANGLES' TKFRAME_-101020_UNITS = 'DEGREES' TKFRAME_-101020_AXES = ( 2, 3, 1 ) TKFRAME_-101020_ANGLES = ( 0.0, 0.0, 180.0 ) FRAME_MARGUERITE_HGA = -102020 FRAME_-102020_NAME = 'MARGUERITE_HGA' FRAME_-102020_CLASS = 4 FRAME_-102020_CLASS_ID = -102020 FRAME_-102020_CENTER = -102020 TKFRAME_-102020_RELATIVE = 'MARGUERITE_SPACECRAFT' TKFRAME_-102020_SPEC = 'ANGLES' TKFRAME_-102020_UNITS = 'DEGREES' TKFRAME_-102020_AXES = ( 2, 3, 1 ) TKFRAME_-102020_ANGLES = ( 0.0, 0.0, 180.0 ) \begintext COMPASS Booms Frames -------------------------------------------------------------------------- This section contains the definition of the Combined Magnetic and Plasma Sensor Suite (COMPASS) deployable booms frames. COMPASS Frame Tree ~~~~~~~~~~~~~~~~~~ The diagram below shows the COMPASS frame hierarchy: . . . . . . V V "HENRI_SPACECRAFT" "MARGUERITE_SPACECRAFT" +-------------------------+ +------------------------------+ | | | | | fixed->| | fixed->| | | | | | V | V | "HENRI_COMPASS_BOOM2" | "MARGUERITE_COMPASS_BOOM2" | --------------------- | -------------------------- | | |<-fixed |<-fixed | | V V "HENRI_COMPASS_BOOM1" "MARGUERITE_COMPASS_BOOM1" --------------------- -------------------------- COMPASS Booms frames ~~~~~~~~~~~~~~~~~~~~ The COMPASS deployable booms are mounted on the spacecraft Ram face. Therefore, the frames associated with it -- the COMPASS boom frames HENRI_COMPASS_BOOM1, HENRI_COMPASS_BOOM2, and MARGUERITE_COMPASS_BOOM1, MARGUERITE_COMPASS_BOOM2, -- are specified as fixed offset frames relative to the HENRI_SPACECRAFT and MARGUERITE_SPACECRAFT frames respectively. The COMPASS boom frame in deployed configuration is as follows: - +X axis is along the boom direction, pointing from the hinge to the tip of the boom; - +Z axis is co-aligned with the boom hinge rotation axis; - +Y axis completes the right-handed frame; - the origin of the frame is located at the boom hinge. Any misalignment between the nominal and actual boom mounting alignment measured pre-launch should be incorporated into the definition of this frame. This diagram illustrates nominal HENRI_COMPASS_BOOM1/2/3 and MARGUERITE_COMPASS_BOOM1/2/3 frames with respect to the spacecraft frame. -Z s/c side (HGA side) view: ---------------------------- ^ | Ram | +Xboom2 o+Xboom1 o^ \^ .> // _o \\ .'+Yboom1//.' \x'--------xx' /-"------. .-------------.+Zboom1--. +Zboom2------------. .------"-\ \ | | |-.|/ HGA \| ,-| | | / / |=| | o| x |o | |=| \ \ | | |_/|\ /| \_| | | / /-.------' '-------------' | '.___.' | '-------------' '------.-\ '---------' /___\ ^ +Xsc Main Engine | | | +Ysc x---------> +Zsc is into the page +Zsc +Zboom1/2 are into the page Nominally, the booms deployed frame is rotated 45 degrees (135 degrees from retracted configuration along -Xsc) about the +Zsc axis. 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_HENRI_COMPASS_BOOM1 = -101191 FRAME_-101191_NAME = 'HENRI_COMPASS_BOOM1' FRAME_-101191_CLASS = 4 FRAME_-101191_CLASS_ID = -101191 FRAME_-101191_CENTER = -101191 TKFRAME_-101191_RELATIVE = 'HENRI_SPACECRAFT' TKFRAME_-101191_SPEC = 'ANGLES' TKFRAME_-101191_UNITS = 'DEGREES' TKFRAME_-101191_AXES = ( 3, 2, 1 ) TKFRAME_-101191_ANGLES = ( 45.0, 0.0, 0.0 ) FRAME_HENRI_COMPASS_BOOM2 = -101192 FRAME_-101192_NAME = 'HENRI_COMPASS_BOOM2' FRAME_-101192_CLASS = 4 FRAME_-101192_CLASS_ID = -101192 FRAME_-101192_CENTER = -101192 TKFRAME_-101192_RELATIVE = 'HENRI_SPACECRAFT' TKFRAME_-101192_SPEC = 'ANGLES' TKFRAME_-101192_UNITS = 'DEGREES' TKFRAME_-101192_AXES = ( 3, 2, 1 ) TKFRAME_-101192_ANGLES = ( -45.0, 0.0, 0.0 ) FRAME_MARGUERITE_COMPASS_BOOM1 = -102191 FRAME_-102191_NAME = 'MARGUERITE_COMPASS_BOOM1' FRAME_-102191_CLASS = 4 FRAME_-102191_CLASS_ID = -102191 FRAME_-102191_CENTER = -102191 TKFRAME_-102191_RELATIVE = 'MARGUERITE_SPACECRAFT' TKFRAME_-102191_SPEC = 'ANGLES' TKFRAME_-102191_UNITS = 'DEGREES' TKFRAME_-102191_AXES = ( 3, 2, 1 ) TKFRAME_-102191_ANGLES = ( 45.0, 0.0, 0.0 ) FRAME_MARGUERITE_COMPASS_BOOM2 = -102192 FRAME_-102192_NAME = 'MARGUERITE_COMPASS_BOOM2' FRAME_-102192_CLASS = 4 FRAME_-102192_CLASS_ID = -102192 FRAME_-102192_CENTER = -102192 TKFRAME_-102192_RELATIVE = 'MARGUERITE_SPACECRAFT' TKFRAME_-102192_SPEC = 'ANGLES' TKFRAME_-102192_UNITS = 'DEGREES' TKFRAME_-102192_AXES = ( 3, 2, 1 ) TKFRAME_-102192_ANGLES = ( -45.0, 0.0, 0.0 ) \begintext 3DVI Frames -------------------------------------------------------------------------- This section contains the definition of the 3D Velocity of Ion (3DVI) instrument frames. 3DVI Frame Tree ~~~~~~~~~~~~~~~ The diagram below shows the 3DVI frame hierarchy: . . . . . . V V "HENRI_SPACECRAFT" "MARGUERITE_SPACECRAFT" ------------------ ----------------------- | | fixed->| fixed->| | | v v "HENRI_3DVI_BASE" "MARGUERITE_3DVI_BASE" ----------------- ---------------------- 3DVI instrument Base frame ~~~~~~~~~~~~~~~~~~~~~~~~~~ The 3DVI main unit is rigidly mounted on the spacecraft Ram face. Therefore, the frames associated with it -- the 3DVI main unit base frames, HENRI_3DVI_BASE and MARGUERITE_3DVI_BASE -- are specified as fixed offset frames relative to the HENRI_SPACECRAFT and MARGUERITE_SPACECRAFT frames respectively. The 3DVI main unit base frame mounting on the spacecraft is as follows: - +Z axis is along the nominal 3DVI boresights; it is nominally co-aligned with the spacecraft +X 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 3DVI 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 3DVI mounting alignment measured pre-launch should be incorporated into the definition of this frame. This diagram illustrates nominal HENRI_3DVI_BASE and MARGUERITE_3DVI_BASE frames with respect to the spacecraft frame. -Y s/c side view: ----------------- ^ | ~~ +Z3dvi Ram direction | || ^ | || | |+X3dvi | .-----<-----o--. |'. | || +Y3dvi | '| /||\ | Nadir direction | | \||/ | ------------> | .| ||^+Xsc | |.' | |'| | '------|'|-----' +Zsc /__ooo-------> || +Ysc || (out of the page) ~~ +Ysc is out of the page +Y3dvi is out of the page Nominally, the 3DVI base frame is rotated 90 degrees about the +Ysc axis. 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_HENRI_3DVI_BASE = -101100 FRAME_-101100_NAME = 'HENRI_3DVI_BASE' FRAME_-101100_CLASS = 4 FRAME_-101100_CLASS_ID = -101100 FRAME_-101100_CENTER = -101100 TKFRAME_-101100_RELATIVE = 'HENRI_SPACECRAFT' TKFRAME_-101100_SPEC = 'ANGLES' TKFRAME_-101100_UNITS = 'DEGREES' TKFRAME_-101100_AXES = ( 3, 2, 1 ) TKFRAME_-101100_ANGLES = ( 0.0, -90.0, 0.0 ) FRAME_MARGUERITE_3DVI_BASE = -102100 FRAME_-102100_NAME = 'MARGUERITE_3DVI_BASE' FRAME_-102100_CLASS = 4 FRAME_-102100_CLASS_ID = -102100 FRAME_-102100_CENTER = -102100 TKFRAME_-102100_RELATIVE = 'MARGUERITE_SPACECRAFT' TKFRAME_-102100_SPEC = 'ANGLES' TKFRAME_-102100_UNITS = 'DEGREES' TKFRAME_-102100_AXES = ( 3, 2, 1 ) TKFRAME_-102100_ANGLES = ( 0.0, -90.0, 0.0 ) \begintext M-EAS Frames -------------------------------------------------------------------------- This section contains the definition of the Mars Electron Analyser System (M-EAS) instrument frames. M-EAS Frame Tree ~~~~~~~~~~~~~~~~ The diagram below shows the M-EAS frame hierarchy: . . . . . . V V "HENRI_SPACECRAFT" "MARGUERITE_SPACECRAFT" ------------------ ----------------------- | | fixed->| fixed->| | | v v "HENRI_M-EAS_BASE" "MARGUERITE_M-EAS_BASE" +------------------+ +-----------------------+ | | | | fixed->| fixed->| fixed->| fixed->| | | | | V V V V "HENRI_M-EAS1" "HENRI_M-EAS2" "MARGUERITE_M-EAS1" "MARGUERITE_M-EAS2" -------------- -------------- ------------------- ------------------- M-EAS instrument Base frame ~~~~~~~~~~~~~~~~~~~~~~~~~~~ The M-EAS main unit is rigidly mounted on the spacecraft Nadir face. Therefore, the frames associated with it -- the M-EAS main unit base frames, HENRI_M-EAS_BASE and MARGUERITE_M-EAS_BASE -- are specified as fixed offset frames relative to the HENRI_SPACECRAFT and MARGUERITE_SPACECRAFT frames respectively. The M-EAS main unit base frame mounting on the spacecraft is as follows: - +Z axis is along the nominal M-EAS 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 M-EAS 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 M-EAS mounting alignment measured pre-launch should be incorporated into the definition of this frame. This diagram illustrates nominal HENRI_M-EAS_BASE and MARGUERITE_M-EAS_BASE frames with respect to the spacecraft frame. -Y s/c side view: ----------------- ^ | ~~ +Xm-eas Ram direction | || ^ | || | | || | .--------------.o------> +Zm-eas |'. | || +Ym-eas | '| /||\ | Nadir direction | | \||/ | ------------> | .| ||^+Xsc | |.' | |'| | '------|'|-----' +Zsc /__ooo-------> || +Ysc || (out of the page) ~~ +Ysc is out of the page +Ym-eas is out of the page Nominally, the M-EAS base frame is 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_HENRI_M-EAS_BASE = -101200 FRAME_-101200_NAME = 'HENRI_M-EAS_BASE' FRAME_-101200_CLASS = 4 FRAME_-101200_CLASS_ID = -101200 FRAME_-101200_CENTER = -101200 TKFRAME_-101200_RELATIVE = 'HENRI_SPACECRAFT' TKFRAME_-101200_SPEC = 'ANGLES' TKFRAME_-101200_UNITS = 'DEGREES' TKFRAME_-101200_AXES = ( 3, 2, 1 ) TKFRAME_-101200_ANGLES = ( 0.0, 0.0, 0.0 ) FRAME_HENRI_M-EAS1 = -101201 FRAME_-101201_NAME = 'HENRI_M-EAS1' FRAME_-101201_CLASS = 4 FRAME_-101201_CLASS_ID = -101201 FRAME_-101201_CENTER = -101200 TKFRAME_-101201_RELATIVE = 'HENRI_M-EAS_BASE' TKFRAME_-101201_SPEC = 'ANGLES' TKFRAME_-101201_UNITS = 'DEGREES' TKFRAME_-101201_AXES = ( 3, 2, 1 ) TKFRAME_-101201_ANGLES = ( 0.0, 0.0, 45.0 ) FRAME_HENRI_M-EAS2 = -101202 FRAME_-101202_NAME = 'HENRI_M-EAS2' FRAME_-101202_CLASS = 4 FRAME_-101202_CLASS_ID = -101202 FRAME_-101202_CENTER = -101200 TKFRAME_-101202_RELATIVE = 'HENRI_M-EAS_BASE' TKFRAME_-101202_SPEC = 'ANGLES' TKFRAME_-101202_UNITS = 'DEGREES' TKFRAME_-101202_AXES = ( 3, 2, 1 ) TKFRAME_-101202_ANGLES = ( 0.0, 0.0, -45.0 ) FRAME_MARGUERITE_M-EAS_BASE = -102200 FRAME_-102200_NAME = 'MARGUERITE_M-EAS_BASE' FRAME_-102200_CLASS = 4 FRAME_-102200_CLASS_ID = -102200 FRAME_-102200_CENTER = -102200 TKFRAME_-102200_RELATIVE = 'MARGUERITE_SPACECRAFT' TKFRAME_-102200_SPEC = 'ANGLES' TKFRAME_-102200_UNITS = 'DEGREES' TKFRAME_-102200_AXES = ( 3, 2, 1 ) TKFRAME_-102200_ANGLES = ( 0.0, 0.0, 0.0 ) FRAME_MARGUERITE_M-EAS1 = -102201 FRAME_-102201_NAME = 'MARGUERITE_M-EAS1' FRAME_-102201_CLASS = 4 FRAME_-102201_CLASS_ID = -102201 FRAME_-102201_CENTER = -102200 TKFRAME_-102201_RELATIVE = 'MARGUERITE_M-EAS_BASE' TKFRAME_-102201_SPEC = 'ANGLES' TKFRAME_-102201_UNITS = 'DEGREES' TKFRAME_-102201_AXES = ( 3, 2, 1 ) TKFRAME_-102201_ANGLES = ( 0.0, 0.0, 45.0 ) FRAME_MARGUERITE_M-EAS2 = -102202 FRAME_-102202_NAME = 'MARGUERITE_M-EAS2' FRAME_-102202_CLASS = 4 FRAME_-102202_CLASS_ID = -102202 FRAME_-102202_CENTER = -102200 TKFRAME_-102202_RELATIVE = 'MARGUERITE_M-EAS_BASE' TKFRAME_-102202_SPEC = 'ANGLES' TKFRAME_-102202_UNITS = 'DEGREES' TKFRAME_-102202_AXES = ( 3, 2, 1 ) TKFRAME_-102202_ANGLES = ( 0.0, 0.0, -45.0 ) \begintext SPAM Frames -------------------------------------------------------------------------- This section contains the definition of the Solar Particle at Mars (SPAM) instrument frames. SPAM Frame Tree ~~~~~~~~~~~~~~~ The diagram below shows the SPAM frame hierarchy: . . . . . . V V "HENRI_SPACECRAFT" "MARGUERITE_SPACECRAFT" ------------------ ----------------------- | | fixed->| fixed->| | | v v "HENRI_SPAM_BASE" "MARGUERITE_SPAM_BASE" +------------------+ +-----------------------+ | | | | fixed->| fixed->| fixed->| fixed->| | | | | V V V V "HENRI_SPAM1" "HENRI_SPAM2" "MARGUERITE_SPAM1" "MARGUERITE_SPAM2" ------------- ------------- ------------------ ------------------ SPAM instrument Base frame ~~~~~~~~~~~~~~~~~~~~~~~~~~ The SPAM main unit is rigidly mounted on the spacecraft Nadir face. Therefore, the frames associated with it -- the SPAM main unit base frames, HENRI_SPAM_BASE and MARGUERITE_SPAM_BASE -- are specified as fixed offset frames relative to the HENRI_SPACECRAFT and MARGUERITE_SPACECRAFT frames respectively. The SPAM main unit base frame mounting on the spacecraft is as follows: - +Z axis is along the nominal SPAM 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 SPAM 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 SPAM mounting alignment measured pre-launch should be incorporated into the definition of this frame. This diagram illustrates nominal HENRI_SPAM_BASE and MARGUERITE_SPAM_BASE frames with respect to the spacecraft frame. -Y s/c side view: ----------------- ^ | ~~ +Xspam Ram direction | || ^ | || | | || | .--------------.o------> +Zspam |'. | || +Yspam | '| /||\ | Nadir direction | | \||/ | ------------> | .| ||^+Xsc | |.' | |'| | '------|'|-----' +Zsc /__ooo-------> || +Ysc || (out of the page) ~~ +Ysc is out of the page +Yspam is out of the page Nominally, the SPAM base frame is 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_HENRI_SPAM_BASE = -101300 FRAME_-101300_NAME = 'HENRI_SPAM_BASE' FRAME_-101300_CLASS = 4 FRAME_-101300_CLASS_ID = -101300 FRAME_-101300_CENTER = -101300 TKFRAME_-101300_RELATIVE = 'HENRI_SPACECRAFT' TKFRAME_-101300_SPEC = 'ANGLES' TKFRAME_-101300_UNITS = 'DEGREES' TKFRAME_-101300_AXES = ( 3, 2, 1 ) TKFRAME_-101300_ANGLES = ( 0.0, 0.0, 0.0 ) FRAME_HENRI_SPAM1 = -101301 FRAME_-101301_NAME = 'HENRI_SPAM1' FRAME_-101301_CLASS = 4 FRAME_-101301_CLASS_ID = -101301 FRAME_-101301_CENTER = -101300 TKFRAME_-101301_RELATIVE = 'HENRI_SPAM_BASE' TKFRAME_-101301_SPEC = 'ANGLES' TKFRAME_-101301_UNITS = 'DEGREES' TKFRAME_-101301_AXES = ( 1, 2, 3 ) TKFRAME_-101301_ANGLES = ( -54.7 -30.0 -54.8 ) FRAME_HENRI_SPAM2 = -101302 FRAME_-101302_NAME = 'HENRI_SPAM2' FRAME_-101302_CLASS = 4 FRAME_-101302_CLASS_ID = -101302 FRAME_-101302_CENTER = -101300 TKFRAME_-101302_RELATIVE = 'HENRI_SPAM_BASE' TKFRAME_-101302_SPEC = 'ANGLES' TKFRAME_-101302_UNITS = 'DEGREES' TKFRAME_-101302_AXES = ( 1, 2, 3 ) TKFRAME_-101302_ANGLES = ( -125.4 -30.1 -125.2 ) FRAME_MARGUERITE_SPAM_BASE = -102300 FRAME_-102300_NAME = 'MARGUERITE_SPAM_BASE' FRAME_-102300_CLASS = 4 FRAME_-102300_CLASS_ID = -102300 FRAME_-102300_CENTER = -102300 TKFRAME_-102300_RELATIVE = 'MARGUERITE_SPACECRAFT' TKFRAME_-102300_SPEC = 'ANGLES' TKFRAME_-102300_UNITS = 'DEGREES' TKFRAME_-102300_AXES = ( 3, 2, 1 ) TKFRAME_-102300_ANGLES = ( 0.0, 0.0, 0.0 ) FRAME_MARGUERITE_SPAM1 = -102301 FRAME_-102301_NAME = 'MARGUERITE_SPAM1' FRAME_-102301_CLASS = 4 FRAME_-102301_CLASS_ID = -102301 FRAME_-102301_CENTER = -102300 TKFRAME_-102301_RELATIVE = 'MARGUERITE_SPAM_BASE' TKFRAME_-102301_SPEC = 'ANGLES' TKFRAME_-102301_UNITS = 'DEGREES' TKFRAME_-102301_AXES = ( 1, 2, 3 ) TKFRAME_-102301_ANGLES = ( -54.7 -30.0 -54.8 ) FRAME_MARGUERITE_SPAM2 = -102302 FRAME_-102302_NAME = 'MARGUERITE_SPAM2' FRAME_-102302_CLASS = 4 FRAME_-102302_CLASS_ID = -102302 FRAME_-102302_CENTER = -102300 TKFRAME_-102302_RELATIVE = 'MARGUERITE_SPAM_BASE' TKFRAME_-102302_SPEC = 'ANGLES' TKFRAME_-102302_UNITS = 'DEGREES' TKFRAME_-102302_AXES = ( 1, 2, 3 ) TKFRAME_-102302_ANGLES = ( -125.4 -30.1 -125.2 ) \begintext M-INEA Frames -------------------------------------------------------------------------- This section contains the definition of the Mars Ion and Neutral Energy Analyser (M-INEA) instrument frames. M-INEA Frame Tree ~~~~~~~~~~~~~~~~~ The diagram below shows the M-INEA frame hierarchy: . . . . . . V V "HENRI_SPACECRAFT" "MARGUERITE_SPACECRAFT" ------------------ ----------------------- | | fixed->| fixed->| | | v v "HENRI_M-INEA_BASE" "MARGUERITE_M-INEA_BASE" ------------------- ------------------------ M-INEA instrument Base frame ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The M-INEA main unit is rigidly mounted on the spacecraft Ram face. Therefore, the frames associated with it -- the M-INEA main unit base frames, HENRI_M-INEA_BASE and MARGUERITE_M-INEA_BASE -- are specified as fixed offset frames relative to the HENRI_SPACECRAFT and MARGUERITE_SPACECRAFT frames respectively. The M-INEA main unit base frame mounting on the spacecraft is as follows: - +Z axis is along the nominal M-INEA boresights; it is nominally co-aligned with the spacecraft +X 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 M-INEA 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 M-INEA mounting alignment measured pre-launch should be incorporated into the definition of this frame. This diagram illustrates nominal HENRI_M-INEA_BASE and MARGUERITE_M-INEA_BASE frames with respect to the spacecraft frame. -Y s/c side view: ----------------- ^ | ~~ +Zm-inea Ram direction | || ^ | || | |+Xm-inea| .-----<-----o--. |'. | || +Ym-inea | '| /||\ | Nadir direction | | \||/ | ------------> | .| ||^+Xsc | |.' | |'| | '------|'|-----' +Zsc /__ooo-------> || +Ysc || (out of the page) ~~ +Ysc is out of the page +Ym-inea is out of the page Nominally, the M-INEA base frame is rotated 90 degrees about the +Ysc axis. 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_HENRI_M-INEA_BASE = -101400 FRAME_-101400_NAME = 'HENRI_M-INEA_BASE' FRAME_-101400_CLASS = 4 FRAME_-101400_CLASS_ID = -101400 FRAME_-101400_CENTER = -101400 TKFRAME_-101400_RELATIVE = 'HENRI_SPACECRAFT' TKFRAME_-101400_SPEC = 'ANGLES' TKFRAME_-101400_UNITS = 'DEGREES' TKFRAME_-101400_AXES = ( 3, 2, 1 ) TKFRAME_-101400_ANGLES = ( 0.0, -90.0, 0.0 ) FRAME_MARGUERITE_M-INEA_BASE = -102400 FRAME_-102400_NAME = 'MARGUERITE_M-INEA_BASE' FRAME_-102400_CLASS = 4 FRAME_-102400_CLASS_ID = -102400 FRAME_-102400_CENTER = -102400 TKFRAME_-102400_RELATIVE = 'MARGUERITE_SPACECRAFT' TKFRAME_-102400_SPEC = 'ANGLES' TKFRAME_-102400_UNITS = 'DEGREES' TKFRAME_-102400_AXES = ( 3, 2, 1 ) TKFRAME_-102400_ANGLES = ( 0.0, -90.0, 0.0 ) \begintext M-MSA Frames -------------------------------------------------------------------------- This section contains the definition of the Mars Mass Spectrum Analyser (M-MSA) instrument frames. M-MSA Frame Tree ~~~~~~~~~~~~~~~~~ The diagram below shows the M-MSA frame hierarchy: . . . . . . V V "HENRI_SPACECRAFT" "MARGUERITE_SPACECRAFT" ------------------ ----------------------- | | fixed->| fixed->| | | v v "HENRI_M-MSA_BASE" "MARGUERITE_M-MSA_BASE" ------------------ ----------------------- M-MSA instrument Base frame ~~~~~~~~~~~~~~~~~~~~~~~~~~~ The M-MSA main unit is rigidly mounted on the spacecraft Nadir face. Therefore, the frames associated with it -- the M-MSA main unit base frames, HENRI_M-MSA_BASE and MARGUERITE_M-MSA_BASE -- are specified as fixed offset frames relative to the HENRI_SPACECRAFT and MARGUERITE_SPACECRAFT frames respectively. The M-MSA main unit base frame mounting on the spacecraft is as follows: - +Z axis is along the nominal M-MSA 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 M-MSA 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 M-MSA mounting alignment measured pre-launch should be incorporated into the definition of this frame. This diagram illustrates nominal HENRI_M-MSA_BASE and MARGUERITE_M-MSA_BASE frames with respect to the spacecraft frame. -Y s/c side view: ----------------- ~~ ^ || | || | Ram direction || | +Ym-msa------------. +Zm-msa<------o || | | '| /||\ | Nadir direction | | \||/ | ------------> +Xm-msa V ||^+Xsc | |.' | |'| | '------|'|-----' +Zsc /__ooo-------> || +Ysc || (out of the page) ~~ +Ysc is out of the page +Ym-msa is out of the page Nominally, the M-MSA base frame is rotated 180 degrees about the +Ysc axis. 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_HENRI_M-MSA_BASE = -101500 FRAME_-101500_NAME = 'HENRI_M-MSA_BASE' FRAME_-101500_CLASS = 4 FRAME_-101500_CLASS_ID = -101500 FRAME_-101500_CENTER = -101500 TKFRAME_-101500_RELATIVE = 'HENRI_SPACECRAFT' TKFRAME_-101500_SPEC = 'ANGLES' TKFRAME_-101500_UNITS = 'DEGREES' TKFRAME_-101500_AXES = ( 3, 2, 1 ) TKFRAME_-101500_ANGLES = ( 0.0, 180.0, 0.0 ) FRAME_MARGUERITE_M-MSA_BASE = -102500 FRAME_-102500_NAME = 'MARGUERITE_M-MSA_BASE' FRAME_-102500_CLASS = 4 FRAME_-102500_CLASS_ID = -102500 FRAME_-102500_CENTER = -102500 TKFRAME_-102500_RELATIVE = 'MARGUERITE_SPACECRAFT' TKFRAME_-102500_SPEC = 'ANGLES' TKFRAME_-102500_UNITS = 'DEGREES' TKFRAME_-102500_AXES = ( 3, 2, 1 ) TKFRAME_-102500_ANGLES = ( 0.0, 180.0, 0.0 ) \begintext M-SOSPIM Frames -------------------------------------------------------------------------- This section contains the definition of the Mars Solar Spectral Irradiance Monitor (M-SOSPIM) instrument frames. M-SOSPIM Frame Tree ~~~~~~~~~~~~~~~~~~~ The diagram below shows the M-SOSPIM frame hierarchy: . . . . . . V V "HENRI_SPACECRAFT" "MARGUERITE_SPACECRAFT" ------------------ ----------------------- | | fixed->| fixed->| | | v v "HENRI_M-SOSPIM_BASE" "MARGUERITE_M-SOSPIM_BASE" --------------------- -------------------------- M-SOSPIM instrument Base frame ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The M-SOSPIM main unit is rigidly mounted on the spacecraft Sun face. Therefore, the frames associated with it -- the M-SOSPIM main unit base frames, HENRI_M-SOSPIM_BASE and MARGUERITE_M-SOSPIM_BASE -- are specified as fixed offset frames relative to the HENRI_SPACECRAFT and MARGUERITE_SPACECRAFT frames respectively. The M-SOSPIM main unit base frame mounting on the spacecraft is as follows: - +Z axis is along the nominal M-SOSPIM 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 M-SOSPIM 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 M-SOSPIM mounting alignment measured pre-launch should be incorporated into the definition of this frame. This diagram illustrates nominal HENRI_M-SOSPIM_BASE and MARGUERITE_M-SOSPIM_BASE frames with respect to the spacecraft frame. -Y s/c side view: ----------------- ~~ ^ || | || | Ram direction || | +Ysospim ----------. +Zsospim<------o || | | '| /||\ | Nadir direction | | \||/ | ------------> +Xsospim V ||^+Xsc | |.' | |'| | '------|'|-----' +Zsc /__ooo-------> || +Ysc || (out of the page) ~~ +Ysc is out of the page +Ym-sospim is out of the page Nominally, the M-SOSPIM base frame is rotated 180 degrees about the +Ysc axis. 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_HENRI_M-SOSPIM_BASE = -101600 FRAME_-101600_NAME = 'HENRI_M-SOSPIM_BASE' FRAME_-101600_CLASS = 4 FRAME_-101600_CLASS_ID = -101600 FRAME_-101600_CENTER = -101600 TKFRAME_-101600_RELATIVE = 'HENRI_SPACECRAFT' TKFRAME_-101600_SPEC = 'ANGLES' TKFRAME_-101600_UNITS = 'DEGREES' TKFRAME_-101600_AXES = ( 3, 2, 1 ) TKFRAME_-101600_ANGLES = ( 0.0, 180.0, 0.0 ) FRAME_MARGUERITE_M-SOSPIM_BASE = -102600 FRAME_-102600_NAME = 'MARGUERITE_M-SOSPIM_BASE' FRAME_-102600_CLASS = 4 FRAME_-102600_CLASS_ID = -102600 FRAME_-102600_CENTER = -102600 TKFRAME_-102600_RELATIVE = 'MARGUERITE_SPACECRAFT' TKFRAME_-102600_SPEC = 'ANGLES' TKFRAME_-102600_UNITS = 'DEGREES' TKFRAME_-102600_AXES = ( 3, 2, 1 ) TKFRAME_-102600_ANGLES = ( 0.0, 180.0, 0.0 ) \begintext M-AC Frames -------------------------------------------------------------------------- This section contains the definition of the Mars Aurora Camera (M-AC) instrument frames. M-AC Frame Tree ~~~~~~~~~~~~~~~ The diagram below shows the M-AC frame hierarchy: . . . . . . V V "HENRI_SPACECRAFT" "MARGUERITE_SPACECRAFT" ------------------ ----------------------- | | fixed->| fixed->| | | v v "HENRI_M-AC_BASE" "MARGUERITE_M-AC_BASE" ----------------- ---------------------- M-AC instrument Base frame ~~~~~~~~~~~~~~~~~~~~~~~~~~ The M-AC main unit is rigidly mounted on the spacecraft Nadir face. Therefore, the frames associated with it -- the M-AC main unit base frames, HENRI_M-AC_BASE and MARGUERITE_M-AC_BASE -- are specified as fixed offset frames relative to the HENRI_SPACECRAFT and MARGUERITE_SPACECRAFT frames respectively. The M-AC main unit base frame mounting on the spacecraft is as follows: - +Z axis is along the nominal M-AC 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 M-AC 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 M-AC mounting alignment measured pre-launch should be incorporated into the definition of this frame. This diagram illustrates nominal HENRI_M-AC_BASE and MARGUERITE_M-AC_BASE frames with respect to the spacecraft frame. -Y s/c side view: ----------------- ^ | ~~ +Xm-ac Ram direction | || ^ | || | | || | .--------------.o------> +Zm-ac |'. | || +Ym-ac | '| /||\ | Nadir direction | | \||/ | ------------> | .| ||^+Xsc | |.' | |'| | '------|'|-----' +Zsc /__ooo-------> || +Ysc || (out of the page) ~~ +Ysc is out of the page +Ym-ac is out of the page Nominally, the M-AC base frame is 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_HENRI_M-AC_BASE = -101700 FRAME_-101700_NAME = 'HENRI_M-AC_BASE' FRAME_-101700_CLASS = 4 FRAME_-101700_CLASS_ID = -101700 FRAME_-101700_CENTER = -101700 TKFRAME_-101700_RELATIVE = 'HENRI_SPACECRAFT' TKFRAME_-101700_SPEC = 'ANGLES' TKFRAME_-101700_UNITS = 'DEGREES' TKFRAME_-101700_AXES = ( 3, 2, 1 ) TKFRAME_-101700_ANGLES = ( 0.0, 0.0, 0.0 ) FRAME_MARGUERITE_M-AC_BASE = -102700 FRAME_-102700_NAME = 'MARGUERITE_M-AC_BASE' FRAME_-102700_CLASS = 4 FRAME_-102700_CLASS_ID = -102700 FRAME_-102700_CENTER = -102700 TKFRAME_-102700_RELATIVE = 'MARGUERITE_SPACECRAFT' TKFRAME_-102700_SPEC = 'ANGLES' TKFRAME_-102700_UNITS = 'DEGREES' TKFRAME_-102700_AXES = ( 3, 2, 1 ) TKFRAME_-102700_ANGLES = ( 0.0, 0.0, 0.0 ) \begintext M-Matisse NAIF ID Codes to Name Mapping ------------------------------------------------------------------------------ This section contains name to NAIF ID mappings for the M-Matisse 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 M-Matisse Spacecrafts and its main structures' names. --------------------- ------- -------------------------- Name ID Synonyms --------------------- ------- -------------------------- HENRI -101 MARGUERITE -102 --------------------- ------- -------------------------- Notes: -- 'HENRI_SC' and 'HENRI_SPACECRAFT' are synonyms and all map to the Henri s/c bus structure ID (-101000); \begindata NAIF_BODY_NAME += ( 'HENRI' ) NAIF_BODY_CODE += ( -101 ) NAIF_BODY_NAME += ( 'HENRI_SC' ) NAIF_BODY_CODE += ( -101000 ) NAIF_BODY_NAME += ( 'HENRI_SPACECRAFT' ) NAIF_BODY_CODE += ( -101000 ) NAIF_BODY_NAME += ( 'MARGUERITE' ) NAIF_BODY_CODE += ( -102 ) NAIF_BODY_NAME += ( 'MARGUERITE_SC' ) NAIF_BODY_CODE += ( -102000 ) NAIF_BODY_NAME += ( 'MARGUERITE_SPACECRAFT' ) NAIF_BODY_CODE += ( -102000 ) \begintext 3D Velocity of Ion: ------------------- This table presents the 3D Velocity of Ion (3DVI) instrument and structures' names and IDs: Name ID Synonyms --------------------- ------- ----------------------- HENRI_3DVI -101100 MARGUERITE_3DVI -102100 --------------------- ------- -------------------------- The mappings summarized in this table are implemented by the keywords below. \begindata NAIF_BODY_NAME += ( 'HENRI_3DVI' ) NAIF_BODY_CODE += ( -101100 ) NAIF_BODY_NAME += ( 'MARGUERITE_3DVI' ) NAIF_BODY_CODE += ( -102100 ) \begintext Mars Electron Analyser System: ------------------------------ This table presents the Mars Electron Analyser System (M-EAS) instrument and structures' names and IDs: Name ID Synonyms --------------------- ------- ----------------------- HENRI_M-EAS -101200 MARGUERITE_M-EAS -102200 --------------------- ------- -------------------------- The mappings summarized in this table are implemented by the keywords below. \begindata NAIF_BODY_NAME += ( 'HENRI_M-EAS' ) NAIF_BODY_CODE += ( -101200 ) NAIF_BODY_NAME += ( 'HENRI_M-EAS1-1' ) NAIF_BODY_CODE += ( -101201 ) NAIF_BODY_NAME += ( 'HENRI_M-EAS1-2' ) NAIF_BODY_CODE += ( -101202 ) NAIF_BODY_NAME += ( 'HENRI_M-EAS1-3' ) NAIF_BODY_CODE += ( -101203 ) NAIF_BODY_NAME += ( 'HENRI_M-EAS1-4' ) NAIF_BODY_CODE += ( -101204 ) NAIF_BODY_NAME += ( 'HENRI_M-EAS2-1' ) NAIF_BODY_CODE += ( -101205 ) NAIF_BODY_NAME += ( 'HENRI_M-EAS2-2' ) NAIF_BODY_CODE += ( -101206 ) NAIF_BODY_NAME += ( 'HENRI_M-EAS2-3' ) NAIF_BODY_CODE += ( -101207 ) NAIF_BODY_NAME += ( 'HENRI_M-EAS2-4' ) NAIF_BODY_CODE += ( -101208 ) NAIF_BODY_NAME += ( 'MARGUERITE_M-EAS' ) NAIF_BODY_CODE += ( -102200 ) NAIF_BODY_NAME += ( 'MARGUERITE_M-EAS1-1' ) NAIF_BODY_CODE += ( -102201 ) NAIF_BODY_NAME += ( 'MARGUERITE_M-EAS1-2' ) NAIF_BODY_CODE += ( -102202 ) NAIF_BODY_NAME += ( 'MARGUERITE_M-EAS1-3' ) NAIF_BODY_CODE += ( -102203 ) NAIF_BODY_NAME += ( 'MARGUERITE_M-EAS1-4' ) NAIF_BODY_CODE += ( -102204 ) NAIF_BODY_NAME += ( 'MARGUERITE_M-EAS2-1' ) NAIF_BODY_CODE += ( -102205 ) NAIF_BODY_NAME += ( 'MARGUERITE_M-EAS2-2' ) NAIF_BODY_CODE += ( -102206 ) NAIF_BODY_NAME += ( 'MARGUERITE_M-EAS2-3' ) NAIF_BODY_CODE += ( -102207 ) NAIF_BODY_NAME += ( 'MARGUERITE_M-EAS2-4' ) NAIF_BODY_CODE += ( -102208 ) \begintext Solar Particle at Mars: ----------------------- This table presents the Solar Particle at Mars (SPAM) instrument and structures' names and IDs: Name ID Synonyms --------------------- ------- ----------------------- HENRI_SPAM -101300 MARGUERITE_SPAM -102300 --------------------- ------- -------------------------- The mappings summarized in this table are implemented by the keywords below. \begindata NAIF_BODY_NAME += ( 'HENRI_SPAM' ) NAIF_BODY_CODE += ( -101300 ) NAIF_BODY_NAME += ( 'HENRI_SPAM1_E' ) NAIF_BODY_CODE += ( -101301 ) NAIF_BODY_NAME += ( 'HENRI_SPAM1_I' ) NAIF_BODY_CODE += ( -101302 ) NAIF_BODY_NAME += ( 'HENRI_SPAM2_E' ) NAIF_BODY_CODE += ( -101303 ) NAIF_BODY_NAME += ( 'HENRI_SPAM2_I' ) NAIF_BODY_CODE += ( -101304 ) NAIF_BODY_NAME += ( 'HENRI_SPAM3_E' ) NAIF_BODY_CODE += ( -101305 ) NAIF_BODY_NAME += ( 'HENRI_SPAM3_I' ) NAIF_BODY_CODE += ( -101306 ) NAIF_BODY_NAME += ( 'HENRI_SPAM4_E' ) NAIF_BODY_CODE += ( -101307 ) NAIF_BODY_NAME += ( 'HENRI_SPAM4_I' ) NAIF_BODY_CODE += ( -101308 ) NAIF_BODY_NAME += ( 'MARGUERITE_SPAM' ) NAIF_BODY_CODE += ( -102300 ) NAIF_BODY_NAME += ( 'MARGUERITE_SPAM1_E' ) NAIF_BODY_CODE += ( -102301 ) NAIF_BODY_NAME += ( 'MARGUERITE_SPAM1_I' ) NAIF_BODY_CODE += ( -102302 ) NAIF_BODY_NAME += ( 'MARGUERITE_SPAM2_E' ) NAIF_BODY_CODE += ( -102303 ) NAIF_BODY_NAME += ( 'MARGUERITE_SPAM2_I' ) NAIF_BODY_CODE += ( -102304 ) NAIF_BODY_NAME += ( 'MARGUERITE_SPAM3_E' ) NAIF_BODY_CODE += ( -102305 ) NAIF_BODY_NAME += ( 'MARGUERITE_SPAM3_I' ) NAIF_BODY_CODE += ( -102306 ) NAIF_BODY_NAME += ( 'MARGUERITE_SPAM4_E' ) NAIF_BODY_CODE += ( -102307 ) NAIF_BODY_NAME += ( 'MARGUERITE_SPAM4_I' ) NAIF_BODY_CODE += ( -102308 ) \begintext Mars Ion and Neutral Energy Analyser: ------------------------------------- This table presents the Mars Ion and Neutral Energy Analyser (M-INEA) instrument and structures' names and IDs: Name ID Synonyms --------------------- ------- ----------------------- HENRI_M-INEA -101400 MARGUERITE_M-INEA -102400 --------------------- ------- -------------------------- The mappings summarized in this table are implemented by the keywords below. \begindata NAIF_BODY_NAME += ( 'HENRI_M-INEA' ) NAIF_BODY_CODE += ( -101400 ) NAIF_BODY_NAME += ( 'MARGUERITE_M-INEA' ) NAIF_BODY_CODE += ( -102400 ) \begintext Mars Mass Spectrum Analyser: ---------------------------- This table presents the Mars Mass Spectrum Analyser (M-MSA) instrument and structures' names and IDs: Name ID Synonyms --------------------- ------- ----------------------- HENRI_M-MSA -101500 MARGUERITE_M-MSA -102500 --------------------- ------- -------------------------- The mappings summarized in this table are implemented by the keywords below. \begindata NAIF_BODY_NAME += ( 'HENRI_M-MSA' ) NAIF_BODY_CODE += ( -101500 ) NAIF_BODY_NAME += ( 'MARGUERITE_M-MSA' ) NAIF_BODY_CODE += ( -102500 ) \begintext Mars SoSpIM: ------------ This table presents the Mars Solar Spectral Irradiance Monitor (M-SOSPIM) instrument and structures' names and IDs: Name ID Synonyms --------------------- ------- ----------------------- HENRI_M-SOSPIM -101600 MARGUERITE_M-SOSPIM -102600 --------------------- ------- -------------------------- The mappings summarized in this table are implemented by the keywords below. \begindata NAIF_BODY_NAME += ( 'HENRI_M-SOSPIM' ) NAIF_BODY_CODE += ( -101600 ) NAIF_BODY_NAME += ( 'MARGUERITE_M-SOSPIM' ) NAIF_BODY_CODE += ( -102600 ) \begintext Mars Aurora Camera: ------------------- This table presents the Mars Aurora Camera (M-AC) instrument and structures' names and IDs: Name ID Synonyms --------------------- ------- ----------------------- HENRI_M-AC -101700 MARGUERITE_M-AC -102700 --------------------- ------- -------------------------- The mappings summarized in this table are implemented by the keywords below. \begindata NAIF_BODY_NAME += ( 'HENRI_M-AC' ) NAIF_BODY_CODE += ( -101700 ) NAIF_BODY_NAME += ( 'MARGUERITE_M-AC' ) NAIF_BODY_CODE += ( -102700 ) \begintext End of FK file.