KPL/FK Rosetta Spacecraft and Rosetta Lander Frames Kernel ======================================================================== This frame kernel contains complete set of frame definitions for the Rosetta Spacecraft (ROS) and Rosetta Lander (ROSLND) including definitions for the Rosetta spacecraft and Rosetta science instrument frames and Rosetta Lander fixed, Rosetta Lander instrument, and landing site local frames. This kernel also contains NAIF ID/name mapping for the Rosetta and Rosetta Lander instruments. Version and Date ======================================================================== Version 0.6 -- May 31, 2005 -- Boris Semenov, NAIF Updated RPC/MAG instrument/frame names and other parameters based on the feedback comments from Dr. Ingo Richter [8], specifically: -- renamed MAG sensors (MAG1 -> MAG_OB, MAG2 -> MAG_IB) -- renamed MAG sensor frames the same way -- changed BOOM2 frame class to be CK-based frame (its orientation is now provided in CK files) -- changed MAG_OB and MAG_IB frame definitions and incorporated their actual alignments relative to the BOOM2 frame into the definitions. Version 0.5 -- March 21, 2005 -- Boris Semenov, NAIF Updated MIRO_MM frame definition based on the change of the alignment angle ``Offset from Z s/c: y'' from -0.0057 deg to -0.057 deg. Version 0.4 -- March 14, 2005 -- Boris Semenov, NAIF Preliminary Version. Pending review and approval by Rosetta and Rosetta Lander instrument teams and ESTEC Science operations team. Added frames and name/ID mapping for NAVCAMs. Re-arranged MIRO frames. Added MRO_VIRTIS-M FRAME and re-arranged VIRTIS-M frames. Filled in calibrated alignments based on the instrument boresight directions from [7] for ALICE, MIRO, OSIRIS, VIRTIS, and NAVCAMs. Version 0.3 -- September 24, 2004 -- Boris Semenov, NAIF Preliminary Version. Pending review and approval by Rosetta and Rosetta Lander instrument teams and ESTEC Science operations team. Added RPC frames. Version 0.2 -- September 2, 2004 -- Boris Semenov, NAIF Preliminary Version. Pending review and approval by Rosetta and Rosetta Lander instrument teams and ESTEC Science operations team. Added MIDAS, CONSERT, and GIADA frames. Version 0.1 -- August 13, 2004 -- Boris Semenov, NAIF Preliminary Version. Pending review and approval by Rosetta and Rosetta Lander instrument teams and ESTEC Science operations team. Added comet and asteroid frame and ID/name mapping definitions. Version 0.0 -- August 3, 2004 -- Boris Semenov, NAIF Preliminary Version. Pending review and approval by Rosetta and Rosetta Lander instrument teams and ESTEC Science operations team. References ======================================================================== 1. ``Frames Required Reading'' 2. ``Kernel Pool Required Reading'' 3. ``C-Kernel Required Reading'' 4. Rosetta Instrument EID/Part B Documents; latest versions as of 08/03/04 5. ``Coordinate Systems for Rosetta'', RO-DSS-TN-1081, 6d, 2004/09/17 6. ``Rosetta Experiment Booms'', RO-SEN-TN-3501, 2000/02/16 7. ``Payload Boresight Alignment Details'', RO-EST-TN-3305, 2005/02/25 8. E-mail "ROSETTA RPC-MAG FK / IK Comments" from Dr. Ingo Richter, 2005/04/19. Contact Information ======================================================================== Boris V. Semenov, NAIF/JPL, (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. The SPICELIB routine FURNSH and CSPICE function furnsh_c load a kernel file into the kernel pool as shown below. CALL FURNSH ( 'frame_kernel_name' ) furnsh_c ( "frame_kernel_name" ); This file was created and may be updated with a text editor or word processor. Rosetta Mission NAIF ID Codes -- Summary Section ======================================================================== The following names and NAIF ID codes are assigned to the Rosetta spacecraft, its structures and science instruments (the keywords implementing these definitions are located in the section "Rosetta Mission NAIF ID Codes -- Definition Section" at the end of this file): Rosetta Targets: CHURYUMOV-GERASIMENKO 1000012 (synonyms: 67P/C-G, 67P/CHURYUMOV-GERASIMENKO) STEINS 2002867 (synonyms: 2867 STEINS) LUTETIA 2000021 (synonyms: 21 LUTETIA) Rosetta Spacecraft and Spacecraft Structures names/IDs: ROS -226 (synonyms: ROSETTA, ROSETTA ORBITER) ROS_SPACECRAFT -226000 (synonym: ROS_SC) ROS_SA+Y -226010 ROS_SA+Y_GIMBAL -226011 ROS_SA-Y -226020 ROS_SA-Y_GIMBAL -226021 ROS_MGA-S -226030 ROS_MGA-X -226040 ROS_LGA-1 -226050 ROS_LGA-2 -226060 ROS_HGA -226070 ROS_HGA_GIMBAL -226071 OSIRIS names/IDs: ROS_OSIRIS -226110 ROS_OSIRIS_NAC -226111 ROS_OSIRIS_NAC_URF -226116 ROS_OSIRIS_WAC -226112 ROS_OSIRIS_WAC_URF -226117 ALICE names/IDs: ROS_ALICE -226120 ROS_ALICE_CENTER -226121 ROS_ALICE_OUTER1 -226122 ROS_ALICE_OUTER2 -226123 ROS_ALICE_PINHOLE -226124 ROS_ALICE_URF -226125 VIRTIS names/IDs: ROS_VIRTIS -226200 ROS_VIRTIS-M -226210 ROS_VIRTIS-M_VIS -226211 ROS_VIRTIS-M_VIS_SCAN -226212 ROS_VIRTIS-M_IR -226213 ROS_VIRTIS-M_IR_SCAN -226214 ROS_VIRTIS-H -226220 ROS_VIRTIS_URF -226230 MIRO names/IDs: ROS_MIRO -226130 ROS_MIRO_MM -226131 ROS_MIRO_SUBMM -226132 ROS_MIRO_URF -226135 ROSINA names/IDs: ROS_ROSINA -226300 ROS_ROSINA_DFMS -226310 ROS_ROSINA_DFMS_WA -226311 ROS_ROSINA_DFMS_NA -226312 ROS_ROSINA_DFMS_URF -226319 ROS_ROSINA_RTOF -226320 ROS_ROSINA_RTOF_URF -226329 ROS_ROSINA_COPS -226330 ROS_ROSINA_COPS_URF -226339 COSIMA names/IDs: ROS_COSIMA -226140 ROS_COSIMA_URF -226145 MIDAS names/IDs: ROS_MIDAS -226150 ROS_MIDAS_URF -226155 CONSERT names/IDs: ROS_CONSERT -226160 ROS_CONSERT_URF -226165 NAVCAM names/IDs: ROS_NAVCAM-A -226170 ROS_NAVCAM-A_URF -226175 ROS_NAVCAM-B -226180 ROS_NAVCAM-B_URF -226185 GIADA names/IDs: ROS_GIADA -226400 ROS_GIADA_GDS -226410 ROS_GIADA_IS -226420 ROS_GIADA_MBS1 -226431 ROS_GIADA_MBS2 -226432 ROS_GIADA_MBS3 -226433 ROS_GIADA_MBS4 -226434 ROS_GIADA_MBS5 -226435 ROS_GIADA_URF -226440 RPC names/IDs: ROS_RPC -226500 ROS_RPC_LAP1 -226511 ROS_RPC_LAP2 -226512 ROS_RPC_LAP1_URF -226515 ROS_RPC_LAP2_URF -226516 ROS_RPC_IES -226520 ROS_RPC_IES_ELECTRON -226521 ROS_RPC_IES_ION -226522 ROS_RPC_IES_URF -226525 ROS_RPC_IES_QUAD1 -226526 ROS_RPC_IES_QUAD2 -226527 ROS_RPC_IES_QUAD3 -226528 ROS_RPC_IES_QUAD4 -226529 ROS_RPC_ICA -226530 ROS_RPC_ICA_URF -226535 ROS_RPC_ICA_QUAD1 -226536 ROS_RPC_ICA_QUAD2 -226537 ROS_RPC_ICA_QUAD3 -226538 ROS_RPC_ICA_QUAD4 -226539 ROS_RPC_MAG_OB -226541 ROS_RPC_MAG_IB -226542 ROS_RPC_MAG_OB_URF -226545 ROS_RPC_MAG_IB_URF -226546 ROS_RPC_MIP -226550 ROS_RPC_MIP_R1 -226551 ROS_RPC_MIP_T1 -226552 ROS_RPC_MIP_T2 -226553 ROS_RPC_MIP_R2 -226554 ROS_RPC_MIP_URF -226555 ROS_RPC_BOOM1 -226560 ROS_RPC_BOOM2 -226570 Rosetta Lander Names/IDs: [TBD] Rosetta Frames ======================================================================== The following Rosetta frames are defined in this kernel file: Name Relative to Type NAIF ID ====================== =================== ============ ======= Rosetta Target frames: ---------------------------------------------------- 67P/C-G_FIXED J2000 PCK 1000012 STEINS_FIXED J2000 PCK 2002867 LUTETIA_FIXED J2000 PCK 2000021 Rosetta Spacecraft and Spacecraft Structures frames: ---------------------------------------------------- ROS_SPACECRAFT J2000 CK -226000 ROS_SA+Y ROS_SPACECRAFT CK -226010 ROS_SA-Y ROS_SPACECRAFT CK -226020 ROS_MGA-S ROS_SPACECRAFT FIXED -226030 ROS_MGA-X ROS_SPACECRAFT FIXED -226040 ROS_LGA-1 ROS_SPACECRAFT FIXED -226050 ROS_LGA-2 ROS_SPACECRAFT FIXED -226060 ROS_HGA ROS_SPACECRAFT CK -226070 OSIRIS frames: -------------- ROS_OSIRIS_NAC ROS_SPACECRAFT FIXED -226111 ROS_OSIRIS_NAC_URF ROS_SPACECRAFT FIXED -226116 ROS_OSIRIS_WAC ROS_SPACECRAFT FIXED -226112 ROS_OSIRIS_WAC_URF ROS_SPACECRAFT FIXED -226117 ALICE frames: -------------- ROS_ALICE ROS_SPACECRAFT FIXED -226120 ROS_ALICE_URF ROS_SPACECRAFT FIXED -226125 VIRTIS frames: -------------- ROS_VIRTIS-M ROS_SPACECRAFT FIXED -226210 ROS_VIRTIS-M_VIS ROS_VIRTIS-M FIXED -226211 ROS_VIRTIS-M_VIS_SCAN ROS_VIRTIS-M_VIS CK -226212 ROS_VIRTIS-M_IR ROS_VIRTIS-M FIXED -226213 ROS_VIRTIS-M_IR_SCAN ROS_VIRTIS-M_IR CK -226214 ROS_VIRTIS-H ROS_SPACECRAFT FIXED -226220 ROS_VIRTIS_URF ROS_SPACECRAFT FIXED -226230 MIRO frames: -------------- ROS_MIRO ROS_SPACECRAFT FIXED -226130 ROS_MIRO_MM ROS_MIRO FIXED -226131 ROS_MIRO_SUBMM ROS_MIRO FIXED -226132 ROS_MIRO_URF ROS_SPACECRAFT FIXED -226135 ROSINA frames: -------------- ROS_ROSINA_DFMS ROS_SPACECRAFT FIXED -226310 ROS_ROSINA_DFMS_URF ROS_SPACECRAFT FIXED -226319 ROS_ROSINA_RTOF ROS_SPACECRAFT FIXED -226320 ROS_ROSINA_RTOF_URF ROS_SPACECRAFT FIXED -226329 ROS_ROSINA_COPS ROS_SPACECRAFT FIXED -226330 ROS_ROSINA_COPS_URF ROS_SPACECRAFT FIXED -226339 COSIMA frames: -------------- ROS_COSIMA ROS_SPACECRAFT FIXED -226140 ROS_COSIMA_URF ROS_SPACECRAFT FIXED -226145 MIDAS frames: ------------- ROS_MIDAS ROS_SPACECRAFT FIXED -226150 ROS_MIDAS_URF ROS_SPACECRAFT FIXED -226155 CONSERT frames: --------------- ROS_CONSERT ROS_SPACECRAFT FIXED -226160 ROS_CONSERT_URF ROS_SPACECRAFT FIXED -226165 NAVCAM frames: -------------- ROS_NAVCAM-A ROS_SPACECRAFT FIXED -226170 ROS_NAVCAM-A_URF ROS_SPACECRAFT FIXED -226175 ROS_NAVCAM-B ROS_SPACECRAFT FIXED -226180 ROS_NAVCAM-B_URF ROS_SPACECRAFT FIXED -226185 GIADA frames: ------------- ROS_GIADA_GDS ROS_SPACECRAFT FIXED -226410 ROS_GIADA_IS ROS_SPACECRAFT FIXED -226420 ROS_GIADA_MBS1 ROS_SPACECRAFT FIXED -226431 ROS_GIADA_MBS2 ROS_SPACECRAFT FIXED -226432 ROS_GIADA_MBS3 ROS_SPACECRAFT FIXED -226433 ROS_GIADA_MBS4 ROS_SPACECRAFT FIXED -226434 ROS_GIADA_MBS5 ROS_SPACECRAFT FIXED -226435 ROS_GIADA_URF ROS_SPACECRAFT FIXED -226440 RPC frames: ----------- ROS_RPC_IES ROS_SPACECRAFT FIXED -226520 ROS_RPC_IES_URF ROS_SPACECRAFT FIXED -226525 ROS_RPC_ICA ROS_SPACECRAFT FIXED -226530 ROS_RPC_ICA_URF ROS_SPACECRAFT FIXED -226535 ROS_RPC_BOOM1 ROS_SPACECRAFT FIXED -226560 ROS_RPC_MIP ROS_RPC_BOOM1 FIXED -226550 ROS_RPC_LAP1 ROS_RPC_BOOM1 FIXED -226511 ROS_RPC_BOOM2 ROS_SPACECRAFT FIXED -226570 ROS_RPC_MAG_OB ROS_RPC_BOOM2 FIXED -226541 ROS_RPC_MAG_IB ROS_RPC_BOOM2 FIXED -226542 ROS_RPC_LAP2 ROS_RPC_BOOM2 FIXED -226512 Rosetta Lander Frames: ---------------------- [TBD] Rosetta Target, Spacecraft, and Spacecraft Structures Frame Tree ======================================================================== The diagram below shows the frame hierarchy for the Rosetta spacecraft and its structure frame (not including science instrument frames.) "J2000" INERTIAL +-----------------------------------------------------+ | | | | | |<-pck pck->| | |<-pck pck->| | | | | | V V | V V "67P/C-G_FIXED" "STEINS_FIXED" | "LUTETIA_FIXED" "IAU_EARTH" COMET BODY-FIXED ASTEROID BFXD | ASTEROID BFXD EARTH BODY-FIXED ---------------- -------------- | -------------- ---------------- | | |<-fixed | | | V | "ROSLND_LOCAL_LEVEL" | -------------------- | | | |<-fixed | | | V | "ROSLND_LANDER" | ---------------- | . | . | V | Individual lander instrument | frame trees are provided | in the other sections | of this file | | | | "ROS_HGA" | --------- | ^ |<-ck | | |<-ck | | V | "ROS_SPACECRAFT" +-----------------------------------------------------+ | | . | | | | |<-ck |<-ck . fixed->| | | |<-fixed | | . | | | | V V . V | | V "ROS_SA+Y" "ROS_SA-Y" . "ROS_LGA-1" | | "ROS_LGA-2" ---------- ---------- . ----------- | | ----------- . | | . fixed->| |<-fixed . | | . V V . "ROS_MGA-S" "ROS_MGA-X" . ----------- ----------- . . V Individual instrument frame trees are provided in the other sections of this file Rosetta Target Frames ======================================================================== This section of the file contains the body-fixed frame definitions for the Rosetta mission targets -- comet 67P/Churyumov-Gerasimenko and asteroids 2867 Steins and 21 Lutetia. A body-fixed frame is defined for each of them using standard body-fixed, PCK-based frame formation rules: - +Z axis is toward the North pole; - +X axis is toward the prime meridian; - +Y axis completes the right hand frame; - the origin of this frame is at the center of the body. The orientation of these frame is computed by evaluating corresponding rotation constants provided in the PCK file(s). \begindata FRAME_67P/C-G_FIXED = 1000012 FRAME_1000012_NAME = '67P/C-G_FIXED' FRAME_1000012_CLASS = 2 FRAME_1000012_CLASS_ID = 1000012 FRAME_1000012_CENTER = 1000012 OBJECT_1000012_FRAME = '67P/C-G_FIXED' FRAME_STEINS_FIXED = 2002867 FRAME_2002867_NAME = 'STEINS_FIXED' FRAME_2002867_CLASS = 2 FRAME_2002867_CLASS_ID = 2002867 FRAME_2002867_CENTER = 2002867 OBJECT_2002867_FRAME = 'STEINS_FIXED' FRAME_LUTETIA_FIXED = 2000021 FRAME_2000021_NAME = 'LUTETIA_FIXED' FRAME_2000021_CLASS = 2 FRAME_2000021_CLASS_ID = 2000021 FRAME_2000021_CENTER = 2000021 OBJECT_2000021_FRAME = 'LUTETIA_FIXED' \begintext Rosetta Spacecraft and Spacecraft Structures Frames ======================================================================== This section of the file contains the definitions of the spacecraft and spacecraft structures frames. Rosetta Spacecraft Frame -------------------------------------- According to [5] the Rosetta spacecraft frame is defined as follows: - +Z axis is perpendicular to the launch vehicle interface plane and points toward the payload side; - +X axis is perpendicular to the HGA mounting plane and points toward HGA; - +Y axis completes the frame is right-handed. - the origin of this frame is the launch vehicle interface point. These diagrams illustrate the ROS_SPACECRAFT frame: +X s/c side (HGA side) view: ---------------------------- ^ | toward comet | Science Deck ._____________. .__ _______________. | | .______________ ___. | \ \ \ | | / \ \ | | / / \ | +Zsc | / / / | | \ \ `. | ^ | .' \ \ | | / / | o| | |o | / / | | \ \ .' | | | `. \ \ | | / / / | | | \ / / | .__\ \_______________/ | +Xsc| | \_______________\ \__. -Y Solar Array .______o-------> +Ysc +Y Solar Array ._____. .' `. / \ . `. .' . +Xsc is out of | `o' | the page . | . \ | / `. .' HGA ` --- ' +Z s/c side (science deck side) view: ------------------------------------- _____ / \ Lander | | ._____________. | | | | | +Zsc | +Ysc o==/ /==================o | o------->o==================/ /==o -Y Solar Array | | | +Y Solar Array | | | .______|______. `. | .' .--V +Xsc HGA .' `. /___________\ `.|.' +Zsc is out of the page Since the orientation of the ROS_SPACECRAFT frame is computed on-board, sent down in telemetry, and stored in the s/c CK files, it is defined as a CK-based frame. \begindata FRAME_ROS_SPACECRAFT = -226000 FRAME_-226000_NAME = 'ROS_SPACECRAFT' FRAME_-226000_CLASS = 3 FRAME_-226000_CLASS_ID = -226000 FRAME_-226000_CENTER = -226 CK_-226000_SCLK = -226 CK_-226000_SPK = -226 \begintext Rosetta Solar Array Frames -------------------------------------- Since the Rosetta solar arrays can be articulated (each having one degree of freedom), the solar Array frames, ROS_SA+Y and ROS_SA-Y, are defined as CK frames with their orientation given relative to the ROS_SPACECRAFT frame. Both array frames are defined as follows (from [5]): - +Y axis is parallel to the longest side of the array, positively oriented from the yoke to the end of the wing; - +Z axis is normal to the solar array plane, the solar cells facing -Z; - +X axis is defined such that (X,Y,Z) is right handed; - 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 solar array frames. This diagram illustrates the ROS_SA+Y and ROS_SA-Y frames: +X s/c side (HGA side) view: ---------------------------- ^ | toward comet | Science Deck ._____________.^+Xsa+y .__ _______________. | || .______________ ___. | \ \ \ | || / \ \ | | / / \ | +Zsc || / / / | | \ \ `. | ^ ||.' \ \ | | / / +Ysa-y <-------x| | |x-------> +Ysa+y / / | | \ \ .'|| | | `. \ \ | | / / / || | | \ / / | .__\ \_______________/ || +Xsc| | \_______________\ \__. -Y Solar Array |.______o-------> +Ysc +Y Solar Array v .__o__. +Xsa-y .' `. / \ . `. .' . +Zsa+y and +Zsa-y | `o' | are into the page . | . \ | / Active solar cell is `. .' facing the viewer HGA ` --- ' These sets of keywords define the solar array frames as CK frames: \begindata FRAME_ROS_SA+Y = -226010 FRAME_-226010_NAME = 'ROS_SA+Y' FRAME_-226010_CLASS = 3 FRAME_-226010_CLASS_ID = -226010 FRAME_-226010_CENTER = -226 CK_-226010_SCLK = -226 CK_-226010_SPK = -226 FRAME_ROS_SA-Y = -226020 FRAME_-226020_NAME = 'ROS_SA-Y' FRAME_-226020_CLASS = 3 FRAME_-226020_CLASS_ID = -226020 FRAME_-226020_CENTER = -226 CK_-226020_SCLK = -226 CK_-226020_SPK = -226 \begintext Rosetta High Gain Antenna Frame -------------------------------------- The Rosetta High Gain Antenna is attached to the +X side of the s/c bus by a gimbal providing two degrees of freedom and it articulates during flight to track Earth. Therefore, the Rosetta HGA frame, ROS_HGA, is defined as a CK-based frame with its orientation given relative to the ROS_SPACECRAFT frame. The ROS_HGA frame is defined as follows: - +Z axis is in the antenna boresight direction; - +X axis points from the gimbal toward the antenna dish symmetry axis; - +Y axis completes the right hand frame; - the origin of the frame is located at the geometric center of the HGA dish outer rim circle. The rotation from the spacecraft frame to the HGA frame to be stored in CK files can be constructed using gimbal angles from telemetry by first rotating by elevation angle about +Y axis, then rotating by azimuth about +Z axis, and then rotating by +90 degrees about +Y axis to finally align +Z axis with the HGA boresight. Although [5] defines two separate frames need to model gimbal rotations, this version of the FK does not implement these definitions. This diagram illustrates the ROS_HGA frame: +X s/c side (HGA side) view: ---------------------------- ^ | toward comet | Science Deck ._____________. .__ _______________. | | .______________ ___. | \ \ \ | | / \ \ | | / / \ | +Zsc | / / / | | \ \ `. | ^ | .' \ \ | | / / | o| | |o | / / | | \ \ .' | | | `. \ \ | | / / / | | | \ / / | .__\ \_______________/ | +Xsc| | \_______________\ \__. -Y Solar Array .______o-------> +Ysc +Y Solar Array .__o__. .' `. / \ . `. .' . +Zhga and HGA | `o-------> +Yhga boresight are . | . out of the page \ | / `. | .' HGA ` -|- ' V +Xhga This set of keywords defines the HGA frame as a CK frame: \begindata FRAME_ROS_HGA = -226070 FRAME_-226070_NAME = 'ROS_HGA' FRAME_-226070_CLASS = 3 FRAME_-226070_CLASS_ID = -226070 FRAME_-226070_CENTER = -226 CK_-226070_SCLK = -226 CK_-226070_SPK = -226 \begintext Other Rosetta Antenna Frames -------------------------------------- The frames for the other four Rosetta antennas -- MGA-S, MGA-X, LGA-1 and LGA-2 -- are defined as follows: - +Z axis is in the antenna boresight direction; - +Y axis is nominally parallel to the s/c +Y axis; - +X axis completes the right hand frame; - the origin of the frame is located at the geometric center of the antenna outer side. Both MGA antennas are mounted on the +X side of the s/c bus and nominally point in the s/c +X axis direction. One rotation by +90 degrees about +Y is needed to align the s/c frame with their frames. The LGA-1 is mounted on the +Z side of the s/c bus and nominally points 30 degrees off the s/c +Z axis toward the s/c +X axis. One rotation by +30 degrees about +Y is needed to align the s/c frame with the LGA-1 frame. The LGA-2 is mounted on the -X side of the s/c bus and nominally points 30 degrees off the s/c -Z axis toward the s/c -X axis. One rotation by +210 degrees about +Y is needed to align the s/c frame with the LGA-2 frame. This diagram illustrates the ROS_MGA-S and ROS_MGA-X frames: +Y s/c side view: ----------------- ^ | toward comet | Science Deck +Zmgax ._____________. <-------o| | <-------o| | +Zmgas || +Zsc |----. Lander || ^ | | | +Xmgax || | | | | .V| | | | | +Xmgas V| | |----' .' | |+Ysc | o==== <-------o _____. .// +Xsc |`. | \ | . o'| | \| ' | / +Y solar array is not shown |.' ' HGA +Ysc, +Ymgas, and +Ymgax are out of the page This diagram illustrates the ROS_LGA-1 and ROS_LGA-2 frames: +Y s/c side view: ----------------- +Zlga1 ^ ^ \ | toward comet \ | \ o Science Deck .'_\___________. .' | | .' | | +Xlga1 v | +Zsc |----. Lander | ^ | | | | | | | | .'| | | | | ^ .' | | |----'.' +Xlga2 .' | |+Ysc |\ .' o==== <-------o _____._o' .// +Xsc LGA2 \ |`. \ | \ \ | . V +Zlga2 o'| | \| ' | / +Y solar array is not shown |.' ' HGA +Ysc, +Ylga1, and +Ylga2 are out of the page These sets of keywords define MGA and LGA frames as fixed offset frames: \begindata FRAME_ROS_MGA-S = -226030 FRAME_-226030_NAME = 'ROS_MGA-S' FRAME_-226030_CLASS = 4 FRAME_-226030_CLASS_ID = -226030 FRAME_-226030_CENTER = -226 TKFRAME_-226030_RELATIVE = 'ROS_SPACECRAFT' TKFRAME_-226030_SPEC = 'ANGLES' TKFRAME_-226030_UNITS = 'DEGREES' TKFRAME_-226030_ANGLES = ( 0.000, -90.000, 0.000 ) TKFRAME_-226030_AXES = ( 1, 2, 3 ) FRAME_ROS_MGA-X = -226040 FRAME_-226040_NAME = 'ROS_MGA-X' FRAME_-226040_CLASS = 4 FRAME_-226040_CLASS_ID = -226040 FRAME_-226040_CENTER = -226 TKFRAME_-226040_RELATIVE = 'ROS_SPACECRAFT' TKFRAME_-226040_SPEC = 'ANGLES' TKFRAME_-226040_UNITS = 'DEGREES' TKFRAME_-226040_ANGLES = ( 0.000, -90.000, 0.000 ) TKFRAME_-226040_AXES = ( 1, 2, 3 ) FRAME_ROS_LGA-1 = -226050 FRAME_-226050_NAME = 'ROS_LGA-1' FRAME_-226050_CLASS = 4 FRAME_-226050_CLASS_ID = -226050 FRAME_-226050_CENTER = -226 TKFRAME_-226050_RELATIVE = 'ROS_SPACECRAFT' TKFRAME_-226050_SPEC = 'ANGLES' TKFRAME_-226050_UNITS = 'DEGREES' TKFRAME_-226050_ANGLES = ( 0.000, -30.000, 0.000 ) TKFRAME_-226050_AXES = ( 1, 2, 3 ) FRAME_ROS_LGA-2 = -226060 FRAME_-226060_NAME = 'ROS_LGA-2' FRAME_-226060_CLASS = 4 FRAME_-226060_CLASS_ID = -226060 FRAME_-226060_CENTER = -226 TKFRAME_-226060_RELATIVE = 'ROS_SPACECRAFT' TKFRAME_-226060_SPEC = 'ANGLES' TKFRAME_-226060_UNITS = 'DEGREES' TKFRAME_-226060_ANGLES = ( 0.000, -210.000, 0.000 ) TKFRAME_-226060_AXES = ( 1, 2, 3 ) \begintext OSIRIS Frames ======================================================================== This section of the file contains the definitions of the OSIRIS frames. OSIRIS Frame Tree -------------------------------------- The diagram below shows the OSIRIS frame hierarchy. "J2000" INERTIAL +-----------------------------------------------------+ | | | | | |<-pck pck->| | |<-pck pck->| | | | | | V V | V V "67P/C-G_FIXED" "STEINS_FIXED" | "LUTETIA_FIXED" "IAU_EARTH" COMET BODY-FIXED ASTEROID BFXD | ASTEROID BFXD EARTH BODY-FIXED ---------------- -------------- | -------------- ---------------- | |<-ck | V "ROS_SPACECRAFT" +-----------------------------------------------------+ | | | | | |<-fixed |<-fixed | | | | | | V V | | "ROS_OSIRIS_NAC_URF" "ROS_OSIRIS_WAC_URF" | | -------------------- -------------------- | | | |<-fixed |<-fixed | | V V "ROS_OSIRIS_NAC" "ROS_OSIRIS_WAC" ---------------- ---------------- OSIRIS Camera Frames -------------------------------------- The OSIRIS camera frames -- ROS_OSIRIS_NAC and ROS_OSIRIS_WAC -- are defined as follows: - +Z axis points along the camera boresight; - +X axis is parallel to the apparent image columns; it is nominally co-aligned with the s/c +X axis; - +Y axis completes the right hand frame; it is nominally parallel the to the apparent image lines and co-aligned with the s/c +Y axis; - the origin of the frame is located at the camera focal point. This diagram illustrates the OSIRIS camera frames: +Z s/c side (science deck side) view: ------------------------------------- Lander _____ / \ | | .___________ +Ynac +Ywac | NAC o----o-->----> | | |WAC | | | | +Ysc o==/ /==================o | |o---|--->o==================/ /==o -Y Solar Array | || | | +Y Solar Array +Xnac V| V +Xwac .______|______. `. | .' .--V +Xsc HGA .' `. /___________\ `.|.' +Zsc, +Znac, and +Zwac are out of the page Nominally, the OSIRIS camera frames are co-aligned with the s/c frame. The actual OSIRIS NAC boresight direction is specified in [7] as an offset from the s/c +Z axis by the following two angles: Offset from Z s/c: x (deg) = -0.027 Offset from Z s/c: y (deg) = 0.013 while the actual OSIRIS WAC boresight direction is specified by: Offset from Z s/c: x (deg) = 0.351 Offset from Z s/c: y (deg) = 0.0871 The first of the two angles -- ``Offset from Z s/c: x'' -- is the angle between the projection of the boresight onto the s/c XZ plane and the s/c +Z axis, measured positive from the s/c +Z toward the s/c +X axis. The second of the two angles -- ``Offset from Z s/c: y'' -- is the angle between the projection of the boresight onto the s/c YZ plane and the s/c +Z axis, measured positive from the s/c +Z toward the s/c +Y axis. The following set of rotations can be applied to the s/c axes to align the OSIRIS NAC frame's +Z axis with the boresight defined by the angles above (rotation about +Z is not defined in [7] and assumed to be zero in this set of rotations): Msc->nac = [0.0]z * [-0.027]y * [-0.013]x These rotations can be applied to the s/c axes to align the OSIRIS WAC frame's +Z axis with the boresight defined by the angles above (rotation about +Z is not defined in [7] and assumed to be zero in this set of rotations): Msc->wac = [0.0]z * [0.35099959]y * [-0.0871]x The OSIRIS NAC and WAC frame definitions below incorporate these transformations. \begindata FRAME_ROS_OSIRIS_NAC = -226111 FRAME_-226111_NAME = 'ROS_OSIRIS_NAC' FRAME_-226111_CLASS = 4 FRAME_-226111_CLASS_ID = -226111 FRAME_-226111_CENTER = -226 TKFRAME_-226111_RELATIVE = 'ROS_SPACECRAFT' TKFRAME_-226111_SPEC = 'ANGLES' TKFRAME_-226111_UNITS = 'DEGREES' TKFRAME_-226111_ANGLES = ( 0.013, 0.027, 0.0 ) TKFRAME_-226111_AXES = ( 1, 2, 3 ) FRAME_ROS_OSIRIS_WAC = -226112 FRAME_-226112_NAME = 'ROS_OSIRIS_WAC' FRAME_-226112_CLASS = 4 FRAME_-226112_CLASS_ID = -226112 FRAME_-226112_CENTER = -226 TKFRAME_-226112_RELATIVE = 'ROS_SPACECRAFT' TKFRAME_-226112_SPEC = 'ANGLES' TKFRAME_-226112_UNITS = 'DEGREES' TKFRAME_-226112_ANGLES = ( 0.0871, -0.35099959, 0.0 ) TKFRAME_-226112_AXES = ( 1, 2, 3 ) \begintext OSIRIS Unit Reference Frames -------------------------------------- This section implements the OSIRIS Unit Reference Frames (URF) frame definitions provided in [5]. \begindata FRAME_ROS_OSIRIS_NAC_URF = -226116 FRAME_-226116_NAME = 'ROS_OSIRIS_NAC_URF' FRAME_-226116_CLASS = 4 FRAME_-226116_CLASS_ID = -226116 FRAME_-226116_CENTER = -226 TKFRAME_-226116_RELATIVE = 'ROS_SPACECRAFT' TKFRAME_-226116_SPEC = 'ANGLES' TKFRAME_-226116_UNITS = 'DEGREES' TKFRAME_-226116_ANGLES = ( 0.0, 90.0, -6.96 ) TKFRAME_-226116_AXES = ( 1, 2, 3 ) FRAME_ROS_OSIRIS_WAC_URF = -226117 FRAME_-226117_NAME = 'ROS_OSIRIS_WAC_URF' FRAME_-226117_CLASS = 4 FRAME_-226117_CLASS_ID = -226117 FRAME_-226117_CENTER = -226 TKFRAME_-226117_RELATIVE = 'ROS_SPACECRAFT' TKFRAME_-226117_SPEC = 'ANGLES' TKFRAME_-226117_UNITS = 'DEGREES' TKFRAME_-226117_ANGLES = ( 0.0, 90.0, 7.0 ) TKFRAME_-226117_AXES = ( 1, 2, 3 ) \begintext ALICE Frames ======================================================================== This section of the file contains the definitions of the ALICE frames. ALICE Frame Tree -------------------------------------- The diagram below shows the ALICE frame hierarchy. "J2000" INERTIAL +-----------------------------------------------------+ | | | | | |<-pck pck->| | |<-pck pck->| | | | | | V V | V V "67P/C-G_FIXED" "STEINS_FIXED" | "LUTETIA_FIXED" "IAU_EARTH" COMET BODY-FIXED ASTEROID BFXD | ASTEROID BFXD EARTH BODY-FIXED ---------------- -------------- | -------------- ---------------- | |<-ck | V "ROS_SPACECRAFT" +----------------------------------------------------- | | | |<-fixed | | | V | "ROS_ALICE_URF" | --------------- | |<-fixed | V "ROS_ALICE" ----------- ALICE Frame -------------------------------------- The ALICE frame is defined as follows: - +Z axis points along the instrument boresight; - +X axis is parallel to the apparent spatial resolution direction (i.e. along the slit); it is nominally co-aligned with the s/c +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. This diagram illustrates the ALICE frame: +Z s/c side (science deck side) view: ------------------------------------- Lander _____ / \ | | ._____________. +Yalice | ALICE o------> | | | | | | +Ysc o==/ /==================o | o----|-->o==================/ /==o -Y Solar Array | | | | +Y Solar Array | | V+Xalice .______|______. `. | .' .--V +Xsc HGA .' `. /___________\ `.|.' +Zsc and +Zalice are out of the page Nominally, the ALICE frame is co-aligned with the s/c frame. The actual ALICE boresight direction is specified in [7] as an offset from the s/c +Z axis by the following two angles: Offset from Z s/c: x (deg) = 0.0 Offset from Z s/c: y (deg) = -0.098 The first of the two angles -- ``Offset from Z s/c: x'' -- is the angle between the projection of the boresight onto the s/c XZ plane and the s/c +Z axis, measured positive from the s/c +Z toward the s/c +X axis. The second of the two angles -- ``Offset from Z s/c: y'' -- is the angle between the projection of the boresight onto the s/c YZ plane and the s/c +Z axis, measured positive from the s/c +Z toward the s/c +Y axis. The following set of rotations can be applied to the s/c axes to align the instrument frame's +Z axis with the boresight defined by the angles above (rotation about +Z is not defined in [7] and assumed to be zero in this set of rotations): Msc->alice= [0.0]z * [0.0]y * [0.098]x The frame definition below incorporates this transformation. \begindata FRAME_ROS_ALICE = -226120 FRAME_-226120_NAME = 'ROS_ALICE' FRAME_-226120_CLASS = 4 FRAME_-226120_CLASS_ID = -226120 FRAME_-226120_CENTER = -226 TKFRAME_-226120_RELATIVE = 'ROS_SPACECRAFT' TKFRAME_-226120_SPEC = 'ANGLES' TKFRAME_-226120_UNITS = 'DEGREES' TKFRAME_-226120_ANGLES = ( -0.098, 0.0, 0.0 ) TKFRAME_-226120_AXES = ( 1, 2, 3 ) \begintext ALICE Unit Reference Frame -------------------------------------- This section implements the ALICE Unit Reference Frames (URF) frame definition provided in [5]. \begindata FRAME_ROS_ALICE_URF = -226125 FRAME_-226125_NAME = 'ROS_ALICE_URF' FRAME_-226125_CLASS = 4 FRAME_-226125_CLASS_ID = -226125 FRAME_-226125_CENTER = -226 TKFRAME_-226125_RELATIVE = 'ROS_SPACECRAFT' TKFRAME_-226125_SPEC = 'ANGLES' TKFRAME_-226125_UNITS = 'DEGREES' TKFRAME_-226125_ANGLES = ( 0.0, -90.0, -90.0 ) TKFRAME_-226125_AXES = ( 2, 3, 1 ) \begintext VIRTIS frames ======================================================================== This section of the file contains the definitions of the VIRTIS frames. VIRTIS Frame Tree -------------------------------------- The diagram below shows the VIRTIS frame hierarchy. "J2000" INERTIAL +-----------------------------------------------------+ | | | | | |<-pck pck->| | |<-pck pck->| | | | | | V V | V V "67P/C-G_FIXED" "STEINS_FIXED" | "LUTETIA_FIXED" "IAU_EARTH" COMET BODY-FIXED ASTEROID BFXD | ASTEROID BFXD EARTH BODY-FIXED ---------------- -------------- | -------------- ---------------- | |<-ck | V "ROS_SPACECRAFT" +-----------------------------------------------------+ | | | |<-fixed |<-fixed |<-fixed | | | V V V "ROS_VIRTIS-H" "ROS_VIRTIS-M" "ROS_VIRTIS_URF" -------------- +-----------------+ ---------------- | | |<-fixed |<-fixed | | V V "ROS_VIRTIS-M_VIS" "ROS_VIRTIS-M_IR" ------------------ ----------------- | | |<-ck |<-ck | | V V "ROS_VIRTIS-M_VIS_SCAN" "ROS_VIRTIS-M_IR_SCAN" ----------------------- ---------------------- VIRTIS Frames -------------------------------------- The VIRTIS-M main frame, ROS_VIRTIS-M, and non-scanning frames for both detectors, ROS_VIRTIS-M_VIS and ROS_VIRTIS-M_IR, are defined as follows: - +Z axis points along the boresight (with the scanning mirror in "0" position); - +Y axis is parallel to the apparent spatial resolution direction (i.e. along the slit); it is nominally co-aligned with the s/c +Y axis; - +X axis completes the right hand frame; it is nominally co-aligned with the s/c +X axis; - the origin of the frame is located at the instrument focal point. The VIRTIS-H frame, ROS_VIRTIS-H, is defined as follows: - +Z axis points along the boresight; - +X axis is parallel to the apparent spatial resolution direction (i.e. along the slit); it is nominally co-aligned with the s/c +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. This diagram illustrates the VIRTIS non-moving frames: +Z s/c side (science deck side) view: ------------------------------------- Lander _____ / \ | | +Ymir .____ +Yh __ +Ymvis VIRTIS | o-o---->-> +Ym | | | | | | | | +Ysc o==/ /==================o | | | o------->o==================/ /==o -Y Solar Array | | | | +Y Solar Array +Xh V v | | ._+Xm |______. +Xmvis | .' +Xmir-V +Xsc HGA .' `. /___________\ `.|.' +Zsc, +Zmvis, +Zmir, +Zm and +Zh are out of the page Nominally, all non-moving VIRTIS frames are co-aligned with the s/c frame. The VIRTIS-M scanning frames, ROS_VIRTIS-M_VIS_SCAN and ROS_VIRTIS-M_IR_SCAN, are defined the same way as the non-moving frames except that +Z axis is along the boresight with mirror in ANY position. These frame are CK-based frames that allow capturing the change in view direction resulting from the mirror motion. The actual VIRTIS-M boresight direction is specified in [7] as an offset from the s/c +Z axis by the following two angles: Offset from Z s/c: x (deg) = -0.075 Offset from Z s/c: y (deg) = -0.02167 while the actual VIRTIS-H boresight direction is specified by: Offset from Z s/c: x (deg) = -0.37 Offset from Z s/c: y (deg) = 0.065 The first of the two angles -- ``Offset from Z s/c: x'' -- is the angle between the projection of the boresight onto the s/c XZ plane and the s/c +Z axis, measured positive from the s/c +Z toward the s/c +X axis. The second of the two angles -- ``Offset from Z s/c: y'' -- is the angle between the projection of the boresight onto the s/c YZ plane and the s/c +Z axis, measured positive from the s/c +Z toward the s/c +Y axis. The following set of rotations can be applied to the s/c axes to align the VIRTIS-M main frame's +Z axis with the boresight defined by the angles above (rotation about +Z is not defined in [7] and assumed to be zero in this set of rotations): Msc->vm = [0.0]z * [-0.07499999]y * [0.02167]x These rotations can be applied to the s/c axes to align the VIRTIS-H frame's +Z axis with the boresight defined by the angles above (rotation about +Z is not defined in [7] and assumed to be zero in this set of rotations): Msc->vh = [0.0]z * [-0.36999976]y * [-0.065]x The VIRTIS-M main frame and VIRTIS-H frame definitions below incorporate these transformations. \begindata FRAME_ROS_VIRTIS-M = -226210 FRAME_-226210_NAME = 'ROS_VIRTIS-M' FRAME_-226210_CLASS = 4 FRAME_-226210_CLASS_ID = -226210 FRAME_-226210_CENTER = -226 TKFRAME_-226210_RELATIVE = 'ROS_SPACECRAFT' TKFRAME_-226210_SPEC = 'ANGLES' TKFRAME_-226210_UNITS = 'DEGREES' TKFRAME_-226210_ANGLES = ( -0.02167, 0.07499999, 0.0 ) TKFRAME_-226210_AXES = ( 1, 2, 3 ) FRAME_ROS_VIRTIS-M_VIS = -226211 FRAME_-226211_NAME = 'ROS_VIRTIS-M_VIS' FRAME_-226211_CLASS = 4 FRAME_-226211_CLASS_ID = -226211 FRAME_-226211_CENTER = -226 TKFRAME_-226211_RELATIVE = 'ROS_VIRTIS-M' TKFRAME_-226211_SPEC = 'ANGLES' TKFRAME_-226211_UNITS = 'DEGREES' TKFRAME_-226211_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-226211_AXES = ( 1, 2, 3 ) FRAME_ROS_VIRTIS-M_VIS_SCAN = -226212 FRAME_-226212_NAME = 'ROS_VIRTIS-M_VIS_SCAN' FRAME_-226212_CLASS = 3 FRAME_-226212_CLASS_ID = -226212 FRAME_-226212_CENTER = -226 CK_-226212_SCLK = -226 CK_-226212_SPK = -226 FRAME_ROS_VIRTIS-M_IR = -226213 FRAME_-226213_NAME = 'ROS_VIRTIS-M_IR' FRAME_-226213_CLASS = 4 FRAME_-226213_CLASS_ID = -226213 FRAME_-226213_CENTER = -226 TKFRAME_-226213_RELATIVE = 'ROS_VIRTIS-M' TKFRAME_-226213_SPEC = 'ANGLES' TKFRAME_-226213_UNITS = 'DEGREES' TKFRAME_-226213_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-226213_AXES = ( 1, 2, 3 ) FRAME_ROS_VIRTIS-M_IR_SCAN = -226214 FRAME_-226214_NAME = 'ROS_VIRTIS-M_IR_SCAN' FRAME_-226214_CLASS = 3 FRAME_-226214_CLASS_ID = -226214 FRAME_-226214_CENTER = -226 CK_-226214_SCLK = -226 CK_-226214_SPK = -226 FRAME_ROS_VIRTIS-H = -226220 FRAME_-226220_NAME = 'ROS_VIRTIS-H' FRAME_-226220_CLASS = 4 FRAME_-226220_CLASS_ID = -226220 FRAME_-226220_CENTER = -226 TKFRAME_-226220_RELATIVE = 'ROS_SPACECRAFT' TKFRAME_-226220_SPEC = 'ANGLES' TKFRAME_-226220_UNITS = 'DEGREES' TKFRAME_-226220_ANGLES = ( 0.065, 0.36999976, 0.0 ) TKFRAME_-226220_AXES = ( 1, 2, 3 ) \begintext VIRTIS Unit Reference Frame -------------------------------------- This section implements the VIRTIS Unit Reference Frames (URF) frame definition provided in [5]. \begindata FRAME_ROS_VIRTIS_URF = -226230 FRAME_-226230_NAME = 'ROS_VIRTIS_URF' FRAME_-226230_CLASS = 4 FRAME_-226230_CLASS_ID = -226230 FRAME_-226230_CENTER = -226 TKFRAME_-226230_RELATIVE = 'ROS_SPACECRAFT' TKFRAME_-226230_SPEC = 'ANGLES' TKFRAME_-226230_UNITS = 'DEGREES' TKFRAME_-226230_ANGLES = ( 0.0, 0.0, 90.0 ) TKFRAME_-226230_AXES = ( 1, 3, 2 ) \begintext MIRO frames ======================================================================== This section of the file contains the definitions of the MIRO frames. MIRO Frame Tree -------------------------------------- The diagram below shows the MIRO frame hierarchy. "J2000" INERTIAL +-----------------------------------------------------+ | | | | | |<-pck pck->| | |<-pck pck->| | | | | | V V | V V "67P/C-G_FIXED" "STEINS_FIXED" | "LUTETIA_FIXED" "IAU_EARTH" COMET BODY-FIXED ASTEROID BFXD | ASTEROID BFXD EARTH BODY-FIXED ---------------- -------------- | -------------- ---------------- | |<-ck | V "ROS_SPACECRAFT" +-----------------------------------------------------+ | | |<-fixed |<-fixed | | | | "ROS_MIRO" "ROS_MIRO_URF" ----------------------+ -------------- | | |<-fixed |<-fixed | | V V "ROS_MIRO_MM" "ROS_MIRO_SUBMM" ------------- ---------------- MIRO Frame -------------------------------------- The MIRO structure frame, ROS_MIRO, and MIRO millimeter and sub-millimeter channels frames, ROS_MIRO_MM and ROS_MIRO_SUBMM, are defined as follows: - +Z axis points along the boresight; - +Y axis is nominally co-aligned with the s/c +Y axis; - +X axis completes the right hand frame; it is nominally co-aligned with the s/c +X axis; - the origin of the frame is located at the telescope focal point. This diagram illustrates the MIRO frames: +Z s/c side (science deck side) view: ------------------------------------- Lander _____ / \ | | ._____________. | | | MIRO | +Ymiro, +Ymm, +Ysubmm | o------> o==/ /==================o | o----|-->o==================/ /==o -Y Solar Array | | | | +Ysc +Y Solar Array | | | | .______|____|_. `. | .V +Xmiro, +Xmm, +Xsubmm .--V +Xsc HGA .' `. /___________\ `.|.' +Zsc, +Zmiro, +Zmm and +Zsubmm are out of the page Nominally, the MIRO frame is co-aligned with the s/c frame. The actual MIRO sub-millimeter channel boresight direction is specified in [7] as an offset from the s/c +Z axis by the following two angles: Offset from Z s/c: x (deg) = -0.082 Offset from Z s/c: y (deg) = -0.0067 while the actual MIRO millimeter channel boresight direction is specified by: Offset from Z s/c: x (deg) = -0.018 Offset from Z s/c: y (deg) = -0.057 The first of the two angles -- ``Offset from Z s/c: x'' -- is the angle between the projection of the boresight onto the s/c XZ plane and the s/c +Z axis, measured positive from the s/c +Z toward the s/c +X axis. The second of the two angles -- ``Offset from Z s/c: y'' -- is the angle between the projection of the boresight onto the s/c YZ plane and the s/c +Z axis, measured positive from the s/c +Z toward the s/c +Y axis. The following set of rotations can be applied to the s/c axes to align the MIRO sub-millimeter channel frame's +Z axis with the boresight defined by the angles above (rotation about +Z is not defined in [7] and assumed to be zero in this set of rotations): Msc->miro_submm = [0.0]z * [-0.082]y * [0.0067]x These rotations can be applied to the s/c axes to align the MIRO millimeter channel frame's +Z axis with the boresight defined by the angles above (rotation about +Z is not defined in [7] and assumed to be zero in this set of rotations): Msc->miro_mm = [0.0]z * [-0.01799999]y * [0.057]x The MIRO millimeter and sub-millimeter channel frame definitions below incorporate these transformations. \begindata FRAME_ROS_MIRO = -226130 FRAME_-226130_NAME = 'ROS_MIRO' FRAME_-226130_CLASS = 4 FRAME_-226130_CLASS_ID = -226130 FRAME_-226130_CENTER = -226 TKFRAME_-226130_RELATIVE = 'ROS_SPACECRAFT' TKFRAME_-226130_SPEC = 'ANGLES' TKFRAME_-226130_UNITS = 'DEGREES' TKFRAME_-226130_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-226130_AXES = ( 1, 2, 3 ) FRAME_ROS_MIRO_MM = -226131 FRAME_-226131_NAME = 'ROS_MIRO_MM' FRAME_-226131_CLASS = 4 FRAME_-226131_CLASS_ID = -226131 FRAME_-226131_CENTER = -226 TKFRAME_-226131_RELATIVE = 'ROS_MIRO' TKFRAME_-226131_SPEC = 'ANGLES' TKFRAME_-226131_UNITS = 'DEGREES' TKFRAME_-226131_ANGLES = ( -0.057, 0.01799999, 0.0 ) TKFRAME_-226131_AXES = ( 1, 2, 3 ) FRAME_ROS_MIRO_SUBMM = -226132 FRAME_-226132_NAME = 'ROS_MIRO_SUBMM' FRAME_-226132_CLASS = 4 FRAME_-226132_CLASS_ID = -226132 FRAME_-226132_CENTER = -226 TKFRAME_-226132_RELATIVE = 'ROS_MIRO' TKFRAME_-226132_SPEC = 'ANGLES' TKFRAME_-226132_UNITS = 'DEGREES' TKFRAME_-226132_ANGLES = ( -0.0067, 0.082, 0.0 ) TKFRAME_-226132_AXES = ( 1, 2, 3 ) \begintext MIRO Unit Reference Frame -------------------------------------- This section implements the MIRO Unit Reference Frames (URF) frame definition provided in [5]. \begindata FRAME_ROS_MIRO_URF = -226135 FRAME_-226135_NAME = 'ROS_MIRO_URF' FRAME_-226135_CLASS = 4 FRAME_-226135_CLASS_ID = -226135 FRAME_-226135_CENTER = -226 TKFRAME_-226135_RELATIVE = 'ROS_SPACECRAFT' TKFRAME_-226135_SPEC = 'ANGLES' TKFRAME_-226135_UNITS = 'DEGREES' TKFRAME_-226135_ANGLES = ( 0.0, 0.0, 180.0 ) TKFRAME_-226135_AXES = ( 2, 1, 3 ) \begintext ROSINA frames ======================================================================== This section of the file contains the definitions of the ROSINA frames. ROSINA Frame Tree -------------------------------------- The diagram below shows the ROSINA frame hierarchy. "J2000" INERTIAL +-----------------------------------------------------+ | | | | | |<-pck pck->| | |<-pck pck->| | | | | | V V | V V "67P/C-G_FIXED" "STEINS_FIXED" | "LUTETIA_FIXED" "IAU_EARTH" COMET BODY-FIXED ASTEROID BFXD | ASTEROID BFXD EARTH BODY-FIXED ---------------- -------------- | -------------- ---------------- | |<-ck | V "ROS_SPACECRAFT" +-----------------------------------------------------+ | | | | | | |<-fixed |<-fixed |<-fixed |<-fixed |<-fixed |<-fixed | | | | | | | | | | | V | | | | | "ROS_ROSINA_COPS_URF" | | | | | --------------------- | | | | | | | | | V | | | | "ROS_ROSINA_COPS" | | | | ----------------- | | | | | | | V | | | "ROS_ROSINA_RTOF_URF" | | | --------------------- | | | | | V | | "ROS_ROSINA_RTOF" | | ----------------- | | | V | "ROS_ROSINA_DFMS_URF" | --------------------- | V "ROS_ROSINA_DFMS" ----------------- ROSINA Sensor Frames -------------------------------------- The ROSINA sensor frames -- ROS_ROSINA_DFMS, ROS_ROSINA_RTOF, and ROS_ROSINA_COPS -- are defined to be nominally co-aligned with the s/c frame. This diagram illustrates the ROSINA sensor frames: +Z s/c side (science deck side) view: ------------------------------------- Lander _____ / \ | | ._____________. COPS +Ycops |o-------> | || | +Ysc o==/ /==================o || o------->o==================/ /==o -Y Solar Array DFMS o-------> | +Y Solar Array || | +Ydfms +Xcops V ____|______. | . | .'o-------> | .--V--. |RTOF +Yrtof +Xdfms V.' +Xsc `.| /___________| `.|.' | +Zsc, +Zdfms, +Zrtof HGA V and +Zcops are out +Xrtof of the page Nominally, the ROSINA sensor frames are co-aligned with the s/c frame. \begindata FRAME_ROS_ROSINA_DFMS = -226310 FRAME_-226310_NAME = 'ROS_ROSINA_DFMS' FRAME_-226310_CLASS = 4 FRAME_-226310_CLASS_ID = -226310 FRAME_-226310_CENTER = -226 TKFRAME_-226310_RELATIVE = 'ROS_SPACECRAFT' TKFRAME_-226310_SPEC = 'ANGLES' TKFRAME_-226310_UNITS = 'DEGREES' TKFRAME_-226310_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-226310_AXES = ( 1, 2, 3 ) FRAME_ROS_ROSINA_RTOF = -226320 FRAME_-226320_NAME = 'ROS_ROSINA_RTOF' FRAME_-226320_CLASS = 4 FRAME_-226320_CLASS_ID = -226320 FRAME_-226320_CENTER = -226 TKFRAME_-226320_RELATIVE = 'ROS_SPACECRAFT' TKFRAME_-226320_SPEC = 'ANGLES' TKFRAME_-226320_UNITS = 'DEGREES' TKFRAME_-226320_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-226320_AXES = ( 1, 2, 3 ) FRAME_ROS_ROSINA_COPS = -226330 FRAME_-226330_NAME = 'ROS_ROSINA_COPS' FRAME_-226330_CLASS = 4 FRAME_-226330_CLASS_ID = -226330 FRAME_-226330_CENTER = -226 TKFRAME_-226330_RELATIVE = 'ROS_SPACECRAFT' TKFRAME_-226330_SPEC = 'ANGLES' TKFRAME_-226330_UNITS = 'DEGREES' TKFRAME_-226330_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-226330_AXES = ( 1, 2, 3 ) \begintext ROSINA Unit Reference Frames -------------------------------------- This section implements the ROSINA Unit Reference Frames (URF) frame definitions. While these were not specifically spelled out in [5], they are defined according to the rules outlined in the section 7.3 of that document. \begindata FRAME_ROS_ROSINA_DFMS_URF = -226319 FRAME_-226319_NAME = 'ROS_ROSINA_DFMS_URF' FRAME_-226319_CLASS = 4 FRAME_-226319_CLASS_ID = -226319 FRAME_-226319_CENTER = -226 TKFRAME_-226319_RELATIVE = 'ROS_SPACECRAFT' TKFRAME_-226319_SPEC = 'ANGLES' TKFRAME_-226319_UNITS = 'DEGREES' TKFRAME_-226319_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-226319_AXES = ( 1, 2, 3 ) FRAME_ROS_ROSINA_RTOF_URF = -226329 FRAME_-226329_NAME = 'ROS_ROSINA_RTOF_URF' FRAME_-226329_CLASS = 4 FRAME_-226329_CLASS_ID = -226329 FRAME_-226329_CENTER = -226 TKFRAME_-226329_RELATIVE = 'ROS_SPACECRAFT' TKFRAME_-226329_SPEC = 'ANGLES' TKFRAME_-226329_UNITS = 'DEGREES' TKFRAME_-226329_ANGLES = ( -90.0, 0.0, 0.0 ) TKFRAME_-226329_AXES = ( 1, 2, 3 ) FRAME_ROS_ROSINA_COPS_URF = -226339 FRAME_-226339_NAME = 'ROS_ROSINA_COPS_URF' FRAME_-226339_CLASS = 4 FRAME_-226339_CLASS_ID = -226339 FRAME_-226339_CENTER = -226 TKFRAME_-226339_RELATIVE = 'ROS_SPACECRAFT' TKFRAME_-226339_SPEC = 'ANGLES' TKFRAME_-226339_UNITS = 'DEGREES' TKFRAME_-226339_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-226339_AXES = ( 1, 2, 3 ) \begintext COSIMA frames ======================================================================== This section of the file contains the definitions of the COSIMA frames. COSIMA Frame Tree -------------------------------------- The diagram below shows the COSIMA frame hierarchy. "J2000" INERTIAL +-----------------------------------------------------+ | | | | | |<-pck pck->| | |<-pck pck->| | | | | | V V | V V "67P/C-G_FIXED" "STEINS_FIXED" | "LUTETIA_FIXED" "IAU_EARTH" COMET BODY-FIXED ASTEROID BFXD | ASTEROID BFXD EARTH BODY-FIXED ---------------- -------------- | -------------- ---------------- | |<-ck | V "ROS_SPACECRAFT" +----------------------------------------------------- | | | |<-fixed | | | V | "ROS_COSIMA_URF" | ---------------- | |<-fixed | V "ROS_COSIMA" ------------ COSIMA Frame -------------------------------------- The COSIMA frame is defined as follows: - +Z axis points along the boresight of the particle entrance "FOV"; - +Y axis is nominally co-aligned with the s/c +Y axis; - +X axis completes the right hand frame; it is nominally co-aligned with the s/c +X axis; - the origin of the frame is located at the instrument "FOV" vertex. This diagram illustrates the COSIMA frame: +Z s/c side (science deck side) view: ------------------------------------- Lander _____ / \ | | ._____________. | | | | | | +Ysc o==/ /==================o | o------->o==================/ /==o -Y Solar Array | | | +Y Solar Array |o------> +Ycosima COSIMA .|_____|______. |`. | .' | .--V +Xsc | ' `. V __________\ +Xcosima `.|.' +Zsc and +Zcosima HGA are out of the page Nominally, the COSIMA frame is co-aligned with the s/c frame. \begindata FRAME_ROS_COSIMA = -226140 FRAME_-226140_NAME = 'ROS_COSIMA' FRAME_-226140_CLASS = 4 FRAME_-226140_CLASS_ID = -226140 FRAME_-226140_CENTER = -226 TKFRAME_-226140_RELATIVE = 'ROS_SPACECRAFT' TKFRAME_-226140_SPEC = 'ANGLES' TKFRAME_-226140_UNITS = 'DEGREES' TKFRAME_-226140_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-226140_AXES = ( 1, 2, 3 ) \begintext COSIMA Unit Reference Frame -------------------------------------- This section implements the COSIMA Unit Reference Frame (URF) frame definition. While this frame was not specifically spelled out in [5], it is defined according to the rules outlined in the section 7.3 of that document. \begindata FRAME_ROS_COSIMA_URF = -226145 FRAME_-226145_NAME = 'ROS_COSIMA_URF' FRAME_-226145_CLASS = 4 FRAME_-226145_CLASS_ID = -226145 FRAME_-226145_CENTER = -226 TKFRAME_-226145_RELATIVE = 'ROS_SPACECRAFT' TKFRAME_-226145_SPEC = 'ANGLES' TKFRAME_-226145_UNITS = 'DEGREES' TKFRAME_-226145_ANGLES = ( 0.0, 0.0, 90.0 ) TKFRAME_-226145_AXES = ( 2, 3, 1 ) \begintext MIDAS frames ======================================================================== This section of the file contains the definitions of the MIDAS frames. MIDAS Frame Tree -------------------------------------- The diagram below shows the MIDAS frame hierarchy. "J2000" INERTIAL +-----------------------------------------------------+ | | | | | |<-pck pck->| | |<-pck pck->| | | | | | V V | V V "67P/C-G_FIXED" "STEINS_FIXED" | "LUTETIA_FIXED" "IAU_EARTH" COMET BODY-FIXED ASTEROID BFXD | ASTEROID BFXD EARTH BODY-FIXED ---------------- -------------- | -------------- ---------------- | |<-ck | V "ROS_SPACECRAFT" +----------------------------------------------------- | | | |<-fixed | | | V | "ROS_MIDAS_URF" | --------------- | |<-fixed | V "ROS_MIDAS" ----------- MIDAS Frame -------------------------------------- The MIDAS frame is defined as follows: - +Z axis points along the boresight of the particle entrance "FOV"; - +Y axis is nominally co-aligned with the s/c +Y axis; - +X axis completes the right hand frame; it is nominally co-aligned with the s/c +X axis; - the origin of the frame is located at the instrument "FOV" vertex. This diagram illustrates the MIDAS frame: +Z s/c side (science deck side) view: ------------------------------------- Lander _____ / \ | | ._____________. | | | | | | +Ysc o==/ /==================o | o------->o==================/ /==o -Y Solar Array | | | +Y Solar Array | MIDAS|o------> +Ymidas .______||_____. `. || .' .--V| +Xsc .' | `. /______V +Xmidas `.|.' +Zsc and +Zmidas HGA are out of the page Nominally, the MIDAS frame is co-aligned with the s/c frame. \begindata FRAME_ROS_MIDAS = -226150 FRAME_-226150_NAME = 'ROS_MIDAS' FRAME_-226150_CLASS = 4 FRAME_-226150_CLASS_ID = -226150 FRAME_-226150_CENTER = -226 TKFRAME_-226150_RELATIVE = 'ROS_SPACECRAFT' TKFRAME_-226150_SPEC = 'ANGLES' TKFRAME_-226150_UNITS = 'DEGREES' TKFRAME_-226150_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-226150_AXES = ( 1, 2, 3 ) \begintext MIDAS Unit Reference Frame -------------------------------------- This section implements the MIDAS Unit Reference Frame (URF) frame definition. While this frame was not specifically spelled out in [5], it is defined according to the rules outlined in the section 7.3 of that document. \begindata FRAME_ROS_MIDAS_URF = -226155 FRAME_-226155_NAME = 'ROS_MIDAS_URF' FRAME_-226155_CLASS = 4 FRAME_-226155_CLASS_ID = -226155 FRAME_-226155_CENTER = -226 TKFRAME_-226155_RELATIVE = 'ROS_SPACECRAFT' TKFRAME_-226155_SPEC = 'ANGLES' TKFRAME_-226155_UNITS = 'DEGREES' TKFRAME_-226155_ANGLES = ( 0.0, 0.0, 90.0 ) TKFRAME_-226155_AXES = ( 1, 3, 2 ) \begintext CONSERT frames ======================================================================== This section of the file contains the definitions of the CONSERT frames. CONSERT Frame Tree -------------------------------------- The diagram below shows the CONSERT frame hierarchy. "J2000" INERTIAL +-----------------------------------------------------+ | | | | | |<-pck pck->| | |<-pck pck->| | | | | | V V | V V "67P/C-G_FIXED" "STEINS_FIXED" | "LUTETIA_FIXED" "IAU_EARTH" COMET BODY-FIXED ASTEROID BFXD | ASTEROID BFXD EARTH BODY-FIXED ---------------- -------------- | -------------- ---------------- | |<-ck | V "ROS_SPACECRAFT" +----------------------------------------------------- | | | |<-fixed | | | V | "ROS_CONSERT_URF" | ----------------- | |<-fixed | V "ROS_CONSERT" ------------- CONSERT Frame -------------------------------------- The CONSERT frame is defined as follows: - +Z axis points along the "FOV" boresight; - +Y axis is nominally co-aligned with the s/c +Y axis; - +X axis completes the right hand frame; it is nominally co-aligned with the s/c +X axis; - the origin of the frame is located at the instrument "FOV" vertex. This diagram illustrates the CONSERT frame: +Z s/c side (science deck side) view: ------------------------------------- Lander _____ / \ | | ._____________. CONSERT `. .' | | `. .' +Yconsert | o------->| | +Ysc o==/ /=========.'|`.====o | o------->o==================/ /==o -Y Solar .' | `. | | | +Y Solar Array Array | | | | | .______|______. V `. | .' +Xconsert .--V +Xsc .' `. /___________\ `.|.' +Zsc and +Zconsert HGA are out of the page Nominally, the CONSERT frame is co-aligned with the s/c frame. \begindata FRAME_ROS_CONSERT = -226160 FRAME_-226160_NAME = 'ROS_CONSERT' FRAME_-226160_CLASS = 4 FRAME_-226160_CLASS_ID = -226160 FRAME_-226160_CENTER = -226 TKFRAME_-226160_RELATIVE = 'ROS_SPACECRAFT' TKFRAME_-226160_SPEC = 'ANGLES' TKFRAME_-226160_UNITS = 'DEGREES' TKFRAME_-226160_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-226160_AXES = ( 1, 2, 3 ) \begintext CONSERT Unit Reference Frame -------------------------------------- This section implements the CONSERT Unit Reference Frame (URF) frame definition. While this frame was not specifically spelled out in [5], it is defined according to the rules outlined in the section 7.3 of that document. \begindata FRAME_ROS_CONSERT_URF = -226165 FRAME_-226165_NAME = 'ROS_CONSERT_URF' FRAME_-226165_CLASS = 4 FRAME_-226165_CLASS_ID = -226165 FRAME_-226165_CENTER = -226 TKFRAME_-226165_RELATIVE = 'ROS_SPACECRAFT' TKFRAME_-226165_SPEC = 'ANGLES' TKFRAME_-226165_UNITS = 'DEGREES' TKFRAME_-226165_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-226165_AXES = ( 1, 2, 3 ) \begintext NAVCAM Frames ======================================================================== This section of the file contains the definitions of the NAVCAM frames. NAVCAM Frame Tree -------------------------------------- The diagram below shows the NAVCAM frame hierarchy. "J2000" INERTIAL +-----------------------------------------------------+ | | | | | |<-pck pck->| | |<-pck pck->| | | | | | V V | V V "67P/C-G_FIXED" "STEINS_FIXED" | "LUTETIA_FIXED" "IAU_EARTH" COMET BODY-FIXED ASTEROID BFXD | ASTEROID BFXD EARTH BODY-FIXED ---------------- -------------- | -------------- ---------------- | |<-ck | V "ROS_SPACECRAFT" +-----------------------------------------------------+ | | | | | |<-fixed |<-fixed | | | | | | V V | | "ROS_NAVCAM-A_URF" "ROS_NAVCAM-B_URF" | | ------------------ ------------------ | | | |<-fixed |<-fixed | | V V "ROS_NAVCAM-A" "ROS_NAVCAM-B" -------------- -------------- NAVCAM Camera Frames -------------------------------------- The NAVCAM camera frames -- ROS_NAVCAM-A and ROS_NAVCAM-B -- are defined as follows: - +Z axis points along the camera boresight; - +X axis is parallel to the apparent image columns; it is nominally co-aligned with the s/c +X axis; - +Y axis completes the right hand frame; it is nominally parallel the to the apparent image lines and co-aligned with the s/c +Y axis; - the origin of the frame is located at the camera focal point. This diagram illustrates the NAVCAM camera frames: +Z s/c side (science deck side) view: ------------------------------------- Lander _____ / \ | | ._____________. | +Yncb +Ynca | o-o----->-> | | | | +Ysc o==/ /==================o | |o|------>o==================/ /==o -Y Solar Array | ||| | +Y Solar Array +Xncb V|V +Xnca .______|______. `. | .' .--V +Xsc HGA .' `. /___________\ `.|.' +Zsc, +Znca, and +Zncb are out of the page Nominally, the NAVCAM camera frames are co-aligned with the s/c frame. The actual NAVCAM-A boresight direction is specified in [7] as an offset from the s/c +Z axis by the following two angles: Offset from Z s/c: x (deg) = -0.02678 Offset from Z s/c: y (deg) = -0.17210 while the actual NAVCAM-B boresight direction is specified by: Offset from Z s/c: x (deg) = 0.03003 Offset from Z s/c: y (deg) = 0.09747 The first of the two angles -- ``Offset from Z s/c: x'' -- is the angle between the projection of the boresight onto the s/c XZ plane and the s/c +Z axis, measured positive from the s/c +Z toward the s/c +X axis. The second of the two angles -- ``Offset from Z s/c: y'' -- is the angle between the projection of the boresight onto the s/c YZ plane and the s/c +Z axis, measured positive from the s/c +Z toward the s/c +Y axis. The following set of rotations can be applied to the s/c axes to align the NAVCAM-A frame's +Z axis with the boresight defined by the angles above (rotation about +Z is not defined in [7] and assumed to be zero in this set of rotations): Msc->nca = [0.0]z * [-0.02677988]y * [0.17210]x These rotations can be applied to the s/c axes to align the NAVCAM-B frame's +Z axis with the boresight defined by the angles above (rotation about +Z is not defined in [7] and assumed to be zero in this set of rotations): Msc->ncb = [0.0]z * [0.03002996]y * [-0.09747]x The NAVCAM-A and NAVCAM-B frame definitions below incorporate these transformations. \begindata FRAME_ROS_NAVCAM-A = -226170 FRAME_-226170_NAME = 'ROS_NAVCAM-A' FRAME_-226170_CLASS = 4 FRAME_-226170_CLASS_ID = -226170 FRAME_-226170_CENTER = -226 TKFRAME_-226170_RELATIVE = 'ROS_SPACECRAFT' TKFRAME_-226170_SPEC = 'ANGLES' TKFRAME_-226170_UNITS = 'DEGREES' TKFRAME_-226170_ANGLES = ( -0.17210, 0.02677988, 0.0 ) TKFRAME_-226170_AXES = ( 1, 2, 3 ) FRAME_ROS_NAVCAM-B = -226180 FRAME_-226180_NAME = 'ROS_NAVCAM-B' FRAME_-226180_CLASS = 4 FRAME_-226180_CLASS_ID = -226180 FRAME_-226180_CENTER = -226 TKFRAME_-226180_RELATIVE = 'ROS_SPACECRAFT' TKFRAME_-226180_SPEC = 'ANGLES' TKFRAME_-226180_UNITS = 'DEGREES' TKFRAME_-226180_ANGLES = ( 0.09747, -0.03002996, 0.0 ) TKFRAME_-226180_AXES = ( 1, 2, 3 ) \begintext NAVCAM Unit Reference Frames -------------------------------------- This section implements the NAVCAM Unit Reference Frames (URF) frame definitions provided in [5]. \begindata FRAME_ROS_NAVCAM-A_URF = -226175 FRAME_-226175_NAME = 'ROS_NAVCAM-A_URF' FRAME_-226175_CLASS = 4 FRAME_-226175_CLASS_ID = -226175 FRAME_-226175_CENTER = -226 TKFRAME_-226175_RELATIVE = 'ROS_SPACECRAFT' TKFRAME_-226175_SPEC = 'ANGLES' TKFRAME_-226175_UNITS = 'DEGREES' TKFRAME_-226175_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-226175_AXES = ( 1, 2, 3 ) FRAME_ROS_NAVCAM-B_URF = -226185 FRAME_-226185_NAME = 'ROS_NAVCAM-B_URF' FRAME_-226185_CLASS = 4 FRAME_-226185_CLASS_ID = -226185 FRAME_-226185_CENTER = -226 TKFRAME_-226185_RELATIVE = 'ROS_SPACECRAFT' TKFRAME_-226185_SPEC = 'ANGLES' TKFRAME_-226185_UNITS = 'DEGREES' TKFRAME_-226185_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-226185_AXES = ( 1, 2, 3 ) \begintext GIADA frames ======================================================================== This section of the file contains the definitions of the GIADA frames. GIADA Frame Tree -------------------------------------- The diagram below shows the GIADA frame hierarchy. "J2000" INERTIAL +-----------------------------------------------------+ | | | | | |<-pck pck->| | |<-pck pck->| | | | | | V V | V V "67P/C-G_FIXED" "STEINS_FIXED" | "LUTETIA_FIXED" "IAU_EARTH" COMET BODY-FIXED ASTEROID BFXD | ASTEROID BFXD EARTH BODY-FIXED ---------------- -------------- | -------------- ---------------- | |<-ck | V "ROS_SPACECRAFT" +-----------------------------------------------------+ | | | | |<-fixed | | |<-fixed | | | | | | | | "ROS_GIADA_GDS" | | "ROS_GIADA_URF" --------------- | | -------------- | | |<-fixed |<-fixed | | V V "ROS_GIADA_IS" "ROS_GIADA_MBS1..5" -------------- ------------------- GIADA Frame -------------------------------------- The GIADA GDS, GIADA IS, and GIADA MBS1 .. MBS5 frames are defined as follows: - +Z axis points along the particle entrance FOV boresight; - +Y axis is nominally parallel to the s/c XY plane and points as shown on the diagrams below; - +X axis completes the right hand frame; - the origin of the frame is located at the FOV focal point. This diagram illustrates the GIADA GDS, IS, and MBS5 frames: +Z s/c side (science deck side) view: ------------------------------------- Lander _____ / \ | | ._____________. | | GIADA o------> +Ygds,+Yis,+Ymbs5 | | | o==/ /==================o | | o------->o==================/ /==o -Y Solar Array | | | | +Ysc +Y Solar Array | | | .__V___|______. +Xgds | .' +Xis -V +Xsc +Xmbs5 `. /___________\ `.|.' +Zsc, +Zgds, +Zis, HGA and +Zmbs5 are out of the page This diagram illustrates the GIADA MBS 1..4 frames: +Z s/c side (science deck side) view: ------------------------------------- +Zmbs3 ^ +Ymbs2 |^ ____ || \ Lander || | +Ymbs3 .__||_________. <<------43| +Zmbs2 +Zmbs4 | | 2-------> | | | 1-------> +Ymbs1 o==/ /==================o | | | o------->o==================/ /==o -Y Solar Array | | | | | +Ysc +Y Solar Array | V | | | +Ymbs4 __|__|______. `.V | .' +Zmbs* are pointed +Zmbs1.--V +Xsc 20 deg above the page. .' `. /___________\ +Xmbs* are roughly into `.|.' the page +Zsc is out of the page Nominally, the GIADA GDS, GIADA IS, and GIADA MBS5 frames are co-aligned with the s/c frame while the GIADA MBS1, GIADA MBS2, GIADA MBS3, and GIADA MBS4 frames are rotated from it first by 0, 90, 180 or 270 degrees about Z, and then by 70 degrees about Y. \begindata FRAME_ROS_GIADA_GDS = -226410 FRAME_-226410_NAME = 'ROS_GIADA_GDS' FRAME_-226410_CLASS = 4 FRAME_-226410_CLASS_ID = -226410 FRAME_-226410_CENTER = -226 TKFRAME_-226410_RELATIVE = 'ROS_SPACECRAFT' TKFRAME_-226410_SPEC = 'ANGLES' TKFRAME_-226410_UNITS = 'DEGREES' TKFRAME_-226410_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-226410_AXES = ( 1, 2, 3 ) FRAME_ROS_GIADA_IS = -226420 FRAME_-226420_NAME = 'ROS_GIADA_IS' FRAME_-226420_CLASS = 4 FRAME_-226420_CLASS_ID = -226420 FRAME_-226420_CENTER = -226 TKFRAME_-226420_RELATIVE = 'ROS_SPACECRAFT' TKFRAME_-226420_SPEC = 'ANGLES' TKFRAME_-226420_UNITS = 'DEGREES' TKFRAME_-226420_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-226420_AXES = ( 1, 2, 3 ) FRAME_ROS_GIADA_MBS1 = -226431 FRAME_-226431_NAME = 'ROS_GIADA_MBS1' FRAME_-226431_CLASS = 4 FRAME_-226431_CLASS_ID = -226431 FRAME_-226431_CENTER = -226 TKFRAME_-226431_RELATIVE = 'ROS_SPACECRAFT' TKFRAME_-226431_SPEC = 'ANGLES' TKFRAME_-226431_UNITS = 'DEGREES' TKFRAME_-226431_ANGLES = ( 0.0, 0.0, -70.0 ) TKFRAME_-226431_AXES = ( 1, 3, 2 ) FRAME_ROS_GIADA_MBS2 = -226432 FRAME_-226432_NAME = 'ROS_GIADA_MBS2' FRAME_-226432_CLASS = 4 FRAME_-226432_CLASS_ID = -226432 FRAME_-226432_CENTER = -226 TKFRAME_-226432_RELATIVE = 'ROS_SPACECRAFT' TKFRAME_-226432_SPEC = 'ANGLES' TKFRAME_-226432_UNITS = 'DEGREES' TKFRAME_-226432_ANGLES = ( 0.0, -90.0, -70.0 ) TKFRAME_-226432_AXES = ( 1, 3, 2 ) FRAME_ROS_GIADA_MBS3 = -226433 FRAME_-226433_NAME = 'ROS_GIADA_MBS3' FRAME_-226433_CLASS = 4 FRAME_-226433_CLASS_ID = -226433 FRAME_-226433_CENTER = -226 TKFRAME_-226433_RELATIVE = 'ROS_SPACECRAFT' TKFRAME_-226433_SPEC = 'ANGLES' TKFRAME_-226433_UNITS = 'DEGREES' TKFRAME_-226433_ANGLES = ( 0.0, -180.0, -70.0 ) TKFRAME_-226433_AXES = ( 1, 3, 2 ) FRAME_ROS_GIADA_MBS4 = -226434 FRAME_-226434_NAME = 'ROS_GIADA_MBS4' FRAME_-226434_CLASS = 4 FRAME_-226434_CLASS_ID = -226434 FRAME_-226434_CENTER = -226 TKFRAME_-226434_RELATIVE = 'ROS_SPACECRAFT' TKFRAME_-226434_SPEC = 'ANGLES' TKFRAME_-226434_UNITS = 'DEGREES' TKFRAME_-226434_ANGLES = ( 0.0, -270.0, -70.0 ) TKFRAME_-226434_AXES = ( 1, 3, 2 ) FRAME_ROS_GIADA_MBS5 = -226435 FRAME_-226435_NAME = 'ROS_GIADA_MBS5' FRAME_-226435_CLASS = 4 FRAME_-226435_CLASS_ID = -226435 FRAME_-226435_CENTER = -226 TKFRAME_-226435_RELATIVE = 'ROS_SPACECRAFT' TKFRAME_-226435_SPEC = 'ANGLES' TKFRAME_-226435_UNITS = 'DEGREES' TKFRAME_-226435_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-226435_AXES = ( 1, 2, 3 ) \begintext GIADA Unit Reference Frame -------------------------------------- This section implements the GIADA Unit Reference Frame (URF) frame definition. While this frame was not specifically spelled out in [5], it is defined according to the rules outlined in the section 7.3 of that document. \begindata FRAME_ROS_GIADA_URF = -226440 FRAME_-226440_NAME = 'ROS_GIADA_URF' FRAME_-226440_CLASS = 4 FRAME_-226440_CLASS_ID = -226440 FRAME_-226440_CENTER = -226 TKFRAME_-226440_RELATIVE = 'ROS_SPACECRAFT' TKFRAME_-226440_SPEC = 'ANGLES' TKFRAME_-226440_UNITS = 'DEGREES' TKFRAME_-226440_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-226440_AXES = ( 2, 1, 3 ) \begintext RPC frames ======================================================================== This section of the file contains the definitions of the RPC frames. RPC Frame Tree -------------------------------------- The diagram below shows the RPC frame hierarchy. "J2000" INERTIAL +-----------------------------------------------------+ | | | | | |<-pck pck->| | |<-pck pck->| | | | | | V V | V V "67P/C-G_FIXED" "STEINS_FIXED" | "LUTETIA_FIXED" "IAU_EARTH" COMET BODY-FIXED ASTEROID BFXD | ASTEROID BFXD EARTH BODY-FIXED ---------------- -------------- | -------------- ---------------- | |<-ck | V "ROS_SPACECRAFT" +-----------------------------------------------------+ | | | | | | | fixed->| | | |<-fixed | | | | | | | | V | | V | | "ROS_RPC_IES" | | "ROS_RPC_ICA" | | ------------- | | ------------- | | | | | |<-fixed | | |<-fixed | | | | V | | V "ROS_RPC_IES_URF" | | "ROS_RPC_ICA_URF" ----------------- | | ----------------- | | fixed->| |<-fixed | | V V "ROS_RPC_BOOM1" "ROS_RPC_BOOM2" +------------------------- -------------------------+ | | | | |<-fixed fixed->| |<-fixed fixed->| | | | | V V V V "ROS_RPC_MIP" "ROS_RPC_LAP1" "ROS_RPC_LAP2" "ROS_RPC_MAG_OB/IB" ------------- -------------- -------------- ------------------- RPC IES and ICA Frames -------------------------------------- The RPC IES and ICA sensor frames -- ROS_RPC_IES and ROS_RPC_ICA -- are defined as follows: - +Z axis points along the instrument's FOV symmetry axis, toward the FOV side of the sensor unit; - +Y axis is parallel to the instrument mounting plate plane (s/c XY plane) and points toward -X/+Y quadrant for IES or along s/c -X for ICA; - +X axis completes the right hand frame; - the origin of the frame is located at the intersection of the FOV symmetry axis and the FOV focal plane. Defining IES and ICA sensor frame in this fashion allows easier specification of the sensor sector view directions and boundaries using polar coordinates relative to these frames. This diagram illustrates the RPC IES and ICA sensor frames: +Z s/c side (science deck side) view: ------------------------------------- Lander _____ / \ | | +Yica ._____________.^ | || | || | +Zsc ||+Ysc +Yies o==/ /==================o | o------->o== ^ =============/ /==o -Y Solar Array | | |x---'---> | | | .' +Zica .______|_____ x' `. | . `. .--V +Xsc `. HGA .' `. V +Zies /___________\ `.|.' +Zsc points out of the page +Xica points into the page +Zies points 45 deg above the s/c XY plane. +Xies points 45 deg below the s/c XY plane. As shown on the diagram, two rotations are needed to co-align the s/c frame with the IES sensor frame: first by +45 degrees about +Z, then by +45 about +Y. Two different rotations are needed to co-align the s/c frame with the ICA sensor frame: first by +90 degrees about +Z, then by +90 degrees about +Y. \begindata FRAME_ROS_RPC_IES = -226520 FRAME_-226520_NAME = 'ROS_RPC_IES' FRAME_-226520_CLASS = 4 FRAME_-226520_CLASS_ID = -226520 FRAME_-226520_CENTER = -226 TKFRAME_-226520_RELATIVE = 'ROS_SPACECRAFT' TKFRAME_-226520_SPEC = 'ANGLES' TKFRAME_-226520_UNITS = 'DEGREES' TKFRAME_-226520_ANGLES = ( 0.0, -45.0, -45.0 ) TKFRAME_-226520_AXES = ( 1, 3, 2 ) FRAME_ROS_RPC_ICA = -226530 FRAME_-226530_NAME = 'ROS_RPC_ICA' FRAME_-226530_CLASS = 4 FRAME_-226530_CLASS_ID = -226530 FRAME_-226530_CENTER = -226 TKFRAME_-226530_RELATIVE = 'ROS_SPACECRAFT' TKFRAME_-226530_SPEC = 'ANGLES' TKFRAME_-226530_UNITS = 'DEGREES' TKFRAME_-226530_ANGLES = ( 0.0, -90.0, -90.0 ) TKFRAME_-226530_AXES = ( 1, 3, 2 ) \begintext RPC IES and ICA Unit Reference Frames -------------------------------------- This section implements the IES and ICA Unit Reference Frame (URF) frame definitions. While these frames were not specifically spelled out in [5], they are defined according to the rules outlined in the section 7.3 of that document. \begindata FRAME_ROS_RPC_IES_URF = -226525 FRAME_-226525_NAME = 'ROS_RPC_IES_URF' FRAME_-226525_CLASS = 4 FRAME_-226525_CLASS_ID = -226525 FRAME_-226525_CENTER = -226 TKFRAME_-226525_RELATIVE = 'ROS_SPACECRAFT' TKFRAME_-226525_SPEC = 'ANGLES' TKFRAME_-226525_UNITS = 'DEGREES' TKFRAME_-226525_ANGLES = ( 0.0, -45.0, 0.0 ) TKFRAME_-226525_AXES = ( 2, 3, 1 ) FRAME_ROS_RPC_ICA_URF = -226535 FRAME_-226535_NAME = 'ROS_RPC_ICA_URF' FRAME_-226535_CLASS = 4 FRAME_-226535_CLASS_ID = -226535 FRAME_-226535_CENTER = -226 TKFRAME_-226535_RELATIVE = 'ROS_SPACECRAFT' TKFRAME_-226535_SPEC = 'ANGLES' TKFRAME_-226535_UNITS = 'DEGREES' TKFRAME_-226535_ANGLES = ( 0.0, -90.0, 0.0 ) TKFRAME_-226535_AXES = ( 2, 3, 1 ) \begintext RPC Boom and Boom-mounted Sensor Frames --------------------------------------- The RPC Boom 1 and 2 frames -- ROS_RPC_BOOM1 and ROS_RPC_BOOM2 -- are defined as follows: - +Z axis is parallel to the boom and points away from the spacecraft; - +X axis is parallel to the MIP antennas (for Boom 1) or MAG center axis (for Boom 2) and points away from the boom; - +Y axis completes the right hand frame; - the origin of the frame is located at the boom pivot point. All boom-mounted sensor frames (except those for the MAG sensors) -- ROS_RPC_MIP, ROS_RPC_LAP1, and ROS_RPC_LAP2 -- are defined to be co-aligned with the frame of the boom on which the sensor is mounted. This diagram illustrates the RPC Boom 1 and 2 frames for booms in deployed position: +Z s/c side (science deck side) view: ------------------------------------- +Zboom2 Lander ^ _____ | ^ +Xboom2 / \ | . | | |. .____________o----> +Yboom2 | |x----> +Zboom1 | || | +Zsc ||+Ysc o==/ /==================o | o------->o==================/ /==o -Y Solar Array | | || +Y Solar Array | | |V .______|______. +Xboom1 `. | .' .--V +Xsc HGA .' `. /___________\ `.|.' +Zsc points out of the page +Zboom1 points 45 deg above the s/c XY plane. +Yboom1 points 45 deg below the s/c XY plane. +Zboom2 points ~40 deg below s/c XY plane, slightly toward s/c +Y axis. +Xboom2 points ~50 deg above s/c XY plane, slightly toward s/c +Y axis. As shown on the diagram, a single rotation of -45 degrees about +X is needed to co-align the s/c frame with the Boom 1 frame in deployed configuration. Nominally two rotations are needed to co-align the s/c frame with the Boom 2 frame in stowed configuration: first by -90.0 degrees about +Y, then by +90.0 degrees about +X. Nominally three rotations are needed to co-align the s/c frame with the Boom 2 frame in deployed configuration: first by -126.958 degrees about +Y, then by -4.590 degrees about +X, and finally by +15.358 degrees about +Z. (These angles were derived the boom pivot axis direction angles and boom deployment angle specified in [6].) Since both, pre- and post- deployment orientation of the Boom 2 is essential for MAG data analysis, Boom 2 frame is defined as a CK-based frame with its orientation provided in CK files. \begindata FRAME_ROS_RPC_BOOM1 = -226560 FRAME_-226560_NAME = 'ROS_RPC_BOOM1' FRAME_-226560_CLASS = 4 FRAME_-226560_CLASS_ID = -226560 FRAME_-226560_CENTER = -226 TKFRAME_-226560_RELATIVE = 'ROS_SPACECRAFT' TKFRAME_-226560_SPEC = 'ANGLES' TKFRAME_-226560_UNITS = 'DEGREES' TKFRAME_-226560_ANGLES = ( 0.0, 0.0, 45.0 ) TKFRAME_-226560_AXES = ( 3, 2, 1 ) FRAME_ROS_RPC_BOOM2 = -226570 FRAME_-226570_NAME = 'ROS_RPC_BOOM2' FRAME_-226570_CLASS = 3 FRAME_-226570_CLASS_ID = -226570 FRAME_-226570_CENTER = -226 CK_-226570_SCLK = -226 CK_-226570_SPK = -226 FRAME_ROS_RPC_MIP = -226550 FRAME_-226550_NAME = 'ROS_RPC_MIP' FRAME_-226550_CLASS = 4 FRAME_-226550_CLASS_ID = -226550 FRAME_-226550_CENTER = -226 TKFRAME_-226550_RELATIVE = 'ROS_RPC_BOOM1' TKFRAME_-226550_SPEC = 'ANGLES' TKFRAME_-226550_UNITS = 'DEGREES' TKFRAME_-226550_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-226550_AXES = ( 2, 3, 1 ) FRAME_ROS_RPC_LAP1 = -226511 FRAME_-226511_NAME = 'ROS_RPC_LAP1' FRAME_-226511_CLASS = 4 FRAME_-226511_CLASS_ID = -226511 FRAME_-226511_CENTER = -226 TKFRAME_-226511_RELATIVE = 'ROS_RPC_BOOM1' TKFRAME_-226511_SPEC = 'ANGLES' TKFRAME_-226511_UNITS = 'DEGREES' TKFRAME_-226511_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-226511_AXES = ( 2, 3, 1 ) FRAME_ROS_RPC_LAP2 = -226512 FRAME_-226512_NAME = 'ROS_RPC_LAP2' FRAME_-226512_CLASS = 4 FRAME_-226512_CLASS_ID = -226512 FRAME_-226512_CENTER = -226 TKFRAME_-226512_RELATIVE = 'ROS_RPC_BOOM2' TKFRAME_-226512_SPEC = 'ANGLES' TKFRAME_-226512_UNITS = 'DEGREES' TKFRAME_-226512_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-226512_AXES = ( 2, 3, 1 ) \begintext The MAG OB and IB frames -- ROS_RPC_BOOM1 and ROS_RPC_BOOM2 -- are defined as follows: - +Y axis is parallel to the boom and points from the sensor toward the boom deployment hinge; this axis is designated "V" in the instrument documentation and nominally points in the direction opposite to the Boom 2 +Z axis; - +Z axis is normal to the boom and point from the sensor toward the boom; this axis is designated "W" in the instrument documentation and nominally points in the direction opposite to the Boom 2 +X axis; - +X axis completes the right hand frame; this axis is designated "U" in the instrument documentation nominally points in the same direction as the Boom 2 +Y axis; - the origin of the frame is located at the geometric center of the sensor. This diagram illustrates the RPC MAG OB and IB frames: +Z s/c side view (Boom 2 is shown in stowed position): ------------------------------------------------------ +Xmag ^ ^ +Yboom2 | | |+Ymag | ._x--->__<---o | +Zboom2| | | | +Zsc | +Ysc o==/ /==================o | o------->o==================/ /==o -Y Solar Array | | | +Y Solar Array | | | .______|______. `. | .' .--V +Xsc HGA .' `. /___________\ `.|.' +Zsc and +Xboom2 point out of the page +Zmag points into the page As shown on the diagram, nominally two rotations are needed to co-align the Boom 2 frame with the MAG OB/MAG IB frames: first by +90 degrees about Z, then by -90 degrees about X. The actual alignments, computed from the MAG OB and IB frames' U, V, and W axes directions in the s/c frame provided by Dr. Ingo Richter [8], are as follows: Mboom2->mag_ob = [-90.23422236]x * [+89.94424999]z * [+0.14507999]x Mboom2->mag_ib = [-90.28478858]x * [+89.49714229]z * [+0.11719143]x The MAG OB and IB frame definitions below incorporate these transformations. \begindata FRAME_ROS_RPC_MAG_OB = -226541 FRAME_-226541_NAME = 'ROS_RPC_MAG_OB' FRAME_-226541_CLASS = 4 FRAME_-226541_CLASS_ID = -226541 FRAME_-226541_CENTER = -226 TKFRAME_-226541_RELATIVE = 'ROS_RPC_BOOM2' TKFRAME_-226541_SPEC = 'ANGLES' TKFRAME_-226541_UNITS = 'DEGREES' TKFRAME_-226541_ANGLES = ( -0.14507999, -89.94424999, +90.23422236 ) TKFRAME_-226541_AXES = ( 1, 3, 1 ) FRAME_ROS_RPC_MAG_IB = -226542 FRAME_-226542_NAME = 'ROS_RPC_MAG_IB' FRAME_-226542_CLASS = 4 FRAME_-226542_CLASS_ID = -226542 FRAME_-226542_CENTER = -226 TKFRAME_-226542_RELATIVE = 'ROS_RPC_BOOM2' TKFRAME_-226542_SPEC = 'ANGLES' TKFRAME_-226542_UNITS = 'DEGREES' TKFRAME_-226542_ANGLES = ( -0.11719143, -89.49714229, +90.28478858 ) TKFRAME_-226542_AXES = ( 1, 3, 1 ) \begintext Rosetta Lander Frames ======================================================================== This section of the file contains the definitions of the Rosetta local level, lander and instrument frames. Rosetta Lander Frame Tree -------------------------------------- The diagram below shows the Rosetta Lander and its instruments frame hierarchy. "J2000" INERTIAL +-----------------------------------------------------+ | | | |<-ck | |<-pck | | | V | V "ROS_SPACECRAFT" | "IAU_EARTH" --------------- |<-pck EARTH BODY-FIXED | ---------------- V "67P/C-G_FIXED" COMET BODY-FIXED ---------------- | |<-fixed | V "ROSLND_LOCAL_LEVEL" -------------------- | |<-fixed | V "ROSLND_LANDER" ---------------- | | | V (Rosetta Lander instrument frames) Rosetta Local Level frame -------------------------------------- This ROSLND_LOCAL_LEVEL frame at the landing site is defined as follows: - +Z axis is the normal outward at the landing site; - +X axis points at local north; - +Y completes the right hand frame; - the origin of this frame is located on the surface under the geometric center of the lander capsule; The orientation of the frame is fixed relative to the comet fixed rotating frame '67P/C-G_FIXED' and is determined by the landing site coordinates. The transformation from 'ROSLND_LOCAL_LEVEL' frame to '67P/C-G_FIXED' frame is a 3-2-3 rotation with angles defined as the negative of the site longitude, the negative of the site colatitude, 180 degrees. \begindata FRAME_ROSLND_LOCAL_LEVEL = -226999 FRAME_-226999_NAME = 'ROSLND_LOCAL_LEVEL' FRAME_-226999_CLASS = 4 FRAME_-226999_CLASS_ID = -226999 FRAME_-226999_CENTER = -44 TKFRAME_-226999_RELATIVE = '67P/C-G_FIXED' TKFRAME_-226999_SPEC = 'ANGLES' TKFRAME_-226999_UNITS = 'DEGREES' TKFRAME_-226999_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-226999_AXES = ( 3, 2, 3 ) \begintext Rosetta Lander Frame -------------------------------------- The ROSLND lander frame, ROSLND_LANDER, is defined by the lander design as follows: - +Z axis is ...; - +X axis is ...; - +Y axis is completes the right hand frame; - the origin of the frame is located ...; Once landed the lander orientation is constant with respect to the surface and, therefore, this frame is defined as a fixed-offset frame with its orientation provided with respect to the ROSLND_LOCAL_LEVEL frame. Should the lander orientation change due to sliding and/or science instrument operations, ROSLND_LANDER frame should be re-defined as a CK based frame. For nominal applications, the ROSLND_LANDER frame is assumed to be co-aligned with the ROSLND_LOCAL_LEVEL frame. \begindata FRAME_ROSLND_LANDER = -226900 FRAME_-226900_NAME = 'ROSLND_LANDER' FRAME_-226900_CLASS = 4 FRAME_-226900_CLASS_ID = -226900 FRAME_-226900_CENTER = -44 TKFRAME_-226900_RELATIVE = 'ROSLND_LOCAL_LEVEL' TKFRAME_-226900_SPEC = 'ANGLES' TKFRAME_-226900_UNITS = 'DEGREES' TKFRAME_-226900_AXES = ( 1, 2, 3 ) TKFRAME_-226900_ANGLES = ( 0.0, 0.0, 0.0 ) \begintext Rosetta Lander Instrument Frames -------------------------------------- Rosetta Lander instrument frames are TDB. Rosetta Mission NAIF ID Codes -- Definition Section ======================================================================== This section contains name to NAIF ID mappings for the Rosetta mission. Rosetta Target IDs: ------------------------------------------------------------- This table summarizes Rosetta Target IDs: Name ID Synonyms --------------------- ------- --------------------------- CHURYUMOV-GERASIMENKO 1000012 '67P/C-G' '67P/CHURYUMOV-GERASIMENKO' STEINS 2002867 '2867 STEINS' LUTETIA 2000021 '21 LUTETIA' Name-ID Mapping keywords: \begindata NAIF_BODY_NAME += ( '67P/CHURYUMOV-GERASIMENKO' ) NAIF_BODY_CODE += ( 1000012 ) NAIF_BODY_NAME += ( '67P/C-G' ) NAIF_BODY_CODE += ( 1000012 ) NAIF_BODY_NAME += ( 'CHURYUMOV-GERASIMENKO' ) NAIF_BODY_CODE += ( 1000012 ) NAIF_BODY_NAME += ( '2867 STEINS' ) NAIF_BODY_CODE += ( 2002867 ) NAIF_BODY_NAME += ( 'STEINS' ) NAIF_BODY_CODE += ( 2002867 ) NAIF_BODY_NAME += ( '21 LUTETIA' ) NAIF_BODY_CODE += ( 2000021 ) NAIF_BODY_NAME += ( 'LUTETIA' ) NAIF_BODY_CODE += ( 2000021 ) \begintext Rosetta Spacecraft (ROSETTA) spacecraft and instruments IDs: ------------------------------------------------------------- This table summarizes Rosetta Spacecraft IDs: Name ID Synonyms --------------------- ------- --------------------------- ROS -226 ROSETTA, ROSETTA ORBITER Notes: -- 'ROS', 'ROSETTA', 'ROSETTA ORBITER' are synonyms and all map to the official Rosetta s/c ID (-226); Name-ID Mapping keywords: \begindata NAIF_BODY_NAME += ( 'ROSETTA' ) NAIF_BODY_CODE += ( -226 ) NAIF_BODY_NAME += ( 'ROS' ) NAIF_BODY_CODE += ( -226 ) NAIF_BODY_NAME += ( 'ROSETTA ORBITER' ) NAIF_BODY_CODE += ( -226 ) \begintext Rosetta Spacecraft Structures IDs -------------------------------------- This table summarizes Rosetta Spacecraft Structure IDs: Name ID Synonyms --------------------- ------- ------------------------- ROS_SPACECRAFT -226000 ROS_SC ROS_SA+Y -226010 ROS_SA+Y_GIMBAL -226011 ROS_SA-Y -226020 ROS_SA-Y_GIMBAL -226021 ROS_MGA-S -226030 ROS_MGA-X -226040 ROS_LGA-1 -226050 ROS_LGA-2 -226060 ROS_HGA -226070 ROS_HGA_GIMBAL -226071 Notes: - 'ROS_SC' and 'ROS_SPACECRAFT' are synonyms and all map to the ROSETTA s/c bus structure ID (-226000); Name-ID Mapping keywords: \begindata NAIF_BODY_NAME += ( 'ROS_SPACECRAFT' ) NAIF_BODY_CODE += ( -226000 ) NAIF_BODY_NAME += ( 'ROS_SC' ) NAIF_BODY_CODE += ( -226000 ) NAIF_BODY_NAME += ( 'ROS_SA+Y' ) NAIF_BODY_CODE += ( -226010 ) NAIF_BODY_NAME += ( 'ROS_SA+Y_GIMBAL' ) NAIF_BODY_CODE += ( -226011 ) NAIF_BODY_NAME += ( 'ROS_SA-Y' ) NAIF_BODY_CODE += ( -226020 ) NAIF_BODY_NAME += ( 'ROS_SA-Y_GIMBAL' ) NAIF_BODY_CODE += ( -226021 ) NAIF_BODY_NAME += ( 'ROS_MGA-S' ) NAIF_BODY_CODE += ( -226030 ) NAIF_BODY_NAME += ( 'ROS_MGA-X' ) NAIF_BODY_CODE += ( -226040 ) NAIF_BODY_NAME += ( 'ROS_LGA-1' ) NAIF_BODY_CODE += ( -226050 ) NAIF_BODY_NAME += ( 'ROS_LGA-2' ) NAIF_BODY_CODE += ( -226060 ) NAIF_BODY_NAME += ( 'ROS_HGA' ) NAIF_BODY_CODE += ( -226070 ) NAIF_BODY_NAME += ( 'ROS_HGA_GIMBAL' ) NAIF_BODY_CODE += ( -226071 ) \begintext OSIRIS IDs -------------------------------------- This table summarizes OSIRIS IDs: Name ID --------------------- ------- ROS_OSIRIS -226110 ROS_OSIRIS_NAC -226111 ROS_OSIRIS_NAC_URF -226116 ROS_OSIRIS_WAC -226112 ROS_OSIRIS_WAC_URF -226117 Name-ID Mapping keywords: \begindata NAIF_BODY_NAME += ( 'ROS_OSIRIS' ) NAIF_BODY_CODE += ( -226100 ) NAIF_BODY_NAME += ( 'ROS_OSIRIS_NAC' ) NAIF_BODY_CODE += ( -226111 ) NAIF_BODY_NAME += ( 'ROS_OSIRIS_NAC_URF' ) NAIF_BODY_CODE += ( -226116 ) NAIF_BODY_NAME += ( 'ROS_OSIRIS_WAC' ) NAIF_BODY_CODE += ( -226112 ) NAIF_BODY_NAME += ( 'ROS_OSIRIS_WAC_URF' ) NAIF_BODY_CODE += ( -226117 ) \begintext ALICE IDs -------------------------------------- This table summarizes ALICE IDs: Name ID --------------------- ------- ROS_ALICE -226120 ROS_ALICE_CENTER -226121 ROS_ALICE_OUTER1 -226122 ROS_ALICE_OUTER2 -226123 ROS_ALICE_PINHOLE -226124 ROS_ALICE_URF -226125 Name-ID Mapping keywords: \begindata NAIF_BODY_NAME += ( 'ROS_ALICE' ) NAIF_BODY_CODE += ( -226120 ) NAIF_BODY_NAME += ( 'ROS_ALICE_CENTER' ) NAIF_BODY_CODE += ( -226121 ) NAIF_BODY_NAME += ( 'ROS_ALICE_OUTER1' ) NAIF_BODY_CODE += ( -226122 ) NAIF_BODY_NAME += ( 'ROS_ALICE_OUTER2' ) NAIF_BODY_CODE += ( -226123 ) NAIF_BODY_NAME += ( 'ROS_ALICE_PINHOLE' ) NAIF_BODY_CODE += ( -226124 ) NAIF_BODY_NAME += ( 'ROS_ALICE_URF' ) NAIF_BODY_CODE += ( -226125 ) \begintext VIRTIS IDs -------------------------------------- This table summarizes VIRTIS IDs: Name ID --------------------- ------- ROS_VIRTIS -226200 ROS_VIRTIS-M -226210 ROS_VIRTIS-M_VIS -226211 ROS_VIRTIS-M_VIS_SCAN -226212 ROS_VIRTIS-M_IR -226213 ROS_VIRTIS-M_IR_SCAN -226214 ROS_VIRTIS-H -226220 ROS_VIRTIS_URF -226230 Name-ID Mapping keywords: \begindata NAIF_BODY_NAME += ( 'ROS_VIRTIS' ) NAIF_BODY_CODE += ( -226200 ) NAIF_BODY_NAME += ( 'ROS_VIRTIS-M' ) NAIF_BODY_CODE += ( -226210 ) NAIF_BODY_NAME += ( 'ROS_VIRTIS-M_VIS' ) NAIF_BODY_CODE += ( -226211 ) NAIF_BODY_NAME += ( 'ROS_VIRTIS-M_VIS_SCAN' ) NAIF_BODY_CODE += ( -226212 ) NAIF_BODY_NAME += ( 'ROS_VIRTIS-M_IR' ) NAIF_BODY_CODE += ( -226213 ) NAIF_BODY_NAME += ( 'ROS_VIRTIS-M_IR_SCAN' ) NAIF_BODY_CODE += ( -226214 ) NAIF_BODY_NAME += ( 'ROS_VIRTIS-H' ) NAIF_BODY_CODE += ( -226220 ) NAIF_BODY_NAME += ( 'ROS_VIRTIS_URF' ) NAIF_BODY_CODE += ( -226230 ) \begintext MIRO IDs -------------------------------------- This table summarizes MIRO IDs: Name ID --------------------- ------- ROS_MIRO -226130 ROS_MIRO_MM -226131 ROS_MIRO_SUBMM -226132 ROS_MIRO_URF -226135 Name-ID Mapping keywords: \begindata NAIF_BODY_NAME += ( 'ROS_MIRO' ) NAIF_BODY_CODE += ( -226130 ) NAIF_BODY_NAME += ( 'ROS_MIRO_MM' ) NAIF_BODY_CODE += ( -226131 ) NAIF_BODY_NAME += ( 'ROS_MIRO_SUBMM' ) NAIF_BODY_CODE += ( -226132 ) NAIF_BODY_NAME += ( 'ROS_MIRO_URF' ) NAIF_BODY_CODE += ( -226135 ) \begintext ROSINA IDs -------------------------------------- This table summarizes ROSINA IDs: Name ID --------------------- ------- ROS_ROSINA -226300 ROS_ROSINA_DFMS -226310 ROS_ROSINA_DFMS_WA -226311 ROS_ROSINA_DFMS_NA -226312 ROS_ROSINA_DFMS_URF -226319 ROS_ROSINA_RTOF -226320 ROS_ROSINA_RTOF_URF -226329 ROS_ROSINA_COPS -226330 ROS_ROSINA_COPS_URF -226339 Name-ID Mapping keywords: \begindata NAIF_BODY_NAME += ( 'ROS_ROSINA' ) NAIF_BODY_CODE += ( -226300 ) NAIF_BODY_NAME += ( 'ROS_ROSINA_DFMS' ) NAIF_BODY_CODE += ( -226310 ) NAIF_BODY_NAME += ( 'ROS_ROSINA_DFMS_WA' ) NAIF_BODY_CODE += ( -226311 ) NAIF_BODY_NAME += ( 'ROS_ROSINA_DFMS_NA' ) NAIF_BODY_CODE += ( -226312 ) NAIF_BODY_NAME += ( 'ROS_ROSINA_DFMS_URF' ) NAIF_BODY_CODE += ( -226319 ) NAIF_BODY_NAME += ( 'ROS_ROSINA_RTOF' ) NAIF_BODY_CODE += ( -226320 ) NAIF_BODY_NAME += ( 'ROS_ROSINA_RTOF_URF' ) NAIF_BODY_CODE += ( -226329 ) NAIF_BODY_NAME += ( 'ROS_ROSINA_COPS' ) NAIF_BODY_CODE += ( -226330 ) NAIF_BODY_NAME += ( 'ROS_ROSINA_COPS_URF' ) NAIF_BODY_CODE += ( -226339 ) \begintext COSIMA IDs -------------------------------------- This table summarizes COSIMA IDs: Name ID --------------------- ------- ROS_COSIMA -226140 ROS_COSIMA_URF -226145 Name-ID Mapping keywords: \begindata NAIF_BODY_NAME += ( 'ROS_COSIMA' ) NAIF_BODY_CODE += ( -226140 ) NAIF_BODY_NAME += ( 'ROS_COSIMA_URF' ) NAIF_BODY_CODE += ( -226145 ) \begintext MIDAS IDs -------------------------------------- This table summarizes MIDAS IDs: Name ID --------------------- ------- ROS_MIDAS -226150 ROS_MIDAS_URF -226155 Name-ID Mapping keywords: \begindata NAIF_BODY_NAME += ( 'ROS_MIDAS' ) NAIF_BODY_CODE += ( -226150 ) NAIF_BODY_NAME += ( 'ROS_MIDAS_URF' ) NAIF_BODY_CODE += ( -226155 ) \begintext CONSERT IDs -------------------------------------- This table summarizes CONSERT IDs: Name ID --------------------- ------- ROS_CONSERT -226160 ROS_CONSERT_URF -226165 Name-ID Mapping keywords: \begindata NAIF_BODY_NAME += ( 'ROS_CONSERT' ) NAIF_BODY_CODE += ( -226160 ) NAIF_BODY_NAME += ( 'ROS_CONSERT_URF' ) NAIF_BODY_CODE += ( -226165 ) \begintext NAVCAM IDs -------------------------------------- This table summarizes NAVCAM IDs: Name ID --------------------- ------- ROS_NAVCAM-A -226170 ROS_NAVCAM-A_URF -226175 ROS_NAVCAM-B -226180 ROS_NAVCAM-B_URF -226185 Name-ID Mapping keywords: \begindata NAIF_BODY_NAME += ( 'ROS_NAVCAM-A' ) NAIF_BODY_CODE += ( -226170 ) NAIF_BODY_NAME += ( 'ROS_NAVCAM-A_URF' ) NAIF_BODY_CODE += ( -226175 ) NAIF_BODY_NAME += ( 'ROS_NAVCAM-B' ) NAIF_BODY_CODE += ( -226180 ) NAIF_BODY_NAME += ( 'ROS_NAVCAM-B_URF' ) NAIF_BODY_CODE += ( -226185 ) \begintext GIADA IDs -------------------------------------- This table summarizes GIADA IDs: Name ID --------------------- ------- ROS_GIADA -226400 ROS_GIADA_GDS -226410 ROS_GIADA_IS -226420 ROS_GIADA_MBS1 -226431 ROS_GIADA_MBS2 -226432 ROS_GIADA_MBS3 -226433 ROS_GIADA_MBS4 -226434 ROS_GIADA_MBS5 -226435 ROS_GIADA_URF -226440 Name-ID Mapping keywords: \begindata NAIF_BODY_NAME += ( 'ROS_GIADA' ) NAIF_BODY_CODE += ( -226400 ) NAIF_BODY_NAME += ( 'ROS_GIADA_GDS' ) NAIF_BODY_CODE += ( -226410 ) NAIF_BODY_NAME += ( 'ROS_GIADA_IS' ) NAIF_BODY_CODE += ( -226420 ) NAIF_BODY_NAME += ( 'ROS_GIADA_MBS1' ) NAIF_BODY_CODE += ( -226431 ) NAIF_BODY_NAME += ( 'ROS_GIADA_MBS2' ) NAIF_BODY_CODE += ( -226432 ) NAIF_BODY_NAME += ( 'ROS_GIADA_MBS3' ) NAIF_BODY_CODE += ( -226433 ) NAIF_BODY_NAME += ( 'ROS_GIADA_MBS4' ) NAIF_BODY_CODE += ( -226434 ) NAIF_BODY_NAME += ( 'ROS_GIADA_MBS5' ) NAIF_BODY_CODE += ( -226435 ) NAIF_BODY_NAME += ( 'ROS_GIADA_URF' ) NAIF_BODY_CODE += ( -226440 ) \begintext RPC IDs -------------------------------------- This table summarizes RPC IDs: Name ID --------------------- ------- ROS_RPC -226500 ROS_RPC_LAP1 -226511 ROS_RPC_LAP2 -226512 ROS_RPC_LAP1_URF -226515 ROS_RPC_LAP2_URF -226516 ROS_RPC_IES -226520 ROS_RPC_IES_ELECTRON -226521 ROS_RPC_IES_ION -226522 ROS_RPC_IES_URF -226525 ROS_RPC_IES_QUAD1 -226526 ROS_RPC_IES_QUAD2 -226527 ROS_RPC_IES_QUAD3 -226528 ROS_RPC_IES_QUAD4 -226529 ROS_RPC_ICA -226530 ROS_RPC_ICA_URF -226535 ROS_RPC_ICA_QUAD1 -226536 ROS_RPC_ICA_QUAD2 -226537 ROS_RPC_ICA_QUAD3 -226538 ROS_RPC_ICA_QUAD4 -226539 ROS_RPC_MAG_OB -226541 ROS_RPC_MAG_IB -226542 ROS_RPC_MAG_OB_URF -226545 ROS_RPC_MAG_IB_URF -226546 ROS_RPC_MIP -226550 ROS_RPC_MIP_R1 -226551 ROS_RPC_MIP_T1 -226552 ROS_RPC_MIP_T2 -226553 ROS_RPC_MIP_R2 -226554 ROS_RPC_MIP_URF -226555 ROS_RPC_BOOM1 -226560 ROS_RPC_BOOM2 -226570 Name-ID Mapping keywords: \begindata NAIF_BODY_NAME += ( 'ROS_RPC' ) NAIF_BODY_CODE += ( -226500 ) NAIF_BODY_NAME += ( 'ROS_RPC_LAP1' ) NAIF_BODY_CODE += ( -226511 ) NAIF_BODY_NAME += ( 'ROS_RPC_LAP2' ) NAIF_BODY_CODE += ( -226512 ) NAIF_BODY_NAME += ( 'ROS_RPC_LAP1_URF' ) NAIF_BODY_CODE += ( -226515 ) NAIF_BODY_NAME += ( 'ROS_RPC_LAP2_URF' ) NAIF_BODY_CODE += ( -226516 ) NAIF_BODY_NAME += ( 'ROS_RPC_IES' ) NAIF_BODY_CODE += ( -226520 ) NAIF_BODY_NAME += ( 'ROS_RPC_IES_ELECTRON' ) NAIF_BODY_CODE += ( -226521 ) NAIF_BODY_NAME += ( 'ROS_RPC_IES_ION' ) NAIF_BODY_CODE += ( -226522 ) NAIF_BODY_NAME += ( 'ROS_RPC_IES_URF' ) NAIF_BODY_CODE += ( -226525 ) NAIF_BODY_NAME += ( 'ROS_RPC_IES_QUAD1' ) NAIF_BODY_CODE += ( -226526 ) NAIF_BODY_NAME += ( 'ROS_RPC_IES_QUAD2' ) NAIF_BODY_CODE += ( -226527 ) NAIF_BODY_NAME += ( 'ROS_RPC_IES_QUAD3' ) NAIF_BODY_CODE += ( -226528 ) NAIF_BODY_NAME += ( 'ROS_RPC_IES_QUAD4' ) NAIF_BODY_CODE += ( -226529 ) NAIF_BODY_NAME += ( 'ROS_RPC_ICA' ) NAIF_BODY_CODE += ( -226530 ) NAIF_BODY_NAME += ( 'ROS_RPC_ICA_URF' ) NAIF_BODY_CODE += ( -226535 ) NAIF_BODY_NAME += ( 'ROS_RPC_ICA_QUAD1' ) NAIF_BODY_CODE += ( -226536 ) NAIF_BODY_NAME += ( 'ROS_RPC_ICA_QUAD2' ) NAIF_BODY_CODE += ( -226537 ) NAIF_BODY_NAME += ( 'ROS_RPC_ICA_QUAD3' ) NAIF_BODY_CODE += ( -226538 ) NAIF_BODY_NAME += ( 'ROS_RPC_ICA_QUAD4' ) NAIF_BODY_CODE += ( -226539 ) NAIF_BODY_NAME += ( 'ROS_RPC_MAG_OB' ) NAIF_BODY_CODE += ( -226541 ) NAIF_BODY_NAME += ( 'ROS_RPC_MAG_IB' ) NAIF_BODY_CODE += ( -226542 ) NAIF_BODY_NAME += ( 'ROS_RPC_MAG_OB_URF' ) NAIF_BODY_CODE += ( -226545 ) NAIF_BODY_NAME += ( 'ROS_RPC_MAG_IB_URF' ) NAIF_BODY_CODE += ( -226546 ) NAIF_BODY_NAME += ( 'ROS_RPC_MIP' ) NAIF_BODY_CODE += ( -226550 ) NAIF_BODY_NAME += ( 'ROS_RPC_MIP_R1' ) NAIF_BODY_CODE += ( -226551 ) NAIF_BODY_NAME += ( 'ROS_RPC_MIP_T1' ) NAIF_BODY_CODE += ( -226552 ) NAIF_BODY_NAME += ( 'ROS_RPC_MIP_T2' ) NAIF_BODY_CODE += ( -226553 ) NAIF_BODY_NAME += ( 'ROS_RPC_MIP_R2' ) NAIF_BODY_CODE += ( -226554 ) NAIF_BODY_NAME += ( 'ROS_RPC_MIP_URF' ) NAIF_BODY_CODE += ( -226555 ) NAIF_BODY_NAME += ( 'ROS_RPC_BOOM1' ) NAIF_BODY_CODE += ( -226560 ) NAIF_BODY_NAME += ( 'ROS_RPC_BOOM2' ) NAIF_BODY_CODE += ( -226570 ) \begintext Rosetta Lander IDs -------------------------------------- This table summarizes Rosetta Lander IDs: Name ID --------------------- ------- Name-ID Mapping keywords: \begindata NAIF_BODY_NAME += ( '111' ) NAIF_BODY_CODE += ( 111 ) \begintext