KPL/FK BepiColombo MMO Spacecraft Frames Kernel ============================================================================= This frame kernel contains complete set of frame definitions for the BepiColombo Mercury Magnetospheric Orbiter Spacecraft (MMO), also known as Mio, including definitions for the MMO fixed and MMO science instrument frames. This kernel also contains NAIF ID/name mapping for the MMO science instruments and S/C structures (see the last section of the file). Version and Date ----------------------------------------------------------------------------- Version 1.2 -- February 23, 2023 -- Alfredo Escalante Lopez, ESAC/ESA Sae Aizawa, ISAS/JAXA Shin-ya Murakami, ISAS/JAXA Updated MMO_SPIN_AXIS and MMO_SPACECRAFT reference frames descriptions and definitions. Version 1.1 -- February 1, 2023 -- Marc Costa Sitja, ESAC/ESA Alfredo Escalante Lopez, ESAC/ESA Ricardo Valles Blanco, ESAC/ESA Shin-ya Murakami, ISAS/JAXA Added MMO_MGF_BOOM frame definition and updated MGF frames definition. Corrected several typos. Version 1.0 -- May 18, 2022 -- Ricardo Valles Blanco, ESAC/ESA Alfredo Escalante Lopez, ESAC/ESA Marc Costa Sitja, NAIF/JPL Added reference frames, diagrams and body/ID associations for PWI, MDM and MGF. Fixed typos and formatting for PDS4 Bundle release version 1.0. Corrected HEP-ION reference frame relative angles. Version 0.9 -- December 21, 2021 -- Go Murakami, ISAS/JAXA Ricardo Valles Blanco, ESAC/ESA Add frame information of MMO_SSAS for MSASI operation simulation. Version 0.8 -- May 25, 2021 -- Ricardo Valles Blanco, ESAC/ESA Fixed typos in naming of MMO_SPIN_AXIS and MMO_MGF frames at spacecraft frames table. Version 0.7 -- April 29, 2021 -- Alfredo Escalante Lopez, ESAC/ESA Defined reference frames for MPPE MEA, MSA and MIA Version 0.6 -- July 7, 2020 -- Alfredo Escalante Lopez, ESAC/ESA Marc Costa Sitja, ESAC/ESA Corrected MPPE reference frames and updated several diagrams and descriptions. Added MIO and BEPICOLOMBO MIO as MMO synonyms. Version 0.5 -- June 28, 2019 -- Tomoki Kimura, Tohoku University Add frame information of MMO_MSASI for MSASI operation simulation. Version 0.4 -- November 30, 2018 -- Marc Costa Sitja, ESAC/ESA Reordered the IDs to obtain MMO_SPACECRAFT as default name. Version 0.3 -- March 12, 2018 -- Marc Costa Sitja, ESAC/ESA Updated contact information and set MMO_SPACECRAFT_CRUISE frame relative to MPO_SPACECRAFT frame. Version 0.2 -- July 17, 2017 -- Marc Costa Sitja, ESAC/ESA Added MPO_SPIN_AXIS reference frame to implement the science phase nominal attitude. Version 0.1 -- March 1, 2017 -- Marc Costa Sitja, ESAC/ESA Added basic reference frames in order to incorporate HEP-ELE, ENA and MPPE-LEP instrument kernels and to map the MMO reference frames to the MCS/MPO Spacecraft. Version 0.0 -- February 7, 2017 -- Marc Costa Sitja, ESAC/ESA Preliminary Version. Only NAIF IDs for the spacecraft are defined. References ----------------------------------------------------------------------------- 1. ``Frames Required Reading'', NAIF. 2. ``Kernel Pool Required Reading'', NAIF. 3. ``C-Kernel Required Reading'', NAIF. 4. ``HEP-e field-of-view analysis (Feasibility study for Venus flyby)'', Go Murakami (ISAS/JAXA), 5th September 2016. 5. ``Scientific objectives and instrumentation of Mercury Plasma Particle Experiment(MPPE) onboard MMO'', Y. Saito, J.A. Sauvaud, et al., Planetary and Space Science, 2010, Volume 58, Issue 1-2, Page 182-200. 6. ``Request for the 1st Venus flyby: Mio observations'', Go Murakami, BepiColombo, Mio Science Working Group, 7th May 2020. 7. ``Development of the Mercury dust monitor (MDM) onboard the BepiColombo mission'', K. Nogami, Planetary and Space Science, 2010, Volume 58, Page 108-115. 8. ``The BepiColombo-Mio Magnetometer en Route to Mercury'', W. Baumjohann, Space Science Review, 216, 2020. 9. ``Plasma Wave Investigation (PWI) Aboard BepiColombo Mio on the Trip to the First Measurement of Electric Fields, Electromagnetic Waves, and Radio Waves Around Mercury'', Y. Kasaba, Space Science Review, 216, 2020. 10. Email communication from Go Murakami at 20th December 2021 ``CK generation tips for spinner spacecraft'', which includes the updated ``bc_mmo_v06_msasi_test.tf''. Contact Information ----------------------------------------------------------------------------- If you have any questions regarding this file contact the ESA SPICE Service at ESAC: Alfredo Escalante Lopez (+34) 91-8131-429 spice@sciops.esa.int or the SPICE support at Tohoku University: Tomoki KIMURA (+81) 22-795-6518 kimura@stpp.gp.tohoku.ac.jp 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. * SPICEYPY is a non-official, community developed Python wrapper for the NAIF SPICE toolkit. Its development is managed on Github. It is available at: https://github.com/AndrewAnnex/SpiceyPy BepiColombo MMO Mission NAIF ID Codes ----------------------------------------------------------------------------- The following names and NAIF ID codes are assigned to the MMO spacecraft, its structures and science instruments (the keywords implementing these definitions are located in the section "BepiColombo Mission NAIF ID Codes -- Definition Section" at the end of this file): MMO Spacecraft and Spacecraft Structures names/IDs: MMO -68 (synonyms: BEPICOLOMBO MMO, MERCURY MAGNETOSPHERIC ORBITER, MIO, BEPICOLOMBO MIO) MMO_SPACECRAFT -68000 (synonym: MMO_SC) MMO_MDM -68100 MMO_MGF_BOOM -68200 MMO_MGF-I -68201 MMO_MGF-O -68202 MMO_MPPE -68300 MMO_MPPE_MEA1 -68310 MMO_MPPE_MEA1_CRUISE -68311 MMO_MPPE_MEA2 -68320 MMO_MPPE_MEA2_CRUISE -68321 MMO_MPPE_HEP-ELE -68330 MMO_MPPE_HEP-ELE_UPPER -68331 MMO_MPPE_HEP-ELE_LOWER -68332 MMO_MPPE_HEP-ELE_CRUISE -68333 MMO_MPPE_HEP-ION -68335 MMO_MPPE_MSA -68340 MMO_MPPE_MSA_CRUISE -68341 MMO_MPPE_MIA -68350 MMO_MPPE_MIA_CRUISE -68351 MMO_MPPE_ENA -68370 MMO_MPPE_ENA_CRUISE -68371 MMO_MPPE-LEP -68380 MMO_MSASI -68400 MMO_MSASI_SLIT -68401 MMO_SSAS -68500 MMO_SSAS_SLIT -68501 MMO_PWI_MEF1 -68501 MMO_PWI_MEF2 -68502 MMO_PWI_WPT1 -68503 MMO_PWI_WPT2 -68504 MMO_PWI_SC_MAST -68505 MMO_PWI_SC -68506 BepiColombo MMO Mission Frames ----------------------------------------------------------------------------- The following MMO frames are defined in this kernel file: Name Relative to Type NAIF ID ====================== ===================== ============ ========= Spacecraft frames: ------------------ MMO_SPIN_AXIS J2000 CK -68900 MMO_SPACECRAFT_CRUISE MPO_SPACECRAFT FIXED -68001 MMO_SPACECRAFT (*) MMO_SPACECRAFT_CRUISE CK -68000 MMO_SPACECRAFT (*) MMO_SPIN_AXIS CK -68000 MMO_SPACECRAFT (*) J2000 CK -68000 (*) During cruise operations, the reference frame MMO_SPACECRAFT is defined as a fixed rotation from MMO_SPACECRAFT_CRUISE. During science operations, the reference frame MMO_SPACECRAFT is relative to MMO_SPIN_AXIS for predicted attitude and to J2000 for measured attitude. Science instruments frames: --------------------------- MMO_MDM MMO_SPACECRAFT FIXED -68100 MMO_MGF_BOOM MMO_SPACECRAFT FIXED -68200 MMO_MGF-I MMO_MGF_BOOM FIXED -68201 MMO_MGF-O MMO_MGF_BOOM FIXED -68202 MMO_MPPE_MEA1 MMO_SPACECRAFT FIXED -68310 MMO_MPPE_MEA2 MMO_SPACECRAFT FIXED -68320 MMO_MPPE_HEP-ELE MMO_SPACECRAFT FIXED -68330 MMO_MPPE_HEP-ION MMO_SPACECRAFT FIXED -68335 MMO_MPPE_MSA MMO_SPACECRAFT FIXED -68340 MMO_MPPE_MIA MMO_SPACECRAFT FIXED -68350 MMO_MPPE_ENA MMO_SPACECRAFT FIXED -68370 MMO_MPPE-LEP MMO_SPACECRAFT FIXED -68380 MMO_MSASI MMO_SPACECRAFT FIXED -68400 MMO_SSAS MMO_SPACECRAFT FIXED -68500 MMO_PWI_MEF1 MMO_SPACECRAFT FIXED -68501 MMO_PWI_MEF2 MMO_SPACECRAFT FIXED -68502 MMO_PWI_WPT1 MMO_SPACECRAFT FIXED -68503 MMO_PWI_WPT2 MMO_SPACECRAFT FIXED -68504 MMO_PWI_SC_MAST MMO_SPACECRAFT FIXED -68505 MMO_PWI_SC MMO_SPACECRAFT FIXED -68506 In addition, the following frames, in use by the BepiColombo mission, are defined in other kernels or `built into' the SPICE system: Name Relative to Type NAIF ID ====================== ===================== ============ ========= BepiColombo mission specific science frames (2): ------------------------------------------------ BC_MME_IAU2006_OF_DATE J2000 DYNAMIC -121921 BC_MME_IAU2006_J2000 J2000 FIXED -121922 BC_MME_IAU2009_OF_DATE J2000 DYNAMIC -121923 BC_MME_IAU2009_J2000 J2000 FIXED -121924 (2) These frames are defined in the frame kernel file "bc_sci_vVV.tf" (VV is the version number) SPICE 'Built-in' PCK frames in use by BepiColombo (3): ------------------------------------------------------ IAU_MERCURY J2000 PCK built-in IAU_EARTH J2000 PCK built-in IAU_VENUS J2000 PCK built-in (3) Data for these frames is loaded using either the PCK file "pckVVVVV.tpc" (VVVVV is the version number) BepiColombo MMO Frames Hierarchy ----------------------------------------------------------------------------- The diagram below shows the BepiColombo MMO frames hierarchy: - During cruise operations, the reference frame MMO_SPACECRAFT is related to MMO_SPACECRAFT_CRUISE. - During science operations, the reference frame MMO_SPACECRAFT is related to MMO_SPIN_AXIS for predicted attitude and to J2000 for measured attitude. "J2000" INERTIAL +-----------------------------------------------------+ | | | | | | |<-pck |<-pck |<-pck | | |<-ck | | | | | | v | v | | v "IAU_EARTH" | "IAU_MERCURY" | | "MPO_SPACECRAFT" ----------- | ------------- | | ---------------- | | | | v |<-ck | | "IAU_VENUS" | | | ----------- | | |<-fixed | | v "MMO_SPIN_AXIS" | "MMO_SPACECRAFT_CRUISE" --------------- | ----------------------- | | | |<-ck |<-ck |<-ck(*) | | | | v | V "MMO_SPACECRAFT" v +-------------------------+ . . . V Individual instrument frame trees are provided in the other sections of this file (*) In these cases transformation is fixed but it has to be stored in a CK to make SPICE ``traverse'' appropriate frame tree branch based on the time of interest and/or loaded kernels. Implementation of Frame Chains for Different Mission Phases ----------------------------------------------------------------------------- Different routes along the branches of the MMO frame hierarchy are implemented for different mission phases depending on the availability of the orientation data and the source, format and type of the data. This subsection summarizes mission phase specific implementations. Cruise ------ "J2000" Inertial ---------------- | | <----------- CK segment containing TLM quaternions, AEM data or | test attitude generated by the BepiColombo SGS v and the ESA SPICE Service. "MPO_SPACECRAFT" ---------------- | | <----------- Fixed rotation based on frame definitions. | V "MMO_SPACECRAFT_CRUISE" ----------------------- | | <----------- CK segment representing fixed rotation defined | by the MMO design and to make SPICE "transverse" V to the appropriate frame chain. "MMO_SPACECRAFT" ---------------- Science Phase ------------- "J2000" Inertial ---------------- | | <----------- CK segment containing TLM quaternions, AEM data or | test attitude generated by the BepiColombo MMO SGS | and the ESA SPICE Service. V "MMO_SPACECRAFT" ---------------- MMO Spacecraft and Spacecraft Structures Frames ----------------------------------------------------------------------------- This section of the file contains the definitions of the spacecraft and spacecraft structures frames. DISCLAIMER: The origin of the frames specified in the following definitions are not implemented. The ``true'' origin of all frames is in the center of the MMO_SPACECRAFT frame, the center of which is defined by the position given by the SPK (ephemeris) kernel in use. MMO Spacecraft Bus Frame ----------------------------------------------------------------------------- The MMO spacecraft frame -- MMO_SPACECRAFT -- is defined by the S/C design as follows (from [4]): - +Z axis is perpendicular to the MPO-MOSIF separation plane and points to the HGA in deployed configuration; - +X axis is parallel to the MPO-MOSIF separation plane and points to WPT-S1 antenna; - +Y axis completes the right-handed frame and is parallel to the MEFISTO antennas; - the origin of this frame is the Mercury Transfer Module/MPO interface point on the separation plane. These diagram(s) illustrate the MMO_SPACECRAFT frame: +Z S/C side (HGA) view: ----------------------- _ HEP-ele .--------------| |---. ,', .' | | '. .' .' +Ysc |_| '. '.' ^ '. .' | '. . | . ENA __| , - | - , | | | / | \ | '--| `, |+Zsc , | +Zsc is | , ` , o------------> | out of the | | / '/, , +Xsc | page. | |\ / ,' ` / | . | /'/----- ' / '. |/,' . '. .' '. '. .', ,' '. .' ' '--------------------' -Y S/C side view: ----------------- , - - - , / \ / \ . \ / . | \ _ / | . | | , \ | | / ' ----- ' | | ____| |_____ _____________\__________|_____________ |////|///||////////|/////////||///|////| +Ysc is |----|---||--------|---------||---|----| into the |////|///||////////|/////////||///|////| page. |----|---||--------|---------||---|----| |////|///||////////|/////////||///|////| |----|---||--------|---------||---|----| |////|///||////////|/////////||///|////| |----|---|---------|----------|---|----| Upper Deck | || +Zsc || | ENA _| || ^ || ,--. | |_| || _| || | | | | || |_|| || |__| | |________||_________|________||________| Lower Deck x------------>+Xsc +Ysc Since the S/C bus attitude with respect to an inertial frame is provided by a C-kernel (see [3] for more information), this frame is defined as a CK-based frame. \begindata FRAME_MMO_SPACECRAFT = -68000 FRAME_-68000_NAME = 'MMO_SPACECRAFT' FRAME_-68000_CLASS = 3 FRAME_-68000_CLASS_ID = -68000 FRAME_-68000_CENTER = -68 CK_-68000_SCLK = -68 CK_-68000_SPK = -68 \begintext MMO Spacecraft Cruise Frame ---------------------------------------------------------------------------- The MMO Spacecraft Cruise frame -- MMO_SPACECRAFT_CRUISE -- is a special frame used in cruise in order to ``attach'' the MMO spacecraft to the MPO during the cruise phase, it is defined as follows (from [4]): - +Z axis is perpendicular to the MPO-MOSIF separation plane and is anti-parallel to the MPO S/C +Z axis; - +X axis is parallel to the MPO-MOSIF separation plane and points to WPT-S1 antenna; it is rotated -30 degrees with respect to the MPO +X axis around the +Z axis - +Y axis completes the right-handed frame; - the origin of this frame is the MMO/MPO interface point on the separation plane. This frame is defined a fixed-offset 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_MMO_SPACECRAFT_CRUISE = -68001 FRAME_-68001_NAME = 'MMO_SPACECRAFT_CRUISE' FRAME_-68001_CLASS = 4 FRAME_-68001_CLASS_ID = -68001 FRAME_-68001_CENTER = -68 TKFRAME_-68001_RELATIVE = 'MPO_SPACECRAFT' TKFRAME_-68001_SPEC = 'ANGLES' TKFRAME_-68001_UNITS = 'DEGREES' TKFRAME_-68001_AXES = ( 1, 3, 1 ) TKFRAME_-68001_ANGLES = ( 0.0, -30.0, 180.0 ) \begintext MMO Spin Axis Frame ---------------------------------------------------------------------------- The MMO Spin Axis frame -- MMO_SPIN_AXIS -- is a special frame used in the science phase default orientation predicted CK files. In these files the MMO_SPACECRAFT frame orientation is not stored relative to the J2000 frame. Instead it is ``decomposed'' into two orientations: the nominal spin axis orientation captured in the segments providing the orientation of the MMO_SPIN_AXIS frame relative to the J2000 frame and the nominal rotation about the spin axis captured in the segments providing the orientation of the MMO_SPACECRAFT frame relative to the MMO_SPIN_AXIS frame. The MMO Spin Axis frame -- MMO_SPIN_AXIS -- is defined as follows: - +Z axis is nominally co-aligned with the IAU_MERCURY +Z axis; - +X axis is parallel to the MMO orbital velocity; - +Y axis completes the right-handed frame; - the origin of this frame is the Mercury Transfer Module/MPO interface point on the separation plane. MMO_SPIN_AXIS is defined as a CK-based frame. \begindata FRAME_MMO_SPIN_AXIS = -68900 FRAME_-68900_NAME = 'MMO_SPIN_AXIS' FRAME_-68900_CLASS = 3 FRAME_-68900_CLASS_ID = -68900 FRAME_-68900_CENTER = -68 CK_-68900_SCLK = -68 CK_-68900_SPK = -68 \begintext MDM (Mercury Dust Monitor) Frames: ----------------------------------------------------------------------------- This section of the file contains the definitions for the Mercury Dust Monitor instrument [7]. MDM Frame Tree: ~~~~~~~~~~~~~~~ The diagram below shows the MDM frame hierarchy. "MMO_SPACECRAFT" ---------------- | |<-fixed | V "MMO_MDM" --------- MDM Frame: ~~~~~~~~~~~~ The MDM frame -- MMO_MDM -- is defined as a fixed offset with respect to the MMO_SPACECRAFT frame as follows: - +Y axis is nominally co-aligned with the +Zsc axis; - +Z axis is nominally anti-parallel with the +Ysc axis; - +X axis completes the right hand frame; - the origin of the frame is located at the geometrical center of the detector. This diagram illustrates the MDM frame: +Z S/C side (HGA) view: ----------------------- _ .--------------| |---. ,', .' | | '. .' .' +Ysc |_| '. '.' ^ '. / | '. . | . __| | | | | | +Zsc | '--| o------------> | | +Xsc | | | | | . / '. / '. .' '. +Ymdm and +Zsc '. +Ymdm .', ,' are out of the '. o------> +Xmdm .' ' page. '--|-----------------' | V +Zmdm 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_MMO_MDM = -68100 FRAME_-68100_NAME = 'MMO_MDM' FRAME_-68100_CLASS = 4 FRAME_-68100_CLASS_ID = -68100 FRAME_-68100_CENTER = -68100 TKFRAME_-68100_RELATIVE = 'MMO_SPACECRAFT' TKFRAME_-68100_SPEC = 'ANGLES' TKFRAME_-68100_UNITS = 'DEGREES' TKFRAME_-68100_AXES = ( 1, 2, 3 ) TKFRAME_-68100_ANGLES = ( -90.0, 0.0, 0.0 ) \begintext MGF (MMO Fluxgate Magnetometer) Frames: ----------------------------------------------------------------------------- This section of the file contains the definitions for the MMO Fluxgate magnetometer instrument [8]. MGF Frame Tree: ~~~~~~~~~~~~~~~ The diagram below shows the MGF frame hierarchy. "MMO_SPACECRAFT" ---------------- | |<-fixed | V "MMO_MGF_BOOM" +------------------------+ | | |<-fixed |<-fixed | | V V "MMO_MGF-I" "MMO_MGF-O" ----------- ----------- MGF Frames: ~~~~~~~~~~~ MGF is a set of two tri-axial fluxgate magnetometers. The outboard magnetometer is referred to as MGF-O, and its sensor is located at the tip of a 4.86 meters long extendable boom, which is dedicated to the fluxgate sensors. The inboard magnetometer is referred to as MGF-I and the sensor is mounted on the same boom with a distance of 1.56 meters from the boom tip. Extension of the boom will be performed in the initial phase of the MMO operation just after the separation of the MMO from the MCS (Mercury Composite Spacecraft) at the Mercury orbit. The MGF boom frame -- MMO_MGF_BOOM -- is defined as a fixed offset with respect to the MMO_SPACECRAFT frame as follows: - +Z axis is nominally co-aligned with the +Zsc axis; - +Y axis is nominally rotated 45 degrees around the +Zsc axis; and co-aligned with the boom such that this axis points from the inboard magnetometer sensor towards the outboard magnetometer. - +X axis completes the right hand frame; - the origin of this frame is located at the mast canister. The MGF frames -- MMO_MGF-I -- and -- MMO_MGF-O -- are defined as a fixed offset with respect to the MMO_MGF_BOOM frame as follows: - +Z axis is nominally co-aligned with the +Z boom axis; - +Y axis is nominally co-aligned with the boom such that this axis points from the inboard magnetometer sensor towards the outboard magnetometer. - +X axis completes the right hand frame; - the origin of these frames are located at the geometrical center of the each detector. This diagram illustrates the MGF frames: +Z S/C side (HGA) view: ----------------------- +Ymgf-o ^ .> +Xmgf-o '.+Ymgf-i.' '^ .' .> +Xmgf-i 'o'. .' '.'.'. .' '.'o'+Ymgf_b .> +Xmgf_b '. ^ . .' '.'.'. .' ^ +Ysc '.'o'._.---|---._ '..' | '. | | | | o--------> +Xsc +Zmgf_b, +Zmgf-i, | +Zsc | +Zmgf-o and +Zsc are '. .' out of the page. '._______..' '. '. '. '. '. '. '. Since the SPICE frames subsystem calls for specifying the reverse transformation--going from the instrument or structure frame to the base frame--as compared to the description given above, the order of rotations assigned to the TKFRAME_*_AXES keyword is also reversed compared to the above text, and the signs associated with the rotation angles assigned to the TKFRAME_*_ANGLES keyword are the opposite from what is written in the above text. \begindata FRAME_MMO_MGF_BOOM = -68200 FRAME_-68200_NAME = 'MMO_MGF_BOOM' FRAME_-68200_CLASS = 4 FRAME_-68200_CLASS_ID = -68200 FRAME_-68200_CENTER = -68200 TKFRAME_-68200_RELATIVE = 'MMO_SPACECRAFT' TKFRAME_-68200_SPEC = 'ANGLES' TKFRAME_-68200_UNITS = 'DEGREES' TKFRAME_-68200_AXES = ( 1, 2, 3 ) TKFRAME_-68200_ANGLES = ( 0.0, 0.0, -45.0 ) FRAME_MMO_MGF-I = -68201 FRAME_-68201_NAME = 'MMO_MGF-I' FRAME_-68201_CLASS = 4 FRAME_-68201_CLASS_ID = -68201 FRAME_-68201_CENTER = -68201 TKFRAME_-68201_RELATIVE = 'MMO_MGF_BOOM' TKFRAME_-68201_SPEC = 'ANGLES' TKFRAME_-68201_UNITS = 'DEGREES' TKFRAME_-68201_AXES = ( 1, 2, 3 ) TKFRAME_-68201_ANGLES = ( 0.0, 0.0, 0.0 ) FRAME_MMO_MGF-O = -68202 FRAME_-68202_NAME = 'MMO_MGF-O' FRAME_-68202_CLASS = 4 FRAME_-68202_CLASS_ID = -68202 FRAME_-68202_CENTER = -68202 TKFRAME_-68202_RELATIVE = 'MMO_MGF_BOOM' TKFRAME_-68202_SPEC = 'ANGLES' TKFRAME_-68202_UNITS = 'DEGREES' TKFRAME_-68202_AXES = ( 1, 2, 3 ) TKFRAME_-68202_ANGLES = ( 0.0, 0.0, 0.0 ) \begintext MPPE (Mercury Plasma Particle Experiment) Frames: ----------------------------------------------------------------------------- This section of the file contains the definitions for the Mercury Plasma Particle Experiment (MPPE) instrument package. MPPE Frame Tree: ~~~~~~~~~~~~~~~~ The diagram below shows the MPPE frame hierarchy. "MMO_SPACECRAFT" +-----------------------------------------------------------+ | | | | | | | |<-fixed |<-fixed |<-fixed |<-fixed |<-fixed |<-fixed |<-fixed | | | | | | | | V | V | V | | MMO_MPPE_MEA2 | MMO_MPPE_MSA | MMO_MPPE_ENA | | ------------- | ------------ | ------------ | V V V V MMO_MPPE_MEA1 MMO_MPPE_HEP-ELE MMO_MPPE_MIA MMO_MPPE_HEP-ION ------------- ---------------- ------------ ---------------- MEA Frames: ~~~~~~~~~~~ This section contains the Mercury Electron Analyzers (MEA1 and MEA2) frame definitions. The MEA1 frame -- MMO_MPPE_MEA1 -- is defined as a fixed offset with respect to the MMO_SPACECRAFT frame as follows: - +Y axis is nominally co-aligned with the +Zsc axis; - +Z axis is nominally rotated -157.5 degrees around the +Zsc axis from the -Ysc axis to -Xsc axis; - +X axis completes the right hand frame; - the origin of this frame is located at the geometrical center of the detector. The MEA2 frame -- MMO_MPPE_MEA2 -- is defined as a fixed offset with respect to the MMO_SPACECRAFT frame as follows: - +Y axis is nominally co-aligned with the +Zsc axis; - +Z axis is nominally rotated -67.5 degrees around the +Zsc axis from the -Ysc axis to -Xsc axis; - +X axis completes the right hand frame; - the origin of this frame is located at the geometrical center of the detector. These diagram(s) illustrate the MEA1 and MEA2 frames: +Z S/C side (HGA) view: ----------------------- ^ +Zmea1 \ _\. _ \.\\--------------| |--. ,', .'\_o+Ymea1 | | '. .' .' / |_| '. '.' / '. .' / ^+Ysc '. . V | . __| +Xmea1 , - | - , | | | / | \ | '--| `, |+Zsc , | +Zsc, +Ymea1 | , ` , o------------> | and +Ymea2 |+Ymea2 | / '/, , +Xsc | are out of .-__-o\ |\ / ,' ` / | the page. +Zmea2 <--'_.-'\ | /'/----- ' / '. \ |/,' . '. \ .' '. '.V .', ,' +Xmea2. .' ' '--------------------' 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_MMO_MPPE_MEA1 = -68310 FRAME_-68310_NAME = 'MMO_MPPE_MEA1' FRAME_-68310_CLASS = 4 FRAME_-68310_CLASS_ID = -68310 FRAME_-68310_CENTER = -68310 TKFRAME_-68310_RELATIVE = 'MMO_SPACECRAFT' TKFRAME_-68310_SPEC = 'ANGLES' TKFRAME_-68310_UNITS = 'DEGREES' TKFRAME_-68310_AXES = ( 3, 2, 1 ) TKFRAME_-68310_ANGLES = ( 157.5, 0.0, -90.0 ) FRAME_MMO_MPPE_MEA2 = -68320 FRAME_-68320_NAME = 'MMO_MPPE_MEA2' FRAME_-68320_CLASS = 4 FRAME_-68320_CLASS_ID = -68320 FRAME_-68320_CENTER = -68320 TKFRAME_-68320_RELATIVE = 'MMO_SPACECRAFT' TKFRAME_-68320_SPEC = 'ANGLES' TKFRAME_-68320_UNITS = 'DEGREES' TKFRAME_-68320_AXES = ( 3, 2, 1 ) TKFRAME_-68320_ANGLES = ( 67.5, 0.0, -90.0 ) \begintext HEP-ELE Frame: ~~~~~~~~~~~~~~ This section contains the High Energy Particle instrument for Electrons (HEP-ele) reference frame definition. The HEP-ELE frame -- MMO_MPPE_HEP-ELE -- is defined as a fixed offset with respect to the MMO_SPACECRAFT frame as follows: - +Y axis is nominally co-aligned with the +Zsc axis; - +Z axis is nominally co-aligned with the +Ysc axis; - +X axis completes the right hand frame and is nominally anti-parallel to the +Xsc axis; - the origin of this frame is located at the geometrical center of the detector. These diagram(s) illustrate the HEP-ELE frame: +Z S/C side (HGA) view: ----------------------- +Zele ^ | | HEP-ele .----------------|||--. ,', .' +Xele <------|o|+Yele .' .' |_| '. '.' '. .' ^+Ysc '. . | . __| , - | - , | | | / | \ | '--| `, |+Zsc , | +Zsc, +Yele | , ` , o------------> | are out of | | / '/, , +Xsc | the page. | |\ / ,' ` / | . | /'/----- ' / '. |/,' . '. .' '. '. .', ,' '. .' ' '--------------------' Since the SPICE frames subsystem calls for specifying the reverse transformation--going from the instrument or structure frame to the base frame--as compared to the description given above, the order of rotations assigned to the TKFRAME_*_AXES keyword is also reversed compared to the above text, and the signs associated with the rotation angles assigned to the TKFRAME_*_ANGLES keyword are the opposite from what is written in the above text. \begindata FRAME_MMO_MPPE_HEP-ELE = -68330 FRAME_-68330_NAME = 'MMO_MPPE_HEP-ELE' FRAME_-68330_CLASS = 4 FRAME_-68330_CLASS_ID = -68330 FRAME_-68330_CENTER = -68330 TKFRAME_-68330_RELATIVE = 'MMO_SPACECRAFT' TKFRAME_-68330_SPEC = 'ANGLES' TKFRAME_-68330_UNITS = 'DEGREES' TKFRAME_-68330_AXES = ( 3, 2, 1 ) TKFRAME_-68330_ANGLES = ( 0.0, 180.0, 90.0 ) \begintext HEP-ION Frame: ~~~~~~~~~~~~~~ This section contains the High Energy Particle instrument for Ions (HEP-ion) reference frame definition. The HEP-ION frame -- MMO_MPPE_HEP-ION -- is defined as a fixed offset with respect to the MMO_SPACECRAFT frame as follows: - +Y axis is nominally co-aligned with the +Zsc axis; - +Z axis is nominally rotated 300 degrees around the +Zsc axis from the +Ysc axis to the +Xsc; - +X axis completes the right hand frame; - the origin of this frame is located at the geometrical center of the detector. These diagram(s) illustrate the HEP-ION frame: +Z S/C side (HGA) view: ----------------------- _ .----------------| |--. ,', .' | | +Yion _.-> + Xion .' .' |_| .-' 'o' '.' '..-' .\ .' ^+Ysc '.\ . | . v + Zion __| , - | - , | | | / | \ | '--| `, |+Zsc , | +Zsc, +Yion | , ` , o------------> | are out of | | / '/, , +Xsc | the page. | |\ / ,' ` / | . | /'/----- ' / '. |/,' . '. .' '. '. .', ,' '. .' ' '--------------------' Since the SPICE frames subsystem calls for specifying the reverse transformation--going from the instrument or structure frame to the base frame--as compared to the description given above, the order of rotations assigned to the TKFRAME_*_AXES keyword is also reversed compared to the above text, and the signs associated with the rotation angles assigned to the TKFRAME_*_ANGLES keyword are the opposite from what is written in the above text. \begindata FRAME_MMO_MPPE_HEP-ION = -68335 FRAME_-68335_NAME = 'MMO_MPPE_HEP-ION' FRAME_-68335_CLASS = 4 FRAME_-68335_CLASS_ID = -68335 FRAME_-68335_CENTER = -68335 TKFRAME_-68335_RELATIVE = 'MMO_SPACECRAFT' TKFRAME_-68335_SPEC = 'ANGLES' TKFRAME_-68335_UNITS = 'DEGREES' TKFRAME_-68335_AXES = ( 3, 2, 1 ) TKFRAME_-68335_ANGLES = ( 300.0, 0.0, -90.0 ) \begintext MSA and MIA Frames: ~~~~~~~~~~~~~~~~~~~ This section contains the two ion sensors (MIA and MSA) reference frame definitions. The MSA frame -- MMO_MPPE_MSA -- is defined as a fixed offset with respect to the MMO_SPACECRAFT frame as follows: - +Y axis is nominally co-aligned with the +Zsc axis; - +Z axis is nominally rotated 22.5 degrees around the +Zsc axis from the -Ysc axis to +Xsc axis; - +X axis completes the right hand frame; - the origin of this frame is located at the geometrical center of the detector. The MIA frame -- MMO_MPPE_MIA -- is defined as a fixed offset with respect to the MMO_SPACECRAFT frame as follows: - +Y axis is nominally co-aligned with the +Zsc axis; - +Z axis is nominally rotated -247.5 degrees around the +Zsc axis from the -Ysc axis to -Xsc axis; - +X axis completes the right hand frame; - the origin of this frame is located at the geometrical center of the detector. This diagram illustrates the MSA and MIA frames: +Z S/C side (HGA) view: ----------------------- _ .----------------| |--. +Xmia ,', .' | | '. ^ .' .' |_| '. \ '.' '. \ .' ^+Ysc '.\ __--> +Zmia . | .-'o--' __| , - | - , '._+Ymia | | / | \ | | `, |+Zsc , | +Zsc, +Ymsa, | , ` , o------------> | +Ymia are out | | / '/, , +Xsc | of the page. | |\ / ,' ` / | . | /'/----- ' / '. |/,' . '. .' '. '. .', __-> +Xmsa '. +Ymsa'\'_--' '------------------\ o'\ \.\' \ V +Zmsa 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_MMO_MPPE_MSA = -68340 FRAME_-68340_NAME = 'MMO_MPPE_MSA' FRAME_-68340_CLASS = 4 FRAME_-68340_CLASS_ID = -68340 FRAME_-68340_CENTER = -68340 TKFRAME_-68340_RELATIVE = 'MMO_SPACECRAFT' TKFRAME_-68340_SPEC = 'ANGLES' TKFRAME_-68340_UNITS = 'DEGREES' TKFRAME_-68340_AXES = ( 3, 2, 1 ) TKFRAME_-68340_ANGLES = ( -22.5, 0.0, -90.0 ) FRAME_MMO_MPPE_MIA = -68350 FRAME_-68350_NAME = 'MMO_MPPE_MIA' FRAME_-68350_CLASS = 4 FRAME_-68350_CLASS_ID = -68350 FRAME_-68350_CENTER = -68350 TKFRAME_-68350_RELATIVE = 'MMO_SPACECRAFT' TKFRAME_-68350_SPEC = 'ANGLES' TKFRAME_-68350_UNITS = 'DEGREES' TKFRAME_-68350_AXES = ( 3, 2, 1 ) TKFRAME_-68350_ANGLES = ( 247.5, 0.0, -90.0 ) \begintext ENA Frame: ~~~~~~~~~~ This section contains the Energetic Neutrals Analyzer (ENA) reference frame definition. The ENA frame -- MMO_MPPE_ENA -- is defined as a fixed offset with respect to the MMO_SPACECRAFT frame as follows: - +Y axis is nominally co-aligned with the +Zsc axis; - +Z axis is nominally anti-parallel to the +Xsc axis; - +X axis completes the right hand frame; - the origin of this frame is located at the geometrical center of the detector. This diagram illustrates the ENA frame: +Z S/C side (HGA) view: ----------------------- _ .--------------| |---. ,', .' | | '. .' .' +Ysc |_| '. '.' ^ '. .' | '. . | . ENA __| , - | - , | +Zena <------o +Yena / | \ | '-|| `, |+Zsc , | +Zsc, +Yena || , ` , o------------> | are out of V| | / '/, , +Xsc | the page. +Xena |\ / ,' ` / | . | /'/----- ' / '. |/,' . '. .' '. '. .', ,' '. .' ' '--------------------' 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_MMO_MPPE_ENA = -68370 FRAME_-68370_NAME = 'MMO_MPPE_ENA' FRAME_-68370_CLASS = 4 FRAME_-68370_CLASS_ID = -68370 FRAME_-68370_CENTER = -68370 TKFRAME_-68370_RELATIVE = 'MMO_SPACECRAFT' TKFRAME_-68370_SPEC = 'ANGLES' TKFRAME_-68370_UNITS = 'DEGREES' TKFRAME_-68370_AXES = ( 1, 2, 3 ) TKFRAME_-68370_ANGLES = ( -90.0, 90.0, 0.0 ) \begintext LEP Frame: ~~~~~~~~~~ This section contains the Low Energy Particles detector (LEP) reference frame definition. The LEP frame -- MMO_MPPE-LEP -- is nominally co-aligned with the MMO_SPACECRAFT frame as follows: - +Z axis is nominally co-aligned to the +Zsc axis; - +X is nominally co-aligned to the +Xsc axis; - +Y axis completes the right hand frame; - the origin of this frame is the Mercury Transfer Module/MPO interface point on the separation plane. This diagram illustrates the LEP frame: +Z S/C side (HGA) view: ----------------------- _ .---------------| |--. ,', .' | | '. .' .' +Ysc |_| '. '.' ^ '. / | '. . |^ +Ylep . __| , - ||- , | | | / || \ | '--| `, +Zsc|o------> +Xlep | +Zsc, +Zlep | , ` , o------------> | are out of | | / '/, , +Xsc | the page. | |\ / ,' ` / | . | /'/----- ' / '. |/,' . '. .' '. '. .', ,' '. .' ' '--------------------' Since the SPICE frames subsystem calls for specifying the reverse transformation--going from the instrument or structure frame to the base frame--as compared to the description given above, the order of rotations assigned to the TKFRAME_*_AXES keyword is also reversed compared to the above text, and the signs associated with the rotation angles assigned to the TKFRAME_*_ANGLES keyword are the opposite from what is written in the above text. \begindata FRAME_MMO_MPPE-LEP = -68380 FRAME_-68380_NAME = 'MMO_MPPE-LEP' FRAME_-68380_CLASS = 4 FRAME_-68380_CLASS_ID = -68380 FRAME_-68380_CENTER = -68 TKFRAME_-68380_RELATIVE = 'MMO_SPACECRAFT' TKFRAME_-68380_SPEC = 'ANGLES' TKFRAME_-68380_UNITS = 'DEGREES' TKFRAME_-68380_AXES = ( 1, 2, 3 ) TKFRAME_-68380_ANGLES = ( 0.0, 0.0, 0.0 ) \begintext MSASI (Mercury Sodium Atmosphere Spectral Imager) Frames: ----------------------------------------------------------------------------- This section of the file contains the definitions for the Mercury Sodium Atmosphere Spectral Imager instrument. MSASI Frame Tree: ~~~~~~~~~~~~~~~~~ The diagram below shows the MSASI frame hierarchy. "MMO_SPACECRAFT" ---------------- | |<-fixed | V "MMO_MSASI" ----------- MSASI Frame: ~~~~~~~~~~~~ The MSASI frame -- MMO_MSASI -- is defined as a fixed offset with respect to the MMO_SPACECRAFT frame as follows: - +Z axis is nominally co-aligned with the +Zsc axis; - +X axis is rotated -337.5 degrees around the +Zsc axis from the +Xsc axis to -Ysc axis; - +Y axis completes the right hand frame; - the origin of this frame is located at the geometrical center of the detector. This diagram illustrates the MSASI frame: +Z S/C side (HGA) view: ----------------------- _ .--------------| |---. ,', .' | | '. .' .' +Ysc |_| '. '.' ^ '. / | '. . | . __| | | | | | +Zsc | '--| o------------> | | +Ymsasi > +Xsc | | ^. .' +Xmsasi | | '. .' | . '. .' '. 22.5 deg / '. o---------- . '. +Zmsasi .' '. +Zmsasi and +Zsc '. .', ,' are out of the '. .' ' page. '--------------------' Since the SPICE frames subsystem calls for specifying the reverse transformation--going from the instrument or structure frame to the base frame--as compared to the description given above, the order of rotations assigned to the TKFRAME_*_AXES keyword is also reversed compared to the above text, and the signs associated with the rotation angles assigned to the TKFRAME_*_ANGLES keyword are the opposite from what is written in the above text. \begindata FRAME_MMO_MSASI = -68400 FRAME_-68400_NAME = 'MMO_MSASI' FRAME_-68400_CLASS = 4 FRAME_-68400_CLASS_ID = -68400 FRAME_-68400_CENTER = -68400 TKFRAME_-68400_RELATIVE = 'MMO_SPACECRAFT' TKFRAME_-68400_SPEC = 'ANGLES' TKFRAME_-68400_UNITS = 'DEGREES' TKFRAME_-68400_AXES = ( 1, 2, 3 ) TKFRAME_-68400_ANGLES = ( 0.0, 0.0, 337.5 ) \begintext SSAS (Spin type Sun Aspect Sensor) Frames: -------------------------------------------------------- This section of the file contains the definitions for the Spin type Sun Aspect Sensor instrument. SSAS Frame Tree: ~~~~~~~~~~~~~~~~ The diagram below shows the SSAS frame hierarchy. "MMO_SPACECRAFT" ---------------- | |<-fixed | V "MMO_SSAS" ---------- SSAS frame: ~~~~~~~~~~~ The Spin type Sun Aspect Sensor frame -- MMO_SSAS -- is defined as a fixed offset with respect to the MMO_SPACECRAFT frame as follows (from [10]): - +Y axis is quasi-parallel to the +Zsc axis; - +X axis is rotated approximately -45 degrees around the +Zsc axis from the +Xsc axis to -Ysc axis; - +Z axis completes the right handed frame. - the origin of this frame is the Mercury Transfer Module/MPO interface point on the separation plane. These diagram(s) illustrate the SSAS frame: +Z S/C side (HGA) view: ----------------------- _ .--------------| |---. ,', .' | | '. .' .' +Ysc |_| '. '.' ^ '. / | '. . | . __| | | | | / |+Zsc,~+Yssas | '--| 134.895deg\ o------------> +Xsc | | .'_.'135.105deg | | .' '. | | .' '.__.' '. | . < 90.0deg '. / '. +Zssas > .' '. +Xssas .' '. '. .', ,' '. .' ' '--------------------' +Zsc is out of the page. Since the SPICE frames subsystem calls for specifying the reverse transformation--going from the instrument or structure frame to the base frame--as compared to the description given above, the order of rotations assigned to the TKFRAME_*_AXES keyword is also reversed compared to the above text, and the signs associated with the rotation angles assigned to the TKFRAME_*_ANGLES keyword are the opposite from what is written in the above text. \begindata FRAME_MMO_SSAS = -68500 FRAME_-68500_NAME = 'MMO_SSAS' FRAME_-68500_CLASS = 4 FRAME_-68500_CLASS_ID = -68500 FRAME_-68500_CENTER = -68 TKFRAME_-68500_RELATIVE = 'MMO_SPACECRAFT' TKFRAME_-68500_SPEC = 'ANGLES' TKFRAME_-68500_UNITS = 'DEGREES' TKFRAME_-68500_AXES = ( 1, 2, 3 ) TKFRAME_-68500_ANGLES = ( 269.8762, 45.105, 0.0 ) \begintext PWI (Plasma Wave Investigation) Frames: ----------------------------------------------------------------------------- This section of the file contains the definitions for the MMO Plasma Wave Investigation instrument [9]. PWI Frame Tree: ~~~~~~~~~~~~~~~ The diagram below shows the PWI frame hierarchy. "MMO_SPACECRAFT" +---------------------------------------------------------+ | | | | | | |<-fixed |<-fixed |<-fixed |<-fixed |<-fixed |<-fixed | | | | | | V | V | V | "MMO_PWI_MEF1" | "MMO_PWI_WPT1" | "MMO_PWI_SC_MAST" | -------------- | -------------- | ----------------- | V V V "MMO_PWI_MEF2" "MMO_PWI_WPT2" "MMO_PWI_SC" -------------- -------------- ------------ PWI Frames: ~~~~~~~~~~~ This section contains the Mercury Electric Field In-Situ Tool (MEFISTO), Wire-Probe anTenna (WPT), and Search Coils (SC) reference frame definitions. The PWI_MEF1 and PWI_SC frames -- MMO_PWI_MEF1 -- and -- MMO_PWI_SC-- are defined as a fixed offset with respect to the MMO_SPACECRAFT frame as follows: - +Z axis is nominally co-aligned to the +Zsc axis; - +X axis is nominally co-aligned to the +Xsc axis; - +Y axis completes the right hand frame; - the origin of this frame is located at the geometrical center of the detector. The PWI_MEF2 frame -- MMO_PWI_MEF2 -- is defined as a fixed offset with respect to the MMO_SPACECRAFT frame as follows: - +Z axis is nominally co-aligned to the +Zsc axis; - +X axis is rotated 180 degrees degrees around the +Zsc axis from the +Xsc axis to +Ysc axis; - +Y axis completes the right hand frame; - the origin of this frame is located at the geometrical center of the detector. The PWI_WPT1 frame -- MMO_PWI_WPT1 -- is defined as a fixed offset with respect to the MMO_SPACECRAFT frame as follows: - +Z axis is nominally co-aligned to the +Zsc axis; - +X axis is rotated -90 degrees around the +Zsc axis from the +Xsc axis to -Ysc axis; - +Y axis completes the right hand frame; - the origin of this frame is located at the geometrical center of the detector. The PWI_WPT2 frame -- MMO_PWI_WPT2 -- is defined as a fixed offset with respect to the MMO_SPACECRAFT frame as follows: - +Z axis is nominally co-aligned to the +Zsc axis; - +X axis is rotated 90 degrees around the +Zsc axis from the +Xsc axis to +Ysc axis; - +Y axis completes the right hand frame; - the origin of this frame is located at the geometrical center of the detector. The PWI_SC_MAST frame -- MMO_PWI_SC_MAST -- is defined as a fixed offset with respect to the MMO_SPACECRAFT frame as follows: - +Z axis is nominally co-aligned to the +Zsc axis; - +X axis is rotated -135 degrees around the +Zsc axis from the +Xsc axis to -Ysc axis; - +Y axis completes the right hand frame; - the origin of this frame is the Mercury Transfer Module/MPO interface point on the separation plane. This diagram illustrates the PWI frames: +Z S/C side (HGA) view: ----------------------- ~~~ | | +Zpwi_sc | +Xpwi_sc <----o . +Ypwi_mef2 '| '. ^ |'. '. |.>+Xpwi_mast V +Ypwi_mast ' +Ypwi_sc '. ^' .'| +Xpwi_wpt1.' o---->+Xpwi_mef2 '.^.'.'.-------._ \ |.o '. \ / || +Zsc | / \------------------<-----o| <----o |o----->--------------\ / +Ypwi_wpt1 |+Xsc | || +Ypwi_wpt2 / \ '. V +Ysc .'| \ '._______..' 'V +Xpwi_mef1<----o +Xpwi_wpt2 +Zpwi_wpt1, +Zpwi_wpt2, | '. '. +Zpwi_mef1, +Zpwi_mef2, | '. '. +Zpwi_sc, +Zpwi_sc_mast, V '. '. and +Zsc are out of the page. +Ypwi_mef1 '. '. | '. '. ~~~ ~~~~~~~~ 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_MMO_PWI_MEF1 = -68501 FRAME_-68501_NAME = 'MMO_PWI_MEF1' FRAME_-68501_CLASS = 4 FRAME_-68501_CLASS_ID = -68501 FRAME_-68501_CENTER = -68501 TKFRAME_-68501_RELATIVE = 'MMO_SPACECRAFT' TKFRAME_-68501_SPEC = 'ANGLES' TKFRAME_-68501_UNITS = 'DEGREES' TKFRAME_-68501_AXES = ( 1, 2, 3 ) TKFRAME_-68501_ANGLES = ( 0.0, 0.0, 0.0 ) FRAME_MMO_PWI_MEF2 = -68502 FRAME_-68502_NAME = 'MMO_PWI_MEF2' FRAME_-68502_CLASS = 4 FRAME_-68502_CLASS_ID = -68502 FRAME_-68502_CENTER = -68502 TKFRAME_-68502_RELATIVE = 'MMO_SPACECRAFT' TKFRAME_-68502_SPEC = 'ANGLES' TKFRAME_-68502_UNITS = 'DEGREES' TKFRAME_-68502_AXES = ( 1, 2, 3 ) TKFRAME_-68502_ANGLES = ( 0.0, 0.0, 180.0 ) FRAME_MMO_PWI_WPT1 = -68503 FRAME_-68503_NAME = 'MMO_PWI_WPT1' FRAME_-68503_CLASS = 4 FRAME_-68503_CLASS_ID = -68503 FRAME_-68503_CENTER = -68503 TKFRAME_-68503_RELATIVE = 'MMO_SPACECRAFT' TKFRAME_-68503_SPEC = 'ANGLES' TKFRAME_-68503_UNITS = 'DEGREES' TKFRAME_-68503_AXES = ( 1, 2, 3 ) TKFRAME_-68503_ANGLES = ( 0.0, 0.0, 90.0 ) FRAME_MMO_PWI_WPT2 = -68504 FRAME_-68504_NAME = 'MMO_PWI_WPT2' FRAME_-68504_CLASS = 4 FRAME_-68504_CLASS_ID = -68504 FRAME_-68504_CENTER = -68504 TKFRAME_-68504_RELATIVE = 'MMO_SPACECRAFT' TKFRAME_-68504_SPEC = 'ANGLES' TKFRAME_-68504_UNITS = 'DEGREES' TKFRAME_-68504_AXES = ( 1, 2, 3 ) TKFRAME_-68504_ANGLES = ( 0.0, 0.0, -90.0 ) FRAME_MMO_PWI_SC_MAST = -68505 FRAME_-68505_NAME = 'MMO_PWI_SC_MAST' FRAME_-68505_CLASS = 4 FRAME_-68505_CLASS_ID = -68505 FRAME_-68505_CENTER = -68 TKFRAME_-68505_RELATIVE = 'MMO_SPACECRAFT' TKFRAME_-68505_SPEC = 'ANGLES' TKFRAME_-68505_UNITS = 'DEGREES' TKFRAME_-68505_AXES = ( 1, 2, 3 ) TKFRAME_-68505_ANGLES = ( 0.0, 0.0, 135.0 ) FRAME_MMO_PWI_SC = -68506 FRAME_-68506_NAME = 'MMO_PWI_SC' FRAME_-68506_CLASS = 4 FRAME_-68506_CLASS_ID = -68506 FRAME_-68506_CENTER = -68506 TKFRAME_-68506_RELATIVE = 'MMO_SPACECRAFT' TKFRAME_-68506_SPEC = 'ANGLES' TKFRAME_-68506_UNITS = 'DEGREES' TKFRAME_-68506_AXES = ( 1, 2, 3 ) TKFRAME_-68506_ANGLES = ( 0.0, 0.0, 0.0 ) \begintext BepiColombo MMO NAIF ID Codes to Name Mapping ----------------------------------------------------------------------------- This section contains name to NAIF ID mappings for the BepiColombo MMO 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 BepiColombo Spacecraft and its main structures' names and --------------------- ------- -------------------------- Name ID Synonyms --------------------- ------- -------------------------- MMO -68 BEPICOLOMBO MMO, MERCURY MAGNETOSPHERIC ORBITER, MIO, BEPICOLOMBO MIO MMO_SPACECRAFT -68000 MMO_SC ---------------------- ------- -------------------------- Notes: -- 'MMO', 'BEPICOLOMBO MMO', 'MERCURY MAGNETOSPHERIC ORBITER', 'MIO', and 'BEPICOLOMBO MIO' are synonyms and all map to the BepiColombo MMO spacecraft ID (-68); -- 'MMO_SC' and 'MMO_SPACECRAFT' are synonyms and all map to the BepiColombo MMO S/C bus structure ID (-68000); \begindata NAIF_BODY_NAME += ( 'BEPICOLOMBO MMO' ) NAIF_BODY_CODE += ( -68 ) NAIF_BODY_NAME += ( 'MIO' ) NAIF_BODY_CODE += ( -68 ) NAIF_BODY_NAME += ( 'BEPICOLOMBO MIO' ) NAIF_BODY_CODE += ( -68 ) NAIF_BODY_NAME += ( 'MERCURY MAGNETOSPHERIC ORBITER' ) NAIF_BODY_CODE += ( -68 ) NAIF_BODY_NAME += ( 'MMO' ) NAIF_BODY_CODE += ( -68 ) NAIF_BODY_NAME += ( 'MMO_SC' ) NAIF_BODY_CODE += ( -68000 ) NAIF_BODY_NAME += ( 'MMO_SPACECRAFT' ) NAIF_BODY_CODE += ( -68000 ) \begintext MDM: ---- This table summarizes MDM IDs: ---------------------- -------- Name ID ---------------------- -------- MMO_MDM -68100 ---------------------- -------- Name-ID Mapping keywords: \begindata NAIF_BODY_NAME += ( 'MMO_MDM' ) NAIF_BODY_CODE += ( -68100 ) \begintext MGF: ---- This table summarizes MGF IDs: ---------------------- -------- Name ID ---------------------- -------- MMO_MGF_BOOM -68200 MMO_MGF-I -68201 MMO_MGF-O -68202 ---------------------- -------- Name-ID Mapping keywords: \begindata NAIF_BODY_NAME += ( 'MMO_MGF_BOOM' ) NAIF_BODY_CODE += ( -68200 ) NAIF_BODY_NAME += ( 'MMO_MGF-I' ) NAIF_BODY_CODE += ( -68201 ) NAIF_BODY_NAME += ( 'MMO_MGF-O' ) NAIF_BODY_CODE += ( -68202 ) \begintext MPPE: ----- This table summarizes MPPE IDs: ---------------------- -------- Name ID ---------------------- -------- MMO_MPPE -68300 MMO_MPPE_MEA1 -68310 MMO_MPPE_MEA1_CRUISE -68311 MMO_MPPE_MEA2 -68320 MMO_MPPE_MEA2_CRUISE -68321 MMO_MPPE_HEP-ELE -68330 MMO_MPPE_HEP-ELE_UPPER -68331 MMO_MPPE_HEP-ELE_LOWER -68332 MMO_MPPE_HEP-ELE_CRUISE -68333 MMO_MPPE_HEP-ION -68335 MMO_MPPE_MSA -68340 MMO_MPPE_MSA_CRUISE -68341 MMO_MPPE_MIA -68350 MMO_MPPE_MIA_CRUISE -68351 MMO_MPPE_ENA -68370 MMO_MPPE_ENA_CRUISE -68371 MMO_MPPE-LEP -68380 ---------------------- -------- Name-ID Mapping keywords: \begindata NAIF_BODY_NAME += ( 'MMO_MPPE' ) NAIF_BODY_CODE += ( -68300 ) NAIF_BODY_NAME += ( 'MMO_MPPE_MEA1' ) NAIF_BODY_CODE += ( -68310 ) NAIF_BODY_NAME += ( 'MMO_MPPE_MEA1_CRUISE' ) NAIF_BODY_CODE += ( -68311 ) NAIF_BODY_NAME += ( 'MMO_MPPE_MEA2' ) NAIF_BODY_CODE += ( -68320 ) NAIF_BODY_NAME += ( 'MMO_MPPE_MEA2_CRUISE' ) NAIF_BODY_CODE += ( -68321 ) NAIF_BODY_NAME += ( 'MMO_MPPE_HEP-ELE' ) NAIF_BODY_CODE += ( -68330 ) NAIF_BODY_NAME += ( 'MMO_MPPE_HEP-ELE_UPPER' ) NAIF_BODY_CODE += ( -68331 ) NAIF_BODY_NAME += ( 'MMO_MPPE_HEP-ELE_LOWER' ) NAIF_BODY_CODE += ( -68332 ) NAIF_BODY_NAME += ( 'MMO_MPPE_HEP-ELE_CRUISE' ) NAIF_BODY_CODE += ( -68333 ) NAIF_BODY_NAME += ( 'MMO_MPPE_HEP-ION' ) NAIF_BODY_CODE += ( -68335 ) NAIF_BODY_NAME += ( 'MMO_MPPE_MSA' ) NAIF_BODY_CODE += ( -68340 ) NAIF_BODY_NAME += ( 'MMO_MPPE_MSA_CRUISE' ) NAIF_BODY_CODE += ( -68341 ) NAIF_BODY_NAME += ( 'MMO_MPPE_MIA' ) NAIF_BODY_CODE += ( -68350 ) NAIF_BODY_NAME += ( 'MMO_MPPE_MIA_CRUISE' ) NAIF_BODY_CODE += ( -68351 ) NAIF_BODY_NAME += ( 'MMO_MPPE_ENA' ) NAIF_BODY_CODE += ( -68370 ) NAIF_BODY_NAME += ( 'MMO_MPPE_ENA_CRUISE' ) NAIF_BODY_CODE += ( -68371 ) NAIF_BODY_NAME += ( 'MMO_MPPE-LEP' ) NAIF_BODY_CODE += ( -68380 ) \begintext MSASI: ------ This table summarizes MSASI IDs: ---------------------- -------- Name ID ---------------------- -------- MMO_MSASI -68400 MMO_MSASI_SLIT -68401 ---------------------- -------- Name-ID Mapping keywords: \begindata NAIF_BODY_NAME += ( 'MMO_MSASI' ) NAIF_BODY_CODE += ( -68400 ) NAIF_BODY_NAME += ( 'MMO_MSASI_SLIT' ) NAIF_BODY_CODE += ( -68401 ) \begintext SSAS: ------ This table summarizes SSAS IDs: ---------------------- -------- Name ID ---------------------- -------- MMO_SSAS -68500 MMO_SSAS_SLIT -68501 ---------------------- -------- Name-ID Mapping keywords: \begindata NAIF_BODY_NAME += ( 'MMO_SSAS' ) NAIF_BODY_CODE += ( -68500 ) NAIF_BODY_NAME += ( 'MMO_SSAS_SLIT' ) NAIF_BODY_CODE += ( -68501 ) \begintext PWI: ---- This table summarizes PWI IDs: ---------------------- -------- Name ID ---------------------- -------- MMO_PWI_MEF1 -68501 MMO_PWI_MEF2 -68502 MMO_PWI_WPT1 -68503 MMO_PWI_WPT2 -68504 MMO_PWI_SC_MAST -68505 MMO_PWI_SC -68506 ---------------------- -------- Name-ID Mapping keywords: \begindata NAIF_BODY_NAME += ( 'MMO_PWI_MEF1' ) NAIF_BODY_CODE += ( -68501 ) NAIF_BODY_NAME += ( 'MMO_PWI_MEF2' ) NAIF_BODY_CODE += ( -68502 ) NAIF_BODY_NAME += ( 'MMO_PWI_WPT1' ) NAIF_BODY_CODE += ( -68503 ) NAIF_BODY_NAME += ( 'MMO_PWI_WPT2' ) NAIF_BODY_CODE += ( -68504 ) NAIF_BODY_NAME += ( 'MMO_PWI_SC_MAST' ) NAIF_BODY_CODE += ( -68505 ) NAIF_BODY_NAME += ( 'MMO_PWI_SC' ) NAIF_BODY_CODE += ( -68506 ) \begintext End of FK file.