KPL/FK \beginlabel PDS_VERSION_ID = PDS3 RECORD_TYPE = STREAM RECORD_BYTES = "N/A" ^SPICE_KERNEL = "clem_v20.tf" MISSION_NAME = "DEEP SPACE PROGRAM SCIENCE EXPERIMENT" SPACECRAFT_NAME = "CLEMENTINE 1" DATA_SET_ID = "CLEM1-L-SPICE-6-V1.0" KERNEL_TYPE_ID = FK PRODUCT_ID = "clem_v20.tf" PRODUCT_CREATION_TIME = 2007-06-13T12:27:00 PRODUCER_ID = "NAIF/JPL" MISSION_PHASE_NAME = "N/A" PRODUCT_VERSION_TYPE = ACTUAL PLATFORM_OR_MOUNTING_NAME = "N/A" START_TIME = "N/A" STOP_TIME = "N/A" SPACECRAFT_CLOCK_START_COUNT = "N/A" SPACECRAFT_CLOCK_STOP_COUNT = "N/A" TARGET_NAME = MOON INSTRUMENT_NAME = "N/A" NAIF_INSTRUMENT_ID = "N/A" SOURCE_PRODUCT_ID = "N/A" NOTE = "See comments in the file for details" OBJECT = SPICE_KERNEL INTERCHANGE_FORMAT = ASCII KERNEL_TYPE = FRAMES DESCRIPTION = "Clementine SPICE FK file providing the complete set of frame definitions for the Clementine spacecraft and its science instruments, created by NAIF, JPL. " END_OBJECT = SPICE_KERNEL \endlabel Clementine Frame Definitions Kernel ============================================================================== This frame kernel (FK) contains the Clementine spacecraft and science instrument frame definitions. It also contains name - to - NAIF ID mappings for the Clementine science instruments (see the last section of the file.) Version and Date -------------------------------------------------------- Version 2.0 -- June 11, 2007 -- Boris Semenov Added descriptions. Added name-ID mapping keywords. Version 1.0 -- September 29, 2000 -- Boris Semenov Initial Release. Contains Euler angles from Clementine I-Kernel files. Does not contain a description for any of the frames. References -------------------------------------------------------- 1. C-kernel Required Reading 2. Kernel Pool Required Reading 3. Frames Required Reading 4. High-Resolution Imager (HIRES) I-Kernel File "clem_hires_008.ti" 5. Ultraviolet and Visible Imaging Camera (UVVIS) I-Kernel File "clem_uvvis_008.ti" 6. Near Infrared Mapping Spectrometer (NIR) I-Kernel File "clem_nir_009.ti" 7. Long Wavelength Infrared Mapping Spectrometer (LWIR) I-Kernel File "clem_lwir_008.ti" 8. Laser Ranger (LIDAR) I-Kernel File "clem_lidar_005.ti" 9. Star Tracker A (ASTAR) I-Kernel File "clem_astar_006.ti" 10. Star Tracker B (BSTAR) I-Kernel File "clem_bstar_006.ti" 11. Charged Particle Telescope (CPT) I-Kernel File "clem_cpt_002.ti" 12. "Post Launch Alignment and Geometric Calibration of the Clementine Spacecraft and Remote Sensing Science Instruments", T. Duxbury, Rough Draft, no date 13. "Models of the Clementine Spacecraft and Remote Sensing Science Instruments for Geodesy, Cartography, and Dynamical Sciences", Draft version 1.0, December 1993. 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 (see [2]). The SPICELIB routine FURNSH (furnsh_c in CSPICE, cspice_furnsh in ICY) loads a kernel file into the pool as follows: CALL FURNSH ( 'frame_kernel_name' ) furnsh_c ( "frame_kernel_name" ); cspice_furnsh, "frame_kernel_name" This file was created and may be updated with a text editor or word processor. Should you need to update this kernel in any way, please, modify the "Version and Date" section above to reflect the changes. Clementine Frames -------------------------------------------------------- The following Clementine frames are defined in this kernel file: Frame Name Relative to Type NAIF ID ===================== ================== ======= ======= Spacecraft Bus Frame: --------------------- CLEM_SC_BUS rel.to J2000 CK -40000 Instrument Frames: ------------------ CLEM_HIRES rel.to SC_BUS FIXED -40001 CLEM_UVVIS rel.to SC_BUS FIXED -40002 CLEM_NIR rel.to SC_BUS FIXED -40003 CLEM_LWIR rel.to SC_BUS FIXED -40004 CLEM_LIDAR rel.to SC_BUS FIXED -40005 CLEM_ASTAR rel.to SC_BUS FIXED -40006 CLEM_BSTAR rel.to SC_BUS FIXED -40007 CLEM_CPT rel.to SC_BUS FIXED -40008 Clementine Frames Hierarchy -------------------------------------------------------- The diagram below shows Clementine frames hierarchy: "J2000" INERTIAL +--------------------------------------------+ | | | <--ck | <--pck | | | V | "IAU_EARTH" | EARTH BFR(*) | ------------ | | | "CLEM_ASTAR" "CLEM_BSTAR" | ------------ ------------ | ^ ^ | | | V |<--fixed |<--fixed "CLEM_SC_BUS" | | +----------------------------------------------------------+ | | | | | | |<--fixed |<--fixed |<-fixed |<--fixed |<--fixed |<--fixed | | | | | | V V V V V V "CLEM_HIRES" "CLEM_UVVIS" "CLEM_NIR" "CLEM_LWIR" "CLEM_LIDAR" "CLEM_CPT" ------------ ------------ ---------- ----------- ------------ ---------- Spacecraft Bus Frame -------------------------------------------------------- The Clementine spacecraft bus frame is defined by the spacecraft design as follows ([12]): * +Z axis is in the direction of the nominal remote sensing science instrument boresight vectors; * +X axis is in the direction of the main rocket engine; * +Y axis completes the right handed frame and is in the plane of the solar arrays; * the origin of this frame is at the geometric center of the spacecraft's octagonal prizm shaped body. This diagram illustrates the spacecraft frame: ________________ `. .' _______ _______ ------------------- _______ _______ | | | | | | | | | | | | | | | Science | | | | | | | | | | Deck | | | | | | | | | | | | | | | | | | |+Ysc| +Zsc| | | | | | | |=| <------o | |=| | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | V | | | | | | | | | | +Xsc| | | | | ------- ------- ------------------- ------- ------- |_| / \ . . ._____. The spacecraft bus attitude with respect to an inertial frame is provided by CK kernels. Therefore the spacecraft frame is defined as a CK-based frame. \begindata FRAME_CLEM_SC_BUS = -40000 FRAME_-40000_NAME = 'CLEM_SC_BUS' FRAME_-40000_CLASS = 3 FRAME_-40000_CLASS_ID = -40000 FRAME_-40000_CENTER = -40 CK_-40000_SCLK = -40 CK_-40000_SPK = -40 \begintext Science Instrument Frames -------------------------------------------------------- All Clementine instrument frames are defined in the same way as follows ([12,13]): * +Z axis is along the instrument boresight vector; * +X axis is in the image plane and in the direction of increasing pixels; * +Y axis is in the image plane and in the direction of increasing lines; Since all insruments are rigidly mounted on the spacecraft, the orientation of their frames is constant with respect to the spacecraft frame. Therefore, all instrument frames are defined as fixed offset frames with respect to the spacecraft frame. Originally mounting alignment of the instruments was included in the IK files by providing the orientation of the instrument frame relative to the spacecraft frame as three angles: thetaX, thetaY, and thetaZ. The spacecraft-to-instrument frame transformation, TXYZxyz, could derived from these angles as follows: TXYZxyz = R (thetaZ) R (thetaY) R (thetaX) Z Y X where R (theta) represents a 3x3 rotation matrix of angle theta i about the i axis. The instrument frame definitions below incorporate the rotation angles from the latest versions of the IKs available at the time when this FK was created. High-Resolution Imager (HIRES) Frame The rotation angles provided in the HIRES frame definition below are from [4]. \begindata FRAME_CLEM_HIRES = -40001 FRAME_-40001_NAME = 'CLEM_HIRES' FRAME_-40001_CLASS = 4 FRAME_-40001_CLASS_ID = -40001 FRAME_-40001_CENTER = -40 TKFRAME_-40001_SPEC = 'ANGLES' TKFRAME_-40001_RELATIVE = 'CLEM_SC_BUS' TKFRAME_-40001_ANGLES = ( -0.00504400153826, -0.00125663706144, -3.14333798284179 ) TKFRAME_-40001_AXES = ( 1, 2, 3 ) TKFRAME_-40001_UNITS = 'RADIANS' \begintext Ultraviolet and Visible Imaging Camera (UVVIS) Frame The rotation angles provided in the UVVIS frame definition below are from [5]. \begindata FRAME_CLEM_UVVIS = -40002 FRAME_-40002_NAME = 'CLEM_UVVIS' FRAME_-40002_CLASS = 4 FRAME_-40002_CLASS_ID = -40002 FRAME_-40002_CENTER = -40 TKFRAME_-40002_SPEC = 'ANGLES' TKFRAME_-40002_RELATIVE = 'CLEM_SC_BUS' TKFRAME_-40002_ANGLES = ( -0.00553269372882, -0.00104719755120, 1.57690497917688 ) TKFRAME_-40002_AXES = ( 1, 2, 3 ) TKFRAME_-40002_UNITS = 'RADIANS' \begintext Near Infrared Mapping Spectrometer (NIR) Frame The rotation angles provided in the frame NIT definition below are from [6]. \begindata FRAME_CLEM_NIR = -40003 FRAME_-40003_NAME = 'CLEM_NIR' FRAME_-40003_CLASS = 4 FRAME_-40003_CLASS_ID = -40003 FRAME_-40003_CENTER = -40 TKFRAME_-40003_SPEC = 'ANGLES' TKFRAME_-40003_RELATIVE = 'CLEM_SC_BUS' TKFRAME_-40003_ANGLES = ( -0.005525711614, -0.001685987814, -0.023816759530 ) TKFRAME_-40003_AXES = ( 1, 2, 3 ) TKFRAME_-40003_UNITS = 'RADIANS' \begintext Long Wavelength Infrared Mapping Spectrometer (LWIR) Frame The rotation angles provided in the frame LWIR definition below are from [7]. \begindata FRAME_CLEM_LWIR = -40004 FRAME_-40004_NAME = 'CLEM_LWIR' FRAME_-40004_CLASS = 4 FRAME_-40004_CLASS_ID = -40004 FRAME_-40004_CENTER = -40 TKFRAME_-40004_SPEC = 'ANGLES' TKFRAME_-40004_RELATIVE = 'CLEM_SC_BUS' TKFRAME_-40004_ANGLES = ( -0.00053581608036, -0.00019722220548, -3.14159265358979 ) TKFRAME_-40004_AXES = ( 1, 2, 3 ) TKFRAME_-40004_UNITS = 'RADIANS' \begintext Laser Ranger (LIDAR) Frame The rotation angles provided in the frame LIDAR definition below are from [8]. \begindata FRAME_CLEM_LIDAR = -40005 FRAME_-40005_NAME = 'CLEM_LIDAR' FRAME_-40005_CLASS = 4 FRAME_-40005_CLASS_ID = -40005 FRAME_-40005_CENTER = -40 TKFRAME_-40005_SPEC = 'ANGLES' TKFRAME_-40005_RELATIVE = 'CLEM_SC_BUS' TKFRAME_-40005_ANGLES = ( -0.00504400153826, -0.00125663706144, 0.0 ) TKFRAME_-40005_AXES = ( 1, 2, 3 ) TKFRAME_-40005_UNITS = 'RADIANS' \begintext Star Tracker A (ASTAR) Frame The rotation angles provided in the ASTAR frame definition below are from [9]. \begindata FRAME_CLEM_ASTAR = -40006 FRAME_-40006_NAME = 'CLEM_ASTAR' FRAME_-40006_CLASS = 4 FRAME_-40006_CLASS_ID = -40006 FRAME_-40006_CENTER = -40 TKFRAME_-40006_SPEC = 'ANGLES' TKFRAME_-40006_RELATIVE = 'CLEM_SC_BUS' TKFRAME_-40006_ANGLES = ( 2.04022706372830, -0.52166146012859, -3.06113297507285 ) TKFRAME_-40006_AXES = ( 1, 2, 3 ) TKFRAME_-40006_UNITS = 'RADIANS' \begintext Star Tracker B (BSTAR) Frame The rotation angles provided in the frame BSTAR definition below are from [10]. \begindata FRAME_CLEM_BSTAR = -40007 FRAME_-40007_NAME = 'CLEM_BSTAR' FRAME_-40007_CLASS = 4 FRAME_-40007_CLASS_ID = -40007 FRAME_-40007_CENTER = -40 TKFRAME_-40007_SPEC = 'ANGLES' TKFRAME_-40007_RELATIVE = 'CLEM_SC_BUS' TKFRAME_-40007_ANGLES = ( -2.05078106971511, -0.51341128875441, -0.08063421144214 ) TKFRAME_-40007_AXES = ( 1, 2, 3 ) TKFRAME_-40007_UNITS = 'RADIANS' \begintext Charged Particle Telescope (CPT) Frame The rotation angles provided in the frame definition below are from [11]. \begindata FRAME_CLEM_CPT = -40008 FRAME_-40008_NAME = 'CLEM_CPT' FRAME_-40008_CLASS = 4 FRAME_-40008_CLASS_ID = -40008 FRAME_-40008_CENTER = -40 TKFRAME_-40008_SPEC = 'ANGLES' TKFRAME_-40008_RELATIVE = 'CLEM_SC_BUS' TKFRAME_-40008_ANGLES = ( 0.0, -3.141592654, 0.0 ) TKFRAME_-40008_AXES = ( 1, 2, 3 ) TKFRAME_-40008_UNITS = 'RADIANS' \begintext Clementine NAIF ID Codes Definitions -------------------------------------------------------- This section contains name - to - NAIF ID mappings for the Clementine mission. Once the contents of this file is loaded into the KERNEL POOL, these mappings become available within SPICE, making it possible to use these names in the high level SPICE routine calls. Spacecraft: ----------- DSPSE -40 CLEM -40 CLEMENTINE_1 -40 CLEMENTINE -40 CLEM_SPACECRAFT -40000 CLEM_SPACECRAFT_BUS -40000 CLEM_SC_BUS -40000 Science Instruments: -------------------- CLEM_HIRES -40001 CLEM_UVVIS -40002 CLEM_NIR -40003 CLEM_LWIR -40004 CLEM_LIDAR -40005 CLEM_ASTAR -40006 CLEM_BSTAR -40007 CLEM_CPT -40008 The mappings summarized in this table are implemented by the keywords below. \begindata NAIF_BODY_NAME += ( 'DSPSE' ) NAIF_BODY_CODE += ( -40 ) NAIF_BODY_NAME += ( 'CLEM' ) NAIF_BODY_CODE += ( -40 ) NAIF_BODY_NAME += ( 'CLEMENTINE_1' ) NAIF_BODY_CODE += ( -40 ) NAIF_BODY_NAME += ( 'CLEMENTINE' ) NAIF_BODY_CODE += ( -40 ) NAIF_BODY_NAME += ( 'CLEM_SPACECRAFT' ) NAIF_BODY_CODE += ( -40000 ) NAIF_BODY_NAME += ( 'CLEM_SPACECRAFT_BUS' ) NAIF_BODY_CODE += ( -40000 ) NAIF_BODY_NAME += ( 'CLEM_SC_BUS' ) NAIF_BODY_CODE += ( -40000 ) NAIF_BODY_NAME += ( 'CLEM_HIRES' ) NAIF_BODY_CODE += ( -40001 ) NAIF_BODY_NAME += ( 'CLEM_UVVIS' ) NAIF_BODY_CODE += ( -40002 ) NAIF_BODY_NAME += ( 'CLEM_NIR' ) NAIF_BODY_CODE += ( -40003 ) NAIF_BODY_NAME += ( 'CLEM_LWIR' ) NAIF_BODY_CODE += ( -40004 ) NAIF_BODY_NAME += ( 'CLEM_LIDAR' ) NAIF_BODY_CODE += ( -40005 ) NAIF_BODY_NAME += ( 'CLEM_ASTAR' ) NAIF_BODY_CODE += ( -40006 ) NAIF_BODY_NAME += ( 'CLEM_BSTAR' ) NAIF_BODY_CODE += ( -40007 ) NAIF_BODY_NAME += ( 'CLEM_CPT' ) NAIF_BODY_CODE += ( -40008 ) \begintext