KPL/FK Cassini Spacecraft Frame Definitions Kernel =========================================================================== This frame kernel contains the Cassini spacecraft, science instrument, and communication antennae frame definitions. Version and Date -------------------------------------------------------- Version 2.2 -- September 10, 1999 -- Scott Turner -- Removed TKFRAME_[ID]_BORESIGHT keyword for all but the antenna frames present. This information can now be found in the instrument kernel with the keyword: INS[ID]_BORESIGHT. -- Added a frame for the Stellar Reference Unit (SRU). -- Added prototype frame entries for several instruments. The transformations stored here for these frames are NOT for any real calculations, and in some cases are not connected with the actual instrument pointing at all. These frames will migrate from the prototype section as the kernel evolves. -- Changed CASSINI_SC_BUS to CASSINI_SC_COORD. -- Changed the LGA frame name definitions to CASSINI_LGA1 and CASSINI_LGA2 to accomodate simple translation to flight software frame names. -- Changed NAC and WAC ID codes from -82010 and -82020 to -82360 and -82361 respectively. This is to conform to the new ID code scheme proposed by Jeff Boyer. -- Altered the textual description of the spacecraft coordinate system to conform with [8]. -- Added some text from [8] to the ISS_NAC frame description. Version 2.1 -- July 14, 1999 -- Scott Turner -- Fixed incorrect comments regarding the NAC images. -- Fixed an improperly specified transformation for LGA2. -- Added TKFRAME_[ID]_BORESIGHT keyword for the frames present. Version 2.0 -- May 5, 1999 -- Scott Turner -- Added ISS NAC and WAC instrument frames. Version 1.0 -- May 14, 1998 -- Jeff Bytof -- Initial Release. References -------------------------------------------------------- 1. ``C-kernel Required Reading'' 2. ``Kernel Pool Required Reading'' 3. ``Frames Required Reading'' 4. Cassini spacecraft blueprints. Provided by Kevin Tong, JPL. 5. ``Cassini Science Instruments and Investigations'', Revised Second Printing. Stephen J. Edberg. 6. ``Determination of the ISS Boresights in Cassini Spacecraft Coordinate System.'' Carolyn Porco and Vance Haemmerle. 7. Email from Vance Haemmerle regarding WAC alignment. 8. Cassini Document No. 699-406 ``Project Guidance Analysis Book'' Contact Information -------------------------------------------------------- Direct questions, comments, or concerns about the contents of this kernel to: Scott Turner, NAIF/JPL, (818)-354-3157, sturner@spice.jpl.nasa.gov Jeff Bytof, NAIF/JPL, (818)-354-3504, jbytof@spice.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 data items with their names in a data structure called the `kernel pool'. The SPICELIB routine LDPOOL loads a kernel file into the pool as shown below: CALL LDPOOL ( frame_kernel_name ) In order for a program or subroutine to extract data from the pool, the SPICELIB routines GDPOOL and GIPOOL are used. See [2] for more details. This file was created and may be updated with a text editor or word processor. Note: the keyword TKFRAME_[ID]_BORESIGHT defines the instrument or antenna boresight axis in the instrument or antenna frame. Cassini Frames -------------------------------------------------------- The following Cassini frames are defined in this kernel file: Frame Name Relative To Type NAIF ID ========================= ==================== ======= ======= AACS Body Frame: ---------------- CASSINI_SC_COORD J2000 CK -82000 CASSINI_SRU CASSINI_SC_COORD FIXED -82001 Antenna Frames (-821xx): ------------------------ CASSINI_HGA CASSINI_SC_COORD FIXED -82001 CASSINI_LGA1 CASSINI_SC_COORD FIXED -82102 CASSINI_LGA2 CASSINI_SC_COORD FIXED -82103 ISS Frames (-8236x): ------------------------ CASSINI_ISS_NAC CASSINI_SC_COORD FIXED -82360 CASSINI_ISS_WAC CASSINI_SC_COORD FIXED -82361 where: the frame ID codes are built from the spacecraft ID code, the instrument subsystem number, and the instrument number in a multiple instrument subsystem. The numbers 8 and 9 are reserved for the radiators. For example the ISS frame IDs are constructed as follows: CASSINI_ISS_WAC ID = -82 36 1 | | | | | | SPACECRAFT ID CODE <-----+ | +----> INSTRUMENT NUMBER | V INSTRUMENT SUBSYSTEM NUMBER The following frames are included for the completeness of the kernel. The transformations implemented under these names should not be used for any real computations. The status and definition of the frames listed below may change as the kernel evolves. Wherever possible nominal values for the frame transformation are implemented. Frame Name Relative To Type NAIF ID ========================= ==================== ======= ======= ISS Frames (-8236x): ------------------------ CASSINI_ISS_NAC_RAD CASSINI_SC_COORD FIXED -82368 CASSINI_ISS_WAC_RAD CASSINI_SC_COORD FIXED -82369 RSS Frames (-8220x): ------------------------ CASSINI_RSS_HGA_X CASSINI_SC_COORD FIXED -82200 CASSINI_RSS_HAG_KA CASSINI_SC_COORD FIXED -82201 CASSINI_RSS_HGA_KU CASSINI_SC_COORD FIXED -82202 CASSINI_RSS_HGA_S CASSINI_SC_COORD FIXED -82203 CASSINI_RSS_LGA1 CASSINI_SC_COORD FIXED -82204 CASSINI_RSS_LGA2 CASSINI_SC_COORD FIXED -82205 MAG Frames (-8235x): ------------------------ CASSINI_MAG CASSINI_SC_COORD FIXED -82350 VIMS Frames (-8237x): ------------------------ CASSINI_VIMS CASSINI_SC_COORD FIXED -82370 CASSINI_VIMS_RAD CASSINI_SC_COORD FIXED -82378 RPWS Frames (-8273x): ------------------------ CASSINI_RPWS CASSINI_SC_COORD FIXED -82730 INMS Frames (-8274x): ------------------------ CASSINI_INMS CASSINI_SC_COORD FIXED -82740 MIMI Frames (-8276x): ------------------------ CASSINI_MIMI CASSINI_SC_COORD FIXED -82760 CDA Frames (-8279x): ------------------------ CASSINI_CDA CASSINI_SC_COORD CK -82790 RADAR Frames (-8281x): ------------------------ CASSINI_RADAR CASSINI_SC_COORD FIXED -82810 CAPS Frames (-8282x): ------------------------ CASSINI_CAPS CASSINI_SC_COORD CK -82820 UVIS Frames (-8284x): ------------------------ CASSINI_UVIS CASSINI_SC_COORD FIXED -82840 CIRS Frames (-8289x): ------------------------ CASSINI_CIRS_FP1 CASSINI_SC_COORD FIXED -82890 CASSINI_CIRS_FP3 CASSINI_SC_COORD FIXED -82891 CASSINI_CIRS_FP4 CASSINI_SC_COORD FIXED -82892 CASSINI_CIRS_RAD CASSINI_SC_COORD FIXED -82898 Cassini Frames Hierarchy -------------------------------------------------------- The diagram below shows the Cassini frames hierarchy: Note: This diagram is subject to major revisions as this kernel evolves to suit the needs of each instrument. "IAU_EARTH" (EARTH BODY FIXED) | |<--- pck | "J2000" INERTIAL | |<--- ck | "CASSINI_SC_COORD" | "CASSINI_SRU" | "CASSINI_HGA" | "CASSINI_LGA1" | "CASSINI_LGA2" | "CASSINI_ISS_NAC" | "CASSINI_ISS_WAC" Spacecraft Frame -------------------------------------------------------- From [8]: (Note: The figures referenced below can not be reproduced here. There is a diagram below that basically illustrates what is contained there.) ``The Stellar refernce Unit (SRU) detector is a CCD. Its coordinate system is defined according to the geometry of the detector. Figure 2.1.2a depicts the SRU oreintation and coordinates relative to the S/C coordinates. From the ACS point of view, the S/C coordinate system is defined with respect to the SRU coordinate frame, such that : +X = +b (SRU boresight) +Y = +v +Z = -h Therefore, by definition, there are no misalignments between the SRU and the S/C coordinate frames. The SRU coordinate system is defined by the pixel and line shift directions defined in Figure 2.1.2b. These directions are represented by unit vectors h and v respectively. Both h and v pass through the origin which is located at the exact center of the 1024 x 1024 array. As indicated in Figure 2.1.2b, the SRU boresight b passes through this point, is normal to both h and v, and points outward through the optics towards the scene being viewed.'' Stellar Reference Unit Frame: Cassini Spacecraft /\ ---------------------------------- \ / \ / HGA \ / MAG Boom -------------------------- ... =================| | | h | \ ^ / | | | | | | Y <-------|€ v <---o | sc | b, X | | sc | | | | | | | | | ---------------------- / \ / \ Main Rocket Engine ---------- | | | V Z sc where b and X point out of the screen or page. sc From [8]: ``The spacecraft basebody coordinate system is a body fixed coordinate system. It is a structural coordinate system defined when the spacecraft is assembled. The primary geometrical and mass properties are fixed to this system. The (X,Y,Z) coordinate system is not observable in space. Referring to Figure 2.1.1, the origin of the spacecraft coordinate system lies at the center of the field joint between the bus and the upper equipment module (UEM) upper shell structure assembly [7]. This location is defined by bolt holes A, D, and H (as shown on the Configuration lay out 10129891, Figure 3). The Z-axis emanates from the origin and is perpendicular to a plane generated by the mating surfaces of the bus at bolt holes A, D, and H. The +Z-axis is on the propulsion module side of the interface. The X-axis emanates from the origin and is parallel to the line through the true centers of bolt holes A and H at the bus and the UEM upper shell structure assembly interface. The -X-axis points towards the Huygens probe. The Y-axis is mutually perpendicular to the X and Z axes, with the +Y axis oriented along the magnetometer boom.'' Spacecraft bus attitude with respect to an inertial frame is provided by a C kernel (see [1] for more information). \begindata FRAME_CASSINI_SC_COORD = -82000 FRAME_-82000_NAME = 'CASSINI_SC_COORD' FRAME_-82000_CLASS = 3 FRAME_-82000_CLASS_ID = -82000 FRAME_-82000_CENTER = -82 CK_-82000_SCLK = -82 CK_-82000_SPK = -82 \begintext The nominal definition of the Stellar Reference Unit frame is displayed below. As described above and in [8], the boresight axis lies along the spacecraft +X axis. The rotation matrix that takes vectors from the SRU frame into the spacecraft frame is computed: [ ] [ ] [ ] [ ] [ ROT ] = [ 0.0 ] [ -90.0 ] [ 0.0 ] [ ] [ ] [ ] [ ] Z Y X where [x] represents the rotation matrix of a given angle x about i axis i. \begindata FRAME_CASSINI_SRU = -82001 FRAME_-82001_NAME = 'CASSINI_SRU' FRAME_-82001_CLASS = 4 FRAME_-82001_CLASS_ID = -82001 FRAME_-82001_CENTER = -82 TKFRAME_-82001_SPEC = 'ANGLES' TKFRAME_-82001_RELATIVE = 'CASSINI_SC_COORD' TKFRAME_-82001_ANGLES = ( 0.0, -90.0, 0.0 ) TKFRAME_-82001_AXES = ( 3, 2, 1 ) TKFRAME_-82001_UNITS = 'DEGREES' \begintext Antenna Frame Definitions -------------------------------------------------------- This section of the frames kernel defines the Cassini spacecraft antenna frames. The ID codes associated with each of the frames are determined by subtracting the three digit antenna code (101-103) from the DSN Cassini spacecraft bus ID code (-82000). Note the angles in the frame definitions are specified for the "from antenna to (relative to) base frame" transformation. High Gain Antenna (HGA) The high gain antenna points nominally along the spacecraft -Z axis. As such the rotation matrix required that takes vectors represented in the high gain antenna frame into the spacecraft frame is constructed as follows: [ ] [ ] [ ] [ ] [ ROT ] = [ 0.0 ] [ +180.0 ] [ 0.0 ] [ ] [ ] [ ] [ ] Z Y X where [x] represents the rotation matrix of a given angle x about i axis i. \begindata FRAME_CASSINI_HGA = -82001 FRAME_-82001_NAME = 'CASSINI_HGA' FRAME_-82001_CLASS = 4 FRAME_-82001_CLASS_ID = -82001 FRAME_-82001_CENTER = -82 TKFRAME_-82001_SPEC = 'ANGLES' TKFRAME_-82001_RELATIVE = 'CASSINI_SC_COORD' TKFRAME_-82001_ANGLES = ( 0.0, 180.0, 0.0 ) TKFRAME_-82001_AXES = ( 3, 2, 1 ) TKFRAME_-82001_UNITS = 'DEGREES' TKFRAME_-82001_BORESIGHT = ( 0.0, 0.0, 1.0 ) \begintext Low Gain Antenna One (LGA1) The first low gain antenna points nominally along the spacecraft -Z axis. As such the rotation matrix required that takes vectors represented in the first low gain antenna frame into the spacecraft frame is constructed as follows: [ ] [ ] [ ] [ ] [ ROT ] = [ 0.0 ] [ +180.0 ] [ 0.0 ] [ ] [ ] [ ] [ ] Z Y X where [x] represents the rotation matrix of a given angle x about i axis i. \begindata FRAME_CASSINI_LGA1 = -82102 FRAME_-82102_NAME = 'CASSINI_LGA1' FRAME_-82102_CLASS = 4 FRAME_-82102_CLASS_ID = -82102 FRAME_-82102_CENTER = -82 TKFRAME_-82102_SPEC = 'ANGLES' TKFRAME_-82102_RELATIVE = 'CASSINI_SC_COORD' TKFRAME_-82102_ANGLES = ( 0.0, 180.0, 0.0 ) TKFRAME_-82102_AXES = ( 3, 2, 1 ) TKFRAME_-82102_UNITS = 'DEGREES' TKFRAME_-82102_BORESIGHT = ( 0.0, 0.0, 1.0 ) \begintext Low Gain Antenna Two (LGA2) The second low gain antenna points nominally along the spacecraft -X axis. As such the rotation matrix required that takes vectors represented in the second low gain antenna frame into the spacecraft frame is constructed as follows: [ ] [ ] [ ] [ ] [ ROT ] = [ 0.0 ] [ 90.0 ] [ 0.0 ] [ ] [ ] [ ] [ ] Z Y X where [x] represents the rotation matrix of a given angle x about i axis i. \begindata FRAME_CASSINI_LGA2 = -82103 FRAME_-82103_NAME = 'CASSINI_LGA2' FRAME_-82103_CLASS = 4 FRAME_-82103_CLASS_ID = -82103 FRAME_-82103_CENTER = -82 TKFRAME_-82103_SPEC = 'ANGLES' TKFRAME_-82103_RELATIVE = 'CASSINI_SC_COORD' TKFRAME_-82103_ANGLES = ( 0.0, 90.0, 0.0 ) TKFRAME_-82103_AXES = ( 3, 2, 1 ) TKFRAME_-82103_UNITS = 'DEGREES' TKFRAME_-82103_BORESIGHT = ( 0.0, 0.0, 1.0 ) \begintext ISS Frames -------------------------------------------------------- The Narrow Angle Camera (NAC) and Wide Angle Camera (WAC) are mounted on the remote sensing pallet on the +X side of the Cassini spacecraft, and nominally directed along the -Y axis of the AACS body frame. Note the angles in the frame definitions are specified for the "from antenna to (relative to) base frame" transformation. Imaging Science Subsystem Narrow Angle Camera (ISS_NAC) The ISS NAC points nominally along the spacecraft -Y axis. The following frame definition encapsulates this nominal frame. From [8]: ``The Narrow Angle Camera (NAC) detector is a CCD. Its coordinate system is defined according to the geometry of the detector. The narrow angle coordinate system is defined in the same manner as the SRU coordinate systems defined above and the four central pixels of center of the full CCD are selected for the definition of the origin of the coordinate system. The Narrow Angle Camera is the primary instrument on the Remote Sensing Pallet (RSP). AACS is responsible for providing pointing knowledge of the boresight vector of this instrument. All other RSP instruments use the pointing provided to the NAC as their reference for determining their pointing.'' Nominal Frame Definition: FRAME_CASSINI_ISS_NAC = -82360 FRAME_-82360_NAME = 'CASSINI_ISS_NAC' FRAME_-82360_CLASS = 4 FRAME_-82360_CLASS_ID = -82360 FRAME_-82360_CENTER = -82 TKFRAME_-82360_SPEC = 'ANGLES' TKFRAME_-82360_RELATIVE = 'CASSINI_SC_COORD' TKFRAME_-82360_ANGLES = ( -90.0, 0.0, 90.0 ) TKFRAME_-82360_AXES = ( 1, 2, 3 ) TKFRAME_-82360_UNITS = 'DEGREES' [6] describes the inflight calibration of the ISS that was the result of the CICLOPS (Cassini Imaging Central Laboratory for Operations) analysis of 8 NAC images that were taken during ICO (Instrument Checkout). The rotation matrix that takes vectors represented in the ISS_NAC frame into the spacecraft frame follows: [ ] [ ] [ ] [ ] [ ROT ] = [ -89.892082 ] [ 0.047029483 ] [ 90.024236 ] [ ] [ ] [ ] [ ] X Y Z where [x] represents the rotation matrix of a given angle x about i axis i. The angles were taken directly from [6]. \begindata FRAME_CASSINI_ISS_NAC = -82360 FRAME_-82360_NAME = 'CASSINI_ISS_NAC' FRAME_-82360_CLASS = 4 FRAME_-82360_CLASS_ID = -82360 FRAME_-82360_CENTER = -82 TKFRAME_-82360_SPEC = 'ANGLES' TKFRAME_-82360_RELATIVE = 'CASSINI_SC_COORD' TKFRAME_-82360_ANGLES = ( -89.892082, 0.047029483, 90.024236 ) TKFRAME_-82360_AXES = ( 1, 2, 3 ) TKFRAME_-82360_UNITS = 'DEGREES' \begintext Imaging Science Subsystem Wide Angle Camera (ISS_WAC) The ISS WAC points nominally along the spacecraft -Y axis. The following frame definition encapsulates this nominal frame. Nominal Frame Definition: FRAME_CASSINI_ISS_WAC = -82361 FRAME_-82361_NAME = 'CASSINI_ISS_WAC' FRAME_-82361_CLASS = 4 FRAME_-82361_CLASS_ID = -82361 FRAME_-82361_CENTER = -82 TKFRAME_-82361_SPEC = 'ANGLES' TKFRAME_-82361_RELATIVE = 'CASSINI_SC_COORD' TKFRAME_-82361_ANGLES = ( -90.0, 0.0, 90.0 ) TKFRAME_-82361_AXES = ( 1, 2, 3 ) TKFRAME_-82361_UNITS = 'DEGREES' [6] describes the inflight calibration of ISS that was the result of the CICLOPS (Cassini Imaging Central Laboratory for Operations) analysis of 36 WAC images taken during ICO (Instrument Checkout). At this time the images taken were only sufficient to develop the location of the WAC's optical axis. There are three determinations of this axes location in the spacecraft frame. In [7] V.Haemmerle suggests that the 2-parameter fit average coupled with nominal twist would be the safest assumption to determine the frame transformation from ISS_WAC to the AACS body frame. The rotation matrix that takes ISS_WAC vectors into the spacecraft frame would be constructed as follows: [ ] [ ] [ ] [ ] [ ROT ] = [ +89.9116120 ] [ -90.00059931 ] [ 0.0 ] [ ] [ ] [ ] [ ] Z Y Z where [x] represents the rotation matrix of a given angle x about i axis i. These angles were computed using the assumption that the WAC optical axis lies along the vector: [ 0.00154266 ] WAC Optical Axis Vector = [ -0.99999881 ] [ -0.00001046 ] in AACS body coordinates. Further we assume nominal twist, hence the first rotation about Z is 0.0 degrees. \begindata FRAME_CASSINI_ISS_WAC = -82361 FRAME_-82361_NAME = 'CASSINI_ISS_WAC' FRAME_-82361_CLASS = 4 FRAME_-82361_CLASS_ID = -82361 FRAME_-82361_CENTER = -82 TKFRAME_-82361_SPEC = 'ANGLES' TKFRAME_-82361_RELATIVE = 'CASSINI_SC_COORD' TKFRAME_-82361_ANGLES = ( 89.9116120, -90.00059931, 0.0 ) TKFRAME_-82361_AXES = ( 3, 2, 3 ) TKFRAME_-82361_UNITS = 'DEGREES' \begintext Prototype Frames -------------------------------------------------------- The following frame definitions are included for the completeness of the kernel. Wherever possible the nominal values of the transformation are used, but do not rely on their correctness or accuracy. Frame definitions will migrate from this section of the kernel as it evolves. In most of the cases the follow the transformations present only align the boresight with the nominal configuration. ISS Radiators \begindata FRAME_CASSINI_ISS_NAC_RAD = -82368 FRAME_-82368_NAME = 'CASSINI_ISS_NAC_RAD' FRAME_-82368_CLASS = 4 FRAME_-82368_CLASS_ID = -82368 FRAME_-82368_CENTER = -82 TKFRAME_-82368_SPEC = 'ANGLES' TKFRAME_-82368_RELATIVE = 'CASSINI_SC_COORD' TKFRAME_-82368_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-82368_AXES = ( 1, 2, 3 ) TKFRAME_-82368_UNITS = 'DEGREES' \begintext \begindata FRAME_CASSINI_ISS_WAC_RAD = -82369 FRAME_-82369_NAME = 'CASSINI_ISS_WAC_RAD' FRAME_-82369_CLASS = 4 FRAME_-82369_CLASS_ID = -82369 FRAME_-82369_CENTER = -82 TKFRAME_-82369_SPEC = 'ANGLES' TKFRAME_-82369_RELATIVE = 'CASSINI_SC_COORD' TKFRAME_-82369_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-82369_AXES = ( 1, 2, 3 ) TKFRAME_-82369_UNITS = 'DEGREES' \begintext RSS Frames These frames are implemented using the nominal definitions established for each antenna frame. \begindata FRAME_CASSINI_RSS_HGA_X = -82200 FRAME_-82200_NAME = 'CASSINI_RSS_HGA_X' FRAME_-82200_CLASS = 4 FRAME_-82200_CLASS_ID = -82200 FRAME_-82200_CENTER = -82 TKFRAME_-82200_SPEC = 'ANGLES' TKFRAME_-82200_RELATIVE = 'CASSINI_SC_COORD' TKFRAME_-82200_ANGLES = ( 0.0, 180.0, 0.0 ) TKFRAME_-82200_AXES = ( 3, 2, 1 ) TKFRAME_-82200_UNITS = 'DEGREES' \begintext \begindata FRAME_CASSINI_RSS_HGA_KA = -82201 FRAME_-82201_NAME = 'CASSINI_RSS_HGA_KA' FRAME_-82201_CLASS = 4 FRAME_-82201_CLASS_ID = -82201 FRAME_-82201_CENTER = -82 TKFRAME_-82201_SPEC = 'ANGLES' TKFRAME_-82201_RELATIVE = 'CASSINI_SC_COORD' TKFRAME_-82201_ANGLES = ( 0.0, 180.0, 0.0 ) TKFRAME_-82201_AXES = ( 3, 2, 1 ) TKFRAME_-82201_UNITS = 'DEGREES' \begintext \begindata FRAME_CASSINI_RSS_HGA_KU = -82202 FRAME_-82202_NAME = 'CASSINI_RSS_HGA_KU' FRAME_-82202_CLASS = 4 FRAME_-82202_CLASS_ID = -82202 FRAME_-82202_CENTER = -82 TKFRAME_-82202_SPEC = 'ANGLES' TKFRAME_-82202_RELATIVE = 'CASSINI_SC_COORD' TKFRAME_-82202_ANGLES = ( 0.0, 180.0, 0.0 ) TKFRAME_-82202_AXES = ( 3, 2, 1 ) TKFRAME_-82202_UNITS = 'DEGREES' \begintext \begindata FRAME_CASSINI_RSS_HGA_S = -82203 FRAME_-82203_NAME = 'CASSINI_RSS_HGA_S' FRAME_-82203_CLASS = 4 FRAME_-82203_CLASS_ID = -82203 FRAME_-82203_CENTER = -82 TKFRAME_-82203_SPEC = 'ANGLES' TKFRAME_-82203_RELATIVE = 'CASSINI_SC_COORD' TKFRAME_-82203_ANGLES = ( 0.0, 180.0, 0.0 ) TKFRAME_-82203_AXES = ( 3, 2, 1 ) TKFRAME_-82203_UNITS = 'DEGREES' \begintext \begindata FRAME_CASSINI_RSS_LGA1 = -82204 FRAME_-82204_NAME = 'CASSINI_RSS_LGA1' FRAME_-82204_CLASS = 4 FRAME_-82204_CLASS_ID = -82204 FRAME_-82204_CENTER = -82 TKFRAME_-82204_SPEC = 'ANGLES' TKFRAME_-82204_RELATIVE = 'CASSINI_SC_COORD' TKFRAME_-82204_ANGLES = ( 0.0, 180.0, 0.0 ) TKFRAME_-82204_AXES = ( 3, 2, 1 ) TKFRAME_-82204_UNITS = 'DEGREES' \begintext \begindata FRAME_CASSINI_RSS_LGA2 = -82205 FRAME_-82205_NAME = 'CASSINI_RSS_LGA2' FRAME_-82205_CLASS = 4 FRAME_-82205_CLASS_ID = -82205 FRAME_-82205_CENTER = -82 TKFRAME_-82205_SPEC = 'ANGLES' TKFRAME_-82205_RELATIVE = 'CASSINI_SC_COORD' TKFRAME_-82205_ANGLES = ( 0.0, 90.0, 0.0 ) TKFRAME_-82205_AXES = ( 3, 2, 1 ) TKFRAME_-82205_UNITS = 'DEGREES' \begintext MAG Frames \begindata FRAME_CASSINI_MAG = -82350 FRAME_-82350_NAME = 'CASSINI_MAG' FRAME_-82350_CLASS = 4 FRAME_-82350_CLASS_ID = -82350 FRAME_-82350_CENTER = -82 TKFRAME_-82350_SPEC = 'ANGLES' TKFRAME_-82350_RELATIVE = 'CASSINI_SC_COORD' TKFRAME_-82350_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-82350_AXES = ( 1, 2, 3 ) TKFRAME_-82350_UNITS = 'DEGREES' \begintext VIMS Frames The VIMS boresight points nominally along the spacecraft -Y axis. \begindata FRAME_CASSINI_VIMS = -82370 FRAME_-82370_NAME = 'CASSINI_VIMS' FRAME_-82370_CLASS = 4 FRAME_-82370_CLASS_ID = -82370 FRAME_-82370_CENTER = -82 TKFRAME_-82370_SPEC = 'ANGLES' TKFRAME_-82370_RELATIVE = 'CASSINI_SC_COORD' TKFRAME_-82370_ANGLES = ( -90.0, 0.0, 0.0 ) TKFRAME_-82370_AXES = ( 1, 2, 3 ) TKFRAME_-82370_UNITS = 'DEGREES' \begintext \begindata FRAME_CASSINI_VIMS_RAD = -82378 FRAME_-82378_NAME = 'CASSINI_VIMS_RAD' FRAME_-82378_CLASS = 4 FRAME_-82378_CLASS_ID = -82378 FRAME_-82378_CENTER = -82 TKFRAME_-82378_SPEC = 'ANGLES' TKFRAME_-82378_RELATIVE = 'CASSINI_SC_COORD' TKFRAME_-82378_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-82378_AXES = ( 1, 2, 3 ) TKFRAME_-82378_UNITS = 'DEGREES' \begintext RPWS Frames \begindata FRAME_CASSINI_RPWS = -82730 FRAME_-82730_NAME = 'CASSINI_RPWS' FRAME_-82730_CLASS = 4 FRAME_-82730_CLASS_ID = -82730 FRAME_-82730_CENTER = -82 TKFRAME_-82730_SPEC = 'ANGLES' TKFRAME_-82730_RELATIVE = 'CASSINI_SC_COORD' TKFRAME_-82730_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-82730_AXES = ( 1, 2, 3 ) TKFRAME_-82730_UNITS = 'DEGREES' \begintext INMS Frames The INMS boresight points nominally along the -X spacecraft axis. \begindata FRAME_CASSINI_INMS = -82740 FRAME_-82740_NAME = 'CASSINI_INMS' FRAME_-82740_CLASS = 4 FRAME_-82740_CLASS_ID = -82740 FRAME_-82740_CENTER = -82 TKFRAME_-82740_SPEC = 'ANGLES' TKFRAME_-82740_RELATIVE = 'CASSINI_SC_COORD' TKFRAME_-82740_ANGLES = ( 00.0, 90.0, 0.0 ) TKFRAME_-82740_AXES = ( 1, 2, 3 ) TKFRAME_-82740_UNITS = 'DEGREES' \begintext MIMI Frames \begindata FRAME_CASSINI_MIMI = -82760 FRAME_-82760_NAME = 'CASSINI_MIMI' FRAME_-82760_CLASS = 4 FRAME_-82760_CLASS_ID = -82760 FRAME_-82760_CENTER = -82 TKFRAME_-82760_SPEC = 'ANGLES' TKFRAME_-82760_RELATIVE = 'CASSINI_SC_COORD' TKFRAME_-82760_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-82760_AXES = ( 1, 2, 3 ) TKFRAME_-82760_UNITS = 'DEGREES' \begintext CDA Frames The CDA frame is currently listed as a CK based frame. This may change once decisions are made as to exactly how the CDA frame chain is enumerated. \begindata FRAME_CASSINI_CDA = -82790 FRAME_-82790_NAME = 'CASSINI_CDA' FRAME_-82790_CLASS = 3 FRAME_-82790_CLASS_ID = -82790 FRAME_-82790_CENTER = -82 CK_-82790_SCLK = -82 CK_-82790_SPK = -82 \begintext RADAR Frames The RADAR instrument has it's boresight along the spacecraft -Z axis. \begindata FRAME_CASSINI_RADAR = -82810 FRAME_-82810_NAME = 'CASSINI_RADAR' FRAME_-82810_CLASS = 4 FRAME_-82810_CLASS_ID = -82810 FRAME_-82810_CENTER = -82 TKFRAME_-82810_SPEC = 'ANGLES' TKFRAME_-82810_RELATIVE = 'CASSINI_SC_COORD' TKFRAME_-82810_ANGLES = ( 180.0, 0.0, 0.0 ) TKFRAME_-82810_AXES = ( 1, 2, 3 ) TKFRAME_-82810_UNITS = 'DEGREES' \begintext CAPS Frames The CAPS frame is currently listed as a CK based frame. This may change once decisions are made as to exactly how the CAPS frame chain is enumerated. \begindata FRAME_CASSINI_CAPS = -82820 FRAME_-82820_NAME = 'CASSINI_CAPS' FRAME_-82820_CLASS = 3 FRAME_-82820_CLASS_ID = -82820 FRAME_-82820_CENTER = -82 CK_-82820_SCLK = -82 CK_-82820_SPK = -82 \begintext UVIS Frames The UVIS instrument is mounted on the remote sensing palette and points nominally along the spacecraft -Y axis. This frame captures the nominal boresight. \begindata FRAME_CASSINI_UVIS = -82840 FRAME_-82840_NAME = 'CASSINI_UVIS' FRAME_-82840_CLASS = 4 FRAME_-82840_CLASS_ID = -82840 FRAME_-82840_CENTER = -82 TKFRAME_-82840_SPEC = 'ANGLES' TKFRAME_-82840_RELATIVE = 'CASSINI_SC_COORD' TKFRAME_-82840_ANGLES = ( -90.0, 0.0, 0.0 ) TKFRAME_-82840_AXES = ( 1, 2, 3 ) TKFRAME_-82840_UNITS = 'DEGREES' \begintext CIRS Frames The CIRS Focal Plane frames CASSINI_CIRS_FPx point nominally along the spacecraft -Y axis. These frames encapsulate the nominal boresight transformation. \begindata FRAME_CASSINI_CIRS_FP1 = -82890 FRAME_-82890_NAME = 'CASSINI_CIRS_FP1' FRAME_-82890_CLASS = 4 FRAME_-82890_CLASS_ID = -82890 FRAME_-82890_CENTER = -82 TKFRAME_-82890_SPEC = 'ANGLES' TKFRAME_-82890_RELATIVE = 'CASSINI_SC_COORD' TKFRAME_-82890_ANGLES = ( -90.0, 0.0, 90.0 ) TKFRAME_-82890_AXES = ( 1, 2, 3 ) TKFRAME_-82890_UNITS = 'DEGREES' \begintext \begindata FRAME_CASSINI_CIRS_FP3 = -82891 FRAME_-82891_NAME = 'CASSINI_CIRS_FP3' FRAME_-82891_CLASS = 4 FRAME_-82891_CLASS_ID = -82891 FRAME_-82891_CENTER = -82 TKFRAME_-82891_SPEC = 'ANGLES' TKFRAME_-82891_RELATIVE = 'CASSINI_SC_COORD' TKFRAME_-82891_ANGLES = ( -90.0, 0.0, 90.0 ) TKFRAME_-82891_AXES = ( 1, 2, 3 ) TKFRAME_-82891_UNITS = 'DEGREES' \begintext \begindata FRAME_CASSINI_CIRS_FP4 = -82892 FRAME_-82892_NAME = 'CASSINI_CIRS_FP4' FRAME_-82892_CLASS = 4 FRAME_-82892_CLASS_ID = -82892 FRAME_-82892_CENTER = -82 TKFRAME_-82892_SPEC = 'ANGLES' TKFRAME_-82892_RELATIVE = 'CASSINI_SC_COORD' TKFRAME_-82892_ANGLES = ( -90.0, 0.0, 90.0 ) TKFRAME_-82892_AXES = ( 1, 2, 3 ) TKFRAME_-82892_UNITS = 'DEGREES' \begintext \begindata FRAME_CASSINI_CIRS_RAD = -82898 FRAME_-82898_NAME = 'CASSINI_CIRS_RAD' FRAME_-82898_CLASS = 4 FRAME_-82898_CLASS_ID = -82898 FRAME_-82898_CENTER = -82 TKFRAME_-82898_SPEC = 'ANGLES' TKFRAME_-82898_RELATIVE = 'CASSINI_SC_COORD' TKFRAME_-82898_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-82898_AXES = ( 1, 2, 3 ) TKFRAME_-82898_UNITS = 'DEGREES' \begintext