KPL/FK Cassini Spacecraft Frame Definitions Kernel ============================================================================== This frame kernel contains the Cassini spacecraft, science instrument, and communication antennae frame definitions. Version and Date ---------------------------------------------------------- The TEXT_KERNEL_ID stores version information of loaded project text kernels. Each entry associated with the keyword is a string that consists of four parts: the kernel name, version, entry date, and type. For example, the ISS I-kernel might have an entry as follows: TEXT_KERNEL_ID += 'CASSINI_ISS V0.0.0 29-SEPTEMBER-1999 IK' | | | | | | | | KERNEL NAME <-------+ | | | | | V VERSION <-------+ | KERNEL TYPE | V ENTRY DATE Cassini Frame Kernel Version: \begindata TEXT_KERNEL_ID += 'CASSINI_FRAMES V2.7.0 10-JULY-2000 FK' \begintext Version 2.7 -- July 7, 2000 -- Scott Turner -- Added the following frame entries RPWS requested: CASSINI_RPWS_EXPLUS, CASSINI_RPWS_EXMINUS, CASSINI_RPWS_EZPLUS, CASSINI_RPWS_LP to the prototype frame section. See [14] for details. -- Changed the following frame names: CASSINI_HGA_X -> CASSINI_XBAND, CASSINI_HGA_S -> CASSINI_SBAND, CASSINI_HGA_KA -> CASSINI_KABAND, CASSINI_HGA_KU -> CASSINI_KUBAND. -- Halved the Euler angles associated with the CASSINI_CIRS_FP3 and CASSINI_FP4 frames. See [15] for details. Version 2.6 -- June 26, 2000 -- Scott Turner -- The RSS frame entries in the prototype section were renamed to HGA based frames. -- Removed the CASSINI_MAG frame and replaced it with the CASSINI_MAG_PLUS and CASSINI_MAG_MINUS frames. Version 2.5 -- April 2, 2000 -- Scott Turner -- Added CASSINI_VIMS. -- Added CASSINI_UVIS_FUV, CASSINI_UVIS_EUV, CASSINI_UVIS_FUV_OCC, CASSINI_UVIS_EUV_OCC, CASSINI_UVIS_HSP, and CASSINI_UVIS_HDAC. -- Fixed the keywords defining the CASSINI_HGA frame to use the proper ID code, -82101. -- Updated CASSINI_ISS_NAC and CASSINI_ISS_WAC to reflect the latest boresight information available in ECR's 100078 and 100079. Version 2.4 -- March 27, 2000 -- Scott Turner -- Added the CIRS Focal Plane Boresight frame, CASSINI_CIRS_FPB. -- CASSINI_CIRS_FP1, CASSINI_CIRS_FP3, CASSINI_CIRS_FP2 are no longer relative to CASSINI_SC_COORD but to the intermediate frame CASSINI_CIRS_FPB. -- Migrated the CASSINI_UVIS frame from the prototype section and added the CASSINI_UVIS_OCC frame. -- Added the TEXT_KERNEL_ID keyword to make version information accessible to programs at runtime. Version 2.3 -- March 9, 2000 -- Scott Turner -- Updated the Euler angles for CASSINI_CIRS_FP1, CASSINI_CIRS_FP3, and CASSINI_CIRS_FP4. Migrated them from the prototype section into the CIRS Section of the FK. 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'' 9. CASPER CIRS I-kernel Version 3.2 10. CIRS Fields-of-View PDF attached in an email from Stephen Edberg to Diane Conner. 11. Cassini Engineering Change Request #100078 12. Cassini Engineering Change Request #100079 13. CASPER VIMS I-kernel Version Version 4.2 14. Email from Terry Averkamp regarding new RPWS frame entries. 15. Email from Richard Achterberg regarding the CIRS frame entries. 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 -82101 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 CIRS Frames (-8289x): ------------------------ CASSINI_CIRS_FP1 CASSINI_CIRS_FPB FIXED -82890 CASSINI_CIRS_FP3 CASSINI_CIRS_FPB FIXED -82891 CASSINI_CIRS_FP4 CASSINI_CIRS_FPB FIXED -82892 CASSINI_CIRS_FPB CASSINI_SC_COORD FIXED -82893 UVIS Frames (-8284x): ------------------------ CASSINI_UVIS_FUV CASSINI_SC_COORD FIXED -82840 CASSINI_UVIS_FUV_OCC CASSINI_UVIS_FUV FIXED -82841 CASSINI_UVIS_EUV CASSINI_SC_COORD FIXED -82842 CASSINI_UVIS_EUV_OCC CASSINI_UVIS_EUV FIXED -82843 CASSINI_UVIS_HSP CASSINI_SC_COORD FIXED -82844 CASSINI_UVIS_HDAC CASSINI_SC_COORD FIXED -82845 VIMS Frames (-8283x): ------------------------ CASSINI_VIMS_V CASSINI_SC_COORD FIXED -82370 CASSINI_VIMS_IR CASSINI_SC_COORD FIXED -82371 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 Antenna Frames (-8220x): ------------------------ CASSINI_XBAND CASSINI_SC_COORD FIXED -82104 CASSINI_KABAND CASSINI_SC_COORD FIXED -82105 CASSINI_KUBAND CASSINI_SC_COORD FIXED -82106 CASSINI_SBAND CASSINI_SC_COORD FIXED -82107 MAG Frames (-8235x): ------------------------ CASSINI_MAG CASSINI_SC_COORD FIXED -82350 VIMS Frames (-8237x): ------------------------ CASSINI_VIMS_RAD CASSINI_SC_COORD FIXED -82378 RPWS Frames (-8273x): ------------------------ CASSINI_RPWS CASSINI_SC_COORD FIXED -82730 CASSINI_RPWS_EXPLUS CASSINI_SC_COORD FIXED -82731 CASSINI_RPWS_EXMINUS CASSINI_SC_COORD FIXED -82732 CASSINI_RPWS_EZPLUS CASSINI_SC_COORD FIXED -82733 CASSINI_RPWS_LP CASSINI_SC_COORD FIXED -82734 INMS Frames (-8274x): ------------------------ CASSINI_INMS CASSINI_SC_COORD FIXED -82740 MIMI Frames (-8276x): ------------------------ CASSINI_MIMI_CHEMS CASSINI_SC_COORD FIXED -82760 CASSINI_MIMI_INCA CASSINI_SC_COORD FIXED -82761 CASSINI_MIMI_LEMMS1 CASSINI_SC_COORD CK -82762 CASSINI_MIMI_LEMMS2 CASSINI_SC_COORD CK -82763 CDA Frames (-8279x): ------------------------ CASSINI_CDA CASSINI_SC_COORD CK -82790 RADAR Frames (-8281x): ------------------------ CASSINI_RADAR_1 CASSINI_SC_COORD FIXED -82810 CASSINI_RADAR_2 CASSINI_SC_COORD FIXED -82811 CASSINI_RADAR_3 CASSINI_SC_COORD FIXED -82812 CASSINI_RADAR_4 CASSINI_SC_COORD FIXED -82813 CASSINI_RADAR_5 CASSINI_SC_COORD FIXED -82814 CAPS Frames (-8282x): ------------------------ CASSINI_CAPS CASSINI_SC_COORD CK -82820 CIRS Frames (-8289x): ------------------------ 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' | 'CASSINI_CIRS_FPB' | | | 'CASSINI_CIRS_FP1' | | | 'CASSINI_CIRS_FP3' | | | 'CASSINI_CIRS_FP4' | 'CASSINI_UVIS_FUV' | | | 'CASSINI_UVIS_FUV_OCC' | 'CASSINI_UVIS_EUV' | | | 'CASSINI_UVIS_EUV_OCC' | 'CASSINI_UVIS_HSP' | 'CASSINI_UVIS_HDAC' | 'CASSINI_VIMS' 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 orientation 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 = -82101 FRAME_-82101_NAME = 'CASSINI_HGA' FRAME_-82101_CLASS = 4 FRAME_-82101_CLASS_ID = -82101 FRAME_-82101_CENTER = -82 TKFRAME_-82101_SPEC = 'ANGLES' TKFRAME_-82101_RELATIVE = 'CASSINI_SC_COORD' TKFRAME_-82101_ANGLES = ( 0.0, 180.0, 0.0 ) TKFRAME_-82101_AXES = ( 3, 2, 1 ) TKFRAME_-82101_UNITS = 'DEGREES' TKFRAME_-82101_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 ] = [ -90.024236 ] [ -0.047029483 ] [ 89.892082 ] [ ] [ ] [ ] [ ] 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]. 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 = ( -90.024236, -0.047029483, 89.892082 ) TKFRAME_-82360_AXES = ( 1, 2, 3 ) TKFRAME_-82360_UNITS = 'DEGREES' From [10]: ``The NAC boresight is not precisely aligned with the S/C -Y body vector. Its alignment was determined during ICO-1 ISS observations of Spica, when the spacecraft was using SRU-B for orientation determination. The alignment parameters cited under Change Requested take into account the offset, as determined by AACS, between SRU-A and SRU-B.'' [10] also describes a series of frame transformations that convert the CASSINI_ISS_NAC frame into the CASSINI_SC_COORD frame, accounting for the offset between SRU-A and SRU-B. This results in following frame definition: The rotation matrix that takes vectors represented in the ISS_NAC frame into the spacecraft frame follows: [ ] [ ] [ ] [ ] [ ROT ] = [ -89.99231636 ] [ -0.03586589 ] [ 89.93339682 ] [ ] [ ] [ ] [ ] X Y Z where [x] represents the rotation matrix of a given angle x about i axis i. \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 = (-89.99231636, -0.03586589, 89.93339682) 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. 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' From [11]: ``The WAC boresight is not precisely aligned with the S/C -Y body vector. Its alignment was determined during ICO-1 ISS observations of Spica, when the spacecraft was using SRU-B for orientation determination. The alignment parameters cited under Change Request take into account the offset, as determined by AACS, between SRU-A and SRU-B.'' Taking the boresight from the ECR ([11]): [ 0.0013481161 ] WAC Optical Axis Vector = [ -0.99999894 ] [ 0.00054612156 ] and assuming no twist, we derive the following angles: [ ] [ ] [ ] [ ] [ ROT ] = [ +89.9227586 ] [ -89.96870954 ] [ 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: 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 = ( 89.9227586, -89.96870954, 0.0 ) TKFRAME_-82361_AXES = ( 3, 2, 3 ) TKFRAME_-82361_UNITS = 'DEGREES' \begintext CIRS Frames ---------------------------------------------------------- The Composite Infrared Spectrometer (CIRS) is 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 instrument to (relative to) base frame" transformation. Composite Infrared Spectrometer Focal Plane Boresight (CIRS_FPB) The CIRS FPB points nominally along the spacecraft -Y axis. The rotation matrix that takes vectors represented in the CIRS_FPB frame into the spacecraft frame follows: [ ] [ ] [ ] [ ] [ ROT ] = [ 0.0 ] [-90.0 ] [ 0.0 ] [ ] [ ] [ ] [ ] Z X Y where [x] represents the rotation matrix of a given angle x about i axis i. The following frame definition encapsulates this nominal frame: \begindata FRAME_CASSINI_CIRS_FPB = -82893 FRAME_-82893_NAME = 'CASSINI_CIRS_FPB' FRAME_-82893_CLASS = 4 FRAME_-82893_CLASS_ID = -82893 FRAME_-82893_CENTER = -82 TKFRAME_-82893_SPEC = 'ANGLES' TKFRAME_-82893_RELATIVE = 'CASSINI_SC_COORD' TKFRAME_-82893_ANGLES = ( 0.0, -90.0, 0.0 ) TKFRAME_-82893_AXES = ( 3, 1, 2 ) TKFRAME_-82893_UNITS = 'DEGREES' \begintext Composite Infrared Spectrometer Focal Plane #1 (CIRS_FP1) The CIRS FP1 points nominally along the spacecraft -Y axis. The following frame definition encapsulates this nominal frame. Nominal Frame Definition: 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' [9] and [10] describe the most up to date values the orientation of the CIRS focal planes. The rotation matrix that takes vectors represented in the CIRS_FP1 frame into the CIRS_FPB frame follows: [ ] [ ] [ ] [ ] [ ROT ] = [ 0.0 ] [ 0.0 ] [ 0.23319382 ] [ ] [ ] [ ] [ ] Z X Y where [x] represents the rotation matrix of a given angle x about i axis i. The angles were computed from [10]. \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_CIRS_FPB' TKFRAME_-82890_ANGLES = ( 0.0, 0.0, -0.23319382 ) TKFRAME_-82890_AXES = ( 3, 1, 2 ) TKFRAME_-82890_UNITS = 'DEGREES' \begintext Composite Infrared Spectrometer Focal Plane #3 (CIRS_FP3) The CIRS FP3 points nominally along the spacecraft -Y axis. The following frame definition encapsulates this nominal frame. Nominal Frame Definition: 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' [9] and [10] describe the most up to date values the orientation of the CIRS focal planes. The rotation matrix that takes vectors represented in the CIRS_FP3 frame into the CIRS_FPB frame follows: [ ] [ ] [ ] [ ] [ ROT ] = [ 0.0 ] [ 0.0 ] [ 0.05099324 ] [ ] [ ] [ ] [ ] Z X Y where [x] represents the rotation matrix of a given angle x about i axis i. The angles were computed from [10] with updates from [15]. \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_CIRS_FPB' TKFRAME_-82891_ANGLES = ( 0.0, 0.0, 0.02549662 ) TKFRAME_-82891_AXES = ( 3, 1, 2 ) TKFRAME_-82891_UNITS = 'DEGREES' \begintext Composite Infrared Spectrometer Focal Plane #4 (CIRS_FP4) The CIRS FP4 points nominally along the spacecraft -Y axis. The following frame definition encapsulates this nominal frame. Nominal Frame Definition: 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' [9] and [10] describe the most up to date values the orientation of the CIRS focal planes. The rotation matrix that takes vectors represented in the CIRS_FP4 frame into the CIRS_FPB frame follows: [ ] [ ] [ ] [ ] [ ROT ] = [ 0.0 ] [ 0.0 ] [ -0.05099324 ] [ ] [ ] [ ] [ ] Z X Y where [x] represents the rotation matrix of a given angle x about i axis i. The angles were taken directly from [10] with updates from [15]. \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_CIRS_FPB' TKFRAME_-82892_ANGLES = ( 0.0, 0.0, -0.02549662 ) TKFRAME_-82892_AXES = ( 3, 1, 2 ) TKFRAME_-82892_UNITS = 'DEGREES' \begintext UVIS Frames ---------------------------------------------------------- The Ultraviolet Imaging Spectrograph (UVIS) is 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 instrument to (relative to) base frame" transformation. Ultraviolet Imaging Spectrograph Far Ultraviolet Spectrograph (UVIS_FUV) An examination of [5] reveals that UVIS_FUV points nominally along the spacecraft -Y axis. The rotation matrix that takes vectors represented in the UVIS_FUV frame into the spacecraft frame follows: [ ] [ ] [ ] [ ] [ ROT ] = [ 0.0 ] [ 0.0 ] [ -90.0 ] [ ] [ ] [ ] [ ] Z Y X where [x] represents the rotation matrix of a given angle x about i axis i. The following frame definition describes this nominal frame: \begindata FRAME_CASSINI_UVIS_FUV = -82840 FRAME_-82840_NAME = 'CASSINI_UVIS_FUV' 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 = ( 0.0, 0.0, -90.0 ) TKFRAME_-82840_AXES = ( 3, 2, 1 ) TKFRAME_-82840_UNITS = 'DEGREES' \begintext Ultraviolet Imaging Spectrograph Far Ultraviolet Occultation Port (UVIS_FUV_OCC) Looking at reference [5] demonstrates that the UVIS FUV Occultation port points nominally 20 degrees offset from the UVIS boresight in the -Y direction of the UVIS_FUV frame. The rotation matrix that takes vectors represented in the UVIS_FUV_OCC frame into the UVIS_FUV frame follows: [ ] [ ] [ ] [ ] [ ROT ] = [ 0.0 ] [ 0.0 ] [ -20.0 ] [ ] [ ] [ ] [ ] Z Y X where [x] represents the rotation matrix of a given angle x about i axis i. \begindata FRAME_CASSINI_UVIS_FUV_OCC = -82841 FRAME_-82841_NAME = 'CASSINI_UVIS_FUV_OCC' FRAME_-82841_CLASS = 4 FRAME_-82841_CLASS_ID = -82841 FRAME_-82841_CENTER = -82 TKFRAME_-82841_SPEC = 'ANGLES' TKFRAME_-82841_RELATIVE = 'CASSINI_UVIS_FUV' TKFRAME_-82841_ANGLES = ( 0.0, 0.0, -20.0 ) TKFRAME_-82841_AXES = ( 3, 2, 1 ) TKFRAME_-82841_UNITS = 'DEGREES' \begintext Ultraviolet Imaging Spectrograph Extreme Ultraviolet Spectrograph (UVIS_EUV) An examination of [5] reveals that the UVIS_EUV points nominally along the spacecraft -Y axis. The rotation matrix that takes vectors represented in the UVIS_EUV frame into the spacecraft frame follows: [ ] [ ] [ ] [ ] [ ROT ] = [ 0.0 ] [ 0.0 ] [ -90.0 ] [ ] [ ] [ ] [ ] Z Y X where [x] represents the rotation matrix of a given angle x about i axis i. The following frame definition describes this nominal frame: \begindata FRAME_CASSINI_UVIS_EUV = -82842 FRAME_-82842_NAME = 'CASSINI_UVIS_EUV' FRAME_-82842_CLASS = 4 FRAME_-82842_CLASS_ID = -82842 FRAME_-82842_CENTER = -82 TKFRAME_-82842_SPEC = 'ANGLES' TKFRAME_-82842_RELATIVE = 'CASSINI_SC_COORD' TKFRAME_-82842_ANGLES = ( 0.0, 0.0, -90.0 ) TKFRAME_-82842_AXES = ( 3, 2, 1 ) TKFRAME_-82842_UNITS = 'DEGREES' \begintext Ultraviolet Imaging Spectrograph Far Ultraviolet Occultation Port (UVIS_EUV_OCC) [5] illustrates that the UVIS EUV Occultation port points nominally 20 degrees offset from the UVIS boresight in the -Y direction of the UVIS_EUV frame. The rotation matrix that takes vectors represented in the UVIS_EUV_OCC frame into the UVIS_EUV frame follows: [ ] [ ] [ ] [ ] [ ROT ] = [ 0.0 ] [ 0.0 ] [ -20.0 ] [ ] [ ] [ ] [ ] Z Y X where [x] represents the rotation matrix of a given angle x about i axis i. \begindata FRAME_CASSINI_UVIS_EUV_OCC = -82843 FRAME_-82843_NAME = 'CASSINI_UVIS_EUV_OCC' FRAME_-82843_CLASS = 4 FRAME_-82843_CLASS_ID = -82843 FRAME_-82843_CENTER = -82 TKFRAME_-82843_SPEC = 'ANGLES' TKFRAME_-82843_RELATIVE = 'CASSINI_UVIS_EUV' TKFRAME_-82843_ANGLES = ( 0.0, 0.0, -20.0 ) TKFRAME_-82843_AXES = ( 3, 2, 1 ) TKFRAME_-82843_UNITS = 'DEGREES' \begintext Ultraviolet Imaging Spectrograph High Speed Photometer (UVIS_HSP) An examination of [5] reveals that the UVIS_HSP points nominally along the spacecraft -Y axis. The rotation matrix that takes vectors represented in the UVIS_HSP frame into the spacecraft frame follows: [ ] [ ] [ ] [ ] [ ROT ] = [ 0.0 ] [ 0.0 ] [ -90.0 ] [ ] [ ] [ ] [ ] Z Y X where [x] represents the rotation matrix of a given angle x about i axis i. The following frame definition describes this nominal frame: \begindata FRAME_CASSINI_UVIS_HSP = -82844 FRAME_-82844_NAME = 'CASSINI_UVIS_HSP' FRAME_-82844_CLASS = 4 FRAME_-82844_CLASS_ID = -82844 FRAME_-82844_CENTER = -82 TKFRAME_-82844_SPEC = 'ANGLES' TKFRAME_-82844_RELATIVE = 'CASSINI_SC_COORD' TKFRAME_-82844_ANGLES = ( 0.0, 0.0, -90.0 ) TKFRAME_-82844_AXES = ( 3, 2, 1 ) TKFRAME_-82844_UNITS = 'DEGREES' \begintext Ultraviolet Imaging Spectrograph Hydrogen - Deuterium Absorption Cell (UVIS_HDAC) An examination of [5] reveals that the UVIS_HDAC points nominally along the spacecraft -Y axis. The rotation matrix that takes vectors represented in the UVIS_HSP frame into the spacecraft frame follows: [ ] [ ] [ ] [ ] [ ROT ] = [ 0.0 ] [ 0.0 ] [ -90.0 ] [ ] [ ] [ ] [ ] Z Y X where [x] represents the rotation matrix of a given angle x about i axis i. The following frame definition describes this nominal frame: \begindata FRAME_CASSINI_UVIS_HDAC = -82845 FRAME_-82845_NAME = 'CASSINI_UVIS_HDAC' FRAME_-82845_CLASS = 4 FRAME_-82845_CLASS_ID = -82845 FRAME_-82845_CENTER = -82 TKFRAME_-82845_SPEC = 'ANGLES' TKFRAME_-82845_RELATIVE = 'CASSINI_SC_COORD' TKFRAME_-82845_ANGLES = ( 0.0, 0.0, -90.0 ) TKFRAME_-82845_AXES = ( 3, 2, 1 ) TKFRAME_-82845_UNITS = 'DEGREES' \begintext VIMS Frames ---------------------------------------------------------- The Visible and Infrared Mapping Spectrometer is 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. Visible and Infrared Mapping Spectrometer (VIMS) The VIMS detector points nominally along the spacecraft -Y axis. The following frame definition encapsulates this nominal frame. From [13]: [ ] [ ] [ ] [ ] [ ROT ] = [ 0.0 ] [ 0.0 ] [ -90.0 ] [ ] [ ] [ ] [ ] Z Y X where [x] represents the rotation matrix of a given angle x about i axis i. \begindata FRAME_CASSINI_VIMS_V = -82370 FRAME_-82370_NAME = 'CASSINI_VIMS_V' 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 = ( 0.0, 0.0, -90.0 ) TKFRAME_-82370_AXES = ( 3, 2, 1 ) TKFRAME_-82370_UNITS = 'DEGREES' \begintext \begindata FRAME_CASSINI_VIMS_IR = -82371 FRAME_-82371_NAME = 'CASSINI_VIMS_IR' FRAME_-82371_CLASS = 4 FRAME_-82371_CLASS_ID = -82371 FRAME_-82371_CENTER = -82 TKFRAME_-82371_SPEC = 'ANGLES' TKFRAME_-82371_RELATIVE = 'CASSINI_SC_COORD' TKFRAME_-82371_ANGLES = ( 0.0, 0.0, -90.0 ) TKFRAME_-82371_AXES = ( 3, 2, 1 ) TKFRAME_-82371_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 MAG Frames \begindata FRAME_CASSINI_MAG_PLUS = -82350 FRAME_-82350_NAME = 'CASSINI_MAG_PLUS' 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, -90.0, 0.0 ) TKFRAME_-82350_AXES = ( 1, 2, 3 ) TKFRAME_-82350_UNITS = 'DEGREES' \begintext \begindata FRAME_CASSINI_MAG_MINUS = -82351 FRAME_-82351_NAME = 'CASSINI_MAG_MINUS' FRAME_-82351_CLASS = 4 FRAME_-82351_CLASS_ID = -82351 FRAME_-82351_CENTER = -82 TKFRAME_-82351_SPEC = 'ANGLES' TKFRAME_-82351_RELATIVE = 'CASSINI_SC_COORD' TKFRAME_-82351_ANGLES = ( 0.0, 90.0, 0.0 ) TKFRAME_-82351_AXES = ( 1, 2, 3 ) TKFRAME_-82351_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, 90.0, 0.0 ) TKFRAME_-82730_AXES = ( 1, 2, 3 ) TKFRAME_-82730_UNITS = 'DEGREES' \begintext The following four frame definitions were provided in [14]. \begindata FRAME_CASSINI_RPWS_EXPLUS = -82731 FRAME_-82731_NAME = 'CASSINI_RPWS_EXPLUS' FRAME_-82731_CLASS = 4 FRAME_-82731_CLASS_ID = -82731 FRAME_-82731_CENTER = -82 TKFRAME_-82731_SPEC = 'ANGLES' TKFRAME_-82731_RELATIVE = 'CASSINI_SC_COORD' TKFRAME_-82731_ANGLES = ( -16.9, -107.6, 0.0 ) TKFRAME_-82731_AXES = ( 3, 2, 1 ) TKFRAME_-82731_UNITS = 'DEGREES' \begintext \begindata FRAME_CASSINI_RPWS_EXMINUS= -82732 FRAME_-82732_NAME = 'CASSINI_RPWS_EXMINUS' FRAME_-82732_CLASS = 4 FRAME_-82732_CLASS_ID = -82732 FRAME_-82732_CENTER = -82 TKFRAME_-82732_SPEC = 'ANGLES' TKFRAME_-82732_RELATIVE = 'CASSINI_SC_COORD' TKFRAME_-82732_ANGLES = (-163.1, -107.6, 0.0 ) TKFRAME_-82732_AXES = ( 3, 2, 1 ) TKFRAME_-82732_UNITS = 'DEGREES' \begintext \begindata FRAME_CASSINI_RPWS_EZPLUS = -82733 FRAME_-82733_NAME = 'CASSINI_RPWS_EZPLUS' FRAME_-82733_CLASS = 4 FRAME_-82733_CLASS_ID = -82733 FRAME_-82733_CENTER = -82 TKFRAME_-82733_SPEC = 'ANGLES' TKFRAME_-82733_RELATIVE = 'CASSINI_SC_COORD' TKFRAME_-82733_ANGLES = ( -91.2, -31.4, 0.0 ) TKFRAME_-82733_AXES = ( 3, 2, 1 ) TKFRAME_-82733_UNITS = 'DEGREES' \begintext \begindata FRAME_CASSINI_RPWS_LP = -82734 FRAME_-82734_NAME = 'CASSINI_RPWS_LP' FRAME_-82734_CLASS = 4 FRAME_-82734_CLASS_ID = -82734 FRAME_-82734_CENTER = -82 TKFRAME_-82734_SPEC = 'ANGLES' TKFRAME_-82734_RELATIVE = 'CASSINI_SC_COORD' TKFRAME_-82734_ANGLES = ( 180.0, -90.0, 0.0 ) TKFRAME_-82734_AXES = ( 3, 2, 1 ) TKFRAME_-82734_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_CHEMS = -82760 FRAME_-82760_NAME = 'CASSINI_MIMI_CHEMS' 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, -90.0, 0.0 ) TKFRAME_-82760_AXES = ( 1, 2, 3 ) TKFRAME_-82760_UNITS = 'DEGREES' \begintext \begindata FRAME_CASSINI_MIMI_INCA = -82761 FRAME_-82761_NAME = 'CASSINI_MIMI_INCA' FRAME_-82761_CLASS = 4 FRAME_-82761_CLASS_ID = -82761 FRAME_-82761_CENTER = -82 TKFRAME_-82761_SPEC = 'ANGLES' TKFRAME_-82761_RELATIVE = 'CASSINI_SC_COORD' TKFRAME_-82761_ANGLES = ( -90.0, 0.0, 0.0 ) TKFRAME_-82761_AXES = ( 1, 2, 3 ) TKFRAME_-82761_UNITS = 'DEGREES' \begintext \begindata FRAME_CASSINI_MIMI_LEMMS1 = -82762 FRAME_-82762_NAME = 'CASSINI_MIMI_LEMMS1' FRAME_-82762_CLASS = 3 FRAME_-82762_CLASS_ID = -82762 FRAME_-82762_CENTER = -82 CK_-82762_SCLK = -82 CK_-82762_SPK = -82 \begintext \begindata FRAME_CASSINI_MIMI_LEMMS2 = -82763 FRAME_-82763_NAME = 'CASSINI_MIMI_LEMMS2' FRAME_-82763_CLASS = 3 FRAME_-82763_CLASS_ID = -82763 FRAME_-82763_CENTER = -82 CK_-82763_SCLK = -82 CK_-82763_SPK = -82 \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_1 = -82810 FRAME_-82810_NAME = 'CASSINI_RADAR_1' 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 = ( 177.8, 0.0, 0.0 ) TKFRAME_-82810_AXES = ( 1, 2, 3 ) TKFRAME_-82810_UNITS = 'DEGREES' \begintext \begindata FRAME_CASSINI_RADAR_2 = -82811 FRAME_-82811_NAME = 'CASSINI_RADAR_2' FRAME_-82811_CLASS = 4 FRAME_-82811_CLASS_ID = -82811 FRAME_-82811_CENTER = -82 TKFRAME_-82811_SPEC = 'ANGLES' TKFRAME_-82811_RELATIVE = 'CASSINI_SC_COORD' TKFRAME_-82811_ANGLES = ( 179.15, 0.0, 0.0 ) TKFRAME_-82811_AXES = ( 1, 2, 3 ) TKFRAME_-82811_UNITS = 'DEGREES' \begintext \begindata FRAME_CASSINI_RADAR_3 = -82812 FRAME_-82812_NAME = 'CASSINI_RADAR_3' FRAME_-82812_CLASS = 4 FRAME_-82812_CLASS_ID = -82812 FRAME_-82812_CENTER = -82 TKFRAME_-82812_SPEC = 'ANGLES' TKFRAME_-82812_RELATIVE = 'CASSINI_SC_COORD' TKFRAME_-82812_ANGLES = ( 180.0, 0.0, 0.0 ) TKFRAME_-82812_AXES = ( 1, 2, 3 ) TKFRAME_-82812_UNITS = 'DEGREES' \begintext \begindata FRAME_CASSINI_RADAR_4 = -82813 FRAME_-82813_NAME = 'CASSINI_RADAR_4' FRAME_-82813_CLASS = 4 FRAME_-82813_CLASS_ID = -82813 FRAME_-82813_CENTER = -82 TKFRAME_-82813_SPEC = 'ANGLES' TKFRAME_-82813_RELATIVE = 'CASSINI_SC_COORD' TKFRAME_-82813_ANGLES = ( 180.85, 0.0, 0.0 ) TKFRAME_-82813_AXES = ( 1, 2, 3 ) TKFRAME_-82813_UNITS = 'DEGREES' \begintext \begindata FRAME_CASSINI_RADAR_5 = -82814 FRAME_-82814_NAME = 'CASSINI_RADAR_5' FRAME_-82814_CLASS = 4 FRAME_-82814_CLASS_ID = -82814 FRAME_-82814_CENTER = -82 TKFRAME_-82814_SPEC = 'ANGLES' TKFRAME_-82814_RELATIVE = 'CASSINI_SC_COORD' TKFRAME_-82814_ANGLES = ( 182.2, 0.0, 0.0 ) TKFRAME_-82814_AXES = ( 1, 2, 3 ) TKFRAME_-82814_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 CIRS Radiator \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 Antenna Frames These frames are implemented using the nominal definitions established for each antenna frame. The XBAND, KABAND, KUBAND, and SBAND frames are all frames associated with the orbiter's High Gain Antenna. For reasons of consistency with AACS, PDT, and sequencing software these names were chosen. \begindata FRAME_CASSINI_XBAND = -82104 FRAME_-82104_NAME = 'CASSINI_XBAND' FRAME_-82104_CLASS = 4 FRAME_-82104_CLASS_ID = -82104 FRAME_-82104_CENTER = -82 TKFRAME_-82104_SPEC = 'ANGLES' TKFRAME_-82104_RELATIVE = 'CASSINI_SC_COORD' TKFRAME_-82104_ANGLES = ( 0.0, 0.0, 180.0 ) TKFRAME_-82104_AXES = ( 3, 2, 1 ) TKFRAME_-82104_UNITS = 'DEGREES' \begintext \begindata FRAME_CASSINI_KABAND = -82105 FRAME_-82105_NAME = 'CASSINI_KABAND' FRAME_-82105_CLASS = 4 FRAME_-82105_CLASS_ID = -82105 FRAME_-82105_CENTER = -82 TKFRAME_-82105_SPEC = 'ANGLES' TKFRAME_-82105_RELATIVE = 'CASSINI_SC_COORD' TKFRAME_-82105_ANGLES = ( 0.0, 0.0, 180.0 ) TKFRAME_-82105_AXES = ( 3, 2, 1 ) TKFRAME_-82105_UNITS = 'DEGREES' \begintext \begindata FRAME_CASSINI_KUBAND = -82106 FRAME_-82106_NAME = 'CASSINI_KUBAND' FRAME_-82106_CLASS = 4 FRAME_-82106_CLASS_ID = -82106 FRAME_-82106_CENTER = -82 TKFRAME_-82106_SPEC = 'ANGLES' TKFRAME_-82106_RELATIVE = 'CASSINI_SC_COORD' TKFRAME_-82106_ANGLES = ( 0.0, 0.0, 180.0 ) TKFRAME_-82106_AXES = ( 3, 2, 1 ) TKFRAME_-82106_UNITS = 'DEGREES' \begintext \begindata FRAME_CASSINI_SBAND = -82107 FRAME_-82107_NAME = 'CASSINI_SBAND' FRAME_-82107_CLASS = 4 FRAME_-82107_CLASS_ID = -82107 FRAME_-82107_CENTER = -82 TKFRAME_-82107_SPEC = 'ANGLES' TKFRAME_-82107_RELATIVE = 'CASSINI_SC_COORD' TKFRAME_-82107_ANGLES = ( 0.0, 0.0, 180.0 ) TKFRAME_-82107_AXES = ( 3, 2, 1 ) TKFRAME_-82107_UNITS = 'DEGREES' \begintext