KPL/FK Genesis Frame Definitions Kernel ================================================================================ This frame kernel contains the Genesis spacecraft, science instrument and communication antenna frame definitions. Version and Date -------------------------------------------------------- Version 0.0 -- March 8, 2000 -- Boris Semenov Extremely Draft and Totally Preliminary Release -- no alignments data for anything, only placeholders. Still can be used in combination with nominal pointing CK to resolve frame names. References -------------------------------------------------------- 1. ``C-kernel Required Reading'' 2. ``Kernel Pool Required Reading'' 3. ``Frames Required Reading'' 4. ... Contact Information -------------------------------------------------------- Boris V. Semenov, NAIF/JPL, (818)-354-8136, bsemenov@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. GNS Frames -------------------------------------------------------- The following GNS frames are defined in this kernel file: Frame Name Relative to Type NAIF ID ========================= ========================= ======= ======= Spacecraft Bus Frame: --------------------- GNS_SC_BUS rel.to J2000/SUN_POINTING CK -47000 Nominal Sun Pointing Frame: --------------------------- GNS_SUN_POINTING rel.to J2000 CK -47999 GEM Frame(s) (-471xx): ---------------------- GNS_GEM_BASE rel.to GNS_SC_BUS FIXED -47100 GNS_GEM_CEM1 rel.to GNS_GEM_BASE FIXED -47101 GNS_GEM_CEM2 rel.to GNS_GEM_BASE FIXED -47102 GNS_GEM_CEM3 rel.to GNS_GEM_BASE FIXED -47103 GNS_GEM_CEM4 rel.to GNS_GEM_BASE FIXED -47104 GNS_GEM_CEM5 rel.to GNS_GEM_BASE FIXED -47105 GNS_GEM_CEM6 rel.to GNS_GEM_BASE FIXED -47106 GNS_GEM_CEM7 rel.to GNS_GEM_BASE FIXED -47107 GIM Frame(s) (-472xx): ---------------------- GNS_GIM_BASE rel.to GNS_SC_BUS FIXED -47200 GNS_GIM_CEM1 rel.to GNS_GIM_BASE FIXED -47201 GNS_GIM_CEM2 rel.to GNS_GIM_BASE FIXED -47202 GNS_GIM_CEM3 rel.to GNS_GIM_BASE FIXED -47203 GNS_GIM_CEM4 rel.to GNS_GIM_BASE FIXED -47204 GNS_GIM_CEM5 rel.to GNS_GIM_BASE FIXED -47205 GNS_GIM_CEM6 rel.to GNS_GIM_BASE FIXED -47206 GNS_GIM_CEM7 rel.to GNS_GIM_BASE FIXED -47207 GNS_GIM_CEM8 rel.to GNS_GIM_BASE FIXED -47208 Concentrator Frame(s) (-473xx): ------------------------------- GNS_CONCENTRATOR rel.to GNS_SC_BUS FIXED -47300 Collector Frame(s) (-474xx): ------------------------------ TBD Antenna Frame(s) (-475xx): -------------------------- GNS_MGA rel.to GNS_SC_BUS FIXED -47510 GNS_LGA_FWD rel.to GNS_SC_BUS FIXED -47520 GNS_LGA_AFT rel.to GNS_SC_BUS FIXED -47530 Solar Array Frame(s) (-476xx): ------------------------------ GNS_SA+Y rel.to GNS_SC_BUS FIXED -47610 GNS_SA-Y rel.to GNS_SC_BUS FIXED -47620 GNS Frames Hierarchy ------------------------------------------------------------------------------- The diagram below shows GNS frames hierarchy: "J2000" INERTIAL +-----------------------------------+ | | | | | <--ck | <--pck | | V | V "IAU_EARTH" | "GNS_SUN_POINTING" EARTH BFR(*) | ------------------ ------------ | | | <--ck | <--ck | | V V "GNS_SC_BUS" +-----------------------------------------------------------------+ | | | | | | | | | |<--fixed |<--fixed | | | | fixed-->| fixed-->| fixed-->| | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | V V | | | | V V V "GNS_SA+Y" "GNS_SA-Y" | | | | "GNS_MGA" "GNS_LGA_FWD" "GNS_LGA_AFT" --------- ----------- | | | | --------- ------------- ------------- | | | | | | | | fixed-->| | | |<--fixed | | | | V | | V "GNS_GEM_BASE" | | "GNS_GIM_BASE" +------------- | | -------------+ | | | | fixed--> | | | | <--fixed | | | | V | | V "GNS_GEM_CEM[1-7]" | | "GNS_GEM_CEM[1-8]" ------------------ | | ------------------ fixed--> | | <--TBD | | V V "GNS_CONCENTRATOR" TBD collector frames ------------------ -------------------- Spacecraft Bus Frame -------------------------------------------------------- The spacecraft bus frame is defined by the spacecraft design as follows: * +X axis is along the ... * +Z axis is ... * +Y axis complements to the right hand frame; * the origin of this frame is at TBD; Spacecraft bus attitude with respect to an inertial frame or nominal Sun pointing frame "GNS_SUN_POINTING" is provided by a C kernel (see [1] for more information). \begindata FRAME_GNS_SC_BUS = -47000 FRAME_-47000_NAME = 'GNS_SC_BUS' FRAME_-47000_CLASS = 3 FRAME_-47000_CLASS_ID = -47000 FRAME_-47000_CENTER = -47 CK_-47000_SCLK = -47 CK_-47000_SPK = -47 \begintext Nominal Sun Pointing Frame -------------------------------------------------------- The nominal Sun pointing frame bus frame is defined as follows: * +X is ... * +Z is ... * +Y complements to the right hand frame; * the origin of this frame is at TBD; Spacecraft bus attitude with respect to an inertial frame is provided by a C kernel (see [1] for more information). \begindata FRAME_GNS_SUN_POINTING = -47999 FRAME_-47999_NAME = 'GNS_SUN_POINTING' FRAME_-47999_CLASS = 3 FRAME_-47999_CLASS_ID = -47999 FRAME_-47999_CENTER = -47 CK_-47999_SCLK = -47 CK_-47999_SPK = -47 \begintext Genesis Electron Monitor (GEM) Frames -------------------------------------------------------- The GEM base frame is defined by the instrument design and mounting as follows: * +Z axis is along ...; * +X is perpendicular ... ; * +Y complements to the right hand frame; * the origin of this frame is at TBD; The orientation of this frame is a fixed offset from spacecraft bus frame. The GNS_GEM_BASE frame definition below contains the nominal orientation. \begindata FRAME_GNS_GEM_BASE = -47100 FRAME_-47100_NAME = 'GNS_GEM_BASE' FRAME_-47100_CLASS = 4 FRAME_-47100_CLASS_ID = -47100 FRAME_-47100_CENTER = -47 TKFRAME_-47100_SPEC = 'ANGLES' TKFRAME_-47100_RELATIVE = 'GNS_SC_BUS' TKFRAME_-47100_ANGLES = ( 0, 0, 0 ) TKFRAME_-47100_AXES = ( 1, 2, 3 ) TKFRAME_-47100_UNITS = 'DEGREES' \begintext Frames for an individual GEM CEM is defined by instrument design as follows: * +Z axis is along ...; * +X is perpendicular ... ; * +Y complements to the right hand frame; * the origin of this frame is at TBD; The orientation of any CEM frame is a fixed offset from GEM base frame. The GNS_GEM_CEM(i) frame definitions below contains the nominal orientation. \begindata FRAME_GNS_GEM_CEM1 = -47101 FRAME_-47101_NAME = 'GNS_GEM_CEM1' FRAME_-47101_CLASS = 4 FRAME_-47101_CLASS_ID = -47101 FRAME_-47101_CENTER = -47 TKFRAME_-47101_SPEC = 'ANGLES' TKFRAME_-47101_RELATIVE = 'GNS_GEM_BASE' TKFRAME_-47101_ANGLES = ( 0, 0, 0 ) TKFRAME_-47101_AXES = ( 1, 2, 3 ) TKFRAME_-47101_UNITS = 'DEGREES' FRAME_GNS_GEM_CEM2 = -47102 FRAME_-47102_NAME = 'GNS_GEM_CEM2' FRAME_-47102_CLASS = 4 FRAME_-47102_CLASS_ID = -47102 FRAME_-47102_CENTER = -47 TKFRAME_-47102_SPEC = 'ANGLES' TKFRAME_-47102_RELATIVE = 'GNS_GEM_BASE' TKFRAME_-47102_ANGLES = ( 0, 0, 0 ) TKFRAME_-47102_AXES = ( 1, 2, 3 ) TKFRAME_-47102_UNITS = 'DEGREES' FRAME_GNS_GEM_CEM3 = -47103 FRAME_-47103_NAME = 'GNS_GEM_CEM3' FRAME_-47103_CLASS = 4 FRAME_-47103_CLASS_ID = -47103 FRAME_-47103_CENTER = -47 TKFRAME_-47103_SPEC = 'ANGLES' TKFRAME_-47103_RELATIVE = 'GNS_GEM_BASE' TKFRAME_-47103_ANGLES = ( 0, 0, 0 ) TKFRAME_-47103_AXES = ( 1, 2, 3 ) TKFRAME_-47103_UNITS = 'DEGREES' FRAME_GNS_GEM_CEM4 = -47104 FRAME_-47104_NAME = 'GNS_GEM_CEM4' FRAME_-47104_CLASS = 4 FRAME_-47104_CLASS_ID = -47104 FRAME_-47104_CENTER = -47 TKFRAME_-47104_SPEC = 'ANGLES' TKFRAME_-47104_RELATIVE = 'GNS_GEM_BASE' TKFRAME_-47104_ANGLES = ( 0, 0, 0 ) TKFRAME_-47104_AXES = ( 1, 2, 3 ) TKFRAME_-47104_UNITS = 'DEGREES' FRAME_GNS_GEM_CEM5 = -47105 FRAME_-47105_NAME = 'GNS_GEM_CEM5' FRAME_-47105_CLASS = 4 FRAME_-47105_CLASS_ID = -47105 FRAME_-47105_CENTER = -47 TKFRAME_-47105_SPEC = 'ANGLES' TKFRAME_-47105_RELATIVE = 'GNS_GEM_BASE' TKFRAME_-47105_ANGLES = ( 0, 0, 0 ) TKFRAME_-47105_AXES = ( 1, 2, 3 ) TKFRAME_-47105_UNITS = 'DEGREES' FRAME_GNS_GEM_CEM6 = -47106 FRAME_-47106_NAME = 'GNS_GEM_CEM6' FRAME_-47106_CLASS = 4 FRAME_-47106_CLASS_ID = -47106 FRAME_-47106_CENTER = -47 TKFRAME_-47106_SPEC = 'ANGLES' TKFRAME_-47106_RELATIVE = 'GNS_GEM_BASE' TKFRAME_-47106_ANGLES = ( 0, 0, 0 ) TKFRAME_-47106_AXES = ( 1, 2, 3 ) TKFRAME_-47106_UNITS = 'DEGREES' FRAME_GNS_GEM_CEM7 = -47107 FRAME_-47107_NAME = 'GNS_GEM_CEM7' FRAME_-47107_CLASS = 4 FRAME_-47107_CLASS_ID = -47107 FRAME_-47107_CENTER = -47 TKFRAME_-47107_SPEC = 'ANGLES' TKFRAME_-47107_RELATIVE = 'GNS_GEM_BASE' TKFRAME_-47107_ANGLES = ( 0, 0, 0 ) TKFRAME_-47107_AXES = ( 1, 2, 3 ) TKFRAME_-47107_UNITS = 'DEGREES' \begintext Genesis Ion Monitor (GIM) Frames -------------------------------------------------------- The GIM base frame is defined by the instrument design and mounting as follows: * +Z axis is along ...; * +X is perpendicular ... ; * +Y complements to the right hand frame; * the origin of this frame is at TBD; The orientation of this frame is a fixed offset from spacecraft bus frame. The GNS_GIM_BASE frame definition below contains the nominal orientation. \begindata FRAME_GNS_GIM_BASE = -47200 FRAME_-47200_NAME = 'GNS_GIM_BASE' FRAME_-47200_CLASS = 4 FRAME_-47200_CLASS_ID = -47200 FRAME_-47200_CENTER = -47 TKFRAME_-47200_SPEC = 'ANGLES' TKFRAME_-47200_RELATIVE = 'GNS_SC_BUS' TKFRAME_-47200_ANGLES = ( 0, 0, 0 ) TKFRAME_-47200_AXES = ( 1, 2, 3 ) TKFRAME_-47200_UNITS = 'DEGREES' \begintext Frames for an individual GIM CEM is defined by instrument design as follows: * +Z axis is along ...; * +X is perpendicular ... ; * +Y complements to the right hand frame; * the origin of this frame is at TBD; The orientation of any CEM frame is a fixed offset from GIM base frame. The GNS_GIM_CEM(i) frame definitions below contains the nominal orientation. \begindata FRAME_GNS_GIM_CEM1 = -47201 FRAME_-47201_NAME = 'GNS_GIM_CEM1' FRAME_-47201_CLASS = 4 FRAME_-47201_CLASS_ID = -47201 FRAME_-47201_CENTER = -47 TKFRAME_-47201_SPEC = 'ANGLES' TKFRAME_-47201_RELATIVE = 'GNS_GIM_BASE' TKFRAME_-47201_ANGLES = ( 0, 0, 0 ) TKFRAME_-47201_AXES = ( 1, 2, 3 ) TKFRAME_-47201_UNITS = 'DEGREES' FRAME_GNS_GIM_CEM2 = -47202 FRAME_-47202_NAME = 'GNS_GIM_CEM2' FRAME_-47202_CLASS = 4 FRAME_-47202_CLASS_ID = -47202 FRAME_-47202_CENTER = -47 TKFRAME_-47202_SPEC = 'ANGLES' TKFRAME_-47202_RELATIVE = 'GNS_GIM_BASE' TKFRAME_-47202_ANGLES = ( 0, 0, 0 ) TKFRAME_-47202_AXES = ( 1, 2, 3 ) TKFRAME_-47202_UNITS = 'DEGREES' FRAME_GNS_GIM_CEM3 = -47203 FRAME_-47203_NAME = 'GNS_GIM_CEM3' FRAME_-47203_CLASS = 4 FRAME_-47203_CLASS_ID = -47203 FRAME_-47203_CENTER = -47 TKFRAME_-47203_SPEC = 'ANGLES' TKFRAME_-47203_RELATIVE = 'GNS_GIM_BASE' TKFRAME_-47203_ANGLES = ( 0, 0, 0 ) TKFRAME_-47203_AXES = ( 1, 2, 3 ) TKFRAME_-47203_UNITS = 'DEGREES' FRAME_GNS_GIM_CEM4 = -47204 FRAME_-47204_NAME = 'GNS_GIM_CEM4' FRAME_-47204_CLASS = 4 FRAME_-47204_CLASS_ID = -47204 FRAME_-47204_CENTER = -47 TKFRAME_-47204_SPEC = 'ANGLES' TKFRAME_-47204_RELATIVE = 'GNS_GIM_BASE' TKFRAME_-47204_ANGLES = ( 0, 0, 0 ) TKFRAME_-47204_AXES = ( 1, 2, 3 ) TKFRAME_-47204_UNITS = 'DEGREES' FRAME_GNS_GIM_CEM5 = -47205 FRAME_-47205_NAME = 'GNS_GIM_CEM5' FRAME_-47205_CLASS = 4 FRAME_-47205_CLASS_ID = -47205 FRAME_-47205_CENTER = -47 TKFRAME_-47205_SPEC = 'ANGLES' TKFRAME_-47205_RELATIVE = 'GNS_GIM_BASE' TKFRAME_-47205_ANGLES = ( 0, 0, 0 ) TKFRAME_-47205_AXES = ( 1, 2, 3 ) TKFRAME_-47205_UNITS = 'DEGREES' FRAME_GNS_GIM_CEM6 = -47206 FRAME_-47206_NAME = 'GNS_GIM_CEM6' FRAME_-47206_CLASS = 4 FRAME_-47206_CLASS_ID = -47206 FRAME_-47206_CENTER = -47 TKFRAME_-47206_SPEC = 'ANGLES' TKFRAME_-47206_RELATIVE = 'GNS_GIM_BASE' TKFRAME_-47206_ANGLES = ( 0, 0, 0 ) TKFRAME_-47206_AXES = ( 1, 2, 3 ) TKFRAME_-47206_UNITS = 'DEGREES' FRAME_GNS_GIM_CEM7 = -47207 FRAME_-47207_NAME = 'GNS_GIM_CEM7' FRAME_-47207_CLASS = 4 FRAME_-47207_CLASS_ID = -47207 FRAME_-47207_CENTER = -47 TKFRAME_-47207_SPEC = 'ANGLES' TKFRAME_-47207_RELATIVE = 'GNS_GIM_BASE' TKFRAME_-47207_ANGLES = ( 0, 0, 0 ) TKFRAME_-47207_AXES = ( 1, 2, 3 ) TKFRAME_-47207_UNITS = 'DEGREES' FRAME_GNS_GIM_CEM8 = -47208 FRAME_-47208_NAME = 'GNS_GIM_CEM8' FRAME_-47208_CLASS = 4 FRAME_-47208_CLASS_ID = -47208 FRAME_-47208_CENTER = -47 TKFRAME_-47208_SPEC = 'ANGLES' TKFRAME_-47208_RELATIVE = 'GNS_GIM_BASE' TKFRAME_-47208_ANGLES = ( 0, 0, 0 ) TKFRAME_-47208_AXES = ( 1, 2, 3 ) TKFRAME_-47208_UNITS = 'DEGREES' \begintext Genesis Concentrator Frame -------------------------------------------------------- The concentrator frame is defined by the instrument design and mounting as follows: * +Z axis is along ...; * +X is perpendicular ... ; * +Y complements to the right hand frame; * the origin of this frame is at TBD; The orientation of this frame is a fixed offset from spacecraft bus frame. The GNS_CONCENTRATOR frame definition below contains the nominal orientation. \begindata FRAME_GNS_CONCENTRATOR = -47300 FRAME_-47300_NAME = 'GNS_CONCENTRATOR' FRAME_-47300_CLASS = 4 FRAME_-47300_CLASS_ID = -47300 FRAME_-47300_CENTER = -47 TKFRAME_-47300_SPEC = 'ANGLES' TKFRAME_-47300_RELATIVE = 'GNS_SC_BUS' TKFRAME_-47300_ANGLES = ( 0, 0, 0 ) TKFRAME_-47300_AXES = ( 1, 2, 3 ) TKFRAME_-47300_UNITS = 'DEGREES' \begintext Genesis Collector Frames -------------------------------------------------------- TBD Antenna Frames -------------------------------------------------------- The antenna frames are defined by the antenna design and mounting as follows (this definition is consistent with the definition provided in [TBD]): * +Z axis is along ...; * +Y axis is along ...; * +X complements to the right hand frame; * the origin of this frame is at ... . The MGS antenna frame orientation is fixed offset with respect to the spacecraft bus. The LGA-fwd and LGA-aft antenna frame orientation is fixed offset with respect to +Y solar array frame. \begindata FRAME_GNS_MGA = -47510 FRAME_-47510_NAME = 'GNS_MGA' FRAME_-47510_CLASS = 4 FRAME_-47510_CLASS_ID = -47510 FRAME_-47510_CENTER = -47 TKFRAME_-47510_SPEC = 'ANGLES' TKFRAME_-47510_RELATIVE = 'GNS_SC_BUS' TKFRAME_-47510_ANGLES = ( 0, 0, 0 ) TKFRAME_-47510_AXES = ( 1, 2, 3 ) TKFRAME_-47510_UNITS = 'DEGREES' FRAME_GNS_LGA_FWD = -47520 FRAME_-47520_NAME = 'GNS_LGA_FWD' FRAME_-47520_CLASS = 4 FRAME_-47520_CLASS_ID = -47520 FRAME_-47520_CENTER = -47 TKFRAME_-47520_SPEC = 'ANGLES' TKFRAME_-47520_RELATIVE = 'GNS_SA+Y' TKFRAME_-47520_ANGLES = ( 0, 0, 0 ) TKFRAME_-47520_AXES = ( 1, 2, 3 ) TKFRAME_-47520_UNITS = 'DEGREES' FRAME_GNS_LGA_AFT = -47530 FRAME_-47530_NAME = 'GNS_LGA_AFT' FRAME_-47530_CLASS = 4 FRAME_-47530_CLASS_ID = -47530 FRAME_-47530_CENTER = -47 TKFRAME_-47530_SPEC = 'ANGLES' TKFRAME_-47530_RELATIVE = 'GNS_SA+Y' TKFRAME_-47530_ANGLES = ( 0, 0, 0 ) TKFRAME_-47530_AXES = ( 1, 2, 3 ) TKFRAME_-47530_UNITS = 'DEGREES' \begintext Solar Array (SA+Y and SA-Y) Frames -------------------------------------------------------- The solar array frames are defined by the solar array design and mounting as follows (this definition is consistent with the definition provided in [TBD]): * +Z axis is along ...; * +Y axis is along ...; * +X complements to the right hand frame; * the origin of this frame is at ... . The solar array frame orientation is fixed offset with respect to the spacecraft bus frame. \begindata FRAME_GNS_SA+Y = -47610 FRAME_-47610_NAME = 'GNS_SA+Y' FRAME_-47610_CLASS = 4 FRAME_-47610_CLASS_ID = -47610 FRAME_-47610_CENTER = -47 TKFRAME_-47610_SPEC = 'ANGLES' TKFRAME_-47610_RELATIVE = 'GNS_SC_BUS' TKFRAME_-47610_ANGLES = ( 0, 0, 0 ) TKFRAME_-47610_AXES = ( 1, 2, 3 ) TKFRAME_-47610_UNITS = 'DEGREES' FRAME_GNS_SA-Y = -47620 FRAME_-47620_NAME = 'GNS_SA-Y' FRAME_-47620_CLASS = 4 FRAME_-47620_CLASS_ID = -47620 FRAME_-47620_CENTER = -47 TKFRAME_-47620_SPEC = 'ANGLES' TKFRAME_-47620_RELATIVE = 'GNS_SC_BUS' TKFRAME_-47620_ANGLES = ( 0, 0, 0 ) TKFRAME_-47620_AXES = ( 1, 2, 3 ) TKFRAME_-47620_UNITS = 'DEGREES' \begintext