KPL/FK INSIGHT Frame Definitions Kernel =============================================================================== This frame kernel contains frame definitions for the INSIGHT Lander (INSIGHT) including definitions for the frames used during cruise, EDL and surface operations, antenna and other structure frames and science payload frames. Version and Date ------------------------------------------------------------------------------- Version 0.5 -- January 2, 2019 -- Boris Semenov, NAIF Updated the INSIGHT_TOPO orientation based on the actual landing site coordinates, per [17]. Re-cast INSIGHT_IDA_IDC_REF as a fixed offset frame. Filled in INSIGHT_IDA_IDC and INSIGHT_ICC alignments based on flight CAHVOR(E) models, [18] and [19]. Version 0.4 -- December 4, 2018 -- Boris Semenov, NAIF Added the following frames: INSIGHT_IDA_IDC_REF Added the following name/ID mappings: INSIGHT_IDA_IDC_REF -189131 INSIGHT_CAL_TARGET_1 -189101 INSIGHT_CAL_TARGET_2 -189102 INSIGHT_CAL_TARGET_3 -189103 INSIGHT_CAL_TARGET_4 -189104 INSIGHT_CAL_TARGET_5 -189105 INSIGHT_CAL_TARGET_6 -189106 Version 0.3 -- July 18, 2018 -- Boris Semenov, NAIF Added the following frames: INSIGHT_PAYLOAD INSIGHT_SEIS INSIGHT_WTS INSIGHT_HP3 INSIGHT_HP3_MOLE INSIGHT_HP3_RAD INSIGHT_APSS_MAG INSIGHT_APSS_PS INSIGHT_APSS_TWINS+Y INSIGHT_APSS_TWINS-Y INSIGHT_ICC INSIGHT_IDA_SHOULDER_AZ INSIGHT_IDA_SHOULDER_EL INSIGHT_IDA_ELBOW INSIGHT_IDA_WRIST INSIGHT_IDA_IDC INSIGHT_IDA_EFFECTOR INSIGHT_IDA_GRAPPLE_BASE INSIGHT_IDA_SCOOP INSIGHT_IDA_BLADE INSIGHT_IDA_GRAPPLE Added the following name/ID mappings: INSIGHT_PAYLOAD -189100 INSIGHT_SEIS -189700 INSIGHT_WTS -189710 INSIGHT_HP3 -189810 INSIGHT_HP3_MOLE -189820 INSIGHT_HP3_RAD -189800 INSIGHT_HP3_RAD_NEAR -189801 INSIGHT_HP3_RAD_FAR -189802 INSIGHT_HP3_RAD_TEM -189810 INSIGHT_APSS_MAG -189610 INSIGHT_APSS_PS -189620 INSIGHT_APSS_TWINS+Y -189630 INSIGHT_APSS_TWINS-Y -189640 INSIGHT_ICC -189111 INSIGHT_IDA_SHOULDER_AZ -189121 INSIGHT_IDA_SHOULDER_EL -189122 INSIGHT_IDA_ELBOW -189123 INSIGHT_IDA_WRIST -189124 INSIGHT_IDA_IDC -189125 INSIGHT_IDA_GRAPPLE_BASE -189127 INSIGHT_IDA_SCOOP -189128 INSIGHT_IDA_BLADE -189129 INSIGHT_IDA_GRAPPLE -189130 Updated frame table and tree sections. Version 0.2 -- October 23, 2015 -- Boris Semenov, NAIF Updated orientation of INSIGHT_WPA based on [9]. Added the INSIGHT_LANDER_POST frame based on [10]. Version 0.1 -- September 3, 2015 -- Boris Semenov, NAIF Updated INSIGHT_TOPO for Target Site E9ov1. Version 0.0 -- September 18, 2014 -- Boris Semenov, NAIF Initial Release. Contains only lander, cruise, and antenna frame definitions Contact Information ------------------------------------------------------------------------------- Boris V. Semenov, NAIF/JPL, (818)-354-8136, Boris.Semenov@jpl.nasa.gov References ------------------------------------------------------------------------------- 1. ``Frames Required Reading'' 2. ``Kernel Pool Required Reading'' 3. ``C-Kernel Required Reading'' 4. ``InSight GNC Hardware Coordinate Frame Definitions and Transformations'', LIB-13, latest version 5. ``NSYT Landed & EDL Antenna Pattern Coordinate Frames'', 09/11/2014 6. ``InSight Pointing and Alignment Document (PAAD)'', NCYT-RQ-13-0032. Note that in this document the names of the Landed MGAs -- West and East -- do not match their specified pointing directions and should be swapped. 7. E-mail from Gina Signori, INSIGHT SCT, from 09/17/14, regarding InSight antenna nomenclature. 8. InSight Planetary Constants and Models Document, June 11, 2015, JPL D-75286, Revision B 9. E-mail from Gina Signori, INSIGHT SCT, from 10/22/15, regarding final InSight EDL Wrap around antenna clock reference vector orientation. 10. E-mail from Gina Signori, INSIGHT SCT, from 10/22/15, regarding POST frame used by the EDL simulation tool "POST". 11. INSIGHT EDR SIS, latest version 12. SEIS MICD, latest version 13. HP3 MICD, latest version 14. insight_dlr_v02.tf, provided by Nils Muller on April 3, 2018 15. APSS MICD, latest version 16. IDS MICD, latest version 17. MCR-121458, InSight Landing Location 18. INSIGHT_CAL_003_SN_0203_ICC-FLIGHT.cahvore 19. INSIGHT_CAL_003_SN_0210_IDC-FLIGHT.cahvor 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. The SPICELIB routine FURNSH loads a kernel file into the pool as shown below. CALL FURNSH ( 'frame_kernel_name; ) (FORTRAN) furnsh_c ( "frame_kernel_name" ); (C) cspice_furnsh, "frame_kernel_name" (IDL) cspice_furnsh( 'frame_kernel_name' ) (MATLAB) This file was created and may be updated with a text editor. INSIGHT NAIF ID Codes ======================================================================== The following names and NAIF ID codes are assigned to the INSIGHT lander, its structures and science instruments (the keywords implementing these name-ID mappings are located in the section "INSIGHT NAIF ID Codes -- Definition Section" at the end of this file): INSIGHT lander and landing site: ---------------------------- INSIGHT -189 INSIGHT_LANDING_SITE -189900 INSIGHT_LANDER -189000 Antennas: --------- INSIGHT_CLGA_TX -189410 INSIGHT_CLGA_RX -189420 INSIGHT_CMGA -189430 INSIGHT_LMGA_EAST -189440 INSIGHT_LMGA_WEST -189450 INSIGHT_HELIX -189460 INSIGHT_WPA -189470 Payload Origin: --------------- INSIGHT_PAYLOAD -189100 Deck Locations: --------------- INSIGHT_CAL_TARGET_1 -189101 INSIGHT_CAL_TARGET_2 -189102 INSIGHT_CAL_TARGET_3 -189103 INSIGHT_CAL_TARGET_4 -189104 INSIGHT_CAL_TARGET_5 -189105 INSIGHT_CAL_TARGET_6 -189106 SEIS: ----- INSIGHT_SEIS -189700 INSIGHT_WTS -189710 HP3: ---- INSIGHT_HP3 -189810 INSIGHT_HP3_MOLE -189820 INSIGHT_HP3_RAD -189800 INSIGHT_HP3_RAD_NEAR -189801 INSIGHT_HP3_RAD_FAR -189802 INSIGHT_HP3_RAD_TEM -189810 APSS: ----- INSIGHT_APSS_MAG -189610 INSIGHT_APSS_PS -189620 INSIGHT_APSS_TWINS+Y -189630 INSIGHT_APSS_TWINS-Y -189640 IDS: ---- INSIGHT_ICC -189111 INSIGHT_IDA_SHOULDER_AZ -189121 INSIGHT_IDA_SHOULDER_EL -189122 INSIGHT_IDA_ELBOW -189123 INSIGHT_IDA_WRIST -189124 INSIGHT_IDA_IDC_REF -189131 INSIGHT_IDA_IDC -189125 INSIGHT_IDA_GRAPPLE_BASE -189127 INSIGHT_IDA_SCOOP -189128 INSIGHT_IDA_BLADE -189129 INSIGHT_IDA_GRAPPLE -189130 INSIGHT Frames ------------------------------------------------------------------------------- The following INSIGHT frames are defined in this kernel file: Name Relative to Type Frame ID ========================== ========================== ======= ======== Non Built-in Mars Frames: ------------------------- INSIGHT_MME_2000 J2000 FIXED -189910 Surface/descent frames (-1899xx): -------------------------------- INSIGHT_TOPO IAU_MARS FIXED -189900 INSIGHT_SURFACE_FIXED INSIGHT_TOPO FIXED -189901 INSIGHT_MRD INSIGHT_TOPO FIXED -189902 INSIGHT_LL INSIGHT_TOPO FIXED -189903 Lander frames (-18900x): ----------------------- INSIGHT_LANDER INSIGHT_LL CK -189001 INSIGHT_LANDER_CRUISE J2000 CK -189000 INSIGHT_LANDER_POST J2000 CK -189002 Antenna frames (-1894xx): ------------------------ INSIGHT_CLGA_TX INSIGHT_LANDER FIXED -189410 INSIGHT_CLGA_RX INSIGHT_LANDER FIXED -189420 INSIGHT_CMGA INSIGHT_LANDER FIXED -189430 INSIGHT_LMGA_EAST INSIGHT_LANDER FIXED -189440 INSIGHT_LMGA_WEST INSIGHT_LANDER FIXED -189450 INSIGHT_HELIX INSIGHT_LANDER FIXED -189460 INSIGHT_WPA INSIGHT_LANDER FIXED -189470 Payload frame (-18910x): ------------------------ INSIGHT_PAYLOAD INSIGHT_LANDER FIXED -189100 SEIS frames (-1897xx): ---------------------- INSIGHT_SEIS INSIGHT_LANDER FIXED -189700 INSIGHT_WTS INSIGHT_LANDER FIXED -189710 HP3 frames (-1898xx): --------------------- INSIGHT_HP3 INSIGHT_LANDER FIXED -189810 INSIGHT_HP3_MOLE INSIGHT_HP3 FIXED -189820 INSIGHT_HP3_RAD INSIGHT_LANDER FIXED -189800 APSS frames (-1896xx): ---------------------- INSIGHT_APSS_MAG INSIGHT_LANDER FIXED -189610 INSIGHT_APSS_PS INSIGHT_LANDER FIXED -189620 INSIGHT_APSS_TWINS+Y INSIGHT_LANDER FIXED -189630 INSIGHT_APSS_TWINS-Y INSIGHT_LANDER FIXED -189640 IDS frames (-1891xx): --------------------- INSIGHT_ICC INSIGHT_PAYLOAD FIXED -189111 INSIGHT_IDA_SHOULDER_AZ INSIGHT_PAYLOAD CK -189121 INSIGHT_IDA_SHOULDER_EL INSIGHT_IDA_SHOULDER_AZ CK -189122 INSIGHT_IDA_ELBOW INSIGHT_IDA_SHOULDER_EL CK -189123 INSIGHT_IDA_WRIST INSIGHT_IDA_ELBOW CK -189124 INSIGHT_IDA_IDC_REF INSIGHT_IDA_ELBOW CK -189131 INSIGHT_IDA_IDC INSIGHT_IDA_IDC_REF FIXED -189125 INSIGHT_IDA_EFFECTOR INSIGHT_IDA_WRIST FIXED -189126 INSIGHT_IDA_GRAPPLE_BASE INSIGHT_IDA_EFFECTOR FIXED -189127 INSIGHT_IDA_SCOOP INSIGHT_IDA_EFFECTOR FIXED -189128 INSIGHT_IDA_BLADE INSIGHT_IDA_EFFECTOR FIXED -189129 INSIGHT_IDA_GRAPPLE INSIGHT_IDA_WRIST CK -189130 The frame descriptions and definitions are provided in the sections below. INSIGHT Frame Hierarchy ------------------------------------------------------------------------------- The diagram below shows the INSIGHT frames hierarchy: "J2000" INERTIAL +------------------------------------------------------------+ | | | | | <--pck | <--pck fixed--> | | <--ck V V V | "IAU_EARTH" "IAU_MARS" "INSIGHT_MME_2000" | EARTH BFR(2) MARS BFR(2) MME J2000 Inertial | ------------ +-----------------------+ ------------------- | | | | | | <--fixed | <--fixed | | V V | | "INSIGHT_TOPO" "INSIGHT_MRD" | | +-------------+ ------------- | | | | | | | | fixed--> | | | | | V | | V | "INSIGHT_SURFACE_FIXED" | | "INSIGHT_LANDER_POST" | ----------------------- | | --------------------- | | | | | | | | | | | | | <--fixed | <--ck | <--ck | V V V | "INSIGHT_LL" "INSIGHT_LANDER_CRUISE" | ------------ ----------------------- | | | | | | | | <--ck(1) | <--ck(1) | <--ck(1) V V V "INSIGHT_LANDER" +------------------------------------------------------------------------+ | | | | | | | | | | | | | | | | | | | | | | | |<--fixed | fixed--> | | | | | | | | | | | | | | V | V | | | | | | | | | | | | | "INSIGHT_SEIS" | "INSIGHT_CLGA_TX" | | | | | | | | | | | | | -------------- | ----------------- | | | | | | | | | | | | | | | | | | | | | | | | | | |<--fixed | fixed--> | | | | | | | | | | | | V | V | | | | | | | | | | | "INSIGHT_WTS" | "INSIGHT_CLGA_RX" | | | | | | | | | | | ------------- | ----------------- | | | | | | | | | | | | | | | | | | | | | | |<--fixed | fixed--> | | | | | | | | | | V | V | | | | | | | | | "INSIGHT_APSS_MAG" | "INSIGHT_CMGA" | | | | | | | | | ------------------ | -------------- | | | | | | | | | | | | | | | | | | |<--fixed | fixed--> | | | | | | | | V | V | | | | | | | "INSIGHT_APSS_PS" | "INSIGHT_LMGA_EAST" | | | | | | | ----------------- | ------------------- | | | | | | | | | | | | | | |<--fixed | fixed--> | | | | | | V | V | | | | | "INSIGHT_APSS_TWINS+Y" | "INSIGHT_LMGA_WEST" | | | | | ---------------------- | ------------------- | | | | | | | | | | |<--fixed | fixed--> | | | | V | V | | | "INSIGHT_APSS_TWINS-Y" | "INSIGHT_HELIX" | | | ---------------------- | --------------- | | | | | | |<--fixed | fixed--> | | V V V | "INSIGHT_HP3_RAD" "INSIGHT_PAYLOAD" "INSIGHT_WPA" | ----------------- +---------------------------+ ------------- | | | | |<--fixed |<--fixed | |<--ck V V | V "INSIGHT_HP3" "INSIGHT_ICC" | "INSIGHT_IDA_SHOULDER_AZ" ------------- ------------- | ------------------------- | | | |<--fixed | |<--ck V | V "INSIGHT_HP3_MOLE" | "INSIGHT_IDA_SHOULDER_EL" ------------------ | ------------------------- | | | |<--ck | V | "INSIGHT_IDA_ELBOW" | +--------------------- | | | ck-->| |<--ck(3) |<--ck V V V "INSIGHT_IDA_IDC_REF" "INSIGHT_IDA_WRIST" --------------------- ------------------- | | |<--fixed |<--fixed V | "INSIGHT_IDA_IDC" | ----------------- | | | V "INSIGHT_IDA_EFFECTOR" +------------------------------------------------------+ | | | | |<--fixed | | |<--ck(4) V | | V "INSIGHT_IDA_GRAPPLE_BASE" | | "INSIGHT_IDA_GRAPPLE" -------------------------- | | ------------------- | | |<--fixed |<--fixed V V "INSIGHT_IDA_SCOOP" "INSIGHT_IDA_BLADE" ------------------- ------------------- (1) In these cases transformation is fixed but it has to be stored in a CK to make SPICE "traverse" appropriate frame tree branch based on the time of interest and/or loaded kernels. (2) BFR -- body-fixed rotating frame. (3) The orientation of the INSIGHT_IDA_IDC_REF frame is more likely to be given w.r.t. to the INSIGHT_PAYLOAD frame. (4) The orientation of the INSIGHT_IDA_GRAPPLE frame is more likely to be given w.r.t. to the INSIGHT_LL frame. Implementation of Frame Chains for Different Mission Phases ------------------------------------------------------------------------------- Different routes along the branches of the INSIGHT frame hierarchy are implemented for different mission phases depending on the availability of the orientation data and the source, format and type of the data. This subsection summarizes mission phase specific implementations. Cruise ------ "J2000" Inertial ---------------- | | <----------- Fixed transformation defined in this FK V "INSIGHT_MME_2000" Inertial --------------------------- | | <----------- CK segment containing TLM quaternions V "INSIGHT_LANDER_CRUISE" ----------------------- | | <----------- CK segment representing fixed rotation defined | by the lander design V "INSIGHT_LANDER" ---------------- Entry-Descent-Landing (chain 1) ------------------------------- "J2000" Inertial ---------------- | | <----------- PCK-based transformation V "IAU_MARS" BFR -------------- | | <----------- CK segment representing fixed rotation derived | from TLM (based on s/c position at the time of V parachute pre-deploy + 13 seconds) "INSIGHT_MRD" ------------- | | <----------- CK segment based on TLM Quaternion V "INSIGHT_LANDER_CRUISE" ----------------------- | | <----------- CK segment representing fixed rotation defined | by the lander design V "INSIGHT_LANDER" ---------------- Entry-Descent-Landing (chain 2) ------------------------------- "J2000" Inertial ---------------- | | <----------- CK segment based on POST tool EDL simulation or | reconstruction V "INSIGHT_LANDER_POST" ----------------------- | | <----------- CK segment representing fixed rotation defined | by the lander design V "INSIGHT_LANDER" ---------------- Surface Operations ------------------ During surface operations the lander orientation is available from the following source(s): - initial orientation is provided by the spacecraft team in the form of quaternion defining orientation of the INSIGHT_LANDER frame with respect to the INSIGHT_LL frame; To accommodate this(ese) source(s) the following frame chain(s) can be implemented: Chain 1 (based on spacecraft team quaternion): "J2000" Inertial ---------------- | | <----------- PCK-based transformation V "IAU_MARS" BFR -------------- | | <----------- Fixed rotation based on the landing site | coordinates V "INSIGHT_TOPO" -------------- | | <----------- Fixed rotation based on frame definitions V "INSIGHT_LL" ------------ | | <----------- CK segment representing fixed rotation per | initial quaternion provided by LMA V "INSIGHT_LANDER" ---------------- Inertial Frames ------------------------------------------------------------------------------- This section defines the INSIGHT-specific inertial frames. MME ``2000'' Frame ------------------ The INSIGHT_MME_2000 frame is the Mars Mean Equator and IAU Vector of J2000 inertial reference frame defined using Mars rotation constants from the IAU 2000 report. This frame defined as a fixed offset frame with respect to the J2000 frame. \begindata FRAME_INSIGHT_MME_2000 = -189910 FRAME_-189910_NAME = 'INSIGHT_MME_2000' FRAME_-189910_CLASS = 4 FRAME_-189910_CLASS_ID = -189910 FRAME_-189910_CENTER = 499 TKFRAME_-189910_SPEC = 'MATRIX' TKFRAME_-189910_RELATIVE = 'J2000' TKFRAME_-189910_MATRIX = ( 0.6732521982472339 0.7394129276360180 0.0000000000000000 -0.5896387605430040 0.5368794307891331 0.6033958972853946 0.4461587269353556 -0.4062376142607541 0.7974417791532832 ) \begintext Surface-Based Frames ------------------------------------------------------------------------------- This section defines the INSIGHT-specific surface-based frames. Topocentric Frame ----------------- This frame defines the z axis as the normal outward at the landing site, the x axis points at local north with the y axis completing the right handed frame (points at local west.) Orientation of the frame is given relative to the body fixed rotating frame 'IAU_MARS' (x - along the line of zero longitude intersecting the equator, z - along the spin axis, y - completing the right hand coordinate frame.) The transformation from 'INSIGHT_TOPO' frame to 'IAU_MARS' frame is a 3-2-3 rotation with defined angles as the negative of the site longitude, the negative of the site colatitude, 180 degrees. This frame is currently defined for the actual site based on the MRO HIRISE image taken on Dec 6, 2018 (per [17]). The landing site Gaussian longitude and latitude upon which the definition is built are: Lon = 135.623447 degrees East Lat = 4.555681 degrees North These Gaussian coordinates correspond to the following areocentric coordinates (R, LON, LAT) = (3393.079,135.623447,4.502384) and Mars radii (Re, Re, Rp) = (3396.19, 3396.19, 3376.20). The coordinates specified above are given with respect to the 'IAU_MARS' instance defined by the rotation/shape model from the the PCK file 'pck00010.tpc'. These keywords implement the frame definition. \begindata FRAME_INSIGHT_TOPO = -189900 FRAME_-189900_NAME = 'INSIGHT_TOPO' FRAME_-189900_CLASS = 4 FRAME_-189900_CLASS_ID = -189900 FRAME_-189900_CENTER = -189900 TKFRAME_-189900_RELATIVE = 'IAU_MARS' TKFRAME_-189900_SPEC = 'ANGLES' TKFRAME_-189900_UNITS = 'DEGREES' TKFRAME_-189900_AXES = ( 3, 2, 3 ) TKFRAME_-189900_ANGLES = ( -135.623447, -85.444319, 180.000 ) \begintext Surface Fixed Frame ------------------- The orientation of the SURFACE_FIXED frame is by definition the same as of the INSIGHT_TOPO frame. Therefore this frame is defined as a zero offset frame relative to the INSIGHT_TOPO frame. \begindata FRAME_INSIGHT_SURFACE_FIXED = -189901 FRAME_-189901_NAME = 'INSIGHT_SURFACE_FIXED' FRAME_-189901_CLASS = 4 FRAME_-189901_CLASS_ID = -189901 FRAME_-189901_CENTER = -189 TKFRAME_-189901_RELATIVE = 'INSIGHT_TOPO' TKFRAME_-189901_SPEC = 'ANGLES' TKFRAME_-189901_UNITS = 'DEGREES' TKFRAME_-189901_AXES = ( 1, 2, 3 ) TKFRAME_-189901_ANGLES = ( 0.0, 0.0, 0.0 ) \begintext Mars Relative Descent (MRD) Frame --------------------------------- This frame is the frame used by INSIGHT AACS on-board software to control the lander attitude during "terminal descent" phase -- from the "parachute pre-deploy + " time through the "surface touchdown" time. The frame is defined in [4] as follows: "The Mars Relative Descent Frame Local Vertical, Local Horizontal Coordinate system used by the InSight Lander is a coordinate system fixed with respect to the MCMF [Mars body-fixed rotating frame -- BVS] frame and is based on the position of (Pmcmf) of the Lander and the north pole unit vector (Nmcmf) in the MCMF frame at a specified epoch relative to parachute pre-deploy (see the EDL Baseline Reference Mission document for the current definition) Note: The epoch of MRD frame initialization is tied to the epoch of radar "altitude-mode" start; a change in one epoch may drive a change in the other. The axes are defined as follows: -Pmcmf [points from the spacecraft +Zmrd = ----------------- in Mars body-fixed frame |Pmcmf| towards the center of the planet at the time "pre-deploy + specified time" - BVS] +Zmrd x Nmcmf [points to local East from sub- +Ymrd = ----------------- spacecraft point computed at |+Zmrd x Nmcmf| the time "pre-deploy + specified time" in Mars body-fixed frame - BVS] +Xmrd = +Ymrd x +Zmrd [points to local North from sub- spacecraft point computed at the time "pre-deploy + specified time" in Mars body-fixed frame - BVS] " Since "parachute pre-deploy + specified time" time and position of the spacecraft position at that time are not known until the actual decent and landing, and assuming that the final landing location will not be very far from the sub-spacecraft point at "parachute pre-deploy + specified time", we can specify orientation of the INSIGHT_MRD frame as a fixed, 180 degrees rotation about +X with respect to the INSIGHT_TOPO frame. The nominal definition below implements this rotation: \begindata FRAME_INSIGHT_MRD = -189902 FRAME_-189902_NAME = 'INSIGHT_MRD' FRAME_-189902_CLASS = 4 FRAME_-189902_CLASS_ID = -189902 FRAME_-189902_CENTER = -189 TKFRAME_-189902_RELATIVE = 'INSIGHT_TOPO' TKFRAME_-189902_SPEC = 'ANGLES' TKFRAME_-189902_UNITS = 'DEGREES' TKFRAME_-189902_AXES = ( 1, 2, 3 ) TKFRAME_-189902_ANGLES = ( 180.0, 0.0, 0.0 ) \begintext When the actual transformation from the "IAU_MARS" frame to the "INSIGHT_MRD" frame, computed on-board and send down to Earth in channelized telemetry as a 3x3 transformation matrix, will become available, it should be inserted into the definition below as follows: TKFRAME_-189902_MATRIX = ( A-xxx(LVLH_MTRX_11) A-xxx(LVLH_MTRX_12) A-xxx(LVLH_MTRX_13) A-xxx(LVLH_MTRX_21) A-xxx(LVLH_MTRX_22) A-xxx(LVLH_MTRX_23) A-xxx(LVLH_MTRX_31) A-xxx(LVLH_MTRX_32) A-xxx(LVLH_MTRX_33) ) where A-xxx are channel IDs and (LVLH_MTRX_xx) are channel names. (TBD: channels above must be verified against TLM dictionary.) Then, the definition should be "activated" by placing it between \begindata ... \begintext tokens: begindata FRAME_INSIGHT_MRD = -189902 FRAME_-189902_NAME = 'INSIGHT_MRD' FRAME_-189902_CLASS = 4 FRAME_-189902_CLASS_ID = -189902 FRAME_-189902_CENTER = -189 TKFRAME_-189902_RELATIVE = 'IAU_MARS' TKFRAME_-189902_SPEC = 'MATRIX' TKFRAME_-189902_MATRIX = ( d.dddddddd d.dddddddd d.dddddddd d.dddddddd d.dddddddd d.dddddddd d.dddddddd d.dddddddd d.dddddddd ) begintext Landed Local Vertical, Local Horizontal (LL) Frame -------------------------------------------------- This frame is the frame with respect to which the landed lander orientation is determined by the on-board GyroCompass process. The frame is defined in [11] as follows: "The Landed Local Vertical, Local Horizontal Coordinate System used by the Lander is a coordinate system [the origin of which is -- BVS] fixed with respect to the landed spacecraft. The coordinate frame is is related to the MCI [INSIGHT_MME_2000 Inertial -- BVS] frame by rotation of the right ascension of the Mars local meridian and the latitude of the landed spacecraft." The axes of this frame point as follows: +Z points along local gravity vector (because the latitude of the landing is determined as [11]: "LAT = arcsin( -G local * W local ) where: LAT = latitude of landed s/c -G local = gravity vector measured in s/c body frame w local = Mars rotational rate measure in the s/ body frame" +X points towards local North +Y completes the right-hand frame (and, thus points towards local East) One principal axis of this frame is based on the measured gravity vector direction at the landing site, which can be computed using different assumptions: - local gravity vector points towards the center of Mars; in this case the latitude defining the axis is planetocentric latitude; - local gravity vector points along normal to the nominal Mars spheroid surface; in this case the latitude defining the axis is planetographic latitude; - local gravity vector points along the gravitational potential vector computed using some Mars gravity field model. It's obvious that the first assumption is the most inaccurate of the three while the last one the most accurate, with the difference between planetocentric and planetographic latitudes at the nominal landing site being: delta = | LAT_plcen - LAT_plgraph | = | 4.4576 - 4.5104 | = 0.0528 deg. In this file the INSIGHT_LL frame is defined as a fixed offset frame with respect to the INSIGHT_TOPO frame that is based on the planetographic latitude. \begindata FRAME_INSIGHT_LL = -189903 FRAME_-189903_NAME = 'INSIGHT_LL' FRAME_-189903_CLASS = 4 FRAME_-189903_CLASS_ID = -189903 FRAME_-189903_CENTER = -189 TKFRAME_-189903_RELATIVE = 'INSIGHT_TOPO' TKFRAME_-189903_SPEC = 'ANGLES' TKFRAME_-189903_UNITS = 'DEGREES' TKFRAME_-189903_AXES = ( 1, 2, 3 ) TKFRAME_-189903_ANGLES = ( 180.0, 0.0, 0.0 ) \begintext Lander Frames ------------------------------------------------------------------------------- Two primary frames are defined for the INSIGHT spacecraft -- the LANDER frame (or Mechanical frame) and the LANDER CRUISE frame. An additional frame is used by the POST EDL simulation/reconstruction tool -- the LANDER POST frame. Lander Frame ------------ The LANDER frame is the one used in all solid modeling and design of the lander. This frame, also called "Lander Mechanical frame", is defined in [4] as follows: "+Xm = pointed towards foot of deployed lander 0 degree leg +Zm = normal to launch vehicle interface plane (in direction of flight) +Ym = +Zm x +Xm, parallel to landed solar array axis of symmetry The origin of the frame is centered on the launch vehicle separation plane." If someone would look at the normal landed spacecraft configuration, he/she would see: - Z axis is vertical and points down (from the lander deck toward the lander "legs"); - X axis is parallel to the lander deck plane and lander solar array yoke and points away from the deck center toward the deck side opposite to the arm; - Y completes the right-handed frame and points along solar array axis of symmetry; - origin of this frame is TBD millimeters above the lander deck. Lander Cruise Frame ------------------- This frame is defined in [4] as follows: "+Xc = +Zm +Zc = center line of REMs #3 and #4 +Yc = +Zc x +Xc ... The +X axis of the cruise frame is aligned with the +Z axis of the mechanical [INSIGHT_LANDER -- BVS] frame. The +Y axis is rotated -120 degrees from the +X axis of the mechanical frame, about the +X axis of the cruise frame." The INSIGHT_LANDER frame can be transformed to the INSIGHT_LANDER_CRUISE frame by two rotations, first by -90 degrees about Y, second by +150 degrees about the new position of X. Lander and Lander Cruise Frame Diagram -------------------------------------- This diagram illustrates the LANDER and LANDER CRUISE frames for cruise configuration (cruise solar panel side view): .-'-. .-' \ -' \____ \ \ `-. \ ^+Ylnd \ \ | | \ / `- | \ | | +Zlnd | | <------x +Xcru | +Xlnd .-' \ . | \ <-' \ `-. / +Zcru | \ \ \ | V \ `-. \ +Ycru.\ +Zlnd and +Xcru are into the page. `---\ .- \ .-' `-.-' This diagram illustrates the LANDER and LANDER CRUISE frames for landed configuration (top view of the lander deck): .~ ~ ~ ~ ~ ~ ~. | +Y solar | ` panel ' \ / __ `. .' | _| `--H--' // ___H_______// / ^+Ylnd \ / | \ / | \ -- | | +Zlnd | | =====|<------x +Xcru | -- +Xlnd .-' \ | _ \ <-' \ o==============='_' IDA +Zcru \ / \________ V / H +Ycru .--H--. \\_ .' `. |__| / \ . -Y solar . | panel | +Zlnd and +Xcru are into the page. `~ ~ ~ ~ ~ ~ ~' Lander Frame Definitions ------------------------ Both lander frames are defined as CK frames for the following reasons: - during cruise the s/c "flies" using the INSIGHT_LANDER_CRUISE frame; the orientation of this frame is determined on-board with respect to the INSIGHT_MME_2000 frame; this orientation is sent down in the channelized telemetry, from which it is extracted and stored in the cruise CK file; - during descent the s/c also "flies" using the INSIGHT_LANDER_CRUISE frame; the orientation of this frame is determined on-board with respect to the Mars Relative Descent frame (INSIGHT_MRD); this orientation is sent down in the channelized telemetry, from which it is extracted and stored in the descent CK file(s); - after landing the initial orientation of the INSIGHT_LANDER_CRUISE frame is determined (by running GyroCompass process) with respect the Landed Local Vertical, Local Horizontal frame (INSIGHT_LL); it is stored in the surface orientation CK file(s); - after landing the orientation of the INSIGHT_LANDER frame may be determined with respect the local level or topocentric frame; this orientation is stored in the surface orientation CK file(s); - for different periods (cruise, descent, surface ops) the INSIGHT_LANDER frame can be specified as offset to the INSIGHT_LANDER_CRUISE frame or the LL frame depending on for which of these the orientation data is available. Also, should the landed orientation change during surface operations due to the arm or other activities, the change in orientation will be captured in the landed CK file(s). \begindata FRAME_INSIGHT_LANDER = -189001 FRAME_-189001_NAME = 'INSIGHT_LANDER' FRAME_-189001_CLASS = 3 FRAME_-189001_CLASS_ID = -189001 FRAME_-189001_CENTER = -189 CK_-189001_SCLK = -189 CK_-189001_SPK = -189 FRAME_INSIGHT_LANDER_CRUISE = -189000 FRAME_-189000_NAME = 'INSIGHT_LANDER_CRUISE' FRAME_-189000_CLASS = 3 FRAME_-189000_CLASS_ID = -189000 FRAME_-189000_CENTER = -189 CK_-189000_SCLK = -189 CK_-189000_SPK = -189 \begintext Lander POST Frame ----------------- According to [10] the POST frame (INSIGHT_LANDER_POST/-189002) is used by the POST EDL simulation tool. Its +X axis is co-aligned with the CRUISE frame's +X axis and its +Z axis is co-aligned with the CRUISE frame's +Y axis. This diagram illustrates the LANDER CRUISE and POST frames for the cruise configuration (cruise solar panel side view): .-'-. .-' \ -' \____ \ \ `-. \ \ \ | +Ypost / `- .-> \ | +Xpost .-' | | +Xcru x' | | .-' \ . | \ <-' \ `-. / +Zcru | \ \ \ | V+Zpost `-. \ +Ycru.\ +Xpost and +Xcru `---\ .- are into the page. \ .-' `-.-' As seen on the diagram, a single +90 degree rotation about +X is needed to align the POST frame with the CRUISE frame. (Note: since the CRUISE frame is defined as a CK-based frame this fixed rotation will stored in a CK file.) Because the orientation of the POST frame is time varying and will be stored in CK files this frame is defined as a CK-based frame. \begindata FRAME_INSIGHT_LANDER_POST = -189002 FRAME_-189002_NAME = 'INSIGHT_LANDER_POST' FRAME_-189002_CLASS = 3 FRAME_-189002_CLASS_ID = -189002 FRAME_-189002_CENTER = -189 CK_-189002_SCLK = -189 CK_-189002_SPK = -189 \begintext Antenna Frames ------------------------------------------------------------------------------- The all INSIGHT Antenna frames are fixed offset frames with their orientation given relative to the LANDER Mechanical frame. All antenna frames are defined such that +Z axis is the antenna boresight and +X axis is lined up with the reference direction for the antenna pattern clock angle. Cruise LGA Transmit Antenna Frame --------------------------------- According to [6] and [7], the Cruise LGA Transmit antenna boresight -- +Z axis of the INSIGHT_CLGA_TX frame -- is the (0, 0, -1) vector in the lander mechanical frame and its clock reference direction -- +X axis of the INSIGHT_CLGA_TX frame -- is the (1, 0, 0) vector in the lander mechanical frame. The INSIGHT_LANDER frame can be transformed to the INSIGHT_CLGA_TX frame by a single rotation of 180 degrees about +X axis. This diagram illustrates the INSIGHT_CLGA_TX frame (cruise solar panel side view for cruise configuration): .-'-. .-' \ -' \____ \ \ `-. \ ^+Ylnd \ \ | | \ +Xclga | \ | <------o | +Zlnd | | <----|-x +Xcru | +Xlnd .|' \ . | \ <-' | \ `-. / +Zcru V \ \ \ +Yclga V \ `-. \ +Ycru.\ +Zlnd and +Xcru are into the page. `---\ .- \ .-' +Zclga is out of the page. `-.-' Since the frame definition below contains the reverse transformation (i.e. from the antenna frame to the lander frame), the order and the signs of the rotations are reversed. \begindata FRAME_INSIGHT_CLGA_TX = -189410 FRAME_-189410_NAME = 'INSIGHT_CLGA_TX' FRAME_-189410_CLASS = 4 FRAME_-189410_CLASS_ID = -189410 FRAME_-189410_CENTER = -189 TKFRAME_-189410_RELATIVE = 'INSIGHT_LANDER' TKFRAME_-189410_SPEC = 'ANGLES' TKFRAME_-189410_UNITS = 'DEGREES' TKFRAME_-189410_AXES = ( 3, 1, 3 ) TKFRAME_-189410_ANGLES = ( 0.0, 180.0, 0.0 ) \begintext Cruise LGA Receive Antenna Frame -------------------------------- According to [6] and [7], the Cruise LGA Receive antenna boresight -- +Z axis of the INSIGHT_CLGA_RX frame -- is the (0, 0, -1) vector in the lander mechanical frame and its clock reference direction -- +X axis of the INSIGHT_CLGA_RX frame -- is the (1, 0, 0) vector in the lander mechanical frame. The INSIGHT_LANDER frame can be transformed to the INSIGHT_CLGA_RX frame by a single rotation of 180 degrees about +X axis. This diagram illustrates the INSIGHT_CLGA_RX frame (cruise solar panel side view for cruise configuration): .-'-. .-' \ -' \____ \ \ `-. \ ^+Ylnd \ \ | | \ +Xclga | \ | <------o | +Zlnd | | <----|-x +Xcru | +Xlnd .|' \ . | \ <-' | \ `-. / +Zcru V \ \ \ +Yclga V \ `-. \ +Ycru.\ +Zlnd and +Xcru are into the page. `---\ .- \ .-' +Zclga is out of the page. `-.-' Since the frame definition below contains the reverse transformation (i.e. from the antenna frame to the lander frame), the order and the signs of the rotations are reversed. \begindata FRAME_INSIGHT_CLGA_RX = -189420 FRAME_-189420_NAME = 'INSIGHT_CLGA_RX' FRAME_-189420_CLASS = 4 FRAME_-189420_CLASS_ID = -189420 FRAME_-189420_CENTER = -189 TKFRAME_-189420_RELATIVE = 'INSIGHT_LANDER' TKFRAME_-189420_SPEC = 'ANGLES' TKFRAME_-189420_UNITS = 'DEGREES' TKFRAME_-189420_AXES = ( 3, 1, 3 ) TKFRAME_-189420_ANGLES = ( 0.0, 180.0, 0.0 ) \begintext Cruise Medium Gain Antenna Frame -------------------------------- According to [6], the Cruise Medium Gain antenna boresight -- +Z axis of the INSIGHT_CMGA frame -- is the (0.703306, -0.151033, -0.694658) vector in the lander mechanical frame. The antenna clock reference direction -- +X axis of the INSIGHT_CMGA frame -- is chosen arbitrarily to be in the lander XY plane in the +X/+Y quadrant. The INSIGHT_LANDER frame can be transformed to the INSIGHT_CMGA frame by two rotations: first by +77.879965 degrees about the +Z axis, then by +133.999970 degrees about +X axis. This diagram illustrates the INSIGHT_CMGA frame (cruise solar panel side view for cruise configuration): .-'-. .-' \ -' \____ \ \ `-. +Xcmga ^ ^+Ylnd \ \ . | | \ / `- | \ +Xlnd ' | +Zlnd | | <-----*x +Xcru | +Zcmga <--''.-' \ . | \ <-' \ `-. / +Zcru | \ \ \ | V \ `-. \ +Ycru.\ +Zlnd and +Xcru are into the page. `---\ .- \ .-' +Zcmga points ~44 degrees above the page. `-.-' +Ycmga points ~46 degrees into the page. Since the frame definition below contains the reverse transformation (i.e. from the antenna frame to the lander frame), the order and the signs of the rotations are reversed. \begindata FRAME_INSIGHT_CMGA = -189430 FRAME_-189430_NAME = 'INSIGHT_CMGA' FRAME_-189430_CLASS = 4 FRAME_-189430_CLASS_ID = -189430 FRAME_-189430_CENTER = -189 TKFRAME_-189430_RELATIVE = 'INSIGHT_LANDER' TKFRAME_-189430_SPEC = 'ANGLES' TKFRAME_-189430_UNITS = 'DEGREES' TKFRAME_-189430_AXES = ( 3, 1, 3 ) TKFRAME_-189430_ANGLES = ( -77.879965, -133.999970, 0.0 ) \begintext Landed East Medium Gain Antenna Frame ------------------------------------- According to [6], the Landed East Medium Gain antenna boresight -- +Z axis of the INSIGHT_LMGA_EAST frame -- is the (-0.2360, 0.8508, -0.4695) vector in the lander mechanical frame. The antenna clock reference direction -- +X axis of the INSIGHT_LMGA_EAST -- is chosen arbitrarily to be in the lander XY plane in the -X/-Y quadrant. The INSIGHT_LANDER frame can be transformed to the INSIGHT_LMGA_EAST frame by two rotations: first by +195.503269 degrees about the +Z axis, then by +118.002045 degrees about +X axis. This diagram illustrates the INSIGHT_LMGA_EAST frame (top view of the lander deck for landed configuration): .~ ~ ~ ~ ~ ~ ~. | +Y solar ` panel \ ^ +Zlmgae `. . `--H- ___H__ ' +Ylnd ^ * . / | ' > +Xlmgae / | -- | | +Zlnd | | =====|<------x +Xcru | -- +Xlnd .-' \ | _ \ <-' \ o==============='_' IDA +Zcru \ / \________ V / H +Ycru .--H--. \\_ .' `. |__| / \ . -Y solar . | panel | +Zlnd and +Xcru are into the page. `~ ~ ~ ~ ~ ~ ~' +Zlmgae points ~28 degrees above the page. +Ylmgae points ~62 degrees into the page. Since the frame definition below contains the reverse transformation (i.e. from the antenna frame to the lander frame), the order and the signs of the rotations are reversed. \begindata FRAME_INSIGHT_LMGA_EAST = -189440 FRAME_-189440_NAME = 'INSIGHT_LMGA_EAST' FRAME_-189440_CLASS = 4 FRAME_-189440_CLASS_ID = -189440 FRAME_-189440_CENTER = -189 TKFRAME_-189440_RELATIVE = 'INSIGHT_LANDER' TKFRAME_-189440_SPEC = 'ANGLES' TKFRAME_-189440_UNITS = 'DEGREES' TKFRAME_-189440_AXES = ( 3, 1, 3 ) TKFRAME_-189440_ANGLES = ( -195.503269, -118.002045, 0.0 ) \begintext Landed West Medium Gain Antenna Frame ------------------------------------- According to [6], the Landed West Medium Gain antenna boresight -- +Z axis of the INSIGHT_LMGA_WEST frame -- is the (0.0923, -0.8781, -0.4695) vector in the lander mechanical frame. The antenna clock reference direction -- +X axis of the INSIGHT_LMGA_WEST -- is chosen arbitrarily to be in the lander XY plane in the +X/+Y quadrant. The INSIGHT_LANDER frame can be transformed to the INSIGHT_LMGA_WEST frame by two rotations: first by +6.000514 degrees about the +Z axis, then by +118.001706 degrees about +X axis. This diagram illustrates the INSIGHT_LMGA_WEST frame (top view of the lander deck for landed configuration): .~ ~ ~ ~ ~ ~ ~. | +Y solar | ` panel ' \ / __ `. .' | _| `--H--' // ___H_______// / ^+Ylnd \ / | \ / | \ -- | | +Zlnd | | =====|<------x +Xcru | -- +Xlnd .-' \ | _ +Zcru <-' \ o==============='_' IDA +Xlmgaw < . \ / '* _ V / . +Ycru \\_ ' . |__| v \ +Zlmgaw . | +Zlnd and +Xcru are into the page. `~ ~ ~ ~ ~ ~ ~' +Zlmgaw points ~28 degrees above the page. +Ylmgaw points ~62 degrees into the page. Since the frame definition below contains the reverse transformation (i.e. from the antenna frame to the lander frame), the order and the signs of the rotations are reversed. \begindata FRAME_INSIGHT_LMGA_WEST = -189450 FRAME_-189450_NAME = 'INSIGHT_LMGA_WEST' FRAME_-189450_CLASS = 4 FRAME_-189450_CLASS_ID = -189450 FRAME_-189450_CENTER = -189 TKFRAME_-189450_RELATIVE = 'INSIGHT_LANDER' TKFRAME_-189450_SPEC = 'ANGLES' TKFRAME_-189450_UNITS = 'DEGREES' TKFRAME_-189450_AXES = ( 3, 1, 3 ) TKFRAME_-189450_ANGLES = ( -6.000514, -118.001706, 0.0 ) \begintext Landed/EDL UHF Helix Antenna Frame ---------------------------------- According to [6], the Landed/EDL UHF Helix antenna boresight -- +Z axis of the INSIGHT_HELIX frame -- is the (0, 0, -1) vector in the lander mechanical frame and its clock reference direction -- +X axis of the INSIGHT_HELIX frame -- is the (1, 0, 0) vector in the lander mechanical frame. The INSIGHT_LANDER frame can be transformed to the INSIGHT_HELIX frame by a single rotation of 180 degrees about +X axis. This diagram illustrates the INSIGHT_HELIX frame (top view of the lander deck for landed configuration): .~ ~ ~ ~ ~ ~ ~. | +Y solar | ` panel ' \ / __ `. .' | _| `--H--' // ___H_______// / ^+Ylnd \ +Xhelix | \ / <------o +Zhelix -- | | | | | =====|<------x | | -- +Xlnd .-' \ | | _ \ <-' \ V o==============='_' IDA +Zcru \ +Yhelix \________ V / H +Ycru .--H--. \\_ .' `. |__| / \ . -Y solar . | panel | +Zlnd and +Xcru are into the page. `~ ~ ~ ~ ~ ~ ~' +Z helix is out of the page. Since the frame definition below contains the reverse transformation (i.e. from the antenna frame to the lander frame), the order and the signs of the rotations are reversed. \begindata FRAME_INSIGHT_HELIX = -189460 FRAME_-189460_NAME = 'INSIGHT_HELIX' FRAME_-189460_CLASS = 4 FRAME_-189460_CLASS_ID = -189460 FRAME_-189460_CENTER = -189 TKFRAME_-189460_RELATIVE = 'INSIGHT_LANDER' TKFRAME_-189460_SPEC = 'ANGLES' TKFRAME_-189460_UNITS = 'DEGREES' TKFRAME_-189460_AXES = ( 3, 1, 3 ) TKFRAME_-189460_ANGLES = ( 0.0, 180.0, 0.0 ) \begintext EDL Wrap Around Patch Antenna Frame ----------------------------------- According to [9], the EDL Wrap Around Patch antenna boresight -- +Z axis of the INSIGHT_WPA frame -- is the (0, 0, -1) vector in the lander mechanical frame and its clock reference direction -- +X axis of the INSIGHT_WPA frame -- is the (1, 0, 0) vector in the lander mechanical frame. The INSIGHT_LANDER frame can be transformed to the INSIGHT_WPA frame by a single rotation of 180 degrees about the +X axis. This diagram illustrates the INSIGHT_WPA frame (parachute cone side view for EDL configuration): _________ .-' `- / +Ylnd ^ \ / | \ / | \ +Xwpa | +Zlnd | | <------* +Xcru | +Xlnd .-'|\ +Zwpa | \ <-' | \ / +Zcru | \ / \ V V / ` +Ywpa +Ycru. +Zlnd and +Xcru are into the page. -------' +Zwpa is out of the page. Since the frame definition below contains the reverse transformation (i.e. from the antenna frame to the lander frame), the order and the signs of the rotations are reversed. \begindata FRAME_INSIGHT_WPA = -189470 FRAME_-189470_NAME = 'INSIGHT_WPA' FRAME_-189470_CLASS = 4 FRAME_-189470_CLASS_ID = -189470 FRAME_-189470_CENTER = -189 TKFRAME_-189470_RELATIVE = 'INSIGHT_LANDER' TKFRAME_-189470_SPEC = 'ANGLES' TKFRAME_-189470_UNITS = 'DEGREES' TKFRAME_-189470_AXES = ( 3, 1, 3 ) TKFRAME_-189470_ANGLES = ( 0.0, 180.0, 0.0 ) \begintext Payload Frame ------------- According to [11], the INSIGHT_PAYLOAD frame +Z axis is along the lander frame +Z axis and its +X axis is along the lander frame -X axis. The INSIGHT_PAYLOAD frame is defined as a fixed-offset frame with respect to the INSIGHT_LANDER frame. The INSIGHT_LANDER frame can be transformed to the INSIGHT_PAYLOAD frame by a single rotation of 180 degrees about +Z axis. This diagram illustrates the INSIGHT_PAYLOAD frame (top view of the lander deck for landed configuration): .~ ~ ~ ~ ~ ~ ~. | +Y solar | ` panel ' \ / __ `. .' | _| `--H--' // ___H_______// / ^+Ylnd \ / | \ / | \ -- | | | | =====|<------x | -- +Xlnd +Xp _ \ x------> ======='_' IDA \ / | \___________/ | H \\ | .--H--. \ v +Yp .' `. |__ / \ . -Y solar . | panel | +Zlnd and +Zp are into the page. `~ ~ ~ ~ ~ ~ ~' Since the frame definition below contains the reverse transformation (i.e. from the INSIGHT_PAYLOAD frame to the INSIGHT_LANDER frame), the order and the signs of the rotations are reversed. \begindata FRAME_INSIGHT_PAYLOAD = -189100 FRAME_-189100_NAME = 'INSIGHT_PAYLOAD' FRAME_-189100_CLASS = 4 FRAME_-189100_CLASS_ID = -189100 FRAME_-189100_CENTER = -189 TKFRAME_-189100_RELATIVE = 'INSIGHT_LANDER' TKFRAME_-189100_SPEC = 'ANGLES' TKFRAME_-189100_UNITS = 'DEGREES' TKFRAME_-189100_AXES = ( 3, 1, 3 ) TKFRAME_-189100_ANGLES = ( 180.0, 0.0, 0.0 ) \begintext SEIS Frames ------------------------------------------------------------------------------- This section defines frames for the SEIS experiment. SEIS Frame ---------- According to [12], the INSIGHT_SEIS frame +Z axis is along the instrument center axis and points towards the top and its +X axis point towards the tether side. The INSIGHT_SEIS frame is defined as a fixed-offset frame with respect to the INSIGHT_LANDER frame. The nominal deployed position the INSIGHT_LANDER frame can be transformed to the INSIGHT_SEIS frame by a single rotation of 180 degrees about +X axis. This diagram illustrates the INSIGHT_SEIS frame (top view of the lander deck for landed configuration): .~ ~ ~ ~ ~ ~ ~. | +Y solar | ` panel ' \ / __ `. .' | _| `--H--' // ___H_______// / ^+Ylnd \ / | \ / | \ -- | | | +Xseis .-. | =====|<------x | <------o| -- +Xlnd | | _ \ o==========|===='_' IDA \ / | \___________/ v H \\ +Yseis .--H--. \\_ .' `. |__| / \ . -Y solar . | panel | +Zlnd is into the page. `~ ~ ~ ~ ~ ~ ~' +Zseis is out of the page. Since the frame definition below contains the reverse transformation (i.e. from the INSIGHT_SEIS frame to the INSIGHT_LANDER frame), the order and the signs of the rotations are reversed. \begindata FRAME_INSIGHT_SEIS = -189700 FRAME_-189700_NAME = 'INSIGHT_SEIS' FRAME_-189700_CLASS = 4 FRAME_-189700_CLASS_ID = -189700 FRAME_-189700_CENTER = -189 TKFRAME_-189700_RELATIVE = 'INSIGHT_LANDER' TKFRAME_-189700_SPEC = 'ANGLES' TKFRAME_-189700_UNITS = 'DEGREES' TKFRAME_-189700_AXES = ( 3, 1, 3 ) TKFRAME_-189700_ANGLES = ( 0.0, 180.0, 0.0 ) \begintext WTS Frame --------- According to [12], the INSIGHT_WTS frame +Z axis is along the instrument center axis and points towards the top and its +X axis point towards the foot to be placed on the SEIS tether side. The INSIGHT_WTS frame is defined as a fixed-offset frame with respect to the INSIGHT_LANDER frame. The nominal deployed position the INSIGHT_LANDER frame can be transformed to the INSIGHT_WTS frame by a single rotation of 180 degrees about +X axis. This diagram illustrates the INSIGHT_WTS frame (top view of the lander deck for landed configuration): .~ ~ ~ ~ ~ ~ ~. | +Y solar | ` panel ' \ / __ `. .' | _| `--H--' // ___H_______// / ^+Ylnd \ / | \ / | \ -- | | | +Xwts .-. | =====|<------x | <------o| -- +Xlnd | | _ \ o==========|===='_' IDA \ / | \___________/ v H \\ +Ywts .--H--. \\_ .' `. |__| / \ . -Y solar . | panel | +Zlnd is into the page. `~ ~ ~ ~ ~ ~ ~' +Zwts is out of the page. Since the frame definition below contains the reverse transformation (i.e. from the INSIGHT_WTS frame to the INSIGHT_LANDER frame), the order and the signs of the rotations are reversed. \begindata FRAME_INSIGHT_WTS = -189710 FRAME_-189710_NAME = 'INSIGHT_WTS' FRAME_-189710_CLASS = 4 FRAME_-189710_CLASS_ID = -189710 FRAME_-189710_CENTER = -189 TKFRAME_-189710_RELATIVE = 'INSIGHT_LANDER' TKFRAME_-189710_SPEC = 'ANGLES' TKFRAME_-189710_UNITS = 'DEGREES' TKFRAME_-189710_AXES = ( 3, 1, 3 ) TKFRAME_-189710_ANGLES = ( 0.0, 180.0, 0.0 ) \begintext HP3 Frames ------------------------------------------------------------------------------- This section defines frames for the HP3 experiment. HP3 Frame --------- According to [12], the INSIGHT_HP3 frame +Z axis is along the instrument center axis and points towards the top and its +X axis point towards the tether side. The INSIGHT_HP3 frame is defined as a fixed-offset frame with respect to the INSIGHT_LANDER frame. The nominal deployed position the INSIGHT_LANDER frame can be transformed to the INSIGHT_HP3 frame by a single rotation of 180 degrees about +X axis. This diagram illustrates the INSIGHT_HP3 frame (top view of the lander deck for landed configuration): .~ ~ ~ ~ ~ ~ ~. | +Y solar | ` panel ' \ / __ `. .' | _| `--H--' // ___H_______// / ^+Ylnd \ / | \ +Xhp3 H / | \ <------o===H -- | | | | | =====|<------x | | -- +Xlnd | | _ \ o======= v ====='_' IDA \ / +Yhp3 \___________/ H \\ .--H--. \\_ .' `. |__| / \ . -Y solar . | panel | +Zlnd is into the page. `~ ~ ~ ~ ~ ~ ~' +Zhp3 is out of the page. Since the frame definition below contains the reverse transformation (i.e. from the INSIGHT_HP3 frame to the INSIGHT_LANDER frame), the order and the signs of the rotations are reversed. \begindata FRAME_INSIGHT_HP3 = -189810 FRAME_-189810_NAME = 'INSIGHT_HP3' FRAME_-189810_CLASS = 4 FRAME_-189810_CLASS_ID = -189810 FRAME_-189810_CENTER = -189 TKFRAME_-189810_RELATIVE = 'INSIGHT_LANDER' TKFRAME_-189810_SPEC = 'ANGLES' TKFRAME_-189810_UNITS = 'DEGREES' TKFRAME_-189810_AXES = ( 3, 1, 3 ) TKFRAME_-189810_ANGLES = ( 0.0, 180.0, 0.0 ) \begintext HP3 Mole Frame -------------- The INSIGHT_HP3_MOLE frame is provided solely for the sake of completeness. It is defined as a fixed-offset frame with respect to, and co-aligned with the INSIGHT_HP3 frame. This diagram illustrates the INSIGHT_HP3_MOLE frame (top view of the lander deck for landed configuration): .~ ~ ~ ~ ~ ~ ~. | +Y solar | ` panel ' \ / __ `. .' | _| `--H--' // ___H_______// / ^+Ylnd \ / | \ +Xmole H / | \ <------o===H -- | | | | | =====|<------x | | -- +Xlnd | | _ \ o======= v ====='_' IDA \ / +Ymole \___________/ H \\ .--H--. \\_ .' `. |__| / \ . -Y solar . | panel | +Zlnd is into the page. `~ ~ ~ ~ ~ ~ ~' +Zhp3 is out of the page. Since the frame definition below contains the reverse transformation (i.e. from the INSIGHT_HP3_MOLE frame to the INSIGHT_HP3 frame), the order and the signs of the rotations are reversed. \begindata FRAME_INSIGHT_HP3_MOLE = -189820 FRAME_-189820_NAME = 'INSIGHT_HP3_MOLE' FRAME_-189820_CLASS = 4 FRAME_-189820_CLASS_ID = -189820 FRAME_-189820_CENTER = -189 TKFRAME_-189820_RELATIVE = 'INSIGHT_HP3' TKFRAME_-189820_SPEC = 'ANGLES' TKFRAME_-189820_UNITS = 'DEGREES' TKFRAME_-189820_AXES = ( 3, 1, 3 ) TKFRAME_-189820_ANGLES = ( 0.0, 0.0, 0.0 ) \begintext HP3 Radiometer Frame -------------------- This section defines the INSIGHT_HP3_RAD frame as provided in [14] except for the frame name change (INSIGHT_HP3RAD -> INSIGHT_HP3_RAD). The HP3 Radiometer measures the temperature of two patches of the surface, one near the lander (~1 m), one more distant (~3.5 m). HP3 Radiometer is mounted on the lower side of the lander deck. The HP3 Radiometer frame INSIGHT_HP3_RAD is fixed with respect to the lander frame INSIGHT_LANDER, and defined as follows: - +Z is the normal of the backcap plane of the instrument - +Y lies nominally in the rover X-Y plane and points roughly into the same direction as the rover's +Y axis - +X completes the right handed frame, pointing roughly into the same direction as the rover's -Z axis - the origin is at the intersection of the instrument Z axis and the dust cover, i.e. the "Rotor Blade Nut" The reference frame, INSIGHT_LANDER, can be transformed into this frame, INSIGHT_HP3RAD, by the two rotations: first by -20 degrees about Z, then by 50 degrees about Y. This diagram illustrates the LANDER and HP3 Radiometer frames for landed configuration (top view of the lander deck): Top view: --------- .~ ~ ~ ~ ~ ~ ~. | +Y solar | ` panel ' \ / __ `. .' | _| `--H--' // ___H_______// +Yhp3rad ^ / ^+Ylnd \ \ / | \ \ | \ -- |\ | +Zlnd | | =====|<\-----x | -- +Xlnd \ | _ \ o +Xhp3rad o==============='_' IDA .' / .'\___________/ .' H \\ +Zhp3rad <' .--H--. \\_ .' `. |__| / \ . -Y solar . | panel | +Zlnd is into the page `~ ~ ~ ~ ~ ~ ~' +Xhp3rad is out of the page Side view: ---------- +Xlnd <----X | .o. | // \\ +Zlnd V // \\ // \\ +Xhp3rad ^ // \\ \ // \\ IDA \ // \\ _ ___\____________ .o| | |____o __________| `. | / | /|__/________\\___| //\ / \\ / // /____________\\ // v \\ _// +Zhp3rad \\_ +Ylnd and +Yhp3rad |__| |__| are into the page Since the frame definition below contains the reverse transformation, i.e. from the HP3RAD frame to the LANDER frame, the order of rotations is reversed and the signs of rotation angles are changed to the opposite ones. \begindata FRAME_INSIGHT_HP3_RAD = -189800 FRAME_-189800_NAME = 'INSIGHT_HP3_RAD' FRAME_-189800_CLASS = 4 FRAME_-189800_CLASS_ID = -189800 FRAME_-189800_CENTER = -189 TKFRAME_-189800_RELATIVE = 'INSIGHT_LANDER' TKFRAME_-189800_SPEC = 'ANGLES' TKFRAME_-189800_UNITS = 'DEGREES' TKFRAME_-189800_AXES = ( 1, 3, 2 ) TKFRAME_-189800_ANGLES = ( 0.0, 20.0, -50.0 ) \begintext APSS Frames ------------------------------------------------------------------------------- This section defines frames for the APSS experiment. APSS Magnetometer Frame ----------------------- According to [15], the INSIGHT_APSS_MAG frame +Z axis is normal to the sensor base and points towards the top, and its +Y axis points from the sensor toward the cable connector. The INSIGHT_APSS_MAG frame is defined as a fixed-offset frame with respect to the INSIGHT_LANDER frame. The INSIGHT_LANDER frame can be transformed to the INSIGHT_APSS_MAG frame by a single rotation of -148 degrees about +Z axis. This diagram illustrates the INSIGHT_APSS_MAG frame (top view of the lander deck for landed configuration): .~ ~ ~ ~ ~ ~ ~. | +Y solar | ` panel ' \ / __ `. .' | _| `--H--' // ___H_______// / ^+Ylnd \ / | x\ / | .' \\ -- | | <' \ | =====|<------x +Ymag |V +Xmag -- +Xlnd | _ \ o==============='_' IDA \ / \___________/ H \\ .--H--. \\_ .' `. |__| / \ . -Y solar . | panel | +Zlnd and +Z mag are into the page. `~ ~ ~ ~ ~ ~ ~' Since the frame definition below contains the reverse transformation (i.e. from the INSIGHT_APSS_MAG frame to the INSIGHT_LANDER frame), the order and the signs of the rotations are reversed. \begindata FRAME_INSIGHT_APSS_MAG = -189610 FRAME_-189610_NAME = 'INSIGHT_APSS_MAG' FRAME_-189610_CLASS = 4 FRAME_-189610_CLASS_ID = -189610 FRAME_-189610_CENTER = -189 TKFRAME_-189610_RELATIVE = 'INSIGHT_LANDER' TKFRAME_-189610_SPEC = 'ANGLES' TKFRAME_-189610_UNITS = 'DEGREES' TKFRAME_-189610_AXES = ( 3, 1, 3 ) TKFRAME_-189610_ANGLES = ( 0.0, 0.0, 148.0 ) \begintext APSS Pressure Sensor Frame -------------------------- According to [15], the INSIGHT_APSS_PS frame +Z axis is along the pressure port central axis, pointing down from the top toward the base, and +X axis points from the central axis towards the reference mounting hole. The INSIGHT_APSS_PS frame is defined as a fixed-offset frame with respect to the INSIGHT_LANDER frame. The INSIGHT_LANDER frame can be transformed to the INSIGHT_APSS_PS frame by a single rotation of +22.5 degrees about +Z axis. This diagram illustrates the INSIGHT_APSS_PS frame (top view of the lander deck for landed configuration): .~ ~ ~ ~ ~ ~ ~. | +Y solar | ` panel ' \ / __ `. .' | _| `--H--' // ___H_______// /+Ylnd^ \ / | ^ +Yps +Xps <. | / \ -- | `-. |/ | | =====|<------x | -- +Xlnd | _ \ o==============='_' IDA \ / \___________/ H \\ .--H--. \\_ .' `. |__| / \ . -Y solar . | panel | +Zlnd and +Zps are into the page. `~ ~ ~ ~ ~ ~ ~' Since the frame definition below contains the reverse transformation (i.e. from the INSIGHT_APSS_PS frame to the INSIGHT_LANDER frame), the order and the signs of the rotations are reversed. \begindata FRAME_INSIGHT_APSS_PS = -189620 FRAME_-189620_NAME = 'INSIGHT_APSS_PS' FRAME_-189620_CLASS = 4 FRAME_-189620_CLASS_ID = -189620 FRAME_-189620_CENTER = -189 TKFRAME_-189620_RELATIVE = 'INSIGHT_LANDER' TKFRAME_-189620_SPEC = 'ANGLES' TKFRAME_-189620_UNITS = 'DEGREES' TKFRAME_-189620_AXES = ( 3, 1, 3 ) TKFRAME_-189620_ANGLES = ( 0.0, 0.0, -22.5 ) \begintext APSS TWINS Frames ----------------- According to [15], the INSIGHT_APSS_TWINS+Y and INSIGHT_APSS_TWINS-Y frames +Z axes point up from the mounting base towards the sensor, -Y axes point along the sensor axis from the mount side toward the sensor tip. The INSIGHT_APSS_TWINS+Y and INSIGHT_APSS_TWINS-Y frames are defined as fixed-offset frames with respect to the INSIGHT_LANDER frame. The INSIGHT_LANDER frame can be transformed to the INSIGHT_APSS_TWINS+Y frame by a single rotation of 180 degrees about +X axis. The INSIGHT_LANDER frame can be transformed to the INSIGHT_APSS_TWINS-Y frame by two rotations -- of 180 degrees about +X axis, then by 180 degrees about +Z axis. This diagram illustrates the INSIGHT_APSS_TWINS+Y and INSIGHT_APSS_TWINS-Y frames (top view of the lander deck for landed configuration): .~ ~ ~ ~ ~ ~ ~. | +Y solar | ` panel ' \ / __ `. .' | _| `--H--' // ___H_+Ylnd_// / <--^-o \ /+Xtmy | | \ / | | \ -- | | v+Ytpy | | =====|<------x | -- +Xlnd ^+Ytmy | _ \ | o==============='_' IDA \ | / \_______o----> +Xtmy H \\ .--H--. \\_ .' `. |__| / \ . -Y solar . | panel | +Zlnd is into the page. `~ ~ ~ ~ ~ ~ ~' +Ztpy and +Ztmy are out of the page. Since the frame definitions below contains the reverse transformations (i.e. from the INSIGHT_APSS_TWINS+Y frame to the INSIGHT_LANDER frame, and from the INSIGHT_APSS_TWINS-Y frame to the INSIGHT_LANDER frame), the order and the signs of the rotations are reversed. \begindata FRAME_INSIGHT_APSS_TWINS+Y = -189630 FRAME_-189630_NAME = 'INSIGHT_APSS_TWINS+Y' FRAME_-189630_CLASS = 4 FRAME_-189630_CLASS_ID = -189630 FRAME_-189630_CENTER = -189 TKFRAME_-189630_RELATIVE = 'INSIGHT_LANDER' TKFRAME_-189630_SPEC = 'ANGLES' TKFRAME_-189630_UNITS = 'DEGREES' TKFRAME_-189630_AXES = ( 3, 1, 3 ) TKFRAME_-189630_ANGLES = ( 0.0, 180.0, 0.0 ) FRAME_INSIGHT_APSS_TWINS-Y = -189640 FRAME_-189640_NAME = 'INSIGHT_APSS_TWINS-Y' FRAME_-189640_CLASS = 4 FRAME_-189640_CLASS_ID = -189640 FRAME_-189640_CENTER = -189 TKFRAME_-189640_RELATIVE = 'INSIGHT_LANDER' TKFRAME_-189640_SPEC = 'ANGLES' TKFRAME_-189640_UNITS = 'DEGREES' TKFRAME_-189640_AXES = ( 3, 1, 3 ) TKFRAME_-189640_ANGLES = ( 0.0, 180.0, 180.0 ) \begintext ICC Frames ------------------------------------------------------------------------------- This section defines frames for the ICC subsystem. Instrument Context Camera Frame ------------------------------- According to [16], the INSIGHT_ICC frame +Z axis is along the camera boresight and +Y is along the camera image columns, pointing up away from the surface. The INSIGHT_ICC frame is defined as a fixed-offset frame with respect to the INSIGHT_PAYLOAD frame. Nominally the INSIGHT_PAYLOAD frame can be transformed to the INSIGHT_ICC frame by a three rotations -- first +52 degrees about +Y, then by -4 degrees about +X, then -90 deg about +Z. This diagram illustrates the INSIGHT_ICC frame (top view of the lander deck for landed configuration): .~ ~ ~ ~ ~ ~ ~. | +Y solar | ` panel ' \ / __ `. .' | _| `--H--' // ___H_______// / ^+Ylnd \ / | \ / | \ -- | | +Xicc | =====|<------x ^ -- +Xlnd / +Xp _ \ /x------> ======='_' IDA \ *.. \___________/ |``> +Zicc H \\ | +Yicc .--H--. \ v +Yp .' `. |__ / \ . -Y solar . | panel | +Zlnd and +Zp are into the page. `~ ~ ~ ~ ~ ~ ~' +Zicc points 52 deg into the page. +Yicc points 38 deg above the page. The actual INSIGHT_ICC frame orientation provided in the frame definition below was computed using the CAHVOR(E) camera model file, [18]. According to this model the reference frame, INSIGHT_PAYLOAD, can be transformed into the camera frame, INSIGHT_ICC, by the following sequence of rotations: first by 51.70218243 degrees about Y, then by -3.76245486 degrees about X, and finally by -87.14567449 degrees about Z. The frame definition below contains the opposite of this transformation because Euler angles specified in it define rotations from the "destination" frame to the "reference" frame. \begindata FRAME_INSIGHT_ICC = -189111 FRAME_-189111_NAME = 'INSIGHT_ICC' FRAME_-189111_CLASS = 4 FRAME_-189111_CLASS_ID = -189111 FRAME_-189111_CENTER = -189 TKFRAME_-189111_RELATIVE = 'INSIGHT_PAYLOAD' TKFRAME_-189111_SPEC = 'ANGLES' TKFRAME_-189111_UNITS = 'DEGREES' TKFRAME_-189111_AXES = ( 2, 1, 3 ) TKFRAME_-189111_ANGLES = ( -51.702, 3.762, 87.146 ) \begintext IDA Frames ------------------------------------------------------------------------------- This section defines frames for the Instrument Deployment Arm (IDA) joints (SHOULDER_AZ, SHOULDER_EL, ELBOW, and WRIST) and instruments and tools (IDC, EFFECTOR, GRAPPLE_BASE, SCOOP, BLADE, and GRAPPLE). IDA Gimbal Frames Schematic Diagram ------------------------------------------- This diagram illustrates the IDA joint frames (the IDA is shown fully extended in the "zero" gimbal angle configuration): Top view: --------- +Zpayload(in) x-----> +Xpayload | | | V +Ypayload +Zse ^ | .____|_. | | | +Xsa +Xse | x--x-->--> +Zsa(in)| +Yse(in) ._|____. +Ze +Zw | | |______________________^ ^ V | || | +Ysa .________________________|| |_____ |||______________________'|. | |x-----> +Xe |x-----> +Xw |_+Ye(in)________________| +Yw(in) .______| Side view: ---------- +Ypayload(out) o-----> +Xpayload | | | V +Zpayload Scoop ______ | / | / .___ _ | __/ / \_____________________/ \______________________/ \ +Zse(in)X-----> +Xse +Ze(in) X-----> +Xe +Zw(in) X-----> +Xw / | |___________________\ | /____________________\ | / +Ysa(out)o-----> +Xsa \|/ || \|/ /____|__|_| | |`-. | | V V `--' IDC V | +Yse +Ye +Yw V | +Zsa .^. | | \ / Grapple IDA Shoulder Azimuth Frame -------------------------- The INSIGHT_IDA_SHOULDER_AZ frame is a CK-based frame with orientation given relative to the INSIGHT_PAYLOAD frame. The INSIGHT_IDA_SHOULDER_AZ frame is defined as follows: - +Z axis is along the shoulder azimuth joint rotation axis and point down toward the ground; nominally, this axis is co-aligned with the payload frame +Z axis; - +X axis lies in the lander deck plane and points from the shoulder azimuth joint rotation axis toward the shoulder elevation joint rotation axis; nominally, it is co-aligned with the payload frame +X axis for the torso joint in zero position; - +Y completes the right-handed frame; The origin of the INSIGHT_IDA_SHOULDER_AZ frame is located at the intersection of the shoulder azimuth rotation axis and the lander deck plane. \begindata FRAME_INSIGHT_IDA_SHOULDER_AZ = -189121 FRAME_-189121_NAME = 'INSIGHT_IDA_SHOULDER_AZ' FRAME_-189121_CLASS = 3 FRAME_-189121_CLASS_ID = -189121 FRAME_-189121_CENTER = -189 CK_-189121_SCLK = -189 CK_-189121_SPK = -189 \begintext IDA Shoulder Elevation Frame ---------------------------- The INSIGHT_IDA_SHOULDER_EL frame is a CK-based frame with orientation given relative to the INSIGHT_IDA_SHOULDER_AZ frame. The INSIGHT_IDA_SHOULDER_EL frame is defined as follows: - +Z axis is along the shoulder elevation joint rotation axis and points in the direction of the -Y axis of the INSIGHT_IDA_SHOULDER_AZ frame; - +X is perpendicular to and intersects both the shoulder elevation and the elbow joint rotation axes and points from the shoulder elevation axis towards the elbow axis; - +Y completes the right-handed frame; The origin of the INSIGHT_IDA_SHOULDER_EL frame is located in the middle of the shoulder gimbal. \begindata FRAME_INSIGHT_IDA_SHOULDER_EL = -189122 FRAME_-189122_NAME = 'INSIGHT_IDA_SHOULDER_EL' FRAME_-189122_CLASS = 3 FRAME_-189122_CLASS_ID = -189122 FRAME_-189122_CENTER = -189 CK_-189122_SCLK = -189 CK_-189122_SPK = -189 \begintext IDA Elbow Frame --------------- The INSIGHT_IDA_ELBOW frame is a CK-based frame with orientation given relative to the IDA SHOULDER_EL frame. The INSIGHT_IDA_ELBOW frame is defined as follows: - +Z axis is along the elbow joint rotation axis and points in the same direction as the +Z axis of the INSIGHT_IDA_SHOULDER_EL frame; - +X is perpendicular to and intersects both the elbow and the wrist joint rotation axes and points from the elbow axis towards the wrist axis; - +Y completes the right-handed frame; The origin of the INSIGHT_IDA_ELBOW frame is located in the middle of the elbow gimbal. \begindata FRAME_INSIGHT_IDA_ELBOW = -189123 FRAME_-189123_NAME = 'INSIGHT_IDA_ELBOW' FRAME_-189123_CLASS = 3 FRAME_-189123_CLASS_ID = -189123 FRAME_-189123_CENTER = -189 CK_-189123_SCLK = -189 CK_-189123_SPK = -189 \begintext IDA Wrist Frame --------------- The INSIGHT_IDA_WRIST frame is a CK-based frame with orientation given relative to the INSIGHT_IDA_ELBOW frame. The INSIGHT_IDA_WRIST frame is defined as follows: - +Z axis is along the wrist joint rotation axis and points in the same direction as the +Z axis of the INSIGHT_IDA_ELBOW frame; - +Y is perpendicular to the wrist axis and points away from the scoop; - +X completes the right-handed frame; The origin of the INSIGHT_IDA_WRIST frame is located in the middle of the wrist gimbal. \begindata FRAME_INSIGHT_IDA_WRIST = -189124 FRAME_-189124_NAME = 'INSIGHT_IDA_WRIST' FRAME_-189124_CLASS = 3 FRAME_-189124_CLASS_ID = -189124 FRAME_-189124_CENTER = -189 CK_-189124_SCLK = -189 CK_-189124_SPK = -189 \begintext IDA Instrument and Tool Frames Schematic Diagram ------------------------------------------------ This diagram illustrates the IDA instrument and tool frames (IDA Effector Instruments side view with the wrist joint in "0" position; instrument and tool frame offset angles are from [TBD]): IDA Effector Side view: ^ +Zblade | | | +Xblade x-----> ..-> +Zscoop ||______________x-'' | /\ | / \ | / \ | / V |+Zeff / +Xscoop |___^__ __/ |___|__| ____________________________ / | \ / | \ x-----> +Xelb <-----x-----> +Xeff | ____ ^ +Yidc ___________+Xga\ | / +Xwrist | | | \___|__/ | |--|---. | V | | | +Zidc V +Ywrist +Zelbow, +Yelb x---x->---> | +Zga +Zwrist, | | +Zidcr | +Yidc, +Xidcr, `------| | +Yeff, | | +Yblade, V +Xidcr | +Yscoop, / \ +Yga | | are into the page. | | |_| +Ygrapple / \ is out the page. \ / \ / o-----> +Xgrapple | | | V +Zgrapple Note that the IDC is mounted on the elbow link of the IDA while the SCOOP and GRAPPLE are mounted on the wrist gimbal. (The ISAD and BLADE are mounted on the SCOOP.) IDC_REF and IDC Frames ---------------------- Two frames are defined for IDC -- the IDC reference point frame (INSIGHT_IDA_IDC_REF) and the IDC camera frame (INSIGHT_IDA_IDC). The INSIGHT_IDA_IDC_REF frame is defined as follows: - +Z axis points along the camera boresight; - +Y axis points in the same direction as the +Z axis of the INSIGHT_IDA_ELBOW frame; - +X completes the right-handed frame. - the origin of this frame is located at the center of the front face of the camera. Nominally the INSIGHT_IDA_IDC_REF frame is rotated from the INSIGHT_IDA_ELBOW frame by +90 degrees about Y, then by +90 degrees about Z. While the INSIGHT_IDA_IDC_REF frame has fixed orientation with respect to the INSIGHT_IDA_ELBOW frame, it is defined as CK based frames to allow storing its orientation provided in the image headers as deflected IDC device orientation quaternion in CK files. \begindata FRAME_INSIGHT_IDA_IDC_REF = -189131 FRAME_-189131_NAME = 'INSIGHT_IDA_IDC_REF' FRAME_-189131_CLASS = 3 FRAME_-189131_CLASS_ID = -189131 FRAME_-189131_CENTER = -189 CK_-189131_SCLK = -189 CK_-189131_SPK = -189 \begintext The INSIGHT_IDA_IDC frame is defined as follows: - +Z axis points along the camera boresight; - +X axis points in the same direction as the +Z axis of the INSIGHT_IDA_ELBOW frame; - +Y completes the right-handed frame. - the origin of this frame is located at the nodal point of the camera. Nominally the INSIGHT_IDA_IDC frame is rotated from the INSIGHT_IDA_IDC_REF frame by +90 degrees about Z and defined as a fixed-offset frame with respect to it. The actual INSIGHT_IDA_IDC frame orientation provided in the frame definition below was computed using the CAHVOR(E) camera model file, [19]. According to this model the reference frame, INSIGHT_IDA_IDC_REF, can be transformed into the camera frame, INSIGHT_IDA_IDC, by the following sequence of rotations: first by -0.38874186 degrees about Y, then by -0.86474082 degrees about X, and finally by 89.16016508 degrees about Z. The frame definition below contains the opposite of this transformation because Euler angles specified in it define rotations from the "destination" frame to the "reference" frame. \begindata FRAME_INSIGHT_IDA_IDC = -189125 FRAME_-189125_NAME = 'INSIGHT_IDA_IDC' FRAME_-189125_CLASS = 4 FRAME_-189125_CLASS_ID = -189125 FRAME_-189125_CENTER = -189 TKFRAME_-189125_RELATIVE = 'INSIGHT_IDA_IDC_REF' TKFRAME_-189125_SPEC = 'ANGLES' TKFRAME_-189125_UNITS = 'DEGREES' TKFRAME_-189125_AXES = ( 2, 1, 3 ) TKFRAME_-189125_ANGLES = ( 0.389, 0.865, -89.160 ) \begintext IDA Effector Frame ------------------ The INSIGHT_IDA_EFFECTOR frame is a fixed offset frame with orientation given relative to the INSIGHT_IDA_WRIST frame. The INSIGHT_IDA_EFFECTOR frame is defined as follows: - +X axis points in the same direction as the wrist +X axis; - +Y axis points is the same direction as the wrist +Z axis; - +Z completes the right-handed frame. The origin of the INSIGHT_IDA_EFFECTOR frame is located approximately at the middle of the wrist gimbal. The INSIGHT_IDA_WRIST frame can be transformed to the INSIGHT_IDA_EFFECTOR frame with one rotations -- +90 degrees about +X axis. Since the frame definition below contains the reverse transformation, from the INSIGHT_IDA_WRIST frame to the INSIGHT_IDA_WRIST frame, the order of rotations is reversed and the sign of rotation angles is changed to the opposite one. \begindata FRAME_INSIGHT_IDA_EFFECTOR = -189126 FRAME_-189126_NAME = 'INSIGHT_IDA_EFFECTOR' FRAME_-189126_CLASS = 4 FRAME_-189126_CLASS_ID = -189126 FRAME_-189126_CENTER = -189 TKFRAME_-189126_RELATIVE = 'INSIGHT_IDA_WRIST' TKFRAME_-189126_SPEC = 'ANGLES' TKFRAME_-189126_UNITS = 'DEGREES' TKFRAME_-189126_AXES = ( 3, 1, 3 ) TKFRAME_-189126_ANGLES = ( 0.0, -90.0, 0.0 ) \begintext IDA Grapple Base Frame ---------------------- The INSIGHT_IDA_GRAPPLE_BASE frame is a fixed offset frame with orientation given relative to the INSIGHT_IDA_EFFECTOR frame. The INSIGHT_IDA_GRAPPLE_BASE frame is defined as follows: - +Y axis points in the same direction as the effector +Y axis; - +Z axis points is the same direction as the effector -Z axis; - +X completes the right-handed frame. The origin of the INSIGHT_IDA_GRAPPLE_BASE frame is located approximately at the middle of the wrist gimbal. The INSIGHT_IDA_EFFECTOR frame can be transformed to the INSIGHT_IDA_GRAPPLE_BASE frame by a single rotation of 180.0 degrees about Y axis. Since the frame definition below contains the reverse transformation, from the INSIGHT_IDA_GRAPPLE_BASE frame to the INSIGHT_IDA_EFFECTOR frame, the order of rotations is reversed and the signs of rotation angles are changed to the opposite ones. \begindata FRAME_INSIGHT_IDA_GRAPPLE_BASE = -189127 FRAME_-189127_NAME = 'INSIGHT_IDA_GRAPPLE_BASE' FRAME_-189127_CLASS = 4 FRAME_-189127_CLASS_ID = -189127 FRAME_-189127_CENTER = -189 TKFRAME_-189127_RELATIVE = 'INSIGHT_IDA_EFFECTOR' TKFRAME_-189127_SPEC = 'ANGLES' TKFRAME_-189127_UNITS = 'DEGREES' TKFRAME_-189127_AXES = ( 3, 2, 3 ) TKFRAME_-189127_ANGLES = ( 0.0, 180.0, 0.0 ) \begintext IDA Scoop Frame --------------- The INSIGHT_IDA_SCOOP frame is a fixed offset frame with orientation given relative to the INSIGHT_IDA_EFFECTOR frame. The INSIGHT_IDA_SCOOP frame is defined as follows: - Z axis is parallel to the scoop edge outside surface, perpendicular to the blade edge and points away from the blade; - Y axis is along the wrist joint rotation axis and points in the same direction as the +Y axis of the INSIGHT_IDA_EFFECTOR frame; - X completes the right-handed frame; The origin of the INSIGHT_IDA_SCOOP frame is located in the middle of the blade edge. The INSIGHT_IDA_EFFECTOR frame can be transformed to the INSIGHT_IDA_SCOOP frame by a single rotation of +82.0 degrees about Y axis. Since the frame definition below contains the reverse transformation, from the INSIGHT_IDA_SCOOP frame to the INSIGHT_IDA_EFFECTOR frame, the order of rotations is reversed and the signs of rotation angles are changed to the opposite ones. \begindata FRAME_INSIGHT_IDA_SCOOP = -189128 FRAME_-189128_NAME = 'INSIGHT_IDA_SCOOP' FRAME_-189128_CLASS = 4 FRAME_-189128_CLASS_ID = -189128 FRAME_-189128_CENTER = -189 TKFRAME_-189128_RELATIVE = 'INSIGHT_IDA_EFFECTOR' TKFRAME_-189128_SPEC = 'ANGLES' TKFRAME_-189128_UNITS = 'DEGREES' TKFRAME_-189128_AXES = ( 3, 2, 3 ) TKFRAME_-189128_ANGLES = ( 0.0, -82.0, 0.0 ) \begintext IDA Blade Frame --------------- The INSIGHT_IDA_BLADE frame is a fixed offset frame with orientation given relative to the INSIGHT_IDA_EFFECTOR frame. The INSIGHT_IDA_BLADE frame is defined as follows: - Z axis is parallel to the blade outside surface, perpendicular to the blade edge and points from the blade; - Y axis is along the wrist joint rotation axis and points in the same direction as the +Y axis of the INSIGHT_IDA_EFFECTOR frame; - X completes the right-handed frame; The origin of the INSIGHT_IDA_BLADE frame is located in the middle of the blade edge. The INSIGHT_IDA_EFFECTOR frame is nominally co-aligned with the INSIGHT_IDA_BLADE frame. Since the frame definition below contains the reverse transformation, from the INSIGHT_IDA_BLADE frame to the INSIGHT_IDA_EFFECTOR frame, the order of rotations is reversed and the signs of rotation angles are changed to the opposite ones. \begindata FRAME_INSIGHT_IDA_BLADE = -189129 FRAME_-189129_NAME = 'INSIGHT_IDA_BLADE' FRAME_-189129_CLASS = 4 FRAME_-189129_CLASS_ID = -189129 FRAME_-189129_CENTER = -189 TKFRAME_-189129_RELATIVE = 'INSIGHT_IDA_EFFECTOR' TKFRAME_-189129_SPEC = 'ANGLES' TKFRAME_-189129_UNITS = 'DEGREES' TKFRAME_-189129_AXES = ( 3, 2, 3 ) TKFRAME_-189129_ANGLES = ( 0.0, 0.0, 0.0 ) \begintext IDA Grapple Frame ------------------------------------------- Because the grapple is a free dangling tool, the INSIGHT_IDA_GRAPPLE frame is defined as a CK-base frame. It is provided in the FK solely for completeness sake as it is unlikely that its time varying orientation needs to be -- and will ever be -- reconstructed. The INSIGHT_IDA_GRAPPLE frame is defined as follows: - +Z axis is along the tool, pointing from the connector side towards the grappling side; - +Y axis is [TBD]; - +X completes the right-handed frame; The origin of the INSIGHT_IDA_GRAPPLE frame is located at the center between the grappling tips. \begindata FRAME_INSIGHT_IDA_GRAPPLE = -189130 FRAME_-189130_NAME = 'INSIGHT_IDA_GRAPPLE' FRAME_-189130_CLASS = 3 FRAME_-189130_CLASS_ID = -189130 FRAME_-189130_CENTER = -189 CK_-189130_SCLK = -189 CK_-189130_SPK = -189 \begintext INSIGHT NAIF ID Codes -- Definition Section ------------------------------------------------------------------------------- This section contains name to NAIF ID mappings for INSIGHT. \begindata NAIF_BODY_NAME += ( 'INSIGHT' ) NAIF_BODY_CODE += ( -189 ) NAIF_BODY_NAME += ( 'INSIGHT_LANDING_SITE' ) NAIF_BODY_CODE += ( -189900 ) NAIF_BODY_NAME += ( 'INSIGHT_LANDER' ) NAIF_BODY_CODE += ( -189000 ) NAIF_BODY_NAME += ( 'INSIGHT_CLGA_TX' ) NAIF_BODY_CODE += ( -189410 ) NAIF_BODY_NAME += ( 'INSIGHT_CLGA_RX' ) NAIF_BODY_CODE += ( -189420 ) NAIF_BODY_NAME += ( 'INSIGHT_CMGA' ) NAIF_BODY_CODE += ( -189430 ) NAIF_BODY_NAME += ( 'INSIGHT_LMGA_EAST' ) NAIF_BODY_CODE += ( -189440 ) NAIF_BODY_NAME += ( 'INSIGHT_LMGA_WEST' ) NAIF_BODY_CODE += ( -189450 ) NAIF_BODY_NAME += ( 'INSIGHT_HELIX' ) NAIF_BODY_CODE += ( -189460 ) NAIF_BODY_NAME += ( 'INSIGHT_WPA' ) NAIF_BODY_CODE += ( -189470 ) NAIF_BODY_NAME += ( 'INSIGHT_PAYLOAD' ) NAIF_BODY_CODE += ( -189100 ) NAIF_BODY_NAME += ( 'INSIGHT_CAL_TARGET_1' ) NAIF_BODY_CODE += ( -189101 ) NAIF_BODY_NAME += ( 'INSIGHT_CAL_TARGET_2' ) NAIF_BODY_CODE += ( -189102 ) NAIF_BODY_NAME += ( 'INSIGHT_CAL_TARGET_3' ) NAIF_BODY_CODE += ( -189103 ) NAIF_BODY_NAME += ( 'INSIGHT_CAL_TARGET_4' ) NAIF_BODY_CODE += ( -189104 ) NAIF_BODY_NAME += ( 'INSIGHT_CAL_TARGET_5' ) NAIF_BODY_CODE += ( -189105 ) NAIF_BODY_NAME += ( 'INSIGHT_CAL_TARGET_6' ) NAIF_BODY_CODE += ( -189106 ) NAIF_BODY_NAME += ( 'INSIGHT_SEIS' ) NAIF_BODY_CODE += ( -189700 ) NAIF_BODY_NAME += ( 'INSIGHT_WTS' ) NAIF_BODY_CODE += ( -189710 ) NAIF_BODY_NAME += ( 'INSIGHT_HP3' ) NAIF_BODY_CODE += ( -189810 ) NAIF_BODY_NAME += ( 'INSIGHT_HP3_MOLE' ) NAIF_BODY_CODE += ( -189820 ) NAIF_BODY_NAME += ( 'INSIGHT_HP3_RAD' ) NAIF_BODY_CODE += ( -189800 ) NAIF_BODY_NAME += ( 'INSIGHT_HP3_RAD_NEAR' ) NAIF_BODY_CODE += ( -189801 ) NAIF_BODY_NAME += ( 'INSIGHT_HP3_RAD_FAR' ) NAIF_BODY_CODE += ( -189802 ) NAIF_BODY_NAME += ( 'INSIGHT_HP3_RAD_TEM' ) NAIF_BODY_CODE += ( -189810 ) NAIF_BODY_NAME += ( 'INSIGHT_APSS_MAG' ) NAIF_BODY_CODE += ( -189610 ) NAIF_BODY_NAME += ( 'INSIGHT_APSS_PS' ) NAIF_BODY_CODE += ( -189620 ) NAIF_BODY_NAME += ( 'INSIGHT_APSS_TWINS+Y' ) NAIF_BODY_CODE += ( -189630 ) NAIF_BODY_NAME += ( 'INSIGHT_APSS_TWINS-Y' ) NAIF_BODY_CODE += ( -189640 ) NAIF_BODY_NAME += ( 'INSIGHT_ICC' ) NAIF_BODY_CODE += ( -189111 ) NAIF_BODY_NAME += ( 'INSIGHT_IDA_SHOULDER_AZ' ) NAIF_BODY_CODE += ( -189121 ) NAIF_BODY_NAME += ( 'INSIGHT_IDA_SHOULDER_EL' ) NAIF_BODY_CODE += ( -189122 ) NAIF_BODY_NAME += ( 'INSIGHT_IDA_ELBOW' ) NAIF_BODY_CODE += ( -189123 ) NAIF_BODY_NAME += ( 'INSIGHT_IDA_WRIST' ) NAIF_BODY_CODE += ( -189124 ) NAIF_BODY_NAME += ( 'INSIGHT_IDA_IDC_REF' ) NAIF_BODY_CODE += ( -189131 ) NAIF_BODY_NAME += ( 'INSIGHT_IDA_IDC' ) NAIF_BODY_CODE += ( -189125 ) NAIF_BODY_NAME += ( 'INSIGHT_IDA_GRAPPLE_BASE' ) NAIF_BODY_CODE += ( -189127 ) NAIF_BODY_NAME += ( 'INSIGHT_IDA_SCOOP' ) NAIF_BODY_CODE += ( -189128 ) NAIF_BODY_NAME += ( 'INSIGHT_IDA_BLADE' ) NAIF_BODY_CODE += ( -189129 ) NAIF_BODY_NAME += ( 'INSIGHT_IDA_GRAPPLE' ) NAIF_BODY_CODE += ( -189130 ) \begintext End of FK file.