KPL/FK Juno Frames Kernel =============================================================================== This frame kernel contains complete set of frame definitions for the Juno (JUNO) spacecraft, its structures and science instruments. This frame kernel also contains name - to - NAIF ID mappings for JUNO science instruments and s/c structures (see the last section of the file.) Version and Date ------------------------------------------------------------------------------- Version 0.8 -- November 5, 2014 -- Boris Semenov, NAIF Redefined SRU frames according to [6]. Note that the updated SRU frames are very different from those defined in the earlier version of this kernel. Version 0.7 -- September 16, 2014 -- Boris Semenov, NAIF Updated JIRAM alignments based on the information provided by Alessandro Mura, INAF-IAPS on September 9 and 16, 2014. Version 0.6 -- September 17, 2013 -- Boris Semenov, NAIF Corrected the rotation order in the JEDI_090 and JEDI_270 frame definitions. Added the JUNOCAM_CUBE frame; incorporated the JUNOCAM pre-launch DCM and CCD twist into the JUNOCAM_CUBE and JUNOCAM frame definitions. Incorporated actual JIRAM alignments provided by Alberto Adriani, INAF-IAPS on September 16, 2013. Version 0.5 -- November 15, 2011 -- Boris Semenov, NAIF Changed MAG frames: -- added layers of "connection" fixed-offset frames incorporating CHU? and MOB_?? to FGM_?? alignments (CHU?_TO_FGM_??, MOB_??_TO_FGM_??, 6 frames), CHU? and MOB_?? to spacecraft alignments (CHU?_TO_SC, MOB_??_TO_SC, 6 frames), and spacecraft to MOB_?? alignments (SC_TO_MOB_??, 2 frames) Version 0.4 -- November 4, 2011 -- Boris Semenov, NAIF Changed MAG frames and instrument names based on the calibration reports and discussions with the MAG team as follows: -- renamed ASC_CHU1 -> ASC_CHUD, ASC_CHU2 -> ASC_CHUC, ASC_CHU3 -> ASC_CHUB, ASC_CHU4 -> ASC_CHUA -- redefined MOB frames to have +Z between the directions of CHU +Zs (s/c -Z) -- redefined MOB_OB and CHUA/B frames to have +X along s/c -X and MOB_IB and CHUC/D frames to have +X along s/c +X -- redefined FGM_IB and FGM_OB frames to be CK-based with with orientation provided by CKs relative to CHU*, MOB_*B or J2000 frames Version 0.3 -- September 1, 2010 -- Boris Semenov, NAIF Changed MAG frames and instrument names based on review comments by Jack Connerney as follows: -- terminology change: in-bound -> inboard, out-bound -> outboard -- frame and instrument name change: ASC1 -> ASC_CHU1, ASC2 -> ASC_CHU2, ASC3 -> ASC_CHU3, ASC4 -> ASC_CHU4 -- re-defined MOB_OB and MOB_IB frames to be co-aligned with the FGM_OB and FGM_IB frames correspondingly Version 0.2 -- July 13, 2009 -- Boris Semenov, NAIF Re-defined JUNO_FGM_IB and JUNO_FGM_IB frames based on the input from Jack Connerney. Version 0.1 -- June 12, 2009 -- Boris Semenov, NAIF Defined preliminary frames for all structures and instruments based on CDR materials and draft MICDs. Version 0.0 -- February 3, 2009 -- Boris Semenov, NAIF Initial Release: bare-bones version with just two frames needed to access JUNO nominal attitude CK file. References ------------------------------------------------------------------------------- 1. ``Frames Required Reading'' 2. ``Kernel Pool Required Reading'' 3. ``C-Kernel Required Reading'' 4. JUNO Instrument ICDs and MICDs 5. JUNO CDR Materials. 6. JUNO-ME-11-5159_Pointing_Alignment Verification.xlsx 7. Updated JIRAM alignment angles provided in the updated FK ``juno_v02.corretto.new.2.tf'' by Alberto Adriani, INAF-IAPS on September 16, 2013. 8. E-mail ''Modifications to JUNO/JIRAM *tf and *ti kernel files.'' from Alessandro Mura, INAF-IAPS, September 9 and 16, 2014. 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. The SPICE 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 or word processor. JUNO Frames ------------------------------------------------------------------------------- The following JUNO frames are defined in this kernel file: Name Relative to Type NAIF ID ====================== ===================== ============ ======= Spacecraft frame: ----------------- JUNO_SPACECRAFT varies CK -61000 JUNO_SPIN_AXIS J2000 CK -61900 Magnetometer and ASC CHU frames: -------------------------------- JUNO_ASC_CHUD J2000, SPACECRAFT CK -61111 JUNO_ASC_CHUC J2000, SPACECRAFT CK -61112 JUNO_MOB_IB J2000 CK -61113 JUNO_FGM_IB MOB_IB, CHUD, CHUC CK -61114 JUNO_ASC_CHUB J2000, SPACECRAFT CK -61121 JUNO_ASC_CHUA J2000, SPACECRAFT CK -61122 JUNO_MOB_OB J2000 CK -61123 JUNO_FGM_OB MOB_OB, CHUB, CHUA CK -61124 JUNO_CHUA_TO_FGM_OB CHUA FIXED -61131 (a) JUNO_CHUB_TO_FGM_OB CHUB FIXED -61132 (b) JUNO_CHUC_TO_FGM_IB CHUC FIXED -61133 (c) JUNO_CHUD_TO_FGM_IB CHUD FIXED -61134 (d) JUNO_MOB_OB_TO_FGM_OB MOB_OB FIXED -61135 (e) JUNO_MOB_IB_TO_FGM_IB MOB_IB FIXED -61136 (f) JUNO_CHUA_TO_SC CHUA FIXED -61141 (g) JUNO_CHUB_TO_SC CHUB FIXED -61142 (h) JUNO_CHUC_TO_SC CHUC FIXED -61143 (i) JUNO_CHUD_TO_SC CHUD FIXED -61144 (j) JUNO_MOB_OB_TO_SC MOB_OB FIXED -61145 (k) JUNO_MOB_IB_TO_SC MOB_IB FIXED -61146 (l) JUNO_SC_TO_MOB_OB SPACECRAFT FIXED -61155 (m) JUNO_SC_TO_MOB_IB SPACECRAFT FIXED -61156 (n) JADE Frames: ------------ JUNO_JADE_E060 SPACECRAFT FIXED -61201 JUNO_JADE_E180 SPACECRAFT FIXED -61202 JUNO_JADE_E300 SPACECRAFT FIXED -61203 JUNO_JADE_I SPACECRAFT FIXED -61204 JEDI Frames: ------------ JUNO_JEDI_090 SPACECRAFT FIXED -61301 JUNO_JEDI_A180 SPACECRAFT FIXED -61302 JUNO_JEDI_270 SPACECRAFT FIXED -61303 JIRAM Frames: ------------- JUNO_JIRAM_URF SPACECRAFT FIXED -61401 JUNO_JIRAM_I JIRAM_URF FIXED -61410 JUNO_JIRAM_I_LBAND JIRAM_IMAGER FIXED -61411 JUNO_JIRAM_I_MBAND JIRAM_IMAGER FIXED -61412 JUNO_JIRAM_S JIRAM_IMAGER FIXED -61420 JUNOCAM Frames: --------------- JUNO_JUNOCAM_CUBE SPACECRAFT FIXED -61505 JUNO_JUNOCAM JUNOCAM_CUBE FIXED -61500 MWR Frames: ----------- JUNO_MWR_A1 SPACECRAFT FIXED -61601 JUNO_MWR_A2 SPACECRAFT FIXED -61602 JUNO_MWR_A3 SPACECRAFT FIXED -61603 JUNO_MWR_A4 SPACECRAFT FIXED -61604 JUNO_MWR_A5 SPACECRAFT FIXED -61605 JUNO_MWR_A6 SPACECRAFT FIXED -61606 UVS Frames: ----------- JUNO_UVS_BASE SPACECRAFT FIXED -61700 JUNO_UVS UVS_BASE CK -61701 WAVES Frames: ----------- JUNO_WAVES_MSC SPACECRAFT FIXED -61810 JUNO_WAVES_ANTENNA SPACECRAFT FIXED -61820 Solar Array frames: ------------------- JUNO_SA1_HINGE SPACECRAFT FIXED -61010 JUNO_SA1 SA1_HINGE CK -61011 JUNO_SA2_HINGE SPACECRAFT FIXED -61020 JUNO_SA2 SA2_HINGE CK -61021 JUNO_SA3_HINGE SPACECRAFT FIXED -61030 JUNO_SA3 SA3_HINGE CK -61031 Antenna frames: --------------- JUNO_HGA SPACECRAFT FIXED -61040 JUNO_MGA SPACECRAFT FIXED -61050 JUNO_LGA_FORWARD SPACECRAFT FIXED -61061 JUNO_LGA_AFT SPACECRAFT FIXED -61062 JUNO_LGA_TOROID SPACECRAFT FIXED -61063 ACS Sensor frames: ------------------ JUNO_SRU1 SPACECRAFT FIXED -61071 JUNO_SRU2 SPACECRAFT FIXED -61072 JUNO_SSS1 SPACECRAFT FIXED -61073 JUNO_SSS2 SPACECRAFT FIXED -61074 Truster frames: --------------- JUNO_REM_FL1 SPACECRAFT FIXED -61081 JUNO_REM_FL2 SPACECRAFT FIXED -61082 JUNO_REM_FL3 SPACECRAFT FIXED -61083 JUNO_REM_FL4 SPACECRAFT FIXED -61084 JUNO_REM_FA1 SPACECRAFT FIXED -61085 JUNO_REM_FA2 SPACECRAFT FIXED -61086 JUNO_REM_RL1 SPACECRAFT FIXED -61091 JUNO_REM_RL2 SPACECRAFT FIXED -61092 JUNO_REM_RL3 SPACECRAFT FIXED -61093 JUNO_REM_RL4 SPACECRAFT FIXED -61094 JUNO_REM_RA1 SPACECRAFT FIXED -61095 JUNO_REM_RA2 SPACECRAFT FIXED -61096 JUNO Frames Hierarchy ------------------------------------------------------------------------------- The diagram below shows the JUNO frames hierarchy: "J2000" INERTIAL +----------------------------------------------------------------+ | | | | | | | | | | |<-pck | | | ck->| |<-ck | | | pck->| | | | | | | | | | | V | | | V | | | | V "IAU_JUPITER" | | | "JUNO_SPIN_AXIS" | | | | "IAU_EARTH" ------------- | | | ---------------- | | | | ----------- | | | | | | | | ck->| | |<-ck ck->| | ck->| | |<-ck | | | | | | | | V | V | | V | V "JUNO_ASC_CHUD" | "JUNO_ASC_CHUC" | | "JUNO_ASC_CHUB" | "JUNO_ASC_CHUA" --------------- | --------------- | | --------------- | --------------- | | | | | | | | | | | | | | |<-ck | | | | | | |<-ck | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | fxd | | fxd | | | | | | | "(n)"<-----------------. | | .----------------->"(m)" | | | | ----- | | | | | | | | | | ----- | | | | | | | | ck | | | | ck | | | | | | | | | | "(l)"-------. | | | | .-------"(k)" | | | | | | | | ----- | | | | | | | | | | ----- | | | | | | | | ^ | | | | | | | | | | ^ | | | | | |ck>| |fx>| | | | | | | | | | | || | | | | | | | | |<-fxd | fxd->| | | | | | | | | | | | | | | | | | | | fxd->| | | | | | | | | | | fxd->| | | | | | | | | | | | | | | | | | | | V V V | | | | | | | | V V v | | "(d)" "(f)" "(c)" | | | | | | | | "(b)" "(e)" "(a)" | | ----- ----- ----- | | | | | | | | ----- ----- ----- | | | | | | | | | | | | | | | | | | |<-ck | ck->| | | | | | | | | |<-ck | ck->| | | | | | | | | | | | | | | | | | | | |<-ck | | | | | | | | | | |<-ck | | | | | | | | | | | | | | | | | | | V V V | | | | | | | | V V V | | "JUNO_FGM_IB" | | | | | | | | "JUNO_FGM_OB" | | ------------- | | | | | | | | ------------- | | | | | | | | | | | | | | | | | | | | | |<-fxd fxd->| | | | | | | |<-fxd fxd->| | | | | | | | | | | V V | | | | | | V V "(j)" "(i)" | | | | | | "(h)" "(g)" ----- ----- | | | | | | ----- ----- | | | | | | | | | | |<-ck ck->| | | | | | | |<-ck |<-ck | | | | | | | | | | V V V | V V | V V V "JUNO_SPACECRAFT" +-----------------------------------------------------------------+ | | | | | | | | | | | | | | fxd->| | | | | | | fxd->| | | | | | | | | | | | | | | | | | | | | V | | | | | | V | | | | | | "JUNO_JADE_*" | | | | | | "JUNO_HGA" | | | | | | ------------- | | | | | | ---------- | | | | | | | | | | | | | | | | | | fxd->| | | | | | fxd->| | | | | | | | | | | | | | | | | | V | | | | | V | | | | | "JUNO_JEDI_*" | | | | | "JUNO_MGA" | | | | | ------------- | | | | | ---------- | | | | | | | | | | | | | | | fxd->| | | | | fxd->| | | | | | | | | | | | | | | V | | | | V | | | | "JUNO_JIRAM_URF" | | | | "JUNO_LGA_*" | | | | ---------------- | | | | ------------ | | | | | | | | | | | | | fxd->| | | | | fxd->| | | | | | | | | | | | | V | | | | V | | | "JUNO_JIRAM_S" | | | | "JUNO_REM_*" | | | -------------- | | | | ------------ | | | | | | | | | | | fxd->| | | | |<-fxd fxd->| | | | | | | | | | | V | | | V V | | "JUNO_JIRAM_I" | | | "JUNO_WAVES_*" "JUNO_SRU*" | | -------------- | | | -------------- ----------- | | | | | | | | fxd->| | | |<-fxd fxd->| | | | | | | | V | | V V | "JUNO_JIRAM_I_*BAND" | | "JUNO_UVS_BASE" "JUNO_SSS*" | -------------------- | | --------------- ----------- | | | | | fxd->| | |<-ck fxd->| | | | | V | V V "JUNO_JUNOCAM_CUBE" | "JUNO_UVS" "JUNO_SA*_HINGE" ------------------- | ---------- ---------------- | | | fxd->| | | | | | V | | "JUNO_JUNOCAM" | | -------------- | | | | fxd->| ck->| | | V V "JUNO_MWR_A*" "JUNO_SA*" ------------- ---------- Spacecraft Orientation Frame Chains Possible "J2000" -> "JUNO_SPACECRAFT" frame chains are: -- using data from a nominal spacecraft CK: "J2000" -ck-> "JUNO_SPIN_AXIS" -ck-> "JUNO_SPACECRAFT" -- using data from a reconstructed spacecraft CK: "J2000" -ck-> "JUNO_SPACECRAFT" -- using data from a reconstructed MOB_## CK, the MOB_##-to-S/C alignment fixed-offset frame, and an alignment frame-to-s/c "coverage" CK: "J2000" -ck-> "JUNO_MOB_##" -fxd-> "JUNO_MOB_##_TO_SC" -ck-> "JUNO_SPACECRAFT" -- using data from a reconstructed CHU# CK, the CHU#-to-S/C alignment fixed-offset frame, and an alignment frame-to-s/c "coverage" CK: "J2000" -ck-> "JUNO_ASC_CHU#" -fxd-> "JUNO_CHU#_TO_SC" -ck-> "JUNO_SPACECRAFT" Magnetometer Sensor Frame Chains Possible "J2000" -> "JUNO_FGM_IB" frame chains are (same for OB): -- using data from a nominal spacecraft CK, the s/c-to-MOB_IB alignment fixed-offset frame, an alignment frame-to-MOB_IB "coverage" CK, the MOB_IB-to-FGM_IB alignment fixed-offset frame, and an alignment-to-FGM_IB "coverage" CK: "J2000" -ck-> "JUNO_SPIN_AXIS" -ck-> "JUNO_SPACECRAFT" -fxd-> "JUNO_SC_TO_MOB_IB" -ck-> "JUNO_MOB_IB" -fxd-> "JUNO_MOB_IB_TO_FGM_IB" -ck-> "JUNO_FGM_IB" -- using data from a reconstructed spacecraft CK, the s/c-to-MOB_IB alignment fixed-offset frame, an alignment frame-to-MOB_IB "coverage" CK, the MOB_IB-to-FGM_IB alignment fixed-offset frame, and an alignment-to-FGM_IB "coverage" CK: "J2000" -ck-> "JUNO_SPACECRAFT" -fxd-> "JUNO_SC_TO_MOB_IB" -ck-> "JUNO_MOB_IB" -fxd-> "JUNO_MOB_IB_TO_FGM_IB" -ck-> "JUNO_FGM_IB" -- using data from a reconstructed MOB_IB CK, the MOB_IB-to-FGM_IB alignment fixed-offset frame, and an alignment-to-FGM_IB "coverage" CK: "J2000" -ck-> "JUNO_MOB_IB" -fxd-> "JUNO_MOB_IB_TO_FGM_IB" -ck-> "JUNO_FGM_IB" -- using data from a reconstructed CHU# CK, the CHU#-to-FGM_IB alignment fixed-offset frame, and an alignment-to-FGM_IB "coverage" CK: "J2000" -ck-> "JUNO_ASC_CHU#" -fxd-> "JUNO_CHU#_TO_FGM_IB" -ck-> "JUNO_FGM_IB" Spacecraft Bus Frame ------------------------------------------------------------------------------- The spacecraft frame (or AACS control frame) is defined by the s/c design as follows [from 5]: - +Z axis is along the nominal spin axis and points in the direction of the nominal HGA boresight - +X axis is along the solar array 1 symmetry axis and points towards the magnetometer boom - +Y axis completes the right-handed frame - the origin of the frame is centered on the launch vehicle separation plane. These diagrams illustrates the s/c frame: Spacecraft +Z side view: ------------------------ .-\ .-' \ .-' \ Solar Array 3 .-' \ \ .-'\ \ .-' \ \ ,-' \ \-' .-'\ \ .-' \ \ .-' \ \-' .-'\ <-. Spin Direction \ .-' \ `. \ .-' \. \-' .-' `-. \ .-' `-. \ .-' ----- . `-. Solar Array 1 .-' +Ysc ^ `. `-.--------------------. | / | \ | | | | | / | \ | | | |``--.. | ' | +Xsc | | | | `--.. | | o------> | | | | | | | . +Zsc , | | | | ..--'' | \ / | | | |..--' | \ HGA / | | | | Magnetometer `-. `. .' .-'--------------------' Boom / `-. ` ----- ' .-' / `-. .-' / `-. .-' /`-. /' / `-. / / `-. / /`-. `-/ / `-. / / `-. / /`-. `-/ / `-. / / `-. / /. `-/ `-. / Solar Array 2 +Zsc is out of `-. / the page. `-. / ` Spacecraft -Y side view: ------------------------ o / \ .-----------------, HGA \ / `. .' `-------' | | Magnetometer | | Boom ================o==o==o==o-----------o======o======o======o===========* Solar | | | Solar Array 1 Array 2 | | | | | | | | +Zsc ^ | | | | | | | | | | +Ysc is into `----- +Ysc x------> -' the page. /_____\ +Xsc Since the S/C bus attitude with respect to an inertial frame is provided by a C kernel (see [3] for more information), this frame is defined as a CK-based frame. \begindata FRAME_JUNO_SPACECRAFT = -61000 FRAME_-61000_NAME = 'JUNO_SPACECRAFT' FRAME_-61000_CLASS = 3 FRAME_-61000_CLASS_ID = -61000 FRAME_-61000_CENTER = -61 CK_-61000_SCLK = -61 CK_-61000_SPK = -61 \begintext Spin Axis Frame ------------------------------------------------------------------------------- The JUNO_SPIN_AXIS frame is a special frame used in the nominal orientation CK files. In these files the JUNO_SPACECRAFT frame orientation is not stored relative to the J2000 frame. Instead it is "decomposed" into two orientations: the nominal spin axis orientation captured in the segments providing the orientation of the JUNO_SPIN_AXIS frame relative to the J2000 frame and the nominal rotation about the spin axis captured in the segments providing the orientation of the JUNO_SPACECRAFT frame relative to the JUNO_SPIN_AXIS frame. JUNO_SPIN_AXIS is defined as a CK-based frame. \begindata FRAME_JUNO_SPIN_AXIS = -61900 FRAME_-61900_NAME = 'JUNO_SPIN_AXIS' FRAME_-61900_CLASS = 3 FRAME_-61900_CLASS_ID = -61900 FRAME_-61900_CENTER = -61 CK_-61900_SCLK = -61 CK_-61900_SPK = -61 \begintext Magnetometer Frames ------------------------------------------------------------------------------- The set of frames for the Magnetometer experiment includes - two fluxgate magnetometer (FGM) frames (JUNO_FGM_IB and JUNO_FGM_OB) - two magnetometer optical bench (MOB) frames (JUNO_MOB_IB and JUNO_MOB_OB) - four Advanced Stellar Compass (ASC) Camera Head Unit (CHU) frames (JUNO_ASC_CHUA, JUNO_ASC_CHUB, JUNO_ASC_CHUC, and JUNO_ASC_CHUD. The set also includes an additional set of fixed-offset frames incorporating relative alignment data for - FGM_## relative to CHU# (JUNO_CHU#_TO_FGM_##) - FGM_## relative to MOB_## (JUNO_MOB_##_TO_FGM_##) - spacecraft relative to CHU# (JUNO_CHU#_TO_SC) - spacecraft relative to MOB_## (JUNO_MOB_##_TO_SC) - MOB_## relative to spacecraft (JUNO_SC_TO_MOB_##) The "alignment" frames facilitate the ability to easily change the values of alignments and to switch different alignment sets by storing alignments directly in the FK (instead of CKs) while using "coverage" CKs to store zero-offset rotations from these alignment frames to the desired structure frames by simply constraining coverages available to SPICE. FGM Frames The FGM frames -- JUNO_FGM_IB and JUNO_FGM_OB -- are the frames with respect to which the FGM sensors were calibrated. These frames are defined by the orthogonal faces of the alignment cubes mounted on the optical benches as follows: - +Z axis is the normal to the top side of the alignment cube (the side parallel to the optical bench plane) and pointing away from the bench; nominally points in the same direction as the s/c +Z axis. - +X axis is the normal to the side of the cube facing the FGM sensor mounted on the bench; for OB FGM nominally points in the same direction as the s/c +X axis, for IB FGM nominally points in the same direction as the s/c -X axis - +Y axis completes the right-handed frame - the origin of the frame is in the geometric center of the FGM enclosures The OB FGM frame is nominally co-aligned with the spacecraft frame. The IB FGM frame is nominally rotated from the spacecraft frame by 180 degrees about Z. This diagram illustrates the FGM frames: Spacecraft -Z side view: ------------------------ Magnetometer Boom /```---... | ```---.. +Yfgm_ib | ^ . | | ```---... | | CHUD CHUB... +Zsc +Xsc | .-|--@. .@----.| +Xfgm_ob x------> | <------x @ | | @ x------> | | +Xfgm_ib `----@' `@--|-'| | | CHUC CHUA'''| | | ...---''' | v | /''' V +Ysc | ...---'''\ / +Yfgm_ob \...---''' --- +Zsc, +Zfgm_ib, +Zfgm_ob, are into the page. The FGM frames are defined as CK-based frames because their orientation can be provided with respect to either one of the CHU frames (of the two CHUs mounted on the bench) or with respect to the bench's MOB frame. \begindata FRAME_JUNO_FGM_IB = -61114 FRAME_-61114_NAME = 'JUNO_FGM_IB' FRAME_-61114_CLASS = 3 FRAME_-61114_CLASS_ID = -61114 FRAME_-61114_CENTER = -61 CK_-61114_SCLK = -61 CK_-61114_SPK = -61 FRAME_JUNO_FGM_OB = -61124 FRAME_-61124_NAME = 'JUNO_FGM_OB' FRAME_-61124_CLASS = 3 FRAME_-61124_CLASS_ID = -61124 FRAME_-61124_CENTER = -61 CK_-61124_SCLK = -61 CK_-61124_SPK = -61 \begintext MOB Frames The MOB frames -- JUNO_MOB_IB and JUNO_MOB_OB -- are the principal optical bench orientation frames. These frames are not tied to a particular physical feature but are instead defined by two vectors that are the sum and the difference of the boresight directions of the two CHUs mounted on each bench: - +Z axis is along the vector that is the sum of the CHU boresight directions (CHUA + CHUB for OB, CHUD + CHUC for IB) - +Y axis is along the vector that is the difference of the boresight directions (CHUA - CHUB for OB, CHUD - CHUC for IB) - +X axis completes the right-handed frame - the origin of the frame is between the focal points of the two CHUs whose boresights define the frame. The OB MOB frame is nominally rotated from the s/c frame by 180 degrees about X, then by 180 degrees about Z. The IB MOB nominally rotated from the s/c frame by 180 degrees about X. This diagram illustrates the MOB frames: Spacecraft -Z side view: ------------------------ Magnetometer Boom /```---... ___ | ```---.../ \ +Ymob_ib | \..^ | |```---... | | CHUD CHUB... +Zsc +Xsc | .---|@. +X .@----.. x------> | FGM_IB | @ o-----> <-----o @ ||FGM_OB | | `----@' +X `@|---'' | | CHUC CHUA'|' | | ...---''' | v | /''' V +Ysc | ...---'''\ / +Ymob_ob \...---''' --- +Zsc is into the page. +Zmob_ib, and +Zmob_ob are out of the page. The MOB frames are defined as CK-based frames because their orientation is provided in CKs with respect to the J2000 frame. \begindata FRAME_JUNO_MOB_IB = -61113 FRAME_-61113_NAME = 'JUNO_MOB_IB' FRAME_-61113_CLASS = 3 FRAME_-61113_CLASS_ID = -61113 FRAME_-61113_CENTER = -61 CK_-61113_SCLK = -61 CK_-61113_SPK = -61 FRAME_JUNO_MOB_OB = -61123 FRAME_-61123_NAME = 'JUNO_MOB_OB' FRAME_-61123_CLASS = 3 FRAME_-61123_CLASS_ID = -61123 FRAME_-61123_CENTER = -61 CK_-61123_SCLK = -61 CK_-61123_SPK = -61 \begintext CHU frames The ASC CHU frames -- JUNO_ASC_CHUA, JUNO_ASC_CHUB, JUNO_ASC_CHUC, and JUNO_ASC_CHUD -- are defined as follows: - +Z axis is along the boresight - +X axis is along the sensor side roughly aligned with the cable direction, pointing away from the cable side. - +Y axis completes the right-handed frame - the origin of the frame is at the CHU's focal point The mapping between CHUs and their telemetry designations (0-3) is as follows: CHUA (-61122) -> TLM "0" CHUB (-61121) -> TLM "1" CHUC (-61112) -> TLM "2" CHUD (-61111) -> TLM "3" These diagrams illustrate the ASC CHU frames: Spacecraft -Z side view: ------------------------ Magnetometer Boom /```---... ___ | ```---.../ \ ^ +YchuD | \...| | ^ +YchuC | CHUD | ```- CHUB +Zsc +Xsc | .--- o----> <----o----.. x------> | FGM_IB| @ @|| +X +X ||@ @ ||FGM_OB | | `--- o----> <----o----'' | | CHUC ...| CHUA | | ...- +YchuB V v | /''' | +Ysc | ...---'''\ / +YchuA V \...---''' --- +Zsc is into the page. +Zchu1, +Zchu2, +Zchu3, and +Zchu4 are out of the page, inclined at ~13 degrees. This diagram illustrates all magnetometer frames together. Spacecraft +X side view: ------------------------ Outboard Bench Inboard Bench -------------- ------------- +Z +Z +Z ^ ^ ^ | | | | FGM_OB | S/C FGM_IB | +X +Y | | | +Y +X x------> o------> o------> <------x <------o | +X +Y +X +Y +Y +X | | MOB_OB MOB_IB | | | v v +Z +Z .> +Y +Y <. +X .-' `-. +X +X x x' CHUA `o o +X / `-. \ / .-' \ / `> \ CHUD / <' \ / CHUB +Y \ / +Y CHUC \ v v v v +Z +Z +Z +Z /<--------|-------->\ /<--------|-------->\ 13 deg | 13 deg 13 deg | 13 deg +Xs of s/c, FGM_OB, MOB_IB, CHUC, and CHUD are out of the page. +Xs of FGM_IB, MOB_OB, CHUA, and CHUB are into the page. The ASC CHU frames are defined as CK-based frames because their orientation is provided either with respect to the J2000 frame, based on the CHU's attitude solution, or with respect to the spacecraft frame, based on the in-flight relative alignment calibration. \begindata FRAME_JUNO_ASC_CHUD = -61111 FRAME_-61111_NAME = 'JUNO_ASC_CHUD' FRAME_-61111_CLASS = 3 FRAME_-61111_CLASS_ID = -61111 FRAME_-61111_CENTER = -61 CK_-61111_SCLK = -61 CK_-61111_SPK = -61 FRAME_JUNO_ASC_CHUC = -61112 FRAME_-61112_NAME = 'JUNO_ASC_CHUC' FRAME_-61112_CLASS = 3 FRAME_-61112_CLASS_ID = -61112 FRAME_-61112_CENTER = -61 CK_-61112_SCLK = -61 CK_-61112_SPK = -61 FRAME_JUNO_ASC_CHUB = -61121 FRAME_-61121_NAME = 'JUNO_ASC_CHUB' FRAME_-61121_CLASS = 3 FRAME_-61121_CLASS_ID = -61121 FRAME_-61121_CENTER = -61 CK_-61121_SCLK = -61 CK_-61121_SPK = -61 FRAME_JUNO_ASC_CHUA = -61122 FRAME_-61122_NAME = 'JUNO_ASC_CHUA' FRAME_-61122_CLASS = 3 FRAME_-61122_CLASS_ID = -61122 FRAME_-61122_CENTER = -61 CK_-61122_SCLK = -61 CK_-61122_SPK = -61 \begintext Alignment Frames The JUNO_CHU#_TO_FGM_## frames below incorporate the following CHU# to FGM_## alignments based on the "Micro Advanced Stellar Compass JUNO Reference Cube Calibration Test Report" (JN-DTU-TR-3008_v1_0_ref_cube_calibration_report-2.pdf): -------------------------------------------------------- Rot3 X Rot2 Y Rot1 Z -------------------------------------------------------- FGM_OB -> CHUA 166.98004591 0.83914744 -179.77479685 FGM_OB -> CHUB -167.65012849 0.22864645 -179.36168926 FGM_IB -> CHUC -166.89008185 0.16658654 179.10988258 FGM_IB -> CHUD 166.92526364 0.41005034 178.56549108 -------------------------------------------------------- These alignments were derived by creating the transformation matrices from the CHU# frames to the FGM frames that have their +X axes (primary axes) along the vectors that are the negative of the measured optical cube X side normals given in the CHU# frames and their +Y axes (plane defining axes) along the vectors that are the measured optical cube Y side normals given in the CHU# frames. \begindata FRAME_JUNO_CHUA_TO_FGM_OB = -61131 FRAME_-61131_NAME = 'JUNO_CHUA_TO_FGM_OB' FRAME_-61131_CLASS = 4 FRAME_-61131_CLASS_ID = -61131 FRAME_-61131_CENTER = -61 TKFRAME_-61131_SPEC = 'ANGLES' TKFRAME_-61131_RELATIVE = 'JUNO_ASC_CHUA' TKFRAME_-61131_ANGLES = ( 166.98004591, 0.83914744, -179.77479685 ) TKFRAME_-61131_AXES = ( 1, 2, 3 ) TKFRAME_-61131_UNITS = 'DEGREES' FRAME_JUNO_CHUB_TO_FGM_OB = -61132 FRAME_-61132_NAME = 'JUNO_CHUB_TO_FGM_OB' FRAME_-61132_CLASS = 4 FRAME_-61132_CLASS_ID = -61132 FRAME_-61132_CENTER = -61 TKFRAME_-61132_SPEC = 'ANGLES' TKFRAME_-61132_RELATIVE = 'JUNO_ASC_CHUB' TKFRAME_-61132_ANGLES = ( -167.65012849, 0.22864645, -179.36168926 ) TKFRAME_-61132_AXES = ( 1, 2, 3 ) TKFRAME_-61132_UNITS = 'DEGREES' FRAME_JUNO_CHUC_TO_FGM_IB = -61133 FRAME_-61133_NAME = 'JUNO_CHUC_TO_FGM_IB' FRAME_-61133_CLASS = 4 FRAME_-61133_CLASS_ID = -61133 FRAME_-61133_CENTER = -61 TKFRAME_-61133_SPEC = 'ANGLES' TKFRAME_-61133_RELATIVE = 'JUNO_ASC_CHUC' TKFRAME_-61133_ANGLES = ( -166.89008185, 0.16658654, 179.10988258 ) TKFRAME_-61133_AXES = ( 1, 2, 3 ) TKFRAME_-61133_UNITS = 'DEGREES' FRAME_JUNO_CHUD_TO_FGM_IB = -61134 FRAME_-61134_NAME = 'JUNO_CHUD_TO_FGM_IB' FRAME_-61134_CLASS = 4 FRAME_-61134_CLASS_ID = -61134 FRAME_-61134_CENTER = -61 TKFRAME_-61134_SPEC = 'ANGLES' TKFRAME_-61134_RELATIVE = 'JUNO_ASC_CHUD' TKFRAME_-61134_ANGLES = ( 166.92526364, 0.41005034, 178.56549108 ) TKFRAME_-61134_AXES = ( 1, 2, 3 ) TKFRAME_-61134_UNITS = 'DEGREES' \begintext The JUNO_MOB_##_TO_FGM_## frames below incorporate the following MOB_## to FGM_## alignments based on the "Micro Advanced Stellar Compass JUNO Reference Cube Calibration Test Report" (JN-DTU-TR-3008_v1_0_ref_cube_calibration_report-2.pdf): ----------------------------------------------------------- Rot3 X Rot2 Y Rot1 Z ----------------------------------------------------------- FGM_OB -> MOB_OB 179.65236785 0.57188198 179.06999179 FGM_IB -> MOB_IB -179.98504194 0.35177733 178.31458807 ----------------------------------------------------------- These alignments were derived by creating the transformation matrices from the FGM_## frames to the MOB_## frames that have their +Z axes (primary axes) along the sums of a particular MOB's CHU# boresight vectors and their +Y axes (plane defining axes) along the differences of a particular MOB's CHU# boresight vectors. \begindata FRAME_JUNO_MOB_OB_TO_FGM_OB = -61135 FRAME_-61135_NAME = 'JUNO_MOB_OB_TO_FGM_OB' FRAME_-61135_CLASS = 4 FRAME_-61135_CLASS_ID = -61135 FRAME_-61135_CENTER = -61 TKFRAME_-61135_SPEC = 'ANGLES' TKFRAME_-61135_RELATIVE = 'JUNO_MOB_OB' TKFRAME_-61135_ANGLES = ( 179.65236785, 0.57188198, 179.06999179 ) TKFRAME_-61135_AXES = ( 1, 2, 3 ) TKFRAME_-61135_UNITS = 'DEGREES' FRAME_JUNO_MOB_IB_TO_FGM_IB = -61136 FRAME_-61136_NAME = 'JUNO_MOB_IB_TO_FGM_IB' FRAME_-61136_CLASS = 4 FRAME_-61136_CLASS_ID = -61136 FRAME_-61136_CENTER = -61 TKFRAME_-61136_SPEC = 'ANGLES' TKFRAME_-61136_RELATIVE = 'JUNO_MOB_IB' TKFRAME_-61136_ANGLES = ( -179.98504194, 0.35177733, 178.31458807 ) TKFRAME_-61136_AXES = ( 1, 2, 3 ) TKFRAME_-61136_UNITS = 'DEGREES' \begintext The JUNO_CHU#_TO_SC frames below incorporate the following CHU# to SC alignments based on a quick comparison of the CHU and s/c orientations during the ASC turn-on activity on August 25, 2011: ------------------------------------------------------- Rot3 Z Rot2 Y Rot1 X ------------------------------------------------------- S/C->CHUA 179.215 0.207 -167.634 S/C->CHUB 178.862 -0.010 167.032 S/C->CHUC -0.724 -0.633 -166.482 S/C->CHUD -0.460 -0.608 167.377 ------------------------------------------------------- \begindata FRAME_JUNO_CHUA_TO_SC = -61141 FRAME_-61141_NAME = 'JUNO_CHUA_TO_SC' FRAME_-61141_CLASS = 4 FRAME_-61141_CLASS_ID = -61141 FRAME_-61141_CENTER = -61 TKFRAME_-61141_SPEC = 'ANGLES' TKFRAME_-61141_RELATIVE = 'JUNO_ASC_CHUA' TKFRAME_-61141_ANGLES = ( 179.215, 0.207, -167.634 ) TKFRAME_-61141_AXES = ( 3, 2, 1 ) TKFRAME_-61141_UNITS = 'DEGREES' FRAME_JUNO_CHUB_TO_SC = -61142 FRAME_-61142_NAME = 'JUNO_CHUB_TO_SC' FRAME_-61142_CLASS = 4 FRAME_-61142_CLASS_ID = -61142 FRAME_-61142_CENTER = -61 TKFRAME_-61142_SPEC = 'ANGLES' TKFRAME_-61142_RELATIVE = 'JUNO_ASC_CHUB' TKFRAME_-61142_ANGLES = ( 178.862, -0.010, 167.032 ) TKFRAME_-61142_AXES = ( 3, 2, 1 ) TKFRAME_-61142_UNITS = 'DEGREES' FRAME_JUNO_CHUC_TO_SC = -61143 FRAME_-61143_NAME = 'JUNO_CHUC_TO_SC' FRAME_-61143_CLASS = 4 FRAME_-61143_CLASS_ID = -61143 FRAME_-61143_CENTER = -61 TKFRAME_-61143_SPEC = 'ANGLES' TKFRAME_-61143_RELATIVE = 'JUNO_ASC_CHUC' TKFRAME_-61143_ANGLES = ( -0.724, -0.633, -166.482 ) TKFRAME_-61143_AXES = ( 3, 2, 1 ) TKFRAME_-61143_UNITS = 'DEGREES' FRAME_JUNO_CHUD_TO_SC = -61144 FRAME_-61144_NAME = 'JUNO_CHUD_TO_SC' FRAME_-61144_CLASS = 4 FRAME_-61144_CLASS_ID = -61144 FRAME_-61144_CENTER = -61 TKFRAME_-61144_SPEC = 'ANGLES' TKFRAME_-61144_RELATIVE = 'JUNO_ASC_CHUD' TKFRAME_-61144_ANGLES = ( -0.460, -0.608, 167.377 ) TKFRAME_-61144_AXES = ( 3, 2, 1 ) TKFRAME_-61144_UNITS = 'DEGREES' \begintext The JUNO_MOB_##_TO_SC and JUNO_SC_TO_MOB_## frames below incorporate the following MOB_## to SC alignments based on a quick comparison of the CHU and s/c orientations during the ASC turn-on activity on August 25, 2011: ------------------------------------------------------- Rot3 X Rot2 Y Rot1 Z ------------------------------------------------------- SC -> MOB_OB -179.69984062 0.10355166 179.50575594 SC -> MOB_IB -179.55188944 0.63655035 0.06025323 ------------------------------------------------------- Rot3 Z Rot2 Y Rot1 X ------------------------------------------------------- MOB_OB -> SC -179.50575594 -0.10355166 179.69984062 MOB_IB -> SC -0.06025323 -0.63655035 179.55188944 These alignments were derived by creating the transformation matrices from the SC frame to the MOB_## frames that have their +Z axes (primary axes) along the sums of a particular MOB's CHU# boresight vectors and their +Y axes (plane defining axes) along the differences of a particular MOB's CHU# boresight vectors. \begindata FRAME_JUNO_MOB_OB_TO_SC = -61145 FRAME_-61145_NAME = 'JUNO_MOB_OB_TO_SC' FRAME_-61145_CLASS = 4 FRAME_-61145_CLASS_ID = -61145 FRAME_-61145_CENTER = -61 TKFRAME_-61145_SPEC = 'ANGLES' TKFRAME_-61145_RELATIVE = 'JUNO_MOB_OB' TKFRAME_-61145_ANGLES = ( -179.69984062, 0.10355166, 179.50575594 ) TKFRAME_-61145_AXES = ( 1, 2, 3 ) TKFRAME_-61145_UNITS = 'DEGREES' FRAME_JUNO_MOB_IB_TO_SC = -61146 FRAME_-61146_NAME = 'JUNO_MOB_IB_TO_SC' FRAME_-61146_CLASS = 4 FRAME_-61146_CLASS_ID = -61146 FRAME_-61146_CENTER = -61 TKFRAME_-61146_SPEC = 'ANGLES' TKFRAME_-61146_RELATIVE = 'JUNO_MOB_IB' TKFRAME_-61146_ANGLES = ( -179.55188944, 0.63655035, 0.06025323 ) TKFRAME_-61146_AXES = ( 1, 2, 3 ) TKFRAME_-61146_UNITS = 'DEGREES' FRAME_JUNO_SC_TO_MOB_OB = -61155 FRAME_-61155_NAME = 'JUNO_SC_TO_MOB_OB' FRAME_-61155_CLASS = 4 FRAME_-61155_CLASS_ID = -61155 FRAME_-61155_CENTER = -61 TKFRAME_-61155_SPEC = 'ANGLES' TKFRAME_-61155_RELATIVE = 'JUNO_SPACECRAFT' TKFRAME_-61155_ANGLES = ( -179.50575594, -0.10355166, 179.69984062 ) TKFRAME_-61155_AXES = ( 3, 2, 1 ) TKFRAME_-61155_UNITS = 'DEGREES' FRAME_JUNO_SC_TO_MOB_IB = -61156 FRAME_-61156_NAME = 'JUNO_SC_TO_MOB_IB' FRAME_-61156_CLASS = 4 FRAME_-61156_CLASS_ID = -61156 FRAME_-61156_CENTER = -61 TKFRAME_-61156_SPEC = 'ANGLES' TKFRAME_-61156_RELATIVE = 'JUNO_SPACECRAFT' TKFRAME_-61156_ANGLES = ( -0.06025323, -0.63655035, 179.55188944 ) TKFRAME_-61156_AXES = ( 3, 2, 1 ) TKFRAME_-61156_UNITS = 'DEGREES' \begintext JADE Frames ------------------------------------------------------------------------------- The set of frames for the JADE experiment includes three Electron Sensor frames -- JUNO_JADE_E060, JUNO_JADE_E180, and JUNO_JADE_E300 -- and one Ion Sensor frame -- JUNO_JADE_I. The JADE Elector Sensor frames -- JUNO_JADE_E060, JUNO_JADE_E180, and JUNO_JADE_E300 -- are fixed w.r.t. to the spacecraft and defined as follows: - +Z axis is normal to the plane between upper and lower entrance deflectors ("principal" plane) and points away from the sensor base - +X axis is in the "principal" plane nominally points towards the center of the sensor FOV - +Y axis completes the right-handed frame - the origin of the frame is at the intersection of the "principal" plane and the sensor symmetry axis. This diagram illustrates the JADE Electron sensor frames: Spacecraft +Z side view: ------------------------ Solar Array 3 ~ ~ ~ ~ ~ ~ ~ ~ \ .-' \ +Xe060 \-' .-'\ ^ <-. Spin Direction \ .-' / `. \ .-' <. / \-' +Ye060 `-. / \ .-' `o.+Ze060 \ .-' ----- . `-. Solar Array 1 .-' +Ysc ^ `. `-.--------------------. | / | \ | | | | | \ | | | |``--.. +Xe180 +Ze180 | +Xsc | | | | `--.. <------o o------> | | | | | | | . +Zsc , | | | | ..--'' | \ / | | | |..--' | \ HGA / | | | Magnetometer V . `. .' .> -------------------' Boom +Ye180 `-. ` ----- ' .-' +Ye300 / `- +Ze300 o' / `-. .-' \ /`-. /' \ / `-. / \ / `-. / v /`-. `-/ +Xe300 /~ ~ ~ ~ ~ ~ ~ ~ +Zsc, +Zje060, +Zje180, Solar Array 2 +Zje300 are out of the page. As seen on the diagram the JUNO_JADE_E060, JUNO_JADE_E180, and JUNO_JADE_E300 frames are nominally rotated from the spacecraft frame by +60, 180 and -60 degrees about +Z axis correspondingly. Since the frame definitions below contains the reverse transformations -- from the JADE Electron Sensor frames to the spacecraft frame -- the order of rotations is reversed and the signs of rotation angles are changed to the opposite ones compared to the description above. \begindata FRAME_JUNO_JADE_E060 = -61201 FRAME_-61201_NAME = 'JUNO_JADE_E060' FRAME_-61201_CLASS = 4 FRAME_-61201_CLASS_ID = -61201 FRAME_-61201_CENTER = -61 TKFRAME_-61201_SPEC = 'ANGLES' TKFRAME_-61201_RELATIVE = 'JUNO_SPACECRAFT' TKFRAME_-61201_ANGLES = ( -60.0, 0.0, 0.0 ) TKFRAME_-61201_AXES = ( 3, 2, 1 ) TKFRAME_-61201_UNITS = 'DEGREES' FRAME_JUNO_JADE_E180 = -61202 FRAME_-61202_NAME = 'JUNO_JADE_E180' FRAME_-61202_CLASS = 4 FRAME_-61202_CLASS_ID = -61202 FRAME_-61202_CENTER = -61 TKFRAME_-61202_SPEC = 'ANGLES' TKFRAME_-61202_RELATIVE = 'JUNO_SPACECRAFT' TKFRAME_-61202_ANGLES = ( 180.0, 0.0, 0.0 ) TKFRAME_-61202_AXES = ( 3, 2, 1 ) TKFRAME_-61202_UNITS = 'DEGREES' FRAME_JUNO_JADE_E300 = -61203 FRAME_-61203_NAME = 'JUNO_JADE_E300' FRAME_-61203_CLASS = 4 FRAME_-61203_CLASS_ID = -61203 FRAME_-61203_CENTER = -61 TKFRAME_-61203_SPEC = 'ANGLES' TKFRAME_-61203_RELATIVE = 'JUNO_SPACECRAFT' TKFRAME_-61203_ANGLES = ( 60.0, 0.0, 0.0 ) TKFRAME_-61203_AXES = ( 3, 2, 1 ) TKFRAME_-61203_UNITS = 'DEGREES' \begintext The JADE Ion Sensor frame -- JUNO_JADE_I -- is fixed w.r.t. to the spacecraft and defined as follows: - +Z axis is normal to the plane between upper and lower entrance deflectors ("principal" plane) and points away from the anode - +X axis is in the "principal" plane nominally points towards the center of the sensor FOV - +Y axis completes the right-handed frame - the origin of the frame is at the intersection of the "principal" plane and the sensor symmetry axis. This diagram illustrates the JADE Ion sensor frame: Spacecraft +Z side view: ------------------------ Solar Array 3 <-. Spin Direction ~ ~ ~ ~ ~ ~ ~ ~ `. \ .-' \. \-' .-' `-. \ .-' `-. (45 deg above \ .-' ----- . `-. Solar Array 1 the page) .-' +Ysc ^ `. `-.--------------------. +Xi ..@ / | \ | | | | <-'' |\ | \ | | | |``--.. +Yi | \ | +Xsc | | | | `--.. (45 deg below |15\ o------> | | | | | | the page) | v +Zsc , | | | | ..--'' | +Zi / | | | |..--' | HGA / | | | | Magnetometer `-. `. .' .-'--------------------' Boom / `-. ` ----- ' .-' / `-. .-' / `-. .-' /`-. /' ~ ~ ~ ~ ~ ~ ~ ~ +Zsc is out of Solar Array 2 the page. As seen on the diagram the JUNO_JADE_I frame is nominally rotated from the spacecraft first by -75 degrees about +Z, then by +90 degrees about +Y, then by -135 degrees about +Z. Since the frame definitions below contains the reverse transformation -- from the JADE Ion Sensor frame to the spacecraft frame -- the order of rotations is reversed and the signs of rotation angles are changed to the opposite ones compared to the description above. \begindata FRAME_JUNO_JADE_I = -61204 FRAME_-61204_NAME = 'JUNO_JADE_I' FRAME_-61204_CLASS = 4 FRAME_-61204_CLASS_ID = -61204 FRAME_-61204_CENTER = -61 TKFRAME_-61204_SPEC = 'ANGLES' TKFRAME_-61204_RELATIVE = 'JUNO_SPACECRAFT' TKFRAME_-61204_ANGLES = ( 75.0, -90.0, 135.0 ) TKFRAME_-61204_AXES = ( 3, 2, 3 ) TKFRAME_-61204_UNITS = 'DEGREES' \begintext JEDI Frames ------------------------------------------------------------------------------- The set of frames for the JEDI experiment includes three JEDI Sensor frames -- JUNO_JEDI_090, JUNO_JEDI_A180, and JUNO_JEDI_270, -- fixed w.r.t. to the spacecraft and defined as follows: - +Z axis is along the sensor head symmetry axis, pointing away from the sensor electronics box - +X axis is in the FOV center plane, nominally pointing towards the center of the full (160 x 12) sensor FOV - +Y axis completes the right-handed frame - the origin of the frame is at the intersection of the FOV center plane and the sensor head symmetry axis. Note that for the JEDI/090 and JEDI/270 sensors the frame is as defined in the JEDI MICD. For the JEDI/A180 sensor the frame is not as defined in the JEDI MICD: it is rotated by -90 degrees about +X to align the +Z axis with the sensor's symmetry axis. This diagram illustrates the JEDI sensor frames: Spacecraft +Z side view: ------------------------ Solar Array 3 ~ ~ ~ ~ ~ ~ ~ ~ \ .-' \ +X090 \ .-' \ ^ \-' .-'\ | <-. Spin Direction \ \ | `. \ . +Y090 \ | \-' <------o +Z090 \ .- `-. \ .-' ----- . `-. Solar Array 1 .-' +Ysc ^ `. `-.--------------------. | / | \ | | | | | / | \ | | | |``--.. | ' | +Xsc | | | | `--.. o------> | | | | | | +Xa180 +Ya180 +Zsc , | | | | ..--'' <------x / | | | |..--' | \ HGA / | | | | Magnetometer | . `. .' .-'--------------------' Boom | `-. ` ----- ' .-' V +Z270 .-' +Za180 -. o------> +X090 and +X270 are out / | +Y270 of the page, ~10 degrees / `-. / | above the s/c XY plane. / `-. / | /`-. `-/ V +Z090 and +Z270 are out / `-. / +X270 of the page, tilted by ~13 ~ ~ ~ ~ ~ ~ ~ ~ degrees towards the s/c +Z axis. Solar Array 2 +Y090 is out of the page, ~8 deg above the s/c XY plane. +Y270 is into the page, ~8 deg below the s/c XY plane. +Yja180 is into the page. +Zsc is out of the page. The JUNO_JEDI_090 frame is nominally rotated from the spacecraft frame first by +90 degrees about +Z, then by +8 degrees about +X, then by -10 degrees about +Y. The JUNO_JEDI_A180 frame is nominally rotated from the spacecraft frame first by 180 degrees about +Z, then by -90 degrees about +X. The JUNO_JEDI_270 frame is nominally rotated from the spacecraft frame first by -90 degrees about +Z, then by -8 degrees about +X, then by -10 degrees about +Y. Since the frame definitions below contains the reverse transformations -- from the JEDI Sensor frames to the spacecraft frame -- the order of rotations is reversed and the signs of rotation angles are changed to the opposite ones compared to the description above. \begindata FRAME_JUNO_JEDI_090 = -61301 FRAME_-61301_NAME = 'JUNO_JEDI_090' FRAME_-61301_CLASS = 4 FRAME_-61301_CLASS_ID = -61301 FRAME_-61301_CENTER = -61 TKFRAME_-61301_SPEC = 'ANGLES' TKFRAME_-61301_RELATIVE = 'JUNO_SPACECRAFT' TKFRAME_-61301_ANGLES = ( -90.0, -8.0, 10.0 ) TKFRAME_-61301_AXES = ( 3, 1, 2 ) TKFRAME_-61301_UNITS = 'DEGREES' FRAME_JUNO_JEDI_A180 = -61302 FRAME_-61302_NAME = 'JUNO_JEDI_A180' FRAME_-61302_CLASS = 4 FRAME_-61302_CLASS_ID = -61302 FRAME_-61302_CENTER = -61 TKFRAME_-61302_SPEC = 'ANGLES' TKFRAME_-61302_RELATIVE = 'JUNO_SPACECRAFT' TKFRAME_-61302_ANGLES = ( 180.0, 0.0, 90.0 ) TKFRAME_-61302_AXES = ( 3, 2, 1 ) TKFRAME_-61302_UNITS = 'DEGREES' FRAME_JUNO_JEDI_270 = -61303 FRAME_-61303_NAME = 'JUNO_JEDI_270' FRAME_-61303_CLASS = 4 FRAME_-61303_CLASS_ID = -61303 FRAME_-61303_CENTER = -61 TKFRAME_-61303_SPEC = 'ANGLES' TKFRAME_-61303_RELATIVE = 'JUNO_SPACECRAFT' TKFRAME_-61303_ANGLES = ( 90.0, 8.0, 10.0 ) TKFRAME_-61303_AXES = ( 3, 1, 2 ) TKFRAME_-61303_UNITS = 'DEGREES' \begintext JIRAM Frames: ------------------------------------------------------------------------------- The set of frames for the JIRAM experiment includes the unit reference frame (URF) -- JUNO_JIRAM_URF, -- the imager and spectrometer frames -- JUNO_JIRAM_I and JUNO_JIRAM_S, -- and the imager L-band and M-band channel frames -- JUNO_JIRAM_I_LBAND and JUNO_JIRAM_I_MBAND. This set of frames does not attempt to account for the de-spinning mirror motion and assumes that the de-spinning compensation results in effectively inertially fixed instrument pointing for a given observation. The JIRAM unit reference frame -- JUNO_JIRAM_URF -- is the JIRAM "hardware" frame. It is fixed w.r.t. to the spacecraft and is defined as follows: - +Z axis is normal to the JIRAM optical head base, points from the base towards the spacecraft, and is nominally co-aligned with the spacecraft +Z axis; - +X axis is along the nominal FOV center axis - +Y axis completes the right-handed frame - the origin of the frame is at center of the JIRAM optical head reference mounting hole. This diagram illustrates the JIRAM unit reference frame: Spacecraft +Z side view: ------------------------ Solar Array 3 <-. Spin Direction ~ ~ ~ ~ ~ ~ ~ ~ `. \ .-' \. -. \-' .-' `-. ` +Xurf \ .-' `-. 22 <-. \ .-' ----- . `-. Solar Array 1 deg `-. .-' +Ysc ^ `. `-.--------------------. --- `o / | \ | | | | /|+Zurf | \ | | | |``--.. / | ' | +Xsc | | | | `--.. / | | o------> | | | | | | V | . +Zsc , | | | | ..--'' +Yurf | \ / | | | |..--' | \ HGA / | | | | Magnetometer `-. `. .' .-'--------------------' Boom / `-. ` ----- ' .-' / `-. .-' / `-. .-' /`-. /' ~ ~ ~ ~ ~ ~ ~ ~ Solar Array 2 +Zurf and +Zsc are out of the page. As seen on the diagram the JUNO_JIRAM_URF frame is nominally rotated from the spacecraft frame by +158 degrees about +Z. Since the frame definition below contain the reverse transformation -- from the JIRAM unit reference frame to the spacecraft frame -- the order of rotations is reversed and the signs of rotation angles are changed to the opposite ones compared to the description above. \begindata FRAME_JUNO_JIRAM_URF = -61401 FRAME_-61401_NAME = 'JUNO_JIRAM_URF' FRAME_-61401_CLASS = 4 FRAME_-61401_CLASS_ID = -61401 FRAME_-61401_CENTER = -61 TKFRAME_-61401_SPEC = 'ANGLES' TKFRAME_-61401_RELATIVE = 'JUNO_SPACECRAFT' TKFRAME_-61401_ANGLES = ( -158.0, 0.0, 0.0 ) TKFRAME_-61401_AXES = ( 3, 2, 1 ) TKFRAME_-61401_UNITS = 'DEGREES' \begintext The JIRAM imager and spectrometer frames -- JUNO_JIRAM_I and JUNO_JIRAM_S, -- and the imager L-band and M-band channel frames -- JUNO_JIRAM_I_LBAND and JUNO_JIRAM_I_MBAND -- are the "image" frames defined as follows: - +Z axis is along the boresight (view direction of the center pixel of the spectrometer line, combined imager CCD or individual L-band and M-band CCDs); - +X axis is along the CCD columns (spectral direction of the spectrometer), pointing in the "along-track" direction resulting from the spacecraft rotation - +Y axis completes the right-handed frame, pointing along the spatial spectrometer direction. - the origin of the frame is the instrument's focal point. This diagram illustrates the spectrometer and imager frames: Spacecraft +Z side view: ------------------------ Solar Array 3 <-. Spin Direction ~ ~ ~ ~ ~ ~ ~ ~ `. \ .-' \. ' .-' `-. +Zs/i/m/l .-' `-. <-. .-' ----- . `-. Solar Array 1 `-. .-' +Ysc ^ `. `-.--------------------. `o / | \ | | | | /|+Ys/i/m/l | \ | | | |``--.. / | ' | +Xsc | | | | `--.. / | | o------> | | | | | | V | . +Zsc , | | | | ..--'' +Xs/i/m/l | \ / | | | |..--' | \ HGA / | | | | Magnetometer `-. `. .' .-'--------------------' Boom / `-. ` ----- ' .-' / `-. .-' / `-. .-' /`-. /' ~ ~ ~ ~ ~ ~ ~ ~ Solar Array 2 +Ys/i/m/l and +Zsc are out of the page. The spectrometer frame is defined w.r.t. to the unit reference frame; the imager frame is defined w.r.t. to the spectrometer frame; the imager L-band and M-band channel frames are defined w.r.t. to the imager frame. Based on [7] the JIRAM spectrometer frame is rotated from the unit reference frame first by +90 degrees about +Y, then by +90 degrees about +Z, then by +6.125 degrees about +Y. The JIRAM imager frame is rotated from the spectrometer frame by +0.22689 degrees about +Y. The JIRAM imager L-band frame is rotated from the imager frame by +0.96257 degrees (1/2 of L-band CCD) about +Y. The JIRAM imager M-band frame is rotated from the imager frame by -0.93507 degrees (1/2 of M-band CCD) about +Y. The rotation angles above were used in the FK version 0.6 and were incorporated into the frame definitions using the following keywords: TKFRAME_-61420_ANGLES = ( -90.0, -90.0, -6.125 ) TKFRAME_-61410_ANGLES = ( 0.0, -0.22689, 0.0 ) TKFRAME_-61411_ANGLES = ( 0.0, -0.96257, 0.0 ) TKFRAME_-61412_ANGLES = ( 0.0, +0.93507, 0.0 ) Based on [8], which provided a summary of alignment changes that resulted from star and Moon calibrations and from correcting pixel offsets between detector and band centers, the JIRAM spectrometer frame is rotated from the unit reference frame first by +90.063 degrees about +Y, then by +90 degrees about +Z, then by +6.2765 degrees about +Y. The JIRAM imager frame is rotated from the spectrometer frame by +0.23844 degrees about +Y due to 17.5 pixel offset between the center of spectrometer and imager. The JIRAM imager L-band frame is rotated from the imager frame by +0.94012 degrees (1/2 of L-band CCD) about +Y due to 69 pixel offset between L center and I center. The JIRAM imager M-band frame is rotated from the imager frame by -0.94012 degrees (1/2 of M-band CCD) about +Y due to 69 pixel offset between M center and I center. Since the frame definitions below contain the reverse transformations, the order of rotations is reversed and the signs of rotation angles are changed to the opposite ones compared to the description above. \begindata FRAME_JUNO_JIRAM_S = -61420 FRAME_-61420_NAME = 'JUNO_JIRAM_S' FRAME_-61420_CLASS = 4 FRAME_-61420_CLASS_ID = -61420 FRAME_-61420_CENTER = -61 TKFRAME_-61420_SPEC = 'ANGLES' TKFRAME_-61420_RELATIVE = 'JUNO_JIRAM_URF' TKFRAME_-61420_ANGLES = ( -90.063, -90.0, -6.2765 ) TKFRAME_-61420_AXES = ( 2, 3, 2 ) TKFRAME_-61420_UNITS = 'DEGREES' FRAME_JUNO_JIRAM_I = -61410 FRAME_-61410_NAME = 'JUNO_JIRAM_I' FRAME_-61410_CLASS = 4 FRAME_-61410_CLASS_ID = -61410 FRAME_-61410_CENTER = -61 TKFRAME_-61410_SPEC = 'ANGLES' TKFRAME_-61410_RELATIVE = 'JUNO_JIRAM_S' TKFRAME_-61410_ANGLES = ( 0.0, -0.23844, 0.0 ) TKFRAME_-61410_AXES = ( 3, 2, 1 ) TKFRAME_-61410_UNITS = 'DEGREES' FRAME_JUNO_JIRAM_I_LBAND = -61411 FRAME_-61411_NAME = 'JUNO_JIRAM_I_LBAND' FRAME_-61411_CLASS = 4 FRAME_-61411_CLASS_ID = -61411 FRAME_-61411_CENTER = -61 TKFRAME_-61411_SPEC = 'ANGLES' TKFRAME_-61411_RELATIVE = 'JUNO_JIRAM_I' TKFRAME_-61411_ANGLES = ( 0.0, -0.94012, 0.0 ) TKFRAME_-61411_AXES = ( 3, 2, 1 ) TKFRAME_-61411_UNITS = 'DEGREES' FRAME_JUNO_JIRAM_I_MBAND = -61412 FRAME_-61412_NAME = 'JUNO_JIRAM_I_MBAND' FRAME_-61412_CLASS = 4 FRAME_-61412_CLASS_ID = -61412 FRAME_-61412_CENTER = -61 TKFRAME_-61412_SPEC = 'ANGLES' TKFRAME_-61412_RELATIVE = 'JUNO_JIRAM_I' TKFRAME_-61412_ANGLES = ( 0.0, +0.94012, 0.0 ) TKFRAME_-61412_AXES = ( 3, 2, 1 ) TKFRAME_-61412_UNITS = 'DEGREES' \begintext JUNOCAM Frames ------------------------------------------------------------------------------- The JUNOCAM frame -- JUNO_JUNOCAM -- is fixed w.r.t. to the spacecraft and defined as follows: - +Z axis is along the camera boresight; - +X axis is along the CCD lines, pointing in the increasing pixel direction - +Y axis completes the right-handed frame - the origin of the frame is at the camera focal point. This diagram illustrates the JUNOCAM frame: Spacecraft +Z side view: ------------------------ Solar Array 3 <-. Spin Direction ~ ~ ~ ~ ~ ~ ~ ~ `. \ .-' \. \-' .-' `-. \ .-' `-. \ .-' ----- . `-. Solar Array 1 .-' +Ysc ^ `. `-.--------------------. | / | \ | | | | | / | \ | | | |``--.. ' | +Xsc | | | | `--.. +Xjc | o------> | | | | | | <------x . +Zsc , | | | | ..--'' +Zjc | \ / | | | |..--' | \ HGA / | | | | Magnetometer | . `. .' .-'--------------------' Boom V `-. ` ----- ' .-' / +Yjc `-. .-' / `-. .-' +Xjc is into /`-. /' the page. ~ ~ ~ ~ ~ ~ ~ ~ Solar Array 2 +Zsc is out of the page. As seen on the diagram the JUNO_JUNOCAM frame is nominally rotated from the spacecraft frame first by 180 degrees about +Z, then by +90 degrees about +Y. In order to incorporate the pre-launch calibrated misalignment between the spacecraft frame and JUNOCAM optical cube, specified in [6] as DCM - SMRF to JUNOCam (*) -0.0059163 -0.0142817 -0.9998805 0.0023828 -0.9998954 0.0142678 -0.9999797 -0.0022981 0.0059497 (*) Measured from the instrument alignment cube. No correction from cube axes to instrument axes and the pre-launch calibrated misalignment between optical cube and the CCD specified in [6] as CW rotation by 0.69 degrees about +Z axis of the camera frame as two separate rotations, an additional frame -- JUNO_JUNOCAM_CUBE -- was added between the JUNO_SPACECRAFT frame and the JUNO_JUNOCAM frame in the FK ver. 0.6. The misalignments from [6] are incorporated in the two frame definitions below. \begindata FRAME_JUNO_JUNOCAM_CUBE = -61505 FRAME_-61505_NAME = 'JUNO_JUNOCAM_CUBE' FRAME_-61505_CLASS = 4 FRAME_-61505_CLASS_ID = -61505 FRAME_-61505_CENTER = -61 TKFRAME_-61505_SPEC = 'MATRIX' TKFRAME_-61505_RELATIVE = 'JUNO_SPACECRAFT' TKFRAME_-61505_MATRIX = ( -0.0059163 -0.0142817 -0.9998805 0.0023828 -0.9998954 0.0142678 -0.9999797 -0.0022981 0.0059497 ) FRAME_JUNO_JUNOCAM = -61500 FRAME_-61500_NAME = 'JUNO_JUNOCAM' FRAME_-61500_CLASS = 4 FRAME_-61500_CLASS_ID = -61500 FRAME_-61500_CENTER = -61 TKFRAME_-61500_SPEC = 'ANGLES' TKFRAME_-61500_RELATIVE = 'JUNO_JUNOCAM_CUBE' TKFRAME_-61500_ANGLES = ( 0.69, 0.0, 0.0 ) TKFRAME_-61500_AXES = ( 3, 2, 1 ) TKFRAME_-61500_UNITS = 'DEGREES' \begintext MWR Frames: ------------------------------------------------------------------------------- The set of frames for the MWR experiment includes six MWR antenna frames -- JUNO_MWR_A1, JUNO_MWR_A2, JUNO_MWR_A3, JUNO_MWR_A4, JUNO_MWR_A5, and JUNO_MWR_A6, -- fixed w.r.t. to the spacecraft and defined as follows: - +Z axis is along the antenna boresight - +Y axis is nominally along the spacecraft +Z axis - +X axis completes the right-handed frame - the origin of the frame is at the geometric center of the antenna patch or outer rim. This diagram illustrates the MWR antenna frames: Spacecraft +Z side view: ------------------------ Solar Array 3 ^ <-. Spin Direction ~ ~ ~ ~ ~ ~ ~ +Xa1 / +Za1 `. \ .-' <. / \-' . `-. / \ .-' `-o +Ya1 \ .-' ----- . -. Solar Array 1 .-' +Ysc ^ `. `-.--------------------. | / | \ | | | | | / | \ | | | |``--.. | ' | +Xsc | | | | `--.. | | o------> | | | | | | | . +Zsc , | | | | ..--'' | \ / | |..--' | \ HGA / +Xa2/3/4/5/6 | | Magnetometer `-. `. .' .-> -----------------' Boom / `-. ` ----- ' .-' / `-. o +Ya2/3/4/5/6 / `-. .-' \ /`-. /' \ ~ ~ ~ ~ ~ ~ ~ ~ \ +Za2/3/4/5/6 Solar Array 2 V +Ya* and +Zsc are out of the page. The JUNO_MWR_A1 frame is nominally rotated from the spacecraft frame first by +150 degrees about +Z, then by +90 degrees about +X. The JUNO_MWR_A2..A6 frames are nominally rotated from the spacecraft frame first by +30 degrees about +Z, then by +90 degrees about +X. Since the frame definitions below contain the reverse transformations, the order of rotations is reversed and the signs of rotation angles are changed to the opposite ones compared to the description above. \begindata FRAME_JUNO_MWR_A1 = -61601 FRAME_-61601_NAME = 'JUNO_MWR_A1' FRAME_-61601_CLASS = 4 FRAME_-61601_CLASS_ID = -61601 FRAME_-61601_CENTER = -61 TKFRAME_-61601_SPEC = 'ANGLES' TKFRAME_-61601_RELATIVE = 'JUNO_SPACECRAFT' TKFRAME_-61601_ANGLES = ( -150.0, 0.0, -90.0 ) TKFRAME_-61601_AXES = ( 3, 2, 1 ) TKFRAME_-61601_UNITS = 'DEGREES' FRAME_JUNO_MWR_A2 = -61602 FRAME_-61602_NAME = 'JUNO_MWR_A2' FRAME_-61602_CLASS = 4 FRAME_-61602_CLASS_ID = -61602 FRAME_-61602_CENTER = -61 TKFRAME_-61602_SPEC = 'ANGLES' TKFRAME_-61602_RELATIVE = 'JUNO_SPACECRAFT' TKFRAME_-61602_ANGLES = ( -30.0, 0.0, -90.0 ) TKFRAME_-61602_AXES = ( 3, 2, 1 ) TKFRAME_-61602_UNITS = 'DEGREES' FRAME_JUNO_MWR_A3 = -61603 FRAME_-61603_NAME = 'JUNO_MWR_A3' FRAME_-61603_CLASS = 4 FRAME_-61603_CLASS_ID = -61603 FRAME_-61603_CENTER = -61 TKFRAME_-61603_SPEC = 'ANGLES' TKFRAME_-61603_RELATIVE = 'JUNO_SPACECRAFT' TKFRAME_-61603_ANGLES = ( -30.0, 0.0, -90.0 ) TKFRAME_-61603_AXES = ( 3, 2, 1 ) TKFRAME_-61603_UNITS = 'DEGREES' FRAME_JUNO_MWR_A4 = -61604 FRAME_-61604_NAME = 'JUNO_MWR_A4' FRAME_-61604_CLASS = 4 FRAME_-61604_CLASS_ID = -61604 FRAME_-61604_CENTER = -61 TKFRAME_-61604_SPEC = 'ANGLES' TKFRAME_-61604_RELATIVE = 'JUNO_SPACECRAFT' TKFRAME_-61604_ANGLES = ( -30.0, 0.0, -90.0 ) TKFRAME_-61604_AXES = ( 3, 2, 1 ) TKFRAME_-61604_UNITS = 'DEGREES' FRAME_JUNO_MWR_A5 = -61605 FRAME_-61605_NAME = 'JUNO_MWR_A5' FRAME_-61605_CLASS = 4 FRAME_-61605_CLASS_ID = -61605 FRAME_-61605_CENTER = -61 TKFRAME_-61605_SPEC = 'ANGLES' TKFRAME_-61605_RELATIVE = 'JUNO_SPACECRAFT' TKFRAME_-61605_ANGLES = ( -30.0, 0.0, -90.0 ) TKFRAME_-61605_AXES = ( 3, 2, 1 ) TKFRAME_-61605_UNITS = 'DEGREES' FRAME_JUNO_MWR_A6 = -61606 FRAME_-61606_NAME = 'JUNO_MWR_A6' FRAME_-61606_CLASS = 4 FRAME_-61606_CLASS_ID = -61606 FRAME_-61606_CENTER = -61 TKFRAME_-61606_SPEC = 'ANGLES' TKFRAME_-61606_RELATIVE = 'JUNO_SPACECRAFT' TKFRAME_-61606_ANGLES = ( -30.0, 0.0, -90.0 ) TKFRAME_-61606_AXES = ( 3, 2, 1 ) TKFRAME_-61606_UNITS = 'DEGREES' \begintext UVS Frames ------------------------------------------------------------------------------- The set of frames for the UVS experiment includes two frames -- JUNO_UVS_BASE and JUNO_UVS. The UVS "hardware" frame, JUNO_UVS_BASE, is fixed w.r.t. to the spacecraft and defined as follows: - +Z axis is normal to the sensor mounting plane and points into the sensor; it is nominally along the slit - +X axis is parallel to the scan mirror rotation axis and points from the sensor electronics towards the entrance baffle - +Y axis completes the right-handed frame - the origin of the frame is at the center of the reference mounting hole. The UVS "observation" frame, JUNO_UVS, is a CK-based frame defined as follows: - +X axis is the instrument boresight - +Z axis is along the slit and for the "zero" scan mirror position points in the same direction as the +Z axis of the JUNO_UVS_BASE frame - +Y axis completes the right-handed frame - the origin of the frame is at the intersection of the reflected boresight and the scan mirror axis. This diagram illustrates the UVS frames (the JUNO_UVS frame is shown in the "zero" scan mirror position): Spacecraft +Z side view: ------------------------ Solar Array 3 <-. Spin Direction ~ ~ ~ ~ ~ ~ ~ ~ `. \ .-' \. \-' .-' `-. \ .-' `-. .-' ----- . `-. Solar Array 1 +Yu ' +Ysc ^ `. `-.--------------------. ^ / | \ | | | | | +Xub | \ | | | |``--.. |^ | +Xsc | | | | `--.. +Xu || | o------> | | | | | | <------x| . +Zsc , | | | | ..--'' +Zu | \ / | | | |..--' x------> / | | | | Magnetometer +Zub +Yub HGA .' .-'--------------------' Boom / `-. ----- ' .-' / `-. .-' / `-. .-' +Zub and +Zu are /`-. /' into the page. ~ ~ ~ ~ ~ ~ ~ ~ Solar Array 2 +Zsc is out of the page. Scan Mirror Plane and Axis (Spacecraft +Z side view:): ------------------------------------------------------ | | Scan Mirror Axis | ^ +Yu . | `. | +Xu `.| <------x. Reflected +Zu `. Scan Mirror plane boresight ` in "zero" position ^ +Xub ^ +Ysc | | | | | | x------> Yub o------> +Zub +Zsc +Xsc As seen on the diagram the JUNO_UVS_BASE frame is nominally rotated from the spacecraft frame first by +90 degrees about +Z, then by 180 degrees about +X. For a perfect nominal alignment of the boresight and scan mirror axis and a perfect nominal 45 degrees position of the mirror plane, at the "zero" mirror position the JUNO_UVS frame is simply rotated by -90 degrees about +Z of the JUNO_UVS_BASE frame. For any other mirror position within the +30/-30 degrees range the two additional rotations are needed: first by the "scan angle" about +Y, then by the "scan angle" about +X. (TBD: this needs to be further analyzed/confirmed.) These rotations will be stored in CK files. Since the frame JUNO_UVS_BASE definition below contain the reverse transformation -- from the UVS_BASE frame to the spacecraft frame -- the order of rotations is reversed and the signs of rotation angles are changed to the opposite ones compared to the description above. \begindata FRAME_JUNO_UVS_BASE = -61700 FRAME_-61700_NAME = 'JUNO_UVS_BASE' FRAME_-61700_CLASS = 4 FRAME_-61700_CLASS_ID = -61700 FRAME_-61700_CENTER = -61 TKFRAME_-61700_SPEC = 'ANGLES' TKFRAME_-61700_RELATIVE = 'JUNO_SPACECRAFT' TKFRAME_-61700_ANGLES = ( -90.0, 0.0, 180.0 ) TKFRAME_-61700_AXES = ( 3, 2, 1 ) TKFRAME_-61700_UNITS = 'DEGREES' FRAME_JUNO_UVS = -61701 FRAME_-61701_NAME = 'JUNO_UVS' FRAME_-61701_CLASS = 3 FRAME_-61701_CLASS_ID = -61701 FRAME_-61701_CENTER = -61 CK_-61701_SCLK = -61 CK_-61701_SPK = -61 \begintext WAVES Frames ------------------------------------------------------------------------------- The set of frames for the WAVES experiment includes two frames -- JUNO_WAVES_MSC and JUNO_WAVES_ANTENNA. The WAVES MSC frame, JUNO_WAVES_MSC, is fixed w.r.t. to the spacecraft and defined as follows: - +Z axis is along the MSC center axis and points in the same direction as the spacecraft +Z axis - +Y axis is in the mounting plate plane and points away from the spacecraft - +X axis completes the right-handed frame - the origin of the frame is at the geometric center of the MSC center axis. The WAVES electrical antenna frame, JUNO_WAVES_ANTENNA, is fixed w.r.t. to the spacecraft and defined as follows: - +Z axis is normal to the antenna mounting plane and points away from the spacecraft; it is nominally co-aligned with the spacecraft -Z axis - +Y axis is in the mounting plate plane and points between the two antennas is stowed position - +X axis completes the right-handed frame - the origin of the frame is at the geometric center of the antenna mounting plate. This diagram illustrates the WAVES frames: Spacecraft +Z side view: ------------------------ Solar Array 3 <-. Spin Direction ~ ~ ~ ~ ~ ~ ~ ~ `. \ .-' \. \-' .-' `-. \ .-' `-. \ .-' ----- . `-. Solar Array 1 .-' +Ysc ^ `. `-.--------------------. | / | \ | | | | | / | | | | |``--.. | ' | +Yant | | `--.. | | o----> <----x +Zant | | | | . +Zsc +Xsc , | | | ..--'' | \ / | | | |..--' | \ HGA / | | | | Magnetometer `-. `. .' . V -------------------' Boom / `-. ` ----- ' .-' +Xant Solar / `-. ' Array 2 / ` .o +Zmsc /`-. .-' \ ~ ~ ~ ~ <-' \ +Xmsc \ +Zsc is out of V +Ymsc the page. The JUNO_WAVES_MSC frame is nominally rotated from the spacecraft frame by -150 degrees about +Z. The JUNO_WAVES_ANTENNA frame is nominally rotated from the spacecraft frame first by -90 degrees about +Z, then by 180 degrees about +X. Since the frame definitions below contain the reverse transformations, the order of rotations is reversed and the signs of rotation angles are changed to the opposite ones compared to the description above. \begindata FRAME_JUNO_WAVES_MSC = -61810 FRAME_-61810_NAME = 'JUNO_WAVES_MSC' FRAME_-61810_CLASS = 4 FRAME_-61810_CLASS_ID = -61810 FRAME_-61810_CENTER = -61 TKFRAME_-61810_SPEC = 'ANGLES' TKFRAME_-61810_RELATIVE = 'JUNO_SPACECRAFT' TKFRAME_-61810_ANGLES = ( 150.0, 0.0, 0.0 ) TKFRAME_-61810_AXES = ( 3, 2, 1 ) TKFRAME_-61810_UNITS = 'DEGREES' FRAME_JUNO_WAVES_ANTENNA = -61820 FRAME_-61820_NAME = 'JUNO_WAVES_ANTENNA' FRAME_-61820_CLASS = 4 FRAME_-61820_CLASS_ID = -61820 FRAME_-61820_CENTER = -61 TKFRAME_-61820_SPEC = 'ANGLES' TKFRAME_-61820_RELATIVE = 'JUNO_SPACECRAFT' TKFRAME_-61820_ANGLES = ( 90.0, 0.0, 180.0 ) TKFRAME_-61820_AXES = ( 3, 2, 1 ) TKFRAME_-61820_UNITS = 'DEGREES' \begintext Solar Array Frames ------------------------------------------------------------------------------- Two frames are defined for each of the three solar arrays. The first frame -- a fixed-offset frame named JUNO_SA#_HINGE (where # is 1, 2, or 3) -- is fixed w.r.t. to the spacecraft and is defined as follows: - +Z axis is co-aligned with the s/c +Z axis - +X axis is along the solar array symmetry axis and points from the hinge to the outer side of the array - +Y axis is along the hinge axis and points to complete the right-handed frame - the origin of the frame is in the middle of the hinge axis The second frame -- a CK-based frame named JUNO_SA# (where # is 1, 2, or 3) -- rotates about the hinge (+Y) with respect to the corresponding JUNO_SA#_HINGE frame and is defined as follows: - +Z axis is along the normal to the array surface on the solar cell side - +X axis is along the solar array symmetry axis and points from the hinge towards the outer side of the array - +Y axis is along the hinge axis and points to complete the right-handed frame - the origin of the frame is in the middle of between two center sections of the array In the non-articulated ("zero") position the two frames for each of the arrays are co-aligned, as shown on this diagram: Spacecraft +Z side view: ------------------------ .-\ .-' \ .-' \ Solar Array 3 .-' \ \ .-'\ \ ^ +Xsa3 \ , \ \ \-' \ .-'\ \ o +Zsa3 \ +Ysa3 .-' \ <-' .-'\ <-. Spin Direction ^ +Xsa3h `. \ . \ \. \-' \ .-' `-. \ o +Zsa3h `-. +Ysa3h .-' ----- . `-. +Ysa1h +Ysa1 Solar Array 1 <.-' +Ysc ^ `. ` ^ --------- ^ ----. / | \ | | | | | / | \ | | | |``--.. | ' | +Xsc | +Xsa1h | +Xsa1 `--.. | | o------> | o-----> o-----> | | . +Zsc , +Zsa1h +Zsa1 | ..--'' | \ / | | | |..--' | \ HGA / | | | | Magnetometer `-. `. .' .-'--------------------' Boom / +Zsa2h ----- ' .-' / o`-. .-' / / `-> +Xsa2h / +Ysa2h / V / / -. / /`-. +Zsa2 `-/ / o / / / `-. +Xsa2 / `-> +Ysa2 / V / -. / /. `-/ `-. / Solar Array 2 All +Z axes are out of `-. / the page. `-. / ` The keywords below define the solar array frames. \begindata FRAME_JUNO_SA1_HINGE = -61010 FRAME_-61010_NAME = 'JUNO_SA1_HINGE' FRAME_-61010_CLASS = 4 FRAME_-61010_CLASS_ID = -61010 FRAME_-61010_CENTER = -61 TKFRAME_-61010_SPEC = 'ANGLES' TKFRAME_-61010_RELATIVE = 'JUNO_SPACECRAFT' TKFRAME_-61010_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-61010_AXES = ( 1, 2, 3 ) TKFRAME_-61010_UNITS = 'DEGREES' FRAME_JUNO_SA1 = -61011 FRAME_-61011_NAME = 'JUNO_SA1' FRAME_-61011_CLASS = 3 FRAME_-61011_CLASS_ID = -61011 FRAME_-61011_CENTER = -61 CK_-61011_SCLK = -61 CK_-61011_SPK = -61 FRAME_JUNO_SA2_HINGE = -61020 FRAME_-61020_NAME = 'JUNO_SA2_HINGE' FRAME_-61020_CLASS = 4 FRAME_-61020_CLASS_ID = -61020 FRAME_-61020_CENTER = -61 TKFRAME_-61020_SPEC = 'ANGLES' TKFRAME_-61020_RELATIVE = 'JUNO_SPACECRAFT' TKFRAME_-61020_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-61020_AXES = ( 1, 2, 3 ) TKFRAME_-61020_UNITS = 'DEGREES' FRAME_JUNO_SA2 = -61021 FRAME_-61021_NAME = 'JUNO_SA2' FRAME_-61021_CLASS = 3 FRAME_-61021_CLASS_ID = -61021 FRAME_-61021_CENTER = -61 CK_-61021_SCLK = -61 CK_-61021_SPK = -61 FRAME_JUNO_SA3_HINGE = -61030 FRAME_-61030_NAME = 'JUNO_SA3_HINGE' FRAME_-61030_CLASS = 4 FRAME_-61030_CLASS_ID = -61030 FRAME_-61030_CENTER = -61 TKFRAME_-61030_SPEC = 'ANGLES' TKFRAME_-61030_RELATIVE = 'JUNO_SPACECRAFT' TKFRAME_-61030_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-61030_AXES = ( 1, 2, 3 ) TKFRAME_-61030_UNITS = 'DEGREES' FRAME_JUNO_SA3 = -61031 FRAME_-61031_NAME = 'JUNO_SA3' FRAME_-61031_CLASS = 3 FRAME_-61031_CLASS_ID = -61031 FRAME_-61031_CENTER = -61 CK_-61031_SCLK = -61 CK_-61031_SPK = -61 \begintext Antenna Frames ------------------------------------------------------------------------------- The JUNO HGA, MGA, and "forward" and "aft" LGA antenna frames -- JUNO_HGA, JUNO_MGA, JUNO_LGA_FORWARD, and JUNO_LGA_AFT -- are defined as follows: - +Z axis is along the antenna boresight - +X axis is along the clock reference direction of the antenna pattern - +Y axis completes the right-handed frame - the origin of the frame is in the geometric center of the antenna's outer rim or patch The JUNO "toroid" LGA frame -- JUNO_LGA_TOROID -- is defined to be co-aligned with the spacecraft frame. All antenna frames are defined as fixed-offset frames with respect to the spacecraft frame. Nominally all antenna frames (except for JUNO_LGA_AFT) are co-aligned with the spacecraft frame. The JUNO_LGA_AFT frame is rotated from the spacecraft frame by 180 degrees about +X. This diagram illustrates the antenna frames: Spacecraft -Y side view: ------------------------ +Zhga ^ | +Zmga,+Zlgaf | ^ ^ | | | +Yhga x------> +Xhga / \ | | HGA .-------------x-x---->-> +Xmga,+Xlgaf \ +Ymga,+Ylgaf `. .' `-------' | | Magnetometer | | Boom ================o==o==o==o-----------o======o======o======o===========* Solar | | | Solar Array 1 Array 2 | | | | | | | | +Zsc ^ | | +Zlgat | | | | | | | | +Ysc, +Yhga, Ylgaf, `----- +Ysc x------> -' and +Ylgat are into +Ylgaa o------> /_____\ +Xsc the page. | +Xlgaa +Xlgat | +Ylgaa is out of | the page. V +Zlgaa The keywords below define the antenna frames. \begindata FRAME_JUNO_HGA = -61040 FRAME_-61040_NAME = 'JUNO_HGA' FRAME_-61040_CLASS = 4 FRAME_-61040_CLASS_ID = -61040 FRAME_-61040_CENTER = -61 TKFRAME_-61040_SPEC = 'ANGLES' TKFRAME_-61040_RELATIVE = 'JUNO_SPACECRAFT' TKFRAME_-61040_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-61040_AXES = ( 1, 2, 3 ) TKFRAME_-61040_UNITS = 'DEGREES' FRAME_JUNO_MGA = -61050 FRAME_-61050_NAME = 'JUNO_MGA' FRAME_-61050_CLASS = 4 FRAME_-61050_CLASS_ID = -61050 FRAME_-61050_CENTER = -61 TKFRAME_-61050_SPEC = 'ANGLES' TKFRAME_-61050_RELATIVE = 'JUNO_SPACECRAFT' TKFRAME_-61050_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-61050_AXES = ( 1, 2, 3 ) TKFRAME_-61050_UNITS = 'DEGREES' FRAME_JUNO_LGA_FORWARD = -61061 FRAME_-61061_NAME = 'JUNO_LGA_FORWARD' FRAME_-61061_CLASS = 4 FRAME_-61061_CLASS_ID = -61061 FRAME_-61061_CENTER = -61 TKFRAME_-61061_SPEC = 'ANGLES' TKFRAME_-61061_RELATIVE = 'JUNO_SPACECRAFT' TKFRAME_-61061_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-61061_AXES = ( 1, 2, 3 ) TKFRAME_-61061_UNITS = 'DEGREES' FRAME_JUNO_LGA_AFT = -61062 FRAME_-61062_NAME = 'JUNO_LGA_AFT' FRAME_-61062_CLASS = 4 FRAME_-61062_CLASS_ID = -61062 FRAME_-61062_CENTER = -61 TKFRAME_-61062_SPEC = 'ANGLES' TKFRAME_-61062_RELATIVE = 'JUNO_SPACECRAFT' TKFRAME_-61062_ANGLES = ( 180.0, 0.0, 0.0 ) TKFRAME_-61062_AXES = ( 1, 2, 3 ) TKFRAME_-61062_UNITS = 'DEGREES' FRAME_JUNO_LGA_TOROID = -61063 FRAME_-61063_NAME = 'JUNO_LGA_TOROID' FRAME_-61063_CLASS = 4 FRAME_-61063_CLASS_ID = -61063 FRAME_-61063_CENTER = -61 TKFRAME_-61063_SPEC = 'ANGLES' TKFRAME_-61063_RELATIVE = 'JUNO_SPACECRAFT' TKFRAME_-61063_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-61063_AXES = ( 1, 2, 3 ) TKFRAME_-61063_UNITS = 'DEGREES' \begintext ACS Sensor Frames ------------------------------------------------------------------------------- This section defined frames for ACS sensors -- SRUs and SSSs. SRU Frames The JUNO SRU frames -- JUNO_SRU1 and JUNO_SRU2 -- are defined as follows: - +X axis is along the SRU boresight - +Y axis is nominally along the spacecraft +Z axis - +Z axis completes the right-handed frame - the origin of the frame is at the SRU focal point Nominally the SRU1 frame is rotated from the spacecraft frame first by +90 degrees about X, then by +65 degrees about Y. Nominally the SRU2 frame is rotated from the spacecraft frame first by +90 degrees about X, then by +55 degrees about X. This diagram illustrates the SRU frames: Spacecraft +Z side view: ------------------------ +Xsru1 Solar Array 3 ^ <-. Spin Direction / 10 deg `. ~ ~ ~ ~ ~ ~ ~ ~\ / \-' .-' / .> +Xsru2 \ .-' +Ysru1 o. .-' \ .-' --- +Ysru2`o' Solar Array 1 .-' +Ysc ^ `.`> +Zsru1 ---------. | / | \ `. | | | / | \ | > +Zsru2 | |``--.. | ' | +Xsc | | | `--.. | | o------> | | | | | | | . +Zsc , | | | | ..--'' | \ / | | | |..--' | \ HGA / | | | | Magnetometer `-. `. .' .-'--------------------' Boom / `-. ` ----- ' .-' / `-. .-' / `-. .-' +Xsru1 and +Xsru2 are ~ ~ ~ ~ ~ ~ ~ ~ ' into the page. Solar Array 2 +Zsc is out of the page. The following pre-launch calibrated misalignments between the spacecraft frame and the SRU frames were provided in [6]: DCM - SMRF to SRU1 (*) 0.4204194 0.9073288 0.0013891 -0.0007953 -0.0011625 0.9999990 0.9073296 -0.4204200 0.0002328 DCM - SMRF to SRU2 (*) 0.5720852 0.8201927 -0.0015696 0.0015127 0.0008586 0.9999985 0.8201928 -0.5720867 -0.0007496 (*) Measured from the SRU alignment cube. Correction from cube axes (ARF) to instrument axes (BRF) applied via vendor data The misalignments from [6] are incorporated in the two frame definitions below. \begindata FRAME_JUNO_SRU1 = -61071 FRAME_-61071_NAME = 'JUNO_SRU1' FRAME_-61071_CLASS = 4 FRAME_-61071_CLASS_ID = -61071 FRAME_-61071_CENTER = -61 TKFRAME_-61071_SPEC = 'MATRIX' TKFRAME_-61071_RELATIVE = 'JUNO_SPACECRAFT' TKFRAME_-61071_MATRIX = ( 0.4204194 0.9073288 0.0013891 -0.0007953 -0.0011625 0.9999990 0.9073296 -0.4204200 0.0002328 ) FRAME_JUNO_SRU2 = -61072 FRAME_-61072_NAME = 'JUNO_SRU2' FRAME_-61072_CLASS = 4 FRAME_-61072_CLASS_ID = -61072 FRAME_-61072_CENTER = -61 TKFRAME_-61072_SPEC = 'MATRIX' TKFRAME_-61072_RELATIVE = 'JUNO_SPACECRAFT' TKFRAME_-61072_MATRIX = ( 0.5720852 0.8201927 -0.0015696 0.0015127 0.0008586 0.9999985 0.8201928 -0.5720867 -0.0007496 ) \begintext SSS Frames The JUNO SSS frames -- JUNO_SSS1 and JUNO_SSS2 -- are defined as follows: - +Z axis is along the SSS boresight and is nominally along the spacecraft -X axis. - +X axis is nominally along the spacecraft -Z axis - +Y axis completes the right-handed frame - the origin of the frame is at the SSS geometric center Nominally the SSS frames are rotated from the spacecraft frame first by +90 degrees about Y, then by 180 degrees about X. This diagram illustrates the SSS frames: Spacecraft +Z side view: ------------------------ Solar Array 3 <-. Spin Direction `. ~ ~ ~ ~ ~ ~ ~ ~\. \-' .-' `-. \ .-' `-. \ .-' ----- . `-. Solar Array 1 .-' +Ysc ^ `. `-.--------------------. +Zss1 | \ | | | | <------x +Xsss1 | \ | | | |``--.. <------x +Xsss2 | +Xsc | | | | `--.. +Zsss2 | o------> | | | | | | || . +Zsc , | | | | ..--'' +Ysss1 V| \ / | | | |..--' +Ysss2 V| \ HGA / | | | | Magnetometer `-. `. .' .-'--------------------' Boom / `-. ` ----- ' .-' / `-. .-' / `-. .-' +Xsss1 and +Xsss2 are ~ ~ ~ ~ ~ ~ ~ ~/' into the page. Solar Array 2 +Zsc is out of the page. Since the frame definitions below contains the reverse transformations -- from the SSS frames to the spacecraft frame -- the order of rotations is reversed and the signs of rotation angles are changed to the opposite ones compared to the description above. \begindata FRAME_JUNO_SSS1 = -61073 FRAME_-61073_NAME = 'JUNO_SSS1' FRAME_-61073_CLASS = 4 FRAME_-61073_CLASS_ID = -61073 FRAME_-61073_CENTER = -61 TKFRAME_-61073_SPEC = 'ANGLES' TKFRAME_-61073_RELATIVE = 'JUNO_SPACECRAFT' TKFRAME_-61073_ANGLES = ( 0.0, -90.0, 180.0 ) TKFRAME_-61073_AXES = ( 3, 2, 1 ) TKFRAME_-61073_UNITS = 'DEGREES' FRAME_JUNO_SSS2 = -61074 FRAME_-61074_NAME = 'JUNO_SSS2' FRAME_-61074_CLASS = 4 FRAME_-61074_CLASS_ID = -61074 FRAME_-61074_CENTER = -61 TKFRAME_-61074_SPEC = 'ANGLES' TKFRAME_-61074_RELATIVE = 'JUNO_SPACECRAFT' TKFRAME_-61074_ANGLES = ( 0.0, -90.0, 180.0 ) TKFRAME_-61074_AXES = ( 3, 2, 1 ) TKFRAME_-61074_UNITS = 'DEGREES' \begintext Truster Frames ------------------------------------------------------------------------------- The JUNO REM thruster frames -- JUNO_REM_[FL1,2,3,4] [FA1,2] [RL1,2,3,4] [RA1,2] -- are defined as follows: - +Z axis is along the thrust vector. - +X axis is in the plane containing the thrust vector and the spacecraft +Z axis and points in the direction of the spacecraft +Z axis - +Y axis completes the right-handed frame - the origin of the frame is center of the nozzle outer edge. These diagrams approximately illustrate the REM thruster vector directions -- +Z axes of the REM frames, -- other axes are not shown: Spacecraft +Z side view: ------------------------ Solar Array 3 <-. Spin Direction ^ +Zfa1 `. ~ ~ ~ ~ ~ ~ ~ ~\| +Zfl4 <------@@@------> +Zfl1 \ FL4 FA1 FL1 \ .-' ----- . `-. Solar Array 1 .-' +Ysc ^ `. `-.--------------------. | / | \ | | | | | / | \ | | | |``--.. | ' | +Xsc | | | | `--.. | | o------> | | | | | | | . +Zsc , | | | | ..--'' | \ / | | | |..--' | \ HGA / | | | | Magnetometer `-. `. .' .-'--------------------' Boom / `-. ` ----- ' .-' / FL3 FA2 FL2 /+Zfl3 <------@@@------> +Zfl2 ~ ~ ~ ~ ~ ~ ~ ~/| v +Zfa2 Solar Array 2 +Zsc is out of the page. Spacecraft -Z side view: ------------------------ Solar Array 2 -. Spin Direction ^ +Zra2 `. ~ ~ ~ ~ ~ ~ ~ ~\| v +Zrl3 <------@@@------> +Zrl2 \ RL3 RA2 RL2 \ .-' `-. Solar Array 1 .-' `-.--------------------. | | | | | | | | | |``--.. | +Zsc +Xsc | | | | `--.. | o------> | | | | | | | | | | | ..--'' | | | | | |..--' | | | | | | Magnetometer `-. +Ysc V .-'--------------------' Boom / `-. .-' / RL4 RA1 RL1 +Zrl4 <------@@@------> +Zrl1 ~ ~ ~ ~ ~ ~ ~ ~/| v +Zra1 Solar Array 3 +Zsc is into the page. The angles in the REM frame definitions below are based the information from [4]. \begindata FRAME_JUNO_REM_FL1 = -61081 FRAME_-61081_NAME = 'JUNO_REM_FL1' FRAME_-61081_CLASS = 4 FRAME_-61081_CLASS_ID = -61081 FRAME_-61081_CENTER = -61 TKFRAME_-61081_SPEC = 'ANGLES' TKFRAME_-61081_RELATIVE = 'JUNO_SPACECRAFT' TKFRAME_-61081_ANGLES = ( 22.009651, -76.551858, 157.431346 ) TKFRAME_-61081_AXES = ( 1, 2, 3 ) TKFRAME_-61081_UNITS = 'DEGREES' FRAME_JUNO_REM_FL2 = -61082 FRAME_-61082_NAME = 'JUNO_REM_FL2' FRAME_-61082_CLASS = 4 FRAME_-61082_CLASS_ID = -61082 FRAME_-61082_CENTER = -61 TKFRAME_-61082_SPEC = 'ANGLES' TKFRAME_-61082_RELATIVE = 'JUNO_SPACECRAFT' TKFRAME_-61082_ANGLES = ( -22.009640, -76.551859, -157.431357 ) TKFRAME_-61082_AXES = ( 1, 2, 3 ) TKFRAME_-61082_UNITS = 'DEGREES' FRAME_JUNO_REM_FL3 = -61083 FRAME_-61083_NAME = 'JUNO_REM_FL3' FRAME_-61083_CLASS = 4 FRAME_-61083_CLASS_ID = -61083 FRAME_-61083_CENTER = -61 TKFRAME_-61083_SPEC = 'ANGLES' TKFRAME_-61083_RELATIVE = 'JUNO_SPACECRAFT' TKFRAME_-61083_ANGLES = ( -22.009651, 76.551858, -22.568654 ) TKFRAME_-61083_AXES = ( 1, 2, 3 ) TKFRAME_-61083_UNITS = 'DEGREES' FRAME_JUNO_REM_FL4 = -61084 FRAME_-61084_NAME = 'JUNO_REM_FL4' FRAME_-61084_CLASS = 4 FRAME_-61084_CLASS_ID = -61084 FRAME_-61084_CENTER = -61 TKFRAME_-61084_SPEC = 'ANGLES' TKFRAME_-61084_RELATIVE = 'JUNO_SPACECRAFT' TKFRAME_-61084_ANGLES = ( 22.009640, 76.551859, 22.568643 ) TKFRAME_-61084_AXES = ( 1, 2, 3 ) TKFRAME_-61084_UNITS = 'DEGREES' FRAME_JUNO_REM_FA1 = -61085 FRAME_-61085_NAME = 'JUNO_REM_FA1' FRAME_-61085_CLASS = 4 FRAME_-61085_CLASS_ID = -61085 FRAME_-61085_CENTER = -61 TKFRAME_-61085_SPEC = 'ANGLES' TKFRAME_-61085_RELATIVE = 'JUNO_SPACECRAFT' TKFRAME_-61085_ANGLES = ( 10.000059, 0.000000, 90.000000 ) TKFRAME_-61085_AXES = ( 1, 2, 3 ) TKFRAME_-61085_UNITS = 'DEGREES' FRAME_JUNO_REM_FA2 = -61086 FRAME_-61086_NAME = 'JUNO_REM_FA2' FRAME_-61086_CLASS = 4 FRAME_-61086_CLASS_ID = -61086 FRAME_-61086_CENTER = -61 TKFRAME_-61086_SPEC = 'ANGLES' TKFRAME_-61086_RELATIVE = 'JUNO_SPACECRAFT' TKFRAME_-61086_ANGLES = ( -10.000059, 0.000000, -90.000000 ) TKFRAME_-61086_AXES = ( 1, 2, 3 ) TKFRAME_-61086_UNITS = 'DEGREES' FRAME_JUNO_REM_RL1 = -61091 FRAME_-61091_NAME = 'JUNO_REM_RL1' FRAME_-61091_CLASS = 4 FRAME_-61091_CLASS_ID = -61091 FRAME_-61091_CENTER = -61 TKFRAME_-61091_SPEC = 'ANGLES' TKFRAME_-61091_RELATIVE = 'JUNO_SPACECRAFT' TKFRAME_-61091_ANGLES = ( 157.990360, -76.551859, 22.568643 ) TKFRAME_-61091_AXES = ( 1, 2, 3 ) TKFRAME_-61091_UNITS = 'DEGREES' FRAME_JUNO_REM_RL2 = -61092 FRAME_-61092_NAME = 'JUNO_REM_RL2' FRAME_-61092_CLASS = 4 FRAME_-61092_CLASS_ID = -61092 FRAME_-61092_CENTER = -61 TKFRAME_-61092_SPEC = 'ANGLES' TKFRAME_-61092_RELATIVE = 'JUNO_SPACECRAFT' TKFRAME_-61092_ANGLES = ( -157.990349, -76.551858, -22.568654 ) TKFRAME_-61092_AXES = ( 1, 2, 3 ) TKFRAME_-61092_UNITS = 'DEGREES' FRAME_JUNO_REM_RL3 = -61093 FRAME_-61093_NAME = 'JUNO_REM_RL3' FRAME_-61093_CLASS = 4 FRAME_-61093_CLASS_ID = -61093 FRAME_-61093_CENTER = -61 TKFRAME_-61093_SPEC = 'ANGLES' TKFRAME_-61093_RELATIVE = 'JUNO_SPACECRAFT' TKFRAME_-61093_ANGLES = ( -157.990360, 76.551859, -157.431357 ) TKFRAME_-61093_AXES = ( 1, 2, 3 ) TKFRAME_-61093_UNITS = 'DEGREES' FRAME_JUNO_REM_RL4 = -61094 FRAME_-61094_NAME = 'JUNO_REM_RL4' FRAME_-61094_CLASS = 4 FRAME_-61094_CLASS_ID = -61094 FRAME_-61094_CENTER = -61 TKFRAME_-61094_SPEC = 'ANGLES' TKFRAME_-61094_RELATIVE = 'JUNO_SPACECRAFT' TKFRAME_-61094_ANGLES = ( 157.990349, 76.551858, 157.431346 ) TKFRAME_-61094_AXES = ( 1, 2, 3 ) TKFRAME_-61094_UNITS = 'DEGREES' FRAME_JUNO_REM_RA1 = -61095 FRAME_-61095_NAME = 'JUNO_REM_RA1' FRAME_-61095_CLASS = 4 FRAME_-61095_CLASS_ID = -61095 FRAME_-61095_CENTER = -61 TKFRAME_-61095_SPEC = 'ANGLES' TKFRAME_-61095_RELATIVE = 'JUNO_SPACECRAFT' TKFRAME_-61095_ANGLES = ( 169.999941, 0.000000, 90.000000 ) TKFRAME_-61095_AXES = ( 1, 2, 3 ) TKFRAME_-61095_UNITS = 'DEGREES' FRAME_JUNO_REM_RA2 = -61096 FRAME_-61096_NAME = 'JUNO_REM_RA2' FRAME_-61096_CLASS = 4 FRAME_-61096_CLASS_ID = -61096 FRAME_-61096_CENTER = -61 TKFRAME_-61096_SPEC = 'ANGLES' TKFRAME_-61096_RELATIVE = 'JUNO_SPACECRAFT' TKFRAME_-61096_ANGLES = ( -169.999941, 0.000000, -90.000000 ) TKFRAME_-61096_AXES = ( 1, 2, 3 ) TKFRAME_-61096_UNITS = 'DEGREES' \begintext Juno NAIF ID Codes -- Definitions ======================================================================== This section contains name to NAIF ID mappings for the JUNO mission. Once the contents of this file is loaded into the KERNEL POOL, these mappings become available within SPICE, making it possible to use names instead of ID code in the high level SPICE routine calls. Spacecraft: ----------- JUNO -61 JUNO -61 JUNO_SPACECRAFT -61000 JUNO_SPACECRAFT_BUS -61000 JUNO_SC_BUS -61000 Magnetometers and CHUs: ----------------------- JUNO_ASC_CHUD -61111 JUNO_ASC_CHUC -61112 JUNO_FGM_IB -61114 JUNO_ASC_CHUB -61121 JUNO_ASC_CHUA -61122 JUNO_FGM_OB -61124 JADE: ----- JUNO_JADE_E060 -61201 JUNO_JADE_E180 -61202 JUNO_JADE_E300 -61203 JUNO_JADE_I -61204 JEDI: ----- JUNO_JEDI_090 -61301 JUNO_JEDI_A180 -61302 JUNO_JEDI_270 -61303 JIRAM: ------ JUNO_JIRAM_I -61410 JUNO_JIRAM_I_LBAND -61411 JUNO_JIRAM_I_MBAND -61412 JUNO_JIRAM_S -61420 JUNOCAM: -------- JUNO_JUNOCAM -61500 JUNO_JUNOCAM_BLUE -61501 JUNO_JUNOCAM_GREEN -61502 JUNO_JUNOCAM_RED -61503 JUNO_JUNOCAM_METHANE -61504 MWR: ---- JUNO_MWR_A1 -61601 JUNO_MWR_A2 -61602 JUNO_MWR_A3 -61603 JUNO_MWR_A4 -61604 JUNO_MWR_A5 -61605 JUNO_MWR_A6 -61606 UVS: ---- JUNO_UVS_BASE -61700 JUNO_UVS -61701 WAVES: ------ JUNO_WAVES_MSC -61810 JUNO_WAVES_ANTENNA -61820 Solar Arrays: ------------- JUNO_SA1_HINGE -61010 JUNO_SA1 -61011 JUNO_SA2_HINGE -61020 JUNO_SA2 -61021 JUNO_SA3_HINGE -61030 JUNO_SA3 -61031 Antennas: --------- JUNO_HGA -61040 JUNO_MGA -61050 JUNO_LGA_FORWARD -61061 JUNO_LGA_AFT -61062 JUNO_LGA_TOROID -61063 ACS Sensors: ------------ JUNO_SRU1 -61071 JUNO_SRU2 -61072 JUNO_SSS1 -61073 JUNO_SSS2 -61074 Thrusters: ---------- JUNO_REM_FL1 -61081 JUNO_REM_FL2 -61082 JUNO_REM_FL3 -61083 JUNO_REM_FL4 -61084 JUNO_REM_FA1 -61085 JUNO_REM_FA2 -61086 JUNO_REM_RL1 -61091 JUNO_REM_RL2 -61092 JUNO_REM_RL3 -61093 JUNO_REM_RL4 -61094 JUNO_REM_RA1 -61095 JUNO_REM_RA2 -61096 The mappings summarized in this table are implemented by the keywords below. \begindata NAIF_BODY_NAME += ( 'JUNO' ) NAIF_BODY_CODE += ( -61 ) NAIF_BODY_NAME += ( 'JUNO' ) NAIF_BODY_CODE += ( -61 ) NAIF_BODY_NAME += ( 'JUNO_SPACECRAFT' ) NAIF_BODY_CODE += ( -61000 ) NAIF_BODY_NAME += ( 'JUNO_SPACECRAFT_BUS' ) NAIF_BODY_CODE += ( -61000 ) NAIF_BODY_NAME += ( 'JUNO_SC_BUS' ) NAIF_BODY_CODE += ( -61000 ) NAIF_BODY_NAME += ( 'JUNO_ASC_CHUD' ) NAIF_BODY_CODE += ( -61111 ) NAIF_BODY_NAME += ( 'JUNO_ASC_CHUC' ) NAIF_BODY_CODE += ( -61112 ) NAIF_BODY_NAME += ( 'JUNO_FGM_IB' ) NAIF_BODY_CODE += ( -61114 ) NAIF_BODY_NAME += ( 'JUNO_ASC_CHUB' ) NAIF_BODY_CODE += ( -61121 ) NAIF_BODY_NAME += ( 'JUNO_ASC_CHUA' ) NAIF_BODY_CODE += ( -61122 ) NAIF_BODY_NAME += ( 'JUNO_FGM_OB' ) NAIF_BODY_CODE += ( -61124 ) NAIF_BODY_NAME += ( 'JUNO_JADE_E060' ) NAIF_BODY_CODE += ( -61201 ) NAIF_BODY_NAME += ( 'JUNO_JADE_E180' ) NAIF_BODY_CODE += ( -61202 ) NAIF_BODY_NAME += ( 'JUNO_JADE_E300' ) NAIF_BODY_CODE += ( -61203 ) NAIF_BODY_NAME += ( 'JUNO_JADE_I' ) NAIF_BODY_CODE += ( -61204 ) NAIF_BODY_NAME += ( 'JUNO_JEDI_090' ) NAIF_BODY_CODE += ( -61301 ) NAIF_BODY_NAME += ( 'JUNO_JEDI_A180' ) NAIF_BODY_CODE += ( -61302 ) NAIF_BODY_NAME += ( 'JUNO_JEDI_270' ) NAIF_BODY_CODE += ( -61303 ) NAIF_BODY_NAME += ( 'JUNO_JIRAM_I' ) NAIF_BODY_CODE += ( -61410 ) NAIF_BODY_NAME += ( 'JUNO_JIRAM_I_LBAND' ) NAIF_BODY_CODE += ( -61411 ) NAIF_BODY_NAME += ( 'JUNO_JIRAM_I_MBAND' ) NAIF_BODY_CODE += ( -61412 ) NAIF_BODY_NAME += ( 'JUNO_JIRAM_S' ) NAIF_BODY_CODE += ( -61420 ) NAIF_BODY_NAME += ( 'JUNO_JUNOCAM' ) NAIF_BODY_CODE += ( -61500 ) NAIF_BODY_NAME += ( 'JUNO_JUNOCAM_BLUE' ) NAIF_BODY_CODE += ( -61501 ) NAIF_BODY_NAME += ( 'JUNO_JUNOCAM_GREEN' ) NAIF_BODY_CODE += ( -61502 ) NAIF_BODY_NAME += ( 'JUNO_JUNOCAM_RED' ) NAIF_BODY_CODE += ( -61503 ) NAIF_BODY_NAME += ( 'JUNO_JUNOCAM_METHANE' ) NAIF_BODY_CODE += ( -61504 ) NAIF_BODY_NAME += ( 'JUNO_MWR_A1' ) NAIF_BODY_CODE += ( -61601 ) NAIF_BODY_NAME += ( 'JUNO_MWR_A2' ) NAIF_BODY_CODE += ( -61602 ) NAIF_BODY_NAME += ( 'JUNO_MWR_A3' ) NAIF_BODY_CODE += ( -61603 ) NAIF_BODY_NAME += ( 'JUNO_MWR_A4' ) NAIF_BODY_CODE += ( -61604 ) NAIF_BODY_NAME += ( 'JUNO_MWR_A5' ) NAIF_BODY_CODE += ( -61605 ) NAIF_BODY_NAME += ( 'JUNO_MWR_A6' ) NAIF_BODY_CODE += ( -61606 ) NAIF_BODY_NAME += ( 'JUNO_UVS_BASE' ) NAIF_BODY_CODE += ( -61700 ) NAIF_BODY_NAME += ( 'JUNO_UVS' ) NAIF_BODY_CODE += ( -61701 ) NAIF_BODY_NAME += ( 'JUNO_WAVES_MSC' ) NAIF_BODY_CODE += ( -61810 ) NAIF_BODY_NAME += ( 'JUNO_WAVES_ANTENNA' ) NAIF_BODY_CODE += ( -61820 ) NAIF_BODY_NAME += ( 'JUNO_SA1_HINGE' ) NAIF_BODY_CODE += ( -61010 ) NAIF_BODY_NAME += ( 'JUNO_SA1' ) NAIF_BODY_CODE += ( -61011 ) NAIF_BODY_NAME += ( 'JUNO_SA2_HINGE' ) NAIF_BODY_CODE += ( -61020 ) NAIF_BODY_NAME += ( 'JUNO_SA2' ) NAIF_BODY_CODE += ( -61021 ) NAIF_BODY_NAME += ( 'JUNO_SA3_HINGE' ) NAIF_BODY_CODE += ( -61030 ) NAIF_BODY_NAME += ( 'JUNO_SA3' ) NAIF_BODY_CODE += ( -61031 ) NAIF_BODY_NAME += ( 'JUNO_HGA' ) NAIF_BODY_CODE += ( -61040 ) NAIF_BODY_NAME += ( 'JUNO_MGA' ) NAIF_BODY_CODE += ( -61050 ) NAIF_BODY_NAME += ( 'JUNO_LGA_FORWARD' ) NAIF_BODY_CODE += ( -61061 ) NAIF_BODY_NAME += ( 'JUNO_LGA_AFT' ) NAIF_BODY_CODE += ( -61062 ) NAIF_BODY_NAME += ( 'JUNO_LGA_TOROID' ) NAIF_BODY_CODE += ( -61063 ) NAIF_BODY_NAME += ( 'JUNO_SRU1' ) NAIF_BODY_CODE += ( -61071 ) NAIF_BODY_NAME += ( 'JUNO_SRU2' ) NAIF_BODY_CODE += ( -61072 ) NAIF_BODY_NAME += ( 'JUNO_SSS1' ) NAIF_BODY_CODE += ( -61073 ) NAIF_BODY_NAME += ( 'JUNO_SSS2' ) NAIF_BODY_CODE += ( -61074 ) NAIF_BODY_NAME += ( 'JUNO_REM_FL1' ) NAIF_BODY_CODE += ( -61081 ) NAIF_BODY_NAME += ( 'JUNO_REM_FL2' ) NAIF_BODY_CODE += ( -61082 ) NAIF_BODY_NAME += ( 'JUNO_REM_FL3' ) NAIF_BODY_CODE += ( -61083 ) NAIF_BODY_NAME += ( 'JUNO_REM_FL4' ) NAIF_BODY_CODE += ( -61084 ) NAIF_BODY_NAME += ( 'JUNO_REM_FA1' ) NAIF_BODY_CODE += ( -61085 ) NAIF_BODY_NAME += ( 'JUNO_REM_FA2' ) NAIF_BODY_CODE += ( -61086 ) NAIF_BODY_NAME += ( 'JUNO_REM_RL1' ) NAIF_BODY_CODE += ( -61091 ) NAIF_BODY_NAME += ( 'JUNO_REM_RL2' ) NAIF_BODY_CODE += ( -61092 ) NAIF_BODY_NAME += ( 'JUNO_REM_RL3' ) NAIF_BODY_CODE += ( -61093 ) NAIF_BODY_NAME += ( 'JUNO_REM_RL4' ) NAIF_BODY_CODE += ( -61094 ) NAIF_BODY_NAME += ( 'JUNO_REM_RA1' ) NAIF_BODY_CODE += ( -61095 ) NAIF_BODY_NAME += ( 'JUNO_REM_RA2' ) NAIF_BODY_CODE += ( -61096 ) \begintext