KPL/FK Mars'01 Orbiter Frames Kernel =============================================================================== This frame kernel contains complete set of frame definitions for the Mars'01 Orbiter (M01) spacecraft including definitions for the spacecraft fixed frame, high and low gain antenna frames and science instrument frames. Version and Date ------------------------------------------------------------------------------- Version 1.1 -- September 29, 2000 -- Boris Semenov, NAIF Corrected LGA frame orientation per Bill Adam's comment. Version 1.0 -- September 25, 2000 -- Boris Semenov, NAIF Initial Release: both instrument and antenna frame definitions are only place-holders. References ------------------------------------------------------------------------------- 1. ``Frames Required Reading'' 2. ``Kernel Pool Required Reading'' 3. ``C-Kernel Required Reading'' 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 SPICELIB routine LDPOOL loads a kernel file into the pool as shown below. CALL LDPOOL ( frame_kernel_name ) This file was created and may be updated with a text editor or word processor. M01 Frames ------------------------------------------------------------------------------- The following M01 frames are defined in this kernel file: Name Relative to Type NAIF ID ====================== =================== ============ ======= Spacecraft frame: ----------------- M01_SPACECRAFT rel.to J2000 CK -53000 Science Instrument frames: -------------------------- M01_GRS_HEAD rel.to SPACECRAFT CK -53021 M01_GRS_HEND rel.to SPACECRAFT FIXED -53022 M01_GRS_NS rel.to SPACECRAFT FIXED -53023 M01_THEMIS rel.to SPACECRAFT FIXED -53030 M01_THEMIS_IR rel.to THEMIS FIXED -53031 M01_THEMIS_VIS rel.to THEMIS FIXED -53032 M01_MARIE rel.to SPACECRAFT FIXED -53040 Antenna frames: ----------------- M01_HGA_HINGE rel.to SPACECRAFT CK -53210 M01_HGA_INNER_GIMBAL rel.to HGA_HINGE CK -53211 M01_HGA_OUTER_GIMBAL rel.to HGA_INNER_GIM CK -53212 M01_HGA_DEPLOYED rel.to HGA_OUTER_GIM FIXED -53213 M01_MGA_DEPLOYED rel.to HGA_DEPLOYED FIXED -53214 M01_HGA_STOWED rel.to SPACECRAFT FIXED -53223 M01_MGA_STOWED rel.to HGA_STOWED FIXED -53224 M01_LGA rel.to SPACECRAFT FIXED -53230 M01 Frames Hierarchy ------------------------------------------------------------------------------- The diagram below shows M01 frames hierarchy: "J2000" INERTIAL +------------------------------------------------------------+ | | | | <--pck | <--ck | | | | <--pck V | V "IAU_MARS" | "IAU_EARTH" MARS BFR(*) | EARTH BFR(*) ----------- | ------------ | | | "M01_MGA_DEPLOYED" | ------------------ | ^ | | | fixed--> | | | | "M01_HGA_DEPLOYED | ------------------ | ^ | | | fixed--> | | | | "M01_HGA_OUTER_GIMBAL" | ---------------------- | ^ | | | ck--> | | | | "M01_HGA_INNER_GIMBAL" | ---------------------- | ^ | | | ck--> | | | | "M01_HGA_HINGE" | --------------- | | | | | "M01_MGA_STOWED" | | ---------------- | | ^ | | | | | fixed--> | | | | | "M01_LGA" | "M01_HGA_STOWED" | --------- | ---------------- | | | ^ | | <--fixed | fixed--> | ck--> | | | | | | "M01_SPACECRAFT" | | +------------------------------------------------------------+ | | | | | | <--fixed | <--fixed | <--ck | <--fixed | <--fixed | | | | | V V V V V "M01_MARIE" "M01_THEMIS" "M01_GRS_HEAD" "M01_GRS_HEND" "M01_GRS_NS" ----------- +------------+ -------------- ------------- ------------ | | | <--fixed | <--fixed | | V V M01_THEMIS_IR" "M01_THEMIS_VIS" -------------- ---------------- (*) BFR -- body-fixed rotating frame Spacecraft Bus Frame ------------------------------------------------------------------------------- (S/C bus frame description TBD) The following frame definition is for the basic spacecraft bus frame. Spacecraft bus attitude with respect to an inertial frame is provided by a C kernel (see [3] for more information). \begindata FRAME_M01_SPACECRAFT = -53000 FRAME_-53000_NAME = 'M01_SPACECRAFT' FRAME_-53000_CLASS = 3 FRAME_-53000_CLASS_ID = -53000 FRAME_-53000_CENTER = -53 CK_-53000_SCLK = -53 CK_-53000_SPK = -53 \begintext M01 Science Instrument Frames ------------------------------------------------------------------------------- This section contains frame definitions for M01 science instruments -- GRS, THEMIS and MARIE. GRS Frames ----------- (GRS frames are TBD. Definitions below are place-holders specifying orientation for all of the GRS frames to be the same as of the s/c frame) \begindata FRAME_M01_GRS_HEAD = -53021 FRAME_-53021_NAME = 'M01_GRS_HEAD' FRAME_-53021_CLASS = 3 FRAME_-53021_CLASS_ID = -53021 FRAME_-53021_CENTER = -53 CK_-53021_SCLK = -53 CK_-53021_SPK = -53 \begintext \begindata FRAME_M01_GRS_HEND = -53022 FRAME_-53022_NAME = 'M01_GRS_HEND' FRAME_-53022_CLASS = 4 FRAME_-53022_CLASS_ID = -53022 FRAME_-53022_CENTER = -53 TKFRAME_-53022_SPEC = 'ANGLES' TKFRAME_-53022_RELATIVE = 'M01_SPACECRAFT' TKFRAME_-53022_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-53022_AXES = ( 1, 2, 3 ) TKFRAME_-53022_UNITS = 'DEGREES' \begintext \begindata FRAME_M01_GRS_NS = -53023 FRAME_-53023_NAME = 'M01_GRS_NS' FRAME_-53023_CLASS = 4 FRAME_-53023_CLASS_ID = -53023 FRAME_-53023_CENTER = -53 TKFRAME_-53023_SPEC = 'ANGLES' TKFRAME_-53023_RELATIVE = 'M01_SPACECRAFT' TKFRAME_-53023_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-53023_AXES = ( 1, 2, 3 ) TKFRAME_-53023_UNITS = 'DEGREES' \begintext THEMIS Frames ------------- (THEMIS frames are TBD. Definitions below are place-holders specifying orientation for all of the THEMIS frames to be the same as of the s/c frame) \begindata FRAME_M01_THEMIS = -53030 FRAME_-53030_NAME = 'M01_THEMIS' FRAME_-53030_CLASS = 4 FRAME_-53030_CLASS_ID = -53030 FRAME_-53030_CENTER = -53 TKFRAME_-53030_SPEC = 'ANGLES' TKFRAME_-53030_RELATIVE = 'M01_SPACECRAFT' TKFRAME_-53030_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-53030_AXES = ( 1, 2, 3 ) TKFRAME_-53030_UNITS = 'DEGREES' \begintext \begindata FRAME_M01_THEMIS_IR = -53031 FRAME_-53031_NAME = 'M01_THEMIS_IR' FRAME_-53031_CLASS = 4 FRAME_-53031_CLASS_ID = -53031 FRAME_-53031_CENTER = -53 TKFRAME_-53031_SPEC = 'ANGLES' TKFRAME_-53031_RELATIVE = 'M01_THEMIS' TKFRAME_-53031_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-53031_AXES = ( 1, 2, 3 ) TKFRAME_-53031_UNITS = 'DEGREES' \begintext \begindata FRAME_M01_THEMIS_VIS = -53032 FRAME_-53032_NAME = 'M01_THEMIS_VIS' FRAME_-53032_CLASS = 4 FRAME_-53032_CLASS_ID = -53032 FRAME_-53032_CENTER = -53 TKFRAME_-53032_SPEC = 'ANGLES' TKFRAME_-53032_RELATIVE = 'M01_THEMIS' TKFRAME_-53032_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-53032_AXES = ( 1, 2, 3 ) TKFRAME_-53032_UNITS = 'DEGREES' \begintext MARIE Frame ----------- (MARIE frame is TBD. Definition below is a placeholder specifying orientation of the MARIE frame to be the same as of the s/c frame) \begindata FRAME_M01_MARIE = -53040 FRAME_-53040_NAME = 'M01_MARIE' FRAME_-53040_CLASS = 4 FRAME_-53040_CLASS_ID = -53040 FRAME_-53040_CENTER = -53 TKFRAME_-53040_SPEC = 'ANGLES' TKFRAME_-53040_RELATIVE = 'M01_SPACECRAFT' TKFRAME_-53040_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-53040_AXES = ( 1, 2, 3 ) TKFRAME_-53040_UNITS = 'DEGREES' \begintext M01 Antenna Frames ------------------------------------------------------------------------------- This section contains frame definitions for M01 antennas -- HGA, MGA and LGA -- in stowed and deployed positions. High Gain Antenna ----------------- In stowed position High Gain Antenna (HGA) points approximately along S/C +X axis. \begindata FRAME_M01_HGA_STOWED = -53223 FRAME_-53223_NAME = 'M01_HGA_STOWED' FRAME_-53223_CLASS = 4 FRAME_-53223_CLASS_ID = -53223 FRAME_-53223_CENTER = -53 TKFRAME_-53223_SPEC = 'ANGLES' TKFRAME_-53223_RELATIVE = 'M01_SPACECRAFT' TKFRAME_-53223_ANGLES = ( 0.0, -90.0, 0.0 ) TKFRAME_-53223_AXES = ( 3, 2, 1 ) TKFRAME_-53223_UNITS = 'DEGREES' \begintext In deployed position HGA has two degrees of freedom and its orientation is controlled by two independent gimbals. \begindata FRAME_M01_HGA_HINGE = -53210 FRAME_-53210_NAME = 'M01_HGA_HINGE' FRAME_-53210_CLASS = 3 FRAME_-53210_CLASS_ID = -53210 FRAME_-53210_CENTER = -53 CK_-53210_SCLK = -53 CK_-53210_SPK = -53 FRAME_M01_HGA_INNER_GIMBAL = -53211 FRAME_-53211_NAME = 'M01_HGA_INNER_GIMBAL' FRAME_-53211_CLASS = 3 FRAME_-53211_CLASS_ID = -53211 FRAME_-53211_CENTER = -53 CK_-53211_SCLK = -53 CK_-53211_SPK = -53 FRAME_M01_HGA_OUTER_GIMBAL = -53212 FRAME_-53212_NAME = 'M01_HGA_OUTER_GIMBAL' FRAME_-53212_CLASS = 3 FRAME_-53212_CLASS_ID = -53212 FRAME_-53212_CENTER = -53 CK_-53212_SCLK = -53 CK_-53212_SPK = -53 FRAME_M01_HGA_DEPLOYED = -53213 FRAME_-53213_NAME = 'M01_HGA_DEPLOYED' FRAME_-53213_CLASS = 4 FRAME_-53213_CLASS_ID = -53213 FRAME_-53213_CENTER = -53 TKFRAME_-53213_SPEC = 'ANGLES' TKFRAME_-53213_RELATIVE = 'M01_HGA_OUTER_GIMBAL' TKFRAME_-53213_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-53213_AXES = ( 3, 2, 1 ) TKFRAME_-53213_UNITS = 'DEGREES' \begintext Medium Gain Antenna ------------------- The MGA1 is mounted on the HGA and points in the same direction as the HGA (in stowed configuration approximately along S/C +X axis.) \begindata FRAME_M01_MGA_STOWED = -53224 FRAME_-53224_NAME = 'M01_MGA_STOWED' FRAME_-53224_CLASS = 4 FRAME_-53224_CLASS_ID = -53224 FRAME_-53224_CENTER = -53 TKFRAME_-53224_SPEC = 'ANGLES' TKFRAME_-53224_RELATIVE = 'M01_HGA_STOWED' TKFRAME_-53224_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-53224_AXES = ( 3, 2, 1 ) TKFRAME_-53224_UNITS = 'DEGREES' \begintext \begindata FRAME_M01_MGA_DEPLOYED = -53214 FRAME_-53214_NAME = 'M01_MGA_DEPLOYED' FRAME_-53214_CLASS = 4 FRAME_-53214_CLASS_ID = -53214 FRAME_-53214_CENTER = -53 TKFRAME_-53214_SPEC = 'ANGLES' TKFRAME_-53214_RELATIVE = 'M01_HGA_DEPLOYED' TKFRAME_-53214_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-53214_AXES = ( 3, 2, 1 ) TKFRAME_-53214_UNITS = 'DEGREES' \begintext Low Gain Antenna ---------------- The Low Gain Antenna (LGA) boresight is 45 degrees from +X towards -Z in the spacecraft frame, or exactly between the +X and -Z axes (0.7071,0,-0.7071). \begindata FRAME_M01_LGA = -53230 FRAME_-53230_NAME = 'M01_LGA' FRAME_-53230_CLASS = 4 FRAME_-53230_CLASS_ID = -53230 FRAME_-53230_CENTER = -53 TKFRAME_-53230_SPEC = 'ANGLES' TKFRAME_-53230_RELATIVE = 'M01_SPACECRAFT' TKFRAME_-53230_ANGLES = ( 0.0, -135.0, 0.0 ) TKFRAME_-53230_AXES = ( 3, 2, 1 ) TKFRAME_-53230_UNITS = 'DEGREES' \begintext