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 s/c fixed frame, high and low gain antenna frames and science instrument frames. Important Note ------------------------------------------------------------------------------- The instrument frame orientations provided in this version of the FK file are based on the alignment data from PRE-LAUNCH calibration reports and/or NOMINAL instrument design documents (excepting the preliminary in-flight calibrated value of the THEMIS IR and VIS yaw rotations.) While the PRE-LAUNCH and NOMINAL values give a good approximation of the instrument's orientation, they should be replaced with the more accurate IN-FLIGHT calibrated values to achieve correct instrument pointing computations, especially for high-resolution instruments such as THEMIS. Unfortunately, the complete set of IN-FLIGHT calibrated geometric instrument models was not available at the time when this FK was released. As soon as such data become available, the FK will be updated to incorporate it. Version and Date ------------------------------------------------------------------------------- Version 2.6 -- June 2, 2003 -- Boris Semenov, NAIF Fixed typos found by Jim Torson. Version 2.5 -- March 25, 2003 -- Boris Semenov, NAIF Replaced rotation about +Z ("yaw rotation") in the ``M01_THEMIS_IR'' and ``M01_THEMIS_VIS'' frame definitions with the improved offset values determined by Jim Torson, USGS. Current values are -0.672 for IR and -0.25 for VIS. Version 2.4 -- September 25, 2002 -- Boris Semenov, NAIF Replaced nominal 0-degree rotation about +Z ("yaw rotation") in the ``M01_THEMIS_IR'' frame definition with the offset determined from the early mapping image analysis by Jim Torson, U.S. Geological Survey, Flagstaff, AZ. Version 2.3 -- August 8, 2001 -- Boris Semenov, NAIF Corrected MATRIX assignment in the M01_HGA_BOOM definition. Version 2.2 -- August 7, 2001 -- Boris Semenov, NAIF Added name-NAIF ID code mapping section at the end of the file. Version 2.1 -- May 17, 2001 -- Boris Semenov, NAIF Added X-band pattern based companion frame for each of the HGA and MGA frames. Version 2.0 -- March 5, 2001 -- Boris Semenov, NAIF Described s/c, antenna and instrument frames. Filled in instrument frame alignment (except THEMIS) using nominal SIS data. Filled in THEMIS final pre-launch alignments. Added solar array frames. 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'' 4. ``GRS ICD'', MSP01-98-0014, June 24, 1999 5. ``THEMIS ICD'', MSP01-97-0008, June 10, 1999 6. ``MARIE ICD'', MSP01-98-0016, June 23, 1999 7. ``MSP01 Orbiter Pointing and Alignment Criteria'', MSP01-98-0096, June 7, 1999 8. ``Mars Surveyor Program '01 Orbiter. AACS Hardware Coordinate Frame Definitions and transformations'', Rev. 3, 11/30/99 9. Final Launch Site THEMIS Alignment Verification Spreadsheet, 01/20/01 (provided by Carl Kloss) 10. E-mail exchange with R.Tung & B.Adams, M01 Telecom, re. HGA and MGA X-band pattern-based frames 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_STOWED rel.to SPACECRAFT FIXED -53020 M01_GRS_HEAD_DEPLOYED rel.to SPACECRAFT FIXED -53021 M01_GRS_HEAD_COOLER rel.to GRS_HEAD_DEP. FIXED -53024 M01_GRS_HEND rel.to SPACECRAFT FIXED -53022 M01_GRS_NS rel.to SPACECRAFT FIXED -53023 M01_THEMIS_OPTICS 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_BOOM rel.to SPACECRAFT FIXED -53210 M01_HGA_INNER_GIMBAL rel.to HGA_BOOM 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_X_DEPLOYED rel.to HGA_DEPLOYED FIXED -53215 M01_MGA_X_DEPLOYED rel.to MGA_DEPLOYED FIXED -53216 M01_HGA_STOWED rel.to SPACECRAFT FIXED -53223 M01_MGA_STOWED rel.to HGA_STOWED FIXED -53224 M01_HGA_X_STOWED rel.to HGA_STOWED FIXED -53225 M01_MGA_X_STOWED rel.to MGA_STOWED FIXED -53226 M01_LGA rel.to SPACECRAFT FIXED -53230 Solar Array frames: ------------------- M01_SA_INNER_GIMBAL rel.to SPACECRAFT CK -53311 M01_SA_OUTER_GIMBAL rel.to SA_INNER_GIM CK -53312 M01_SA_DEPLOYED rel.to SA_OUTER_GIM FIXED -53313 M01_SA_STOWED rel.to SPACECRAFT FIXED -53323 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_X_DEPLOYED" | -------------------- | ^ | | | | <--fixed | | | | "M01_MGA_DEPLOYED" | ------------------ | ^ | | | | <--fixed | | | | "M01_HGA_X_DEPLOYED" | | ------------------- | | ^ | | | | | fixed--> | | | | "M01_SA_DEPLOYED" | | "M01_HGA_DEPLOYED" ----------------- | +------------------------ ^ | ^ | | | | <--fixed | fixed--> | | | | "M01_SA_OUTER_GIMBAL" | "M01_HGA_OUTER_GIMBAL" --------------------- | ---------------------- ^ | ^ | | | | <--ck | ck--> | | | | "M01_SA_INNER_GIMBAL" | "M01_HGA_INNER_GIMBAL" --------------------- | ---------------------- ^ | ^ | | | | <--ck | ck--> | | | | | | "M01_HGA_BOOM" | | -------------- | | | | | | | | "M01_MGA_X_STOWED" | | | ------------------ | | | ^ | | | | | | | | <--fixed | | | | | | | "M01_MGA_STOWED" | | | ---------------- | | | ^ | | | | | | | | <--fixed | | | | | | "M01_SA_STOWED" | | "M01_HGA_X_STOWED" | | --------------- | | ------------------ | | ^ | | ^ | | | | | | | | | <--fixed | | | <--fixed | | | | | | | | | "M01_LGA" | | "M01_HGA_STOWED" | | | --------- | +-------------------- | | | ^ | ^ | | | | <--fixed | fixed--> | ck--> | | | | | | | | | | "M01_SPACECRAFT" | | +------------------------------------------------------------+ | | | | | | | <--fixed | | | | | | | | | | | V | | | | | "M01_MARIE" | | | | | ----------- | | | | | | <--fixed | | | | | | | | | V | | | | "M01_THEMIS_OPTICS" | | | | +-----------------+ | | | | | | | | | | | <--fixed | <--fixed | | | | | | | | | | V V | | | | M01_THEMIS_IR" "M01_THEMIS_VIS" | | | | -------------- ---------------- | | | | | | | | | | | | fixed--> | | fixed--> | | | | | | V | V | "M01_GRS_HEND" | "M01_GRS_NS" | -------------- | ------------ | | | | <--fixed | <--fixed | | V V "M01_GRS_HEAD_STOWED" "M01_GRS_HEAD_DEPLOYED" --------------------- ----------------------- | | <--fixed | V "M01_GRS_HEAD_COOLER" --------------------- (*) BFR -- body-fixed rotating frame Spacecraft Bus Frame ------------------------------------------------------------------------------- The spacecraft frame (or AACS control frame) is defined by the s/c design as follows [from 8]: - X axis is parallel to stowed high gain antenna boresight; - Y axis is normal to stowed solar arrays; - Z axis is in the direction of the main engine thrust; - the origin of the frame is centered on the launch vehicle separation plane. (In [8] this frame is designated as "M" frame.) 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_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 (GRS Sensor Head, NS & HEND), THEMIS (IR & VIS) and MARIE. GRS Frames ----------- The Gamma Ray Spectrometer (GRS) Sensor Head is mounted on the deployable boom attached to center of the science deck. Its orientation in both stowed and deployed configurations is constant with respect to the spacecraft and, therefore, its frames for both configurations are a fixed offset frames with orientation specified with respect to the spacecraft frame. The axes of the M01_GRS_HEAD_STOWED and M01_GRS_HEAD_DEPLOYED frames are defined by the instrument design as follows [see 4]: - Z axis is perpendicular to the head sensor mounting plate and points from the plate towards the opposite side of the instrument (nominally, this axis points in the same direction as the spacecraft +Z axis) - X axis is perpendicular to the +Z axis and is parallel to the plane containing +Z axis and the cooler symmetry axis (nominally, this axis is rotated by -17 degrees from spacecraft +X axis about spacecraft +Z axis) - Y axis complements to the right hand frame (nominally, this axis is rotated by -17 degrees from spacecraft +Y axis about spacecraft +Z axis); - the origin of this frame is located at the geometric center of the sensor head. This diagram illustrates orientation of GRS sensor head frame (labeled "grs"): _______________ HGA \ / .. `._________.' Science || .___ +Xsc _ +Xgrs Science Orbit ||+Ygrs ^ ^ | Deck Velocity || | ^ | / | ^. || | `. _|_/ | `. || | `/ |/| | `. ||@| <--.--o /+Zsc | || +Ysc `._/ +Zgrs| (out of page) || | | || | Science Deck | Solar || ._______________. Array .. / / / V Nadir Nominally, the GRS sensor head frames are rotated with respect to the spacecraft frame by -17 degrees about spacecraft +Z axis [see 4]: grs M = | 0.0 | * | 0.0 | * | -17.0 | sc X Y Z (The frame definitions below contains the opposite of this rotation because Euler angles specified in it define transformation from GRS head frames to s/c frame -- see [1].) \begindata FRAME_M01_GRS_HEAD_STOWED = -53020 FRAME_-53020_NAME = 'M01_GRS_HEAD_STOWED' FRAME_-53020_CLASS = 4 FRAME_-53020_CLASS_ID = -53020 FRAME_-53020_CENTER = -53 TKFRAME_-53020_SPEC = 'ANGLES' TKFRAME_-53020_RELATIVE = 'M01_SPACECRAFT' TKFRAME_-53020_ANGLES = ( 0.0, 0.0, 17.0 ) TKFRAME_-53020_AXES = ( 1, 2, 3 ) TKFRAME_-53020_UNITS = 'DEGREES' FRAME_M01_GRS_HEAD_DEPLOYED = -53021 FRAME_-53021_NAME = 'M01_GRS_HEAD_DEPLOYED' FRAME_-53021_CLASS = 4 FRAME_-53021_CLASS_ID = -53021 FRAME_-53021_CENTER = -53 TKFRAME_-53021_SPEC = 'ANGLES' TKFRAME_-53021_RELATIVE = 'M01_SPACECRAFT' TKFRAME_-53021_ANGLES = ( 0.0, 0.0, 17.0 ) TKFRAME_-53021_AXES = ( 1, 2, 3 ) TKFRAME_-53021_UNITS = 'DEGREES' \begintext The axes of the M01_GRS_HEAD_COOLER frame are defined by the instrument design as follows: - Z axis is parallel to and points in the same direction as the cooler FOV symmetry axis (nominally, this axis is rotated by +57 degrees from +Z axis of the GRS sensor head frame about +Y axis) - Y axis is parallel to and points in the same direction as the GRS sensor head +Y axis; - X axis complements to the right hand frame (nominally, this axis is rotated by +57 degrees from +X axis of the GRS sensor head frame about +Y axis) - the origin of this frame is located at the geometric center of the sensor head. Nominally, the GRS cooler frame is rotated with respect to the GRS sensor head frame by +57 degrees about sensor head frame +Y axis. The diagram below illustrates this: ^ +Zhead, +Zsc | | 57 deg | /\ |/ \ .> +Zcooler | \ . ' /| \ ' 33 deg +Yhead \| . ' \ +Ycooler x'---------------> +Xhead (into page) \_______o_ .____\______.\\ ._____\_____. \\ |`. \ | \\ | ` v | \\ | +Xcooler \\ Coller door (open) |'----- | - |`. .'| | `.' | | .' `. | |'-----`| |`. .'| In the definition below, the GRS cooler frame orientation is given with respect to the M01_GRS_HEAD_DEPLOYED frame. (The frame definitions below contains the opposite of this rotation because Euler angles specified in it define transformation from cooler frame to head frame -- see [1].) \begindata FRAME_M01_GRS_HEAD_COOLER = -53024 FRAME_-53024_NAME = 'M01_GRS_HEAD_COOLER' FRAME_-53024_CLASS = 4 FRAME_-53024_CLASS_ID = -53024 FRAME_-53024_CENTER = -53 TKFRAME_-53024_SPEC = 'ANGLES' TKFRAME_-53024_RELATIVE = 'M01_GRS_HEAD_DEPLOYED' TKFRAME_-53024_ANGLES = ( 0.0, -57.0, 0.0 ) TKFRAME_-53024_AXES = ( 1, 2, 3 ) TKFRAME_-53024_UNITS = 'DEGREES' \begintext The High Energy Neutron Detector (HEND) is mounted on the -Y side of the science deck. Its orientation is constant with respect to the spacecraft and, therefore, its frame is a fixed offset frame with orientation specified with respect to the spacecraft frame. The axes of the M01_GRS_HEND frame are defined by the instrument design as follows [see 4]: - Z axis is perpendicular to the instrument mounting plate and points from this plate towards the opposite side of the instrument (nominally, this axis is co-aligned with the spacecraft +Z axis); - X axis is perpendicular to +Z axis and points towards [TBD] (nominally, this axis is co-aligned with the spacecraft +X axis); - Y axis complements to the right hand frame (nominally, this axis is co-aligned with the spacecraft +Y axis); - the origin of this frame is located at the geometric center of the instrument. This diagram illustrates orientation of HEND frame [see 4]: _______________ HGA \ / .. `._________.' ^+Xhend Science || ._______________. | Orbit || | ^+Xsc |._. Velocity || | | |||| ^. || | | +Yhend_.|| `. || | | <-|---o| +Zhend `. ||@| <-----o .__ _. (out of page) || +Ysc +Zsc | || | (out of | HEND || | page) | Solar || ._______________. Array .. Science Deck / / / V Nadir Since nominally axes of the spacecraft frame and HEND frame are co-aligned, no rotations are needed to transform one frame into the other. (The frame definition below contains the opposite of this rotation because Euler angles specified in it define transformation from HEND to s/c frame -- see [1].) \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 The Neutron Spectrometer (NS) is mounted on the -X side of the science deck. Its orientation is constant with respect to the spacecraft and, therefore, its frame is a fixed offset frame with orientation specified with respect to the spacecraft frame. The axes of the M01_GRS_NS frame are defined by the instrument design as follows [see 4]: - Z axis is along the instrument central axis and points from the instrument edge by it is mounted to the deck (nominally, this axis is co-aligned with the spacecraft +Z axis); - X axis is perpendicular to +Z axis and points towards the edge by which the instrument is mounted to the deck (nominally, it points in the direction opposite to science orbit nadir direction); - Y axis complements to the right hand frame (nominally it points in the direction of science orbit velocity); - the origin of this frame is located at the geometric center of the instrument. This diagram illustrates orientation of NS frame: _______________ HGA \ / Science .. `._________.' Orbit || ._______________. Velocity || | ^+Xsc | Science Deck ^. || | | | `. || | | | `. || +Ysc | | ||@| <-----o +Zsc (out of page) || | | || | | || | ^+Xns | Solar || .________/______. Array .. ^. .___/ +Yns`. /| |`o | +Zns (out of page) .___. / / / V Nadir Nominally, a single rotation of -17 degrees about s/c +Z axis is needed to align spacecraft frame axes with the NS frame axes [see 4]. (The frame definition below contains the opposite of this rotation because Euler angles specified in it define transformation from NS to s/c frame -- see [1].) \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, 17.0 ) TKFRAME_-53023_AXES = ( 1, 2, 3 ) TKFRAME_-53023_UNITS = 'DEGREES' \begintext THEMIS Frames ------------- The Thermal Emission Imaging System (THEMIS) is mounted on the -X/-Y corner of the science deck. Its orientation is constant with respect to the spacecraft and, therefore, its optics frame is a fixed offset frame with orientation specified with respect to the spacecraft frame. The axes of the M01_THEMIS_OPTICS frame are defined by the instrument design as follows [see 4,9]: - X axis is parallel to the instrument optics boresight and points in the direction opposite (!) to the instrument boresight direction. (nominally, this axis is rotated by -17 degrees from spacecraft +X axis about spacecraft +Z axis) - Z axis is perpendicular to the instrument mounting plate and points from this plate towards the opposite side of the instrument (nominally, this axis is parallel to and points in the same direction as the spacecraft +Z axis); - Y axis complements to the right hand frame (nominally, this axis is rotated by -17 degrees from spacecraft +Y axis about spacecraft +Z axis); - the origin of this frame is located at the geometric center of the instrument. This diagram illustrates orientation of THEMIS Optics frame (labeled "to"): _______________ HGA \ / .. `._________.' Science || ._______________. Science Orbit || | ^+Xsc | Deck Velocity || | | | ^. || | | | `. || | +Zsc| | ^ `. ||@| <-----o |/ +Xto || +Ysc ^. / || | +Yto `. _/_. || | /`o +Zto (out of page) Solar || .__________/ | Array .. / /._. / / / `. / / / ` / / V V THEMIS Boresight Nadir Nominally, THEMIS Optics frame is rotated with respect to the spacecraft frame by -17 degrees about spacecraft +Z axis [see 4]: to M = | 0.0 | * | 0.0 | * | -17.0 | sc X Y Z Actual THEMIS optics frame axis directions, as measured during final pre-launch calibration with respect to the spacecraft frame axes and provided in [9], are: Xto = | 0.956737 -0.290952 0.001068 | Yto = | 0.290953 0.956737 -0.000415 | Zto = | -0.000901 0.000707 0.999999 | A matrix rotating vectors from the spacecraft frame to the THEMIS optics frame can be constructed from these directions as follows: to | 0.956737 0.290953 -0.000901 | M = | -0.290952 0.956737 0.000707 | sc | 0.001068 -0.000415 0.999999 | This matrix corresponds to the following combination of rotation angles: to M = | -0.02377777 | * | -0.06119193 | * | -16.91497745 | sc X Y Z Note that these rotation angles approximately agree in magnitude and direction with the THEMIS optical frame axes offset angles (AZ and EL) measured during calibration and provided in [9]. (The frame definition below contains the opposite of this rotation because Euler angles specified in it define transformation from THEMIS optics to s/c frame -- see [1].) \begindata FRAME_M01_THEMIS_OPTICS = -53030 FRAME_-53030_NAME = 'M01_THEMIS_OPTICS' 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 = ( 16.91497745, 0.06119193, 0.02377777 ) TKFRAME_-53030_AXES = ( 3, 2, 1 ) TKFRAME_-53030_UNITS = 'DEGREES' \begintext The axes of the M01_THEMIS_IR and M01_THEMIS_VIS frames are defined along the lines of standard image frame convention: - Z axis is along the instrument boresight (nominally, it points in the direction opposite to the +X axis of the THEMIS optics frame); - X axis is along the instrument CCD lines (nominally, it points in the same direction as the +Z axis of the THEMIS optics frame); - Y axis is perpendicular to the instrument CCD lines and complements to the right hand frame (nominally, it points in the same direction as the +Y axis of the THEMIS optics frame); - the origin of this frame is located at the geometric center of the instrument. This diagram illustrates orientation of THEMIS IR and VIS frames (labeled "ir" and "vis"): _______________ HGA \ / .. `._________.' Science || ._______________. Science Orbit || | ^+Xsc | Deck Velocity || | | | ^. || | | | `. || | +Zsc| | ^ `. ||@| <-----o |/ +Xto || +Ysc ^. / || | +Yto `. _/_. || | +Yir /`o +Zto (out of page) Solar || .____+Yvis_/ / +Xir Array .. / / /.+Xvis / / / / `/ / / / ` / / V V +Zir Nadir +Zvis THEMIS Boresight Nominally, THEMIS IR and VIS frames are rotated with respect to the THEMIS optics frame by -90 degrees about THEMIS optics frame +Y axis: ir/vis M = | 0.0 | * | -90.0 | * | 0.0 | to X Y Z As part of the mapping image analysis carried out in March-July 2002, Jim Torson, USGS determined that the actual IR detector rotation about +Z ("yaw rotation") is 0.572 degrees. Although the other two offsets -- about X and Y -- are not yet available, the value for Z rotation is provided in the 'M01_THEMIS_IR' definition below. Additional analysis by Jim Torson done during the fall of 2002 resulted in the IR detector rotation about +Z of 0.672 degrees and the VIS detector rotation about +Z of 0.25 degrees. These offsets are provided in the definitions below; the offsets about the other two axes are still not available. (The frame definitions below contain the opposite of this rotation because Euler angles specified in it define transformation from THEMIS IR/VIS to optics frame -- see [1].) \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_OPTICS' TKFRAME_-53031_ANGLES = ( 0.0, 90.0, -0.672 ) TKFRAME_-53031_AXES = ( 1, 2, 3 ) TKFRAME_-53031_UNITS = 'DEGREES' 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_OPTICS' TKFRAME_-53032_ANGLES = ( 0.0, 90.0, -0.25 ) TKFRAME_-53032_AXES = ( 1, 2, 3 ) TKFRAME_-53032_UNITS = 'DEGREES' \begintext MARIE Frame ----------- The Mars Radiation Environment Experiment (MARIE) is mounted on the -Y side of the propulsion unit deck. Its orientation is constant with respect to the spacecraft and, therefore, its frame is a fixed offset frame with orientation specified with respect to the spacecraft frame. The axes of the M01_MARIE frame are defined by the instrument design as follows [see 6]: - Y axis is parallel to the instrument FOV central axis and points in the direction opposite to the FOV direction (nominally, this axis is co-aligned with the spacecraft +Y axis); - Z axis is perpendicular to +Y axis and instrument mounting plate and points from mounting plate towards the opposite side of the instrument enclosure (nominally, this axis is co-aligned with the spacecraft +Z axis); - X axis complements to the right hand frame (nominally, this axis is co-aligned with the spacecraft +X axis); - the origin of this frame is located at the instrument FOV focal point. This diagram illustrates orientation of MARIE frame: _______________ HGA \ / .. `._________.' Science || ._______________.Science deck Orbit || | ^+Xsc | Velocity || | | | ^. || | | ^+Xmarie .' MARIE FOV `. || | |+Zsc /|| .' (68 deg cone) `. ||@| <-----o ..'._|_. .' || +Ysc / | | |.' || | _.' <----o o--------> MARIE FOV || | _.' +Ymarie _.`. boresight Solar || ..'_____________. `. Array .. Bottom Deck `. `. / / --------> / Aerobraking V Nadir Velocity Since nominally axes of the spacecraft frame and MARIE frame are co-aligned, no rotations are needed to transform one frame into the other. (The frame definition below contains the opposite of this rotation because Euler angles specified in it define transformation from MARIE to s/c frame -- see [1].) \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 ----------------- Both HGA boresight frames -- M01_HGA_STOWED and M01_HGA_DEPLOYED -- are defined by antenna design as follows: - Z axis is along the HGA reflector central symmetry axis (boresight axis) and points from the reflector surface towards the feed horn (in stowed configuration it points along the s/c +X axis); - Y axis is parallel to the outer gimbal rotation axis and points from the gimbal towards the antenna center; - X axis complements to the right hand frame; - the origin of this frame is located at the intersection of the antenna reflector symmetry axis and a plane containing HGA reflector rim circle. For stowed position HGA does not move and its boresight (+Z axis) points approximately along S/C +X axis. Therefore, its orientation can be specified as a fixed offset with respect to the s/c frame. Two rotations -- first by +90.0 degrees about s/c +Y axis and second by approximately +30 degrees about +Z axis -- are needed to align s/c axes with the HGA axes in stowed configuration (note that the second rotation achieves only approximate alignment of the +X and +Y axes of the antenna frame.) (The frame definition below contains the opposite of this rotation because Euler angles specified in it define transformation from antenna to s/c frame -- see [1].) \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, -30.0 ) TKFRAME_-53223_AXES = ( 1, 2, 3 ) TKFRAME_-53223_UNITS = 'DEGREES' \begintext For deployed position orientation of the HGA is not constant with respect to the s/c because the antenna is moved constantly using two gimbals to track Earth. Therefore, for deployed position HGA frame orientation should be specified as a fixed offset with respect to the outer most gimbal in of the antenna drive mechanism, the outer gimbal. The frames -- antenna frame and outer gimbal frame -- are defined such the their axes are co-aligned. Therefore, no rotation are need to transform one into another. \begindata 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 HGA X-band Pattern Based Frames ------------------------------- The HGA X-band pattern based frames for deployed and stowed configuration -- M01_HGA_X_STOWED and M01_HGA_X_DEPLOYED -- are defined as follows: - Z axis is along the HGA reflector central symmetry axis (boresight axis) and points from the reflector surface towards the feed horn (in stowed configuration it points along the s/c +X axis); - X axis is parallel to the X-band pattern clock angle reference direction (in stowed configuration it points along the s/c +Y axis); - Y axis complements to the right hand frame; - the origin of this frame is located at the intersection of the antenna reflector symmetry axis and a plane containing HGA reflector rim circle. These frames are rotated by +60 degrees about +Z axis with respect to the corresponding antenna frames -- M01_HGA_STOWED and M01_HGA_DEPLOYED -- to co-align the pattern clock angle reference axis (parallel to the s/c +Y axis in stowed configuration) with the X-band pattern based frame +X axis. (The frame definitions below contain the opposite of this rotation because Euler angles specified in it define transformation from X-band pattern frame to antenna mechanical frame -- see [1].) \begindata FRAME_M01_HGA_X_STOWED = -53225 FRAME_-53225_NAME = 'M01_HGA_X_STOWED' FRAME_-53225_CLASS = 4 FRAME_-53225_CLASS_ID = -53225 FRAME_-53225_CENTER = -53 TKFRAME_-53225_SPEC = 'ANGLES' TKFRAME_-53225_RELATIVE = 'M01_HGA_STOWED' TKFRAME_-53225_ANGLES = ( 0.0, 0.0, -60.0 ) TKFRAME_-53225_AXES = ( 1, 2, 3 ) TKFRAME_-53225_UNITS = 'DEGREES' FRAME_M01_HGA_X_DEPLOYED = -53215 FRAME_-53215_NAME = 'M01_HGA_X_DEPLOYED' FRAME_-53215_CLASS = 4 FRAME_-53215_CLASS_ID = -53215 FRAME_-53215_CENTER = -53 TKFRAME_-53215_SPEC = 'ANGLES' TKFRAME_-53215_RELATIVE = 'M01_HGA_DEPLOYED' TKFRAME_-53215_ANGLES = ( 0.0, 0.0, -60.0 ) TKFRAME_-53215_AXES = ( 1, 2, 3 ) TKFRAME_-53215_UNITS = 'DEGREES' \begintext HGA Gimbal Drive Frames ----------------------- When HGA is deployed using boom attached to the spacecraft bus by a hinge, it can be rotated using two independent gimbals (i.e. it has two degrees of freedom.) After deployment the antenna boom position remains constant relative to the s/c bus. Therefore, its orientation can be provided as a fixed offset with respect to the spacecraft frame. The M01 HGA deployed boom frame (also known as antenna baseplate frame HGABP, see [8]) is defined such that when antenna is deployed and both gimbals are in zero position, the s/c frame can be transformed into the HGA boom frame by four consequent rotations (angles are in degrees, rotation axes are specified as subscripts): boom M = [180.0] [30.056] [-1.731] [9.851] sc Y Z Y X or boom | -0.86514132 -0.48898862 -0.11144787 | M = | -0.50061765 0.85536322 0.13317560 | sc | 0.03020705 0.17100849 -0.98480639 | (The frame definition below contains the opposite of this rotation, i.e. transpose of the matrix specified above, because it defines transformation from boom to s/c frame -- see [1].) \begindata FRAME_M01_HGA_BOOM = -53210 FRAME_-53210_NAME = 'M01_HGA_BOOM' FRAME_-53210_CLASS = 4 FRAME_-53210_CLASS_ID = -53210 FRAME_-53210_CENTER = -53 TKFRAME_-53210_SPEC = 'MATRIX' TKFRAME_-53210_RELATIVE = 'M01_SPACECRAFT' TKFRAME_-53210_MATRIX = ( -0.86514132, -0.48898862, -0.11144787, -0.50061765, 0.85536322, 0.13317560, 0.03020705, 0.17100849, -0.98480639 ) \begintext The inner and outer gimbal rotations are time-dependent and should be stored in a CK file. Therefore, inner and outer gimbal frames are defined as CK-based frames. The M01 HGA inner gimbal frame: - Y axis is along the inner gimbal rotation axis and points toward outer gimbal; in deployed configuration with the inner and outer gimbal angles set to zero it points along the boom frame +Y axis; - X axis is such that in deployed configuration with the inner and outer gimbal angles set to zero it points along the boom frame +X axis; - Z axis complements to the right hand frame and in deployed configuration with the inner and outer gimbal angles set to zero it points along the boom frame +Z axis; - the origin of this frame is located at the intersection of the inner gimbal rotation axis and a plane perpendicular to this rotation axis and containing the outer gimbal rotation axis. The M01 HGA outer gimbal frame: - X axis is along the outer gimbal rotation axis and points along the boom +X in deployed configuration with the inner and outer gimbal angles set to zero; - Y axis is such that in deployed configuration with the inner and outer gimbal angles set to zero it points along the boom +Y axis; - Z axis complements to the right hand frame and in deployed configuration with the inner and outer gimbal angles set to zero it points along the boom +Z axis; - the origin of this frame is located at the intersection of the outer gimbal rotation axis and a plane perpendicular to this rotation axis and containing the HGA frame origin; When antenna is deployed and both gimbals are in zero position axes of the boom, inner gimbal, outer gimbal and HGA frames are co-aligned. The diagram below illustrates this: * * * * * * * * * * * * * _ (into page) * +Zhga (into page) * / \ +Zboom * .____________________\.x\ +Zig * | .x .'\_\\ +Zog * .__.'__\__________.'_/ //\ * .' \ v // \ * V \ +Yboom // V +Xboom +Yhga +Xhga V +Yig * // +Xig * +Yog* // +Xog * * // * * // * * * * * // // // -- rotation in the inner // gimbal is about +Y (+Yig) .. // || .______________@@ || | ^+Xsc | -- rotation in the outer || | | | gimbal is about +X (+Xog) || | | | || | | | ||@| <-----o | || | +Ysc +Zsc (out of page) || | | || | science deck | solar || ._______________. array .. Note that gimbal frames are defined such that rotation axis designations are consistent with [8]. Two sets of keywords below contain definitions for these frames. \begindata 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 \begintext Medium Gain Antenna ------------------- Both MGA boresight frames -- M01_MGA_STOWED and M01_MGA_DEPLOYED -- are defined by the antenna design as follows: - Z axis is along the MGA reflector central symmetry axis (boresight axis) and points from the reflector surface towards the feed horn (in stowed configuration along the s/c +X axis); - X is [TBD] (in stowed configuration points along s/c -Z axis); - Y complements to the right hand frame (in stowed configuration points along s/c +Y axis); - the origin of this frame is located at the intersection of the antenna reflector symmetry axis and a plane containing MGA reflector rim circle. Since MGA is mounted on and does not move with respect to the HGA, its orientation for both deployed and stowed configuration can be specified as a fixed offset with respect to the corresponding HGA frames. Because MGA frame orientation is the same as of the HGA, not rotations needed to co-align these frames. \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' 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 MGA X-band Pattern Based Frames ------------------------------- The MGA X-band pattern based frames for deployed and stowed configuration -- M01_MGA_X_STOWED and M01_MGA_X_DEPLOYED -- are defined as follows: - Z axis is along the MGA reflector central symmetry axis (boresight axis) and points from the reflector surface towards the feed horn (in stowed configuration it points along the s/c +X axis); - X axis is parallel to the X-band pattern clock angle reference direction (in stowed configuration it points along the s/c +Y axis); - Y axis complements to the right hand frame; - the origin of this frame is located at the intersection of the antenna reflector symmetry axis and a plane containing MGA reflector rim circle. These frames are rotated by +60 degrees about +Z axis with respect to the corresponding antenna frames -- M01_MGA_STOWED and M01_MGA_DEPLOYED -- to co-align the pattern clock angle reference axis (parallel to the s/c +Y axis in stowed configuration) with the X-band pattern based frame +X axis. (The frame definitions below contain the opposite of this rotation because Euler angles specified in it define transformation from X-band pattern frame to antenna mechanical frame -- see [1].) \begindata FRAME_M01_MGA_X_STOWED = -53226 FRAME_-53226_NAME = 'M01_MGA_X_STOWED' FRAME_-53226_CLASS = 4 FRAME_-53226_CLASS_ID = -53226 FRAME_-53226_CENTER = -53 TKFRAME_-53226_SPEC = 'ANGLES' TKFRAME_-53226_RELATIVE = 'M01_MGA_STOWED' TKFRAME_-53226_ANGLES = ( 0.0, 0.0, -60.0 ) TKFRAME_-53226_AXES = ( 1, 2, 3 ) TKFRAME_-53226_UNITS = 'DEGREES' FRAME_M01_MGA_X_DEPLOYED = -53216 FRAME_-53216_NAME = 'M01_MGA_X_DEPLOYED' FRAME_-53216_CLASS = 4 FRAME_-53216_CLASS_ID = -53216 FRAME_-53216_CENTER = -53 TKFRAME_-53216_SPEC = 'ANGLES' TKFRAME_-53216_RELATIVE = 'M01_MGA_DEPLOYED' TKFRAME_-53216_ANGLES = ( 0.0, 0.0, -60.0 ) TKFRAME_-53216_AXES = ( 1, 2, 3 ) TKFRAME_-53216_UNITS = 'DEGREES' \begintext Low Gain Antenna ---------------- The LGA frames -- M01_LGA -- is defined by the antenna design as follows: - Z axis is along the LGA along the antenna boresight direction which is perpendicular the the antenna "patch" surface and points away from the surface; - Y points in the same direction as the s/c +Y axis; - X complements to the right hand frame; - the origin of this frame is located at the geometric center of the antenna "patch" square. Since LGA is mounted on and does not move with respect to the s/c, its orientation can be specified as a fixed offset with respect to the s/c frame. The Low Gain Antenna (LGA) boresight is 45 degrees from +X towards -Z in the s/c frame, or exactly between the +X and -Z axes (0.7071,0,-0.7071). A single rotation by +135.0 degrees about s/c +Y axis is needed to align s/c axes with the LGA axes. (The frame definition below contains the opposite of this rotation because Euler angles specified in it define transformation from antenna to s/c frame -- see [1].) \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 M01 Solar Array Frames ------------------------------------------------------------------------------- This section contains frame definitions for M01 Solar Array in stowed and deployed positions. Solar Array Frame ----------------- Both SA boresight frames -- M01_SA_STOWED and M01_SA_DEPLOYED -- are defined by the solar array design as follows: - Z axis is perpendicular to and points away from the array solar cell side (in stowed configuration it points along the s/c +Y axis; in deployed configuration with the inner and outer gimbal angles set to zero it points along the s/c -Z axis); - X axis points in the same direction as the outer gimbal X axis, which is the gimbal rotation axis (in both stowed configuration and deployed configuration with the inner and outer gimbal angles set to zero it points along the s/c +X axis); - Y axis complements to the right hand frame (in stowed configuration it points along the s/c -Z axis; in deployed configuration with the inner and outer gimbal angles set to zero it points along the s/c -Y axis); - the origin of this frame is located at the geometric center of central array panel. These diagrams illustrate solar array frame orientation in stowed and deployed "0/0" configurations: Stowed Configuration Deployed "0/0" Configuration -------------------- ---------------------------- +Xsc (HGA side) +Xsc (HGA side) ^______ ^______ | /| | /| /| / | /| / | /_|___/ | /| /_|___/ | | o------> +Zsc (science / | | o------> +Zsc +Ysc |/ | | deck) / | |/ | | (science __^__ | / / | /+Ysc | / deck) | |+Xsa_|/ +Xsa | V|_____|/ +Ysa | | | | ^ | @ <-----o | | | |^ Array Gimbal | / | | | / |/____| +Zsa | |/|+Ysa V <-----o | +Zsa | | | | | | | / | / |/ In stowed position SA does not move and its +Z axis points approximately along S/C +Y axis. Therefore, its orientation can be specified as a fixed offset with respect to the s/c frame. A single rotation by -90.0 degrees about s/c +X axis is needed to align s/c axes with the SA axes in stowed configuration. (The frame definition below contains the opposite of this rotation because Euler angles specified in it define transformation from SA to s/c frame -- see [1].) \begindata FRAME_M01_SA_STOWED = -53323 FRAME_-53323_NAME = 'M01_SA_STOWED' FRAME_-53323_CLASS = 4 FRAME_-53323_CLASS_ID = -53323 FRAME_-53323_CENTER = -53 TKFRAME_-53323_SPEC = 'ANGLES' TKFRAME_-53323_RELATIVE = 'M01_SPACECRAFT' TKFRAME_-53323_ANGLES = ( 0.0, 0.0, 90.0 ) TKFRAME_-53323_AXES = ( 3, 2, 1 ) TKFRAME_-53323_UNITS = 'DEGREES' \begintext In deployed position orientation of the SA is not constant with respect to the s/c because the array is moved constantly using two gimbals to track Sun. Therefore, for deployed position SA frame orientation should be specified as a fixed offset with respect to the outer most gimbal in of the SA drive mechanism, the outer gimbal. A single rotation of 180 degrees about outer gimbal frame +X axis is needed to align outer gimbal frame axes with the SA axes. \begindata FRAME_M01_SA_DEPLOYED = -53313 FRAME_-53313_NAME = 'M01_SA_DEPLOYED' FRAME_-53313_CLASS = 4 FRAME_-53313_CLASS_ID = -53313 FRAME_-53313_CENTER = -53 TKFRAME_-53313_SPEC = 'ANGLES' TKFRAME_-53313_RELATIVE = 'M01_SA_OUTER_GIMBAL' TKFRAME_-53313_ANGLES = ( 0.0, 0.0, 180.0 ) TKFRAME_-53313_AXES = ( 3, 2, 1 ) TKFRAME_-53313_UNITS = 'DEGREES' \begintext Solar Array Gimbal Drive Frames ------------------------------- When SA is deployed, it can be rotated using two independent gimbals (i.e. it has two degrees of freedom.) These two rotations -- in inner and outer gimbals -- are time-dependent and should be stored in a CK file. Therefore, SA inner are outer gimbal frames are CK-based frames defined by the SA design as follows: The M01 SA inner gimbal frame: - Y axis is along the inner gimbal rotation axis and points from the s/c toward outer gimbal; in deployed configuration with the inner and outer gimbal angles set to zero it points along the s/c +Y axis; - X axis is such that in deployed configuration with the inner and outer gimbal angles set to zero it points along the s/c +X axis; - Z axis complements to the right hand frame and in deployed configuration wit the inner and outer gimbal angles set to zero it points along the s/c +Z axis; - the origin of this frame is located at the intersection of the inner gimbal rotation axis and a plane perpendicular to this rotation axis and containing the outer gimbal rotation axis. The M01 SA outer gimbal frame: - X axis is along the outer gimbal rotation axis and points along the s/c +X in deployed configuration with the inner and outer gimbal angles set to zero; - Y axis is such that in deployed configuration with the inner and outer gimbal angles set to zero it points along the s/c +Y axis; - Z axis complements to the right hand frame and in deployed configuration with the inner and outer gimbal angles set to zero it points along the s/c +Z axis; - the origin of this frame is located at the intersection of the outer gimbal rotation axis and a plane perpendicular to this rotation axis and containing the solar array frame origin; The diagram below illustrates solar array gimbal frames in deployed "0/0" configuration: +Xsc (HGA side) ^______ | /| /| / | /_|___/ | | o------> +Zsc (science deck) +Xig,+Xog |/ | | ^ /+Ysc | / | V|_____|/ /| | / | o----> +Zig,+Zog / | / +Xsa | /+Yig,+Yog | ^ | V | | |^ | | /+Ysa -- rotation in the inner gimbal is +Zsa | |/| about +Y axis (+Yig); <-----o | | | -- rotation in the outer gimbal is | | about +X axis (+Xog) | | | / | / |/ Note that gimbal frames are defined such that rotation axis designations are consistent with [8]. Two sets of keywords below contain definitions for these frames. \begindata FRAME_M01_SA_INNER_GIMBAL = -53311 FRAME_-53311_NAME = 'M01_SA_INNER_GIMBAL' FRAME_-53311_CLASS = 3 FRAME_-53311_CLASS_ID = -53311 FRAME_-53311_CENTER = -53 CK_-53311_SCLK = -53 CK_-53311_SPK = -53 FRAME_M01_SA_OUTER_GIMBAL = -53312 FRAME_-53312_NAME = 'M01_SA_OUTER_GIMBAL' FRAME_-53312_CLASS = 3 FRAME_-53312_CLASS_ID = -53312 FRAME_-53312_CENTER = -53 CK_-53312_SCLK = -53 CK_-53312_SPK = -53 \begintext Mars'01 Odyssey Mission NAIF ID Codes -- Definition Section ======================================================================== This section contains name to NAIF ID mappings for the M01 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: ----------- MARS SURVEYOR 01 ORBITER -53 M01 -53 M01_SPACECRAFT -53000 M01_SPACECRAFT_BUS -53000 M01_SC_BUS -53000 Science Instruments: -------------------- M01_GRS_HEAD -53021 M01_GRS_HEAD_STOWED -53020 M01_GRS_HEAD_DEPLOYED -53021 M01_GRS_HEAD_COOLER -53024 M01_GRS_HEND -53022 M01_GRS_NS -53023 M01_THEMIS -53030 M01_THEMIS_IR -53031 M01_THEMIS_VIS -53032 M01_MARIE -53040 Antennas: --------- M01_HGA_BOOM -53210 M01_HGA_INNER_GIMBAL -53211 M01_HGA_OUTER_GIMBAL -53212 M01_HGA_DEPLOYED -53213 M01_MGA_DEPLOYED -53214 M01_HGA_STOWED -53223 M01_MGA_STOWED -53224 M01_LGA -53230 Solar Array: ------------ M01_SA_INNER_GIMBAL -53311 M01_SA_OUTER_GIMBAL -53312 M01_SA_DEPLOYED -53313 M01_SA_DEPLOYED_C1 -53314 M01_SA_DEPLOYED_C2 -53315 M01_SA_DEPLOYED_C3 -53316 M01_SA_DEPLOYED_C4 -53317 The mappings summarized in this table are implemented by the keywords below. \begindata NAIF_BODY_NAME += ( 'MARS SURVEYOR 01 ORBITER' ) NAIF_BODY_CODE += ( -53 ) NAIF_BODY_NAME += ( 'M01' ) NAIF_BODY_CODE += ( -53 ) NAIF_BODY_NAME += ( 'M01_SPACECRAFT' ) NAIF_BODY_CODE += ( -53000 ) NAIF_BODY_NAME += ( 'M01_SPACECRAFT_BUS' ) NAIF_BODY_CODE += ( -53000 ) NAIF_BODY_NAME += ( 'M01_SC_BUS' ) NAIF_BODY_CODE += ( -53000 ) NAIF_BODY_NAME += ( 'M01_GRS_HEAD' ) NAIF_BODY_CODE += ( -53021 ) NAIF_BODY_NAME += ( 'M01_GRS_HEAD_STOWED' ) NAIF_BODY_CODE += ( -53020 ) NAIF_BODY_NAME += ( 'M01_GRS_HEAD_DEPLOYED' ) NAIF_BODY_CODE += ( -53021 ) NAIF_BODY_NAME += ( 'M01_GRS_HEAD_COOLER' ) NAIF_BODY_CODE += ( -53024 ) NAIF_BODY_NAME += ( 'M01_GRS_HEND' ) NAIF_BODY_CODE += ( -53022 ) NAIF_BODY_NAME += ( 'M01_GRS_NS' ) NAIF_BODY_CODE += ( -53023 ) NAIF_BODY_NAME += ( 'M01_THEMIS' ) NAIF_BODY_CODE += ( -53030 ) NAIF_BODY_NAME += ( 'M01_THEMIS_IR' ) NAIF_BODY_CODE += ( -53031 ) NAIF_BODY_NAME += ( 'M01_THEMIS_VIS' ) NAIF_BODY_CODE += ( -53032 ) NAIF_BODY_NAME += ( 'M01_MARIE' ) NAIF_BODY_CODE += ( -53040 ) NAIF_BODY_NAME += ( 'M01_HGA_BOOM' ) NAIF_BODY_CODE += ( -53210 ) NAIF_BODY_NAME += ( 'M01_HGA_INNER_GIMBAL' ) NAIF_BODY_CODE += ( -53211 ) NAIF_BODY_NAME += ( 'M01_HGA_OUTER_GIMBAL' ) NAIF_BODY_CODE += ( -53212 ) NAIF_BODY_NAME += ( 'M01_HGA_DEPLOYED' ) NAIF_BODY_CODE += ( -53213 ) NAIF_BODY_NAME += ( 'M01_MGA_DEPLOYED' ) NAIF_BODY_CODE += ( -53214 ) NAIF_BODY_NAME += ( 'M01_HGA_STOWED' ) NAIF_BODY_CODE += ( -53223 ) NAIF_BODY_NAME += ( 'M01_MGA_STOWED' ) NAIF_BODY_CODE += ( -53224 ) NAIF_BODY_NAME += ( 'M01_LGA' ) NAIF_BODY_CODE += ( -53230 ) NAIF_BODY_NAME += ( 'M01_SA_INNER_GIMBAL' ) NAIF_BODY_CODE += ( -53311 ) NAIF_BODY_NAME += ( 'M01_SA_OUTER_GIMBAL' ) NAIF_BODY_CODE += ( -53312 ) NAIF_BODY_NAME += ( 'M01_SA_DEPLOYED' ) NAIF_BODY_CODE += ( -53313 ) NAIF_BODY_NAME += ( 'M01_SA_DEPLOYED_C1' ) NAIF_BODY_CODE += ( -53314 ) NAIF_BODY_NAME += ( 'M01_SA_DEPLOYED_C2' ) NAIF_BODY_CODE += ( -53315 ) NAIF_BODY_NAME += ( 'M01_SA_DEPLOYED_C3' ) NAIF_BODY_CODE += ( -53316 ) NAIF_BODY_NAME += ( 'M01_SA_DEPLOYED_C4' ) NAIF_BODY_CODE += ( -53317 ) \begintext