M01 Spacecraft Structures SPK File ========================================================================== This SPK file contains locations of various M01 spacecraft structures. Using this file together with the C-kernels for the spacecraft bus, Solar Array and High Gain Antenna, one could find the location of the Solar Array center and corners and High Gain Antenna center with respect the spacecraft frame and/or any other frames at any point in time. Refer to diagrams and tables in these comments for the descriptions, names and ID codes of various structures, the locations of which are provided in this file. Version and Date ---------------------------------------------------------------------- Version 1.2 -- October 9, 2025 -- Boris Semenov/NAIF Added a time-dependent COG offset provided in a segment generated using MKSPK. Adjusted coverage to 2001 - 2035 range. Version 1.1 -- October 21, 2007 -- BVS/NAIF Added UHF location (estimated from drawings). Version 1.0 -- August 7, 2001 -- BVS/NAIF Initial Release (does not include LGA coordinates.) Contact Information ---------------------------------------------------------------------- Contact Boris Semenov (Boris.Semenov@jpl.nasa.gov, (818)-354-8136) with any questions regarding the data in this file. References ---------------------------------------------------------------------- 1. ``Frames Required Reading'' 2. ``SP-Kernel Required Reading'' 3. ``C-Kernel Required Reading'' 4. ``SPICE Data'', Power-Point Package by Tim Gasparini, SCT/LMA, July 26, 2001 Related SPICE Kernels ---------------------------------------------------------------------- Descriptions/definitions from the M01 Frames Kernel (FK) file are required in order to understand objects and frames with respect to which the locations are defined in this SPK file. M01 Solar Array Location and Dimensions ---------------------------------------------------------------------- This diagram illustrates M01 Solar Array in deployed configuration in "zero-zero" gimbal position (dimensions are given in inches): +Zsc view: +Ysc view: ---------- ---------- @ -- Solar Array Gimbal 37.36 | | | 44.66 x -- Solar Array Center ------>|-----/-----|<------ Ci -- Solar Array Corners | | | ----- *-----------* * C1,C2 ^ |C1 C2| || | | | || | | | || | | | || | | | || 112.8 | | HGA || HGA | | +Xog ._______. +Xog._______. | == +Xsa +Xig \ +Xsc/ +Xsc +Xig \ / | | ^ ^ .____^____. ^ |^ ._________. 0.0 | | | | | | | |_. || | | | V | | +Ysa| | | | | `|| | | v ----- | x-<->-@=|<---o | o--->@---> | ----- ^ | +Yog| +Ysc | | +Zsc | +Zig | ^ | | +Yig| ._________. ._.'|| ._+Zog____. | | | | Main || | =========== Engine O | | | || 112.8 | | || | | | || | | | || | | | || | | | || V |C4 C3| || ----- *-----------* * C3,C4 37.17 | | | 28.84 7.49 | | ------>|-----/------|<------ ----->|----|<- | | | | | || 0.38 ->||<-------- || On +Zsc view, +Zsc, +Zig, and +Zog point out of the page while +Zsa points into the page. The inner and outer gimbal assumed to be in the same location wrt to the s/c frame; the NAIF ID codes for the inner and outer gimbal location are -53311 and -53312. The solar array center is the geometric center of the middle solar array panel at the active cell side; the NAIF ID for this point is -53313. The solar array corners are at the corners of the side solar array panels at the active cell side; the NAIF ID codes for the solar array corners are -53314, -53315, -53316, and -53317. M01 Antenna Location and Dimensions ---------------------------------------------------------------------- This diagram illustrates M01 HGA/MGA in stowed configuration (solar array is deployed in "zero-zero" gimbal position; all dimensions are given in inches): +Zsc view: +Ysc view: ---------- ---------- 0.0 | | 61.69 | ----->|<- -->|-----------|<-- | | | *-----------* * | | || | | || | | || | | || | | | || V | | HGA || HGA ----- | | .___x___. || .___x___. | =========== \ +Xsc/ +Xsc O \ / 35.68 | | .____^____. ^ || ._________. | | | | | | |_. || | | | | | | | | | | `|| | | V ----- | @=|<---o | o--->@=| | --- ^ | | +Ysc | | +Zsc | | | | | | ._________. ._.'|| ._________. 33.15 | | | Main || | | =========== * UHF Engine O * UHF --- | | || ^ | | || | | | || | | || | | || | | || | | || *-----------* * | | 13.0 | 48.5 | -->|--|<-- |<------->| | | | | The +Zsc on the +Zsc view and +Ysc on the +Ysc view are out of the page. Since only Z coordinate of the UHF location was provided in [4], X and Y were estimated from measurements made on a paper printout. The HGA/MGA center is at the geometric center of the HGA/MGA dish outer rim; the NAIF IDs for this center in stowed configuration are -53223 and -53224. This diagram illustrates M01 HGA/MGA in deployed configuration in "zero- zero" gimbal position (dimensions are given in inches): +Zsc view: ---------- | 30.58 | |<------------------>| | | | 25.04 | | |<------------>| | | | | 7.51 | | | | ----->|---|<- | | | | | | * * * * * P2 * * x ------------- * * . ^ * . * . | * . * . | * P3 . * . | * .___________________. . | * | .x / \ P1 -------- | * .__.'__\_____________\.x\ ---- ^ | * .' \ .'\_\\ ^ | | --------------- * V \ .' // \ | | | | | +Yhga +Xhga V v // \ | | | | | * +Yig // v | | | | | * +Yog // +Xig | | 86.26 | | * +Yboom// +Xog | | | | | * * * * * // +Xboom | | | | | // | | | | | // | 78.45 | | | // | | | | | // | | | | | // 76.46 | | =============== // | | | | | .______________@@ | | | | | | ^+Xsc | | | | | | | | | | | | | | | | | | | | | | | | | v v v | |@| <-----o | ------------- | | | +Ysc +Zsc (out of page) | | | | | | | science deck | | solar array | ._______________. =============== | | The s/c Z coordinates for ~ ~ ~ ~ ~ ~ ~ P1, P2, and P3 are not shown The +Zhga, +Zboom, +Zig, and +Zog are into of the page while +Zsc is out of the page. The points identified on the diagram are: P1 -- The intersection of the HGA inner gimbal rotation axis and a plane, containing the HGA outer gimbal rotation axis and perpendicular to the HGA inner gimbal rotation axis; (NAIF IDs for this point are -53210 and -53211.) P2 -- The intersection of the HGA outer gimbal rotation axis and a plane, containing the HGA dish central axis and perpendicular to the HGA outer gimbal rotation axis; (NAIF ID for this point is -53212.) P3 -- The geometric center of the HGA dish outer rim. (NAIF ID for this point is -53213.) The s/c frames for these points for deployed HGA in "zero-zero" gimbal position are as follows (in inches): X Y Z ------- ------- ------- P1 76.46 -30.58 13.91 P2 86.26 -25.04 15.16 P3 78.45 -7.51 -1.17 From these coordinates and the nominal HGA boresight direction the "zero-zero" gimbal position (0.0302,0.1710,-0.9848) we derive that: P2 wrt P1 in M01_HGA_INNER_GIMBAL frame is at (-11.33, 0.00, 0.00) P3 wrt P2 in M01_HGA_OUTER_GIMBAL frame is at ( 0.00, 16.73, 18.84) Coordinates ---------------------------------------------------------------------- The tables in this section contain coordinates of various M01 structures and science and engineering instruments with respect to the corresponding M01 spacecraft and structure frames. This tables contains coordinates in inches: STRUCTURE ID CENTER FRAME X Y Z -------------------- ------ ------ -------------------- ------ ------ ------ M01_SC_BUS -53000 -53 M01_SPACECRAFT time-varying (*) M01_HGA_BOOM -53210 -53000 M01_SPACECRAFT 76.46 -30.58 13.91 M01_HGA_INNER_GIMBAL -53211 -53210 M01_HGA_BOOM 0.00 0.00 0.00 M01_HGA_OUTER_GIMBAL -53212 -53211 M01_HGA_INNER_GIMBAL -11.33 0.00 0.00 M01_HGA_DEPLOYED -53213 -53212 M01_HGA_OUTER_GIMBAL 0.00 16.73 18.84 M01_MGA_DEPLOYED -53214 -53213 M01_HGA_DEPLOYED 0.00 0.00 0.00 M01_HGA_STOWED -53223 -53000 M01_SPACECRAFT 35.68 0.00 61.69 M01_MGA_STOWED -53224 -53223 M01_HGA_STOWED 0.00 0.00 0.00 M01_LGA -53230 -53000 M01_SPACECRAFT 0 0 0 M01_UHF -53240 -53000 M01_SPACECRAFT -33.15 -13.00 48.50 M01_SA_INNER_GIMBAL -53311 -53000 M01_SPACECRAFT 0.00 28.84 7.49 M01_SA_OUTER_GIMBAL -53312 -53311 M01_SA_INNER_GIMBAL 0.00 0.00 0.00 M01_SA_DEPLOYED -53313 -53312 M01_SA_OUTER_GIMBAL 0.00 37.17 -0.38 M01_SA_DEPLOYED_C1 -53314 -53313 M01_SA_DEPLOYED 112.80 -37.36 0.00 M01_SA_DEPLOYED_C2 -53315 -53313 M01_SA_DEPLOYED 112.80 +44.66 0.00 M01_SA_DEPLOYED_C3 -53316 -53313 M01_SA_DEPLOYED -112.80 +44.66 0.00 M01_SA_DEPLOYED_C4 -53317 -53313 M01_SA_DEPLOYED -112.80 -37.36 0.00 (*) the time-varying COG -to- the spacecraft frame origin offset is provided in the segment generated by MKSPK -- see the MKSPK setup file and comments below the PINPOINT keywords. This table contains the same coordinates in kilometers (as required for PINPOINT input): ID CENTER FRAME X Y Z ------- ------- ------------------------ --------- --------- --------- -53210 -53000 M01_SPACECRAFT 0.001942 -0.000777 0.000353 -53211 -53210 M01_HGA_BOOM 0.000000 0.000000 0.000000 -53212 -53211 M01_HGA_INNER_GIMBAL -0.000288 0.000000 0.000000 -53213 -53212 M01_HGA_OUTER_GIMBAL 0.000000 0.000425 0.000479 -53214 -53213 M01_HGA_DEPLOYED 0.000000 0.000000 0.000000 -53223 -53000 M01_SPACECRAFT 0.000906 0.000000 0.001567 -53224 -53223 M01_HGA_STOWED 0.000000 0.000000 0.000000 -53230 -53000 M01_SPACECRAFT 0.000000 0.000000 0.000000 -53240 -53000 M01_SPACECRAFT -0.000842 -0.000330 0.001232 -53311 -53000 M01_SPACECRAFT 0.000000 0.000733 0.000190 -53312 -53311 M01_SA_INNER_GIMBAL 0.000000 0.000000 0.000000 -53313 -53312 M01_SA_OUTER_GIMBAL 0.000000 0.000944 -0.000010 -53314 -53313 M01_SA_DEPLOYED 0.002865 -0.000949 0.000000 -53315 -53313 M01_SA_DEPLOYED 0.002865 0.001134 0.000000 -53316 -53313 M01_SA_DEPLOYED -0.002865 0.001134 0.000000 -53317 -53313 M01_SA_DEPLOYED -0.002865 -0.000949 0.000000 Data section of the file. ---------------------------------------------------------------------- \begindata M01_HGA_BOOM_IDCODE = -53210 M01_HGA_BOOM_CENTER = -53000 M01_HGA_BOOM_FRAME = 'M01_SPACECRAFT' M01_HGA_BOOM_XYZ = ( 0.001942 -0.000777 0.000353 ) M01_HGA_BOOM_BOUNDS = ( @2001-04-07/00:00:00.185654, @2035-01-01/00:00:00.183910 ) M01_HGA_INNER_GIMBAL_IDCODE = -53211 M01_HGA_INNER_GIMBAL_CENTER = -53210 M01_HGA_INNER_GIMBAL_FRAME = 'M01_HGA_BOOM' M01_HGA_INNER_GIMBAL_XYZ = ( 0.000000 0.000000 0.000000 ) M01_HGA_INNER_GIMBAL_BOUNDS = ( @2001-04-07/00:00:00.185654, @2035-01-01/00:00:00.183910 ) M01_HGA_OUTER_GIMBAL_IDCODE = -53212 M01_HGA_OUTER_GIMBAL_CENTER = -53211 M01_HGA_OUTER_GIMBAL_FRAME = 'M01_HGA_INNER_GIMBAL' M01_HGA_OUTER_GIMBAL_XYZ = ( -0.000288 0.000000 0.000000 ) M01_HGA_OUTER_GIMBAL_BOUNDS = ( @2001-04-07/00:00:00.185654, @2035-01-01/00:00:00.183910 ) M01_HGA_DEPLOYED_IDCODE = -53213 M01_HGA_DEPLOYED_CENTER = -53212 M01_HGA_DEPLOYED_FRAME = 'M01_HGA_OUTER_GIMBAL' M01_HGA_DEPLOYED_XYZ = ( 0.000000 0.000425 0.000479 ) M01_HGA_DEPLOYED_BOUNDS = ( @2001-04-07/00:00:00.185654, @2035-01-01/00:00:00.183910 ) M01_MGA_DEPLOYED_IDCODE = -53214 M01_MGA_DEPLOYED_CENTER = -53213 M01_MGA_DEPLOYED_FRAME = 'M01_HGA_DEPLOYED' M01_MGA_DEPLOYED_XYZ = ( 0.000000 0.000000 0.000000 ) M01_MGA_DEPLOYED_BOUNDS = ( @2001-04-07/00:00:00.185654, @2035-01-01/00:00:00.183910 ) M01_HGA_STOWED_IDCODE = -53223 M01_HGA_STOWED_CENTER = -53000 M01_HGA_STOWED_FRAME = 'M01_SPACECRAFT' M01_HGA_STOWED_XYZ = ( 0.000906 0.000000 0.001567 ) M01_HGA_STOWED_BOUNDS = ( @2001-04-07/00:00:00.185654, @2035-01-01/00:00:00.183910 ) M01_MGA_STOWED_IDCODE = -53224 M01_MGA_STOWED_CENTER = -53223 M01_MGA_STOWED_FRAME = 'M01_HGA_STOWED' M01_MGA_STOWED_XYZ = ( 0.000000 0.000000 0.000000 ) M01_MGA_STOWED_BOUNDS = ( @2001-04-07/00:00:00.185654, @2035-01-01/00:00:00.183910 ) M01_LGA_IDCODE = -53230 M01_LGA_CENTER = -53000 M01_LGA_FRAME = 'M01_SPACECRAFT' M01_LGA_XYZ = ( 0.000000 0.000000 0.000000 ) M01_LGA_BOUNDS = ( @2001-04-07/00:00:00.185654, @2035-01-01/00:00:00.183910 ) M01_UHF_IDCODE = -53240 M01_UHF_CENTER = -53000 M01_UHF_FRAME = 'M01_SPACECRAFT' M01_UHF_XYZ = ( -0.000842 -0.000330 0.001232 ) M01_UHF_BOUNDS = ( @2001-04-07/00:00:00.185654, @2035-01-01/00:00:00.183910 ) M01_SA_INNER_GIMBAL_IDCODE = -53311 M01_SA_INNER_GIMBAL_CENTER = -53000 M01_SA_INNER_GIMBAL_FRAME = 'M01_SPACECRAFT' M01_SA_INNER_GIMBAL_XYZ = ( 0.000000 0.000733 0.000190 ) M01_SA_INNER_GIMBAL_BOUNDS = ( @2001-04-07/00:00:00.185654, @2035-01-01/00:00:00.183910 ) M01_SA_OUTER_GIMBAL_IDCODE = -53312 M01_SA_OUTER_GIMBAL_CENTER = -53311 M01_SA_OUTER_GIMBAL_FRAME = 'M01_SA_INNER_GIMBAL' M01_SA_OUTER_GIMBAL_XYZ = ( 0.000000 0.000000 0.000000 ) M01_SA_OUTER_GIMBAL_BOUNDS = ( @2001-04-07/00:00:00.185654, @2035-01-01/00:00:00.183910 ) M01_SA_DEPLOYED_IDCODE = -53313 M01_SA_DEPLOYED_CENTER = -53312 M01_SA_DEPLOYED_FRAME = 'M01_SA_OUTER_GIMBAL' M01_SA_DEPLOYED_XYZ = ( 0.000000 0.000944 -0.000010 ) M01_SA_DEPLOYED_BOUNDS = ( @2001-04-07/00:00:00.185654, @2035-01-01/00:00:00.183910 ) M01_SA_DEPLOYED_C1_IDCODE = -53314 M01_SA_DEPLOYED_C1_CENTER = -53313 M01_SA_DEPLOYED_C1_FRAME = 'M01_SA_DEPLOYED' M01_SA_DEPLOYED_C1_XYZ = ( 0.002865 -0.000949 0.000000 ) M01_SA_DEPLOYED_C1_BOUNDS = ( @2001-04-07/00:00:00.185654, @2035-01-01/00:00:00.183910 ) M01_SA_DEPLOYED_C2_IDCODE = -53315 M01_SA_DEPLOYED_C2_CENTER = -53313 M01_SA_DEPLOYED_C2_FRAME = 'M01_SA_DEPLOYED' M01_SA_DEPLOYED_C2_XYZ = ( 0.002865 0.001134 0.000000 ) M01_SA_DEPLOYED_C2_BOUNDS = ( @2001-04-07/00:00:00.185654, @2035-01-01/00:00:00.183910 ) M01_SA_DEPLOYED_C3_IDCODE = -53316 M01_SA_DEPLOYED_C3_CENTER = -53313 M01_SA_DEPLOYED_C3_FRAME = 'M01_SA_DEPLOYED' M01_SA_DEPLOYED_C3_XYZ = ( -0.002865 0.001134 0.000000 ) M01_SA_DEPLOYED_C3_BOUNDS = ( @2001-04-07/00:00:00.185654, @2035-01-01/00:00:00.183910 ) M01_SA_DEPLOYED_C4_IDCODE = -53317 M01_SA_DEPLOYED_C4_CENTER = -53313 M01_SA_DEPLOYED_C4_FRAME = 'M01_SA_DEPLOYED' M01_SA_DEPLOYED_C4_XYZ = ( -0.002865 -0.000949 0.000000 ) M01_SA_DEPLOYED_C4_BOUNDS = ( @2001-04-07/00:00:00.185654, @2035-01-01/00:00:00.183910 ) SITES = ( 'M01_HGA_BOOM' 'M01_HGA_INNER_GIMBAL' 'M01_HGA_OUTER_GIMBAL' 'M01_HGA_DEPLOYED' 'M01_MGA_DEPLOYED' 'M01_HGA_STOWED' 'M01_MGA_STOWED' 'M01_LGA' 'M01_UHF' 'M01_SA_INNER_GIMBAL' 'M01_SA_OUTER_GIMBAL' 'M01_SA_DEPLOYED' 'M01_SA_DEPLOYED_C1' 'M01_SA_DEPLOYED_C2' 'M01_SA_DEPLOYED_C3' 'M01_SA_DEPLOYED_C4' ) \begintext ******************************************************************************** MKSPK RUN DATE/TIME: 2025-10-09T16:57:59 MKSPK SETUP FILE: m01_struct_v12.cog.mkspk MKSPK INPUT FILE: m01_struct_v12.cog.input MKSPK OUTPUT FILE: m01_struct_v12.bsp OUTPUT FILE STATUS: EXISTING FILE ******************************************************************************** This segment provides the time-varying offset of the M01 spacecraft frame origin (NAIF ID -53000, NAIF name 'M01_SC_BUS') relative to the M01 spacecraft center of gravity (NAIF ID -53, NAIF name 'M01') in the 'M01_SPACECRAFT' reference frame. This offset is based on the the COG locations from selected M01 Maneuver Performance Data files (MPDFs) for larger maneuvers. The offset is kept constant between these maneuvers and interpolated using the Hermite degree 3 algorithm between constant pre- and post- maneuver values during maneuvers. In addition to maneuvers, the change in the COG location due to the GRS boom deployment on June 4, 2002 at noon Pacific time was included in the input. The complete offset data provided by the segment, starting pre- launch and extending the value prior to the latest considered maneuver for a few years into the future is (UTC, x, y, z in km): 2001-04-06T23:58:56.000 -0.0000010 -0.0000020 -0.0009647 2001-05-23T17:30:00.039 -0.0000010 -0.0000020 -0.0009647 2001-05-23T17:34:43.030 -0.0000011 -0.0000023 -0.0009638 2001-07-02T16:30:00.085 -0.0000011 -0.0000023 -0.0009638 2001-07-02T16:33:29.379 -0.0000011 -0.0000020 -0.0009649 2001-09-17T04:00:00.100 -0.0000011 -0.0000020 -0.0009649 2001-09-17T04:03:20.100 -0.0000011 -0.0000020 -0.0009650 2001-10-12T04:00:00.097 -0.0000011 -0.0000020 -0.0009650 2001-10-12T04:03:10.100 -0.0000011 0.0000002 -0.0009651 2001-10-24T02:17:49.690 -0.0000011 0.0000002 -0.0009651 2001-10-24T02:38:16.990 -0.0000018 -0.0000032 -0.0009557 2002-01-15T22:03:16.140 -0.0000018 -0.0000032 -0.0009557 2002-01-15T22:14:16.334 -0.0000019 -0.0000034 -0.0010807 2002-01-28T19:39:42.660 -0.0000019 -0.0000034 -0.0010807 2002-01-28T19:43:42.864 -0.0000019 -0.0000034 -0.0010811 2002-01-30T19:59:23.241 -0.0000019 -0.0000034 -0.0010811 2002-01-30T20:03:23.435 -0.0000019 -0.0000034 -0.0010811 2002-06-04T19:00:00.000 -0.0000019 -0.0000034 -0.0010811 2002-06-04T19:01:00.000 -0.0000822 0.0000275 -0.0012314 2003-11-22T16:32:20.015 -0.0000822 0.0000275 -0.0012314 2003-11-22T16:35:31.117 -0.0000824 0.0000281 -0.0012390 2008-09-30T19:10:16.199 -0.0000824 0.0000281 -0.0012390 2008-09-30T19:20:24.489 -0.0000837 0.0000286 -0.0012511 2009-06-09T16:03:23.979 -0.0000837 0.0000286 -0.0012511 2009-06-09T16:13:04.375 -0.0000856 0.0000292 -0.0012711 2012-07-11T17:23:34.096 -0.0000856 0.0000292 -0.0012711 2012-07-11T17:26:36.390 -0.0000863 0.0000295 -0.0012776 2012-07-24T16:36:04.066 -0.0000863 0.0000295 -0.0012776 2012-07-24T16:46:00.064 -0.0000863 0.0000295 -0.0012775 2012-09-05T15:07:10.180 -0.0000863 0.0000295 -0.0012775 2012-09-05T15:25:01.177 -0.0000869 0.0000297 -0.0012840 2015-11-10T16:28:33.196 -0.0000869 0.0000297 -0.0012840 2015-11-10T16:42:00.190 -0.0000869 0.0000297 -0.0012840 2034-12-31T23:58:51.000 -0.0000869 0.0000297 -0.0012840 The MKSPK setup parameters used to create this segments are: \begindata LEAPSECONDS_FILE = 'naif0012.tls' FRAME_DEF_FILE = 'm01_v28.tf' SEGMENT_ID = 'M01 COG->ORIGIN OFFSET, MPDF-BASED' OBJECT_ID = -53000 CENTER_ID = -53 REF_FRAME_NAME = 'M01_SPACECRAFT' INPUT_DATA_TYPE = 'STATES' DATA_ORDER = 'EPOCH X Y Z VX VY VZ' DATA_DELIMITER = ' ' EPOCH_STR_LENGTH = 23 LINES_PER_RECORD = 1 INPUT_DATA_UNITS = ( 'ANGLES=DEGREES' 'DISTANCES=KM' ) OUTPUT_SPK_TYPE = 13 POLYNOM_DEGREE = 3 PRODUCER_ID = 'NAIF/JPL' \begintext End of MKSPK setup. ********************************************************************************