KPL/FK Mars Atmosphere and Volatile EvolutioN (MAVEN) Frames Kernel =============================================================================== This frame kernel contains complete set of frame definitions for the MAVEN spacecraft, its structures and science instruments. This frame kernel also contains name - to - NAIF ID mappings for MAVEN science instruments and s/c structures (see the last section of the file.) Version and Date ------------------------------------------------------------------------------- Version 0.2 -- August 26, 2012 -- Boris Semenov, NAIF Corrected UHF orientation. Added LGAs. Added diagrams. Version 0.1 -- November 17, 2010 -- Boris Semenov, NAIF Changed frame IDs to be based on the official flight ID -202. Added MAVEN_MME_2000 frame. Added comments. Version 0.0 -- May 22, 2009 -- Boris Semenov, NAIF Initial Release with spacecraft, HGA and UHF frames based on temporary spacecraft ID -33. References ------------------------------------------------------------------------------- 1. ``Frames Required Reading'' 2. ``Kernel Pool Required Reading'' 3. ``C-Kernel Required Reading'' 4. E-mail from Gina Signori, LMCO re. s/c, HGA and UHF frames; 05/22/09 5. MAVEN Coordinate Systems Definition Document, MAV-RP-10-010, Revision: D (SIR), May 18, 2012 6. MAVEN instrument MICDs, latest versions Contact Information ------------------------------------------------------------------------------- Boris V. Semenov, NAIF/JPL, (818)-354-8136, Boris.Semenov@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 using the SPICELIB routine FURNSH. This file was created and may be updated with a text editor or word processor. MAVEN Frames ------------------------------------------------------------------------------- The following MAVEN frames are defined in this kernel file: Name Relative to Type NAIF ID ====================== =================== ============ ======= Non Built-in Mars Frames: ------------------------- MAVEN_MME_2000 rel.to J2000 FIXED -202901 Spacecraft frame: ----------------- MAVEN_SPACECRAFT rel.to MME_2000 CK -202000 Antenna frames: --------------- MAVEN_HGA rel.to SPACECRAFT FIXED -202010 MAVEN_UHF rel.to SPACECRAFT FIXED -202020 MAVEN_LGA_FWD rel.to SPACECRAFT FIXED -202030 MAVEN_LGA_AFT rel.to SPACECRAFT FIXED -202040 MAVEN Frames Hierarchy ------------------------------------------------------------------------------- The diagram below shows MAVEN frames hierarchy: "J2000" INERTIAL +-----------------------------------------------------------+ | | | | <--pck |<-fixed | <--pck | | | V | V "IAU_MARS" V "IAU_EARTH" MARS BFR(*) "MAVEN_MME_2000" EARTH BFR(*) ----------- ---------------- ------------ | | "MAVEN_LGA_FWD" "MAVEN_LGA_AFT" | "MAVEN_HGA" "MAVEN_UHF" --------------- --------------- | ----------- ----------- ^ ^ | ^ ^ | | | | | | <--fixed | <--fixed |<--ck | <--fixed | <--fdx | | | | | | | | | | | | "MAVEN_SPACECRAFT" | | +-----------------------------------------------------------+ (*) BFR -- body-fixed rotating frame MME ``2000'' Frame ------------------------------------------------------------------------------- The MAVEN_MME_2000 frame is the Mars Mean Equator and IAU Vector of J2000 inertial reference frame defined using Mars rotation constants from the IAU 2000 report. This frame defined as a fixed offset frame with respect to the J2000 frame. \begindata FRAME_MAVEN_MME_2000 = -202901 FRAME_-202901_NAME = 'MAVEN_MME_2000' FRAME_-202901_CLASS = 4 FRAME_-202901_CLASS_ID = -202901 FRAME_-202901_CENTER = 499 TKFRAME_-202901_SPEC = 'MATRIX' TKFRAME_-202901_RELATIVE = 'J2000' TKFRAME_-202901_MATRIX = ( 0.6732521982472339 0.7394129276360180 0.0000000000000000 -0.5896387605430040 0.5368794307891331 0.6033958972853946 0.4461587269353556 -0.4062376142607541 0.7974417791532832 ) \begintext Spacecraft Bus Frame ------------------------------------------------------------------------------- The spacecraft frame is defined by the s/c design as follows [from 5]: - Z axis is perpendicular to the Launch Vehicle separation plane. The positive z direction is from the separation plane toward/through the High Gain Antenna. - X axis is is in the Launch Vehicle separation plane extending from the origin through the scribe line on the outside diameter of the Launch Vehicle Ring (nominally toward the Articulating Payload Platform). - Y axis completes the right handed frame; - the origin of the frame is in the Launch Vehicle separation plane at the center point of the outside diameter of the Launch Vehicle Ring. These diagrams illustrate the s/c frame: +Z s/c side: ------------ ._____. APP \_____| | | | +Xsc | ^ ._________._________..-----|-----.._________._________. | | || .--|--. || | |> MAG .-| | +Ysc / | \ || | |-. MAG < | | <-------o ||| | | > `-| | \ / || | |-' <|_________|_________|HGA'-----' ||_________|_________| `-----------' .-' | `-. .-' | `-. .-' @ `-. .-' SWEA `-. LPW .-' `-. LPW +Zsc is out of the page. -X s/c side: ------------ *. _ .* MAG `-. HGA .' `. .-' MAG `-. .' `. .-' `-. --------- .-' `-o_________..-----------.._________o-' | | | +Zsc | | ^ | | | | | | | +Ysc `-----|-----' <-------x -'`-. .-' | `-. .-' @ `-. .-' SWEA `-. LPW .-' `-. LPW +Xsc is into the page. Since the S/C bus attitude is provided by a C kernel (see [3] for more information), this frame is defined as a CK-based frame. \begindata FRAME_MAVEN_SPACECRAFT = -202000 FRAME_-202000_NAME = 'MAVEN_SPACECRAFT' FRAME_-202000_CLASS = 3 FRAME_-202000_CLASS_ID = -202000 FRAME_-202000_CENTER = -202 CK_-202000_SCLK = -202 CK_-202000_SPK = -202 \begintext Instrument Frames ------------------------------------------------------------------------------- TBD. Antenna Frames ------------------------------------------------------------------------------- The MAVEN HGA, UHF, and "forward" and "aft" LGA antenna frames -- MAVEN_HGA, MAVEN_UHF, MAVEN_LGA_FWD, and MAVEN_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 at the geometric center of the antenna's outer rim or patch HGA Frame MAVEN HGA frame -- MAVEN_HGA, ID -202010 -- is defined as a fixed offset frame with respect to and nominally co-aligned with the spacecraft frame (per [5]) as shown on this diagram: -X s/c side: ------------ +Zhga ^ *. | .* MAG `-. .'|`. HGA .-' MAG `-. +Yhga .' | `. .-' `-. <-------x --- .-' `-o_________..-----------.._________o-' | | | +Zsc | | ^ | | | | | | | +Ysc `-----|-----' <-------x -'`-. .- | `-. .-' @ `-. .-' SWEA `-. LPW .-' `-. LPW +Xsc, +Xhga are into the page. The keywords below define the HGA frame. \begindata FRAME_MAVEN_HGA = -202010 FRAME_-202010_NAME = 'MAVEN_HGA' FRAME_-202010_CLASS = 4 FRAME_-202010_CLASS_ID = -202010 FRAME_-202010_CENTER = -202 TKFRAME_-202010_SPEC = 'ANGLES' TKFRAME_-202010_RELATIVE = 'MAVEN_SPACECRAFT' TKFRAME_-202010_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-202010_AXES = ( 1, 2, 3 ) TKFRAME_-202010_UNITS = 'DEGREES' \begintext UHF Antenna Frame MAVEN UHF frame -- MAVEN_UHF, ID -202020 -- is defined as a fixed offset frame with respect to the spacecraft frame. The MAVEN_UHF frame is nominally rotated from the spacecraft frame by +130 degrees about Y (per [6]) as shown on this diagram: -Y s/c side: ------------ HGA _ .__.-*-.__. Solar | MAG | Array | | .___. .-----------.===========| .' APP | | `-' | +Zsc | | ^ | | | | | | | UHF .-.-----|-----x --- .-'.' `- x---.'-`> +Xsc / .-' .' .' `. / .-' @ v v / 40 deg LPW .-' SWEA +Xuhf +Zuhf . / `. +Ysc, +Yuhf are into the page. The angle in the definition is -130 because the rotation in the definition is from the UHF frame to the spacecraft frame. \begindata FRAME_MAVEN_UHF = -202020 FRAME_-202020_NAME = 'MAVEN_UHF' FRAME_-202020_CLASS = 4 FRAME_-202020_CLASS_ID = -202020 FRAME_-202020_CENTER = -202 TKFRAME_-202020_SPEC = 'ANGLES' TKFRAME_-202020_RELATIVE = 'MAVEN_SPACECRAFT' TKFRAME_-202020_ANGLES = ( 0.0, -130.0, 0.0 ) TKFRAME_-202020_AXES = ( 1, 2, 3 ) TKFRAME_-202020_UNITS = 'DEGREES' \begintext LGA Antenna Frames MAVEN LGA frames -- MAVEN_LGA_FWD, ID -202030, and MAVEN_LGA_AFT, ID -202040, -- are defined as fixed offset frames with respect to the spacecraft frame. The MAVEN_LGA_FWD frame is rotated from the spacecraft frame by -22 degrees about Y while the MAVEN_LGA_AFT frame is rotated from the spacecraft frame by +158 degrees about Y (per [5]) as shown on this diagram: -Y s/c side: ------------ 22 deg \<--------->| +Zlgaf ^ _ \ .__.-*-.__. Solar \ | MAG | Array \ | | .___. x-----------.===========| .' APP LGA "fwd" | | `-' | +Zsc | | ^ | | | | | | | LGA "aft" .-.-----|-----x .-'.' `- x------\> +Xsc .-' .' \ .-' @ \ LPW .-' SWEA v +Zlgaa 22 deg |<--------->\ +Ysc, +Ylgaf, and +Ylgaa are into the page. The angles in the definitions are the opposites of the rotations described above because the rotations in the definitions are from the LGA frames to the spacecraft frame. \begindata FRAME_MAVEN_LGA_FWD = -202030 FRAME_-202030_NAME = 'MAVEN_LGA_FWD' FRAME_-202030_CLASS = 4 FRAME_-202030_CLASS_ID = -202030 FRAME_-202030_CENTER = -202 TKFRAME_-202030_SPEC = 'ANGLES' TKFRAME_-202030_RELATIVE = 'MAVEN_SPACECRAFT' TKFRAME_-202030_ANGLES = ( 0.0, 22.0, 0.0 ) TKFRAME_-202030_AXES = ( 1, 2, 3 ) TKFRAME_-202030_UNITS = 'DEGREES' FRAME_MAVEN_LGA_AFT = -202040 FRAME_-202040_NAME = 'MAVEN_LGA_AFT' FRAME_-202040_CLASS = 4 FRAME_-202040_CLASS_ID = -202040 FRAME_-202040_CENTER = -202 TKFRAME_-202040_SPEC = 'ANGLES' TKFRAME_-202040_RELATIVE = 'MAVEN_SPACECRAFT' TKFRAME_-202040_ANGLES = ( 0.0, -158.0, 0.0 ) TKFRAME_-202040_AXES = ( 1, 2, 3 ) TKFRAME_-202040_UNITS = 'DEGREES' \begintext MAVEN NAIF ID Codes -- Definitions ======================================================================== This section contains name to NAIF ID mappings for the MAVEN 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: ----------- MAVEN -202 MAVEN_SPACECRAFT -202000 MAVEN_SPACECRAFT_BUS -202000 MAVEN_SC_BUS -202000 Science Instruments: -------------------- TBD Antennas: --------- MAVEN_HGA -202010 MAVEN_UHF -202020 MAVEN_LGA_FWD -202030 MAVEN_LGA_AFT -202040 The mappings summarized in this table are implemented by the keywords below. \begindata NAIF_BODY_NAME += ( 'MAVEN' ) NAIF_BODY_CODE += ( -202 ) NAIF_BODY_NAME += ( 'MAVEN_SPACECRAFT' ) NAIF_BODY_CODE += ( -202000 ) NAIF_BODY_NAME += ( 'MAVEN_SPACECRAFT_BUS' ) NAIF_BODY_CODE += ( -202000 ) NAIF_BODY_NAME += ( 'MAVEN_SC_BUS' ) NAIF_BODY_CODE += ( -202000 ) NAIF_BODY_NAME += ( 'MAVEN_HGA' ) NAIF_BODY_CODE += ( -202010 ) NAIF_BODY_NAME += ( 'MAVEN_UHF' ) NAIF_BODY_CODE += ( -202020 ) NAIF_BODY_NAME += ( 'MAVEN_LGA_FWD' ) NAIF_BODY_CODE += ( -202030 ) NAIF_BODY_NAME += ( 'MAVEN_LGA_AFT' ) NAIF_BODY_CODE += ( -202040 ) \begintext End of FK File.