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 0.3 -- October 3, 2012 -- Boris Semenov, NAIF Added instrument and structure frames and name-ID mappings. Added MSO frame. 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 Dynamic Frames: --------------- MAVEN_MSO rel.to J2000 DYNAMIC -202911 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 Instrument frames: ------------------ MAVEN_EUV rel.to SPACECRAFT FIXED -202110 MAVEN_SEP_PY rel.to SPACECRAFT FIXED -202120 MAVEN_SEP_MY rel.to SPACECRAFT FIXED -202125 MAVEN_SWEA rel.to SPACECRAFT FIXED -202130 MAVEN_SWIA_BASE rel.to SPACECRAFT FIXED -202140 MAVEN_SWIA rel.to SWIA_BASE FIXED -202141 MAVEN_LPW_PY rel.to SPACECRAFT FIXED -202151 MAVEN_LPW_MY rel.to SPACECRAFT FIXED -202153 APP and APP-mounted Instrument frames: ------------------------------------- MAVEN_APP_BP rel.to SPACECRAFT FIXED -202501 MAVEN_APP_IG rel.to APP_BP CK -202503 MAVEN_APP_OG rel.to APP_IG CK -202505 MAVEN_APP rel.to APP_OG FIXED -202507 MAVEN_IUVS_BASE rel.to APP FIXED -202510 MAVEN_IUVS_LIMB rel.to IUVS_BASE FIXED -202511 MAVEN_IUVS_LIMB_BOS rel.to IUVS_BASE FIXED -202512 MAVEN_IUVS_NADIR rel.to IUVS_BASE FIXED -202513 MAVEN_IUVS_NADIR_BOS rel.to IUVS_BASE FIXED -202514 MAVEN_IUVS_OCC_BIG rel.to IUVS_BASE FIXED -202515 MAVEN_IUVS_OCC_SMALL rel.to IUVS_BASE FIXED -202516 MAVEN_IUVS_SCAN rel.to IUVS_BASE CK -202517 MAVEN_IUVS rel.to IUVS_SCAN FIXED -202518 MAVEN_STATIC rel.to APP FIXED -202520 MAVEN_NGIMS_BASE rel.to APP FIXED -202535 MAVEN_NGIMS rel.to NGIMS_BASE FIXED -202530 Solar Array (SA) and SA-mounted Instrument frames: -------------------------------------------------- MAVEN_SA_PY_IB rel.to SPACECRAFT FIXED -202300 MAVEN_SA_PY_OB rel.to SA_PY_IB FIXED -202305 MAVEN_MAG_PY rel.to SA_PY_OB FIXED -202310 MAVEN_SA_MY_IB rel.to SPACECRAFT FIXED -202400 MAVEN_SA_MY_OB rel.to SA_MY_OB FIXED -202405 MAVEN_MAG_MY rel.to SA_MY_OB FIXED -202410 Structure frames: ----------------- TBD. MAVEN Frames Hierarchy ------------------------------------------------------------------------------- The diagram below shows MAVEN frames hierarchy: "J2000" INERTIAL +--------------------------------------------------------------+ | | | | |<-pck |<-dyn |<-fxd |<-pck V | | V "IAU_MARS" V V "IAU_EARTH" MARS BFR(*) "MAVEN_MSO" "MAVEN_MME_2000" EARTH BFR(*) ----------- ----------- ---------------- ------------ | | "MAVEN_LGA_FWD" "MAVEN_LGA_AFT" | "MAVEN_HGA" "MAVEN_UHF" --------------- --------------- | ----------- ----------- ^ ^ | ^ ^ |<-fxd |<-fxd |<-ck |<-fxd |<-fxd | | | | | | "MAVEN_EUV" | | | "MAVEN_SWEA" | | ----------- | | | ------------ | | ^ | | | ^ | | |<-fxd | | | |<-fxd | | | | | | | | | | | "MAVEN_SPACECRAFT" | | | +---------------------------------------------------------------+ | | | | | | | | | | | |<-fxd | | | | | | | V | | | | | | | "MAVEN_SWIA_BASE" | | | | | | | ----------------- | | | | | | | | | | | | | | | |<-fxd | | | | | | | V | | | | | | | "MAVEN_SWIA" | | | | | | | ------------ | | | | | | | | | | | | | |<-fxd | fxd->| | | | | V | V | | | | "MAVEN_SEP_PY" | "MAVEN_SEP_MY" | | | | -------------- | -------------- | | | | | | | | |<-fxd |<-fxd fxd->| | | V V V | | "MAVEN_LPW_PY" "MAVEN_APP_BP" "MAVEN_LPW_MY" | | -------------- -------------- -------------- | | | | |<-fxd |<-ck fxd->| V V V "MAVEN_SA_PY_IB" "MAVEN_APP_IG" "MAVEN_SA_MY_IB" ---------------- -------------- ---------------- | | | |<-fxd |<-ck fxd->| V V V "MAVEN_SA_PY_OB" "MAVEN_APP_OG" "MAVEN_SA_MY_OB" ---------------- -------------- ---------------- | | | |<-fxd |<-fxd fxd->| V V V "MAVEN_MAG_PY" "MAVEN_APP" "MAVEN_MAG_MY" -------------- +-------------------------------+ -------------- | | | |<-fxd | |<-fxd V | V "MAVEN_NGIMS_BASE" | "MAVEN_STATIC" ------------------ | -------------- | | |<-fxd | V | "MAVEN_NGIMS" | ------------- | | | "MAVEN_IUVS_OCC_BIG" | "MAVEN_IUVS_OCC_SMALL" -------------------- | ---------------------- ^ | ^ |<-fxd |<-fxd |<-fxd | V | "MAVEN_IUVS_BASE" +---------------------------------------------------------------+ | | | | | | |<-fxd |<-ck |<-fxd | | V V V | | "MAVEN_IUVS_LIMB" "MAVEN_IUVS_SCAN" "MAVEN_IUVS_NADIR" | | ----------------- ----------------- ------------------ | | | | |<-fxd |<-fxd |<-fxd V V V "MAVEN_IUVS_LIMB_BOS" "MAVEN_IUVS" "MAVEN_IUVS_NADIR_BOS" --------------------- ------------ ---------------------- (*) 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 MAVEN Dynamic Frames ------------------------------------------------------------------------------- This section defined dynamic frames of interest to MAVEN science investigations. MAVEN MSO Frame The MARS_MSO frame is the Mars-Sun-Orbit reference frame. It is defined in the same way that the GSE system is defined for Earth. The X-axis points from the center of Mars to the center of the Sun. The Y-axis points opposite to the direction of the orbital velocity component orthogonal to X. The Z-axis completes the right-handed system (Z = X x Y). \begindata FRAME_MAVEN_MSO = -202911 FRAME_-202911_NAME = 'MAVEN_MSO' FRAME_-202911_CLASS = 5 FRAME_-202911_CLASS_ID = -202911 FRAME_-202911_CENTER = 499 FRAME_-202911_RELATIVE = 'J2000' FRAME_-202911_DEF_STYLE = 'PARAMETERIZED' FRAME_-202911_FAMILY = 'TWO-VECTOR' FRAME_-202911_PRI_AXIS = 'X' FRAME_-202911_PRI_VECTOR_DEF = 'OBSERVER_TARGET_POSITION' FRAME_-202911_PRI_OBSERVER = 'MARS' FRAME_-202911_PRI_TARGET = 'SUN' FRAME_-202911_PRI_ABCORR = 'NONE' FRAME_-202911_SEC_AXIS = 'Y' FRAME_-202911_SEC_VECTOR_DEF = 'OBSERVER_TARGET_VELOCITY' FRAME_-202911_SEC_OBSERVER = 'MARS' FRAME_-202911_SEC_TARGET = 'SUN' FRAME_-202911_SEC_ABCORR = 'NONE' FRAME_-202911_SEC_FRAME = 'J2000' \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 `o. HGA .' `. .o' 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 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 (see [5]) as shown on this diagram: -X s/c side: ------------ +Zhga ^ *. | .* MAG `o. .'|`. HGA .o' 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 (see [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 (see [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 S/C-mounted Instrument Frames ------------------------------------------------------------------------------- This section defines frames for the instruments mounted on the s/c bus -- EUV, SEP, SWEA, SWIA and LPW. EUV Frames The EUV frame -- MAVEN_EUV, ID -202110 -- is defined as a fixed offset frame with respect to the s/c frame. It has photometer boresights along the +Z axis and nominally is co-aligned with the s/c frame as shown on this diagram (see [6]): +Z s/c side: ------------ ._____. APP \_____| | | | +Xsc | ^ ._________._________..-----|-----.._________._________. | | +Xeuv -|--. || | |> MAG .-| | +Ysc /^ | \ || | |-. MAG < | | <----|--o ||| | | > `-| | \| / || | |-' <|_________|_________| |-----' ||_________|_________| <-------o--------' +Yeuv . EUV | `-. .-' | `-. .-' @ `-. .-' SWEA `-. LPW .-' `-. LPW +Zsc and +Zeuv are out of the page. The keywords below define the EUV frame. \begindata FRAME_MAVEN_EUV = -202110 FRAME_-202110_NAME = 'MAVEN_EUV' FRAME_-202110_CLASS = 4 FRAME_-202110_CLASS_ID = -202110 FRAME_-202110_CENTER = -202 TKFRAME_-202110_SPEC = 'ANGLES' TKFRAME_-202110_RELATIVE = 'MAVEN_SPACECRAFT' TKFRAME_-202110_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-202110_AXES = ( 1, 2, 3 ) TKFRAME_-202110_UNITS = 'DEGREES' \begintext SEP Frames The SEP frames -- MAVEN_SEP_PY, ID -202120, and MAVEN_SEP_MY, ID -202125, -- are defined as fixed offset frames with respect to the s/c frame. The MAVEN_SEP_PY frame, for the sensor mounted on the +X/+Y ("PY") corner of the s/c +Z deck, is defined a follows (see [6]): - +X axis is along the nominal boresight of the FOVs pointing in the HGA (forward) direction - +Y axis is nominally along the s/c +X axis - +Z axis completes the right-handed frame - the origin of the frame is at the CG of the sensor assembly. The MAVEN_SEP_MY frame, for the sensor mounted on the +X/-Y ("MY") corner of the s/c +Z deck, is defined a follows (see [6]): - +X axis is along the nominal boresight of the FOVs pointing in the HGA (forward) direction - +Y axis is nominally along the s/c -X axis - +Z axis completes the right-handed frame - the origin of the frame is at the CG of the sensor assembly. This diagram illustrates the SEP frames: +X s/c side: ------------ 45 deg 45 deg `.<---->|<---->.' `. | .' `. | .' *. +Zsepmy +Xsepmy +Xseppy +Zseppy .* MAG `o. ^. ^ ^ .^ .o' MAG `-. `. .' `. .' .-' `-. `. .' HGA `. .' .-' `-o_________.x-----------o._________o-' SEPmy | | SEPpy | +Zsc | | ^ | | | | | | | `-----|-----' +Ysc .-'`- o-------> .-' | `-. .-' @ `-. .-' SWEA `-. LPW .-' `-. LPW +Xsc and +Yseppy are out of the page. +Ysepmy is onto the page. As seen on the diagram nominally two rotations -- first by -90 degrees about Z, then by -45 degrees about Y -- are needed to co-align the s/c frame with the SEP "PY" frame and two rotations -- first by +90 degrees about Z, then by -45 degrees about Y -- are needed to co-align the s/c frame with the SEP "MY" frame. The angles in the definitions are the opposites of the rotations described above because the rotations in the definitions are from the SEP frames to the spacecraft frame. \begindata FRAME_MAVEN_SEP_PY = -202120 FRAME_-202120_NAME = 'MAVEN_SEP_PY' FRAME_-202120_CLASS = 4 FRAME_-202120_CLASS_ID = -202120 FRAME_-202120_CENTER = -202 TKFRAME_-202120_SPEC = 'ANGLES' TKFRAME_-202120_RELATIVE = 'MAVEN_SPACECRAFT' TKFRAME_-202120_ANGLES = ( 90.0, 45.0, 0.0 ) TKFRAME_-202120_AXES = ( 3, 2, 1 ) TKFRAME_-202120_UNITS = 'DEGREES' FRAME_MAVEN_SEP_MY = -202125 FRAME_-202125_NAME = 'MAVEN_SEP_MY' FRAME_-202125_CLASS = 4 FRAME_-202125_CLASS_ID = -202125 FRAME_-202125_CENTER = -202 TKFRAME_-202125_SPEC = 'ANGLES' TKFRAME_-202125_RELATIVE = 'MAVEN_SPACECRAFT' TKFRAME_-202125_ANGLES = ( -90.0, 45.0, 0.0 ) TKFRAME_-202125_AXES = ( 3, 2, 1 ) TKFRAME_-202125_UNITS = 'DEGREES' \begintext SWEA Frames The SWEA frame -- MAVEN_SWEA, ID -202130 -- is defined as a fixed offset frame with respect to the s/c frame. Nominally it is rotated from the s/c frame by -90 degrees about Z as shown on this diagram (see [6]): +Z s/c side: ------------ ._____. APP \_____| | | | +Xsc | ^ ._________._________..-----|-----.._________._________. | | || .--|--. || | |> MAG .-| | +Ysc / | \ || | |-. MAG < | | <-------o ||| | | > `-| | \ | |-' <|_________|_________|HGA'- ^ +Yswea ________|_________| `-----|----- .-' | `-. .-' | `-. .-' o-------> `-. .-' SWEA +Xswea `-. LPW .-' `-. LPW +Zsc and +Zswea are out of the page. The angle in the definition below is +90 because the rotation in the definition is from the SWEA frame to the spacecraft frame. \begindata FRAME_MAVEN_SWEA = -202130 FRAME_-202130_NAME = 'MAVEN_SWEA' FRAME_-202130_CLASS = 4 FRAME_-202130_CLASS_ID = -202130 FRAME_-202130_CENTER = -202 TKFRAME_-202130_SPEC = 'ANGLES' TKFRAME_-202130_RELATIVE = 'MAVEN_SPACECRAFT' TKFRAME_-202130_ANGLES = ( 0.0, 0.0, 90.0 ) TKFRAME_-202130_AXES = ( 1, 2, 3 ) TKFRAME_-202130_UNITS = 'DEGREES' \begintext SWIA Frames The SWIA "base" frame -- MAVEN_SWIA_BASE, ID -202140 -- is defined as a fixed offset frame with respect to and is nominally co-aligned with the s/c frame (see [6]). The SWIA frame -- MAVEN_SWIA, ID -202141 -- is defined as a fixed offset frame with respect to and is rotated by +90 degrees about X from the SWIA "base" frame. The purpose of this frame is to co-align the frame's +Z axis with the instrument's center axis to allow using azimuthal coordinates to represent directions relative to the instrument. This diagram illustrates the SWIA frames: +Z s/c side: ------------ ._____. APP \_____| | | | +Xsc | ^ ._________._________..-----|--- +Xswia ___._________. | | || .--|--. +Xswiab | |> MAG .-| | +Ysc / | ^ | |-. MAG < | | <-------o | | | > `-| | | \ | | |-' <|_________|_________|HGA`-----' | _________|_________| <-------o-------> +Yswiab +Zswia . | `-. .-' @ `-. .-' SWEA `-. LPW .-' `-. LPW +Zsc, +Zswiab, and +Yswia are out of the page. The keywords below define the SWIA frames. \begindata FRAME_MAVEN_SWIA_BASE = -202140 FRAME_-202140_NAME = 'MAVEN_SWIA_BASE' FRAME_-202140_CLASS = 4 FRAME_-202140_CLASS_ID = -202140 FRAME_-202140_CENTER = -202 TKFRAME_-202140_SPEC = 'ANGLES' TKFRAME_-202140_RELATIVE = 'MAVEN_SPACECRAFT' TKFRAME_-202140_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-202140_AXES = ( 1, 2, 3 ) TKFRAME_-202140_UNITS = 'DEGREES' FRAME_MAVEN_SWIA = -202141 FRAME_-202141_NAME = 'MAVEN_SWIA' FRAME_-202141_CLASS = 4 FRAME_-202141_CLASS_ID = -202141 FRAME_-202141_CENTER = -202 TKFRAME_-202141_SPEC = 'ANGLES' TKFRAME_-202141_RELATIVE = 'MAVEN_SWIA_BASE' TKFRAME_-202141_ANGLES = ( -90.0, 0.0, 0.0 ) TKFRAME_-202141_AXES = ( 1, 2, 3 ) TKFRAME_-202141_UNITS = 'DEGREES' \begintext LPW Frames The LPW frames -- MAVEN_LPW_PY, ID -202151, and MAVEN_LPW_MY, ID -202153, -- are defined as fixed offset frames with respect to the s/c frame. The MAVEN_LPW_PY frame, for the antenna extended in the s/c +Y ("PY") direction, and the MAVEN_LPW_MY frame, for the antenna extended in the s/c -Y ("MY") direction, are defined a follows (see [6]): - +Z axis is along the antenna rod, pointing from the antenna mounting base toward the antenna tip. - +Y axis is normal to the antenna base mounting surface, pointing from the mounting surface toward the "top" of the base assembly - +X axis completes the right handed frame - the origin of the frame is at the CG of the antenna assembly. This diagram illustrates the LPW frames: +Z s/c side: ------------ ._____. APP \_____| | | | +Xsc | ^ ._________._________..-----|-----.._________._________. | | || .--|--. | |> MAG .-| | +Ysc / | ^ +Xlpwmy | |-. MAG < | | <-------o / | | > `-| | \ / | | |-' <|_________|_________| '---- / ||_________|_________| ------- `---o---o---' ------- ^ .-' \ `-. ^ \ +Zlpwpy <' \ `> +Zlpwmy / 30 deg \ . \ -. / 30 deg v .-' v `-. v .-' +Xlpwpy `-. LPW LPW +Zsc, +Ylpwpy, and +Ylpwmy are out of the page. -X s/c side: ------------ *. _ .* MAG `o. HGA .' `. .o' MAG `-. .' `. .-' `-. --------- .-' `-o_________..-----------.._________o-' +Ylpwpy ^ +Zsc ^ +Ylpwmy \ ^ / | \ | / | | \ | / | ------- +Ysc `---o-|-x---' ------- ^ <-------x `-. ^ \ +Zlpwpy <' | `> +Zlpwmy / 18 deg \ . @ -. / 18 deg v .-' SWEA `-. v .-' `-. LPW LPW +Xsc is into the page. +Ylpwpy is out of the page. +Ylpwmy is into the page. As seen on the diagram nominally three rotations -- first by +90 degrees about X, then by -150 degrees about Y, and finally by +18 degrees about X -- are needed to co-align the s/c frame with the LPW "PY" frame and three rotations -- first by +90 degrees about X, then by -30 degrees about Y, and finally +18 degrees about X -- are needed to co-align the s/c frame with the LPW "MY" frame. The angles in the definitions are the opposites of the rotations described above because the rotations in the definitions are from the LPW frames to the spacecraft frame. \begindata FRAME_MAVEN_LPW_PY = -202151 FRAME_-202151_NAME = 'MAVEN_LPW_PY' FRAME_-202151_CLASS = 4 FRAME_-202151_CLASS_ID = -202151 FRAME_-202151_CENTER = -202 TKFRAME_-202151_SPEC = 'ANGLES' TKFRAME_-202151_RELATIVE = 'MAVEN_SPACECRAFT' TKFRAME_-202151_ANGLES = ( -90.0, 150.0, -18.0 ) TKFRAME_-202151_AXES = ( 1, 2, 1 ) TKFRAME_-202151_UNITS = 'DEGREES' FRAME_MAVEN_LPW_MY = -202153 FRAME_-202153_NAME = 'MAVEN_LPW_MY' FRAME_-202153_CLASS = 4 FRAME_-202153_CLASS_ID = -202153 FRAME_-202153_CENTER = -202 TKFRAME_-202153_SPEC = 'ANGLES' TKFRAME_-202153_RELATIVE = 'MAVEN_SPACECRAFT' TKFRAME_-202153_ANGLES = ( -90.0, 30.0, -18.0 ) TKFRAME_-202153_AXES = ( 1, 2, 1 ) TKFRAME_-202153_UNITS = 'DEGREES' \begintext APP and APP-mounted Instrument Frames ------------------------------------------------------------------------------- This section defines frames for the Articulated Payload Platform (APP) and instruments mounted on it -- IUVS, STATIC, and NGIMS. APP Frames Four frames are defined for APP: - MAVEN_APP_BP, ID -202501, is the APP base-plate frame defined as a fixed offset frame relative to and is nominally co-aligned with the s/c frame. This frame is called ``BP'' in [5]. - MAVEN_APP_IG, ID -202503, is the APP inner gimbal frame defined as a CK-based frame and rotated by the inner gimbal angle about Y relative to the MAVEN_APP_BP frame. This frame does not exist in [5]. - MAVEN_APP_OG, ID -202505, is the APP outer gimbal frame defined as a CK-based frame and rotated by the outer gimbal angle about X relative to the MAVEN_APP_IG frame. This frame is called ``AR'' in [5]. - MAVEN_APP, ID -202507, is the APP platform frame defined as a fixed offset frame relative to the MAVEN_APP_OG frame and nominally rotated from it first by -90 degrees about X, then by -90 degrees about Z, and finally by +155 degrees about Y. This frame is called ``APP'' in [5] with its axes labeled as I (=X), J (=Y), and K (=Z). Nominally at the gimbal angle pair 0.0/-155.0 the axes of the MAVEN_APP frame point as follows: - MAVEN_APP +X (APP +I) along s/c +Z - MAVEN_APP +Y (APP +J) along s/c +X - MAVEN_APP +Z (APP +K) along s/c +Y as seen on these diagrams (the MAVEN_APP_IG and MAVEN_APP_OG frames are not shown): +Z s/c side (0.0/-155.0 APP position): -------------------------------------- ^ +Yapp | | +Zapp .__|__. APP <-------o _| ^ +Xbp | | +Xsc +Ybp | ^ ._________.____ <-------o-|-----.._________._________. | | .--|--. || | |> MAG .-| | +Ysc / | \ || | |-. MAG < | | <-------o ||| | | > `-| | \ / || | |-' <|_________|_________|HGA'-----' ||_________|_________| `-----------' .-' | `-. .-' | `-. .-' @ `-. .-' SWEA `-. LPW .-' `-. LPW +Zsc, +Zpb, and +Xapp are out of the page. +X APP side (0.0/-155.0 APP position): -------------------------------------- Nadir FOV ._____. . \ / .-' `. Limb FOV .-------\ /.-' `. STATIC .-' .-----' `_. -------. | IUVS | | | | | | | | -------' | | | `-. `---- +Yapp -------' | `---.-- ^ ---.------------ | | | | |--. `-- | . | | | | +Zapp _ | _| ' `_______.--' <-------o / NGIMS |_____| | | | | ~ ~ ~ ^ +Xsc | | +Ysc | <-------o +Zsc and +Xapp are out of the page. The angles in the definitions of the fixed offset frames below are the opposites of the rotations described above because the rotations in the definitions are from the structure frames to the base frames. \begindata FRAME_MAVEN_APP_BP = -202501 FRAME_-202501_NAME = 'MAVEN_APP_BP' FRAME_-202501_CLASS = 4 FRAME_-202501_CLASS_ID = -202501 FRAME_-202501_CENTER = -202 TKFRAME_-202501_SPEC = 'ANGLES' TKFRAME_-202501_RELATIVE = 'MAVEN_SPACECRAFT' TKFRAME_-202501_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-202501_AXES = ( 1, 2, 3 ) TKFRAME_-202501_UNITS = 'DEGREES' FRAME_MAVEN_APP_IG = -202503 FRAME_-202503_NAME = 'MAVEN_APP_IG' FRAME_-202503_CLASS = 3 FRAME_-202503_CLASS_ID = -202503 FRAME_-202503_CENTER = -202 CK_-202503_SCLK = -202 CK_-202503_SPK = -202 FRAME_MAVEN_APP_OG = -202505 FRAME_-202505_NAME = 'MAVEN_APP_OG' FRAME_-202505_CLASS = 3 FRAME_-202505_CLASS_ID = -202505 FRAME_-202505_CENTER = -202 CK_-202505_SCLK = -202 CK_-202505_SPK = -202 FRAME_MAVEN_APP = -202507 FRAME_-202507_NAME = 'MAVEN_APP' FRAME_-202507_CLASS = 4 FRAME_-202507_CLASS_ID = -202507 FRAME_-202507_CENTER = -202 TKFRAME_-202507_SPEC = 'ANGLES' TKFRAME_-202507_RELATIVE = 'MAVEN_APP_OG' TKFRAME_-202507_ANGLES = ( 90.0, 90.0, -155.0 ) TKFRAME_-202507_AXES = ( 1, 3, 2 ) TKFRAME_-202507_UNITS = 'DEGREES' \begintext IUVS Frames The IUVS frames defined by this FK include: - IUVS base frame: MAVEN_IUVS_BASE, ID -202510 - frames needed to model instrument pointing based on the articulating mirror position: MAVEN_IUVS_SCAN, ID -202517, and MAVEN_IUVS, ID -202518 - frames defined for convenience of specifying various FOVs (to align frame's +Z with the FOV center vector): FRAME_MAVEN_IUVS_LIMB, ID -202511, FRAME_MAVEN_IUVS_NADIR, ID -202513, FRAME_MAVEN_IUVS_OCC_BIG, ID -202515, and FRAME_MAVEN_IUVS_OCC_SMALL, ID -202516 - bright object sensor frames (with frame's +Z in the direction of the BOS FOV center vector) : FRAME_MAVEN_IUVS_LIMB_BOS, ID -202512, and FRAME_MAVEN_IUVS_NADIR_BOS, ID -202514 The MAVEN_IUVS_BASE frame is defined as a fixed offset frame relative to and is nominally co-aligned with the MAVEN_APP frame. The MAVEN_IUVS_SCAN frame is defined as a CK-based frame and is rotated from the MAVEN_IUVS_BASE frame about the +X axis by the angle needed to align the +Y axis the MAVEN_IUVS_SCAN frame with the actual view direction of the instrument for a given scan mirror position. The MAVEN_IUVS frame is defined as a fixed offset frame relative to the MAVEN_IUVS_SCAN frame and is rotated from it by -90 degrees about X to align the +Z axis of the MAVEN_IUVS frame with the actual view direction of the instrument (+Y of the MAVEN_IUVS_SCAN frame). The FOV frames -- FRAME_MAVEN_IUVS_LIMB, FRAME_MAVEN_IUVS_NADIR, FRAME_MAVEN_IUVS_OCC_BIG, and FRAME_MAVEN_IUVS_OCC_SMALL -- are defined as fixed offset frames relative the MAVEN_IUVS_BASE frame with their +Z axis pointing through the center of the corresponding FOVs and their X axis pointing in the direction of the MAVEN_IUVS_BASE frame's X axis. The following rotations are needed to co-align the MAVEN_IUVS_BASE frame with each of the FOV frames: FRAME_MAVEN_IUVS_LIMB -167.75 about X FRAME_MAVEN_IUVS_NADIR -90.00 about X FRAME_MAVEN_IUVS_OCC_BIG -90.00 about X; then -5.820 about Y FRAME_MAVEN_IUVS_OCC_SMALL -90.00 about X; then +6.025 about Y The BOS frames -- FRAME_MAVEN_IUVS_LIMB_BOS and FRAME_MAVEN_IUVS_NADIR_BOS -- are defined as fixed offset frames relative the MAVEN_IUVS_BASE frame with their +Z axis pointing through the center of the corresponding FOVs and their X axis pointing in the direction of the MAVEN_IUVS_BASE frame's X axis. The following rotations are needed to co-align the MAVEN_IUVS_BASE frame with each of the NOS frames: FRAME_MAVEN_IUVS_LIMB_BOS -150.00 about X (*) FRAME_MAVEN_IUVS_NADIR_BOS -90.00 about X (*) -150.00 was estimated from [6]. This diagram illustrates the IUVS frames: +X APP side (0.0/-155.0 APP position, nadir IUVS mirror position): ------------------------------------------------------------------ +Zuvs +Znadir, +Zoccs, +Zoccb +Znadirbos +Yscan ^ | | ^ +Zlimbbos +Zscan | +Y(*) / <-------o------->. / .-> \^ / .-' `. /.-' +Zlimb +Ybase | /.-' o'. STATIC .-----| \`-. ----- +Zbase | \ |`-> +Ylimbbos | | <-------o |\| -------' | | v +Ylimb `-. `---- +Yapp -------' | `---.-- ^ ---.------------ | | | | |--. `-- | . | | | | +Zapp _ | _| ' `_______.--' <-------o / NGIMS |_____| | | | | ~ ~ ~ ^ +Xsc | | +Ysc | <-------o +Zsc, +Xapp and +X of all IUVS frames are out of the page. +Yuvs, +Ynadir, +Yoccs, +Yoccb, and +Ynadirbos point to the right side of the diagram. The angles in the definitions of the fixed offset frames below are the opposites of the rotations described above because the rotations in the definitions are from the instrument frames to the base frames. \begindata FRAME_MAVEN_IUVS_BASE = -202510 FRAME_-202510_NAME = 'MAVEN_IUVS_BASE' FRAME_-202510_CLASS = 4 FRAME_-202510_CLASS_ID = -202510 FRAME_-202510_CENTER = -202 TKFRAME_-202510_SPEC = 'ANGLES' TKFRAME_-202510_RELATIVE = 'MAVEN_APP' TKFRAME_-202510_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-202510_AXES = ( 1, 2, 3 ) TKFRAME_-202510_UNITS = 'DEGREES' FRAME_MAVEN_IUVS_LIMB = -202511 FRAME_-202511_NAME = 'MAVEN_IUVS_LIMB' FRAME_-202511_CLASS = 4 FRAME_-202511_CLASS_ID = -202511 FRAME_-202511_CENTER = -202 TKFRAME_-202511_SPEC = 'ANGLES' TKFRAME_-202511_RELATIVE = 'MAVEN_IUVS_BASE' TKFRAME_-202511_ANGLES = ( 167.75, 0.0, 0.0 ) TKFRAME_-202511_AXES = ( 1, 2, 3 ) TKFRAME_-202511_UNITS = 'DEGREES' FRAME_MAVEN_IUVS_LIMB_BOS = -202512 FRAME_-202512_NAME = 'MAVEN_IUVS_LIMB_BOS' FRAME_-202512_CLASS = 4 FRAME_-202512_CLASS_ID = -202512 FRAME_-202512_CENTER = -202 TKFRAME_-202512_SPEC = 'ANGLES' TKFRAME_-202512_RELATIVE = 'MAVEN_IUVS_BASE' TKFRAME_-202512_ANGLES = ( 150.0, 0.0, 0.0 ) TKFRAME_-202512_AXES = ( 1, 2, 3 ) TKFRAME_-202512_UNITS = 'DEGREES' FRAME_MAVEN_IUVS_NADIR = -202513 FRAME_-202513_NAME = 'MAVEN_IUVS_NADIR' FRAME_-202513_CLASS = 4 FRAME_-202513_CLASS_ID = -202513 FRAME_-202513_CENTER = -202 TKFRAME_-202513_SPEC = 'ANGLES' TKFRAME_-202513_RELATIVE = 'MAVEN_IUVS_BASE' TKFRAME_-202513_ANGLES = ( 90.0, 0.0, 0.0 ) TKFRAME_-202513_AXES = ( 1, 2, 3 ) TKFRAME_-202513_UNITS = 'DEGREES' FRAME_MAVEN_IUVS_NADIR_BOS = -202514 FRAME_-202514_NAME = 'MAVEN_IUVS_NADIR_BOS' FRAME_-202514_CLASS = 4 FRAME_-202514_CLASS_ID = -202514 FRAME_-202514_CENTER = -202 TKFRAME_-202514_SPEC = 'ANGLES' TKFRAME_-202514_RELATIVE = 'MAVEN_IUVS_BASE' TKFRAME_-202514_ANGLES = ( 90.0, 0.0, 0.0 ) TKFRAME_-202514_AXES = ( 1, 2, 3 ) TKFRAME_-202514_UNITS = 'DEGREES' FRAME_MAVEN_IUVS_OCC_BIG = -202515 FRAME_-202515_NAME = 'MAVEN_IUVS_OCC_BIG' FRAME_-202515_CLASS = 4 FRAME_-202515_CLASS_ID = -202515 FRAME_-202515_CENTER = -202 TKFRAME_-202515_SPEC = 'ANGLES' TKFRAME_-202515_RELATIVE = 'MAVEN_IUVS_BASE' TKFRAME_-202515_ANGLES = ( 90.0, 5.820, 0.0 ) TKFRAME_-202515_AXES = ( 1, 2, 3 ) TKFRAME_-202515_UNITS = 'DEGREES' FRAME_MAVEN_IUVS_OCC_SMALL = -202516 FRAME_-202516_NAME = 'MAVEN_IUVS_OCC_SMALL' FRAME_-202516_CLASS = 4 FRAME_-202516_CLASS_ID = -202516 FRAME_-202516_CENTER = -202 TKFRAME_-202516_SPEC = 'ANGLES' TKFRAME_-202516_RELATIVE = 'MAVEN_IUVS_BASE' TKFRAME_-202516_ANGLES = ( 90.0, -6.025, 0.0 ) TKFRAME_-202516_AXES = ( 1, 2, 3 ) TKFRAME_-202516_UNITS = 'DEGREES' FRAME_MAVEN_IUVS_SCAN = -202517 FRAME_-202517_NAME = 'MAVEN_IUVS_SCAN' FRAME_-202517_CLASS = 3 FRAME_-202517_CLASS_ID = -202517 FRAME_-202517_CENTER = -202 CK_-202517_SCLK = -202 CK_-202517_SPK = -202 FRAME_MAVEN_IUVS = -202518 FRAME_-202518_NAME = 'MAVEN_IUVS' FRAME_-202518_CLASS = 4 FRAME_-202518_CLASS_ID = -202518 FRAME_-202518_CENTER = -202 TKFRAME_-202518_SPEC = 'ANGLES' TKFRAME_-202518_RELATIVE = 'MAVEN_IUVS_SCAN' TKFRAME_-202518_ANGLES = ( 90.0, 0.0, 0.0 ) TKFRAME_-202518_AXES = ( 1, 2, 3 ) TKFRAME_-202518_UNITS = 'DEGREES' \begintext STATIC Frames The STATIC frame -- MAVEN_STATIC, ID -202520 -- is defined as a fixed offset frame with respect to and is nominally co-aligned with the APP frame (see [6]), as shown in this diagram: +X APP side (0.0/-155.0 APP position): -------------------------------------- Nadir FOV +Ystatic ._____. . ^ \ / .-' `. Limb FOV | .-------\ /.-' `. STATIC | .-' .-----' `_. -|-----. | IUVS | | <-------o | | | | | +Zstatic -------' | | | `-. `---- +Yapp -------' | `---.-- ^ ---.------------ | | | | |--. `-- | . | | | | +Zapp _ | _| ' `_______.--' <-------o / NGIMS |_____| | | | | ~ ~ ~ ^ +Xsc | | +Ysc | <-------o +Zsc, +Xapp, and +X static are out of the page. The keywords below define the STATIC frame. \begindata FRAME_MAVEN_STATIC = -202520 FRAME_-202520_NAME = 'MAVEN_STATIC' FRAME_-202520_CLASS = 4 FRAME_-202520_CLASS_ID = -202520 FRAME_-202520_CENTER = -202 TKFRAME_-202520_SPEC = 'ANGLES' TKFRAME_-202520_RELATIVE = 'MAVEN_APP' TKFRAME_-202520_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-202520_AXES = ( 1, 2, 3 ) TKFRAME_-202520_UNITS = 'DEGREES' \begintext NGIMS Frames The NGIMS "base" frame -- MAVEN_NGIMS_BASE, ID -202535 -- is defined as a fixed offset frame with respect to and is nominally co-aligned with the APP frame (see [6]). The NGIMS frame -- MAVEN_NGIMS, ID -202530 -- is defined as a fixed offset frame with respect to and is rotated by +90 degrees about Y from the NGIMS "base" frame. The purpose of this frame is to co-align the frame's +Z axis with the center axis of the instrument's open and closed source FOVs to allow using azimuthal coordinates to represent directions relative to the instrument. This diagram illustrates the NGIMS frames: +X APP side (0.0/-155.0 APP position): -------------------------------------- Nadir FOV ._____. . \ / .-' `. Limb FOV .-------\ /.-' `. STATIC .-' .-----' `_. -------. | IUVS | | +Yngims | | | | | +Yngimsb -------' | | ^ `-. `---- +Yapp -------' | `---.-- ^ ---.------------ | | | | +Zngimsb |-|. +Xngims `-- | . | <-------o-------> +Zapp _ | _| ' `_______.--' <-------o / NGIMS |_____| | | | | ~ ~ ~ ^ +Xsc | | +Ysc | <-------o +Zsc, +Xapp, +Xngimsb, and +Zngims are out of the page. The angles in the definitions of the fixed offset frames below are the opposites of the rotations described above because the rotations in the definitions are from the instrument frames to the base frames. \begindata FRAME_MAVEN_NGIMS_BASE = -202535 FRAME_-202535_NAME = 'MAVEN_NGIMS_BASE' FRAME_-202535_CLASS = 4 FRAME_-202535_CLASS_ID = -202535 FRAME_-202535_CENTER = -202 TKFRAME_-202535_SPEC = 'ANGLES' TKFRAME_-202535_RELATIVE = 'MAVEN_APP' TKFRAME_-202535_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-202535_AXES = ( 1, 2, 3 ) TKFRAME_-202535_UNITS = 'DEGREES' FRAME_MAVEN_NGIMS = -202530 FRAME_-202530_NAME = 'MAVEN_NGIMS' FRAME_-202530_CLASS = 4 FRAME_-202530_CLASS_ID = -202530 FRAME_-202530_CENTER = -202 TKFRAME_-202530_SPEC = 'ANGLES' TKFRAME_-202530_RELATIVE = 'MAVEN_NGIMS_BASE' TKFRAME_-202530_ANGLES = ( 0.0, -90.0, 0.0 ) TKFRAME_-202530_AXES = ( 1, 2, 3 ) TKFRAME_-202530_UNITS = 'DEGREES' \begintext Solar Array (SA) and MAG Frames ------------------------------------------------------------------------------- This section defines frames for solar arrays and instruments mounted on the solar arrays -- MAG. Solar Array Frames The solar array (SA) inboard panel frames -- MAVEN_SA_PY_IB, ID -202300, and MAVEN_SA_MY_IB, ID -202400, -- are defined as fixed offset frames with respect to the s/c frame. The SA outboard panel frames -- MAVEN_SA_PY_OB, ID -202305, and MAVEN_SA_MY_OB, ID -202405, -- are defined as fixed offset frames with respect to the corresponding inboard frames. All SA frames are defined as follows: - +Z axis is along the normal to the panel active cell side - +Y axis is along the panel edge parallel to the s/c YZ plane, pointing from the s/c toward the end of the array - +X axis completes the right handed frame - the origin of the frame is at the geometric center of the panel. This diagram illustrates the SA frames: -X s/c side: ------------ +Zsapyob +Zsamyob ^ ^ +Ysapyob / +Zsapyib +Zsamyib \ +Ysamyob *< / ^ _ ^ \ >* MAG `-. / | HGA .' `. | \ .-' MAG / `-x | .' `. | o-' \ 20 deg / `-. | --------- | .-' \ 20 deg --- <-------x____..-----------..____o-------> --- +Ysapyib | | +Ysamyib | +Zsc | | ^ | | | | | | | +Ysc `-----|-----' <-------x -'`-. .-' | `-. .-' @ `-. .-' SWEA `-. LPW .-' `-. LPW +Xsc is into the page. +Xsapyib and +Xsapyob are into the page. +Xsamyib and +Xsamyob are out of the page. As seen on the diagram - the MAVEN_SA_PY_IB frame is co-aligned with the s/c frame - the MAVEN_SA_PY_OB frame is rotated by +20 degrees about X relative to the MAVEN_SA_PY_IB frame - the MAVEN_SA_MY_IB frame is rotated rotated by 180 degrees about Z relative to the s/c frame - the MAVEN_SA_MY_OB frame is rotated by +20 degrees about X relative to the MAVEN_SA_MY_IB frame The angles in the definitions are the opposites of the rotations described above because the rotations in the definitions are from the structure frames to the base frames. \begindata FRAME_MAVEN_SA_PY_IB = -202300 FRAME_-202300_NAME = 'MAVEN_SA_PY_IB' FRAME_-202300_CLASS = 4 FRAME_-202300_CLASS_ID = -202300 FRAME_-202300_CENTER = -202 TKFRAME_-202300_SPEC = 'ANGLES' TKFRAME_-202300_RELATIVE = 'MAVEN_SPACECRAFT' TKFRAME_-202300_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-202300_AXES = ( 1, 2, 3 ) TKFRAME_-202300_UNITS = 'DEGREES' FRAME_MAVEN_SA_PY_OB = -202305 FRAME_-202305_NAME = 'MAVEN_SA_PY_OB' FRAME_-202305_CLASS = 4 FRAME_-202305_CLASS_ID = -202305 FRAME_-202305_CENTER = -202 TKFRAME_-202305_SPEC = 'ANGLES' TKFRAME_-202305_RELATIVE = 'MAVEN_SA_PY_IB' TKFRAME_-202305_ANGLES = ( -20.0, 0.0, 0.0 ) TKFRAME_-202305_AXES = ( 1, 2, 3 ) TKFRAME_-202305_UNITS = 'DEGREES' FRAME_MAVEN_SA_MY_IB = -202400 FRAME_-202400_NAME = 'MAVEN_SA_MY_IB' FRAME_-202400_CLASS = 4 FRAME_-202400_CLASS_ID = -202400 FRAME_-202400_CENTER = -202 TKFRAME_-202400_SPEC = 'ANGLES' TKFRAME_-202400_RELATIVE = 'MAVEN_SPACECRAFT' TKFRAME_-202400_ANGLES = ( 0.0, 0.0, 180.0 ) TKFRAME_-202400_AXES = ( 1, 2, 3 ) TKFRAME_-202400_UNITS = 'DEGREES' FRAME_MAVEN_SA_MY_OB = -202405 FRAME_-202405_NAME = 'MAVEN_SA_MY_OB' FRAME_-202405_CLASS = 4 FRAME_-202405_CLASS_ID = -202405 FRAME_-202405_CENTER = -202 TKFRAME_-202405_SPEC = 'ANGLES' TKFRAME_-202405_RELATIVE = 'MAVEN_SA_MY_IB' TKFRAME_-202405_ANGLES = ( -20.0, 0.0, 0.0 ) TKFRAME_-202405_AXES = ( 1, 2, 3 ) TKFRAME_-202405_UNITS = 'DEGREES' \begintext MAG Frames The MAG sensor frames -- MAVEN_MAG_PY, ID -202310, and MAVEN_MAG_PY, ID -202410, -- are defined as fixed offset frames with respect to the corresponding outboard SA panel frames as follows (see [6]): - +Y axis is normal to the sensor mounting plate and points from the plate toward the top of the sensor, - +Z axis is normal to the sensor side opposite to the cable connector - +X axis completes the right handed frame - the origin of the frame is at the geometric center of the sensor. This diagram illustrates the SA and MAG frames: -X s/c side: ------------ ^ +Zmagpy +Zmagmy ^ / +Zsapyob +Zsamyob \ +Ymagpy / ^ ^ \ +Ymagmy <-. / MAGpy / \ MAGmy \ .-> `-x< / _ \ >o-' +Ysapyob `-. / HGA .' `. \ .-' +Ysamyob / `-x .' `. o-' \ 20 deg / `-. --------- .-' \ 20 deg --- `-o_________..-----------.._________o-' --- | | | +Zsc | | ^ | | | | | | | +Ysc `-----|-----' <-------x -'`-. .-' | `-. .-' @ `-. .-' SWEA `-. LPW .-' `-. LPW +Xsc is into the page. +Xsapyob and +Xmagpy are into the page. +Xsamyob and +Xmagmy are out of the page. As seen on the diagram the MAG sensor frames are nominally co-aligned with the corresponding outboard SA panel frames. \begindata FRAME_MAVEN_MAG_PY = -202310 FRAME_-202310_NAME = 'MAVEN_MAG_PY' FRAME_-202310_CLASS = 4 FRAME_-202310_CLASS_ID = -202310 FRAME_-202310_CENTER = -202 TKFRAME_-202310_SPEC = 'ANGLES' TKFRAME_-202310_RELATIVE = 'MAVEN_SA_PY_OB' TKFRAME_-202310_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-202310_AXES = ( 1, 2, 3 ) TKFRAME_-202310_UNITS = 'DEGREES' FRAME_MAVEN_MAG_MY = -202410 FRAME_-202410_NAME = 'MAVEN_MAG_MY' FRAME_-202410_CLASS = 4 FRAME_-202410_CLASS_ID = -202410 FRAME_-202410_CENTER = -202 TKFRAME_-202410_SPEC = 'ANGLES' TKFRAME_-202410_RELATIVE = 'MAVEN_SA_MY_OB' TKFRAME_-202410_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-202410_AXES = ( 1, 2, 3 ) TKFRAME_-202410_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 Antennas: --------- MAVEN_HGA -202010 MAVEN_UHF -202020 MAVEN_LGA_FWD -202030 MAVEN_LGA_AFT -202040 S/C-mounted Science Instruments (PY=+Y, MY=-Y): ----------------------------------------------- MAVEN_EUV -202110 MAVEN_EUV1 -202111 MAVEN_EUV2 -202112 MAVEN_EUV3 -202113 MAVEN_SEP_PY -202120 MAVEN_SEP_PY_FWD1 -202121 MAVEN_SEP_PY_FWD2 -202122 MAVEN_SEP_PY_AFT1 -202123 MAVEN_SEP_PY_AFT2 -202124 MAVEN_SEP_MY -202125 MAVEN_SEP_MY_FWD1 -202126 MAVEN_SEP_MY_FWD2 -202127 MAVEN_SEP_MY_AFT1 -202128 MAVEN_SEP_MY_AFT2 -202129 MAVEN_SWEA -202130 MAVEN_SWIA_BASE -202140 MAVEN_SWIA -202141 MAVEN_SWIA_SWTSPOT -202142 MAVEN_LPW -202150 MAVEN_LPW_PY -202151 MAVEN_LPW_PY_TIP -202152 MAVEN_LPW_MY -202153 MAVEN_LPW_MY_TIP -202154 Solar Arrays and MAG (PY=+Y, MY=-Y, IB=inboard, OB=outboard ): -------------------------------------------------------------- MAVEN_SA_PY_IB -202300 MAVEN_SA_PY_IB_C1 -202301 MAVEN_SA_PY_IB_C2 -202302 MAVEN_SA_PY_IB_C3 -202303 MAVEN_SA_PY_IB_C4 -202304 MAVEN_SA_PY_OB -202305 MAVEN_SA_PY_OB_C1 -202306 MAVEN_SA_PY_OB_C2 -202307 MAVEN_SA_PY_OB_C3 -202308 MAVEN_SA_PY_OB_C4 -202309 MAVEN_MAG_PY -202310 MAVEN_SA_MY_IB -202400 MAVEN_SA_MY_IB_C1 -202401 MAVEN_SA_MY_IB_C2 -202402 MAVEN_SA_MY_IB_C3 -202403 MAVEN_SA_MY_IB_C4 -202404 MAVEN_SA_MY_OB -202405 MAVEN_SA_MY_OB_C1 -202406 MAVEN_SA_MY_OB_C2 -202407 MAVEN_SA_MY_OB_C3 -202408 MAVEN_SA_MY_OB_C4 -202409 MAVEN_MAG_MY -202410 APP and APP-mounted Instruments: -------------------------------- MAVEN_APP_BP -202501 MAVEN_APP_IG -202503 MAVEN_APP_OG -202505 MAVEN_APP -202507 MAVEN_IUVS_BASE -202510 MAVEN_IUVS_LIMB -202511 MAVEN_IUVS_LIMB_BOS -202512 MAVEN_IUVS_NADIR -202513 MAVEN_IUVS_NADIR_BOS -202514 MAVEN_IUVS_OCC_BIG -202515 MAVEN_IUVS_OCC_SMALL -202516 MAVEN_IUVS -202518 MAVEN_STATIC -202520 MAVEN_STATIC_SWTSPOT -202521 MAVEN_NGIMS -202530 MAVEN_NGIMS_OPEN -202531 MAVEN_NGIMS_CLOSED -202532 MAVEN_NGIMS_EXHAUST -202533 MAVEN_NGIMS_BASE -202535 The mappings summarized in the table above 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 ) NAIF_BODY_NAME += ( 'MAVEN_EUV' ) NAIF_BODY_CODE += ( -202110 ) NAIF_BODY_NAME += ( 'MAVEN_EUV1' ) NAIF_BODY_CODE += ( -202111 ) NAIF_BODY_NAME += ( 'MAVEN_EUV2' ) NAIF_BODY_CODE += ( -202112 ) NAIF_BODY_NAME += ( 'MAVEN_EUV3' ) NAIF_BODY_CODE += ( -202113 ) NAIF_BODY_NAME += ( 'MAVEN_SEP_PY' ) NAIF_BODY_CODE += ( -202120 ) NAIF_BODY_NAME += ( 'MAVEN_SEP_PY_FWD1' ) NAIF_BODY_CODE += ( -202121 ) NAIF_BODY_NAME += ( 'MAVEN_SEP_PY_FWD2' ) NAIF_BODY_CODE += ( -202122 ) NAIF_BODY_NAME += ( 'MAVEN_SEP_PY_AFT1' ) NAIF_BODY_CODE += ( -202123 ) NAIF_BODY_NAME += ( 'MAVEN_SEP_PY_AFT2' ) NAIF_BODY_CODE += ( -202124 ) NAIF_BODY_NAME += ( 'MAVEN_SEP_MY' ) NAIF_BODY_CODE += ( -202125 ) NAIF_BODY_NAME += ( 'MAVEN_SEP_MY_FWD1' ) NAIF_BODY_CODE += ( -202126 ) NAIF_BODY_NAME += ( 'MAVEN_SEP_MY_FWD2' ) NAIF_BODY_CODE += ( -202127 ) NAIF_BODY_NAME += ( 'MAVEN_SEP_MY_AFT1' ) NAIF_BODY_CODE += ( -202128 ) NAIF_BODY_NAME += ( 'MAVEN_SEP_MY_AFT2' ) NAIF_BODY_CODE += ( -202129 ) NAIF_BODY_NAME += ( 'MAVEN_SWEA' ) NAIF_BODY_CODE += ( -202130 ) NAIF_BODY_NAME += ( 'MAVEN_SWIA_BASE' ) NAIF_BODY_CODE += ( -202140 ) NAIF_BODY_NAME += ( 'MAVEN_SWIA' ) NAIF_BODY_CODE += ( -202141 ) NAIF_BODY_NAME += ( 'MAVEN_SWIA_SWTSPOT' ) NAIF_BODY_CODE += ( -202142 ) NAIF_BODY_NAME += ( 'MAVEN_LPW' ) NAIF_BODY_CODE += ( -202150 ) NAIF_BODY_NAME += ( 'MAVEN_LPW_PY' ) NAIF_BODY_CODE += ( -202151 ) NAIF_BODY_NAME += ( 'MAVEN_LPW_PY_TIP' ) NAIF_BODY_CODE += ( -202152 ) NAIF_BODY_NAME += ( 'MAVEN_LPW_MY' ) NAIF_BODY_CODE += ( -202153 ) NAIF_BODY_NAME += ( 'MAVEN_LPW_MY_TIP' ) NAIF_BODY_CODE += ( -202154 ) NAIF_BODY_NAME += ( 'MAVEN_SA_PY_IB' ) NAIF_BODY_CODE += ( -202300 ) NAIF_BODY_NAME += ( 'MAVEN_SA_PY_IB_C1' ) NAIF_BODY_CODE += ( -202301 ) NAIF_BODY_NAME += ( 'MAVEN_SA_PY_IB_C2' ) NAIF_BODY_CODE += ( -202302 ) NAIF_BODY_NAME += ( 'MAVEN_SA_PY_IB_C3' ) NAIF_BODY_CODE += ( -202303 ) NAIF_BODY_NAME += ( 'MAVEN_SA_PY_IB_C4' ) NAIF_BODY_CODE += ( -202304 ) NAIF_BODY_NAME += ( 'MAVEN_SA_PY_OB' ) NAIF_BODY_CODE += ( -202305 ) NAIF_BODY_NAME += ( 'MAVEN_SA_PY_OB_C1' ) NAIF_BODY_CODE += ( -202306 ) NAIF_BODY_NAME += ( 'MAVEN_SA_PY_OB_C2' ) NAIF_BODY_CODE += ( -202307 ) NAIF_BODY_NAME += ( 'MAVEN_SA_PY_OB_C3' ) NAIF_BODY_CODE += ( -202308 ) NAIF_BODY_NAME += ( 'MAVEN_SA_PY_OB_C4' ) NAIF_BODY_CODE += ( -202309 ) NAIF_BODY_NAME += ( 'MAVEN_MAG_PY' ) NAIF_BODY_CODE += ( -202310 ) NAIF_BODY_NAME += ( 'MAVEN_SA_MY_IB' ) NAIF_BODY_CODE += ( -202400 ) NAIF_BODY_NAME += ( 'MAVEN_SA_MY_IB_C1' ) NAIF_BODY_CODE += ( -202401 ) NAIF_BODY_NAME += ( 'MAVEN_SA_MY_IB_C2' ) NAIF_BODY_CODE += ( -202402 ) NAIF_BODY_NAME += ( 'MAVEN_SA_MY_IB_C3' ) NAIF_BODY_CODE += ( -202403 ) NAIF_BODY_NAME += ( 'MAVEN_SA_MY_IB_C4' ) NAIF_BODY_CODE += ( -202404 ) NAIF_BODY_NAME += ( 'MAVEN_SA_MY_OB' ) NAIF_BODY_CODE += ( -202405 ) NAIF_BODY_NAME += ( 'MAVEN_SA_MY_OB_C1' ) NAIF_BODY_CODE += ( -202406 ) NAIF_BODY_NAME += ( 'MAVEN_SA_MY_OB_C2' ) NAIF_BODY_CODE += ( -202407 ) NAIF_BODY_NAME += ( 'MAVEN_SA_MY_OB_C3' ) NAIF_BODY_CODE += ( -202408 ) NAIF_BODY_NAME += ( 'MAVEN_SA_MY_OB_C4' ) NAIF_BODY_CODE += ( -202409 ) NAIF_BODY_NAME += ( 'MAVEN_MAG_MY' ) NAIF_BODY_CODE += ( -202410 ) NAIF_BODY_NAME += ( 'MAVEN_APP_BP' ) NAIF_BODY_CODE += ( -202501 ) NAIF_BODY_NAME += ( 'MAVEN_APP_IG' ) NAIF_BODY_CODE += ( -202503 ) NAIF_BODY_NAME += ( 'MAVEN_APP_OG' ) NAIF_BODY_CODE += ( -202505 ) NAIF_BODY_NAME += ( 'MAVEN_APP' ) NAIF_BODY_CODE += ( -202507 ) NAIF_BODY_NAME += ( 'MAVEN_IUVS_BASE' ) NAIF_BODY_CODE += ( -202510 ) NAIF_BODY_NAME += ( 'MAVEN_IUVS_LIMB' ) NAIF_BODY_CODE += ( -202511 ) NAIF_BODY_NAME += ( 'MAVEN_IUVS_LIMB_BOS' ) NAIF_BODY_CODE += ( -202512 ) NAIF_BODY_NAME += ( 'MAVEN_IUVS_NADIR' ) NAIF_BODY_CODE += ( -202513 ) NAIF_BODY_NAME += ( 'MAVEN_IUVS_NADIR_BOS' ) NAIF_BODY_CODE += ( -202514 ) NAIF_BODY_NAME += ( 'MAVEN_IUVS_OCC_BIG' ) NAIF_BODY_CODE += ( -202515 ) NAIF_BODY_NAME += ( 'MAVEN_IUVS_OCC_SMALL' ) NAIF_BODY_CODE += ( -202516 ) NAIF_BODY_NAME += ( 'MAVEN_IUVS' ) NAIF_BODY_CODE += ( -202518 ) NAIF_BODY_NAME += ( 'MAVEN_STATIC' ) NAIF_BODY_CODE += ( -202520 ) NAIF_BODY_NAME += ( 'MAVEN_STATIC_SWTSPOT' ) NAIF_BODY_CODE += ( -202521 ) NAIF_BODY_NAME += ( 'MAVEN_NGIMS' ) NAIF_BODY_CODE += ( -202530 ) NAIF_BODY_NAME += ( 'MAVEN_NGIMS_OPEN' ) NAIF_BODY_CODE += ( -202531 ) NAIF_BODY_NAME += ( 'MAVEN_NGIMS_CLOSED' ) NAIF_BODY_CODE += ( -202532 ) NAIF_BODY_NAME += ( 'MAVEN_NGIMS_EXHAUST' ) NAIF_BODY_CODE += ( -202533 ) NAIF_BODY_NAME += ( 'MAVEN_NGIMS_BASE' ) NAIF_BODY_CODE += ( -202535 ) \begintext End of FK File.