KPL/FK Mars Express Spacecraft and Beagle-2 Lander Frames Kernel ======================================================================== This frame kernel contains complete set of frame definitions for the Mars Express Spacecraft (MEX) and Beagle-2 Lander (BEAGLE2) including definitions for the MEX fixed and MEX science instrument frames and BEAGLE2 fixed, BEAGLE2 instrument, and landing site local frames. This kernel also contains NAIF ID/name mapping for the MEX and BEAGLE2 instruments. Version and Date ======================================================================== Version 0.3 -- June 2, 2003 -- Boris Semenov, NAIF Changed the types of and relationship between the MEX_SPACECRAFT (mechanical) and MEX_SC_REF (ACS reference) frames. Now the MEX_SC_REF frame is CK-based because telemetry and s/c CKs contains orientation for it and the MEX_SPACECRAFT frame is fixed offset (rotated by 180 about Z) with respect to MEX_SC_REF. Version 0.2 -- January 2, 2002 -- Boris Semenov, NAIF Added frames and IDs for the short and long wavelength OMEGA SWIR channels per review feedback from Yves Langevin, OMEGA Team (December 2001.) Version 0.1 -- December 5, 2001 -- Boris Semenov, NAIF Updated SPICAM frames per review feedback from Emmanuel Dimarellis (e-mail from November 11, 2001.) Version 0.0 -- June 18, 2001 -- Boris Semenov, NAIF Preliminary Version. Pending review and approval by MEX and BEAGLE2 instrument teams and ESOC Science operations team. References ======================================================================== 1. ``Frames Required Reading'', NAIF Document No.____ 2. ``Kernel Pool Required Reading'', NAIF Document No.____ 3. ``C-Kernel Required Reading'', NAIF Document No.____ 4. ``ASPERA-3'' ME-ASP-DS-0002, Draft Rev. 1, 23 April, 1999 5. ``HRSC on Mars Express'' Presentation by R.Pischel et al, May 9, 2001 6. ``Mars Express Hypotheses for AOCS Studies'', Draft, Issue 02, Rev 00, 9/11/00, by Astrium 7. ``OMEGA PID'', PID-B, OME-CI-0022-003-IAS, 25/02/00 8. ``PFS Instrument Description'', PFS-ICDR-02, June 5, 2000 9. ``SPICAM LIGHT'', PID-B, PS-DES-011, August 19, 1999 10. ``Beagle-2 Landing Site Selection Press Release'', December 20, 2000 http://spdext.estec.esa.nl/content/news/index.cfm?aid=9&cid=260 &oid=25649. 11. Review comments by Emmanuel Dimarellis, SPICAM Team, e-mail from November 11, 2001. 12. Review comments by Yves Langevin, OMEGA Team, personal communication in December 2001. 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 FURNSH and CSPICE function furnsh_c load a kernel file into the kernel pool as shown below. CALL FURNSH ( 'frame_kernel_name' ) furnsh_c ( 'frame_kernel_name' ) This file was created and may be updated with a text editor or word processor. Mars Express Mission NAIF ID Codes ======================================================================== The following names and NAIF ID codes are assigned to the MEX spacecraft, its structures and science instruments (the keywords implementing these definitions are located in the section "Mars Express Mission NAIF ID Codes -- Definition Section" at the end of this file): MEX Spacecraft and Spacecraft Structures names/IDs: MEX -41 (synonyms: MARS EXPRESS, MARS-EXPRESS, MARS_EXPRESS ) MEX_SPACECRAFT -41000 (synonym: MEX_SC) MEX_SA+Y -41011 MEX_SA-Y -41012 MEX_SA+Y_GIMBAL -41013 MEX_SA-Y_GIMBAL -41014 MEX_HGA -41020 MEX_MELACOM_1 -41031 MEX_MELACOM_2 -41032 MEX_LGA -41040 ASPERA names/IDs: MEX_ASPERA -41100 MEX_ASPERA_BASE -41110 MEX_ASPERA_SCANNER -41111 MEX_ASPERA_ELS -41120 MEX_ASPERA_NPI -41130 MEX_ASPERA_NPD -41140 MEX_ASPERA_IMA -41150 HRSC names/IDs: MEX_HRSC -41200 MEX_HRSC_HEAD -41210 MEX_HRSC_S2 -41211 MEX_HRSC_RED -41212 MEX_HRSC_P2 -41213 MEX_HRSC_BLUE -41214 MEX_HRSC_NADIR -41215 MEX_HRSC_GREEN -41216 MEX_HRSC_P1 -41217 MEX_HRSC_IR -41218 MEX_HRSC_S1 -41219 MEX_HRSC_SRC -41220 MARSIS names/IDs: MEX_MARSIS -41300 MEX_MARSIS_DIPOLE_1 -41310 MEX_MARSIS_DIPOLE_2 -41320 MEX_MARSIS_MONOPOLE -41330 OMEGA names/IDs: MEX_OMEGA -41400 MEX_OMEGA_VNIR -41410 MEX_OMEGA_SWIR -41420 MEX_OMEGA_SWIR_S -41421 MEX_OMEGA_SWIR_L -41422 PFS names/IDs: MEX_PFS -41500 MEX_PFS_SWC -41510 MEX_PFS_LWC -41520 MEX_PFS_SCANNER -41530 SPICAM names/IDs: MEX_SPICAM -41600 MEX_SPICAM_SIR -41610 MEX_SPICAM_SIR_SOLAR -41611 MEX_SPICAM_SUV -41620 MEX_SPICAM_SUV_SOLAR -41621 The following names and NAIF ID codes are assigned to the Beagle-2 lander, its structures and science instruments: BEAGLE2 -44 (synonyms: BEAGLE 2, BEAGLE-2, BEAGLE_2) BEAGLE2_LANDER -44000 BEAGLE2_GAP -44100 BEAGLE2_PAW -44200 BEAGLE2_LANDING_SITE -44900 (synonyms: BEAGLE2_LS, BEAGLE2_SITE) Mars Express Frames ======================================================================== The following MEX and BEAGLE2 frames are defined in this kernel file: Name Relative to Type NAIF ID ====================== =================== ============ ======= MEX Spacecraft and Spacecraft Structures frames: ------------------------------------------------ MEX_SPACECRAFT MEX_SC_REF FIXED -41000 MEX_SC_REF J2000 CK -41001 MEX_SA+Y MEX_SPACECRAFT CK -41011 MEX_SA-Y MEX_SPACECRAFT CK -41012 MEX_HGA MEX_SPACECRAFT FIXED -41020 MEX_MELACOM_1 MEX_SPACECRAFT FIXED -41031 MEX_MELACOM_2 MEX_SPACECRAFT FIXED -41032 MEX_LGA MEX_SPACECRAFT FIXED -41040 ASPERA frames: -------------- MEX_ASPERA_BASE MEX_SPACECRAFT FIXED -41110 MEX_ASPERA_SCANNER MEX_ASPERA_BASE CK -41111 MEX_ASPERA_ELS MEX_ASPERA_SCANNER FIXED -41120 MEX_ASPERA_NPI MEX_ASPERA_SCANNER FIXED -41130 MEX_ASPERA_NPD MEX_ASPERA_SCANNER FIXED -41140 MEX_ASPERA_IMA MEX_SPACECRAFT FIXED -41150 HRSC frames: ------------ MEX_HRSC_BASE MEX_SPACECRAFT FIXED -41200 MEX_HRSC_HEAD MEX_HRSC_BASE FIXED -41210 MEX_HRSC_SRC MEX_HRSC_BASE FIXED -41220 MARSIS frames: -------------- MEX_MARSIS_DIPOLE_1 MEX_SPACECRAFT FIXED -41310 MEX_MARSIS_DIPOLE_2 MEX_SPACECRAFT FIXED -41320 MEX_MARSIS_MONOPOLE MEX_SPACECRAFT FIXED -41330 OMEGA frames: ------------- MEX_OMEGA_BASE MEX_SPACECRAFT FIXED -41400 MEX_OMEGA_VNIR MEX_OMEGA_BASE FIXED -41410 MEX_OMEGA_SWIR MEX_OMEGA_BASE FIXED -41420 MEX_OMEGA_SWIR_S MEX_OMEGA_SWIR FIXED -41421 MEX_OMEGA_SWIR_L MEX_OMEGA_SWIR FIXED -41422 PFS frames: ------------- MEX_PFS_BASE MEX_SPACECRAFT FIXED -41500 MEX_PFS_SCANNER MEX_PFS_BASE CK -41530 MEX_PFS_SWC MEX_PFS_SCANNER FIXED -41510 MEX_PFS_LWC MEX_PFS_SCANNER FIXED -41520 MEX_PFS_25_LEFT MEX_PFS_BASE FIXED -41531 MEX_PFS_12_LEFT MEX_PFS_BASE FIXED -41532 MEX_PFS_NADIR MEX_PFS_BASE FIXED -41533 MEX_PFS_12_RIGHT MEX_PFS_BASE FIXED -41534 MEX_PFS_25_RIGHT MEX_PFS_BASE FIXED -41535 MEX_PFS_COLD_SPACE MEX_PFS_BASE FIXED -41536 SPICAM frames: -------------- MEX_SPICAM_BASE MEX_SPACECRAFT FIXED -41600 MEX_SPICAM_SIR MEX_SPICAM_BASE FIXED -41610 MEX_SPICAM_SIR_SOLAR MEX_SPICAM_BASE FIXED -41611 MEX_SPICAM_SUV MEX_SPICAM_BASE FIXED -41620 MEX_SPICAM_SUV_SOLAR MEX_SPICAM_BASE FIXED -41621 Beagle-2 Lander Frame: --------------- BEAGLE2_LOCAL_LEVEL IAU_MARS FIXED -44900 BEAGLE2_LANDER BEAGLE2_LOCAL_LEVEL FIXED -44000 Other Beagle-2 frames are TBD. Spacecraft and Its Structures Frame Tree ======================================================================== The diagram below shows the Mars Express spacecraft and its structures frame hierarchy (not including science instrument frames.) "J2000" INERTIAL +-----------------------------------------------------+ | | | |<-pck | |<-pck | | | V | V "IAU_MARS" | "IAU_EARTH" MARS BODY-FIXED | EARTH BODY-FIXED --------------- | ---------------- | | |<-fixed | | | V | "BEAGLE2_LOCAL_LEVEL" | -------------------- | | | |<-fixed | | | V | "BEAGLE2_LANDER" | ---------------- | | |<-ck | V "MEX_SC_REF" ------------ | |<-fixed | V "MEX_SPACECRAFT" +-----------------------------------------------------+ | | . | | | | |<-ck |<-ck . fixed->| | | |<-fixed | | . | | | | V V . V | | V "MEX_SA+Y" "MEX_SA-Y" . "MEX_HGA" | | "MEX_LGA" ---------- ---------- . --------- | | --------- . | | . fixed->| |<-fixed . | | . V V . "MEX_MELACOM_1" "MEX_MELACOM_2" . --------------- --------------- . . V Individual instrument frame trees are provided in the corresponding sections of this file MEX Spacecraft and Spacecraft Structures Frames ======================================================================== This section of the file contains the definitions of the spacecraft and spacecraft structures frames. MEX Spacecraft Frames -------------------------------------- Two reference frames are defined for the MEX spacecraft (see [6]) -- "mechanical/structure frame" (Xb,Yb,Zb) and "spacecraft reference frame" (Xa,Ya,Za). The "mechanical/structure frame" frame (Xb,Yb,Zb), with respect to which orientation of all science instruments and spacecraft structures is defined, is called MEX_SPACECRAFT frame in the MEX SPICE implementation. This frame is defined as follows: - the payloads are located on the +Zb axis (the Main Engine being on the -Zb axis); - the HGA is located on -Xb axis; - the +Y axis is defined so that the (Xb,Yb,Zb) frame is right- handed. - the origin of this frames is the launch vehicle interface point. The "spacecraft reference frame" (Xa,Ya,Za) frame, used primarily in AOSC studies, is the one for for which orientation is determined on-board the spacecraft. This frame is called MEX_SC_REF in MEX SPICE implementation. This frame is related to MEX_SPACECRAFT frame (Xb,Yb,Zb) as a follows: - +Xa = -Xb; - +Ya = -Yb; - +Za = Zb ; - the origin of this frame is also located at the launch vehicle interface point. These diagrams illustrate the MEX_SPACECRAFT and MEX_SC_REF frames: +X s/c side view: ----------------- ^ | Nadir | Direction of flight ----> Beagle-2 .'. .' `. \_____/ ._____________. |Science Deck | =====================o | | o===================== -Y Solar Array | +Zsc | +Y Solar Array | +Zsc_ref | | ^ | | | | | | | .______|______. +Xsc is out | | | of the page +Ysc_ref <-------*-------> +Ysc / \ +Xsc_ref is into /_____\ Main Engine the page +Z s/c side view: ----------------- HGA ____ +Xsc_ref \ ^ / .________________. .__`.__|__.'__. .________________. | \ | | | / | | \ | _|_ | / | | +Ysc_ref .' | ` +Ysc | | | |o<-------o------->o| | | | | `_|+Zsc | | | | / | |+Zsc_ref \ | ._________________/ .______|______. \_________________. -Y Solar Array | +Y Solar Array V +Xsc Both, +Zsc and +Zsc_ref are out of the page As seen on the diagram, the MEX_SPACECRAFT and MEX_SC_REF frames are rotated 180 degrees about +Z with respect to each other. Since the orientation of the MEX_SC_REF frame is computed on-board, sent down in telemetry, and stored in the s/c CK files, it is defined as a CK-based frame. The MEX_SPACECRAFT frame is then defined as a fixed-offset frame -- rotated by 180 degrees about +Z axis -- with respect to the MEX_SC_REF frame. These sets of keywords define the MEX_SPACECRAFT and MEX_SC_REF frames: \begindata FRAME_MEX_SPACECRAFT = -41000 FRAME_-41000_NAME = 'MEX_SPACECRAFT' FRAME_-41000_CLASS = 4 FRAME_-41000_CLASS_ID = -41000 FRAME_-41000_CENTER = -41 TKFRAME_-41000_RELATIVE = 'MEX_SC_REF' TKFRAME_-41000_SPEC = 'ANGLES' TKFRAME_-41000_UNITS = 'DEGREES' TKFRAME_-41000_AXES = ( 1, 2, 3 ) TKFRAME_-41000_ANGLES = ( 0.0, 0.0, 180.0 ) FRAME_MEX_SC_REF = -41001 FRAME_-41001_NAME = 'MEX_SC_REF' FRAME_-41001_CLASS = 3 FRAME_-41001_CLASS_ID = -41001 FRAME_-41001_CENTER = -41 CK_-41001_SCLK = -41 CK_-41001_SPK = -41 \begintext MEX Solar Array Frames -------------------------------------- Since the MEX solar arrays can be articulated (having one degree of freedom), the solar Array frames, MEX_SA+Y and MEX_SA-Y, are defined as CK frames with their orientation given relative to the MEX_SPACECRAFT frame. Both array frames are defined as follows (from [6]): - +Y is parallel to the longest side of the array, positively oriented from the yoke to the end of the wing; - +Z is normal to the solar array plane, the solar cells facing -Z; - +X is defined such that (X,Y,Z) is right handed; - the origin of the frame is located at the yoke geometric center. The axis of rotation is parallel to the Y axis of the spacecraft and solar array frames. This diagram illustrates the MEX_SA+Y and MEX_SA-Y frames: +X s/c side view: ----------------- +Zsa-y ^ Beagle-2 ^ +Zsa+y | .'. | | .' `. | | \_____/ | | ._____________. | +Ysa-y <---------x |Science Deck | o---------> +Ysa+y =====================o | | o===================== -Y SA cell side | | +Y SA, cell side | +Zsc | | ^ | | | | +Xsa+y is out of the page | | | +Xsa-y is into the page .______|______. | | | .____o-------> +Ysc +Xsc \ /_____\ Main Engine These sets of keywords define solar array frames as CK frames: \begindata FRAME_MEX_SA+Y = -41011 FRAME_-41011_NAME = 'MEX_SA+Y' FRAME_-41011_CLASS = 3 FRAME_-41011_CLASS_ID = -41011 FRAME_-41011_CENTER = -41 CK_-41011_SCLK = -41 CK_-41011_SPK = -41 FRAME_MEX_SA-Y = -41012 FRAME_-41012_NAME = 'MEX_SA-Y' FRAME_-41012_CLASS = 3 FRAME_-41012_CLASS_ID = -41012 FRAME_-41012_CENTER = -41 CK_-41012_SCLK = -41 CK_-41012_SPK = -41 \begintext MEX High Gain Antenna Frame -------------------------------------- The MEX High Gain Antenna is rigidly attached to the -X side of the s/c bus. Therefore, the MEX HGA frame, MEX_HGA, is defined as a fixed offset frame with its orientation given relative to the MEX_SPACECRAFT frame. The MEX_HGA frame is defined as follows: - +Z axis is in the antenna boresight direction (nominally along the s/c -X axis); - +Y axis is in the direction of the s/c +Y axis ; - +X completes the right hand frame; - the origin of the frame is located at the geometric center of the HGA dish outer rim circle. This diagram illustrates the MEX_HGA frame: +Z s/c side view: ----------------- ^+Zhga | | | +Xhga | +Yhga _____o-------> \ / .________________. .__`._____.'__. .________________. | \ |Beagle-2 | / | | \ | ___ | / | | | | .' ` +Ysc | | | |o=| | o------->o| | | | | `_|+Zsc | | | | / | | | \ | ._________________/ .______|______. \_________________. -Y Solar Array | +Y Solar Array V +Xsc Nominally a single rotation of -90 degrees about the +Y axis is needed to co-align the s/c frame with the HGA frame. Since the SPICE frames subsystem calls for specifying the reverse transformation--going from the instrument or structure frame to the base frame--as compared to the description given above, the order of rotations assigned to the TKFRAME_*_AXES keyword is also reversed compared to the above text, and the signs associated with the rotation angles assigned to the TKFRAME_*_ANGLES keyword are the opposite from what is written in the above text. \begindata FRAME_MEX_HGA = -41020 FRAME_-41020_NAME = 'MEX_HGA' FRAME_-41020_CLASS = 4 FRAME_-41020_CLASS_ID = -41020 FRAME_-41020_CENTER = -41 TKFRAME_-41020_RELATIVE = 'MEX_SPACECRAFT' TKFRAME_-41020_SPEC = 'ANGLES' TKFRAME_-41020_UNITS = 'DEGREES' TKFRAME_-41020_AXES = ( 1, 2, 3 ) TKFRAME_-41020_ANGLES = ( 0.0, 90.0, 0.0 ) \begintext MEX Lander Communication Antenna Frames -------------------------------------- Both Mars Lander Communication (MELACOM) Antennas are rigidly mounted on the instrument deck of the s/c bus. Therefore, the MELACOM antenna frames, MEX_MELACOM_1 and MEX_MELACOM_2, are defined as fixed offset frames with their orientation given relative to the MEX_SPACECRAFT frame. The MEX_MELACOM_1 and MEX_MELACOM_2 frames are defined as follows: - +Z axis is in the direction of the antenna boresight (nominally along the s/c +Z axis); - +Y axis is in the direction of the s/c +Y axis; - X completes the right hand frame; - the origin of the frame is located at the geometric center of the outer side of the antenna. This diagram illustrates the MEX_MELACOM_1 and MEX_MELACOM_2 frames: +X s/c side view: ----------------- ^ +Zm1 ^ +Zm2 | | +Xm1, +Xm2 | | are out of | | the page | +Ym1 | +Ym2 .o-------> .o-------> | | .' `. | | MELACOM 1 | | \_____/ | | MELACOM 2 ._____________. |Science Deck | =====================o | | o===================== -Y SA | | +Y SA | +Zsc | | ^ | | | | | | | .______|______. | | | .____o-------> +Ysc +Xsc \ /_____\ Main Engine Nominally both antenna frames are co-aligned with the s/c frame. Since the SPICE frames subsystem calls for specifying the reverse transformation--going from the instrument or structure frame to the base frame--as compared to the description given above, the order of rotations assigned to the TKFRAME_*_AXES keyword is also reversed compared to the above text, and the signs associated with the rotation angles assigned to the TKFRAME_*_ANGLES keyword are the opposite from what is written in the above text. \begindata FRAME_MEX_MELACOM_1 = -41031 FRAME_-41031_NAME = 'MEX_MELACOM_1' FRAME_-41031_CLASS = 4 FRAME_-41031_CLASS_ID = -41031 FRAME_-41031_CENTER = -41 TKFRAME_-41031_RELATIVE = 'MEX_SPACECRAFT' TKFRAME_-41031_SPEC = 'ANGLES' TKFRAME_-41031_UNITS = 'DEGREES' TKFRAME_-41031_AXES = ( 1, 2, 3 ) TKFRAME_-41031_ANGLES = ( 0.0, 0.0, 0.0 ) FRAME_MEX_MELACOM_2 = -41032 FRAME_-41032_NAME = 'MEX_MELACOM_2' FRAME_-41032_CLASS = 4 FRAME_-41032_CLASS_ID = -41032 FRAME_-41032_CENTER = -41 TKFRAME_-41032_RELATIVE = 'MEX_SPACECRAFT' TKFRAME_-41032_SPEC = 'ANGLES' TKFRAME_-41032_UNITS = 'DEGREES' TKFRAME_-41032_AXES = ( 1, 2, 3 ) TKFRAME_-41032_ANGLES = ( 0.0, 0.0, 0.0 ) \begintext MEX Low Gain Antenna Frame -------------------------------------- The MEX_LGA frame is a fixed offset frame with its orientation give relative to the MEX_SPACECRAFT frame. The MEX_LGA frame is defined as follows: - Z axis is along <> ; - Y axis is along <> ; - X completes the right hand frame; - the origin of the MEX_LGA frame is located at <> . Since the SPICE frames subsystem calls for specifying the reverse transformation--going from the instrument or structure frame to the base frame--as compared to the description given above, the order of rotations assigned to the TKFRAME_*_AXES keyword is also reversed compared to the above text, and the signs associated with the rotation angles assigned to the TKFRAME_*_ANGLES keyword are the opposite from what is written in the above text. \begindata FRAME_MEX_LGA = -41040 FRAME_-41040_NAME = 'MEX_LGA' FRAME_-41040_CLASS = 4 FRAME_-41040_CLASS_ID = -41040 FRAME_-41040_CENTER = -41 TKFRAME_-41040_RELATIVE = 'MEX_SPACECRAFT' TKFRAME_-41040_SPEC = 'ANGLES' TKFRAME_-41040_UNITS = 'DEGREES' TKFRAME_-41040_AXES = ( 1, 2, 3 ) TKFRAME_-41040_ANGLES = ( 000.000, 000.000, 000.000 ) \begintext ASPERA Frames ======================================================================== This section of the file contains the definitions of the ASPERA instrument frames. ASPERA Frame Tree -------------------------------------- The diagram below shows the ASPERA frame hierarchy. "J2000" INERTIAL +-----------------------------------------------------+ | | | |<-pck | |<-pck | | | V | V "IAU_MARS" | "IAU_EARTH" MARS BODY-FIXED |<-ck EARTH BODY-FIXED --------------- | ---------------- V "MEX_SPACECRAFT" +-----------------------------------+ | | |<-fixed |<-fixed | | V V "MEX_ASPERA_BASE" "MEX_ASPERA_IMA" ----------------- ---------------- | |<-ck | V "MEX_ASPERA_SCANNER" -------------------------------------------+ | | | |<-fixed |<-fixed |<-fixed | | | V V V "MEX_ASPERA_ELS" "MEX_ASPERA_NPI" "MEX_ASPERA_NPD" ---------------- ---------------- ---------------- ASPERA Base and Scanner Frame -------------------------------------- The ASPERA main unit base is rigidly mounted on the s/c science deck. Therefore, the ASPERA main unit base frame, MEX_ASPERA_BASE, is a fixed offset frame with its orientation given relative to the MEX_SPACECRAFT frame. The MEX_ASPERA_BASE frame is defined as follows: - +Z axis is along the scanner rotation axis and points from the main unit mounting plate toward the scanner (nominally this axis is co-aligned with the s/c +Z axis); - +Y axis is parallel to the shorter side of the scanner base and nominally points in the same direction as the s/c +Y axis; - +X completes the right handed frame; - the origin of the frame is located at the intersection of the scanner rotation axis and the bottom (mounting) surface of the scanner base. Nominally this frame is co-aligned with the s/c frame. Any misalignment between nominal and actual ASPERA main unit mounting position measured pre-launch can be incorporated into the definition for this frame. Since ASPERA main unit scanner rotates with respect to its base (within +/-90 angle range), the MEX_ASPERA_SCANNER frame is defined as a CK frame with its orientation provided in a CK file relative to the MEX_ASPERA_BASE frame. The MEX_ASPERA_SCANNER frame is defined as follows: - +Z axis is along the scanner rotation axis and points from the main unit mounting plate toward the scanner; this axis is co-aligned with the +Z axis of the MEX_ASPERA_BASE frame; - +X axis is along the ASPERA main unit detector assembly symmetry axis and points from the NPD sensor towards the LS sensor; - +Y axis completes the right handed frame; - the origin of the MEX_ASPERA_SCANNER frame is located at the intersection of the scanner rotation axis and the bottom (mounting) surface of the scanner base. This frame is rotated 180 degrees about +Z with respect to the MEX_ASPERA_BASE frame at zero scanner angle position and is rotated by 180+(scanner angle) degrees about +Z axis for any other scanner angle position. This diagram illustrates the MEX_ASPERA_BASE and MEX_ASPERA_SCANNER frames for a scanner angle of -45 degrees: +Z s/c side view: ----------------- . -45 deg .---->/ +Ya_scan . ^ ^ / +Xa_scan `. ./ `. /// `._/// .________________. ._ +Za_scan`o-------> +Ya_base _____. | \ | +Za_base | | / | | \ | ._|_. / | | | | | | | | |o=| o----|--> +Ysc | | | | +Zsc | V | . | | / | | +Xa_base \ | ._________________/ .______|______. \_________________. -Y Solar Array | +Y Solar Array V +Xsc +Za_scan and +Za_base axes are out of the page These sets of keywords define the ASPERA base and scanner frames: \begindata FRAME_MEX_ASPERA_BASE = -41110 FRAME_-41110_NAME = 'MEX_ASPERA_BASE' FRAME_-41110_CLASS = 4 FRAME_-41110_CLASS_ID = -41110 FRAME_-41110_CENTER = -41 TKFRAME_-41110_RELATIVE = 'MEX_SPACECRAFT' TKFRAME_-41110_SPEC = 'ANGLES' TKFRAME_-41110_UNITS = 'DEGREES' TKFRAME_-41110_AXES = ( 1, 2, 3 ) TKFRAME_-41110_ANGLES = ( 0.0, 0.0, 0.0 ) FRAME_MEX_ASPERA_SCANNER = -41111 FRAME_-41111_NAME = 'MEX_ASPERA_SCANNER' FRAME_-41111_CLASS = 3 FRAME_-41111_CLASS_ID = -41111 FRAME_-41111_CENTER = -41 CK_-41111_SCLK = -41 CK_-41111_SPK = -41 \begintext ASPERA Main Unit Sensor Frames -------------------------------------- Because three ASPERA main unit sensors are rigidly mounted on the scanner, their corresponding frames -- MEX_ASPERA_ELS, MEX_ASPERA_NPI, and MEX_ASPERA_NPD -- are defined as fixed-offset frames with respect to the MEX_ASPERA_SCANNER frame. Nominally all three sensor frames are co-aligned with the MEX_ASPERA_SCANNER frame axes, with the origin of each individual sensor being at the intersection of the +X axis and the surface by which the sensor is mounted to PDU (for NPI and NPD) or another sensor (for ELS.) This diagram illustrates the ASPERA main unit base, scanner and sensor frames (at zero scanner angle position): ._________.ELS | ^ +Xels | | | +Yels | | .- <---o ===._.NPI | ^ +Xnpi| | | | <------- Scanner Assembly +Ynpi | | ._.= <---o =====._.PDU ._| ^ +Xnpd |-. _____________| | | | | | | | +Ynpd ^ +Xscan | | \ Science | |=== <---o =======| | +Zbase, +Zscan, | Deck | | | | | +Znpd, +Zels, +Znpi \ | | <---o---> +Ybase are out of the page \ | | +Yscan | | | \ | | | | | Scanner rotation | | | V | | axis goes through | | | +Xbase | | base/scanner frames | | ._________________. | origin | | NPD \ | | \ | | <--- Scanner Base \ ._____________________. \ | \___ ____|<----- Spacecraft \_______________/ These sets of keywords define the ASPERA main unit sensor frames: \begindata FRAME_MEX_ASPERA_ELS = -41120 FRAME_-41120_NAME = 'MEX_ASPERA_ELS' FRAME_-41120_CLASS = 4 FRAME_-41120_CLASS_ID = -41120 FRAME_-41120_CENTER = -41 TKFRAME_-41120_RELATIVE = 'MEX_ASPERA_SCANNER' TKFRAME_-41120_SPEC = 'ANGLES' TKFRAME_-41120_UNITS = 'DEGREES' TKFRAME_-41120_AXES = ( 1, 2, 3 ) TKFRAME_-41120_ANGLES = ( 0.0, 0.0, 0.0 ) FRAME_MEX_ASPERA_NPI = -41130 FRAME_-41130_NAME = 'MEX_ASPERA_NPI' FRAME_-41130_CLASS = 4 FRAME_-41130_CLASS_ID = -41130 FRAME_-41130_CENTER = -41 TKFRAME_-41130_RELATIVE = 'MEX_ASPERA_SCANNER' TKFRAME_-41130_SPEC = 'ANGLES' TKFRAME_-41130_UNITS = 'DEGREES' TKFRAME_-41130_AXES = ( 1, 2, 3 ) TKFRAME_-41130_ANGLES = ( 0.0, 0.0, 0.0 ) FRAME_MEX_ASPERA_NPD = -41140 FRAME_-41140_NAME = 'MEX_ASPERA_NPD' FRAME_-41140_CLASS = 4 FRAME_-41140_CLASS_ID = -41140 FRAME_-41140_CENTER = -41 TKFRAME_-41140_RELATIVE = 'MEX_ASPERA_SCANNER' TKFRAME_-41140_SPEC = 'ANGLES' TKFRAME_-41140_UNITS = 'DEGREES' TKFRAME_-41140_AXES = ( 1, 2, 3 ) TKFRAME_-41140_ANGLES = ( 0.0, 0.0, 0.0 ) \begintext ASPERA Ion Mass Analyzer Unit Frame -------------------------------------- The ASPERA IMA unit is rigidly mounted on the s/c science deck. Therefore, the ASPERA IMA unit frame -- MEX_ASPERA_IMA -- is a fixed offset frame with its orientation given relative to the MEX_SPACECRAFT frame. The MEX_ASPERA_IMA frame is defined as follows: - +Z axis is perpendicular to the instrument mounting plate and points from the mounting surface toward the sensor cylinder assembly; - +X axis is parallel to the sensor cylinder assembly symmetry axis and points from the cylinder back side toward the aperture opening side; - +Y axis completes the right hand frame; - the origin of the frame is located at the intersection of the cylinder symmetry axis and the sensor FOV symmetry plane perpendicular to it; Nominally the ASPERA IMA unit frame is rotated by -90 degrees about +Z with the the s/c frame. This diagram illustrates the MEX_ASPERA_IMA frame: +Z s/c side view: ----------------- ASPERA ASPERA IMA /`. Main Unit +Xima .____. ._/ / .____________ <-------o |___ __|.o/| .________________. | \ .|___. | ` | / | | \ || .___. / | | | || +Zsc | | | | | || o------->o| | | V| | +Ysc . | | +Yima | | \ | ._________________/ .______|______. \_________________. -Y Solar Array | +Y Solar Array V +Xsc +Zsc and +Zima are out of the page Since the SPICE frames subsystem calls for specifying the reverse transformation--going from the instrument or structure frame to the base frame--as compared to the description given above, the order of rotations assigned to the TKFRAME_*_AXES keyword is also reversed compared to the above text, and the signs associated with the rotation angles assigned to the TKFRAME_*_ANGLES keyword are the opposite from what is written in the above text. \begindata FRAME_MEX_ASPERA_IMA = -41150 FRAME_-41150_NAME = 'MEX_ASPERA_IMA' FRAME_-41150_CLASS = 4 FRAME_-41150_CLASS_ID = -41150 FRAME_-41150_CENTER = -41 TKFRAME_-41150_RELATIVE = 'MEX_SPACECRAFT' TKFRAME_-41150_SPEC = 'ANGLES' TKFRAME_-41150_UNITS = 'DEGREES' TKFRAME_-41150_AXES = ( 1, 2, 3 ) TKFRAME_-41150_ANGLES = ( 0.0, 0.0, 90.0 ) \begintext HRSC Frames ======================================================================== This section of the file contains the definitions of the HRSC camera frames. HRSC Frame Tree -------------------------------------- The diagram below shows the HRSC frame hierarchy. "J2000" INERTIAL +-----------------------------------------------------+ | | | |<-pck | |<-pck | | | V | V "IAU_MARS" | "IAU_EARTH" MARS BODY-FIXED |<-ck EARTH BODY-FIXED --------------- | ---------------- V "MEX_SPACECRAFT" +----------------------------------- | |<-fixed | V "MEX_HRSC_BASE" -------------------------+ | | |<-fixed |<-fixed | | V V "MEX_HRSC_HEAD" "MEX_HRSC_SRC" --------------- -------------- HRSC Base Frame -------------------------------------- The HRSC camera base frame is defined by the camera design and its mounting on the s/c as follows: - +Z axis is in the nominal direction of the HRSC main and SRC camera boresights; it nominally points in the direction of the s/c +Z axis; - +Y axis is perpendicular to the nominal direction of HRSC main camera and SRC camera CCD lines and nominally points along the s/c +Y axis, in the direction of flight; - +X completes the right hand frame and is parallel to the nominal CCD detector lines; it nominally points in the direction of the s/c +X axis; - the origin of the frame is located at the HRSC main camera focal point. Because the HRSC camera is rigidly mounted on the s/c, the HRSC base frame is defined as a fixed-offset frame with its orientation given relative to the MEX_SPACECRAFT frame. Any misalignment between nominal and actual HRSC camera mounting alignment measured pre-launch should be incorporated into the definition of this frame. This diagram illustrates nominal MEX_HRSC_BASE frame with respect to the spacecraft frame. +Z s/c side view: ----------------- direction of flight (+Ysc) ___________ HGA ----------> \ / .________________. .__`._____.'__. .________________. | \ | | / | | \ | | / | | | | +Zsc +Ysc | | | |o= o------->o| | | | | | .___| . +Yhbase | | / | | | o-------> | ._________________/ .______|__._|_. \_________________. -Y Solar Array | | HRSC +Y Solar Array +Xsc V | | V +Xhbase +Zsc and +Zhbase are out of page Nominally, the HRSC base frame is co-aligned with the s/c frame. Since the SPICE frames subsystem calls for specifying the reverse transformation--going from the instrument or structure frame to the base frame--as compared to the description given above, the order of rotations assigned to the TKFRAME_*_AXES keyword is also reversed compared to the above text, and the signs associated with the rotation angles assigned to the TKFRAME_*_ANGLES keyword are the opposite from what is written in the above text. \begindata FRAME_MEX_HRSC_BASE = -41200 FRAME_-41200_NAME = 'MEX_HRSC_BASE' FRAME_-41200_CLASS = 4 FRAME_-41200_CLASS_ID = -41200 FRAME_-41200_CENTER = -41 TKFRAME_-41200_RELATIVE = 'MEX_SPACECRAFT' TKFRAME_-41200_SPEC = 'ANGLES' TKFRAME_-41200_UNITS = 'DEGREES' TKFRAME_-41200_AXES = ( 1, 2, 3 ) TKFRAME_-41200_ANGLES = ( 0.0, 0.0, 0.0 ) \begintext HRSC Main Camera Frame -------------------------------------- The HRSC main camera frame, MEX_HRSC_HEAD, is defined exactly as, and is nominally co-aligned with, the HRSC camera base frame MEX_HRSC_BASE. This frame is introduced to allow incorporating into the HRSC frame chain any misalignment between the camera base and main camera measured prior to delivering the camera for installation on the s/c. Currently no misalignment data is available, and, therefore, the set of keywords below makes this frame co-aligned with its reference. \begindata FRAME_MEX_HRSC_HEAD = -41210 FRAME_-41210_NAME = 'MEX_HRSC_HEAD' FRAME_-41210_CLASS = 4 FRAME_-41210_CLASS_ID = -41210 FRAME_-41210_CENTER = -41 TKFRAME_-41210_RELATIVE = 'MEX_HRSC_BASE' TKFRAME_-41210_SPEC = 'ANGLES' TKFRAME_-41210_UNITS = 'DEGREES' TKFRAME_-41210_AXES = ( 1, 2, 3 ) TKFRAME_-41210_ANGLES = ( 0.0, 0.0, 0.0 ) \begintext HRSC Super Resolution Camera Frame -------------------------------------- The HRSC SRC camera frame, MEX_HRSC_SRC, is defined to be nominally co-aligned with the HRSC camera base frame MEX_HRSC_BASE. This frame is introduced to allow incorporating into the HRSC frame chain any misalignment between the camera base and the SRC camera measured prior to delivering the camera for installation on the s/c. Currently no misalignment data are available, and, therefore, the set of keywords below makes this frame co-aligned with its reference. \begindata FRAME_MEX_HRSC_SRC = -41220 FRAME_-41220_NAME = 'MEX_HRSC_SRC' FRAME_-41220_CLASS = 4 FRAME_-41220_CLASS_ID = -41220 FRAME_-41220_CENTER = -41 TKFRAME_-41220_RELATIVE = 'MEX_HRSC_BASE' TKFRAME_-41220_SPEC = 'ANGLES' TKFRAME_-41220_UNITS = 'DEGREES' TKFRAME_-41220_AXES = ( 1, 2, 3 ) TKFRAME_-41220_ANGLES = ( 0.0, 0.0, 0.0 ) \begintext MARSIS Frames ======================================================================== This section of the file contains the definitions of the MARSIS antenna frames. MARSIS Frame Tree -------------------------------------- The diagram below shows the MARSIS frame hierarchy. "J2000" INERTIAL +-----------------------------------------------------+ | | | |<-pck | |<-pck | | | V | V "IAU_MARS" | "IAU_EARTH" MARS BODY-FIXED |<-ck EARTH BODY-FIXED --------------- | ---------------- V "MEX_SPACECRAFT" +---------------------------------------------------+ | | | |<-fixed |<-fixed |<-fixed | | | V V V "MEX_MARSIS_DIPOLE_1" "MEX_MARSIS_DIPOLE_2" "MEX_MARSIS_MONOPOLE" --------------------- --------------------- --------------------- MARSIS Antenna Frames -------------------------------------- Because all three MARSIS antennas are rigidly mounted on the s/c, the MARSIS antenna frames are defined as fixed-offset frames with their orientation given relative to the MEX_SPACECRAFT frame. DUE TO INSUFFICIENT MARSIS DOCUMENTATION AVAILABLE TO NAIF AT THE TIME WHEN THIS FILE WAS CREATED, THE MARSIS ANTENNA FRAMES DEFINED IN THIS FILE ARE PLACE-HOLDERS MAKING ALL MARSIS ANTENNA FRAMES CO-ALIGNED WITH THE S/C FRAME (BVS, 06/13/01) \begindata FRAME_MEX_MARSIS_DIPOLE_1 = -41310 FRAME_-41310_NAME = 'MEX_MARSIS_DIPOLE_1' FRAME_-41310_CLASS = 4 FRAME_-41310_CLASS_ID = -41310 FRAME_-41310_CENTER = -41 TKFRAME_-41310_RELATIVE = 'MEX_SPACECRAFT' TKFRAME_-41310_SPEC = 'ANGLES' TKFRAME_-41310_UNITS = 'DEGREES' TKFRAME_-41310_AXES = ( 1, 2, 3 ) TKFRAME_-41310_ANGLES = ( 000.000, 000.000, 000.000 ) FRAME_MEX_MARSIS_DIPOLE_2 = -41320 FRAME_-41320_NAME = 'MEX_MARSIS_DIPOLE_2' FRAME_-41320_CLASS = 4 FRAME_-41320_CLASS_ID = -41320 FRAME_-41320_CENTER = -41 TKFRAME_-41320_RELATIVE = 'MEX_SPACECRAFT' TKFRAME_-41320_SPEC = 'ANGLES' TKFRAME_-41320_UNITS = 'DEGREES' TKFRAME_-41320_AXES = ( 1, 2, 3 ) TKFRAME_-41320_ANGLES = ( 000.000, 000.000, 000.000 ) FRAME_MEX_MARSIS_MONOPOLE = -41330 FRAME_-41330_NAME = 'MEX_MARSIS_MONOPOLE' FRAME_-41330_CLASS = 4 FRAME_-41330_CLASS_ID = -41330 FRAME_-41330_CENTER = -41 TKFRAME_-41330_RELATIVE = 'MEX_SPACECRAFT' TKFRAME_-41330_SPEC = 'ANGLES' TKFRAME_-41330_UNITS = 'DEGREES' TKFRAME_-41330_AXES = ( 1, 2, 3 ) TKFRAME_-41330_ANGLES = ( 000.000, 000.000, 000.000 ) \begintext OMEGA Frames ======================================================================== This section of the file contains the definitions of the OMEGA frames. OMEGA Frame Tree -------------------------------------- The diagram below shows the OMEGA frame hierarchy. "J2000" INERTIAL +-----------------------------------------------------+ | | | |<-pck | |<-pck | | | V | V "IAU_MARS" | "IAU_EARTH" MARS BODY-FIXED |<-ck EARTH BODY-FIXED --------------- | ---------------- V "MEX_SPACECRAFT" +------------------------------------------------+ | |<-fixed | V "MEX_OMEGA_BASE" -------------------------+ | | |<-fixed |<-fixed | | V V "MEX_OMEGA_VNIR" "MEX_OMEGA_SWIR" ---------------- +--------------+ | | |<-fixed |<-fixed | | V V "MEX_OMEGA_SWIR_S" "MEX_OMEGA_SWIR_L" ------------------ ------------------ OMEGA Base Frame -------------------------------------- The OMEGA base frame is defined by the instrument design and mounting on the s/c as follows: - +Z axis is nominally in the direction of the OMEGA VNIR and SWIR channel boresights; it nominally points in the direction of the s/c +Z axis; - +Y axis is perpendicular to the nominal OMEGA VNIR and SWIR image lines; it nominally points along the s/c +Y axis, in the direction of flight; - +X completes the right hand frame and is parallel to the nominal VNIR and SWIR image lines; it nominally points along the s/c +X axis; - the origin of the frame is located at the OMEGA SWIR channel telescope focal point. Because OMEGA is rigidly mounted on the s/c, the OMEGA base frame is defined as a fixed-offset frame with its orientation given relative to the MEX_SPACECRAFT frame. Any misalignment between nominal and actual OMEGA mounting alignment measured pre-launch should be incorporated into the definition of this frame. This diagram illustrates nominal MEX_OMEGA_BASE frame with respect to the spacecraft frame. +Z s/c side view: ----------------- direction of flight (+Ysc) ___________ HGA ----------> \ / .________________. .__`._____.'__. .________________. | \ | | / | | \ | | / | | | | +Zsc +Ysc | | | |o= o------->o| | | | | |._. | +Yobase | | / | ||o-------> | ._________________/ .______|.|.___. \__________________. -Y Solar Array | | OMEGA +Y Solar Array +Xsc V | | V +Xobase +Zsc and +Zobase are out of the page Nominally, the OMEGA base frame is co-aligned with the s/c frame. Since the SPICE frames subsystem calls for specifying the reverse transformation--going from the instrument or structure frame to the base frame--as compared to the description given above, the order of rotations assigned to the TKFRAME_*_AXES keyword is also reversed compared to the above text, and the signs associated with the rotation angles assigned to the TKFRAME_*_ANGLES keyword are the opposite from what is written in the above text. \begindata FRAME_MEX_OMEGA_BASE = -41400 FRAME_-41400_NAME = 'MEX_OMEGA_BASE' FRAME_-41400_CLASS = 4 FRAME_-41400_CLASS_ID = -41400 FRAME_-41400_CENTER = -41 TKFRAME_-41400_RELATIVE = 'MEX_SPACECRAFT' TKFRAME_-41400_SPEC = 'ANGLES' TKFRAME_-41400_UNITS = 'DEGREES' TKFRAME_-41400_AXES = ( 1, 2, 3 ) TKFRAME_-41400_ANGLES = ( 0.0, 0.0, 0.0 ) \begintext OMEGA VNIR Frame -------------------------------------- The OMEGA VNIR detector frame, MEX_OMEGA_VNIR, is defined exactly as, and is nominally co-aligned with, the OMEGA base frame MEX_OMEGA_BASE. This frame is introduced to allow incorporating into the OMEGA frame chain any misalignment between the instrument base and the detector, measured prior to delivering the instrument for installation on the s/c. Currently no misalignment data are available, and, therefore, the set of keywords below makes this frames co-aligned with its reference. \begindata FRAME_MEX_OMEGA_VNIR = -41410 FRAME_-41410_NAME = 'MEX_OMEGA_VNIR' FRAME_-41410_CLASS = 4 FRAME_-41410_CLASS_ID = -41410 FRAME_-41410_CENTER = -41 TKFRAME_-41410_RELATIVE = 'MEX_OMEGA_BASE' TKFRAME_-41410_SPEC = 'ANGLES' TKFRAME_-41410_UNITS = 'DEGREES' TKFRAME_-41410_AXES = ( 1, 2, 3 ) TKFRAME_-41410_ANGLES = ( 0.0, 0.0, 0.0 ) \begintext OMEGA SWIR Frames -------------------------------------- The OMEGA SWIR base frame, MEX_OMEGA_SWIR, and detector frames, MEX_OMEGA_SWIR_S and MEX_OMEGA_SWIR_L, are defined exactly as, and are nominally co-aligned with, the OMEGA base frame MEX_OMEGA_BASE. The SWIR base frame, MEX_OMEGA_SWIR, is introduced to allow incorporating into the OMEGA frame chain any misalignment between the instrument base and SWIR detector base measured prior to delivering the instrument for installation on the s/c. The SWIR detector frames, MEX_OMEGA_SWIR_S and MEX_OMEGA_SWIR_L, are introduced to allow incorporating into the OMEGA frame chain any misalignment between the SWIR base and SWIR detectors measured prior to delivering the instrument for installation on the s/c. Currently no misalignment data are available, and, therefore, the set of keywords below makes these frames co-aligned with their references. \begindata FRAME_MEX_OMEGA_SWIR = -41420 FRAME_-41420_NAME = 'MEX_OMEGA_SWIR' FRAME_-41420_CLASS = 4 FRAME_-41420_CLASS_ID = -41420 FRAME_-41420_CENTER = -41 TKFRAME_-41420_RELATIVE = 'MEX_OMEGA_BASE' TKFRAME_-41420_SPEC = 'ANGLES' TKFRAME_-41420_UNITS = 'DEGREES' TKFRAME_-41420_AXES = ( 1, 2, 3 ) TKFRAME_-41420_ANGLES = ( 0.0, 0.0, 0.0 ) FRAME_MEX_OMEGA_SWIR_S = -41421 FRAME_-41421_NAME = 'MEX_OMEGA_SWIR_S' FRAME_-41421_CLASS = 4 FRAME_-41421_CLASS_ID = -41421 FRAME_-41421_CENTER = -41 TKFRAME_-41421_RELATIVE = 'MEX_OMEGA_SWIR' TKFRAME_-41421_SPEC = 'ANGLES' TKFRAME_-41421_UNITS = 'DEGREES' TKFRAME_-41421_AXES = ( 1, 2, 3 ) TKFRAME_-41421_ANGLES = ( 0.0, 0.0, 0.0 ) FRAME_MEX_OMEGA_SWIR_L = -41422 FRAME_-41422_NAME = 'MEX_OMEGA_SWIR_L' FRAME_-41422_CLASS = 4 FRAME_-41422_CLASS_ID = -41422 FRAME_-41422_CENTER = -41 TKFRAME_-41422_RELATIVE = 'MEX_OMEGA_SWIR' TKFRAME_-41422_SPEC = 'ANGLES' TKFRAME_-41422_UNITS = 'DEGREES' TKFRAME_-41422_AXES = ( 1, 2, 3 ) TKFRAME_-41422_ANGLES = ( 0.0, 0.0, 0.0 ) \begintext PFS Frames ======================================================================== This section of the file contains the definitions of the PFS frames. PFS Frame Tree -------------------------------------- The diagram below shows the PFS frame hierarchy. "J2000" INERTIAL +-----------------------------------------------------+ | | | |<-pck | |<-pck | | | V | V "IAU_MARS" | "IAU_EARTH" MARS BODY-FIXED |<-ck EARTH BODY-FIXED --------------- | ---------------- V "MEX_SPACECRAFT" +------------------------------------ | |<-fixed | V "MEX_PFS_BASE" ---------------------------+ . | .<-fixed |<-ck . | . V . "MEX_PFS_SCANNER" . +-----------------+ . | | . |<-fixed |<-fixed . | | . V V . "MEX_PFS_SWC" "MEX_PFS_LWC" . ------------- ------------- . . . V "MEX_PFS_{NADIR,25_LEFT,12_LEFT,25_RIGHT,12_RIGHT,COLD_SPACE}" -------------------------------------------------------------- PFS Base and Scanner Frames -------------------------------------- The PFS instrument is rigidly mounted on the s/c science deck. Therefore, the PFS base frame, MEX_PFS_BASE, is a fixed offset frame with its orientation given relative to the MEX_SPACECRAFT frame. The MEX_PFS_BASE frame is defined by the instrument design and its mounting on the s/c as follows: - +Y axis is along the nominal PFS 'S' module scanner rotation axis and nominal PFS 'O' module optical axis, and points from the PFS 'S' module toward the PFS 'O' module; nominally this axis is co-aligned with the s/c +Y axis; - +Z axis is parallel to the nominal direction of the PFS 'S' scanner boresight in its 'nadir' (zero) position; it nominally points in the same direction as the s/c +Z axis; - +X completes the right hand frame; it nominally points in the same direction as the s/c +X axis; - the origin of this frame is located at the intersection of the PFS 'S' scanner rotation axis and the scanner cylinder central axis. Nominally this frame is co-aligned with the s/c frame. Any misalignment between nominal and actual PFS mounting alignment measured pre-launch can be incorporated into the definition of this frame. Since the PFS 'S' scanner rotates with respect to its base, the MEX_PFS_SCANNER frame is defined as a CK frame with its orientation provided in a CK file relative to the MEX_PFS_BASE frame. The MEX_PFS_SCANNER frame is defined as follows: - +Y axis is along the nominal PFS 'S' module scanner rotation axis and nominal PFS 'O' module optical axis, and points from the PFS 'S' module toward PFS 'O' module; nominally this axis is co-aligned with the +Y axis of the MEX_PFS_BASE frame; - +Z axis is parallel to the PFS 'S' scanner boresight; in 'nadir' scanner position it is co-aligned with the +Z axis of the MEX_PFS_BASE frame; - +X completes the right hand frame; - the origin of this frame is located at the intersection of the PFS 'S' scanner rotation axis and the scanner central axis. For an arbitrary scanner angle, the MEX_PFS_SCANNER frame is rotated by this angle about the +Y axis with respect to the MEX_PFS_BASE frame. This diagram illustrates the MEX_PFS_BASE and MEX_PFS_SCANNER frames for scanner angles of +25 degrees ('25 left') and -25 degrees ('25 right'). Both diagrams are +Y s/c side view: Scanner in '25 left' position Scanner in '25 right' position ----------------------------- ------------------------------ +Zbase +Zbase +Zscan ^ ^ +Zscan ^ | +Xscan | ^ \ | Science ^. | / Science \ | PFS Deck `. | / Deck \|___________. `.|/__________. <-------o | | <-------o | | +Xbase .' | =o======== +Xbase | | =o======== .'|___. SA+Y PFS___. SA+Y <' | +Zsc | | +Zsc | +Xscan | ^ | | ^ | | | | | | | | | | | | | .______|______. .______|______. | | | | | | <-------o____. <-------o____. +Xsc / +Ysc +Xsc / +Ysc /_____\ /_____\ Main Engine Main Engine +Ysc, +Ybase, and +Yscan are out of the page These sets of keywords define PFS base and scanner frames: \begindata FRAME_MEX_PFS_BASE = -41500 FRAME_-41500_NAME = 'MEX_PFS_BASE' FRAME_-41500_CLASS = 4 FRAME_-41500_CLASS_ID = -41500 FRAME_-41500_CENTER = -41 TKFRAME_-41500_RELATIVE = 'MEX_SPACECRAFT' TKFRAME_-41500_SPEC = 'ANGLES' TKFRAME_-41500_UNITS = 'DEGREES' TKFRAME_-41500_AXES = ( 1, 2, 3 ) TKFRAME_-41500_ANGLES = ( 0.0, 0.0, 0.0 ) FRAME_MEX_PFS_SCANNER = -41530 FRAME_-41530_NAME = 'MEX_PFS_SCANNER' FRAME_-41530_CLASS = 3 FRAME_-41530_CLASS_ID = -41530 FRAME_-41530_CENTER = -41 CK_-41530_SCLK = -41 CK_-41530_SPK = -41 \begintext PFS Detector Frames -------------------------------------- Since both PFS detectors receive radiation through the scanner and both essentially have a single pixel, their frames, MEX_PFS_SWC and MEX_PFS_LWC, are defined to be nominally co-aligned with the PFS scanner frame, MEX_PFS_SCANNER. These frames are introduced to allow incorporating into the PFS frame chain any misalignment between the scanner boresight direction and the individual detector view directions measured prior to delivering the instrument for installation on the s/c. Currently no misalignment data are available, and, therefore, the set of keywords below makes these frames co-aligned with their reference. \begindata FRAME_MEX_PFS_SWC = -41510 FRAME_-41510_NAME = 'MEX_PFS_SWC' FRAME_-41510_CLASS = 4 FRAME_-41510_CLASS_ID = -41510 FRAME_-41510_CENTER = -41 TKFRAME_-41510_RELATIVE = 'MEX_PFS_SCANNER' TKFRAME_-41510_SPEC = 'ANGLES' TKFRAME_-41510_UNITS = 'DEGREES' TKFRAME_-41510_AXES = ( 1, 2, 3 ) TKFRAME_-41510_ANGLES = ( 0.0, 0.0, 0.0 ) FRAME_MEX_PFS_LWC = -41520 FRAME_-41520_NAME = 'MEX_PFS_LWC' FRAME_-41520_CLASS = 4 FRAME_-41520_CLASS_ID = -41520 FRAME_-41520_CENTER = -41 TKFRAME_-41520_RELATIVE = 'MEX_PFS_SCANNER' TKFRAME_-41520_SPEC = 'ANGLES' TKFRAME_-41520_UNITS = 'DEGREES' TKFRAME_-41520_AXES = ( 1, 2, 3 ) TKFRAME_-41520_ANGLES = ( 0.0, 0.0, 0.0 ) \begintext PFS Scanner Fixed Positions Frames -------------------------------------- Because the PFS 'S' scanner can be rotated to only a limited number of positions for external observations -- 'nadir', '25 deg left', '12.5 deg left', '25 deg right', '12.5 deg right', and 'cold_space' -- a fixed frame co-aligned with the scanner frame in each of these positions is defined to allow computing scanner orientation without needing to use CK. Each of these 'fixed-scanner-position' convenience frames is defined as a fixed offset frame with respect to the MEX_PFS_BASE frame as follows: - +Y axis is along the nominal PFS 'S' module scanner rotation axis and nominal PFS 'O' module optical axis, and points from the PFS 'S' module toward PFS 'O' module; nominally this axis is co-aligned with the +Y axis of the MEX_PFS_BASE frame; - +Z axis is parallel to the PFS 'S' scanner boresight at a particular angle; - +X completes the right hand frame; - the origin of this frame is located at the intersection of the PFS 'S' scanner rotation axis and scanner central axis. This diagram illustrates fixed PFS scanner pointing directions co-aligned with the +Z axis of the corresponding 'fixed-scanner-position' (fsp) frame: +Y s/c side view ---------------- +Zbase ^ | nadir | 12.5 left | 12.5 right . | . 25 left \ . | . / 25 right \ .|. / \.|./ \|/__________. Science Deck <--- cold -------o | | +Xbase space | | =o======== |___. SA+Y PFS +Zsc | | ^ | | | | | | | .______|______. | | | <-------o____. +Xsc / +Ysc /_____\ Main Engine +Ysc, +Ybase, and +Yfsp are out of the page The 'fixed-scanner-position' frames are nominally rotated about the +Y axis of the MEX_PFS_BASE frames by the following angles: Frame name Rotation Angle, deg ---------------------- ------------------- MEX_PFS_25_RIGHT -25.0 MEX_PFS_12_RIGHT -12.5 MEX_PFS_NADIR 0.0 MEX_PFS_12_LEFT 12.5 MEX_PFS_25_LEFT 25.0 MEX_PFS_COLD_SPACE 90.0 Since the SPICE frames subsystem calls for specifying the reverse transformation--going from the instrument or structure frame to the base frame--as compared to the description given above, the order of rotations assigned to the TKFRAME_*_AXES keyword is also reversed compared to the above text, and the signs associated with the rotation angles assigned to the TKFRAME_*_ANGLES keyword are the opposite from what is written in the above text. \begindata FRAME_MEX_PFS_25_RIGHT = -41535 FRAME_-41535_NAME = 'MEX_PFS_25_RIGHT' FRAME_-41535_CLASS = 4 FRAME_-41535_CLASS_ID = -41535 FRAME_-41535_CENTER = -41 TKFRAME_-41535_RELATIVE = 'MEX_PFS_BASE' TKFRAME_-41535_SPEC = 'ANGLES' TKFRAME_-41535_UNITS = 'DEGREES' TKFRAME_-41535_AXES = ( 1, 2, 3 ) TKFRAME_-41535_ANGLES = ( 0.0, 25.0, 0.0 ) FRAME_MEX_PFS_12_RIGHT = -41534 FRAME_-41534_NAME = 'MEX_PFS_12_RIGHT' FRAME_-41534_CLASS = 4 FRAME_-41534_CLASS_ID = -41534 FRAME_-41534_CENTER = -41 TKFRAME_-41534_RELATIVE = 'MEX_PFS_BASE' TKFRAME_-41534_SPEC = 'ANGLES' TKFRAME_-41534_UNITS = 'DEGREES' TKFRAME_-41534_AXES = ( 1, 2, 3 ) TKFRAME_-41534_ANGLES = ( 0.0, 12.5, 0.0 ) FRAME_MEX_PFS_NADIR = -41533 FRAME_-41533_NAME = 'MEX_PFS_NADIR' FRAME_-41533_CLASS = 4 FRAME_-41533_CLASS_ID = -41533 FRAME_-41533_CENTER = -41 TKFRAME_-41533_RELATIVE = 'MEX_PFS_BASE' TKFRAME_-41533_SPEC = 'ANGLES' TKFRAME_-41533_UNITS = 'DEGREES' TKFRAME_-41533_AXES = ( 1, 2, 3 ) TKFRAME_-41533_ANGLES = ( 0.0, 0.0, 0.0 ) FRAME_MEX_PFS_12_LEFT = -41532 FRAME_-41532_NAME = 'MEX_PFS_12_LEFT' FRAME_-41532_CLASS = 4 FRAME_-41532_CLASS_ID = -41532 FRAME_-41532_CENTER = -41 TKFRAME_-41532_RELATIVE = 'MEX_PFS_BASE' TKFRAME_-41532_SPEC = 'ANGLES' TKFRAME_-41532_UNITS = 'DEGREES' TKFRAME_-41532_AXES = ( 1, 2, 3 ) TKFRAME_-41532_ANGLES = ( 0.0, -12.5, 0.0 ) FRAME_MEX_PFS_25_LEFT = -41531 FRAME_-41531_NAME = 'MEX_PFS_25_LEFT' FRAME_-41531_CLASS = 4 FRAME_-41531_CLASS_ID = -41531 FRAME_-41531_CENTER = -41 TKFRAME_-41531_RELATIVE = 'MEX_PFS_BASE' TKFRAME_-41531_SPEC = 'ANGLES' TKFRAME_-41531_UNITS = 'DEGREES' TKFRAME_-41531_AXES = ( 1, 2, 3 ) TKFRAME_-41531_ANGLES = ( 0.0, -25.0, 0.0 ) FRAME_MEX_PFS_COLD_SPACE = -41536 FRAME_-41536_NAME = 'MEX_PFS_COLD_SPACE' FRAME_-41536_CLASS = 4 FRAME_-41536_CLASS_ID = -41536 FRAME_-41536_CENTER = -41 TKFRAME_-41536_RELATIVE = 'MEX_PFS_BASE' TKFRAME_-41536_SPEC = 'ANGLES' TKFRAME_-41536_UNITS = 'DEGREES' TKFRAME_-41536_AXES = ( 1, 2, 3 ) TKFRAME_-41536_ANGLES = ( 0.0, -90.0, 0.0 ) \begintext SPICAM Frames ======================================================================== This section of the file contains the definitions of the SPICAM frames. SPICAM Frame Tree -------------------------------------- The diagram below shows the SPICAM frame hierarchy. "J2000" INERTIAL +-----------------------------------------------------+ | | | |<-pck | |<-pck | | | V | V "IAU_MARS" | "IAU_EARTH" MARS BODY-FIXED |<-ck EARTH BODY-FIXED --------------- | ---------------- V "MEX_SPACECRAFT" +-----------------------------------+ | |<-fixed | V "MEX_SPICAM_BASE" -------------------------------------------+ | | | | |<-fixed |<-fixed |<--fixed |<--fixed | | | | V | V | "MEX_SPICAM_SIR" | "MEX_SPICAM_SUV" | ---------------- | ---------------- | V V "MEX_SPICAM_SIR_SOLAR" "MEX_SPICAM_SUV_SOLAR" ---------------------- ---------------------- SPICAM Base Frame -------------------------------------- The SPICAM base frame is defined by the instrument design and its mounting on the s/c as follows: - +Z axis is in the nominal direction of the SPICAM SUV/nadir and IR detector boresights; it nominally points in the direction of the s/c +Z axis; - +X axis is parallel to the nominal direction of SPICAM SUV CCD columns; it is nominally along the s/c +X axis; - +Y completes the right hand frame; it is nominally along the s/c +Y axis and points in the direction of flight; (*) - the origin of the frame is located at the SPICAM SUV detector focal point. (*) SPICAM SUV spectral dimension is along CCD lines, which are parallel to Y,Z plane. SPICAM SIR has a single pixel. Because the SPICAM instrument is rigidly mounted to the s/c, the SPICAM base frame is defined as a fixed-offset frame with its orientation given relative to the MEX_SPACECRAFT frame. Any misalignment between the nominal and actual SPICAM mounting alignment measured pre-launch can be incorporated into the definition of this frame. This diagram illustrates the nominal MEX_SPICAM_BASE frame with respect to the spacecraft frame. +Z s/c side view: ----------------- direction of flight (+Ysc) ___________ HGA ----------> \ / .________________. .__`._____.'__. .________________. | \ | | / | | \ | +Ysbase | / | | | .____. | | | | |o=|o---> o------->o| | | SPICAM .|___. |+Zsc |+Ysc | | / || | | \ | ._________________/ .|_____|______. \_________________. -Y Solar Array | | +Y Solar Array V V +Xsbase +Xsc +Zsc and +Zsbase are out of the page Nominally, the SPICAM base frame is co-aligned the s/c frame. Since the SPICE frames subsystem calls for specifying the reverse transformation--going from the instrument or structure frame to the base frame--as compared to the description given above, the order of rotations assigned to the TKFRAME_*_AXES keyword is also reversed compared to the above text, and the signs associated with the rotation angles assigned to the TKFRAME_*_ANGLES keyword are the opposite from what is written in the above text. \begindata FRAME_MEX_SPICAM_BASE = -41600 FRAME_-41600_NAME = 'MEX_SPICAM_BASE' FRAME_-41600_CLASS = 4 FRAME_-41600_CLASS_ID = -41600 FRAME_-41600_CENTER = -41 TKFRAME_-41600_RELATIVE = 'MEX_SPACECRAFT' TKFRAME_-41600_SPEC = 'ANGLES' TKFRAME_-41600_UNITS = 'DEGREES' TKFRAME_-41600_AXES = ( 1, 2, 3 ) TKFRAME_-41600_ANGLES = ( 000.000, 000.000, 000.000 ) \begintext SPICAM Detector Frames -------------------------------------- The SPICAM detector nadir port frames -- MEX_SPICAM_SUV and MEX_SPICAM_SIR -- are defined exactly as, and are nominally co-aligned with, the SPICAM base frame MEX_SPICAM_BASE. These frames are introduced to allow incorporating into the SPICAM frame chain any misalignment between the instrument base and detectors measured prior to delivering the instrument for installation on the s/c. The SPICAM SIR and SUV detector solar port frames -- MEX_SPICAM_SIR_SOLAR and MEX_SPICAM_SUV_SOLAR -- are defined in the same way as follows: - +Z axis points along SIR/SUV solar port boresight; - +X axis is parallel to the Sensor Unit assembly symmetry axis and points towards the SPICAM SUV/SIR opening side; it points nominally along the s/c +Z axis; - +Y axis completes the right hand frame; - the origin of the frame is located at the SPICAM SIR/SUV detector focal point. This diagram illustrates all three SPICAM detector port frames: +Z s/c side view: ----------------- direction HGA of flight (+Ysc) +Zsir_solar ___________ ----------> +Zsuv_solar ^ \ ^ +Ysir_solar .________________. \ .__` .' +Ysuv_solar.________________. | \ \ | .' | / | | +Xsir_solar\|.' +Ybase| / | | +Xsuv_solar o____. +Ysuv | | +Ysc | | |o=|o-------> |=o| -------> | | SPICAM .|__o-------> | | | | / || | +Ysir \ | ._________________/ .|__|_________. \_________________. -Y Solar Array | | +Y Solar Array +Xbase V | +Xsuv V +Xsir | +Zsc, +Zbase, +Zsuv, | +Zsir, +Xsir_solar, V +Xsc and +Xsuv_solar are out of the page Nominally, the SPICAM SIR and SUV frames are co-aligned the SPICAM base frame while the SPICAM SIR and SUV solar port frames are first rotated from it by -90 degrees about +Y, and then rotated by +30 degrees about the new position of +X. Since the SPICE frames subsystem calls for specifying the reverse transformation--going from the instrument or structure frame to the base frame--as compared to the description given above, the order of rotations assigned to the TKFRAME_*_AXES keyword is also reversed compared to the above text, and the signs associated with the rotation angles assigned to the TKFRAME_*_ANGLES keyword are the opposite from what is written in the above text. \begindata FRAME_MEX_SPICAM_SIR = -41610 FRAME_-41610_NAME = 'MEX_SPICAM_SIR' FRAME_-41610_CLASS = 4 FRAME_-41610_CLASS_ID = -41610 FRAME_-41610_CENTER = -41 TKFRAME_-41610_RELATIVE = 'MEX_SPICAM_BASE' TKFRAME_-41610_SPEC = 'ANGLES' TKFRAME_-41610_UNITS = 'DEGREES' TKFRAME_-41610_AXES = ( 1, 2, 3 ) TKFRAME_-41610_ANGLES = ( 0.0, 0.0, 0.0 ) FRAME_MEX_SPICAM_SUV = -41620 FRAME_-41620_NAME = 'MEX_SPICAM_SUV' FRAME_-41620_CLASS = 4 FRAME_-41620_CLASS_ID = -41620 FRAME_-41620_CENTER = -41 TKFRAME_-41620_RELATIVE = 'MEX_SPICAM_BASE' TKFRAME_-41620_SPEC = 'ANGLES' TKFRAME_-41620_UNITS = 'DEGREES' TKFRAME_-41620_AXES = ( 1, 2, 3 ) TKFRAME_-41620_ANGLES = ( 0.0, 0.0, 0.0 ) FRAME_MEX_SPICAM_SIR_SOLAR = -41611 FRAME_-41611_NAME = 'MEX_SPICAM_SIR_SOLAR' FRAME_-41611_CLASS = 4 FRAME_-41611_CLASS_ID = -41611 FRAME_-41611_CENTER = -41 TKFRAME_-41611_RELATIVE = 'MEX_SPICAM_BASE' TKFRAME_-41611_SPEC = 'ANGLES' TKFRAME_-41611_UNITS = 'DEGREES' TKFRAME_-41611_AXES = ( 3, 2, 1 ) TKFRAME_-41611_ANGLES = ( 0.0, 90.0, -30.0 ) FRAME_MEX_SPICAM_SUV_SOLAR = -41621 FRAME_-41621_NAME = 'MEX_SPICAM_SUV_SOLAR' FRAME_-41621_CLASS = 4 FRAME_-41621_CLASS_ID = -41621 FRAME_-41621_CENTER = -41 TKFRAME_-41621_RELATIVE = 'MEX_SPICAM_BASE' TKFRAME_-41621_SPEC = 'ANGLES' TKFRAME_-41621_UNITS = 'DEGREES' TKFRAME_-41621_AXES = ( 3, 2, 1 ) TKFRAME_-41621_ANGLES = ( 0.0, 90.0, -30.0 ) \begintext BEAGLE2 Frames ======================================================================== This section of the file contains the definitions of the Beagle-2 local level, lander and instrument frames. Beagle-2 Frame Tree -------------------------------------- The diagram below shows the Beagle-2 Lander and its instruments frame hierarchy. "J2000" INERTIAL +-----------------------------------------------------+ | | | |<-ck | |<-pck | | | V | V "MEX_SPACECRAFT" | "IAU_EARTH" --------------- |<-pck EARTH BODY-FIXED | ---------------- V "IAU_MARS" MARS BODY-FIXED --------------- | |<-fixed | V "BEAGLE2_LOCAL_LEVEL" -------------------- | |<-fixed | V "BEAGLE2_LANDER" ---------------- | | | V (Beagle-2 instrument frames) Beagle-2 Local Level frame -------------------------------------- This BEAGLE2_LOCAL_LEVEL frame at the landing site is defined as follows: - +Z axis is the normal outward at the landing site; - +X axis points at local north; - +Y completes the right hand frame; - the origin of this frame is located on the surface under the geometric center of the lander capsule; The orientation of the frame is fixed relative to the Mars fixed rotating frame 'IAU_MARS' and is determined by the landing site coordinates. The target Beagle-2 landing site selected on December 20, 2000 is located at: 270.0 degrees west planetographic longitude, and 10.6 degrees north planetographic latitude which is in Isidis Basin of Utopia Planitia. The transformation from 'BEAGLE2_LOCAL_LEVEL' frame to 'IAU_MARS' frame is a 3-2-3 rotation with angles defined as the negative of the site longitude, the negative of the site colatitude, 180 degrees. \begindata FRAME_BEAGLE2_LOCAL_LEVEL = -44900 FRAME_-44900_NAME = 'BEAGLE2_LOCAL_LEVEL' FRAME_-44900_CLASS = 4 FRAME_-44900_CLASS_ID = -44900 FRAME_-44900_CENTER = -44 TKFRAME_-44900_RELATIVE = 'IAU_MARS' TKFRAME_-44900_SPEC = 'ANGLES' TKFRAME_-44900_UNITS = 'DEGREES' TKFRAME_-44900_AXES = ( 3, 2, 3 ) TKFRAME_-44900_ANGLES = ( 270.0, -79.4, 180.0 ) \begintext Beagle-2 Lander Frame -------------------------------------- The BEAGLE2 lander frame, BEAGLE2_LANDER, is defined by the lander design as follows: - +Z axis is parallel to the lander capsule symmetry axis and points up; - +X axis point from +Z toward robotic arm; - +Y axis completes the right hand frame; - the origin of the frame is located at the intersection of the lander main capsule outer rim plane and the lander main capsule symmetry axis. Once landed the lander orientation is constant with respect to the surface and, therefore, this frame is defined as a fixed-offset frame with its orientation provided with respect to the BEAGLE2_LOCAL_LEVEL frame. Should the lander orientation change due to sliding and/or science instrument operations, BEAGLE2_LANDER frame should be re-defined as a CK based frame. For nominal applications, the BEAGLE2_LANDER frame is assumed to be co-aligned with the BEAGLE2_LOCAL_LEVEL frame. \begindata FRAME_BEAGLE2_LANDER = -44000 FRAME_-44000_NAME = 'BEAGLE2_LANDER' FRAME_-44000_CLASS = 4 FRAME_-44000_CLASS_ID = -44000 FRAME_-44000_CENTER = -44 TKFRAME_-44000_RELATIVE = 'BEAGLE2_LOCAL_LEVEL' TKFRAME_-44000_SPEC = 'ANGLES' TKFRAME_-44000_UNITS = 'DEGREES' TKFRAME_-44000_AXES = ( 1, 2, 3 ) TKFRAME_-44000_ANGLES = ( 0.0, 0.0, 0.0 ) \begintext Beagle-2 Instrument Frames -------------------------------------- Beagle-2 instrument frames are TDB. Mars Express Mission NAIF ID Codes -- Definition Section ======================================================================== This section contains name to NAIF ID mappings for the MEX mission. Mars Express Spacecraft (MEX) spacecraft and instruments IDs: ------------------------------------------------------------- This table summarizes MEX Spacecraft IDs: Name ID Synonyms --------------------- ------- --------------------------- MEX -41 MARS EXPRESS, MARS-EXPRESS, MARS_EXPRESS Notes: -- 'MEX', 'MARS EXPRESS', 'MARS-EXPRESS', and 'MARS_EXPRESS' are synonyms and all map to the official MEX s/c ID (-41); Name-ID Mapping keywords: \begindata NAIF_BODY_NAME += ( 'MEX' ) NAIF_BODY_CODE += ( -41 ) NAIF_BODY_NAME += ( 'MARS EXPRESS' ) NAIF_BODY_CODE += ( -41 ) NAIF_BODY_NAME += ( 'MARS-EXPRESS' ) NAIF_BODY_CODE += ( -41 ) NAIF_BODY_NAME += ( 'MARS_EXPRESS' ) NAIF_BODY_CODE += ( -41 ) \begintext ASPERA IDs -------------------------------------- This table summarizes ASPERA IDs: Name ID --------------------- ------- MEX_ASPERA -41100 MEX_ASPERA_BASE -41110 MEX_ASPERA_SCANNER -41111 MEX_ASPERA_ELS -41120 MEX_ASPERA_NPI -41130 MEX_ASPERA_NPD -41140 MEX_ASPERA_IMA -41150 Name-ID Mapping keywords: \begindata NAIF_BODY_NAME += ( 'MEX_ASPERA' ) NAIF_BODY_CODE += ( -41100 ) NAIF_BODY_NAME += ( 'MEX_ASPERA_BASE' ) NAIF_BODY_CODE += ( -41110 ) NAIF_BODY_NAME += ( 'MEX_ASPERA_SCANNER' ) NAIF_BODY_CODE += ( -41111 ) NAIF_BODY_NAME += ( 'MEX_ASPERA_ELS' ) NAIF_BODY_CODE += ( -41120 ) NAIF_BODY_NAME += ( 'MEX_ASPERA_NPI' ) NAIF_BODY_CODE += ( -41130 ) NAIF_BODY_NAME += ( 'MEX_ASPERA_NPD' ) NAIF_BODY_CODE += ( -41140 ) NAIF_BODY_NAME += ( 'MEX_ASPERA_IMA' ) NAIF_BODY_CODE += ( -41150 ) \begintext HRSC IDs -------------------------------------- This table summarizes HRSC IDs: Name ID --------------------- ------- MEX_HRSC -41200 MEX_HRSC_HEAD -41210 MEX_HRSC_S2 -41211 MEX_HRSC_RED -41212 MEX_HRSC_P2 -41213 MEX_HRSC_BLUE -41214 MEX_HRSC_NADIR -41215 MEX_HRSC_GREEN -41216 MEX_HRSC_P1 -41217 MEX_HRSC_IR -41218 MEX_HRSC_S1 -41219 MEX_HRSC_SRC -41220 Notes: -- each CCD line detector has its own ID to allow individual CCD detector FOV definitions in the Instrument Kernel (IK). Name-ID Mapping keywords: \begindata NAIF_BODY_NAME += ( 'MEX_HRSC' ) NAIF_BODY_CODE += ( -41200 ) NAIF_BODY_NAME += ( 'MEX_HRSC_HEAD' ) NAIF_BODY_CODE += ( -41210 ) NAIF_BODY_NAME += ( 'MEX_HRSC_S2' ) NAIF_BODY_CODE += ( -41211 ) NAIF_BODY_NAME += ( 'MEX_HRSC_RED' ) NAIF_BODY_CODE += ( -41212 ) NAIF_BODY_NAME += ( 'MEX_HRSC_P2' ) NAIF_BODY_CODE += ( -41213 ) NAIF_BODY_NAME += ( 'MEX_HRSC_BLUE' ) NAIF_BODY_CODE += ( -41214 ) NAIF_BODY_NAME += ( 'MEX_HRSC_NADIR' ) NAIF_BODY_CODE += ( -41215 ) NAIF_BODY_NAME += ( 'MEX_HRSC_GREEN' ) NAIF_BODY_CODE += ( -41216 ) NAIF_BODY_NAME += ( 'MEX_HRSC_P1' ) NAIF_BODY_CODE += ( -41217 ) NAIF_BODY_NAME += ( 'MEX_HRSC_IR' ) NAIF_BODY_CODE += ( -41218 ) NAIF_BODY_NAME += ( 'MEX_HRSC_S1' ) NAIF_BODY_CODE += ( -41219 ) NAIF_BODY_NAME += ( 'MEX_HRSC_SRC' ) NAIF_BODY_CODE += ( -41220 ) \begintext MARSIS IDs: -------------------------------------- This table summarizes MARSIS IDs: Name ID --------------------- ------- MEX_MARSIS -41300 MEX_MARSIS_DIPOLE_1 -41310 MEX_MARSIS_DIPOLE_2 -41320 MEX_MARSIS_MONOPOLE -41330 Name-ID Mapping keywords: \begindata NAIF_BODY_NAME += ( 'MEX_MARSIS' ) NAIF_BODY_CODE += ( -41300 ) NAIF_BODY_NAME += ( 'MEX_MARSIS_DIPOLE_1' ) NAIF_BODY_CODE += ( -41310 ) NAIF_BODY_NAME += ( 'MEX_MARSIS_DIPOLE_2' ) NAIF_BODY_CODE += ( -41320 ) NAIF_BODY_NAME += ( 'MEX_MARSIS_MONOPOLE' ) NAIF_BODY_CODE += ( -41330 ) \begintext OMEGA IDs -------------------------------------- This table summarizes OMEGA IDs: Name ID --------------------- ------- MEX_OMEGA -41400 MEX_OMEGA_VNIR -41410 MEX_OMEGA_SWIR -41420 MEX_OMEGA_SWIR_S -41421 MEX_OMEGA_SWIR_L -41422 Name-ID Mapping keywords: \begindata NAIF_BODY_NAME += ( 'MEX_OMEGA' ) NAIF_BODY_CODE += ( -41400 ) NAIF_BODY_NAME += ( 'MEX_OMEGA_VNIR' ) NAIF_BODY_CODE += ( -41410 ) NAIF_BODY_NAME += ( 'MEX_OMEGA_SWIR' ) NAIF_BODY_CODE += ( -41420 ) NAIF_BODY_NAME += ( 'MEX_OMEGA_SWIR_S' ) NAIF_BODY_CODE += ( -41421 ) NAIF_BODY_NAME += ( 'MEX_OMEGA_SWIR_L' ) NAIF_BODY_CODE += ( -41422 ) \begintext PFS IDs -------------------------------------- This table summarizes PFS IDs: Name ID --------------------- ------- MEX_PFS -41500 MEX_PFS_SWC -41510 MEX_PFS_LWC -41520 MEX_PFS_SCANNER -41530 Name-ID Mapping keywords: \begindata NAIF_BODY_NAME += ( 'MEX_PFS' ) NAIF_BODY_CODE += ( -41500 ) NAIF_BODY_NAME += ( 'MEX_PFS_SWC' ) NAIF_BODY_CODE += ( -41510 ) NAIF_BODY_NAME += ( 'MEX_PFS_LWC' ) NAIF_BODY_CODE += ( -41520 ) NAIF_BODY_NAME += ( 'MEX_PFS_SCANNER' ) NAIF_BODY_CODE += ( -41530 ) \begintext SPICAM IDs -------------------------------------- This table summarizes SPICAM IDs: Name ID --------------------- ------- MEX_SPICAM -41600 MEX_SPICAM_SIR -41610 MEX_SPICAM_SIR_SOLAR -41611 MEX_SPICAM_SUV -41620 MEX_SPICAM_SUV_SOLAR -41621 Name-ID Mapping keywords: \begindata NAIF_BODY_NAME += ( 'MEX_SPICAM' ) NAIF_BODY_CODE += ( -41600 ) NAIF_BODY_NAME += ( 'MEX_SPICAM_SIR' ) NAIF_BODY_CODE += ( -41610 ) NAIF_BODY_NAME += ( 'MEX_SPICAM_SIR_SOLAR' ) NAIF_BODY_CODE += ( -41611 ) NAIF_BODY_NAME += ( 'MEX_SPICAM_SUV' ) NAIF_BODY_CODE += ( -41620 ) NAIF_BODY_NAME += ( 'MEX_SPICAM_SUV_SOLAR' ) NAIF_BODY_CODE += ( -41621 ) \begintext MEX Spacecraft Structures IDs -------------------------------------- This table summarizes MEX Spacecraft Structure IDs: Name ID Synonyms --------------------- ------- ------------------------- MEX_SPACECRAFT -41000 MEX_SC MEX_SA+Y -41011 MEX_SA-Y -41012 MEX_SA+Y_GIMBAL -41013 MEX_SA-Y_GIMBAL -41014 MEX_HGA -41020 MEX_MELACOM_1 -41031 MEX_MELACOM_2 -41032 MEX_LGA -41040 Notes: -- 'MEX_SC' and 'MEX_SPACECRAFT' are synonyms and all map to the MEX s/c bus structure ID (-41000); Name-ID Mapping keywords: \begindata NAIF_BODY_NAME += ( 'MEX_SPACECRAFT' ) NAIF_BODY_CODE += ( -41000 ) NAIF_BODY_NAME += ( 'MEX_SC' ) NAIF_BODY_CODE += ( -41000 ) NAIF_BODY_NAME += ( 'MEX_SA+Y' ) NAIF_BODY_CODE += ( -41011 ) NAIF_BODY_NAME += ( 'MEX_SA-Y' ) NAIF_BODY_CODE += ( -41012 ) NAIF_BODY_NAME += ( 'MEX_SA+Y_GIMBAL' ) NAIF_BODY_CODE += ( -41013 ) NAIF_BODY_NAME += ( 'MEX_SA-Y_GIMBAL' ) NAIF_BODY_CODE += ( -41014 ) NAIF_BODY_NAME += ( 'MEX_HGA' ) NAIF_BODY_CODE += ( -41020 ) NAIF_BODY_NAME += ( 'MEX_MELACOM_1' ) NAIF_BODY_CODE += ( -41031 ) NAIF_BODY_NAME += ( 'MEX_MELACOM_2' ) NAIF_BODY_CODE += ( -41032 ) NAIF_BODY_NAME += ( 'MEX_LGA' ) NAIF_BODY_CODE += ( -41040 ) \begintext Mars Express Beagle-2 (BEAGLE2) Lander and its instruments IDs -------------------------------------------------------------- This table summarizes Beagle-2 lander and its instrument IDs: Name ID Synonyms --------------------- ------- ------------------------- BEAGLE2 -44 BEAGLE 2, BEAGLE-2, BEAGLE_2 BEAGLE2_LANDER -44000 BEAGLE2_GAP -44100 BEAGLE2_PAW -44200 BEAGLE2_LANDING_SITE -44900 BEAGLE2_LS, BEAGLE2_SITE Notes: -- 'BEAGLE2', 'BEAGLE 2', 'BEAGLE-2', and 'BEAGLE_2' are synonyms and all map to the official Beagle-2 s/c ID (-44); -- 'BEAGLE2_LANDING_SITE', 'BEAGLE2_LS' and 'BEAGLE2_SITE' are synonyms and all map to Beagle-2 landing site ID (-44000); Name-ID Mapping keywords: \begindata NAIF_BODY_NAME += ( 'BEAGLE2' ) NAIF_BODY_CODE += ( -44 ) NAIF_BODY_NAME += ( 'BEAGLE 2' ) NAIF_BODY_CODE += ( -44 ) NAIF_BODY_NAME += ( 'BEAGLE-2' ) NAIF_BODY_CODE += ( -44 ) NAIF_BODY_NAME += ( 'BEAGLE_2' ) NAIF_BODY_CODE += ( -44 ) NAIF_BODY_NAME += ( 'BEAGLE2_LANDER' ) NAIF_BODY_CODE += ( -44000 ) NAIF_BODY_NAME += ( 'BEAGLE2_GAP' ) NAIF_BODY_CODE += ( -44100 ) NAIF_BODY_NAME += ( 'BEAGLE2_PAW' ) NAIF_BODY_CODE += ( -44200 ) NAIF_BODY_NAME += ( 'BEAGLE2_LANDING_SITE' ) NAIF_BODY_CODE += ( -44900 ) NAIF_BODY_NAME += ( 'BEAGLE2_LS' ) NAIF_BODY_CODE += ( -44900 ) NAIF_BODY_NAME += ( 'BEAGLE2_SITE' ) NAIF_BODY_CODE += ( -44900 ) \begintext