KPL/FK OSIRIS-REx (ORX) Frames Kernel ===================================================================== This frame kernel contains the complete set of frame definitions for the OSIRIS-REx spacecraft, its structures and science instruments. This frame kernel also contains name - to - NAIF ID mappings for OSIRIS-REx science instruments and s/c structures (see the last section of the file.) Version and Date ----------------------------------------------------------- Version 0.5 -- July 6, 2016 -- Boris Semenov, NAIF 07/01/16: Updated MapCam and SamCam frames description to correctly indicate how +X and +Y axes relate to CCD lines and columns. 05/16/16: Updated HGA alignment angles to line up the ORX_HGA frame with the antenna pattern ([6]). Version 0.4 -- August 24, 2015 -- Boris Semenov, NAIF 08/24/15: Updated LIDAR frames to be consistent with [4]/Rev-D 12/18/14: Updated NAVCAM1 and NAVCAM2 nominal alignments for additional -90 degree rotation about boresight. Version 0.3 -- October 30, 2014 -- Boris Semenov, NAIF Replaced NAVCAM/-64070 frame and name/ID mapping with NAVCAM1/-64081 and NAVCAM2/-64082 frames and name/ID mappings. Changed NAVCAM1 and NAVCAM2 alignments to match [4]. Added IAU_BENNU frame. Added BENNU/2101955 naif/ID mapping. Updated orientation of the ORX_OVIRS_SUN frame to match [4]. Version 0.2 -- November 14, 2013 -- Boris Semenov, NAIF Defined nominal frames and name/ID mappings for majority of instruments and structures. Version 0.1 -- May 16, 2013 -- Boris Semenov, NAIF; John Ivens, LPL/UofA Pre-release, added OCAMS frames and name/ID mappings; adjusted ORX_OCAMS_SAMCAM angles to match description. Version 0.0 -- March 19, 2013 -- Boris Semenov, NAIF Pre-release, example version. References ----------------------------------------------------------- 1. ``Frames Required Reading'' 2. ``Kernel Pool Required Reading'' 3. ``C-Kernel Required Reading'' 4. ORX Coordinate Systems Document, Rev-A (02/18/13), Rev-B (03/18/14), Rev-D (05/20/15) 5. "NavCam Pointing for OpNav.pptx", 06/16/14 6. E-mail from Javier Cerna, ORX Telecom, 05/13/16 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. OSIRIS-REx Frames Summary ----------------------------------------------------------- The following OSIRIS-REx frames are defined in this kernel file: Name Relative to Type NAIF ID ====================== ===================== ========== ======= Bennu Body-Fixed frame: ----------------------- IAU_BENNU J2000 PCK 10106 Spacecraft frame: ----------------- ORX_SPACECRAFT J2000 CK -64000 Structure frames (solar arrays, TAGSAM, antennas, etc): ------------------------------------------------------- ORX_SA_PY_BP ORX_SPACECRAFT FIXED -64011 ORX_SA_PY_GIM ORX_SA_PY_BP CK -64012 ORX_SA_PY ORX_SA_PY_GIM FIXED -64010 ORX_SA_NY_BP ORX_SPACECRAFT FIXED -64021 ORX_SA_NY_GIM ORX_SA_NY_BP CK -64022 ORX_SA_NY ORX_SA_NY_GIM FIXED -64020 ORX_TAGSAM_BP ORX_SPACECRAFT FIXED -64051 ORX_TAGSAM_SH_REF ORX_TAGSAM_BP FIXED -64052 ORX_TAGSAM_SH ORX_TAGSAM_SH_REF CK -64053 ORX_TAGSAM_EL_REF ORX_TAGSAM_SH FIXED -64054 ORX_TAGSAM_EL ORX_TAGSAM_EL_REF CK -64055 ORX_TAGSAM_WR_REF ORX_TAGSAM_EL FIXED -64056 ORX_TAGSAM_WR ORX_TAGSAM_WR_REF CK -64057 ORX_TAGSAM ORX_TAGSAM_WR FIXED -64050 ORX_HGA ORX_SPACECRAFT FIXED -64060 ORX_MGA ORX_SPACECRAFT FIXED -64061 ORX_LGA_PX ORX_SPACECRAFT FIXED -64062 ORX_LGA_MX ORX_SPACECRAFT FIXED -64063 ORX_STOWCAM ORX_SPACECRAFT FIXED -64071 ORX_LIDAR-1 ORX_SPACECRAFT FIXED -64072 ORX_LIDAR-2 ORX_SPACECRAFT FIXED -64073 ORX_LIDAR-1_CUBE ORX_SPACECRAFT FIXED -64074 ORX_LIDAR-2_CUBE ORX_SPACECRAFT FIXED -64075 ORX_NAVCAM1 ORX_SPACECRAFT FIXED -64081 ORX_NAVCAM2 ORX_SPACECRAFT FIXED -64082 ORX_SRC ORX_SPACECRAFT FIXED -64090 Science Instruments frames: --------------------------- ORX_OTES ORX_SPACECRAFT FIXED -64310 ORX_OVIRS ORX_SPACECRAFT FIXED -64320 ORX_OVIRS_SCI ORX_OVIRS FIXED -64321 ORX_OVIRS_SUN ORX_OVIRS FIXED -64322 ORX_REXIS ORX_SPACECRAFT FIXED -64330 ORX_REXIS_SXM ORX_SPACECRAFT FIXED -64340 ORX_OCAMS_POLYCAM ORX_SPACECRAFT FIXED -64360 ORX_OCAMS_MAPCAM ORX_SPACECRAFT FIXED -64361 ORX_OCAMS_SAMCAM ORX_SPACECRAFT FIXED -64362 ORX_OLA_BASE ORX_SPACECRAFT FIXED -64400 ORX_OLA_ART ORX_OLA_BASE CK -64401 ORX_OLA_HIGH ORX_OLA_ART FIXED -64402 ORX_OLA_LOW ORX_OLA_HIGH FIXED -64403 ORX Frames Hierarchy ----------------------------------------------------------- The diagram below shows the ORX frames hierarchy: J2000 INERTIAL +---------------------------------------------------------------+ | | | |<-pck | pck->| | | | V | V IAU_BENNU | IAU_EARTH ASTEROID BFR(*) | EARTH BFR(*) --------------- | ------------ | | ORX_SA_PY | ORX_SA_NY --------- | --------- ^ | ^ |<-fxd | fxd->| | | | ORX_SA_PY_GIM ORX_LIDAR-1 | ORX_LIDAR-2 ORX_SA_NY_GIM ------------- ----------- | ----------- -------------- ^ ^ | ^ ^ |<-ck |<-fxd | fxd->| ck->| | | | | | ORX_SA_PY_BP ORX_LIDAR-1_CUBE | ORX_LIDAR-2_CUBE ORX_SA_NY_BP ------------ ---------------- | ---------------- ------------ ^ ^ | ^ ^ |<-fxd |<-fxd | fxd->| fxd->| | | | | | | | | | | | ORX_NAVCAM1/2 | | | ORX_STOWCAM | | ------------- | | | ----------- | | ^ | | | ^ | | fxd->| | | | |<-fxd | | | | | | | | | | | | | | | | ORX_LGA_PX | | ORX_HGA | ORX_MGA | | ORX_LGA_MX | | ---------- | | ------- | ------- | | ---------- | | ^ | | ^ | ^ | | ^ | | fxd->| | | |<-fxd | fxd->| | | |<-fxd | | | | | | | | | | | | | | | | | | | | | | | | | | | | |<-ck | | | | | | | | | | | | | | | | | | | | | V | | | | | | | | | | ORX_SPACECRAFT | | | | | +---------------------------------------------------------------+ | | | | | | | | | | | | | | | | | | | | | | | | | | |<-fxd | |<-fxd fxd->| | | | | | | V | V V | | | | | | ORX_SRC | ORX_OLA_BASE ORX_TAGSAM_BP | | | | | | ------- | ------------ ------------- | | | | | | | | | | | | | | |<-fxd | |<-ck fxd->| | | | | | V | V V | | | | | ORX_OTES | ORX_OLA_ART ORX_TAGSAM_SH_REF | | | | | -------- | +----------- ----------------- | | | | | | | | | | | | |<-fxd | |<-fxd ck->| | | | | V | V V | | | | ORX_REXIS | ORX_OLA_HIGH ORX_TAGSAM_SH | | | | --------- | ------------ ------------- | | | | | | | | | | |<-fxd | |<-fxd fxd->| | | | V | V V | | | ORX_REXIS_SXM | ORX_OLA_LOW ORX_TAGSAM_EL_REF | | | ------------- | ----------- ----------------- | | | | | | | |<-fxd | ck->| | | V | V | | ORX_OCAMS_POLYCAM | ORX_TAGSAM_EL | | ----------------- | ------------- | | | | | |<-fxd | fxd->| | V V V | ORX_OCAMS_MAPCAM ORX_OVIRS ORX_TAGSAM_WR_REF | ---------------- +-----------+ ----------------- | | | | |<-fxd |<-fxd |<-fxd ck->| V V V V ORX_OCAMS_SAMCAM ORX_OVIRS_SCI ORX_OVIRS_SUN ORX_TAGSAM_WR ---------------- ------------- ------------- ------------- | fxd->| V ORX_TAGSAM ---------- (*) BFR -- body-fixed rotating frame Asteroid Body-Fixed Frame ----------------------------------------------------------- The asteroid Bennu body-fixed frame -- IAU_BENNU -- is defined as follows: - +Z axis is the asteroid rotation axis pointed towards the positive pole - +X axis points towards the prime meridian - +Y axis completes the right handed frame - the origin of the frame is at the asteroid center of mass. Since the asteroid rotation data is expected to be provided in a text PCK in the form compliant with the IAU rotation model, the IAU_BENNU frame is defined below as a PCK based frame. \begindata FRAME_IAU_BENNU = 10106 FRAME_10106_NAME = 'IAU_BENNU' FRAME_10106_CLASS = 2 FRAME_10106_CLASS_ID = 2101955 FRAME_10106_CENTER = 2101955 OBJECT_2101955_FRAME = 'IAU_BENNU' \begintext Spacecraft Bus Frame ----------------------------------------------------------- The spacecraft bus frame -- ORX_SPACECRAFT -- is defined by the s/c design as follows (from [4]): - +X axis is parallel to the HGA boresight - +Z axis is normal to the forward (payload) deck - +Y axis completes the right hand frame - the origin of the frame is at the center of payload deck. These diagrams illustrate the s/c frame: +X side view: ------------- +Zsc ^ | .------------------. | .------------------. | | Payload | | | | | Deck . --|-- . | | | | .-----.' o--------> -. | | | | | .` +Xsc +Ysc | | | | | | | | | | | | | | | o | | | | | | | | | | | | | -Y solar \ | `. .' | / +Y solar | | array || HGA `. .' || array | `-------------------@`-------` ----- '-------'@-------------------' | | `-------' \_/ Main Engine +Xsc is out of the page. +Z side view: ------------- .-------. .-------. | \.___./ | | |___| TAGSAM | |Payload | | Deck ... | | +Zsc `. +Ysc | | | o--------> | | `. | .' | | `|` SRC | -Y solar | | | +Y solar array | .----|----. | array ====================@`----.' v `.----'@==================== `- +Xsc ------' `-. .-' `-.-' HGA +Zsc is out of the page. +Y side view: ------------- +Zsc ^ +Y solar | array | Payload | | Deck __|__ TAGSAM | / | \ || .|| <--------o ----------. .' ||+Xsc +Ysc | .' || | | || | `. || | HGA `. || | `|| | `@----------------------' | | `-------' \_/ Main Engine +Ysc is out of 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_ORX_SPACECRAFT = -64000 FRAME_-64000_NAME = 'ORX_SPACECRAFT' FRAME_-64000_CLASS = 3 FRAME_-64000_CLASS_ID = -64000 FRAME_-64000_CENTER = -64 CK_-64000_SCLK = -64 CK_-64000_SPK = -64 \begintext Solar Array Frames ----------------------------------------------------------- Three frames are defined for each of the two solar arrays -- the baseplate frame (to establish the 0,0 reference for the gimbal rotations), the gimbal frame (to encapsulate the gimbal rotations), and the array frame (to co-align +Z with the normal on the active cell side). The baseplate frames -- ORX_SA_PY_BP and ORX_SA_NY_BP -- are defined as follows ([4]): - +Z axis is co-aligned with -Ysc - +X axis is co-aligned with -Xsc for the +Y array and co-aligned with +Xsc for the -Y array - +Y axis completes the right hand frame The gimbal frames -- ORX_SA_PY_GIM and ORX_SA_NY_GIM -- are defined to be co-aligned with the baseplate frames in the zero gimbal position and are rotated from the baseplate frames first by the inner gimbal angle about Y, then by the outer gimbal angle about X. The array frames -- ORX_SA_PY and ORX_SA_NY -- are defined as follows: - +Z axis is the normal to the array surface on the active cell side - +X axis points along the array edge, from the outer side of the array towards the gimbal - +Y axis completes the right hand frame The origins of all array frames are at the intersection of the corresponding inner and outer gimbal axes. This diagram illustrates all array frames for arrays in the inner gimbal (IG) = +90 degrees, outer gimbal (OG) = 0 degrees position: +Z side view: ------------- .-------. .-------. | \.___./ | | |___| TAGSAM | |Payload | | Deck ... | | +Zsc `. +Ysc | | | o--------> |^ +Zpy_gim | `. | .' || +Xpy_bp | `|` SRC || -Y solar | +Xsc| || +Y solar array | .----|----. || array ========= <--------o--------> v <--------'x--------> ========== +Zny_bp | +Xny_sa +Xpy_sa | +Xpy_sa | +Xny_gim +Zpy_bp | +Xpy_gim | `-.-' | | HGA | v +Zny_sa v +Zpy_sa +Zny_gim +Xny_bp +Zsc is out of the page. +Ypy_* are into the page. +Yny_* are out of the page. As seen on the diagram, for the +Y array: - two rotations are needed to co-align the s/c frame with the +Y array baseplate frame -- first by 180 degrees about Z, then by -90 degrees about X. - two time-varying rotations -- first about Y by the inner gimbal angle (+90 degrees on the diagram), then about X by the outer gimbal angle (0 degrees on the diagram) -- are needed to co-align the baseplate frame with the gimbal frame - one rotation is needed to co-align the +Y array gimbal frame with the +Y array frame -- by 180 degrees about Y. and for -Y array: - one rotation is needed to co-align the s/c frame with the -Y array baseplate frame -- by +90 degrees about X. - two time-varying rotations -- first about Y by the inner gimbal angle (+90 degrees on the diagram), then about X by the outer gimbal angle (0 degrees on the diagram) -- are needed to co-align the baseplate frame with the gimbal frame - no rotations are needed to co-align the -Y array gimbal frame with the -Y array frame. The keyword sets below define the baseplate frames as fixed offset frames relative to the s/c frame, the gimbal frames as CK-based frames, and the array frames as fixed offset frames relative to their corresponding gimbal frames. \begindata FRAME_ORX_SA_PY_BP = -64011 FRAME_-64011_NAME = 'ORX_SA_PY_BP' FRAME_-64011_CLASS = 4 FRAME_-64011_CLASS_ID = -64011 FRAME_-64011_CENTER = -64 TKFRAME_-64011_SPEC = 'ANGLES' TKFRAME_-64011_RELATIVE = 'ORX_SPACECRAFT' TKFRAME_-64011_ANGLES = ( 0.0, 180.0, 90.0 ) TKFRAME_-64011_AXES = ( 2, 3, 1 ) TKFRAME_-64011_UNITS = 'DEGREES' FRAME_ORX_SA_PY_GIM = -64012 FRAME_-64012_NAME = 'ORX_SA_PY_GIM' FRAME_-64012_CLASS = 3 FRAME_-64012_CLASS_ID = -64012 FRAME_-64012_CENTER = -64 CK_-64012_SCLK = -64 CK_-64012_SPK = -64 FRAME_ORX_SA_PY = -64010 FRAME_-64010_NAME = 'ORX_SA_PY' FRAME_-64010_CLASS = 4 FRAME_-64010_CLASS_ID = -64010 FRAME_-64010_CENTER = -64 TKFRAME_-64010_SPEC = 'ANGLES' TKFRAME_-64010_RELATIVE = 'ORX_SA_PY_GIM' TKFRAME_-64010_ANGLES = ( 0.0, 0.0, 180.0 ) TKFRAME_-64010_AXES = ( 1, 3, 2 ) TKFRAME_-64010_UNITS = 'DEGREES' FRAME_ORX_SA_NY_BP = -64021 FRAME_-64021_NAME = 'ORX_SA_NY_BP' FRAME_-64021_CLASS = 4 FRAME_-64021_CLASS_ID = -64021 FRAME_-64021_CENTER = -64 TKFRAME_-64021_SPEC = 'ANGLES' TKFRAME_-64021_RELATIVE = 'ORX_SPACECRAFT' TKFRAME_-64021_ANGLES = ( 0.0, 0.0, -90.0 ) TKFRAME_-64021_AXES = ( 2, 3, 1 ) TKFRAME_-64021_UNITS = 'DEGREES' FRAME_ORX_SA_NY_GIM = -64022 FRAME_-64022_NAME = 'ORX_SA_NY_GIM' FRAME_-64022_CLASS = 3 FRAME_-64022_CLASS_ID = -64022 FRAME_-64022_CENTER = -64 CK_-64022_SCLK = -64 CK_-64022_SPK = -64 FRAME_ORX_SA_NY = -64020 FRAME_-64020_NAME = 'ORX_SA_NY' FRAME_-64020_CLASS = 4 FRAME_-64020_CLASS_ID = -64020 FRAME_-64020_CENTER = -64 TKFRAME_-64020_SPEC = 'ANGLES' TKFRAME_-64020_RELATIVE = 'ORX_SA_NY_GIM' TKFRAME_-64020_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-64020_AXES = ( 1, 2, 3 ) TKFRAME_-64020_UNITS = 'DEGREES' \begintext TAGSAM Frames ----------------------------------------------------------- The following frames are defined for TAGSAM: - baseplate frame -- ORX_TAGSAM_BP -- fixed with respect to and nominally co-aligned with the s/c frame - shoulder reference frame -- ORX_TAGSAM_SH_REF -- fixed with respect to the baseplate frame and rotated from it first by -90 degrees about X, then by -90 degrees about Z - shoulder rotation frame -- ORX_TAGSAM_SH -- rotated with respect to the shoulder reference frame by the time-varying shoulder angle about Z. - elbow reference frame -- ORX_TAGSAM_EL_REF -- fixed with respect to the shoulder rotation frame and rotated from it first by -90 degrees about Z, then by 180 degrees about Y - elbow rotation frame -- ORX_TAGSAM_EL -- rotated with respect to the elbow reference frame by the time-varying elbow angle about Z. - wrist reference frame -- ORX_TAGSAM_WR_REF -- fixed with respect to and nominally co-aligned with the elbow rotation frame - wrist rotation frame -- ORX_TAGSAM_WR -- rotated with respect to the wrist reference frame by the time-varying wrist angle about Z. - TAGSAM tool frame -- ORX_TAGSAM -- fixed with respect to the wrist rotation frame and rotated from it by +90 degrees about Y to co-align the +Z axis with the normal to the TAGSAM sampling side. - the origins of the baseplate, reference, and rotation frames are at the corresponding intersections of the gimbal axes and the arm link central axes. The origin of the tool frame is at the center of the sampling side. This diagram illustrates the TAGSAM frames in the stowed (0,0,0) position: +Y side view: ------------- +Zsc ^ +Zbp +Ywr +Y solar | +Xsh ^ +Yt array | Payload | +Xwr ^| | Deck _ | +Zt || | / | <----|* .|| <--------o <-----o| .' ||+Xsc +Ysc +Xbp || .' || +Ysh || | || || `. || |^ +Yel HGA `. || || `|| || `@------- <-----x | +Xel `-------' \_/ Main Engine Reference and rotation frames are co-aligned. +Ysc, +Ybp, +Zsh, and +Xt are out of the page. +Zel and +Zwr are into the page. This diagram illustrates the TAGSAM frames in the spacecraft inertia measurement (+90,180,+90) position: +Y side view: ------------- +Zsc ^ +Zbp +Y solar | +Xshref +Xel +Xwrref array | Payload | ^ ^ ^ | Deck _ | +90 .| | 180 | +90 | / | v | .'|'v |`v .|| <--------o- <-----o------<-----x----->--------*-----> .' ||+Xsc +Ysc +Xbp | | +Yelref | +Yel | +Ywrref .' || +Yshref | | | | +Xwr | || +Xsh v | v v +Zt `. || +Ysh | +Xelref +Ywr HGA `. || | +Yt `|| | `@----------------------' | +Xel `-------' \_/ Main Engine Reference and rotation frames are co-aligned. +Ysc, +Ybp, +Zsh*, and +Xt are out of the page. +Zel* and +Zwr* are into the page. This diagram illustrates the TAGSAM frames in the sample acquisition (+225,+225,+90) position: +Y side view: ------------- +Ywrref ^ +Xwr +90 | +Zt .>| <-----*-----> +Xwrref | +Ywr | +Yt | ^ +Yel | ,-> +Xelref +Xel | .-' <-----x`,+225 ^ ^--\' +Y solar +Zsc | \ +Zbp array | | v ^+Xshref | _ | +Yelr \ | .-> | / | .\| .-' +Ysh .|| <--------o- <-----o' .' ||+Xsc +Ysc +Xbp `->\ +225 .' || +Yshref \ | || v +Xsh `. || | HGA `. || | `|| | `@----------------------' | +Xel `-------' \_/ Main Engine Reference and rotation frames are co-aligned. +Ysc, +Ybp, +Zsh*, and +Xt are out of the page. +Zel* and +Zwr* are into the page. The keyword sets below define the baseplate frame as a fixed offset frame relative to the s/c frame, the gimbal reference frames as fixed offset frames relative to the baseplate or the previous gimbal rotation frame, the gimbal rotation frames as CK-based frames, and the TAGSAM tool frame as a fixed offset frame relative to the wrist rotation frame. \begindata FRAME_ORX_TAGSAM_BP = -64051 FRAME_-64051_NAME = 'ORX_TAGSAM_BP' FRAME_-64051_CLASS = 4 FRAME_-64051_CLASS_ID = -64051 FRAME_-64051_CENTER = -64 TKFRAME_-64051_SPEC = 'ANGLES' TKFRAME_-64051_RELATIVE = 'ORX_SPACECRAFT' TKFRAME_-64051_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-64051_AXES = ( 1, 2, 3 ) TKFRAME_-64051_UNITS = 'DEGREES' FRAME_ORX_TAGSAM_SH_REF = -64052 FRAME_-64052_NAME = 'ORX_TAGSAM_SH_REF' FRAME_-64052_CLASS = 4 FRAME_-64052_CLASS_ID = -64052 FRAME_-64052_CENTER = -64 TKFRAME_-64052_SPEC = 'ANGLES' TKFRAME_-64052_RELATIVE = 'ORX_TAGSAM_BP' TKFRAME_-64052_ANGLES = ( 0.0, 90.0, 90.0 ) TKFRAME_-64052_AXES = ( 2, 1, 3 ) TKFRAME_-64052_UNITS = 'DEGREES' FRAME_ORX_TAGSAM_SH = -64053 FRAME_-64053_NAME = 'ORX_TAGSAM_SH' FRAME_-64053_CLASS = 3 FRAME_-64053_CLASS_ID = -64053 FRAME_-64053_CENTER = -64 CK_-64053_SCLK = -64 CK_-64053_SPK = -64 FRAME_ORX_TAGSAM_EL_REF = -64054 FRAME_-64054_NAME = 'ORX_TAGSAM_EL_REF' FRAME_-64054_CLASS = 4 FRAME_-64054_CLASS_ID = -64054 FRAME_-64054_CENTER = -64 TKFRAME_-64054_SPEC = 'ANGLES' TKFRAME_-64054_RELATIVE = 'ORX_TAGSAM_SH' TKFRAME_-64054_ANGLES = ( 0.0, 90.0, 180.0 ) TKFRAME_-64054_AXES = ( 1, 3, 2 ) TKFRAME_-64054_UNITS = 'DEGREES' FRAME_ORX_TAGSAM_EL = -64055 FRAME_-64055_NAME = 'ORX_TAGSAM_EL' FRAME_-64055_CLASS = 3 FRAME_-64055_CLASS_ID = -64055 FRAME_-64055_CENTER = -64 CK_-64055_SCLK = -64 CK_-64055_SPK = -64 FRAME_ORX_TAGSAM_WR_REF = -64056 FRAME_-64056_NAME = 'ORX_TAGSAM_WR_REF' FRAME_-64056_CLASS = 4 FRAME_-64056_CLASS_ID = -64056 FRAME_-64056_CENTER = -64 TKFRAME_-64056_SPEC = 'ANGLES' TKFRAME_-64056_RELATIVE = 'ORX_TAGSAM_EL' TKFRAME_-64056_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-64056_AXES = ( 1, 2, 3 ) TKFRAME_-64056_UNITS = 'DEGREES' FRAME_ORX_TAGSAM_WR = -64057 FRAME_-64057_NAME = 'ORX_TAGSAM_WR' FRAME_-64057_CLASS = 3 FRAME_-64057_CLASS_ID = -64057 FRAME_-64057_CENTER = -64 CK_-64057_SCLK = -64 CK_-64057_SPK = -64 FRAME_ORX_TAGSAM = -64050 FRAME_-64050_NAME = 'ORX_TAGSAM' FRAME_-64050_CLASS = 4 FRAME_-64050_CLASS_ID = -64050 FRAME_-64050_CENTER = -64 TKFRAME_-64050_SPEC = 'ANGLES' TKFRAME_-64050_RELATIVE = 'ORX_TAGSAM_WR' TKFRAME_-64050_ANGLES = ( 0.0, 0.0, -90.0 ) TKFRAME_-64050_AXES = ( 1, 3, 2 ) TKFRAME_-64050_UNITS = 'DEGREES' \begintext Antenna Frames ----------------------------------------------------------- The antenna frames -- ORX_HGA, ORX_MGA, ORX_LGA_PX, and ORX_LGA_MX -- are defined as follows: - +Z axis is along the antenna boresight - +X axis is along the antenna pattern clock angle reference axis - +Y axis completes the right hand frame - the origin of the frame is at the intersection of the boresight and the outer rim (HGA, MGA) or outer plate (LGAs) plane. This diagrams illustrate the antenna frames: +Y side view: ------------- +Zsc ^ +Xlgamx +Zlgamx +Y solar | ^ ^ array | Payload | `. .' | Deck __|__ `. .' 45 deg +Xhga ^| / | \ o --- || <--------o ----------. .' ||+Xsc +Ysc | +Zhga .' || | <--------x| | . | | `. || | `|| | --- .-oo----------------------' 16 deg .-` . `. 45 deg | <' .' ' `. ---' Main Engine +Zmga .' ' v +Xlgamx v v +Zlgapx +Xmga +Ysc, +Ymga, +Ylgapx, and +Ylgamx are out of the page. +Xhga is 30 deg above the page. +Yhga is into the page. As seen on the diagram - the HGA frame is nominally rotated from the s/c frame by +90 degrees about Y, then by -150 about Z. - the MGA frame is nominally rotated from the s/c frame by +106 degrees about Y. - the LGA_PX frame is nominally rotated from the s/c frame by +135 degrees about Y. - the LGA_MX frame is nominally rotated from the s/c frame by -45 degrees about Y. The sets of keywords below define the antenna frames as fixed offset frames relative to the s/c frame. \begindata FRAME_ORX_HGA = -64060 FRAME_-64060_NAME = 'ORX_HGA' FRAME_-64060_CLASS = 4 FRAME_-64060_CLASS_ID = -64060 FRAME_-64060_CENTER = -64 TKFRAME_-64060_SPEC = 'ANGLES' TKFRAME_-64060_RELATIVE = 'ORX_SPACECRAFT' TKFRAME_-64060_ANGLES = ( 0.0, -90.0, 150.0 ) TKFRAME_-64060_AXES = ( 1, 2, 3 ) TKFRAME_-64060_UNITS = 'DEGREES' FRAME_ORX_MGA = -64061 FRAME_-64061_NAME = 'ORX_MGA' FRAME_-64061_CLASS = 4 FRAME_-64061_CLASS_ID = -64061 FRAME_-64061_CENTER = -64 TKFRAME_-64061_SPEC = 'ANGLES' TKFRAME_-64061_RELATIVE = 'ORX_SPACECRAFT' TKFRAME_-64061_ANGLES = ( 0.0, 0.0, -106.0 ) TKFRAME_-64061_AXES = ( 1, 3, 2 ) TKFRAME_-64061_UNITS = 'DEGREES' FRAME_ORX_LGA_PX = -64062 FRAME_-64062_NAME = 'ORX_LGA_PX' FRAME_-64062_CLASS = 4 FRAME_-64062_CLASS_ID = -64062 FRAME_-64062_CENTER = -64 TKFRAME_-64062_SPEC = 'ANGLES' TKFRAME_-64062_RELATIVE = 'ORX_SPACECRAFT' TKFRAME_-64062_ANGLES = ( 0.0, 0.0, -135.0 ) TKFRAME_-64062_AXES = ( 1, 3, 2 ) TKFRAME_-64062_UNITS = 'DEGREES' FRAME_ORX_LGA_MX = -64063 FRAME_-64063_NAME = 'ORX_LGA_MX' FRAME_-64063_CLASS = 4 FRAME_-64063_CLASS_ID = -64063 FRAME_-64063_CENTER = -64 TKFRAME_-64063_SPEC = 'ANGLES' TKFRAME_-64063_RELATIVE = 'ORX_SPACECRAFT' TKFRAME_-64063_ANGLES = ( 0.0, 0.0, 45.0 ) TKFRAME_-64063_AXES = ( 1, 3, 2 ) TKFRAME_-64063_UNITS = 'DEGREES' \begintext Engineering Instrument Frames ----------------------------------------------------------- NAVCAM and STOWCAM Frames The engineering camera frames -- ORX_NAVCAM1, ORX_NAVCAM2, and ORX_STOWCAM -- are defined as follows: - +Z axis is along the camera boresight - +X axis is parallel the CCD lines - +Y axis completes the right hand frame and is parallel to the CCD columns - the origin of the frame is at the camera's focal point This diagram illustrates the engineering camera frames: +Z side view: ------------- .-------. .-------. | \.___./ TAGSAM | | |___| | ..-- .o.o | ..--'' 10 deg .'.'\ \ +Zstc ..o|' ------ <'<' \ \ <-'' \ +Xnc2 +Xnc1 v v o--------> \ +Ync2 +Ync1|+Zsc +Ysc | v | | | +Xstc -Y solar | | | +Y solar array | .----|----. | array ====================@`----.' v `.----'@==================== `- +Xsc ------' `-. .-' `-.-' HGA +Zsc and +Ystc are out of the page. +Znc1 is out of the page and tilted 6 deg towards +Xsc. +Znc2 is out of the page and tilted 14 deg towards -Xsc. As seen on the diagram - the NAVCAM1 frame is nominally rotated from the s/c frame by +6 degrees about Y, then -70 degrees about Z - the NAVCAM2 frame is nominally rotated from the s/c frame by -14 degrees about Y, then -73 degrees about Z - the STOWCAM frame is nominally rotated from the s/c frame first by +10 degrees about Z, then by +90 degrees about X. The sets of keywords below define the engineering camera frames as fixed offset frames relative to the s/c frame. \begindata FRAME_ORX_NAVCAM1 = -64081 FRAME_-64081_NAME = 'ORX_NAVCAM1' FRAME_-64081_CLASS = 4 FRAME_-64081_CLASS_ID = -64081 FRAME_-64081_CENTER = -64 TKFRAME_-64081_SPEC = 'ANGLES' TKFRAME_-64081_RELATIVE = 'ORX_SPACECRAFT' TKFRAME_-64081_ANGLES = ( 0.0, -6.0, 70.0 ) TKFRAME_-64081_AXES = ( 1, 2, 3 ) TKFRAME_-64081_UNITS = 'DEGREES' FRAME_ORX_NAVCAM2 = -64082 FRAME_-64082_NAME = 'ORX_NAVCAM2' FRAME_-64082_CLASS = 4 FRAME_-64082_CLASS_ID = -64082 FRAME_-64082_CENTER = -64 TKFRAME_-64082_SPEC = 'ANGLES' TKFRAME_-64082_RELATIVE = 'ORX_SPACECRAFT' TKFRAME_-64082_ANGLES = ( 0.0, 14.0, 73.0 ) TKFRAME_-64082_AXES = ( 1, 2, 3 ) TKFRAME_-64082_UNITS = 'DEGREES' FRAME_ORX_STOWCAM = -64071 FRAME_-64071_NAME = 'ORX_STOWCAM' FRAME_-64071_CLASS = 4 FRAME_-64071_CLASS_ID = -64071 FRAME_-64071_CENTER = -64 TKFRAME_-64071_SPEC = 'ANGLES' TKFRAME_-64071_RELATIVE = 'ORX_SPACECRAFT' TKFRAME_-64071_ANGLES = ( 0.0, -10.0, -90.0 ) TKFRAME_-64071_AXES = ( 2, 3, 1 ) TKFRAME_-64071_UNITS = 'DEGREES' \begintext LIDAR Frames The LIDAR "optical" frames -- ORX_LIDAR-1 and ORX_LIDAR-2, -- and LIDAR "alignment cube" frames -- ORX_LIDAR-1_CUBE, and ORX_LIDAR-2_CUBE, -- are defined as follows: - +Z axis is along the instrument boresight and co-aligned with with the s/c +Z axis - +X axis is nominally co-aligned with the s/c +X axis - +Y axis completes the right hand frame - the origin of the frame is at the LIDAR receiver focal point. All four frames are nominally co-aligned with the spacecraft frame. This diagram illustrates the LIDAR frames: +Z side view: ------------- .-------. .-------. | \.___./ TAGSAM | | |___| | | | |o----->+Yldr2 | |o----->+Yldr1 | || o--------> | +Xldr2 v |+Zsc +Ysc | +Xldr1 v | | -Y solar | | | +Y solar array | .----|----. | array ====================@`----.' v `.----'@==================== `- +Xsc ------' `-. .-' `-.-' HGA +Zldr1, and +Zldr2 are out of the page. The sets of keywords below define the LIDAR "alignment cube" frames as fixed offset frames relative to the s/c frame and the LIDAR "optical" frames as fixed offset frames relative to the corresponding "alignment cube" frames \begindata FRAME_ORX_LIDAR-1_CUBE = -64074 FRAME_-64074_NAME = 'ORX_LIDAR-1_CUBE' FRAME_-64074_CLASS = 4 FRAME_-64074_CLASS_ID = -64074 FRAME_-64074_CENTER = -64 TKFRAME_-64074_SPEC = 'ANGLES' TKFRAME_-64074_RELATIVE = 'ORX_SPACECRAFT' TKFRAME_-64074_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-64074_AXES = ( 1, 2, 3 ) TKFRAME_-64074_UNITS = 'DEGREES' FRAME_ORX_LIDAR-2_CUBE = -64075 FRAME_-64075_NAME = 'ORX_LIDAR-2_CUBE' FRAME_-64075_CLASS = 4 FRAME_-64075_CLASS_ID = -64075 FRAME_-64075_CENTER = -64 TKFRAME_-64075_SPEC = 'ANGLES' TKFRAME_-64075_RELATIVE = 'ORX_SPACECRAFT' TKFRAME_-64075_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-64075_AXES = ( 1, 2, 3 ) TKFRAME_-64075_UNITS = 'DEGREES' FRAME_ORX_LIDAR-1 = -64072 FRAME_-64072_NAME = 'ORX_LIDAR-1' FRAME_-64072_CLASS = 4 FRAME_-64072_CLASS_ID = -64072 FRAME_-64072_CENTER = -64 TKFRAME_-64072_SPEC = 'ANGLES' TKFRAME_-64072_RELATIVE = 'ORX_LIDAR-1_CUBE' TKFRAME_-64072_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-64072_AXES = ( 1, 2, 3 ) TKFRAME_-64072_UNITS = 'DEGREES' FRAME_ORX_LIDAR-2 = -64073 FRAME_-64073_NAME = 'ORX_LIDAR-2' FRAME_-64073_CLASS = 4 FRAME_-64073_CLASS_ID = -64073 FRAME_-64073_CENTER = -64 TKFRAME_-64073_SPEC = 'ANGLES' TKFRAME_-64073_RELATIVE = 'ORX_LIDAR-2_CUBE' TKFRAME_-64073_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-64073_AXES = ( 1, 2, 3 ) TKFRAME_-64073_UNITS = 'DEGREES' \begintext SRC Frame ----------------------------------------------------------- The SRC frame -- ORX_SRC -- is defined as follows: - +X axis is along the SRC axis, pointing from the lid towards the base - +Z axis points from the lid hinge towards the SRC axis - +Y axis completes the right hand frame - the origin of the frame is at the center of the interface plate. This diagram illustrates the SRC frame in the attached configuration: +Z side view: ------------- .-------. +Zsrc .-------. | \._^_./ | | |_|_| TAGSAM | |Payload | | | Deck .|. | | .' | `. +Ysc | | <--------*--------> | |+Ysc `. | .' | | `|` SRC | -Y solar | | | +Y solar array | .----|----. | array ====================@`----.' v `.----'@==================== `- +Xsc ------' `-. .-' `-.-' HGA +Zsc is out of the page. +Xsrc is into the page. As seen on the diagram the SRC frame is nominally rotated from the s/c frame first by 180 degrees about X, then by -90 degrees about Y. The sets of keywords below define the SRC frame as a fixed offset frame relative to the s/c frame. \begindata FRAME_ORX_SRC = -64090 FRAME_-64090_NAME = 'ORX_SRC' FRAME_-64090_CLASS = 4 FRAME_-64090_CLASS_ID = -64090 FRAME_-64090_CENTER = -64 TKFRAME_-64090_SPEC = 'ANGLES' TKFRAME_-64090_RELATIVE = 'ORX_SPACECRAFT' TKFRAME_-64090_ANGLES = ( 0.0, 180.0, 90.0 ) TKFRAME_-64090_AXES = ( 3, 1, 2 ) TKFRAME_-64090_UNITS = 'DEGREES' \begintext OTES Frames ----------------------------------------------------------- The OTES frame -- ORX_OTES -- is defined as follows: - +Z axis is along the instrument boresight and is nominally co-aligned with the s/c +Z - +X axis is nominally co-aligned with the s/c +X - Y axis completes the right hand frame - the origin of the frame is TBD This diagram illustrates the OTES frame: +Z side view: ------------- .-------. +Zotes -- +Yotes | TAGSAM \.___./ o-----> | |___| | | |Payload | | Deck ... v +Xotes | +Zsc `. | | o--------> | | `. | .' +Ysc | | `|` SRC | -Y solar | | | +Y solar array | .----|----. | array ====================@`----.' v `.----'@==================== `- +Xsc ------' `-. .-' `-.-' HGA +Zsc and +Zotes are out of the page. As seen on the diagram the OTES frame is nominally co-aligned with the s/c frame. The set of keywords below defines the OTES frame as a fixed offset frame relative to the s/c frame. \begindata FRAME_ORX_OTES = -64310 FRAME_-64310_NAME = 'ORX_OTES' FRAME_-64310_CLASS = 4 FRAME_-64310_CLASS_ID = -64310 FRAME_-64310_CENTER = -64 TKFRAME_-64310_SPEC = 'ANGLES' TKFRAME_-64310_RELATIVE = 'ORX_SPACECRAFT' TKFRAME_-64310_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-64310_AXES = ( 1, 2, 3 ) TKFRAME_-64310_UNITS = 'DEGREES' \begintext OVIRS Frames ----------------------------------------------------------- Three frames are defined for OVIRS -- the OVIRS base frame, the OVIRS science port frame, and the OVIRS Sun Calibration port frame. The OVIRS base and science port frames -- ORX_OVIRS and ORX_OVIRS_SCI -- are nominally co-aligned and defined as follows: - +Z axis is along the science port boresight and is nominally co-aligned with the s/c +Z axis - +X axis is nominally co-aligned with the s/c -Y axis - +Y axis completes the right hand frame - the origin of the frame is at the science port optics focal point The OVIRS Sun calibration port frame -- ORX_OVIRS_SUN -- is defined as follows: - +Z axis is along the Sun calibration port boresight and is nominally 5 degrees off the s/c +Y axis towards the s/c +X axis. - +X axis is nominally co-aligned with the science port boresight - +Y axis completes the right hand frame - the origin of the frame is at the Sun calibration port optics focal point This diagram illustrates the OVIRS frames: +Z side view: ------------- +Xbase +Xsci <-----oo-.. --- .-------. .--| - ``-> 5 deg | TAGSAM \._ /| +Zsun | v v +Ybase |Payload +Ysun +Ysci | Deck ... | | +Zsc `. +Ysc | | | o--------> | | `. | .' | | `|` SRC | -Y solar | | | +Y solar array | .----|----. | array ====================@`----.' v `.----'@==================== `- +Xsc ------' `-. .-' `-.-' HGA +Zsc, +Zbase, +Zsci, and +Xsun are out of the page. As seen on the diagram - the OVIRS base frame is rotated from the s/c frame by -90 degrees about Z - the OVIRS science port frame is co-aligned with the OVIRS base frame - the OVIRS Sun calibration port frame is rotated from the the OVIRS base frame first by -90 degrees about Y, then by -5 degrees about X. The sets of keywords below define the OVIRS base frame as a fixed offset frame relative to the s/c frame, and the OVIRS science and Sun calibration port frames as fixed offset frames relative to the OVIRS base frame. \begindata FRAME_ORX_OVIRS = -64320 FRAME_-64320_NAME = 'ORX_OVIRS' FRAME_-64320_CLASS = 4 FRAME_-64320_CLASS_ID = -64320 FRAME_-64320_CENTER = -64 TKFRAME_-64320_SPEC = 'ANGLES' TKFRAME_-64320_RELATIVE = 'ORX_SPACECRAFT' TKFRAME_-64320_ANGLES = ( 0.0, 0.0, 90.0 ) TKFRAME_-64320_AXES = ( 1, 2, 3 ) TKFRAME_-64320_UNITS = 'DEGREES' FRAME_ORX_OVIRS_SCI = -64321 FRAME_-64321_NAME = 'ORX_OVIRS_SCI' FRAME_-64321_CLASS = 4 FRAME_-64321_CLASS_ID = -64321 FRAME_-64321_CENTER = -64 TKFRAME_-64321_SPEC = 'ANGLES' TKFRAME_-64321_RELATIVE = 'ORX_OVIRS' TKFRAME_-64321_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-64321_AXES = ( 1, 2, 3 ) TKFRAME_-64321_UNITS = 'DEGREES' FRAME_ORX_OVIRS_SUN = -64322 FRAME_-64322_NAME = 'ORX_OVIRS_SUN' FRAME_-64322_CLASS = 4 FRAME_-64322_CLASS_ID = -64322 FRAME_-64322_CENTER = -64 TKFRAME_-64322_SPEC = 'ANGLES' TKFRAME_-64322_RELATIVE = 'ORX_OVIRS' TKFRAME_-64322_ANGLES = ( 0.0, 90.0, 5.0 ) TKFRAME_-64322_AXES = ( 3, 2, 1 ) TKFRAME_-64322_UNITS = 'DEGREES' \begintext REXIS Frames ----------------------------------------------------------- Two frames are defined for REXIS -- the spectrometer frame and Solar X-ray Monitor (SXM) frame. The REXIS spectrometer frame -- ORX_REXIS -- is defined as follows: - +Z axis is along the instrument boresight and is nominally co-aligned with the s/c +Z axis. - +X axis is nominally rotated 10 degrees off the s/c +X axis towards the s/c +Y axis - +Y axis completes the right hand frame - the origin of the frame is at the center of the spectrometer detector. The REXIS SXM frame -- ORX_REXIS_SXM -- is defined as follows: - +Z axis is along the instrument boresight and is nominally co-aligned with the s/c +X axis. - +X axis is nominally co-aligned with the s/c -Z axis. - +Y axis completes the right hand frame - the origin of the frame is at the center of the SXM detector. This diagram illustrates the REXIS frames: +Z side view: ------------- .-------. .-------. | \.___./ | | |___| TAGSAM | |Payload | | Deck ... | +Yrexis | +Zsc `. +Ysc | .> | | o--------> |.-' 10 deg | `. | .' o' ---- | `|` SRC \ -Y solar | | |\ +Xrexis +Y solar array | .----|----. | v array ====================@`----.' v `.---x-----> ============== `- +Xsc ------' | +Ysxm `-. .-' | HGA `-.-' v +Zsxm +Zsc and +Zrexis are out of the page. +Xsxm is into the page. As seen on the diagram - the REXIS spectrometer frame is rotated from the s/c frame by +10 degrees about Z - the REXIS SXM frame is rotated from the s/c frame by +90 degrees about Y The sets of keywords below define the REXIS frames as fixed offset frames relative to the s/c frame. \begindata FRAME_ORX_REXIS = -64330 FRAME_-64330_NAME = 'ORX_REXIS' FRAME_-64330_CLASS = 4 FRAME_-64330_CLASS_ID = -64330 FRAME_-64330_CENTER = -64 TKFRAME_-64330_SPEC = 'ANGLES' TKFRAME_-64330_RELATIVE = 'ORX_SPACECRAFT' TKFRAME_-64330_ANGLES = ( 0.0, 0.0, -10.0 ) TKFRAME_-64330_AXES = ( 1, 2, 3 ) TKFRAME_-64330_UNITS = 'DEGREES' FRAME_ORX_REXIS_SXM = -64340 FRAME_-64340_NAME = 'ORX_REXIS_SXM' FRAME_-64340_CLASS = 4 FRAME_-64340_CLASS_ID = -64340 FRAME_-64340_CENTER = -64 TKFRAME_-64340_SPEC = 'ANGLES' TKFRAME_-64340_RELATIVE = 'ORX_SPACECRAFT' TKFRAME_-64340_ANGLES = ( 0.0, 0.0, -90.0 ) TKFRAME_-64340_AXES = ( 1, 3, 2 ) TKFRAME_-64340_UNITS = 'DEGREES' \begintext OCAMS Frames ----------------------------------------------------------- The OCAMS MapCam and PolyCam frames -- ORX_OCAMS_POLYCAM and ORX_OCAMS_MAPCAM - are defined by the camera design as follows: - +Z axis is the camera boresight - +Y axis is parallel the CCD lines - +X axis completes the right hand frame and is parallel to the CCD columns - the origin of the frame is at the camera focal point. The OCAMS SamCam frame -- ORX_OCAMS_SAMCAM -- is defined by the camera design as follows: - +Z axis is the camera boresight - +X axis is parallel the CCD lines - +Y axis completes the right hand frame and is parallel to the CCD columns - the origin of the frame is at the camera focal point. This diagram illustrates the camera frames: +Z side view: ------------- .-------. .-------. | TAGSAM \.___./ | | |___| | |Payload o-------> +Ypoly | Deck ... | o-------> +Ymap | +Zsc `. | | | | o----o--->-> +Ysc | SRC `. | .' | v | +Ysam | `|` |+Xp v -Y solar | | v +Xmap +Y solar array | .----| +Xsam array ====================@`----.' v `.----'@==================== `- +Xsc ------' `-. .-' `-.-' HGA +Zsc, +Zpoly, and +Zmap are out of the page. +Zsam is out of the page and is tilted 9.4 degrees towards s/c -Y. As seen on the diagram - the POLYCAM frame is nominally co-aligned with the s/c frame - the MAPCAM frame is nominally co-aligned with the s/c frame - the SAMCAM frame is nominally rotated from the s/c frame by +9.4 degrees about X. The sets of keywords below define the OCAMS frames as fixed offset frames relative to the s/c frame. \begindata FRAME_ORX_OCAMS_POLYCAM = -64360 FRAME_-64360_NAME = 'ORX_OCAMS_POLYCAM' FRAME_-64360_CLASS = 4 FRAME_-64360_CLASS_ID = -64360 FRAME_-64360_CENTER = -64 TKFRAME_-64360_SPEC = 'ANGLES' TKFRAME_-64360_RELATIVE = 'ORX_SPACECRAFT' TKFRAME_-64360_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-64360_AXES = ( 1, 2, 3 ) TKFRAME_-64360_UNITS = 'DEGREES' FRAME_ORX_OCAMS_MAPCAM = -64361 FRAME_-64361_NAME = 'ORX_OCAMS_MAPCAM' FRAME_-64361_CLASS = 4 FRAME_-64361_CLASS_ID = -64361 FRAME_-64361_CENTER = -64 TKFRAME_-64361_SPEC = 'ANGLES' TKFRAME_-64361_RELATIVE = 'ORX_SPACECRAFT' TKFRAME_-64361_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-64361_AXES = ( 1, 2, 3 ) TKFRAME_-64361_UNITS = 'DEGREES' FRAME_ORX_OCAMS_SAMCAM = -64362 FRAME_-64362_NAME = 'ORX_OCAMS_SAMCAM' FRAME_-64362_CLASS = 4 FRAME_-64362_CLASS_ID = -64362 FRAME_-64362_CENTER = -64 TKFRAME_-64362_SPEC = 'ANGLES' TKFRAME_-64362_RELATIVE = 'ORX_SPACECRAFT' TKFRAME_-64362_ANGLES = ( 0.0, 0.0, -9.4 ) TKFRAME_-64362_AXES = ( 3, 2, 1 ) TKFRAME_-64362_UNITS = 'DEGREES' \begintext OLA Frames ----------------------------------------------------------- Four frames are defined for OLA -- the OLA base frame, the articulating scan frame, and the high and low energy transmitter frames. Pending actual definitions, for the 0 scan position all OLA frames are defined to be co-aligned with each other and the s/c frame. The OLA base frame -- ORX_OLA_BASE -- is defined as follows: - +Z axis is along the instrument boresight in the 0 scan position and is nominally co-aligned with the s/c +Z axis. - +X axis is the scan rotation axis and is nominally co-aligned with the s/c +Z axis. - +Y axis completes the right hand frame The OLA articulating scan frame -- ORX_OLA_ART -- is rotated from the OLA base frame about X by the scan angle and defined as follows: - +Z axis is along the instrument boresight at any scan position - +X axis is the scan rotation axis and is nominally co-aligned with the s/c +Z axis. - Y axis completes the right hand frame The OLA high and low energy transmitter frames -- ORX_OLA_HIGH and ORX_OLA_LOW -- are defined as follows: - +Z axis is along the instrument boresight - +X axis is the scan rotation axis and is nominally co-aligned with the +X s/c. - Y axis completes the right hand frame The origin of all OLA frames is at the intersection of the scan axis and the optical axis. This diagram illustrates the OLA frames: +Z side view: ------------- .-------. .-------. |Payload \.___./ | | Deck |___| TAGSAM | | | | ... | | +Yola*' +Zsc +Ysc | | o----->| o--------> | | | `. | .' | | | `|` SRC | -Y solar | v +Xola* | | +Y solar array | .----|----. | array ====================@`----.' v `.----'@==================== `- +Xsc ------' `-. .-' `-.-' HGA +Zsc and +Zola* are out of the page. As seen on the diagram, for 0 scan position all OLA frames are defined to be co-aligned with each other and the s/c frame. The sets of keywords below define the OLA base frame as a fixed offset frame relative to the s/c frame, the OLA articulating scan frame as a CK-based frame, the OLA high energy transmitter frame as a fixed offset frame relative to the OLA articulating scan frame, and the OLA low energy transmitter frame as a fixed offset frame relative to the OLA high energy transmitter frame. \begindata FRAME_ORX_OLA_BASE = -64400 FRAME_-64400_NAME = 'ORX_OLA_BASE' FRAME_-64400_CLASS = 4 FRAME_-64400_CLASS_ID = -64400 FRAME_-64400_CENTER = -64 TKFRAME_-64400_SPEC = 'ANGLES' TKFRAME_-64400_RELATIVE = 'ORX_SPACECRAFT' TKFRAME_-64400_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-64400_AXES = ( 1, 2, 3 ) TKFRAME_-64400_UNITS = 'DEGREES' FRAME_ORX_OLA_ART = -64401 FRAME_-64401_NAME = 'ORX_OLA_ART' FRAME_-64401_CLASS = 3 FRAME_-64401_CLASS_ID = -64401 FRAME_-64401_CENTER = -64 CK_-64401_SCLK = -64 CK_-64401_SPK = -64 FRAME_ORX_OLA_HIGH = -64402 FRAME_-64402_NAME = 'ORX_OLA_HIGH' FRAME_-64402_CLASS = 4 FRAME_-64402_CLASS_ID = -64402 FRAME_-64402_CENTER = -64 TKFRAME_-64402_SPEC = 'ANGLES' TKFRAME_-64402_RELATIVE = 'ORX_OLA_ART' TKFRAME_-64402_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-64402_AXES = ( 1, 2, 3 ) TKFRAME_-64402_UNITS = 'DEGREES' FRAME_ORX_OLA_LOW = -64403 FRAME_-64403_NAME = 'ORX_OLA_LOW' FRAME_-64403_CLASS = 4 FRAME_-64403_CLASS_ID = -64403 FRAME_-64403_CENTER = -64 TKFRAME_-64403_SPEC = 'ANGLES' TKFRAME_-64403_RELATIVE = 'ORX_OLA_HIGH' TKFRAME_-64403_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-64403_AXES = ( 1, 2, 3 ) TKFRAME_-64403_UNITS = 'DEGREES' \begintext ORX NAIF ID Codes -- Definitions ===================================================================== This section contains name to NAIF ID mappings for the ORX mission. Once the contents of this file are loaded into the KERNEL POOL, these mappings become available within SPICE, making it possible to use names instead of ID code in high level SPICE routine calls. Name (primary) NAIF ID Synonyms ---------------------- ------- ------------------------ Asteroid: --------- BENNU 2101955 101955 BENNU (1999 RQ36) 101955 BENNU Spacecraft: ----------- ORX -64 ORX_SPACECRAFT -64000 ORX_SPACECRAFT_BUS -64000 ORX_SC_BUS -64000 Structures (solar arrays, TAGSAM, antennas, etc): ------------------------------------------------- ORX_SA_PY -64010 ORX_SA_PY_BP -64011 ORX_SA_PY_GIM -64012 ORX_SA_PY_CORNER1 -64013 ORX_SA_PY_CORNER2 -64014 ORX_SA_PY_CORNER3 -64015 ORX_SA_PY_CORNER4 -64016 ORX_SA_NY -64020 ORX_SA_NY_BP -64021 ORX_SA_NY_GIM -64022 ORX_SA_NY_CORNER1 -64023 ORX_SA_NY_CORNER2 -64024 ORX_SA_NY_CORNER3 -64025 ORX_SA_NY_CORNER4 -64026 ORX_TAGSAM -64050 ORX_TAGSAM_BP -64051 ORX_TAGSAM_SH -64053 ORX_TAGSAM_EL -64055 ORX_TAGSAM_WR -64057 ORX_HGA -64060 ORX_MGA -64061 ORX_LGA_PX -64062 ORX_LGA_MX -64063 ORX_STOWCAM -64071 ORX_LIDAR-1 -64072 ORX_LIDAR-2 -64073 ORX_NAVCAM1 -64081 ORX_NAVCAM2 -64082 ORX_SRC -64090 Science Instruments: -------------------- ORX_OTES -64310 ORX_OVIRS -64320 ORX_OVIRS_SCI -64321 ORX_OVIRS_SUN -64322 ORX_REXIS -64330 ORX_REXIS_SXM -64340 ORX_OCAMS_POLYCAM -64360 ORX_OCAMS_MAPCAM -64361 ORX_OCAMS_SAMCAM -64362 ORX_OLA_BASE -64400 ORX_OLA_ART -64401 ORX_OLA_HIGH -64402 ORX_OLA_LOW -64403 The mappings summarized in this table are implemented by the keywords below. \begindata NAIF_BODY_NAME += ( '101955 BENNU (1999 RQ36)' ) NAIF_BODY_CODE += ( 2101955 ) NAIF_BODY_NAME += ( '101955 BENNU' ) NAIF_BODY_CODE += ( 2101955 ) NAIF_BODY_NAME += ( 'BENNU' ) NAIF_BODY_CODE += ( 2101955 ) NAIF_BODY_NAME += ( 'ORX' ) NAIF_BODY_CODE += ( -64 ) NAIF_BODY_NAME += ( 'ORX_SPACECRAFT' ) NAIF_BODY_CODE += ( -64000 ) NAIF_BODY_NAME += ( 'ORX_SPACECRAFT_BUS' ) NAIF_BODY_CODE += ( -64000 ) NAIF_BODY_NAME += ( 'ORX_SC_BUS' ) NAIF_BODY_CODE += ( -64000 ) NAIF_BODY_NAME += ( 'ORX_SA_PY' ) NAIF_BODY_CODE += ( -64010 ) NAIF_BODY_NAME += ( 'ORX_SA_PY_BP' ) NAIF_BODY_CODE += ( -64011 ) NAIF_BODY_NAME += ( 'ORX_SA_PY_GIM' ) NAIF_BODY_CODE += ( -64012 ) NAIF_BODY_NAME += ( 'ORX_SA_PY_CORNER1' ) NAIF_BODY_CODE += ( -64013 ) NAIF_BODY_NAME += ( 'ORX_SA_PY_CORNER2' ) NAIF_BODY_CODE += ( -64014 ) NAIF_BODY_NAME += ( 'ORX_SA_PY_CORNER3' ) NAIF_BODY_CODE += ( -64015 ) NAIF_BODY_NAME += ( 'ORX_SA_PY_CORNER4' ) NAIF_BODY_CODE += ( -64016 ) NAIF_BODY_NAME += ( 'ORX_SA_NY' ) NAIF_BODY_CODE += ( -64020 ) NAIF_BODY_NAME += ( 'ORX_SA_NY_BP' ) NAIF_BODY_CODE += ( -64021 ) NAIF_BODY_NAME += ( 'ORX_SA_NY_GIM' ) NAIF_BODY_CODE += ( -64022 ) NAIF_BODY_NAME += ( 'ORX_SA_NY_CORNER1' ) NAIF_BODY_CODE += ( -64023 ) NAIF_BODY_NAME += ( 'ORX_SA_NY_CORNER2' ) NAIF_BODY_CODE += ( -64024 ) NAIF_BODY_NAME += ( 'ORX_SA_NY_CORNER3' ) NAIF_BODY_CODE += ( -64025 ) NAIF_BODY_NAME += ( 'ORX_SA_NY_CORNER4' ) NAIF_BODY_CODE += ( -64026 ) NAIF_BODY_NAME += ( 'ORX_TAGSAM' ) NAIF_BODY_CODE += ( -64050 ) NAIF_BODY_NAME += ( 'ORX_TAGSAM_BP' ) NAIF_BODY_CODE += ( -64051 ) NAIF_BODY_NAME += ( 'ORX_TAGSAM_SH' ) NAIF_BODY_CODE += ( -64053 ) NAIF_BODY_NAME += ( 'ORX_TAGSAM_EL' ) NAIF_BODY_CODE += ( -64055 ) NAIF_BODY_NAME += ( 'ORX_TAGSAM_WR' ) NAIF_BODY_CODE += ( -64057 ) NAIF_BODY_NAME += ( 'ORX_HGA' ) NAIF_BODY_CODE += ( -64060 ) NAIF_BODY_NAME += ( 'ORX_MGA' ) NAIF_BODY_CODE += ( -64061 ) NAIF_BODY_NAME += ( 'ORX_LGA_PX' ) NAIF_BODY_CODE += ( -64062 ) NAIF_BODY_NAME += ( 'ORX_LGA_MX' ) NAIF_BODY_CODE += ( -64063 ) NAIF_BODY_NAME += ( 'ORX_STOWCAM' ) NAIF_BODY_CODE += ( -64071 ) NAIF_BODY_NAME += ( 'ORX_LIDAR-1' ) NAIF_BODY_CODE += ( -64072 ) NAIF_BODY_NAME += ( 'ORX_LIDAR-2' ) NAIF_BODY_CODE += ( -64073 ) NAIF_BODY_NAME += ( 'ORX_NAVCAM1' ) NAIF_BODY_CODE += ( -64081 ) NAIF_BODY_NAME += ( 'ORX_NAVCAM2' ) NAIF_BODY_CODE += ( -64082 ) NAIF_BODY_NAME += ( 'ORX_SRC' ) NAIF_BODY_CODE += ( -64090 ) NAIF_BODY_NAME += ( 'ORX_OTES' ) NAIF_BODY_CODE += ( -64310 ) NAIF_BODY_NAME += ( 'ORX_OVIRS' ) NAIF_BODY_CODE += ( -64320 ) NAIF_BODY_NAME += ( 'ORX_OVIRS_SCI' ) NAIF_BODY_CODE += ( -64321 ) NAIF_BODY_NAME += ( 'ORX_OVIRS_SUN' ) NAIF_BODY_CODE += ( -64322 ) NAIF_BODY_NAME += ( 'ORX_REXIS' ) NAIF_BODY_CODE += ( -64330 ) NAIF_BODY_NAME += ( 'ORX_REXIS_SXM' ) NAIF_BODY_CODE += ( -64340 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM' ) NAIF_BODY_CODE += ( -64360 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_MAPCAM' ) NAIF_BODY_CODE += ( -64361 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_SAMCAM' ) NAIF_BODY_CODE += ( -64362 ) NAIF_BODY_NAME += ( 'ORX_OLA_BASE' ) NAIF_BODY_CODE += ( -64400 ) NAIF_BODY_NAME += ( 'ORX_OLA_ART' ) NAIF_BODY_CODE += ( -64401 ) NAIF_BODY_NAME += ( 'ORX_OLA_HIGH' ) NAIF_BODY_CODE += ( -64402 ) NAIF_BODY_NAME += ( 'ORX_OLA_LOW' ) NAIF_BODY_CODE += ( -64403 ) \begintext End of FK File.