KPL/FK Psyche Frames Kernel =============================================================================== This frame kernel (F-kernel) contains complete set of frame definitions for asteroid Psyche (PSYCHE), the Psyche Spacecraft (PSYC), the spacecraft's structures and science instruments, and Deep Space Optical Communications (DSOC) Ground Sites. This frame kernel also contains name - to - NAIF ID mappings for PSYCHE science instruments and spacecraft structures (see the last section of the file.) Version and Date ------------------------------------------------------------------------------- Version 0.8 -- June 14, 2022 -- Matt Barnes, NAIF/JPL * Added frames and name/ID mapping for PSYC_DSM<1,2>_BASE, PSYC_DSM<1,2>_AXIS1, PSYC_DSM<1,2>_AXIS2, and PSYC_DSM<1,2>_EP_ (IDs -255210 through -255214 and -255220 through -255224). * Added frames and name/ID mapping for PSYC_CGT<1-12> (IDs -255231 through -255242). * Swapped MAG1 and MAG2 in diagram to correctly label the outboard sensor as MAG1. Version 0.7 -- May 14, 2021 -- Matt Barnes, NAIF/JPL Added frames PSYC_DSOC_PALOMAR_TOPO and PSYC_DSOC_OCTL_TOPO as well as name/ID mapping for PSYC_DSOC_PALOMAR (-255195) and PSYC_DSCO_OCTL (-255196) per [11]. Version 0.6 -- April 26, 2021 -- Matt Barnes, NAIF/JPL Changed all IDs to reflect change from -69 to -255 for Psyche Spacecraft (PSYC) per [10] Version 0.5 -- June 3, 2019 -- Boris Semenov, NAIF/JPL * Added the PSYC_DSOC_MECH/-69192 frame. * Redefined PSYC_DSOC_BASE to be relative to PSYC_DSOC_MECH and changed its description and alignment. Version 0.4 -- May 17, 2019 -- Masha Liukis, Boris Semenov, NAIF/JPL * Added new reference documents. * Updated frame definitions per latest specifications (see [7], [8]), including changing alignments for PSYC_IMGA, PSYC_IMGB, PSYC_MAG1, PSYC_MAG2, PSYC_HGA, PSYC_ST1, and PSYC_ST2. * Added frame definitions and name/ID mapping for the sun sensors PSYC_SS(N), N = 1..8 (IDs -6909n, n = 1..8) * Added frame definitions and name/ID mapping for DSOC, PSYC_DSOC_BASE (ID -69190) and PSYC_DSOC (ID -69191) * Renamed LGA frames from PSYC_LGA_PZ, PSYC_LGA_PY, and PSYC_LGA_MY to PSYC_LGA_MZ, PSYC_LGA_PX, and PSYC_LGA_MX and changed their alignments accordingly (see [7]). * Added mechanical GRNS frame definitions (see [7]): PSYC_GRS_MECH (ID -69151), PSYC_NS_MECH (ID -69161); previously defined PSYC_GRS and PSYC_NS frames represent scientific frames. Version 0.3 -- February 5, 2018 -- Masha Liukis, NAIF/JPL Replaced references to fluxgate magnetometer with references to magnetometer. Replaced FGM (fluxgate magnetometer) with MAG (magnetometer) for frames names: PSYC_FGM1 with PSYC_MAG1 PSYC_FGM2 with PSYC_MAG2 Version 0.2 -- January 31, 2018 -- Masha Liukis, NAIF/JPL Replaced references to camera with references to imager. Replaced FC (framing camera) with IMG (imager) for frames names: PSYC_FC1 with PSYC_IMGA PSYC_FC2 with PSYC_IMGB Version 0.1 -- January 29, 2018 -- Boris Semenov, NAIF/JPL Changed placeholder alignments in the LGA, ST, FC and GRS/NS frames. Updated some descriptions, diagrams, indentation and paragraph wrapping. Version 0.0 -- April 5, 2017 -- Masha Liukis, NAIF/JPL Preliminary version. References ------------------------------------------------------------------------------- 1. ``Frames Required Reading'' 2. ``Kernel Pool Required Reading'' 3. ``C-Kernel Required Reading'' 4. ``PC-Kernel Required Reading'' 5. 02_Psyche_CSR_Redacted_Science.pdf. 6. Foldout G1. Flight System Overview. 7. PSYCHE_Final_Ext_Freeze_02_05_19.pdf. 8. Psyche_ASC_FOV_STIRs-Rev_1c.docx. 9. PSYCHE_ACTION_ITEM_62295.pdf 10. Spacecraft/Mission Identifier Code Document 820-013, Module OPS-6-21-04, Rev. N, 4/15/2021 11. D-102342_Psyche_PCMD_RevB_20210119_Signed.pdf. 12. Thruster Alignment Requirements, Document G058871, Rev. 7. 13. Email `Re: Psyche Thruster FK Updates', Don Han, JPL, 3/24/2022 Contact Information ------------------------------------------------------------------------------- Matt Barnes, NAIF/JPL, (818) 354-5942, matthew.j.barnes@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' ) -- FORTRAN furnsh_c ( "frame_kernel_name" ); -- C cspice_furnsh, frame_kernel_name -- IDL cspice_furnsh( 'frame_kernel_name' ) -- MATLAB This file was created and may be updated with a text editor or word processor. Psyche Mission NAIF ID Codes -- Summary Section ======================================================================== The following names and NAIF ID codes are assigned to the Psyche asteroid, Psyche spacecraft, its structures and science instruments (the keywords implementing these definitions are located in the section "Psyche Mission NAIF ID Codes -- Definition Section" at the end of this file): Psyche Targets: Name ID -------------------- ------- PSYCHE 2000016 Psyche Spacecraft and Spacecraft Structures names/IDs: PSYC -255 PSYC_SPACECRAFT -255000 PSYC_SA_PY -255010 PSYC_SA_MY -255020 PSYC_HGA -255030 PSYC_LGA_MZ -255040 PSYC_LGA_PX -255050 PSYC_LGA_MX -255060 PSYC_ST1 -255070 PSYC_ST2 -255080 PSYC_SS1 -255091 PSYC_SS2 -255092 PSYC_SS3 -255093 PSYC_SS4 -255094 PSYC_SS5 -255095 PSYC_SS6 -255096 PSYC_SS7 -255097 PSYC_SS8 -255098 Imagers (IMG) names/IDs: PSYC_IMGA -255110 PSYC_IMGB -255130 Gamma Ray and Neutron Spectrometers (GRNS) names/IDs: PSYC_GRS -255150 PSYC_NS -255160 Magnetometers (MAG) names/IDs: PSYC_MAG1 -255170 PSYC_MAG2 -255180 DAPM-actuated Stationary Plasma thruster Modules (DSM) names/IDs: PSYC_DSM1_BASE -255210 PSYC_DSM1_EP_A -255213 PSYC_DSM1_EP_C -255214 PSYC_DSM2_BASE -255220 PSYC_DSM2_EP_B -255223 PSYC_DSM2_EP_D -255224 Cold Gas Thruster (CGT) names/IDs: PSYC_CGT1 -255231 PSYC_CGT2 -255232 PSYC_CGT3 -255233 PSYC_CGT4 -255234 PSYC_CGT5 -255235 PSYC_CGT6 -255236 PSYC_CGT7 -255237 PSYC_CGT8 -255238 PSYC_CGT9 -255239 PSYC_CGT10 -255240 PSYC_CGT11 -255241 PSYC_CGT12 -255242 Deep Space Optical Communications (DSOC) names/IDs: PSYC_DSOC_BASE -255190 PSYC_DSOC -255191 Deep Space Optical Communications (DSOC) Ground Site names/IDs: PSYC_DSOC_PALOMAR -255195 PSYC_DSOC_OCTL -255196 Psyche Frames ======================================================================== The following Psyche frames are defined in this kernel file: Name Relative to Type NAIF ID ====================== =================== ============ ======= Psyche Target frames: --------------------- PSYCHE_FIXED J2000 PCK 2000016 Psyche Spacecraft and Spacecraft Structures frames: --------------------------------------------------- PSYC_SPACECRAFT PSYC_SPACECRAFT CK -255000 PSYC_SA_PY PSYC_SPACECRAFT CK -255010 PSYC_SA_MY PSYC_SPACECRAFT CK -255020 PSYC_HGA PSYC_SPACECRAFT FIXED -255030 PSYC_LGA_MZ PSYC_SPACECRAFT FIXED -255040 PSYC_LGA_PX PSYC_SPACECRAFT FIXED -255050 PSYC_LGA_MX PSYC_SPACECRAFT FIXED -255060 PSYC_ST1 PSYC_SPACECRAFT FIXED -255070 PSYC_ST2 PSYC_SPACECRAFT FIXED -255080 PSYC_SS1 PSYC_SPACECRAFT FIXED -255091 PSYC_SS2 PSYC_SPACECRAFT FIXED -255092 PSYC_SS3 PSYC_SPACECRAFT FIXED -255093 PSYC_SS4 PSYC_SPACECRAFT FIXED -255094 PSYC_SS5 PSYC_SPACECRAFT FIXED -255095 PSYC_SS6 PSYC_SPACECRAFT FIXED -255096 PSYC_SS7 PSYC_SPACECRAFT FIXED -255097 PSYC_SS8 PSYC_SPACECRAFT FIXED -255098 IMGA and IMGB frames: ------------------- PSYC_IMGA PSYC_SPACECRAFT FIXED -255110 PSYC_IMGB PSYC_SPACECRAFT FIXED -255130 GRNS frames: ------------ PSYC_GRS PSYC_SPACECRAFT FIXED -255150 PSYC_GRS_MECH PSYC_SPACECRAFT FIXED -255151 PSYC_NS PSYC_SPACECRAFT FIXED -255160 PSYC_NS_MECH PSYC_SPACECRAFT FIXED -255161 MAG1 and MAG2 frames: --------------------- PSYC_MAG1 PSYC_SPACECRAFT FIXED -255170 PSYC_MAG2 PSYC_SPACECRAFT FIXED -255180 DSM Frames: ----------- PSYC_DSM1_BASE PSYC_SPACECRAFT FIXED -255210 PSYC_DSM1_AXIS1 PSYC_DSM1_BASE CK -255211 PSYC_DSM1_AXIS2 PSYC_DSM1_AXIS1 CK -255212 PSYC_DSM1_EP_A PSYC_DSM1_AXIS2 FIXED -255213 PSYC_DSM1_EP_C PSYC_DSM1_AXIS2 FIXED -255214 PSYC_DSM2_BASE PSYC_SPACECRAFT FIXED -255220 PSYC_DSM2_AXIS1 PSYC_DSM2_BASE CK -255221 PSYC_DSM2_AXIS2 PSYC_DSM2_AXIS1 CK -255222 PSYC_DSM2_EP_B PSYC_DSM2_AXIS2 FIXED -255223 PSYC_DSM2_EP_D PSYC_DSM2_AXIS2 FIXED -255224 CGT Frames: ----------- PSYC_CGT1 PSYC_SPACECRAFT FIXED -255231 PSYC_CGT2 PSYC_SPACECRAFT FIXED -255232 PSYC_CGT3 PSYC_SPACECRAFT FIXED -255233 PSYC_CGT4 PSYC_SPACECRAFT FIXED -255234 PSYC_CGT5 PSYC_SPACECRAFT FIXED -255235 PSYC_CGT6 PSYC_SPACECRAFT FIXED -255236 PSYC_CGT7 PSYC_SPACECRAFT FIXED -255237 PSYC_CGT8 PSYC_SPACECRAFT FIXED -255238 PSYC_CGT9 PSYC_SPACECRAFT FIXED -255239 PSYC_CGT10 PSYC_SPACECRAFT FIXED -255240 PSYC_CGT11 PSYC_SPACECRAFT FIXED -255241 PSYC_CGT12 PSYC_SPACECRAFT FIXED -255242 DSOC Frames: ------------ PSYC_DSOC_MECH PSYC_SPACECRAFT FIXED -255192 PSYC_DSOC_BASE PSYC_DSOC_MECH FIXED -255190 PSYC_DSOC PSYC_DSOC_BASE CK -255191 DSOC Ground Site Frames: ------------------------ PSYC_DSOC_PALOMAR_TOPO ITRF93 FIXED -255195 PSYC_DSOC_OCTL_TOPO ITRF93 FIXED -255196 Spacecraft and Spacecraft Structures Frame Tree ======================================================================== The diagram below shows the frame hierarchy for the Psyche spacecraft and its structure frame (not including science instrument frames.) "J2000" INERTIAL +--------------------------+ | | | |<-pck | | | V | "PSYCHE_FIXED" | -------------- | "PSYC_SS(N)" "PSYC_ST1" "PSYC_ST2" | "PSYC_LGA_PX" "PSYC_LGA_MZ" ------------ ---------- ---------- | ------------- ------------ ^ ^ ^ | ^ ^ | | | | | | |<-fixed |<-fixed |<-fixed |<-ck |<-fixed |<-fixed | | | | | | | | | V | | | | | "PSYC_SPACECRAFT" | | +---------------------------------------------------------+ | | . | | |<-ck |<-ck . |<-fixed |<-fixed | | . | | V V . V V "PSYC_SA_PY" "PSYC_SA_MY" . "PSYC_LGA_MX" "PSYC_HGA" ----------- ----------- . ------------- ---------- . V Individual instrument frame trees are provided in the other sections of this file Psyche Target Frames ======================================================================== This section of the file contains the body-fixed frame definition for the Psyche mission target -- asteroid Psyche. A body-fixed frame is defined for Psyche using standard body-fixed, PCK-based frame formation rules: - +Z axis is toward the North pole; - +X axis is toward the prime meridian; - +Y axis completes the right hand frame; - the origin of this frame is at the center of the body. The orientation of this frame is computed by evaluating corresponding rotation constants provided in the PCK file(s). \begindata FRAME_PSYCHE_FIXED = 2000016 FRAME_2000016_NAME = 'PSYCHE_FIXED' FRAME_2000016_CLASS = 2 FRAME_2000016_CLASS_ID = 2000016 FRAME_2000016_CENTER = 2000016 OBJECT_2000016_FRAME = 'PSYCHE_FIXED' \begintext Psyche Spacecraft and Spacecraft Structures Frames ======================================================================== This section of the file contains the definitions of the spacecraft and spacecraft structures frames (see [6], [7]). Psyche Spacecraft Frame -------------------------------------- The Psyche spacecraft frame is defined as follows: - +X axis is opposite of the nominal boresight direction of the Imager A; - +Z axis is along the normal to the HGA deck, pointing in the direction of the HGA boresight; - +Y axis completes the right-hand frame; - the origin of this frame is the launch vehicle interface point. These diagrams illustrate the PSYCHE_SPACECRAFT frame: +Z s/c side (HGA side) view: ---------------------------- ^ | toward asteroid Science Deck _____________ __ ________________ | | _______________ ___ | \ \ \ | . ----- . | / \ \ | | / / \ |.' `.| / / / | | \ \ `. . +Zsc +Ysc| .' \ \ | | / / | o| o----> |o | / / | | \ \ .' . | . `. \ \ | | / / / |`. | .'| \ / / | |__\ \_______________/ | +Xsc v --' | \_______________\ \__| -Y Solar Array (MY) |_____________| +Y Solar Array (PY) +Zsc is out of the page -X s/c side (science deck side) view: ------------------------------------- +Xsc _____ x----> +Ysc | | | | | | v | o==/ /==================o | +Zsc |o==================/ /==o -Y Solar Array (MY) | | +Y Solar Array (PY) | | |_____________| .-| |-. HGA .' `-' `. `. .' `-----' +Xsc is into the page Since the orientation of the PSYC_SPACECRAFT 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. \begindata FRAME_PSYC_SPACECRAFT = -255000 FRAME_-255000_NAME = 'PSYC_SPACECRAFT' FRAME_-255000_CLASS = 3 FRAME_-255000_CLASS_ID = -255000 FRAME_-255000_CENTER = -255 CK_-255000_SCLK = -255 CK_-255000_SPK = -255 \begintext Psyche Solar Array Frames -------------------------------------- Since the Psyche solar arrays can be articulated (each having one degree of freedom), the solar array frames, PSYC_SA_PY and PSYC_SA_MY, are defined as CK frames with their orientation given relative to the PSYC_SPACECRAFT frame. Both array frames are defined as follows (see [6]): - +Y axis is parallel to the longest side of the array, positively oriented from the yoke to the end of the wing; - +Z axis is normal to the solar array plane, the solar cells facing +Z; - +X axis 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 PSYC_SA_PY and PSYC_SA_MY frames for arrays in the zero position: +Z s/c side (HGA side) view: ---------------------------- ^ | toward asteroid | Science Deck _____________ __ ______________+Xsa-y | | _______________ ___ | \ \ \ ^| . ----- . | / \ \ | | / / \ ||.' `.| / / / | | \ \ `.|. +Zsc +Ysc| .' \ \ | | / / +Ysa-y <----o| o----> |o----> +Ysa+y / / | | \ \ .' . | .|`. \ \ | | / / / |`. | .'|| \ / / | |__\ \_______________/ | +Xsc v --' |v \_______________\ \__| -Y Solar Array (MY) |_____________|+Xsa+y +Y Solar Array (PY) +Zsc, +Zsa+y and +Zsa-y are out of the page Active solar cell is facing towards the viewer These sets of keywords define the PSYC_SA_PY ("plus") and PSYC_SA_MY ("minus") solar array frames as CK frames: \begindata FRAME_PSYC_SA_PY = -255010 FRAME_-255010_NAME = 'PSYC_SA_PY' FRAME_-255010_CLASS = 3 FRAME_-255010_CLASS_ID = -255010 FRAME_-255010_CENTER = -255 CK_-255010_SCLK = -255 CK_-255010_SPK = -255 FRAME_PSYC_SA_MY = -255020 FRAME_-255020_NAME = 'PSYC_SA_MY' FRAME_-255020_CLASS = 3 FRAME_-255020_CLASS_ID = -255020 FRAME_-255020_CENTER = -255 CK_-255020_SCLK = -255 CK_-255020_SPK = -255 \begintext Psyche High Gain Antenna Frame -------------------------------------- The Psyche High Gain Antenna is rigidly attached to the +Z side of the s/c bus. Therefore, the Psyche HGA frame, PSYC_HGA, is defined as a fixed offset frame with its orientation given relative to the PSYC_SPACECRAFT frame. The PSYC_HGA frame is defined as follows: - +Z axis is in the antenna boresight direction; - +Y axis is nominally co-aligned with the s/c +Y axis; - +X axis completes the right handed frame; - the origin of the frame is located at the geometric center of the HGA dish outer rim circle. The following spacecraft to high gain antenna rotation matrix is provided in [7]: HGA: 0.984808 0 -0.173648 0 1 0 0.173648 0 0.984808 This diagram illustrates the PSYC_HGA frame: -X s/c side (science deck side) view: ------------------------------------- +Xsc _____ x----> +Ysc | | | | | | v | o==/ /==================o | +Zsc |o==================/ /==o -Y Solar Array (MY) | | +Y Solar Array (PY) | | |_+Xhga ______| .-|^|-. HGA .' `*----> +Yhga `. | .' `--|--' v +Zhga +Xsc is into the page +Zhga is into the page at 10 degrees angle. +Xhga is into the page at 80 degrees angle. As seen on the diagram (see [7]), a single rotation by +10 degrees about +Y is needed to align the s/c frame with the HGA frame. The frame definitions below contain the opposite of this rotation because Euler angles specified in it define transformation from HGA to the s/c frame (see [1]). This set of keywords defines the HGA frame as a fixed offset frame: \begindata FRAME_PSYC_HGA = -255030 FRAME_-255030_NAME = 'PSYC_HGA' FRAME_-255030_CLASS = 4 FRAME_-255030_CLASS_ID = -255030 FRAME_-255030_CENTER = -255 TKFRAME_-255030_SPEC = 'ANGLES' TKFRAME_-255030_RELATIVE = 'PSYC_SPACECRAFT' TKFRAME_-255030_ANGLES = ( 0.0, -10.0, 0.0 ) TKFRAME_-255030_AXES = ( 1, 2, 3 ) TKFRAME_-255030_UNITS = 'DEGREES' \begintext Psyche Low Gain Antenna Frames -------------------------------------- PSYC has three Low Gain Antennas (LGAs) (see [7]): LGA-Z pointing along the s/c -Z axis, LGA+X pointing along the s/c +X axis, and LGA-X pointing along the s/c -X axis. All three LGAs are rigidly attached to the s/c bus. Therefore, their frames -- PSYC_LGA_MZ, PSYC_LGA_PX, and PSYC_LGA_MX -- are defined as a fixed offset frames with orientation given relative to the PSYC_SPACECRAFT frame. Each of the PSYC LGA frames -- PSYC_LGA_MZ, PSYC_LGA_PX, and PSYC_LGA_MX -- is defined as follows: - +Z axis is in the antenna boresight direction; - +X axis for LGA+X, is nominally co-aligned with the s/c -Y axis, for LGA-X, is nominally co-aligned with the s/c +Y axis, for LGA-Z, is nominally co-aligned with the s/c +X axis; - +Y axis completes the right handed frame; - the origin of the frame is located at the geometric center of the LGA outer patch. The following spacecraft to low gain antennas rotation matrices are provided in [7]: LGA_MZ: 1 0 0 0 -1 0 0 0 -1 LGA_PX: 0 -1 0 0 0 -1 1 0 0 LGA_MX: 0 1 0 0 0 -1 -1 0 0 This diagram illustrates the PSYC LGA frames: -X s/c side (science deck side) view: ------------------------------------- +Zlga-z ^ | | +Xsc +Ylga-z<----x___x---->_+Ysc +Xlga-z | | | | | +Ylga-x v +Ylga+x o==/ /==================o|^ +Zsc ^|o==================/ /==o -Y Solar Array (MY) || || +Y Solar Array (PY) || || +Zlga-x|o----> <----x|+Zlga+x +Xlga-x +Xlga+x HGA . - . `. .' `-----' +Xsc, +Zlga+x, and +Xlga-z are into the page +Zlga-x is out of the page As seen on the diagram, a single rotation by +180 degrees about X is needed to align the s/c frame with the PSYC_LGA_MZ frame, a rotation by +90 degrees about Y followed by a rotation by -90 degrees about Z is needed to align the s/c frame with the PSYC_LGA_PX frame, and a rotation by -90 degrees about Y followed by +90 degrees about Z is needed to align the s/c frame with the PSYC_LGA_MX frame. The frame definitions below contain the opposite of these rotations because Euler angles specified in them define transformation from LGA to the s/c frame (see [1]). These sets of keywords define the LGA frames: \begindata FRAME_PSYC_LGA_MZ = -255040 FRAME_-255040_NAME = 'PSYC_LGA_MZ' FRAME_-255040_CLASS = 4 FRAME_-255040_CLASS_ID = -255040 FRAME_-255040_CENTER = -255 TKFRAME_-255040_SPEC = 'ANGLES' TKFRAME_-255040_RELATIVE = 'PSYC_SPACECRAFT' TKFRAME_-255040_ANGLES = ( -180.0, 0.0, 0.0 ) TKFRAME_-255040_AXES = ( 1, 2, 3 ) TKFRAME_-255040_UNITS = 'DEGREES' FRAME_PSYC_LGA_PX = -255050 FRAME_-255050_NAME = 'PSYC_LGA_PX' FRAME_-255050_CLASS = 4 FRAME_-255050_CLASS_ID = -255050 FRAME_-255050_CENTER = -255 TKFRAME_-255050_SPEC = 'ANGLES' TKFRAME_-255050_RELATIVE = 'PSYC_SPACECRAFT' TKFRAME_-255050_ANGLES = ( 0.0, -90.0, 90.0 ) TKFRAME_-255050_AXES = ( 1, 2, 3 ) TKFRAME_-255050_UNITS = 'DEGREES' FRAME_PSYC_LGA_MX = -255060 FRAME_-255060_NAME = 'PSYC_LGA_MX' FRAME_-255060_CLASS = 4 FRAME_-255060_CLASS_ID = -255060 FRAME_-255060_CENTER = -255 TKFRAME_-255060_SPEC = 'ANGLES' TKFRAME_-255060_RELATIVE = 'PSYC_SPACECRAFT' TKFRAME_-255060_ANGLES = ( 0.0, 90.0, -90.0 ) TKFRAME_-255060_AXES = ( 1, 2, 3 ) TKFRAME_-255060_UNITS = 'DEGREES' \begintext Psyche Star Tracker Frames -------------------------------------- The star trackers (ST1 and ST2) are rigidly attached to the +X side of the s/c bus. Therefore, the star tracker frames, PSYC_ST1 and PSYC_ST2, are defined as fixed offset frames with their orientation given relative to the PSYC_SPACECRAFT frame. The star tracker frames are defined as follows: - +Z axis is in the star tracker boresight direction; - +Y axis for PSYC_ST1, is nominally co-aligned with the s/c -Z axis, for PSYC_ST2, is nominally co-aligned with the s/c +Z axis; - +X axis completes the right handed frame; - the origin of the frame is located at the star tracker focal point. The following spacecraft to star tracker rotation matrices are provided in [7]: ST1: -0.6394 -0.7689 0 0 0 -1 0.7689 -0.6394 0 ST2: -0.6127 0.7907 0 0 0 1 0.7907 0.6122 0 This diagram illustrates the star tracker frames: +Z s/c side (HGA side) view: ---------------------------- ^ | toward asteroid | Science Deck _____________ __ ________________ | | _______________ ___ | \ \ \ | . ----- . | / \ \ | | / / \ |.' `.| / / / | | \ \ `. . +Zsc +Ysc| .' \ \ | | / / o| o----> |o / / | | \ \ .' . | . `. \ \ | | / / / |`. +Xst2 +Xst1 \ / / | |__\ \_______________/ | +Xsc v ^ ^ | \_______________\ \__| -Y Solar Array (MY) |_______/___\_| +Y Solar Array (PY) +Yst2 o * +Yst1 \ / v v +Zst2 +Zst1 +Zsc, +Yst2 are out of the page +Yst1 is into the page As seen on the diagram (see [7]), a rotation by -39.75 degrees about Z followed by a rotation by +90 degrees about Y followed by a rotation by -90.0 degrees about Z is needed to align the s/c frame with the ST1 frame, and a rotation by +37.76 degrees about Z followed by a rotation by +90 degrees about Y followed by a rotation by +90.0 degrees about Z is needed to align the s/c frame with the ST2 frame. The frame definitions below contain the opposite of these rotations because Euler angles specified in them define transformation from ST to the s/c frame (see [1]). The sets of keywords below define the star tracker frames. \begindata FRAME_PSYC_ST1 = -255070 FRAME_-255070_NAME = 'PSYC_ST1' FRAME_-255070_CLASS = 4 FRAME_-255070_CLASS_ID = -255070 FRAME_-255070_CENTER = -255 TKFRAME_-255070_SPEC = 'ANGLES' TKFRAME_-255070_RELATIVE = 'PSYC_SPACECRAFT' TKFRAME_-255070_ANGLES = ( 39.75, -90.0, 90.0 ) TKFRAME_-255070_AXES = ( 3, 2, 3 ) TKFRAME_-255070_UNITS = 'DEGREES' FRAME_PSYC_ST2 = -255080 FRAME_-255080_NAME = 'PSYC_ST2' FRAME_-255080_CLASS = 4 FRAME_-255080_CLASS_ID = -255080 FRAME_-255080_CENTER = -255 TKFRAME_-255080_SPEC = 'ANGLES' TKFRAME_-255080_RELATIVE = 'PSYC_SPACECRAFT' TKFRAME_-255080_ANGLES = ( -37.76, -90.0, -90.0 ) TKFRAME_-255080_AXES = ( 3, 2, 3 ) TKFRAME_-255080_UNITS = 'DEGREES' \begintext Sun Sensor Frames ------------------------------ The frame for each of the 8 Sun Sensors (SS's) mounted on the s/c is defined as follows: - +Z axis is along the sensor's boresight; - +Y axis is parallel to the XY plane of the s/c frame; - +X axis is completes the right hand frame; - the origin of the frame is located at the geometric center of the sensor. The following SS boresight directions and azimuth/elevation pairs with respect to the s/c frame are provided in the table on slide #23 of [7]: Cosine Sensor Elevation Azimuth X Y Z Head Angle, deg Angle, deg ------------- ------------ ---------- -------- ------- -------- Head 1 -22 84.63454 0.08670 0.92312 -0.37461 Head 2 22 84.63454 0.08670 0.92312 0.37461 Head 3 -30 35.26439 0.70711 0.50000 -0.50000 Head 4 30 35.26439 0.70711 0.50000 0.50000 Head 5 -30 -35.26439 0.70711 -0.50000 -0.50000 Head 6 30 -35.26439 0.70711 -0.50000 0.50000 Head 7 -22 -84.63454 0.08670 -0.92312 -0.37461 Head 8 22 -84.63454 0.08670 -0.92312 0.37461 A matrix rotating vectors from the s/c frame to the sensor frame can be constructed from the azimuth and elevation pair as follows ([7], [8]): Msc->ss = |90.0-EL| * |AZ| Y Z The frame definitions below contain the opposite of this rotation because Euler angles specified in it define transformation from the instrument to the s/c frame (see [1]). \begindata FRAME_PSYC_SS1 = -255091 FRAME_-255091_NAME = 'PSYC_SS1' FRAME_-255091_CLASS = 4 FRAME_-255091_CLASS_ID = -255091 FRAME_-255091_CENTER = -255 TKFRAME_-255091_SPEC = 'ANGLES' TKFRAME_-255091_RELATIVE = 'PSYC_SPACECRAFT' TKFRAME_-255091_ANGLES = ( -84.63454, -112.000, 0.000 ) TKFRAME_-255091_AXES = ( 3, 2, 1 ) TKFRAME_-255091_UNITS = 'DEGREES' FRAME_PSYC_SS2 = -255092 FRAME_-255092_NAME = 'PSYC_SS2' FRAME_-255092_CLASS = 4 FRAME_-255092_CLASS_ID = -255092 FRAME_-255092_CENTER = -255 TKFRAME_-255092_SPEC = 'ANGLES' TKFRAME_-255092_RELATIVE = 'PSYC_SPACECRAFT' TKFRAME_-255092_ANGLES = ( -84.63454, -68.000, 0.000 ) TKFRAME_-255092_AXES = ( 3, 2, 1 ) TKFRAME_-255092_UNITS = 'DEGREES' FRAME_PSYC_SS3 = -255093 FRAME_-255093_NAME = 'PSYC_SS3' FRAME_-255093_CLASS = 4 FRAME_-255093_CLASS_ID = -255093 FRAME_-255093_CENTER = -255 TKFRAME_-255093_SPEC = 'ANGLES' TKFRAME_-255093_RELATIVE = 'PSYC_SPACECRAFT' TKFRAME_-255093_ANGLES = ( -35.26439, -120.000, 0.000 ) TKFRAME_-255093_AXES = ( 3, 2, 1 ) TKFRAME_-255093_UNITS = 'DEGREES' FRAME_PSYC_SS4 = -255094 FRAME_-255094_NAME = 'PSYC_SS4' FRAME_-255094_CLASS = 4 FRAME_-255094_CLASS_ID = -255094 FRAME_-255094_CENTER = -255 TKFRAME_-255094_SPEC = 'ANGLES' TKFRAME_-255094_RELATIVE = 'PSYC_SPACECRAFT' TKFRAME_-255094_ANGLES = ( -35.26439, -60.000, 0.000 ) TKFRAME_-255094_AXES = ( 3, 2, 1 ) TKFRAME_-255094_UNITS = 'DEGREES' FRAME_PSYC_SS5 = -255095 FRAME_-255095_NAME = 'PSYC_SS5' FRAME_-255095_CLASS = 4 FRAME_-255095_CLASS_ID = -255095 FRAME_-255095_CENTER = -255 TKFRAME_-255095_SPEC = 'ANGLES' TKFRAME_-255095_RELATIVE = 'PSYC_SPACECRAFT' TKFRAME_-255095_ANGLES = ( 35.26439, -120.000, 0.000 ) TKFRAME_-255095_AXES = ( 3, 2, 1 ) TKFRAME_-255095_UNITS = 'DEGREES' FRAME_PSYC_SS6 = -255096 FRAME_-255096_NAME = 'PSYC_SS6' FRAME_-255096_CLASS = 4 FRAME_-255096_CLASS_ID = -255096 FRAME_-255096_CENTER = -255 TKFRAME_-255096_SPEC = 'ANGLES' TKFRAME_-255096_RELATIVE = 'PSYC_SPACECRAFT' TKFRAME_-255096_ANGLES = ( 35.26439, -60.000, 0.000 ) TKFRAME_-255096_AXES = ( 3, 2, 1 ) TKFRAME_-255096_UNITS = 'DEGREES' FRAME_PSYC_SS7 = -255097 FRAME_-255097_NAME = 'PSYC_SS7' FRAME_-255097_CLASS = 4 FRAME_-255097_CLASS_ID = -255097 FRAME_-255097_CENTER = -255 TKFRAME_-255097_SPEC = 'ANGLES' TKFRAME_-255097_RELATIVE = 'PSYC_SPACECRAFT' TKFRAME_-255097_ANGLES = ( 84.63454, -112.000, 0.000 ) TKFRAME_-255097_AXES = ( 3, 2, 1 ) TKFRAME_-255097_UNITS = 'DEGREES' FRAME_PSYC_SS8 = -255098 FRAME_-255098_NAME = 'PSYC_SS8' FRAME_-255098_CLASS = 4 FRAME_-255098_CLASS_ID = -255098 FRAME_-255098_CENTER = -255 TKFRAME_-255098_SPEC = 'ANGLES' TKFRAME_-255098_RELATIVE = 'PSYC_SPACECRAFT' TKFRAME_-255098_ANGLES = ( 84.63454, -68.000, 0.000 ) TKFRAME_-255098_AXES = ( 3, 2, 1 ) TKFRAME_-255098_UNITS = 'DEGREES' \begintext IMGA and IMGB Imager Frames ======================================================================== This section of the file contains the definitions of the Imager A (IMGA) and Imager B (IMGB) frames. IMGA and IMGB Frame Tree -------------------------------------- The diagram below shows the IMGA and IMGB frame hierarchy. "J2000" INERTIAL +--------------------------+ | | |<-pck | | | V | "PSYCHE_FIXED" | -------------- | | |<-ck | V "PSYC_SPACECRAFT" +-----------------------------------------------------+ | | |<-fixed |<-fixed | | V V "PSYC_IMGA" "PSYC_IMGB" ---------- ---------- IMGA and IMGB Frames -------------------------------------- The Imager A and B frames -- PSYC_IMGA and PSYC_IMGB -- are defined as follows: - +Z axis points along the imager boresight; - +X axis is parallel to the apparent image columns [TBD]; it is nominally co-aligned with the s/c +Z axis; - +Y axis completes the right handed frame; it is nominally parallel to the apparent image lines [TBD]. - the origin of the frame is located at the imager focal point. The following spacecraft to imager rotation matrices are provided in [7]: IMGA: 0 0 1 0 1 0 -1 0 0 IMGB: 0 0 1 -0.0645 0.9979 0 -0.9979 -0.0645 0 This diagram illustrates the IMGA and IMGB imager frames: +Z s/c side (HGA side) view: ---------------------------- ^ | toward asteroid +Zimgb +Zimga ^ ^ \ +Yimgb| \ .-> | +Yimga ___o'___ o----> __ ________________ +Ximgb +Ximga _______________ ___ | \ \ \ | . ----- . | / \ \ | | / / \ |.' `.| / / / | | \ \ `. . +Zsc +Ysc| .' \ \ | | / / | o| o----> |o | / / | | \ \ .' . | . `. \ \ | | / / / |`. | .'| \ / / | |__\ \_______________/ | +Xsc v --' | \_______________\ \__| -Y Solar Array (MY) |_____________| +Y Solar Array (PY) +Zsc, +Ximga, and +Ximgb are out of the page As seen on the diagram (see [7]), a rotation by -90 degrees about Y is required to align the s/c frame with the Imager A frame, and a rotation by 3.7 degrees about Z followed by a rotation by -90 degrees about Y are needed to align the s/c frame with the Imager B frame. The frame definitions below contain the opposite of this rotation because Euler angles specified in it define transformation from the instrument to the s/c frame (see [1]). The sets of keywords below define the imager frames: \begindata FRAME_PSYC_IMGA = -255110 FRAME_-255110_NAME = 'PSYC_IMGA' FRAME_-255110_CLASS = 4 FRAME_-255110_CLASS_ID = -255110 FRAME_-255110_CENTER = -255 TKFRAME_-255110_SPEC = 'ANGLES' TKFRAME_-255110_RELATIVE = 'PSYC_SPACECRAFT' TKFRAME_-255110_ANGLES = ( 0.0, 90.0, 0.0 ) TKFRAME_-255110_AXES = ( 1, 2, 3 ) TKFRAME_-255110_UNITS = 'DEGREES' FRAME_PSYC_IMGB = -255130 FRAME_-255130_NAME = 'PSYC_IMGB' FRAME_-255130_CLASS = 4 FRAME_-255130_CLASS_ID = -255130 FRAME_-255130_CENTER = -255 TKFRAME_-255130_SPEC = 'ANGLES' TKFRAME_-255130_RELATIVE = 'PSYC_SPACECRAFT' TKFRAME_-255130_ANGLES = ( -3.7, 90.0, 0.0 ) TKFRAME_-255130_AXES = ( 3, 2, 1 ) TKFRAME_-255130_UNITS = 'DEGREES' \begintext GRNS frames ======================================================================== This section of the file contains definitions of the Gamma Ray Spectrometer (GRS) and Neutron Spectrometer (NS) frames. GRNS Frame Tree -------------------------------------- The diagram below shows the GRSN frames hierarchy. "J2000" INERTIAL +--------------------------+ | |<-ck | V "PSYC_SPACECRAFT" +-----------------------------------------------------+ | | | | |<-fixed |<-fixed |<-fixed |<-fixed | | | | V V V V "PSYC_GRS" "PSYC_GRS_MECH" "PSYC_NS" "PSYC_NS_MECH" ---------- --------------- --------- -------------- GRNS Instruments Science Frames -------------------------------------- The Gamma Ray Spectrometer (GRS) and Neutron Spectrometer (NS) science frames -- PSYC_GRS (ID -255150) and PSYC_NS (ID -255160) -- are defined as follows: - +Z axis points along the instrument boresight; - +Y axis is co-aligned with the s/c +Y axis; - +X axis completes the right handed frame; - the origin of the frame is located at the geometric center of the detector. These frames are defined as fixed offset frames relative to the PSYC_SPACECRAFT frame. -X s/c side (science deck side) view: ------------------------------------- +Xsc _____ x----> +Ysc | | | | | | v | o==/ /==================o | +Zsc |o==================/ /==o -Y Solar Array (MY) | | +Y Solar Array (PY) | | |_____________| | .-| |-. | .' `-' `. HGA | `. .' | `-----' +Zns |o----> +Yns || || +Xns |v +Zgrs |o----> +Ygrs | | v +Xgrs +Xsc is into the page +Zgrs and +Zns are out of the page As seen on the diagram (see [6], [7]), a rotation by -90 degrees about Y is needed to align the s/c frame with the GRS and NS science frames. The frame definitions below contain the opposite of this rotation because Euler angles specified in it define transformation from the instrument to the s/c frame (see [1]). The keywords below define the GRNS frames. \begindata FRAME_PSYC_GRS = -255150 FRAME_-255150_NAME = 'PSYC_GRS' FRAME_-255150_CLASS = 4 FRAME_-255150_CLASS_ID = -255150 FRAME_-255150_CENTER = -255 TKFRAME_-255150_SPEC = 'ANGLES' TKFRAME_-255150_RELATIVE = 'PSYC_SPACECRAFT' TKFRAME_-255150_ANGLES = ( 0.0, 90.0, 0.0 ) TKFRAME_-255150_AXES = ( 1, 2, 3 ) TKFRAME_-255150_UNITS = 'DEGREES' FRAME_PSYC_NS = -255160 FRAME_-255160_NAME = 'PSYC_NS' FRAME_-255160_CLASS = 4 FRAME_-255160_CLASS_ID = -255160 FRAME_-255160_CENTER = -255 TKFRAME_-255160_SPEC = 'ANGLES' TKFRAME_-255160_RELATIVE = 'PSYC_SPACECRAFT' TKFRAME_-255160_ANGLES = ( 0.0, 90.0, 0.0 ) TKFRAME_-255160_AXES = ( 1, 2, 3 ) TKFRAME_-255160_UNITS = 'DEGREES' \begintext GRNS Instruments Mechanical Frames -------------------------------------- The Gamma Ray Spectrometer (GRS) mechanical frame -- PSYC_GRS_MECH (ID -255151) -- is defined as follows: - +Z axis is co-aligned with the s/c +Z axis; - +Y axis is co-aligned with the s/c +Y axis; - +X axis completes the right handed frame, and is co-aligned with with s/c +X axis; - the origin of the frame is located at the geometric center of the detector. The Neutron Spectrometer (NS) mechanical frame -- PSYC_NS_MECH (ID -255161) -- is defined as follows: - +Z axis is co-aligned with the s/c -Z axis; - +Y axis is co-aligned with the s/c -X axis; - +X axis completes the right handed frame, and is co-aligned with the s/c -Y axis; - the origin of the frame is located at the geometric center of the detector. These frames are defined as fixed offset frames relative to the PSYC_SPACECRAFT frame. The following spacecraft to GRS and NS rotation matrices are provided in [7]: GRS: 1 0 0 0 1 0 0 0 1 NS: 0 -1 0 -1 0 0 0 0 -1 -X s/c side (science deck side) view: ------------------------------------- +Xsc _____ x----> +Ysc | | | | | | v | o==/ /==================o | +Zsc |o==================/ /==o -Y Solar Array (MY) | | +Y Solar Array (PY) | | |_____________| | .-| |-. | .' `-' `. HGA +Zns |^`. .' || '-----' +Xns <---|o |+Yns | | +Xgrs |x----> +Ygrs | | v +Zgrs +Xsc and +Xgrs are into the page +Yns in out of the page As seen on the diagram (see [7]), the GRS_MECH frame is co-aligned with the s/c frame, and a rotation by +90 degrees about Z followed by a rotation by +180 degrees around Y is needed to align the s/c frame with the NS_MECH frame. The frame definitions below contain the opposite of this rotation because Euler angles specified in it define transformation from the instrument to the s/c frame (see [1]). The keywords below define the GRNS mechanical frames. \begindata FRAME_PSYC_GRS_MECH = -255151 FRAME_-255151_NAME = 'PSYC_GRS_MECH' FRAME_-255151_CLASS = 4 FRAME_-255151_CLASS_ID = -255151 FRAME_-255151_CENTER = -255 TKFRAME_-255151_SPEC = 'ANGLES' TKFRAME_-255151_RELATIVE = 'PSYC_SPACECRAFT' TKFRAME_-255151_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-255151_AXES = ( 1, 2, 3 ) TKFRAME_-255151_UNITS = 'DEGREES' FRAME_PSYC_NS_MECH = -255161 FRAME_-255161_NAME = 'PSYC_NS_MECH' FRAME_-255161_CLASS = 4 FRAME_-255161_CLASS_ID = -255161 FRAME_-255161_CENTER = -255 TKFRAME_-255161_SPEC = 'ANGLES' TKFRAME_-255161_RELATIVE = 'PSYC_SPACECRAFT' TKFRAME_-255161_ANGLES = ( -90.0, -180.0, 0.0 ) TKFRAME_-255161_AXES = ( 3, 2, 1 ) TKFRAME_-255161_UNITS = 'DEGREES' \begintext MAG frames ======================================================================== This section of the file contains definitions of the Magnetometer (MAG) frames. MAG Frame Tree -------------------------------------- The diagram below shows the MAG frame hierarchy. "J2000" INERTIAL +--------------+ | |<-ck | V "PSYC_SPACECRAFT" +-----------------------------------------------------+ | | |<-fixed |<-fixed | | V V "PSYC_MAG1" "PSYC_MAG2" ----------- ----------- MAG1 and MAG2 Frames -------------------------------------- The following frames are defined for the dual Magnetometers (MAG) (see [7]): PSYC_MAG1 (ID -255170) and PSYC_MAG2 (ID -255180). These frames are defined as fixed offset frames relative to the PSYC_SPACECRAFT frame. Each of the PSYC MAG frames -- PSYC_MAG1 and PSYC_MAG2 -- is defined as follows: - +X axis is nominally co-aligned with the s/c +Y axis; - +Y axis is nominally co-aligned with the s/c -Z axis; - +Z axis completes the right handed frame, and is nominally co-aligned with the s/c -X axis; - the origin of the frame is located at the geometric center of the detector. The following spacecraft to magnetometer rotation matrices are provided in [7]: MAG1: 0 1 0 0 0 -1 -1 0 0 MAG2: 0 1 0 0 0 -1 -1 0 0 -X s/c side (science deck side) view: ------------------------------------- +Xsc _____ x----> +Ysc | | | | | | v | o==/ /==================o | +Zsc |o==================/ /==o -Y Solar Array (MY) | | +Y Solar Array (PY) | | |_____________| .-| |-. | HGA .' `-' `. | `. .' |^ +Ymag2 `-----' || +Zmag2 |o----> +Xmag2 | |^ +Ymag1 || +Zmag1 |o----> +Xmag1 +Xsc is into the page +Zmag1 and +Zmag2 are into the page As seen on the diagram (see [7]), a rotation by -90.0 degrees about Y followed by a rotation by +90.0 degrees around Z is needed to align the s/c frame with both MAG frames. The frame definitions below contain the opposite of this rotation because Euler angles specified in it define transformation from the instrument to the s/c frame (see [1]). The keywords below define the MAG frames. \begindata FRAME_PSYC_MAG1 = -255170 FRAME_-255170_NAME = 'PSYC_MAG1' FRAME_-255170_CLASS = 4 FRAME_-255170_CLASS_ID = -255170 FRAME_-255170_CENTER = -255 TKFRAME_-255170_SPEC = 'ANGLES' TKFRAME_-255170_RELATIVE = 'PSYC_SPACECRAFT' TKFRAME_-255170_ANGLES = ( 0.0, 90.0, -90.0 ) TKFRAME_-255170_AXES = ( 1, 2, 3 ) TKFRAME_-255170_UNITS = 'DEGREES' FRAME_PSYC_MAG2 = -255180 FRAME_-255180_NAME = 'PSYC_MAG2' FRAME_-255180_CLASS = 4 FRAME_-255180_CLASS_ID = -255180 FRAME_-255180_CENTER = -255 TKFRAME_-255180_SPEC = 'ANGLES' TKFRAME_-255180_RELATIVE = 'PSYC_SPACECRAFT' TKFRAME_-255180_ANGLES = ( 0.0, 90.0, -90.0 ) TKFRAME_-255180_AXES = ( 1, 2, 3 ) TKFRAME_-255180_UNITS = 'DEGREES' \begintext DSM Frames ======================================================================== This section of the file contains definitions of the DAPM actuated Stationary Plasma Thruster (SPT) Modules (DSM) frames. DSM Frame Tree -------------------------------------- The diagram below shows the DSM frame hierarchy. "J2000" INERTIAL +--------------+ | |<-ck | V "PSYC_SPACECRAFT" +-----------------------------------------------------+ | | |<-fixed fixed->| | | V V "PSYC_DSM1_BASE" "PSYC_DSM2_BASE" ---------------- ---------------- | | |<-ck ck->| | | V V "PSYC_DSM1_AXIS1" "PSYC_DSM2_AXIS1" ----------------- ----------------- | | |<-ck ck->| | | V V "PSYC_DSM1_AXIS2" "PSYC_DSM2_AXIS2" ----------------- ----------------- | | | | | |<-fixed fixed->| | | | | | | V V | | "PSYC_DSM1_EP_A" "PSYC_DSM2_EP_B" | | ---------------- ---------------- | | | |<-fixed fixed->| | | V V "PSYC_DSM1_EP_C" "PSYC_DSM2_EP_D" ---------------- ---------------- DSM Frames -------------------------------------- The following frames are defined for the two DSMs. For DSM1: PSYC_DSM1_BASE (ID -255210), PSYC_DSM1_AXIS1 (ID -255211), PSYC_DSM1_AXIS2 (ID -255212), PSYC_DSM1_EP_A (ID -255213), and PSYC_DSM1_EP_C (ID -255214). And for DSM2: PSYC_DSM2_BASE (ID -255220), PSYC_DSM2_AXIS1 (ID -255221), PSYC_DSM2_AXIS2 (ID -255222), PSYC_DSM2_EP_B (ID -255223), and PSYC_DSM2_EP_D (ID -255224). Per [12], DSM1 is on the +X or East face of the spacecraft and DSM2 is on the -X or West face. Each DSM articulates via two gimbals Axis1 and Axis2. The two rotation axes intersect at the DAPM point of each DSM. Each DSM contains two Hall Effect Thrusters (HET). The HET which is outermost on each DSM, i.e. furthest from the DAPM, is HET1 - the primary HET. The other HET which is closer to the DAPM is HET2 - the redundant HET. HET1 and HET2 are designated as follows for each DSM, per [13]: - DSM1_HET1 --> DSM1_EP_A - DSM1_HET2 --> DSM1_EP_C - DSM2_HET1 --> DSM2_EP_B - DSM2_HET2 --> DSM2_EP_D The PSYC_DSM1_BASE and PSYC_DSM2_BASE frames are oriented as follows: - +X axis is along gimbal rotation axis AXIS1 in stowed position. For PSYC_DSM1_BASE, this is S/C +X; for PSYC_DSM2_BASE, this is S/C -X. - +Y axis is along gimbal rotation axis AXIS2 in stowed postion. For both frames, this is S/C -Z - +Z axis completes the right-handed frame and is aligned with S/C +Y for DSM1 and S/C -Y for DSM2. The +Z axis also points toward the end of the DSM. - the origin of the frame is located at the DAPM point. The transformation from the S/C frame to PSYC_DSM1_BASE consists of a rotation of -90 deg about X axis. The transformation from the S/C frame to PSYC_DSM2_BASE consists of a rotation of -90 deg about the X axis followed by a 180 deg rotation about the Y axis. The PSYC_DSM<1,2>_AXIS1 (ID -255211/-255221) and PSYC_DSM<1,2>_AXIS2 (ID -255212/-255222) frames define the rotation of the gimbal movements for the AXIS1 and AXIS2 gimbals. For both DSMs, the AXIS1 rotation axis is aligned with the BASE frame +X and the AXIS2 rotation axis is aligned with the BASE frame +Y in the stowed configuration. In the stowed configuration (gimbal angles = 0), the BASE, AXIS1, and AXIS2 frames are coaligned. The origin of these frames is at the DAPM point. The rotaion is provided in C Kernels and these frames are defined as CK frames below. The frames PSYC_DSM1_EP_A (ID -255213), PSYC_DSM1_EP_C (ID -255214), PSYC_DSM2_EP_B (ID -255223), and PSYC_DSM2_EP_D (ID -255224) define the thruster frames and are aligned as follows: - +Z axis is normal to the thruster surface in the direction of the plume (anti-thrust). Per [12] table 5, the thrust unit vectors for AXIS1 rotation = AXIS2 rotation = 0.0 are: DSM1 DSM2 EP_A EP_C EP_B EP_D X: -0.75471 -0.89879 0.75471 0.89879 Y: -0.65606 -0.43838 0.65606 0.43838 Z: 0.00000 0.00000 0.00000 0.00000 - +X axis points toward the base of the DSM (toward the DAPM) and is in the SPT exit plane. - +Y axis completes the right handed frame. - the origin of the frame is located at the center of the SPT exit plane. Diagrams [TBD]. Given the above defintion, the transformation from the corresponding AXIS2 frame to the thruster frame consists of a rotation about the Y axis of 49.0 deg for thruster 1 (EP_A, EP_B) or 64.0 deg for thruster 2 (EP_C, EP_D). The frame definitions are given in the keywords below. \begindata FRAME_PSYC_DSM1_BASE = -255210 FRAME_-255210_NAME = 'PSYC_DSM1_BASE' FRAME_-255210_CLASS = 4 FRAME_-255210_CLASS_ID = -255210 FRAME_-255210_CENTER = -255 TKFRAME_-255210_SPEC = 'ANGLES' TKFRAME_-255210_RELATIVE = 'PSYC_SPACECRAFT' TKFRAME_-255210_ANGLES = ( 90.0, 0.0, 0.0 ) TKFRAME_-255210_AXES = ( 1, 2, 3 ) TKFRAME_-255210_UNITS = 'DEGREES' FRAME_PSYC_DSM1_AXIS1 = -255211 FRAME_-255211_NAME = 'PSYC_DSM1_AXIS1' FRAME_-255211_CLASS = 3 FRAME_-255211_CLASS_ID = -255211 FRAME_-255211_CENTER = -255 CK_-255211_SCLK = -255 CK_-255211_SPK = -255 FRAME_PSYC_DSM1_AXIS2 = -255212 FRAME_-255212_NAME = 'PSYC_DSM1_AXIS2' FRAME_-255212_CLASS = 3 FRAME_-255212_CLASS_ID = -255212 FRAME_-255212_CENTER = -255 CK_-255212_SCLK = -255 CK_-255212_SPK = -255 FRAME_PSYC_DSM1_EP_A = -255213 FRAME_-255213_NAME = 'PSYC_DSM1_EP_A' FRAME_-255213_CLASS = 4 FRAME_-255213_CLASS_ID = -255213 FRAME_-255213_CENTER = -255 TKFRAME_-255213_SPEC = 'ANGLES' TKFRAME_-255213_RELATIVE = 'PSYC_DSM1_AXIS2' TKFRAME_-255213_ANGLES = ( 0.0, -49.0, 0.0 ) TKFRAME_-255213_AXES = ( 1, 2, 3 ) TKFRAME_-255213_UNITS = 'DEGREES' FRAME_PSYC_DSM1_EP_C = -255214 FRAME_-255214_NAME = 'PSYC_DSM1_EP_C' FRAME_-255214_CLASS = 4 FRAME_-255214_CLASS_ID = -255214 FRAME_-255214_CENTER = -255 TKFRAME_-255214_SPEC = 'ANGLES' TKFRAME_-255214_RELATIVE = 'PSYC_DSM1_AXIS2' TKFRAME_-255214_ANGLES = ( 0.0, -64.0, 0.0 ) TKFRAME_-255214_AXES = ( 1, 2, 3 ) TKFRAME_-255214_UNITS = 'DEGREES' FRAME_PSYC_DSM2_BASE = -255220 FRAME_-255220_NAME = 'PSYC_DSM2_BASE' FRAME_-255220_CLASS = 4 FRAME_-255220_CLASS_ID = -255220 FRAME_-255220_CENTER = -255 TKFRAME_-255220_SPEC = 'ANGLES' TKFRAME_-255220_RELATIVE = 'PSYC_SPACECRAFT' TKFRAME_-255220_ANGLES = ( 90.0, 180.0, 0.0 ) TKFRAME_-255220_AXES = ( 1, 2, 3 ) TKFRAME_-255220_UNITS = 'DEGREES' FRAME_PSYC_DSM2_AXIS1 = -255221 FRAME_-255221_NAME = 'PSYC_DSM2_AXIS1' FRAME_-255221_CLASS = 3 FRAME_-255221_CLASS_ID = -255221 FRAME_-255221_CENTER = -255 CK_-255221_SCLK = -255 CK_-255221_SPK = -255 FRAME_PSYC_DSM2_AXIS2 = -255222 FRAME_-255222_NAME = 'PSYC_DSM2_AXIS2' FRAME_-255222_CLASS = 3 FRAME_-255222_CLASS_ID = -255222 FRAME_-255222_CENTER = -255 CK_-255222_SCLK = -255 CK_-255222_SPK = -255 FRAME_PSYC_DSM2_EP_B = -255223 FRAME_-255223_NAME = 'PSYC_DSM2_EP_B' FRAME_-255223_CLASS = 4 FRAME_-255223_CLASS_ID = -255223 FRAME_-255223_CENTER = -255 TKFRAME_-255223_SPEC = 'ANGLES' TKFRAME_-255223_RELATIVE = 'PSYC_DSM2_AXIS2' TKFRAME_-255223_ANGLES = ( 0.0, -49.0, 0.0 ) TKFRAME_-255223_AXES = ( 1, 2, 3 ) TKFRAME_-255223_UNITS = 'DEGREES' FRAME_PSYC_DSM2_EP_D = -255224 FRAME_-255224_NAME = 'PSYC_DSM2_EP_D' FRAME_-255224_CLASS = 4 FRAME_-255224_CLASS_ID = -255224 FRAME_-255224_CENTER = -255 TKFRAME_-255224_SPEC = 'ANGLES' TKFRAME_-255224_RELATIVE = 'PSYC_DSM2_AXIS2' TKFRAME_-255224_ANGLES = ( 0.0, -64.0, 0.0 ) TKFRAME_-255224_AXES = ( 1, 2, 3 ) TKFRAME_-255224_UNITS = 'DEGREES' \begintext CGT frames ======================================================================== This section of the file contains definitions of the Cold Gas Thruster (CGT) frames. CGT Frame Tree -------------------------------------- The diagram below shows the CGT frame hierarchy. "J2000" INERTIAL +--------------+ | |<-ck | V "PSYC_SPACECRAFT" ----------------- | |<-fixed | V "PSYC_CGT<1-12>" ---------------- CGT Frames -------------------------------------- The following frames are defined for the Cold Gas Thrusters: PSYC_CGT<1-12> (IDs -255231 through -255242). Per [12], the CGT orientations are defined by a clock angle and a tilt angle. The clock angle is a rotation about the S/C Z axis, and the tilt is an elevation of the plume direction from the S/C XY plane. The CGT frames are defined as follows: - +Z axis is the plume (anti-thrust) direction. It is rotated from the S/C X axis by the angle 'clock' and is elevated out of the S/C XY plane by the angle 'tilt'. - +Y axis is in the S/C XY plane and is separated from S/C Y by the angle 'clock'. - +X axis completes the right-handed frame. - The origin of the frame is at the center of the nozzle exit plane The transformation from Spacecraft to CGT frame consists of a rotation of 'clock' degrees about the Z axis followed by a rotation of (90 - 'tilt') degrees about the Y axis. Per [12], the values of clock and tilt for each CGT are: CGT Clock Tilt ------- ------- ------- CGT1 180.0 0.0 CGT2 0.0 0.0 CGT3 0.0 0.0 CGT4 180.0 0.0 CGT5 90.0 -32.0 CGT6 270.0 -32.0 CGT7 0.0 0.0 CGT8 180.0 0.0 CGT9 180.0 0.0 CGT10 0.0 0.0 CGT11 90.0 -32.0 CGT12 270.0 -32.0 This set of keywords defines the CGT frames as fixed offset frames: \begindata FRAME_PSYC_CGT1 = -255231 FRAME_-255231_NAME = 'PSYC_CGT1' FRAME_-255231_CLASS = 4 FRAME_-255231_CLASS_ID = -255231 FRAME_-255231_CENTER = -255 TKFRAME_-255231_SPEC = 'ANGLES' TKFRAME_-255231_RELATIVE = 'PSYC_SPACECRAFT' TKFRAME_-255231_ANGLES = ( 180.0, -90.0, 0.0 ) TKFRAME_-255231_AXES = ( 3, 2, 1 ) TKFRAME_-255231_UNITS = 'DEGREES' FRAME_PSYC_CGT2 = -255232 FRAME_-255232_NAME = 'PSYC_CGT2' FRAME_-255232_CLASS = 4 FRAME_-255232_CLASS_ID = -255232 FRAME_-255232_CENTER = -255 TKFRAME_-255232_SPEC = 'ANGLES' TKFRAME_-255232_RELATIVE = 'PSYC_SPACECRAFT' TKFRAME_-255232_ANGLES = ( 0.0, -90.0, 0.0 ) TKFRAME_-255232_AXES = ( 3, 2, 1 ) TKFRAME_-255232_UNITS = 'DEGREES' FRAME_PSYC_CGT3 = -255233 FRAME_-255233_NAME = 'PSYC_CGT3' FRAME_-255233_CLASS = 4 FRAME_-255233_CLASS_ID = -255233 FRAME_-255233_CENTER = -255 TKFRAME_-255233_SPEC = 'ANGLES' TKFRAME_-255233_RELATIVE = 'PSYC_SPACECRAFT' TKFRAME_-255233_ANGLES = ( 0.0, -90.0, 0.0 ) TKFRAME_-255233_AXES = ( 3, 2, 1 ) TKFRAME_-255233_UNITS = 'DEGREES' FRAME_PSYC_CGT4 = -255234 FRAME_-255234_NAME = 'PSYC_CGT4' FRAME_-255234_CLASS = 4 FRAME_-255234_CLASS_ID = -255234 FRAME_-255234_CENTER = -255 TKFRAME_-255234_SPEC = 'ANGLES' TKFRAME_-255234_RELATIVE = 'PSYC_SPACECRAFT' TKFRAME_-255234_ANGLES = ( 180.0, -90.0, 0.0 ) TKFRAME_-255234_AXES = ( 3, 2, 1 ) TKFRAME_-255234_UNITS = 'DEGREES' FRAME_PSYC_CGT5 = -255235 FRAME_-255235_NAME = 'PSYC_CGT5' FRAME_-255235_CLASS = 4 FRAME_-255235_CLASS_ID = -255235 FRAME_-255235_CENTER = -255 TKFRAME_-255235_SPEC = 'ANGLES' TKFRAME_-255235_RELATIVE = 'PSYC_SPACECRAFT' TKFRAME_-255235_ANGLES = ( -90.0, -122.0, 0.0 ) TKFRAME_-255235_AXES = ( 3, 2, 1 ) TKFRAME_-255235_UNITS = 'DEGREES' FRAME_PSYC_CGT6 = -255236 FRAME_-255236_NAME = 'PSYC_CGT6' FRAME_-255236_CLASS = 4 FRAME_-255236_CLASS_ID = -255236 FRAME_-255236_CENTER = -255 TKFRAME_-255236_SPEC = 'ANGLES' TKFRAME_-255236_RELATIVE = 'PSYC_SPACECRAFT' TKFRAME_-255236_ANGLES = ( -270.0, -122.0, 0.0 ) TKFRAME_-255236_AXES = ( 3, 2, 1 ) TKFRAME_-255236_UNITS = 'DEGREES' FRAME_PSYC_CGT7 = -255237 FRAME_-255237_NAME = 'PSYC_CGT7' FRAME_-255237_CLASS = 4 FRAME_-255237_CLASS_ID = -255237 FRAME_-255237_CENTER = -255 TKFRAME_-255237_SPEC = 'ANGLES' TKFRAME_-255237_RELATIVE = 'PSYC_SPACECRAFT' TKFRAME_-255237_ANGLES = ( 0.0, -90.0, 0.0 ) TKFRAME_-255237_AXES = ( 3, 2, 1 ) TKFRAME_-255237_UNITS = 'DEGREES' FRAME_PSYC_CGT8 = -255238 FRAME_-255238_NAME = 'PSYC_CGT8' FRAME_-255238_CLASS = 4 FRAME_-255238_CLASS_ID = -255238 FRAME_-255238_CENTER = -255 TKFRAME_-255238_SPEC = 'ANGLES' TKFRAME_-255238_RELATIVE = 'PSYC_SPACECRAFT' TKFRAME_-255238_ANGLES = ( 180.0, -90.0, 0.0 ) TKFRAME_-255238_AXES = ( 3, 2, 1 ) TKFRAME_-255238_UNITS = 'DEGREES' FRAME_PSYC_CGT9 = -255239 FRAME_-255239_NAME = 'PSYC_CGT9' FRAME_-255239_CLASS = 4 FRAME_-255239_CLASS_ID = -255239 FRAME_-255239_CENTER = -255 TKFRAME_-255239_SPEC = 'ANGLES' TKFRAME_-255239_RELATIVE = 'PSYC_SPACECRAFT' TKFRAME_-255239_ANGLES = ( 180.0, -90.0, 0.0 ) TKFRAME_-255239_AXES = ( 3, 2, 1 ) TKFRAME_-255239_UNITS = 'DEGREES' FRAME_PSYC_CGT10 = -255240 FRAME_-255240_NAME = 'PSYC_CGT10' FRAME_-255240_CLASS = 4 FRAME_-255240_CLASS_ID = -255240 FRAME_-255240_CENTER = -255 TKFRAME_-255240_SPEC = 'ANGLES' TKFRAME_-255240_RELATIVE = 'PSYC_SPACECRAFT' TKFRAME_-255240_ANGLES = ( 0.0, -90.0, 0.0 ) TKFRAME_-255240_AXES = ( 3, 2, 1 ) TKFRAME_-255240_UNITS = 'DEGREES' FRAME_PSYC_CGT11 = -255241 FRAME_-255241_NAME = 'PSYC_CGT11' FRAME_-255241_CLASS = 4 FRAME_-255241_CLASS_ID = -255241 FRAME_-255241_CENTER = -255 TKFRAME_-255241_SPEC = 'ANGLES' TKFRAME_-255241_RELATIVE = 'PSYC_SPACECRAFT' TKFRAME_-255241_ANGLES = ( -90.0, -122.0, 0.0 ) TKFRAME_-255241_AXES = ( 3, 2, 1 ) TKFRAME_-255241_UNITS = 'DEGREES' FRAME_PSYC_CGT12 = -255242 FRAME_-255242_NAME = 'PSYC_CGT12' FRAME_-255242_CLASS = 4 FRAME_-255242_CLASS_ID = -255242 FRAME_-255242_CENTER = -255 TKFRAME_-255242_SPEC = 'ANGLES' TKFRAME_-255242_RELATIVE = 'PSYC_SPACECRAFT' TKFRAME_-255242_ANGLES = ( -270.0, -122.0, 0.0 ) TKFRAME_-255242_AXES = ( 3, 2, 1 ) TKFRAME_-255242_UNITS = 'DEGREES' \begintext DSOC frames ======================================================================== This section of the file contains definitions of the Deep Space Optical Communications (DSOC) frames. DSOC Frame Tree -------------------------------------- The diagram below shows the DSOC frame hierarchy. "J2000" INERTIAL +--------------+ | |<-ck | V "PSYC_SPACECRAFT" +-----------------------------------------------------+ | |<-fixed | V "PSYC_DSOC_MECH" ---------------- | |<-fixed | V "PSYC_DSOC_BASE" ---------------- | |<-ck | V "PSYC_DSOC" ----------- DSOC Frames -------------------------------------- The following frames are defined for the DSOC instrument: PSYC_DSOC_MECH (ID -255192), PSYC_DSOC_BASE (ID -255190), and PSYC_DSOC (ID -255191). The DSOC is rigidly attached to the +X side of the s/c bus but its optical component has time-variable orientation to precisely point at the Earth. Given this the DSOC mechanical frame, PSYC_DSOC_MECH, is defined as a fixed offset frame with its orientation given relative to the PSYC_SPACECRAFT frame; the DSOC base frame, PSYC_DSOC_BASE, is defined as a fixed offset frame with its orientation given relative to the PSYC_DSOC_MECH frame; and the DSOC optics frame, PSYC_DSOC, is defined as a CK-based frame. The PSYC_DSOC_MECH frame is defined as follows (see [9]): - +Z axis is opposite of the boresight direction at zero position and is nominally co-aligned with the HGA anti-boresight; - +Y axis is normal to the DSOC mounting plate and points away from the instrument toward the center of the spacecraft; - +X axis completes the right handed frame; - the origin of the frame is located at the DSOC optics focal point. The PSYC_DSOC_BASE frame is defined as follows (see [7]): - +Z axis is in the boresight direction at zero position and is nominally co-aligned with the HGA boresight; - +Y axis is nominally co-aligned with the DSOC mechanical +X axis; - +X axis completes the right handed frame and is nominally co-aligned with the DSOC mechanical +Y axis; - the origin of the frame is located at the DSOC optics focal point. In zero position the DSOC optics frame is co-aligned with the DSOC base frame. This diagram illustrates the DSOC mechanical (dsocm) and base (dsocb) frames: +Z s/c side (HGA side) view: ---------------------------- ^ | toward asteroid Science Deck _____________ __ ________________ | | _______________ ___ | \ \ \ | . ----- . | / \ \ | | / / \ |.' `.| / / / | | \ \ `. . +Zsc +Ysc| .' \ \ | | / / o o----> |o | / / | | \ \ +Xdsocm +Ydsocm| . `. \ \ | | / / +Ydsocb +Xdsocb| '| \ / / | |__\ \_______________ <. ^ v +Xsc | \_______________\ \__| -Y Solar Array `-.^/_________| +Y Solar Array (PY) * v +Zdsocb +Zsc is out of the page. +Zdsocm (not marked) is into the page, tilted 10 degrees from -Zsc towards -Xsc. +Zdsocb is out of the page, tilted 10 degrees from +Zsc towards +Xsc. Nominally three rotations are needed to align the s/c frame with the DSOC mechanical frame -- first by +10 degrees about Y, second by -117 degrees about Z, third by 180 degrees about X. Nominally two rotations are needed to align the DSOC mechanical frame with the DSOC base frame -- first by 180 degrees about X, second by -90 degrees about Z. The DSOC mechanical and base frame definitions below contain the opposite of these rotations because Euler angles specified in them define transformations from instrument to relative-to frames (see [1]). This set of keywords defines the DSOC mechanical and base frames as a fixed offset frame and DSOC optics frame as a CK-based frame: \begindata FRAME_PSYC_DSOC_MECH = -255192 FRAME_-255192_NAME = 'PSYC_DSOC_MECH' FRAME_-255192_CLASS = 4 FRAME_-255192_CLASS_ID = -255192 FRAME_-255192_CENTER = -255 TKFRAME_-255192_SPEC = 'ANGLES' TKFRAME_-255192_RELATIVE = 'PSYC_SPACECRAFT' TKFRAME_-255192_ANGLES = ( -10.0, 117.0, 180.0 ) TKFRAME_-255192_AXES = ( 2, 3, 1 ) TKFRAME_-255192_UNITS = 'DEGREES' FRAME_PSYC_DSOC_BASE = -255190 FRAME_-255190_NAME = 'PSYC_DSOC_BASE' FRAME_-255190_CLASS = 4 FRAME_-255190_CLASS_ID = -255190 FRAME_-255190_CENTER = -255 TKFRAME_-255190_SPEC = 'ANGLES' TKFRAME_-255190_RELATIVE = 'PSYC_DSOC_MECH' TKFRAME_-255190_ANGLES = ( 180.0, 90.0, 0.0 ) TKFRAME_-255190_AXES = ( 1, 3, 3 ) TKFRAME_-255190_UNITS = 'DEGREES' FRAME_PSYC_DSOC = -255191 FRAME_-255191_NAME = 'PSYC_DSOC' FRAME_-255191_CLASS = 3 FRAME_-255191_CLASS_ID = -255191 FRAME_-255191_CENTER = -255 CK_-255191_SCLK = -255 CK_-255191_SPK = -255 \begintext DSOC Ground Site frames ======================================================================== This section of the file contains definitions of the Deep Space Optical Communications (DSOC) ground site frames for Palomar and OCTL. DSOC Ground Site Frame Tree -------------------------------------- The diagram below shows the DSOC Ground Site frame hierarchy. "J2000" INERTIAL +--------------+ | |<-binary pck | V "ITRF93" +------------------------------------------+ | | |<-fixed fixed-> | | | V V "PSYC_DSOC_PALOMAR_TOPO" "PSYC_DSOC_OCTL_TOPO" ------------------------ --------------------- DSOC Ground Site Frames -------------------------------------- Topocentric frame PSYC_DSOC_PALOMAR_TOPO The Z axis of this frame points toward the zenith. The X axis of this frame points North. Topocentric frame PSYC_DSOC_PALOMAR_TOPO is centered at the site PSYC_DSOC_PALOMAR, which has Cartesian coordinates X (km): -0.2410495899218E+04 Y (km): -0.4758573867720E+04 Z (km): 0.3487972589076E+04 and planetodetic coordinates Longitude (deg): -116.8648800000000 Latitude (deg): 33.3563000000000 Altitude (km): 0.1709300000001E+01 These planetodetic coordinates are expressed relative to a reference spheroid having the dimensions Equatorial radius (km): 6.3781370000000E+03 Polar radius (km): 6.3567523142450E+03 All of the above coordinates are relative to the frame ITRF93. \begindata FRAME_PSYC_DSOC_PALOMAR_TOPO = -255195 FRAME_-255195_NAME = 'PSYC_DSOC_PALOMAR_TOPO' FRAME_-255195_CLASS = 4 FRAME_-255195_CLASS_ID = -255195 FRAME_-255195_CENTER = -255195 OBJECT_-255195_FRAME = 'PSYC_DSOC_PALOMAR_TOPO' TKFRAME_-255195_RELATIVE = 'ITRF93' TKFRAME_-255195_SPEC = 'ANGLES' TKFRAME_-255195_UNITS = 'DEGREES' TKFRAME_-255195_AXES = ( 3, 2, 3 ) TKFRAME_-255195_ANGLES = ( -243.1351200000000, -56.6437000000000, 180.0000000000000 ) \begintext Topocentric frame PSYC_DSOC_OCTL_TOPO The Z axis of this frame points toward the zenith. The X axis of this frame points North. Topocentric frame PSYC_DSOC_OCTL_TOPO is centered at the site PSYC_DSOC_OCTL, which has Cartesian coordinates X (km): -0.2448933358431E+04 Y (km): -0.4667932945234E+04 Z (km): 0.3582751572991E+04 and planetodetic coordinates Longitude (deg): -117.6828100000000 Latitude (deg): 34.3817700000000 Altitude (km): 0.2259499999998E+01 These planetodetic coordinates are expressed relative to a reference spheroid having the dimensions Equatorial radius (km): 6.3781370000000E+03 Polar radius (km): 6.3567523142450E+03 All of the above coordinates are relative to the frame ITRF93. \begindata FRAME_PSYC_DSOC_OCTL_TOPO = -255196 FRAME_-255196_NAME = 'PSYC_DSOC_OCTL_TOPO' FRAME_-255196_CLASS = 4 FRAME_-255196_CLASS_ID = -255196 FRAME_-255196_CENTER = -255196 OBJECT_-255196_FRAME = 'PSYC_DSOC_OCTL_TOPO' TKFRAME_-255196_RELATIVE = 'ITRF93' TKFRAME_-255196_SPEC = 'ANGLES' TKFRAME_-255196_UNITS = 'DEGREES' TKFRAME_-255196_AXES = ( 3, 2, 3 ) TKFRAME_-255196_ANGLES = ( -242.3171900000000, -55.6182300000000, 180.0000000000000 ) \begintext Psyche Mission NAIF ID Codes -- Definition Section ======================================================================== This section contains name to NAIF ID mappings for the Psyche mission. Psyche Target IDs: ------------------------------------------------------------- This table summarizes Psyche Target IDs: Name ID Synonyms --------------------- ------- --------------------------- PSYCHE 2000016 '16 PSYCHE' Name-ID Mapping keywords: \begindata NAIF_BODY_NAME += ( '16 PSYCHE' ) NAIF_BODY_CODE += ( 2000016 ) NAIF_BODY_NAME += ( 'PSYCHE' ) NAIF_BODY_CODE += ( 2000016 ) \begintext Psyche Spacecraft ID ------------------------------------------------------------- This table summarizes Psyche Spacecraft IDs: Name ID --------------------- ------- PSYC -255 Name-ID Mapping keywords: \begindata NAIF_BODY_NAME += ( 'PSYC' ) NAIF_BODY_CODE += ( -255 ) \begintext Psyche Spacecraft Structures IDs -------------------------------------- This table summarizes Psyche Spacecraft Structure IDs: Name ID --------------------- ------- PSYC -255 PSYC_SPACECRAFT -255000 PSYC_SA_PY -255010 PSYC_SA_MY -255020 PSYC_HGA -255030 PSYC_LGA_MZ -255040 PSYC_LGA_PX -255050 PSYC_LGA_MX -255060 PSYC_ST1 -255070 PSYC_ST2 -255080 PSYC_SS1 -255091 PSYC_SS2 -255092 PSYC_SS3 -255093 PSYC_SS4 -255094 PSYC_SS5 -255095 PSYC_SS6 -255096 PSYC_SS7 -255097 PSYC_SS8 -255098 Name-ID Mapping keywords: \begindata NAIF_BODY_NAME += ( 'PSYC_SPACECRAFT' ) NAIF_BODY_CODE += ( -255000 ) NAIF_BODY_NAME += ( 'PSYC_SA_PY' ) NAIF_BODY_CODE += ( -255010 ) NAIF_BODY_NAME += ( 'PSYC_SA_MY' ) NAIF_BODY_CODE += ( -255020 ) NAIF_BODY_NAME += ( 'PSYC_HGA' ) NAIF_BODY_CODE += ( -255030 ) NAIF_BODY_NAME += ( 'PSYC_LGA_MZ' ) NAIF_BODY_CODE += ( -255040 ) NAIF_BODY_NAME += ( 'PSYC_LGA_PX' ) NAIF_BODY_CODE += ( -255050 ) NAIF_BODY_NAME += ( 'PSYC_LGA_MX' ) NAIF_BODY_CODE += ( -255060 ) NAIF_BODY_NAME += ( 'PSYC_ST1' ) NAIF_BODY_CODE += ( -255070 ) NAIF_BODY_NAME += ( 'PSYC_ST2' ) NAIF_BODY_CODE += ( -255080 ) NAIF_BODY_NAME += ( 'PSYC_SS1' ) NAIF_BODY_CODE += ( -255091 ) NAIF_BODY_NAME += ( 'PSYC_SS2' ) NAIF_BODY_CODE += ( -255092 ) NAIF_BODY_NAME += ( 'PSYC_SS3' ) NAIF_BODY_CODE += ( -255093 ) NAIF_BODY_NAME += ( 'PSYC_SS4' ) NAIF_BODY_CODE += ( -255094 ) NAIF_BODY_NAME += ( 'PSYC_SS5' ) NAIF_BODY_CODE += ( -255095 ) NAIF_BODY_NAME += ( 'PSYC_SS6' ) NAIF_BODY_CODE += ( -255096 ) NAIF_BODY_NAME += ( 'PSYC_SS7' ) NAIF_BODY_CODE += ( -255097 ) NAIF_BODY_NAME += ( 'PSYC_SS8' ) NAIF_BODY_CODE += ( -255098 ) \begintext IMGA and IMGB IDs -------------------------------------- This table summarizes IMGA and IMGB IDs: Name ID --------------------- ------- PSYC_IMGA -255110 PSYC_IMGB -255130 Name-ID Mapping keywords: \begindata NAIF_BODY_NAME += ( 'PSYC_IMGA' ) NAIF_BODY_CODE += ( -255110 ) NAIF_BODY_NAME += ( 'PSYC_IMGB' ) NAIF_BODY_CODE += ( -255130 ) \begintext GRS and NS IDs -------------------------------------- This table summarizes GRS and NS IDs: Name ID --------------------- ------- PSYC_GRS -255150 PSYC_NS -255160 Name-ID Mapping keywords: \begindata NAIF_BODY_NAME += ( 'PSYC_GRS' ) NAIF_BODY_CODE += ( -255150 ) NAIF_BODY_NAME += ( 'PSYC_NS' ) NAIF_BODY_CODE += ( -255160 ) \begintext MAG IDs -------------------------------------- This table summarizes MAG IDs: Name ID --------------------- ------- PSYC_MAG1 -255170 PSYC_MAG2 -255180 Name-ID Mapping keywords: \begindata NAIF_BODY_NAME += ( 'PSYC_MAG1' ) NAIF_BODY_CODE += ( -255170 ) NAIF_BODY_NAME += ( 'PSYC_MAG2' ) NAIF_BODY_CODE += ( -255180 ) \begintext DSM IDs -------------------------------------- This table summarizes DSM IDs: Name ID --------------------- ------- PSYC_DSM1_BASE -255210 PSYC_DSM1_EP_A -255213 PSYC_DSM1_EP_C -255214 PSYC_DSM2_BASE -255220 PSYC_DSM2_EP_B -255223 PSYC_DSM2_EP_D -255224 Name-ID Mapping keywords: \begindata NAIF_BODY_NAME += ( 'PSYC_DSM1_BASE' ) NAIF_BODY_CODE += ( -255210 ) NAIF_BODY_NAME += ( 'PSYC_DSM1_EP_A' ) NAIF_BODY_CODE += ( -255213 ) NAIF_BODY_NAME += ( 'PSYC_DSM1_EP_C' ) NAIF_BODY_CODE += ( -255214 ) NAIF_BODY_NAME += ( 'PSYC_DSM2_BASE' ) NAIF_BODY_CODE += ( -255220 ) NAIF_BODY_NAME += ( 'PSYC_DSM2_EP_B' ) NAIF_BODY_CODE += ( -255223 ) NAIF_BODY_NAME += ( 'PSYC_DSM2_EP_D' ) NAIF_BODY_CODE += ( -255224 ) \begintext CGT IDs -------------------------------------- This table summarizes CGT IDs: Name ID --------------------- ------- PSYC_CGT1 -255231 PSYC_CGT2 -255232 PSYC_CGT3 -255233 PSYC_CGT4 -255234 PSYC_CGT5 -255235 PSYC_CGT6 -255236 PSYC_CGT7 -255237 PSYC_CGT8 -255238 PSYC_CGT9 -255239 PSYC_CGT10 -255240 PSYC_CGT11 -255241 PSYC_CGT12 -255242 Name-ID Mapping keywords: \begindata NAIF_BODY_NAME += ( 'PSYC_CGT1' ) NAIF_BODY_CODE += ( -255231 ) NAIF_BODY_NAME += ( 'PSYC_CGT2' ) NAIF_BODY_CODE += ( -255232 ) NAIF_BODY_NAME += ( 'PSYC_CGT3' ) NAIF_BODY_CODE += ( -255233 ) NAIF_BODY_NAME += ( 'PSYC_CGT4' ) NAIF_BODY_CODE += ( -255234 ) NAIF_BODY_NAME += ( 'PSYC_CGT5' ) NAIF_BODY_CODE += ( -255235 ) NAIF_BODY_NAME += ( 'PSYC_CGT6' ) NAIF_BODY_CODE += ( -255236 ) NAIF_BODY_NAME += ( 'PSYC_CGT7' ) NAIF_BODY_CODE += ( -255237 ) NAIF_BODY_NAME += ( 'PSYC_CGT8' ) NAIF_BODY_CODE += ( -255238 ) NAIF_BODY_NAME += ( 'PSYC_CGT9' ) NAIF_BODY_CODE += ( -255239 ) NAIF_BODY_NAME += ( 'PSYC_CGT10' ) NAIF_BODY_CODE += ( -255240 ) NAIF_BODY_NAME += ( 'PSYC_CGT11' ) NAIF_BODY_CODE += ( -255241 ) NAIF_BODY_NAME += ( 'PSYC_CGT12' ) NAIF_BODY_CODE += ( -255242 ) \begintext DSOC IDs -------------------------------------- This table summarizes DSOC IDs: Name ID --------------------- ------- PSYC_DSOC_BASE -255190 PSYC_DSOC -255191 Name-ID Mapping keywords: \begindata NAIF_BODY_NAME += ( 'PSYC_DSOC_BASE' ) NAIF_BODY_CODE += ( -255190 ) NAIF_BODY_NAME += ( 'PSYC_DSOC' ) NAIF_BODY_CODE += ( -255191 ) \begintext DSOC Ground Site IDs -------------------------------------- This table summarizes DSOC Ground Site IDs: Name ID --------------------- ------- PSYC_DSOC_PALOMAR -255195 PSYC_DSOC_OCTL -255196 Name-ID Mapping keywords: \begindata NAIF_BODY_NAME += ( 'PSYC_DSOC_PALOMAR' ) NAIF_BODY_CODE += ( -255195 ) NAIF_BODY_NAME += ( 'PSYC_DSOC_OCTL' ) NAIF_BODY_CODE += ( -255196 ) \begintext End of FK.