KPL/FK SMART-1 Spacecraft Frames Kernel ======================================================================== This frame kernel contains complete set of frame definitions for the SMART-1 Spacecraft (SMART-1) including definitions for the SMART-1 spacecraft and SMART-1 science instrument frames. This kernel also contains NAIF ID/name mapping for the SMART-1 instruments. Version and Date ======================================================================== Version 0.7 -- November 18, 2005 -- Jorge Diaz del Rio, RSSD/ESA Correction of the rotation angles of the SMART1_XSM frame definition after email sent by Jyri Naranen (XSM team). The nominal values from Version 0.3 of this frame have been included again. Version 0.6 -- June 17, 2005 -- Jorge Diaz del Rio, RSSD/ESA Corrections in the D-CIXS diagram proposed by D-CIXS team. Version 0.5 -- May 27, 2005 -- Jorge Diaz del Rio, RSSD/ESA Reorganization of D-CIXS frame names and tree. DCIXS_BASE renamed to DCIXS. DCIXS_FACET1, DCIXS_FACET2, DCIXS_FACET3 removed from the DCIXS frame tree. Information about facet's boresights is provided in the SMART1/D-CIXS IK. Version 0.4 -- April 20, 2005 -- Jorge Diaz del Rio, RSSD/ESA Correction of the rotation angles of the SMART1_XSM frame definition after the review of XSM Instrument Team. Version 0.3 -- March 10, 2005 -- Jorge Diaz del Rio, RSSD/ESA Solar Array BAPTA frames included. Corrections to the instrument frames alignment values applied. Preliminary Version. Pending review and approval by SMART-1 instrument teams. Version 0.2 -- January 20, 2005 -- Jorge Diaz del Rio, RSSD/ESA SPEDE frames added. Preliminary Version. Pending review and approval by SMART-1 instrument teams and ESTEC Science Operations Team. Version 0.1 -- January 06, 2005 -- Jorge Diaz del Rio, RSSD/ESA D-CIXS, XSM frames added. Preliminary Version. Pending review and approval by SMART-1 instrument teams and ESTEC Science operations team. Version 0.0 -- December 10, 2004 -- Jorge Diaz del Rio, RSSD/ESA Preliminary Version. Pending review and approval by SMART-1 instrument teams and ESTEC Science operations team. References ======================================================================== 1. ``Frames Required Reading'' 2. ``Kernel Pool Required Reading'' 3. ``C-Kernel Required Reading'' 4. Experiment Interface Document - Part A (EID-A), Issue 4 Doc.: S1-EST-EID-3 001, 17-April-2001 5. AMIE boresight analysis D/- (28-Oct-2004). S1-AMIE-RSSD-TN-004 6. AMIE Flight User Manual Issue 2.1 (30-Jan-2004). S1-AMI-MA-3001 7. AMIE-SIR Co-Alignment analysis Issue 1/c (24-Oct-2004). S1-AMIE-RSSD-TN-003 8. DCIXS/XSM User Manual Issue 7 (27-Mar-2003). S1-CIX-MA-3002 9. BAPTA potentiometer and SA positions. (06-Dec-2001) S1-MEC-BAPTA-TN-22 10. Solar Array ICD, Issue 4. October 2001. S1-FS-IC-001/S1-FKS-ICD-2049 11. BAPTA Technical Description, Issue 0, (16-May-2000). FS00131731 12. Email from J. De Bruin (SMART-1 Flight Control Team), 18-Feb-2005 Contact Information ======================================================================== Jorge Diaz del Rio, RSSD/ESA, (31) 71-565-5175, jdiaz@rssd.esa.int Implementation Notes ======================================================================== This file is used by the SPICE system as follows: programs that make use of this frame kernel must 'load' the kernel, normally during program initialization. The SPICELIB routine FURNSH and CSPICE function furnsh_c load a kernel file into the kernel pool as shown below. CALL FURNSH ( 'frame_kernel_name' ) furnsh_c ( "frame_kernel_name" ); This file was created and may be updated with a text editor or word processor. SMART-1 mission NAIF ID Codes -- Summary Section ======================================================================== The following names and NAIF ID codes are assigned to the SMART-1 spacecraft, its structures and science instruments (the keywords implementing these definitions are located in the section "SMART-1 Mission NAIF ID Codes -- Definition Section" at the end of this file): SMART-1 Spacecraft and Spacecraft Structures names/IDs: SMART-1 -238 (synonyms: SMART1, SM1, S1 ) SMART1_SPACECRAFT -238000 (synonym: SMART1_SC) SMART1_SA+Y -238010 SMART1_SA+Y_BAPTA -238011 SMART1_SA-Y -238020 SMART1_SA-Y_BAPTA -238021 SMART1_MGA -238030 SMART1_LGA-1 -238040 SMART1_LGA-2 -238050 SMART1_SEPP -238060 SMART1_SS1 -238070 SMART1_SS2 -238071 SMART1_SS3 -238072 AMIE names/IDs: SMART1_AMIE_CCD -238100 SMART1_AMIE_NONE -238110 SMART1_AMIE_LASER -238120 SMART1_AMIE_VIS_X -238130 SMART1_AMIE_VIS_Y -238131 SMART1_AMIE_FEL_X -238140 SMART1_AMIE_FEL_Y -238141 SMART1_AMIE_FEH_X -238150 SMART1_AMIE_FEH_Y -238151 SIR names/IDs: SMART1_SIR -238200 D-CIXS names/IDs: SMART1_DCIXS -238300 SMART1_DCIXS_FACET1 -238310 SMART1_DCIXS_FACET2 -238320 SMART1_DCIXS_FACET3 -238330 KATE/RSIS names/IDs: SMART1_KATE_X -238400 SMART1_KATE_KA -238410 EPDP names/IDs: [TBD] SPEDE names/IDs: SMART1_SPEDE_+X -238600 SMART1_SPEDE_-X -238610 XSM names/IDs: SMART1_XSM -238700 SMART-1 Frames ======================================================================== The following SMART-1 frames are defined in this kernel file: Name Relative to Type NAIF ID ====================== =================== ============ ======= SMART-1 Spacecraft and Spacecraft Structures frames: ---------------------------------------------------- SMART1_SPACECRAFT J2000 CK -238000 SMART1_SA+Y SMART1_SA+Y_BAPTA FIXED -238010 SMART1_SA+Y_BAPTA SMART1_SPACECRAFT CK -238011 SMART1_SA-Y SMART1_SA-Y_BAPTA FIXED -238020 SMART1_SA-Y_BAPTA SMART1_SPACECRAFT CK -238021 SMART1_MGA SMART1_SPACECRAFT FIXED -238030 SMART1_LGA-1 SMART1_SPACECRAFT FIXED -238040 SMART1_LGA-2 SMART1_SPACECRAFT FIXED -238050 SMART1_SEPP SMART1_SPACECRAFT FIXED -238060 SMART1_SS1 SMART1_SPACECRAFT FIXED -238070 SMART1_SS2 SMART1_SPACECRAFT FIXED -238071 SMART1_SS3 SMART1_SPACECRAFT FIXED -238072 AMIE Frames: ------------ SMART1_AMIE_CCD SMART1_SPACECRAFT FIXED -238100 SMART1_AMIE_NONE SMART1_AMIE_CCD FIXED -238110 SMART1_AMIE_LASER SMART1_AMIE_CCD FIXED -238120 SMART1_AMIE_VIS_X SMART1_AMIE_CCD FIXED -238130 SMART1_AMIE_VIS_Y SMART1_AMIE_CCD FIXED -238131 SMART1_AMIE_FEL_X SMART1_AMIE_CCD FIXED -238140 SMART1_AMIE_FEL_Y SMART1_AMIE_CCD FIXED -238141 SMART1_AMIE_FEH_X SMART1_AMIE_CCD FIXED -238150 SMART1_AMIE_FEH_Y SMART1_AMIE_CCD FIXED -238151 SIR Frames: ----------- SMART1_SIR SMART1_SPACECRAFT FIXED -238200 D-CIXS Frames: -------------- SMART1_DCIXS SMART1_SPACECRAFT FIXED -238300 KATE/RSIS Frames: ----------------- SMART1_KATE_X SMART1_SPACECRAFT FIXED -238400 SMART1_KATE_KA SMART1_SPACECRAFT FIXED -238410 EPDP Frames: ------------ [TBD] SPEDE Frames: ------------- SMART1_SPEDE_+X SMART1_SPACECRAFT FIXED -238600 SMART1_SPEDE_-X SMART1_SPACECRAFT FIXED -238610 XSM Frames: ----------- SMART1_XSM SMART1_SPACECRAFT FIXED -238700 SMART-1 Spacecraft and Spacecraft Structures Frame Tree ======================================================================== The diagram below shows the frame hierarchy for the SMART1 spacecraft and its structure frame (not including science instrument frames.) "J2000" INERTIAL +---------------------------------------------------+ | | | | | | |<-pck | pck->| | | | V | V "IAU_MOON" | "IAU_EARTH" MOON BODY-FIXED | EARTH BODY-FIXED --------------- | ---------------- | |<-ck | V "SMART1-SPACECRAFT" +--------------------------------------------------------------+ | | . | | | | | | | |<-ck | . fixed->| | | | | | |<-fixed | | . | | | | | | | V | . V | | | | | V "SMART1_SA+Y_BAPTA" |<-ck . "SMART1_SS1" | | | | | "SMART1_LGA-2" ------------------ | . ----------- | | | | | -------------- | V . | | | | | | "SMART1_SA-Y_BAPTA" . fixed->| | | | |<-fixed | ------------------ . | | | | | | | . V | | | V | | . "SMART1_SS2" | | | "SMART1_LGA-1" |<-fixed fixed->| . ------------ | | | ------------- | | . | | | V V . fixed->| | |<-fixed "SMART1_SA+Y" "SMART1_SA-Y" . | | | ------------- ------------- . V | V . "SMART1_SS3" | "SMART1_MGA" . ------------ | ------------ . | . |<-fixed . V . "SMART1_SEPP" . ------------- V Individual instrument frame trees are provided in the other sections of this file SMART-1 Spacecraft and Spacecraft Structures Frames ======================================================================== This section of the file contains the definitions of the spacecraft and spacecraft structures frames. SMART-1 Spacecraft Frame -------------------------------------- According to [4] the SMART-1 spacecraft frame is defined as follows: - +Z axis is perpendicular to the launcher interface plane, directed positively through the S/C body; - +X axis is perpendicular to the Z-axis and the solar array drive axis, directed positively through the side of the S/C containing the Medium Gain Antenna; - +Y axis completes the right-handed system. - the origin of this frame is the launch vehicle interface point. These diagrams illustrate the SMART1_SPACECRAFT frame: +X s/c side view: ----------------- ^ | Nadir | ._____________. | . | =====================o | 'o`| o===================== -Y Solar Array | `.'KaTE +Y Solar Array | +Zsc 'o`| | ^ `-'| | | . | | | 'o` MGA .______|__`-'_. +Xsc is out | | | of the page .____o-------> +Ysc / \ /_____\ Main Engine +Z s/c side view: ----------------- ____ MGA \ / .________________. ._____\^/_____. .________________. | \ | |+Xsc | / | | \ | | | / | | | | | +Ysc | | | |o=| x------->o| | | | | +Zsc | | | | / | | \ | ._________________/ ._____________. \_________________. -Y Solar Array +Y Solar Array +Zsc is into the page. Since the orientation of the SM1_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_SMART1_SPACECRAFT = -238000 FRAME_-238000_NAME = 'SMART1_SPACECRAFT' FRAME_-238000_CLASS = 3 FRAME_-238000_CLASS_ID = -238000 FRAME_-238000_CENTER = -238 CK_-238000_SCLK = -238 CK_-238000_SPK = -238 \begintext SMART-1 Solar Array Frames -------------------------------------- The SMART-1 solar arrays can be articulated (having one degree of freedom). The solar array frames are defined in a way consistent with the other instrument frames, with +Z axis pointing normal to the active solar panel cells. Because of this, it is required to incorporate a new frame in the chain, the SMART-1 Solar Array BAPTA frames that describe the solar arrays frames as described in the documentation and ingeneering models, and are defined as a CK-based frames. SMART-1 Solar Array BAPTA Frames -------------------------------- Since the SMART-1 solar arrays can be articulated, and to comply with the documentation available for SMART-1, the solar Array BAPTA frames, SMART1_SA+Y_BAPTA and SMART1_SA-Y_BAPTA, are defined as CK frames with their orientation given relative to the SMART1_SPACECRAFT frame. Both arrays BAPTA frames are defined as follows (from [10], [11] and [12]): - +Y is parallel to the longest side of the array, positively oriented from the yoke to the end of the wing; - +X is normal to the solar array plane, the solar cells facing +X; - +Z 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. The zero position of the Solar Panel is when the BAPTA's +X axis is aligned with the -Z s/c axis. Note that for solar array +Y and -Y, the positive and negative angles are exactly opposite (in the nominal case), i.e. when both solar arrays are pointing in the +X s/c direction, the Solar Panel +Y is -90 degrees position, while the Solar Panel -Y is in +90 degrees. This diagram illustrates the SMART1_SA+Y_BAPTA and SMART1_SA-Y_BAPTA frames: +X s/c side view: ----------------- +Xsa-y_b ^ ^ +Xsa+y_b | | | | | | +Ysa-y_b | ._____________. | +Ysa+y_b -Y SA cell side <---------o | . | x---------> +Y SA, cell side =====================o | 'o`| o===================== | `.'| | +Zsc 'o` KaTE | ^ `-'| | | . | +Zsa+y_b is into the page | | 'o` MGA +Zsa-y_b is out of the page .______|__`-'_. | | | .____o-------> +Ysc +Xsc \ /_____\ Main Engine Since the orientation of both array BAPTA frames is computed on-board, sent down in telemetry, and stored in the Solar Array CK files, they are defined as a CK-based frame. \begindata FRAME_SMART1_SA+Y_BAPTA = -238011 FRAME_-238011_NAME = 'SMART1_SA+Y_BAPTA' FRAME_-238011_CLASS = 3 FRAME_-238011_CLASS_ID = -238011 FRAME_-238011_CENTER = -238 CK_-238011_SCLK = -238 CK_-238011_SPK = -238 FRAME_SMART1_SA-Y_BAPTA = -238021 FRAME_-238021_NAME = 'SMART1_SA-Y_BAPTA' FRAME_-238021_CLASS = 3 FRAME_-238021_CLASS_ID = -238021 FRAME_-238021_CENTER = -238 CK_-238021_SCLK = -238 CK_-238021_SPK = -238 \begintext Solar Array Frames ------------------ The Solar Array frames are defined as follows, for consistency with other instruments on the spacecraft: - +Y is parallel to the longest side of the array, positively oriented from the yoke to the end of the wing; - +Z is normal to the solar array plane, the solar cells facing +Z; - +X is defined such that (X,Y,Z) is right handed; - the origin of the frame is located at the yoke geometric center. The Solar Array frames, SMART1_SA+Y and SMART1_SA-Y, are defined with respect to an CK-based itermediate frame, SMART1_SA+Y_BAPTA and SMART1_SA-Y_BAPTA. Nominally, as single rotation of 90 degrees about the +Y axis is required to co-align each of the BAPTA frames with its Solar Array frame. +Z s/c side view: ----------------- -Y SA, cell side +Y SA, cell side .________^_______. ._____________. .________^_______. | |+Xsa-y \ | | / +Zsa+y_b| | | | \ | | / | +Ysa+y | | | | | | | +Ysa+y_b | <-----o-o |o=| |=o| o-o-----> | | +Ysa-y | | | | | | | | +Ysa-y_b | / | | \ | | .__________|+Zsa-y_b ._____________. \_______|+Xsa+y___. v v -Y Solar Array +Y Solar Array +Zsa-y and +Zsa+y are out of the page. +Xsa-y_b and +Xsa+y_b are out of the page. Since the SPICE frames subsystem calls for specifying the reverse transformation--going from the instrument or structure frame to the base frame--as compared to the description given above, the order of rotations assigned to the TKFRAME_*_AXES keyword is also reversed compared to the above text, and the signs associated with the rotation angles assigned to the TKFRAME_*_ANGLES keyword are the opposite from what is written in the above text. \begindata FRAME_SMART1_SA+Y = -238010 FRAME_-238010_NAME = 'SMART1_SA+Y' FRAME_-238010_CLASS = 4 FRAME_-238010_CLASS_ID = -238010 FRAME_-238010_CENTER = -238 TKFRAME_-238010_RELATIVE = 'SMART1_SA+Y_BAPTA' TKFRAME_-238010_SPEC = 'ANGLES' TKFRAME_-238010_UNITS = 'DEGREES' TKFRAME_-238010_ANGLES = ( 0.000, -90.000, 0.000 ) TKFRAME_-238010_AXES = ( 1, 2, 3 ) FRAME_SMART1_SA-Y = -238020 FRAME_-238020_NAME = 'SMART1_SA-Y' FRAME_-238020_CLASS = 4 FRAME_-238020_CLASS_ID = -238020 FRAME_-238020_CENTER = -238 TKFRAME_-238020_RELATIVE = 'SMART1_SA-Y_BAPTA' TKFRAME_-238020_SPEC = 'ANGLES' TKFRAME_-238020_UNITS = 'DEGREES' TKFRAME_-238020_ANGLES = ( 0.000, -90.000, 0.000 ) TKFRAME_-238020_AXES = ( 1, 2, 3 ) \begintext SMART-1 Medium Gain Antenna Frame -------------------------------------- The SMART-1 Medium Gain Antenna is rigidly attached to the +X side of the s/c bus. Therefore, the SMART1 MGA frame, SMART1_MGA, is defined as a fixed offset frame with its orientation given relative to the SMART1_SPACECRAFT frame. The SMART1_MGA frame is defined as follows: - +Z axis is in the antenna boresight direction (nominally along the s/c +X axis); - +Y axis is in the direction of the s/c +Y axis ; - +X completes the right hand frame; - the origin of the frame is located at the geometric center of the MGA horn. This diagram illustrates the SMART1_MGA frame: +Z s/c side view: ----------------- ^ |+Zmga | +Xmga | +Ymga __o-------> \ / MGA .________________. ._____\^/_____. .________________. | \ | |+Xsc | / | | \ | | | / | | | | | +Ysc | | | |o=| x------->o| | | | | +Zsc | | | | / | | \ | ._________________/ ._____________. \_________________. -Y Solar Array +Y Solar Array +Xmga is out of the page. +Zsc is into the page. Nominally a single rotation of +90 degrees about the +Y axis is needed to co-align the s/c frame with the MGA frame. Since the SPICE frames subsystem calls for specifying the reverse transformation--going from the instrument or structure frame to the base frame--as compared to the description given above, the order of rotations assigned to the TKFRAME_*_AXES keyword is also reversed compared to the above text, and the signs associated with the rotation angles assigned to the TKFRAME_*_ANGLES keyword are the opposite from what is written in the above text. \begindata FRAME_SMART1_MGA = -238030 FRAME_-238030_NAME = 'SMART1_MGA' FRAME_-238030_CLASS = 4 FRAME_-238030_CLASS_ID = -238030 FRAME_-238030_CENTER = -238 TKFRAME_-238030_RELATIVE = 'SMART1_SPACECRAFT' TKFRAME_-238030_SPEC = 'ANGLES' TKFRAME_-238030_UNITS = 'DEGREES' TKFRAME_-238030_ANGLES = ( 0.000, -90.000, 0.000 ) TKFRAME_-238030_AXES = ( 1, 2, 3 ) \begintext SMART-1 Low Gain Antennas Frames -------------------------------------- The SMART-1 Low Gain Antennas are rigidly attached to the +X and -X side of the s/c bus. Therefore, the SMART-1 Low Gain Antenna frames, SMART1_LGA-1 and SMART1_LGA-2, are defined as fixed offset frames with their orientation given relative to the SMART1_SPACECRAFT frame. The frames for the two SMART-1 Low Gain antennas -- LGA-1 and LGA-2 -- are defined as follows: - +Z axis is in the antenna boresight direction; - +Y axis is nominally parallel to the s/c +Y axis; - +X axis completes the right hand frame; - the origin of the frame is located at the geometric center of the antenna outer side. LGA-1 and LGA-2 antennas are rigidly mounted on the +X and -X spacecraft panels, respectively. This diagram illustrates the SMART1_LGA-1 and SMART1_LGA-2 frames: +Z s/c side view: ----------------- ^ |+Zlga1 | +Xlga1 | +Ylga1 o-------> || .________________. ._||___^______. .________________. | \ | |+Xsc | / | | \ | | | / | | | | | +Ysc | | | |o=| x------->o| | | | | +Zsc | | | | / | | \ | ._________________/ ._____________. \_________________. -Y Solar Array || +Y Solar Array || +Xlga2 x-------> | +Ylga2 | | +Zlga2 v +Xlga1 is out of the page. +Zsc and +Xlga2 are into the page. Nominally a single rotation of +90 degrees about the +Y axis is needed to co-align the s/c frame with the LGA-1 frame. A single rotation of -90 degrees about the +Y axis is required to co-align the s/c frame with the LGA-2 antenna frame. Since the SPICE frames subsystem calls for specifying the reverse transformation--going from the instrument or structure frame to the base frame--as compared to the description given above, the order of rotations assigned to the TKFRAME_*_AXES keyword is also reversed compared to the above text, and the signs associated with the rotation angles assigned to the TKFRAME_*_ANGLES keyword are the opposite from what is written in the above text. \begindata FRAME_SMART1_LGA-1 = -238040 FRAME_-238040_NAME = 'SMART1_LGA-1' FRAME_-238040_CLASS = 4 FRAME_-238040_CLASS_ID = -238040 FRAME_-238040_CENTER = -238 TKFRAME_-238040_RELATIVE = 'SMART1_SPACECRAFT' TKFRAME_-238040_SPEC = 'ANGLES' TKFRAME_-238040_UNITS = 'DEGREES' TKFRAME_-238040_ANGLES = ( 0.000, -90.000, 0.000 ) TKFRAME_-238040_AXES = ( 1, 2, 3 ) FRAME_SMART1_LGA-2 = -238050 FRAME_-238050_NAME = 'SMART1_LGA-2' FRAME_-238050_CLASS = 4 FRAME_-238050_CLASS_ID = -238050 FRAME_-238050_CENTER = -238 TKFRAME_-238050_RELATIVE = 'SMART1_SPACECRAFT' TKFRAME_-238050_SPEC = 'ANGLES' TKFRAME_-238050_UNITS = 'DEGREES' TKFRAME_-238050_ANGLES = ( 0.000, +90.000, 0.000 ) TKFRAME_-238050_AXES = ( 1, 2, 3 ) \begintext SMART-1 Solar Sensor Frames -------------------------------------- TBW/TBD SMART-1 Solar Electric Primary Propulsion Frame ---------------------------------------------------- TBW/TBD AMIE Frames ======================================================================== This section of the file contains the definitions of the AMIE frames. AMIE Frame Tree -------------------------------------- The diagram below shows the AMIE frame hierarchy. "J2000" INERTIAL +---------------------------------------------------+ | | | | | | |<-pck | pck->| | | | V | V "IAU_MOON" | "IAU_EARTH" MOON BODY-FIXED | EARTH BODY-FIXED --------------- | ---------------- | |<-ck | V "SMART1-SPACECRAFT" ------------------- | | |<-fixed | V "SMART1_AMIE_CCD" +------------------------------------------------------+ | | | | | | | | | | | | | | | | |<-fixed | | | | | | | | | | | | | | | V | | | | | | | "SMART1_AMIE_NONE" |<-fixed | | | | | | ------------------ | | | | | | | V | | | | | | "SMART1_AMIE_LASER" | | | | | | ------------------- | | | | | | | | | | | |<-fixed | | | | | | V | | | | V "SMART1_AMIE_VIS_X" | | | | "SMART1_AMIE_VIS_Y" ------------------- | | | | ------------------- | | | | fixed->| | | |<-fixed | | | | V | | V "SMART1_AMIE_FEL_X" | | "SMART1_AMIE_FEL_Y" ------------------- | | ------------------- | | fixed->| |<-fixed | | V V "SMART1_AMIE_FEH_X" "SMART1_AMIE_FEH_Y" ------------------- ------------------- AMIE Camera Frames -------------------------------------- The AMIE camera frame -- SMART1_AMIE_CCD -- is defined as follows: - +Z axis points along the camera boresight; - +X axis is parallel to the apparent image columns; it is nominally co-aligned with the s/c -Y axis; - +Y axis completes the right hand frame; it is nominally parallel the to the apparent image lines and co-aligned with the s/c +X axis; - the origin of the frame is located at the camera focal point. The AMIE CCD frame, SMART1_AMIE_CCD frame is introduced to allow incorporating into the AMIE frame chain any misalignment between the camera base and the S/C. This frame is fixed with respect to the spacecraft mechanical frame, SMART1_SPACECRAFT, and is nominally rotated by -90 degrees about +Z from it, as shown on the diagram: +Z s/c side view: ----------------- _____ MGA \ / .________________. ._____\^+Xsc__. .________________. | \ | | | / | | \ | | ^ | / | | | +Ysc | |+Yccd | | |o<-------o | |=o| | | | | +Zsc ._|_| . | | / | | o-----> | ._________________/ ._________.___. +Xccd________________. +Y Solar Array AMIE -Y Solar Array +Zsc and +Zccd are out of page The actual s/c +Z axis direction is specified in [5] as an offset from the AMIE boresight direction by the following two angles: Offset from Z AMIE: x (deg) = 0.537 Offset from Z AMIE: y (deg) = 0.665 These offset angles have been measured after performing the rotation about +Z amie axis. The following set of rotations can be applied to the AMIE axes to align the AMIE camera frame's +Z axis with the s/c +Z axis defined by the angles above (rotation about +Z is defined in [5] as +90 degrees): Mamie->sc = [0.537]x * [0.6649708]y * [90.0]z These values are included in the definition below. \begindata FRAME_SMART1_AMIE_CCD = -238100 FRAME_-238100_NAME = 'SMART1_AMIE_CCD' FRAME_-238100_CLASS = 4 FRAME_-238100_CLASS_ID = -238100 FRAME_-238100_CENTER = -238 TKFRAME_-238100_RELATIVE = 'SMART1_SPACECRAFT' TKFRAME_-238100_SPEC = 'ANGLES' TKFRAME_-238100_UNITS = 'DEGREES' TKFRAME_-238100_ANGLES = ( 0.537, 0.6649708, 90.0 ) TKFRAME_-238100_AXES = ( 1, 2, 3 ) \begintext AMIE Filters Reference Frames -------------------------------------- This section implements the AMIE Filters Reference Frames frame definitions provided in [6]. The following figure shows the position of the boresight of the different filters in the AMIE_CCD frame: .---------------------------------------. | | | | +Zvis_x | | | o | | | | | | | +Znone | |-------------------| o | | | | | +Zfel_x | | | o | | | | | | |+Zccd | |-------------------o-------------------| | | | | | +Zfeh_x | | | | o | | | | | | | +Zfeh_y | +Zfel_y | +Zvis_y | |---------. o | o | o | | | | | | ^ | +Zlas| | | | | +Yccd | o | | | | | | | | | | | | | | | | | *---------------------------------------* o--------> +Xccd +Zccd is out of the page. The following table contains the offset angles required to co-align the AMIE CCD frame with each one of the different filters frames. These offset angles are provided in [5]: Offset Angle Offset Angle Frame name From +Z: x, deg From +Z, y deg ------------------- --------------- -------------- SMART1_AMIE_NONE 1.325 1.325 SMART1_AMIE_LASER -1.9875 -1.9875 SMART1_AMIE_VIS_X -1.325 1.9875 SMART1_AMIE_VIS_Y 1.9875 -1.325 SMART1_AMIE_FEL_X -1.325 0.6625 SMART1_AMIE_FEL_Y 0.6625 -1.325 SMART1_AMIE_FEH_X -1.325 -0.6625 SMART1_AMIE_FEH_Y -0.6625 -1.325 The first of the two angles -- ``Offset Angle from +Z: x'' -- is the angle between the projection of the boresight onto the AMIE XZ plane and the AMIE +Z axis, measured positive from the AMIE +Z toward the AMIE +X axis. The second of the two angles -- ``Offset Angle from +Z: y'' -- is the angle between the projection of the boresight onto the AMIE YZ plane and the AMIE +Z axis, measured positive from the AMIE +Z toward the AMIE +Y axis. The following set of rotations can be applied to the AMIE axes to align the FILTERs frame's +Z axis with the boresight defined by the angles above (rotation about +Z is defined in [5] as 0.0 degress) Mamie->filter = [0.0]z + [beta]y + [alpha]x Frame name beta, deg alpha, deg ------------------- ------------ ------------ SMART1_AMIE_NONE 1.32464584 -1.32500 SMART1_AMIE_LASER -1.98630531 1.98750 SMART1_AMIE_VIS_X -1.32420319 -1.98750 SMART1_AMIE_VIS_Y 1.98696900 1.32500 SMART1_AMIE_FEL_X -1.32491146 -0.66250 SMART1_AMIE_FEL_Y 0.66232287 1.32500 SMART1_AMIE_FEH_X -1.32491146 0.66250 SMART1_AMIE_FEH_Y -0.66232287 1.32500 Since the SPICE frames subsystem calls for specifying the reverse transformation--going from the instrument or structure frame to the base frame--as compared to the description given above, the order of rotations assigned to the TKFRAME_*_AXES keyword is also reversed compared to the above text, and the signs associated with the rotation angles assigned to the TKFRAME_*_ANGLES keyword are the opposite from what is written in the above text. \begindata FRAME_SMART1_AMIE_NONE = -238110 FRAME_-238110_NAME = 'SMART1_AMIE_NONE' FRAME_-238110_CLASS = 4 FRAME_-238110_CLASS_ID = -238110 FRAME_-238110_CENTER = -238 TKFRAME_-238110_RELATIVE = 'SMART1_AMIE_CCD' TKFRAME_-238110_SPEC = 'ANGLES' TKFRAME_-238110_UNITS = 'DEGREES' TKFRAME_-238110_ANGLES = ( 1.325, -1.32464584, 0.0 ) TKFRAME_-238110_AXES = ( 1, 2, 3 ) FRAME_SMART1_AMIE_LASER = -238120 FRAME_-238120_NAME = 'SMART1_AMIE_LASER' FRAME_-238120_CLASS = 4 FRAME_-238120_CLASS_ID = -238120 FRAME_-238120_CENTER = -238 TKFRAME_-238120_RELATIVE = 'SMART1_AMIE_CCD' TKFRAME_-238120_SPEC = 'ANGLES' TKFRAME_-238120_UNITS = 'DEGREES' TKFRAME_-238120_ANGLES = ( -1.98750, 1.98630531, 0.0 ) TKFRAME_-238120_AXES = ( 1, 2, 3 ) FRAME_SMART1_AMIE_VIS_X = -238130 FRAME_-238130_NAME = 'SMART1_AMIE_VIS_X' FRAME_-238130_CLASS = 4 FRAME_-238130_CLASS_ID = -238130 FRAME_-238130_CENTER = -238 TKFRAME_-238130_RELATIVE = 'SMART1_AMIE_CCD' TKFRAME_-238130_SPEC = 'ANGLES' TKFRAME_-238130_UNITS = 'DEGREES' TKFRAME_-238130_ANGLES = ( 1.98750, 1.32420319, 0.0 ) TKFRAME_-238130_AXES = ( 1, 2, 3 ) FRAME_SMART1_AMIE_VIS_Y = -238131 FRAME_-238131_NAME = 'SMART1_AMIE_VIS_Y' FRAME_-238131_CLASS = 4 FRAME_-238131_CLASS_ID = -238131 FRAME_-238131_CENTER = -238 TKFRAME_-238131_RELATIVE = 'SMART1_AMIE_CCD' TKFRAME_-238131_SPEC = 'ANGLES' TKFRAME_-238131_UNITS = 'DEGREES' TKFRAME_-238131_ANGLES = ( -1.325, -1.98696900, 0.0 ) TKFRAME_-238131_AXES = ( 1, 2, 3 ) FRAME_SMART1_AMIE_FEL_X = -238140 FRAME_-238140_NAME = 'SMART1_AMIE_FEL_X' FRAME_-238140_CLASS = 4 FRAME_-238140_CLASS_ID = -238140 FRAME_-238140_CENTER = -238 TKFRAME_-238140_RELATIVE = 'SMART1_AMIE_CCD' TKFRAME_-238140_SPEC = 'ANGLES' TKFRAME_-238140_UNITS = 'DEGREES' TKFRAME_-238140_ANGLES = ( 0.66250, 1.32491146, 0.0 ) TKFRAME_-238140_AXES = ( 1, 2, 3 ) FRAME_SMART1_AMIE_FEL_Y = -238141 FRAME_-238141_NAME = 'SMART1_AMIE_FEL_Y' FRAME_-238141_CLASS = 4 FRAME_-238141_CLASS_ID = -238141 FRAME_-238141_CENTER = -238 TKFRAME_-238141_RELATIVE = 'SMART1_AMIE_CCD' TKFRAME_-238141_SPEC = 'ANGLES' TKFRAME_-238141_UNITS = 'DEGREES' TKFRAME_-238141_ANGLES = ( -1.32500, -0.66232287, 0.0 ) TKFRAME_-238141_AXES = ( 1, 2, 3 ) FRAME_SMART1_AMIE_FEH_X = -238150 FRAME_-238150_NAME = 'SMART1_AMIE_FEH_X' FRAME_-238150_CLASS = 4 FRAME_-238150_CLASS_ID = -238150 FRAME_-238150_CENTER = -238 TKFRAME_-238150_RELATIVE = 'SMART1_AMIE_CCD' TKFRAME_-238150_SPEC = 'ANGLES' TKFRAME_-238150_UNITS = 'DEGREES' TKFRAME_-238150_ANGLES = ( -0.66250, 1.32491146, 0.0 ) TKFRAME_-238150_AXES = ( 1, 2, 3 ) FRAME_SMART1_AMIE_FEH_Y = -238151 FRAME_-238151_NAME = 'SMART1_AMIE_FEH_Y' FRAME_-238151_CLASS = 4 FRAME_-238151_CLASS_ID = -238151 FRAME_-238151_CENTER = -238 TKFRAME_-238151_RELATIVE = 'SMART1_AMIE_CCD' TKFRAME_-238151_SPEC = 'ANGLES' TKFRAME_-238151_UNITS = 'DEGREES' TKFRAME_-238151_ANGLES = ( -1.32500, 0.66232287, 0.0 ) TKFRAME_-238151_AXES = ( 1, 2, 3 ) \begintext D-CIXS frames: ======================================================================== This section of the file contains the definitions of the D-CIXS frames. D-CIXS Frame Tree -------------------------------------- The diagram below shows the D-CIXS frame hierarchy. "J2000" INERTIAL +---------------------------------------------------+ | | | | | | |<-pck | pck->| | | | V | V "IAU_MOON" | "IAU_EARTH" MOON BODY-FIXED | EARTH BODY-FIXED --------------- | ---------------- | |<-ck | V "SMART1-SPACECRAFT" ------------------- | | |<-fixed | V "SMART1_DCIXS" -------------- D-CIXS Sensor Frame -------------------------------------- The D-CIXS detector frame -- SMART1_DCIXS -- is defined as follows: - +Z axis is nominally co-aligned with the s/c +Z axis; - +Y axis is parallel to the detector array and it is nominally co-aligned with the s/c +Y axis; - +X axis completes the right hand frame; it is nominally co-aligned with the s/c +X axis; - the origin of the frame is located at detector focal point. The DCIXS frame, SMART1_DCIXS frame is defining the aligment of the DCIXS spectrometer with respect to the SMART-1 Spacecraft mechanical frame. This frame is fixed with respect to the spacecraft mechanical frame, SMART1_SPACECRAFT, and is nominally co-aligned with it, as shown on the diagram: +Z s/c side view: ----------------- _____ MGA \ / .________________. ._____\^/_____. .________________. | \ | |+Xsc | / | | \ | | ^ | / | | | +Ysc | |+Xdb| | | |o<-------o | |=o| | | | | ._|_| . | | / | <------o | \ | ._________________/ .____+Ydb_.___. \_________________. +Y Solar Array DCIXS -Y Solar Array +Zsc and +Zdb are out of page db = DCIXS These sets of keywords define the DCIXS frame: \begindata FRAME_SMART1_DCIXS = -238300 FRAME_-238300_NAME = 'SMART1_DCIXS' FRAME_-238300_CLASS = 4 FRAME_-238300_CLASS_ID = -238300 FRAME_-238300_CENTER = -238 TKFRAME_-238300_RELATIVE = 'SMART1_SPACECRAFT' TKFRAME_-238300_SPEC = 'ANGLES' TKFRAME_-238300_UNITS = 'DEGREES' TKFRAME_-238300_ANGLES = ( 0.000, 0.000, 0.000 ) TKFRAME_-238300_AXES = ( 1, 2, 3 ) \begintext XSM frames: ======================================================================== This section of the file contains the definitions of the X-Ray Solar Monitor frame. XSM Frame Tree -------------------------------------- The diagram below shows the XSM frame hierarchy. "J2000" INERTIAL +---------------------------------------------------+ | | | | | | |<-pck | pck->| | | | V | V "IAU_MOON" | "IAU_EARTH" MOON BODY-FIXED | EARTH BODY-FIXED --------------- | ---------------- | |<-ck | V "SMART1-SPACECRAFT" ------------------- | | |<-fixed | V "SMART1_XSM" ------------ X-Ray Solar Monitor Frame -------------------------------------- The X-Ray Solar Monitor (XSM) is mounted on the +X panel of the S/C, opposite to the D-CIXS detector. The XSM frame -- SMART1_XSM -- is fixed with respect to the spacecraft mechanical frame, SMART1_SPACECRAFT, and is defined as follows as described in [8]: - +Z axis points in the boresight direction; and it is nominally rotated by -45 degrees from the s/c -Z axis about the s/c +Y axis; - +Y axis is nominally co-aligned with the s/c +Y axis; - +X axis completes the right hand frame; - the origin of the frame is located at the detector focal point. X-Ray Solar Monitor frame, SMART1_XSM, is fixed with respect to the SMART1 spacecraft frame, SMART1_SPACECRAFT, and is nominally rotated by +135 degrees about +Y from it, as shown in the diagram: +Y s/c side view ---------------- ._____________. +Zsc ^ | | | =======o======== | | SA+Y +Xsc | | | <-----o+Ysc | .--| | XSM |o +Yxsm | .'-`._____________. .' `. +Xxsm | .' `._______. '+Zxsm / /_____\ Main Engine +Ysc and +Yxsm are out of the page Since the SPICE frames subsystem calls for specifying the reverse transformation--going from the instrument or structure frame to the base frame--as compared to the description given above, the order of rotations assigned to the TKFRAME_*_AXES keyword is also reversed compared to the above text, and the signs associated with the rotation angles assigned to the TKFRAME_*_ANGLES keyword are the opposite from what is written in the above text. \begindata FRAME_SMART1_XSM = -238700 FRAME_-238700_NAME = 'SMART1_XSM' FRAME_-238700_CLASS = 4 FRAME_-238700_CLASS_ID = -238700 FRAME_-238700_CENTER = -238 TKFRAME_-238700_RELATIVE = 'SMART1_SPACECRAFT' TKFRAME_-238700_SPEC = 'ANGLES' TKFRAME_-238700_UNITS = 'DEGREES' TKFRAME_-238700_ANGLES = ( 0.000, -135.000, 0.000 ) TKFRAME_-238700_AXES = ( 1, 2, 3 ) \begintext EPDP frames: ======================================================================== [TBD] KaTE/RSIS frames: ======================================================================== This section of the file contains the definitions of the KaTE Antenna frames. KaTE Frame Tree -------------------------------------- The diagram below shows the KaTE frame hierarchy. "J2000" INERTIAL +---------------------------------------------------+ | | | | | | |<-pck | pck->| | | | V | V "IAU_MOON" | "IAU_EARTH" MOON BODY-FIXED | EARTH BODY-FIXED --------------- | ---------------- | |<-ck | V "SMART1-SPACECRAFT" +---------------------------------+ | | | | | |<-fixed |<-fixed | | V V "SMART1_KATE_KA" "SMART1_KATE_X" ---------------- --------------- KaTE Antenna Frames -------------------------------------- The SMART-1 Deep Space X/Ka-band TT&C Experiment (KaTE) Antennas are rigidly attached to the +X side of the s/c bus. Therefore, the SMART1 KATE frames, SMART1_KATE_X and SMART1_KATE_KA, are defined as a fixed offset frames with their orientation given relative to the SMART1_SPACECRAFT frame. The SMART1 KATE frames are defined as follows: - +Z axis is in the antenna boresight direction (nominally along the s/c +X axis); - +Y axis is in the direction of the s/c +Y axis ; - +X completes the right hand frame; - the origin of the frame is located at the geometric center of the antenna's horn. This diagram illustrates the SMART1_KATE_X and SMART1_KATE_KA frames: +Z s/c side view: ----------------- ^ +Zka/+Zx | | +Xka/+Xx | +Yka/+Yx __o-------> \ /KaTE .________________. ._____\^/_____. .________________. | \ | |+Xsc | / | | \ | | | / | | | | | +Ysc | | | |o=| x------->o| | | | | +Zsc | | | | / | | \ | ._________________/ ._____________. \_________________. -Y Solar Array +Y Solar Array +Xka and +Xx are out of the page. +Zsc is into the page. +X s/c side view: ----------------- ._____________. | . | =====================o | 'o`| o===================== -Y SA cell side | `-'| +Y SA, cell side | 'o------> | `|'| +Yka/+Yx | +Zsc ^ | | | | |+Xka/+x .______|____v_. | | | .____o-------> +Ysc +Xsc \ /_____\ Main Engine +Zka and +Zx are into the page. +Xsc is out of the page Nominally a single rotation of +90 degrees about the +Y axis is needed to co-align the s/c frame with the KATE frames. Since the SPICE frames subsystem calls for specifying the reverse transformation--going from the instrument or structure frame to the base frame--as compared to the description given above, the order of rotations assigned to the TKFRAME_*_AXES keyword is also reversed compared to the above text, and the signs associated with the rotation angles assigned to the TKFRAME_*_ANGLES keyword are the opposite from what is written in the above text. \begindata FRAME_SMART1_KATE_X = -238400 FRAME_-238400_NAME = 'SMART1_KATE_X' FRAME_-238400_CLASS = 4 FRAME_-238400_CLASS_ID = -238400 FRAME_-238400_CENTER = -238 TKFRAME_-238400_RELATIVE = 'SMART1_SPACECRAFT' TKFRAME_-238400_SPEC = 'ANGLES' TKFRAME_-238400_UNITS = 'DEGREES' TKFRAME_-238400_ANGLES = ( 0.000, -90.000, 0.000 ) TKFRAME_-238400_AXES = ( 1, 2, 3 ) FRAME_SMART1_KATE_KA = -238410 FRAME_-238410_NAME = 'SMART1_KATE_KA' FRAME_-238410_CLASS = 4 FRAME_-238410_CLASS_ID = -238410 FRAME_-238410_CENTER = -238 TKFRAME_-238410_RELATIVE = 'SMART1_SPACECRAFT' TKFRAME_-238410_SPEC = 'ANGLES' TKFRAME_-238410_UNITS = 'DEGREES' TKFRAME_-238410_ANGLES = ( 0.000, -90.000, 0.000 ) TKFRAME_-238410_AXES = ( 1, 2, 3 ) \begintext SIR frames: ======================================================================== This section of the file contains the definitions of the SIR frames. SIR Frame Tree -------------------------------------- The diagram below shows the SIR frame hierarchy. "J2000" INERTIAL +---------------------------------------------------+ | | | | | | |<-pck | pck->| | | | V | V "IAU_MOON" | "IAU_EARTH" MOON BODY-FIXED | EARTH BODY-FIXED --------------- | ---------------- | |<-ck | V "SMART1-SPACECRAFT" ------------------- | | | |<-fixed | V "SMART1_SIR" ------------ SIR Detector Frame -------------------------------------- Since SIR detector receive radiation through the prism and essentially has a single pixel in terms of spatial resolution, its frame, SMART1_SIR in such way that SIR boresight direction is nominally co-aligned with AMIE's boresight. The SIR Detector frame -- SMART1_SIR -- is defined as follows: - +Z axis points along the camera boresight; - +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 located at the fiber tip focal point. +Z s/c side view: ----------------- _____ MGA \ / .________________. ._____\^/_____. .________________. | \ | |+Xsc | / | | \ | | ^ | / | | | +Ysc | |+Xsir | | |o<-------o | |=o| | | | | ._|_| . | | / | <------o | \ | ._________________/ .___+Ysir_.___. \_________________. +Y Solar Array SIR -Y Solar Array +Zsc and +Zsir are out of page The following in-flight calibrated misalignment angles were provided in [5] and [7]. The actual s/c +Z axis direction is specified in [5] as an offset from the AMIE boresight direction by the following two angles: Offset from Z AMIE: x (deg) = 0.537 Offset from Z AMIE: y (deg) = 0.665 These offset angles have been measured after performing the rotation about +Z amie axis. The actual SIR boresight direction is specified in [7] as an offset from the AMIE boresigth direction by the following two angles: Offset from Z AMIE: x (deg) = 0.502 Offset from Z AMIE: y (deg) = 0.690 The first of the two angles -- ``Offset Angle from Z AMIE: x'' -- is the angle between the projection of the boresight onto the AMIE XZ plane and the AMIE +Z axis, measured positive from the AMIE +Z toward the AMIE +X axis. The second of the two angles -- ``Offset Angle from Z AMIE: y'' -- is the angle between the projection of the boresight onto the AMIE YZ plane and the AMIE +Z axis, measured positive from the AMIE +Z toward the AMIE +Y axis. The actual SIR boresight can be specified as an offset from the s/c +Z axis direction by the following two angles, computed from the offsets given above: Offset from Z s/c: x (deg) = 0.502 - 0.537 = -0.0350 Offset from Z s/c: y (deg) = 0.690 - 0.665 = 0.0250 The first of the two angles -- ``Offset Angle from Z s/c: x'' -- is the angle between the projection of the boresight onto the s/c XZ plane and the s/c +Z axis, measured positive from the s/c +Z toward the s/c +X axis. The second of the two angles -- ``Offset Angle from Z s/c: y'' -- is the angle between the projection of the boresight onto the s/c YZ plane and the s/c +Z axis, measured positive from the s/c +Z toward the s/c +Y axis. The following set of rotations can be applied to the s/c axes to align the SIR frame's +Z axis with the boresight defined by the angles above (rotation about +Z is not defined in [5] and assumed to be zero in this set of rotations): Msc->sir = [0.0]z * [-0.034999996668]y * [-0.0250]x These values are included in the definition below. Since the SPICE frames subsystem calls for specifying the reverse transformation--going from the instrument or structure frame to the base frame--as compared to the description given above, the order of rotations assigned to the TKFRAME_*_AXES keyword is also reversed compared to the above text, and the signs associated with the rotation angles assigned to the TKFRAME_*_ANGLES keyword are the opposite from what is written in the above text. \begindata FRAME_SMART1_SIR = -238200 FRAME_-238200_NAME = 'SMART1_SIR' FRAME_-238200_CLASS = 4 FRAME_-238200_CLASS_ID = -238200 FRAME_-238200_CENTER = -238 TKFRAME_-238200_RELATIVE = 'SMART1_SPACECRAFT' TKFRAME_-238200_SPEC = 'ANGLES' TKFRAME_-238200_UNITS = 'DEGREES' TKFRAME_-238200_ANGLES = ( 0.0250, 0.034999996668, 0.0 ) TKFRAME_-238200_AXES = ( 1, 2, 3 ) \begintext SPEDE frames: ======================================================================== This section of the file contains the definitions of the Spacecraft Potential, Electron and Dust Experiment frames. SPEDE Frame Tree -------------------------------------- The diagram below shows the XSM frame hierarchy. "J2000" INERTIAL +---------------------------------------------------+ | | | | | | |<-pck | pck->| | | | V | V "IAU_MOON" | "IAU_EARTH" MOON BODY-FIXED | EARTH BODY-FIXED --------------- | ---------------- | |<-ck | V "SMART1-SPACECRAFT" +-----------------------+ | | | | |<-fixed |<-fixed | | V V "SMART1_SPEDE_+X" "SMART1_SPEDE_-X" ----------------- ----------------- SPEDE Boom Frames -------------------------------------- The Spacecraft Potential, Electron and Dust Experiment (SPEDE) consists in two symmetric booms rigidly attached to the +X and -X panels of the s/c bus. Therefore, the SPEDE frames, -- SMART1_SPEDE_+X and SMART1_SPEDE_-X -- are defined as fixed offset frames with their orientation given relative to the spacecraft mechanical frame, SMART1_SPACECRAFT. The frames for the two SPEDE booms -- SPEDE+X and SPEDE-X -- are defined as follows: - +Z axis points from the base of the boom to its tip, nominally aligned with the s/c X axis; - +Y axis is nominally co-aligned with the s/c +Y axis; - +X axis completes the right hand frame; - the origin of the frame is located at the boom's tip. SPEDE booms are rigidly mounted on the +X and -X spacecraft panels, respectively. This diagram illustrates the SMART1_SPEDE+X and SMART1_SPEDE-X frames: +Y s/c side view ---------------- ._____________. ^ | | | +Xs-x =======o======== | | SA+Y | +X SPEDE Boom +Zsc | | +Ys-x <-------o====| ^ |====o-------> +Zs-x +Zs+x | +Ys+x | | -X SPEDE Boom | | | | | .______|______. +Xs+x | | | | v <-------o____. +Xsc / +Ysc /_____\ Main Engine +Ysc, +Ys+x and +Ys-x are out of the page. Nominally a single rotation of +90 degrees about the +Y axis is needed to co-align the s/c frame with the SPEDE+X frame. A single rotation of -90 degrees about the +Y axis is required to co-align the s/c frame with the SPEDE-X frame. Since the SPICE frames subsystem calls for specifying the reverse transformation--going from the instrument or structure frame to the base frame--as compared to the description given above, the order of rotations assigned to the TKFRAME_*_AXES keyword is also reversed compared to the above text, and the signs associated with the rotation angles assigned to the TKFRAME_*_ANGLES keyword are the opposite from what is written in the above text. \begindata FRAME_SMART1_SPEDE+X = -238600 FRAME_-238600_NAME = 'SMART1_SPEDE+X' FRAME_-238600_CLASS = 4 FRAME_-238600_CLASS_ID = -238600 FRAME_-238600_CENTER = -238 TKFRAME_-238600_RELATIVE = 'SMART1_SPACECRAFT' TKFRAME_-238600_SPEC = 'ANGLES' TKFRAME_-238600_UNITS = 'DEGREES' TKFRAME_-238600_ANGLES = ( 0.000, -90.000, 0.000 ) TKFRAME_-238600_AXES = ( 1, 2, 3 ) FRAME_SMART1_SPEDE-X = -238610 FRAME_-238610_NAME = 'SMART1_SPEDE-X' FRAME_-238610_CLASS = 4 FRAME_-238610_CLASS_ID = -238610 FRAME_-238610_CENTER = -238 TKFRAME_-238610_RELATIVE = 'SMART1_SPACECRAFT' TKFRAME_-238610_SPEC = 'ANGLES' TKFRAME_-238610_UNITS = 'DEGREES' TKFRAME_-238610_ANGLES = ( 0.000, 90.000, 0.000 ) TKFRAME_-238610_AXES = ( 1, 2, 3 ) \begintext SMART-1 Mission NAIF ID Codes -- Definition Section ======================================================================== This section contains name to NAIF ID mappings for the SMART-1 mission. SMART-1 Spacecraft and instruments IDs: ------------------------------------------------------------- This table summarizes SMART-1 Spacecraft IDs: Name ID Synonyms --------------------- ------- --------------------------- SMART-1 -238 S1, SMART1, SM1 Notes: -- 'SM1', 'S1', 'SMART-1', 'SMART1' are synonyms and all map to the official SMART-1 s/c ID (-238); Name-ID Mapping keywords: \begindata NAIF_BODY_NAME += ( 'SM1' ) NAIF_BODY_CODE += ( -238 ) NAIF_BODY_NAME += ( 'S1' ) NAIF_BODY_CODE += ( -238 ) NAIF_BODY_NAME += ( 'SMART-1' ) NAIF_BODY_CODE += ( -238 ) NAIF_BODY_NAME += ( 'SMART1' ) NAIF_BODY_CODE += ( -238 ) \begintext SMART-1 Spacecraft Structures IDs -------------------------------------- This table summarizes SMART-1 Spacecraft Structure IDs: Name ID Synonyms --------------------- ------- ------------------------- SMART1_SPACECRAFT -238000 SMART1_SC SMART1_SA+Y -238010 SMART1_SA+Y_BAPTA -238011 SMART1_SA-Y -238020 SMART1_SA-Y_BAPTA -238021 SMART1_MGA -238030 SMART1_LGA-1 -238040 SMART1_LGA-2 -238050 SMART1_SEPP -238060 SMART1_SS1 -238070 SMART1_SS2 -238071 SMART1_SS3 -238072 Notes: - 'SMART1_SC' and 'SMART1_SPACECRAFT' are synonyms and all map to the SMART-1 s/c bus structure ID (-238000); Name-ID Mapping keywords: \begindata NAIF_BODY_NAME += ( 'SMART1_SPACECRAFT' ) NAIF_BODY_CODE += ( -238000 ) NAIF_BODY_NAME += ( 'SMART1_SC' ) NAIF_BODY_CODE += ( -238000 ) NAIF_BODY_NAME += ( 'SMART1_SA+Y' ) NAIF_BODY_CODE += ( -238010 ) NAIF_BODY_NAME += ( 'SMART1_SA+Y_BAPTA' ) NAIF_BODY_CODE += ( -238011 ) NAIF_BODY_NAME += ( 'SMART1_SA-Y' ) NAIF_BODY_CODE += ( -238020 ) NAIF_BODY_NAME += ( 'SMART1_SA-Y_BAPTA' ) NAIF_BODY_CODE += ( -238021 ) NAIF_BODY_NAME += ( 'SMART1_MGA' ) NAIF_BODY_CODE += ( -238030 ) NAIF_BODY_NAME += ( 'SMART1_LGA-1' ) NAIF_BODY_CODE += ( -238040 ) NAIF_BODY_NAME += ( 'SMART1_LGA-2' ) NAIF_BODY_CODE += ( -238050 ) NAIF_BODY_NAME += ( 'SMART1_SEPP' ) NAIF_BODY_CODE += ( -238060 ) NAIF_BODY_NAME += ( 'SMART1_SS1' ) NAIF_BODY_CODE += ( -238070 ) NAIF_BODY_NAME += ( 'SMART1_SS2' ) NAIF_BODY_CODE += ( -238071 ) NAIF_BODY_NAME += ( 'SMART1_SS3' ) NAIF_BODY_CODE += ( -238072 ) \begintext AMIE IDs -------------------------------------- This table summarizes AMIE IDs: Name ID --------------------- ------- SMART1_AMIE_CCD -238100 SMART1_AMIE_NONE -238110 SMART1_AMIE_LASER -238120 SMART1_AMIE_VIS_X -238130 SMART1_AMIE_VIS_Y -238131 SMART1_AMIE_FEL_X -238140 SMART1_AMIE_FEL_Y -238141 SMART1_AMIE_FEH_X -238150 SMART1_AMIE_FEH_Y -238151 Name-ID Mapping keywords: \begindata NAIF_BODY_NAME += ( 'SMART1_AMIE_CCD' ) NAIF_BODY_CODE += ( -238100 ) NAIF_BODY_NAME += ( 'SMART1_AMIE_NONE' ) NAIF_BODY_CODE += ( -238110 ) NAIF_BODY_NAME += ( 'SMART1_AMIE_LASER' ) NAIF_BODY_CODE += ( -238120 ) NAIF_BODY_NAME += ( 'SMART1_AMIE_VIS_X' ) NAIF_BODY_CODE += ( -238130 ) NAIF_BODY_NAME += ( 'SMART1_AMIE_VIS_Y' ) NAIF_BODY_CODE += ( -238131 ) NAIF_BODY_NAME += ( 'SMART1_AMIE_FEL_X' ) NAIF_BODY_CODE += ( -238140 ) NAIF_BODY_NAME += ( 'SMART1_AMIE_FEL_Y' ) NAIF_BODY_CODE += ( -238141 ) NAIF_BODY_NAME += ( 'SMART1_AMIE_FEH_X' ) NAIF_BODY_CODE += ( -238150 ) NAIF_BODY_NAME += ( 'SMART1_AMIE_FEH_Y' ) NAIF_BODY_CODE += ( -238151 ) \begintext D-CIXS IDs -------------------------------------- This table summarizes D-CIXS IDs: Name ID --------------------- ------- SMART1_DCIXS_BASE -238300 SMART1_DCIXS_FACET1 -238310 SMART1_DCIXS_FACET2 -238320 SMART1_DCIXS_FACET3 -238330 Name-ID Mapping keywords: \begindata NAIF_BODY_NAME += ( 'SMART1_DCIXS_BASE' ) NAIF_BODY_CODE += ( -238300 ) NAIF_BODY_NAME += ( 'SMART1_DCIXS_FACET1' ) NAIF_BODY_CODE += ( -238310 ) NAIF_BODY_NAME += ( 'SMART1_DCIXS_FACET2' ) NAIF_BODY_CODE += ( -238320 ) NAIF_BODY_NAME += ( 'SMART1_DCIXS_FACET3' ) NAIF_BODY_CODE += ( -238330 ) \begintext EPDP IDs -------------------------------------- This table summarizes EPDP IDs: Name ID --------------------- ------- Name-ID Mapping keywords: \begindata NAIF_BODY_NAME += ( '111' ) NAIF_BODY_CODE += ( 111 ) \begintext KATE/RSIS IDs -------------------------------------- This table summarizes KATE/RSIS IDs: Name ID --------------------- ------- SMART1_KATE_X -238400 SMART1_KATE_KA -238410 Name-ID Mapping keywords: \begindata NAIF_BODY_NAME += ( 'SMART1_KATE_X' ) NAIF_BODY_CODE += ( -238400 ) NAIF_BODY_NAME += ( 'SMART1_KATE_KA' ) NAIF_BODY_CODE += ( -238410 ) \begintext SIR IDs -------------------------------------- This table summarizes SIR IDs: Name ID --------------------- ------- SMART1_SIR -238200 Name-ID Mapping keywords: \begindata NAIF_BODY_NAME += ( 'SMART1_SIR' ) NAIF_BODY_CODE += ( -238200 ) \begintext SPEDE IDs -------------------------------------- This table summarizes SPEDE IDs: Name ID --------------------- ------- SMART1_SPEDE_+X -238600 SMART1_SPEDE_-X -238610 Name-ID Mapping keywords: \begindata NAIF_BODY_NAME += ( 'SMART1_SPEDE_+X' ) NAIF_BODY_CODE += ( -238600 ) NAIF_BODY_NAME += ( 'SMART1_SPEDE_-X' ) NAIF_BODY_CODE += ( -238610 ) \begintext XSM IDs -------------------------------------- This table summarizes XSM IDs: Name ID --------------------- ------- SMART1_XSM -238700 Name-ID Mapping keywords: \begindata NAIF_BODY_NAME += ( 'SMART1_XSM' ) NAIF_BODY_CODE += ( -238700 ) \begintext