KPL/FK \beginlabel PDS_VERSION_ID = PDS3 RECORD_TYPE = STREAM RECORD_BYTES = "N/A" ^SPICE_KERNEL = "sdu_v21.tf" MISSION_NAME = NEXT SPACECRAFT_NAME = STARDUST DATA_SET_ID = "SDU-C-SPICE-6-V1.0" KERNEL_TYPE_ID = FK PRODUCT_ID = "sdu_v21.tf" PRODUCT_CREATION_TIME = 2011-08-11T17:40:42 PRODUCER_ID = "NAIF/JPL" MISSION_PHASE_NAME = "N/A" PRODUCT_VERSION_TYPE = ACTUAL PLATFORM_OR_MOUNTING_NAME = "N/A" START_TIME = "N/A" STOP_TIME = "N/A" SPACECRAFT_CLOCK_START_COUNT = "N/A" SPACECRAFT_CLOCK_STOP_COUNT = "N/A" TARGET_NAME = "9P/TEMPEL 1 (1867 G1)" INSTRUMENT_NAME = "N/A" NAIF_INSTRUMENT_ID = "N/A" SOURCE_PRODUCT_ID = "N/A" NOTE = "See comments in the file for details" OBJECT = SPICE_KERNEL INTERCHANGE_FORMAT = ASCII KERNEL_TYPE = FRAMES DESCRIPTION = "SDU SPICE FRAMES Kernel File. " END_OBJECT = SPICE_KERNEL \endlabel Stardust Frames Kernel =============================================================================== This frame kernel contains complete set of frame definitions for the Stardust (SDU) spacecraft frames including definitions for the spacecraft fixed frame, antenna, star camera and science instrument frames. Version and Date ------------------------------------------------------------------------------- Version 2.1 -- July 25, 2011 -- Boris Semenov Incorporated right-handed OPNAV image frame and Tempel 1 name-ID mappings used by Brian Carcich, Cornell University in the SDU/NEXT Science Data Center pipeline. Version 2.0 -- June 30, 2005 -- Boris Semenov Added name/ID pair for Sample Return Capsule (SRC) -- SDU_SRC (synonym STARDUST_SRC)/-29900 -- so that its descent trajectory data can be referred to by name in SPK lookups. Version 1.9 -- March 3, 2005 -- Boris Semenov, NAIF/JPL Added NAIF ID <-> name mapping for the instruments, structures, and target bodies. Added body-fixed, PCK-based frames for the targets -- WILD2_FIXED and ANNEFRANK_FIXED. Corrected/augmented comments in a number of places to address liens from 2004 peer-review. Version 1.8 -- October 7, 2003 -- Boris Semenov, NAIF/JPL Replaced collector frame branch with a single CK-based collector frame. Corrected SDU_ISP_STREAM definition: it should be w.r.t be ECLIPJ2000 and use different angles as the direction specified by RA and DEC is the ISP "incoming" direction. Version 1.7 -- June 2, 2003 -- Boris Semenov, NAIF/JPL Added CIDA_TARGET frame. Added diagrams. Improved some comments. Version 1.6 -- May 25, 2001 -- Boris Semenov, NAIF/JPL Corrected MGA frame to add 7 degree offset (from [13]). Added LGA2 frame. Version 1.5 -- March 4, 1999 -- Boris Semenov, NAIF/JPL Added SDU_ISP_STREAM (InterStellar Particle Stream) frame definition provided by Howard Taylor, Stardust D&MA/ACT, to facilitate geometry computations of the geometry parameters in the DFMI PDS labels. Version 1.4 -- March 3, 1999 -- Boris Semenov, NAIF/JPL Updated SDU_NC_BASE to incorporate misalignment between the s/c alignment cube and NAVCAM mounting mirror per information from David Perkins. Version 1.3 -- February 26, 1999 -- Boris Semenov, NAIF/JPL The frame center ID was set to -29 in all frame definitions to make sure that position of the center can always be computed for a light time correction of the orientation of a frame. Version 1.2 -- January 3, 1999 -- Boris Semenov, NAIF/JPL The NAVCAM ``real'' frame tree frame definitions were "filled" with misalignment values obtained from [8,9]. The DFMI frames were completed. Version 1.1 -- December 8, 1998 -- Boris Semenov, NAIF/JPL NAVCAM IDEAL/OPNAV Frame tree was added to accommodate Shyam's OPNAV camera pointing algorithm. DFMI sensor frames were added. Version 1.0 -- December 2, 1998 -- Boris Semenov, NAIF/JPL Initial Release. References ------------------------------------------------------------------------------- 1. Stardust Spacecraft Drawing: Fig 1-5 ``Bottom, Rear View'' (1&2); 2. ``NC ICD'', Document SD-62200-220, Revision B, February 19, 1998; 3. ``CIDA ICD'', Document SD-62200-230, Revision A, May 4, 1998; 4. ``DFMI ICD'', Document SD-62200-250, Revision C, November 8, 1997; 5. ``Frames Required Reading'' 6. ``Kernel Pool Required Reading'' 7. ``C-Kernel Required Reading'' 8. JPL IOM ``Test Report; Stardust Camera Alignment measurement'', by E. Motts, May 7, 1998 9. JPL IOM ``Addendum to Test Report; Stardust Camera Alignment measurement'', by E. Motts/M. Schwochert, September 19, 1998 10. "Alignment Summary for the Stardust Spacecraft" by Al Stoltz, Precision Alignment Lab/LMA, December 7, 1998 11. "Scan Mirror Optical Alignment" by David Perkins, LMA, February- March 1999. 12. M. Baguhl, E. Grun, and M. Landgraf. In Situ Measurements of Interstellar Dust with the Ulysses and Galileo Spaceprobes, Space Science Reviews No. 78, pp. 165-172, 1996 (http://galileo.mpi-hd.mpg.de/~landgraf/) 13. R.Tung, JPL Telecom Analysis. E-mail from 05/21/01. Contact Information ------------------------------------------------------------------------------- Boris V. Semenov, NAIF/JPL, (818)-354-8136, bsemenov@spice.jpl.nasa.gov Implementation Notes ------------------------------------------------------------------------------- This file is used by the SPICE system as follows: programs that make use of this frame kernel must `load' the kernel, normally during program initialization. The SPICELIB routine FURNSH loads a kernel file into the pool as shown below. CALL FURNSH ( 'frame_kernel_name' ) This file was created and may be updated with a text editor or word processor. Usage Notes ------------------------------------------------------------------------------- If you're in a hurry and want to compute state transformation matrix from a particular Stardust instrument frame to the J2000 inertial frame without going through frame descriptions/definitions in this file, you should: * for the NAVCAM image frames: -- load LSK, SDU SCLK, SDU spacecraft and NAVCAM CK files; -- call SXFORM as follows: CALL SXFORM( 'SDU_NC_IMAGE_OPNAV', 'J2000', ET, XFORM ) You need to make sure that you start with the SCLK value provided in the SPACECRAFT_CLOCK_START_COUNT keyword in a NAVCAM image label and convert this SCLK to ET before calling SXFORM. This is required because NAVCAM CK file(s) contain discrete data points "tagged" with these SCLKs and cannot be used to compute the camera view direction for any other times. Starting with UTC times from the NAVCAM labels will result in a small round off and the pointing will not be found. * for the DFMI frame: -- load LSK, SDU SCLK and SDU spacecraft CK files; -- call SXFORM as follows: CALL SXFORM( 'SDU_DFMI', 'J2000', ET, XFORM ) * for the CIDA frame: -- load LSK, SDU SCLK and SDU spacecraft CK files; -- call SXFORM as follows: CALL SXFORM( 'SDU_CIDA', 'J2000', ET, XFORM ) SDU NAIF ID Codes ------------------------------------------------------------------------------- The following names and NAIF ID codes are assigned to the Stardust spacecraft, its structures and science instruments and targets (the keywords implementing these definitions are located in the section "SDU NAIF ID Codes -- Definition Section" at the end of this file): SDU Spacecraft and SRC: ----------------------- SDU -29 (synonyms: STARDUST) SDU_SRC -29900 (synonyms: STARDUST_SRC) SDU_SPACECRAFT_BUS -29000 SDU Science Instruments: ------------------------ SDU_NAVCAM -29010 (synonyms: SDU_NC) SDU_CIDA -29020 SDU_DFMI -29030 SDU_DUST_COLLECTOR -29040 (synonyms: SDU_COLLECTOR) SDU Structures: --------------- SDU_STARCAM_A -29110 SDU_STARCAM_B -29120 SDU_HGA -29210 SDU_MGA -29211 SDU_LGA1 -29212 SDU_LGA2 -29214 SDU_LGA3 -29213 Target Bodies: -------------- 81P/WILD 2 (1978 A2) 1000107 (synonyms: WILD2, WILD-2, WILD 2) 5535 ANNEFRANK 2005535 (synonyms: ANNEFRANK) SDU Frames ------------------------------------------------------------------------------- The following SDU frames are defined in this kernel file: Frame Name Relative to Type NAIF ID ========================= ========================= ======= ======= Spacecraft frame: ----------------- SDU_SPACECRAFT rel.to J2000 CK -29000 NAVCAM Frames (-2901x and -2909x): ----------------------- SDU_NC_BASE rel.to SPACECRAFT FIXED -29011 SDU_NC_OPTICS rel.to NC_BASE FIXED -29012 SDU_NC_REFLECTION rel.to NC_OPTICS CK -29013 SDU_NC_IMAGE rel.to NC_REFLECTION FIXED -29010 SDU_NC_AXIS_STOWED rel.to NC_BASE FIXED -29015 SDU_NC_AXIS rel.to NC_AXIS_STOWED CK -29016 SDU_NC_MIRROR rel.to NC_AXIS FIXED -29017 SDU_NC_BASE_IDEAL rel.to SPACECRAFT FIXED -29091 SDU_NC_OPTICS_IDEAL rel.to NC_BASE_IDEAL FIXED -29092 SDU_NC_REFLECTION_IDEAL rel.to NC_OPTICS_IDEAL CK -29093 SDU_NC_IMAGE_IDEAL rel.to NC_REFLECTION_IDEAL FIXED -29094 SDU_NC_IMAGE_OPNAV rel.to NC_IMAGE_IDEAL CK -29090 SDU_NC_IMAGE_RH_OPNAV rel.to NC_IMAGE_OPNAV FIXED -29099 SDU_NC_AXIS_STOWED_IDEAL rel.to NC_BASE_IDEAL FIXED -29095 SDU_NC_AXIS_IDEAL rel.to NC_AXIS_STOWED_IDEAL CK -29096 SDU_NC_MIRROR_IDEAL rel.to NC_AXIS_IDEAL FIXED -29097 CIDA Frame(s) (-2902x): ----------------------- SDU_CIDA rel.to SPACECRAFT FIXED -29020 SDU_CIDA_TARGET rel.to CIDA FIXED -29021 DFMI Frame(s) (-2903x): ----------------------- SDU_DFMI rel.to SPACECRAFT FIXED -29030 SDU_DFMI_SU rel.to DFMI FIXED -29031 SDU_DFMI_A1 rel.to DFMI FIXED -29032 SDU_DFMI_A2 rel.to DFMI FIXED -29033 Dust Collector Frame: --------------------- SDU_DUST_COLLECTOR rel.to SPACECRAFT CK -29040 Star Camera frames (-291xx): ---------------------------- SDU_STARCAM_A rel.to SPACECRAFT FIXED -29110 SDU_STARCAM_B rel.to SPACECRAFT FIXED -29120 Antenna frames (-292xx): ------------------------ SDU_HGA rel.to SPACECRAFT FIXED -29210 SDU_MGA rel.to SPACECRAFT FIXED -29211 SDU_LGA1 rel.to SPACECRAFT FIXED -29212 SDU_LGA2 rel.to SPACECRAFT FIXED -29214 SDU_LGA3 rel.to SPACECRAFT FIXED -29213 InterStellar Particle Stream frame(s) (-293xx): ----------------------------------------------- SDU_ISP_STREAM rel.to J2000 FIXED -29300 Target Body-fixed frames (-299xx): ---------------------------------- WILD2_FIXED rel.to J2000 PCK -29901 ANNEFRANK_FIXED rel.to J2000 PCK -29902 SDU Frames Hierarchy ------------------------------------------------------------------------------- The diagram below shows Stardust frames hierarchy: "SDU_ISP_STREAM" ---------------- ^ | <--fixed | | "J2000" INERTIAL +-----------------------------------------------+ | | | | | <--pck |<--pck | <--ck | <--pck | | | | V | | V "WILD2_FIXED" | | "IAU_EARTH" WILD 2 BFR(*) | | EARTH BFR(*) ------------- | | -------------- | | | | | | "LGA2" V | ------ "ANNEFRANK_FIXED" | ^ ANNEFRANK BFR(*) | fixed--> | ----------------- | | | | | "LGA1" | "LGA3" | ------ | ------ | ^ | ^ | fixed--> | | | <--fixed | | | | | | | | "STARCAM_A" "STARCAM_B" | "HGA" | | | "MGA" ----------- ----------- | ----- | | | ----- ^ ^ | ^ | | | ^ | <--fixed | <--fixed | fixed--> | | | | | <--fixed | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | V | | | | | | | "SPACECRAFT" | | | | | +-----------+----+----------+----------------+---+-+-+---+---+ | | | | | | <--fixed | | <--fixed | | | | | | | V | V | | "CIDA" | "DFMI" | | ------ | +-----------+-----------+ | | | | | | | | | | | | <--fixed | <--fixed | <--fixed | | | | | | | | | V | V V V | | "CIDA_TARGET" | "DFMI_SU" "DFMI_A1" "DFMI_A2" | | ------------- | --------- --------- --------- | | | | | | | | | | | | | | | | | | | | <--ck | | | | | V | | "DUST_COLLECTOR" | | ---------------- | | | <--fixed | <--fixed | | V V "NC_BASE" "NC_BASE_IDEAL" +--------------+ +-----------------+ | | | | | <--fixed | <--fixed | <--fixed | <--fixed | | | | V V V V "NC_OPTICS" "NC_AXIS_STOWED" "NC_OPTICS_IDEAL" "NC_AXIS_STOWED_IDEAL" -----+----- -------+-------- ---------+------- --------+------------- | | | | | <--ck | <--ck | <--ck | <--ck | | | | V V V V "NC_REFLECTION" "NC_AXIS" "NC_REFLECTION_IDEAL" "NC_AXIS_IDEAL" -------+------- ----+---- ---------+----------- ----+---------- | | | | | <--fixed | <--fixed | <--fixed | <--fixed | | | | | V V V | "NC_MIRROR" "NC_IMAGE_IDEAL" "NC_MIRROR_IDEAL" | ----------- ---------------- ----------------- | | | | <--ck | | V V "NC_IMAGE" "NC_IMAGE_OPNAV" ---------- ---------------- | | <--fixed | V "NC_IMAGE_RH_OPNAV" ------------------- (*) BFR -- body-fixed rotating frame Spacecraft Bus Frame ------------------------------------------------------------------------------- The spacecraft bus frame is defined by the spacecraft design as follows: * +X axis is along longer side of the spacecraft bus and points from aerogel capsule side towards dust shield side; * +Z is perpendicular to the spacecraft bus surface parallel to the deployed solar arrays surface and points in the HGA pointing direction; * +Y completes the right hand frame; * the origin of this frame is at the launch vehicle interface point; This diagram illustrates the spacecraft frame (spacecraft is show in the encounter configuration): || Dust Collector Main || Array Solar Array Shield || Shield .-. o HGA || .-. +Z ^| | ._____|_____. o | |==========|====o==\=========/==o=============== `-' || |-------------------. . Solar || | |/| Array || | .-----. CIDA | | <-------o| | | ' | | Return +X +Y | | . __/ | | Capsule | | `. `. |\| | |--- `. `.---- -----' o--------- | | `. `. \_______/ `-' `.'`. .' The following frame definition is for the basic spacecraft bus frame. Spacecraft bus attitude with respect to an inertial frame is provided by a C kernel (see [7] for more information). \begindata FRAME_SDU_SPACECRAFT = -29000 FRAME_-29000_NAME = 'SDU_SPACECRAFT' FRAME_-29000_CLASS = 3 FRAME_-29000_CLASS_ID = -29000 FRAME_-29000_CENTER = -29 CK_-29000_SCLK = -29 CK_-29000_SPK = -29 \begintext NC Frames ------------------------------------------------------------------------------- Given that periscope is perfectly aligned, there are two "chains" of frames required to compute orientation of the NC images relative to the Stardust spacecraft. The first chain: SPACECRAFT ---> CAMERA BASE ---> OPTICS ---> REFLECTION ---> IMAGE actually "connects" the spacecraft frame and the image frame. The second chain: OPTICS ---> CAMERA BASE ---> AXIS_STOWED ---> AXIS ---> MIRROR is needed to compute transformation between two of the links in the first chain -- OPTICS and REFLECTION -- which is by the mirror normal direction in the OPTICS frame. The explanation for the first chain is as follows: 1) orientation of the camera base relative to the spacecraft frame can be determined by a set of measurements of the orientation of the NC alignment mirror relative to the s/c alignment cube; a frame which is defined by alignment cube can be defined as a fixed offset frame with orientation relative to the spacecraft frame; 2) because the camera is a solid structure, orientation of the 200 mm optics boresight axis can be measured relative to the NAVCAM alignment mirror; so, a frame based on the camera boresight direction and horizontal (row) and vertical (column) directions of the CCD can be defined as a fixed offset frame with orientation relative to the camera base frame; 3) if the mirror normal direction is known in the 200 mm optics frame, a 180 degrees rotation about this direction can be applied to bring optics frame to its right-hand reflection; since the mirror normal direction in the optics frame is not fixed, a CK file for this rotation should be made and, therefore, a CK frame should be defined the reflection frame; 4) to convert right-hand reflection into the actual left-hand reflection (which is seen in the image) an additional minus-identity fixed transformation has to be applied to the right-hand reflection frame; this transformation can defined in the fixed offset frame to be applied to the right-hand reflection. As mentioned above, the second chain is needed to compute mirror normal direction in the optics frame which is required on the step 3 of the first chain. This direction can be computed from mechanical alignments and mirror rotation angle value as follows: 1) orientation of the camera base frame relative to the optics frame is known and fixed; it's a transpose of the transformation needed on the step two of the first chain and this transformation is already defined in the optics fixed frame; 2) direction of the mirror rotational axis and of the plane containing this axis and mirror normal for the mirror's stowed position is known and fixed; a frame based on this direction and plane can be defined as a fixed offset frame with orientation relative to the camera base frame; 3) when mirror rotates, the plane containing mirror normal (and corresponding axis of the "stowed" plane explained in the previous item) rotates about mirror rotation axis by mirror rotation angle; a CK file should be made for this rotation and, therefore, a CK frame should be defined for the rotating axis-based frame; 4) because the mirror is tilted by 45 degrees (nominally) relative to its rotational axis, this tilt and any misalignment accompanying it can be taken into account by an additional fixed transformation from the rotation axis / mirror normal plane based frame into the actual mirror normal direction based frame. Unfortunately, the mounting alignment calibrations performed on the ground before launch could not provide accuracy required for on-board OPNAV algorithms. Therefore, the Stardust OPNAV group (Shyam Bhaskaran et al) had to implement a different schema which assumed that all transformations described above are ideal (as they would be if the camera and its components would be assembled without any misalignment), and to introduce an additional correction rotation to be applied to this ideal transformation to correct for all misalignments at once. This additional correction was be calibrated during flight for various mirror angle value and stored as three independent generic rotation angles for every 10 degree position in the mirror rotation range. For mirror angles values between 10 degree points, generic rotation angles were be linearly interpolated to get continuous function. This approach changes NAVCAM frames chains as follows: the first chain, connecting SPACECRAFT to IMAGE frames, becomes: SC --> CAM BASE(I) --> OPTICS(I) --> REFL(I) --> IMAGE(I) --> IMAGE_OPNAV the second chain needed to computes mirror normal direction becomes: OPTICS(I) --> CAM BASE(I) --> AXIS_STOWED(I) --> AXIS(I) --> MIRROR(I) where (I) designates "ideal" (nominal) transformations. Set of the frame definitions below implement both of these approaches. NC Base Frame ----------------- The NAVCAM base frame is defined by the NAVCAM design as follows: * +Z is nominally along the NAVCAM 200 mm optics optical axis and scan mirror rotation axis and point from the camera base towards the scan mirror; * +Y is nominally along actual camera CCD assembly vertical direction (columns) and points from the electronic box at the bottom of the camera assembly towards the top of the camera assembly; * +X complements to a right hand frame (and is nominally along actual camera CCD assembly horizontal direction (rows)); * the origin of this frame is in the middle of the camera mounting base surface. Nominally the NAVCAM base frame is rotated from the spacecraft frame by 90 degrees about X axis. The SDU_NC_BASE_IDEAL frame definition below contains the nominal orientation. Actual orientation of the NAVCAM frame with respect to the spacecraft frame can be determined by combining two independent measurements obtained on the ground before launch -- the first measurement of the orientation of the NAVCAM mounting mirror (nominally the normal of this mirror is pointing along the s/c -Y axis and along the NAVCAM base +Z axis) with respect to the NAVCAM base obtained when camera was not mounted on the spacecraft and the second measurement of the orientation of the NAVCAM mounting mirror with respect to the spacecraft alignment cube when camera was attached to the spacecraft. The NAVCAM mounting mirror normal orientation with respect to the +Z axis of NAVCAM mounting plate [see 9] had an offset of 0.208 degrees in X-Y plane and an offset of -0.190 degrees in Y-Z plane from its nominal orientation. The NAVCAM mounting mirror normal orientation with respect to the -Y side normal of the spacecraft mounting cube [see 10] had an offset of 0.199 degrees in X-Y plane and an offset of -0.2808 degrees in Y-Z plane from its nominal orientation. Combining these two measurements together, the offsets between the -Y side of the spacecraft alignment cube and the +Z axis of camera base are: -0.0090 in the s/c XY plane (0.199-0.208) and -0.0908 in the s/c YZ plane (-0.2808-(-0.190)). Given that the magnitude of the angles is very small, they can be considered as a rotational angles (... well this is a little stretch, but it will do for now :) and can be combined with nominal rotation from the s/c frame to the camera base frame. This will give us "actual" orientation from the s/c frame, ``SDU_SPACECRAFT'', with respect to the NAVCAM base frame, ``SDU_NC_BASE'', achieved by two rotations -- first by 89.9092 degrees (90-0.0908) about +X axis and second by -0.0090 degrees about new positions of +Y axis. The SDU_NC_BASE frame definition below contains the "actual" orientation. \begindata FRAME_SDU_NC_BASE = -29011 FRAME_-29011_NAME = 'SDU_NC_BASE' FRAME_-29011_CLASS = 4 FRAME_-29011_CLASS_ID = -29011 FRAME_-29011_CENTER = -29 TKFRAME_-29011_SPEC = 'ANGLES' TKFRAME_-29011_RELATIVE = 'SDU_SPACECRAFT' TKFRAME_-29011_ANGLES = ( -89.9092, 0.0090, 0.0 ) TKFRAME_-29011_AXES = ( 1, 2, 3 ) TKFRAME_-29011_UNITS = 'DEGREES' FRAME_SDU_NC_BASE_IDEAL = -29091 FRAME_-29091_NAME = 'SDU_NC_BASE_IDEAL' FRAME_-29091_CLASS = 4 FRAME_-29091_CLASS_ID = -29091 FRAME_-29091_CENTER = -29 TKFRAME_-29091_SPEC = 'ANGLES' TKFRAME_-29091_RELATIVE = 'SDU_SPACECRAFT' TKFRAME_-29091_ANGLES = ( -90.0, 0.0, 0.0 ) TKFRAME_-29091_AXES = ( 1, 2, 3 ) TKFRAME_-29091_UNITS = 'DEGREES' \begintext NC Optics Frame ------------------- The NAVCAM optics frame is defined by the NAVCAM optics design as follows: * +Z is along the NAVCAM 200 mm optics optical axis and points from the CCD towards the camera lenses; * +Y is along actual camera CCD assembly vertical direction (columns) and points from the CCD assembly bottom row towards the CCD top row; * +X complements to a right hand frame (and is along actual camera CCD assembly horizontal direction (rows)); * the origin of this frame is in the camera optics focal point. Nominally NAVCAM optics frame is co-aligned with the NAVCAM base frame. The SDU_NC_OPTICS_IDEAL frame definition below contains the nominal orientation. Actual NAVCAM 200 mm optics orientation with respect to the spacecraft frame axes as measured on the ground before launch [from 9] had an offset of -0.102 degrees from -Y axis in Y-Z plane (or -0.102 from +Z axis in the camera base frame) from the nominal orientation. The SDU_NC_OPTICS frame definition below contains the actual orientation. \begindata FRAME_SDU_NC_OPTICS = -29012 FRAME_-29012_NAME = 'SDU_NC_OPTICS' FRAME_-29012_CLASS = 4 FRAME_-29012_CLASS_ID = -29012 FRAME_-29012_CENTER = -29 TKFRAME_-29012_SPEC = 'ANGLES' TKFRAME_-29012_RELATIVE = 'SDU_NC_BASE' TKFRAME_-29012_ANGLES = ( 0.102, 0.000, 0.0 ) TKFRAME_-29012_AXES = ( 1, 2, 3 ) TKFRAME_-29012_UNITS = 'DEGREES' FRAME_SDU_NC_OPTICS_IDEAL = -29092 FRAME_-29092_NAME = 'SDU_NC_OPTICS_IDEAL' FRAME_-29092_CLASS = 4 FRAME_-29092_CLASS_ID = -29092 FRAME_-29092_CENTER = -29 TKFRAME_-29092_SPEC = 'ANGLES' TKFRAME_-29092_RELATIVE = 'SDU_NC_BASE_IDEAL' TKFRAME_-29092_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-29092_AXES = ( 1, 2, 3 ) TKFRAME_-29092_UNITS = 'DEGREES' \begintext NC Reflection Frame ----------------------- The NAVCAM reflection frame is the first of two frames needed to implement reflection and it is defined as follows: * direction of each of three axes of this frame is obtained by 180 degrees rotation from the corresponding axis of the camera optics frame about mirror normal direction specified in the camera optics frame; * the origin of this frame is at the intersection of the camera optical axis with surface of the scan mirror. This frame is a CK based frame. It is rotated with respect to the NAVCAM optics frame by 180 degrees about scan mirror normal direction specified in the NAVCAM optics frame. \begindata FRAME_SDU_NC_REFLECTION = -29013 FRAME_-29013_NAME = 'SDU_NC_REFLECTION' FRAME_-29013_CLASS = 3 FRAME_-29013_CLASS_ID = -29013 FRAME_-29013_CENTER = -29 CK_-29013_SCLK = -29 CK_-29013_SPK = -29 FRAME_SDU_NC_REFLECTION_IDEAL = -29093 FRAME_-29093_NAME = 'SDU_NC_REFLECTION_IDEAL' FRAME_-29093_CLASS = 3 FRAME_-29093_CLASS_ID = -29093 FRAME_-29093_CENTER = -29 CK_-29093_SCLK = -29 CK_-29093_SPK = -29 \begintext NC Stowed Axis Based Frame ------------------------------ The NAVCAM stowed axis based frame is defined by the NAVCAM scan mirror design as follows: * +Z is along the NAVCAM scan mirror rotation axis and points from the camera base; * +X is in the plane defined by the mirror normal and mirror rotation axis in the stowed position and points from the mirror reflecting surface; * +Y complements to a right hand frame; * the origin of this frame at the intersection of the scan mirror rotation axis and mirror reflecting surface. Nominally NAVCAM stowed mirror axis based frame is co-aligned with the NAVCAM base frame. The SDU_NC_AXIS_STOWED_IDEAL frame definition below contains the nominal orientation. Measurements on the ground before launch [from 9] showed that scan mirror rotation axis is well aligned with the spacecraft Y axis in both X-Y and Z-Y planes of the spacecraft frame. Therefore actual stowed mirror axis based frame orientation is assumed to be the same as the nominal one. The SDU_NC_AXIS_STOWED frame definition below reflects this. \begindata FRAME_SDU_NC_AXIS_STOWED = -29015 FRAME_-29015_NAME = 'SDU_NC_AXIS_STOWED' FRAME_-29015_CLASS = 4 FRAME_-29015_CLASS_ID = -29015 FRAME_-29015_CENTER = -29 TKFRAME_-29015_SPEC = 'ANGLES' TKFRAME_-29015_RELATIVE = 'SDU_NC_BASE' TKFRAME_-29015_ANGLES = ( 0.000, 0.000, 0.0 ) TKFRAME_-29015_AXES = ( 1, 2, 3 ) TKFRAME_-29015_UNITS = 'DEGREES' FRAME_SDU_NC_AXIS_STOWED_IDEAL = -29095 FRAME_-29095_NAME = 'SDU_NC_AXIS_STOWED_IDEAL' FRAME_-29095_CLASS = 4 FRAME_-29095_CLASS_ID = -29095 FRAME_-29095_CENTER = -29 TKFRAME_-29095_SPEC = 'ANGLES' TKFRAME_-29095_RELATIVE = 'SDU_NC_BASE_IDEAL' TKFRAME_-29095_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-29095_AXES = ( 1, 2, 3 ) TKFRAME_-29095_UNITS = 'DEGREES' \begintext NC Rotating Axis Based Frame -------------------------------- The NAVCAM rotating axis based frame is defined by the NAVCAM scan mirror design as follows: * +Z is along the NAVCAM scan mirror rotation axis and points from the camera base; * +X is in the plane defined by the mirror normal and mirror rotation axis in the any position and points from the mirror reflecting surface; * +Y complements to a right hand frame; * the origin of this frame at the intersection of the scan mirror rotation axis and mirror reflecting surface. This frame is a CK based frame. It is rotated with respect to the NAVCAM stowed mirror axis based frame by negative of the mirror rotation angle that comes in telemetry data about Z axis of that frame. \begindata FRAME_SDU_NC_AXIS = -29016 FRAME_-29016_NAME = 'SDU_NC_AXIS' FRAME_-29016_CLASS = 3 FRAME_-29016_CLASS_ID = -29016 FRAME_-29016_CENTER = -29 CK_-29016_SCLK = -29 CK_-29016_SPK = -29 FRAME_SDU_NC_AXIS_IDEAL = -29096 FRAME_-29096_NAME = 'SDU_NC_AXIS_IDEAL' FRAME_-29096_CLASS = 3 FRAME_-29096_CLASS_ID = -29096 FRAME_-29096_CENTER = -29 CK_-29096_SCLK = -29 CK_-29096_SPK = -29 \begintext NC Rotating Mirror Normal Based Frame ----------------------------------------- The NAVCAM rotating mirror normal based frame is defined by the NAVCAM scan mirror design as follows: * +Z is along the NAVCAM scan mirror normal and points from the mirror reflecting surface; * +X is in the plane defined by the mirror normal and mirror rotation axis in the any position and points from the mirror center toward the mirror edge that closer to the camera optics; * +Y complements to a right hand frame; * the origin of this frame at the intersection of the scan mirror rotation axis and mirror reflecting surface. Nominally NAVCAM rotating mirror normal based frame is rotated by 135 degrees with respect to the camera rotating axis based frame about Y axis of that frame (to bring Z axis to the direction of the mirror normal). The SDU_NC_MIRROR_IDEAL frame definition below contains the nominal orientation. Actual NAVCAM mirror tilt with respect to the mirror rotation axis as measured on the ground before launch [from 9] was 45.216 degrees. Therefore actual NAVCAM rotating mirror normal based frame is rotated by 135.216 degrees with respect to the camera rotating axis based frame. The SDU_NC_MIRROR frame definition below contains the actual orientation. \begindata FRAME_SDU_NC_MIRROR = -29017 FRAME_-29017_NAME = 'SDU_NC_MIRROR' FRAME_-29017_CLASS = 4 FRAME_-29017_CLASS_ID = -29017 FRAME_-29017_CENTER = -29 TKFRAME_-29017_SPEC = 'ANGLES' TKFRAME_-29017_RELATIVE = 'SDU_NC_AXIS' TKFRAME_-29017_ANGLES = ( 0.0, -135.216, 0.0 ) TKFRAME_-29017_AXES = ( 1, 2, 3 ) TKFRAME_-29017_UNITS = 'DEGREES' FRAME_SDU_NC_MIRROR_IDEAL = -29097 FRAME_-29097_NAME = 'SDU_NC_MIRROR_IDEAL' FRAME_-29097_CLASS = 4 FRAME_-29097_CLASS_ID = -29097 FRAME_-29097_CENTER = -29 TKFRAME_-29097_SPEC = 'ANGLES' TKFRAME_-29097_RELATIVE = 'SDU_NC_AXIS_IDEAL' TKFRAME_-29097_ANGLES = ( 0.0, -135.0, 0.0 ) TKFRAME_-29097_AXES = ( 1, 2, 3 ) TKFRAME_-29097_UNITS = 'DEGREES' \begintext NC Image Frame ----------------------- The NAVCAM image frame is defined by NAVCAM virtual image geometry as follows: * +Z is along reflected camera boresight and point from the mirror surface; * +Y is along image vertical direction (columns) and points from the image bottom row towards the image top row; * +X complements to a right hand frame (and is along image horizontal direction (rows)); * the origin of this frame is at the camera focal point. This frame is the second of two frames needed to implement reflection. The two frames below are NAVCAM image left hand frames for real and ideal camera models. Both frames are defined as minus identity transformation with respect to the corresponding reflection frames defined above. \begindata FRAME_SDU_NC_IMAGE = -29010 FRAME_-29010_NAME = 'SDU_NC_IMAGE' FRAME_-29010_CLASS = 4 FRAME_-29010_CLASS_ID = -29010 FRAME_-29010_CENTER = -29 TKFRAME_-29010_SPEC = 'MATRIX' TKFRAME_-29010_RELATIVE = 'SDU_NC_REFLECTION' TKFRAME_-29010_MATRIX = ( -1.0, 0.0, 0.0, 0.0, -1.0, 0.0, 0.0, 0.0, -1.0 ) FRAME_SDU_NC_IMAGE_IDEAL = -29094 FRAME_-29094_NAME = 'SDU_NC_IMAGE_IDEAL' FRAME_-29094_CLASS = 4 FRAME_-29094_CLASS_ID = -29094 FRAME_-29094_CENTER = -29 TKFRAME_-29094_SPEC = 'MATRIX' TKFRAME_-29094_RELATIVE = 'SDU_NC_REFLECTION_IDEAL' TKFRAME_-29094_MATRIX = ( -1.0, 0.0, 0.0, 0.0, -1.0, 0.0, 0.0, 0.0, -1.0 ) \begintext This frame is a CK based frame. It is rotated with respect to the NAVCAM ideal image frame by set of rotation correction angles derived by OPNAV software from in-flight calibration images. \begindata FRAME_SDU_NC_IMAGE_OPNAV = -29090 FRAME_-29090_NAME = 'SDU_NC_IMAGE_OPNAV' FRAME_-29090_CLASS = 3 FRAME_-29090_CLASS_ID = -29090 FRAME_-29090_CENTER = -29 CK_-29090_SCLK = -29 CK_-29090_SPK = -29 \begintext NC Image Right-Handed Frames ------------------------------- The right-handed version of the Stardust/NExT NAVCAM OPNAV image frame defined below was utilized by the Cornell Science Data Center (SDC) pipeline to process the the Stardust/NExT mission NAVCAM images. The frame description and definition below were copied as is from the FK ``next_nc_v00.tf'' used internally at SDC. The [NC image right-handed] frame is defined as follows: * +X is parallel to the rows on the CCD, and increases with increasing pixel position in the NAVCAM images. * +Y is parallel to the columns on the CCD, and increases with increasing pixel position in the NAVCAM images * +Z is parallel and opposite to the boresight of the NAVCAM images. The +X, +Y and -Z axes can also be thought of as the directions RIGHT, UP and along the BOREsight, respectively, in the STARDUST NExT NAVCAM images. \begindata FRAME_SDU_NC_IMAGE_RH_OPNAV = -29099 FRAME_-29099_NAME = 'SDU_NC_IMAGE_RH_OPNAV' FRAME_-29099_CLASS = 4 FRAME_-29099_CLASS_ID = -29099 FRAME_-29099_CENTER = -29 TKFRAME_-29099_SPEC = 'MATRIX' TKFRAME_-29099_RELATIVE = 'SDU_NC_IMAGE_OPNAV' TKFRAME_-29099_MATRIX = ( -1.0, 0.0, 0.0, 0.0, -1.0, 0.0, 0.0, 0.0, -1.0 ) \begintext CIDA Frame ------------------------------------------------------------------------------- The CIDA frame is defined by the CIDA instrument design and mounting alignment as follows: * +Z is along +X axis of the spacecraft (direction from which the dust will be coming onto the collector); * +Y is along the spacecraft +Y axis and point in the same direction; * +X completes to the right hand frame (and is along and points in the same direction and the spacecraft -Z axis); * the origin on this frame is at the center of the CIDA target plate. As follows from this definition, the CIDA nominal frame is rotated 90 degrees about Y axis from the spacecraft frame and, therefore, if defined as as fixed offset frame with respect to the s/c frame. This diagram illustrates the CIDA frame: || Dust Collector Main || Array Solar Array Shield || Shield .-. o HGA || .-. +Zsc ^| | ._____|_____. o | |==========|====o==\=========/==o=============== `-' || |-------------------. . Solar || | |/| Array || | .-----. CIDA | | <-------o| | | ' | | Return +Xsc +Ysc| | . __/ | | Capsule | | `. `. |\| | |--- `. `.---- -----' o--------- | | `. `. CIDA \_______/ `-' `.'`. Target ---> ---> <-------o Nominal +Zc | +Yc Incoming Particle | direction during | Encounter | +Ysc and +Ycida are v out of the page +Xc These keywords comprise the CIDA frame definition. \begindata FRAME_SDU_CIDA = -29020 FRAME_-29020_NAME = 'SDU_CIDA' FRAME_-29020_CLASS = 4 FRAME_-29020_CLASS_ID = -29020 FRAME_-29020_CENTER = -29 TKFRAME_-29020_SPEC = 'ANGLES' TKFRAME_-29020_RELATIVE = 'SDU_SPACECRAFT' TKFRAME_-29020_ANGLES = ( 0.0, -90.0, 0.0 ) TKFRAME_-29020_AXES = ( 1, 2, 3 ) TKFRAME_-29020_UNITS = 'DEGREES' \begintext CIDA Target Frame ------------------------------------------------------------------------------- The CIDA target frame is defined by the CIDA instrument design: * +Z is normal to the CIDA target plate and points onto the drift tube; * +Y is normal to the CIDA mounting side and points from it towards the opposite side (nominally along the s/c +Y axis); * +X completes the right hand frame; * the origin on this frame is at the center of the target plate. This diagram illustrates the CIDA target frame: || Dust Collector Main || Array Solar Array Shield || Shield .-. o HGA || .-. +Zsc ^| | ._____|_____. o | |==========|====o==\=========/==o=============== `-' || |-------------------. . Solar || | |/| Array || | .-----. CIDA | | <-------o| | | ' | | Return +Xsc +Ysc| | . __/ | | Capsule | | `. ` |\| | |--- `.<. +Zct -----' o--------- | | `.`. \_______/ `-' `.`. Target ---> ---> <-------o -------- Nominal +Zc /| . ' Incoming Particle / | `. ' 40 deg direction during / | `. Encounter +Xct V | `. Normal to v CIDA Target Plane +Xc As seen on the diagram, the CIDA target frame is rotated by -40 degrees about Y axis from the CIDA frame. Therefore, it is defined as a fixed offset frame with respect to the CIDA frame. \begindata FRAME_SDU_CIDA_TARGET = -29021 FRAME_-29021_NAME = 'SDU_CIDA_TARGET' FRAME_-29021_CLASS = 4 FRAME_-29021_CLASS_ID = -29021 FRAME_-29021_CENTER = -29 TKFRAME_-29021_SPEC = 'ANGLES' TKFRAME_-29021_RELATIVE = 'SDU_CIDA' TKFRAME_-29021_ANGLES = ( 0.0, 40.0, 0.0 ) TKFRAME_-29021_AXES = ( 1, 2, 3 ) TKFRAME_-29021_UNITS = 'DEGREES' \begintext DFMI Frames ------------------------------------------------------------------------------- The DFMI nominal frame is defined by the DFMI instrument design as follows: * +Z is along instrument sensor surface normal vector and point from the spacecraft; * +Y is nominally along the spacecraft Y axis and point in the same direction; * +X complements to the right hand frame (and nominally is along and points in the same direction and the spacecraft -Z frame); * the origin on this frame is at the intersection of the outer surface of the Whipple shield and the spacecraft +X axis. As follows from this definition, the DFMI nominal frame is rotated 90 degrees about Y axis from the spacecraft frame. The DFMI sensor frames are defined relative to the DFMI nominal frame and their orientation is determined by the surface normal vector direction of each sensor. Since pointing requirements of the instrument are very low the sensor frame can be considered to be co-aligned with the nominal DFMI instrument frame. \begindata FRAME_SDU_DFMI = -29030 FRAME_-29030_NAME = 'SDU_DFMI' FRAME_-29030_CLASS = 4 FRAME_-29030_CLASS_ID = -29030 FRAME_-29030_CENTER = -29 TKFRAME_-29030_SPEC = 'ANGLES' TKFRAME_-29030_RELATIVE = 'SDU_SPACECRAFT' TKFRAME_-29030_ANGLES = ( 0.0, -90.0, 0.0 ) TKFRAME_-29030_AXES = ( 1, 2, 3 ) TKFRAME_-29030_UNITS = 'DEGREES' FRAME_SDU_DFMI_SU = -29031 FRAME_-29031_NAME = 'SDU_DFMI_SU' FRAME_-29031_CLASS = 4 FRAME_-29031_CLASS_ID = -29031 FRAME_-29031_CENTER = -29 TKFRAME_-29031_SPEC = 'ANGLES' TKFRAME_-29031_RELATIVE = 'SDU_DFMI' TKFRAME_-29031_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-29031_AXES = ( 1, 2, 3 ) TKFRAME_-29031_UNITS = 'DEGREES' FRAME_SDU_DFMI_A1 = -29032 FRAME_-29032_NAME = 'SDU_DFMI_A1' FRAME_-29032_CLASS = 4 FRAME_-29032_CLASS_ID = -29032 FRAME_-29032_CENTER = -29 TKFRAME_-29032_SPEC = 'ANGLES' TKFRAME_-29032_RELATIVE = 'SDU_DFMI' TKFRAME_-29032_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-29032_AXES = ( 1, 2, 3 ) TKFRAME_-29032_UNITS = 'DEGREES' FRAME_SDU_DFMI_A2 = -29033 FRAME_-29033_NAME = 'SDU_DFMI_A2' FRAME_-29033_CLASS = 4 FRAME_-29033_CLASS_ID = -29033 FRAME_-29033_CENTER = -29 TKFRAME_-29033_SPEC = 'ANGLES' TKFRAME_-29033_RELATIVE = 'SDU_DFMI' TKFRAME_-29033_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-29033_AXES = ( 1, 2, 3 ) TKFRAME_-29033_UNITS = 'DEGREES' \begintext Dust Collector Frame ------------------------------------------------------------------------------- The dust collector frame is defined by the collector design: * +Z is normal to the collector surface on the comet dust side; * +X is from the collector center towards the spacecraft; * +Y completes the right hand frame; * the origin on this frame is at the center of the collector comet dust side. This diagram illustrates the collector frame when collector is fully deployed (encounter configuration): || Dust Collector Main +Zcol || Array Solar Array Shield <-------o| Shield .-. HGA o |+Ycol .-. +Zsc ^| | ._____|_____. |o | |==========|====o==\=========/==o====|========== `-' || |-------------------. .| Solar || | |/|V Xcol Array || | .-----. CIDA | | <-------o| | | ' | | Return +Xsc +Ysc| | . __/ | | Capsule | | `. ` |\| | |--- `.`.----- -----' o--------- | | `.`. \_______/ `-' `.`. ---> ---> ` / Nominal Incoming Particle direction during Encounter As seen on the diagram the collector frame is rotated from the spacecraft frame by +90 degrees about Y axis when collector is fully deployed. Since collector orientation is not constant -- as collector can be stowed or deployed at a different angles -- the collector frame is defined as a fixed offset frame. \begindata FRAME_SDU_DUST_COLLECTOR = -29040 FRAME_-29040_NAME = 'SDU_DUST_COLLECTOR' FRAME_-29040_CLASS = 3 FRAME_-29040_CLASS_ID = -29040 FRAME_-29040_CENTER = -29 CK_-29040_SCLK = -29 CK_-29040_SPK = -29 \begintext Star Camera Frames ------------------------------------------------------------------------------- Both Star Camera frames are fixed offset from the spacecraft frame. For both star camera frames, +Z axis of the frame is the camera "boresight" direction. Star Camera "A" --------------- The SDU Star Camera A points in the SC X-Z plane between +X and -Z axis. I.e. nominally +135 degrees rotation about SC Y axis is needed to co-align SC and STARCAM A frames. \begindata FRAME_SDU_STARCAM_A = -29110 FRAME_-29110_NAME = 'SDU_STARCAM_A' FRAME_-29110_CLASS = 4 FRAME_-29110_CLASS_ID = -29110 FRAME_-29110_CENTER = -29 TKFRAME_-29110_SPEC = 'ANGLES' TKFRAME_-29110_RELATIVE = 'SDU_SPACECRAFT' TKFRAME_-29110_ANGLES = ( 0.0, -135.0, 0.0 ) TKFRAME_-29110_AXES = ( 3, 2, 1 ) TKFRAME_-29110_UNITS = 'DEGREES' \begintext Star Camera "B" --------------- The SDU Star Camera B points in the SC X-Z plane between -X and -Z axis. I.e. nominally -135 degrees rotation about SC Y axis is needed to co-align SC and STARCAM B frames. \begindata FRAME_SDU_STARCAM_A = -29120 FRAME_-29120_NAME = 'SDU_STARCAM_A' FRAME_-29120_CLASS = 4 FRAME_-29120_CLASS_ID = -29120 FRAME_-29120_CENTER = -29 TKFRAME_-29120_SPEC = 'ANGLES' TKFRAME_-29120_RELATIVE = 'SDU_SPACECRAFT' TKFRAME_-29120_ANGLES = ( 0.0, 135.0, 0.0 ) TKFRAME_-29120_AXES = ( 3, 2, 1 ) TKFRAME_-29120_UNITS = 'DEGREES' \begintext SDU Antenna Frames ------------------------------------------------------------------------------- All SDU antenna frames are fixed offset from the spacecraft frame. For any SDU antenna frame, +Z axis of the frame points in the antenna "boresight" direction. High Gain Antenna ----------------- The SDU High Gain Antenna (HGA) points approximately along S/C +Z axis. I.e. nominally zero rotation is needed to co-align SC and HGA frames. \begindata FRAME_SDU_HGA = -29210 FRAME_-29210_NAME = 'SDU_HGA' FRAME_-29210_CLASS = 4 FRAME_-29210_CLASS_ID = -29210 FRAME_-29210_CENTER = -29 TKFRAME_-29210_SPEC = 'ANGLES' TKFRAME_-29210_RELATIVE = 'SDU_SPACECRAFT' TKFRAME_-29210_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-29210_AXES = ( 3, 2, 1 ) TKFRAME_-29210_UNITS = 'DEGREES' \begintext Medium Gain Antenna ------------------- The SDU Medium Gain Antenna (MGA) is canted by 7 degrees from the SC +Z in direction of the SC +X (from [13]). So, nominally a single rotation of +7 degrees about the SC +Y axis is needed to co-align SC and HGA frames. \begindata FRAME_SDU_MGA = -29211 FRAME_-29211_NAME = 'SDU_MGA' FRAME_-29211_CLASS = 4 FRAME_-29211_CLASS_ID = -29211 FRAME_-29211_CENTER = -29 TKFRAME_-29211_SPEC = 'ANGLES' TKFRAME_-29211_RELATIVE = 'SDU_SPACECRAFT' TKFRAME_-29211_ANGLES = ( 0.0, -7.0, 0.0 ) TKFRAME_-29211_AXES = ( 3, 2, 1 ) TKFRAME_-29211_UNITS = 'DEGREES' \begintext Low Gain Antennas ----------------- The LGA1 (transmitter) and LGA3 (receiver) point in the SC X-Z plane between -X and -Z axis. Thus, nominally -135 degrees rotation about SC Y axis is needed to co-align SC and LGA1 and LGA3 frames. The LGA2 is aligned with the HGA (i.e. points along the s/c +Z). Nominally, no rotations are needed to co-align SC and LGA2 frames. \begindata FRAME_SDU_LGA1 = -29212 FRAME_-29212_NAME = 'SDU_LGA1' FRAME_-29212_CLASS = 4 FRAME_-29212_CLASS_ID = -29212 FRAME_-29212_CENTER = -29 TKFRAME_-29212_SPEC = 'ANGLES' TKFRAME_-29212_RELATIVE = 'SDU_SPACECRAFT' TKFRAME_-29212_ANGLES = ( 0.0, 135.0, 0.0 ) TKFRAME_-29212_AXES = ( 3, 2, 1 ) TKFRAME_-29212_UNITS = 'DEGREES' FRAME_SDU_LGA2 = -29214 FRAME_-29214_NAME = 'SDU_LGA2' FRAME_-29214_CLASS = 4 FRAME_-29214_CLASS_ID = -29214 FRAME_-29214_CENTER = -29 TKFRAME_-29214_SPEC = 'ANGLES' TKFRAME_-29214_RELATIVE = 'SDU_SPACECRAFT' TKFRAME_-29214_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-29214_AXES = ( 3, 2, 1 ) TKFRAME_-29214_UNITS = 'DEGREES' FRAME_SDU_LGA3 = -29213 FRAME_-29213_NAME = 'SDU_LGA3' FRAME_-29213_CLASS = 4 FRAME_-29213_CLASS_ID = -29213 FRAME_-29213_CENTER = -29 TKFRAME_-29213_SPEC = 'ANGLES' TKFRAME_-29213_RELATIVE = 'SDU_SPACECRAFT' TKFRAME_-29213_ANGLES = ( 0.0, 135.0, 0.0 ) TKFRAME_-29213_AXES = ( 3, 2, 1 ) TKFRAME_-29213_UNITS = 'DEGREES' \begintext SDU Targets ------------------------------------------------------------------------------- This section contains definitions of body-fixed frames for Stardust targets -- comet Wild 2 and asteroid Annefrank, -- and definition of a special frame tied to the direction of the InterStellar Particle stream (ISP). Comet Wild 2 Body-fixed Frame -------------------------------------------------------- The Wild 2 body-fixed frame is defined in the same as any other PCK frame: * +Z along comet's North pole; * +X along comet's prime meridian; * +Y completes the right hand frame; * the origin of this frame is at the center of the comet ellipsoid. As for any PCK frame orientation of this frame is computed by evaluating corresponding rotation constants provided in a PCK file. \begindata FRAME_WILD2_FIXED = -29901 FRAME_-29901_NAME = 'WILD2_FIXED' FRAME_-29901_CLASS = 2 FRAME_-29901_CLASS_ID = 1000107 FRAME_-29901_CENTER = 1000107 OBJECT_1000107_FRAME = 'WILD2_FIXED' \begintext Asteroid Annefrank Body-fixed Frame -------------------------------------------------------- The Annefrank body-fixed frame is defined in the same as any other PCK frame: * +Z along asteroid's North pole; * +X along asteroid's prime meridian; * +Y completes the right hand frame; * the origin of this frame is at the center of the asteroid triaxial ellipsoid. As for any PCK frame orientation of this frame is computed by evaluating corresponding rotation constants provided in a PCK file. \begindata FRAME_ANNEFRANK_FIXED = -29902 FRAME_-29902_NAME = 'ANNEFRANK_FIXED' FRAME_-29902_CLASS = 2 FRAME_-29902_CLASS_ID = 2005535 FRAME_-29902_CENTER = 2005535 OBJECT_2005535_FRAME = 'ANNEFRANK_FIXED' \begintext InterStellar Particle Stream ---------------------------- The interstellar dust stream was detected by the Ulysses spacecraft during the Jupiter flyby in February, 1992 [see 12.] These findings were confirmed by the Galileo experiment on its outbound orbit from Earth to Jupiter. The mean mass of the interstellar particles is 3x10^-13 grams. The flux arrives from a direction which is compatible with the influx direction of the interstellar neutral Helium with uncertainty of 10 or 20 degrees. ISP Magnitude = 26.0 km/s ISP Ecliptic Latitude = ISP Declination = 7.7 degrees ISP Ecliptic Longitude = ISP Right Ascension = 259.0 degrees Although these values are explicitly specified here, the ISP RA value is known to within +/- 20 degrees and the ISP Dec is known to within +/- 10 degrees. We define the axes of the InterStellar Particle Stream reference frame in the following way: * The +Z axis to be in the direction of the velocity of the ISP stream. * The +Y axis is a vector which is perpendicular to +Z and lies in the XY plane of the ECLIPJ2000 reference frame. * The +X axis completes the coordinate system, being perpendicular to both +Y and +Z, following the right-hand rule. Two rotations are needed to rotate ECLIPJ2000 frame into ISP stream frame: first is by +79 degrees about Z, and second is by +97.7 degrees about new position of Y. \begindata FRAME_SDU_ISP_STREAM = -29300 FRAME_-29300_NAME = 'SDU_ISP_STREAM' FRAME_-29300_CLASS = 4 FRAME_-29300_CLASS_ID = -29300 FRAME_-29300_CENTER = -29 TKFRAME_-29300_SPEC = 'ANGLES' TKFRAME_-29300_RELATIVE = 'ECLIPJ2000' TKFRAME_-29300_ANGLES = ( -79.0, -97.7, 0.0 ) TKFRAME_-29300_AXES = ( 3, 2, 3 ) TKFRAME_-29300_UNITS = 'DEGREES' \begintext SDU NAIF ID Codes - Definition Section ------------------------------------------------------------------------------- This section contains name to NAIF ID mappings for Stardust. SDU Spacecraft: --------------- \begindata NAIF_BODY_NAME += ( 'STARDUST' ) NAIF_BODY_CODE += ( -29 ) NAIF_BODY_NAME += ( 'SDU' ) NAIF_BODY_CODE += ( -29 ) NAIF_BODY_NAME += ( 'STARDUST_SRC' ) NAIF_BODY_CODE += ( -29900 ) NAIF_BODY_NAME += ( 'SDU_SRC' ) NAIF_BODY_CODE += ( -29900 ) NAIF_BODY_NAME += ( 'SDU_SPACECRAFT_BUS' ) NAIF_BODY_CODE += ( -29000 ) \begintext SDU Science Instruments: ------------------------ \begindata NAIF_BODY_NAME += ( 'SDU_NC' ) NAIF_BODY_CODE += ( -29010 ) NAIF_BODY_NAME += ( 'SDU_NAVCAM' ) NAIF_BODY_CODE += ( -29010 ) NAIF_BODY_NAME += ( 'SDU_CIDA' ) NAIF_BODY_CODE += ( -29020 ) NAIF_BODY_NAME += ( 'SDU_DFMI' ) NAIF_BODY_CODE += ( -29030 ) NAIF_BODY_NAME += ( 'SDU_COLLECTOR' ) NAIF_BODY_CODE += ( -29040 ) NAIF_BODY_NAME += ( 'SDU_DUST_COLLECTOR' ) NAIF_BODY_CODE += ( -29040 ) \begintext SDU Structures: --------------- \begindata NAIF_BODY_NAME += ( 'SDU_STARCAM_A' ) NAIF_BODY_CODE += ( -29110 ) NAIF_BODY_NAME += ( 'SDU_STARCAM_B' ) NAIF_BODY_CODE += ( -29120 ) NAIF_BODY_NAME += ( 'SDU_HGA' ) NAIF_BODY_CODE += ( -29210 ) NAIF_BODY_NAME += ( 'SDU_MGA' ) NAIF_BODY_CODE += ( -29211 ) NAIF_BODY_NAME += ( 'SDU_LGA1' ) NAIF_BODY_CODE += ( -29212 ) NAIF_BODY_NAME += ( 'SDU_LGA2' ) NAIF_BODY_CODE += ( -29214 ) NAIF_BODY_NAME += ( 'SDU_LGA3' ) NAIF_BODY_CODE += ( -29213 ) \begintext Target Bodies: -------------- \begindata NAIF_BODY_NAME += ( 'WILD 2' ) NAIF_BODY_CODE += ( 1000107 ) NAIF_BODY_NAME += ( 'WILD-2' ) NAIF_BODY_CODE += ( 1000107 ) NAIF_BODY_NAME += ( 'WILD2' ) NAIF_BODY_CODE += ( 1000107 ) NAIF_BODY_NAME += ( '81P/WILD 2 (1978 A2)' ) NAIF_BODY_CODE += ( 1000107 ) NAIF_BODY_NAME += ( 'ANNEFRANK' ) NAIF_BODY_CODE += ( 2005535 ) NAIF_BODY_NAME += ( '5535 ANNEFRANK' ) NAIF_BODY_CODE += ( 2005535 ) NAIF_BODY_NAME += ( '9P/TEMPEL 1 (1867 G1)' ) NAIF_BODY_CODE += ( 1000093 ) NAIF_BODY_NAME += ( 'TEMPEL' ) NAIF_BODY_CODE += ( 1000093 ) NAIF_BODY_NAME += ( 'TEMPEL 1' ) NAIF_BODY_CODE += ( 1000093 ) NAIF_BODY_NAME += ( 'TEMPEL_1' ) NAIF_BODY_CODE += ( 1000093 ) NAIF_BODY_NAME += ( '9P/TEMPEL 1' ) NAIF_BODY_CODE += ( 1000093 ) \begintext End of FK file.