KPL/FK Hayabusa2 Mascot Lander Frames Kernel ======================================================================== Version and Date ---------------------------------------------------------------------- Version 3.0 -- Tue Mar 11 2025 -- Shin-ya Murakami (JAXA) Removed the HAYABUSA2_MASCOT_MICROMEGA frame from the frame tree. Version 3.0b -- Fri Feb 14 2025 -- Shin-ya Murakami (JAXA) Added ASCII diagrams to the MASCOT frame definition. Updated the References section. Added Hayabusa2 Mascot Reference Frames section. Version 3.0a -- Fri Sep 20 2024 -- Shin-ya Murakami (JAXA) Updated definition of HAYABUSA2_MASCOT_TOPO. Version 2.0 -- Fri Dec 15 2023 -- Shin-ya Murakami (JAXA) and David Hercik (TU Braunschweig) Added definition and name-ID mapping for the MasMag frame. Updated the frame tree. Updated the Contact Information section. Version 1.0 -- Tue May 14 2019 -- Klaus-Dieter Matz (DLR) Initial Release. Contact Information ---------------------------------------------------------------------- If you have any questions regarding this file contact Thomas Roatsch (DLR) (+49) 30 67055 339 or Shin-ya Murakami (JAXA) murakami.shinya@jaxa.jp References ---------------------------------------------------------------------- 1. ``Frames Required Reading'' 2. Hayabusa2 Frames Kernel, Latest Version 3. ``CAD drawings of the nominal position of MARA and Cam'', Email from M. Grott, August 10, 2016 4. ``The MASCOT Radiometer MARA for the Hayabusa 2 Mission'', Grott, M., Knollenberg, J., Borgs, B. et al. Space Sci Rev (2017) 208: 413 5. ``The Camera of the MASCOT Asteroid Lander on Board Hayabusa 2'', Jaumann, R., Schmitz, N., Koncz, A. et al. Space Sci Rev (2017) 208: 375. 6. ``The Hayabusa2 lander MASCOT on the surface of asteroid (162173) Ryugu - Stereo-photogrammetric analysis of MASCam image data'', Scholten, F., Preusker, F., Elgner, S. et al. Astronomy and Astrophysics (2019) 632, L5. 7. ``MASCOT -- The Mobile Asteroid Surface Scout Onboard the Hayabusa2 Mission'', Ho, T.-M., et al. Space Sci Rev (2017) 208, 339 - 374, doi:10.1007/s11214-016-0251-6 Hayabusa2-MASCOT NAIF IDs ---------------------------------------------------------------------- The following names and NAIF ID codes are assigned to parts of the Hayabusa2 lander, MASCOT, its structures, and science instruments: NAME NAIF ID ----------------------------------------------- HAYABUSA2 -37 HAYABUSA2_MASCOT -37700 HAYABUSA2_MASCOT_TOPO -37701 HAYABUSA2_MASCOT_CAM -37730 HAYABUSA2_MASCOT_CAM_NONE -37731 HAYABUSA2_MASCOT_CAM_BLUE -37732 HAYABUSA2_MASCOT_CAM_GREEN -37733 HAYABUSA2_MASCOT_CAM_RED -37734 HAYABUSA2_MASCOT_CAM_NIR -37735 HAYABUSA2_MASCOT_MARA -37740 HAYABUSA2_MASCOT_MARA_SILP -37741 HAYABUSA2_MASCOT_MARA_LP8 -37742 HAYABUSA2_MASCOT_MARA_BP5 -37743 HAYABUSA2_MASCOT_MARA_BP8 -37744 HAYABUSA2_MASCOT_MARA_BP9 -37745 HAYABUSA2_MASCOT_MARA_BP13 -37746 HAYABUSA2_MASCOT_MICROMEGA -37750 HAYABUSA2_MASCOT_MASMAG -37760 The keywords below implement the Hayabusa2-MASCOT name-ID mappings. \begindata NAIF_BODY_NAME += ( 'HAYABUSA2_MASCOT_TOPO' ) NAIF_BODY_CODE += ( -37701 ) NAIF_BODY_NAME += ( 'HAYABUSA2_MASCOT_CAM' ) NAIF_BODY_CODE += ( -37730 ) NAIF_BODY_NAME += ( 'HAYABUSA2_MASCOT_MARA' ) NAIF_BODY_CODE += ( -37740 ) NAIF_BODY_NAME += ( 'HAYABUSA2_MASCOT_MICROMEGA' ) NAIF_BODY_CODE += ( -37750 ) NAIF_BODY_NAME += ( 'HAYABUSA2_MASCOT_MASMAG' ) NAIF_BODY_CODE += ( -37760 ) NAIF_BODY_NAME += ( 'HAYABUSA2_MASCOT_CAM_NONE' ) NAIF_BODY_CODE += ( -37731 ) NAIF_BODY_NAME += ( 'HAYABUSA2_MASCOT_CAM_BLUE' ) NAIF_BODY_CODE += ( -37732 ) NAIF_BODY_NAME += ( 'HAYABUSA2_MASCOT_CAM_GREEN' ) NAIF_BODY_CODE += ( -37733 ) NAIF_BODY_NAME += ( 'HAYABUSA2_MASCOT_CAM_RED' ) NAIF_BODY_CODE += ( -37734) NAIF_BODY_NAME += ( 'HAYABUSA2_MASCOT_CAM_NIR' ) NAIF_BODY_CODE += ( -37735 ) NAIF_BODY_NAME += ( 'HAYABUSA2_MASCOT_MARA_SILP' ) NAIF_BODY_CODE += ( -37741 ) NAIF_BODY_NAME += ( 'HAYABUSA2_MASCOT_MARA_LP8' ) NAIF_BODY_CODE += ( -37742 ) NAIF_BODY_NAME += ( 'HAYABUSA2_MASCOT_MARA_BP5' ) NAIF_BODY_CODE += ( -37743 ) NAIF_BODY_NAME += ( 'HAYABUSA2_MASCOT_MARA_BP8' ) NAIF_BODY_CODE += ( -37744 ) NAIF_BODY_NAME += ( 'HAYABUSA2_MASCOT_MARA_BP9' ) NAIF_BODY_CODE += ( -37745 ) NAIF_BODY_NAME += ( 'HAYABUSA2_MASCOT_MARA_BP13' ) NAIF_BODY_CODE += ( -37746 ) NAIF_BODY_NAME += ( 'HAYABUSA2_MASCOT_MASMAG' ) NAIF_BODY_CODE += ( -37760 ) \begintext Hayabusa2 Mascot Frames ======================================================================== This section of the file contains the definitions of the Mascot topocentric, lander and instrument frames. Hayabusa2 Mascot Reference Frames --------------------------------------------------------------------------- The following reference frames for the Hayabusa2 Mascot lander, its structures, and science instruments are defined in this FK: Hayabusa2 Target frames (defined in separate FK file): ------------------------------------------------------------------------ Name Relative to Type Frame ID ========================= ======================= ======= ======== RYUGU_FIXED J2000 PCK 2162173 Hayabusa2 Mascot Topographic frame: ------------------------------------------------------------------------ Name Relative to Type Frame ID ========================== ====================== ======= ======== HAYABUSA2_MASCOT_TOPO RYUGU_FIXED FIXED -37701 Hayabusa2 Mascot lander frame: ------------------------------------------------------------------------ Name Relative to Type Frame ID ========================= ======================= ======= ======== HAYABUSA2_MASCOT RYUGU_FIXED CK -37700 Hayabusa2 Mascot Science Instrument frames: ------------------------------------------------------------------------ Name Relative to Type Frame ID ========================== ====================== ======= ======== HAYABUSA2_MASCOT_CAM HAYABUSA2_MASCOT FIXED -37730 HAYABUSA2_MASCOT_MARA HAYABUSA2_MASCOT FIXED -37740 HAYABUSA2_MASCOT_MASMAG HAYABUSA2_MASCOT FIXED -37760 Hayabusa2 Mascot Frame Tree -------------------------------------- The diagram below shows the Hayabusa2 Mascot instrument frame hierarchy. "J2000" INERTIAL +----------------------------------------------------+ | | | |<-ck | |<-pck | | | V | V "HAYABUSA2_SC_BUS_PRIME" | "IAU_EARTH" ------------------------ |<-pck EARTH BODY-FIXED | ---------------- V "RYUGU_FIXED" -----------------------+ | | | |<-fixed | | | V | "HAYABUSA2_MASCOT_TOPO" | ----------------------- | | |<-ck | V "HAYABUSA2_MASCOT" +----------------------------------+ | | | |<-fixed |<-fixed |<-fixed | | | V | V "HAYABUSA2_MASCOT_CAM" | "HAYABUSA2_MASCOT_MASMAG" ---------------------- | ------------------------- V "HAYABUSA2_MASCOT_MARA" ----------------------- Hayabusa2 Mascot Topocentric Frame ---------------------------------- This frame defines the z axis as the normal outward at the landing site, it is tilted 15 degrees southward against the local radius vector. The x axis points at local east, the y axis completing the right handed frame by pointing to the local north. Orientation of the frame is given relative to the body fixed rotating frame 'RYUGU_FIXED' (x - along the line of zero longitude intersecting the equator, z - along the spin axis, y - completing the right hand coordinate frame.) The landing site coordinates longitude and latitude upon which the definition is built are: Longitude = 317.1610 degrees East Latitude = -22.2940 degrees North Radius = 446.250 m where these values are position at MP4 taken from Table 3 in [6]. \begindata FRAME_HAYABUSA2_MASCOT_TOPO = -37701 FRAME_-37701_NAME = 'HAYABUSA2_MASCOT_TOPO' FRAME_-37701_CLASS = 4 FRAME_-37701_CLASS_ID = -37701 FRAME_-37701_CENTER = -37701 TKFRAME_-37701_RELATIVE = 'RYUGU_FIXED' TKFRAME_-37701_SPEC = 'ANGLES' TKFRAME_-37701_UNITS = 'DEGREES' TKFRAME_-37701_AXES = ( 3, 2, 3 ) TKFRAME_-37701_ANGLES = ( -317.1610, -127.2940, -90.000 ) \begintext Hayabusa2 Mascot Frame ---------------------------------------------------------------------- The lander frame -- HAYABUSA2_MASCOT -- is defined by the lander design as follows: - +Z axis is perpendicular to the lander baseplate and points from the lander baseplate towards the lander top plate; - +Y axis is parallel to the lander baseplate and points from the lander backside toward the imaging instrument side; - +X axis completes the right handed frame; - the origin of the frame is in the center of the baseplate inner surface. Following diagrams illustrate the lander frame drawn from Fig. 3 in [4]: +Z view: -------- +---------------------------------------------+ | .---------------------------------------. | | | ___ MESS antenna | | | | /' `\ | | | | . . | | | | | | | | | | \ / Sub-Radiator | | | . `---' . | | `---------------------------------------' | | | | +Z | +------------------<---o----------------------+ | +X | | | V +Y | | | | Radiator (Top Plate) | | | | | | | +---------------------------------------------+ +Y view: -------- +---------------------------------------------+ |`` | ____ | MASCAM.//| | ``. | |----| MARA | .//' | | `` | `----' | .//' | | ``. | | .//' | | `` | | .//' | | ``. | | .//' | | ``. | .//' | | `` | .//' | |-----------``.--+ .//'+--------------| | ``. .//' | | | |`` .//' | | | |`` .//' | | |MicrOmega | ``. //^ | | | | `.//'|+Z | MASMAG | +------------------<---o----------------------+ +X +Y +X view: -------- +---------------------------++----------------+ |``. | || //| | ``. Battery | || // | | ``. | || // | | +--- ``.------------+ || // | | | ``. | || // | | | ``. | || // | | | ``. | || // | | | ``. | || // | | | ``. | || // | | | ``.| || // | | | ``. || // | | | |``. || // MicrOmega| | | | ``.|| // | | | E-Box +Z^ ``|| // | | |___________________|| `||// | +----------------------o-->-++----------------+ +X +Y \begindata FRAME_HAYABUSA2_MASCOT = -37700 FRAME_-37700_NAME = 'HAYABUSA2_MASCOT' FRAME_-37700_CLASS = 3 FRAME_-37700_CLASS_ID = -37700 FRAME_-37700_CENTER = -37700 CK_-37700_SCLK = -37 CK_-37700_SPK = -37700 \begintext Hayabusa2 Mascot Instrument frames ---------------------------------------------------------------------- CAM, Mascot Camera frame ------------------------ Boresight vector calculated from [5], pg. 17, Fig. 11: [0.0, 0.92718387, -0.37460661], defined in the lander frame HAYABUSA2_MASCOT. The angle between +Z_mascot and this boresight vector is 112.0 degrees, the axis of this rotation is parallel to the the +X_mascot axis. Using this value we define the Mascot Camera frame as follows: - +Z axis is parallel to the boresight vector defined above, i.e. we have to rotate the +Z_mascot axis by -112.0 degrees about the +X axis to get the +Z_mascam axis. - +X axis is parallel to the HAYABUSA2_MASCOT +X axis; - +Y axis completes the right handed frame; - the origin of the frame is in the center of the entry pupil of the Camera (see [3], slide 3) Following diagram illustrates the CAM frame with respect to the Mascot frame. +X view: -------- ^ +Zmascot | | | +Xcam and |-._ 112 deg +Xmascot | \ are the out | | +Ymascot of the page. o----/----> / ``--..__ .' ``--..__ / ``--> +Zcam .' / V +Ycam \begindata FRAME_HAYABUSA2_MASCOT_CAM = -37730 FRAME_-37730_NAME = 'HAYABUSA2_MASCOT_CAM' FRAME_-37730_CLASS = 4 FRAME_-37730_CLASS_ID = -37730 FRAME_-37730_CENTER = -37730 TKFRAME_-37730_SPEC = 'ANGLES' TKFRAME_-37730_RELATIVE = 'HAYABUSA2_MASCOT' TKFRAME_-37730_AXES = ( 3, 2, 1 ) TKFRAME_-37730_UNITS = 'DEGREES' TKFRAME_-37730_ANGLES = ( 0.0, 0.0, 112.0 ) \begintext MARA, Mascot Radiometer Frame ----------------------------- Values from [3] and [4]: "The boresight vector is the same for all MARA sensors: [-1.3, 18.2, -15.3]", defined in the lander frame HAYABUSA2_MASCOT. The angle between +Z_mascot and this boresight vector is 129.98060 degrees, the angle between the axis of this rotation (i.e. the cross product of +Z_mascot and the boresight vector) and the +X_mascot axis is 175.91437 degrees. Using this value we define the Mascot Radiometer Frame as follows: - +Z axis is parallel to the boresight vector defined above, - +Y axis lies in the plane spanned by the +Z axis of MARA and the +Z axis of HAYABUSA2_MASCOT and points roughly in the direction of +Z axis of HAYABUSA2_MASCOT. - +X axis completes the right handed frame; - the origin of the frame is the origin of the MARA instrument Following diagram illustrates the Radiometer frame with respect to the Mascot frame. +X view: -------- +Zmascot ^ __. +Ymara | /| -Xmara and | / +Xmascot is | / out of the page |-\ 129.98060 degree |/ | o--/------> +Ymascot \. \. \. \. \l --' +Zmara \begindata FRAME_HAYABUSA2_MASCOT_MARA = -37740 FRAME_-37740_NAME = 'HAYABUSA2_MASCOT_MARA' FRAME_-37740_CLASS = 4 FRAME_-37740_CLASS_ID = -37740 FRAME_-37740_CENTER = -37740 TKFRAME_-37740_SPEC = 'ANGLES' TKFRAME_-37740_RELATIVE = 'HAYABUSA2_MASCOT' TKFRAME_-37740_AXES = ( 3, 2, 1 ) TKFRAME_-37740_UNITS = 'DEGREES' TKFRAME_-37740_ANGLES = ( 175.91437, 0.000, -129.98060) \begintext MASMAG, Mascot Magnetometer frame --------------------------------- We define the Mascot Magnetometer frame as follows: - +Z axis is parallel to the HAYABUSA2_MASCOT -Z axis; - +Y axis is parallel to the HAYABUSA2_MASCOT -X axis; - +X axis is parallel to the HAYABUSA2_MASCOT -Y axis; - the origin of the frame is in the center of the sensor head cylinder, located at: HAYABUSA2_MASCOT_MASMAG_XYZ = (-0.000085, 0.0001, 0.00004) in km with respect to the center of the HAYABUSA2_MASCOT frame. Following diagram illustrates the MASMAG frame with respect to the Mascot frame. +X view: -------- ^ +Zmascot | +Ymag and | -Xmascot is | into the page | | +Ymascot <---------x---------> +Xmag | | | | | V +Zmag \begindata FRAME_HAYABUSA2_MASCOT_MASMAG = -37760 FRAME_-37760_NAME = 'HAYABUSA2_MASCOT_MASMAG' FRAME_-37760_CLASS = 4 FRAME_-37760_CLASS_ID = -37760 FRAME_-37760_CENTER = -37760 TKFRAME_-37760_SPEC = 'MATRIX' TKFRAME_-37760_RELATIVE = 'HAYABUSA2_MASCOT' TKFRAME_-37760_MATRIX = ( 0 -1 0 -1 0 0 0 0 -1 ) \begintext