KPL/FK Hayabusa2 Frames Definition Kernel =========================================================================== This frame kernel contains a set of frame definitions for the Hayabusa2 mission. It also contains NAIF name-ID mappings for Hayabusa2 instruments. Version and Date --------------------------------------------------------------------------- Version 1.4 -- Mar. 03, 2020 -- Yukio YAMAMOTO, ISAS/JAXA and Shin-ya MURAKAMI, ISAS/JAXA - Updated LIDAR alignment as a result of Ryugu observation [2] - Updated references - Fixed typo - Applied some cosmetic changes Version 1.3 -- Feb. 09, 2019 -- Yukio YAMAMOTO, ISAS/JAXA - Updated TIR alignment as a result of Ryugu observation Version 1.2 -- Jun. 13, 2018 -- Yukio YAMAMOTO, ISAS/JAXA - Updated ONC alignment - Changed newline from LF to CRLF Version 1.1 -- Jun. 13, 2018 -- Yukio YAMAMOTO, ISAS/JAXA - Changed NAIF code for MASCOT Version 1.0 -- Mar. 29, 2018 -- Shin-ya MURAKAMI, ISAS/JAXA - Updated references - Corrected name corresponding to NAIF ID - Updated with some cosmetic changes - Fixed some typos Version 0.9 -- Jun. 05, 2017 -- Yukio YAMAMOTO, ISAS/JAXA - Included the NAIF code definition of Asteroid Ryugu Version 0.8 -- May 08, 2017 -- Yukio YAMAMOTO, ISAS/JAXA - Updated the ONC alignment as a result of the ONC team report [1] Version 0.7 -- Mar. 09, 2017 -- Yukio YAMAMOTO, ISAS/JAXA - Updated TIR alignment by the TIR team Version 0.6 -- Jan. 16, 2017 -- Yukio YAMAMOTO, ISAS/JAXA - Fixed NIRS3 alignment as a result of the NIRS3 experiment Version 0.5 -- Nov. 18, 2016 -- Yukio YAMAMOTO, ISAS/JAXA - Improved LIDAR alignment as a result of the LIDAR experiment Version 0.4 -- Oct. 14, 2016 -- Yukio YAMAMOTO, ISAS/JAXA - Re-assigned version number - Renamed prefix from hay2 to hyb2 - Fixed OME NAIF ID Version 0.3 -- Sep. 4, 2015 -- Yukio YAMAMOTO, ISAS/JAXA - Fixed typo Version 0.2 -- Jul. 28, 2015 -- Yukio YAMAMOTO, ISAS/JAXA - Added TIR definition - Fixed NAIF code in description Version 0.1 -- Nov. 18, 2014 -- Manabu YAMADA, PERC/Chitech - changed the NAIF ID (999 -> 37) - changed Instruments IDs - updated ASCII art of Spacecraft Version 0.0 -- Feb. 14, 2013 -- References --------------------------------------------------------------------------- [1] Suzuki, H., et al. (2018), Initial inflight calibration for Hayabusa2 optical navigation camera (ONC) for science observations of asteroid Ryugu, Icarus, 300, 341 -- 359, https://doi.org/10.1016/j.icarus.2017.09.011 [2] Matsumoto, K., et al. (2020), Improving Hayabusa2 trajectory by combining LIDAR data and a shape model, Icarus, 338, 113574, https://doi.org/10.1016/j.icarus.2019.113574 Hayabusa2 NAIF IDs --------------------------------------------------------------------------- The following names and NAIF ID codes are assigned to the Hayabusa2 spacecraft, its structures, and science instruments: NAME NAIF ID ----------------------------------------------- HAYABUSA2 -37 HAYABUSA2_SC_BUS_PRIME -37000 HAYABUSA2_ONC -37100 HAYABUSA2_TIR-S -37200 HAYABUSA2_NIRS3-S -37300 HAYABUSA2_LIDAR -37400 HAYABUSA2_DCAM3 -37500 HAYABUSA2_SCI -37600 HAYABUSA2_MASCOT -37700 HAYABUSA2_OME -37800 HAYABUSA2_MINERVA2 -37810 HAYABUSA2_TARGET_MARKER -37820 (reserved) -37830 HAYABUSA2_CAPSULE -37840 HAYABUSA2_LOCATION -37850 RYUGU 2162173 1999JU3 2162173 The keywords below implement the Hayabusa2 name-ID mappings. \begindata NAIF_BODY_NAME += ( 'HAYABUSA2' ) NAIF_BODY_CODE += ( -37 ) NAIF_BODY_NAME += ( 'HAYABUSA2_SC_BUS_PRIME' ) NAIF_BODY_CODE += ( -37000 ) NAIF_BODY_NAME += ( 'HAYABUSA2_ONC-T' ) NAIF_BODY_CODE += ( -37100 ) NAIF_BODY_NAME += ( 'HAYABUSA2_ONC-W1' ) NAIF_BODY_CODE += ( -37110 ) NAIF_BODY_NAME += ( 'HAYABUSA2_ONC-W2' ) NAIF_BODY_CODE += ( -37120 ) NAIF_BODY_NAME += ( 'HAYABUSA2_TIR-S' ) NAIF_BODY_CODE += ( -37200 ) NAIF_BODY_NAME += ( 'HAYABUSA2_NIRS3-S' ) NAIF_BODY_CODE += ( -37300 ) NAIF_BODY_NAME += ( 'HAYABUSA2_LIDAR' ) NAIF_BODY_CODE += ( -37400 ) NAIF_BODY_NAME += ( 'HAYABUSA2_DCAM3' ) NAIF_BODY_CODE += ( -37500 ) NAIF_BODY_NAME += ( 'HAYABUSA2_SCI' ) NAIF_BODY_CODE += ( -37600 ) NAIF_BODY_NAME += ( 'HAYABUSA2_MASCOT' ) NAIF_BODY_CODE += ( -37700 ) NAIF_BODY_NAME += ( 'HAYABUSA2_OME' ) NAIF_BODY_CODE += ( -37800 ) NAIF_BODY_NAME += ( 'HAYABUSA2_MINERVA2' ) NAIF_BODY_CODE += ( -37810 ) NAIF_BODY_NAME += ( 'HAYABUSA2_TARGET_MARKER' ) NAIF_BODY_CODE += ( -37820 ) NAIF_BODY_NAME += ( 'HAYABUSA2_CAPSULE' ) NAIF_BODY_CODE += ( -37840 ) NAIF_BODY_NAME += ( 'HAYABUSA2_LOCATION' ) NAIF_BODY_CODE += ( -37900 ) NAIF_BODY_NAME += ( 'RYUGU' ) NAIF_BODY_CODE += ( 2162173 ) NAIF_BODY_NAME += ( '1999JU3' ) NAIF_BODY_CODE += ( 2162173 ) \begintext Hayabusa2 Reference Frames --------------------------------------------------------------------------- The following reference frames for Hayabusa2 spacecraft, its structures, and science instruments are defined in this FK and other Hayabusa2 kernels (162173 1999 JU3 FK, PCKs, and IKs): 162173 1999 JU3 body-fixed frame (defined in a separate FK and PCKs): --------------------------------------------------------------------- Name Relative to Type Frame ID ====================== ====================== ============ ======== 1999_JU3_FIXED J2000 PCK 162173 Hayabusa2 spacecraft frame (duplicated in the IKs): --------------------------------------------------- Name Relative to Type Frame ID ====================== ====================== ============ ======== HAYABUSA2_SC_BUS_PRIME J2000 CK -37000 Hayabusa2 science instrument frames (defined in the IK files): ------------------------------------------------------------------------ Name Relative to Type Frame ID ====================== ====================== ============ ======== HAYABUSA2_ONC-T HAYABUSA2_SC_BUS_PRIME FIXED -37100 HAYABUSA2_ONC-W1 HAYABUSA2_SC_BUS_PRIME FIXED -37110 HAYABUSA2_ONC-W2 HAYABUSA2_SC_BUS_PRIME FIXED -37120 HAYABUSA2_TIR-S HAYABUSA2_SC_BUS_PRIME FIXED -37200 HAYABUSA2_NIRS3-S HAYABUSA2_SC_BUS_PRIME FIXED -37300 HAYABUSA2_LIDAR HAYABUSA2_SC_BUS_PRIME FIXED -37400 HAYABUSA2_DCAM3 HAYABUSA2_SC_BUS_PRIME FIXED -37500 HAYABUSA2_SCI HAYABUSA2_SC_BUS_PRIME FIXED -37600 HAYABUSA2_OME-A HAYABUSA2_SC_BUS_PRIME FIXED -37800 Hayabusa2 Reference Frame Tree --------------------------------------------------------------------------- This diagram shows the Hayabusa2 frame tree: "J2000" INERTIAL +--------------------------------------------+ | | |<-ck |<-fk | | | | | V | "RYUGU_FIXED" | ------------- | | | | "HAYABUSA2_ONC-T" "HAYABUSA2_ONC-W1" "HAYABUSA2_ONC-W2" | ----------------- ------------------ ------------------ | ^ ^ ^ | | | | V |<-fixed |<-fixed |<-fixed "HAYABUSA2_SC_BUS_PRIME" | | | +---------------------------------------------------+ | | | |<-fixed |<-fixed |<-fixed | | | V V V "HAYABUSA2_LIDAR" "HAYABUSA2_NIRS3-S" "HAYABUSA2_TIR-S" ----------------- ------------------- ----------------- 1999_JU3 Body-Fixed Frame --------------------------------------------------------------------------- [TBD] The 1999_JU3 body-fixed frame, 1999_JU3_FIXED, is defined in a separate FK file (1999_JU3_fixed.tf). Its definition is also duplicated in some of the 1999_JU3 PCK files. Hayabusa2 Spacecraft Frame --------------------------------------------------------------------------- The Hayabusa2 spacecraft frame, HAYABUSA2_SC_BUS_PRIME, is defined as follows: - +Z axis is parallel to the nominal HGA boresight; - +X axis is parallel to the ion engines thrust vector; - +Y axis completes the right-handed frame; The Hayabusa2 spacecraft frame shown on this diagram: ^ | HGA Boresight | X-band X-band HGA MGA _ _____________ {@ } _ .______Y___________Y___[]_. STT-B \H| | _/H| ________ | | | | |_ | |________| | | | | |E Ion Engines _|_ | | /|/_\ ONC-W2 | | -------> | || | |E Thrust Vector \|| |_| -._________________________. |####||___________| W TT |#|| | || | LIDAR OME-A ONC-W1 | | ONC-T SMP | | | | | | +Zonc_w1,t /___\ V +Zsc ^ | | x-----> +Xsc +Ysc is into the page This frame is defined as a CK-based frame below. The frame definition is also duplicated in Hayabusa2 science instrument IKs. \begindata FRAME_HAYABUSA2_SC_BUS_PRIME = -37000 FRAME_-37000_NAME = 'HAYABUSA2_SC_BUS_PRIME' FRAME_-37000_CLASS = 3 FRAME_-37000_CLASS_ID = -37000 FRAME_-37000_CENTER = '-37' CK_-37000_SCLK = '-37' CK_-37000_SPK = '-37' \begintext Hayabusa2 Science Instrument Frames --------------------------------------------------------------------------- This section contains frame definitions for Hayabusa2 science instruments. The instrument frames are defined as fixed offset frames with their orientation specified using Euler angles. Note that angles in the frame definitions are specified for "from instrument to base (relative to) frame" transformation. LIDAR Frame definitions --------------------------------------------------------------------------- -Y s/c side view: ----------------- ^ | HGA Boresight | X-band X-band HGA MGA _ _____________ {@ } _ .______Y___________Y___[]_. STT-B \H| | _/H| ________ | | | | |_ | |________| | | | | |E Ion Engines _|_ | | /|/_\ ONC-W2 | | -------> | || | |E Thrust Vector \|| |_| -._________________________. |####||___________| W TT |#|| | || | LIDAR OME-A | | SMP | | | | | | +Zlid /___\| +Zsc | ^ V | | x-----> +Xsc +Ysc is into the page Euler angles are calculated from corrected boresight direction in [2]. \begindata FRAME_HAYABUSA2_LIDAR = -37400 FRAME_-37400_NAME = 'HAYABUSA2_LIDAR' FRAME_-37400_CLASS = 4 FRAME_-37400_CLASS_ID = -37400 FRAME_-37400_CENTER = -37 TKFRAME_-37400_SPEC = 'ANGLES' TKFRAME_-37400_RELATIVE = 'HAYABUSA2_SC_BUS_PRIME' TKFRAME_-37400_ANGLES = ( 0.0000000000000000, -179.75125579566918077034643, 0.00396411877922440980537 ) TKFRAME_-37400_AXES = ( 3, 2, 1 ) TKFRAME_-37400_UNITS = 'DEGREES' \begintext ONC-T and ONC-W1 Frame definitions ------------------------------------------------------------------------- -Y s/c side view: ----------------- ^ | HGA Boresight | X-band X-band HGA MGA _ _____________ {@ } _ .______Y___________Y___[]_. STT-B \H| | _/H| ________ | | | | |_ | |________| | | | | |E Ion Engines _|_ | | /|/_\ ONC-W2 | | -------> | || | |E Thrust Vector \|| |_| -._________________________. |####||___________| W TT |#|| | || | LIDAR OME-A ONC-W1 | | ONC-T SMP | | | | | | +Zonc_w1,t /___\ V +Zsc ^ | | x-----> +Xsc +Ysc is into the page \begindata FRAME_HAYABUSA2_ONC-T = -37100 FRAME_-37100_NAME = 'HAYABUSA2_ONC-T' FRAME_-37100_CLASS = 4 FRAME_-37100_CLASS_ID = -37100 FRAME_-37100_CENTER = -37 TKFRAME_-37100_SPEC = 'ANGLES' TKFRAME_-37100_RELATIVE = 'HAYABUSA2_SC_BUS_PRIME' TKFRAME_-37100_ANGLES = ( 0.0000000, -179.9414752, 0.1386112 ) TKFRAME_-37100_AXES = ( 3, 2, 1 ) TKFRAME_-37100_UNITS = 'DEGREES' FRAME_HAYABUSA2_ONC-W1 = -37110 FRAME_-37110_NAME = 'HAYABUSA2_ONC-W1' FRAME_-37110_CLASS = 4 FRAME_-37110_CLASS_ID = -37110 FRAME_-37110_CENTER = -37 TKFRAME_-37110_SPEC = 'ANGLES' TKFRAME_-37110_RELATIVE = 'HAYABUSA2_SC_BUS_PRIME' TKFRAME_-37110_ANGLES = ( 0.0000000, -180.2727739, 0.1948392 ) TKFRAME_-37110_AXES = ( 3, 2, 1 ) TKFRAME_-37110_UNITS = 'DEGREES' \begintext NIRS3-S and ONC-W2 Frame definitions ------------------------------------------------------------------------- The ONC-W2 is embedded in Hayabusa2 spacecraft and this boresight vector is rotated by -59 degrees about Science Instrument Boresights. -X s/c side view: ----------------- ^ | HGA Boresight | Ka-band X-band X-band HGA MGA HGA ___________>@___________ Y______[=]______Y | / \ / \ | ===============>-------------o| \_/ \_/ |o-------------<=============== | STT-A STT-B | / | |/ | | | ___ | |__ / \ |..................... NIRS3-S / | | | |-. .' | | \___/ | `-..' 31 deg \__|________####. `-. |___| |_#### `-. |___| || LIDAR `-. | | | `-. +Z ONC-W2 | | | SMP `-> -Z NIRS3 V | | | | /___\ +Xsc is into the page +Zsc ^ | | +Ysc <-----x \begindata FRAME_HAYABUSA2_ONC-W2 = -37120 FRAME_-37120_NAME = 'HAYABUSA2_ONC-W2' FRAME_-37120_CLASS = 4 FRAME_-37120_CLASS_ID = -37120 FRAME_-37120_CENTER = -37 TKFRAME_-37120_SPEC = 'ANGLES' TKFRAME_-37120_RELATIVE = 'HAYABUSA2_SC_BUS_PRIME' TKFRAME_-37120_ANGLES = ( -270, -121, 0 ) TKFRAME_-37120_AXES = ( 3, 2, 1 ) TKFRAME_-37120_UNITS = 'DEGREES' FRAME_HAYABUSA2_NIRS3-S = -37300 FRAME_-37300_NAME = 'HAYABUSA2_NIRS3-S' FRAME_-37300_CLASS = 4 FRAME_-37300_CLASS_ID = -37300 FRAME_-37300_CENTER = -37 TKFRAME_-37300_SPEC = 'ANGLES' TKFRAME_-37300_RELATIVE = 'HAYABUSA2_SC_BUS_PRIME' TKFRAME_-37300_ANGLES = ( 0.000, 0.225, 0.160 ) TKFRAME_-37300_AXES = ( 3, 2, 1 ) TKFRAME_-37300_UNITS = 'DEGREES' \begintext OME-A nd TIR-S Frame definitions ------------------------------------------------------------------------- +Y s/c side view: ----------------- ^ | HGA Boresight | X-band Ka-band MGA HGA _ { @} _____________ ._[]___Y___________Y______. _ | |H/ STT-A | |H\_ _| | | | | Ion Engines E| | | | | |_ <------- | | ||\ Thrust Vector E| | |--. |_| | | ._________________________.__| NIRS3-S A |___________|| | TIR-S || |____| | | OME-A | | | | | | | +Ztir| +Zome| SMP | | V -Znirs3 V | | | V /___\ +Zsc ^ | | +Xsc <-----o +Ysc is out of the page \begindata FRAME_HAYABUSA2_TIR-S = -37200 FRAME_-37200_NAME = 'HAYABUSA2_TIR-S' FRAME_-37200_CLASS = 4 FRAME_-37200_CLASS_ID = -37200 FRAME_-37200_CENTER = -37 TKFRAME_-37200_SPEC = 'ANGLES' TKFRAME_-37200_RELATIVE = 'HAYABUSA2_SC_BUS_PRIME' TKFRAME_-37200_ANGLES = ( -1.051975, -180.007275, 0.115103 ) TKFRAME_-37200_AXES = ( 3, 2, 1 ) TKFRAME_-37200_UNITS = 'DEGREES' FRAME_HAYABUSA2_OME-A = -37800 FRAME_-37800_NAME = 'HAYABUSA2_OME-A' FRAME_-37800_CLASS = 4 FRAME_-37800_CLASS_ID = -37800 FRAME_-37800_CENTER = -37 TKFRAME_-37800_SPEC = 'ANGLES' TKFRAME_-37800_RELATIVE = 'HAYABUSA2_SC_BUS_PRIME' TKFRAME_-37800_ANGLES = ( 0, -180, 0 ) TKFRAME_-37800_AXES = ( 3, 2, 1 ) TKFRAME_-37800_UNITS = 'DEGREES' \begintext End of FK file.