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 1.6 -- December 20, 2023 -- Shin-ya MURAKAMI, ISAS/JAXA - Updated TIR alignment as reported from Takehiko ARAI - Updated some descriptions - Updated according to feedback from Marc Costa Sitja, NAIF/JPL - Removed unused frames Version 1.5 -- Aug. 18, 2021 -- Shin-ya MURAKAMI, ISAS/JAXA - Updated contact information Version 1.4a -- Sep. 16, 2020 -- Shin-ya MURAKAMI, Keio University - Assignment of NAIF ID codes has been changed - Added contact information 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 [3] Report on scan observation of Earth on 2016-02-24 from the NIRS3 team. [4] Email communication from Takehiko Arai on 2017-03-09. [5] Email communication from Rie Honda on 2018-06-13. [6] Email communication from Takehiko Arai on 2023-12-01. Contact Information --------------------------------------------------------------------------- Yukio YAMAMOTO, ISAS/JAXA, yamamoto.yukio@jaxa.jp Shin-ya MURAKAMI, ISAS/JAXA, murakami.shinya@jaxa.jp Hayabusa2 NAIF ID Codes --------------------------------------------------------------------------- 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-T -37100 HAYABUSA2_ONC-W1 -37110 HAYABUSA2_ONC-W2 -37120 HAYABUSA2_TIR-S -37200 HAYABUSA2_NIRS3-S -37300 HAYABUSA2_LIDAR -37400 HAYABUSA2_DCAM3 -37500 HAYABUSA2_SCI -37590 HAYABUSA2_MASCOT -37700 HAYABUSA2_MINERVA2_1_HIBOU -37800 HAYABUSA2_MINERVA2_1_OWL -37850 HAYABUSA2_MINERVA2_2_ULULA -37900 1999JU3 2162173 RYUGU 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 += ( -37590 ) NAIF_BODY_NAME += ( 'HAYABUSA2_MASCOT' ) NAIF_BODY_CODE += ( -37700 ) NAIF_BODY_NAME += ( 'HAYABUSA2_MINERVA2_1_HIBOU' ) NAIF_BODY_CODE += ( -37800 ) NAIF_BODY_NAME += ( 'HAYABUSA2_MINERVA2_1_OWL' ) NAIF_BODY_CODE += ( -37850 ) NAIF_BODY_NAME += ( 'HAYABUSA2_MINERVA2_2_ULULA' ) NAIF_BODY_CODE += ( -37900 ) NAIF_BODY_NAME += ( '1999JU3' ) NAIF_BODY_CODE += ( 2162173 ) NAIF_BODY_NAME += ( 'RYUGU' ) 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) Ryugu FK, PCKs, and IKs: Hayabusa2 Target frames (defined in separate FK file): ------------------------------------------------------------------------ Name Relative to Type Frame ID ========================= ======================= ======= ======== RYUGU_FIXED J2000 PCK 2162173 Hayabusa2 Spacecraft frame: ------------------------------------------------------------------------ Name Relative to Type Frame ID ========================= ======================= ======= ======== HAYABUSA2_SC_BUS_PRIME J2000 CK -37000 Hayabusa2 Science Instrument frames ------------------------------------------------------------------------ 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 MASCOT lander, MINERVA2 Rovers, DCAM3, and SCI frames (defined or will be defined in separate FK file): ------------------------------------------------------------------------ Name Relative to Type Frame ID ========================== ====================== ======= ======== HAYABUSA2_DCAM3 J2000 CK -37500 HAYABUSA2_SCI J2000 CK -37590 HAYABUSA2_MASCOT RYUGU_FIXED CK -37700 HAYABUSA2_MINERVA2_1_HIBOU RYUGU_FIXED CK -37800 HAYABUSA2_MINERVA2_1_OWL RYUGU_FIXED CK -37850 HAYABUSA2_MINERVA2_2 J2000 CK -37900 Hayabusa2-specific dynamic frames (defined in separate FK file): ------------------------------------------------------------------------ Name Relative to Type Frame ID ========================== ====================== ======= ======== HYB2_HP_FRAME J2000 DYNAMIC -37900 RYUGU_-Z_SUN_+X J2000 DYNAMIC -37910 EARTH_RYUGU_P J2000 DYNAMIC -37920 Hayabusa2 Reference Frame Tree --------------------------------------------------------------------------- This diagram shows the Hayabusa2 frame tree: "J2000" INERTIAL +--------------------------------------------+ | | |<-ck |<-pck | | | | | 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" ----------------- ------------------- ----------------- (162173) Ryugu Body-Fixed Frame --------------------------------------------------------------------------- The (162173) Ryugu body-fixed frame, RYUGU_FIXED, is defined in a separate FK file (hyb2_ryugu_vVV.tf). 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: -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 This frame is defined as a CK-based frame below. \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 --------------------------------------------------------------------------- The Hayabusa2 LIDAR frame, HAYABUSA2_LIDAR, is defined as follows: - +Z axis is along the boresight direction of the LIDAR and nominally co-aligned with the s/c -Z axis; - +Y axis is parallel to the s/c +Y axis; - +X axis completes the right-handed frame; -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 | | | | | | +Zlidar /___\| +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 ------------------------------------------------------------------------- The Hayabusa2 ONC-T and ONC-W1 frames, HAYABUSA2_ONC-T and HAYABUSA2_ONC-W1, are defined as follows: - +Z axis is along the boresight direction of the camera (ONC-T or ONC-W1) and nominally co-aligned with the s/c -Z axis; - +Y axis is parallel to the s/c +Y axis; - +X axis completes the right-handed frame; -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 /___\ V +Zonc_t +Zsc ^ | | x-----> +Xsc +Ysc is into the page Euler angles for ONC-T and ONC-W1 in the following definition are based on [5]. \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 Hayabusa2 ONC-W2 frame, HAYABUSA2_ONC-W2, is defined as follows: - +Z axis is along the boresight direction of the ONC-W2 and rotated -59 degrees around the s/c +X axis from the s/c -Z axis. - +Y axis is parallel to the s/c +X axis; - +X axis completes the right-handed frame; The Hayabusa2 NIRS3-S frame, HAYABUSA2_NIRS3-S, is defined as follows: - -Z axis is along the boresight direction of the NIRS3-S and nominally co-aligned with the s/c -Z axis; - +Y axis is parallel to the s/c +Y axis; - +X axis completes the right-handed frame; -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 | | | | /___\ +Zsc ^ | | +Xsc is into the page +Ysc <-----x Note that the Hayabus2 ONC-W2 frame has nominal rotation angle values, and misalignments from the nominal rotation angle values are considered to be less than 1 pixels of ONC-W2. Euler angles for NIRS3 are calculated from corrected boresight direction [3], (0.0039269654121137, -0.0027925231737425, -0.9999883903110957) in the HAYABUSA2_SC_BUS_PRIME frame. \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 TIR-S Frame definitions ------------------------------------------------------------------------- The Hayabusa2 TIR3-S frame, HAYABUSA2_TIR-S, is defined as follows: - +Z axis is along the boresight direction of the TIR-S and nominally co-aligned with the s/c -Z axis; - +Y axis is parallel to the s/c +Y axis; - +X axis completes the right-handed frame; +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 || |____| | | | | | | | | | +Ztir| | SMP | | V -Znirs3 V | | | V /___\ +Zsc ^ | | +Xsc <-----o +Ysc is out of the page The alignment values of the TIR-S frame were provided as TKFRAME_-37200_ANGLES = ( -1.077008, -180.080079, 0.140688 ) based on the Moon observation during the Earth swing-by for the 1st time (used from Versions 0.9 to 1.3) [4], and TKFRAME_-37200_ANGLES = ( -1.051975, -180.007275, 0.115103 ) using the observation data of Mid-Alt observation just after the arrival of Hayabusa2 to Ryugu (used from Versions 1.4 to 1.5). The current value [6] as of 2023-12-01 is found below. \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 = ( -0.743393, -179.930292, 0.085762 ) TKFRAME_-37200_AXES = ( 3, 2, 1 ) TKFRAME_-37200_UNITS = 'DEGREES' \begintext End of FK file.