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 1.7 -- February 18, 2025 -- Shin-ya MURAKAMI, ISAS/JAXA - Added HAYABUSA2_LIDAR_RX_NEAR, HAYABUSA2_LIDAR_RX_FAR, and HAYABUSA2_LIDAR_TX frames. - Added HAYABUSA2_CAM-H and HAYABUSA2_FLA-F frames. - Updated the References section. - Changed center of frames using instrument position SPK. - Changed names for the MINERVA-II rovers. - Changed MINERVA2_2 ID code from -37900 to -37890 to avoid conflict with the HYB2_HP_FRAME frame. 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. [7] HAYABUSA2 confirmation result of origin of field of view, version 1, June 1, 2020, HYBS2-NEC-D20008. 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 Alias ----------------------- -------- -------------------- HAYABUSA2 -37 HAYABUSA2_SC_BUS_PRIME -37000 HAYABUSA2_SPACECRAFT HAYABUSA2_CAM-H -37050 HAYABUSA2_FLA-F -37051 HAYABUSA2_ONC-T -37100 HAYABUSA2_ONC-W1 -37110 HAYABUSA2_ONC-W2 -37120 HAYABUSA2_TIR-S -37200 HAYABUSA2_NIRS3-S -37300 HAYABUSA2_LIDAR -37400 HAYABUSA2_LIDAR_RX_FAR -37410 HAYABUSA2_LIDAR_RX_NEAR -37420 HAYABUSA2_LIDAR_TX -37430 HAYABUSA2_DCAM3 -37500 HAYABUSA2_SCI -37590 HAYABUSA2_MASCOT -37700 HAYABUSA2_MINERVA2_1A -37800 HAYABUSA2_MINERVA2_1B -37850 HAYABUSA2_MINERVA2_2 -37890 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_SPACECRAFT' ) NAIF_BODY_CODE += ( -37000 ) NAIF_BODY_NAME += ( 'HAYABUSA2_SC_BUS_PRIME' ) NAIF_BODY_CODE += ( -37000 ) NAIF_BODY_NAME += ( 'HAYABUSA2_CAM-H' ) NAIF_BODY_CODE += ( -37050 ) NAIF_BODY_NAME += ( 'HAYABUSA2_FLA-F' ) NAIF_BODY_CODE += ( -37051 ) 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_LIDAR_RX_FAR' ) NAIF_BODY_CODE += ( -37410 ) NAIF_BODY_NAME += ( 'HAYABUSA2_LIDAR_RX_NEAR' ) NAIF_BODY_CODE += ( -37420 ) NAIF_BODY_NAME += ( 'HAYABUSA2_LIDAR_TX' ) NAIF_BODY_CODE += ( -37430 ) 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_1A' ) NAIF_BODY_CODE += ( -37800 ) NAIF_BODY_NAME += ( 'HAYABUSA2_MINERVA2_1B' ) NAIF_BODY_CODE += ( -37850 ) NAIF_BODY_NAME += ( 'HAYABUSA2_MINERVA2_2' ) NAIF_BODY_CODE += ( -37890 ) 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 Engineering Instrument frames ------------------------------------------------------------------------ Name Relative to Type Frame ID ========================== ====================== ======= ======== HAYABUSA2_CAM-H HAYABUSA2_SC_BUS_PRIME FIXED -37050 HAYABUSA2_FLA-F HAYABUSA2_SC_BUS_PRIME FIXED -37051 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_LIDAR_RX_FAR HAYABUSA2_LIDAR FIXED -37410 HAYABUSA2_LIDAR_RX_NEAR HAYABUSA2_LIDAR FIXED -37420 HAYABUSA2_LIDAR_TX HAYABUSA2_LIDAR FIXED -37430 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_1A RYUGU_FIXED CK -37800 HAYABUSA2_MINERVA2_1B RYUGU_FIXED CK -37850 HAYABUSA2_MINERVA2_2 J2000 CK -37890 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 +----------------------+ | | | |<-pck |<-ck |<-pck | | | V | V IAU_EARTH | RYUGU_FIXED --------- | ----------- | | | |<-ck | | V V HAYABUSA2_SC_BUS_PRIME +----------------------------------------------------+ | | | | | | | | | | |<-fixed | | |<-fixed | |<-fixed | | | | | | | | | | V | | V | V | | HAYABUSA2_TIR-S | | HAYABUSA2_ONC-T | HAYABUSA2_CAM-H | | --------------- | | --------------- | --------------- | | | | | | |<-fixed | |<-fixed |<-fixed | | | | | | V | V V | HAYABUSA2_NIRS3-S | HAYABUSA2_ONC-W1 HAYABUSA2_FLA-F | ----------------- | ---------------- --------------- | | |<-fixed |<-fixed | | V V HAYABUSA2_LIDAR HAYABUSA2_ONC-W2 --------------- ---------------- | | | | | |<-fixed | | | | | V | | HAYABUSA2_LIDAR_TX | | ------------------ | | | |<-fixed | | | V | HAYABUSA2_LIDAR_RX_NEAR | ----------------------- | |<-fixed | V HAYABUSA2_LIDAR_RX_FAR ---------------------- (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 origin of the frame is the launch vehicle interface point, located at the separation plane between the spacecraft and the launch adapter, in the center of the launch adapter. 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 +Zsc | | -------> | || ^ | |E Thrust Vector \|| | |_| -.____________|__+Xsc______. |####||_____x---->| W TT |#|| | || | LIDAR OME-A ONC-W1 | | ONC-T SMP | | +Ysc is | | | into the page | +Zonc_w1,t /___\ V 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 = -37000 CK_-37000_SCLK = -37 CK_-37000_SPK = -37 \begintext Hayabusa2 Engineering and Science Instrument Frames --------------------------------------------------------------------------- This section contains frame definitions for Hayabusa2 engineering and science instruments. These 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. CAM-H and FLA-F Frame definition ------------------------------------------------------------------------- The Hayabusa2 CAM-H frame -- HAYABUSA2_CAM-H -- is defined as follows: - +X axis is nominally co-aligned with the s/c +X axis; - +Y axis is nominally co-aligned with the s/c +Z axis; - +Z axis is nominally co-aligned with the s/c -Y axis and completes the right-handed frame; - the origin of the frame is at the focal point of CAM-H. The Hayabusa2 FLA-F frame -- HAYABUSA2_FLA-F -- is defined as follows: - +X axis is nominally co-aligned with the s/c +X axis; - +Y axis is nominally co-aligned with the s/c -Y axis; - +Z axis is nominally co-aligned with the s/c -Z axis and completes the right-handed frame; - the origin of the frame is origin of light emission point of FLA-F. -Y s/c side view: ----------------- ^ | HGA Boresight | X-band X-band HGA MGA _ _____________ {@ } _ .______Y___________Y___[]_. STT-B \H| | _/H| ________ | | | | |_ | |________| | | | | |E Ion Engines _|_ +Ycamh | | /|/_\ ONC-W2 ^ | | -------> | || | | |E Thrust Vector \|| CAM-H | +Xcamh |_| -.________________o----->__.FLA-F |####||___________| W o---->+Xflaf |#|| | || | | LIDAR OME-A | +Yflaf is | | v+Zflaf out of the page. SMP | | | | +Zcamh is /___\ out of the page +Zsc ^ | | x-----> +Xsc +Ysc is into the page Euler angles for the CAM-H and FLA-F frames in the following definition are based on [7]. \begindata FRAME_HAYABUSA2_CAM-H = -37050 FRAME_-37050_NAME = 'HAYABUSA2_CAM-H' FRAME_-37050_CLASS = 4 FRAME_-37050_CLASS_ID = -37050 FRAME_-37050_CENTER = -37050 TKFRAME_-37050_SPEC = 'ANGLES' TKFRAME_-37050_RELATIVE = 'HAYABUSA2_SC_BUS_PRIME' TKFRAME_-37050_ANGLES = ( 0.0, 0.0, -90.0 ) TKFRAME_-37050_AXES = ( 3, 2, 1 ) TKFRAME_-37050_UNITS = 'DEGREES' FRAME_HAYABUSA2_FLA-F = -37051 FRAME_-37051_NAME = 'HAYABUSA2_FLA-F' FRAME_-37051_CLASS = 4 FRAME_-37051_CLASS_ID = -37051 FRAME_-37051_CENTER = -37051 TKFRAME_-37051_SPEC = 'ANGLES' TKFRAME_-37051_RELATIVE = 'HAYABUSA2_SC_BUS_PRIME' TKFRAME_-37051_ANGLES = ( 0.0, 0.0, 180.0 ) TKFRAME_-37051_AXES = ( 3, 2, 1 ) TKFRAME_-37051_UNITS = 'DEGREES' \begintext 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; - the origin of the frame is at reference hole of LIDAR at the mounting surface of the LIDAR to the spacecraft. -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 The LIDAR far range receiver frame -- HAYABUSA2_LIDAR_RX_FAR -- is defined as follows [7]: - +Z axis is along the LIDAR base frame +Z axis; - +X axis is along the LIDAR base frame +X axis; - +Y axis is along the LIDAR base frame +Y axis and completes the right hand frame; - the origin of the frame is the focal point of the far range telescope (receiver) of the LIDAR which is located at the center of the far range telescope in the X-Y plane and outside of the instrument in the Z plane, respectively. The LIDAR near range receiver frame -- HAYABUSA2_LIDAR_RX_NEAR -- is defined as follows [7]: - +Z axis is along the LIDAR base frame +Z axis; - +X axis is along the LIDAR base frame +X axis; - +Y axis is along the LIDAR base frame +Y axis and completes the right hand frame; - the origin of the frame is the focal point of the near range telescope (receiver) of the LIDAR which is located at the center of the near range telescope in the X-Y plane and outside of the instrument in the Z plane, respectively. The LIDAR transmitter frame -- HAYABUSA2_LIDAR_TX -- is defined as follows [7]: - +Z axis is along the LIDAR base frame +Z axis; - +X axis is along the LIDAR base frame +X axis; - +Y axis is along the LIDAR base frame +Y axis and completes the right hand frame; - the origin of the frame is the origin of field of view of the laser expander (transmitter) of the LIDAR which is located at the center of the laser expander in the X-Y plane and the outside of the instrument in the Z direction. \begindata FRAME_HAYABUSA2_LIDAR_RX_FAR = -37410 FRAME_-37410_NAME = 'HAYABUSA2_LIDAR_RX_FAR' FRAME_-37410_CLASS = 4 FRAME_-37410_CLASS_ID = -37410 FRAME_-37410_CENTER = -37410 TKFRAME_-37410_SPEC = 'ANGLES' TKFRAME_-37410_RELATIVE = 'HAYABUSA2_LIDAR' TKFRAME_-37410_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-37410_AXES = ( 3, 2, 1 ) TKFRAME_-37410_UNITS = 'DEGREES' FRAME_HAYABUSA2_LIDAR_RX_NEAR = -37420 FRAME_-37420_NAME = 'HAYABUSA2_LIDAR_RX_NEAR' FRAME_-37420_CLASS = 4 FRAME_-37420_CLASS_ID = -37420 FRAME_-37420_CENTER = -37420 TKFRAME_-37420_SPEC = 'ANGLES' TKFRAME_-37420_RELATIVE = 'HAYABUSA2_LIDAR' TKFRAME_-37420_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-37420_AXES = ( 3, 2, 1 ) TKFRAME_-37420_UNITS = 'DEGREES' FRAME_HAYABUSA2_LIDAR_TX = -37430 FRAME_-37430_NAME = 'HAYABUSA2_LIDAR_TX' FRAME_-37430_CLASS = 4 FRAME_-37430_CLASS_ID = -37430 FRAME_-37430_CENTER = -37430 TKFRAME_-37430_SPEC = 'ANGLES' TKFRAME_-37430_RELATIVE = 'HAYABUSA2_LIDAR' TKFRAME_-37430_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-37430_AXES = ( 3, 2, 1 ) TKFRAME_-37430_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; - the origin of the frame is at the focal point of ONC-T and ONC-W1, respectively. -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 = -37100 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 = -37110 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 origin of the frame is at the focal point of ONC-W2. 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; - the origin of the frame is at the focal point of NIRS3-S. -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 = -37120 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 = -37300 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; - the origin of the frame is at the focal point of TIR-S. +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 = -37200 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.