KPL/FK OSIRIS-REx (ORX) Frames Kernel ===================================================================== This frame kernel contains the complete set of frame definitions for the OSIRIS-REx spacecraft, its structures and science instruments. This frame kernel also contains name - to - NAIF ID mappings for OSIRIS-REx science instruments and s/c structures (see the last section of the file.) Version and Date ----------------------------------------------------------- Version 1.4 -- January 22, 2019 -- Boris Semenov, NAIF Redefined ORX_OCAMS_POLYCAM and ORX_OCAMS_MAPCAM frames as Class 3 (CK-based) frames to allow storing their time-dependent alignments in CK files. Version 1.3 -- December 20, 2018 -- Boris Semenov, NAIF Updated ORX_OCAMS_POLYCAM and ORX_OCAMS_MAPCAM alignments based on [18]. These alignments are valid starting October 25, 2018. Version 1.2 -- November 27, 2018 -- Boris Semenov, NAIF Reset ORX_OLA_HIGH and ORX_OLA_LOW alignments to 0, based on [17]. Version 1.1 -- September 22, 2018 -- Boris Semenov, NAIF Incorporated new alignment DCMs from [16] into POLYCAM and MAPCAM frame definitions. Removed a spurious +Xpy_sa label from the Solar Array frames diagram. Version 1.0 -- July 27, 2018 -- Boris Semenov, NAIF Updated ORX_OLA_HIGH and ORX_OLA_LOW alignments based on [15]. Version 0.9 -- April 10, 2018 -- Boris Semenov, NAIF Added ORX_OVIRS_RAD frame and ORX_OVIRS_RAD/-64323 name/ID mapping. Incorporated alignment DCMs from [14] into NAVCAM and OVIRS frame definitions. Incorporated dynamic frames from orx_custom_frames_DRAFT_n.tf (n=3..7). The complete revision history of orx_custom_frames_DRAFT_n.tf is orx_custom_frames_DRAFT_7.tf -- January 16, 2018 -- Boris Semenov, NAIF - Finalized the ORX_SUN_PLANE_OF_SKY definition. Added rationale for some frames. orx_custom_frames_DRAFT_6.tf -- December 13, 2017 -- Boris Semenov, NAIF - changed all frame IDs to bring all frames into the -649xx range - renamed these frames to have the ORX_ prefix: BENNU_SUN_NORTH -> ORX_BENNU_SUN_NORTH BENNU_SAM -> ORX_BENNU_SAM BENNU_ORBIT_FIXED -> ORX_BENNU_ORBIT_FIXED SUN_PLANE_OF_SKY -> ORX_SUN_PLANE_OF_SKY - modified all frame descriptions to follow the same style - modified preface comments to look like from from the main FK - reformatted comments and definitions to have consistent indentation and keyword/value alignment orx_custom_frames_DRAFT_5.tf -- December 5, 2017 -- John Kidd, UofA - corrections based on Dan Wibben's feedback orx_custom_frames_DRAFT_4.tf -- November 28, 2017 -- John Kidd, UofA - additional updates orx_custom_frames_DRAFT_3.tf -- October 25, 2017 -- John Kidd, UofA - Incorporated custom frames from FDS provided by Dan Wibben orx_custom_frames_DRAFT_2.tf -- December 13, 2017 -- John Kidd, UofA - Incorporate input from Brian Carcich and Boris Semenov. orx_custom_frames_DRAFT_1.tf -- December 13, 2017 -- John Kidd, UofA - Initial version. Version 0.8 -- July 27, 2017 -- Boris Semenov, NAIF Added ORX_SA_PY_IG/-64017 and ORX_SA_NY_IG/-64027 to allow packaging SA PY and NY inner and outer gimbal rotations in separate segments. Version 0.7 -- June 28, 2017 -- Boris Semenov, NAIF Incorporated alignment DCMs from [9] into LIDAR, NAVCAM, STU, OTES, OCAMS, OLA, OVIRS, and HGA frame definitions. Changed the relative-to frame for ORX_OLA_LOW from ORX_OLA_HIGH to ORX_OLA_ART per [10]. Redefined ORX_OVIRS and ORX_OVIRS_SCI to be nominally co-aligned with ORX_SPACECRAFT per [11]. Redefined ORX_OVIRS_SUN to have -Y co-aligned with the science port boresight (ORX_OVIRS_SCI +Z) per [11]. Corrected OLA frames description per [10]. Changed the order of -64000 name/ID mappings to give ORX_SPACECRAFT/-64000 the highest priority. Corrected OCAMS frames descriptions. Version 0.6 -- October 24, 2016 -- Boris Semenov, NAIF Added star tracker frames based on [4] and [7]. Added POLYCAM focus position name-ID mappings. Version 0.5 -- July 6, 2016 -- Boris Semenov, NAIF 07/01/16: Updated MapCam and SamCam frames description to correctly indicate how +X and +Y axes relate to CCD lines and columns. 05/16/16: Updated HGA alignment angles to line up the ORX_HGA frame with the antenna pattern ([6]). Version 0.4 -- August 24, 2015 -- Boris Semenov, NAIF 08/24/15: Updated LIDAR frames to be consistent with [4]/Rev-D 12/18/14: Updated NAVCAM1 and NAVCAM2 nominal alignments for additional -90 degree rotation about boresight. Version 0.3 -- October 30, 2014 -- Boris Semenov, NAIF Replaced NAVCAM/-64070 frame and name/ID mapping with NAVCAM1/-64081 and NAVCAM2/-64082 frames and name/ID mappings. Changed NAVCAM1 and NAVCAM2 alignments to match [4]. Added IAU_BENNU frame. Added BENNU/2101955 naif/ID mapping. Updated orientation of the ORX_OVIRS_SUN frame to match [4]. Version 0.2 -- November 14, 2013 -- Boris Semenov, NAIF Defined nominal frames and name/ID mappings for majority of instruments and structures. Version 0.1 -- May 16, 2013 -- Boris Semenov, NAIF; John Ivens, LPL/UofA Pre-release, added OCAMS frames and name/ID mappings; adjusted ORX_OCAMS_SAMCAM angles to match description. Version 0.0 -- March 19, 2013 -- Boris Semenov, NAIF Pre-release, example version. References ----------------------------------------------------------- 1. ``Frames Required Reading'' 2. ``Kernel Pool Required Reading'' 3. ``C-Kernel Required Reading'' 4. ORX Coordinate Systems Document, Rev-A (02/18/13), Rev-B (03/18/14), Rev-D (05/20/15) 5. "NavCam Pointing for OpNav.pptx", 06/16/14 6. E-mail from Javier Cerna, ORX Telecom, 05/13/16 7. Measured start tracker FRF alignments, ``Measured STU1 FRF and FRF Description.docx'', 09/20/16 8. FK_DCMs.xlsx, D. Lorenz, 03/29/17 9. xmit.xlsx, D. Lorenz, 06/19/17 10. Review feedback by the OLA team (orx_v07_draft_tf_w_comments.docx), provided by D. Lorenz, 06/20/17 11. Review feedback by the OVIRS team (OVIRS Frames updates.docx), provided by D. Lorenz, 06/27/17 12. OSIRIS-REx-SPEC-0010_Rev_A_Mar2017.pdf, sections: - Sun North Frame (Section 8.1.8) - Sun Anti-Momentum (SAM) Frame (Section 8.1.9) - Bennu Orbit-Fixed Frame (Section 8.1.10) - Sun Plane-Of-Sky (POS) Frame (Section 8.1.7) 13. E-mail from John Kidd re. the purpose of the ORX_BENNU_SUN frame, 12/21/2017 14. xmit.xlsx, D. Lorenz, 03/23/18 15. ``Summary of Spice Kernel Changes.docx'', Michael Daly, York University, 04/20/2018 16. xmit.xlsx, D. Lorenz, 09/21/18 17. E-mail from Michael Daly re. OLA frames update (Subject: "Frame Kernel"), 11/19/2018 18. xmit.xlsx, D. Lorenz, 12/18/18 Contact Information ----------------------------------------------------------- Boris V. Semenov, NAIF/JPL, (818)-354-8136, Boris.Semenov@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 using the SPICELIB routine FURNSH. This file was created and may be updated with a text editor or word processor. OSIRIS-REx Frames Summary ----------------------------------------------------------- The following OSIRIS-REx frames are defined in this kernel file: Name Relative to Type NAIF ID ====================== ===================== ========== ======= Bennu Body-Fixed frame: ----------------------- IAU_BENNU J2000 PCK 10106 Dynamic Frames: --------------- ORX_BENNU_SUN J2000 DYNAMIC -64901 ORX_BENNU_SUN_NORTH J2000 DYNAMIC -64902 ORX_BENNU_SAM J2000 DYNAMIC -64903 ORX_BENNU_ORBIT_FIXED J2000 DYNAMIC -64904 ORX_SUN_PLANE_OF_SKY J2000 DYNAMIC -64905 ORX_RTN_BENNU J2000 DYNAMIC -64906 ORX_RTN_EARTH J2000 DYNAMIC -64907 ORX_RTN_SUN J2000 DYNAMIC -64908 ORX_VIEW2_BENNU J2000 DYNAMIC -64909 ORX_VIEW2_EARTH J2000 DYNAMIC -64910 ORX_VIEW2_SUN J2000 DYNAMIC -64911 Spacecraft frame: ----------------- ORX_SPACECRAFT J2000 CK -64000 Structure frames (solar arrays, TAGSAM, antennas, etc): ------------------------------------------------------- ORX_SA_PY_BP ORX_SPACECRAFT FIXED -64011 ORX_SA_PY_IG ORX_SA_PY_BP CK -64017 ORX_SA_PY_GIM ORX_SA_PY_BP/PY_IG CK -64012 ORX_SA_PY ORX_SA_PY_GIM FIXED -64010 ORX_SA_NY_BP ORX_SPACECRAFT FIXED -64021 ORX_SA_NY_IG ORX_SA_NY_BP CK -64027 ORX_SA_NY_GIM ORX_SA_NY_BP/NY_IG CK -64022 ORX_SA_NY ORX_SA_NY_GIM FIXED -64020 ORX_TAGSAM_BP ORX_SPACECRAFT FIXED -64051 ORX_TAGSAM_SH_REF ORX_TAGSAM_BP FIXED -64052 ORX_TAGSAM_SH ORX_TAGSAM_SH_REF CK -64053 ORX_TAGSAM_EL_REF ORX_TAGSAM_SH FIXED -64054 ORX_TAGSAM_EL ORX_TAGSAM_EL_REF CK -64055 ORX_TAGSAM_WR_REF ORX_TAGSAM_EL FIXED -64056 ORX_TAGSAM_WR ORX_TAGSAM_WR_REF CK -64057 ORX_TAGSAM ORX_TAGSAM_WR FIXED -64050 ORX_HGA ORX_SPACECRAFT FIXED -64060 ORX_MGA ORX_SPACECRAFT FIXED -64061 ORX_LGA_PX ORX_SPACECRAFT FIXED -64062 ORX_LGA_MX ORX_SPACECRAFT FIXED -64063 ORX_STOWCAM ORX_SPACECRAFT FIXED -64071 ORX_LIDAR-1 ORX_SPACECRAFT FIXED -64072 ORX_LIDAR-2 ORX_SPACECRAFT FIXED -64073 ORX_LIDAR-1_CUBE ORX_SPACECRAFT FIXED -64074 ORX_LIDAR-2_CUBE ORX_SPACECRAFT FIXED -64075 ORX_NAVCAM1 ORX_SPACECRAFT FIXED -64081 ORX_NAVCAM2 ORX_SPACECRAFT FIXED -64082 ORX_SRC ORX_SPACECRAFT FIXED -64090 ORX_STU1 ORX_SPACECRAFT FIXED -64091 ORX_STU2 ORX_SPACECRAFT FIXED -64092 Science Instruments frames: --------------------------- ORX_OTES ORX_SPACECRAFT FIXED -64310 ORX_OVIRS ORX_SPACECRAFT FIXED -64320 ORX_OVIRS_SCI ORX_OVIRS FIXED -64321 ORX_OVIRS_SUN ORX_OVIRS FIXED -64322 ORX_OVIRS_RAD ORX_OVIRS FIXED -64323 ORX_REXIS ORX_SPACECRAFT FIXED -64330 ORX_REXIS_SXM ORX_SPACECRAFT FIXED -64340 ORX_OCAMS_POLYCAM ORX_SPACECRAFT CK -64360 ORX_OCAMS_MAPCAM ORX_SPACECRAFT CK -64361 ORX_OCAMS_SAMCAM ORX_SPACECRAFT FIXED -64362 ORX_OLA_BASE ORX_SPACECRAFT FIXED -64400 ORX_OLA_ART ORX_OLA_BASE CK -64401 ORX_OLA_HIGH ORX_OLA_ART FIXED -64402 ORX_OLA_LOW ORX_OLA_HIGH FIXED -64403 ORX Frames Hierarchy ----------------------------------------------------------- The diagram below shows the ORX frames hierarchy: J2000 INERTIAL (^) +---------------------------------------------------------------+ | | | |<-pck | pck->| | | | V | V IAU_BENNU | IAU_EARTH ASTEROID BFR(*) | EARTH BFR(*) --------------- | ------------ | | ORX_SA_PY | ORX_SA_NY --------- | --------- ^ | ^ |<-fxd | fxd->| | | | ORX_SA_PY_GIM | ORX_SA_NY_GIM ------------- | ------------- ^ ^ | ^ ^ |<-|<-ck | ck->|->| | | | | | | ORX_SA_PY_IG ORX_LIDAR-1 | ORX_LIDAR-2 ORX_SA_NY_IG | | ------------ ----------- | ----------- ------------ | | ^ ^ | ^ ^ | | |<-ck |<-fxd | fxd->| ck->| | | | | | | | | ORX_SA_PY_BP ORX_LIDAR-1_CUBE | ORX_LIDAR-2_CUBE ORX_SA_NY_BP ------------ ---------------- | ---------------- ------------ ^ ^ | ^ ^ |<-fxd |<-fxd | fxd->| fxd->| | | | | | | | | | | | ORX_NAVCAM1/2 | ORX_STU1/2 | | ORX_STOWCAM | | ------------- | ---------- | | ----------- | | ^ | ^ | | ^ | | fxd->| | | | | |<-fxd | | | | | | | | | | | | | | | | | | ORX_LGA_PX | | ORX_HGA | | ORX_MGA | | ORX_LGA_MX | | ---------- | | ------- | | ------- | | ---------- | | ^ | | ^ | | ^ | | ^ | | fxd->| | | |<-fxd | | fxd->| | | |<-fxd | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | |<-ck | | | | | | | | | | | | | | | | | | | | | | | V | | | | | | | | | | ORX_SPACECRAFT | | | | | +---------------------------------------------------------------+ | | | | | | | | | | | | | | | | | | | | | | | | | | |<-fxd | |<-fxd fxd->| | | | | | | V | V V | | | | | | ORX_SRC | ORX_OLA_BASE ORX_TAGSAM_BP | | | | | | ------- | ------------ ------------- | | | | | | | | | | | | | | |<-fxd | |<-ck fxd->| | | | | | V | V V | | | | | ORX_OTES | ORX_OLA_ART ORX_TAGSAM_SH_REF | | | | | -------- | +-----------+ ----------------- | | | | | | | | | | | | | |<-fxd | |<-fxd | ck->| | | | | V | V | V | | | | ORX_REXIS | ORX_OLA_HIGH | ORX_TAGSAM_SH | | | | --------- | ------------ | ------------- | | | | | | | | | | |<-fxd | fxd->| fxd->| | | | V | V V | | | ORX_REXIS_SXM | ORX_OLA_LOW ORX_TAGSAM_EL_REF | | | ------------- | ----------- ----------------- | | | | | | | |<-ck | ck->| | | V | V | | ORX_OCAMS_POLYCAM | ORX_TAGSAM_EL | | ----------------- | ------------- | | | | | |<-ck | fxd->| | V V V | ORX_OCAMS_MAPCAM ORX_OVIRS ORX_TAGSAM_WR_REF | ---------------- +-------------------+ ----------------- | | | | | |<-fxd |<-fxd |<-fxd |<-fxd ck->| V V V V V ORX_OCAMS_SAMCAM ORX_OVIRS_SCI ORX_OVIRS_SUN ORX_OVIRS_RAD ORX_TAGSAM_WR ---------------- ------------- ------------- ------------- ------------- | fxd->| V ORX_TAGSAM ---------- (*) BFR -- body-fixed rotating frame (^) The diagram does not show any dynamic frames, which are all defined w.r.t. J2000. Asteroid Body-Fixed Frame ----------------------------------------------------------- The asteroid Bennu body-fixed frame -- IAU_BENNU -- is defined as follows: - +Z axis is the asteroid rotation axis pointed towards the positive pole - +X axis points towards the prime meridian - +Y axis completes the right handed frame - the origin of the frame is at the asteroid center of mass. Since the asteroid rotation data is expected to be provided in a text PCK in the form compliant with the IAU rotation model, the IAU_BENNU frame is defined below as a PCK based frame. \begindata FRAME_IAU_BENNU = 10106 FRAME_10106_NAME = 'IAU_BENNU' FRAME_10106_CLASS = 2 FRAME_10106_CLASS_ID = 2101955 FRAME_10106_CENTER = 2101955 OBJECT_2101955_FRAME = 'IAU_BENNU' \begintext OSIRIS-REx Dynamic Frames Definitions ----------------------------------------------------------- The Nadir-Oriented Spacecraft-Centered Frame -- ORX_BENNU_SUN -- is defined as follows: - +Z axis points from the spacecraft towards the center of Bennu (primary) - +X axis points in the direction from the spacecraft to the Sun (secondary) - +Y axis completes the right handed frame - the origin of the frame is at the spacecraft center of mass. Per [13], this frame represents the nominal spacecraft attitude during orbital mission phases, with the payload deck normal (S/C +Z) pointing nadir and the HGA (S/C +X) pointing sun-ward. This frame is defined as a two-vector style dynamic frame below. \begindata FRAME_ORX_BENNU_SUN = -64901 FRAME_-64901_NAME = 'ORX_BENNU_SUN' FRAME_-64901_CLASS = 5 FRAME_-64901_CLASS_ID = -64901 FRAME_-64901_CENTER = 'ORX' FRAME_-64901_RELATIVE = 'J2000' FRAME_-64901_DEF_STYLE = 'PARAMETERIZED' FRAME_-64901_FAMILY = 'TWO-VECTOR' FRAME_-64901_PRI_AXIS = 'Z' FRAME_-64901_PRI_VECTOR_DEF = 'OBSERVER_TARGET_POSITION' FRAME_-64901_PRI_OBSERVER = 'ORX' FRAME_-64901_PRI_TARGET = 'BENNU' FRAME_-64901_PRI_ABCORR = 'NONE' FRAME_-64901_SEC_AXIS = 'X' FRAME_-64901_SEC_VECTOR_DEF = 'OBSERVER_TARGET_POSITION' FRAME_-64901_SEC_OBSERVER = 'ORX' FRAME_-64901_SEC_TARGET = 'SUN' FRAME_-64901_SEC_ABCORR = 'NONE' \begintext The Sun-North Bennu-Centered frame -- ORX_BENNU_SUN_NORTH -- is defined as follows: - +X axis points from the center of Bennu to the center of the Sun (primary) - +Z axis points in the direction of the Bennu spin axis (+Z of IAU_BENNU) (secondary) - +Y axis completes the right handed frame - the origin of the frame is at the center of Bennu. Per [12, section 8.1.8], this frame is used during proximity operations by the various project groups involved in trajectory design and determination. This frame is defined as a two-vector style dynamic frame below. \begindata FRAME_ORX_BENNU_SUN_NORTH = -64902 FRAME_-64902_NAME = 'ORX_BENNU_SUN_NORTH' FRAME_-64902_CLASS = 5 FRAME_-64902_CLASS_ID = -64902 FRAME_-64902_CENTER = 'BENNU' FRAME_-64902_RELATIVE = 'J2000' FRAME_-64902_DEF_STYLE = 'PARAMETERIZED' FRAME_-64902_FAMILY = 'TWO-VECTOR' FRAME_-64902_PRI_AXIS = 'X' FRAME_-64902_PRI_VECTOR_DEF = 'OBSERVER_TARGET_POSITION' FRAME_-64902_PRI_OBSERVER = 'BENNU' FRAME_-64902_PRI_TARGET = 'SUN' FRAME_-64902_PRI_ABCORR = 'NONE' FRAME_-64902_SEC_AXIS = 'Z' FRAME_-64902_SEC_VECTOR_DEF = 'CONSTANT' FRAME_-64902_SEC_SPEC = 'RECTANGULAR' FRAME_-64902_SEC_VECTOR = ( 0.0, 0.0, 1.0 ) FRAME_-64902_SEC_FRAME = 'IAU_BENNU' \begintext The Sun-AntiMomentum (SAM) Bennu-Centered frame -- ORX_BENNU_SAM -- is defined as follows: - +X axis points from the center of Bennu to the center of the Sun (primary) - +Y axis points in the direction of the Bennu's inertial velocity with respect to the Sun (secondary) - +Z axis completes the right handed frame and is aligned with the Bennu's orbital angular anti-momentum - the origin of the frame is at the center of Bennu. Per [12, section 8.1.9], this frame is used during the Approach, Preliminary Survey and Orbital A phases by the various project groups involved in trajectory design and determination, specifically to compute the solar longitude and solar latitude angles used in scheduling science observations. This frame is defined as a two-vector style dynamic frame below. \begindata FRAME_ORX_BENNU_SAM = -64903 FRAME_-64903_NAME = 'ORX_BENNU_SAM' FRAME_-64903_CLASS = 5 FRAME_-64903_CLASS_ID = -64903 FRAME_-64903_CENTER = 'BENNU' FRAME_-64903_RELATIVE = 'J2000' FRAME_-64903_DEF_STYLE = 'PARAMETERIZED' FRAME_-64903_FAMILY = 'TWO-VECTOR' FRAME_-64903_PRI_AXIS = 'X' FRAME_-64903_PRI_VECTOR_DEF = 'OBSERVER_TARGET_POSITION' FRAME_-64903_PRI_OBSERVER = 'BENNU' FRAME_-64903_PRI_TARGET = 'SUN' FRAME_-64903_PRI_ABCORR = 'NONE' FRAME_-64903_SEC_AXIS = 'Y' FRAME_-64903_SEC_VECTOR_DEF = 'OBSERVER_TARGET_VELOCITY' FRAME_-64903_SEC_OBSERVER = 'SUN' FRAME_-64903_SEC_TARGET = 'BENNU' FRAME_-64903_SEC_ABCORR = 'NONE' FRAME_-64903_SEC_FRAME = 'J2000' \begintext The Bennu Orbit-Fixed frame -- ORX_BENNU_ORBIT_FIXED -- is defined as follows: - +X axis points from the center of Sun to the center of the Bennu (primary) - +Y axis points in the direction of the Bennu's inertial velocity with respect to the Sun (secondary) - +Z axis completes the right handed frame and is aligned with the Bennu's orbital angular momentum - the origin of the frame is at the center of Bennu. This frame is defined as a two-vector style dynamic frame below. \begindata FRAME_ORX_BENNU_ORBIT_FIXED = -64904 FRAME_-64904_NAME = 'ORX_BENNU_ORBIT_FIXED' FRAME_-64904_CLASS = 5 FRAME_-64904_CLASS_ID = -64904 FRAME_-64904_CENTER = 'BENNU' FRAME_-64904_RELATIVE = 'J2000' FRAME_-64904_DEF_STYLE = 'PARAMETERIZED' FRAME_-64904_FAMILY = 'TWO-VECTOR' FRAME_-64904_PRI_AXIS = 'X' FRAME_-64904_PRI_VECTOR_DEF = 'OBSERVER_TARGET_POSITION' FRAME_-64904_PRI_OBSERVER = 'SUN' FRAME_-64904_PRI_TARGET = 'BENNU' FRAME_-64904_PRI_ABCORR = 'NONE' FRAME_-64904_SEC_AXIS = 'Y' FRAME_-64904_SEC_VECTOR_DEF = 'OBSERVER_TARGET_VELOCITY' FRAME_-64904_SEC_OBSERVER = 'SUN' FRAME_-64904_SEC_TARGET = 'BENNU' FRAME_-64904_SEC_ABCORR = 'NONE' FRAME_-64904_SEC_FRAME = 'J2000' \begintext The Sun Plane-Of-Sky frame -- ORX_SUN_PLANE_OF_SKY -- is defined as follows: - +Z axis points from the center of Sun to the center of the Bennu (primary) - +Y axis points in the direction of the Ecliptic South pole (-Z of ECLIPJ2000) (secondary) - +X axis completes the right handed frame - the origin of the frame is at the center of Bennu. This frame is defined as a two-vector style dynamic frame below. \begindata FRAME_ORX_SUN_PLANE_OF_SKY = -64905 FRAME_-64905_NAME = 'ORX_SUN_PLANE_OF_SKY' FRAME_-64905_CLASS = 5 FRAME_-64905_CLASS_ID = -64905 FRAME_-64905_CENTER = 'BENNU' FRAME_-64905_RELATIVE = 'J2000' FRAME_-64905_DEF_STYLE = 'PARAMETERIZED' FRAME_-64905_FAMILY = 'TWO-VECTOR' FRAME_-64905_PRI_AXIS = 'Z' FRAME_-64905_PRI_VECTOR_DEF = 'OBSERVER_TARGET_POSITION' FRAME_-64905_PRI_OBSERVER = 'SUN' FRAME_-64905_PRI_TARGET = 'BENNU' FRAME_-64905_PRI_ABCORR = 'NONE' FRAME_-64905_SEC_AXIS = 'Y' FRAME_-64905_SEC_VECTOR_DEF = 'CONSTANT' FRAME_-64905_SEC_SPEC = 'RECTANGULAR' FRAME_-64905_SEC_VECTOR = ( 0.0, 0.0, -1.0 ) FRAME_-64905_SEC_FRAME = 'ECLIPJ2000' \begintext The Radial-Tangential-Normal w.r.t. Bennu frame -- ORX_RTN_BENNU -- is defined as follows: - +X axis points from the center of Bennu to the center of mass of the spacecraft (primary) - +Y axis points in the direction of the inertial spacecraft velocity w.r.t. Bennu (secondary) - +Z axis completes the right handed frame and is aligned with the spacecraft's orbital angular momentum w.r.t. Bennu - the origin of the frame is at the spacecraft center of mass. This frame is defined as a two-vector style dynamic frame below. \begindata FRAME_ORX_RTN_BENNU = -64906 FRAME_-64906_NAME = 'ORX_RTN_BENNU' FRAME_-64906_CLASS = 5 FRAME_-64906_CLASS_ID = -64906 FRAME_-64906_CENTER = 'ORX' FRAME_-64906_RELATIVE = 'J2000' FRAME_-64906_DEF_STYLE = 'PARAMETERIZED' FRAME_-64906_FAMILY = 'TWO-VECTOR' FRAME_-64906_PRI_AXIS = 'X' FRAME_-64906_PRI_VECTOR_DEF = 'OBSERVER_TARGET_POSITION' FRAME_-64906_PRI_OBSERVER = 'BENNU' FRAME_-64906_PRI_TARGET = 'ORX' FRAME_-64906_PRI_ABCORR = 'NONE' FRAME_-64906_SEC_AXIS = 'Y' FRAME_-64906_SEC_VECTOR_DEF = 'OBSERVER_TARGET_VELOCITY' FRAME_-64906_SEC_OBSERVER = 'BENNU' FRAME_-64906_SEC_TARGET = 'ORX' FRAME_-64906_SEC_ABCORR = 'NONE' FRAME_-64906_SEC_FRAME = 'J2000' \begintext The Radial-Tangential-Normal w.r.t. Earth frame -- ORX_RTN_EARTH -- is defined as follows: - +X axis points from the center of Earth to the center of mass of the spacecraft (primary) - +Y axis points in the direction of the inertial spacecraft velocity w.r.t. Earth (secondary) - +Z axis completes the right handed frame and is aligned with the spacecraft's orbital angular momentum w.r.t. Earth - the origin of the frame is at the spacecraft center of mass. This frame is defined as a two-vector style dynamic frame below. \begindata FRAME_ORX_RTN_EARTH = -64907 FRAME_-64907_NAME = 'ORX_RTN_EARTH' FRAME_-64907_CLASS = 5 FRAME_-64907_CLASS_ID = -64907 FRAME_-64907_CENTER = 'ORX' FRAME_-64907_RELATIVE = 'J2000' FRAME_-64907_DEF_STYLE = 'PARAMETERIZED' FRAME_-64907_FAMILY = 'TWO-VECTOR' FRAME_-64907_PRI_AXIS = 'X' FRAME_-64907_PRI_VECTOR_DEF = 'OBSERVER_TARGET_POSITION' FRAME_-64907_PRI_OBSERVER = 'EARTH' FRAME_-64907_PRI_TARGET = 'ORX' FRAME_-64907_PRI_ABCORR = 'NONE' FRAME_-64907_SEC_AXIS = 'Y' FRAME_-64907_SEC_VECTOR_DEF = 'OBSERVER_TARGET_VELOCITY' FRAME_-64907_SEC_OBSERVER = 'EARTH' FRAME_-64907_SEC_TARGET = 'ORX' FRAME_-64907_SEC_ABCORR = 'NONE' FRAME_-64907_SEC_FRAME = 'J2000' \begintext The Radial-Tangential-Normal w.r.t. Sun frame -- ORX_RTN_SUN -- is defined as follows: - +X axis points from the center of Sun to the center of mass of the spacecraft (primary) - +Y axis points in the direction of the inertial spacecraft velocity w.r.t. Sun (secondary) - +Z axis completes the right handed frame and is aligned with the spacecraft's orbital angular momentum w.r.t. Sun - the origin of the frame is at the spacecraft center of mass. This frame is defined as a two-vector style dynamic frame below. \begindata FRAME_ORX_RTN_SUN = -64908 FRAME_-64908_NAME = 'ORX_RTN_SUN' FRAME_-64908_CLASS = 5 FRAME_-64908_CLASS_ID = -64908 FRAME_-64908_CENTER = 'ORX' FRAME_-64908_RELATIVE = 'J2000' FRAME_-64908_DEF_STYLE = 'PARAMETERIZED' FRAME_-64908_FAMILY = 'TWO-VECTOR' FRAME_-64908_PRI_AXIS = 'X' FRAME_-64908_PRI_VECTOR_DEF = 'OBSERVER_TARGET_POSITION' FRAME_-64908_PRI_OBSERVER = 'SUN' FRAME_-64908_PRI_TARGET = 'ORX' FRAME_-64908_PRI_ABCORR = 'NONE' FRAME_-64908_SEC_AXIS = 'Y' FRAME_-64908_SEC_VECTOR_DEF = 'OBSERVER_TARGET_VELOCITY' FRAME_-64908_SEC_OBSERVER = 'SUN' FRAME_-64908_SEC_TARGET = 'ORX' FRAME_-64908_SEC_ABCORR = 'NONE' FRAME_-64908_SEC_FRAME = 'J2000' \begintext The ``VIEW2'' w.r.t. Bennu frame -- ORX_VIEW2_BENNU -- is defined as follows: - +Y axis points along the inertial spacecraft velocity w.r.t. Bennu (primary) - +X axis points in the direction from the center of Bennu to the center of mass of the spacecraft (secondary) - +Z axis completes the right handed frame and is aligned with the spacecraft's orbital angular momentum w.r.t. Bennu - the origin of the frame is at the spacecraft center of mass. This frame is defined as a two-vector style dynamic frame below. \begindata FRAME_ORX_VIEW2_BENNU = -64909 FRAME_-64909_NAME = 'ORX_VIEW2_BENNU' FRAME_-64909_CLASS = 5 FRAME_-64909_CLASS_ID = -64909 FRAME_-64909_CENTER = 'ORX' FRAME_-64909_RELATIVE = 'J2000' FRAME_-64909_DEF_STYLE = 'PARAMETERIZED' FRAME_-64909_FAMILY = 'TWO-VECTOR' FRAME_-64909_PRI_AXIS = 'Y' FRAME_-64909_PRI_VECTOR_DEF = 'OBSERVER_TARGET_VELOCITY' FRAME_-64909_PRI_OBSERVER = 'BENNU' FRAME_-64909_PRI_TARGET = 'ORX' FRAME_-64909_PRI_ABCORR = 'NONE' FRAME_-64909_PRI_FRAME = 'J2000' FRAME_-64909_SEC_AXIS = 'X' FRAME_-64909_SEC_VECTOR_DEF = 'OBSERVER_TARGET_POSITION' FRAME_-64909_SEC_OBSERVER = 'BENNU' FRAME_-64909_SEC_TARGET = 'ORX' FRAME_-64909_SEC_ABCORR = 'NONE' \begintext The ``VIEW2'' w.r.t. Earth frame -- ORX_VIEW2_EARTH -- is defined as follows: - +Y axis points along the inertial spacecraft velocity w.r.t. Earth (primary) - +X axis points in the direction from the center of Earth to the center of mass of the spacecraft (secondary) - +Z axis completes the right handed frame and is aligned with the spacecraft's orbital angular momentum w.r.t. Earth - the origin of the frame is at the spacecraft center of mass. This frame is defined as a two-vector style dynamic frame below. \begindata FRAME_ORX_VIEW2_EARTH = -64910 FRAME_-64910_NAME = 'ORX_VIEW2_EARTH' FRAME_-64910_CLASS = 5 FRAME_-64910_CLASS_ID = -64910 FRAME_-64910_CENTER = 'ORX' FRAME_-64910_RELATIVE = 'J2000' FRAME_-64910_DEF_STYLE = 'PARAMETERIZED' FRAME_-64910_FAMILY = 'TWO-VECTOR' FRAME_-64910_PRI_AXIS = 'Y' FRAME_-64910_PRI_VECTOR_DEF = 'OBSERVER_TARGET_VELOCITY' FRAME_-64910_PRI_OBSERVER = 'EARTH' FRAME_-64910_PRI_TARGET = 'ORX' FRAME_-64910_PRI_ABCORR = 'NONE' FRAME_-64910_PRI_FRAME = 'J2000' FRAME_-64910_SEC_AXIS = 'X' FRAME_-64910_SEC_VECTOR_DEF = 'OBSERVER_TARGET_POSITION' FRAME_-64910_SEC_OBSERVER = 'EARTH' FRAME_-64910_SEC_TARGET = 'ORX' FRAME_-64910_SEC_ABCORR = 'NONE' \begintext The ``VIEW2'' w.r.t. Sun frame -- ORX_VIEW2_SUN -- is defined as follows: - +Y axis points along the inertial spacecraft velocity w.r.t. Sun (primary) - +X axis points in the direction from the center of Sun to the center of mass of the spacecraft (secondary) - +Z axis completes the right handed frame and is aligned with the spacecraft's orbital angular momentum w.r.t. Sun - the origin of the frame is at the spacecraft center of mass. This frame is defined as a two-vector style dynamic frame below. \begindata FRAME_ORX_VIEW2_SUN = -64911 FRAME_-64911_NAME = 'ORX_VIEW2_SUN' FRAME_-64911_CLASS = 5 FRAME_-64911_CLASS_ID = -64911 FRAME_-64911_CENTER = 'ORX' FRAME_-64911_RELATIVE = 'J2000' FRAME_-64911_DEF_STYLE = 'PARAMETERIZED' FRAME_-64911_FAMILY = 'TWO-VECTOR' FRAME_-64911_PRI_AXIS = 'Y' FRAME_-64911_PRI_VECTOR_DEF = 'OBSERVER_TARGET_VELOCITY' FRAME_-64911_PRI_OBSERVER = 'SUN' FRAME_-64911_PRI_TARGET = 'ORX' FRAME_-64911_PRI_ABCORR = 'NONE' FRAME_-64911_PRI_FRAME = 'J2000' FRAME_-64911_SEC_AXIS = 'X' FRAME_-64911_SEC_VECTOR_DEF = 'OBSERVER_TARGET_POSITION' FRAME_-64911_SEC_OBSERVER = 'SUN' FRAME_-64911_SEC_TARGET = 'ORX' FRAME_-64911_SEC_ABCORR = 'NONE' \begintext Spacecraft Bus Frame ----------------------------------------------------------- The spacecraft bus frame -- ORX_SPACECRAFT -- is defined by the s/c design as follows (from [4]): - +X axis is parallel to the HGA boresight - +Z axis is normal to the forward (payload) deck - +Y axis completes the right hand frame - the origin of the frame is at the center of payload deck. These diagrams illustrate the s/c frame: +X side view: ------------- +Zsc ^ | .------------------. | .------------------. | | Payload | | | | | Deck . --|-- . | | | | .-----.' o--------> -. | | | | | .` +Xsc +Ysc | | | | | | | | | | | | | | | o | | | | | | | | | | | | | -Y solar \ | `. .' | / +Y solar | | array || HGA `. .' || array | `-------------------@`-------` ----- '-------'@-------------------' | | `-------' \_/ Main Engine +Xsc is out of the page. +Z side view: ------------- .-------. .-------. | \.___./ | | |___| TAGSAM | |Payload | | Deck ... | | +Zsc `. +Ysc | | | o--------> | | `. | .' | | `|` SRC | -Y solar | | | +Y solar array | .----|----. | array ====================@`----.' v `.----'@==================== `- +Xsc ------' `-. .-' `-.-' HGA +Zsc is out of the page. +Y side view: ------------- +Zsc ^ +Y solar | array | Payload | | Deck __|__ TAGSAM | / | \ || .|| <--------o ----------. .' ||+Xsc +Ysc | .' || | | || | `. || | HGA `. || | `|| | `@----------------------' | | `-------' \_/ Main Engine +Ysc is out of the page. Since the S/C bus attitude is provided by a C kernel (see [3] for more information), this frame is defined as a CK-based frame. \begindata FRAME_ORX_SPACECRAFT = -64000 FRAME_-64000_NAME = 'ORX_SPACECRAFT' FRAME_-64000_CLASS = 3 FRAME_-64000_CLASS_ID = -64000 FRAME_-64000_CENTER = -64 CK_-64000_SCLK = -64 CK_-64000_SPK = -64 \begintext Solar Array Frames ----------------------------------------------------------- Three frames are defined for each of the two solar arrays -- the baseplate frame (to establish the 0,0 reference for the gimbal rotations), the gimbal frame (to encapsulate the gimbal rotations), and the array frame (to co-align +Z with the normal on the active cell side). The baseplate frames -- ORX_SA_PY_BP and ORX_SA_NY_BP -- are defined as follows ([4]): - +Z axis is co-aligned with -Ysc - +X axis is co-aligned with -Xsc for the +Y array and co-aligned with +Xsc for the -Y array - +Y axis completes the right hand frame The gimbal frames -- ORX_SA_PY_GIM and ORX_SA_NY_GIM -- are defined to be co-aligned with the baseplate frames in the zero gimbal position and are rotated from the baseplate frames first by the inner gimbal angle about Y, then by the outer gimbal angle about X. These rotations can be combined and stored in a single segment or stored separately in two separate segments, one for the inner gimbal and one for the outer gimbal. The additional intermediate inner gimbal frames -- ORX_SA_PY_IG and ORX_SA_NY_IG -- are defined to support making two segments for the latter case, resulting in the BP -> IG -> GIM frame chains. The array frames -- ORX_SA_PY and ORX_SA_NY -- are defined as follows: - +Z axis is the normal to the array surface on the active cell side - +X axis points along the array edge, from the outer side of the array towards the gimbal - +Y axis completes the right hand frame The origins of all array frames are at the intersection of the corresponding inner and outer gimbal axes. This diagram illustrates all array frames for arrays in the inner gimbal (IG) = +90 degrees, outer gimbal (OG) = 0 degrees position: +Z side view: ------------- .-------. .-------. | \.___./ | | |___| TAGSAM | |Payload | | Deck ... | | +Zsc `. +Ysc | | | o--------> |^ +Zpy_gim | `. | .' || +Xpy_bp | `|` SRC || -Y solar | +Xsc| || +Y solar array | .----|----. || array ========= <--------o--------> v <--------'x--------> ========== +Zny_bp | +Xny_sa +Xpy_sa | +Xpy_gim | +Xny_gim +Zpy_bp | | `-.-' | | HGA | v +Zny_sa v +Zpy_sa +Zny_gim +Xny_bp +Zsc is out of the page. +Ypy_* are into the page. +Yny_* are out of the page. As seen on the diagram, for the +Y array: - two rotations are needed to co-align the s/c frame with the +Y array baseplate frame -- first by 180 degrees about Z, then by -90 degrees about X. - two time-varying rotations -- first about Y by the inner gimbal angle (+90 degrees on the diagram), then about X by the outer gimbal angle (0 degrees on the diagram) -- are needed to co-align the baseplate frame with the gimbal frame - one rotation is needed to co-align the +Y array gimbal frame with the +Y array frame -- by 180 degrees about Y. and for -Y array: - one rotation is needed to co-align the s/c frame with the -Y array baseplate frame -- by +90 degrees about X. - two time-varying rotations -- first about Y by the inner gimbal angle (+90 degrees on the diagram), then about X by the outer gimbal angle (0 degrees on the diagram) -- are needed to co-align the baseplate frame with the gimbal frame - no rotations are needed to co-align the -Y array gimbal frame with the -Y array frame. The keyword sets below define the baseplate frames as fixed offset frames relative to the s/c frame, the gimbal frames as CK-based frames, and the array frames as fixed offset frames relative to their corresponding gimbal frames. \begindata FRAME_ORX_SA_PY_BP = -64011 FRAME_-64011_NAME = 'ORX_SA_PY_BP' FRAME_-64011_CLASS = 4 FRAME_-64011_CLASS_ID = -64011 FRAME_-64011_CENTER = -64 TKFRAME_-64011_SPEC = 'ANGLES' TKFRAME_-64011_RELATIVE = 'ORX_SPACECRAFT' TKFRAME_-64011_ANGLES = ( 0.0, 180.0, 90.0 ) TKFRAME_-64011_AXES = ( 2, 3, 1 ) TKFRAME_-64011_UNITS = 'DEGREES' FRAME_ORX_SA_PY_IG = -64017 FRAME_-64017_NAME = 'ORX_SA_PY_IG' FRAME_-64017_CLASS = 3 FRAME_-64017_CLASS_ID = -64017 FRAME_-64017_CENTER = -64 CK_-64017_SCLK = -64 CK_-64017_SPK = -64 FRAME_ORX_SA_PY_GIM = -64012 FRAME_-64012_NAME = 'ORX_SA_PY_GIM' FRAME_-64012_CLASS = 3 FRAME_-64012_CLASS_ID = -64012 FRAME_-64012_CENTER = -64 CK_-64012_SCLK = -64 CK_-64012_SPK = -64 FRAME_ORX_SA_PY = -64010 FRAME_-64010_NAME = 'ORX_SA_PY' FRAME_-64010_CLASS = 4 FRAME_-64010_CLASS_ID = -64010 FRAME_-64010_CENTER = -64 TKFRAME_-64010_SPEC = 'ANGLES' TKFRAME_-64010_RELATIVE = 'ORX_SA_PY_GIM' TKFRAME_-64010_ANGLES = ( 0.0, 0.0, 180.0 ) TKFRAME_-64010_AXES = ( 1, 3, 2 ) TKFRAME_-64010_UNITS = 'DEGREES' FRAME_ORX_SA_NY_BP = -64021 FRAME_-64021_NAME = 'ORX_SA_NY_BP' FRAME_-64021_CLASS = 4 FRAME_-64021_CLASS_ID = -64021 FRAME_-64021_CENTER = -64 TKFRAME_-64021_SPEC = 'ANGLES' TKFRAME_-64021_RELATIVE = 'ORX_SPACECRAFT' TKFRAME_-64021_ANGLES = ( 0.0, 0.0, -90.0 ) TKFRAME_-64021_AXES = ( 2, 3, 1 ) TKFRAME_-64021_UNITS = 'DEGREES' FRAME_ORX_SA_NY_IG = -64027 FRAME_-64027_NAME = 'ORX_SA_NY_IG' FRAME_-64027_CLASS = 3 FRAME_-64027_CLASS_ID = -64027 FRAME_-64027_CENTER = -64 CK_-64027_SCLK = -64 CK_-64027_SPK = -64 FRAME_ORX_SA_NY_GIM = -64022 FRAME_-64022_NAME = 'ORX_SA_NY_GIM' FRAME_-64022_CLASS = 3 FRAME_-64022_CLASS_ID = -64022 FRAME_-64022_CENTER = -64 CK_-64022_SCLK = -64 CK_-64022_SPK = -64 FRAME_ORX_SA_NY = -64020 FRAME_-64020_NAME = 'ORX_SA_NY' FRAME_-64020_CLASS = 4 FRAME_-64020_CLASS_ID = -64020 FRAME_-64020_CENTER = -64 TKFRAME_-64020_SPEC = 'ANGLES' TKFRAME_-64020_RELATIVE = 'ORX_SA_NY_GIM' TKFRAME_-64020_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-64020_AXES = ( 1, 2, 3 ) TKFRAME_-64020_UNITS = 'DEGREES' \begintext TAGSAM Frames ----------------------------------------------------------- The following frames are defined for TAGSAM: - baseplate frame -- ORX_TAGSAM_BP -- fixed with respect to and nominally co-aligned with the s/c frame - shoulder reference frame -- ORX_TAGSAM_SH_REF -- fixed with respect to the baseplate frame and rotated from it first by -90 degrees about X, then by -90 degrees about Z - shoulder rotation frame -- ORX_TAGSAM_SH -- rotated with respect to the shoulder reference frame by the time-varying shoulder angle about Z. - elbow reference frame -- ORX_TAGSAM_EL_REF -- fixed with respect to the shoulder rotation frame and rotated from it first by -90 degrees about Z, then by 180 degrees about Y - elbow rotation frame -- ORX_TAGSAM_EL -- rotated with respect to the elbow reference frame by the time-varying elbow angle about Z. - wrist reference frame -- ORX_TAGSAM_WR_REF -- fixed with respect to and nominally co-aligned with the elbow rotation frame - wrist rotation frame -- ORX_TAGSAM_WR -- rotated with respect to the wrist reference frame by the time-varying wrist angle about Z. - TAGSAM tool frame -- ORX_TAGSAM -- fixed with respect to the wrist rotation frame and rotated from it by +90 degrees about Y to co-align the +Z axis with the normal to the TAGSAM sampling side. - the origins of the baseplate, reference, and rotation frames are at the corresponding intersections of the gimbal axes and the arm link central axes. The origin of the tool frame is at the center of the sampling side. This diagram illustrates the TAGSAM frames in the stowed (0,0,0) position: +Y side view: ------------- +Zsc ^ +Zbp +Ywr +Y solar | +Xsh ^ +Yt array | Payload | +Xwr ^| | Deck _ | +Zt || | / | <----|* .|| <--------o <-----o| .' ||+Xsc +Ysc +Xbp || .' || +Ysh || | || || `. || |^ +Yel HGA `. || || `|| || `@------- <-----x | +Xel `-------' \_/ Main Engine Reference and rotation frames are co-aligned. +Ysc, +Ybp, +Zsh, and +Xt are out of the page. +Zel and +Zwr are into the page. This diagram illustrates the TAGSAM frames in the spacecraft inertia measurement (+90,180,+90) position: +Y side view: ------------- +Zsc ^ +Zbp +Y solar | +Xshref +Xel +Xwrref array | Payload | ^ ^ ^ | Deck _ | +90 .| | 180 | +90 | / | v | .'|'v |`v .|| <--------o- <-----o------<-----x----->--------*-----> .' ||+Xsc +Ysc +Xbp | | +Yelref | +Yel | +Ywrref .' || +Yshref | | | | +Xwr | || +Xsh v | v v +Zt `. || +Ysh | +Xelref +Ywr HGA `. || | +Yt `|| | `@----------------------' | +Xel `-------' \_/ Main Engine Reference and rotation frames are co-aligned. +Ysc, +Ybp, +Zsh*, and +Xt are out of the page. +Zel* and +Zwr* are into the page. This diagram illustrates the TAGSAM frames in the sample acquisition (+225,+225,+90) position: +Y side view: ------------- +Ywrref ^ +Xwr +90 | +Zt .>| <-----*-----> +Xwrref | +Ywr | +Yt | ^ +Yel | ,-> +Xelref +Xel | .-' <-----x`,+225 ^ ^--\' +Y solar +Zsc | \ +Zbp array | | v ^+Xshref | _ | +Yelr \ | .-> | / | .\| .-' +Ysh .|| <--------o- <-----o' .' ||+Xsc +Ysc +Xbp `->\ +225 .' || +Yshref \ | || v +Xsh `. || | HGA `. || | `|| | `@----------------------' | +Xel `-------' \_/ Main Engine Reference and rotation frames are co-aligned. +Ysc, +Ybp, +Zsh*, and +Xt are out of the page. +Zel* and +Zwr* are into the page. The keyword sets below define the baseplate frame as a fixed offset frame relative to the s/c frame, the gimbal reference frames as fixed offset frames relative to the baseplate or the previous gimbal rotation frame, the gimbal rotation frames as CK-based frames, and the TAGSAM tool frame as a fixed offset frame relative to the wrist rotation frame. \begindata FRAME_ORX_TAGSAM_BP = -64051 FRAME_-64051_NAME = 'ORX_TAGSAM_BP' FRAME_-64051_CLASS = 4 FRAME_-64051_CLASS_ID = -64051 FRAME_-64051_CENTER = -64 TKFRAME_-64051_SPEC = 'ANGLES' TKFRAME_-64051_RELATIVE = 'ORX_SPACECRAFT' TKFRAME_-64051_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-64051_AXES = ( 1, 2, 3 ) TKFRAME_-64051_UNITS = 'DEGREES' FRAME_ORX_TAGSAM_SH_REF = -64052 FRAME_-64052_NAME = 'ORX_TAGSAM_SH_REF' FRAME_-64052_CLASS = 4 FRAME_-64052_CLASS_ID = -64052 FRAME_-64052_CENTER = -64 TKFRAME_-64052_SPEC = 'ANGLES' TKFRAME_-64052_RELATIVE = 'ORX_TAGSAM_BP' TKFRAME_-64052_ANGLES = ( 0.0, 90.0, 90.0 ) TKFRAME_-64052_AXES = ( 2, 1, 3 ) TKFRAME_-64052_UNITS = 'DEGREES' FRAME_ORX_TAGSAM_SH = -64053 FRAME_-64053_NAME = 'ORX_TAGSAM_SH' FRAME_-64053_CLASS = 3 FRAME_-64053_CLASS_ID = -64053 FRAME_-64053_CENTER = -64 CK_-64053_SCLK = -64 CK_-64053_SPK = -64 FRAME_ORX_TAGSAM_EL_REF = -64054 FRAME_-64054_NAME = 'ORX_TAGSAM_EL_REF' FRAME_-64054_CLASS = 4 FRAME_-64054_CLASS_ID = -64054 FRAME_-64054_CENTER = -64 TKFRAME_-64054_SPEC = 'ANGLES' TKFRAME_-64054_RELATIVE = 'ORX_TAGSAM_SH' TKFRAME_-64054_ANGLES = ( 0.0, 90.0, 180.0 ) TKFRAME_-64054_AXES = ( 1, 3, 2 ) TKFRAME_-64054_UNITS = 'DEGREES' FRAME_ORX_TAGSAM_EL = -64055 FRAME_-64055_NAME = 'ORX_TAGSAM_EL' FRAME_-64055_CLASS = 3 FRAME_-64055_CLASS_ID = -64055 FRAME_-64055_CENTER = -64 CK_-64055_SCLK = -64 CK_-64055_SPK = -64 FRAME_ORX_TAGSAM_WR_REF = -64056 FRAME_-64056_NAME = 'ORX_TAGSAM_WR_REF' FRAME_-64056_CLASS = 4 FRAME_-64056_CLASS_ID = -64056 FRAME_-64056_CENTER = -64 TKFRAME_-64056_SPEC = 'ANGLES' TKFRAME_-64056_RELATIVE = 'ORX_TAGSAM_EL' TKFRAME_-64056_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-64056_AXES = ( 1, 2, 3 ) TKFRAME_-64056_UNITS = 'DEGREES' FRAME_ORX_TAGSAM_WR = -64057 FRAME_-64057_NAME = 'ORX_TAGSAM_WR' FRAME_-64057_CLASS = 3 FRAME_-64057_CLASS_ID = -64057 FRAME_-64057_CENTER = -64 CK_-64057_SCLK = -64 CK_-64057_SPK = -64 FRAME_ORX_TAGSAM = -64050 FRAME_-64050_NAME = 'ORX_TAGSAM' FRAME_-64050_CLASS = 4 FRAME_-64050_CLASS_ID = -64050 FRAME_-64050_CENTER = -64 TKFRAME_-64050_SPEC = 'ANGLES' TKFRAME_-64050_RELATIVE = 'ORX_TAGSAM_WR' TKFRAME_-64050_ANGLES = ( 0.0, 0.0, -90.0 ) TKFRAME_-64050_AXES = ( 1, 3, 2 ) TKFRAME_-64050_UNITS = 'DEGREES' \begintext Antenna Frames ----------------------------------------------------------- The antenna frames -- ORX_HGA, ORX_MGA, ORX_LGA_PX, and ORX_LGA_MX -- are defined as follows: - +Z axis is along the antenna boresight - +X axis is along the antenna pattern clock angle reference axis - +Y axis completes the right hand frame - the origin of the frame is at the intersection of the boresight and the outer rim (HGA, MGA) or outer plate (LGAs) plane. This diagrams illustrate the antenna frames: +Y side view: ------------- +Zsc ^ +Xlgamx +Zlgamx +Y solar | ^ ^ array | Payload | `. .' | Deck __|__ `. .' 45 deg +Xhga ^| / | \ o --- || <--------o ----------. .' ||+Xsc +Ysc | +Zhga .' || | <--------x| | . | | `. || | `|| | --- .-oo----------------------' 16 deg .-` . `. 45 deg | <' .' ' `. ---' Main Engine +Zmga .' ' v +Xlgamx v v +Zlgapx +Xmga +Ysc, +Ymga, +Ylgapx, and +Ylgamx are out of the page. +Xhga is 30 deg above the page. +Yhga is into the page. As seen on the diagram - the HGA frame is nominally rotated from the s/c frame by +90 degrees about Y, then by -150 about Z. - the MGA frame is nominally rotated from the s/c frame by +106 degrees about Y. - the LGA_PX frame is nominally rotated from the s/c frame by +135 degrees about Y. - the LGA_MX frame is nominally rotated from the s/c frame by -45 degrees about Y. The set of keywords below defined the HGA frame as a fixed offset frame relative to the s/c frame in the FK versions 0.2-0.6: tkframe_-64060_spec = 'ANGLES' tkframe_-64060_relative = 'ORX_SPACECRAFT' tkframe_-64060_angles = ( 0.0, -90.0, 150.0 ) tkframe_-64060_axes = ( 1, 2, 3 ) tkframe_-64060_units = 'DEGREES' The following DCM rotating from the spacecraft frame to the HGA frame was provided in [9]: ORX_HGA (SMRF to HGA) -0.00136235013386834 -0.500001379261022 0.866023535903724 0.00179421940208591 -0.866024167790371 -0.499998921578570 0.999997462386205 0.000872662633034915 0.00207694031666228 This DCM is incorporated in the HGA frame definition below. The sets of keywords below define the antenna frames as fixed offset frames relative to the s/c frame. \begindata FRAME_ORX_HGA = -64060 FRAME_-64060_NAME = 'ORX_HGA' FRAME_-64060_CLASS = 4 FRAME_-64060_CLASS_ID = -64060 FRAME_-64060_CENTER = -64 TKFRAME_-64060_SPEC = 'MATRIX' TKFRAME_-64060_RELATIVE = 'ORX_SPACECRAFT' TKFRAME_-64060_MATRIX = ( -0.00136235013386834 -0.500001379261022 0.866023535903724 0.00179421940208591 -0.866024167790371 -0.499998921578570 0.999997462386205 0.000872662633034915 0.00207694031666228 ) FRAME_ORX_MGA = -64061 FRAME_-64061_NAME = 'ORX_MGA' FRAME_-64061_CLASS = 4 FRAME_-64061_CLASS_ID = -64061 FRAME_-64061_CENTER = -64 TKFRAME_-64061_SPEC = 'ANGLES' TKFRAME_-64061_RELATIVE = 'ORX_SPACECRAFT' TKFRAME_-64061_ANGLES = ( 0.0, 0.0, -106.0 ) TKFRAME_-64061_AXES = ( 1, 3, 2 ) TKFRAME_-64061_UNITS = 'DEGREES' FRAME_ORX_LGA_PX = -64062 FRAME_-64062_NAME = 'ORX_LGA_PX' FRAME_-64062_CLASS = 4 FRAME_-64062_CLASS_ID = -64062 FRAME_-64062_CENTER = -64 TKFRAME_-64062_SPEC = 'ANGLES' TKFRAME_-64062_RELATIVE = 'ORX_SPACECRAFT' TKFRAME_-64062_ANGLES = ( 0.0, 0.0, -135.0 ) TKFRAME_-64062_AXES = ( 1, 3, 2 ) TKFRAME_-64062_UNITS = 'DEGREES' FRAME_ORX_LGA_MX = -64063 FRAME_-64063_NAME = 'ORX_LGA_MX' FRAME_-64063_CLASS = 4 FRAME_-64063_CLASS_ID = -64063 FRAME_-64063_CENTER = -64 TKFRAME_-64063_SPEC = 'ANGLES' TKFRAME_-64063_RELATIVE = 'ORX_SPACECRAFT' TKFRAME_-64063_ANGLES = ( 0.0, 0.0, 45.0 ) TKFRAME_-64063_AXES = ( 1, 3, 2 ) TKFRAME_-64063_UNITS = 'DEGREES' \begintext Engineering Instrument Frames ----------------------------------------------------------- NAVCAM and STOWCAM Frames The engineering camera frames -- ORX_NAVCAM1, ORX_NAVCAM2, and ORX_STOWCAM -- are defined as follows: - +Z axis is along the camera boresight - +X axis is parallel to the CCD lines - +Y axis completes the right hand frame and is parallel to the CCD columns - the origin of the frame is at the camera's focal point This diagram illustrates the engineering camera frames: +Z side view: ------------- .-------. .-------. | \.___./ TAGSAM | | |___| | ..-- .o.o | ..--'' 10 deg .'.'\ \ +Zstc ..o|' ------ <'<' \ \ <-'' \ +Xnc2 +Xnc1 v v o--------> \ +Ync2 +Ync1|+Zsc +Ysc | v | | | +Xstc -Y solar | | | +Y solar array | .----|----. | array ====================@`----.' v `.----'@==================== `- +Xsc ------' `-. .-' `-.-' HGA +Zsc and +Ystc are out of the page. +Znc1 is out of the page and tilted 6 deg towards +Xsc. +Znc2 is out of the page and tilted 14 deg towards -Xsc. As seen on the diagram - the NAVCAM1 frame is nominally rotated from the s/c frame by +6 degrees about Y, then -70 degrees about Z - the NAVCAM2 frame is nominally rotated from the s/c frame by -14 degrees about Y, then -73 degrees about Z - the STOWCAM frame is nominally rotated from the s/c frame first by +10 degrees about Z, then by +90 degrees about X. This set of angles for the STOWCAM frame is incorporated into its definition below. The sets of keywords below defined the NAVCAM frames as fixed offset frames relative to the s/c frame in the FK versions 0.2-0.6: tkframe_-64081_spec = 'ANGLES' tkframe_-64081_relative = 'ORX_SPACECRAFT' tkframe_-64081_angles = ( 0.0, -6.0, 70.0 ) tkframe_-64081_axes = ( 1, 2, 3 ) tkframe_-64081_units = 'DEGREES' tkframe_-64082_spec = 'ANGLES' tkframe_-64082_relative = 'ORX_SPACECRAFT' tkframe_-64082_angles = ( 0.0, 14.0, 73.0 ) tkframe_-64082_axes = ( 1, 2, 3 ) tkframe_-64082_units = 'DEGREES' The following DCMs (direction cosine matrices) rotating from the spacecraft frame to the NAVCAM camera frames were provided in [9] and used in the FK versions 0.7 and 0.8: ORX_NAVCAM1 (SMRF to BS) 0.345010935305354 -0.938116549358358 -0.0300797995287833 0.934177910465257 0.346316318120028 -0.085887364626901 0.0909894835598683 0.0015321957298265 0.995850674678565 ORX_NAVCAM2 (SMRF to BS) 0.287137101790462 -0.955410463675092 0.068870390412138 0.925204398436251 0.295243065474203 0.238386982454180 -0.248090922626339 -0.00473055911513514 0.968725201448207 The following DCMs rotating from the spacecraft frame to the NAVCAM camera frames, based on NAVCAM temperatures at -20C and colder, were provided in [14]: ORX_NAVCAM1 (SMRF to BS) 0.3426893709730740 -0.9388306937917760 -0.0340723262565350 0.9336890281561380 0.3443742484160010 -0.0981385537327780 0.1038691182350450 0.0018180820574100 0.9945893126586000 ORX_NAVCAM2 (SMRF to BS) 0.2892540543769800 -0.9544610501971270 0.0730492688743420 0.9257678226173200 0.2983352292260800 0.2322714567246880 -0.2434872288906870 0.0004412020159230 0.9699040028311640 These DCMs are incorporated in the NAVCAM frame definitions below. \begindata FRAME_ORX_NAVCAM1 = -64081 FRAME_-64081_NAME = 'ORX_NAVCAM1' FRAME_-64081_CLASS = 4 FRAME_-64081_CLASS_ID = -64081 FRAME_-64081_CENTER = -64 TKFRAME_-64081_SPEC = 'MATRIX' TKFRAME_-64081_RELATIVE = 'ORX_SPACECRAFT' TKFRAME_-64081_MATRIX = ( 0.3426893709730740 -0.9388306937917760 -0.0340723262565350 0.9336890281561380 0.3443742484160010 -0.0981385537327780 0.1038691182350450 0.0018180820574100 0.9945893126586000 ) FRAME_ORX_NAVCAM2 = -64082 FRAME_-64082_NAME = 'ORX_NAVCAM2' FRAME_-64082_CLASS = 4 FRAME_-64082_CLASS_ID = -64082 FRAME_-64082_CENTER = -64 TKFRAME_-64082_SPEC = 'MATRIX' TKFRAME_-64082_RELATIVE = 'ORX_SPACECRAFT' TKFRAME_-64082_MATRIX = ( 0.2892540543769800 -0.9544610501971270 0.0730492688743420 0.9257678226173200 0.2983352292260800 0.2322714567246880 -0.2434872288906870 0.0004412020159230 0.9699040028311640 ) FRAME_ORX_STOWCAM = -64071 FRAME_-64071_NAME = 'ORX_STOWCAM' FRAME_-64071_CLASS = 4 FRAME_-64071_CLASS_ID = -64071 FRAME_-64071_CENTER = -64 TKFRAME_-64071_SPEC = 'ANGLES' TKFRAME_-64071_RELATIVE = 'ORX_SPACECRAFT' TKFRAME_-64071_ANGLES = ( 0.0, -10.0, -90.0 ) TKFRAME_-64071_AXES = ( 2, 3, 1 ) TKFRAME_-64071_UNITS = 'DEGREES' \begintext LIDAR Frames The LIDAR "optical" frames -- ORX_LIDAR-1 and ORX_LIDAR-2, -- and LIDAR "alignment cube" frames -- ORX_LIDAR-1_CUBE, and ORX_LIDAR-2_CUBE, -- are defined as follows: - +Z axis is along the instrument boresight and co-aligned with with the s/c +Z axis - +X axis is nominally co-aligned with the s/c +X axis - +Y axis completes the right hand frame - the origin of the frame is at the LIDAR receiver focal point. All four frames are nominally co-aligned with the spacecraft frame. This diagram illustrates the LIDAR frames: +Z side view: ------------- .-------. .-------. | \.___./ TAGSAM | | |___| | | | |o----->+Yldr2 | |o----->+Yldr1 | || o--------> | +Xldr2 v |+Zsc +Ysc | +Xldr1 v | | -Y solar | | | +Y solar array | .----|----. | array ====================@`----.' v `.----'@==================== `- +Xsc ------' `-. .-' `-.-' HGA +Zldr1, and +Zldr2 are out of the page. The sets of keywords below were used to define the LIDAR "alignment cube" frames as fixed offset frames relative to the s/c frame and the LIDAR "optical" frames as fixed offset frames relative to the corresponding "alignment cube" frames in the FK versions 0.2-0.6: tkframe_-64074_spec = 'ANGLES' tkframe_-64074_relative = 'ORX_SPACECRAFT' tkframe_-64074_angles = ( 0.0, 0.0, 0.0 ) tkframe_-64074_axes = ( 1, 2, 3 ) tkframe_-64074_units = 'DEGREES' tkframe_-64075_spec = 'ANGLES' tkframe_-64075_relative = 'ORX_SPACECRAFT' tkframe_-64075_angles = ( 0.0, 0.0, 0.0 ) tkframe_-64075_axes = ( 1, 2, 3 ) tkframe_-64075_units = 'DEGREES' tkframe_-64072_spec = 'ANGLES' tkframe_-64072_relative = 'ORX_LIDAR-1_CUBE' tkframe_-64072_angles = ( 0.0, 0.0, 0.0 ) tkframe_-64072_axes = ( 1, 2, 3 ) tkframe_-64072_units = 'DEGREES' tkframe_-64073_spec = 'ANGLES' tkframe_-64073_relative = 'ORX_LIDAR-2_CUBE' tkframe_-64073_angles = ( 0.0, 0.0, 0.0 ) tkframe_-64073_axes = ( 1, 2, 3 ) tkframe_-64073_units = 'DEGREES' The following DCMs rotating from the spacecraft frame to the LIDAR "alignment cube" frames and from the LIDAR "alignment cube" frames to the LIDAR "optical" frames were provided in [9]: ORX_LIDAR-1_CUBE (SMRF to cube) 0.999995589927836 0.00292844618299731 0.000494295288199911 -0.00292886509652385 0.999995350538855 0.000848911019126053 -0.00049180699975951 -0.000850354999584183 0.999999517511008 ORX_LIDAR1 (Cube to Boresight) 0.999986569968185 0.00237953062852507 -0.00460409787586598 -0.0023734346726179 0.999996300224219 0.0013290394005187 0.00460724333169622 -0.00131809402594255 0.999988517902591 ORX_LIDAR-2_CUBE (SMRF to cube) 0.999987054446271 0.00508666816844123 -0.000129409481403825 -0.00508670730223901 0.999987016444748 -0.000303892666042216 0.000127862000057693 0.000304547000137416 0.999999945451215 ORX_LIDAR2 (Cube to Boresight) 0.999985523384945 0.00420170332723139 -0.00336135533494673 -0.00420167820615673 0.999991172805531 0.0000145351785342687 0.00336138673611752 -0.000000411634660088989 0.999994350523562 These DCMs are incorporated in the definitions below. \begindata FRAME_ORX_LIDAR-1_CUBE = -64074 FRAME_-64074_NAME = 'ORX_LIDAR-1_CUBE' FRAME_-64074_CLASS = 4 FRAME_-64074_CLASS_ID = -64074 FRAME_-64074_CENTER = -64 TKFRAME_-64074_SPEC = 'MATRIX' TKFRAME_-64074_RELATIVE = 'ORX_SPACECRAFT' TKFRAME_-64074_MATRIX = ( 0.999995589927836 0.00292844618299731 0.000494295288199911 -0.00292886509652385 0.999995350538855 0.000848911019126053 -0.00049180699975951 -0.000850354999584183 0.999999517511008 ) FRAME_ORX_LIDAR-2_CUBE = -64075 FRAME_-64075_NAME = 'ORX_LIDAR-2_CUBE' FRAME_-64075_CLASS = 4 FRAME_-64075_CLASS_ID = -64075 FRAME_-64075_CENTER = -64 TKFRAME_-64075_SPEC = 'MATRIX' TKFRAME_-64075_RELATIVE = 'ORX_SPACECRAFT' TKFRAME_-64075_MATRIX = ( 0.999987054446271 0.00508666816844123 -0.000129409481403825 -0.00508670730223901 0.999987016444748 -0.000303892666042216 0.000127862000057693 0.000304547000137416 0.999999945451215 ) FRAME_ORX_LIDAR-1 = -64072 FRAME_-64072_NAME = 'ORX_LIDAR-1' FRAME_-64072_CLASS = 4 FRAME_-64072_CLASS_ID = -64072 FRAME_-64072_CENTER = -64 TKFRAME_-64072_SPEC = 'MATRIX' TKFRAME_-64072_RELATIVE = 'ORX_LIDAR-1_CUBE' TKFRAME_-64072_MATRIX = ( 0.999986569968185 0.00237953062852507 -0.00460409787586598 -0.0023734346726179 0.999996300224219 0.0013290394005187 0.00460724333169622 -0.00131809402594255 0.999988517902591 ) FRAME_ORX_LIDAR-2 = -64073 FRAME_-64073_NAME = 'ORX_LIDAR-2' FRAME_-64073_CLASS = 4 FRAME_-64073_CLASS_ID = -64073 FRAME_-64073_CENTER = -64 TKFRAME_-64073_SPEC = 'MATRIX' TKFRAME_-64073_RELATIVE = 'ORX_LIDAR-2_CUBE' TKFRAME_-64073_MATRIX = ( 0.999985523384945 0.00420170332723139 -0.00336135533494673 -0.00420167820615673 0.999991172805531 0.0000145351785342687 0.00336138673611752 -0.000000411634660088989 0.999994350523562 ) \begintext SRC Frame ----------------------------------------------------------- The SRC frame -- ORX_SRC -- is defined as follows: - +X axis is along the SRC axis, pointing from the lid towards the base - +Z axis points from the lid hinge towards the SRC axis - +Y axis completes the right hand frame - the origin of the frame is at the center of the interface plate. This diagram illustrates the SRC frame in the attached configuration: +Z side view: ------------- .-------. +Zsrc .-------. | \._^_./ | | |_|_| TAGSAM | |Payload | | | Deck .|. | | .' | `. +Ysc | | <--------*--------> | |+Ysc `. | .' | | `|` SRC | -Y solar | | | +Y solar array | .----|----. | array ====================@`----.' v `.----'@==================== `- +Xsc ------' `-. .-' `-.-' HGA +Zsc is out of the page. +Xsrc is into the page. As seen on the diagram the SRC frame is nominally rotated from the s/c frame first by 180 degrees about X, then by -90 degrees about Y. The sets of keywords below define the SRC frame as a fixed offset frame relative to the s/c frame. \begindata FRAME_ORX_SRC = -64090 FRAME_-64090_NAME = 'ORX_SRC' FRAME_-64090_CLASS = 4 FRAME_-64090_CLASS_ID = -64090 FRAME_-64090_CENTER = -64 TKFRAME_-64090_SPEC = 'ANGLES' TKFRAME_-64090_RELATIVE = 'ORX_SPACECRAFT' TKFRAME_-64090_ANGLES = ( 0.0, 180.0, 90.0 ) TKFRAME_-64090_AXES = ( 3, 1, 2 ) TKFRAME_-64090_UNITS = 'DEGREES' \begintext Star Tracker Frames ----------------------------------------------------------- The star tracker frames -- ORX_STU1 and ORX_STU2 -- are defined as follows (see [7]): - +Z axis is along the star tracker boresight - +X axis is parallel to the CCD rows and points in the direction of increasing column index - +Y axis completes the right hand frame, is parallel to the CCD columns, and points in the direction of increasing row index - the origin of the frame is at the tracker focal point This diagram illustrates the star tracker frames: +Z side view: ------------- `.<-------------------->| ~42.7 deg `. \<---------->| ~28.4 deg `. \ +Zstu1 +Zstu2 ^ +Ystu2 ^. \ .^ `. \ .' .-> +Xstu1 `. \' .-' .---o x' .-------. | \.___./ | | |___| TAGSAM | | | | ... | | +Zsc `. +Ysc | | | o--------> | | `. | .' | | Payload `|` SRC | -Y solar | Deck | | +Y solar array | .----|----. | array ====================@`----.' v `.----'@==================== `- +Xsc ------' `-. .-' `-.-' HGA +Zsc is out of the page. +Zstu1 points ~18.5 deg below the page. +Zstu2 points ~19.9 deg below the page. +Ystu1 is approximately into the page. +Xstu2 is approximately out of the page. The following DCMs rotating from the tracker functional reference frames (FRF) to the spacecraft frame were provided in [7]: | -0.485020 0.261584 -0.834464 | M stu1->sc = | 0.873783 0.183666 -0.450299 | | 0.035472 -0.947545 -0.317649 | | -0.280952 -0.666372 -0.690662 | M stu2->sc = | -0.195928 0.744317 -0.638440 | | 0.939509 -0.044051 -0.339679 | The sets of keywords below defined the STU frames as fixed offset frames relative to the s/c frame in the FK version 0.6: tkframe_-64091_spec = 'matrix' tkframe_-64091_relative = 'orx_spacecraft' tkframe_-64091_matrix = ( -0.485020 0.873783 0.035472 0.261584 0.183666 -0.947545 -0.834464 -0.450299 -0.317649 ) tkframe_-64092_spec = 'matrix' tkframe_-64092_relative = 'orx_spacecraft' tkframe_-64092_matrix = ( -0.280952 -0.195928 0.939509 -0.666372 0.744317 -0.044051 -0.690662 -0.638440 -0.339679 ) The following DCMs rotating from the spacecraft frame to the STU frames were provided in [9]: ORX_STU1 (SMRF to STU1) -0.485020168492331 0.873783271279091 0.0354715518194469 0.261583697956664 0.183665964053057 -0.947544607188379 -0.8344635433133 -0.450299465335314 -0.317649156145176 ORX_STU2 (SMRF to STU2) -0.280952496111228 -0.195927810109299 0.939509440162602 -0.666372421639805 0.744316648862432 -0.0440513553038015 -0.690661632499427 -0.638439519024296 -0.339678509684163 These DCMs are incorporated in the STU frame definitions below. \begindata FRAME_ORX_STU1 = -64091 FRAME_-64091_NAME = 'ORX_STU1' FRAME_-64091_CLASS = 4 FRAME_-64091_CLASS_ID = -64091 FRAME_-64091_CENTER = -64 TKFRAME_-64091_SPEC = 'MATRIX' TKFRAME_-64091_RELATIVE = 'ORX_SPACECRAFT' TKFRAME_-64091_MATRIX = ( -0.485020168492331 0.873783271279091 0.0354715518194469 0.261583697956664 0.183665964053057 -0.947544607188379 -0.8344635433133 -0.450299465335314 -0.317649156145176 ) FRAME_ORX_STU2 = -64092 FRAME_-64092_NAME = 'ORX_STU2' FRAME_-64092_CLASS = 4 FRAME_-64092_CLASS_ID = -64092 FRAME_-64092_CENTER = -64 TKFRAME_-64092_SPEC = 'MATRIX' TKFRAME_-64092_RELATIVE = 'ORX_SPACECRAFT' TKFRAME_-64092_MATRIX = ( -0.280952496111228 -0.195927810109299 0.939509440162602 -0.666372421639805 0.744316648862432 -0.0440513553038015 -0.690661632499427 -0.638439519024296 -0.339678509684163 ) \begintext OTES Frames ----------------------------------------------------------- The OTES frame -- ORX_OTES -- is defined as follows: - +Z axis is along the instrument boresight and is nominally co-aligned with the s/c +Z - +X axis is nominally co-aligned with the s/c +X - Y axis completes the right hand frame - the origin of the frame is TBD This diagram illustrates the OTES frame: +Z side view: ------------- .-------. +Zotes -- +Yotes | TAGSAM \.___./ o-----> | |___| | | |Payload | | Deck ... v +Xotes | +Zsc `. | | o--------> | | `. | .' +Ysc | | `|` SRC | -Y solar | | | +Y solar array | .----|----. | array ====================@`----.' v `.----'@==================== `- +Xsc ------' `-. .-' `-.-' HGA +Zsc and +Zotes are out of the page. As seen on the diagram the OTES frame is nominally co-aligned with the s/c frame. The set of keywords below defined the OTES frame as a fixed offset frame relative to the s/c frame in the FK versions 0.2-0.6: tkframe_-64310_spec = 'ANGLES' tkframe_-64310_relative = 'ORX_SPACECRAFT' tkframe_-64310_angles = ( 0.0, 0.0, 0.0 ) tkframe_-64310_axes = ( 1, 2, 3 ) tkframe_-64310_units = 'DEGREES' The following DCM rotating from the spacecraft frame to the OTES frame was provided in [9]: ORX_OTES (SMRF to OTES) 0.999999833414527 0.000464833503392833 0.000342199845865071 -0.000464805131795556 0.999999888534893 -0.000082984299032226 -0.000342238381604172 0.000082825228963787 0.999999938006435 This DCM is incorporated in the definition below. \begindata FRAME_ORX_OTES = -64310 FRAME_-64310_NAME = 'ORX_OTES' FRAME_-64310_CLASS = 4 FRAME_-64310_CLASS_ID = -64310 FRAME_-64310_CENTER = -64 TKFRAME_-64310_SPEC = 'MATRIX' TKFRAME_-64310_RELATIVE = 'ORX_SPACECRAFT' TKFRAME_-64310_MATRIX = ( 0.999999833414527 0.000464833503392833 0.000342199845865071 -0.000464805131795556 0.999999888534893 -0.000082984299032226 -0.000342238381604172 0.000082825228963787 0.999999938006435 ) \begintext OVIRS Frames ----------------------------------------------------------- Four frames are defined for OVIRS -- the OVIRS base frame, the OVIRS science port frame, the OVIRS Sun Calibration port frame, and the OVIRS radiator frame. The OVIRS base and science port frames -- ORX_OVIRS and ORX_OVIRS_SCI -- are nominally co-aligned and defined as follows: - +Z axis is along the science port boresight and is nominally co-aligned with the s/c +Z axis - +X axis is nominally co-aligned with the s/c +X axis - +Y axis completes the right hand frame - the origin of the frame is at the science port optics focal point The OVIRS Sun calibration port frame -- ORX_OVIRS_SUN -- is defined as follows: - +Z axis is along the Sun calibration port boresight and is nominally 5 degrees off the s/c +Y axis towards the s/c +X axis - -Y axis is nominally co-aligned with the science port boresight - +X axis completes the right hand frame - the origin of the frame is at the Sun calibration port optics focal point The OVIRS Radiator frame -- ORX_OVIRS_RAD -- is defined as follows: - +Z axis is along the radiator surface normal, pointing away from the instrument, and is nominally co-aligned with the OVIRS base frame -X axis - +Y axis is nominally co-aligned with the OVIRS base frame +Y axis - +X axis completes the right hand frame - the origin of the frame is at the second stage radiator plate center This diagram illustrates the OVIRS frames: +Z side view: ------------- +Zrad ^ +Ybase | +Ysci | +Yrad ox..--> .-------. .--| - ``-> 5 deg | TAGSAM \.___. /| +Zsun | | v v +Xbase |Payload +Xsun +Xsci | Deck ... | | +Zsc `. +Ysc | | | o--------> | | `. | .' | | `|` SRC | -Y solar | | | +Y solar array | .----|----. | array ====================@`----.' v `.----'@==================== `- +Xsc ------' `-. .-' `-.-' HGA +Zsc, +Zbase, +Zsci, and +Xrad are out of the page. +Ysun is into the page. As seen on the diagram - the OVIRS base frame is co-aligned the s/c frame - the OVIRS science port frame is co-aligned with the OVIRS base frame - the OVIRS Sun calibration port frame is rotated from the the OVIRS base frame first by -90 degrees about X, then by +5 degrees about Y - the OVIRS radiator frame is rotated from the OVIRS base frame by -90 degrees about Y The sets of keywords below define the OVIRS base frame as a fixed offset frame relative to the s/c frame, and the OVIRS science and Sun calibration port frames as fixed offset frames relative to the OVIRS base frame. The OVIRS base and Sun calibration port frame definitions below incorporate the nominal alignment angles. The sets of keywords below defined the OVIRS science frame as a fixed offset frame relative to the OVIRS base frame in the FK versions 0.2-0.6: tkframe_-64321_spec = 'ANGLES' tkframe_-64321_relative = 'ORX_OVIRS' tkframe_-64321_angles = ( 0.0, 0.0, 0.0 ) tkframe_-64321_axes = ( 1, 2, 3 ) tkframe_-64321_units = 'DEGREES' The following DCM rotating from the OVIRS base frame to the OVIRS science frame was provided in [9] and used in the FK versions 0.7 and 0.8: ORX_OVIRS_SCI (OVIRS to OVIRS BS) 0.999990380647511 -0.00422583594280137 0.00117512681531294 0.0042272896973322 0.999990299403484 -0.00123738463937246 -0.00116988643139772 0.00124234033801287 0.999998543977051 The following DCM rotating from the OVIRS base frame to the OVIRS science frame was provided in [14]: ORX_OVIRS_SCI (OVIRS to OVIRS BS) 0.9999902750954530 -0.0042283896130350 0.0012531703007790 0.0042272072792700 0.9999906191562890 0.0009446258733410 -0.0012571527912160 -0.0009393192763270 0.9999987686223200 This DCM is incorporated in the OVIRS science frame definition below. \begindata FRAME_ORX_OVIRS = -64320 FRAME_-64320_NAME = 'ORX_OVIRS' FRAME_-64320_CLASS = 4 FRAME_-64320_CLASS_ID = -64320 FRAME_-64320_CENTER = -64 TKFRAME_-64320_SPEC = 'ANGLES' TKFRAME_-64320_RELATIVE = 'ORX_SPACECRAFT' TKFRAME_-64320_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-64320_AXES = ( 1, 2, 3 ) TKFRAME_-64320_UNITS = 'DEGREES' FRAME_ORX_OVIRS_SCI = -64321 FRAME_-64321_NAME = 'ORX_OVIRS_SCI' FRAME_-64321_CLASS = 4 FRAME_-64321_CLASS_ID = -64321 FRAME_-64321_CENTER = -64 TKFRAME_-64321_SPEC = 'MATRIX' TKFRAME_-64321_RELATIVE = 'ORX_OVIRS' TKFRAME_-64321_MATRIX = ( 0.9999902750954530 -0.0042283896130350 0.0012531703007790 0.0042272072792700 0.9999906191562890 0.0009446258733410 -0.0012571527912160 -0.0009393192763270 0.9999987686223200 ) FRAME_ORX_OVIRS_SUN = -64322 FRAME_-64322_NAME = 'ORX_OVIRS_SUN' FRAME_-64322_CLASS = 4 FRAME_-64322_CLASS_ID = -64322 FRAME_-64322_CENTER = -64 TKFRAME_-64322_SPEC = 'ANGLES' TKFRAME_-64322_RELATIVE = 'ORX_OVIRS' TKFRAME_-64322_ANGLES = ( 0.0, 90.0, -5.0 ) TKFRAME_-64322_AXES = ( 3, 1, 2 ) TKFRAME_-64322_UNITS = 'DEGREES' FRAME_ORX_OVIRS_RAD = -64323 FRAME_-64323_NAME = 'ORX_OVIRS_RAD' FRAME_-64323_CLASS = 4 FRAME_-64323_CLASS_ID = -64323 FRAME_-64323_CENTER = -64 TKFRAME_-64323_SPEC = 'ANGLES' TKFRAME_-64323_RELATIVE = 'ORX_OVIRS' TKFRAME_-64323_ANGLES = ( 90.0, 0.0, 0.0 ) TKFRAME_-64323_AXES = ( 2, 1, 3 ) TKFRAME_-64323_UNITS = 'DEGREES' \begintext REXIS Frames ----------------------------------------------------------- Two frames are defined for REXIS -- the spectrometer frame and Solar X-ray Monitor (SXM) frame. The REXIS spectrometer frame -- ORX_REXIS -- is defined as follows: - +Z axis is along the instrument boresight and is nominally co-aligned with the s/c +Z axis. - +X axis is nominally rotated 10 degrees off the s/c +X axis towards the s/c +Y axis - +Y axis completes the right hand frame - the origin of the frame is at the center of the spectrometer detector. The REXIS SXM frame -- ORX_REXIS_SXM -- is defined as follows: - +Z axis is along the instrument boresight and is nominally co-aligned with the s/c +X axis. - +X axis is nominally co-aligned with the s/c -Z axis. - +Y axis completes the right hand frame - the origin of the frame is at the center of the SXM detector. This diagram illustrates the REXIS frames: +Z side view: ------------- .-------. .-------. | \.___./ | | |___| TAGSAM | |Payload | | Deck ... | +Yrexis | +Zsc `. +Ysc | .> | | o--------> |.-' 10 deg | `. | .' o' ---- | `|` SRC \ -Y solar | | |\ +Xrexis +Y solar array | .----|----. | v array ====================@`----.' v `.---x-----> ============== `- +Xsc ------' | +Ysxm `-. .-' | HGA `-.-' v +Zsxm +Zsc and +Zrexis are out of the page. +Xsxm is into the page. As seen on the diagram - the REXIS spectrometer frame is rotated from the s/c frame by +10 degrees about Z - the REXIS SXM frame is rotated from the s/c frame by +90 degrees about Y The sets of keywords below define the REXIS frames as fixed offset frames relative to the s/c frame. \begindata FRAME_ORX_REXIS = -64330 FRAME_-64330_NAME = 'ORX_REXIS' FRAME_-64330_CLASS = 4 FRAME_-64330_CLASS_ID = -64330 FRAME_-64330_CENTER = -64 TKFRAME_-64330_SPEC = 'ANGLES' TKFRAME_-64330_RELATIVE = 'ORX_SPACECRAFT' TKFRAME_-64330_ANGLES = ( 0.0, 0.0, -10.0 ) TKFRAME_-64330_AXES = ( 1, 2, 3 ) TKFRAME_-64330_UNITS = 'DEGREES' FRAME_ORX_REXIS_SXM = -64340 FRAME_-64340_NAME = 'ORX_REXIS_SXM' FRAME_-64340_CLASS = 4 FRAME_-64340_CLASS_ID = -64340 FRAME_-64340_CENTER = -64 TKFRAME_-64340_SPEC = 'ANGLES' TKFRAME_-64340_RELATIVE = 'ORX_SPACECRAFT' TKFRAME_-64340_ANGLES = ( 0.0, 0.0, -90.0 ) TKFRAME_-64340_AXES = ( 1, 3, 2 ) TKFRAME_-64340_UNITS = 'DEGREES' \begintext OCAMS Frames ----------------------------------------------------------- The OCAMS PolyCam, MapCam, and SamCam frames -- ORX_OCAMS_POLYCAM, ORX_OCAMS_MAPCAM, and ORX_OCAMS_SAMCAM - are defined by the camera designs as follows: - +Z axis is the camera boresight - +X axis is nominally co-aligned with the s/c +X axis - +Y axis completes the right hand frame - the origin of the frame is at the camera focal point. This diagram illustrates the camera frames: +Z side view: ------------- .-------. .-------. | TAGSAM \.___./ | | |___| | |Payload o-------> +Ypoly | Deck ... | o-------> +Ymap | +Zsc `. | | | | o----o--->-> +Ysc | SRC `. | .' | v | +Ysam | `|` |+Xp v -Y solar | | v +Xmap +Y solar array | .----| +Xsam array ====================@`----.' v `.----'@==================== `- +Xsc ------' `-. .-' `-.-' HGA +Zsc, +Zpoly, and +Zmap are out of the page. +Zsam is out of the page and is tilted 9.4 degrees towards s/c -Y. As seen on the diagram - the POLYCAM frame is nominally co-aligned with the s/c frame - the MAPCAM frame is nominally co-aligned with the s/c frame - the SAMCAM frame is nominally rotated from the s/c frame by +9.4 degrees about X. The sets of keywords below defined the OCAMS frames as fixed offset frames relative to the s/c frame in the FK versions 0.1-0.6: tkframe_-64360_spec = 'ANGLES' tkframe_-64360_relative = 'ORX_SPACECRAFT' tkframe_-64360_angles = ( 0.0, 0.0, 0.0 ) tkframe_-64360_axes = ( 1, 2, 3 ) tkframe_-64360_units = 'DEGREES' tkframe_-64361_spec = 'ANGLES' tkframe_-64361_relative = 'ORX_SPACECRAFT' tkframe_-64361_angles = ( 0.0, 0.0, 0.0 ) tkframe_-64361_axes = ( 1, 2, 3 ) tkframe_-64361_units = 'DEGREES' tkframe_-64362_spec = 'ANGLES' tkframe_-64362_relative = 'ORX_SPACECRAFT' tkframe_-64362_angles = ( 0.0, 0.0, -9.4 ) tkframe_-64362_axes = ( 3, 2, 1 ) tkframe_-64362_units = 'DEGREES' The following DCMs rotating from the spacecraft frame to the OCAMS frames were provided in [9], and for Polycam and Mapcam used in the FK versions 0.7 to 1.0: ORX_OCAMS_POLYCAM (SMRF to Polycam) 0.999999740409513 0.000711200727811218 -0.000115647874696324 -0.000711305783186799 0.99999933213616 -0.000910917843429873 0.000114999952026067 0.000910999867966352 0.999999578427037 ORX_OCAMS_MAPCAM (SMRF to Mapcam) 0.999983324023583 0.00487269767051188 -0.00309975679015199 -0.00487635958975303 0.999987420286694 -0.00117489808713995 0.00309399287292796 0.00118999402331672 0.999994505546069 ORX_OCAMS_SAMCAM (SMRF to Samcam) 0.999997516478332 0.00135215140073223 -0.00177164436520027 -0.00104866702547348 0.986903704297453 0.161307094516747 0.00196655400051272 -0.161304836042056 0.986902671257307 The following DCMs rotating from the spacecraft frame to the POLYCAM and MAPCAM frames, provided in [16] were valid up to October 25, 2018 and used in the FK versions 1.1 and 1.2: ORX_OCAMS_POLYCAM (SMRF to Polycam) 0.999993088239583 0.0037178959464787 0.0000268848136200593 -0.0037178656839038 0.999992537951605 -0.00104953125911242 -0.0000307866610182357 0.00104942405087783 0.99999944888052 ORX_OCAMS_MAPCAM (SMRF to Mapcam) 0.999989474973109 -0.00340321709246998 -0.00307702070620501 0.00339935988187093 0.999993430978466 -0.00125791585966691 0.00308128145394424 0.0012474427193243 0.999994474780368 The following DCMs rotating from the spacecraft frame to the POLYCAM and MAPCAM frames, provided in [18] are valid after October 25, 2018, were used in the FK version 1.3: ORX_OCAMS_POLYCAM (SMRF to Polycam) 0.999992877299969 0.00376869788833074 0.000205585885614917 -0.003768435874442 0.999992105221604 -0.00126031167762166 -0.000210333996518 0.001259527963573 0.999999184674127 ORX_OCAMS_MAPCAM (SMRF to Mapcam) 0.999990352837688 -0.00337413493497746 -0.00281237355206444 0.003369929146542 0.999993198477545 -0.00149885829757334 0.002817411773787 0.00148936633824 0.999994921976511 Starting with FK version 1.4, the ORX_OCAMS_POLYCAM and ORX_OCAMS_MAPCAM frames were re-defined as Class 3 (CK-based) frames to allow storing their time-dependent alignments in CK files. The Samcam DCM from [9] is incorporated in the definition below. \begindata FRAME_ORX_OCAMS_POLYCAM = -64360 FRAME_-64360_NAME = 'ORX_OCAMS_POLYCAM' FRAME_-64360_CLASS = 3 FRAME_-64360_CLASS_ID = -64360 FRAME_-64360_CENTER = -64 CK_-64360_SCLK = -64 CK_-64360_SPK = -64 FRAME_ORX_OCAMS_MAPCAM = -64361 FRAME_-64361_NAME = 'ORX_OCAMS_MAPCAM' FRAME_-64361_CLASS = 3 FRAME_-64361_CLASS_ID = -64361 FRAME_-64361_CENTER = -64 CK_-64361_SCLK = -64 CK_-64361_SPK = -64 FRAME_ORX_OCAMS_SAMCAM = -64362 FRAME_-64362_NAME = 'ORX_OCAMS_SAMCAM' FRAME_-64362_CLASS = 4 FRAME_-64362_CLASS_ID = -64362 FRAME_-64362_CENTER = -64 TKFRAME_-64362_SPEC = 'MATRIX' TKFRAME_-64362_RELATIVE = 'ORX_SPACECRAFT' TKFRAME_-64362_MATRIX = ( 0.999997516478332 0.00135215140073223 -0.00177164436520027 -0.00104866702547348 0.986903704297453 0.161307094516747 0.00196655400051272 -0.161304836042056 0.986902671257307 ) \begintext OLA Frames ----------------------------------------------------------- Four frames are defined for OLA -- the OLA base frame, the articulating scan frame, and the high and low energy transmitter frames. The OLA base frame (synonymous with the OLA alignment cube frame) -- ORX_OLA_BASE -- is defined as follows: - +Z axis is along the instrument boresight in the 0 scan position and is nominally co-aligned with the s/c +Z axis. - +X axis is the azimuthal scan rotation axis and is nominally co-aligned with the s/c +X axis. - +Y axis completes the right hand frame (OLA elevation) The OLA articulating scan frame -- ORX_OLA_ART -- is rotated from the OLA base frame about X by the scan angle and defined as follows: - +Z axis is along the instrument boresight at any scan position - +X axis is the azimuthal scan rotation axis and is nominally co-aligned with the s/c +X axis. - Y axis completes the right hand frame (OLA elevation) The OLA high and low energy transmitter frames -- ORX_OLA_HIGH and ORX_OLA_LOW -- are defined as follows: - +Z axis is along the instrument boresight - +X axis is the azimuthal scan rotation axis and is nominally co-aligned with the +X s/c (OLA azimuth). - Y axis completes the right hand frame (OLA elevation). The origin of the OLA measurement frames is at the center of the OLA mirror (see location of ORX_OLA_ART in the structures SPK). This diagram illustrates the OLA frames: +Z side view: ------------- .-------. .-------. |Payload \.___./ | | Deck |___| TAGSAM | | | | ... | | +Yola*' +Zsc +Ysc | | o----->| o--------> | | | `. | .' | | | `|` SRC | -Y solar | v +Xola* | | +Y solar array | .----|----. | array ====================@`----.' v `.----'@==================== `- +Xsc ------' `-. .-' `-.-' HGA +Zsc and +Zola* are out of the page. As seen on the diagram, for 0 scan position all OLA frames are defined to be co-aligned with each other and the s/c frame. The sets of keywords below define the OLA base frame as a fixed offset frame relative to the s/c frame, the OLA articulating scan frame as a CK-based frame, the OLA high energy transmitter frame as a fixed offset frame relative to the OLA articulating scan frame, and the OLA low energy transmitter frame as a fixed offset frame relative to the OLA articulating scan frame. The sets of keywords below defined the OLA base frame as a fixed offset frame relative to the s/c frame in the FK versions 0.2-0.6: tkframe_-64400_spec = 'ANGLES' tkframe_-64400_relative = 'ORX_SPACECRAFT' tkframe_-64400_angles = ( 0.0, 0.0, 0.0 ) tkframe_-64400_axes = ( 1, 2, 3 ) tkframe_-64400_units = 'DEGREES' The following DCM rotating from the spacecraft frame to the OLA base frame was provided in [9]: ORX_OLA_BASE (SMRF to OLA Base) 0.999998141206571 0.00142047884237437 -0.00130377270280556 -0.00141930634779238 0.999998587969014 0.000899794125649581 0.00130504900035608 -0.000897942000245002 0.999998745272848 This DCM is incorporated in the OLA base frame definition below. These sets of keywords defined the ORX_OLA_HIGH and ORX_OLA_LOW alignments to the ORX_OLA_ART frame in the FK versions 0.2-0.9: tkframe_-64402_spec = 'ANGLES' tkframe_-64402_relative = 'ORX_OLA_ART' tkframe_-64402_angles = ( 0.0, 0.0, 0.0 ) tkframe_-64402_axes = ( 1, 2, 3 ) tkframe_-64402_units = 'DEGREES' tkframe_-64403_spec = 'ANGLES' tkframe_-64403_relative = 'ORX_OLA_ART' tkframe_-64403_angles = ( 0.0, 0.0, 0.0 ) tkframe_-64403_axes = ( 1, 2, 3 ) tkframe_-64403_units = 'DEGREES' The following ORX_OLA_HIGH and ORX_OLA_LOW alignment angles were provided in [15] and incorporated in the FK versions 1.0 and 1.1: tkframe_-64402_angles = ( 0.0160, -0.0029, -0.0395 ) tkframe_-64403_angles = ( 0.0160, -0.0029, -0.0395 ) The ORX_OLA_HIGH and ORX_OLA_LOW alignment angles were reset to 0 based on [17] starting with FK version 1.2: tkframe_-64402_angles = ( 0.0, 0.0, 0.0 ) tkframe_-64403_angles = ( 0.0, 0.0, 0.0 ) These alignment angles are incorporated in the frame definitions below. \begindata FRAME_ORX_OLA_BASE = -64400 FRAME_-64400_NAME = 'ORX_OLA_BASE' FRAME_-64400_CLASS = 4 FRAME_-64400_CLASS_ID = -64400 FRAME_-64400_CENTER = -64 TKFRAME_-64400_SPEC = 'MATRIX' TKFRAME_-64400_RELATIVE = 'ORX_SPACECRAFT' TKFRAME_-64400_MATRIX = ( 0.999998141206571 0.00142047884237437 -0.00130377270280556 -0.00141930634779238 0.999998587969014 0.000899794125649581 0.00130504900035608 -0.000897942000245002 0.999998745272848 ) FRAME_ORX_OLA_ART = -64401 FRAME_-64401_NAME = 'ORX_OLA_ART' FRAME_-64401_CLASS = 3 FRAME_-64401_CLASS_ID = -64401 FRAME_-64401_CENTER = -64 CK_-64401_SCLK = -64 CK_-64401_SPK = -64 FRAME_ORX_OLA_HIGH = -64402 FRAME_-64402_NAME = 'ORX_OLA_HIGH' FRAME_-64402_CLASS = 4 FRAME_-64402_CLASS_ID = -64402 FRAME_-64402_CENTER = -64 TKFRAME_-64402_SPEC = 'ANGLES' TKFRAME_-64402_RELATIVE = 'ORX_OLA_ART' TKFRAME_-64402_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-64402_AXES = ( 1, 2, 3 ) TKFRAME_-64402_UNITS = 'DEGREES' FRAME_ORX_OLA_LOW = -64403 FRAME_-64403_NAME = 'ORX_OLA_LOW' FRAME_-64403_CLASS = 4 FRAME_-64403_CLASS_ID = -64403 FRAME_-64403_CENTER = -64 TKFRAME_-64403_SPEC = 'ANGLES' TKFRAME_-64403_RELATIVE = 'ORX_OLA_ART' TKFRAME_-64403_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-64403_AXES = ( 1, 2, 3 ) TKFRAME_-64403_UNITS = 'DEGREES' \begintext ORX NAIF ID Codes -- Definitions ===================================================================== This section contains name to NAIF ID mappings for the ORX mission. Once the contents of this file are loaded into the KERNEL POOL, these mappings become available within SPICE, making it possible to use names instead of ID code in high level SPICE routine calls. Name (primary) NAIF ID Synonyms ---------------------- ------- ------------------------ Asteroid: --------- BENNU 2101955 101955 BENNU (1999 RQ36) 101955 BENNU Spacecraft: ----------- ORX -64 ORX_SPACECRAFT_BUS -64000 ORX_SC_BUS -64000 ORX_SPACECRAFT -64000 Structures (solar arrays, TAGSAM, antennas, etc): ------------------------------------------------- ORX_SA_PY -64010 ORX_SA_PY_BP -64011 ORX_SA_PY_GIM -64012 ORX_SA_PY_CORNER1 -64013 ORX_SA_PY_CORNER2 -64014 ORX_SA_PY_CORNER3 -64015 ORX_SA_PY_CORNER4 -64016 ORX_SA_NY -64020 ORX_SA_NY_BP -64021 ORX_SA_NY_GIM -64022 ORX_SA_NY_CORNER1 -64023 ORX_SA_NY_CORNER2 -64024 ORX_SA_NY_CORNER3 -64025 ORX_SA_NY_CORNER4 -64026 ORX_TAGSAM -64050 ORX_TAGSAM_BP -64051 ORX_TAGSAM_SH -64053 ORX_TAGSAM_EL -64055 ORX_TAGSAM_WR -64057 ORX_HGA -64060 ORX_MGA -64061 ORX_LGA_PX -64062 ORX_LGA_MX -64063 ORX_STOWCAM -64071 ORX_LIDAR-1 -64072 ORX_LIDAR-2 -64073 ORX_NAVCAM1 -64081 ORX_NAVCAM2 -64082 ORX_SRC -64090 ORX_STU1 -64091 ORX_STU2 -64092 Science Instruments: -------------------- ORX_OTES -64310 ORX_OVIRS -64320 ORX_OVIRS_SCI -64321 ORX_OVIRS_SUN -64322 ORX_OVIRS_RAD -64323 ORX_REXIS -64330 ORX_REXIS_SXM -64340 ORX_OCAMS_POLYCAM -64360 ORX_OCAMS_POLYCAM_00630 -64500 ORX_OCAMS_POLYCAM_00810 -64501 ORX_OCAMS_POLYCAM_00990 -64502 ORX_OCAMS_POLYCAM_01170 -64503 ORX_OCAMS_POLYCAM_01350 -64504 ORX_OCAMS_POLYCAM_01530 -64505 ORX_OCAMS_POLYCAM_01710 -64506 ORX_OCAMS_POLYCAM_01890 -64507 ORX_OCAMS_POLYCAM_02070 -64508 ORX_OCAMS_POLYCAM_02249 -64509 ORX_OCAMS_POLYCAM_02429 -64510 ORX_OCAMS_POLYCAM_02609 -64511 ORX_OCAMS_POLYCAM_02789 -64512 ORX_OCAMS_POLYCAM_02969 -64513 ORX_OCAMS_POLYCAM_03149 -64514 ORX_OCAMS_POLYCAM_03329 -64515 ORX_OCAMS_POLYCAM_03510 -64516 ORX_OCAMS_POLYCAM_03691 -64517 ORX_OCAMS_POLYCAM_03871 -64518 ORX_OCAMS_POLYCAM_04051 -64519 ORX_OCAMS_POLYCAM_04231 -64520 ORX_OCAMS_POLYCAM_04410 -64521 ORX_OCAMS_POLYCAM_04590 -64522 ORX_OCAMS_POLYCAM_04770 -64523 ORX_OCAMS_POLYCAM_04950 -64524 ORX_OCAMS_POLYCAM_05130 -64525 ORX_OCAMS_POLYCAM_05310 -64526 ORX_OCAMS_POLYCAM_05490 -64527 ORX_OCAMS_POLYCAM_05670 -64528 ORX_OCAMS_POLYCAM_05850 -64529 ORX_OCAMS_POLYCAM_06030 -64530 ORX_OCAMS_POLYCAM_06209 -64531 ORX_OCAMS_POLYCAM_06388 -64532 ORX_OCAMS_POLYCAM_06568 -64533 ORX_OCAMS_POLYCAM_06749 -64534 ORX_OCAMS_POLYCAM_06930 -64535 ORX_OCAMS_POLYCAM_07110 -64536 ORX_OCAMS_POLYCAM_07290 -64537 ORX_OCAMS_POLYCAM_07470 -64538 ORX_OCAMS_POLYCAM_07650 -64539 ORX_OCAMS_POLYCAM_07830 -64540 ORX_OCAMS_POLYCAM_08010 -64541 ORX_OCAMS_POLYCAM_08190 -64542 ORX_OCAMS_POLYCAM_08370 -64543 ORX_OCAMS_POLYCAM_08550 -64544 ORX_OCAMS_POLYCAM_08730 -64545 ORX_OCAMS_POLYCAM_08910 -64546 ORX_OCAMS_POLYCAM_09090 -64547 ORX_OCAMS_POLYCAM_09270 -64548 ORX_OCAMS_POLYCAM_09450 -64549 ORX_OCAMS_POLYCAM_09630 -64550 ORX_OCAMS_POLYCAM_09810 -64551 ORX_OCAMS_POLYCAM_09990 -64552 ORX_OCAMS_POLYCAM_10170 -64553 ORX_OCAMS_POLYCAM_10350 -64554 ORX_OCAMS_POLYCAM_10530 -64555 ORX_OCAMS_POLYCAM_10710 -64556 ORX_OCAMS_POLYCAM_10889 -64557 ORX_OCAMS_POLYCAM_11069 -64558 ORX_OCAMS_POLYCAM_11249 -64559 ORX_OCAMS_POLYCAM_11430 -64560 ORX_OCAMS_POLYCAM_11610 -64561 ORX_OCAMS_POLYCAM_11790 -64562 ORX_OCAMS_POLYCAM_11970 -64563 ORX_OCAMS_POLYCAM_12150 -64564 ORX_OCAMS_POLYCAM_12330 -64565 ORX_OCAMS_POLYCAM_12509 -64566 ORX_OCAMS_POLYCAM_12689 -64567 ORX_OCAMS_POLYCAM_12869 -64568 ORX_OCAMS_POLYCAM_13050 -64569 ORX_OCAMS_POLYCAM_13230 -64570 ORX_OCAMS_POLYCAM_13410 -64571 ORX_OCAMS_POLYCAM_13590 -64572 ORX_OCAMS_POLYCAM_13770 -64573 ORX_OCAMS_POLYCAM_13950 -64574 ORX_OCAMS_POLYCAM_14130 -64575 ORX_OCAMS_POLYCAM_14310 -64576 ORX_OCAMS_POLYCAM_14490 -64577 ORX_OCAMS_POLYCAM_14669 -64578 ORX_OCAMS_POLYCAM_14849 -64579 ORX_OCAMS_POLYCAM_15029 -64580 ORX_OCAMS_POLYCAM_15210 -64581 ORX_OCAMS_POLYCAM_15390 -64582 ORX_OCAMS_POLYCAM_15570 -64583 ORX_OCAMS_POLYCAM_15750 -64584 ORX_OCAMS_POLYCAM_15930 -64585 ORX_OCAMS_POLYCAM_16110 -64586 ORX_OCAMS_POLYCAM_16290 -64587 ORX_OCAMS_POLYCAM_16470 -64588 ORX_OCAMS_POLYCAM_16650 -64589 ORX_OCAMS_POLYCAM_16830 -64590 ORX_OCAMS_POLYCAM_17010 -64591 ORX_OCAMS_POLYCAM_17190 -64592 ORX_OCAMS_POLYCAM_17371 -64593 ORX_OCAMS_POLYCAM_17551 -64594 ORX_OCAMS_POLYCAM_17731 -64595 ORX_OCAMS_POLYCAM_17911 -64596 ORX_OCAMS_POLYCAM_18091 -64597 ORX_OCAMS_POLYCAM_18271 -64598 ORX_OCAMS_POLYCAM_18451 -64599 ORX_OCAMS_POLYCAM_18631 -64600 ORX_OCAMS_POLYCAM_18811 -64601 ORX_OCAMS_POLYCAM_18991 -64602 ORX_OCAMS_POLYCAM_19171 -64603 ORX_OCAMS_POLYCAM_19351 -64604 ORX_OCAMS_POLYCAM_19530 -64605 ORX_OCAMS_POLYCAM_19710 -64606 ORX_OCAMS_POLYCAM_19890 -64607 ORX_OCAMS_POLYCAM_20070 -64608 ORX_OCAMS_POLYCAM_20250 -64609 ORX_OCAMS_POLYCAM_20430 -64610 ORX_OCAMS_POLYCAM_20610 -64611 ORX_OCAMS_POLYCAM_20790 -64612 ORX_OCAMS_POLYCAM_20970 -64613 ORX_OCAMS_POLYCAM_21150 -64614 ORX_OCAMS_POLYCAM_21330 -64615 ORX_OCAMS_POLYCAM_21510 -64616 ORX_OCAMS_MAPCAM -64361 ORX_OCAMS_SAMCAM -64362 ORX_OLA_BASE -64400 ORX_OLA_ART -64401 ORX_OLA_HIGH -64402 ORX_OLA_LOW -64403 The mappings summarized in this table are implemented by the keywords below. \begindata NAIF_BODY_NAME += ( '101955 BENNU (1999 RQ36)' ) NAIF_BODY_CODE += ( 2101955 ) NAIF_BODY_NAME += ( '101955 BENNU' ) NAIF_BODY_CODE += ( 2101955 ) NAIF_BODY_NAME += ( 'BENNU' ) NAIF_BODY_CODE += ( 2101955 ) NAIF_BODY_NAME += ( 'ORX' ) NAIF_BODY_CODE += ( -64 ) NAIF_BODY_NAME += ( 'ORX_SPACECRAFT_BUS' ) NAIF_BODY_CODE += ( -64000 ) NAIF_BODY_NAME += ( 'ORX_SC_BUS' ) NAIF_BODY_CODE += ( -64000 ) NAIF_BODY_NAME += ( 'ORX_SPACECRAFT' ) NAIF_BODY_CODE += ( -64000 ) NAIF_BODY_NAME += ( 'ORX_SA_PY' ) NAIF_BODY_CODE += ( -64010 ) NAIF_BODY_NAME += ( 'ORX_SA_PY_BP' ) NAIF_BODY_CODE += ( -64011 ) NAIF_BODY_NAME += ( 'ORX_SA_PY_GIM' ) NAIF_BODY_CODE += ( -64012 ) NAIF_BODY_NAME += ( 'ORX_SA_PY_CORNER1' ) NAIF_BODY_CODE += ( -64013 ) NAIF_BODY_NAME += ( 'ORX_SA_PY_CORNER2' ) NAIF_BODY_CODE += ( -64014 ) NAIF_BODY_NAME += ( 'ORX_SA_PY_CORNER3' ) NAIF_BODY_CODE += ( -64015 ) NAIF_BODY_NAME += ( 'ORX_SA_PY_CORNER4' ) NAIF_BODY_CODE += ( -64016 ) NAIF_BODY_NAME += ( 'ORX_SA_NY' ) NAIF_BODY_CODE += ( -64020 ) NAIF_BODY_NAME += ( 'ORX_SA_NY_BP' ) NAIF_BODY_CODE += ( -64021 ) NAIF_BODY_NAME += ( 'ORX_SA_NY_GIM' ) NAIF_BODY_CODE += ( -64022 ) NAIF_BODY_NAME += ( 'ORX_SA_NY_CORNER1' ) NAIF_BODY_CODE += ( -64023 ) NAIF_BODY_NAME += ( 'ORX_SA_NY_CORNER2' ) NAIF_BODY_CODE += ( -64024 ) NAIF_BODY_NAME += ( 'ORX_SA_NY_CORNER3' ) NAIF_BODY_CODE += ( -64025 ) NAIF_BODY_NAME += ( 'ORX_SA_NY_CORNER4' ) NAIF_BODY_CODE += ( -64026 ) NAIF_BODY_NAME += ( 'ORX_TAGSAM' ) NAIF_BODY_CODE += ( -64050 ) NAIF_BODY_NAME += ( 'ORX_TAGSAM_BP' ) NAIF_BODY_CODE += ( -64051 ) NAIF_BODY_NAME += ( 'ORX_TAGSAM_SH' ) NAIF_BODY_CODE += ( -64053 ) NAIF_BODY_NAME += ( 'ORX_TAGSAM_EL' ) NAIF_BODY_CODE += ( -64055 ) NAIF_BODY_NAME += ( 'ORX_TAGSAM_WR' ) NAIF_BODY_CODE += ( -64057 ) NAIF_BODY_NAME += ( 'ORX_HGA' ) NAIF_BODY_CODE += ( -64060 ) NAIF_BODY_NAME += ( 'ORX_MGA' ) NAIF_BODY_CODE += ( -64061 ) NAIF_BODY_NAME += ( 'ORX_LGA_PX' ) NAIF_BODY_CODE += ( -64062 ) NAIF_BODY_NAME += ( 'ORX_LGA_MX' ) NAIF_BODY_CODE += ( -64063 ) NAIF_BODY_NAME += ( 'ORX_STOWCAM' ) NAIF_BODY_CODE += ( -64071 ) NAIF_BODY_NAME += ( 'ORX_LIDAR-1' ) NAIF_BODY_CODE += ( -64072 ) NAIF_BODY_NAME += ( 'ORX_LIDAR-2' ) NAIF_BODY_CODE += ( -64073 ) NAIF_BODY_NAME += ( 'ORX_NAVCAM1' ) NAIF_BODY_CODE += ( -64081 ) NAIF_BODY_NAME += ( 'ORX_NAVCAM2' ) NAIF_BODY_CODE += ( -64082 ) NAIF_BODY_NAME += ( 'ORX_SRC' ) NAIF_BODY_CODE += ( -64090 ) NAIF_BODY_NAME += ( 'ORX_STU1' ) NAIF_BODY_CODE += ( -64091 ) NAIF_BODY_NAME += ( 'ORX_STU2' ) NAIF_BODY_CODE += ( -64092 ) NAIF_BODY_NAME += ( 'ORX_OTES' ) NAIF_BODY_CODE += ( -64310 ) NAIF_BODY_NAME += ( 'ORX_OVIRS' ) NAIF_BODY_CODE += ( -64320 ) NAIF_BODY_NAME += ( 'ORX_OVIRS_SCI' ) NAIF_BODY_CODE += ( -64321 ) NAIF_BODY_NAME += ( 'ORX_OVIRS_SUN' ) NAIF_BODY_CODE += ( -64322 ) NAIF_BODY_NAME += ( 'ORX_OVIRS_RAD' ) NAIF_BODY_CODE += ( -64323 ) NAIF_BODY_NAME += ( 'ORX_REXIS' ) NAIF_BODY_CODE += ( -64330 ) NAIF_BODY_NAME += ( 'ORX_REXIS_SXM' ) NAIF_BODY_CODE += ( -64340 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM' ) NAIF_BODY_CODE += ( -64360 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_00630' ) NAIF_BODY_CODE += ( -64500 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_00810' ) NAIF_BODY_CODE += ( -64501 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_00990' ) NAIF_BODY_CODE += ( -64502 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_01170' ) NAIF_BODY_CODE += ( -64503 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_01350' ) NAIF_BODY_CODE += ( -64504 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_01530' ) NAIF_BODY_CODE += ( -64505 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_01710' ) NAIF_BODY_CODE += ( -64506 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_01890' ) NAIF_BODY_CODE += ( -64507 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_02070' ) NAIF_BODY_CODE += ( -64508 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_02249' ) NAIF_BODY_CODE += ( -64509 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_02429' ) NAIF_BODY_CODE += ( -64510 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_02609' ) NAIF_BODY_CODE += ( -64511 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_02789' ) NAIF_BODY_CODE += ( -64512 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_02969' ) NAIF_BODY_CODE += ( -64513 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_03149' ) NAIF_BODY_CODE += ( -64514 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_03329' ) NAIF_BODY_CODE += ( -64515 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_03510' ) NAIF_BODY_CODE += ( -64516 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_03691' ) NAIF_BODY_CODE += ( -64517 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_03871' ) NAIF_BODY_CODE += ( -64518 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_04051' ) NAIF_BODY_CODE += ( -64519 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_04231' ) NAIF_BODY_CODE += ( -64520 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_04410' ) NAIF_BODY_CODE += ( -64521 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_04590' ) NAIF_BODY_CODE += ( -64522 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_04770' ) NAIF_BODY_CODE += ( -64523 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_04950' ) NAIF_BODY_CODE += ( -64524 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_05130' ) NAIF_BODY_CODE += ( -64525 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_05310' ) NAIF_BODY_CODE += ( -64526 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_05490' ) NAIF_BODY_CODE += ( -64527 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_05670' ) NAIF_BODY_CODE += ( -64528 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_05850' ) NAIF_BODY_CODE += ( -64529 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_06030' ) NAIF_BODY_CODE += ( -64530 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_06209' ) NAIF_BODY_CODE += ( -64531 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_06388' ) NAIF_BODY_CODE += ( -64532 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_06568' ) NAIF_BODY_CODE += ( -64533 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_06749' ) NAIF_BODY_CODE += ( -64534 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_06930' ) NAIF_BODY_CODE += ( -64535 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_07110' ) NAIF_BODY_CODE += ( -64536 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_07290' ) NAIF_BODY_CODE += ( -64537 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_07470' ) NAIF_BODY_CODE += ( -64538 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_07650' ) NAIF_BODY_CODE += ( -64539 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_07830' ) NAIF_BODY_CODE += ( -64540 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_08010' ) NAIF_BODY_CODE += ( -64541 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_08190' ) NAIF_BODY_CODE += ( -64542 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_08370' ) NAIF_BODY_CODE += ( -64543 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_08550' ) NAIF_BODY_CODE += ( -64544 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_08730' ) NAIF_BODY_CODE += ( -64545 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_08910' ) NAIF_BODY_CODE += ( -64546 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_09090' ) NAIF_BODY_CODE += ( -64547 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_09270' ) NAIF_BODY_CODE += ( -64548 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_09450' ) NAIF_BODY_CODE += ( -64549 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_09630' ) NAIF_BODY_CODE += ( -64550 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_09810' ) NAIF_BODY_CODE += ( -64551 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_09990' ) NAIF_BODY_CODE += ( -64552 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_10170' ) NAIF_BODY_CODE += ( -64553 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_10350' ) NAIF_BODY_CODE += ( -64554 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_10530' ) NAIF_BODY_CODE += ( -64555 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_10710' ) NAIF_BODY_CODE += ( -64556 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_10889' ) NAIF_BODY_CODE += ( -64557 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_11069' ) NAIF_BODY_CODE += ( -64558 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_11249' ) NAIF_BODY_CODE += ( -64559 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_11430' ) NAIF_BODY_CODE += ( -64560 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_11610' ) NAIF_BODY_CODE += ( -64561 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_11790' ) NAIF_BODY_CODE += ( -64562 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_11970' ) NAIF_BODY_CODE += ( -64563 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_12150' ) NAIF_BODY_CODE += ( -64564 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_12330' ) NAIF_BODY_CODE += ( -64565 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_12509' ) NAIF_BODY_CODE += ( -64566 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_12689' ) NAIF_BODY_CODE += ( -64567 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_12869' ) NAIF_BODY_CODE += ( -64568 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_13050' ) NAIF_BODY_CODE += ( -64569 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_13230' ) NAIF_BODY_CODE += ( -64570 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_13410' ) NAIF_BODY_CODE += ( -64571 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_13590' ) NAIF_BODY_CODE += ( -64572 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_13770' ) NAIF_BODY_CODE += ( -64573 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_13950' ) NAIF_BODY_CODE += ( -64574 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_14130' ) NAIF_BODY_CODE += ( -64575 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_14310' ) NAIF_BODY_CODE += ( -64576 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_14490' ) NAIF_BODY_CODE += ( -64577 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_14669' ) NAIF_BODY_CODE += ( -64578 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_14849' ) NAIF_BODY_CODE += ( -64579 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_15029' ) NAIF_BODY_CODE += ( -64580 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_15210' ) NAIF_BODY_CODE += ( -64581 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_15390' ) NAIF_BODY_CODE += ( -64582 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_15570' ) NAIF_BODY_CODE += ( -64583 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_15750' ) NAIF_BODY_CODE += ( -64584 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_15930' ) NAIF_BODY_CODE += ( -64585 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_16110' ) NAIF_BODY_CODE += ( -64586 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_16290' ) NAIF_BODY_CODE += ( -64587 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_16470' ) NAIF_BODY_CODE += ( -64588 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_16650' ) NAIF_BODY_CODE += ( -64589 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_16830' ) NAIF_BODY_CODE += ( -64590 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_17010' ) NAIF_BODY_CODE += ( -64591 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_17190' ) NAIF_BODY_CODE += ( -64592 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_17371' ) NAIF_BODY_CODE += ( -64593 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_17551' ) NAIF_BODY_CODE += ( -64594 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_17731' ) NAIF_BODY_CODE += ( -64595 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_17911' ) NAIF_BODY_CODE += ( -64596 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_18091' ) NAIF_BODY_CODE += ( -64597 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_18271' ) NAIF_BODY_CODE += ( -64598 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_18451' ) NAIF_BODY_CODE += ( -64599 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_18631' ) NAIF_BODY_CODE += ( -64600 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_18811' ) NAIF_BODY_CODE += ( -64601 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_18991' ) NAIF_BODY_CODE += ( -64602 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_19171' ) NAIF_BODY_CODE += ( -64603 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_19351' ) NAIF_BODY_CODE += ( -64604 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_19530' ) NAIF_BODY_CODE += ( -64605 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_19710' ) NAIF_BODY_CODE += ( -64606 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_19890' ) NAIF_BODY_CODE += ( -64607 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_20070' ) NAIF_BODY_CODE += ( -64608 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_20250' ) NAIF_BODY_CODE += ( -64609 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_20430' ) NAIF_BODY_CODE += ( -64610 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_20610' ) NAIF_BODY_CODE += ( -64611 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_20790' ) NAIF_BODY_CODE += ( -64612 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_20970' ) NAIF_BODY_CODE += ( -64613 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_21150' ) NAIF_BODY_CODE += ( -64614 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_21330' ) NAIF_BODY_CODE += ( -64615 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_POLYCAM_21510' ) NAIF_BODY_CODE += ( -64616 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_MAPCAM' ) NAIF_BODY_CODE += ( -64361 ) NAIF_BODY_NAME += ( 'ORX_OCAMS_SAMCAM' ) NAIF_BODY_CODE += ( -64362 ) NAIF_BODY_NAME += ( 'ORX_OLA_BASE' ) NAIF_BODY_CODE += ( -64400 ) NAIF_BODY_NAME += ( 'ORX_OLA_ART' ) NAIF_BODY_CODE += ( -64401 ) NAIF_BODY_NAME += ( 'ORX_OLA_HIGH' ) NAIF_BODY_CODE += ( -64402 ) NAIF_BODY_NAME += ( 'ORX_OLA_LOW' ) NAIF_BODY_CODE += ( -64403 ) \begintext End of FK File.