KPL/FK KPLO Frame Definitions Kernel ============================================================================== This frame kernel contains the KPLO spacecraft and science instrument frame definitions. This frame kernel also contains name - to - NAIF ID mappings for KPLO science instruments and s/c structures (see the last section of the file.) Version and Date -------------------------------------------------------- Version kplo_v06.tf -- May 20, 2024 -- Boris Semenov - Updated to use of CK frames for LUTIA and LUTIB cameras to alternate between the "normal" and "inverted" camera orientation. The "inverted" orientation is rotated 180 deg about the boresight (+Z) relative to the "normal" frames. Specifically, the changes are: - added KPLO_LUTIA_N/-155103 and KPLO_LUTIB_N/-155104 frames representing the "normal" LUTI camera frame orientations. Their definitions are identical to the LUTI camera frames defined previously. - re-defined KPLO_LUTIA/-155101 and KPLO_LUTIB/-155102 frames to be CK type frames (Class 3) with their orientation provided in a special camera CK file that makes them either aligned with the "normal" frames, or rotated from the "normal" frames by 180 degrees about the boresight/+Z to emulate the "inverted" attitude during operations between 2023-FEB-04 and 2023-AUG-06. Version kplo_v05.tf -- February 6, 2024 -- Jo Ryeong Yim - Modified LUTI alignment for improving Geolocation accuracy : (was) Mspacecraft->luti = [+0.08]X [-0.1560]Y [-45.2134287]Z TKFRAME_-155100_ANGLES = (45.2134287, 0.1560, -0.08 ) (is) Mspacecraft->luti = [+0.065]X [-0.020]Y [-45.2134287]Z TKFRAME_-155100_ANGLES = (45.2134287, 0.020, -0.065 ) Version kplo_v04.tf -- December 18, 2023 -- Jo Ryeong Yim - Updated No. 8 reference document for KMAG (was) 8. 20230601_KMAG_fk_update.pptx by Wooin Jo, KMAG Team, Kyung Hee University (is) 8. 20231127_KMAG_fk_update_v03.pptx by Wooin Jo, KMAG Team, Kyung Hee University - Modified alignments of KMAG1, 2, 3 wrt KMAG BOOM : (was) Mboom->sensor1 = [+0.17]X [-0.17]Y [+1.03]Z Mboom->sensor2 = [+0.28]X [-0.23]Y [+0.17]Z Mboom->sensor3 = [+0.35]X [-0.28]Y [-0.86]Z (is) Mboom->sensor1 = [-0.123489575869901]X [0.336421332274335]Y [-1.5856098764352]Z Mboom->sensor2 = [-0.00356113166661]X [0.340320465791504]Y [-0.570590289812028]Z Mboom->sensor3 = [-0.454179374568129]X [0.348495409037536]Y [0.684807909645742]Z (was) TKFRAME_-155121_ANGLES = ( -1.03, +0.17, -0.17 ) TKFRAME_-155122_ANGLES = ( -0.17, +0.23, -0.28 ) TKFRAME_-155123_ANGLES = ( +0.86, +0.28, -0.35 ) (is) TKFRAME_-155121_ANGLES = ( 1.5956098764352, -0.336421332274335, 0.123489575869901 ) TKFRAME_-155122_ANGLES = ( 0.570590289812028, -0.340320465791504, 0.00356113166661 ) TKFRAME_-155123_ANGLES = ( -0.684807909645742, -0.348495409037536, 0.454179374568129 ) - Modified LUTI alignments : (was) Mspacecraft->luti = [+0.18]X [-0.04]Y [-45.2134287]Z TKFRAME_-155100_ANGLES = (45.2134287, 0.04, -0.18 ) (is) Mspacecraft->luti = [+0.08]X [-0.1560]Y [-45.2134287]Z TKFRAME_-155100_ANGLES = (45.2134287, 0.1560, -0.08 ) Version kplo_v03.tf -- November 8, 2023 -- Jo Ryeong Yim - Deleted LUTI A/B (?) frame definition with respect to KPLO_SC_BUS in the diagram of KPLO Frames Hierarchy - Modified LUTI alignments: (was) Mspacecraft->luti = [0.472600704]X [-0.15990768]Y [-45.2134287]Z (is) Mspacecraft->luti = [+0.18]X [-0.04]Y [-45.2134287]Z (was) TKFRAME_-155100_ANGLES = (45.2134287, 0.15990768, -0.472600704 ) (is) TKFRAME_-155100_ANGLES = (45.2134287, 0.04, -0.18 ) (was) Mluti->lutiA = [0.15131801]Z [0.046873626]Y [1.3513916]X (is) Mluti->lutiA = [0.15131801]Z [-0.046873626]Y [1.3535]X (was) Mluti->lutiB = [-0.067598235]Z [-0.046832364 ]Y [-1.3513927 ]X (is) Mluti->lutiB = [-0.067598235]Z [+0.0468832364 ]Y [-1.3535 ]X (was) TKFRAME_-155101_ANGLES = ( -1.3513916, -0.046873626, -0.15131801) (is) TKFRAME_-155101_ANGLES = ( -1.3535, 0.046873626, -0.15131801) (was) TKFRAME_-155102_ANGLES = ( 1.3513927, 0.046832364, 0.067598235 ) (is) TKFRAME_-155102_ANGLES = ( 1.3535, -0.0448832364, 0.067598235 ) - Deleted in front of +X description of SHADOWCAM (SHC) Frame - Modified KPLO_SHC alignment: (was) Mspacecraft->shc = [0]X [0]Y [+45]Z (is) Mspacecraft->shc = [0]X [0]Y [+135]Z (was) TKFRAME_-155150_ANGLES = ( -45.0, 0.0, 0.0 ) (is) TKFRAME_-155150_ANGLES = ( -135.0, 0.0, 0.0 ) - Added KPLO_SHC_A frame definition as below The actual alignment is defined by KPLO_SHC_A as below: Mshc->shcA = [-0.04]X [-0.019]Y [-0.115]Z VshcA = Mshc->shcA * Vshc FRAME_KPLO_SHC_A = -155151 FRAME_-155151_NAME = 'KPLO_SHC_A' FRAME_-155151_CLASS = 4 FRAME_-155151_CLASS_ID = -155151 FRAME_-155151_CENTER = -155 TKFRAME_-155151_SPEC = 'ANGLES' TKFRAME_-155151_RELATIVE = 'KPLO_SHC' TKFRAME_-155151_ANGLES = ( 0.115, 0.019, 0.04 ) TKFRAME_-155151_AXES = ( 3, 2, 1 ) TKFRAME_-155151_UNITS = 'DEGREES' - updated the KPLO_SHC frame diagram - removed the note about nominal angles for all frames that incorporate actual alignments Version kplo_v02.tf -- June 19, 2023 -- Boris Semenov - added CK-based frame KPLO_HGA_GIMBAL/-155192 to represent orientation of the HGA inner gimbal - Added KPLO_HGA_GIMBAL/-155192 name/ID mapping to represent object located at the HGA gimbals center point (the intersection of the inner and outer gimbal axes) - Added frames for KMAG boom and sensors -- KPLO_KMAG_BOOM/-155124, KPLO_KMAG_1/-155121, KPLO_KMAG_2/-155122, and KPLO_KMAG_3/-155123 - Deleted KPLO_KMAG/-155120 frame and name/ID mapping - Added KPLO_KMAG_BOOM/-155124, KPLO_KMAG_1/-155121, KPLO_KMAG_2/-155122, and KPLO_KMAG_3/ -155123 mappings to represent objects located at the KMAG boom hinge and sensors. - Re-ordered lines in the ``KPLO Frames'' table to follow the branches of the frame tree - Added MOON_ME frame to the frame tree diagram, updated it for show all new frames, and made a few minor cosmetic changes in it - Added placeholder section for the KPLO_SHC_A frame, to be filled into with the definition and comments provided by ASU - Deleted erroneous name/ID mapping KPLO_HGA/-155040 Version kplo_v01.tf -- May 9, 2023 -- Alyssa Bailey - Changed the first line from KPLO/FK to KPL/FK so it could be properly read into SPICE. - Removed non-printing characters and tabs - Addressed long lines > 80 characters Version kplo_v00.tf -- August 9, 2022 -- Boris(NAIF)/Jo Ryeong Yim - Modified the comment: to keep both the nominal and the actual alignment for angles for LUTI cameras and for star trackers in the comments - fixed a few typos in the LUTIA and LUTIB keywords (for LUTIA: FRAME_KPLO_LUTI1 -> FRAME_KPLO_LUTIA and TKFRAME_-155102_AXES -> TKFRAME_-155101_AXES, and for LUTIB: FRAME_KPLO_LUTI2 -> FRAME_KPLO_LUTIB) - upper-cased DANURI in the comments to make it consistent with the string used in the actual name-ID keywords - added alignment documents to the References section. Version kplo_v00.tf (Initial) -- August 3, 2022 -- Jo Ryeong Yim Added KPLO Name DANURI in the Name and Body Code (NAIF ID = -155). Modified LUTI, LUTIA, LUTIB Frame, STA after KPLO FM Final Alignment Test. - References [5] KPLO FM Alignment PTR_220426_r02.pdf by Dr. S. Y. Min [6] KPLO-D1-510-023_F00_LUTI_LOS_measurement_signed.pdf by Dr. Yeon [7] KPLO-ADG-024 KPLO FM LUTI Alignment Result for FK by Jo Ryeong Yim - Description of LUTI Frame (-155100) changed and typo corrections: LUTIA --> LUTI - LUTI: (Was) Mspacecraft->luti = [0]X [0]Y [-45]Z (Is) Mspacecraft->luti = [0.472600704]X [-0.15990768]Y [-45.2134287]Z (was) TKFRAME_-155100_ANGLES = ( 45.0, 0.0, 0.0 ) (is) TKFRAME_-155100_ANGLES = (45.2134287, 0.15990768, -0.472600704 ) - LUTIA and LUTIB (Was) LUTIA: Mluti->lutiA = [0]Y [+1.35]X [0]Z (Was) LUTIB: Mluti->lutiB = [0]Y [-1.35]X [0]Z (Is) LUTIA: Mluti->lutiA = [0.15131801]Z[0.046873626]Y[1.3513916]X (Is) LUTIB: Mluti->lutiB = [-0.067598235]Z [-0.046832364]Y [-1.3513927]X (was) TKFRAME_-155101_ANGLES = ( 0.0, -1.35, 0.0 ) (was) TKFRAME_-155101_AXES = ( 3, 1, 2 ) (was) TKFRAME_-155102_ANGLES = ( 0.0, 1.35, 0.0 ) (was) TKFRAME_-155102_AXES = ( 3, 1, 2 ) (is) TKFRAME_-155101_ANGLES = ( -1.3513916, -0.046873626, -0.15131801) (is) TKFRAME_-155102_AXES = ( 1, 2, 3 ) (is) TKFRAME_-155102_ANGLES = ( 1.3513927, 0.046832364, 0.067598235 ) (is) TKFRAME_-155102_AXES = ( 1, 2, 3 ) - STA1: (Was) Mspacecraft->sta1 = [-90]Z [+125]Y [+90]Z (is) Mspacecraft->sta1 = [-90.0226]Z [124.9757]Y [89.9182 ]Z (was) TKFRAME_-155501_ANGLES = ( -90.0, -125.0, +90.0 ) (is) TKFRAME_-155501_ANGLES = ( -89.9182,-124.9757,+90.0226) - STA2: (Was) Mspacecraft->sta2 = [+90]Z [+125]Y [0]Z (Is) Mspacecraft->sta2 = [+90.06239]Z [+125.222148]Y [0.170028]Z (was) TKFRAME_-155502_ANGLES = ( 0.0, -125.0, -90.0 ) (is) TKFRAME_-155502_ANGLES = ( -0.170028, -125.222148, -90.06239) Version 20210218 (draft) -- February 18, 2021 -- Jo Ryeong Yim Added KDSA01 Station ID (NAIF ID = 398032). Changed IAU_EARTH to ITRF93 in KPLO Frames Hierarchy. Version 20200918 (draft) -- September 18, 2020 -- Jo Ryeong Yim Corrected KPLO_SHADOWCAM Name in description --> KPLO_SHC Added SHC_A frame definition for SHC requested by ASU: e-mail dated Sep. 15 2020, (Two separate IDs for ShadowCam - We would like two separate frame IDs. One fixed frame ID will be used to remove the ~45 rotation and the second (CK derived) will be used to adjust the orientation during bundle adjustment. ) Version 20200609 (draft) -- June 09, 2020 -- Jo Ryeong Yim Corrected (exchanged) LUTIA (-1.35 deg --> +1.35 deg), LUTIB(+1.35 deg --> -1.35 deg) rotation angles with respect to LUTI reference frame. Name changed: LUTI1 --> LUTIA, LUTI2 --> LUTIB Corrected the LUTIA, LUTIB reference frame in instrument frame descriptions Version 20200331 (draft) -- March 31, 2020 -- Jo Ryeong Yim Corrected LUTI1, LUTI2 reference frame from spacecraft body to LUTI. LUTI reference frame is the spacecraft body frame. Version 20191202 (draft) -- December 02, 2019 -- Boris Semenov Corrected LUTI2 frame description to match the rotation formula and the angles in the definition keywords. Version 20190828 (draft) -- August 28, 2019 -- Boris Semenov Corrected seconds axis in KPLO_LUTI1 and KPLO_LUTI2 definitions to match descriptions. Corrected angles in the KPLO_STA1 and KPLO_STA2 definitions to match descriptions. Adjusted LUTI and STA frames ASCII diagrams to match definitions. Version 20190808 (draft) -- August 08, 2019 -- Jo Ryeong Yim Updated the KPLO_LVLH followed by the KPLO reference frame definition. Updated the KPLO_LUTI1 and KPLO_LUTI2 rotation from body to be - 45 deg yaw in order to reflect the CCD direction and accordingly definitions for the -1.35 and +1.35 degree offset rotations to be X from Y. Updated KPLO_STA1 and KPLO_STA2 designation number changed and accordingly rotation angles so as to consider the CCD alignment Version 20190728 (draft) -- July 28, 2019 -- Boris Semenov Updated the KPLO_LUTI1 and KPLO_LUTI2 definitions to include +1.35 and -1.35 degree offset rotations about Y correspondingly. Updated the KPLO_POLCAM-L and KPLO_POLCAM-R definitions to have the second rotations about Z, to make the frames' +Y axes (boresights) look left and right and have frames' +X axes be across track. Removed DTNPL and GRA frames and name/ID mappings. Version 20190411 (draft) -- April 11, 2019 -- Boris Semenov Changed _ANGLES in the KPLO_LGA_B definition (160.0 -> 70.0) Changed _CENTER to -155 in the KPLO_HGA KPLO_SA1, and KPLO_SA2 definitions. Changed _ANGLES in the KPLO_SA2_ZERO definition (0.0,0.0,0.0 -> -90.0,0.0,0.0) Changed _ANGLES in the KPLO_SA1_ZERO definition (0.0,0.0,0.0 -> 90.0,0.0,0.0) Fixed _SPEC in the KPLO_KGRS definition ('MATRIX' -> 'ANGLES') Fixed keywords in the KPLO_SHC (TKFRAME_-155`50_SPEC -> TKFRAME_-155150_SPEC) and KPLO_LVLH (FRAME_-1552007_PRI_ABCORR -> FRAME_-155200_PRI_ABCORR) definitions Fixed _NAME in the POLCAM-R definition ('KPLO_POLCAM-L' -> 'KPLO_POLCAM-R') Fixed _AXES in the KPLO_GRA definition (1,2,3 -> 1,3,2) Reformatted/augmented all frame descriptions to look similar to each other. Added frame diagrams to most frame descriptions. Reformatted frame tree diagram to fit into 80 character page width and added POLCAM-L and POLCAM-R frames. Removed comment section describing star tracker mechanical, alignment, and measurement frames that are not defined in the FK. Removed PDS3 label from the beginning of the file. Filled in Versions section entries for this and all previous versions. Version 20190329 (draft) -- March 29, 2019 -- Jo Ryeong Yim Corrected s/c frame name (KPLO_SPACECRFT -> KPLO_SPACECRAFT). Version 20190328 (draft) -- March 28, 2019 -- Jo Ryeong Yim Added frame descriptions. Version 20180607 (draft) -- June 07, 2018 -- Jo Ryeong Yim Initial Release. Contains Euler angles from KPLO I-Kernel files. Does not contain a description for any of the frames. References -------------------------------------------------------- 1. C-kernel Required Reading 2. Kernel Pool Required Reading 3. Frames Required Reading 4. KPLO-OOM-010 KPLO Reference Frame and Coordinate System Definition_v0 5. KPLO FM Alignment PTR_220426_r02.pdf by Dr. S. Y. Min 6. KPLO-D1-510-023_F00_LUTI_LOS_measurement_signed.pdf by Dr. Yeon 7. KPLO-ADG-024 KPLO FM LUTI Alignment Result for FK by Jo Ryeong Yim 8. 20231127_KMAG_fk_update_v03.pptx by Wooin Jo, KMAG Team, Kyung Hee University Contact Information -------------------------------------------------------- Jo Ryeong Yim, (82)-42-860-2874, jryim@kari.re.kr 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. The SPICELIB routine FURNSH loads a kernel file into the pool as shown below. CALL FURNSH ( 'frame_kernel_name; ) -- FORTRAN furnsh_c ( "frame_kernel_name" ); -- C cspice_furnsh, "frame_kernel_name" -- IDL cspice_furnsh ( 'frame_kernel_name' ); -- MATLAB This file was created and may be updated with a text editor or word processor. KPLO Frames ---------------------------------------------------------------------------- The following KPLO frames are defined in this kernel file: Frame Name Relative to Type NAIF ID ========================= ========================= ======= ======= Spacecraft Bus and Spacecraft Structure Frames: ----------------------------------------------- KPLO_SPACECRAFT rel.to J2000 CK -155000 KPLO_SA1_ZERO rel.to KPLO_SPACECRAFT FIXED -155561 KPLO_SA1 rel.to KPLO_SA1_ZERO CK -155421 KPLO_SA2_ZERO rel.to KPLO_SPACECRAFT FIXED -155562 KPLO_SA2 rel.to KPLO_SA2_ZERO CK -155422 KPLO_LGA_A rel.to KPLO_SPACECRAFT FIXED -155831 KPLO_LGA_B rel.to KPLO_SPACECRAFT FIXED -155832 KPLO_HGA_ZERO rel.to KPLO_SPACECRAFT FIXED -155190 KPLO_HGA_GIMBAL rel.to KPLO_HGA_ZERO CK -155192 KPLO_HGA rel.to KPLO_HGA_ZERO CK -155191 KPLO_STA1 rel.to KPLO_SPACECRAFT FIXED -155501 KPLO_STA2 rel.to KPLO_SPACECRAFT FIXED -155502 Instrument Frames: ------------------ KPLO_LUTI rel.to KPLO_SPACECRAFT FIXED -155100 KPLO_LUTIA rel.to KPLO_LUTI_N CK -155101 KPLO_LUTIB rel.to KPLO_LUTI_N CK -155102 KPLO_LUTIA_N rel.to KPLO_LUTI FIXED -155103 KPLO_LUTIB_N rel.to KPLO_LUTI FIXED -155104 KPLO_POLCAM rel.to KPLO_SPACECRAFT FIXED -155110 KPLO_POLCAM-L rel.to KPLO_POLCAM FIXED -155111 KPLO_POLCAM-R rel.to KPLO_POLCAM FIXED -155112 KPLO_KMAG_BOOM rel.to KPLO_SPACECRAFT FIXED -155124 KPLO_KMAG_1 rel.to KPLO_KMAG_BOOM FIXED -155121 KPLO_KMAG_2 rel.to KPLO_KMAG_BOOM FIXED -155122 KPLO_KMAG_3 rel.to KPLO_KMAG_BOOM FIXED -155123 KPLO_KGRS rel.to KPLO_SPACECRAFT FIXED -155130 KPLO_SHC rel.to KPLO_SPACECRAFT FIXED -155150 KPLO_SHC_A rel.to KPLO_SHC FIXED -155151 Dynamic Frames: --------------- KPLO_LVLH rel.to J2000 DYNAMIC -155200 KPLO Frames Hierarchy -------------------------------------------------------- The diagram below shows KPLO frames hierarchy: "J2000" INERTIAL +-------------------------------------------------+ | | | | |<--ck |<--dyn |<--pck |<--pck | | | | | V V V | "KPLO_LVLH" "ITRF93" "MOON_ME" | ----------- EARTH BFR(*) MOON BFR(*) | ------------ ----------- | | | |<--fixed | | | V | "KDSA01_TOPO" | ------------- V "KPLO_SC_BUS" +---------------------------------------------------------------------+ | | | | | |<--fixed |<--fixed |<-fixed |<--fixed | | | | | | V V V V | "KPLO_KGRS" "KPLO_POLCAM" "KPLO_KMAG" "KPLO_SHC" | ----------- +-----------+ ----------- ---------- | | | | | | |<--fixed |<--fixed | |<--fixed | | | | | | V V | V | "KPLO_POLCAM-L" "KPLO_POLCAM-R" | "KPLO_SHC_A" | --------------- --------------- | ------------ | | | |<-fixed | | | V | "KPLO_KMAG_BOOM" | +-----------------------------+ | | | | | |<-fixed |<-fixed |<-fixed | | | | | V V V | "KPLO_KMAG_1" "KPLO_KMAG_2" "KPLO_KMAG_3" | ------------- ------------- ------------- | | | +---------------------------------------------------------------------+ | | | | | |<--fixed |<--fixed |<--fixed | | | | | V V V | "KPLO_LGA" "KPLO_HGA_ZERO" "KPLO_LUTI" | ---------- --------------- +-------------+ | | | | | |<--ck |<--fixed | <--fixed | | | | | V V V | "KPLO_HGA_GIMBAL" "KPLO_LUTIA_N" "KPLO_LUTIB_N" | ----------------- -------------- -------------- | | | | | |<--ck |<--ck |<--ck | | | | | V V V | "KPLO_HGA" "KPLO_LUTIA" "KPLO_LUTIB" | ---------- ------------ ------------ | | +-------------------------------------------------------------+ | | | | |<--fixed |<--fixed |<--fixed |<--fixed V V V V "KPLO_STA1" "KPLO_STA2" "KPLO_SA1_ZERO" "KPLO_SA2_ZERO" ----------- ----------- --------------- --------------- | | |<--ck |<--ck | | V V "KPLO_SA1" "KPLO_SA1" ---------- ---------- (*) Body-Fixed Reference Frame. KPLO Spacecraft Bus Reference Frame -------------------------------------------------------- It is a coordinate system fixed to the body of the spacecraft. The Spacecraft Bus Reference Frame is defined by the spacecraft design as follows: * The origin is placed at the center point of interface between the propulsion rail and top of the spacecraft adapter; * The +X axis includes the origin and it is the axis toward the opposite direction from the thruster module installed on the spacecraft; * The +Z axis includes the origin and is parallel to the axis with Optical camera and payload instruments facing vector; * The +Y axis completes the right-handed Cartesian system with X axis and Z axis; These diagrams illustrate the spacecraft bus frame: +Z s/c side (science deck) view: -------------------------------- LGA-A | KMAG || __||_ _ ||| |/ \ _______________ _||| |\_/ _______________ | | \ | | / | | | | \ | | / | | | | `. | | .' | | | | | o| _ |o | | | | | .' | | ^+Xsc | `. | | | | / | | | | | \ | | |_____________|_/ | | | | | \_|_____________| +Y Solar Array |___|__|__|___| -Y Solar Array <-----o____| +Ysc +Zsc | +Zsc is out of LGA-B the page. +X s/c side (top) view: ----------------------- . / \ HGA ----- `-o-' _____/_\_____ | | | _ | | || || +Ysc | +Xsc|| || o===================o <-----o || ||o===================o +Y Solar Array | | | || || -Y Solar Array | | | || || |___|__|__||_|| |__V__| +Zsc | +Xsc is out of | the page. KMAG The Spacecraft bus attitude with respect to an inertial frame is provided by a C kernel (see [1] for more information). \begindata FRAME_KPLO_SPACECRAFT = -155000 FRAME_-155000_NAME = 'KPLO_SPACECRAFT' FRAME_-155000_CLASS = 3 FRAME_-155000_CLASS_ID = -155000 FRAME_-155000_CENTER = -155 CK_-155000_SCLK = -155 CK_-155000_SPK = -155 \begintext KPLO Local Vertical/Local Horizontal (KPLO_LVLH) Frame -------------------------------------------------------- According to [4] the Local Vertical/Local Horizontal (KPLO_LVLH) is defined as follows - The origin is placed at the satellite center of mass - The Z axis is the direction toward the planet center. (Anti-radial track) - The Y axis can be chosen as the vector perpendicular to the Z and satellite velocity direction. - The X axis completes the right-handed Cartesian system with Z and Y (Along track or In-track) The KPLO_LVLH is defined below as a dynamic frame. \begindata FRAME_KPLO_LVLH = -155200 FRAME_-155200_NAME = 'KPLO_LVLH' FRAME_-155200_CLASS = 5 FRAME_-155200_CLASS_ID = -155200 FRAME_-155200_CENTER = -155 FRAME_-155200_RELATIVE = 'J2000' FRAME_-155200_DEF_STYLE = 'PARAMETERIZED' FRAME_-155200_FAMILY = 'TWO-VECTOR' FRAME_-155200_PRI_AXIS = 'Z' FRAME_-155200_PRI_VECTOR_DEF = 'OBSERVER_TARGET_POSITION' FRAME_-155200_PRI_OBSERVER = 'KPLO' FRAME_-155200_PRI_TARGET = 'MOON' FRAME_-155200_PRI_ABCORR = 'NONE' FRAME_-155200_SEC_AXIS = 'X' FRAME_-155200_SEC_VECTOR_DEF = 'OBSERVER_TARGET_VELOCITY' FRAME_-155200_SEC_OBSERVER = 'MOON' FRAME_-155200_SEC_TARGET = 'KPLO' FRAME_-155200_SEC_ABCORR = 'NONE' FRAME_-155200_SEC_FRAME = 'J2000' \begintext KPLO Lunar Terrain Imager (LUTI) Frame -------------------------------------------------------- The LUTI instrument frame is defined by the instrument design as follows: * +Z axis is along the LUTI (Center of LUTIA and LUTIB) boresight; * +Y axis is parallel to the LUTIA and LUTIB CCD lines; * +X axis completes the right handed frame; * the origin of this frame is at the instrument to spacecraft interface, at [982.0, 9.1, 484.4] in millimeters. Nominally, the LUTI frame is fixed with respect to and is rotated by -45 degrees about Z from the spacecraft frame: Mspacecraft->luti = [0]X [0]Y [-45]Z Vluti = Mspacecraft->luti * Vspacecraft The actual alignment based on [6] and [7] is: Mspacecraft->luti = [+0.065]X [-0.020]Y [-45.2134287]Z This diagram illustrates the LUTI frame: +Z s/c side (science deck) view: -------------------------------- LGA-A | KMAG || __||_ +Yluti | +Xluti _______________ <. .>_ _______________ | | \ | `. .' | / | | | | \ | `o' | / | | | | `. | o | .' | | | | | o| _ |o | | | | | .' | | ^+Xsc | `. | | | | / | | | | | \ | | |_____________|_/ | | | | | \_|_____________| +Y Solar Array |___|__|__|___| -Y Solar Array <-----o____| +Ysc +Zsc | +Zsc and +Zluti are LGA-B out of the page. Because SPICE fixed offset frame definitions provide the rotations from the fixed offset frame to its reference frame, in the definition below the order of axes is reversed and the angle signs are negated compared to what's specified in the description above. \begindata FRAME_KPLO_LUTI = -155100 FRAME_-155100_NAME = 'KPLO_LUTI' FRAME_-155100_CLASS = 4 FRAME_-155100_CLASS_ID = -155100 FRAME_-155100_CENTER = -155 TKFRAME_-155100_SPEC = 'ANGLES' TKFRAME_-155100_RELATIVE = 'KPLO_SPACECRAFT' TKFRAME_-155100_ANGLES = (45.2134287, 0.020, -0.065 ) TKFRAME_-155100_AXES = ( 3, 2, 1 ) TKFRAME_-155100_UNITS = 'DEGREES' \begintext KPLO Lunar Terrain Imager A and B (LUTIA, LUTIB) Frame -------------------------------------------------------- The LUTIA and LUTIB instrument frames are defined by the instrument design as follows: * +Z axis is along the camera boresight; * +Y axis is parallel to the camera CCD lines; * +X axis completes the right handed frame; * the origin of both frames is at the spacecraft to instrument interface, at [982.0, 9.1, 484.4] in millimeters. Nominally, the LUTIA frame is fixed with respect to, and by +1.35 degrees about X from the LUTI frame: Mluti->lutiA = [0]Z [0]Y [+1.35]X VlutiA = Mluti->lutiA * Vluti The actual alignment based on [6] and [7] is: Mluti->lutiA = [0.15131801]Z [-0.046873626]Y [1.3535]X Nominally, the LUTIB frame is fixed with respect to, and by -1.35 degrees about X from the LUTI frame: Mluti->lutiB = [0]Z [0]Y [-1.35]X VlutiB = Mluti->lutiB * Vluti The actual alignment based on [6] and [7] is: Mluti->lutiB = [-0.067598235]Z [+0.0468832364 ]Y [-1.3535 ]X These alignments are incorporated into the "normal" LUTI camera frames -- KPLO_LUTIA_N/-155103 and KPLO_LUTIB_N/-155104. The final camera frames -- KPLO_LUTIA/-155101 and KPLO_LUTIB/-155102 -- are defined as CK type frames (Class 3) with their orientation provided in a special camera CK file that makes them either aligned with the "normal" frames, or rotated from the "normal" frames by 180 degrees about the boresight/+Z to emulate the "inverted" attitude during operations between 2023-FEB-04 and 2023-AUG-06. This diagram illustrates the "normal" LUTIA and LUTIB frames: +Z s/c side (science deck) view: -------------------------------- LGA-A | KMAG || __||_ +YlutiA | | +XlutiA _______________ <. .> ___________ | | \+YlutiB <. .' .> +XlutiB | | | \ | `o' .' | | | | `. | `o' | .' | | | | | o| _ |o | | | | | .' | | ^+Xsc | `. | | | | / | | | | | \ | | |_____________|_/ | | | | | \_|_____________| +Y Solar Array |___|__|__|___| -Y Solar Array <-----o____| +Ysc +Zsc | +Zsc, +ZlutiA, and +ZlutiB LGA-B are out of the page. Because SPICE fixed offset frame definitions provide the rotations from the fixed offset frame to its reference frame, in the definition below the order of axes is reversed and the angle signs are negated compared to what's specified in the description above. \begindata FRAME_KPLO_LUTIA_N = -155103 FRAME_-155103_NAME = 'KPLO_LUTIA_N' FRAME_-155103_CLASS = 4 FRAME_-155103_CLASS_ID = -155103 FRAME_-155103_CENTER = -155 TKFRAME_-155103_SPEC = 'ANGLES' TKFRAME_-155103_RELATIVE = 'KPLO_LUTI' TKFRAME_-155103_ANGLES = ( -1.3535, 0.046873626, -0.15131801) TKFRAME_-155103_AXES = ( 1, 2, 3 ) TKFRAME_-155103_UNITS = 'DEGREES' FRAME_KPLO_LUTIB_N = -155104 FRAME_-155104_NAME = 'KPLO_LUTIB_N' FRAME_-155104_CLASS = 4 FRAME_-155104_CLASS_ID = -155104 FRAME_-155104_CENTER = -155 TKFRAME_-155104_SPEC = 'ANGLES' TKFRAME_-155104_RELATIVE = 'KPLO_LUTI' TKFRAME_-155104_ANGLES = ( 1.3535, -0.0448832364, 0.067598235 ) TKFRAME_-155104_AXES = ( 1, 2, 3 ) TKFRAME_-155104_UNITS = 'DEGREES' FRAME_KPLO_LUTIA = -155101 FRAME_-155101_NAME = 'KPLO_LUTIA' FRAME_-155101_CLASS = 3 FRAME_-155101_CLASS_ID = -155101 FRAME_-155101_CENTER = -155 CK_-155101_SCLK = -155 CK_-155101_SPK = -155 FRAME_KPLO_LUTIB = -155102 FRAME_-155102_NAME = 'KPLO_LUTIB' FRAME_-155102_CLASS = 3 FRAME_-155102_CLASS_ID = -155102 FRAME_-155102_CENTER = -155 CK_-155102_SCLK = -155 CK_-155102_SPK = -155 \begintext KPLO Polarization Camera (PolCam) Frame -------------------------------------------------------- The PolCam instrument frame is defined by the instrument design as follows: * +X axis is nominally parallel to the spacecraft +X axis; * +Y axis is nominally parallel to the spacecraft +Z axis; * +Z axis completes the right-handed frame; * the origin of this frame is at the spacecraft to instrument interface, at [1301.7, -132.8, 446.3] in millimeters. Nominally, the PolCam frame is fixed with respect to, and is rotated by +90 degrees about X from the spacecraft frame: Mspacecraft-> polcam = [0]Z [0]Y [+90]X Vpolcam = Mspacecraft-polcam * Vspacecraft This diagram illustrates the PolCam frame: +Z s/c side (science deck) view: -------------------------------- +Xpolcam ___ ^ _ ||| ||/ \ _______________ _||| ||\_/ __________ | | \ | | | +Zpolcam | | | \ | o-----> | | | `. | | .' | | | | | o| _ |o | | | | | .' | | ^+Xsc | `. | | | | / | | | | | \ | | |_____________|_/ | | | | | \_|_____________| +Y Solar Array |___|__|__|___| -Y Solar Array <-----o____| +Ysc +Zsc | +Zsc and +Ypolcam are LGA-B out of the page. The angles provided in the frame definition below are the nominal values. Because SPICE fixed offset frame definitions provide the rotations from the fixed offset frame to its reference frame, in the definition below the order of axes is reversed and the angle signs are negated compared to what's specified in the description above. \begindata FRAME_KPLO_POLCAM = -155110 FRAME_-155110_NAME = 'KPLO_POLCAM' FRAME_-155110_CLASS = 4 FRAME_-155110_CLASS_ID = -155110 FRAME_-155110_CENTER = -155 TKFRAME_-155110_SPEC = 'ANGLES' TKFRAME_-155110_RELATIVE = 'KPLO_SPACECRAFT' TKFRAME_-155110_ANGLES = ( -90.0, 0.0, 0.0 ) TKFRAME_-155110_AXES = ( 1, 2, 3 ) TKFRAME_-155110_UNITS = 'DEGREES' \begintext KPLO Polarization Camera (PolCam-L, PolCam-R) Frames -------------------------------------------------------- The PolCam-L and PolCam-R instrument frames are defined by the instrument design as follows: * +Y axis is along the camera boresight; * +X axis is parallel to the camera CCD lines; * +Z axis completes the right handed frame; * the origin of this frame is at the spacecraft to instrument interface, at [1301.7, -132.8, 446.3] in millimeters. Nominally, the PolCam-L frame is fixed with respect to, and is rotated first by +45 degrees about Y, then by +45 degrees about Z from the PolCam frame: Mpolcam-> polcamL = [0]Z [+45]Z [+45]Y VpolcamL = Mpolcam->polcamL * Vpolcam Nominally, the PolCam-R frame is fixed with respect to, and is rotated first by +45 degrees about Y, then by -45 degrees about Z from the PolCam frame: Mpolcam-> polcamR = [0]Z [-45]Z [+45]Y VpolcamR = Mpolcam->polcamR * Vpolcam This diagram illustrates the PolCam-L and PolCam-R frames: +Z s/c side (science deck) view: -------------------------------- +Xpolcam ___ ^ +Zpolcamr +Ypolcamr | ^ +Zpolcaml _______________ ^. | .' ^ _ _____________ | | \ | `.|.' .' / | | | | \ | o-----> | | | `. | `o' | +Zpolcam | | | | o| _ `. | | | .' | | ^+Xsc v `. | | | | / | | | | +Ypolcaml | |_____________|_/ | | | | | \_|_____________| +Y Solar Array |___|__|__|___| -Y Solar Array <-----o____| +Ysc +Zsc | +Zsc and +Ypolcam are LGA-B out of the page. +Ypolcaml, +Ypolcamr and +Xpolcaml point 45 degrees above the page. +Xpolcamr points 45 degrees below the page. The angles provided in the frame definitions below are the nominal values. Because SPICE fixed offset frame definitions provide the rotations from the fixed offset frame to its reference frame, in the definition below the order of axes is reversed and the angle signs are negated compared to what's specified in the description above. \begindata FRAME_KPLO_POLCAM-L = -155111 FRAME_-155111_NAME = 'KPLO_POLCAM-L' FRAME_-155111_CLASS = 4 FRAME_-155111_CLASS_ID = -155111 FRAME_-155111_CENTER = -155 TKFRAME_-155111_SPEC = 'ANGLES' TKFRAME_-155111_RELATIVE = 'KPLO_POLCAM' TKFRAME_-155111_ANGLES = ( -45.0, -45.0, 0.0 ) TKFRAME_-155111_AXES = ( 2, 3, 1 ) TKFRAME_-155111_UNITS = 'DEGREES' FRAME_KPLO_POLCAM-R = -155112 FRAME_-155112_NAME = 'KPLO_POLCAM-R' FRAME_-155112_CLASS = 4 FRAME_-155112_CLASS_ID = -155112 FRAME_-155112_CENTER = -155 TKFRAME_-155112_SPEC = 'ANGLES' TKFRAME_-155112_RELATIVE = 'KPLO_POLCAM' TKFRAME_-155112_ANGLES = ( -45.0, 45.0, 0.0 ) TKFRAME_-155112_AXES = ( 2, 3, 1 ) TKFRAME_-155112_UNITS = 'DEGREES' \begintext KPLO Gamma-Ray Spectrometer (KGRS) Frame -------------------------------------------------------- The KGRS instrument frame is defined by the instrument design as follows: * +X axis is nominally aligned with the spacecraft +Z axis; * +Y axis is nominally aligned with the spacecraft +Y axis; * +Z axis completes the right handed frame; * the origin of this frame is at the spacecraft to instrument interface, at [1367.7, 139.5, 500.0] in millimeters. Nominally, the KGRS frame is fixed with respect to, and is rotated by -90 degrees about Y from the spacecraft frame: Mspacecraft-> kgrs = [0]Z [-90]Y [0]X Vkgrs = Mspacecraft->kgrs * Vspacecraft This diagram illustrates the KGRS frame: +Z s/c side (science deck) view: -------------------------------- LGA-A | KMAG || __||_ _ ||| |/ \ ___________ _| \_/ _______________ | +Ykgrs | +Xkgrs | / | | | <-----o | / | | | | . | | | .' | | | | | o| | |o | | | | | .' | | ^+Xsc | `. | | | | / v | | | \ | | |_____________|_/ +Zkgrs | | | \_|_____________| +Y Solar Array ___|__|__|___| -Y Solar Array <-----o____| +Ysc +Zsc | +Zsc and +Xkgrs are LGA-B out of the page. The angles provided in the frame definitions below are the nominal values. Because SPICE fixed offset frame definitions provide the rotations from the fixed offset frame to its reference frame, in the definition below the order of axes is reversed and the angle signs are negated compared to what's specified in the description above. \begindata FRAME_KPLO_KGRS = -155130 FRAME_-155130_NAME = 'KPLO_KGRS' FRAME_-155130_CLASS = 4 FRAME_-155130_CLASS_ID = -155130 FRAME_-155130_CENTER = -155 TKFRAME_-155130_SPEC = 'ANGLES' TKFRAME_-155130_RELATIVE = 'KPLO_SPACECRAFT' TKFRAME_-155130_SPEC = 'ANGLES' TKFRAME_-155130_ANGLES = ( 0.0, 90.0, 0.0 ) TKFRAME_-155130_AXES = ( 1, 2, 3 ) TKFRAME_-155130_UNITS = 'DEGREES' \begintext KPLO Magnetometer (KMAG) Frames -------------------------------------------------------- Four frames are defined for the KMAG instrument -- boom frame (KPLO_KMAG_BOOM), and sensors 1, 2, 3 frames (KPLO_KMAG_1, KPLO_KMAG_2, KPLO_KMAG_3). According to [8] the KMAG boom frame is defined by the instrument design as follows: * +Z axis is nominally along the boom, pointing from its tip towards its hinge; * +X axis is nominally aligned with the spacecraft +Y axis; * +Y axis completes the right handed frame; * the origin of this frame is at the instrument to spacecraft interface, at [1650.0, -25, 607.4] in millimeters. Nominally, the KMAG boom frame is fixed with respect to, and is rotated first by 90 degrees about Z, then by -135 degree about X from the spacecraft frame: Mspacecraft->kmag_boom = [-135]X [0]Y [90]Z Vkmag1 = Mspacecraft->kmag_boom * Vspacecraft The KMAG sensor frames are nominally co-aligned with the boom frame. This diagram illustrates the KMAG boom frame: +Z s/c side (science deck) view: -------------------------------- ^ +Yboom +Xboom | <-----o _ | | |/ \ _______________ _||| v |\_/ _______________ | | \ | +Zboom | / | | | | \ | | / | | | | `. | | .' | | | | | o| _ |o | | | | | .' | | ^+Xsc | `. | | | | / | | | | | \ | | |_____________|_/ | | | | | \_|_____________| +Y Solar Array |___|__|__|___| -Y Solar Array <-----o____| +Ysc +Zsc | +Zsc is out of the page. LGA-B +Zboom and +Yboom are at 45 deg into the page. This diagram illustrates the KMAG boom and sensor frames: -Y s/c side view: ----------------- +Ykmag1 .> .-' +Ykmag2 x' .> `. .-' +Ykmag3 +Zkmag1 `x' .> `. .-' +Zkmag2 `x' .> +Yboom `. .-' +Zkmag3 `x'__________ . HGA |`. |`-. /|`. _| `> | >o-| | | | +Zboom |.-' \|.' | | ` | | | _ | | | ^+Xsc | | | | | | | | | | | |___|__|__|___| <-----x____| +Zsc +Ysc | LGA-B +Ysc and +X of all KMAG frames are into the page. The angles provided in the boom frame definition below are the nominal values. The angles provided in the sensor frame definitions are actual calibrated values for the following boom-to-sensors frame rotations provided in [8]: Mboom->sensor1 = [-0.123489575869901]X [0.336421332274335]Y [-1.5856098764352]Z Vsensor1 = Mboom->sensor1 * Vboom Mboom->sensor2 = [-0.00356113166661]X [0.340320465791504]Y [-0.570590289812028]Z Vsensor2 = Mboom->sensor2 * Vboom Mboom->sensor3 = [-0.454179374568129]X [0.348495409037536]Y [0.684807909645742]Z Vsensor3 = Mboom->sensor3 * Vboom Because SPICE fixed offset frame definitions provide the rotations from the fixed offset frame to its reference frame, in the definition below the order of axes is reversed and the angle signs are negated compared to what's specified in the description above. \begindata FRAME_KPLO_KMAG_BOOM = -155124 FRAME_-155124_NAME = 'KPLO_KMAG_BOOM' FRAME_-155124_CLASS = 4 FRAME_-155124_CLASS_ID = -155124 FRAME_-155124_CENTER = -155 TKFRAME_-155124_SPEC = 'ANGLES' TKFRAME_-155124_RELATIVE = 'KPLO_SPACECRAFT' TKFRAME_-155124_ANGLES = ( -90, 0, +135 ) TKFRAME_-155124_AXES = ( 3, 2, 1 ) TKFRAME_-155124_UNITS = 'DEGREES' FRAME_KPLO_KMAG_1 = -155121 FRAME_-155121_NAME = 'KPLO_KMAG_1' FRAME_-155121_CLASS = 4 FRAME_-155121_CLASS_ID = -155121 FRAME_-155121_CENTER = -155 TKFRAME_-155121_SPEC = 'ANGLES' TKFRAME_-155121_RELATIVE = 'KPLO_KMAG_BOOM' TKFRAME_-155121_ANGLES = ( 1.5956098764352, -0.336421332274335, 0.123489575869901 ) TKFRAME_-155121_AXES = ( 3, 2, 1 ) TKFRAME_-155121_UNITS = 'DEGREES' FRAME_KPLO_KMAG_2 = -155122 FRAME_-155122_NAME = 'KPLO_KMAG_2' FRAME_-155122_CLASS = 4 FRAME_-155122_CLASS_ID = -155122 FRAME_-155122_CENTER = -155 TKFRAME_-155122_SPEC = 'ANGLES' TKFRAME_-155122_RELATIVE = 'KPLO_KMAG_BOOM' TKFRAME_-155122_ANGLES = ( 0.570590289812028, -0.340320465791504, 0.00356113166661 ) TKFRAME_-155122_AXES = ( 3, 2, 1 ) TKFRAME_-155122_UNITS = 'DEGREES' FRAME_KPLO_KMAG_3 = -155123 FRAME_-155123_NAME = 'KPLO_KMAG_3' FRAME_-155123_CLASS = 4 FRAME_-155123_CLASS_ID = -155123 FRAME_-155123_CENTER = -155 TKFRAME_-155123_SPEC = 'ANGLES' TKFRAME_-155123_RELATIVE = 'KPLO_KMAG_BOOM' TKFRAME_-155123_ANGLES = ( -0.684807909645742, -0.348495409037536, 0.454179374568129 ) TKFRAME_-155123_AXES = ( 3, 2, 1 ) TKFRAME_-155123_UNITS = 'DEGREES' \begintext KPLO SHADOWCAM (SHC) Frame -------------------------------------------------------- The SHC instrument frame is defined by the instrument design as follows: * +Z axis is along the SHC boresight; * +X axis is parallel to the SHC CCD lines; * +Y axis completes the right handed frame; * The SHC offset is identified as the distance from the spacecraft bus frame to the SHC reference cg point, at [1537.0, -520.0, -143.2] in millimeters. Nominally, the SHC frame is fixed with respect to, and is rotated by +135 degrees about Z from the spacecraft frame: Mspacecraft->shc = [0]X [0]Y [+135]Z Vshc = Mspacecraft->shc * Vspacecraft The actual alignment is defined by KPLO_SHC_A as below: Mshc->shcA = [-0.04]X [-0.019]Y [-0.115]Z VshcA = Mshc->shcA * Vshc This diagram illustrates the SHC frame: +Z s/c side (science deck) view: -------------------------------- LGA-A | KMAG || __||_ _+Zshc ||| |/o\ _______________ _||| .'_`. _______________ | | \ | .' |`. / | | | | \ | < | > | | | | `. | +Xshc | +Yshc| | | | | o| _ |o | | | | | .' | | ^+Xsc | `. | | | | / | | | | | \ | | |_____________|_/ | | | | | \_|_____________| +Y Solar Array |___|__|__|___| -Y Solar Array <-----o____| +Ysc +Zsc | +Zsc and +Zshc are LGA-B out of the page. Because SPICE fixed offset frame definitions provide the rotations from the fixed offset frame to its reference frame, in the definition below the order of axes is reversed and the angle signs are negated compared to what's specified in the description above. \begindata FRAME_KPLO_SHC = -155150 FRAME_-155150_NAME = 'KPLO_SHC' FRAME_-155150_CLASS = 4 FRAME_-155150_CLASS_ID = -155150 FRAME_-155150_CENTER = -155 TKFRAME_-155150_SPEC = 'ANGLES' TKFRAME_-155150_RELATIVE = 'KPLO_SPACECRAFT' TKFRAME_-155150_ANGLES = ( -135.0, 0.0, 0.0 ) TKFRAME_-155150_AXES = ( 3, 2, 1 ) TKFRAME_-155150_UNITS = 'DEGREES' FRAME_KPLO_SHC_A = -155151 FRAME_-155151_NAME = 'KPLO_SHC_A' FRAME_-155151_CLASS = 4 FRAME_-155151_CLASS_ID = -155151 FRAME_-155151_CENTER = -155 TKFRAME_-155151_SPEC = 'ANGLES' TKFRAME_-155151_RELATIVE = 'KPLO_SHC' TKFRAME_-155151_ANGLES = ( 0.115, 0.019, 0.04 ) TKFRAME_-155151_AXES = ( 3, 2, 1 ) TKFRAME_-155151_UNITS = 'DEGREES' \begintext KPLO Star Tracker #1 (STA1) Frame -------------------------------------------------------- The Star Tracker #1 frame is defined by the instrument design as follows: * +Z axis is along the star tracker boresight; * +Y axis is nominally aligned with the spacecraft +Y axis; * +X axis completes the right-handed frame; * the origin of this frame is at the spacecraft to instrument interface, at [1538.8, 506.8, -61.8] in millimeters. Nominally, the Star Tracker #1 frame is fixed with respect to, and is rotated by +90 degree about Z, then +125 degree about Y, and then -90 degree about Z from the spacecraft frame: Mspacecraft->sta1 = [-90]Z [+125]Y [+90]Z Vsta1 = Mspacecraft->sta1 * Vspacecraft The actual alignment based on [5] is: Mspacecraft->sta1 = [-90.022]Z [+124.9757]Y [+89.9182]Z This diagram illustrates the Star Tracker #1 frame: +X s/c side (top) view: ----------------------- . HGA / \ ---- +Ysta1 +Zsta1 `-o ^ <. _/ / ____ | `. / | _ | `o || || +Ysc | +Xsc| || o===================o <-----o || ||o===================o +Y Solar Array | | | || || -Y Solar Array | | | || || |___|__|__||_|| |__V__| +Zsc | +Xsc and +Xsta1 are | out of the page. KMAG Because SPICE fixed offset frame definitions provide the rotations from the fixed offset frame to its reference frame, in the definition below the order of axes is reversed and the angle signs are negated compared to what's specified in the description above. \begindata FRAME_KPLO_STA1 = -155501 FRAME_-155501_NAME = 'KPLO_STA1' FRAME_-155501_CLASS = 4 FRAME_-155501_CLASS_ID = -155501 FRAME_-155501_CENTER = -155 TKFRAME_-155501_SPEC = 'ANGLES' TKFRAME_-155501_RELATIVE = 'KPLO_SPACECRAFT' TKFRAME_-155501_ANGLES = ( -89.9182, -124.9757, +90.0226 ) TKFRAME_-155501_AXES = ( 3, 2, 3 ) TKFRAME_-155501_UNITS = 'DEGREES' \begintext KPLO Star Tracker #2 (STA2) Frame -------------------------------------------------------- The Star Tracker #2 frame is defined by the instrument design as follows: * +Z axis is along the star tracker boresight; * +X axis is nominally aligned with the spacecraft +X axis; * +Y axis completes the right-handed frame; * the origin of this frame is at the spacecraft to instrument interface, at [1696.4, 39.1, -298.8] in millimeters. Nominally, the Star Tracker #2 frame is fixed with respect to, and is rotated by +125 degrees about Y and then +90 degree about Z from the spacecraft frame: Mspacecraft->sta2 = [+90]Z [+125]Y [0]Z Vsta2 = Mspacecraft->sta2 * Vspacecraft The actual alignment based on [5] is: Mspacecraft->sta2 = [+90.06239]Z [+125.222148]Y [+0.170028]Z This diagram illustrates the Star Tracker #2 frame: +X s/c side (top) view: ----------------------- . / \ HGA ----- `-o-' +Zsta2 _ __/_\_____ | ^ | | _ | +Xsta2 | | | || || <-----o | +Xsc|| || o===================o|<|----o || ||o===================o +Y Solar Array +Ysc | | | || || -Y Solar Array | v | | || || Ysta2 _|__|__||_|| |__V__| +Zsc | +Xsc is out of the page. | KMAG +Zsta2 is 55 deg above the page +Ysta2 is 35 deg above the page Because SPICE fixed offset frame definitions provide the rotations from the fixed offset frame to its reference frame, in the definition below the order of axes is reversed and the angle signs are negated compared to what's specified in the description above. \begindata FRAME_KPLO_STA2 = -155502 FRAME_-155502_NAME = 'KPLO_STA2' FRAME_-155502_CLASS = 4 FRAME_-155502_CLASS_ID = -155502 FRAME_-155502_CENTER = -155 TKFRAME_-155502_SPEC = 'ANGLES' TKFRAME_-155502_RELATIVE = 'KPLO_SPACECRAFT' TKFRAME_-155502_ANGLES = ( -0.170028, -125.222148, -90.06239) TKFRAME_-155502_AXES = ( 3, 2, 3 ) TKFRAME_-155502_UNITS = 'DEGREES' \begintext KPLO HGA Zero Position Frame -------------------------------------------------------- The High Gain Antenna (HGA) Zero Position frame is defined by the antenna design as follows: * +Z axis is nominally aligned with the -Z of the spacecraft; * +X axis is parallel to the inner HGA gimbal axis; * +Y axis completes the right handed frame; * the origin of this frame is at the spacecraft to instrument interface, at [1282.0, -54.9, -1030.3] in millimeters. Nominally, the HGA Zero Position frame is fixed with respect to, and is rotated first by 180 degrees about X, then by -45 degrees about Z from the spacecraft frame: Mspacecraft->hga0 = [0]Y [-45]Z [180]X Vhga = Mspacecraft->hga0 * Vspacecraft This diagram illustrates the HGA Zero Position frame: -Z s/c side (HGA side) view: ---------------------------- KMAG | LGA-A || _||__ +Yhga0 | | +Xhga0 _______________ ^ | | ^ _______________ | | \ | `. .' | / | | | | \ | `. .' | / | | | | `. | o | .' | | | | | o|+Zhga0 |o | | | | | .' | ^+Xsc | `. | | | | / | | | \ | | |_____________|_/ | | | \_|_____________| -Y Solar Array |______|__ ___| +Y Solar Array |____x-----> +Zsc +Ysc | +Zsc is into LGA-B the page. +Zhga0 is out of the page. The angles provided in the frame definition below are the nominal values. Because SPICE fixed offset frame definitions provide the rotations from the fixed offset frame to its reference frame, in the definition below the order of axes is reversed and the angle signs are negated compared to what's specified in the description above. \begindata FRAME_KPLO_HGA_ZERO = -155190 FRAME_-155190_NAME = 'KPLO_HGA_ZERO' FRAME_-155190_CLASS = 4 FRAME_-155190_CLASS_ID = -155190 FRAME_-155190_CENTER = -155 TKFRAME_-155190_SPEC = 'ANGLES' TKFRAME_-155190_RELATIVE = 'KPLO_SPACECRAFT' TKFRAME_-155190_ANGLES = ( 180.0, 45.0, 0.0 ) TKFRAME_-155190_AXES = ( 1, 3, 2 ) TKFRAME_-155190_UNITS = 'DEGREES' \begintext KPLO HGA Gimbal and Antenna Frames -------------------------------------------------------- The HGA gimbal frame is intended to represented the rotation in the HGA inner gimbal. It rotates relative to the zero position frame about +X axis and is defined by the antenna design as follows: * +Y axis is parallel to the outer HGA gimbal axis; * +X axis is parallel to the inner HGA gimbal axis; * +Z axis completes the right handed frame; * the origin of this frame is at the intersection of the inner and outer gimbal axes. The HGA antenna frame is intended to represented the rotation in the HGA outer gimbal and the antenna pointing direction. It rotates relative to the gimbal frame about +Y axis and is defined by the antenna design as follows: * +Z is along the antenna boresight; * +Y axis is parallel to the outer HGA gimbal axis; * +X axis completes the right handed frame; * the origin of this frame is at the intersection of the inner and outer gimbal axes. Since both frames rotate with respect to their respective base frames, their orientations are provided in CK files. In zero gimbal position both frames are co-aligned with the HGA Zero Position frame. This diagram illustrates the HGA gimbal and antenna frame in zero position: -Z s/c side (HGA side) view: ---------------------------- KMAG | LGA-A +Yhga || +Yhga +Yhgag _||__ +Xhgag +Yhga0 | | +Xhga0 _______________ ^ | | ^ _______________ | | \ `. .' | / | | | | \ +Zhga`. .' | / | | | | `. +Zhgag o | .' | | | | | +Zhga0 |o | | | | | .' ^+Xsc | `. | | | | / | | | \ | | |_____________|_/ | | | \_|_____________| -Y Solar Array |______|__ ___| +Y Solar Array |____x-----> +Zsc +Ysc | +Zsc is into LGA-B the page. +Zhga0, +Zhgag, and +Zhga are out of the page. The keywords below define the HGA gimbal and antenna frames as CK-based frames. \begindata FRAME_KPLO_HGA_GIMBAL = -155192 FRAME_-155192_NAME = 'KPLO_HGA_GIMBAL' FRAME_-155192_CLASS = 3 FRAME_-155192_CLASS_ID = -155192 FRAME_-155192_CENTER = -155 CK_-155192_SCLK = -155 CK_-155192_SPK = -155 FRAME_KPLO_HGA = -155191 FRAME_-155191_NAME = 'KPLO_HGA' FRAME_-155191_CLASS = 3 FRAME_-155191_CLASS_ID = -155191 FRAME_-155191_CENTER = -155 CK_-155191_SCLK = -155 CK_-155191_SPK = -155 \begintext KPLO Solar Array #1 ZERO (SA1_ZERO) Frame -------------------------------------------------------- The SA1 Zero Position frame is defined by the array design as follows: * +Z axis is nominally along the spacecraft +Y axis and is parallel to the array rotation axis; * +X axis is nominally along the spacecraft +X axis; * +Y axis completes the right handed frame; * the origin of this frame is at the spacecraft to instrument interface, at [790.9, 634.9, 0.0] in millimeters. Nominally, the SA1 frame is fixed with respect to, and is rotated by -90 degrees about X from the spacecraft frame: Mspacecraft->sa1_0 = [-90]X [0]Y [0]Z Vsa1_0 = Mspacecraft->sa1_0 * Vspacecraft This diagram illustrates the SA1 Zero Position frame: +Z s/c side (science deck) view: -------------------------------- LGA-A | KMAG || __||_ _ +Xsa1_0 ||| |/ \ +Xsa2_0 ^ _||| |\_/ ^ || || || || +Y Solar Array || || -Y Solar Array o============ <-----x| _ |o-----> ============o +Zsa1_0 | | ^+Xsc | +Zsa2_0 | | | | | | | | | | |___|__|__|___| <-----o____| +Ysc +Zsc | +Zsc and +Ysa2_0 are LGA-B out of the page. +Ysa1_0 is into the page. The angles provided in the frame definition below are the nominal values. Because SPICE fixed offset frame definitions provide the rotations from the fixed offset frame to its reference frame, in the definition below the order of axes is reversed and the angle signs are negated compared to what's specified in the description above. \begindata FRAME_KPLO_SA1_ZERO = -155561 FRAME_-155561_NAME = 'KPLO_SA1_ZERO' FRAME_-155561_CLASS = 4 FRAME_-155561_CLASS_ID = -155561 FRAME_-155561_CENTER = -155 TKFRAME_-155561_SPEC = 'ANGLES' TKFRAME_-155561_RELATIVE = 'KPLO_SPACECRAFT' TKFRAME_-155561_ANGLES = ( 90.0, 0.0, 0.0 ) TKFRAME_-155561_AXES = ( 1, 2, 3 ) TKFRAME_-155561_UNITS = 'DEGREES' \begintext KPLO Solar Array #1 (SA1) Frame -------------------------------------------------------- The SA1 frame is defined by the array design as follows: * -X axis is along the normal on the solar array active cell side; * +Z axis is nominally along the spacecraft +Y axis and is parallel to the array rotation axis; * +Y axis completes the right handed frame; * the origin of this frame is at the spacecraft to instrument interface, at [790.9, 634.9, 0.0] in millimeters. Since the SA1 frame rotates with respect to the SA1 Zero Position frame, its orientation is provided in CK files. In zero gimbal position this frame is co-aligned with the SA1 Zero Position frame. This diagram illustrates the SA1 frame in zero position: +Z s/c side (science deck) view: -------------------------------- LGA-A | KMAG || __||_ _ +Xsa1_0 ||| |/ \ +Xsa2_0 +Xsa1 ^ _||| |\_/ ^+Xsa2 || || || || +Y Solar Array || || -Y Solar Array o============ <-----x| _ |o-----> ============o +Zsa1_0 | | ^+Xsc | +Zsa2_0 +Zsa1 | | | | | +Zsa2 | | | | | |___|__|__|___| <-----o____| +Ysc +Zsc | +Zsc, +Ysa2_0, and +Ysa2 LGA-B are out of the page. +Ysa1_0 and +Ysa1 are into the page. The keywords below define the SA1 frame as a CK-based frame. \begindata FRAME_KPLO_SA1 = -155421 FRAME_-155421_NAME = 'KPLO_SA1' FRAME_-155421_CLASS = 3 FRAME_-155421_CLASS_ID = -155421 FRAME_-155421_CENTER = -155 CK_-155421_SCLK = -155 CK_-155421_SPK = -155 \begintext KPLO Solar Array #2 ZERO (SA2_ZERO) Frame -------------------------------------------------------- The SA2 Zero Position frame is defined by the array design as follows: * +Z axis is nominally along the spacecraft -Y axis and is parallel to the array rotation axis; * +X axis is nominally along the spacecraft +X axis; * +Y axis completes the right handed frame; * the origin of this frame is at the spacecraft to instrument interface, at [790.9, -634.9, 0.0] in millimeters. Nominally, the SA2 frame is fixed with respect to, and is rotated by +90 degrees about X from the spacecraft frame: Mspacecraft->sa2_0 = [+90]X [0]Y [0]Z Vsa2_0 = Mspacecraft->sa2_0 * Vspacecraft This diagram illustrates the SA2 Zero Position frame: +Z s/c side (science deck) view: -------------------------------- LGA-A | KMAG || __||_ _ +Xsa1_0 ||| |/ \ +Xsa2_0 ^ _||| |\_/ ^ || || || || +Y Solar Array || || -Y Solar Array o============ <-----x| _ |o-----> ============o +Zsa1_0 | | ^+Xsc | +Zsa2_0 | | | | | | | | | | |___|__|__|___| <-----o____| +Ysc +Zsc | +Zsc and +Ysa2_0 are LGA-B out of the page. +Ysa1_0 is into the page. The angles provided in the frame definition below are the nominal values. Because SPICE fixed offset frame definitions provide the rotations from the fixed offset frame to its reference frame, in the definition below the order of axes is reversed and the angle signs are negated compared to what's specified in the description above. \begindata FRAME_KPLO_SA2_ZERO = -155562 FRAME_-155562_NAME = 'KPLO_SA2_ZERO' FRAME_-155562_CLASS = 4 FRAME_-155562_CLASS_ID = -155562 FRAME_-155562_CENTER = -155 TKFRAME_-155562_SPEC = 'ANGLES' TKFRAME_-155562_RELATIVE = 'KPLO_SPACECRAFT' TKFRAME_-155562_ANGLES = ( -90.0, 0.0, 0.0 ) TKFRAME_-155562_AXES = ( 1, 2, 3 ) TKFRAME_-155562_UNITS = 'DEGREES' \begintext KPLO Solar Array #2 (SA2) Frame -------------------------------------------------------- The SA2 frame is defined by the array design as follows: * -X axis is along the normal on the solar array active cell side; * +Z axis is nominally along the spacecraft -Y axis and is parallel to the array rotation axis; * +Y axis completes the right handed frame; * the origin of this frame is at the spacecraft to instrument interface, at [790.9, -634.9, 0.0] in millimeters. Since the SA2 frame rotates with respect to the SA2 Zero Position frame, its orientation is provided in CK files. In zero gimbal position this frame is co-aligned with the SA2 Zero Position frame. This diagram illustrates the SA2 frame in zero position: +Z s/c side (science deck) view: -------------------------------- LGA-A | KMAG || __||_ _ +Xsa1_0 ||| |/ \ +Xsa2_0 +Xsa1 ^ _||| |\_/ ^+Xsa2 || || || || +Y Solar Array || || -Y Solar Array o============ <-----x| _ |o-----> ============o +Zsa1_0 | | ^+Xsc | +Zsa2_0 +Zsa1 | | | | | +Zsa2 | | | | | |___|__|__|___| <-----o____| +Ysc +Zsc | +Zsc, +Ysa2_0, and +Ysa2 LGA-B are out of the page. +Ysa1_0 and +Ysa1 are into the page. The keywords below define the SA2 frame as a CK-based frame. \begindata FRAME_KPLO_SA2 = -155422 FRAME_-155422_NAME = 'KPLO_SA2' FRAME_-155422_CLASS = 3 FRAME_-155422_CLASS_ID = -155422 FRAME_-155422_CENTER = -155 CK_-155422_SCLK = -155 CK_-155422_SPK = -155 \begintext Low Gain Antenna Upper (LGA_A) Frame -------------------------------------------------------- The LGA upper (LGA_A) frame is defined by the antenna design as follows: * +Z axis is along the antenna boresight; * +Y axis is nominally parallel to the spacecraft +Y axis; * +X axis completes the right handed frame; * the origin of this frame is at the spacecraft to instrument interface, at [1939.1, -143.0, -270.2] in millimeters. Nominally, the LGA Upper frame is fixed with respect to, and is rotated by +110 degrees about Y from the spacecraft frame: Mspacecraft->lgaa = [0]X [+110]Y [0]Z Vlgaa = Mspacecraft->lgaa * Vspacecraft This diagram illustrates the LGA Upper frame: +Z s/c side (science deck) view: -------------------------------- +Zlgaa ^ | | <-----*| KMAG +Ylgaa || __||_ _ ||| |/ \ _______________ _||| |\_/ _______________ | | \ | | / | | | | \ | | / | | | | `. | | .' | | | | | o| _ |o | | | | | .' | | ^+Xsc | `. | | | | / | | | | | \ | | |_____________|_/ | | | | | \_|_____________| +Y Solar Array |___|__|__|___| -Y Solar Array <-----o____| +Ysc +Zsc | +Zsc is out of LGA-B the page. +Zlgaa points 20 deg below the page. The angles provided in the frame definition below are the nominal values. Because SPICE fixed offset frame definitions provide the rotations from the fixed offset frame to its reference frame, in the definition below the order of axes is reversed and the angle signs are negated compared to what's specified in the description above. \begindata FRAME_KPLO_LGA_A = -155831 FRAME_-155831_NAME = 'KPLO_LGA_A' FRAME_-155831_CLASS = 4 FRAME_-155831_CLASS_ID = -155831 FRAME_-155831_CENTER = -155 TKFRAME_-155831_SPEC = 'ANGLES' TKFRAME_-155831_RELATIVE = 'KPLO_SPACECRAFT' TKFRAME_-155831_ANGLES = ( 0.0, -110.0, 0.0 ) TKFRAME_-155831_AXES = ( 1, 2, 3 ) TKFRAME_-155831_UNITS = 'DEGREES' \begintext Low Gain Antenna Lower (LGA_B) Frame -------------------------------------------------------- The LGA Lower (LGA_B) frame is defined by the antenna design as follows: * +Z axis is along the antenna boresight; * +Y axis is nominally parallel to the spacecraft +Y axis; * +X axis completes the right handed frame; * the origin of this frame is at the spacecraft to instrument interface, at [-24.3, 0.0, 941.7] in millimeters. Nominally, the LGA Lower frame is fixed with respect to, and is rotated by -70 degrees about Y from the spacecraft frame: Mspacecraft->lgab = [0]X [-70]Y [0]Z Vlgab = Mspacecraft->lgab * Vspacecraft This diagram illustrates the LGA Lower frame: +Z s/c side (science deck) view: -------------------------------- LGA-A | KMAG || __||_ _ ||| |/ \ _______________ _||| |\_/ _______________ | | \ | | / | | | | \ | | / | | | | `. | | .' | | | | | o| _ |o | | | | | .' | | ^+Xsc | `. | | | | / | | | | | \ | | |_____________|_/ | | | | | \_|_____________| +Y Solar Array |___|__|__|___| -Y Solar Array <-----o____| +Ysc +Zsc | +Zsc is out of <-----* LGA-B the page. +Ylgab | | +Zlgaa points 20 deg v above the page. +Zlgab The angles provided in the frame definition below are the nominal values. Because SPICE fixed offset frame definitions provide the rotations from the fixed offset frame to its reference frame, in the definition below the order of axes is reversed and the angle signs are negated compared to what's specified in the description above. \begindata FRAME_KPLO_LGA_B = -155832 FRAME_-155832_NAME = 'KPLO_LGA_B' FRAME_-155832_CLASS = 4 FRAME_-155832_CLASS_ID = -155832 FRAME_-155832_CENTER = -155 TKFRAME_-155832_SPEC = 'ANGLES' TKFRAME_-155832_RELATIVE = 'KPLO_SPACECRAFT' TKFRAME_-155832_ANGLES = ( 0.0, 70.0, 0.0 ) TKFRAME_-155832_AXES = ( 1, 2, 3 ) TKFRAME_-155832_UNITS = 'DEGREES' \begintext KPLO NAIF ID Codes -- Definitions -------------------------------------------------------- This section contains name to NAIF ID mappings for the KPLO mission. Once the contents of this file is loaded into the KERNEL POOL, these mappings become available within SPICE, making it possible to use names instead of ID code in the high level SPICE routine calls. The set of codes below is not complete. Additional ID codes for some KPLO instruments are defined in the IK files. Spacecraft: ----------- KPLO -155 KOREA PATHFINDER LUNAR ORBITER -155 DANURI -155 KPLO_SPACECRAFT -155000 KPLO_SC_BUS -155000 Spacecraft structures: ---------------------- KPLO_SA1 -155421 KPLO_SA1_ZERO -155561 KPLO_SA2 -155422 KPLO_SA2_ZERO -155562 KPLO_LGA_A -155831 KPLO_LGA_B -155832 KPLO_HGA -155191 KPLO_HGA_ZERO -155190 KPLO_HGA_GIMBAL -155192 KPLO_STA1 -155501 KPLO_STA2 -155502 Science Instruments: -------------------- KPLO_LUTI -155100 KPLO_LUTIA -155101 KPLO_LUTIB -155102 KPLO_LUTIA_N -155103 KPLO_LUTIB_N -155104 KPLO_POLCAM -155110 KPLO_POLCAM-L -155111 KPLO_POLCAM-R -155112 KPLO_KGRS -155130 KPLO_KMAG_BOOM -155124 KPLO_KMAG_1 -155121 KPLO_KMAG_2 -155122 KPLO_KMAG_3 -155123 KPLO_SHC -155150 KPLO_SHC_A -155151 KDSA Antenna: -------------------- KDSA01 398032 The mappings summarized in this table are implemented by the keywords below. \begindata NAIF_BODY_NAME += ( 'KPLO' ) NAIF_BODY_CODE += ( -155 ) NAIF_BODY_NAME += ( 'KOREA PATHFINDER LUNAR ORBITER' ) NAIF_BODY_CODE += ( -155 ) NAIF_BODY_NAME += ( 'DANURI' ) NAIF_BODY_CODE += ( -155 ) NAIF_BODY_NAME += ( 'KPLO_SPACECRAFT' ) NAIF_BODY_CODE += ( -155000 ) NAIF_BODY_NAME += ( 'KPLO_SC_BUS' ) NAIF_BODY_CODE += ( -155000 ) NAIF_BODY_NAME += ( 'KPLO_SA1' ) NAIF_BODY_CODE += ( -155421 ) NAIF_BODY_NAME += ( 'KPLO_SA1_ZERO' ) NAIF_BODY_CODE += ( -155561 ) NAIF_BODY_NAME += ( 'KPLO_SA2' ) NAIF_BODY_CODE += ( -155422 ) NAIF_BODY_NAME += ( 'KPLO_SA2_ZERO' ) NAIF_BODY_CODE += ( -155562 ) NAIF_BODY_NAME += ( 'KPLO_LGA_A' ) NAIF_BODY_CODE += ( -155831 ) NAIF_BODY_NAME += ( 'KPLO_LGA_B' ) NAIF_BODY_CODE += ( -155832 ) NAIF_BODY_NAME += ( 'KPLO_HGA' ) NAIF_BODY_CODE += ( -155191 ) NAIF_BODY_NAME += ( 'KPLO_HGA_ZERO' ) NAIF_BODY_CODE += ( -155190 ) NAIF_BODY_NAME += ( 'KPLO_HGA_GIMBAL' ) NAIF_BODY_CODE += ( -155192 ) NAIF_BODY_NAME += ( 'KPLO_STA1' ) NAIF_BODY_CODE += ( -155501 ) NAIF_BODY_NAME += ( 'KPLO_STA2' ) NAIF_BODY_CODE += ( -155502 ) NAIF_BODY_NAME += ( 'KPLO_LUTI' ) NAIF_BODY_CODE += ( -155100 ) NAIF_BODY_NAME += ( 'KPLO_LUTIA' ) NAIF_BODY_CODE += ( -155101 ) NAIF_BODY_NAME += ( 'KPLO_LUTIB' ) NAIF_BODY_CODE += ( -155102 ) NAIF_BODY_NAME += ( 'KPLO_LUTIA_N' ) NAIF_BODY_CODE += ( -155103 ) NAIF_BODY_NAME += ( 'KPLO_LUTIB_N' ) NAIF_BODY_CODE += ( -155104 ) NAIF_BODY_NAME += ( 'KPLO_POLCAM' ) NAIF_BODY_CODE += ( -155110 ) NAIF_BODY_NAME += ( 'KPLO_POLCAM-L' ) NAIF_BODY_CODE += ( -155111 ) NAIF_BODY_NAME += ( 'KPLO_POLCAM-R' ) NAIF_BODY_CODE += ( -155112 ) NAIF_BODY_NAME += ( 'KPLO_KGRS' ) NAIF_BODY_CODE += ( -155130 ) NAIF_BODY_NAME += ( 'KPLO_KMAG_BOOM' ) NAIF_BODY_CODE += ( -155124 ) NAIF_BODY_NAME += ( 'KPLO_KMAG_1' ) NAIF_BODY_CODE += ( -155121 ) NAIF_BODY_NAME += ( 'KPLO_KMAG_2' ) NAIF_BODY_CODE += ( -155122 ) NAIF_BODY_NAME += ( 'KPLO_KMAG_3' ) NAIF_BODY_CODE += ( -155123 ) NAIF_BODY_NAME += ( 'KPLO_SHC' ) NAIF_BODY_CODE += ( -155150 ) NAIF_BODY_NAME += ( 'KPLO_SHC_A' ) NAIF_BODY_CODE += ( -155151 ) NAIF_BODY_NAME += ( 'KDSA01' ) NAIF_BODY_CODE += ( 398032 ) \begintext End of FK file.