KPL/FK Rosetta Spacecraft and Rosetta Lander Frames Kernel ======================================================================== This frame kernel contains complete set of frame definitions for the Rosetta Spacecraft (ROS) and Rosetta Lander (ROS_LANDER) including definitions for the Rosetta spacecraft and Rosetta science instrument frames and Rosetta Lander fixed, Rosetta Lander instrument, and landing site local frames. This kernel also contains NAIF name/ID mappings for the Rosetta and Rosetta Lander instruments, and name/ID mappings for the Rosetta target body DSK surfaces. Version and Date ======================================================================== Version 2.5 -- December 3, 2015 -- Boris Semenov, NAIF Added the ROS_AUX_NADIR frame previously defined in ROS_CGS_AUX_V01.TF. The frame ID was changed from -226910 to -226918 to avoid conflict with the existing 67P/C-G_CSEQ frame. Added the 67P/C-G_CK frame and accompanying SCLK keywords previously defined in ROS_CHURYUMOV_V01.TF. Added the ROS_RCO frame. Added the target body DSK surface name/ID mappings section. Added the Star Tracker frames, ROS_STR-A and ROS_STR-B. Updated NAVCAM alignments based on [14]. Updated the frame summary table and frame tree diagrams. Version 2.4 -- September 24, 2014 -- Maud Barthelemy, ESA Boris Semenov, NAIF Added ROLIS frames and name/ID code mappings. Version 2.3 -- August 21, 2014 -- Maud Barthelemy, ESA; Boris Semenov, NAIF Added SESAME DIM frames. Version 2.2 -- August 8, 2014 -- A. Steffl, SwRI Alice frames updated to reflect post-hibernation boresight positions Version 2.1 -- July 28, 2014 -- Federico Tosi, INAF-IAPS; Boris Semenov, NAIF Incorporated updated VIRTIS-M VIS anf IR frame definitions from [12]; added NAIF ID/name mapping for ROS_VIRTIS-M_IR_ZERO/-226214. Version 2.0 -- July 18, 2014 -- J. Vazquez Corrected the labels +Yhga_el and +Yhga_az in the schema for the HGA. This information was provided by Rudy Frahm (SWRI). Version 1.9 -- June 12, 2013 -- Maud Barthelemy, ESAC; Boris Semenov, NAIF Changed the name of the surface frame at the landing site (ROSLND_LOCAL_LEVEL -> ROS_LANDER_TOPO); changed the lander frame name, ID, and type (ROSLND_LANDER -> ROS_LANDER, -226900 -> -226800, FIXED->CK); added CIVA-P frames (ROS_LANDER_CIVA_P_(1...7)); added landing site, lander and CIVA-P name/ID mappings; Version 1.8 -- December 22, 2011 -- Boris Semenov, NAIF Added '21/LUTETIA_CSEQ' and '67P/C-G_CSEQ' -- body-Centered Solar EQuatorial frames for Lutetia and 67P/Churyumov-Gerasimenko Version 1.7 -- November 15, 2010 --- Bjoern Grieger, ESAC/ESAC Added NAIF ID/name pairs for ROS_VIRTIS-M_VIS_ZERO Version 1.6 -- January 26, 2010 -- Jose Luis Vazquez, ESA/ESAC Added NAIF ID/name pairs for ALICE_-X_WIDE_TOP and ALICE_+X_WIDE_BOTTOM. ROS_ALICE_OUTER1 and ROS_ALICE_OUTER2 removed. Version 1.5 -- January 7, 2010 -- Boris Semenov, NAIF Added '2867/STEINS_CSO' and '21/LUTETIA_CSO' -- body-Centered Solar Orbital frames for Steins and Lutetia. Version 1.4 -- September 22, 2008 -- Jose Luis Vazquez, ESAC Updated frame orientation for ALICE and VIRTIS-H, with the information in [7]. Version 1.3 -- April 2, 2008 -- Jose Luis Vazquez, ESAC Updated frame orientation for ALICE and VIRTIS-H, with the information in [7]. Version 1.2 -- June 16, 2007 -- Boris Semenov, NAIF Incorporated updated VIRTIS-M and -H frame definitions provided by Federico Tosi, INAF-IFSI [10]; updated description of the VIRTIS alignments to be similar to those for VEX VIRTIS; Version 1.1 -- December 6, 2006 -- Boris Semenov, NAIF Added '45P/H-M-P_CSO' frame -- Comet-centered Solar Orbital frame for Rosetta's incidental target (July 2006 pass through the ion tail) comet 45P/Honda-Mrkos-Pajdusakova. Corrected the center ID in the '67P/C-G_CSO' frame definition (was erroneously set to 399; was now reset to 1000012). Added aliases for the comet 45P/Honda-Mrkos-Pajdusakova to the name-ID mapping set. Version 1.0 -- September 8, 2006 -- Boris Semenov, NAIF Added '67P/C-G_CSO' frame -- Comet-centered Solar Orbital frame for Rosetta's primary target comet 67P/Churyumov-Gerasimenko Version 0.9 -- September 7, 2006 -- Boris Semenov, NAIF Re-implemented the solar array and HGA frame chains to allow for simpler representation of the appendage orientation data using CKs. Added name/ID mappings for the solar array and spacecraft bus corners. Version 0.8 -- September 6, 2006 -- Federico Tosi, INAF-IFSI & Boris Semenov, NAIF Changed the VIRTIS frames implementation as follows: - removed ROS_VIRTIS-M_VIS_SCAN/-226212, ROS_VIRTIS-M_IR_SCAN/-226214 and ROS_VIRTIS_URF/-226230 name/ID mappings; - removed ROS_VIRTIS-M_VIS_SCAN, ROS_VIRTIS-M_IR_SCAN, and ROS_VIRTIS_URF frames; - added ROS_VIRTIS-M_SCAN, ROS_VIRTIS-M_VIS_ZERO, and ROS_VIRTIS-M_IR_ZERO frames; - updated the VIRTIS frame tree diagram and frame descriptions for the new implementation. Version 0.7 -- September 5, 2006 -- Boris Semenov, NAIF Changed definition of the ROS_RPC_ICA frame to be consistent with [9]. Version 0.6 -- May 31, 2005 -- Boris Semenov, NAIF Updated RPC/MAG instrument/frame names and other parameters based on the feedback comments from Dr. Ingo Richter [8], specifically: -- renamed MAG sensors (MAG1 -> MAG_OB, MAG2 -> MAG_IB) -- renamed MAG sensor frames the same way -- changed BOOM2 frame class to be CK-based frame (its orientation is now provided in CK files) -- changed MAG_OB and MAG_IB frame definitions and incorporated their actual alignments relative to the BOOM2 frame into the definitions. Version 0.5 -- March 21, 2005 -- Boris Semenov, NAIF Updated MIRO_MM frame definition based on the change of the alignment angle ``Offset from Z s/c: y'' from -0.0057 deg to -0.057 deg. Version 0.4 -- March 14, 2005 -- Boris Semenov, NAIF Preliminary Version. Pending review and approval by Rosetta and Rosetta Lander instrument teams and ESTEC Science operations team. Added frames and name/ID mapping for NAVCAMs. Re-arranged MIRO frames. Added MRO_VIRTIS-M FRAME and re-arranged VIRTIS-M frames. Filled in calibrated alignments based on the instrument boresight directions from [7] for ALICE, MIRO, OSIRIS, VIRTIS, and NAVCAMs. Version 0.3 -- September 24, 2004 -- Boris Semenov, NAIF Preliminary Version. Pending review and approval by Rosetta and Rosetta Lander instrument teams and ESTEC Science operations team. Added RPC frames. Version 0.2 -- September 2, 2004 -- Boris Semenov, NAIF Preliminary Version. Pending review and approval by Rosetta and Rosetta Lander instrument teams and ESTEC Science operations team. Added MIDAS, CONSERT, and GIADA frames. Version 0.1 -- August 13, 2004 -- Boris Semenov, NAIF Preliminary Version. Pending review and approval by Rosetta and Rosetta Lander instrument teams and ESTEC Science operations team. Added comet and asteroid frame and ID/name mapping definitions. Version 0.0 -- August 3, 2004 -- Boris Semenov, NAIF Preliminary Version. Pending review and approval by Rosetta and Rosetta Lander instrument teams and ESTEC Science operations team. References ======================================================================== 1. ``Frames Required Reading'' 2. ``Kernel Pool Required Reading'' 3. ``C-Kernel Required Reading'' 4. Rosetta Instrument EID/Part B Documents; latest versions as of 08/03/04 5. ``Coordinate Systems for Rosetta'', RO-DSS-TN-1081, 6d, 2004/09/17 6. ``Rosetta Experiment Booms'', RO-SEN-TN-3501, 2000/02/16 7. ``Payload Boresight Alignment Details'', RO-EST-TN-3305, 2008/01/17 8. E-mail "ROSETTA RPC-MAG FK / IK Comments" from Dr. Ingo Richter, 2005/04/19. 9. RPC-ICA-EAICD, November 5, 2003 10. ``Changes in ROSETTA's FK'', E-mail from Federico Tosi, INAF - IFSI 11. ``Computing Euler Angles from Offsets (title TBC)'', (Document number TBD) J. Vazquez 12. ``Updated numbers for the VIRTIS section of Rosetta's FK'', E-mail from Federico Tosi, INAF-IAPS 13. Draft Star Tracker name/ID and frame definitions by Bjorn Grieger, ROS_V24+str2.TF, November 24, 2015 14. Updated NAVCAM alignments and frame definitions; e-mail from Bernhard Geiger, November 26, 2015 Contact Information ======================================================================== Boris V. Semenov, NAIF/JPL, (818)-354-8136, boris.semenov@jpl.nasa.gov Jose Luis Vazquez, ESAC/ESA, +34 91 8131 310, jlvazquez@sciops.esa.int 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 and CSPICE function furnsh_c load a kernel file into the kernel pool as shown below. CALL FURNSH ( 'frame_kernel_name' ) furnsh_c ( "frame_kernel_name" ); This file was created and may be updated with a text editor or word processor. Rosetta Mission NAIF ID Codes -- Summary Section ======================================================================== The following names and NAIF ID codes are assigned to the Rosetta spacecraft, its structures and science instruments (the keywords implementing these definitions are located in the section "Rosetta Mission NAIF ID Codes -- Definition Section" at the end of this file): Rosetta Targets: CHURYUMOV-GERASIMENKO 1000012 (synonyms: 67P/C-G, 67P/CHURYUMOV-GERASIMENKO) STEINS 2002867 (synonyms: 2867 STEINS) LUTETIA 2000021 (synonyms: 21 LUTETIA) HONDA-MRKOS-PAJDUSAKOVA 1000045 (synonyms: 45P/H-M-P, 45P/HONDA-MRKOS-PAJDUSAKOVA) Rosetta Spacecraft and Spacecraft Structures names/IDs: ROS -226 (synonyms: ROSETTA, ROSETTA ORBITER) ROS_SPACECRAFT -226000 (synonym: ROS_SC) ROS_MGA-S -226030 ROS_MGA-X -226040 ROS_LGA-1 -226050 ROS_LGA-2 -226060 ROS_HGA_GIMBAL -226070 ROS_HGA -226075 ROS_SA+Y_GIMBAL -226010 ROS_SA+Y_C1 -226011 ROS_SA+Y_C2 -226012 ROS_SA+Y_C3 -226013 ROS_SA+Y_C4 -226014 ROS_SA-Y_GIMBAL -226020 ROS_SA-Y_C1 -226021 ROS_SA-Y_C2 -226022 ROS_SA-Y_C3 -226023 ROS_SA-Y_C4 -226024 ROS_SPACECRAFT_C1 -226001 ROS_SPACECRAFT_C2 -226002 ROS_SPACECRAFT_C3 -226003 ROS_SPACECRAFT_C4 -226004 ROS_SPACECRAFT_C5 -226005 ROS_SPACECRAFT_C6 -226006 ROS_SPACECRAFT_C7 -226007 ROS_SPACECRAFT_C8 -226008 Star Tracker names/IDs: ROS_STR-A -226080 ROS_STR-B -226090 OSIRIS names/IDs: ROS_OSIRIS -226110 ROS_OSIRIS_NAC -226111 ROS_OSIRIS_NAC_URF -226116 ROS_OSIRIS_WAC -226112 ROS_OSIRIS_WAC_URF -226117 ALICE names/IDs: ROS_ALICE -226120 ROS_ALICE_CENTER -226121 ROS_ALICE_-X_WIDE_BOTTOM -226122 ROS_ALICE_+X_WIDE_TOP -226123 ROS_ALICE_PINHOLE -226124 ROS_ALICE_URF -226125 VIRTIS names/IDs: ROS_VIRTIS -226200 ROS_VIRTIS-M -226210 ROS_VIRTIS-M_VIS -226211 ROS_VIRTIS-M_IR -226213 ROS_VIRTIS-H -226220 MIRO names/IDs: ROS_MIRO -226130 ROS_MIRO_MM -226131 ROS_MIRO_SUBMM -226132 ROS_MIRO_URF -226135 ROSINA names/IDs: ROS_ROSINA -226300 ROS_ROSINA_DFMS -226310 ROS_ROSINA_DFMS_WA -226311 ROS_ROSINA_DFMS_NA -226312 ROS_ROSINA_DFMS_URF -226319 ROS_ROSINA_RTOF -226320 ROS_ROSINA_RTOF_URF -226329 ROS_ROSINA_COPS -226330 ROS_ROSINA_COPS_URF -226339 COSIMA names/IDs: ROS_COSIMA -226140 ROS_COSIMA_URF -226145 MIDAS names/IDs: ROS_MIDAS -226150 ROS_MIDAS_URF -226155 CONSERT names/IDs: ROS_CONSERT -226160 ROS_CONSERT_URF -226165 NAVCAM names/IDs: ROS_NAVCAM-A -226170 ROS_NAVCAM-A_URF -226175 ROS_NAVCAM-B -226180 ROS_NAVCAM-B_URF -226185 GIADA names/IDs: ROS_GIADA -226400 ROS_GIADA_GDS -226410 ROS_GIADA_IS -226420 ROS_GIADA_MBS1 -226431 ROS_GIADA_MBS2 -226432 ROS_GIADA_MBS3 -226433 ROS_GIADA_MBS4 -226434 ROS_GIADA_MBS5 -226435 ROS_GIADA_URF -226440 RPC names/IDs: ROS_RPC -226500 ROS_RPC_LAP1 -226511 ROS_RPC_LAP2 -226512 ROS_RPC_LAP1_URF -226515 ROS_RPC_LAP2_URF -226516 ROS_RPC_IES -226520 ROS_RPC_IES_ELECTRON -226521 ROS_RPC_IES_ION -226522 ROS_RPC_IES_URF -226525 ROS_RPC_IES_QUAD1 -226526 ROS_RPC_IES_QUAD2 -226527 ROS_RPC_IES_QUAD3 -226528 ROS_RPC_IES_QUAD4 -226529 ROS_RPC_ICA -226530 ROS_RPC_ICA_URF -226535 ROS_RPC_ICA_QUAD1 -226536 ROS_RPC_ICA_QUAD2 -226537 ROS_RPC_ICA_QUAD3 -226538 ROS_RPC_ICA_QUAD4 -226539 ROS_RPC_MAG_OB -226541 ROS_RPC_MAG_IB -226542 ROS_RPC_MAG_OB_URF -226545 ROS_RPC_MAG_IB_URF -226546 ROS_RPC_MIP -226550 ROS_RPC_MIP_R1 -226551 ROS_RPC_MIP_T1 -226552 ROS_RPC_MIP_T2 -226553 ROS_RPC_MIP_R2 -226554 ROS_RPC_MIP_URF -226555 ROS_RPC_BOOM1 -226560 ROS_RPC_BOOM2 -226570 Rosetta Lander Names/IDs: ROS_LANDER_LANDING_SITE -226999 (synonyms: ROS_LANDER_LS, ROS_LANDER_TOPO) ROS_LANDER -226800 PHILAE CIVA-P names/IDs: ROS_LANDER_CIVA_P_1 -226801 ROS_LANDER_CIVA_P_2 -226802 ROS_LANDER_CIVA_P_3 -226803 ROS_LANDER_CIVA_P_4 -226804 ROS_LANDER_CIVA_P_5 -226805 ROS_LANDER_CIVA_P_6 -226806 ROS_LANDER_CIVA_P_7 -226807 DIM names/IDs: ROS_LANDER_DIM_X -226830 ROS_LANDER_DIM_Y -226831 ROS_LANDER_DIM_Z -226832 ROLIS names/IDs: ROS_LANDER_ROLIS_IFL -226810 ROS_LANDER_ROLIS_R -226811 ROS_LANDER_ROLIS_G -226812 ROS_LANDER_ROLIS_B -226813 ROS_LANDER_ROLIS_IR -226814 Rosetta Target Body DSK Surface ID Codes -- Summary Section ======================================================================== The following names and ID codes are assigned to the DSK surfaces for the Rosetta target bodies (the keywords implementing these definitions are located in the section "Rosetta DSK Surface ID Codes -- Definition Section" at the end of this file; they are supported in all SPICE toolkits with integrated DSK capabilities (version N0066 or later)): DSK Surface Name ID Body ID =========================== ===== ======= Comet 67P/Churyumov-Gerasimenko Surface name/IDs: ROS_CG_M004_NSPCESA_N_V1 11000 1000012 ROS_CG_K006_OSPCLPS_N_V1 22000 1000012 ROS_CG_K012_OSPCLPS_N_V1 22001 1000012 ROS_CG_K024_OSPCLPS_N_V1 22002 1000012 ROS_CG_K050_OSPCLPS_N_V1 22003 1000012 ROS_CG_K096_OSPCLPS_N_V1 22004 1000012 ROS_CG_K195_OSPCLPS_N_V1 22005 1000012 ROS_CG_K399_OSPCLPS_N_V1 22006 1000012 ROS_CG_K786_OSPCLPS_N_V1 22007 1000012 ROS_CG_K006_OMSDLAM_N_V1 23000 1000012 ROS_CG_K012_OMSDLAM_N_V1 23001 1000012 ROS_CG_K024_OMSDLAM_N_V1 23002 1000012 ROS_CG_K048_OMSDLAM_N_V1 23003 1000012 ROS_CG_K098_OMSDLAM_N_V1 23004 1000012 ROS_CG_K191_OMSDLAM_N_V1 23005 1000012 ROS_CG_K391_OMSDLAM_N_V1 23006 1000012 ROS_CG_K760_OMSDLAM_N_V1 23007 1000012 ROS_CG_M001_OMSDLAM_N_V1 23008 1000012 Asteroid 21 Lutetia Surface name/IDs: ROS_LU_K003_OSPCLAM_N_V1 1000 2000021 ROS_LU_K006_OSPCLAM_N_V1 1001 2000021 ROS_LU_K012_OSPCLAM_N_V1 1002 2000021 ROS_LU_K025_OSPCLAM_N_V1 1003 2000021 ROS_LU_K048_OSPCLAM_N_V1 1004 2000021 ROS_LU_K098_OSPCLAM_N_V1 1005 2000021 ROS_LU_K190_OSPCLAM_N_V1 1006 2000021 ROS_LU_K240_OSPCLAM_N_V1 1007 2000021 ROS_LU_K380_OSPCLAM_N_V1 1008 2000021 ROS_LU_K780_OSPCLAM_N_V1 1009 2000021 ROS_LU_M002_OSPCLAM_N_V1 1010 2000021 ROS_LU_M003_OSPCLAM_N_V1 1011 2000021 Asteroid 2867 Steins Surface name/IDs: ROS_ST_K020_OSPCLAM_N_V1 1000 2002867 Rosetta Frames ======================================================================== The following Rosetta frames are defined in this kernel file: Name Relative to Type NAIF ID ====================== ====================== ============ ======= Rosetta Target frames: ---------------------------------------------------- 67P/C-G_CK J2000 CK -1000012000 67P/C-G_FIXED J2000 PCK 1000012 STEINS_FIXED J2000 PCK 2002867 LUTETIA_FIXED J2000 PCK 2000021 67P/C-G_CSO J2000 DYNAMIC -226912 45P/H-M-P_CSO J2000 DYNAMIC -226945 2867/STEINS_CSO J2000 DYNAMIC -226967 21/LUTETIA_CSO J2000 DYNAMIC -226921 67P/C-G_CSEQ J2000 DYNAMIC -226910 21/LUTETIA_CSEQ J2000 DYNAMIC -226920 Rosetta Orbiter-Centered Dynamic Frames: ---------------------------------------------------- ROS_AUX_NADIR J2000 DYNAMIC -226918 ROS_RCO J2000 DYNAMIC -226919 Rosetta Spacecraft and Spacecraft Structures frames: ---------------------------------------------------- ROS_SPACECRAFT J2000 CK -226000 ROS_SA+Y_ZERO ROS_SPACECRAFT FIXED -226010 ROS_SA+Y ROS_SA+Y_ZERO CK -226015 ROS_SA-Y_ZERO ROS_SPACECRAFT FIXED -226020 ROS_SA-Y ROS_SA-Y_ZERO CK -226025 ROS_MGA-S ROS_SPACECRAFT FIXED -226030 ROS_MGA-X ROS_SPACECRAFT FIXED -226040 ROS_LGA-1 ROS_SPACECRAFT FIXED -226050 ROS_LGA-2 ROS_SPACECRAFT FIXED -226060 ROS_HGA_EL ROS_SPACECRAFT CK -226071 ROS_HGA_AZ ROS_HGA_EL CK -226072 ROS_HGA ROS_HGA_AZ FIXED -226075 Star Tracker frames: -------------------- ROS_STR-A ROS_SPACECRAFT FIXED -226080 ROS_STR-B ROS_SPACECRAFT FIXED -226090 OSIRIS frames: -------------- ROS_OSIRIS_NAC ROS_SPACECRAFT FIXED -226111 ROS_OSIRIS_NAC_URF ROS_SPACECRAFT FIXED -226116 ROS_OSIRIS_WAC ROS_SPACECRAFT FIXED -226112 ROS_OSIRIS_WAC_URF ROS_SPACECRAFT FIXED -226117 ALICE frames: -------------- ROS_ALICE ROS_SPACECRAFT FIXED -226120 ROS_ALICE_URF ROS_SPACECRAFT FIXED -226125 VIRTIS frames: -------------- ROS_VIRTIS-M ROS_SPACECRAFT FIXED -226210 ROS_VIRTIS-M_SCAN ROS_VIRTIS-M CK -226215 ROS_VIRTIS-M_VIS ROS_VIRTIS-M_SCAN FIXED -226211 ROS_VIRTIS-M_IR ROS_VIRTIS-M_SCAN FIXED -226213 ROS_VIRTIS-M_VIS_ZERO ROS_VIRTIS-M FIXED -226212 ROS_VIRTIS-M_IR_ZERO ROS_VIRTIS_M FIXED -226214 ROS_VIRTIS-H ROS_SPACECRAFT FIXED -226220 MIRO frames: -------------- ROS_MIRO ROS_SPACECRAFT FIXED -226130 ROS_MIRO_MM ROS_MIRO FIXED -226131 ROS_MIRO_SUBMM ROS_MIRO FIXED -226132 ROS_MIRO_URF ROS_SPACECRAFT FIXED -226135 ROSINA frames: -------------- ROS_ROSINA_DFMS ROS_SPACECRAFT FIXED -226310 ROS_ROSINA_DFMS_URF ROS_SPACECRAFT FIXED -226319 ROS_ROSINA_RTOF ROS_SPACECRAFT FIXED -226320 ROS_ROSINA_RTOF_URF ROS_SPACECRAFT FIXED -226329 ROS_ROSINA_COPS ROS_SPACECRAFT FIXED -226330 ROS_ROSINA_COPS_URF ROS_SPACECRAFT FIXED -226339 COSIMA frames: -------------- ROS_COSIMA ROS_SPACECRAFT FIXED -226140 ROS_COSIMA_URF ROS_SPACECRAFT FIXED -226145 MIDAS frames: ------------- ROS_MIDAS ROS_SPACECRAFT FIXED -226150 ROS_MIDAS_URF ROS_SPACECRAFT FIXED -226155 CONSERT frames: --------------- ROS_CONSERT ROS_SPACECRAFT FIXED -226160 ROS_CONSERT_URF ROS_SPACECRAFT FIXED -226165 NAVCAM frames: -------------- ROS_NAVCAM-A ROS_SPACECRAFT FIXED -226170 ROS_NAVCAM-A_URF ROS_SPACECRAFT FIXED -226175 ROS_NAVCAM-B ROS_SPACECRAFT FIXED -226180 ROS_NAVCAM-B_URF ROS_SPACECRAFT FIXED -226185 GIADA frames: ------------- ROS_GIADA_GDS ROS_SPACECRAFT FIXED -226410 ROS_GIADA_IS ROS_SPACECRAFT FIXED -226420 ROS_GIADA_MBS1 ROS_SPACECRAFT FIXED -226431 ROS_GIADA_MBS2 ROS_SPACECRAFT FIXED -226432 ROS_GIADA_MBS3 ROS_SPACECRAFT FIXED -226433 ROS_GIADA_MBS4 ROS_SPACECRAFT FIXED -226434 ROS_GIADA_MBS5 ROS_SPACECRAFT FIXED -226435 ROS_GIADA_URF ROS_SPACECRAFT FIXED -226440 RPC frames: ----------- ROS_RPC_IES ROS_SPACECRAFT FIXED -226520 ROS_RPC_IES_URF ROS_SPACECRAFT FIXED -226525 ROS_RPC_ICA ROS_SPACECRAFT FIXED -226530 ROS_RPC_ICA_URF ROS_SPACECRAFT FIXED -226535 ROS_RPC_BOOM1 ROS_SPACECRAFT FIXED -226560 ROS_RPC_MIP ROS_RPC_BOOM1 FIXED -226550 ROS_RPC_LAP1 ROS_RPC_BOOM1 FIXED -226511 ROS_RPC_BOOM2 ROS_SPACECRAFT FIXED -226570 ROS_RPC_MAG_OB ROS_RPC_BOOM2 FIXED -226541 ROS_RPC_MAG_IB ROS_RPC_BOOM2 FIXED -226542 ROS_RPC_LAP2 ROS_RPC_BOOM2 FIXED -226512 Rosetta Lander Frames: ---------------------- ROS_LANDER_TOPO 67P/C-G_FIXED FIXED -226999 ROS_LANDER ROS_LANDER_TOPO CK -226800 CIVA-P frames: -------------- ROS_LANDER_CIVA_P_1 ROS_LANDER FIXED -226801 ROS_LANDER_CIVA_P_2 ROS_LANDER FIXED -226802 ROS_LANDER_CIVA_P_3 ROS_LANDER FIXED -226803 ROS_LANDER_CIVA_P_4 ROS_LANDER FIXED -226804 ROS_LANDER_CIVA_P_5 ROS_LANDER FIXED -226805 ROS_LANDER_CIVA_P_6 ROS_LANDER FIXED -226806 ROS_LANDER_CIVA_P_7 ROS_LANDER FIXED -226807 SESAME DIM frames: -------------- ROS_LANDER_DIM_X ROS_LANDER FIXED -226830 ROS_LANDER_DIM_Y ROS_LANDER FIXED -226831 ROS_LANDER_DIM_Z ROS_LANDER FIXED -226832 ROLIS frames: -------------- ROS_LANDER_ROLIS ROS_LANDER FIXED -226815 Rosetta Target, Spacecraft, and Spacecraft Structures Frame Tree ======================================================================== The diagram below shows the frame hierarchy for the Rosetta spacecraft and its structure frame (not including science instrument frames.) "45P/H-M-P_CSO" --------------- ^ |<-dyn | | "2867/STEINS_CSO" | ----------------- | ^ | |<-dyn | | | | "21/LUTETIA_CSEQ" "IAU_EARTH" | | ----------------- ----------- | | ^ ^ | | |<-dyn pck->| | | | | | | | "21/LUTETIA_CSO" "ITRF93" | | | | ---------------- -------- | | | | ^ ^ | | | | |<-dyn pck->| | | | | | | | | | | | "67P/C-G_CSEQ" "ROS_RCO" | | | | | | -------------- --------- | | | | | | ^ ^ | | | | | | |<-dyn dyn->| | | | | | | | | | | | | | | | "67P/C-G_CSO" "ROS_AUX_NADIR" | | | | | | | | ------------- --------------- | | | | | | | | ^ ^ | | | | | | | | |<-dyn dyn->| | | | | | | | | | | | | | | | | | | | | | | | | | | | | | "J2000" INERTIAL | | | | +-----------------------------------------------------+ | | | | | |<-pck ck->| | |<-pck pck->| | | | | | V V | V V "67P/C-G_FIXED" "67P/C-G_CK" | "LUTETIA_FIXED" "STEINS_FIXED" COMET BFXD COMET BFXD | ASTEROID BFXD ASTEROID BFXD --------------- ------------ | -------------- -------------- . . | fixed->. .<-fixed | . . | V V | "ROS_LANDER_TOPO" | ----------------- | | | |<-ck | | | V | "ROS_LANDER" | ------------ | . | . | V | Individual lander instrument | frame trees are provided | in the other sections | of this file | | | | "ROS_HGA" | --------- | ^ | |<-fixed | | | "ROS_HGA_AZ" | ROS_STR-B ------------ | --------- ^ | ^ |<-ck | fixed->| | | | "ROS_HGA_EL" | ROS_STR-A | ------------ | --------- | ^ | ^ | |<-ck |<-ck fixed->| | | | | | | V | | | "ROS_SPACECRAFT" | | +-----------------------------------------------------+ | | . | | | | |<-fixed |<-fixed . fixed->| | | |<-fixed | | . | | | | V V . V | | V "ROS_SA+Y_ZERO" "ROS_SA-Y_ZERO" . "ROS_LGA-1" | | "ROS_LGA-2" --------------- --------------- . ----------- | | ----------- | | . | | |<-ck |<-ck . fixed->| |<-fixed | | . | | V V . V V "ROS_SA+Y" "ROS_SA-Y" . "ROS_MGA-S" "ROS_MGA-X" ----------- ---------- . ----------- ----------- . . V Individual instrument frame trees are provided in the other sections of this file Rosetta Target Frames ======================================================================== This section of the file contains the body-fixed and dynamic (body-Centered Solar Orbital (CSO) and body-Centered Solar EQuatorial (CSEQ)) frame definitions for the primary, secondary and incidental targets of the Rosetta mission -- comet 67P/Churyumov-Gerasimenko, asteroids 2867 Steins and 21 Lutetia, and comet 45P/Honda-Mrkos-Pajdusakowa. Body-Fixed Frames Three PCK-based body-fixed frames -- 67P/C-G_FIXED, STEINS_FIXED, and LUTETIA_FIXED -- are defined for the mission target bodies 67P/Churyumov-Gerasimenko, asteroids 2867 Steins and 21 Lutetia. The orientation of these frames is computed by evaluating corresponding rotation constants provided in the PCK file(s). Because the orientation of 67P/Churyumov-Gerasimenko cannot be represented over long periods of time using the standard IAU body rotation formulation, an additional body-fixed CK-based frame, 67P/C-G_CK, is defined for the comet. The orientation of this frame is computed using data provided in CK files for ID -1000012000, tagged encoded ticks of the artificial SCLK with ID -1000012. The SCLK data supporting conversions between these ticks and Ephemeris Time are provided next to the 67P/C-G_CK frame definition below. The definition of this frame and accompanying SCLK parameters were originally provided in the FK file ROS_CHURYUMOV_V01.TF. The 67P/C-G_CK is the preferred body-fixed frame for the comet in all cases when the comet orientation CKs are available. All four body fixed frames have their axes and center aligned according to the standard body-fixed frame formation rules: - +Z axis is toward the North pole; - +X axis is toward the prime meridian; - +Y axis completes the right handed frame; - the origin of this frame is at the center of the body. The keywords below define the three PCK-based frames and the CK-based frame and accompanying SCLK parameters. \begindata FRAME_67P/C-G_FIXED = 1000012 FRAME_1000012_NAME = '67P/C-G_FIXED' FRAME_1000012_CLASS = 2 FRAME_1000012_CLASS_ID = 1000012 FRAME_1000012_CENTER = 1000012 OBJECT_1000012_FRAME = '67P/C-G_FIXED' FRAME_STEINS_FIXED = 2002867 FRAME_2002867_NAME = 'STEINS_FIXED' FRAME_2002867_CLASS = 2 FRAME_2002867_CLASS_ID = 2002867 FRAME_2002867_CENTER = 2002867 OBJECT_2002867_FRAME = 'STEINS_FIXED' FRAME_LUTETIA_FIXED = 2000021 FRAME_2000021_NAME = 'LUTETIA_FIXED' FRAME_2000021_CLASS = 2 FRAME_2000021_CLASS_ID = 2000021 FRAME_2000021_CENTER = 2000021 OBJECT_2000021_FRAME = 'LUTETIA_FIXED' FRAME_67P/C-G_CK = -1000012000 FRAME_-1000012000_NAME = '67P/C-G_CK' FRAME_-1000012000_CLASS = 3 FRAME_-1000012000_CLASS_ID = -1000012000 FRAME_-1000012000_CENTER = 1000012 CK_-1000012000_SCLK = -1000012 CK_-1000012000_SPK = 1000012 SCLK_KERNEL_ID = ( @2011-01-05/12:01:58 ) SCLK_DATA_TYPE_1000012 = ( 1 ) SCLK01_TIME_SYSTEM_1000012 = ( 2 ) SCLK01_N_FIELDS_1000012 = ( 2 ) SCLK01_MODULI_1000012 = ( 4294967296 65536 ) SCLK01_OFFSETS_1000012 = ( 0 0 ) SCLK01_OUTPUT_DELIM_1000012 = ( 1 ) SCLK_PARTITION_START_1000012 = ( 2.4123675052450E+12 ) SCLK_PARTITION_END_1000012 = ( 2.8147497671065E+14 ) SCLK01_COEFFICIENTS_1000012 = ( 0.0000000000000E+00 1.3146108418400E+08 1.0000000000000E+00 ) \begintext Body-Centered Solar Orbital (CSO) Frames The body-Centered Solar Orbital (CSO) frames for the Rosetta primary target comet 67P/Churyumov-Gerasimenko, incidental target comet 45P/Honda-Mrkos-Pajdusakowa (Rosetta passed through its ion tail in July 2006), and secondary targets asteroids 2867/STEINS and 21/LUTETIA are named '67P/C-G_CSO', '45P/H-M-P_CSO', '2867/STEINS_CSO', and '21/LUTETIA_CSO'. These frames are defined as a two-vector style dynamic frames as follows: - The position of the sun relative to the body is the primary vector: the X axis points from the body to the sun. - The inertially referenced velocity of the sun relative to the body is the secondary vector: the Y axis is the component of this velocity vector orthogonal to the X axis. - The Z axis is X cross Y, completing the right-handed reference frame. - All vectors are geometric: no aberration corrections are used. The '67P/C-G_CSO', '45P/H-M-P_CSO', '2867/STEINS_CSO', and '21/LUTETIA_CSO' definitions are implemented by the keywords below. \begindata FRAME_67P/C-G_CSO = -226912 FRAME_-226912_NAME = '67P/C-G_CSO' FRAME_-226912_CLASS = 5 FRAME_-226912_CLASS_ID = -226912 FRAME_-226912_CENTER = 1000012 FRAME_-226912_RELATIVE = 'J2000' FRAME_-226912_DEF_STYLE = 'PARAMETERIZED' FRAME_-226912_FAMILY = 'TWO-VECTOR' FRAME_-226912_PRI_AXIS = 'X' FRAME_-226912_PRI_VECTOR_DEF = 'OBSERVER_TARGET_POSITION' FRAME_-226912_PRI_OBSERVER = 'CHURYUMOV-GERASIMENKO' FRAME_-226912_PRI_TARGET = 'SUN' FRAME_-226912_PRI_ABCORR = 'NONE' FRAME_-226912_SEC_AXIS = 'Y' FRAME_-226912_SEC_VECTOR_DEF = 'OBSERVER_TARGET_VELOCITY' FRAME_-226912_SEC_OBSERVER = 'CHURYUMOV-GERASIMENKO' FRAME_-226912_SEC_TARGET = 'SUN' FRAME_-226912_SEC_ABCORR = 'NONE' FRAME_-226912_SEC_FRAME = 'J2000' FRAME_45P/H-M-P_CSO = -226945 FRAME_-226945_NAME = '45P/H-M-P_CSO' FRAME_-226945_CLASS = 5 FRAME_-226945_CLASS_ID = -226945 FRAME_-226945_CENTER = 1000045 FRAME_-226945_RELATIVE = 'J2000' FRAME_-226945_DEF_STYLE = 'PARAMETERIZED' FRAME_-226945_FAMILY = 'TWO-VECTOR' FRAME_-226945_PRI_AXIS = 'X' FRAME_-226945_PRI_VECTOR_DEF = 'OBSERVER_TARGET_POSITION' FRAME_-226945_PRI_OBSERVER = 'HONDA-MRKOS-PAJDUSAKOVA' FRAME_-226945_PRI_TARGET = 'SUN' FRAME_-226945_PRI_ABCORR = 'NONE' FRAME_-226945_SEC_AXIS = 'Y' FRAME_-226945_SEC_VECTOR_DEF = 'OBSERVER_TARGET_VELOCITY' FRAME_-226945_SEC_OBSERVER = 'HONDA-MRKOS-PAJDUSAKOVA' FRAME_-226945_SEC_TARGET = 'SUN' FRAME_-226945_SEC_ABCORR = 'NONE' FRAME_-226945_SEC_FRAME = 'J2000' FRAME_2867/STEINS_CSO = -226967 FRAME_-226967_NAME = '2867/STEINS_CSO' FRAME_-226967_CLASS = 5 FRAME_-226967_CLASS_ID = -226967 FRAME_-226967_CENTER = 2002867 FRAME_-226967_RELATIVE = 'J2000' FRAME_-226967_DEF_STYLE = 'PARAMETERIZED' FRAME_-226967_FAMILY = 'TWO-VECTOR' FRAME_-226967_PRI_AXIS = 'X' FRAME_-226967_PRI_VECTOR_DEF = 'OBSERVER_TARGET_POSITION' FRAME_-226967_PRI_OBSERVER = 'STEINS' FRAME_-226967_PRI_TARGET = 'SUN' FRAME_-226967_PRI_ABCORR = 'NONE' FRAME_-226967_SEC_AXIS = 'Y' FRAME_-226967_SEC_VECTOR_DEF = 'OBSERVER_TARGET_VELOCITY' FRAME_-226967_SEC_OBSERVER = 'STEINS' FRAME_-226967_SEC_TARGET = 'SUN' FRAME_-226967_SEC_ABCORR = 'NONE' FRAME_-226967_SEC_FRAME = 'J2000' FRAME_21/LUTETIA_CSO = -226921 FRAME_-226921_NAME = '21/LUTETIA_CSO' FRAME_-226921_CLASS = 5 FRAME_-226921_CLASS_ID = -226921 FRAME_-226921_CENTER = 2000021 FRAME_-226921_RELATIVE = 'J2000' FRAME_-226921_DEF_STYLE = 'PARAMETERIZED' FRAME_-226921_FAMILY = 'TWO-VECTOR' FRAME_-226921_PRI_AXIS = 'X' FRAME_-226921_PRI_VECTOR_DEF = 'OBSERVER_TARGET_POSITION' FRAME_-226921_PRI_OBSERVER = 'LUTETIA' FRAME_-226921_PRI_TARGET = 'SUN' FRAME_-226921_PRI_ABCORR = 'NONE' FRAME_-226921_SEC_AXIS = 'Y' FRAME_-226921_SEC_VECTOR_DEF = 'OBSERVER_TARGET_VELOCITY' FRAME_-226921_SEC_OBSERVER = 'LUTETIA' FRAME_-226921_SEC_TARGET = 'SUN' FRAME_-226921_SEC_ABCORR = 'NONE' FRAME_-226921_SEC_FRAME = 'J2000' \begintext Body-Centered Solar EQuatorial (CSEQ) Frames The body-Centered Solar EQuatorial (CSEQ) frames for the Rosetta primary target comet 67P/Churyumov-Gerasimenko and secondary target asteroid 21/LUTETIA are named '67P/C-G_CSEQ' and '21/LUTETIA_CSEQ'. These frames are defined as a two-vector style dynamic frames as follows: - +X axis is the position of the Sun relative to the body; it's the primary vector and points from the body to the Sun; - +Z axis is the component of the Sun's north pole of date orthogonal to the +X axis; - +Y axis completes the right-handed reference frame; - the origin of this frame is the body's center of mass. All the vectors are geometric: no aberration corrections are used. The '67P/C-G_CSEQ' and '21/LUTETIA_CSEQ' definitions are implemented by the keywords below. \begindata FRAME_67P/C-G_CSEQ = -226910 FRAME_-226910_NAME = '67P/C-G_CSEQ' FRAME_-226910_CLASS = 5 FRAME_-226910_CLASS_ID = -226910 FRAME_-226910_CENTER = 1000012 FRAME_-226910_RELATIVE = 'J2000' FRAME_-226910_DEF_STYLE = 'PARAMETERIZED' FRAME_-226910_FAMILY = 'TWO-VECTOR' FRAME_-226910_PRI_AXIS = 'X' FRAME_-226910_PRI_VECTOR_DEF = 'OBSERVER_TARGET_POSITION' FRAME_-226910_PRI_OBSERVER = '67P/C-G' FRAME_-226910_PRI_TARGET = 'SUN' FRAME_-226910_PRI_ABCORR = 'NONE' FRAME_-226910_SEC_AXIS = 'Z' FRAME_-226910_SEC_VECTOR_DEF = 'CONSTANT' FRAME_-226910_SEC_FRAME = 'IAU_SUN' FRAME_-226910_SEC_SPEC = 'RECTANGULAR' FRAME_-226910_SEC_VECTOR = ( 0, 0, 1 ) FRAME_21/LUTETIA_CSEQ = -226920 FRAME_-226920_NAME = '21/LUTETIA_CSEQ' FRAME_-226920_CLASS = 5 FRAME_-226920_CLASS_ID = -226920 FRAME_-226920_CENTER = 2000021 FRAME_-226920_RELATIVE = 'J2000' FRAME_-226920_DEF_STYLE = 'PARAMETERIZED' FRAME_-226920_FAMILY = 'TWO-VECTOR' FRAME_-226920_PRI_AXIS = 'X' FRAME_-226920_PRI_VECTOR_DEF = 'OBSERVER_TARGET_POSITION' FRAME_-226920_PRI_OBSERVER = 'LUTETIA' FRAME_-226920_PRI_TARGET = 'SUN' FRAME_-226920_PRI_ABCORR = 'NONE' FRAME_-226920_SEC_AXIS = 'Z' FRAME_-226920_SEC_VECTOR_DEF = 'CONSTANT' FRAME_-226920_SEC_FRAME = 'IAU_SUN' FRAME_-226920_SEC_SPEC = 'RECTANGULAR' FRAME_-226920_SEC_VECTOR = ( 0, 0, 1 ) \begintext Rosetta Orbiter-Centered Dynamic Frames ======================================================================== This section of the file contains the definitions of the dynamic frames centered at the Rosetta orbiter. Rosetta Auxiliary Nadir Frame The Rosetta auxiliary nadir frame, ROS_AUX_NADIR, needed for ROVIS pointing computations, is defined as a two-vector style dynamic frame as follows: - The position of 67P/C-G relative to the spacecraft is the primary vector: the Z axis points from the spacecraft to 67P/C-G. - The apparent position of the Sun as seen from the spacecraft is the secondary vector: the X axis is the component of this position vector orthogonal to the Z axis. - The Y axis is Z cross X, completing the right-handed frame. The keywords below implement this definition, which was originally provided in the FK file ROS_CGS_AUX_V01.TF using the frame ID -226910. \begindata FRAME_ROS_AUX_NADIR = -226918 FRAME_-226918_NAME = 'ROS_AUX_NADIR' FRAME_-226918_CLASS = 5 FRAME_-226918_CLASS_ID = -226918 FRAME_-226918_CENTER = 'ROSETTA' FRAME_-226918_RELATIVE = 'J2000' FRAME_-226918_DEF_STYLE = 'PARAMETERIZED' FRAME_-226918_FAMILY = 'TWO-VECTOR' FRAME_-226918_ANGLE_SEP_TOL = 0.000001 FRAME_-226918_PRI_AXIS = 'Z' FRAME_-226918_PRI_VECTOR_DEF = 'OBSERVER_TARGET_POSITION' FRAME_-226918_PRI_OBSERVER = 'ROSETTA' FRAME_-226918_PRI_TARGET = 'CHURYUMOV-GERASIMENKO' FRAME_-226918_PRI_ABCORR = 'NONE' FRAME_-226918_SEC_AXIS = 'X' FRAME_-226918_SEC_VECTOR_DEF = 'OBSERVER_TARGET_POSITION' FRAME_-226918_SEC_OBSERVER = 'ROSETTA' FRAME_-226918_SEC_TARGET = 'SUN' FRAME_-226918_SEC_ABCORR = 'LT+S' \begintext Rosetta Body-Centered 67p/C-G Orbital Frame The body-Centered 67p/C-G Orbital (RCO) frame for the ROSETTA spacecraft, ROS_RCO, is defined as a two-vector style dynamic frame as follows: - The position of 67P/C-G relative to the spacecraft is the primary vector: the X axis points from the spacecraft to 67P/C-G. - The inertially referenced velocity of 67P/C-G relative to the spacecraft is the secondary vector: the Y axis is the component of this velocity vector orthogonal to the X axis. - The Z axis is X cross Y, completing the right-handed reference frame. - All vectors are geometric: no aberration corrections are used. The keywords below implement this definition, which was originally provided in the FK file ROS_RCO.TF. \begindata FRAME_ROS_RCO = -226919 FRAME_-226919_NAME = 'ROS_RCO' FRAME_-226919_CLASS = 5 FRAME_-226919_CLASS_ID = -226919 FRAME_-226919_CENTER = -226 FRAME_-226919_RELATIVE = 'J2000' FRAME_-226919_DEF_STYLE = 'PARAMETERIZED' FRAME_-226919_FAMILY = 'TWO-VECTOR' FRAME_-226919_PRI_AXIS = 'X' FRAME_-226919_PRI_VECTOR_DEF = 'OBSERVER_TARGET_POSITION' FRAME_-226919_PRI_OBSERVER = 'ROSETTA' FRAME_-226919_PRI_TARGET = 'CHURYUMOV-GERASIMENKO' FRAME_-226919_PRI_ABCORR = 'NONE' FRAME_-226919_SEC_AXIS = 'Y' FRAME_-226919_SEC_VECTOR_DEF = 'OBSERVER_TARGET_VELOCITY' FRAME_-226919_SEC_OBSERVER = 'ROSETTA' FRAME_-226919_SEC_TARGET = 'CHURYUMOV-GERASIMENKO' FRAME_-226919_SEC_ABCORR = 'NONE' FRAME_-226919_SEC_FRAME = 'J2000' \begintext Rosetta Spacecraft and Spacecraft Structures Frames ======================================================================== This section of the file contains the definitions of the spacecraft and spacecraft structures frames. Rosetta Spacecraft Frame -------------------------------------- According to [5] the Rosetta spacecraft frame is defined as follows: - +Z axis is perpendicular to the launch vehicle interface plane and points toward the payload side; - +X axis is perpendicular to the HGA mounting plane and points toward HGA; - +Y axis completes the frame is right-handed. - the origin of this frame is the launch vehicle interface point. These diagrams illustrate the ROS_SPACECRAFT frame: +X s/c side (HGA side) view: ---------------------------- ^ | toward comet | Science Deck ._____________. .__ _______________. | | .______________ ___. | \ \ \ | | / \ \ | | / / \ | +Zsc | / / / | | \ \ `. | ^ | .' \ \ | | / / | o| | |o | / / | | \ \ .' | | | `. \ \ | | / / / | | | \ / / | .__\ \_______________/ | +Xsc| | \_______________\ \__. -Y Solar Array .______o-------> +Ysc +Y Solar Array ._____. .' `. / \ . `. .' . +Xsc is out of | `o' | the page . | . \ | / `. .' HGA ` --- ' +Z s/c side (science deck side) view: ------------------------------------- _____ / \ Lander | | ._____________. | | | | | +Zsc | +Ysc o==/ /==================o | o------->o==================/ /==o -Y Solar Array | | | +Y Solar Array | | | .______|______. `. | .' .--V +Xsc HGA .' `. /___________\ `.|.' +Zsc is out of the page Since the orientation of the ROS_SPACECRAFT frame is computed on-board, sent down in telemetry, and stored in the s/c CK files, it is defined as a CK-based frame. \begindata FRAME_ROS_SPACECRAFT = -226000 FRAME_-226000_NAME = 'ROS_SPACECRAFT' FRAME_-226000_CLASS = 3 FRAME_-226000_CLASS_ID = -226000 FRAME_-226000_CENTER = -226 CK_-226000_SCLK = -226 CK_-226000_SPK = -226 \begintext Rosetta Solar Array Frames -------------------------------------- Each of the solar array frame chains includes two frames. The first frame, named ROS_SA+Y_ZERO for +Y solar array and ROS_SA-Y_ZERO for -Y solar array, is a fixed offset frame that gives the array orientation in zero gimbal position. The second frame, named ROS_SA+Y for +Y solar array and ROS_SA-Y for -Y solar array, is a CK-based frame that incorporates rotation about the array's gimbal axis from zero position to the actual position. The array frames, ROS_SA+Y and ROS_SA-Y, are defined as follows: - +Y axis is parallel to the longest side of the array and array rotation axis, and is positively oriented from the end of the wing toward the gimbal; - +Z axis is normal to the solar array plane, the solar cells on the +Z side; - +X axis is defined such that (X,Y,Z) is right handed; - the origin of the frame is located at the geometric center of center the gimbal. In zero gimbal position the ROS_SA+Y frame is co-aligned with the ROS_SA+Y_ZERO frame and the ROS_SA-Y frame is co-aligned with the ROS_SA-Y_ZERO frame. In non-zero position each of the array frames is rotated from its corresponding "zero" frame positive CCW about +Y axis, with this rotation captured in CK files. This diagram illustrates the solar array frames for both arrays in zero position: +X s/c side (HGA side) view: ---------------------------- ^ | toward comet | Science Deck +Xsa+y0 ._____________.^+Xsa+y .__ _______________. | || .______________ ___. | \ \ \ | || / \ \ | | / / \ | +Zsc || / / / | | \ \ `. | ^ ||.+Zsa+y0 \ \ | | / / +Zsa-y0 o-----> | <-----o Zsa+y / / | | \ \ +Zsa-y.'|+Ysa-y0|+Ysa+y0 `. \ \ | | / / / ||+Ysa-y|+Ysa+y| \ / / | .__\ \_______________/ || | | \_______________\ \__. -Y Solar Array |.______o-------> +Ysc +Y Solar Array v +Xsc o__. +Xsa-y0 .' `. +Xsa-y / \ . `. .' . +Zsa+y0, +Zsa+y, +Zsa-y0, | `o' | and +Zsa-y are out of . | . the page \ | / `. .' Active solar cell is HGA ` --- ' facing the viewer As seen on the diagram the ROS_SA-Y_ZERO is rotated from the spacecraft frame by +90 degrees about +Y while the ROS_SA+Y_ZERO is rotated from the spacecraft frame first by 180 degrees about +X and then by +90 degrees about +Y. These sets of keywords define the solar array frames as CK frames: \begindata FRAME_ROS_SA+Y_ZERO = -226010 FRAME_-226010_NAME = 'ROS_SA+Y_ZERO' FRAME_-226010_CLASS = 4 FRAME_-226010_CLASS_ID = -226010 FRAME_-226010_CENTER = -226 TKFRAME_-226010_RELATIVE = 'ROS_SPACECRAFT' TKFRAME_-226010_SPEC = 'ANGLES' TKFRAME_-226010_UNITS = 'DEGREES' TKFRAME_-226010_ANGLES = ( 180.000, 90.000, 0.000 ) TKFRAME_-226010_AXES = ( 3, 2, 3 ) FRAME_ROS_SA+Y = -226015 FRAME_-226015_NAME = 'ROS_SA+Y' FRAME_-226015_CLASS = 3 FRAME_-226015_CLASS_ID = -226015 FRAME_-226015_CENTER = -226 CK_-226015_SCLK = -226 CK_-226015_SPK = -226 FRAME_ROS_SA-Y_ZERO = -226020 FRAME_-226020_NAME = 'ROS_SA-Y_ZERO' FRAME_-226020_CLASS = 4 FRAME_-226020_CLASS_ID = -226020 FRAME_-226020_CENTER = -226 TKFRAME_-226020_RELATIVE = 'ROS_SPACECRAFT' TKFRAME_-226020_SPEC = 'ANGLES' TKFRAME_-226020_UNITS = 'DEGREES' TKFRAME_-226020_ANGLES = ( 0.000, -90.000, 0.000 ) TKFRAME_-226020_AXES = ( 3, 2, 3 ) FRAME_ROS_SA-Y = -226025 FRAME_-226025_NAME = 'ROS_SA-Y' FRAME_-226025_CLASS = 3 FRAME_-226025_CLASS_ID = -226025 FRAME_-226025_CENTER = -226 CK_-226025_SCLK = -226 CK_-226025_SPK = -226 \begintext Rosetta High Gain Antenna Frame -------------------------------------- The Rosetta High Gain Antenna is attached to the +X side of the s/c bus by a gimbal providing two degrees of freedom and it articulates during flight to track Earth. To incorporate rotations in the gimbal the HGA frame chain includes three frames: ROS_HGA_EL, ROS_HGA_AZ, and ROS_HGA. The first two frames are defined as CK-based frames and are co-aligned with the spacecraft frame in the zero gimbal position. In a non-zero position the ROS_HGA_EL is rotated from the spacecraft frame by an elevation angle about +Y and the ROS_HGA_AZ frame is rotated from the ROS_HGA_EL frame by an azimuth angle about +Z. These rotations are stored in separated segments in CK files. The ROS_HGA frame is defined as follows: - +Z axis is in the antenna boresight direction; - +X axis points from the gimbal toward the antenna dish symmetry axis; - +Y axis completes the right hand frame; - the origin of the frame is located at the geometric center of the HGA dish outer rim circle. The ROS_HGA frame is defined a fixed offset frame relative to the ROS_HGA_AZ frame and is rotated by +90 degrees about +Y from it. This diagram illustrates the ROS_HGA frames in the zero gimbal position: +X s/c side (HGA side) view: ---------------------------- ^ | toward comet | Science Deck ._____________. .__ _______________. | | .______________ ___. | \ \ \ | | / \ \ | | / / \ | +Zsc | / / / | | \ \ `. | ^ | .' \ \ | | / / | o| | |o | / / | | \ \ .'+Zhga_el^ | `. \ \ | | / / / +Zhga_az| | \ / / | .__\ \_______________/ | | | \_______________\ \__. -Y Solar Array .______o-------> +Ysc +Y Solar Array .__o-------> .' `. +Yhga_el / \ +Yhga_az . `. .' . | `o-------> +Yhga +Zhga, +Xsc, +Xhga_el, . | . +Xhga_az and HGA \ | / boresight are out `. | .' of the page HGA ` -|- ' V +Xhga This set of keywords defines the HGA frame as a CK frame: \begindata FRAME_ROS_HGA_EL = -226071 FRAME_-226071_NAME = 'ROS_HGA_EL' FRAME_-226071_CLASS = 3 FRAME_-226071_CLASS_ID = -226071 FRAME_-226071_CENTER = -226 CK_-226071_SCLK = -226 CK_-226071_SPK = -226 FRAME_ROS_HGA_AZ = -226072 FRAME_-226072_NAME = 'ROS_HGA_AZ' FRAME_-226072_CLASS = 3 FRAME_-226072_CLASS_ID = -226072 FRAME_-226072_CENTER = -226 CK_-226072_SCLK = -226 CK_-226072_SPK = -226 FRAME_ROS_HGA = -226075 FRAME_-226075_NAME = 'ROS_HGA' FRAME_-226075_CLASS = 4 FRAME_-226075_CLASS_ID = -226075 FRAME_-226075_CENTER = -226 TKFRAME_-226075_RELATIVE = 'ROS_HGA_AZ' TKFRAME_-226075_SPEC = 'ANGLES' TKFRAME_-226075_UNITS = 'DEGREES' TKFRAME_-226075_ANGLES = ( 0.000, -90.000, 0.000 ) TKFRAME_-226075_AXES = ( 1, 2, 3 ) \begintext Other Rosetta Antenna Frames -------------------------------------- The frames for the other four Rosetta antennas -- MGA-S, MGA-X, LGA-1 and LGA-2 -- are defined as follows: - +Z axis is in the antenna boresight direction; - +Y axis is nominally parallel to the s/c +Y axis; - +X axis completes the right hand frame; - the origin of the frame is located at the geometric center of the antenna outer side. Both MGA antennas are mounted on the +X side of the s/c bus and nominally point in the s/c +X axis direction. One rotation by +90 degrees about +Y is needed to align the s/c frame with their frames. The LGA-1 is mounted on the +Z side of the s/c bus and nominally points 30 degrees off the s/c +Z axis toward the s/c +X axis. One rotation by +30 degrees about +Y is needed to align the s/c frame with the LGA-1 frame. The LGA-2 is mounted on the -X side of the s/c bus and nominally points 30 degrees off the s/c -Z axis toward the s/c -X axis. One rotation by +210 degrees about +Y is needed to align the s/c frame with the LGA-2 frame. This diagram illustrates the ROS_MGA-S and ROS_MGA-X frames: +Y s/c side view: ----------------- ^ | toward comet | Science Deck +Zmgax ._____________. <-------o| | <-------o| | +Zmgas || +Zsc |----. Lander || ^ | | | +Xmgax || | | | | .V| | | | | +Xmgas V| | |----' .' | |+Ysc | o==== <-------o _____. .// +Xsc |`. | \ | . o'| | \| ' | / +Y solar array is not shown |.' ' HGA +Ysc, +Ymgas, and +Ymgax are out of the page This diagram illustrates the ROS_LGA-1 and ROS_LGA-2 frames: +Y s/c side view: ----------------- +Zlga1 ^ ^ \ | toward comet \ | \ o Science Deck .'_\___________. .' | | .' | | +Xlga1 v | +Zsc |----. Lander | ^ | | | | | | | | .'| | | | | ^ .' | | |----'.' +Xlga2 .' | |+Ysc |\ .' o==== <-------o _____._o' .// +Xsc LGA2 \ |`. \ | \ \ | . V +Zlga2 o'| | \| ' | / +Y solar array is not shown |.' ' HGA +Ysc, +Ylga1, and +Ylga2 are out of the page These sets of keywords define MGA and LGA frames as fixed offset frames: \begindata FRAME_ROS_MGA-S = -226030 FRAME_-226030_NAME = 'ROS_MGA-S' FRAME_-226030_CLASS = 4 FRAME_-226030_CLASS_ID = -226030 FRAME_-226030_CENTER = -226 TKFRAME_-226030_RELATIVE = 'ROS_SPACECRAFT' TKFRAME_-226030_SPEC = 'ANGLES' TKFRAME_-226030_UNITS = 'DEGREES' TKFRAME_-226030_ANGLES = ( 0.000, -90.000, 0.000 ) TKFRAME_-226030_AXES = ( 1, 2, 3 ) FRAME_ROS_MGA-X = -226040 FRAME_-226040_NAME = 'ROS_MGA-X' FRAME_-226040_CLASS = 4 FRAME_-226040_CLASS_ID = -226040 FRAME_-226040_CENTER = -226 TKFRAME_-226040_RELATIVE = 'ROS_SPACECRAFT' TKFRAME_-226040_SPEC = 'ANGLES' TKFRAME_-226040_UNITS = 'DEGREES' TKFRAME_-226040_ANGLES = ( 0.000, -90.000, 0.000 ) TKFRAME_-226040_AXES = ( 1, 2, 3 ) FRAME_ROS_LGA-1 = -226050 FRAME_-226050_NAME = 'ROS_LGA-1' FRAME_-226050_CLASS = 4 FRAME_-226050_CLASS_ID = -226050 FRAME_-226050_CENTER = -226 TKFRAME_-226050_RELATIVE = 'ROS_SPACECRAFT' TKFRAME_-226050_SPEC = 'ANGLES' TKFRAME_-226050_UNITS = 'DEGREES' TKFRAME_-226050_ANGLES = ( 0.000, -30.000, 0.000 ) TKFRAME_-226050_AXES = ( 1, 2, 3 ) FRAME_ROS_LGA-2 = -226060 FRAME_-226060_NAME = 'ROS_LGA-2' FRAME_-226060_CLASS = 4 FRAME_-226060_CLASS_ID = -226060 FRAME_-226060_CENTER = -226 TKFRAME_-226060_RELATIVE = 'ROS_SPACECRAFT' TKFRAME_-226060_SPEC = 'ANGLES' TKFRAME_-226060_UNITS = 'DEGREES' TKFRAME_-226060_ANGLES = ( 0.000, -210.000, 0.000 ) TKFRAME_-226060_AXES = ( 1, 2, 3 ) \begintext Star Tracker Frames -------------------------------------- The Star Tracker STR-A and STR-B frames -- ROS_STR-A and ROS_STR-B -- are defined as follows: - +Z axis points along the Star Tracker boresight; - +X axis is nominally parallel to the s/c XY plane and points in the direction of the s/c +Y axis for STR-A and in the direction of the s/c -Y axis for STR-B; - +Y axis completes the right hand frame; - the origin of the frame is located at the Star Tracker focal point. This diagram illustrates the Star Tracker frames: +Z s/c side (science deck side) view: ------------------------------------------------- 15 deg 15 deg \<--->| |<--->/ +Zstr-b ^ _____ ^ +Zstr-a \ / \ / \ | | / .\___________/. |.o x.| +Xstr-b .-' `-. +Xstr-a <' | | `> o==/ /==================o | o------->o==================/ /==o -Y Solar Array | | | +Ysc +Y Solar Array | | | .______|______. `. | .' .--V +Xsc +Zsc and +Ystr-b HGA .' `. are out of the page /___________\ `.|.' +Ystr-a is into the page +Zstr-b points 10 deg below the page. The STR-A frame is nominally rotated from the s/c frame first by -90 degrees about X, then by -75 degrees about Y. The STR-B frame is nominally rotated from the s/c frame first by +90 degrees about X, then by -75 degrees about Y, then by +10 degrees about X. Two versions of the actual Star Tracker frame alignment matrices rotating vectors from the S/C frame to the Star Tracker frames were provided in [13], identical for STR-A and slightly different (by less than 1 nanoradian): Version 1: ALI_STR_1 = | 0.259034391 0.965867442 0.001126502 | | -0.000751627 0.001367888 -0.999998782 | | -0.965867806 0.259033229 0.001080302 | ALI_STR_2 = | 0.262922759 -0.964816148 0.001223493 | | -0.171316109 -0.045437446 0.984167823 | | -0.949485380 -0.258969714 -0.177235081 | Version 2: | 0.259034391087 0.965867441850 0.001126502613 | ALI_STR_1 = | -0.000751627000 0.001367888000 -0.999998781969 | | -0.965867806323 0.259033228865 0.001080302083 | | 0.262922749372 -0.964816112494 0.001223492980 | ALI_STR_2 = | -0.171316102727 -0.045437444292 0.984167786306 | | -0.949485345231 -0.258969704268 -0.177235074018 | The frame definitions below incorporate the Version 2 rotations. \begindata FRAME_ROS_STR-A = -226080 FRAME_-226080_NAME = 'ROS_STR-A' FRAME_-226080_CLASS = 4 FRAME_-226080_CLASS_ID = -226080 FRAME_-226080_CENTER = -226 TKFRAME_-226080_RELATIVE = 'ROS_SPACECRAFT' TKFRAME_-226080_SPEC = 'MATRIX' TKFRAME_-226080_MATRIX = ( 0.259034391087, 0.965867441850, 0.001126502613, -0.000751627000, 0.001367888000, -0.999998781969, -0.965867806323, 0.259033228865, 0.001080302083 ) FRAME_ROS_STR-B = -226090 FRAME_-226090_NAME = 'ROS_STR-B' FRAME_-226090_CLASS = 4 FRAME_-226090_CLASS_ID = -226090 FRAME_-226090_CENTER = -226 TKFRAME_-226090_RELATIVE = 'ROS_SPACECRAFT' TKFRAME_-226090_SPEC = 'MATRIX' TKFRAME_-226090_MATRIX = ( 0.262922749372, -0.964816112494, 0.001223492980, -0.171316102727, -0.045437444292, 0.984167786306, -0.949485345231, -0.258969704268, -0.177235074018 ) \begintext OSIRIS Frames ======================================================================== This section of the file contains the definitions of the OSIRIS frames. OSIRIS Frame Tree -------------------------------------- The diagram below shows the OSIRIS frame hierarchy. "J2000" INERTIAL +-----------------------------------------------------+ | | | | | |<-pck ck->| | |<-pck pck->| | | | | | V V | V V "67P/C-G_FIXED" "67P/C-G_CK" | "LUTETIA_FIXED" "STEINS_FIXED" COMET BFXD COMET BFXD | ASTEROID BFXD ASTEROID BFXD --------------- ------------ | -------------- -------------- | |<-ck | V "ROS_SPACECRAFT" +-----------------------------------------------------+ | | | | | |<-fixed |<-fixed | | | | | | V V | | "ROS_OSIRIS_NAC_URF" "ROS_OSIRIS_WAC_URF" | | -------------------- -------------------- | | | |<-fixed |<-fixed | | V V "ROS_OSIRIS_NAC" "ROS_OSIRIS_WAC" ---------------- ---------------- OSIRIS Camera Frames -------------------------------------- The OSIRIS camera frames -- ROS_OSIRIS_NAC and ROS_OSIRIS_WAC -- are defined as follows: - +Z axis points along the camera boresight; - +X axis is parallel to the apparent image columns; it is nominally co-aligned with the s/c +X axis; - +Y axis completes the right hand frame; it is nominally parallel the to the apparent image lines and co-aligned with the s/c +Y axis; - the origin of the frame is located at the camera focal point. This diagram illustrates the OSIRIS camera frames: +Z s/c side (science deck side) view: ------------------------------------- Lander _____ / \ | | .___________ +Ynac +Ywac | NAC o----o-->----> | | |WAC | | | | +Ysc o==/ /==================o | |o---|--->o==================/ /==o -Y Solar Array | || | | +Y Solar Array +Xnac V| V +Xwac .______|______. `. | .' .--V +Xsc HGA .' `. /___________\ `.|.' +Zsc, +Znac, and +Zwac are out of the page Nominally, the OSIRIS camera frames are co-aligned with the s/c frame. The actual OSIRIS NAC boresight direction is specified in [7] as an offset from the s/c +Z axis by the following two angles: Offset from Z s/c: x (deg) = -0.027 Offset from Z s/c: y (deg) = 0.013 while the actual OSIRIS WAC boresight direction is specified by: Offset from Z s/c: x (deg) = 0.351 Offset from Z s/c: y (deg) = 0.0871 The first of the two angles -- ``Offset from Z s/c: x'' -- is the angle between the projection of the boresight onto the s/c XZ plane and the s/c +Z axis, measured positive from the s/c +Z toward the s/c +X axis. The second of the two angles -- ``Offset from Z s/c: y'' -- is the angle between the projection of the boresight onto the s/c YZ plane and the s/c +Z axis, measured positive from the s/c +Z toward the s/c +Y axis. The following set of rotations can be applied to the s/c axes to align the OSIRIS NAC frame's +Z axis with the boresight defined by the angles above (rotation about +Z is not defined in [7] and assumed to be zero in this set of rotations): Msc->nac = [0.0]z * [-0.027]y * [-0.013]x These rotations can be applied to the s/c axes to align the OSIRIS WAC frame's +Z axis with the boresight defined by the angles above (rotation about +Z is not defined in [7] and assumed to be zero in this set of rotations): Msc->wac = [0.0]z * [0.35099959]y * [-0.0871]x The OSIRIS NAC and WAC frame definitions below incorporate these transformations. \begindata FRAME_ROS_OSIRIS_NAC = -226111 FRAME_-226111_NAME = 'ROS_OSIRIS_NAC' FRAME_-226111_CLASS = 4 FRAME_-226111_CLASS_ID = -226111 FRAME_-226111_CENTER = -226 TKFRAME_-226111_RELATIVE = 'ROS_SPACECRAFT' TKFRAME_-226111_SPEC = 'ANGLES' TKFRAME_-226111_UNITS = 'DEGREES' TKFRAME_-226111_ANGLES = ( 0.013, 0.027, 0.0 ) TKFRAME_-226111_AXES = ( 1, 2, 3 ) FRAME_ROS_OSIRIS_WAC = -226112 FRAME_-226112_NAME = 'ROS_OSIRIS_WAC' FRAME_-226112_CLASS = 4 FRAME_-226112_CLASS_ID = -226112 FRAME_-226112_CENTER = -226 TKFRAME_-226112_RELATIVE = 'ROS_SPACECRAFT' TKFRAME_-226112_SPEC = 'ANGLES' TKFRAME_-226112_UNITS = 'DEGREES' TKFRAME_-226112_ANGLES = ( 0.0871, -0.35099959, 0.0 ) TKFRAME_-226112_AXES = ( 1, 2, 3 ) \begintext OSIRIS Unit Reference Frames -------------------------------------- This section implements the OSIRIS Unit Reference Frames (URF) frame definitions provided in [5]. \begindata FRAME_ROS_OSIRIS_NAC_URF = -226116 FRAME_-226116_NAME = 'ROS_OSIRIS_NAC_URF' FRAME_-226116_CLASS = 4 FRAME_-226116_CLASS_ID = -226116 FRAME_-226116_CENTER = -226 TKFRAME_-226116_RELATIVE = 'ROS_SPACECRAFT' TKFRAME_-226116_SPEC = 'ANGLES' TKFRAME_-226116_UNITS = 'DEGREES' TKFRAME_-226116_ANGLES = ( 0.0, 90.0, -6.96 ) TKFRAME_-226116_AXES = ( 1, 2, 3 ) FRAME_ROS_OSIRIS_WAC_URF = -226117 FRAME_-226117_NAME = 'ROS_OSIRIS_WAC_URF' FRAME_-226117_CLASS = 4 FRAME_-226117_CLASS_ID = -226117 FRAME_-226117_CENTER = -226 TKFRAME_-226117_RELATIVE = 'ROS_SPACECRAFT' TKFRAME_-226117_SPEC = 'ANGLES' TKFRAME_-226117_UNITS = 'DEGREES' TKFRAME_-226117_ANGLES = ( 0.0, 90.0, 7.0 ) TKFRAME_-226117_AXES = ( 1, 2, 3 ) \begintext ALICE Frames ======================================================================== This section of the file contains the definitions of the ALICE frames. ALICE Frame Tree -------------------------------------- The diagram below shows the ALICE frame hierarchy. "J2000" INERTIAL +-----------------------------------------------------+ | | | | | |<-pck ck->| | |<-pck pck->| | | | | | V V | V V "67P/C-G_FIXED" "67P/C-G_CK" | "LUTETIA_FIXED" "STEINS_FIXED" COMET BFXD COMET BFXD | ASTEROID BFXD ASTEROID BFXD --------------- ------------ | -------------- -------------- | |<-ck | V "ROS_SPACECRAFT" +----------------------------------------------------- | | | |<-fixed | | | V | "ROS_ALICE_URF" | --------------- | |<-fixed | V "ROS_ALICE" ----------- ALICE Frame -------------------------------------- The ALICE frame is defined as follows: - +Z axis points along the instrument boresight; - +X axis is parallel to the apparent spatial resolution direction (i.e. along the slit); it is nominally co-aligned with the s/c +X axis; - +Y axis completes the right hand frame; it is nominally co-aligned with the s/c +Y axis; - the origin of the frame is located at the instrument focal point. This diagram illustrates the ALICE frame: +Z s/c side (science deck side) view: ------------------------------------- Lander _____ / \ | | ._____________. +Yalice | ALICE o------> | | | | | | +Ysc o==/ /==================o | o----|-->o==================/ /==o -Y Solar Array | | | | +Y Solar Array | | V+Xalice .______|______. `. | .' .--V +Xsc HGA .' `. /___________\ `.|.' +Zsc and +Zalice are out of the page Nominally, the ALICE frame is co-aligned with the s/c frame. The actual ALICE boresight direction is specified in [7] as an offset from the s/c +Z axis by the following two angles: Offset from Z s/c: x (deg) = 0.0623225438 Offset from Z s/c: y (deg) = -0.1067957415 The first of the two angles -- ``Offset from Z s/c: x'' -- is the angle between the projection of the boresight onto the s/c XZ plane and the s/c +Z axis, measured positive from the s/c +Z toward the s/c +X axis. The second of the two angles -- ``Offset from Z s/c: y'' -- is the angle between the projection of the boresight onto the s/c YZ plane and the s/c +Z axis, measured positive from the s/c +Z toward the s/c +Y axis. The Euler Angles to be applied to align the +Z axis of the s/c with the boresight can be calculated from the angles above using the formulae in [11]: Rotation about the +Y axis: +0.0623225438 Rotation about the +X axis: +0.1067956783 , which corresponds to the following matrix: Malice->sc = [ 0.0 ]z * [ 0.1067956783 ]x * [ 0.0623225438 ]y Since in SPICE it has to be specified the rotation to be applied to convert the ALICE frame into the s/c frame, the matrix above has to be inverted: Msc->alice = [ -0.0623225438 ]y * [ -0.1067956783 ]x * [ 0.0 ]z The frame definition below incorporates this transformation. \begindata FRAME_ROS_ALICE = -226120 FRAME_-226120_NAME = 'ROS_ALICE' FRAME_-226120_CLASS = 4 FRAME_-226120_CLASS_ID = -226120 FRAME_-226120_CENTER = -226 TKFRAME_-226120_RELATIVE = 'ROS_SPACECRAFT' TKFRAME_-226120_SPEC = 'ANGLES' TKFRAME_-226120_UNITS = 'DEGREES' TKFRAME_-226120_ANGLES = ( -0.0623225438, -0.1067956783, 0.0 ) TKFRAME_-226120_AXES = ( 2, 1, 3 ) \begintext ALICE Unit Reference Frame -------------------------------------- This section implements the ALICE Unit Reference Frames (URF) frame definition provided in [5]. \begindata FRAME_ROS_ALICE_URF = -226125 FRAME_-226125_NAME = 'ROS_ALICE_URF' FRAME_-226125_CLASS = 4 FRAME_-226125_CLASS_ID = -226125 FRAME_-226125_CENTER = -226 TKFRAME_-226125_RELATIVE = 'ROS_SPACECRAFT' TKFRAME_-226125_SPEC = 'ANGLES' TKFRAME_-226125_UNITS = 'DEGREES' TKFRAME_-226125_ANGLES = ( 0.0, -90.0, -90.0 ) TKFRAME_-226125_AXES = ( 2, 3, 1 ) \begintext VIRTIS frames ======================================================================== This section of the file contains the definitions of the VIRTIS frames. VIRTIS Frame Tree -------------------------------------- The diagram below shows the VIRTIS frame hierarchy. "J2000" INERTIAL +-----------------------------------------------------+ | | | | | |<-pck ck->| | |<-pck pck->| | | | | | V V | V V "67P/C-G_FIXED" "67P/C-G_CK" | "LUTETIA_FIXED" "STEINS_FIXED" COMET BFXD COMET BFXD | ASTEROID BFXD ASTEROID BFXD --------------- ------------ | -------------- -------------- | |<-ck | V "ROS_SPACECRAFT" +--------------------------+ | | |<-fixed |<-fixed | | V | "ROS_VIRTIS-H" | -------------- | | V "ROS_VIRTIS-M" +---------------------------------------------+ | | | |<-fixed |<-ck |<-fixed | | | V V V "ROS_VIRTIS-M_VIS_ZERO" "ROS_VIRTIS-M_SCAN" "ROS_VIRTIS-M_IR_ZERO" ----------------------- +-----------------+ ---------------------- | | |<-fixed |<-fixed | | V V "ROS_VIRTIS-M_VIS" "ROS_VIRTIS-M_IR" ------------------ ----------------- VIRTIS Frames -------------------------------------- The six different frames are defined for VIRTIS-M instrument with the following intent: Frame Name Frame Intent -------------------- -------------------------------------- ROS_VIRTIS-M This frame is defined to capture misalignment between the instrument mirror rotation axis and the s/c +Y axis. This misalignment is constant therefore this frame is defined as a fixed offset frame relative to the ROS_SPACECRAFT frame. ROS_VIRTIS-M_SCAN This frame is defined to capture orientation of the reflected instrument view direction due to the scan mirror motion. This frame is defined as CK-based frame because this time variable orientation is stored in a CK file. ROS_VIRTIS-M_VIS These two frames are defined to capture ROS_VIRTIS-M_IR misalignments for each of the two instrument channels relative to the reflected view direction. These frames are defined as fixed offset frames relative to the ROS_VIRTIS-M_SCAN frame. These two frames are the frames that should be used to compute the instrument pixel view directions when the CK files for the scan mirror are available. ROS_VIRTIS-M_VIS_ZERO These two frames are defined to capture ROS_VIRTIS-M_IR_ZERO misalignments for each of the two instrument channels relative to the reflected view direction with scan mirror in zero position. The main purpose of these frames is to capture all available misalignment data while allowing to compute reflected view direction externally to SPICE and then combine it with the misalignments. These frames should be used when CK files for the scan mirror are not available. Each of the VIRTIS-M frames listed above is defined in the same way as follows: - +Z axis points along the boresight (for ROS_VIRTIS-M boresight is the nominal center pixel view direction for the scan mirror in "zero" position; for ROS_VIRTIS-M_SCAN boresight is the nominal center pixel view direction, "off-pointed" due to the scan mirror; for ROS_VIRTIS-M_VIS and ROS_VIRTIS-M_IR boresight is the particular detector center pixel view direction, "off-pointed" due to the scan mirror; for ROS_VIRTIS-M_VIS_ZERO and ROS_VIRTIS-M_IR_ZERO frames it is the center pixel view direction, adjusted for all known misalignments with the scan mirror in "zero" position) - +Y axis is parallel to the apparent spatial resolution direction; it is nominally co-aligned with the s/c +Y axis; - +X axis completes the right hand frame; - the origin of the frame is located at the instrument focal point for ROS_VIRTIS-M_VIS, ROS_VIRTIS-M_IR, ROS_VIRTIS-M_VIS_ZERO and ROS_VIRTIS-M_IR_ZERO frames and at the intersection of the nominal center pixel view direction and the scan mirror axis for ROS_VIRTIS-M and ROS_VIRTIS-M_SCAN frames. Nominally, in "zero" scan mirror position all six frames are co-aligned with each other and the s/c frame. The VIRTIS-H frame, ROS_VIRTIS-H, is defined as follows: - +Z axis points along the boresight; - +Y axis is parallel to the apparent spatial resolution direction (i.e. along the slit); it is nominally co-aligned with the s/c +Y axis; - +X axis completes the right hand frame; it is nominally co-aligned with the s/c +X axis; - the origin of the frame is located at the instrument focal point. Nominally, ROS_VIRTIS-H frame is co-aligned with the s/c frame. This diagram illustrates the VIRTIS frames (with VIRTIS-M scan mirror in "zero" position): +Z s/c side (science deck side) view: ------------------------------------- Lander _____ / \ | | +Ymir .____ +Yh __ +Ymvis VIRTIS | o-o---->-> +Ym | | | | | | | | +Ysc o==/ /==================o | | | o------->o==================/ /==o -Y Solar Array | | | | +Y Solar Array +Xh V v | | ._+Xm |______. +Xmvis | .' +Xmir-V +Xsc HGA .' `. /___________\ `.|.' +Zsc, +Zmvis, +Zmir, +Zm and +Zh are out of the page According to [10] alignment data for VIRTIS-M indicate that the instrument boresight (center pixel view direction) is tilted with respect to the spacecraft +Z axis by 0.075 degrees toward -X axis and by 0.02167 degrees toward -Y axis. This misalignment is incorporated as a two rotations, first by 0.02167 degrees about +X axis and then by -0.075 degrees about +Y axis, into the definitions of the ROS_VIRTIS-M_VIS, ROS_VIRTIS-M_IR, ROS_VIRTIS-M_VIS_ZERO and ROS_VIRTIS-M_IR_ZERO frames. These rotations were implemented by the following frame definition keywords in the FK versions 1.2-2.0: TKFRAME_-226211_RELATIVE = 'ROS_VIRTIS-M_SCAN' TKFRAME_-226211_SPEC = 'ANGLES' TKFRAME_-226211_UNITS = 'DEGREES' TKFRAME_-226211_ANGLES = ( -0.02167, 0.075, 0.0 ) TKFRAME_-226211_AXES = ( 1, 2, 3 ) TKFRAME_-226213_RELATIVE = 'ROS_VIRTIS-M_SCAN' TKFRAME_-226213_SPEC = 'ANGLES' TKFRAME_-226213_UNITS = 'DEGREES' TKFRAME_-226213_ANGLES = ( -0.02167, 0.075, 0.0 ) TKFRAME_-226213_AXES = ( 1, 2, 3 ) TKFRAME_-226212_RELATIVE = 'ROS_VIRTIS-M' TKFRAME_-226212_SPEC = 'ANGLES' TKFRAME_-226212_UNITS = 'DEGREES' TKFRAME_-226212_ANGLES = ( -0.02167, 0.075, 0.0 ) TKFRAME_-226212_AXES = ( 1, 2, 3 ) TKFRAME_-226214_RELATIVE = 'ROS_VIRTIS-M' TKFRAME_-226214_SPEC = 'ANGLES' TKFRAME_-226214_UNITS = 'DEGREES' TKFRAME_-226214_ANGLES = ( -0.02167, 0.075, 0.0 ) TKFRAME_-226214_AXES = ( 1, 2, 3 ) According to [12], based on analysis of star observations carried out by Rosetta/VIRTIS in 2014, the VIRTIS team at INAF-IAPS determined that the ROS_VIRTIS-M_VIS frame is rotated relative to the ROS_VIRTIS-M_SCAN frame first by -0.032945073 degrees about +X axis, then by -0.071619724 degrees about +Y axis while the ROS_VIRTIS-M_IR frame is rotated relative to the ROS_VIRTIS-M_SCAN frame first by +0.025926340 degrees about +X axis, then by -0.071619724 degrees about +Y axis. These rotations were implemented in the FK starting with the version 2.1. According to [10] alignment data for VIRTIS-H indicate that the instrument boresight (center pixel view direction) is tilted with respect to the spacecraft +Z axis by 0.0936 degrees toward -X axis and by 0.0027 degrees toward +Y axis. This misalignment is incorporated as a two rotations, first by -0.0027 degrees about +X axis and then by -0.0936 degrees about +Y axis, into the definition of the ROS_VIRTIS-H frame. Keyword blocks below define VIRTIS frames. Since the SPICE frames subsystem calls for specifying the reverse transformation--going from the instrument or structure frame to the base frame--as compared to the description given above, the order of rotations assigned to the TKFRAME_*_AXES keyword is also reversed compared to the above text, and the signs associated with the rotation angles assigned to the TKFRAME_*_ANGLES keyword are the opposite from what is written in the above text. \begindata FRAME_ROS_VIRTIS-M = -226210 FRAME_-226210_NAME = 'ROS_VIRTIS-M' FRAME_-226210_CLASS = 4 FRAME_-226210_CLASS_ID = -226210 FRAME_-226210_CENTER = -226 TKFRAME_-226210_RELATIVE = 'ROS_SPACECRAFT' TKFRAME_-226210_SPEC = 'ANGLES' TKFRAME_-226210_UNITS = 'DEGREES' TKFRAME_-226210_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-226210_AXES = ( 1, 2, 3 ) FRAME_ROS_VIRTIS-M_SCAN = -226215 FRAME_-226215_NAME = 'ROS_VIRTIS-M_SCAN' FRAME_-226215_CLASS = 3 FRAME_-226215_CLASS_ID = -226215 FRAME_-226215_CENTER = -226 CK_-226215_SCLK = -226 CK_-226215_SPK = -226 FRAME_ROS_VIRTIS-M_VIS = -226211 FRAME_-226211_NAME = 'ROS_VIRTIS-M_VIS' FRAME_-226211_CLASS = 4 FRAME_-226211_CLASS_ID = -226211 FRAME_-226211_CENTER = -226 TKFRAME_-226211_RELATIVE = 'ROS_VIRTIS-M_SCAN' TKFRAME_-226211_SPEC = 'ANGLES' TKFRAME_-226211_UNITS = 'DEGREES' TKFRAME_-226211_ANGLES = ( 0.032945073, 0.071619724, 0.0 ) TKFRAME_-226211_AXES = ( 1, 2, 3 ) FRAME_ROS_VIRTIS-M_IR = -226213 FRAME_-226213_NAME = 'ROS_VIRTIS-M_IR' FRAME_-226213_CLASS = 4 FRAME_-226213_CLASS_ID = -226213 FRAME_-226213_CENTER = -226 TKFRAME_-226213_RELATIVE = 'ROS_VIRTIS-M_SCAN' TKFRAME_-226213_SPEC = 'ANGLES' TKFRAME_-226213_UNITS = 'DEGREES' TKFRAME_-226213_ANGLES = ( -0.025926340, 0.071619724, 0.0 ) TKFRAME_-226213_AXES = ( 1, 2, 3 ) FRAME_ROS_VIRTIS-M_VIS_ZERO = -226212 FRAME_-226212_NAME = 'ROS_VIRTIS-M_VIS_ZERO' FRAME_-226212_CLASS = 4 FRAME_-226212_CLASS_ID = -226212 FRAME_-226212_CENTER = -226 TKFRAME_-226212_RELATIVE = 'ROS_VIRTIS-M' TKFRAME_-226212_SPEC = 'ANGLES' TKFRAME_-226212_UNITS = 'DEGREES' TKFRAME_-226212_ANGLES = ( 0.032945073, 0.071619724, 0.0 ) TKFRAME_-226212_AXES = ( 1, 2, 3 ) FRAME_ROS_VIRTIS-M_IR_ZERO = -226214 FRAME_-226214_NAME = 'ROS_VIRTIS-M_IR_ZERO' FRAME_-226214_CLASS = 4 FRAME_-226214_CLASS_ID = -226214 FRAME_-226214_CENTER = -226 TKFRAME_-226214_RELATIVE = 'ROS_VIRTIS-M' TKFRAME_-226214_SPEC = 'ANGLES' TKFRAME_-226214_UNITS = 'DEGREES' TKFRAME_-226214_ANGLES = ( -0.025926340, 0.071619724, 0.0 ) TKFRAME_-226214_AXES = ( 1, 2, 3 ) FRAME_ROS_VIRTIS-H = -226220 FRAME_-226220_NAME = 'ROS_VIRTIS-H' FRAME_-226220_CLASS = 4 FRAME_-226220_CLASS_ID = -226220 FRAME_-226220_CENTER = -226 TKFRAME_-226220_RELATIVE = 'ROS_SPACECRAFT' TKFRAME_-226220_SPEC = 'ANGLES' TKFRAME_-226220_UNITS = 'DEGREES' TKFRAME_-226220_ANGLES = ( 0.0027, 0.0936, 0.0 ) TKFRAME_-226220_AXES = ( 1, 2, 3 ) \begintext MIRO frames ======================================================================== This section of the file contains the definitions of the MIRO frames. MIRO Frame Tree -------------------------------------- The diagram below shows the MIRO frame hierarchy. "J2000" INERTIAL +-----------------------------------------------------+ | | | | | |<-pck ck->| | |<-pck pck->| | | | | | V V | V V "67P/C-G_FIXED" "67P/C-G_CK" | "LUTETIA_FIXED" "STEINS_FIXED" COMET BFXD COMET BFXD | ASTEROID BFXD ASTEROID BFXD --------------- ------------ | -------------- -------------- | |<-ck | V "ROS_SPACECRAFT" +-----------------------------------------------------+ | | |<-fixed |<-fixed | | | | "ROS_MIRO" "ROS_MIRO_URF" ----------------------+ -------------- | | |<-fixed |<-fixed | | V V "ROS_MIRO_MM" "ROS_MIRO_SUBMM" ------------- ---------------- MIRO Frame -------------------------------------- The MIRO structure frame, ROS_MIRO, and MIRO millimeter and sub-millimeter channels frames, ROS_MIRO_MM and ROS_MIRO_SUBMM, are defined as follows: - +Z axis points along the boresight; - +Y axis is nominally co-aligned with the s/c +Y axis; - +X axis completes the right hand frame; it is nominally co-aligned with the s/c +X axis; - the origin of the frame is located at the telescope focal point. This diagram illustrates the MIRO frames: +Z s/c side (science deck side) view: ------------------------------------- Lander _____ / \ | | ._____________. | | | MIRO | +Ymiro, +Ymm, +Ysubmm | o------> o==/ /==================o | o----|-->o==================/ /==o -Y Solar Array | | | | +Ysc +Y Solar Array | | | | .______|____|_. `. | .V +Xmiro, +Xmm, +Xsubmm .--V +Xsc HGA .' `. /___________\ `.|.' +Zsc, +Zmiro, +Zmm and +Zsubmm are out of the page Nominally, the MIRO frame is co-aligned with the s/c frame. The actual MIRO sub-millimeter channel boresight direction is specified in [7] as an offset from the s/c +Z axis by the following two angles: Offset from Z s/c: x (deg) = -0.082 Offset from Z s/c: y (deg) = -0.0067 while the actual MIRO millimeter channel boresight direction is specified by: Offset from Z s/c: x (deg) = -0.018 Offset from Z s/c: y (deg) = -0.057 The first of the two angles -- ``Offset from Z s/c: x'' -- is the angle between the projection of the boresight onto the s/c XZ plane and the s/c +Z axis, measured positive from the s/c +Z toward the s/c +X axis. The second of the two angles -- ``Offset from Z s/c: y'' -- is the angle between the projection of the boresight onto the s/c YZ plane and the s/c +Z axis, measured positive from the s/c +Z toward the s/c +Y axis. The following set of rotations can be applied to the s/c axes to align the MIRO sub-millimeter channel frame's +Z axis with the boresight defined by the angles above (rotation about +Z is not defined in [7] and assumed to be zero in this set of rotations): Msc->miro_submm = [0.0]z * [-0.082]y * [0.0067]x These rotations can be applied to the s/c axes to align the MIRO millimeter channel frame's +Z axis with the boresight defined by the angles above (rotation about +Z is not defined in [7] and assumed to be zero in this set of rotations): Msc->miro_mm = [0.0]z * [-0.01799999]y * [0.057]x The MIRO millimeter and sub-millimeter channel frame definitions below incorporate these transformations. \begindata FRAME_ROS_MIRO = -226130 FRAME_-226130_NAME = 'ROS_MIRO' FRAME_-226130_CLASS = 4 FRAME_-226130_CLASS_ID = -226130 FRAME_-226130_CENTER = -226 TKFRAME_-226130_RELATIVE = 'ROS_SPACECRAFT' TKFRAME_-226130_SPEC = 'ANGLES' TKFRAME_-226130_UNITS = 'DEGREES' TKFRAME_-226130_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-226130_AXES = ( 1, 2, 3 ) FRAME_ROS_MIRO_MM = -226131 FRAME_-226131_NAME = 'ROS_MIRO_MM' FRAME_-226131_CLASS = 4 FRAME_-226131_CLASS_ID = -226131 FRAME_-226131_CENTER = -226 TKFRAME_-226131_RELATIVE = 'ROS_MIRO' TKFRAME_-226131_SPEC = 'ANGLES' TKFRAME_-226131_UNITS = 'DEGREES' TKFRAME_-226131_ANGLES = ( -0.057, 0.01799999, 0.0 ) TKFRAME_-226131_AXES = ( 1, 2, 3 ) FRAME_ROS_MIRO_SUBMM = -226132 FRAME_-226132_NAME = 'ROS_MIRO_SUBMM' FRAME_-226132_CLASS = 4 FRAME_-226132_CLASS_ID = -226132 FRAME_-226132_CENTER = -226 TKFRAME_-226132_RELATIVE = 'ROS_MIRO' TKFRAME_-226132_SPEC = 'ANGLES' TKFRAME_-226132_UNITS = 'DEGREES' TKFRAME_-226132_ANGLES = ( -0.0067, 0.082, 0.0 ) TKFRAME_-226132_AXES = ( 1, 2, 3 ) \begintext MIRO Unit Reference Frame -------------------------------------- This section implements the MIRO Unit Reference Frames (URF) frame definition provided in [5]. \begindata FRAME_ROS_MIRO_URF = -226135 FRAME_-226135_NAME = 'ROS_MIRO_URF' FRAME_-226135_CLASS = 4 FRAME_-226135_CLASS_ID = -226135 FRAME_-226135_CENTER = -226 TKFRAME_-226135_RELATIVE = 'ROS_SPACECRAFT' TKFRAME_-226135_SPEC = 'ANGLES' TKFRAME_-226135_UNITS = 'DEGREES' TKFRAME_-226135_ANGLES = ( 0.0, 0.0, 180.0 ) TKFRAME_-226135_AXES = ( 2, 1, 3 ) \begintext ROSINA frames ======================================================================== This section of the file contains the definitions of the ROSINA frames. ROSINA Frame Tree -------------------------------------- The diagram below shows the ROSINA frame hierarchy. "J2000" INERTIAL +-----------------------------------------------------+ | | | | | |<-pck ck->| | |<-pck pck->| | | | | | V V | V V "67P/C-G_FIXED" "67P/C-G_CK" | "LUTETIA_FIXED" "STEINS_FIXED" COMET BFXD COMET BFXD | ASTEROID BFXD ASTEROID BFXD --------------- ------------ | -------------- -------------- | |<-ck | V "ROS_SPACECRAFT" +-----------------------------------------------------+ | | | | | | |<-fixed |<-fixed |<-fixed |<-fixed |<-fixed |<-fixed | | | | | | | | | | | V | | | | | "ROS_ROSINA_COPS_URF" | | | | | --------------------- | | | | | | | | | V | | | | "ROS_ROSINA_COPS" | | | | ----------------- | | | | | | | V | | | "ROS_ROSINA_RTOF_URF" | | | --------------------- | | | | | V | | "ROS_ROSINA_RTOF" | | ----------------- | | | V | "ROS_ROSINA_DFMS_URF" | --------------------- | V "ROS_ROSINA_DFMS" ----------------- ROSINA Sensor Frames -------------------------------------- The ROSINA sensor frames -- ROS_ROSINA_DFMS, ROS_ROSINA_RTOF, and ROS_ROSINA_COPS -- are defined to be nominally co-aligned with the s/c frame. This diagram illustrates the ROSINA sensor frames: +Z s/c side (science deck side) view: ------------------------------------- Lander _____ / \ | | ._____________. COPS +Ycops |o-------> | || | +Ysc o==/ /==================o || o------->o==================/ /==o -Y Solar Array DFMS o-------> | +Y Solar Array || | +Ydfms +Xcops V ____|______. | . | .'o-------> | .--V--. |RTOF +Yrtof +Xdfms V.' +Xsc `.| /___________| `.|.' | +Zsc, +Zdfms, +Zrtof HGA V and +Zcops are out +Xrtof of the page Nominally, the ROSINA sensor frames are co-aligned with the s/c frame. \begindata FRAME_ROS_ROSINA_DFMS = -226310 FRAME_-226310_NAME = 'ROS_ROSINA_DFMS' FRAME_-226310_CLASS = 4 FRAME_-226310_CLASS_ID = -226310 FRAME_-226310_CENTER = -226 TKFRAME_-226310_RELATIVE = 'ROS_SPACECRAFT' TKFRAME_-226310_SPEC = 'ANGLES' TKFRAME_-226310_UNITS = 'DEGREES' TKFRAME_-226310_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-226310_AXES = ( 1, 2, 3 ) FRAME_ROS_ROSINA_RTOF = -226320 FRAME_-226320_NAME = 'ROS_ROSINA_RTOF' FRAME_-226320_CLASS = 4 FRAME_-226320_CLASS_ID = -226320 FRAME_-226320_CENTER = -226 TKFRAME_-226320_RELATIVE = 'ROS_SPACECRAFT' TKFRAME_-226320_SPEC = 'ANGLES' TKFRAME_-226320_UNITS = 'DEGREES' TKFRAME_-226320_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-226320_AXES = ( 1, 2, 3 ) FRAME_ROS_ROSINA_COPS = -226330 FRAME_-226330_NAME = 'ROS_ROSINA_COPS' FRAME_-226330_CLASS = 4 FRAME_-226330_CLASS_ID = -226330 FRAME_-226330_CENTER = -226 TKFRAME_-226330_RELATIVE = 'ROS_SPACECRAFT' TKFRAME_-226330_SPEC = 'ANGLES' TKFRAME_-226330_UNITS = 'DEGREES' TKFRAME_-226330_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-226330_AXES = ( 1, 2, 3 ) \begintext ROSINA Unit Reference Frames -------------------------------------- This section implements the ROSINA Unit Reference Frames (URF) frame definitions. While these were not specifically spelled out in [5], they are defined according to the rules outlined in the section 7.3 of that document. \begindata FRAME_ROS_ROSINA_DFMS_URF = -226319 FRAME_-226319_NAME = 'ROS_ROSINA_DFMS_URF' FRAME_-226319_CLASS = 4 FRAME_-226319_CLASS_ID = -226319 FRAME_-226319_CENTER = -226 TKFRAME_-226319_RELATIVE = 'ROS_SPACECRAFT' TKFRAME_-226319_SPEC = 'ANGLES' TKFRAME_-226319_UNITS = 'DEGREES' TKFRAME_-226319_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-226319_AXES = ( 1, 2, 3 ) FRAME_ROS_ROSINA_RTOF_URF = -226329 FRAME_-226329_NAME = 'ROS_ROSINA_RTOF_URF' FRAME_-226329_CLASS = 4 FRAME_-226329_CLASS_ID = -226329 FRAME_-226329_CENTER = -226 TKFRAME_-226329_RELATIVE = 'ROS_SPACECRAFT' TKFRAME_-226329_SPEC = 'ANGLES' TKFRAME_-226329_UNITS = 'DEGREES' TKFRAME_-226329_ANGLES = ( -90.0, 0.0, 0.0 ) TKFRAME_-226329_AXES = ( 1, 2, 3 ) FRAME_ROS_ROSINA_COPS_URF = -226339 FRAME_-226339_NAME = 'ROS_ROSINA_COPS_URF' FRAME_-226339_CLASS = 4 FRAME_-226339_CLASS_ID = -226339 FRAME_-226339_CENTER = -226 TKFRAME_-226339_RELATIVE = 'ROS_SPACECRAFT' TKFRAME_-226339_SPEC = 'ANGLES' TKFRAME_-226339_UNITS = 'DEGREES' TKFRAME_-226339_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-226339_AXES = ( 1, 2, 3 ) \begintext COSIMA frames ======================================================================== This section of the file contains the definitions of the COSIMA frames. COSIMA Frame Tree -------------------------------------- The diagram below shows the COSIMA frame hierarchy. "J2000" INERTIAL +-----------------------------------------------------+ | | | | | |<-pck ck->| | |<-pck pck->| | | | | | V V | V V "67P/C-G_FIXED" "67P/C-G_CK" | "LUTETIA_FIXED" "STEINS_FIXED" COMET BFXD COMET BFXD | ASTEROID BFXD ASTEROID BFXD --------------- ------------ | -------------- -------------- | |<-ck | V "ROS_SPACECRAFT" +----------------------------------------------------- | | | |<-fixed | | | V | "ROS_COSIMA_URF" | ---------------- | |<-fixed | V "ROS_COSIMA" ------------ COSIMA Frame -------------------------------------- The COSIMA frame is defined as follows: - +Z axis points along the boresight of the particle entrance "FOV"; - +Y axis is nominally co-aligned with the s/c +Y axis; - +X axis completes the right hand frame; it is nominally co-aligned with the s/c +X axis; - the origin of the frame is located at the instrument "FOV" vertex. This diagram illustrates the COSIMA frame: +Z s/c side (science deck side) view: ------------------------------------- Lander _____ / \ | | ._____________. | | | | | | +Ysc o==/ /==================o | o------->o==================/ /==o -Y Solar Array | | | +Y Solar Array |o------> +Ycosima COSIMA .|_____|______. |`. | .' | .--V +Xsc | ' `. V __________\ +Xcosima `.|.' +Zsc and +Zcosima HGA are out of the page Nominally, the COSIMA frame is co-aligned with the s/c frame. \begindata FRAME_ROS_COSIMA = -226140 FRAME_-226140_NAME = 'ROS_COSIMA' FRAME_-226140_CLASS = 4 FRAME_-226140_CLASS_ID = -226140 FRAME_-226140_CENTER = -226 TKFRAME_-226140_RELATIVE = 'ROS_SPACECRAFT' TKFRAME_-226140_SPEC = 'ANGLES' TKFRAME_-226140_UNITS = 'DEGREES' TKFRAME_-226140_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-226140_AXES = ( 1, 2, 3 ) \begintext COSIMA Unit Reference Frame -------------------------------------- This section implements the COSIMA Unit Reference Frame (URF) frame definition. While this frame was not specifically spelled out in [5], it is defined according to the rules outlined in the section 7.3 of that document. \begindata FRAME_ROS_COSIMA_URF = -226145 FRAME_-226145_NAME = 'ROS_COSIMA_URF' FRAME_-226145_CLASS = 4 FRAME_-226145_CLASS_ID = -226145 FRAME_-226145_CENTER = -226 TKFRAME_-226145_RELATIVE = 'ROS_SPACECRAFT' TKFRAME_-226145_SPEC = 'ANGLES' TKFRAME_-226145_UNITS = 'DEGREES' TKFRAME_-226145_ANGLES = ( 0.0, 0.0, 90.0 ) TKFRAME_-226145_AXES = ( 2, 3, 1 ) \begintext MIDAS frames ======================================================================== This section of the file contains the definitions of the MIDAS frames. MIDAS Frame Tree -------------------------------------- The diagram below shows the MIDAS frame hierarchy. "J2000" INERTIAL +-----------------------------------------------------+ | | | | | |<-pck ck->| | |<-pck pck->| | | | | | V V | V V "67P/C-G_FIXED" "67P/C-G_CK" | "LUTETIA_FIXED" "STEINS_FIXED" COMET BFXD COMET BFXD | ASTEROID BFXD ASTEROID BFXD --------------- ------------ | -------------- -------------- | |<-ck | V "ROS_SPACECRAFT" +----------------------------------------------------- | | | |<-fixed | | | V | "ROS_MIDAS_URF" | --------------- | |<-fixed | V "ROS_MIDAS" ----------- MIDAS Frame -------------------------------------- The MIDAS frame is defined as follows: - +Z axis points along the boresight of the particle entrance "FOV"; - +Y axis is nominally co-aligned with the s/c +Y axis; - +X axis completes the right hand frame; it is nominally co-aligned with the s/c +X axis; - the origin of the frame is located at the instrument "FOV" vertex. This diagram illustrates the MIDAS frame: +Z s/c side (science deck side) view: ------------------------------------- Lander _____ / \ | | ._____________. | | | | | | +Ysc o==/ /==================o | o------->o==================/ /==o -Y Solar Array | | | +Y Solar Array | MIDAS|o------> +Ymidas .______||_____. `. || .' .--V| +Xsc .' | `. /______V +Xmidas `.|.' +Zsc and +Zmidas HGA are out of the page Nominally, the MIDAS frame is co-aligned with the s/c frame. \begindata FRAME_ROS_MIDAS = -226150 FRAME_-226150_NAME = 'ROS_MIDAS' FRAME_-226150_CLASS = 4 FRAME_-226150_CLASS_ID = -226150 FRAME_-226150_CENTER = -226 TKFRAME_-226150_RELATIVE = 'ROS_SPACECRAFT' TKFRAME_-226150_SPEC = 'ANGLES' TKFRAME_-226150_UNITS = 'DEGREES' TKFRAME_-226150_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-226150_AXES = ( 1, 2, 3 ) \begintext MIDAS Unit Reference Frame -------------------------------------- This section implements the MIDAS Unit Reference Frame (URF) frame definition. While this frame was not specifically spelled out in [5], it is defined according to the rules outlined in the section 7.3 of that document. \begindata FRAME_ROS_MIDAS_URF = -226155 FRAME_-226155_NAME = 'ROS_MIDAS_URF' FRAME_-226155_CLASS = 4 FRAME_-226155_CLASS_ID = -226155 FRAME_-226155_CENTER = -226 TKFRAME_-226155_RELATIVE = 'ROS_SPACECRAFT' TKFRAME_-226155_SPEC = 'ANGLES' TKFRAME_-226155_UNITS = 'DEGREES' TKFRAME_-226155_ANGLES = ( 0.0, 0.0, 90.0 ) TKFRAME_-226155_AXES = ( 1, 3, 2 ) \begintext CONSERT frames ======================================================================== This section of the file contains the definitions of the CONSERT frames. CONSERT Frame Tree -------------------------------------- The diagram below shows the CONSERT frame hierarchy. "J2000" INERTIAL +-----------------------------------------------------+ | | | | | |<-pck ck->| | |<-pck pck->| | | | | | V V | V V "67P/C-G_FIXED" "67P/C-G_CK" | "LUTETIA_FIXED" "STEINS_FIXED" COMET BFXD COMET BFXD | ASTEROID BFXD ASTEROID BFXD --------------- ------------ | -------------- -------------- | |<-ck | V "ROS_SPACECRAFT" +----------------------------------------------------- | | | |<-fixed | | | V | "ROS_CONSERT_URF" | ----------------- | |<-fixed | V "ROS_CONSERT" ------------- CONSERT Frame -------------------------------------- The CONSERT frame is defined as follows: - +Z axis points along the "FOV" boresight; - +Y axis is nominally co-aligned with the s/c +Y axis; - +X axis completes the right hand frame; it is nominally co-aligned with the s/c +X axis; - the origin of the frame is located at the instrument "FOV" vertex. This diagram illustrates the CONSERT frame: +Z s/c side (science deck side) view: ------------------------------------- Lander _____ / \ | | ._____________. CONSERT `. .' | | `. .' +Yconsert | o------->| | +Ysc o==/ /=========.'|`.====o | o------->o==================/ /==o -Y Solar .' | `. | | | +Y Solar Array Array | | | | | .______|______. V `. | .' +Xconsert .--V +Xsc .' `. /___________\ `.|.' +Zsc and +Zconsert HGA are out of the page Nominally, the CONSERT frame is co-aligned with the s/c frame. \begindata FRAME_ROS_CONSERT = -226160 FRAME_-226160_NAME = 'ROS_CONSERT' FRAME_-226160_CLASS = 4 FRAME_-226160_CLASS_ID = -226160 FRAME_-226160_CENTER = -226 TKFRAME_-226160_RELATIVE = 'ROS_SPACECRAFT' TKFRAME_-226160_SPEC = 'ANGLES' TKFRAME_-226160_UNITS = 'DEGREES' TKFRAME_-226160_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-226160_AXES = ( 1, 2, 3 ) \begintext CONSERT Unit Reference Frame -------------------------------------- This section implements the CONSERT Unit Reference Frame (URF) frame definition. While this frame was not specifically spelled out in [5], it is defined according to the rules outlined in the section 7.3 of that document. \begindata FRAME_ROS_CONSERT_URF = -226165 FRAME_-226165_NAME = 'ROS_CONSERT_URF' FRAME_-226165_CLASS = 4 FRAME_-226165_CLASS_ID = -226165 FRAME_-226165_CENTER = -226 TKFRAME_-226165_RELATIVE = 'ROS_SPACECRAFT' TKFRAME_-226165_SPEC = 'ANGLES' TKFRAME_-226165_UNITS = 'DEGREES' TKFRAME_-226165_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-226165_AXES = ( 1, 2, 3 ) \begintext NAVCAM Frames ======================================================================== This section of the file contains the definitions of the NAVCAM frames. NAVCAM Frame Tree -------------------------------------- The diagram below shows the NAVCAM frame hierarchy. "J2000" INERTIAL +-----------------------------------------------------+ | | | | | |<-pck ck->| | |<-pck pck->| | | | | | V V | V V "67P/C-G_FIXED" "67P/C-G_CK" | "LUTETIA_FIXED" "STEINS_FIXED" COMET BFXD COMET BFXD | ASTEROID BFXD ASTEROID BFXD --------------- ------------ | -------------- -------------- | |<-ck | V "ROS_SPACECRAFT" +-----------------------------------------------------+ | | | | | |<-fixed |<-fixed | | | | | | V V | | "ROS_NAVCAM-A_URF" "ROS_NAVCAM-B_URF" | | ------------------ ------------------ | | | |<-fixed |<-fixed | | V V "ROS_NAVCAM-A" "ROS_NAVCAM-B" -------------- -------------- NAVCAM Camera Frames -------------------------------------- The NAVCAM camera frames -- ROS_NAVCAM-A and ROS_NAVCAM-B -- are defined as follows: - +Z axis points along the camera boresight; - +X axis is parallel to the apparent image columns; it is nominally co-aligned with the s/c +X axis; - +Y axis completes the right hand frame; it is nominally parallel the to the apparent image lines and co-aligned with the s/c +Y axis; - the origin of the frame is located at the camera focal point. This diagram illustrates the NAVCAM camera frames: +Z s/c side (science deck side) view: ------------------------------------- Lander _____ / \ | | ._____________. | +Yncb +Ynca | o-o----->-> | | | | +Ysc o==/ /==================o | |o|------>o==================/ /==o -Y Solar Array | ||| | +Y Solar Array +Xncb V|V +Xnca .______|______. `. | .' .--V +Xsc HGA .' `. /___________\ `.|.' +Zsc, +Znca, and +Zncb are out of the page Nominally, the NAVCAM camera frames are co-aligned with the s/c frame. The actual NAVCAM-A boresight direction is specified in [7] as an offset from the s/c +Z axis by the following two angles: Offset from Z s/c: x (deg) = -0.02678 Offset from Z s/c: y (deg) = -0.17210 while the actual NAVCAM-B boresight direction is specified by: Offset from Z s/c: x (deg) = 0.03003 Offset from Z s/c: y (deg) = 0.09747 The first of the two angles -- ``Offset from Z s/c: x'' -- is the angle between the projection of the boresight onto the s/c XZ plane and the s/c +Z axis, measured positive from the s/c +Z toward the s/c +X axis. The second of the two angles -- ``Offset from Z s/c: y'' -- is the angle between the projection of the boresight onto the s/c YZ plane and the s/c +Z axis, measured positive from the s/c +Z toward the s/c +Y axis. The following set of rotations can be applied to the s/c axes to align the NAVCAM-A frame's +Z axis with the boresight defined by the angles above (rotation about +Z is not defined in [7] and assumed to be zero in this set of rotations): Msc->nca = [0.0]z * [-0.02677988]y * [0.17210]x These rotations can be applied to the s/c axes to align the NAVCAM-B frame's +Z axis with the boresight defined by the angles above (rotation about +Z is not defined in [7] and assumed to be zero in this set of rotations): Msc->ncb = [0.0]z * [0.03002996]y * [-0.09747]x The NAVCAM-A and NAVCAM-B rotations shown above were provided in the FK versions 0.4 (March 2005) to 2.4 (November 2015). According to [14] the following NAVCAM alignments were derived from calibrations done in 2008: ALI_CAM_1 = | 0.9999986610169094000 0.0015268035484500271 0.0005889272559640015 | | -0.0015286381087705047 0.9999939415514822000 0.0031273192774521727 | | -0.0005841488858085904 -0.0031282153466713016 0.9999949365065925000 | ALI_CAM_2 = | 0.999998236851883 0.001874025444133808 -0.0001196735573734238 | | -0.001874272415777741 0.999996042598358 -0.002098068286197499 | | 0.000115741250425227 0.002098288887839833 0.999997791891415 | These alignments are incorporated in the frame definitions below. \begindata FRAME_ROS_NAVCAM-A = -226170 FRAME_-226170_NAME = 'ROS_NAVCAM-A' FRAME_-226170_CLASS = 4 FRAME_-226170_CLASS_ID = -226170 FRAME_-226170_CENTER = -226 TKFRAME_-226170_RELATIVE = 'ROS_SPACECRAFT' TKFRAME_-226170_SPEC = 'MATRIX' TKFRAME_-226170_MATRIX = ( 0.9999986610169094000, 0.0015268035484500271, 0.0005889272559640015, -0.0015286381087705047, 0.9999939415514822000, 0.0031273192774521727, -0.0005841488858085904, -0.0031282153466713016, 0.9999949365065925000 ) FRAME_ROS_NAVCAM-B = -226180 FRAME_-226180_NAME = 'ROS_NAVCAM-B' FRAME_-226180_CLASS = 4 FRAME_-226180_CLASS_ID = -226180 FRAME_-226180_CENTER = -226 TKFRAME_-226180_RELATIVE = 'ROS_SPACECRAFT' TKFRAME_-226180_SPEC = 'MATRIX' TKFRAME_-226180_MATRIX = ( 0.9999982368518830, 0.001874025444133808, -0.0001196735573734238, -0.001874272415777741, 0.9999960425983579, -0.002098068286197499, 0.0001157412504252270, 0.002098288887839833, 0.9999977918914150 ) \begintext NAVCAM Unit Reference Frames -------------------------------------- This section implements the NAVCAM Unit Reference Frames (URF) frame definitions provided in [5]. \begindata FRAME_ROS_NAVCAM-A_URF = -226175 FRAME_-226175_NAME = 'ROS_NAVCAM-A_URF' FRAME_-226175_CLASS = 4 FRAME_-226175_CLASS_ID = -226175 FRAME_-226175_CENTER = -226 TKFRAME_-226175_RELATIVE = 'ROS_SPACECRAFT' TKFRAME_-226175_SPEC = 'ANGLES' TKFRAME_-226175_UNITS = 'DEGREES' TKFRAME_-226175_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-226175_AXES = ( 1, 2, 3 ) FRAME_ROS_NAVCAM-B_URF = -226185 FRAME_-226185_NAME = 'ROS_NAVCAM-B_URF' FRAME_-226185_CLASS = 4 FRAME_-226185_CLASS_ID = -226185 FRAME_-226185_CENTER = -226 TKFRAME_-226185_RELATIVE = 'ROS_SPACECRAFT' TKFRAME_-226185_SPEC = 'ANGLES' TKFRAME_-226185_UNITS = 'DEGREES' TKFRAME_-226185_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-226185_AXES = ( 1, 2, 3 ) \begintext GIADA frames ======================================================================== This section of the file contains the definitions of the GIADA frames. GIADA Frame Tree -------------------------------------- The diagram below shows the GIADA frame hierarchy. "J2000" INERTIAL +-----------------------------------------------------+ | | | | | |<-pck ck->| | |<-pck pck->| | | | | | V V | V V "67P/C-G_FIXED" "67P/C-G_CK" | "LUTETIA_FIXED" "STEINS_FIXED" COMET BFXD COMET BFXD | ASTEROID BFXD ASTEROID BFXD --------------- ------------ | -------------- -------------- | |<-ck | V "ROS_SPACECRAFT" +-----------------------------------------------------+ | | | | |<-fixed | | |<-fixed | | | | | | | | "ROS_GIADA_GDS" | | "ROS_GIADA_URF" --------------- | | -------------- | | |<-fixed |<-fixed | | V V "ROS_GIADA_IS" "ROS_GIADA_MBS1..5" -------------- ------------------- GIADA Frame -------------------------------------- The GIADA GDS, GIADA IS, and GIADA MBS1 .. MBS5 frames are defined as follows: - +Z axis points along the particle entrance FOV boresight; - +Y axis is nominally parallel to the s/c XY plane and points as shown on the diagrams below; - +X axis completes the right hand frame; - the origin of the frame is located at the FOV focal point. This diagram illustrates the GIADA GDS, IS, and MBS5 frames: +Z s/c side (science deck side) view: ------------------------------------- Lander _____ / \ | | ._____________. | | GIADA o------> +Ygds,+Yis,+Ymbs5 | | | o==/ /==================o | | o------->o==================/ /==o -Y Solar Array | | | | +Ysc +Y Solar Array | | | .__V___|______. +Xgds | .' +Xis -V +Xsc +Xmbs5 `. /___________\ `.|.' +Zsc, +Zgds, +Zis, HGA and +Zmbs5 are out of the page This diagram illustrates the GIADA MBS 1..4 frames: +Z s/c side (science deck side) view: ------------------------------------- +Zmbs3 ^ +Ymbs2 |^ ____ || \ Lander || | +Ymbs3 .__||_________. <<------43| +Zmbs2 +Zmbs4 | | 2-------> | | | 1-------> +Ymbs1 o==/ /==================o | | | o------->o==================/ /==o -Y Solar Array | | | | | +Ysc +Y Solar Array | V | | | +Ymbs4 __|__|______. `.V | .' +Zmbs* are pointed +Zmbs1.--V +Xsc 20 deg above the page. .' `. /___________\ +Xmbs* are roughly into `.|.' the page +Zsc is out of the page Nominally, the GIADA GDS, GIADA IS, and GIADA MBS5 frames are co-aligned with the s/c frame while the GIADA MBS1, GIADA MBS2, GIADA MBS3, and GIADA MBS4 frames are rotated from it first by 0, 90, 180 or 270 degrees about Z, and then by 70 degrees about Y. \begindata FRAME_ROS_GIADA_GDS = -226410 FRAME_-226410_NAME = 'ROS_GIADA_GDS' FRAME_-226410_CLASS = 4 FRAME_-226410_CLASS_ID = -226410 FRAME_-226410_CENTER = -226 TKFRAME_-226410_RELATIVE = 'ROS_SPACECRAFT' TKFRAME_-226410_SPEC = 'ANGLES' TKFRAME_-226410_UNITS = 'DEGREES' TKFRAME_-226410_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-226410_AXES = ( 1, 2, 3 ) FRAME_ROS_GIADA_IS = -226420 FRAME_-226420_NAME = 'ROS_GIADA_IS' FRAME_-226420_CLASS = 4 FRAME_-226420_CLASS_ID = -226420 FRAME_-226420_CENTER = -226 TKFRAME_-226420_RELATIVE = 'ROS_SPACECRAFT' TKFRAME_-226420_SPEC = 'ANGLES' TKFRAME_-226420_UNITS = 'DEGREES' TKFRAME_-226420_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-226420_AXES = ( 1, 2, 3 ) FRAME_ROS_GIADA_MBS1 = -226431 FRAME_-226431_NAME = 'ROS_GIADA_MBS1' FRAME_-226431_CLASS = 4 FRAME_-226431_CLASS_ID = -226431 FRAME_-226431_CENTER = -226 TKFRAME_-226431_RELATIVE = 'ROS_SPACECRAFT' TKFRAME_-226431_SPEC = 'ANGLES' TKFRAME_-226431_UNITS = 'DEGREES' TKFRAME_-226431_ANGLES = ( 0.0, 0.0, -70.0 ) TKFRAME_-226431_AXES = ( 1, 3, 2 ) FRAME_ROS_GIADA_MBS2 = -226432 FRAME_-226432_NAME = 'ROS_GIADA_MBS2' FRAME_-226432_CLASS = 4 FRAME_-226432_CLASS_ID = -226432 FRAME_-226432_CENTER = -226 TKFRAME_-226432_RELATIVE = 'ROS_SPACECRAFT' TKFRAME_-226432_SPEC = 'ANGLES' TKFRAME_-226432_UNITS = 'DEGREES' TKFRAME_-226432_ANGLES = ( 0.0, -90.0, -70.0 ) TKFRAME_-226432_AXES = ( 1, 3, 2 ) FRAME_ROS_GIADA_MBS3 = -226433 FRAME_-226433_NAME = 'ROS_GIADA_MBS3' FRAME_-226433_CLASS = 4 FRAME_-226433_CLASS_ID = -226433 FRAME_-226433_CENTER = -226 TKFRAME_-226433_RELATIVE = 'ROS_SPACECRAFT' TKFRAME_-226433_SPEC = 'ANGLES' TKFRAME_-226433_UNITS = 'DEGREES' TKFRAME_-226433_ANGLES = ( 0.0, -180.0, -70.0 ) TKFRAME_-226433_AXES = ( 1, 3, 2 ) FRAME_ROS_GIADA_MBS4 = -226434 FRAME_-226434_NAME = 'ROS_GIADA_MBS4' FRAME_-226434_CLASS = 4 FRAME_-226434_CLASS_ID = -226434 FRAME_-226434_CENTER = -226 TKFRAME_-226434_RELATIVE = 'ROS_SPACECRAFT' TKFRAME_-226434_SPEC = 'ANGLES' TKFRAME_-226434_UNITS = 'DEGREES' TKFRAME_-226434_ANGLES = ( 0.0, -270.0, -70.0 ) TKFRAME_-226434_AXES = ( 1, 3, 2 ) FRAME_ROS_GIADA_MBS5 = -226435 FRAME_-226435_NAME = 'ROS_GIADA_MBS5' FRAME_-226435_CLASS = 4 FRAME_-226435_CLASS_ID = -226435 FRAME_-226435_CENTER = -226 TKFRAME_-226435_RELATIVE = 'ROS_SPACECRAFT' TKFRAME_-226435_SPEC = 'ANGLES' TKFRAME_-226435_UNITS = 'DEGREES' TKFRAME_-226435_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-226435_AXES = ( 1, 2, 3 ) \begintext GIADA Unit Reference Frame -------------------------------------- This section implements the GIADA Unit Reference Frame (URF) frame definition. While this frame was not specifically spelled out in [5], it is defined according to the rules outlined in the section 7.3 of that document. \begindata FRAME_ROS_GIADA_URF = -226440 FRAME_-226440_NAME = 'ROS_GIADA_URF' FRAME_-226440_CLASS = 4 FRAME_-226440_CLASS_ID = -226440 FRAME_-226440_CENTER = -226 TKFRAME_-226440_RELATIVE = 'ROS_SPACECRAFT' TKFRAME_-226440_SPEC = 'ANGLES' TKFRAME_-226440_UNITS = 'DEGREES' TKFRAME_-226440_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-226440_AXES = ( 2, 1, 3 ) \begintext RPC frames ======================================================================== This section of the file contains the definitions of the RPC frames. RPC Frame Tree -------------------------------------- The diagram below shows the RPC frame hierarchy. "45P/H-M-P_CSO" --------------- ^ |<-dyn | | "2867/STEINS_CSO" | ----------------- | ^ | |<-dyn | | | | "21/LUTETIA_CSEQ" | | ----------------- | | ^ | | |<-dyn | | | | | | "21/LUTETIA_CSO" | | | ---------------- | | | ^ | | | |<-dyn | | | | | | | | "67P/C-G_CSEQ" | | | | -------------- | | | | ^ | | | | |<-dyn | | | | | | | | | | "67P/C-G_CSO" | | | | | ------------- | | | | | ^ | | | | | |<-dyn | | | | | | | | | | | | | | | | | | "J2000" INERTIAL +-----------------------------------------------------+ | | | | | |<-pck ck->| | |<-pck pck->| | | | | | V V | V V "67P/C-G_FIXED" "67P/C-G_CK" | "LUTETIA_FIXED" "STEINS_FIXED" COMET BFXD COMET BFXD | ASTEROID BFXD ASTEROID BFXD --------------- ------------ | -------------- -------------- | |<-ck | V "ROS_SPACECRAFT" +-----------------------------------------------------+ | | | | | | | fixed->| | | |<-fixed | | | | | | | | V | | V | | "ROS_RPC_IES" | | "ROS_RPC_ICA" | | ------------- | | ------------- | | | | | |<-fixed | | |<-fixed | | | | V | | V "ROS_RPC_IES_URF" | | "ROS_RPC_ICA_URF" ----------------- | | ----------------- | | fixed->| |<-fixed | | V V "ROS_RPC_BOOM1" "ROS_RPC_BOOM2" +------------------------- -------------------------+ | | | | |<-fixed fixed->| |<-fixed fixed->| | | | | V V V V "ROS_RPC_MIP" "ROS_RPC_LAP1" "ROS_RPC_LAP2" "ROS_RPC_MAG_OB/IB" ------------- -------------- -------------- ------------------- RPC IES and ICA Frames -------------------------------------- The RPC IES sensor frame -- ROS_RPC_IES -- is defined as follows: - +Z axis points along the instrument's FOV symmetry axis, toward the FOV side of the sensor unit; - +Y axis is parallel to the instrument mounting plate plane (s/c XY plane) and points toward -X/+Y quadrant of the s/c XY plane; - +X axis completes the right hand frame; - the origin of the frame is located at the intersection of the FOV symmetry axis and the FOV focal plane. The RPC ICA sensor frame -- ROS_RPC_ICA -- is defined as follows: - +Z axis points along the instrument's FOV symmetry axis, toward the FOV side of the sensor unit; - +X axis is parallel to the instrument mounting plate plane (s/c XY plane) and nominally points along the s/c +X axis; - +Y axis completes the right hand frame; - the origin of the frame is located at the intersection of the FOV symmetry axis and the FOV focal plane. Defining IES and ICA sensor frame in this fashion allows easier specification of the sensor sector view directions and boundaries using polar coordinates relative to these frames. This diagram illustrates the RPC IES and ICA sensor frames: +Z s/c side (science deck side) view: ------------------------------------- Lander _____ / \ | | ._____________. | | | | | +Zsc | +Ysc +Yies o==/ /==================o | o------->o== ^ =============/ /==o -Y Solar Array | | |x-------> | | ||.' +Zica .______|_____ x| `. | . |. .--V +Xsc | `. HGA .' ` V V +Zies /_________ +Xica `.|.' +Zsc points out of the page +Yica points into the page +Zies points 45 deg above the s/c XY plane. +Xies points 45 deg below the s/c XY plane. As shown on the diagram, two rotations are needed to co-align the s/c frame with the IES sensor frame: first by +45 degrees about +Z, then by +45 about +Y. Only one rotation is needed to co-align the s/c frame with the ICA sensor frame: by -90 degrees about +X. \begindata FRAME_ROS_RPC_IES = -226520 FRAME_-226520_NAME = 'ROS_RPC_IES' FRAME_-226520_CLASS = 4 FRAME_-226520_CLASS_ID = -226520 FRAME_-226520_CENTER = -226 TKFRAME_-226520_RELATIVE = 'ROS_SPACECRAFT' TKFRAME_-226520_SPEC = 'ANGLES' TKFRAME_-226520_UNITS = 'DEGREES' TKFRAME_-226520_ANGLES = ( 0.0, -45.0, -45.0 ) TKFRAME_-226520_AXES = ( 1, 3, 2 ) FRAME_ROS_RPC_ICA = -226530 FRAME_-226530_NAME = 'ROS_RPC_ICA' FRAME_-226530_CLASS = 4 FRAME_-226530_CLASS_ID = -226530 FRAME_-226530_CENTER = -226 TKFRAME_-226530_RELATIVE = 'ROS_SPACECRAFT' TKFRAME_-226530_SPEC = 'ANGLES' TKFRAME_-226530_UNITS = 'DEGREES' TKFRAME_-226530_ANGLES = ( 90.0, 0.0, 0.0 ) TKFRAME_-226530_AXES = ( 1, 3, 2 ) \begintext RPC IES and ICA Unit Reference Frames -------------------------------------- This section implements the IES and ICA Unit Reference Frame (URF) frame definitions. While these frames were not specifically spelled out in [5], they are defined according to the rules outlined in the section 7.3 of that document. \begindata FRAME_ROS_RPC_IES_URF = -226525 FRAME_-226525_NAME = 'ROS_RPC_IES_URF' FRAME_-226525_CLASS = 4 FRAME_-226525_CLASS_ID = -226525 FRAME_-226525_CENTER = -226 TKFRAME_-226525_RELATIVE = 'ROS_SPACECRAFT' TKFRAME_-226525_SPEC = 'ANGLES' TKFRAME_-226525_UNITS = 'DEGREES' TKFRAME_-226525_ANGLES = ( 0.0, -45.0, 0.0 ) TKFRAME_-226525_AXES = ( 2, 3, 1 ) FRAME_ROS_RPC_ICA_URF = -226535 FRAME_-226535_NAME = 'ROS_RPC_ICA_URF' FRAME_-226535_CLASS = 4 FRAME_-226535_CLASS_ID = -226535 FRAME_-226535_CENTER = -226 TKFRAME_-226535_RELATIVE = 'ROS_SPACECRAFT' TKFRAME_-226535_SPEC = 'ANGLES' TKFRAME_-226535_UNITS = 'DEGREES' TKFRAME_-226535_ANGLES = ( 0.0, -90.0, 0.0 ) TKFRAME_-226535_AXES = ( 2, 3, 1 ) \begintext RPC Boom and Boom-mounted Sensor Frames --------------------------------------- The RPC Boom 1 and 2 frames -- ROS_RPC_BOOM1 and ROS_RPC_BOOM2 -- are defined as follows: - +Z axis is parallel to the boom and points away from the spacecraft; - +X axis is parallel to the MIP antennas (for Boom 1) or MAG center axis (for Boom 2) and points away from the boom; - +Y axis completes the right hand frame; - the origin of the frame is located at the boom pivot point. All boom-mounted sensor frames (except those for the MAG sensors) -- ROS_RPC_MIP, ROS_RPC_LAP1, and ROS_RPC_LAP2 -- are defined to be co-aligned with the frame of the boom on which the sensor is mounted. This diagram illustrates the RPC Boom 1 and 2 frames for booms in deployed position: +Z s/c side (science deck side) view: ------------------------------------- +Zboom2 Lander ^ _____ | ^ +Xboom2 / \ | . | | |. .____________o----> +Yboom2 | |x----> +Zboom1 | || | +Zsc ||+Ysc o==/ /==================o | o------->o==================/ /==o -Y Solar Array | | || +Y Solar Array | | |V .______|______. +Xboom1 `. | .' .--V +Xsc HGA .' `. /___________\ `.|.' +Zsc points out of the page +Zboom1 points 45 deg above the s/c XY plane. +Yboom1 points 45 deg below the s/c XY plane. +Zboom2 points ~40 deg below s/c XY plane, slightly toward s/c +Y axis. +Xboom2 points ~50 deg above s/c XY plane, slightly toward s/c +Y axis. As shown on the diagram, a single rotation of -45 degrees about +X is needed to co-align the s/c frame with the Boom 1 frame in deployed configuration. Nominally two rotations are needed to co-align the s/c frame with the Boom 2 frame in stowed configuration: first by -90.0 degrees about +Y, then by +90.0 degrees about +X. Nominally three rotations are needed to co-align the s/c frame with the Boom 2 frame in deployed configuration: first by -126.958 degrees about +Y, then by -4.590 degrees about +X, and finally by +15.358 degrees about +Z. (These angles were derived the boom pivot axis direction angles and boom deployment angle specified in [6].) Since both, pre- and post- deployment orientation of the Boom 2 is essential for MAG data analysis, Boom 2 frame is defined as a CK-based frame with its orientation provided in CK files. \begindata FRAME_ROS_RPC_BOOM1 = -226560 FRAME_-226560_NAME = 'ROS_RPC_BOOM1' FRAME_-226560_CLASS = 4 FRAME_-226560_CLASS_ID = -226560 FRAME_-226560_CENTER = -226 TKFRAME_-226560_RELATIVE = 'ROS_SPACECRAFT' TKFRAME_-226560_SPEC = 'ANGLES' TKFRAME_-226560_UNITS = 'DEGREES' TKFRAME_-226560_ANGLES = ( 0.0, 0.0, 45.0 ) TKFRAME_-226560_AXES = ( 3, 2, 1 ) FRAME_ROS_RPC_BOOM2 = -226570 FRAME_-226570_NAME = 'ROS_RPC_BOOM2' FRAME_-226570_CLASS = 3 FRAME_-226570_CLASS_ID = -226570 FRAME_-226570_CENTER = -226 CK_-226570_SCLK = -226 CK_-226570_SPK = -226 FRAME_ROS_RPC_MIP = -226550 FRAME_-226550_NAME = 'ROS_RPC_MIP' FRAME_-226550_CLASS = 4 FRAME_-226550_CLASS_ID = -226550 FRAME_-226550_CENTER = -226 TKFRAME_-226550_RELATIVE = 'ROS_RPC_BOOM1' TKFRAME_-226550_SPEC = 'ANGLES' TKFRAME_-226550_UNITS = 'DEGREES' TKFRAME_-226550_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-226550_AXES = ( 2, 3, 1 ) FRAME_ROS_RPC_LAP1 = -226511 FRAME_-226511_NAME = 'ROS_RPC_LAP1' FRAME_-226511_CLASS = 4 FRAME_-226511_CLASS_ID = -226511 FRAME_-226511_CENTER = -226 TKFRAME_-226511_RELATIVE = 'ROS_RPC_BOOM1' TKFRAME_-226511_SPEC = 'ANGLES' TKFRAME_-226511_UNITS = 'DEGREES' TKFRAME_-226511_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-226511_AXES = ( 2, 3, 1 ) FRAME_ROS_RPC_LAP2 = -226512 FRAME_-226512_NAME = 'ROS_RPC_LAP2' FRAME_-226512_CLASS = 4 FRAME_-226512_CLASS_ID = -226512 FRAME_-226512_CENTER = -226 TKFRAME_-226512_RELATIVE = 'ROS_RPC_BOOM2' TKFRAME_-226512_SPEC = 'ANGLES' TKFRAME_-226512_UNITS = 'DEGREES' TKFRAME_-226512_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-226512_AXES = ( 2, 3, 1 ) \begintext The MAG OB and IB frames -- ROS_RPC_BOOM1 and ROS_RPC_BOOM2 -- are defined as follows: - +Y axis is parallel to the boom and points from the sensor toward the boom deployment hinge; this axis is designated "V" in the instrument documentation and nominally points in the direction opposite to the Boom 2 +Z axis; - +Z axis is normal to the boom and point from the sensor toward the boom; this axis is designated "W" in the instrument documentation and nominally points in the direction opposite to the Boom 2 +X axis; - +X axis completes the right hand frame; this axis is designated "U" in the instrument documentation nominally points in the same direction as the Boom 2 +Y axis; - the origin of the frame is located at the geometric center of the sensor. This diagram illustrates the RPC MAG OB and IB frames: +Z s/c side view (Boom 2 is shown in stowed position): ------------------------------------------------------ +Xmag ^ ^ +Yboom2 | | |+Ymag | ._x--->__<---o | +Zboom2| | | | +Zsc | +Ysc o==/ /==================o | o------->o==================/ /==o -Y Solar Array | | | +Y Solar Array | | | .______|______. `. | .' .--V +Xsc HGA .' `. /___________\ `.|.' +Zsc and +Xboom2 point out of the page +Zmag points into the page As shown on the diagram, nominally two rotations are needed to co-align the Boom 2 frame with the MAG OB/MAG IB frames: first by +90 degrees about Z, then by -90 degrees about X. The actual alignments, computed from the MAG OB and IB frames' U, V, and W axes directions in the s/c frame provided by Dr. Ingo Richter [8], are as follows: Mboom2->mag_ob = [-90.23422236]x * [+89.94424999]z * [+0.14507999]x Mboom2->mag_ib = [-90.28478858]x * [+89.49714229]z * [+0.11719143]x The MAG OB and IB frame definitions below incorporate these transformations. \begindata FRAME_ROS_RPC_MAG_OB = -226541 FRAME_-226541_NAME = 'ROS_RPC_MAG_OB' FRAME_-226541_CLASS = 4 FRAME_-226541_CLASS_ID = -226541 FRAME_-226541_CENTER = -226 TKFRAME_-226541_RELATIVE = 'ROS_RPC_BOOM2' TKFRAME_-226541_SPEC = 'ANGLES' TKFRAME_-226541_UNITS = 'DEGREES' TKFRAME_-226541_ANGLES = ( -0.14507999, -89.94424999, +90.23422236 ) TKFRAME_-226541_AXES = ( 1, 3, 1 ) FRAME_ROS_RPC_MAG_IB = -226542 FRAME_-226542_NAME = 'ROS_RPC_MAG_IB' FRAME_-226542_CLASS = 4 FRAME_-226542_CLASS_ID = -226542 FRAME_-226542_CENTER = -226 TKFRAME_-226542_RELATIVE = 'ROS_RPC_BOOM2' TKFRAME_-226542_SPEC = 'ANGLES' TKFRAME_-226542_UNITS = 'DEGREES' TKFRAME_-226542_ANGLES = ( -0.11719143, -89.49714229, +90.28478858 ) TKFRAME_-226542_AXES = ( 1, 3, 1 ) \begintext Rosetta Lander Frames ======================================================================== This section of the file contains the definitions of the Rosetta topocentric, lander and instrument frames. Rosetta Lander Frame Tree -------------------------------------- The diagram below shows the Rosetta Lander and its instruments frame hierarchy. "J2000" INERTIAL +-----------------------------------------------------+ | | | | |<-ck | | |<-pck | | | | V | | V "ROS_SPACECRAFT" | | "IAU_EARTH" --------------- |<-pck |<-ck EARTH BODY-FIXED | | ---------------- V V "67P/C-G_FIXED" "67P/C-G_CK" COMET BFXD COMET BFXD --------------- ------------ . . fixed->. .<-fixed . . V V "ROS_LANDER_TOPO" ----------------- | |<-ck | V "ROS_LANDER" +-------------------------------------------+ | | | |<-fixed |<-fixed | | | | V V V "ROS_LANDER_CIVA_P_#" "ROS_LANDER_DIM_#" "ROS_LANDER_ROLIS" --------------------- ------------------ ------------------ Rosetta Local Level frame -------------------------------------- The topocentric frame at the landing site -- ROS_LANDER_TOPO -- is defined as follows: - +Z axis is the outward normal (zenith) at the landing site; - +X axis points at the local north; - +Y completes the right hand frame; - the origin of the frame is on the ground below center of the lander The orientation of the frame is given relative to the comet fixed rotating frame '67P/C-G_FIXED' and is determined by the landing site coordinates. The transformation from 'ROS_LANDER_TOPO' frame to '67P/C-G_FIXED' frame is a 3-2-3 rotation with defined angles as the negative of the site longitude, the negative of the site colatitude, 180 degrees. Until the target landing site is selected, the rotation angles in the frame transformation below are set for an arbitrarily chosen placeholder landing site at Lon = 0 degrees East Lat = 0 degrees North These keywords implement the frame definition. \begindata FRAME_ROS_LANDER_TOPO = -226999 FRAME_-226999_NAME = 'ROS_LANDER_TOPO' FRAME_-226999_CLASS = 4 FRAME_-226999_CLASS_ID = -226999 FRAME_-226999_CENTER = -226999 TKFRAME_-226999_RELATIVE = '67P/C-G_FIXED' TKFRAME_-226999_SPEC = 'ANGLES' TKFRAME_-226999_UNITS = 'DEGREES' TKFRAME_-226999_ANGLES = ( 0, -90, 180 ) TKFRAME_-226999_AXES = ( 3, 2, 3 ) \begintext Rosetta Lander Frame -------------------------------------- The lander frame -- ROS_LANDER -- is defined by the lander design as follows: - +X axis is parallel to the lander baseplate and points from the lander backside toward the CIVA-P 3 camera mounted in the middle of the front solar hood panel; - +Z axis is perpendicular to the lander baseplate and points from the lander baseplate towards the lander top plate; - +Y axis completes the right handed frame; - the origin of the frame is in the middle of the baseplate inner surface backside. These diagrams illustrate the lander frame: +Z lander side (top) view: -------------------------- .o o'\\ \\ \\ \\ \\ +Ylnd \\ ^ ----------------o-. | -. SD2 \ | -' o | ` | +Xlnd | o o-------> o o===========| +Zlnd | o | . | o | / `-----------------o-' // // // // // o.// +Zlnd points out of the page. `o -Y lander side view: -------------------- .--. | | SD2 .----------------------. | | | CIVA-P 3 | | o +Zlnd | | ^ | | | | | | | | | | | | +Xlnd | | +Ylnd x-------> ------------' .----------| |.______________________. | | `-.__|_|________..--'' | /_\ /_\ /_\ +Ylnd points into the page. This diagram illustrates the spacecraft and lander frame for the attached configuration: +Z s/c side (science deck side) view: ------------------------------------- ^ +Xlnd | __|__ / | \ Lander +Ylnd | | | <-------o _____. | +Zlnd | | | | +Zsc | +Ysc o==/ /==================o | o------->o==================/ /==o -Y Solar Array | | | +Y Solar Array | | | .______|______. `. | .' .--V +Xsc HGA .' `. +Zsc is out of the page /___________\ `.|.' +Zlnd is out of the page and is inclined 2.69 deg toward the -Xsc. Because the lander frame changes its orientation relative to other frames it is defined as a CK-based frame. \begindata FRAME_ROS_LANDER = -226800 FRAME_-226800_NAME = 'ROS_LANDER' FRAME_-226800_CLASS = 3 FRAME_-226800_CLASS_ID = -226800 FRAME_-226800_CENTER = -226800 CK_-226800_SCLK = -226 CK_-226800_SPK = -226800 \begintext Rosetta Lander CIVA-P Frames -------------------------------------- The CIVA-P camera frames -- ROS_LANDER_CIVA_P_1 .. ROS_LANDER_CIVA_P_7 -- are defined as follows: - +Z axis is along the camera boresight; - +X axis is along the camera CCD lines and is nominally parallel to the lander baseplate; - +Y axis completes the right-handed frame, is along the camera CCD columns and points down toward the bottom of the lander; - the origin of the frame is at the camera focal point. This diagram illustrates the CIVA-P frames: .o o'\\ \\ \\ \\ ^ +Zch1 \\ \ +Ylnd \\ 60 deg \ ^ +Zch2 ^ ---------------x-. / | CH1 \ / 60 deg | x --- | CH7 CH2 ` Zch7 <---x +Xlnd | +Zch3 o o-------> CH3 x---> =====| Zch6 <---x | o | CH6 CH4 . | x --- | CH5 / \ 60 deg `-----------------x-' \ // 60 deg / V +Zch4 // / // V +Zch5 // // o.// +Zlnd points out of the page. `o +Zch1..5 point 15 degrees into the page. +Zch6..7 point 25 degrees into the page. +Ych1..5 point into the page and are tilted 15 degrees away from corresponding +Z axes. +Ych6..7 point into the page and are tilted 25 degrees away from corresponding +X axes. +Xch1..7 (not shown) complete the right-handed frames and are parallel to the lander XY plane. The following nominal rotations are needed to co-align the lander frame with the CIVA-P frames (Mlnd->ch = Rot3(Z)*Rot2(Y)*Rot1(Z)): Camera Rot3(Z) Rot2(Y) Rot1(Z) --------- ------- ------- ------- CIVA-P 1 -90 +105 +120 CIVA-P 2 -90 +105 +60 CIVA-P 3 -90 +105 0 CIVA-P 4 -90 +105 -60 CIVA-P 5 -90 +105 -120 CIVA-P 6 +90 -115 0 CIVA-P 7 +90 -115 0 The frame definitions below incorporate these nominal rotations. Since the SPICE frames subsystem calls for specifying the reverse transformation -- going from the instrument or structure frame to the base frame, -- the order of rotations assigned to the TKFRAME_*_AXES keyword is reversed and the signs associated with the rotation angles assigned to the TKFRAME_*_ANGLES keyword are the opposite from what is given in the above table. \begindata FRAME_ROS_LANDER_CIVA_P_1 = -226801 FRAME_-226801_NAME = 'ROS_LANDER_CIVA_P_1' FRAME_-226801_CLASS = 4 FRAME_-226801_CLASS_ID = -226801 FRAME_-226801_CENTER = -226800 TKFRAME_-226801_RELATIVE = 'ROS_LANDER' TKFRAME_-226801_SPEC = 'ANGLES' TKFRAME_-226801_UNITS = 'DEGREES' TKFRAME_-226801_AXES = ( 3, 2, 3 ) TKFRAME_-226801_ANGLES = ( -120.0, -105.0, 90.0 ) FRAME_ROS_LANDER_CIVA_P_2 = -226802 FRAME_-226802_NAME = 'ROS_LANDER_CIVA_P_2' FRAME_-226802_CLASS = 4 FRAME_-226802_CLASS_ID = -226802 FRAME_-226802_CENTER = -226800 TKFRAME_-226802_RELATIVE = 'ROS_LANDER' TKFRAME_-226802_SPEC = 'ANGLES' TKFRAME_-226802_UNITS = 'DEGREES' TKFRAME_-226802_AXES = ( 3, 2, 3 ) TKFRAME_-226802_ANGLES = ( -60.0, -105.0, 90.0 ) FRAME_ROS_LANDER_CIVA_P_3 = -226803 FRAME_-226803_NAME = 'ROS_LANDER_CIVA_P_3' FRAME_-226803_CLASS = 4 FRAME_-226803_CLASS_ID = -226803 FRAME_-226803_CENTER = -226800 TKFRAME_-226803_RELATIVE = 'ROS_LANDER' TKFRAME_-226803_SPEC = 'ANGLES' TKFRAME_-226803_UNITS = 'DEGREES' TKFRAME_-226803_AXES = ( 3, 2, 3 ) TKFRAME_-226803_ANGLES = ( 0.0, -105.0, 90.0 ) FRAME_ROS_LANDER_CIVA_P_4 = -226804 FRAME_-226804_NAME = 'ROS_LANDER_CIVA_P_4' FRAME_-226804_CLASS = 4 FRAME_-226804_CLASS_ID = -226804 FRAME_-226804_CENTER = -226800 TKFRAME_-226804_RELATIVE = 'ROS_LANDER' TKFRAME_-226804_SPEC = 'ANGLES' TKFRAME_-226804_UNITS = 'DEGREES' TKFRAME_-226804_AXES = ( 3, 2, 3 ) TKFRAME_-226804_ANGLES = ( 60.0, -105.0, 90.0 ) FRAME_ROS_LANDER_CIVA_P_5 = -226805 FRAME_-226805_NAME = 'ROS_LANDER_CIVA_P_5' FRAME_-226805_CLASS = 4 FRAME_-226805_CLASS_ID = -226805 FRAME_-226805_CENTER = -226800 TKFRAME_-226805_RELATIVE = 'ROS_LANDER' TKFRAME_-226805_SPEC = 'ANGLES' TKFRAME_-226805_UNITS = 'DEGREES' TKFRAME_-226805_AXES = ( 3, 2, 3 ) TKFRAME_-226805_ANGLES = ( 120.0, -105.0, 90.0 ) FRAME_ROS_LANDER_CIVA_P_6 = -226806 FRAME_-226806_NAME = 'ROS_LANDER_CIVA_P_6' FRAME_-226806_CLASS = 4 FRAME_-226806_CLASS_ID = -226806 FRAME_-226806_CENTER = -226800 TKFRAME_-226806_RELATIVE = 'ROS_LANDER' TKFRAME_-226806_SPEC = 'ANGLES' TKFRAME_-226806_UNITS = 'DEGREES' TKFRAME_-226806_AXES = ( 3, 2, 3 ) TKFRAME_-226806_ANGLES = ( 0.0, 115.0, -90.0 ) FRAME_ROS_LANDER_CIVA_P_7 = -226807 FRAME_-226807_NAME = 'ROS_LANDER_CIVA_P_7' FRAME_-226807_CLASS = 4 FRAME_-226807_CLASS_ID = -226807 FRAME_-226807_CENTER = -226800 TKFRAME_-226807_RELATIVE = 'ROS_LANDER' TKFRAME_-226807_SPEC = 'ANGLES' TKFRAME_-226807_UNITS = 'DEGREES' TKFRAME_-226807_AXES = ( 3, 2, 3 ) TKFRAME_-226807_ANGLES = ( 0.0, 115.0, -90.0 ) \begintext Rosetta Lander SESAME DIM Frames -------------------------------------- The SESAME DIM piezoelectric detector frames -- ROS_LANDER_DIM_X, ROS_LANDER_DIM_Y and ROS_LANDER_DIM_Z -- are defined as follows: - +Z axis is along the normal to the detector surface facing outward and is nominally along s/c +X for DIM_X, s/c +Y for DIM_Y, and s/c +Z for DIM_Z; - +X axis is nominally along s/c -Z for DIM_X, s/c +X for DIM_Y, and s/c +X for DIM_Z.; - +Y axis completes the right-handed frame; - the origin of the frame is at the geometric center of the detector piezoelectric element. These diagrams illustrate the DIM detector frames: DIM_X frame: o o\ +Ydimx \ ^ +Ylnd \ | ^ --|-------. | x----> \ | +Xdimx +Zdimx o o----> |======| +Zlnd +Xlnd | o | / `-----------' / / o/ +Zlnd points out of the page. o +Xdimx points into the page. DIM_Y frame: o +Zdimy o\ ^ \ | +Ylnd \ | +Xdimy ^ -x----> -. | +Ydimy \ | | o o----> |======| +Zlnd +Xlnd | o | / `-----------' / / o/ +Zlnd points out of the page. o +Ydimy points into the page. DIM_Z frame: o o\ +Ydimz \ ^ +Ylnd \ | ^ -|--------. | o----> \ | +Zdimz +Xdimz o o----> |======| +Zlnd +Xlnd | o | / `-----------' / / o/ +Zlnd points out of the page. o +Zdimz points out of the page. As seen on the diagram: - DIM_X frame is nominally rotated from the lander frame by +90 degrees about Y. - DIM_Y frame is nominally rotated from the lander frame by -90 degrees about X. - DIM_Z frame is nominally co-aligned with the lander frame. The frame definitions below incorporate these nominal rotations. Since the SPICE frames subsystem calls for specifying the reverse transformation -- going from the instrument or structure frame to the base frame, -- the order of rotations assigned to the TKFRAME_*_AXES keyword is reversed and the signs associated with the rotation angles assigned to the TKFRAME_*_ANGLES keyword are the opposite from what is given in the above table. \begindata FRAME_ROS_LANDER_DIM_X = -226830 FRAME_-226830_NAME = 'ROS_LANDER_DIM_X' FRAME_-226830_CLASS = 4 FRAME_-226830_CLASS_ID = -226830 FRAME_-226830_CENTER = -226800 TKFRAME_-226830_RELATIVE = 'ROS_LANDER' TKFRAME_-226830_SPEC = 'ANGLES' TKFRAME_-226830_UNITS = 'DEGREES' TKFRAME_-226830_AXES = ( 1, 2, 3 ) TKFRAME_-226830_ANGLES = ( 0.0, -90.0, 0.0 ) FRAME_ROS_LANDER_DIM_Y = -226831 FRAME_-226831_NAME = 'ROS_LANDER_DIM_Y' FRAME_-226831_CLASS = 4 FRAME_-226831_CLASS_ID = -226831 FRAME_-226831_CENTER = -226800 TKFRAME_-226831_RELATIVE = 'ROS_LANDER' TKFRAME_-226831_SPEC = 'ANGLES' TKFRAME_-226831_UNITS = 'DEGREES' TKFRAME_-226831_AXES = ( 1, 2, 3 ) TKFRAME_-226831_ANGLES = ( 90.0, 0.0, 0.0 ) FRAME_ROS_LANDER_DIM_Z = -226832 FRAME_-226832_NAME = 'ROS_LANDER_DIM_Z' FRAME_-226832_CLASS = 4 FRAME_-226832_CLASS_ID = -226832 FRAME_-226832_CENTER = -226800 TKFRAME_-226832_RELATIVE = 'ROS_LANDER' TKFRAME_-226832_SPEC = 'ANGLES' TKFRAME_-226832_UNITS = 'DEGREES' TKFRAME_-226832_AXES = ( 1, 2, 3 ) TKFRAME_-226832_ANGLES = ( 0.0, 0.0, 0.0 ) \begintext Rosetta Lander ROLIS Frame -------------------------------------- The ROLIS camera frame -- ROS_LANDER_ROLIS -- is defined as follows: - +Z axis is along the camera boresight and is nominally co-aligned with the -Z axis of the lander frame - +X axis is along the camera CCD lines and nominally co-aligned with the -Y axis of the lander frame - +Y axis completes the right-handed frame and is along the camera CCD columns and nominally co-aligned -X axis of the lander frame. - the origin of the frame is at the rear principal point of the optics. This diagram illustrates the ROLIS frame: .o o'\\ \\ \\ \\ \\ +Ylnd \\ ^ ------------------. | \ | \ | ` +Zlnd | +Xldn | o o-------> |===========| <-------x +ZRolfrm | o +YRolfrm | | . | | / | | / `--|----------------' v // +XRolfrm // // // // o.// +Zlnd points out of the page. `o +ZRolfrm points into the page. Nominally two rotations are needed to align the lander frame with the ROLIS frame: first by -90 degrees about +Z axis, second by 180 degrees about +X axis. The keywords below define the ROLIS frame. Since the SPICE frames subsystem calls for specifying the reverse transformation -- going from the instrument or structure frame to the base frame, -- the order of rotations assigned to the TKFRAME_*_AXES keyword is reversed and the signs associated with the rotation angles assigned to the TKFRAME_*_ANGLES keyword are the opposite from what is given in the above table. \begindata FRAME_ROS_LANDER_ROLIS = -226815 FRAME_-226815_NAME = 'ROS_LANDER_ROLIS' FRAME_-226815_CLASS = 4 FRAME_-226815_CLASS_ID = -226815 FRAME_-226815_CENTER = -226800 TKFRAME_-226815_RELATIVE = 'ROS_LANDER' TKFRAME_-226815_SPEC = 'ANGLES' TKFRAME_-226815_UNITS = 'DEGREES' TKFRAME_-226815_AXES = ( 3, 1, 2 ) TKFRAME_-226815_ANGLES = ( 90.0, 180.0, 0.0 ) \begintext Rosetta Mission NAIF ID Codes -- Definition Section ======================================================================== This section contains name to NAIF ID mappings for the Rosetta mission. Rosetta Target IDs: ------------------------------------------------------------- This table summarizes Rosetta Target IDs: Name ID Synonyms --------------------- ------- --------------------------- CHURYUMOV-GERASIMENKO 1000012 '67P/C-G' '67P/CHURYUMOV-GERASIMENKO' STEINS 2002867 '2867 STEINS' LUTETIA 2000021 '21 LUTETIA' HONDA-MRKOS-PAJDUSAKOVA 1000045 '45P/H-M-P' '45P/HONDA-MRKOS-PAJDUSAKOVA' Name-ID Mapping keywords: \begindata NAIF_BODY_NAME += ( '67P/CHURYUMOV-GERASIMENKO' ) NAIF_BODY_CODE += ( 1000012 ) NAIF_BODY_NAME += ( '67P/C-G' ) NAIF_BODY_CODE += ( 1000012 ) NAIF_BODY_NAME += ( 'CHURYUMOV-GERASIMENKO' ) NAIF_BODY_CODE += ( 1000012 ) NAIF_BODY_NAME += ( '45P/HONDA-MRKOS-PAJDUSAKOVA' ) NAIF_BODY_CODE += ( 1000045 ) NAIF_BODY_NAME += ( '45P/H-M-P' ) NAIF_BODY_CODE += ( 1000045 ) NAIF_BODY_NAME += ( 'HONDA-MRKOS-PAJDUSAKOVA' ) NAIF_BODY_CODE += ( 1000045 ) NAIF_BODY_NAME += ( '2867 STEINS' ) NAIF_BODY_CODE += ( 2002867 ) NAIF_BODY_NAME += ( 'STEINS' ) NAIF_BODY_CODE += ( 2002867 ) NAIF_BODY_NAME += ( '21 LUTETIA' ) NAIF_BODY_CODE += ( 2000021 ) NAIF_BODY_NAME += ( 'LUTETIA' ) NAIF_BODY_CODE += ( 2000021 ) \begintext Rosetta Spacecraft (ROSETTA) spacecraft and instruments IDs: ------------------------------------------------------------- This table summarizes Rosetta Spacecraft IDs: Name ID Synonyms --------------------- ------- --------------------------- ROS -226 ROSETTA, ROSETTA ORBITER Notes: -- 'ROS', 'ROSETTA', 'ROSETTA ORBITER' are synonyms and all map to the official Rosetta s/c ID (-226); Name-ID Mapping keywords: \begindata NAIF_BODY_NAME += ( 'ROSETTA' ) NAIF_BODY_CODE += ( -226 ) NAIF_BODY_NAME += ( 'ROS' ) NAIF_BODY_CODE += ( -226 ) NAIF_BODY_NAME += ( 'ROSETTA ORBITER' ) NAIF_BODY_CODE += ( -226 ) \begintext Rosetta Spacecraft Structures IDs -------------------------------------- This table summarizes Rosetta Spacecraft Structure IDs: Name ID Synonyms --------------------- ------- ------------------------- ROS_SPACECRAFT -226000 ROS_SC ROS_MGA-S -226030 ROS_MGA-X -226040 ROS_LGA-1 -226050 ROS_LGA-2 -226060 ROS_HGA_GIMBAL -226070 ROS_HGA -226075 ROS_SA+Y_GIMBAL -226010 ROS_SA+Y_C1 -226011 ROS_SA+Y_C2 -226012 ROS_SA+Y_C3 -226013 ROS_SA+Y_C4 -226014 ROS_SA-Y_GIMBAL -226020 ROS_SA-Y_C1 -226021 ROS_SA-Y_C2 -226022 ROS_SA-Y_C3 -226023 ROS_SA-Y_C4 -226024 ROS_SPACECRAFT_C1 -226001 ROS_SPACECRAFT_C2 -226002 ROS_SPACECRAFT_C3 -226003 ROS_SPACECRAFT_C4 -226004 ROS_SPACECRAFT_C5 -226005 ROS_SPACECRAFT_C6 -226006 ROS_SPACECRAFT_C7 -226007 ROS_SPACECRAFT_C8 -226008 Notes: - 'ROS_SC' and 'ROS_SPACECRAFT' are synonyms and all map to the ROSETTA s/c bus structure ID (-226000); Name-ID Mapping keywords: \begindata NAIF_BODY_NAME += ( 'ROS_SPACECRAFT' ) NAIF_BODY_CODE += ( -226000 ) NAIF_BODY_NAME += ( 'ROS_SC' ) NAIF_BODY_CODE += ( -226000 ) NAIF_BODY_NAME += ( 'ROS_MGA-S' ) NAIF_BODY_CODE += ( -226030 ) NAIF_BODY_NAME += ( 'ROS_MGA-X' ) NAIF_BODY_CODE += ( -226040 ) NAIF_BODY_NAME += ( 'ROS_LGA-1' ) NAIF_BODY_CODE += ( -226050 ) NAIF_BODY_NAME += ( 'ROS_LGA-2' ) NAIF_BODY_CODE += ( -226060 ) NAIF_BODY_NAME += ( 'ROS_HGA_GIMBAL' ) NAIF_BODY_CODE += ( -226070 ) NAIF_BODY_NAME += ( 'ROS_HGA' ) NAIF_BODY_CODE += ( -226075 ) NAIF_BODY_NAME += ( 'ROS_SA+Y_GIMBAL' ) NAIF_BODY_CODE += ( -226010 ) NAIF_BODY_NAME += ( 'ROS_SA+Y_C1' ) NAIF_BODY_CODE += ( -226011 ) NAIF_BODY_NAME += ( 'ROS_SA+Y_C2' ) NAIF_BODY_CODE += ( -226012 ) NAIF_BODY_NAME += ( 'ROS_SA+Y_C3' ) NAIF_BODY_CODE += ( -226013 ) NAIF_BODY_NAME += ( 'ROS_SA+Y_C4' ) NAIF_BODY_CODE += ( -226014 ) NAIF_BODY_NAME += ( 'ROS_SA-Y_GIMBAL' ) NAIF_BODY_CODE += ( -226020 ) NAIF_BODY_NAME += ( 'ROS_SA-Y_C1 ' ) NAIF_BODY_CODE += ( -226021 ) NAIF_BODY_NAME += ( 'ROS_SA-Y_C2 ' ) NAIF_BODY_CODE += ( -226022 ) NAIF_BODY_NAME += ( 'ROS_SA-Y_C3 ' ) NAIF_BODY_CODE += ( -226023 ) NAIF_BODY_NAME += ( 'ROS_SA-Y_C4 ' ) NAIF_BODY_CODE += ( -226024 ) NAIF_BODY_NAME += ( 'ROS_SPACECRAFT_C1' ) NAIF_BODY_CODE += ( -226001 ) NAIF_BODY_NAME += ( 'ROS_SPACECRAFT_C2' ) NAIF_BODY_CODE += ( -226002 ) NAIF_BODY_NAME += ( 'ROS_SPACECRAFT_C3' ) NAIF_BODY_CODE += ( -226003 ) NAIF_BODY_NAME += ( 'ROS_SPACECRAFT_C4' ) NAIF_BODY_CODE += ( -226004 ) NAIF_BODY_NAME += ( 'ROS_SPACECRAFT_C5' ) NAIF_BODY_CODE += ( -226005 ) NAIF_BODY_NAME += ( 'ROS_SPACECRAFT_C6' ) NAIF_BODY_CODE += ( -226006 ) NAIF_BODY_NAME += ( 'ROS_SPACECRAFT_C7' ) NAIF_BODY_CODE += ( -226007 ) NAIF_BODY_NAME += ( 'ROS_SPACECRAFT_C8' ) NAIF_BODY_CODE += ( -226008 ) \begintext Rosetta Star Tracker IDs -------------------------------------- This table summarizes Rosetta Star Tracker IDs: Name ID --------------------- ------- ROS_STR-A -226080 ROS_STR-B -226090 Name-ID Mapping keywords: \begindata NAIF_BODY_NAME += ( 'ROS_STR-A' ) NAIF_BODY_CODE += ( -226080 ) NAIF_BODY_NAME += ( 'ROS_STR-B' ) NAIF_BODY_CODE += ( -226090 ) \begintext OSIRIS IDs -------------------------------------- This table summarizes OSIRIS IDs: Name ID --------------------- ------- ROS_OSIRIS -226110 ROS_OSIRIS_NAC -226111 ROS_OSIRIS_NAC_URF -226116 ROS_OSIRIS_WAC -226112 ROS_OSIRIS_WAC_URF -226117 Name-ID Mapping keywords: \begindata NAIF_BODY_NAME += ( 'ROS_OSIRIS' ) NAIF_BODY_CODE += ( -226100 ) NAIF_BODY_NAME += ( 'ROS_OSIRIS_NAC' ) NAIF_BODY_CODE += ( -226111 ) NAIF_BODY_NAME += ( 'ROS_OSIRIS_NAC_URF' ) NAIF_BODY_CODE += ( -226116 ) NAIF_BODY_NAME += ( 'ROS_OSIRIS_WAC' ) NAIF_BODY_CODE += ( -226112 ) NAIF_BODY_NAME += ( 'ROS_OSIRIS_WAC_URF' ) NAIF_BODY_CODE += ( -226117 ) \begintext ALICE IDs -------------------------------------- This table summarizes ALICE IDs: Name ID --------------------- ------- ROS_ALICE -226120 ROS_ALICE_CENTER -226121 ROS_ALICE_-X_WIDE_BOTTOM -226122 ROS_ALICE_+X_WIDE_TOP -226123 ROS_ALICE_PINHOLE -226124 ROS_ALICE_URF -226125 Name-ID Mapping keywords: \begindata NAIF_BODY_NAME += ( 'ROS_ALICE' ) NAIF_BODY_CODE += ( -226120 ) NAIF_BODY_NAME += ( 'ROS_ALICE_CENTER' ) NAIF_BODY_CODE += ( -226121 ) NAIF_BODY_NAME += ( 'ROS_ALICE_-X_WIDE_BOTTOM' ) NAIF_BODY_CODE += ( -226122 ) NAIF_BODY_NAME += ( 'ROS_ALICE_+X_WIDE_TOP' ) NAIF_BODY_CODE += ( -226123 ) NAIF_BODY_NAME += ( 'ROS_ALICE_PINHOLE' ) NAIF_BODY_CODE += ( -226124 ) NAIF_BODY_NAME += ( 'ROS_ALICE_URF' ) NAIF_BODY_CODE += ( -226125 ) \begintext VIRTIS IDs -------------------------------------- This table summarizes VIRTIS IDs: Name ID --------------------- ------- ROS_VIRTIS -226200 ROS_VIRTIS-M -226210 ROS_VIRTIS-M_VIS -226211 ROS_VIRTIS-M_VIS_ZERO -226212 ROS_VIRTIS-M_IR -226213 ROS_VIRTIS-M_IR_ZERO -226214 ROS_VIRTIS-H -226220 Name-ID Mapping keywords: \begindata NAIF_BODY_NAME += ( 'ROS_VIRTIS' ) NAIF_BODY_CODE += ( -226200 ) NAIF_BODY_NAME += ( 'ROS_VIRTIS-M' ) NAIF_BODY_CODE += ( -226210 ) NAIF_BODY_NAME += ( 'ROS_VIRTIS-M_VIS' ) NAIF_BODY_CODE += ( -226211 ) NAIF_BODY_NAME += ( 'ROS_VIRTIS-M_VIS_ZERO' ) NAIF_BODY_CODE += ( -226212 ) NAIF_BODY_NAME += ( 'ROS_VIRTIS-M_IR' ) NAIF_BODY_CODE += ( -226213 ) NAIF_BODY_NAME += ( 'ROS_VIRTIS-M_IR_ZERO' ) NAIF_BODY_CODE += ( -226214 ) NAIF_BODY_NAME += ( 'ROS_VIRTIS-H' ) NAIF_BODY_CODE += ( -226220 ) \begintext MIRO IDs -------------------------------------- This table summarizes MIRO IDs: Name ID --------------------- ------- ROS_MIRO -226130 ROS_MIRO_MM -226131 ROS_MIRO_SUBMM -226132 ROS_MIRO_URF -226135 Name-ID Mapping keywords: \begindata NAIF_BODY_NAME += ( 'ROS_MIRO' ) NAIF_BODY_CODE += ( -226130 ) NAIF_BODY_NAME += ( 'ROS_MIRO_MM' ) NAIF_BODY_CODE += ( -226131 ) NAIF_BODY_NAME += ( 'ROS_MIRO_SUBMM' ) NAIF_BODY_CODE += ( -226132 ) NAIF_BODY_NAME += ( 'ROS_MIRO_URF' ) NAIF_BODY_CODE += ( -226135 ) \begintext ROSINA IDs -------------------------------------- This table summarizes ROSINA IDs: Name ID --------------------- ------- ROS_ROSINA -226300 ROS_ROSINA_DFMS -226310 ROS_ROSINA_DFMS_WA -226311 ROS_ROSINA_DFMS_NA -226312 ROS_ROSINA_DFMS_URF -226319 ROS_ROSINA_RTOF -226320 ROS_ROSINA_RTOF_URF -226329 ROS_ROSINA_COPS -226330 ROS_ROSINA_COPS_URF -226339 Name-ID Mapping keywords: \begindata NAIF_BODY_NAME += ( 'ROS_ROSINA' ) NAIF_BODY_CODE += ( -226300 ) NAIF_BODY_NAME += ( 'ROS_ROSINA_DFMS' ) NAIF_BODY_CODE += ( -226310 ) NAIF_BODY_NAME += ( 'ROS_ROSINA_DFMS_WA' ) NAIF_BODY_CODE += ( -226311 ) NAIF_BODY_NAME += ( 'ROS_ROSINA_DFMS_NA' ) NAIF_BODY_CODE += ( -226312 ) NAIF_BODY_NAME += ( 'ROS_ROSINA_DFMS_URF' ) NAIF_BODY_CODE += ( -226319 ) NAIF_BODY_NAME += ( 'ROS_ROSINA_RTOF' ) NAIF_BODY_CODE += ( -226320 ) NAIF_BODY_NAME += ( 'ROS_ROSINA_RTOF_URF' ) NAIF_BODY_CODE += ( -226329 ) NAIF_BODY_NAME += ( 'ROS_ROSINA_COPS' ) NAIF_BODY_CODE += ( -226330 ) NAIF_BODY_NAME += ( 'ROS_ROSINA_COPS_URF' ) NAIF_BODY_CODE += ( -226339 ) \begintext COSIMA IDs -------------------------------------- This table summarizes COSIMA IDs: Name ID --------------------- ------- ROS_COSIMA -226140 ROS_COSIMA_URF -226145 Name-ID Mapping keywords: \begindata NAIF_BODY_NAME += ( 'ROS_COSIMA' ) NAIF_BODY_CODE += ( -226140 ) NAIF_BODY_NAME += ( 'ROS_COSIMA_URF' ) NAIF_BODY_CODE += ( -226145 ) \begintext MIDAS IDs -------------------------------------- This table summarizes MIDAS IDs: Name ID --------------------- ------- ROS_MIDAS -226150 ROS_MIDAS_URF -226155 Name-ID Mapping keywords: \begindata NAIF_BODY_NAME += ( 'ROS_MIDAS' ) NAIF_BODY_CODE += ( -226150 ) NAIF_BODY_NAME += ( 'ROS_MIDAS_URF' ) NAIF_BODY_CODE += ( -226155 ) \begintext CONSERT IDs -------------------------------------- This table summarizes CONSERT IDs: Name ID --------------------- ------- ROS_CONSERT -226160 ROS_CONSERT_URF -226165 Name-ID Mapping keywords: \begindata NAIF_BODY_NAME += ( 'ROS_CONSERT' ) NAIF_BODY_CODE += ( -226160 ) NAIF_BODY_NAME += ( 'ROS_CONSERT_URF' ) NAIF_BODY_CODE += ( -226165 ) \begintext NAVCAM IDs -------------------------------------- This table summarizes NAVCAM IDs: Name ID --------------------- ------- ROS_NAVCAM-A -226170 ROS_NAVCAM-A_URF -226175 ROS_NAVCAM-B -226180 ROS_NAVCAM-B_URF -226185 Name-ID Mapping keywords: \begindata NAIF_BODY_NAME += ( 'ROS_NAVCAM-A' ) NAIF_BODY_CODE += ( -226170 ) NAIF_BODY_NAME += ( 'ROS_NAVCAM-A_URF' ) NAIF_BODY_CODE += ( -226175 ) NAIF_BODY_NAME += ( 'ROS_NAVCAM-B' ) NAIF_BODY_CODE += ( -226180 ) NAIF_BODY_NAME += ( 'ROS_NAVCAM-B_URF' ) NAIF_BODY_CODE += ( -226185 ) \begintext GIADA IDs -------------------------------------- This table summarizes GIADA IDs: Name ID --------------------- ------- ROS_GIADA -226400 ROS_GIADA_GDS -226410 ROS_GIADA_IS -226420 ROS_GIADA_MBS1 -226431 ROS_GIADA_MBS2 -226432 ROS_GIADA_MBS3 -226433 ROS_GIADA_MBS4 -226434 ROS_GIADA_MBS5 -226435 ROS_GIADA_URF -226440 Name-ID Mapping keywords: \begindata NAIF_BODY_NAME += ( 'ROS_GIADA' ) NAIF_BODY_CODE += ( -226400 ) NAIF_BODY_NAME += ( 'ROS_GIADA_GDS' ) NAIF_BODY_CODE += ( -226410 ) NAIF_BODY_NAME += ( 'ROS_GIADA_IS' ) NAIF_BODY_CODE += ( -226420 ) NAIF_BODY_NAME += ( 'ROS_GIADA_MBS1' ) NAIF_BODY_CODE += ( -226431 ) NAIF_BODY_NAME += ( 'ROS_GIADA_MBS2' ) NAIF_BODY_CODE += ( -226432 ) NAIF_BODY_NAME += ( 'ROS_GIADA_MBS3' ) NAIF_BODY_CODE += ( -226433 ) NAIF_BODY_NAME += ( 'ROS_GIADA_MBS4' ) NAIF_BODY_CODE += ( -226434 ) NAIF_BODY_NAME += ( 'ROS_GIADA_MBS5' ) NAIF_BODY_CODE += ( -226435 ) NAIF_BODY_NAME += ( 'ROS_GIADA_URF' ) NAIF_BODY_CODE += ( -226440 ) \begintext RPC IDs -------------------------------------- This table summarizes RPC IDs: Name ID --------------------- ------- ROS_RPC -226500 ROS_RPC_LAP1 -226511 ROS_RPC_LAP2 -226512 ROS_RPC_LAP1_URF -226515 ROS_RPC_LAP2_URF -226516 ROS_RPC_IES -226520 ROS_RPC_IES_ELECTRON -226521 ROS_RPC_IES_ION -226522 ROS_RPC_IES_URF -226525 ROS_RPC_IES_QUAD1 -226526 ROS_RPC_IES_QUAD2 -226527 ROS_RPC_IES_QUAD3 -226528 ROS_RPC_IES_QUAD4 -226529 ROS_RPC_ICA -226530 ROS_RPC_ICA_URF -226535 ROS_RPC_ICA_QUAD1 -226536 ROS_RPC_ICA_QUAD2 -226537 ROS_RPC_ICA_QUAD3 -226538 ROS_RPC_ICA_QUAD4 -226539 ROS_RPC_MAG_OB -226541 ROS_RPC_MAG_IB -226542 ROS_RPC_MAG_OB_URF -226545 ROS_RPC_MAG_IB_URF -226546 ROS_RPC_MIP -226550 ROS_RPC_MIP_R1 -226551 ROS_RPC_MIP_T1 -226552 ROS_RPC_MIP_T2 -226553 ROS_RPC_MIP_R2 -226554 ROS_RPC_MIP_URF -226555 ROS_RPC_BOOM1 -226560 ROS_RPC_BOOM2 -226570 Name-ID Mapping keywords: \begindata NAIF_BODY_NAME += ( 'ROS_RPC' ) NAIF_BODY_CODE += ( -226500 ) NAIF_BODY_NAME += ( 'ROS_RPC_LAP1' ) NAIF_BODY_CODE += ( -226511 ) NAIF_BODY_NAME += ( 'ROS_RPC_LAP2' ) NAIF_BODY_CODE += ( -226512 ) NAIF_BODY_NAME += ( 'ROS_RPC_LAP1_URF' ) NAIF_BODY_CODE += ( -226515 ) NAIF_BODY_NAME += ( 'ROS_RPC_LAP2_URF' ) NAIF_BODY_CODE += ( -226516 ) NAIF_BODY_NAME += ( 'ROS_RPC_IES' ) NAIF_BODY_CODE += ( -226520 ) NAIF_BODY_NAME += ( 'ROS_RPC_IES_ELECTRON' ) NAIF_BODY_CODE += ( -226521 ) NAIF_BODY_NAME += ( 'ROS_RPC_IES_ION' ) NAIF_BODY_CODE += ( -226522 ) NAIF_BODY_NAME += ( 'ROS_RPC_IES_URF' ) NAIF_BODY_CODE += ( -226525 ) NAIF_BODY_NAME += ( 'ROS_RPC_IES_QUAD1' ) NAIF_BODY_CODE += ( -226526 ) NAIF_BODY_NAME += ( 'ROS_RPC_IES_QUAD2' ) NAIF_BODY_CODE += ( -226527 ) NAIF_BODY_NAME += ( 'ROS_RPC_IES_QUAD3' ) NAIF_BODY_CODE += ( -226528 ) NAIF_BODY_NAME += ( 'ROS_RPC_IES_QUAD4' ) NAIF_BODY_CODE += ( -226529 ) NAIF_BODY_NAME += ( 'ROS_RPC_ICA' ) NAIF_BODY_CODE += ( -226530 ) NAIF_BODY_NAME += ( 'ROS_RPC_ICA_URF' ) NAIF_BODY_CODE += ( -226535 ) NAIF_BODY_NAME += ( 'ROS_RPC_ICA_QUAD1' ) NAIF_BODY_CODE += ( -226536 ) NAIF_BODY_NAME += ( 'ROS_RPC_ICA_QUAD2' ) NAIF_BODY_CODE += ( -226537 ) NAIF_BODY_NAME += ( 'ROS_RPC_ICA_QUAD3' ) NAIF_BODY_CODE += ( -226538 ) NAIF_BODY_NAME += ( 'ROS_RPC_ICA_QUAD4' ) NAIF_BODY_CODE += ( -226539 ) NAIF_BODY_NAME += ( 'ROS_RPC_MAG_OB' ) NAIF_BODY_CODE += ( -226541 ) NAIF_BODY_NAME += ( 'ROS_RPC_MAG_IB' ) NAIF_BODY_CODE += ( -226542 ) NAIF_BODY_NAME += ( 'ROS_RPC_MAG_OB_URF' ) NAIF_BODY_CODE += ( -226545 ) NAIF_BODY_NAME += ( 'ROS_RPC_MAG_IB_URF' ) NAIF_BODY_CODE += ( -226546 ) NAIF_BODY_NAME += ( 'ROS_RPC_MIP' ) NAIF_BODY_CODE += ( -226550 ) NAIF_BODY_NAME += ( 'ROS_RPC_MIP_R1' ) NAIF_BODY_CODE += ( -226551 ) NAIF_BODY_NAME += ( 'ROS_RPC_MIP_T1' ) NAIF_BODY_CODE += ( -226552 ) NAIF_BODY_NAME += ( 'ROS_RPC_MIP_T2' ) NAIF_BODY_CODE += ( -226553 ) NAIF_BODY_NAME += ( 'ROS_RPC_MIP_R2' ) NAIF_BODY_CODE += ( -226554 ) NAIF_BODY_NAME += ( 'ROS_RPC_MIP_URF' ) NAIF_BODY_CODE += ( -226555 ) NAIF_BODY_NAME += ( 'ROS_RPC_BOOM1' ) NAIF_BODY_CODE += ( -226560 ) NAIF_BODY_NAME += ( 'ROS_RPC_BOOM2' ) NAIF_BODY_CODE += ( -226570 ) \begintext Rosetta Lander IDs -------------------------------------- This table summarizes Rosetta Lander and Lander Instrument IDs: Name ID Synonyms ----------------------- ------- ------------------------- ROS_LANDER_LANDING_SITE -226999 ROS_LANDER_TOPO, ROS_LANDER_LS ROS_LANDER -226800 PHILAE ROS_LANDER_CIVA_P_1 -226801 ROS_LANDER_CIVA_P_2 -226802 ROS_LANDER_CIVA_P_3 -226803 ROS_LANDER_CIVA_P_4 -226804 ROS_LANDER_CIVA_P_5 -226805 ROS_LANDER_CIVA_P_6 -226806 ROS_LANDER_CIVA_P_7 -226807 ROS_LANDER_DIM_X -226830 ROS_LANDER_DIM_Y -226831 ROS_LANDER_DIM_Z -226832 ROS_LANDER_ROLIS_IFL -226810 ROS_LANDER_ROLIS_R -226811 ROS_LANDER_ROLIS_G -226812 ROS_LANDER_ROLIS_B -226813 ROS_LANDER_ROLIS_IR -226814 Name-ID Mapping keywords: \begindata NAIF_BODY_NAME += ( 'ROS_LANDER_LS' ) NAIF_BODY_CODE += ( -226999 ) NAIF_BODY_NAME += ( 'ROS_LANDER_TOPO' ) NAIF_BODY_CODE += ( -226999 ) NAIF_BODY_NAME += ( 'ROS_LANDER_LANDING_SITE' ) NAIF_BODY_CODE += ( -226999 ) NAIF_BODY_NAME += ( 'PHILAE' ) NAIF_BODY_CODE += ( -226800 ) NAIF_BODY_NAME += ( 'ROS_LANDER' ) NAIF_BODY_CODE += ( -226800 ) NAIF_BODY_NAME += ( 'ROS_LANDER_CIVA_P_1' ) NAIF_BODY_CODE += ( -226801 ) NAIF_BODY_NAME += ( 'ROS_LANDER_CIVA_P_2' ) NAIF_BODY_CODE += ( -226802 ) NAIF_BODY_NAME += ( 'ROS_LANDER_CIVA_P_3' ) NAIF_BODY_CODE += ( -226803 ) NAIF_BODY_NAME += ( 'ROS_LANDER_CIVA_P_4' ) NAIF_BODY_CODE += ( -226804 ) NAIF_BODY_NAME += ( 'ROS_LANDER_CIVA_P_5' ) NAIF_BODY_CODE += ( -226805 ) NAIF_BODY_NAME += ( 'ROS_LANDER_CIVA_P_6' ) NAIF_BODY_CODE += ( -226806 ) NAIF_BODY_NAME += ( 'ROS_LANDER_CIVA_P_7' ) NAIF_BODY_CODE += ( -226807 ) NAIF_BODY_NAME += ( 'ROS_LANDER_DIM_X' ) NAIF_BODY_CODE += ( -226830 ) NAIF_BODY_NAME += ( 'ROS_LANDER_DIM_Y' ) NAIF_BODY_CODE += ( -226831 ) NAIF_BODY_NAME += ( 'ROS_LANDER_DIM_Z' ) NAIF_BODY_CODE += ( -226832 ) NAIF_BODY_NAME += ( 'ROS_LANDER_ROLIS_IFL' ) NAIF_BODY_CODE += ( -226810 ) NAIF_BODY_NAME += ( 'ROS_LANDER_ROLIS_R' ) NAIF_BODY_CODE += ( -226811 ) NAIF_BODY_NAME += ( 'ROS_LANDER_ROLIS_G' ) NAIF_BODY_CODE += ( -226812 ) NAIF_BODY_NAME += ( 'ROS_LANDER_ROLIS_B' ) NAIF_BODY_CODE += ( -226813 ) NAIF_BODY_NAME += ( 'ROS_LANDER_ROLIS_IR' ) NAIF_BODY_CODE += ( -226814 ) \begintext Rosetta Target Body DSK Surface ID Codes -- Definition Section ======================================================================== This section contains name to ID mappings for the Rosetta target body DSK surfaces. These mappings are supported by all SPICE toolkits with integrated DSK capabilities (version N0066 or later). Comet 67P/Churyumov-Gerasimenko Surface name/IDs: DSK Surface Name ID Body ID =========================== ===== ======= ROS_CG_M004_NSPCESA_N_V1 11000 1000012 ROS_CG_K006_OSPCLPS_N_V1 22000 1000012 ROS_CG_K012_OSPCLPS_N_V1 22001 1000012 ROS_CG_K024_OSPCLPS_N_V1 22002 1000012 ROS_CG_K050_OSPCLPS_N_V1 22003 1000012 ROS_CG_K096_OSPCLPS_N_V1 22004 1000012 ROS_CG_K195_OSPCLPS_N_V1 22005 1000012 ROS_CG_K399_OSPCLPS_N_V1 22006 1000012 ROS_CG_K786_OSPCLPS_N_V1 22007 1000012 ROS_CG_K006_OMSDLAM_N_V1 23000 1000012 ROS_CG_K012_OMSDLAM_N_V1 23001 1000012 ROS_CG_K024_OMSDLAM_N_V1 23002 1000012 ROS_CG_K048_OMSDLAM_N_V1 23003 1000012 ROS_CG_K098_OMSDLAM_N_V1 23004 1000012 ROS_CG_K191_OMSDLAM_N_V1 23005 1000012 ROS_CG_K391_OMSDLAM_N_V1 23006 1000012 ROS_CG_K760_OMSDLAM_N_V1 23007 1000012 ROS_CG_M001_OMSDLAM_N_V1 23008 1000012 Name-ID Mapping keywords: \begindata NAIF_SURFACE_NAME += 'ROS_CG_M004_NSPCESA_N_V1' NAIF_SURFACE_CODE += 11000 NAIF_SURFACE_BODY += 1000012 NAIF_SURFACE_NAME += 'ROS_CG_K006_OSPCLPS_N_V1' NAIF_SURFACE_CODE += 22000 NAIF_SURFACE_BODY += 1000012 NAIF_SURFACE_NAME += 'ROS_CG_K012_OSPCLPS_N_V1' NAIF_SURFACE_CODE += 22001 NAIF_SURFACE_BODY += 1000012 NAIF_SURFACE_NAME += 'ROS_CG_K024_OSPCLPS_N_V1' NAIF_SURFACE_CODE += 22002 NAIF_SURFACE_BODY += 1000012 NAIF_SURFACE_NAME += 'ROS_CG_K050_OSPCLPS_N_V1' NAIF_SURFACE_CODE += 22003 NAIF_SURFACE_BODY += 1000012 NAIF_SURFACE_NAME += 'ROS_CG_K096_OSPCLPS_N_V1' NAIF_SURFACE_CODE += 22004 NAIF_SURFACE_BODY += 1000012 NAIF_SURFACE_NAME += 'ROS_CG_K195_OSPCLPS_N_V1' NAIF_SURFACE_CODE += 22005 NAIF_SURFACE_BODY += 1000012 NAIF_SURFACE_NAME += 'ROS_CG_K399_OSPCLPS_N_V1' NAIF_SURFACE_CODE += 22006 NAIF_SURFACE_BODY += 1000012 NAIF_SURFACE_NAME += 'ROS_CG_K786_OSPCLPS_N_V1' NAIF_SURFACE_CODE += 22007 NAIF_SURFACE_BODY += 1000012 NAIF_SURFACE_NAME += 'ROS_CG_K006_OMSDLAM_N_V1' NAIF_SURFACE_CODE += 23000 NAIF_SURFACE_BODY += 1000012 NAIF_SURFACE_NAME += 'ROS_CG_K012_OMSDLAM_N_V1' NAIF_SURFACE_CODE += 23001 NAIF_SURFACE_BODY += 1000012 NAIF_SURFACE_NAME += 'ROS_CG_K024_OMSDLAM_N_V1' NAIF_SURFACE_CODE += 23002 NAIF_SURFACE_BODY += 1000012 NAIF_SURFACE_NAME += 'ROS_CG_K048_OMSDLAM_N_V1' NAIF_SURFACE_CODE += 23003 NAIF_SURFACE_BODY += 1000012 NAIF_SURFACE_NAME += 'ROS_CG_K098_OMSDLAM_N_V1' NAIF_SURFACE_CODE += 23004 NAIF_SURFACE_BODY += 1000012 NAIF_SURFACE_NAME += 'ROS_CG_K191_OMSDLAM_N_V1' NAIF_SURFACE_CODE += 23005 NAIF_SURFACE_BODY += 1000012 NAIF_SURFACE_NAME += 'ROS_CG_K391_OMSDLAM_N_V1' NAIF_SURFACE_CODE += 23006 NAIF_SURFACE_BODY += 1000012 NAIF_SURFACE_NAME += 'ROS_CG_K760_OMSDLAM_N_V1' NAIF_SURFACE_CODE += 23007 NAIF_SURFACE_BODY += 1000012 NAIF_SURFACE_NAME += 'ROS_CG_M001_OMSDLAM_N_V1' NAIF_SURFACE_CODE += 23008 NAIF_SURFACE_BODY += 1000012 \begintext Asteroid 21 Lutetia Surface name/IDs: DSK Surface Name ID Body ID =========================== ===== ======= ROS_LU_K003_OSPCLAM_N_V1 1000 2000021 ROS_LU_K006_OSPCLAM_N_V1 1001 2000021 ROS_LU_K012_OSPCLAM_N_V1 1002 2000021 ROS_LU_K025_OSPCLAM_N_V1 1003 2000021 ROS_LU_K048_OSPCLAM_N_V1 1004 2000021 ROS_LU_K098_OSPCLAM_N_V1 1005 2000021 ROS_LU_K190_OSPCLAM_N_V1 1006 2000021 ROS_LU_K240_OSPCLAM_N_V1 1007 2000021 ROS_LU_K380_OSPCLAM_N_V1 1008 2000021 ROS_LU_K780_OSPCLAM_N_V1 1009 2000021 ROS_LU_M002_OSPCLAM_N_V1 1010 2000021 ROS_LU_M003_OSPCLAM_N_V1 1011 2000021 Name-ID Mapping keywords: \begindata NAIF_SURFACE_NAME += 'ROS_LU_K003_OSPCLAM_N_V1' NAIF_SURFACE_CODE += 1000 NAIF_SURFACE_BODY += 2000021 NAIF_SURFACE_NAME += 'ROS_LU_K006_OSPCLAM_N_V1' NAIF_SURFACE_CODE += 1001 NAIF_SURFACE_BODY += 2000021 NAIF_SURFACE_NAME += 'ROS_LU_K012_OSPCLAM_N_V1' NAIF_SURFACE_CODE += 1002 NAIF_SURFACE_BODY += 2000021 NAIF_SURFACE_NAME += 'ROS_LU_K025_OSPCLAM_N_V1' NAIF_SURFACE_CODE += 1003 NAIF_SURFACE_BODY += 2000021 NAIF_SURFACE_NAME += 'ROS_LU_K048_OSPCLAM_N_V1' NAIF_SURFACE_CODE += 1004 NAIF_SURFACE_BODY += 2000021 NAIF_SURFACE_NAME += 'ROS_LU_K098_OSPCLAM_N_V1' NAIF_SURFACE_CODE += 1005 NAIF_SURFACE_BODY += 2000021 NAIF_SURFACE_NAME += 'ROS_LU_K190_OSPCLAM_N_V1' NAIF_SURFACE_CODE += 1006 NAIF_SURFACE_BODY += 2000021 NAIF_SURFACE_NAME += 'ROS_LU_K240_OSPCLAM_N_V1' NAIF_SURFACE_CODE += 1007 NAIF_SURFACE_BODY += 2000021 NAIF_SURFACE_NAME += 'ROS_LU_K380_OSPCLAM_N_V1' NAIF_SURFACE_CODE += 1008 NAIF_SURFACE_BODY += 2000021 NAIF_SURFACE_NAME += 'ROS_LU_K780_OSPCLAM_N_V1' NAIF_SURFACE_CODE += 1009 NAIF_SURFACE_BODY += 2000021 NAIF_SURFACE_NAME += 'ROS_LU_M002_OSPCLAM_N_V1' NAIF_SURFACE_CODE += 1010 NAIF_SURFACE_BODY += 2000021 NAIF_SURFACE_NAME += 'ROS_LU_M003_OSPCLAM_N_V1' NAIF_SURFACE_CODE += 1011 NAIF_SURFACE_BODY += 2000021 \begintext Asteroid 2867 Steins Surface name/IDs: DSK Surface Name ID Body ID =========================== ===== ======= ROS_ST_K020_OSPCLAM_N_V1 1000 2002867 Name-ID Mapping keywords: \begindata NAIF_SURFACE_NAME += 'ROS_ST_K020_OSPCLAM_N_V1' NAIF_SURFACE_CODE += 1000 NAIF_SURFACE_BODY += 2002867 \begintext End of FK file.