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https://github.com/OpenSpace/OpenSpace.git
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4242 lines
166 KiB
HCL
4242 lines
166 KiB
HCL
KPL/FK
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Cassini Spacecraft Frame Definitions Kernel
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==============================================================================
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This frame kernel contains the Cassini spacecraft, science instrument, and
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communication antennae frame definitions.
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Version and Date
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----------------------------------------------------------
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The TEXT_KERNEL_ID stores version information of loaded project text
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kernels. Each entry associated with the keyword is a string that consists
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of four parts: the kernel name, version, entry date, and type. For example,
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the ISS I-kernel might have an entry as follows:
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TEXT_KERNEL_ID += 'CASSINI_ISS V0.0.0 29-SEPTEMBER-1999 IK'
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KERNEL NAME <-------+ | | |
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VERSION <-------+ | KERNEL TYPE
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V
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ENTRY DATE
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Cassini Frame Kernel Version:
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\begindata
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TEXT_KERNEL_ID += 'CASSINI_FRAMES V3.7.0 20-NOVEMBER-2003 FK'
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\begintext
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Version 3.7 -- November 20, 2003 -- Lee Elson
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-- Updated CASSINI_XBAND per Diane Conner's request email. This
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was done by modifying the CASSINI_KABAND boresight vector.
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See [48] for details.
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Version 3.6 -- April 18, 2003 -- Lee Elson
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-- Modified CASSINI_XBAND frame definition so that its values
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are the same as CASSINI_KABAND. Added a new frame called
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CASSINI_XBAND_TRUE (NAIF ID -82108) that has the same
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definition parameters as the old CASSINI_XBAND. Also modified
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text structure so that changes are dated and stand out better
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for the human reader. See [46] and [47] for details.
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-- Modified descriptive text structure so that changes are dated
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and stand out better for the human reader.
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Version 3.5 -- September 4, 2002 -- Scott Turner, Richard West, and Rick
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McCloskey
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-- Entries for CASSINI_VIMS_IR_SOL, CASSINI_RADAR_2, and
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CASSINI_RADAR_4 were updated to reflect current values. See
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[42], [43], and [44] for details.
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-- CASSINI_VIMS_IR_SOL is now referenced directly to the
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spacecraft frame, CASSINI_SC_COORD, rather than
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CASSINI_VIMS_IR.
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Version 3.4 -- June 11, 2002 -- Scott Turner and Joshua Colwell
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-- Entries for CASSINI_KABAND were updated per Diane Conner's
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request email. See [38] for details.
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-- Updated entries for CASSINI_CIRS_FPB, CASSINI_CIRS_FP1,
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CASSINI_CIRS_FP3, and CASSINI_CIRS_FP4 based on updated
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alignment information provided in ECR 100515. See [39] for
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details.
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-- Modified the entries for CASSINI_UVIS_HSP, CASSINI_UVIS_FUV,
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and CASSINI_UVIS_EUV to match the body vector table provided
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by Alain Jouchoux in May 3, 2002 e-mail. This same data set
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is in the CASPER UVIS definition file. Verified that CASPER
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and PDT give consistent results using this frame kernel.
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-- Updated the entry for CASSINI_VIMS_IR to match the body
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vector table entry provided by Rick McCloskey. See [41] for
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details.
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Version 3.3 -- February 20, 2002 -- Scott Turner
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-- Updated the frame entry and documentation for
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CASSINI_VIMS_RAD as a result of ECR 101029 and documentation
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submitted with it. See [36] for details.
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Version 3.2 -- January 22, 2002 -- Scott Turner
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-- Updated frame entries for CASSINI_XBAND and CASSINI_KABAND as
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a result of SCR 490. See [35] for details.
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Version 3.1 -- August 9, 2001 -- Scott Turner
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-- Updated frame entries for CASSINI_XBAND and CASSINI_KABAND as
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a result of SCR 468. See [34] for details.
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Version 3.0 -- April 23, 2001 -- Scott Turner
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-- Restructured the articulating frames: CASSINI_MIMI_LEMMS1,
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CASSINI_MIMI_LEMMS2, CASSINI_CDA, CASSINI_CAPS. They now
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allow for multiple paths from the instrument frames to the
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spacecraft frame depending on what C-kernels are available.
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Use caution when loading conflicting C-kernels.
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-- Renamed CASSINI_SRU to CASSINI_SRU-A and added CASSINI_SRU-B,
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CASSINI_SRU-A_RAD, and CASSINI_SRU-B_RAD.
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-- Added the CASSINI_UVIS_SOLAR frame definition to support the
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UVIS solar occultation port FOV.
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-- Removed CASSINI_UVIS_EUV_OCC and CASSINI_UVIS_FUV_OCC frame
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definitions since the FOVs they support are actually tied to
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CASSINI_UVIS_EUV and CASSINI_UVIS_FUV frames respectively.
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-- Added the CASSINI_VIMS_IR_SOL frame definition to support the
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IR channel solar port FOV.
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Version 2.9 -- November 16, 2000 -- Scott Turner
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-- Corrected the definition of CASSINI_MIMI_INCA to account for
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the 9.5 degree offset from the spacecraft -Y axis.
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-- Corrected the definition of CASSINI_INMS. The Z-axis of this
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frame is now co-aligned with the -X axis of CASSINI_SC_COORD.
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Version 2.8 -- October 9, 2000 -- Scott Turner
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-- Updated CASSINI_ISS_NAC and CASSINI_ISS_WAC to reflect the
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updates associated with the Fomalhaut images taken on
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September 18, 2000.
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-- Migrated the CASSINI_ISS_NAC_RAD, CASSINI_ISS_WAC_RAD,
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CASSINI_VIMS_RAD, CASSINI_CIRS_RAD, CASSINI_CAPS,
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CASSINI_CDA, CASSINI_INMS, CASSINI_MAG_PLUS,
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CASSINI_MAG_MINUS, CASSINI_MIMI_CHEMS, CASSINI_MIMI_INCA,
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CASSINI_MIMI_LEMMS1, CASSINI_MIMI_LEMMS2, CASSINI_RADAR_1,
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CASSINI_RADAR_2, CASSINI_RADAR_3, CASSINI_RADAR_4,
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CASSINI_RADAR_5, CASSINI_RPWS, CASSINI_RPWS_EXPLUS,
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CASSINI_RPWS_EXMINUS, CASSINI_EZPLUS, CASSINI_RPWS_LP,
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CASSINI_KUBAND, and CASSINI_SBAND frames from the prototype
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section.
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-- Updated CASSINI_XBAND and CASSINI_KABAND as the result of SCR
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367. These frames were migrated from the prototype section as
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well.
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Version 2.7 -- July 7, 2000 -- Scott Turner
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-- Added the following frame entries RPWS requested:
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CASSINI_RPWS_EXPLUS, CASSINI_RPWS_EXMINUS,
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CASSINI_RPWS_EZPLUS, CASSINI_RPWS_LP to the prototype frame
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section. See [14] for details.
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-- Changed the following frame names: CASSINI_HGA_X ->
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CASSINI_XBAND, CASSINI_HGA_S -> CASSINI_SBAND, CASSINI_HGA_KA
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-> CASSINI_KABAND, CASSINI_HGA_KU -> CASSINI_KUBAND.
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-- Halved the Euler angles associated with the CASSINI_CIRS_FP3
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and CASSINI_FP4 frames. See [15] for details.
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Version 2.6 -- June 26, 2000 -- Scott Turner
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-- The RSS frame entries in the prototype section were renamed
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to HGA based frames.
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-- Removed the CASSINI_MAG frame and replaced it with the
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CASSINI_MAG_PLUS and CASSINI_MAG_MINUS frames.
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Version 2.5 -- April 2, 2000 -- Scott Turner
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-- Added CASSINI_VIMS.
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-- Added CASSINI_UVIS_FUV, CASSINI_UVIS_EUV,
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CASSINI_UVIS_FUV_OCC, CASSINI_UVIS_EUV_OCC, CASSINI_UVIS_HSP,
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and CASSINI_UVIS_HDAC.
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-- Fixed the keywords defining the CASSINI_HGA frame to use the
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proper ID code, -82101.
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-- Updated CASSINI_ISS_NAC and CASSINI_ISS_WAC to reflect the
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latest boresight information available in ECR's 100078 and
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100079.
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Version 2.4 -- March 27, 2000 -- Scott Turner
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-- Added the CIRS Focal Plane Boresight frame, CASSINI_CIRS_FPB.
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-- CASSINI_CIRS_FP1, CASSINI_CIRS_FP3, CASSINI_CIRS_FP2 are no
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longer relative to CASSINI_SC_COORD but to the intermediate
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frame CASSINI_CIRS_FPB.
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-- Migrated the CASSINI_UVIS frame from the prototype section
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and added the CASSINI_UVIS_OCC frame.
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-- Added the TEXT_KERNEL_ID keyword to make version information
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accessible to programs at runtime.
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Version 2.3 -- March 9, 2000 -- Scott Turner
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-- Updated the Euler angles for CASSINI_CIRS_FP1,
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CASSINI_CIRS_FP3, and CASSINI_CIRS_FP4. Migrated them from
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the prototype section into the CIRS Section of the FK.
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Version 2.2 -- September 10, 1999 -- Scott Turner
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-- Removed TKFRAME_[ID]_BORESIGHT keyword for all but the
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antenna frames present. This information can now be found in
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the instrument kernel with the keyword: INS[ID]_BORESIGHT.
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-- Added a frame for the Stellar Reference Unit (SRU).
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-- Added prototype frame entries for several instruments. The
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transformations stored here for these frames are NOT for any
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real calculations, and in some cases are not connected with
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the actual instrument pointing at all. These frames will
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migrate from the prototype section as the kernel evolves.
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-- Changed CASSINI_SC_BUS to CASSINI_SC_COORD.
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-- Changed the LGA frame name definitions to CASSINI_LGA1 and
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CASSINI_LGA2 to accomodate simple translation to flight
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software frame names.
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-- Changed NAC and WAC ID codes from -82010 and -82020 to -82360
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and -82361 respectively. This is to conform to the new ID
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code scheme proposed by Jeff Boyer.
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-- Altered the textual description of the spacecraft coordinate
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system to conform with [8].
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-- Added some text from [8] to the ISS_NAC frame description.
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Version 2.1 -- July 14, 1999 -- Scott Turner
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-- Fixed incorrect comments regarding the NAC images.
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-- Fixed an improperly specified transformation for LGA2.
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-- Added TKFRAME_[ID]_BORESIGHT keyword for the frames present.
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Version 2.0 -- May 5, 1999 -- Scott Turner
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-- Added ISS NAC and WAC instrument frames.
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Version 1.0 -- May 14, 1998 -- Jeff Bytof
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-- Initial Release.
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References
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----------------------------------------------------------
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1. ``C-kernel Required Reading''
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2. ``Kernel Pool Required Reading''
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3. ``Frames Required Reading''
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4. Cassini spacecraft blueprints. Provided by Kevin Tong, JPL.
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5. ``Cassini Science Instruments and Investigations'', Revised
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Second Printing. Stephen J. Edberg.
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6. ``Determination of the ISS Boresights in Cassini Spacecraft
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Coordinate System.'' Carolyn Porco and Vance Haemmerle.
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7. Email from Vance Haemmerle regarding WAC alignment.
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8. Cassini Document No. 699-406 ``Project Guidance Analysis
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Book''
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9. CASPER CIRS I-kernel Version 3.2
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10. CIRS Fields-of-View PDF attached in an email from Stephen
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Edberg to Diane Conner.
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11. Cassini Engineering Change Request #100078
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12. Cassini Engineering Change Request #100079
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13. CASPER VIMS I-kernel Version Version 4.2
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14. Email from Terry Averkamp regarding new RPWS frame entries.
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15. Email from Richard Achterberg regarding the CIRS frame
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entries.
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16. Email from Vance Haemmerle regarding the Fomalhaut updates to
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the ISS NAC and WAC alignments.
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17. Email from Jeff Boyer regarding radiator boresight
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alignments, MIMI_CHEMS orientation, and RPWS orientation.
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18. Email from Sascha Kempf regarding CDA articulation.
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19. CASPER INMS I-kernel Version 5.0
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20. Email from Marcia Burton regarding the MAG field of views and
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frame definitions.
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21. CASPER MAG I-kernel Version 6.0
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22. CASPER MIMI I-kernel Version 4.0
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23. CASPER RADAR I-kernel Version 2.2
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24. Email from Terry Averkamp discussing the new RPWS frame
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entries.
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25. Email from Thomas Burk regarding the updates to CASSINI_XBAND
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and CASSINI_KABAND frames that were the result of SCR 367.
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26. Email from Deborah Bass regarding a correct in the
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CASSINI_INMS frame definition.
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27. Email from Donald Mitchell regarding a correction in the
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CASSINI_MIMI_INCA frame definition.
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28. Email from Rick McCloskey regarding updates and additions to
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the VIMS frame set.
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29. Email from Joshua Colwell regarding the CASSINI_UVIS_SOLAR
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frame definition.
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30. Email from Joshua Colwell verifying the CASSINI_UVIS_SOLAR
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frame definition.
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31. Email from Rick McCloskey confirming the CASSINI_VIMS_V,
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CASSINI_VIMS_IR, CASSINI_VIMS_IR_SOL frame definitions.
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32. Email from Jeff Boyer providing CASSINI_SRU_RAD frame
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definition.
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33. Email from Don Mitchell describing the CASSINI_MIMI_LEMMS1
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and CASSINI_MIMI_LEMMS2 articulation characteristics.
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34. Email from Trina Ray describing updates for the CASSINI_XBAND
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and CASSINI_KABAND frame definitions.
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35. Email from Diane Conner describing updates for the
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CASSINI_XBAND and CASSINI_KABAND boresights.
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36. Cassini ECR 101029 - Change CASSINI_VIMS_RAD frame
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definition.
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37. Cassini ECR 10325-B -- Change VIMS Sun Viewing Constraints
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Flight Rule FF37B2.
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38. Email from Diane Conner regarding CASSINI_KABAND updated
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boresight information.
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39. Page 28 from ECR 100515 listing updated alignment information
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for CASSINI_CIRS detectors.
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40. Joshua Colwell's updated version 3.3.1 Cassini Spacecraft
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Frame Definition kernel.
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41. Email from Rick McCloskey regarding the values in the body
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vector table for CASSINI_VIMS_IR.
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42. Email from Rick McCloskey regarding the Euler angles for
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CASSINI_VIMS_IR_SOL, the VIMS solar port.
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43. Email correction from Rick McCloskey regarding the Euler
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angles for CASSINI_VIMS_IR_SOL.
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44. Email from Richard West regarding the CASSINI_RADAR_2 and
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CASSINI_RADAR_4 Euler angles.
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45. Spreadsheet (gnumeric format) from Rick McCloskey regarding
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the Euler angles for CASSINI_VIMS_IR_SOL.
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46. Email from Nicole Rappaport outlining needed changes to frame
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and radio science instrument kernel due to project use of Ka
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band data for X band pointing.
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47. Cassini ECR number 102788 -- Additional Frame and FOV
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definitions to SPICE FK & IK Files for RSS
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48. Cassini R/SCR NO: 613 -- Update the Onboard XBAND body vector
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table entries for GWE#3
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Contact Information
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----------------------------------------------------------
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Direct questions, comments, or concerns about the contents of this kernel
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to:
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Lee Elson, NAIF/JPL, (818)-354-4223, Lee.Elson@jpl.nasa.gov
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Implementation Notes
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----------------------------------------------------------
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This file is used by the SPICE system as follows: programs that make use of
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this frame kernel must `load' the kernel, normally during program
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initialization. Loading the kernel associates data items with their names
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in a data structure called the `kernel pool'. The SPICELIB routine LDPOOL
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loads a kernel file into the pool as shown below:
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CALL LDPOOL ( frame_kernel_name )
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In order for a program or subroutine to extract data from the pool, the
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SPICELIB routines GDPOOL and GIPOOL are used. See [2] for more details.
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This file was created and may be updated with a text editor or word
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processor.
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Note: the keyword TKFRAME_[ID]_BORESIGHT defines the instrument or antenna
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boresight axis in the instrument or antenna frame.
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Cassini Frames
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----------------------------------------------------------
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The following Cassini frames are defined in this kernel file:
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Frame Name Relative To Type NAIF ID
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======================= =================== ======= =======
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AACS Body Frame:
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----------------
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CASSINI_SC_COORD J2000 CK -82000
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CASSINI_SRU-A CASSINI_SC_COORD FIXED -82001
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CASSINI_SRU-B CASSINI_SC_COORD FIXED -82002
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CASSINI_SRU-A_RAD CASSINI_SC_COORD FIXED -82008
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CASSINI_SRU-B_RAD CASSINI_SC_COORD FIXED -82009
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Antenna Frames (-821xx):
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------------------------
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CASSINI_HGA CASSINI_SC_COORD FIXED -82101
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CASSINI_LGA1 CASSINI_SC_COORD FIXED -82102
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CASSINI_LGA2 CASSINI_SC_COORD FIXED -82103
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CASSINI_XBAND CASSINI_SC_COORD FIXED -82104
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CASSINI_KABAND CASSINI_SC_COORD FIXED -82105
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CASSINI_KUBAND CASSINI_SC_COORD FIXED -82106
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CASSINI_SBAND CASSINI_SC_COORD FIXED -82107
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CASSINI_XBAND_TRUE CASSINI_SC_COORD FIXED -82108
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ISS Frames (-8236x):
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------------------------
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CASSINI_ISS_NAC CASSINI_SC_COORD FIXED -82360
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CASSINI_ISS_WAC CASSINI_SC_COORD FIXED -82361
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CASSINI_ISS_NAC_RAD CASSINI_SC_COORD FIXED -82368
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CASSINI_ISS_WAC_RAD CASSINI_SC_COORD FIXED -82369
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CIRS Frames (-8289x):
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------------------------
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CASSINI_CIRS_FP1 CASSINI_CIRS_FPB FIXED -82890
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CASSINI_CIRS_FP3 CASSINI_CIRS_FPB FIXED -82891
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CASSINI_CIRS_FP4 CASSINI_CIRS_FPB FIXED -82892
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CASSINI_CIRS_FPB CASSINI_SC_COORD FIXED -82893
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CASSINI_CIRS_RAD CASSINI_SC_COORD FIXED -82898
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UVIS Frames (-8284x):
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------------------------
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CASSINI_UVIS_FUV CASSINI_SC_COORD FIXED -82840
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CASSINI_UVIS_EUV CASSINI_SC_COORD FIXED -82842
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CASSINI_UVIS_SOLAR CASSINI_SC_COORD FIXED -82843
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CASSINI_UVIS_HSP CASSINI_SC_COORD FIXED -82844
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CASSINI_UVIS_HDAC CASSINI_SC_COORD FIXED -82845
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VIMS Frames (-8283x):
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------------------------
|
|
CASSINI_VIMS_V CASSINI_SC_COORD FIXED -82370
|
|
CASSINI_VIMS_IR CASSINI_SC_COORD FIXED -82371
|
|
CASSINI_VIMS_IR_SOL CASSINI_SC_COORD FIXED -82372
|
|
CASSINI_VIMS_RAD CASSINI_SC_COORD FIXED -82378
|
|
|
|
CAPS Frames (-8282x):
|
|
------------------------
|
|
CASSINI_CAPS_BASE CASSINI_SC_COORD FIXED -82822
|
|
CASSINI_CAPS_ART CASSINI_CAPS_BASE CK -82821
|
|
CASSINI_CAPS CASSINI_CAPS_ART CK -82820
|
|
CASSINI_SC_COORD CK -82820
|
|
|
|
CDA Frames (-8279x):
|
|
------------------------
|
|
CASSINI_CDA_BASE CASSINI_SC_COORD FIXED -82792
|
|
CASSINI_CDA_ART CASSINI_CDA_BASE CK -82971
|
|
CASSINI_CDA CASSINI_CDA_ART CK -82790
|
|
CASSINI_SC_COORD CK -82790
|
|
|
|
INMS Frames (-8274x):
|
|
------------------------
|
|
CASSINI_INMS CASSINI_SC_COORD FIXED -82740
|
|
|
|
MAG Frames (-8235x):
|
|
------------------------
|
|
CASSINI_MAG_PLUS CASSINI_SC_COORD FIXED -82350
|
|
CASSINI_MAG_MINUS CASSINI_SC_COORD FIXED -82351
|
|
|
|
MIMI Frames (-8276x):
|
|
------------------------
|
|
CASSINI_MIMI_CHEMS CASSINI_SC_COORD FIXED -82760
|
|
CASSINI_MIMI_INCA CASSINI_SC_COORD FIXED -82761
|
|
CASSINI_MIMI_LEMMS_BASE CASSINI_SC_COORD FIXED -82765
|
|
CASSINI_MIMI_LEMMS_ART CASSINI_MIMI_LEMMS_BASE CK -82764
|
|
CASSINI_MIMI_LEMMS1 CASSINI_MIMI_LEMMS_ART CK -82762
|
|
CASSINI_SC_COORD CK -82762
|
|
CASSINI_MIMI_LEMMS2 CASSINI_MIMI_LEMMS_ART CK -82763
|
|
CASSINI_SC_COORD CK -82763
|
|
|
|
RADAR Frames (-8281x):
|
|
------------------------
|
|
CASSINI_RADAR_1 CASSINI_SC_COORD FIXED -82810
|
|
CASSINI_RADAR_2 CASSINI_SC_COORD FIXED -82811
|
|
CASSINI_RADAR_3 CASSINI_SC_COORD FIXED -82812
|
|
CASSINI_RADAR_4 CASSINI_SC_COORD FIXED -82813
|
|
CASSINI_RADAR_5 CASSINI_SC_COORD FIXED -82814
|
|
|
|
RPWS Frames (-8273x):
|
|
------------------------
|
|
CASSINI_RPWS CASSINI_SC_COORD FIXED -82730
|
|
CASSINI_RPWS_EXPLUS CASSINI_SC_COORD FIXED -82731
|
|
CASSINI_RPWS_EXMINUS CASSINI_SC_COORD FIXED -82732
|
|
CASSINI_RPWS_EZPLUS CASSINI_SC_COORD FIXED -82733
|
|
CASSINI_RPWS_LP CASSINI_SC_COORD FIXED -82734
|
|
|
|
|
|
where: the frame ID codes are built from the spacecraft ID code, the
|
|
instrument subsystem number, and the instrument number in a multiple
|
|
instrument subsystem. The numbers 8 and 9 are reserved for the radiators.
|
|
For example the ISS frame IDs are constructed as follows:
|
|
|
|
CASSINI_ISS_WAC ID = -82 36 1
|
|
| | |
|
|
| | |
|
|
SPACECRAFT ID CODE <-----+ | +----> INSTRUMENT NUMBER
|
|
|
|
|
V
|
|
INSTRUMENT SUBSYSTEM NUMBER
|
|
|
|
|
|
Cassini Frames Hierarchy
|
|
----------------------------------------------------------
|
|
|
|
Notes:
|
|
|
|
This diagram is subject to major revisions as this kernel evolves to suit
|
|
the needs of each instrument.
|
|
|
|
The articulating instrument frames have two paths back to the spacecraft
|
|
frame. The first is a direct path via a single C-kernel connecting the
|
|
instrument frame to the spacecraft frame. The second is one that utilizes a
|
|
fixed offset C-kernel to rotate the instrument frame into the articulation
|
|
frame, and then an articulation C-kernel and a base frame. For details see
|
|
the sections for CASSINI_CDA, CASSINI_CAPS, and CASSINI_MIMI_LEMMS.
|
|
|
|
The diagram below shows the Cassini frames hierarchy:
|
|
|
|
|
|
'IAU_EARTH' (EARTH BODY FIXED)
|
|
|
|
|
|<--- pck
|
|
|
|
|
'J2000' INERTIAL
|
|
|
|
|
|<--- ck
|
|
|
|
|
'CASSINI_SC_COORD'
|
|
|
|
|
'CASSINI_SRU-A'
|
|
|
|
|
'CASSINI_SRU-B'
|
|
|
|
|
'CASSINI_SRU-A_RAD'
|
|
|
|
|
'CASSINI_SRU-B_RAD'
|
|
|
|
|
'CASSINI_HGA'
|
|
|
|
|
'CASSINI_XBAND'
|
|
|
|
|
'CASSINI_KABAND'
|
|
| |
|
|
| 'CASSINI_XBAND_TRUE'
|
|
|
|
|
'CASSINI_KUBAND'
|
|
|
|
|
'CASSINI_SBAND'
|
|
|
|
|
'CASSINI_LGA1'
|
|
|
|
|
'CASSINI_LGA2'
|
|
|
|
|
'CASSINI_ISS_NAC'
|
|
|
|
|
'CASSINI_ISS_WAC'
|
|
|
|
|
'CASSINI_ISS_NAC_RAD'
|
|
|
|
|
'CASSINI_ISS_WAC_RAD'
|
|
|
|
|
'CASSINI_CIRS_FPB'
|
|
| |
|
|
| 'CASSINI_CIRS_FP1'
|
|
| |
|
|
| 'CASSINI_CIRS_FP3'
|
|
| |
|
|
| 'CASSINI_CIRS_FP4'
|
|
|
|
|
'CASSINI_CIRS_RAD'
|
|
|
|
|
'CASSINI_UVIS_FUV'
|
|
|
|
|
'CASSINI_UVIS_EUV'
|
|
|
|
|
'CASSINI_UVIS_SOLAR'
|
|
|
|
|
'CASSINI_UVIS_HSP'
|
|
|
|
|
'CASSINI_UVIS_HDAC'
|
|
|
|
|
'CASSINI_VIMS_V'
|
|
|
|
|
'CASSINI_VIMS_IR'
|
|
|
|
|
'CASSINI_VIMS_IR_SOL'
|
|
|
|
|
'CASSINI_VIMS_RAD'
|
|
|
|
|
'CASSINI_CAPS_BASE'
|
|
| |
|
|
| |<--- ck
|
|
| |
|
|
| 'CASSINI_CAPS_ART'
|
|
| |
|
|
| |<--- ck
|
|
| |
|
|
o------'CASSINI_CAPS'
|
|
| ^
|
|
| |
|
|
| + ck
|
|
|
|
|
'CASSINI_CDA_BASE'
|
|
| |
|
|
| |<--- ck
|
|
| |
|
|
| 'CASSINI_CDA_ART'
|
|
| |
|
|
| |<--- ck
|
|
| |
|
|
o------'CASSINI_CDA'
|
|
| ^
|
|
| |
|
|
| + ck
|
|
|
|
|
'CASSINI_INMS'
|
|
|
|
|
'CASSINI_MAG_PLUS'
|
|
|
|
|
'CASSINI_MAG_MINUS'
|
|
|
|
|
'CASSINI_MIMI_CHEMS'
|
|
|
|
|
'CASSINI_MIMI_INCA'
|
|
|
|
|
'CASSINI_MIMI_LEMMS_BASE'
|
|
| |
|
|
| |<--- ck
|
|
| |
|
|
| 'CASSINI_MIMI_LEMMS_ART'
|
|
| |
|
|
| |<--- ck
|
|
| |
|
|
o------'CASSINI_MIMI_LEMMS1'
|
|
| ^ |
|
|
| | |
|
|
| + ck |
|
|
| |
|
|
o------'CASSINI_MIMI_LEMMS2'
|
|
| ^
|
|
| |
|
|
| + ck
|
|
|
|
|
'CASSINI_RADAR_1'
|
|
|
|
|
'CASSINI_RADAR_2'
|
|
|
|
|
'CASSINI_RADAR_3'
|
|
|
|
|
'CASSINI_RADAR_4'
|
|
|
|
|
'CASSINI_RADAR_5'
|
|
|
|
|
'CASSINI_RPWS'
|
|
|
|
|
'CASSINI_RPWS_EXPLUS'
|
|
|
|
|
'CASSINI_RPWS_EXMINUS'
|
|
|
|
|
'CASSINI_RPWS_EZPLUS'
|
|
|
|
|
'CASSINI_RPWS_LP'
|
|
|
|
|
|
|
|
|
|
Spacecraft Frame
|
|
----------------------------------------------------------
|
|
|
|
From [8]: (Note: The figures referenced below can not be reproduced here.
|
|
There is a diagram below that basically illustrates what is contained
|
|
there.)
|
|
|
|
``The Stellar reference Unit (SRU) detector is a CCD. Its coordinate system
|
|
is defined according to the geometry of the detector. Figure 2.1.2a depicts
|
|
the SRU orientation and coordinates relative to the S/C coordinates. From
|
|
the ACS point of view, the S/C coordinate system is defined with respect to
|
|
the SRU coordinate frame, such that :
|
|
|
|
+X = +b (SRU boresight)
|
|
|
|
+Y = +v
|
|
|
|
+Z = -h
|
|
|
|
Therefore, by definition, there are no misalignments between the SRU and
|
|
the S/C coordinate frames.
|
|
|
|
The SRU coordinate system is defined by the pixel and line shift directions
|
|
defined in Figure 2.1.2b. These directions are represented by unit vectors
|
|
h and v respectively. Both h and v pass through the origin which is located
|
|
at the exact center of the 1024 x 1024 array. As indicated in Figure
|
|
2.1.2b, the SRU boresight b passes through this point, is normal to both h
|
|
and v, and points outward through the optics towards the scene being
|
|
viewed.''
|
|
|
|
Stellar Reference Unit Frame:
|
|
|
|
|
|
Cassini Spacecraft
|
|
|
|
/\
|
|
----------------------------------
|
|
\ /
|
|
\ / HGA
|
|
\ /
|
|
MAG Boom --------------------------
|
|
... =================| |
|
|
| h |
|
|
\ ^ /
|
|
| | |
|
|
| | |
|
|
Y <-------| v <---o |
|
|
sc | b, X |
|
|
| sc |
|
|
| |
|
|
| |
|
|
| |
|
|
| |
|
|
----------------------
|
|
/ \
|
|
/ \ Main Rocket Engine
|
|
----------
|
|
|
|
|
|
|
|
|
|
|
V
|
|
|
|
Z
|
|
sc
|
|
|
|
where b and X point out of the screen or page.
|
|
sc
|
|
|
|
|
|
From [8]:
|
|
|
|
``The spacecraft basebody coordinate system is a body fixed coordinate
|
|
system. It is a structural coordinate system defined when the spacecraft is
|
|
assembled. The primary geometrical and mass properties are fixed to this
|
|
system. The (X,Y,Z) coordinate system is not observable in space.
|
|
|
|
Referring to Figure 2.1.1, the origin of the spacecraft coordinate system
|
|
lies at the center of the field joint between the bus and the upper
|
|
equipment module (UEM) upper shell structure assembly [7]. This location is
|
|
defined by bolt holes A, D, and H (as shown on the Configuration lay out
|
|
10129891, Figure 3). The Z-axis emanates from the origin and is
|
|
perpendicular to a plane generated by the mating surfaces of the bus at
|
|
bolt holes A, D, and H. The +Z-axis is on the propulsion module side of the
|
|
interface. The X-axis emanates from the origin and is parallel to the line
|
|
through the true centers of bolt holes A and H at the bus and the UEM upper
|
|
shell structure assembly interface. The -X-axis points towards the Huygens
|
|
probe. The Y-axis is mutually perpendicular to the X and Z axes, with the
|
|
+Y axis oriented along the magnetometer boom.''
|
|
|
|
Spacecraft bus attitude with respect to an inertial frame is provided by a
|
|
C kernel (see [1] for more information).
|
|
|
|
\begindata
|
|
|
|
FRAME_CASSINI_SC_COORD = -82000
|
|
FRAME_-82000_NAME = 'CASSINI_SC_COORD'
|
|
FRAME_-82000_CLASS = 3
|
|
FRAME_-82000_CLASS_ID = -82000
|
|
FRAME_-82000_CENTER = -82
|
|
CK_-82000_SCLK = -82
|
|
CK_-82000_SPK = -82
|
|
|
|
\begintext
|
|
|
|
The nominal definition of the Stellar Reference Unit-A frame is displayed
|
|
below. As described above and in [8], the boresight axis lies along the
|
|
spacecraft +X axis. The rotation matrix that takes vectors from the SRU-A
|
|
frame into the spacecraft frame is computed:
|
|
|
|
[ ] [ ] [ ] [ ]
|
|
[ ROT ] = [ 0.0 ] [ -90.0 ] [ 0.0 ]
|
|
[ ] [ ] [ ] [ ]
|
|
Z Y X
|
|
|
|
where [x] represents the rotation matrix of a given angle x about
|
|
i
|
|
axis i.
|
|
|
|
\begindata
|
|
|
|
FRAME_CASSINI_SRU-A = -82001
|
|
FRAME_-82001_NAME = 'CASSINI_SRU-A'
|
|
FRAME_-82001_CLASS = 4
|
|
FRAME_-82001_CLASS_ID = -82001
|
|
FRAME_-82001_CENTER = -82
|
|
TKFRAME_-82001_SPEC = 'ANGLES'
|
|
TKFRAME_-82001_RELATIVE = 'CASSINI_SC_COORD'
|
|
TKFRAME_-82001_ANGLES = ( 0.0, -90.0, 0.0 )
|
|
TKFRAME_-82001_AXES = ( 3, 2, 1 )
|
|
TKFRAME_-82001_UNITS = 'DEGREES'
|
|
|
|
\begintext
|
|
|
|
The nominal definition of the Stellar Reference Unit-B frame is displayed
|
|
below. Nominally SRU-A and SRU-B are aligned, so the boresight axis lies
|
|
along the spacecraft +X axis. The rotation matrix that takes vectors from
|
|
the SRU-B frame into the spacecraft frame is computed:
|
|
|
|
[ ] [ ] [ ] [ ]
|
|
[ ROT ] = [ 0.0 ] [ -90.0 ] [ 0.0 ]
|
|
[ ] [ ] [ ] [ ]
|
|
Z Y X
|
|
|
|
where [x] represents the rotation matrix of a given angle x about
|
|
i
|
|
axis i.
|
|
|
|
\begindata
|
|
|
|
FRAME_CASSINI_SRU-B = -82002
|
|
FRAME_-82002_NAME = 'CASSINI_SRU-B'
|
|
FRAME_-82002_CLASS = 4
|
|
FRAME_-82002_CLASS_ID = -82002
|
|
FRAME_-82002_CENTER = -82
|
|
TKFRAME_-82002_SPEC = 'ANGLES'
|
|
TKFRAME_-82002_RELATIVE = 'CASSINI_SC_COORD'
|
|
TKFRAME_-82002_ANGLES = ( 0.0, -90.0, 0.0 )
|
|
TKFRAME_-82002_AXES = ( 3, 2, 1 )
|
|
TKFRAME_-82002_UNITS = 'DEGREES'
|
|
|
|
\begintext
|
|
|
|
The nominal definition of the Stellar Reference Unit-A Radiator frame is
|
|
displayed below. As described in [32], the rotation matrix that takes
|
|
vectors from the SRU-A_RAD frame into the spacecraft frame is computed:
|
|
|
|
[ ] [ ] [ ] [ ]
|
|
[ ROT ] = [ 180.0 ] [ -90.0 ] [ 0.0 ]
|
|
[ ] [ ] [ ] [ ]
|
|
X Y Z
|
|
where [x] represents the rotation matrix of a given angle x about
|
|
i
|
|
axis i.
|
|
|
|
\begindata
|
|
FRAME_CASSINI_SRU-A_RAD = -82008
|
|
FRAME_-82008_NAME = 'CASSINI_SRU-A_RAD'
|
|
FRAME_-82008_CLASS = 4
|
|
FRAME_-82008_CLASS_ID = -82008
|
|
FRAME_-82008_CENTER = -82
|
|
TKFRAME_-82008_SPEC = 'ANGLES'
|
|
TKFRAME_-82008_RELATIVE = 'CASSINI_SC_COORD'
|
|
TKFRAME_-82008_ANGLES = ( 180.0, -90.0, 0.0 )
|
|
TKFRAME_-82008_AXES = ( 3, 1, 3 )
|
|
TKFRAME_-82008_UNITS = 'DEGREES'
|
|
\begintext
|
|
|
|
The nominal definition of the Stellar Reference Unit-B Radiator frame is
|
|
displayed below. As with the SRU-B frame, this is nominally the same frame
|
|
as SRU-A_RAD. The rotation matrix that takes vectors from the SRU-B_RAD
|
|
frame into the spacecraft frame is computed:
|
|
|
|
[ ] [ ] [ ] [ ]
|
|
[ ROT ] = [ 180.0 ] [ -90.0 ] [ 0.0 ]
|
|
[ ] [ ] [ ] [ ]
|
|
X Y Z
|
|
where [x] represents the rotation matrix of a given angle x about
|
|
i
|
|
axis i.
|
|
|
|
\begindata
|
|
FRAME_CASSINI_SRU-B_RAD = -82009
|
|
FRAME_-82009_NAME = 'CASSINI_SRU-B_RAD'
|
|
FRAME_-82009_CLASS = 4
|
|
FRAME_-82009_CLASS_ID = -82009
|
|
FRAME_-82009_CENTER = -82
|
|
TKFRAME_-82009_SPEC = 'ANGLES'
|
|
TKFRAME_-82009_RELATIVE = 'CASSINI_SC_COORD'
|
|
TKFRAME_-82009_ANGLES = ( 180.0, -90.0, 0.0 )
|
|
TKFRAME_-82009_AXES = ( 3, 1, 3 )
|
|
TKFRAME_-82009_UNITS = 'DEGREES'
|
|
\begintext
|
|
|
|
|
|
Antenna Frame Definitions
|
|
----------------------------------------------------------
|
|
|
|
This section of the frames kernel defines the Cassini spacecraft antenna
|
|
frames. The ID codes associated with each of the frames are determined by
|
|
subtracting the three digit antenna code (101-103) from the DSN Cassini
|
|
spacecraft bus ID code (-82000).
|
|
|
|
Note the angles in the frame definitions are specified for the "from
|
|
antenna to (relative to) base frame" transformation.
|
|
|
|
|
|
High Gain Antenna (HGA)
|
|
|
|
The high gain antenna points nominally along the spacecraft -Z axis. As
|
|
such the rotation matrix required that takes vectors represented in the
|
|
high gain antenna frame into the spacecraft frame is constructed as
|
|
follows:
|
|
|
|
[ ] [ ] [ ] [ ]
|
|
[ ROT ] = [ 0.0 ] [ +180.0 ] [ 0.0 ]
|
|
[ ] [ ] [ ] [ ]
|
|
Z Y X
|
|
|
|
where [x] represents the rotation matrix of a given angle x about
|
|
i
|
|
axis i.
|
|
|
|
\begindata
|
|
|
|
FRAME_CASSINI_HGA = -82101
|
|
FRAME_-82101_NAME = 'CASSINI_HGA'
|
|
FRAME_-82101_CLASS = 4
|
|
FRAME_-82101_CLASS_ID = -82101
|
|
FRAME_-82101_CENTER = -82
|
|
TKFRAME_-82101_SPEC = 'ANGLES'
|
|
TKFRAME_-82101_RELATIVE = 'CASSINI_SC_COORD'
|
|
TKFRAME_-82101_ANGLES = ( 0.0, 180.0, 0.0 )
|
|
TKFRAME_-82101_AXES = ( 3, 2, 1 )
|
|
TKFRAME_-82101_UNITS = 'DEGREES'
|
|
TKFRAME_-82101_BORESIGHT = ( 0.0, 0.0, 1.0 )
|
|
|
|
\begintext
|
|
|
|
The XBAND, XBAND_TRUE, KABAND, KUBAND, and SBAND frames are all frames
|
|
associated with the orbiter's High Gain Antenna. These names were chosen
|
|
for reasons of consistency with AACS, PDT, and sequencing software.
|
|
|
|
|
|
High Gain Antenna X Band (XBAND)
|
|
|
|
The high gain antenna is capable of operating in several bands, each of
|
|
which may be calibrated and adjusted independently. The nominal frame
|
|
definition for the XBAND is displayed below:
|
|
|
|
[ ] [ ] [ ] [ ]
|
|
[ ROT ] = [ 0.0 ] [ 0.0 ] [ 180.0 ]
|
|
[ ] [ ] [ ] [ ]
|
|
Z Y X
|
|
|
|
where [x] represents the rotation matrix of a given angle x about
|
|
i
|
|
axis i.
|
|
|
|
Nominal Frame Definition:
|
|
|
|
FRAME_CASSINI_XBAND = -82104
|
|
FRAME_-82104_NAME = 'CASSINI_XBAND'
|
|
FRAME_-82104_CLASS = 4
|
|
FRAME_-82104_CLASS_ID = -82104
|
|
FRAME_-82104_CENTER = -82
|
|
TKFRAME_-82104_SPEC = 'ANGLES'
|
|
TKFRAME_-82104_RELATIVE = 'CASSINI_SC_COORD'
|
|
TKFRAME_-82104_ANGLES = ( 0.0, 0.0, 180.0 )
|
|
TKFRAME_-82104_AXES = ( 3, 2, 1 )
|
|
TKFRAME_-82104_UNITS = 'DEGREES'
|
|
|
|
|
|
From [25], the XBAND boresight has been adjusted to the following vector in
|
|
spacecraft coordinates:
|
|
|
|
[ 0.0005000 ]
|
|
XBAND Boresight Vector = [ 0.0004000 ]
|
|
[ -0.9999998 ]
|
|
|
|
Since only boresight information has been provided, the frame
|
|
transformation outlined below was constructed by computing the RA and DEC
|
|
of the boresight vector relative to the CASSINI_SC_COORD frame. These
|
|
angles are then utilized in the following fashion to construct the frame
|
|
definition:
|
|
|
|
[ ] [ ] [ ] [ ]
|
|
[ ROT ] = [ -(RA+90) ] [ -(90-DEC) ] [ 0.0 ]
|
|
[ ] [ ] [ ] [ ]
|
|
Z X Z
|
|
|
|
where [x] represents the rotation matrix of a given angle x about
|
|
i
|
|
axis i.
|
|
|
|
This produces a frame whose Z-axis agrees with the specified boresight.
|
|
|
|
By the methodology outlined above, this produces the following frame
|
|
definition:
|
|
|
|
[ ] [ ] [ ] [ ]
|
|
[ ROT ] = [ -128.659808 ] [ -179.963313 ] [ 0.0 ]
|
|
[ ] [ ] [ ] [ ]
|
|
Z X Z
|
|
|
|
where [x] represents the rotation matrix of a given angle x about
|
|
i
|
|
axis i.
|
|
|
|
First Updated Frame Definition:
|
|
|
|
FRAME_CASSINI_XBAND = -82104
|
|
FRAME_-82104_NAME = 'CASSINI_XBAND'
|
|
FRAME_-82104_CLASS = 4
|
|
FRAME_-82104_CLASS_ID = -82104
|
|
FRAME_-82104_CENTER = -82
|
|
TKFRAME_-82104_SPEC = 'ANGLES'
|
|
TKFRAME_-82104_RELATIVE = 'CASSINI_SC_COORD'
|
|
TKFRAME_-82104_ANGLES = ( -128.659808, -179.963313, 0.0 )
|
|
TKFRAME_-82104_AXES = ( 3, 1, 3 )
|
|
TKFRAME_-82104_UNITS = 'DEGREES'
|
|
|
|
|
|
From [34], the XBAND boresight has been adjusted again to the following
|
|
vector in spacecraft coordinates:
|
|
|
|
[ 0.0005200 ]
|
|
XBAND Boresight Vector = [ 0.0005800 ]
|
|
[ -0.9999997 ]
|
|
|
|
Since only boresight information has been provided, the frame
|
|
transformation outlined below was constructed by computing the RA and DEC
|
|
of the boresight vector relative to the CASSINI_SC_COORD frame. These
|
|
angles are then utilized in the following fashion to construct the frame
|
|
definition:
|
|
|
|
[ ] [ ] [ ] [ ]
|
|
[ ROT ] = [ -(RA+90) ] [ -(90-DEC) ] [ 0.0 ]
|
|
[ ] [ ] [ ] [ ]
|
|
Z X Z
|
|
|
|
where [x] represents the rotation matrix of a given angle x about
|
|
i
|
|
axis i.
|
|
|
|
This produces a frame whose Z-axis agrees with the specified boresight.
|
|
|
|
By the methodology outlined above, this produces the following frame
|
|
definition:
|
|
|
|
[ ] [ ] [ ] [ ]
|
|
[ ROT ] = [ -138.12213046232 ] [ -179.95536809121 ] [ 0.0 ]
|
|
[ ] [ ] [ ] [ ]
|
|
Z X Z
|
|
|
|
where [x] represents the rotation matrix of a given angle x about
|
|
i
|
|
axis i.
|
|
|
|
|
|
Second Updated Frame Definition:
|
|
|
|
FRAME_CASSINI_XBAND = -82104
|
|
FRAME_-82104_NAME = 'CASSINI_XBAND'
|
|
FRAME_-82104_CLASS = 4
|
|
FRAME_-82104_CLASS_ID = -82104
|
|
FRAME_-82104_CENTER = -82
|
|
TKFRAME_-82104_SPEC = 'ANGLES'
|
|
TKFRAME_-82104_RELATIVE = 'CASSINI_SC_COORD'
|
|
TKFRAME_-82104_ANGLES = ( -138.12213046232,
|
|
-179.95536809121,
|
|
0.0 )
|
|
TKFRAME_-82104_AXES = ( 3,
|
|
1,
|
|
3 )
|
|
TKFRAME_-82104_UNITS = 'DEGREES'
|
|
|
|
|
|
From [35], the XBAND boresight has been adjusted to the following vector in
|
|
spacecraft coordinates:
|
|
|
|
[ 0.0004839 ]
|
|
XBAND Boresight Vector = [ 0.0001745 ]
|
|
[ -0.9999999 ]
|
|
|
|
Since only boresight information has been provided, the frame
|
|
transformation outlined below was constructed by computing the RA and DEC
|
|
of the boresight vector relative to the CASSINI_SC_COORD frame. These
|
|
angles are then utilized in the following fashion to construct the frame
|
|
definition:
|
|
|
|
[ ] [ ] [ ] [ ]
|
|
[ ROT ] = [ -(RA+90) ] [ -(90-DEC) ] [ 0.0 ]
|
|
[ ] [ ] [ ] [ ]
|
|
Z X Z
|
|
|
|
where [x] represents the rotation matrix of a given angle x about
|
|
i
|
|
axis i.
|
|
|
|
This produces a frame whose Z-axis agrees with the specified boresight.
|
|
|
|
By the methodology outlined above, this produces the following frame
|
|
definition:
|
|
|
|
[ ] [ ] [ ] [ ]
|
|
[ ROT ] = [ -109.82989689352 ] [ -179.97052693372 ] [ 0.0 ]
|
|
[ ] [ ] [ ] [ ]
|
|
Z X Z
|
|
|
|
where [x] represents the rotation matrix of a given angle x about
|
|
i
|
|
axis i.
|
|
|
|
Third Updated Frame Definition:
|
|
|
|
|
|
FRAME_CASSINI_XBAND = -82104
|
|
FRAME_-82104_NAME = 'CASSINI_XBAND'
|
|
FRAME_-82104_CLASS = 4
|
|
FRAME_-82104_CLASS_ID = -82104
|
|
FRAME_-82104_CENTER = -82
|
|
TKFRAME_-82104_SPEC = 'ANGLES'
|
|
TKFRAME_-82104_RELATIVE = 'CASSINI_SC_COORD'
|
|
TKFRAME_-82104_ANGLES = ( -109.82989689352,
|
|
-179.97052693372,
|
|
0.0 )
|
|
TKFRAME_-82104_AXES = ( 3,
|
|
1,
|
|
3 )
|
|
TKFRAME_-82104_UNITS = 'DEGREES'
|
|
|
|
|
|
|
|
______________________________________________________________
|
|
++++++++++++++++++++March 18, 2003++++++++++++++++++++++++++++
|
|
|
|
From [46], the XBAND boresight has been adjusted so that it is co-aligned
|
|
with the KABAND boresight. By defining the frame relative to
|
|
'CASSINI_KABAND', the following frame definition is valid:
|
|
|
|
[ ] [ ] [ ] [ ]
|
|
[ ROT ] = [ 0.0 ] [ 0.0 ] [ 0.0 ]
|
|
[ ] [ ] [ ] [ ]
|
|
Z X Y
|
|
|
|
where [x] represents the rotation matrix of a given angle x about
|
|
i
|
|
axis i.
|
|
|
|
|
|
\begindata
|
|
|
|
FRAME_CASSINI_XBAND = -82104
|
|
FRAME_-82104_NAME = 'CASSINI_XBAND'
|
|
FRAME_-82104_CLASS = 4
|
|
FRAME_-82104_CLASS_ID = -82104
|
|
FRAME_-82104_CENTER = -82
|
|
TKFRAME_-82104_SPEC = 'ANGLES'
|
|
TKFRAME_-82104_RELATIVE = 'CASSINI_KABAND'
|
|
TKFRAME_-82104_ANGLES = ( 0.0,
|
|
0.0,
|
|
0.0 )
|
|
TKFRAME_-82104_AXES = ( 3,
|
|
1,
|
|
2 )
|
|
TKFRAME_-82104_UNITS = 'DEGREES'
|
|
|
|
\begintext
|
|
|
|
|
|
High Gain Antenna X Band True (XBAND_TRUE)
|
|
______________________________________________________________
|
|
++++++++++++++++++++March 18, 2003++++++++++++++++++++++++++++
|
|
|
|
In order to preserve the original boresight information for the XBAND
|
|
antenna, a new frame is defined containing that information. The change
|
|
history is documented above under the XBAND frame.
|
|
|
|
From [35], the XBAND boresight has been adjusted to the following vector in
|
|
spacecraft coordinates:
|
|
|
|
[ 0.0004839 ]
|
|
XBAND Boresight Vector = [ 0.0001745 ]
|
|
[ -0.9999999 ]
|
|
|
|
Since only boresight information has been provided, the frame
|
|
transformation outlined below was constructed by computing the RA and DEC
|
|
of the boresight vector relative to the CASSINI_SC_COORD frame. These
|
|
angles are then utilized in the following fashion to construct the frame
|
|
definition:
|
|
|
|
[ ] [ ] [ ] [ ]
|
|
[ ROT ] = [ -(RA+90) ] [ -(90-DEC) ] [ 0.0 ]
|
|
[ ] [ ] [ ] [ ]
|
|
Z X Z
|
|
|
|
where [x] represents the rotation matrix of a given angle x about
|
|
i
|
|
axis i.
|
|
|
|
This produces a frame whose Z-axis agrees with the specified boresight.
|
|
|
|
By the methodology outlined above, this produces the following frame
|
|
definition:
|
|
|
|
[ ] [ ] [ ] [ ]
|
|
[ ROT ] = [ -109.82989689352 ] [ -179.97052693372 ] [ 0.0 ]
|
|
[ ] [ ] [ ] [ ]
|
|
Z X Z
|
|
|
|
where [x] represents the rotation matrix of a given angle x about
|
|
i
|
|
axis i.
|
|
|
|
\begindata
|
|
|
|
FRAME_CASSINI_XBAND_TRUE = -82108
|
|
FRAME_-82108_NAME = 'CASSINI_XBAND_TRUE'
|
|
FRAME_-82108_CLASS = 4
|
|
FRAME_-82108_CLASS_ID = -82108
|
|
FRAME_-82108_CENTER = -82
|
|
TKFRAME_-82108_SPEC = 'ANGLES'
|
|
TKFRAME_-82108_RELATIVE = 'CASSINI_SC_COORD'
|
|
TKFRAME_-82108_ANGLES = ( -109.82989689352,
|
|
-179.97052693372,
|
|
0.0 )
|
|
TKFRAME_-82108_AXES = ( 3,
|
|
1,
|
|
3 )
|
|
TKFRAME_-82108_UNITS = 'DEGREES'
|
|
|
|
\begintext
|
|
|
|
|
|
High Gain Antenna KA Band (KABAND)
|
|
|
|
The high gain antenna is capable of operating in several bands, each of
|
|
which may be calibrated and adjusted independently. The nominal frame
|
|
definition for the KABAND is displayed below:
|
|
|
|
[ ] [ ] [ ] [ ]
|
|
[ ROT ] = [ 0.0 ] [ 0.0 ] [ 180.0 ]
|
|
[ ] [ ] [ ] [ ]
|
|
Z Y X
|
|
|
|
where [x] represents the rotation matrix of a given angle x about
|
|
i
|
|
axis i.
|
|
|
|
Nominal Frame Definition:
|
|
|
|
FRAME_CASSINI_KABAND = -82105
|
|
FRAME_-82105_NAME = 'CASSINI_KABAND'
|
|
FRAME_-82105_CLASS = 4
|
|
FRAME_-82105_CLASS_ID = -82105
|
|
FRAME_-82105_CENTER = -82
|
|
TKFRAME_-82105_SPEC = 'ANGLES'
|
|
TKFRAME_-82105_RELATIVE = 'CASSINI_SC_COORD'
|
|
TKFRAME_-82105_ANGLES = ( 0.0, 0.0, 180.0 )
|
|
TKFRAME_-82105_AXES = ( 3, 2, 1 )
|
|
TKFRAME_-82105_UNITS = 'DEGREES'
|
|
|
|
|
|
From [25], the KABAND boresight has been adjusted to the following vector
|
|
in spacecraft coordinates:
|
|
|
|
[ 0.0005000 ]
|
|
KABAND Boresight Vector = [ 0.0004000 ]
|
|
[ -0.9999998 ]
|
|
|
|
Since only boresight information has been provided, the frame
|
|
transformation outlined below was constructed by computing the RA and DEC
|
|
of the boresight vector relative to the CASSINI_SC_COORD frame. These
|
|
angles are then utilized in the following fashion to construct the frame
|
|
definition:
|
|
|
|
[ ] [ ] [ ] [ ]
|
|
[ ROT ] = [ -(RA+90) ] [ -(90-DEC) ] [ 0.0 ]
|
|
[ ] [ ] [ ] [ ]
|
|
Z X Z
|
|
|
|
where [x] represents the rotation matrix of a given angle x about
|
|
i
|
|
axis i.
|
|
|
|
This produces a frame whose Z-axis agrees with the specified boresight.
|
|
|
|
By the methodology outlined above, this produces the following frame
|
|
definition:
|
|
|
|
[ ] [ ] [ ] [ ]
|
|
[ ROT ] = [ -128.659808 ] [ -179.963313 ] [ 0.0 ]
|
|
[ ] [ ] [ ] [ ]
|
|
Z X Z
|
|
|
|
where [x] represents the rotation matrix of a given angle x about
|
|
i
|
|
axis i.
|
|
|
|
First Updated Frame Definition:
|
|
|
|
FRAME_CASSINI_KABAND = -82105
|
|
FRAME_-82105_NAME = 'CASSINI_KABAND'
|
|
FRAME_-82105_CLASS = 4
|
|
FRAME_-82105_CLASS_ID = -82105
|
|
FRAME_-82105_CENTER = -82
|
|
TKFRAME_-82105_SPEC = 'ANGLES'
|
|
TKFRAME_-82105_RELATIVE = 'CASSINI_SC_COORD'
|
|
TKFRAME_-82105_ANGLES = ( -128.659808, -179.963313, 0.0 )
|
|
TKFRAME_-82105_AXES = ( 3, 1, 3 )
|
|
TKFRAME_-82105_UNITS = 'DEGREES'
|
|
|
|
|
|
From [34], the KABAND boresight has been adjusted again to the following
|
|
vector in spacecraft coordinates:
|
|
|
|
[ 0.0005300 ]
|
|
KABAND Boresight Vector = [ 0.0006600 ]
|
|
[ -0.9999996 ]
|
|
|
|
Since only boresight information has been provided, the frame
|
|
transformation outlined below was constructed by computing the RA and DEC
|
|
of the boresight vector relative to the CASSINI_SC_COORD frame. These
|
|
angles are then utilized in the following fashion to construct the frame
|
|
definition:
|
|
|
|
[ ] [ ] [ ] [ ]
|
|
[ ROT ] = [ -(RA+90) ] [ -(90-DEC) ] [ 0.0 ]
|
|
[ ] [ ] [ ] [ ]
|
|
Z X Z
|
|
|
|
where [x] represents the rotation matrix of a given angle x about
|
|
i
|
|
axis i.
|
|
|
|
This produces a frame whose Z-axis agrees with the specified boresight.
|
|
|
|
By the methodology outlined above, this produces the following frame
|
|
definition:
|
|
|
|
[ ] [ ] [ ] [ ]
|
|
[ ROT ] = [ -141.23448009520 ] [ -179.95150122158 ] [ 0.0 ]
|
|
[ ] [ ] [ ] [ ]
|
|
Z X Z
|
|
|
|
where [x] represents the rotation matrix of a given angle x about
|
|
i
|
|
axis i.
|
|
|
|
Second Updated Frame Definition:
|
|
|
|
FRAME_CASSINI_KABAND = -82105
|
|
FRAME_-82105_NAME = 'CASSINI_KABAND'
|
|
FRAME_-82105_CLASS = 4
|
|
FRAME_-82105_CLASS_ID = -82105
|
|
FRAME_-82105_CENTER = -82
|
|
TKFRAME_-82105_SPEC = 'ANGLES'
|
|
TKFRAME_-82105_RELATIVE = 'CASSINI_SC_COORD'
|
|
TKFRAME_-82105_ANGLES = ( -141.23448009520,
|
|
-179.95150122158,
|
|
0.0 )
|
|
TKFRAME_-82105_AXES = ( 3,
|
|
1,
|
|
3 )
|
|
TKFRAME_-82105_UNITS = 'DEGREES'
|
|
|
|
|
|
From [35], the KABAND boresight has been adjusted to the following vector
|
|
in spacecraft coordinates:
|
|
|
|
[ 0.0004839 ]
|
|
KABAND Boresight Vector = [ 0.0001745 ]
|
|
[ -0.9999999 ]
|
|
|
|
Since only boresight information has been provided, the frame
|
|
transformation outlined below was constructed by computing the RA and DEC
|
|
of the boresight vector relative to the CASSINI_SC_COORD frame. These
|
|
angles are then utilized in the following fashion to construct the frame
|
|
definition:
|
|
|
|
[ ] [ ] [ ] [ ]
|
|
[ ROT ] = [ -(RA+90) ] [ -(90-DEC) ] [ 0.0 ]
|
|
[ ] [ ] [ ] [ ]
|
|
Z X Z
|
|
|
|
where [x] represents the rotation matrix of a given angle x about
|
|
i
|
|
axis i.
|
|
|
|
This produces a frame whose Z-axis agrees with the specified boresight.
|
|
|
|
By the methodology outlined above, this produces the following frame
|
|
definition:
|
|
|
|
[ ] [ ] [ ] [ ]
|
|
[ ROT ] = [ -109.82989689352 ] [ -179.97052693372 ] [ 0.0 ]
|
|
[ ] [ ] [ ] [ ]
|
|
Z X Z
|
|
|
|
where [x] represents the rotation matrix of a given angle x about
|
|
i
|
|
axis i.
|
|
|
|
|
|
FRAME_CASSINI_KABAND = -82105
|
|
FRAME_-82105_NAME = 'CASSINI_KABAND'
|
|
FRAME_-82105_CLASS = 4
|
|
FRAME_-82105_CLASS_ID = -82105
|
|
FRAME_-82105_CENTER = -82
|
|
TKFRAME_-82105_SPEC = 'ANGLES'
|
|
TKFRAME_-82105_RELATIVE = 'CASSINI_SC_COORD'
|
|
TKFRAME_-82105_ANGLES = ( -109.82989689352,
|
|
-179.97052693372,
|
|
0.0 )
|
|
TKFRAME_-82105_AXES = ( 3,
|
|
1,
|
|
3 )
|
|
TKFRAME_-82105_UNITS = 'DEGREES'
|
|
|
|
|
|
From [38], the KABAND boresight has been adjusted to the following vector
|
|
in spacecraft coordinates:
|
|
|
|
[ 0.0005280 ]
|
|
KABAND Boresight Vector = [ 0.0003500 ]
|
|
[ -0.9999998 ]
|
|
|
|
Since only boresight information has been provided, the frame
|
|
transformation outlined below was constructed by computing the RA and DEC
|
|
of the boresight vector relative to the CASSINI_SC_COORD frame. These
|
|
angles are then utilized in the following fashion to construct the frame
|
|
definition:
|
|
|
|
[ ] [ ] [ ] [ ]
|
|
[ ROT ] = [ -(RA+90) ] [ -(90-DEC) ] [ 0.0 ]
|
|
[ ] [ ] [ ] [ ]
|
|
Z X Z
|
|
|
|
where [x] represents the rotation matrix of a given angle x about
|
|
i
|
|
axis i.
|
|
|
|
This produces a frame whose Z-axis agrees with the specified boresight.
|
|
|
|
By the methodology outlined above, this produces the following frame
|
|
definition:
|
|
|
|
[ ] [ ] [ ] [ ]
|
|
[ ROT ] = [ -123.53955356526 ] [ -179.96370485104 ] [ 0.0 ]
|
|
[ ] [ ] [ ] [ ]
|
|
Z X Z
|
|
|
|
where [x] represents the rotation matrix of a given angle x about
|
|
i
|
|
axis i.
|
|
|
|
|
|
|
|
FRAME_CASSINI_KABAND = -82105
|
|
FRAME_-82105_NAME = 'CASSINI_KABAND'
|
|
FRAME_-82105_CLASS = 4
|
|
FRAME_-82105_CLASS_ID = -82105
|
|
FRAME_-82105_CENTER = -82
|
|
TKFRAME_-82105_SPEC = 'ANGLES'
|
|
TKFRAME_-82105_RELATIVE = 'CASSINI_SC_COORD'
|
|
TKFRAME_-82105_ANGLES = ( -123.53955356526,
|
|
-179.96370485104,
|
|
0.0 )
|
|
TKFRAME_-82105_AXES = ( 3,
|
|
1,
|
|
3 )
|
|
TKFRAME_-82105_UNITS = 'DEGREES'
|
|
|
|
|
|
______________________________________________________________
|
|
++++++++++++++++++++November 20, 2003++++++++++++++++++++++++++++
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From [48], the KABAND boresight has been adjusted to the following vector
|
|
in spacecraft coordinates:
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|
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[ 0.0004273 ]
|
|
KABAND Boresight Vector = [ 0.0008606 ]
|
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[ -0.9999995 ]
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|
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Since only boresight information has been provided, the frame
|
|
transformation outlined below was constructed by computing the RA and DEC
|
|
of the boresight vector relative to the CASSINI_SC_COORD frame. These
|
|
angles are then utilized in the following fashion to construct the frame
|
|
definition:
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|
|
[ ] [ ] [ ] [ ]
|
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[ ROT ] = [ -(RA+90) ] [ -(90-DEC) ] [ 0.0 ]
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[ ] [ ] [ ] [ ]
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Z X Z
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|
|
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where [x] represents the rotation matrix of a given angle x about
|
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i
|
|
axis i.
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|
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This produces a frame whose Z-axis agrees with the specified boresight.
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|
|
By the methodology outlined above, this produces the following frame
|
|
definition:
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[ ] [ ] [ ] [ ]
|
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[ ROT ] = [ -153.59495523828 ] [ -179.94494778906 ] [ 0.0 ]
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[ ] [ ] [ ] [ ]
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Z X Z
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where [x] represents the rotation matrix of a given angle x about
|
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i
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axis i.
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|
\begindata
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FRAME_CASSINI_KABAND = -82105
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FRAME_-82105_NAME = 'CASSINI_KABAND'
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FRAME_-82105_CLASS = 4
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FRAME_-82105_CLASS_ID = -82105
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FRAME_-82105_CENTER = -82
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TKFRAME_-82105_SPEC = 'ANGLES'
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TKFRAME_-82105_RELATIVE = 'CASSINI_SC_COORD'
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|
TKFRAME_-82105_ANGLES = ( -153.59495523828,
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-179.94494778906,
|
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0.0 )
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TKFRAME_-82105_AXES = ( 3,
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1,
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3 )
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TKFRAME_-82105_UNITS = 'DEGREES'
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\begintext
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|
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|
|
High Gain Antenna KU Band (KUBAND)
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The high gain antenna is capable of operating in several bands, each of
|
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which may be calibrated and adjusted independently. The nominal frame
|
|
definition for the KUBAND is displayed below:
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|
|
[ ] [ ] [ ] [ ]
|
|
[ ROT ] = [ 0.0 ] [ 0.0 ] [ 180.0 ]
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|
[ ] [ ] [ ] [ ]
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|
Z Y X
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|
|
|
where [x] represents the rotation matrix of a given angle x about
|
|
i
|
|
axis i.
|
|
|
|
Nominal Frame Definition:
|
|
|
|
\begindata
|
|
|
|
FRAME_CASSINI_KUBAND = -82106
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FRAME_-82106_NAME = 'CASSINI_KUBAND'
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FRAME_-82106_CLASS = 4
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FRAME_-82106_CLASS_ID = -82106
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FRAME_-82106_CENTER = -82
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TKFRAME_-82106_SPEC = 'ANGLES'
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|
TKFRAME_-82106_RELATIVE = 'CASSINI_SC_COORD'
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TKFRAME_-82106_ANGLES = ( 0.0, 0.0, 180.0 )
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TKFRAME_-82106_AXES = ( 3, 2, 1 )
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TKFRAME_-82106_UNITS = 'DEGREES'
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\begintext
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|
High Gain Antenna S Band (SBAND)
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|
The high gain antenna is capable of operating in several bands, each of
|
|
which may be calibrated and adjusted independently. The nominal frame
|
|
definition for the SBAND is displayed below:
|
|
|
|
[ ] [ ] [ ] [ ]
|
|
[ ROT ] = [ 0.0 ] [ 0.0 ] [ 180.0 ]
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|
[ ] [ ] [ ] [ ]
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|
Z Y X
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|
|
|
where [x] represents the rotation matrix of a given angle x about
|
|
i
|
|
axis i.
|
|
|
|
Nominal Frame Definition:
|
|
|
|
\begindata
|
|
|
|
FRAME_CASSINI_SBAND = -82107
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FRAME_-82107_NAME = 'CASSINI_SBAND'
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|
FRAME_-82107_CLASS = 4
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FRAME_-82107_CLASS_ID = -82107
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|
FRAME_-82107_CENTER = -82
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|
TKFRAME_-82107_SPEC = 'ANGLES'
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|
TKFRAME_-82107_RELATIVE = 'CASSINI_SC_COORD'
|
|
TKFRAME_-82107_ANGLES = ( 0.0, 0.0, 180.0 )
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|
TKFRAME_-82107_AXES = ( 3, 2, 1 )
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|
TKFRAME_-82107_UNITS = 'DEGREES'
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|
|
|
\begintext
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Low Gain Antenna One (LGA1)
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The first low gain antenna points nominally along the spacecraft -Z axis.
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As such the rotation matrix required that takes vectors represented in the
|
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first low gain antenna frame into the spacecraft frame is constructed as
|
|
follows:
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|
[ ] [ ] [ ] [ ]
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[ ROT ] = [ 0.0 ] [ +180.0 ] [ 0.0 ]
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[ ] [ ] [ ] [ ]
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Z Y X
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|
|
|
where [x] represents the rotation matrix of a given angle x about
|
|
i
|
|
axis i.
|
|
|
|
\begindata
|
|
|
|
FRAME_CASSINI_LGA1 = -82102
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FRAME_-82102_NAME = 'CASSINI_LGA1'
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FRAME_-82102_CLASS = 4
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|
FRAME_-82102_CLASS_ID = -82102
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|
FRAME_-82102_CENTER = -82
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|
TKFRAME_-82102_SPEC = 'ANGLES'
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|
TKFRAME_-82102_RELATIVE = 'CASSINI_SC_COORD'
|
|
TKFRAME_-82102_ANGLES = ( 0.0, 180.0, 0.0 )
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|
TKFRAME_-82102_AXES = ( 3, 2, 1 )
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|
TKFRAME_-82102_UNITS = 'DEGREES'
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|
TKFRAME_-82102_BORESIGHT = ( 0.0, 0.0, 1.0 )
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|
|
|
\begintext
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|
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|
Low Gain Antenna Two (LGA2)
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|
|
The second low gain antenna points nominally along the spacecraft -X axis.
|
|
As such the rotation matrix required that takes vectors represented in the
|
|
second low gain antenna frame into the spacecraft frame is constructed as
|
|
follows:
|
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|
|
[ ] [ ] [ ] [ ]
|
|
[ ROT ] = [ 0.0 ] [ 90.0 ] [ 0.0 ]
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|
[ ] [ ] [ ] [ ]
|
|
Z Y X
|
|
|
|
where [x] represents the rotation matrix of a given angle x about
|
|
i
|
|
axis i.
|
|
|
|
\begindata
|
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|
|
FRAME_CASSINI_LGA2 = -82103
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FRAME_-82103_NAME = 'CASSINI_LGA2'
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|
FRAME_-82103_CLASS = 4
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|
FRAME_-82103_CLASS_ID = -82103
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|
FRAME_-82103_CENTER = -82
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|
TKFRAME_-82103_SPEC = 'ANGLES'
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|
TKFRAME_-82103_RELATIVE = 'CASSINI_SC_COORD'
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|
TKFRAME_-82103_ANGLES = ( 0.0, 90.0, 0.0 )
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|
TKFRAME_-82103_AXES = ( 3, 2, 1 )
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|
TKFRAME_-82103_UNITS = 'DEGREES'
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|
TKFRAME_-82103_BORESIGHT = ( 0.0, 0.0, 1.0 )
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|
\begintext
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|
ISS Frames
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|
----------------------------------------------------------
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The Narrow Angle Camera (NAC) and Wide Angle Camera (WAC) are mounted on
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|
the remote sensing pallet on the +X side of the Cassini spacecraft, and
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|
nominally directed along the -Y axis of the AACS body frame.
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|
Note the angles in the frame definitions are specified for the "from
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|
instrument to (relative to) base frame" transformation.
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|
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|
|
Imaging Science Subsystem Narrow Angle Camera (ISS_NAC)
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|
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The ISS NAC points nominally along the spacecraft -Y axis. The following
|
|
frame definition encapsulates this nominal frame.
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From [8]:
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|
``The Narrow Angle Camera (NAC) detector is a CCD. Its coordinate system is
|
|
defined according to the geometry of the detector. The narrow angle
|
|
coordinate system is defined in the same manner as the SRU coordinate
|
|
systems defined above and the four central pixels of center of the full CCD
|
|
are selected for the definition of the origin of the coordinate system.
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|
|
The Narrow Angle Camera is the primary instrument on the Remote Sensing
|
|
Pallet (RSP). AACS is responsible for providing pointing knowledge of the
|
|
boresight vector of this instrument. All other RSP instruments use the
|
|
pointing provided to the NAC as their reference for determining their
|
|
pointing.''
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Nominal Frame Definition:
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|
|
FRAME_CASSINI_ISS_NAC = -82360
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FRAME_-82360_NAME = 'CASSINI_ISS_NAC'
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FRAME_-82360_CLASS = 4
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FRAME_-82360_CLASS_ID = -82360
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FRAME_-82360_CENTER = -82
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TKFRAME_-82360_SPEC = 'ANGLES'
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TKFRAME_-82360_RELATIVE = 'CASSINI_SC_COORD'
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TKFRAME_-82360_ANGLES = ( -90.0, 0.0, 90.0 )
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|
TKFRAME_-82360_AXES = ( 1, 2, 3 )
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|
TKFRAME_-82360_UNITS = 'DEGREES'
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|
|
[6] describes the inflight calibration of the ISS that was the result of
|
|
the CICLOPS (Cassini Imaging Central Laboratory for Operations) analysis of
|
|
8 NAC images that were taken during ICO (Instrument Checkout). The rotation
|
|
matrix that takes vectors represented in the ISS_NAC frame into the
|
|
spacecraft frame follows:
|
|
|
|
[ ] [ ] [ ] [ ]
|
|
[ ROT ] = [ -90.024236 ] [ -0.047029483 ] [ 89.892082 ]
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|
[ ] [ ] [ ] [ ]
|
|
X Y Z
|
|
|
|
where [x] represents the rotation matrix of a given angle x about
|
|
i
|
|
axis i.
|
|
|
|
The angles were taken directly from [6].
|
|
|
|
|
|
FRAME_CASSINI_ISS_NAC = -82360
|
|
FRAME_-82360_NAME = 'CASSINI_ISS_NAC'
|
|
FRAME_-82360_CLASS = 4
|
|
FRAME_-82360_CLASS_ID = -82360
|
|
FRAME_-82360_CENTER = -82
|
|
TKFRAME_-82360_SPEC = 'ANGLES'
|
|
TKFRAME_-82360_RELATIVE = 'CASSINI_SC_COORD'
|
|
TKFRAME_-82360_ANGLES = ( -90.024236, -0.047029483, 89.892082 )
|
|
TKFRAME_-82360_AXES = ( 1, 2, 3 )
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|
TKFRAME_-82360_UNITS = 'DEGREES'
|
|
|
|
|
|
From [10]:
|
|
|
|
``The NAC boresight is not precisely aligned with the S/C -Y body vector.
|
|
Its alignment was determined during ICO-1 ISS observations of Spica, when
|
|
the spacecraft was using SRU-B for orientation determination. The alignment
|
|
parameters cited under Change Requested take into account the offset, as
|
|
determined by AACS, between SRU-A and SRU-B.''
|
|
|
|
[10] also describes a series of frame transformations that convert the
|
|
CASSINI_ISS_NAC frame into the CASSINI_SC_COORD frame, accounting for the
|
|
offset between SRU-A and SRU-B. This results in following frame definition:
|
|
|
|
The rotation matrix that takes vectors represented in the ISS_NAC frame
|
|
into the spacecraft frame follows:
|
|
|
|
[ ] [ ] [ ] [ ]
|
|
[ ROT ] = [ -89.99231636 ] [ -0.03586589 ] [ 89.93339682 ]
|
|
[ ] [ ] [ ] [ ]
|
|
X Y Z
|
|
|
|
where [x] represents the rotation matrix of a given angle x about
|
|
i
|
|
axis i.
|
|
|
|
|
|
FRAME_CASSINI_ISS_NAC = -82360
|
|
FRAME_-82360_NAME = 'CASSINI_ISS_NAC'
|
|
FRAME_-82360_CLASS = 4
|
|
FRAME_-82360_CLASS_ID = -82360
|
|
FRAME_-82360_CENTER = -82
|
|
TKFRAME_-82360_SPEC = 'ANGLES'
|
|
TKFRAME_-82360_RELATIVE = 'CASSINI_SC_COORD'
|
|
TKFRAME_-82360_ANGLES = (-89.99231636, -0.03586589, 89.93339682)
|
|
TKFRAME_-82360_AXES = ( 1, 2, 3 )
|
|
TKFRAME_-82360_UNITS = 'DEGREES'
|
|
|
|
|
|
From [16]:
|
|
|
|
``The following results were obtained by using 3 long exposure Fomalhaut
|
|
NAC frames, each with 6 stars and using a 3 parameter fit (shift in line,
|
|
shift in sample and rotation about optic axis).''
|
|
|
|
AACS NAC boresight
|
|
|
|
X 0.0005760 +/- 0.0000018
|
|
Y -0.99999982 +/- 0.00000001
|
|
Z -0.0001710 +/- 0.0000016
|
|
|
|
The results of the Fomalhaut image calibrations produced the following
|
|
update to the ISS_NAC frame defintion:
|
|
|
|
The rotation matrix that takes vectors represented in the ISS_NAC frame
|
|
into the spacecraft frame follows:
|
|
|
|
[ ] [ ] [ ] [ ]
|
|
[ ROT ] = [ -90.009796 ] [ -0.03300 ] [ 89.9148 ]
|
|
[ ] [ ] [ ] [ ]
|
|
X Y Z
|
|
|
|
where [x] represents the rotation matrix of a given angle x about
|
|
i
|
|
axis i.
|
|
|
|
\begindata
|
|
|
|
FRAME_CASSINI_ISS_NAC = -82360
|
|
FRAME_-82360_NAME = 'CASSINI_ISS_NAC'
|
|
FRAME_-82360_CLASS = 4
|
|
FRAME_-82360_CLASS_ID = -82360
|
|
FRAME_-82360_CENTER = -82
|
|
TKFRAME_-82360_SPEC = 'ANGLES'
|
|
TKFRAME_-82360_RELATIVE = 'CASSINI_SC_COORD'
|
|
TKFRAME_-82360_ANGLES = (-90.009796, -0.03300, 89.9148 )
|
|
TKFRAME_-82360_AXES = ( 1, 2, 3 )
|
|
TKFRAME_-82360_UNITS = 'DEGREES'
|
|
|
|
\begintext
|
|
|
|
|
|
Imaging Science Subsystem Wide Angle Camera (ISS_WAC)
|
|
|
|
The ISS WAC points nominally along the spacecraft -Y axis. The following
|
|
frame definition encapsulates this nominal frame.
|
|
|
|
Nominal Frame Definition:
|
|
|
|
FRAME_CASSINI_ISS_WAC = -82361
|
|
FRAME_-82361_NAME = 'CASSINI_ISS_WAC'
|
|
FRAME_-82361_CLASS = 4
|
|
FRAME_-82361_CLASS_ID = -82361
|
|
FRAME_-82361_CENTER = -82
|
|
TKFRAME_-82361_SPEC = 'ANGLES'
|
|
TKFRAME_-82361_RELATIVE = 'CASSINI_SC_COORD'
|
|
TKFRAME_-82361_ANGLES = ( -90.0, 0.0, 90.0 )
|
|
TKFRAME_-82361_AXES = ( 1, 2, 3 )
|
|
TKFRAME_-82361_UNITS = 'DEGREES'
|
|
|
|
|
|
[6] describes the inflight calibration of ISS that was the result of the
|
|
CICLOPS (Cassini Imaging Central Laboratory for Operations) analysis of 36
|
|
WAC images taken during ICO (Instrument Checkout). At this time the images
|
|
taken were only sufficient to develop the location of the WAC's optical
|
|
axis. There are three determinations of this axes location in the
|
|
spacecraft frame. In [7] V.Haemmerle suggests that the 2-parameter fit
|
|
average coupled with nominal twist would be the safest assumption to
|
|
determine the frame transformation from ISS_WAC to the AACS body frame. The
|
|
rotation matrix that takes ISS_WAC vectors into the spacecraft frame would
|
|
be constructed as follows:
|
|
|
|
[ ] [ ] [ ] [ ]
|
|
[ ROT ] = [ +89.9116120 ] [ -90.00059931 ] [ 0.0 ]
|
|
[ ] [ ] [ ] [ ]
|
|
Z Y Z
|
|
|
|
where [x] represents the rotation matrix of a given angle x about
|
|
i
|
|
axis i.
|
|
|
|
These angles were computed using the assumption that the WAC optical axis
|
|
lies along the vector:
|
|
|
|
[ 0.00154266 ]
|
|
WAC Optical Axis Vector = [ -0.99999881 ]
|
|
[ -0.00001046 ]
|
|
|
|
in AACS body coordinates. Further we assume nominal twist, hence the first
|
|
rotation about Z is 0.0 degrees.
|
|
|
|
|
|
FRAME_CASSINI_ISS_WAC = -82361
|
|
FRAME_-82361_NAME = 'CASSINI_ISS_WAC'
|
|
FRAME_-82361_CLASS = 4
|
|
FRAME_-82361_CLASS_ID = -82361
|
|
FRAME_-82361_CENTER = -82
|
|
TKFRAME_-82361_SPEC = 'ANGLES'
|
|
TKFRAME_-82361_RELATIVE = 'CASSINI_SC_COORD'
|
|
TKFRAME_-82361_ANGLES = ( 89.9116120, -90.00059931, 0.0 )
|
|
TKFRAME_-82361_AXES = ( 3, 2, 3 )
|
|
TKFRAME_-82361_UNITS = 'DEGREES'
|
|
|
|
|
|
From [11]:
|
|
|
|
``The WAC boresight is not precisely aligned with the S/C -Y body vector.
|
|
Its alignment was determined during ICO-1 ISS observations of Spica, when
|
|
the spacecraft was using SRU-B for orientation determination. The alignment
|
|
parameters cited under Change Request take into account the offset, as
|
|
determined by AACS, between SRU-A and SRU-B.''
|
|
|
|
Taking the boresight from the ECR ([11]):
|
|
|
|
[ 0.0013481161 ]
|
|
WAC Optical Axis Vector = [ -0.99999894 ]
|
|
[ 0.00054612156 ]
|
|
|
|
and assuming no twist, we derive the following angles:
|
|
|
|
[ ] [ ] [ ] [ ]
|
|
[ ROT ] = [ +89.9227586 ] [ -89.96870954 ] [ 0.0 ]
|
|
[ ] [ ] [ ] [ ]
|
|
Z Y Z
|
|
|
|
where [x] represents the rotation matrix of a given angle x about
|
|
i
|
|
axis i.
|
|
|
|
These angles were computed using the assumption that the WAC optical axis
|
|
lies along the vector listed above. Further we assume nominal twist, hence
|
|
the first rotation about Z is 0.0 degrees.
|
|
|
|
|
|
FRAME_CASSINI_ISS_WAC = -82361
|
|
FRAME_-82361_NAME = 'CASSINI_ISS_WAC'
|
|
FRAME_-82361_CLASS = 4
|
|
FRAME_-82361_CLASS_ID = -82361
|
|
FRAME_-82361_CENTER = -82
|
|
TKFRAME_-82361_SPEC = 'ANGLES'
|
|
TKFRAME_-82361_RELATIVE = 'CASSINI_SC_COORD'
|
|
TKFRAME_-82361_ANGLES = ( 89.9227586, -89.96870954, 0.0 )
|
|
TKFRAME_-82361_AXES = ( 3, 2, 3 )
|
|
TKFRAME_-82361_UNITS = 'DEGREES'
|
|
|
|
|
|
From [16]:
|
|
|
|
``The following results were obtained by using 3 long exposure Fomalhaut
|
|
WAC frames, each using 12 stars near the center of frame and using a 3
|
|
parameter fit (shift in line, shift in sample and rotation about optic
|
|
axis).''
|
|
|
|
AACS WAC boresight
|
|
|
|
X 0.00121834 +/- 0.00000078
|
|
Y -0.99999923 +/- 0.00000001
|
|
Z 0.00025445 +/- 0.00000094
|
|
|
|
The results of the Fomalhaut image calibrations produced the following
|
|
update to the ISS_WAC frame defintion:
|
|
|
|
The rotation matrix that takes vectors represented in the ISS_NAC frame
|
|
into the spacecraft frame follows:
|
|
|
|
[ ] [ ] [ ] [ ]
|
|
[ ROT ] = [ -89.985421 ] [ -0.069806 ] [ 89.9736 ]
|
|
[ ] [ ] [ ] [ ]
|
|
X Y Z
|
|
|
|
where [x] represents the rotation matrix of a given angle x about
|
|
i
|
|
axis i.
|
|
|
|
\begindata
|
|
|
|
FRAME_CASSINI_ISS_WAC = -82361
|
|
FRAME_-82361_NAME = 'CASSINI_ISS_WAC'
|
|
FRAME_-82361_CLASS = 4
|
|
FRAME_-82361_CLASS_ID = -82361
|
|
FRAME_-82361_CENTER = -82
|
|
TKFRAME_-82361_SPEC = 'ANGLES'
|
|
TKFRAME_-82361_RELATIVE = 'CASSINI_SC_COORD'
|
|
TKFRAME_-82361_ANGLES = ( -89.985421, -0.069806, 89.9736 )
|
|
TKFRAME_-82361_AXES = ( 1, 2, 3 )
|
|
TKFRAME_-82361_UNITS = 'DEGREES'
|
|
|
|
\begintext
|
|
|
|
|
|
ISS Radiators (ISS_NAC_RAD and ISS_WAC_RAD)
|
|
|
|
The ISS radiators are nominally oriented with their +Z axes directed down
|
|
the spacecraft +X axis.
|
|
|
|
Since only boresight information has been provided, the frame
|
|
transformation outlined below was constructed by computing the RA and DEC
|
|
of the boresight vector relative to the CASSINI_SC_COORD frame. These
|
|
angles are then utilized in the following fashion to construct the frame
|
|
definition:
|
|
|
|
[ ] [ ] [ ] [ ]
|
|
[ ROT ] = [ -(RA+90) ] [ -(90-DEC) ] [ 0.0 ]
|
|
[ ] [ ] [ ] [ ]
|
|
Z X Z
|
|
|
|
where [x] represents the rotation matrix of a given angle x about
|
|
i
|
|
axis i.
|
|
|
|
This produces a frame whose Z-axis agrees with the specified boresight.
|
|
|
|
As [17] indicates, both the ISS_NAC_RAD and ISS_WAC_RAD boresights are
|
|
nominally aligned with the +X axis in the spacecraft frame. By the
|
|
methodology outlined above, this produces the following frame definitions:
|
|
|
|
[ ] [ ] [ ] [ ]
|
|
[ ROT ] = [ -90.0 ] [ -90.0 ] [ 0.0 ]
|
|
[ ] [ ] [ ] [ ]
|
|
Z X Z
|
|
|
|
where [x] represents the rotation matrix of a given angle x about
|
|
i
|
|
axis i.
|
|
|
|
Nominal Frame Definition:
|
|
|
|
\begindata
|
|
|
|
FRAME_CASSINI_ISS_NAC_RAD = -82368
|
|
FRAME_-82368_NAME = 'CASSINI_ISS_NAC_RAD'
|
|
FRAME_-82368_CLASS = 4
|
|
FRAME_-82368_CLASS_ID = -82368
|
|
FRAME_-82368_CENTER = -82
|
|
TKFRAME_-82368_SPEC = 'ANGLES'
|
|
TKFRAME_-82368_RELATIVE = 'CASSINI_SC_COORD'
|
|
TKFRAME_-82368_ANGLES = ( -90.0, -90.0, 0.0 )
|
|
TKFRAME_-82368_AXES = ( 3, 1, 3 )
|
|
TKFRAME_-82368_UNITS = 'DEGREES'
|
|
|
|
\begintext
|
|
|
|
Since the boresights are the same, both frame definitions are also the
|
|
same, thus we have:
|
|
|
|
Nominal Frame Definition:
|
|
|
|
\begindata
|
|
|
|
FRAME_CASSINI_ISS_WAC_RAD = -82369
|
|
FRAME_-82369_NAME = 'CASSINI_ISS_WAC_RAD'
|
|
FRAME_-82369_CLASS = 4
|
|
FRAME_-82369_CLASS_ID = -82369
|
|
FRAME_-82369_CENTER = -82
|
|
TKFRAME_-82369_SPEC = 'ANGLES'
|
|
TKFRAME_-82369_RELATIVE = 'CASSINI_SC_COORD'
|
|
TKFRAME_-82369_ANGLES = ( -90.0, -90.0, 0.0 )
|
|
TKFRAME_-82369_AXES = ( 3, 1, 3 )
|
|
TKFRAME_-82369_UNITS = 'DEGREES'
|
|
|
|
\begintext
|
|
|
|
|
|
CIRS Frames
|
|
----------------------------------------------------------
|
|
|
|
The Composite Infrared Spectrometer (CIRS) is mounted on the remote sensing
|
|
pallet on the +X side of the Cassini spacecraft, and nominally directed
|
|
along the -Y axis of the AACS body frame.
|
|
|
|
Note the angles in the frame definitions are specified for the "from
|
|
instrument to (relative to) base frame" transformation.
|
|
|
|
|
|
Composite Infrared Spectrometer Focal Plane Boresight (CIRS_FPB)
|
|
|
|
The CIRS FPB points nominally along the spacecraft -Y axis. The rotation
|
|
matrix that takes vectors represented in the CIRS_FPB frame into the
|
|
spacecraft frame follows:
|
|
|
|
[ ] [ ] [ ] [ ]
|
|
[ ROT ] = [ 0.0 ] [-90.0 ] [ 0.0 ]
|
|
[ ] [ ] [ ] [ ]
|
|
Z X Y
|
|
|
|
where [x] represents the rotation matrix of a given angle x about
|
|
i
|
|
axis i.
|
|
|
|
The following frame definition encapsulates this nominal frame:
|
|
|
|
Nominal Frame Definition
|
|
|
|
FRAME_CASSINI_CIRS_FPB = -82893
|
|
FRAME_-82893_NAME = 'CASSINI_CIRS_FPB'
|
|
FRAME_-82893_CLASS = 4
|
|
FRAME_-82893_CLASS_ID = -82893
|
|
FRAME_-82893_CENTER = -82
|
|
TKFRAME_-82893_SPEC = 'ANGLES'
|
|
TKFRAME_-82893_RELATIVE = 'CASSINI_SC_COORD'
|
|
TKFRAME_-82893_ANGLES = ( 0.0, -90.0, 0.0 )
|
|
TKFRAME_-82893_AXES = ( 3, 1, 2 )
|
|
TKFRAME_-82893_UNITS = 'DEGREES'
|
|
|
|
|
|
ECR 100515 [39] included mounting alignment updates for all CIRS focal
|
|
planes. The optical boresight has moved from it's nominal configuration of
|
|
the -Y axis in the spacecraft frame 1.7 milliradians towards +X and -0.04
|
|
milliradians towards -Z. The rotation matrix that takes vectors represented
|
|
in the CIRS_FPB frame into the spacecraft frame follows:
|
|
|
|
[ ] [ ] [ ] [ ]
|
|
[ ROT ] = [ 0.0 ] [ -90.002291831180 ] [ -0.09740282517 ]
|
|
[ ] [ ] [ ] [ ]
|
|
Z X Y
|
|
|
|
where [x] represents the rotation matrix of a given angle x about
|
|
i
|
|
axis i.
|
|
|
|
\begindata
|
|
|
|
FRAME_CASSINI_CIRS_FPB = -82893
|
|
FRAME_-82893_NAME = 'CASSINI_CIRS_FPB'
|
|
FRAME_-82893_CLASS = 4
|
|
FRAME_-82893_CLASS_ID = -82893
|
|
FRAME_-82893_CENTER = -82
|
|
TKFRAME_-82893_SPEC = 'ANGLES'
|
|
TKFRAME_-82893_RELATIVE = 'CASSINI_SC_COORD'
|
|
TKFRAME_-82893_ANGLES = (
|
|
0.0
|
|
-90.0022918311805233
|
|
-0.097402825172240,
|
|
)
|
|
TKFRAME_-82893_AXES = ( 3, 1, 2 )
|
|
|
|
TKFRAME_-82893_UNITS = 'DEGREES'
|
|
|
|
\begintext
|
|
|
|
|
|
Composite Infrared Spectrometer Focal Plane #1 (CIRS_FP1)
|
|
|
|
The CIRS FP1 points nominally along the spacecraft -Y axis. The following
|
|
frame definition encapsulates this nominal frame.
|
|
|
|
Nominal Frame Definition:
|
|
|
|
FRAME_CASSINI_CIRS_FP1 = -82890
|
|
FRAME_-82890_NAME = 'CASSINI_CIRS_FP1'
|
|
FRAME_-82890_CLASS = 4
|
|
FRAME_-82890_CLASS_ID = -82890
|
|
FRAME_-82890_CENTER = -82
|
|
TKFRAME_-82890_SPEC = 'ANGLES'
|
|
TKFRAME_-82890_RELATIVE = 'CASSINI_SC_COORD'
|
|
TKFRAME_-82890_ANGLES = ( -90.0, 0.0, 90.0 )
|
|
TKFRAME_-82890_AXES = ( 1, 2, 3 )
|
|
TKFRAME_-82890_UNITS = 'DEGREES'
|
|
|
|
|
|
[9] and [10] describe the most up to date values the orientation of the
|
|
CIRS focal planes. The rotation matrix that takes vectors represented in
|
|
the CIRS_FP1 frame into the CIRS_FPB frame follows:
|
|
|
|
[ ] [ ] [ ] [ ]
|
|
[ ROT ] = [ 0.0 ] [ 0.0 ] [ 0.23319382 ]
|
|
[ ] [ ] [ ] [ ]
|
|
Z X Y
|
|
|
|
where [x] represents the rotation matrix of a given angle x about
|
|
i
|
|
axis i.
|
|
|
|
The angles were computed from [10].
|
|
|
|
|
|
FRAME_CASSINI_CIRS_FP1 = -82890
|
|
FRAME_-82890_NAME = 'CASSINI_CIRS_FP1'
|
|
FRAME_-82890_CLASS = 4
|
|
FRAME_-82890_CLASS_ID = -82890
|
|
FRAME_-82890_CENTER = -82
|
|
TKFRAME_-82890_SPEC = 'ANGLES'
|
|
TKFRAME_-82890_RELATIVE = 'CASSINI_CIRS_FPB'
|
|
TKFRAME_-82890_ANGLES = ( 0.0, 0.0, -0.23319382 )
|
|
TKFRAME_-82890_AXES = ( 3, 1, 2 )
|
|
TKFRAME_-82890_UNITS = 'DEGREES'
|
|
|
|
|
|
[39] introduces new offsets for the FP1 from the optical boresight (FPB).
|
|
They are: 3.98 milliradians towards +X in the spacecraft frame and 0.07
|
|
milliradians towards +Z in the spacecraft frame. These offsets result in
|
|
the following rotation matrix:
|
|
|
|
[ ] [ ] [ ] [ ]
|
|
[ ROT ] = [ 0.0 ] [ 0.0040107045659 ] [ -0.22803720246 ]
|
|
[ ] [ ] [ ] [ ]
|
|
Z X Y
|
|
|
|
where [x] represents the rotation matrix of a given angle x about
|
|
i
|
|
axis i.
|
|
|
|
\begindata
|
|
|
|
FRAME_CASSINI_CIRS_FP1 = -82890
|
|
FRAME_-82890_NAME = 'CASSINI_CIRS_FP1'
|
|
FRAME_-82890_CLASS = 4
|
|
FRAME_-82890_CLASS_ID = -82890
|
|
FRAME_-82890_CENTER = -82
|
|
TKFRAME_-82890_SPEC = 'ANGLES'
|
|
TKFRAME_-82890_RELATIVE = 'CASSINI_CIRS_FPB'
|
|
TKFRAME_-82890_ANGLES = (
|
|
0.0,
|
|
4.0107045659158E-03,
|
|
-2.2803720246207E-01
|
|
)
|
|
TKFRAME_-82890_AXES = ( 3, 1, 2 )
|
|
TKFRAME_-82890_UNITS = 'DEGREES'
|
|
|
|
\begintext
|
|
|
|
|
|
Composite Infrared Spectrometer Focal Plane #3 (CIRS_FP3)
|
|
|
|
The CIRS FP3 points nominally along the spacecraft -Y axis. The following
|
|
frame definition encapsulates this nominal frame.
|
|
|
|
Nominal Frame Definition:
|
|
|
|
FRAME_CASSINI_CIRS_FP3 = -82891
|
|
FRAME_-82891_NAME = 'CASSINI_CIRS_FP3'
|
|
FRAME_-82891_CLASS = 4
|
|
FRAME_-82891_CLASS_ID = -82891
|
|
FRAME_-82891_CENTER = -82
|
|
TKFRAME_-82891_SPEC = 'ANGLES'
|
|
TKFRAME_-82891_RELATIVE = 'CASSINI_SC_COORD'
|
|
TKFRAME_-82891_ANGLES = ( -90.0, 0.0, 90.0 )
|
|
TKFRAME_-82891_AXES = ( 1, 2, 3 )
|
|
TKFRAME_-82891_UNITS = 'DEGREES'
|
|
|
|
|
|
[9] and [10] describe the most up to date values the orientation of the
|
|
CIRS focal planes. The rotation matrix that takes vectors represented in
|
|
the CIRS_FP3 frame into the CIRS_FPB frame follows:
|
|
|
|
[ ] [ ] [ ] [ ]
|
|
[ ROT ] = [ 0.0 ] [ 0.0 ] [ 0.002549662 ]
|
|
[ ] [ ] [ ] [ ]
|
|
Z X Y
|
|
|
|
where [x] represents the rotation matrix of a given angle x about
|
|
i
|
|
axis i.
|
|
|
|
The angles were computed from [10] with updates from [15].
|
|
|
|
|
|
FRAME_CASSINI_CIRS_FP3 = -82891
|
|
FRAME_-82891_NAME = 'CASSINI_CIRS_FP3'
|
|
FRAME_-82891_CLASS = 4
|
|
FRAME_-82891_CLASS_ID = -82891
|
|
FRAME_-82891_CENTER = -82
|
|
TKFRAME_-82891_SPEC = 'ANGLES'
|
|
TKFRAME_-82891_RELATIVE = 'CASSINI_CIRS_FPB'
|
|
TKFRAME_-82891_ANGLES = ( 0.0, 0.0, 0.02549662 )
|
|
TKFRAME_-82891_AXES = ( 3, 1, 2 )
|
|
TKFRAME_-82891_UNITS = 'DEGREES'
|
|
|
|
|
|
[39] includes an update to the offset of CASSINI_CIRS_FP3 from
|
|
CASSINI_CIRS_FPB. Instead of 0.445 milliradians, the new value is 0.47
|
|
milliradians of separation between the optical boresight and focal plane
|
|
3's boresight. The rotation matrix that takes vectors represented in the
|
|
CIRS_FP3 frame into the CIRS_FPB frame follows:
|
|
|
|
[ ] [ ] [ ] [ ]
|
|
[ ROT ] = [ 0.0 ] [ 0.0 ] [ 0.002692902 ]
|
|
[ ] [ ] [ ] [ ]
|
|
Z X Y
|
|
|
|
where [x] represents the rotation matrix of a given angle x about
|
|
i
|
|
axis i.
|
|
|
|
\begindata
|
|
|
|
FRAME_CASSINI_CIRS_FP3 = -82891
|
|
FRAME_-82891_NAME = 'CASSINI_CIRS_FP3'
|
|
FRAME_-82891_CLASS = 4
|
|
FRAME_-82891_CLASS_ID = -82891
|
|
FRAME_-82891_CENTER = -82
|
|
TKFRAME_-82891_SPEC = 'ANGLES'
|
|
TKFRAME_-82891_RELATIVE = 'CASSINI_CIRS_FPB'
|
|
TKFRAME_-82891_ANGLES = ( 0.0, 0.0, 2.6929016371149E-02 )
|
|
TKFRAME_-82891_AXES = ( 3, 1, 2 )
|
|
TKFRAME_-82891_UNITS = 'DEGREES'
|
|
|
|
\begintext
|
|
|
|
|
|
Composite Infrared Spectrometer Focal Plane #4 (CIRS_FP4)
|
|
|
|
The CIRS FP4 points nominally along the spacecraft -Y axis. The following
|
|
frame definition encapsulates this nominal frame.
|
|
|
|
Nominal Frame Definition:
|
|
|
|
FRAME_CASSINI_CIRS_FP4 = -82892
|
|
FRAME_-82892_NAME = 'CASSINI_CIRS_FP4'
|
|
FRAME_-82892_CLASS = 4
|
|
FRAME_-82892_CLASS_ID = -82892
|
|
FRAME_-82892_CENTER = -82
|
|
TKFRAME_-82892_SPEC = 'ANGLES'
|
|
TKFRAME_-82892_RELATIVE = 'CASSINI_SC_COORD'
|
|
TKFRAME_-82892_ANGLES = ( -90.0, 0.0, 90.0 )
|
|
TKFRAME_-82892_AXES = ( 1, 2, 3 )
|
|
TKFRAME_-82892_UNITS = 'DEGREES'
|
|
|
|
|
|
[9] and [10] describe the most up to date values the orientation of the
|
|
CIRS focal planes. The rotation matrix that takes vectors represented in
|
|
the CIRS_FP4 frame into the CIRS_FPB frame follows:
|
|
|
|
[ ] [ ] [ ] [ ]
|
|
[ ROT ] = [ 0.0 ] [ 0.0 ] [ -0.02549662 ]
|
|
[ ] [ ] [ ] [ ]
|
|
Z X Y
|
|
|
|
where [x] represents the rotation matrix of a given angle x about
|
|
i
|
|
axis i.
|
|
|
|
The angles were taken directly from [10] with updates from [15].
|
|
|
|
|
|
FRAME_CASSINI_CIRS_FP4 = -82892
|
|
FRAME_-82892_NAME = 'CASSINI_CIRS_FP4'
|
|
FRAME_-82892_CLASS = 4
|
|
FRAME_-82892_CLASS_ID = -82892
|
|
FRAME_-82892_CENTER = -82
|
|
TKFRAME_-82892_SPEC = 'ANGLES'
|
|
TKFRAME_-82892_RELATIVE = 'CASSINI_CIRS_FPB'
|
|
TKFRAME_-82892_ANGLES = ( 0.0, 0.0, -0.02549662 )
|
|
TKFRAME_-82892_AXES = ( 3, 1, 2 )
|
|
TKFRAME_-82892_UNITS = 'DEGREES'
|
|
|
|
|
|
[39] includes an update to the offset of CASSINI_CIRS_FP4 from
|
|
CASSINI_CIRS_FPB. Instead of 0.445 milliradians, the new value is 0.47
|
|
milliradians of separation between the optical boresight and focal plane
|
|
4's boresight. The rotation matrix that takes vectors represented in the
|
|
CIRS_FP4 frame into the CIRS_FPB frame follows:
|
|
|
|
[ ] [ ] [ ] [ ]
|
|
[ ROT ] = [ 0.0 ] [ 0.0 ] [ -0.002692902 ]
|
|
[ ] [ ] [ ] [ ]
|
|
Z X Y
|
|
|
|
where [x] represents the rotation matrix of a given angle x about
|
|
i
|
|
axis i.
|
|
|
|
\begindata
|
|
|
|
FRAME_CASSINI_CIRS_FP4 = -82892
|
|
FRAME_-82892_NAME = 'CASSINI_CIRS_FP4'
|
|
FRAME_-82892_CLASS = 4
|
|
FRAME_-82892_CLASS_ID = -82892
|
|
FRAME_-82892_CENTER = -82
|
|
TKFRAME_-82892_SPEC = 'ANGLES'
|
|
TKFRAME_-82892_RELATIVE = 'CASSINI_CIRS_FPB'
|
|
TKFRAME_-82892_ANGLES = ( 0.0, 0.0, -2.6929016371149E-02 )
|
|
TKFRAME_-82892_AXES = ( 3, 1, 2 )
|
|
TKFRAME_-82892_UNITS = 'DEGREES'
|
|
|
|
\begintext
|
|
|
|
|
|
CIRS Radiator (CIRS_RAD)
|
|
|
|
The CIRS radiator is nominally oriented with its +Z axis directed down the
|
|
spacecraft +X axis.
|
|
|
|
Since only boresight information has been provided, the frame
|
|
transformation outlined below was constructed by computing the RA and DEC
|
|
of the boresight vector relative to the CASSINI_SC_COORD frame. These
|
|
angles are then utilized in the following fashion to construct the frame
|
|
definition:
|
|
|
|
[ ] [ ] [ ] [ ]
|
|
[ ROT ] = [ -(RA+90) ] [ -(90-DEC) ] [ 0.0 ]
|
|
[ ] [ ] [ ] [ ]
|
|
Z X Z
|
|
|
|
where [x] represents the rotation matrix of a given angle x about
|
|
i
|
|
axis i.
|
|
|
|
This produces a frame whose Z-axis agrees with the specified boresight.
|
|
|
|
As [17] indicates, the CIRS_RAD boresight is nominally aligned with the +X
|
|
axis in the spacecraft frame. By the methodology outlined above, this
|
|
produces the following frame definition:
|
|
|
|
[ ] [ ] [ ] [ ]
|
|
[ ROT ] = [ -90.0 ] [ -90.0 ] [ 0.0 ]
|
|
[ ] [ ] [ ] [ ]
|
|
Z X Z
|
|
|
|
where [x] represents the rotation matrix of a given angle x about
|
|
i
|
|
axis i.
|
|
|
|
Nominal Frame Definition:
|
|
|
|
\begindata
|
|
|
|
FRAME_CASSINI_CIRS_RAD = -82898
|
|
FRAME_-82898_NAME = 'CASSINI_CIRS_RAD'
|
|
FRAME_-82898_CLASS = 4
|
|
FRAME_-82898_CLASS_ID = -82898
|
|
FRAME_-82898_CENTER = -82
|
|
TKFRAME_-82898_SPEC = 'ANGLES'
|
|
TKFRAME_-82898_RELATIVE = 'CASSINI_SC_COORD'
|
|
TKFRAME_-82898_ANGLES = ( -90.0, -90.0, 0.0 )
|
|
TKFRAME_-82898_AXES = ( 3, 1, 3 )
|
|
TKFRAME_-82898_UNITS = 'DEGREES'
|
|
|
|
\begintext
|
|
|
|
|
|
UVIS Frames
|
|
----------------------------------------------------------
|
|
|
|
The Ultraviolet Imaging Spectrograph (UVIS) is mounted on the remote
|
|
sensing pallet on the +X side of the Cassini spacecraft, and nominally
|
|
directed along the -Y axis of the AACS body frame.
|
|
|
|
Note the angles in the frame definitions are specified for the "from
|
|
instrument to (relative to) base frame" transformation.
|
|
|
|
|
|
Ultraviolet Imaging Spectrograph Far Ultraviolet Spectrograph (UVIS_FUV)
|
|
|
|
An examination of [5] reveals that UVIS_FUV points nominally along the
|
|
spacecraft -Y axis. The rotation matrix that takes vectors represented in
|
|
the UVIS_FUV frame into the spacecraft frame follows:
|
|
|
|
[ ] [ ] [ ] [ ]
|
|
[ ROT ] = [ 0.0 ] [ 0.0 ] [ -90.0 ]
|
|
[ ] [ ] [ ] [ ]
|
|
Z Y X
|
|
|
|
where [x] represents the rotation matrix of a given angle x about
|
|
i
|
|
axis i.
|
|
|
|
The following frame definition describes this nominal frame:
|
|
|
|
Nominal Frame Definition:
|
|
|
|
FRAME_CASSINI_UVIS_FUV = -82840
|
|
FRAME_-82840_NAME = 'CASSINI_UVIS_FUV'
|
|
FRAME_-82840_CLASS = 4
|
|
FRAME_-82840_CLASS_ID = -82840
|
|
FRAME_-82840_CENTER = -82
|
|
TKFRAME_-82840_SPEC = 'ANGLES'
|
|
TKFRAME_-82840_RELATIVE = 'CASSINI_SC_COORD'
|
|
TKFRAME_-82840_ANGLES = ( 0.0, 0.0, -90.0 )
|
|
TKFRAME_-82840_AXES = ( 3, 2, 1 )
|
|
TKFRAME_-82840_UNITS = 'DEGREES'
|
|
|
|
|
|
From [40], the UVIS_FUV boresight has been adjusted to the following vector
|
|
in spacecraft coordinates:
|
|
|
|
[ 0.0002 ]
|
|
UVIS_FUV Boresight Vector = [ -0.99999998 ]
|
|
[ 0.0001 ]
|
|
|
|
This leads to the following rotation matrix that takes vectors represented
|
|
in the UVIS_FUV frame into the spacecraft frame:
|
|
|
|
[ ] [ ] [ ] [ ]
|
|
[ ROT ] = [ -89.9999 ] [ -0.011459 ] [ 0.005729 ]
|
|
[ ] [ ] [ ] [ ]
|
|
X Y X
|
|
|
|
where [x] represents the rotation matrix of a given angle x about
|
|
i
|
|
axis i.
|
|
|
|
\begindata
|
|
|
|
FRAME_CASSINI_UVIS_FUV = -82840
|
|
FRAME_-82840_NAME = 'CASSINI_UVIS_FUV'
|
|
FRAME_-82840_CLASS = 4
|
|
FRAME_-82840_CLASS_ID = -82840
|
|
FRAME_-82840_CENTER = -82
|
|
TKFRAME_-82840_SPEC = 'ANGLES'
|
|
TKFRAME_-82840_RELATIVE = 'CASSINI_SC_COORD'
|
|
TKFRAME_-82840_ANGLES = (
|
|
-89.999999,
|
|
-0.01145916,
|
|
0.005729578
|
|
)
|
|
TKFRAME_-82840_AXES = ( 1, 2, 1 )
|
|
TKFRAME_-82840_UNITS = 'DEGREES'
|
|
|
|
\begintext
|
|
|
|
|
|
Ultraviolet Imaging Spectrograph Extreme Ultraviolet Spectrograph (UVIS_EUV)
|
|
|
|
An examination of [5] reveals that the UVIS_EUV points nominally along the
|
|
spacecraft -Y axis. The rotation matrix that takes vectors represented in
|
|
the UVIS_EUV frame into the spacecraft frame follows:
|
|
|
|
[ ] [ ] [ ] [ ]
|
|
[ ROT ] = [ 0.0 ] [ 0.0 ] [ -90.0 ]
|
|
[ ] [ ] [ ] [ ]
|
|
Z Y X
|
|
|
|
where [x] represents the rotation matrix of a given angle x about
|
|
i
|
|
axis i.
|
|
|
|
The following frame definition describes this nominal frame:
|
|
|
|
Nominal Frame Definition:
|
|
|
|
FRAME_CASSINI_UVIS_EUV = -82842
|
|
FRAME_-82842_NAME = 'CASSINI_UVIS_EUV'
|
|
FRAME_-82842_CLASS = 4
|
|
FRAME_-82842_CLASS_ID = -82842
|
|
FRAME_-82842_CENTER = -82
|
|
TKFRAME_-82842_SPEC = 'ANGLES'
|
|
TKFRAME_-82842_RELATIVE = 'CASSINI_SC_COORD'
|
|
TKFRAME_-82842_ANGLES = ( 0.0, 0.0, -90.0 )
|
|
TKFRAME_-82842_AXES = ( 3, 2, 1 )
|
|
TKFRAME_-82842_UNITS = 'DEGREES'
|
|
|
|
|
|
From [40], the UVIS_EUV boresight has been adjusted to the following vector
|
|
in spacecraft coordinates:
|
|
|
|
[ 0.0012 ]
|
|
UVIS_EUV Boresight Vector = [ -0.99999843 ]
|
|
[ 0.0013 ]
|
|
|
|
This leads to the following rotation matrix that takes vectors represented
|
|
in the UVIS_EUV frame into the spacecraft frame:
|
|
|
|
[ ] [ ] [ ] [ ]
|
|
[ ROT ] = [ -89.8984 ] [ -0.068755 ] [ -0.02704 ]
|
|
[ ] [ ] [ ] [ ]
|
|
X Y X
|
|
|
|
where [x] represents the rotation matrix of a given angle x about
|
|
i
|
|
axis i.
|
|
|
|
\begindata
|
|
|
|
FRAME_CASSINI_UVIS_EUV = -82842
|
|
FRAME_-82842_NAME = 'CASSINI_UVIS_EUV'
|
|
FRAME_-82842_CLASS = 4
|
|
FRAME_-82842_CLASS_ID = -82842
|
|
FRAME_-82842_CENTER = -82
|
|
TKFRAME_-82842_SPEC = 'ANGLES'
|
|
TKFRAME_-82842_RELATIVE = 'CASSINI_SC_COORD'
|
|
TKFRAME_-82842_ANGLES = (
|
|
-89.8984716,
|
|
-0.068755,
|
|
-0.027044457
|
|
)
|
|
TKFRAME_-82842_AXES = ( 1, 2, 1 )
|
|
TKFRAME_-82842_UNITS = 'DEGREES'
|
|
|
|
\begintext
|
|
|
|
|
|
Ultraviolet Imaging Spectrograph Solar Occultation Port (UVIS_SOLAR)
|
|
|
|
[29] and [30] indicate that the UVIS solar occultation port points
|
|
nominally 20 degrees offset from the nominal UVIS boresights in the -Y
|
|
direction of the nominal instrument frames. The rotation matrix that takes
|
|
vectors represented in the CASSINI_UVIS_SOLAR frame into the
|
|
CASSINI_SC_COORD frame follows:
|
|
|
|
[ ] [ ] [ ] [ ]
|
|
[ ROT ] = [ 0.0 ] [ 0.0 ] [ -110.0 ]
|
|
[ ] [ ] [ ] [ ]
|
|
Z Y X
|
|
|
|
where [x] represents the rotation matrix of a given angle x about
|
|
i
|
|
axis i.
|
|
|
|
\begindata
|
|
|
|
FRAME_CASSINI_UVIS_SOLAR = -82843
|
|
FRAME_-82843_NAME = 'CASSINI_UVIS_SOLAR'
|
|
FRAME_-82843_CLASS = 4
|
|
FRAME_-82843_CLASS_ID = -82843
|
|
FRAME_-82843_CENTER = -82
|
|
TKFRAME_-82843_SPEC = 'ANGLES'
|
|
TKFRAME_-82843_RELATIVE = 'CASSINI_SC_COORD'
|
|
TKFRAME_-82843_ANGLES = ( 0.0, 0.0, -110.0 )
|
|
TKFRAME_-82843_AXES = ( 3, 2, 1 )
|
|
TKFRAME_-82843_UNITS = 'DEGREES'
|
|
|
|
\begintext
|
|
|
|
|
|
Ultraviolet Imaging Spectrograph High Speed Photometer (UVIS_HSP)
|
|
|
|
An examination of [5] reveals that the UVIS_HSP points nominally along the
|
|
spacecraft -Y axis. The rotation matrix that takes vectors represented in
|
|
the UVIS_HSP frame into the spacecraft frame follows:
|
|
|
|
[ ] [ ] [ ] [ ]
|
|
[ ROT ] = [ 0.0 ] [ 0.0 ] [ -90.0 ]
|
|
[ ] [ ] [ ] [ ]
|
|
Z Y X
|
|
|
|
where [x] represents the rotation matrix of a given angle x about
|
|
i
|
|
axis i.
|
|
|
|
The following frame definition describes this nominal frame:
|
|
|
|
Nominal Frame Definition:
|
|
|
|
FRAME_CASSINI_UVIS_HSP = -82844
|
|
FRAME_-82844_NAME = 'CASSINI_UVIS_HSP'
|
|
FRAME_-82844_CLASS = 4
|
|
FRAME_-82844_CLASS_ID = -82844
|
|
FRAME_-82844_CENTER = -82
|
|
TKFRAME_-82844_SPEC = 'ANGLES'
|
|
TKFRAME_-82844_RELATIVE = 'CASSINI_SC_COORD'
|
|
TKFRAME_-82844_ANGLES = ( 0.0, 0.0, -90.0 )
|
|
TKFRAME_-82844_AXES = ( 3, 2, 1 )
|
|
TKFRAME_-82844_UNITS = 'DEGREES'
|
|
|
|
|
|
From [40], the UVIS_HSP boresight has been adjusted to the following vector
|
|
in spacecraft coordinates:
|
|
|
|
[ 0.0012 ]
|
|
UVIS_HSP Boresight Vector = [ -0.99999856 ]
|
|
[ -0.0012 ]
|
|
|
|
This leads to the following rotation matrix that takes vectors represented
|
|
in the UVIS_HSP frame into the spacecraft frame:
|
|
|
|
[ ] [ ] [ ] [ ]
|
|
[ ROT ] = [ -89.9028 ] [ -0.068755 ] [ -0.16599 ]
|
|
[ ] [ ] [ ] [ ]
|
|
X Y X
|
|
|
|
where [x] represents the rotation matrix of a given angle x about
|
|
i
|
|
axis i.
|
|
|
|
\begindata
|
|
|
|
FRAME_CASSINI_UVIS_HSP = -82844
|
|
FRAME_-82844_NAME = 'CASSINI_UVIS_HSP'
|
|
FRAME_-82844_CLASS = 4
|
|
FRAME_-82844_CLASS_ID = -82844
|
|
FRAME_-82844_CENTER = -82
|
|
TKFRAME_-82844_SPEC = 'ANGLES'
|
|
TKFRAME_-82844_RELATIVE = 'CASSINI_SC_COORD'
|
|
TKFRAME_-82844_ANGLES = (
|
|
-89.9027658,
|
|
-0.068755,
|
|
-0.1659861
|
|
)
|
|
TKFRAME_-82844_AXES = ( 1, 2, 1 )
|
|
TKFRAME_-82844_UNITS = 'DEGREES'
|
|
|
|
\begintext
|
|
|
|
|
|
Ultraviolet Imaging Spectrograph Hydrogen - Deuterium Absorption Cell
|
|
(UVIS_HDAC)
|
|
|
|
An examination of [5] reveals that the UVIS_HDAC points nominally along the
|
|
spacecraft -Y axis. The rotation matrix that takes vectors represented in
|
|
the UVIS_HSP frame into the spacecraft frame follows:
|
|
|
|
[ ] [ ] [ ] [ ]
|
|
[ ROT ] = [ 0.0 ] [ 0.0 ] [ -90.0 ]
|
|
[ ] [ ] [ ] [ ]
|
|
Z Y X
|
|
|
|
where [x] represents the rotation matrix of a given angle x about
|
|
i
|
|
axis i.
|
|
|
|
The following frame definition describes this nominal frame:
|
|
|
|
\begindata
|
|
|
|
FRAME_CASSINI_UVIS_HDAC = -82845
|
|
FRAME_-82845_NAME = 'CASSINI_UVIS_HDAC'
|
|
FRAME_-82845_CLASS = 4
|
|
FRAME_-82845_CLASS_ID = -82845
|
|
FRAME_-82845_CENTER = -82
|
|
TKFRAME_-82845_SPEC = 'ANGLES'
|
|
TKFRAME_-82845_RELATIVE = 'CASSINI_SC_COORD'
|
|
TKFRAME_-82845_ANGLES = ( 0.0, 0.0, -90.0 )
|
|
TKFRAME_-82845_AXES = ( 3, 2, 1 )
|
|
TKFRAME_-82845_UNITS = 'DEGREES'
|
|
|
|
\begintext
|
|
|
|
|
|
VIMS Frames
|
|
----------------------------------------------------------
|
|
|
|
The Visible and Infrared Mapping Spectrometer is mounted on the remote
|
|
sensing pallet on the +X side of the Cassini spacecraft, and nominally
|
|
directed along the -Y axis of the AACS body frame.
|
|
|
|
Note the angles in the frame definitions are specified for the ``from
|
|
instrument to (relative to) base frame'' transformation.
|
|
|
|
|
|
Visible and Infrared Mapping Spectrometer Visible (VIMS_V)
|
|
|
|
The VIMS_V detector points nominally along the spacecraft -Y axis. The
|
|
following frame definition encapsulates this nominal frame.
|
|
|
|
From [13]:
|
|
|
|
[ ] [ ] [ ] [ ]
|
|
[ ROT ] = [ 0.0 ] [ 0.0 ] [ -90.0 ]
|
|
[ ] [ ] [ ] [ ]
|
|
Z Y X
|
|
|
|
where [x] represents the rotation matrix of a given angle x about
|
|
i
|
|
axis i.
|
|
|
|
Nominal Frame Definition:
|
|
|
|
\begindata
|
|
|
|
FRAME_CASSINI_VIMS_V = -82370
|
|
FRAME_-82370_NAME = 'CASSINI_VIMS_V'
|
|
FRAME_-82370_CLASS = 4
|
|
FRAME_-82370_CLASS_ID = -82370
|
|
FRAME_-82370_CENTER = -82
|
|
TKFRAME_-82370_SPEC = 'ANGLES'
|
|
TKFRAME_-82370_RELATIVE = 'CASSINI_SC_COORD'
|
|
TKFRAME_-82370_ANGLES = ( 0.0, 0.0, -90.0 )
|
|
TKFRAME_-82370_AXES = ( 3, 2, 1 )
|
|
TKFRAME_-82370_UNITS = 'DEGREES'
|
|
|
|
\begintext
|
|
|
|
|
|
Visible and Infrared Mapping Spectrometer Infrared (VIMS_IR)
|
|
|
|
The VIMS_IR detector points nominally along the spacecraft -Y axis. The
|
|
following frame definition encapsulates this nominal frame.
|
|
|
|
From [13]:
|
|
|
|
[ ] [ ] [ ] [ ]
|
|
[ ROT ] = [ 0.0 ] [ 0.0 ] [ -90.0 ]
|
|
[ ] [ ] [ ] [ ]
|
|
Z Y X
|
|
|
|
where [x] represents the rotation matrix of a given angle x about
|
|
i
|
|
axis i.
|
|
|
|
Nominal Frame Definition:
|
|
|
|
FRAME_CASSINI_VIMS_IR = -82371
|
|
FRAME_-82371_NAME = 'CASSINI_VIMS_IR'
|
|
FRAME_-82371_CLASS = 4
|
|
FRAME_-82371_CLASS_ID = -82371
|
|
FRAME_-82371_CENTER = -82
|
|
TKFRAME_-82371_SPEC = 'ANGLES'
|
|
TKFRAME_-82371_RELATIVE = 'CASSINI_SC_COORD'
|
|
TKFRAME_-82371_ANGLES = ( 0.0, 0.0, -90.0 )
|
|
TKFRAME_-82371_AXES = ( 3, 2, 1 )
|
|
TKFRAME_-82371_UNITS = 'DEGREES'
|
|
|
|
|
|
From [41], the VIMS_IR boresight has been adjusted to the following vector
|
|
in spacecraft coordinates:
|
|
|
|
[ 0.0021251 ]
|
|
VIMS_IR Boresight Vector = [ -0.9999974 ]
|
|
[ -0.0008495 ]
|
|
|
|
Since only boresight information has been provided, the frame
|
|
transformation outlined below was constructed by computing the RA and DEC
|
|
of the boresight vector relative to the CASSINI_SC_COORD frame. These
|
|
angles are then utilized in the following fashion to construct the frame
|
|
definition:
|
|
|
|
[ ] [ ] [ ] [ ]
|
|
[ ROT ] = [ -(RA+90) ] [ -(90-DEC) ] [ 0.0 ]
|
|
[ ] [ ] [ ] [ ]
|
|
Z X Z
|
|
|
|
where [x] represents the rotation matrix of a given angle x about
|
|
i
|
|
axis i.
|
|
|
|
This produces a frame whose Z-axis agrees with the specified boresight.
|
|
|
|
By the methodology outlined above, this produces the following frame
|
|
definition:
|
|
|
|
[ ] [ ] [ ] [ ]
|
|
[ ROT ] = [ -360.121759 ] [ -90.0486727 ] [ 0.0 ]
|
|
[ ] [ ] [ ] [ ]
|
|
Z X Z
|
|
|
|
where [x] represents the rotation matrix of a given angle x about
|
|
i
|
|
axis i.
|
|
|
|
\begindata
|
|
|
|
FRAME_CASSINI_VIMS_IR = -82371
|
|
FRAME_-82371_NAME = 'CASSINI_VIMS_IR'
|
|
FRAME_-82371_CLASS = 4
|
|
FRAME_-82371_CLASS_ID = -82371
|
|
FRAME_-82371_CENTER = -82
|
|
TKFRAME_-82371_SPEC = 'ANGLES'
|
|
TKFRAME_-82371_RELATIVE = 'CASSINI_SC_COORD'
|
|
TKFRAME_-82371_ANGLES = (
|
|
-360.12175939433,
|
|
-90.048672769633,
|
|
0.0
|
|
)
|
|
TKFRAME_-82371_AXES = ( 3, 1, 3 )
|
|
TKFRAME_-82371_UNITS = 'DEGREES'
|
|
|
|
\begintext
|
|
|
|
|
|
Visible and Infrared Mapping Spectrometer Infrared Solar Port (VIMS_IR_SOL)
|
|
|
|
[28] indicates that the VIMS IR channel solar port points nominally 20
|
|
degrees offset from the VIMS IR boresight in the -Y direction of the
|
|
VIMS_IR frame. The rotation matrix that takes vectors represented in the
|
|
VIMS_IR_SOL frame into the VIMS_IR frame follows:
|
|
|
|
[ ] [ ] [ ] [ ]
|
|
[ ROT ] = [ 0.0 ] [ 0.0 ] [ -20.0 ]
|
|
[ ] [ ] [ ] [ ]
|
|
Z Y X
|
|
|
|
where [x] represents the rotation matrix of a given angle x about
|
|
i
|
|
axis i.
|
|
|
|
|
|
FRAME_CASSINI_VIMS_IR_SOL = -82372
|
|
FRAME_-82372_NAME = 'CASSINI_VIMS_IR_SOL'
|
|
FRAME_-82372_CLASS = 4
|
|
FRAME_-82372_CLASS_ID = -82372
|
|
FRAME_-82372_CENTER = -82
|
|
TKFRAME_-82372_SPEC = 'ANGLES'
|
|
TKFRAME_-82372_RELATIVE = 'CASSINI_VIMS_IR'
|
|
TKFRAME_-82372_ANGLES = ( 0.0, 0.0, -20.0 )
|
|
TKFRAME_-82372_AXES = ( 3, 2, 1 )
|
|
TKFRAME_-82372_UNITS = 'DEGREES'
|
|
|
|
|
|
[42] requested that CASSINI_VIMS_IR_SOL be referenced directly to
|
|
CASSINI_SC_COORD. In addition, [42], [43], and [45] also carry updates to
|
|
the alignment of the solar port. The rotation matrix that takes vectors
|
|
represented in the VIMS_IR_SOL frame into the CASSINI_SC_COORD frame
|
|
follows:
|
|
|
|
[ ] [ ] [ ] [ ]
|
|
[ ROT ] = [ 0.0859436686699 ] [ 0.0 ] [ -110.630253571 ]
|
|
[ ] [ ] [ ] [ ]
|
|
Z Y X
|
|
|
|
where [x] represents the rotation matrix of a given angle x about
|
|
i
|
|
axis i.
|
|
|
|
\begindata
|
|
|
|
FRAME_CASSINI_VIMS_IR_SOL = -82372
|
|
FRAME_-82372_NAME = 'CASSINI_VIMS_IR_SOL'
|
|
FRAME_-82372_CLASS = 4
|
|
FRAME_-82372_CLASS_ID = -82372
|
|
FRAME_-82372_CENTER = -82
|
|
TKFRAME_-82372_SPEC = 'ANGLES'
|
|
TKFRAME_-82372_RELATIVE = 'CASSINI_SC_COORD'
|
|
TKFRAME_-82372_ANGLES = ( 0.085943668669984,
|
|
0.0,
|
|
-110.63025357166 )
|
|
TKFRAME_-82372_AXES = ( 3, 2, 1 )
|
|
TKFRAME_-82372_UNITS = 'DEGREES'
|
|
|
|
\begintext
|
|
|
|
|
|
Visible and Infrared Mapping Spectrometer Radiator (VIMS_RAD)
|
|
|
|
The VIMS radiator is nominally oriented with its +Z axis directed down the
|
|
spacecraft +X axis. This is not the case for the radiator plate itself,
|
|
which is mounted in the housing such that it is canted by 28.05 degrees. In
|
|
the spacecraft coordinate frame, the cant is towards the spacecraft -Y
|
|
axis.
|
|
|
|
This, however, is not the end of the story. Thermally, the radiator housing
|
|
and the radiator plate have interaction with respect to solar heating so
|
|
that the effective boresight for symmetric solar heating, regardless of
|
|
direction, is not offset by 28.05 degrees from the spacecraft +X axis.
|
|
Initially the +Z axis of the radiator frame was determined to be the +X
|
|
axis of the spacecraft frame. This results in the following:
|
|
|
|
Since only boresight information has been provided, the frame
|
|
transformation outlined below was constructed by computing the RA and DEC
|
|
of the boresight vector relative to the CASSINI_SC_COORD frame. These
|
|
angles are then utilized in the following fashion to construct the frame
|
|
definition:
|
|
|
|
[ ] [ ] [ ] [ ]
|
|
[ ROT ] = [ -(RA+90) ] [ -(90-DEC) ] [ 0.0 ]
|
|
[ ] [ ] [ ] [ ]
|
|
Z X Z
|
|
|
|
where [x] represents the rotation matrix of a given angle x about
|
|
i
|
|
axis i.
|
|
|
|
This produces a frame whose Z-axis agrees with the specified boresight.
|
|
|
|
As [17] indicates, the VIMS_RAD boresight is nominally aligned with the +X
|
|
axis in the spacecraft frame. By the methodology outlined above, this
|
|
produces the following frame definition:
|
|
|
|
[ ] [ ] [ ] [ ]
|
|
[ ROT ] = [ -90.0 ] [ -90.0 ] [ 0.0 ]
|
|
[ ] [ ] [ ] [ ]
|
|
Z X Z
|
|
|
|
where [x] represents the rotation matrix of a given angle x about
|
|
i
|
|
axis i.
|
|
|
|
Nominal Frame Definition:
|
|
|
|
FRAME_CASSINI_VIMS_RAD = -82378
|
|
FRAME_-82378_NAME = 'CASSINI_VIMS_RAD'
|
|
FRAME_-82378_CLASS = 4
|
|
FRAME_-82378_CLASS_ID = -82378
|
|
FRAME_-82378_CENTER = -82
|
|
TKFRAME_-82378_SPEC = 'ANGLES'
|
|
TKFRAME_-82378_RELATIVE = 'CASSINI_SC_COORD'
|
|
TKFRAME_-82378_ANGLES = ( -90.0, -90.0, 0.0 )
|
|
TKFRAME_-82378_AXES = ( 3, 1, 3 )
|
|
TKFRAME_-82378_UNITS = 'DEGREES'
|
|
|
|
|
|
From [36]:
|
|
|
|
A solar heating analysis and identification of a solar heating
|
|
``effective'' radiator boresight was performed for ECR 100325-B covering
|
|
Flight Rule FF37B2 [37]. The solar heating analysis identified that a VIMS
|
|
radiator boresight offset from the spacecraft +X axis in the direction of
|
|
the spacecraft -Y axis by 4.5 degrees would define a thermally
|
|
``effective'' boresight.
|
|
|
|
To implement this change, the rotation about the Z-axis needs to be
|
|
increased by 4.5 degrees as follows:
|
|
|
|
[ ] [ ] [ ] [ ]
|
|
[ ROT ] = [ -85.5 ] [ -90.0 ] [ 0.0 ]
|
|
[ ] [ ] [ ] [ ]
|
|
Z X Z
|
|
|
|
where [x] represents the rotation matrix of a given angle x about
|
|
i
|
|
axis i.
|
|
|
|
\begindata
|
|
|
|
FRAME_CASSINI_VIMS_RAD = -82378
|
|
FRAME_-82378_NAME = 'CASSINI_VIMS_RAD'
|
|
FRAME_-82378_CLASS = 4
|
|
FRAME_-82378_CLASS_ID = -82378
|
|
FRAME_-82378_CENTER = -82
|
|
TKFRAME_-82378_SPEC = 'ANGLES'
|
|
TKFRAME_-82378_RELATIVE = 'CASSINI_SC_COORD'
|
|
TKFRAME_-82378_ANGLES = ( -85.5, -90.0, 0.0 )
|
|
TKFRAME_-82378_AXES = ( 3, 1, 3 )
|
|
TKFRAME_-82378_UNITS = 'DEGREES'
|
|
|
|
\begintext
|
|
|
|
|
|
CAPS Frames
|
|
----------------------------------------------------------
|
|
|
|
The Cassini Plasma Spectrometer is mounted on an actuator which is in turn
|
|
attached to the fields and particles pallet which is roughly located on the
|
|
-X side of the Cassini spacecraft.
|
|
|
|
The actuator allows the instrument to articulate, so to make proper use of
|
|
this frame requires a C-kernel (or set of C-kernels) with appropriate
|
|
coverage for the epochs of interest.
|
|
|
|
To connect the CASSINI_CAPS frame with the spacecraft coordinate frame
|
|
(CASSINI_SC_COORD) two possible branches exist depending on the set of
|
|
C-kernels loaded:
|
|
|
|
|
|
CASSINI_SC_COORD CASSINI_SC_COORD
|
|
---------------- ----------------
|
|
| |
|
|
|<--- fixed offset |
|
|
| |
|
|
V |
|
|
CASSINI_CAPS_BASE |
|
|
----------------- |
|
|
| |
|
|
|<--- c-kernel |<--- c-kernel
|
|
| |
|
|
V |
|
|
CASSINI_CAPS_ART |
|
|
---------------- |
|
|
| |
|
|
|<--- c-kernel |
|
|
| |
|
|
V V
|
|
CASSINI_CAPS CASSINI_CAPS
|
|
------------ ------------
|
|
|
|
|
|
The branch illustrated on the left of the figure above utilizes a series of
|
|
transformations to connect the spacecraft frame with the instrument frame.
|
|
The general strategy in this branch is the following:
|
|
|
|
-- Define a fixed offset frame that connects the spacecraft
|
|
frame to the base or 'zero-point' of the articulation of the
|
|
instrument.
|
|
|
|
-- Define a C-kernel based frame to perform the rotation about
|
|
the articulation axis.
|
|
|
|
-- Define a C-kernel based frame that performs the final
|
|
rotation necessary to produce the instrument frame.
|
|
|
|
This last frame in the absence of the right branch could be another fixed
|
|
offset frame. However, making it a C-kernel allows the branch on the right
|
|
to exist. This alternate route up the frame tree allows the construction
|
|
and use of C-kernels that tie the instrument frame directly back to the
|
|
spacecraft frame. This is often convenient for science data analysis.
|
|
|
|
Without further ado, the frame defintions:
|
|
|
|
|
|
Cassini Plasma Spectrometer Zero-Articulation Base Frame (CAPS_BASE)
|
|
|
|
The Z-axis of this frame is the articulation axis of CAPS. The X-axis is
|
|
constructed by taking the vector product of the CAPS articulation axis with
|
|
the boresight in the 'zero-angle' or base position. The Y-axis completes
|
|
the right handed frame. The articulation axis of CAPS is the Z-axis of
|
|
CASSINI_SC_COORD, and the boresight in its 'zero-angle' configuration is
|
|
the negative Y-axis of this spacecraft frame, so we end up with the
|
|
following:
|
|
|
|
The rotation matrix that takes vectors represented in the CAPS_BASE frame
|
|
into the spacecraft coordinate frame follows:
|
|
|
|
[ ] [ ] [ ] [ ]
|
|
[ ROT ] = [ 0.0 ] [ 0.0 ] [ 0.0 ]
|
|
[ ] [ ] [ ] [ ]
|
|
Z Y X
|
|
|
|
where [x] represents the rotation matrix of a given angle x about
|
|
i
|
|
axis i.
|
|
|
|
\begindata
|
|
|
|
FRAME_CASSINI_CAPS_BASE = -82822
|
|
FRAME_-82822_NAME = 'CASSINI_CAPS_BASE'
|
|
FRAME_-82822_CLASS = 4
|
|
FRAME_-82822_CLASS_ID = -82822
|
|
FRAME_-82822_CENTER = -82
|
|
TKFRAME_-82822_SPEC = 'ANGLES'
|
|
TKFRAME_-82822_RELATIVE = 'CASSINI_SC_COORD'
|
|
TKFRAME_-82822_ANGLES = ( 0.0, 0.0, 0.0 )
|
|
TKFRAME_-82822_AXES = ( 3, 2, 1 )
|
|
TKFRAME_-82822_UNITS = 'DEGREES'
|
|
|
|
\begintext
|
|
|
|
|
|
Cassini Plasma Spectrometer Articulation Frame (CAPS_ART)
|
|
|
|
The Z-axis of this frame is the articulation axis of CAPS. The X-axis is
|
|
constructed by taking the vector product of the CAPS articulation axis with
|
|
the boresight at some articulated position. The Y-axis completes the right
|
|
handed frame.
|
|
|
|
This frame encapsulates the articulation characteristics of the CAPS
|
|
instrument. To make use of it requires a C-kernel with coverage at the
|
|
epochs of interest be loaded.
|
|
|
|
The rotation matrix that takes vectors from the CAPS_ART frame to the
|
|
CAPS_BASE frame follows:
|
|
|
|
[ ] [ ]
|
|
[ ROT ] = [ ANGLE ]
|
|
[ ] [ ]
|
|
Z
|
|
|
|
where [x] represents the rotation matrix of a given angle x about
|
|
i
|
|
axis i, and ANGLE is the articulation angle.
|
|
|
|
\begindata
|
|
|
|
FRAME_CASSINI_CAPS_ART = -82821
|
|
FRAME_-82821_NAME = 'CASSINI_CAPS_ART'
|
|
FRAME_-82821_CLASS = 3
|
|
FRAME_-82821_CLASS_ID = -82821
|
|
FRAME_-82821_CENTER = -82
|
|
CK_-82821_SCLK = -82
|
|
CK_-82821_SPK = -82
|
|
|
|
\begintext
|
|
|
|
|
|
Cassini Plasma Spectrometer Frame (CAPS)
|
|
|
|
The negative Y-axis of this frame is the instrument boresight. The Z-axis
|
|
is defined as the articulation axis of the detectors, and the X-axis
|
|
completes the right handed frame.
|
|
|
|
This frame requires one of two possible C-kernels:
|
|
|
|
-- One kernel connects this instrument frame (-82820) directly
|
|
to the spacecraft frame (-82000).
|
|
|
|
-- The other possible kernel connects this instrument frame
|
|
(-82820) to the articulation frame (-82821) defined above.
|
|
The kernel that makes this connection for all epochs after
|
|
launch is delivered with the kernel set. See the kernel
|
|
comments for details of frame construction.
|
|
|
|
One should take care in the simultaneous loading of C-kernels that utilize
|
|
different paths of the frame tree to connect CASSINI_CAPS to
|
|
CASSINI_SC_COORD. See [1] for details regarding C-kernel precedence.
|
|
|
|
\begindata
|
|
|
|
FRAME_CASSINI_CAPS = -82820
|
|
FRAME_-82820_NAME = 'CASSINI_CAPS'
|
|
FRAME_-82820_CLASS = 3
|
|
FRAME_-82820_CLASS_ID = -82820
|
|
FRAME_-82820_CENTER = -82
|
|
CK_-82820_SCLK = -82
|
|
CK_-82820_SPK = -82
|
|
|
|
\begintext
|
|
|
|
|
|
CDA Frames
|
|
----------------------------------------------------------
|
|
|
|
The Cosmic Dust Analyzer is mounted on the -X side of the Cassini
|
|
spacecraft. The entire assembly is capable of articulating from it's zero
|
|
angle position. The following describes the boresight in the spacecraft
|
|
frame as a function of the articulation angle a:
|
|
|
|
From [18]:
|
|
|
|
x = 1/8 ( -1 - SQRT(3) + (-1 + SQRT(3)) COS(a) - 2 SQRT(6) SIN(a) )
|
|
y = 1/8 ( 3 + SQRT(3) + (-3 + SQRT(3)) COS(a) - 2 SQRT(2) SIN(a) )
|
|
z = 1/4 ( -1 + SQRT(3) + ( 1 + SQRT(3)) COS(a) )
|
|
|
|
|
|
The actuator allows the instrument to articulate, so to make proper use of
|
|
this frame requires a C-kernel (or set of C-kernels) with appropriate
|
|
coverage for the epochs of interest.
|
|
|
|
To connect the CASSINI_CDA frame with the spacecraft coordinate frame
|
|
(CASSINI_SC_COORD) two possible branches exist depending on the set of
|
|
C-kernels loaded:
|
|
|
|
|
|
CASSINI_SC_COORD CASSINI_SC_COORD
|
|
---------------- ----------------
|
|
| |
|
|
|<--- fixed offset |
|
|
| |
|
|
V |
|
|
CASSINI_CDA_BASE |
|
|
---------------- |
|
|
| |
|
|
|<--- c-kernel |<--- c-kernel
|
|
| |
|
|
V |
|
|
CASSINI_CDA_ART |
|
|
--------------- |
|
|
| |
|
|
|<--- c-kernel |
|
|
| |
|
|
V V
|
|
CASSINI_CDA CASSINI_CDA
|
|
----------- -----------
|
|
|
|
|
|
The branch illustrated on the left of the figure above utilizes a series of
|
|
transformations to connect the spacecraft frame with the instrument frame.
|
|
The general strategy in this branch is the following:
|
|
|
|
-- Define a fixed offset frame that connects the spacecraft
|
|
frame to the base or 'zero-point' of the articulation of the
|
|
instrument.
|
|
|
|
-- Define a C-kernel based frame to perform the rotation about
|
|
the articulation axis.
|
|
|
|
-- Define a C-kernel based frame that performs the final
|
|
rotation necessary to produce the instrument frame.
|
|
|
|
This last frame in the absence of the right branch could be another fixed
|
|
offset frame. However, making it a C-kernel allows the branch on the right
|
|
to exist. This alternate route up the frame tree allows the construction
|
|
and use of C-kernels that tie the instrument frame directly back to the
|
|
spacecraft frame. This is often convenient for science data analysis.
|
|
|
|
Without further ado, the frame defintions:
|
|
|
|
|
|
Cosmic Dust Analyzer Zero-Articulation Base Frame (CDA_BASE)
|
|
|
|
The Z-axis of this frame is the articulation axis of CDA. The X-axis is
|
|
constructed by taking the vector product of the CDA articulation axis with
|
|
the boresight in the 'zero-angle' or base position. The Y-axis completes
|
|
the right handed frame.
|
|
|
|
An examination of the relationship connecting the boresight position in the
|
|
spacecraft frame with the articulation angle, yields the following:
|
|
|
|
The articulation axis of CDA in CASSINI_SC_COORD is:
|
|
|
|
(+4.8296291314453E-01, -8.3651630373781E-01, -2.5881904510252E-01)
|
|
|
|
The 'zero-angle' boresight in CASSINI_SC_COORD is:
|
|
|
|
(-2.5000000000000E-01, 4.3301270189222E-01, 8.6602540378444E-01)
|
|
|
|
|
|
The articulation axis points in the opposite direction of the cone swept
|
|
out by the boresight vectors. This was done to preserve the sense of the
|
|
positive angle in the definition provided in [18].
|
|
|
|
Computing the frame described above we end up with:
|
|
|
|
The rotation matrix that takes vectors represented in the CDA_BASE frame
|
|
into the spacecraft coordinate frame follows:
|
|
|
|
[ ] [ ] [ ] [ ]
|
|
[ ROT ] = [ 150.0 ] [ 0.0 ] [ 105.0 ]
|
|
[ ] [ ] [ ] [ ]
|
|
Z Y X
|
|
|
|
where [x] represents the rotation matrix of a given angle x about
|
|
i
|
|
axis i.
|
|
|
|
\begindata
|
|
|
|
FRAME_CASSINI_CDA_BASE = -82792
|
|
FRAME_-82792_NAME = 'CASSINI_CDA_BASE'
|
|
FRAME_-82792_CLASS = 4
|
|
FRAME_-82792_CLASS_ID = -82792
|
|
FRAME_-82792_CENTER = -82
|
|
TKFRAME_-82792_SPEC = 'ANGLES'
|
|
TKFRAME_-82792_RELATIVE = 'CASSINI_SC_COORD'
|
|
TKFRAME_-82792_ANGLES = ( 150.0, 0.0, 105.0 )
|
|
TKFRAME_-82792_AXES = ( 3, 2, 1 )
|
|
TKFRAME_-82792_UNITS = 'DEGREES'
|
|
|
|
\begintext
|
|
|
|
|
|
Cosmic Dust Analyzer Articulation Frame (CDA_ART)
|
|
|
|
The Z-axis of this frame is the articulation axis of CDA. The X-axis is
|
|
constructed by taking the vector product of the CDA articulation axis with
|
|
the boresight at some articulated position. The Y-axis completes the right
|
|
handed frame.
|
|
|
|
This frame encapsulates the articulation characteristics of the CDA
|
|
instrument. To make use of it requires a C-kernel with coverage at the
|
|
epochs of interest be loaded.
|
|
|
|
The rotation matrix that takes vectors from the CDA_ART frame to the
|
|
CDA_BASE frame follows:
|
|
|
|
[ ] [ ]
|
|
[ ROT ] = [ ANGLE ]
|
|
[ ] [ ]
|
|
Z
|
|
|
|
where [x] represents the rotation matrix of a given angle x about
|
|
i
|
|
axis i, and ANGLE is the articulation angle.
|
|
|
|
\begindata
|
|
|
|
FRAME_CASSINI_CDA_ART = -82791
|
|
FRAME_-82791_NAME = 'CASSINI_CDA_ART'
|
|
FRAME_-82791_CLASS = 3
|
|
FRAME_-82791_CLASS_ID = -82791
|
|
FRAME_-82791_CENTER = -82
|
|
CK_-82791_SCLK = -82
|
|
CK_-82791_SPK = -82
|
|
|
|
\begintext
|
|
|
|
|
|
Cosmic Dust Analyzer Frame (CDA)
|
|
|
|
The Z-axis of this frame is the instrument boresight. The X-axis of is the
|
|
same as the X-axis of CASSINI_CDA_ART, and the Y-axis completes the right
|
|
handed frame.
|
|
|
|
This frame requires one of two possible C-kernels:
|
|
|
|
-- One kernel connects this instrument frame (-82790) directly
|
|
to the spacecraft frame (-82000).
|
|
|
|
-- The other possible kernel connects this instrument frame
|
|
(-82790) to the articulation frame (-82791) defined above.
|
|
The kernel that makes this connection for all epochs after
|
|
launch is delivered with the kernel set. See the kernel
|
|
comments for details of frame construction.
|
|
|
|
One should take care in the simultaneous loading of C-kernels that utilize
|
|
different paths of the frame tree to connect CASSINI_CDA to
|
|
CASSINI_SC_COORD. See [1] for details regarding C-kernel precedence.
|
|
|
|
\begindata
|
|
|
|
FRAME_CASSINI_CDA = -82790
|
|
FRAME_-82790_NAME = 'CASSINI_CDA'
|
|
FRAME_-82790_CLASS = 3
|
|
FRAME_-82790_CLASS_ID = -82790
|
|
FRAME_-82790_CENTER = -82
|
|
CK_-82790_SCLK = -82
|
|
CK_-82790_SPK = -82
|
|
|
|
\begintext
|
|
|
|
|
|
INMS Frames
|
|
----------------------------------------------------------
|
|
|
|
The Ion and Neutral Mass Spectrometer is mounted on the fields and
|
|
particles pallet roughly located on the -X side of the Cassini spacecraft.
|
|
The instrument boresight is nominally directed along the -X axis of the
|
|
AACS body frame.
|
|
|
|
Note the angles in the frame definitions are specified for the ``from
|
|
instrument to (relative to) base frame'' transformation.
|
|
|
|
From [19], we have the following nominal frame definition:
|
|
|
|
[ ] [ ] [ ] [ ]
|
|
[ ROT ] = [ 0.0 ] [ +90.0 ] [ 0.0 ]
|
|
[ ] [ ] [ ] [ ]
|
|
x Y Z
|
|
|
|
where [x] represents the rotation matrix of a given angle x about
|
|
i
|
|
axis i.
|
|
|
|
Nominal Frame Definition:
|
|
|
|
\begindata
|
|
|
|
FRAME_CASSINI_INMS = -82740
|
|
FRAME_-82740_NAME = 'CASSINI_INMS'
|
|
FRAME_-82740_CLASS = 4
|
|
FRAME_-82740_CLASS_ID = -82740
|
|
FRAME_-82740_CENTER = -82
|
|
TKFRAME_-82740_SPEC = 'ANGLES'
|
|
TKFRAME_-82740_RELATIVE = 'CASSINI_SC_COORD'
|
|
TKFRAME_-82740_ANGLES = ( 0.0, +90.0, 0.0 )
|
|
TKFRAME_-82740_AXES = ( 1, 2, 3 )
|
|
TKFRAME_-82740_UNITS = 'DEGREES'
|
|
|
|
\begintext
|
|
|
|
|
|
MAG Frames
|
|
----------------------------------------------------------
|
|
|
|
The Magnetometer is mounted on the magentometer boom which protrudes from
|
|
the spacecraft body in the direction of the +Y axis of the AACS body frame.
|
|
[20] establishes the need for two separate frame definitions, one for the
|
|
Plus-X directed frame, the other for the Minux-X one.
|
|
|
|
Note the angles in the frame definitions are specified for the ``from
|
|
instrument to (relative to) base frame'' transformation.
|
|
|
|
|
|
Magnetometer Plus-X (MAG_PLUS)
|
|
|
|
The MAG_PLUS detector is pointed nominally in the direction of the
|
|
spacecraft +X axis. The following definition encapsulates this frame:
|
|
|
|
From [21]:
|
|
|
|
[ ] [ ] [ ] [ ]
|
|
[ ROT ] = [ 0.0 ] [ -90.0 ] [ 0.0 ]
|
|
[ ] [ ] [ ] [ ]
|
|
X Y Z
|
|
|
|
where [x] represents the rotation matrix of a given angle x about
|
|
i
|
|
axis i.
|
|
|
|
Nominal Frame Definition:
|
|
|
|
\begindata
|
|
|
|
FRAME_CASSINI_MAG_PLUS = -82350
|
|
FRAME_-82350_NAME = 'CASSINI_MAG_PLUS'
|
|
FRAME_-82350_CLASS = 4
|
|
FRAME_-82350_CLASS_ID = -82350
|
|
FRAME_-82350_CENTER = -82
|
|
TKFRAME_-82350_SPEC = 'ANGLES'
|
|
TKFRAME_-82350_RELATIVE = 'CASSINI_SC_COORD'
|
|
TKFRAME_-82350_ANGLES = ( 0.0, -90.0, 0.0 )
|
|
TKFRAME_-82350_AXES = ( 1, 2, 3 )
|
|
TKFRAME_-82350_UNITS = 'DEGREES'
|
|
|
|
\begintext
|
|
|
|
|
|
Magnetometer Minus-X (MAG_MINUS)
|
|
|
|
The MAG_MINUS detector is pointed nominally in the direction of the
|
|
spacecraft -X axis. The following definition encapsulates this frame:
|
|
|
|
From [21]:
|
|
|
|
[ ] [ ] [ ] [ ]
|
|
[ ROT ] = [ 0.0 ] [ 90.0 ] [ 0.0 ]
|
|
[ ] [ ] [ ] [ ]
|
|
X Y Z
|
|
|
|
where [x] represents the rotation matrix of a given angle x about
|
|
i
|
|
axis i.
|
|
|
|
Nominal Frame Definition:
|
|
|
|
\begindata
|
|
|
|
FRAME_CASSINI_MAG_MINUS = -82351
|
|
FRAME_-82351_NAME = 'CASSINI_MAG_MINUS'
|
|
FRAME_-82351_CLASS = 4
|
|
FRAME_-82351_CLASS_ID = -82351
|
|
FRAME_-82351_CENTER = -82
|
|
TKFRAME_-82351_SPEC = 'ANGLES'
|
|
TKFRAME_-82351_RELATIVE = 'CASSINI_SC_COORD'
|
|
TKFRAME_-82351_ANGLES = ( 0.0, 90.0, 0.0 )
|
|
TKFRAME_-82351_AXES = ( 1, 2, 3 )
|
|
TKFRAME_-82351_UNITS = 'DEGREES'
|
|
|
|
\begintext
|
|
|
|
|
|
MIMI Frames
|
|
----------------------------------------------------------
|
|
|
|
Most of the components of the Magnetospheric Imaging Instrument are mounted
|
|
on the fields and particles pallet roughly located on the -X side of the
|
|
Cassini spacecraft. The one exception is the Ion and Neutral Camera which
|
|
is mounted on the -Y side of the orbiter.
|
|
|
|
Note the angles in the frame definitions are specified for the ``from
|
|
instrument to (relative to) base frame'' transformation.
|
|
|
|
|
|
Magnetospheric Imaging Instrument Charge Energy Mass Spectrometer (MIMI_CHEMS)
|
|
|
|
The MIMI_CHEMS detector is nominally pointed along the -X axis of the
|
|
spacecraft frame. The following definition encapsulates this frame:
|
|
|
|
From [17]:
|
|
|
|
[ ] [ ] [ ] [ ]
|
|
[ ROT ] = [ 0.0 ] [ 90.0 ] [ 90.0 ]
|
|
[ ] [ ] [ ] [ ]
|
|
X Y Z
|
|
|
|
where [x] represents the rotation matrix of a given angle x about
|
|
i
|
|
axis i.
|
|
|
|
Nominal Frame Definition:
|
|
|
|
\begindata
|
|
|
|
FRAME_CASSINI_MIMI_CHEMS = -82760
|
|
FRAME_-82760_NAME = 'CASSINI_MIMI_CHEMS'
|
|
FRAME_-82760_CLASS = 4
|
|
FRAME_-82760_CLASS_ID = -82760
|
|
FRAME_-82760_CENTER = -82
|
|
TKFRAME_-82760_SPEC = 'ANGLES'
|
|
TKFRAME_-82760_RELATIVE = 'CASSINI_SC_COORD'
|
|
TKFRAME_-82760_ANGLES = ( 0.0, 90.0, 90.0 )
|
|
TKFRAME_-82760_AXES = ( 1, 2, 3 )
|
|
TKFRAME_-82760_UNITS = 'DEGREES'
|
|
|
|
\begintext
|
|
|
|
|
|
Magnetospheric Imaging Instrument Ion and Neutral Camera (MIMI_INCA)
|
|
|
|
The MIMI_INCA detector is nominally pointed along the -Y axis of the
|
|
spacecraft frame with a 9.5 degree offset in the direction of the +X axis
|
|
of the spacecraft. The following definition encapsulates this frame:
|
|
|
|
From [22]:
|
|
|
|
[ ] [ ] [ ] [ ]
|
|
[ ROT ] = [ -90.0 ] [ -9.5 ] [ 0.0 ]
|
|
[ ] [ ] [ ] [ ]
|
|
X Y Z
|
|
|
|
where [x] represents the rotation matrix of a given angle x about
|
|
i
|
|
axis i.
|
|
|
|
Nominal Frame Definition:
|
|
|
|
\begindata
|
|
|
|
FRAME_CASSINI_MIMI_INCA = -82761
|
|
FRAME_-82761_NAME = 'CASSINI_MIMI_INCA'
|
|
FRAME_-82761_CLASS = 4
|
|
FRAME_-82761_CLASS_ID = -82761
|
|
FRAME_-82761_CENTER = -82
|
|
TKFRAME_-82761_SPEC = 'ANGLES'
|
|
TKFRAME_-82761_RELATIVE = 'CASSINI_SC_COORD'
|
|
TKFRAME_-82761_ANGLES = ( -90.0, -9.5, 0.0 )
|
|
TKFRAME_-82761_AXES = ( 1, 2, 3 )
|
|
TKFRAME_-82761_UNITS = 'DEGREES'
|
|
|
|
\begintext
|
|
|
|
|
|
Magnetospheric Imaging Instrument Low Energy Magnetospheric Measurements
|
|
(MIMI_LEMMS)
|
|
|
|
The actuator allows the detectors to articulate, so to make proper use of
|
|
this frame requires a C-kernel (or set of C-kernels) with appropriate
|
|
coverage for the epochs of interest.
|
|
|
|
To connect the CASSINI_MIMI_LEMMS1 and CASSINI_MIMI_LEMMS2 frames with the
|
|
spacecraft coordinate frame (CASSINI_SC_COORD) two possible branches exist
|
|
depending on the set of C-kernels loaded:
|
|
|
|
|
|
CASSINI_SC_COORD CASSINI_SC_COORD
|
|
---------------- ----------------
|
|
| | |
|
|
|<--- fixed offset | |
|
|
| | |
|
|
V | |
|
|
CASSINI_MIMI_LEMMS_BASE | |
|
|
----------------------- | |
|
|
| | |
|
|
|<--- c-kernel |<--- c-kernel |
|
|
| | |
|
|
V | |
|
|
CASSINI_MIMI_LEMMS_ART | |
|
|
---------------------- | |
|
|
| | | |
|
|
|<--- c-kernel | | c-kernel --->|
|
|
| | | |
|
|
V | V |
|
|
CASSINI_MIMI_LEMMS1 | CASSINI_MIMI_LEMMS1 |
|
|
------------------- | ------------------- |
|
|
| |
|
|
c-kernel --->| |
|
|
| |
|
|
V V
|
|
CASSINI_MIMI_LEMMS2 CASSINI_MIMI_LEMMS2
|
|
------------------- -------------------
|
|
|
|
|
|
The branches illustrated on the left of the figure above utilize a series
|
|
of transformations to connect the spacecraft frame with the detector
|
|
frames. The general strategy in these branches is the following:
|
|
|
|
-- Define a fixed offset frame that connects the spacecraft
|
|
frame to the base or 'zero-point' of the articulation of the
|
|
detectors.
|
|
|
|
-- Define a C-kernel based frame to perform the rotation about
|
|
the articulation axis.
|
|
|
|
-- Define a C-kernel based frame that performs the final
|
|
rotation necessary to produce either of the instrument frame.
|
|
|
|
These last frames (MIMI_LEMMS1 and MIMI_LEMMS2) in the absence of the right
|
|
branch could be another fixed offset frame. However, making them C-kernels
|
|
allows the branches on the right to exist. This alternate route up the
|
|
frame tree allows the construction and use of C-kernels that tie the
|
|
individual detector frames directly back to the spacecraft frame. This is
|
|
often convenient for science data analysis.
|
|
|
|
Without further ado, the frame defintions:
|
|
|
|
|
|
Magnetospheric Imaging Instrument Low Energy Magnetospheric Measurements
|
|
Zero-Articulation Base Frame (MIMI_LEMMS_BASE)
|
|
|
|
The Z-axis of this frame is the articulation axis of MIMI_LEMMS. The X-axis
|
|
is constructed by taking the vector product of the MIMI_LEMMS articulation
|
|
axis with the MIMI_LEMMS1 boresight in the 'zero-angle' or base position.
|
|
The Y-axis completes the right handed frame.
|
|
|
|
As [33] indicates, the articulation axis is the Y-axis in CASSINI_SC_COORD
|
|
and the 'zero-angle' boresight of MIMI_LEMMS1 is the -Z-axis in
|
|
CASSINI_SC_COORD. Combining this information with the frame definition laid
|
|
out above, we have:
|
|
|
|
The rotation matrix that takes vectors represented in the MIMI_LEMMS_BASE
|
|
frame into the spacecraft coordinate frame follows:
|
|
|
|
[ ] [ ] [ ] [ ]
|
|
[ ROT ] = [ 180.0 ] [ 0.0 ] [ -90.0 ]
|
|
[ ] [ ] [ ] [ ]
|
|
Z Y X
|
|
|
|
where [x] represents the rotation matrix of a given angle x about
|
|
i
|
|
axis i.
|
|
|
|
\begindata
|
|
|
|
FRAME_CASSINI_MIMI_LEMMS_BASE = -82765
|
|
FRAME_-82765_NAME = 'CASSINI_MIMI_LEMMS_BASE'
|
|
FRAME_-82765_CLASS = 4
|
|
FRAME_-82765_CLASS_ID = -82765
|
|
FRAME_-82765_CENTER = -82
|
|
TKFRAME_-82765_SPEC = 'ANGLES'
|
|
TKFRAME_-82765_RELATIVE = 'CASSINI_SC_COORD'
|
|
TKFRAME_-82765_ANGLES = ( 180.0, 0.0, -90.0 )
|
|
TKFRAME_-82765_AXES = ( 3, 2, 1 )
|
|
TKFRAME_-82765_UNITS = 'DEGREES'
|
|
|
|
\begintext
|
|
|
|
|
|
Magnetospheric Imaging Instrument Low Energy Magnetospheric Measurements
|
|
Articulation Frame (MIMI_LEMMS_ART)
|
|
|
|
The Z-axis of this frame is the articulation axis of MIMI_LEMMS. The X-axis
|
|
is constructed by taking the vector product of the MIMI_LEMMS articulation
|
|
axis with the MIMI_LEMMS1 boresight at some articulated position. The
|
|
Y-axis completes the right handed frame.
|
|
|
|
This frame encapsulates the articulation characteristics of the MIMI_LEMMS
|
|
instrument. To make use of it requires a C-kernel with coverage at the
|
|
epochs of interest be loaded.
|
|
|
|
The rotation matrix that takes vectors from the MIMI_LEMMS_ART frame to the
|
|
MIMI_LEMMS_BASE frame follows:
|
|
|
|
[ ] [ ]
|
|
[ ROT ] = [ ANGLE ]
|
|
[ ] [ ]
|
|
Z
|
|
|
|
where [x] represents the rotation matrix of a given angle x about
|
|
i
|
|
axis i, and ANGLE is the articulation angle.
|
|
|
|
\begindata
|
|
|
|
FRAME_CASSINI_MIMI_LEMMS_ART = -82764
|
|
FRAME_-82764_NAME = 'CASSINI_MIMI_LEMMS_ART'
|
|
FRAME_-82764_CLASS = 3
|
|
FRAME_-82764_CLASS_ID = -82764
|
|
FRAME_-82764_CENTER = -82
|
|
CK_-82764_SCLK = -82
|
|
CK_-82764_SPK = -82
|
|
|
|
\begintext
|
|
|
|
|
|
Magnetospheric Imaging Instrument Low Energy Magnetospheric Measurements 1
|
|
(MIMI_LEMMS1)
|
|
|
|
The Z-axis of this frame is the instrument boresight.
|
|
|
|
This frame requires one of two possible C-kernels:
|
|
|
|
-- One kernel connects this instrument frame (-82762) directly
|
|
to the spacecraft frame (-82000).
|
|
|
|
-- The other possible kernel connects this instrument frame
|
|
(-82762) to the articulation frame (-82764) defined above.
|
|
The kernel that makes this connection for all epochs after
|
|
launch is delivered with the kernel set. See the kernel
|
|
comments for details of the frame construction.
|
|
|
|
One should take care in the simultaneous loading of C-kernels that utilize
|
|
different paths of the frame tree to connect CASSINI_MIMI_LEMMS1 to
|
|
CASSINI_SC_COORD. See [1] for details regarding C-kernel precedence.
|
|
|
|
\begindata
|
|
|
|
FRAME_CASSINI_MIMI_LEMMS1 = -82762
|
|
FRAME_-82762_NAME = 'CASSINI_MIMI_LEMMS1'
|
|
FRAME_-82762_CLASS = 3
|
|
FRAME_-82762_CLASS_ID = -82762
|
|
FRAME_-82762_CENTER = -82
|
|
CK_-82762_SCLK = -82
|
|
CK_-82762_SPK = -82
|
|
|
|
\begintext
|
|
|
|
|
|
Magnetospheric Imaging Instrument Low Energy Magnetospheric Measurements 2
|
|
(MIMI_LEMMS2)
|
|
|
|
The Z-axis of this frame is the instrument boresight.
|
|
|
|
This frame requires one of two possible C-kernels:
|
|
|
|
-- One kernel connects this instrument frame (-82763) directly
|
|
to the spacecraft frame (-82000).
|
|
|
|
-- The other possible kernel connects this instrument frame
|
|
(-82763) to the articulation frame (-82764) defined above.
|
|
The kernel that makes this connection for all epochs after
|
|
launch is delivered with the kernel set. See the kernel
|
|
comments for details of the frame construction.
|
|
|
|
One should take care in the simultaneous loading of C-kernels that utilize
|
|
different paths of the frame tree to connect CASSINI_MIMI_LEMMS2 to
|
|
CASSINI_SC_COORD. See [1] for details regarding C-kernel precedence.
|
|
|
|
\begindata
|
|
|
|
FRAME_CASSINI_MIMI_LEMMS2 = -82763
|
|
FRAME_-82763_NAME = 'CASSINI_MIMI_LEMMS2'
|
|
FRAME_-82763_CLASS = 3
|
|
FRAME_-82763_CLASS_ID = -82763
|
|
FRAME_-82763_CENTER = -82
|
|
CK_-82763_SCLK = -82
|
|
CK_-82763_SPK = -82
|
|
|
|
\begintext
|
|
|
|
|
|
RADAR Frames
|
|
----------------------------------------------------------
|
|
|
|
Compiled from [23] and [5]:
|
|
|
|
The RADAR instrument consists of 5 beams in the following configuration:
|
|
|
|
|
|
^ Xsc
|
|
|
|
|
|
|
|
Ysc |
|
|
<------o
|
|
| Zsc
|
|
|
|
|
|
|
.
|
|
.
|
|
.
|
|
|
|
Beam 1 Beam 2 Beam 3 Beam 4 Beam 5
|
|
|
|
|
|-----x-----|-----x-----|----x----|-----x-----|-----x-----|
|
|
|
|
|
|-- 1.35 ---|-- 0.85 --|-- 0.85 --|-- 1.35 ---|
|
|
|
|
|
|
|
|
V
|
|
|
|
Beam 3 Direction
|
|
|
|
|
|
The above figure illustrates the separation in degrees between the beam
|
|
centers and their relation to the spacecraft frame.
|
|
|
|
Note the angles in the frame definitions are specified fro the ``from
|
|
instrument to (relative to) base frame'' transformation.
|
|
|
|
|
|
RADAR Beam 1 (RADAR_1)
|
|
|
|
RADAR Beam 1 is directed nominally 2.2 degrees off of the -Z axis of the
|
|
spacecraft in the direction of the +Y axis of the spacecraft frame. The
|
|
following definition encapsulates this frame:
|
|
|
|
From [23]:
|
|
|
|
[ ] [ ] [ ] [ ]
|
|
[ ROT ] = [ 177.8 ] [ 0.0 ] [ 0.0 ]
|
|
[ ] [ ] [ ] [ ]
|
|
X Y Z
|
|
|
|
where [x] represents the rotation matrix of a given angle x about
|
|
i
|
|
axis i.
|
|
|
|
Nominal Frame Definition:
|
|
|
|
\begindata
|
|
|
|
FRAME_CASSINI_RADAR_1 = -82810
|
|
FRAME_-82810_NAME = 'CASSINI_RADAR_1'
|
|
FRAME_-82810_CLASS = 4
|
|
FRAME_-82810_CLASS_ID = -82810
|
|
FRAME_-82810_CENTER = -82
|
|
TKFRAME_-82810_SPEC = 'ANGLES'
|
|
TKFRAME_-82810_RELATIVE = 'CASSINI_SC_COORD'
|
|
TKFRAME_-82810_ANGLES = ( 177.8, 0.0, 0.0 )
|
|
TKFRAME_-82810_AXES = ( 1, 2, 3 )
|
|
TKFRAME_-82810_UNITS = 'DEGREES'
|
|
|
|
\begintext
|
|
|
|
|
|
RADAR Beam 2 (RADAR_2)
|
|
|
|
RADAR Beam 2 is directed nominally 0.85 degrees off of the -Z axis of the
|
|
spacecraft in the direction of the +Y axis of the spacecraft frame. The
|
|
following definition encapsulates this frame:
|
|
|
|
From [23]:
|
|
|
|
[ ] [ ] [ ] [ ]
|
|
[ ROT ] = [ 179.15 ] [ 0.0 ] [ 0.0 ]
|
|
[ ] [ ] [ ] [ ]
|
|
X Y Z
|
|
|
|
where [x] represents the rotation matrix of a given angle x about
|
|
i
|
|
axis i.
|
|
|
|
Nominal Frame Definition:
|
|
|
|
FRAME_CASSINI_RADAR_2 = -82811
|
|
FRAME_-82811_NAME = 'CASSINI_RADAR_2'
|
|
FRAME_-82811_CLASS = 4
|
|
FRAME_-82811_CLASS_ID = -82811
|
|
FRAME_-82811_CENTER = -82
|
|
TKFRAME_-82811_SPEC = 'ANGLES'
|
|
TKFRAME_-82811_RELATIVE = 'CASSINI_SC_COORD'
|
|
TKFRAME_-82811_ANGLES = ( 179.15, 0.0, 0.0 )
|
|
TKFRAME_-82811_AXES = ( 1, 2, 3 )
|
|
TKFRAME_-82811_UNITS = 'DEGREES'
|
|
|
|
|
|
From [44], the RADAR Beam 2 reference frame is to be adjusted to the
|
|
following:
|
|
|
|
[ ] [ ] [ ] [ ]
|
|
[ ROT ] = [ 179.15 ] [ -1.2 ] [ 0.0 ]
|
|
[ ] [ ] [ ] [ ]
|
|
X Y Z
|
|
|
|
where [x] represents the rotation matrix of a given angle x about
|
|
i
|
|
axis i.
|
|
|
|
\begindata
|
|
|
|
FRAME_CASSINI_RADAR_2 = -82811
|
|
FRAME_-82811_NAME = 'CASSINI_RADAR_2'
|
|
FRAME_-82811_CLASS = 4
|
|
FRAME_-82811_CLASS_ID = -82811
|
|
FRAME_-82811_CENTER = -82
|
|
TKFRAME_-82811_SPEC = 'ANGLES'
|
|
TKFRAME_-82811_RELATIVE = 'CASSINI_SC_COORD'
|
|
TKFRAME_-82811_ANGLES = ( 179.15, -1.2, 0.0 )
|
|
TKFRAME_-82811_AXES = ( 1, 2, 3 )
|
|
TKFRAME_-82811_UNITS = 'DEGREES'
|
|
|
|
\begintext
|
|
|
|
|
|
RADAR Beam 3 (RADAR_3)
|
|
|
|
RADAR Beam 3 is directed nominally along the -Z axis of the spacecraft
|
|
frame. The following definition encapsulates this frame:
|
|
|
|
From [23]:
|
|
|
|
[ ] [ ] [ ] [ ]
|
|
[ ROT ] = [ 180.0 ] [ 0.0 ] [ 0.0 ]
|
|
[ ] [ ] [ ] [ ]
|
|
X Y Z
|
|
|
|
where [x] represents the rotation matrix of a given angle x about
|
|
i
|
|
axis i.
|
|
|
|
Nominal Frame Definition:
|
|
|
|
\begindata
|
|
|
|
FRAME_CASSINI_RADAR_3 = -82812
|
|
FRAME_-82812_NAME = 'CASSINI_RADAR_3'
|
|
FRAME_-82812_CLASS = 4
|
|
FRAME_-82812_CLASS_ID = -82812
|
|
FRAME_-82812_CENTER = -82
|
|
TKFRAME_-82812_SPEC = 'ANGLES'
|
|
TKFRAME_-82812_RELATIVE = 'CASSINI_SC_COORD'
|
|
TKFRAME_-82812_ANGLES = ( 180.0, 0.0, 0.0 )
|
|
TKFRAME_-82812_AXES = ( 1, 2, 3 )
|
|
TKFRAME_-82812_UNITS = 'DEGREES'
|
|
|
|
\begintext
|
|
|
|
|
|
RADAR Beam 4 (RADAR_4)
|
|
|
|
RADAR Beam 4 is directed nominally 0.85 degrees off of the -Z axis of the
|
|
spacecraft in the direction of the -Y axis of the spacecraft frame. The
|
|
following definition encapsulates this frame:
|
|
|
|
From [23]:
|
|
|
|
[ ] [ ] [ ] [ ]
|
|
[ ROT ] = [ 180.85 ] [ 0.0 ] [ 0.0 ]
|
|
[ ] [ ] [ ] [ ]
|
|
X Y Z
|
|
|
|
where [x] represents the rotation matrix of a given angle x about
|
|
i
|
|
axis i.
|
|
|
|
Nominal Frame Definition:
|
|
|
|
\begindata
|
|
|
|
FRAME_CASSINI_RADAR_4 = -82813
|
|
FRAME_-82813_NAME = 'CASSINI_RADAR_4'
|
|
FRAME_-82813_CLASS = 4
|
|
FRAME_-82813_CLASS_ID = -82813
|
|
FRAME_-82813_CENTER = -82
|
|
TKFRAME_-82813_SPEC = 'ANGLES'
|
|
TKFRAME_-82813_RELATIVE = 'CASSINI_SC_COORD'
|
|
TKFRAME_-82813_ANGLES = ( 180.85, 0.0, 0.0 )
|
|
TKFRAME_-82813_AXES = ( 1, 2, 3 )
|
|
TKFRAME_-82813_UNITS = 'DEGREES'
|
|
|
|
\begintext
|
|
|
|
From [44], the RADAR Beam 4 reference frame is to be adjusted to the
|
|
following:
|
|
|
|
[ ] [ ] [ ] [ ]
|
|
[ ROT ] = [ 180.85 ] [ -1.2 ] [ 0.0 ]
|
|
[ ] [ ] [ ] [ ]
|
|
X Y Z
|
|
|
|
where [x] represents the rotation matrix of a given angle x about
|
|
i
|
|
axis i.
|
|
|
|
\begindata
|
|
|
|
FRAME_CASSINI_RADAR_4 = -82813
|
|
FRAME_-82813_NAME = 'CASSINI_RADAR_4'
|
|
FRAME_-82813_CLASS = 4
|
|
FRAME_-82813_CLASS_ID = -82813
|
|
FRAME_-82813_CENTER = -82
|
|
TKFRAME_-82813_SPEC = 'ANGLES'
|
|
TKFRAME_-82813_RELATIVE = 'CASSINI_SC_COORD'
|
|
TKFRAME_-82813_ANGLES = ( 180.85, -1.2, 0.0 )
|
|
TKFRAME_-82813_AXES = ( 1, 2, 3 )
|
|
TKFRAME_-82813_UNITS = 'DEGREES'
|
|
|
|
\begintext
|
|
|
|
|
|
RADAR Beam 5 (RADAR_5)
|
|
|
|
RADAR Beam 5 is directed nominally 2.2 degrees off of the -Z axis of the
|
|
spacecraft in the direction of the -Y axis of the spacecraft frame. The
|
|
following definition encapsulates this frame:
|
|
|
|
From [23]:
|
|
|
|
[ ] [ ] [ ] [ ]
|
|
[ ROT ] = [ 182.2 ] [ 0.0 ] [ 0.0 ]
|
|
[ ] [ ] [ ] [ ]
|
|
X Y Z
|
|
|
|
where [x] represents the rotation matrix of a given angle x about
|
|
i
|
|
axis i.
|
|
|
|
Nominal Frame Definition:
|
|
|
|
\begindata
|
|
|
|
FRAME_CASSINI_RADAR_5 = -82814
|
|
FRAME_-82814_NAME = 'CASSINI_RADAR_5'
|
|
FRAME_-82814_CLASS = 4
|
|
FRAME_-82814_CLASS_ID = -82814
|
|
FRAME_-82814_CENTER = -82
|
|
TKFRAME_-82814_SPEC = 'ANGLES'
|
|
TKFRAME_-82814_RELATIVE = 'CASSINI_SC_COORD'
|
|
TKFRAME_-82814_ANGLES = ( 182.2, 0.0, 0.0 )
|
|
TKFRAME_-82814_AXES = ( 1, 2, 3 )
|
|
TKFRAME_-82814_UNITS = 'DEGREES'
|
|
|
|
\begintext
|
|
|
|
|
|
RPWS Frames
|
|
----------------------------------------------------------
|
|
|
|
The RPWS antennae are located roughly on the +Y side of the Cassini
|
|
orbiter, while the RPWS Langmuir Probe is roughly located on the -X side.
|
|
|
|
Note the angles in the frame definitions are specified for the ``from
|
|
instrument to (relative to) base frame'' transformation.
|
|
|
|
|
|
Radio and Plasma Wave Science (RPWS)
|
|
|
|
As [17] indicates, the ``collective'' RPWS boresight is nominally directed
|
|
along the spacecraft +Y axis. Utilizing the Euler angles specified in this
|
|
email, we obtain the following frame definition:
|
|
|
|
From [17]:
|
|
|
|
[ ] [ ] [ ] [ ]
|
|
[ ROT ] = [ 180.0 ] [ -90.0 ] [ 0.0 ]
|
|
[ ] [ ] [ ] [ ]
|
|
X Y Z
|
|
|
|
where [x] represents the rotation matrix of a given angle x about
|
|
i
|
|
axis i.
|
|
|
|
Nominal Frame Definition:
|
|
|
|
\begindata
|
|
|
|
FRAME_CASSINI_RPWS = -82730
|
|
FRAME_-82730_NAME = 'CASSINI_RPWS'
|
|
FRAME_-82730_CLASS = 4
|
|
FRAME_-82730_CLASS_ID = -82730
|
|
FRAME_-82730_CENTER = -82
|
|
TKFRAME_-82730_SPEC = 'ANGLES'
|
|
TKFRAME_-82730_RELATIVE = 'CASSINI_SC_COORD'
|
|
TKFRAME_-82730_ANGLES = ( 180.0, -90.0, 0.0 )
|
|
TKFRAME_-82730_AXES = ( 3, 1, 3 )
|
|
TKFRAME_-82730_UNITS = 'DEGREES'
|
|
|
|
\begintext
|
|
|
|
|
|
Radio and Plasma Wave Science Electric Antenna System (RPWS_E[AXIS][SIGN])
|
|
|
|
From [24]:
|
|
|
|
``The RPWS electric antenna system is a triad of 10-meter conducting
|
|
monopoles, symmetric about the Y-Z plane. Two of the elements are extended
|
|
in a 120-degree "V" on either side of the magnetometer boom (i.e., the S/C
|
|
Y-axis) and in a plane which is rotated up from the S/C X-Y plane
|
|
containing the magnetometer boom by 37 degrees. These two elements are
|
|
referred to as the EXPLUS and EXMINUS sensors. The third element is
|
|
extended downward in the S/C Y-Z plane at an angleof 37 degrees from the
|
|
S/C +Z axis. That said, it now should be explained that the "electrical"
|
|
characteristics of these three antennas deviate from the physical alignment
|
|
and lengths of the elements due to the complex ground plane provided by the
|
|
spacecraft. It is these electrical characteristics that the three RPWS
|
|
Frame definitions RPWS_EXPLUS, RPWS_EXMINUS, and RPWS_EZPLUS are intended
|
|
to specify. Based upon model rheometry experiments, in which a model of the
|
|
Cassini Spacecraft with fully extended RPWS antennas was immersed in a tank
|
|
filled with an electrolytic, the following estimates have been made for the
|
|
electrical axes of the three antenna elements:
|
|
|
|
Frame Frame Z-Axis in CASSINI_SC_COORD "boresight"
|
|
------ --------------------------------
|
|
RPWS_EXPLUS [ 0.91202578, 0.27709462, -0.30236989 ]
|
|
RPWS_EXMINUS [ -0.91202578, 0.27709462, -0.30236989 ]
|
|
RPWS_EZPLUS [ -0.01091120, 0.52089537, 0.85355080 ]
|
|
|
|
These numbers may change after the RPWS Jupiter Calibrations.''
|
|
|
|
Antenna Frame Definitions:
|
|
|
|
From [14]:
|
|
|
|
[ ] [ ] [ ] [ ]
|
|
[ ROT ] = [ -16.9 ] [ -107.6 ] [ 0.0 ]
|
|
[ ] [ ] [ ] [ ]
|
|
Z Y X
|
|
|
|
where [x] represents the rotation matrix of a given angle x about
|
|
i
|
|
axis i.
|
|
|
|
Nominal Frame Definition:
|
|
|
|
\begindata
|
|
|
|
FRAME_CASSINI_RPWS_EXPLUS = -82731
|
|
FRAME_-82731_NAME = 'CASSINI_RPWS_EXPLUS'
|
|
FRAME_-82731_CLASS = 4
|
|
FRAME_-82731_CLASS_ID = -82731
|
|
FRAME_-82731_CENTER = -82
|
|
TKFRAME_-82731_SPEC = 'ANGLES'
|
|
TKFRAME_-82731_RELATIVE = 'CASSINI_SC_COORD'
|
|
TKFRAME_-82731_ANGLES = ( -16.9, -107.6, 0.0 )
|
|
TKFRAME_-82731_AXES = ( 3, 2, 1 )
|
|
TKFRAME_-82731_UNITS = 'DEGREES'
|
|
|
|
\begintext
|
|
|
|
From [14]:
|
|
|
|
[ ] [ ] [ ] [ ]
|
|
[ ROT ] = [ -163.1 ] [ -107.6 ] [ 0.0 ]
|
|
[ ] [ ] [ ] [ ]
|
|
Z Y X
|
|
|
|
where [x] represents the rotation matrix of a given angle x about
|
|
i
|
|
axis i.
|
|
|
|
Nominal Frame Definition:
|
|
|
|
\begindata
|
|
|
|
FRAME_CASSINI_RPWS_EXMINUS= -82732
|
|
FRAME_-82732_NAME = 'CASSINI_RPWS_EXMINUS'
|
|
FRAME_-82732_CLASS = 4
|
|
FRAME_-82732_CLASS_ID = -82732
|
|
FRAME_-82732_CENTER = -82
|
|
TKFRAME_-82732_SPEC = 'ANGLES'
|
|
TKFRAME_-82732_RELATIVE = 'CASSINI_SC_COORD'
|
|
TKFRAME_-82732_ANGLES = (-163.1, -107.6, 0.0 )
|
|
TKFRAME_-82732_AXES = ( 3, 2, 1 )
|
|
TKFRAME_-82732_UNITS = 'DEGREES'
|
|
|
|
\begintext
|
|
|
|
From [14]:
|
|
|
|
[ ] [ ] [ ] [ ]
|
|
[ ROT ] = [ -91.2 ] [ -31.4 ] [ 0.0 ]
|
|
[ ] [ ] [ ] [ ]
|
|
Z Y X
|
|
|
|
where [x] represents the rotation matrix of a given angle x about
|
|
i
|
|
axis i.
|
|
|
|
Nominal Frame Definition:
|
|
|
|
\begindata
|
|
|
|
FRAME_CASSINI_RPWS_EZPLUS = -82733
|
|
FRAME_-82733_NAME = 'CASSINI_RPWS_EZPLUS'
|
|
FRAME_-82733_CLASS = 4
|
|
FRAME_-82733_CLASS_ID = -82733
|
|
FRAME_-82733_CENTER = -82
|
|
TKFRAME_-82733_SPEC = 'ANGLES'
|
|
TKFRAME_-82733_RELATIVE = 'CASSINI_SC_COORD'
|
|
TKFRAME_-82733_ANGLES = ( -91.2, -31.4, 0.0 )
|
|
TKFRAME_-82733_AXES = ( 3, 2, 1 )
|
|
TKFRAME_-82733_UNITS = 'DEGREES'
|
|
|
|
\begintext
|
|
|
|
|
|
Radio and Plasma Wave Science Langmuir Probe (RPWS_LP)
|
|
|
|
From [24]:
|
|
|
|
``The RPWS Langmuir Probe is on the -X side of the spacecraft and can sense
|
|
roughly the entire hemisphere defined by the RPWS_LP Frame.''
|
|
|
|
From [14]:
|
|
|
|
[ ] [ ] [ ] [ ]
|
|
[ ROT ] = [ 180.0 ] [ -90.0 ] [ 0.0 ]
|
|
[ ] [ ] [ ] [ ]
|
|
Z Y X
|
|
|
|
where [x] represents the rotation matrix of a given angle x about
|
|
i
|
|
axis i.
|
|
|
|
Nominal Frame Definition:
|
|
|
|
\begindata
|
|
|
|
FRAME_CASSINI_RPWS_LP = -82734
|
|
FRAME_-82734_NAME = 'CASSINI_RPWS_LP'
|
|
FRAME_-82734_CLASS = 4
|
|
FRAME_-82734_CLASS_ID = -82734
|
|
FRAME_-82734_CENTER = -82
|
|
TKFRAME_-82734_SPEC = 'ANGLES'
|
|
TKFRAME_-82734_RELATIVE = 'CASSINI_SC_COORD'
|
|
TKFRAME_-82734_ANGLES = ( 180.0, -90.0, 0.0 )
|
|
TKFRAME_-82734_AXES = ( 3, 2, 1 )
|
|
TKFRAME_-82734_UNITS = 'DEGREES'
|
|
|
|
\begintext
|
|
|