-
Notifications
You must be signed in to change notification settings - Fork 0
/
Copy pathorx_v11.tf
3520 lines (2605 loc) · 133 KB
/
orx_v11.tf
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
835
836
837
838
839
840
841
842
843
844
845
846
847
848
849
850
851
852
853
854
855
856
857
858
859
860
861
862
863
864
865
866
867
868
869
870
871
872
873
874
875
876
877
878
879
880
881
882
883
884
885
886
887
888
889
890
891
892
893
894
895
896
897
898
899
900
901
902
903
904
905
906
907
908
909
910
911
912
913
914
915
916
917
918
919
920
921
922
923
924
925
926
927
928
929
930
931
932
933
934
935
936
937
938
939
940
941
942
943
944
945
946
947
948
949
950
951
952
953
954
955
956
957
958
959
960
961
962
963
964
965
966
967
968
969
970
971
972
973
974
975
976
977
978
979
980
981
982
983
984
985
986
987
988
989
990
991
992
993
994
995
996
997
998
999
1000
KPL/FK
OSIRIS-REx (ORX) Frames Kernel
=====================================================================
This frame kernel contains the complete set of frame definitions for
the OSIRIS-REx spacecraft, its structures and science instruments.
This frame kernel also contains name - to - NAIF ID mappings for
OSIRIS-REx science instruments and s/c structures (see the last
section of the file.)
Version and Date
-----------------------------------------------------------
Version 1.1 -- September 22, 2018 -- Boris Semenov, NAIF
Incorporated new alignment DCMs from [16] into POLYCAM and MAPCAM
frame definitions.
Removed a spurious +Xpy_sa label from the Solar Array frames
diagram.
Version 1.0 -- July 27, 2018 -- Boris Semenov, NAIF
Updated ORX_OLA_HIGH and ORX_OLA_LOW alignments based on [15].
Version 0.9 -- April 10, 2018 -- Boris Semenov, NAIF
Added ORX_OVIRS_RAD frame and ORX_OVIRS_RAD/-64323 name/ID
mapping.
Incorporated alignment DCMs from [14] into NAVCAM and OVIRS frame
definitions.
Incorporated dynamic frames from orx_custom_frames_DRAFT_n.tf
(n=3..7). The complete revision history of
orx_custom_frames_DRAFT_n.tf is
orx_custom_frames_DRAFT_7.tf -- January 16, 2018 -- Boris Semenov,
NAIF
- Finalized the ORX_SUN_PLANE_OF_SKY definition. Added
rationale for some frames.
orx_custom_frames_DRAFT_6.tf -- December 13, 2017 -- Boris Semenov,
NAIF
- changed all frame IDs to bring all frames into the -649xx
range
- renamed these frames to have the ORX_ prefix:
BENNU_SUN_NORTH -> ORX_BENNU_SUN_NORTH
BENNU_SAM -> ORX_BENNU_SAM
BENNU_ORBIT_FIXED -> ORX_BENNU_ORBIT_FIXED
SUN_PLANE_OF_SKY -> ORX_SUN_PLANE_OF_SKY
- modified all frame descriptions to follow the same style
- modified preface comments to look like from from the main FK
- reformatted comments and definitions to have consistent
indentation and keyword/value alignment
orx_custom_frames_DRAFT_5.tf -- December 5, 2017 -- John Kidd, UofA
- corrections based on Dan Wibben's feedback
orx_custom_frames_DRAFT_4.tf -- November 28, 2017 -- John Kidd, UofA
- additional updates
orx_custom_frames_DRAFT_3.tf -- October 25, 2017 -- John Kidd, UofA
- Incorporated custom frames from FDS provided by Dan Wibben
orx_custom_frames_DRAFT_2.tf -- December 13, 2017 -- John Kidd, UofA
- Incorporate input from Brian Carcich and Boris Semenov.
orx_custom_frames_DRAFT_1.tf -- December 13, 2017 -- John Kidd, UofA
- Initial version.
Version 0.8 -- July 27, 2017 -- Boris Semenov, NAIF
Added ORX_SA_PY_IG/-64017 and ORX_SA_NY_IG/-64027 to allow
packaging SA PY and NY inner and outer gimbal rotations in
separate segments.
Version 0.7 -- June 28, 2017 -- Boris Semenov, NAIF
Incorporated alignment DCMs from [9] into LIDAR, NAVCAM,
STU, OTES, OCAMS, OLA, OVIRS, and HGA frame definitions.
Changed the relative-to frame for ORX_OLA_LOW from ORX_OLA_HIGH
to ORX_OLA_ART per [10].
Redefined ORX_OVIRS and ORX_OVIRS_SCI to be nominally co-aligned
with ORX_SPACECRAFT per [11].
Redefined ORX_OVIRS_SUN to have -Y co-aligned with the science
port boresight (ORX_OVIRS_SCI +Z) per [11].
Corrected OLA frames description per [10].
Changed the order of -64000 name/ID mappings to give
ORX_SPACECRAFT/-64000 the highest priority.
Corrected OCAMS frames descriptions.
Version 0.6 -- October 24, 2016 -- Boris Semenov, NAIF
Added star tracker frames based on [4] and [7].
Added POLYCAM focus position name-ID mappings.
Version 0.5 -- July 6, 2016 -- Boris Semenov, NAIF
07/01/16: Updated MapCam and SamCam frames description to
correctly indicate how +X and +Y axes relate to CCD lines and
columns.
05/16/16: Updated HGA alignment angles to line up the ORX_HGA
frame with the antenna pattern ([6]).
Version 0.4 -- August 24, 2015 -- Boris Semenov, NAIF
08/24/15: Updated LIDAR frames to be consistent with [4]/Rev-D
12/18/14: Updated NAVCAM1 and NAVCAM2 nominal alignments for
additional -90 degree rotation about boresight.
Version 0.3 -- October 30, 2014 -- Boris Semenov, NAIF
Replaced NAVCAM/-64070 frame and name/ID mapping with
NAVCAM1/-64081 and NAVCAM2/-64082 frames and name/ID mappings.
Changed NAVCAM1 and NAVCAM2 alignments to match [4].
Added IAU_BENNU frame. Added BENNU/2101955 naif/ID mapping.
Updated orientation of the ORX_OVIRS_SUN frame to match [4].
Version 0.2 -- November 14, 2013 -- Boris Semenov, NAIF
Defined nominal frames and name/ID mappings for majority of
instruments and structures.
Version 0.1 -- May 16, 2013 -- Boris Semenov, NAIF; John Ivens, LPL/UofA
Pre-release, added OCAMS frames and name/ID mappings; adjusted
ORX_OCAMS_SAMCAM angles to match description.
Version 0.0 -- March 19, 2013 -- Boris Semenov, NAIF
Pre-release, example version.
References
-----------------------------------------------------------
1. ``Frames Required Reading''
2. ``Kernel Pool Required Reading''
3. ``C-Kernel Required Reading''
4. ORX Coordinate Systems Document, Rev-A (02/18/13),
Rev-B (03/18/14), Rev-D (05/20/15)
5. "NavCam Pointing for OpNav.pptx", 06/16/14
6. E-mail from Javier Cerna, ORX Telecom, 05/13/16
7. Measured start tracker FRF alignments,
``Measured STU1 FRF and FRF Description.docx'', 09/20/16
8. FK_DCMs.xlsx, D. Lorenz, 03/29/17
9. xmit.xlsx, D. Lorenz, 06/19/17
10. Review feedback by the OLA team (orx_v07_draft_tf_w_comments.docx),
provided by D. Lorenz, 06/20/17
11. Review feedback by the OVIRS team (OVIRS Frames updates.docx),
provided by D. Lorenz, 06/27/17
12. OSIRIS-REx-SPEC-0010_Rev_A_Mar2017.pdf, sections:
- Sun North Frame (Section 8.1.8)
- Sun Anti-Momentum (SAM) Frame (Section 8.1.9)
- Bennu Orbit-Fixed Frame (Section 8.1.10)
- Sun Plane-Of-Sky (POS) Frame (Section 8.1.7)
13. E-mail from John Kidd re. the purpose of the ORX_BENNU_SUN
frame, 12/21/2017
14. xmit.xlsx, D. Lorenz, 03/23/18
15. ``Summary of Spice Kernel Changes.docx'', Michael Daly, York
University, 04/20/2018
16. xmit.xlsx, D. Lorenz, 09/21/18
Contact Information
-----------------------------------------------------------
Boris V. Semenov, NAIF/JPL, (818)-354-8136, Boris.Semenov@jpl.nasa.gov
Implementation Notes
-----------------------------------------------------------
This file is used by the SPICE system as follows: programs that make
use of this frame kernel must ``load'' the kernel, normally during
program initialization using the SPICELIB routine FURNSH. This file
was created and may be updated with a text editor or word processor.
OSIRIS-REx Frames Summary
-----------------------------------------------------------
The following OSIRIS-REx frames are defined in this kernel file:
Name Relative to Type NAIF ID
====================== ===================== ========== =======
Bennu Body-Fixed frame:
-----------------------
IAU_BENNU J2000 PCK 10106
Dynamic Frames:
---------------
ORX_BENNU_SUN J2000 DYNAMIC -64901
ORX_BENNU_SUN_NORTH J2000 DYNAMIC -64902
ORX_BENNU_SAM J2000 DYNAMIC -64903
ORX_BENNU_ORBIT_FIXED J2000 DYNAMIC -64904
ORX_SUN_PLANE_OF_SKY J2000 DYNAMIC -64905
ORX_RTN_BENNU J2000 DYNAMIC -64906
ORX_RTN_EARTH J2000 DYNAMIC -64907
ORX_RTN_SUN J2000 DYNAMIC -64908
ORX_VIEW2_BENNU J2000 DYNAMIC -64909
ORX_VIEW2_EARTH J2000 DYNAMIC -64910
ORX_VIEW2_SUN J2000 DYNAMIC -64911
Spacecraft frame:
-----------------
ORX_SPACECRAFT J2000 CK -64000
Structure frames (solar arrays, TAGSAM, antennas, etc):
-------------------------------------------------------
ORX_SA_PY_BP ORX_SPACECRAFT FIXED -64011
ORX_SA_PY_IG ORX_SA_PY_BP CK -64017
ORX_SA_PY_GIM ORX_SA_PY_BP/PY_IG CK -64012
ORX_SA_PY ORX_SA_PY_GIM FIXED -64010
ORX_SA_NY_BP ORX_SPACECRAFT FIXED -64021
ORX_SA_NY_IG ORX_SA_NY_BP CK -64027
ORX_SA_NY_GIM ORX_SA_NY_BP/NY_IG CK -64022
ORX_SA_NY ORX_SA_NY_GIM FIXED -64020
ORX_TAGSAM_BP ORX_SPACECRAFT FIXED -64051
ORX_TAGSAM_SH_REF ORX_TAGSAM_BP FIXED -64052
ORX_TAGSAM_SH ORX_TAGSAM_SH_REF CK -64053
ORX_TAGSAM_EL_REF ORX_TAGSAM_SH FIXED -64054
ORX_TAGSAM_EL ORX_TAGSAM_EL_REF CK -64055
ORX_TAGSAM_WR_REF ORX_TAGSAM_EL FIXED -64056
ORX_TAGSAM_WR ORX_TAGSAM_WR_REF CK -64057
ORX_TAGSAM ORX_TAGSAM_WR FIXED -64050
ORX_HGA ORX_SPACECRAFT FIXED -64060
ORX_MGA ORX_SPACECRAFT FIXED -64061
ORX_LGA_PX ORX_SPACECRAFT FIXED -64062
ORX_LGA_MX ORX_SPACECRAFT FIXED -64063
ORX_STOWCAM ORX_SPACECRAFT FIXED -64071
ORX_LIDAR-1 ORX_SPACECRAFT FIXED -64072
ORX_LIDAR-2 ORX_SPACECRAFT FIXED -64073
ORX_LIDAR-1_CUBE ORX_SPACECRAFT FIXED -64074
ORX_LIDAR-2_CUBE ORX_SPACECRAFT FIXED -64075
ORX_NAVCAM1 ORX_SPACECRAFT FIXED -64081
ORX_NAVCAM2 ORX_SPACECRAFT FIXED -64082
ORX_SRC ORX_SPACECRAFT FIXED -64090
ORX_STU1 ORX_SPACECRAFT FIXED -64091
ORX_STU2 ORX_SPACECRAFT FIXED -64092
Science Instruments frames:
---------------------------
ORX_OTES ORX_SPACECRAFT FIXED -64310
ORX_OVIRS ORX_SPACECRAFT FIXED -64320
ORX_OVIRS_SCI ORX_OVIRS FIXED -64321
ORX_OVIRS_SUN ORX_OVIRS FIXED -64322
ORX_OVIRS_RAD ORX_OVIRS FIXED -64323
ORX_REXIS ORX_SPACECRAFT FIXED -64330
ORX_REXIS_SXM ORX_SPACECRAFT FIXED -64340
ORX_OCAMS_POLYCAM ORX_SPACECRAFT FIXED -64360
ORX_OCAMS_MAPCAM ORX_SPACECRAFT FIXED -64361
ORX_OCAMS_SAMCAM ORX_SPACECRAFT FIXED -64362
ORX_OLA_BASE ORX_SPACECRAFT FIXED -64400
ORX_OLA_ART ORX_OLA_BASE CK -64401
ORX_OLA_HIGH ORX_OLA_ART FIXED -64402
ORX_OLA_LOW ORX_OLA_HIGH FIXED -64403
ORX Frames Hierarchy
-----------------------------------------------------------
The diagram below shows the ORX frames hierarchy:
J2000 INERTIAL (^)
+---------------------------------------------------------------+
| | |
|<-pck | pck->|
| | |
V | V
IAU_BENNU | IAU_EARTH
ASTEROID BFR(*) | EARTH BFR(*)
--------------- | ------------
|
|
ORX_SA_PY | ORX_SA_NY
--------- | ---------
^ | ^
|<-fxd | fxd->|
| | |
ORX_SA_PY_GIM | ORX_SA_NY_GIM
------------- | -------------
^ ^ | ^ ^
|<-|<-ck | ck->|->|
| | | | |
| ORX_SA_PY_IG ORX_LIDAR-1 | ORX_LIDAR-2 ORX_SA_NY_IG |
| ------------ ----------- | ----------- ------------ |
| ^ ^ | ^ ^ |
| |<-ck |<-fxd | fxd->| ck->| |
| | | | | | |
ORX_SA_PY_BP ORX_LIDAR-1_CUBE | ORX_LIDAR-2_CUBE ORX_SA_NY_BP
------------ ---------------- | ---------------- ------------
^ ^ | ^ ^
|<-fxd |<-fxd | fxd->| fxd->|
| | | | |
| | | | |
| ORX_NAVCAM1/2 | ORX_STU1/2 | | ORX_STOWCAM |
| ------------- | ---------- | | ----------- |
| ^ | ^ | | ^ |
| fxd->| | | | | |<-fxd |
| | | | | | | |
| | | | | | | |
| ORX_LGA_PX | | ORX_HGA | | ORX_MGA | | ORX_LGA_MX |
| ---------- | | ------- | | ------- | | ---------- |
| ^ | | ^ | | ^ | | ^ |
| fxd->| | | |<-fxd | | fxd->| | | |<-fxd |
| | | | | | | | | | | |
| | | | | | | | | | | |
| | | | | | |<-ck | | | | |
| | | | | | | | | | | |
| | | | | | V | | | | |
| | | | | ORX_SPACECRAFT | | | | |
+---------------------------------------------------------------+
| | | | | | | | | |
| | | | | | | | | |
| | | | | | |<-fxd | |<-fxd fxd->|
| | | | | | V | V V
| | | | | | ORX_SRC | ORX_OLA_BASE ORX_TAGSAM_BP
| | | | | | ------- | ------------ -------------
| | | | | | | | |
| | | | | |<-fxd | |<-ck fxd->|
| | | | | V | V V
| | | | | ORX_OTES | ORX_OLA_ART ORX_TAGSAM_SH_REF
| | | | | -------- | +-----------+ -----------------
| | | | | | | | |
| | | | |<-fxd | |<-fxd | ck->|
| | | | V | V | V
| | | | ORX_REXIS | ORX_OLA_HIGH | ORX_TAGSAM_SH
| | | | --------- | ------------ | -------------
| | | | | | |
| | | |<-fxd | fxd->| fxd->|
| | | V | V V
| | | ORX_REXIS_SXM | ORX_OLA_LOW ORX_TAGSAM_EL_REF
| | | ------------- | ----------- -----------------
| | | | |
| | |<-fxd | ck->|
| | V | V
| | ORX_OCAMS_POLYCAM | ORX_TAGSAM_EL
| | ----------------- | -------------
| | | |
| |<-fxd | fxd->|
| V V V
| ORX_OCAMS_MAPCAM ORX_OVIRS ORX_TAGSAM_WR_REF
| ---------------- +-------------------+ -----------------
| | | | |
|<-fxd |<-fxd |<-fxd |<-fxd ck->|
V V V V V
ORX_OCAMS_SAMCAM ORX_OVIRS_SCI ORX_OVIRS_SUN ORX_OVIRS_RAD ORX_TAGSAM_WR
---------------- ------------- ------------- ------------- -------------
|
fxd->|
V
ORX_TAGSAM
----------
(*) BFR -- body-fixed rotating frame
(^) The diagram does not show any dynamic frames, which are all
defined w.r.t. J2000.
Asteroid Body-Fixed Frame
-----------------------------------------------------------
The asteroid Bennu body-fixed frame -- IAU_BENNU -- is defined
as follows:
- +Z axis is the asteroid rotation axis pointed towards the
positive pole
- +X axis points towards the prime meridian
- +Y axis completes the right handed frame
- the origin of the frame is at the asteroid center of mass.
Since the asteroid rotation data is expected to be provided in a
text PCK in the form compliant with the IAU rotation model, the
IAU_BENNU frame is defined below as a PCK based frame.
\begindata
FRAME_IAU_BENNU = 10106
FRAME_10106_NAME = 'IAU_BENNU'
FRAME_10106_CLASS = 2
FRAME_10106_CLASS_ID = 2101955
FRAME_10106_CENTER = 2101955
OBJECT_2101955_FRAME = 'IAU_BENNU'
\begintext
OSIRIS-REx Dynamic Frames Definitions
-----------------------------------------------------------
The Nadir-Oriented Spacecraft-Centered Frame -- ORX_BENNU_SUN -- is
defined as follows:
- +Z axis points from the spacecraft towards the center of Bennu
(primary)
- +X axis points in the direction from the spacecraft to the Sun
(secondary)
- +Y axis completes the right handed frame
- the origin of the frame is at the spacecraft center of mass.
Per [13], this frame represents the nominal spacecraft attitude
during orbital mission phases, with the payload deck normal (S/C +Z)
pointing nadir and the HGA (S/C +X) pointing sun-ward.
This frame is defined as a two-vector style dynamic frame below.
\begindata
FRAME_ORX_BENNU_SUN = -64901
FRAME_-64901_NAME = 'ORX_BENNU_SUN'
FRAME_-64901_CLASS = 5
FRAME_-64901_CLASS_ID = -64901
FRAME_-64901_CENTER = 'ORX'
FRAME_-64901_RELATIVE = 'J2000'
FRAME_-64901_DEF_STYLE = 'PARAMETERIZED'
FRAME_-64901_FAMILY = 'TWO-VECTOR'
FRAME_-64901_PRI_AXIS = 'Z'
FRAME_-64901_PRI_VECTOR_DEF = 'OBSERVER_TARGET_POSITION'
FRAME_-64901_PRI_OBSERVER = 'ORX'
FRAME_-64901_PRI_TARGET = 'BENNU'
FRAME_-64901_PRI_ABCORR = 'NONE'
FRAME_-64901_SEC_AXIS = 'X'
FRAME_-64901_SEC_VECTOR_DEF = 'OBSERVER_TARGET_POSITION'
FRAME_-64901_SEC_OBSERVER = 'ORX'
FRAME_-64901_SEC_TARGET = 'SUN'
FRAME_-64901_SEC_ABCORR = 'NONE'
\begintext
The Sun-North Bennu-Centered frame -- ORX_BENNU_SUN_NORTH -- is
defined as follows:
- +X axis points from the center of Bennu to the center of the
Sun (primary)
- +Z axis points in the direction of the Bennu spin axis (+Z of
IAU_BENNU) (secondary)
- +Y axis completes the right handed frame
- the origin of the frame is at the center of Bennu.
Per [12, section 8.1.8], this frame is used during proximity
operations by the various project groups involved in trajectory
design and determination.
This frame is defined as a two-vector style dynamic frame below.
\begindata
FRAME_ORX_BENNU_SUN_NORTH = -64902
FRAME_-64902_NAME = 'ORX_BENNU_SUN_NORTH'
FRAME_-64902_CLASS = 5
FRAME_-64902_CLASS_ID = -64902
FRAME_-64902_CENTER = 'BENNU'
FRAME_-64902_RELATIVE = 'J2000'
FRAME_-64902_DEF_STYLE = 'PARAMETERIZED'
FRAME_-64902_FAMILY = 'TWO-VECTOR'
FRAME_-64902_PRI_AXIS = 'X'
FRAME_-64902_PRI_VECTOR_DEF = 'OBSERVER_TARGET_POSITION'
FRAME_-64902_PRI_OBSERVER = 'BENNU'
FRAME_-64902_PRI_TARGET = 'SUN'
FRAME_-64902_PRI_ABCORR = 'NONE'
FRAME_-64902_SEC_AXIS = 'Z'
FRAME_-64902_SEC_VECTOR_DEF = 'CONSTANT'
FRAME_-64902_SEC_SPEC = 'RECTANGULAR'
FRAME_-64902_SEC_VECTOR = ( 0.0, 0.0, 1.0 )
FRAME_-64902_SEC_FRAME = 'IAU_BENNU'
\begintext
The Sun-AntiMomentum (SAM) Bennu-Centered frame -- ORX_BENNU_SAM --
is defined as follows:
- +X axis points from the center of Bennu to the center of the
Sun (primary)
- +Y axis points in the direction of the Bennu's inertial
velocity with respect to the Sun (secondary)
- +Z axis completes the right handed frame and is aligned with
the Bennu's orbital angular anti-momentum
- the origin of the frame is at the center of Bennu.
Per [12, section 8.1.9], this frame is used during the Approach,
Preliminary Survey and Orbital A phases by the various project
groups involved in trajectory design and determination, specifically
to compute the solar longitude and solar latitude angles used in
scheduling science observations.
This frame is defined as a two-vector style dynamic frame below.
\begindata
FRAME_ORX_BENNU_SAM = -64903
FRAME_-64903_NAME = 'ORX_BENNU_SAM'
FRAME_-64903_CLASS = 5
FRAME_-64903_CLASS_ID = -64903
FRAME_-64903_CENTER = 'BENNU'
FRAME_-64903_RELATIVE = 'J2000'
FRAME_-64903_DEF_STYLE = 'PARAMETERIZED'
FRAME_-64903_FAMILY = 'TWO-VECTOR'
FRAME_-64903_PRI_AXIS = 'X'
FRAME_-64903_PRI_VECTOR_DEF = 'OBSERVER_TARGET_POSITION'
FRAME_-64903_PRI_OBSERVER = 'BENNU'
FRAME_-64903_PRI_TARGET = 'SUN'
FRAME_-64903_PRI_ABCORR = 'NONE'
FRAME_-64903_SEC_AXIS = 'Y'
FRAME_-64903_SEC_VECTOR_DEF = 'OBSERVER_TARGET_VELOCITY'
FRAME_-64903_SEC_OBSERVER = 'SUN'
FRAME_-64903_SEC_TARGET = 'BENNU'
FRAME_-64903_SEC_ABCORR = 'NONE'
FRAME_-64903_SEC_FRAME = 'J2000'
\begintext
The Bennu Orbit-Fixed frame -- ORX_BENNU_ORBIT_FIXED -- is defined
as follows:
- +X axis points from the center of Sun to the center of the
Bennu (primary)
- +Y axis points in the direction of the Bennu's inertial
velocity with respect to the Sun (secondary)
- +Z axis completes the right handed frame and is aligned with
the Bennu's orbital angular momentum
- the origin of the frame is at the center of Bennu.
This frame is defined as a two-vector style dynamic frame below.
\begindata
FRAME_ORX_BENNU_ORBIT_FIXED = -64904
FRAME_-64904_NAME = 'ORX_BENNU_ORBIT_FIXED'
FRAME_-64904_CLASS = 5
FRAME_-64904_CLASS_ID = -64904
FRAME_-64904_CENTER = 'BENNU'
FRAME_-64904_RELATIVE = 'J2000'
FRAME_-64904_DEF_STYLE = 'PARAMETERIZED'
FRAME_-64904_FAMILY = 'TWO-VECTOR'
FRAME_-64904_PRI_AXIS = 'X'
FRAME_-64904_PRI_VECTOR_DEF = 'OBSERVER_TARGET_POSITION'
FRAME_-64904_PRI_OBSERVER = 'SUN'
FRAME_-64904_PRI_TARGET = 'BENNU'
FRAME_-64904_PRI_ABCORR = 'NONE'
FRAME_-64904_SEC_AXIS = 'Y'
FRAME_-64904_SEC_VECTOR_DEF = 'OBSERVER_TARGET_VELOCITY'
FRAME_-64904_SEC_OBSERVER = 'SUN'
FRAME_-64904_SEC_TARGET = 'BENNU'
FRAME_-64904_SEC_ABCORR = 'NONE'
FRAME_-64904_SEC_FRAME = 'J2000'
\begintext
The Sun Plane-Of-Sky frame -- ORX_SUN_PLANE_OF_SKY -- is defined
as follows:
- +Z axis points from the center of Sun to the center of the
Bennu (primary)
- +Y axis points in the direction of the Ecliptic South pole (-Z
of ECLIPJ2000) (secondary)
- +X axis completes the right handed frame
- the origin of the frame is at the center of Bennu.
This frame is defined as a two-vector style dynamic frame below.
\begindata
FRAME_ORX_SUN_PLANE_OF_SKY = -64905
FRAME_-64905_NAME = 'ORX_SUN_PLANE_OF_SKY'
FRAME_-64905_CLASS = 5
FRAME_-64905_CLASS_ID = -64905
FRAME_-64905_CENTER = 'BENNU'
FRAME_-64905_RELATIVE = 'J2000'
FRAME_-64905_DEF_STYLE = 'PARAMETERIZED'
FRAME_-64905_FAMILY = 'TWO-VECTOR'
FRAME_-64905_PRI_AXIS = 'Z'
FRAME_-64905_PRI_VECTOR_DEF = 'OBSERVER_TARGET_POSITION'
FRAME_-64905_PRI_OBSERVER = 'SUN'
FRAME_-64905_PRI_TARGET = 'BENNU'
FRAME_-64905_PRI_ABCORR = 'NONE'
FRAME_-64905_SEC_AXIS = 'Y'
FRAME_-64905_SEC_VECTOR_DEF = 'CONSTANT'
FRAME_-64905_SEC_SPEC = 'RECTANGULAR'
FRAME_-64905_SEC_VECTOR = ( 0.0, 0.0, -1.0 )
FRAME_-64905_SEC_FRAME = 'ECLIPJ2000'
\begintext
The Radial-Tangential-Normal w.r.t. Bennu frame -- ORX_RTN_BENNU -- is
defined as follows:
- +X axis points from the center of Bennu to the center of mass
of the spacecraft (primary)
- +Y axis points in the direction of the inertial spacecraft
velocity w.r.t. Bennu (secondary)
- +Z axis completes the right handed frame and is aligned with
the spacecraft's orbital angular momentum w.r.t. Bennu
- the origin of the frame is at the spacecraft center of mass.
This frame is defined as a two-vector style dynamic frame below.
\begindata
FRAME_ORX_RTN_BENNU = -64906
FRAME_-64906_NAME = 'ORX_RTN_BENNU'
FRAME_-64906_CLASS = 5
FRAME_-64906_CLASS_ID = -64906
FRAME_-64906_CENTER = 'ORX'
FRAME_-64906_RELATIVE = 'J2000'
FRAME_-64906_DEF_STYLE = 'PARAMETERIZED'
FRAME_-64906_FAMILY = 'TWO-VECTOR'
FRAME_-64906_PRI_AXIS = 'X'
FRAME_-64906_PRI_VECTOR_DEF = 'OBSERVER_TARGET_POSITION'
FRAME_-64906_PRI_OBSERVER = 'BENNU'
FRAME_-64906_PRI_TARGET = 'ORX'
FRAME_-64906_PRI_ABCORR = 'NONE'
FRAME_-64906_SEC_AXIS = 'Y'
FRAME_-64906_SEC_VECTOR_DEF = 'OBSERVER_TARGET_VELOCITY'
FRAME_-64906_SEC_OBSERVER = 'BENNU'
FRAME_-64906_SEC_TARGET = 'ORX'
FRAME_-64906_SEC_ABCORR = 'NONE'
FRAME_-64906_SEC_FRAME = 'J2000'
\begintext
The Radial-Tangential-Normal w.r.t. Earth frame -- ORX_RTN_EARTH --
is defined as follows:
- +X axis points from the center of Earth to the center of mass
of the spacecraft (primary)
- +Y axis points in the direction of the inertial spacecraft
velocity w.r.t. Earth (secondary)
- +Z axis completes the right handed frame and is aligned with
the spacecraft's orbital angular momentum w.r.t. Earth
- the origin of the frame is at the spacecraft center of mass.
This frame is defined as a two-vector style dynamic frame below.
\begindata
FRAME_ORX_RTN_EARTH = -64907
FRAME_-64907_NAME = 'ORX_RTN_EARTH'
FRAME_-64907_CLASS = 5
FRAME_-64907_CLASS_ID = -64907
FRAME_-64907_CENTER = 'ORX'
FRAME_-64907_RELATIVE = 'J2000'
FRAME_-64907_DEF_STYLE = 'PARAMETERIZED'
FRAME_-64907_FAMILY = 'TWO-VECTOR'
FRAME_-64907_PRI_AXIS = 'X'
FRAME_-64907_PRI_VECTOR_DEF = 'OBSERVER_TARGET_POSITION'
FRAME_-64907_PRI_OBSERVER = 'EARTH'
FRAME_-64907_PRI_TARGET = 'ORX'
FRAME_-64907_PRI_ABCORR = 'NONE'
FRAME_-64907_SEC_AXIS = 'Y'
FRAME_-64907_SEC_VECTOR_DEF = 'OBSERVER_TARGET_VELOCITY'
FRAME_-64907_SEC_OBSERVER = 'EARTH'
FRAME_-64907_SEC_TARGET = 'ORX'
FRAME_-64907_SEC_ABCORR = 'NONE'
FRAME_-64907_SEC_FRAME = 'J2000'
\begintext
The Radial-Tangential-Normal w.r.t. Sun frame -- ORX_RTN_SUN --
is defined as follows:
- +X axis points from the center of Sun to the center of mass
of the spacecraft (primary)
- +Y axis points in the direction of the inertial spacecraft
velocity w.r.t. Sun (secondary)
- +Z axis completes the right handed frame and is aligned with
the spacecraft's orbital angular momentum w.r.t. Sun
- the origin of the frame is at the spacecraft center of mass.
This frame is defined as a two-vector style dynamic frame below.
\begindata
FRAME_ORX_RTN_SUN = -64908
FRAME_-64908_NAME = 'ORX_RTN_SUN'
FRAME_-64908_CLASS = 5
FRAME_-64908_CLASS_ID = -64908
FRAME_-64908_CENTER = 'ORX'
FRAME_-64908_RELATIVE = 'J2000'
FRAME_-64908_DEF_STYLE = 'PARAMETERIZED'
FRAME_-64908_FAMILY = 'TWO-VECTOR'
FRAME_-64908_PRI_AXIS = 'X'
FRAME_-64908_PRI_VECTOR_DEF = 'OBSERVER_TARGET_POSITION'
FRAME_-64908_PRI_OBSERVER = 'SUN'
FRAME_-64908_PRI_TARGET = 'ORX'
FRAME_-64908_PRI_ABCORR = 'NONE'
FRAME_-64908_SEC_AXIS = 'Y'
FRAME_-64908_SEC_VECTOR_DEF = 'OBSERVER_TARGET_VELOCITY'
FRAME_-64908_SEC_OBSERVER = 'SUN'
FRAME_-64908_SEC_TARGET = 'ORX'
FRAME_-64908_SEC_ABCORR = 'NONE'
FRAME_-64908_SEC_FRAME = 'J2000'
\begintext
The ``VIEW2'' w.r.t. Bennu frame -- ORX_VIEW2_BENNU -- is defined as
follows:
- +Y axis points along the inertial spacecraft velocity w.r.t.
Bennu (primary)
- +X axis points in the direction from the center of Bennu to
the center of mass of the spacecraft (secondary)
- +Z axis completes the right handed frame and is aligned with
the spacecraft's orbital angular momentum w.r.t. Bennu
- the origin of the frame is at the spacecraft center of mass.
This frame is defined as a two-vector style dynamic frame below.
\begindata
FRAME_ORX_VIEW2_BENNU = -64909
FRAME_-64909_NAME = 'ORX_VIEW2_BENNU'
FRAME_-64909_CLASS = 5
FRAME_-64909_CLASS_ID = -64909
FRAME_-64909_CENTER = 'ORX'
FRAME_-64909_RELATIVE = 'J2000'
FRAME_-64909_DEF_STYLE = 'PARAMETERIZED'
FRAME_-64909_FAMILY = 'TWO-VECTOR'
FRAME_-64909_PRI_AXIS = 'Y'
FRAME_-64909_PRI_VECTOR_DEF = 'OBSERVER_TARGET_VELOCITY'
FRAME_-64909_PRI_OBSERVER = 'BENNU'
FRAME_-64909_PRI_TARGET = 'ORX'
FRAME_-64909_PRI_ABCORR = 'NONE'
FRAME_-64909_PRI_FRAME = 'J2000'
FRAME_-64909_SEC_AXIS = 'X'
FRAME_-64909_SEC_VECTOR_DEF = 'OBSERVER_TARGET_POSITION'
FRAME_-64909_SEC_OBSERVER = 'BENNU'
FRAME_-64909_SEC_TARGET = 'ORX'
FRAME_-64909_SEC_ABCORR = 'NONE'
\begintext
The ``VIEW2'' w.r.t. Earth frame -- ORX_VIEW2_EARTH -- is defined as
follows:
- +Y axis points along the inertial spacecraft velocity w.r.t.
Earth (primary)
- +X axis points in the direction from the center of Earth to
the center of mass of the spacecraft (secondary)
- +Z axis completes the right handed frame and is aligned with
the spacecraft's orbital angular momentum w.r.t. Earth
- the origin of the frame is at the spacecraft center of mass.
This frame is defined as a two-vector style dynamic frame below.
\begindata
FRAME_ORX_VIEW2_EARTH = -64910
FRAME_-64910_NAME = 'ORX_VIEW2_EARTH'
FRAME_-64910_CLASS = 5
FRAME_-64910_CLASS_ID = -64910
FRAME_-64910_CENTER = 'ORX'
FRAME_-64910_RELATIVE = 'J2000'
FRAME_-64910_DEF_STYLE = 'PARAMETERIZED'
FRAME_-64910_FAMILY = 'TWO-VECTOR'
FRAME_-64910_PRI_AXIS = 'Y'
FRAME_-64910_PRI_VECTOR_DEF = 'OBSERVER_TARGET_VELOCITY'
FRAME_-64910_PRI_OBSERVER = 'EARTH'
FRAME_-64910_PRI_TARGET = 'ORX'
FRAME_-64910_PRI_ABCORR = 'NONE'
FRAME_-64910_PRI_FRAME = 'J2000'
FRAME_-64910_SEC_AXIS = 'X'
FRAME_-64910_SEC_VECTOR_DEF = 'OBSERVER_TARGET_POSITION'
FRAME_-64910_SEC_OBSERVER = 'EARTH'
FRAME_-64910_SEC_TARGET = 'ORX'
FRAME_-64910_SEC_ABCORR = 'NONE'
\begintext
The ``VIEW2'' w.r.t. Sun frame -- ORX_VIEW2_SUN -- is defined as
follows:
- +Y axis points along the inertial spacecraft velocity w.r.t.
Sun (primary)
- +X axis points in the direction from the center of Sun to
the center of mass of the spacecraft (secondary)
- +Z axis completes the right handed frame and is aligned with
the spacecraft's orbital angular momentum w.r.t. Sun
- the origin of the frame is at the spacecraft center of mass.
This frame is defined as a two-vector style dynamic frame below.
\begindata
FRAME_ORX_VIEW2_SUN = -64911
FRAME_-64911_NAME = 'ORX_VIEW2_SUN'
FRAME_-64911_CLASS = 5
FRAME_-64911_CLASS_ID = -64911
FRAME_-64911_CENTER = 'ORX'
FRAME_-64911_RELATIVE = 'J2000'
FRAME_-64911_DEF_STYLE = 'PARAMETERIZED'
FRAME_-64911_FAMILY = 'TWO-VECTOR'
FRAME_-64911_PRI_AXIS = 'Y'
FRAME_-64911_PRI_VECTOR_DEF = 'OBSERVER_TARGET_VELOCITY'
FRAME_-64911_PRI_OBSERVER = 'SUN'
FRAME_-64911_PRI_TARGET = 'ORX'
FRAME_-64911_PRI_ABCORR = 'NONE'
FRAME_-64911_PRI_FRAME = 'J2000'
FRAME_-64911_SEC_AXIS = 'X'
FRAME_-64911_SEC_VECTOR_DEF = 'OBSERVER_TARGET_POSITION'
FRAME_-64911_SEC_OBSERVER = 'SUN'
FRAME_-64911_SEC_TARGET = 'ORX'
FRAME_-64911_SEC_ABCORR = 'NONE'
\begintext
Spacecraft Bus Frame
-----------------------------------------------------------
The spacecraft bus frame -- ORX_SPACECRAFT -- is defined by the s/c
design as follows (from [4]):
- +X axis is parallel to the HGA boresight
- +Z axis is normal to the forward (payload) deck
- +Y axis completes the right hand frame
- the origin of the frame is at the center of payload deck.
These diagrams illustrate the s/c frame:
+X side view:
-------------
+Zsc ^
|
.------------------. | .------------------.
| | Payload | | |
| | Deck . --|-- . | |
| | .-----.' o--------> -. | |
| | | .` +Xsc +Ysc | | |
| | | | | | | |
| | | | o | | | |
| | | | | | | |
| -Y solar \ | `. .' | / +Y solar |
| array || HGA `. .' || array |
`-------------------@`-------` ----- '-------'@-------------------'
| |
`-------'
\_/ Main Engine
+Xsc is out of the page.
+Z side view:
-------------
.-------. .-------.
| \.___./ |
| |___| TAGSAM |
|Payload |
| Deck ... |
| +Zsc `. +Ysc |
| | o--------> |
| `. | .' |
| `|` SRC |
-Y solar | | | +Y solar
array | .----|----. | array
====================@`----.' v `.----'@====================
`- +Xsc ------'
`-. .-'
`-.-' HGA
+Zsc is out of the page.
+Y side view:
-------------