KPL/FK Chandrayaan-1 Frames Kernel ======================================================================== This frame kernel contains complete set of frame definitions for the Chandrayaan-1 Spacecraft (CH1) including definitions for the Chandrayaan-1 spacecraft and Chandrayaan-1 science instrument and engineering structure frames. This kernel also contains NAIF ID/name mapping for the Chandrayaan-1 instruments. Version and Date ======================================================================== Version 0.0 -- December 14, 2007 -- CH1 SPICE Class Preliminary Version. Pending review and approval by Chandrayaan-1 instrument teams. References ======================================================================== 1. ``Frames Required Reading'' 2. ``Kernel Pool Required Reading'' 3. ``C-Kernel Required Reading'' 4. Chandrayaan-1 Web Site. 5. Chandrayaan-1: Star Sensor Mounting (Rev 1.0), Aug 9, 2007 Contact Information ======================================================================== CH1 Project. Implementation Notes ======================================================================== This file is used by the SPICE system as follows: programs that make use of this frame kernel must `load' the kernel, normally during program initialization. The SPICELIB routine FURNSH and CSPICE function furnsh_c load a kernel file into the kernel pool as shown below. CALL FURNSH ( 'frame_kernel_name' ) furnsh_c ( "frame_kernel_name" ); This file was created and may be updated with a text editor or word processor. Chandrayaan-1 Mission NAIF ID Codes -- Summary Section ======================================================================== The following names and NAIF ID codes are assigned to the Chandrayaan-1 spacecraft, its structures and science instruments (the keywords implementing these definitions are located in the section "Chandrayaan-1 Mission NAIF ID Codes -- Definition Section" at the end of this file): Chandrayaan-1 Spacecraft and Spacecraft Structures names/IDs: CHANDRAYAAN-1 -86 CH1 -86 CH1_SPACECRAFT -86000 CH1_SA -86010 CH1_SA_GIMBAL -86011 CH1_HGA -86040 CH1_HGA_GIMBAL -86041 CH1_SN1 -86051 CH1_SN2 -86052 CH1_TMC -86070 CH1_TMC_AFT -86071 CH1_TMC_NADIR -86072 CH1_TMC_FORE -86073 CH1_LLRI -86080 CH1_LLRI_BEAM -86081 CH1_LLRI_RECEIVER -86082 CH1_CIXS -86090 CH1_XSM -86095 CH1_HEX -86100 CH1_HYSI -86200 CH1_MINI-SAR -86300 CH1_M3 -86400 CH1_RADOM -86500 CH1_CENA -86600 CH1_SWIM -86610 CH1_SIR2 -86700 Chandrayaan-1 Frames ======================================================================== The following Chandrayaan-1 frames are defined in this kernel file: Name Relative to Type NAIF ID ====================== =================== ============ ======= CH1_SPACECRAFT J2000 CK -86000 CH1_SA CH1_SA_GIMBAL FIXED -86010 CH1_SA_GIMBAL CH1_SPACECRAFT CK -86011 CH1_HGA CH1_HGA_GIMBAL FIXED -86040 CH1_HGA_GIMBAL CH1_SPACECRAFT CK -86041 CH1_SN1 CH1_SPACECRAFT FIXED -86051 CH1_SN2 CH1_SPACECRAFT FIXED -86052 CH1_TMC CH1_SPACECRAFT FIXED -86070 CH1_TMC_AFT CH1_TMC FIXED -86071 CH1_TMC_NADIR CH1_TMC FIXED -86072 CH1_TMC_FORE CH1_TMC FIXED -86073 CH1_LLRI CH1_SPACECRAFT FIXED -86080 CH1_LLRI_BEAM CH1_LLRI FIXED -86081 CH1_LLRI_RECEIVER CH1_LLRI FIXED -86082 CH1_CIXS CH1_SPACECRAFT FIXED -86090 CH1_XSM CH1_SPACECRAFT FIXED -86095 CH1_HEX CH1_SPACECRAFT FIXED -86100 CH1_HYSI CH1_SPACECRAFT FIXED -86200 CH1_MINI-SAR CH1_SPACECRAFT FIXED -86300 CH1_M3 CH1_SPACECRAFT FIXED -86400 CH1_RADOM CH1_SPACECRAFT FIXED -86500 CH1_CENA CH1_SPACECRAFT FIXED -86600 CH1_SWIM CH1_SPACECRAFT FIXED -86610 CH1_SIR2 CH1_SPACECRAFT FIXED -86700 Frame Tree ======================================================================== The diagram below shows the frame hierarchy for the Chandrayaan-1 spacecraft and its structure frame. "J2000" INERTIAL +-----------------------------------------------------+ | | | |<-pck |<-ck |<-pck | | | V | V "IAU_MOON" | "MOON_PA" MOON BFXD | MOON HIGH-PREC BFXD ------------- | ------------------- | | | | | "CH1_SN1/2" | ----------- | ^ | | | |<-fixed | | V | "CH1_SPACECRAFT" +-----------------------------------------------------+ | | | | |<-ck |<-ck |<-fixed |<-fixed | | | | V V V V "CH1_SA_GIMBAL" "CH1_HGA_GIMBAL" "CH1_TMC" "CH1_LLRI" --------------- --------------- ------------ ---------- | | | | |<-fixed |<-fixed |<-fixed |<-fixed | | | | V V V V "CH1_SA" "CH1_HGA" "AFT" "NADIR" "FORE" "BEAM" "RECEIVER" -------- --------- ----- ------- ------ ------ ---------- CH1 Spacecraft Frame ======================================================================== CH1_SPACECRAFT J2000 CK -86000 CH1 Spacecraft Frame -------------------------------------- The CH1 spacecraft frame is defined as follows: - +Z towards solar array side -- positive or negative normal to orbit plane - +X is along instrument boresights - towards Moon - +Y towards MIP side -- along velocity or along anti-velocity - the origin of this frame is the launch vehicle interface point. These diagrams illustrate the CH1_SPACECRAFT frame: To be completed. Since the orientation of the CH1_SPACECRAFT frame is computed on-board, sent down in telemetry, and stored in the s/c CK files, it is defined as a CK-based frame. \begindata FRAME_CH1_SPACECRAFT = -86000 FRAME_-86000_NAME = 'CH1_SPACECRAFT' FRAME_-86000_CLASS = 3 FRAME_-86000_CLASS_ID = -86000 FRAME_-86000_CENTER = -86 CK_-86000_SCLK = -86 CK_-86000_SPK = -86 \begintext Star Sensor Frames ======================================================================== CH1_SN1 CH1_SPACECRAFT FIXED -86051 CH1_SN2 CH1_SPACECRAFT FIXED -86052 The star sensor frames, CH1_SN1 and CH1_SN2, are defined as follows: - +X axis is TBD - +Y axis is TBD - +Z axis is TBD - the origin of the frame is located at the camera focal point. This diagram illustrates the star sensor frames: To be completed. The orienation of the star sensor frame is given by the following sensor-to-body quaternion (from [5]): [0.3099752106 -0.0123407149 0.6355433650 0.7069990854] \begindata FRAME_CH1_SN1 = -86051 FRAME_-86051_NAME = 'CH1_SN1' FRAME_-86051_CLASS = 4 FRAME_-86051_CLASS_ID = -86051 FRAME_-86051_CENTER = -86 TKFRAME_-86051_RELATIVE = 'CH1_SPACECRAFT' TKFRAME_-86051_SPEC = 'QUATERNION' TKFRAME_-86051_Q = ( 0.7069990854 -0.3099752106 0.0123407149 -0.6355433650 ) \begintext Solar Array Frames ======================================================================== CH1_SA CH1_SA_GIMBAL FIXED -86010 CH1_SA_GIMBAL CH1_SPACECRAFT CK -86011 Antenna Frames ======================================================================== CH1_HGA CH1_HGA_GIMBAL FIXED -86040 CH1_HGA_GIMBAL CH1_SPACECRAFT CK -86041 TMC Frames ======================================================================== The TMC camera frame, CH1_TMC, is defined as follows: - +X axis points along the camera boresight; - +Z axis is parallel to the nadir detecor line. - +Y axis completes the right handed frame - the origin of the frame is located at the camera focal point. This diagram illustrates the TMC camera frame: To be completed. Nominally, the TMC frame are co-aligned with the s/c frame. \begindata FRAME_CH1_TMC = -86070 FRAME_-86070_NAME = 'CH1_TMC' FRAME_-86070_CLASS = 4 FRAME_-86070_CLASS_ID = -86070 FRAME_-86070_CENTER = -86 TKFRAME_-86070_RELATIVE = 'CH1_SPACECRAFT' TKFRAME_-86070_SPEC = 'ANGLES' TKFRAME_-86070_UNITS = 'DEGREES' TKFRAME_-86070_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-86070_AXES = ( 1, 2, 3 ) \begintext The TMC camera detector frames, CH1_TMC_AFT, CH1_TMC_NADIR, CH1_TMC_FORE, are defined as follows: - +X axis points along the detector boresight; - +Z axis is parallel to the detecor lines. - +Y axis completes the right handed frame - the origin of the frame is located at the camera focal point. This diagram illustrates the TMC detector camera frames: To be completed. The NADIR detector frame is co-aligned with the camera frame. The FORE detector frame is rotated 25 degrees about +Z relative to the camera frame. The AFT detector frame is rotated -25 degrees about +Z relative to the camera frame. \begindata FRAME_CH1_TMC_AFT = -86071 FRAME_-86071_NAME = 'CH1_TMC_AFT' FRAME_-86071_CLASS = 4 FRAME_-86071_CLASS_ID = -86071 FRAME_-86071_CENTER = -86 TKFRAME_-86071_RELATIVE = 'CH1_TMC' TKFRAME_-86071_SPEC = 'ANGLES' TKFRAME_-86071_UNITS = 'DEGREES' TKFRAME_-86071_ANGLES = ( 0.0, 0.0, 25.0 ) TKFRAME_-86071_AXES = ( 1, 2, 3 ) FRAME_CH1_TMC_NADIR = -86072 FRAME_-86072_NAME = 'CH1_TMC_NADIR' FRAME_-86072_CLASS = 4 FRAME_-86072_CLASS_ID = -86072 FRAME_-86072_CENTER = -86 TKFRAME_-86072_RELATIVE = 'CH1_TMC' TKFRAME_-86072_SPEC = 'ANGLES' TKFRAME_-86072_UNITS = 'DEGREES' TKFRAME_-86072_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-86072_AXES = ( 1, 2, 3 ) FRAME_CH1_TMC_FORE = -86073 FRAME_-86073_NAME = 'CH1_TMC_FORE' FRAME_-86073_CLASS = 4 FRAME_-86073_CLASS_ID = -86073 FRAME_-86073_CENTER = -86 TKFRAME_-86073_RELATIVE = 'CH1_TMC' TKFRAME_-86073_SPEC = 'ANGLES' TKFRAME_-86073_UNITS = 'DEGREES' TKFRAME_-86073_ANGLES = ( 0.0, 0.0, -25.0 ) TKFRAME_-86073_AXES = ( 1, 2, 3 ) \begintext LLRI Frames ======================================================================== The LLRI frames, CH1_LLRI, CH1_LLRI_BEAM, CH1_LLRI_RECEIVER, are defined as follows: - +X axis points along the boresight; - +Z axis is parallel to the s/c +Z. - +Y axis completes the right handed frame - the origin of the frame is located at the receiver focal point. This diagram illustrates the LLRI frames: To be completed. Nominally, the LLRI frames are co-aligned with the s/c frame. \begindata FRAME_CH1_LLRI = -86080 FRAME_-86080_NAME = 'CH1_LLRI' FRAME_-86080_CLASS = 4 FRAME_-86080_CLASS_ID = -86080 FRAME_-86080_CENTER = -86 TKFRAME_-86080_RELATIVE = 'CH1_SPACECRAFT' TKFRAME_-86080_SPEC = 'ANGLES' TKFRAME_-86080_UNITS = 'DEGREES' TKFRAME_-86080_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-86080_AXES = ( 1, 2, 3 ) FRAME_CH1_LLRI_BEAM = -86081 FRAME_-86081_NAME = 'CH1_LLRI_BEAM' FRAME_-86081_CLASS = 4 FRAME_-86081_CLASS_ID = -86081 FRAME_-86081_CENTER = -86 TKFRAME_-86081_RELATIVE = 'CH1_LLRI' TKFRAME_-86081_SPEC = 'ANGLES' TKFRAME_-86081_UNITS = 'DEGREES' TKFRAME_-86081_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-86081_AXES = ( 1, 2, 3 ) FRAME_CH1_LLRI_RECEIVER = -86082 FRAME_-86082_NAME = 'CH1_LLRI_RECEIVER' FRAME_-86082_CLASS = 4 FRAME_-86082_CLASS_ID = -86082 FRAME_-86082_CENTER = -86 TKFRAME_-86082_RELATIVE = 'CH1_LLRI' TKFRAME_-86082_SPEC = 'ANGLES' TKFRAME_-86082_UNITS = 'DEGREES' TKFRAME_-86082_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-86082_AXES = ( 1, 2, 3 ) \begintext HYSI Frames ======================================================================== bore signt (nominal) = +X(+yaw) FOV : about Z pitch +/- 15 deg about Y Roll +/- 8 deg \begindata FRAME_CH1_HYSI = -86200 FRAME_-86200_NAME = 'CH1_HYSI' FRAME_-86200_CLASS = 4 FRAME_-86200_CLASS_ID = -86200 FRAME_-86200_CENTER = -86 TKFRAME_-86200_RELATIVE = 'CH1_SPACECRAFT' TKFRAME_-86200_SPEC = 'ANGLES' TKFRAME_-86200_UNITS = 'DEGREES' TKFRAME_-86200_ANGLES = ( 0.011111, 0.186667, 0.522500 ) TKFRAME_-86200_AXES = ( 1, 2, 3 ) \begintext RADOM Frames ======================================================================== Normal to detector (boresignt) + Roll FOV +/- 180 deg about pitch \begindata FRAME_CH1_RADOM = -86500 FRAME_-86500_NAME = 'CH1_RADOM' FRAME_-86500_CLASS = 4 FRAME_-86500_CLASS_ID = -86500 FRAME_-86500_CENTER = -86 TKFRAME_-86500_RELATIVE = 'CH1_SPACECRAFT' TKFRAME_-86500_SPEC = 'ANGLES' TKFRAME_-86500_UNITS = 'DEGREES' TKFRAME_-86500_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-86500_AXES = ( 1, 2, 3 ) \begintext SARA (CENA and SWIM) Frames ======================================================================== CENA : Detector Normal (nadir) is + Yaw(+X) (instrument boresight) FOV : + 10 deg (towards +Roll) : - 0 deg (towards -Roll) \begindata FRAME_CH1_CENA = -86600 FRAME_-86600_NAME = 'CH1_CENA' FRAME_-86600_CLASS = 4 FRAME_-86600_CLASS_ID = -86600 FRAME_-86600_CENTER = -86 TKFRAME_-86600_RELATIVE = 'CH1_SPACECRAFT' TKFRAME_-86600_SPEC = 'ANGLES' TKFRAME_-86600_UNITS = 'DEGREES' TKFRAME_-86600_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-86600_AXES = ( 1, 2, 3 ) \begintext SWIM Frames ======================================================================= SWIM : Detector Normal (nadir) +Pitch(+Z) (instrument boresight) FOV : +/- 180 deg about Y (Roll) +/- 9 deg about X (Yaw) \begindata FRAME_CH1_SWIM = -86610 FRAME_-86610_NAME = 'CH1_SWIM' FRAME_-86610_CLASS = 4 FRAME_-86610_CLASS_ID = -86610 FRAME_-86610_CENTER = -86 TKFRAME_-86610_RELATIVE = 'CH1_SPACECRAFT' TKFRAME_-86610_SPEC = 'ANGLES' TKFRAME_-86610_UNITS = 'DEGREES' TKFRAME_-86610_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-86610_AXES = ( 1, 2, 3 ) \begintext HEX Frames ======================================================================== Boresight : +X(+Yaw) FOV : +/- 11.4 deg about Pitch and Roll \begindata FRAME_CH1_HEX = -86100 FRAME_-86100_NAME = 'CH1_HEX' FRAME_-86100_CLASS = 4 FRAME_-86100_CLASS_ID = -86100 FRAME_-86100_CENTER = -86 TKFRAME_-86100_RELATIVE = 'CH1_SPACECRAFT' TKFRAME_-86100_SPEC = 'ANGLES' TKFRAME_-86100_UNITS = 'DEGREES' TKFRAME_-86100_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-86100_AXES = ( 1, 2, 3 ) \begintext MINI-SAR Frames ======================================================================== FOV : +32.85 deg about roll \begindata FRAME_CH1_MINI-SAR = -86300 FRAME_-86300_NAME = 'CH1_MINI-SAR' FRAME_-86300_CLASS = 4 FRAME_-86300_CLASS_ID = -86300 FRAME_-86300_CENTER = -86 TKFRAME_-86300_RELATIVE = 'CH1_SPACECRAFT' TKFRAME_-86300_SPEC = 'ANGLES' TKFRAME_-86300_UNITS = 'DEGREES' TKFRAME_-86300_ANGLES = ( 0.007778,- 0.407222, 0.224722 ) TKFRAME_-86300_AXES = ( 1, 2, 3 ) \begintext M3 Frames ======================================================================== Boresight : +X FOV : +/- 22 deg ( about Z and Y)(i.e (Pitch and Roll) \begindata FRAME_CH1_M3 = -86400 FRAME_-86400_NAME = 'CH1_M3' FRAME_-86400_CLASS = 4 FRAME_-86400_CLASS_ID = -86400 FRAME_-86400_CENTER = -86 TKFRAME_-86400_RELATIVE = 'CH1_SPACECRAFT' TKFRAME_-86400_SPEC = 'ANGLES' TKFRAME_-86400_UNITS = 'DEGREES' TKFRAME_-86400_ANGLES = ( 1.316667,-0.658611, -0.875000 ) TKFRAME_-86400_AXES = ( 1, 2, 3 ) \begintext C1XS AND XSM Frames ======================================================================== Boresight : +Yaw FOV : +/- 17.5 deg about Roll(Y) +/- 17.5 deg about Pitch(Z) \begindata FRAME_CH1_C1XS = -86090 FRAME_-86090_NAME = 'CH1_C1XS' FRAME_-86090_CLASS = 4 FRAME_-86090_CLASS_ID = -86090 FRAME_-86090_CENTER = -86 TKFRAME_-86090_RELATIVE = 'CH1_SPACECRAFT' TKFRAME_-86090_SPEC = 'ANGLES' TKFRAME_-86090_UNITS = 'DEGREES' TKFRAME_-86090_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-86090_AXES = ( 1, 2, 3 ) \begintext XSM Frames ========================================================================= FOV : +/- 52.5 deg \begindata FRAME_CH1_XSM = -86095 FRAME_-86095_NAME = 'CH1_XSM' FRAME_-86095_CLASS = 4 FRAME_-86095_CLASS_ID = -86095 FRAME_-86095_CENTER = -86 TKFRAME_-86095_RELATIVE = 'CH1_SPACECRAFT' TKFRAME_-86095_SPEC = 'ANGLES' TKFRAME_-86095_UNITS = 'DEGREES' TKFRAME_-86095_ANGLES = ( 0.0, 0.0, 0.0 )No alignment TKFRAME_-86095_AXES = ( 1, 2, 3 ) \begintext SIR-2 Frames ======================================================================== Boresight : +Yaw(+X) FOV : About Roll = - 0 deg 8' 18.16'' : About Pitch = - 0 deg 3' 12.53'' \begindata FRAME_CH1_SIR-2 = -86700 FRAME_-86700_NAME = 'CH1_SIR2' FRAME_-86700_CLASS = 4 FRAME_-86700_CLASS_ID = -86700 FRAME_-86700_CENTER = -86 TKFRAME_-86700_RELATIVE = 'CH1_SPACECRAFT' TKFRAME_-86700_SPEC = 'ANGLES' TKFRAME_-86700_UNITS = 'DEGREES' TKFRAME_-86700_ANGLES = ( 0.0, -0.138377777777778, 0.05348055555555556) TKFRAME_-86700_AXES = ( 1, 2, 3 ) \begintext CH1 Mission NAIF ID Codes -- Definition Section ======================================================================== This section contains name to NAIF ID mappings for the CH1 mission. \begindata NAIF_BODY_NAME += ( 'CHANDRAYAAN-1' ) NAIF_BODY_CODE += ( -86 ) NAIF_BODY_NAME += ( 'CH1' ) NAIF_BODY_CODE += ( -86 ) NAIF_BODY_NAME += ( 'CH1_SPACECRAFT' ) NAIF_BODY_CODE += ( -86000 ) NAIF_BODY_NAME += ( 'CH1_SA' ) NAIF_BODY_CODE += ( -86010 ) NAIF_BODY_NAME += ( 'CH1_SA_GIMBAL' ) NAIF_BODY_CODE += ( -86011 ) NAIF_BODY_NAME += ( 'CH1_HGA' ) NAIF_BODY_CODE += ( -86040 ) NAIF_BODY_NAME += ( 'CH1_HGA_GIMBAL' ) NAIF_BODY_CODE += ( -86041 ) NAIF_BODY_NAME += ( 'CH1_TMC' ) NAIF_BODY_CODE += ( -86070 ) NAIF_BODY_NAME += ( 'CH1_TMC_AFT' ) NAIF_BODY_CODE += ( -86071 ) NAIF_BODY_NAME += ( 'CH1_TMC_NADIR' ) NAIF_BODY_CODE += ( -86072 ) NAIF_BODY_NAME += ( 'CH1_TMC_FORE' ) NAIF_BODY_CODE += ( -86073 ) NAIF_BODY_NAME += ( 'CH1_LLRI' ) NAIF_BODY_CODE += ( -86080 ) NAIF_BODY_NAME += ( 'CH1_LLRI_BEAM' ) NAIF_BODY_CODE += ( -86081 ) NAIF_BODY_NAME += ( 'CH1_LLRI_RECEIVER' ) NAIF_BODY_CODE += ( -86082 ) NAIF_BODY_NAME += ( 'CH1_SN1' ) NAIF_BODY_CODE += ( -86051 ) NAIF_BODY_NAME += ( 'CH1_SN2' ) NAIF_BODY_CODE += ( -86052 ) NAIF_BODY_NAME += ( 'CH1_CIXS' ) NAIF_BODY_CODE += ( -86090 ) NAIF_BODY_NAME += ( 'CH1_XSM' ) NAIF_BODY_CODE += ( -86095 ) NAIF_BODY_NAME += ( 'CH1_HEX' ) NAIF_BODY_CODE += ( -86100 ) NAIF_BODY_NAME += ( 'CH1_HYSI' ) NAIF_BODY_CODE += ( -86200 ) NAIF_BODY_NAME += ( 'CH1_MINI-SAR' ) NAIF_BODY_CODE += ( -86300 ) NAIF_BODY_NAME += ( 'CH1_M3' ) NAIF_BODY_CODE += ( -86400 ) NAIF_BODY_NAME += ( 'CH1_RADOM' ) NAIF_BODY_CODE += ( -86500 ) NAIF_BODY_NAME += ( 'CH1_CENA' ) NAIF_BODY_CODE += ( -86600 ) NAIF_BODY_NAME += ( 'CH1_SWIM' ) NAIF_BODY_CODE += ( -86610 ) NAIF_BODY_NAME += ( 'CH1_SIR2' ) NAIF_BODY_CODE += ( -86700 ) \begintext