KPL/FK Ramses Spacecraft Frames Kernel ============================================================================= This frame kernel contains complete set of frame definitions for the Ramses (named after the Greek goddess of marriage) including definitions for the Ramses fixed and Ramses science instrument frames. This kernel also contains NAIF ID/name mapping for the Ramses science instruments and s/c structures (see the last section of the file). Version and Date ----------------------------------------------------------------------------- Version 0.0 -- March 28, 2025 -- Alfredo Escalante Lopez, ESAC/ESA Preliminary Version. Only basic ID and frame definitions. References ----------------------------------------------------------------------------- 1. ``Frames Required Reading'' 2. ``Kernel Pool Required Reading'' 3. ``C-Kernel Required Reading'' Contact Information ----------------------------------------------------------------------------- If you have any questions regarding this file contact the ESA SPICE Service at ESAC: Alfredo Escalante Lopez (+34) 91-8131-429 spice@cosmos.esa.int or NAIF at JPL: Boris Semenov +1 (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. Loading the kernel associates the data items with their names in a data structure called the "kernel pool". The SPICELIB routine FURNSH loads a kernel into the pool as shown below: FORTRAN: (SPICELIB) CALL FURNSH ( frame_kernel_name ) C: (CSPICE) furnsh_c ( frame_kernel_name ); IDL: (ICY) cspice_furnsh, frame_kernel_name MATLAB: (MICE) cspice_furnsh ( 'frame_kernel_name' ) PYTHON: (SPICEYPY)* furnsh( frame_kernel_name ) In order for a program or routine to extract data from the pool, the SPICELIB routines GDPOOL, GIPOOL, and GCPOOL are used. See [2] for more details. This file was created and may be updated with a text editor or word processor. * SPICEPY is a non-official, community developed Python wrapper for the NAIF SPICE toolkit. Its development is managed on Github. It is available at: https://github.com/AndrewAnnex/SpiceyPy Ramses Mission NAIF ID Codes ----------------------------------------------------------------------------- The following names and NAIF ID codes are assigned to the Ramses spacecraft, its structures and science instruments (the keywords implementing these definitions are located in the section "Ramses Mission NAIF ID Codes -- Definition Section" at the end of this file): Ramses Spacecraft and Spacecraft Structures names/IDs: RAMSES -92 RAMSES_SPACECRAFT -92000 (synonym: RAMSES_SC) Asteroid names/IDs: APOPHIS 2099942 Ramses Mission Frames ----------------------------------------------------------------------------- The following Ramses frames are defined in this kernel file: Name Relative to Type NAIF ID ====================== ======================== ========== ========= Spacecraft frames: ------------------ RAMSES_SPACECRAFT J2000 SWITCH -92000 RAMSES_SPACECRAFT_PLAN J2000 CK -92001 RAMSES_SPACECRAFT_MEAS J2000 CK -92002 In addition, the following frames, in use by the Ramses mission, are defined in other kernels or `built into' the SPICE system: Ramses mission specific science frame: ------------------------------------------- APOPHIS_FIXED J2000 PCK -2099942001 APOPHIS_CK J2000 CK -2099942000 SPICE 'Built-in' PCK frames in use by BepiColombo (3): ------------------------------------------------------ IAU_EARTH J2000 PCK built-in (3) Data for these frames is loaded using either the PCK file "pckVVVVV.tpc" (VVVVV is the version number) Ramses Frames Hierarchy ----------------------------------------------------------------------------- The diagram below shows the Ramses spacecraft and its structures frame hierarchy (not including science instrument frames.) "J2000" INERTIAL +-------------------+----------------+ | | | | |<-pck | |<-ck |<-pck | | | | V | V V "EARTH_FIXED" | "APOPHIS_CK" "APOPHIS_FIXED" ------------- | ------------ --------------- | |<-ck | V "RAMSES_SPACECRAFT" +------------------------+ | . |<-fixed . | . V . "RAMSES_HGA" . ------------ . . V Individual instrument frame trees are provided in the corresponding sections of this file Ramses Target Frames ======================================================================== This section of the file contains the body-fixed frame definition for one of the Ramses mission targets: asteroid Apophis. A body-fixed frame is defined for Apophis using standard body-fixed, PCK-based frame formation rules: - +Z axis is toward the North pole; - +X axis is toward the prime meridian; - +Y axis completes the right hand frame; - the origin of this frame is at the center of the body. The orientation of this frame is computed by evaluating corresponding rotation constants provided in the PCK file(s). \begindata FRAME_APOPHIS_FIXED = -2099942001 FRAME_-2099942001_NAME = 'APOPHIS_FIXED' FRAME_-2099942001_CLASS = 2 FRAME_-2099942001_CLASS_ID = -2099942001 FRAME_-2099942001_CENTER = 2099942 OBJECT_-2099942001_FRAME = 'APOPHIS_FIXED' \begintext Because the orientation of Apophis cannot be represented over long periods of time using the standard IAU body rotation formulation, a body-fixed CK-based frame, APOPHIS_CK, is defined for the asteroid. The orientation of this frame is computed using data provided in CK files for ID -2099942000, tagged with encoded ticks of the artificial SCLK with ID -2099942. The SCLK data supporting conversions between these ticks and Ephemeris Time are provided next to the APOPHIS_CK frame definition below. The APOPHIS_CK is the preferred body-fixed frame for the asteroid in all cases when the asteroid orientation CKs are available. As all other body-fixed frames, this frame has its axes and center aligned according to the standard body-fixed frame formation rules: - +Z axis is toward the North pole; - +X axis is toward the prime meridian; - +Y axis completes the right handed frame; - the origin of this frame is at the center of the body. The keywords below define the CK-based frame and accompanying SCLK parameters. \begindata FRAME_APOPHIS_CK = -2099942000 FRAME_-2099942000_NAME = 'APOPHIS_CK' FRAME_-2099942000_CLASS = 3 FRAME_-2099942000_CLASS_ID = -2099942000 FRAME_-2099942000_CENTER = 2099942 CK_-2099942000_SCLK = -2099942 CK_-2099942000_SPK = 2099942 SCLK_KERNEL_ID = ( @2021-06-17/12:00:00 ) SCLK_DATA_TYPE_2099942 = ( 1 ) SCLK01_TIME_SYSTEM_2099942 = ( 1 ) SCLK01_N_FIELDS_2099942 = ( 2 ) SCLK01_MODULI_2099942 = ( 3155760000 1000 ) SCLK01_OFFSETS_2099942 = ( 0 0 ) SCLK01_OUTPUT_DELIM_2099942 = ( 1 ) SCLK_PARTITION_START_2099942 = ( 0.00000E+00 ) SCLK_PARTITION_END_2099942 = ( 3.15576E+12 ) SCLK01_COEFFICIENTS_2099942 = ( 0.0 @2000-JAN-01-12:00:00.000 1.0 ) \begintext Ramses Spacecraft and Spacecraft Structures Frames ======================================================================== This section of the file contains the definitions of the spacecraft and spacecraft structures frames. Ramses Spacecraft Frame -------------------------------------- The Ramses spacecraft frame is defined as follows: - +Z axis is along the nominal boresight direction of the asteroid framing camera; - +X axis is along the nominal boresight direction of the HGA; - +Y axis completes the right-hand frame; - the origin of this frame is the launch vehicle interface point. These diagrams illustrate the RAMSES_SPACECRAFT frame: +X s/c side (HGA side) view: ---------------------------- ^ | toward asteroid | Science Deck .__ __..___________. .__________________ .___________..__ ___. | / / || |\ | ____ | /| || / / | | / / || | \ . .' `. . / | || \ \ | | \ \ || | \ | / | \ | / | || / / | | / / || | o| | _ O | |o | || \ \ | | \ \ || | / | +Zsc ^ \ / | \ | || / / | | / / || | / | `._|__.' | \ | || / / | .__\ \_..___________./ ._________|________. \.___________..__\ \__. /\ | /\ o-------> +Ysc +Xsc +Xsc is out of the page. +Z s/c side (science deck side) view: ------------------------------------- .________________. | | | +Ysc | o==/ /==-=============---o| +Zsc o-----> |o---===============-=/ /==o -Y Solar Array | | | +Y Solar Array .________|_______. .--V +Xsc HGA .' `. /___________\ `.|.' +Zsc is out of the page. The s/c bus attitude with respect to an inertial frame is provided by a Switch Frame (see [1] for more information) aligned with one of the different CK-based base frames (RAMSES_SPACECRAFT_MEAS or RAMSES_SPACECRAFT_PLAN) depending on coverage. RAMSES_SPACECRAFT_MEAS has priority over RAMSES_SPACECRAFT_PLAN whenever coverage for both is available. \begindata FRAME_RAMSES_SPACECRAFT = -92000 FRAME_-92000_NAME = 'RAMSES_SPACECRAFT' FRAME_-92000_CLASS = 6 FRAME_-92000_CLASS_ID = -92000 FRAME_-92000_CENTER = -92000 FRAME_-92000_ALIGNED_WITH = ( 'RAMSES_APOPHIS_NPO' 'RAMSES_SPACECRAFT_PLAN' 'RAMSES_SPACECRAFT_MEAS' ) \begintext The RAMSES spacecraft planning reference frame -- RAMSES_SPACECRAFT_PLAN -- is defined in order to accommodate the C-kernels that have been generated with a fictional SCLK kernel. These CK kernels contain predicted and test data and are used for planning purposes. The before-mentioned CKs are generated with a fictional SCLK kernel due to the fact that successive updates of the real SCLK kernel would lead to erroneous results for the predicted data provided by those kernels after the last Time Correlation Packet offered by the real SCLK. Since the s/c bus predicted attitude is defined with respect to an inertial frame and provided by a C-kernel (see [3] for more information), this frame is defined as a CK-based frame. These sets of keywords define the RAMSES_SPACECRAFT_PLAN frame. \begindata FRAME_RAMSES_SPACECRAFT_PLAN = -92001 FRAME_-92001_NAME = 'RAMSES_SPACECRAFT_PLAN' FRAME_-92001_CLASS = 3 FRAME_-92001_CLASS_ID = -92001 FRAME_-92001_CENTER = -92000 CK_-92001_SCLK = -92999 CK_-92001_SPK = -92 \begintext The RAMSES spacecraft measured reference frame -- RAMSES_SPACECRAFT_MEAS -- is defined in order to accommodate the C-kernels that have been generated with a real SCLK kernel. These C-kernels contain measured data from the housekeeping telemetry (commanded or as-flown) and are mainly used for data analysis. Since the s/c bus measured attitude is defined with respect to an inertial frame and provided by a C-kernel (see [3] for more information), this frame is defined as a CK-based frame. \begindata FRAME_RAMSES_SPACECRAFT_MEAS = -92002 FRAME_-92002_NAME = 'RAMSES_SPACECRAFT_MEAS' FRAME_-92002_CLASS = 3 FRAME_-92002_CLASS_ID = -92002 FRAME_-92002_CENTER = -92000 CK_-92002_SCLK = -92 CK_-92002_SPK = -92 \begintext Ramses NAIF ID Codes to Name Mapping ------------------------------------------------------------------------------ This section contains name to NAIF ID mappings for the Ramses mission. Once the contents of this file is loaded into the KERNEL POOL, these mappings become available within SPICE, making it possible to use names instead of ID code in the high level SPICE routine calls. Spacecraft: ---------------------------------------------------------------- This table presents the Ramses Spacecraft and its main structures' names. --------------------- ------- -------------------------- Name ID Synonyms --------------------- ------- -------------------------- RAMSES -92 RAMSES_SPACECRAFT -92000 RAMSES_SC --------------------- ------- -------------------------- Notes: -- 'RAMSES_SC' and 'RAMSES_SPACECRAFT' are synonyms and all map to the Ramses s/c bus structure ID (-92000); \begindata NAIF_BODY_NAME += ( 'RAMSES' ) NAIF_BODY_CODE += ( -92 ) NAIF_BODY_NAME += ( 'RAMSES_SC' ) NAIF_BODY_CODE += ( -92000 ) NAIF_BODY_NAME += ( 'RAMSES_SPACECRAFT' ) NAIF_BODY_CODE += ( -92000 ) \begintext Asteroid: ---------------------------------------------------------------- This table presents the Ramses target names. ------------------------- -------- -------------------------- Name ID Synonyms ------------------------- -------- -------------------------- APOPHIS 2099942 ------------------------- -------- -------------------------- \begindata NAIF_BODY_NAME += ( '99942 APOPHIS (2004 MN4)' ) NAIF_BODY_CODE += ( 2099942 ) NAIF_BODY_NAME += ( '99942 APOPHIS' ) NAIF_BODY_CODE += ( 2099942 ) NAIF_BODY_NAME += ( 'APOPHIS' ) NAIF_BODY_CODE += ( 2099942 ) \begintext End of FK file.