KPL/FK RBSPB Spacecraft Frame Definitions Kernel =========================================================================== This frame kernel contains the RBSPB spacecraft, science, instrument, and communication antennae frame definitions. Version and Date --------------------------------------------------------------- The TEXT_KERNEL_ID stores version information of loaded project text kernels. Each entry associated with the keyword is a string that consists of four parts: the kernel name, version, entry date, and type. For example, the frame kernel might have an entry as follows: TEXT_KERNEL_ID += 'RBSPB_FRAMES V0.2.0 23-JAN-2012 FK' | | | | | | | | KERNEL NAME <-------+ | | | | | V VERSION <-------+ | KERNEL TYPE | V ENTRY DATE RBSPB Frame Kernel Version: \begindata TEXT_KERNEL_ID += 'RBSPB_FRAMES V0.2.0 23-JAN-2012 FK' \begintext Version 0.2.0 -- January 23, 2012 -- Grant Stephens Finalized NAIF ID codes. Version 0.1.0 -- June 15, 2011 -- Grant Stephens Added RPS frames and added more documentation Version 0.0.0 -- July 28, 2010 -- Grant Stephens Initial prototype release to support C-kernel creation and utilization. Nominal alignments are used. References --------------------------------------------------------------- 1. "C-kernel Required Reading" 2. "Kernel Pool Required Reading" 3. "Frames Required Reading" 4. "RBSP G&C Coordinate Systems, Component Alignments and Naming Conventions", R. M. Vaughan 5. Interface Control Document (ICD) for the RPS Instrument 6. rbsp_general010.tf frame kernel Contact Information --------------------------------------------------------------- Direct questions, comments, or concerns about the contents of this kernel to: Grant Stephens, JHUAPL/SIS, (443)778-3584, Grant.Stephens@jhuapl.edu or Scott Turner, JHUAPL/SIS, (443)778-1693, Scott.Turner@jhuapl.edu 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: (MICY) cspice_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. RBSPB Frames --------------------------------------------------------------- The following RBSPB frames are defined in this kernel file: Spacecraft and related frames are given the -3630xx ranges. The -3639xx id ranges are reserved for dynamic frames, which are not defined in this kernel, but are defined in [6]. -3631xx are reserved for spacecraft systems frames, such as Antenna frames and sun sensor frames. -3634xx to -3638xx are reserved for each of the instruments/instrument suites. Each instrument is allocated 100 spots. The remaining spots (-3632xx and -3633xx) are not currently being utilized, and have been saved in case they are needed at a later date. Frame Name Relative To Type NAIF ID ======================= =================== ======= ======= Spacecraft Frames (-3630xx): ------------------ RBSPB_SPACECRAFT J2000 CK -363000 Science Frames (-3630xx): --------------- RBSPB_SCIENCE RBSPB_SPACECRAFT FIXED -363050 Antenna Frames (-3631xx): --------------- RBSPB_ANT_POSZ RBSPB_SPACECRAFT FIXED -363110 RBSPB_ANT_NEGZ RBSPB_SPACECRAFT FIXED -363120 SSH Frames (-3631xx): --------------- RBSPB_SSH_A RBSPB_SPACECRAFT FIXED -363150 RBSPB_SSH_B RBSPB_SPACECRAFT FIXED -363160 ECT Frames (-3634xx): --------------- EMFISIS Frames (-3635xx): --------------- EFW Frames (-3636xx): --------------- RBSPICE Frames (-3637xx): --------------- RPS Frames (-3638xx): --------------- RBSPB_RPS RBSPB_SPACECRAFT FIXED -363800 RBSP_B Frames Hierarchy --------------------------------------------------------------- This diagram is subject to major revisions as this kernel evolves to suit the needs of each instrument. The articulating frames referenced in this kernel are not required to follow the paths outlined in the hierarchy below, however; the presentation indicates the expected, or nominal, production path. The diagram below illustrates the RBSPB frame hierarchy: 'J2000' | |<--- ck | 'RBSPB_SPACECRAFT' | ____ 'RBSPB_SCIENCE' | | | 'RBSPB_ANT_POSZ' | | | 'RBSPB_ANT_NEGZ' |-SC Frames | | 'RBSPB_SSH_A' | | | 'RBSPB_SSH_B' ____| | | ____ 'RBSPB_RPS' ____|-Instrument Frames Spacecraft Frames Definitions (-3630xx) --------------------------------------------------------------- From [4]: +Y /|\ | +Z |EMFISIS boom 1 _ J (MAG is located |\'-. | at the end) | \ |```---...__ \ | | | \ J__ J | \ | ```|''---J \ | | | \ ```---|..__ | /```---J..__ / \ | \ |'''---... / \ | \ | | || .--J-. \ J | || / \ | \ ||'''---... | J JJ | |__ | || | | | | || \ /```````JJ''---|.._ | ```---...|| `---'` || J J ```''----->+X \\ || | | \\ / \`|`---...| \\ / \! \ ```---...___/ / |```---...__ \ / | | |_\/ J J | | | J | | | ```--J...___| | |EMFISIS boom 2 (MSC is located at the end) A schematic showing the RPSPB spacecraft including the solar panels and the definition of the Spacecraft Frame. From [4]: The +Y axis is aligned with center line of the solar array that supports the EMFISIS boom carrying the flux-gate magnetometer (MAG). The –Y axis is aligned with the deployed EMFISIS boom carrying the magnetic search coil (MSC). The X-Y plane is parallel with the launch adapter interfaces of each spacecraft. The Z axis is normal to this plane and is the longitudinal axis of the central structure, passing through the center of the inner cylinder which houses the axial booms for the Electric Fields and Waves Investigation (EFW) instrument. The X axis completes a right-handed orthogonal set of axes. In this frame, the X and Y axes are parallel with lines passing through the center for the four solar panels and extending radially outward from the center of the spacecraft. \begindata FRAME_RBSPB_SPACECRAFT = -363000 FRAME_-363000_NAME = 'RBSPB_SPACECRAFT' FRAME_-363000_CLASS = 3 FRAME_-363000_CLASS_ID = -363000 FRAME_-363000_CENTER = -363 CK_-363000_SCLK = -363 CK_-363000_SPK = -363 \begintext Science Frames Definitions --------------------------------------------------------------- From [4]: |____ o o . ' |\' . 35 .` 55 . ' | \ ' . .` ' | ' .` ' ________|_______ ' .` ' | | | ' .`___ . ' | | | .`\ . ` . | ' | | | .` \ ' o ` . |.___ | | | .` ' 55 o . '` . | | | .` ' 35 . ` . |________|_______|.` ' ' ` . .------|-----..` ' ' _______________` . / | \ ______________ ' ' | | / .-`|-. \ | | ' \|/ | | | / +Z| \ | | | | -------|---------------|-|-----|----O---|-----|-|--------------|--------> +Y | | | | \ | / | | | /|\(Space- ' | | \ `-.|-` / | | craft) ' '_______________' \ | / ` .______________` ' o ' .``------|-----` ` . . 35 ` EFW Boom .` ________|_______ ` . o ` #1-->.` | | | EFW Boom-->` . ' 55 ' .` | | | #3 _`_. / ' .` | | | /|` . ' | .` | | | . | ` .| ---`.` | | | -- .` ' |________|_______| ' +Y .` ' | . (Science) |.` ' | . o |-- o ' . | . ' 55 +X 35 ' . _\|_ . - ' (Science) /| | \|/ +X (Spacecraft) +Z is out of the page A schematic showing the RPSPB spacecraft including the solar panels and the definition of the Science Frame. From [4]: Another key coordinate system defined in Mission Requirements Document for use with RBSP science data processing and modeling is the Science Coordinate System. The +X axis of this system is aligned with the nominal deployed position of the EFW spin plane boom #1, the +Y axis is aligned with the nominal deployed position of EFW spin plane boom #3, and the +Z axis is aligned with the nominal deployed position of EFW axial boom #5. By definition, the +Z axis is also aligned with the +Z axis of the spacecraft body frame. The origin of the science coordinate system lies in the plane of the EFW spin plane booms at the intersection point of the EFW Axial Boom (AXB) deployment axis. \begindata FRAME_RBSPB_SCIENCE = -363050 FRAME_-363050_NAME = 'RBSPB_SCIENCE' FRAME_-363050_CLASS = 4 FRAME_-363050_CLASS_ID = -363050 FRAME_-363050_CENTER = -363 TKFRAME_-363050_RELATIVE = 'RBSPB_SPACECRAFT' TKFRAME_-363050_SPEC = 'MATRIX' TKFRAME_-363050_MATRIX = ( 0.819152044288991789 -0.573576436351046096 0.0 0.573576436351046096 0.819152044288991789 0.0 0.0 0.0 1.0 ) \begintext Antenna Frames Definitions --------------------------------------------------------------- From [4]: Each RBSP spacecraft carries two antennas to provide communications with ground stations on Earth. Each antenna is a conical bifilar helix design using an S-band signal that is circularly polarized. One antenna is mounted on the top deck and the other is mounted on the bottom deck of the spacecraft. They are mounted such that their boresights are nominally aligned with the spacecraft +Z or – Z axis. The other two axis are arbitrary, the positive antenna frame is the same as the spacecraft frame. The negative antenna frame points +X toward the spacecraft +X and +Y toward the spacecraft -Y. \begindata FRAME_RBSPB_ANT_POSZ = -363110 FRAME_-363110_NAME = 'RBSPB_ANT_POSZ' FRAME_-363110_CLASS = 4 FRAME_-363110_CLASS_ID = -363110 FRAME_-363110_CENTER = -363 TKFRAME_-363110_RELATIVE = 'RBSPB_SPACECRAFT' TKFRAME_-363110_SPEC = 'MATRIX' TKFRAME_-363110_MATRIX = ( 1.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 1.0 ) \begintext \begindata FRAME_RBSPB_ANT_NEGZ = -363120 FRAME_-363120_NAME = 'RBSPB_ANT_NEGZ' FRAME_-363120_CLASS = 4 FRAME_-363120_CLASS_ID = -363120 FRAME_-363120_CENTER = -363 TKFRAME_-363120_RELATIVE = 'RBSPB_SPACECRAFT' TKFRAME_-363120_SPEC = 'MATRIX' TKFRAME_-363120_MATRIX = ( 1.0 0.0 0.0 0.0 -1.0 0.0 0.0 0.0 -1.0 ) \begintext SSH Frames Frames Definitions --------------------------------------------------------------- From [4]: Each RBSP spacecraft carries a Sun Sensor (SS) system. The system consists of two Sun Sensor Heads (SSHs). The two SSHs are attached to opposite side panels of the spacecraft near the top deck so that they look out between two of the solar panels. The heads provide a Sun offset angle from a reference axis that is nominally aligned with the spacecraft +Z axis when the Sun crosses through their respective fields-of-view; two measurements (one per head) per spin should be obtained during nominal operation [5,6]. The SSH mounted to panel #4 in the +X -Y quadrant of the spacecraft frame is named “SSH A” and the SSH mounted to panel #0 in the -X +Y quadrant is named “SSH B”. The SSHs look radially outward in a plane that is perpendicular to the spacecraft XY plane and makes an angle of 45 degrees from the spacecraft XZ plane. +Y (spacecraft) /|\ | | | +X (SSH B) | +Y (SSH A) .__ | __. |', | ,'| ', o | ,' ', 45 | ,' ', | ,' o ', | ,' 45 ,O'----------------------------> +X (spacecraft) ,' ', ,' ', ,' ', | ,' ', | |.'__ __'.| +Y (SSH B) +X (SSH A) \begindata FRAME_RBSPB_SSH_A = -363150 FRAME_-363150_NAME = 'RBSPB_SSH_A' FRAME_-363150_CLASS = 4 FRAME_-363150_CLASS_ID = -363150 FRAME_-363150_CENTER = -363 TKFRAME_-363150_RELATIVE = 'RBSPB_SPACECRAFT' TKFRAME_-363150_SPEC = 'MATRIX' TKFRAME_-363150_MATRIX = ( 0.707106781186547524 -0.707106781186547524 0.0 0.707106781186547524 0.707106781186547524 0.0 0.0 0.0 1.0 ) \begintext \begindata FRAME_RBSPB_SSH_B = -363160 FRAME_-363160_NAME = 'RBSPB_SSH_B' FRAME_-363160_CLASS = 4 FRAME_-363160_CLASS_ID = -363160 FRAME_-363160_CENTER = -363 TKFRAME_-363160_RELATIVE = 'RBSPB_SPACECRAFT' TKFRAME_-363160_SPEC = 'MATRIX' TKFRAME_-363160_MATRIX = (-0.707106781186547524 0.707106781186547524 0.0 -0.707106781186547524 -0.707106781186547524 0.0 0.0 0.0 1.0 ) \begintext RPS Frame Definitions --------------------------------------------------------------- From [5]: +X (Spacecraft) /|\ | .-------------|-------------. RPS Boresight / | \ .--- +Z (RPS) / | \ | ` . / | \ ___` . / | \ o '| ` .| |''--... _.-""|""-._ | 11 ' |`x RPS | .' | `. | " |'|(+X) J / | \ | | .` | ```--..| | +Z (Spacecraft) | -------`---|------------|--------x--------|------------|-------> +Y .` | | | | | (Spacecraft) | .` | \ | / | |.`__ | `._ | _.` | +Y (RPS) | `-..|..-` | \ | / \ | / \ | / \ | / `-------------|-------------` | +Z (Spacecraft) is into the page +X (RPS) is into the page The RPS boresight defines the +Z direction of the RPS frame which lies parallel to the RBSPB spacecraft x-y plane. Being a circular aperature instrument, the choices of +X and +Y of the instrument relative to the Spacecraft frame are relatively abirtrary. Therefore, it was decided that the +X axis remain parallel to the spacecraft +Z axis. Therefore, the +Y direction for the RPS frame completes the right handed frame and lies in the Spacecraft x-y plane. The RPS Boresight lies in the Spacecraft x-y plane and is a 281 rotation about +X towards +Y. The boresight can be thought of as a vector defined as an azimuth and elevation in the spacecraft frame where the azimuth is +281 and the elevation is 0.0. Note: The +Z axis is pointing to the center of the field of view where the instrument is looking. The instrument is detecting particles that have a momentum antiparallel to the +Z axis of the RPS frame. Meaning particles are roughly moving along the -Z instrument axis. Further details about the instrument including a discussion of the Field of View can be found in the RPS instrument kernels. \begindata FRAME_RBSPB_RPS = -363800 FRAME_-363800_NAME = 'RBSPB_RPS' FRAME_-363800_CLASS = 4 FRAME_-363800_CLASS_ID = -363800 FRAME_-363800_CENTER = -363 TKFRAME_-363800_RELATIVE = 'RBSPB_SPACECRAFT' TKFRAME_-363800_SPEC = 'ANGLES' TKFRAME_-363800_ANGLES = ( 90.0, 259.0, 0.0 ) TKFRAME_-363800_AXES = ( 2, 1, 1 ) TKFRAME_-363800_UNITS = 'DEGREES' \begintext