KPL/FK Solar Orbiter (SOLO) Frames Kernel =============================================================================== This frame kernel contains complete set of frame definitions for the Solar Orbiter Spacecraft (SOLO) including definitions for the SOLO structures and SOLO science instrument frames. This kernel also contains NAIF ID/name mapping for the SOLO instruments. Version and Date ------------------------------------------------------------------------ Version 0.0 -- May 18, 2017 -- Marc Costa Sitja, ESAC/ESA Preliminary Version. References ------------------------------------------------------------------------ 1. ``Frames Required Reading'', NAIF. 2. ``Kernel Pool Required Reading'', NAIF. 3. ``C-Kernel Required Reading'', NAIF. 4. ``Solar Orbiter Coordinate System Document EN-15'', SOL.S.STR.TN.00099, Issue 5, Airbus Defence and Space, 26th February 2016. 5. ``Solar Orbiter Interface Control Document for Low Latency Data CDF Files'', SOL-SGS-ICD-0004, Andrew Walsh, Issue 1, Revision 2, 20th January 2017. 6. ``Metis Instrument for the Solar Orbiter Mission Experiment Interface Document – Part B'', METIS-OATO-ICD-001, G. Nicolini and the Metis team, Issue 5, Revision 0, 18th March 2017. 7. ``Experiment Interface Document Part B for RWP'', SOLO-RPWSY-IF-55-CNES, RPW Team, Issue 5, Revision 4, 28th November 2016. 8. ``Experiment Interface Document Part B for Solar Wind Analyser Suite'', MSSL-SO-SWA-EID-B, Barry Hancock and the SWA team, Issue 7, Revision 0, 21st October 2015. 9. ``Solar Orbiter Energic Particle Detector EPD Instrument User Manual'', SO-EPD-PO-MA-0002, Issue 2, Revision 7, 9th September 2016. Contact Information ------------------------------------------------------------------------ If you have any questions regarding this file contact SPICE support at ESAC: Marc Costa Sitja (+34) 91-8131-457 mcosta@sciops.esa.int, esa_spice@sciops.esa.int or the Solar Orbiter Science Operations Center at ESAC: sol_soc@esa.int 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 SOLO NAIF ID Codes -- Summary Section ------------------------------------------------------------------------ The following names and NAIF ID codes are assigned to the SOLO spacecraft, its structures and science instruments (the keywords implementing these definitions are located in the section "SOL NAIF ID Codes -- Definition Section" at the end of this file): SOLO Spacecraft and Spacecraft Structures names/IDs: SOLO -144 (synonyms: SOLAR ORBITER, SOL) SOLO_PRF -144000 (synonyms: SOLO_SPACECRAFT, SOLO_SC) SOL_HGA -144013 SOLO_LGA_PZ -144020 SOLO_LGA_MZ -144021 SOL_MGA -144032 SOLO_INS_BOOM -144040 EDP names/IDs: SOLO_EPD_STEP -144100 SOLO_EPD_SIS_ASW -144111 SOLO_EPD_SIS_SW -144112 SOLO_EPD_EPT_MY -144123 SOLO_EPD_EPT_PY -144124 SOLO_EPD_HET_MY -144125 SOLO_EPD_HET_PY -144126 EUI names/IDs: SOLO_EUI -144200 SOLO_EUI_FSI -144210 SOLO_EUI_HRI_LYA -144220 SOLO_EUI_HRI_EUV -144230 MAG names/IDs: SOLO_MAG -144300 SOLO_MAG_IBS -144301 SOLO_MAG_OBS -144302 Metis names/IDs: SOLO_METIS -144400 SOLO_METIS_EUV -144410 SOLO_METIS_EUV_MIN -144413 SOLO_METIS_EUV_MAX -144414 SOLO_METIS_VIS -144420 SOLO_METIS_VIS_MIN -144423 SOLO_METIS_VIS_MAX -144424 SOLO_METIS_IEO-M0 -144430 PHI names/IDs: SOLO_PHI -144500 SOLO_PHI_FDT -144510 SOLO_PHI_HRT -144520 RPW names/IDs: SOLO_RPW -144600 SOLO_RPW_ANT_1 -144610 SOLO_RPW_ANT_2 -144620 SOLO_RPW_ANT_3 -144630 SOLO_RPW_SCM -144640 SOLOHI fnames/IDs: SOLO_SOLOHI -144700 SPICE names/IDs: SOLO_SPICE -144800 SOLO_SPICE_SW -144810 SOLO_SPICE_LW -144820 STIX names/IDs: SOLO_STIX -144850 SWA names/IDs: SOLO_SWA -144870 SOLO_SWA_HIS -144871 SOLO_SWA_PAS -144872 SOLO_SWA_EAS -144873 SOLO Frames ------------------------------------------------------------------------ The following SOLO frames are defined in this kernel file: Name Relative to Type NAIF ID ====================== =================== ============ ======= SOLO Spacecraft and Spacecraft Structures frames: ------------------------------------------------- SOLO_PRF J2000 CK -144000 SOLO_FOF SOLO_PRF CK -144001 SOLO_HGA_URF SOLO_PRF FIXED -144010 SOLO_HGA_EL SOLO_HGA_URF CK -144011 SOLO_HGA_AZ SOLO_HGA_EL CK -144012 SOLO_HGA_MRF SOLO_HGA_AZ FIXED -144013 SOLO_LGA_PZ SOLO_PRF FIXED -144020 SOLO_LGA_MZ SOLO_PRF FIXED -144021 SOLO_MGA_URF SOLO_PRF FIXED -144030 SOLO_MGA_EL SOLO_MGA_URF CK -144031 SOLO_MGA_MRF SOLO_MGA_AZ FIXED -144032 SOLO_INS_BOOM SOLO_PRF CK -144040 EPD frames: ----------- SOLO_EPD_STEP SOLO_PRF FIXED -144100 SOLO_EPD_SIS SOLO_PRF FIXED -144110 SOLO_EPD_SIS_ASW SOLO_EPD_SIS FIXED -144111 SOLO_EPD_SIS_SW SOLO_EPD_SIS FIXED -144112 SOLO_EPD_EPT-HET_MY SOLO_PRF FIXED -144121 SOLO_EPD_EPT-HET_PY SOLO_PRF FIXED -144122 EUI frames: ----------- SOLO_EUI_FSI_ILS SOLO_FOF CK -144211 SOLO_EUI_FSI_OPT SOLO_EUI_FSI_ILS FIXED -144212 SOLO_EUI_HRI_LYA_ILS SOLO_FOF CK -144221 SOLO_EUI_HRI_LYA_OPT SOLO_EUI_HRI_LYA_ILS FIXED -144222 SOLO_EUI_HRI_EUV_ILS SOLO_FOF CK -144231 SOLO_EUI_HRI_EUV_OPT SOLO_EUI_HRI_EUV_ILS FIXED -144232 MAG frames: ----------- SOLO_MAG_IBS SOLO_INS_BOOM FIXED -144301 SOLO_MAG_OBS SOLO_INS_BOOM FIXED -144302 Metis frames: ------------- SOLO_METIS_EUV_ILS SOLO_FOF CK -144411 SOLO_METIS_EUV_OPT SOLO_METIS_EUV_ILS FIXED -144412 SOLO_METIS_VIS_ILS SOLO_FOF CK -144421 SOLO_METIS_VIS_OPT SOLO_METIS_VIS_ILS FIXED -144422 SOLO_METIS_IEO-MO SOLO_FOF CK -144430 PHI frames: ----------- SOLO_PHI_FDT_ILS SOLO_FOF CK -144511 SOLO_PHI_FDT_OPT SOLO_PHI_FDT_ILS FIXED -144512 SOLO_PHI_HRT_ILS SOLO_FOF CK -144521 SOLO_PHI_HRT_OPT SOLO_PHI_HRT_ILS FIXED -144522 RPW frames: ----------- SOLO_RPW_ANT_1 SOLO_PRF FIXED -144610 SOLO_RPW_ANT_2 SOLO_PRF FIXED -144620 SOLO_RPW_ANT_3 SOLO_PRF FIXED -144630 SOLO_RPW_SCM SOLO_INS_BOOM FIXED -144640 SOLOHI frames: -------------- SOLO_SOLOHI_ILS SOLO_FOF CK -144701 SOLO_SOLOHI_OPT SOLO_STIX_ILS FIXED -144702 SPICE frames: ------------- SOLO_SPICE_SW_ILS SOLO_FOF CK -144811 SOLO_SPICE_SW_OPT SOLO_SPICE_SW_ILS FIXED -144812 SOLO_SPICE_LW_ILS SOLO_FOF CK -144821 SOLO_SPICE_LW_OPT SOLO_SPICE_LW_ILS FIXED -144822 STIX frames: ------------ SOLO_STIX_ILS SOLO_FOF CK -144851 SOLO_STIX_OPT SOLO_STIX_ILS FIXED -144852 SWA frames: ----------- SOLO_SWA_HIS SOLO_PRF FIXED -144871 SOLO_SWA_PAS SOLO_PRF FIXED -144872 SOLO_SWA_EAS SOLO_PRF FIXED -144873 SOLO_SWA_EAS1 SOLO_SWA_EAS FIXED -144874 SOLO_SWA_EAS2 SOLO_SWA_EAS FIXED -144875 Solar Orbiter Frames Hierarchy ------------------------------------------------------------------------ The diagram below shows the Solar Orbiter frames hierarchy (except for science operations frames): "J2000" INERTIAL +---------------------------------------------------------+ | | | | | |<-pck | |<-dyn |<-dyn |<-dyn | | | | | v | | | v "IAU_SUN" | | | "SOLO_ORBIT_NORM" --------- | | | ----------------- | | v | | "SOLO_ECLIP_NORM" | | ----------------- | v | "SOLO_EQUAT_NORM" | ----------------- | `- - - - - - - - - - - - - - - -' | ' | ' | ' | . - - - - - - - - - ' | ' ck->| '<-fixed(*) V V "SOLO_PRF"(1) +---------------------------------------------------+ | | | | . | | | |<-fixed | | . |<-fixed |<-fixed | | | | . | | | | fixed->| | . v v | | v | . "SOLO_MGA_URF" "SOLO_HGA_URF" | | "SOLO_LGA_MZ" | . ------------- ------------- | | ------------- | . | | | v | . |<-ck |<-ck | "SOLO_LGA_PZ" | . | | | ------------- | . v v | | . "SOLO_MGA_EL" "SOLO_HGA_EL" | | . ------------ ------------ | | . | | | | . |<-fixed |<-ck | | . | | | | . v v | | . "SOLO_MGA_MRF" "SOLO_HGA_AZ" | | . -------------- ------------- | | . | | | . |<-fixed | | . | | | . v | | . "SOLO_HGA_MRF" | | . -------------- |<-ck(3) ck(2)->| .<-fixed | | . | | . | | . | | . v v . "SOLO_INS_BOOM" "SOLO_FOF" . --------------- ---------- . . . . . . . . . . . . . V V V Individual instrument frame trees are provided in the other sections of this file (1) The SOLO_PRF frame can be a CK based frame, as it is actually defined in this file and use one or a combination of the following CK files for its orientation w.r.t J2000: solo_ANC_soc-default-att_YYYYMMDD-YYYYMMDD_VNN.bc solo_ANC_soc-pred-roll_YYYYMMDD-YYYYMMDD_VNN.bc solo_ANC_soc-flown-att_YYYYMMDD_sYYYYMMDD_[sYYYYMMDD_]VNN.bc Alternatively, the SOLO_PRF frame can be "mapped" to one of the SOLO Science Operations frames defined in: solo_ANC_soc-ops-fk_VNN.tf More details are provided in the SOLO Science Operations frame kernel. (2) The CK file used for this transformation is: solo_ANC_soc-sc-fof-ck_YYYYMMDD-YYYYMMDD_[sYYYYMMDD_]VNN.bc (3) The CK file used for this transformation is: solo_ANC_soc-sc-boom-ck_YYYYMMDD-YYYYMMDD_[sYYYYMMDD_]VNN.bc (*) The SOLO_PRF frame can be mapped into one of the SOLO_*_NORM dynamic frames. More information is available on the Solar Orbiter Science Operations frame kernel (solo_ANC_soc-ops-fk_VNN.tf). This can be used for early analysis where no detailed orientation information is available. SOLO Spacecraft and Spacecraft Structures Frames ------------------------------------------------------------------------ This section of the file contains the definitions of the spacecraft and spacecraft structures frames. DISCLAIMER: The origin of the frames specified in the following definitions are not implemented. The ``true'' origin of all frames is in the center of the SOLO_SPACECRAFT frame, the center of which is defined by the position given by the SPK (ephemeris) kernel in use. SOLO Spacecraft Physical Reference Frame: ----------------------------------------- The Solar Orbiter Spacecarft Physical Reference Frame is the principal mechanical reference frame. According to [4] the SOLO spacecraft reference frame -- SOLO_PRF is defined as follows: - +X axis is the longitudinal axis of Solar Orbiter, pointing from the Origin towards Solar Orbiter, positive towards the heatshield. - -Y axis is the Transverse axis, pointing towards the Service Module panel of the s/c. - +Z axis completes the right-handed frame and is pointing towards the MGA. - the origin of this frame is is the point of intersection of the launcher longitudinal axis with the separation plane between the launcher and the composite. These diagrams illustrate the SOLO_PRF frame: -Y s/c side (Science deck side) view: ------------------------------------- | | | | | | | H | __--o. _____..| | __--'' \'. .o.----..| | | | __''==- +Zprf \.'---------------------. |=| __-- ^ >| |=| | __--'' () | | | |=| __--''==- |. | | | | __--'' | \ | | | | >|__| | '| | | | | | | | | +Yprf x-----------> +Xprf | | | | | | | | | .| | | | | / | | | | .' | | | | | | |=| >| |=| | o:______________________: |=| // / | \ | | // /_________|__\ || | || | +Yprf is into '. || | the page. .| ||| | -: | |'/ H '| | | .' | | +Z s/c side view: ----------------- /\/\/ H H H | | +Yprf| | ^ | | | | | | 0 | | | '.| .----------------------. |=| '. | | | |=| | | || |'| | | | >___________________________________ _|__________..| | |=| >-------------------------------------o---------------> | | | | ||+Zprf +Xprf |=| | .'|| / | | |=| .' '----------------------' | | 0 | | | | | +Zprf is out of | | the page. | | H H H /\/\/ +X s/c side (Heat Shield side) view: ------------------------------------ | ANT 1 | | | | | | H | | | .O. .--------------------. | | | . __ | .__ _________. | oO |__| | ,_________ __. | \ \ |\ | ^ +Zprf | /| / / | | / / |\\ | | | //| \ \ | | \ \ | \\________| | |________// | / / | | / / | /.--------| | |--------.\ | \ \ | | \ \ |// | o--------> | \\| / / | | / / |/ | +Xprf +Yprf \| \ \ | '-' '--------' | | '---------' '-' | | | | | | | | +Xprf is out .____________________. of the page. .' /____________\ '. .' || '. .' || '. .' .-''-. '. .' / \ '. .' | | '. .' \ / '. ANT 2 .' `-..-' '. ANT 3 .' '. .' '. Since the S/C bus attitude with respect to an inertial frame is provided by a C-kernel (see [3] for more information), this frame is defined as a CK-based frame. \begindata FRAME_SOLO_PRF = -144000 FRAME_-144000_NAME = 'SOLO_PRF' FRAME_-144000_CLASS = 3 FRAME_-144000_CLASS_ID = -144000 FRAME_-144000_CENTER = -144 CK_-144000_SCLK = -144 CK_-144000_SPK = -144 OBJECT_-144_FRAME = 'SOLO_PRF' \begintext SOLO Flight Optical Frame: -------------------------- The Flight Optical Frame (FOF) is an intermediate frame which is a theoretical construct, and it allows for global misalignments to be inserted if it is determined in-flight that the remote sensing instrument frames are tending to move together. This frame provides a useful operational option to allow a centralised update of remote sensing instrument alignments based on a single ILS-SRF calibration. Nominally the FOF frame is equivalent to the PRF frame. The transformation from the SRF to the FOF is represented by a rotation matrix I. This is chosen because this starts as the identity matrix, and only changes if a clear case for its use emerges. Since the FOF orientation with respect to the PRF frame is provided by a C-kernel (see [3] for more information), this frame is defined as a CK-based frame. The SOLO_FOF has a rotation matrix w.r.t. the SOLO_PRF specified in the FOF CK file: solo_ANC_soc-sc-fof-ck_YYYYMMDD-YYYYMMDD_[sYYYYMMDD_]VNN.bc where YYYYMMDD start and finish dates of the CK coverage; sYYYYMMDD the SCLK reference with which the CK was generated if the kernel is to be used in an as-flown scenario (optional); NN version of the kernel This set of keywords defines the FOF frame as a CK frame: \begindata FRAME_SOLO_FOF = -144001 FRAME_-144001_NAME = 'SOLO_FOF' FRAME_-144001_CLASS = 3 FRAME_-144001_CLASS_ID = -144001 FRAME_-144001_CENTER = -144 CK_-144001_SCLK = -144 CK_-144001_SPK = -144 OBJECT_-144_FRAME = 'SOLO_FOF' \begintext SOLO High Gain Antenna Frames: ------------------------------ The HGA Unit Reference Frame is used to define the position and orientation of the HGA relative to the SOLO_PRF frame or HGA APM, used to provide a reference for the definition of the HGA inertial properties, and used to define the deformation of the HGA from its nominal geometry. The SOLO High Gain Antenna is attached to the -X panel of the s/c bus in the corner with the -Z panel by a gimbal providing two degrees of freedom and it articulates during flight to track Earth. According to [4] the SOLO HGA Unit reference frame -- SOLO_HGA_URF -- is defined as follows: - +X axis is aligned with the s/c +X axis, - +Y axis is antiparallel to the s/c +Y axis, - +Y completes the right-handed frame and is antiparallel to the s/c +Z axis, - the origin of this frame is on the HGA major assembly interface plane with the spacecraft lower floor. The coordinates in meters of the origin w.r.t SOLO_PRF frame are: ( x, y, z ) = ( 0.4002, 0.1459, -0.8782 ) The SOLO_HGA_URF frame is defined as a fixed offset frame reative to the SOLO_MRF frame and is rotated by 180 degrees about the +X axis from it. This diagram illustrates the SOLO_HGA_URF frames in the zero gimbal position: TODO: Add Diagram. \begindata FRAME_SOLO_HGA_URF = -144010 FRAME_-144010_NAME = 'SOLO_HGA_URF' FRAME_-144010_CLASS = 4 FRAME_-144010_CLASS_ID = -144010 FRAME_-144010_CENTER = -144 TKFRAME_-144010_RELATIVE = 'SOLO_PRF' TKFRAME_-144010_SPEC = 'ANGLES' TKFRAME_-144010_UNITS = 'DEGREES' TKFRAME_-144010_AXES = ( 3, 2, 1 ) TKFRAME_-144010_ANGLES = ( 0.0, 0.0, 180.0 ) \begintext HGA Moveable Reference Frames: ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ To incorporate rotations in the gimbal the HGA frame chain includes three frames: SOLO_HGA_EL, SOLO_HGA_AZ, and SOLO_HGA_MRF. The first two frames are defined as CK-based frames and are co-aligned with the SOLO_HGA_MRF frame in the zero gimbal position. In a non-zero position the SOLO_HGA_EL is rotated from the HGA MRF frame by an elevation angle about +Y and the SOLO_HGA_AZ frame is rotated from the SOLO_HGA_EL frame by an azimuth angle about +Z. These rotations are stored in separated segments in CK files. The canonical upright position of the HGA is defined by azimuth = 0 deg, elevation = -90 deg. Note that the HGA safe position is identical to the canonical upright position. When in stowed position, the SOLO_HGA_URF axes are aligned with the axes of the SOLO_HGA_MRF reference frame. According to [4] the SOLO optical reference frame -- SOLO_HGA_MRF -- is defined as follows: - +Z axis is aligned with the boresight of the undeformed HGA. - +X axis is aligned with the Along the undeformed boom, from the HGA APM to the HGA ARA, - +Y completes the right-handed frame, - the origin of this frame is at the intersection of the axis of rotation of the azimuth and elevation mechanisms. This point is therefore fixed in the SOLO_PRF frame. The coordinates in meters of the origin w.r.t SOLO_PRF frame are: ( x, y, z ) = ( 0.125, 0.1459, -1.1193 ) This diagram illustrates the SOLO HGA Moveable frames in the zero gimbal position: TODO: Add Diagram. This set of keywords defines the HGA frame as a CK frame: \begindata FRAME_SOLO_HGA_EL = -144011 FRAME_-144011_NAME = 'SOLO_HGA_EL' FRAME_-144011_CLASS = 3 FRAME_-144011_CLASS_ID = -144011 FRAME_-144011_CENTER = -144 CK_-144011_SCLK = -144 CK_-144011_SPK = -144 FRAME_SOLO_HGA_AZ = -144012 FRAME_-144012_NAME = 'SOLO_HGA_AZ' FRAME_-144012_CLASS = 3 FRAME_-144012_CLASS_ID = -143012 FRAME_-144012_CENTER = -144 CK_-144012_SCLK = -144 CK_-144012_SPK = -144 FRAME_SOLO_HGA_MRF = -144013 FRAME_-144013_NAME = 'SOLO_HGA_MRF' FRAME_-144013_CLASS = 4 FRAME_-144013_CLASS_ID = -144013 FRAME_-144013_CENTER = -144 TKFRAME_-144013_RELATIVE = 'SOLO_HGA_AZ' TKFRAME_-144013_SPEC = 'ANGLES' TKFRAME_-144013_UNITS = 'DEGREES' TKFRAME_-144013_ANGLES = ( 0.000, 0.000, 0.000 ) TKFRAME_-144013_AXES = ( 2, 1, 3 ) \begintext SOLO Low Gain Antenna Frames: ----------------------------- Solar Orbiter is equiped with two Low Gain Antennas in order to have a backup for the HGA for Earth Communication. One of the LGA antennas, the LGA PZ is placed in the +Z panel of the s/c whislt the other one, LGA MZ is placed in the -Z panel of the s/c in order to have a better coverage. According to [4] the SOLO LGA PZ Unit reference frame -- SOLO_LGA_PZ -- is defined as follows: - +X axis is aligned with the boresight of the LGA, - +Y axis is perpendicular to the waveguide interface plane, orientated from the waveguide interface plane towards the LGA. - +Y completes the right-handed frame, - the origin of this frame is on the centre of the Unit Reference Hole (URH) of the LGA PZ, at the interface plane with the s/c bracket. The coordinates in meters of the origin w.r.t SOLO_PRF frame are: ( x, y, z ) = ( 0.85351, -0.64433, 1.18275 ) The SOLO_HGA_URF frame is defined as a fixed offset frame reative to the SOLO_MRF frame. The following rotation matrix from [4] is used to define the fixed offset = | -0.707107 -0.328179 0.626337 | M = | 0.663060 0 0.748566 | PRF -> LGA_PZ | -0.245666 0.944615 0.217600 | According to [4] the SOLO LGA MZ Unit reference frame -- SOLO_LGA_MZ -- is defined as follows: - +X axis is aligned with the boresight of the LGA, - +Y axis is perpendicular to the waveguide interface plane, orientated from the waveguide interface plane towards the LGA. - +Y completes the right-handed frame, - the origin of this frame is on the centre of the Unit Reference Hole (URH) of the LGA MZ, at the interface plane with the s/c bracket. The coordinates in meters of the origin w.r.t SOLO_PRF frame are: ( x, y, z ) = ( 1.94725, 0.5581, -1.46296 ) The SOLO_HGA_URF frame is defined as a fixed offset frame reative to the SOLO_MRF frame. The following rotation matrix from [4] is used to define the fixed offset = | 0.906308 0.171894 -0.386081 | M = | 0.186340 -0.982485 0 | PRF -> LGA_MZ | -0.379320 -0.071936 -0.922465 | TODO: Add Diagram. Here, we need the rotation matrices from the SOLO_LGA_PZ and SOLO_LGA_MZ frames to the s/c frame, and hence the inverse of the above matrices, which is the same as the transpose for rotation matrices. This is incorporated by the frame definitions below. \begindata FRAME_SOLO_LGA_PZ = -144020 FRAME_-144020_NAME = 'SOLO_LGA_PZ' FRAME_-144020_CLASS = 4 FRAME_-144020_CLASS_ID = -144020 FRAME_-144020_CENTER = -144 TKFRAME_-144020_RELATIVE = 'SOLO_PRF' TKFRAME_-144020_SPEC = 'MATRIX' TKFRAME_-144020_MATRIX = ( -0.707107, -0.328179, 0.626337, 0.663060, 0 , 0.748566, -0.245666, 0.944615, 0.217600 ) FRAME_SOLO_LGA_MZ = -144021 FRAME_-144021_NAME = 'SOLO_LGA_MZ' FRAME_-144021_CLASS = 4 FRAME_-144021_CLASS_ID = -144020 FRAME_-144021_CENTER = -144 TKFRAME_-144021_RELATIVE = 'SOLO_PRF' TKFRAME_-144021_SPEC = 'MATRIX' TKFRAME_-144021_MATRIX = ( 0.906308, 0.171894, -0.386081, 0.186340, -0.982485, 0 , -0.379320, -0.071936, -0.922465 ) \begintext SOLO Medium Gain Antenna Frames: -------------------------------- SOLO is equiped with an articulated Medium Gain Antenna used as a backup of the HGA. The MGA_URF frame is used to define the position and orientation of the MGA-root relative to the SOLO PRF frame, used to provide a reference for the definition of the MGA inertial properties, and used to define the deformation of the MGA from its nominal geometry. The SOLO High Gain Antenna is attached to the +Z panel of the s/c bus in the corner with the -X panel by a gimbal providing one degree of freedom and it articulates during flight to track Earth. According to [4] the SOLO HGA Unit reference frame -- SOLO_MGA_URF -- is defined as follows: - +X axis is aligned with the s/c +X axis, - +Y axis is aligned with the s/c +Y axis, and is also aligned with axis of rotation of the MGA hinge. - +Z completes the right-handed frame and is aligned with the s/c +Z axis, - the origin of this frame is on the following coordinates in meters w.r.t SOLO_PRF frame are: ( x, y, z ) = ( 0.5405, -0.3569, 1.3337 ) The SOLO_MGA_URF frame is defined as a fixed offset frame reative to the SOLO_MRF frame. This diagram illustrates the SOLO_MGA_URF frames in the zero gimbal position: TODO: Add Diagram. \begindata FRAME_SOLO_MGA_URF = -144030 FRAME_-144030_NAME = 'SOLO_MGA_URF' FRAME_-144030_CLASS = 4 FRAME_-144030_CLASS_ID = -144030 FRAME_-144030_CENTER = -144 TKFRAME_-144030_RELATIVE = 'SOLO_PRF' TKFRAME_-144030_SPEC = 'ANGLES' TKFRAME_-144030_UNITS = 'DEGREES' TKFRAME_-144030_AXES = ( 3, 2, 1 ) TKFRAME_-144030_ANGLES = ( 0.0, 0.0, 0.0 ) \begintext MGA Moveable Reference Frames: ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ To incorporate rotations in the gimbal the MGA frame chain includes three frames: SOLO_MGA_EL and SOLO_MGA_MRF. The first frame is defined as CK-based frame and is co-aligned with the SOLO_MGA_MRF frame in the zero gimbal position. In a non-zero position the SOLO_MGA_EL is rotated from the MGA MRF frame by an elevation angle about -Y. The rotation is defined by the elevation of the MGA. The elevation is the angle of positive rotation of the MGA around the -Y axis of the SOLO_MGA_MRF frame hence the elevation angle is the angle in between the +X axis of the SOLO_MGA_MRF frame and the +X axis of the SOLO_PRF frame. The range of elevation is 0 to +210 degrees. The value of that provides the nominal boresight of the MGA is 22 degrees. Note that the MGA safe position corresponds to an elevation of 0.5 degre. According to [4] the SOLO optical reference frame -- SOLO_HGA_MRF -- is defined as follows: - +X axis is aligned with the boresight of the undeformed HGA. - +Y axis is aligned with the s/c +Y axis, - +Z completes the right-handed frame, - the origin of this frame is defined as the orthogonal projection of the boresight axis onto the rotation axis of the elevation mechanism. This diagram illustrates the SOLO MGA Moveable frames in the zero gimbal position: TODO: Add Diagram. This set of keywords defines the HGA frame as a CK frame: \begindata FRAME_SOLO_HGA_EL = -144031 FRAME_-144031_NAME = 'SOLO_MGA_EL' FRAME_-144031_CLASS = 3 FRAME_-144031_CLASS_ID = -144031 FRAME_-144031_CENTER = -144 CK_-144031_SCLK = -144 CK_-144031_SPK = -144 FRAME_SOLO_HGA_MRF = -144032 FRAME_-144032_NAME = 'SOLO_MGA_MRF' FRAME_-144032_CLASS = 4 FRAME_-144032_CLASS_ID = -144032 FRAME_-144032_CENTER = -144 TKFRAME_-144032_RELATIVE = 'SOLO_MGA_EL' TKFRAME_-144032_SPEC = 'ANGLES' TKFRAME_-144032_UNITS = 'DEGREES' TKFRAME_-144032_ANGLES = ( 0.000, 0.000, 0.000 ) TKFRAME_-144032_AXES = ( 2, 1, 3 ) \begintext Star Trackers Frames: --------------------- [TBD] Instrument Boom Frames: ----------------------- The Solar Orbiter deployable boom function is to support and deploy four instruments which, due to their sensitivity to magnetic fields, need to be placed far from the electromagnetic disturbances generated by the satellite. The total lenght of the deployed boom is 4.4 meters. We only consider the Instrument Boom on its fully deployed configuration. According to [4] the SOLO Instrument Boom reference frame -- SOLO_INS_BOOM -- is defined as follows: - +Z axis is perpendicular to the rotation axis of the instrument boom, pointing away from the boom axis; - +X axis points towards the the 1st rigid element of the boom deployement mechanism between the S/C body and the 1st rigid element of the boom; - +Y axis completes the right-handed frame; - the origin of this frame is at the centre of the Unit Reference Hole (URH) of the +Y-Z tripod, at the interface plane with the spacecraft structure. These diagrams illustrate the SOLO_INS_BOOM frame: -Y s/c side (Science deck side) view: ------------------------------------- | | | | | | | | +Yinsb | __--x. __..| | +Xinsb __--'' \'. .o.----..| | | | <__''==- +Zprf \.'---------------------. |=| __-- ^ >\ |=| | __--'' () | \ | |=| __--''==- |. | V | | | __--'' | \+Zinsb | | | >|__| | '| | | | | | | | | +Yprf x-----------> +Xprf | | | | | | | | | .| | | | | / | | | | .' | | | | | | |=| >| |=| | o:______________________: |=| // / | \ | | // /_________|__\ || | || | +Yprf and +Yinsb '. || | are into the .| ||| | page. -: | |'/ H '| | | .' | | -Z Instrument Boom side view: ----------------------------- / \.---./ \ \.' './ SWA Electrons | | Analysers Systems '-------' (EAS) | | | | | | | | .---. | | MAG Outboard Sensor | | (OBS) '---' | | | | | | | | | | |_| / \ \___/ | | | | |_| |___| RPW Magnetic Search Coil | | (SCM) | | ~~~ ~~~ | | | | .---. | | MAG Inboard Sensor | | (IBS) '---' | | | | |^| +Xinsb ||| ||| ||| o--------> +Zinsb is out +Zinsb +Yinsb of the page. The SOLO_BOOM frame is defined as CK-based frame and the SOLO_INS_BOOM has a rotation matrix w.r.t. the SOLO_PRF specified in the BOOM CK file: solo_ANC_soc-sc-boom-ck_YYYYMMDD-YYYYMMDD_[sYYYYMMDD_]VNN.bc where YYYYMMDD start and finish dates of the CK coverage; sYYYYMMDD the SCLK reference with which the CK was generated if the kernel is to be used in an as-flown scenario (optional); NN version of the kernel The Nominal Rotation Matrix specified in [4] is: | cos(T0+T)*cos(P) cos(T0+T)*sin(P) -sin(T0+T) | M = | -sin(P) cos(P) 0.0 | PRF -> BOOM | sin(T0+T)*cos(P) sin(T0+T)*sin(P) cos(T0+T) | where the T (theta), T0 (theta zero) and P (Phi) angles are defined as follows: -Y S/C side (Stowed INS BOOM): +Z S/C side (Stowed INS BOOM): ------------------------------ ------------------------------ T0 P . | ' .-| .-'' ' .' | ' | .--------------. --------------. . | +Xprf | ' | | | ^ | | | . | | | | ' | | | | | | | . | <---x | ins '| | +Xprf ins | +Zprf | boom | ^ boom . | | stowed ' | | stowed '--------------' '-- -----------. | .| \'/ <---o O O +Yprf -Y S/C side (Deployed INS BOOM): -------------------------------- T0 . | .-'' .' | . .--------------. ' . | +Xprf | . | ^ | T . | | | ' | | | . . | <---x | | +Zprf | ' . | | . '--------------' .| ' .. --O . .. -- '' .. -- '' ins boom deployed for T0 = -1 degree; T = -195 degrees; P = 4 degrees; the resulting Nominal Rotation Matrix specified in [4] is: | -0.958920 -0.067054 -0.275637 | M = | -0.069756 0.997564 0.0 | PRF -> BOOM | 0.274965 0.019227 -0.961261 | This Rotation Matrix is described here only as reference. Please note that the implemented one is described in the INS_BOOM CK file. More details can be found in the CK file comment area. This set of keywords defines the SOLO_INS_BOOM frame as a CK frame: \begindata FRAME_SOLO_INS_BOOM = -144040 FRAME_-144040_NAME = 'SOLO_INS_BOOM' FRAME_-144040_CLASS = 3 FRAME_-144040_CLASS_ID = -144040 FRAME_-144040_CENTER = -144 CK_-144040_SCLK = -144 CK_-144040_SPK = -144 \begintext Solar Arrays Frames: -------------------- [TBD] SOLO Instrument Frames ------------------------------------------------------------------------ In order to incorporate a mechanism to account for the calibration history of a given instrument boresight a CK-based frame is incorporated, the Instrument Detector Centre frame, and a fixed-offset frame relative to the Detector Centre frame, the Instrument Optical Axis is defined. The Instrument Detector Centre frame (ILS) is defined equivalent to the center of the FoV for a non-subfielded image (whith the center of the detector projected onto the sky) whereas the Optical Axis frame is defined by the pixel position that projects onto the sky from the flat detector with least distortion (using a TAN projection, this corresponds to the reference pixel in FITS). The following scheme depicts the usage of these frames: FOF ----------------> Detector Centre -------------------> Ref-pixel calibrated/ (Instrument Line fixed at launch, (Optical Axis) update-able of sight) typically identity Usage: needed for "pointing the FoV" |<---------------------------------->| needed for correcting "raw" image FITS into FITS with proper world coordinates |<---------------------------------------------------------------->| Nominaly both frames are co-aligned and the FITS reference pixel corresponds exactly to the middle of the detector. The _OPT frames provide the possibility to define the centre of the (e.g.) TAN projection for those Remote Sensing instruments that can calibrate this. For those instruments where this cannot be calibrated the _OPT access will be defined co-aligned with the detector centre (and then the reference pixel used in FITS should also be detector-centred). Current assumption is that _OPT frame alignment is only determined pre-launch (where it is determined at all). Please note that the ILS frames follow the "LIF" frames convention as defined in [5]. The idea of the LIF frames is to have a common convention on the detector frames in terms of which direction the frame axis are in. Because of this the ILS frames are defined according to the LIF convention, and ignoring whatever XYZ convention that each individual instrument may use at unit level. The LIF frames have a +X that points away from the Sun. This is a consequence of defining a right handed frame consistent with the normal conventions of FITS axes for Solar Physics. The Solar Orbiter SGS needs this because they will use SPICE as part of the process of converting FITS output in the instrument frame into properly WCS referenced FITS, and since the instrument-delivered pipelines will output the initial FITS according to LIF convetion, it is needed that s what SPICE uses it this way as well. The strategy followed in this FK is to incorporate a CK frame per each sensor of every instrument. EPD Frames: ------------------------------------------------------------------------ This section of the file contains the definitions of the Energetic Particle Detector (EPD) instrument frames. EPD Frame Tree: ~~~~~~~~~~~~~~~ The diagram below shows the EDP frame hierarchy. "J2000" INERTIAL ---------------- | |<-ck | V "SOLO_PRF" +---------------------------------------------+ | | | | |<-fixed |<-fixed |<-fixed |<-fixed | | | | V | | V "SOLO_EPD_STEP" | | "SOLO_EPD_URF" ---------------- | | +--------------------------+ V | | | "SOLO_EPD_EPT-HET_MY" | |<-fixed fixed->| --------------------- | | | | V V | "SOLO_EPD_SIS_SW" "SOLO_EPD_SIS_ASW" | ----------------- ------------------ V "SOLO_EPD_EPT-HET_PY" --------------------- EPD SupraThermal Electron and Proton (STEP) Frame: ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The EPD SupraThermal Electron and Proton (STEP) frame -- SOLO_EPD_STEP --, is defined as follows: - +Z axis is perpendicular to the interface plane with the S/C, pointing away from the S/C; - +X axis is in the interface plane with the S/C, aligned with the boresight of the STEP sensor; - +Y completes the right-handed frame; - the origin of this frame is at the centre of the Unit Reference Hole (URH) of STEP, at the interface plane with the S/C structure. This diagram illustrates the SOLO_EPD_STEP frame: -Z s/c side view: ----------------- /\/\/ H H H +Zstep | ^ | \ > +Xstep | \ . ' 0 \ . ' ) 35 deg | | '. .----x-----------------. |=| '. | . | |=| | | || '| | | | >________________________________| || | | |=| >--------------------------------| || x-------------> | | | | || | +Zprf +Xprf |=| | .'|| | | | |=| .'| '----------------------' | | | 0 | | | | | | | +Zprf is out of V | | the page and +Yprf | +Ystep is into H the page. H H /\/\/ The SOLO_EPD_STEP frame is defined as a fixed offset frame reative to the SOLO_PRF frame. The following rotation matrix from [4] is used to define the fixed offset = | cos(35) -sin(35) 0.0 | | 0.8192 -0.5736 0.0 | M = | 0.0 1.0 1.0 | = | 0.0 0.0 1.0 | PRF -> STEP | -sin(35) -cos(35) 0.0 | | -0.5736 -0.8192 0.0 | \begindata FRAME_SOLO_EPD_STEP = -144100 FRAME_-144100_NAME = 'SOLO_EPD_STEP' FRAME_-144100_CLASS = 4 FRAME_-144100_CLASS_ID = -144100 FRAME_-144100_CENTER = -144 TKFRAME_-144100_RELATIVE = 'SOLO_PRF' TKFRAME_-144100_SPEC = 'MATRIX' TKFRAME_-144100_MATRIX = ( 0.819152, -0.573576, 0.0, 0.0, 0.0, 1.0, -0.573576, -0.819152, 0.0 ) \begintext EPD Suprathermal Ion Spectrograph (SIS) Frames: ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The EPD Suprathermal Ion Spectrograph (SIS) Unit Reference frame -- SOLO_EPD_SIS --, is on the -Y side panel of the S/C is defined as follows: - +X axis is anti-parallel to the SOLO_PRF +X axis, - +Y axis is anti-parallel with the SOLO_PRF +Z axis - +Z axis completes the right-handed frame and is nominally anti-parallel to the SOLO_PRF +Y axis - the origin of this frame is at At the centre of the Unit Reference Hole (URH) of the SIS instrument, at the interface plane with the S/C structure. The EPD SIS consists of two telescopes. The sunward telescope points 30 degrees off the deck, looking over the heatshield. The antisunward telescope points 20 degrees of the deck looking out into deep space [9]. According to [4] the SOLO EDP SIS Sunward (SW) and the SOLO EDP SIS Antisunward (ASW) -- SOLO_EPD_SIS_SW and SOLO_EPD_SIS_ASW -- are defined as follows: - +X axis is aligned with the boresight of the telescope; - +Y axis is perpendicular to the waveguide interface plane, orientated from the waveguide interface plane towards the LGA; - +Y completes the right-handed frame; - the origin of this frame is on the centre of the Unit Reference Hole (URH) of the LGA MZ, at the interface plane with the s/c bracket. These diagram illustrate the SOLO EPD SIS frames: -Y s/c side (Science deck side) view: ------------------------------------- ~~~~~ | __--o. _____..| | __--'' \'. .o.----..| | | | __''==- +Zprf \.'---------------------. |=| __-- ^ >| <------o +Zsis |=| | __--'' () | +Xsis | | |=| __--''==- |. | | | | | __--'' | \ | | | | | >|__| | '| V +Ysis | | | | | | | | +Yprf x-----------> +Xprf | | | | | | | | | .| | | | | / | | | | .' | | | | | | |=| >| |=| | o:______________________: |=| // / | \ | | // /_________|__\ || | || | +Yprf is into '. || | the page and .| ||| | -: | |'/ H '| | | .' | | +Z s/c side view: ----------------- +Zasw +Zsw ^ ^ . / \ . ' ' . +Xasw / \ . ' \ < . / \ . > +Xsw 30 deg 20 deg ( ' . . . . ' | - - - - - - - x/ ' . . ' \x - - - - - - - - - / +Zsis . ' \ +Ysw ' . ^ ' . . ' . ' <--------o +Zprf ' . | / \ . ' +Xprf | | | /______\ | | | | | | ----------- x---------> ------------------- V +Ysis +Xsis +Yprf Since the SPICE frames subsystem calls for specifying the reverse transformation--going from the instrument or structure frame to the base frame--as compared to the description given above, the order of rotations assigned to the TKFRAME_*_AXES keyword is also reversed compared to the above text, and the signs associated with the rotation angles assigned to the TKFRAME_*_ANGLES keyword are the opposite from what is written in the above text. \begindata FRAME_SOLO_EPD_SIS = -144110 FRAME_-144110_NAME = 'SOLO_EPD_SIS' FRAME_-144110_CLASS = 4 FRAME_-144110_CLASS_ID = -144110 FRAME_-144110_CENTER = -144 TKFRAME_-144110_RELATIVE = 'SOLO_PRF' TKFRAME_-144110_SPEC = 'MATRIX' TKFRAME_-144110_MATRIX = ( -1.0, 0.0, 0.0, 0.0, 0.0, -1.0, 0.0, -1.0, 0.0 ) FRAME_SOLO_EPD_SIS_ASW = -144111 FRAME_-144111_NAME = 'SOLO_EPD_SIS_ASW' FRAME_-144111_CLASS = 4 FRAME_-144111_CLASS_ID = -144111 FRAME_-144111_CENTER = -144 TKFRAME_-144111_RELATIVE = 'SOLO_EPD_SIS' TKFRAME_-144111_SPEC = 'ANGLES' TKFRAME_-144111_UNITS = 'DEGREES' TKFRAME_-144111_ANGLES = ( -20, 0.000, 180.0 ) TKFRAME_-144111_AXES = ( 2, 1, 3 ) FRAME_SOLO_EPD_SIS_SW = -144112 FRAME_-144112_NAME = 'SOLO_EPD_SIS_SW' FRAME_-144112_CLASS = 4 FRAME_-144112_CLASS_ID = -144112 FRAME_-144112_CENTER = -144 TKFRAME_-144112_RELATIVE = 'SOLO_EPD_SIS' TKFRAME_-144112_SPEC = 'ANGLES' TKFRAME_-144112_UNITS = 'DEGREES' TKFRAME_-144112_ANGLES = ( 30, 0.000, 0.000 ) TKFRAME_-144112_AXES = ( 2, 1, 3 ) \begintext EPD High Energy Telescope and Electron Proton Telescope (EPT-HET) Frames: ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ EPT-HET has multiple view cones sharing a common electronics box and there are two identical EPT-HET units. EPD Electron Proton Telescope and High Energy Telescope (EPT-HET) consists of two sensor double-ended sensor heads, one pointing sun/anti-sunward (EPT-HET_MY), the other out of the ecliptic (EPT-HET_PY). Thus, EPT-HET has a total of four viewing directions. The EPT-HET frames -- SOLO_EPD_EPT-HET_MY and SOLO_EPD_EPT-HET_PY --, are defined as follows: - +Z axis is perpendicular to the interface plane with the S/C, pointing away from the S/C; - +X axis is in the interface plane with the S/C, aligned with the boresight of the given EPT-HET sensor; - +Y completes the right-handed frame; - the origin of this frame is at the centre of the Unit Reference Hole (URH) of EPT-HET, at the interface plane with the S/C structure. This diagram illustrates the SOLO_EPD_EPT-HET_MY frame: +Z s/c side view: ----------------- /\/\/ H H H | | +Yprf| | ^ | | | | | | 0 | | | '.| .----------------------. |=| '. | | | |=| | | || |'| | | | >___________________________________ _|__________..| | |=| >-------------------------------------o---------------> | | | | ||+Zprf +Xprf |=| | .'|| / | | |=| .' '-o--------------------' | | .' '. ) alp | .' | '. | .' | '. | +Zprf is out of V | ' > +Xmy +Zmy H H H /\/\/ Reference [4] provides the following nominal angles to define the SOLO_EDP_EPT-HET_MY and SOLO_EPD_EPT-HET_PY frames: alp = 35 degrees the = 30 degrees phi = 17.6388 degrees The SOLO_EPD_HET_MY and SOLO_EPD_HET_PY frames are defined as a fixed offset frames reative to the SOLO_PRF frame. The following rotation matrices from [4] are used to define the fixed offset: | cos(alp) -sin(alp) 0.0 | | 0.8192 -0.5736 0.0 | M = | 0.0 1.0 1.0 | = | 0.0 0.0 1.0 | PRF -> E-H_MY | -sin(alp) -cos(alp) 0.0 | | -0.5736 -0.8192 0.0 | | sin(phi) sin(the)*cos(phi) -cos(the)*cos(phi) | M = | -cos(phi) sin(the)*sin(phi) -cos(the)*sin(phi) | = PRF -> E-H_PY | 0.0 cos(the) sin(the) | | 0.303015 0.476493 -0.825310 | = | -0.952986 0.151508 -0.262419 | | 0.0 0.886025 0.5 | \begindata FRAME_SOLO_EPD_EPT-HET_MY = -144121 FRAME_-144121_NAME = 'SOLO_EPD_EPT-HET_MY' FRAME_-144121_CLASS = 4 FRAME_-144121_CLASS_ID = -144121 FRAME_-144121_CENTER = -144 TKFRAME_-144121_RELATIVE = 'SOLO_PRF' TKFRAME_-144121_SPEC = 'MATRIX' TKFRAME_-144121_MATRIX = ( 0.819152, -0.573576, 0.0, 0.0, 0.0, 1.0, -0.573576, -0.819152, 0.0 ) FRAME_SOLO_EPD_EPT-HET_PY = -144122 FRAME_-144122_NAME = 'SOLO_EPD_EPT-HET_PY' FRAME_-144122_CLASS = 4 FRAME_-144122_CLASS_ID = -144122 FRAME_-144122_CENTER = -144 TKFRAME_-144122_RELATIVE = 'SOLO_PRF' TKFRAME_-144122_SPEC = 'MATRIX' TKFRAME_-144122_MATRIX = ( 0.303015, 0.476493, -0.825310, -0.952986, 0.151508, -0.262419, 0.0 , 0.886025, 0.5 ) \begintext EUI Frames: ------------------------------------------------------------------------ This section of the file contains the definitions of the Extreme Ultraviolet Imager (EUI) instrument frames. EUI Frame Tree: ~~~~~~~~~~~~~~~ The diagram below shows the EUI frame hierarchy. "J2000" INERTIAL ---------------- | |<-ck | V "SOLO_PRF" ---------- | |<-ck | V "SOLO_FOF" +----------------------------------------------+ | | | |<-ck |<-ck |<-ck | | | V V V "SOLO_EUI_FSI_ILS" "SOLO_EUI_HRI_LYA_ILS" "SOLO_EUI_HRI_EUV_ILS" ------------------ ---------------------- ---------------------- | | | |<-fixed |<-fixed |<-fixed | | | V V V "SOLO_EUI_FSI_OPT" "SOLO_EUI_HRI_LYA_OPT" "SOLO_EUI_HRI_EUV_OPT" ------------------ ---------------------- ---------------------- EUI Sensors Line of Sight Frames: ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The EUI Sensors Line of Sight (ILS) frames -- SOLO_EUI_FSI_ILS, SOLO_EUI_HRI_LYA_ILS and SOLO_EUI_HRI_EUV_ILS -- are defined as follows: - +Z axis is aligned with the detector rows, - +X axis is anti-parallel with the Sun direction with nominal attitude; anti-parallel with the sensor boresight, - +Y completes the right-handed frame and is aligned with the detector columns, - the origin of this frame is the geometrical center of the PHI Detector. This diagram illustrates the SOLO_EUI_*_ILS frames in nominal position: -Y s/c side (Science deck side) view: ------------------------------------- | | | | | | | H | __--o. _____..| +Yeui __--'' \'. .o.----..| |^ | | __''==- +Zprf \.'-----------------|---. |=| __-- ^ >| | |=| | __--'' () | | | | |=| __--''==- |. | | | | | __--'' | \ | +Xeui<--------x | | | >|__| | '| +Zeui | | | | | | | | +Yprf x-----------> +Xprf | | | | | | | | | .| | | | | / | | | | .' | | | | | | |=| >| |=| | o:______________________: |=| // / | \ | | // /_________|__\ || | || | +Yprf and +Zeui '. || | are into the page. .| ||| | -: | |'/ H '| | | .' | | The SOLO_EUI_*_ILS frames are defined as CK-based frames and SOLO_EUI_*_ILS have a rotation matrix w.r.t. the SOLO_FOF specified in the EUI Instrument CK files: solo_ANC_soc-eui-fsi-ck_YYYYMMDD-YYYYMMDD_[sYYYYMMDD_]VNN.bc solo_ANC_soc-eui-hri-lya-ck_YYYYMMDD-YYYYMMDD_[sYYYYMMDD_]VNN.bc solo_ANC_soc-eui-hri-euv-ck_YYYYMMDD-YYYYMMDD_[sYYYYMMDD_]VNN.bc where YYYYMMDD start and finish dates of the CK coverage; sYYYYMMDD the SCLK reference with which the CK was generated if the kernel is to be used in an as-flown scenario (optional); NN version of the kernel The Nominal Rotation Matrix specified in [4] for the three sensors is: | -1.0000000 0.0 0.0 | M = | 0.0 0.0 1.0000000 | FOF -> EUI | 0.0 1.0000000 0.0 | This Rotation Matrix is described here only as reference. Please note that the implemented one is described in the EUI CK files. More details can be found in the CK file comment area. This set of keywords defines the SOLO_EUI_*_ILS frames as a CK frame: \begindata FRAME_SOLO_EUI_FSI_ILS = -144211 FRAME_-144211_NAME = 'SOLO_EUI_FSI_ILS' FRAME_-144211_CLASS = 3 FRAME_-144211_CLASS_ID = -144211 FRAME_-144211_CENTER = -144 CK_-144211_SCLK = -144 CK_-144211_SPK = -144 FRAME_SOLO_EUI_HRI_LYA_ILS = -144221 FRAME_-144221_NAME = 'SOLO_EUI_HRI_LYA_ILS' FRAME_-144221_CLASS = 3 FRAME_-144221_CLASS_ID = -144221 FRAME_-144221_CENTER = -144 CK_-144221_SCLK = -144 CK_-144221_SPK = -144 FRAME_SOLO_EUI_HRI_EUV_ILS = -144231 FRAME_-144231_NAME = 'SOLO_EUI_HRI_EUV_ILS' FRAME_-144231_CLASS = 3 FRAME_-144231_CLASS_ID = -144231 FRAME_-144231_CENTER = -144 CK_-144231_SCLK = -144 CK_-144231_SPK = -144 \begintext EUI Sensors Optical Axis Frames: ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The EUI Instrument Sensors Optical Axis frames are nominally equivalent to the EUI Instrument Sensors Line of Sight frames. \begindata FRAME_SOLO_EUI_FSI_OPT = -144212 FRAME_-144212_NAME = 'SOLO_EUI_FSI_OPT' FRAME_-144212_CLASS = 4 FRAME_-144212_CLASS_ID = -144212 FRAME_-144212_CENTER = -144 TKFRAME_-144212_RELATIVE = 'SOLO_EUI_FSI_ILS' TKFRAME_-144212_SPEC = 'MATRIX' TKFRAME_-144212_MATRIX = ( 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0 ) FRAME_SOLO_EUI_HRI_LYA_OPT = -144222 FRAME_-144222_NAME = 'SOLO_EUI_HRI_LYA_OPT' FRAME_-144222_CLASS = 4 FRAME_-144222_CLASS_ID = -144222 FRAME_-144222_CENTER = -144 TKFRAME_-144222_RELATIVE = 'SOLO_EUI_HRI_LYA_ILS' TKFRAME_-144222_SPEC = 'MATRIX' TKFRAME_-144222_MATRIX = ( 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0 ) FRAME_SOLO_EUI_HRI_EUV_OPT = -144232 FRAME_-144232_NAME = 'SOLO_EUI_HRI_EUV_OPT' FRAME_-144232_CLASS = 4 FRAME_-144232_CLASS_ID = -144232 FRAME_-144232_CENTER = -144 TKFRAME_-144232_RELATIVE = 'SOLO_EUI_HRI_EUV_ILS' TKFRAME_-144232_SPEC = 'MATRIX' TKFRAME_-144232_MATRIX = ( 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0 ) \begintext MAG Frames: ------------------------------------------------------------------------ This section of the file contains the definitions of the Magnetometer (MAG) instrument frames. This section of the file contains the definitions of the Solar Orbiter Magnetometer (MAG) instrument frames. The Magnetometer will measure the DC magnetic field (in the bandwidth DC to 64Hz) in the S/C vicinity. MAG Frame Tree: ~~~~~~~~~~~~~~~ The diagram below shows the MAG frame hierarchy. "J2000" INERTIAL --------------- | |<-ck | V "SOLO_PRF" ---------- | |<-ck | V "SOLO_INS_BOOM" +-----------------------+ | | |<-fixed |<-fixed | | V V "SOLO_MAG_IBS" "SOLO_MAG_OBS" -------------- -------------- MAG Frames: ~~~~~~~~~~~ The MAG experiment comprises two sensors mounted in the Solar Orbiter Magnetometer Boom at different distances from the boom's hinge. The innermost is called the in-board sensor (MAG IBS) and it is a fluxgate magnetometer. A second fluxgate magnetometer, called the out-board sensor (MAG OBS), is located approximately 3 meters away toward the end of the boom. Each of the sensor's frames -- SOLO_MAG_IBS and SOLO_MAG_OBS -- are nominally co-aligned with the instrument boom frame and is defined as follows: - +Z axis is perpendicular to the rotation axis of the instrument boom, pointing away from the boom axis; - +X axis points towards the deployement mechanism between the S/C body and the 1st rigid element of the boom; - +Y axis completes the right-handed frame; - the origin of this frame is the centre of the Unit Reference Hole of the MAGOBS/MAGIBS instrument, but in the interface plane with the Instrument Boom. This diagram illustrates the MAG sensors' frames: -Z Instrument Boom side view: ----------------------------- / \.---./ \ \.' './ SWA Electrons | | Analysers Systems '-------' (EAS) | | | | | | | | .---. +Yobs <---------x | MAG Outboard Sensor | | | (OBS) '-|-' ||| |V| +Xobs | | | | | | |_| / \ \___/ | | | | |_| |___| RPW Magnetic Search Coil | | (SCM) | | ~~~ ~~~ | | | | .---. +Yibs <---------x | MAG Inboard Sensor | | | (IBS) '-|-' ||| |V| +Xibs |^| +Xinsb ||| +Zibs and +Zobs ||| are into the page. ||| +Zinsb is out o--------> of the page. +Zinsb +Yinsb \begindata FRAME_SOLO_MAG_IBS = -144301 FRAME_-144301_NAME = 'SOLO_MAG_IBS' FRAME_-144301_CLASS = 4 FRAME_-144301_CLASS_ID = -144301 FRAME_-144301_CENTER = -144 TKFRAME_-144301_RELATIVE = 'SOLO_INS_BOOM' TKFRAME_-144301_SPEC = 'MATRIX' TKFRAME_-144301_MATRIX = ( -1.0, 0.0, 0.0, 0.0, -1.0, 0.0, 0.0, 0.0, 1.0 ) FRAME_SOLO_MAG_OBS = -144302 FRAME_-144302_NAME = 'SOLO_MAG_OBS' FRAME_-144302_CLASS = 4 FRAME_-144302_CLASS_ID = -144302 FRAME_-144302_CENTER = -144 TKFRAME_-144302_RELATIVE = 'SOLO_INS_BOOM' TKFRAME_-144302_SPEC = 'MATRIX' TKFRAME_-144302_MATRIX = ( -1.0, 0.0, 0.0, 0.0, -1.0, 0.0, 0.0, 0.0, 1.0 ) \begintext Metis Frames: ------------------------------------------------------------------------ This section of the file contains the definitions of the Multi Element Telescope for Imaging and Spectroscopy (Metis) instrument frames. Metis Frame Tree: ~~~~~~~~~~~~~~~~~ The diagram below shows the PHI frame hierarchy. "J2000" INERTIAL ---------------- | |<-ck | V "SOLO_PRF" ---------- | |<-ck | V "SOLO_FOF" +------------------------------------------------+ | | | |<-ck |<-ck |<-ck | | | V V V "SOLO_METIS_M0_TEL" "SOLO_METIS_EUV_ILS" "SOLO_METIS_VIS_ILS" ------------------- -------------------- -------------------- | | |<-fixed |<-fixed | | V V "SOLO_METIS_EUV_OPT" "SOLO_METIS_VIS_OPT" -------------------- -------------------- Metis Sensors Line of Sight Frames: ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The Metis Sensors Line of Sight (ILS) frames -- SOLO_METIS_EUV_ILS, and SOLO_METIS_VIS_ILS -- definition differs from the one specified in [6] and is according to the indications provided in the ``SOLO Instrument Frames'' section. They are defined as follows: - +Z axis is aligned with the detector rows, - +X axis is anti-parallel with the Sun direction with nominal attitude; anti-parallel with the sensor boresight, - +Y completes the right-handed frame and is aligned with the detector columns, - the instrument Vertex is the centre of the M0 (occulting) mirror. This diagram illustrates the SOLO_METIS_*_ILS frames in nominal position: -Y s/c side (Science deck side) view: ------------------------------------- | | | | | | | H | __--o. _____..| +Ymetis __--'' \'. .o.----..| |^ | | __''==- +Zprf \.'-----------------|---. |=| __-- ^ >| | |=| | __--'' () | | | | |=| __--''==- |. | | | | | __--'' | \ | +Xmetis<--------x | | | >|__| | '| +Zmetis | | | | | | | +Yprf x-----------> +Xprf | | | | | | | | | .| | | | | / | | | | .' | | | | | | |=| >| |=| | o:______________________: |=| // / | \ | | // /_________|__\ || | || | +Yprf and +Zmetis '. || | are into the page. .| ||| | -: | |'/ H '| | | .' | | The SOLO_METIS_*_ILS frames are defined as CK-based frames and SOLO_METIS_*_ILS have a rotation matrix w.r.t. the SOLO_FOF specified in the EUI Sensor's CK files: solo_ANC_soc-metis-euv-ck_YYYYMMDD-YYYYMMDD_[sYYYYMMDD_]VNN.bc solo_ANC_soc-metis-vis-ck_YYYYMMDD-YYYYMMDD_[sYYYYMMDD_]VNN.bc where YYYYMMDD start and finish dates of the CK coverage; sYYYYMMDD the SCLK reference with which the CK was generated if the kernel is to be used in an as-flown scenario (optional); NN version of the kernel The Nominal Rotation Matrix specified in [4] for the three sensors is: | -1.0000000 0.0 0.0 | M = | 0.0 0.0 1.0000000 | FOF -> Metis | 0.0 1.0000000 0.0 | This Rotation Matrix is described here only as reference. Please note that the implemented one is described in the Metis CK files. More details can be found in the CK file comment area. This set of keywords defines the SOLO_METIS_*_ILS frames as a CK frame: \begindata FRAME_SOLO_METIS_EUV_ILS = -144411 FRAME_-144411_NAME = 'SOLO_METIS_EUV_ILS' FRAME_-144411_CLASS = 3 FRAME_-144411_CLASS_ID = -144411 FRAME_-144411_CENTER = -144 CK_-144411_SCLK = -144 CK_-144411_SPK = -144 FRAME_SOLO_METIS_VIS_ILS = -144421 FRAME_-144421_NAME = 'SOLO_METIS_VIS_ILS' FRAME_-144421_CLASS = 3 FRAME_-144421_CLASS_ID = -144421 FRAME_-144421_CENTER = -144 CK_-144421_SCLK = -144 CK_-144421_SPK = -144 \begintext Metis Sensors Optical Axis Frames: ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The Metis Instrument Sensors Optical Axis frames are nominally equivalent to the Metis Instrument Sensors Line of Sight frames. \begindata FRAME_SOLO_METIS_EUV_OPT = -144412 FRAME_-144412_NAME = 'SOLO_METIS_EUV_OPT' FRAME_-144412_CLASS = 4 FRAME_-144412_CLASS_ID = -144412 FRAME_-144412_CENTER = -144 TKFRAME_-144412_RELATIVE = 'SOLO_METIS_EUV_ILS' TKFRAME_-144412_SPEC = 'MATRIX' TKFRAME_-144412_MATRIX = ( 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0 ) FRAME_SOLO_METIS_VIS_OPT = -144422 FRAME_-144422_NAME = 'SOLO_METIS_VIS_OPT' FRAME_-144422_CLASS = 4 FRAME_-144422_CLASS_ID = -144422 FRAME_-144422_CENTER = -144 TKFRAME_-144422_RELATIVE = 'SOLO_METIS_VIS_ILS' TKFRAME_-144422_SPEC = 'MATRIX' TKFRAME_-144422_MATRIX = ( 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0 ) \begintext Metis Telescope IEO-M0 Boom Frame: ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The telescope contains all the opto-mechanical elements and the detectors producing the Sun corona images in visible (VL) and UV light that reflects the occultor (technically the IEO-M0 alignment). The inverted external-occulter (IEO) consists of a circular aperture on the front face of the Solar Orbiter thermal shield. An internal spherical mirror (M0) rejects back the disk-light through the IEO. The part of Metis between the IEO and M0 is called optical boom and it is optically delimited by two stops: IEO, on the front face of the heat shield, and the annular aperture delimited internally by M0 and, externally, by the internal edge of the mirror M2. The M0 mirror has the task to reflect back into IEO aperture the light coming from the solar disk. The Metis Telescope IEO-M0 Boom Frame -- SOLO_METIS_IEO-M0 -- accounts for the alignment of the IEO-M0 Boom and is defined as follows: - +X points from the Vertex outward through the centre of the IEO aperture (it is parallel with the instrumennt Line of Sight), - +Y axis is aligned with the detector rows, - +Y completes the right-handed frame and is aligned with the detector columns, - the origin of this frame is the centre of the M0 (occulting) mirror. This diagram illustrates the SOLO_METIS_IEO-MO frame in nominal position: -Y S/C side (Metis Optical Unit) view: -------------------------------------- Telescope ^ +Zieo-m0 IEO | | ...-----------------------...| V _____....''' |'--. .-----''''' | | | +Xieo-m0 <-------o | UV Camera '-----....._____ +Yieo-m0 | ''''---___ __..--' """""""""""""""""""""""" +Ymetis || || ^ ^ ------ ----| | \________________________________________________/ | | | | | Boom M0 Mirror | | +Xmetis <----------x +Zmetis The SOLO_METIS_IEO-MO frame is defined as CK-based frame and it has a rotation matrix w.r.t. the SOLO_FOF specified in the Metis IEO-MO CK file: solo_ANC_soc-metis-ieo-m0-ck_YYYYMMDD-YYYYMMDD_[sYYYYMMDD_]VNN.bc where YYYYMMDD start and finish dates of the CK coverage; sYYYYMMDD the SCLK reference with which the CK was generated if the kernel is to be used in an as-flown scenario (optional); NN version of the kernel The Nominal Rotation Matrix specified in [4] for the three sensors is: | -1.0000000 0.0 0.0 | M = | 0.0 0.0 1.0000000 | FOF -> IEO-M0 | 0.0 1.0000000 0.0 | This Rotation Matrix is described here only as reference. Please note that the implemented one is described in the Metis CK files. More details can be found in the CK file comment area. This set of keywords defines the SOLO_METIS_IEO-M0 frames as a CK frame: \begindata FRAME_SOLO_METIS_IEO-M0 = -144430 FRAME_-144430_NAME = 'SOLO_METIS_IEO-M0' FRAME_-144430_CLASS = 3 FRAME_-144430_CLASS_ID = -144430 FRAME_-144430_CENTER = -144 CK_-144430_SCLK = -144 CK_-144430_SPK = -144 \begintext PHI Frames: ------------------------------------------------------------------------ This section of the file contains the definitions of the Polarimetric and Helioseismic Imager (PHI) instrument frames. PHI Frame Tree: ~~~~~~~~~~~~~~~ The diagram below shows the PHI frame hierarchy. "J2000" INERTIAL --------------- | |<-ck | V "SOLO_PRF" ---------- | |<-ck | V "SOLO_FOF" +--------------------+ | | |<-ck |<-ck | | V V "SOLO_PHI_FDT_ILS" "SOLO_PHI_HRT_ILS" ------------------ ----------------- | | |<-fixed |<-fixed | | V V "SOLO_PHI_FDT_OPT" "SOLO_PHI_HRT_OPT" ------------------ ------------------ PHI Sensors Line of Sight Frames: ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The PHI Sensors Line of Sight (ILS) frames -- SOLO_PHI_FDT_ILS and SOLO_PHI_HRT_ILS -- are defined as follows: - +Z axis is aligned with the detector rows, - +X axis is anti-parallel with the Sun direction with nominal attitude; anti-parallel with the sensor boresight, - +Y completes the right-handed frame and is aligned with the detector columns, - the origin of this frame is the geometrical center of the PHI Detector. This diagram illustrates the SOLO_PHI_*_ILS frames in nominal position: -Y s/c side (Science deck side) view: ------------------------------------- | | | | | | | H | __--o. _____..| +Yphi __--'' \'. .o.----..| |^ | | __''==- +Zprf \.'-----------------|---. |=| __-- ^ >| | |=| | __--'' () | | | | |=| __--''==- |. | | | | | __--'' | \ | +Xphi <--------x | | | >|__| | '| +Zphi | | | | | | | | +Yprf x-----------> +Xprf | | | | | | | | | .| | | | | / | | | | .' | | | | | | |=| >| |=| | o:______________________: |=| // / | \ | | // /_________|__\ || | || | +Yprf and +Zphi '. || | are into the page. .| ||| | -: | |'/ H '| | | .' | | The SOLO_PHI_*_ILS frames are defined as CK-based frames and SOLO_PHI_*_ILS have a rotation matrix w.r.t. the SOLO_FOF specified in the PHI instrument CK files: solo_ANC_soc-phi-fdt-ck_YYYYMMDD-YYYYMMDD_[_sYYYYMMDD_]VNN.bc solo_ANC_soc-phi-hrt-ck_YYYYMMDD-YYYYMMDD_sYYYYMMDD_VNN.bc where YYYYMMDD start and finish dates of the CK coverage; sYYYYMMDD the SCLK reference with which the CK was generated if the kernel is to be used in an as-flown scenario (optional); NN version of the kernel The Nominal Rotation Matrix specified in [4] for the three sensors is: | -1.0000000 0.0 0.0 | M = | 0.0 0.0 1.0000000 | FOF -> EUI | 0.0 1.0000000 0.0 | This Rotation Matrix is described here only as reference. Please note that the implemented one is described in the PHI CK files. More details can be found in the CK file comment area. This set of keywords defines the SOLO_PHI_*_ILS frames as a CK frame: \begindata FRAME_SOLO_PHI_FDT_ILS = -144511 FRAME_-144511_NAME = 'SOLO_PHI_FDT_ILS' FRAME_-144511_CLASS = 3 FRAME_-144511_CLASS_ID = -144511 FRAME_-144511_CENTER = -144 CK_-144511_SCLK = -144 CK_-144511_SPK = -144 FRAME_SOLO_PHI_HRT_ILS = -144521 FRAME_-144521_NAME = 'SOLO_PHI_HRT_ILS' FRAME_-144521_CLASS = 3 FRAME_-144521_CLASS_ID = -144521 FRAME_-144521_CENTER = -144 CK_-144521_SCLK = -144 CK_-144521_SPK = -144 \begintext PHI Sensors Optical Axis Frames: ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The PHI Instrument Sensors Optical Axis frames are nominally equivalent to the PHI Instrument Sensors Line of Sight frames. \begindata FRAME_SOLO_PHI_FDT_OPT = -144512 FRAME_-144512_NAME = 'SOLO_PHI_FDT_OPT' FRAME_-144512_CLASS = 4 FRAME_-144512_CLASS_ID = -144512 FRAME_-144512_CENTER = -144 TKFRAME_-144512_RELATIVE = 'SOLO_PHI_FDT_ILS' TKFRAME_-144512_SPEC = 'MATRIX' TKFRAME_-144512_MATRIX = ( 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0 ) FRAME_SOLO_PHI_HRT_OPT = -144522 FRAME_-144522_NAME = 'SOLO_PHI_HRT_OPT' FRAME_-144522_CLASS = 4 FRAME_-144522_CLASS_ID = -144522 FRAME_-144522_CENTER = -144 TKFRAME_-144522_RELATIVE = 'SOLO_PHI_HRT_ILS' TKFRAME_-144522_SPEC = 'MATRIX' TKFRAME_-144522_MATRIX = ( 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0 ) \begintext RPW frames: ------------------------------------------------------------------------ This section of the file contains the definitions of the Radio and Plasma Waves (RPW) instrument frames. RPW Frame Tree: ~~~~~~~~~~~~~~~ The diagram below shows the RPW frame hierarchy. "J2000" INERTIAL --------------- | |<-ck | V "SOLO_PRF" +----------------------------------------------------+ | | | | |<-fixed |<-fixed |<-fixed |<-ck | | | | V V V | "SOLO_RPW_ANT_1" "SOLO_RPW_ANT_2" "SOLO_RPW_ANT_3" | ---------------- ---------------- ---------------- | V "SOLO_INS_BOOM" --------------- | |<-fixed | V "SOLO_RPW_SCM" -------------- RPW Antennas Frames: ~~~~~~~~~~~~~~~~~~~~ The Electric antennas (ANT), consist on a set of three monopoles mounted on the +Z, +Y and -Y panels of the S/C. The Antenna's frames are referred as ANT 1, ANT 2 and ANT 3 in [7] or ANT +Z, ANT +Y, ANT -Y in [4]. The RPW Anntena's frames -- SOLO_RPW_ANT_1, SOLO_RPW_ANT_2 and SOLO_RPW_ANT_3 -- are defined as follows: - +Z axis is aligned with the undeformed deployed boom of the antenna, pointing away from the S/C body; - +X axis is co-aligned with S/C -X axis (-Xprf); - +Y axis completes the right-ganded frame; - the origin of these frames are at the point of intersection of flange axis with the interface plane between the monopole and the corresponding panel of the S/C structure. The aligment of the undeformed deployed boom of the anetnna is defined as follows for the different Antennas. For the +Z RPW antenna (ANT 1), it is aligned with the S/C +Z axis (+Zprf). For the RPW +Y antenna (ANT 2), it corresponds to the rotation of the S/C +Z axis (+Zprf) by –Theta around the S/C +X axis (+Xprf). For the RPW -Y antenna (ANT 3), it corresponds to the rotation of the S/C +Z axis (+Zprf) by +theta around the S/C +X axis (+Xprf). This diagram illustrates the SOLO_RPW_ANT_* frames in their nominal position: -X s/c side (S/C-launcher separation plane) view: ------------------------------------------------- | ANT 1 . | . | | . | theta | (~125 deg) . | ^ +Zant1 | . | | .|. . .--------/|||\--------. | .-------|o---------> +Yant1 . | | | | | | .__ _________. | | |^+Zprf | | ,_________ __. | \ \ |\ | | __|||_ | | /| / / | | / / |\\ | | .' ||| `. | | //| \ \ | | \ \ | \\_________ | / ()|() \ | __________// | / / | | / / | /.-------- <--------x | |'----------.\ | \ \ | | \ \ |// Yprf| | +Xprf | | | \\| / / | | / / |/ | | \ / | | \| \ \ | '-' '------ +Yant2 <. | | `.______.' | | '---------' '-' '. | | | | . '.| | | | +Xprf is into '.| | | the page. +Xant1 | o_______()_______o | +Xant2 and +Xant3 . .'___/ || \_. . are out of the .' /_____||____.' '. page. .' || .' '. . .' || V '. +Zant2 <' .-'+Yant3 '> +Zant3 . .' / \ / \ '. .' | () | '. .' \ || / '. .' `-..-' '. ANT 2 .' '. ANT 3 .' '. The SOLO_RPW_ANT_* frames are defined as a fixed offset frame reative to the SOLO_PRF frame. The following rotation matrices from [4] are used to define the fixed offset. | -1.0000000 0.0 0.0 | M = | 0.0 -1.0000000 0.0 | PRF -> ANT 1 | 0.0 0.0 1.00000000 | | -1.0000000 0.0 0.0 | M = | 0.0 -cos(theta) sin(theta) | PRF -> ANT 2 | 0.0 sin(theta) cos(theta) | | -1.0000000 0.0 0.0 | M = | 0.0 -cos(theta) -sin(theta) | PRF -> ANT 3 | 0.0 -sin(theta) cos(theta) | As indicated in [7] with the nominal value for theta = 125 degrees, we obtain: | -1.0000000 0.0 0.0 | M = | 0.0 0.57357643 0.81915204 | PRF -> ANT 2 | 0.0 0.81915204 -0.57357643 | | -1.0000000 0.0 0.0 | M = | 0.0 0.57357643 -0.81915204 | PRF -> ANT 3 | 0.0 -0.81915204 -0.57357643 | \begindata FRAME_SOLO_RPW_ANT_1 = -144610 FRAME_-144610_NAME = 'SOLO_RPW_ANT_1' FRAME_-144610_CLASS = 3 FRAME_-144610_CLASS_ID = -144610 FRAME_-144610_CENTER = -144 TKFRAME_-144610_RELATIVE = 'SOLO_PRF' TKFRAME_-144610_SPEC = 'MATRIX' TKFRAME_-144610_MATRIX = ( -1.0000000, 0.0, 0.0, 0.0, -1.0000000, 0.0, 0.0 0.0, 1.00000000 ) FRAME_SOLO_RPW_ANT_2 = -144620 FRAME_-144620_NAME = 'SOLO_RPW_ANT_2' FRAME_-144620_CLASS = 3 FRAME_-144620_CLASS_ID = -144620 FRAME_-144620_CENTER = -144 TKFRAME_-144620_RELATIVE = 'SOLO_PRF' TKFRAME_-144620_SPEC = 'MATRIX' TKFRAME_-144620_MATRIX = ( -1.0000000, 0.0, 0.0, 0.0, 0.57357643, 0.81915204, 0.0, 0.81915204, -0.57357643 ) FRAME_SOLO_RPW_ANT_3 = -144630 FRAME_-144630_NAME = 'SOLO_RPW_ANT_3' FRAME_-144630_CLASS = 3 FRAME_-144630_CLASS_ID = -144630 FRAME_-144630_CENTER = -144 TKFRAME_-144630_RELATIVE = 'SOLO_PRF' TKFRAME_-144630_SPEC = 'MATRIX' TKFRAME_-144630_MATRIX = ( -1.0000000, 0.0, 0.0, 0.0, 0.57357643, -0.81915204, 0.0, -0.81915204, -0.57357643 ) \begintext RPW Search Coil Unit Frame: ~~~~~~~~~~~~~~~~~~~~~~~~~~~ The Search Coil unit SCM is a magnetic sensor of inductive type. It is the sensor intended to measure the three components of the magnetic field from near DC to about 10 KHz and to about 500 kHz for one component. The search coil magnetometer is composed of 3 orthogonal magnetic antennas assembled orthogonally in the most compact way as possible by the body of the sensor. The RPW Search Coil Unit (SCM) frame -- SOLO_RPW_SCM -- is co-aligned with the instrument boom frame and is defined as follows: - +Z axis is perpendicular to the rotation axis of the instrument boom, pointing away from the boom axis; - +X axis points towards the deployement mechanism between the S/C body and the 1st rigid element of the boom; - +Y axis completes the right-handed frame; - the origin of this frame is the centre of the Unit Reference Hole of the SCM. This diagram illustrates the SOLO_RPW_SCM fram with the instrument boom fully deployed: -Z Instrument Boom side view: ----------------------------- / \.---./ \ \.' './ SWA Electrons | | Analysers Systems '-------' (EAS) | | | | | | | | .---. | | MAG Outboard Sensor | | (OBS) '---' | | | | | | | | | | |_| / +xscm \_^_/ ||| ||| RPW Magnetic Search Coil ||| (SCM) |_o---------> | | +Yscm | | ~~~ ~~~ | | | | .---. | | MAG Inboard Sensor | | (IBS) '---' | | | | |^| +Xinsb ||| ||| ||| o--------> +Zinsb is out +Zinsb +Yinsb of the page. \begindata FRAME_SOLO_RPW_SCM = -144640 FRAME_-144640_NAME = 'SOLO_RPW_SCM' FRAME_-144640_CLASS = 4 FRAME_-144640_CLASS_ID = -144640 FRAME_-144640_CENTER = -144 TKFRAME_-144640_RELATIVE = 'SOLO_INS_BOOM' TKFRAME_-144640_SPEC = 'MATRIX' TKFRAME_-144640_MATRIX = ( 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0 ) \begintext SOLOHI Frames: ------------------------------------------------------------------------ This section of the file contains the definitions of the Solar Orbiter Heliospheric Imager (SOLOHI) instrument frames. The current SoloHI frames implementation follow this guidelines: SoloHI has 4 separate detectors tiled into the focal plane to effectivel build a ``big'' composite detector. Each of the 4 will output it's own FITS file. However because the detectors share the same optical path (and because SoloHI uses a non-TAN projection because of it's very wide FoV) the current guess is that each FITS will actually share a common reference pixel. Thus for purposes of SPICE we define a single frame for the composite detector (and revise this decision later once we get clear information from the SoloHI team). SOLOHI Frame Tree: ~~~~~~~~~~~~~~~~~~ The diagram below shows the PHI frame hierarchy. "J2000" INERTIAL --------------- | |<-ck | V "SOLO_PRF" ---------- | |<-ck | V "SOLO_FOF" ---------- | |<-ck | V "SOLO_SOLOHI_ILS" ----------------- | |<-fixed | V "SOLO_SOLOHI_OPT" ----------------- SOLOHI Sensor Line of Sight Frame: ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ According to [4] the nominal SoloHI Sensor Line of Sight reference frame -- SOLO_SOLOHI_ILS -- is defined as follows: - +Z axis is aligned with the detector rows, - +X axis is anti-parallel with the Sun direction with nominal attitude; anti-parallel with the sensor boresight, - +Y completes the right-handed frame and is aligned with the detector columns, - the origin of this frame is the geometrical center of the SOLOHI Detector. This diagram illustrates the SOLO_SOLOHI_ILS frames in nominal position: -Y s/c side (Science deck side) view: ------------------------------------- | | | | | | | H | __--o. _____..| +Ysolohi __--'' \'. .o.----..| |^ | | __''==- +Zprf \.'-----------------|---. |=| __-- ^ >| | |=| | __--'' () | | | | |=| __--''==- |. | | | | | __--'' | \ |+Xsolohi <--------x | | | >|__| | '| +Zsolohi| | | | | | | +Yprf x-----------> +Xprf | | | | | | | | | .| | | | | / | | | | .' | | | | | | |=| >| |=| | o:______________________: |=| // / | \ | | // /_________|__\ || | || | +Yprf and +Zsolohi '. || | are into the page. .| ||| | -: | |'/ H '| | | .' | | The SOLO_SOLOHI_*_ILS frames are defined as CK-based frames and have the rotation matrices w.r.t. the SOLO_FOF specified in the SOLOHI CK files: solo_ANC_soc-solohi-ck_YYYYMMDD-YYYYMMDD_sYYYYMMDD_VNN.bc where YYYYMMDD start and finish dates of the CK coverage; sYYYYMMDD the SCLK reference with which the CK was generated; NN version of the kernel The Nominal Rotation Matrix specified in [4] for the sensor is: | -1.0000000 0.0 0.0 | M = | 0.0 0.0 1.0000000 | FOF -> Solohi | 0.0 1.0000000 0.0 | This Rotation Matrix is described here only as reference. Please note that the implemented one is described in the SoloHI CK file. More details can be found in the CK files comment area. These set of keywords define the SOLO_SOLOHI_ILS frames as a CK frame: \begindata FRAME_SOLO_SOLOHI_ILS = -144701 FRAME_-144701_NAME = 'SOLO_SOLOHI_ILS' FRAME_-144701_CLASS = 3 FRAME_-144701_CLASS_ID = -144701 FRAME_-144701_CENTER = -144 CK_-144701_SCLK = -144 CK_-144701_SPK = -144 \begintext SOLOHI Sensor Optical Axis Frame: ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Nominally the PHI sensors optical axis aree co-aligned with the SoloHI sensor Insrument Line of Sight frame. The SoloHI Sensor Optical Axis frame -- SOLO_SOLOHI_OPT -- is defined as follows: - +Z axis is aligned with the sensor boresight, - +X axis is aligned with the detector rows, - +Y completes the right-handed frame and is aligned with the detector columns, - the origin of this frame is the geometrical center of the SoloHI Detector. \begindata FRAME_SOLO_SOLOHI_OPT = -144702 FRAME_-144702_NAME = 'SOLO_SOLOHI_OPT' FRAME_-144702_CLASS = 4 FRAME_-144702_CLASS_ID = -144702 FRAME_-144702_CENTER = -144 TKFRAME_-144702_RELATIVE = 'SOLO_SOLOHI_ILS' TKFRAME_-144702_SPEC = 'MATRIX' TKFRAME_-144702_MATRIX = ( 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0 ) \begintext SPICE Frames: ------------------------------------------------------------------------ This section of the file contains the definitions of the Spectral Imaging of the Coronal Environment (SPICE) instrument frames. Please note that the SPICE Scanner is not implemented as a CK based frame instead the Field-of-Regard defined in the SPICE IK for a full scanner rotation. SPICE Frame Tree: ~~~~~~~~~~~~~~~~~ The diagram below shows the SPICE frame hierarchy. "J2000" INERTIAL ---------------- | |<-ck | V "SOLO_PRF" ---------- | |<-ck | V "SOLO_FOF" +-----------------------+ | | |<-ck |<-ck | | V V "SOLO_SPICE_SW_ILS" "SOLO_SPICE_LW_ILS" ------------------- ------------------- | | |<-fixed |<-fixed | | V V "SOLO_SPICE_SW_OPT" "SOLO_SPICE_LW_OPT" ------------------- ------------------- SPICE Sensors Line of Sight Frames: ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The SPICE Sensors Line of Sight (ILS) frames -- SOLO_SPICE_SW_ILS, SOLO_SPICE_LW_ILS -- are defined as follows: - +Z axis is aligned with the detector rows, - +X axis is anti-parallel with the Sun direction with nominal attitude; anti-parallel with the sensor boresight, - +Y completes the right-handed frame and is aligned with the detector columns, - the origin of this frame is the geometrical center of the PHI Detector. This diagram illustrates the SOLO_SPICE_*_ILS frames in nominal position: -Y s/c side (Science deck side) view: ------------------------------------- | | | | | | | H | __--o. _____..| +Yspice __--'' \'. .o.----..| |^ | | __''==- +Zprf \.'-----------------|---. |=| __-- ^ >| | |=| | __--'' () | | | | |=| __--''==- |. | | | | | __--'' | \ | +Xspice <--------x | | | >|__| | '| +Zspice | | | | | | | +Yprf x-----------> +Xprf | | | | | | | | | .| | | | | / | | | | .' | | | | | | |=| >| |=| | o:______________________: |=| // / | \ | | // /_________|__\ || | || | +Yprf and +Zspice '. || | are into the page. .| ||| | -: | |'/ H '| | | .' | | The SOLO_SPICE_*_ILS frames are defined as CK-based frames and SOLO_SPICE_*_ILS have a rotation matrix w.r.t. the SOLO_FOF specified in the SPICE Sensor's CK files: solo_ANC_soc-spice-sw-ck_YYYYMMDD-YYYYMMDD_sYYYYMMDD_VNN.bc solo_ANC_soc-spice-lw-ck_YYYYMMDD-YYYYMMDD_sYYYYMMDD_VNN.bc where YYYYMMDD start and finish dates of the CK coverage; sYYYYMMDD the SCLK reference with which the CK was generated; NN version of the kernel The Nominal Rotation Matrix specified in [4] for the three sensors is: | -1.0000000 0.0 0.0 | M = | 0.0 0.0 1.0000000 | FOF -> SPICE | 0.0 1.0000000 0.0 | This Rotation Matrix is described here only as reference. Please note that the implemented one is described in the SPICE CK files. More details can be found in the CK file comment area. This set of keywords defines the SOLO_SPICE_*_ILS frames as a CK frame: \begindata FRAME_SOLO_SPICE_SW_ILS = -144811 FRAME_-144811_NAME = 'SOLO_SPICE_SW_ILS' FRAME_-144811_CLASS = 3 FRAME_-144811_CLASS_ID = -144811 FRAME_-144811_CENTER = -144 CK_-144811_SCLK = -144 CK_-144811_SPK = -144 FRAME_SOLO_SPICE_LW_ILS = -144821 FRAME_-144821_NAME = 'SOLO_SPICE_LW_ILS' FRAME_-144821_CLASS = 3 FRAME_-144821_CLASS_ID = -144821 FRAME_-144821_CENTER = -144 CK_-144821_SCLK = -144 CK_-144821_SPK = -144 \begintext SPICE Sensors Optical Axis Frames: ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The SPICE Instrument Sensors Optical Axis frames are nominally equivalent to the SPICE Instrument Sensors Line of Sight frames. \begindata FRAME_SOLO_SPICE_SW_OPT = -144812 FRAME_-144812_NAME = 'SOLO_SPICE_SW_OPT' FRAME_-144812_CLASS = 4 FRAME_-144812_CLASS_ID = -144812 FRAME_-144812_CENTER = -144 TKFRAME_-144812_RELATIVE = 'SOLO_SPICE_SW_ILS' TKFRAME_-144812_SPEC = 'MATRIX' TKFRAME_-144812_MATRIX = ( 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0 ) FRAME_SOLO_SPICE_LW_OPT = -144822 FRAME_-144822_NAME = 'SOLO_SPICE_LW_OPT' FRAME_-144822_CLASS = 4 FRAME_-144822_CLASS_ID = -144822 FRAME_-144822_CENTER = -144 TKFRAME_-144822_RELATIVE = 'SOLO_SPICE_LW_ILS' TKFRAME_-144822_SPEC = 'MATRIX' TKFRAME_-144822_MATRIX = ( 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0 ) \begintext STIX Frames: ------------------------------------------------------------------------ This section of the file contains the definitions of the Spectrometer Telescope for Imaging X rays (STIX) instrument frames. STIX Frame Tree: ~~~~~~~~~~~~~~~~ The diagram below shows the PHI frame hierarchy. "J2000" INERTIAL --------------- | |<-ck | V "SOLO_PRF" ---------- | |<-ck | V "SOLO_FOF" ---------- | |<-ck | V "SOLO_PHI_STIX_ILS" ------------------- | |<-fixed | V "SOLO_PHI_STIX_OPT" ------------------- STIX Sensor Line of Sight Frame: ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ According to [4] the nominal SOLO STIX Sensor Line of Sight reference frame -- SOLO_STIX_ILS -- is defined as follows: - +X axis is aligned with the s/c +X axis, - +Y axis is antiparallel to the s/c +Z axis, - +Y completes the right-handed frame and is aligned with the s/c +Y axis, - the origin of this frame is the geometrical center of the PHI Detector. This diagram illustrates the SOLO_STIX_ILS frames in nominal position: -Y s/c side (Science deck side) view: ------------------------------------- | | | | | | | H | __--o. _____..| +Ystix __--'' \'. .o.----..| |^ | | __''==- +Zprf \.'-----------------|---. |=| __-- ^ >| | |=| | __--'' () | | | | |=| __--''==- |. | | | | | __--'' | \ | +Xstix <--------x | | | >|__| | '| +Zstix | | | | | | | | +Yprf x-----------> +Xprf | | | | | | | | | .| | | | | / | | | | .' | | | | | | |=| >| |=| | o:______________________: |=| // / | \ | | // /_________|__\ || | || | +Yprf and +Zspice '. || | are into the page. .| ||| | -: | |'/ H '| | | .' | | The SOLO_STIX_*_ILS frames are defined as CK-based frames and have the rotation matrices w.r.t. the SOLO_FOF specified in the STIX CK files: solo_ANC_soc-stix-ck_YYYYMMDD-YYYYMMDD_sYYYYMMDD_VNN.bc where YYYYMMDD start and finish dates of the CK coverage; sYYYYMMDD the SCLK reference with which the CK was generated; NN version of the kernel The Nominal Rotation Matrix specified in [4] for the sensor is: | -1.0000000 0.0 0.0 | M = | 0.0 0.0 1.0000000 | FOF -> STIX | 0.0 1.0000000 0.0 | This Rotation Matrix is described here only as reference. Please note that the implemented one is described in the STIX CK file. More details can be found in the CK files comment area. These set of keywords define the SOLO_STIX_ILS frames as a CK frame: \begindata FRAME_SOLO_STIX_ILS = -144851 FRAME_-144851_NAME = 'SOLO_STIX_ILS' FRAME_-144851_CLASS = 3 FRAME_-144851_CLASS_ID = -144851 FRAME_-144851_CENTER = -144 CK_-144851_SCLK = -144 CK_-144851_SPK = -144 \begintext STIX Sensor Optical Axis Frame: ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Nominally the STIX sensors optical axis aree co-aligned with the STIX sensor Insrument Line of Sight frame. The STIX Sensor Optical Axis frame -- SOLO_STIX_OPT -- is defined as follows: - +Z axis is aligned with the sensor boresight, - +X axis is aligned with the detector rows, - +Y completes the right-handed frame and is aligned with the detector columns, - the origin of this frame is the geometrical center of the STIX Detector. \begindata FRAME_SOLO_STIX_OPT = -144852 FRAME_-144852_NAME = 'SOLO_STIX_OPT' FRAME_-144852_CLASS = 4 FRAME_-144852_CLASS_ID = -144852 FRAME_-144852_CENTER = -144 TKFRAME_-144852_RELATIVE = 'SOLO_STIX_ILS' TKFRAME_-144852_SPEC = 'MATRIX' TKFRAME_-144852_MATRIX = ( 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0 ) \begintext SWA Frames: ------------------------------------------------------------------------ This section of the file contains the definitions of the Solar Wind Analyzer (SWA) instrument frames. SWA Frame Tree: ~~~~~~~~~~~~~~~~ The diagram below shows the SWA frame hierarchy. "J2000" INERTIAL ---------------- | |<-ck | V "SOLO_PRF" +-------------------------------------+ | | | |<-fixed |<-fixed |<-fixed | | | V V V "SOLO_SWA_HIS" "SOLO_SWA_PAS" "SOLO_SWA_EAS" -------------- -------------- -------------- | |<-fixed | V +------------------+ | | |<-fixed |<-fixed | | V V "SOLO_SWA_EAS1" "SOLO_SWA_EAS2" --------------- --------------- SWA Heavy Ion Sensor (HIS) Frame: ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ According to [4] the SOLO SWA Heavy Ion Sensor frame -- SOLO_SWA_HIS -- is defined as follows: - +X axis is nominally aligned with the SOLO_PRF +X axis, - +Y axis is is nominally aligned with the SOLO_PRF +Y axis - +Z axis completes the right-handed frame and is nominally aligned with the SOLO_PRF +Z axis - the origin of this frame is at the centre of the Unit Reference Hole (URH) of SWA HIS instrument, at the interface plane with the S/C structure (HIS bracket). This diagram illustrates the SOLO_SWA_HIS frame: -Y s/c side (Science deck side) view: ------------------------------------- ~~~ | H +Zhis | ^ __--o. _____..| | | __--'' \'. .o.----..| | | | | __''==- +Zprf \.'-------------------|-. |=| __-- ^ >| x-----> +Xhis __--'' () | | | |=| __--''==- |. | | | | __--'' | \ | | | | >|__| | '| | | | | | | | | +Yprf x-----------> +Xprf | | | | | | | | | .| | | | | / | | | | .' | | | | | | |=| >| |=| | o:______________________: |=| // / | \ | | // /_________|__\ || | || | +Yprf and +Yhis '. || | are into the .| ||| | page. -: | |'/ H '| | | .' | | \begindata FRAME_SOLO_SWA_HIS = -144871 FRAME_-144871_NAME = 'SOLO_SWA_HIS' FRAME_-144871_CLASS = 4 FRAME_-144871_CLASS_ID = -144871 FRAME_-144871_CENTER = -144 TKFRAME_-144871_RELATIVE = 'SOLO_PRF' TKFRAME_-144871_SPEC = 'MATRIX' TKFRAME_-144871_MATRIX = ( 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0 ) \begintext SWA Proton/Alpha Sensor (PAS) Frame: ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The instrument should be installed on the -Z side of the S/C. The central axis of its FoV should be parallel to +X of the S/C. The sensor should be located near the +Y edge of the -Z side. According to [4] the SOLO SWA Proton/Alpha Sensor frame -- SOLO_SWA_PAS -- is defined as follows: - +X axis is nominally aligned with the SOLO_PRF +X axis; - +Y axis is is nominally anti-parallel to the SOLO_PRF +Y axis; - +Z axis completes the right-handed frame and is nominally anti-parallel to the SOLO_PRF +Z axis; - the origin of this frame is at At the centre of the Unit Reference Hole (URH) of SWA PAS instrument. This diagram illustrates the SOLO_SWA_HIS frame: -Y s/c side (Science deck side) view: ------------------------------------- ~~~ | __--o. _____..| | __--'' \'. .o.----..| | | | __''==- +Zprf \.'---------------------. |=| __-- ^ >| | |=| __--'' () | | | |=| __--''==- |. | | | | __--'' | \ | | | | >|__| | '| | | | | | | | | +Yprf x-----------> +Xprf | | | | | | | | | .| | | | | / | | | | .' | | | | | | |=| >| o-----> +Xpas o:____________________|_: |=| // / | \ | | | // /_________|__\ | || | V || | +Zpas +Yprf is into +Yhis '. || | the page and +Ypas .| ||| | is out of the page. -: | |'/ H '| | | .' | | \begindata FRAME_SOLO_SWA_PAS = -144872 FRAME_-144872_NAME = 'SOLO_SWA_PAS' FRAME_-144872_CLASS = 4 FRAME_-144872_CLASS_ID = -144872 FRAME_-144872_CENTER = -144 TKFRAME_-144872_RELATIVE = 'SOLO_PRF' TKFRAME_-144872_SPEC = 'MATRIX' TKFRAME_-144872_MATRIX = ( 1.0, 0.0, 0.0, 0.0, -1.0, 0.0, 0.0, 0.0, -1.0 ) \begintext SWA Electrons Analysers Systems (EAS) Frames: ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ For optimum FoV and the rejection of spacecraft-generated photoelectrons both EAS sensors are boom mounted. The boom is mounted on the -X face of the S/C placing EAS sensors in shadow of the S/C. The SOLO SWA Heavy Ion Sensor frame is connected to the instrument boom frame nevertheless it is nominally co-aligned with the S/C PRF frame. Because of this the frame definition is defined relative to the SOLO_PRF frame instead of the SOLO_INS_BOOM frame. According to [4] the SOLO SWA Heavy Ion Sensor frame -- SOLO_SWA_EAS -- is defined as follows: - +X axis is nominally anti-parallel to the SOLO_PRF +X axis, - +Y axis is nominally anti-parallel with the SOLO_PRF +Y axis - +Z axis completes the right-handed frame and is nominally aligned with the SOLO_PRF +Z axis - the origin of this frame is at the centre of the Unit Reference Hole (URH) of SWA EAS instrument which is at the outermost tip of the instrument boom. EAS consists of two sensor heads mounted on the EAS boom mount: EAS1 and EAS2, both are rotated 45 degrees from along the +Zeas axis and their frames -- SOLO_SWA_EAS1 and SOLO_SWA_EAS2 -- are defined as follows: - +Z axis is parallel to the EAS +Z axis; - +X axis is normal to the sensor's Variable Geometric Factor System; - +Y axis completes the right-handed frame; - the origin of this frame is at the centre of the sensor. This diagram illustrates the SOLO_SWA_EAS frames: -Y s/c side (Science deck side) view: ------------------------------------- ~~~ | __--o. _____..| | +Zeas __--'' \'. .o.----..| | | | ^ __''==- +Zprf \.'---------------------. |=| | __-- ^ >| |=| | | __--'' () | | | |=| | __--''==- |. | | | | |_--'' | \ | | | | <-------o_| | '| | | | +Xeas +Yeas | | | | | +Yprf x-----------> +Xprf | | | | | | | | | .| | | | | / | | | | .' | | | | | | |=| >| |=| | o:______________________: |=| // / | \ | | // /_________|__\ || | || | +Yprf is into '. || | the page. .| ||| | -: | |'/ H '| | | .' | | +Z EAS side view (ins boom is projected): ----------------------------------------- +Xeas1 +Xeas2 +Zprf, +Zeas, +Zeas1 ^ +Xeas ^ and +Zeas2 are out \ ^ / of the page \ | / \ | / .o/ \.-|-./ \o. .' \.' | './ '. .' | | | '. <' <-------o---' '> +Yeas2 +Yeas1 +Yeas | | | | SWA Electrons | | Analysers Systems | | (EAS) +Zprf .---. o-----------> | | MAG Outboard Sensor | +Yprf | | (OBS) | '---' | | | | | | V | | +Xprf ~~~~~~~ Since the SPICE frames subsystem calls for specifying the reverse transformation--going from the instrument or structure frame to the base frame--as compared to the description given above, the order of rotations assigned to the TKFRAME_*_AXES keyword is also reversed compared to the above text, and the signs associated with the rotation angles assigned to the TKFRAME_*_ANGLES keyword are the opposite from what is written in the above text. \begindata FRAME_SOLO_SWA_EAS = -144873 FRAME_-144873_NAME = 'SOLO_SWA_EAS' FRAME_-144873_CLASS = 4 FRAME_-144873_CLASS_ID = -144873 FRAME_-144873_CENTER = -144 TKFRAME_-144873_RELATIVE = 'SOLO_PRF' TKFRAME_-144873_SPEC = 'MATRIX' TKFRAME_-144873_MATRIX = ( -1.0, 0.0, 0.0, 0.0, -1.0, 0.0, 0.0, 0.0, 1.0 ) FRAME_SOLO_SWA_EAS1 = -144874 FRAME_-144874_NAME = 'SOLO_SWA_EAS1' FRAME_-144874_CLASS = 4 FRAME_-144874_CLASS_ID = -144874 FRAME_-144874_CENTER = -144 TKFRAME_-144874_RELATIVE = 'SOLO_SWA_EAS' TKFRAME_-144874_SPEC = 'ANGLES' TKFRAME_-144874_UNITS = 'DEGREES' TKFRAME_-144874_ANGLES = ( 0.000, 0.000, -45.000 ) TKFRAME_-144874_AXES = ( 2, 1, 3 ) FRAME_SOLO_SWA_EAS2 = -144875 FRAME_-144875_NAME = 'SOLO_SWA_EAS2' FRAME_-144875_CLASS = 4 FRAME_-144875_CLASS_ID = -144875 FRAME_-144875_CENTER = -144 TKFRAME_-144875_RELATIVE = 'SOLO_SWA_EAS' TKFRAME_-144875_SPEC = 'ANGLES' TKFRAME_-144875_UNITS = 'DEGREES' TKFRAME_-144875_ANGLES = ( 0.000, 0.000, 45.000 ) TKFRAME_-144875_AXES = ( 2, 1, 3 ) \begintext SOLO NAIF ID Codes -- Definitions =============================================================================== This section contains name to NAIF ID mappings for the Solar Orbiter 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 SOLO Spacecraft and its main structures' names and IDs Name ID Synonyms --------------------- ------- ------------------------ SOLO -144 SOLAR_ORBITER, SOL SOLO_PRF -144000 SOLO_SPACECRAFT, SOLO_SC SOL_HGA -144013 SOLO_LGA_PZ -144020 SOLO_LGA_MZ -144021 SOL_MGA -144032 SOLO_INS_BOOM -144040 Notes: -- 'SOLO', 'SOL' and 'SOLAR ORBITER' are synonyms and all map to the SOLAR ORBITER spacecraft ID (-144); -- 'SOLO_PRF', 'SOLO_SPACECRAFT' and 'SOLO_SC' are synonyms and all map to the SOLAR ORBITER S/C bus structure ID (-144000); The mappings summarized in this table are implemented by the keywords below. \begindata NAIF_BODY_NAME += ( 'SOL' ) NAIF_BODY_CODE += ( -144 ) NAIF_BODY_NAME += ( 'SOLO' ) NAIF_BODY_CODE += ( -144 ) NAIF_BODY_NAME += ( 'SOLAR ORBITER' ) NAIF_BODY_CODE += ( -144 ) NAIF_BODY_NAME += ( 'SOL_SPACECRAFT' ) NAIF_BODY_CODE += ( -144000 ) NAIF_BODY_NAME += ( 'SOL_SC' ) NAIF_BODY_CODE += ( -144000 ) NAIF_BODY_NAME += ( 'SOL_PRF' ) NAIF_BODY_CODE += ( -144000 ) NAIF_BODY_NAME += ( 'SOL_HGA' ) NAIF_BODY_CODE += ( -144013 ) NAIF_BODY_NAME += ( 'SOLO_LGA_PZ' ) NAIF_BODY_CODE += ( -144020 ) NAIF_BODY_NAME += ( 'SOLO_LGA_MZ' ) NAIF_BODY_CODE += ( -144021 ) NAIF_BODY_NAME += ( 'SOL_MGA' ) NAIF_BODY_CODE += ( -144032 ) NAIF_BODY_NAME += ( 'SOLO_INS_BOOM' ) NAIF_BODY_CODE += ( -144040 ) \begintext Energetic Particle Detector (EPD): ---------------------------------- This table presents the Energetic Particle Detector (EPD) structures, instruments and sensors names and IDs: Name ID Synonyms --------------------- ------- ------------------------ SOLO_EPD_STEP -144100 SOLO_EPD_SIS_ASW -144111 SOLO_EPD_SIS_SW -144112 SOLO_EPD_EPT_MY -144123 SOLO_EPD_EPT_PY -144124 SOLO_EPD_HET_MY -144125 SOLO_EPD_HET_PY -144126 The mappings summarized in this table are implemented by the keywords below. \begindata NAIF_BODY_NAME += ( 'SOLO_EPD_STEP' ) NAIF_BODY_CODE += ( -144100 ) NAIF_BODY_NAME += ( 'SOLO_EPD_SIS_ASW' ) NAIF_BODY_CODE += ( -144111 ) NAIF_BODY_NAME += ( 'SOLO_EPD_SIS_SW' ) NAIF_BODY_CODE += ( -144112 ) NAIF_BODY_NAME += ( 'SOLO_EPD_EPT_MY' ) NAIF_BODY_CODE += ( -144123 ) NAIF_BODY_NAME += ( 'SOLO_EPD_EPT_PY' ) NAIF_BODY_CODE += ( -144124 ) NAIF_BODY_NAME += ( 'SOLO_EPD_HET_MY' ) NAIF_BODY_CODE += ( -144125 ) NAIF_BODY_NAME += ( 'SOLO_EPD_HET_PY' ) NAIF_BODY_CODE += ( -144126 ) \begintext Extreme Ultraviolet Imager (EUI): --------------------------------- This table presents the Extreme Ultraviolet Imager (EUI) structures, instruments and sensors names and IDs: Name ID Synonyms --------------------- ------- ------------------------ SOLO_EUI -144200 SOLO_EUI_FSI -144210 SOLO_EUI_HRI_LYA -144220 SOLO_EUI_HRI_EUV -144230 The mappings summarized in this table are implemented by the keywords below. \begindata NAIF_BODY_NAME += ( 'SOLO_EUI' ) NAIF_BODY_CODE += ( -144200 ) NAIF_BODY_NAME += ( 'SOLO_EUI_FSI' ) NAIF_BODY_CODE += ( -144210 ) NAIF_BODY_NAME += ( 'SOLO_EUI_HRI_LYA' ) NAIF_BODY_CODE += ( -144220 ) NAIF_BODY_NAME += ( 'SOLO_EUI_HRI_EUV' ) NAIF_BODY_CODE += ( -144230 ) \begintext Magnetometer (MAG): ------------------- This table presents the magnetometer (MAG) structures, instruments and sensors names and IDs: Name ID Synonyms --------------------- ------- ------------------------ SOLO_MAG -144300 SOLO_MAG_IBS -144301 SOLO_MAG_OBS -144302 The mappings summarized in this table are implemented by the keywords below. \begindata NAIF_BODY_NAME += ( 'SOLO_MAG' ) NAIF_BODY_CODE += ( -144300 ) NAIF_BODY_NAME += ( 'SOLO_MAG_IBS' ) NAIF_BODY_CODE += ( -144301 ) NAIF_BODY_NAME += ( 'SOLO_MAG_OBS' ) NAIF_BODY_CODE += ( -144302 ) \begintext Multi Element Telescope for Imaging and Spectroscopy (Metis): ------------------------------------------------------------- This table presents the Multi Element Telescope for Imaging and Spectroscopy (Metis) structures, instruments and sensors names and IDs: Name ID Synonyms --------------------- ------- ------------------------ SOLO_METIS -144400 SOLO_METIS_EUV -144410 SOLO_METIS_EUV_MIN -144413 SOLO_METIS_EUV_MAX -144414 SOLO_METIS_VIS -144420 SOLO_METIS_VIS_MIN -144423 SOLO_METIS_VIS_MAX -144424 SOLO_METIS_IEO-M0 -144430 The mappings summarized in this table are implemented by the keywords below. \begindata NAIF_BODY_NAME += ( 'SOLO_METIS' ) NAIF_BODY_CODE += ( -144400 ) NAIF_BODY_NAME += ( 'SOLO_METIS_EUV' ) NAIF_BODY_CODE += ( -144410 ) NAIF_BODY_NAME += ( 'SOLO_METIS_EUV_MIN' ) NAIF_BODY_CODE += ( -144413 ) NAIF_BODY_NAME += ( 'SOLO_METIS_EUV_MAX' ) NAIF_BODY_CODE += ( -144414 ) NAIF_BODY_NAME += ( 'SOLO_METIS_VIS' ) NAIF_BODY_CODE += ( -144420 ) NAIF_BODY_NAME += ( 'SOLO_METIS_VIS_MIN' ) NAIF_BODY_CODE += ( -144423 ) NAIF_BODY_NAME += ( 'SOLO_METIS_VIS_MAX' ) NAIF_BODY_CODE += ( -144424 ) NAIF_BODY_NAME += ( 'SOLO_METIS_IEO-M0' ) NAIF_BODY_CODE += ( -144430 ) \begintext Polarimetric and Helioseismic Imager (PHI): ------------------------------------------- This table presents the Polarimetric and Helioseismic Imager (PHI) structures, instruments and sensors names and IDs: Name ID Synonyms --------------------- ------- ------------------------ SOLO_PHI -144500 SOLO_PHI_FDT -144510 SOLO_PHI_HRT -144520 The mappings summarized in this table are implemented by the keywords below. \begindata NAIF_BODY_NAME += ( 'SOLO_PHI' ) NAIF_BODY_CODE += ( -144500 ) NAIF_BODY_NAME += ( 'SOLO_PHI_FDT' ) NAIF_BODY_CODE += ( -144510 ) NAIF_BODY_NAME += ( 'SOLO_PHI_HRT' ) NAIF_BODY_CODE += ( -144520 ) \begintext Radio and Plasma Waves (RPW): ------------------------------ This table presents the Radio & Plasma Waves Investigation (RPW) structures, instruments and sensors names and IDs: Name ID Synonyms --------------------- ------- ------------------------ SOLO_RPW -144600 SOLO_RPW_ANT_1 -144610 SOLO_RPW_ANT_2 -144620 SOLO_RPW_ANT_3 -144630 SOLO_RPW_SCM -144640 The mappings summarized in this table are implemented by the keywords below. \begindata NAIF_BODY_NAME += ( 'SOLO_RPW' ) NAIF_BODY_CODE += ( -144600 ) NAIF_BODY_NAME += ( 'SOLO_RPW_ANT_1' ) NAIF_BODY_CODE += ( -144610 ) NAIF_BODY_NAME += ( 'SOLO_RPW_ANT_2' ) NAIF_BODY_CODE += ( -144620 ) NAIF_BODY_NAME += ( 'SOLO_RPW_ANT_3' ) NAIF_BODY_CODE += ( -144630 ) NAIF_BODY_NAME += ( 'SOLO_RPW_SCM' ) NAIF_BODY_CODE += ( -144640 ) \begintext Solar Orbiter Heliospheric Imager (SOLOHI): ------------------------------------------- This table presents the Solar Orbiter Heliospheric Imager (SOLOHI) structures, instruments and sensors names and IDs: Name ID Synonyms --------------------- ------- ------------------------ SOLO_SOLOHI -144700 The mappings summarized in this table are implemented by the keywords below. \begindata NAIF_BODY_NAME += ( 'SOLO_SOLOHI' ) NAIF_BODY_CODE += ( -144700 ) \begintext Spectral Imaging of the Coronal Environment (SPICE): ---------------------------------------------------- This table presents the Polarimetric and Helioseismic Imager (PHI) structures, instruments and sensors names and IDs: Name ID Synonyms --------------------- ------- ------------------------ SOLO_SPICE -144800 SOLO_SPICE_SW -144810 SOLO_SPICE_LW -144820 The mappings summarized in this table are implemented by the keywords below. \begindata NAIF_BODY_NAME += ( 'SOLO_SPICE' ) NAIF_BODY_CODE += ( -144800 ) NAIF_BODY_NAME += ( 'SOLO_SPICE_SW' ) NAIF_BODY_CODE += ( -144810 ) NAIF_BODY_NAME += ( 'SOLO_SPICE_LW' ) NAIF_BODY_CODE += ( -144820 ) \begintext Spectrometer Telescope for Imaging X rays (STIX): ------------------------------------------------- This table presents the Spectrometer Telescope for Imaging X rays (STIX) structures, instruments and sensors names and IDs: Name ID Synonyms --------------------- ------- ------------------------ SOLO_STIX -144850 The mappings summarized in this table are implemented by the keywords below. \begindata NAIF_BODY_NAME += ( 'SOLO_STIX' ) NAIF_BODY_CODE += ( -144850 ) \begintext Solar Wind Analyzer (SWA): -------------------------- This table presents the Solar Wind Analyzer (SWA) structures, instruments and sensors names and IDs: Name ID Synonyms --------------------- ------- ------------------------ SOLO_SWA -144870 SOLO_SWA_HIS -144871 SOLO_SWA_PAS -144872 SOLO_SWA_EAS -144873 SOLO_SWA_EAS1 -144874 SOLO_SWA_EAS2 -144875 SOLO_SWA_EAS1-1 -144881 SOLO_SWA_EAS1-2 -144882 SOLO_SWA_EAS1-3 -144883 SOLO_SWA_EAS1-4 -144884 SOLO_SWA_EAS2-1 -144885 SOLO_SWA_EAS2-2 -144886 SOLO_SWA_EAS2-3 -144887 SOLO_SWA_EAS2-4 -144888 The mappings summarized in this table are implemented by the keywords below. \begindata NAIF_BODY_NAME += ( 'SOLO_SWA' ) NAIF_BODY_CODE += ( -144870 ) NAIF_BODY_NAME += ( 'SOLO_SWA_HIS' ) NAIF_BODY_CODE += ( -144871 ) NAIF_BODY_NAME += ( 'SOLO_SWA_PAS' ) NAIF_BODY_CODE += ( -144872 ) NAIF_BODY_NAME += ( 'SOLO_SWA_EAS' ) NAIF_BODY_CODE += ( -144873 ) NAIF_BODY_NAME += ( 'SOLO_SWA_EAS1' ) NAIF_BODY_CODE += ( -144874 ) NAIF_BODY_NAME += ( 'SOLO_SWA_EAS2' ) NAIF_BODY_CODE += ( -144875 ) NAIF_BODY_NAME += ( 'SOLO_SWA_EAS1-1' ) NAIF_BODY_CODE += ( -144881 ) NAIF_BODY_NAME += ( 'SOLO_SWA_EAS1-2' ) NAIF_BODY_CODE += ( -144882 ) NAIF_BODY_NAME += ( 'SOLO_SWA_EAS1-3' ) NAIF_BODY_CODE += ( -144883 ) NAIF_BODY_NAME += ( 'SOLO_SWA_EAS1-4' ) NAIF_BODY_CODE += ( -144884 ) NAIF_BODY_NAME += ( 'SOLO_SWA_EAS2-1' ) NAIF_BODY_CODE += ( -144885 ) NAIF_BODY_NAME += ( 'SOLO_SWA_EAS2-2' ) NAIF_BODY_CODE += ( -144886 ) NAIF_BODY_NAME += ( 'SOLO_SWA_EAS2-3' ) NAIF_BODY_CODE += ( -144887 ) NAIF_BODY_NAME += ( 'SOLO_SWA_EAS2-4' ) NAIF_BODY_CODE += ( -144888 ) \begintext Enf of FK file.