KPL/FK LRO Frame Definitions Kernel -- Initial Post-Launch Version ============================================================================== This frame kernel contains the LRO spacecraft and science instrument frame definitions. This frame kernel also contains name - to - NAIF ID mappings for LRO science instruments and s/c structures (see the last section of the file.) Version and Date -------------------------------------------------------- Version 2.0 Post-Launch Release -- February 5, 2010 Ralph Casasanta with inputs from LAMP and LOLA SOCs Updated frames information for LAMP and LOLA instrument alignments as calculated during calibration activities conducted during the LRO commissioning phase (approximately 24 June through 14 September 2009). The updated frames are derived from on-orbit calibration from the LRO commissioning orbit(30 x 216 Km). Also modified "origin to reference frame" information to reflect metric units (in centimeters) rather than inches. Version 1.0 Pre-Launch release -- June 15, 2009 Leslie Hartz, Ralph Casasanta Updated frames information for instrument alignment as calculated during calibration activities conducted by LRO Project personnel during from April 2009. The updated frames are based on LRO optical measurements or LRO mechanical drawings. The spacecraft body orbital SPK file is modeled as a point-mass. Currently, the offsets noted within this kernel are referenced in inches; we will modifiy this information to SI units when we release the post-launch version sometime after the commissioning and calibration portion of the mission. This will occur sometime after the L + 60D timeframe or whenever LRO completes the calibration and commissioning phase. Version 0.2 draft -- May 06, 2008 -- Ralph Casasanta, Boris Semenov Modified HGA and SA IDs for the CK identifier to indicate we use the main object structure and not to the articulating booms. NOTE: Still does not contain a description for any of the frames. Version 0.1 draft -- November 14, 2007 -- Boris Semenov Added HGA and SA definitions and changed their IDs and relationship. Fixed frame ID that is a part of the keyword name in numerous fixed offset frames. Added name-ID mapping keywords. Minor revisions to the comments. Still does not contain a description for any of the frames. Version 0.0 draft -- November 14, 2007 -- Eric B. Holmes Initial Release. Contains Euler angles from LRO I-Kernel files. Does not contain a description for any of the frames. References -------------------------------------------------------- 1. C-kernel Required Reading 2. Kernel Pool Required Reading 3. Frames Required Reading 4. Cosmic Ray Telescope for the Effects of Radiation (CRaTER) I-Kernel File "crater???.ti" TBD 5a. Diviner Lunar Radiometer Experiment detector layout relative to the instrument fixed reference frame LRO_DLRE; "lro_dlre_frames_2009160_v01.tf"; Version 1.0, Jia Zong, June 09, 2009 5b Diviner Lunar Radiometer Experiment (DLRE) I-Kernel File "lro_dlre_2009160_v01.ti"; Version 1.0, Jia Zong, May 21 2009 6. Lyman-Alpha Mapping Project (LAMP) I-Kernel File "lamp???.ti" TBD 7. Lunar Explorer Neutron Detector (Lend) I-Kernel File "lend???.ti" TBD 8. Lunar Orbiter Laser Altimeter (LOLA) I-Kernel File "lola???.ti" TBD 9. Lunar Reconnaissance Orbiter Camera Instrument Kernel for NAC-L NAC-R and the WAC; "lro_lroc_v01.ti"; TBD 10. (Mini RF) I-Kernel File "minirf???.t1" TBD 11. Primary Star Tracker (STARP) I-Kernel File "starp???.ti" TBD 12. Secondary Star Tracker (STARS) I-Kernel File "stars???.ti" TBD 13. Miniature Inertial Measurement Unit (MIMU) I-Kernel File "mimu???.ti" TBD Contact Information ------------------------------------------------------------------------------- Eric B. Holmes, Code 591, (301)-286-4046, eric.b.holmes@nasa.gov Implementation Notes -------------------------------------------------------- This file is used by the SPICE system as follows: programs that make use of this frame kernel must ``load'' the kernel, normally during program initialization. The SPICELIB routine FURNSH loads a kernel file into the pool as shown below. CALL FURNSH ( 'frame_kernel_name; ) -- FORTRAN furnsh_c ( "frame_kernel_name" ); -- C cspice_furnsh, "frame_kernel_name" -- IDL cspice_furnsh ( 'frame_kernel_name' ); -- MATLAB This file was created and may be updated with a text editor or word processor. LRO Frames ------------------------------------------------------------------------------- The following LRO frames are defined in this kernel file: Frame Name Relative to Type NAIF ID ========================= ========================= ======= ======= Spacecraft Bus and Spacecraft Structure Frames: ----------------------------------------------- LRO_SC_BUS rel.to J2000 CK -85000 LRO_STARP rel.to SC_BUS FIXED -85010 LRO_STARS rel.to SC_BUS FIXED -85011 LRO_MIMU rel.to SC_BUS FIXED -85012 LRO_HGA rel.to SC_BUS CK -85020 LRO_SA rel.to SC_BUS CK -85030 Instrument Frames: ------------------ LRO_CRATER rel.to SC_BUS FIXED -85100 LRO_DLRE rel.to SC_BUS FIXED -85200 LRO_LAMP rel.to SC_BUS FIXED -85300 LRO_LEND rel.to SC_BUS FIXED -85400 LRO_LOLA rel.to SC_BUS FIXED -85500 LRO_LROCNACA rel.to SC_BUS FIXED -85600 LRO_LROCNACB rel.to SC_BUS FIXED -85610 LRO_LROCWAC rel.to SC_BUS FIXED -85620 LRO_MINIRF rel.to SC_BUS FIXED -85700 LRO Frames Hierarchy ------------------------------------------------------------------------------- The diagram below shows LRO frames hierarchy: "J2000" INERTIAL +--------------------------------------------+ | | | <--ck | <--pck | | | V | "IAU_EARTH" | EARTH BFR(*) | ------------ | | | | | | V "LRO_SC_BUS" +----------------------------------------------------------------------+ | | | | | | |<--fixed |<--fixed |<-fixed |<--fixed |<--fixed | | | | | | | V V V V V | "LRO_CRATER" "LRO_DLRE" "LRO_LAMP" "LRO_LEND" "LRO_LOLA" | ------------ ---------- ---------- ---------- ---------- | | +---------------------------------------------------------------------------+ | | | | | | |<--fixed |<--fixed |<--fixed |<-fixed | | | | | | V V V V | "LRO_LROCNACR" "LRO_LROCNACL" "LRO_LROCWAC" "LRO_MINIRF" | -------------- -------------- ------------- ------------ | +-------------------------------------------------------------- | | | | | |<--fixed |<--fixed |<--fixed |<--ck |<--ck V V V V V "LRO_STARP" "LRO_STARS" "LRO_MIMU" "LRO SA" "LRO HGA" ----------- ----------- ---------- ------- --------- Spacecraft Bus Frame -------------------------------------------------------- The spacecraft bus frame is defined by the spacecraft design as follows: * +X axis is in the direction of the velocity vector half the year. * The other half of the year, the +X axis is opposite the velocity vector ; * +Y axis is the anti-sun side of the spacecraft; * +Z axis is in the in the nadir direction, instrument boresight direction; * the origin of this frame is at the center of the spacecraft to launch vehicle interface; Spacecraft bus attitude with respect to an inertial frame is provided by a C kernel (see [1] for more information). \begindata FRAME_LRO_SC_BUS = -85000 FRAME_-85000_NAME = 'LRO_SC_BUS' FRAME_-85000_CLASS = 3 FRAME_-85000_CLASS_ID = -85000 FRAME_-85000_CENTER = -85 CK_-85000_SCLK = -85 CK_-85000_SPK = -85 \begintext Cosmic Ray Telescope for the Effects of Radiation Frame ------------------------------------------------------- The CRaTER instrument frame is defined by the instrument design as follows: * +X axis is parallel to the spacecraft +X axis; * +Y axis is parallel to the spacecraft +Y axis; * +Z axis is the boresight of the nadir telescope and parallel to the +Z axis of the spacecraft; * the origin of this frame is at the spacecraft to instrument interface, 276.86, 25.40, 55.88; this offset (in centimeters) is from the LRO separation plane to the center of the instrument to spacecraft bolt pattern. There is no implied accuracy/precision in the conversion from inches to centimeters, other than the standard 2.54 centimeters per inch conversion. The orientation of this frame is fixed with respect to the spacecraft frame. This frame is based on LRO mechanical drawings. It was not verified by measurement. \begindata FRAME_LRO_CRATER = -85100 FRAME_-85100_NAME = 'LRO_CRATER' FRAME_-85100_CLASS = 4 FRAME_-85100_CLASS_ID = -85100 FRAME_-85100_CENTER = -85 TKFRAME_-85100_SPEC = 'ANGLES' TKFRAME_-85100_RELATIVE = 'LRO_SC_BUS' TKFRAME_-85100_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-85100_AXES = ( 1, 2, 3 ) TKFRAME_-85100_UNITS = 'DEGREES' \begintext Diviner Lunar Radiometer Experiment Frame ----------------------------------------- The DLRE instrument frame is defined by the instrument alignment cube face normals measured in the LRO_SC_BUS: * +X axis is the normal of instrument alignment cube face 1; * +Y axis is the normal of instrument alignment cube face 2; * +Z axis is the cross product of X and Y; * the origin of this frame is at the spacecraft to instrument interface, 236.22, 45.72, 60.96; this offset (in centimeters) is from the LRO separation plane to the center of the instrument to spacecraft bolt pattern. There is no implied accuracy/precision in the conversion from inches to centimeters, other than the standard 2.54 centimeters per inch conversion. The orientation of this frame is fixed with respect to the spacecraft frame. The rotation angles provided in the frame definition below are extracted from [5a]. The following transforms convert directions from LRO_DLRE into LRO_SC_BUS. \begindata FRAME_LRO_DLRE = -85200 FRAME_-85200_NAME = 'LRO_DLRE' FRAME_-85200_CLASS = 4 FRAME_-85200_CLASS_ID = -85200 FRAME_-85200_CENTER = -85 TKFRAME_-85200_SPEC = 'MATRIX' TKFRAME_-85200_RELATIVE = 'LRO_SC_BUS' TKFRAME_-85200_MATRIX = ( -0.867153123 -0.498040818 -0.000898401621 -0.498028823 0.867025903 0.0152766628 -0.00682946414 0.0136946357 -0.999882902 ) \begintext Lyman-Alpha Mapping Project Frame --------------------------------- The LAMP instrument frame is defined by the instrument design as follows: * +X axis is parallel to the +X axis of the spacecraft; * +Y axis is rotated slightly from the +Y axis of the spacecraft; * +Z axis is the boresight of the instrument and is nearly parallel to the +Z axis of the spacecraft; * the origin of this frame is at the instrument to spacecraft interface, 142.24, 109.22, 20.32; this offset (in centimeters) is from the LRO separation plane to the center of the instrument to spacecraft bolt pattern. There is no implied accuracy/precision in the conversion from inches to centimeters, other than the standard 2.54 centimeters per inch conversion. The orientation of this frame is fixed with respect to the spacecraft frame. The rotation angles, as documented in the frame definition below. To determine the pointing of LAMP, we conducted the LAMP-403 scans, which are raster observations of the stars gam Gru and zet Cas across the open LAMP aperture. The LAMP instrument team decided that the following information would define the boresight of the instrument such that when the boresight was pointed towards a point source, the target spectrum would appear primarily in detector row 14 (zero-indexed). The end result of the LAMP-403 analysis is that to go from the spacecraft frame to the LAMP instrument frame it is necessary to rotate: -0.01516987 degrees about Y (offset in cross-slit direction) 0.57339189 degrees about X (offset in along-slit direction) 0.13802984 degrees about Z (rotation of slit about boresight) \begindata FRAME_LRO_LAMP = -85300 FRAME_-85300_NAME = 'LRO_LAMP' FRAME_-85300_CLASS = 4 FRAME_-85300_CLASS_ID = -85300 FRAME_-85300_CENTER = -85 TKFRAME_-85300_SPEC = 'ANGLES' TKFRAME_-85300_RELATIVE = 'LRO_SC_BUS' TKFRAME_-85300_ANGLES = ( -0.015169872, 0.57339189, 0.13802984 ) TKFRAME_-85300_AXES = ( 2, 1, 3 ) TKFRAME_-85300_UNITS = 'DEGREES' \begintext Lunar Explorer Neutron Detector (LEND) Frame -------------------------------------------- The LEND instrument frame is defined by the instrument design as follows: * +X axis is parallel to the +X axis of the spacecraft; * +Y axis is parallel to the +Y axis of the spacecraft; * +Z axis is parallel to the +Z axis of the spacecraft and it in the same direction as the LEND collimators; * the origin of this frame is at the spacecraft to instrument interface, 45.72, 81.28, 60.96; this offset (in centimeters) is from the LRO separation plane to the center of the instrument to spacecraft bolt pattern. There is no implied accuracy/precision in the conversion from inches to centimeters, other than the standard 2.54 centimeters per inch conversion. The orientation of this frame is fixed with respect to the spacecraft frame. The rotation angles, as documented in the frame definition below, are based on LRO mechanical drawings. \begindata FRAME_LRO_LEND = -85400 FRAME_-85400_NAME = 'LRO_LEND' FRAME_-85400_CLASS = 4 FRAME_-85400_CLASS_ID = -85400 FRAME_-85400_CENTER = -85 TKFRAME_-85400_SPEC = 'ANGLES' TKFRAME_-85400_RELATIVE = 'LRO_SC_BUS' TKFRAME_-85400_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-85400_AXES = ( 1, 2, 3 ) TKFRAME_-85400_UNITS = 'DEGREES' \begintext Lunar Orbiter Laser Altimeter (LOLA) Frame ------------------------------------------ The location of the LOLA instrument [ref 8] and the s/c center of mass for the mapping configuration is specified relative to the s/c fixed reference, which is defined as follows: The LOLA instrument frame is defined by the instrument design as follows: * +X axis is parallel to the +X axis of the spacecraft; * +Y axis is nearly parallel to the +Y axis of the spacecraft; * +Z axis is nearly parallel to the spacecraft +Z axis and is laser channel 1; * The LOLA offset is identified as the distance from the spacecraft bus frame to the LOLA reference cube, which is at the base of the laser beam expander telescope, plus the additional 0.15174 m to the top of the LOLA telescope along the z-axis. The following values are the x-, y-, and z- components for this offset and are listed in meters. (2.04608938, 0.96087438, 0.52301394) LOLA to s/c center of mass location ------------------------------------------ The location of the LOLA instrument [ref 8] and the s/c center of mass for the mapping configuration is specified relative to the s/c fixed reference, which is defined as noted above. The center of gravity mapping coordinates are given in meters. Currently this information is: (TBD, TBD, TBD) The orientation of this frame is fixed with respect to the spacecraft frame. The rotation angles, as documented in the frame definition below, are based on LRO optical measurements. The components of the LOLA Cube in the s/c Frame as a matrix are: ( 0.99998757, 0.00477017, 0.00145188, -0.0047642, 0.99998032, -0.0040808, -0.0014713, 0.00407379, 0.99999062 ) However SPICE uses column major (FORTRAN) notation, as noted in the data section below. \begindata FRAME_LRO_LOLA = -85500 FRAME_-85500_NAME = 'LRO_LOLA' FRAME_-85500_CLASS = 4 FRAME_-85500_CLASS_ID = -85500 FRAME_-85500_CENTER = -85 TKFRAME_-85500_SPEC = 'ANGLES' 'MATRIX' TKFRAME_-85500_RELATIVE = 'LRO_SC_BUS' TKFRAME_-85500_MATRIX= ( 0.99998757, -0.0047642, -0.0014713, 0.00477017, 0.99998032, 0.00407379, 0.00145188, -0.0040808, 0.99999062 ) TKFRAME_-85500_SC_MAPPING_CG_LOC = (0, 0, 0) \begintext Lunar Reconnaissance Orbiter Camera-Narrow Angle Camera 1 (LROC NACL) Frame -------------------------------------------------------------------------- The location of the LROC NACL instrument is provided by [ref 9]; this provides all information for the NAC-L NAC-R and the WAC. The LROC NACL instrument frame is defined by the instrument design as follows: * +X axis is parallel to the +X axis of the spacecraft; * +Y axis is approximately parallel to the +Y axis of the spacecraft; * +Z axis is the boresight of the NACL; * the origin of this frame is at the instrument to spacecraft interface, 134.62, 88.90, -17.78; this offset (in centimeters) is from the LRO separation plane to the center of the instrument to spacecraft bolt pattern. There is no implied accuracy/precision in the conversion from inches to centimeters, other than the standard 2.54 centimeters per inch conversion. The orientation of this frame is fixed with respect to the spacecraft frame. The rotation angles, as documented in the frame definition below, are from LRO optical measurements. \begindata FRAME_LRO_LROCNACA = -85600 FRAME_-85600_NAME = 'LRO_LROCNACL' FRAME_-85600_CLASS = 4 FRAME_-85600_CLASS_ID = -85600 FRAME_-85600_CENTER = -85 TKFRAME_-85600_SPEC = 'ANGLES' TKFRAME_-85600_RELATIVE = 'LRO_SC_BUS' TKFRAME_-85600_ANGLES = ( 1.636, -0.027, 0.0 ) TKFRAME_-85600_AXES = ( 1, 2, 3 ) TKFRAME_-85600_UNITS = 'DEGREES' \begintext Lunar Reconnaissance Orbiter Camera-Narrow Angle Camera 2 (LROCNACR) Frame -------------------------------------------------------------------------- The location of the LROC NACL instrument is provided by [ref 9]; this provides all information for the NAC-L NAC-R and the WAC. The LROC NACR reference frame is rotated 180 degrees about the Z axis. This rotation is performed first. The LROC NACR instrument frame is defined by the instrument design as follows: * +X axis is parallel to the spacecraft - X axis; * +Y axis is parallel to the spacecraft - Y axis; * +Z axis is the boresight of the NACR camera and is approximately in the +Z axis of the spacecraft; * the origin of this frame is at the spacecraft to instrument interface, 101.60, 88.90, -17.78; this offset (in centimeters) is from the LRO separation plane to the center of the instrument to spacecraft bolt pattern. There is no implied accuracy/precision in the conversion from inches to centimeters, other than the standard 2.54 centimeters per inch conversion. The orientation of this frame is fixed with respect to the spacecraft frame. The rotation angles, as documented in the frame definition below, are extracted from LRO optical measurements. \begindata FRAME_LRO_LROCNACB = -85610 FRAME_-85610_NAME = 'LRO_LROCNACR' FRAME_-85610_CLASS = 4 FRAME_-85610_CLASS_ID = -85610 FRAME_-85610_CENTER = -85 TKFRAME_-85610_SPEC = 'ANGLES' TKFRAME_-85610_RELATIVE = 'LRO_SC_BUS' TKFRAME_-85610_ANGLES = ( -1.129, 0.079, 180.0 ) TKFRAME_-85610_AXES = ( 3, 2, 1 ) TKFRAME_-85610_UNITS = 'DEGREES' \begintext Lunar Reconnaissance Orbiter Camera-Wide Angle Camera (LROCWAC) Frame --------------------------------------------------------------------- The location of the LROC NACL instrument is provided by [ref 9]; this provides all information for the NAC-L NAC-R and the WAC. The LROC WAC instrument frame is defined by the instrument design as follows: * +X axis is parallel to the spacecraft +X axis; * +Y axis is parallel to the spacecraft +Y axis; * +Z axis is parallel to the spacecraft +Z axis and is the boresight of the camera; * the origin of this frame is at the spacecraft to instrument interface, 200.66, 106.68, 50.80; this offset (in centimeters) is from the LRO separation plane to the center of the instrument to spacecraft bolt pattern. There is no implied accuracy/precision in the conversion from inches to centimeters, other than the standard 2.54 centimeters per inch conversion. The orientation of this frame is fixed with respect to the spacecraft frame. The rotation angles, as documented in the frame definition below, are from LRO mechanical drawings. \begindata FRAME_LRO_LROCWAC = -85620 FRAME_-85620_NAME = 'LRO_LROCWAC' FRAME_-85620_CLASS = 4 FRAME_-85620_CLASS_ID = -85620 FRAME_-85620_CENTER = -85 TKFRAME_-85620_SPEC = 'ANGLES' TKFRAME_-85620_RELATIVE = 'LRO_SC_BUS' TKFRAME_-85620_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-85620_AXES = ( 1, 2, 3 ) TKFRAME_-85620_UNITS = 'DEGREES' \begintext MINI RF (MINIRF) Frame ---------------------- The location of the Mini-RF instrument is provided by [ref 10]. The MINI RF frame is defined by the instrument design as follows: * +X axis is parallel to the spacecraft +X axis; * +Y axis completes the frame; * +Z axis is perpendicular the plane of the Mini RF antenna; * the origin of this frame is at the instrument to spacecraft interface, 114.30, -38.10, 93.98; this offset (in centimeters) is from the LRO separation plane to the center of the instrument to spacecraft bolt pattern. There is no implied accuracy/precision in the conversion from inches to centimeters, other than the standard 2.54 centimeters per inch conversion. The orientation of this frame is fixed with respect to the spacecraft frame. The rotation angles, as documented in the frame definition below, are from LRO mechanical drawings. \begindata FRAME_LRO_MINIRF = -85700 FRAME_-85700_NAME = 'LRO_MINIRF' FRAME_-85700_CLASS = 4 FRAME_-85700_CLASS_ID = -85700 FRAME_-85700_CENTER = -85 TKFRAME_-85700_SPEC = 'ANGLES' TKFRAME_-85700_RELATIVE = 'LRO_SC_BUS' TKFRAME_-85700_ANGLES = ( -47.6, 0.0, 0.0 ) TKFRAME_-85700_AXES = ( 1, 2, 3 ) TKFRAME_-85700_UNITS = 'DEGREES' \begintext Primary Star Tracker (STARP) Frame ---------------------------------- The Primary Star Tracker frame is defined by the instrument design as follows: * +X axis is defined by the alignment cube face 1; * +Y axis is defined by alignment cube face 2; * +Z axis is the boresight of the star tracker; The orientation of this frame is fixed with respect to the spacecraft frame. The rotation angles provided in the frame definition below are extracted from [11]. \begindata FRAME_LRO_STARP = -85010 FRAME_-85010_NAME = 'LRO_STARP' FRAME_-85010_CLASS = 4 FRAME_-85010_CLASS_ID = -85010 FRAME_-85010_CENTER = -85 TKFRAME_-85010_SPEC = 'ANGLES' TKFRAME_-85010_RELATIVE = 'LRO_SC_BUS' TKFRAME_-85010_ANGLES = ( 120.0, -30.0, 0.0 ) TKFRAME_-85010_AXES = ( 2, 1, 3 ) TKFRAME_-85010_UNITS = 'DEGREES' \begintext Secondary Star Tracker (STARS) Frame ------------------------------------ The Secondary Star Tracker frame is defined by the instrument design as follows: * +X axis is defined by alignment cube face 1; * +Y axis is defined by alignment cube face 2; * +Z axis is the boresight of the star tracker; The orientation of this frame is fixed with respect to the spacecraft frame. The rotation angles provided in the frame definition below are extracted from [12]. \begindata FRAME_LRO_STARS = -85011 FRAME_-85011_NAME = 'LRO_STARS' FRAME_-85011_CLASS = 4 FRAME_-85011_CLASS_ID = -85011 FRAME_-85011_CENTER = -85 TKFRAME_-85011_SPEC = 'ANGLES' TKFRAME_-85011_RELATIVE = 'LRO_SC_BUS' TKFRAME_-85011_ANGLES = ( 180.0, -30.0, 0.0 ) TKFRAME_-85011_AXES = ( 2, 1, 3 ) TKFRAME_-85011_UNITS = 'DEGREES' \begintext Miniature Inertial Measurement Unit (MIMU) Frame ------------------------------------------------ The MIMU frame is defined by the instrument design as follows: * +X axis is parallel to the +X axis of the spacecraft; * +Y axis is parallel to the +Y axis of the spacecraft; * +Z axis is parallel to the +Z axis of the spacecraft; The orientation of this frame is fixed with respect to the spacecraft frame. The rotation angles provided in the frame definition below are extracted from [13]. \begindata FRAME_LRO_MIMU = -85012 FRAME_-85012_NAME = 'LRO_MIMU' FRAME_-85012_CLASS = 4 FRAME_-85012_CLASS_ID = -85012 FRAME_-85012_CENTER = -85 TKFRAME_-85012_SPEC = 'ANGLES' TKFRAME_-85012_RELATIVE = 'LRO_SC_BUS' TKFRAME_-85012_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-85012_AXES = ( 1, 2, 3 ) TKFRAME_-85012_UNITS = 'DEGREES' \begintext High Gain Antenna (HGA) Frame ----------------------------- The HGA frame is defined by the antenna design as follows: When both antenna gimbals are in the zero, zero position, the antenna dish is pointed along the -Z axis * +X axis is aligned to the spacecraft +X axis; * +Y axis is aligned to the spacecraft +Y axis; * +Z axis is aligned to the spacecraft +Z axis; The orientation of this frame is provided in CK files. \begindata FRAME_LRO_HGA = -85020 FRAME_-85020_NAME = 'LRO_HGA' FRAME_-85020_CLASS = 3 FRAME_-85020_CLASS_ID = -85020 FRAME_-85020_CENTER = -85 CK_-85020_SCLK = -85 CK_-85020_SPK = -85 \begintext Solar Array (SA) Frame ---------------------- The SA frame is defined by the solar array design as follows: * +X axis is aligned to the spacecraft +X axis; * +Y axis is aligned to the spacecraft +Y axis; * +Z axis is aligned to the spacecraft +Z axis; The orientation of this frame is provided in CK files. \begindata FRAME_LRO_SA = -85030 FRAME_-85030_NAME = 'LRO_SA' FRAME_-85030_CLASS = 3 FRAME_-85030_CLASS_ID = -85030 FRAME_-85030_CENTER = -85 CK_-85030_SCLK = -85 CK_-85030_SPK = -85 \begintext Lunar Reconnaissance Orbiter NAIF ID Codes -- Definitions ======================================================================== This section contains name to NAIF ID mappings for the LRO 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: ----------- LRO -85 LUNAR RECONNAISSANCE ORBITER -85 LRO_SPACECRAFT -85000 LRO_SC_BUS -85000 Spacecraft structures: ---------------------- LRO_STARP -85010 LRO_STARS -85011 LRO_MIMU -85012 LRO_HGA -85020 LRO_SA -85030 Science Instruments: -------------------- LRO_CRATER -85100 LRO_DLRE -85200 LRO_LAMP -85300 LRO_LEND -85400 LRO_LOLA -85500 LRO_LROCNACL -85600 LRO_LROCNACR -85610 LRO_LROCWAC -85620 LRO_MINIRF -85700 The mappings summarized in this table are implemented by the keywords below. \begindata NAIF_BODY_NAME += ( 'LRO' ) NAIF_BODY_CODE += ( -85 ) NAIF_BODY_NAME += ( 'LUNAR RECONNAISSANCE ORBITER' ) NAIF_BODY_CODE += ( -85 ) NAIF_BODY_NAME += ( 'LRO_SPACECRAFT' ) NAIF_BODY_CODE += ( -85000 ) NAIF_BODY_NAME += ( 'LRO_SC_BUS' ) NAIF_BODY_CODE += ( -85000 ) NAIF_BODY_NAME += ( 'LRO_STARP' ) NAIF_BODY_CODE += ( -85010 ) NAIF_BODY_NAME += ( 'LRO_STARS' ) NAIF_BODY_CODE += ( -85011 ) NAIF_BODY_NAME += ( 'LRO_MIMU' ) NAIF_BODY_CODE += ( -85012 ) NAIF_BODY_NAME += ( 'LRO_HGA' ) NAIF_BODY_CODE += ( -85020 ) NAIF_BODY_NAME += ( 'LRO_SA' ) NAIF_BODY_CODE += ( -85030 ) NAIF_BODY_NAME += ( 'LRO_CRATER' ) NAIF_BODY_CODE += ( -85100 ) NAIF_BODY_NAME += ( 'LRO_DLRE' ) NAIF_BODY_CODE += ( -85200 ) NAIF_BODY_NAME += ( 'LRO_LAMP' ) NAIF_BODY_CODE += ( -85300 ) NAIF_BODY_NAME += ( 'LRO_LEND' ) NAIF_BODY_CODE += ( -85400 ) NAIF_BODY_NAME += ( 'LRO_LOLA' ) NAIF_BODY_CODE += ( -85500 ) NAIF_BODY_NAME += ( 'LRO_LROCNACL' ) NAIF_BODY_CODE += ( -85600 ) NAIF_BODY_NAME += ( 'LRO_LROCNACR' ) NAIF_BODY_CODE += ( -85610 ) NAIF_BODY_NAME += ( 'LRO_LROCWAC' ) NAIF_BODY_CODE += ( -85620 ) NAIF_BODY_NAME += ( 'LRO_MINIRF' ) NAIF_BODY_CODE += ( -85700 ) \begintext