KPL/FK LRO Frame Definitions Kernel ============================================================================== 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 2014049 -- February 14, 2014 -- Emerson Speyerer Added frames 8563[1-5] and 8564[1-2] for each LROC WAC filter. These ids are required to identify the FOV of each band and to use the improved camera model based on on-orbit calibration results. Changed the LROC NAC frames (85600 and 85610) and WAC frame (85620) to be CK dependent. Version 2014027 (Third Archive release) -- Jan 27, 2014 Ralph Casasanta with support from external groups including SOCs and ACS. External groups determined the Euler Angle sign values were incorrect as listed. Updated sign values for all components for primary and secondary Star Trackers because spice CK uses opposite sign convention. Version 2012255 (Second Archive release) -- Sept 12, 2012 Ralph Casasanta with support from GNC, ACS, and FSW groups Updated the Star tracker alignments after new calibrations Version 2010214 (First Archive Release) -- August 4, 2010 -- Boris Semenov Incorporated LRO_LROCWAC_VIS and LRO_LROCWAC_UV frames and name/ID mapping used by the LROC team. Changed angles in the LOLA frame definition to zeros to make the frame co-aligned with the spacecraft frame because LOLA detector view vectors used by the LOLA team are defined in the spacecraft frame. Removed TKFRAME_-85500_SC_MAPPING_CG_LOC keyword and accompanying description; this keyword is now provided in the LOLA IK file, Changed description of the HGA and SA frames to refer to the principal "view" directions. Added ASCII diagram illustrating the spacecraft frame. Wrapped all paragraphs to 78 character line length. Added some blank lines to improve readability. Replaced incomplete IK names and TBDs in the References section with the generic reference "latest". Added Casasanta and Semenov to contacts. Replaced version numbers (0.0, 0.2, ... 2.0) in the "Version and Date" section with the YYYYDOY-based numbers (2007318, 2008127, ... 2010036) to improve correlation with the FK file names. Spell-checked. Removed TABs. Version 2010036 (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 2009168 (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 modify 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 time-frame or whenever LRO completes the calibration and commissioning phase. Version 2008127 (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 2007318 (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 2007318 (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; latest 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; latest 7. Lunar Explorer Neutron Detector (Lend) I-Kernel file; latest 8. Lunar Orbiter Laser Altimeter (LOLA) I-Kernel file; latest 9. Lunar Reconnaissance Orbiter Camera Instrument Kernel for NAC-L NAC-R and the WAC; latest 10. Mini RF I-Kernel file; latest 11. Primary Star Tracker (STARP) using the LRO Attitude Control System (ACS) Alignment and Coordinate Systems document (431-SPEC-000653) 12. Secondary Star Tracker (STARS) using the LRO Attitude Control System (ACS) Alignment and Coordinate Systems document (431-SPEC-000653) 13. Miniature Inertial Measurement Unit (MIMU) I-Kernel file; latest Contact Information -------------------------------------------------------- Eric B. Holmes, Code 591, (301)-286-4046, eric.b.holmes@nasa.gov Ralph T. Casasanta, Code 730, (301)-614-5321, Ralph.T.Casasanta@nasa.gov Boris Semenov, NAIF, (818)-354-8136, Boris.Semenov@jpl.nasa.gov Implementation Notes -------------------------------------------------------- This file is used by the SPICE system as follows: programs that make use of this frame kernel must ``load'' the kernel, normally during program initialization. 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_LROCNACL rel.to SC_BUS CK -85600 LRO_LROCNACR rel.to SC_BUS CK -85610 LRO_LROCWAC rel.to SC_BUS CK -85620 LRO_LROCWAC_VIS rel.to LRO_LROCWAC FIXED -85621 LRO_LROCWAC_UV rel.to LRO_LROCWAC FIXED -85626 LRO_LROCWAC_VIS_FILTER_1 rel.to LRO_LROCWAC_VIS FIXED -85631 LRO_LROCWAC_VIS_FILTER_2 rel.to LRO_LROCWAC_VIS FIXED -85632 LRO_LROCWAC_VIS_FILTER_3 rel.to LRO_LROCWAC_VIS FIXED -85633 LRO_LROCWAC_VIS_FILTER_4 rel.to LRO_LROCWAC_VIS FIXED -85634 LRO_LROCWAC_VIS_FILTER_5 rel.to LRO_LROCWAC_VIS FIXED -85635 LRO_LROCWAC_UV_FILTER_1 rel.to LRO_LROCWAC_UV FIXED -85641 LRO_LROCWAC_UV_FILTER_2 rel.to LRO_LROCWAC_UV FIXED -85642 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" | ------------ ---------- ---------- ---------- ---------- | | +-------------------------------------------------------------------------+ | | | | | | |<--ck |<--ck |<--ck |<-fixed | | | | | | V V V V | "LRO_LROCNACR" "LRO_LROCNACL" "LRO_LROCWAC" "LRO_MINIRF" | -------------- -------------- ------------- ------------ | | | | | +--------------------------+--------------+ | | | | |<--fixed |<--fixed | | | | "LRO_WAC_VIS" "LRO_WAC_UV" | ------------- ------------ | | | | +----> "LRO_WAC_VIS_FILTER_1" (fixed) | | | | | +----> "LRO_WAC_VIS_FILTER_2" (fixed) | | | | | +----> "LRO_WAC_VIS_FILTER_3" (fixed) | | | | | +----> "LRO_WAC_VIS_FILTER_4" (fixed) | | | | | +----> "LRO_WAC_VIS_FILTER_5" (fixed) | | | | | | | | "LRO_WAC_UV_FILTER_1" (fixed)<----+ | | | "LRO_WAC_UV_FILTER_2" (fixed)<----+ | | +-------------------------------------------------------------- | | | | | |<--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; This diagram illustrates the spacecraft bus frame: ^ | S/c velocity | _ .---'o| CRaTER | | |_____| | | .---------------- .-----------------------. | ' | .'\ | | ` ._____| .' .' DLRE | | ' LROC/WAC | o | \.' .---------.| | ` | - | | || | Solar Array ' LOLA | o|o|| | || | ` | - | | || | ' | .-. | | || | ` LROC/NACs || o || | || | ' .-| `-' | | || | ` LAMP | | .-. | | Mini RF || | ' |o|| o || | || ===============' `-| `_' | | || | ' `-----| | || | ` .----| | || | ' |o o | | || | ` |o o | +Xsc ^| || | ' `----| |`---------'|=| ' LEND `-----------|-----------' | ` `.__|__.' HGA | ' <-----o | ` +Ysc +Zsc | ' ~ ~ ~ ~ ~ ~ ~ ~ | | S/c velocity V +Zsc is out of the page. 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 LOLA instrument frame is defined by the instrument design as follows: * +X axis is nominally parallel to the +X axis of the spacecraft; * +Y axis is nominally parallel to the +Y axis of the spacecraft; * +Z axis is nominally 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) 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 this alignment data is not used in the LOLA frame definition. Instead the LOLA is defined to be co-aligned with the spacecraft frame because LOLA detector view vectors used by the LOLA team and provided in the FOV definitions in the LOLA IK file are defined in the spacecraft frame. \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' TKFRAME_-85500_RELATIVE = 'LRO_SC_BUS' TKFRAME_-85500_ANGLES = ( 0, 0, 0, ) TKFRAME_-85500_AXES = ( 1, 2, 3 ) TKFRAME_-85500_UNITS = 'DEGREES' \begintext Lunar Reconnaissance Orbiter Camera-Narrow Angle Camera 1 (LROCNACL) 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 nominally parallel to the +X axis of the spacecraft; * +Y axis is nominally 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 variable with respect to the spacecraft frame, and depends on temperature. This pointing information is provided in CK files produced by the LROC SOC. \begindata FRAME_LRO_LROCNACL = -85600 FRAME_-85600_NAME = 'LRO_LROCNACL' FRAME_-85600_CLASS = 3 FRAME_-85600_CLASS_ID = -85600 FRAME_-85600_CENTER = -85 TKFRAME_-85600_RELATIVE = 'LRO_SC_BUS' CK_-85600_SCLK = -85 CK_-85600_SPK = -85 \begintext Lunar Reconnaissance Orbiter Camera-Narrow Angle Camera 2 (LROCNACR) Frame -------------------------------------------------------- The location of the LROC NACR 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 nominally parallel to the spacecraft -X axis; * +Y axis is nominally 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 variable with respect to the spacecraft frame, and depends on temperature. This pointing information is provided in CK files produced by the LROC SOC. \begindata FRAME_LRO_LROCNACR = -85610 FRAME_-85610_NAME = 'LRO_LROCNACR' FRAME_-85610_CLASS = 3 FRAME_-85610_CLASS_ID = -85610 FRAME_-85610_CENTER = -85 TKFRAME_-85610_RELATIVE = 'LRO_SC_BUS' CK_-85610_SCLK = -85 CK_-85610_SPK = -85 \begintext Lunar Reconnaissance Orbiter Camera-Wide Angle Camera (LROCWAC) Frames -------------------------------------------------------- The location of the LROC WAC 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 (85620) is variable with respect to the spacecraft frame, and depends on temperature. This pointing information is provided in CK files produced by the LROC SOC. A separate fixed reference frame is defined for each of the two WAC channels (UV and VIS) since the camera has separate optics for each. In addition, each WAC band has an independent frame. The follwoing table provides a listing of the NAIF ID associated with the LROC WAC: NAIF ID | Frame Name | Notes ------------------------------------------------------ 85620 | LRO_LROCWAC | CK-dependent 85621 | LRO_LROCWAC_VIS | Fixed offset 85626 | LRO_LROCWAC_UV | Fixed offset 85631 | LRO_LROCWAC_VIS_FILTER_1 | 415 nm 85632 | LRO_LROCWAC_VIS_FILTER_2 | 566 nm 85633 | LRO_LROCWAC_VIS_FILTER_3 | 604 nm 85634 | LRO_LROCWAC_VIS_FILTER_4 | 643 nm 85635 | LRO_LROCWAC_VIS_FILTER_5 | 689 nm 85641 | LRO_LROCWAC_UV_FILTER_1 | 321 nm 85642 | LRO_LROCWAC_UV_FILTER_2 | 360 nm The angles provided in the frame definitions below are the values used by the LROC team in the image processing pipeline during operations. \begindata FRAME_LRO_LROCWAC = -85620 FRAME_-85620_NAME = 'LRO_LROCWAC' FRAME_-85620_CLASS = 3 FRAME_-85620_CLASS_ID = -85620 FRAME_-85620_CENTER = -85 TKFRAME_-85620_RELATIVE = 'LRO_SC_BUS' CK_-85620_SCLK = -85 CK_-85620_SPK = -85 FRAME_LRO_LROCWAC_VIS = -85621 FRAME_-85621_NAME = 'LRO_LROCWAC_VIS' FRAME_-85621_CLASS = 4 FRAME_-85621_CLASS_ID = -85621 FRAME_-85621_CENTER = -85 TKFRAME_-85621_SPEC = 'ANGLES' TKFRAME_-85621_RELATIVE = 'LRO_LROCWAC' TKFRAME_-85621_ANGLES = ( -0.229875, -1.082653, -0.079418 ) TKFRAME_-85621_AXES = ( 1, 2, 3 ) TKFRAME_-85621_UNITS = 'DEGREES' FRAME_LRO_LROCWAC_UV = -85626 FRAME_-85626_NAME = 'LRO_LROCWAC_UV' FRAME_-85626_CLASS = 4 FRAME_-85626_CLASS_ID = -85626 FRAME_-85626_CENTER = -85 TKFRAME_-85626_SPEC = 'ANGLES' TKFRAME_-85626_RELATIVE = 'LRO_LROCWAC' TKFRAME_-85626_ANGLES = ( -0.140354, -1.146190, -0.099517 ) TKFRAME_-85626_AXES = ( 1, 2, 3 ) TKFRAME_-85626_UNITS = 'DEGREES' FRAME_LRO_LROCWAC_VIS_FILTER_1 = -85631 FRAME_-85631_NAME = 'LRO_LROCWAC_VIS_FILTER_1' FRAME_-85631_CLASS = 4 FRAME_-85631_CLASS_ID = -85631 FRAME_-85631_CENTER = -85 TKFRAME_-85631_SPEC = 'ANGLES' TKFRAME_-85631_RELATIVE = 'LRO_LROCWAC_VIS' TKFRAME_-85631_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-85631_AXES = ( 1, 2, 3 ) TKFRAME_-85631_UNITS = 'DEGREES' FRAME_LRO_LROCWAC_VIS_FILTER_2 = -85632 FRAME_-85632_NAME = 'LRO_LROCWAC_VIS_FILTER_2' FRAME_-85632_CLASS = 4 FRAME_-85632_CLASS_ID = -85632 FRAME_-85632_CENTER = -85 TKFRAME_-85632_SPEC = 'ANGLES' TKFRAME_-85632_RELATIVE = 'LRO_LROCWAC_VIS' TKFRAME_-85632_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-85632_AXES = ( 1, 2, 3 ) TKFRAME_-85632_UNITS = 'DEGREES' FRAME_LRO_LROCWAC_VIS_FILTER_3 = -85633 FRAME_-85633_NAME = 'LRO_LROCWAC_VIS_FILTER_3' FRAME_-85633_CLASS = 4 FRAME_-85633_CLASS_ID = -85633 FRAME_-85633_CENTER = -85 TKFRAME_-85633_SPEC = 'ANGLES' TKFRAME_-85633_RELATIVE = 'LRO_LROCWAC_VIS' TKFRAME_-85633_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-85633_AXES = ( 1, 2, 3 ) TKFRAME_-85633_UNITS = 'DEGREES' FRAME_LRO_LROCWAC_VIS_FILTER_4 = -85634 FRAME_-85634_NAME = 'LRO_LROCWAC_VIS_FILTER_4' FRAME_-85634_CLASS = 4 FRAME_-85634_CLASS_ID = -85634 FRAME_-85634_CENTER = -85 TKFRAME_-85634_SPEC = 'ANGLES' TKFRAME_-85634_RELATIVE = 'LRO_LROCWAC_VIS' TKFRAME_-85634_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-85634_AXES = ( 1, 2, 3 ) TKFRAME_-85634_UNITS = 'DEGREES' FRAME_LRO_LROCWAC_VIS_FILTER_5 = -85635 FRAME_-85635_NAME = 'LRO_LROCWAC_VIS_FILTER_5' FRAME_-85635_CLASS = 4 FRAME_-85635_CLASS_ID = -85635 FRAME_-85635_CENTER = -85 TKFRAME_-85635_SPEC = 'ANGLES' TKFRAME_-85635_RELATIVE = 'LRO_LROCWAC_VIS' TKFRAME_-85635_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-85635_AXES = ( 1, 2, 3 ) TKFRAME_-85635_UNITS = 'DEGREES' FRAME_LRO_LROCWAC_UV_FILTER_1 = -85641 FRAME_-85641_NAME = 'LRO_LROCWAC_UV_FILTER_1' FRAME_-85641_CLASS = 4 FRAME_-85641_CLASS_ID = -85641 FRAME_-85641_CENTER = -85 TKFRAME_-85641_SPEC = 'ANGLES' TKFRAME_-85641_RELATIVE = 'LRO_LROCWAC_UV' TKFRAME_-85641_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-85641_AXES = ( 1, 2, 3 ) TKFRAME_-85641_UNITS = 'DEGREES' FRAME_LRO_LROCWAC_UV_FILTER_2 = -85642 FRAME_-85642_NAME = 'LRO_LROCWAC_UV_FILTER_2' FRAME_-85642_CLASS = 4 FRAME_-85642_CLASS_ID = -85642 FRAME_-85642_CENTER = -85 TKFRAME_-85642_SPEC = 'ANGLES' TKFRAME_-85642_RELATIVE = 'LRO_LROCWAC_UV' TKFRAME_-85642_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-85642_AXES = ( 1, 2, 3 ) TKFRAME_-85642_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 = ( -119.95519238, 30.063992492, -150.16190703 ) 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 = ( -179.81255618, 30.057893306, 89.969314304 ) 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: * -Z is along the HGA boresight; * +Y is parallel to the TBD gimbal rotation axis and points TBD; * +X completes the right handed frame; The orientation of this frame is provided in CK files. In zero gimbal position the HGA frame is co-aligned with the spacecraft frame. \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 array design as follows: * -Y is along the normal on the solar array active cell side; * +Z is parallel to the TBD gimbal rotation axis and points TBD; * +X completes the right handed frame; The orientation of this frame is provided in CK files. In zero gimbal position the SA frame is co-aligned with the spacecraft frame. \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. The set of codes below is not complete. Additional ID codes for some LRO instruments are defined in the IK files. 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_LROCWAC_VIS -85621 LRO_LROCWAC_UV -85626 LRO_LROCWAC_VIS_FILTER_1 -85631 LRO_LROCWAC_VIS_FILTER_2 -85632 LRO_LROCWAC_VIS_FILTER_3 -85633 LRO_LROCWAC_VIS_FILTER_4 -85634 LRO_LROCWAC_VIS_FILTER_5 -85635 LRO_LROCWAC_UV_FILTER_1 -85641 LRO_LROCWAC_UV_FILTER_2 -85642 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_LROCWAC_VIS' ) NAIF_BODY_CODE += ( -85621 ) NAIF_BODY_NAME += ( 'LRO_LROCWAC_UV' ) NAIF_BODY_CODE += ( -85626 ) NAIF_BODY_NAME += ( 'LRO_LROCWAC_VIS_FILTER_1' ) NAIF_BODY_CODE += ( -85631 ) NAIF_BODY_NAME += ( 'LRO_LROCWAC_VIS_FILTER_2' ) NAIF_BODY_CODE += ( -85632 ) NAIF_BODY_NAME += ( 'LRO_LROCWAC_VIS_FILTER_3' ) NAIF_BODY_CODE += ( -85633 ) NAIF_BODY_NAME += ( 'LRO_LROCWAC_VIS_FILTER_4' ) NAIF_BODY_CODE += ( -85634 ) NAIF_BODY_NAME += ( 'LRO_LROCWAC_VIS_FILTER_5' ) NAIF_BODY_CODE += ( -85635 ) NAIF_BODY_NAME += ( 'LRO_LROCWAC_UV_FILTER_1' ) NAIF_BODY_CODE += ( -85641 ) NAIF_BODY_NAME += ( 'LRO_LROCWAC_UV_FILTER_2' ) NAIF_BODY_CODE += ( -85642 ) NAIF_BODY_NAME += ( 'LRO_MINIRF' ) NAIF_BODY_CODE += ( -85700 ) \begintext End of FK file.