PDS_VERSION_ID = PDS3 RECORD_TYPE = FIXED_LENGTH RECORD_BYTES = 80 OBJECT = TEXT PUBLICATION_DATE = 2003-03-14 NOTE = "Description of ODY spacecraft antennas, software, and kernels needed to reconstruct their positions and orientations. Based on NAIF Frames Kernel V 2.4 (2002-09-25) by Boris Semenov. Formatted with up to 78 constant width characters per line." END_OBJECT = TEXT END This document describes antennas on the 2001 Mars Odyssey (ODY or M01) spacecraft and the coordinate frames to which they were referenced. Much of the material which follows has been adapted (copied) from Frames Kernel documentation provided by Boris Semenov of the JPL Navigation and Ancillary Information Facility (JPL/NAIF). The instrument frame orientations provided in this version of the file are based on alignment data from PRE-LAUNCH calibration reports and/or NOMINAL instrument design documents. While the PRE-LAUNCH and NOMINAL values give a good approximation of instrument orientation, they should be replaced with more accurate IN-FLIGHT calibrated values to achieve correct pointing computations, when in-flight calibration data are available. 2001 Mars Odyssey Frames ======================== The following frames have been defined for the 2001 Mars Odyssey spacecraft: Name Relative to Type NAIF ID ---------------------- ------------------- ------------ ------- Spacecraft frame: ----------------- M01_SPACECRAFT rel.to J2000 CK -53000 Science Instrument frames: -------------------------- M01_GRS_HEAD_STOWED rel.to SPACECRAFT FIXED -53020 M01_GRS_HEAD_DEPLOYED rel.to SPACECRAFT FIXED -53021 M01_GRS_HEAD_COOLER rel.to GRS_HEAD_DEP. FIXED -53024 M01_GRS_HEND rel.to SPACECRAFT FIXED -53022 M01_GRS_NS rel.to SPACECRAFT FIXED -53023 M01_THEMIS_OPTICS rel.to SPACECRAFT FIXED -53030 M01_THEMIS_IR rel.to THEMIS FIXED -53031 M01_THEMIS_VIS rel.to THEMIS FIXED -53032 M01_MARIE rel.to SPACECRAFT FIXED -53040 Antenna frames: --------------- M01_HGA_BOOM rel.to SPACECRAFT FIXED -53210 M01_HGA_INNER_GIMBAL rel.to HGA_BOOM CK -53211 M01_HGA_OUTER_GIMBAL rel.to HGA_INNER_GIM CK -53212 M01_HGA_DEPLOYED rel.to HGA_OUTER_GIM FIXED -53213 M01_MGA_DEPLOYED rel.to HGA_DEPLOYED FIXED -53214 M01_HGA_X_DEPLOYED rel.to HGA_DEPLOYED FIXED -53215 M01_MGA_X_DEPLOYED rel.to MGA_DEPLOYED FIXED -53216 M01_HGA_STOWED rel.to SPACECRAFT FIXED -53223 M01_MGA_STOWED rel.to HGA_STOWED FIXED -53224 M01_HGA_X_STOWED rel.to HGA_STOWED FIXED -53225 M01_MGA_X_STOWED rel.to MGA_STOWED FIXED -53226 M01_LGA rel.to SPACECRAFT FIXED -53230 Solar Array frames: ------------------- M01_SA_INNER_GIMBAL rel.to SPACECRAFT CK -53311 M01_SA_OUTER_GIMBAL rel.to SA_INNER_GIM CK -53312 M01_SA_DEPLOYED rel.to SA_OUTER_GIM FIXED -53313 M01_SA_STOWED rel.to SPACECRAFT FIXED -53323 Frames Hierarchy ================ The diagram below shows the frames hierarchy: "J2000" INERTIAL +------------------------------------------------------------+ | | | | <--pck | <--ck | | | pck--> | V | V "IAU_MARS" | "IAU_EARTH" MARS BFR(*) | EARTH BFR(*) ----------- | ------------ | | | "M01_MGA_X_DEPLOYED" | -------------------- | ^ | | | | <--fixed | | | | "M01_MGA_DEPLOYED" | ------------------ | ^ | | | | <--fixed | | | | "M01_HGA_X_DEPLOYED" | | ------------------- | | ^ | | | | | fixed--> | | | | "M01_SA_DEPLOYED" | | "M01_HGA_DEPLOYED" ----------------- | +------------------------ ^ | ^ | | | | <--fixed | fixed--> | | | | "M01_SA_OUTER_GIMBAL" | "M01_HGA_OUTER_GIMBAL" --------------------- | ---------------------- ^ | ^ | | | | <--ck | ck--> | | | | "M01_SA_INNER_GIMBAL" | "M01_HGA_INNER_GIMBAL" --------------------- | ---------------------- ^ | ^ | | | | <--ck | ck--> | | | | | | "M01_HGA_BOOM" | | -------------- | | | | | | | | "M01_MGA_X_STOWED" | | | ------------------ | | | ^ | | | | | | | | <--fixed | | | | | | | "M01_MGA_STOWED" | | | ---------------- | | | ^ | | | | | | | | <--fixed | | | | | | "M01_SA_STOWED" | | "M01_HGA_X_STOWED" | | --------------- | | ------------------ | | ^ | | ^ | | | | | | | | | <--fixed | | | <--fixed | | | | | | | | | "M01_LGA" | | "M01_HGA_STOWED" | | | --------- | +-------------------- | | | ^ | ^ | | | | <--fixed | fixed--> | ck--> | | | | | | | | | | "M01_SPACECRAFT" | | +------------------------------------------------------------+ | | | | | | | <--fixed | | | | | | | | | | | V | | | | | "M01_MARIE" | | | | | ----------- | | | | | | <--fixed | | | | | | | | | V | | | | "M01_THEMIS_OPTICS" | | | | +-----------------+ | | | | | | | | | | | <--fixed | <--fixed | | | | | | | | | | V V | | | | M01_THEMIS_IR" "M01_THEMIS_VIS" | | | | -------------- ---------------- | | | | | | | | | | | | fixed--> | | fixed--> | | | | | | V | V | "M01_GRS_HEND" | "M01_GRS_NS" | -------------- | ------------ | | | | <--fixed fixed--> | | | V V "M01_GRS_HEAD_STOWED" "M01_GRS_HEAD_DEPLOYED" --------------------- ----------------------- | fixed--> | | V "M01_GRS_HEAD_COOLER" --------------------- (*) BFR -- body-fixed rotating frame Spacecraft Bus Frame ==================== The spacecraft frame is defined with the X axis parallel to the stowed HGA boresight, the Y axis normal to the stowed solar arrays, and the Z axis in the direction of the main engine thrust (see figure below). The origin of the frame is centered on the launch vehicle separation plane. _______________ HGA \ / Science .. `._________.' Orbit || ._______________. Velocity || | ^+Xsc | Science Deck ^. || | | | `. || | | | `. || +Ysc | | ||@| <-----o +Zsc (out of page) || | | || | | || | Science Deck | Solar || ._______________. Array .. / / / V Nadir Since the S/C bus attitude with respect to an inertial frame is provided by a C kernel, this frame is defined as a CK-based frame: FRAME_M01_SPACECRAFT = -53000 FRAME_-53000_NAME = 'M01_SPACECRAFT' FRAME_-53000_CLASS = 3 FRAME_-53000_CLASS_ID = -53000 FRAME_-53000_CENTER = -53 CK_-53000_SCLK = -53 CK_-53000_SPK = -53 Antenna Frames ============== This section contains frame definitions for M01 antennas -- HGA, MGA and LGA -- in stowed and deployed positions. High Gain Antenna ----------------- Both HGA boresight frames -- M01_HGA_STOWED and M01_HGA_DEPLOYED -- are defined as follows: - Z axis is along the HGA reflector central symmetry axis (boresight axis) and points from the reflector surface towards the feed horn (in stowed configuration it points along the s/c +X axis); - Y axis is parallel to the outer gimbal rotation axis and points from the gimbal towards the antenna center; - X axis complements the right hand frame; - the origin of this frame is located at the intersection of the antenna reflector symmetry axis and a plane containing the HGA reflector rim circle. When stowed, the HGA does not move and its boresight (+Z axis) points approximately along S/C +X axis. Therefore, its orientation can be specified as a fixed offset with respect to the s/c frame. Two rotations -- first by +90.0 degrees about the s/c +Y axis and second by approximately +30 degrees about the +Z axis -- are needed to align s/c axes with the HGA axes in the stowed configuration (note that the second rotation achieves only approximate alignment of the +X and +Y axes of the antenna frame.) (The frame definition below contains the opposite of this rotation because Euler angles specified in it define the transformation from the antenna to s/c frame) FRAME_M01_HGA_STOWED = -53223 FRAME_-53223_NAME = 'M01_HGA_STOWED' FRAME_-53223_CLASS = 4 FRAME_-53223_CLASS_ID = -53223 FRAME_-53223_CENTER = -53 TKFRAME_-53223_SPEC = 'ANGLES' TKFRAME_-53223_RELATIVE = 'M01_SPACECRAFT' TKFRAME_-53223_ANGLES = ( 0.0, -90.0, -30.0 ) TKFRAME_-53223_AXES = ( 1, 2, 3 ) TKFRAME_-53223_UNITS = 'DEGREES' When deployed, the HGA does not have constant pointing with respect to the s/c because the antenna is moved constantly using two gimbals to track Earth. The deployed HGA frame is specified as a fixed offset with respect to the outer most gimbal. The frames -- antenna frame and outer gimbal frame -- are defined such the their axes are co-aligned. Therefore, no rotations are need to transform one into another. FRAME_M01_HGA_DEPLOYED = -53213 FRAME_-53213_NAME = 'M01_HGA_DEPLOYED' FRAME_-53213_CLASS = 4 FRAME_-53213_CLASS_ID = -53213 FRAME_-53213_CENTER = -53 TKFRAME_-53213_SPEC = 'ANGLES' TKFRAME_-53213_RELATIVE = 'M01_HGA_OUTER_GIMBAL' TKFRAME_-53213_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-53213_AXES = ( 3, 2, 1 ) TKFRAME_-53213_UNITS = 'DEGREES' HGA X-Band Pattern Frames ------------------------- The HGA X-band pattern based frames for deployed and stowed configuration -- M01_HGA_X_STOWED and M01_HGA_X_DEPLOYED -- are defined as follows: - Z axis is along the HGA reflector central symmetry axis (boresight axis) and points from the reflector surface towards the feed horn (in stowed configuration it points along the s/c +X axis); - X axis is parallel to the X-band pattern clock angle reference direction (in stowed configuration it points along the s/c +Y axis); - Y axis complements the right hand frame; - the origin of this frame is located at the intersection of the antenna reflector symmetry axis and a plane containing the HGA reflector rim circle. These frames are rotated by +60 degrees about the +Z axis with respect to the corresponding antenna frames -- M01_HGA_STOWED and M01_HGA_DEPLOYED -- to co-align the pattern clock angle reference axis (parallel to the s/c +Y axis in the stowed configuration) with the X-band pattern based frame +X axis. (The frame definitions below contain the opposite of this rotation because Euler angles specified in it define the transformation from X-band pattern frame to antenna mechanical frame). FRAME_M01_HGA_X_STOWED = -53225 FRAME_-53225_NAME = 'M01_HGA_X_STOWED' FRAME_-53225_CLASS = 4 FRAME_-53225_CLASS_ID = -53225 FRAME_-53225_CENTER = -53 TKFRAME_-53225_SPEC = 'ANGLES' TKFRAME_-53225_RELATIVE = 'M01_HGA_STOWED' TKFRAME_-53225_ANGLES = ( 0.0, 0.0, -60.0 ) TKFRAME_-53225_AXES = ( 1, 2, 3 ) TKFRAME_-53225_UNITS = 'DEGREES' FRAME_M01_HGA_X_DEPLOYED = -53215 FRAME_-53215_NAME = 'M01_HGA_X_DEPLOYED' FRAME_-53215_CLASS = 4 FRAME_-53215_CLASS_ID = -53215 FRAME_-53215_CENTER = -53 TKFRAME_-53215_SPEC = 'ANGLES' TKFRAME_-53215_RELATIVE = 'M01_HGA_DEPLOYED' TKFRAME_-53215_ANGLES = ( 0.0, 0.0, -60.0 ) TKFRAME_-53215_AXES = ( 1, 2, 3 ) TKFRAME_-53215_UNITS = 'DEGREES' HGA Gimbal Drive Frames ----------------------- The HGA was deployed using the boom attached to the spacecraft bus by a hinge. It can be rotated using two independent gimbals (i.e. it has two degrees of freedom.) After deployment the antenna boom position remains constant relative to the s/c bus. Therefore, its orientation can be provided as a fixed offset with respect to the spacecraft frame. The M01 HGA deployed boom frame (also known as the antenna baseplate frame HGABP) is defined such that when antenna is deployed and both gimbals are in zero position, the s/c frame can be transformed into the HGA boom frame by four consequent rotations (angles are in degrees, rotation axes are specified as subscripts): boom M = [180.0] [30.056] [-1.731] [9.851] sc Y Z Y X or boom | -0.86514132 -0.48898862 -0.11144787 | M = | -0.50061765 0.85536322 0.13317560 | sc | 0.03020705 0.17100849 -0.98480639 | (The frame definition below contains the opposite of this rotation, i.e. transpose of the matrix specified above, because it defines transformation from boom to s/c frame). FRAME_M01_HGA_BOOM = -53210 FRAME_-53210_NAME = 'M01_HGA_BOOM' FRAME_-53210_CLASS = 4 FRAME_-53210_CLASS_ID = -53210 FRAME_-53210_CENTER = -53 TKFRAME_-53210_SPEC = 'MATRIX' TKFRAME_-53210_RELATIVE = 'M01_SPACECRAFT' TKFRAME_-53210_MATRIX = ( -0.86514132, -0.48898862, -0.11144787, -0.50061765, 0.85536322, 0.13317560, 0.03020705, 0.17100849, -0.98480639 ) The inner and outer gimbal rotations are time-dependent and should be stored in a CK file. Therefore, inner and outer gimbal frames are defined as CK-based frames. The M01 HGA inner gimbal frame: - Y axis is along the inner gimbal rotation axis and points toward outer gimbal; in deployed configuration with the inner and outer gimbal angles set to zero it points along the boom frame +Y axis; - X axis is such that in deployed configuration with the inner and outer gimbal angles set to zero it points along the boom frame +X axis; - Z axis complements to the right hand frame and in deployed configuration with the inner and outer gimbal angles set to zero it points along the boom frame +Z axis; - the origin of this frame is located at the intersection of the inner gimbal rotation axis and a plane perpendicular to this rotation axis and containing the outer gimbal rotation axis. The M01 HGA outer gimbal frame: - X axis is along the outer gimbal rotation axis and points along the boom +X in the deployed configuration with the inner and outer gimbal angles set to zero; - Y axis is such that in the deployed configuration with the inner and outer gimbal angles set to zero it points along the boom +Y axis; - Z axis complements the right hand frame and in the deployed configuration with the inner and outer gimbal angles set to zero it points along the boom +Z axis; - the origin of this frame is located at the intersection of the outer gimbal rotation axis and a plane perpendicular to this rotation axis and containing the HGA frame origin; When the HGA is deployed and both gimbals are in zero position, axes of the boom, inner gimbal, outer gimbal, and HGA frames are co-aligned. The diagram below illustrates this: * * * * * * * * * * * * * _ (into page) * +Zhga (into page) * / \ +Zboom * .____________________\.x\ +Zig * | .x .'\_\\ +Zog * .__.'__\__________.'_/ //\ * .' \ v // \ * V \ +Yboom // V +Xboom +Yhga +Xhga V +Yig * // +Xig * +Yog* // +Xog * * // * * // * * * * * // // // -- rotation in the inner // gimbal is about +Y (+Yig) .. // || .______________@@ || | ^+Xsc | -- rotation in the outer || | | | gimbal is about +X (+Xog) || | | | || | | | ||@| <-----o | || | +Ysc +Zsc (out of page) || | | || | science deck | solar || ._______________. array .. The two sets of keywords below contain definitions for these frames. FRAME_M01_HGA_INNER_GIMBAL = -53211 FRAME_-53211_NAME = 'M01_HGA_INNER_GIMBAL' FRAME_-53211_CLASS = 3 FRAME_-53211_CLASS_ID = -53211 FRAME_-53211_CENTER = -53 CK_-53211_SCLK = -53 CK_-53211_SPK = -53 FRAME_M01_HGA_OUTER_GIMBAL = -53212 FRAME_-53212_NAME = 'M01_HGA_OUTER_GIMBAL' FRAME_-53212_CLASS = 3 FRAME_-53212_CLASS_ID = -53212 FRAME_-53212_CENTER = -53 CK_-53212_SCLK = -53 CK_-53212_SPK = -53 Medium Gain Antenna ------------------- Both MGA boresight frames -- M01_MGA_STOWED and M01_MGA_DEPLOYED -- are defined in the antenna design as follows: - Z axis is along the MGA reflector central symmetry axis (boresight axis) and points from the reflector surface towards the feed horn (in stowed configuration along the s/c +X axis); - X is [TBD] (in stowed configuration points along s/c -Z axis); - Y complements to the right hand frame (in stowed configuration points along s/c +Y axis); - the origin of this frame is located at the intersection of the antenna reflector symmetry axis and a plane containing MGA reflector rim circle. Since the MGA is mounted on and does not move with respect to the HGA, its orientation for both the deployed and stowed configurations can be specified as a fixed offset with respect to the corresponding HGA frames. Because MGA frame orientation is the same as for the HGA, no rotations are needed to co-align these frames. FRAME_M01_MGA_STOWED = -53224 FRAME_-53224_NAME = 'M01_MGA_STOWED' FRAME_-53224_CLASS = 4 FRAME_-53224_CLASS_ID = -53224 FRAME_-53224_CENTER = -53 TKFRAME_-53224_SPEC = 'ANGLES' TKFRAME_-53224_RELATIVE = 'M01_HGA_STOWED' TKFRAME_-53224_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-53224_AXES = ( 3, 2, 1 ) TKFRAME_-53224_UNITS = 'DEGREES' FRAME_M01_MGA_DEPLOYED = -53214 FRAME_-53214_NAME = 'M01_MGA_DEPLOYED' FRAME_-53214_CLASS = 4 FRAME_-53214_CLASS_ID = -53214 FRAME_-53214_CENTER = -53 TKFRAME_-53214_SPEC = 'ANGLES' TKFRAME_-53214_RELATIVE = 'M01_HGA_DEPLOYED' TKFRAME_-53214_ANGLES = ( 0.0, 0.0, 0.0 ) TKFRAME_-53214_AXES = ( 3, 2, 1 ) TKFRAME_-53214_UNITS = 'DEGREES' MGA X-Band Pattern Based Frames ------------------------------- The MGA X-band pattern based frames for deployed and stowed configurations -- M01_MGA_X_STOWED and M01_MGA_X_DEPLOYED -- are defined as follows: - Z axis is along the MGA reflector central symmetry axis (boresight axis) and points from the reflector surface towards the feed horn (in stowed configuration it points along the s/c +X axis); - X axis is parallel to the X-band pattern clock angle reference direction (in stowed configuration it points along the s/c +Y axis); - Y axis complements the right hand frame; - the origin of this frame is located at the intersection of the antenna reflector symmetry axis and a plane containing the MGA reflector rim circle. These frames are rotated by +60 degrees about the +Z axis with respect to the corresponding antenna frames -- M01_MGA_STOWED and M01_MGA_DEPLOYED -- to co-align the pattern clock angle reference axis (parallel to the s/c +Y axis in the stowed configuration) with the X-band pattern based frame +X axis. (The frame definitions below contain the opposite of this rotation because Euler angles specified in it define the transformation from the X-band pattern frame to the antenna mechanical frame). FRAME_M01_MGA_X_STOWED = -53226 FRAME_-53226_NAME = 'M01_MGA_X_STOWED' FRAME_-53226_CLASS = 4 FRAME_-53226_CLASS_ID = -53226 FRAME_-53226_CENTER = -53 TKFRAME_-53226_SPEC = 'ANGLES' TKFRAME_-53226_RELATIVE = 'M01_MGA_STOWED' TKFRAME_-53226_ANGLES = ( 0.0, 0.0, -60.0 ) TKFRAME_-53226_AXES = ( 1, 2, 3 ) TKFRAME_-53226_UNITS = 'DEGREES' FRAME_M01_MGA_X_DEPLOYED = -53216 FRAME_-53216_NAME = 'M01_MGA_X_DEPLOYED' FRAME_-53216_CLASS = 4 FRAME_-53216_CLASS_ID = -53216 FRAME_-53216_CENTER = -53 TKFRAME_-53216_SPEC = 'ANGLES' TKFRAME_-53216_RELATIVE = 'M01_MGA_DEPLOYED' TKFRAME_-53216_ANGLES = ( 0.0, 0.0, -60.0 ) TKFRAME_-53216_AXES = ( 1, 2, 3 ) TKFRAME_-53216_UNITS = 'DEGREES' Low Gain Antenna ---------------- The LGA frame -- M01_LGA -- is defined in the antenna design as follows: - Z axis is along the LGA boresight direction which is perpendicular to the antenna "patch" surface and points away from the surface; - Y points in the same direction as the s/c +Y axis; - X complements the right hand frame; - the origin of this frame is located at the geometric center of the antenna "patch" square. Since the LGA is mounted on and does not move with respect to the s/c, its orientation can be specified as a fixed offset with respect to the s/c frame. The Low Gain Antenna (LGA) boresight is 45 degrees from +X towards -Z in the s/c frame, or exactly between the +X and -Z axes (0.7071,0,-0.7071). A single rotation by +135.0 degrees about the s/c +Y axis is needed to align the s/c axes with the LGA axes. (The frame definition below contains the opposite of this rotation because Euler angles specified in it define the transformation from the antenna frame to the s/c frame). FRAME_M01_LGA = -53230 FRAME_-53230_NAME = 'M01_LGA' FRAME_-53230_CLASS = 4 FRAME_-53230_CLASS_ID = -53230 FRAME_-53230_CENTER = -53 TKFRAME_-53230_SPEC = 'ANGLES' TKFRAME_-53230_RELATIVE = 'M01_SPACECRAFT' TKFRAME_-53230_ANGLES = ( 0.0, -135.0, 0.0 ) TKFRAME_-53230_AXES = ( 3, 2, 1 ) TKFRAME_-53230_UNITS = 'DEGREES' Mars'01 Odyssey Mission NAIF ID Codes -- Definition Section =========================================================== This section contains name to NAIF ID mappings for the M01 mission. Once the contents of this file are 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: ----------- MARS SURVEYOR 01 ORBITER -53 M01 -53 M01_SPACECRAFT -53000 M01_SPACECRAFT_BUS -53000 M01_SC_BUS -53000 Science Instruments: -------------------- M01_GRS_HEAD -53021 M01_GRS_HEAD_STOWED -53020 M01_GRS_HEAD_DEPLOYED -53021 M01_GRS_HEAD_COOLER -53024 M01_GRS_HEND -53022 M01_GRS_NS -53023 M01_THEMIS -53030 M01_THEMIS_IR -53031 M01_THEMIS_VIS -53032 M01_MARIE -53040 Antennas: --------- M01_HGA_BOOM -53210 M01_HGA_INNER_GIMBAL -53211 M01_HGA_OUTER_GIMBAL -53212 M01_HGA_DEPLOYED -53213 M01_MGA_DEPLOYED -53214 M01_HGA_STOWED -53223 M01_MGA_STOWED -53224 M01_LGA -53230 Solar Array: ------------ M01_SA_INNER_GIMBAL -53311 M01_SA_OUTER_GIMBAL -53312 M01_SA_DEPLOYED -53313 M01_SA_DEPLOYED_C1 -53314 M01_SA_DEPLOYED_C2 -53315 M01_SA_DEPLOYED_C3 -53316 M01_SA_DEPLOYED_C4 -53317