SSP_30219-RevK.pdf

SSP 30219

National Aeronautics and Space Administration International Space Station Program Johnson Space Center Houston, T exas

International Space Station Program

Space Station Reference Coordinate Systems esa european space agency

Revision K 1 February 2019 Incorporates SSCN 15880

Japan Aerospace Exploration Agency

Contract No. NNJ12GA46C

This document may be used only in the International Space Station (ISS) program to fulfill responsibilities of a Cooperating Agency of an ISS Partner in furtherance of the ISS Intergovernmental Agreement. Re-transfer or disclosure to, or use by, any persons other than citizens of ISS Program International Partner countries, or use for any other purpose, requires prior Governments authorization of all ISS Program Partners who approve this document.

REVISION AND HISTORY PAGE

REV. DESCRIPTION PUB.

DATE

BASELINE ISSUE (REFERENCE SSCBD BB000180A EFF 11−20−86) 12−15−86

A REVISION A IS IDENTICAL IN CONTENT TO THE BASELINE ISSUE.

IT HAS BEEN REFORMATTED TO AGREE WITH THE DOCUMENTATION

FORMAT REQUIREMENTS DESCRIBED IN JSC 30200, THIRD DRAFT.

FEBRUARY 15, 1987 06−15−87

B REVISION B (REFERENCE THE ELECTRONIC BASELINE

REFORMATTED VERSION) 10−15−88

C REVISION C (REFERENCE SSCBD BB003460 EFF. 3−8−93) 3−93

D REVISION D (Reference SSCBD 00002, Eff. 2−1−94) 05−13−94 CN001 Incorporated TDC−431 (SSCBD 000008R1, Eff. 3−23−94 03−29−95

E REVISION E (Reference SSCD 000580, Eff. 9−4−98) 11−19−98

(FOR NASA AND NASA CONTRACTOR USE ONLY)

CN002 INCORPORATES SSCD 000580, Eff. 9−4−98 11−19−98

(PREIMPLEMENT FOR NASA AND CONTRACTOR USE − SSCN 001334)

F REVISION F Incorporates SSCN 003299, Eff. 05−28−02 07−30−02

The following DCN has been cancelled. The content of the SSCNs authorizing release of the DCN has been incorporated into Revision F.

DCN 003 (SSCN 000256) (Administrative Cancel)

G Revision G 10−30−03 Incorporates SSCN 007290.

The following DCN has been cancelled. The content of the SSCN authorizing release of the DCN was incorporated into Revision G, but was inadvertently omitted from the Revision and History Page.

DCN 004 (SSCN 005046) (Administrative Cancel)

H Revision H (Reference per SSCD 008939, Eff. 6−8−05) 08−18−05 Incorporates SSCN 008939.

DCN 005 incorporates SSCN 009544 08−10−06

DCN 006 incorporates SSCN 009864 08−10−06

DCN 007 incorporates SSCN 010444 04−29−08

J Revision J (Reference per SSCD 011028, Eff. 3−5−10 07−21−10

DCN 008 incorporates SSCN 011624 07−21−10

DCN 009 incorporates SSCN 012265 06−17−11

DCN 010 incorporates SSCN 013512 04-11-13

SSP 30219 Revision K SSCN 015880 1 February 2019

REVISION AND HISTORY PAGE

REV. DESCRIPTION PUB.

DATE

K 10−12−16Revision K (Reference per SSCD 15244, Eff. 111215)

Incorporates SSCN 015880. 02-21-19 i

PREFACE

The purpose of this document is to establish a set of coordinate systems to be used when reporting data between the International Space Station (ISS) Program Participants.

This document contains figures defining configuration dependent, configuration independent, articulating, viewing, unpressurized, translating, pressurized, and transverse boom frame references frames. In addition, appendixes are included with abbreviations and acronyms, a glossary, subscript designations, and reference documents.

The contents of this document are intended to be consistent with the tasks and products to be prepared by ISS Program Participants as defined in SSP 41000, System Specification for the International Space Station. The Space Station Reference Coordinate Systems shall be implemented on all new SSP contractual and internal activities and shall be included in any existing contracts through contract changes. This document is under the control of the Space Station Control Board, and any changes or revisions will be approved by the Program Manager.

Kirk Shireman Program Manager International Space Station

Date

JAXA

Program Manager Date

ESA

Program Manager Date

CSA

Program Manager Date

ASI

Program Manager Date

RSA

Program Manager Date

SSP 30219 Revision K SSCN 015880 1 February 2019

SEE DIRECTIVE APPROVAL

SEE DIRECTIVE APPROVAL

SEE DIRECTIVE APPROVAL

SEE DIRECTIVE APPROVAL

SEE DIRECTIVE APPROVAL SEE DIRECTIVE APPROVAL

ii

PREPARED BY:

CHECKED BY:

Data Management Specialist ORGN

DATE

Strategic Planning, Assembly & Requirement Book Manager ORGN

DATE

SUPERVISED BY

SIGNATURE

Systems Engineering and Integration ORGN

DATE

DQA:

SIGNATURE

Data Management Specialist Lead

ORGN

DATE

Alexander Osorio MAPI

ARES

6/2/2008

SIGNATURE

Alun Wann MAPI

Jeffrey Arend

Freddie Garrison Young

/s/ Freddie Garrison Young

OM

SUPERVISED BY

SIGNATURE

ORGN

DATE

CONCURRED BY

SIGNATURE

Strategic Planning, Assembly & Requirements ORGN

DATE

SIGNATURE

Strategic Planning, Assembly & Requirement Book Manager

SSP 30219 Revision K

James Dunn OM

James Dunn OM

INTERNATIONAL SPACE STATION PROGRAM

SPACE STATION REFERENCE COORDINATESYSTEMS

1 FEBRUARY 20198

CONCURRENCE

TABLE OF CONTENTS

iii

PARAGRAPH PAGE

INTRODUCTION1.0 1 − 1

PURPOSE1.1 1 − 1

SCOPE1.2 1 − 1

PRECEDENCE1.3 1 − 1

DELEGA1.4 TION OF AUTHORITY 1 − 1

2.0 APPLICABLE DOCUMENTS 2 − 1

2.1 REFERENCE DOCUMENTS. 2 − 1

CONFIGURA3.0 TION INDEPENDENT REFERENCE FRAMES 3 − 1

CONFIGURA4.0 TION DEPENDENT REFERENCE FRAMES 4 − 1

ARTICULA5.0 TING AND TRANSVERSE BOOM REFERENCE

FRAMES 5 − 1

6.0 VIEWING REFERENCE FRAMES 6 − 1

7.0 UNPRESSURIZED LOGISTICS REFERENCE FRAMES 7 − 1

TRANSLA8.0 TING REFERENCE FRAMES 8 − 1

9.0 PRESSURIZED MODULE REFERENCE FRAMES 9 − 1

APPENDIXES

APPENDIX PAGE

A ABBREVIATIONS AND ACRONYMS A − 1

B GLOSSARY B − 1

C SUBSCRIPT DESIGNATIONS C − 1

D REFERENCE AND SOURCE DOCUMENTS D − 1

E ISS RUSSIAN SEGMENT E − 1

F ISS USOS SEGMENT F − 1

G OPEN WORK G − 1

TABLES

TABLE PAGE

6.0−1 ROBOTICALLY HANDLED ORU INTERFACE COORDINATE

SYSTEMS 6 − 1

G − 1 TO BE DETERMINED ITEMS G − 1

FIGURES

FIGURE PAGE

iv

3.0−1 J200, MEAN OF 2000, CARTESIAN 3 − 2

3.0−2 MEAN OF 2000, POLAR 3 − 3

3.0−3 MEAN OF 1950, CARTESIAN 3 − 4

3.0−4 MEAN OF 1950, POLAR 3 − 5

3.0−5 TRUE OF DATE, CARTESIAN 3 − 6

3.0−6 TRUE OF DATE, POLAR 3 − 7

3.0−7 GREENWICH TRUE OF DATE, CARTESIAN 3 − 8

3.0−8 GREENWICH TRUE OF DATE, POLAR 3 − 9

3.0−9 GEODETIC 3 − 10

3.0−10 ORBITAL ELEMENTS 3 − 11

3.0−11 LOCAL ORBITAL: LOCAL VERTICAL LOCAL

HORIZONTAL 3 − 12

3.0−12 CONVENTIONAL TERRESTRIAL REFERENCE SYSTEM 3 − 13

3.0−13 GROUND SITE AZIMUTH−ELEVATION MOUNT 3 − 14

3.0−14 XPOP QUASI−STATIC INERTIAL REFERENCE FRAME 3 − 15

3.0−15 RUSSIA ORBITAL COORDINATES SYSTEM 3 − 16

3.0−16 RSO: RUSSIAN SUN EQUILIBRIUM ATTITUDE

COORDINATES SYSTEM 3 − 17

4.0−1 SPACE STATION ANALYSIS COORDINATE SYSTEM 4 − 2

4.0−2 SPACE STATION REFERENCE COORDINATE SYSTEM 4 − 3

4.0−3 SPACE STATION BODY COORDINATE SYSTEM 4 − 4

4.0−4 RSA ANALYSIS COORDINATE SYSTEM 4 − 5

4.0−5 SPACE STATION GPS ANTENNA COORDINATE SYSTEM 4 − 6

4.0−6 SPACE SHUTTLE ORBITER STRUCTURAL COORDINATE

SYSTEM 4 − 7

4.0−7 ORBITER BODY AXES 4 − 8

4.0−8 ALPHA, BETA, AND GAMMA ANGLE DEFINITIONS 4 − 9

4.0−8 ALPHA, BETA, AND GAMMA ANGLE DEFINITIONS 4 − 10

4.0−9 SOYUZ TRANSPORT MANNED VEHICLE

COORDINATE SYSTEM 4 − 11

4.0−10 PROGRESS TRANSPORT CARGO VEHICLE

COORDINATE SYSTEM 4 − 12

4.0−11 DELETED 4 − 13

4.0−12 AUTOMATED TRANSFER VEHICLE COORDINATE

SYSTEM 4 − 14

4.0−13 H−II TRANSFER VEHICLE COORDINATE SYSTEM,

MECHANICAL DESIGN REFERENCE 4 − 15

FIGURES − Continued v

4.0−14 H−II TRANSFER VEHICLE COORDINATE SYSTEM,

ATTITUDE REFERENCE 4 − 16

4.0−15 ORBITER BOOM SENSOR SYSTEM COORDINATE

SYSTEM 4 − 17

5.0−1 STARBOARD SOLAR POWER MODULE COORDINATE

SYSTEM 5 − 2

5.0−2 INTEGRATED TRUSS SEGMENT S4 COORDINATE

SYSTEM 5 − 3

5.0−3 INTEGRATED TRUSS SEGMENT S5 COORDINATE

SYSTEM 5 − 4

5.0−4 INTEGRATED TRUSS SEGMENT S6 COORDINATE

SYSTEM 5 − 5

5.0−5 PORT SOLAR POWER MODULE COORDINATE SYSTEM 5 − 6

5.0−6 INTEGRATED TRUSS SEGMENT P4 COORDINATE

SYSTEM 5 − 7

5.0−7 INTEGRATED TRUSS SEGMENT P5 COORDINATE

SYSTEM 5 − 8

5.0−8 INTEGRATED TRUSS SEGMENT P6 COORDINATE

SYSTEM 5 − 9

5.0−9 SOLAR ARRAY WING COORDINATE SYSTEM 5 − 10

5.0−10A THERMAL CONTROL SYSTEM RADIATOR COORDINATE

SYSTEM 5 − 11

5.0−10B THERMAL CONTROL SYSTEM RADIATOR COORDINATE

SYSTEM 5 − 12

5.0−11 INTEGRATED TRUSS SEGMENT Z1 COORDINATE

SYSTEM 5 − 13

5.0−12 INTEGRATED TRUSS SEGMENT S0 COORDINATE

SYSTEM 5 − 14

5.0−13 INTEGRATED TRUSS SEGMENT S1 COORDINATE

SYSTEM 5 − 15

5.0−14 INTEGRATED TRUSS SEGMENT S3 COORDINATE

SYSTEM 5 − 16

5.0−15 INTEGRATED TRUSS SEGMENT P1 COORDINATE

SYSTEM 5 − 17

5.0−16 INTEGRATED TRUSS SEGMENT P3 COORDINATE

SYSTEM 5 − 18

5.0−17 FGB ARRAYS COORDINATE SYSTEM 5 − 19

5.0−18 SERVICE MODULE ARRAYS COORDINATE SYSTEM 5 − 20

5.0−19 DELETED 5 − 21

vi

DELETE5.0−20 5 − 22

DELETED5.0−21 5 − 23

5.0−22 MLM RADIATOR COORDINATE SYSTEM 5 − 24

5.0−23 MLM SOLAR ARRAY COORDINATE SYSTEM 5 − 25

5.0−24 MLM POWER WORK PLATFORM COORDINATE SYSTEM 5 − 26

6.0−1 TRACKING AND DATA RELAY SATELLITE SYSTEM

(KU−BAND) COORDINATE SYSTEM 6 − 3

DELETED6.0−2 6 − 4

6.0−3 SMALL ADAPTER PLATE ASSEMBLY AND (MAPA/LAPA/

LWAPA/CEPA/EXPA/CTC) REFERENCE COORDINATE

SYSTEMS 6 − 5

DELETED6.0−4 6 − 6

DELETED6.0−5 6 − 7

6.0−6 DELETED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 − 8

6.0−7 RACK COORDINATE SYSTEM 6 − 9

6.0−8 O2/N2 HIGH PRESSURE GAS TANK COORDINATE

SYSTEM 6 − 10

6.0−9 SHOSS−ED COORDINATE SYSTEM 6 − 11

6.0−10 PUMP MODULE ASSEMBLY ORU COORDINATE SYSTEM 6 − 12

RADIAT6.0−11 OR GRAPPLE ORU ASSEMBLY REFERENCE

COORDINATE SYSTEM 6 − 13

6.0−12 PVR GRAPPLE FIXTURE ASSEMBLY REFERENCE

COORDINATE SYSTEM 6 − 14

6.0−13 THERMAL RADIATOR ROTARY JOINT ORU COORDINATE

SYSTEM 6 − 15

6.0−14 MAST CANISTER ORU COORDINATE SYSTEM 6 − 16

6.0−15 ISS COMMON ATTACH SYSTEM REFERENCE

COORDINATE SYSTEM 6 − 17

6.0−16 AMMONIA TANK ASSEMBLY COORDINATE SYSTEM 6 − 18

6.0−17 NITROGEN TANK ASSEMBLY COORDINATE SYSTEM 6 − 19

BATTER6.0−18 Y−STYLE ORU COORDINATE SYSTEM 6 − 20

6.0−19 MDM−STYLE ORU COORDINATE SYSTEM 6 − 21

DELETED6.0−20 6 − 22

6.0−21 CSA ORU COORDINATE SYSTEM 6 − 23

6.0−22 RMCT−STYLE ORU COORDINATE SYSTEM 6 − 24

6.0−23 MT STOP REFERENCE COORDINATE SYSTEM 6 − 25

6.0−24 TETHER SHUTTLE STOP REFERENCE COORDINATE

SYSTEM 6 − 26

vii

S06.0−25 SECONDARY POWER DISTRIBUTION ASSEMBLY

DOORS COORDINATE SYSTEM 6 − 27

6.0−26 DIRECT ORU COORDINATE SYSTEM 6 − 28

6.0−27 BARE BOLT INTERFACE COORDINATE SYSTEM 6 − 29

6.0−28 H−FIXTURE INTERFACE COORDINATE SYSTEM 6 − 30

6.0−29 MICRO CONICAL / MODIFIED MICRO CONICAL

INTERFACE COORDINATE SYSTEM 6 − 31

6.0−30 MICRO SQUARE / MODIFIED MICRO SQUARE

INTERFACE COORDINATE SYSTEM 6 − 32

6.0-31 UTILITY TRANSFER ASSEMBLY . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 − 33

6.0-32 CONTROL MOMENT GYROSCOPE COORDINATE SYSTEM . . . . 6 − 34

6.0-33 HEAT REJECTION SYSTEM RADIATOR COORDINATE

SYSTEM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 − 35

6.0-34 BIGELOW EXPANDABLE ACTIVITY MODULE (BEAM)

COORDINATE SYSTEM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 − 36

6.0-35 SECOND TRACKING AND DATA RELAY SATELLITE SYSTEM

(KU-BAND) COORDINATE SYSTEM . . . . . . . . . . . . . . . . . . . . . . . . 6 − 37

SP7.0−1 ACELAB PALLET COORDINATE SYSTEM 7 − 2

7.0−2 EDO COORDINATE SYSTEM 7 − 3

7.0−3 EXTERNAL STOWAGE PLATFORM − 2 7 − 4

7.0−4 HTV EXPOSED PALLET COORDINATE SYSTEM 7 − 5

7.0−5 EXTERNAL STOWAGE PLATFORM − 3 COORDINATE

SYSTEM 7 − 6

DELETED7.0−6 7 − 7

INTEGRA7.0−7 TED CARGO CARRIER − VERTICAL LIGHTWEIGHT

DEPLOYABLE 7 − 8

7.0−8 EXPRESS LOGISTICS CARRIER (NEGATIVE Y OFFSET)

COORDINATE SYSTEM 7 − 9

7.0−9 EXPRESS LOGISTICS CARRIER (POSITIVE Y OFFSET)

COORDINATE SYSTEM 7 − 10

7.0−10 ALPHA MAGNETIC SPECTROMETER COORDINATE

SYSTEM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 − 11

7.0-11 EXTERNAL STOWAGE PLATFORM 1 COORDINATE SYSTEM . . 7 − 12

7.0-12 JAPANESE EXPERIMENT MODULE AIRLOCK SLIDE TABLE

COORDINATE SYSTEM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 − 13 viii

8.0−1 CREW AND EQUIPMENT TRANSLATION AID

COORDINATE SYSTEM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 − 2

8.0-2 MOBILE SERVICING CENTRE COORDINATE SYSTEM . . . . . . . . . 8 − 3

8.0-3 MOBILE TRANSPORTER COORDINATE SYSTEM . . . . . . . . . . . . . . 8 − 4

8.0-4 MOBILE SERVICING CENTRE BASE SYSTEM . . . . . . . . . . . . . . . . . 8 − 5

COORDINATE SYSTEM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 − 6 8.0-5 OTCM OPERATING COORDINATE SYSTEM . . . . . . . . . . . . . . . . . . . 8 − 7

8.0-6 DELETED

8.0-7 END EFFECTOR OPERATING COORDINATE SYSTEM . . . . . . . . . . 8 − 8

8.0-8 JEM – REMOTE MANIPULATOR SYSTEM

COORDINATE SYSTEM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 − 9

8.0-9 ROBOT MICRO CONICAL TOOL OPERATIONS

COORDINATE SYSTEM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 − 10

8.0-10 ROBOT MICRO CONICAL TOOL STANDARD DEXTEROUS

GRAPPLE FIXTURE COORDINATE SYSTEM . . . . . . . . . . . . . . . . . . . . 8 − 11

8.0-11 ROBOTIC OFFSET TOOL OPERATIONS COORDINATE

SYSTEM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 − 12 ix

ROBOTIC8.0−12 OFFSET TOOL STANDARD DEXTEROUS

GRAPPLE FIXTURE COORDINATE SYSTEM 8 − 13

8.0−13 SOCKET EXTENSION TOOL OPERATIONS COORDINATE

SYSTEM 8 − 14

8.0−14 SOCKET EXTENSION TOOL STANDARD DEXTEROUS

GRAPPLE FIXTURE COORDINATE SYSTEM 8 − 15

8.0−15 SPDM COORDINATE SYSTEM 8 − 16

8.0−16 MLM ERA SPARE ELBOW COORDINATE SYSTEM . . . . . . . . . . . . 8 − 17

8.0-17 MLM ERA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 - 18

9.0−1 UNITED STATES LABORATORY MODULE COORDINATE

SYSTEM 9 − 2

DELETED9.0−2 9 − 3

MUL9.0−3 TI−PURPOSE LOGISTICS MODULE COORDINATE

SYSTEM 9 − 4

9.0−4 JOINT AIRLOCK COORDINATE SYSTEM 9 − 5

9.0−5 CUPOLA COORDINATE SYSTEM 9 − 6

9.0−6 RESOURCE NODE 1 COORDINATE SYSTEM 9 − 7

9.0−7 RESOURCE NODE 2 COORDINATE SYSTEM 9 − 8

9.0−8 RESOURCE NODE 3 COORDINATE SYSTEM 9 − 9

DELETED9.0−9 9 − 10

JAP9.0−10 ANESE EXPERIMENT MODULE − PRESSURIZED

MODULE COORDINATE SYSTEM 9 − 11

JAP9.0−11 ANESE EXPERIMENT MODULE − EXPERIMENTAL

LOGISTICS MODULE PRESSURIZED SECTION

COORDINATE SYSTEM 9 − 12

JAP9.0−12 ANESE EXPERIMENT MODULE — EXPERIMENTAL

LOGISTICS MODULE EXPOSED SECTION COORDINATE

SYSTEM 9 − 13

JAP9.0−13 ANESE EXPERIMENT MODULE − EXPOSED FACILITY

COORDINATE SYSTEM 9 − 14

9.0−14 COLUMBUS COORDINATE SYSTEM 9 − 15

9.0−15 PRESSURIZED MATING ADAPTER−1 COORDINATE

SYSTEM 9 − 16

9.0−16 PRESSURIZED MATING ADAPTER−2 COORDINATE

SYSTEM 9 − 17

9.0−17 PRESSURIZED MATING ADAPTER−3 COORDINATE

SYSTEM 9 − 18

9.0−18 FGB CARGO BLOC COORDINATE SYSTEM 9 − 19

SER9.0−19 VICE MODULE COORDINATE SYSTEM 9 − 20

9.0−20 DOCKING COMPARTMENT − 1 COORDINATE SYSTEM 9 − 21

x

DELETED9.0−21 9 − 22

DELETED9.0−22 9 − 23

DELETED9.0−23 9 − 24

DELETED9.0−24 9 − 25

DELETED9.0−25 9 − 26

DELETED9.0−26 9 − 27

DELETED9.0−27 9 − 28

DELETED9.0−28 9 − 29

JAP9.0−29 ANESE EXPOSED FACILITY STANDARD EXPERIMENT

PAYLOAD COORDINATE SYSTEM 9 − 30

9.0−30 MLM COORDINATE SYSTEM 9 − 31

9.0−31 MLM AIRLOCK COORDINATE SYSTEM 9 − 32

DELETED9.0−32 9 − 33

9.0−33 MRM1 COORDINATE SYSTEM 9 − 34

9.0−34 MRM2 COORDINATE SYSTEM 9 − 35

SP9.0−35 ACEX DRAGON COORDINATE SYSTEM 9 − 36

9.0−36 ORBITAL CYGNUS COORDINATE SYSTEM 9 − 37

9.0−37 PERMANENT MULTIPURPOSE MODULE . . . . . . . . . . . . . . . . . . . . . 9− 38 9.0−38 INTERNATIONAL DOCKING ADAPTER . . . . . . . . . . . . . . . . . . . . . . . 9 - 39

9.0−39 PRESSURIZED MATING ADAPTER (PMA) COORDINATE

SYSTEM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 - 40

9.0−40 RUSSIAN NODE MODULE COORDINATE SYSTEM . . . . . . . . . . . . . 9 - 41

9.0−41 SCIENCE POWER MODULE COORDINATE SYSTEM . . . . . . . . . . . . 9 - 42

SSP 30219 Revision K SSCN 015880

9.0−42 SPACEX DRAGON 2 VEHICLE COORDINATE SYSTEM . . . . . . . . . . 9 - 43

1 February 2019

9.0−43 BOEING CST-100 VEHICLE COORDINATE SYSTEM . . . . . . . . . . . . . 9 - 44

9.0−44 SIERRA NEVADA DREAM CHASER CARGO SYSTEM

COORDINATE SYSTEM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 - 45

SSCN 015880

1 − 1

1.0 INTRODUCTION

This document contains the definitions of the various coordinate systems used throughout the Space Station Program.

1.1 PURPOSE

The purpose of this document is to establish a set of coordinate systems to be used when reporting data between the International Space Station (ISS) Program Participants.

1.2 SCOPE

The scope of this document does not extend beyond the realm of communication of data between the ISS Program Participants. Analyses software, preferred conventions, on−orbit operations, on−orbit location coding and internal reports can contain data in whatever coordinate system deemed appropriate.

1.3 PRECEDENCE

In the event of a conflict between this document and any previous versions of SSP 30219, Space Station Reference Coordinate Systems, this document takes precedence. In the case of a conflict between this document and SSP 41000, System Specification for the International Space Station;

SSP 41000 takes precedence. In the event of a conflict between this document and any released Space Station engineering drawing or Interface Control Document (ICD), the released engineering drawing or ICD takes precedence.

1.4 DELEGATION OF AUTHORITY

The responsibility of assuring the definition, control, and implementation of the coordinate systems defined in this document is vested with the National Aeronautics and Space Administration (NASA) Space Station Program Office, Italian Space Agency (ASI), Canadian Space Agency (CSA), European Space Agency (ESA), Japan Aerospace Exploration Agency (JAXA), and Roscosmos.

2 − 1

2.0 APPLICABLE DOCUMENTS

The following documents of the date and issue shown are applicable to the extent specified herein. Inclusion of applicable documents herein does not in any way supersede the order of precedence specified in paragraph 1.3. The references show where each applicable document is cited in this document.

DOCUMENT NO. TITLE

None

2.1 REFERENCE DOCUMENTS.

The following documents are referenced in this document for context and user convenience.

DOCUMENT NO. TITLE

SSP 41000 System Specification for the International Space Station

3 − 1

3.0 CONFIGURATION INDEPENDENT REFERENCE FRAMES

The coordinate systems outlined in this chapter are independent of the Space Station configuration. These coordinates systems are mostly global (with the origin at the center of the earth) in nature and can be used for any spacecraft orbiting the earth.

3 − 2

FIGURE 3.0−1 J2000, MEAN OF 2000, CARTESIAN

NAME: J2000, Mean of 2000, Cartesian Coordinate System*

ORIGIN: The center of the Earth.

ORIENTATION: The epoch is 2000 January 1, noon or Julian ephemeris date 2451545.0.

The XJ2000 − YJ2000 plane is the mean Earth’s equator of epoch.

The XJ2000 axis is directed toward the mean vernal equinox of epoch.

The ZJ2000 axis is directed along the Earth’s mean rotational axis of epoch and is positive north.

The YJ2000 axis completes a right−handed system.

CHARACTERISTICS: Inertial right−handed Cartesian system.

*A source document which discusses the expression of vectors in mean of 2000, rather than mean of 1950, coordinates is U.S. Naval Observatory Circular No. 163, “The International Astronomical Union Resolutions on Astronomical Constants, Time Scales, and the Fundamental Reference Frame,” Wash-ington, D.C. 20390, December 10, 1981.

CENTER OF EARTH

MEAN EQUATOR

OF EPOCH

MEAN VERNAL

EQUINOX OF EPOCH

EARTH’S MEAN ROTATIONAL AXIS

OF EPOCH

Z J2000

X J2000

Y J2000

3 − 3

FIGURE 3.0−2 MEAN OF 2000, POLAR

NAME: Mean of 2000, Polar Coordinate System

ORIGIN: For position − the center of the Earth.

For velocity − the point of interest, P (XJ2000, YJ2000, ZJ2000).

ORIENTATION AND DEFINITIONS:

For position − same as in J2000 mean of 2000, Cartesian.

For velocity −

Reference plane is perpendicular to radius vector RJ2000 from center of Earth to point P of interest

Reference direction is northerly along the meridian containing P

Polar position coordinates of P are:

αJ2000, right ascension, is the angle between projection of radius vector in the equatorial plane and the vernal equinox of epoch, positive toward east δJ2000, declination, is the angle between the radius vector and the mean Earth’s equator of epoch, positive toward north

RJ2000, magnitude of RM2000.

Polar velocity coordinates of P are:

Let U, E, N denote up, east, and north directions; then:

ψJ2000, azimuth, is the angle from north to the projection of the inertial velocity, V2000, on the reference plane, positive toward east γJ2000, flightpath angle, is the angle between the reference plane and VM2000, positive sense toward U

VJ2000, magnitude of VJ2000

CHARACTERISTICS: Inertial.

R J2000 ψ J2000

Plane Perpendicular to R J2000

Position VelocityZ

J2000

X J2000

Y J2000

R J2000

J2000

J2000

P

P

U

E

V J2000

N γ

J2000

3 − 4

FIGURE 3.0−3 MEAN OF 1950, CARTESIAN

NAME: Mean of 1950, Cartesian Coordinate System

ORIGIN: The center of the Earth.

ORIENTATION: The epoch is the beginning of Besselian year 1950 or Julian ephemeris date 2433282.423357.

The XM1950 − YM1950 plane is the mean Earth’s equator of epoch.

The XM1950 axis is directed toward the mean vernal equinox of epoch.

The ZM1950 axis is directed along the Earth’s mean rotational axis of epoch and is positive north.

The YM1950 axis completes a right−handed system.

CHARACTERISTICS: Inertial right−handed Cartesian system.

NOTES: This coordinate system is provided to support existing analyses framework.

Any new analyses tasks should utilize the J2000, Cartesian Coordinate System depicted in Figure 3.0−1.

This coordinate system is also referred to as B1950.

CENTER OF EARTH

MEAN EQUATOR

OF EPOCH

MEAN VERNAL

EQUINOX OF EPOCH

EARTH’S MEAN ROTATIONAL AXIS

OF EPOCH

Z M1950

X M1950

Y M1950

3 − 5

FIGURE 3.0−4 MEAN OF 1950, POLAR

NAME: Mean of 1950, Polar Coordinate System

ORIGIN: For position − the center of the Earth.

For velocity − the point of interest, P(XM1950, YM1950, ZM1950).

ORIENTATION AND DEFINITIONS:

For position − same as in mean of 1950, Cartesian.

For velocity −

Reference plane is perpendicular to radius vector RM1950 from center of Earth to point P of interest

Reference direction is northerly along the meridian containing P

Polar position coordinates of P are:

αM1950, right ascension, is the angle between projection of radius vector in the equatorial plane and the vernal equinox of epoch, positive toward east δM1950, declination, is the angle between the radius vector and the mean Earth’s equator of epoch, positive toward north

RM1950, magnitude of RM1950

Polar velocity coordinates of P are:

Let U, E, N denote up, east, and north directions; then:

ψM1950, azimuth, is the angle from north to the projection of VM1950 on the reference plane, positive toward east γM1950, flightpath angle, is the angle between the reference plane and VM1950; positive sense toward U

VM1950, magnitude of VM1950

CHARACTERISTICS: Inertial.

NOTE: This coordinate system is provided to support existing analyses framework.

Any new analyses tasks should utilize the J2000, Polar Coordinate System depicted in Figure 3.0−2.

Plane Perpendicular toR M1950

Position VelocityZ

M1950

X M1950

Y M1950

R M1950

M1950

M1950

P

P

U

E

V M1950

N γ

M1950 ψ

M1950

R M1950

3 − 6

FIGURE 3.0−5 TRUE OF DATE, CARTESIAN

NAME: True of Date (TOD), Cartesian Coordinate System

ORIGIN: The center of the Earth.

ORIENTATION: The epoch is the current time of interest.

The plane is the Earth’s true equator of epoch.

The axis is directed toward the true vernal equinox of epoch.

The axis is directed along the Earth’s true rotational axis of epoch and is positive north.

The axis completes a right−handed system.

CHARACTERISTICS: Quasi−inertial right−handed Cartesian.

CENTER OF EARTH

TRUE OF DATE

EQUATOR

TRUE EQUINOX OF

DATE

EARTH’S TRUE−OF−DATE

ROTATIONAL AXIS

Z

TR

X

TR

Y

TR

XTR�_�YTR

XTR

YTR

ZTR

3 − 7

FIGURE 3.0−6 TRUE OF DATE, POLAR

NAME: TOD, Polar Coordinate System

ORIGIN: For position − the center of the Earth.

For velocity − the point of interest, P (XTR, YTR, ZTR).

ORIENTATION: For position − same as in TOD, Cartesian.

For velocity −

Reference plane is perpendicular to radius vector RTR from center of Earth to point P of interest

Reference direction is northerly along the meridian containing P

Polar position coordinates of P are:

αTR, right ascension, is the angle between projection of radius vector in the equatorial plane and the true vernal equinox of epoch, measured positive toward the east δTR, declination, is the angle between the radius vector and the Earth’s true equatorial plane of epoch, positive toward the north

RTR is the magnitude of RTR

Polar velocity coordinates of P are:

Let U, E, N denote up, east, and north directions; then:

ψTR, azimuth, is the angle from north to the projection of the inertial velocity, VTR, on the reference plane, positive toward east γTR, flightpath angle, is the angle between the reference plane and VTR;

positive toward U

VTR, magnitude of VTR

CHARACTERISTICS: Quasi−inertial.

R

TR

Plane Perpendicular to RTR

Position VelocityZ

TR

X

TR

Y

TR

R

TR

TR

TR

P

P

U

E

V

TR

N

TR

TR

3 − 8

FIGURE 3.0−7 GREENWICH TRUE OF DATE, CARTESIAN

NAME: Greenwich TOD Coordinate System

ORIGIN: The center of the Earth.

ORIENTATION: The XGW − YGW plane is the Earth’s TOD equator.

The ZGW axis is directed along the Earth’s TOD rotational axis and is positive north.

The + XGW axis is directed toward the prime meridian.

The YGW axis completes a right−handed system.

CHARACTERISTICS: Rotating right−handed Cartesian. Velocity vectors expressed in this system are relative to a rotating reference frame fixed to the Earth.

Z

GW

X

GW

Y

GW

CENTER OF EARTH

TRUE OF DATE

EQUATOR

EARTH’S TRUE−OF−DATE

ROTATIONAL AXIS

PRIME (GREENWICH)

MERIDIAN

3 − 9

FIGURE 3.0−8 GREENWICH TRUE OF DATE, POLAR

NAME: Greenwich TOD, Polar Coordinate System

ORIGIN: For position − the center of the Earth.

For velocity − the point of interest.

ORIENTATION: For position − Same as the Greenwich TOD, Cartesian.

For velocity − Same as the TOD, Polar .

Polar position coordinates are:

R, radius, distance from center of the Earth λ, longitude, angular distance (positive east, negative west, limits +180 degrees) between the prime meridian (Greenwich) and the current or instantaneous meridian:

δ, “latitude” or strictly geocentric declination, angular distance (positive north, negative south, limits + 90 degrees) between the radius vector and its projection onto the equatorial plane.

Polar velocity coordinates are the same as the TOD polar velocity coordinates (fig. 3.0−6)

CHARACTERISTICS: Quasi−inertial.

NOTE: The Greenwich True Of Date (GTOD) Coordinate System is related to the TOD Coordinate Sys-tem by the Greenwich Sidereal Time (GST), the angle between the TOD vernal equinox and the Green-wich meridian. The GST is zero at the instant when the Greenwich meridian passes through the vernal equinox, and it increases at the rate ω = 15.041068...deg/hr. The longitude, λ, measured in the GTOD system and the right ascension, α, measured in the TOD system are related by λ = α − GST.

Z

GW

X���

Y

GW

R

X

GW

GST

R= XGW�

2+YGW�

2+ZGW�

2�

� � tan�1�YGW

XGW

� � sin�1�ZGW

R

3 − 10

FIGURE 3.0−9 GEODETIC

NAME: Geodetic Coordinate System

This system consists of a set of parameters rather than a coordinate system;

therefore, no origin is specified.

ORIENTATION: This system of parameters is based on an ellipsoidal model of the Earth.

For any point of interest, a line, known as the Geodetic Local Vertical, is defined as perpendicular to the ellipsoid from the point of interest.

h, geodetic altitude, is the distance from the point of interest to the reference ellipsoid, measured along the geodetic local vertical, and is positive for points outside the ellipsoid.

λ is the longitude measured in the plane of the Earth’s true equator from the prime (Greenwich) meridian to the local meridian, measured positive eastward.

φd is the geodetic latitude, measured in the plane of the local meridian from the Earth’s true equator to the geodetic local vertical, measured positive north from the equator.

CHARACTERISTICS: Rotating polar coordinate parameters. Usually only position vectors are expressed in this coordinate system. The reference ellipsoid model should be used with this system.

ELLIPSOID LOCAL MERIDIAN

(ALONG

LOCAL

VERTICAL)

(LOCAL

HORIZONTAL)

TRUE−OF−DATE

EQUATOR

PRIME (GREENWICH)

MERIDIAN

φd = geodetic latitude φc = geocentric latitude δ = geocentric declination

Z G

X G

Y G δ λ ω φc φd h

P

3 − 11

FIGURE 3.0−10 ORBITAL ELEMENTS

NAME: Orbital Element System

ORIGIN: The center of the Earth.

ORIENTATION AND DEFINITIONS:

The reference for computing osculating orbital elements is the J2000 Coordinate System.

a is the instantaneous semimajor axis of the orbit.

e is the instantaneous eccentricity of the orbit.

i, the inclination of the orbital plane, is the instantaneous angle between the mean inertial north polar axis and the orbital angular momentum vector.

Ω, the right ascension of the ascending node, is the angle measured eastward from the vernal equinox along the equator to that intersection with the orbit plane where the vehicle passes from south to north. In the case where inclination equals zero, the ascending node is defined to be the X−axis of the inertial reference system.

ω, the argument of perigee, is the angle measured in the orbit plane between the ascending node and perigee, positive in the direction of travel in the orbit. In the case where eccentricity equals zero, perigee is defined to be at the ascending node.

φ, the true anomaly, is the geocentric angular displacement of the vehicle measured from perigee in the orbit plane, and positive in the direction of travel in the orbit.

CHARACTERISTICS: Quasi−inertial.

NORTH POLAR

AXIS

VEHICLE

PERIGEE

φ ω

Ω

Earth

ASCENDING

NODE

ORBIT PLANE

APOGEE

MEAN VERNAL EQUINOX

OF 2000

VEHICLE’S ANGULAR

MOMENTUM VECTOR

i

CELESTIAL EQUATOR

2a

3 − 12

FIGURE 3.0−11 LOCAL ORBIT AL: LOCAL VERTICAL LOCAL HORIZONTAL

NAME: Local Orbital (LVLH) Coordinate System

ORIGIN: Vehicle center of mass.

ORIENTATION: The XLO − ZLO plane is the instantaneous orbit plane at the time of interest.

The ZLO axis lies along the geocentric radius vector to the vehicle and is positive toward the center of the Earth.

The YLO axis is normal to the orbit plane, opposite of the orbit momentum vector.

The XLO axis completes the right−handed orthogonal system and positive in the direction of the vehicle motion.

CHARACTERISTICS: Rotating right−handed Cartesian Coordinate System.

VEHICLE ORBITAL PLANE

GEOCENTRIC RADIUS

VECTOR OF VEHICLE

DIRECTION OF

MOTION

Z

LO

X

LO

Y

LO

3 − 13

FIGURE 3.0−12 CONVENTIONAL TERRESTRIAL REFERENCE SYSTEM

NAME: Conventional Terrestrial Reference System Coordinate System

TYPE: Rotating Right−Handed Cartesian

DESCRIPTION: The Conventional Terrestrial Reference System (CTRS) is an updated Earth−fixed system that incorporates polar motion. The CTRS assumes a spherical Earth and does not take any flattening factors into account, therefore, any definitions of altitude should be derived from the Geodetic Coordinate System (Figure 3.0−9). The CTRS is related to the GTOD (Figure 3.0−8) by the transformation:

where xp and yp are the angular coordinates (very small angles measured in tenths of an arc−second) of the Celestial Ephemeris Pole (CEP) with respect to the Conventional International Origin (CIO) expressed in CTRS.

This data is published weekly by the U.S. Naval Observatory in the International Earth Rotation Service Bulletin−A. The Global Positioning Satellite (GPS) ephemerides are maintained in the CTRS.

ORIGIN: The origin is located at the Earth’s Center.

ORIENTATION: The pole of this system is known as the CIO.

ZCTRS The Z−axis is coincident with the Earth’s principal rotational axis.

The positive Z−axis is directed toward the CIO.

XCTRS The positive X−axis passes through the intersection of the CTRS reference equatorial plane and the CTRS reference meridian.

YCTRS The positive Y−axis completes the rotating right−handed Cartesian system.

CTRSSUBSCRIPT:

CENTER OF EARTH

CTRS REFERENCE

EQUATORIAL PLANECTRS REFERENCE

MERIDIAN

EARTH’S PRINCIPAL

ROTATIONAL AXIS

CIO POLE

Z

CTRS

X

CTRS

Y

CTRS

GTOD

z y x

− 1 ypxp

−yp xp

CTRS

z y x

3 − 14

FIGURE 3.0−13 GROUND SITE AZIMUTH−ELEVATION MOUNT

NAME: Ground Site Azimuth−Elevation Mount Coordinate System

ORIGIN: The intersection of the site axes.

ORIENTATION AND DEFINITIONS:

The site tangent plane contains the site and is perpendicular to the reference ellipsoid normal which passes through the site.

R is the slant range to the vehicle.

A is the azimuth angle measured clockwise from true north to the projection of the slant−range vector into the site tangent plane.

E is the elevation angle measured positive above the site tangent plane to the slant−range vector.

CHARACTERISTICS: Rotating, Earth−referenced.

EARTH’S TRUE

ROTATIONAL AXIS

N

TRUE EQUATOR

REFERENCE

ELLIPSOID NORMAL

SITE TANGENT

PLANE

SITE

R

A

N

E

3 − 15

FIGURE 3.0−14 XPOP QUASI−STATIC INERTIAL REFERENCE FRAME

NAME: XPOP Quasi−Static Inertial Coordinate System

ORIGIN: Vehicle Center of Mass

ORIENTATION AND DEFINITIONS:

The XXPOP − ZXPOP plane is aligned with the orbit angular momentum vector and sun vector.

The XXPOP axis is aligned with the orbit angular momentum vector.

The ZXPOP axis is aligned with the orbital noon vector, positive in the negative orbital noon direction.

The YXPOP axis lies in the vehicle orbit plane and completes the right−handed coordinate system.

CHARACTERISTICS: Quasi−inertial right−handed Cartesian Coordinate System.

S h

P

NX

Y

Z

XPOP

XPOP

XPOP

Orbital Noon

Equatorial Plane

Orbit Plane

= Unit Orbital Noon Vector = Unit Angular Momentum Vector = Unit Sun Vector (at orbit noon) = Unit Perpendicular Vector To S & h Plane, (S X h) h

P S

N

X

XPOP

Y

XPOP

Z

XPOP

h

Sh

X=

= ( )S hX hX

NN (( ))

SS hh

XX== hh

XX

3 − 16

FIGURE 3.0−15 RUSSIA ORBITAL COORDINATES SYSTEM

NAME: Russia Orbital System of Coordinates

DESCRIPTION: This coordinate frame is the Russian counterpart to LVLH. The Russian name is , or [ ].

ORIGIN: Vehicle center of mass.

ORIENTATION: The XOSC − YOSC plane is the instantaneous orbit plane at the time of interest.

The YOSC axis lies along the geocentric radius vector to the vehicle and is positive away from the center of the Earth.

The ZOSC axis is normal to the orbit plane, positive in the direction of the negative angular momentum vector.

The XOSC axis completes the set. It lies in the vehicle orbital plane, perpendicular to the YOSC and ZOSC axes, and positive in the direction of vehicle motion.

CHARACTERISTICS: Rotating right−handed Cartesian Coordinate System.

SUBSCRIPT: OSC or [ ]

VEHICLE ORBITAL PLANE

GEOCENTRIC RADIUS

VECTOR OF VEHICLE

DIRECTION OF

MOTION

Z

OSC

X

OSC

Y

OSC

3 − 17

= Unit Orbital Noon = Unit Angular Momentum Vector = Unit Sun Vector (at orbital noon) = Unit Perpendicular Vector to S & h Plane, (S X h)

XRSO

YRSO

ZRSO

N h S P h

XS h

N h X XS h( ) h X XS h( )

FIGURE 3.0−16 RSO: RUSSIAN SUN EQUILIBRIUM A TTITUDE COORDINATES

SYSTEM

NAME: Russian Sun Equilibrium Attitude Coordinate System

DESCRIPTION: This coordinate frame is the Russian counterpart to XPOP. The Russian name is , or [ ].

ORIGIN: Vehicle Center of Mass

ORIENTATION AND DEFINITIONS:

The XRSO − YRSO plane is aligned with the orbit angular momentum vector and sun vector.

The XRSO axis is aligned with the orbit angular momentum vector, positive along the negative angular momentum vector.

The YRSO axis is aligned with the orbital noon vector, i.e., the projection of the sun vector onto the orbital plane.

The ZRSO axis lies in the vehicle orbit plane and completes the right−handed coordinate system.

CHARACTERISTICS: Quasi−inertial right−handed Cartesian Coordinate System.

SUBSCRIPT: RSO or [PCO]

S h

P

N

X

Y

Z

RSO

RSO

RSO

Orbital Noon

Equatorial Plane

Orbit Plane

4 − 1

4.0 CONFIGURATION DEPENDENT REFERENCE FRAMES

The coordinate systems outlined in this chapter are dependent on the Space Station configuration as well as visiting vehicle configurations. These coordinate systems differ in origin location and orientation, and the user is free to use whichever system suits the analysis being performed. All dimensions are in inches unless otherwise specified. Where inches and millimeters are both specified, the authority for the dimension will be the inches entry.

4 − 2

FIGURE 4.0−1 SPACE STATION ANALYSIS COORDINATE SYSTEM

NAME: Space Station Analysis Coordinate System

TYPE: Right−Handed Cartesian, Body−Fixed

DESCRIPTION: This coordinate system is derived using the LVLH flight orientation. When defining the relationship between this coordinate system and another, the Euler angle sequence to be used is a yaw, pitch, roll sequence around the ZA, YA, and XA axes, respectively.

ORIGIN: The origin is located at the geometric center of Integrated Truss Segment (ITS) S0 and is coincident with the S0 Coordinate frame. See figure 5.0−12, S0 coordinate frame for a more detailed description of the S0 geometric center.

ORIENTATION: XA The X−axis is parallel to the longitudinal axis of the module cluster. The positive X−axis is in the forward direction.

YA The Y axis is identical with the S0 Y−axis. The nominal alpha joint rotational axis is parallel with YA. The positive Y−axis is in the starboard direction.

ZA The positive Z−axis is in the direction of nadir and completes the right−handed Cartesian system.

L, M, N: Moments about XA, YA, and ZA axes, respectively.

p, q, r: Body rates about XA, YA, and ZA axes, respectively.

Angular body acceleration about XA, YA, and ZA axes, respectively.

SUBSCRIPT: A

p, q, r:

4 − 3

FIGURE 4.0−2 SPACE STATION REFERENCE COORDINATE SYSTEM

NAME: Space Station Reference Coordinate System

TYPE: Right−Handed Cartesian, Body−Fixed

DESCRIPTION: This coordinate system is derived using the LVLH flight orientation.

ORIGIN: The datum point is located at the origin of the Space Station Analysis Coordinate System frame. The origin of the Space Station Reference Coordinate System is located such that the datum point is located at XR=100, YR=0, and ZR=100 meters.

ORIENTATION: XR The X−axis is parallel to the XA. The positive X−axis is in the forward direction.

YR The Y−axis is parallel with the nominal alpha joint rotational axis which is coincident to YA. The positive Y−axis is in the starboard direction.

ZR The positive Z−axis is parallel to ZA and is in the direction of nadir and completes the rotating right−handed Cartesian system.

L, M, N: Moments about XR, YR, and ZR axes, respectively.

p, q, r: Body rates about XR, YR, and ZR axes, respectively.

Angular body acceleration about XR, YR, and ZR axes, respectively.

SUBSCRIPT: R

4 − 4

FIGURE 4.0−3 SPACE STATION BODY COORDINATE SYSTEM

NAME: Space Station Body Coordinate System

TYPE: Right−handed Cartesian system, Body−Fixed

DESCRIPTION: When defining the relationship between this coordinate system and another, the Euler angle sequence to be used is a yaw, pitch, roll sequence around the ZSB, YSB, and XSB axes, respectively.

ORIGIN: The origin is located at the Space Station center of mass.

ORIENTATION: The XSB axis is parallel to the XA axis. Positive XSB is in the forward flight direction.

The YSB axis is parallel to the YA. Positive YSB is toward starboard.

The ZSB axis is parallel with the ZA. Positive ZSB is approximately toward nadir and completes the right−handed system XSB, YSB, ZSB.

L, M, N: Moments about XSB, YSB, and ZSB axes, respectively.

p, q, r: Body rates about XSB, YSB, and ZSB axes, respectively.

Angular body acceleration about XSB, YSB, and ZSB axes, respectively.

SBSUBSCRIPT:

4 − 5

FIGURE 4.0−4 RSA ANALYSIS COORDINATE SYSTEM

NAME: RSA Analysis Coordinate System

TYPE: Right−Handed Cartesian, Body−Fixed

ORIGIN: The origin is located at the center of the aft side of the aft Service Module Bulkhead, aligned with the SM coordinate frame.

ORIENTATION: The XRSA axis is parallel to the XA axis. Positive XRSA is opposite XA.

The ZRSA axis is parallel to the YA. Positive ZRSA is toward port.

The YRSA axis is parallel with the ZA. Positive YRSA is opposite of ZA.

L, M, N: Moments about XRSA, YRSA, and ZRSA axes, respectively.

p, q, r: Body rates about XRSA, YRSA, and ZRSA axes, respectively.

Angular body acceleration about XRSA, YRSA, and ZRSA axes, respectively.

SUBSCRIPT: RSA

4 − 6

FIGURE 4.0−5 SPACE STATION GPS ANTENNA COORDINATE SYSTEM

NAME: GPS Antenna Coordinate System

TYPE: Right−Handed Cartesian, Body−Fixed, Hardware Specific.

DESCRIPTION: The GPS Antenna Coordinate System is the reference frame for attitude measurements output by the onboard GPS Receiver/Processor, and is the frame in which attitude knowledge requirements are expressed.

ORIGIN: The origin is located at the center of the upper left bolthole for GPS antenna #1, in the plane of the outer surface of the mounting plate.

ORIENTATION: XGPS Completes the set XGPS , YGPS , ZGPS

YGPS Along the line from the upper left bolthole for GPS antenna #2 to the upper left bolthole of GPS antenna #1

ZGPS Perpendicular to the plane formed by the upper left boltholes for GPS antennas #1, #2, and #4, and positive in the general direction of the S0 Z axis

GPSSUBSCRIPT:

Let: Vi = yi = coordinates of upper left mounting hole[ ]x i zi S0for antenna i in XYZ

4 − 7

FIGURE 4.0−6 DELETED

DELETED

4 − 8

FIGURE 4.0−7 DELETED

4 − 9

FIGURE 4.0−8 ALPHA, BET A, AND GAMMA ANGLE DEFINITIONS

NAME:

DESCRIPTION:

ORIENTATION:

SS Body Axes offset from CM (Axis alignment congruent with Space Station Analysis Coordinate System whose origin is the center of the S0 truss segment)

Alpha, Beta, and Gamma Angle definitions

The generic analysis angles α and γ are defined as positive right handed rotations about the y and x axes respectively. The analysis angle β is defined as a positive right handed rotation with its axis of rotation being perpendicular to that of α and rotated by α . The β axis is aligned with the x axis when α = 0°.

In the figure above, α = 0°, β = 0° (active side of the arrays facing in −z direction), and γ = +90°, because the radiators have been rotated 90° about the x axis.

In addition to the generic analysis angles, each joint has its own local reference angle used to command its joint motor. These 12 specific joint angles, labeled in the figure above, are right handed rotations about their individual rotation axes. The joint angles are always identified by their unique subscripts to differentiate them from the generic analysis angles.

The α joint angles, αstbd and αport, are positive right handed rotations about the rotation axes pointed outboard from each joint. The 0° position is as shown in the figure, when the normal to the arrays as oriented point in the −z axis direction. The individual joint angle rotation capabilities are 0° to 360° (continuous rotation).

For each β joint angle, a positive β rotation is right handed looking outward along the array from the motor. The 0° position is defined as when the normal to the array face is pointed inboard, parallel to the y axis. Thus, the joint specific target angles represented in the figure are:

4 − 10

FIGURE 4.0−8 ALPHA, BET A, AND GAMMA ANGLE DEFINITIONS − Continued

[βS4UPR3A, βS4LWR1A, βS6UPR1B, βS6LWR3B] = [−90°, 90°, −90°, 90°], [βP4UPR4A, βP4LWR2A, βP6UPR2B, βP6LWR4B] = [−90°, 90°, −90°, 90°].

The individual joint angle rotation capabilities are 0° to 360° (continuous rotation).

The γ joint angles, γstbd and γport, are positive right handed rotations about the rotation axes pointed in the +x axis direction. The 0° position is defined as when the radiator beams lie in the x−y plane. The individual joint angle rotation capabilities are 0° to ±115° (hardware limit), although the radiator commands are restricted to ±105° (software limit).

TRANSFORMATIONS: Therefore, the following transformations define the relationship between the generic analysis angles and the individual joint angles:

a a astbd port b b b b b b b b b b b b b b b b

S4UPR A

S4LWR A

S6UPR B

S6LWR

P UPR A

P LWR A

P UPR B

P LWR B

3B

4 4 4 2 6 2 6 4 g g gstbd port

4 − 11

FIGURE 4.0−9 SOYUZ TRANSPORT MANNED VEHICLE COORDINA TE SYSTEM

NAME: Soyuz Body Axis Coordinate System

TYPE: Right−Handed Cartesian, Body−Fixed

ORIGIN: The origin is located at the center of the aft bulkhead

ORIENTATION: XTMV The X−axis is parallel to the longitudinal axis of the module. The positive X−axis is away from the docking cone.

YTMV The positive Y−axis is perpendicular to XTMV and its projection passes through the nominal center of the docking antenna. The positive Y−axis is in the direction of the docking antenna.

ZTMV The Z−axis completes the right−handed Cartesian system.

The Euler sequence that is associated with this system is a yaw, pitch, roll, sequence, where ψ = yaw, θ = pitch, and φ = roll or blank. This attitude sequence is yaw, pitch, and roll around the ZTMV, YTMV, and XTMV axes, respectively.

L, M, N: Moments about XTMV, YTMV, and ZTMV axes, respectively.

p, q, r: Body rates about XTMV, YTMV, and ZTMV axes, respectively.

Angular body acceleration about XTMV, YTMV, and ZTMV axes, respectively.

SUBSCRIPT: TMV

p, q, r:

X M VT

ZT M V

YT M V

YT M V

ZT M VXT M V

I

II

III

IV

ZT M V

X M VT

YT M V

198.00 in 5029 mm

274.80 in 6980 mm

4 − 12

FIGURE 4.0−10 PROGRESS TRANSPORT CARGO VEHICLE COORDINA TE SYSTEM

NAME: Progress Body Axis Coordinate System

TYPE: Right−Handed Cartesian, Body−Fixed

ORIGIN: The origin is located at the center of the aft bulkhead

ORIENTATION: XTCV The X−axis is parallel to the longitudinal axis of the module. The positive X−axis is away from the docking cone.

YTCV The positive Y−axis is perpendicular to XTCV and its projection passes through the nominal center of the docking antenna. The positive Y−axis is in the direction of the docking antenna.

ZTCV The Z−axis completes the right−handed Cartesian system.

The Euler sequence that is associated with this system is a yaw, pitch, roll, sequence, where ψ = yaw, θ = pitch, and φ = roll or blank. This attitude sequence is yaw, pitch, and roll around the ZTCV, YTCV, and XTCV axes, respectively.

L, M, N: Moments about XTCV, YTCV, and ZTCV axes, respectively.

p, q, r: Body rates about XTCV, YTCV, and ZTCV axes, respectively.

Angular body acceleration about XTCV, YTCV, and ZTCV axes, respectively.

SUBSCRIPT: TCV

p, q, r:

XT C V

YT C V

ZT CV

XT C V

ZT CV

ZT CV

YT C V

YT C V

XT C V

7228 mm

I

II

III

IV

284.60 in

207.90 in 5280 mm

4 − 13

FIGURE 4.0−11 DELETED

4 − 14

FIGURE 4.0−12 DELETED

4 − 15

FIGURE 4.0−13 H−II TRANSFER VEHICLE COORDINATE SYSTEM, MECHANICAL

DESIGN REFERENCE

NAME: H−II Transfer Vehicle (HTV) Coordinate System, Mechanical Design Reference

TYPE: Right−Handed Cartesian, Body−Fixed

ORIGIN: XHTVS=0: HTV/Launch Vehicle Separation Plane

YHTVS=0: Base Holes on Separation Plane

ZHTVS=0: Center of Base Holes

ORIENTATION: XHTVS The X–axis is parallel to the longitudinal axis of the module cluster.

The positive X–axis is toward the Common Berthing Mechanism (CBM) interface.

ZHTVS The Z–axis is perpendicular to XHTVS and goes through the two Base Holes on the separation plane. The negative Z−axis is in the direction of the Rendezvous Sensor head side as shown.

YHTVS The Y–axis completes the right–handed orthogonal system.

SUBSCRIPT: HTVS

YHTV S

ZHT VS

XH TV S

H TV − H−IIA S eparation P la ne

B ase Ho le

Ren dezvo us S enso r Head

4 − 16

FIGURE 4.0−14 H−II TRANSFER VEHICLE COORDINATE SYSTEM, ATTITUDE

REFERENCE

NAME: H−II Transfer Vehicle Coordinate System, Attitude Reference

TYPE: Right–Handed Cartesian, Body–Fixed

ORIGIN: The HTV Center of Mass with respect to the HTV Mechanical Design Reference Coordinate System

ORIENTATION: XHTVB The X–axis is parallel to the longitudinal axis of the module cluster. The positive X–axis is toward the CBM interface.

ZHTVB The Z–axis is perpendicular to XHTVB and parallel to the centerline of field of view of Rendezvous Sensor. The negative Z−axis is in the direction of the Rendezvous Sensor head side as shown.

YHTVB The Y–axis completes the right–handed orthogonal system.

The Euler sequence that is associated with this system is a yaw, pitch, roll, sequence, where ψ = yaw, θ = pitch, and φ = roll or bank. This attitude sequence is yaw, pitch, and roll around the ZHTVB, YHTVB, and XHTVB axes, respectively.

SUBSCRIPT: HTVB

YH TV B

ZHT V B

XH TV B

Ren dezvo us S enso r Head

4 − 17

FIGURE 4.0−15 ENHANCED INTEGRATED BOOM ASSEMBLY COORDINATE SYSTEM

NAME: Enhanced Integrated Boom Assembly (EIBA) Coordinate System

TYPE: Right�Handed Cartesian, Body�Fixed

ORIGIN: The origin is located at the origin of the Power and Data Grapple Fixture

(PDGF).

ORIENTATION: XEIBA The X�axis is coincident to the center of the PDGF grapple fixture pin and positive away from the EIBA.

ZEIBA The Z−axis is coincident to the PDGF Z−axis and is positive toward the PDGF alignment pin.

YEIBA The Y�axis completes the right−handed Cartesian coordinate system.

SUBSCRIPT: EIBA

5 − 1

5.0 ARTICULATING AND TRANSVERSE BOOM REFERENCE FRAMES

The coordinate systems outlined in this chapter represent all the articular subelements and transverse boom elements. In addition, the Starboard and Port Solar Power Module elements are defined using the individual subelement definitions as its basis. Four views including isometric view are typically shown. All dimensions are in inches unless otherwise specified. Where inches and millimeters are both specified, the authority for the dimension will be the inches entry.

5 − 2

FIGURE 5.0−1 STARBOARD SOLAR POWER MODULE COORDINA TE SYSTEM

NAME: Starboard Solar Power Module

TYPE: Right−Handed Cartesian, Body−Fixed

ORIGIN: The origin is located along the YSA –axis at a point 100 inches ISS inboard of the S3/S4 interface plane. The S3/S4 interface plane is defined as the S4 ISS port face of the ISS port S4 Alpha joint bulkhead and coincides with the S4 coordinate system.

ORIENTATION: YSA The Y−axis is coincident with the nominal alpha joint axis of rotation, which is defined as perpendicular to the S3/S4 interface plane and located at the center of the Alpha Joint Bulkhead. The positive Y−axis is toward ISS starboard.

XSA The X−axis is rotated normal to the line formed through the centers of the bases of the two trunnion pins. The positive X−axis is toward ISS forward.

Z SA The Z−axis completes the right−handed Cartesian system.

SUBSCRIPT: SA

100.0 in 2540 mm

5 − 3

FIGURE 5.0−2 INTEGRATED TRUSS SEGMENT S4 COORDINATE SYSTEM

NAME: Integrated Truss Segment S4 Coordinate System

TYPE: Right−Handed Cartesian, Body−Fixed

ORIGIN: The origin is located along the YS4−axis at a point 100 inches inboard of the S4/S3 interface plane. The S4/S3 interface plane is defined as the outboard face of the outboard Alpha Joint Bulkhead. NOTE: For S3/S4 element the S3 coordinate frame will be used.

ORIENTATION: XS4 The X−axis is rotated normal to the line formed through the centers of the bases of the two trunnion pins. The positive X−axis is toward ISS forward.

YS4 The Y−axis is coincident with the nominal alpha joint axis of rotation, which is defined as perpendicular to the S4/S3 interface plane and located at the center of the Alpha Joint Bulkhead.