1、BSI Standards PublicationBS EN 16603-10-09:2014Space engineering Referencecoordinate systemBS EN 16603-10-09:2014 BRITISH STANDARDNational forewordThis British Standard is the UK implementation of EN 16603-10-09:2014.The UK participation in its preparation was entrusted to Technical Committee ACE/68
2、, Space systems and operations.A list of organizations represented on this committee can be obtained on request to its secretary.This publication does not purport to include all the necessary provisions of a contract. Users are responsible for its correct application. The British Standards Instituti
3、on 2014.Published by BSI Standards Limited 2014ISBN 978 0 580 83407 3ICS 49.140Compliance with a British Standard cannot confer immunity from legal obligations.This British Standard was published under the authority of the Standards Policy and Strategy Committee on 31 July 2014.Amendments/corrigenda
4、 issued since publicationDate T e x t a f f e c t e dBS EN 16603-10-09:2014EUROPEAN STANDARD NORME EUROPENNE EUROPISCHE NORM EN 16603-10-09 July 2014 ICS 49.140 English version Space engineering - Reference coordinate system Ingnirie spatiale - Systme de coordonnes de rfrence Raumfahrttechnik - Bezu
5、gskoordinatensystem This European Standard was approved by CEN on 28 December 2013. CEN and CENELEC members are bound to comply with the CEN/CENELEC Internal Regulations which stipulate the conditions for giving this European Standard the status of a national standard without any alteration. Up-to-d
6、ate lists and bibliographical references concerning such national standards may be obtained on application to the CEN-CENELEC Management Centre or to any CEN and CENELEC member. This European Standard exists in three official versions (English, French, German). A version in any other language made b
7、y translation under the responsibility of a CEN and CENELEC member into its own language and notified to the CEN-CENELEC Management Centre has the same status as the official versions. CEN and CENELEC members are the national standards bodies and national electrotechnical committees of Austria, Belg
8、ium, Bulgaria, Croatia, Cyprus, Czech Republic, Denmark, Estonia, Finland, Former Yugoslav Republic of Macedonia, France, Germany, Greece, Hungary, Iceland, Ireland, Italy, Latvia, Lithuania, Luxembourg, Malta, Netherlands, Norway, Poland, Portugal, Romania, Slovakia, Slovenia, Spain, Sweden, Switze
9、rland, Turkey and United Kingdom. CEN-CENELEC Management Centre: Avenue Marnix 17, B-1000 Brussels 2014 CEN/CENELEC All rights of exploitation in any form and by any means reserved worldwide for CEN national Members and for CENELEC Members. Ref. No. EN 16603-10-09:2014 EBS EN 16603-10-09:2014EN 1660
10、3-10-09:2014 (E) 2 Table of contents Foreword 5 Introduction 6 1 Scope . 7 2 Normative references . 8 3 Terms, definitions and abbreviated terms 9 3.1 Terms from other standards 9 3.2 Terms specific to the present standard . 9 3.3 Abbreviated terms. 10 4 Objectives, process and principles 12 4.1 Gen
11、eral . 12 4.2 Concepts and processes 12 4.2.1 Process . 12 4.2.2 Documentation 12 4.2.3 Coordinate system chain analysis . 12 4.2.4 Notation 13 4.3 Technical issues . 13 4.3.1 Frame and coordinate system . 13 4.3.2 Transformation between coordinate systems 13 4.3.3 IERS definition of a transformatio
12、n 14 4.3.4 Time 14 5 Requirements 15 5.1 Overview 15 5.2 Process requirements . 15 5.2.1 Responsibility 15 5.2.2 Documentation 15 5.2.3 Analysis 16 5.3 General requirements . 16 5.3.1 Applicability . 16 5.3.2 Notation 17 BS EN 16603-10-09:2014EN 16603-10-09:2014 (E) 3 5.3.3 Figures 17 5.4 Technical
13、requirements 18 5.4.1 Frame . 18 5.4.2 Coordinate system 18 5.4.3 Unit . 18 5.4.4 Time 18 5.4.5 Mechanical frames 19 5.4.6 Planet coordinates 19 5.4.7 Coordinate system parameterisation . 19 5.4.8 Transformation decomposition and parameterisation 19 5.4.9 Transformation definition . 20 Annex A (norm
14、ative) Coordinate Systems Document (CSD) - DRD . 22 A.1 DRD identification . 22 A.1.1 Requirement identification and source document 22 A.1.2 Purpose and objective . 22 A.2 Expected response . 22 A.2.1 Scope and content 22 A.2.2 Special remarks 24 Annex B (informative) Transformation tree analysis .
15、 25 B.1 General . 25 B.2 Transformation examples . 25 B.3 Tree analysis 25 B.4 Franck diagrams . 25 Annex C (informative) International standards authorities . 32 C.1 Standards . 32 C.2 Time . 32 C.2.1 United States Naval Observatory (USNO) . 32 C.2.2 Bureau International des Poids et Mesures (BIPM)
16、 . 32 C.3 Ephemerides 32 C.3.1 Institut de Mcanique Cleste et de Calcul des Ephmrides (IMCCE) 32 C.3.2 Jet Propulsion Laboratory (JPL) ephemerides . 33 C.4 Reference systems . 33 C.4.1 International Earth Rotation and Reference Systems Service (IERS) 33 C.4.2 International Astronomical Union (IAU) .
17、 33 C.4.3 United States naval observatory (USNO) 33 C.4.4 National Imagery and Mapping Agency (NIMA) . 34 BS EN 16603-10-09:2014EN 16603-10-09:2014 (E) 4 C.5 Consultative Committee for Space Data Systems (CCSDS) . 34 C.5.1 Navigation . 34 C.5.2 Orbit 34 C.5.3 Attitude 34 C.6 IAU/IAG Working Group on
18、 Cartographic Coordinates and Rotational Elements (WGCCRE) . 35 References . 36 Bibliography . 37 Figures Figure B-1 : General tree structure illustrating a product tree . 28 Figure B-2 : Transformation chain decomposition for coordinate systems 29 Figure B-3 : Example of Franck diagram for a spacec
19、raft . 30 Figure B-4 : Example of Franck diagram for a star tracker 31 Tables Table B-1 : Example of mechanical body frame . 26 Table B-2 : Example of orbital coordinate system . 27 BS EN 16603-10-09:2014EN 16603-10-09:2014 (E) 5 Foreword This document (EN 16603-10-09:2014) has been prepared by Tech
20、nical Committee CEN/CLC/TC 5 “Space”, the secretariat of which is held by DIN. This standard (EN 16603-10-09:2014) originates from ECSS-E-ST-10-09C. This European Standard shall be given the status of a national standard, either by publication of an identical text or by endorsement, at the latest by
21、 January 2015, and conflicting national standards shall be withdrawn at the latest by January 2015. Attention is drawn to the possibility that some of the elements of this document may be the subject of patent rights. CEN and/or CENELEC shall not be held responsible for identifying any or all such p
22、atent rights. This document has been developed to cover specifically space systems and has therefore precedence over any EN covering the same scope but with a wider domain of applicability (e.g. : aerospace). According to the CEN-CENELEC Internal Regulations, the national standards organizations of
23、the following countries are bound to implement this European Standard: Austria, Belgium, Bulgaria, Croatia, Cyprus, Czech Republic, Denmark, Estonia, Finland, Former Yugoslav Republic of Macedonia, France, Germany, Greece, Hungary, Iceland, Ireland, Italy, Latvia, Lithuania, Luxembourg, Malta, Nethe
24、rlands, Norway, Poland, Portugal, Romania, Slovakia, Slovenia, Spain, Sweden, Switzerland, Turkey and the United Kingdom.” BS EN 16603-10-09:2014EN 16603-10-09:2014 (E) 6 Introduction Clear definition of reference directions, coordinate systems and their inter-relationships is part of the System Eng
25、ineering process. Problems caused by inadequate early definition, often pass unnoticed during the exchange of technical information. This Standard addresses this by separating the technical aspects from the issues connected with process, maintenance and transfer of such information. Clause 4 provide
26、s some explanation and justification, applicable to all types of space systems, missions and phases. Clause 5 contains the requirements and recommendations. Helpful and informative material is provided in the Annexes. BS EN 16603-10-09:2014EN 16603-10-09:2014 (E) 7 1 Scope The objective of the Coord
27、inate Systems Standard is to define the requirements related to the various coordinate systems, as well as their related mutual inter-relationships and transformations, which are used for mission definition, engineering, verification, operations and output data processing of a space system and its e
28、lements. This Standard aims at providing a practical, space-focused implementation of Coordinate Systems, developing a set of definitions and requirements. These constitute a common reference or “checklist” of maximum utility for organising and conducting the system engineering activities of a space
29、 system project or for participating as customer or supplier at any level of system decomposition. This standard may be tailored for the specific characteristics and constraints of a space project in conformance with ECSS-S-ST-00. BS EN 16603-10-09:2014EN 16603-10-09:2014 (E) 8 2 Normative reference
30、s The following normative documents contain provisions which, through reference in this text, constitute provisions of this ECSS Standard. For dated references, subsequent amendments to, or revisions of any of these publications, do not apply. However, parties to agreements based on this ECSS Standa
31、rd are encouraged to investigate the possibility of applying the most recent editions of the normative documents indicated below. For undated references the latest edition of the publication referred to applies. EN reference Reference in text Title EN 16601-00-01 ECSS-S-ST-00-01 ECSS system Glossary
32、 of terms EN 16601-10 ECSS-M-ST-10 Space project management Project planning and implementation BS EN 16603-10-09:2014EN 16603-10-09:2014 (E) 9 3 Terms, definitions and abbreviated terms 3.1 Terms from other standards For the purpose of this Standard, the terms and definitions from ECSS-S-ST-00-01 a
33、pply. NOTE 1 Some terms are taken from other documents, referenced in square brackets in the References. NOTE 2 There is no agreed convention for usage of combinations of the words “reference, coordinate, frame and system”. These terms are often used interchangeably in practice. In 1989, Wilkins 1 m
34、ade a proposal. This Standard adopts a simpler terminology, which is more in line with everyday practice. 3.2 Terms specific to the present standard 3.2.1 coordinate system method of specifying the position of a point or a direction with respect to a specified frame NOTE E.g. Cartesian or rectangula
35、r coordinates, spherical coordinates and geodetic coordinates. 3.2.2 frame triad of axes, together with an origin 3.2.3 inertial frame non-rotating frame NOTE 1 Inertial reference directions are fixed at an epoch. NOTE 2 The centre of the Earth can be considered as non-accelerating for selecting the
36、 origin, in some applications. 3.2.4 J2000.0 astronomical standard epoch 2000 January 1.5 (TT) NOTE equivalent to JD2451545.0 (TT). BS EN 16603-10-09:2014EN 16603-10-09:2014 (E) 10 3.3 Abbreviated terms For the purpose of this Standard, the abbreviated terms from ECSS-S-ST-00-01 and the following ap
37、ply: Abbreviation Meaning AIT assembly integration and test AIV assembly integration and verification BCRS barycentric celestial reference system BIPM Bureau International des Poids et Mesures international bureau of weights and measures CAD computer aided design CCSDS Consultative Committee for Spa
38、ce Data Systems CoM centre of mass CSD coordinate systems document DoF degree of freedom DRD document requirements definition GCRS geocentric celestial reference system IAG International Association of Geodesy IAU International Astronomical Union ICD interface control document ICRF international cel
39、estial reference frame ICRS international celestial reference system IERS international Earth rotation and reference service IMCCE Institut de Mcanique Cleste et de Calcul des Ephmrides ISO International Organization for Standardization ITRF international terrestrial reference frame ITRS internation
40、al terrestrial reference system IUGG International Union of Geodesy and Geophysics J2000.0 epoch 2000 January 1.5 (TT) JPL DExxx Jet Propulsion Laboratory development ephemeris, number xxx L/V launch vehicle MICD mechanical interface control document RCS reaction control system SEP system engineerin
41、g plan SI systme international STR star tracker TAI temps atomique international international atomic time ToD true of date BS EN 16603-10-09:2014EN 16603-10-09:2014 (E) 11 TT terrestrial time UTC coordinated universal time -temps universel coordonn WGCCRE Working Group on Cartographic Coordinates a
42、nd Rotational Elements w.r.t. with respect to BS EN 16603-10-09:2014EN 16603-10-09:2014 (E) 12 4 Objectives, process and principles 4.1 General This Clause provides the background to the requirements and recommendations stated in Clause 5, from the conceptual, process and technical points of view. 4
43、.2 Concepts and processes 4.2.1 Process The coordinate systems used within a project are identified early in the lifecycle of a project. These coordinate systems are then related via a chain of transformations to allow the transformation of coordinates, directions and other geometric parameters into
44、 any coordinate system used within the project at any time in the project life. 4.2.2 Documentation Besides the ICDs, CAD drawings and SRD, a specific document for all coordinate systems and their inter-relationships, throughout the product tree and the project life, are created, maintained and conf
45、igured. The Coordinate System Document (CSD) takes shape before the end of phase-A. 4.2.3 Coordinate system chain analysis A chain of transformations is constructed using chain elements or links. A link is composed of two coordinate systems together with the transformation between them. The product
46、tree can be mapped into a set of connected chains. For any analysis, the appropriate connected chain is used, even if other paths within the tree are later found to be useful for satellite integration, operations or processing. For subsystem or unit analysis, any link may be decomposed into a sub-ch
47、ain containing intermediate coordinate systems. The relationship between two coordinate systems can involve kinematics, dynamics, measurement or constraints. See Annex B for some examples. BS EN 16603-10-09:2014EN 16603-10-09:2014 (E) 13 The main mission chain typically includes inertial, rotating p
48、lanet-centred orbital, spacecraft mechanical, instrument and product (i.e. post-processing related) coordinate systems.” 4.2.4 Notation Experts working together within a project need to have a common understanding of the parameters and variables. Specific coordinate systems are used to obtain a conv
49、enient formulation of the kinematic and dynamic equations involved. A shared understanding of all the coordinate systems and their parameterisations is therefore paramount. This necessitates the definition of a notational convention for naming variables, coordinate systems and their inter-relationships. 4.3 Technical issues 4.3.1 Frame and coordinate system Transformations between frames, having orthogonal axes, the same handedness (right or left) and unit vectors along each axis, enjoy the properties of unitary matrices, which facilitate the calculation of i
