Coordinate Frames Standards

The coordinate systems defined for Phoenix surface operations are listed in the table and figure below. Refer to the instrument Software Interface Specifications (SISs) for more information.

Imaging Related Coordinate Frames		Coordinate Frame Origin	Coordinate Frame Orientation
Name	Label Keyword Value	Coordinate Frame Origin	Coordinate Frame Orientation
Payload Frame (P Frame) (RA Frame)	“PAYLOAD_FRAME”	Attached to Lander at intersection of RA torso joint rotation axis	Fixed offset frame rotated 180 deg about +Z axis relative to Lander frame: +Z axis is normal to deck surface and points from that surface downward. +X axis is perpendicular to Z axis and points towards RA side of deck. +Y completes the righthanded frame.
Lander Frame (L Frame) NOTE: Not used in PHX Surface Operations	does not appear in label	Centered on launch vehicle separation plane 940.8 mm above Lander deck	Aligned with Lander: +Z axis is normal to deck surface and points from that surface downward. +X axis is perpendicular to Z axis, parallel to solar array yoke and points toward deck side opposite to SSI. +Y completes the righthanded frame.
SSI Frame (SSSI Frame)	does not appear in label	Attached to Camera	Aligned with camera pointing
Site (SN Frame) (Surface Frame)	"SITE_FRAME”	Attached to Surface	Aligned with Lander: +Z axis points downward to Nadir (gravity vector). +X axis is perpendicular to Z axis and points towards North. +Y completes the righthanded frame and points East.
Local Level (LL Frame)	“LOCAL_LEVEL_FRAME”	Attached to Lander (coincident with Payload Frame)	Fixed offset frame relative to Site frame: +Z axis points downward to Nadir (gravity vector). +X axis is perpendicular to Z axis and points towards North. +Y completes the righthanded frame and points East.