The OLA CKs are generated by the OLA data processing pipeline for each OLA level 1 record as follows.

t = encoded sclk time (MET + MET offset, from the OLA level 1 record)

az = OLA mirror azimuth angle from the OLA level 1 record
el = OLA mirror elevation angle from the OLA level 1 record

a = ( 0, 0, 1 )

b = ( x, y, z ),  where
x = sin( az )
y = sin( el )
z = sqrt( 1 - (x^2 - y^2) )

v = a X b, where "X" denotes the cross product

s = ||v||
c = a . b, where "." denotes the dot product

    |    0  -v(2)  v(1) |
M = |  v(2)    0  -v(0) |
    | -v(1)  v(0)    0  |

The rotation matrix taking vectors from the ORX_OLA_ART frame to the ORX_OLA_BASE frame is

R = I + M + ( (1-c)/s^2 ) * M^2, where I is the identity matrix.

I.e.

v              =  [R]  *  v
 ORX_OLA_BASE              ORX_OLA_ART

where

v  is a vector in coordinate frame F.
 F

For each record in the OLA level 1 data, t and the transpose of R are written to file and passed to SPICE MSOPCK to generate the OLA CK.