KPL/IK LocCam Instrument kernel =============================================================================== This instrument kernel (I-kernel) contains Rover Module Localisation Camera Left and Right (LOCCAM_L and LOCCAM_R) optics, detector, and field-of-view parameters. Version and Date ------------------------------------------------------------------------------- Version 0.0.0 -- January 6, 2019 -- Marc Costa Sitja, ESA/ESAC Preliminary Version. References ------------------------------------------------------------------------------- 1. RM Frames Definition Kernel (FK), latest version 2. ''Kernel Pool Required Reading'' 3. ``Detailed Design Document for the ExoMars Rover Vehicle Navigation and Localisation Cameras'', N. Cristello, Airbus Defence and Space, EXM-RM-DDD-NDG-30000, Issue 8, January 2017 Contact Information ------------------------------------------------------------------------------- If you have any questions regarding this file contact SPICE support at ESA: Marc Costa Sitja (+34) 91-8131-457 mcosta@sciops.esa.int, esa_spice@sciops.esa.int or ROCC at Altec Space: Federico Salvioli +39 011 7430 097 federico.salvioli@altecspace.it Implementation Notes ------------------------------------------------------------------------------- Applications that need SPICE I-kernel data must ``load'' the I-kernel file, normally during program initialization. The SPICE routine FURNSH loads a kernel file into the pool as shown below. CALL FURNSH ( 'instrument_kernel_name' ) -- FORTRAN furnsh_c ( "instrument_kernel_name" ); -- C cspice_furnsh, instrument_kernel_name -- IDL cspice_furnsh( 'instrument_kernel_name' ) -- MATLAB spiceypy.furnsh( 'instrument_kernel_name' ) -- PYTHON Loading the kernel using the SPICELIB routine FURNSH causes the data items and their associated values present in the kernel to become associated with a data structure called the ``kernel pool''. Once the file has been loaded, the SPICE routine GETFOV (getfov_c in C, cspice_getfov in IDL and MATLAB) can be used to retrieve FOV parameters for a given instrument or structure. The application program may obtain the value(s) for any other IK data item using the SPICELIB routines GDPOOL, GIPOOL, GCPOOL (gdpool_c, gipool_c, gcpool_c in C, cspice_gdpool, cspice_gipool, cspice_gcpool in IDL and MATLAB). See [2] for details. This file was created with, and can be updated with a text editor or word processor. Naming Conventions and Conventions for Specifying Data ------------------------------------------------------------------------------- Data items are specified using ``keyword=value'' assignments [1]. All keywords referencing values in this I-kernel start with the characters `INS' followed by the NAIF RM instrument ID code. The Star Tracker instrument IDs are defined in [1] as follows: Instrument name ID -------------------- ------- RM_LOCCAM_L -174031 RM_LOCCAM_R -174032 The remainder of the keyword is an underscore character followed by the unique name of the data item. For example, the boresight of the NavCam 1 (LOCCAM_L) is specified by INS-174031_BORESIGHT The upper bound on the length of all keywords is 32 characters. If a keyword is included in more than one file, or if the same keyword appears more than once within a single file, the last assignment supersedes any earlier assignments. Overview ------------------------------------------------------------------------------- TBD. Apparent FOV Layout --------------------------------------------------------------------------- This section provides a diagram illustrating the LOCCAM_L and LOCCAM_R detectors apparent FOVs layout in the corresponding reference frames. The LOCCAM surface slit creates a rectangular field of view with half cone angle of 32.5 degrees. The following diagrams illustrate the above field of view in the instrument frame: Y X ins ins ^ / ^ / | / | / | / | / | / | / X | / o Y | / o ins |/ 32.5 ins |/ 32.5 x--------> o--------> |\ Z |\ Z | \ ins | \ ins | \ | \ | \ | \ | \ | \ | \ | \ Plane X = 0 Plane Y = 0 Please note that the FOV reference and cross angles are defined with half angle values. Mounting Alignment ------------------------------------------------------------------------------- Refer to the latest version of the RM Frames Definition Kernel (FK) [1] for the NavCam reference frames definitions and mounting alignment information. Optical Parameters --------------------------------------------------------------------------- TBD. CCD Parameters --------------------------------------------------------------------------- TBD. FOV Definitions ------------------------------------------------------------------------------- This section contains definitions for the NavCam FOVs. These definitions are provided in the format required by the SPICE (CSPICE) function GETFOV (getfov_c). Please note that the FOV reference and cross angles are defined with half angle values. The FoV definition corresponds to the NAIF Body Name: RM_LOCCAM_L and RM_LOCCAM_R. \begindata INS-174031_NAME = 'RM_LOCCAM_L' INS-174031_BORESIGHT = ( 0.000 0.0000 1.000 ) INS-174031_FOV_FRAME = 'RM_LOCCAM_L' INS-174031_FOV_SHAPE = 'RECTANGLE' INS-174031_FOV_CLASS_SPEC = 'ANGLES' INS-174031_FOV_REF_VECTOR = ( 1.000 0.000 0.0000 ) INS-174031_FOV_REF_ANGLE = ( 32.5 ) INS-174031_FOV_CROSS_ANGLE = ( 32.5 ) INS-174031_FOV_ANGLE_UNITS = 'DEGREES' INS-174032_NAME = 'RM_LOCCAM_R' INS-174032_BORESIGHT = ( 0.000 0.0000 1.000 ) INS-174032_FOV_FRAME = 'RM_LOCCAM_R' INS-174032_FOV_SHAPE = 'RECTANGLE' INS-174032_FOV_CLASS_SPEC = 'ANGLES' INS-174032_FOV_REF_VECTOR = ( 1.000 0.000 0.0000 ) INS-174032_FOV_REF_ANGLE = ( 32.5 ) INS-174032_FOV_CROSS_ANGLE = ( 32.5 ) INS-174032_FOV_ANGLE_UNITS = 'DEGREES' \begintext End of IK file.