KPL/IK NavCam Instrument kernel =============================================================================== This instrument kernel (I-kernel) contains Rover Module (NAVCAM_L and NAVCAM_R) optics, detector, and field-of-view parameters. Version and Date ------------------------------------------------------------------------------- Version 0.1 -- February 8, 2019 -- Marc Costa Sitja, ESA/ESAC Updated RM IDs from -999XXX to -174XXX. Version 0.0 -- June 8, 2018 -- 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 +1 (818) 354-8136 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 ( 'frame_kernel_name' ) -- FORTRAN furnsh_c ( "frame_kernel_name" ); -- C cspice_furnsh, frame_kernel_name -- IDL cspice_furnsh( 'frame_kernel_name' ) -- MATLAB spiceypy.furnsh( 'frame_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 [1] 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_NAVCAM_L -174021 RM_NAVCAM_R -174022 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 (NAVCAM_L) is specified by INS-174021_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 NAVCAM_L and NAVCAM_R detectors apparent FOVs layout in the corresponding reference frames. The NAVCAM 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_NAVCAM_L and RM_NAVCAM_R. \begindata INS-174021_NAME = 'RM_NAVCAM_L' INS-174021_BORESIGHT = ( 0.000 0.0000 1.000 ) INS-174021_FOV_FRAME = 'RM_NAVCAM_L' INS-174021_FOV_SHAPE = 'RECTANGLE' INS-174021_FOV_CLASS_SPEC = 'ANGLES' INS-174021_FOV_REF_VECTOR = ( 1.000 0.000 0.0000 ) INS-174021_FOV_REF_ANGLE = ( 32.5 ) INS-174021_FOV_CROSS_ANGLE = ( 32.5 ) INS-174021_FOV_ANGLE_UNITS = 'DEGREES' INS-174022_NAME = 'RM_NAVCAM_R' INS-174022_BORESIGHT = ( 0.000 0.0000 1.000 ) INS-174022_FOV_FRAME = 'RM_NAVCAM_R' INS-174022_FOV_SHAPE = 'RECTANGLE' INS-174022_FOV_CLASS_SPEC = 'ANGLES' INS-174022_FOV_REF_VECTOR = ( 1.000 0.000 0.0000 ) INS-174022_FOV_REF_ANGLE = ( 32.5 ) INS-174022_FOV_CROSS_ANGLE = ( 32.5 ) INS-174022_FOV_ANGLE_UNITS = 'DEGREES' \begintext End of IK file.