KPL/IK PanCam Instrument kernel =============================================================================== This instrument kernel (I-kernel) contains Rover Module Panoramic Camera (PANCAM) optics, detector, and field-of-view parameters. Version and Date ------------------------------------------------------------------------------- Version 0.0.1 -- February 6, 2019 -- Marc Costa Sitja, ESA/ESAC Updated RM IDs from -999XXX to -174XXX. Version 0.0.0 -- 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. ``The PanCam Instrument for the ExoMars Rover'', A.J. Coates et al, ASTROBIOLOGY, Volume 17, Numbers 6 and 7, 2017, DOI:10.1089/ast.2016.1548 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 PanCam instrument IDs are defined in [1] as follows: Instrument name ID -------------------- ------- RM_PANCAM_WAC_L -174110 RM_PANCAM_WAC_R -174120 RM_PANCAM_HRC -174130 The remainder of the keyword is an underscore character followed by the unique name of the data item. For example, the boresight of the PanCam Left Wide Angle Camera (PANCAM_WAC_L) is specified by INS-174110_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 PANCAM_WAC_L and PANCAM_WAC_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 |/ 19.15 ins |/ 19.15 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 PanCam reference frames definitions and mounting alignment information. Optical Parameters --------------------------------------------------------------------------- TBD. CCD Parameters --------------------------------------------------------------------------- TBD. FOV Definitions ------------------------------------------------------------------------------- This section contains definitions for the PanCam 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 Names: RM_PANCAM_WAC_L, RM_PANCAM_WAC_R and RM_PANCAM_HRC. \begindata INS-174110_NAME = 'RM_PANCAM_WAC_L' INS-174110_BORESIGHT = ( 0.000 0.0000 1.000 ) INS-174110_FOV_FRAME = 'RM_PANCAM_WAC_L' INS-174110_FOV_SHAPE = 'RECTANGLE' INS-174110_FOV_CLASS_SPEC = 'ANGLES' INS-174110_FOV_REF_VECTOR = ( 1.000 0.000 0.0000 ) INS-174110_FOV_REF_ANGLE = ( 19.15 ) INS-174110_FOV_CROSS_ANGLE = ( 19.15 ) INS-174110_FOV_ANGLE_UNITS = 'DEGREES' INS-174120_NAME = 'RM_PANCAM_WAC_R' INS-174120_BORESIGHT = ( 0.000 0.0000 1.000 ) INS-174120_FOV_FRAME = 'RM_PANCAM_WAC_R' INS-174120_FOV_SHAPE = 'RECTANGLE' INS-174120_FOV_CLASS_SPEC = 'ANGLES' INS-174120_FOV_REF_VECTOR = ( 1.000 0.000 0.0000 ) INS-174120_FOV_REF_ANGLE = ( 19.15 ) INS-174120_FOV_CROSS_ANGLE = ( 19.15 ) INS-174120_FOV_ANGLE_UNITS = 'DEGREES' INS-174130_NAME = 'RM_PANCAM_HRC' INS-174130_BORESIGHT = ( 0.000 0.0000 1.000 ) INS-174130_FOV_FRAME = 'RM_PANCAM_HRC' INS-174130_FOV_SHAPE = 'RECTANGLE' INS-174130_FOV_CLASS_SPEC = 'ANGLES' INS-174130_FOV_REF_VECTOR = ( 1.000 0.000 0.0000 ) INS-174130_FOV_REF_ANGLE = ( 2.44 ) INS-174130_FOV_CROSS_ANGLE = ( 2.44 ) INS-174130_FOV_ANGLE_UNITS = 'DEGREES' \begintext End of IK file.