KPL/IK

HERA MILANI Light Detection and Ranging Instrument kernel
==============================================================================

   This instrument kernel (I-kernel) contains the MILANI Light Detection and
   Ranging (LIDAR) optics, detector, and field-of-view parameters.


Version and Date
------------------------------------------------------------------------------

   Version 0.1 -- Sep 21, 2023 -- Ricardo Valles, ESAC/ESA

      Updated Hera ID according to one provided by DSN and confirmed by FDy:
      from -999 to -91.

   Version 0.0 -- May 8, 2023 -- Alfredo Escalante Lopez, ESAC/ESA

      Preliminary version.


References
------------------------------------------------------------------------------

   1. ``Kernel Pool Required Reading''

   2. ``C-kernel Required Reading''

   3. Hera Frames Definition Kernel (FK), latest version.

   4. Milani Spacecraft Frames Kernel (FK), latest version.

   5. ``Milani Cubesat Instruments'',
      https://www.heramission.space/hera-mission-milani-cubesat


Contact Information
-----------------------------------------------------------------------------

   If you have any questions regarding this file contact the
   ESA SPICE Service at ESAC:

           Alfredo Escalante Lopez
           (+34) 91-8131-429
           spice@sciops.esa.int

   or NAIF at JPL:

           Boris Semenov
           +1 (818) 354-8136
           Boris.Semenov@jpl.nasa.gov


Implementation Notes
------------------------------------------------------------------------------

   Applications that need SPICE I-kernel data must ``load'' the I-kernel file,
   normally during program initialization.

   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''. The application program may
   then obtain the value(s) for any IK data item using the SPICELIB routines
   GDPOOL, GIPOOL, GCPOOL. Routine GETFOV may be used if the file contains
   instrument field-of-view (FOV) specification. See [1] for details.

   This file was created with, and can be updated with a text editor or word
   processor.


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 MILANI instrument ID code, constructed using the
   spacecraft ID number (-9102) followed by the NAIF three digit ID number.
   The ID numbers are defined in [4] as follows:

               Instrument name          ID
               --------------------   ---------
               MILANI_LIDAR          -9102410

   The remainder of the keyword is an underscore character followed by the
   unique name of the data item. For example, the boresight of LIDAR
   is specified by

               INS-9102410_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
------------------------------------------------------------------------------

   From [5]:

   MILANI counts with a Light Detection and Ranging (LIDAR) instrument
   for close proximity range measurements around the asteroid.

      ----------------------------------------
             parameter             value
      ----------------------------------------
      Operating range, m           10 - 14000
      Laser divergence, mrad        0.7
      Measurement accuracy, m       1.0
      Measurement resolution, m     0.1
      ----------------------------------------


Mounting Alignment
------------------------------------------------------------------------------

   Refer to the latest version of the Milani Spacecraft Frames Kernel (FK) [4]
   for the LIDAR reference frame definitions and mounting alignment
   information.


FOV Definitions
------------------------------------------------------------------------------

   This section contains definitions for the LIDAR FOVs. These definitions
   are provided in a format required by the SPICE (CSPICE) function GETFOV
   (getfov_c).

   The set of assignments in the data section below defines the LIDAR FOVs
   with respect to the corresponding frames to be a rectangle with the corners
   defined by the first and last pixels of the first and last lines of the
   CCD and the boresight along the +Z axis. This FOV definition uses the
   FOV_ANGULAR_SIZE values from the ``Optical Parameters'' section above
   converted to degrees.

   LIDAR:

      \begindata

         INS-9102410_FOV_FRAME          = 'MILANI_LIDAR'
         INS-9102410_FOV_SHAPE          = 'CIRCLE'
         INS-9102410_BORESIGHT          = ( 0.0, 0.0, 1.0    )
         INS-9102410_FOV_CLASS_SPEC     = 'ANGLES'
         INS-9102410_FOV_REF_VECTOR     = ( 1.0, 0.0, 0.0    )
         INS-9102410_FOV_REF_ANGLE      = ( 0.02005352       )
         INS-9102410_FOV_ANGLE_UNITS    = 'DEGREES'

      \begintext


Optical Distortion
------------------------------------------------------------------------------

   TBD.


Platform ID
-------------------------------------------------------------------------------

   This number is the NAIF instrument ID of the platform on which the
   sensors are mounted. For the Milani Light Detection and Ranging (LIDAR)
   platform is spacecraft. Please refer to the latest version of the Milani
   NAIF ID Codes Definitions [4] for mapping of ID codes to sensor and
   structure names.


   \begindata

      INS-9102410_PLATFORM_ID  = ( -9102 )

   \begintext


End of IK file.