KPL/IK

BELA Instrument Kernel
===========================================================================

   This instrument kernel (I-kernel) contains references to mounting
   alignment, operating modes and timing, as well as internal geometry
   for the BepiColombo Laser Altimeter (BELA).

   Note: The BELA kernel is, for now, heavily based on the MESSENGER
         MLA kernel.


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

   Version 0.2 -- September 23, 2016 -- Marc Costa Sitja, ESAC/ESA

      Updated BEPICOLOMBO MPO IDs from -69 to -121. 
      Removed kernel name and version assignment.

   Version 0.1 -- February 08, 2016 -- Jonathan McAuliffe, ESAC/ESA

      Channel ID-mixup corrected.

   Version 0.0 -- February 11, 2013 -- Jonathan McAuliffe, ESAC/ESA

      Initial prototype.


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

      1.   "Kernel Pool Required Reading"

      2.   BepiColombo MPO Spacecraft Frames Definition Kernel

      3.   "Frames Required Reading"

      4.   "C-Kernel Required Reading"

      5.   "BELA User Manual (issue 1.3, 23.10.2011)"

      6.   "BELA Experiment Interface Document B (EID-B, issue 1, 20.7.2012)"

      7.   "BELA Pointing and Alignment Document (issue 1.2, 24.11.2008)"


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

   If you have any questions regarding this file contact SPICE support at
   ESAC:

           Marc Costa Sitja
           (+34) 91-8131-457
           mcosta@sciops.esa.int, esa_spice@sciops.esa.int
           
   or NAIF at JPL:
   
           Boris Semenov
           (818) 354-8136
           Boris.Semenov@jpl.nasa.gov


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

  This file is used by the SPICE system as follows: programs that make use
  of this frame kernel must "load" the kernel normally during program
  initialization. Loading the kernel associates the data items with
  their names in a data structure called the "kernel pool".  The SPICELIB
  routine FURNSH loads a kernel into the pool as shown below:

    FORTRAN: (SPICELIB)

      CALL FURNSH ( frame_kernel_name )

    C: (CSPICE)

      furnsh_c ( frame_kernel_name );

    IDL: (ICY)

      cspice_furnsh, frame_kernel_name

    MATLAB: (MICE)
      
         cspice_furnsh ( 'frame_kernel_name' )

    PYTHON: (SPICEYPY)*

      furnsh( frame_kernel_name )

  In order for a program or routine to extract data from the pool, the
  SPICELIB routines GDPOOL, GIPOOL, and GCPOOL are used.  See [2] for
  more details.

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

  * SPICEPY is a non-official, community developed Python wrapper for the
    NAIF SPICE toolkit. Its development is managed on Github.
    It is available at: https://github.com/AndrewAnnex/SpiceyPy


Naming Conventions
---------------------------------------------------------------

   All names referencing values in this I-kernel start with the characters
   'INS' followed by the NAIF BepiColombo spacecraft ID number (MPO: -121;
   MM0: -68) and then followed by a NAIF three digit codes for the BELA
   instrument: BELA TRANSMITTER (100) and BELA RECEIVER (110).

   The remainder of the name is an underscore character followed by the
   unique name of the data item.  For example, the BELA RECEIVER boresight
   direction in the MPO_SPACECRAFT frame (see [2]) is specified by:

      INS-121101_BORESIGHT

   The upper bound on the length of the name of any data item identifier
   is 32 characters.

   If the same item is included in more than one file, or if the same item
   appears more than once within a single file, the latest value supersedes
   any earlier values.


BELA Description
---------------------------------------------------------------

   From [<REFERENCE>]:

   <TBW>

BELA Timing Parameters
----------------------

   <** MLA includes info. on range bias; this does not appear in the
       BELA documentation. To be checked with the BELA team. **>

   #\begindata

   INS-121100_RANGE_BIAS       = ( 0.0 )
   INS-121100_RANGE_BIAS_UNITS = 'MM'

   #\begintext


BELA Receiver Geometry Parameters
---------------------------------

   From [6], the detector field of view is 450 microradians in diameter.
   Should the Receiver Telescope (RT)L not achieve the expected wave front
   error, an increase of the FoV to 600 microradians is considered.

   \begindata

      INS-121100_FOV_FRAME       = 'MPO_BELA_RECEIVER'
      INS-121100_FOV_SHAPE       = 'CIRCLE'
      INS-121100_BORESIGHT       = ( 0.0, 0.0, 1.0 )
      INS-121100_FOV_CLASS_SPEC  = 'ANGLES'
      INS-121100_FOV_REF_VECTOR  = ( 0.0, 1.0, 0.0 )
      INS-121100_FOV_REF_ANGLE   = ( 0.000225 )
      INS-121100_FOV_ANGLE_UNITS = 'RADIANS'

   \begintext

   The co-alignment (angular tolerance) for the alignment of the receiver
   with the beam direction is 133 microradians, from [7].

   \begindata

   INS-121100_RCVR_TOL       = ( 0.0000665 )
   INS-121100_RCVR_TOL_UNITS = 'RADIANS'

   \begintext


BELA Transmitter Geometry Parameters
------------------------------------

   From [6], the transmitter field of view is 50 +/- 10 urads:

   \begindata

   INS-121101_FOV_FRAME       = 'MPO_BELA_TRANSMITTER'
   INS-121101_FOV_SHAPE       = 'CIRCLE'
   INS-121101_BORESIGHT       = ( 0.0, 0.0, 1.0 )
   INS-121101_FOV_CLASS_SPEC  = 'ANGLES'
   INS-121101_FOV_REF_VECTOR  = ( 1.0, 0.0, 0.0 )
   INS-121101_FOV_REF_ANGLE   = 0.000025
   INS-121101_FOV_ANGLE_UNITS = 'RADIANS'

   \begintext


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

This number is the NAIF instrument ID of the platform on which the
instrument is mounted. For BELA the platform is the MPO Optical Bench.

  \begindata

    INS-121100_PLATFORM_ID = ( -121015 )
    INS-121101_PLATFORM_ID = ( -121015 )

  \begintext

  End of IK file.