KPL/IK Europa Clipper E-THEMIS Instrument Kernel ============================================================================== This instrument kernel (I-kernel) contains Field-Of-View (FOV) and other geometric parameter definitions for the E-THEMIS instrument. Version and Date ---------------------------------------------------------- Version 0.7 -- July 31, 2024 -- Saadat Anwar, ASU Updated detector parameters per [11]. Added average radiator KOZ FOV definition per [11]. Updated instrument performance KOZ frame id (for EUROPAM_ETHEMIS_KOZ) from -159201 to -159205 per [11]. Added instrument damage KOZ definition (EUROPAM_ETHEMIS_DKOZ) with id 159206 per [11]. Version 0.6 -- December 16, 2019 -- Boris Semenov, NAIF Updated total FOV size based on [8]. Updated KOZ FOV size based on [9]. Added FOVs for individual bands based on [8]. Added nominal detector and optical parameters based on [8]. Filled in instrument description from [10]. Version 0.5 -- June 3, 2019 -- Boris Semenov, NAIF Added RAD1 and RAD2 FOVs based on [7]. Version 0.4 -- March 21, 2019 -- Boris Semenov, NAIF Updated FOV size and KOZ FOV size based on [6]. Version 0.3 -- February 4, 2019 -- Boris Semenov, NAIF Updated FOV size based on [4]. Corrected KOZ FOV size based on [5]. Version 0.2 -- February 26, 2018 -- Boris Semenov, NAIF Added placeholder sections for various non-FOV parameters. Reformatted and updated comments. Version 0.1 -- October 8, 2015 -- Eric W. Ferguson, JPL Initial version. References ---------------------------------------------------------- 1. ``Kernel Pool Required Reading'' 2. ``C-kernel Required Reading'' 3. Europa Instrument Fact Sheets: https://europaems.jpl.nasa.gov/alfresco/mmsapp/mms.html#/workspaces/ master/sites/europa/documents/_17_0_5_1_8af0285_1415240264808_136692 _232061/views/MMS_1441753698362_0ceb59af-b3e0-42c0-b5f0-a2e120f07865 4. E-THEMIS ICD, Europa_D-56747_Initial-Release_2018-04-23-Signed.pdf 5. E-THEMIS MICD, 10414235_A4.pdf 6. ``Europa - Kernel Updates'', e-mail from Ben Bradley, 03/11/19; 7. ECR-7560/APGEN Jira AP-395 (Add Radiator to +Y side of E_THEMIS) 8. E-THEMIS iCDR package, ETHEMIS_iCDR_Presentation_08122019.pdf, August 7-9, 2019 9. APGEN Jira AP-395, E-THEMIS KoZ, 12/13/19 10. http://christensen.asu.edu/instrument/e-themis/ 11. D. Pelham, ``E-THEMIS Frames Kernel Reference'', E-THEMIS Memo #412146, 04/29/2026 Contact Information ---------------------------------------------------------- Eric W. Ferguson, JPL, (818)-634-1928, eric.w.ferguson@jpl.nasa.gov Boris V. Semenov, JPL, (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 kernel must ``load'' the kernel, 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 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. This file was created and may be updated with a text editor or word processor. Conventions for Specifying Data ---------------------------------------------------------- All names referencing values in this I-kernel start with the characters `INS' followed by the NAIF ID code for the particular instrument detector or keep out zone: EUROPAM_ETHEMIS -159200 EUROPAM_ETHEMIS_RAD1 -159202 EUROPAM_ETHEMIS_RAD2 -159203 EUROPAM_ETHEMIS_RAD_KOZ -159204 EUROPAM_ETHEMIS_KOZ -159205 EUROPAM_ETHEMIS_DKOZ 159206 EUROPAM_ETHEMIS_BAND1 -159210 EUROPAM_ETHEMIS_BAND2 -159220 EUROPAM_ETHEMIS_BAND3 -159230 The remainder of the name is an underscore character followed by the unique name of the data item. For example, the E-THEMIS boresight direction is specified by: INS-159200_BORESIGHT The upper bound on the length of the name of any data item 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. Instrument Description ---------------------------------------------------------- From [10]: The Europa Thermal Emission Imaging System (E-THEMIS) is an instrument on board NASA's Europa Clipper spacecraft. With a design heritage from a highly successful Mars imaging system, E-THEMIS is a robust and proven instrument for operations at Jupiter's moon Europa. The Europa Thermal Emission Imaging System will provide high spatial resolution, multi-spectral imaging of Europa in the mid infrared and far infrared bands to help detect active sites, such as potential vents erupting plumes of water into space. Mounting Alignment ---------------------------------------------------------- Refer to the latest version of the Europa Mission Frames Definition Kernel (FK) for reference frame definitions and mounting alignment information. Instrument Detector/Sensor Layout ---------------------------------------------------------- Per [8], the nominal E-THEMIS detector layout is: |<---------------- 1280 pix ----------------->| |<------------ 896 pix ------------>| Pixel (0,0) --- *---------------------------------------------. ^ | | | | | | | | | | | | | (896 pix) | | --- | .-----------------------------------. | | ^ | | |(140| | | | | Band 1 x |pix)| --- | | | | | | ^ | | | `-----------------------------------' | | | | | (896 pix) | | | 244 pix 1200 | | .-----------------------------------. | | pix | | |(140| v 614 | | Band 2 x |pix)| -------------> | pix | | | | ^ +Xe-themis | | `-----------------------------------' | | | | | | (896 pix) | | | 230 pix | | | .-----------------------------------. | | | | | | |(140| v | | | | Band 3 x |pix)| --- | v | | | | | --- | `-----------------------------------' | | | | | | | | | | | | | v | | --- `---------------------------------------------* Pixel (1279,1199) | | | v +Ye-themis +Ze-themis and the instrument and band boresights shown as "x"s are into the page. Note 1: individual band sizes per [11]. The full nominal physical height of each individual band is 140 raw pixels. The nominal E-THEMIS FOV layout based on the detector layout shown above is: |<----------- 5.856 deg ----------->| .---------------------------------------------. | | | | | | | | | (5.856 deg) | --- | .-----------------------------------. | ^ | | |(0.915 | | | Band 1 x |deg)| --- | | | | | ^ | | `-----------------------------------' | | | | |< (5.856 deg) >| | | 1.595 deg | | .-----------------------------------. | | | | |(0.915 v 4.01 | | Band 2 x |deg)| -------------> deg | | | | ^ +Xe-themis | `-----------------------------------' | | | | |< (5.856 deg) >| | | 1.503 deg | | .-----------------------------------. | | | | | |(0.915 v | | | Band 3 x |deg)| --- v | | | | --- | `-----------------------------------' | | | | | | | | | | | `---------------------------------------------' | | | v +Ye-themis +Ze-themis and the instrument and band boresights are into the page. Note: individual band sizes per [11] Instrument Pixel-to-3D Coordinate Mapping (if applicable) ---------------------------------------------------------- Instrument Detector Parameters ---------------------------------------------------------- The E-THEMIS total usable and individual band areas of the detector have the following parameters: ---------- ------------- ------------- ------------ ----------- Size(XTxAT; Center(XT,AT; Pixel Size Pixel Pitch samplesxlines sample,line (microns) (microns) ---------- ------------- ------------- ------------ ----------- Total 896 x 614 651.5,593.5 11.4 12 Band 1 896 x 140 651.5,349.5 11.4 12 Band 2 896 x 140 651.5,593.5 11.4 12 Band 3 896 x 140 651.5,823.5 11.4 12 ---------- ------------ -------------- ------------ ---------- Note 1: center locations are given relative to the detector pixel (0,0). \begindata INS-159200_PIXEL_SAMPLES = ( 896 ) INS-159200_PIXEL_LINES = ( 614 ) INS-159200_PIXEL_SIZE = ( 0.0114 ) INS-159200_PIXEL_SIZE_UNITS = ( 'mm' ) INS-159200_PIXEL_PITCH = ( 0.012 ) INS-159200_PIXEL_PITCH_UNITS = ( 'mm' ) INS-159200_CCD_CENTER = ( 651.5, 593.5 ) INS-159210_PIXEL_SAMPLES = ( 896 ) INS-159210_PIXEL_LINES = ( 140 ) INS-159210_PIXEL_SIZE = ( 0.0114 ) INS-159210_PIXEL_SIZE_UNITS = ( 'mm' ) INS-159210_PIXEL_PITCH = ( 0.012 ) INS-159210_PIXEL_PITCH_UNITS = ( 'mm' ) INS-159210_CCD_CENTER = ( 651.5, 349.5 ) INS-159220_PIXEL_SAMPLES = ( 896 ) INS-159220_PIXEL_LINES = ( 140 ) INS-159220_PIXEL_SIZE = ( 0.0114 ) INS-159220_PIXEL_SIZE_UNITS = ( 'mm' ) INS-159220_PIXEL_PITCH = ( 0.012 ) INS-159220_PIXEL_PITCH_UNITS = ( 'mm' ) INS-159220_CCD_CENTER = ( 651.5, 593.5 ) INS-159230_PIXEL_SAMPLES = ( 896 ) INS-159230_PIXEL_LINES = ( 140 ) INS-159230_PIXEL_SIZE = ( 0.0114 ) INS-159230_PIXEL_SIZE_UNITS = ( 'mm' ) INS-159230_PIXEL_PITCH = ( 0.012 ) INS-159230_PIXEL_PITCH_UNITS = ( 'mm' ) INS-159230_CCD_CENTER = ( 651.5, 823.5 ) \begintext Instrument Optical Parameters (if applicable) ---------------------------------------------------------- Per [8], the E-THEMIS first order optical parameters are: ---------- ------------- ------------- Focal length IFOV (mm) (radians) ---------- ------------- ------------- Total 105.2 0.0001084 Band 1 105.2 0.0001084 Band 2 105.2 0.0001084 Band 3 105.2 0.0001084 ---------- ------------ -------------- \begindata INS-159200_FOCAL_LENGTH = ( 105.2 ) INS-159200_FOCAL_LENGTH_UNITS = ( 'mm' ) INS-159200_IFOV = ( 0.0001084 ) INS-159200_IFOV_UNITS = ( 'radians' ) INS-159210_FOCAL_LENGTH = ( 105.2 ) INS-159210_FOCAL_LENGTH_UNITS = ( 'mm' ) INS-159210_IFOV = ( 0.0001084 ) INS-159210_IFOV_UNITS = ( 'radians' ) INS-159220_FOCAL_LENGTH = ( 105.2 ) INS-159220_FOCAL_LENGTH_UNITS = ( 'mm' ) INS-159220_IFOV = ( 0.0001084 ) INS-159220_IFOV_UNITS = ( 'radians' ) INS-159230_FOCAL_LENGTH = ( 105.2 ) INS-159230_FOCAL_LENGTH_UNITS = ( 'mm' ) INS-159230_IFOV = ( 0.0001084 ) INS-159230_IFOV_UNITS = ( 'radians' ) \begintext Instrument Optical Distortion (if applicable) ---------------------------------------------------------- Instrument Filter Parameters (if applicable) ---------------------------------------------------------- E-THEMIS FOV Definitions ---------------------------------------------------------- The nominal total E-THEMIS FOV and individual band FOVs are rectangular pyramids centered on the following boresight vectors expressed in the EUROPAM_ETHEMIS frame, with the following sizes in cross-track (XT, in XZ plane of the EUROPAM_ETHEMIS frame) and along-track (AT, in YZ plane of the EUROPAM_ETHEMIS frame) directions: ------- ------------ ------------ ------------------------------- XT size, deg AT size, deg Boresight ------- ------------ ------------ ------------------------------- Total 5.856 4.013 [ 0, 0, 1 ] Band 1 5.856 0.915 [ 0, -0.0278344, 0.9996126 ] Band 2 5.856 0.915 [ 0, 0, 1 ] Band 3 5.856 0.915 [ 0, 0.0262293, 0.9996560 ] ------- ------------ ------------ ------------------------------- Notes: - the individual band angular sizes above correspond to the XT and AT numbers of the as built sensor and band configuration. - the total and band 2 FOV boresight are assumed to be aligned with the EUROPAM_ETHEMIS +Z axis -- the nominal instrument boresight - the band 1 and band 3 boresights are assumed to be offset from the EUROPAM_ETHEMIS +Z axis in the EUROPAM_ETHEMIS YZ plane by the angle equivalent to 244 raw pixels (140 for the nominal full band width + 104 for the nominal space between bands 1 and 2) with IFOV of 0.1084 milliradian, towards -Y for band 1 and an angle equivalent to 230 raw pixels (140 for the nominal full band width + 90 for the nominal space between bands 2 and 3) with IFOV of 0.1084 milliradian, toward +Y for band 3. The keywords below define FOVs with these attributes. \begindata INS-159200_FOV_FRAME = 'EUROPAM_ETHEMIS' INS-159200_FOV_SHAPE = 'RECTANGLE' INS-159200_BORESIGHT = ( 0.0, 0.0, 1.0 ) INS-159200_FOV_CLASS_SPEC = 'ANGLES' INS-159200_FOV_REF_VECTOR = ( 1.0, 0.0, 0.0 ) INS-159200_FOV_REF_ANGLE = ( 2.928 ) INS-159200_FOV_CROSS_ANGLE = ( 2.0065 ) INS-159200_FOV_ANGLE_UNITS = 'DEGREES' INS-159210_FOV_FRAME = 'EUROPAM_ETHEMIS' INS-159210_FOV_SHAPE = 'RECTANGLE' INS-159210_BORESIGHT = ( 0, -0.02784519, 0.99961255) INS-159210_FOV_CLASS_SPEC = 'ANGLES' INS-159210_FOV_REF_VECTOR = ( 1.0, 0.0, 0.0 ) INS-159210_FOV_REF_ANGLE = ( 2.928 ) INS-159210_FOV_CROSS_ANGLE = ( 0.4575 ) INS-159210_FOV_ANGLE_UNITS = 'DEGREES' INS-159220_FOV_FRAME = 'EUROPAM_ETHEMIS' INS-159220_FOV_SHAPE = 'RECTANGLE' INS-159220_BORESIGHT = ( 0.0, 0.0, 1.0 ) INS-159220_FOV_CLASS_SPEC = 'ANGLES' INS-159220_FOV_REF_VECTOR = ( 1.0, 0.0, 0.0 ) INS-159220_FOV_REF_ANGLE = ( 2.928 ) INS-159220_FOV_CROSS_ANGLE = ( 0.4575 ) INS-159220_FOV_ANGLE_UNITS = 'DEGREES' INS-159230_FOV_FRAME = 'EUROPAM_ETHEMIS' INS-159230_FOV_SHAPE = 'RECTANGLE' INS-159230_BORESIGHT = ( 0, 0.02623832, 0.99965595) INS-159230_FOV_CLASS_SPEC = 'ANGLES' INS-159230_FOV_REF_VECTOR = ( 1.0, 0.0, 0.0 ) INS-159230_FOV_REF_ANGLE = ( 2.928 ) INS-159230_FOV_CROSS_ANGLE = ( 0.4575 ) INS-159230_FOV_ANGLE_UNITS = 'DEGREES' \begintext E-THEMIS Telescope Keep-Out-Zone (KOZ) FOV Definitions ---------------------------------------------------------- E-THEMIS has two Optical KOZ FOVs defined: a Performance KOZ FOV and a Damage KOZ FOV. The nominal E-THEMIS Performance KOZ FOV is a rectangular pyramid centered on the +Z axis of the EUROPAM_ETHEMIS frame, with the angular extent of 54.0 degrees in the cross-track direction (XT, in XZ plane of the EUROPAM_ETHEMIS frame) and the angular extent of 41.0 degrees in the along-track (AT, in YZ plane of the EUROPAM_ETHEMIS frame). The nominal Damage FOV is a circular cone centered on the +Z axis of the EUROPA_ETHEMIS frame, with the angular extent of 14.0 degrees. The keywords below define the Performance KOZ FOV with these attributes. \begindata INS-159205_FOV_FRAME = 'EUROPAM_ETHEMIS_KOZ' INS-159205_FOV_SHAPE = 'RECTANGLE' INS-159205_BORESIGHT = ( 0.0, 0.0, 1.0 ) INS-159205_FOV_CLASS_SPEC = 'ANGLES' INS-159205_FOV_REF_VECTOR = ( 1.0, 0.0, 0.0 ) INS-159205_FOV_REF_ANGLE = ( 27.0000 ) INS-159205_FOV_CROSS_ANGLE = ( 20.5000 ) INS-159205_FOV_ANGLE_UNITS = 'DEGREES' INS-159206_FOV_FRAME = 'EUROPAM_ETHEMIS_DKOZ' INS-159206_FOV_SHAPE = 'CIRCLE' INS-159206_BORESIGHT = ( 0.0, 0.0, 1.0 ) INS-159206_FOV_CLASS_SPEC = 'ANGLES' INS-159206_FOV_REF_VECTOR = ( 1.0, 0.0, 0.0 ) INS-159206_FOV_REF_ANGLE = ( 7.0000 ) INS-159206_FOV_ANGLE_UNITS = 'DEGREES' \begintext E-THEMIS Radiator FOV Definitions ---------------------------------------------------------- The FOV values for the E-THEMIS radiators are place holders until a time when the real values are provided. FOV = 2 Pi SR (obstructions to be negotiated). \begindata INS-159202_FOV_FRAME = 'EUROPAM_ETHEMIS_RAD1' INS-159202_FOV_SHAPE = 'POLYGON' INS-159202_BORESIGHT = ( 0.0 0.0 1.0 ) INS-159202_FOV_BOUNDARY_CORNERS = ( 0.999998476913 0.000000000000 0.001745328366 0.707105704202 0.707105704202 0.001745328366 0.000000000000 0.999998476913 0.001745328366 -0.707105704202 0.707105704202 0.001745328366 -0.999998476913 0.000000000000 0.001745328366 -0.707105704202 -0.707105704202 0.001745328366 -0.000000000000 -0.999998476913 0.001745328366 0.707105704202 -0.707105704202 0.001745328366 ) INS-159203_FOV_FRAME = 'EUROPAM_ETHEMIS_RAD2' INS-159203_FOV_SHAPE = 'POLYGON' INS-159203_BORESIGHT = ( 0.0 0.0 1.0 ) INS-159203_FOV_BOUNDARY_CORNERS = ( 0.999998476913 0.000000000000 0.001745328366 0.707105704202 0.707105704202 0.001745328366 0.000000000000 0.999998476913 0.001745328366 -0.707105704202 0.707105704202 0.001745328366 -0.999998476913 0.000000000000 0.001745328366 -0.707105704202 -0.707105704202 0.001745328366 -0.000000000000 -0.999998476913 0.001745328366 0.707105704202 -0.707105704202 0.001745328366 ) \begintext E-THEMIS Radiator Keep-Out-Zone (KOZ) FOV Definitions ---------------------------------------------------------- E-THEMIS has one Radiator KOZ FOVs defined. The nominal Radiator KOZ FOV is a circular cone centered on the +Z axis of the EUROPA_ETHEMIS_RAD_KOZ frame, with the angular extent of 45.0 degrees. The keywords below define the Radiator KOZ FOV with these attributes. \begindata INS-159204_FOV_FRAME = 'EUROPAM_ETHEMIS_RAD_KOZ' INS-159204_FOV_SHAPE = 'CIRCLE' INS-159204_BORESIGHT = ( 0.0 0.0 1.0 ) INS-159204_FOV_CLASS_SPEC = 'ANGLES' INS-159204_FOV_REF_VECTOR = ( 1.0, 0.0, 0.0 ) INS-159204_FOV_REF_ANGLE = ( 22.5 ) INS-159204_FOV_ANGLE_UNITS = 'DEGREES' \begintext End of IK.