KPL/IK Europa Clipper/MISE Instrument Kernel ============================================================================== This instrument kernel (I-kernel; IK) contains references to the alignment and field of view parameters for the Mapping Imaging Spectrometer for Europa (MISE) instrument on the Europa Clipper spacecraft. Version and Date ------------------------------------------------------------------------ Version 0.5 -- June 4, 2024 -- Hari Nair, JHU/APL Numerous comment updates and ASCII art. Update instrument FOV definitions using rectangular pixels. Dimensions are 331 microradians along-track and 251 microradians cross-track. Version 0.4 -- February 4, 2019 -- Boris Semenov, NAIF Updated cross track KOZ size based on [4] (27.15 -> 27.5). Version 0.3 -- February 26, 2018 -- Boris Semenov, NAIF Added placeholder sections for various non-FOV parameters. Made a few minor updates to the comments. Version 0.2 -- June 8, 2017 -- Boris Semenov, NAIF Redefined EUROPAM_MISE_RAD1+Y/-159610, EUROPAM_MISE_RAD1+X/-159611, EUROPAM_MISE_RAD2+Y/-159612, and EUROPAM_MISE_RAD2+X/-159613 FOVs as a polygons to work around a limitation in GFTFOV. Reformatted comments. Version 0.1 -- October 8, 2015 -- Eric W. Ferguson, JPL Initial version. References ------------------------------------------------------------------------ 1. "Kernel Pool Required Reading" 2. Europa Clipper Frame Kernel 3. Blaney et al. (2019), https://www.hou.usra.edu/meetings/lpsc2019/pdf/2218.pdf 4. MISE MICD, 10414240_A_watermarked.pdf Contact Information ------------------------------------------------------------------------ Hari Nair, JHU/APL, Hari.Nair@jhuapl.edu Frank Seelos, JHU/APL, Frank.Seelos@jhuapl.edu Sarah Lundeen, JPL, Sarah.Lundeen@jpl.nasa.gov Matthew Barnes, JPL, Matthew.J.Barnes@jpl.nasa.gov Boris V. Semenov, JPL, 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 ( 'kernel_name; ) -- FORTRAN furnsh_c ( "kernel_name" ); -- C cspice_furnsh, kernel_name -- IDL cspice_furnsh( '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. Naming Conventions ------------------------------------------------------------------------ All names referencing values in this I-kernel start with the characters 'INS' followed by the NAIF Clipper spacecraft ID number (-159) and then followed by the NAIF three digit code for the instrument (MISE = 601). EUROPAM_MISE_BASE -159600 EUROPAM_MISE -159601 EUROPAM_MISE_FOR -159602 EUROPAM_MISE_GLOBAL -159603 EUROPAM_MISE_KOZ -159604 EUROPAM_MISE_RAD1+Y -159610 EUROPAM_MISE_RAD1+X -159611 EUROPAM_MISE_RAD2+Y -159612 EUROPAM_MISE_RAD2+X -159613 The remainder of the name is an underscore character followed by the unique name of the data item. For example, the MISE boresight direction in the EUROPAM_MISE frame (see [2]) is specified by: INS-159601_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. Instrument Description ------------------------------------------------------------------------ MISE covers a spectral range 0.8-5 microns with 10-nm spectral sampling, enabling the identification of organics, salts, acid hydrates, water ice phases, altered silicates, radiolytic compounds and warm thermal anomalies. MISE will map the distributions of these materials across the surface of Europa. MISE consists of three assemblies: - The external vault assembly consists of the optical elements, thermal control system, scanner, focal plane, focal plane electronics, radiation shielding, and mechanical structures. - The Data Processing Unit controls the instrument. It is inside the electronics vault and includes the spacecraft communication interface, power supply, scanner electronics, on-board memory, and instrument processing. - The cryocooler electronics, also inside the electronics vault, controls the cryocooler. The scan mirror reflects light into the MISE detector. A baffle restricts light more than 30 degrees off the nadir direction from entering the optical system. A MISE "cube" (two spatial and one spectral dimension) is built up from a single line spatial image as the mirror scans. At far distances, the mirror scans over the surface. Near closest approach, the mirror is used for motion compensation. The f/1.4 Dyson spectrometer separates the incoming light into 480 spectral channels. Mounting Alignment ------------------------------------------------------------------------ The EUROPAM_MISE_BASE frame is defined in the Europa Clipper Frame kernel. The nominal rotation matrix from EUROPAM_SPACECRAFT to EUROPAM_MISE_BASE is [ 1.0000000 0.0000000 0.0000000 ] [ 0.0000000 0.0000000 -1.0000000 ] [ 0.0000000 1.0000000 0.0000000 ] The EUROPAM_MISE frame is a CK based frame which defines the orientation of the MISE instrument's viewing geometry relative to the EUROPAM_MISE_BASE frame. The EUROPAM_MISE and EUROPAM_MISE_BASE frames coincide when the MISE mirror is at zero. When the mirror is positioned at zero, the Clipper +Y (nadir direction) axis maps to the MISE +Z (boresight) axis. The Clipper +Z (velocity direction) maps to the MISE -Y axis. The MISE mirror rotates about its +X axis, which is the same as the Clipper +X axis. A positive mirror angle points the MISE boresight towards the spacecraft velocity direction. ^ +Z +Z | (into page) | x----> +X | | x----> +X | +Y V (into page) +Y EUROPAM_SPACECRAFT frame EUROPAM_MISE_BASE frame With the mirror positioned at a positive angle, the EUROPAM_MISE boresight looks along the ground track. EUROPAM_SPACECRAFT frame EUROPAM_MISE_BASE frame EUROPAM_MISE frame -Y \ \ +Z -Y \ <------x +X (into page) <----x +X (into page) x +X | | / (into | | / page) | | / V +Y V +Z +Z ------------------------------------------------------------------------- ///////////////////////////////////////////////////////////////////////// surface Field of View ------------------------------------------------------------------------ The MISE detector is a HgCdTe array with 320 pixels in the spatial (across track) direction and 480 pixels in the spectral (along track) direction. The along-track IFOV is 331 microradians. The cross-track IFOV is 251 microradians. The effective spatial width is 300 pixels as ten pixels on either side are masked. Row 1 is the longest wavelength after dispersion. Row 480 is the shortest wavelength. Boresight (+Z axis) is into the page +---------------(320, 480) Pixel ^ | | | | | | | | | | +Zmise | | | x-------------> +Xmise | | | | | | | | | | | | | | | Clipper +Z (1,1)-----|-------+ (velocity) Pixel | | v +Ymise Detector Parameters ------------------------------------------------------------------------ The detector is a 320 (spatial) by 480 (spectral) HgCdTe array. The along-track IFOV is 331 microradians. The cross-track IFOV is 251 microradians. The fields below are for a 300 pixel line array to describe each acquired spatial frame. The number of samples includes the masked columns, but the FOV_CROSS_ANGLE does not. \begindata INS-159601_PIXEL_SAMPLES = ( 320 ) INS-159601_PIXEL_LINES = ( 1 ) INS-159601_ALONG_TRACK_IFOV = ( 331E-6 ) INS-159601_CROSS_TRACK_IFOV = ( 251E-6 ) \begintext MISE FOV Definitions ------------------------------------------------------------------------ This section contains MISE FOV definitions. MISE "Nadir Observation" FOV Definition EUROPAM_MISE_BASE/-159600 is the FOV of the central row in the nadir scan mirror position, 4.314 degrees cross track by 0.01896 degrees along track. \begindata INS-159600_FOV_FRAME = 'EUROPAM_MISE_BASE' INS-159600_FOV_SHAPE = 'RECTANGLE' INS-159600_BORESIGHT = ( 0.0, 0.0, 1.0 ) INS-159600_FOV_CLASS_SPEC = 'ANGLES' INS-159600_FOV_REF_VECTOR = ( 0.0, 1.0, 0.0 ) INS-159600_FOV_REF_ANGLE = ( 0.00948 ) INS-159600_FOV_CROSS_ANGLE = ( 2.157 ) INS-159600_FOV_ANGLE_UNITS = 'DEGREES' \begintext MISE "Observation" FOV Definition EUROPAM_MISE/-159601 is the FOV of the central row in a particular scan mirror position, 4.314 degrees cross track by 0.01896 degrees along track. \begindata INS-159601_FOV_FRAME = 'EUROPAM_MISE' INS-159601_FOV_SHAPE = 'RECTANGLE' INS-159601_BORESIGHT = ( 0.0, 0.0, 1.0 ) INS-159601_FOV_CLASS_SPEC = 'ANGLES' INS-159601_FOV_REF_VECTOR = ( 0.0, 1.0, 0.0 ) INS-159601_FOV_REF_ANGLE = ( 0.00948 ) INS-159601_FOV_CROSS_ANGLE = ( 2.157 ) INS-159601_FOV_ANGLE_UNITS = 'DEGREES' \begintext MISE "Field of Regard" FOV Definition EUROPAM_MISE_FOR/-159602 is the FOV of the full scan range, 4.314 degrees cross track by 60.0 degrees along track. \begindata INS-159602_FOV_FRAME = 'EUROPAM_MISE_BASE' INS-159602_FOV_SHAPE = 'RECTANGLE' INS-159602_BORESIGHT = ( 0.0, 0.0, 1.0 ) INS-159602_FOV_CLASS_SPEC = 'ANGLES' INS-159602_FOV_REF_VECTOR = ( 0.0, 1.0, 0.0 ) INS-159602_FOV_REF_ANGLE = ( 30.0 ) INS-159602_FOV_CROSS_ANGLE = ( 2.157 ) INS-159602_FOV_ANGLE_UNITS = 'DEGREES' \begintext MISE "Global" FOV Definition EUROPAM_MISE_GLOBAL/-159603 is the FOV of the 300x300 pixel spatial array. It is defined for convenience. The actual coverage of a global observation depends on the commanded mirror profile and is acquired over several minutes, not instantaneously. \begindata INS-159603_FOV_FRAME = 'EUROPAM_MISE_BASE' INS-159603_FOV_SHAPE = 'RECTANGLE' INS-159603_BORESIGHT = ( 0.0, 0.0, 1.0 ) INS-159603_FOV_CLASS_SPEC = 'ANGLES' INS-159603_FOV_REF_VECTOR = ( 0.0, 1.0, 0.0 ) INS-159603_FOV_REF_ANGLE = ( 2.845 ) INS-159603_FOV_CROSS_ANGLE = ( 2.157 ) INS-159603_FOV_ANGLE_UNITS = 'DEGREES' \begintext MISE Radiators FOV Definitions The FOV values for the MISE radiators -- EUROPAM_MISE_RAD1+Y/-159610, EUROPAM_MISE_RAD1+X/-159611, EUROPAM_MISE_RAD2+Y/-159612, and EUROPAM_MISE_RAD2+X/-159613 -- are place holders until a time when the real values are provided. FOV = 2 Pi SR (obstructions to be negotiated) \begindata INS-159610_FOV_FRAME = 'EUROPAM_MISE_RAD1' INS-159610_FOV_SHAPE = 'POLYGON' INS-159610_BORESIGHT = ( 0.0 0.0 1.0 ) INS-159610_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-159611_FOV_FRAME = 'EUROPAM_MISE_RAD1' INS-159611_FOV_SHAPE = 'POLYGON' INS-159611_BORESIGHT = ( 1.0 0.0 0.0 ) INS-159611_FOV_BOUNDARY_CORNERS = ( 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 -0.999998476913 0.000000000000 0.001745328366 -0.707105704202 -0.707105704202 0.001745328366 -0.000000000000 -0.999998476913 0.001745328366 0.707105704202 -0.707105704202 ) INS-159612_FOV_FRAME = 'EUROPAM_MISE_RAD2' INS-159612_FOV_SHAPE = 'POLYGON' INS-159612_BORESIGHT = ( 0.0 0.0 1.0 ) INS-159612_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-159613_FOV_FRAME = 'EUROPAM_MISE_RAD2' INS-159613_FOV_SHAPE = 'POLYGON' INS-159613_BORESIGHT = ( 1.0 0.0 0.0 ) INS-159613_FOV_BOUNDARY_CORNERS = ( 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 -0.999998476913 0.000000000000 0.001745328366 -0.707105704202 -0.707105704202 0.001745328366 -0.000000000000 -0.999998476913 0.001745328366 0.707105704202 -0.707105704202 ) \begintext MISE Keep-Out-Zone (KOZ) FOV Definitions Based on [4], the keep out zone EUROPAM_MISE_KOZ/-159604 FOV is 110 degrees along track by 55 degrees cross track. \begindata INS-159604_FOV_FRAME = 'EUROPAM_MISE_BASE' INS-159604_FOV_SHAPE = 'RECTANGLE' INS-159604_BORESIGHT = ( 0.0, 0.0, 1.0 ) INS-159604_FOV_CLASS_SPEC = 'ANGLES' INS-159604_FOV_REF_VECTOR = ( 0.0, 1.0, 0.0 ) INS-159604_FOV_REF_ANGLE = ( 55.0 ) INS-159604_FOV_CROSS_ANGLE = ( 27.5 ) INS-159604_FOV_ANGLE_UNITS = 'DEGREES' \begintext End of IK.