KPL/IK THEMIS Instrument kernel =========================================================================== This instrument kernel (I-kernel) contains the Mars Odyssey 2001 Thermal Emission Imaging System (THEMIS) optics, detector and filter parameters. Version and Date --------------------------------------------------------------------------- Version 0.1 -- March 12, 2001 -- Boris Semenov, NAIF/JPL Pre-release. Added IR and VIS FOV definitions based on nominal FOV angular sizes. Version 0.0 -- March 5, 2001 -- Boris Semenov, NAIF/JPL Pre-release. References --------------------------------------------------------------------------- 1. ``Kernel Pool Required Reading'' 2. ``C-kernel Required Reading'' 3. ``THEMIS ICD'', MSP01-97-0008, June 10, 1999 4. M'01 Frames Definition Kernel (FK), latest version. 5. THEMIS Instrument Characteristics, ASU THEMIS Team Web Site, http://emma.la.asu.edu/THEMIS/inst.html, March 2001. 6. THEMIS Information Sheet, JPL M'01 Odyssey Web Site, http://mars.jpl.nasa.gov/2001/instruments/images/themis1.jpg, March 2001. Implementation Notes -------------------------------------------------------- User programs that need I-kernel data must `load' the I-kernel file, normally during program initialization. Loading the kernel using SPICELIB routine LDPOOL causes the data items and their associated values present in the kernel to become associated with a data structure called the ``kernel pool''. Then a user's program can obtain the value(s) for any data item using the SPICELIB routines GDPOOL, GIPOOL and GCPOOL. See [1] for details. This file was created and can 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 M'01 spacecraft ID number (-53) followed by the NAIF three digit THEMIS IR instrument reference number (031) or THEMIS VIS instrument reference number (032). The remainder of the name is an underscore character followed by the unique name of the data item. For example, the focal length of the THEMIS IR camera is specified by INS-53031_FOCAL_LENGTH The upper bound on the length of the name of any data item is 32 characters. If the same item is included in more then one file, or if the same item appears more than once within a single file, the latest value supersedes any earlier values. THEMIS Overview -------------------------------------------------------- From [5]: "Infrared Imaging by THEMIS -------------------------- The Thermal Emissing Imaging System (THEMIS) will determine the mineralogy of the martian surface using multispectral, thermal infrared images that have 10 spectral bands between 6.5 and 14.5 micrometers. The position of the 10 infrared bands were selected in part based on the mineral results from the Mars Global Surveyor Thermal Emission Spectrometer (TES). The entire planet will be mapped in the infrared at 100 meters per pixel resolution. Visible Imaging by THEMIS ------------------------- THEMIS will acquire visible-light images with 20 meters per pixel resolution. There are 5 visible wavelength bands available, and the option exists to choose which of the 5 are used for any given image. Thus, these 20 m/pixel images can be monochrome (black-and-white) or color. Up to 15,000 visible images will obtained; each will cover an area 20 km by 20 km on the surface of Mars. The infrared-wavelength imaging portion of THEMIS is being fabricated at Hughes Santa Barbara Remote Sensing of Goleta, California. The visible-wavelength camera portion of THEMIS is being provided by Malin Space Science Systems of San Diego, California. Following the March 2001 launch, THEMIS will be controlled and operated from the Arizona State University campus in Tempe, Arizona." THEMIS Mounting Alignment -------------------------------------------------------- Refer to the latest version of Mars Odyssey 2001 Frames Definition Kernel ([4]) for the THEMIS frame definitions and mounting alignment information. THEMIS Optics Parameters -------------------------------------------------------- The following THEMIS IR and VIS first order optical parameters are included in the data section below (provided in [6]): ----------------------------------------------------------------- parameter IR VIS ----------------------------------------------------------------- Focal Length, mm 200.0 200.0 f/ratio f/1.7 f/1.7 FOV Angular Size, deg 4.6 by 3.5 2.9 by 2.9 IFOV, mrad/pixel (?) (?) Radial distortion coeff. (?) (?) ----------------------------------------------------------------- The values in the keywords are given in the same units as in the table above except for angles which are given in radians. INS-53031_IFOV = ( ?, ? ) INS-53031_ALPHA0 = ( ? ) INS-53031_IFOV = ( ?, ? ) INS-53031_ALPHA0 = ( ? ) \begindata INS-53031_FOCAL_LENGTH = ( 200.0 ) INS-53031_F/RATIO = ( 117.647 ) INS-53031_FOV_ANGULAR_SIZE = ( 0.08028515, 0.06108652 ) INS-53032_FOCAL_LENGTH = ( 200.0 ) INS-53032_F/RATIO = ( 117.647 ) INS-53032_FOV_ANGULAR_SIZE = ( 0.05061455, 0.05061455 ) \begintext THEMIS FOV Definitions --------------------------------------------------------------------------- Both FOVs defined in this section are based on the nominal THEMIS detector FOV angular sizes provided in the Table in "THEMIS Optics Parameters" section above. The set of keywords in the data section below defines nominal THEMIS IR FOV with respect to the M01_THEMIS_IR frame to be a rectangle with angular sizes of 4.6 degrees in M01_THEMIS_IR XZ-plane (plane parallel to the IR CCD lines and, nominally, normal to the mapping orbit plane) and 3.5 degrees in M01_THEMIS_IR YZ-plane (plane parallel to the IR CCD columns and, nominally, parallel to the mapping orbit plane) with the boresight along +Z axis of M01_THEMIS_IR frame. \begindata INS-53031_FOV_FRAME = 'M01_THEMIS_IR' INS-53031_FOV_SHAPE = 'RECTANGLE' INS-53031_BORESIGHT = ( 0.0000000000000000 0.0000000000000000 +1.0000000000000000 ) INS-53031_FOV_BOUNDARY_CORNERS = ( +0.0401131048219420 +0.0305139341505130 +0.9987291117436200 -0.0401131048219420 +0.0305139341505130 +0.9987291117436200 -0.0401131048219420 -0.0305139341505130 +0.9987291117436200 +0.0401131048219420 -0.0305139341505130 +0.9987291117436200 ) \begintext The set of keywords in the data section below defines nominal THEMIS VIS FOV with respect to the M01_THEMIS_VIS frame to be a rectangle with angular sizes of 2.9 degrees in M01_THEMIS_VIS XZ-plane (plane parallel to the VIS CCD lines and, nominally, normal to the mapping orbit plane) and 2.9 degrees in M01_THEMIS_VIS YZ-plane (plane parallel to the VIS CCD columns and, nominally, parallel to the mapping orbit plane) with the boresight along +Z axis of M01_THEMIS_VIS frame. \begindata INS-53032_FOV_FRAME = 'M01_THEMIS_VIS' INS-53032_FOV_SHAPE = 'RECTANGLE' INS-53032_BORESIGHT = ( 0.0000000000000000 0.0000000000000000 +1.0000000000000000 ) INS-53032_FOV_BOUNDARY_CORNERS = ( +0.0252964752242800 +0.0252964752242800 +0.9993598834666400 -0.0252964752242800 +0.0252964752242800 +0.9993598834666400 -0.0252964752242800 -0.0252964752242800 +0.9993598834666400 +0.0252964752242800 -0.0252964752242800 +0.9993598834666400 ) \begintext THEMIS Optical Distortion Specification -------------------------------------------------------- (?) THEMIS Detector Parameters -------------------------------------------------------- The following THEMIS IR and VIS detector geometry parameters are included in the data section below (provided in [6]): ----------------------------------------------------------------- parameter IR VIS ----------------------------------------------------------------- Pixel size, mm (?) (?) Number of pixels/mm (?) (?) Detector Size (physical) 320 by 240 1024 by 1024 Detector Array Center 159.5, 119.5 511.5, 511.5 Detector Size (proactive) (?) (?) Detector Array Center (?) (?) ----------------------------------------------------------------- The values in the keywords are given in the same units as in the table above. INS-53031_PIXEL_SIZE = ( ? ) INS-53031_K = ( ? ) INS-53032_PIXEL_SIZE = ( ? ) INS-53032_K = ( ? ) \begindata INS-53031_PIXEL_SAMPLES = ( 320 ) INS-53031_PIXEL_LINES = ( 240 ) INS-53031_CENTER = ( 159.5, 119.5 ) INS-53032_PIXEL_SAMPLES = ( 1024 ) INS-53032_PIXEL_LINES = ( 1024 ) INS-53032_CENTER = ( 511.5, 511.5 ) \begintext Relationship Between THEMIS Frames and Detector Line/Sample Coordinates --------------------------------------------------------------------------- IR Detector: (?) VIS Detector: (?) Filter Bands --------------------------------------------------------------------------- From [?]: "(?)" The following are the IR detector filter bands: IR Filter ID Last line ------------- ---------- --------- (?) (?) (?) (?) (?) (?) (?) (?) (?) ... ... ... The following are the VIS detector filter bands: IR Filter ID Last line ------------- ---------- --------- (?) (?) (?) (?) (?) (?) (?) (?) (?) ... ... ... Set of keywords below contains wavelength ranges for each detector/filter pair. INS-53031_(?)_BAND = ( ?, ? ) INS-53031_(?)_BAND = ( ?, ? ) INS-53031_(?)_BAND = ( ?, ? ) ... INS-53032_(?)_BAND = ( ?, ? ) INS-53032_(?)_BAND = ( ?, ? ) INS-53032_(?)_BAND = ( ?, ? ) ... \begindata \begintext Relationship Between Filters and Detector Areas --------------------------------------------------------------------------- From [?]: "(?)" Assuming that IR filter plate is ideally centered with respect to the optics and detector and that each filter covers exactly (?) pixels, the following detector areas will be illuminated through the filters: IR Filter ID First line Last line ------------- ---------- --------- (?) (?) (?) (?) (?) (?) (?) (?) (?) ... ... ... Assuming that VIS filter plate is ideally centered with respect to the optics and detector and that each filter covers exactly (?) pixels, the following detector areas will be illuminated through the filters: VIS Filter ID First line Last line ------------- ---------- --------- (?) (?) (?) (?) (?) (?) (?) (?) (?) ... ... ... Set of keywords below contains start and stop line numbers for each detector/filter pair. INS-53031_(?)_LINES = ( ?, ? ) INS-53031_(?)_LINES = ( ?, ? ) INS-53031_(?)_LINES = ( ?, ? ) ... INS-53032_(?)_LINES = ( ?, ? ) INS-53032_(?)_LINES = ( ?, ? ) INS-53032_(?)_LINES = ( ?, ? ) ... \begindata \begintext Platform ID --------------------------------------------------------------------------- This number is the NAIF instrument ID of the platform on which the cameras are mounted. For both THEMIS detectors such platform is the spacecraft itself. \begindata INS-53031_PLATFORM_ID = ( -53000 ) INS-53032_PLATFORM_ID = ( -53000 ) \begintext