KPL/IK PFS Instrument kernel =========================================================================== This instrument kernel (I-kernel) contains Mars Express Planetary Fourier Spectrometer (PFS) optics, detector, and FOV parameters. Version and Date --------------------------------------------------------------------------- Version 0.4 -- January 14, 2019 -- Marc Costa Sitja, ESAC/ESA Updated Field-of-View definitions and replicated SWC and LWC Field-of-View definitions for MEX_PFS_25_LEFT, MEX_PFS_12_LEFT, MEX_PFS_NADIR, MEX_PFS_12_RIGHT, MEX_PFS_25_RIGHT, and MEX_PFS_COLD_SPACE frames. Updated the boresight definition (to unitary) for all FoVs in order to avoid an error using GFTFOV with SPICE Toolkit versions earlier than N067. Version 0.3 -- October 6, 2008 -- J. Vazquez, MIG, SRE-OS/ESA Overview section added. Version 0.2 -- March 1, 2005 -- Boris Semenov, NAIF/JPL Replaced non-unit FOV_REF_VECTOR in INS-41510 FOV definition with a unit vector along +X to work around a bug in the GETFOV routine. For consistency, made the same change in the INS-41520 FOV definition. Version 0.1 -- July 8, 2003 -- Boris Semenov, NAIF/JPL Incorporated review comments from Alessandro Maturilli. Specifically: -- measured FWHM IFOV size (changed FOV definitions) -- measured spectral range -- timing offset Version 0.0 -- May 19, 2003 -- Boris Semenov, NAIF/JPL Initial release. References --------------------------------------------------------------------------- 1. ``Kernel Pool Required Reading'' 2. ``C-kernel Required Reading'' 3. ``Planetary Fourier Spectrometer Instrument Description (PFS-ICDR-02.01),'' V. Formisano, June 5, 2000 4. Mars Express Frames Definition Kernel (FK), latest version. 5. Review comments from Alessandro Maturilli; e-mail from June 19, 2003. 6. PSA EAICD, MEX-PFS-PSA-ICD-25. 7. ``Planetary Fourier Spectrometer Instrument Calibration Report, Volume II, V. Formisano, M. GIiuranna, et al., CNR IFSI, December 2002. 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 also be used if the file contains instrument field-of-view (FOV) specifications. 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 MEX instrument ID code, constructed using the spacecraft ID number, -41, followed by the NAIF three digit ID number for PFS Short Wave Channel (SWC), 510, or Long Wave Channel (LWC), 520. These IDs are defined in [4] as follows: Instrument name ID -------------------- ------ MEX_PFS -41500 MEX_PFS_SWC -41510 MEX_PFS_SWC_25_LEFT -41511 MEX_PFS_SWC_12_LEFT -41512 MEX_PFS_SWC_NADIR -41513 MEX_PFS_SWC_12_RIGHT -41514 MEX_PFS_SWC_25_RIGHT -41515 MEX_PFS_SWC_COLD_SPACE -41516 MEX_PFS_LWC -41520 MEX_PFS_LWC_25_LEFT -41521 MEX_PFS_LWC_12_LEFT -41522 MEX_PFS_LWC_NADIR -41523 MEX_PFS_LWC_12_RIGHT -41524 MEX_PFS_LWC_COLD_SPACE -41525 MEX_PFS_SCANNER -41530 The remainder of the keyword is an underscore character followed by the unique name of the data item. For example, the number of pixels of the SWC is specified by INS-41510_NUMBER_OF_PIXELS The upper bound on the length of all keywords is 32 characters. If a keyword is included in more then one file, or if the same keyword appears more than once within a single file, the last assignment supersedes any earlier assignments. Instrument Overview -------------------------------------------------------- From [6] and [3]: PFS is a Fourier Spectrometer working on 2 channels . The Martian radiation is divided in two parts by the entrance optics and then analised by two interferometers placed in two planes one ontop of the other. Being the interferometers extremely sensitive to optomechanical distortions, the interferometer box must be very rigid and thermally stable. Mechanical vibrations may affect the measurements. Each interferogram (each channel) is sampled every 150 nm displacement of the corner cubes retro reflectors. Therefore the motion itself must be extremely stable and accurate. The signal measured with 16 bits ADC, is filtered through 2 band pass filters, whose definition depend on the speed of the double pendulum motion. For the above reasons PFS is a very difficult experiment in space conditions. PFS is capable of investigating both the atmospheric and surface properties of Mars, as well as the interaction between the two. The primary scientific objectives include: - Three dimensional modelling of the current Martian climate, including physical and chemical parameters, and mapping of circulation features throughout the Mars Express mission. - Mapping seasonal variations of the atmosphere and the thermal properties of the Martian surface - Constraining the mineralogical properties of the surface layer of Mars Mounting Alignment -------------------------------------------------------- Refer to the latest version of the Mars Express Frames Definition Kernel (FK) [4] for the PFS reference frame definitions and mounting alignment information. Optics and Detector Parameters -------------------------------------------------------- This section contains assignments specifying the PFS SWC and LWC optics and detector parameters. The following PFS SWC and LWC optical and detector shape/size parameters are included in the data section below, taken from [3] (nominal values) and [5] (actual values): ----------------------------------------------------------------- parameter SWC LWC ----------------------------------------------------------------- Focal Length, mm 20.0 20.0 Detector shape square circle Detector size, mm 0.7 1.4 Number of pixels 1 1 IFOV, rad/pixel nominal 0.035 0.070 actual (FWHM) 0.029 0.048 ----------------------------------------------------------------- These values are provided in the assignments below, with the same units as in the table. \begindata INS-41510_FOCAL_LENGTH = ( 20.0 ) INS-41510_DETECTOR_SIZE = ( 0.7 ) INS-41510_NUMBER_OF_PIXELS = ( 1 ) INS-41510_IFOV = ( 0.029 ) INS-41520_FOCAL_LENGTH = ( 20.0 ) INS-41520_DETECTOR_SIZE = ( 1.4 ) INS-41520_NUMBER_OF_PIXELS = ( 1 ) INS-41520_IFOV = ( 0.048 ) \begintext FOV Definitions --------------------------------------------------------------------------- This section contains assignments defining the PFS SWC and LWC FOVs. These definitions are based on the PFS detector and optics parameters provided in the previous section and are provided in a format consistent with/required by the SPICE (CSPICE) function GETFOV (getfov_c). Short Wavelenght Channel (SWC) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Nominally the SWC FOV is defined as a cone with a half angle of 0.08 degrees, following the calibration campaign, the current value of the half angle is set to 0.076. It is defined with respect to the MEX_PFS_SWC frame but could also be used with the MEX_PFS_25_LEFT, MEX_PFS_12_LEFT, MEX_PFS_NADIR, MEX_PFS_12_RIGHT, MEX_PFS_25_RIGHT, and MEX_PFS_COLD_SPACE frames provided for designated scanner positions (see [4]). The cross-reference vector is a unit along the +X axis of the frame. \begindata INS-41510_NAME = 'MEX_PFS_SWC' INS-41510_BORESIGHT = ( 0.0 0.0 1.0 ) INS-41510_FOV_FRAME = 'MEX_PFS_SWC' INS-41510_FOV_SHAPE = 'CIRCLE' INS-41510_FOV_CLASS_SPEC = 'ANGLES' INS-41510_FOV_REF_VECTOR = ( 1.0 0.0 0.0 ) INS-41510_FOV_REF_ANGLE = ( 0.76 ) INS-41510_FOV_ANGLE_UNITS = 'DEGREES' INS-41511_NAME = 'MEX_PFS_SWC_25_LEFT' INS-41511_BORESIGHT = ( 0.0 0.0 1.0 ) INS-41511_FOV_FRAME = 'MEX_PFS_25_LEFT' INS-41511_FOV_SHAPE = 'CIRCLE' INS-41511_FOV_CLASS_SPEC = 'ANGLES' INS-41511_FOV_REF_VECTOR = ( 1.0 0.0 0.0 ) INS-41511_FOV_REF_ANGLE = ( 0.76 ) INS-41511_FOV_ANGLE_UNITS = 'DEGREES' INS-41512_NAME = 'MEX_PFS_SWC_12_LEFT' INS-41512_BORESIGHT = ( 0.0 0.0 1.0 ) INS-41512_FOV_FRAME = 'MEX_PFS_12_LEFT' INS-41512_FOV_SHAPE = 'CIRCLE' INS-41512_FOV_CLASS_SPEC = 'ANGLES' INS-41512_FOV_REF_VECTOR = ( 1.0 0.0 0.0 ) INS-41512_FOV_REF_ANGLE = ( 0.76 ) INS-41512_FOV_ANGLE_UNITS = 'DEGREES' INS-41513_NAME = 'MEX_PFS_SWC_NADIR' INS-41513_BORESIGHT = ( 0.0 0.0 1.0 ) INS-41513_FOV_FRAME = 'MEX_PFS_NADIR_SWC' INS-41513_FOV_SHAPE = 'CIRCLE' INS-41513_FOV_CLASS_SPEC = 'ANGLES' INS-41513_FOV_REF_VECTOR = ( 1.0 0.0 0.0 ) INS-41513_FOV_REF_ANGLE = ( 0.76 ) INS-41513_FOV_ANGLE_UNITS = 'DEGREES' INS-41514_NAME = 'MEX_PFS_SWC_12_RIGHT' INS-41514_BORESIGHT = ( 0.0 0.0 1.0 ) INS-41514_FOV_FRAME = 'MEX_PFS_12_RIGHT' INS-41514_FOV_SHAPE = 'CIRCLE' INS-41514_FOV_CLASS_SPEC = 'ANGLES' INS-41514_FOV_REF_VECTOR = ( 1.0 0.0 0.0 ) INS-41514_FOV_REF_ANGLE = ( 0.76 ) INS-41514_FOV_ANGLE_UNITS = 'DEGREES' INS-41515_NAME = 'MEX_PFS_SWC_25_RIGHT' INS-41515_BORESIGHT = ( 0.0 0.0 1.0 ) INS-41515_FOV_FRAME = 'MEX_PFS_25_RIGHT' INS-41515_FOV_SHAPE = 'CIRCLE' INS-41515_FOV_CLASS_SPEC = 'ANGLES' INS-41515_FOV_REF_VECTOR = ( 1.0 0.0 0.0 ) INS-41515_FOV_REF_ANGLE = ( 0.76 ) INS-41515_FOV_ANGLE_UNITS = 'DEGREES' INS-41516_NAME = 'MEX_PFS_SWC_COLD_SPACE' INS-41516_BORESIGHT = ( 0.0 0.0 1.0 ) INS-41516_FOV_FRAME = 'MEX_PFS_COLD_SPACE' INS-41516_FOV_SHAPE = 'CIRCLE' INS-41516_FOV_CLASS_SPEC = 'ANGLES' INS-41516_FOV_REF_VECTOR = ( 1.0 0.0 0.0 ) INS-41516_FOV_REF_ANGLE = ( 0.76 ) INS-41516_FOV_ANGLE_UNITS = 'DEGREES' \begintext Long Wavelenght Channel (SWC) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Nominally the LWC FOV is defined as a cone with a half angle of 1.375 degrees, following the calibration campaign the angle was set to . It is defined with respect to the MEX_PFS_LWC frame but could also be used with the MEX_PFS_25_LEFT, MEX_PFS_12_LEFT, MEX_PFS_NADIR, MEX_PFS_12_RIGHT, MEX_PFS_25_RIGHT, and MEX_PFS_COLD_SPACE frames provided for designated scanner positions (see [4]). The boresight vector, along the +Z axis of the frame, was scaled to be equal to the focal length. The cross-reference vector is a unit vector along the +X axis the frame. \begindata INS-41520_NAME = 'MEX_PFS_LWC' INS-41520_FOV_FRAME = 'MEX_PFS_LWC' INS-41520_FOV_SHAPE = 'CIRCLE' INS-41520_BORESIGHT = ( 0.0 0.0 1.0 ) INS-41520_FOV_CLASS_SPEC = 'ANGLES' INS-41520_FOV_REF_VECTOR = ( 1.0 0.0 0.0 ) INS-41520_FOV_REF_ANGLE = ( 1.345 ) INS-41520_FOV_ANGLE_UNITS = 'DEGREES' INS-41521_NAME = 'MEX_PFS_LWC_25_LEFT' INS-41521_FOV_FRAME = 'MEX_PFS_25_LEFT' INS-41521_FOV_SHAPE = 'CIRCLE' INS-41521_BORESIGHT = ( 0.0 0.0 1.0 ) INS-41521_FOV_CLASS_SPEC = 'ANGLES' INS-41521_FOV_REF_VECTOR = ( 1.0 0.0 0.0 ) INS-41521_FOV_REF_ANGLE = ( 1.345 ) INS-41521_FOV_ANGLE_UNITS = 'DEGREES' INS-41522_NAME = 'MEX_PFS_LWC_12_LEFT' INS-41522_FOV_FRAME = 'MEX_PFS_12_LEFT' INS-41522_FOV_SHAPE = 'CIRCLE' INS-41522_BORESIGHT = ( 0.0 0.0 1.0 ) INS-41522_FOV_CLASS_SPEC = 'ANGLES' INS-41522_FOV_REF_VECTOR = ( 1.0 0.0 0.0 ) INS-41522_FOV_REF_ANGLE = ( 1.345 ) INS-41522_FOV_ANGLE_UNITS = 'DEGREES' INS-41523_NAME = 'MEX_PFS_LWC_NADIR' INS-41523_FOV_FRAME = 'MEX_PFS_NADIR_LWC' INS-41523_FOV_SHAPE = 'CIRCLE' INS-41523_BORESIGHT = ( 0.0 0.0 1.0 ) INS-41523_FOV_CLASS_SPEC = 'ANGLES' INS-41523_FOV_REF_VECTOR = ( 1.0 0.0 0.0 ) INS-41523_FOV_REF_ANGLE = ( 1.345 ) INS-41523_FOV_ANGLE_UNITS = 'DEGREES' INS-41524_NAME = 'MEX_PFS_LWC_12_RIGHT' INS-41524_FOV_FRAME = 'MEX_PFS_12_RIGHT' INS-41524_FOV_SHAPE = 'CIRCLE' INS-41524_BORESIGHT = ( 0.0 0.0 1.0 ) INS-41524_FOV_CLASS_SPEC = 'ANGLES' INS-41524_FOV_REF_VECTOR = ( 1.0 0.0 0.0 ) INS-41524_FOV_REF_ANGLE = ( 1.345 ) INS-41524_FOV_ANGLE_UNITS = 'DEGREES' INS-41525_NAME = 'MEX_PFS_LWC_25_RIGHT' INS-41525_FOV_FRAME = 'MEX_PFS_25_RIGHT' INS-41525_FOV_SHAPE = 'CIRCLE' INS-41525_BORESIGHT = ( 0.0 0.0 1.0 ) INS-41525_FOV_CLASS_SPEC = 'ANGLES' INS-41525_FOV_REF_VECTOR = ( 1.0 0.0 0.0 ) INS-41525_FOV_REF_ANGLE = ( 1.345 ) INS-41525_FOV_ANGLE_UNITS = 'DEGREES' INS-41526_NAME = 'MEX_PFS_LWC_COLD_SPACE' INS-41526_FOV_FRAME = 'MEX_PFS_COLD_SPACE' INS-41526_FOV_SHAPE = 'CIRCLE' INS-41526_BORESIGHT = ( 0.0 0.0 1.0 ) INS-41526_FOV_CLASS_SPEC = 'ANGLES' INS-41526_FOV_REF_VECTOR = ( 1.0 0.0 0.0 ) INS-41526_FOV_REF_ANGLE = ( 1.345 ) INS-41526_FOV_ANGLE_UNITS = 'DEGREES' \begintext From [7]: The twe channels are not perfectly co-aligned, but are largely overlapping PFS can not compensate for the motion of the spacecraft during data acquisition. Considering that each measure will take about 6 seconds, the resulting smearing of the image will produce elongated footprints of 7.1 x 22.5 km and 12.6 x 27.5 km at the pericenter. Therefore, it is important to remember that the retrieved quantities represent actually only an average situation inside the footprint. Spectral Parameters --------------------------------------------------------------------------- This section contains assignments specifying PFS SWC and LWC spectral resolution parameters. The following PFS SWC and LWC spectral resolution parameters are included in the data section below, taken from [3] (nominal values) and [5] (actual values): ----------------------------------------------------------------- parameter SWC LWC ----------------------------------------------------------------- Spectral range, microns nominal 1.2 - 5.0 5 - 50 actual 1.2 - 5.0 5.1 - 45 Number of spectral bins 8192 2048 ----------------------------------------------------------------- These values are provided in the assignments below, with the same units as in the table. \begindata INS-41510_SPECTRAL_RANGE = ( 1.2, 5.0 ) INS-41510_NUMBER_OF_BINS = ( 8192 ) INS-41520_SPECTRAL_RANGE = ( 5.1, 45.0 ) INS-41520_NUMBER_OF_BINS = ( 2048 ) \begintext Timing --------------------------------------------------------------------------- This section specified the timing delay that should be considered in the data processing. For each measurement (spectrum) the SCET time provided in the data corresponds to the exact time when the measurement starts. To this time, one has to add a delay of 0.45 seconds due to time needed to accelerate the double pendulum and reach the operational velocity used to scan all the spectrum. The delay value in seconds is provided in the assignments below. \begindata INS-41510_TIMING_DELAY = ( 0.45 ) INS-41520_TIMING_DELAY = ( 0.45 ) \begintext Platform ID --------------------------------------------------------------------------- This number is the NAIF instrument ID of the platform on which the instrument is mounted. PFS (and all its parts) is mounted directly on the spacecraft. \begindata INS-41500_PLATFORM_ID = ( -41000 ) INS-41510_PLATFORM_ID = ( -41000 ) INS-41520_PLATFORM_ID = ( -41000 ) INS-41530_PLATFORM_ID = ( -41000 ) \begintext End of IK file.