KPL/IK \beginlabel PDS_VERSION_ID = PDS3 RECORD_TYPE = STREAM RECORD_BYTES = "N/A" ^SPICE_KERNEL = "amica31.ti" MISSION_NAME = HAYABUSA SPACECRAFT_NAME = HAYABUSA DATA_SET_ID = "HAY-A-SPICE-6-V1.0" KERNEL_TYPE_ID = IK PRODUCT_ID = "amica31.ti" PRODUCT_CREATION_TIME = 2009-11-30T13:50:41 PRODUCER_ID = JAXA MISSION_PHASE_NAME = "N/A" PRODUCT_VERSION_TYPE = ACTUAL PLATFORM_OR_MOUNTING_NAME = "HAYABUSA SPACECRAFT BUS" START_TIME = "N/A" STOP_TIME = "N/A" SPACECRAFT_CLOCK_START_COUNT = "N/A" SPACECRAFT_CLOCK_STOP_COUNT = "N/A" TARGET_NAME = "25143 ITOKAWA" INSTRUMENT_NAME = "ASTEROID MULTI-BAND IMAGING CAMERA" NAIF_INSTRUMENT_ID = -130102 SOURCE_PRODUCT_ID = "N/A" NOTE = "See comments in the file for details" OBJECT = SPICE_KERNEL INTERCHANGE_FORMAT = ASCII KERNEL_TYPE = INSTRUMENT DESCRIPTION = "SPICE I-Kernel (IK) file containing FOV and reference frame definitions for the Hayabusa Asteroid Multi-band Imaging CAmera (AMICA) instrument, created by the Hayabusa Joint Science Team. " END_OBJECT = SPICE_KERNEL \endlabel Hayabusa NIRS Instrument and Frame Kernel Kile =========================================================================== This instrument kernel (I-kernel) contains the frames and FOV definitions for Hayabusa Asteroid Multi-band Imaging CAmera (AMICA). Version and Date --------------------------------------------------------------------------- Version 3.1 by Boris Semenov, NAIF/JPL, 23 Sep. 2009. Added miscellaneous comments. File name and version were not changed. Version 3.1 by Naru Hirata, Univ. of Aizu, 25 Jul. 2008. ***** IMPORTANT ***** This is a bug-fix release for v 3.0, which include wrong pointing vector angles. Here is the corrected line. TKFRAME_-130102_ANGLES = ( -0.087, -0.124, -0.380) PLEASE REPLACE the older version, v 3.0, with a new one and DISCARD any results that depend on wrong values from the older version. Version 3.0 by Naru Hirata, Univ. of Aizu, 10 Apr. 2007. The alignments and the focal length are updated by results of in-flight calibration. TKFRAME_-130102_ANGLES = ( -0.087, -0.124, 0.380) INS-130102_FOCAL_LENGTH = ( 0.1208 ) Original efforts on in-flight calibration were done by Etsuko Nemoto (Univ. of Aizu) and Masateru Ishiguro (Seoul National Univ.). Details are described in a following paper. Ishiguro et al. (2007) Calibration and Performance of Asteroid Multi-band Imaging Camera (AMICA) onboard Hayabusa Spacecraft, (in prep). Version 2.0 by Naru Hirata, Kobe University, 19 Oct. 2005. A definition of the camera boresight is again changed: INS-130102_CENTER = ( 511.5, 511.5 ) Asignments of IDs are changed: NAIF ID ------------------------------------------------ HAYABUSA -130 HAYABUSA_SC_BUS_PRIME -130000 IDs for ONC/AMICA -1301xx HAYABUSA_AMICA_IDEAL -130101 HAYABUSA_AMICA -130102 ------------------------------------------------ Version 1.0 by Naru Hirata, Kobe University, 3 Sept. 2005. Modified the values of alignment and focal length: TKFRAME_-130001_RELATIVE = 'HAYABUSA_AMICA_IDEAL' TKFRAME_-130001_ANGLES = ( -0.1047822858, -0.1069183120, -0.45) TKFRAME_-130001_AXES = ( 1, 2, 3 ) TKFRAME_-130001_UNITS = 'DEGREES' INS-130001_FOCAL_LENGTH = ( 0.1204711614 ) INS-130001_F_NUMBER = ( 8.0 ) Version 0.4 by Naru Hirata, Kobe University, 27 July 2005. Modified the values of alignment: TKFRAME_-130001_ANGLES = ( 0.0, 180.0, -90.0 ) TKFRAME_-130001_AXES = ( 1, 2, 3 ) TKFRAME_-130001_ANGLES = ( -90.0, 180.0, 180.0 ) TKFRAME_-130001_AXES = ( 3, 2, 3 ) Version 0.3 (prototype) by Shingo Kobayashi, Univ. of Aizu, 21 July 2005. Added to a new item as follows: INS-130001_UPVECTOR = ( 0.0 -1.0 0.0 ) Version 0.2 (prototype) by Naru Hirata, Kobe University, 24 June 2005. Added to some new items as follows: INS-130001_PIXEL_SAMPLES = ( 1024 ) INS-130001_PIXEL_LINES = ( 1024 ) INS-130001_CENTER = ( 512.5, 512.5 ) INS-130001_PIXEL_SIZE = ( 0.000012 ) Version 0.1 (prototype) by Naru Hirata, Kobe University, 5 June 2004. Version 0.0 (prototype) by Naru Hirata, Kobe University, 25 May 2004. 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 be used if the file contains instrument field-of-view (FOV) specification. The frame definitions information is accessed via any interfaces utilizing SPICE frames subsystem (PXFORM, etc). This file was created with, and can be updated with a text editor or word processor. Conventions for Specifying Data --------------------------------------------------------------------------- Instrument data items are specified using ``keyword=value'' assignments. All keywords referencing instrument values in this I-kernel start with the characters `INS' followed by the NAIF instrument ID code for AMICA, -130102. The remainder of the keyword is an underscore character followed by the unique name of the data item. For example, AMICA boresight vector is specified by INS-130102_BORESIGHT The upper bound on the length of all keywords is 32 characters. Hayabusa Spacecraft Frame Definition --------------------------------------------------------------------------- This HAYABUSA_SC_BUS_PRIME frame definition is a copy of the definition provided in the main Hayabusa FK file. It is included in this IK file for historical reasons. \begindata FRAME_HAYABUSA_SC_BUS_PRIME = -130000 FRAME_-130000_NAME = 'HAYABUSA_SC_BUS_PRIME' FRAME_-130000_CLASS = 3 FRAME_-130000_CLASS_ID = -130000 FRAME_-130000_CENTER = -130 CK_-130000_SCLK = -130 CK_-130000_SPK = -130 \begintext AMICA Frame Definitions --------------------------------------------------------------------------- Two frames are defined for AMICA: HAYABUSA_AMICA_IDEAL and HAYABUSA_AMICA. The HAYABUSA_AMICA_IDEAL frame incorporates the ideal fixed instrument alignment relative to the spacecraft frame, HAYABUSA_SC_BUS_PRIME. The +Z axis of the HAYABUSA_AMICA_IDEAL frame is along the ideally-mounted instrument boresight. The HAYABUSA_AMICA frame incorporates the the actual instrument misalignment relative to its ideal orientation represented by the HAYABUSA_AMICA_IDEAL frame. The +Z axis of this frame is along the actual instrument boresight. Both frames are defined as fixed offset frames with their orientation specified using Euler angles. Note that angles in the frame definitions are specified for "from instrument to base (relative to) frame" transformation. It is also noted that these instrument frames are different from the frame definitions for mechanical design, which are officially referred in printed materials. The boresight of the camera points the -Z axis in the coordinates for mechanical design, while it points the +Z axis in the SPICE instrument frame. \begindata FRAME_HAYABUSA_AMICA = -130102 FRAME_-130102_NAME = 'HAYABUSA_AMICA' FRAME_-130102_CLASS = 4 FRAME_-130102_CLASS_ID = -130102 FRAME_-130102_CENTER = -130 TKFRAME_-130102_SPEC = 'ANGLES' TKFRAME_-130102_RELATIVE = 'HAYABUSA_AMICA_IDEAL' TKFRAME_-130102_ANGLES = ( -0.087, -0.124, -0.380) TKFRAME_-130102_AXES = ( 1, 2, 3 ) TKFRAME_-130102_UNITS = 'DEGREES' FRAME_HAYABUSA_AMICA_IDEAL = -130101 FRAME_-130101_NAME = 'HAYABUSA_AMICA_IDEAL' FRAME_-130101_CLASS = 4 FRAME_-130101_CLASS_ID = -130101 FRAME_-130101_CENTER = -130 TKFRAME_-130101_SPEC = 'ANGLES' TKFRAME_-130101_RELATIVE = 'HAYABUSA_SC_BUS_PRIME' TKFRAME_-130101_ANGLES = ( 0.0, 180.0, -90.0 ) TKFRAME_-130101_AXES = ( 1, 2, 3 ) TKFRAME_-130101_UNITS = 'DEGREES' \begintext AMICA Field-Of-View Definition --------------------------------------------------------------------------- The AMICA FOV is defined using a corner-style definition as a 5.83 by 5.83 degrees square pyramid centered around the boresight that points along the +Z axis of the HAYABUSA_AMICA frame. FOV corner directions are defined assuming that: - FOV has square shape with its sides along X and Y axes of the instrument's frame; - FOV angular size in X direction is 5.83 degrees; in Y direction -- 5.83 degrees; - boresight vector intersects FOV exactly in the center of the rectangle; The FOV shape is set to 'POLYGON'; it could also have been set to 'RECTANGLE'. Corner directions are given counterclockwise as seen from boresight. \begindata INS-130102_PIXEL_SAMPLES = ( 1024 ) INS-130102_PIXEL_LINES = ( 1024 ) INS-130102_CENTER = ( 511.5, 511.5 ) INS-130102_PIXEL_SIZE = ( 0.000012 ) INS-130102_FOV_FRAME = 'HAYABUSA_AMICA' INS-130102_FOV_SHAPE = 'POLYGON' INS-130102_BORESIGHT = ( 0.0 0.0 1.0 ) INS-130102_UPVECTOR = ( 0.0 -1.0 0.0 ) INS-130102_FOV_BOUNDARY_CORNERS = ( 0.006144 0.006144 0.1204711614 -0.006144 0.006144 0.1204711614 -0.006144 -0.006144 0.1204711614 0.006144 -0.006144 0.1204711614 ) \begintext AMICA Optical Parameters --------------------------------------------------------------------------- The following table summarizes a camera optics parameters: ----------------------------------------------------------------- parameter ONC-T(AMICA) ----------------------------------------------------------------- Focal Length, mm 120.8 f/ratio f/8.0 IFOV, arcsec/pixel 20.47 Field of view (degree) Horizontal 5.7 Vertical 5.7 ----------------------------------------------------------------- These values are incorporated in the keywords below; focal lengths and aperture are converted to METERS. \begindata INS-130102_FOCAL_LENGTH = ( 0.1208 ) INS-130102_F_NUMBER = ( 8.0 ) \begintext End of IK file.