KPL/IK \beginlabel PDS_VERSION_ID = PDS3 RECORD_TYPE = STREAM RECORD_BYTES = "N/A" ^SPICE_KERNEL = "lidar_v1.ti" MISSION_NAME = HAYABUSA SPACECRAFT_NAME = HAYABUSA DATA_SET_ID = "HAY-A-SPICE-6-V1.0" KERNEL_TYPE_ID = IK PRODUCT_ID = "lidar_v1.ti" PRODUCT_CREATION_TIME = 2009-11-30T13:50:42 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 = "LIGHT DETECTION AND RANGING INSTRUMENT" NAIF_INSTRUMENT_ID = -130300 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 LIght Detection And Ranging (LIDAR) instrument, created by the Hayabusa Joint Science Team. The LIDAR FOV defined in this file is 0.0566 by 0.0566 degrees. " END_OBJECT = SPICE_KERNEL \endlabel Hayabusa LIDAR Instrument and Frame Kernel Kile =========================================================================== This instrument kernel (I-kernel) contains the frames and FOV definitions for Hayabusa LIght Detection And Ranging (LIDAR). Version and Date --------------------------------------------------------------------------- Version 1.0 by Boris Semenov, NAIF/JPL, 23 Sep. 2009 Removed narrative in Japanese. Added miscellaneous comments. File name and version were not changed. Version 1.0 by Shinsuke Abe, ISAS/JAXA, 09 Sep 2005. Refered to NIRS ik wrriten by Masanao Abe. 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 LIDAR, -130300. The remainder of the keyword is an underscore character followed by the unique name of the data item. For example, LIDAR boresight vector is specified by INS-130300_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 LIDAR Frame Definitions --------------------------------------------------------------------------- Two frames are defined for LIDAR: HAYABUSA_LIDAR_IDEAL and HAYABUSA_LIDAR. The HAYABUSA_LIDAR_IDEAL frame incorporates the ideal fixed instrument alignment relative to the spacecraft frame, HAYABUSA_SC_BUS_PRIME. The +Z axis of the HAYABUSA_LIDAR_IDEAL frame is along the ideally-mounted instrument boresight. The HAYABUSA_LIDAR frame incorporates the the actual instrument misalignment relative to its ideal orientation represented by the HAYABUSA_LIDAR_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. \begindata FRAME_HAYABUSA_LIDAR = -130300 FRAME_-130300_NAME = 'HAYABUSA_LIDAR' FRAME_-130300_CLASS = 4 FRAME_-130300_CLASS_ID = -130300 FRAME_-130300_CENTER = -130 TKFRAME_-130300_SPEC = 'ANGLES' TKFRAME_-130300_RELATIVE = 'HAYABUSA_LIDAR_IDEAL' TKFRAME_-130300_ANGLES = ( -0.1140, -0.0012, 0.0 ) TKFRAME_-130300_AXES = ( 1, 2, 3 ) TKFRAME_-130300_UNITS = 'DEGREES' FRAME_HAYABUSA_LIDAR_IDEAL = -130301 FRAME_-130301_NAME = 'HAYABUSA_LIDAR_IDEAL' FRAME_-130301_CLASS = 4 FRAME_-130301_CLASS_ID = -130301 FRAME_-130301_CENTER = -130 TKFRAME_-130301_SPEC = 'ANGLES' TKFRAME_-130301_RELATIVE = 'HAYABUSA_SC_BUS_PRIME' TKFRAME_-130301_ANGLES = ( 0.0, 180.0, -90.0 ) TKFRAME_-130301_AXES = ( 1, 2, 3 ) TKFRAME_-130301_UNITS = 'DEGREES' \begintext LIDAR Field-Of-View Definition --------------------------------------------------------------------------- The LIDAR FOV is defined using a corner-style definition as a 0.0566 by 0.0566 degrees square pyramid centered around the boresight that points along the +Z axis of the HAYABUSA_LIDAR frame. The FOV shape is set to 'POLYGON'; it could also have been set to 'RECTANGLE'. The corner direction vectors are given counterclockwise as seen from boresight. \begindata INS-130300_FOV_FRAME = 'HAYABUSA_LIDAR' INS-130300_FOV_SHAPE = 'POLYGON' INS-130300_BORESIGHT = ( 0.0 0.0 1.0 ) INS-130300_FOV_BOUNDARY_CORNERS = ( 0.000494 0.000494 1.0 -0.000494 0.000494 1.0 -0.000494 -0.000494 1.0 0.000494 -0.000494 1.0 ) \begintext End of IK file.