KPL/IK Hayabusa2 Mascot Camera Instrument Kernel ========================================= Version and Date ---------------------------------------------------------------------- Version 2.0 -- Thu Jan 24 2025 -- Shin-ya Murakami (JAXA) Fixed typos and LED parameters keywords. Added Naming Conventions section. Updated the Optical Distortion section. Version 1.0 -- Tue Apr 29 2019 -- Klaus-Dieter Matz (DLR) Initial Release. Contact Information ---------------------------------------------------------------------- If you have any questions regarding this file contact Thomas Roatsch (DLR) (+49) 30 67055 339 References ---------------------------------------------------------------------- 1. ``Frames Required Reading'' 2. Hayabusa2 Mascot Lander Frames Kernel, Latest Version 3. ``CAD drawings of the nominal position of MARA and Cam'', Email from M. Grott, August 10, 2016 4. ``The Camera of the MASCOT Asteroid Lander on Board Hayabusa 2'', Jaumann, R., Schmitz, N., Koncz, A. et al. Space Sci Rev (2017) 208: 375. 5. ``Mascot Cam Interface Control Document'', MSC-CAM-1000-C01I_IssC_DRAFT_PFM_CAM_ICD.pdf Naming Conventions ---------------------------------------------------------- All names referencing values in this IK file start with the characters `INS' followed by the NAIF Hayabusa2 ID number (-37) followed by a NAIF three digit ID code for one of the structures. This is the full list of names and IDs for the structures described by this IK file: HAYABUSA2_MASCOT -37700 HAYABUSA2_MASCOT_CAM -37730 HAYABUSA2_MASCOT_CAM_NONE -37731 HAYABUSA2_MASCOT_CAM_BLUE -37732 HAYABUSA2_MASCOT_CAM_GREEN -37733 HAYABUSA2_MASCOT_CAM_RED -37734 HAYABUSA2_MASCOT_CAM_NIR -37735 The remainder of the keyword name is an underscore character followed by the unique name of the data item. For example, the MASCOT Camera boresight direction in the HAYABUSA2_MASCOT_CAM frame is specified by: INS-37730_BORESIGHT The upper bound on the length of the name of any data item 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. Overview ------------------------------------------------------------------------------ Citation from [4]: MasCam is a compact wide-angle Complementary Metal Oxide Semiconductor (CMOS) camera, which has been designed to image a large part of the asteroid's surface in the field of view (FOV) of MASCOT. The lower front side of the camera, housing contains the optics, which has an optical axis that is slightly tilted towards the surface, such that the center of the camera's 54.8 degrees square FOV is located at an angle of 22 degrees with respect to the surface plane. This is to ensure that both the surface close to the lander and the horizon are in the FOV, when the lander rests horizontally on the surface after touch-down. The optical layout of the camera is designed according to the Scheimpflug principle (Scheimpflug angle: 7.935 degrees) with an aperture ratio of f/16, so that the entire scene along the camera's depth of field, from 150 mm to the local horizon, is in focus. The camera utilizes a 1024 x 1024 pixel radiation-tolerant CMOS image sensor, which is sensitive in the 400 - 1000 nm wavelength range, peaking at 600-700 nm. Together with the 14.8 mm focal length, this yields a nominal ground resolution of 150 micron/px at 150 mm distance. An LED array, equipped with 4 x 36 LEDs of four different colors, centered at 470 nm (Blue), 530 nm (Green), 640 nm (Red), and 805 nm (NIR) illuminates the near field of the surface at night for color imaging. ([4] contains a wrong value for the Scheimpflug angle, it was corrected in this citation.) Although most camera parameters are independent from the LED illumination, with the distortion as the main exception, five parameter sets, one for each illumination condition (BLUE, GREEN, RED, NIR, NONE) are defined. Optical Parameters ------------------------------------------------------------------------------ Parameters extracted from [3] and [4]. -------------------------------------------- parameter value -------------------------------------------- Focal Length, mm 14.8 f/ratio f/16.0 IFOV, rad/pixel 0.001014 Field of view, rad 0.9512 \begindata INS-37730_FOCAL_LENGTH = ( 14.8 ) INS-37730_FOV_ANGULAR_SIZE = ( 0.9512, 0.9512 ) INS-37730_IFOV = ( 0.001014 ) INS-37730_F/RATIO = ( 16.0 ) INS-37731_FOCAL_LENGTH = ( 14.8 ) INS-37731_FOV_ANGULAR_SIZE = ( 0.9512, 0.9512 ) INS-37731_IFOV = ( 0.001014 ) INS-37731_F/RATIO = ( 16.0 ) INS-37732_FOCAL_LENGTH = ( 14.8 ) INS-37732_FOV_ANGULAR_SIZE = ( 0.9512, 0.9512 ) INS-37732_IFOV = ( 0.001014 ) INS-37732_F/RATIO = ( 16.0 ) INS-37733_FOCAL_LENGTH = ( 14.8 ) INS-37733_FOV_ANGULAR_SIZE = ( 0.9512, 0.9512 ) INS-37733_IFOV = ( 0.001014 ) INS-37733_F/RATIO = ( 16.0 ) INS-37734_FOCAL_LENGTH = ( 14.8 ) INS-37734_FOV_ANGULAR_SIZE = ( 0.9512, 0.9512 ) INS-37734_IFOV = ( 0.001014 ) INS-37734_F/RATIO = ( 16.0 ) INS-37735_FOCAL_LENGTH = ( 14.8 ) INS-37735_FOV_ANGULAR_SIZE = ( 0.9512, 0.9512 ) INS-37735_IFOV = ( 0.001014 ) INS-37735_F/RATIO = ( 16.0 ) \begintext Sensor Parameters ------------------------------------------------------------------------------ Parameters extracted from [3], [4] and [5]. Due to the "Scheimpflug principle" the center of the sensor (i.e. the intersection of the optical axis) is distinctly different from the geometrical center. In a camera build by the "Scheimpflug principle" the optical axis is tilted against the normal vector of the sensor, thus enabling surface features near the camera and far away to be in focus. ----------------------------------------------------- parameter value ----------------------------------------------------- Pixel Size, microns 15.00 Detector Array Size, pixels 1024 Detector Array Center, samples 533.1 lines 608.88 Scheimpflug angle (from [5]), degree 7.935 radians 0.138492 \begindata INS-37730_PIXEL_SIZE = ( 15, 15 ) INS-37730_PIXEL_SAMPLES = 1024 INS-37730_PIXEL_LINES = 1024 INS-37730_CCD_CENTER = ( 533.1, 608.88 ) INS-37730_CCD_TILT = 0.138492 INS-37731_PIXEL_SIZE = ( 15, 15 ) INS-37731_PIXEL_SAMPLES = 1024 INS-37731_PIXEL_LINES = 1024 INS-37731_CCD_CENTER = ( 533.1, 608.88 ) INS-37731_CCD_TILT = 0.138492 INS-37732_PIXEL_SIZE = ( 15, 15 ) INS-37732_PIXEL_SAMPLES = 1024 INS-37732_PIXEL_LINES = 1024 INS-37732_CCD_CENTER = ( 533.1, 608.88 ) INS-37732_CCD_TILT = 0.138492 INS-37733_PIXEL_SIZE = ( 15, 15 ) INS-37733_PIXEL_SAMPLES = 1024 INS-37733_PIXEL_LINES = 1024 INS-37733_CCD_CENTER = ( 533.1, 608.88 ) INS-37733_CCD_TILT = 0.138492 INS-37734_PIXEL_SIZE = ( 15, 15 ) INS-37734_PIXEL_SAMPLES = 1024 INS-37734_PIXEL_LINES = 1024 INS-37734_CCD_CENTER = ( 533.1, 608.88 ) INS-37734_CCD_TILT = 0.138492 INS-37735_PIXEL_SIZE = ( 15, 15 ) INS-37735_PIXEL_SAMPLES = 1024 INS-37735_PIXEL_LINES = 1024 INS-37735_CCD_CENTER = ( 533.1, 608.88 ) INS-37735_CCD_TILT = 0.138492 \begintext LED Parameters ------------------------------------------------------------------------------ Parameters extracted from [4]: "An LED array, equipped with 4 x 36 LEDs of different colors (centered at 470 nm (blue), 530 nm (green), 640 nm (red), and 805 nm (NIR))." See also Table 2, S. 19. The following emission band center and band width data are taken from [4]. FWHM is the Full Width at Half Maximum. ------------------------------------ active LED band center FWHM range ------------------------------------ None 635 400 - 870 BLUE 465 455 - 477 GREEN 523 508 - 544 RED 633 623 - 640 NIR 812 792 - 827 \begindata INS-37730_BANDCENTER = ( 635 ) INS-37730_BANDWIDTH = ( 470 ) INS-37731_BANDCENTER = ( 635 ) INS-37731_BANDWIDTH = ( 470 ) INS-37732_BANDCENTER = ( 465 ) INS-37732_BANDWIDTH = ( 20 ) INS-37733_BANDCENTER = ( 523 ) INS-37733_BANDWIDTH = ( 36 ) INS-37734_BANDCENTER = ( 633 ) INS-37734_BANDWIDTH = ( 17 ) INS-37735_BANDCENTER = ( 812 ) INS-37735_BANDWIDTH = ( 35 ) \begintext FOV Definitions ------------------------------------------------------------------------------ Parameters extracted from [3] and [4]. \begindata INS-37730_FOV_FRAME = 'HAYABUSA2_MASCOT_CAM' INS-37730_FOV_SHAPE = 'RECTANGLE' INS-37730_BORESIGHT = ( 0.0, 0.0, 14.8 ) INS-37730_FOV_CLASS_SPEC = 'ANGLES' INS-37730_FOV_REF_VECTOR = ( 0.0, 1.0, 0.0 ) INS-37730_FOV_REF_ANGLE = ( 27.25 ) INS-37730_FOV_CROSS_ANGLE = ( 27.25 ) INS-37730_FOV_ANGLE_UNITS = ( 'DEGREES' ) INS-37731_FOV_FRAME = 'HAYABUSA2_MASCOT_CAM' INS-37731_FOV_SHAPE = 'RECTANGLE' INS-37731_BORESIGHT = ( 0.0, 0.0, 14.8 ) INS-37731_FOV_CLASS_SPEC = 'ANGLES' INS-37731_FOV_REF_VECTOR = ( 0.0, 1.0, 0.0 ) INS-37731_FOV_REF_ANGLE = ( 27.25 ) INS-37731_FOV_CROSS_ANGLE = ( 27.25 ) INS-37731_FOV_ANGLE_UNITS = ( 'DEGREES' ) INS-37732_FOV_FRAME = 'HAYABUSA2_MASCOT_CAM' INS-37732_FOV_SHAPE = 'RECTANGLE' INS-37732_BORESIGHT = ( 0.0, 0.0, 14.8 ) INS-37732_FOV_CLASS_SPEC = 'ANGLES' INS-37732_FOV_REF_VECTOR = ( 0.0, 1.0, 0.0 ) INS-37732_FOV_REF_ANGLE = ( 27.25 ) INS-37732_FOV_CROSS_ANGLE = ( 27.25 ) INS-37732_FOV_ANGLE_UNITS = ( 'DEGREES' ) INS-37733_FOV_FRAME = 'HAYABUSA2_MASCOT_CAM' INS-37733_FOV_SHAPE = 'RECTANGLE' INS-37733_BORESIGHT = ( 0.0, 0.0, 14.8 ) INS-37733_FOV_CLASS_SPEC = 'ANGLES' INS-37733_FOV_REF_VECTOR = ( 0.0, 1.0, 0.0 ) INS-37733_FOV_REF_ANGLE = ( 27.25 ) INS-37733_FOV_CROSS_ANGLE = ( 27.25 ) INS-37733_FOV_ANGLE_UNITS = ( 'DEGREES' ) INS-37734_FOV_FRAME = 'HAYABUSA2_MASCOT_CAM' INS-37734_FOV_SHAPE = 'RECTANGLE' INS-37734_BORESIGHT = ( 0.0, 0.0, 14.8 ) INS-37734_FOV_CLASS_SPEC = 'ANGLES' INS-37734_FOV_REF_VECTOR = ( 0.0, 1.0, 0.0 ) INS-37734_FOV_REF_ANGLE = ( 27.25 ) INS-37734_FOV_CROSS_ANGLE = ( 27.25 ) INS-37734_FOV_ANGLE_UNITS = ( 'DEGREES' ) INS-37735_FOV_FRAME = 'HAYABUSA2_MASCOT_CAM' INS-37735_FOV_SHAPE = 'RECTANGLE' INS-37735_BORESIGHT = ( 0.0, 0.0, 14.8 ) INS-37735_FOV_CLASS_SPEC = 'ANGLES' INS-37735_FOV_REF_VECTOR = ( 0.0, 1.0, 0.0 ) INS-37735_FOV_REF_ANGLE = ( 27.25 ) INS-37735_FOV_CROSS_ANGLE = ( 27.25 ) INS-37735_FOV_ANGLE_UNITS = ( 'DEGREES' ) \begintext Optical Distortion ------------------------------------------------------------------------------ Distortion of the lens is limited to less than 1%, and distortion stability is within +- 0.1 % [4]. End of IK file.