| gftfov |
|
Table of contents
Procedure
GFTFOV ( GF, is target in FOV? )
SUBROUTINE GFTFOV ( INST, TARGET, TSHAPE, TFRAME,
. ABCORR, OBSRVR, STEP, CNFINE, RESULT )
Abstract
Determine time intervals when a specified ephemeris object
intersects the space bounded by the field-of-view (FOV) of a
specified instrument.
Required_Reading
CK
FRAMES
GF
KERNEL
NAIF_IDS
PCK
SPK
TIME
WINDOWS
Keywords
EVENT
FOV
GEOMETRY
INSTRUMENT
SEARCH
WINDOW
Declarations
IMPLICIT NONE
INCLUDE 'gf.inc'
INCLUDE 'zzholdd.inc'
INTEGER LBCELL
PARAMETER ( LBCELL = -5 )
CHARACTER*(*) INST
CHARACTER*(*) TARGET
CHARACTER*(*) TSHAPE
CHARACTER*(*) TFRAME
CHARACTER*(*) ABCORR
CHARACTER*(*) OBSRVR
DOUBLE PRECISION STEP
DOUBLE PRECISION CNFINE ( LBCELL : * )
DOUBLE PRECISION RESULT ( LBCELL : * )
Brief_I/O
VARIABLE I/O DESCRIPTION
-------- --- --------------------------------------------------
MARGIN P Minimum complement of FOV cone angle.
LBCELL P SPICE Cell lower bound.
CNVTOL P Convergence tolerance.
MAXVRT P Maximum number of FOV boundary vertices.
INST I Name of the instrument.
TARGET I Name of the target body.
TSHAPE I Type of shape model used for target body.
TFRAME I Body-fixed, body-centered frame for target body.
ABCORR I Aberration correction flag.
OBSRVR I Name of the observing body.
STEP I Step size in seconds for finding FOV events.
CNFINE I SPICE window to which the search is restricted.
RESULT I-O SPICE window containing results.
Detailed_Input
INST indicates the name of an instrument, such as a
spacecraft-mounted framing camera, the field of view
(FOV) of which is to be used for a target intersection
search: times when the specified target intersects the
region of space corresponding to the FOV are sought.
The position of the instrument designated by INST is
considered to coincide with that of the ephemeris
object designated by the input argument OBSRVR (see
description below).
INST must have a corresponding NAIF ID and a frame
defined, as is normally done in a frame kernel. It
must also have an associated reference frame and a FOV
shape, boresight and boundary vertices (or reference
vector and reference angles) defined, as is usually
done in an instrument kernel.
See the header of the SPICELIB routine GETFOV for a
description of the required parameters associated with
an instrument.
TARGET is the name of the target body, the appearances of
which in the specified instrument's field of view are
sought. The body must be an ephemeris object.
Optionally, you may supply the integer NAIF ID code
for the body as a string. For example both 'MOON' and
'301' are legitimate strings that designate the Moon.
Case and leading or trailing blanks are not
significant in the string TARGET.
TSHAPE is a string indicating the geometric model used to
represent the shape of the target body. The supported
options are:
'ELLIPSOID' Use a triaxial ellipsoid model,
with radius values provided via the
kernel pool. A kernel variable
having a name of the form
BODYnnn_RADII
where nnn represents the NAIF
integer code associated with the
body, must be present in the kernel
pool. This variable must be
associated with three numeric
values giving the lengths of the
ellipsoid's X, Y, and Z semi-axes.
'POINT' Treat the body as a single point.
Case and leading or trailing blanks are not
significant in the string TSHAPE.
TFRAME is the name of the body-fixed, body-centered reference
frame associated with the target body. Examples of
such names are 'IAU_SATURN' (for Saturn) and 'ITRF93'
(for the Earth).
If the target body is modeled as a point, TFRAME
is ignored and should be left blank.
Case and leading or trailing blanks bracketing a
non-blank frame name are not significant in the string
TFRAME.
ABCORR indicates the aberration corrections to be applied
when computing the target's position and orientation.
For remote sensing applications, where the apparent
position and orientation of the target seen by the
observer are desired, normally either of the
corrections
'LT+S'
'CN+S'
should be used. These and the other supported options
are described below.
Supported aberration correction options for
observation (the case where radiation is received by
observer at ET) are:
'NONE' No correction.
'LT' Light time only
'LT+S' Light time and stellar aberration.
'CN' Converged Newtonian (CN) light time.
'CN+S' CN light time and stellar aberration.
Supported aberration correction options for
transmission (the case where radiation is emitted from
observer at ET) are:
'XLT' Light time only.
'XLT+S' Light time and stellar aberration.
'XCN' Converged Newtonian (CN) light time.
'XCN+S' CN light time and stellar aberration.
For detailed information, see the GF Required Reading,
gf.req.
Case, leading and trailing blanks are not significant
in the string ABCORR.
OBSRVR is the name of the body from which the target is
observed. The instrument designated by INST is treated
as if it were co-located with the observer.
Optionally, you may supply the integer NAIF ID code
for the body as a string.
Case and leading or trailing blanks are not
significant in the string OBSRVR.
STEP is the step size to be used in the search. STEP must
be shorter than any interval, within the confinement
window, over which the specified condition is met. In
other words, STEP must be shorter than the shortest
visibility event that the user wishes to detect. STEP
also must be shorter than the minimum duration
separating any two visibility events. However, STEP
must not be *too* short, or the search will take an
unreasonable amount of time.
The choice of STEP affects the completeness but not
the precision of solutions found by this routine; the
precision is controlled by the convergence tolerance.
See the discussion of the parameter CNVTOL for
details.
STEP has units of seconds.
CNFINE is a SPICE window that confines the time period over
which the specified search is conducted. CNFINE may
consist of a single interval or a collection of
intervals.
The endpoints of the time intervals comprising CNFINE
are interpreted as seconds past J2000 TDB.
See the $Examples section below for a code example
that shows how to create a confinement window.
CNFINE must be initialized by the caller via the
SPICELIB routine SSIZED.
RESULT is a double precision SPICE window which will contain
the search results. RESULT must be declared and
initialized with sufficient size to capture the full
set of time intervals within the search region on which
the specified condition is satisfied.
RESULT must be initialized by the caller via the
SPICELIB routine SSIZED.
If RESULT is non-empty on input, its contents will be
discarded before GFTFOV conducts its search.
Detailed_Output
RESULT is a SPICE window representing the set of time intervals,
within the confinement period, when the target body is
visible; that is, when the target body intersects the
space bounded by the specified instrument's field of
view.
The endpoints of the time intervals comprising RESULT are
interpreted as seconds past J2000 TDB.
If no times within the confinement window satisfy the
search criteria, RESULT will be returned with a
cardinality of zero.
Parameters
LBCELL is the lower bound for SPICE cell arrays.
CNVTOL is the convergence tolerance used for finding
endpoints of the intervals comprising the result
window. CNVTOL is used to determine when binary
searches for roots should terminate: when a root is
bracketed within an interval of length CNVTOL, the
root is considered to have been found.
The accuracy, as opposed to precision, of roots found
by this routine depends on the accuracy of the input
data. In most cases, the accuracy of solutions will be
inferior to their precision.
MAXVRT is the maximum number of vertices that may be used
to define the boundary of the specified instrument's
field of view.
MARGIN is a small positive number used to constrain the
orientation of the boundary vectors of polygonal
FOVs. Such FOVs must satisfy the following constraints:
1) The boundary vectors must be contained within
a right circular cone of angular radius less
than than (pi/2) - MARGIN radians; in other
words, there must be a vector A such that all
boundary vectors have angular separation from
A of less than (pi/2)-MARGIN radians.
2) There must be a pair of boundary vectors U, V
such that all other boundary vectors lie in
the same half space bounded by the plane
containing U and V. Furthermore, all other
boundary vectors must have orthogonal
projections onto a specific plane normal to
this plane (the normal plane contains the angle
bisector defined by U and V) such that the
projections have angular separation of at least
2*MARGIN radians from the plane spanned by U
and V.
MARGIN is currently set to 1.D-12.
See INCLUDE file gf.inc for declarations and descriptions of
parameters used throughout the GF system.
Exceptions
1) In order for this routine to produce correct results,
the step size must be appropriate for the problem at hand.
Step sizes that are too large may cause this routine to miss
roots; step sizes that are too small may cause this routine
to run unacceptably slowly and in some cases, find spurious
roots.
This routine does not diagnose invalid step sizes, except that
if the step size is non-positive, an error is signaled by a
routine in the call tree of this routine.
2) Due to numerical errors, in particular,
- Truncation error in time values
- Finite tolerance value
- Errors in computed geometric quantities
it is *normal* for the condition of interest to not always be
satisfied near the endpoints of the intervals comprising the
result window.
The result window may need to be contracted slightly by the
caller to achieve desired results. The SPICE window routine
WNCOND can be used to contract the result window.
3) If the name of either the target or observer cannot be
translated to a NAIF ID code, an error is signaled by
a routine in the call tree of this routine.
4) If the specified aberration correction is an unrecognized
value, an error is signaled by a routine
in the call tree of this routine.
5) If the radii of a target body modeled as an ellipsoid cannot
be determined by searching the kernel pool for a kernel
variable having a name of the form
'BODYnnn_RADII'
where nnn represents the NAIF integer code associated with
the body, an error is signaled by a routine in the
call tree of this routine.
6) If the target body coincides with the observer body OBSRVR, an
error is signaled by a routine in the call tree of this
routine.
7) If the body model specifier TSHAPE is invalid, an error is
signaled by either this routine or a routine in the call tree
of this routine.
8) If a target body-fixed reference frame associated with a
non-point target is not recognized, an error is signaled by a
routine in the call tree of this routine.
9) If a target body-fixed reference frame is not centered at the
corresponding target body, an error is signaled by a routine
in the call tree of this routine.
10) If the instrument name INST does not have corresponding NAIF
ID code, an error is signaled by a routine in the call
tree of this routine.
11) If the FOV parameters of the instrument are not present in
the kernel pool, an error is signaled by a routine
in the call tree of this routine.
12) If the FOV boundary has more than MAXVRT vertices, an error
is signaled by a routine in the call tree of this
routine.
13) If the instrument FOV is polygonal, and this routine cannot
find a ray R emanating from the FOV vertex such that maximum
angular separation of R and any FOV boundary vector is within
the limit (pi/2)-MARGIN radians, an error is signaled
by a routine in the call tree of this routine. If the FOV
is any other shape, the same error check will be applied with
the instrument boresight vector serving the role of R.
14) If the loaded kernels provide insufficient data to compute a
requested state vector, an error is signaled by a
routine in the call tree of this routine.
15) If an error occurs while reading an SPK or other kernel file,
the error is signaled by a routine in the call tree
of this routine.
16) If the output SPICE window RESULT has size less than 2, the
error SPICE(WINDOWTOOSMALL) is signaled.
17) If the output SPICE window RESULT has insufficient capacity
to contain the number of intervals on which the specified
visibility condition is met, an error is signaled
by a routine in the call tree of this routine.
Files
Appropriate SPICE kernels must be loaded by the calling program
before this routine is called.
The following data are required:
- SPK data: ephemeris data for target and observer that
describes the ephemeris of these objects for the period
defined by the confinement window, CNFINE must be
loaded. If aberration corrections are used, the states of
target and observer relative to the solar system barycenter
must be calculable from the available ephemeris data.
Typically ephemeris data are made available by loading one
or more SPK files via FURNSH.
- Frame data: if a frame definition is required to convert
the observer and target states to the body-fixed frame of
the target, that definition must be available in the kernel
pool. Typically the definitions of frames not already
built-in to SPICE are supplied by loading a frame kernel.
Data defining the reference frame associated with the
instrument designated by INST must be available in the
kernel pool. Additionally the name INST must be associated
with an ID code. Normally these data are made available by
loading a frame kernel via FURNSH.
- IK data: the kernel pool must contain data such that
the SPICELIB routine GETFOV may be called to obtain
parameters for INST. Normally such data are provided by
an IK via FURNSH.
The following data may be required:
- PCK data: bodies modeled as triaxial ellipsoids must have
orientation data provided by variables in the kernel pool.
Typically these data are made available by loading a text
PCK file via FURNSH.
Bodies modeled as triaxial ellipsoids must have semi-axis
lengths provided by variables in the kernel pool. Typically
these data are made available by loading a text PCK file via
FURNSH.
- CK data: if the instrument frame is fixed to a spacecraft,
at least one CK file will be needed to permit transformation
of vectors between that frame and both J2000 and the target
body-fixed frame.
- SCLK data: if a CK file is needed, an associated SCLK
kernel is required to enable conversion between encoded SCLK
(used to time-tag CK data) and barycentric dynamical time
(TDB).
Kernel data are normally loaded once per program run, NOT every
time this routine is called.
Particulars
This routine determines a set of one or more time intervals
within the confinement window when any portion of a specified
target body appears within the field of view of a specified
instrument. We'll use the term "visibility event" to designate
such an appearance. The set of time intervals resulting from the
search is returned as a SPICE window.
This routine provides a simpler, but less flexible, interface
than does the SPICELIB routine GFFOVE for conducting searches for
visibility events. Applications that require support for progress
reporting, interrupt handling, non-default step or refinement
functions, or non-default convergence tolerance should call
GFFOVE rather than this routine.
To treat the target as a ray rather than as an ephemeris object,
use either the higher-level SPICELIB routine GFRFOV or GFFOVE.
Those routines may be used to search for times when distant
target objects such as stars are visible in an instrument FOV, as
long the direction from the observer to the target can be modeled
as a ray.
Below we discuss in greater detail aspects of this routine's
solution process that are relevant to correct and efficient use
of this routine in user applications.
The Search Process
==================
The search for visibility events is treated as a search for state
transitions: times are sought when the state of the target body
changes from "not visible" to "visible" or vice versa.
Step Size
=========
Each interval of the confinement window is searched as follows:
first, the input step size is used to determine the time
separation at which the visibility state will be sampled.
Starting at the left endpoint of an interval, samples will be
taken at each step. If a state change is detected, a root has
been bracketed; at that point, the "root"--the time at which the
state change occurs---is found by a refinement process, for
example, via binary search.
Note that the optimal choice of step size depends on the lengths
of the intervals over which the visibility state is constant:
the step size should be shorter than the shortest visibility event
duration and the shortest period between visibility events, within
the confinement window.
Having some knowledge of the relative geometry of the target and
observer can be a valuable aid in picking a reasonable step size.
In general, the user can compensate for lack of such knowledge by
picking a very short step size; the cost is increased computation
time.
Note that the step size is not related to the precision with which
the endpoints of the intervals of the result window are computed.
That precision level is controlled by the convergence tolerance.
Convergence Tolerance
=====================
Once a root has been bracketed, a refinement process is used to
narrow down the time interval within which the root must lie.
This refinement process terminates when the location of the root
has been determined to within an error margin called the
"convergence tolerance." The default convergence tolerance
used by this routine is set by the parameter CNVTOL (defined
in gf.inc).
The value of CNVTOL is set to a "tight" value so that the
tolerance doesn't become the limiting factor in the accuracy of
solutions found by this routine. In general the accuracy of input
data will be the limiting factor.
The user may change the convergence tolerance from the default
CNVTOL value by calling the routine GFSTOL, e.g.
CALL GFSTOL( tolerance value )
Call GFSTOL prior to calling this routine. All subsequent
searches will use the updated tolerance value.
Setting the tolerance tighter than CNVTOL is unlikely to be
useful, since the results are unlikely to be more accurate.
Making the tolerance looser will speed up searches somewhat,
since a few convergence steps will be omitted. However, in most
cases, the step size is likely to have a much greater effect
on processing time than would the convergence tolerance.
The Confinement Window
======================
The simplest use of the confinement window is to specify a time
interval within which a solution is sought. However, the
confinement window can, in some cases, be used to make searches
more efficient. Sometimes it's possible to do an efficient search
to reduce the size of the time period over which a relatively
slow search of interest must be performed. For an example, see
the program CASCADE in the GF Example Programs chapter of the GF
Required Reading, gf.req.
Examples
The numerical results shown for this example may differ across
platforms. The results depend on the SPICE kernels used as
input, the compiler and supporting libraries, and the machine
specific arithmetic implementation.
1) Search for times when Saturn's satellite Phoebe is within
the FOV of the Cassini narrow angle camera (CASSINI_ISS_NAC).
To simplify the problem, restrict the search to a short time
period where continuous Cassini bus attitude data are
available.
Use a step size of 10 seconds to reduce chances of missing
short visibility events.
Use the meta-kernel shown below to load the required SPICE
kernels.
KPL/MK
File name: gftfov_ex1.tm
This meta-kernel is intended to support operation of SPICE
example programs. The kernels shown here should not be
assumed to contain adequate or correct versions of data
required by SPICE-based user applications.
In order for an application to use this meta-kernel, the
kernels referenced here must be present in the user's
current working directory.
The names and contents of the kernels referenced
by this meta-kernel are as follows:
File name Contents
----------------------------- ----------------------
naif0012.tls Leapseconds
pck00010.tpc Satellite orientation
and radii
041014R_SCPSE_01066_04199.bsp CASSINI, planetary and
Saturn satellite
ephemeris
cas_v40.tf Cassini FK
04161_04164ra.bc Cassini bus CK
cas00071.tsc Cassini SCLK kernel
cas_iss_v10.ti Cassini IK
\begindata
KERNELS_TO_LOAD = ( 'naif0012.tls',
'pck00010.tpc',
'041014R_SCPSE_01066_04199.bsp',
'cas_v40.tf',
'04161_04164ra.bc',
'cas00071.tsc',
'cas_iss_v10.ti' )
\begintext
End of meta-kernel
Example code begins here.
PROGRAM GFTFOV_EX1
IMPLICIT NONE
C
C SPICELIB functions
C
INTEGER WNCARD
C
C Local parameters
C
CHARACTER*(*) META
PARAMETER ( META = 'gftfov_ex1.tm' )
CHARACTER*(*) TIMFMT
PARAMETER ( TIMFMT =
. 'YYYY-MON-DD HR:MN:SC.######::TDB' )
INTEGER LBCELL
PARAMETER ( LBCELL = -5 )
INTEGER MAXWIN
PARAMETER ( MAXWIN = 10000 )
INTEGER CORLEN
PARAMETER ( CORLEN = 10 )
INTEGER BDNMLN
PARAMETER ( BDNMLN = 36 )
INTEGER FRNMLN
PARAMETER ( FRNMLN = 32 )
INTEGER SHPLEN
PARAMETER ( SHPLEN = 25 )
INTEGER TIMLEN
PARAMETER ( TIMLEN = 35 )
INTEGER LNSIZE
PARAMETER ( LNSIZE = 80 )
C
C Local variables
C
CHARACTER*(CORLEN) ABCORR
CHARACTER*(BDNMLN) INST
CHARACTER*(LNSIZE) LINE
CHARACTER*(BDNMLN) OBSRVR
CHARACTER*(BDNMLN) TARGET
CHARACTER*(FRNMLN) TFRAME
CHARACTER*(TIMLEN) TIMSTR ( 2 )
CHARACTER*(SHPLEN) TSHAPE
DOUBLE PRECISION CNFINE ( LBCELL : 2 )
DOUBLE PRECISION ENDPT ( 2 )
DOUBLE PRECISION ET0
DOUBLE PRECISION ET1
DOUBLE PRECISION RESULT ( LBCELL : MAXWIN )
DOUBLE PRECISION STEPSZ
INTEGER I
INTEGER J
INTEGER N
C
C Saved variables
C
C The confinement and result windows CNFINE and RESULT are
C saved because this practice helps to prevent stack
C overflow.
C
SAVE CNFINE
SAVE RESULT
C
C Load kernels.
C
CALL FURNSH ( META )
C
C Initialize windows.
C
CALL SSIZED ( 2, CNFINE )
CALL SSIZED ( MAXWIN, RESULT )
C
C Insert search time interval bounds into the
C confinement window.
C
CALL STR2ET ( '2004 JUN 11 06:30:00 TDB', ET0 )
CALL STR2ET ( '2004 JUN 11 12:00:00 TDB', ET1 )
CALL WNINSD ( ET0, ET1, CNFINE )
C
C Initialize inputs for the search.
C
INST = 'CASSINI_ISS_NAC'
TARGET = 'PHOEBE'
TSHAPE = 'ELLIPSOID'
TFRAME = 'IAU_PHOEBE'
ABCORR = 'LT+S'
OBSRVR = 'CASSINI'
STEPSZ = 10.D0
WRITE (*,*) ' '
WRITE (*,*) 'Instrument: '//INST
WRITE (*,*) 'Target: '//TARGET
WRITE (*,*) ' '
C
C Perform the search.
C
CALL GFTFOV ( INST, TARGET, TSHAPE, TFRAME,
. ABCORR, OBSRVR, STEPSZ, CNFINE, RESULT )
N = WNCARD( RESULT )
IF ( N .EQ. 0 ) THEN
WRITE (*,*) 'No FOV intersection found.'
ELSE
WRITE (*, '(A)' ) ' Visibility start time (TDB)'
. // ' Stop time (TDB)'
WRITE (*, '(A)' ) ' ---------------------------'
. // ' ---------------------------'
DO I = 1, N
CALL WNFETD ( RESULT, I, ENDPT(1), ENDPT(2) )
DO J = 1, 2
CALL TIMOUT ( ENDPT(J), TIMFMT, TIMSTR(J) )
END DO
LINE( :3) = ' '
LINE(2: ) = TIMSTR(1)
LINE(34:) = TIMSTR(2)
WRITE (*,*) LINE
END DO
END IF
WRITE (*,*) ' '
END
When this program was executed on a Mac/Intel/gfortran/64-bit
platform, the output was:
Instrument: CASSINI_ISS_NAC
Target: PHOEBE
Visibility start time (TDB) Stop time (TDB)
--------------------------- ---------------------------
2004-JUN-11 07:35:27.066980 2004-JUN-11 08:48:03.954696
2004-JUN-11 09:02:56.580045 2004-JUN-11 09:35:04.038509
2004-JUN-11 09:49:56.476397 2004-JUN-11 10:22:04.242879
2004-JUN-11 10:36:56.283772 2004-JUN-11 11:09:04.397165
2004-JUN-11 11:23:56.020645 2004-JUN-11 11:56:04.733535
Restrictions
1) The reference frame associated with INST must be
centered at the observer or must be inertial. No check is done
to ensure this.
2) The kernel files to be used by GFTFOV must be loaded (normally
via the SPICELIB routine FURNSH) before GFTFOV is called.
Literature_References
None.
Author_and_Institution
N.J. Bachman (JPL)
J. Diaz del Rio (ODC Space)
L.S. Elson (JPL)
E.D. Wright (JPL)
Version
SPICELIB Version 1.1.1, 06-AUG-2021 (JDR)
Edited the header to comply with NAIF standard.
Modified code example's output to comply with maximum line
length of header comments. Updated Example's kernels set to use
PDS archived data. Added SAVE statements for CNFINE and RESULT
variables in code example.
Updated description of RESULT argument in $Brief_I/O,
$Detailed_Input and $Detailed_Output.
SPICELIB Version 1.1.0, 28-FEB-2012 (EDW)
Implemented use of ZZHOLDD to allow user to alter convergence
tolerance.
Removed the STEP > 0 error check. The GFSSTP call includes
the check.
SPICELIB Version 1.0.0, 15-APR-2009 (NJB) (LSE) (EDW)
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Fri Dec 31 18:36:25 2021