KPL/IK HRSC Instrument kernel =========================================================================== This instrument kernel (I-kernel) contains Mars Express High Resolution Stereo Camera (HRSC) main camera and Super Resolution Channel (SRC) camera optics, detector, and field-of-view parameters. Version and Date --------------------------------------------------------------------------- Version 0.9 -- March 23, 2021 -- Ricardo Valles Blanco. ESAC/ESA Corrected typos and added contact information for Mars Express PDS3 V2.0 release. Version 0.8 -- October 5, 2016 -- Marc Costa Sitja. ESAC/ESA, T. Roatsch, DLR Updated SRC IFOV to the same value as the focal length and pixel size as indicated in [13]. Version 0.7 -- June 27, 2014 -- J. Vazquez, PSA/ESA, B. Semenov, NAIF, T. Roatsch, DLR Updated SRC boresight to the same value as the focal length. Version 0.6 -- December 10, 2013 -- J. Vazquez, PSA/ESA, B. Semenov, NAIF Updated SRC focal length and added distortion parameters with information provided by T. Duxbury and T. Roatsch ([12]). Version 0.5 -- March 8, 2013 -- Boris Semenov, NAIF/JPL Updated HRSC detector FOVs based on [11]. Version 0.4 -- October 6, 2008 -- J. Vazquez, MIG, SRE-OS/ESA Added "Overview" section. Version 0.3 -- December 16, 2003 -- Boris Semenov, NAIF/JPL Updated focal length for SRC (988.6 mm instead of 975.0 mm) Corrected SRC size and central pixel location to be consistent with the values accepted by HRSC team. Corrected SRC diagram showing its relationship to the frame (it is rotated extra 90 degrees) and the cross- and along-track directions. Version 0.2 -- May 19, 2003 -- Boris Semenov, NAIF/JPL Cleaned up terminology and grammar. Version 0.1 -- November 4, 2002 -- Boris Semenov, NAIF/JPL Corrected error in HRSC/SRC FOV definition (replaced full angle, 0.54, degrees with half angle, 0.27 degrees, as GETFOV specification requires.) Replaced INS######_CENTER keywords with INS######_CCD_CENTER. Fixed acronym for the "RED" detector ("RD" was replaced with "RE".) Replaced SRC physical CCD sizes with active matrix sizes and added note clarifying the difference between them. Version 0.0 -- May 21, 2002 -- Boris Semenov, NAIF/JPL Initial release. References --------------------------------------------------------------------------- 1. ``Kernel Pool Required Reading'' 2. ``C-kernel Required Reading'' 3. ``HRSC ICD'', MSP01-97-0008, June 10, 1999 4. Mars Express Frames Definition Kernel (FK), latest version. 5. ``HRSC Geometric Calibration Data'', set of 9 ASCII tables provided by T. Roatsch/DLR, February 2002 6. ``HRSC On Mars Express'', presentation by R. Pischel, et al at HRSC Science Team Meeting, May 9-11, 2001 7. ``HRSC: the High Resolution Stereo Camera of Mars Express'', from the ESA Special Publication, ESA-SP-1240. 8. GETFOV header, latest version 9. Review comments from Thomas Roatsch, HRSC Team, May-Nov 2002. 10. E-mails from Thomas Roatsch, Sep 11 & Dec 15, 2003. 11. ``HRSC Geometric Calibration Data, Version 2'', set of 9 ASCII tables provided by T. Roatsch/DLR, February 2013 12. ``SRC Alignment & Geometric Calibration, NAIF SPICE Kernels, Image Restoration and Vesta'', Harald Hoffmann, Thomas Roatsch, Stephan Elgner and Klaus-Dieter Matz, November 25, 2013. 13. E-mail from Thomas Roastch ``IFOV SRC im Instrument Kernel'', Sep 5 2016. Contact Information ---------------------------------------------------------------------------- If you have any questions regarding this file contact the ESA SPICE Service at ESAC: Alfredo Escalante Lopez (+34) 91-8131-429 spice@sciops.esa.int, or NAIF at JPL: Boris Semenov (818) 354-8136 Boris.Semenov@jpl.nasa.gov 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. 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 HRSC main camera head (210), individual HRSC line arrays (211-219) or SRC (220). These IDs are defined in [4] as follows: Instrument name ID -------------------- ------ MEX_HRSC_HEAD -41210 MEX_HRSC_S2 -41211 MEX_HRSC_RED -41212 MEX_HRSC_P2 -41213 MEX_HRSC_BLUE -41214 MEX_HRSC_NADIR -41215 MEX_HRSC_GREEN -41216 MEX_HRSC_P1 -41217 MEX_HRSC_IR -41218 MEX_HRSC_S1 -41219 MEX_HRSC_SRC -41220 The remainder of the keyword is an underscore character followed by the unique name of the data item. For example, the focal length of the main HRSC camera is specified by INS-41210_FOCAL_LENGTH 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. Overview -------------------------------------------------------- From [7]: The High Resolution Stereo Camera (HRSC), originally developed for the Russian-led Mars-96 mission, was selected as part of the Orbiter payload for ESA's Mars Express mission. The HRSC is a pushbroom scanning instrument with nine CCD line detectors mounted in parallel in the focal plane. Its unique feature is the ability to obtain near-simultaneous imaging data of a specific site at high resolution, with along-track triple stereo, four colours and five different phase angles, thus avoiding any time-dependent variations of the observational conditions. An additional Super-Resolution Channel (SRC) - a framing device - will yield nested images in the meter-resolution range for detailed photogeologic studies. The spatial resolution from the nominal periapsis altitude of 250 km will be 10 m/pixel, with an image swath of 53 km, for the HRSC and 2.3 m/pixel for the SRC. During the mission's nominal operational lifetime of 1 martian year (2 Earth years) and assuming an average HRSC data transfer share of 40%, it will be possible to cover at least 50% of the martian surface at a spatial resolution of 15 m/pixel. More than 70% of the surface can be observed at a spatial resolution of 30 m/pixel, while more than 1% will be imaged at better than 2.5 m/pixel. The HRSC will thus close the gap between the medium to low resolution coverage and the very high resolution images of the Mars Observer Camera on the Mars Global Surveyor mission and the in situ observations and measurements by landers. The HRSC will make a major contribution to the study of martian geosciences, with special emphasis on the evolution of the surface in general, the evolution of volcanism, and the role of water throughout martian history. The instrument will obtain images containing morphologic and topographic information at high spatial and vertical resolution, allowing the improvement of the cartographic base down to scales of 1:50 000. The experiment will also address atmospheric phenomena and atmosphere-surface interactions, and will provide urgently needed support for current and future lander missions as well as for exobiological studies. The goals of HRSC on Mars Express will not be met by any other planned mission or instrument. Mounting Alignment -------------------------------------------------------- Refer to the latest version of the Mars Express Frames Definition Kernel (FK) [4] for the HRSC reference frame definitions and mounting alignment information. Detector Layout -------------------------------------------------------- This section provides a set of diagrams illustrating the HRSC line detector and SRC camera detector layout in the corresponding camera reference frames. HRSC Camera The HRSC camera includes 9 line detectors, each 5184 pixels long: Name Acronym -------------- ------- STEREO-1 S1 INFRARED IR PHOTOMETRIC-1 P1 GREEN GR NADIR ND BLUE BL PHOTOMETRIC-2 P2 RED RE STEREO-2 S2 The view directions of these detectors in the MEX_HRSC_HEAD frame are as follows: ^ s/c velocity | along track | View Direction of the central pixel of the line S1 .' `-. .'.' Yhrsc `-..'.'.' ^ .'`-.' | S1 .'.'.' `-. | IR .'.' .'.'`-. | Zhrsc P1 .' .'.'.' `-.| <--- <--------------.'.-----------o Nadir GR .'.'.' .' .' Focal ND .'.' .'.' .' Point BL .' .'.'.' v .'.'.' Xhrsc P2 .'.'.' RE .'.' S2 .' .' v' Cross-Track As seen on the diagram the view direction of the central pixel of the S1 (STEREO-1) line is in the (+Y,+Z) quadrant looking forward with regard to the s/c motion, while the view direction of the central pixel of the S2 line is in the (-Y,+Z) quadrant, looking backwards. Other pixel view directions extend from the focal point through the corresponding line point. This diagram shows view direction and HRSC camera head axes projected onto the Mars surface: ^ +Yhrsc -- s/c velocity/along track | | Pixel 1 | """"""""""""""|"""""""""""""" S1 """"""""""""""|"""""""""""""" IR """"""""""""""|"""""""""""""" P1 | | """"""""""""""|"""""""""""""" GR <------------------x """"""""""""" ND +Xhrsc """""""""" +Zhrsc """"""""""" BL cross-track boresight (into page) """"""""""""""""""""""""""""" P2 """"""""""""""""""""""""""""" RE """"""""""""""""""""""""""""" S2 5184 pixels SRC Camera The SRC camera comprises a single square CCD detector. The view directions of the corners and the axes of the MEX_HRSC_SRC frame projected onto the Mars surface look like this: ^ +Ysrc (cross-track) | Pixel | (1,1)-------|---------+ | | | | | | | | | | | | <-------------x | 1024 -------> +Xsrc | +Zsrc | lines direction of (along-track) | boresight | flight | (into page) | (s/c +Y axis) | | +-------------------+ 1024 pixels/line Optical Parameters -------------------------------------------------------- The following HRSC and SRC camera first order optical parameters are included in the data section below, taken from [6]: ----------------------------------------------------------------- parameter HRSC HRSC/SRC ----------------------------------------------------------------- Focal Length, mm 175.0 984.76 (4) f/ratio f/5.6 f/9.2 IFOV, rad/pixel 0.000040 0.00000914 Field of view (rad) Cross-track 0.200000 (1) 0.0094 (3) Along-track 0.659734 (2) 0.0094 (3) ----------------------------------------------------------------- (1) The HRSC main camera cross-track FOV is nominally 11.9 degrees. (2) The HRSC main camera combined along-track FOV size is assumed to be equal to the angular separation between the first and last line detectors. It is nominally equal to 2 * 18.9 degrees = 37.8 degrees, where 18.9 degrees is the nominal stereo angle. (3) The SRC along-track FOV is assumed to have the same size as the cross-track FOV -- nominally 0.54 degrees. (4) Actual calibrated FL from [12]; the previous calibrated FL value 988.6 from [10] was used in the IK versions 0.3 to 0.5; nominal FL value is 975.0 mm. Note that the value for HRSC cross-track FOV is not equal to the value of IFOV multiplied by the the number of pixels in the line arrays. This is due to the fact that [6] provided nominal reference values. This data section also provides nominal data for each of the HRSC main camera line detectors. In these, the FOV_ANGULAR_SIZE keyword's along- track FOV dimension is set to IFOV. Angular size values in the keywords are given in radians, with the cross-track size being the first value and the along-track size being the second value in each pair. \begindata INS-41210_FOCAL_LENGTH = ( 175.0 ) INS-41210_F/RATIO = ( 5.6 ) INS-41210_FOV_ANGULAR_SIZE = ( 0.200, 0.659734 ) INS-41210_IFOV = ( 0.000040 ) INS-41211_FOCAL_LENGTH = ( 175.0 ) INS-41211_F/RATIO = ( 5.6 ) INS-41211_FOV_ANGULAR_SIZE = ( 0.200, 0.000040 ) INS-41211_IFOV = ( 0.000040 ) INS-41212_FOCAL_LENGTH = ( 175.0 ) INS-41212_F/RATIO = ( 5.6 ) INS-41212_FOV_ANGULAR_SIZE = ( 0.200, 0.000040 ) INS-41212_IFOV = ( 0.000040 ) INS-41213_FOCAL_LENGTH = ( 175.0 ) INS-41213_F/RATIO = ( 5.6 ) INS-41213_FOV_ANGULAR_SIZE = ( 0.200, 0.000040 ) INS-41213_IFOV = ( 0.000040 ) INS-41214_FOCAL_LENGTH = ( 175.0 ) INS-41214_F/RATIO = ( 5.6 ) INS-41214_FOV_ANGULAR_SIZE = ( 0.200, 0.000040 ) INS-41214_IFOV = ( 0.000040 ) INS-41215_FOCAL_LENGTH = ( 175.0 ) INS-41215_F/RATIO = ( 5.6 ) INS-41215_FOV_ANGULAR_SIZE = ( 0.200, 0.000040 ) INS-41215_IFOV = ( 0.000040 ) INS-41216_FOCAL_LENGTH = ( 175.0 ) INS-41216_F/RATIO = ( 5.6 ) INS-41216_FOV_ANGULAR_SIZE = ( 0.200, 0.000040 ) INS-41216_IFOV = ( 0.000040 ) INS-41217_FOCAL_LENGTH = ( 175.0 ) INS-41217_F/RATIO = ( 5.6 ) INS-41217_FOV_ANGULAR_SIZE = ( 0.200, 0.000040 ) INS-41217_IFOV = ( 0.000040 ) INS-41218_FOCAL_LENGTH = ( 175.0 ) INS-41218_F/RATIO = ( 5.6 ) INS-41218_FOV_ANGULAR_SIZE = ( 0.200, 0.000040 ) INS-41218_IFOV = ( 0.000040 ) INS-41219_FOCAL_LENGTH = ( 175.0 ) INS-41219_F/RATIO = ( 5.6 ) INS-41219_FOV_ANGULAR_SIZE = ( 0.200, 0.000040 ) INS-41219_IFOV = ( 0.000040 ) INS-41220_FOCAL_LENGTH = ( 984.76 ) INS-41220_F/RATIO = ( 9.2 ) INS-41220_FOV_ANGULAR_SIZE = ( 0.0094, 0.0094 ) INS-41220_IFOV = ( 0.00000914 ) \begintext Detector CCD Parameters -------------------------------------------------------- The HRSC and SRC CCD detector geometry parameters are included in the data section below, taken from [6]: ----------------------------------------------------------------- parameter HRSC SRC ----------------------------------------------------------------- Pixel Size, microns Cross-track 7.0 9.0 Along-track 7.0 9.0 Detector Array Size Cross-track 5184 (2) 1024 (3) Along-track 1 (1) 1024 (3) Detector Array Center Cross-track 2592.5 512.5 Along-track 0.5 (1) 512.5 ----------------------------------------------------------------- (1) This dimension is given for individual line detectors, each of which is 1 pixel wide. No combined CCD dimensions are provided for the HRSC main camera because they are not applicable. (2) The HRSC sensor lines have 5272 "physical" pixels but only 5184 of them are active and used for image reconstruction and processing ([9]). (3) The SRC has 1032 pixels and 1024 lines; only 1024 pixels are transferred to the data processing unit; only 1016 samples are transmitted to Earth; and only 1008 lines and 1008 pixels are available after calibration [9]. The 1024 by 1024 CCD and (512.5,512.5) for its center were chosen by the HRSC team as a reference for geometric calibration. The values are given in microns for PIXEL_SIZE keywords and in counts for PIXEL_SAMPLES, PIXEL_LINES, and CENTER keywords. \begindata INS-41211_PIXEL_SIZE = ( 7, 7 ) INS-41211_PIXEL_SAMPLES = ( 5184 ) INS-41211_PIXEL_LINES = ( 1 ) INS-41211_CCD_CENTER = ( 2592.5, 0.5 ) INS-41212_PIXEL_SIZE = ( 7, 7 ) INS-41212_PIXEL_SAMPLES = ( 5184 ) INS-41212_PIXEL_LINES = ( 1 ) INS-41212_CCD_CENTER = ( 2592.5, 0.5 ) INS-41213_PIXEL_SIZE = ( 7, 7 ) INS-41213_PIXEL_SAMPLES = ( 5184 ) INS-41213_PIXEL_LINES = ( 1 ) INS-41213_CCD_CENTER = ( 2592.5, 0.5 ) INS-41214_PIXEL_SIZE = ( 7, 7 ) INS-41214_PIXEL_SAMPLES = ( 5184 ) INS-41214_PIXEL_LINES = ( 1 ) INS-41214_CCD_CENTER = ( 2592.5, 0.5 ) INS-41215_PIXEL_SIZE = ( 7, 7 ) INS-41215_PIXEL_SAMPLES = ( 5184 ) INS-41215_PIXEL_LINES = ( 1 ) INS-41215_CCD_CENTER = ( 2592.5, 0.5 ) INS-41216_PIXEL_SIZE = ( 7, 7 ) INS-41216_PIXEL_SAMPLES = ( 5184 ) INS-41216_PIXEL_LINES = ( 1 ) INS-41216_CCD_CENTER = ( 2592.5, 0.5 ) INS-41217_PIXEL_SIZE = ( 7, 7 ) INS-41217_PIXEL_SAMPLES = ( 5184 ) INS-41217_PIXEL_LINES = ( 1 ) INS-41217_CCD_CENTER = ( 2592.5, 0.5 ) INS-41218_PIXEL_SIZE = ( 7, 7 ) INS-41218_PIXEL_SAMPLES = ( 5184 ) INS-41218_PIXEL_LINES = ( 1 ) INS-41218_CCD_CENTER = ( 2592.5, 0.5 ) INS-41219_PIXEL_SIZE = ( 7, 7 ) INS-41219_PIXEL_SAMPLES = ( 5184 ) INS-41219_PIXEL_LINES = ( 1 ) INS-41219_CCD_CENTER = ( 2592.5, 0.5 ) INS-41220_PIXEL_SIZE = ( 9, 9 ) INS-41220_PIXEL_SAMPLES = ( 1024 ) INS-41220_PIXEL_LINES = ( 1024 ) INS-41220_CCD_CENTER = ( 512.5, 512.5 ) \begintext Wavelength Ranges --------------------------------------------------------------------------- This section contains assignments specifying HRSC and SRC detector wavelength ranges. HRSC Camera The following line detector wavelength band center/width data are taken from [6]: ------------------------------------------- Detector Band Center, Bandwidth, # nanometers nanometers (1) ------------------------------------------- S1 675 180 RED 750 40 P2 675 180 BLUE 440 90 NADIR 675 180 GREEN 530 90 P1 675 180 IR 970 90 S1 675 180 ------------------------------------------- (1) in [6] the bandwidth was specified as 1/2 of the value provided in this table (i.e. +/- 90 for 180 bandwidth given above.) The set of assignments below specifies wavelength center and bandwidth for each detector, with units the same as in the table above. \begindata INS-41211_FILTER_BANDCENTER = ( 675 ) INS-41211_FILTER_BANDWIDTH = ( 180 ) INS-41212_FILTER_BANDCENTER = ( 750 ) INS-41212_FILTER_BANDWIDTH = ( 40 ) INS-41213_FILTER_BANDCENTER = ( 675 ) INS-41213_FILTER_BANDWIDTH = ( 180 ) INS-41214_FILTER_BANDCENTER = ( 440 ) INS-41214_FILTER_BANDWIDTH = ( 90 ) INS-41215_FILTER_BANDCENTER = ( 675 ) INS-41215_FILTER_BANDWIDTH = ( 180 ) INS-41216_FILTER_BANDCENTER = ( 530 ) INS-41216_FILTER_BANDWIDTH = ( 90 ) INS-41217_FILTER_BANDCENTER = ( 675 ) INS-41217_FILTER_BANDWIDTH = ( 180 ) INS-41218_FILTER_BANDCENTER = ( 970 ) INS-41218_FILTER_BANDWIDTH = ( 90 ) INS-41219_FILTER_BANDCENTER = ( 675 ) INS-41219_FILTER_BANDWIDTH = ( 180 ) \begintext SRC Camera No wavelength data has been made available for this camera at the time when this IK file was made. begindata INS-41220_FILTER_BANDCENTER = ( '?' ) INS-41220_FILTER_BANDWIDTH = ( '?' ) begintext FOV Definitions --------------------------------------------------------------------------- This section contains definitions for the HRSC main camera combined FOV, HRSC line detector individual FOVs, and SRC camera FOV. These definitions are provided in a format consistent required by the SPICE (CSPICE) function GETFOV (getfov_c). HRSC Camera Individual Line Detector FOVs The sets of keywords in the data section below define individual HRSC line detector FOVs with respect to the MEX_HRSC_HEAD frame. Each of these FOVS is a rectangle with the edges defined by the outer corners of the first and last pixels of that line detector. The boresight of each of these FOVs is defined such that it points along the detector center's view direction (with the center being the point between the two middle pixels.) The data from which the view directions for the corner pixels have been computed are provided in the camera geometric calibration tables ([11]). This reference specifies coordinates for each pixel of each line detector in the CCD plane -- the plane normal to the camera boresight (+Z axis) and located at the focal length behind the focal point. The view direction of each pixel can then be determined as a vector pointing from that pixel's location on that plane through the focal point, as illustrated by this diagram: Corner pixel view direction ^ Center pixel \ Y view <. \ ^ CCD plane direction `-. \ | `-. \ | .^ X `-. \ | .' `-.\ F | .' <-----------`o.-----o' Detector line in Z Focal \`-. | . the CCD plane point \ `-*' \ .'| Center pixel * | Corner pixel Assuming that the CCD plane coordinates of the first and last pixel of the detector line N are (Xf,Yf) and (Xl,Yl) and the coordinates of the two pixels on either side of the geometric middle point of the line are (Xm1,Ym1) and (Xm2,Ym2), the FOV definition for that line can be constructed as: INS_FOV_FRAME = 'MEX_HRSC_HEAD' INS_FOV_SHAPE = 'RECTANGLE' INS_BORESIGHT = ( -(Xm1+Xm2)/2, -(Ym1+Ym2)/2, FL ) INS_FOV_BOUNDARY_CORNERS = ( -(Xf-HP), -(Yf-HP), FL -(Xf-HP), -(Yf+HP), FL -(Xl+HP), -(Yl+HP), FL -(Xl+HP), -(Yl-HP), FL ) where HP is 1/2 of the pixel size, and FL is the focal length. The boresight and corner vectors included in the frame definition below have intentionally been left un-unitized to allow easier back tracking to the original calibration data and focal length and pixel size values defined earlier in this I-kernel. Refer to [8] for definitions of the keywords used in these assignments. \begindata INS-41211_FOV_FRAME = 'MEX_HRSC_HEAD' INS-41211_FOV_SHAPE = 'RECTANGLE' INS-41211_BORESIGHT = ( -0.027500 -60.038000 175.000000 ) INS-41211_FOV_BOUNDARY_CORNERS = ( 18.128500 -60.035500 175.000000 18.128500 -60.042500 175.000000 -18.185500 -60.045500 175.000000 -18.185500 -60.038500 175.000000 ) INS-41212_FOV_FRAME = 'MEX_HRSC_HEAD' INS-41212_FOV_SHAPE = 'RECTANGLE' INS-41212_BORESIGHT = ( -0.051500 -49.817000 175.000000 ) INS-41212_FOV_BOUNDARY_CORNERS = ( 18.112500 -49.815500 175.000000 18.112500 -49.822500 175.000000 -18.216500 -49.821500 175.000000 -18.216500 -49.814500 175.000000 ) INS-41213_FOV_FRAME = 'MEX_HRSC_HEAD' INS-41213_FOV_SHAPE = 'RECTANGLE' INS-41213_BORESIGHT = ( -0.023500 -39.592000 175.000000 ) INS-41213_FOV_BOUNDARY_CORNERS = ( 18.145500 -39.597500 175.000000 18.145500 -39.604500 175.000000 -18.191500 -39.591500 175.000000 -18.191500 -39.584500 175.000000 ) INS-41214_FOV_FRAME = 'MEX_HRSC_HEAD' INS-41214_FOV_SHAPE = 'RECTANGLE' INS-41214_BORESIGHT = ( 0.061500 -10.221000 175.000000 ) INS-41214_FOV_BOUNDARY_CORNERS = ( 18.181500 -10.212500 175.000000 18.181500 -10.219500 175.000000 -18.056500 -10.225500 175.000000 -18.056500 -10.218500 175.000000 ) INS-41215_FOV_FRAME = 'MEX_HRSC_HEAD' INS-41215_FOV_SHAPE = 'RECTANGLE' INS-41215_BORESIGHT = ( 0.029500 -0.007000 175.000000 ) INS-41215_FOV_BOUNDARY_CORNERS = ( 18.172500 -0.003500 175.000000 18.172500 -0.010500 175.000000 -18.113500 -0.008500 175.000000 -18.113500 -0.001500 175.000000 ) INS-41216_FOV_FRAME = 'MEX_HRSC_HEAD' INS-41216_FOV_SHAPE = 'RECTANGLE' INS-41216_BORESIGHT = ( 0.040500 10.218000 175.000000 ) INS-41216_FOV_BOUNDARY_CORNERS = ( 18.184500 10.236500 175.000000 18.184500 10.229500 175.000000 -18.102500 10.196500 175.000000 -18.102500 10.203500 175.000000 ) INS-41217_FOV_FRAME = 'MEX_HRSC_HEAD' INS-41217_FOV_SHAPE = 'RECTANGLE' INS-41217_BORESIGHT = ( 0.031500 39.613000 175.000000 ) INS-41217_FOV_BOUNDARY_CORNERS = ( 18.202500 39.617500 175.000000 18.202500 39.610500 175.000000 -18.138500 39.603500 175.000000 -18.138500 39.610500 175.000000 ) INS-41218_FOV_FRAME = 'MEX_HRSC_HEAD' INS-41218_FOV_SHAPE = 'RECTANGLE' INS-41218_BORESIGHT = ( 0.013500 49.913000 175.000000 ) INS-41218_FOV_BOUNDARY_CORNERS = ( 18.196500 49.921500 175.000000 18.196500 49.914500 175.000000 -18.170500 49.899500 175.000000 -18.170500 49.906500 175.000000 ) INS-41219_FOV_FRAME = 'MEX_HRSC_HEAD' INS-41219_FOV_SHAPE = 'RECTANGLE' INS-41219_BORESIGHT = ( 0.021500 60.064000 175.000000 ) INS-41219_FOV_BOUNDARY_CORNERS = ( 18.187500 60.070500 175.000000 18.187500 60.063500 175.000000 -18.141500 60.047500 175.000000 -18.141500 60.054500 175.000000 ) \begintext HRSC Camera Combined FOV The set of assignments in the data section below defines the combined HRSC main camera FOV with respect to the MEX_HRSC_HEAD frame to be a rectangle with the edges defined by the outer corners of the first and last pixels of the S1 and S2 detectors and the boresight along the +Z axis of the MEX_HRSC_HEAD frame. The corner view direction are taken from the corresponding individual detector FOV defined in the previous section. \begindata INS-41210_FOV_FRAME = 'MEX_HRSC_HEAD' INS-41210_FOV_SHAPE = 'RECTANGLE' INS-41210_BORESIGHT = ( 0.000000 0.000000 175.000000 ) INS-41210_FOV_BOUNDARY_CORNERS = ( 18.187000 60.064100 175.000000 18.128100 -60.039900 175.000000 -18.186200 -60.043500 175.000000 -18.142000 60.047600 175.000000 ) \begintext SRC Camera FOV The set of assignments in the data section below defines the SRC FOV with respect to the MEX_HRSC_SRC frame to be a rectangle with the corners defined by the first and last pixels of the first and last lines of the CCD and the boresight along the +Z axis of the MEX_HRSC_SRC frame. This FOV definition uses angular extent style specification with the cross and along track angular sizes taken from the ``Optics Parameters'' section above. \begindata INS-41220_FOV_FRAME = 'MEX_HRSC_SRC' INS-41220_FOV_SHAPE = 'RECTANGLE' INS-41220_BORESIGHT = ( 0.000000 0.000000 984.76 ) INS-41220_FOV_CLASS_SPEC = 'ANGLES' INS-41220_FOV_REF_VECTOR = ( 1.000000 0.000000 0.000000 ) INS-41220_FOV_REF_ANGLE = ( 0.27 ) INS-41220_FOV_CROSS_ANGLE = ( 0.27 ) INS-41220_FOV_ANGLE_UNITS = 'DEGREES' \begintext Optical Distortion -------------------------------------------------------- This section provides optical distortion and geometric calibration data for HRSC and SRC cameras. HRSC Camera The optical distortion for the HRSC provided in [5] has not been included in this version of the I-kernel. SRC Camera According to [12] optical distortion for SRC is negligible. So no optical distortion parameters are needed for this camera. Platform ID --------------------------------------------------------------------------- This number is the NAIF instrument ID of the platform on which the cameras are mounted. For both cameras this platform is the spacecraft. \begindata INS-41210_PLATFORM_ID = ( -41000 ) INS-41220_PLATFORM_ID = ( -41000 ) \begintext End of IK file.