KPL/IK
\beginlabel
PDS_VERSION_ID = PDS3
RECORD_TYPE = STREAM
RECORD_BYTES = "N/A"
^SPICE_KERNEL = "MGS_TES_V12.TI"
MISSION_NAME = "MARS GLOBAL SURVEYOR"
SPACECRAFT_NAME = "MARS GLOBAL SURVEYOR"
DATA_SET_ID = "MGS-M-SPICE-6-V1.0"
KERNEL_TYPE_ID = IK
PRODUCT_ID = "MGS_TES_V12.TI"
PRODUCT_CREATION_TIME = 2000-01-04T09:42:00
PRODUCER_ID = "NAIF/JPL"
MISSION_PHASE_NAME = "N/A"
PRODUCT_VERSION_TYPE = ACTUAL
PLATFORM_OR_MOUNTING_NAME = "MGS NADIR DECK"
START_TIME = "N/A"
STOP_TIME = "N/A"
SPACECRAFT_CLOCK_START_COUNT = "N/A"
SPACECRAFT_CLOCK_STOP_COUNT = "N/A"
TARGET_NAME = MARS
INSTRUMENT_NAME = "THERMAL EMISSION SPECTROMETER"
NAIF_INSTRUMENT_ID = -94010
SOURCE_PRODUCT_ID = "N/A"
NOTE = "See comments in the file for details"
OBJECT = SPICE_KERNEL
INTERCHANGE_FORMAT = ASCII
KERNEL_TYPE = INSTRUMENT
DESCRIPTION = "MGS Thermal Emission Spectrometer instrument
parameters SPICE I-Kernel File. This file also contains TES Frame
definitions."
END_OBJECT = SPICE_KERNEL
\endlabel
TES Instrument Kernel
===========================================================================
This instrument kernel (I-kernel) contains the Thermal Emission
Spectrometer (TES) instrument mounting offset, and the pointing mirror
step size.
Version and Date
--------------------------------------------------------
Version 1.2 -- August 11, 1997
Frame definition was corrected to represent the correct
transformation sense.
Version 1.1 -- June 19, 1997
The TES frame definition section was added to support utilization of
the SPICE system FRAMES capabilities.
Version 1.0 -- November 26, 1996
Initial Release.
References
--------------------------------------------------------
1. ``MGS Alignment Transformation'', by Richard A. Hund,
November 26, 1996.
2. ``MGS Payload Data Sheet'' by C.Kloss, October 31, 1995,
3. ``C-kernel Required Reading''
4. ``Kernel Pool Required Reading''
5. ``Frames Required Reading''
6. ``Mars Global Surveyor Project Mission Plan'', Final Version,
Rev. A (MGS 542-405), July 1996
Implementation Notes
--------------------------------------------------------
This file is used by the SPICE system as follows: programs that make
use of this I-kernel must `load' the kernel, normally during program
initialization. Loading the kernel associates data items with their
names in a data structure called the `kernel pool'. The SPICELIB
routine LDPOOL loads a kernel file into the pool as shown below.
CALL LDPOOL ( I_kernel_name )
In order for a program or subroutine to extract data from the pool,
the SPICELIB routines GDPOOL and GIPOOL are used. See [4] for more details.
This file was created and may be updated with a text editor or word
processor.
Naming Conventions
--------------------------------------------------------
All names referencing values in this I-kernel start with the
characters `INS' followed by the NAIF Mars Global Surveyor spacecraft ID
number (-94) followed by the NAIF three digit TES instrument
reference number (010).
The remainder of the name is an underscore character followed by the
unique name of the data item. For example, the TES offset relative to
the spacecraft frame, given as three Euler angles, is specified using
two items:
INS-94010_EULER_ANGLES
INS-94010_EULER_AXES
The upper bound on the length of the name of any data item is 32
characters.
If the same item is included in more then one file, or if the same
item appears more than once within a single file, the latest value
supersedes any earlier values.
TES mounting offset
--------------------------------------------------------
This section describes the offset of the TES instrument fixed frame
(the frame fixed to the alignment cube on the TES) relative to the
Mars Global Surveyor spacecraft frame. From the offset, given as three
rotation angles -- ROLL, PITCH and YAW, a rotation matrix can be
constructed that will transform the components of a vector expressed
in the spacecraft frame to components expressed in the TES instrument
fixed frame. For example, if x y and z are the components of a vector
expressed in the spacecraft frame, X Y and Z will be the components
of the same vector expressed in the TES instrument fixed frame:
[ X ] [ ] [ x ]
| Y | = | ROT | | y |
[ Z ] [ ] [ z ]
where ROT is the rotation matrix constructed from the rotation angles
as follows:
[ ] [ ] [ ] [ ]
[ ROT ] = [ YAW ] [ PITCH ] [ ROLL ]
[ ] [ ] [ ] [ ]
Z Y X
where each of three matrixes on the right side represent a coordinate
frame rotation by the given angle around the indicated axis. See the
SPICELIB routine EUL2M for more information about constructing
a rotation matrix from a set of rotation angles.
The following measured values of ROLL, PITCH and YAW are provided in [1]:
ROLL = 0.016 (degrees)
PITCH = 0.014 (degrees)
YAW = 359.996 (degrees)
The keyword INS-94010_EULER_ANGLES contains these values, in radians,
in the following order:
INS-94010_EULER_ANGLES = ( ``ROLL'' ``PITCH'' ``YAW'' )
The keyword INS-94010_EULER_AXES contains integer codes of the
corresponding axes of rotations (1 -- X, 2 -- Y, 3 -- Z).
\begindata
INS-94010_EULER_ANGLES = ( 0.000279252680 0.000244346095 6.283115494010 )
INS-94010_EULER_AXES = ( 1 2 3 )
\begintext
Telescopes Field of View
--------------------------------------------------------
From [5]:
Each of two TES telescopes utilizes six detectors, each with 8.3 by
8.3 mrad field of view. Together, the six form a rectangular grid
three frames wide (cross-track) and two frames deep (down-track).
FOV and instantaneous FOV dimensions are given below in radians.
\begindata
INS-94010_CROSS_TRACK_FOV = ( 0.0249 )
INS-94010_DOWN_TRACK_FOV = ( 0.0166 )
INS-94010_DET_CROSS_TRACK_FOV = ( 0.0083 )
INS-94010_DET_DOWN_TRACK_FOV = ( 0.0083 )
\begintext
Platform ID
--------------------------------------------------------
This number is the NAIF instrument ID of the platform on which the
instrument is mounted.
\begindata
INS-94010_PLATFORM_ID = ( -94000 )
\begintext
Instrument Frame Definition
--------------------------------------------------------
The instrument frame definition for TES. This definiton will be utilized
by SPICE's FRAMES subsystem to provide automatic state transformations
to/from TES instrument frame frame.
Note that angles in the frame definitions are specified for "from
instrument to base (relative to) frame" transformation.
\begindata
FRAME_MGS_TES = -94010
FRAME_-94010_NAME = 'MGS_TES'
FRAME_-94010_CLASS = 4
FRAME_-94010_CLASS_ID = -94010
FRAME_-94010_CENTER = -94
TKFRAME_-94010_SPEC = 'ANGLES'
TKFRAME_-94010_RELATIVE = 'MGS_SPACECRAFT'
TKFRAME_-94010_ANGLES = ( -0.000279252680, -0.000244346095, -6.283115494010 )
TKFRAME_-94010_AXES = ( 1, 2, 3 )
TKFRAME_-94010_UNITS = 'RADIANS'