KPL/IK

SIMBIO-SYS Instrument Kernel
=============================================================================

   This instrument kernel (I-kernel) contains references to mounting
   alignment, operating modes, and timing as well as internal and FOV
   geometry for the BepiColombo Spectrometers and Imagers Integrated
   Observatory SYStem (SIMBIO-SYS)


Version and Date
-----------------------------------------------------------------------------

   Version 0.8 -- September 10, 2021 -- Ricardo Valles Blanco, ESAC/ESA
                                        Marc Costa Sitja, NAIF/JPL
                                        Cristina Re, INAF

      Fixed typos for PDS4 Bundle release version 1.0.

      Updated VIHI descriptions and VIHI detector CCD parameters.

   Version 0.7 -- July 7, 2020 -- Cristina Re, INAF
                                  Marc Costa Sitja, ESAC/ESA

      Added STC, VIHI and HRIC Optical distortion.

   Version 0.6 -- March 24, 2020 -- Marc Costa Sitja, ESAC/ESA
                                    Cristina Re, INAF

      Corrected MPO_SIMBIO-SYS_VIHI frame and added FOV names.
      Removed Platform ID section.

   Version 0.5 -- October 28, 2018 -- Marc Costa Sitja, ESAC/ESA

      Minor description updates.

   Version 0.4 -- June 28, 2018 -- Cristina Re, INAF

      Updated the splitted version of the STC focal plane. Change in the
      definition of the axes in the drawing since the definition of the offsets
      of the filters have been considered as a rotation with respect the +Y axis
      and not the +X axis.

      Alignment information has been moved from the IK to the FK.

   Version 0.3 -- March 8, 2018 -- Cristina Re, INAF
                                   Marc Costa Sitja, ESAC/ESA

      As an outcome of the first review of the kernel by the SIMBIO-SYS
      Instrument Team updates on FoV names an ids, instrument descriptions
      and FoV definitions have been performed.

   Version 0.2 -- February 15, 2017 -- Marc Costa Sitja, ESAC/ESA

      Updated instrument description. Added FOV and sensor definitions
      for STC-L and STC-H filters and updated the rest of the definitions.
      Replaced SIMBIOSYS references by SIMBIO-SYS.

      Pending review from the SIMBIO-SYS instrument team and the
      BepiColombo SGS.

   Version 0.1 -- February 22, 2016 -- Marc Costa Sitja, ESAC/ESA

      Updated BEPICOLOMBO MPO IDs from -69 to -121.
      Removed kernel name and version assignment.

   Version 0.0 -- February 22, 2013 -- Jonathan McAuliffe, ESAC/ESA

      Initial prototype release.


References
-----------------------------------------------------------------------------

   1.  ``Kernel Pool Required Reading'', NAIF.

   2.  BepiColombo MPO Spacecraft Frames Kernel (FK), Latest Version

   3.  ``Frames Required Reading'', NAIF.

   4.  ``C-Kernel Required Reading'', NAIF.

   5.   ``SIMBIO-SYS EID-B'', BC-EST-RS-02523,
        Issue 1, 25th September 2012

   6.   ``BepiColombo SIMBIO-SYS User Manual'', BC-SIM-GAF-MA-002,
        Issue 1, Revision 5, 8th April 2016

   7.  ``Preliminary results of the optical calibration for the stereo
       camera STC onboard the BepiColombo mission'', International
       Conference on Space Optics 2014 Tenerife, Canary Islands, Spain,
       October 2014

   8.  ``VIS-NIR Imaging Spectroscopy of Mercury's Surface: SIMBIO-SYS/VIHI
       Experiment Onboard the BepiColombo Mission'', proceedings for
       IEEE Transactions on Geoscience and Remote Sensing, 2010

   9.  Email from Cristina Re (INAF) ``SIMBIO Ik and fk revision''
       on 28th June 2018.

   10. Simioni, Emanuele, et al. "SIMBIO-SYS/STC stereo camera calibration:
       Geometrical distortion." Review of Scientific Instruments 90.4 (2019):
       043106.

   11. Filacchione, Gianrico, et al. "The pre-launch characterization of
       SIMBIO-SYS/VIHI imaging spectrometer for the BepiColombo mission to
       Mercury. I. Linearity, radiometry, and geometry calibrations."
       Review of Scientific Instruments 88.9 (2017): 094502.

   12. A. E. Conrady, Decentred Lens-Systems, Monthly Notices of the Royal
       Astronomical Society, Volume 79, Issue 5, March 1919, Pages 384-390.



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:

           Marc Costa Sitja
           (818) 354-4852
           Marc.Costa.Sitja@jpl.nasa.gov


Implementation Notes
-----------------------------------------------------------------------------

   This file is used by the SPICE system as follows: programs that make use
   of this frame kernel must "load" the kernel normally during program
   initialization. Loading the kernel associates the data items with
   their names in a data structure called the "kernel pool". The SPICELIB
   routine FURNSH loads a kernel into the pool as shown below:

     FORTRAN: (SPICELIB)

       CALL FURNSH ( frame_kernel_name )

     C: (CSPICE)

       furnsh_c ( frame_kernel_name );

     IDL: (ICY)

       cspice_furnsh, frame_kernel_name

     MATLAB: (MICE)

       cspice_furnsh ( 'frame_kernel_name' )

     PYTHON: (SPICEYPY)*

       furnsh( frame_kernel_name )

   In order for a program or routine to extract data from the pool, the
   SPICELIB routines GDPOOL, GIPOOL, and GCPOOL are used.  See [1] for
   more details.

   This file was created and may be updated with a text editor or word
   processor.

   * SPICEYPY is a non-official, community developed Python wrapper for the
     NAIF SPICE toolkit. Its development is managed on Github.
     It is available at: https://github.com/AndrewAnnex/SpiceyPy


Naming Conventions
-----------------------------------------------------------------------------

   All names referencing values in this I-kernel start with the characters
   'INS' followed by the NAIF BepiColombo MPO spacecraft ID number (-121) and
   then followed by a NAIF three digit code for an SIMBIO-SYS camera (HRIC =
   610, STC = 620, VIHI = 630).

   The remainder of the name is an underscore character followed by the
   unique name of the data item. For example, the HRIC boresight direction
   in the MPO_SIMBIO-SYS_HRIC frame (see [3]) is specified by:

      INS-121610_BORESIGHT

   The upper bound on the length of the name of any data item identifier
   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.


Mounting Alignment
-----------------------------------------------------------------------------

   Refer to the latest version of the BepiColombo MPO Frames Definition
   Kernel (FK) [3] for the SIMBIO-SYS reference frame definitions and
   mounting alignment information.


Description
-----------------------------------------------------------------------------

   From [6] and [7]:

   SIMBIO-SYS has been conceived to be integrated on the BepiColombo MPO
   pointing in the nadir direction in order to perform the remote sensing of
   the Mercury surface during the satellite orbits. The SIMBIO-SYS instrument
   architecture is based on 3 different channels composing the instrument
   front-end with a common main electronics and power supply.

   Each channel is composed of optics, detector (Focal Plane Assembly), thermal
   hardware (if needed), proximity electronics and electrical interface for
   power supply and data handling. From an electrical point of
   view, the Main Electronics (ME) implements, at suite level, the two main
   functions shared among the three channels to avoid duplication, namely:

      -  data processing electronics function
      -  power supply

   The first function, implemented by the two redundant Digital Processing
   Units (DPU's), is mainly devoted to data management and compression,
   instrument control and TC/TM handling from/to the S/C interface. The
   second one, implemented by the Power Unit (PU), is aimed to supply all the
   subsystems with the required power, providing a common set of required
   voltages.

   Science Objectives:
   ~~~~~~~~~~~~~~~~~~~

      The SIMBIO-SYS instrument suite incorporates capabilities to perform:
         -  global mapping with stereo imaging (spatial resolution: 50-110m and
            vertical accuracy of 84m at the periherm on the equator)
         -  colour mapping of selected regions in 4 broad band filters (in the
            range 410-930nm)
         -  global mapping with spectroscopy in the spectral range 400-2000 nm
            (spectral sampling of 6.25nm), with a spatial resolution better 
            than 500m
         -  high spatial resolution (5-10m) imaging of selected areas summing 
            up to at least 20% of planet surface in a panchromatic filter and 
            in 3 different broad band filters (in the range 400-900nm)
         -  hyperspectral imaging of selected areas in the spectral range 
            400-2000nm (spectral sampling of 6.25nm), with a spatial sampling 
            down to 100m

   Measurement Principle:
   ~~~~~~~~~~~~~~~~~~~~~~

      The above scientific objectives are achieved by the capabilities of the
      three channels composing the SIMBIO-SYS suite:

         -  HRIC High Resolution Camera
         -  STC Stereo Camera
         -  VIHI Spectrometer

      Such configuration allows maximising the scientific return in each phase
      of the mission by the suitable share of the available resources in terms
      of power and data rate.

   HRIC High Resolution Camera:
   ~~~~~~~~~~~~~~~~~~~~~~~~~~~~

      The SYMBIO-SYS High Resolution Imaging Channel (HRIC) aims to provide:

         -  images at ground pixel size of 5m / pxl at 400km,
         -  high spatial resolution images of selected regions (>20% of
            planet's surface),
         -  high spatial resolution images in one panchromatic and 3 broad-band
            filters

      It consists of a high spatial resolution imaging push frame channel
      operating in the visible with Ritchey-Chretien optics modified with
      correcting lenses.

      The following table summarizes the instrument optics, performances and
      resolution:

               Parameter          |  Units       |  Value/Description Remarks
         -------------------------+--------------+----------------------------
          Optics                  |              |
                                  |              |
              Aperture            |  mm          |   90
              Focal length        |  mm          |   800
              Focal number        |  #           |   8.9
              Field of view       |  degrees     |   1.47
              Central obstruction |  %           |   10 (area)
              Spectral range      |  nm          |   400-900
              Filter bandwidth    |  nm          |   40/500
              Spectral Channels   |  nm          |   Panchromatic; F550;
                                  |              |   F750; F880 (Filters)
              MTF at Nyquist      |  %           |   33-30 (respectively
              frequency           |              |   on-axis and in field)
                                  |              |
          Sensor                  |              |
                                  |              |
              Sensor type         |  #           |   Si-PiN-Hybrid
              Format              |  #           |   2048x2048
              Pixel size          |  microm      |   10x10
              Spectral Range      |  nm          |   400 to 1000
              Global Quantum      |  %           |   >42 from 400 to 800 nm
                                  |  %           |   >24 from 800 to 900 nm
                                  |  %           |   >10 from 900 to 950 nm
              MTF at Nyquist      |  %           |   >50
              frequency           |              |
              Read Noise at 293K  |  e-          |   <100
              Dark Signal at 293K |  e-/s        |   <10000 (max. 40000)
              DSNU at 293K        |  %           |   <5 (rms)
              Exposure time       |  ms          |   0.04 - 4 (during Mercury
                                  |              |   observations)
              Imaging sequence    |  s           |   0.71 (Nominal Mode)
              duration            |              |
              Readout             |  Mpix/s      |   <5
              Spurious charge     |  e-/s        |   <100 ( 273K < T < 293K  )
              Not operating       |  K           |   213 % 333
              Temperature range   |              |
              Operating           |  K           |   268 % 298
              temperature         |              |
              Linearity           |  %           |   < +/- 1
                                  |              |   (between 10 % 100 Ke-)
              Power Dissipation   |  W           |   <0.1
              FPN                 |  mV          |   <15 (max. 30)
              CVF at 273K         |  microV/e-   |   ~15
                                  |              |
          Resolution              |              |
                                  |              |
              Spectral resolution |  nm          |   Broad Band 40;
                                  |              |   Pancromatic  500
              IFOV                |  microrad/px |   12.5
              Ground pixel scale  |  m/pixel     |   5 at 400 km
              Dwell Time          |              |
                 At Periherm      |  ms          |   1.9
                 At Apoherm       |  ms          |   14
                                  |              |

   STC Stereo Camera:
   ~~~~~~~~~~~~~~~~~~

      The SYMBIO-SYS Stereo imaging Channel (STC) aims to perform Global
      stereo mapping at moderate resolution and colour mapping of selected
      regions. It is a moderate resolution push-frame camera for stereo and
      colour imaging with Catadioptric optics (Modified Schmidt with 
      correcting doublet).

      The STC instrument consists in a novel concept of stereo-camera: two
      sub-channels looking at +/- 20 degrees from nadir
      which share most of the optical components and the detector. Being the
      detector a 2D matrix, STC is able to adopt the push-frame acquisition
      technique instead of the much common push-broom one.

      The camera has the capability of imaging in five different spectral
      bands: one panchromatic and four intermediate bands, in the range 
      between 410 and 930 nm. To avoid mechanisms, the technical solution 
      chosen for the filters is the single substrate stripe-butted filter 
      in which different glass pieces, with different transmission properties, 
      are glued together and positioned just in front of the detector.

      The useful field of view (FOV) of each sub-channel, though divided in 3
      strips, is about 5.39 x 3.07 degrees. The optical design, a modified
      Schmidt layout, is able to guarantee that over all the FOV the
      diffraction Ensquared Energy inside one pixel of the detector is of the
      order of 70-80%.

      The following table summarizes the instrument optics, performances and
      resolution:

               Parameter          |  Units       |  Value/Description Remarks
         -------------------------+--------------+----------------------------
          Optics                  |              |
                                  |              |
              Aperture            |  mm          |   15
              Focal length        |  mm          |   95.2
              Focal number        |  #           |   6.3
              Field of view       |  degrees     |   5.39 x 4.75 (Across-Track
                                  |              |   x Along-Track per sub-ch)
              Central obstruction |  %           |   0
              Spectral range      |  nm          |   410-930
              Spectral Channels   |              |
                 Panchromatic     |              |
                     Filter IC    |  nm          |   700  (6 filters:
                 Coloured Filters |              |         2xPanchromatic, F420
                                  |              |         , F550, F750,  F920)
                     Blue IC      |  nm          |   420
                     Green IC     |  nm          |   550
                     NIR1 IC      |  nm          |   750
                     NIR2 IC      |  nm          |   920
              Filter bandwidth    |  nm          |   20/200 (4 broad band
                                  |              |   -coloured- filters /
                                  |              |   panchromatic filter)
              Ensquared Energy    |  %           |   >70
              per pixel           |              |
                                  |              |
          Sensor                  |              |
                                  |              |
              Sensor type         |  #           |   Si-PiN-Hybrid CMOS
              Pixel lines in      |  #           |   2048
              array               |              |
              Pixels per array    |  #           |   2048
              line                |              |
              Pixel size          |  microm      |   10
              Readout             |  Mpix/s      |   <5
              A/D Conversion      |  Bit/pix     |   14
              Spectral Range      |  nm          |   400 to 930
              Windowing           |  #           |   Yes
              Capability          |              |
                                  |              |
          Resolution              |              |
                                  |              |
              Angular resolution  |  mrad/pix    |   105
              Spatial resolution  |  m           |   50 (400 km alt at
                                  |              |   Periherm at 21.4 deg
                                  |              |   from Nadir)
              Vertical Accuracy   |  m           |   80 (400 km alt at
                                  |              |   Periherm)
                                  |              |

   VIHI Spectrometer:
   ~~~~~~~~~~~~~~~~~~

      The SYMBIO-SYS Visual and Infrared Hyperspectral Imager (VIHI) aims to
      perform:

         -  global Hyperspectral imaging of the planetary surface with a
            resolution better than 500m in the spectral range 400 and 2000nm
            and a spectral resolution of 6.25nm/pixel,
         -  5 to 10% surface coverage with best spatial sampling capability
            (100m) in the same spectral range and with the same spectral
            resolution as above.

      It is a moderate resolution Hyperspectral push broom Imager
      -spectrometer- for the visual and near infrared band with Schmidt
      modified telescope with Littrow grating spectrometer.

      The following table summarizes the instrument optics, performances and
      resolution:

               Parameter          |  Units       |  Value/Description Remarks
         -------------------------+--------------+----------------------------
          Optics                  |              |
                                  |              |
              Aperture            |  mm          |   25 (Diameter)
              Focal length        |  mm          |   160
              Focal number        |  #           |   6.4
              Field of view       |  degrees     |   3.7
              Central obstruction |  %           |   0
              Pixel IFOV          |  microrad    |   250
              Scale per per pixel |  m/px        |   100 at 400km
              Spectral range      |  nm          |   400-2000
              Spectral channels   |  #           |   256
              Spectral dispersion |  nm/pix      |   6.25
                                  |              |
          Sensor                  |              |
                                  |              |
              Sensor type         |  #           |   Hybrid HgCdTe
              Pixel lines         |  #           |   264
              Pixels per line     |  #           |   264
              Pixel pitch         |  microm      |   40
              Peak quantum        |  %           |   >50
              efficiency          |              |
              Full well capacity  |  e-          |   >2x10^6
              Order suppression   |  #           |   Yes
              Filters             |              |
              Operating temp      |  K           |   210 % 225
              Exposure time       |  ms          |   10 (min value at Periherm)
                                  |              |
          Resolution              |              |
                                  |              |
              Spectral resolution |  lambda/     |   64  (at 400nm ) -
                                  |  del(lambda) |   320 (at 2000nm)
              Angular resolution  |  microrad/px |   250
              Spatial sampling    |  m/pixel     |   100 at 400 km
                                  |  m/pixel     |   375 at 1500 km
              Dwell Time          |              |
                 At Periherm      |  ms          |   38  at 400km
                 At Apoherm       |  ms          |   275 at 1500km
                                  |              |


Detector Layouts
-----------------------------------------------------------------------------

   This section provides a set of diagrams illustrating the SIMBIO-SYS HRIC,
   STC and VIHI camera detector layouts in the corresponding camera
   reference frames.

   High Resolution Imaging Camera (HRIC):
   ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

   The HRIC detector consists of 1 panchromatic and 3 broadband filters.
   They cover the detector in the order shown in the table below with
   inter-filter gaps:

   -------------- -------- --------- --------- ---------
    Parameter*         Gap      F750       Gap      P880  ...
   -------------- -------- --------- --------- ---------
    V Pixels             2       384        84       384  ...
    V FOV         0.001432  0.275020  0.060161  0.275020
    V FOV Start   0.733386  0.731954  0.456934  0.396773   |
    V FOV Stop    0.731954  0.456934  0.396773  0.121754   |
    V FOV Center  0.732670  0.594444  0.426854  0.259263   '----> continues
    V First Pixel        1         3       387       471
    V Last Pixel         2       386       470       854
    H Pixels          2048      2048      2048      2048
    H FOV            1.470     1.470     1.470     1.470
    H FOV Start     -0.735    -0.735    -0.735    -0.735
    H FOV Stop       0.735     0.735     0.735     0.735
    H FOV Center         0         0         0         0
    H First Pixel        1         1         1         1
    H Last Pixel      2048      2048      2048      2048
   ------------- --------- --------- --------- ---------

   --------------          --------- --------- --------- --------- ---------
    Parameter*      ...          Gap      FPAN       Gap      F550       Gap
   --------------          --------- --------- --------- --------- ---------
    V Pixels        ...          84       640        84       384         2
    V FOV                  0.060161  0.458366  0.060161  0.275020  0.001432
    V FOV Start            0.121754  0.061593 -0.396773 -0.456934 -0.731954
    V FOV Stop             0.061593 -0.396773 -0.456934 -0.731954 -0.733386
    V FOV Center           0.091673 -0.167590 -0.426854 -0.594444 -0.732670
    V First Pixel               855       939      1579      1663      2047
    V Last Pixel                938      1578      1662      2046      2048
    H Pixels                   2048      2048      2048      2048      2048
    H FOV                     1.470     1.470     1.470     1.470     1.470
    H FOV Start              -0.735    -0.735    -0.735    -0.735    -0.735
    H FOV Stop                0.735     0.735     0.735     0.735     0.735
    H FOV Center                  0         0         0         0         0
    H First Pixel                 1         1         1         1         1
    H Last Pixel               2048      2048      2048      2048      2048
   -------------  -        -------- --------- --------- ---------- --------

    * all FOV values above are in degrees
    * V or Vertical implies along-track
    * H or Horizontal implies across-track


                                      ^ +Xhric (S/C velocity/along track)
                                      |
                  Pixel               |
                  (1,1)---------------|-----------------+
                    | /////////////// | /////////// Gap |   2 px
                    +-----------------|-----------------+
                    |                 |            F750 | 384 px
                    |                 |                 |
                    +-----------------|-----------------+
                    | /////////////// | /////////// Gap |  84 px
                    +-----------------|-----------------+
      +Yhric        |                 | +Zhric     F880 | 384 px
      (cross- <-----------------------o out of the page |
       track)       +-----------------------------------+
                    | ///////////////////////////// Gap |  84 px
                    +-----------------------------------+
                    |                              FPAN | 640 px
                    |                                   |
                    |                                   |
                    +-----------------------------------+
                    | ///////////////////////////// Gap |  84 px
                    +-----------------------------------+
                    |                              F550 | 384 px
                    |                                   |
                    !-----------------------------------+
               2048 | ///////////////////////////// Gap |   2 px
              lines +-----------------------------------+
                               2048 pixels/line

   STereo Camera (STC):
   ~~~~~~~~~~~~~~~~~~~~

   The STC detector consists of 2 panchromatic and 4 broadband filters.
   The forward looking and backward looking channels of STC both image
   onto the same detector, so 1 panchromatic and 2 broadband filters
   correspond to each STC channel. The two Channels are called Channel
   High (STC-H) and Channel Low (STC-L) (depending on their position
   respect to the optical bench of SIMBIO-SYS).

   The following tables contain detector and field of view characteristics
   for the forward and backward looking channels.

   Since portions of the incoming beam are blocked and gaps are present
   between each filtered useful images on the detector, the entire FOV is not
   actually recorded. For each sub-channel is possible to acquire
   simultaneously three quasi-contiguous areas of Mercury surface in
   different colors and without using movable elements; however, while the
   nominal FOV of each sub-channel is 5.39 x 4.75 degrees, including gaps, the
   scientific useful FOV is actually smaller, i.e. 5.3 x 3.07 degrees, and it
   is divided in three portions (5.39 x 2.31, 5.39 x 0.38, 5.39 x 0.38
   degrees). At periherm, each panchromatic strip corresponds to an area of
   about 40 x 19 km2 on the Mercury surface and each colored strip to an area
   of about 40 x 3 km2.

   Channel Low (STC-L):
        ------------------- ------ ------ ------ ------ ------
         Parameter*          F920   Gap    F550   Gap    P700

        ------------------- ------ ------ ------ ------ ------
         Vert. Pixels          64    146      64    136    384
         Vert. FOV           0.38   0.87    0.38   0.81   2.31
         Vert. FOV Start    -2.24  -0.59   -0.97   2.53   0.22
         Vert. FOV Stop    - 1.86  -2.24   -0.59  -0.97   2.53
         Vert. FOV Center   -2.05  -1.42   -0.78   0.78   1.38
         Vert. First Pixel   1953   1808    1745   1610   1227
         Vert. Last Pixel    2016   1953    1808   1745   1610
         Horiz. Pixels        896    896     896    896    896
         Horiz. FOV          5.39   5.39    5.39   5.39   5.39
         Horiz. FOV Start   -2.69  -2.69   -2.69  -2.69  -2.69
         Horiz. FOV Stop      2.69   2.69   2.69   2.69   2.69
         Horiz. FOV Center       0      0      0      0      0
         Horiz. First Pixel    576    576    576    576    576
         Horiz. Last Pixel    1471   1471   1471   1471   1471
        ------------------- ------ ------ ------ ------ ------
         * all FOV values above are in degrees
         * Vert. or Vertical implies along-track
         * Horiz. or Horizontal implies across-track


                                      ^ +Xstc-l/Xsc (along track)
                                      |
                                      |
                    +---------------  |-----------------+
                    |                 |            F920 |  64 px
                    +-----------------|-----------------+
                    | /////////////// | /////////////// |
                    | /////////////// | /////////// Gap |  146 px
                    +-----------------|-----------------+
      +Ystc-l/Ysc <-------------------o +Zstc-l    F550 |  64 px
    (cross-track)   +-----------------------------------+
                    | ///////////////////////////// Gap |
                    | ///////////////////////////////// |  136 px
                    +-----------------------------------+
                    |                              P700 |  384 px
                    |                                   |
                    |                                   |
                    |                                   |
                    |                                   |
             (1227,0)-----------------------------------+
               Pixel              2048 pixels/line

                                       -------->
                                    Sample direction


      Channel High (STC-H):
        ------------------- ------ ------ ------ ------ ------
          Parameter*          F750   Gap    F420   Gap    P700

        ------------------- ------ ------ ------ ------ ------
         Vert. Pixels           64    146     64    135    384
         Vert. FOV            0.38   0.87   0.38   0.81   2.31
         Vert. FOV Start      2.24   1.86   0.97   0.59  -0.22
         Vert. FOV Stop       1.86   0.97   0.59  -0.22  -2.53
         Vert. FOV Center     2.05   1.42   0.78   0.18  -1.38
         Vert. First Pixel      32     95    240    303    437
         Vert. Last Pixel       95    240    303    437    820
         Horiz. Pixels         896    896    896    896    896
         Horiz. FOV           5.39   5.39   5.39   5.39   5.39
         Horiz. FOV Start    -2.69  -2.69  -2.69  -2.69  -2.69
         Horiz. FOV Stop      2.69   2.69   2.69   2.69   2.69
         Horiz. FOV Center       0      0      0      0      0
         Horiz. First Pixel    576    576    576    576    576
         Horiz. Last Pixel    1471   1471   1471   1471   1471
        ------------------- ------ ------ ------ ------ ------
         * all FOV values above are in degrees
         * Vert. or Vertical implies along-track
         * Horiz. or Horizontal implies across-track


                                      ^ +Xstc-h/Xsc (along track)
                                      |
                  Pixel               |
                  (32,0)--------------|-----------------+
                    |                 |            F750 |  64 px
                    +-----------------|-----------------+
                    | /////////////// | /////////////// |
                    | /////////////// | /////////// Gap |  146 px
                    +-----------------|-----------------+
      +Ystc-h/Ysc <-------------------o +Zstc-h    F420 |  64 px
    (cross-track)   +-----------------------------------+
                    | ///////////////////////////// Gap |
                    | ///////////////////////////////// |  135 px
                    +-----------------------------------+
                    |                              P700 |  384 px
                    |                                   |
                    |                                   |
                    |                                   |
                    |                                   |
                    +-----------------------------------+
                               2048 pixels/line


   Visible & Infrared Hyperspectral Imager (VIHI):
   ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

   VIHI is a moderate resolution Hyperspectral push broom imaging
   spectrometer working in the visual and near infrared spectral region
   composed of a Schmidt modified telescope conjugated to a Littrow grating
   spectrometer.

   The operating principle is as follows: the image is projected on the focal
   plane of the Schmidt telescope; a pixel wide slit is located in the focal
   plane and represent the entrance to the Littrow spectrometer; the slit
   image is diffracted by the spectrometer grating onto the bi-dimensional
   sensor where 256 monochromatic (with delta lambda of 6.25nm) images of
   the slit are distributed. The 2D sensor, for each acquisition, will
   contain along the columns the spectral information and along the rows the
   spatial information. Thus the sampling the surface of Mercury is performed
   with a FOV of 64 x 0.25 mrad and the instrument operates in pushbroom
   configuration. The instrument has an Instantaneous field of view (IFOV)
   of 250 microrad corresponding to a spatial scale of 100 m/pixel at 400 km
   altitude and 375 m at 1500 km altitude.

   The VIHI detector consists of 1 2D sensor with the following
   parameters:

        -------------------  ------
         Parameter*            VIHI
        -------------------  ------
         Horiz. Pixels          256
         Horiz. FOV           3.667
         Horiz. FOV Start     1.833
         Horiz. FOV Stop     -1.833
         Horiz. FOV Center      0.0
         Horiz. First Pixel       1
         Horiz. Last Pixel      256
        -------------------  ------
         * all FOV values above are in degrees
         * Horiz. or Horizontal implies across-track


                                    ^ +Xvihi (S/C velocity/along track)
                                    |
                         Pixel      |
                         (1,1)------|---------+
            +Yvihi <----------------o         |  1 px
            (cross-       +-------------------+
             track)           256 pixels/line


FOV Definitions
-----------------------------------------------------------------------------

   This section contains definitions for the fields of view (FOV) for the
   SIMBIO-SYS channels. These definitions are provided in a format required
   by the SPICE (CSPICE) function GETFOV (getfov_c).


   High Resolution Imaging Camera (HRIC) FOVs:
   ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

   The SIMBIO-SYS HRIC combined field of view is a square boresight on the
   +Z-axis of the MPO_SIMBIO-SYS_HRIC_FPA frame. The angular dimension of
   the field of view is 1.47 x 1.47 (degrees).

   Please note that the FOV reference and cross angles are defined with half
   angle values.

   The following FOV definition corresponds to the NAIF Body Name:
   MPO_SIMBIO-SYS_HRIC_FPA.

   \begindata

      INS-121610_NAME            = 'MPO_SIMBIO-SYS_HRIC_FPA'
      INS-121610_FOV_FRAME       = 'MPO_SIMBIO-SYS_HRIC_FPA'
      INS-121610_FOV_SHAPE       = 'RECTANGLE'
      INS-121610_BORESIGHT       = ( 0.0, 0.0, 1.0 )
      INS-121610_FOV_CLASS_SPEC  = 'ANGLES'
      INS-121610_FOV_REF_VECTOR  = ( 1.0, 0.0, 0.0 )
      INS-121610_FOV_REF_ANGLE   = ( 0.735 )
      INS-121610_FOV_CROSS_ANGLE = ( 0.735 )
      INS-121610_FOV_ANGLE_UNITS = 'DEGREES'

   \begintext

   This combined HRIC field of view is split between 4 sub-fields of view
   corresponding to each of the 4 HRIC filters (1 Panchromatic and 3 Broad-
   band). The cross-track geometry of each of these filters is the same as
   that of the combined field of view illustrated above.

   Please note that the FOV reference and cross angles are defined with half
   angle values.

   The following FOV definitions correspond to the following NAIF Body
   Names: MPO_SIMBIO-SYS_HRIC_F550, MPO_SIMBIO-SYS_HRIC_FPAN,
   MPO_SIMBIO-SYS_HRIC_F750 and MPO_SIMBIO-SYS_HRIC_F880.

   \begindata

      INS-121611_NAME            = 'MPO_SIMBIO-SYS_HRIC_F550'
      INS-121611_FOV_FRAME       = 'MPO_SIMBIO-SYS_HRIC_F550'
      INS-121611_FOV_SHAPE       = 'RECTANGLE'
      INS-121611_BORESIGHT       = ( 0.0, 0.0, 1.0 )
      INS-121611_FOV_CLASS_SPEC  = 'ANGLES'
      INS-121611_FOV_REF_VECTOR  = ( 1.0, 0.0, 0.0 )
      INS-121611_FOV_REF_ANGLE   = ( 0.138 )
      INS-121611_FOV_CROSS_ANGLE = ( 0.735 )
      INS-121611_FOV_ANGLE_UNITS = 'DEGREES'

      INS-121612_NAME            = 'MPO_SIMBIO-SYS_HRIC_FPAN'
      INS-121612_FOV_FRAME       = 'MPO_SIMBIO-SYS_HRIC_FPAN'
      INS-121612_FOV_SHAPE       = 'RECTANGLE'
      INS-121612_BORESIGHT       = ( 0.0, 0.0, 1.0 )
      INS-121612_FOV_CLASS_SPEC  = 'ANGLES'
      INS-121612_FOV_REF_VECTOR  = ( 1.0, 0.0, 0.0 )
      INS-121612_FOV_REF_ANGLE   = ( 0.2295 )
      INS-121612_FOV_CROSS_ANGLE = ( 0.735 )
      INS-121612_FOV_ANGLE_UNITS = 'DEGREES'

      INS-121613_NAME            = 'MPO_SIMBIO-SYS_HRIC_F750'
      INS-121613_FOV_FRAME       = 'MPO_SIMBIO-SYS_HRIC_F750'
      INS-121613_FOV_SHAPE       = 'RECTANGLE'
      INS-121613_BORESIGHT       = ( 0.0, 0.0, 1.0 )
      INS-121613_FOV_CLASS_SPEC  = 'ANGLES'
      INS-121613_FOV_REF_VECTOR  = ( 1.0, 0.0, 0.0 )
      INS-121613_FOV_REF_ANGLE   = ( 0.138 )
      INS-121613_FOV_CROSS_ANGLE = ( 0.735 )
      INS-121613_FOV_ANGLE_UNITS = 'DEGREES'

      INS-121614_NAME            = 'MPO_SIMBIO-SYS_HRIC_F880'
      INS-121614_FOV_FRAME       = 'MPO_SIMBIO-SYS_HRIC_F880'
      INS-121614_FOV_SHAPE       = 'RECTANGLE'
      INS-121614_BORESIGHT       = ( 0.0, 0.0, 1.0)
      INS-121614_FOV_CLASS_SPEC  = 'ANGLES'
      INS-121614_FOV_REF_VECTOR  = ( 1.0, 0.0, 0.0 )
      INS-121614_FOV_REF_ANGLE   = ( 0.138 )
      INS-121614_FOV_CROSS_ANGLE = ( 0.735 )
      INS-121614_FOV_ANGLE_UNITS = 'DEGREES'

   \begintext


   STereo Camera (STC) FOV:
   ~~~~~~~~~~~~~~~~~~~~~~~~

   The SIMBIO-SYS STC fields of view are rectangular boresights pointing
   20 degrees forward and backward of the nadir +Z axis of MPO's
   MPO_SIMBIO-SYS_STC frame. The combined angular dimension of each back
   and forward field of view is 5.39 x 4.75 degrees.

   Please note that the FOV reference and cross angles are defined with half
   angle values.

   The following FOV definition corresponds to the NAIF Body Name:
   MPO_SIMBIO-SYS_STC-L and MPO_SIMBIO-SYS_STC-H.

   \begindata

      INS-121621_NAME            = 'MPO_SIMBIO-SYS_STC-L'
      INS-121621_FOV_FRAME       = 'MPO_SIMBIO-SYS_STC-L'
      INS-121621_FOV_SHAPE       = 'RECTANGLE'
      INS-121621_BORESIGHT       = ( 0.0, 0.0, 1.0 )
      INS-121621_FOV_CLASS_SPEC  = 'ANGLES'
      INS-121621_FOV_REF_VECTOR  = ( 0.0, 1.0, 0.0 )
      INS-121621_FOV_REF_ANGLE   = (  2.375  )
      INS-121621_FOV_CROSS_ANGLE = (  2.695  )
      INS-121621_FOV_ANGLE_UNITS = 'DEGREES'

      INS-121622_NAME            = 'MPO_SIMBIO-SYS_STC-H'
      INS-121622_FOV_FRAME       = 'MPO_SIMBIO-SYS_STC-H'
      INS-121622_FOV_SHAPE       = 'RECTANGLE'
      INS-121622_BORESIGHT       = ( 0.0, 0.0, 1.0 )
      INS-121622_FOV_CLASS_SPEC  = 'ANGLES'
      INS-121622_FOV_REF_VECTOR  = ( 0.0, 1.0, 0.0 )
      INS-121622_FOV_REF_ANGLE   = (  2.375  )
      INS-121622_FOV_CROSS_ANGLE = (  2.695  )
      INS-121622_FOV_ANGLE_UNITS = 'DEGREES'

   \begintext


   This combined STC field of views are split between 3 sub-fields of view
   corresponding to each of the 3 STC filters (1 Panchromatic and 2 Broad-
   band). The cross-track geometry of each of these filters is the same as
   that of the combined field of view illustrated above.

   Please note that the FOV reference and cross angles are defined with half
   angle values.

   The following FOV definition corresponds to the SYS-L sub-channel and have
   the following NAIF Body Names: MPO_SIMBIO-SYS_STC-L_F920,
   MPO_SIMBIO-SYS_STC-L_F550 and MPO_SIMBIO-SYS_STC-L_P700.

   \begindata

      INS-121623_NAME            = 'MPO_SIMBIO-SYS_STC-L_F920'
      INS-121623_FOV_FRAME       = 'MPO_SIMBIO-SYS_STC-L_F920'
      INS-121623_FOV_SHAPE       = 'RECTANGLE'
      INS-121623_BORESIGHT       = ( 0.0, 0.0, 1.0)
      INS-121623_FOV_CLASS_SPEC  = 'ANGLES'
      INS-121623_FOV_REF_VECTOR  = ( 1.0, 0.0, 0.0 )
      INS-121623_FOV_REF_ANGLE   = (  0.189 )
      INS-121623_FOV_CROSS_ANGLE = (  2.695  )
      INS-121623_FOV_ANGLE_UNITS = 'DEGREES'

      INS-121624_NAME            = 'MPO_SIMBIO-SYS_STC-L_F550'
      INS-121624_FOV_FRAME       = 'MPO_SIMBIO-SYS_STC-L_F550'
      INS-121624_FOV_SHAPE       = 'RECTANGLE'
      INS-121624_BORESIGHT       = ( 0.0, 0.0, 1.0)
      INS-121624_FOV_CLASS_SPEC  = 'ANGLES'
      INS-121624_FOV_REF_VECTOR  = ( 1.0, 0.0, 0.0 )
      INS-121624_FOV_REF_ANGLE   = (  0.189  )
      INS-121624_FOV_CROSS_ANGLE = (  2.695  )
      INS-121624_FOV_ANGLE_UNITS = 'DEGREES'

      INS-121625_NAME            = 'MPO_SIMBIO-SYS_STC-L_P700'
      INS-121625_FOV_FRAME       = 'MPO_SIMBIO-SYS_STC-L_P700'
      INS-121625_FOV_SHAPE       = 'RECTANGLE'
      INS-121625_BORESIGHT       = ( 0.0, 0.0, 1.0 )
      INS-121625_FOV_CLASS_SPEC  = 'ANGLES'
      INS-121625_FOV_REF_VECTOR  = ( 1.0, 0.0, 0.0 )
      INS-121625_FOV_REF_ANGLE   = (  1.154   )
      INS-121625_FOV_CROSS_ANGLE = (  2.695   )
      INS-121625_FOV_ANGLE_UNITS = 'DEGREES'

   \begintext


   Please note that the FOV reference and cross angles are defined with half
   angle values.

   The following FOV definition corresponds to the SYS-H sub-channel and have
   the following NAIF Body Names: MPO_SIMBIO-SYS_STC-H_P700,
   MPO_SIMBIO-SYS_STC-H_F420 and MPO_SIMBIO-SYS_STC-H_F750.

   \begindata

      INS-121626_NAME            = 'MPO_SIMBIO-SYS_STC-H_P700'
      INS-121626_FOV_FRAME       = 'MPO_SIMBIO-SYS_STC-H_P700'
      INS-121626_FOV_SHAPE       = 'RECTANGLE'
      INS-121626_BORESIGHT       = ( 0.0, 0.0, 1.0 )
      INS-121626_FOV_CLASS_SPEC  = 'ANGLES'
      INS-121626_FOV_REF_VECTOR  = ( 1.0, 0.0, 0.0 )
      INS-121626_FOV_REF_ANGLE   = (  1.154 )
      INS-121626_FOV_CROSS_ANGLE = (  2.695  )
      INS-121626_FOV_ANGLE_UNITS = 'DEGREES'

      INS-121627_NAME            = 'MPO_SIMBIO-SYS_STC-H_F420'
      INS-121627_FOV_FRAME       = 'MPO_SIMBIO-SYS_STC-H_F420'
      INS-121627_FOV_SHAPE       = 'RECTANGLE'
      INS-121627_BORESIGHT       = ( 0.0, 0.0, 1.0 )
      INS-121627_FOV_CLASS_SPEC  = 'ANGLES'
      INS-121627_FOV_REF_VECTOR  = ( 1.0, 0.0, 0.0 )
      INS-121627_FOV_REF_ANGLE   = (  0.189  )
      INS-121627_FOV_CROSS_ANGLE = (  2.695  )
      INS-121627_FOV_ANGLE_UNITS = 'DEGREES'

      INS-121628_NAME             = 'MPO_SIMBIO-SYS_STC-H_F750'
      INS-121628_FOV_FRAME        = 'MPO_SIMBIO-SYS_STC-H_F750'
      INS-121628_FOV_SHAPE        = 'RECTANGLE'
      INS-121628_BORESIGHT        = ( 0.0, 0.0, 1.0 )
      INS-121628_FOV_CLASS_SPEC   = 'ANGLES'
      INS-121628_FOV_REF_VECTOR   = ( 1.0, 0.0, 0.0 )
      INS-121628_FOV_REF_ANGLE    = (  0.189  )
      INS-121628_FOV_CROSS_ANGLE  = (  2.695  )
      INS-121628_FOV_ANGLE_UNITS  = 'DEGREES'

   \begintext


   Visible & Infrared Hyperspectral Imager (VIHI) FOV:
   ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

   The SIMBIO-SYS VIHI field of view is a rectangular boresighted on the
   +Z-axis of the MPO_SIMBIO-SYS_VIHI frame. The angular dimension of the
   field of view is 3.66 x 0.014 (degrees).

   Please note that the FOV reference and cross angles are defined with half
   angle values.

   The following FOV definition corresponds to the following NAIF Body Name:
   MPO_SIMBIO-SYS_VIHI.

   \begindata

      INS-121630_NAME            = 'MPO_SIMBIO-SYS_VIHI'
      INS-121630_FOV_FRAME       = 'MPO_SIMBIO-SYS_VIHI_FPA'
      INS-121630_FOV_SHAPE       = 'RECTANGLE'
      INS-121630_BORESIGHT       = ( 0.0, 0.0, 1.0 )
      INS-121630_FOV_CLASS_SPEC  = 'ANGLES'
      INS-121630_FOV_REF_VECTOR  = ( 1.0, 0.0, 0.0 )
      INS-121630_FOV_REF_ANGLE   = (  0.0072  )
      INS-121630_FOV_CROSS_ANGLE = (  1.83    )
      INS-121630_FOV_ANGLE_UNITS = 'DEGREES'

   \begintext


Wavelengths Ranges
-----------------------------------------------------------------------------

   High Resolution Imaging Camera (HRIC):
   ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

   The HRIC detector consists of 1 panchromatic and 3 broadband filters.
   They cover the detector in the order shown in the table below with
   inter-filter gaps and the central wavelengths and bandwidths given.
   The NAIF ID for each HRIC filter is also shown.

      -------- -------- -------- --------
       Filter   Center   Width    ID
      -------- -------- -------- --------
       F550     550 nm    40 nm   -121611
       FPAN     650 nm   500 nm   -121612
       F750     750 nm    40 nm   -121613
       F880     880 nm    40 nm   -121614
      -------- -------- -------- --------

      \begindata

         INS-121611_FILTER_BANDCENTER  = ( 550 )
         INS-121611_FILTER_BANDWIDTH   = (  40 )

         INS-121612_FILTER_BANDCENTER  = ( 650 )
         INS-121612_FILTER_BANDWIDTH   = ( 500 )

         INS-121613_FILTER_BANDCENTER  = ( 750 )
         INS-121613_FILTER_BANDWIDTH   = (  40 )

         INS-121614_FILTER_BANDCENTER  = ( 880 )
         INS-121614_FILTER_BANDWIDTH   = (  40 )

       \begintext


   STereo Camera (STC):
   ~~~~~~~~~~~~~~~~~~~~

   The STC detector consists of 2 panchromatic and 4 broadband filters.
   They cover the detector in the order shown in the table below with
   inter-filter gaps and the central wavelengths and bandwidths given.
   The NAIF ID for each STC filter is also shown.

      -------- -------- -------- --------
       Filter   Center   Width    ID
      -------- -------- -------- --------
       F550     550 nm    20 nm   -121623
       F420     420 nm    20 nm   -121624
       P700     700 nm   200 nm   -121625
       P700     700 nm   200 nm   -121626
       F920     920 nm    20 nm   -121627
       F750     750 nm    20 nm   -121628
      -------- -------- -------- --------

      \begindata

        INS-121623_FILTER_BANDCENTER  = ( 550 )
        INS-121623_FILTER_BANDWIDTH   = (  20 )

        INS-121624_FILTER_BANDCENTER  = ( 420 )
        INS-121624_FILTER_BANDWIDTH   = (  20 )

        INS-121625_FILTER_BANDCENTER  = ( 700 )
        INS-121625_FILTER_BANDWIDTH   = ( 200 )

        INS-121626_FILTER_BANDCENTER  = ( 700 )
        INS-121626_FILTER_BANDWIDTH   = ( 200 )

        INS-121627_FILTER_BANDCENTER  = ( 920 )
        INS-121627_FILTER_BANDWIDTH   = (  20 )

        INS-121628_FILTER_BANDCENTER  = ( 750 )
        INS-121628_FILTER_BANDWIDTH   = (  20 )

      \begintext


   Visible & Infrared Hyperspectral Imager (VIHI):
   ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

   The spectral range the VIHI is 400 to 2000 nm. It has 256 spectral
   channels and a spectral dispersion of 6.25 nm/pixel.


Optical Parameters
-----------------------------------------------------------------------------

   The first order optical parameters for the 3 channels that constitute
   the SIMBIO-SYS imaging suite (from [6]: HRIC = APPENDIX A.2, STC =
   APPENDIX A.3, VIHI = APPENDIX A.4):

    ---------------------------- ---------- --------- ----------
     Parameter                    HRIC       STC       VIHI
    ---------------------------- ---------- --------- ----------
     Aperture, mm                   90.0      15.0      25.0
     Effective Focal Length, mm    800.0      95.0     160.0
     F/number                        8.9       6.3       6.4
     IFOV, microrad/pixel           12.5     105.0E3   250.0
     Field of View, deg
        cross-track                  1.47      5.39      3.7
        along-track                  1.47*     4.75*     0.014
    ---------------------------- ---------- --------- ----------
    *instrument combined field of view

   These values are given in the keywords below in the same units as the
   tables above:

   High Resolution Imaging Camera (HRIC):

   \begindata

      INS-121610_APERTURE         = (  90.0      )
      INS-121610_FOCAL_LENGTH     = ( 800.0      )
      INS-121610_FOV_ANGULAR_SIZE = ( 1.47, 1.47 )
      INS-121610_WAVELENGTH_RANGE = ( 400, 900   )
      INS-121610_F/NUMBER         = (   8.9      )
      INS-121610_IFOV             = (  12.5      )

   \begintext

   STereo Camera (STC):

   \begindata

      INS-121620_APERTURE         = (  15.0      )
      INS-121620_FOCAL_LENGTH     = (  95.0      )
      INS-121620_FOV_ANGULAR_SIZE = ( 5.39, 4.48 )
      INS-121620_WAVELENGTH_RANGE = ( 410, 930   )
      INS-121620_F/NUMBER         = (   6.3      )
      INS-121620_IFOV             = ( 105.0E3    )

   \begintext

   Visible & Infrared Hyperspectral Imager (VIHI):

   \begindata

      INS-121630_APERTURE         = (  25.0       )
      INS-121630_FOCAL_LENGTH     = ( 160.0       )
      INS-121630_FOV_ANGULAR_SIZE = (  3.7, 0.014 )
      INS-121630_WAVELENGTH_RANGE = ( 400, 2000   )
      INS-121630_F/NUMBER         = (   6.4       )
      INS-121630_IFOV             = ( 250.0       )

   \begintext


Detector CCD Parameters
-----------------------------------------------------------------------------

   The CCD geometry parameters as presented in [6] are provided below:

    ------------------------------- ----------- ----------- ---------
     Parameter                       HRIC        STC         VIHI
    ------------------------------- ----------- ----------- ---------
     Detector Array Size             2048x2048   2048x2048   264x264
     Detector Size, mm
     Pixel Size, mm (est)            10.0E-3     10.0E-3
     Pixel Pitch, mm                                         40.0E-3
     Spectral Channels                                       256
     Spectral Dispersion, nm/pixel                           6.25
    ------------------------------- ----------- ----------- ---------

   which translates to the following keyword and value pairs:


   High Resolution Imaging Camera (HRIC):
   ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

      \begindata

         INS-121610_PIXEL_SIZE           = ( 10.0E-3, 10.0E-3 )
         INS-121610_PIXEL_SAMPLES        = ( 2048             )
         INS-121610_PIXEL_LINES          = ( 2048             )
         INS-121610_CCD_CENTER           = ( 1024.5, 1024.5   )

         INS-121611_PIXEL_SIZE           = ( 10.0E-3, 10.0E-3 )
         INS-121611_PIXEL_SAMPLES        = ( 2048             )
         INS-121611_PIXEL_LINES          = (  384             )
         INS-121611_CCD_CENTER           = ( 1024.5,  192.5   )

         INS-121612_PIXEL_SIZE           = ( 10.0E-3, 10.0E-3 )
         INS-121612_PIXEL_SAMPLES        = ( 2048             )
         INS-121612_PIXEL_LINES          = (  640             )
         INS-121612_CCD_CENTER           = ( 1024.5,  320.5   )

         INS-121613_PIXEL_SIZE           = ( 10.0E-3, 10.0E-3 )
         INS-121613_PIXEL_SAMPLES        = ( 2048             )
         INS-121613_PIXEL_LINES          = (  384             )
         INS-121613_CCD_CENTER           = ( 1024.5,  192.5   )

         INS-121614_PIXEL_SIZE           = ( 10.0E-3, 10.0E-3 )
         INS-121614_PIXEL_SAMPLES        = ( 2048             )
         INS-121614_PIXEL_LINES          = (  384             )
         INS-121614_CCD_CENTER           = ( 1024.5,  192.5   )

      \begintext


   STereo Camera (STC):
   ~~~~~~~~~~~~~~~~~~~~

      \begindata

         INS-121620_PIXEL_SIZE           = ( 10.0E-3, 10.0E-3    )
         INS-121620_PIXEL_SAMPLES        = ( 2048                )
         INS-121620_PIXEL_LINES          = ( 2048                )
         INS-121620_CCD_CENTER           = ( 1024.5, 1024.5      )

         INS-121621_PIXEL_SIZE           = ( 10.0E-3, 10.0E-3    )
         INS-121621_PIXEL_SAMPLES        = (  896                )
         INS-121621_PIXEL_LINES          = (  1024               )
         INS-121621_CCD_CENTER           = (  448.5, 1646.922274 )

         INS-121622_PIXEL_SIZE           = ( 10.0E-3, 10.0E-3    )
         INS-121622_PIXEL_SAMPLES        = (  896                )
         INS-121622_PIXEL_LINES          = (  1024               )
         INS-121622_CCD_CENTER           = (  448.5, 399.2480315 )

         INS-121623_PIXEL_SIZE           = ( 10.0E-3, 10.0E-3    )
         INS-121623_PIXEL_SAMPLES        = (  896                )
         INS-121623_PIXEL_LINES          = (   64              )
         INS-121623_CCD_CENTER           = (  448.5,  32.5       )

         INS-121624_PIXEL_SIZE           = ( 10.0E-3, 10.0E-3    )
         INS-121624_PIXEL_SAMPLES        = (  896                )
         INS-121624_PIXEL_LINES          = (   64                )
         INS-121624_CCD_CENTER           = (  448.5,  32.5       )

         INS-121625_PIXEL_SIZE           = ( 10.0E-3, 10.0E-3    )
         INS-121625_PIXEL_SAMPLES        = (  896                )
         INS-121625_PIXEL_LINES          = (  384                )
         INS-121625_CCD_CENTER           = (  448.5, 192.5       )

         INS-121626_PIXEL_SIZE           = ( 10.0E-3, 10.0E-3    )
         INS-121626_PIXEL_SAMPLES        = (  896                )
         INS-121626_PIXEL_LINES          = (  384                )
         INS-121626_CCD_CENTER           = (  448.5, 192.5       )

         INS-121627_PIXEL_SIZE           = ( 10.0E-3, 10.0E-3    )
         INS-121627_PIXEL_SAMPLES        = (  896                )
         INS-121627_PIXEL_LINES          = (   64                )
         INS-121627_CCD_CENTER           = (  448.5,  32.5       )

         INS-121628_PIXEL_SIZE           = ( 10.0E-3, 10.0E-3    )
         INS-121628_PIXEL_SAMPLES        = (  896                )
         INS-121628_PIXEL_LINES          = (   64                )
         INS-121628_CCD_CENTER           = (  448.5,  32.5       )

      \begintext


   Visible & Infrared Hyperspectral Imager (VIHI):
   ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

      \begindata

         INS-121630_PIXEL_SAMPLES       = ( 256          )
         INS-121630_PIXEL_LINES         = ( 1            )
         INS-121630_CCD_CENTER          = ( 128, 0.5     )
         INS-121630_SPECTRAL_CHANNELS   = ( 256          )
         INS-121630_SPECTRAL_DISPERSION = ( 6.25         )

      \begintext


Optical Distortion
-----------------------------------------------------------------------------

   STC Optical Distortion:
   ~~~~~~~~~~~~~~~~~~~~~~~

   Given the distorted image coordinates (i, j) (horizontal and vertical
   respectively) the Distortion Matrices (3x6) and provided the implementation
   of the Rational Function Model, return the ideal image coordinates (x, y)
   (horizontal and vertical respectively).


   Correcting distorted coordinates:
   ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

   Converting from distorted (i,j) to ideal (x,y).

   Rational Function Model (RFM) described by Emanuele Simioni in [10];
   The RFM extends the classical pinhole model considering a second order of
   correction. The RFM is applied for each broad band filter (6 on the STC
   unique focal plane).

   The geometric calibration campaign has been performed in two different
   conditions:
      - HOT  (FPA at 273 deg C and STC OB at 295 deg C)
      - COLD (FPA at 263 deg C and STC OB at 275 deg C)

   The RFM has been estimated for both the HOT and COLD cases.

   Model is described by following equations:

      chi = [ i*i i*j, j*j, i, j, 1]


               INS-XXXXXX_DIST_COLD_MATRIX (1,:) * chi'
      x =  -----------------------------------------------
               INS-XXXXXX_DIST_COLD_MATRIX (3,:) * chi'

               INS-XXXXXX_DIST_COLD_MATRIX (2,:) * chi'
      y =  ------------------------------------------------
               INS-XXXXXX_DIST_COLD_MATRIX (3,:) * chi'


      where (i, j) are distorted focal plane coordinates in millimeters,
            (x, y) are ideal focal plane coordinates in millimeters and
            the Distortion Matrices allow the conversion.

      \begindata

         INS-121628_DIST_COLD_MATRIX = (
             -0.00511, 0.000189, -2.18E-06, 0.99869, -0.00021, 0.00664,
             -9.573E-05, -0.00509, 0.000182, 0.000582, 1.0011, 0.001719,
             -1.31E-07, 2.22E-9, 5.62E-9, -0.00509, 0.0000182, 0.999987
                                       )

         INS-121627_DIST_COLD_MATRIX = (
             0.003107, -0.00111, 1.25E-06, 1.00033, -0.00047, 0.005569,
             -4.95E-06, 0.003155, -0.00112, 0.000209, 1.00077, -0.01699,
             -2.80E-08, 1.84E-9, 4.41E-10, 0.003157, -0.00111, 0.999994
                                       )

         INS-121626_DIST_COLD_MATRIX = (
             -0.00212, -0.00067, -1.33E-06, 1.00129, 0.000671, 0.010777,
             -7.81E-07, -0.00211, -0.00067, 0.000978, 0.999349, -0.02716,
             -2.37E-09, -2.47E-9, 9.78E-10, -0.00211, -0.00067, 0.999998
                                       )

         INS-121625_DIST_COLD_MATRIX=  (
             -0.00032, -0.00019, 8.41E-07, 1.00145, -0.00085, -0.00156,
             -2.90E-06, -0.00032, -0.00019, -0.00051, 0.998979, -0.00603,
             7.91E-09, -4.46E-10, 2.92E-9, -0.00032, -0.00019, 1
                                       )

         INS-121624_DIST_COLD_MATRIX = (
             0.000541, -0.00015, -1.14E-06, 1.00145, 1.00099, -0.00072,
             -4.12E-05, 0.000546, -0.00015, 0.000298, 0.999282, -0.00266,
             -1.03E-07, 4.61E-9, 4.26E-9, 0.000545, -0.00015, 1
                                       )

         INS-121623_DIST_COLD_MATRIX = (
             0.004369, 0.000791, -1.44E-06, 0.998904, 0.000705, 0.003525,
             -2.35E-05, 0.004352, 0.000784, 0.000912, 1.00113, 0.01923,
             1.11E-07, -5.31E-9, 4.87E-9, 0.004342, -0.000784, 0.99999
                                       )


         INS-121628_DIST_HOT_MATRIX = (
             -0.00398, -0.00034, 2.05E-06,0.99868, -0.00054, 0.006086,
             -1.89E-05, -0.00399, -0.00035, 0.001266, 1.0005, -0.00759,
             -3.02E-08, 6.64E-9, 1.22E-9, -0.00399, -0.00035, 0.999992
                                       )

         INS-121627_DIST_HOT_MATRIX = (
             -0.00278, -0.00141, 9.75E-07, 0.99943, -0.00043, 0.006714,
             -6.33E-06, -0.00277, -0.00142, 0.000733, 1.00038, -0.0102,
             4.69E-08, -4.60E-9, -1.88E-9, -0.00276, -0.00142, 0.999995
                                      )

         INS-121626_DIST_HOT_MATRIX = (
             -0.00141, -0.00041, -1.03E-06, 1.00119, 0.000495, 0.005865,
             -2.27E-06, -0.0014, -0.00042, 0.001105, 0.99932, -0.02726,
             4.18E-09, 6.32E-10, 1.79E-9, -0.0014, -0.00042, 0.999999
                                      )

         INS-121625_DIST_HOT_MATRIX= (
             -0.00101, -0.00012, 8.14E-07, 1.00139, -0.00097, -0.0025,
             -4.18E-06, -0.001, -0.00013, -0.00032, 0.998814, -0.00433,
             1.02E-08, -2.28E-9, 1.91E-9, -0.001, -0.00013, 0.999999
                                     )

         INS-121624_DIST_HOT_MATRIX = (
             -0.00268, 9.23E-5, -1.40E-06, 1.00168, -0.0003, -0.00176,
             0.000108, -0.00264, 8.55E-5, -0.00316, 0.998923, -0.002472,
             -2.15E-07, -2.43E-8, 2.10E-9, -0.00264, 8.69E-5, 0.999997
                                      )

         INS-121623_DIST_HOT_MATRIX = (
             -0.00098, 0.000192, -2.38E-06, 1.00106, -0.00016, 0.000145,
             5.82E-05, -0.00089, 0.000185, -0.00107, 1.00114, 0.001486,
             -1.77E-07, -6.58E-9, 3.37E-9, 0.0009, 0.000186, 1
                                      )
      \begintext


   From this equation it follows that for every distorted coordinates (i, j),
   there is a unique pair of undistorted coordinates (x, y). However, the
   contrary is not true. To find distorted coordinates from ideal coordinates
   we need to solve a system of equations that potentially has several
   solutions.


   VIHI Optical Distortion:
   ~~~~~~~~~~~~~~~~~~~~~~~~

   As described in chapter X of [11] the determination of the VIHI Field Of
   View (FOV) is performed by means of a spatial scan. The signal collected by
   pixels placed at samples = 2, 129, 255 and at band = 128, with the scope to
   determine the angular distance among them, has been analyzed.

   The measurement of the angle between samples 2 and 255 gives a measurement
   of the full FOV extension while between samples 2-129 and 129-255 allows
   characterizing the angular distance of the two FOV extremes from the
   boresight.

   The following Table shows the FOV and average IFOV values measured between
   samples (2 : 255) and between boresight (s=128) and FOV extreme positions
   (s= 2, 255).

      ---------------------------------------------------------
        Range          FOV (rad)      Avg. IFOV (mircorad)
      ---------------------------------------------------------
        2:255          0.0624338          246.8
        2:129          0.0313123          246.5
        129:255        0.0311289          247.1
      ---------------------------------------------------------


   The performances of the optical system of VIHI is remarkably stable in terms
   of pixel IFOV resulting in a dispersion of less than 5%, we can thus use the
   IFOV mean value, of 246.8 microrad to determine the FOV of the instrument
   with respect to the boresight assumed for the time being at pixel 128; the
   FOV is thus:

      +/- 246.8 microrad x 127 = +/- 0.03134 rad = +/- 1.7958 deg

   An accurate measure of the offset of the boresight with respect to the +Z
   axis of the S/C, as well as a measure of the rotation of the slit, can be
   performed only during the Mercury Commissioning Phase.


   HRIC Optical distortion:
   ~~~~~~~~~~~~~~~~~~~~~~~~

   Radial distortion, whilst primarily dominated by low order radial
   components, can be corrected using Brown's distortion model, also known
   as the Brown-Conrady model based on earlier work by Conrady [12]. The
   Brown-Conrady model corrects both for radial distortion and for tangential
   distortion caused by physical elements in a lens not being perfectly
   aligned. The latter is also known as decentering distortion.

   The model applied follows the following equations:

                              xd - xc
      xu = xc +  ---------------------------------
                    1 + k1 * r^2 + k2 * r^4 + ...


                              yd - yc
      yu = yc +  ---------------------------------
                    1 + k1 * r^2 + k2 * r^4 + ...


               __________________________
              /
      r = _  / (xd -xc)^2 + (yd - yc)^2
           \/

   where:

      ...         an infinite series
      (xd , yd)   distorted image point as projected on image plane using
                  specific lens,
      (xu , yu)   undistorted image point ad projected by an ideal pinhole
                  camera,
      (xc , yc)   distortion center,
      kn          n_th radial distortion coefficient.


   The values evaluated for HRIC are:

      xc =  150.86595271826414
      yc =  152.1012801766268
      k1 =  0.997418352324332
      k2 =  6.238174676084027E-06
      k3 = -7.324172863561304E-09
      k4 =  2.921061949875991E-12
      k5 = -3.4497672879224536E-16


End of IK file.
