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:::ENDFTPCASSINI ISS Improved (C-Smithed) C-Kernel File=========================================================================== Created by Josh Riley, CICLOPS, 2005-06-17 12:42:56 MDTOrientation Data in the File--------------------------------------------------------This file contains c-smithed c-kernel pointing information forCassini spacecraft frame, CASSINI_SC_COORD (NAIF ID -82000), relativeto the 'J2000' inertial frame. This pointing was computed by opticallynavigating the images taken with the Cassini ISS NAC and WAC cameras.Pointing is defined only for image times where auto-navigation softwarewas successful. The c-kernel is of type three. Each segment in the filerepresents the pointing for an image from shutter open to shutter closeplus a four-millisecond buffer on each end of the segment.Status--------------------------------------------------------This file was created by CICLOPS for archiving with the Planetary DataSystem (PDS) from daily images produced by the Cassini ISS and fromkernels produced by the Cassini Project.Pedigree--------------------------------------------------------The pointing information in this file is derived using an automated programcalled AUTONAV (described in full below). The accuracy of AUTONAV isdependent on the accuracy of the mission kernels and on the correctness ofthe AUTONAV software. Several validation steps are executed to reduce thenumber of poorly-navigated images, but there is a chance that thesevalidation steps will not catch all errors. So, users should perform theirown validation steps to ensure the c-smithed c-kernel data looks accurate.Graphic overlay output files are provided for users to visually inspect theaccuracy of AUTONAV. This file is described further below.Approximate Time Coverage--------------------------------------------------------The file covers the following interval of the mission: Coverage Begin UTC Coverage End UTC --------------------- --------------------- 2003-335T02:31:36.242 2003-359T10:28:21.692NOTE: Interpolation between segments is not implied. Pointing is definedonly for image times where auto-navigation software was successful. Pleasesee the Segment Summary section below for exact coverage times.Usage Restrictions--------------------------------------------------------The use of this file is restricted to Cassini-project internal-use onlyuntil the file is placed in the PDS. Any proposed or intended scientificusage of this file or its contents before its placement in the PDS orpublication by the Imaging Team, whichever comes first, must be discussedand accepted by the Imaging Team leader (as called for by the PSG-developedCassini/Huygens Rules of the Road).Usage Notes--------------------------------------------------------There is a limit of 20,000 segments that can be loaded at one time by SPICEsoftware. Software performance can degrade severely if this limit isexceeded. ISS C-smithed C-kernels are delivered in one-month blocks of timewhich will keep the number of segments in the file to well under this limit.Most files are on the order of a few thousand segments; none exceed 10,000.However, the limit can easily be exceeded by loading several of theseC-smith files at once.In order to use this file a Cassini SCLK file containing coefficientsmapping Cassini on-board time to ET must be loaded into a user's program.Loading an Cassini Frames Kernel (FK) containing information that SPICEsoftware needs to combine camera orientations together will allow a userto get the combined orientation through the high level SPICE Toolkitinterfaces.Related Kernels--------------------------------------------------------This file was created using the following LSK, SCLK, and FK files: naif0007.tls cas00089.tsc cas_v39.tfContacts--------------------------------------------------------If you have any question regarding this data contact the Cassini ImagingCentral Laboratory for Operations (CICLOPS) at the Space ScienceInstitute (SSI): CASSINI IMAGING CENTRAL LABORATORY FOR OPERATIONS SPACE SCIENCE INSTITUTE 4750 WALNUT STREET, SUITE 205 BOULDER, CO 80301 USA Carolyn Porco 720-974-5849 carolyn@ciclops.org Josh J. Riley 720-974-5856 josh@ciclops.orgContact information can also be found on the CICLOPS website at: http://www.ciclops.orgAUTONAV Description--------------------------------------------------------AUTONAV, a program built on top of MINAS, corrects spacecraft camerapointing without human interaction. This allows large batches of imagesto be processed into the ISS CICLOPS image archive database.AUTONAV improves the accuracy of the geometry fields which pertain toforeground objects. Therefore, foreground features in an image -- limbs,rings, terminators, etc. -- take precedence over stars when correcting thepointing, so if the trajectory used in the pointing correction is inaccurate,then the pointing produced by AUTONAV will not be physical. In other words,while the foreground objects should fall where predicted, the stars will notnecessarily line up because the pointing angles determined by AUTONAV willnot correspond to the actual spacecraft orientation due to parallax. Thegoal with AUTONAV is to eliminate false solutions entirely. ThereforeAUTONAV is tuned conservatively with the philosophy that it is better tothrow out a few good solutions than to accept one ridiculous solution.Nevertheless, the only way to completely prevent absurd solutions is tosummarily reject all solutions, so in practice ridiculous solutions do occuron occasion.Stages- - - -AUTONAV proceeds in stages, starting generally with more global approachesand progressing toward more local methods. Each stage attempts to correctthe pointing and evaluate its performance, and its ending condition(line/sample offset) is used as the starting condition for the next stage.Stages proceed based on the results of the previous stage, or they may beforced. Many stages record their results for further evaluation later inthe procedure.There are two possible cascades. If useful foreground objects are expectedin the scene, then the foreground cascade is selected, otherwise stellarnavigation is attempted.Stellar Navigation- - - - - - - - - -Stellar navigation is a low priority in AUTONAV, so its implementation isnot sophisticated. Two stellar navigation stages are executed: Global Star Fit An algorithm is used to detect all sources in the image that look like PSFs. That distribution is compared to the distribution of known stars in the vicinity to produce an association between known stars and image point sources. The line/sample offset solution is computed using a least- square fit between the computed and detected star positions. The line/ sample uncertainty is computed from the covariance matrix of the fit. The next stage proceeds only if this stage fails or if forced. Local Star Fit A search is performed for PSFs within a small region surrounding the computed location of each known star. Once the association between known stars and image point sources is made, the procedure is identical to the global star fit.Foreground Cascade- - - - - - - - - -Some stages use a global grid search, which proceeds as follows: a criterionis evaluated over a coarse, uniform grid (typically 4x4 locations) in theimage. The grid is reduced in size and re-centered at the best point fromthe previous search until the grid spacing becomes subpixel. A bias in theform of a Gaussian weighting function is usually applied to give preferenceto solutions that lie close to the initial condition, to allow for the factthat the Cassini predict pointing is usually fairly accurate. The line/sampleuncertainty in the result of the grid search is computed by looking at thewidth of a Gaussian model fit to the correlation peak in the vicinity of thesolution.Some stages make use of predicted sharp edges, which consist of limbs, ringedges, and shadows. Terminators are also included as sharp edges if thephase angle is favorable.The following stages are executed in the foreground cascade. Edge centroid comparison An edge detection algorithm is used to find the sharp edges in the image. AUTONAV computes the expected locations of edges in the image and compares the centroids of those two distributions to produce a line/sample offset. This algorithm is extremely imprecise, but nearly always improves the pointing when the foreground objects being compared fall entirely within the image and do not subtend too large an area. If those conditions are not met, then this stage is not executed. Otherwise the next stage is simply allowed to proceed under the assumption that its input condition is valid. Enclosed Flux comparison If only one object is being compared and it is expected to fall entirely within the image, then this algorithm is applicable. The outline of the object is computed and a grid search is performed throughout the image for the line/sample offset that maximizes the difference between the flux contained within the outline and that exterior to it. This algorithm is more precise than the centroid comparison, and nearly always succeeds to within a few pixels. The next stage proceeds under the assumption that this stage produced as valid result and the result of this stage is recorded. Sharp Edge Comparison A grid search is performed throughout the image to find the line/sample offset that gives the best correlation between the sharp edges detected in the image and those that are expected. This algorithm is generally more precise than the flux comparison, but less reliable as the features of interest (edges instead of an extended body) tend to be more sparse in the image. The correlation coefficient is used to evaluate the performance of this stage. If unsuccessful, the procedure is repeated using a low-pass filter on the edges to reduce the noise signal. The result of this stage is recorded and the next stage proceeds only if this stage was unsuccessful, or if forced. Sharp Edge Comparison, no terminator For appropriate phase angles, the previous stage will have included the terminator as an edge. This stage performs the same procedure except that the terminator is excluded. The result is recorded and the next stage proceeds only if this stage was unsuccessful or if forced. Comparison of preceding results Although the preceding stages may evaluate their own performance, the reliability of the evaluation criteria is questionable. Therefore, those stages are tuned to act conservatively, rejecting some results that may be acceptable rather than accepting results that may be unacceptable. This stage compares all previous results that have been recorded and if two or more agree, then the result of this stage is taken as the average of those and their uncertainties are combined in the Pythagorean sense. The result of this stage is recorded and the next stage proceeds only if this stage is unsuccessful or if forced. Least-square Limb Fit This stage is forced to proceed regardless of the results of previous stages. Using the current line/sample offset, computed limbs are scanned in search of image limb points. A least-square fit is performed to find the line/sample offset that gives the best chi-square between the two sets of points and the uncertainties are computed using the resulting covariance matrix. This procedure requires the initial condition to be close to the actual solution. The performance of this procedure is evaluated using the chi-square value and if unacceptable, the procedure is repeated using all previously recorded solutions as the starting condition, or until an acceptable solution is found. Enclosed Flux Validation This stages is forced to proceed regardless of the status of previous stages. If only one object is being considered and it is expected to fall entirely within the image, then the current solution is evaluated by comparing the flux enclosed by the outline of the object to that exterior to the outline.If there is an acceptable solution after all stages have executed, then a Ckernel is written and a graphic is generated to illustrate the result.AUTONAV attempts to produce pointing with a precision of at worst 5 pixels.Therefore, AUTONAV will never output an uncertainty in line or sample thatis greater than 5 pixels. Regardless of the actual computed uncertainty,if AUTONAV accepts the pointing, then that is because it thinks it is good toat least 5 pixels.Validation--------------------------------------------------------Graphic Output- - - - - - - -If AUTONAV determines that the pointing has been successfully corrected, thenit produces a graphic showing features overlain on the image so as to allowthe result to be validated by eye. The graphic includes all edges used in theprocedure (though various edges may or may not be used in various stages), aswell as all stars and the centers of all bodies labeled with their abbreviatednames. An overlay graphic is produced for each image observation included in thec-kernel. All graphics are delivered with the c-kernel as well and are availablein the corresponding CK directory.Angular Difference Output- - - - - - - - - - - - -Also delivered with the c-smith package is an ASCII file containing theangular rotation deltas between the reconstructed ACS c-kernel and theAutonav c-kernel for the observation times covered in the c-smithc-kernel sampled at some small time interval. The columns are:1. SCET Time2. Total angular rotation delta in mrads3. The rotation delta about the X-Axis in mrads4. The rotation delta about the Y-Axis in mrads5. The rotation delta about the Z-Axis in mrads6. The X-Axis S/C body rate in mrad/sec7. The Y-Axis S/C body rate in mrad/sec8. The Z-Axis S/C body rate in mrad/secSee file: 03335_03365ca_ISS_bc_err.txtTarget Center Line/Sample- - - - - - - - - - - - -The target name and target center line and sample calculated by Autonavare provided in the Segment Summary section below for each image.The target name comes from the planned target body in the observation'spointing design. Line numbering starts at one with first line in theimage file. Sample numbering starts at one and increases withincreasing sample in the image file. The line and sample are for theactual vicar image (not the 512 x 512 Autonav overlay graphic) which canvary in size up to 1024 x 1024. Segment Summary: ID -82000-----------------------------------------------------------------------------------------------------Image Name Start (UTC) Stop (UTC) Target Name Line Sample-----------------------------------------------------------------------------------------------------W1448938431_1 2003-335T02:31:36.242 2003-335T02:31:36.270 UNK N/A N/AW1448938636_1 2003-335T02:34:49.269 2003-335T02:35:01.277 UNK N/A N/AW1448938798_1 2003-335T02:37:31.267 2003-335T02:37:43.275 UNK N/A N/AW1448938860_1 2003-335T02:38:45.051 2003-335T02:38:45.279 UNK N/A N/AW1448938924_1 2003-335T02:39:49.058 2003-335T02:39:49.286 UNK N/A N/AW1448938988_1 2003-335T02:40:53.058 2003-335T02:40:53.286 UNK N/A N/AW1448939050_1 2003-335T02:41:55.256 2003-335T02:41:55.289 UNK N/A N/AW1448939112_1 2003-335T02:42:57.256 2003-335T02:42:57.289 UNK N/A N/AW1448939424_1 2003-335T02:48:09.253 2003-335T02:48:09.291 UNK N/A N/AW1448939614_1 2003-335T02:51:18.606 2003-335T02:51:19.294 UNK N/A N/AW1448939738_1 2003-335T02:53:22.605 2003-335T02:53:23.293 UNK N/A N/AN1448952994_1 2003-335T06:34:07.155 2003-335T06:34:19.163 UNK N/A N/AN1448953243_1 2003-335T06:38:16.154 2003-335T06:38:28.162 UNK N/A N/AN1448953492_1 2003-335T06:42:25.152 2003-335T06:42:37.160 UNK N/A N/AW1448953565_1 2003-335T06:43:46.956 2003-335T06:43:50.164 UNK N/A N/AW1448953638_1 2003-335T06:44:59.955 2003-335T06:45:03.163 UNK N/A N/AW1448953711_1 2003-335T06:46:12.955 2003-335T06:46:16.163 UNK N/A N/AW1448953954_1 2003-335T06:50:13.561 2003-335T06:50:19.169 UNK N/A N/AW1448954035_1 2003-335T06:51:31.960 2003-335T06:51:40.168 UNK N/A N/AW1448954116_1 2003-335T06:52:52.960 2003-335T06:53:01.168 UNK N/A N/AW1448954197_1 2003-335T06:54:13.959 2003-335T06:54:22.167 UNK N/A N/AW1448954278_1 2003-335T06:55:34.959 2003-335T06:55:43.167 UNK N/A N/AN1448954359_1 2003-335T06:57:03.338 2003-335T06:57:04.166 UNK N/A N/AN1448954440_1 2003-335T06:58:24.338 2003-335T06:58:25.166 UNK N/A N/AW1448956978_3 2003-335T07:20:43.141 2003-335T07:40:43.149 UNK N/A N/AW1448958247_3 2003-335T07:41:52.133 2003-335T08:01:52.141 UNK N/A N/AW1448958311_1 2003-335T08:02:54.140 2003-335T08:02:56.148 UNK N/A N/AW1448958375_1 2003-335T08:03:58.140 2003-335T08:04:00.148 UNK N/A N/AW1448958439_1 2003-335T08:05:02.139 2003-335T08:05:04.147 UNK N/A N/AW1448958544_1 2003-335T08:06:27.143 2003-335T08:06:49.151 UNK N/A N/AW1448958649_1 2003-335T08:08:12.142 2003-335T08:08:34.150 UNK N/A N/AW1448958754_2 2003-335T08:09:57.141 2003-335T08:10:19.149 UNK N/A N/AN1448958815_1 2003-335T08:11:20.069 2003-335T08:11:20.157 UNK N/A N/AN1448958848_1 2003-335T08:11:53.068 2003-335T08:11:53.156 UNK N/A N/AW1449079084_1 2003-336T17:35:48.292 2003-336T17:35:48.325 SKY N/A N/AW1449079117_1 2003-336T17:36:21.300 2003-336T17:36:21.333 SKY N/A N/AW1449079150_1 2003-336T17:36:54.299 2003-336T17:36:54.332 SKY N/A N/AW1449079183_1 2003-336T17:37:27.299 2003-336T17:37:27.332 SKY N/A N/AW1449079216_1 2003-336T17:38:00.299 2003-336T17:38:00.332 SKY N/A N/AW1449079315_1 2003-336T17:39:39.243 2003-336T17:39:39.331 SKY N/A N/AW1449079348_1 2003-336T17:40:12.243 2003-336T17:40:12.331 SKY N/A N/AW1449079414_1 2003-336T17:41:17.763 2003-336T17:41:18.331 SKY N/A N/AW1449079447_1 2003-336T17:41:50.763 2003-336T17:41:51.331 SKY N/A N/AW1449079480_1 2003-336T17:42:23.942 2003-336T17:42:24.330 SKY N/A N/AW1449079546_1 2003-336T17:43:29.942 2003-336T17:43:30.330 SKY N/A N/AW1449079580_3 2003-336T17:44:04.286 2003-336T17:44:04.334 SKY N/A N/AW1449079613_1 2003-336T17:44:37.289 2003-336T17:44:37.337 SKY N/A N/AW1449079646_1 2003-336T17:45:10.289 2003-336T17:45:10.337 SKY N/A N/AW1449079712_1 2003-336T17:46:16.009 2003-336T17:46:16.337 SKY N/A N/AW1449079778_1 2003-336T17:47:21.128 2003-336T17:47:22.336 SKY N/A N/AW1449079811_1 2003-336T17:47:54.128 2003-336T17:47:55.336 SKY N/A N/AW1449079844_1 2003-336T17:48:27.128 2003-336T17:48:28.336 SKY N/A N/AW1449079877_1 2003-336T17:49:00.648 2003-336T17:49:01.336 SKY N/A N/AW1449079910_1 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2003-359T09:45:06.580 UNK N/A N/AN1451038198_1 2003-359T09:47:28.383 2003-359T09:47:29.591 UNK N/A N/AN1451038255_1 2003-359T09:48:23.386 2003-359T09:48:26.594 UNK N/A N/AN1451038408_1 2003-359T09:50:59.413 2003-359T09:50:59.601 UNK N/A N/AN1451038632_1 2003-359T09:54:43.427 2003-359T09:54:43.615 UNK N/A N/AN1451038689_1 2003-359T09:55:38.011 2003-359T09:55:40.619 UNK N/A N/AN1451038824_1 2003-359T09:57:55.442 2003-359T09:57:55.630 UNK N/A N/AN1451038870_1 2003-359T09:58:41.161 2003-359T09:58:41.629 UNK N/A N/AN1451039021_1 2003-359T10:01:12.408 2003-359T10:01:12.636 UNK N/A N/AN1451039247_1 2003-359T10:04:58.418 2003-359T10:04:58.646 UNK N/A N/AN1451039304_1 2003-359T10:05:52.438 2003-359T10:05:55.646 UNK N/A N/AN1451039441_1 2003-359T10:08:12.425 2003-359T10:08:12.653 UNK N/A N/AN1451039489_2 2003-359T10:09:00.085 2003-359T10:09:00.653 UNK N/A N/AN1451040350_1 2003-359T10:23:19.070 2003-359T10:23:21.678 UNK N/A N/AN1451040439_1 2003-359T10:24:18.674 2003-359T10:24:50.682 UNK N/A 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