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:::ENDFTPCASSINI ISS Improved (C-Smithed) C-Kernel File=========================================================================== Created by Josh Riley, CICLOPS, 2010-08-12 11:25:53 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 imagesI[ 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 --------------------- --------------------- 2009-091T14:29:57.518 2009-120T13:03:29.846NOTE: 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: naif0009.tls cas00132.tsc cas_v40.tfContacts--------------------------------------------------------If you have any question rega
ͮP?A<ֿrding 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 th0Ӌ=ֿ9 s^!rY?epointing, 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 isI[ 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 morXdހ?V?e 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 s=t8уy?xM?,v8]tage 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 determI [ ines 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: 09091_09120cb_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-----------------------------------------------------------------------------------------------------W1617289845_1 2009-091T14:29:57.518 2009-091T14:29:57.626 SATURN -549.8 276.2W1617290428_1 2009-091T14:39:40.514 2009-091T14:39:40.622 SATURN -472.4 271.8W1617293668_1 2009-091T15:33:40.471 2009-091T15:33:40.599 SATURN -331.0 401.0W1617294842_1 2009-091T15:53:14.483 2009-091T15:53:14.591 SATURN -459.7 434.0W1617454786_1 2009-093T12:18:57.421 2009-093T12:18:57.469 TITAN 530.9 446.7W1617454852_1 2009-093T12:20:03.405 2009-093T12:20:03.473 TITAN 532.7 448.3W1617535912_1 2009-094T10:51:02.863 2009-094T10:51:02.896 TITAN 1085.7 494.5N1617658714_1 2009-095T20:54:44.011 2009-095T20:57:44.019 SKY N/A N/AN1617658922_1 2009-095T2XW?gip0:58:12.013 2009-095T21:01:12.021 SKY N/A N/AN1617659124_1 2009-095T21:01:34.012 2009-095T21:04:34.020 SKY N/A N/AW1617659332_1 2009-095T21:05:01.991 2009-095T21:08:01.999 SKY N/A N/AN1617659540_1 2009-095T21:08:29.997 2009-095T21:11:30.005 SKY N/A N/AN1617659742_1 2009-095T21:11:51.996 2009-095T21:14:52.004 SKY N/A N/AW1617659950_1 2009-095T21:15:19.987 2009-095T21:18:19.995 SKY N/A N/AN1617660360_1 2009-095T21:22:09.991 2009-095T21:25:09.999 SKY N/A N/AN1617660568_1 2009-095T21:25:37.982 2009-095T21:28:37.990 SKY N/A N/AN1617660776_1 2009-095T21:29:05.988 2009-095T21:32:05.996 SKY N/A N/AN1617661186_1 2009-095T21:35:55.978 2009-095T21:38:55.986 SKY N/A N/AN1617661394_1 2009-095T21:39:23.984 2009-095T21:42:23.992 SKY !BK@>b.BK@ ?QBK@WBBKA3RdBKAeBKAeewBKAsoBKAͻxBKB@QBKB{BKB[FBKC8BKCPZBKCjzKBKCݺh4BKD7&BKDE]HBKD9BKDkBKEBKET^BKEl~PBKE:WBKF;"BKGfBKGy#5BKG=#BKG>?6HBKHq:BKIVI[W1617289845_1.IMG.bc W1617290428_1.IMG.bc W1617293668_1.IMG.bc W1617294842_1.IMG.bc W1617454786_1.IMG.bc W1617454852_1.IMG.bc W1617535912_1.IMG.bc N1617658714_1.IMG.bc N1617658922_1.IMG.bc N1617659124_1.IMG.bc W1617659332_1.IMG.bc N1617659540_1.IMG.bc N1617659742_1.IMG.bc W1617659950_1.IMG.bc N1617660360_1.IMG.bc N1617660568_1.IMG.bc N1617660776_1.IMG.bc N1617661186_1.IMG.bc N1617661394_1.IMG.bc N1617661596_1.IMG.bc W1617661804_1.IMG.bc N1617662099_1.IMG.bc W1617662998_1.IMG.bc W1617663115_1.IMG.bc W1617663658_1.IMG.bc ?輽?BC۟px7?輽?BC۟px7BKn-BKn;}BKn-?@?,??<u?JзvUS?,??<u?JзvUSBKpBKpBKp?@?y??{oJSS|L?y??{oJSS|LBKvh'BKvhBKvh'?@?L?G_BQٿ화֏]8Y"?L?G_BQٿ화֏]8Y"BKx
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