Doc. ID: RO-SGS-IF-0001
EAICD
Version: 5.0
ROSETTA-NAVCAM
ROSETTA-NAVCAM
to
Planetary Science Archive
Interface Control Document
Prepared By:
Bernhard Geiger, Maud Barthelemy, Colin Archibald
Approved By:
David Heather
Table 1: Distribution List.
Recipient | Organisation | Contact
Rosetta SGS | ESA/ESAC |
Table 2: Document Change Log.
Date of Update | Update to Document | New Version | Name
2010 Oct 20 | Creation of document| V 1.0 |Colin Archibald
2012 Jun 26 | Corrections | V 2.0 |Maud Barthelemy
2013 Jan 08 | Corrections | V 3.0 |Bernhard Geiger
2013 Aug 30 | Corrections | V 3.1 |Bernhard Geiger
2015 Feb 06 | Major revision | V 4.0 |Bernhard Geiger
| description of comet| |
| phase datasets | |
| authorship changed | |
2015 Sep 28 | Minor revision | V 4.1 |Bernhard Geiger
2015 Dec 14 | Minor revision | V 4.2 |Bernhard Geiger
2016 Feb 03 | Minor revision | V 4.3 |Bernhard Geiger
2016 Mar 08 | Minor revision | V 5.0 |Bernhard Geiger
| after archive review| |
Contents
1 Introduction 1
1.1 Purpose and Scope . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.2 Archiving Authorities . . . . . . . . . . . . . . . . . . . . . . . . .1
1.3 Contents . . . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . 1
1.4 Intended Readership . . . . . . . . . . . . . . . . . . . . . . . . . . 2
1.5 Applicable Documents . . . . . . . . . . . . . . . . . . . . . . . . 2
1.6 Reference Documents . . . . . . . . . . . . . . . . . . . . . . . . . .2
1.7 Contact Names and Addresses . . . . . . . . . . . . . . . . . . . . . .3
2 Overview of Instrument Design 4
2.1 Architecture and Configurations . . . . . . . . . . . . . . . . . . . .4
2.1.1 Camera Optical Head . . . . . . . . . . . . . . . . . . . . . . .5
2.1.2 Camera Electronic Unit . . . . . . . . . . . . . . . . . . . . . 6
2.1.3 Camera Baffle . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2.2 Operating Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
3 Data Handling Process and Product Generation 8
3.1 Telemetry Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8
3.2 Data Product levels . . . . . . . . . . . . . . . . . . . . . . . . . . 8
3.2.1 Uncalibrated Data . . . . . . . . . . . . . . . . . . . . . . . . 9
3.2.2 Geometrically Calibrated Data . . . . . . . . . . . . . . . . . . . .9
3.2.3 Radiometrically Calibrated Data . . . . . . . . . . . . . . . . . . . 9
4 Archive Conventions and Meta-Information 10
4.1 Format and Conventions . . . . . . . . . . . . . . . . . . . . . . . . 10
4.1.1 Dataset ID Formation . . . . . . . . . . . . . . . . . . . . . . 10
4.1.2 File Naming Convention . . . . . . . . . . . . . . . . . . . . . 13
4.1.3 PDS Standards . . . . . . . . . . . . . . . . . . . . . . . . . 13
4.1.4 Time Standards . . . . . . . . . . . . . . . . . . . . . . . . .13
4.2 Reference Frames and Geometry . . . . . . . . . . . . . . . . . . . . 14
4.2.1 Camera Reference Frames . . . . . . . . . . . . . . . . . . . . .14
4.2.2 Image Orientation . . . . . . . . . . . . . . . . . . . . . . . .14
4.2.3 Window Size and Position . . . . . . . . . . . . . . . . . . . . 15
4.2.4 Geometric Calibration . . . . . . . . . . . . . . . . . . . . . .15
4.2.5 Geometric Information in Label Files . . . . . . . . . . . . . . 15
4.3 Data Quality . . . . . . . . . . . . . . . . . . . . . . . . . . . . .16
4.4 Observation Type . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
5 Dataset Content 19
5.1 Volume Set . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .19
5.2 Dataset Naming . . . . . . . . . . . . . . . . . . . . . . . . . . . .19
5.3 Directories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
6 Product File Content 23
6.1 Content of *.LBL Files . . . . . . . . . . . . . . . . . . . . . . . . 23
6.2 Content of *.FIT File Header . . . . . . . . . . . . . . . . . . . . . 30
7 Product File Content - Cruise Phase 32
List of Tables
1 Distribution List. . . . . . . . . . . . . . . . . . . . . . . . . . . . ii
2 Document Change Log. . . . . . . . . . . . . . . . . . . . . . . . . . .ii
3 List of contacts for the NavCam instrument archive. . . . . . . . . . . . 3
4 Overview of NavCam properties . . . . . . . . . . . . . . . . . . . . . . 4
5 Data Processing levels. . . . . . . . . . . . . . . . . . . . . . . . . .8
6 Description of Components of the DATA_SET_ID. . . . . . . . . . . . . . 11
7 List of TARGET_ID values for Rosetta. . . . . . . . . . . . . . . . . . 11
8 List of MISSION_PHASE_NAME and ABBREVIATION values. . . . . . . . . . . 12
9 File naming parameters. . . . . . . . . . . . . . . . . . . . . . . . . .13
10 Parameters for geometric correction......................................16
11 Mandatory keywords and standard values for the VOLUME object. . . . . . .19
12 Data set naming parameters. . . . . . . . . . . . . . . . . . . . . . .20
13 Keywords used in the label files. . . . . . . . . . . . . . . . . . . .24
14 Rosetta mission specific dictionary entries. . . . . . . . . . . . . . .26
15 Correspondence between PDS and FITS keywords. . . . . . . . . . . . . . 30
16 Keywords used in the label files (Cruise Phase). . . . . . . . . . . . .32
17 Rosetta mission specific dictionary entries (Cruise Phase). . . . . . . 34
List of Acronyms
A/D Analogue-to-Digital
AIU Avionics Interface Unit
AOCS Attitude and Orbit Control System
APID Application Process Identi er
CAM-BAF Camera Ba e
CAM-EU Camera Electronic Unit
CAM-OH Camera Optical Head
CCD Charge Coupled Device
CODMAC Committee On Data Management, Archiving, and Computation
DDS Data Distribution System
DMS Data Management System
DNA Defocused imaging with No Attenuation
EAICD Experiment to Archive Interface Control Document
ESA European Space Agency
ESAC European Space Astronomy Centre
ESOC European Space Operations Centre
EU Electronic Unit
FA Focused imaging with Attenuation
FITS Flexible Image Transport System
FNA Focused imaging with No Attenuation
FOV Field of View
ftp file transfer protocol
HK Housekeeping
JPEG Joint Photographic Experts Group
NASA National Aeronautics and Space Administration
NavCam Navigation Camera
OBT On-Board Time
OH Optical Head
PDS Planetary Data System
PSA Planetary Science Archive
PSA-DH Planetary Science Archive Data Handler
RMOC Rosetta Mission Operations Centre
RO Rosetta Orbiter
S/C Spacecraft
SCIOPS Science Operations Department
SGS Science Ground Segment
SSMM Solid State Mass Memory
TC Telecommand
TM Telemetry
UTC Coordinated Universal Time
WCS World Coordinate System (FITS)
1 Introduction
1.1 Purpose and Scope
This Experiment to Archive Interface Control Document (EAICD) has two main
purposes. Firstly, it gives users of the Navigation Camera (NavCam) instrument
data a detailed description of the product and how it was generated, including
data sources and destinations. Secondly, it acts as an interface between the
NavCam data producers and the data archiving authority. One point of note is
that there are two identical NavCams installed on the Rosetta spacecraft,
however, for the purposes of this document the singular is generally referred
to when discussing the NavCams.
1.2 Archiving Authorities
The Planetary Data System (PDS) standard is used as the archiving standard by:
- the National Aeronautics and Space Administration (NASA) for U.S.
Planetary Missions, implemented by PDS;
- the European Space Agency (ESA) for European Planetary Missions,
implemented by the Science Operations Department (SCIOPS) of ESA.
ESA implements an on-line science archive, the Planetary (PSA), for several
reasons:
- to support and ease data ingestion;
- to offer additional services to the scientific user community and
science operations teams, such as, e.g.:
1. queries that allow searches across instruments, missions
and scientific disciplines;
2. several data delivery options, such as:
- direct download of data products, linked files and datasets;
- file transfer protocol (ftp) download of data products, linked
files and datasets.
The PSA aims for on-line ingestion of logical archive volumes and will offer
the creation of physical archive volumes on request.
1.3 Contents
This document describes the data flow of the NavCam instrument on Rosetta
from the Spacecraft (S/C) until the insertion into the PSA by ESA. It includes
information on how data were processed, formatted, labelled and uniquely
identified; along with discussing the general naming schemes for NavCam data
volumes, datasets, data and label files. The standards used to generate such
products are explained and the design of the dataset structure and data
products are also given within this document.
1.4 Intended Readership
The staff of the archiving authority (PSA, PDS), members of the Rosetta
Science Ground Segment and the instrument team community as well as any
potential user of the NavCam data.
1.5 Applicable Documents
AD1: Rosetta Archive Generation, Validation and Transfer Plan, January 10,
2006, RO-EST-PL-5011
AD2: Rosetta Archive Conventions, Issue 7, Rev. 6, March 21, 2014,
RO-EST-TN-3372
1.6 Reference Documents
RD1: Rosetta Navigation Camera User's Manual, January 2002, RO-GAL-MA-2008
RD2: Rosetta Navigation Camera Design Description, January 2002,
RO-GAL-RP-2007
RD3: Navigation Camera TM/TC and Software ICD, November 2001, RO-MMT-IF-2007
RD4: Rosetta SPICE Frame Kernel, ROS V25.TF
RD5: Rosetta Data Delivery Interface Document, Appendix H, November 2013,
RO-ESC-IF-5003
RD6: Scholten F., Preusker F., Jorda L., and Hviid S., Reference Frames and
Mapping Schemes of Comet 67P/C-G,
RO-C-MULTI-5-67P-SHAPE-V1.0:CHEOPS_REF_FRAME_V1,
ESA Planetary Science Archive and NASA Planetary Data System, 2015.
RD7: Preusker F., et al., Shape model, reference system definition, and
cartographic mapping standards for comet 67P/Churyumov-Gerasimenko -
Stereo-photogrammetric analysis of Rosetta/OSIRIS image data, 2015,
Astronomy & Astrophysics, 583, A33.
http://dx.doi.org/10.1051/0004-6361/201526349
Note: The reference documents RD1, RD2, and RD3 contain proprietary information
by the instrument manufacturer and are therefore not publicly available.
1.7 Contact Names and Addresses
Table 3: List of contacts for the NavCam instrument archive.
SCI-OO, ESAC | Bernhard Geiger | Tel.:
Camino bajo del Castillo | | +34 91 81 31 169
Villanueva de la Canada | | E-Mail:
28691, Madrid, Spain. | | Bernhard.Geiger@sciops.esa.int
------------------------------------------------------------------------------
SCI-OO, ESAC | Maud Barthelemy | Tel.:
Camino bajo del Castillo | | +34 91 81 31 248
Villanueva de la Canada | | E-Mail:
28691, Madrid, Spain. | | Maud.Barthelemy@sciops.esa.int
----------------------------------------------------------------------------
SCI-OO, ESAC | David Heather | Tel.:
Camino bajo del Castillo | | +34 91 81 31 183
Villanueva de la Canada | | E-Mail:
28691, Madrid, Spain. | | David.Heather@sciops.esa.int
----------------------------------------------------------------------------
SCI-OO, ESAC | Michael Kueppers | Tel.:
Camino bajo del Castillo | | +34 91 81 31 149
Villanueva de la Canada | | E-Mail:
28691, Madrid, Spain. | | Michael.Kueppers@sciops.esa.int
2 Overview of Instrument Design
In order to fully satisfy the requirements and objectives regarding navigation
and attitude control, Galileo Avionica developed a mission-specific Navigation
Camera for Rosetta by building on the heritage of existing models. Table 4
provides an overview of some of the physical and operational parameters of the
NavCam (from [RD2]).
Table 4: Overview of NavCam properties.
Parameter Value Comment
Mass CAM-OH | 6.050 kg | Camera Optical Head
Mass CAM-EU | 2.700 kg | Camera Electronic Unit
Mass CAM-BAF | 1.408 kg | Camera Baffle
Total Mass | 10.158 kg |
Total Power | 16.8 W |
Field of View | 5deg x 5deg |
Sensor Type | CCD | CCD47-20 by e2v
Number of Pixels | 1024 x 1024 |
Dynamic Range | 12 bits | Saturation at Digital Number 4095
Focal Length | 152.5 mm | Effective Focal Length
Pixel Size | 13 micro m |
Pixel Angular Size | 17.6 arcsec |
Aperture | 70 mm | Non-Attenuated Modes
| 30 mm | Attenuated Mode
F/Number | f/2.2 | Non-Attenuated Modes
| f/5.1 | Attenuated Mode
Limit Magnitude | Mv = 11 | Exposure time 5 s, SNR
Saturation Magnitude | Mv = 1.6 | Whole spectral range,
| Mv = 0.8 | G2 Class; exposure time = 10ms
Integration Time | 10 ms | Minimum,
| 30 s | Maximum
Bias error (1 sigma) | 0.2 pixels | Mv = 11, exposure time = 5 s,
| | Defocused mode
NEA (1 sigma) | 0.1 pixels | Mv = 11, exposure time = 5 s,
| | Defocused mode
Commanded Window Size | 20 x 20 | Minimum pixel array
| 1024 x 1024 | Maximum pixel array
CCD Operative Temp. | -50 C | Minimum
Range | +50 C | Maximum
CCD Performance Temp. | -25 C | Minimum
Range | 0 C | Maximum
2.1 Architecture and Con gurations
The Rosetta NavCam consists of a Camera Optical Head (CAM-OH), a Camera
Electronic (CAM-EU) and a Camera Baffle (CAM-BAF). Information given in this
section is mainly extracted from the User's Manual [RD1] and the Design
Description Document [RD2]. In general the Rosetta NavCam camera has three
major functions:
1. Track point-like targets (in Point Target Tracking Mode).
2. Track one extended object, during asteroid y-by and comet approach phases
(in Asteroid Tracking Mode).
3. Acquire navigation images of asteroids and the comet nucleus (Imaging
mode, also per-formed in Asteroid Tracking Mode).
2.1.1 Camera Optical Head
The Camera Optical Head for the Rosetta NavCam contains the optical system,
the CCD detector and the electronics required to operate the CCD. It also
supports the dust cover and attenuation mechanism in front of the optics.
Figure 1 depicts three possible configurations of the optical system with
exchangeable first element.
- DNA mode. Defocused not attenuated. The first element is a plano-parallel
window. The aperture is 70mm. This mode is used for determining the position
of point sources with improved centroiding. During the comet escort phase this
mode is also used by default as a dust cover when the camera is not operated.
ROSETTA:CAM_COVER_POSITION = DEFOC_NATT
- FA mode. Focused attenuated. The first lens is a quasi-plano parallel
window, i.e. a lens with a very low converging power, in order to focus the
image on the CCD. One face has an attenuation coating in order to decrease the
transmission. The aperture is 30mm. This mode is used for imaging and
navigation close to the extended comet nucleus.
ROSETTA:CAM_COVER_POSITION = FOC_ATT
- FNA mode. Focused not attenuated. The first lens is a quasi-plano parallel
window with an aperture of 70mm. The image is focused on the CCD and there is
no attenuation coating.
ROSETTA:CAM_COVER_POSITION = FOC_NATT.
For each acquired image the mission specific keyword
ROSETTA:CAM_COVER_POSITION records the applicable cover position in the
meta-information of the data product files (see Table 14). The effects of the
reduced aperture and the attenuation coating combined result in a reduction of
the transmission by a factor of 580 for the attenuated mode. For the defocused
mode the point spread function is broader. For a point source located in the
centre of a pixel approximately 50-55% of the signal are counted in the
respective pixel, whereas this fraction ranges between 65 and 70% for the
focused modes.
Figure 1: Optical system of the NavCam with exchangeable first element. The
lenses are made of radiation resistant glasses with high transmission in the
visible wavelength range (LAK9 G15 and SF6 G05 produced by Schott) [RD2].
The CCD detector is a front-illuminated frame transfer device with a broad
spectral sensitivity in the visible range. Two different values of the gain
can be selected when commanding the camera.
1. High Gain -- 10 electrons per Digital Number. Increases the grey signal
level resolution when faint targets are imaged. In this case the A/D Converter
saturates (at 12 bits) before saturation of the CCD is reached.
ROSETTA:CAM_GAIN = HIGH
2. Low Gain -- 17 electrons per Digital Number. The A/D Converter saturates
at the same time as the CCD and so the full dynamic range can be used.
ROSETTA:CAM_GAIN = LOW
The relative amplification factor between high and low gain is approximately 1.7.
The chosen gain settings are documented in the mission specific keyword
ROSETTA:CAM_GAIN of the product files (see Table 14).
2.1.2 Camera Electronic Unit
The Camera Electronic Unit contains the digital electronics and interfaces for
data transfer with the Avionics Interface Unit (AIU) and the Solid State Mass
Memory (SSMM). Another major function of this module is to provide the
programmable constant-current driver for both the heater in the optical head
and the stepper motor that actuates the attenuation cover mechanism of the
NavCam.
2.1.3 Camera Baffle
The Camera Baffle provides protection against stray light produced by the Sun
and reflected from planetary bodies and the satellite. This level of
protection allows the tracking of faint objects. The baffle is mechanically
supported by the S/C structure so as to avoid mechanical stress of the optical
head. This is done owing to the required high pointing stability of the camera
boresight in order to achieve the desired accuracy.
2.2 Operating Modes
The following series of operating modes are available in order to exploit the
capabilities of the NavCam:
- Off Mode.
- Initialisation Mode.
- Stand-by Mode.
- Imaging Mode. In this mode the instrument operates as a standard camera in
order to acquire images of star-fields or extended objects in the field of
view such as the comet nucleus during the escort phase.
INSTRUMENT MODE ID = "IMAGING"
- Point Target Tracking Mode. In this mode the NavCam can track
simultaneously up to five point-like objects in the field of view.
- Asteroid (Extended Object) Tracking Mode. In this mode the NavCam can
detect and track an extended object in the eld of view. Optionally
information on the position of this object can be fed into the autonomous
attitude control system of the spacecraft. (This was done during the
asteroid fly-bys.) In the Asteroid Tracking Mode images can also be
acquired and downlinked in the same way as in the Imaging Mode.
INSTRUMENT MODE ID = "ASTEROID TRACKING"
- Self Test Mode.
Image data can be generated and downlinked to ground in the Imaging and
Asteroid (Ex-tended Object) Tracking modes. In the archived datasets, the
used mode is indicated by the INSTRUMENT MODE ID keyword of the label files
as indicated above (see also Table 13).
3 Data Handling Process and Product Generation
The NavCam data are primarily used by the Flight Dynamics Team of the Rosetta
Mission Operations Centre (RMOC) located at ESOC in Darmstadt, Germany. The
images acquired with this camera are essential for determining the spacecraft
position with respect to the comet nucleus and hence for safely navigating
Rosetta. In addition, the images are also processed from the raw telemetry
data at the Rosetta Science Ground Segment (SGS) based at ESAC near Madrid,
Spain. The data are made available to the Rosetta instrument team community
shortly after acquisition in order to support analysis and interpretation of
their scientific data. Later, datasets of the product files are prepared for
public release via the Planetary Science Archive (PSA).
3.1 Telemetry Data
For generating the product files the following telemetry data are processed:
- Science Data Report: TM APID 460 (CAM1) and 476 (CAM2), Type 20,
Subtype 13. This set of telemetry data contains images as well as a number of
meta data parameters. The latter are included in the label files of the
generated data products.
- Housekeeping and Health-Check Report: TM APID 452 (CAM1) and 468 (CAM2),
Type 3, Subtype 25. From the set of available housekeeping parameters only the
CCD temperature and the optics temperature are extracted and included in the
label files of the generated data products.
3.2 Data Product levels
Table 5: Data Processing levels.
PSA | CODMAC | Description
1a |1 | Raw telemetry packet data that have been separated by
| | instrument. This is the level which is distributed by the
| | DDS (ESOC).
1b |2 | level 1a data that have been sorted by instrument data
| | types and instrument modes. Data are in scienti cally
| | useful form, e.g. as images. These data are still
| | uncalibrated.
2 |3 | level 1b data with calibration and corrections applied to
| | yield data in scientific units.
3 |5 | Higher level data products developed for specific
| | scientific investigations.
Table 5 summarises the definition of data product levels according to both PSA
and CODMAC (Committee On Data Management, Archiving, and Computation).
3.2.1 Uncalibrated Data
Uncalibrated data, i.e. products at CODMAC level 2, were released for the
entire cruise phase including images from the Earth and Mars swing-bys as well
as distant (unresolved) navigation images of the visited asteroids 2878 Steins
and 21 Lutetia. Presently the images acquired after hibernation exit during
the comet approach and escort phases are successively being archived and made
available. The uncalibrated data products consist of image files with
extensive meta-information. For each image pixel the original unaltered
digital number values are given as read out from the CCD.
3.2.2 Radiometrically Calibrated Data
Radiometrically calibrated data, i.e. products at CODMAC level 3, are
currently not yet available but are foreseen to be provided. This requires
removing artefacts caused by the optical system and the CCD detector from the
raw images and converting the digital number counts into physical radiance
units. It is currently not planned by the Rosetta SGS to generate higher level
data products such as map projections on a shape model for the comet nucleus
images.
3.2.3 Geometrically Calibrated Data
Accurate geometric information is required for the operational objective of
the NavCam and the respective image characteristics are therefore well
established (see Section 4.2.4). However, it is not appropriate to generate
geometrically calibrated data products by re-sampling the images. The
correction shall better be taken into account for each specific application by
directly using the existing data products.
4 Archive Conventions and Meta-Information
This chapter describes general rules and conventions for producing the
datasets and also gives an overview of important meta-information included in
the product files.
4.1 Format and Conventions
The directory tree must be compatible, in terms of directory organisation and
naming and file organisation, with the PDS standards and such that:
- each logical archive volume shall contain one NavCam PDS dataset;
datasets will contain data from both NavCams;
- one dataset shall be created for each separate mission phase; a different
dataset shall be created for each processing level;
- the top level directory of each logical archive volume shall match that of
the NavCam dataset ID; and,
- the volume set name shall be as that of the dataset.
4.1.1 Dataset ID Formation
The dataset ID formation shall be done according to the following rule:
DATA SET ID = <INST HOST>-<TARGET ID>-<INST>-<CODMAC fileVEL>-
<MISSION PHASE ABBREVIATION>-<VERSION>
Each of the components are described, briefly, in Table 6, with a list of
options for TARGET_ID and MISSION_PHASE being given in Tables 7 and 8
respectively. Examples include:
RO-X-NAVCAM-2-PRL-COM-V1.0
RO-C-NAVCAM-2-PRL-MTP004-V1.0
In some instances there are several TARGET ID terms in the DATA SET ID naming
formation. These terms are combined and included in a list, separated by
hyphens, between the <INST HOST> and <INST> terms in the dataset name.
Examples from the cruise phase include:
RO-A-CAL-NAVCAM-2-AST2-V1.0
RO-E-X-NAVCAM-2-CR1-V1.0
Table 6: Description of Components of the DATA SET ID.
Component | Examples | Description
INST_HOST | RO | Rosetta Orbiter
TARGET_ID | A, C, E, M | Asteroid, Comet, Earth, Mars
INST | NAVCAM | Navigation Camera
CODMAC_LEVEL | 2, 3, 5 | See Table 5
MISSION_PHASE | AST1, | Asteroid 1 Flyby, Earth Swingby 3, Cruise
ABBREVIATION | EAR3, | 4-B, Mars Swingby, see Table 8
| CR4B, |
| MARS |
VERSION | Vx.y e.g. | x and y are numerical values indicating
| V1.0, V1.1, | the version level and revision number
| V2.0 |
-----------------------------------------------------------------------------
Table 7: List of TARGET ID values for Rosetta.
Abbreviation | TARGET_TYPE | TARGET_NAME
A | ASTEROID | 21 LUTETIA
| | 2867 STEINS
C | COMET | C/LINEAR (2002 T7)
| | 9P/TEMPEL 1 (1867 G1)
| | 67P/CHURYUMOV-GERASIMENKO 1 (1969R1)
E | PLANET | EARTH
J | PLANET | JUPITER
M | PLANET | MARS
| SATELLITE | MOON
| STAR | ZETA CAS, ALPHA LYR
CAL | CALIBRATION | CALIBRATION
X | N/A | CHECKOUT
-----------------------------------------------------------------------------
Table 8: List of MISSION PHASE NAME and ABBREVIATION values.
Phase Name Abbreviation Start Time
GROUND GRND 2000-01-01 00:00:00
LAUNCH LEOP 2004-03-03 00:00:00
COMMISSIONING 1 CVP1 2004-03-05 00:00:00
CRUISE 1 CR1 2004-06-07 00:00:00
COMMISSIONING 2 CVP2 2004-09-06 00:00:00
EARTH SWING-BY 1 EAR1 2004-10-17 00:00:00
CRUISE 2 CR2 2005-04-05 00:00:00
MARS SWING-BY MARS 2006-07-29 00:00:00
CRUISE 3 CR3 2007-05-29 00:00:00
EARTH SWING-BY 2 EAR2 2007-09-13 00:00:00
CRUISE 4-1 CR4A 2008-01-28 00:00:00
STEINS FLY-BY AST1 2008-08-04 00:00:00
CRUISE 4-2 CR4B 2008-10-06 00:00:00
EARTH SWING-BY 3 EAR3 2009-09-14 00:00:00
CRUISE 5 CR5 2009-12-14 00:00:00
LUTETIA FLY-BY AST2 2010-05-17 00:00:00
RENDEZVOUS MANOEUVRE 1 RVM1 2010-09-04 00:00:00
CRUISE 6 CR6 2011-07-14 00:00:00
PRELANDING COMMISSIONING PRL-COM 2014-01-20 10:00:00
PRELANDING MTP003 PRL-MTP003 2014-05-07 12:48:00
PRELANDING MTP004 PRL-MTP004 2014-06-04 10:50:00
PRELANDING MTP005 PRL-MTP005 2014-07-02 08:35:00
PRELANDING MTP006 PRL-MTP006 2014-08-01 10:00:00
PRELANDING MTP007 PRL-MTP007 2014-09-02 10:00:00
PRELANDING MTP008 PRL-MTP008 2014-09-23 10:00:00
PRELANDING MTP009 PRL-MTP009 2014-10-24 10:00:00
COMET ESCORT 1 MTP010 ESC1-MTP010 2014-11-21 23:25:00
COMET ESCORT 1 MTP011 ESC1-MTP011 2014-12-19 23:25:00
COMET ESCORT 1 MTP012 ESC1-MTP012 2015-01-13 23:25:00
COMET ESCORT 1 MTP013 ESC1-MTP013 2015-02-10 23:25:00
COMET ESCORT 2 MTP014 ESC2-MTP014 2015-03-10 23:25:00
COMET ESCORT 2 MTP015 ESC2-MTP015 2015-04-08 11:25:00
COMET ESCORT 2 MTP016 ESC2-MTP016 2015-05-05 23:25:00
COMET ESCORT 2 MTP017 ESC2-MTP017 2015-06-02 23:25:00
COMET ESCORT 3 MTP018 ESC3-MTP018 2015-06-30 23:25:00
COMET ESCORT 3 MTP019 ESC3-MTP019 2015-07-28 23:25:00
COMET ESCORT 3 MTP020 ESC3-MTP020 2015-08-25 23:25:00
COMET ESCORT 3 MTP021 ESC3-MTP021 2015-09-22 23:25:00
COMET ESCORT 4 MTP022 ESC4-MTP022 2015-10-20 23:25:00
COMET ESCORT 4 MTP023 ESC4-MTP023 2015-11-17 23:25:00
COMET ESCORT 4 MTP024 ESC4-MTP024 2015-12-15 23:25:00
ROSETTA EXTENSION 1 MTP025 EXT1-MTP025 2016-01-12 23:25:00
ROSETTA EXTENSION 1 MTP026 EXT1-MTP026 2016-02-09 23:25:00
ROSETTA EXTENSION 1 MTP027 EXT1-MTP027 2016-03-08 23:25:00
ROSETTA EXTENSION 2 MTP028 EXT2-MTP028 2016-04-05 23:25:00
ROSETTA EXTENSION 2 MTP029 EXT2-MTP029 2016-05-03 23:25:00
ROSETTA EXTENSION 2 MTP030 EXT2-MTP030 2016-05-31 23:25:00
ROSETTA EXTENSION 3 MTP031 EXT3-MTP031 2016-06-28 23:25:00
ROSETTA EXTENSION 3 MTP032 EXT3-MTP032 2016-07-26 23:25:00
ROSETTA EXTENSION 3 MTP033 EXT3-MTP033 2016-08-23 23:25:00
4.1.2 File Naming Convention
Each image data product is generated in the form of a binary file (*.IMG) and
a FITS-format file (*.FIT) with associated label files (*.LBL) of the same
name that point to the image file. The label files contain meta-information
about the camera operating parameters and geometric conditions. For every
image a browse version file (*.JPG) with reduced resolution and an associated
label file are created. The file naming convention for these files is as
follows:
<MISSION> <CAM#> <YYYYMMDDThhmmss><F>.<EXT>
Table 9 summarises the definitions of each part:
Table 9: File naming parameters.
Variable Possible Values Description
MISSION | ROS | The Rosetta mission.
CAM# | CAM1, CAM2 | Denotes which NavCam pro-
| | duced the data.
EXT | IMG, FIT, JPG, LBL | Denotes the file type in ques-
| | tion.
F | F, or absent | Is present for the FIT format
| | file and its label file.
-------------------------------------------------------------------------
The parameter <YYYYMMDDThhmmss> is the Coordinated Universal Time (UTC)
without the fractional seconds (see Section 4.1.4) and provides the date and
time at which the image was acquired on-board the spacecraft.
4.1.3 PDS Standards
Each complete volume produced will be compliant with both the PDS and PSA
standards. In general each individual file is created using PDS Version 3
standards. The PDS format uses the ISO 9660 level 2 standard for the file
names. Hence, no complete file name shall be longer than 31 characters and the
"27.3" structure shall be obeyed, that is, a maximum of 27 characters before
the "." for the file name and 3 characters after for the extension type.
4.1.4 Time Standards
Two time standards are used in the meta-information of the NavCam data
product files:
- UTC is expressed in the format <YYYYMMDDThhmmss.fff>
where YYYYMMDD provides the calendar date (year, month and day), T is a
fixed separator and hhmmss. fff indicates the time in hours, minutes,
seconds and fractions of a second. UTC is used in the following keywords
for time stamping the data products:
- PRODUCT_CREATION_TIME
- IMAGE_TIME
- START_TIME
- STOP_TIME
Here START_TIME = IMAGE_TIME - 0.5 EXPOSURE_DURATION and
STOP_TIME = IMAGE TIME + 0.5 EXPOSURE TIME.
- Spacecraft Clock Time is given in the format
1/<time counter high value>.<time counter low value>
where the high counter roughly corresponds to the number of seconds since
initialisation, and the low value counts ticks of duration 1/65536
second. (Example: 1/123772074.26377). The following keywords contain
spacecraft clock time:
- SPACECRAFT CLOCK START COUNT
- SPACECRAFT CLOCK STOP COUNT
For datasets up to and including MTP012 rounding errors of 1ms can occurr in the
START_TIME and STOP_TIME keyword values due to an inappropriate computation procedure.
4.2 Reference Frames and Geometry
4.2.1 Camera Reference Frames
For data processing and analysis purposes the NavCam reference frames are
defined as follows:
- The +Z axis points along the camera boresight (optical axis).
- The +X axis is parallel to the apparent image columns. It is nominally
co-aligned with the S/C +X axis.
- The +Y axis completes the right hand frame. It is nominally parallel to
the apparent image lines and co-aligned with the S/C +Y axis.
- The origin of the frame is located at the camera focal point.
The actual NavCam boresight directions in the spacecraft reference frame were
determined by in-flight calibration and are as follows.
CAM1 (NAVCAM-A): ( -0.000584, -0.003128, 0.999995 ).
CAM2 (NAVCAM-B): ( 0.000116, 0.002098, 0.999998 ).
The full alignment rotation matrices are specified in the Rosetta SPICE
frame-kernel [RD4]. Note that the values for CAM1 were updated in version 2.5
of the frame-kernel, which has been used for generating the archive datasets
(V1.0) from period MTP018 onwards.
4.2.2 Image Orientation
The images in the data product files are oriented such that the CCD columns
(and therefore the X axis) appear in vertical direction and the lines (and
therefore the Y axis) in horizontal direction. The binary files start with
the first byte of the first line read out from the CCD. This first line
corresponds to the bottom of the image in the orientation mentioned above.
Accordingly, the relevant keywords in the image description section of the
product label files are specified as SAMPLE_DISPLAY_DIRECTION = "RIGHT" and
LINE_DISPLAY_DIRECTION = "UP".
The orientation of the X and Y axes is such that line and column number counts
increase with increasing coordinate value. However, the optics of the
instrument introduces an inversion of the image. This means that the signs of
both coordinate values need to be reversed when transforming the position of
an object in space into image coordinates. Or in other words, the image needs
to be rotated by 180 degrees in order to match the orientation of the imaged
scene.
4.2.3 Window Size and Position
The camera software allows the user to specify sub-frames in order to reduce
the data volume for downlink. In the product label files the size of the
images is indicated by the standard keywords LINES and LINE_SAMPLES of the
image description section. The specific keywords
ROSETTA:CAM_WINDOW_POS_ALONG_ROW
and
ROSETTA:CAM_WINDOW_POS_ALONG_COL,
respectively, indicate the central column and row numbers of the commanded
sub-images (see Table 14). For full images with 1024x1024 pixels the value of
both of these keywords is set to 511, which corresponds to the centre of the
CCD.
4.2.4 Geometric Calibration
The optical system of the camera is designed in such a way that geometric
distortion over the whole field of view is small (~1% at the edge). Nevertheless
for the purposes of precise navigation and astrometric registration these effects
need to be taken into account. The simplified procedure below for computing the
view direction as a function of image pixel was extracted from Appendix H of the
Data Delivery Interface Document [RD5]. It is accurate to one pixel over the full CCD.
For a given pixel position (i, j) on the camera CCD, the corresponding direction
vector (x, y, z) in camera frame can be obtained as follows with parameter values
as listed in Table 10:
Convert pixel coordinates into spatial position in the detector plane relative to
the image centre:
px=(i-511)*0.013
py=(j-511)*0.013.
Apply a radial distortion correction relative to the linear position:
pxCorr=px*[1+cx*(px^2+py^2)]
pyCorr=py*[1+cy*(px^2+py^2)].
The (un-normalised) direction vector in camera frame is then given by:
(x, y, z) = (-pxCorr/fx, -pyCorr/fy, 1).
The sign change in x- and y-coordinates assures the appropriate image orientation as
mentioned in Section 4.2.2.
Table 10: Parameters for geometric correction.
Parameter | CAM1 | CAM2
cx | -0.00012044038 | -0.00011708484
cy | -0.000114420733 | -0.000111645333
fx | 152.5159 | 152.4893
fy | 152.4949 | 152.4854
4.2.5 Geometric Information in Label Files
The label files include the following geometric variables:
- SC_SUN_POSITION_VECTOR
The vector from the spacecraft to the Sun in equatorial J2000 inertial
frame.
- SC_TARGET_POSITION_VECTOR
The vector from the spacecraft to the centre of the comet nucleus in
equatorial J2000 inertial frame.
- SC_TARGET_VELOCITY_VECTOR
The spacecraft to comet nucleus velocity vector in in equatorial J2000
inertial frame.
- TARGET_CENTER_DISTANCE
The distance between the spacecraft and the comet nucleus centre.
(Note that also for checkout and stellar calibration images the comet
nucleus distance is given here.)
- SUB_SPACECRAFT_LATITUDE and SUB_SPACECRAFT_LONGITUDE
The latitude and longitude of the sub-spacecraft point derived from the
Flight Dynamics body-fixed reference frame implicitly specified by the
information provided in the comet attitude file CATT [RD5].
By construction the "Cheops reference frame" introduced in [RD6,RD7] is
equivalent to the Flight Dynamics body-fixed frame.
- RIGHT ASCENSION and DECLINATION
Right Ascension and Declination of the camera boresight direction in
equatorial J2000 inertial frame.
- CELESTIAL_NORTH_CLOCK_ANGLE
The direction of celestial north at the centre of the image - measured
from the 'upward' direction, clockwise to the direction toward
celestial north.
- SOLAR_ELONGATION
The angle between the line of sight of observation and the direction to
the Sun.
All geometric values are calculated for the time t = IMAGE_TIME (and not
START_TIME). The values of the keywords SC_SUN_POSITION_VECTOR,
SC_TARGET_POSITION_VECTOR, SC_TARGET_VELOCITY_VECTOR, and TARGET_CENTER_DISTANCE
are determined taking into account light time and aberration corrections.
RIGHT_ASCENSION and DECLINATION are computed with aberration corrections.
No correction is applied for obtaining the values of SUB_SPACECRAFT_LATITUDE and
SUB_SPACECRAFT_LONGITUDE.
4.3 Data Quality
The keyword DATA_QUALITY_ID indicates whether the lines of an image were
completely acquired (value 0) or the image is incomplete and lines are missing
(value 1). The number of missing lines is given in the Rosetta mission
specific keyword ROSETTA:CAM_MISSING_LINES (see Table 14).
The keyword ROSETTA:CAM_DATA_VALID with the possible values OK or NOT OK
reports the result of a periodic instrument health check which is included in
the science telemetry data. This error flag is set, for example, if the
instrument CCD temperature is not within the performance range of [-25 C,0 C].
This is the case for a large fraction of the images taken during the comet
escort phase. However, the lower temperatures measured are still within the
operating range and do not affect the image quality.
Instrument temperatures are extracted from housekeeping telemetry (see Section 3.1).
If for a given image acquisition time no housekeeping information is available
in an interval of +/- 1 minute the values are reported as "UNK" in the keyword
INSTRUMENT_TEMPERATURE.
4.4 Observation Type
The keyword OBSERVATION TYPE was used in the label files in order to provide
information about the purpose of the images acquired. The values of the keyword
are as follows:
- NAVIGATION IMAGE
The image was commanded for navigation purposes by the Flight Dynamics
team.
- CONTEXT IMAGE
The image was requested by the instrument team community via the Science
Ground Segment in order to provide context information for other scientific
measurements. From August 2015 additional context images were also scheduled
directly by the Science Ground Segment for regular activity monitoring
around perihelion.
- CALIBRATION
The image was acquired for calibration purposes. This also includes images
specifically scheduled for characterising the dust environment.
- CHECKOUT
The image was acquired as an instrument checkout or test.
The TARGET_NAME keyword is always specified as "67P/CHURYUMOV-GERASIMENKO 1 (1969 R1)"
for navigation and context images, although the latter also include a large number of
instances for which the comet nucleus is not in the field of view.
5 Dataset Content
This section contains information common to all datasets produced for the
Rosetta NavCam.
5.1 Volume Set
The following conditions shall remain true for the NavCam datasets at all
times:
- Each logical archive volume shall contain one NavCam dataset.
- Necessary documentation for the logical archive volumes shall be provided
by the Planetary Science Archive Data Handlers (PSA-DHs). Any other
non-data file necessary for the logical archive volume will be provided by
the PSA-DHs.
It shall be possible to modify and implement the structure of the directory
tree with new sub-directories, whenever needed. The creation and management of
the directories shall be performed by the PSA-DHs.
The keywords mandatory for the VOLUME object of the Rosetta mission are
presented in Table 11:
Table 11: Mandatory keywords and standard values for the VOLUME object.
Keyword | Required | Max. | Standard Value(s)
| |Length|
DATA_SET_ID | yes | 40 | see Section 4.1.1
DESCRIPTION | yes | N/A | "N/A"
MEDIUM_TYPE | yes | 30 | "ELECTRONIC"
PUBLICATION_DATE | yes | 10 | YYYY-MM-DD
VOLUME_FORMAT | yes | 20 | "ANSI"
VOLUME_ID | yes | 12 | "N/A"
VOLUME_NAME | yes | 60 | "N/A"
VOLUME_SERIES_NAME | yes | 60 | "N/A"
VOLUME_SET_NAME | yes | 60 | "N/A"
VOLUME_SET_ID | yes | 40 | "N/A"
VOLUME_VERSION_ID | yes | 12 | "N/A"
VOLUMES | yes | N/A | "UNK"
------------------------------------------------------------
5.2 Dataset Naming
The dataset naming for the Rosetta NavCam follows the following
formation rule:
DATA SET NAME = <INSTRUMENT HOST NAME> <TARGET>( <OPTIONAL>)
<INST> <CODMAC LEVEL> <MISSION PHASE ABBREVIATION> <VERSION>
where each of these parameters is defined in Table 12:
Table 12: Data set naming parameters.
Parameter | Value(s)
INSTRUMENT_HOST_NAME | ROSETTA-ORBITER
TARGET | see Table 7
INST | NAVCAM
CODMAC_LEVEL | see Table 5
MISSION_PHASE_ABBREVIATION | see Table 8
VERSION | e.g. V1.0, V2.4 etc.
Examples include:
- "ROSETTA-ORBITER CHECK NAVCAM 2 PRELANDING COMMISSIONING V1.0"
- "ROSETTA-ORBITER 67P NAVCAM 2 PRELANDING MTP004 V1.0"
5.3 Directories
Root Directory
The top-level structure of the ROOT directory of a data archive volume
corresponds to chapter 19 of the PDS Standards Reference (summarised here):
- AAREADME.TXT: This file describes the complete volume. It provides an
overview of what can be found in the volume including the organisational
attributes and general instructions for use along with contact information.
- ERRATA.TXT: This file describes known errors or de ciencies in this archive
volume set.
- VOLDESC.CAT: This file contains the VOLUME object, which gives a high-level
description of the volume contents.
Sub-directories (except the DATA and EXTRA directories) include a file,
xxxxINFO.TXT, that briefly describes the contents of that directory. In case
that an important instrument characteristic cannot be described with an
existing PDS keyword, the information will be supplied in a separate parameter
file.
BROWSE Directory
This directory contains one or two sub-directories (CAM1 and/or CAM2) with a
set of thumbnail images in *.JPG format (one corresponding to each *.IMG file
in the DATA directory) and an associated *.LBL for each one. Other files that
are included here are:
- BROWINFO.TXT: This file describes the contents of the directory.
- *.LBL: Detached label files for the browse products.
- *.JPG: Browse product images of reduced size in JPEG format. These
thumbnail images were created from the raw binary data using the convert
tool of the ImageMagick package (v6.8.9-6) and standard parameter settings
(-contrast-stretch 2%x1%). The grey scale conversion from the raw data was
not tuned to specific image contents and therefore in some cases the
resulting image can be dominated by detector noise.
CATALOG Directory
This directory contains the catalogue object files for the complete volume.
Files include:
- CATINFO.TXT: A description of the contents of the CATALOG directory.
.- MISSION.CAT: Contains PDS mission catalogue information about the Rosetta
Mission (provided by ESA).
- INSTHOST.CAT: Contains PDS instrument host catalogue information about the
Rosetta S/C and the mounting relationship of the instruments within the S/C
(provided by ESA).
- NAVCAM_INST.CAT: Contains PDS instrument catalogue information about the
instrument (likely to be the same in all deliveries, unless updates are
needed).
- DATASET.CAT: Contains PDS dataset catalogue information about the dataset
currently being submitted.
- REF.CAT: PDS reference catalogue information about every journal article,
book or other published reference mentioned in the above catalogue objects or
their components.
- SOFTWARE.CAT: PDS software catalogue information about the software
submitted in the dataset.
- TARGET.CAT: Contains PDS target catalogue information about the observation
targets, i.e. comet, asteroid, Earth or Mars (provided by ESA).
- NAVCAM PERS.CAT: Contains PDS personnel catalogue information about the
instrument team responsible for generating the data products.
It should be noted here that the last two files are optional and may not be
found in the volume.
DATA Directory
This directory contains one or two sub-directories (CAM1 and/or CAM2) with the
data products in the form of binary files (*.IMG) and FITS-format (*.FIT)
files, each with a corresponding detached *.LBL (label) file.
DOCUMENT Directory
Included here is a copy of all the documentation relative to the data
production and the volume as a whole, specific files are:
- DOCINFO.TXT: A description of the contents of the document directory.
- RO-SGS-IF-0001.PDF: The EAICD (this document) for the NavCam instrument.
- RO-SGS-IF-0001.TXT: The ASCII version of the above file.
- RO-SGS-IF-0001.LBL: The label of the above files.
EXTRA Directory
This directory contains one or two sub-directories (CAM1 and/or CAM2) with the
data products in the form of FITS-format (*.FIT) files with a corresponding
detached *.LBL (label) file.
INDEX Directory
Contains index files which summarise all of the data products in the volume by
mode, key instrument parameters or mission phase. Particular files include:
- INDXINFO.TXT: A description of the contents of the directory.
- INDEX.LBL: The detached label file for the file INDEX.TAB. The INDEX TABLE
specific object should be used to identify and describe the columns of the
index table.
- INDEX.TAB: Includes the index of the volume in a tabular format.
- BROWSE INDEX.LBL: The detached label for BROWSE INDEX.TAB.
- BROWSE INDEX.TAB: This file includes an index of the browse products in
tabular format.
6 Product File Content
According to the PDS formatting standard, each data product must be
accompanied by a descriptive *.LBL to describe the content. For the NavCam
these label files shall be in the detached form and will appear as separate
files (see Section 4.1.2). The image data are provided in binary as well as in
a FITS format version. There are separate label files for each of them. The
product file versions in binary format with their PDS format label files are
stored in the DATA directory, whereas the FITS format image files and their
label files are contained in the EXTRA directory.
6.1 Content of *.LBL Files
The following shall remain true for all label files in all volumes for the
Rosetta NavCam:
- The format follows PDS standards for formatting and character usage.
- The labels shall use only valid keywords that appear in both the PDS and
PSA dictionaries.
- The character set used shall be that of ASCII 7 bit; specifically
characters within and including the code range 001 to 127.
- The characters <CR> and <LF> shall be used and shall be present at the end
of each line of every label file.
- Each label file shall not exceed a maximum 80-character limit; including
the <CR> <LF> characters.
- Every line that is less than the permitted 80 character maximum shall be
padded out to be of a length equal to 80.
Table 13 provides the list of keywords used in label files within the NavCam
volumes. Table 14 contains Rosetta mission specific dictionary entries.
Table 13: Keywords used in the label files.
Keyword | Max. | Value(s)
| Length |
PDS_VERSION_ID | 6 | PDS3
FILE_NAME | N/A | filename
RECORD_TYPE | 20 | FIXED_LENGTH
RECORD_BYTES | N/A | bytes per image line (binary)
FILE_RECORDS | N/A | number of image lines (binary)
INTERCHANGE FORMAT | 6 | BINARY or FITS
DATA_SET_ID | 40 | see Section 4.1.1
DATA_SET_NAME | 60 | see Section 5.2
PRODUCT_ID | 40 | filename without extension
PRODUCT_CREATION_TIME | 24 | YYYY-MM-DDThh:mm:ss.fff
PRODUCT_TYPE | 30 | EDR
PROCESSING_LEVEL_ID | N/A | "2"
IMAGE_TIME | 24 | YYYY-MM-DDThh:mm:ss.fff
START_TIME | 24 | YYYY-MM-DDThh:mm:ss.fff
STOP_TIME | 24 | YYYY-MM-DDThh:mm:ss.fff
SPACECRAFT_CLOCK_START_COUNT | 30 | see Section 4.1.4
SPACECRAFT_CLOCK_STOP_COUNT | 30 | see Section 4.1.4
MISSION_ID | N/A | ROSETTA
MISSION_NAME | 60 | INTERNATIONAL ROSETTA MISSION
MISSION_PHASE_NAME | 30 | see Table 8
INSTRUMENT_HOST_ID | 6 | RO
INSTRUMENT_HOST_NAME | 60 | ROSETTA-ORBITER
TARGET_NAME | 120 | see Table 7
TARGET_TYPE | 120 | see Table 7
OBSERVATION_TYPE | 30 | see Section 4.4
PRODUCER_ID | 20 | ESA-ESAC
PRODUCER_FULL_NAME | 60 | BERNHARD GEIGER
PRODUCER_INSTITUTION_NAME | 60 | EUROPEAN SPACE AGENCY ESAC
INSTRUMENT_ID | 12 | NAVCAM
INSTRUMENT_NAME | 60 | NAVIGATION CAMERA
INSTRUMENT_TYPE | 30 | CCD CAMERA
CHANNEL_ID | 4 | CAM1 or CAM2
EXPOSURE_DURATION | N/A | sss.fff <s>
DATA_QUALITY_ID | 3 | 0 or 1
DATA_QUALITY_DESC | N/A | 0: Image complete, 1: Lines
| | missing
INSTRUMENT_MODE_ID | 20 | IMAGING or ASTEROID TRACKING
INSTRUMENT_MODE_DESC | N/A | Instrument operating mode
INSTRUMENT_TEMPERATURE | N/A | CCD and optics temperature
| | retrieved from HK TM
INSTRUMENT_TEMPERATURE_POINT | 60 | ("CCD_T1","OPTICS_T7")
COORDINATE_SYSTEM_ID | 30 | J2000
SC_SUN_POSITION_VECTOR | N/A | vector from s/c to Sun in
| | J2000 coordinates
SC_TARGET_POSITION_VECTOR | N/A | vector from s/c to comet in
| | J2000 coordinates
SC_TARGET_VELOCITY_VECTOR | N/A | relative comet to s/c velocity
| | vector in J2000
TARGET_CENTER_DISTANCE | N/A | distance between spacecraft and
| | comet
SUB_SPACECRAFT_LATITUDE | N/A | latitude of the sub-spacecraft
| | point on the surface
SUB_SPACECRAFT_LONGITUDE | N/A | longitude of the sub-spacecraft
| | point on the surface
RIGHT_ASCENSION | N/A | right ascension of boresight
| | direction (J2000)
DECLINATION | N/A | declination of boresight
| | direction (J2000)
CELESTIAL_NORTH_CLOCK_ANGLE | N/A | direction of celestial North on
| | the image
SOLAR_ELONGATION | N/A | angle between boresight and Sun
| | directions
NOTE | N/A | list of SPICE kernels and
| | description of coordinate systems
| | used.
-----------------------------------------------------------------------------
Table 14: Rosetta mission specific dictionary entries.
Keyword | Value(s)
ROSETTA:CAM_ABSOLUTE_FRAME_NUMBER | frame number since instrument
| start-up
ROSETTA:CAM_MODE_FRAME_NUMBER | frame number in current mode
ROSETTA:CAM_COVER_POSITION | FOC_NATT, FOC_ATT , or
| DEFOC_NATT see p.5
ROSETTA:CAM_GAIN | LOW or HIGH, see p.6
ROSETTA:CAM_DATA_VALID | OK or NOT_OK, see p.16
ROSETTA:CAM_WINDOW_POS_ALONG_ROW | see p.15
ROSETTA:CAM_WINDOW_POS_ALONG_COL | see p.15
ROSETTA:CAM_MISSING_LINES | number of missing image
ROSETTA:PIPELINE_VERSION_ID | version identifier of the data
| processing pipeline
---------------------------------------------------------------------------
The following is an example for the label file of one of the binary image
files in a dataset:
PDS_VERSION_ID = PDS3
/*** FILE CHARACTERISTICS ***/
FILE_NAME = "ROS_CAM1_20150328T193655.LBL"
RECORD_TYPE = FIXED_LENGTH
RECORD_BYTES = 2048
FILE_RECORDS = 1024
INTERCHANGE_FORMAT = BINARY
/*** POINTERS TO DATA OBJECTS ***/
^IMAGE = ("ROS_CAM1_20150328T193655.IMG",1)
/*** IDENTIFICATION DATA ELEMENTS ***/
DATA_SET_ID = "RO-C-NAVCAM-2-ESC2-MTP014-V1.0"
DATA_SET_NAME = "ROSETTA-ORBITER 67P NAVCAM 2 COMET ESCORT 2 MTP014 V1.0"
PRODUCT_ID = "ROS_CAM1_20150328T193655"
PRODUCT_CREATION_TIME = 2015-08-06T14:16:35
PRODUCT_TYPE = EDR
PROCESSING_LEVEL_ID = "2"
IMAGE_TIME = 2015-03-28T19:36:55.585
START_TIME = 2015-03-28T19:36:54.930
STOP_TIME = 2015-03-28T19:36:56.240
SPACECRAFT_CLOCK_START_COUNT = "1/386192139.60769"
SPACECRAFT_CLOCK_STOP_COUNT = "1/386192141.15549"
MISSION_ID = "ROSETTA"
MISSION_NAME = "INTERNATIONAL ROSETTA MISSION"
MISSION_PHASE_NAME = "COMET ESCORT 2 MTP014"
INSTRUMENT_HOST_ID = RO
INSTRUMENT_HOST_NAME = "ROSETTA-ORBITER"
TARGET_NAME = "67P/CHURYUMOV-GERASIMENKO 1 (1969 R1)"
TARGET_TYPE = "COMET"
OBSERVATION_TYPE = "NAVIGATION IMAGE"
PRODUCER_ID = "ESA-ESAC"
PRODUCER_FULL_NAME = "BERNHARD GEIGER"
PRODUCER_INSTITUTION_NAME = "EUROPEAN SPACE AGENCY-ESAC"
/*** INSTRUMENT RELATED PARAMETERS ***/
INSTRUMENT_ID = NAVCAM
INSTRUMENT_NAME = "NAVIGATION CAMERA"
INSTRUMENT_TYPE = "CCD CAMERA"
CHANNEL_ID = "CAM1"
EXPOSURE_DURATION = 1.31 <s>
DATA_QUALITY_ID = "0"
DATA_QUALITY_DESC = "0: Image Complete, 1: Lines Missing."
INSTRUMENT_MODE_ID = "IMAGING"
INSTRUMENT_MODE_DESC = "Instrument OPERATING MODE (from TM data)"
INSTRUMENT_TEMPERATURE = ( -34.53 <degC>, -0.86 <degC> )
INSTRUMENT_TEMPERATURE_POINT = ( "CCD_T1", "OPTICS_T7" )
/*** ROSETTA MISSION SPECIFIC DATA DICTIONARY ENTRIES ***/
ROSETTA:CAM_ABSOLUTE_FRAME_NUMBER = 309753
ROSETTA:CAM_MODE_FRAME_NUMBER = 32
ROSETTA:CAM_COVER_POSITION = FOC_ATT
ROSETTA:CAM_GAIN = HIGH
ROSETTA:CAM_DATA_VALID = NOT_OK
ROSETTA:CAM_WINDOW_POS_ALONG_ROW = 511
ROSETTA:CAM_WINDOW_POS_ALONG_COL = 511
ROSETTA:CAM_MISSING_LINES = 0
ROSETTA:PIPELINE_VERSION_ID = "1.0.4"
/*** SPACECRAFT POSITION AND POINTING (J2000) ***/
COORDINATE_SYSTEM_ID = J2000
SC_SUN_POSITION_VECTOR = ( -268600658.434 <km>,
99882541.307 <km>,
81769242.381 <km> )
SC_TARGET_POSITION_VECTOR = ( 11.329 <km>,
16.166 <km>,
-23.128 <km> )
SC_TARGET_VELOCITY_VECTOR = ( 0.199 <m/s>,
0.996 <m/s>,
-0.487 <m/s> )
TARGET_CENTER_DISTANCE = 30.407 <km>
SUB_SPACECRAFT_LATITUDE = 24.019228 <deg>
SUB_SPACECRAFT_LONGITUDE = 1.007555 <deg>
RIGHT_ASCENSION = 53.516115 <deg>
DECLINATION = -51.549175 <deg>
CELESTIAL_NORTH_CLOCK_ANGLE = 271.453524 <deg>
SOLAR_ELONGATION = 112.365959 <deg>
NOTE = "SPICE KERNELS USED:
NAIF0011.TLS
ROS_150717_STEP.TSC
ROS_V24.TF
RORB_DV_129_01_______00199.BSP
RATT_DV_129_01_01____00199.BC
CORB_DV_129_01_______00199.BSP
CATT_DV_129_01_______00199.BC
ROS_CHURYUMOV_V01.TF
DE405.BSP
The values of the keywords SC_SUN_POSITION_VECTOR, SC_TARGET_POSITION_VECTOR,
SC_TARGET_VELOCITY_VECTOR, CELESTIAL_NORTH_CLOCK_ANGLE, RIGHT_ASCENSION, and
DECLINATION are related to the equatorial J2000 inertial frame.
The values of SUB_SPACECRAFT_LATITUDE and SUB_SPACECRAFT_LONGITUDE refer to
the Cheops reference frame which is identical to the Flight Dynamics
body-fixed frame implicitly specified by the information provided in the
comet attitude file CATT.
All values are computed for the time t = IMAGE_TIME. Distances are given in
<km>, velocities in <m/s>, and angles in <deg>."
/*** IMAGE DESCRIPTION ***/
OBJECT = IMAGE
DERIVED_MAXIMUM = 3552
DERIVED_MINIMUM = 229
LINES = 1024
LINE_SAMPLES = 1024
SAMPLE_TYPE = LSB_UNSIGNED_INTEGER
SAMPLE_BITS = 16
SOURCE_SAMPLE_BITS = 12
SAMPLE_DISPLAY_DIRECTION = "RIGHT"
LINE_DISPLAY_DIRECTION = "UP"
END_OBJECT = IMAGE
END
6.2 Content of *.FIT File Header
The labels for the FITS-format file versions contain identical
meta-information and only minor changes owing to the di erences of the image
file format. The *.FIT image files also contain meta-data in their header so
that the files can be used independently of the PDS dataset structure.
Astrometric registration information is included in the form of WCS keywords.
However, the geometric distortion (see Section 4.2.4) towards the edge of the
field of view is not modelled here. Table 15 shows the correspondence between
PDS and FITS keywords used in the label file and the header, respectively.
Table 15: Correspondence between PDS and FITS keywords.
PDS Keyword | FITS Keyword
DATA_SET_ID | DATASET
PRODUCT_ID | OBS_ID
PRODUCT_CREATION_TIME | DATE
PROCESSING_LEVEL_ID | CODMAC
IMAGE_TIME | IMG-TIME
START_TIME | DATE-OBS
STOP_TIME | TIME-END
SPACECRAFT_CLOCK_START_COUNT | SCLKSTAR
SPACECRAFT_CLOCK_STOP_COUNT | SCLKSTOP
MISSION_PHASE_NAME | MISSPHAS
INSTRUMENT_HOST_NAME | part of INSTRUME
TARGET_NAME | OBJECT
OBSERVATION_TYPE | OBS-TYPE
PRODUCER_FULL_NAME | AUTHOR
PRODUCER_INSTITUTION_NAME | ORIGIN
INSTRUMENT_NAME | part of INSTRUME
CHANNEL_ID | part of INSTRUME
EXPOSURE_DURATION | EXPTIME
INSTRUMENT_MODE_ID | OBS_MODE
INSTRUMENT_TEMPERATURE | CCDTEMP, OPTTEMP
ROSETTA:CAM_ABSOLUTE_FRAME_NUMBER | ABSFRAME
ROSETTA:CAM_MODE_FRAME_NUMBER | MODFRAME
ROSETTA:CAM_COVER_POSITION | FILTER
ROSETTA:CAM_GAIN | GAIN
ROSETTA:CAM_DATA_VALID | DATA_VAL
ROSETTA:CAM_WINDOW_POS_ALONG_ROW | used in CRPIX1 (see note below)
ROSETTA:CAM_WINDOW_POS_ALONG_COL | used in CRPIX2 (see note below)
ROSETTA:CAM_MISSING_LINES | LINEMISS
ROSETTA:PIPELINE_VERSION_ID | CONFIGUR
COORDINATE_SYSTEM_ID | EQUINOX
SC_SUN_POSITION_VECTOR | SC-SUN_X,SC-SUN_Y,SC-SUN_Z
SC_TARGET_POSITION_VECTOR | SC-COM_X,SC-COM_Y,SC-COM_Z
SC_TARGET_VELOCITY_VECTOR | SC-COMVX,SC-COMVY,SC-COMVZ
TARGET_CENTER_DISTANCE | TARGDIST
SUB_SPACECRAFT_LATITUDE | SSP_LAT
SUB_SPACECRAFT_LONGITUDE | SSP_LON
RIGHT_ASCENSION | CRVAL1
DECLINATION | CRVAL2
CELESTIAL_NORTH_CLOCK_ANGLE | implicit in CDx_y
SOLAR_ELONGATION | SUNANGLE
NOTE | SP_KERNx
DERIVED_MAXIMUM | DATAMAX
DERIVED_MINIMUM | DATAMIN
LINES | NAXIS2
LINE_SAMPLES | NAXIS1
SAMPLE_BITS | BITPIX
SOURCE_SAMPLE_BITS | determines SATURATE
-----------------------------------------------------------------------------
Note: For the FITS-WCS keywords CRPIX1 and CRPIX2, respectively, the convention
is such that the counts start with 1.0 in the centre of the first row and column.
The coordinates of the centre of a full-frame image are therefore (512.5, 512.5).
7 Product File Content - Cruise Phase
The datasets created and archived for the Rosetta cruise phase did not contain
FITS-versions of the product files. In addition, the label files only
contained a reduced set of keywords. For reference Tables 16 and 17 are
maintained which summarise the available information as applicable in earlier
versions of this document.
Table 16: Keywords used in the label files (Cruise Phase).
Keyword | Max. |Value(s)
| Length |
PDS_VERSION_ID | 6 | PDS3
FILE_NAME | N/A | filename
RECORD_TYPE | 20 | FIXED_LENGTH
RECORD_BYTES | N/A | bytes per image line
FILE_RECORDS | N/A | number of image lines
INTERCHANGE FORMAT | 6 | BINARY
DATA_SET_ID | 40 | see Section 4.1.1
DATA_SET_NAME | 60 | see Section 5.2
PRODUCT_ID | 40 | filename without extension
PRODUCT_CREATION_TIME | 24 | YYYY-MM-DDThh:mm:ss.fff
PRODUCT_TYPE | 30 | EDR
PROCESSING_LEVEL_ID | N/A | "2"
IMAGE_TIME | 24 | YYYY-MM-DDThh:mm:ss.fff
START_TIME | 24 | YYYY-MM-DDThh:mm:ss.fff
STOP_TIME | 24 | YYYY-MM-DDThh:mm:ss.fff
SPACECRAFT_CLOCK_START | 30 | see Section 4.1.4
_COUNT | |
SPACECRAFT_CLOCK_STOP | 30 | see Section 4.1.4
_COUNT | |
MISSION_ID | N/A | ROSETTA
MISSION_NAME | 60 | "INTERNATIONAL ROSETTA
| | MISSION"
INSTRUMENT_HOST_NAME | 60 | "ROSETTA-ORBITER"
INSTRUMENT_HOST_ID | 6 | RO
TARGET_NAME | 120 | see Table 7
TARGET_TYPE | 20 | see Table 7
TARGET_DESC | N/A | text description of target
MISSION_PHASE_NAME | 30 | see Table 8
PRODUCER_INSTITUTION_NAME | 60 | "EUROPEAN SPACE AGENCY-ESAC"
PRODUCER_ID | 20 | "ESA-ESAC"
PRODUCER_FULL_NAME | 60 | "BERNHARD GEIGER"
NOTE | N/A | list of SPICE kernels used
INSTRUMENT_ID | 12 | NAVCAM
INSTRUMENT_NAME | 60 | "NAVIGATION CAMERA"
INSTRUMENT_TYPE | 30 | "CCD CAMERA"
CHANNEL_ID | 4 |"CAM1" or "CAM2"
EXPOSURE_DURATION | N/A | sss.fff <s>
DATA_QUALITY_ID | 3 | 0 or 1
DATA_QUALITY_DESC | N/A | "0: Image Complete, 1: Lines Missing"
INSTRUMENT_MODE_ID | 20 | "IMAGING" or "ASTEROID TRACKING"
INSTRUMENT_MODE_DESC | N/A | "Value of OPERATING MODE param. in TM
| | data"
INSTRUMENT_TEMPERATURE | N/A | CCD and optics temperature re-
| | trieved from HK TM
INSTRUMENT_TEMPERATURE | 60 | ("CCD_T1", "OPTICS_T7")
_POINT | |
SUN_POSITION_VECTOR | N/A | spacecraft position in
| | ECLIPJ2000 coordinates
RIGHT_ASCENSION | N/A | right ascension of boresight direc-
| | tion (J2000)
DECLINATION | N/A | declination of boresight direction
| | (J2000)
-----------------------------------------------------------------------------
Table 17: Rosetta mission specific dictionary entries (Cruise Phase).
Keyword | Value(s)
ROSETTA:CAM_ABSOLUTE_FRAME_NUMBER |frame number since instru-
| ment start-up
ROSETTA:CAM_MODE_FRAME_NUMBER | frame number in current
| mode
ROSETTA:CAM_COVER_POSITION | FOC_NATT, FOC_ATT , or DEFOC
| _NATT, see p.5
ROSETTA:CAM_GAIN | LOW or HIGH, see p.15
ROSETTA:CAM_DATA_VALID | OK or NOT OK, see p.16
ROSETTA:CAM_WINDOW_POS_ALONG_ROW | see p.15
ROSETTA:CAM_WINDOW_POS_ALONG_COL | see p.15
ROSETTA:CAM_MISSING_LINES | number of missing image
| lines, see p.16
-----------------------------------------------------------------------------
The following is an example for the label file of one of the images in a
cruise phase dataset:
PDS_VERSION_ID = PDS3
/*** FILE CHARACTERISTICS ***/
FILE_NAME = "ROS_CAM1_20050304T121959.LBL"
RECORD_TYPE = FIXED_LENGTH
RECORD_BYTES = 1010
FILE_RECORDS = 505
INTERCHANGE_FORMAT = BINARY
/*** POINTERS TO DATA OBJECTS ***/
^IMAGE = ("ROS_CAM1_20050304T121959.IMG",1)
/*** IDENTIFICATION DATA ELEMENTS ***/
DATA_SET_ID = "RO-E-NAVCAM-2-EAR1-V1.0"
DATA_SET_NAME = "ROSETTA-ORBITER-EARTH-NAVCAM-2-EAR1-V1.0"
PRODUCT_ID = "ROS_CAM1_20050304T121959"
PRODUCT_CREATION_TIME = 2013-05-20T12:40:47
PRODUCT_TYPE = EDR
PROCESSING_LEVEL_ID = "2"
IMAGE_TIME = 2005-03-04T12:19:59.721
START_TIME = 2005-03-04T12:19:59.635
STOP_TIME = 2005-03-04T12:19:59.806
SPACECRAFT_CLOCK_START_COUNT = "1/68559580.16188"
SPACECRAFT_CLOCK_STOP_COUNT = "1/68559580.27329"
MISSION_ID = "ROSETTA"
MISSION_NAME = "INTERNATIONAL ROSETTA MISSION"
INSTRUMENT_HOST_NAME = "ROSETTA-ORBITER"
INSTRUMENT_HOST_ID = RO
TARGET_NAME = "MOON"
TARGET_TYPE = "SATELLITE"
TARGET_DESC = "N/A"
MISSION_PHASE_NAME = "EARTH SWING-BY 1"
PRODUCER_INSTITUTION_NAME = "EUROPEAN SPACE AGENCY-ESAC"
PRODUCER_ID = "ESA-ESAC"
PRODUCER_FULL_NAME = "BERNHARD GEIGER"
NOTE = "SPICE KERNELS USED:
NAIF0009.TLS
ROS_100903_STEP.TSC
ORHR_______________00109.BSP
ROS_V16.TF
ATNR_P040302093352_00109.BC"
/*** INSTRUMENT RELATED PARAMETERS ***/
INSTRUMENT_ID = NAVCAM
INSTRUMENT_NAME = "NAVIGATION CAMERA"
INSTRUMENT_TYPE = "CCD CAMERA"
CHANNEL_ID = "CAM1"
EXPOSURE_DURATION = 0.17 <s>
DATA_QUALITY_ID = "0"
DATA_QUALITY_DESC = "0: Image Complete, 1: Lines Missing."
INSTRUMENT_MODE_ID = "ASTEROID TRACKING"
INSTRUMENT_MODE_DESC = "Value of OPERATING MODE param. in TM data"
INSTRUMENT_TEMPERATURE = ( -26.96 <degC>, 2.80 <degC> )
INSTRUMENT_TEMPERATURE_POINT = ( "CCD_T1", "OPTICS_T7" )
/*** ROSETTA MISSION SPECIFIC DATA DICTIONARY ENTRIES ***/
ROSETTA:CAM_ABSOLUTE_FRAME_NUMBER = 1040
ROSETTA:CAM_MODE_FRAME_NUMBER = 120
ROSETTA:CAM_COVER_POSITION = FOC_ATT
ROSETTA:CAM_GAIN = LOW
ROSETTA:CAM_DATA_VALID = NOT_OK
ROSETTA:CAM_WINDOW_POS_ALONG_ROW = 511
ROSETTA:CAM_WINDOW_POS_ALONG_COL = 511
ROSETTA:CAM_MISSING_LINES = 0
/*** SPACECRAFT POSITION (ECLIPJ2000) AND INSTRUMENT POINTING (J2000) ***/
SC_SUN_POSITION_VECTOR = ( -142749814.88 <km>,
41057152.20 <km>,
-5491.19 <km> )
RIGHT_ASCENSION = 19.272287 <h>
DECLINATION = -25.560962 <deg>
/*** IMAGE DESCRIPTION ***/
OBJECT = IMAGE
DERIVED_MAXIMUM = 2801
DERIVED_MINIMUM = 177
LINES = 505
LINE_SAMPLES = 505
SAMPLE_TYPE = LSB_UNSIGNED_INTEGER
SAMPLE_BITS = 16
SOURCE_SAMPLE_BITS = 12
SAMPLE_DISPLAY_DIRECTION = "RIGHT"
LINE_DISPLAY_DIRECTION = "UP"
END_OBJECT = IMAGE
END