The ISIS3 Attached Spice Format

Overview

Running the spiceinit application with attach=true will attach all of the SPICE data required by the camera model directly to the Cube. There are 6 locations information is added to the Cube:

• The Kernels group
• The NaifKeywords group
• The InstrumentPointing Table
• The InstrumentPosition Table
• The BodyRotation Table
• The SunPosition Table

The following sections outline what is stored in each of these locations. The spiceinit application documentation shows what textual information is added to these locations.

The Kernels Group

Before spiceinit

The Kernels group is already a part of the Cube label after ingestion (it is nested under the IsisCube object). Usually, the only information it contains after ingestion is the NaifFrameCode keyword. The NaifFrameCode keyword contains the NAIF code for the instrument. So, information about the instrument will be stored as INS{NaifFrameCode}_{Some property} in the NAIF kernels. For example the NaifFrameCode for Kaguya Terrain Camera 2 is -131371. So, the focal length for Kaguya Terrain Camera 2 is stored as INS-131371_FOCAL_LENGTH. Usually, the NAIF ID for the instrument is also the NAIF ID for the sensor reference frame. If this is not the case, then there will be also be a NaifCkCode keyword in the Kernels group that contains the NAIF ID for the sensor reference frame.

After spiceinit

All of the kernels used will be added to the Kernels group under the following keywords:

• LeapSecond
• TargetAttitudeShape
• TargetPosition
• InstrumentPointing
• Instrument
• SpacecraftClock
• InstrumentPosition
• InstrumentAddendum

If a shapemodel is is used, then that shapemodel will also be specified by the ShapeModel keyword. The InstrumentPositionQuality and InstrumentPointingQuality keywords will specify the quality of the kernels used for the InstrumentPositon and InstrumentPointing Tables. Finally, the CameraVersion keyword specifies the version of the camera model that the Cube will now work with.

The NaifKeywords Group

The NaifKeywords group is not a part of the Cube prior to spiceinit being run. After spiceinit, the group is located at the very end of the Cube label. This group contains all of the keywords and values collected from the SPICE kernel pool by the gdpool_c, gcpool_c, gipool_c, and stpool_c NAIF Toolkit methods. Some examples what is usually contained in the NaifKeywords group are the target body radii, the instrument focal length, and the transformations between image pixels and detector pixels.