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The geometric and radiometric responses of the STC Proto Flight model have been characterized on-ground during the calibration campaign. The derived responses will be used to calibrate the STC images that will be acquired in flight. The aim is to derive the functions that link the detected signal in digital number to the radiance of the target surface in physical units.
The result of the radiometric calibration consists in the determination of well-defined quantities: i) the dark current as a function of the integration time and of the detector temperature, nominally fixed at 268 K; ii) the Read Out Noise, which is associated with the noise signal of the read-out electronic; iii) the Fixed Pattern Noise, which is generated by the different response of each pixel; iv) once these quantities are known, the photon response and the Photo Response Non-uniformity, which represent the variation of the photon-responsivity of a pixel in an array, can be derived.
The final result of the radiometric calibration is the relation between the radiance of an accurately known and uniform source, and the digital numbers measured by the detector.
The entire alignment and verification phase has been performed by the Metis team in collaboration with Thales Alenia Space Torino and took place in ALTEC (Turin) at the Optical Payload System Facility using the Space Optics Calibration Chamber infrastructure, a vacuum chamber especially built and tested for the alignment and calibration of the Metis coronagraph, and suitable for tests of future payloads.
The goal of the alignment, integration, verification and calibration processes is to measure the parameters of the telescope, and the characteristics of the two Metis channels: visible and ultraviolet. They work in parallel thanks to the peculiar optical layout. The focusing and alignment performance of the two channels must be well understood, and the results need to be easily compared to the requirements. For this, a dedicated illumination method, with both channels fed by the same source, has been developed; and a procedure to perform a simultaneous through focus analysis has been adopted.
In this paper the final optical performance achieved by Metis is reported and commented.
The Stereo Camera (STC) is part of the SIMBIO-SYS instrument, the Italian suite for imaging in visible and near infrared which is mounted on the BepiColombo European module, i.e. the Mercury Planetary Orbiter (MPO). STC represents the first push-frame stereo camera on board of an ESA satellite and its main objective is the global three-dimensional reconstruction of the Mercury surface.
The harsh environment around Mercury and the new stereo acquisition concept adopted for STC pushed our team to conceive a new design for the camera and to carry out specific calibration activities to validate its photogrammetric performance. Two divergent optical channels converging the collected light onto a unique optical head, consisting in an off-axis telescope, will provide images of the surface with an on-ground resolution at periherm of 58 m and a vertical precision of 80 m.
The observation strategies and operation procedures have been designed to optimize the data-volume and guarantee the global mapping considering the MPO orbit.
Multiple calibrations have been performed on-ground and they will be repeated during the mission to improve the instrument performance: the dark side of the planet will be exploited for dark calibrations while stellar fields will be acquired to perform geometrical and radiometric calibrations.
Metis features two channels to image the solar corona in two different spectral bands: in the HI Lyman ∝ at 121.6 nm, and in the polarized visible light band (580 – 640 nm). Metis is a solar coronagraph adopting an “inverted occulted” configuration. The inverted external occulter (IEO) is a circular aperture followed by a spherical mirror which back rejects the disk light. The reflected disk light exits the instrument through the IEO aperture itself, while the passing coronal light is collected by the Metis telescope. Common to both channels, the Gregorian on-axis telescope is centrally occulted and both the primary and the secondary mirror have annular shape.
Classic alignment methods adopted for on-axis telescope cannot be used, since the on-axis field is not available. A novel and ad hoc alignment set-up has been developed for the telescope alignment.
An auxiliary visible optical ground support equipment source has been conceived for the telescope alignment. It is made up by four collimated beams inclined and dimensioned to illuminate different sections of the annular primary mirror without being vignetted by other optical or mechanical elements of the instrument.
The stray light calibration was performed in a clean environment in front of the OPSys solar disk divergence simulator (at ALTEC, in Torino, Italy), which is able to emulate different heliocentric distances. Ground calibrations were a unique opportunity to map the Metis stray light level thanks to a pure solar disk simulator without the solar corona. The stray light calibration was limited to the visible light case, being the most stringent. This work is focused on the description of the laboratory facility that was used to perform the stray light calibration and on the calibration results.
The main scientific objective is the 3D global mapping of the entire surface of Mercury with a scale factor of 50 m per pixel at periherm in five different spectral bands.
The system consists of two sub-channels looking at ±20° from nadir. They share the detector and all the optical components with the exception of the first element, a rhomboid prism. The field of view of each channel is 5.3° × 4.5° and the scale factor is 23 arcsec/pixel. The system guarantees an aberration balancing over all the field of view and wavelength range with optimal optical performance.
For stray-light suppression, an efficient baffling system able to well decouple the optical paths of the two subchannels has been designed.
The WAC optical design is an innovative one: it adopts an all reflecting, unvignetted and unobstructed two mirror configuration which allows to cover a 12° × 12° field of view with an F/5.6 aperture and gives a nominal contrast ratio of about 10–4.
The flight model of this camera has been successfully integrated and tested in our laboratories, and finally has been integrated on the satellite which is now waiting to be launched in February 2004.
In this paper we are going to describe the optical characteristics of the camera, and to summarize the results so far obtained with the preliminary calibration data. The analysis of the optical performance of this model shows a good agreement between theoretical performance and experimental results.
The main scientific objective is the 3D global mapping of the entire surface of Mercury with a scale factor of 50 m per pixel at periherm in four different spectral bands.
The system consists of two twin cameras looking at ±20° from nadir and sharing some components, such as the relay element in front of the detector and the detector itself. The field of view of each channel is 4° x 4° with a scale factor of 23’’/pixel. The system guarantees good optical performance with Ensquared Energy of the order of 80% in one pixel.
For the straylight suppression, an intermediate field stop is foreseen, which gives the possibility to design an efficient baffling system.
METIS is an externally occulted coronagraph which adopts an “inverted occulted” configuration. The Inverted external occulter (IEO) is a small circular aperture at the METIS entrance; the Sun-disk light is rejected by a spherical mirror M0 through the same aperture, while the coronal light is collected by two annular mirrors M1-M2 realizing a Gregorian telescope. To allocate the spectroscopic part, one portion of the M2 is covered by a grating (i.e. approximately 1/8 of the solar corona will not be imaged).
This paper presents the error budget analysis for this new concept coronagraph configuration, which incorporates 3 different sub-channels: UV and EUV imaging sub-channel, in which the UV and EUV light paths have in common the detector and all of the optical elements but a filter, the polarimetric visible light sub-channel which, after the telescope optics, has a dedicated relay optics and a polarizing unit, and the spectroscopic sub-channel, which shares the filters and the detector with the UV-EUV imaging one, but includes a grating instead of the secondary mirror.
The tolerance analysis of such an instrument is quite complex: in fact not only the optical performance for the 3 sub-channels has to be maintained simultaneously, but also the positions of M0 and of the occulters (IEO, internal occulter and Lyot stop), which guarantee the optimal disk light suppression, have to be taken into account as tolerancing parameters.
In the aim of assuring the scientific requirements are optimally fulfilled for all the sub-channels, the preliminary results of manufacturing, alignment and stability tolerance analysis for the whole instrument will be described and discussed.
STC will provide a three-dimensional reconstruction of Mercury surface. The generation of a DTM of the observed features is based on the processing of the acquired images and on the knowledge of the intrinsic and extrinsic parameters of the optical system.
The new stereo concept developed for STC needs a pre-flight verification of the actual capabilities to obtain elevation information from stereo couples: for this, a stereo validation setup to get an indoor reproduction of the flight observing condition of the instrument would give a much greater confidence to the developed instrument design.
STC is the first stereo satellite camera with two optical channels converging in a unique sensor. Its optical model is based on a brand new concept to minimize mass and volume and to allow push-frame imaging. This model imposed to define a new calibration pipeline to test the reconstruction method in a controlled ambient. An ad-hoc indoor set-up has been realized for validating the instrument designed to operate in deep space, i.e. in-flight STC will have to deal with source/target essentially placed at infinity.
This auxiliary indoor setup permits on one side to rescale the stereo reconstruction problem from the operative distance in-flight of 400 km to almost 1 meter in lab; on the other side it allows to replicate different viewing angles for the considered targets.
Neglecting for sake of simplicity the Mercury curvature, the STC observing geometry of the same portion of the planet surface at periherm corresponds to a rotation of the spacecraft (SC) around the observed target by twice the 20° separation of each channel with respect to nadir. The indoor simulation of the SC trajectory can therefore be provided by two rotation stages to generate a dual system of the real one with same stereo parameters but different scale.
The set of acquired images will be used to get a 3D reconstruction of the target: depth information retrieved from stereo reconstruction and the known features of the target will allow to get an evaluation of the stereo system performance both in terms of horizontal resolution and vertical accuracy.
To verify the 3D reconstruction capabilities of STC by means of this stereo validation set-up, the lab target surface should provide a reference, i.e. should be known with an accuracy better than that required on the 3D reconstruction itself. For this reason, the rock samples accurately selected to be used as lab targets have been measured with a suitable accurate 3D laser scanner.
The paper will show this method in detail analyzing all the choices adopted to lead back a so complex system to the indoor solution for calibration.
One of the BepiColombo instruments is the STereoscopic imaging Channel (STC), which is a channel of the Spectrometers and Imagers for MPO BepiColombo Integrated Observatory SYStem (SIMBIOSYS) suite: an integrated system for imaging and spectroscopic investigation of the Mercury surface. STC main aim is the 3D global mapping of the entire surface of the planet Mercury during the BepiColombo one year nominal mission.
The STC instrument consists in a novel concept of stereocamera: two identical cameras (sub-channels) looking at ±20° from nadir which share most of the optical components and the detector. Being the detector a 2D matrix, STC is able to adopt the push-frame acquisition technique instead of the much common push-broom one.
The camera has the capability of imaging in five different spectral bands: one panchromatic and four intermediate bands, in the range between 410 and 930 nm.
To avoid mechanisms, the technical solution chosen for the filters is the single substrate stripe-butted filter in which different glass pieces, with different transmission properties, are glued together and positioned just in front of the detector.
The useful field of view (FoV) of each sub-channel, though divided in 3 strips, is about 5.3° x 3.2°. The optical design, a modified Schmidt layout, is able to guarantee that over all the FoV the diffraction Ensquared Energy inside one pixel of the detector is of the order of 70-80%.
To effectively test and calibrate the overall STC channel, an ad hoc Optical Ground Support Equipment has been developed. Each of the sub-channels has to be separately calibrated, but also the data of one sub-channel have to be easily correlated with the other one.
In this paper, the experimental results obtained by the analysis of the data acquired during the preliminary onground optical calibration campaign on the STC Flight Model will be presented.
This analysis shows a good agreement between the theoretical expected performance and the experimental results.
Since the coronal light is enormously fainter than the photospheric one, a very tough suppression is needed for the internal stray light, in particular the requirement for the stray light suppression is more stringent in the VL than in the UV, because the emission of the corona with respect to the disk emission is different in the two cases, and the requirements are a suppression of at least 10-9 times for the VL and a suppression of at least 10-7 times for the UV channel.
This paper presents the stray light analysis for this new coronographic configuration.
The complexity of the optomechanical design of METIS, combined with the faintness of the coronal light with respect to the solar disk noise, make a standard ray tracing approach not feasible because it is not sufficient to stop at the first generation of scattered rays in order to check the requirements. Also scattered rays down to the fourth generation must be treated as sources of new scattering light, to analyze the required level of accuracy. If used in a standard ray tracing scattering analysis, this approach is absolutely beyond the computational capabilities today available; therefore we opted for a scattering ray generation with a Montecarlo method in which after a father ray hits a surface, only one ray is generated, randomly selected according to the distribution of the transmitted energy. These rays bring with them all the energy that is otherwise distributed between all the rays of second generation, making the model more realistic and avoiding loss of energy due to the rays sampling. The stray light has been studied in function of the mechanical roughness of the surfaces and the obtained results indicate an instrument stray light blocking performance well within the requirements in both channels.
During the preflight calibration campaign of STC, some detector spurious effects have been noticed. Analyzing the images taken during the calibration phase, two different signals affecting the background level have been measured. These signals can reduce the detector dynamics down to a factor of 1/4th and they are not due to dark current, stray light or similar effects.
In this work we will describe all the features of these unwilled effects, and the calibration procedures we developed to analyze them.
A simple derivation of the cyclic error due to optical mixing is proposed for the cancelable circuit design. R and M beatings are collected by two photodiodes and conveniently converted by transimpedance amplifiers, such that the output signals are turned into ac-coupled voltages. The detected phase can be calculated as a function of the real phase (a change in optical path difference) in the case of zero-crossing detection. What turns out is a cyclic non-linearity which depends on the actual phase and on the amount of optical power leakage from the R channel into the M channel and vice versa. We then applied this result to the prototype of displacement gauge we are developing, which implements the cancelable circuit design with wavefront division. The splitting between R and M is done with a double coated mirror with a central hole, tilted by 45° with respect to the surface normal. The interferometer features two removable diffraction masks, respectively located before the merging point (a circular obscuration) and before the recombination point (a ring obscuration). In order to predict the extent of optical mixing between R and M, the whole layout was simulated by means of the Zemax ® Physical Optics Propagation (POP) tool. After the model of our setup was built and qualitatively verified, we proceeded by calculating the amount of optical leakages in various configurations: with and without the diffraction masks as well as for different sizes of both the holey mirror and the diffraction masks. The corrisponding maximum displacement error was then calculated for every configuration thanks to the previously derived formula. The insertion and optimization of the diffraction masks greatly improved the expected optical isolation inside the system.
Data acquisition from our displacement gauge has just started. We plan to experimentally verify such results as soon as our prototype gauge will reach the desired sub-nanometer sensitivity.
To determine the design requirements and to model the on-ground and in-flight performance of STC, a radiometric model has been developed. In particular, STC optical characteristics have been used to define the instrument response function. As input for the model, different sources can be taken into account depending on the applications, i.e. to simulate the in-flight or on-ground performances. Mercury expected radiance, the measured Optical Ground Support Equipment (OGSE) integrating sphere radiance, or calibrated stellar fluxes can be considered.
Primary outputs of the model are the expected signal per pixel expressed in function of the integration time and its signal-to-noise ratio (SNR). These outputs allow then to calculate the most appropriate integration times to be used during the different phases of the mission; in particular for the images taken during the calibration campaign on-ground and for the in-flight ones, i.e. surface imaging along the orbit around Mercury and stellar calibration acquisitions.
This paper describes the radiometric model structure philosophy, the input and output parameters and presents the radiometric model derived for STC. The predictions of the model will be compared with some measurements obtained during the Flight Model (FM) ground calibration campaign. The results show that the model is valid, in fact the foreseen simulated values are in good agreement with the real measured ones.
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