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BIF•OOS-W-C-019838-RI-80 

This document contains 172 

~lassified sheets including 

the front and back cover. 

PHOTOGRAPHIC SYSTEM REFERENCE HANDBOOK 

FOR 

GAMBIT RECONNAISSANCE SYSTEM 

WITH 

EXTENDED ALTITIJDE CAPABILITY 

(EAC) 

VOLUME 1 

Prepared by 

BIF-008 

Under Contract 

USER!~ 

S.AfE 

1 July 1980 

"WARNING -THIS DOCUMENT SHALL NOT BE USED AS A SOURCE FOR DERIVATIVE CLASSIFICATION" 

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BIF-008- W-C-019838-RI-80 

Orbit 

Coordinate 

System (OCS) 

#1 

Orbit 

Coordinate 

System (OCS) 

#2 

BIF-008 Uses OCS #1 

OCS #1 Is Used In Titis Document 

Orbit Coordinate Systems Sign Convention 

FRONTISPIECE 

+Y 

Direction 

... 

Of Flight 

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I 

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VOLUME 1 

PART 1 

1.0 

2.0 

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TABLE OF CONTENTS 

SYSTEM OVERVIEW 

THE GAMBIT RECONNAISSANCE SYSTEM 

1.1 System Definition 

1. 2 Mission Definition 

1. 2 .1 Mission Requirements 

1. 2. 2 Mission Orbits 

1. 2. 3 Mission Duration 

1. 3 System Description 

1. 3. 1 Hardware 

1. 3. 2 Software 

1. 3. 3 Support Activities 

1.4 Mission Description 

THE BIF-008 SUBSYSTEM 

2.1 Mission 

2 .1.1 General Mission Description 

2 .1. 2 Photographic Modes Of Operation 

2.1. 3 Image Motion Compensation 

2 .1. 4 Exposure Control 

2.1. 5 Mission Orbits 

2.1.6 Mission Duration 

2.1. 7 Films 

II 

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TABLE OF CONTENTS (Continued) 

2.2 Aerospace Flight Equipment-Modular Subsystems 

2.2.1 Supply and Electronics Module (SEM) 

2.2.2 Camera Optics Module (COM) 

2.2.3 Dual Recovery Module (DRM) 

2.3 Aerospace Flight Equipment - Functional Subsystems 

2.3.1 External 

2.3.2 

2.3.3 

2.3.4 

2.3.5 

2.3.6 

2.3.7 

2.3.8 

2.3.9 

2.3.10 

2.3.11 

Film Handling Subsystem and Camera 

Optics Subsystem 

Servos 

Viewport Door Subsystem 

Focus Detection Subsystem 

Power Subsystem 

Thermal Control Subsystem 

Command Subsystem 

Telemetry and Instrumentation Subsystem 

Cutter Sealer and Splicer Subsystem 

2.3.12 Recovery Subsystem 

2.4 Experimental Subsystems 

2.4.1 S- laten Reference 

2.4.2 

Page 

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1. 2-16 

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1. 2-17 

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1.2-17 

1. 2-18 

1.2-18 

1. 2-18 

1. 2-18 

1. 2-18 

1. 2-19 

PART 2 ANALYSIS 

1.0 REFERENCE FRAMES 

1.1 Coordinate System Conventions 

1.2 Vehicle and Orbit Coordinate Systems 

1. 3 Image Plane and Ground Coordinate Systems 

1.4 PPS/DP EAC Cylindrical Coordinate System 

III 

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TABLE OF CONTENTS (Continued) 

POINTING AND TARGET ACQUISITION 

2.1 Swath Width 

2.2 5-Inch Pointing Biases 

2.3 Target Acquisition 

2.3.1 Slant Range 

2.3.2 In-Track Acquisition 

2.3.3 Cross-Track Target Acquisition 

2.4 Pointing Error Analysis 

2.4.1 Pointing Error Contributors 

2.4.2 Pointing Error Limits 

IMAGE MOTION COMPENSATION (IMC) 

3.1 Crab 

3.1.1 Nine-Inch System 

3.1.2 Five-Inch System 

3.2 Film-Drive Speed 

3.2.1 Nine-Inch System 

3.2.2 Five-Inch System 

IMAGE SMEAR 

4.1 Effects of Smear 

4.1.1 Smear Descriptors 

4.1. 2 Modulation Transfer Function (MTF) 

4.1. 3 SMTF Application 

4.2 Conventions and Coordinate Systems 

4.2.1 Image Plane Coordinate System 

4.2.2 Transformation of Smear Rates 

IV 

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2.2-20 

2.2-35 

2.3-1 

2.3-2 

2.3-2 

2.3-4 

2.3-4 

2.3-4 

2.3-7 

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TABLE OF CONTENTS (Continued) 

4.3 Smear Contributors 

4. 3.1 PPS/DP EAC Contributors 

4.3.2 SCS Contributors 

4.3.3 Telemetry, Tracking and Command (TT and C) 

Contributors 

4.3.4 9-Inch Smear Equations 

4.3.5 5-Inch System Smear 

4.4 Smear Budgeting 

4.5 

4.4.1 Between-Mission and Within-Mission 

Linear Smear Contributors 

4.4.2 

4.4.3 

4.4.4 

Nonlinear Smear Contributors 

Smear Contributors for the PSV 

Smear Rate Statistical Combination 

Smear Detection and Measurement 

4.5.1 Smear Slit Theory 

4.5.2 

4.5.3 

Smear Slit Design 

Smear Slit Operation 

Page 

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2.4-17 

2.4-31 

2.4-32 

2.4-33 

2.4-33 

2.4-36 

2-4-36 

5.0 FOCUS 

2.4-38 

2.4-38 

2.4-38 

2.4-42 

2.4-42 

2.4-42 

2.4-42 

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2.5-1 

2.5-2 

2.5-2 

2.5-19 

2.5-20 

2.5-22 

5.1 Focus Requirement 

5.2 Focus Maintenance 

5.2.1 Focus Detection Subsystem 

5.2.2 Platen Adjustment Subsystems 

5.3 Error Contributors 

5.3.1 

5.3.2 

Error Sources 

Error Budget 

5.4 Calibration 

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TABLE OF CONTENTS (Continued) 

VOLUME 1 

6.0 EXPOSURE 

Page 

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2.6-1 

2.6-2 

2.6-2 

2.6-2 

2.6-2 

2.6-3 

2.6-7 

2.6-10 

2.7-1 

2.7-1 

2.7-1 

2.7-4 

2.7-5 

2.7-5 

2.7-6 

2.7-6 

2.7-6 

2.7-21 

2.7.21 

2.7-24 

2.7-27 

2.7-27 

2.7-27 

7.0 

6.1 Spectral Dependency 

6.2 Exposure Determination 

6.2.1 

6.2.2 

Geometric Considerations 

Slit-Width 

6.3 Slit Selection, Graphical Approximation 

6.4 Slit Selection, Operational Software 

6.4.1 Slit Selection Algorithm Inputs 

6.4.2 Slit Selection Algorithm 

FILM CHARACTERISTICS 

7.1 Physical Characteristics 

7 .1.1 Base 

7 .1. 2 Emulsion 

7 .1. 3 Backing 

7 .1. 4 Anti-Halation Undercoat (AHU) 

7 .1.5 Dye Layers 

7 .1.6 Emulsion Matte 

7 .1. 7 Total Film Properties 

7.2 Sensitometric Characteristics 

7.2.1 Characteristic Curve 

7.2.2 Sensitometric Parameters 

7.2.3 Spectral Sensitivity 

7.2.4 Fog 

7.2.5 Special Films 

VI 

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TABLE OF CONTENTS (Continued) 

7.3 Noise Characteristics (Signal/Noise) 

7.3.l Film Granularity 

7.3.2 Threshold Modulation 

7.3.3 Duplication 

7.4 Film Characteristics Summary 

8.0 MISSION SIMULATIONS 

8.1 Orbit Generation 

8.2 Target Acquisition 

8.3 Target Selection 

8.4 Photographic Performance Model 

8.5 Equipment Usage Model 

8.6 Photographic Performance Estimates 

8.7 Equipment Usage Estimates 

8.8 High-Mode Orbit Generation 

8.9 Target Acquisition/Selection 

9.0 IMAGE QUALITI' EVALUATION 

9.1 Limiting Resolution 

9.1. l 

9.1. 2 

Prediction 

Measurement 

9.2 Objective Quality Measures 

9.2.l 

9.2.2 

9.2.3 

9.2.4 

Power Spectral Analysis 

Image Noise 

Specific Quality Measures 

Reliability of Quality Measures 

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2.8-3 

2. 8-3 

2.8-12 

2.8-12 

2.8-16 

2.8-23 

2.8-26 

2.8-26 

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2.9-2 

2.9-2 

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2.9-4 

2.9-4 

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VOLUME 1 Page 

9.3 National Imagery Interpretability Rating Scale (NIIRS) 2.9-19 

9.3.1 Construction of the Rating Scale 2.9-19 

9.3.2 Design Objectives 2.9-19 

9.4 Data Tracks as User Aids 

9.4.l Data Track Decoding 

9.4.2 Decoding Procedure 

10. 0 OPERATIONAL ENVELOPE 

10.1 Launch, Orbit and Recovery Limits 

10.2 Photographic Limits 

10.2.1 Timing Constraints 

10.2.2 Focus Limits 

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TABLE OF CONTENTS (Continued) 

VOLUME 2 

PART 2 ANALYSIS 

11. 0 

12.0 

SCENE LUMINANCE 

11.1 Solar Irradiance at the Target 

11.1.1 Sun Angle 

11.1.2 Insolation and Atmospheric Transmission 

2.11-1 

2.11-3 

2.11-3 

2.11-3 

2.11-7 

2.11-11 

2.11-13 

2 .11-13 

2.11-13 

11.2 Target Reflectance 

11.3 Atmospheric Transmission 

11. 4 Haze 

11.5 Radiation Effect 

11.6 Summary 

OPTICAL ANALYSIS 

12.l Analytic Tools 

12.1.l Spread Functions 

12 .1. 2 Test Objects 

12 .1. 3 Modulation 

12.2 Modulation Transfer Function 

12.2.1 Linear System 

12.2.2 Nonlinear System 

12.2.3 System MTF 

12.3 Tilreshold Modulation 

12.3.l Measurement 

12.3.2 Assumptions 

IX 

(MTF) 

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VOLUME 2 

12.4 Optical Quality Factor (OQF) 

12.4.1 Calculation 

12.4.2 Contributors to OQF Reduction 

12.5 Lens Performance 

12.5.1 Lens MTF and OQF 

12.5.2 Resolution Predictions 

12.6 Through-Focus Characteristics 

12.6.1 Heterochromatic, Off-Axis, Through-Focus 

Characteristics 

2.12-19 

2.12-19 

2.12-21 

2.12-26 

2.12-26 

2.12-28 

2 .12-31 

2.12-31 

12.6.2 Monochromatic, Through-Focus 

Characteristics 

12.7 Thermally Induced Focus Changes 

12.7.1 Isothermal Analysis 

12.7.2 Transient Thermal Analysis 

13.0 VENTING ANALYSIS 

13.1 Shipment 

13.2 Venting Model 

13.3 Ascent Venting 

13.4 Conditioned Air Flow 

14.0 THERMAL ANALYSIS 

14.1 Prelaunch 

14 .1.1 Cold Environment 

14 .1. 2 Hot Environment 

14.2 Ascent 

14.2.1 Design Requirements 

14.2.2 Design Predictions 

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TABLE OF CONTENTS (Continued) 

14.3 Orbital 

14.3.l Design Parameters 

14.3.2 Design Requirements 

14.3.3 Orbital Design 

14.4 PPS/DP EAC Overage Analysis 

14.5 ~Thermal Analysis 

14.6 Recovery 

14.6.1 Nose-Aft Flight 

14.6.2 Pitchdown 

14.6.3 PPS/DP EAC Recovery 

14.7 Additional Considerations 

14.7-1 Tumbling 

14.7-2 Hot dogging 

EJECTION ANALYSIS 

15.1 

15.2 

15.3 

Main Hatch 

Dual Recovery Module (DRM) Ejectable Components 

15.2.1 SRV 1 and SRV 2 

15.2.2 Ejectable Adapter (EA) 

Ejection Model 

15.3.1 General Free-Body Equations 

15.3.2 Spring Ejectors 

15.3.3 Mass Properties 

15.3.4 Monte Carlo Approach 

15.4 Application of the Model 

15.4.1 Ejectable Adapter Geometry 

15.4.2 

15.5 Results 

SRV 2 Geometry 

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2.15-1 

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2.15-3 

2.15-3 

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16.0 

15.6 

TABLE OF CONTENTS (Continued) 

Conclusions 

15.6.1 

15.6.2 

15.6-3 

SRV 1 

Ejectable Adapter 

SRV 2 

CONSUMABLES MANAGEMENT 

16.1 Photographic Film 

16.2 

16.3 

16.4 

16. 1. 1 

16 .1. 2 

Film Usage Control 

Film Usage Influences 

Electrical Power 

16.2.1 Power Usage Control 

16.2.2 Power Usage Influences 

Attitude Control Gas 

16.3.1 

16.3.2 

Control Gas Usage Control 

Control Gas Usage Influences 

Orbit Maintenance Fuel 

16.4.1 

16.4.2 

Orbit Maintenance Fuel Usage Control 

Orbit Maintenance Fuel Usage Influences 

2.15-18 

2.15-18 

2.15-18 

2.15-18 

2.16-1 

2.16-1 

2.16-1 

2.16-2 

2.16-2 

2.16-2 

2.16-2 

2.16-3 

2 .16-3 

2.16-3 

2.16-4 

2.16-4 

2.16-4 

PART 3 HARDWARE DESCRIPTION 

1.0 PHOTOGRAPHIC PAYLOAD SECTION/DUAL PLATEN EXTENDED 

ALTITUDE CAPABILITY 

1.1 PPS/DP EAC General Description 

1. 2 

1.1.l PPS/DP EAC Assembly Modules 

1.1.2 PPS/DP EAC External Finish 

Dual Recovery Module 

1. 2 .1 

1. 2. 2 

DRM Access Panels 

DRM Structure and Internal Components 

XII 

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1. 3 

1.4 

Supply 

1. 3 .1 

1. 3. 2 

1. 3. 3 

Camera 

1. 4 .1 

1.4. 2 

1. 4. 3 

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TABLE OF CONTENTS (Continued) 

and Electronics 

Supply Electronics Structure 

SEM Components 

SEM/COM Mating 

Optics Module 

Camera Optics Module - External Sources 

Camera Optics Assembly (Internal 

Structure) 

PPS/DP EAC - SCS Interface 

3.1-26 

3.1-26 

3.1-39 

3.1-44 

3.1-44 

3.1-46 

3.1-59 

3.1-73 

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TABLE OF CONTENTS (Continued) 

VOLUME 3 

PART 3 HARDWARE DESCRIPTION 

2.0 9x5 DUAL PLATEN CAMERA AND FILM HANDLING SUBSYSTEM 

2. l 

2.2 

2.3 

2.4 

2.5 

2.6 

2.7 

Film Handling Subsystem Description 

2.1. l 

2.1. 2 

9 and 5 Supply Assemblies 

9x5 Take-up Assemblies 

9x5 Dual Platen Camera Description 

2. 2 .1 

2.2.2 

Camera Housing 

9 and 5 Pivot Frame Assemblies 

Film Path Distances 

Operational Description 

2.4.l Simplified Photographic Cycle 

2.4.2 Simplified Take-up Cycle 

9x5 Dual Platen Camera and Film Handling Subsystelll Electronic Control Units 

2.5.l 

2.5.2 

2.5.3 

2.5.4 

Film Control Electronics 

Film Handling Electronics 

9 and 5 Frequency Phase Lock Loop 

Electronics 

9 and 5 Camera Electronics Assemblies 

9x5 Dual Platen Camera and Film Handling 

Subsystem Instrumentation 

Command Summary 

2. 7 .1 

2.7.2 

2.7.3 

2.7.4 

2.7.5 

CP Select Commands 

Operational Power Commands 

5 Parking Brake 

Film Drive Commands 

Take-up Control Commands 

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3.2-71 

3.2-77 

3.2-79 

3.2-84 

3.2-84 

3.2-93 

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3.2-113 

3. 2-133 

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2.7.6 

2.7.7 

2.7.8 

TABLE OF CONTENTS (Continued) 

Variable Exposure Mechanism (Slit 

Mechanism) Commands 

Slant Range Compensation Commands 

Focus Adjustment (NPA) Commands 

OPTICAL SUBSYSTEM 

3.1 

3.2 

3.3 

3.4 

Optical Subsystem Configuration 

Elements of the Optical Subsystem 

3.2.1 

3.2.2 

3.2.3 

Stereo Mirror 

Primary Mirror (Asphere) 

Ross Corrector and Field Lens Assembly 

Optical Performance Parameters 

3. 3 .1 

3.3.2 

Aperture Obstructions and Vignetting 

Lens Spectral Transmittance 

Instrumentation 

MIRROR POSITIONING SUBSYSTEM 

4.1 Stereo Servo Subsystem 

4.1.1 Stereo Drive Components 

4.1. 2 Stereo Servo Electronic Control 

4.1. 3 Stereo Angle Instrumentation 

4.2 Crab Servo Subsystem 

4.2.l Crab Drive Components 

4.2.2 Crab Servo Electronic Control 

4.2.3 Crab Angle Instrumentation 

4.3 Instrumentation Summary 

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3.3-5 

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3.3-11 

3. 3-11 

3.3-12 

3.3-15 

3.3-15 

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3.4-4 

3.4-4 

3.4-6 

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3.4-15 

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3.4-18 

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TABLE OF CONTENTS (Continued) 

Mirror Positioning Command Summary 

4.4.1 CP Select Commands 

4.4.2 14V WORD Command 

4.4.3 13V WORD Command (13V2bWXYZ) 

4.4.4 Operational Power ON Commands 

4.4.5 Operational Power OFF Commands 

4.4.6 9/5 RUNOUT ON Command (MCS) 

4.4.7 Power OFF Commands (MCS) 

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TABLE OF CONTENTS (Continued) 

VOLUME 4 

PART 3 - HARDWARE DESCRIPTION 

5.0 VIEWPORT DOOR SUBSYSTEM 

5.1 Ejectable Hatch 

5.2 Viewport Doors and Door Drive Linkage 

5.2.1 Viewport Door Structure 

5.2.2 Viewport Door Drive Mechanism 

5.3 Viewport Door Electronics Module 

5.3.1 Viewport Door Control 

5.4 Viewport Door Subsystem Instrumentation 

5.5 Viewport Door Subsystem Command Summary 

5.5.1 HATCH EJECT Command 

5.5.2 

5.5.3 

DOOR BACKUP Command 

DOOR BLOW Command 

5.5.4 4V WORD Command (Bit 36: Door Open/Close) 

5.5.5 DOOR CLOSE Command (MCS) 

6.0 FOCUS DETECTION SUBSYSTEM 

6.1 System Description 

6.1.1 Focus Sensor Head Assembly (Unit 15A2) 

6.1.2 Signal Normalizing Module (Unit 15A3) 

Page 

3.5-1 

3.5-1 

3.5-3 

3.5-3 

3.5-7 

3.5-9 

3. 5-11 

3.5-19 

3.5-32 

. 3.5-32 

3.5-32 

3.5-32 

3.5-33 

3.5-34 

3.6-1 

3.6-1 

3.6-1 

6.1.3 Instrumentation and Control Module (Unit 15Al) 

6.1.4 Dual Photodiode Detector 

3.6-9 

3.6-9 

3.6-12 

3.6-12 

3.6-15 

3.6-15 

3.6-24 

3.6-26 

3.6-30 

3.6-30 

3.6-30 

6.2 

6.3 

6.1.5 Light-Emitting Diode (LED) Array 

System Operation 

6.2.1 Focus System Head Assembly 

6.2.2 Signal Normalizing Module 

6.2.3 Instrumentation and Control Module 

Focus Detection Subsystem Commanding 

6.3.1 Focus Electronics Power 

6.4 Instrumentation 

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TABLE OF CONTENTS (Continued) 

POWER DISTRIBUTION SUBSYSTEM 

7.1 Power Source 

7 .1.1 Power Distribution 

7 .1.2 Solar Array 

7 .1. 3 Batteries 

7.2 Power Monitor and Control Unit 

7.2.1 PM and c Assembly 

7.2.2 PM and c Logic 

7.2.3 PM and c Uni point Power Return 

7.2.4 Power Conversion (+5/±15 Volts) 

7,2.5 Ampere-Hour Meter 

7.2.6 PM and C Instrumentation 

7.3 Initiator Electronics Unit 

7.3.1 IEU Assembly 

7.3.2 IEU Operation 

7.3.3 IEU Logic 

7.4 PPS/DP EAC Electromagnetic Interference (EMI) 

7.4.1 Filters 

7.4.2 Grounding 

7.4.3 Power Distribution 

7.4.4 Shielding 

7.5 Instrumentation Summary 

7.6 Command Summary 

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3.7-1 

3.7-3 

3.7-3 

3.7-5 

3.7-8 

3. 7-8 

3.7-14 

3.7-29 

3.7-32 

3.7-32 

3.7-33 

3.7-34 

3.7-35 

3.7-35 

3.7-52 

Control 3.7-70 

3.7-70 

3.7-71 

3.7-72 

3.7-72 

3.7-72 

3.7-72 

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TABLE OF CONTENTS (Continued) 

VOLUME 4 

8.0 ENVIRONMENTAL CONTROL 

8.1 Ground Conditioning 

8.2 

8.3 

8 .1.1 Manufacturing Environment 

8.1. 2 Storage and Shipment 

8.1.3 Launch Site Ground Conditioning 

Ascent 

8.2.l Ascent Thermal 

8.2.2 Ascent Venting 

Orbital Environment 

8.3.1 Optics 

8.3.2 Film 

Environment 

8.3.3 Electronic Boxes 

8.3.4 External Thermal Control Finishes 

8.3.5 Internal Design 

8.4 Instrumentation 

8.5 Environmental Control Command Summary 

8.5.l Heater Power On 

8.5.2 Heater Power Off Commands 

8.5.3 EPSM ON Commands 

8.5.4 EPSM OFF Commands 

8.5.5 Heater Power ON/OFF (M6V Word) 

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3.8-6 

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3.8-15 

3.8-16 

3.8-17 

3.8-18 

3.8-19 

3.8-21 

3.8-21 

3.8-28 

3.8-54 

3.8-72 

3. 8- 72 

3.8-72 

3. 8- 72 

3.8-73 

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TABLE OF CONTENTS (Continued) 

VOLUME 5 

PART 3 HARDWARE DESCRIPTION 

9.0 COMMAND SUBSYSTEM 3.9-1 

3.9-2 

3.9-2 

3.9-6 

3.9-9 

3.9-10 

3.9-11 

3.9-12 

3.9-14 

3.9-18 

9.1 

9.2 

9.3 

9.4 

9.5 

9.6 

9.7 

9.8 

9.9 

Vehicle-Ground Communications Link 

Command Types 

Command Bit Structure 

9.3.l 

9.3.2 

Decoder Selection 

RTC Bit Structure 

ECS Simultaneous Commanding 

Timing Signals and Command Pulse Characteristics 

9.5.l Command Pulse Characteristics 

Extended Command Subsystem/Minimal Command Subsystem 

Overview 

9.6.1 

9.6.2 

Extended Command Subsystem 

Minimal Command Subsystem 

ECS Real-Time Bias 

Command Processor 

9.8.1 

9.8.2 

Command Processor Physical Properties 

CP Operation 

Command Processor Instrumentation 

10.0 INSTRUMENTATION AND TELEMETRY 

3.9-19 

3.9-23 

3.9-25 

3.9-25 

3.9-26 

3.9-28 

3.9-85 

3.10-1 

3.10-4 

3.10.4 

3.10-5 

10.1 

10. 2 

Instrumentation 

10.1.1 

10.1.2 

Instrumentation Signal Characteristics · 

Test Points (TSP's) and Umbilical Monitoring 

Points (BIL' s) 

Instrumentation Processor 3.10-6 

3.10-6 

3.10-9 

10.2.1 

10.2.2 

IP Mechanical 

IP Electrical 

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TABLE OF CONTENTS (Continued) 

10.3 PPS/DP EAC Slave Digital Telemetry Unit 

10.3.1 

10.3.2 

10.3.3 

10.3.4 

10.4 Master DTU 

10.4.1 

10.4.2 

10.4.3 

10.4.4 

DTU Assembly 

Slave DTU Power Control 

DTU Redundancy and Block Functions 

Slave DTU Address/Reply Timing 

MDTU Capabilities 

Slave DTU/MDTU Communication 

MDTU Telemetry Output 

Telemetry Transmission and Processing 

10.5 Telemetry Formats 

10.5.1 Format Selection 

10.5.2 Photographic Satellite Vehicle Telemetry 

3.10-12 

3.10-30 

3.10-35 

3 .10-36 

3 .10-64 

3.10-71 

3.10-71 

3.10-74 

3.10-80 

3.10-83 

3.10-85 

3.10-88 

3.10-88 

10.5.3 

10.5.4 

Formats 

Data Position Coding 

Photographic Satellite Vehicle (PSV) 

Telemetry Modes 

10.6 MDTU Programming 

10.6.1 

10.6.2 

MDTU Memory Organization 

Subroutine Construction 

10.7 End-to-End Telemetry Accuracy 

10.7.1 

10.7.2 

10.7.3 

Analog Instrumentation Error 

End-to-End Analog Accuracy Summary 

Discrete Instrumentation Error 

10.8 Instrumentation Summary 

10.9 Command Summary 

10.9.1 

10.9.2 

10.9.3 

10.9.4 

lOV WORD Command (Bits 29 and 30) 

M6V WORD (Bits 33 and 34) 

DTU ON Commands (MR) 

DTU OFF Command (Umbilical) 

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3.10-95 

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3.10-101 

3.10-104 

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3.10-113 

3.10-113 

3 .10-113 

3.10-113 

3 .10-116 

3 .10-117 

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TABLE OF CONTENTS (Continued) 

VOLUME 5 

11. 0 CUTTER/SEALER AND SPLICER MECHANISMS 3.11-1 

3.11-1 

3.11-2 

3.11-2 

3 .11-9 

3.11-9 

11.1 

11. 2 

11. 3 

11.4 

11. 5 

Function 

The Cutter/Sealer Mechanism 

11.2.1 

11.2.2 

11. 2. 3 

11. 2. 4 

Latching Mechanism 

Pivot Door Assembly 

Electrical Interconnection and 

Instrumentation 

Cutter/Sealer Operation 

Splicer Mechanism 

3.11-10 

3.11-10 

11.3.1 

11.3.2 

11.3.3 

11. 3.4 

11.3.5 

Dimple Motors and Drive Linkage 3.11-10 

Shuttle Assembly 3.11-14 

Platen Assembly 3.11-14 

Electrical Connectors and Instrumentation 3.11-16 

Splicer Mechanism Operation 3.11-17 

Instrumentation Summary 

Command Summary 

11.5.1 Splice and Cut Commands 

11.5.2 Cut and Seal 1 Command 

11.5.3 Cut and Seal 2 Command 

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TABLE OF CONTENTS (Continued) 

VOLUME 5 

PART 3 - HARDWARE DESCRIPTION Page 

3.12-1 

3.12.1 

3.12-1 

12. 0 TERMINATION AND RECOVERY 

12.1 

12.2 

12.3 

12.4 

12.5 

12.6 

12.7 

12.8 

Dual Recovery Module (ORM) 

Photographic Satellite Vehicle (PSV) Recovery 

Maneuvers 

12.2.1 Powered Maneuver 

12.2.2 Inertial Maneuver 

12.2.3 Thermal Constraints 

12.2.4 Timing 

Ejection 

12.3.1 SRV 1 Ejection Sequence 

12.3.2 Ejectable Adapter and SRV 

Satellite Reentry Vehicle 

SRV Deorbit and Recovery Events 

SRV Structure 

Deorbit Subsystem 

2 Ejection 

12.7.1 Dual Ejection Programmer and Thermal 

Relay Modules 

12.7.2 

12.7.3 

12.7.4 

12.7.5 

Thermal Batteries 

Retro-Rocket Motor 

Spin and Despin Subsystem 

Thrust Cone Ejection 

Recovery Subsystem 

3.12-5 

3.12-5 

3.12-5 

3.12.5 

3.12-9 

3.12-9 

3 .12-11 

3.12-19 

3.12-19 

3.12-22 

3.12-23 

3.12-25 

12.8.1 

12.8.2 

12.8.3 

12.8.4 

12.8.5 

12.8.6 

Recovery Batteries and Battery Heaters 

Orbital Heaters 

3.12-25 

3.12-25 

3.12-26 

3.12-26 

3.12-26 

3.12-27 

3.12-27 

3.12-30 

3.12-30 

3.12-31 

3.12-31 

Recovery Programmer 

Parachute Assembly and Deployment 

Recovery Beacons 

Capsule Valving Hardware 

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12.9 

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Instrumentation 

Page 

3.12-32 

12.9.1 

12.9.2 

Satellite Reentry Vehicle Instrumentation 3.12-32 

Termination and Recovery Related PPS/DP 3.12-32 

EAC Instrumentation 

12.10 Command Summary 3.12-46 

3.12-46 

3.12-46 

3.12-47 

3.12-47 

3.12-48 

3.12-48 

3.12-48 

12.10.l Splice and Cut Commands 

12.10.2 Roll-In Terminate Commands 

12.10.3 Cut and Seal 1 Command 

12.10.4 SRV 1 Arm Command 

12.10.5 SRV l Transfer Command 

12.10.6 SRV 1 Separate Command 

12.10.7 Spinoff Disconnect 2 (EA Disconnect) 

Command 

12.10.8 EA Separation Command 

12.10.9 Cut and Seal 2 Command 

12.10.10 SRV 2 Arm Command 

12.10.11 SRV 2 Transfer Command 

12.10.12 SRV 2 Separate Command 

12.10.13 MCS Termination Enable l Command 

12.10.14 MCS Termination Enable 2 Command 

12.10.15 Heater Power ON Command 

12.10.16 Heater Branch OFF Commands (Branches 1 

3.12-49 

3.12-49 

3.12-49 

3.12-50 

3.12-50 

3.12-50 

3.12-51 

3.12-51 

3.12-51 

and 6 Only) 

12.10.17 EPSM ON Commands 

12.10.18 EPSM OFF Commands 

12.10.19 19 M6V WORD Command 

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VOLUME 5 

13.0 Sl-PRG SENSOR EXPERIMENT 

Page 

3.13.1 

3.13-2 

3.13-2 

3.13-3 

3.13-3 

3.13-4 

3 .13-4 

3.13-4 

3.13-4 

3.13-7 

3.13-7 

3.13-7 

3.13-8 

3.13-8 

3.13-12 

3.13-14 

13.l Measured Parameter 

13.2 Sensor System Function 

13.3 

13.4 

13.2.l Method of Sensing 

3.2.2 Targets 

Sl Sensor Mechanical Configuration 

13.3.1 

13.3.2 

13.3.3 

13.3.4 

Rod and Truss Assembly 

Sl Gage Assembly 

Rod, Truss, and Gage Interface 

Sl Sensor Nominal Separations 

PRG Sensor Mechanical Configurations 

13.4.1 

13.4.2 

Sensor Geometry 

PRG Sensor Mounting 

13.5 Sensor Targets 

13.6 Health Check (Calibration) Slide 

13.7 Sl-PRG Sensor System Electronics 

13.7.1 Sensor Encoder and Processing Electronics 3.13-14 

(SEPE) Unit 

13.8 System Operation 

13.8.l 

13.8.2 

13.8.2 

Factory Use 

Pre-Launch Use 

On-Orbit Use 

13.9 Sl-PRG Instrumentation Summary 

13.10 Sl-PRG Sensor System Command Summary 

13.10.l Sl-PRG Command 

13.10.2 Sl-PRG CAL Command 

13.10.3 Sl-PRG DISABLE Command 

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3.13-21 

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VOLUME 5 

PART 4 DESIGN, MAi~UFACTURE, TEST AND FIELD SUPPORT 

l. 0 

2.0 

DESIGN 

l. l 

l. 2 

l. 3 

Design Baseline (Non-EAC) 

l. l. l 

l. l. 2 

l. l. 3 

l. l. 4 

l. l. 5 

Frequency Phase Lock Loop (FPLL) Drive 

Variable Width Slit 

Improved Focus Detection System 

Replacement of Separation Controller 

and Switchover Electronics with 

Initiator Electronics Unit (IEU) 

Redesigned Command Processor 

Extended Altitude Capability (EAC) Baseline 

1.2.l Frequency Phase Lock Loop (FPLL) Drive 

l. 2. 2 

l. 2. 3 

1.2 .4 

Focus Detection System 

Dual Platen Camera 

Command Processor 

Non-Baseline Items 

4.1-1 

4. l-1 

4.1-2 

4. l-2 

4. l-2 

4.1-2 

RELIABILITY 

4.1-3 

4. l-3 

4.1-3 

4.1-3 

4. l-3 

4. l-4 

4. l-4 

4.2-1 

4.2-1 

4.2-2 

4.2-3 

4.2-5 

4.2-8 

4.2-13 

4.2-13 

4.2-15 

4.2-18 

2.1 

2.2 

Reliability by Attention to Design Details 

Reliability Through Redundancy 

2.2.l 

2.2.2 

2.2.3 

2.2.4 

2.2.5 

2.2.6 

2.2.7 

2.2.8 

2.2.9 

2.2.10 

Initiator Subsystem 

Mirror Positioning Subsystem 

Instrumentation Subsystem 

9 and 5 Camera Platen Drive Subsystems 

Nominal Platen Adjust (NPA) Subsystem 

Slant Range Compensation (SRC) Subsystem 

Variable Exposure Mechanism (VEM) 

Subsystem 

9 Film Handling System 

5 Film Handling System 

Thermal Environment Control Subsystem 

4.2-18 

4.2-21 

4.2-23 

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4.0 

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TABLE OF CONTENTS (Continued) 

Qualification Program 

2.3.l 

2.3.2 

2.3.3 

2.3.4 

Philosophy 

Purpose 

Qualification Testing 

Demonstrated Qualification Summary 

MANUFACTURING 

3.1 

3.2 

TESTING 

4.1 

4.2 

4.3 

Aerospace Vehicle Buildup 

3. l. l 

3. l. 2 

Factory-to-Pad Concept 

Manufacture/Test Interdependency 

PPS/DP EAC Modules 

3. 2. l 

3.2.2 

3.2.3 

3.2.4 

3.2.5 

3.2.6 

Camera Optics Assembly (COA) 

External Structure 

COM Assembly 

SEM Assembly 

ORM Assembly 

PPS/DP EAC Assembly 

Optical Components and Camera Optics Assembly 

Testing 

4. l. l 

4.1. 2 

Lens and Mirror Components Testing 

Lens Assembly and COA Testing 

Electrical/Mechanical Components Testing 

4.2.1 Acceptance Testing 

Major Assembly Electro/Mechanical Testing 

4.3.1 Camera Optics Module (COM) Acceptance 

Testing 

4.3.2 

4.3.3 

Supply and Electronics Module (SEM) 

Acceptance Testing 

Dual Recovery Module (ORM) Acceptance 

Testing 

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4.3-1 

4.3-1 

4.3-1 

4.3-1 

4.3-3 

4.3-3 

4.3-12 

4. 3-13 

4.3-19 

4.3-23 

4.3-26 

4.4-1 

4.4-1 

4.4-1 

4.4-3 

4.4-13 

4.4-13 

4.4-16 

4.4-18 

4.4-18 

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4.3.5 

4.3.6 

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Photographic Payload Section/Dual 

Platen Extended Altitude Capability 

(PPS/DP EAC) 

Pyrotechnic Subsystem Testing 

PPS/DP EAC Revalidation Testing 

Computerized System Level Testing 

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TABLE OF CONTENTS (Continued) 

VOLUME 6 

PART 4 DESIGN, MANUFACTURE, TEST AND FIELD SUPPORT 

5.0 STORAGE AND SHIPMENT 

5.1 Storage 

5.2 

5 .1.1 

5 .1. 2 

Shipment 

5.2.1 

5.2.2 

5.2.3 

5.2.4 

Factory Storage 

Storage at Vandenberg AFB 

Shipping Preparation 

Shipping Container 

Ground at ion 

6.0 LAUNCH SUPPORT 

6.1 Support Activiity Overview 

6.2 

6.3 

6 .1.1 FAS Functional Overview 

6.1.2 FAS Organization 

FAS Facility Overview 

6.2.1 

6.2.2 

6.2.3 

6.2.4 

6.2.5 

Vehicle Service Building (VSB) 

A and B/C Rooms 

Blockhouse L Room 

Missile Assembly Building (MAB) 

FAS Administration Office 

Launch Support Activities 

6.3.1 

6.3.2 

6.3.3 

Off-Loading (L-12 Days) 

Transportation and/or Storage 

Mating 

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4.5-1 

4.5-1 

4.5-2 

4.5-2 

4.5-2 

4.5-4 

4.5-4 

4.5-6 

4.6-1 

4.6-1 

4.6-1 

4.6-3 

4.6-9 

4.6-9 

4.6.9 

4. 6-11 

4. 6-11 

4.6-13 

4.6-13 

4.6-13 

4.6-17 

4.6-17 

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Page 

6.3.4 Simulated Flight Testing Activities 4.6-19 

6.3.5 Data Review and Buy-Off 4.6-21 

6.3.6 Countdown Activities 4.6-21 

6.4 Between Cycles Activities 4.6-22 

6.4.l Hardware 4.6-22 

6.4.2 Software 4.6-23 

6.4.3 Factory/Field Liaison 4.6-23 

6.4.4 Training for FAS Cycle 4.6-23 

FIELD ACTIVITY, NORTH (FAN) 4.7-1 

7.1 

7.2 

7.3 

7.4 

7.5 

4.7-1 

7. l. l Remote Tracking Stations (RTS's) 4.7-1 

7. l.2 Communications 4.7-2 

Program 110 Operations Director 4.7-2 

7.2.l Test Control 4.7-3 

7.2.2 Orbit Plans 4.7-4 

7.2.3 Weather 4.7-4 

7.2.4 Technical Advisors 4.7-5 

WCEO Activities 4.7-5 

7.3.l Pre-Flight 4.7-5 

7.3.2 On-Orbit 4.7-7 

7.3.3 Post-Flight 4.7-11 

Vehicle Commanding 4.7-11 

7 .4. l System IIB Software 4.7-13 

7.4.2 Gambit-Specific Software 4.7-14 

Message Generation 4.7-17 

7.5.l Mission Requirements Subsystem (Pre- 4.7-17 

Mission) 

7.5.2 Event Generator Subsystem (Daily Cycle) 4.7-18 

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7.7 

7.5.3 

7.5.4 

7.5.5 

7.5.6 

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TABLE OF CONTENTS (Continued) 

Page 

Event Generator Subsystem (Message Cycle) 4.7-22 

Command Assembly Subsystem (Message Cycle) 4.7-32 

Telemetry Predict Subsystem (Message 

Cycle) 

Mission Analysis Subsystem (Daily Cycle) 

Mission Requirements Subsystem (Intraand Post-Mission) 

4.7-34 

4.7-35 

4.7-36 

Payload Message Checking 4.7-37 

4.7-37 

4.7-39 

4.7-40 

7.6.1 

7.6.2 

Normal Mode 

Priority Mode 

Telemetry Data Processing System 

7.7.1 

7.7.2 

7.7.3 

7.7.4 

7.7.5 

Telemetry Mode Definition 

Telemetry Limits Compare (TLC) 

'LPROFIT 

RT~ processing 

Modes Matrix 

4.7-40 

8.0 FIELD ENGINEERING OPERATIONS SUPPORT ACTIVITIES 

4.7-43 

4.7-48 

4.7-48 

4.7-50 

4.8-1 

4.8-1 

4.8-1 

4.8-3 

4.8-3 

4.8-4 

4.8-6 

8.1 

8.2 

8.3 

8.4 

8.5 

8.6 

Preflight 

Launch Support 

On-Orbit Liaison 

Post-Flight Support 

Between Flight Activity 

Factory/STC Data Link Computer System 

8.6.1 

8.6.2 

8.6.3 

8.6.4 

Factory System 

FAN System 

Stand Alone Operation 

Joint Operation 

XXXI 

TOP &ECRET _G._ 

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4.8-6 

4.8-7 

4.8-7 

4.8-7 

Hand I e v i a BY EM AN 

C:Ontrol System Only 

25X1 
Approved for Release: 2017 /02/14 C05097211 

TOP SECRET _G...... 

BIF-008- W-C-019838-RI-80 

TABLE OF CONTENTS (Continued) 

VOLUME 6 

APPENDIX A Reference Documents 

APPENDIX B Electrical Diagram 

APPENDIX C Software 

APPENDIX D Functional Description of Aerospace Support 

Equipment 

APPENDIX E E (95,95)Statistical Combination of Error 

Contributors 

APPENDIX F Numerical Summary and Mass Properties 

APPENDIX G PPS/DP EAC Instrumentation Summary 

APPENDIX H PPS/DP EAC Command List 

APPENDIX J GLOSSARY 

APPENDIX K Pyrotechnics 

INDEX 

XXXII 

TOP' S!CR!T _Q_ 

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Page 

A-1 

B-1 

C-1 

D-1 

E-1 

F-1 

G-1 

H-1 

J-1 

K-1 

I 

Handle 111a BYEMAN 

Control System Only 
VOLUME l 

Figure 

1.1-1 

1.1-2 

1. 2-1 

1.2-2 

1.2-3 

1. 2-4 

1. 2-5 

1. 2-6 

1. 2- 7 

1.2-8 

l. 2-9 

2. 1-1 

2.1-2 

2.1-3 

2.2-1 

2. 2-2 

2.2-3 

2.2-4 

2.2-5 

2.2-6 

2. 2-7 

2. 2-8 

2.2-9 

2. 2-10 

Approved for Release: 2017 /02/14 C05097211 

TOP SECRET __G._ 

Bl F-008- W-C-019838-RI-80 

LIST OF ILLUSTRATIONS 

Title 

Gambit Aerospace Vehicle 

Gambit Reconnaissance System Operational Block Diagram 

The Photographic Satellite Vehicle 

Stereo Pair Geometry 

Half-Stereo Pair Geometry 

Stereo Triplet Geometry 

Lateral Pair Geometry 

Object Velocity Components 

Mirror Movements for Stereo and IMC 

Illustration of the Effect of Crab 

Photographic Payload Section/Dual Platen Extended 

Altitude Capability 

BIF-008 and LMSC Coordinate Systems 

Simplified Schematic of Coordinate System Requirements 

PPS/DP EAC Cylindrical Coordinates 

9 System Swath Width vs Obliquity 

5 System Swath Width vs Obliquity 

Effect of Offset of 5-Inch System on Pointing 

Slant Range Approximation 

In-Track Monoscopic Acquisition 

Probability of High Resolution Before Target Acquisition 

Stereoscopic Acquisition 

In-Track Stereo Coverage 

Target-Swath Relationship 

Probability of Target Within Swath 

Page 

1.1-5 

1.1-7 

1.2-3 

1.2-4 

1. 2-5 

1. 2-7 

1.2-8 

1. 2-9 

1.2-11 

1.2-12 

l. 2-15 

2.1-2 

2.1-5 

2.1-7 

2.2-3 

2.2-4 

2.2-5 

2.2-9 

2. 2-11 

2.2-12 

2.2-13 

2.2-16 

2.2-18 

2.2-21 

XXXIII 

TO 19 SECRET G 

Hand I e v 1 a BY EM AN 

Control System On! y 

Approved for Release: 2017 /02/14 C05097211 
VOLUME 1 

Figure 

2.2-11 

2.2-12 

2.2-13 

2.2-14 

2.2-15 

2.2-16 

2. 2-17 

2,3-1 

2.3-2 

2.3-3 

2.3-4 

2.4-1 

2.4-2 

2.4-3 

2.4-4 

2.4-5 

2.4-6 

2.4-7 

2. 4-8 

2.4-9 

2.4-10 

2. 4-11 

2.4-12 

2. 4-13 

2.4-14 

2.5-1 

Approved for Release: 2017 /02/14 C05097211 

TOP 51!!Clt!T ~ 

BIF-008- W-C-019838-RI-80 

LIST OF ILLUSTRATIONS (Continued) 

Title 

Pointing Error vs Error Contributor 

Pointing Error vs Contributor 

Pointing Error vs Contributor 

Error Parameter vs Pointing Error 

Error Parameter vs Pointing Error 

Pointing Error vs Contributor 

Pointing Error Multiplier vs Slant Range 

Roll, Crab and Obliquity 

Ground Velocity for Circular Orbit CV ) ex 

Required Film Velocity vs Altitude 

Film-Drive Speed Bias Approximation 

Limiting Effect of Smear 

Ideal Shutter Function 

Linear Smear MTF 

Strip Camera Shutter Function 

Application of MTF Techniques 

Geometric Mean Resolution Given Smear and Film Type 

9-Inch Image Plane Coordinate System 

Equivalent Smear Rate Due to Film-Drive Speed Error 

Crab Angle Error Contributor 

Geometric Smear Source 

OFF-Axis Smear Rates 

Five-Inch System Offset 

Five-Inch Field Position 

Smear Slit Configuration 

Focus Detection Subsystem Functional Block Diagram 

XXXIV 

TOP SECRET G 

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2.2-27 

2.2-28 

.2.2-29 

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2.2-34 

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2. 3-6 

2.3-8 

2.3-9 

2.4-3 

2.4-7 

2.4-8 

2.4-10 

2.4-11 

2.4-12 

2.4-14 

2.4-24 

2.4-25 

2.4-27 

2.4-28 

2.4-33 

2.4-35 

2.4-43 

2.5-3 

Hand I e vi a BY EMAN 

Cont ro I Sys km On I y 
VOLUME 1 

Figure 

2.5-2 

2.5-3 

2.5-4 

2.5-5 

2.5-6 

2.5-7 

2.5-8 

2.5-9 

2.5-10 

2.6-1 

2.6-2 

2.6-3 

2.7-1 

2. 7-2 

2.7-3 

2.7-4 

2.7-5 

2.7-6 

2.7-7 

2. 7-8 

2. ~·-9 

2.7-10 

2. 7-11 

2.7-12 

2.7-13 

Approved for Release: 2017 /02/14 C05097211 

TOP SECRET .,£__ 

BIF-008-W-C-019838-RI-80 

LIST OF ILLUSTRATIONS (Continued) 

Title 

Heterochromatic, 14 lpmm Through-Focus MTF 

Earth's Wiener Spectnim (with 175 inch FL, 

85% OQF Optics) 

Typical Chevron Reticle 

Reticle Transfer Function 

Channel A and B Signals 

Signal vs Defocus 

Focus System, Physical Layout 

Polarization Effect 

Focus Position vs Slant Range 

Exposure Model, Graph 1 

Exposure Model, Graph 2 

Slit Selection Algorithm 

Typical Film Cross-Section 

Halat ion 

Window Splice 

Standard Ultrasonic Weld Splice 

Typical Curl 

Electrification of a Film Strand 

Typical Resistivity of Emulsion and Gel Backings 

Temperature Conditioning Curves for 9.5-and 5-Inch 

Wide Films 

Film Keeping Limits 

Spectral Transmission of Film 

Typical Characteristic Curve 

Sensitometric Properties 

Process Comparison 

xx xv 

TOP SECRET _g_ 

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Page 

2.5-5 

2.5-6 

2.5-7 

2.5-9 

2.5-11 

2.5-12 

2.5-13 

2.5-15 

2.5-21 

2.6-4 

2.6-5 

2. 6-11 

2.7-2 

2.7-5 

2.7-8 

2.7-9 

2.7-10 

2.7-12 

2.7-13 

2.7-16 

2.7-17 

2.7-20 

2.7-22 

2.7-25 

2.7-26 

Hand I e v 1 a BY EM AN 

Control System Only 
VOLUME 1 

Figure 

2.7-14 

2.8-1 

2.8-2 

2.8-3 

2.8-4 

2.8-5 

2.8-6 

2.8-7 

2.8-8 

2.8-9 

2. 8-10 

2.9-1 

2.9-2 

2.9-3 

2.9-4 

2.9-5 

2.9-6 

2.9-7 

2.9-8 

2.9-9 

2. 9-10 

2.10-1 

2 .10-2 

2 .10-3 

2. 10-4 

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TOJ! SECRET _9_.. 

BIF-008- W-C-019838-RI-80 

LIST OF ILLUSTRATIONS (Continued) 

Title 

Typical Spectral Sensitivity, Black-and White Film 

Target Distribution 

Cumulative Simulated Resolution (Tribar) 

Cumulative Simulated Resolution (2:1 Contrast) 

Cumulative Simulated Resolution (Operational) 

Contrast Distribution 

Gambit Dual Mode Search Satisfaction 

Gambit Dual Mode Search Accomplishment 

Gambit Dual Mode Search Satisfaction 

Gambit Dual Mode Search Accomplishment 

NIIRS Distribution 

Limiting Resolution Illustration 

Controlled Range Network (CORN) Target 

Electromagnetic Field Vectors 

Simplified Scene Transparency 

Optically Generated Fourier Transform 

Solid-State Detector for PSD Analysis 

Estimation of Phase Noise 

LOCMO 

Information Content and BPI 

Time Word Decoding 

Stereo/Timing 

Typical Film Velocity Profile 

High-Resoluton Distance 

Focus Limits 

XXXVI 

..;QP SECIU!f G 

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Page 

2.7-28 

2.8-5 

2.8-17 

2.8-18 

2.8-19 

2.8-22 

2.8-28 

2.8-29 

2.8-30 

2.8-31 

2.8-33 

2.9-3 

2.9-5 

2.9-6 

2.9-7 

2.9-9 

2. 9-11 

2.9-13 

2.9-15 

2.9-17 

2. 9-21 

2. 10-3 

2 .10-6 

2.10-7 

2 .10-10 

Handle vi a BY EM AN 

Control System Only 
VOLUME 2 

Figure 

2.11-1 

2.11-2 

2.11-3 

2.11-4 

2.11-5 

2 .11-6 

2.11-7 

2.11-8 

2.11-9 

2.11-10 

2.11-11 

2.12-1 

2.12-2 

2.12-3 

2.12-4 

2.12-5 

2.12-6 

2.12-7 

2 .12- 8 

2.12-9 

2.12-10 

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2.12-12 

2.12-13 

2.12-14 

2.12-15 

2.12-16 

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tOP SECRET ~ 

BIF-008-W-C-019838-RI-80 

LIST OF ILLUSTRATIONS (Continued) 

Title 

Radiance Parameters 

Sun Angle Geometry 

Sun Angle vs Latitude 

Sun Angle vs Latitude 

Solar Spectral Irradiance 

Relative Irradiance vs Sun Angle 

Spectral Reflectance of Ground Scenes 

Zenith Angle and Obliquity 

Atmospheric Transmission 

Haze Radiance 

Radiation-Induced Fog 

Point-Spread Function 

Light Scattering by the Emulsion 

Actual and Geometric Image Distributions 

Image Distributions of Sinusoidal Object 

Low-Frequency Modulation 

High-Frequency Modulation 

MTF Concept 

Transfer Characteristics of a Linear System 

Nonlinear Transfer Concept 

Transfer Characteristics of a Nonlinear System 

Typical Lens MTF 

Typical TM Curve 

OQF vs RMS Wavefront Error 

R-5 Lens MTF 

AIM Illustration 

Limiting Resolution 

XXXVII 

f 0 P SECRET G 

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2.11-4 

2.11-5 

2.11-6 

2.11-8 

2.11-9 

2 .11-10 

2 .11-11 

2 .11-12 

2 .11-14 

2.11-15 

2.12-2 

2.12-2 

2.12-4 

2.12-5 

2.12-7 

2.12-8 

2 .12-8 

2 .12-9 

2.12-11 

2.12-12 

2.12-15 

2.12-16 

2.12-20 

2.12-29 

2.12-30 

2.12-32 

Handle via BYEMAH 

Control System Only 
VOLUME 2 

Figure 

2.12-17 

2.12-18 

2.12-19 

2.13-1 

2.13-2 

2.14-1 

2.14-2 

2.14-3 

2.14-4 

2.14-5 

2.14-6 

2.14-7 

2.14-8 

2.14-9 

2 .14-10 

2.14-11 

2.14-12 

2 .14-13 

2.14-14 

2.14-15 

2.14-16 

Approved for Release: 2017 /02/14 C05097211 

..fOP SECIU!T ~ 

Bl F-008- W-C-019838-RI-80 

LIST OF ILLUSTRATIONS (Continued) 

Title 

Heterochromatic Off-Axis Through-Focus Curve 

Monochromatic Through-Focus Curves 

Thermal Focus Shift 

Venting Model Illustration 

Recommended Operating Limits for Clean Room 

Time vs Temperature, +Z FSE Panel 

Ascent Maximum Longitudinal Skin Temperature 

Distribution 

Page 

2.12-33 

2.12-35 

2.12-37 

2.13-3 

2.13-7 

2.14-3 

2.14-7 

Ascent Maximum Longitudinal Skin Temperature 2.14-8 

Distribution EAC Finish Patterns 

Ascent Pinpuller Temperatures 2.14-9 

Film Temperature vs Time Limits 2.14-12 

Fixed Adapter Skin Temperature Minimum Altitude 

67 nmi, Beta Angle: 0 Degrees 2.14-16 

Fixed Adapter Skin Temperature Minimum Altitude 2.14-17 

85 nmi, Beta Angle: 0 Degrees 

Fixed Adapter Skin Temperature Minimuni Altitude 2. 14-18 

85 nmi, Beta Angle: 60 Degrees 

IBS Blanket Temperature Minimum Altitude 65 nmi 2.14-20 

Orbit Average Heat Fluxes, Cylindrical Section 2.14-22 

SEM Orbital Average Skin Temperature Distributions 2.14-23 

COM Skin Temperature vs Orbit Position Angle 2.14-26 

(S=0°, Roll=0°) for Pattern -60°<S<60° 

COM Paint Pattern Temperature Range 2.14-27 

COM Environmental Energy Requirements, 60-Degree 2.14-28 

Pattern 

COM Environmental Energy Requirement, 48-Degree 

Pattern 

COM Environmental Energy Requirement, 30-Degree 

Pattern 

2.14-29 

2.14-30 

X.XXVIII 

:fOP Sl!CREr G 

Handt e vi a BY EM AN 

Control System On! y 

~Approved for Release: 2017 /02/14 C05097211 
VOLUME 2 

Figure 

2.14-17 

2.14-18 

2.14-19 

2.14-20 

2.14-21 

2.14-22 

2.14-23 

2.14-24 

2.14-25 

2.14-26 

2.14-27 

2.14-28 

2.14-29 

2.14-30 

2.14-31 

2.14-32 

2.14-33 

2.14-34 

2.14-35 

2.14-36 

2.14-37 

2.14-38 

Approved for Release: 2017 /02/14 C05097211 

TOP SECRET _L 

BIF-008- W-C-019838-RI-80 

LIST OF ILLUST~~TIONS (Continued) 

Title 

COM Environmental Energy Requirement, 

Sun-Synchronous Pattern 

COM Environmental Energy Requirements 

(Watt-Hours/Day) EAC Symmetric Pattern 

COM Environmental Energy Requirements 

(Watt-Hours/Day) EAC Asymmetric Pattern 

(0 to +40, or 0 to -40 Degrees) 

Predicted COM Curvature 

Predicted COM Curvature 

Predicted COM Curvature 

Rotation of COA Optical Axis 

Operating Constraint EAC Symmetric Finish Pattern 

Operating Constraint EAC Asymetric Finish Pattern 

Lens Tube Constraints on Viewport Door Open 

Ross Corrector Constraints on Viewpor~ Door 

Open Time 

COM Predictions for 68 nmi Recovery 

COM Predictions for 65 nmi Recovery 

COM Skin Temperatures, Tumbling Rev 3 

COM Curvature, Tumbling Rev 3 

Pinpuller Temperature, Tumbling Rev 

COM Curvature Derivation 

COA Suspension System Geometry 

COA Suspension System Model 

Time 

External Structure Centerline Deflection Model 

Angular Rotation of COA Axis with Respect to 

SCS Axis 

Operating and Nonoperating Curvature Constraints 

Page 

2.14-31 

2.14-32 

2.14-33 

2.14-36 

2.14-37 

2.14-38 

2.14-39 

2.14-43 

2.14-45 

2.14-47 

2.14-48 

2.14-51 

2.14-52 

2.14-54 

2.14-55 

2.14-57 

2.14-58 

2.14-61 

2.14-62 

2.14-63 

2.14-70 

2.14-73 

XX XIX 

TOP 5iCRiT G 

Handle via BYEMAN 

Control System Only 

Approved for Release: 2017 /02/14 C05097211 
VOLUME 2 

Figure 

2.15-1 

2.15-2 

2.15-3 

2.15-4 

2.15-5 

2.15-6 

2.15-7 

2.15-8 

2.15-9 

3.1-1 

3.1-2 

3.1-3 

3.1-4 

3.1-5 

3.1-6 

3.1-7 

3.1-8 

3.1-9 

3.1-10 

3.1-11 

3.1-12 

3.1-13 

3.1-14 

3.1-15 

3.1-16 

3.1-17 

Approved for Release: 2017 /02/14 C05097211 

TOP SECRET _L 

Bl F-008- W-C-019838-RI-80 

LIST OF ILLUSTRATIONS (Continued) 

Title 

PPS/DP EAC Ejectable Components 

Free-Body Reference Plane 

Theoretical Force-Displacement Curve 

Spring Ejector Assembly 

Ejection Force Geometry, Ejectable Adapter 

Free-Body Diagram, Ejectable Adapter 

Ejectable Adapter Configuration 

Ejection Force Geometry, SRV 

Free-Body Diagram, SRV 

PPS/DP EAC Assembly 

PPS/DP EAC Major Components 

DRM Internal Components 

DRM Film Path Details (Internal SRV) 

Dual Recovery Module Access Panels 

Ejectable Adapter (-X View) 

Ejectable Adapter (-Z View) 

Fixed Adapter (-Z View) 

Fixed Adapter (+X View, EA Attached) 

Supply Electronics Module (+Y Side) 

SEM Access Panels 

FSE Internal Components 

SEM Internal Temperature Monitors (-Y Side) 

SEM Internal Temperature Monitors (+Y Side) 

SEM Aft Bulkhead 

SEM Electronic Unit Locations (-Y Side) 

SEM Electronic Unit Locations (+Y Side) 

XL 

TOP SIECIUiT _...c;;_ 

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2.15-2 

2.15-4 

2.15-5 

2.15-7 

2.15-11 

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2.15-16 

3.1-2 

3.1-3 

3.1-7 

3.1-9 

3.1-13 

3.1-16 

3.1-17 

3.1-21 

3.1-23 

3.1-27 

3.1-29 

3.1-31 

3.1-35 

3.1-36 

3.1-37 

3.1-40 

3.1-41 

Handle via BYEMAH 

Control System On\ y 
VOLUME 2 

Figure 

3.1-18 

3.1-19 

3.1-20 

3. l-21 

3.1-22 

3.1-23 

3.1-24 

3.1-25 

3.1-26 

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3.1-29 

3.1-30 

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TOP SECAE:f _9_ 

Bl F-008- W-C-019838-RI-80 

LIST OF ILLUSTRATIONS (Continued) 

Title 

SEM/COM Interface 

COM Access Panels 

COM Forward Barrel 

COM Forward Barrel Structure 

COM Aft Barrel Structure 

Camera Optics Assembly 

COA Structural Cylinder ( -Y Side) 

COA (-Y Side) Showing Adjustable A-Frame 

Primary Mirror Mount(-X View) 

COA Internal Structure 

Stereo Mirror Yoke Assembly 

COA Double Bulkhead (-X View) 

PPS/SCS Alignment Scheme 

XLI 

TOP SiCAiT G 

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Page 

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3.1-48 

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3.1-57 

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3.1-65 

3.1-67 

3.1-69 

3.1-71 

3.1-74 

3.1-76 

Hand I e vi a BY EMAH 

Cont ro I System On I y 
VOLUME 3 

Figure 

3.2-1 

3.2-2 

3.2-3 

3.2-4 

3. 2. s 

3.2-6 

3.2-7 

3.2-8 

3.2-9 

3. 2-10 

3.2-11 

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3.2-15 

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3.2-17 

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3.2-24 

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TOP' Sl:CRET _G._ 

BIF-008- W-C-019838-RI-80 

LIST OF ILLUSTRATIONS (Continued) 

Title 

9x5 Dual Platen Camera and Film Handling Subsystem 

Block Diagram 

9x5 Camera and Film Handling Subsystem Major 

Components 

9 Supply and Looper Assembly Without Supply Spool 

5 Supply Assembly (Breadboard) 

9 Supply Spool Assembly 

S Supply Spool Assembly 

9 and 5 Supply Assemblies 

3.2-2 

3.2-3 

9 and 5 Looper Carriage Assemblies and Instrumentation 

3.2-6 

3.2-7 

3.2-8 

3.2-10 

3.2-13 

3.2-15 

3.2-17 

3.2-19 

3.2-23 

3.2-24 

3.2-26 

3.2-27 

3.2-30 

5 Supply Assembly (-Y View) 

9 and 5 Tension Arm Assemblies 

General Tension Arm Instrumentation Circuit 

General Tension Arm Instrumentation Output 

Film Velocity Sensor Conceptual Representation 

9 and 5 Film Quantity Sensor Assemblies 

9x5 Take-up Assembly (-Y View) 

9x5 Take-up Assembly (-Z View) 

9 Take-up Spool Assembly 

9 T/U Motor Performance Curves 

9 T/U Motor Speed-Torque Envelope 

5 Take-up Spool Assembly 

5 T/U Motor Performance Curves 

9x5 Dual Platen Camera Internal Configuration 

Camera Housing (Cover Removed) 

9 Pivot Frame Assembly 

XLII 

TOP SECRET .£__ 

Approved for Release: 2017 /02/14 C05097211 

3.2-31 

3.2-34 

3.2-35 

3.2-36 

3.2-37 

3.2-39 

3.2-43 

3.2-46 

3.2-48 

ttandl e vi a BY EM AN 

Control System Only 
VOLUME 3 

Figure 

3 .2-25 

3.2-26 

3.2-27 

3.2-28 

3.2-29 

3.2-30 

3.2-31 

3.2-32 

3.2-33 

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3.2-42 

3.2-43 

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3.2-48 

3.2-49 

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TOI' SfCRET ...G.-

BIF-008-W-C-019838-RI-80 

LIST OF ILLUSTRATIONS (Continued) 

Title 

5 Pivot Frame Assembly 

9 Variable Exposure Mechanism 

9 Variable Exposure Mechanism 

5 Variable Exposure Mechanism 

Variable Exposure Mechanism Drive System Schematic 

9 Film Format 

5 Film Format 

9 and 5 Slit Blade Details 

9 and 5 Pivot Frame Assemblies 

Focus Adjust Mechanism Gearbox 

Focus Adjust Mechanism Gear Train 

PPS/DP EAC Film Path Distances 

Film Handling Operational Schematic 

Film Control Electronics Logic Diagram 

Clamp Circuit and Comparator Operation 

Film Tension vs Elapsed Time 

5 Film Handling Subsystem Logic Diagram 

FPLLE Subsystem Block Diagram 

FPLLE Block Diagram (Single Channel) 

CEA Subsystem Block Diagram 

SRC Block Diagram 

Primary NPA Block Diagram 

Backup NPA Block Diagram 

VEM Block Diagram (Channel A) 

Data Track and Interframe Marker Block Diagram 

XL III 

TOP SECRET ...G__ 

Approved for Release: 2017 /02/14 C05097211 

3.2-49 

3.2-52 

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3.2-92 

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3. 2- 97 

3.2- 104 

3.2-108 

3.2-115 

3.2-117 

3.2-123 

3.2-124 

3.2-128 

3.2-130 

Hand l e 111 a BY EM AN 

Control System Only 
VOLUME 3 

Figure 

3.3-1 

3.3-2 

3.3-3 

3.3-4 

3.4-1 

3.4-2 

3.4-3 

3.4-4 

3.4-5 

• 3.4-6 

3.4-7 

3.4-8 

3.4-9 

3.4-10 

3.4-11 

3.4-12 

• 

Approved for Release: 2017 /02/14 C05097211 

TOP SECRET --G..... 

BIF-008-W-C-019838-RI-80 

LIST OF ILLUSTRATIONS (Continued) 

Title 

Optical Configuration of the R-5 Lens and Stereo Mirror 

Stereo Mirror Vignetting 

Central and S-1 Sensor Vignetting 

Typical Spectral Transmittance, R-5 Optics (Unobstructed) 

Stereo Mirror Movements (Conceptual Presentation) 

Crab and Stereo Servos 

Stereo Servo and Drive 

Hypocycloid Drive Assembly 

Hypocycloid Drive (Conceptual Representation) 

Typical Position - Time Curve for Stereo Mirror 

with Hypocycloid Drive 

Stereo Servo Subsystem Electrical Block Diagram 

Stereo and Crab Servo Instrumentation 

Stereo Mirror Servos and Instrumentation 

Crab Hysteresis Effect 

Crab Servo 

Crab Servo Subsystem Electrical Block Diagram 

3.3-3 

3.3-13 

3.3-14 

3.3-16 

3.4-2 

3.4-3 

3.4-5 

3.4-7 

3.4-8 

3.4-9 

3.4-10 

3.4-14 

3.4-16 

3.4-17 

3.4-19 

3.4-21 

XLIV 

TOP SECRET _L 

Handle via BYEMAN 

Control System On I y 

Approved for Release: 2017 /02/14 C05097211 
VOLUME 4 

Figure 

3.5-1 

3.5-2 

3.5-3 

3.5-4 

3.5-5 

3.5-6 

3.5-7 

3.5-8 

3.5-9 

3.5-10 

3.5-11 

3.5-12 

3.6-1 

3.6-2 

3.6-3 

3.6-4 

3.6-5 

3.6-6 

3.6-7 

3.6-8 

3.6-9 

3. 6-10 

3.6-11 

3.6-12 

3.6-13 

3.6-14 

3.6-15 

Approved for Release: 2017 /02/14 C05097211 

TOP sec11u:t ~ 

BIF-008- W-C-019838-RI-80 

LIST OF ILLUSTRATIONS (Continued) 

Title 

Forward Barrel and Viewport Doors 

Hatch Ejection Mechanism 

Viewport Door Drive Mechanism and Instrumentation 

Spider Linkage (-X View) 

Viewport Door Subsystem Electronics 

Motor Drive Corttrol 

Ratio of Lens Area As A Function of Viewport Door Position 

Door Open Primary Mode 

Page 

3.5-2 

3.5-4 

3.5-5 

3.5-10 

3.5-13 

3.5-17 

3.5-20 

3.5-21 

3.5-22 

3.5-23 

3.5-24 

3.5-25 

3.6-2 

3.6-3 

3.6-4 

3.6-5 

3.6-7 

3.6-8 

3.6-10 

3. 6-11 

3.6-13 

3.6-14 

3.6-16 

3.6-17 

3.6-19 

3.6-21 

3.6-22 

Door Close Primary Mode 

Door Open Backup Mode 

Door Close Backup Mode 

Door-Blow Mode 

Focus Detection Subsystem Elements 

View Into Camera (Baffle Removed) 

Focus Detection Subsystem Block Diagram 

Focus Sensor Head Assembly 

Focus Detection Subsystem Optics Assembly 

Beam Splitter and Reticle Assembly 

Typical Reticle 

Signal Normalizing Module (Unit 15A3) 

Instrumentation and Control Module (Unit 15Al) 

Dual Photodiode Detector 

Optics with Dual Detector and LED Array 

Systems Operation Functional Block Diagram 

Detector and Current-to-Voltage Converter 

Frequency Response for Each Mode 

Typical Dual Channel Amplifier 

XLV 

TO 119 SECRET G 

Approved for Release: 2017 /02/14 C05097211 

Handle via BYEMAN 

Control System Only 
VOLUME 4 

Figure 

3.6-16 

3.6-17 

3.6-18 

3.6-19 

3.6-20 

3.7-1 

3.7-2 

3.7-3 

3.7-4 

3.7-5 

3.7-6 

3.7-7 

3.7-8 

3.7-9 

3.7-10 

3.7-11 

3.7-12 

3.7-13 

3.7-14 

3.7-15 

3.7-16 

3.7-17 

3.7-18 

3.7-19 

3.7-20 

3.7-21 

3.7-22 

Approved for Release: 2017 /02/14 C05097211 

TOP SECRET ~ 

BIF-008- W-C-019838-RI-80 

LIST OF ILLUSTRATIONS (Continued) 

Title 

Dual Range Amp 

Typical Scaling Amplifier and Low Pass Filter 

LED Oscillator and Driver 

Temperature Sensor Bias Network 

Power Decoupling Circuit 

PPS/DP EAC Power Distribution Subsystem 

SCS Power Distribution System 

SCS Solar Array 

Voltage/Load Rel at ion ship Due to Solar Panel Effect 

PM and C Assembly 

PPS/DP EAC Power Input and Filtering 

9 and 5 Operational Power and Servo Power 

Focus Electronics and Sl-PRG Power 

Focus Detection Subsystem Calibration Power 

DTU 1 and 2 POWER; Instrumentation Supply and Pressure 

Transducer Power 

5 Parking Brake Power 

Environmental Branches 1, 2, 4, 5, and 6 Power 

EPSM 1 and EPSM 2 Power 

Standard Soft Switch Circuit 

PM and C Unipoint Ground 

PPS/DP EAC Instrumentation Unipoint Ground 

IEU Cross-Strap Circuit Configuration 

IEU Simplified Command Enable Configuration 

PPS/DP EAC Pyrotechnic Subsystem Block Diagram 

Arm and Safe Plugs 

Command Receipt Instrumentation Digital-to-Analog 

Converters 

Pyro Power Voltage Monitor and Instrumentation Power 

Power Filters 

Page 

3.6-23 

3.6-25 

3.6-28 

3.6-29 

3.6-30 

3.7-2 

3.7-4 

3.7-6 

3.7-7 

3.7-13 

3.7-15 

3.7-19 

3.7-20 

3.7-21 

3.7-22 

3.7-23 

3.7-24 

3.7-25 

3.7-26 

3.7-30 

3.7-31 

3.7-41 

3.7-42 

3.7-45 

3.7-47 

3.7-50 

3.7-51 

XLVI 

TOP SECRET G 

Handle via BYEMAN 

Cont ro I System Only 

Approved for Release: 2017 /02/14 C05097211 
VOLUME 4 

Figure 

3.7-23 

3.7-24 

3.7-25 

3.7-26 

3.7-27 

3.7-28 

3.7-29 

3.7-30 

3.7-31 

3.7-32 

3.7-33 

3.7-34 

3.7-35 

3.8-1 

3.8-2 

3.8-3 

3.8-4 

3.8-5 

3.8-6 

3.8-7 

3.8-8 

3.8-9 

3.8-10 

3. 8-ll 

3.8-12 

3.8-13 

3.8-14 

Approved for Release: 2017 /02/14 C05097211 

TOP SECRET ~ 

BIF-008- W-C-019838-RI-80 

LIST OF ILLUSTRATIONS (Continued) 

Title 

Arm/Continuity Loops 

Multiple Relay Logic Representation 

Hatch Eject 

Viewport Door Backup and Viewport Door Blow 

9 Splice and Cut and 9 

5 Splice and Cut and 5 

Cut and Seal 1 

SRV 1 Arm and Transfer 

SRV 1 Separate 

Roll-In Terminate 

Roll- In Terminate 

Spinoff Disconnect 2 and EA Separate 

Cut and Seal 2 

SRV 2 Arm and Transfer 

SRV 2 Separate 

Ground Conditioning at Launch Facility 

PPS/DP EAC On-Pad Conditioning System 

Floor Plan, Gantry Clean Rooms 

Recommended Operating Limits for Clean Room 

Film Temperature vs Timekeeping Limits 

PPS/DP EAC External Thermal Control Finishes 

COM Thermal Blanket Assemblies 

Ground Heater Tape Locations 

Ground Heater Controller Schematic 

Flight Heater Branch Block Diagram 

Flight Heater Tape Locations 

Flight Heater Controller Schematic 

COA Heater Controller Temperature Sensor Locations 

EA/FA Pin-Puller Locations 

XLVII 

TOP SECRET G 

Approved for Releas_e_:__?017 /02/14 C05097211 

Page 

3.7-53 

3.7-55 

3.7-56 

3.7-57 

3.7-58 

3.7-59 

3.7-60 

3.7-61 

3.7-63 

3.7-65 

3.7-66 

3.7-67 

3.7-68 

3.8-7 

3.8-10 

3. 8- ll 

3.8-14 

3.8-20 

3.8-23 

3.8-33 

3.8-40 

3.8-41 

3.8-43 

3.8-47 

3.8-49 

3.8-50 

3.8-53 

Handle via BYEMAN 

Control System Only 
VOLUME 4 

Figure 

3.8-15 

3.8-16 

3.8-17 

Approved for Release: 2017 /02/14 C05097211 

TOft SECRET _§__ 

BIF-008- W-C-019838-RI-80 

LIST OF ILLUSTRATIONS (Continued) 

Title 

DRM Skin Temperature Instrumentation Points 

Supply Electronics Module Skin Temperature 

Instrumentation Points 

COA Structure Temperature Sensor Locations 

XLVIII 

T0f1 SECRET G -

Approved for Release: 2017 /02/14 C05097211 

Page 

3.8-67 

3.8-68 

3.8-69 

Handle via BYEMAN 

Control System Only 
VOLUME 5 

Figure 

3.9-1 

3.9-2 

3.9-3 

3.9-4 

3.9-5 

3.9-6 

3.9-7 

3.9-8 

3. 9-9 

3.9-10 

3.9-11 

3.9-12 

3.9-13 

3.9-14 

3.9-15 

3.9-16 

3.9-17 

3.9-18 

3.9-19 

3.9-20 

3.9-21 

3.9-22 

3.9-23 

3.9-24 

Approved for Release: 2017 /02/14 C05097211 

TOP SECRET ...Q._ 

BIF-008-N-C-019838-RI-80 

LIST OF ILLUSTRATIONS (Continued) 

Title 

Command Subsystem Block Diagram 

Vehicle Communications Block Diagram 

ECS Command Bit Structure 

MCS Command Bit Structure 

Binary-to-Octal Code Conversion 

Variable Word Octal Representation 

ECS 14V, 13V and lOV VSPC Octal Codes 

RTC Bit Structure 

Timing Signals 

Timing Signal Circuit A or B Interface 

Timing Signal C Circuit Interface 

Extended Command Subsystem 

Command Processor Assembly 

OR Gating Protected Commands with Non-Protected Commands 

Command Input Diode OR Gate 

Latching Relay Logic Representation 

Latching Relay ON/OFF Control Circuit Logic Representation 

Basic Optical Isolator and Pulse Circuit 

Instrumentation Digital-To-Analog Converter 

Fully Redundant Processing and Outputs, Cross-Strapped 

Inputs 

Basic CP A/B Mode Switch Circuit 

Basic Servo Mode Switch Circuit 

CP A Select/CP B Select 

9 and 5 Operational Power ON/OFF 

3.9-3 

3.9-4 

3.9-6 

3.9-7 

3.9-7 

3.9-8 

3.9-9 

3.9-10 

3.9-15 

3.9-16 

3.9-17 

3.9-20 

3.9-27 

3.9-29 

3.9-31 

3.9-31 

3.9-32 

3.9-33 

3.9-34 

3.9-36 

3.9-37 

3.9-38 

3.9-40 

3.9-41 

XLIX 

IQ P SECRET G 

Hand I € v I a By rn AH 

Control System Only 

Approved for Release: 2017 /02/14 C05097211 
VOLUME 5 

Figure 

3.9-25 

3.9-26 

3.9-27 

3.9-28 

3.9-29 

3.9-30 

3.9-31 

3.9-32 

3.9-33 

3.9-34 

3.9-35 

3.9-36 

3.9-37 

3.9-38 

3.9-39 

3.9-40 

3.9-41 

3.9-42 

3.9-43 

3.9-44 

3.9-45 

3.9-46 

3.9-47 

3.9-48 

3.9-49 

3.9-50 

Approved for Release: 2017 /02/14 C05097211 

TOP SECRET Ji_ 

BIF-008-W-C-019838-RI-80 

LIST OF ILLUSTRATIONS (Continued) 

Title 

9/5 (Film Drive) ON/OFF 

9 and 5 Camera Operations Counter 

SRC Command Common Line 

FDS and SRC Bits 1 and 2 

.FDS and SRC Bi ts 3 and 4 

FDS Bits through 10 

Film-Drive Speed Range High/Normal 

Nominal Platen Adjust Enable/Inhibit and Mode Select 

Nominal Platen Adjust Drive Control 

SRC, Data Tracks, and I/F Marker Enable/Inhibit/Disable 

9 and 5 Slit Drive Enable/Inhibit/Select 

9 Slit Bits 1-4 

5 Slit Bits 1-4 

9/5 Takeup Enable/Inhibit 

Heater Branches ON/OFF 

5 Parking Brake ON/OFF 

Crab Angle 

Stereo Angle Store/Execute 

Viewport Door Open/Close 

DTU 1 and 2 ON/OFF 

Focus Electronics Power ON/OFF 

Focus Calibrate 

Sl-PRG Calibrate/Disable 

High/Low Altitude Select FPLL Altitude Range and 

Focus Normal/Modify 

High/Low Altitude Select SRC Common and Data Lamp Select 

Camera Automatic Off Logic Diagram 

3.9-43 

3.9-46 

3.9-48 

3.9-49 

3.9-50 

3.9-51 

3.9-54 

3.9-55 

3.9-57 

3.9-60 

3.9-61 

3.9-62 

3. 9-63 

3.9-65 

3.9-67 

3.9-69 

3.9-71 

3.9-73 

3.9-75 

3.9-76 

3.9-77 

3.9-78 

3.9-80 

3.9-82 

3.9-83 

3.9-84 

L 

IQ P SECRET G 

Hand l e v i a BY EM AN 

Control System Only 

Approved for Release: 2017 /02/14 C05097211 
VOLUME 5 

Figure 

3.10-1 

3.10-2 

3.10-3 

3.10-4 

3.10-5 

3.10-6 

3.10-7 

3.10-8 

3.10-9 

3.10-10 

3.10-11 

3.10-12 

3.10-13 

3.10-14 

3.10-15 

3.10-16 

3.10-17 

3.10-18 

3.10-19 

3.10-20 

3.10-21 

3.10-22 

3.10-23 

Approved for Release: 2017 /02/14 C05097211 

TOP SECRET -9._ 

Bl F-008- W-C-019838-RI-80 

LIST OF ILLUSTRATIONS (Continued) 

Title 

PSV Telemetry Subsystem 

PPS/DP EAC Instrumentation and Telemetry Subsystem 

Instrumentation Processor 

Instrumentation Unipoint Ground 

Typical Preprocessed Analog Signal IP Circuit 

Typical Signal Routine for Non-IP Generated Discrete IMP's 

Typical Processing Circuit: 

Typical Processing Circuitry: 

5115, 5120, 5150, 5155 

IMP's 5013, 5076, 5235, 5236 

IMP's 5099, 5110, 5113, 

Typical IP Processing Circuits: IMP's 5111, 5112, 5145 

IMP 5114 Processing Circuit 

IMP 5196 Generating Circuit 

Generating Circuits: IMP's 5198 and 5200 

IP Processing Circuit: IMP 5375 

IP Processing Circuits: IMP' s 5574 and 5575 

Typical IP Processing Circuit: IMP's 5576 and 5614 

Typical IP Processing Circuit: IMP' s 5589 and 5590 

IP Processing Circuit: BIL 8010 

MDTU/DTU Interface 

DTU Organization 

PPS/DP EAC Slave DTU 

Typical AMU and DMU Mechanical Construction 

Converter Unit Mechanical Construction 

DTU Power Control Logic 

Page 

3.10-2 

3.10-3 

3.10-7 

3. 10-11 

3.10-13 

3.10-14 

3.10-18 

3.10-19 

3. 10-20 

3.10-21 

3.10-22 

3.10-23 

3.10-24 

3.10-25 

3.10-26 

3.10-27 

3.10-28 

3.10-29 

3.10-31 

3.10-32 

3.10-33 

3.10-34 

3.10-35 

LI 

TOP SECRET G 

Hand I e vi a BY EMAN 

Control System Only 

Approved for Release: 2017 /02/14 C05097211 
VOLUME 5 

Figure 

3.10-24 

3.10-25 

3.10-26 

3.10-27 

3.10-28 

3.10-29 

3.10-30 

3.10-31 

3.10-32 

3.10-33 

3.10-34 

3.10-35 

3.10-36 

3.10-37 

3.10-38 

3.10-39 

3.10-40 

3.10-41 

3.10-42 

3.10-43 

3.10-44 

3.10-45 

3.10-46 

3.10-47 

Approved for Release: 2017 /02/14 C05097211 

lOP SECRET .£__ 

BI F-008 - W-C-019838-RI-80 

LIST OF ILLUSTRATIONS (Continued) 

Title 

CU Block Diagram 

Address Receiver Block Diagram 

Timing Generator Circuit 

Address Register 

Analog-to-Digital Converter-Basic Elements 

Analog-to-Digital Converter-Block Diagram, 

Sample/Encode Algorithm 

NRZ Formatter 

Reply Modulator 

Group-Channel Address Code 

AMU Block Diagram 

Typical Overvoltage Protection Network 

DMU Block Diagram 

Simplified Analog Address/Reply Timing 

Simplified Discrete Address/Reply Timing 

PSV Slave and Master Telemetry Units 

Remote Channel Address Signal 

Serial Pulse Code Data Signal 

Time Relationship: Remote Channel Address 

Code/Serial Pulse Code Data Reply 

Remote Channel Address Generation Rate 

Binary Coded Square Wave NRZL Pulse Code Train 

Subframe Construction 

Format Example: 10 sps and 5 sps Monitors 

Format Example: 200 sps Monitor 

Record Main-Frame Format: PPS/DP. EAC Allocation 

LII 

TOP SECRET G 

Approved for Release: 2017 /02/14 C05097211 

Page 

3.10-38 

3.10-42 

3.10-43 

3.10-45 

3.10-49 

3.10-50 

3.10-53 

3.10-55 

3.10-56 

3.10-57 

3.10-60 

3.10-63 

3.10-67 

3.10-69 

3.10-73 

3.10-76 

3.10-78 

3.10-79 

3.10-81 

3.10-82 

3.10-87 

3.10-91 

3 .10-92 

3.10-97 

Hand I e v1 a BY EMAN 

Cont ro I System On I y 
VOLUME 5 

Figure 

3. 10-48 

3.10-49 

3.10-50 

3.10-51 

3.10-52 

3.10-53 

3.11-1 

3.11-2 

3.11-3 

3.11-4 

3.11-5 

3.11-6 

3.11-7 

3.11-8 

3.11-9 

3.11-10 

Approved for Release: 2017 /02/14 C05097211 

TOP SECRET ...§_ 

BIF-008-_W-C-019838-RI-80 

LIST OF ILLUSTRATIONS (Continued) 

Title 

Normal (Real Time) Format: PPS/DP EAC Allocation 

Diagnostic 1 Main-Frame Format: PPS/DP EAC Allocation 

Diagnostic 2 Main-Frame Format: PPS/DP EAC Allocation 

Subroutine Construction 

DC Offset Error Source 

Sampling Transient Error Source 

Cutter/Sealer and Splicer Mechanism.Location 

Cutter/Sealer Assembly (Partially Closed) 

Cutter/Sealer Assembly (Open) 

Cutter/Sealer Film Path Space Location 

Typical Cutter/Sealer Device 

Splicer Mechanism 

Splicer Mechanism Components 

Splicer/Cutter Device 

Positive Stop Leader 

Sequential Events vs Shuttle Drive Position 

3.10-98 

3 .10-99 

3.10-100 

3.10-106 

3.10-108 

3 .10-109 

3.11-4 

3.11-5 

3.11-6 

3.11-7 

3.11-8 

3.11-11 

3.11-12 

3.11-13 

3.11-15 

3.11-19 

LIII 

TOP SECRET G 

Handle via BYEMAN 

Control System On l y 

Approved for Release: 2017 /02/14 C05097211 
VOLUME 5 

Figure 

3.12-1 

3.12-2 

3.12-3 

3.12-4 

3.12-5 

3.12-6 

3.12-7 

3.12-8 

3.12-9 

3.12-10 

3.13-1 

3.13-2 

3.13-3 

3 .13-4 

3.13-5 

3.13-6 

3.13-7 

- 3.13-8 

4.2-1 

4.2-2 

4.2-3 

4.2-4 

4.2-5 

4.2-6 

4.2-7 

4.2-8 

4.2-9 

Approved for Release: 2017 /02/14 C05097211 

TOP SECR!T -9._ 

BIF-008- W-C-019838-RI-80 

LIST OF ILLUSTRATIONS (Continued) 

Title 

DRM Internal Components 

Powered Yaw and Pitch Maneuver 

Internal Recovery Sequence Maneuvers 

SRV Sequences of Events 

SRV Assembly - Exploded View 

Thrust Cone 

SRV Heater Branches 

Recoverable Capsule 

Capsule Cover 

SRV Temperature Sensor Locations 

Sl Sensor Assembly 

Sl Rod and Truss Assembly 

Typical Sensor Assembly 

Sl-PRG Component Locations 

Typical PRG Sensor Mounting 

PRG Target 

Slide Input-Output Position Relation 

Sl-PRG Sensor System Block Diagram 

Initiator Subsystem (Typical) 

Stereo Servo Redundancy 

Crab Servo Redundancy 

Instrumentation Subsystem 

Focus Detection Subsystem 

Sl-PRG Subsystem 

9 Camera Platen Drive Subsystem 

NPA Subsystem (9 & 5 Identical) 

SRC Subsystem (9 and 5) 

LIV 

TOP SECRET G 

Approved for Release: 2017 /02/14 C05097211 

Page 

3.12-3 

3.12-6 

3.12-7 

3.12-14 

3.12-20 

3.12-24 

3.12-27 

3.12-28 

3.12-29 

3.12-33 

3.13-5 

3.13-6 

3.13-9 

3.13-10 

3.13-11 

3.13-12 

3.13-13 

3.13-15 

4.2-4 

4.2-6 

4.2-7 

4.2-9 

4.2-10 

4. 2-11 

4.2-14 

4.2-16 

4.2-17 

Handle via BYrnAN 

Control System Only 
VOLUME 5 

Figure 

4.2-10 

4.2-11 

4.2-12 

4.2-13 

4.2-14 

4.3-1 

4.3-2 

4.4-3 

4.3-4 

4.3-5 

4.3-6 

4.3-7 

4.3-8 

4.3-9 

4.3-10 

4.3-11 

4.3-12 

4.3-13 

4.3-14 

4.3-15 

4.3-16 

4.3-17 

4.4-1 

4.4-2 

4.4-3 

4.4-4 

4.4-5 

Approved for Release: 2017 /02/14 C05097211 

-TOP SECRET ~ 

BIF-008- W-C-019838-RI-80 

LIST OF ILLUSTRATIONS (Continued) 

Title 

VEM Subsystem (9 & 5 Identical) 

9 Film Handling Subsystem 

5 Film Handling Subsystem 

Primary Mode Viewport Door Operation 

Backup Mode Viewport Door Operation 

Aerospace Vehicle Buildup 

COA Assembly Flow 

Polishing Primary Mirror 

Assembling Stereo Mirror to COA 

Primary Mirror Alignment 

Alignment of Stereo Mirror to Optical Axis 

Alignment of A&B Reference Mirrors to Optical Axis 

Mating COA to Aft Barrel 

Interface Alignment Gage 

Optical Axis to Vehicle Axis Roll Alignment 

Optical Axis to Vehicle Axis Pitch and Yaw Alignment 

SEM Assembly Flow 

Supply Electronics Module (-Z View) 

ORM Assembly Flow 

Dual Recovery Module 

SEM/COM Assembly 

PPS/DP EAC 

On-Back Primary and Stereo Mirror Tests 

Ross Match and COA Level Optical Test Set-Ups 

Condition of COA for Testing 

COA on Vibration Fixture 

COA Assembly and Test Flow 

LV 

TOP Sl:Cll!T G 

Approved for Release:_~017 /02/14 C05097211 

Page 

4.2-19 

4.2-20 

4.2-22 

4.2-25 

4.2-26 

4.3-2 

4.3-4 

4.3-5 

4.3-7 

4.3-8 

4.3-9 

4. 3-11 

4.3-14 

4.3-15 

4.3-16 

4.3-18 

4.3-20 

4. 3-22 

4.3-24 

4.3-25 

4.3-27 

4.3-28 

4.4-2 

4.4-4 

4.4-8 

4.4-12 

4.4-14 

Handle vi a BY EM AH 

Control System Only 
VOLUME 

Figure 

4.4-6 

4.4-7 

4.4-8 

4.4-9 

4. 4-10 

4. 4-11 

4.4-12 

4.4-13 

4.4-14 

4.4-15 

4.4-16 

5 

Approved for Release: 2017 /02/14 C05097211 

TOP' SECRET -9..... 

BIF-008-W-C-019838-RI-80 

LIST OF ILLUSTRATIONS (Continued) 

Title 

CUETS System 

Supply Assembly Test Set 

COM Assembly and Test Flow 

SEM Assembly and Test Flow 

Assembly Flow and EA/FA/TSRT Test 

Assembly Flow and SRV Test 

Assembly Flow and DRM Test 

PPS/DP EAC Assembly and Test Flow from Buildup to 

Shipment 

SEM/COM I Measurement Equipment xx 

General View of Assembly Area 

PPS/DP EAC Assembly and Test Flow for Film Change 

LVI 

I 0 P S!CltET G 

Approved for Release: 2017 /02/14 C05097211 

Page 

4.4-15 

4.4-17 

4.4-19 

4.4-20 

4.4-22 

4.4-24 

4.4-25 

{

4.4-27 

4.4-28 

4.4-29 

4.4-45 

4.4-46 

4.4-48 

Handle via BYEMAN 

Control System Only 
VOLUME 6 

Figure 

4.5-1 

4.5-2 

4.5-3 

4.6-1 

4.6-2 

4.6-3 

4.6-4 

4.6-5 

4.7-1 

4.7-2 

4.7-3 

4.7-4 

4.7-5 

4.7-6 

4.7-7 

4.7-8 

4.7-9 

4.7-10 

4.8-1 

APPENDIX C 

C-1 

APPENDIX E 

E-1 

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LIST OF ILLUSTRATIONS (Continued) 

PPS/DP EAC in Shipping Container 

Gambit Organization at VAFB 

Launch Site Software Block Diagram 

Gambit Vehicle Launch Site (SLC 4-W) 

Gantry Clean Rooms (A and B/C Rooms) 

FAS Activity Block Diagram 

Organization 

Dynamic Filter Block Diagram 

Gambit Operational Software 

Event Generator System 

Optimization Algorithm 

Mode Generation 

Telemetry Predict Subsystem 

Typical Telemetry Limits 

Pass (Real Time) Data Flow 

Postpass Data Flow 

Page 

4.5-3 

4.5-5 

4.5-7 

4.6-2 

4.6-7 

4.6-10 

4.6-12 

4.6-15 

4.7-6 

4.7-9 

4.7-16 

4.7-20 

4.7-25 

4.7-43 

4.7-44 

4.7-45 

4.7-49 

4.7-51 

Factory-Field Liaison Organization for Flight Operations 4.8-2 

MSA Block Diagram 

Normalized Standard Deviation 

Graph for Computation of 95%/95% Probability 

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Table 

2. 2-1 

2.2-2 

2.2-3 

2.2-4 

2.4-1 

2.4-2 

2.4-3 

2.4-4 

2.4-5 

2.4-6 

2.4-7 

2.4-8 

2.5-1 

2.6-1 

2.6-2 

2.7-1 

2.7-2 

2.7-3 

2.7-4 

2.8-1 

2.8-2 

2.8-3 

2.8-4 

2.8-5 

2.8-6 

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LIST OF TABLES 

Title 

Pointing Error Contributors 

Symbols Used in Pointing Error Equations 

PPS/DP EAC Pointing Error Contributors 

PSV Pointing Error Budget 

9-Inch Smear Equations 

Symbols Used in Smear Equations 

PPS/DP EAC Linear Smear Budget (with Software) 

Minimum Acceptable Modulation Transfer Function 

Resulting from Nonlinear Smear 

Smear Contributor Budget (F/0-7) 

Satellite Vehicle System, Equivalent Smear Rate 

(uR/SEC)* Statistical Combination (with Adaptive 

Bias and Software) 

Smear Slit Dimensions 

Smear Slit Dimensions - (EAC) 

Focus Error Budget 

Table of Exposure Modifier, M (Algorithm Table 2) 

Table of Snow Biases to Exposure Time (Algorithm Table 3) 

Thermal Properties of Film 

Weight and Moisture Content, Gambit Films 

Threshold Modulation Curves 

Film Characteristics 

Orbital Parameters 

Acquisition Limits 

Constraints on Target Selection 

Cloud Conditions for the Months of Simulation 

Weather Thresholds for Acquisitions 

Weather Threshold Averages 

Page 

2.2-22 

2.2-24 

2.2-36 

2.2-37 

2.4-18 

2.4-21 

2.4-37 

2.4-39 

2.4-40 

2.4-41 

2.4-45 

2.4-46 

2.5-24 

2.6-9 

2.6-10 

2.7-15 

2.7-19 

2.7-32 

2.7-33 

2.8-2 

2.8-7 

2.8-8 

2.8-9 

2. 8-10 

2. 8-11 

*Scale table values by 90 for other altitudes. 

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2.8-8 

2.8-9 

2.8-10 

2. 8-11 

2.8-12 

2.8-13 

2 .10-1 

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LIST OF TABLES (Continued) 

Title 

Photographic Performance Model 

Mission Simulation Smear Contributor Matrix 

9 Plus 5 Combined Geometric Mean Ground Resolution 

(from Mission Simulations) 

Resolution Contributors 

Number of Targets with a 95% Probability of at Least 

One Clear Acquisition 

Equipment Usage Summary 

Orbital Parameters 

Launch, Orbit, and Recovery Information 

Time Dependent Events 

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2.8-21 

2.8-24 

2.8-25 

2.8-26 

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2.11-1 

2 .11-2 

2.12-1 

2.12-2 

2.12-3 

2.12-4 

2.13-1 

2.13-2 

2.14-1 

2.15-1 

2.15-2 

2.15-3 

2.15-4 

2.15-5 

3. 1-1 

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LIST OF TABLES (Continued) 

Title Page 

Cloud Cover Multiplier 2. 11-7 

Total Integrated Irradiance and Approximate Illumination 2.11-16 

Ross Lens Surface Contributions to Wavefront Error 2.12-21 

Summary of Tolerances and Distributions 2.12-24 

Lens Inhomogeneity OQF Contribution 2.12-25 

OQF Summary 2.12-27 

Venting Model Parameters 2.13-4 

Maximum Differential Pressures 2.13-6 

COM Curvature Equations 2.14-41 

Center of Gravity Offsets (Z) 2.15-8 

Mass Properties (1/78 Estimate) 2.15-9 

Distribution Parameters 2.15-10 

Estimated Range of Miss-Distances 2 .15-14 

Analysis Result for Mass Properties 2.15-17 

ORM Access Panels 3.1-15 

COM Access Panels 3.1-47 

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Table 

3.2-1 

3.2-2 

3.2-3 

3.2-4 

3.2-5 

3.2-6 

3.3-1 

3.3-2 

3.3-3 

3.3-4 

3.3-5 

3.3-6 

3.4-1 

3.4-2 

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LIST OF TABLES (Continued) 

Title 

Tension Arm Instrumentation Data 

9 and 5 Take-up Spools Data Summary 

Operational Slit Widths 

Film Path Lengths 

Film Handling Subsystem Instrumentation: 9 and 5 

9x5 Dual Platen Camera Instrumentation 

R-5 Optical Formula 

R-5 Refractive Indices 

Optical System Physical Characteristics Summary 

Optical Properties Summary 

Percent Obstruction (Vignetting) 

Optical Subsystem Instrumentation 

Stereo Position vs Executed Command Bit State 

Crab Position vs Command Bit State 

Mirror Positioning Instrumentation Summary 

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3.2-32 

3.2-56 

3. 2- 7 5 

3. 2-134 

3. 2-146 

3.3-6 

3.3-7 

3.3-8 

3.3-9 

3.3-15 

3.3-17 

3.4-12 

3.4-24 

3.4-27 

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Table 

3.5-1 

3.6-1 

3.6-2 

3.7-1 

3.7-2 

3.7-3 

3.7-4 

3.7-5 

3.7-6 

3.8-1 

3.8-2 

3.8-3 

3.8-4 

3.8-5 

3.8-6 

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LIST OF TABLES (Continued) 

Title 

Viewport Door Subsystem Instrumentation Summary 

Focus Detection Subsystem 4V WORD Command 

Focus Detection Subsystem Instrumentation 

PPS/DP EAC Power Consumption 

PM and C Power Distribution 

Pyro-Actuated Events 

Main Power Subsystem Instrumentation 

Pyro Power Subsystem Instrumentation 

Command Logic Summary 

Clean Area and Clean Room Characteristic and Usage 

Characteristics of External Thermal Control Finishes 

Ground Heater System 

Heater Controller Set Points 

Flight Heater Tape Locations 

Environmental Subsystem Instrumentation Summary 

Umbilical Instrumentation Summary 

Page 

3.5-26 

3.6-31 

3.6-32 

3.7-9 

3.7-16 

3.7-38 

3.7-73 

3.7-80 

3.7-85 

3.8-4 

3.8-25 

3.8-38 

3.8-44 

3.8-45 

3.8-55 

3.8-70 

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Table 

3.9-1 

3.9-2 

3.9-3 

3.9-4 

3.10-1 

3.10-2 

3.10-3 

3.10-4 

3.10-5 

3. 10-6 

3.10-7 

3.10-8 

3 .10-9 

3.10-10 

3.11-1 

3.11-2 

3.12-lA 

3.12-lB 

3.12-2 

3.12-3 

3.13-1 

4.2-1 

4.4-1 

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LIST OF TABLES (Continued) 

Title Page 

ECS SPC Decoder Selection 3.9-10 

Possible Simultaneous Decoder Executions in the ECS 3.9-13 

Instrumentation Voltage Levels 3.9-35 

Command Processor Instrumentation 3.9-86 

IP Board and Module Assemblies 3.10-8 

IP Processed or Generated Instrumentation and 3.10-15 

Umbilical Points 

D-Type Flip-Flop Logic Table 3.10-47 

AMU Address Recognition 3.10-59 

DMU Address Recognition 3.10-65 

-7 (PPS/DP EAC) Slave DTU Slice Codes 3.10-72 

Octal Count, Decimal Count, TM Volts, and Percent 3.10-84 

Bandwidth Conversion 

Overall MDTU Telemeter, Data Capabilities 3.10-89 

Format and Mode Capability 3.10-102 

Instrumentation and Telemetry Subsystem 3.10-114 

Instrumentation Summary 

Functions Performed by Cutter/Sealer and Splicer 3.11-3 

Mechanisms 

Instrumentation Summary 3.11-20 

Primary Mode Recovery Sequence 3.12-15 

Backun Mode Recoverv Sequence 3.12-18 

SRV Instrumentation 3.12-~4 

SRV Related PPS/DP EAC Instrumentation 3.l?-36 

Sl-PRG Experimental System InstrumenTation Summarv 3.13-22 

Reliability Qualification Tests 4.2-30 

PPS/DP EAC Test and Assembly Flow Description 4.4-30 

PPS/DP EAC Assemblv and Test Flow for Film Change 4.4-49 

Description 

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4.6-1 

4.7-1 

4.7-2 

4.7-3 

4.7-4 

C-1 

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LIST OF TABLES (Continued) 

Title 

Allowable Blanket Off Times 

Event 406 Setup/Shutdown, Setup Portion 

Event 406 Setup/Shutdown, Shutdown Portion 

Event 400, Basic Camera Event 

Modes Matrix 

Key to Input/Output Parameters for MSA Block Diagram 

PPS/DP EAC Instrumentation Listing 

PPS/DP EAC Pyrotechnic Device Parts and Mechanical Data 

PPS/DP EAC Pyrotechnic Device Electrical Data and Notes 

4.6-18 

4.7-28 

4.7-29 

4.7-31 

4.7-52 

C-6 

G-1 

K-3 

K-18 

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BIF-008-W-C-019838-RH-80 

PART 1 SYSTEM OVERVIEW 

1.0 THE GAMBIT RECONNAISSANCE SYSTEM 

The Photographic System Reference Handbook (PSRH) has been produced by BIF-008 

25X1 in accordance with Contract (Revision I dated 1 January 1979) 

between BIF-008 and the United States Air Force. This document is classified 

BYEMAN TOP SECRET and must be distributed and handled under the BYEMAN System only. 

The handbook is designed to be a comprehensive reference source describing efforts 

by BIF-008 in support of the Gambit Reconnaissance System having Extended Altitude 

Capabilities (EAC). The usefulness of this handbook will be maintained by publishing updates at appropriate times. 

This document replaces the earlier (1976) version of the Photographic System 

Reference Handbook and contains material applicable to an extended altitude 

mission, or to a vehicle configured for an extended altitude mission. 

In order to place the activities undertaken by BIF-008 in perspective, a brief 

description of the Gambit Reconnaissance System as a whole is included below. 

1.1 System Definition 

The Gambit system is a satellite-borne, photographic reconnaissance system. 

1.2 Mission Definition 

The objective of a Gambit reconnaissance mission with Extended Altitude Capability 

(EAC) is to obtain high resolution photographs of targets selected by members of 

the United State intelligence community and other interested parties. In addi1.1-1 

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tion, the Extended Altitude Capability (EAC) allows operation at altitudes at 

which the larger swath provides coverage and scale commensurate with Searchmode requirements. 

1. 2 .1 Mission Requirements 

Gambit mission requirements stem from two sometimes opposing considerations: 

The perceived needs of the user community and the state-of-the-art technical 

limitations of real-world hardware. The primary Gambit mission requirement may 

be related to resolution (Reconnaissance-type mission) or area coverage (Searchtype mission). 

1.2.1.1 Image Quality. The amount of information which can be extracted from 

satellite photography is strongly dependent on the quality and type of acquired 

imagery. The user community, therefore, plays a major role in establishing basic 

system performance requirements in terms of the resolution necessary to obtain 

the desired information. The resolution requirements appropriate for a 

Reconnaissance Mission will differ greatly from those applicable to a Search 

Mission. 

1.2.1.2 Multiple Film Types. Color film provides a definite spectral information 

gain over black-and-white film even though the image quality may not be as good. 

Similarly, infrared (false color) film has the unique ability to record an image 

which is interpretable ln terms of the health of agricultural crops and the 

presence of camouflage materials. These considerations, among others, result in 

the requirement that multiple film types be useable for a Gambit mission. 

1.2.1.3 Stereo Acquisition. The technical intelligence content of photography 

is enhanced through the use of stereoscopic pictures; i.e., pictures taken of 

the same target from two different angles. The capability to provide stereoscopic 

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photography is a requirement for the Gambit system. A mirror, used to direct the 

ground scene to the primary mirror, may be set to any of three discrete positions 

with respect to the local vertical thereby providing appropriate stereo convergence 

angles. 

1.2.1.4 Ground Coverage. When the Gambit vehicle is being operated in the Search 

mode, the community interest lies in obtaining lower resolution photography over 

a larger ground area. The accessible area will depend on the altitude chosen and 

the distribution of obliquities selected by operational software. 

1.2. 2 Mission Orbits 

Gambit missions will have orbit parameters within the following envelope: 

1.2.3 

(1) Launch Site: Vandenberg Air Force Base, California 

(Air Force Western Test Range) 

(2) Inclination: Between 82° and 120° 

(3) Altitude: Between 68 nmi and 470 nmi 

Mission Duration 

Gambit missions may be planned for up to 120-days duration. In certain cases, 

contractually required orbital lifetime may be less than the planned mission 

duration. The duration of a given mission will be a complex function of hardware performance, consumables management, and the degree to which mission 

objectives have been met. 

1.3 System Description 

Hardware produced by various associate contractors is joined together and 

necessary software and supporting activities are coordinated under the overall 

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direction of the Secretary of the Air Force for Special Projects (SAFSP). 

1. 3.1 Hardware 

The aerospace vehicle consists of the boost vehicle and the photographic 

satellite vehicle (PSV). The aerospace vehicle is illustrated in Figure 1.1-1. 

The photographic satellite vehicle is made up of the photographic payload section/ 

dual platen Extended Altitude Capability (PPS/DP EAC) and the satellite control 

section (SCS). The PPS/DP EAC provides precision optics, a means of transporting 

and exposing a wide range of photographic materials, and provisions for ejecting 

two satellite re-entry vehicles (SRVs) in which the exposed film is spooled for 

return to earth. The SCS provides a stable platform, accomplishes the roll 

maneuvers of the PPS/DP EAC necessary for target acquisition, and includes a propulsion system for orbit maintenance and required orbit altitude changes. Power 

is supplied by the SCS through use of internal batteries and solar panels. Com-· 

mands and telemetry are routed through subsystems within the SCS for both the 

PPS/DP EAC and SCS. 

1. 3.2 Software 

Complex computer software is employed in many areas of the Gambit Reconnaissance 

System. Target requirements from the user community are correlated and examined 

by computer routines which generate target listings for a given mission. Operational software utilizes ephemeris data, weather data, and PSV status information to assemble a time-ordered list of targets which will achieve maximum 

Com uters at the 

assemble the rev-by-rev commands which direct PSV photographic activity, provide 

environmental control, and institute orbit-adjust maneuvers. These commands 

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Payload Adapter 

Sect] (PAS) ___ _ 

Agena (SCS) ____________ _ 

Adapter ' _L ______ _ 

l 

l 

I 

Boost Vehicle 

(Titan III B) 

BIF-008- W-C-019838-RH-80 

Photographic Payload Section/ 

Dual Platen Extended Altitude 

Capabi~t4PS/DP EAC) 

I 

I 

Satellite 

Control Section 

+ (SCS) 

Photographic 

Satellite 

Vehicle (PSV) 

! 

I 

' 

Figure 1.1-1. Gambit Aerospace Vehicle 

1.1-5 

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are transmitted to the PSV by one of the remote tracking stations (RTS), and 

stored in the on-board coITJTiand system memories for execution at the appropriate, 

predetermined time. 

also provides bookkeeping data and statistics to assist in 

mission planning and expendables management. Operational activities supported 

computers include prediction and reduction of telemetry data and estimates ·~---

of probable success (i.e., meeting of requirements) for each photograph. 

The targetting philosophy, as well as the orbital altitude, is different in a 

Search Mission from that in a Surveillance Mission. This results in major differences in many of the operational software routines and operational ground rules. 

1. 3. 3 Support Activities 

Activities in support of the Gambit Reconnaissance System are undertaken by all 

system contractors and various divisions of the United States Air Force. These 

activities include technical support at the launch site and at the STC, maintenance of remote tracking stations and the associated coITJnunications network, 

global weather monitoring and prediction, recovery support, and processing of 

the returned film. 

1.4 Mission Description 

The interaction of the various hardware and software subsystems during the 

operation of the PSV is shown in block form in Figure 1.1-2. 

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Execution 

Stereo 

Crab 

SRC 

Slit 

Camera 

Take-Ups 

Etc. 

Vehicle 

Clock 

Satellite Systems I-' 

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...... 

I 

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Ephemeris 

Predictions 

Target Lists: 

Location 

Priority 

Requirements 

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Generation 

Figure 1. 1-2. Gambit 

Sys 

Commands 

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Receiver 

Ground 

Station 

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Update Status 

Hardware 

Consumables 

Targets 

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BIF-OOS-W-C-019838-RH-80 

2.0 THE BIF-008 SUBSYSTEM 

As one of the associate contractors for the Gambit Reconnaissance System, BIF-008 

has undertaken design, manufacturing, test and administrative tasks in response 

to the terms of Contract (Revision I dated l January 1979). This 

section of the Photographic System Reference Handbook (PSRH) provides an overview 

of these tasks in the context of the Gambit system and sets the stage for the 

detailed design and analytical descriptions contained in subsequent sections. 

2.1 Mission 

The mission of the photographic payload section dual platen Extended Altitude 

Capability (PPS/DP EAC) is to provide a high-quality aerial image of a distant 

earth-scene, record this image on 9.5-inch and/or 5-inch wide photographic film,. 

and store the exposed film for controlled re-entry into the earth's atmosphere. 

2 .1.1 General Mission Description 

The photographic satellite vehicle (PSV) is launched from Space-Launch Complex 

4-West (SLC4-W) at Vandenberg Air Force Base by a Titan III B booster. At a 

specified point in the ascent trajectory, the main hatch of the PPS/DP EAC is 

ejected, thus exposing the viewport doors. After injection into a stable orbit 

having parameters commensurate with lifetime requirements, the PSV is ready to 

either begin photographic operations or be boosted to the high orbit associated 

with Search-type missions. 

A break strip between the satellite control section (SCS) and the PPS/DP EAC 

is actuated so that the PPS/DP EAC may be rotated about the vehicle X-axis for 

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pointing purposes while the SCS is maintained in a stable attitude with the Z-axis 

parallel to local vertical, the Y-axis perpendicular to local vertical, and the 

X-axis in the plane of the orbit; Refer to Figure 1.2-1 for an illustration of the 

PSV. Note that different coordinate systems are used in the PPS/DP EAC and SCS. 

The momentum induced by a PPS/DP EAC roll is counteracted by the payload adapter 

section (PAS) portion of the SCS. A flywheel having a calibrated moment of 

inertia is driven in a direction opposite to that of the PPS/DP EAC roll to provide 

momentum compensation. Since the magnitude of the momentum impulse initiating a 

PPS/DP EAC roll equals the oppositely directed impulse when the PPS/DP EAC is 

stopped at the desired roll angle, a software technique kno~n as Adaptive Bias 

may be used by Lockheed Missile and Space Company (LMSC) to decouple these impulses 

from the attitude control system, thereby reducing the expenditure of attitude 

control gas. 

2 .1.2 Photographic Modes of Operation 

Photography may be accomplished in any of the following modes. 

2.1.2.1 Strip. Strip photography is a continuous recording of the ground scene 

swept by the projection of the camera slit on the ground. 

2.1.2.2 Stereo Pair (Full or Half). A stereo pair consists of two photographs 

of the same ground scene, separated by a 17.3-degree (or 8.65-degree for half) 

stereo convergence angle. This is accomplished by rotating the stereo mirror 

about an axis parallel to the vehicle Y-axis (for zero crab) between the two 

photographs. (See Figures 1. 2-2 and 1. 2-3.) 

2.1.2.3 Stereo Triplet. A stereo triplet consists of three photographs of the 

same point separated by 8.65-degree stereo convergence angles. The stereo mirror 

1. 2-2 

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Payload Adapter Section 

(Rollj oint) 

Breaks trip 

• 

Viewport Door 

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and Space Co. 

(SCS) 

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Solar Panels 

Note: The axes are coincident 

(except for direction and 

alignment errors) for the 

zero roll case. 

Figure 1.2-1. The Photographic Satellite Vehicle 

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Figure 1.2-2. Stereo Pair Geometry 

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r---~Flight 

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-- -........ --......... ............... .............. 

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Path 

.............. "-Ground 

Track 

Figure 1.2-3. Half-Stereo Pair Geometry 

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is rotated about an axis parallel to the vehicle Y-axis (for zero crab) between 

each photograph. (See Figure 1.2-4.) 

2.1.2.4 Lateral Pair. A lateral pair consists of two photographs displaced 

from one another in the cross-track (perpendicular to vehicle-ground-track motion) 

direction. A rol~ maneuver is employed concurrently with the movement of the 

stereo mirror described in Section 2.1.2.2. (See Figure 1.2-5.) 

2.1.2.5 Lateral Triplet. A lateral triplet is similar to the stereo triplet 

described in Section 2.1.2.3 but with a roll maneuver between segments. Generally 

the segments of a lateral triplet will be displaced in the in-track direction also. 

2.1.2.6 Monoscopic (Short-Strip). A frame taken in the strip mode may be accomplished at any of the three available stereo positions (+8.65°, 0° or nadir, 

-8.65°). Those frames whose length is equivalent to one-half of a stereo pair 

may be termed "monoscopic" to differentiate from the longer "strip" frames. 

2.1.3 Image Motion Compensation 

Relative motion between the ground scene and the orbiting vehicle gives rise to 

a corresponding motion of the image. This image motion has both magnitude and 

direction and is, therefore, a vector quantity. The process of aligning this 

vector with the film velocity vector, in both magnitude and direction, is called 

image motion compensation (IMC). 

The apparent object (ground scene) velocity consists of two components: that 

resulting from the projection of the vehicle orbital motion on the ground, and 

that resulting from rotation of the earth. (See Figure 1.2-6.) The observed 

image motion arises from the resultant of these two components. 

1. 2-6 

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Figure 1.2-5. 

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/-Orbit Motion Component 

( (Southbound) 

~ 11....=-------

----------- Resultant 

/~ / ~ 

( 

./Earth Motion 

------------- Co mp on en t 

Orbit Motion Component 

(Northbound) 

Figure 1.2-6. Object Velocity Components 

1.2-9 

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2.1.3.1 Stereo Mirror Positioning. There are two types of mirror movement 

required for photography: 

(1) Stereo Movement - Three, servo-controlled positions of the 

stereo mirror about an axis parallel to the vehicle Y-axis 

(for zero crab) are provided to accomplish photography at 

the required stereo convergence angles. 

(2) Crab Movement - The rotation of the image vector for IMC 

is accomplished by placing the stereo mirror and yoke 

assembly in one of 23 discrete positions about an axis 

parallel to the vehicle X-axis. A total rotation of 

±3.85 degrees is required, resulting in positions being 

separated by 0.35 degree. 

Both movements of the stereo mirror are shown in Figure 1.2-7. Figure 1.2-8 

provides an illustration of the effect of a negative crab position. Since a 

non-zero crab displaces the line-of-sight (i.e., produces a roll effect equal in 

magnitude to the crab angle) as well as rotating the apparent motion vector, a 

roll maneuver must also be employed to ensure target centering. 

2.1.3.2 Film-Drive Speed. The magnitude of the required film-drive speed 

varies inversely to vehicle-to-target distance (slant range). Discrete film-drive 

speeds are available to match (within granularity limits) those required by a wide 

range of vehicle-target geometries. The analytic equations for crab angle, filmdrive speed, and roll angle for a given vehicle-target geometry are presented in 

Part 2, Sections 2 and 3. 

2.1.4 Exposure Control 

In the Gambit system, as in any strip camera, exposure time is controlled by the 

combination of film velocity past an exposure slit and the width of the slit. 

As described above, film-drive speed is uniquely determined by slant range 

considerations. Therefore, a variable width slit must be employed to provide for 

variations in exposure time needed to accommodate a wide range of film sensitivity 

1. 2-10 

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Stereo 

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+X Out Of Page 

Figure 1. 2-7. Mirror Movements for Stereo and IMC 

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~ ~Apparent Velocity 

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Coordinates 

gure 1.2-8. Illustratj f the Effect of Crab 

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and target luminance. In the dual platen system, different film types may be 

employed in each system, hence, independent variable exposure mechanisms are provided for each. Detailed analyses of exposure requirements and the means chosen 

to meet them are presented in Part 2, Section 6. 

2 .1.5 Mission Orbits 

The PPS/DP EAC is capable of fulfilling its mission while operating at target 

ranges between 206 and 710 nautical miles (nmi). Orbit inclination may range from 

82 degrees to 120 degrees, with perigee anywhere in the orbit path. The most 

probable inclination for EAC missions is that providing a sun-synchronous orbit 

(94.6° < i < 98.5°). 

2 .1.6 Mission Duration 

The operating lifetime of vehicles in the EAC configuration is 120 days. SRV 

No. 1 is normally returned at approximately mid-mission. SRV No. 2 is normally 

returned at mission completion. 

2 .1. 7 Films 

The PPS/DP EAC is capable of utilizing 9.5-inch wide and 5-inch wide black-andwhite or color materials between 0.0015-inch and 0.0039-inch in thickness (3o). 

Because of limitations imposed by mechanical clearances in some locations, films 

thicker than 0.0039-inch have a relatively high probability of januning and should, 

therefore, be avoided. 

1.2-13 

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2.2 Aerospace Flight Equipment-Modular Subsystems 

For the purposes of specification, manufacture, assembly, and initial testing, the 

BIF-008 subsystem is divided into three assembly modules. (See Figure 1. 2-9.) 

These modules are assembled into a photographic payload section dual platen 

Extended Altitude Capability (PPS/DP EAC) which represents the complete, deliverable photo-optical system. 

2.2.l Supply and Electronics Module (SEM) 

This cylindrical module contains the film supplies, film-handling components, and 

those electrical units associated with signal generation, power control, and 

commanding and telemetry functions. 

2.2.2 Camera Optics Module (COM) 

The COM is that portion of the PPS/DP EAC which contains the precision optical 

system including an aspheric primary mirror, a flat "stereo" mirror with a central 

opening, and a five-element Ross corrector. The dual-platen camera is also 

mounted in the COM. Commandable viewport doors are mounted to the COM and allow 

the entrance of energy from the scene. 

2.2.3 Dual Recovery Module (DRM) 

The dual recovery module contains those components associated with the mounting 

and on-orbit ejection of two satellite re-entry vehicles (SRVs) and an ejectable 

adapter (EA). Provision is also made in the DRM for enclosing the film path 

between the supply enclosure in the SEM and the SRVs. Sealing of film passages 

as necessary and redundant means for cutting film strands are also provided. 

1. 2-14 

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Figure 1. 2-9. oad Platen Extended Al Capability 

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BIF-008- W-C-019838-RH-80 

2.3 Aerospace Flight Equipment-Functional Subsystems 

For design, analytical, and testing purposes, the BIF-008 subsystem is divided 

into functional subsystems. These functional subsystems may lie in one or more 

modules. A listing of the subsystems, along with a brief description of the 

associated functions, is presented below. For a complete description of the 

functional subsystems, consult Part 3 of this handbook under the appropriate 

heading. 

2.3.1 External 

The external subsystem is made up of those components and structures which form 

the framework of the PPS/DP EAC and upon, or within, which all other components 

are mounted. 

2.3.2 Film Handling Subsystem and Camera 

This subsystem includes all components having to do with the storage of unexposed 

film of both sizes, the movement of the film to and through the camera past the 

exposure slit, and movement of the film to the take-up mechanisms in the recovery 

capsule. 

2.3.3 Optics Subsystem 

The optics subsystem includes all optical elements associated with the production 

of a high-quality aerial image at the focal plane. 

2.3.4 Servos 

This subsystem consists of the drive mechanisms which position the stereo mirror 

in both stereo and crab. 

1. 2-16 

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2.3.5 Viewport Door Subsystem 

Included in this subsystem are those motors, linkages, control circuits, and 

pyrotechnic devices required for the operation of the viewport doors. An ejectable cover protects the viewport doors until shortly before orbit injection. 

2.3.6 Focus Detection Subsystem 

The focus detection subsystem includes all those components which sense the 

location of the highest quality aerial image with respect to the platen and encode 

this information for transmission to the ground. 

2.3.7 Power Subsystem 

This subsystem controls and monitors the distribution of power throughout the 

PPS/DP EAC including main power, heater power, and pyro power. 

2.3.8 Thermal Control Subsystem 

The components in the thermal control subsystem include external paint patterns, 

vehicle heaters, and insulation blankets. Other factors influencing PPS/DP EAC 

_ temperature include thermal design techniques and such operational parameters as 

Beta angle* and perigee altitude. 

2.3.9 Command Subsystem 

The command subsystem includes those components necessary to receive commands and 

distribute them to the commanded units. 

*Beta angle is defined as the acute angle between the earth-sun line and the 

projection of that line on the orbit plane. 

1.2-17 

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2.3.10 Telemetry and Instrumentation Subsystem 

This subsystem includes the components necessary to sense conditions or events of 

interest and present this data to the telemetry system in such a fashion that it 

may be encoded and transmitted to the ground. 

2.3.11 Cutter/Sealer and Splicer Subsystem 

This subsystem deals with the on-orbit transfer of film from one path to another 

within the PPS/DP EAC. Also included are those components whose function is to 

redundantly cut film and/or seal film passages. 

2.3.12 Recovery Subsystem 

The recovery subsystem, the responsibility of an associate contractor, includes 

those components necessary to achieve a controlled re-entry into the earth's 

atmosphere while protecting the exposed film inside against degrading environments. 

Also provided are a parachute to slow the descent and recovery aids to assist the 

airborne recovery effort. 

2.4 Experimental Subsystems 

Experimental subsystems include those hardware systems or special requirements 

which are not directed toward the fulfillment of the Gambit mission objectives, 

but toward system development or extended capability. 

2.4.l S-1/Platen Reference Gage 

This experimental hardware provides outputs which should be correlated with 

structual shifts or distortions which may produce focus shifts. 

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1. 2-20 

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PART 2 ANALYSIS 

1.0 REFERENCE FRAMES 

Descriptions of the photographic satellite vehicle (PSV) have historically 

involved the use of various coordinate systems, where each system was developed 

for specific reasons, by different contractors. The two main coordinate systems, 

both approved for use by the Air Force in January of 1966, are depicted schematically in the frontispiece of each volume of the Photographic System Reference 

Handbook (PSRH) with the system in use throughout the handbook designated. Both 

are right-hand systems and differ only in that one is rotated 180 degrees about 

the Y axis, reversing the X and Z directions. Caution should be exercised in the 

use of documentation and equations when interfaces between contractors are crossed. 

1.1 Coordinate System Conventions 

Figure 2.1-1 depicts both the BIF-008 and the Lockheed Missiles and Space Company 

(LMSC) coordinate systems presently in use. All documentation produced by BIF-008 

uses the vehicle and orbit coordinate system No. 1. All operational software and 

most associate contractors use the LMSC vehicle and orbit coordinate system No. 2. 

Correspondence between organizations using different coordinate systems should 

clearly define the convention in use to prevent confusion. 

1.2 Vehicle and Orbit Coordinate Systems 

An orbit coordinate system (X, Y, Z) has the Z axis coincident with the orbit 

radius vector, the X axis in the plane of the orbit, and the Y axis to complete 

a right-handed system. The position of the vehicle relative to the orbit 

2.1-1 

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BIF-008 Vehicle 

Coordinate System 

~ 

+X 

Direction of 

Flight 

Roll, Crab, Obliquity - Positive, Left Wing Down 

Yaw - Positive, Nose Left 

Pitch - Positive, Nose Up 

Stereo Angle - Positive, Principal Ray Forward 

Crab Negative Southbound, Crab Positive Northbound 

Platen Motion - Platen Plus is toward the lens, 

shortening the image distance. 

This coordinate system is used on all BIF-008 

documentation, correspondence, and data package 

inputs. It is the system used throughout this 

document. 

Orbit Coordinate System (OCS) #1 

(BIF-008) 

Bl F-008- W-C-019838-RI-80. 

Software And LMSC 

-Z Vehicle Coordinate System 

+X 

+Z 

-X 

Direction 

of Flight 

Roll, Crab, Obliquity - Positive, Right Wing Down 

Yaw - Positive, Nose Right 

Pitch - Positive, Nose Up 

Stereo Angle - Positive, Principal Ray Forward 

Crab Negative Northbound, Crab Positive Southbound 

Platen Motion - Platen Plus is toward the lens, 

shortening the image distance. 

This coordinate system is used in all software. It 

is the system used by associate contractors. 

Orbit Coordinate System (OCS) #2 

(LMSC) 

Figure 2.1-1. BIF-008 And LMSC Coordinate Systems 

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Coordinates 

5-inch Image Plane 

Coordinates 

Folding Mirror 

5-inch Slit Ross Corrector 

Ground Scene 

Stereo Mirror 

Figure 2. 1-2. Simplified Schematic of Coordinate System Requirements 

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BIF-008 Coordinate System 

Stereo Angle - Positive, 

Principal Ray 

Forward 

Crab Negative Southbound 

Crab Positive Northbound 

BIF-008 Vehicle ! Coo.emm ""~ 

----.i._ 

Primary Mirror 

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coordinates is expressed in a vehicle coordinate system (X', Y', Z'). If there 

are no attitude displacements in yaw, pitch, and roll of the PPS/DP EAC, the 

(X', Y', Z') system is aligned with, and identical to, the orbit coordinate system, 

(X, Y, Z). Since attitude errors are normally small, and PPS/DP EAC roll can be 

as great as 45 degrees, the major difference between (X', Y' Z') and (X, Y, Z) is 

a rotation about the X axis. The (X, Y, Z) designation is often used to denote 

the vehicle coordinate system in applications where no confusion between the 

vehicle and orbit coordinate systems is anticipated. 

1.3 Image Plane and Ground Coordinate Systems 

A ground scene passing through the PPS/DP EAC optics is first reflected from the 

stereo mirror, then the primary mirror. The image then passes through the Ross 

corrector where it is focused on the 9-inch film plane. The incoming scene is 

also reflected by a folding mirror and comes to a focus on the 5-inch film plane. 

These relationships are graphically depicted in Figure 2.1-2. The X, Y, Z 

coordinates of the ground scene are translated into the image plane coordinates 

x, y, z by the optical system. More detailed information concerning the image 

plane coordinate systems and the film formats is provided in Part 2, Section 7. 

1.4 PPS/DP EAC Cylindrical Coordinate System 

A cylindrical coordinate system, shown in Figure 2.1-3, is frequently used to 

specify the location of instrumentation sensors and other components. The 

system in use for the PPS/DP EAC uses the parameters X, Rand 8 as follows: 

X = Position along the longitudinal (X) axis expressed 

as a station number (a number indicating the distance, 

in inches, from a predetermined zero point.) 

R = The distance from the vehicle centerline to the point 

of interest. 

8 = The angle around the longitudinal (X) axis looking toward 

the aft end of the vehicle, measured clockwise from the 

+Z axis to the point of interest on R. 

2.1-3 

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2.1-4 

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Sta "A" 

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~+X 

(8=90°) 

Point P = Sta "A", 8 Degrees 

Radius R 

This coordinate system is 

frequently used by BIF-008 to 

describe the location of a 

component. 

Figure 2 .1-3. PPS/DP EAC Cylindrical Coordinates 

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2.0 POINTING AND TARGET ACQUISITION 

The photographic satellite vehicle (PSV) is programmed to point and operate such 

that the centers of the camera slit areas projected onto the ground will intersect 

the target areas. Pointing errors, which cause the lines-of-sight (LOS) of the 

two camera systems to miss the target centers, result in miss-distances which have 

in-track (X) and cross-track (Y) components. 

In-track pointing errors, which include target locaton uncertainty, ephemeris 

uncertainty, clock granularity, and pointing uncertainty, can be accommodated by 

programming the camera systems to operate for an appropriately longer time than is 

required for the zero-error condition. 

Evaluation of the capabi!ity to accommodate cross-track pointing errors is more 

complex. The magnitude of the cross-track error which can be accommodated by a 

given swath, w, (which is fixed by the altitude, focal length, field angle of 

the lens, obliquity angle, and the stereo angle) is determined by random errors 

characteristic of individual frames, together with errors caused by relative 

motion of the earth, target location uncertainties, vehicle ephemeris uncertainties, and pointing uncertainties. 

2.1 Swath Width 

Swath width, making the "flat earth" assumption, is calculated according to the 

formula: 

w:::; 2h sin μ cos μ cos E 

(cos E cos ~ cos μ) 2 - (sin ~ sin μ) 2 

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where: w = swath width in nautical miles (nmi). This is the 

swath width swept out by the projection of the 

slit on the earth. 

h = altitude of vehicle in nmi 

L: = stereo mirror angle in degrees 

Q = obliquity angle in degrees 

]J = semifield angle in degrees 

The "flat earth" model yields swath widths to better than 2% of the altitude used 

up to 300 nmi, for all obliquity and stereo angles. The R-5 (175-inch focal 

length) lens provides a 2.90-degree field of view for the 9-inch system and a 

1.48-degree field of view for the 5-inch system. These correspond to a 4.55 nmi 

swath width for the 9-inch system for vertical photography from a 90 nmi altitude 

and a 2.32 nmi swath width for the 5-inch system under the same circumstances. 

For altitudes above 300 nmi, a more complex spherical earth model must be employed. 

Such a model was used to generate the values shown in Figures 2.2-1 and 2.2-2. 

2.2 5-Inch Pointing Biases 

Positioning of the 5-inch system folding mirror approximately 0.725 inch below 

(-Z direction) the optical axis causes the 5-inch line-of-sight (LOS) to be 

directed slightly differently than the 9-inch LOS. Because the cross-track bias 

is extremely small (less than 0.016 degree) and varies as a function of commanded 

crab angle, operational software makes no attempt to compensate for the crosstrack pointing error induced by the 5-inch system offset. 

The in-track pointing error caused by the 0.725-inch offset causes the 5-inch LOS 

to be directed approximately 0.237 degree aft of the 9-inch LOS. The simplest and 

most direct approach to compensating for this difference is shown in Figure 2.2-3. 

2.2-2 

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10 15 20 

Obliquity 

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• 

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Altitude 

[runi1 

+ Altitude 

60 450 ___ .-1· .. 

450 (nmi) 

+ 

SS 

. 400 

50 

45 

350 

40 

+ 

r-. 

..... 

! 35 

..c: 

.... 250 .,, 30 . ... 250 ... 

,.c:: 

.... 

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~ 200 

20 

150 150 

15 

100 

10 

75 

5 

0 

25 30 35 40 45 0 s ro 15 zo 25 30 ~5 40 ¢5 

(degrees) -+ Obliquity (degrees) ~ 

Figure 2. 2-1. 9 System Swath Width vs. Obliquity 

Approved for Release: 2017/02/14 C05097211 
30 

25 

20 

,-, 

•rl 

......, ~ N 

..c:: N .., I "ti 

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Approved for Release: 2017/02/14 C05097211 

20 25 30 35 40 45 

Obliquity (degrees) + 

Altitude 35 

(nmi) 

+ 

450 3Q 

400 25. 

350 

20 

,-, 

.... 

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150 

100 5 

75 

o. 

0 5 10 

Bl F-008- W-C-019838-RI-80. 

15 20 25 30 35 

Obliquity (degrees) + 

Figure 2.2-2. 5 System Swath Width vs. Obliquity 

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Altitude 

(nmi) 

+ 

450 

400 

350 

300 

250 

200 

150 

100 

75 
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W' 

T~T~ Bl F-008- W-C-019838-RI-80_ 

N 

. 

N 

I 

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,,...., 0.8 ..... 

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~::£ 

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0 0.2 H 

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o.o 

Image 

i 

0. 725 inch 

System Off set 

lit (9/5) = 0. 725 

vf 

vf "'_74_5 

a 

g = V ~t = 0.004136a 

nx 

High Mode Slant Range, 

240 320 400 480 560 

0 60 80 100 120 140 

Low Mode Slant Range, a 

a (nmi) 

640 

160 

(nmi) 

720 

180 

Motion Vector (Vf) 

800 

4.0 

3.2 C"l 

'1 

0 

.: ::r: ::l 

2 .4 c:;;· p.. 

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1.6 g-~ 

OQ 

~ 0.8 § 

..... 

o.o 

200 

\( 5-inch Line-of-Sight 

9-inch Line-of-Sight 

Target Centered 

9-inch Frame 

I 

I 

I 

I 

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I 

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Ground Offset, g 

Figure 2.2-3. Effect of Offset of 5-Inch System on Pointing 

Handle via BYEMAN 

C'.on tro 1 System On 1 y 

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All pointing and image motion compensation (IMC) parameters for a given target are 

calculated for the 9-inch system. The time required for the 9-inch strand to move 

0.725 inch, if it is moving at the preferred (unquantized) film-drive speed (FDS), 

is the same as the offset in acquisition time between the 9-inch and 5-inch 

systems. Operational software then adds this time offset to the 9-inch CAMERA ON 

and CAMERA OFF times to arrive at the required CAMERA ON and CAMERA OFF times for 

5-inch system photography of the same target. In equation form, 

where: vf is the 9-inch preferred FDS (unquantized) 

5 is the 5-inch system offset (nominally 0.725 inch) 

M is the time bias between 9-inch and 5-inch acquisition of 

the same point 

The 5-inch system ON and OFF commands are the only pointing parameters which are 

computed differently for the 9-inch and 5-inch systems. The only other targetting 

parameter which is treated differently for the two systems is the film-drive speed 

required for image motion compensation (IMC). The approach used to calculate the 

proper FDS is described in Part 2, Section 3.0. 

2.3 Target Acquisition 

For two reasons it is advantageous to aim the systems so that the targets to be 

photographed are near the centers of the fields-of-view of the lens. The first 

is to obtain highest resolution, since the optical quality factor (OQF) of the 

lens decreases as field angles increases. Secondly, placing the target near the 

2.2-6 

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center of the field-of-view increases the probability of covering the entire target 

area. (The center of field-of-view for the lens is not exactly at the center of 

the 9 x 5 film-image formats. The difference is about 0.04 inch for the 9-inch 

system and about 0.01 inch for the 5-inch system as shown in Part 3, Section 2.) 

Whether a target is actually acquired in the swath recorded when a camera system 

is commanded to operate is determined by such variables as vehicle location 

(ephemeris), target location, target size, and vehicle pointing descriptors. 

Since each of these parameters has an associated uncertainty, probablistic statements are most appropriate. Certain situations, however, lends themselves to a 

"geometric" analytic approach in which the expected, or nominal, value for one or 

more parameters is used. Both approaches are found in the following sections. 

2.3.1 Slant Range 

A knowledge of the calculation of slant range is helpful in many parts of this 

section. The complete equation for slant range is as follows: 

(1) a == (h + R) cos E cos [I 

2 2 2 2 ~ - [ (h + R) cos E cos [I - h - 2 Rh] 2 

where: a = slant range in nautical miles 

h vehicle nadir altitude in nautical miles 

R = radius of earth in nautical miles ("' 3,440 nmi) 

[I = obliquity angle in degrees 

E = stereo angle in degrees 

For altitudes less than approximately 150 nmi, this expression may be approximated 

by: 

2.2-7 

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(2) a = h sec l: sec S"l 

Figure 2.2-4 is a graph of the complete equation at selected values of obliquity. 

2.3.2 In-Track Acquisition 

In-track target acquisition is controlled by the time at which a camera system is 

turned ON for photography. Timing considerations, as they influence target acquisition, are examined below for both monoscopic and stereoscopic photography. Analyses 

are performed for the 9-inch system with an appropriate increment assumed to apply 

for the 5-inch system. (See Part 2, Section 2.2.) 

2.3.2.1 In-Track Monoscopic Acquisition. It is desired to turn the camera ON at 

such time as to cause the beginning of high-resolution photography to coincide with 

the leading edge of the target area. Uncertainties in timing requirements stem 

from target location uncertainty, vehicle location uncertainty, time uncertainty, 

and pointing uncertainty. These parameters may be described as follows: 

(j 

qt 

(j t 

0 tE 

0

tTL 

0 tCG 

= location uncertainty 

= time of arrival uncertainty 

= o/V where V is vehicle nadir 

nx nx 

= ephemeris uncertainty 

= 0 E/Vnx 

= target location uncertainty 

= 0TL/Vnx 

= clock granularity 

= 0.2 

-vTI = 0.057735 second 

= 

= 

pointing uncertainty (total PPS) 

op/Vnx 

2.2-8 

TOP SECRET G 

ground velocity 

Handle via BYEMAH 

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600 

500 

400 

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__ __j_ ____ _ 

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i-

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u-1 l 

1- -1 

l I 1 

I 1 -

200 

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~ -

! 

300 

Altitude, h (nmi) + 

I 

j 

-----. ' --~---

I 

i 

-1----------------+-----~­ ! 

1 j 

I 

400 500 

Figure 2.2-4. Slant Range vs. Altitude (Complete Equation) 

2.2-9 

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The total time of arrival uncertainty is the root-sum-squared of the four 

contributors. 

+ 

2 

0 tTL + 

2 

0 tCG + 

2 

0 tP 

Figure 2.2-5 illustrates the manner in which this parameter is applied. N is the 

pad multiplier which varies with target priority code. To determine the system 

time at which the camera should be turned ON, the software computes the time of 

target center, and subtracts one-half of the time required to traverse the target. 

A time equal to NcrtT is subtracted, resulting in the time at which high-resolution 

performance is desired. The data base value for camera start-up is subtracted, 

yielding the time at which the camera is to be turned ON. This technique results 

in a certain probability that high-resolution photography will be achieved before 

the line-of-sight (LOS) crosses the target's leading edge. This probability will 

vary from target-to-target depending on the value selected for N. The relation-. 

ship between the value chosen for N and the probability that high-resolution 

photography will be achieved before the LOS crosses the target's leading edge 

is shown in Figure 2.2-6. 

2.3.2.2 In-Track Stereoscopic Acquisition. The following discussion refers to 

the terminology presented in Figure 2.2-7. 

The time between stereo looks (T7 - T2 ) at a target is approximately: 

where: h = 

L = 

Q = 

v = nx 

= 2 h tan L: sec Q 

v 

nx 

altitude in nautical miles 

stereo angle (8. 65 degrees) 

obliquity in degrees, and 

in-track vehicle nadir velocity. 

2.2-10 

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Target 

Na Nu 

Na tT 

t2 

Figure 2. 2-S. 

BlF-008- W-C-019838-RI-80 

t 0 = Computed Time For 

Target Center. 

Computed Time For 

Target Leading Edge . 

t 2 = Earliest Time For 

Target Leading Edi)> 

With Probability I~ 

(See Figure 2.2-6:~ CD 

t 3 = Time For Camera c. --;i...j -

0 ' ON Command . ..., 

;:a 

t 4 = Target Trailing E<*e Q) 

ts = Latest Time For ~ 

Target Trailing Ecl\Je; 

Time For Camera 01~ 

Command. --

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.g 0.7..&-_:..__:.._-1-~~-l-,IL~~l--_:.._--1_:.._~---l-~~-+~~--+-~~-+-~~--+-~~-+-~~-+--~---+ H 

p., 

0 0.5 1.0 1.5 2.0 2.5 3.0 

Ch..osen Value For "N" 

Figure 2.2-6. Probability of High Resolution Before Target Acquisition 

2.2-12 

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T0 = Camera ON, First Frame of Stereo Pair T6 Film Begins To Move 

T = Film Begins To ~1ove 

1 

T~ = Film At Commanded Speed 

T7 = Film At Commanded Speed, lffi 

' Photography Begins, Mirror Stopped 

.:.. (Beginning of Ifigh-Resolution Photography) T8 = Camera OFF, Second Frame, HR Ends 

T 3 = Camera OFF, HR Ends, Mirror ~love Begins T9 = Film Stopped 

T4 = Film Stopped 

T 5 = Camera ON, Second Frame 

'to 1'1 1'2 T~ T4 Ts T6 T 

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0

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B ...._,~l.Jrid ' 

~ h·a_Ck 

Figure 2.2-7 Stereoscopic Acquisition 

--

Flight Track 

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The time allocated between the end of high-resolution photography in the first 

frame and the start of high-resolution photography in the second frame, T7 - T3, 

is a minimum of three (3) seconds based on the specified stereo mirror transition time. The maximum duration of high-resolution stereo photography is 

therefore (using the flat earth model): 

and 

= 2h tan L: sec st 

v 

nx 

- 3.0 seconds 

AB = 2 h tan I sec st - 3 V nmi 

nx 

where: AB is the maximum swath length on the ground for which 

stereo overlap is obtainable in high resolution. 

To determine the maximum target length that can be acquired with a given 

probability, the in-track, root-sum-square contribution, lX, of the pointingerror contributors in Table 2.2-3 (PSV Pointing Error Budget) or Table 2.2-4 

(PPS/DP Pointing Error Contributors) must be computed in a similar ma:iner. 

Allowance must be made for the 0.2-second granularity in the commands to 

start and stop the camera. The length of target, D, which can be acquired 

while photographing AB is therefore: 

D = AB - 2lX - 0.4 V 

nx 

= [2h tan L: sec st - 26X - 3,4 V ] nx 

The probability of acquiring high-resolution stereo photography for D nautical 

miles, using the worst-case condition of 0.4-second granularity, is better than 

95 percent if 95-percentile values are used for computing lX. 

2.2-14 

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For EAC altitudes, it is necessary to invoke the spherical earth model. We 

note that in the previous equations for T

3 - T2 and AB that 2h tan E sec~ 

may be written as 2a sin E. A good approximation will result if the value 

for a calculated by the spherical earth model is used and V is taken 

nx 

to be the circular orbit ground velocity, V 

ex 

Figure 2.2-8 shows camera ON time as a function of altitude with interframe time 

as a parameter for in-track stereo coverage. Obliquities of zero and 45 degrees 

are shown. 

To find the in-track stereo coverage, in nautical miles, the camera ON time 

determined from Figure 2.2-8 must be multiplied by the V value from 

ex 

Figure 2.3-2. 

Example: 

Answer: 

ExamEle: 

Answer: 

An EAC vehicle is in a 360 nmi circular orbit. It is desired to take 

a stereo pair at 0-degree obliquity and a 10-second interframe time. 

What is the first frame ON time? What is the in-track ground swath? 

21.1 seconds 

77.6 nmi 

What are the 

37.2 seconds 

136.8 nmi 

corresponding figures for 45-degree 

2. 2-15 

TO II' SECRET G 

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obliquity? 

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Interframe Time (Sec.) Interframe Time (Sec.) 

40 30 20 10 3.0 60 so 40 30 20 

500 

450 

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ii ii i i !. I I I ii I !tr I . I I 1111 

0 5 10 15 20 25 30 35 40 0 5 10 15 20 25 30 35 40 45 so 

Camera ON Time, First Frame (Sec.) Camera ON Time, First Frame (Sec.) 

Figure 2.2-8. In-Track Stereo Coverage 

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2.3.3 Cross-Track Target Acquisition 

2.3.3.1 Cross-Track Monoscopic Acquisition. The LOS of the PPS/DP EAC is 

programmed to intersect the center of the target. Because of the errors 

in pointing, swath-width limitations, target location uncertainty, vehicle 

ephemeris uncertainty, earth rotation, and command granularity, the probability of obtaining the entire target within a given swath-width varies 

depending on target size and orbit parameters. Figure 2.2-9 shows the 

target-swath relationship used in deriving the appropriate probabilistic 

statements. 

The total time-of-arrival uncertainty, as developed in section 2.3.2.1, is: 

0 tT = + 2 

0

tTL + 

2 

0 tCG + 

2 

0

tP 

The cross-track velocity, V y' acting over this time of arrival uncertainty, 

results in a cross-track position uncertainty, 0 y(t) 

Cross-track velocity is calculated as follows: 

VE velocity of a point on the earth due to rotation 

v E 

where: RE 

RE 

8 

E 

and nE 

RE (8) cos 8 nE 

(8) = radius of earth at 8 Latitude 

(8) RE [ 2 T = 1 - E 

2 2 1 - E COS 8 

Latitude of interest 

ellipticity of earth 

0.08181333 

= rotation rate of earth 

= 7. 292115855 x 10-5 rad/sec 

2.2-17 

IO P SECRET G 

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w 

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"" 

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Figure 2.2-9. 

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Bl F-008- W-C-019838- RI-80 

The apparent cross-track velocity is: 

v = VE cos AZ y 

where: Az . -1[ lcos ii J sin cos e 

and, i = inclination of orbit plane 

The cross-track position uncertainty arising from earth rotation and timeof-arrival uncertainty is then: 

where: 

oy (t) 

oy(t) 

v 

y 

cross-track position uncertainty 

otT = time-of-arrival uncertainty 

v 

y 

cross track velocity 

A cross-track position uncertainty also arises from the target location uncertainty in the cross-track direction. This is independent of the in-track 

location uncertainty used to develop the time-of-arrival uncertainty, otT , 

and is equal to the target location uncertainty, oTL The total crosstrack position uncertainty is the root-sum-squared of the two contributors: 

oy (T) =-..Jo~ (t) + 2 

0

TL 

Examination of Figure 2.2-9 reveals that 

w TD 

2 - y- represents the largest 

deviation of the LOS for which the target remains completely wit>.in the 

swath. Since oy(T) 

w represents the one-sigma uncertainty, the ratio of 2 

to oy(T) is related to the probability of the target being completely 

encompassed in the swath. 

2.2-19 

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The associated probability may be found by reference to Figure 2.2-10. 

2.3.3.2 Cross-Track Stereoscopic Acquisition. Each separate frame, regardless of whether it is monoscopic or stereoscopic, receives the same attention 

with respect to aiming. Therefore, the second frame of a stereo pair has 

the same probability of acquiring the target as the first frame. Hence, 

the probability of acquiring a target in stereo is the square of the probability of acquiring it in a monoscopic mode. 

2.4 Pointing Error Analysis 

The pointing error for a given frame is a complex function of the pointing 

parameters associated with the frame, and the probabalistic errors inherent 

in each pointing parameter. 

2.4.1 Pointing Error Contributors 

Contributors to pointing error are listed in Table 2.2-1, with equations for 

determining the in-track and cross-track components of pointing error for 

each in nautical miles on the ground. The symbols used in these equations 

are listed in Table 2.2-2. Total pointing error at any given time is the 

vector sum of all 13 contributors. Note that some of the terms in this sum 

would tend to cancel, depending on the sign of such parameters as obliquity 

angle and stereo angle. (Note: Sign conventions are as shown in Figure 2.1-1.) 

2.2-20 

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··1 

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i -+---- ·~l~·--······ll--~--4--·--·--+~---i-'-----4--~' 1-----i 

----j--.~·-t-- I . . -! I i , _____ I. 

. .. ! . . . . . ' . . j I I I ! 

M'---r---r-+-r--r-t--r---.--t-.---.--r--,r--...+-r--,--r---r--r-;,--1r--..--+l-.c--.1.-t-i· .-. ·-+-~~1· h-.-··-i 

0 1,0 2.0 3.0 

Ratio "R" 

Figure 2.2-10, Probability of Target Within Swath 

2.2-21 

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1. 

2. 

3. 

4. 

s. 

6. 

7. 

8. 

9. 

10. 

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TABLE 2.2-1 

POINTING ERROR CONTRIBUTORS 

Contributor Equations 

Pitch attitude and alignment xl -h (1 + 

2 2 tan Z sec 

yl = h (tan rt tan z sec 

Roll attitude and alignment x - 2 -h (tan rt tan z sec 

y2 h 2 (sec rt) A 

x 

Yaw attitude and alignment x = -h (tan rt) A 

3 z 

y3 -h (tan Z sec rt) A 

z 

Stereo servo x4 -2h (L'.Z sec rt 2 

= sec 

Y4 0 

Crab servo XS -h (tan rt tan Z sec 

Ys h 2 

= (sec rt) E (S) 

Altitude x6 = (-tan Z sec rt) L'ih 

y6 ::: L'ih (tan rt) 

Discreteness of roll step x7 = -h (tan Q tan Z sec 

y7 h 2 

= (sec rt) E (7) 

Discreteness of crab step XS -h (tan rt tan Z sec 

Ys h (sec 2 = rt) E (8) 

Target position X9 E (9) 

y9 E (9) 

Vehicle nadir position XlO E (10) 

(in-track) 

ylO = 0 

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rt) 

Q) 

Q) 

Z) 

rt) 

rt) 

rt) 

Applicable 

Graphs 

A 2. 2-11 

y 

A 2.2-12 

y 

A 2.2.12 

x 

2. 2-13 

2.2-14 

2.2-15 

2.2-16 

E (S) 2.2-12 

2.2-13 

2.2-15 

2.2-14 

E (7) 2.2-12 

2. 2-13 

E ( 8) 2.2-12 

2.2-13 

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12. 

13. 

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TABLE 2.2-1 (Continued) 

Contributor Equations 

Vehicle nadir position x11 :::: 0 

(cross-track) 

Stereo mirror 

(stereo) 

Stereo mirror 

(crab) 

alignment 

alignment 

y11 :::: E (11) 

x12 :::: -2h ( sec Q sec 

y12 0 

x13 -h (tan Q tan l: 

2 

y13 == h (sec Q) 

2.2-23 

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M 

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2 I) M 

s 

sec rl) 

Applicable 

Graphs 

2.2-16 

M 2.2-12 

c 

2.2-13 

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SYMBOL 

A 

x 

A 

y 

A 

z 

M 

c 

M 

s 

h 

x. 

l 

Y. 

l 

E(S) 

E (7) 

E (8) 

E(9) 

E(lO) 

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TABLE 2.2-2 

SYMBOLS USED IN POINTING ERROR EQUATIONS 

DEFINITION 

Combined roll attitude and alignment 

errors 

Combined pitch attitude and alignment 

errors 

Combined yaw attitude and alignment 

errors 

Angular error in stereo mirror crab 

alignment 

Angular error in stereo mirror stereo 

alignment 

Altitude above geoid 

In-track aiming error due to ith 

contributor 

Cross-track aiming error due to ith 

contributor 

Crab servo error 

Discreteness of roll step 

Discreteness of crab step 

Target position error 

Vehicle nadir position error (in-track) 

2.2-24 

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UNITS 

Radians 

Radians 

Radians 

Radians 

Radians 

Nautical mil es 

Nautical miles 

Nautical mi 1 es 

Radians 

Radians 

Radians 

Nautical miles 

Nautical miles 

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SYMBOL 

E (11) 

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TABLE 2.2-2 (Continued) 

DEFINITION 

Vehicle nadir position error (crosstrack) 

Uncertainty in knowledge of altitude 

Uncertainty in stereo mirror angle due 

to positioning mechanism errors 

Stereo angle of the line of sight 

Obliquity angle of the line-of-sight 

2.2-25 

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UNITS 

Nautical miles 

Nautical miles 

Radians 

Degrees 

Degrees 

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The pointing error equations presented in Table 2.2-1 are plotted in Figures 2.2-11 

through 2.2-16 for conventional (Surveillance) altitudes. The figures containing the graphs appropriate to each contributor are identified in the column at the 

right of Table 2.2-1. The 11X" printed in the small matrix in each figure indicates 

the function covered by that figure. For example, Figure 2.2-11 can be used for 

finding the in-track component of pointing error due to pitch attitude and alignment (X1). An example is given below to explain the use of these graphs. 

Example: Find the approximate range in pointing error at an 80 nmi altitude 

due to a crab servo error of -0.01 radian. 

Step 1: Figure 2.2-12 is used for finding the in-track component. 

X5. Place a straightedge on the graph parallel to the 

lines labeled 206 or 65 (these are the plots of the 

function at an altitude of 206 nmi and 65 nmi respectively). 

The straightedge should be positioned to intersect the 

altitude scale at 80. 

Step 2: The straightedge now represents the function for an obliquity 

of 45 degrees and stereo angle of ±8.65 degrees and is seen 

to intersect the 0.01 radian ordinate at approximately 0.17 

nmi on the pointing error scale. 

Step 3: To find the pointing error at other obliquity angles, slide 

the straightedge down and to the right along the obliquity 

scale, maintaining the parallel relationship with the 

plotted functions. The marks on the obliquity scale represent the lateral distance to move the straightedge from a 

reference obliquity to some other obliquity angle. For 

example, for an obliquity of 5 degrees the straightedge is 

moved from its position in step 2 down along the obliquity 

scale line a distance equal to that between the 45-degree 

and 5-degree marks. This is seen to result in pointing 

error of approximately 0.011 nmi for the 5-degree case. As 

indicated in the note, the pointing error is zero for zero 

obliquity, and zero for all obliquities at the zero stereo 

angle position. 

Step 4: Figure 2.2-13 is used for finding the cross-track component, 

Y5 . As before, place a straightedge on the graph parallel 

to the plotted lines and intersecting the altitude scale at 

80 nrni. This represents the function for an obliquity of 

45 degrees and all stereo angles, and is seen to intersect 

the 0.01 radian ordinate at approximately 1.6 nmi on the 

pointing error scale. 

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0 • l-1-_..:_-~ 

0.001 

0.1 

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5 6 7 8 9 10 11 1 z 13 

____ _,_Range for -45° ,:; rt ,:; 45° 

l: = o, l: = ±8,65° __ _ 

+--+--+---··,--------.Altitude scale for rt 

0.01 

Radians 

l l: 

45° 

8,65° 

Contributor (Degrees) 1.0 5 

Figure 2.2-11. Pointing Error vs Error Contributor 

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0,001 0.01 

Radians 

0.1 1. 0 

Error Contributor (Degrees) 

Figure 2.2-12. Pointing Error vs Contributor 

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,-., 

•.-1 

s 

i:: .__, 

H 

0 

H 

H 

[..l.J 1.0 

bD 

i:: 

·.-1 

.μ 

i:: 

•.-1 

0 

P-. 

0.1 

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-r-:-----cr---r-7"-h~!· _i ,~~---

stereo 

Legend: 0o 

22.5° 

45° 

r-:-~~ 

----~--__,,.·~-.. r 

i 

i 

·] ' I i ! 

' 

Altitude scale is for n = 45° 

Obliquity scale is for h = 206 nmi . i --· -~--

0.01 

Contributor (Radians) 

Contributor (Degrees) 1. 0 

Figure 2.2-13. Pointing Error vs Contributor 

2.2-29 

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----1-- I I 

0 .. 1 

5.0 

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0 · 6 -i--_-__ -_-_~,_-__ -1-.. --i-.+-3-··-4-··---~5----5----7--~-L-8-9--1-o•l---~+----+-----!---~---'-~-

In- 1 X 1 ~+-----1------"--·---· 

Cross- Ix I 

Track 

l 

-~-------· 

t .. " ___ j -- _l __ . 

0.2-·~· --~-~-~-

0 

0 0,10 0.20 0.30 0.40 

Error Parameter (~h or A h, nmi) z 

0.50 

l 

0.60 

Figure 2.2-14. Error Parameter vs Pointing Error 

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H 

0 

0.1 I 

c 

~ 0.01 w 

b/j 

i::: .,..., 

.μ 

i::: 

.,..., 

0 

0.. 

0 . 001 "*---'--

0. 0 l 

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--+---+---+---+----+--+1--r--.. ··- - --·· -· 

0,1 

Error Parameter (~h or A h, nmi) z 

Figure 2.2-15. Error Parameter vs Pointing Error 

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i -1 

I 

1 

±8.65°"'.---

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0.1 

c 

H 

0 

H 

1-lJ H O.Ol"'"'-'.:--:-=:=-=-o!~~ .• 

c.o 

i::: 

...... 

+-' 

~ 

...... 

0 

0... 

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I. 

--r---r--+---t-~' -· __ .,.'. 

! l ; : --l.·---+--+---1-~~~·; 

i ! 

1. 

--+--..;--.--.,.---+--+--·-t: ~J .. .i... .. 

•.. :::1~~·~--~~-~~~f~~J ·Altitude scale is for 

-

I 

-1 

st = 4S + I ! • t . ! i 

2: 

h 

0 t· _J .• ' .; .. i 

206 nmif-t--1 

L = 0 l l I 

0.0014--'---'--'-~-+~-'-~+--'--+----1 

0.00001 

-- Range of change 2: 0 to f \ i 

2: = 8.65° 

0.0001 

Contributor (Radians) 

0.001 

0.001 0.01 

Contributor (Degrees) 

Figure 2.2-16. Pointing Error vs Contributor 

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Step 5: To find the pointing error at other obliquity angles, 

slide the straightedge down and to the right along 

the obliquity scale, maintaining the parallel relationship with the plotted functions. The marks on the 

obliquity scale represent the lateral distance to move 

the straightedge from a reference obliquity to some 

other obliquity angle. For example, for an obliquity 

of 20 degrees the straightedge is moved from its 

position in step 4 down along the obliquity scale line 

a distance equal to that between the 45-degree and 

20-degree marks. This is seen to result in a pointing 

error of approximately 1.0 nmi for the 20-degree case. 

Step 6: If the sign of the error is desired, inspection of the 

terms of the equations can be made, remembering that the 

tangent of a negative angle of 90 degrees or less is 

negative, and the secant of a negative angle of 90 

degrees or less is positive. 

Figures 2.2-14 and 2.2-15 are entered with the uncertainty in altitude, 6h, in 

nautical miles or with the product of the combined yaw attitude and alignment 

errors, A2 , and the altitude. For the latter case, altitude is in nautical miles 

and the yaw error in radians. 

The pointing errors derived from the plots given may be extended to EAC altitude 

ranges through scaling by slant range. Figure 2.2-17 is provided to assist the 

reader in this scaling. To estimate pointing errors for the EAC operating range, 

(1) find the pointing error, in nautical miles, from the appropriate figure 

using an altitude of 200 nmi, an obliquity of 30 degrees and a stereo angle of 

8.65 degrees. Next, (2) find the slant range for the case in question from 

either the slant-range equation, (1), page 2.2-7, or Figure 2.2-4. Then (3) enter 

Figure 2.2-17 at the appropriate slant-range and obtain multiplier. Finally, 

(4) multiply the multiplier obtained above by the pointing error derived in step 

one (1). 

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2.8 

2.6 

t 

!-< 2.4 (L) 

•.-i 

..-i 

0.. 

•.-i 

+J 2.2 ..-i 

::s 

:::?: 

!-< 

0 2.0 !-< 

!-< 

P-l 

CJ) 1.8 ~ 

•.-i 

+J 

~ 

•.-i 

0 

P.. 1.6 

1.4 

1.2 

1. 0 

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BIF-008-W-C-019838-RI-80 

200 300 400 500 600 700 

Slant Range (nrni) + 

Figure 2.2-17. Pointing Error Multiplier vs. Slant Range 

(Based on 200 nmi altitude, ~ = 30°, E = 8.65°) 

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2.4.2 Pointing Error Limits 

Sources of PSV pointing error are summarized in Tables 2.2-3 and 2.2-4. The 

tolerances, distributions, 95-percent bias error and 95/95-percent error are 

taken from values in the General System Specification. The pointing errors, 

(95-percent bias error and 95/95-percent error) were calculated using the 

criteria of Appendix E of this document for combining means and standard 

deviations. Note that Table 2.2-4 combines errors for the PSV and that Table 

2.2-3 details those contributors allocated and attributable to the PPS/DP EAC. 

Cross-track pointing errors are shown for two different conditions: 8.65-degree 

stereo angle, 0-degree obliquity and at 90 nmi or 65 nmi altitude. 

The values in these tables reflect an error reducing software technique called 

adaptive bias. Adaptive biasing corrects the pointing for predictable error 

contributors such as thermal hotdogging and roll attitude. (It is not intended 

to fully explain adaptive biasing here, as it is a LMSC responsibility, but 

merely to point out that errors reported herein do take into consideration this 

adaptive biasing capability.) 

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TABLE 2.2-3 

PPS/DP EAC POINTING ERROR CONTRIBUTORS* 

Standard Deviation 

Between Within 95% 95%/95% 

Contributor Tolerance Distribution Mission Mission Bias Error Error 

)> Roll Attitude and Alignment 0.170 0,176 )> 

"O "O "O "O ..., Between Mission: ..., 0 0 

< < CD LOS to mechanical ± 0.018 Normal 0,006 o.ooo CD c. c. 

-

0 interface -0 ..., Crab Positioning ± 0.15 Uniform 0.087 0.000 ..., ;:a ;:a CD CD 

CD Within Mission: CD Q) N Q) 

CJ) . Crab LOS reproducibility ± 0.010 Normal 0. 000 0.0033 CJ) 

CD N CD 

I\) I I\) Vl 0 °' Pitch Attitude and.Alignment 0.170 0.176 0 ...... ...... -J -J 

--

0 Between Mission: --0 I\) I\) 

-- LOS to mechanical ± 0.019 0.006 -- ...... Normal 0.000 ...... .j:>. .j:>. 

() interface () 

0 Stereo Positioning ± 0.15 Uniform 0.087 0.000 0 0'1 0'1 0 0 co Within Mission: co -J -J 

I\) I\) 

Stereo LOS reproducibility ± 0.010 Normal 0.000 0.0033 

Yaw Attitude and Alignment 0.012 0.012 

Between Mission: 

LOS to mechanical ± 0.019 Normal 0.006 0,000 

interface 

* All figures are in degrees. 

Graph does not include hotdog errors and crab granularity which are included in SCS budget. 

Handle vi a BYEMAN 

l System 
)> 

"O 

"O 

..., 

0 

< CD 

c. 

-

0 

..., 

;:a 

CD 

CD 

Q) 

CJ) 

CD 

I\) 

0 

...... 

-J 

--

0 

I\) 

--...... 

.j:>. 

() 

0 

0'1 

0 

co 

-J 

I\) 

G 

BIF-008- W-C-019838-RI-80 

TABLE 2.2-4 

PSV POINTING ERROR BUDGET* 

PSV Contributors Mean Between Mission Within Mission 95% 

95%/95% 

Roll : 

0.011 0.060 0.167 0 .119 0,395 

PPS/DP 0.000 0 087 0 003 0.170 0 176 -- Total 0.011 0.106 0.167 0.209 0.489 

0.033 0.086 0.180 

PPS/DP 0 004 0 087 0 170 N 

. Total 0.037 0.122 0.099 0.251 0.414 •N 

I 

Vl 

'1 

0.026 0.074 0.111 0,154 0.336 

PPS/DP 0 044 0.009 0 015 0.059 0.083 -- -- -- Total 0.070 0.075 0.112 0.194 0.379 

Target Location Uncertainty** (One o value, nmi) 0.214 

Ephemeris Uncertainty** (0ne o value, mni) 0.083 

* 

** 

With adaptive bias and software (includes residual hotdog error assuming 75% correction) 

Best estimate supplied by LMSC as of 12/75. 

Note: All figures are in degrees except where otherwise noted. 

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95%/95% Error (nmi), 

Cross-Track 

~ = 8.65°, n = 0°, x = 0° 

h 90 nmi h = 400 nmi 

0.678 nmi 3.349 nmi 

0.000 nmi 0.000 nmi 

0.091 nmi 0.450 nmi 

~ET G 

)> 

"O 

"O 

..., 

0 

< CD 

c. 

-

0 

..., 

;:a 

CD 

CD 

Q) 

CJ) 

CD 

.. 

I\) 

0 

...... 

-J 

--

0 

I\) 

--...... 

.j:>. 

() 

0 

0'1 

0 

co 

-J 

I\) 
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2-2-38 

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3.0 IMAGE MOTION COMPENSATION (IMC) 

The 9 x 5 photographic payload section/dual platen extended altitude capability 

(PPS/DP EAC) employs two means which attempt to eliminate relative image motion 

during photography. First, the stereo mirror is positioned (within granularity 

limits) to a preferred crab angle,* x, which has the effect of reducing crosstrack axial image velocity, s , to near zero (neglecting perturbations). Yo 

Second, the photographic film is driven (within granularity limits) at a preferred velocity, Vf' which matches the in-track axial image velocity, s , for 

Xo 

the crabbed system. The equations for crab angle and film velocity are discussed in this section. 

A comprehensive document on image motion compensation for a photographic system 

employing a two-gimballed mirror was prepared in 1971 for this program. This 

document derived the transformation equations (in matrix form) which describe 

the image vector of the 9 x 5 photographic system. Due to the complexity and 

magnitude of this derivation, no attempt is made to reproduce it here and 

interested readers are referred to BIF-008 document K-085772-RH, dated 9-3-71, 

for the detailed analysis. Image motion compensation equations discussed 

herein are reproduced from this referenced document. 

*Crab about roll axis only. 

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3.1 Crab 

3.1.1 Nine-Inch System 

Directional alignment of the image velocity vector with the film-drive velocity vector is achieved by rotating the stereo mirror about the roll (X) 

axis. Because of the orientation of the stereo mirror at 45 degrees (±8.65 

degrees) to the X-axis, a rotation with respect to the platen axis also 

occurs. This rotation of the stereo mirror relative to the platen axis, 

termed "crabbing," produces the desired rotation of the image velocity 

vector and a concomitant deviation of the line-of-sight in the cross-track 

direction (see Part 2, Section 2). Crabbing is performed as a set-up 

operation prior to photography. 

Selection of the crab angle for each frame is based on both image velocity 

vector alignment and pointing considerations. The obliquity angle (~) is 

equal to the sum of the vehicle roll angle (~ ) and the crab angle (X) for 

v 

a crab-about-roll system (see Figure 2.3-1). 

Figure 2.3-1. Roll, Crab and Obliquity 

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Twenty-three different crab angles are selectable by command,* These crab 

angles range from -3.85 degrees to +3,85 degrees and are spaced at 0.35-

degree intervals. This range covers worst cases (encountered on most probable 

missions) which occur at or near the equator where the earth rotation velocity is highest. In general, for southbound photography, negative crab 

angles (BIF-008 sign convention) are required, for northbound passes, positive 

angles are necessary. Pointing considerations for photographs at higher 

latitudes may dictate an occasional reversal of this generality. 

The equation for the crab angle is: 

x = 

where: 

-1 [ tan Vx 

v 

x 

v 

y 

v 

z 

cos 

v cos fl + v sin fl 

cos~ y z 

= + v 

y 

sin 2: sin fl - v 

z 

sin = 

in-track component of vehicle-target relative 

velocity measured in the target plane, nmi/sec 

cross-track component of vehicle-target relative 

velocity measured in the target plane, nmi/sec 

vertical component of vehicle-target relative 

velocity measured with respect to the target 

plane, nmi/sec 

2: = stereo angle, degrees 

fl obliquity angle, degrees 

*These angles include eleven in each direction and zero. Each commanded angle 

(except for the extremes) actually results in a slightly different position 

depending on the direction from which the position is approached. Crab step 

selection software is configured to make use of this effect to optimize crab 

angle whenever time permits. 

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3.1.2 Five-Inch System 

Differences in crab angle between the nine-inch system and the five-inch system 

are negligible and therefore the crab angle calculated for the nine-inch system 

is used for the five-inch system. 

3.2. Film-Drive Speed 

3.2.1 Nine-Inch System 

Film-drive speed (FDS) is determined from the following equation: 

where: 

F 

a 

Slant range is 

a 

where: h 

RE 

z 

Q 

= 

= 

= 

F [V cos Z cos X 

x 

a 

+ V (sin x cos Q + sin Z cos x sin n) y 

+ V (sin x sin n 

z 

sin Z cos x cos Q)] 

film velocity, inches per second (in a plane parallel 

to the Z-Y plane and tangent to the 9-inch platen) 

lens focal length, inches 

slant range, nmi. 

determined from the following equation: 

= 

= 

= 

= 

= 

(h + RE) cos z cos n 

[Ch + R )2 2 2 h2 cos z cos n E 

height of vehicle over assumed spherical 

spherical earth radius (3438 .15 nmi.) 

stereo angle 

obliquity angle 

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A good first approximation for film velocity is: 

vf = 

where: F = 

a = 

I 

v 

ex 

The parameter v 

ex 

v ::: 

ex 

In which: 

V F cos I, 

ex a 

focal length, inches 

slant range, nmi. 

stereo angle, degrees 

in-track ground velocity of a satellite in circular 

orbit, nmi/sec 

may be calculated from: 

~ 

RE e = RE [ μ 

h)3] (RE + 

RE mean earth radius, 3438.15 nmi. 

h = 

= 

e = 

vehicle altitude over the geoid 

gravitational parameter, 62750.59172 (nmi) 3 

2 

sec 

angular velocity of a vector from earth center to 

the vehicle 

Figure 2.3-2 shows V as a function of circular orbit altitude. For eccentric 

ex 

orbits, at altitudes below the mean altitude, the in-track ground velocity is 

greater than the circular velocity for that altitude. The values from Figure 

2.3-2 may therefore be considered lower limits when eccentric orbits are 

being considered. 

Calculations of limiting cases (film-drive speeds of 0.8425 and 11.8 in./sec) 

show that it is possible to obtain photographs with correct film-drive velocities 

with slant ranges varying from 65 nmi to about 710 nmi. To meet smear-limitation 

requirements, the calculated film velocity for each frame must be provided 

2.3-5 

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BIF-008- W-C-019838-RI-80 

60 80 100 120 140 160 180 200 220 240 260 280 300 320 340 360 380 400 420 440 460 480 500 

Circular Orbit Altitude (nmi) .. 

Figure 2.3-2. Ground Velocity for Circular Orbit (Vcxl 

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within 0.086 percent, 95 percent of the time. Figure 2.3-3 shows plots of the 

required film-drive speeds versus altitude as a function of obliquity angle 

and stereo angle. 

3.2.2 Five-Inch System 

The line-of-sight (LOS) of the 5-inch system trails that of the 9-inch system 

due to the location of the 5-inch folding mirror, 0.725 inch below (-Z direction) the optical axis. This location difference results in a difference in 

the film-drive speeds required by the two systems for image motion compensation. A rigorous analysis yields the following expression: 

!:, v f 

0 • 72 5 Jr . . n . ~ 1 [ ( hT ~ -sin x SID '' + SlD L cos x cos Q -cos = 

(sin x cos Q + sin Z cos x 

cos x cos Q) v ] + [cos z = 

+ (-cos = cos Q) v ]} z 

sin Q) V + (-sin X sin r1 + sin z 

y 

cos Q] [(-sin Z) v + (cos = 

sin 

x r2) 

Although the expression is theoretically correct, it is somewhat cumbersome 

and inefficient for operational usage. The software contractor shortened the 

equation considerably by factoring out the crab angle (X) dependency: 

!:, v 0.725 C cos r1 sin 2 " ) v 

hT LJ f x 

(cos 2 

= 

sin 2 Q) v 

y 

2 2 sin 2 

+ (cos Q cos Q) = - v 

z 

v 

y 

The approximate film-drive speed (FDS) bias (t:, Vf) from the 9-inch FDS required 

for image motion compensation in the center of the 5-inch format is indicated 

as a function of slant range and stereo angle in Figure 2.3-4. 

2.3-7 

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50 100 150 200 250 300 

I, 

350 400 450 500 50 100 150 200 250 300 350 400 

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Altitude (nmi) Altitude (nrni) 

Figure 2.3-3. Required Film Velocity vs. Altitude 

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BIF-008-W-C-019838-RI-80 

·: 

'.l, 

0 50 100 150 200 250 300 350 400 450 500 550 600 650 700 750 

Slant Range (nmi) 

Figure 2.3-4. Film-Drive Speed Bias Approximation 

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In actual practice, targeting is accomplished as if all photography will occur 

using the 9-inch system. After the required parameters have been calculated, 

i.e., stereo angle (I), crab angle (X), obliquity angle (~), camera ON and OFF 

times, and FDS (Vf)' the latter two are biased if the photograph is to be taken 

by the 5-inch system. The required camera ON and OFF times are computed as 

described in Part 2, Section 2. The required FDS for the 5-inch system (V5) 

is computed by adding the FDS bias to the unquantized 9-inch FDS: 

v = v + /:, v 5 f f 

Because there is only one FDS memory in the command processor (CP), only 

one FDS step may be commanded at any given time. This presents a conflict 

in cases where both the 9-inch and 5-inch systems will be operating simul taneou ly with different FDS steps required for each. The operational 

software chooses which system to optimize in such cases (normally the 9-inch 

system is preferred), and the other system must be operated at the lessthan-optimum FDS. Some image degradation (smear) may result from improper 

IMC in conflict cases. 

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4.0 IMAGE SMEAR 

Smear occurs when an aerial image moves relative to the recording medium 

during exposure. Vehicle velocity, earth rotation, and terrain variations 

combine to produce considerable motion between an orbiting vehicle and a 

scene to be photographed. A strip-camera system attempts to compensate for 

this motion by moving the film at precisely the same rate as the scene translates during an exposure. Perfect image motion compensation (IMC) would 

reduce the smear to zero by matching the image-motion vector to the filmmotion vector in both magnitude and direction (see Part 2, Section 3). In 

general however, there are residual IMC errors resulting from pointing uncertainties and hardware tolerances. For the Gambit system, there are 

additional errors introduced because of the stepwise progression of crab 

angles, roll angles, and film-drive speeds. Smear can be tolerated to the 

extent that its effect on performance does not decrease quality below the 

design goal. This section describes the effects of smear and identifies 

known smear contributors and their specified tolerances. A technique used 

to measure smear from PPS/DP EAC photography is also described. 

4.1 Effects of Smear 

The presence of smear results in decreased photographic performance. The 

amount of degradation is a function of the magnitude of smear. As image smear 

increases, the size of the smallest detail which can be resolved also increases. 

In theoretical analyses, scenes are often considered to be composed of sinusoidal variations in light intensity. This approach permits quantification 

of information in terms of spatial frequency in cycles or lines per millimeter (cpmm or lpmm). The frequency resnonse of a recording system will 

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then provide an indication of its theoretical performance (See Part 2, 

Section 12). 

4 .1.1 Smear Descriptors 

There are three related methods used to express the magnitude of smear. 

These methods are described below as is the basic resolution-limiting effect 

of smearo 

4.1.1.1 Smear Rate. Angular motion in microradians/second (μrad/sec) at the 

image plane is used to express the smear rate. The smear rate has the same 

effect as a vehicle attitude rate, though the source of the smear may not 

be a rate but rather a fixed offset. The effect of any smear source, however, can be completely described as an equivalent smear rate. This method 

is attractive because it is independent of the time of exposure and permits 

comparisons between PPS/DP EAC and SCS smear contributors. 

4.1.1.2 Image Plane Smear. A given smear rate will result in translation 

of the image of a theoretical point target during a film exposure interval. 

The displacement is normally expressed in micrometers (μm) and is a function 

of the exposure-time, smear rate, and optical-system focal length. 

4olol.3 Ground Smear. A measured displacement on the film may be theoretically projected back through the system and expressed as displacement 

on the ground. Ground smear is usually expressed in inches (in.). 

4.1.1.4 Resolution-Limiting Effect of Smear. The above smear descriptors 

are vector quantities with both magnitude and direction. Section 4.2 outlines the conventions utilized in applying smear descriptors and demonstrates 

conversions between the various descriptors. Figure 2.4-1 provides an indication of the resolution-limiting effect of smear on the system. The plots 

indicate how smear displacement increases as a function of exposure time. This 

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Handle via BYEMAN Control System Only 

(microradians per second) 

A.~ exposure of 0.010 second with 

200 μrad/sec smear rate causes 

tion in the 

imately 110 

a 10-inch 

eters smear 

limits informaimage plane to approxand corresponds to 

GRD for a nadir 

photograph from 70 nmi~ 

Nadir 

GroundResolved 

Distance 

(inches) 

Figure 2.4-1. Limiting Effect of Smear 

I'-) 

01 

>< 

-->. 

x. 

1 

\,J = 

GRD 

Bl F-008- W-C-019838-RI-80 

μx F te (0.0254) 

_l_ (1000.0) x. 

1 

x. h _1_ (2.8706) F 

Where: 

x. 1 

μ 

F 

te 

v 

GRD 

h 

smear displacement at image plane 

(umeters) 

smear rate (μrad/sec) 

focal length (in.) 

exposure time (sec) 

spatial frequency (lpmm) 

distance resolved on ground (in.) 

altitude (nmi) 

Units Conversion Factors are: 

0.0254 

1000.0 

2.8706 

μm 

mm 

. 2 

in. 

{\lm) (nmI) 

2.4-3/2.4-4 

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shows why resolution is not as dramatically improved by finer grain films 

as might be expected. Finer grain films are normally slower, requiring 

longer exposures, hence, it is more severely impacted by a given rate of 

smear. The same relationship also explains why intentionally overexposing 

a frame can result in increased degradation from image smear. Figure 2.4-1 

does not indicate losses due to film and lens response, but only losses 

related to image smear. 

4 .1. 2 Modulation Transfer Function (MTF) 

The effects of smear on photography can be quantified by calculating the 

transfer function of the image motion. An MTF plot represents the ratio 

of output modulation to input modulation at each spatial frequency. Utilization of MTF techniques is useful in performance prediction, since the 

MTF of each element of the system can be multiplied by the MTF of every other 

element to produce a system MTF. Intersection with the threshold modulation 

(TM) curve for the appropriate film, process, and contrast leads directly 

to estimates of limiting resolution. Section 4.1.3 demonstrates this application. 

4.1.2.1 Smear MTF. The smear MTF (SMTF) as a function of spatial frequency, SMTF 

(v), has the general form of the Fourier transform of the shutter function 

and the image displacement function averaged over the exposure interval: 

SMTF (v) <P ( v) 1 

T 

00 J [S(t) exp - (2n i v μ(t))]dt -CO 

Where: SMTF (v) = smear transfer function as a function of spatial 

frequency 

T 

s (t) 

i 

v 

]J ( t) 

= 

= 

exposure time 

shutter function 

spatial frequency 

image displacement as a function of time 

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4.lo2.2 Image Displacement. If complex image motion which includes both 

linear and sinusoidal components is considered, image displacement μ(t) 

can be described as follows: 

Where: 

)J (t) = vt + LA. 

i 1 

sin (2n f. t + ¢.) 1 1 

v = constant uncompensated image velocity (linear smear) 

t = time of exposure 

A. amplitude of the ith component of sinusoidal image 1 

motion 

f. temporal frequency of the ith component of sinusoidal 

1 

Q. 

·1 

image motion 

h 1 f the 1

. th f . . d 1 . p ase ang e o component o s1nuso1 a image 

motion 

Image displacement resulting from all types of uncompensated image motion 

(linear, sinusoidal, and complex) can be indicated by the expression for μ (t). 

Techniques such as those employing a digital velocity measuring sensor (DVMS) 

allow the evaluation of image displacement when complex motion is present. 

4.1.2.2.1 Linear Smear. The component vt of the image displacement represents the amplitude of smear due to linear contributors. 

4.1.2.2.2 Nonlinear Smear. The summation component,~ , of the image dis1 

placement represents the amplitude of smear due to sinusoidal contributorso 

Spectral analysis techniques are advantageous for evaluation of nonlinear 

smear. 

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4 .1. 2. 3 Shutter Function. The shutter function of a theoretical strip camera 

is shown as a step function in Figure 2.4-2: 

(]) 1 

H 

:i 

ff) 

0 >-, p., .μ )< .,.., 

WJ ff) 

(]) i:::; 

> 2 .,.., c ~H 

I ..--; 

(]) (, 

p:; - I_ 0 T 

2 2 

Figure 2.4-2. Ideal Shutter Function 

For such a perfect camera, the shutter function, S(t), is 1 for the time of 

exposure (-i to i), and 0 for all other times. The smear MTF can then be rewritten as: 

SMTF(v) ti> ( v) 

T 

2 + ~ [S(t) exp - (2TT i v μ(t))] dt 

-T 

Evaluation of the smear MTF for several values of linear smear with the 

theoretical shutter function leads to Figure 2.4-3, depicting the linear smear 

modulation transfer function at various levels of smear. With S(t) = 1, the 

MTF becomes sin (TT μ (t) v) 

(TT μ(t) v) 

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Figure 2.4-3. Linear Smear MTF 

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The plot shows that the modulation decreases with increasing spatial frequency. Thus, the higher frequency image content and limiting resolution 

are most adversely impacted by smear. 

The actual strip-camera shutter function is not the step function shown in 

Figure 2,4-2 but can be represented by a trapezoidal function. This geometry is shown in Figure 2.4-4. 

If the slit-to-emulsion distance could be reduced to zero, the shutter efficiency would be 100%, When the efficiency is less than 100%, there are two 

effects: 

(1) The total smear is slightly greater 

(2) Edges of imagery are less-sharp 

Shutter efficiency in the Gambit system varies from 66% to 99% depending on 

slit width and generally has a negligible effect on performance estimates. 

4.1.3 SMTF Application 

Figure 2,4-5 shows the application of MTF techniques in the generation of 

limiting resolution estimates for the Gambit system (see also Part 2, 

Section 12). The MTF for each element to be considered is plotted. The 

example shows the static MTF for the lens, the linear SMTF, and the complex 

SMTF. By cascading (multiplying) the curves together at each spatial frequency the dynamic MTF of the system may be expressed. The intersection of 

the threshold modulation (TM) curve for a selected film process and contrast 

with the combined dynamic MTF curve indicates that one can expect to 

record information up to Dlpmm with the system as constituted. The 

curves also indicate the expected loss of 28 lpmm because of smear, 24 

lpmm due to linear contributors, and 4 lpmm due to nonlinear contributors. 

Figure 2.4-6 indicates an additional form of the dynamic MTF which has 

2 .4- 9 

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BIF-008-W-C-019838-R~80 

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AT - T 

2 

Geometric 

Slit 

Width 

Region .,.. ___ Accessible to 

f/4 Cone 

T 0 

2 

Time 

f/4 Cone 

AT + T 

2 

T +-

2 

,,---- Emulsion 

Figure 2.4-4. Strip Camera Shutter Function 

2.4-10 

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BIF-008- W-C-019838-Rl-80 

60 80 100 120 140 160 180 200 220 

Spatial Frequency (lprnm) 

Figure 2.4-5. Application of MTF Techniques 

240 

R-5 Lens MTF, 

85% OQF, 

+0.0005-inch Defocus 

In-track 

Linear Smear MTF (SMTF) 

Complex SMTP 

(0.937 at 180 lpmm) )> 

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Lens With Linear Smear~ 

Dynamic MTF 

(Lens With Complex 

Smear) 

Film TM 

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2.0:1 Contrast 

Film TM 

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0 2 4 6 8 10 12 

Image Smear (~m) + 

Figure 2.4-6. Geometric Mean Resolution given Smear and Film Type 

"WARNING -THIS DOCUMENT SHALL NOT BE USED AS A SOURCE FOR DERIVATIVE CLASSIFICATION" 

2.4-12 

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proven useful in performance prediction. The geometric mean resolution 

in lpmm can be found if the film type, target contrast, and magnitude of 

smear are known. 

4.2 Conventions and Coordinate Systems 

The expression of smear and smear rates requires the use of standard conventions and an image plane coordinate system. 

4.2.1 Image Plane Coordinate System 

The BIF-008 image plane coordinate system is illustrated in Figure 2.4-7. 

This is the same system shown in Part 2, Figure 2.1-2. It is a right-hand 

system with the axes denoted by the lower case letters, x, y, and z. The 

utility of the image plane coordinate system is that a translation of the 

ground scene with respect to the X, Y or Z axes results in an identical 

translation of the image of the ground scene with respect to the x, y or 

z axes. For example, with the optics in the indicated position (stereo 

and crab angles equal to zero), the in-track ground motion is in the +X 

direction relative to the vehicle. The required image motion is then, in 

the +x direction. To compensate for the image motion the film must be 

driven in the +x direction. Likewise, a decrease of vehicle altitude is 

equivalent to displacing the ground scene in a +Z direction. By definition this produces a focus shift in the +z direction which can be compensated for by moving the platen away from the Ross Corrector lenses. 

The above examples presume a nadir, zero crab situation, but they serve 

to most simply illustrate the relationships between the coordinate systems. 

Operational activity requires the use of equations involving the stereo, 

crab, and obliquity angles to make transformations between the ground scene 

and the image plane. 

2.4-13 

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Slit Aperture 

Plate 

9 Image Plane 

Coordinates 

+Zg 

Primary Mirror 

+Y 

·-r---- I f ..,.. + X 

Optical Axis 

Ross Corrector Lenses 

- Cross-Track Vector 

--

- Vehicle Axis 

, Vehicle Velocity 

NOTE: Roll C~v), pitch (6), yaw (tjJ) 

are right-hand positive about 

X, Y, Z, respectively 

A B' 

-----'- ector I ---, 

I 

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Figure 2.4-7. 9-Inch Image Plane Coordinate System 

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4. 2. 2 Transformation of Smear Rates 

The relationships between the various smear descriptors are shown by the 

equations in the following sections. 

4.2.2.1 Smear Rate to Image Plane. Angular smear rate in-track components (μx·) and cross-track components (μy.) are transformed into image 

l l 

plane in-track (xi) and cross-track (yi) smear displacements by: 

-2 -2 

x. (2.54xl0 )μ Ft or x. = (2.54xl0 )μ l x. e l 

l 

-2 -2 

y. (2.54xl0 )μ Ft or y. (2.54xl0 )μ l v. e l , l 

Where: x. 

l 

in-track image smear displacement (μm) 

μx. in-track smear rate (μrad/sec) 

l 

F = focal length (inches) 

t exposure time (seconds) e 

w slit width (inches) 

vf = film-drive speed (inches/second) 

-2 2.54xl0 conversion factor, inches to meters 

y.= cross-track image smear displacement (μm) l 

μv.= cross-track smear rate (μrad/sec) ~ l 

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4.2.2.2 Image Plane to Ground. Image-plane smear displacement (xi, yi) is 

transformed to ground smear displacement (Xi, Yi) by: 

X. (2.8705) (F 

h Q) x. 

l l 2 

cos L: cos 

Y. 

l = y. l (2.8705) ( h 2 F Q) cos l: cos 

Where: X. 

l 

in-track ground smear displacement (inches) 

Y. 

l 

cross-track ground smear displacement (inches) 

h = height above target plane (nautical miles) 

F = focal length (inches) 

l: stereo angle (from nadir, +forward) (degrees)) 

Q = obliquity (degrees) 

x. in-track image smear displacement (μm) l 

y. cross-track image smear displacement (μm) l 

2.8705 = combined conversion factor 

4.2.2,3 Example. To illustrate the use of the above equations, the following 

example is provided. 

Given: μx· l 

h = 

l: = 

Q = 

F 

vf 

w = 

200 μrad/sec 

65 nrni 

0 

0 

175 inches 

10 inches/sec 

0.100 inch 

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Find: In-track image plane and ground smear 

Solution: x. = (2.54xl0- 2)μx. F (~) l l f. 

(2.54xl0- 2

) (200) (175) (

0

·:g0

) 

8.9 μm = in-track image plane smear 

xi= xi (2.8705) ( 2 h \ 

F cos 2: cos rl J 

= 8.9 (2,8705) ( ) 

= 9.5 inches = in-track ground smear 

4.3 Smear Contributors 

The contributors to image smear may be categorized as being caused by, or 

under the control of, the PPS/DP EAC, the SCS, or the telemetry, tracking and 

command system (TT and C). A short discussion of each contributor is provided 

and equations for determining the in-track and cross-track components of 

angular smear rate and ground smear are listed in Table 2.4-1. The symbols 

used in these equations follow in Table 2.4-2. 

4.3.1 PPS/DP EAC Contributors 

Design trade-offs and manufacturing tolerances during the assembly of the PPS/DP 

EAC can result in errors which may cause image smear. Each contributor is 

described below and the 3 a limits are indicated for known error-producing 

sources. 

4.3.1.1 Film-Drive Speed (FDS). If the FDS executed for a frame differs from 

the required value, in-track smear results. Known PPS/DP EAC error sources 

are: 

2.4-17 

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TABLE 2. 4-1 

9- INCll SMEAR EQUATIONS 

N 

~ 

I 

f-" 

ct:> 

Smear on Ground J:.nmij 

,.,. Knowledge of al ti t11c!c = l~ s cc q 

0 

Roll attitude and 1:£.h /\ Z tan rl sec F x 

A sec r rl tan rl tan x x 

Pitch attitude and A (sin + y 

sin i: n -tan ~' tan xl 

A t: (l sJ.n n 

y 

wh Yaw attitude Fnd x4 - - A l: (sin tan \I 

alignment F z 

+ tan x) 

y4 = - A i: sec re z 

6 * 10 is the ccnversion factor between radians and microradians 

** The subscripted number of the variable is that equation number 

i.e., x1 is equation number l 

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\1Y1 

\ly 

'3 

\lx 4 

u 

Y4 

Bl F-008- l'l-C-019838-RI-80 

·-- -·----~- ·~---·-····· 

(106) * 

Fh 

= r 

6 - tan (l (10 ) F 

6 

F tan x tan (l (10 ) 

- Ay (tan cos rl + tan l: sec F 

sec tan x sin rl) (106) 

F A sec I~ sin rl (106) 

y 

v = -/ /\ (tan i: sin Q + sec l~ tan x . z 6 cos rl) (10 ) 

6 = - F Az sec r. cos ri (10 ) 

ro ti:::: a. t r Kl: T 

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TABLE 2.4-1 

Smear on Ground (nmi} 

,,.,,. - ::~2 3 2 Roll rate x_ = A sec E sec n tan x* 

sec2 i: sec3 n 

Pitch Rate X, wh2 

A 4 = -·· sec i: sec n 

y6 

wh2 • 2 = - FV \ sec i: sec n (tan i: 

x 

sec i: tan n + sec n tan y) 

Yaw rate x_ = ~· ~ A sec- i: sec n tan n 

wh- • 2 

y7 = FV · Az sec E sec n (tan E x 

se;: i: - tan n tan x) 

Crab granularity xs .... 2 = - F !ix sec i: sec n tan n 

y8 na 2 = - ~ !ix sec E sec n 

Crab line-of-sight Xg - ~ M sec2 i: sec n tan n 

reproducibility - - F c 

Yg = - ~ .. M sec i: sec2 

n 

* A dot (') over a quantity denotes the time derivative of the 

** The subscripted number of the variable is that equation number 

i.e., x

5 is 

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number 5 

BIF-008- W-C-019838-RI-80 

Smear Rate tmicroradians/second) 

'" f 6 

μx = -~ A .. tan x sec i: sec n (10 ) 

5 

hv A_ sec E sec n (106 u = - f ) 

FY x 

hVf u = A sec- E FV x 

_ hVf A .. (tan E sec i: tan n + tan x μy6 = "FY x 

sec n) 

μx = hVf A_ tan n (106) 

7 

'"f 

μ = W- A - (tan i: sec Z - tan x tan n) 

Y7 x 

μ_ = - -;;-=- !ix tan n (1 

μ = - --;:!'-- Ii x ( 1 

μx = - 'f-M tan n 

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(106) 

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N 

""" I 

N 

0 

Stereo line-of-sight 

reproducibility 

Film-drive granularity 

Film-drive drift 

Knowledge of focal 

length 

K Distortion 

Off-axis geometry 

Smear on Ground (nmi) 

,,.,. 2wh 2 

x10 = - F Ms ser, i: tan i: sec ~ 

2wh 2 

Y 10 = F Ms sec i: tan i: sec ~ tan x 

wh 2 X11 = - ~ nVf sec i: sec ~ 

f 

y 11 = 0 

wh 2 

X12 = - FV !W f sec i: sec ~ 

f 

y12 = 0 

wh 2 x13 = 2" nF sec i: 

F 

yl3 = 0 

wh • * 2 X14 = F (;;D) sec l: sec ~ 

y 14 = 0 

wh 3 X15 = - F sec l: tan ~ cos ~ tan μ 

Y15 = ;h (tan i: + sin x tan ~) tanμ 

sec i: sec 2 ~ 

* %D = 0,218 μ

2 ~here μ is semi-field angle in degrees. 

** The subscripted number of the variable is that equation number 

i.e., x10 is equation number 10 

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Smear Rate (microradians/second) 

2V 

μ = - Ff M tan i: (106} 

xlO s 

2Vf 6 

μ = -F - 1\ tan i: tan x (10 ) 

Y10 

nv f 

μ = - (106) F xll 

μ = 0 

Y11 

μ = - nVf 

(106) 

xl2 F 

μ = 0 

yl2 

vf 

nF (106

μ = } X13 ;;z 

μ = 0 

Y13 

μ = V f (%D/ (10 4) 

xl4 F 

μ = 0 

Y14 

vf 

ll = - F sec i: tan ~ tan μ (106) 

x15 

vf 6 

μ = F [tan i:: + sin x tan ~ ] tan μ (10 ) 

Y15 

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A 

x 

A 

y 

A 

z 

. 

A 

x 

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A 

y 

. 

A 

z 

F 

M 

c 

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a 

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BIF-008- W-C-019838-RI-80 

TABLE 2.4-2 

SYMBOLS USED IN SMEAR EQUATIONS 

Definition 

Roll attitude and alignment errors 

Pitch attitude and alignment errors 

Yaw attitude and alignment errors 

Roll-rate error 

Pitch-rate error 

Yaw-rate error 

Focal length 

Angular error in stereo mirror 

crab alignment 

Angular error in stereo mirror 

stereo alignment 

In-track component of nadir 

velocity 

Cross-track component of nadir 

velocity 

Slant range 

Altitude above geoid 

In-track smear on ground 

Cross-track smear on ground 

In-track smear rate due to the 

ith contributor (image plane) 

2.4-21 

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Units 

radians 

radians 

radians 

radians/second 

radians/second 

radians/second 

inches 

radians 

radians 

nmi/second 

nmi/second 

nmi 

nmi 

nmi 

nmi 

microradians/ 

second 

Handle via BYEMAN 

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Symbol 

v f 

w 

D.V f 

/:>. 

x 

x 

D.F 

% D 

D.h 

μ 

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TABLE 2.4-2 (Cont'd) 

Definition 

Cross-track smear rate due to the 

ith contributor (image plane) 

Film-drive speed (FDS) 

Slit width 

Amplitude of the linear velocity 

error of the platen; actual film 

velocity minus commanded film 

velocity 

Error in crab compensation, true 

crab minus commanded crab 

Stereo angle of the line-of-sight 

Crab angle of stereo mirror 

Obliquity angle of the line-ofsight 

Error in focal length; true focal 

length minus data-base focal 

length 

Percent distortion 

Error in altitude; true altitude 

minus assumed altitude 

Semi-field angle 

2.4-22 

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--------

Units 

microradians/ 

second 

inches/second 

inches 

inches/second 

radians 

degrees 

degrees 

degrees 

inches 

nmi 

degrees 

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BIF-008- W-C-019838-RI-80 

(1) Granularity (0.008 in./sec between steps, or 

0.004 in./sec error) of the commandable FDS values 

(3 a= ± 0.122%! 

(2) Drift in the FPLL servo (executed FDS differs from 

the commanded FDS) (3 a= ± 0.100%)) 

(3) Malfunction of the film-drive system (random) 

Figure 2.4-8 can be used to estimate the equivalent smear rate due to an FDS 

error. 

4"3.1"2 Crab Angle. Crab position error is a contributor to in-track and 

cross-track smear. Known error sources are: 

(1) Granularity (±0.35 degree between steps) of 

commandable crab angles (3 a=± 0.175 degree) 

(2) Crab reproducibility due to mirror mounting 

and servo errors (3 a = ± 0.01 degree) 

Smear due to a crab angle error can be estimated by using Figure 2.4-9" 

4.3.1.3 Stereo Angle. The stereo line-of-sight (LOS) accuracy impacts the 

slant range. Any error in stereo mirror angle will, therefore, result in an 

incorrect FDS and the attendant linear image smear. The inability to reproduce the commanded stereo LOS is the result of mirror mounting errors 

and servo inaccuracy (3 a=± 0.01 degree). A stereo LOS error primarily 

affects pointing. Since the smear effect is slight, no plot is included 

for this contributor. 

4.3.1.4 Knowledge of Focal Length. Uncertainty in the measurement of focal 

length for a given unit will result in a bias in FDS determination. This bias 

will be reflected as linear smear. Present capability for measurement of 

the focal length (3 a) is assumed to be ± 0.3 inch. No plot is included for 

2.4-23 

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BIF-008- W-C-019838-RI-80 

0.001 0.005 0.01 o.os 0.1 

/J.V f (in. /sec) 

Figure 2.4-8. Equivalent Smear Rate Oue to Film-Drive Speed Error 

2.4-24 

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(.) 

(J) 

ti) 

-'"Cl 

C1l 

H 

;:::. 

'-' 

(J) 

.μ 

C1l 

cG 

H 

C1l 

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BIF-008- W-C-019838-RI-80 

0.05 0.1 

!>.X (degrees) 

0.5 1.0 

Conditions: h = 65 nmi 

l: = 0 degrees 

F = 175 inches 

Figure 2.4-9. Crab Angle Error Contributor 

2 .4-25 

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BIF-008- W-C-019838-RI-80 

smear due to errors in the knowledge of the focal length because the smear 

effects are relatively minor. 

4.3.1.5 Field Effects. The PPS/DP EAC is designed and operated to optimize 

photographic quality in the center of the field. Off-axis photography suffers 

degradation from the sources described below. 

4.3.1.S.l Geometric Smear. The slant range to the target plane is different at off-axis positions than it is on-axis (see Figure 2.4-10). This 

causes a differential image velocity across the film format. Because the 

preferred FDS is calculated for an on-axis position, there is differential, 

uncompensated motion at other points across the field. Hence, the geometric smear is zero on-axis and becomes progressively more severe toward 

the edges of the format. The magnitude of the geometric smear across the 

format increases and becomes nonsymmetrical for non-zero obliquities. 

4.3.1.5,2 Lens Distortion. Distortion (pincushion or barrel) is caused by 

a variation of the effective focal length at different field positions. Distortion in the R-5 lens design is minimized on-axis and increases progressively 

toward the edges of the field. The distortion tolerance (3 cr) is ± 0,65% at 

points near the edges of the field. The effect on smear is the same as an 

error in the knowledge of the focal length. 

4.3.1.5.3 Across Format, Combined Smear. Both geometric smear and lens distortion combine to produce varying smear across the format. Figure 2.4-11 

shows the combined effect of geometric smear and lens distortion across the 

field. The plot is calculated for an altitude of 65 nautical miles and the 

slant ranges resulting from the indicated obliquity angles. Multiplication 

of smear rates by a factor of ~ will permit use of the plot for altitudes 

other than 65 nautical miles. The use of Figure 2.4-11 is illustrated in 

2.4-26 

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Field Angle 

Field Angle 

'\ 

\ Oa~ 

Plane ----\--

On-Axis Point 

(Film-Drive Speed Selected 

for this Slant Range) 

Figure 2.4-10. Geometric Smear Source 

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800 

200 

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-1000 

-1200 

I: = 0 

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65 for higher 

h 

altitude) 

Field Position 

Figure 2.4-11. Off-Axis Smear Rates 

BIF-008-_W-C-019838-RI-80 

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the following example: 

Given: fl = 30° 

h = ll9 nrni 

Field position 1. 25° 

Find: 

Solution: 

x. 

l 

vf = 5.25 in./sec 

w = 0.022 inch 

Combined in-track geometric and distortion-induced 

smear in the image plane, 

From Figure 2,4-11, the equivalent smear rate is 

-520 μrad/sec for 65 nmi which yields -284 μrad/sec 

for 119 nmi 

-2 (2.54x10 )μ x. 

l 

(2.54xl0- 2) (-284) (175) (

o. 02_2) 

5.b 

::: -5.3 ]Jill 

4.3.1.6 Misalignment. Reference mirrors (often referred to as "lollipops") 

are used to facilitate accurate alignment of the PPS/DP EAC to the SCS. There 

are two sources of error which have been identified for this method: 

(1) Optical axis to reference mirror alignment tolerances 

(3 a roll = ±0.0083 degree 

3 a pitch ±0,0091 degree 

3 a yaw = ±000091 degree) 

(2) Reference mirror to mechanical interface alignment tolerances 

(3 a roll = ±0.0175 degree 

3 a pitch = ±0.0171 degree 

3 a yaw = ±0.0171 degree) 

2.4-29 

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4.3,L7 Thermal Bending ("Hotdogging"). Part 2, Section 14.6.2 of this 

document describes how the asymmetrical thermal inputs cause the PPS/DP EAC external structure to bend. Although the structures are designed to minimize 

coupling of this bending into the internal structure and optics, the LOS is 

affected to some extent. Pitch and yaw variations primarily affect pointing, 

but linear smear is also induced by 11hotdogging". Operational software has 

been designed to model the thermal bending and is assumed, for budgeting vurposes, to compensate for 75% of the "hotdogging" effects, The effect of the 

uncompensated "hotdogging" may be evaluated by treating the offsets as misalignments between PPS/DP EAC and SCS. 

4.3.1,8 Nonlinear PPS/DP EAC Contributors. The sources of nonlinear smear 

have been classified within three major categories as described below. 

4,3.1.8.1 Stereo LOS Settling. Angular oscillation of the LOS arises 

following a change in stereo mirror position. Nonlinear smear occurs due 

to this oscillation prior to completion of settling. Analyses of settling 

tests show that the oscillations are in the form of a damped sinusoid: 

8 ::: 

Where: 8 = 

80 

a ::: 

f = 

t ::: 

80 exp (-at) cos 2TT ft 

angular displacement of the LOS from 

commanded position at time t 

the maximum angular displacement from 

commanded position 

damping constant 

frequency of oscillations 

time 

2.4-30 

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Although this is a transient disturbance, the MTF at each spatial frequency 

of interest can be calculated as a function of time. Immediately after 

stereo mirror slew, the modulation transfer function will be quite low. 

After some time period, the MTF will increase to a point where it is at an 

acceptable level. The time at which this state is reached is defined as 

the settling time. In normal operation, high-resolution photography does 

not start until this smear source has settled to a tolerable level. 

4.3.1.8.2 Film Wander. Translation of the film in a direction parallel 

to the longitudinal axis of the platen is called film wander. Film wander 

causes a low frequency (approximately 15 Hz) sinusoidal, cross-track smear. 

4.3.1.8.3 Platen Vibration. Platen vibration is the term used to describe 

any periodic in-track variations in the FDS. Such oscillations may be due 

to platen runout (any effect which results in the platen surface being nonconcentric with the platen axis) or FPLL responses to unidentified electrical 

or mechanical perturbations and resonances. The result of platen vibration is sinusoidal, in-track image smear. In this case multiple frequency 

perturbations are present and spectral analysis techniques described in 

Part 2 Section 4.1.2 are useful. Generally, perturbations of this nature are 

a complex combination of linear and nonlinear dynamic functions which may 

often be represented by sinusoidal smear combinations. 

4.3.2 SCS Contributors 

The PPS/DP EAC is mounted to the SCS and depends upon the attitude control 

system to provide a stable and accurate platform for orbital operations. The 

orbiting PSV may be considered to be in continuous drift within a deadband 

region, with the drift, or attitude rates, under the control of the SCS. 

Errors in attitude (roll, pitch, and yaw) and the presence of attitude rates 

(roll, pitch, and yaw) can cause smear. 

2.4-31 

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As the SCS smear contributors are under the control of the SCS contractor, 

we assume that rates are controlled to within the values specified in the 

General System Specification. 

4.3.3. Telemetry, Tracking, and Command (TT and C) Contributors 

The telemetry, tracking, and command system (also the responsibility of 

another contractor) is responsible for calculation of the satellite location and velocity with respect to the target at the precise moment of an intended photograph. Any errors in this complex prediction process will contribute to image smear. Contributors to TT and C related errors are described 

below. 

4.3.3.l Target Location Uncertainty. The targetting procedure is based upon 

expressing the latitude and longitude of a desired target. Various error 

sources combine to hamper the capability to accurately specify the location 

of a target. This uncertainty introduces errors in the computation of 

pointing, FDS, and crab angle parameters, consequently producing image smear. 

The specified system requirement is to be capable of accurately specifying the location of a target within± 0.642 nautical mile (3 0). 

4.3.3.2 Ephemeris Uncertainty. Gravitational variations, aerodynamic 

drag, magnetic moments, system-clock drift and many other effects combine to 

produce inaccuracies in the knowledge of the exact vehicle location at any 

given instant. Ephemeris uncertainty can produce smear analogous to target 

uncertainty. Present state-of-the-art capability, using real-time bias 

techniques, results in a ± 0.246 nautical mile tolerance (3 0) for this 

parameter. 

4.3.3.3 Knowledge of Altitude. The determination of the FDS required for 

IMC is, in part, a function of altitude (See Part 2, Section 3.2). Any inaccuracy in the knowledge of the altitude from the vehicle to the target is 

2.4-32 

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reflected as a linear smear component. This uncertainty can be due to errors 

in knowledge of target elevation and/or ephemeris errors in specifying the 

height of the vehicle above the geoid. The specified system requirement 

allows ± 0.30 nmi tolerance (3 0) for the knowledge of vehicle altitude. 

4.3.4 9-Inch Smear Equations 

Table 2.4-1 lists equations for determining the expected ground smear and 

angular smear rate for the 9-inch system. Symbols used in these equations 

are described in Table 2.4-2. The equations have been derived for a flat 

earth model. Equations for a round earth model have been found to differ 

by less than 0.5 percent from those of the flat earth model. Flat earth 

equations are therefore considered adequate. Root-sum-square (RSS) techniques should be used to estimate the effects of several individual contributors. 

4.3.5 5-Inch System Smear 

The center of the 5-inch system does not coincide with the optical axis as 

shown in Figure 2.4-12. 

+x 

9 Image Plane 

Coordinates 

5-inch 

Folding 

Mirror 

Platen 

~9-inch System 

/ (Optical V 

____...___ - - _,__j -

LOS 

f 

0.725 

-inch System LOS 

Figure 2.4-12. Five-Inch System Offset 

2.4-33 

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For purposes of image motion compensation, the 5-inch folding mirror may be 

disregarded and the center of the 5-inch system may be considered to be a 

point in the 9-inch field (nominally, x = 0.725", y = 0.0"). The effect on 

expected smear in a 5-inch frame as a result of this offset can be calculated. Matrix techniques have been used to evaluate the image motion 

vector (at (0.725", 0.0")) in the field. 

Unfortunately, the matrix for the (0.725", 0.0") point cannot be conveniently 

reduced to simplified smear prediction equations as was done for the (0. 0", 

0.0") center of the 9-inch format. Part 2, Section 3.2.2 describes how the 

quantitative effect of the 5-inch offset may be described in terms of 6Z 

and 6Q increments to the line-of-sight (LOS) of the 9-inch system. This 

approach can also be used to approximate the predicted smear in the 5-inch 

system. The equations for the 5-inch LOS are: 

Where: 

) 

~s 

i::5 

z 

as 

Q 

x 

F 

= 

= 

= 

= 

-1 r - tan 

-1 Q + tan 

( 0. 725 

F cos X) 

( 0. 725 -=--sin x) F 

5-inch stereo LOS angle 

9-inch stereo LOS angle 

5-inch obliquity LOS angle 

9-inch obliquity LOS angle 

commanded crab angle 

focal length (175 in. nominal) 

Smear in the 5-inch system may be predicted by using the 9-inch smear equations shown in Table 2.4-1, but substituting the 5-inch LOS angles, z

5 and 

n5, for the L: and Q variables. The distortion (% D) value used should be 

the distortion at the point in the lens field where the target would appear. 

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The following example illustrates a case where the image is photographed 

0.35° off-axis in the -Y direction. Figure 2.4-13 illustrates the appropriate geometry. 

+Y 

+X 

Image Plane 

Coordinates 

Target 

Field Position 

9-inch 

Photograph 

5- inch 

Photograph 

Figure 2.4-13. Five-Inch Field Position 

Given: L: -8.65 degrees 

st 30 degrees 

x = -3.30 degrees 

target field position 0.35° (1.07 inches) 

focal length 175 inches 

Fina 

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Solution: 

-8.65 

-8.89 degrees 

~5 30° + tan -1 r o. 72s = sin(-3.30)] L 175 

ris 29.99 degrees 

5-inch field position -Vco. ns) 2 

+ (1.07)2 

= 1. 292 inches 

μ5 tan -1 cs-inch field Eosition) 

focal length 

tan -1 cl. 292) = 175 

= 0.42 degree 

The 5-inch field angle, μ5 , should be used in equation 14 to calculate the 

smear due to lens distortion. The 5-inch platen will normally be driven to 

the preferred 5-inch FDS as calculated in Part 2 Section 3.2.2. However, if 

the 9-inch and 5-inch systems are used simultaneously, the FDS can be optimum for only one system. In such a case, the smear due to the improper FDS 

may be calculated using equation 11. 

4.4 Smear Budgeting 

A smear budget was established early in the design phase to identify and control magnitudes of smear contributors. The tables included in this section 

show the tolerance permitted for each contributor and indicate the smear attributable to each. Many contributors have between-mission (unit-to-unit) 

and within-mission (variable for a given unit) values. 

4.4.1 Between-Mission and Within-Mission Linear Smear Contributors 

Table 2.4.3 lists all PPS/DP EAC between-mission and within-mission linear smear 

contributors. The mean and one sigma (1 o) error values are listed to facilitate 

the use of standard, statistical analysis techniques. The resultant 

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TABLE 2.4-3 

PPS/DP EAC LINEAR SMEAR BUDGET (WITH SOFTWARE) 

Optical-axis-to-Reference Mirror (Pitch) 

Optical-axis-to-Reference Mirror (Yaw) 

Optical-axis-to-Reference Mirror (Roll) 

Reference Mirror to Mechanical Interfaces 

Reference Mirror to Mechanical Interfaces 

Reference Mirror to Mechanical Interfaces 

Focal Length 

PPS/DP EAC Hotdogging (Pitch) 

PPS/DP EAC Hotdogging (Yaw) 

Crab (Roll) 

(Pitch} 

Crab (Roll) 

Crab (Roll) 

(Pitch) 

Granularity 

Drift 

PPS/DP EAC Hotdogging (Pitch} 

PPS/DP EAC Hotdogging (Yaw) 

Conditions: 

(Pitch) 

(Yaw) 

(Roll) 

~ : ~ = x = 0 degrees vf = 8.1 inches/second 

PPS/DP EAC Error 

(degrees except 

where noted) 

u 

0.0041 

-0.0444 

as 

0.0030 

0.0030 

0.0023 

0.0057 

0.0057 

0.0058 

0.1000 (inches) 

0.0018 

0.0059 

0.0866 

0.0866 

0.1010 

0.0033 

0.0033 

0.0024 (inches/second) 

0.0667 (percent) 

0. 0139 

0.0147 

h 90 nautical miles 

Software corrections assumes 75% back-out of hotdogging errors. 

μ = mean value 

0

8 = one sigma value 

* Scale rates by 90 for other altitudes 

h 

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Con t ro l Sy st em On l y 

Equivalent Smear Rates 

(μradians/second) 

In-Track Cross-Track 

μ 08 

26.4 

26.4 

13.9 

30.9 

33.9 

\J 

35.8 

35.8 

as 

2.4 

4.6 

4.8 

69.9 

70 3 

81.S 

2.7 

11.9 

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smear rates are calculated for a representative case. These linear smear 

rates represent PPS/DP EAC capability using software correction techniques to 

minimize on-orbit smear. Software correction for PPS/DP EAC contributors refers 

to the capability of the operational software to compensate for known and 

predicted thermal bending. Computation of statistical totals utilizes RSS 

techniques. 

4.4.2 Nonlinear Smear Contributors 

Table 2.4-4 lists the PPS/DP EAC contributors to nonlinear smear. These values 

are expressed as the minimum permissible MTF arising solely from the stated 

contributor. These values then represent the maximum acceptable degradation resulting from each contributor. 

4.4.3 Smear Contributors for the PSV 

Table 2.4-5 lists all known smear contributors for the entire PSV. This 

includes PPS/DP EAC, SCS, and TT and C contributors. The contributors are 

listed as either a bias or as random variables. The distributions and one 

sigma (1 o) values are listed for the random variables to facilitate the 

application of statistical combination techniques. 

4.4.4 Smear Rate Statistical Combination 

Table 2.4-6 shows an overall statistical combination for the entire PSV. 

These linear smear rates represent system capability using software correcttion of "hotdogging" errors and adaptive bias. Adaptive bias is a method of 

reducing attitude rates by decoupling the SCS attitude thrusters during periods 

of PPS/DP EAC induced momentum changes. The 95%/95% criteria (see Appendix E! 

yields the smear rates of 119 urad/sec in-track and 425.3 urad/sec cross-track 

for the representative case shown. The 95%/95% describes the 95th percentile 

performance for a 95-percent bias mission. 

2.4-38 

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TABLE 2 .4-4 

MINIMUM ACCEPTABLE MODULATION TRANSFER FUNCTION 

RESULTING FROM NONLINEAR SMEAR 

Conditions: R-5 formula lens 

85% OQF 

On-axis 

Exposure time = 0.003 second 

Contributor Direction 

Platen Vibration In-Track 

Stereo Settling * In-Track 

Film Wander ** Cross-Track 

Minimum Transfer Function 

at 180 lines/millimeter 

0.937 

0.912 

0.950 

*Worst case: 3.0 seconds after execution of move command (+to - move). 

** Has been acknowledged as a legitimate requirement. No technique currently 

exists to adequately test for compliance. 

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TABLE 2.4-5 

SMEAR CONTRIBUTOR BUDGET (F/0-7) 

Between-Mission Bias 

Roll attitude bias 

Pitch attitude bias 

Yaw attitude bias 

Roll rate bias 

Pitch rate bias 

Yaw rate bias 

Random Error Contributor 

Knowledge of altitude 

Roll attitude 

Pitch attitude 

Yaw attitude 

Roll rate 

Pitch rate 

Yaw rate 

Crab granularity 

Crab reproducibility 

Stereo reproducibility 

FDS granularity 

FDS drift 

Focal length error 

Knowledge of altitude 

Target location uncertainty 

Ephemeris uncertainty 

Geometric distortion* 

Lens distortion* 

]J 

0.0000 

+0.0041 

-0.0444 

0.0000 

0.0000 

0.0000 

One-Sigma 

Tolerance 

0 .1000 

0.1228 

0. ll43 

0.0788 

0.0026 

0.0010 

0.0010 

0.1750 

0.0033 

0.0033 

0.0440 

0.0330 

0.1000 

o .1 oob 

0.2140 

0.0820 

* Function of field position; zero (O) on-axis 

2.4-40 

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Distribution 

Normal 

Normal 

Normal 

Normal 

Normal 

Normal 

Normal 

Uniform 

Normal 

Normal 

Uniform 

Normal 

Normal 

Normal 

Normal 

Normal 

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Units 

deg 

deg 

deg 

deg/sec 

deg/sec 

deg/sec 

Units 

nmi 

deg 

deg 

deg 

deg/sec 

deg/sec 

deg/sec 

deg 

deg 

deg 

% 

% 

inches 

nmi 

nmi 

nmi 

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TABLE 2 .4-6 

SATELLITE VEHICLE SYSTEM, EQUIVALENT SMEAR RATE(μR/SEC) * 

STATISTICAL COMBINATION (WITil ADAPTIVE BIAS AND SOFTWARE) 

N 

. 

"""' l 

"""' f-' 

In-Track 

scs 

PPS 

Cros 

scs 

PPS 

Requirement 

Q = L = X 0 degrees 

vf = 8.1 inches/second 

h = 90 nautical miles 

Mean Bias 

μ 

0 

0 

---0 

21. 0 

35.8 

56.8 

Between 

Mission 

Variability 

OB 

11. 0 

26.4 

28.6 

60.0 

70.3 

92.4 

*Scale table values by 90 for other altitudes. 

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h 

Within 

Mission 

Variability 

OR 

18.0 

33.9 

38.4 

101.0 

82.4 

130.3 

ll95 

22.0 

51. 2 

56.3 

125.0 

153.9 

210.4 

52.0 

107 .4 

119.4 

290.0 

288.2 

425.3 

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4.5 Smear Detection and Measurement 

Smear slits are provided as an aid in detection and measurement of the uncompensated image motion which produces smear. 

4.5.1 Smear Slit Theory 

Smear arises from uncompensated image motion such that the image moves relative to the film during the exposure interval. Smear is reported in length 

units, usually micrometers, and represents the image movement observed. 

Smear slits consist of two slits, separated by a known amount, at the end of 

the exposure slit. If uncompensated image motion exists, the image will move 

relative to the film between the exposures through the two slits. This will 

result in a double exposure. The magnitude and direction of the image motion 

occurring in the time required for thE film to travel between the two smear 

slits may be measured. The two slits are of different widths so the sign of 

the smear may also be determined since one image will have greater exposure. 

4.5.2 Smear Slit Design 

The smear slit configuration is shown in Figure 2.4-14. 

4.5.3 Smear Slit Operation 

Smear, although a vector quantity, is usually specified by in-track (x) and 

cross-track (y) components, since there are generally different contributors 

for in-track and cross-track smear, and measurements are most easily made in 

these directions. 

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j_ 

SEP s 

n 

1--*-* __ J_ 

!Positive 

Positive In-track 

Smear 

ws (2) 

n 

Cross-track Smear 

Figure 2.4-14. Smear Slit Configuration 

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The components of the smear (mismatch) velocity are given by: 

v S (x) :::: 

v 

s (y) vi(y) 

The sign of the smear velocity is taken relative to the BIF-008, image plane 

coordinates. 

The smear (displacement) observed in the smear slit area, in micrometers is 

given by: 

Where: 

s 

s n 

vf x 

n 

s 

s n 

vf v 

·n 

S is in inches 

n 

4 

(Vi (x) - v ) (2.54 x 10) f 

4 v (2,54 x 10) i(y) 

vf. vi(x) and vi(y) are in in./sec at the film 

The smear observed in the smear slit area differs from that in the main image 

area by a factor, denoted kn' equal to the ratio of smear slit separation to 

slit width. Table 2.4-7 presents nominal values for the various dimensions 

shown in Figure 2.4-14 and for k . An Extended Altitude Capability (EAC) smear 

n 

slit ~ill complement the current 9-system smear slit. This was necessary to 

optimize smear image displacements to ensure reading accuracy when syste~ operation occurs at EAC altitudes. These values are given in Table 2.4-8. 

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n 

1 

2 

3 

4 

5 

6 

7 

8 

9 

10 

11 

12 

13 

14 

15 

16 

ws (1) 

n 

ws ( 2) 

n 

s 

n 

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BIF-008- W-C-019838-RI-80 

TABLE 2.4-7 

SMEAR SLIT DP1ENSIONS 

SEP= 0.0855" 

w ws (1) ws (2) s k n n n n n 

0.0040 0.0170 0.0020 0,0950 23.75 

0.0054 0.0177 0.0027 0.0957 17. 72 

o. 0072 0.0186 0.0036 0.0966 13.42 

0.0094 0.0197 0,0047 o. 0977 10. 39 

0,0126 0.0213 0.0063 0.0993 7.88 

0.0168 0.0234 0.0084 0.1014 6.04 

0.0224 0.0262 0.0112 0.1042 4.65 

0,0300 0,0300 0.0150 0.1080 3.60 

0.0400 0.0350 0,0200 0.1130 2.83 

0.0534 0.0417 0.0267 0.1197 2.24 

0.0712 0.0506 0.0356 0.1286 1. 81 

0.0948 0.0624 o. 04 74 0.1404 1. 48 

0.1266 0.0783 0.0633 0.1563 1. 23 

0.1686 0,0993 0.0843 0.1773 1. 05 

0.2250 0.1275 0 .1125 0.2055 0.91 

0,3000 0.1650 0,1500 0.2430 0,81 

w 

n + w8 

k = s 2 n n 

w 

n 

= w 

n 

2 

0.0855 

+ ( wsn (1) : wsn (2)) 

2.4-45 

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\,· 

n n -

1 0.0040 

2 0.0054 

3 o. 0072 

4 0.0094 

s 0.0126 

6 0.0168 

., 

I 0.0224 

8 0.0300 

9 0.0400 

l() 0.0534 

11 0.0712 

12 0.0948 

13 0.1266 

14 0 .1686 

15 0.2250 

16 0.3000 

(1) (1) w 

"'s = w + ( n 

n s2 

w 

w (2) = w (2) + ( n s2 s2 

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TABLE 2.4-8 

SMEAR SLIT DIMENSIONS (EAC) 

SEP = 0.0214" 

w (1) 

ws 

(2) 

s s 

n n n 

0.0164 0.0050 0.0321 

0.0171 0.0057 0.0328 

0.0180 0.0066 0.0337 

0.0191 0. 0077 0.0348 

0.0207 0.0093 0.0364 

0.0228 0.0114 0.0385 

0.0256 0.0142 0.0413 

0.0294 0.0180 0.0451 

0.0344 0.0230 0.0501 

0.0411 0.0297 0.0568 

0.0500 0.0386 0.0657 

0.0618 0.0504 0. 0775 

0. 0777 0.0663 0.0934 

0.0987 0.0873 0.1144 

0.1269 0.1155 0.1426 

0. 1644 0.1530 0.1801 

w2) ( w s (1) 

s = 0.0214 + n 

2 n 

w2) k = s 

n n 

2 \\" 

n 

2.4-46 

IO P SECRET G 

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k 

n 

8.03 

6.07 

4.68 

3.70 

2.89 

2.29 

1.84 

1.50 

1. 25 

1. 06 

0.92 

0.82 

0.74 

0.68 

0.63 

0.60 

wsn (2)) + 

2 

Hand I e v 1 a BY EM Ml 

Conlro' Systr'm Or.I. 

• 

• 

• 
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Smear measured in the smear slits may be converted to on-axis values by 

dividing by k from Table 2.4-7. 

n 

S (on-axis) x 

S (on-axis) y 

s 

y n 

k 

n 

The equivalent smear rate may be obtained by: 

Where: 

]J 

y 

s 

s 

x 

n 

yn 

s 

s 

vf (39.37) 

F 

n 

v f (39. 37) 

F 

n 

μ and μ are the in-track and cross-track smear rate 

x y 

respectively (μrad/sec) 

s = the observed in-track smear, in the smear slit 

x 

n for slit n (μm) 

v f film-drive speed (in./sec) 

s = separation of the smear s Ii ts, slit n (inches) n 

F = focal length (inches) 

39.37 = conversion; ]Jill to μinch 

The following example will serve to illustrate the use of these equations. 

Given: An in-track image separation of 15 μm is observed in smear slit (n 6) 

6. The frame was exposed at a film-drive speed of 5.6 in./sec. 

2.4-47 

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Find: Equivalent smear rate 

Solution: From Table 2. 4- 7, Sn for smear slit 6 is 0 .1014 

).l 

x 

:::; 

(15) (5.6) (39.37) 

(0.1014) (175) 

186 wrad/sec 

2.4-48 

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5.0 FOCUS 

For optimal performance (resolution, image quality) it is mandatory that the 

photographic emulsion plane coincide with the plane containing the highest 

quality image (best photographic focus (BPF)). This section describes the 

precision and accuracy of the Gambit system when determining the degree of 

coincidence of these two planes. BPF, in reality, represents a compromise 

location when potential aberrations, such as astigmatism, are considered. 

However, it can be assumed that factory through-focus testing, using interferometric techniques, will yield a practical optimal BPF plane. 

5.1 Focus Requirement 

The required accuracy in placing the film at BPF can be estimated using the 

Rayleigh Criterion limit for allowable optical wavefront degradation. The 

limit states: "If the optical path difference between any axial ray and a 

marginal ray is one-quarter wavelength or less, the optical instrument will 

not have a quality noticeably short of a perfect system." When applied to 

focus error, this implies that a well-corrected lens has a depth of focus on 

either side of exact geometric focus over which the maximum optical path difference (OPD) does not exceed one-quarter wavelength. In vacuum, the depth of 

focus for this condition is stated: 

where: Lff = 

\ = 

f/# = 

c = 

= 

depth of focus in inches 

wavelength in nanometers 

lens £-number 

conversion, nanometers to inches 

3,937xl0 -8 inches/nanometer 

2.5-1 

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For the _f/4.02 optical system used in the PPS/DP EAC, and for a wavelength of 

571 nm, the calculated depth of focus is ± 0.00073 inch. Since focus errors 

are described by statistically derived tolerances, a statistical confidence 

level is assigned to the maintenance of the film plane within the calculated 

depth of focus. With 95 percent statistics used in budget development it is 

expected that the film plane will be within the bounds of the calculated 

depth of focus 95 percent of the time. 

5.2 Focus Maintenance 

There are two aspects of focus maintenance into which errors may fall: 

(1) uncertainty in the location of the plane of highest 

aerial image quality with respect to some arbitrary, 

mechanical benchmark, and, 

(2) accuracy with which the film plane may be placed at a 

desired location, also with respect to some arbitrary, 

mechanical benchmark. 

Some error contributors may influence both aspects of focus maintenance but 

are assumed to apply to one or the other for the purposes of analysis. 

5.2.1 Focus Detection Subsystem 

The focus detection subsystem (see Figure 2.5-1) is designed to reduce the 

uncertainty in the location of the plane of highest aerial image quality by 

examining a portion of the incoming wavefront and generating a signal related 

to the amount of defocus relative to the 9-inch image plane at i4 lpmm 

2.5-2 

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BIF-008- W-C-019838-RI-80 

Moving Scene_. 

Radiant Power 

R-5 

Defocus MTF 

at 14 lprnm 

Spatial-Temporal 

Filtering* & 

Detection 

, 

Defocus 

Signals A & B 

*Filtering With A ±45-degree Chevron 

Reticle At The Sensor Field Position 

(0, 0.75-inch +Z) and A= 450 to 850nanometers 

• 

Signal 

Processing 

(Calibration 

Factors) 

,, 

Predicted Location Of Focal 

Plane Relative To Platen 

Figure 2.5-1. Focus Detection Subsystem Functional Block Diagram 

2.5-3 

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(±45 degrees). The basic theory of operation of this system is developed in the 

following sections. ~~ere applicable, the differences in operation between the 

low and high altitude modes are specifically delineated. Detailed hardware and 

operation descriptions are found in Part 3, Section 6. 

5.2.1.1 Defocus MTF. The focus detection subsystem responds to the ±45-degree 

heterochromatic modulation transfer function (MTF) of the complete (R-5 and focus 

system) optical system at a spatial frequency of 14 lpmm. A chevron reticle is 

used to spatially filter the modulation to the 14-lpmm frequency level. The 

average heterochromatic through-focus MTF for the R-5 system at 14 lpmm is shown 

in Figure 2.5-2. 

5.2.1.2 Scene Input and Reticle. The radiant power of a scene, expressed as a 

function of spatial frequency, is termed the Wiener spectrum of the scene. The 

approximate average Wiener spectrum of the earth as viewed from an altitude of 

75 and 710 nmi through the Gambit system optics is shown in Figure 2.5-3. 

The scene power is spatially filtered by a chevron reticle having a 14-lpmm pitch 

and a ±45-degree orientation. The orthogonal relationship is required to sense 

mean* focus and ±45-degree orientation is needed to produce a common temporal 

frequency. The reticle width, 0.16 inch, is determined by longitudinal color 

considerations and a "vignetting" (apodization) mask is used to improve stop-band 

suppression. (The stop band is that region from the de peak at v = 0 to the first 

peak at v = 14 lpmm.) A typical chevron reticle is shown in Figure 2.5-4. 

*Because of the small amount of astigmatism present in the Gambit optics, focus 

may vary slightly between in-track and cross-track directions. Focus system 

models have shown that the focus indication based on the 45-degree MTF is comparable to the average of the in-track and the cross-track focus positions. 

Factory tests have shown the design to be insensitive to astigmatism orientation 

for magnitudes up to about 0.002 inch. 

2.5-4 

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....... 

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0.6 

0.4 

0.2 

-10 -8 -6 -4 -2 0 +2 +4 +6 +8 +10 

Defocus (0.001 inch) 

Conditions: 

Average for ±45 degrees 

R-5 Lens 

400-900 run wavelength 

9-inch Platen 

Figure 2.5-2. Heterochromatic, 14 lpmm through Focus MTF 

2.5-5 

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i::: 

C1l 

.,...; 

'U 

C1l 

'"" i § tJl 

'-..<ll 

N ,....; 

s u 

-tJl u :>-, 

+-' 

+-' 

C1l 

:;;:: 

10. OOJ:.1 

2.0 

5.000 --

1.0 

1.000 

0.20 

--

0.500 

--

0.10 

0.100 

--

0.02 

0.050 

-----

0.01 

0.010 

-0.002 

0.005 

--

0.001 

0 001 __:...---.-; 

0. 0002 2-:-9 

s 

\ 

\ 

\ 

\ 

I\ 

\ 

\ 

\ 

5.0 10 50 

----- 25 ----so -

250 

Spatial Frequency (cycles/mm) 

Figure 2.5-3 Earth's Wiener Spectrum 

(With 175-inch FL, 85% OQF Optics) 

2.5-6 

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NOTE: 

Top Scale 

75 nmi. 

Bottom 

Scale = 

450 nmi. 

100 

-500 

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BIF-008- W-C-019838-RI-80 

In-track 

. ., Cross-track 

Spatial Frequency = 14 lpmm l bars (10 lpmm Cross-track and In-track) 

1 lpmm = 1 line and 

one space of equal width 

Dimensions are in inches unless otherwise noted . 

Figure 2.5-4. Typical Chevron Reticle 

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BIF-008- W-C-019838-RI-80 

The transfer function of the reticle is: 

T (v) = 

sin NTI vivo l 

x 

cos TI V/2v 0 

Power transfer peak amplitudes are: 

2 4 jT(vo) I = 2 2 

(2 n + 1) TI 

where: v = spatial frequency (lpmm) 

n number of bars l in reticle 

Vo = fundamental frequency of peak 

n harmonic 

Figure 2.5-5 shows the transfer function of the reticle from 0 to 0.5 lpmm and 

from 13.5 to 14.6 lpmm. The transfer function also peaks at multiples of the 

base frequency, but since the Wiener spectrum decreases as l (l<n<4), and 

vn 

electronic filtering further reduces the effect of the higher frequencies, they 

present no problem. The transfer function of the reticle between 0.5 and 135 

lpmm remains below 0.001. 

The 14 lpmm component of scene power varies with time since the scene image is 

moving across the spatial filter. The range of temporal frequencies resulting 

from this "scan" is determined by the range of image velocities and ranges from 

211 Hz (0.84 in./sec) to 2967 Hz (11.8 in./sec). 

2.5-8 

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"O 

..., 

0 

< CD 

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-

0 

..., 

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co N Q) 

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0 

...... 

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--

0 

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0 

0'1 

0 

co 

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...... 

...... 

_Q__ 

1.0 

0.8 

i:= 

0 

.,..; 

μ 

u 

i:= 

;::3 

ri. 

H 

(!) 

~ 

fJl 

@ 

H 

E-< 

H 

(!) 

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0 

0.. 

0.2 'I 1. 

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• 

0.2 I I l 0.4 ~ 0.5 < For~ D < 13.5 

TF < 0.001 

13.8 14.0 

Spatial Frequency, v (lprmn) 

Figure 2.5-5. Reticle Transfer Function 

T7"\ P It lllii r cuq G 
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I OP SECRET G 

BIF-008- W-C-019838-Rl-80 

5.2.1.3 Focus Signal. A system which sees only constant input scene power 

could be made to work with one of the reticles described earlier, positioned 

optically conjugate to the film plane. Best focus would then be indicated 

by a maximum in the AC signal corresponding to 14-lpmm spatial frequency. This 

configuration would be useful as a focus sensor only if the input scene power 

were constant, since the focus indication would then be a function of the AC 

signal level (which changes when the input level changes). In practice, of 

course, the Wiener spectrum is not constant (see Figure 2.5-3). 

The focus system design bases the focus indication on signals obtained from 

2 channels derived from reticles displaced equal distances (0.015 inch) in 

front of (channel A) and behind (channel B) the image plane conjugate. The 

physical layout of this system is shown in Figure 2.5-8, Focus System, Physical 

Layout. The particular function of the channel A and B signals chosen to 

monitor the focus condition is the difference between the channel A and B 

signals normalized by the average signal strength (A+ B). that is, defocus 

is proportional to 2(A - B). 2 

A + B 

Figure 2.5-6 depicts the source of the channel A and channel B signals. The 

shape of the MTF curve, combined with the positions of the reticles, is such 

that a 0.17 change in signal (2(A - B)) is related to a nominal change in posiA + B 

tion of 0.001. This results in the relationship between normalized signal and 

defocus shown in Figure 2.5-7. Graphs are shown relative to the 9-inch platen. 

The normalization procedure effectively removes dependence on signal strength; 

as can be seen from the following argument. If the input scene energy is denoted 

E, the form of the scene energy functions contributing to channels A and B can 

be obtained by inspection of Figure 2.5-8, wherein: 

2.5-10 

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1.0 

0.8 ri. 

E-

~ 

u 

·rl 

.μ 

cd 

s 

0 

H 0.6 ..i:: 

u 

0 

H 

© 

.μ 

© 

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'<:!" 

,....; 

0.2 

0.0 

-10 -8 

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BIF-008-W-C-019838-RI-80 

T -----~- ----------- --~--j 

Reticle Midplane 1 

- (shown +0.00_1-inch_ Defocus) 

-6 -4 -2 0 + 2 +4 +6 

Position (0.001 inch) 

Figure 2.5-6. Channel A and B Signals 

2. 5-11 

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+0.5 

+0.4 

+0.3 

+0.2 

+O.l 

,......., ,......., 0 a:i i::t:l 

1 + 

<!'. <!'. -0.1 '--' '-' 

N 

-0.2 

-0.3 

-0.4 

-0.5 

i -- l 

-2 

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BIF-OOS-W-C-019838-RI-80 

-1 0 

Defocus (0.001 inch) 

l --- -1 · 

j 

+l 

Figure 2.5-7. Signal vs. Defocus 

2. 5-12 

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z 

BIF-008- W-C-019838-RH-80 

~ Beam Splitter 

Optical 

Axis 

Zero-Power 

Achrornat 

Figure 2.5-8. Focus System, Physical Layout 

E 

--·-·--- '-~•u< 

G 

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BIF-008- W-C-019838-RI-80 

EA = (TA + RA + a A) E 

TA' TB and RA' RB are transmittances and reflectances 

of channel A and channel B respectively. 

a is the absorption in the optical path. 

Since the absorption is equal for both channels (no channel-specific glass 

inhomogeneity in the beam splitter or reticle plates), aA = aB =a and 

All dependence on input energy, E, has disappeared. 

The reflectance and transmittance values for the inconel (45-degree) beam 

splitter depend on the state of polarization of the incoming scene energy. 

Figure 2.5-9 illustrates this phenomenon. Significant changes in the state 

of polarization of the input energy cause changes in RA' RB, TA' and TB 

which result in apparent focus changes. The so-called "T+R" design, as 

just described, minimizes such polarization effects since both channels 

contain an R component and a T component and therefore both channels are 

affected similarly. (The polarization effect is certainly much reduced 

compared to a system in which channel A or B alone results from purely 

reflected or purely transmitted contributions.) 

System calculations and available atmospheric data indicate that for realistic 

conditions the polarization induced focus error is probably small, and is 

correlated with sun angle. This has been demonstrated in factory tests where 

100-percent linearly polarized light caused negligible shifts in the focus 

indication upon 90-degree rotation of the plane of polarization. 

2.5-14 

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/ 

Reflected 

>:: 0.6 

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1.0 

1.0 

larized 

Bl F-008- W-C-019838-RI-80 

0.4 

,,,,,,.,.,,,,,,.,. l ""0.6 

/ T . / ransmitted 

2.5-9. Polarization Effect 

~Tr, 

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BIF-008- W-C-019838-RI-so 

5.2.1.4 On-Board Signal Processing. The broad-band scene power, spatially 

filtered to a narrow band about 14 lprrnn and varying temporally due to scene 

movement across the reticles, then falls on photodiodes placed behind the 

reticles. These photodiodes integrate and transfer linearly the incoming 

irradiance fluctuations into current fluctuations. The RMS signal at the 

photodiodes is in the picowatt range and the resulting current is in the 

nanoampere range. The linearity is a function of photodiode uniformity over 

the image blur circle. 

The current signal at the photodiodes is converted to a voltage signal by a 

current-to-voltage converter. The virtual ground thus obtained is required 

to obtain the desired frequency response with the large shunt capacity resulting from the large area photodiodes.* The load resistor associated with this 

stage (100 k~) is sized to maximize the signal-to-noise ratio while not allowing 

system saturation at high-input light levels. The voltage gain of each channel 

varies from 840 at 211 Hz to 7560 at 2967 Hz with the peak gain of 9500 

occurring at 2000 Hz. In order to operate with two orders of magnitude 

signal variation spread over more than a frequency decade, two passbands, switchable from one to the other, are incorporated into the four-stage channel amplifier 

and filter section. The switchover from one bandpass to the other is made at 

741 Hz (2.95 inches/second) corresponding with the FPLLE speed range changeover. 

The RMS voltage in the 211- to 2967-Hz range is converted to a de signal 

proportional to the true RMS signal. These signals are logically summed to 

obtain A - B and A + B levels, which are then presented to a divider to obtain 

(A - B) This signal is scaled to correspond to 1 volt and 0.5 volt 

(A+ B)' 17% ~ MTF 17% ~ MTF . 

The total system response is then: 

*Space limitations preclude the use of condenser optics to provide a smaller 

exit pupil, thereby allowing smaller photodiodes, and less dependency on 

photodiode linearity. 

2.5-16 

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17% to MTF 

0.001-inch defocus 

17% to MTF 

0.001-inch defocus 

1 volt 

17% to MTF 

0.5 volt 

17% to MTF 

= 

= 

BIF-OOS-W-C-019838-RI-80 

1.0 volt (Fine) 0.001-inch defocus 

0. 5 volt (Coarse) 0.001-inch defocus 

5.2.1.5 Ground Signal Processing (Dynamic Filter). The focus detection subsystem 

provides seven output signals which are carried by telemetry to the ground. These 

include: 

Focus correction signal, 

coarse (IMP 5107) 

Focus correction signal, 

fine (IMP 5067) 

Average irradiation level, 

channel A (IMP 5231) 

Average irradiation level, 

channel B (IMP 5105) 

Focus difference signal 

(A - B) (IMP 5108) 

Focus signal strength 

(A + B (IMP 5059) 

Focus sensor head temperature 

(IMP 5058) 

2.5 volts = 0 correction; 

slope = 0.5 volt/mil of platen movement 

2.5 volts = 0 correction; 

slope = 1.0 volt/mil of platen movement 

2.5 volts = 78 ft-candles; 

slope = 0.052 volt/ft-candle 

2.5 volts = 78 ft-candles; 

slope= 0.052 volt/ft-candle 

2.5 volts = 0-volt output; 

slope = 0.033 volt/percent difference 

A and B 

3.75 volts = 1.75-volt output; 

4.75 volts= 10-volt output 

(for instrumentation voltage <3.75: 

slope = 5 volts/volt; for 

instrumentation >3.75: slope= 

0.235 volts/volt) 

2. 5 volts = 70F; 

slope = -SF/volt 

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A data reduction and recursive filter software package is applied to the 

telemetered data. Further details on this "Dynamic Filter" software package 

are found in Appendix C. The equation and required telemetry data and calibration values are listed below. 

where: 

BEF = - Null - ~Bal + ABSl _ 

SF J 

BEF = focus system prediction of the plane of best 

geometric mean focus 

LP = distance from pivot point to platen centerline 

= 5.080 inches 

LR = distance from pivot point to reticle centerline 

:::;; 4. 330 inches 

V = sensor correction signal in volts (IMP 5067) sensor 

(image relative to reticle midplane) 

Null = sensor readout for equal electrical input signals 

(factory calibration) 

~Bal = sensor readout for equal electrical input signals 

(on-orbit calibration, see Section 5.3.3) 

SF platen sensitivity in volts/mil of image displacement 

ABS 

SRC1 

::: 

= 

= 

absolute platen position during readout as determined from platen position instrumentation 

NPA + SRCA (the actual SRC step in use when focus 

data was taken) 

correct SRC step for the conditions when focus 

data was taken 

2.5-18 

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ecal = calibration factors required in converting 

sensor readout to image displacement from 

platen; consists of: 

B 

v = spatial frequency bias; difference 

between the high-frequency (180 lpmm) 

GM focal plane and the low-frequency 

(14 lpmm) mean focal plane 

field curvature and tilt bias; difference 

in image location at the platen axial 

position and reticle field position due 

to field curvature and mounting tilt in 

the Z direction 

reticle placement bias; difference in 

actual reticle midplane placement after 

shimming from calculated midplane 

position 

Platen Adjustment Subsystems 

The uncertainty in the location of the platen arises from mechanical tolerances 

during buildup of the camera, the accuracy with which platen adjustment subsystems move the platen, and other factors such as thermal hotdogging, test 

equipment error, etc. Platen movements are required to respond to systematic 

image movements resulting from slant-range changes and other nonsystematic 

changes resulting from thermal or other influences. 

5.2.2.1 Slant Range Compensation (SRC). The position of the image along the 

optical axis varies with the vehicle-to-target distance (slant range) by the 

relationship: 

where: F = focal length 

0 = object distance from the primary principal plane 

I = image distance from the primary principal plane 

2.5-19 

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It has been shown (Part 2, Section 3) that the required film-drive speed also 

varies with slant range. The calculated slant range for a given frame then 

uniquely defines both film-drive speed and image location (focus). In the lowmode, the four most significant bits of the film-drive speed command are therefore 

used to command the platen adjustment subsystem over a range of +0.0018 to -0.0027 

inch (see Part 3, Section 2), in 16 steps (64 film-drive speeds make up one SRC 

step). 

The maximum altitude consideration for PPS/DP EAC is 470 nmi which results in a 

maximum slant range of 710 nmi using a spherical earth model. When the vehicle 

is in the high mode, SRC will be disabled at step 1. Changes in focus position 

will then be accomplished with platen adjustment by NPA. Figure 2.5-10 shows 

focus position as a function of slant range from 40 to 710 nmi. Also indicated 

are the SRC step positions in both platen locations and slant range. 

5.2.2.2 Nominal Platen Adjust (NPA). The location of the plane of best focus 

may differ from the factory-set platen position because of factors such as 

thermal hotdogging, mirror thermal distortions, and mechanical relaxation of 

launch-induced stresses. Provisions have been made to accomplish adjustments 

in platen position by an explicitly commanded movement called nominal platen 

adjust (see Part 3, Section 2). 

5.3 Error Contributors 

The accuracy with which the relative position of the high-quality aerial image 

and film plane is known is dependent upon the accuracy with which each position 

is known individually. Each of the known sources of error in each system has 

been assigned a statistical error. The combination of these errors results in 

a system where the platen and the plane of best focus will be within 0.000537 

inch 95-percent of the time (based on calculations using specification values 

and best engineering judgement). 

2.5-20 

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+0.005 

+0.004 

+0.003 t: t 

-1-- ---- - - -1- -- - r- - - -r- ---

In High Mode, SRC disabled at Step 1 

I 

+0.001 FOCUS Sl.AlllI BAlllGE 

STEP+ CENTER FAR NEAR CENTER FAR NEAR - -- 0 +O. 002728 +0.002880 +0.002577 189.8 203.7 177.6 

2 +0.002425 +0.002577 +0.002273 166.9 177 .6 157.4 

3 +0.002122 +0.002273 +0.001970 149.0 157.4 141.4 

4 +0.001819 +0.001970 +0.001667 134.5 141.4 128.3 

N 5 +0.001516 +0.001667 +0,001364 122 .6 128.3 117 .4 0 

U1 

I 

6 +0.001213 +0.001364 +0.001061 112 .6 117 .4 108.2 

7 +0.000909 +0,001061 +0.000758 104.2 108.2 100.4 N 

..... 8 +0.000606 +0.000758 +0.000455 96.9 100.4 93.6 

9 +0.000303 +0,000455 +0.000152 90.6 93.6 87.7 

10 0 +0.000152 -0.000152 85.0 87.7 82.5 

11 -0.000303 -0.000152 -0.000455 80.l 82.5 77.8 12 -0.000606 -0.000455 -0.000758 75.7 77 .8 73.7 13 -0.000909 -0.000758 -0.001061 71. 8 73.7 70.0 

14 -0.001213 -0.001061 -0.001364 68.3 70.0 66.6 15 -0.001516 -0.001364 -0.001667 65.0 66.6 63.6 

16 -0.001819 -0.001667 -0.001970 62.1 63.6 60.8 

-0.006-,-~~~~-t~~~~-r~~~~--1~~~~--ii--~~~~+-~~~~-+-~~~~J 

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0 100 200 

* Position is relative to 

Factory zero 

300 400 500 

Slant Range (nmi) --

Figure 2.5-10. Focus Position vs. Slant Range 

600 700 

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5.3.1 Error Sources 

The sources of error in the location of the plane of best focus by means of 

the focus detection system, and the sources of error in the placement of the 

platen at this position are summarized as follows. 

5.3.1.l Focus Detection Subsystem. The focus detection subsystem errors are: 

color aberration 

electronic channel balance 

data reduction 

spatial frequency bias 

signal correlation 

polarization 

residual error 

air-to-vacuum bias 

the variation of focus as a 

function of scene spectral content 

the variation of photocell and 

amplifier parameters 

variation arising from processing 

telemetry data 

difference between best focus at 

low and high spatial frequencies 

remaining after calibration 

scene differences between reticle 

pairs, reticle offsets, and alignments 

variation in focus due to polarization of incoming scene irradiance 

errors from all other sources 

difference in refractive index 

between air and vacuum. 

5.3.1.2 Camera and Optical System. Focus errors associated with the camera or 

optical system are: 

platen setting 

platen/reticle mechanical 

stability 

2.5-22 

precision in the setting of the 

platen to best photographic focus 

for orbital conditions 

mechanical stability between platen/ 

Y-axis plane and reticle plane 

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platen/camera mechanical 

stability 

platen/reticle thermal 

stability 

platen/camera thermal 

stability 

platen reticle alignment 

image plane tilt 

platen runout 

film tension 

film thickness 

SRC/NPA granularity 

SRC/NPA reproducibility 

optical assembly, mechanical 

stability 

optical assembly, thermal 

stability 

Error Budget 

BIF-008- W-C-019838-RI-80 

mechanical stability of platen to 

camera mounting plane coordinates 

thermal stability between platen/ 

Y-axis plane and reticle plane 

thermal stability of platen to camera 

mounting plane 

initial precision in setting 

platen/Y-axis plane to reticle 

plane (remaining after calibration) 

uncertainty in the measurement of 

image plane tilt at focus sensor 

axial location 

eccentricity of platen 

variation in platen position due 

to film tension excursions 

variability in film thickness 

within a given film type 

variability resulting from discrete 

SRC step width 

hardware imprecision due to slantrange within-step reproducibility 

stability of optical assembly to 

transient mechanical loads 

stability of optical assembly to 

on-orbit temperature variations 

Table 2.5-1 summarizes the budget values for the various defocus contributors. 

2.5-23 

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TABLE 2.5-1 FOCUS ERROR BUDGET 

(lo Values, in mils) 

Contributor 

Focus Detection System 

Color Aberration 

Electronic Channel Balance* 

Data Reduction 

Spatial Frequency Bias 

Signal Correlation 

Polarization 

Residual Errors 

Camera/Optical System 

Platen Setting 

Platen/Reticle Mechanical Stability 

Platen/Camera Mechanical Stability 

Platen/Reticle Thermal Stability 

Platen/Camera Thermal Stability 

Platen/Reticle Alignment 

Image-Plane Tilt 

Platen Runout 

Film Tension 

Film Thickness 

SRC/NPA Granularity 

SRC/NPA Reproducibility 

Optical Assy; Mechanical Stability 

Optical Assy; Thermal Stability 

Total la by RSS 

Total Combined la error by RSS = 0.2742 

95% = 0.5374 mil 

Between-Mission 

Variability 

0.05 

0.05 

0.05 

0.05 

(1) 

0.06 

(1) 

0.05(2) 

(1) 

0.033 

0.06 

(1) 

(1) 

0.1442 

BIF-008- W-C-019838-RI-80 

Within-Mission 

Variability 

0.04 

0.05 

0.05 

0,08 

(1) 

(1) 

(1) 

0.033 

0.020 

0.033 

0.092 

0.038 

(1) 

0.170(3) 

0,2332 

*System uncertainty using on-board calibration (1) assumes that the focus detection subysystem will correct 

for this contributor to within accuracy indicated by budget, (2) includes both static and dynamic thermal 

environments, (3) includes error in door-open-light (DOL) model prediction of BEF. 

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5.4 Calibration 

In addition to the usual mechanical calibration factors developed during assembly 

and testing, an electronic, on-orbit calibration of the focus detector may be 

accomplished. This is done through light-emitting diodes (LEDs) placed on the 

beam splitter in such a way that the photodiode detectors are illuminated. The 

LEDs are pulsed at frequencies of 300 Hz and 850 Hz when the high mode is selected 

and 1025 Hz and 1600 Hz when low mode is selected. The result of pulsing the LEDs 

should be a "NULL" or zero focus error indication. 

2.5-25 

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2.5-26 

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6.0 EXPOSURE 

Exposure, the amount or quantity of light received by the photographic emulsion over a given time period, is defined by: 

where: 

E It 

E 

I 

exposure 

illuminance, flux of light 

received by the emulsion surface, 

usually expressed in meter-candles 

t exposure time 

ThP u;iits of exposure are therefore meter-candles-seconds (mes). 

6.] Spectral Dependency 

All of the major influences on the amount of light energy received by the 

photographic emulsion and the response of that emulsion to the light received 

vary to a greater or lesser extent with the wavelength of the light. Since 

all "natural" illumination is traceable to sunlight, film response, target 

reflectances, optical transmission values, etc. are based on davlight 

quality illuminant. Daylight quality illuminant is said to have a spectral 

distribution similar to a black-body at a temperature of 5800 °K. In the 

following discussions, when single numbers are given for quantities having 

a spectral dependence, it may be assumed that the figures given are for 

daylight quality illuminant. 

2.6-1 

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6.2 Exposure Determination 

The exposure for a given frame is a function of vehicle-target geometry and 

the commanded slit width. 

6.2.1 Geometric Considerations 

In a frame camera, the illuminance, I, is controlled by (but not uniquelv 

determined by) the lens aperture, while the exposure time, t, is controlled 

by the shutter speed. With a strip camera, I is controlled by (but again 

not uniquely determined by) the entrance pupil aperture, while the exposure 

time is controlled by the film drive speed, Vf, and slit width, w. However, 

a strip camera used in an application characterized by relative motion between the camera and the subject (as in satellite reconnaissance systems) is 

subject to the constraint that the image velocity vector and the film drive 

speed vector be matched. The physical implementation of this requirement is 

called image motion compensation (IMC), and results in an explicit film 

drive speed for a given camera-target geometry. 

6.2.2 Slit-Width 

With film drive speed determined by camera-target geometry, the only remaining means of exposure control for a strip camera is the slit width, w. 

t = w/V f 

6.3 Slit Selection, Graphical Approximation 

In practice, once the geometrical target acquistion conditions are known, Vf 

is determined to meet IMC requirements. Sofware is then utilized to find the 

proper slit width based on local target sun angle, target mean reflectance, 

2.6-2 

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film type in use, etc. A graphical portrayal of the interaction between the 

major parameters involved in slit selection appears in Fi~ure 2.6-1, and 

2.6-2. 

To make use of these figures, the required film drive speed is found from 

Figure 2.6-1, or through the use of the appropriate equations found in 

Part 2, Section 3 of this document. A vertical line is then drawn on the 

right-hand graph of Figure 2.6-2 corresponding to this film drive speed. 

The required exposure time is determined from the left-hand graph of 

Figure 2.6-2 by finding the intersection of sun angle with the appropriate 

film curve. A horizontal line is drawn from this point on the left-hand 

graph to intersect the vertical line previously drawn on the right-hand 

graph. The curved line closest to this intersection point represents the 

slit which would be selected. 

Example: 

Given: Altitude 105 nmi 

~l ::: 30° 

z ::: 00 

Sun Angle 30° 

Film Type S0-312 

Find: Nominal Slit 

-3 The exposure time is found to be 5.05 x 10 sec. 

The required slit is slit 8. 

6.4 Slit Selection Operational Software 

The operational software exposure algorithm which calculates the required slit 

width for each photograph takes account of the following acquisition dependent 

quantities (assuming vf has already been fixed): 

Exposing Optical System: Spectral transmittance; T-number 

2.6-3 

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12 

11 

10 

9 

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0 

so 100 150 200 250 300 350 400 450 500 50 100 150 200 250 300 350 400 450 500 

Altitude (nmi) Altitude (nmi) 

E = Stereo Angle; Q Obliquity 

Figure 2.6-1. Exposure Model, Graph l 

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NOTE: 

Films shown are those currently 

available for use in the Gambit 

Vehicle having Extended Altitude 

Because of normal 

and batchthe GEAFS* 

load may 

below . 

*GEAFS Gambit Equivalent Film Speeds 

Film Ti'.Ee 

S0-312 

S0-315 

S0-409 

S0-130 

S0-255 

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GEAFS 

4.7 

9.3 

1.2 

9.5 

10.7 

! 

~ -2 ;: lO 

. 

~ 

~ 

10" 3 

-10 10 

10- 1 

10· 2 

10·3 

20 30 40 50 60 10 80 90 2, 

Sun Angle (Degrees) 

Figure 2.6-2. Exposure Model, Graph 2 

81 F-008-W-C-019838-RI-80 

lO 11 12 

Film-Drive Speed (in./sec) 

2.6-5/2.6-6 

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Scene Parameters: 

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Target mean reflectance; distribution of scene 

spectral reflectances; atmospheric parameters (e.g. 

water vapor content, dust content, percent ozone, 

etc., based on seasonal atmospheric models). 

Acquisition Conditions: Local sun angle; target geographic location; time of 

year; local weather conditions (if snow is present, 

its estimated age and depth). 

Film Characteristics: Response (D-log E) curve shape (important in placing 

highlight and shadow illuminances for des ired tone 

reproduction); reciprocity characteristics; spectral 

character of the laboratory sensi tometer illuminant 

used to determine film spectral sensitivity. 

6.4.l Slit Selection Algorithm Inputs 

The slit selection algorithm utilizes six input variables and three internal 

tables in the selection of the slit which will provide optimum exposure. 

6.4.1.1 Mission Correlation Data (MCD) Inputs. Mission correlation data (MCD) 

inputs are parameters computed by the operational software or obtained from 

external sources. They include: the solar altitude at the target in degrees 

(-10° <SA$ 90°), film type (F = 1, 2, ... , n), and forecast snow depth in 

inches (SN 0", 4", 10", with default value = 0") . 

6. 4 .1. 2 Target Card Inputs. Target card inputs include those parameters 

read from the target deck which are unique to the specific target to be acquired. They are the mean reflectance of the target complex, MR, in percent 

(0% <MR s 100% with default value= 12%), initial exposure bias, Bo, deter2.6-7 

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mined on an R & D basis for special investigations (B 0 = -9, -8, ... 0 ... 

+8, +9; default value = 0. Bo is used internally to generate the multiplicative bias, mo where mo= lOO.lBo) and a safety flag, L, to insure no 

exposure modification beyond the predetermined mo. (L= 1 causes inhibition 

of all other biases, while the default value L= 0 removes the flag and 

permits additional biasing). 

6.4.1.3 Table 1. Slit selection algorithm Table 1 is exposure time in 

seconds (t) versus solar altitude (SA) for each film type (F) assuming a 

nominal scene mean reflectance of 12%. 

The source of the exposure time versus solar altitude data of Table 1 is the 

computer program KALEIDOSCOPE. Basically KSCOPE mathematically models solar 

spectral irradiance incident on the scene, spectral reflectance from the 

scene for a range of local solar altitudes, spectral transmittance of the 

atmosphere, spectral radiance attributable to atmospheric haze, spectral 

transmittance of the R-5 lens system including any filter coatings, R-5 lens 

obstruction and focal ratio, film spectral sensitivity, and the sensitometric 

effects peculiar to the processing method used. The required exposure time 

(t) is then found by dividing the exposure necessary to produce negative 

density 1.1 with a radiometrically calibrated (daylight + wratten E2) sensitometer (in watts-sec/m2) by the effective spectral irradiance at the image 

plane (in watts/m2). 

6.4.1.4 Table 2, Slit selection algorithm Table 2, reproduced here as 

Table 2.6-1, lists the exposure modifiers (M) that adjust the basic KSCOPE 

recommendation for a mean reflectance (MR) of other than 12%. The change in 

exposure required outside the atmosphere for given change in target reflectance 

varies with solar altitude. The table is quantized for both solar altitude 

and reflectance cells corresponding to 0.10 log E exposure units change (0.250 

< M ~ 2.000, with default value = 1,000 implying no adjustment necessary). 

2.6-8 

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Percent Mean 

Reflectance (MR) 

MR < 4 

4 < MR < 7 

7 < MR < 10 

10 < .MR < 14 

14 < MR < 17 

17 < MR < 20 

20 < MR < 23 

23 < MR < 27 

27 < MR < 32 

32 < MR < 35 

35 < MR < 40 

40 < MR < 45 

45 < MR < 58 

MR > 58 

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TABLE 2.6-1 

TABLE OF EXPOSURE MODIFIER, M 

(Algorithm Table 2) 

M, Exposure Modifier 

Solar Altitude 

SA < 9° 9° .:;.. SA ::::.. 25 ° 

1.259 1. 585 

1. 259 1. 259 

1.000 1. 259 

1.000 1.000 

1.000 1. 000 

0.794 0.794 

0,794 0.794 

0.794 0.631 

0.631 0.631 

0.631 0.500 

0.631 0.500 

0.500 0.500 

0.500 0.398 

0.398 0.316 

2. 6-9 

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(SA) 

SA > 25° 

2.000 

1. 585 

1. 259 

1.000 

0. 794 

0. 704 

0.631 

0.631 

0.500 

0.500 

0.398 

0.398 

0.316 

0.250 

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6. 4 .1. 5 Table 3. Slit selection algorithm contains the multiplicative 

snow bias factors (N) to be applied when snow is forecast for a particular 

target. The bias so applied is a function of snow depth (SN). The default 

value N= 1.000 implies no snow bias needed. Table 2,6-2 shows the values for 

snow bias (N) for the three ranges of snow depth forecast for the target. 

TABLE 2.6-2 

TABLE OF SNOW BIASES TO EXPOSURE TIME (ALGORITHM TABLE 3) 

(1 November through 31 March only) 

Inches of Snow Value of 

Forecast SN Snow Bias (N) 

less than 4" 0 1.000 

4" to 10" 4 0.794 

10" or more 10 0.631 

6.4.2 Slit Selection Algorithm 

The slit selection algorithm is shown in Figure 2.6-3. Operation of the algorithm is largely self-explanatory, but the following points deserve emphasis. 

Once the basic 12% MR exposure time (t) is obtained from the KSCOPE table and 

the appropriate modifiers M (for target MR ~ 12%) and N (snow bias) selected, 

a test is made for the presence of the safety flag (L= 1). Sequencing then 

proceeds as follows: 

(A) Flag ON (L=l) 

Ignore N and calculate adjusted exposure time: 

t 1 = tMmo 

2.6-10 

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Target 

Card 

Inputs 

MR, Bo, L 

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ACQ/MCD 

Inputs 

SA, F, SN 

SA, 

TOP SiCRET __:__ 

Select Exposure 

Time From Basic 

KSCOPE t 

Select Exposure 

Modifier, M 

SN Select Snow 

Bias, N 

L 

(NO) 

(YES) 

BIF-008- W-C-019838-RI-80 

Table 

1 

(12% Reflectance) 

(YES) 

(YES) 

Table 

2 

(Actual 

Reflectance) 

M < 1 

IS 

N > M 

t' tmo 

Select Discrete 

Slit Nearest To 

W = V X tr f 

Figure 2.6-3. Slit Selection Algorithm 

2. 6-11 

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M 

t 1 = tMmo 

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(B) Flag OFF (L=O) 

1. M < 1 

This implies that the actual MR > 12% so that a 

reduction in t is called for. 

a. N > fll 

The snow bias, N, alone would reduce t less than, the 

exposure modifier M. Then: 

t 1 = tMmo 

and the snow bias is ignored. When both contributors 

call for an exposure change in the same direction, the 

strongest one takes precedence. 

b. N < M 

2. 

This 

in t 

The snow bias, N, alone would reduce t more than the 

exposure modifier, M. Then: 

t 1 = tNmo 

and again the strongest contributor (N) takes precedence 

since both N and M call for reduced exposure. 

M > 1 

implies that the actual MR < 12% so either no change - results from the application of M or t must be increased. 

t' tmo 

In this case N calls for less exposure while M calls for 

more exposure. Experience under such circumstances has 

shown no advantage in allowing the two factors to interact 

(by writing t 1 = t NMmo), so N and M are considered mutually 

compensating. 

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Note that in all cases the opportunity exists (through mo) for additional 

exposure biasing in steps of 0.1 log E units. It is intended that such 

biasing be done on a purely experimental basis so that should the results 

indicate continued preference for a specific mo, the target MR bias factor 

M would be appropriately changed (new M =old M x mo). 

2.6-13 

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7. 0 FILM CHARACTERISTICS 

In the Gambit Reconnaissance System, the medium upon which the high-quality 

aerial image is recorded is photographic film. The system has been designed 

to utilize films having a range of physical and sensitometric properties. 

This section discusses many of the physical and sensitometric properties of 

photographic films as they relate to use in the Gambit system. 

Photographic film used in the Gambit system is supplied to BIF-008 by the 

Air Force as "Government Furnished Equipment" (GFE) . Although nothing in the 

design of the PPS/DP EAC mandates the use of film from any given vendor, 

films manufactured by Eastman Kodak Company have been used in the past. 

Typical cross-sections of a black-and-white and color film are shown in 

Figure 2.7-1. Each of the dimensions shown may vary with different film 

types. Some features may not be employed in a given film type, but the 

basic structure will be as shown. The emulsion may consist of a complex 

of layers including the photosensitive layer, dye layers and gelatin pads 

to produce the desired photographic and physical characteristics. 

7.1 Physical Characteristics 

Physical parameters of interest for the various film layers and coatings include: material, physical dimensions, strength, optical properties, and 

frictional characteristics. Parameters of interest for the film as a whole 

are: splice configuration, curl, electrical (static) properties, response 

to environmental conditions, and spectral transmission. 

7 .1. 1 Base 

At the present time, all Kodak aerial films have an ESTAR base. ESTAR is 

a polymer of the polyester type; meltcast, stretched and heat-set poly2.7-1 

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Emulsion 

Matte 

(when used) 

BIF-008- W-C-019838-RI-80 

Color Film 

Layers . ~; Anti-halation 

Undercoat (AHU) 

(when used) 

Emulsion ~~~~~ -

·-·--·-\ Emulsion 

(color film) \\> I . . \ ~ \___.__~ 1··--- -- .. \ \-).---------1 0. 00075 

N 

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--,-- ___ \ ____ --- -···-·· 

0. 00023 , Base Matte 

I (when used) 

NOTE: Dimensions are in inches 

• . ',-

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'· "-.. ·. '• ' ""~ " . "-, ' 

•,'.>.__ _ . .. ., " <"'- "'- "">, ----~ ---- -- • 0. 00043 

/ 

Backing (Dyed pelloid 

on B&W films, clear 

gel on color films) 

*Many aerial films are available with a base thickness of 0.0012". 

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Figure 2.7-1. Typical Film Cross-Section 

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terephthalate. It is an excellent base material because it is tough, stable, 

flexible and nearly uniaxial. 

7.1.1.l 

follows: 

7.1.1.2 

Base Thickness. The standard base thicknesses and tolerances are as 

ESTAR Ultra-Ultra Thin Base* 

ESTAR Ultra Thin Base 

ESTAR Thin Base 

ESTAR Base 

1.2 ± 0.10 mils 

1.5 ± 0.10 mils 

2.5 ± 0.10 mils 

4.0 ± 0.20 mils 

Tensile Strength. The strength of aerial films is almost wholly 

dependent upon the properties of the base material. For ESTAR base, the 

properties vary less than 15 percent with direction and are nominally as shown 

below at 70F and SO percent relative humidity. 

Yield strength 13,500 psi 

Yield elongation 5.5 percent 

Break strength 25,600 psi 

Break elongation 115 percent 

Toughness 21,500 in.-lb/cu in. 

Young's Modulus 6.8 x 105 psi 

Tensile strength properties vary with the environment. As the films become 

drier and colder, tensile strength increases. 

*Most films on 1.2-mil base have a total thickness outside the range for which 

Gambit system operation is required by specification. An extensive factory 

testing program has not revealed any significant problems associated with the 

use of 1.2 mil base film in the Gambit system. 

2. 7-3 

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7.1.l.3 Tear Strength. It is extremely difficult to tear ESTAR base films, 

provided no nicks or edge-defects are present. The force required to propagate a tear, once started, is several orders of magnitude lower than the 

force necessary to initiate the tear. If edge integrity is maintained, tear 

is not a practical problem in ESTAR base films. 

7.1.l.4 Brittleness. Brittle fracture of film starts with weakness of the 

emulsion layer under tension. Bending (such as occurs at a small diameter 

roller) can cause fracture in the layer on the outside of the bend. Generally, in ESTAR base aerial films, the fracture will not continue through 

the base causing a film break, but will cause only minor photographic 

defects. Brittleness is greater at the low temperatures and humidities 

encountered in the Gambit application. 

7. l. 2 Emulsion 

The emulsion is an organic binder, or gel, in which particles of photoreactive materials are suspended. 

7.1.2.l Gel. Gel, or gelatin, is a colloidal protein obtained from the 

rendering of certain animal tissues. In the highly purified form used in 

emulsion making, the gelatin provides an optically clear vehicle having an 

index of refraction of about 1.5. 

7.1.2.2 Photoreactive Materials. The photoreactive materials in a photographic emulsion are crystals of silver halide (chloride, bromide). When 

a photon of sufficient energy interacts with a silver halide crystal, a 

latent image center is fonned. Subsequent treatment with appropriate 

developing agents converts the latent image centers into metallic silver 

particles. For color films, the products of development in an emulsion 

layer react with dye-couplers to form appropriate colored dyes within that 

layer. 

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7. 1. 3 Backing 

Gelatin, either dyed or clear, is also placed on the side of the base away 

from the photoreactive layer. Addition of the gel backing reduces the 

tendency of the film to bend under the influence of unbalanced expansion 

between emulsion and base (curl). A dye is included in some backing layers 

to reduce the effect of light passing through the film and reflecting from 

the platen. Small matte particles are added to the backing to influence ~he 

frictional and other physical characteristics of the film-backing. 

7 .1. 4 Anti-Halation Undercoat (AHU) 

The AHU is a coating placed on the base material which diffuses into the 

emulsion. The AHU functions to reduce the amount of light scattered within the emulsion as well as the amount of light reflected at the emulsionbase interface thereby reducing the exposure from the reflected or scattered 

light. (See Figure 2.7-2.) 

Image Light 

\ 

Emulsion 

Base 

Direct Image Halation 

Figure 2.7-2. Halation 

2.7-5 

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7 .1. s Dye Layers 

Dye layers are used to prevent light in a selected wavelength band from 

reaching a layer sensitive to that wavelength. Elamples include the yellow 

layer in some color films which blocks blue light from the emulsion layers 

designed to be sensitive to the green or red spectral region, and the cover 

layer of some infrared films which blocks the shorter, visible wavelengths. 

7 .1.6 Emulsion Matte 

A matte coating is sometimes included on the emulsion side of some films. It 

was originally designed to increase surface roughness and thereby reduce the 

occurrence of Newton's rings on duplicating film. A matte coating is now 

sometimes found on acquisition films whose origins are in duplicating 

applications. 

It is expected that the use of emulsion matte coatings on black-and-white 

acquisition films will be discontinued in the near future. Emulsion matte 

coatings will continue to be employed in color applications to maintain 

handling and duplicating characteristics. 

7 .1. 7 Total Film Properties 

Some physical properties of the film as a whole as received from the vendor 

are described below. 

2.7-6 

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7.1.7.1 Film Splices. All vendor splices are of the ultrasonic-weld type. 

Splice thickness is constrained to 0.0062 inch by hardware design tolerances. Since the thickness of an ultrasonic splice is approximately the 

sum of the thicknesses of the films being spliced, this thickness limit may 

be exceeded when relatively thick films are spliced. 

In some instances, especially when films of different types are spliced 

together, the splice strength may be less than the desired safety margins. 

In these cases (thick or understrength splices) a short segment of clear 

base material is spliced between the two film segments. This is called a 

window splice and is shown in Figure 2.7-3. Frgure 2.7-4 illustrates a 

standard ultrasonic-weld splice. 

7.1. 7.2 Curl. Curl is the effect of forces that cause film to assume an 

arc-like shape. These forces stem from two distinct phenomena: (1) The 

difference in behavior between support and emulsion in response to changes 

in relative humidity, (2) plastic flow induced when film is wound on a roll. 

The standard testing procedure involves cutting 3-inch circular samples, 

allowing them to come into equilibrium with an environment of known relative humidity, and measuring the curvature against a template. ~~ile this 

method is useful in comparing characteristics of various films under 

standard test conditions, it provides little knowledge of how film behaves 

under tension and between rollers, that is, as used in a film handling 

system. 

A typical case is illustrated schematically in Figure 2.7-5. When under 

tension between rollers, the parameter of interest is the separation of 

edge and center, shown as dimension s. Tests in the as-installed configuration, with representative values of d, have shown that the separation 

(s) is well below 1.0-inch for w (film width) of 9.5 inches (nominal) and 

the expected relative humidity range. 

2.7-7 

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---..:::::. ________ ..... __ _ 

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Typical --1 

Depth A = 0.030 ± 0.010 

NOTE: Dimensions in Inches 

Bl F-008- W-C-019838- RI-80 

B Typical 

----. 

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·"l 

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A 

0.850 ± 0.020R 

Typical 

o~;;s ~- ----.__ 

0.250 r---- 0.060 min 

max Typical 

Width B 

B 

B 

0.367 ± 0.020 for A 

0.448 ± 0.020 for A 

0.020 

0.030 

0.515 ± 0.020 for A= 0.040 

·~-n-•·,--·-

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------

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B 

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I 

Width B = 0.367 ± 0.020 for A= 0.020 

B = 0.448 ± 0.020 for A = 0.030 

B = 0.515 ± 0.020 for A = 0.040 

Figure 2.7-4. Standard Ultrasonic Weld Splice 

BIF-008- W-C-019838-R~SO 

0.850 ± 0.020R 

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Tension 

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w 

s 

Section A-A 

Figure 2.7-5. Typical Curl 

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~~ BIF-008- W-C-019838-RI-80 

7.1.7.3 Electrical Properties. The electrical properties of photographic 

film are of importance because they, along with environmental factors, influence the rate at which electrical charges are accumulated and dissipated. 

Electrochemical potential is a function of material identity. When two 

dissimilar materials, having different electrochemical potentials, are 

placed in contact with one another, a non-equilibrium condition will arise. 

The difference in potential will cause an electrostatic charge of electrons 

to move from one material to the other. This flow of electrons will continue until the electrochemical potentials equalize, or until the materials 

are separated. Frequently, the two unlike surfaces are found to have a 

static charge after separation. In general, separation of similar surfaces 

such as gelatin-from-gelatin results in less static charge than separation 

of unlike surfaces, such as gelatin-from-base. 

Statically charged materials seek to return to a neutral state by movement 

of electrons. If both materials are good conductors, they cannot be 

separated rapidly enough to prevent the electrons from "flowing'' back 

through the points of contact and the potential between the two materials 

thus disappears. However, if either or both materials are poor conductors, 

the electrons will not flow back so rapidly through the contacting areas. 

It is then possible to retain some of the static charge on the materials 

after separation. Figure 2.7-6 illustrates the electrification of a film 

strand. 

The surface resistivity of a material provides a measure of the ease with 

which static charges may dissipate. Surface resistivity is expressed in 

ohms per square (the size of the square is immaterial). Figure 2.7-7 

shows typical surface resistivity for emulsion and gel backing. 

2.7-11 

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Backing 

..----(If Used) 

Film Movement 

> + + + + 

---- Emulsion 

Separation 

Film Supply Roll 

Figure 2.7-6. Electrification of a Film Strand 

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Relative Humidity (%) 

Figure 2.7-7. Typical Resistivity of Emulsion and Gel Backings 

2.7 .. 13 

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In the Gambit film handling system, the very low pressure (typically < 0.5 

mm of mercury) results in an insufficient number of charge carriers to 

support an arc or corona. Increased relative humidity during operation 

when film is de-spooled and the presence of matte particles in the backing, 

which reduces the intimacy of contact between film and rollers, act to reduce the chance of arc by reducing electron charge accumulation. 

7.1.7.4 Film Response to Environments. Physical and sensitometric characteristics of photographic film will vary widely under varying conditions of 

temperature and humidity. 

7.1.7.4.l Temperature Equilibration. The heat capacities and thermal conductivities of ESTAR base film and its components are shown in Table 2.7-1. 

Conditioning time in large rolls is long and film properties within the 

roll can vary as the temperature varies. Figure 2. 7-8 shows estimated curves 

for temperature conditioning of the 9. 5-inch and 5-inch film rolls used in 

the Gambit system. 

7.1.7.4.2 Physical Temperature Effects. Film emulsion, backing and support 

melt at elevated temperatures. The melting point of ESTAR is about SOOF and 

the gel coatings can be heated to 340F when dry without any physical damage. 

Serious photographic effects can occur however, so films should not normally 

be subjected to these temperatures. Wet melting points of gelatin coatings 

are much lower, in the range of 212F to 284F. Ignition temperature of ESTAR 

base films is about 900F. 

7.1.7.4.3 Keeping Limits. Keeping limits as a function of temperature and 

relative humidity for film are given in Figure 2.7-9. The keeping limit represents the maximum storage time consistent with acceptable photographic 

quality for the stated conditions. 

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TABLE 2.7-1 

THERMAL PROPERTIES OF FILM 

Heat Capacity 

Material 

ESTAR base 

Gelatin 

Film (0.00025-inch emulsion 

and 0.00023-inch gel backing 

on 0.0015-inch ESTAR base) 

Thermal Conductivity 

Material 

ESTAR base * 

For temperatures between 120F and 150F 

2.7-15 

BIF-008- W-C-019838-RI-80 

(BTU/lb) 

Capacity F 

0.35 

0.37 

0.36 

(BTU) (ft) 

Conductivity (hr) (£t2

) (F) 

0.08 - 0.09 

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100 

90 

80 

70 

60 

50 

40 

30 

20 

10 

0 

Time (hours) 

Figure 2.7-8. Temperature Conditioning Curves 

£or 9.5- and 5-inch Wide Films 

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2.7-9. Film 

Bl F-008- W-C- 38- Rl-80 

-resolution Aerial 

Films (Spooled) 

Limiting 

Envelope 

for B&W 

Film 

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7.1.7.4.3 Moisture Capacity. ESTAR base has a very low moisture capacity 

in comparison with the gelatin layers. The gel/base ratio of a film detennines moisture capacity. In black-and-white films on thin base, this 

ratio is 0.20 to 0.40 and the moisture capacity varies from 1.0 to 4.0 percent on a dry basis. (Moisture capacity data for Gambit films is provided 

in Table 2.7-2.) 

7.1.7.4.4 Moisture Conditioning Rates. Film will gain or lose moisture 

depending on the relative humidity to which it is exposed. Conditioning 

rates depend on a number of factors but free-film strips will condition in 

minutes while film rolls will take several hours. Film width is a factor 

in roll conditioning and during conditioning a gradient will exist across 

the width. Of most practical importance is the fact that on exposure to 

even moderate vacuum, moisture loss in a strip takes place in seconds. 

The conditioning rate at 10- 3 torr (0.001 mm of mercury) is 50 times that 

at one atmosphere. A strand of film will be equilibrated in less than 10 

seconds. 

7.1.7.5 Spectral Transmittance. The typical transmittance of clear ESTAR 

base and an unprocessed black-and-white film and a color film are shown in 

Figure 2. 7-10. In any specific product, additional dyes may be added to 

prevent unwanted reflection from interlayer boundaries or from a camera 

platen behind the film. Absorbing dyes in the emulsion may be added to reduced light scattering. The transmittance curves for each product will 

therefore be different. In general, however, the ESTAR base films are open 

in the red/infrared region. Most dyes are removed during processing so 

that transmittance of the processed material in the visible region is determined by the silver or dye forming the processed image. 

2.7-18 

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Film Type 

S0-130 

S0-255 

S0-312 

S0-31S 

S0-409 

*To Be Determined 

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TABLE 2.7-2 

WEIGHT AND MOISTURE CONTENT, GAMBIT FILMS 

Pounds/ Linear ft 

(70F and 35% RH) 

9.5-Inch 

0.01580 

0. 01580 

0.00908 

0. 00927 

0.00908 

5-Inch 

0.00827 

0.00827 

0.00476 

0.00486 

0.00476 

2.7-19 

TOP SECRET _JL_ 

Moisture Content 

lb of water/lb of Film 

(70F and 35 % RH) 

0.033 

0.029 

0.017 

* 

0.017 

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100 

;; 75 

0 

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0 200 400 600 800 1000 1200 1400 1600 1800 2000 

Wavelength (nm) 

Figure 2.7-10. Spectral Transmission of Film 

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~~ BIF-008- W-C-019838-RI-80 

7.1.7.6 Weight and Moisture Summary. Table 2.7-2 provides a summary of the 

weight and moisture characteristics of the principal film types used in the 

Gambit system. The weight of a unit length of 9.5-inch wide and 5-inch wide 

film is provided at 70F and 35% relative humidity. Moisture content is 

given as the weight of water per weight of dry film. 

7.2 Sensitometric Characteristics 

Each film has specific and controlled sensitometric and image structure 

characteristics which define its information recording capabilities. The 

degree of utilization of this capability depends on the manner of exposing, 

processing and viewing or duplication of the material. Film manufacturing 

is controlled such that a given film will perform consistently in controlled laboratory testing. The actual performance in practical applications then depends on many other factors. Special tests and unique measurements of film performance should be made under conditions that match those 

expected in practice. 

7.2.l Characteristic Curve 

Figure 2.7-11 is a typical characteristic curve relating exposure to the 

resulting photographic densities. Since this response varies according to 

the spectral distribution of the exposing light, the light used in testing 

should simulate that to which the film will be exposed in practice. Exposure time should be close to that anticipated in actual use. If these 

factors are standardized, the curve then depicts the photographic response 

of a specific film batch when processed in a prescribed manner. Processing 

can be modified to change the response curve. Other factors such as film 

age etc. can also modify the response curve. 

2.7-21 

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~ET__£___ BIF-008- W-C-019838-Rl-80 

3.72 2.02 2.32 2. 62 2. 92 T. 22 1. s2 1. 82 

Log Exposure (mes) 

Figure 2.7-11. Typical Characteristic Curve 

2.7-22 

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7.2.1.l Density. Density is defined as the common logarithm of the opacity, 

or reciprocal transmittance of the film. 

Density = Log 10 

1 

Transmittance 

The characteristic curve in Figure 2.7-11, (also called the sensitometric 

curve, the D-Log E curve, or the H&D curve) is plotted in this form because 

the eye judges brightness differences on a nearly logarithmic scale. Exposure is the product of the intensity of radiation and exposure time (Units: 

meter-candle-seconds). The curve is therefore in photometric terms. For 

aerial films, daylight response is measured by filtering the calibrated exposing source, or sensitometer, to simulate daylight. The range of exposures 

is obtained by placing a tablet with a series of 21 different, calibrated 

density or transmittance steps in contact with the film to vary the illumination reaching the film. The resultant image density is read on a densitometer and plotted in the form shown in Figure 2.7-11. 

7.2.1.2 Fog. The minimum density, or the lower horizontal portion of the 

curve, represents gross fog or D . . It is the sum of the density of the min 

support and the unexposed but processed emulsion. 

7.2.1.3 Toe. The lower portion of the curve, above the fog level, with 

increasing slope is called the toe. 

7.2.1.4 Straight Line. The midsection of the curve, with the steepest 

and nearly constant slope, is called the straight-line portion. 

7.2.1.5 Shoulder. The upper portion of the curve, where the slope is 

decreasing, is called the shoulder. 

2.7-23 

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7.2.2 Sensitometric Parameters 

Critical sensitometric parameters can be detennined from the characteristic 

curve. These parameters define the characteristics of a given film-process 

combination. Figure 2. 7-12 illustrates these parameters and they are discussed individually in the following paragraphs. 

7.2.2.1 Speed. Photographic film speed is a measure of the sensitivity 

of the film to light. The higher the film speed, the "faster" the film or 

the lower the exposure required to produce an image. Many methods are 

used to determine speed values and there is a specific method for aerial 

film which is directly related to usage. The speed value is called aerial 

film speed (AFS) and, for black-and-white films, is defined as 3/2 times 

the reciprocal of the exposure (in meter-candle-seconds) at the point on 

the characteristic curve where the density is 0.3 above gross fog, or Dmin 

3 AFS = 2E 

7.2.2.2 Gamma. The slope of the straight-line portion of the characteristic curve (see Figure 2.7-12) is called gamma and is a measure of 

contrast. Gamma of aerial films is relatively high in order to enhance 

photography taken through atmospheric haze. 

7.2.2.3 Processing Effects. The characteristic curve represents film 

response for a particular combination of film and process. A special 

process known as "Dual-Gamma 11 is used on black-and-white films in the 

Gambit system. Figure 2.7-13 shows a comparison of standard (Versamat) 

process and "Dual-Gamma" process for Type 1414 film. 

2.7-24 

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3.0 

2.8 

2.6 

2.4 

2.2 

2.0 

1. 8 

1.6 

1.4 

1. 2 

2E 

LO 

= 15.2 

0.8 

0.6 

Straight-line 

0.4 portion extended· 

(slope = y) 

0.2 

0 -f:=:::;:;tf::= 

3.72 2.02 2.32 2.62 2.92 1.22 T.52 T.82 0.12 0.42 0. 72 

Log Exposure (mes) 

Figure 2.7-12. Sensitometric Properties 

2.7-25 

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2.8 

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2.4 

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Type 1414 Film 

Standard (Versamat) 

Process 

AFS = 15.2 

Type 1414 Film 

Dual-Gamma Process 

AFS = 14.3 

"'2.02 ""2.32 ""2.62 "'2.92 1.22 l.52 l.82 

Log Exposure (mes) 

0.12 0.42 0.72 

Figure 2.7-13. Process Comparison 

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7.2.3 Spectral Sensitivity 

The spectral sensitivity of a film describes its response to radiation of 

various wavelengths. By special sensitizing techniques the response can 

be extended from the inherent blue response of silver halide to include 

green, red and near-infrared portions of the spectrum. Spectral sensitivity 

curves describe this response in the form shown in Figure 2.7-14. Spectral 

sensitivity information for a specific film-process combination may be found 

in the vendor's data sheets for that film. The black-and-white aerial films 

are panchromatic, that is, sensitive to red, green and blue light. Most 

films for high altitude use have extended red sensitivity to about 720 

nanometers to better penetrate atmospheric haze. Light scattered from the 

atmosphere, or haze light, is strongly blue and ultraviolet. This unwanted, 

non-image forming light is further reduced by filtration in the optical 

system. 

7.2.4 Fog 

Fog increases the number of developable silver halide crystals over large 

areas of film. It is associated with non-image forming light or other influences having a similar effect. Fog increases D . (see Figure 2.7-11), min 

thereby altering the effective speed (AFS) of the film. 

Fog may arise from stray illumination, static discharge, and charged-particle 

or quantum radiation. Additionally, the age of film and the type of processing applied may influence fog levels attained in practice. 

7.2.5 Special Films 

Films are available with specialized sensitometric characteristics which may 

be appropriate in certain applications of Gambit photography. 

2.7-27 

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500 520 540 560 

Wavelength (nm) 

BIF-008- W-C-019838-RI-80 

580 600 620 640 660 680 

Figure 2.7-14. Typical Spectral Sensitivity, Black-and-White Film 

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7.2.5.l Color Film. Conventional reversal color films have three photosensitive layers which are separately sensitized to the three primary 

colors; red, green, and blue. A complementary dye image is formed in each 

layer in inverse proportion to exposure of the layer. The integrated image 

is a close visual reproduction of the original scene. 

7.2.5.2 Infrared Color Film (False Color IR). Any portion of the spectrum 

can be recorded in a color film if the emulsion layers are so sensitized. 

The color, or dye, developed in the layers is not directly related to the 

color of the light to which it is sensitized. An infrared color film 

emphasizes differences in infrared reflection of materials by having layers 

sensitive to green, red and infrared light in which are formed yellow, 

magenta and cyan dyes. A yellow filter layer is coated over the emulsion 

layers to prevent blue light from reaching the emulsion. These products are 

of value in evaluating differences in the condition of vegetation, in detecting camouflaged sites and in interpreting soil and water composition. 

7.2.3.3 Special Black-and-White Films. Very high-speed black-and-white 

films can be employed for photography of light sources or even illuminated 

areas at night. Faster films also are of value in photography at low solar 

altitudes. Black-and-white films sensitized and filtered to record in the 

infrared spectrum are available. These films have very limited use in the 

Gambit system. 

7.3 Noise Characteristics (Signal/Noise) 

Film "noise", in the sense of that which may interfere with the detection 

of image modulation, is principally associated with film granularity. 

Furthermore, if "signal" is interpreted as the image modulation, then detection is not possible when the signal-to-noise ratio becomes equal to or 

less than 1. 

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7.3.1 Film Granularity 

~~ile to the unaided eye, the densities in a black-and-white photographic 

image may appear to be homogeneous, microscopic examination will reveal a 

collection of discrete particles of metallic silver. These particles, 

called grains, form a granular pattern which becomes visible under enlargement. It is this pattern which is the major contributor to film "noise". 

~~en the dimensions describing the grain size and spacing are of the same 

order as the spacing of the image modulation, the signal-to-noise ratio is 

near unity and the image modulation can no longer be recorded by the film. 

The standard numeric describing this effect is RMS granularity which represents 1000 times the standard deviation in density produced by the granular 

structure of the material when a uniformly exposed and developed sample 

having a density of 1.0 is scanned by a microdensitometer having an optical 

system aperture of i_/2.0 and a circular scanning aperture 48 )Jill in diameter. 

For the finer grain aerial films, more meaningful data has been obtained by 

reducing the aperture to 12. 7 )Jill and 2.0 )Jill. The 2.0 \Jill aperture is expected 

to become the standard. 

7.3.2 Threshold Modulation 

Threshold modulation (TM) is defined as the modulation at spatial frequency 

v which must be supplied to a given film in order that the density variations after processing will be detectable (see Part 2, Section 12.3). This 

threshold of detection may be thought of as occurring when signal (image 

modulation)/noise (related to granularity) is equal to one. 

As described elsewhere (Part 2, Section 9.1 and Part 2, Section 12.5.2), 

the intersection of a system's MTF curve with a film TM curve (adjusted 

for contrast) provides a useful estimate of a limiting system resolution 

2.7-30 

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on that film. Table 2. 7-3 contains the mathematical expression for the TM 

curves for a number of films currently used in the Gambit system. 

7.3.3 Duplication 

Because of the multiple users of Gambit photography and also because of the 

desire to preserve the original material for archival use, most examinations 

of Gambit photography are done on duplicate materials. This duplication 

process results in some decrease in image quality at high spatial frequencies 

of up to 8 percent between the original negative and the duplicate. The 

influence of the base material in the light path and the turbidity of the 

emulsion contribute to this effect. In general, improvements in duplicating 

materials and equipment have kept pace with improvements in acquisition 

quality to minimize these losses. 

7.4 Film Characteristics Summary 

Table 2.7-4 presents the descriptive parameters of many films which have 

been or are expected to be employed in the Gambit Reconnaissance System. 

It should not be assumed that the characteristics shown in the table will 

be identical with those of any given batch of film. It is expected that 

the nominal characteristics shown will change from time-to-time and that 

film types will be added and deleted from the table. 

2.7-31 

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TABLE 2. 7-3 

THRESHOLD MODULATION CURVES* 

Film Type Ex:eosure** 

3401/3411 0 

+l*** 

-1*** 

S0-112/S0-312 0 

+l 

-1 

S0-315 0 

+l 

-1 

S0-409 0 

+l 

-1 

S0-130 0 

+l 

-1 

S0-255 0 

+l 

-1 

*TM = a + bv + cv 2 

** 0 nominal 

+l = 1 stop over 

-1 = 1 stop under 

***Estimated 

a 

1.78 x 10- 7 

2.00 x 10- 2 

2.00 x 10-2 

2. 23 x _'") 

10 '-

2.94 10 -2 x 

2.41 x 10-2 

1.94 x 10- 2 

2.67 x 10-2 

2.14 x 10- 2 

1. 7 10 -2 x 

2.0 x 10- 2 

-1. 8 10 -2 x 

4.32 x 10- 2 

4.50 x 10-2 

3.91 10 -2 x 

2.42 x 10- 2 

_7 

1. 84 x 10 '-

2 .11 x 10-2 

2.7-32 

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0 

0 

0 

0 

0 

0 

0 

0 

0 

0 

0 

0 

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c 

5.43 x 10- 5 

6.50 x 10- 5 

6.50 x 10-5 

3.50 x 10- 7 

4.16 x 10-7 

6.97 x 10-7 

9.06 x 10-7 

9.84 x 10- 7 

1.40 x 10- 6 

2.07 x 10-7 

3.81 x 10- 7 

9.55 x 10- 7 

5.19 x 10- 5 

5.60 x 10- 5 

5.68 x 10-5 

4.50 x 10- 6 

6.21 x 10- 6 

6.40 x 10-6 

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FILM TYPE 

Black-and-White 

Negative Films 

(1) 3401/34llt 

(2) S0-312 

(3) S0-315 

(4) S0-409 

Si::ecia 1 Films 

(1) S0-255 

(2) S0-130 

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Descrii::tion 

Plus-X Aerial Film 

High Definition Aerial Film 

High Definition Aerial Film 

High Definition Aerial Film 

Aerial Color Film (Reversal) 

False Color, IR (Reversal) 

AFS 

* 

212 

4.7 

9.3 

l. 2 

10. 7 (1) 

9. 5 (1) 

Long WaveLength 

Cutoff 

(nm) 

ilO 

690 

690 

690 

690 

870 

TABLE 2,7-4 

FILM CHARACTERISTICS 

Base 

RMS Thickness 

Granularity (Inches) 

380 0.00250 

75 0.00120 

80 0.00120 

68 0.00120 

13 .1 0.00150 

36.2 0.00150 

Dyed 

Emulsion Pell oid Backing Emulsion 

Thickness Thickness Matte 

(Inches) pnches) ** 

0.00030 0.00025 None 

0.00020 0.00018 None 

0.00016 0.00015 None 

0.00019 0.00014 None 

0.00075 0.00043*** MF-RM 

0.00082 0.00042*** R-P 

* AFS listed is effective AFS in applications. these values can change significantly with time 

*** 

as processes are modified and smear/exposure are applied. 

Matte designations are as follows: R 

RM = Process Removable; L-P = 

Wratten 2E filter. 

Fine; MF Medium Fine; VF = Very Fine; P Permanent; 

where E(mcs) is exposure to produce a green density of 1.5 with a 

t These materials are no longer being manufactured. However, the manufacturer has adequate supplies of these 

films in storage to meet customer requests. 

Ill F-008- W-C-019838-RI-80 

AHU 

Backing (AntiMatte Halation 

** Undercoat) 

None No 

F-P No 

R-P No 

F-P No 

MF-RM No 

R-P No 

2.7-33/2.7-34 

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8.0 MISSION SIMULATIONS 

This section contains simulation results for both a low and a high mode mission. 

The low-mode simulation was run with Mission Simulation and Analysis (MSA) 

software developed for use in the analysis of PPS/DP EAC equipment response under 

varying conditions. A description of the software is given in Appendix C. Because 

of the large number of mission aspects modeled by the software, no attempt has been 

made to define and systematically analyze the limiting cases. These results are 

shown in paragraphs 8.1 through 8.7. 

The high-mode results were derived by from a simulation generated by the 

Intelligence Requirements Satisfaction Simulator (IRSS). These results are shown 

in paragraphs 8.8 through 8.11. This simulation is intended to illustrate the 

9-inch camera coverage which could be expected on a 120-day high-mode mission. 

Any change in the various mission aspects including use of the 5-inch camera will 

result in different coverage results. 

8.1 Orbit Generation 

-Two 60-day missions were simulated with identical orbits but with different launch 

dates and times. These orbits were devised to give full earth coverage above 

20 degrees north latitude. The effects of orbit decay due to drag were included 

and orbit adjusts were simulated. The calculations were ended after an 8-day 

closure period.* The 8 days were spread uniformly throughout the 60-day period. 

The important orbital parameters used are given in Table 2.8-1. 

*Closure - Ground track repeat. 

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TABLE 2.8-1 

ORBITAL PAR.\METERS 

(1) Orbit inclination 

(2) Height of perigee 

(3) Eccentricity range 

(4) Latitudes of perigee 

(5) Days simulated 

(6) Launch dates, Pacific 

Standard times (AM) 

(7) Dates simulated 

(8) Orbit adjusts 

(9) Drag coefficient 

2.8-2 

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110.5° 

68 nmi 

0.0234 to 0.0218 

40° to 48.5° 

8 

4/1 

8: 00 Ai\1 

April 9-10 

April 23-24 

May 7-8 

May 21-22 

1 per 16 revs 

138 lb/ft 2 

9/1 

7: 30 AM 

September 9-10 

September 23-24 

October 7-8 

October 21-22 

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8.2 Target Acquisition 

The determination of which targets were potentially available for photography 

on each rev of the two missions was done using a subset of the master list of 

13871 targets used on Mission 40. Figure 2. 8-1 gives an indication of the 

geographical location of these 13871 targets. The subset used for the simulation 

reduced the density of targets while maintaining their geographical distribution. 

Acceptable targets were limited to those acquirable within the prescribed PPS/DP EAC 

limits. These limits are given in Table 2.8-2. 

8.3 Target Selection 

Because of the simulation-model hardware constraints, only a fraction of the 

available targets may be selected for photography. The MSA selection process 

eliminates hardware conflicts while emphasizing the selection of stereo photographs 

of high-priority targets at low obliquity. Monoscopic photographs are then fit in 

where the average rate of film usage must be budgeted and regularly adjusted to 

sustain the entire mission. This film management function is introduced by providing a Monte Carlo weather model which assigns assumed cloud conditions to each 

target. Then, by assigning weather thresholds to targets by priority, deleting 

targets not passing the weather thresholds in effect when they are acquired, and 

periodically adjusting the thresholds, the film rate is brought into line with the 

required rate. The weather statistics, which consist of average cloud conditions 

over the area of interest during each month of the year, were provided by the Air 

Weather Service. Tables 2.8-3 through 2.8-6 summarize the basis of the selection 

process carried out for the two simulated missions. Table 2.8-3 outlines the basic 

constraints in effect. Table 2.8-4 gives the weather statistics for the months 

simulated. Tables 2.8-5 and 2.8-6 summarize the weather thresholds used to control 

the rate of film use. 

2.8-3 

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2.8-4 

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TABLE 2.8-2 

ACQUISITION LIMITS 

Obliquity limit ±45° 

Lower sun angle limit 50 

Range of photographic acquisition Ascending and Descending 

Slant range limit 210 nmi 

Master list of targets: 

A number of priority (4-9) targets, which were in clusters or 

in high-density areas, were removed from the original master 

list of 13871 targets derived from Mission 40. The remaining 

total of 9302 targets was the master list used for this 

simulation. 

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TABLE 2.8-3 

CONSTRAINTS ON TARGET SELECTION 

(1) Stereo LOS angle 

(2) In-track ephemeris uncertainty (lo) 

(3) LOS pointing uncertainty (lo) 

(4) Target diameters 

(5) Target location uncertainties (lo) 

(6) Clock granularity 

(7) Burst time pad multipliers 

(8) Roll rate equation 

(9) Stereo slew time 

(10) Mission length 

(11) Total film load 

(12) Weather conditions 

(13) Weather threshold 

* Obtained from Customer TWX. 

** Best engineering estimate, LMSC 

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±8.65° 

2500 ft"' 

0.113° 

From Mission 40 target tape 

From Mission 40 target tape 

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TABLE 2. 8-4 

CLOUD CONDITIONS FOR THE MONTHS OF SIMULATIONS 

Probability of Exceeding Indicated 

Cloudfreeness 

Percent 

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TABLE 2 .8-5 

WEATI!ER FOR 

Range of Cloudfree Conditions for which Photography was Allowed* 

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TABLE 2. 8-6 

WEATI1ER THRESHOLD AVERAGES 

Rev Average of Cloudfree Conditions for which Photography was Allowed 

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8.4 Photographic Performance Model 

Photographic performance is determined by the mission parameters, the 

hardware design, and the planned mission use. Tables 2.8-7 and 2.8-8 

summarize the remaining factors contributing to the performance results 

for the two missions. Table 2.8-7 outlines all the system parameters 

modeled, except smear. The servo granularity and the optical parameters 

are typical of the Block 48 design. The two-platen camera was modeled 

by assuming that different film types were used with each platen. The 

choice of which platen to use for a given photograph was based on the 

sun angle at the target. Contrast was modeled using a modification 

of the AMOS model from the KALEIDOSCOPE program. It assumes a constant 

target high and low reflectance value. The smear for each frame was 

the algebraic sum of the smear from each of the many contributors. The 

smear due to each contributor was determined by a Monte Carlo sample 

from the distribution for each contributor. Table 2.8-8 gives a description of the distributions for the individual contributors. 

8.5 Equipment Usage Model 

The estimate of the PPS EAC equipment usage for the two missions was based on 

a model of the nominal Block 48 hardware designs. The model computes both 

the servo steps selected and the cumulative servo motor ON times. Since 

simulatioi1s were based on 8-day segments, the mission totals for equipment 

usage were obtained simply by scaling up the simulation totals by a factor 

of 60/8. This simple scaling is valid because of the control of film use 

maintained by the software film management monitor. 

2. 8-12 

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(8) 

(9) 

(10) 

(11) 

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TABLE 2.8-7 

PHOTOGRAPHIC PERFORMANCE MODEL 

Focal length 

lo defocus 

Smear contributors 

Film-drive speeds 

Crab steps 

Slits 

Film load 

Camera use algorithm 

MTF 

OQF 

Effective f-number* 

Slit-to-emulsion spacing 

TMs 

175 inches 

0.0005 inch 

See Table 2.8-8 

3.37 to 11.8 ips (1024 steps) 

0.35° 

Block 48 design (See Part 3, Section 2) 

1414 (AFS 14.7) on 5-inch platen 

50124-101 (AFS 5.7) on 9-inch platen 

1414 for targets with sun angles below 

indicated angles. 

S0124 for targets with sun angles above 

indicated angles. 

4/1 9/1 

32.0° 21. 4 ° 

current R-5 formula 

0.88 

4.3 

0,0065 inch 

TM1414 = 0.017 + 0.00037 f 

TM124_

101 = 0.028 + 1.9xl0-5f + 8.7xl0- 7

f 2 

(Where f is spatial frequency in cycles/mm) 

*f-number - indicates aperture size 

2.8-13 

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(14) Contrast ratios 

(15) Exposure versus 

sun angle tables 

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TABLE 2.8-7 (CONTINUED) 

(1) Variable from a contrast model 

for a tribar target with a 

high/low reflectance of 33/7 

(2) Constant at 2:1 

(3) Variable from a contrast model 

for a 12% GM reflectance "average" 

target with a high/low reflectance 

of 16/9 

1414 from Mission 43 data base, AFS 14.7 

124-101 from Mission 43 data base, AFS 5.7 

NOTE: Film types 1414 and S0-124 are no longer used. Because of 

other, more specific performance studies undertaken with 

respect to the newer monodispersed films (S0-312, S0-315, 

S0-409), a full simulation using MSA was not considered 

necessary. 

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TABLE 2,8-8 

MISSION SIMULATION SMEAR CONTRIBUTOR MATRIX 

Smear Contributor Units Error Magnitude 

(1) Altitude distribution (1-o) nmi 0.10000 

(2) Roll attitude 0-o) Degrees 0.08707 

(3) Pitch attitude (1-o) Degrees 0.07459 

( 4) Yaw attitude (1-o) Degrees 0.07880 

(5) Roll rate (1-o) Deg/Sec 0.00260 

(6) Pitch rate (1-o) Deg/Sec 0.00100 

(7) Yaw rate (1-o) Deg/Sec 0.00100 

(8) Crab granularity (±b) Degrees 0.17500 

(9) Crab reproducibility (1-o) Degrees 0.00330 

(10) Stereo reproducibility (1-o) Degrees 0.00330 

(11) Film-drive speed granularity (±b) Percent 0.04400 

(12) Film-drive speed drift (1-o) Percent 0.03300 

(13) Focal length error (1-o) Inches 0.10000 

(14) K distortion Percent 0. 21800 

(15) Roll step granularity (±b) Degrees 0.00000* 

(16) Roll attitude offset (μ) Degrees 0.00000 

(1 7) Pitch attitude offset (μ) Degrees 0.00410 

(18) Yaw attitude offset (μ) Degrees -0.01360 

(19) Roll rate offset (μ) Deg/Sec 0.00000 

(20) Pitch rate offset (μ) Deg/Sec 0.00000 

(21) Yaw rate offset (μ) Deg/Sec 0.00000 

(22) Target location (1-a) nmi 0. 21400 

(23) Cross-track ephemeris (1-o) nmi 0.10000 

* Roll step granularity error (±b) included in roll step granularity via 

PPS crab step granularity 

μ Mean bias 

1-o = 1 standard deviation 

±b uniform distribution range 

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8.6 Photographic Performance Estimates 

Figures 2.8-2 through 2.8-4 are cumulative Geometric Mean (GM) ground resolution curves for the two missions. They show the estimated number of 

frames exceeding a given resolution for each of three contrast conditions. 

They are based on a total of 26933 frames for the April-May mission and a 

total of 26430 frames for the September-October mission. Table 2.8-9 

summarizes some of the data from these graphs. The results for all three 

contrast conditions show that the April launch resulted in generally 

better resolution than the September launch. Table 2.8-10 compares the 

factors which influenced the resolution for the two missions. The major 

factor was the difference in the sun angle distributions which resulted 

from the solar declination being higher in the April-May period than in 

the September-October period. However, the contrast distributions for 

the two periods tend to lessen the difference caused by sun angle. This 

occurs because the haze level is more favorable in the fall than in the 

spring. This is illustrated in Figure 2.8-5 which shows a distinct shift 

in the distribution of film plane contrasts for the tribar target to 

higher values for the September launch. In fact, as Table 2.8-9 shows, 

the highest resolution values were obtained in the September-October 

mission for just this reason. The slant range and smear distributions 

for the two missions were nearly identical and thus did not account for 

much of the difference in performance. 

As expected, the contrast model for the tribar target gives a broader 

distribution of resolutions than does a constant contrast of 2 to 1, 

However, using 2 to 1 results in a reasonable representation of the 

tribar resolutions. Operational photography is done on generally 

lower contrast targets, in this case represented by a target with 

high and low reflectance values of 16 and 9 percent. This results 

2.8-16 

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TABLE 2. 8-9 

9 PLUS 5 COMBINED GEOMETRIC MEAN- GROUND RESOLUTION 

(FROM MISSION SIMULATIONS) 

Contrast Best 

Tri bar 33/7 

Constant 2:1 

Operational 16/9 

Tri bar 33/7 

Constant 2:1 

Operational 16/9 

2.8-20 

GM Ground Resolution (inches) 

Median 95% Point 

14,52 

14.16 

28.26 

14.66 

15.08 

25.44 

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TABLE 2. 8-10 

RESOLUTION CONTRIBUTORS 

Launch Dates 

Con tri but or 

Average Sun Angle (Degrees) 

Average Slant Range (nmi) 

Average Image Plane Contrast 

RHI/RLO of 33/7 (Tribar) 

RHI/RLO of 16/9 (Operational) 

In-track Smear Rates (μrad/sec) 

μF 

0.680 

Cross-track Smear Rates (μrad/sec) 

μF 

0.680 

Note: μF - mean of folded normal distribution 

4/1 

40.90 

89.30 

2.51 

1. 36 

74,30 

59,00 

64.50 

102. 70 

76.90 

87.20 

o - standard deviation of folded normal distribution F 

0.680 - median of normal distribution 

2. 8- 21 

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9/1 

33.90 

90.10 

2.63 

1. 39 

75.10 

60.90 

65. 70 

101. 80 

76.90 

86.80 

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in considerably lower resolution values than are achieved with tribar 

targets. This also lessens the differences due to sun angle. 

Target acquisition is another important factor in performance. Pointing 

errors are only a minor factor in the loss of useable photography. The 

major factor is cloud cover. Table 2.8-11 gives an indication of the 

number of photographs of targets in each priority category that would be 

acquired without cloud obscuration at least once on the two missions. It 

is based on the results of the interaction between the film management 

monitor and the weather model. It shows that, in order to use up the film, 

over half of the targets acquired must be in the low priority (4-9) groups. 

The distribution of priorities for targets acquired depends strongly on 

the mission length, the weather, and the weather threshold policy. Changes 

in the priority distribution of the targets acquired are one of the main 

performance related differences in missions of various lengths. 

8.7 Equipment Usage Estimates 

Table 2.8-12 gives an estimate of the PPS equipment usage for the two 

missions. The cycles of operation indicate the required orbit lifetimes 

for the various components. The ON times can be used to determine energy 

requirements for the equipment. The telemetry includes radar station 

contact. Because of the shorter average frame length expected for 

Block 48 operations, the 9-inch camera operations are expected to exceed 

19000 cycles, which represents a significant increase over pre-Block 48 

usage. The large value for stereo actuations arises from a built-in 

bias toward stereo pairs and the fact that simultaneous operation of both 

systems is not modeled. 

2.8-23 

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TABLE 2.8-11 

NUMBER OF TARGETS WITH A 95% PROBABILITY OF AT LEAST ONE CLEAR ACQUISITION 

Priority Launch Date 

Category 4/1 9/1 

0 86 87 

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4-9 (Subtotal) 2650 2615 

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Hardware Component 

Camera, 9-inch 

Camera, 5-inch 

SRC, 9-inch 

SRC, 5-inch 

Slit, 9-inch 

Slit, 5-inch 

Crab 

Stereo 

9/5-inch camera power 

Telemetry 

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TABLE 2.8-12 

EQUIPMENT USAGE SUMMARY 

Cycles Operation 

4/1 2.0_ 

19545 19635 

7388 6795 

8955 9128 

3330 3053 

4275 4260 

2205 1965 

8723 8565 

23198 22868 

1560 1463 

2700 2603 

BIF-008- W-C-019838-RI-80 

On Time (Hours) 

4/1 9/1 

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8.8 High-Mode Orbit Generation 

Two 120-day missions were simulated. Each mission was run for the entire orbital 

period at a single altitude. Pertinent orbital parameters are shown in Table 2.8-13. 

TABLE 2.8-13 

ORBITAL PARAMETERS 

Orbit Inclination 

Height of Perigee 

Eccentricity 

Days Simulated 

Launch Date 

Launch Time 

Closure 

8.9 Target Acquisition/Selection 

96.4° 

350/450 nmi 

Circular 

120 

1 May 

1830 z 

4 Days 

The targets available for photography were acquired from the 1214 Standing Search 

Target file. The following tables describes the Standing Search Target file. 

Interval # Cells 

2-month 868 

4-month 5,214 

6-month 4,571 

9-month 7,927 

12-month 17,285 

35,865 

2. 8- 26 

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Mono 

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Details of the target selection criteria may be found in the Block 1.0 software 

description. 

Constraints on target selection are shown below. These constraints are essentially 

identical to the low-mode simulation except for the weather threshold model, total 

film load considered, and GRD requirement. 

Stereo LOS* Angle 

In-Track Ephemeris 

Uncertainty la 

LOS Pointing Uncertainty 

Clock Granularity 

Roll Rate Equation 

±8.65 degrees 

0.5 nmi 

0.0 

0.2 second 

lit = t:irJ + 0.82 

5.5 

3 seconds 

11,800 (S0-112) 

ETAC Data 

90% 

- 0.82 e t:irJ 

0.9 second 

Stereo Slew Time 

Total Film Load 

Weather Conditions 

Weather Threshold 

GRD Maximum 

Lower Sun Angle Limit 

48 inches/450 nmi, 32 inches/350 nmi 

-2 degrees 

Figures 2.8-6 through 2.8-9 illustrate the Gambit vehicle's rate of satisfaction of 

specific area requirements when 

(1) All target requirements are initialized at the zero 

satisfaction level. This assumes no other search mission 

for 12 months prior to launch. (Not probable.) 

(2) The target requirements are initialized at satisfaction 

levels reflecting the aging of cells previously acquired 

by the primary search vehicle. This assumes no other 

search mission for 3 months prior to launch. (More 

probable.) 

*Line-of-sight. 

2. 8- 27 

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20 30 

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40 50 60 70 

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--~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~2 Stereo 

30 40 50 60 80 90 

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Figure 2.8-9. Gambit Dual Mode Search Accomplishment 

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In each case, the film usage rate was adjusted such that an equal amount of 

film was used each day of the mission. It can be seen from the graphs that the 

Gambit vehicle in most cases meets the targetting strategy of 50 percent satisfaction of each category after 50 percent of the aging requirement has elapsed. 

Note that 80 percent satisfaction ratio is counted as fully satisfied. 

Figure 2.8-10 displays the approximate NIIRS distribution of the two orbit cases 

that were run. 

2. 8- 32 

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80 

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2.8-10. NIIRS Distribution 

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2.8-34 

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_§__ 

BIF-008- W-C-019838-RI-80 

9,0 IMAGE QUALITY EVALUATION 

Image quality may be considered to be the degree of excellence of a developed 

photographic image. The traditional numeric for assessing photographic image 

quality is limiting resolution, or the size of the smallest distinguishable 

detail. Because of the very small size of the image details obtained in 

aerial reconnaissance, and the consequent need to magnify the image to search 

for important fine detail, it seems intuitively correct that subjective assessment of image quality be highly correlated with limiting resolution. This 

is true, but it is also important to recognize that resolution is only one 

aspect (a threshold numeric) of image excellence and therefore does not 

uniquely define image quality. 

Measures which are concerned with the mid-spatial frequencies and which are 

derivable from certain considerations of information theory correlate better 

with subjective quality estimates than does the threshold numeric. These 

newer techniques have the added advantage of not requiring deployment of 

ground targets for their estimation and are therefore available on any frame. 

Current understanding does not, however, allow an attachment of significance 

to the absolute level of these measures, but the relative comparison of frames 

(Is frame "A" better than frame "B"?) is easily accomplished. These objective 

measures (determined by power-spectrum analysis machines) are functions, to 

a greater or lesser extent, of defocus, contrast, smear, exposure level, 

scene type, etc., all of which will vary frame-to-frame. 

2.9-1 

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F 008 W-C-019838-RI-80 Bl - -------

9.1 Limiting Resolution 

A value for limiting resolution may be calculated from system parameters 

before a flight and also may be determined after a flight from examination 

of selected frames. 

9 .1.1 Prediction 

The prediction of limiting resolution requires specification of a system 

modulation transfer function (MTF) and a film threshold modulation (TM) 

curve. The system MTF can be derived from the MTF of the various components 

by simple multiplication since it is a Fourier-space representation of processes which, in configuration space, must be convolved. For example, the 

system MTF corresponding to an in-focus optic in the presence of s micrometers of linear smear is : 

MTF ( \)) 

where: MTF (\!) 0 

MTF s (\!) 

\) = 

10-3 = 

s = 

\ MTF ( \!)] L o 

I MTF (\!)lJ L s 

in-focus optical 

-3 sin TIS\!(10) 

-3 TIS\! (10) 

MTF 

linear smear MTF 

spatial frequency in cycles per mm 

conversion of mm to μm 

amount of linear smear in micrometers 

The film TM is the minimum modulation required to record information at a 

given spatial frequency. TM curves are published for various films for an 

infinite contrast condition. To apply them in any practical situation they 

must be adjusted for the appropriate contrast (C) as follows: 

TMC (\!) TM (\!) 00 

C+l 

C-1 

2.9-2 

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For example, if the contrast is 2:1, C=2, and the infinite contrast TM is 

multiplied at every spatial frequency by 3 to obtain the 2:1 contrast TI! 

curve. 

For purposes of prediction, limiting resolution is defined as that spatial 

frequency corresponding to the intersection of the system MTF and film TM 

curves. The MTF is interpreted as representing the modulation passed by 

the system and available as image modulation at the film plane, while the 

Til curve represents the modulation required by the film in order that the 

image be just discernible (threshold) at that spatial frequency. The foregoing is represented graphically in Figure 2.9-1 below: 

--------

Predicted 

l Limiting 

J/ Resolution 

,/// 

~n1 

Spatial Frequency (v) 

Figure 2.9-1. Limiting Resolution Illustration 

2.9-3 

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9.1. 2 Measurement 

The measurement of limiting resolution is carried out by examination of an 

operational photograph. The photography to be evaluated must contain a 

ground-deployed resolution target known as a Controlled Range Network or 

CORN target. Because of their configuration, these targets are also known 

as tribar targets. A typical CORN target is illustrated in Figure 2.9-2. 

The photographic image of the tribar target is examined under magnification 

and the smallest set in which the bars and spaces are distinguishable is 

noted. Knowing the physical size of the limiting tribar set, the limiting 

ground resolution may be established for the particular acquisition conditions. 

9.2 Objective Quality Measures 

All measures of objective quality utilize power-spectrum analysis (PSA) 

machines which provide measurements of power spectral density in the spatial frequency domain. Means have been devised to generate estimates of 

the image noise present so that specific objective quality measures may be 

found. 

9.2.1 Power Spectral Analysis 

Power spectral analysis utilizes elements of electromagnetic theory, Fourier 

analysis, and solid-state electronics. 

9. 2 .1.1 Electromagnetic Theory. Electromagnetic radiation can be characterized by an electric field vector E and a magnetic field vector H oscillating 

perpendicular to each other and perpendicular to the direction of motion of 

the wave as illustrated in Figure 2.9-3. 

2.9-4 

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381 

Feet 

Same as other leg. 

Resolution 

16-Foot 

Resolution 

Panel 9 

Panel 1 

Legs are perpendicular 

to each other. 

25X1 

*Bar and space width 

O or each group 

by 

f 3. 

Note: A panel may have 

more than one 

group. 

Figure 2.9-2. Controlled Range Network (CORN) Target 

2.9-5 

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A monochromatic (and therefore coherent) electromagnetic wave can be described by the amplitude A (x,y) and phase 6 (x,y) of one of the field vectors: 

£:' = A(x,y) ei6(x,y) 

where: /"-. E represents the complex amplitude of the electric f.ield. 

9.2.1.2 Fourier Transform. If a photographic transparency of a scene is 

placed on a light table, the variations in density characteristic of the 

image present different degrees of opacity to the incoming light. It is 

this differential light-stopping property which renders the image visible 

to the eye. A highly simplified version of this situation is shown in 

Figure 2.9-4 where the "scene" consists of a transparent area in an otherwise opaque screen. 

Object Space 

,~ 

i 

/ 

/,,, Image Space 

__...-- -7P. 

/ l 

Figure 2.9-4; Simplified Scene Transparency 

2.9-7 

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If the screen is now illuminated with coherent light emanating from the 

point P , the complex amplitude E. associated with a point P. in image space 0 l l 

is found from Fresnel-Kirchoff diffraction theory to have the form (in 

Fraunhofer approximation) : 

......... I -ik (p' + qn) Ei (p,q) = C e '"" ·' dt; dn 

A 

where p and q are angular coordinates corresponding to the relative positions 

of P and P. and k is the wave number 2n/A of the light. Now a pupil function 

0 l 

is defined: 

Then 

{ 

C for points within the aperture A 

-g Ct:, n) = 0 for points outside the aperture A 

00 

E (p,q) =ff-g (t;, n) e-ik (pt;+ qn) dt; dn 

i\lhich has the form of a Fourier Transform (FT). I~ the spatial distribution 

of the transparency image is described by some function if t ( t;, n) , the FT of 

this spatial distribution is given by: 

cc 

'G (p,q) Ir ,,..._g e-ik (pt; + qn) d. r- dn (t;, n) s _,;J t -oo 

The basis, then, for all objective measures of image quality lies in the fact 

that a transparency illuminated with coherent light yields the Fourier Transform of the spatial distribution of the image. Fraunhofer approximation demands, however, that the source (P ) and image plane (P.) be infinitely diso l 

tant from the screen. This is not practical to do directly but is very easy 

to do optically, as shown in Figure 2.9-5, 

If quantities derivable from the transparency Fourier Transform 'G' (p,q) are 

to provide a measure of photographic image quality, the detector in the FT 

2.9-8 

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2.9-5. 

f*. 

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p 

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/-

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Plane('; (p,q) 

ector Array) 

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plane and its associated electronics must provide an output relatable to 

film response. Photographic film response (density) is proportional to !Idt, 

and since intensity (I) is the squared modulus of the complex amplitude, an 

output is required which is proportional to G* (p,q) 'G' (p,q). Power spectral 

density, given by 

PSD Lim 'G" * (p,q) 1;' (p,q) 

T- 00 2T 

satisfies these requirements. 

The limit implies that the detector integration time must be long compared 

to the period of the electromagnetic wave vector oscillations ( a very good 

approximation.) 

9.2.1.3 Detector/Electronics. A solid-state detector array is shown in 

Figure 2.9-6. Note that there are 20 equally spaced annular rings (counting 

the central spot as ring number 1). If the dimensions are such that the 

width of each ring spans 10 cpmm of spatial frequency, then 

Ring or Band 1 = 0-10 cpmm 

2 = 10-20 cpmm 

3 20-30 cpmm 

20 = 190-200 cpmm 

All rings are of equal width which results in an area weighting effect; the 

farther a ring is from the central band (which measures the undiffracted 

power or de power), the larger its area and hence the more weight attached 

to power diffracted into it. 

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. I 

Individual 

~Photovoltaic Ring 

~ Elements 

\ \ ,~--c----, I 

\ ~~.- \ 1---=----/ I .--- I ' ---..I ; 

~----· \ t · -- I / -~ ___ i -; /L 

1·- ---- ;'~~/ !- - "I 

\ 

i , I 

~-------.. --· ------~--~-~ 

i 

; 

\ 

~------- 1 Inch 

Figure 2.9-6. Solid-State Detector For PSD Analysis 

2. 9-11 

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9.2.2 Image Noise 

Noise present in the image is of two types: grain noise and phase noise. 

9.2.2.1 Grain Noise. The grain noise power spectral density, PSDNG(v), is 

measured <Js a function of spatial rrequency, v, by scanning a uniformly exposed ("flat patch") film sample with the optical power spectrum analysis 

(PSA) machine. Since granularity is not independent of density however, 

PSDNG(v) is a function of the mean derisity of the patch an<l therefore the 

grain noise dependence on spatial frequency is required over a range of 

densities. 

9.2.2.2 Phase Noise. Phase noise arises because the phase relationship 

between different parts of a coherent beam are not random. Noise contributors associated with the coherence of the illuminating source are 

surface noise and relief image noise (associated with image depth within 

the emulsion). Because light experiences a phase change on reflection, 

irregularities in the emulsion surface (scratches, and the fact that the 

emulsion surface is actually somewhat rippled) cause phase differences to 

appear in the reflected beam which interfere, both constructively and 

destructively, with the incoming light. Similarly, as the beam proceeds 

into the emulsion itself, areas of varying density (peculiar to the image 

of the scene) act as "surfaces" from which reflections and the consequent 

phase interferences result. 

These phase effects produce scene-correlated noise, the presence of which 

prevents a general theoretical description of the process. Furthermore, 

they significantly affect the noise in every practical application of PSA. 

One technique for estimating the phase noise contribution to the total noise 

utilizes the grain noise power spectrum, PSDNG(v), just described. Experience 

has shown that the total signal plus noise power spectrum, PSDS+N(v), is 

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devoid of scene specific information by band number 11 (100-110 cpmm) * for 

virtually all Gambit photographs. This means that for the spatial frequency 

range beyond 105 cpmm (the middle of band number 11), PSDS+N(v) equals 

PSDN(v) where PSON(v) is the total PSD noise (phase+ grain). An estimate 

of the phase noise (PSDNP(v)) contribution at frequencies below 105 cpmm is 

determined by extrapolating the difference between PSDS+N(v) and PSDNG(v) 

in the region from 105 cpmm to 195 cpmm (see Figure 2.9-7) back to zero 

(phase noise is known to increase as spatial frequency decreases). The total 

noise (PSDN(v)) used at all frequencies is then PSDNG(v) + PSDNP(v), 

105 195 

Spatial Frequency, v 

Figure 2.9-7. Estimation Of Phase Noise 

*These spatial frequencies have no relationship to those associated with 

limiting tribar resolution. 

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9.2.3 Specific Quality Measures 

There are several image quality numeric3 which are derived from the PSD 

distribution. 

9.2.3.l LOCMO. LOCMO is the local first moment of the PSD distribution 

defined mathematically as: 

where: 

70 

LOCMO = 2: 

v :: 30 

PSDS+N is powe1· 

spectral density of 

signal plus noise 

(both grain and phase) 

Note that LOCMO is not corrected for noise; the total scene plus noise (PSD), 

as measured, is used in its definition. ~CCMO is, therefore, a useful measure 

when examining different film types whccre re:_ative noise characteristics are 

not certain. It is also appropriate when examining images on a single film 

type when only relative quality measure ic desired. A typical LOCMO calculation is illustrated in Figure 2.9-8. 

9.2.3.2 Information Theory, It can be shown that the information content of 

a photographic image in bits can be written as a function of PSD as: 

where: 

I (v ) max 

v 

max 

2 Akff log 2 [PSDS+N v v ( x' y) l dv dv 

v v i x, y 

0 PSDN ( x, y) I 

_J 

A = the area of the scanning aperture 

k normalization constant 

(information is usually normalized so that 

the height of the de peak is 100 bits.) 

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20 

Shaded Area :: LOCMO 

70 

:: ) v PSDS+N(v) _ '--~..I 

40 60 80 100 

Spatial Frequency, v 

(cprnm) 

Figure 2.9-8. LOCMO 

~ 

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If the assumption is made that ~he aperture ~s filled with random scene 

edges so that the imagery is isotropic, thf:n d\1 dv = v dv d8 and the in-

:x y 

tegration can be performed over 8: 

I (vmax ) ::: 

\) m'.lx 

( 

4TIAk / Log2 

.J 

0 

( \)) 

c \)) 

If the further assumption is made tha~ the noise is Gaussian uncorrelated 

so that 

= 

the integral may be rewritten as 

\) 

max 

I (vmax) 4nAk f log2 [l+ PSDS ( \)) 

~ \) d v. 

PSDN ( \)) 

This latter assumption is known to be not strictly true, but it is necessary 

in order to write I (v ) in terms of the PSD signal-to-noise ratio. Furthermax 

more, in practical cases, the estimate of phase noise makes use of the same 

assumption (see Section 9.2.2.2). 

Figure 2.9-9 shows a display of information content as a function of spatial 

frequency obtained by analyzing the 10-cpmm spatial frequency bands corresponding to the detector rings (see Figure 2.9-6). Note the pe~k in the normalized 

(I (v )) function occurring in band 4. A curve fitted to the normalized 

max 

information peaks in bands adjacent to band 4 provides the location of the 

band of peak information (or BPI). B~I :.s '::hus dependent on the information 

contained in bands covering a wide spatial frequency range. 

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20 40 60 80 100 120 140 

Spatial Frequency (cpmm) 

I I i I I I ' I i I I I I I 

2 3 4 ~ 6. 7 8 9 ?O 11 1"2 13 14 15 

Band Number 

Figure 2. 9-9. Information Co11tent And BPI 

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Information density, another useful quality measure, is the area under the 

normalized information curve·over the same frequency range as LOCMO. 

The spatial frequency range chosen for LOCMO and information density calculations gives precedence to the higher frequency informatioH (up to the 

cut-off where signal = noise) as being more indicative of image quality. 

Better image quality means sharper edges and better detail rendition, both 

of which serve to diffract the coherent laser light through larger angles 

(into the outer higher frequency rings of the detector). This is why the 

LOCMO and information density ranges were chosen as they were and why it is 

that given two frames, the one with the higher BPI will prove to be subjectiveJy preferred. 

9.2.4 Reliability of Quality Measures 

For highest reliability when using PSD derived quality measures, certain 

ground rules must be observed. These include the following. 

(1) All measurements should be taken from original negative 

material. 

(2) Caution must be exercised when comparing results for different 

films as uncertainties in the noise estimates are aggravated 

when film type is changed. 

(3) The machine aperture must be filled with random s~ene edges 

so that the scene isotropy assumption is valid. 

(4) In a series of measurements which together lead to an estimate 

of a system parameter (such as defocus), all measurements should 

be as nearly alike as possible (i.e., same film type, field 

position, obliquity, etc.). 

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9.3 National Imagery Interpretability Rating Scale (NIIRS) 

The Nationql Imagery Interpretabjlity Rating Scale (NIIPS) developed from the 

need within the intelligence community for a uniform method of rating and 

specifying photographic quaEty. At present NIIRS is the only rating scheme 

which numerically ranks the exploitation suitability of reconnaissance 

imagery. 

9.3.l Construct]on of the Rating Scale 

One obvious numeric to use as a rating scale would be ground resolved distance, or GRD. Thi!'; is not p-ractic:!l since measurement of GRD requires that. 

a tribar target be in the frame. Ground resolution (a subjective estimate 

made without tribars) is possible but the standard scale, based on the appearance of automobiles, is not appropriate to technical intelligence targets. 

It was decided to construct a pseudo ground resolution scale like the auto 

scale but appropriate to teclinical intelligence objects. Such a scale is 

best constructed by requiring the photo-interpreter to answer a sequence of 

very precjsp,Jy formulated quP-stions about the target. (The sequence proceeds 

from questions of discernment to recognition and finally to identification.) 

Such a procedure necessarily demands a set of questions for each order of 

battle (grnund forces, aircraft, missile, electronic, naval, etc). The questions (or criteria, as they are called) within each group or NIIRS category 

generally refer to ground objects of nearly the same size. 

9.3.2 Design Objectives 

The selection of questions which refer to ground objects of essentially the 

same size is <lesig~ed to provide a good correlation between NIIRS and GRD. 

This has, in general, been achieved. A further design objective of the NIIRS, 

that of being system-independent, apparently has not been achieved as yet. 

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9.4 Data Tracks As User Aid~ 

The vehicle clock time is encoded on both 9-inch and 5-inch film as a permanent, 

unambiguous record of when a given frame was exposed. The precise time at which 

a target within a frame was exposed may also be determined. 

9.4.l Data Track Decoding 

Two data tracks, A and B, provide timing information on the film as described in 

Part 3, Sections 2.2.2.2.3.l and 2.5.4.2.4. 

Each data track consists of a continuous 500 hertz pulse train interrupted at 200-

millisecond intervals with a code word representing vehicle clock time. Each time 

word consists of 25 pulses, the first of which is a sync pulse. Location of the 

sync pulse corresponds to the time of the associated time word. As seen on the 

film, the absence of a pulse signifies a binary bit 11 111 and the presence of a 

pulse signifies a binary bit 11 on. Data tracks A and B are identical but are 

offset in-track on the film. ~~en viewing the film from head to tail, the sync 

bit is represented by the first mi3sing pulse. The next 24 pulses represent the 

vehicle clock time word. (Least Significant Bit toward the head and Most Significant Bit toward the tail.) Refer to Figure 2.9-10. 

9.4.2 Decoding Procedure 

There are four different time ccnventions which may be encountered: 

(a) Vehicle Clock - This is the 24-bit clock register which is 

recorded on the film data tracks. Each binary count is 

0.2 second and the register recycles after 3355443.010 seconds (38.8 days). 

(b) ECS or Vehicle Time (V/T) - The first 22 bits of the 

vehicle clock are used by the Extended Command System (ECS) 

for command control functions. Each binary count is 0.2 

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Data Track : • • • • • • • • • • • • • • • • Bit 1 2 3 4 s 6 7 8 9 10 11 12 13 14 15 16 

i .. Tirnc Word 

lo a 1 1 o lo 1 I o l 

1 I a 0 0 1 0 0 ! 0 0 I I l 

' 

I . 0 I 1 . 6 I 0 ' 4 I I I 

MCD Octal Time: 40610 

Figure 2.9-10. Time Word 

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BIF-008- W-C-019838-RI-80 

MSB-i Tail 

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17 18 19 20 21 22 23 24 

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second and the register recycles after 838860.610 

seconds (9.7 days). It is Vehicle Time expressed 

in decimal which is reported in the Chronological 

Command List (Chrono) and the Mission History 

Display (MHD) . 

(c) System Time - The system time does not appear on the 

film. System time is Greenwich Mean Time (GM'f) 

expressed in seconds. System time recycles daily 

after 86400.0 seconds. System time is listed in the 

Chrono, the r--LBD and the Mission Correlation Data 

(MCO) * listings. 1'he Chrono and the MED also list 

the Vehicle Time, enabling the relation between 

Vehicle Time and System Time to be established. 

Since th"3 vehicle clock is acc'..lrate to withi.n one 

part in 106, the V/T to System Time relationship 

does not change rapidly. 

(d) Mission Correlation Display (MCD) Octal - The MCD 

listing contains the 24 bits of the vehicle clock 

expressed in octal to facilitate simple, rapid 

correlation with the 24 binary pulses printed on 

the film data tracks. Data tracks read in threebit groups can be easily converted to the MC[! octal 

form as shown in Figure 2.9-10. 

9.4.2.1 MCD Octal Time 

(a) Record all 24 bits of the time word. 

(b) Divide these into 8 groups of 3 bits. 

(c) Convert each group of 3 bits to a single octal digit. 

(Bit significance is 1, 2 and 4 from left to right.) 

(d) Reverse the resultant octal number. This is the MCD 

Octal time. 

*MCD = Mission Correlation Data - a computer output providing vehicle parameters 

for all frames. 

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Vehicle Time. To convert a time. word to vehicle time, proceed as follows: 

(a) Record all of the first 24 bits of the time word. 

(b) Divide these into 8 groups of .3 bits. (Set bits 23 

and 24 to zero sinc.e. thoy a.re not used for V/T.) 

(c) Convert each group of 3 bits .. to .a single octal digit, 

(Bit significance is h 2 ·and 4 from left to right.) 

(d) Multipl~ each of the 8 octal digits times the corresponding deci'.llal significance as defined thusly: 

5 

8 

6 

8 

7 

8, i.e., 

1 J8 J64 __ Js12 J11096.!."32768 262144 I 209ns2 

(e) Add. the products ::"rom step d) and multiply the sum tir.:ies 

the clock granularity (0; 2). The result is V /T. See 

Figure 2.9-10 for an example. 

J ..• 

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2.9-24 

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10.0 OPERATIONAL ENVELOPE 

The following paragraphs describe limiting values for various operational 

parameters for both Surveillance and Search missions. In some cases, requirements 

encompass a broader range than is generally encountered during a mission. For 

these parameters, values for typical Surveillance and Search missions are shown. 

10.l Launch, Orbit and Recovery Limits 

Table 2.10-1 shows launch, orbit and recovery information, including system 

requirement and typical values for Surveillance and Search mission. 

10.2 Photographic Limits 

The photographic range is defined as the altitude at which in-focus photbgraphs 

can be obtained with the correct drive speed. The PPS/DP EAC operating altitude is 

68 to 470 nmi. The presence of the secondary recording system has no degrading 

effect on the primary recording system. I 

I 

10.2.l Timing Constraints 

10. 2. 1. 1 Stereo Mode. The design of the PPS/DP EAC is optimized for the execution 

of high-resolution stereo photography. A stereo pair consists of two frames 

covering the same target from different look angles. (See Figure 2.10-1) 

A frame includes not only the high resolution photography but also the film used 

during the starting and stopping transients (maximum of 0.15 second each). 

During the time it takes to rotate the stereo mirror from the forward to aft 

2.10-1 

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.; .JAB.LE, 12 •. 10-l_.; ,,r.u; ,' 1 .•. ;·,,;,; : I . .! ~ , . _, , 

LAUNCH, ORBIT, AND RECOVERY INFORMATION 

Pararn;?ter 

Launch Site 

Launch Azimuth 

!1 

Launch Window 

Altitude Range On-Orbit 

Altitude Range for· Photography 1 

Direction of Travel During 

Photography 

Inclination 

Eccentricity 

Seta Angle Range 

Perigee Altitude 

Apogee Altitude i 

! ' 

Orbital Flight At~i~ude 

· · Nose/'F01·>:a >:d .i:: 

Nose· Aft · : .. .,. 

Inert,ial 

Tumbl1ng ( 4) 

Mission Duration 

Recovery Site 

Recovery Method 

I ' 

~. 

I,. 

~ t.' 

d. C ~.ft;J ;,~. L . 1 I, j r .l 

--~~· __ Requir,ce~m~e~n~t'---~~~~~~~~~ 

Space LavT\ch Complex - 4 - West 

.. 1.1 (SCL-4-W) 

i 

I 

172 to 187. Oegr;~,,s 

Any Nominal Time ±1 Hour Given 3 Days 

Advance Notice(l) 

68 ~7D nmi 

·68 - 470 nmi 

Northbo~nd or Southbound 

82 - 120 DeE,rees 

o. to 0.0525 

±40 D<'gr1Jes 

~·· 490 

- '4.70 ·nmi 

·

1 Continuous ,, 

3 Consecutive Revs i R<;.wolutfon '· 

3 c·onsetutive Revs I ~ .:' 

II[ 

lZO Days' 

Between 18° and 24 ° N 

147° and 170° II' 

Northbound or Southbound Air Snatch 

by Day; Water Snatch by Night 

; ·r '.: ,-· ; ·. L .. '.J "· 

the PPS/DP EAC is at SLC~4-W. 

Typical Surveillance 

i> 

75 200 nmi 

75 - 200.nmi 

Southbound 

96.4 Degrees(Z) 

0.0185. 

±6 Degrees(3l 

' \ 75 nmi f'•1 

. ./ 

~. 

200 nmi 

DOES NOT OCCUR 

40 Days(S) 

Southbound Air Snatch 

by Day. 

,i t i .. !~j> .:;, !'. 

Typical Search 

450 - 470 nmi 

450 470 ~ki 

SouthP,tflut-1111. 

98.75 Degrees(Z) 

0.00192 

±6 Degrees (3) 

455 nmi 

470 nmi 

l fi; ,, .. :"'L'1: 

80 IJays(S) 

(6) 

Southbound Air 

Snatch by Day 

(

2

) Inclinaqons shown (1):'<1l·ftul a' .ful'l :mission. 

is probab·l~, ·· For missions involving an altiti.id'e change, an :i:ntermedfdte''illclination near 97 .5 

C

3

l Assumes 4Q 1days at 75 ~ 200 nmi ·fc..lfi;wed by 80 days at 450 nmi circular; lat.inch time choseA' lo op't.imize initial beta. 

(

4

)Damage may result if Ji>hotographic, oper;;ttipns are commanded during a tumbling episode. 

(S)For a combined ~ission; 1 ~ither portio~ 'may have a duration of up to 120 days. 

(

6

l"Footprint" may be ,;xpanded fo:r recovery from high altitude. 

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',,;_·.··: ''.~';'~i 1;m ... 1;•,:.~m~~·a' '.;~,~F;, :r · -·----'1'4 = Film stopped 

T5 = ·Camera ON 

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T6- T4 = Interframe time 

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Fi r;u;r,i\-n}t'icl .Os·~lr 0 '." pt ereo Timing 

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position (3 SeCQtiQ~ m~::dm]Jm) ~-the . Stt(;qeo .:ffiir~or:. ma/. also be ~z:abbed to. accommodate _,,, . for relative target velocity changes and the vertical motion of the vehicle. Also, 

during this time, the vehicle can be rolled, if necessary. The film take-up ~ ... _..~; -: : ·,.~~··r:t ~ -- ;,.._ ~ .~ -,·;-~. ·;:;._ 

mechanism does not normally operate duririg stereo photography. Bet.Irise stereo 

photography is basically a sequence of t~o~s.hotf': str{p ·photographs, "a:. Similar 

command sequence is used to obtain ste:r·~I) ::ea~:rs, ~o.r::~t:fi_p ·:shot.::;. Limt ts on highresolution ground coverage avai~~13\e: L_n,,full ~~t-~:req ~aJ.;e ,a,_;Junetion of _stereo interframe time (3. 0 seconds minimum) as well as start an4 stop times, and c;.om.111and 

granularity considerations.* ~i~~;e. 2' :2:·8, -~ fo~~J ·f'n -~a;{~ 2', ~ction ·

1

2: may be 

used to estimate maximum stereo high-:resoludon. cove±ige ;' :·c. c !-~ 

10.2.1.2 Str~p Mod_e. A secondary manner fqr 1rrogramming the dual platen camera - · ... i ;.;::.F·.~~: .'-'\; .. ,::'.~·L:;:_ ~:. -:;.~~ <·:·:_-_;t'.·}_~:;·.1 .:·-~c~·1 _:.._ . ._,_. ·l' 

results in a strip phot.cigraph. In this mode, photography occurs for any desired 

length of time. If the photograph req~i.res more f;i.lm t_han is ava,i_lable __ in the :~ ·:·. (i ·..: :;: i -~ . ~ ;~ : ~ ~ , . . _ : . _ -~; :..,:- :~ '~ f. ~- ;~ : : . ;· ~~5 :~ ~ -; <L:;"I ,.. f~ : . ..£ .'J Li .. -t°_: !J ~ ~ 

film storage looper, the supply and ta~.e-up reel_;; are actuated, duriniE5: ppotography. ·~. ;- ·: ~ .. ,. ~ . -~ _- . ,. .. ,. . ·:' -. ·: . -~:·. ':....:) ·:·;L} L .. :.~,-~'.· ) J?. -'J-~l Z.f;:J >. .. ).::... · .·• .. ·. 

( ·nur~-~f ~~tended strip· I?hotography, oc~~s/on~l: :~~tl::i~~drf;Y~, ;sgee~J.:ch~ng~fo ~~! be . 

nec·'e_ss.aiy to- -~~-iim\~e image motion compensation. ~ · " ·:,, ". ; ~- . -·-· 

:: ;: ,~yr_i? _ph·~};~j.,r~p11; ma~ .be degraded by. t?-~e~~}f)/~l1.PH1.X~ ~i]~r:~i-~n. a11.d/~~"'; .f il_lJ!-d_rfve 

speed changes.'; :s"ecause the PPS/DP EAC is optimized for ste;reo photography, no redesign ~ i_~_:_ ~ ... ---(~:~ _:;ril - ~ ,_._ . - ... ; __ . :. ;." '):-_';"'TJ': r: .. ~ ·, ~... IL';~ ·j :~/ICiU __ :'.:. _;~_.'j :.~ 

is contemplated solely to improve strip ppot;og:raphy .. ~- ~ ! <, --c: -. ' "~-' __; .: '-· ' ; ' '""!" ," t>_1 .:._.' 

. ~ ''" 

10 .-2:.1 ';3J =:Single Fi-ame-,:; Higlf'..Resbh.ttion i~i-rrrH:~ ~- -~-When ·th~' cn!ni:rra:.; {5:;commanded{ ON' 

ther:e.1s 'a d~ay b"efoi'~ the f-Hm· reaches :in~ ccirt~ta.ncie~f s!Med~:' 'sifrl:i'.ta!Ji/.:'th:e: 

film does::not:::sti:ipfanhk:ntaneously~ when th~·-dtruera.t·i"! -:Coirrli~knaee:f·oFF: 2 Th~' to"ia1 

film iength for a given frame is given by the following equation: · .q\L'3·rc: . 

. ~ •. - .r 

· .. • -.!, ...... ': 

... ";,i1~_t,c;rfrfi.m~-:t~.me . ~2; ha.lf-st~r~\) (£:oxw~(f~J,9-nad,·iJ'.. Of:; n'99ir::-to-a:ft: trai:1sitions) 

· · "f:S · 2. 6-·secoii<ls: ...... ~ ::.' 

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'BI F-008- w"."~c--.Ol9&38.~Rl:::.8.0 

,1.L r~j iB ... l:,;_/ ... ,,_ ':.tli; ::J.:.·! s;·;.rCL1 2~Y:.J-;.~ -;.·.: . ,'(_" ,, Y_: ··_::,,__::L .. ~ ·::.-~) _dj"_:gst:~3i. 

The high-resolution :frame length is limited· by the length of film (3_6. 8 inches .. ·~ ~.-,-(,i 'J·-: ~-;.:ui-. ~)'·-'!"'.:~-:·'"'" ·~g _.,'-·G ·::1 f·· .. ·"1. -···:}-~t\,.--:. . - ·. ·. -.--~-. ·-~ ),'.:-:__ _·:·: "·.l:~lC)!.:.~ ··1i.E!. 

maximum) which·"can be" stored in the looper between electrical stop$ .. (Performaric~ - J';-·,; '::-1•·_,.:_c:rrJ ;J'..~,·~:s~: -~\i[t!-t ·--~t-·~,- 'T:);:.::;..;:;::;,'.... .. . . ~.__·:.,--·'.: ;,) :::_·-.T~..:.. ·:\:r···.r.:r.l~· 

specifications do not require highwresolution photography during take-up operation.) ~ ;~;i :. Ts::..:.i .. ·~~ .~ :· .. ·-... ,·. ' .. · ~- .: .. ·, -~~· .. , · ··~···:·},?._ .. ·:.~~:/..:.CT 

The maximum in-track ground distance which couid be photographed ih high;..resolution 

is shown in Figure 2.10-3 as a function of slant range for zero stereo and.zero ·.-,, ', _ . "'. .. . . . . f :· · · ·. . , ·~ · 1 - ( / ' .r ~ -., .r1 (.'( '- r- "" 

and 45·:-d·;g~~:e .,db'fiquffy.3 '1Jo~i1a:1\·~,a~itk~~ ·f'o~ Tstart' i'set' and t~: wef'e tlti~~ized in ·:··~ · · .)r.-J·o:·i:.~:· ~.::~;~·-~·'"~.1'? :..~ ~- ~-::~,,:: y.:'.1..[]'T'~- .. ~·.'.~ _:. ·· ... -.. ~-'.·~. '.. p :~t-, ' .. .> 

the equation along· with a limiting fraine, iength (FL of 36. 8 i!l"Ches. 'fhe . .fi-PP_~o:ci-. , '' ... ~ ,,. ·r::.:_~;-rqr~g. r .... r·; .e}·.:··"!--_r._: . . ··; .;_!·.~ ,.}.-. 1~··.!J· }··l·-l,; ·: .. .1. 

mat ion for film-drive speed of vf· ·.:;: · V F ·was used. Ground velocity, \! , is - g h g 

the V;g?cJJX):f!S.S,OC~flJ:T~J ~-hfl1 ;~ ¥,~rcu.f~~~«Frb~}:; ?"tj:-1,J:~e.;..itl t;iJu.d~:c~-~vep._:.,1:-:Y~lu~,5 ;111. JI 

the f~¥Pr.e<f:Pt¥~i.-~ c.o.~:PJrr~teJ;;Jj~:fY::> (r,'te,e:fJi_81.l stpp) 10.PP!F.x,YHWY1J;:Llln :$n,Jh4Vi ·;fi:t 

loop~r.,f-rR:lflra pr11yt9jl'J,,:iH!MIY ,!'1/1J.:c·JiW¥Sr:J:he,pc;;>ssihJ1J,ty,,~J: ;~\{gh,..,:f.~:5oJll.ti.9μ-;:0 ral,£1 

ground coverage. .. ,,,, "1 ~ ,.,{V - .;--..i!,,.,.;.,,,..,,, , ""~ 

10. 2 .1. 4 Time Dependent Events. Most of the hardware arid pointing parameters 

which must be set for high-resolution photography of a given target var)'..::fi.rim....:U.ameto-framet T.fiei tini'e"' requi~eurr ttf-' cnah'ge' or1~' or ''another bf the·se para.iheie1's"-::rt:~fr~EJC~fie ,;_ ::.:·. ) .g : \J . .: ~·~ ~ J:· 

a limiting value in certain cases. These parameters are summarized in: Table 2 .10·<~. 

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*Figures apply to llnormal range only .. _ Th~se, _rQ-er~~-en~ _ design goals for_ IO'petaficHL_,,.,."' '·"··"'JC·J 

Figure 2 .10-2 . Typical Film Velocity Profile 

2.10-6 

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10.2.2 Focus Limits <,' -. 

. -·~:~ 

To maintain high.-:-resolution ~hio/ghout. ~lje· mis~~ion, the l?o.~ition of· tli~.~mufsion 

(generally spoken of:; a§ the pl~fen posiiililon) and the~ }>os.ition o:( the in,iage' μfane' 

must be matched very· c·iosely3 .. '..1,~e dptii'.c~l'. de~ign of,~the :p~in1arY, and s~~ndary \::.~ . '~. ,. ~·'.. _.\·J_. ..,.~~ ~.;> .~,J y). ;-~·- . :l· ..... :. 

cameras is such that'.:'..n0 imag,e-plane sii:.j.:f1fs:,. ex~ept fhose c4used 'bf.~cha~ie .. s< ih 

object distance,· shoh1.(f occu~ on~u1·bit{:~~(See Part 2~ S~-ct'i~n 5 .:)~-~~x,i.~.ji~pM-it'.ion. ' . . . ~ ~>/ 

of the image plane is related: t'o· the· ob'je'ct- dLst$ilce' (s1ant ran·ge) by N~toh 1 s '-~: .. · · . -~ j FV 

formula: 

where: 

l:::iZ = F

2 

(1. 3714 x 10-S) (: ~­

. 2. 

1 \ ... --·: .. 1· a1, 

t:,Z is .the image plane shift in inches .. 

F is •·the lens 1 focal le:!gth in inches 

a1 is ~~he initial slant ~~an~:! fo:· nmi 

.. '~:, 

·.~ : 21 is :11he final slant ra{fig.e:;~n- ~~i 

~;: ~ .. ~. b7ls~~x 10-S :is the con_.¥ei:~ion:~£actor, inches to ~il;mi , ;. ~ i ......... ,, ·:·r<i · ... '-"1' ~- ~·" 

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.. ·"'"'· " . ·::- :1 

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to (10:,~t~ i Onl! in: th~~re~~p f~~m· ~ 37:~~n. /sec (fy212 i:mi).;:''to ~r'. a·~ in·:-1sec 

("'6~'- ~i} :!si th~ sl~~i~ge~.,~fmP,~~sa~~~~~utomatic .. CL ~'C ~ied to f~1m·· dr'iVe- speed} .. 

For ·al;:l o~r11tiC:tl il~: ~ :£AC ,r~'i1ge~~.the.: p1a'ten: is driven Jo~ tne step 'clJ po-s'i t•ion 

,' ~ <. : ~3 :'~ o:: . ., >·· ' : ><~ .. ~.~:~- :•·,>.~~ 0" -•< ., ,M', • .. ·~~ 

( +O. 00275 inbh) 'and -i.i:utomat.i~ '~~ ls· al§:~Jeil. Needed plate:!! s~ft;.S:,:_air~: itlenti£'1ed .J ....... -.~ -~ ._~,.-.._.,..-·-.::v .. d~ ·-~ .. _,···"'".'}'· ',_· ~'::,., .---~~~~-:..._,-,,.., 

in operati'onb.l software ;~nd· ex:p..li:#-t; comm~ds> are s~t to a~omplis1f, the r'equiroo- i \ J~· .... ~ ' '·-· 

plat~en::;mq~mlent .~ Requh~d change:~~!. are exi~cted to o~ small.f (See iitgu~ec: 2-. 1-0:-4. )'. .,,...., --~ ', -~.J 0 ~ ._\~L ·:c .. -. .. 

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