Frame Sensor Model Metadata Profile Supporting Precise Geopositioning (FSMMG) version 2.1,
SensorML 2.0 encoding version 0.2
CSM_FSMMG_v2102
CSM FSMMG v2102
Sensor X Position (Column Positive)
Sensor Y Position (Row Positive)
Sensor View Vector wrt NED Frame at the Platform Geolocation
North component
East component
Down component
Provider-Defined Parameters Valid For Current Image
Camera Frame Number
Provider-Defined Parameters Valid Over Current Imaging Session
The version parameters describing this SensorML document and any
external Frame Sensor instance documents that reference it. If this document
is modified, the versions numbers below should be modified accordingly.
Major
0
Minor
2
Version of FSMMG of Community Sensor Model Working Group
2.1
Sensor Name
Identifier for the imaging sensor
FSMMG Parameters Valid For Current Image
Time for each image in integer microsec since 1 Jan 1970 and adding required
leap seconds to leap seconds to convert to UTC (POSIX Time, IEEE standard)
Sensor Position Orientation State
0
Sensor Perspective Center.
Sensor perspective lens (L) center coordinate (X,Y,Z)(L)
at image collection time, in geocentric CS
Format: 3 comma-separated numbers X,Y,Z
Perspective Lens Center X
Perspective Lens Center Y
Perspective Lens Center Z
Sensor Exterior Orientation.
At image collection time, the 9-element orthogonal matrix that rotates the
geocentric CS axes to be parallel to the image record CS.
0
Matrix element m11
Matrix element m12
Matrix element m13
Matrix element m21
Matrix element m22
Matrix element m23
Matrix element m31
Matrix element m32
Matrix element m33
Sensor Position and Orientation Variances.
Variance (sigma^2) data for sensor position (X,Y,Z)(L)
and orientation angles (omega, phi, kappa)
0
X Variance
Y Variance
Z Variance
Omega Variance
Phi Variance
Kappa Variance
Sensor Position and Orientation Covariances.
Covariance data for sensor position (X,Y,Z)(L)
and orientation angles (omega, phi, kappa)
0
X-Y Covariance
X-Z Covariance
X-Omega Covariance
X-Phi Covariance
X-Kappa Covariance
Y-Z Covariance
Y-Omega Covariance
Y-Phi Covariance
Y-Kappa Covariance
Z-Omega Covariance
Z-Phi Covariance
Z-Kappa Covariance
Omega-Phi Covariance
Omega-Kappa Covariance
Phi-Kappa Covariance
Sensor Velocity Components With Standard Deviations
0
Sensor Velocity
Sensor velocity components with respect to the NED CS defined at the
sensor geolocation, at Kalman filtering time stamp.
Velocity X
Velocity Y
Velocity Z
Standard deviation (sigma) data for sensor velocity
0
X_dot Standard Deviation
Y_dot Standard Deviation
Z_dot Standard Deviation
Affine Transformation
Affine Transformation Coefficients.
Collectively represents 2 scales, rotation, skew, and 2 shifts applied
in an affine transformation of the line and sample image coordinates.
0
Affine a1
Affine b1
Affine c1
Affine a2
Affine b2
Affine c2
Affine Transformation Coefficient Variances.
Variance (sigma^2) data for the affine transformation coefficients.
0
A1 Variance
B1 Variance
C1 Variance
A2 Variance
B2 Variance
C2 Variance
Affine Transformation Coefficient Covariances
Covariance data for the affine transformation coefficients.
0
A1-B1 Covariance
A1-C1 Covariance
A1-A2 Covariance
A1-B2 Covariance
A1-C2 Covariance
B1-C1 Covariance
B1-A2 Covariance
B1-B2 Covariance
B1-C2 Covariance
C1-A2 Covariance
C1-B2 Covariance
C1-C2 Covariance
A2-B2 Covariance
A2-C2 Covariance
B2-C2 Covariance
FSMMG Parameters Valid Over Current Imaging Session
Sensor Type
Non-Mosaiced Frame Device Either EO or IR
Focal Length Characteristics.
Focal length, its standard deviation, and calibration data.
Focal Length
Effective distance from optical lens to sensor element(s).
A value of 999.99 indicates 'not available' or 'not applicable'
Standard Deviation
True/False Calibration Flag.
Boolean true(1)/false(0) indicates Calibrated or Non-Calibrated
focal length, respectively.
Date of Calibration.
Date the sensor was last calibrated.
Format: Year: CCYY, Month: MM (01-12), Day: DD (01-31)
Focal Length Calibration Adjustment.
Refinement in focal length from calibration operation, in millimeters.
Pixel Grid Characteristics
Number of Rows
Number of Columns
Row spacing D(X) measured at the center of the image,
in millimeters (00.0000 to 99.9999). If unknown, use 0000000
Column spacing D(Y) measured at the center of the image,
in millimeters (00.0000 to 99.9999). If unknown, use 0000000
This parameter used if more than 1 detector array in the digital collector.
Principal Point Offset and Variance-Covariance Data
0
Principal Point Offset.
Signed (X,Y) principal point offset within the sensor array CS, in millimeters.
Offset X
Offset Y
Principal Point Offset Variance-Covariance.
Variance and covariance data for the principal point offset.
0
Principal Point Offset X Variance
Principal Point Offset Y Variance
Principal Point Offset X-Y Covariance
Radial Distortion
Radial lens distortion coefficients.
0
k0
k1
k2
k3
k4
Variance (sigma^2) data for the radial lens distortion coefficients.
0
k0 Variance
k1 Variance
k2 Variance
k3 Variance
k4 Variance
Covariance data for the radial lens distortion coefficients.
0
k0-k1 Covariance
k0-k2 Covariance
k0-k3 Covariance
k0-k4 Covariance
k1-k2 Covariance
k1-k3 Covariance
k1-k4 Covariance
k2-k3 Covariance
k2-k4 Covariance
k3-k4 Covariance
Decentering Distortion
Decentering lens distortion coefficients.
0
p0
p1
p2
p3
Variance (sigma^2) data for decentering lens distortion coefficients.
0
p0 Variance
p1 Variance
p2 Variance
p3 Variance
Covariance data for decentering lens distortion coefficients.
0
p0-p1 Covariance
p0-p2 Covariance
p0-p3 Covariance
p1-p2 Covariance
p1-p3 Covariance
p2-p3 Covariance
Array of atmospheric corrections for varying altitude ranges.
Corrections to account for bending of the image ray path as a
result of atmospheric effects.
0
Displacement
Bottom Altitude
Upper Altitude
Algorithm Name
Algorithm Version
FSMMG Platform Parameters Valid For Current Image
Provides data to correlate platform location to sensor acquisition. Mandatory if location
is not simultaneously collected with image data, to provide necessary location of the
sensor/platform/Earth reference coordinate system to allow correct interpolation at image
acquisition time. Time for platform POS measurements in integer microsec since 1 Jan 1970
and adding required leap seconds to leap seconds to convert to UTC (POSIX Time, IEEE standard)
Sensor Position Orientation State With Respect to Platform CS
0
Platform Geolocation.
The position of the platform at Platform Time given as an
(X, Y, Z) vector in ECEF coords (meters). Not required for
image-to-ground calculations if sensor location available directly.
Platform X
Platform Y
Platform Z
0
Platform Orientation.
The orientation of the platform at Platform Time given as a set
of (H, P, R) Euler angles with respect to the ECEF coordinate frame.
Not required if sensor position and rotation data are available
and specified within an absolute reference frame.
Platform Heading Angle From True North
Pitch Angle About Local Platform Local Y-Axis
Roll Angle About Platform Local X-Axis
FSMMG Platform Parameters Valid Over Current Session
Sensor Position Orientation State With Respect to Platform CS
0
Sensor Perspective Center Relative To Platform CS.
The (X, Y, Z) vector, measured in the platform CS, from the origin of the
platform CS to the origin of the sensor CS, i.e. the perspective center L.
Not required for the case where a sensor position information is
directly referenced to an absolute CS (e.g. ECEF).
Perspective Lens Center X
Perspective Lens Center Y
Perspective Lens Center Z
0
Sensor Exterior Orientation Relative To Platform CS.
Euler angles roll, pitch, yaw, measured from the platform CS axes to
sensor CS reference axes. Not required for the case where the sensor
position and orientation information is directly referenced to an
absolute CS (e.g. ECEF).
Roll Angle About Platform X-Axis
Pitch Angle About Once-Rotated Platform Y-Axis
Yaw Angle About Twice-Rotated Platform Z-Axis
Lever Arm Offset Vectors
0
Vector From GPS Antenna Phase Center To INS.
Conditional on sensor geolocation at image exposure
time being provided: if sensor geolocation is provided
based on INS processing, this lever arm is mandatory to
establish platform GPS to INS geolocation and velocity.
GPS Lever Arm Offset X
GPS Lever Arm Offset Y
GPS Lever Arm Offset Z
0
Vector From INS To The Sensor Perspective Center.
Conditional on sensor location and attitude at image exposure time
being provided directly. If sensor geolocation and attitude is
provided based on INS processing, this lever arm is mandatory to
establish the sensor POS (six elements of location and orientation).
INS Lever Arm Offset X
INS Lever Arm Offset Y
INS Lever Arm Offset Z