The following is the metadata definitions of the .FRD headers.

SENSOR METADATA SECTION

This documentation is based on the RawSensorMetaData.txt file which was
generated by Sarnoff Corporation.


All geodetic measurements are with respect to the WGS-84 reference ellipsoid.


  AircraftAltitude

    The height of the aircraft's GPS/INS system above the WGS-84 ellipsoid, in
    meters.

  FOV

    The vertical field of view of the camera specified by the sensor attribute,
    in degrees.

  GimbalAzimuth

    The azimuth of the camera optical axes with respect to the aircraft, in
    degrees.  At zero, the cameras are pointed directly ahead. At 90, they are
    pointed starboard.

  GimbalElevation

    The elevation of the camera optical axes with respect to the aircraft, in
    degrees.  At zero, the cameras are pointed horizontally with respect to the
    aircraft. At 90, they are pointed straight up.

  AircraftHeading

    The heading of the aircraft, in degrees. At zero, the aircraft is heading
    directly north. At 90, it is heading directly east.

  AircraftLatitude

    The geodetic latitude of the aircraft's GPS/INS system, in DDMMSS.SSSS.


  AircraftLongitude

    The longitude of the aircraft's GPS/INS system, in DDMMSS.SSSS.

  AircraftPitch

    The pitch of the aircraft, in degrees. At zero, the aircraft is horizontal
    with respect to a local plane tangent to the WGS-84 ellipsoid. Positive
    values correspond to the nose of the aircraft pitching up.

  AircraftRoll

    The roll of the aircraft, in degrees. At zero, the aircraft's wings are
    horizontal with respect to a local plane tangent to the WGS-84 ellipsoid.
    Positive values correspond to the left wing tilting up.

  SensorAzimuth

    The azimuth of the cameras with respect to north, in degrees. At zero, the
    cameras are pointed directly north. At 90, they are pointed east.

  SensorElevation

    The elevation of the cameras with respect to the horizon, in degrees. At
    zero, the camera's optical axes are parallel to a local plane tangent to the
    WGS-84 ellipsoid. Positive values correspond to the cameras looking up.

  SensorTwist

    The rotation of the cameras about their optical axes, in degrees. At zero, a
    line perpendicular to a local plane tangent to the WGS-84 ellipsoid projects
    to a vertical line in each camera's image plane. Positive values correspond
    to a counter-clockwise (viewed from behind the camera) rotation of the cameras about
    their optical axes.

  EstimatedSceneCenterLatitude

    The estimated geodetic latitude of the point at which each camera's optical
    axis intercepts the terrain surface, in DDMMSS.SSSS.

  EstimatedSceneCenterLonitude

    The estimated longitude of the point at which each camera's optical axis
    intercepts the terrain surface, in DDMMSS.SSSS.

  EstimatedSlantRange

    The estimated range to the point at which each camera's optical axis
    intercepts the terrain surface, in meters.

  EstimatedSceneWidth

    The estimated width of the region of terrain observed by the camera
    [sensor# ], as measured horizontally across the camera's field of
    view, in meters.

  AircraftVelocityEast

    The speed of the aircraft's GPS/INS system in the east direction, in
    meters / second.

  AircraftVelocityNorth

    The speed of the aircraft's GPS/INS system in the north direction, in
    meters / second.

  AircraftVelocityUp

    The speed of the aircraft's GPS/INS system in the vertical direction, in
    meters / second.

Orientation of the cameras is specified redundantly by the values of
AircraftRoll, AircraftPitch, AircraftHeading, GimbalAzimuth, GimbalElevation,
SensorAzimuth, SensorElevation, and SensorTwist. Orientation of the cameras with
respect to a local vertical coordinate system can be computed by compounding the
rotations corresponding to AircraftHeading, AircraftPitch, AircraftRoll,
GimbalAzimuth, GimbalElevation in that order, or, equivalently, by compounding
the rotations of sensorAzimuth, sensorElevation, sensorTwist in that order.


TARGET METADATA SECTION

  NearestPreGPSTargetID#
    Target ID

  NearestPreGPSCollectionTime#
    Time of GPS measurement in HHMMSS.SSSS UTC

  NearestPreGPSTargetLatitude#
    Latitude of the target in DDMMSS.SSSS

  NearestPreGPSTargetLongitude#
    Longitude of the target in DDMMSS.SSSS

  NearestPreGPSAntennaAltitude#
    Altitude of the GPS antenna in meters in reference to MSL

  NearestPreGPSTargetHeading#
    Heading of the target in degrees

  NearestPreGPSTargetVelocity#
    Velocity of the target in m/s

  NearestPostGPSTargetID#
    Target ID

  NearestPostGPSCollectionTime#
    Time of GPS measurement in HHMMSS.SSSS UTC

  NearestPostGPSTargetLatitude#
    Latitude of the target in DDMMSS.SSSS

  NearestPostGPSTargetLongitude#
    Longitude of the target in DDMMSS.SSSS

  NearestPostGPSAntennaAltitude#
    Altitude of the GPS antenna in meters in reference to MSL

  NearestPostGPSTargetHeading#
    Heading of the target in degrees

  NearestPostGPSTargetVelocity#
    Velocity of the target in m/s