= Hyperspectral Instrument Leverarm Information =

== Leverarm calculation ==
The leverarm gives the 3-dimensional vector from the sensor focal point to the point where the GPS positions are referenced. This is measured using metres in a cartesian coordinate frame where (since 2011): X is positive along tail to nose, Y is positive to starboard, and Z is positive down.

Since 2011 the leverarms for the hyperspectral instruments use the same reference point as the LiDAR does (on a virtual PAV 80). This allows the same navigation data to be used for all the instruments on the aircraft. The leverarms are calculated from measurements made by the survey company (last survey March 2011 by Sterling Surveys).

'''Note''' The hyperspectral processing software aznav and aplnav use different coordinate systems for input of the leverarm values. To transform from one set to the other you need to change the signs on the Y and Z components.

== Eagle Leverarms ==

Note that the following are referenced to use the IPAS system (reference point of PAV80) in the aplnav coordinates reference frame. Please refer '''[wiki:Processing/LeverArmOffset here]''' for original leverarms referenced for use with applanix and aznav.

||= '''Year''' =||= '''X (metres)''' =||= '''Y (metres)''' =||= '''Z (metres)''' =||
|| 2012 ||0.394	|| -0.02  || -0.143 ||
|| 2011 || 0.415 || -0.014 || -0.129 ||


== Hawk Leverarms ==

Note that the following are referenced to use the IPAS system (reference point of PAV80) in the aplnav coordinates reference frame. Please refer '''[wiki:Processing/LeverArmOffset here]''' for original leverarms referenced for use with applanix and aznav.

||= '''Year''' =||= '''X (metres)''' =||= '''Y (metres)''' =||= '''Z (metres)''' =||
|| 2012 || 0.581 || -0.019 || -0.131 ||
|| 2011 || 0.585 || -0.014 || -0.129 ||