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Due to the advancement of nano-satellite technology, CubeSats and fleets ofCubeSats can form an alternative to high-cost large-size satellite missionswith the advantage of extended spatial coverage. One of these initiatives isthe Cubesats Applied for MEasuring and LOcalising Transients (CAMELOT) missionconcept, aimed at detecting and localizing gamma-ray bursts with an efficiencyand accuracy comparable to large gamma-ray space observatories. While preciseattitude control is not necessary for such a mission, attitude determination isan important issue in the interpretation of scintillator detector data as wellas optimizing downlink telemetry. The employment of star trackers is not alwaysa viable option for such small satellites, hence another alternative isnecessary.  A new method is proposed in this series of papers, utilizing thermal imagingsensors to provide simultaneous measurement of the attitude of the Sun and thehorizon by employing a homogeneous array of such detectors. The combinationwith Sun and horizon detection w.r.t. the spacecraft would allow the full 3-DoFrecovery of its attitude. In this paper we determine the spherical projectionfunction of the MLX90640 infrasensors planned to be used for this purpose. Weapply a polynomial transformation with radial corrections to map the spatialcoordinates to the sensor plane. With the determined projection function thelocation of an infrared point source can be determined with an accuracy of~40', well below the design goals of a nano-satellite designed for gamma-raydetection.

Attitude determination for nano-satellites -- I. Spherical projections for large field of view infrasensors