496 lines
8.4 KiB
Plaintext
496 lines
8.4 KiB
Plaintext
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# Copyright: Public domain.
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# Filename: MEASUREMENT_INCORPORATION.agc
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# Purpose: Part of the source code for Luminary 1A build 099.
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# It is part of the source code for the Lunar Module's (LM)
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# Apollo Guidance Computer (AGC), for Apollo 11.
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#
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# Assembler: yaYUL
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# Contact: Jim Lawton <jim DOT lawton AT gmail DOT com>
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# Website: www.ibiblio.org/apollo.
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# Pages: 1149-1158
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# Mod history: 2009-05-28 JL Updated from page images.
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# 2011-01-06 JL Fixed pseudo-label indentation.
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#
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# This source code has been transcribed or otherwise adapted from digitized
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# images of a hardcopy from the MIT Museum. The digitization was performed
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# by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many
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# thanks to both. The images (with suitable reduction in storage size and
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# consequent reduction in image quality as well) are available online at
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# www.ibiblio.org/apollo. If for some reason you find that the images are
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# illegible, contact me at info@sandroid.org about getting access to the
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# (much) higher-quality images which Paul actually created.
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#
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# Notations on the hardcopy document read, in part:
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#
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# Assemble revision 001 of AGC program LMY99 by NASA 2021112-061
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# 16:27 JULY 14, 1969
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# Page 1149
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# INCORP1 -- PERFORMS THE SIX DIMENSIONAL STATE VECTOR DEVIATION FOR POSITION
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# AND VELOCITY OR THE NINE-DIMENSIONAL DEVIATION OF POSITION, VELOCITY, AND
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# RADAR OR LANDMARK BIAS. THE OUTPUT OF THE BVECTOR ROUTINE ALONG WITH THE
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# ERROR TRANSITION MATRIX (W) ARE USED AS INPU TO THE ROUTINE. THE DEVIATION
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# IS OBTAINED BY COMPUTING AN ESTIMATED TRACKING MEASUREMENT FROM THE
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# CURRENT STATE VECTOR AND COMPARING IT WITH AN ACTUAL TRACKING MEASUREMENT
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# AND APPLYING A STATISTICAL WEIGHTING VECTOR.
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#
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# INPUT
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# DMENFLG = 0 (6-DIMENSIONAL BVECTOR), =1 (9-DIMENSIONAL)
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# W = ERROR TRANSITION MATRIX 6X6 OR 9X9
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# VARIANCE = VARIANCE (SCALAR)
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# DELTAQ = MEASURED DEVIATION (SCALAR)
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# BVECTOR = 6 OR 9 DIMENSIONAL BVECTOR
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#
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# OUTPUT
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# DELTAX = STATE VECTOR DEVIATIONS 6 OR 9 DIMENSIONAL
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# ZI = VECTOR USED FOR THE INCORPORATION 6 OR 9 DIMENSIONAL
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# GAMMA = SCALAR
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# OMEGA = OMEGA WEIGHTING VECTOR 6 OR 9 DIMENSIONAL
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#
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# CALLING SEQUENCE
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# L CALL INCORP1
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#
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# NORMAL EXIT
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# L+1 OF CALLING SEQUENCE
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BANK 37
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SETLOC MEASINC
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BANK
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COUNT* $$/INCOR
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EBANK= W
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INCORP1 STQ
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EGRESS
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AXT,1 SSP
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54D
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S1
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18D # IX1 = 54 S1= 18
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AXT,2 SSP
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18D
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S2
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6 # IX2 = 18 S2=6
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Z123 VLOAD MXV*
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BVECTOR # BVECTOR (0)
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W +54D,1
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STORE ZI +18D,2
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VLOAD
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BVECTOR +6 # BVECTOR (1)
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# Page 1150
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MXV* VAD*
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W +108D,1
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ZI +18D,2
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STORE ZI +18D,2
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VLOAD
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BVECTOR +12D # BVECTOR (2)
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MXV* VAD*
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W +162D,1
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ZI +18D,2 # B(0)*W+B(1)*(W+54)+B(2)*(W+108) FIRST PASS
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STORE ZI +18D,2 # ZI THEN Z2 THEN Z3
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TIX,1
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INCOR1
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INCOR1 TIX,2 BON
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Z123 # LOOP FOR Z1,Z2,Z3
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DMENFLG
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INCOR1A
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VLOAD
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ZEROVECS
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STORE ZI +12D
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INCOR1A SETPD VLOAD
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0
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ZI
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VSQ RTB
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TPMODE
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PDVL VSQ
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ZI +6
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RTB TAD
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TPMODE
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PDVL VSQ
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ZI +12D
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RTB TAD
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TPMODE
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TAD AXT,2
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VARIANCE
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0
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STORE TRIPA # ZI*2 + Z2*2 + Z3*2 + VARIANCE
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TLOAD BOV
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VARIANCE # CLEAR OVFIND
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+1
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STORE TEMPVAR # TEMP STORAGE FOR VARIANCE
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BZE
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INCOR1C
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INCOR1B SL2 BOV
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INCOR1C
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STORE TEMPVAR
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INCR,2 GOTO
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DEC 1
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INCOR1B
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INCOR1C TLOAD ROUND
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TRIPA
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# Page 1151
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DMP SQRT
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TEMPVAR
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SL* TAD
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0,2
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TRIPA
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NORM INCR,2
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X2
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DEC -2
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SXA,2 AXT,2
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NORMGAM # NORMALIZATION COUNT -2 FOR GAMMA
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162D
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BDDV SETPD
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DP1/4TH
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0
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STORE GAMMA
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TLOAD NORM
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TRIPA
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X1
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DLOAD PDDL # PD 0-1 = NORM (A)
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MPAC
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DELTAQ
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NORM
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S1
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XSU,1 SR1
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S1
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DDV PUSH # PD 0-1 = DELTAQ/A
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GOTO
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NEWZCOMP
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-3 SSP
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S2
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54D
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INCOR2 VLOAD VXM* # COMPUT OMEGA1,2,3
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ZI
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W +162D,2
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PUSH VLOAD
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ZI +6
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VXM* VAD
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W +180D,2
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PUSH VLOAD
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ZI +12D
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VXM* VAD
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W +198D,2
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PUSH TIX,2 # PD 2-7=OMEGA1, 8-13=OMEGA2, 14-19=OMEGA3
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INCOR2
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VLOAD STADR
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STORE OMEGA +12D
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VLOAD STADR
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STORE OMEGA +6
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VLOAD STADR
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STORE OMEGA
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# Page 1152
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BON VLOAD
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DMENFLG
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INCOR2AB
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ZEROVECS
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STORE OMEGA +12D
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INCOR2AB AXT,2 SSP
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18D
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S2
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6
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INCOR3 VLOAD*
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OMEGA +18D,2
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VXSC VSL*
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0 # DELTAQ/A
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0,1
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STORE DELTAX +18D,2
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TIX,2 VLOAD
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INCOR3
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DELTAX +6
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VSL3
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STORE DELTAX +6
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GOTO
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EGRESS
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# Page 1153
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# INCORP2 - INCORPORATES THE COMPUTED STATE VECTOR DEVIATIONS INTO THE
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# ESTIMATED STATE VECTOR. THE STATE VECTOR UPDATED MAY BE FOR EITHER THE
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# LEM OR THE CSM. DETERMINED BY FLAG VEHUPFLG. (ZERO = LEM) (1 = CSM)
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#
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# INPUT
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# PERMANENT STATE VECTOR FOR EITHER THE LEM OR CSM
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# VEHUPFLG = UPDATE VEHICLE 0=LEM 1=CSM
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# W = ERROR TRANSITION MATRIX
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# DELTAX = COMPUTED STATE VECTOR DEVIATIONS
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# DMENFLG = SIZE OF W MATRIX (ZERO=6X6) (1=9X9)
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# GAMMA = SCALAR FOR INCORPORATION
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# ZI = VECTOR USED IN INCORPORATION
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# OMEGA = WEIGHTING VECTOR
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#
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# OUTPUT
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# UPDATED PERMANENT STATE VECTOR
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#
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# CALLING SEQUENCE
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# L CALL INCORP2
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#
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# NORMAL EXIT
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# L+1 OF CALLING SEQUENCE
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#
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SETLOC MEASINC1
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BANK
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COUNT* $$/INCOR
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INCORP2 STQ CALL
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EGRESS
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INTSTALL
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VLOAD VXSC # CALC. GAMMA * OMEGA1,2,3
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OMEGA
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GAMMA
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STOVL OMEGAM1
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OMEGA +6
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VXSC
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GAMMA
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STOVL OMEGAM2
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OMEGA +12D
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VXSC
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GAMMA
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STORE OMEGAM3
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EXIT
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CAF 54DD # INITIAL IX 1 SETTING FOR W MATRIX
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TS WIXA
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TS WIXB
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CAF ZERO
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TS ZIXA # INITIAL IX 2 SETTING FOR Z COMPONENT
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TS ZIXB
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FAZA TC PHASCHNG
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# Page 1154
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OCT 04022
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TC UPFLAG
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ADRES REINTFLG
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FAZA1 CA WIXB # START FIRST PHASE OF INCORP2
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TS WIXA # TO UPDATE 6 OR 9 DIM. W MATRIX IN TEMP
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CA ZIXB
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TS ZIXA
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TC INTPRET
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LXA,1 LXA,2
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WIXA
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ZIXA
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SSP DLOAD*
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S1
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6
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ZI,2
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DCOMP NORM # CALC UPPER 3X9 PARTITION OF W MATRIX
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S2
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VXSC XCHX,2
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OMEGAM1
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S2
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LXC,2 XAD,2
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X2
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NORMGAM
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VSL* XCHX,2
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0,2
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S2
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VAD*
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W +54D,1
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STORE HOLDW
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DLOAD* DCOMP # CALC MIDDLE 3X9 PARTITION OF W MATRIX
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ZI,2
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NORM VXSC
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S2
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OMEGAM2
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XCHX,2 LXC,2
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S2
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X2
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XAD,2 VSL*
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NORMGAM
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0,2
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XCHX,2 VAD*
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S2
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W +108D,1
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STORE HOLDW +6
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BOFF
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DMENFLG # BRANCH IF 6 DIMENSIONAL
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FAZB
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DLOAD* DCOMP # CALC LOWER 3X9 PARTITION OF W MATRIX
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ZI,2
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NORM VXSC
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# Page 1155
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S2
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OMEGAM3
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XCHX,2 LXC,2
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S2
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X2
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XAD,2 VSL*
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NORMGAM
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0,2
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XCHX,2 VAD*
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S2
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W +162D,1
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STORE HOLDW +12D
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FAZB CALL
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GRP2PC
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EXIT
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FAZB1 CA WIXA # START 2ND PHASE OF INCORP2 TO TRANSFER
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AD 6DD # TEMP REG TO PERM W MATRIX
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TS WIXB
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CA ZIXA
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AD MINUS2
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TS ZIXB
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TC INTPRET
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LXA,1 SSP
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WIXA
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S1
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6
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VLOAD
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HOLDW
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STORE W +54D,1
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VLOAD
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HOLDW +6
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STORE W +108D,1
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BOFF VLOAD
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DMENFLG
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FAZB5
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HOLDW +12D
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STORE W +162D,1
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FAZB2 TIX,1 GOTO
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+2
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FAZC # DONE WITH W MATRIX. UPDATE STATE VECTOR
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RTB
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FAZA
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FAZB5 SLOAD DAD
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ZIXB
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12DD
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BHIZ GOTO
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FAZC
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FAZB2
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FAZC CALL
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GRP2PC
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# Page 1156
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VLOAD VAD # START 3RD PHASE OF INCORP2
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X789 # 7TH, 8TH, 9TH COMPONENT OF STATE VECTOR
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DELTAX +12D # INCORPORATION FOR X789
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STORE TX789
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BON RTB
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VEHUPFLG
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DOCSM
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MOVEPLEM
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FAZAB BOVB AXT,2
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TCDANZIG
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0
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BOFF AXT,2
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MOONTHIS
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+2
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2
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VLOAD VSR*
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DELTAX # B27 IF MOON ORBIT, B29 IF EARTH
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0 -7,2
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VAD BOV
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TDELTAV
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FAZAB1
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STOVL TDELTAV
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DELTAX +6 # B5 IF MOON ORBIT, B7 IF EARTH
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VSR* VAD
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0 -4,2
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TNUV
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BOV
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FAZAB2
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STCALL TNUV
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FAZAB3
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|
|
FAZAB1 VLOAD VAD
|
||
|
|
RCV
|
||
|
|
DELTAX
|
||
|
|
STORE RCV
|
||
|
|
FAZAB2 VLOAD VAD
|
||
|
|
VCV
|
||
|
|
DELTAX +6
|
||
|
|
STORE VCV
|
||
|
|
SXA,2 CALL
|
||
|
|
PBODY
|
||
|
|
RECTIFY
|
||
|
|
FAZAB3 CALL
|
||
|
|
GRP2PC
|
||
|
|
BON RTB
|
||
|
|
VEHUPFLG
|
||
|
|
DOCSM1
|
||
|
|
MOVEALEM
|
||
|
|
CALL
|
||
|
|
SVDWN2 # STORE DOWNLINK STATE VECTOR
|
||
|
|
FAZAB4 CALL
|
||
|
|
# Page 1157
|
||
|
|
GRP2PC # PHASE CHANGE
|
||
|
|
BOFF VLOAD
|
||
|
|
DMENFLG
|
||
|
|
FAZAB5 # 6 DIMENSIONAL
|
||
|
|
TX789 # 9 DIMENSIONAL
|
||
|
|
STORE X789
|
||
|
|
FAZAB5 LXA,1 SXA,1
|
||
|
|
EGRESS
|
||
|
|
QPRET
|
||
|
|
EXIT
|
||
|
|
TC POSTJUMP # EXIT
|
||
|
|
CADR INTWAKE
|
||
|
|
DOCSM RTB GOTO
|
||
|
|
MOVEPCSM
|
||
|
|
FAZAB
|
||
|
|
DOCSM1 RTB CALL
|
||
|
|
MOVEACSM
|
||
|
|
SVDWN1 # STORE DOWNLINK STATE VECTOR
|
||
|
|
GOTO
|
||
|
|
FAZAB4
|
||
|
|
ZEROD = ZEROVECS
|
||
|
|
54DD DEC 54
|
||
|
|
6DD DEC -6
|
||
|
|
12DD DEC 12
|
||
|
|
|
||
|
|
SETLOC RENDEZ
|
||
|
|
BANK
|
||
|
|
COUNT* $$/INCOR
|
||
|
|
|
||
|
|
NEWZCOMP VLOAD ABVAL
|
||
|
|
ZI
|
||
|
|
STOVL NORMZI
|
||
|
|
ZI +6
|
||
|
|
ABVAL PUSH
|
||
|
|
DSU BMN
|
||
|
|
NORMZI
|
||
|
|
+3
|
||
|
|
DLOAD STADR
|
||
|
|
STORE NORMZI
|
||
|
|
VLOAD ABVAL
|
||
|
|
ZI +12D
|
||
|
|
PUSH DSU
|
||
|
|
NORMZI
|
||
|
|
BMN DLOAD
|
||
|
|
+3
|
||
|
|
STADR
|
||
|
|
STORE NORMZI # LARGEST ABVAL
|
||
|
|
DLOAD SXA,1
|
||
|
|
NORMZI
|
||
|
|
NORMZI # SAVE X1
|
||
|
|
NORM INCR,1
|
||
|
|
# Page 1158
|
||
|
|
X1
|
||
|
|
DEC 2
|
||
|
|
VLOAD VSL*
|
||
|
|
ZI
|
||
|
|
0,1
|
||
|
|
STOVL ZI
|
||
|
|
ZI +6
|
||
|
|
VSL*
|
||
|
|
0,1
|
||
|
|
STOVL ZI +6
|
||
|
|
ZI +12D
|
||
|
|
VSL* SXA,1
|
||
|
|
0,1
|
||
|
|
NORMZI +1 # SAVE SHIFT
|
||
|
|
STORE ZI +12D
|
||
|
|
LXA,1 XSU,1
|
||
|
|
NORMGAM
|
||
|
|
NORMZI +1
|
||
|
|
XSU,1
|
||
|
|
NORMZI +1
|
||
|
|
SXA,1 LXC,1
|
||
|
|
NORMGAM
|
||
|
|
NORMZI +1
|
||
|
|
XAD,1 SETPD
|
||
|
|
NORMZI
|
||
|
|
2D
|
||
|
|
GOTO
|
||
|
|
INCOR2 -3
|
||
|
|
NORMZI = 36D
|
||
|
|
|
||
|
|
|