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Proof LEM_GEOMETRY #604 (#725)

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Co-authored-by: James Harris <wopian@wopian.me>
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Gintautas Švedas 2020-10-24 20:59:27 +03:00 committed by GitHub
parent 9f58155b0c
commit 0c6136893e
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1 changed files with 27 additions and 30 deletions
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57
Luminary099/LEM_GEOMETRY.agc
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@ -35,22 +35,22 @@
EBANK= XSM EBANK= XSM
# THESE TWO ROUTINES COMPUTE THE ACTUAL STATE VECTOR FOR LM,CSM BY ADDING # THESE TWO ROUTINES COMPUTE THE ACTUAL STATE VECTOR FOR LM,CSM BY ADDING
# THE CONIC R,V AND THE DEVIATIONS R,V. THE STATE VECTORS ARE CONVERTED TO # THE CONIC R,V AND THE DEVIATIONSR,V. THE STATE VECTORS ARE CONVERTED TO
# METERS B-29 AND METERS/CSEC B-7 AND STORED APPROPRIATELY IN RN,VN OR # METERS B-29 AND METERS/CSEC B-7 AND STORED APPROPRIATELY IN RN,VN OR
# R-OTHER,V-OTHER FOR DOWNLINK. THE ROUTINES NAMES ARE SWITCHED IN THE # R-OTHER , V-OTHER FOR DOWNLINK. THE ROUTINES NAMES ARE SWITCHED IN THE
# OTHER VEHICLES COMPUTER. # OTHER VEHICLES COMPUTER.
# #
# INPUT # INPUT
# STATE VECTOR IN TEMPORARY STORAGE AREA # STATE VECTOR IN TEMPORARY STORAGE AREA
# IF STATE VECTOR IS SCALED POS B27 AND VEL B5 # IF STATE VECTOR IS SCALED POS B27 AND VEL B5
# SET X2 TO +2 # SET X2 TO +2
# IF STATE VECTOR IS SCALED POS B29 AND VEL B7 # IF STATE VECTOR IS SCALED POS B29 AND VEL B7
# SET X2 TO 0 # SET X2 TO 0
# #
# OUTPUT # OUTPUT
# R(T) IN RN, V(T) IN VN, T IN PIPTIME # R(T) IN RN, V(T) IN VN, T IN PIPTIME
# OR # OR
# R(T) IN R-OTHER, V(T) IN V-OTHER (T IS DEFINED BY T-OTHER) # R(T) IN R-OTHER, V(T) IN V-OTHER (T IS DEFINED BY T-OTHER)
COUNT* $$/GEOM COUNT* $$/GEOM
SVDWN2 BOF RVQ # SW=1=AVETOMID DOING W-MATRIX INTEG. SVDWN2 BOF RVQ # SW=1=AVETOMID DOING W-MATRIX INTEG.
@ -58,14 +58,14 @@ SVDWN2 BOF RVQ # SW=1=AVETOMID DOING W-MATRIX INTEG.
+1 +1
VLOAD VSL* VLOAD VSL*
TDELTAV TDELTAV
0 -7,2 0 -7,2
VAD VSL* VAD VSL*
RCV RCV
0,2 0,2
STOVL RN STOVL RN
TNUV TNUV
VSL* VAD VSL* VAD
0 -4,2 0 -4,2
VCV VCV
VSL* VSL*
0,2 0,2
@ -76,14 +76,14 @@ SVDWN2 BOF RVQ # SW=1=AVETOMID DOING W-MATRIX INTEG.
# Page 321 # Page 321
SVDWN1 VLOAD VSL* SVDWN1 VLOAD VSL*
TDELTAV TDELTAV
0 -7,2 0 -7,2
VAD VSL* VAD VSL*
RCV RCV
0,2 0,2
STOVL R-OTHER STOVL R-OTHER
TNUV TNUV
VSL* VAD VSL* VAD
0 -4,2 0 -4,2
VCV VCV
VSL* VSL*
0,2 0,2
@ -91,32 +91,32 @@ SVDWN1 VLOAD VSL*
RVQ RVQ
# Page 322 # Page 322
# THE FOLLOWING ROUTINE TAKES A HALF UNIT TARGET VECTOR REFERRED TO NAV BASE COORDINATES AND FINDS BOTH # THE FOLLOWING ROUTINE TAKES A HALF UNIT TARGET VECTOR REFERRED TO NAV BASE COORDINATES AND FINDS BOTH
# GIMBAL ORIENTATIONS AT WHICH THE RR MIGHT SIGHT THE TARGET. THE GIMBAL ANGLES CORRESPONDING TO THE PRESENT MODE # GIMBAL ORIENTATIONS AT WHICH THE RR MIGHT SIGHT THE TARGET. THE GIMBAL ANGLES CORRESPONDING TO THE PRESENT MODE
# ARE LEFT IN MODEA AND THOSE WHICH WOULD BE USED AFTER A REMODE IN MODEB. THIS ROUTINE ASSUMES MODE 1 IS TRUNNION # ARE LEFT IN MODEA AND THOSE WHICH WOULD BE USED AFTER A REMODE IN MODEB. THIS ROUTINE ASSUMES MODE 1 IS TRUNNION
# ANGLE LESS THAN 90 DEGS IN ABS VALUE WITH ARBITRARY SHAFT, WITH A CORRESPONDING DEFINITION FOR MODE 2. MODE # ANGLE LESS THAN 90 DEGS IN ABS VALUE WITH ARBITRARY SHAFT, WITH A CORRESPONDING DEFINITION FOR MODE 2. MODE
# SELECTION AND LIMIT CHECKING ARE DONE ELSEWHERE. # SELECTION AND LIMIT CHECKING ARE DONE ELSEWHERE.
# #
# THE MODE 1 CONFIGURATION IS CALCULATED FROM THE VECTOR AND THEN MODE 2 IS FOUND USING THE RELATIONS # THE MODE 1 CONFIGURATION IS CALCULATED FROM THE VECTOR AND THEN MODE 2 IS FOUND USING THE RELATIONS
# #
# S(2) = 180 + S(1) # S(2) = 180 + S(1)
# T(2) = 180 - T(1) # T(2) = 180 - T(1)
# #
# THE VECTOR ARRIVES IN MPAC WHERE TRG*SMNG OR *SMNB* WILL HAVE LEFT IT. # THE VECTOR ARRIVES IN MPAC WHERE TRG*SMNB OR *SMNB* WILL HAVE LEFT IT.
RRANGLES STORE 32D RRANGLES STORE 32D
DLOAD DCOMP # SINCE WE WILL FIND THE MODE 1 SHAFT DLOAD DCOMP # SINCE WE WILL FIND THE MODE 1 SHAFT
34D # ANGLE LATER, WE CAN FIND THE MODE 1 34D # ANGLE LATER, WE CAN FIND THE MODE 1
SETPD ASIN # TRUNNION BY SIMPLY TAKING THE ARCSIN OF SETPD ASIN # TRUNNION BY SIMPLY TAKING THE ARCSIN OF
0 # THE Y COMPONENT, THE ASIN GIVIN AN 0 # THE Y COMPONENT, THE ASIN GIVIN AN
PUSH BDSU # ANSWER WHOSE ABS VAL IS LESS THAN 90 DEG. PUSH BDSU # ANSWER WHOSE ABS VAL IS LESS THAN 90 DEG
LODPHALF LODPHALF
STODL 4 # MODE 2 TRUNNION TO 4. STODL 4 # MODE 2 TRUNNION TO 4.
LO6ZEROS LO6ZEROS
STOVL 34D # UNIT THE PROJECTION OF THE VECTOR STOVL 34D # UNIT THE PROJECTION OF THE VECTOR
32D # IN THE X-Z PLANE 32D # IN THE X-Z PLANE
UNIT BOVB # IF OVERFLOW, TARGET VECTOR IS ALONG Y UNIT BOVB # IF OVERFLOW,TARGET VECTOR IS ALONG Y
LUNDESCH # CALL FOR MANEUVER UNLESS ON LUNAR SURF LUNDESCH # CALL FOR MANEUVER UNLESS ON LUNAR SURF
STODL 32D # PROJECTION VECTOR. STODL 32D # PROJECTION VECTOR.
32D 32D
@ -154,7 +154,7 @@ RRANGLES STORE 32D
GOTO GOTO
S2 S2
# Page 324 # Page 324
# GIVEN RR TRUNNION AND SHAFT (T,S) IN TANGNB,+1, FIND THE ASSOCIATED # GIVEN RR TRUNNION AND SHAFT (T,S) IN TANGNB,+1,FIND THE ASSOCIATED
# LINE OF SIGHT IN NAV BASE AXES. THE HALF UNIT VECTOR, .5(SIN(S)COS(T), # LINE OF SIGHT IN NAV BASE AXES. THE HALF UNIT VECTOR, .5(SIN(S)COS(T),
# -SIN(T),COS(S)COS(T)) IS LEFT IN MPAC AND 32D. # -SIN(T),COS(S)COS(T)) IS LEFT IN MPAC AND 32D.
@ -190,7 +190,7 @@ RRNB1 PUSH COS # SHAFT ANGLE TO 2
RRNBMPAC STODL 20D # SAVE SHAFT CDU IN 21. RRNBMPAC STODL 20D # SAVE SHAFT CDU IN 21.
MPAC # SET MODE TO DP. (THE PRECEEDING STORE MPAC # SET MODE TO DP. (THE PRECEEDING STORE
# MAY BE DP, TP OR VECTOR.) # MAY BE DP. TP OR VECTOR.)
RTB SETPD RTB SETPD
CDULOGIC CDULOGIC
0 0
@ -203,7 +203,4 @@ RRNBMPAC STODL 20D # SAVE SHAFT CDU IN 21.
CDULOGIC CDULOGIC
GOTO GOTO
RRNB1 RRNB1
# Page 325 # Page 325 (empty page)
# (This page has nothing on it.)