Proof MEASUREMENT_INCORPORATION (#358)
Closes #227, covers pages 1252 to 1261
This commit is contained in:
James Buckley
James Harris
parent
c3f93c3ccf
commit
2e30258105
@ -28,32 +28,31 @@
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# Colossus 2A
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# Colossus 2A
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# Page 1252
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# Page 1252
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# INCORP1 -- PERFORMS THE SIX DIMENSIONAL STATE VECTOR DEVIATION FOR POSITION
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# INCORP1--PERFORMS THE SIX DIMENSIONAL STATE VECTOR DEVIATION FOR POSITI
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# AND VELOCITY OR THE NINE-DIMENSIONAL DEVIATION OF POSITION, VELOCITY, AND
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# ON AND VELOCITY OR THE NINE DIMENSIONAL DEVIATION OF POSITION,VELOCITY,A
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# RADAR OR LANDMARK BIAS. THE OUTPUT OF THE BVECTOR ROUTINE ALONG WITH THE
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# ND RADAR OR LANDMARK BIAS.THE OUTPUT OF THE BVECTOR ROUTINE ALONG WITH T
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# ERROR TRANSITION MATRIX (W) ARE USED AS INPUT TO THE ROUTINE. THE DEVIATION
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# HE ERROR TRANSITION MATRIX(W) ARE USED AS INPUT TO THE ROUTINE.THE DEVIA
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# IS OBTAINED BY COMPUTING AN ESTIMATED TRACKING MEASUREMENT FROM THE
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# TION 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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# CURRENT STATE VECTOR AND COMPARING IT WITH AN ACTUAL TRACKING MEASUREMEN
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# AND APPLYING A STATISTICAL WEIGHTING VECTOR.
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# T AND APPLYING A STATISTICAL WEIGHTING VECTOR.
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#
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# INPUT
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# INPUT
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# DMENFLG = 0 (6-DIMENSIONAL BVECTOR), =1 (9-DIMENSIONAL)
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# DMENFLG = 0 6DIMENSIONAL BVECTOR 1= 9DIMENSIONAL
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# W = ERROR TRANSITION MATRIX 6X6 OR 9X9
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# W = ERROR TRANSITION MATRIX 6X6 OR 9X9
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# VARIANCE = VARIANCE (SCALAR)
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# VARIANCE = VARIANCE (SCALAR)
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# DELTAQ = MEASURED DEVIATION (SCALAR)
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# DELTAQ = MEASURED DEVIATION(SCALAR)
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# BVECTOR = 6 OR 9 DIMENSIONAL BVECTOR
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# BVECTOR = 6 OR 9 DIMENSIONAL BVECTOR
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#
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#
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# OUTPUT
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# OUTPUT
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# DELTAX = STATE VECTOR DEVIATIONS 6 OR 9 DIMENSIONAL
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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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# ZI = VECTOR USED FOR THE INCORPORATION 6 OR 9 DIMENSIONAL
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# GAMMA = SCALAR
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# GAMMA = SCALAR
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# OMEGA = OMEGA WEIGHTING VECTOR 6 OR 9 DIMENSIONAL
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# OMEGA = OMEGA WEIGHTING VECTOR 6 OR 9 DIMENSIONAL
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#
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#
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# CALLING SEQUENCE
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# CALLING SEQUENCE
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# L CALL INCORP1
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# L CALL INCORP1
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#
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#
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# NORMAL EXIT
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# NORMAL EXIT
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# L+1 OF CALLING SEQUENCE
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# L+1 OF CALLING SEQUENCE
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BANK 37
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BANK 37
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SETLOC MEASINC
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SETLOC MEASINC
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@ -75,8 +74,8 @@ INCORP1 STQ
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6 # IX2 = 18 S2=6
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6 # IX2 = 18 S2=6
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Z123 VLOAD MXV*
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Z123 VLOAD MXV*
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BVECTOR # BVECTOR (0)
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BVECTOR # BVECTOR (0)
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W +54D,1
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W +54D,1
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STORE ZI +18D,2
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STORE ZI +18D,2
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VLOAD
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VLOAD
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BVECTOR +6 # BVECTOR (1)
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BVECTOR +6 # BVECTOR (1)
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# Page 1253
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# Page 1253
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@ -87,9 +86,9 @@ Z123 VLOAD MXV*
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VLOAD
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VLOAD
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BVECTOR +12D # BVECTOR (2)
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BVECTOR +12D # BVECTOR (2)
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MXV* VAD*
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MXV* VAD*
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W +162D,1
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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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ZI +18D,2 # B(0)*W+B(1)*(W+54)+B(2)*(W+108)FIRST PAS
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STORE ZI +18D,2 # ZI THEN Z2 THEN Z3
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STORE ZI +18D,2 # ZI THEN Z2 THEN Z3
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TIX,1
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TIX,1
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INCOR1
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INCOR1
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INCOR1 TIX,2 BON
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INCOR1 TIX,2 BON
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@ -98,18 +97,18 @@ INCOR1 TIX,2 BON
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INCOR1A
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INCOR1A
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VLOAD
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VLOAD
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ZEROVECS
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ZEROVECS
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STORE ZI +12D
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STORE ZI +12D
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INCOR1A SETPD VLOAD
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INCOR1A SETPD VLOAD
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0
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0
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ZI
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ZI
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VSQ RTB
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VSQ RTB
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TPMODE
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TPMODE
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PDVL VSQ
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PDVL VSQ
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ZI +6
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ZI +6
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RTB TAD
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RTB TAD
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TPMODE
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TPMODE
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PDVL VSQ
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PDVL VSQ
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ZI +12D
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ZI +12D
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RTB TAD
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RTB TAD
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TPMODE
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TPMODE
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TAD AXT,2
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TAD AXT,2
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@ -159,26 +158,26 @@ INCOR1C TLOAD ROUND
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DDV PUSH # PD 0-1 = DELTAQ/A
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DDV PUSH # PD 0-1 = DELTAQ/A
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GOTO
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GOTO
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NEWZCOMP
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NEWZCOMP
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-3 SSP
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-3 SSP
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S2
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S2
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54D
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54D
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INCOR2 VLOAD VXM* # COMPUT OMEGA1,2,3
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INCOR2 VLOAD VXM* # COMPUT OMEGA1,2,3
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ZI
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ZI
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W +162D,2
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W +162D,2
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PUSH VLOAD
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PUSH VLOAD
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ZI +6
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ZI +6
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VXM* VAD
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VXM* VAD
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W +180D,2
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W +180D,2
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PUSH VLOAD
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PUSH VLOAD
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ZI +12D
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ZI +12D
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VXM* VAD
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VXM* VAD
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W +198D,2
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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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PUSH TIX,2 # PD 2-7=OMEGA1,8-13=OMEGA2,14-19=OMEGA3
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INCOR2
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INCOR2
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VLOAD STADR
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VLOAD STADR
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STORE OMEGA +12D
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STORE OMEGA +12D
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VLOAD STADR
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VLOAD STADR
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STORE OMEGA +6
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STORE OMEGA +6
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VLOAD STADR
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VLOAD STADR
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STORE OMEGA
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STORE OMEGA
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# Page 1255
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# Page 1255
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@ -186,48 +185,47 @@ INCOR2 VLOAD VXM* # COMPUT OMEGA1,2,3
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DMENFLG
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DMENFLG
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INCOR2AB
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INCOR2AB
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ZEROVECS
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ZEROVECS
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STORE OMEGA +12D
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STORE OMEGA +12D
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INCOR2AB AXT,2 SSP
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INCOR2AB AXT,2 SSP
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18D
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18D
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S2
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S2
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6
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6
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INCOR3 VLOAD*
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INCOR3 VLOAD*
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OMEGA +18D,2
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OMEGA +18D,2
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VXSC VSL*
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VXSC VSL*
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0 # DELTAQ/A
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0 # DELTAQ/A
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0,1
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0,1
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STORE DELTAX +18D,2
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STORE DELTAX +18D,2
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TIX,2 VLOAD
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TIX,2 VLOAD
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INCOR3
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INCOR3
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DELTAX +6
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DELTAX +6
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VSL3
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VSL3
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STORE DELTAX +6
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STORE DELTAX +6
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GOTO
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GOTO
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EGRESS
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EGRESS
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# Page 1256
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# Page 1256
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# INCORP2 -- INCORPORATES THE COMPUTED STATE VECTOR DEVIATIONS INTO THE
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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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# 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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# 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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# INPUT
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# PERMANENT STATE VECTOR FOR EITHER THE LEM OR CSM
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# PERMANENT STATE VECTOR FOR EITHER THE LEM OR CSM
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# VEHUPFLG = UPDATE VEHICLE C=LEM 1=CSM
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# VEHUPFLG = UPDATE VEHICLE C=LEM 1=CSM
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# W = ERROR TRANSITION MATRIX
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# W = ERROR TRANSITION MATRIX
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# DELTAX = COMPUTED STATE VECTOR DEVIATIONS
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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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# DMENFLG = SIZE OF W MATRIX (ZERO=6X6) (1=9X9)
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# GAMMA = SCALAR FOR INCORPORATION
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# GAMMA = SCALAR FOR INCORPORATION
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# ZI = VECTOR USED IN INCORPORATION
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# ZI = VECTOR USED IN INCORPORATION
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# OMEGA = WEIGHTING VECTOR
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# OMEGA = WEIGHTING VECTOR
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#
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#
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# OUTPUT
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# OUTPUT
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# UPDATED PERMANENT STATE VECTOR
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# UPDATED PERMANENT STATE VECTOR
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#
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#
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# CALLING SEQUENCE
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# CALLING SEQUENCE
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# L CALL INCORP2
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# L CALL INCORP2
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#
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#
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# NORMAL EXIT
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# NORMAL EXIT
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# L+1 OF CALLING SEQUENCE
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# L+1 OF CALLING SEQUENCE
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#
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#
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SETLOC MEASINC1
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SETLOC MEASINC1
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@ -238,7 +236,7 @@ INCOR3 VLOAD*
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INCORP2 STQ CALL
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INCORP2 STQ CALL
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EGRESS
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EGRESS
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INTSTALL
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INTSTALL
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VLOAD VXSC # CALC. GAMMA*OMEGA1,2,3
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VLOAD VXSC # CALC. GAMMA * OMEGA1,2,3
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OMEGA
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OMEGA
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GAMMA
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GAMMA
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STOVL OMEGAM1
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STOVL OMEGAM1
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@ -263,7 +261,7 @@ FAZA TC PHASCHNG
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TC UPFLAG
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TC UPFLAG
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ADRES REINTFLG
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ADRES REINTFLG
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FAZA1 CA WIXB # START FIRST PHASE OF INCORP2
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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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TS WIXA # TO UPDATE 6 OR 9 DIM. W MATRIX IN TEMP
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CA ZIXB
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CA ZIXB
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TS ZIXA
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TS ZIXA
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TC INTPRET
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TC INTPRET
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@ -326,7 +324,7 @@ FAZB CALL
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GRP2PC
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GRP2PC
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EXIT
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EXIT
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FAZB1 CA WIXA # START 2ND PHASE OF INCORP2 TO TRANSFER
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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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AD 6DD # TEMP REG TO PERM W MATRIX
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TS WIXB
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TS WIXB
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CA ZIXA
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CA ZIXA
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AD MINUS2
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AD MINUS2
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@ -349,7 +347,7 @@ FAZB1 CA WIXA # START 2ND PHASE OF INCORP2 TO TRANSFER
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STORE W +162D,1
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STORE W +162D,1
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FAZB2 TIX,1 GOTO
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FAZB2 TIX,1 GOTO
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+2
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+2
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FAZC # DONE WITH W MATRIX. UPDATE STATE VECTOR
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FAZC # DONE WITH W MATRIX. UPDATE STATE VECTOR
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RTB
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RTB
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FAZA
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FAZA
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FAZB5 SLOAD DAD
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FAZB5 SLOAD DAD
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@ -363,7 +361,7 @@ FAZC CALL
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# Page 1259
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# Page 1259
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VLOAD VAD # START 3RD PHASE OF INCORP2
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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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X789 # 7TH,8TH,9TH,COMPONENT OF STATE VECTOR
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DELTAX +12D # INCORPORATION FOR X789
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DELTAX +12D # INCORPORATION FOR X789
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STORE TX789
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STORE TX789
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BON RTB
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BON RTB
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VEHUPFLG
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VEHUPFLG
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@ -383,7 +381,7 @@ FAZAB BOVB AXT,2
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TDELTAV
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TDELTAV
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FAZAB1
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FAZAB1
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STOVL TDELTAV
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STOVL TDELTAV
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DELTAX +6 # B5 IF MOON ORBIT, B7 IF EARTH
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DELTAX +6 # B5 IF MOON ORBIT, B7 IF EARTH
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VSR* VAD
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VSR* VAD
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0 -4,2
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0 -4,2
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TNUV
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TNUV
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@ -397,7 +395,7 @@ FAZAB1 VLOAD VAD
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STORE RCV
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STORE RCV
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FAZAB2 VLOAD VAD
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FAZAB2 VLOAD VAD
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VCV
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VCV
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DELTAX +6
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DELTAX +6
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STORE VCV
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STORE VCV
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SXA,2 CALL
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SXA,2 CALL
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PBODY
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PBODY
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@ -462,7 +460,6 @@ NEWZCOMP VLOAD ABVAL
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SETLOC MEASINC3
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SETLOC MEASINC3
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BANK
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BANK
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# Page 1261
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# Page 1261
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NEWZCMP1 DLOAD SXA,1
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NEWZCMP1 DLOAD SXA,1
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NORMZI
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NORMZI
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@ -497,7 +494,3 @@ NEWZCMP1 DLOAD SXA,1
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GOTO
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GOTO
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INCOR2 -3
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INCOR2 -3
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NORMZI = 36D
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NORMZI = 36D
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