From 68c072a49e1669165d4c5b4f1cc40c3cf426fd2c Mon Sep 17 00:00:00 2001 From: Glenn Dwiyatcita Date: Wed, 11 Sep 2019 19:22:23 +0200 Subject: [PATCH] Proof IMU_CALIBRATION_AND_ALIGNMENT #211 (#402) * Proof FIXED_FIXED_CONSTANT_POOL (#207) * wip(pp. 0423-0425): Proof IMU_CALIBRATION_AND_ALIGNMENT #211 * done(pp. 0423-0455): Proof IMU_CALIBRATION_AND_ALIGNMENT #211 --- Comanche055/IMU_CALIBRATION_AND_ALIGNMENT.agc | 161 +++++++++--------- 1 file changed, 84 insertions(+), 77 deletions(-) diff --git a/Comanche055/IMU_CALIBRATION_AND_ALIGNMENT.agc b/Comanche055/IMU_CALIBRATION_AND_ALIGNMENT.agc index 3ba45f0..cd091ed 100644 --- a/Comanche055/IMU_CALIBRATION_AND_ALIGNMENT.agc +++ b/Comanche055/IMU_CALIBRATION_AND_ALIGNMENT.agc @@ -31,19 +31,19 @@ # information. Please report any errors to info@sandroid.org. # Page 423 -# NAME -- IMU PERFORMANCE TESTS 2 -# -# DATE -- MARCH 20, 1967 -# -# BY -- SYSTEM TEST GROUP 864-6900 EXT. 1274 -# -# MODNO. -- ZERO +# NAME- IMU PERFORMANCE TESTS 2 + +# DATE- MARCH 20,1967 # +# BY- SYSTEM TEST GROUP 864-6900 EXT. 1274 + +# MODNO.- ZERO + # FUNCTIONAL DESCRIPTION -# + # POSITIONING ROUTINES FOR THE IMU PERFORMANCE TESTS AS WELL AS SOME OF # THE TESTS THEMSELVES. FOR A DESCRIPTION OF THESE SUBROUTINES AND THE -# OPERATING PROCEDURES (TYPICALLY) SEE STG MEMO 685. THEORETICAL REF. E-1973 +# OPERATING PROCEDURES (TYPICALLY) SEE STG MEMO 685.THEORETICAL REF.E-1973 BANK 33 SETLOC IMUCAL @@ -97,9 +97,9 @@ NBPOSPL CA DEC17 STORE ZNB +2 EXIT TC CHECKMM - MM 03 # SEE IF IN OPTICAL VERIFICATION - TCF +2 # NO - TCF SETNBPOS +1 # YES + MM 03 # SEE IF IN OPTICAL VERIFICATION + TCF +2 # NO + TCF SETNBPOS +1 # YES TC INTPRET CALL CALCGA @@ -122,7 +122,6 @@ NBPOSPL CA DEC17 EXTEND DCA PERFDLAY TC LONGCALL - SBANK= LOWSUPER # RSB 2004, OH 2009: Ask Ron EBANK= POSITON 2CADR GOESTIMS @@ -217,7 +216,7 @@ VERTDRFT CA 3990DEC # ABOUT 1 HOUR VERTICAL DRIFT TEST CA XSM +4 # 0 IF POSN 4 EXTEND BZF PON2 -PON4 CS BIT5 # OFFSET PLATFORM +PON4 CS BIT5 # OFFSET PLATFORM ADS ERCOMP1 +2 CA BIT5 ADS ERCOMP1 @@ -320,7 +319,7 @@ ZEROING1 TS ZERONDX1 SETLOC IMUCAL3 BANK ERTHRVSE DLOAD PDDL - SCHZEROS # PD24 = (SIN (missing) -COS (missing) 0)(OMEG/MS) + SCHZEROS # PD24 = (SIN -COS 0)(OMEG/MS) LATITUDE COS DCOMP PDDL SIN @@ -377,10 +376,11 @@ SHOW1 CA POSITON CA VB06N98 TC BANKCALL CADR GOFLASH - TC ENDTEST1 # V34 - TC QPLACE # V33 + TC ENDTEST1 # V 34 + TC QPLACE # V33 TCF SHOW1 + OC14400 OCT 14400 3990DEC = OMEG/MS VB06N98 VN 0698 @@ -393,6 +393,7 @@ XNBADR GENADR XNB XSMADR GENADR XSM OMEG/MS 2DEC .24339048 + P11OUT TC BANKCALL CADR MATRXJOB # RETURN TO P11 @@ -419,79 +420,78 @@ FINETIME INHINT # RETURNS WITH INTERRUPT INHIBITED TC Q # Page 432 -# PROGRAM NAME: OPTIMUM PRELAUNCH ALIGNMENT CALIBRATION -# DATE: NOVEMBER 2 1966 -# BY: GEORGE SCHMIDT IL 7-146 EXT. 126 +# PROGRAM NAME-OPTIMUM PRELAUNCH ALIGNMENT CALIBRATION +# DATE- NOVEMBER 2 1966 +# BY- GEORGE SCHMIDT IL 7-146 EXT. 126 # MOD NO 3 -# # FUNCTIONAL DESCRIPTION -# -# THIS SECTION CONSISTS OF PRELAUNCH ALIGNMENT AND GYRO DRIFT TESTS + +# THIS SECTION CONSISTS OF PRELAUNCH ALIGNMENT AND GYRO DRIFT TESTS # INTEGRATED TOGETHER TO SAVE WORDS. COMPASS IS COMPLETELY RESTART # PROOFED EXCEPT FOR THE FIRST 30 SECONDS OR SO. PERFORMANCE TESTS OF # THE IRIGS IS RESTART PROOFED ENOUGH TO GIVE 75 PERCENT CONFIDENCE THAT # IF A RESTART OCCURS THE DATA WILL STILL BE GOOD. GOOD PRACTICE TO RECYCL -# WHEN A RESTART OCCURS UNLESS IT HAPPENS NEAR THE END OF A TEST -- THEN WAIT +# WHEN A RESTART OCCURS UNLESS IT HAPPENS NEAR THE END OF A TEST-THEN WAIT # FOR THE DATA TO FLASH. -# -# A RESTART IN GYROCOMPASS DURING GYRO TORQUING CAUSES PULSES TO BE LOST. +# A RESTART IN GYROCOMPASS DURING GYRO TORQUING CAUSES PULSES TO BE LOST # THE PRELAUNCH ALIGNMENT TECHNIQUE IS BASICALLY THE SAME AS IN BLOCK 1 # EXCEPT THAT IT HAS BEEN SIMPLIFIED IN THE SENSE THAT SMALL ANGLE APPROX. # HAVE BEEN USED. THE DRIFT TESTS USE A UNIQUE IMPLEMENTATION OF THE -# OPTIMUM STATISTICAL FILTER. FOR A DESCRIPTION SEE E-1973. BOTH OF THESE +# OPTIMUM STATISTICAL FILTER. FOR A DESCRIPTION SEE E-1973.BOTH OF THESE # ROUTINES USE STANDARD SYSTEM TEST LEADIN PROCEDURES. THE INITIALIZATION -# PROCEDURE THE DRIFT TESTS IS IN THE JDC'S. THE INITIALIZATION METHOD +# PROCEDURE THE DRIFT TESTS IS IN THE JDC S. THE INITIALIZATION METHOD # FOR GYROCOMPASS IS AN ERAS LOAD THEN A MISSION PHASE CALL. -# THE COMPASS ALIGNS TO Z DOWN, X DOWNRANGE, HAS THE CAPABILITY -# CHANGE AZIMUTH WHILE RUNNING, IS COMPENSATED FOR -# COMPONENT ERRORS, IS CAPABLE OF OPTICAL VERIFICATION (CSM ONLY). -# +# THE COMPASS ALIGNS TO Z DOWN,X DOWNRANGE, HAS THE CAPABILITY +# CHANGE AZIMUTH WHILE RUNNING , IS COMPENSATED FOR +# COMPONENT ERRORS,IS CAPABLE OF OPTICAL VERIFICATION( CSM ONLY). + # COMPASS ERASABLE LOAD REQUIRED -# -# 1. LAUNCHAZ-DP AZIMUTH IN REV FROM NORTH OF XSM DESIRED (NOM=.2) -# 2. LATITUDE-DP-OF LAUNCH PAD -# 3. AZIMUTH-DP-OF ZNB OF VEHICLE -# 4. IMU COMPENSATION PARAMETERS -# 5. AZ AND ELEVATION OF TARGETS 1,2 ****OPTIONAL**** -# + +# 1-LAUNCHAZ -DP AZIMUTH IN REV FROM NORTH OF XSM DESIRED (NOM=.2) +# 2- LATITUDE -DP-OF LAUNCH PAD +# 3- AZIMUTH-DP-OF ZNB OF VEHICLE +# 4- IMU COMPENSATION PARAMETERS +# 5-AZ AND ELEVATION OF TARGETS 1,2 ****OPTIONAL**** + # TO PERFORM AS PART OF COMPASS -# -# 1. OPTICAL VERIFICATION: V 65 E -# 2. AZIMUTH CHANGE: V 78 E -# + +# 1-OPTICAL VERIFICATION- V 65 E +# 2-AZIMUTH CHANGE-V 78 E + # SUBROUTINES CALLED -# + # DURING OPTICAL VERIFICATION (CSM ONLY) ESSENTIALLY ALL OF INFLIGHT ALIGN # IS CALLED IN ONE WAY OR ANOTHER. SEE THE LISTING. -# + # NORMAL EXIT -# -# DRIFT TESTS. LENGTHOT GOES TO ZERO-RETURN TO IMU PERF TEST2 CONTROL -# GYROCOMPASS-MANY, SEE THE LISTING. -# + +# DRIFT TESTS- LENGTHOT GOES TO ZERO-RETURN TO IMU PERF TEST2 CONTROL +# GYROCOMPASS-MANY, SEE THE LISTING # ALARMS -# + # 1600 OVERFLOW IN DRIFT TEST # Page 433 # 1601 BAD IMU TORQUE ABORT # 1602 BAD OPTICS DURING VERIFICATION-RETURN TO COMPASS CSM ONLY -# + # OUTPUT -# -# DRIFT TESTS: FLASHING DISPLAYS OF RESULTS-CONTROLLED IN IMU PERF TESTS 2 + +# DRIFT TESTS- FLASHING DISPLAYS OF RESULTS-CONTROLLED IN IMU PERF TESTS 2 # COMPASS-PROGRAM MODE LIGHTS TELL YOU WHAT PHAS OF PROGRAM YOU ARE IN -# 01 INITIALIZING THE PLATFORM POSITION AND ERASABLE -# 02 GYROCOMPASSING -# 03 DOING OPTICAL VERIFICATION (CSM) +# 01 INITIALIZING THE PLATFORM POSITION AND ERASABLE +# 02 GYROCOMPASSING +# 03 DOING OPTICAL VERIFICATION (CSM) +# # # DEBRIS -# -# ALL CENTRALS, ALL OF EBANK XSM + +# ALL CENTRALS,ALL OF EBANK XSM # Page 434 # MOST OF THE ROUTINES COMMON TO ALIGNMENT AND CALIBRATION APPEAR # ON THE NEXT FEW PAGES. + COUNT 33/P02 EBANK= XSM @@ -546,12 +546,12 @@ RSTGTS1 INHINT # COMES HERE PHASE1 RESTART # COMES HERE AT THE END OF EVERY ITERATION THROUGH DRIFT TEST OR COMPASS # SET UP WAITLIST SECTION -SLEEPIE TS LENGTHOT # TEST NOT OVER-DECREMENT LENGHOT +SLEEPIE TS LENGTHOT # TEST NOT OVER-DECREMENT LENGTHOT TC PHASCHNG # CHANGE PHASE OCT 00135 CCS TORQNDX # ARE WE DOING VERTDRIFT TC EARTHR* # TRUE TORQUE SOUTH GYRO -WTLISTNT TC CHKCOMED # SEE IF COMPASS OVER +WTLISTNT TC CHKCOMED # SEE IF COMPASS OVER TC SETGWLST TC ENDOFJOB @@ -573,6 +573,7 @@ WTGTSMPL TC TWIDDLE RIGHTGTS CAF FOUR # SET UP NEXT WAITLIST-ALLOW SOME TIME TC WTGTSMPL # END OF WAITLIST SECTION + # STORE AND LOAD DATA SECTIONS FOR RESTART PROOFING 25DECML EQUALS OCT31 @@ -598,6 +599,7 @@ LOADSTDT CAF 25DECML TCF LOADSTDT +1 TC Q + # COMES HERE EVERY ITERATION BY A WAITLIST CALL SET IN SLEEPIE ALLOOP CA TIME1 @@ -644,7 +646,7 @@ ALFLT1 TC LOADSTDT # COMES HERE ON RESTART CCS GEOCOMP1 TC +2 TC NORMLOP - TC CHKCOMED # SEE IF PRELAUNCH OVER + TC CHKCOMED # SEE IF PRELAUNCH OVER TC BANKCALL # COMPENSATION IF IN COMPASS CADR 1/PIPA NORMLOP TC INTPRET @@ -741,6 +743,7 @@ ALKLP LXC,1 SXA,1 ALKLP 8D + LOOSE DLOAD* PDDL* # EXTRAPOLATE SWAY VARIABLES ACCWD +8D,1 VLAUN +8D,1 @@ -760,6 +763,7 @@ LOOSE DLOAD* PDDL* # EXTRAPOLATE SWAY VARIABLES TIX,1 LOOSE + AXT,2 AXT,1 # EVALUATE SINES AND COSINES 6 2 @@ -782,12 +786,12 @@ PERFERAS EXIT CA EBANK7 EBANK= LAT(SPL) TS EBANK - TC LAT(SPL) # GOTO ERASABLE ONLY TO RETURN + TC LAT(SPL) # GO TO ERASABLE ONLY TO RETURN # CAUTION -# + # THE ERASABLE PROGRAM THAT DOES THE CALCULATIONS MUST BE LOADED -# BEFORE ANY ATTEMPT IS MAKE TO RUN THE IMU PERFORMANCE TEST +# BEFORE ANY ATTEMPT IS MADE TO RUN THE IMU PERFORMANCE TEST EBANK= LENGTHOT ONCEMORE CCS LENGTHOT @@ -825,6 +829,7 @@ TORQINCH TC PHASCHNG EXIT TC TORQUE # GO TO IMU2 FOR A PIPA TEST AND DISPLAY + SOMEERRR TC ALARM OCT 1600 TC +3 @@ -834,14 +839,16 @@ SOMERR2 TC ALARM OCT 00005 TC ENDTEST1 -# THE FAMOUS MAGIC NUMBERS OF SCHMIDT ARE NOW PART OF AN ERASABLE LOAD + +# THE FAMOUS MAGIC NUMBERS OF SCHMIDT ARE NOW PART OF AN ERASABLE LOAD. + DEC585 OCT 02222 # 1170 B+14 ORDER IS NOW IMPORTANT SCHZEROS 2DEC .00000000 2DEC .00000000 OCT 00000 ONEDPP OCT 00000 - OCT 00001 # ABOVE ORDER IS IMPORTANT + OCT 00001 # ABOVE ORDER IS IMPORTANT INTVAL OCT 4 OCT 2 @@ -852,9 +859,9 @@ SOUPLY 2DEC .93505870 # INITIAL GAINS FOR PIP OUTPUTS 77DECML DEC 77 ALXXXZ GENADR ALX1S -1 - # GYROCOMPASS PORTIONS FINISH THIS LOG SECTION + COUNT 33/P01 # INITIALIZATION SECTION @@ -868,7 +875,7 @@ GTSCPSS CA FLAGWRD1 # CALLED BY V37 OCT 1521 # NODO ALARM FOR P01 - P11 ALREADY DONE GTSCPSSA CAF ONE - TS GEOCOMP1 # THIS IS THE LEAD IN FOR COMPASS + TS GEOCOMP1 # THIS IS THE LEAD IN FOR COMPASS. CA 1/PIPAGT TS 1/PIPADT NXXTENN CA BIT8 @@ -894,7 +901,7 @@ SETUPGC CA DEC17 TC GEOIMUTT # GO TO IMU2 FOR FURTHER INITIALIZATION -POSN17C EXTEND # COMPASS POSITION Z DOWN, X DOWNRANGE +POSN17C EXTEND # COMPASS POSITION Z DOWN,X DOWNRANGE QXCH QPLACE # FROM NORTH IN REVOLUTIONS + CLOCKWISE CS HALF # ALL THIS TO INITIALIZE MATRIX TS ZSM @@ -912,7 +919,7 @@ POSN17C EXTEND # COMPASS POSITION Z DOWN, X DOWNRANGE TC QPLACE # Page 444 -# JOB DONE EVERY ITERATION THROUGH COMPASS PROGRAM. SET BY TASK ALLOOP +# JOB DONE EVERY ITERATION THROUGH COMPASS PROGRAM.SET BY TASK ALLOOP COUNT 33/P02 @@ -1074,7 +1081,7 @@ CHKCOMED INHINT RELINT GOBKCALB TC Q -PRELTERM CA PRIO22 # PRELAUNCH DONE -- SET UP P11 +PRELTERM CA PRIO22 # PRELAUNCH DONE - SET UP P11 TC PRIOCHNG # INCREASE PRIORITY HIGHER THAN SERVICER INHINT TC POSTJUMP @@ -1105,9 +1112,9 @@ GCOMPVER TC PHASCHNG # OPTICAL VERIFICATION ROUTINE SETNBPOS TC NBPOSPL TC BANKCALL CADR MKRELEAS -OPTDATA CAF BIT1 # CALLS FOR AZIMUTH AND ELEVATION OF TARGET - ZL # 1, THEN TARGET 2 - LXCH RUN # AZIMUTH CLOCKWISE FROM NORTH TO TARGET +OPTDATA CAF BIT1 # CALLS FOR AZIMUTH AND ELEVATION OF TARGE + ZL # T 1,THEN TARGET 2 + LXCH RUN # AZIMUTH CLOCKWSE FROM NORTH TO TARGET TS DSPTEM1 +2 # ELEVATION MEASURED FROM HORIZONTAL EXTEND INDEX RUN @@ -1130,7 +1137,8 @@ VN0641 VN 0641 TCF +4 CAF TWO TS L - TCF OPTDATA +2 # MPAC 1ST PASS=0 2ND PASS=2 + TCF OPTDATA +2 # MPAC 1ST PASS=0 2ND PASS=2 + TC CONTIN33 @@ -1138,7 +1146,7 @@ V05N30E VN 0530 TC INTPRET # UNDYNAMIC ASSEMBLER TAR/EREF AXT,1 AXT,2 # TARGET VECTOR - 2 # SIN(EL) -COS(AZ)COS(EL) SIN(AZ)COS(EL) + 2 # SIN(EL) -COS(AZ)COS(EL) SIN(AZ)COS(EL 12D SSP SETPD S2 @@ -1396,4 +1404,3 @@ VN0629 VN 0629 # Page 455 # *** END OF COMAID .029 *** -