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Proof IMU_CALIBRATION_AND_ALIGNMENT #211 (#402)

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* 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
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Glenn Dwiyatcita 2019-09-11 19:22:23 +02:00 committed by James Harris
parent 73de5c1b3a
commit 68c072a49e
1 changed files with 84 additions and 77 deletions
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135
Comanche055/IMU_CALIBRATION_AND_ALIGNMENT.agc
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@ -31,19 +31,19 @@
# information. Please report any errors to info@sandroid.org. # information. Please report any errors to info@sandroid.org.
# Page 423 # Page 423
# NAME -- IMU PERFORMANCE TESTS 2 # NAME- IMU PERFORMANCE TESTS 2
#
# DATE -- MARCH 20, 1967 # DATE- MARCH 20,1967
#
# BY -- SYSTEM TEST GROUP 864-6900 EXT. 1274
#
# MODNO. -- ZERO
# #
# BY- SYSTEM TEST GROUP 864-6900 EXT. 1274
# MODNO.- ZERO
# FUNCTIONAL DESCRIPTION # FUNCTIONAL DESCRIPTION
#
# POSITIONING ROUTINES FOR THE IMU PERFORMANCE TESTS AS WELL AS SOME OF # POSITIONING ROUTINES FOR THE IMU PERFORMANCE TESTS AS WELL AS SOME OF
# THE TESTS THEMSELVES. FOR A DESCRIPTION OF THESE SUBROUTINES AND THE # 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 BANK 33
SETLOC IMUCAL SETLOC IMUCAL
@ -122,7 +122,6 @@ NBPOSPL CA DEC17
EXTEND EXTEND
DCA PERFDLAY DCA PERFDLAY
TC LONGCALL TC LONGCALL
SBANK= LOWSUPER # RSB 2004, OH 2009: Ask Ron
EBANK= POSITON EBANK= POSITON
2CADR GOESTIMS 2CADR GOESTIMS
@ -320,7 +319,7 @@ ZEROING1 TS ZERONDX1
SETLOC IMUCAL3 SETLOC IMUCAL3
BANK BANK
ERTHRVSE DLOAD PDDL ERTHRVSE DLOAD PDDL
SCHZEROS # PD24 = (SIN (missing) -COS (missing) 0)(OMEG/MS) SCHZEROS # PD24 = (SIN -COS 0)(OMEG/MS)
LATITUDE LATITUDE
COS DCOMP COS DCOMP
PDDL SIN PDDL SIN
@ -377,10 +376,11 @@ SHOW1 CA POSITON
CA VB06N98 CA VB06N98
TC BANKCALL TC BANKCALL
CADR GOFLASH CADR GOFLASH
TC ENDTEST1 # V34 TC ENDTEST1 # V 34
TC QPLACE # V33 TC QPLACE # V33
TCF SHOW1 TCF SHOW1
OC14400 OCT 14400 OC14400 OCT 14400
3990DEC = OMEG/MS 3990DEC = OMEG/MS
VB06N98 VN 0698 VB06N98 VN 0698
@ -393,6 +393,7 @@ XNBADR GENADR XNB
XSMADR GENADR XSM XSMADR GENADR XSM
OMEG/MS 2DEC .24339048 OMEG/MS 2DEC .24339048
P11OUT TC BANKCALL P11OUT TC BANKCALL
CADR MATRXJOB # RETURN TO P11 CADR MATRXJOB # RETURN TO P11
@ -419,79 +420,78 @@ FINETIME INHINT # RETURNS WITH INTERRUPT INHIBITED
TC Q TC Q
# Page 432 # Page 432
# PROGRAM NAME: OPTIMUM PRELAUNCH ALIGNMENT CALIBRATION # PROGRAM NAME-OPTIMUM PRELAUNCH ALIGNMENT CALIBRATION
# DATE: NOVEMBER 2 1966 # DATE- NOVEMBER 2 1966
# BY: GEORGE SCHMIDT IL 7-146 EXT. 126 # BY- GEORGE SCHMIDT IL 7-146 EXT. 126
# MOD NO 3 # MOD NO 3
#
# FUNCTIONAL DESCRIPTION # 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 # INTEGRATED TOGETHER TO SAVE WORDS. COMPASS IS COMPLETELY RESTART
# PROOFED EXCEPT FOR THE FIRST 30 SECONDS OR SO. PERFORMANCE TESTS OF # PROOFED EXCEPT FOR THE FIRST 30 SECONDS OR SO. PERFORMANCE TESTS OF
# THE IRIGS IS RESTART PROOFED ENOUGH TO GIVE 75 PERCENT CONFIDENCE THAT # 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 # 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. # 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 # 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. # 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 # 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 # 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. # FOR GYROCOMPASS IS AN ERAS LOAD THEN A MISSION PHASE CALL.
# THE COMPASS ALIGNS TO Z DOWN, X DOWNRANGE, HAS THE CAPABILITY # THE COMPASS ALIGNS TO Z DOWN,X DOWNRANGE, HAS THE CAPABILITY
# CHANGE AZIMUTH WHILE RUNNING, IS COMPENSATED FOR # CHANGE AZIMUTH WHILE RUNNING , IS COMPENSATED FOR
# COMPONENT ERRORS, IS CAPABLE OF OPTICAL VERIFICATION (CSM ONLY). # COMPONENT ERRORS,IS CAPABLE OF OPTICAL VERIFICATION( CSM ONLY).
#
# COMPASS ERASABLE LOAD REQUIRED # COMPASS ERASABLE LOAD REQUIRED
#
# 1. LAUNCHAZ-DP AZIMUTH IN REV FROM NORTH OF XSM DESIRED (NOM=.2) # 1-LAUNCHAZ -DP AZIMUTH IN REV FROM NORTH OF XSM DESIRED (NOM=.2)
# 2. LATITUDE-DP-OF LAUNCH PAD # 2- LATITUDE -DP-OF LAUNCH PAD
# 3. AZIMUTH-DP-OF ZNB OF VEHICLE # 3- AZIMUTH-DP-OF ZNB OF VEHICLE
# 4. IMU COMPENSATION PARAMETERS # 4- IMU COMPENSATION PARAMETERS
# 5. AZ AND ELEVATION OF TARGETS 1,2 ****OPTIONAL**** # 5-AZ AND ELEVATION OF TARGETS 1,2 ****OPTIONAL****
#
# TO PERFORM AS PART OF COMPASS # TO PERFORM AS PART OF COMPASS
#
# 1. OPTICAL VERIFICATION: V 65 E # 1-OPTICAL VERIFICATION- V 65 E
# 2. AZIMUTH CHANGE: V 78 E # 2-AZIMUTH CHANGE-V 78 E
#
# SUBROUTINES CALLED # SUBROUTINES CALLED
#
# DURING OPTICAL VERIFICATION (CSM ONLY) ESSENTIALLY ALL OF INFLIGHT ALIGN # DURING OPTICAL VERIFICATION (CSM ONLY) ESSENTIALLY ALL OF INFLIGHT ALIGN
# IS CALLED IN ONE WAY OR ANOTHER. SEE THE LISTING. # IS CALLED IN ONE WAY OR ANOTHER. SEE THE LISTING.
#
# NORMAL EXIT # NORMAL EXIT
#
# DRIFT TESTS. LENGTHOT GOES TO ZERO-RETURN TO IMU PERF TEST2 CONTROL # DRIFT TESTS- LENGTHOT GOES TO ZERO-RETURN TO IMU PERF TEST2 CONTROL
# GYROCOMPASS-MANY, SEE THE LISTING. # GYROCOMPASS-MANY, SEE THE LISTING
#
# ALARMS # ALARMS
#
# 1600 OVERFLOW IN DRIFT TEST # 1600 OVERFLOW IN DRIFT TEST
# Page 433 # Page 433
# 1601 BAD IMU TORQUE ABORT # 1601 BAD IMU TORQUE ABORT
# 1602 BAD OPTICS DURING VERIFICATION-RETURN TO COMPASS CSM ONLY # 1602 BAD OPTICS DURING VERIFICATION-RETURN TO COMPASS CSM ONLY
#
# OUTPUT # 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 # COMPASS-PROGRAM MODE LIGHTS TELL YOU WHAT PHAS OF PROGRAM YOU ARE IN
# 01 INITIALIZING THE PLATFORM POSITION AND ERASABLE # 01 INITIALIZING THE PLATFORM POSITION AND ERASABLE
# 02 GYROCOMPASSING # 02 GYROCOMPASSING
# 03 DOING OPTICAL VERIFICATION (CSM) # 03 DOING OPTICAL VERIFICATION (CSM)
# #
# DEBRIS
# #
# ALL CENTRALS, ALL OF EBANK XSM # DEBRIS
# ALL CENTRALS,ALL OF EBANK XSM
# Page 434 # Page 434
# MOST OF THE ROUTINES COMMON TO ALIGNMENT AND CALIBRATION APPEAR # MOST OF THE ROUTINES COMMON TO ALIGNMENT AND CALIBRATION APPEAR
# ON THE NEXT FEW PAGES. # ON THE NEXT FEW PAGES.
COUNT 33/P02 COUNT 33/P02
EBANK= XSM EBANK= XSM
@ -546,7 +546,7 @@ RSTGTS1 INHINT # COMES HERE PHASE1 RESTART
# COMES HERE AT THE END OF EVERY ITERATION THROUGH DRIFT TEST OR COMPASS # COMES HERE AT THE END OF EVERY ITERATION THROUGH DRIFT TEST OR COMPASS
# SET UP WAITLIST SECTION # SET UP WAITLIST SECTION
SLEEPIE TS LENGTHOT # TEST NOT OVER-DECREMENT LENGHOT SLEEPIE TS LENGTHOT # TEST NOT OVER-DECREMENT LENGTHOT
TC PHASCHNG # CHANGE PHASE TC PHASCHNG # CHANGE PHASE
OCT 00135 OCT 00135
CCS TORQNDX # ARE WE DOING VERTDRIFT CCS TORQNDX # ARE WE DOING VERTDRIFT
@ -573,6 +573,7 @@ WTGTSMPL TC TWIDDLE
RIGHTGTS CAF FOUR # SET UP NEXT WAITLIST-ALLOW SOME TIME RIGHTGTS CAF FOUR # SET UP NEXT WAITLIST-ALLOW SOME TIME
TC WTGTSMPL # END OF WAITLIST SECTION TC WTGTSMPL # END OF WAITLIST SECTION
# STORE AND LOAD DATA SECTIONS FOR RESTART PROOFING # STORE AND LOAD DATA SECTIONS FOR RESTART PROOFING
25DECML EQUALS OCT31 25DECML EQUALS OCT31
@ -598,6 +599,7 @@ LOADSTDT CAF 25DECML
TCF LOADSTDT +1 TCF LOADSTDT +1
TC Q TC Q
# COMES HERE EVERY ITERATION BY A WAITLIST CALL SET IN SLEEPIE # COMES HERE EVERY ITERATION BY A WAITLIST CALL SET IN SLEEPIE
ALLOOP CA TIME1 ALLOOP CA TIME1
@ -741,6 +743,7 @@ ALKLP LXC,1 SXA,1
ALKLP ALKLP
8D 8D
LOOSE DLOAD* PDDL* # EXTRAPOLATE SWAY VARIABLES LOOSE DLOAD* PDDL* # EXTRAPOLATE SWAY VARIABLES
ACCWD +8D,1 ACCWD +8D,1
VLAUN +8D,1 VLAUN +8D,1
@ -760,6 +763,7 @@ LOOSE DLOAD* PDDL* # EXTRAPOLATE SWAY VARIABLES
TIX,1 TIX,1
LOOSE LOOSE
AXT,2 AXT,1 # EVALUATE SINES AND COSINES AXT,2 AXT,1 # EVALUATE SINES AND COSINES
6 6
2 2
@ -782,12 +786,12 @@ PERFERAS EXIT
CA EBANK7 CA EBANK7
EBANK= LAT(SPL) EBANK= LAT(SPL)
TS EBANK TS EBANK
TC LAT(SPL) # GOTO ERASABLE ONLY TO RETURN TC LAT(SPL) # GO TO ERASABLE ONLY TO RETURN
# CAUTION # CAUTION
#
# THE ERASABLE PROGRAM THAT DOES THE CALCULATIONS MUST BE LOADED # 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 EBANK= LENGTHOT
ONCEMORE CCS LENGTHOT ONCEMORE CCS LENGTHOT
@ -825,6 +829,7 @@ TORQINCH TC PHASCHNG
EXIT EXIT
TC TORQUE # GO TO IMU2 FOR A PIPA TEST AND DISPLAY TC TORQUE # GO TO IMU2 FOR A PIPA TEST AND DISPLAY
SOMEERRR TC ALARM SOMEERRR TC ALARM
OCT 1600 OCT 1600
TC +3 TC +3
@ -834,7 +839,9 @@ SOMERR2 TC ALARM
OCT 00005 OCT 00005
TC ENDTEST1 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 DEC585 OCT 02222 # 1170 B+14 ORDER IS NOW IMPORTANT
SCHZEROS 2DEC .00000000 SCHZEROS 2DEC .00000000
@ -852,9 +859,9 @@ SOUPLY 2DEC .93505870 # INITIAL GAINS FOR PIP OUTPUTS
77DECML DEC 77 77DECML DEC 77
ALXXXZ GENADR ALX1S -1 ALXXXZ GENADR ALX1S -1
# GYROCOMPASS PORTIONS FINISH THIS LOG SECTION # GYROCOMPASS PORTIONS FINISH THIS LOG SECTION
COUNT 33/P01 COUNT 33/P01
# INITIALIZATION SECTION # INITIALIZATION SECTION
@ -868,7 +875,7 @@ GTSCPSS CA FLAGWRD1 # CALLED BY V37
OCT 1521 # NODO ALARM FOR P01 - P11 ALREADY DONE OCT 1521 # NODO ALARM FOR P01 - P11 ALREADY DONE
GTSCPSSA CAF ONE GTSCPSSA CAF ONE
TS GEOCOMP1 # THIS IS THE LEAD IN FOR COMPASS TS GEOCOMP1 # THIS IS THE LEAD IN FOR COMPASS.
CA 1/PIPAGT CA 1/PIPAGT
TS 1/PIPADT TS 1/PIPADT
NXXTENN CA BIT8 NXXTENN CA BIT8
@ -894,7 +901,7 @@ SETUPGC CA DEC17
TC GEOIMUTT # GO TO IMU2 FOR FURTHER INITIALIZATION 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 QXCH QPLACE # FROM NORTH IN REVOLUTIONS + CLOCKWISE
CS HALF # ALL THIS TO INITIALIZE MATRIX CS HALF # ALL THIS TO INITIALIZE MATRIX
TS ZSM TS ZSM
@ -912,7 +919,7 @@ POSN17C EXTEND # COMPASS POSITION Z DOWN, X DOWNRANGE
TC QPLACE TC QPLACE
# Page 444 # 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 COUNT 33/P02
@ -1074,7 +1081,7 @@ CHKCOMED INHINT
RELINT RELINT
GOBKCALB TC Q 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 TC PRIOCHNG # INCREASE PRIORITY HIGHER THAN SERVICER
INHINT INHINT
TC POSTJUMP TC POSTJUMP
@ -1105,9 +1112,9 @@ GCOMPVER TC PHASCHNG # OPTICAL VERIFICATION ROUTINE
SETNBPOS TC NBPOSPL SETNBPOS TC NBPOSPL
TC BANKCALL TC BANKCALL
CADR MKRELEAS CADR MKRELEAS
OPTDATA CAF BIT1 # CALLS FOR AZIMUTH AND ELEVATION OF TARGET OPTDATA CAF BIT1 # CALLS FOR AZIMUTH AND ELEVATION OF TARGE
ZL # 1, THEN TARGET 2 ZL # T 1,THEN TARGET 2
LXCH RUN # AZIMUTH CLOCKWISE FROM NORTH TO TARGET LXCH RUN # AZIMUTH CLOCKWSE FROM NORTH TO TARGET
TS DSPTEM1 +2 # ELEVATION MEASURED FROM HORIZONTAL TS DSPTEM1 +2 # ELEVATION MEASURED FROM HORIZONTAL
EXTEND EXTEND
INDEX RUN INDEX RUN
@ -1132,13 +1139,14 @@ VN0641 VN 0641
TS L TS L
TCF OPTDATA +2 # MPAC 1ST PASS=0 2ND PASS=2 TCF OPTDATA +2 # MPAC 1ST PASS=0 2ND PASS=2
TC CONTIN33 TC CONTIN33
V05N30E VN 0530 V05N30E VN 0530
TC INTPRET # UNDYNAMIC ASSEMBLER TC INTPRET # UNDYNAMIC ASSEMBLER
TAR/EREF AXT,1 AXT,2 # TARGET VECTOR 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 12D
SSP SETPD SSP SETPD
S2 S2
@ -1396,4 +1404,3 @@ VN0629 VN 0629
# Page 455 # Page 455
# *** END OF COMAID .029 *** # *** END OF COMAID .029 ***