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MIL-N-81604C(AS)
Para 3.4.1.1.3b
(cont)
*
(3)
Droppler - This mode shall be selected auto-
matically by the computer if the CIU MODE
switch is in the NORM position, a valid
doppler signal is present, and self-test
determines that inertial navigation is no
longer possible.
(4)
Air data - The mode shall arise in the NORM
position when self-test determines that
inertial navigation is no longer possible, a
valid doppler signal is not available, and
valid air data information exists.
c.
Attitude/Heading Backup Submde - Attitude and/or
heading information shall be provided in the event
of an ANCU malfunction which precludes inertial
navigation.
(1) Maqnetic Slaved - In this mode, the IMU shall
operate as an attitude and heading reference
only. The IMU level shall be maintained by
controlling the level gyro axes with the
information from the level accelerometers.
The IMU shall provide roll and pitch and
platform heading reference.Magnetic heading
from the aircraft shall be used, along with
gyro-stabilized IMU heading, to develop a
smoothed magnetic heading output within the
CAU. True heading shall be derived by cor-
recting the magnetic heading with the last
computed or manually inserted magnetic vari-
action. The IMU azimuth gyro shall be con-
trolled in this mode by the CAU. A maximum
azimuth rate of 100 deg/hr shall be available.
The CAU true and magnetic heading outputs
shall be slewed to approximately the correct
angles within the CAU. The IMU heading ref-
erence shall be used primarily to provide
smoothing. This mode shall be entered auto-
matically if the computer should lose the
capability to provide inertial navigation at
latitudes between 70 degrees south and 70
degrees north. Navigation outputs shall be
provided in this mode if the computer is
capable of navigation and mode control, and
26

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