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MIL-D-70789A (AR)
vehicle travel time exceeds 4 minutes between stops, the DRU
shall meet the Normal Align and survey azimuth accuracies in
3.6.1.1, bug until a position update is performed, shall not be
required to meet the position accuracy in 3.6.1.1. While in
Normal Align, if the vehicle fails to stop within 6 minutes after
completing the last ZUPT, STATUS bit S1/1 shall be set. STATUS
bit S1/1 shall not be set prior to 6 minutes if the vehicle fails
to stop at the 4 minute point.
Prior to completion of Normal Align, an input reasonableness test
as described in 3.10.6.1 shall be performed. If the test is not
passed, bits 4 and 5 of STATUS character S1 shall be reset and
bit 4 of ALERT DATA character D2 shall be set.
When Normal Align is complete, bit 5 of STATUS character S1 shall
be reset, and bit 6 of ALERT DATA character D2 shall be reset (if
it has not already been reset).
3.5.3.1.3 Stored heading align. The DRU shall enter the
Stored Heading Align mode on receipt of the STORED HEADING ALIGN
command (30.3.8) at any time within the first 60 seconds of
Normal Align or at turn-on if the previous shutdown was made with
the STORED HEADING SHUTDOWN command. However, if the STORED
HEADING ALIGN command is received more than 60 seconds after the
start of Normal Align, or if the previous shutdown was abnormal,
or if there has been a previous RESTART, or if bit 3 of ALERT
DATA, character D2 is set, or if ALERT DATA D5/3 is set, the DRU
shall not enter the Stored Heading Align mode and shall set bit 6
of ALERT DATA character D5. Bit 2 of STATUS character S2 shall
be set, and bit 6 of ALERT DATA character D2 shall be reset when
the DRU enters the Stored Heading Align mode. The Stored Heading
Align mode shall use the last stored values of position
coordinates and attitude at the time of shutdown. If the DRU
receives an ACCEPT POSITION or ACCEPT GEODETIC DATA command while
in the Stored Heading Align mode, the DRU shall reject the data
and set bit 7 of ALERT DATA character D5. When the DRU
determines stored heading attitude data is valid for use by the
prime system, STATUS bit S3/1 shall be set. At the successful
completion of Stored Heading Align, the DRU shall automatically
enter the Survey mode, reset bit 2 of STATUS character S2, set
bit 4 of STATUS character S1, and reset bit 5 of STATUS character
S1. Stored Heading Align shall be completed within 90 seconds
after initiation.
The DRU shall automatically revert to Normal Align, reset STATUS
bits S2/2 and S3/1, and set bit 5 of ALERT DATA character D2 if
it determines that the stored heading is invalid. The DRU shall
make this determination by comparing stored Pointing Device pitch
and roll to current Pointing Device pitch and roll values and
stored Pointing Device azimuth to the Pointing Device azimuth
14

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