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|  MIL-D-70789A (AR)
3.5.3.2.1.2 Exclusive ZUPT Mode. In the Exclusive ZUPT
Mode, the DRU shall:
a. Use fortuitous and mandated ZUPTS to control inertial
system errors.
Ignore odometer (WS) signals.
b.
Set STATUS S1/3 (DRU in Exclusive ZUPT Mode).
c.
Set STATUS S1/2 (Zero-velocity Stop Request) at the
d.
end of each Exclusive ZUPT Mode Interval (3.5.8.5).
Reset STATUS S1/2 (Zero-velocity Stop Request) when
e.
the mandated ZUPT is completed.
The DRU shall operate in the Exclusive ZUPT Mode when:
a. The Odometer/Exclusive ZUPT Mode Configuration
Definition Flag (3.5.8.8a) is reset.
b. An EXCLUSIVE ZUPT MODE REQUEST command has been
accepted (3.5.3.2.1.3).
c. The DRU is operating in the Air or Marine Transport
mode (3.5.3.3 and 3.5.3.4).
d. A VMS malfunction or excessive erroneous VMS data is
detected (3.5.3.2.1.3).
In addition, when the Odometer/Exclusive ZUPT Mode Configuration
Definition Flag is reset, the DRU shall perform no VMS hardware
or software built-in-test, and shall not respond to the ODOMETER
MODE REQUEST and EXCLUSIVE ZUPT MODE REQUEST commands except to
set ALERT DATA D5/6 (Invalid Mode Request).
When the Odometer/Exclusive ZUPT Mode Configuration Definition
Flag is set and an EXCLUSIVE ZUPT MODE REQUEST command has been
accepted, the DRU shall reset BUILT-IN-TEST (BIT) DATA D2/0 (VMS
Drive) and D2/1 (VMS), and shall perform no WS hardware or
software built-in-test until an ODOMETER MODE REQUEST has been
received.
3.5.3.2.1.3 Odometer mode. If the Configuration Definition
Flag for Odometer/Exclusive ZUPT Mode is set and the pointing
device is in TRAVEL LOCK the DRU shall operate in the Odometer
mode. Both acceptable VMS data and ZUPTS shall be used to aid
the DRU when in the Odometer mode. The ZUPT request interval
17
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