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Page Title:
Odometer scale factor and boresight. |
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|  MIL-D-70789A (AR)
shall be as specified in Configuration data (3.5.8.5). Bit 2 of
STATUS character S1 shall be set to request a ZUPT. Bit 3 of
STATUS character S1 shall be reset when the DRU is in the
Odometer mode.
The DRU shall automatically transition from the Odometer Mode to
the Exclusive ZUPT Mode when the pointing device is out of TRAVEL
LOCK.
In the Odometer mode, the DRU shall respond to the ODOMETER MODE
REQUEST and EXCLUSIVE ZUPT MODE REQUEST commands when the vehicle
is stopped. If the vehicle is moving the DRU shall set bit 6 of
ALERT DATA character D5.
When operating in the Exclusive ZUPT Mode, to respond to an
ODOMETER MODE REQUEST command, the DRU shall:
a. Perform built-in-test of the VMS. If the VMS fails
built-in-test the DRU shall remain in the Exclusive ZUPT Mode.
b.
Enter the Odometer mode.
Reset bit 3 of STATUS character S1.
c.
Ignore invalid VMS data and use acceptable VMS data
d.
to aid the inertial sensors.
Reset bits 1 and 0 of BUILT-IN-TEST character D2 (if
e.
they are not reset).
The DRU shall automatically transition from the Odometer Mode to
the Exclusive ZUPT Mode when a VMS malfunction or a significant
amount of erroneous VMS data is detected. When the VMS is
determined to be faulty, the DRU shall:
a.
Immediately set bit 2 of STATUS character S1.
Set bits 1 and 0 of BUILT-IN-TEST character D2.
b.
c. Perform a VMS hardware built-in-test. If the VMS
successfully passes hardware built-in-test, bits 1 and 0 of
BUILT-IN-TEST character D2 shall remain set. If the VMS fails
hardware built-in-test, bit 1 of BUILT-IN-TEST character D2 shall
remain set and bit 0 of BUILT-IN-TEST character D2 shall be
reset.
3.5.3.2.1.4 Odometer scale factor and boresight. The
nominal odometer scale factor and nominal vehicle boresight
angles will be furnished to the DRU as configuration data
(3.5.8). No external calibrations shall be required prior to a
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