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|  MIL-D-70789A (AR)
the odometer mode and reset STATUS S1/3 (DRU in Exclusive ZUPT
Mode). If, after completing the ZUPT, inertial velocities
indicate the DRU is still moving, the DRU shall set ALERT DATA
D3/1 (Excessive Rates).
While in the Air Transport Mode, the DRU shall set ALERT DATA
D5/6 (Invalid Mode Request) upon receipt of the INHIBIT
ZERO-VELOCITY UPDATES, ENABLE ZERO-VELOCITY UPDATES, EXCLUSIVE
ZUPT MODE REQUEST, or ODOMETER MODE REQUEST commands.
3.5.3.4 Marine transport mode. If stationary and in the
Survey mode, upon receipt of a MARINE TRANSPORT MODE REQUEST
command the DRU shall: set STATUS DATA S4/0 (DRU in Marine
Transport Mode); enter the Exclusive ZUPT mode; and set STATUS
S1/3 (DRU in Exclusive ZUPT Mode); inhibit ZUPTs; inhibit ZUPT
requests; fix altitude; set STATUS S3/0 (Altitude Fixed) and S3/4
(ZUPTs Inhibited). Else, the DRU shall remain in the current
mode and set ALERT DATA D5/6 (Invalid Mode Request). NOTE: To
prevent the DRU from misinterpreting low velocities of a docked
marine vessel as a stopped condition, the MARINE TRANSPORT MODE
REQUEST should be issued while the DRU is on land.
In the Marine Transport Mode, the DRU shall set ALERT DATA D5/5
(Invalid Data Request) upon receipt of a RETURN SURVEY QUALITY
command.
Upon receipt of a TRANSPORT MODE COMPLETE command, signaling the
DRU has returned to land, the DRU is stationary, and the
transport phase has been completed, the DRU shall: reset STATUS
S4/0 (DRU in Marine Transport Mode); and S3/4 (ZUPTs Inhibited);
set STATUS S1/1 (Position Update Request); enable ZUPTs; enable
ZUPT requests; perform a ZUPT to control errors accumulated
during transport (this is "forced" in that inertial velocities
may exceed the usual stop detection thresholds); release
altitude; and reset STATUS S3/0 (Altitude Fixed). If the DRU was
operating in the Odometer Mode prior to transport, the DRU shall
also enter the Odometer Mode and reset STATUS S1/3 (DRU in
Exclusive ZUPT Mode).
If, after completing the ZUPT, inertial
velocities indicate that the DRU is still moving, the DRU shall
set ALERT DATA D3/1 (Excessive Rates).
While in the Marine Transport Mode, the DRU
shall set ALERT DATA
D5/6 (Invalid Mode Request) upon receipt of
the INHIBIT
ZERO-VELOCITY UPDATES, ENABLE ZERO-VELOCITY
UPDATES, EXCLUSIVE
ZUPT MODE REQUEST, or ODOMETER MODE REQUEST
commands.
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