Dynamic Reference Unit (DRU)

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Dynamic Reference Unit (DRU)

Dynamic Reference Unit (DRU)
Specifications, standards, and handbooks-cont.
Other Government documents, drawing, and publications
Non-Government publications
Order of Precedence.
General specification.
Operating modes.
Figure 1. Configuration A Odometer Aided Inertial Survey System
Figure 2. Odometer Aided-Prime System Connected to Main Data Bus, Control and Display Unit Connected to Auxiliary Data Bus.
Figure 3. Configuration C MAPS System Without Odometer Aiding (Exclusive ZUPT Mode)
Initialization.
Normal shutdown.
Normal align.
Stored heading align.
Zero-velocity updates.
Zero-velocity updates-cont.
Exclusive ZUPT Mode.
Odometer scale factor and boresight.
Alternate DRU orientation.
Air transport mode.
Marine transport mode.
Table 1. PRU connector information.
Figure 4. Terminations
Table 2. J1 PIN function.
Table 2. J1 PIN function-cont.
Power from DRU to peripheral equipment.
Figure 5. DRU External Power Wiring
Table 3. Contractor identification resistor values.
Data bus characteristics.
Command and message format definition.
E1, E2, error detection code characters.
I, identifier.
Data message definition
Command rates and message response time.
Data bus control-cont.
Odometer interface.
Table 4. Command rates and message response times.
Travel lock.
Travel lock-cont.
Position updates.
Position updates-cont.
Positions input to the DRU
Software case boresight and angles to Pointing device.
Configuration definition flags.
Pointing device boresight angles.
Orientation 2 based on travel lock.
Orientation 1 to orientation 2 direction of traverse.
Configuration selection.
Initializing configuration data.
Boresight angles.
Pointing device boresight angles.
British National grid.
Accuracy.
Summary of Accuracy Requirements
Horizontal Position odometer mode.
Horizontal position, air transport mode.
Angular rates.
Reaction time.
Deployment.
Mechanical characteristics.
Figure 6. DRU Right Side
Figure 7. DRU Front
Figure 8. DRU Back/Mounting Surface
Figure 9. DRU Hole Locations
Figure 10. Section A-A, Section B-B, Notes
Environmental service conditions.
Figure 11. Temperature Cycling
Solar radiation.
Operational (Gunfire).
Figure 12. Typical firing shock composite spectrum-lateral axis
Figure 13. Typical Firing shock composite spectrum - vertical axis
Figure 14. Typical firing shock composite spectrum - longitudinal axis
Electromagnetic compatibility.
Electrostatic discharge.
Figure 15. Representative maximum violation power spectral density - lateral axis
Figure 16. Representative Maximum Vibration Power Spectral density - vertical axis
Figure 17. Representative maximum vibration power spectral density - Longitudinal Axis
Figure 18. Random vibration spectrum
Figure 19. Lightning current pulse
Nuclear Survivability.
Figure 20. Identification plate
NBC survivability.
Compatibility.
Explosive atmosphere.
System built-in-test during a mission.
Input Parameter verification.
Position update.
Alerts.
Table 5. Alerts.
Table 5. Alerts-cont.
Table 5. Alerts-cont.
Table 5. Alerts-cont.
Table 5. Alerts-cont.
Table 5. Alerts-cont.
Table 5. Alerts-cont.
Quality Assurance Provisions
Inspection conditions and Precautions.
Retention of Qualification.
Table 6. Qualification inspection
First article inspection.
Table 7. First article inspection.
Failures.
Method of inspections.
Quality verification tests.
Figure 21. Test sequence of events.
Human factors examination.
Solar radiation.
Bench handling.
Electrostatic discharge.
Operational demonstrations.
Test conditions and procedures.
Vibration.
The acceleration power spectral density
Figure 22. Chamber test cycle
Figure 23. Gun Firing Shock Spectrum - Vertical
Figure 24. Gun Firing Shock Spectrum - Transverse
Figure 25. Gun Firing Spectrum - Longitudinal
Figure 26. Gun firing shock tolerances.
Functional survey test.
Failure criteria and definition.
Action taken in event of an equipment failure.
Nuclear hardness validation
Electromagnetic Pulse (EMP).
Peak Gamma dose rate.
Nuclear air blast-cont.
Acquisition requirements.
Inspection equipment designed alternate inspection provisions
Coordinate and reference frames.
Extended zone boundaries.
DRU reference frames.
Vehicle boresight angles.
Software case boresight "angles to pointing device
Figure 27. DRU case reference frame (normal mount)
Figure 28. Non-Coincident Frames
Figure 29. Orientation parameter definition.
Pointing device geodetic or grid azimuth.
Travel lock Pointing device geodetic azimuth or grid azimuth Reference
Characteristics of NHC contamination survivability
Error Parameters.
RMS error.
Standard deviation about the mean.
Data staleness.
Acronyms and abbreviations.
Acronyms and abbreviations-cont.
Subject term (key word listing).
DRU Appendixes
Appendix A. Dynamic Reference Unit Appendixes
Commands That Transfer Data From the Prime System or CDU to the DRU
Accept Position (Navigation Update)
Command structure-cont.
Accept Pointing Device Boresight
Accept Configuration Data
Command structure-cont.
Accept Vehicle Boresight
Accept Geodetic Data
Appendix B. Command that Request Transfer of Data From The DRU to the Prime System or CDU
Return Pointing Device Rate Data
Return Navigation Data
Return attitude Data
Return BIT Data
Return Travel Lock Data
Return Pointing Device Altitude Data
Return Expanded Status
Return Vehicle Boresight
Appendix C. Commands That Don't Transfer Data But Cause a Mode or Operation Change
DRU Mode Change Command Message (No Data Transfer)
Command structure
Inhibit Auxiliary Bus Control
Enable Auxiliary Bus Control
Out of Travel Lock
Inhibit Zero Velocity Updates
Exclusive ZUPT Mode Request
Odometer Mode Request
Stored Beading Shutdown
Air Transport Mode Request
Transport Mode Complete
Appendix D. Definition of Data Messages
Pointing Device Rate Date
Configuration Data
Message Structure-cont.
Navigation Data
Message Structure-cont.
Attitude Data
Align Time to Go
Alert Data
Character (Vehicle Motion)
Character, Data Update
Character, Miscellaneous
Built-In-Test (BIT) Data
Travel Lock Data
Position Data
Pointing Device Attitude Data
Pointing Device Boresight
Expanded Status Data
Survey Quality
Vehicle Boresight
Geodetic Data
Appendix B. Description of Status Characters
Status Characters
S3 Character
Table 30.5 Status BIT Activation Condition
Table 30.5 Status BIT Activation Condition-cont.
Table 30.5 Status BIT Activation Condition-cont.
Table 30.5 Status BIT Activation Condition-cont.
Appendix F. Configuration Data
Appendix F. Configuration Data-cont.
Configuration Definition Flags
Pointing Device Boresight Angles
Configuration Definition Flags
Configuration Code 2: Prime System: Firefinder Block II B
Configuration Definition Flags
M-998 HMMWV (Fat Vehicle)
Configuration Definition Flags
M-1009 CUCV (Fat Vehicle)
Configuration Definition Flags
M-1009 CUCV (Fat Vehicle)
Configuration Definition Flags
NBC Recon
Configuration Definition Flags
Configuration Code 7: ETAS
Configuration Definition Flags
M-998 HMMWV (Fat Vehicle)
Configuration Definition Flags
M-1009 CUCV (Fat Vehicle)
Configuration Definition Flags
M-1009 CUCV (Fat Vehicle)
Configuration Definition Flags
M-109 Self-Propelled Howitzer (Fat Vehicle)
Configuration Definition Flags
M-1009 CUCV (Fat Vehicle)
Configuration Definition Flags
AS-90 Self-Propelled Howitzer
Configuration Definition Flags
Warrior Observation Post Vehicle
Configuration Definition Flags
Designates Configuration data to be supplied using an accept configuration data command
Appendix G
Figure. Maps on M109 V01
Narrow Band Random on Random Sweep Rate Program Maps on M109 V01
Figure. Maps on M109 V02
Narrow Band Random on Random Sweep Rate Program Maps on M109 V02
Maps on M109 V03
Narrow Band Random on Random Sweep Rate Program Maps on M109 V03
Maps on M109 V04
Narrow Band Random on Random Rate Program Maps on M109 V04
Maps on M109 V05
Narrow Band Random on Random Sweep Rate Program Maps on M109 V05
Maps on M109 T01
Narrow Band Random on Random Sweep Rate Program Maps on M109 T01
Maps on M109 T02
Narrow Band Random on Random Sweep Rate Program Maps on M109 T02
Maps on M109 T03
Narrow Band Random on Random Sweep Rate Program Maps on M109 T03
Maps on M109 T04
Narrow Band Random on Random Sweep Rate Program Maps on M109 T04
Maps on M109 T05
Narrow Band Random on Random Sweep Rate Program Maps on M109 T05
Maps on M109 L01
Narrow Band Random on Random Sweep Rate Program Maps on M109 L01
Maps on M109 L02
Narrow Band Random on Random Sweep Rate Program Maps on M109 L02
Maps on M109 L03
Narrow Band Random on Random Sweep Rate Program Maps on M109 L03
Maps on M109 L04
Narrow Band Random on Random Sweep Rate Program Maps on M109 M4
Maps on M109 L05
Narrow Band Random on Random Sweep Rate Program Maps on M109 L05
Appendix H. Reliability Vibration Test Schedules
Maps on M109 Ave Data V01
Narrow Band Random on Random Sweep Rate Program Maps on M109 Ave Data Phase V01
Maps on M109 Ave Data V02
Narrow Band Random on Random Sweep Rate Program Maps on M109 Ave Data Phase V02
Maps on M109 Ave Data V03
Narrow Band Random on Random Rate Program Maps on M109 Ave Data Phase V03
Maps on M109 Ave Data V04
Narrow Band Random on Random Sweep Rate Program Maps on M109 Ave Data Phase V04
Maps on M109 Ave Data V05
Narrow Band Random on Random Sweep Rate Program Maps on K109 Ave Data Phase V05
Maps on M109 Ave Data L01
Narrow Band Random on Random Sweep Rate Program Maps on M109 Ave Data Phase L01
Maps on M109 Ave Data L02
Narrow Band Random on Random Sweep Rate Program Maps on M109 Ave Data Phase L02
Maps on M109 Ave Data L03
Narrow Band Random on Random Sweep Rate Program Maps on M109 Ave Data Phase L03
Maps on M109 Ave Data L04
Narrow Band Random on Random Sweep Rate Program Maps on M109 Ave Data Phase L04
Maps on M109 Ave Data L05
Narrow Band Random on Random Sweep Rate Program Maps on M109 Ave Data Phase L05
Maps on CUCV VERT Ave Data Only Ex Factr = 1.0
Maps on CUCV VERT Ave Data Ex Fact. = 1.0
Maps on CUCV long Ave Data Ext. Fact. = 1.0
Maps on CUCV long Ave Data Ex. Fact. = 1.0
Appendix I. DRU Case Coordinate Frames Codes
DRU Case Coordinate Frame Codes
Appendix J. Description of Configuration Definitions
Configuration Definition Flags
Configuration Definition Flags-cont.
Standardization Document Improvement Proposal

Dynamic Reference Unit (DRU)

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