473423A YUL SYSTEM FOR BLK2: REVISION 12 of PROGRAM AURORA BY DAP GROUP NOV 10, 1966
Note that the date is the date of the printout, not the date of the program revision.
Source Code
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These source code files have been transcribed or otherwise adapted from
digitized images of a hardcopy from the private collection of
Don Eyles. The digitization was performed by archive.org, and
transcription was performed by a team of volunteers.
Note that the page images
presented online are of reduced quality, and that the original
high-quality images are available at archive.org.
Report any conversion errors or legibility problems in page images to info@sandroid.org.
Notations on the program listing read, in part:
473423A YUL SYSTEM FOR BLK2: REVISION 12 of PROGRAM AURORA BY DAP GROUP NOV 10, 1966
Note that the date is the date of the printout, not the date of the program revision.
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025831,000002: ## Copyright: Public domain.
025832,000003: ## Filename: KALMAN_FILTER_FOR_LEM_DAP.agc
025833,000004: ## Purpose: Part of the source code for Aurora (revision 12).
025834,000005: ## Assembler: yaYUL
025835,000006: ## Contact: Ron Burkey <info@sandroid.org>.
025836,000007: ## Website: https://www.ibiblio.org/apollo.
025837,000008: ## Pages: 0604-0614
025838,000009: ## Mod history: 2016-09-20 JL Created.
025839,000010: ## 2016-09-26 OH Initial Transcription
025840,000011: ## 2016-10-04 HG Add missed statements on page 607, added missing ## coments for page numbers
025841,000012: ## M520F->MS20F, READ +4 -> READ 4
025842,000013: ## 2016-10-15 HG Fix operand D2CDU2FL -> D2CDUZFL
025843,000014: ## FLTAXIS -> FLTYAXIS
025844,000015: ## MS2OF -> MS20F
025845,000016: ## fix label FILTSTART -> FILSTART
025846,000017: ##
025847,000018: ## 2016-12-08 RSB Proofed comments with octopus/ProoferComments
025848,000019: ## and fixed the errors found.
025849,000020: ## 2021-05-21 ABS Removed space in numeric subfield to match scans.
025850,000021:
025851,000022: ## This source code has been transcribed or otherwise adapted from
025852,000023: ## digitized images of a hardcopy from the private collection of
025853,000024: ## Don Eyles. The digitization was performed by archive.org.
025854,000025:
025855,000026: ## Notations on the hardcopy document read, in part:
025856,000027:
025857,000028: ## 473423A YUL SYSTEM FOR BLK2: REVISION 12 of PROGRAM AURORA BY DAP GROUP
025858,000029: ## NOV 10, 1966
025859,000030:
025860,000031: ## [Note that this is the date the hardcopy was made, not the
025861,000032: ## date of the program revision or the assembly.]
025862,000033:
025863,000034: ## The scan images (with suitable reduction in storage size and consequent
025864,000035: ## reduction in image quality) are available online at
025865,000036: ## https://www.ibiblio.org/apollo.
025866,000037: ## The original high-quality digital images are available at archive.org:
025867,000038: ## https://archive.org/details/aurora00dapg
025868,000039:
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Page 0604 |
025870,000041:
025871,000042: # THE FOLLOWING T5RUPT ENTRY BEGINS THE PROGRAM WHICH INITIALIZES THE KALMAN FILTER AND SETS UP A P-AXIS RUPT TO
025872,000043: # OCCUR 20 MS FROM ITS BEGINNING.
025873,000044:
025874,000045: 26,2000 BANK 26
025875,000046:
025876,000047: 26,2000 32372 FILTINIT CAF MS20F # RESET TIMER IMMEDIATELY: DT = 20 MS
025877,000048: 26,2001 54030 TS TIME5
025878,000049:
025879,000050: 26,2002 22016 LXCH BANKRUPT # INTERRUPT LEAD IN (CONTINUED)
025880,000051: 26,2003 00006 EXTEND
025881,000052: 26,2004 22012 QXCH QRUPT
025882,000053:
025883,000054: 26,2005 00006 EXTEND # SET UP FOR P-AXIS RUPT
025884,000055: 26,2006 32071 DCA PAX/FILT
025885,000056: 26,2007 52346 DXCH T5ADR
025886,000057:
025887,000058: 26,2010 32013 CAF FIRSTADR # SET UP TO AVOID DT CALCULATION DURING
025888,000059: 26,2011 55553 TS STEERADR # KALMAN FILTER INITIALIZATION PASS
025889,000060:
025890,000061:
025891,000062: 26,2012 12032 TCF FILSTART
025892,000063:
025893,000064: 26,2013 02315 FIRSTADR GENADR FILFIRST
025894,000065:
025895,000066: # THE FOLLOWING T5RUPT ENTRY BEGINS THE KALMAN FILTER PROGRAM. THIS SECTION ALSO SETS UP A T5RUPT TO OCCUR 20 MS
025896,000067: # FROM ITS BEGINNING AND SETS IT TO GO TO THE LOCATION AT THE TOP OF THE POST FILTER RUPT LIST.
025897,000068:
025898,000069: 26,2014 02051 MOSTPASS GENADR DTCALC # WORD IN FILTPASS FOR THESE PASSES
025899,000070:
025900,000071: 26,2015 32372 FILTER CAF MS20F # RESET TIMER IMMEDIATELY: DT = 20 MS
025901,000072: 26,2016 54030 TS TIME5
025902,000073:
025903,000074: 26,2017 22016 LXCH BANKRUPT # INTERRUPT LEAD IN (CONTINUED)
025904,000075: 26,2020 00006 EXTEND
025905,000076: 26,2021 22012 QXCH QRUPT
025906,000077:
025907,000078: 26,2022 00006 EXTEND # SET RUPT ADDRESS TO TOP OF
025908,000079: 26,2023 31604 DCA PFRPTLST # POST FILTER RUPT LIST
025909,000080: 26,2024 52346 DXCH T5ADR
025910,000081:
025911,000082: 26,2025 53604 DXCH PFRPTLST # ROTATE 2CADR'S IN POST FILTER RUPT LIST
025912,000083: 26,2026 53612 DXCH PFRPTLST +6
025913,000084: 26,2027 53610 DXCH PFRPTLST +4
025914,000085: 26,2030 53606 DXCH PFRPTLST +2
025915,000086: 26,2031 53604 DXCH PFRPTLST
025916,000087:
025917,000088: # BEGIN THE KALMAN FILTER BY READING CDU ANGLES AND TIME.
025918,000089:
025919,000090: 26,2032 04177 FILSTART TC T6JOBCHK # CHECK T6 CLOCK FOR P-AXIS ACTIVITY
025920,000091:
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Page 0605 |
025922,000093: 26,2033 00006 EXTEND
025923,000094: 26,2034 30034 DCA CDUY # STORE CDUY AND CDUZ AT PI AND IN 2.5 COM
025924,000095: 26,2035 53550 DXCH STORCDUY
025925,000096: 26,2036 00006 EXTEND # BEGIN READING THE CLOCK TO GET TIME
025926,000097: 26,2037 00004 READ 4 # INCREMENT.
025927,000098: 26,2040 54001 TS L
025928,000099: 26,2041 00006 EXTEND
025929,000100: 26,2042 06004 RXOR 4 # CHECK TO SEE IF CH 4 WAS IN TRANSITION
025930,000101: 26,2043 00006 EXTEND # WHEN IT WAS FIRST READ.
025931,000102: 26,2044 12050 BZF +4 # BRANCH IF TIME WAS THE SAME IN 2 READS.
025932,000103: 26,2045 00006 EXTEND
025933,000104: 26,2046 00004 READ 4
025934,000105: 26,2047 54001 TS L # THIS TIME READ ALWAYS GIVES GOOD NO.
025935,000106: 26,2050 01553 TC STEERADR # SKIP DTCALC DURING INITIAL PASS
025936,000107:
025937,000108: 26,2051 40001 DTCALC CS L
025938,000109: 26,2052 61552 AD DAPTIME # A CONTAINS THE TIME DIFFERENCE (DT)
025939,000110: 26,2053 23552 LXCH DAPTIME # SINCE THE LAST FILTER.
025940,000111: 26,2054 00006 EXTEND
025941,000112: 26,2055 62060 BZMF +3
025942,000113: 26,2056 67640 AD NEG1/2 # THIS IS ADDING -1.0 TO -DT AND ACCOUNTS
025943,000114: 26,2057 67640 AD NEG1/2 # FOR AN OVERFLOW INTO CHANNEL 5
025944,000115:
025945,000116: # SCALING OF DELTA T FOR KALMAN FILTER IS 1/8 SECOND.
025946,000117: 26,2060 00006 EXTEND # TIME NOW SCALED AT 5.12 SECONDS
025947,000118: 26,2061 77651 MP BIT7 # FIRST RESCALE TO 5.12/64
025948,000119: 26,2062 42367 CS .64
025949,000120: 26,2063 00006 EXTEND # THEN RESCALE TO 5.12/(64*.64) OR
025950,000121: 26,2064 70001 MP L # 5.12/40.96 WHICH IS THE SAME AS
025951,000122: 26,2065 55551 TS DT # DT SCALED AT 1/8
025952,000123:
025953,000124: # SET UP FILTER WEIGHTING VECTOR FOR THIS FILTER PASS.
025954,000125:
025955,000126: 26,2066 11556 CCS WPOINTER # TEST FOR WEIGHTING VECTOR STEADY-STATE
025956,000127: 26,2067 12073 TCF MOVEWGTS # POINTER NOT YET ZERO (MULTIPLE OF THREE)
025957,000128: 26,2070 02055 46006 PAX/FILT 2CADR PAXIS # (ROOM FOR 2CADR IN CCS HOLES)
025958,000129:
025959,000130: 26,2072 12104 TCF FLTZAXIS # STEADY-STATE ALREADY, NO UPDATING AGAIN
025960,000131:
025961,000132: 26,2073 46165 MOVEWGTS CS THREE # SET UP POINTER FOR THIS PASS
025962,000133: 26,2074 27556 ADS WPOINTER # (NEVER GETS BELOW ZERO HERE)
025963,000134:
025964,000135: 26,2075 00006 EXTEND # WPOINTER IS INDEX = 87 FIRST TIME HERE
025965,000136: 26,2076 51556 INDEX WPOINTER # AND IS DECREASED BY 3 EVERY FILTER PASS
025966,000137: 26,2077 32404 DCA WVECTOR # UNTIL THE STEADY-STATE IS REACHED.
025967,000138: 26,2100 53560 DXCH W0 # MOVE IN NEW W0,W1
025968,000139: 26,2101 51556 INDEX WPOINTER
025969,000140: 26,2102 32405 CAF WVECTOR +2
025970,000141: 26,2103 55561 TS W2 # MOVE IN NEW W2
025971,000142:
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Page 0606 |
025973,000144:
025974,000145: 26,2104 37656 FLTZAXIS CAF TWO # SET UP INDEXER FOR D.P. PICKUP AND TO
025975,000146: 26,2105 54073 TS QRCNTR # INDICATE Z-AXIS FILTER PASS
025976,000147:
025977,000148: 26,2106 12112 TCF FLTYAXIS
025978,000149:
025979,000150: 26,2107 37665 GOYFILTR CAF ZERO # SET INDEXER FOR Y-AXIS
025980,000151: 26,2110 54073 TS QRCNTR
025981,000152:
025982,000153: 26,2111 04177 TC T6JOBCHK # CHECK T6 CLOCK FOR P-AXIS ACTIVITY
025983,000154:
025984,000155: 26,2112 50073 FLTYAXIS INDEX QRCNTR
025985,000156: 26,2113 53563 DXCH CDUYFIL # THETA IS D.P. SCALED AT 2 PI RADIANS
025986,000157: 26,2114 52077 DXCH CDU
025987,000158: 26,2115 50073 INDEX QRCNTR # .
025988,000159: 26,2116 53567 DXCH DCDUYFIL # THETA IS D.P. SCALED AT PI/4 RAD/SEC
025989,000160: 26,2117 52066 DXCH CDUDOT
025990,000161: 26,2120 50073 INDEX QRCNTR # .. 2
025991,000162: 26,2121 53573 DXCH D2CDUYFL # THETA IS D.P. SCALED AT PI/8 RAD/SEC
025992,000163: 26,2122 52071 DXCH CDU2DOT
025993,000164: 26,2123 50073 INDEX QRCNTR # ... 7 3
025994,000165: 26,2124 31576 CAE Y3DOT # THETA IS S.P. SCALED AT PI/2 RAD/SEC
025995,000166: 26,2125 57577 XCH CDU3DOT
025996,000167:
025997,000168: # NOTE THAT THE FILTERED VARIABLES ARE READ DESTRUCTIVELY FOR SPEED AND EFFICIENCY AND THAT Y3DOT IS NOT UPDATED.
025998,000169: # SO IT MUST BE READ NON-DESTRUCTIVELY BUT NEED NOT BE RESTORED AFTER EACH KALMAN FILTER PASS.
025999,000170:
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Page 0607 |
026001,000172: # INTEGRATION EXTRAPOLATION EQUATIONS:
026002,000173:
026003,000174: 26,2126 30070 KLMNFLTR CAE CDU2DOT # A SCALED AT PI/8 (USE S.P.)
026004,000175: 26,2127 00006 EXTEND
026005,000176: 26,2130 71551 MP DT # ADT SCALED AT PI/64 OR .5ADT AT PI/128
026006,000177: 26,2131 00006 EXTEND
026007,000178: 26,2132 77646 MP BIT10 # RESCALE BY RIGHT SHIFT 5
026008,000179: 26,2133 60065 AD CDUDOT # W + .5ADT SCALED AT PI/4
026009,000180: 26,2134 00006 EXTEND
026010,000181: 26,2135 71551 MP DT # (W + .5ADT)DT SCALED AT PI/32
026011,000182: 26,2136 00006 EXTEND
026012,000183: 26,2137 77647 MP BIT9 # RESCALE BY RIGHT SHIFT 6 (KEEP D.P.)
026013,000184: 26,2140 20077 DAS CDU # CDU = CDU + (W + .5ADT)DT SCALED AT 2PI
026014,000185:
026015,000186: 26,2141 31577 CAE CDU3DOT # ADOT SCALED AT PI/2(7)
026016,000187: 26,2142 00006 EXTEND
026017,000188: 26,2143 71551 MP DT # .5ADOTDT SCALED AT PI/2(11)
026018,000189: 26,2144 54072 TS ITEMP5 # (SAVE FOR ALPHA INTEGRATION)
026019,000190: 26,2145 00006 EXTEND
026020,000191: 26,2146 77651 MP BIT7 # RESCALE BY RIGHT SHIFT 8
026021,000192: 26,2147 60070 AD CDU2DOT # A + .5ADOTDT SCALED AT PI/8
026022,000193: 26,2150 00006 EXTEND
026023,000194: 26,2151 71551 MP DT # *A + .5ADOTDT)DT SCALED AT PI/64
026024,000195: 26,2152 00006 EXTEND
026025,000196: 26,2153 77645 MP BIT11 # RESCALE BY RIGHT SHIFT 4 (KEEP D.P.)
026026,000197: 26,2154 20066 DAS CDUDOT # W = W + (A + .5ADOTDT)DT SCALED AT PI/4
026027,000198:
026028,000199: 26,2155 30072 CAE ITEMP5 # ADOTDT SCALED AT PI/2(10) (FROM ABOVE)
026029,000200: 26,2156 00006 EXTEND
026030,000201: 26,2157 77650 MP BIT8 # RESCALE BY RIGHT SHIFT 7 (KEEP D.P.)
026031,000202: 26,2160 20071 DAS CDU2DOT # A = A + ADOTDT SCALED AT PI/8
026032,000203:
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Page 0608 |
026034,000205:
026035,000206: # WEIGHTING VECTOR ADJUSTMENT EQUATIONS:
026036,000207: 26,2161 00006 EXTEND # CONVERT CDU INTEGRATED VALUE FROM DOUBLE
026037,000208: 26,2162 30077 DCA CDU # PRECISION SCALED AT 2PI IN ONES COMPLE-
026038,000209: 26,2163 02302 TC ONETOTWO # MENT TO SINGLE PRECISION SCALED AT PI
026039,000210: 26,2164 31550 CAE STORCDUZ # IN TWOS COMPLEMENT, THEN DIFFERENCE WITH
026040,000211: 26,2165 00006 EXTEND # STORED CDU REGISTER READING TO GET A
026041,000212: 26,2166 20072 MSU ITEMP5 # SINGLE PRECISION ONES COMPLEMENT RESULT
026042,000213: 26,2167 55554 TS DPDIFF # SCALED AT PI RADIANS (UPPER HALF)
026043,000214:
026044,000215: 26,2170 40077 CS CDU +1 # CREATE LOW ORDER WORD OF D.P. DIFFERENCE
026045,000216: 26,2171 60000 DOUBLE # ONES COMPLEMENT SCALED AT PI RADIANS AND
026046,000217: 26,2172 57555 XCH DPDIFF +1 # USE S.P. RESULT ABOVE AS HIGH ORDER WORD
026047,000218:
026048,000219: 26,2173 00006 EXTEND # RESCALE DPDIFF TO PI
026049,000220: 26,2174 31555 DCA DPDIFF
026050,000221: 26,2175 20001 DDOUBL
026051,000222: 26,2176 22072 LXCH ITEMP5 # SAVE LOW ORDER WORD FOR D.P. MULTIPLY
026052,000223: 26,2177 00006 EXTEND
026053,000224: 26,2200 71557 MP W0 # CDU = CDU + DPDIFF (D.P.) * W0 (S.P.)
026054,000225: 26,2201 20077 DAS CDU
026055,000226: 26,2202 30072 CAE ITEMP5 # W0 IS SCALED AT 2
026056,000227: 26,2203 00006 EXTEND # DPDIFF IS RESCALED TO PI
026057,000228: 26,2204 71557 MP W0 # W0*DPDIFF IS SCALED AT 2PI (AS CDU)
026058,000229: 26,2205 26077 ADS CDU +1
026059,000230: 26,2206 54001 TS L
026060,000231: 26,2207 12211 TCF +2
026061,000232: 26,2210 26076 ADS CDU
026062,000233:
026063,000234: 26,2211 31554 CAE DPDIFF # RESCALE DPDIFF TO PI/128
026064,000235: 26,2212 00006 EXTEND
026065,000236: 26,2213 77647 MP BIT9 # DPDIFF (D.P.) * 256
026066,000237: 26,2214 22072 LXCH ITEMP5
026067,000238: 26,2215 31555 CAE DPDIFF +1
026068,000239: 26,2216 00006 EXTEND
026069,000240: 26,2217 77647 MP BIT9
026070,000241: 26,2220 60072 AD ITEMP5
026071,000242: 26,2221 22072 LXCH ITEMP5
026072,000243:
026073,000244: 26,2222 00006 EXTEND # . .
026074,000245: 26,2223 71560 MP W1 # CDU = CDU + DPDIFF (D.P.) * W1 (S.P.)
026075,000246: 26,2224 20066 DAS CDUDOT
026076,000247: 26,2225 30072 CAE ITEMP5 # W1 IS SCALED AT 32
026077,000248: 26,2226 00006 EXTEND # DPDIFF IS RESCALED TO PI/128
026078,000249: 26,2227 71560 MP W1 # W1*DPDIFF IS SCALED AT PI/4 (AS CDUDOT)
026079,000250: 26,2230 26066 ADS CDUDOT +1
026080,000251: 26,2231 54001 TS L
026081,000252: 26,2232 12234 TCF +2
026082,000253: 26,2233 26065 ADS CDUDOT
026083,000254:
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Page 0609 |
026085,000256: 26,2234 31554 CAE DPDIFF # RESCALE DPDIFF TO PI/64
026086,000257: 26,2235 00006 EXTEND
026087,000258: 26,2236 77650 MP BIT8 # DPDIFF (D.P.) * 128
026088,000259: 26,2237 22072 LXCH ITEMP5
026089,000260: 26,2240 31555 CAE DPDIFF +1
026090,000261: 26,2241 00006 EXTEND
026091,000262: 26,2242 77650 MP BIT8
026092,000263: 26,2243 60072 AD ITEMP5
026093,000264: 26,2244 22072 LXCH ITEMP5
026094,000265:
026095,000266: 26,2245 00006 EXTEND # .. ..
026096,000267: 26,2246 71561 MP W2 # CDU = CDU + DPDIFF (D.P.) * W2 (S.P.)
026097,000268: 26,2247 20071 DAS CDU2DOT
026098,000269: 26,2250 30072 CAE ITEMP5 # W2 IS SCALED AT 8
026099,000270: 26,2251 00006 EXTEND
026100,000271: 26,2252 71561 MP W2 # W2*DPDIFF IS SCALED AT PI/8 (AS CDU2DOT)
026101,000272: 26,2253 26071 ADS CDU2DOT +1
026102,000273: 26,2254 54001 TS L
026103,000274: 26,2255 12257 TCF +2
026104,000275: 26,2256 26070 ADS CDU2DOT
026105,000276:
026106,000277: # RESTORE VARIABLES AND TEST FOR COMPLETION OR ADDITIONAL AXIS.
026107,000278:
026108,000279: 26,2257 52077 FILTAXIS DXCH CDU
026109,000280: 26,2260 50073 INDEX QRCNTR # THETA IS D.P. SCALED AT 2 PI RADIANS
026110,000281: 26,2261 53563 DXCH CDUYFIL
026111,000282: 26,2262 52066 DXCH CDUDOT # .
026112,000283: 26,2263 50073 INDEX QRCNTR # THETA IS D.P. SCALED AT PI/4 RAD/SEC
026113,000284: 26,2264 53567 DXCH DCDUYFIL
026114,000285: 26,2265 52071 DXCH CDU2DOT # .. 2
026115,000286: 26,2266 50073 INDEX QRCNTR # THETA IS D.P. SCALED AT PI/8 RAD/SEC
026116,000287: 26,2267 53573 DXCH D2CDUYFL
026117,000288:
026118,000289: 26,2270 57547 XCH STORCDUY # INTERCHANGE CDU READINGS
026119,000290: 26,2271 57550 XCH STORCDUZ
026120,000291: 26,2272 57547 XCH STORCDUY
026121,000292:
026122,000293: 26,2273 10073 CCS ITEMP6 # ITEMP6 IS AXIS INDEXER
026123,000294: 26,2274 12107 TCF GOYFILTR # IF 2, Y-AXIS STILL TO GO
026124,000295:
026125,000296: 26,2275 40345 CS T5ADR # IF THE TRIM GIMBAL CONTROL RUPT IS NEXT,
026126,000297: 26,2276 62377 AD GTS2CADR # DO THE Q,R-AXIS STATE TRANSFORMATIONS
026127,000298: 26,2277 00006 EXTEND # AND THE 20 MS STATE EXTRAPOLATION
026128,000299: 26,2300 12575 BZF GIMBAL
026129,000300: 26,2301 14606 TCF RESUME # OTHERWISE, RESUME
026130,000301:
026131,000302: # SUBROUTINE FOR FILTER WHICH TAKES 1 COMPLEMENT NUMBER INTO A 2 COMP.
026132,000303:
026133,000304: 26,2302 20001 ONETOTWO DDOUBL # SEE RTB OP CODES IN BANK 15 FOR NOTES ON
026134,000305: 26,2303 10000 CCS A # THIS COMPUTATION.
026135,000306:
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Page 0610 |
026137,000308:
026138,000309: 26,2304 67657 AD ONE
026139,000310: 26,2305 12307 TCF +2
026140,000311: 26,2306 40000 COM
026141,000312: 26,2307 54072 TS ITEMP5
026142,000313: 26,2310 12314 TCF +4
026143,000314: 26,2311 50000 INDEX A
026144,000315: 26,2312 37640 CAF LIMITS
026145,000316: 26,2313 26072 ADS ITEMP5
026146,000317: 26,2314 00002 TC Q # RETURN
026147,000318:
026148,000319: # THIS PROGRAM INITIALIZES THE KALMAN FILTER PROGRAM.
026149,000320:
026150,000321: 26,2315 23552 FILFIRST LXCH DAPTIME # INITIALIZE TIME.
026151,000322: 26,2316 32371 CAF POINT=90 # INITIALIZE THE WEIGHTING VECTOR POINTER
026152,000323: 26,2317 55556 TS WPOINTER
026153,000324: 26,2320 32014 CAF MOSTPASS # SET UP FOR NEXT PASSES
026154,000325: 26,2321 55553 TS STEERADR
026155,000326: 26,2322 00006 EXTEND # SET UP POST FILTER RUPT LIST
026156,000327: 26,2323 32375 DCA DGTSFADR
026157,000328: 26,2324 53604 DXCH PFRPTLST
026158,000329: 26,2325 00006 EXTEND
026159,000330: 26,2326 32071 DCA PAX/FILT
026160,000331: 26,2327 53606 DXCH PFRPTLST +2
026161,000332: 26,2330 00006 EXTEND
026162,000333: 26,2331 32071 DCA PAX/FILT
026163,000334: 26,2332 53612 DXCH PFRPTLST +6
026164,000335: 26,2333 00006 EXTEND
026165,000336: 26,2334 32400 DCA GTS2CADR
026166,000337: 26,2335 53610 DXCH PFRPTLST +4
026167,000338: 26,2336 00006 EXTEND # CHANGE POST P FILTER TO FILTER
026168,000339: 26,2337 32402 DCA POSTPFIL
026169,000340: 26,2340 53602 DXCH PFILTADR
026170,000341:
026171,000342: 26,2341 31547 CAE STORCDUY
026172,000343: 26,2342 00006 EXTEND
026173,000344: 26,2343 77642 MP BIT14
026174,000345: 26,2344 53563 DXCH CDUYFIL # INITIALIZE THE STATE VECTOR TO CDU VALUE
026175,000346: 26,2345 31550 CAE STORCDUZ
026176,000347: 26,2346 00006 EXTEND
026177,000348: 26,2347 77642 MP BIT14
026178,000349: 26,2350 53565 DXCH CDUZFIL
026179,000350: 26,2351 37665 CA ZERO
026180,000351: 26,2352 55566 TS DCDUYFIL # INITIALIZE THE DERIVATIVES OF THE STATE
026181,000352: 26,2353 55567 TS DCDUYFIL +1
026182,000353: 26,2354 55570 TS DCDUZFIL
026183,000354: 26,2355 55571 TS DCDUZFIL +1
026184,000355: 26,2356 55572 TS D2CDUYFL
026185,000356: 26,2357 55573 TS D2CDUYFL +1
026186,000357: 26,2360 55574 TS D2CDUZFL
026187,000358: 26,2361 55575 TS D2CDUZFL +1
026188,000359:
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|
Page 0611 |
026190,000361:
026191,000362: 26,2362 55576 TS Y3DOT
026192,000363: 26,2363 55600 TS Z3DOT
026193,000364: 26,2364 55532 TS NEGUQ
026194,000365: 26,2365 55534 TS NEGUR
026195,000366: 26,2366 14606 TCF RESUME
026196,000367:
026197,000368:
026198,000369:
026199,000370: 26,2367 24366 .64 DEC 0.64000
026200,000371: 26,2370 14000 BIT12-13 OCTAL 14000
026201,000372: 26,2371 00132 POINT=90 DEC 90 B-14 # POINTER INITIALIZED ONE GROUP PAST END
026202,000373: 26,2372 37776 MS20F OCTAL 37776
026203,000374: 26,2373 37775 MS30F OCTAL 37775
026204,000375: 26,2374 02535 54006 DGTSFADR 2CADR DGTS
026205,000376:
026206,000377: 26,2376 02055 PAXISADR GENADR PAXIS
026207,000378: 26,2377 02564 54006 GTS2CADR 2CADR GTS
026208,000379:
026209,000380: 26,2401 02015 54006 POSTPFIL 2CADR FILTER
026210,000381:
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|
Page 0612 |
026212,000383:
026213,000384: # THE KALMAN FILTER WEIGHTINF VECTORS ARE LISTED IN THE FOLLOWING TABLE ALONG WITH THE TIME FROM THE LAST FILTER
026214,000385: # INITIALIZATION FOR WHICH THEY ARE TO BE USED. (THE VECTORS ARE STORED IN ORDERED TRIPLES (W0,W1,W2) IN
026215,000386: # DESCENDING ORDER IN TIME WITH THE STEADY STATE VALUES AT THE TOP.)
026216,000387:
026217,000388: # THE COMPONENTS ARE SCALED AS FOLLOWS:
026218,000389: # W0 : SCALED AT 2
026219,000390: # W1 : SCALED AT 32
026220,000391: # W2 : SCALED AT 8
026221,000392:
026222,000393: 26,2403 05751 WVECTOR DEC 0.18608 # W0 FROM RELATIVE TIME 1.5 SECS OR MORE
026223,000394: 26,2404 00672 DEC 0.02696 # W1 FROM RELATIVE TIME 1.5 SECS OR MORE
026224,000395: 26,2405 05362 DEC 0.17105 # W2 FROM RELATIVE TIME 1.5 SECS OR MORE
026225,000396: 26,2406 04460 DEC 0.14358 # W0 AT RELATIVE TIME = 1.45 SECONDS
026226,000397: 26,2407 00731 DEC 0.02890 # W1 AT RELATIVE TIME = 1.45 SECONDS
026227,000398: 26,2410 05530 DEC 0.17727 # W2 AT RELATIVE TIME = 1.45 SECONDS
026228,000399: 26,2411 04522 DEC 0.14565 # W0 AT RELATIVE TIME = 1.40 SECONDS
026229,000400: 26,2412 00745 DEC 0.02959 # W1 AT RELATIVE TIME = 1.40 SECONDS
026230,000401: 26,2413 05632 DEC 0.18129 # W2 AT RELATIVE TIME = 1.40 SECONDS
026231,000402: 26,2414 04572 DEC 0.14809 # W0 AT RELATIVE TIME = 1.35 SECONDS
026232,000403: 26,2415 11602 DEC 0.30479 # W1 AT RELATIVE TIME = 1.35 SECONDS
026233,000404: 26,2416 05764 DEC 0.18678 # W2 AT RELATIVE TIME = 1.35 SECONDS
026234,000405: 26,2417 04650 DEC 0.15090 # W0 AT RELATIVE TIME = 1.30 SECONDS
026235,000406: 26,2420 01005 DEC 0.03154 # W1 AT RELATIVE TIME = 1.30 SECONDS
026236,000407: 26,2421 06153 DEC 0.19403 # W2 AT RELATIVE TIME = 1.30 SECONDS
026237,000408: 26,2422 04735 DEC 0.15409 # W0 AT RELATIVE TIME = 1.25 SECONDS
026238,000409: 26,2423 01032 DEC 0.03283 # W1 AT RELATIVE TIME = 1.25 SECONDS
026239,000410: 26,2424 06405 DEC 0.20340 # W2 AT RELATIVE TIME = 1.25 SECONDS
026240,000411: 26,2425 05027 DEC 0.15767 # W0 AT RELATIVE TIME = 1.20 SECONDS
026241,000412: 26,2426 01063 DEC 0.03437 # W1 AT RELATIVE TIME = 1.20 SECONDS
026242,000413: 26,2427 06707 DEC 0.21525 # W2 AT RELATIVE TIME = 1.20 SECONDS
026243,000414: 26,2430 05130 DEC 0.16163 # W0 AT RELATIVE TIME = 1.15 SECONDS
026244,000415: 26,2431 01120 DEC 0.03616 # W1 AT RELATIVE TIME = 1.15 SECONDS
026245,000416: 26,2432 07270 DEC 0.23000 # W2 AT RELATIVE TIME = 1.15 SECONDS
026246,000417: 26,2433 05237 DEC 0.16595 # W0 AT RELATIVE TIME = 1.10 SECONDS
026247,000418: 26,2434 01163 DEC 0.03824 # W1 AT RELATIVE TIME = 1.10 SECONDS
026248,000419: 26,2435 07742 DEC 0.24814 # W2 AT RELATIVE TIME = 1.10 SECONDS
026249,000420: 26,2436 05354 DEC 0.17063 # W0 AT RELATIVE TIME = 1.05 SECONDS
026250,000421: 26,2437 01232 DEC 0.04062 # W1 AT RELATIVE TIME = 1.05 SECONDS
026251,000422: 26,2440 10513 DEC 0.27018 # W2 AT RELATIVE TIME = 1.05 SECONDS
026252,000423: 26,2441 05475 DEC 0.17560 # W0 AT RELATIVE TIME = 1.00 SECONDS
026253,000424: 26,2442 01306 DEC 0.04332 # W1 AT RELATIVE TIME = 1.00 SECONDS
026254,000425: 26,2443 11375 DEC 0.29668 # W2 AT RELATIVE TIME = 1.00 SECONDS
026255,000426: 26,2444 05622 DEC 0.18080 # W0 AT RELATIVE TIME = 0.95 SECONDS
026256,000427: 26,2445 01367 DEC 0.04634 # W1 AT RELATIVE TIME = 0.95 SECONDS
026257,000428: 26,2446 12402 DEC 0.32824 # W2 AT RELATIVE TIME = 0.95 SECONDS
026258,000429: 26,2447 05752 DEC 0.18614 # W0 AT RELATIVE TIME = 0.90 SECONDS
026259,000430: 26,2450 01456 DEC 0.04968 # W1 AT RELATIVE TIME = 0.90 SECONDS
026260,000431: 26,2451 13541 DEC 0.36531 # W2 AT RELATIVE TIME = 0.90 SECONDS
026261,000432: 26,2452 06101 DEC 0.19147 # W0 AT RELATIVE TIME = 0.85 SECONDS
026262,000433: 26,2453 01551 DEC 0.05328 # W1 AT RELATIVE TIME = 0.85 SECONDS
026263,000434:
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|
Page 0613 |
026265,000436:
026266,000437: 26,2454 15040 DEC 0.40821 # W2 AT RELATIVE TIME = 0.85 SECONDS
026267,000438: 26,2455 06225 DEC 0.19659 # W0 AT RELATIVE TIME = 0.80 SECONDS
026268,000439: 26,2456 01647 DEC 0.05707 # W1 AT RELATIVE TIME = 0.80 SECONDS
026269,000440: 26,2457 16503 DEC 0.45721 # W2 AT RELATIVE TIME = 0.80 SECONDS
026270,000441: 26,2460 06341 DEC 0.20122 # W0 AT RELATIVE TIME = 0.75 SECONDS
026271,000442: 26,2461 01746 DEC 0.06089 # W1 AT RELATIVE TIME = 0.75 SECONDS
026272,000443: 26,2462 20244 DEC 0.50999 # W2 AT RELATIVE TIME = 0.75 SECONDS
026273,000444: 26,2463 06440 DEC 0.20505 # W0 AT RELATIVE TIME = 0.70 SECONDS
026274,000445: 26,2464 02041 DEC 0.06451 # W1 AT RELATIVE TIME = 0.70 SECONDS
026275,000446: 26,2465 22055 DEC 0.56522 # W2 AT RELATIVE TIME = 0.70 SECONDS
026276,000447: 26,2466 06514 DEC 0.20775 # W0 AT RELATIVE TIME = 0.65 SECONDS
026277,000448: 26,2467 02123 DEC 0.06759 # W1 AT RELATIVE TIME = 0.65 SECONDS
026278,000449: 26,2470 23610 DEC 0.61768 # W2 AT RELATIVE TIME = 0.65 SECONDS
026279,000450: 26,2471 06542 DEC 0.20912 # W0 AT RELATIVE TIME = 0.60 SECONDS
026280,000451: 26,2472 02166 DEC 0.06972 # W1 AT RELATIVE TIME = 0.60 SECONDS
026281,000452: 26,2473 25072 DEC 0.65979 # W2 AT RELATIVE TIME = 0.60 SECONDS
026282,000453: 26,2474 06546 DEC 0.20934 # W0 AT RELATIVE TIME = 0.55 SECONDS
026283,000454: 26,2475 02205 DEC 0.07062 # W1 AT RELATIVE TIME = 0.55 SECONDS
026284,000455: 26,2476 25640 DEC 0.68165 # W2 AT RELATIVE TIME = 0.55 SECONDS
026285,000456: 26,2477 06543 DEC 0.20919 # W0 AT RELATIVE TIME = 0.50 SECONDS
026286,000457: 26,2500 02177 DEC 0.07028 # W1 AT RELATIVE TIME = 0.50 SECONDS
026287,000458: 26,2501 25427 DEC 0.67330 # W2 AT RELATIVE TIME = 0.50 SECONDS
026288,000459: 26,2502 06564 DEC 0.21020 # W0 AT RELATIVE TIME = 0.45 SECONDS
026289,000460: 26,2503 02160 DEC 0.06931 # W1 AT RELATIVE TIME = 0.45 SECONDS
026290,000461: 26,2504 24077 DEC 0.62883 # W2 AT RELATIVE TIME = 0.45 SECONDS
026291,000462: 26,2505 06671 DEC 0.21441 # W0 AT RELATIVE TIME = 0.40 SECONDS
026292,000463: 26,2506 02154 DEC 0.06908 # W1 AT RELATIVE TIME = 0.40 SECONDS
026293,000464: 26,2507 21470 DEC 0.55030 # W2 AT RELATIVE TIME = 0.40 SECONDS
026294,000465: 26,2510 07125 DEC 0.22391 # W0 AT RELATIVE TIME = 0.35 SECONDS
026295,000466: 26,2511 02225 DEC 0.07162 # W1 AT RELATIVE TIME = 0.35 SECONDS
026296,000467: 26,2512 16256 DEC 0.44810 # W2 AT RELATIVE TIME = 0.35 SECONDS
026297,000468: 26,2513 07544 DEC 0.24049 # W0 AT RELATIVE TIME = 0.30 SECONDS
026298,000469: 26,2514 02430 DEC 0.07956 # W1 AT RELATIVE TIME = 0.30 SECONDS
026299,000470: 26,2515 12624 DEC 0.33713 # W2 AT RELATIVE TIME = 0.30 SECONDS
026300,000471: 26,2516 10401 DEC 0.26566 # W0 AT RELATIVE TIME = 0.25 SECONDS
026301,000472: 26,2517 03054 DEC 0.09646 # W1 AT RELATIVE TIME = 0.25 SECONDS
026302,000473: 26,2520 07317 DEC 0.23140 # W2 AT RELATIVE TIME = 0.25 SECONDS
026303,000474: 26,2521 11507 DEC 0.30123 # W0 AT RELATIVE TIME = 0.20 SECONDS
026304,000475: 26,2522 04070 DEC 0.12841 # W1 AT RELATIVE TIME = 0.20 SECONDS
026305,000476: 26,2523 04404 DEC 0.14087 # W2 AT RELATIVE TIME = 0.20 SECONDS
026306,000477: 26,2524 13146 DEC 0.34996 # W0 AT RELATIVE TIME = 0.15 SECONDS
026307,000478: 26,2525 06020 DEC 0.18850 # W1 AT RELATIVE TIME = 0.15 SECONDS
026308,000479: 26,2526 02213 DEC 0.07101 # W2 AT RELATIVE TIME = 0.15 SECONDS
026309,000480: 26,2527 15230 DEC 0.41554 # W0 AT RELATIVE TIME = 0.10 SECONDS
026310,000481: 26,2530 11756 DEC 0.31141 # W1 AT RELATIVE TIME = 0.10 SECONDS
026311,000482: 26,2531 00613 DEC 0.02408 # W2 AT RELATIVE TIME = 0.10 SECONDS
026312,000483: 26,2532 17670 DEC 0.49561 # W0 AT RELATIVE TIME = 0.05 SECONDS
026313,000484: 26,2533 23514 DEC 0.61404 # W1 AT RELATIVE TIME = 0.05 SECONDS
026314,000485: 26,2534 00001 DEC 0.00006 # W2 AT RELATIVE TIME = 0.05 SECONDS
026315,000486:
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|
Page 0614 |
026317,000488:
026318,000489: # DUMMY TRIM GIMBAL RUPT:
026319,000490: 26,2535 32373 DGTS CAF MS30F # RESET TIMER IMMEDIATELY: DT = 30 MS
026320,000491: 26,2536 54030 TS TIME5
026321,000492:
026322,000493: 26,2537 22016 LXCH BANKRUPT # INTERRUPT LEAD IN (CONTINUED)
026323,000494:
026324,000495: 26,2540 00006 EXTEND # SET UP FILTER RUPT
026325,000496: 26,2541 32402 DCA POSTPFIL
026326,000497: 26,2542 52346 DXCH T5ADR
026327,000498:
026328,000499: 26,2543 14610 TCF NOQRSM
026329,000500:
026330,000501: # DUMMY FILTER RUPT AFTER P-AXIS RUPT:
026331,000502:
026332,000503: 26,2544 32372 DUMMYFIL CAF MS20F # RESET TIMER IMMEDIATELY: DT = 20 MS
026333,000504: 26,2545 54030 TS TIME5
026334,000505: 26,2546 22016 LXCH BANKRUPT # INTERRUPT LEAD IN (CONTINUED)
026335,000506:
026336,000507: 26,2547 00006 EXTEND # SET UP QRAXIS RUPT
026337,000508: 26,2550 32554 DCA DFQRAXIS
026338,000509: 26,2551 52346 DXCH T5ADR
026339,000510: 26,2552 14610 TCF NOQRSM
026340,000511:
026341,000512: 26,2553 02002 50006 DFQRAXIS 2CADR QRAXIS
026342,000513:
026343,000514: # DUMMY FILTER RUPT AFTER Q,R=AXES RUPT:
026344,000515:
026345,000516: 26,2555 32372 FILDUMMY CAF MS20F # RESET TIMER IMMEDIATELY: DT = 20 MS
026346,000517: 26,2556 54030 TS TIME5
026347,000518:
026348,000519: 26,2557 22016 LXCH BANKRUPT # INTERRUPT LEAD IN (CONTINUED)
026349,000520:
026350,000521: 26,2560 00006 EXTEND # SET UP PAXIS RUPT
026351,000522: 26,2561 32071 DCA PAX/FILT
026352,000523: 26,2562 52346 DXCH T5ADR
026353,000524: 26,2563 14606 TCF RESUME
End of include-file KALMAN_FILTER_FOR_LEM_DAP.agc. Parent file is MAIN.agc