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, 1966Note that the date is the date of the printout, not the date of the program revision. |
025822,000002: ## Copyright: Public domain.
025823,000003: ## Filename: KALMAN_FILTER_FOR_LEM_DAP.agc
025824,000004: ## Purpose: Part of the source code for Aurora (revision 12).
025825,000005: ## Assembler: yaYUL
025826,000006: ## Contact: Ron Burkey <info@sandroid.org>.
025827,000007: ## Website: https://www.ibiblio.org/apollo.
025828,000008: ## Pages: 0604-0614
025829,000009: ## Mod history: 2016-09-20 JL Created.
025830,000010: ## 2016-09-26 OH Initial Transcription
025831,000011: ## 2016-10-04 HG Add missed statements on page 607, added missing ## coments for page numbers
025832,000012: ## M520F->MS20F, READ +4 -> READ 4
025833,000013: ## 2016-10-15 HG Fix operand D2CDU2FL -> D2CDUZFL
025834,000014: ## FLTAXIS -> FLTYAXIS
025835,000015: ## MS2OF -> MS20F
025836,000016: ## fix label FILTSTART -> FILSTART
025837,000017: ##
025838,000018: ## 2016-12-08 RSB Proofed comments with octopus/ProoferComments
025839,000019: ## and fixed the errors found.
025840,000020:
025841,000021: ## This source code has been transcribed or otherwise adapted from
025842,000022: ## digitized images of a hardcopy from the private collection of
025843,000023: ## Don Eyles. The digitization was performed by archive.org.
025844,000024:
025845,000025: ## Notations on the hardcopy document read, in part:
025846,000026:
025847,000027: ## 473423A YUL SYSTEM FOR BLK2: REVISION 12 of PROGRAM AURORA BY DAP GROUP
025848,000028: ## NOV 10, 1966
025849,000029:
025850,000030: ## [Note that this is the date the hardcopy was made, not the
025851,000031: ## date of the program revision or the assembly.]
025852,000032:
025853,000033: ## The scan images (with suitable reduction in storage size and consequent
025854,000034: ## reduction in image quality) are available online at
025855,000035: ## https://www.ibiblio.org/apollo.
025856,000036: ## The original high-quality digital images are available at archive.org:
025857,000037: ## https://archive.org/details/aurora00dapg
025858,000038:
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Page 0604 |
025860,000040:
025861,000041: # THE FOLLOWING T5RUPT ENTRY BEGINS THE PROGRAM WHICH INITIALIZES THE KALMAN FILTER AND SETS UP A P-AXIS RUPT TO
025862,000042: # OCCUR 20 MS FROM ITS BEGINNING.
025863,000043:
025864,000044: 26,2000 BANK 26
025865,000045:
025866,000046: 26,2000 32372 FILTINIT CAF MS20F # RESET TIMER IMMEDIATELY: DT = 20 MS
025867,000047: 26,2001 54030 TS TIME5
025868,000048:
025869,000049: 26,2002 22016 LXCH BANKRUPT # INTERRUPT LEAD IN (CONTINUED)
025870,000050: 26,2003 00006 EXTEND
025871,000051: 26,2004 22012 QXCH QRUPT
025872,000052:
025873,000053: 26,2005 00006 EXTEND # SET UP FOR P-AXIS RUPT
025874,000054: 26,2006 32071 DCA PAX/FILT
025875,000055: 26,2007 52346 DXCH T5ADR
025876,000056:
025877,000057: 26,2010 32013 CAF FIRSTADR # SET UP TO AVOID DT CALCULATION DURING
025878,000058: 26,2011 55553 TS STEERADR # KALMAN FILTER INITIALIZATION PASS
025879,000059:
025880,000060:
025881,000061: 26,2012 12032 TCF FILSTART
025882,000062:
025883,000063: 26,2013 02315 FIRSTADR GENADR FILFIRST
025884,000064:
025885,000065: # THE FOLLOWING T5RUPT ENTRY BEGINS THE KALMAN FILTER PROGRAM. THIS SECTION ALSO SETS UP A T5RUPT TO OCCUR 20 MS
025886,000066: # FROM ITS BEGINNING AND SETS IT TO GO TO THE LOCATION AT THE TOP OF THE POST FILTER RUPT LIST.
025887,000067:
025888,000068: 26,2014 02051 MOSTPASS GENADR DTCALC # WORD IN FILTPASS FOR THESE PASSES
025889,000069:
025890,000070: 26,2015 32372 FILTER CAF MS20F # RESET TIMER IMMEDIATELY: DT = 20 MS
025891,000071: 26,2016 54030 TS TIME5
025892,000072:
025893,000073: 26,2017 22016 LXCH BANKRUPT # INTERRUPT LEAD IN (CONTINUED)
025894,000074: 26,2020 00006 EXTEND
025895,000075: 26,2021 22012 QXCH QRUPT
025896,000076:
025897,000077: 26,2022 00006 EXTEND # SET RUPT ADDRESS TO TOP OF
025898,000078: 26,2023 31604 DCA PFRPTLST # POST FILTER RUPT LIST
025899,000079: 26,2024 52346 DXCH T5ADR
025900,000080:
025901,000081: 26,2025 53604 DXCH PFRPTLST # ROTATE 2CADR'S IN POST FILTER RUPT LIST
025902,000082: 26,2026 53612 DXCH PFRPTLST +6
025903,000083: 26,2027 53610 DXCH PFRPTLST +4
025904,000084: 26,2030 53606 DXCH PFRPTLST +2
025905,000085: 26,2031 53604 DXCH PFRPTLST
025906,000086:
025907,000087: # BEGIN THE KALMAN FILTER BY READING CDU ANGLES AND TIME.
025908,000088:
025909,000089: 26,2032 04177 FILSTART TC T6JOBCHK # CHECK T6 CLOCK FOR P-AXIS ACTIVITY
025910,000090:
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Page 0605 |
025912,000092: 26,2033 00006 EXTEND
025913,000093: 26,2034 30034 DCA CDUY # STORE CDUY AND CDUZ AT PI AND IN 2.5 COM
025914,000094: 26,2035 53550 DXCH STORCDUY
025915,000095: 26,2036 00006 EXTEND # BEGIN READING THE CLOCK TO GET TIME
025916,000096: 26,2037 00004 READ 4 # INCREMENT.
025917,000097: 26,2040 54001 TS L
025918,000098: 26,2041 00006 EXTEND
025919,000099: 26,2042 06004 RXOR 4 # CHECK TO SEE IF CH 4 WAS IN TRANSITION
025920,000100: 26,2043 00006 EXTEND # WHEN IT WAS FIRST READ.
025921,000101: 26,2044 12050 BZF +4 # BRANCH IF TIME WAS THE SAME IN 2 READS.
025922,000102: 26,2045 00006 EXTEND
025923,000103: 26,2046 00004 READ 4
025924,000104: 26,2047 54001 TS L # THIS TIME READ ALWAYS GIVES GOOD NO.
025925,000105: 26,2050 01553 TC STEERADR # SKIP DTCALC DURING INITIAL PASS
025926,000106:
025927,000107: 26,2051 40001 DTCALC CS L
025928,000108: 26,2052 61552 AD DAPTIME # A CONTAINS THE TIME DIFFERENCE (DT)
025929,000109: 26,2053 23552 LXCH DAPTIME # SINCE THE LAST FILTER.
025930,000110: 26,2054 00006 EXTEND
025931,000111: 26,2055 62060 BZMF +3
025932,000112: 26,2056 67640 AD NEG1/2 # THIS IS ADDING -1.0 TO -DT AND ACCOUNTS
025933,000113: 26,2057 67640 AD NEG1/2 # FOR AN OVERFLOW INTO CHANNEL 5
025934,000114:
025935,000115: # SCALING OF DELTA T FOR KALMAN FILTER IS 1/8 SECOND.
025936,000116: 26,2060 00006 EXTEND # TIME NOW SCALED AT 5.12 SECONDS
025937,000117: 26,2061 77651 MP BIT7 # FIRST RESCALE TO 5.12/64
025938,000118: 26,2062 42367 CS .64
025939,000119: 26,2063 00006 EXTEND # THEN RESCALE TO 5.12/(64*.64) OR
025940,000120: 26,2064 70001 MP L # 5.12/40.96 WHICH IS THE SAME AS
025941,000121: 26,2065 55551 TS DT # DT SCALED AT 1/8
025942,000122:
025943,000123: # SET UP FILTER WEIGHTING VECTOR FOR THIS FILTER PASS.
025944,000124:
025945,000125: 26,2066 11556 CCS WPOINTER # TEST FOR WEIGHTING VECTOR STEADY-STATE
025946,000126: 26,2067 12073 TCF MOVEWGTS # POINTER NOT YET ZERO (MULTIPLE OF THREE)
025947,000127: 26,2070 02055 46006 PAX/FILT 2CADR PAXIS # (ROOM FOR 2CADR IN CCS HOLES)
025948,000128:
025949,000129: 26,2072 12104 TCF FLTZAXIS # STEADY-STATE ALREADY, NO UPDATING AGAIN
025950,000130:
025951,000131: 26,2073 46165 MOVEWGTS CS THREE # SET UP POINTER FOR THIS PASS
025952,000132: 26,2074 27556 ADS WPOINTER # (NEVER GETS BELOW ZERO HERE)
025953,000133:
025954,000134: 26,2075 00006 EXTEND # WPOINTER IS INDEX = 87 FIRST TIME HERE
025955,000135: 26,2076 51556 INDEX WPOINTER # AND IS DECREASED BY 3 EVERY FILTER PASS
025956,000136: 26,2077 32404 DCA WVECTOR # UNTIL THE STEADY-STATE IS REACHED.
025957,000137: 26,2100 53560 DXCH W0 # MOVE IN NEW W0,W1
025958,000138: 26,2101 51556 INDEX WPOINTER
025959,000139: 26,2102 32405 CAF WVECTOR +2
025960,000140: 26,2103 55561 TS W2 # MOVE IN NEW W2
025961,000141:
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Page 0606 |
025963,000143:
025964,000144: 26,2104 37656 FLTZAXIS CAF TWO # SET UP INDEXER FOR D.P. PICKUP AND TO
025965,000145: 26,2105 54073 TS QRCNTR # INDICATE Z-AXIS FILTER PASS
025966,000146:
025967,000147: 26,2106 12112 TCF FLTYAXIS
025968,000148:
025969,000149: 26,2107 37665 GOYFILTR CAF ZERO # SET INDEXER FOR Y-AXIS
025970,000150: 26,2110 54073 TS QRCNTR
025971,000151:
025972,000152: 26,2111 04177 TC T6JOBCHK # CHECK T6 CLOCK FOR P-AXIS ACTIVITY
025973,000153:
025974,000154: 26,2112 50073 FLTYAXIS INDEX QRCNTR
025975,000155: 26,2113 53563 DXCH CDUYFIL # THETA IS D.P. SCALED AT 2 PI RADIANS
025976,000156: 26,2114 52077 DXCH CDU
025977,000157: 26,2115 50073 INDEX QRCNTR # .
025978,000158: 26,2116 53567 DXCH DCDUYFIL # THETA IS D.P. SCALED AT PI/4 RAD/SEC
025979,000159: 26,2117 52066 DXCH CDUDOT
025980,000160: 26,2120 50073 INDEX QRCNTR # .. 2
025981,000161: 26,2121 53573 DXCH D2CDUYFL # THETA IS D.P. SCALED AT PI/8 RAD/SEC
025982,000162: 26,2122 52071 DXCH CDU2DOT
025983,000163: 26,2123 50073 INDEX QRCNTR # ... 7 3
025984,000164: 26,2124 31576 CAE Y3DOT # THETA IS S.P. SCALED AT PI/2 RAD/SEC
025985,000165: 26,2125 57577 XCH CDU3DOT
025986,000166:
025987,000167: # NOTE THAT THE FILTERED VARIABLES ARE READ DESTRUCTIVELY FOR SPEED AND EFFICIENCY AND THAT Y3DOT IS NOT UPDATED.
025988,000168: # SO IT MUST BE READ NON-DESTRUCTIVELY BUT NEED NOT BE RESTORED AFTER EACH KALMAN FILTER PASS.
025989,000169:
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Page 0607 |
025991,000171: # INTEGRATION EXTRAPOLATION EQUATIONS:
025992,000172:
025993,000173: 26,2126 30070 KLMNFLTR CAE CDU2DOT # A SCALED AT PI/8 (USE S.P.)
025994,000174: 26,2127 00006 EXTEND
025995,000175: 26,2130 71551 MP DT # ADT SCALED AT PI/64 OR .5ADT AT PI/128
025996,000176: 26,2131 00006 EXTEND
025997,000177: 26,2132 77646 MP BIT10 # RESCALE BY RIGHT SHIFT 5
025998,000178: 26,2133 60065 AD CDUDOT # W + .5ADT SCALED AT PI/4
025999,000179: 26,2134 00006 EXTEND
026000,000180: 26,2135 71551 MP DT # (W + .5ADT)DT SCALED AT PI/32
026001,000181: 26,2136 00006 EXTEND
026002,000182: 26,2137 77647 MP BIT9 # RESCALE BY RIGHT SHIFT 6 (KEEP D.P.)
026003,000183: 26,2140 20077 DAS CDU # CDU = CDU + (W + .5ADT)DT SCALED AT 2PI
026004,000184:
026005,000185: 26,2141 31577 CAE CDU3DOT # ADOT SCALED AT PI/2(7)
026006,000186: 26,2142 00006 EXTEND
026007,000187: 26,2143 71551 MP DT # .5ADOTDT SCALED AT PI/2(11)
026008,000188: 26,2144 54072 TS ITEMP5 # (SAVE FOR ALPHA INTEGRATION)
026009,000189: 26,2145 00006 EXTEND
026010,000190: 26,2146 77651 MP BIT7 # RESCALE BY RIGHT SHIFT 8
026011,000191: 26,2147 60070 AD CDU2DOT # A + .5ADOTDT SCALED AT PI/8
026012,000192: 26,2150 00006 EXTEND
026013,000193: 26,2151 71551 MP DT # *A + .5ADOTDT)DT SCALED AT PI/64
026014,000194: 26,2152 00006 EXTEND
026015,000195: 26,2153 77645 MP BIT11 # RESCALE BY RIGHT SHIFT 4 (KEEP D.P.)
026016,000196: 26,2154 20066 DAS CDUDOT # W = W + (A + .5ADOTDT)DT SCALED AT PI/4
026017,000197:
026018,000198: 26,2155 30072 CAE ITEMP5 # ADOTDT SCALED AT PI/2(10) (FROM ABOVE)
026019,000199: 26,2156 00006 EXTEND
026020,000200: 26,2157 77650 MP BIT8 # RESCALE BY RIGHT SHIFT 7 (KEEP D.P.)
026021,000201: 26,2160 20071 DAS CDU2DOT # A = A + ADOTDT SCALED AT PI/8
026022,000202:
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Page 0608 |
026024,000204:
026025,000205: # WEIGHTING VECTOR ADJUSTMENT EQUATIONS:
026026,000206: 26,2161 00006 EXTEND # CONVERT CDU INTEGRATED VALUE FROM DOUBLE
026027,000207: 26,2162 30077 DCA CDU # PRECISION SCALED AT 2PI IN ONES COMPLE-
026028,000208: 26,2163 02302 TC ONETOTWO # MENT TO SINGLE PRECISION SCALED AT PI
026029,000209: 26,2164 31550 CAE STORCDUZ # IN TWOS COMPLEMENT, THEN DIFFERENCE WITH
026030,000210: 26,2165 00006 EXTEND # STORED CDU REGISTER READING TO GET A
026031,000211: 26,2166 20072 MSU ITEMP5 # SINGLE PRECISION ONES COMPLEMENT RESULT
026032,000212: 26,2167 55554 TS DPDIFF # SCALED AT PI RADIANS (UPPER HALF)
026033,000213:
026034,000214: 26,2170 40077 CS CDU +1 # CREATE LOW ORDER WORD OF D.P. DIFFERENCE
026035,000215: 26,2171 60000 DOUBLE # ONES COMPLEMENT SCALED AT PI RADIANS AND
026036,000216: 26,2172 57555 XCH DPDIFF +1 # USE S.P. RESULT ABOVE AS HIGH ORDER WORD
026037,000217:
026038,000218: 26,2173 00006 EXTEND # RESCALE DPDIFF TO PI
026039,000219: 26,2174 31555 DCA DPDIFF
026040,000220: 26,2175 20001 DDOUBL
026041,000221: 26,2176 22072 LXCH ITEMP5 # SAVE LOW ORDER WORD FOR D.P. MULTIPLY
026042,000222: 26,2177 00006 EXTEND
026043,000223: 26,2200 71557 MP W0 # CDU = CDU + DPDIFF (D.P.) * W0 (S.P.)
026044,000224: 26,2201 20077 DAS CDU
026045,000225: 26,2202 30072 CAE ITEMP5 # W0 IS SCALED AT 2
026046,000226: 26,2203 00006 EXTEND # DPDIFF IS RESCALED TO PI
026047,000227: 26,2204 71557 MP W0 # W0*DPDIFF IS SCALED AT 2PI (AS CDU)
026048,000228: 26,2205 26077 ADS CDU + 1
026049,000229: 26,2206 54001 TS L
026050,000230: 26,2207 12211 TCF +2
026051,000231: 26,2210 26076 ADS CDU
026052,000232:
026053,000233: 26,2211 31554 CAE DPDIFF # RESCALE DPDIFF TO PI/128
026054,000234: 26,2212 00006 EXTEND
026055,000235: 26,2213 77647 MP BIT9 # DPDIFF (D.P.) * 256
026056,000236: 26,2214 22072 LXCH ITEMP5
026057,000237: 26,2215 31555 CAE DPDIFF +1
026058,000238: 26,2216 00006 EXTEND
026059,000239: 26,2217 77647 MP BIT9
026060,000240: 26,2220 60072 AD ITEMP5
026061,000241: 26,2221 22072 LXCH ITEMP5
026062,000242:
026063,000243: 26,2222 00006 EXTEND # . .
026064,000244: 26,2223 71560 MP W1 # CDU = CDU + DPDIFF (D.P.) * W1 (S.P.)
026065,000245: 26,2224 20066 DAS CDUDOT
026066,000246: 26,2225 30072 CAE ITEMP5 # W1 IS SCALED AT 32
026067,000247: 26,2226 00006 EXTEND # DPDIFF IS RESCALED TO PI/128
026068,000248: 26,2227 71560 MP W1 # W1*DPDIFF IS SCALED AT PI/4 (AS CDUDOT)
026069,000249: 26,2230 26066 ADS CDUDOT +1
026070,000250: 26,2231 54001 TS L
026071,000251: 26,2232 12234 TCF +2
026072,000252: 26,2233 26065 ADS CDUDOT
026073,000253:
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Page 0609 |
026075,000255: 26,2234 31554 CAE DPDIFF # RESCALE DPDIFF TO PI/64
026076,000256: 26,2235 00006 EXTEND
026077,000257: 26,2236 77650 MP BIT8 # DPDIFF (D.P.) * 128
026078,000258: 26,2237 22072 LXCH ITEMP5
026079,000259: 26,2240 31555 CAE DPDIFF +1
026080,000260: 26,2241 00006 EXTEND
026081,000261: 26,2242 77650 MP BIT8
026082,000262: 26,2243 60072 AD ITEMP5
026083,000263: 26,2244 22072 LXCH ITEMP5
026084,000264:
026085,000265: 26,2245 00006 EXTEND # .. ..
026086,000266: 26,2246 71561 MP W2 # CDU = CDU + DPDIFF (D.P.) * W2 (S.P.)
026087,000267: 26,2247 20071 DAS CDU2DOT
026088,000268: 26,2250 30072 CAE ITEMP5 # W2 IS SCALED AT 8
026089,000269: 26,2251 00006 EXTEND
026090,000270: 26,2252 71561 MP W2 # W2*DPDIFF IS SCALED AT PI/8 (AS CDU2DOT)
026091,000271: 26,2253 26071 ADS CDU2DOT +1
026092,000272: 26,2254 54001 TS L
026093,000273: 26,2255 12257 TCF +2
026094,000274: 26,2256 26070 ADS CDU2DOT
026095,000275:
026096,000276: # RESTORE VARIABLES AND TEST FOR COMPLETION OR ADDITIONAL AXIS.
026097,000277:
026098,000278: 26,2257 52077 FILTAXIS DXCH CDU
026099,000279: 26,2260 50073 INDEX QRCNTR # THETA IS D.P. SCALED AT 2 PI RADIANS
026100,000280: 26,2261 53563 DXCH CDUYFIL
026101,000281: 26,2262 52066 DXCH CDUDOT # .
026102,000282: 26,2263 50073 INDEX QRCNTR # THETA IS D.P. SCALED AT PI/4 RAD/SEC
026103,000283: 26,2264 53567 DXCH DCDUYFIL
026104,000284: 26,2265 52071 DXCH CDU2DOT # .. 2
026105,000285: 26,2266 50073 INDEX QRCNTR # THETA IS D.P. SCALED AT PI/8 RAD/SEC
026106,000286: 26,2267 53573 DXCH D2CDUYFL
026107,000287:
026108,000288: 26,2270 57547 XCH STORCDUY # INTERCHANGE CDU READINGS
026109,000289: 26,2271 57550 XCH STORCDUZ
026110,000290: 26,2272 57547 XCH STORCDUY
026111,000291:
026112,000292: 26,2273 10073 CCS ITEMP6 # ITEMP6 IS AXIS INDEXER
026113,000293: 26,2274 12107 TCF GOYFILTR # IF 2, Y-AXIS STILL TO GO
026114,000294:
026115,000295: 26,2275 40345 CS T5ADR # IF THE TRIM GIMBAL CONTROL RUPT IS NEXT,
026116,000296: 26,2276 62377 AD GTS2CADR # DO THE Q,R-AXIS STATE TRANSFORMATIONS
026117,000297: 26,2277 00006 EXTEND # AND THE 20 MS STATE EXTRAPOLATION
026118,000298: 26,2300 12575 BZF GIMBAL
026119,000299: 26,2301 14606 TCF RESUME # OTHERWISE, RESUME
026120,000300:
026121,000301: # SUBROUTINE FOR FILTER WHICH TAKES 1 COMPLEMENT NUMBER INTO A 2 COMP.
026122,000302:
026123,000303: 26,2302 20001 ONETOTWO DDOUBL # SEE RTB OP CODES IN BANK 15 FOR NOTES ON
026124,000304: 26,2303 10000 CCS A # THIS COMPUTATION.
026125,000305:
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Page 0610 |
026127,000307:
026128,000308: 26,2304 67657 AD ONE
026129,000309: 26,2305 12307 TCF +2
026130,000310: 26,2306 40000 COM
026131,000311: 26,2307 54072 TS ITEMP5
026132,000312: 26,2310 12314 TCF +4
026133,000313: 26,2311 50000 INDEX A
026134,000314: 26,2312 37640 CAF LIMITS
026135,000315: 26,2313 26072 ADS ITEMP5
026136,000316: 26,2314 00002 TC Q # RETURN
026137,000317:
026138,000318: # THIS PROGRAM INITIALIZES THE KALMAN FILTER PROGRAM.
026139,000319:
026140,000320: 26,2315 23552 FILFIRST LXCH DAPTIME # INITIALIZE TIME.
026141,000321: 26,2316 32371 CAF POINT=90 # INITIALIZE THE WEIGHTING VECTOR POINTER
026142,000322: 26,2317 55556 TS WPOINTER
026143,000323: 26,2320 32014 CAF MOSTPASS # SET UP FOR NEXT PASSES
026144,000324: 26,2321 55553 TS STEERADR
026145,000325: 26,2322 00006 EXTEND # SET UP POST FILTER RUPT LIST
026146,000326: 26,2323 32375 DCA DGTSFADR
026147,000327: 26,2324 53604 DXCH PFRPTLST
026148,000328: 26,2325 00006 EXTEND
026149,000329: 26,2326 32071 DCA PAX/FILT
026150,000330: 26,2327 53606 DXCH PFRPTLST +2
026151,000331: 26,2330 00006 EXTEND
026152,000332: 26,2331 32071 DCA PAX/FILT
026153,000333: 26,2332 53612 DXCH PFRPTLST +6
026154,000334: 26,2333 00006 EXTEND
026155,000335: 26,2334 32400 DCA GTS2CADR
026156,000336: 26,2335 53610 DXCH PFRPTLST +4
026157,000337: 26,2336 00006 EXTEND # CHANGE POST P FILTER TO FILTER
026158,000338: 26,2337 32402 DCA POSTPFIL
026159,000339: 26,2340 53602 DXCH PFILTADR
026160,000340:
026161,000341: 26,2341 31547 CAE STORCDUY
026162,000342: 26,2342 00006 EXTEND
026163,000343: 26,2343 77642 MP BIT14
026164,000344: 26,2344 53563 DXCH CDUYFIL # INITIALIZE THE STATE VECTOR TO CDU VALUE
026165,000345: 26,2345 31550 CAE STORCDUZ
026166,000346: 26,2346 00006 EXTEND
026167,000347: 26,2347 77642 MP BIT14
026168,000348: 26,2350 53565 DXCH CDUZFIL
026169,000349: 26,2351 37665 CA ZERO
026170,000350: 26,2352 55566 TS DCDUYFIL # INITIALIZE THE DERIVATIVES OF THE STATE
026171,000351: 26,2353 55567 TS DCDUYFIL +1
026172,000352: 26,2354 55570 TS DCDUZFIL
026173,000353: 26,2355 55571 TS DCDUZFIL +1
026174,000354: 26,2356 55572 TS D2CDUYFL
026175,000355: 26,2357 55573 TS D2CDUYFL +1
026176,000356: 26,2360 55574 TS D2CDUZFL
026177,000357: 26,2361 55575 TS D2CDUZFL +1
026178,000358:
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Page 0611 |
026180,000360:
026181,000361: 26,2362 55576 TS Y3DOT
026182,000362: 26,2363 55600 TS Z3DOT
026183,000363: 26,2364 55532 TS NEGUQ
026184,000364: 26,2365 55534 TS NEGUR
026185,000365: 26,2366 14606 TCF RESUME
026186,000366:
026187,000367:
026188,000368:
026189,000369: 26,2367 24366 .64 DEC 0.64000
026190,000370: 26,2370 14000 BIT12-13 OCTAL 14000
026191,000371: 26,2371 00132 POINT=90 DEC 90 B-14 # POINTER INITIALIZED ONE GROUP PAST END
026192,000372: 26,2372 37776 MS20F OCTAL 37776
026193,000373: 26,2373 37775 MS30F OCTAL 37775
026194,000374: 26,2374 02535 54006 DGTSFADR 2CADR DGTS
026195,000375:
026196,000376: 26,2376 02055 PAXISADR GENADR PAXIS
026197,000377: 26,2377 02564 54006 GTS2CADR 2CADR GTS
026198,000378:
026199,000379: 26,2401 02015 54006 POSTPFIL 2CADR FILTER
026200,000380:
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Page 0612 |
026202,000382:
026203,000383: # THE KALMAN FILTER WEIGHTINF VECTORS ARE LISTED IN THE FOLLOWING TABLE ALONG WITH THE TIME FROM THE LAST FILTER
026204,000384: # INITIALIZATION FOR WHICH THEY ARE TO BE USED. (THE VECTORS ARE STORED IN ORDERED TRIPLES (W0,W1,W2) IN
026205,000385: # DESCENDING ORDER IN TIME WITH THE STEADY STATE VALUES AT THE TOP.)
026206,000386:
026207,000387: # THE COMPONENTS ARE SCALED AS FOLLOWS:
026208,000388: # W0 : SCALED AT 2
026209,000389: # W1 : SCALED AT 32
026210,000390: # W2 : SCALED AT 8
026211,000391:
026212,000392: 26,2403 05751 WVECTOR DEC 0.18608 # W0 FROM RELATIVE TIME 1.5 SECS OR MORE
026213,000393: 26,2404 00672 DEC 0.02696 # W1 FROM RELATIVE TIME 1.5 SECS OR MORE
026214,000394: 26,2405 05362 DEC 0.17105 # W2 FROM RELATIVE TIME 1.5 SECS OR MORE
026215,000395: 26,2406 04460 DEC 0.14358 # W0 AT RELATIVE TIME = 1.45 SECONDS
026216,000396: 26,2407 00731 DEC 0.02890 # W1 AT RELATIVE TIME = 1.45 SECONDS
026217,000397: 26,2410 05530 DEC 0.17727 # W2 AT RELATIVE TIME = 1.45 SECONDS
026218,000398: 26,2411 04522 DEC 0.14565 # W0 AT RELATIVE TIME = 1.40 SECONDS
026219,000399: 26,2412 00745 DEC 0.02959 # W1 AT RELATIVE TIME = 1.40 SECONDS
026220,000400: 26,2413 05632 DEC 0.18129 # W2 AT RELATIVE TIME = 1.40 SECONDS
026221,000401: 26,2414 04572 DEC 0.14809 # W0 AT RELATIVE TIME = 1.35 SECONDS
026222,000402: 26,2415 11602 DEC 0.30479 # W1 AT RELATIVE TIME = 1.35 SECONDS
026223,000403: 26,2416 05764 DEC 0.18678 # W2 AT RELATIVE TIME = 1.35 SECONDS
026224,000404: 26,2417 04650 DEC 0.15090 # W0 AT RELATIVE TIME = 1.30 SECONDS
026225,000405: 26,2420 01005 DEC 0.03154 # W1 AT RELATIVE TIME = 1.30 SECONDS
026226,000406: 26,2421 06153 DEC 0.19403 # W2 AT RELATIVE TIME = 1.30 SECONDS
026227,000407: 26,2422 04735 DEC 0.15409 # W0 AT RELATIVE TIME = 1.25 SECONDS
026228,000408: 26,2423 01032 DEC 0.03283 # W1 AT RELATIVE TIME = 1.25 SECONDS
026229,000409: 26,2424 06405 DEC 0.20340 # W2 AT RELATIVE TIME = 1.25 SECONDS
026230,000410: 26,2425 05027 DEC 0.15767 # W0 AT RELATIVE TIME = 1.20 SECONDS
026231,000411: 26,2426 01063 DEC 0.03437 # W1 AT RELATIVE TIME = 1.20 SECONDS
026232,000412: 26,2427 06707 DEC 0.21525 # W2 AT RELATIVE TIME = 1.20 SECONDS
026233,000413: 26,2430 05130 DEC 0.16163 # W0 AT RELATIVE TIME = 1.15 SECONDS
026234,000414: 26,2431 01120 DEC 0.03616 # W1 AT RELATIVE TIME = 1.15 SECONDS
026235,000415: 26,2432 07270 DEC 0.23000 # W2 AT RELATIVE TIME = 1.15 SECONDS
026236,000416: 26,2433 05237 DEC 0.16595 # W0 AT RELATIVE TIME = 1.10 SECONDS
026237,000417: 26,2434 01163 DEC 0.03824 # W1 AT RELATIVE TIME = 1.10 SECONDS
026238,000418: 26,2435 07742 DEC 0.24814 # W2 AT RELATIVE TIME = 1.10 SECONDS
026239,000419: 26,2436 05354 DEC 0.17063 # W0 AT RELATIVE TIME = 1.05 SECONDS
026240,000420: 26,2437 01232 DEC 0.04062 # W1 AT RELATIVE TIME = 1.05 SECONDS
026241,000421: 26,2440 10513 DEC 0.27018 # W2 AT RELATIVE TIME = 1.05 SECONDS
026242,000422: 26,2441 05475 DEC 0.17560 # W0 AT RELATIVE TIME = 1.00 SECONDS
026243,000423: 26,2442 01306 DEC 0.04332 # W1 AT RELATIVE TIME = 1.00 SECONDS
026244,000424: 26,2443 11375 DEC 0.29668 # W2 AT RELATIVE TIME = 1.00 SECONDS
026245,000425: 26,2444 05622 DEC 0.18080 # W0 AT RELATIVE TIME = 0.95 SECONDS
026246,000426: 26,2445 01367 DEC 0.04634 # W1 AT RELATIVE TIME = 0.95 SECONDS
026247,000427: 26,2446 12402 DEC 0.32824 # W2 AT RELATIVE TIME = 0.95 SECONDS
026248,000428: 26,2447 05752 DEC 0.18614 # W0 AT RELATIVE TIME = 0.90 SECONDS
026249,000429: 26,2450 01456 DEC 0.04968 # W1 AT RELATIVE TIME = 0.90 SECONDS
026250,000430: 26,2451 13541 DEC 0.36531 # W2 AT RELATIVE TIME = 0.90 SECONDS
026251,000431: 26,2452 06101 DEC 0.19147 # W0 AT RELATIVE TIME = 0.85 SECONDS
026252,000432: 26,2453 01551 DEC 0.05328 # W1 AT RELATIVE TIME = 0.85 SECONDS
026253,000433:
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Page 0613 |
026255,000435:
026256,000436: 26,2454 15040 DEC 0.40821 # W2 AT RELATIVE TIME = 0.85 SECONDS
026257,000437: 26,2455 06225 DEC 0.19659 # W0 AT RELATIVE TIME = 0.80 SECONDS
026258,000438: 26,2456 01647 DEC 0.05707 # W1 AT RELATIVE TIME = 0.80 SECONDS
026259,000439: 26,2457 16503 DEC 0.45721 # W2 AT RELATIVE TIME = 0.80 SECONDS
026260,000440: 26,2460 06341 DEC 0.20122 # W0 AT RELATIVE TIME = 0.75 SECONDS
026261,000441: 26,2461 01746 DEC 0.06089 # W1 AT RELATIVE TIME = 0.75 SECONDS
026262,000442: 26,2462 20244 DEC 0.50999 # W2 AT RELATIVE TIME = 0.75 SECONDS
026263,000443: 26,2463 06440 DEC 0.20505 # W0 AT RELATIVE TIME = 0.70 SECONDS
026264,000444: 26,2464 02041 DEC 0.06451 # W1 AT RELATIVE TIME = 0.70 SECONDS
026265,000445: 26,2465 22055 DEC 0.56522 # W2 AT RELATIVE TIME = 0.70 SECONDS
026266,000446: 26,2466 06514 DEC 0.20775 # W0 AT RELATIVE TIME = 0.65 SECONDS
026267,000447: 26,2467 02123 DEC 0.06759 # W1 AT RELATIVE TIME = 0.65 SECONDS
026268,000448: 26,2470 23610 DEC 0.61768 # W2 AT RELATIVE TIME = 0.65 SECONDS
026269,000449: 26,2471 06542 DEC 0.20912 # W0 AT RELATIVE TIME = 0.60 SECONDS
026270,000450: 26,2472 02166 DEC 0.06972 # W1 AT RELATIVE TIME = 0.60 SECONDS
026271,000451: 26,2473 25072 DEC 0.65979 # W2 AT RELATIVE TIME = 0.60 SECONDS
026272,000452: 26,2474 06546 DEC 0.20934 # W0 AT RELATIVE TIME = 0.55 SECONDS
026273,000453: 26,2475 02205 DEC 0.07062 # W1 AT RELATIVE TIME = 0.55 SECONDS
026274,000454: 26,2476 25640 DEC 0.68165 # W2 AT RELATIVE TIME = 0.55 SECONDS
026275,000455: 26,2477 06543 DEC 0.20919 # W0 AT RELATIVE TIME = 0.50 SECONDS
026276,000456: 26,2500 02177 DEC 0.07028 # W1 AT RELATIVE TIME = 0.50 SECONDS
026277,000457: 26,2501 25427 DEC 0.67330 # W2 AT RELATIVE TIME = 0.50 SECONDS
026278,000458: 26,2502 06564 DEC 0.21020 # W0 AT RELATIVE TIME = 0.45 SECONDS
026279,000459: 26,2503 02160 DEC 0.06931 # W1 AT RELATIVE TIME = 0.45 SECONDS
026280,000460: 26,2504 24077 DEC 0.62883 # W2 AT RELATIVE TIME = 0.45 SECONDS
026281,000461: 26,2505 06671 DEC 0.21441 # W0 AT RELATIVE TIME = 0.40 SECONDS
026282,000462: 26,2506 02154 DEC 0.06908 # W1 AT RELATIVE TIME = 0.40 SECONDS
026283,000463: 26,2507 21470 DEC 0.55030 # W2 AT RELATIVE TIME = 0.40 SECONDS
026284,000464: 26,2510 07125 DEC 0.22391 # W0 AT RELATIVE TIME = 0.35 SECONDS
026285,000465: 26,2511 02225 DEC 0.07162 # W1 AT RELATIVE TIME = 0.35 SECONDS
026286,000466: 26,2512 16256 DEC 0.44810 # W2 AT RELATIVE TIME = 0.35 SECONDS
026287,000467: 26,2513 07544 DEC 0.24049 # W0 AT RELATIVE TIME = 0.30 SECONDS
026288,000468: 26,2514 02430 DEC 0.07956 # W1 AT RELATIVE TIME = 0.30 SECONDS
026289,000469: 26,2515 12624 DEC 0.33713 # W2 AT RELATIVE TIME = 0.30 SECONDS
026290,000470: 26,2516 10401 DEC 0.26566 # W0 AT RELATIVE TIME = 0.25 SECONDS
026291,000471: 26,2517 03054 DEC 0.09646 # W1 AT RELATIVE TIME = 0.25 SECONDS
026292,000472: 26,2520 07317 DEC 0.23140 # W2 AT RELATIVE TIME = 0.25 SECONDS
026293,000473: 26,2521 11507 DEC 0.30123 # W0 AT RELATIVE TIME = 0.20 SECONDS
026294,000474: 26,2522 04070 DEC 0.12841 # W1 AT RELATIVE TIME = 0.20 SECONDS
026295,000475: 26,2523 04404 DEC 0.14087 # W2 AT RELATIVE TIME = 0.20 SECONDS
026296,000476: 26,2524 13146 DEC 0.34996 # W0 AT RELATIVE TIME = 0.15 SECONDS
026297,000477: 26,2525 06020 DEC 0.18850 # W1 AT RELATIVE TIME = 0.15 SECONDS
026298,000478: 26,2526 02213 DEC 0.07101 # W2 AT RELATIVE TIME = 0.15 SECONDS
026299,000479: 26,2527 15230 DEC 0.41554 # W0 AT RELATIVE TIME = 0.10 SECONDS
026300,000480: 26,2530 11756 DEC 0.31141 # W1 AT RELATIVE TIME = 0.10 SECONDS
026301,000481: 26,2531 00613 DEC 0.02408 # W2 AT RELATIVE TIME = 0.10 SECONDS
026302,000482: 26,2532 17670 DEC 0.49561 # W0 AT RELATIVE TIME = 0.05 SECONDS
026303,000483: 26,2533 23514 DEC 0.61404 # W1 AT RELATIVE TIME = 0.05 SECONDS
026304,000484: 26,2534 00001 DEC 0.00006 # W2 AT RELATIVE TIME = 0.05 SECONDS
026305,000485:
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Page 0614 |
026307,000487:
026308,000488: # DUMMY TRIM GIMBAL RUPT:
026309,000489: 26,2535 32373 DGTS CAF MS30F # RESET TIMER IMMEDIATELY: DT = 30 MS
026310,000490: 26,2536 54030 TS TIME5
026311,000491:
026312,000492: 26,2537 22016 LXCH BANKRUPT # INTERRUPT LEAD IN (CONTINUED)
026313,000493:
026314,000494: 26,2540 00006 EXTEND # SET UP FILTER RUPT
026315,000495: 26,2541 32402 DCA POSTPFIL
026316,000496: 26,2542 52346 DXCH T5ADR
026317,000497:
026318,000498: 26,2543 14610 TCF NOQRSM
026319,000499:
026320,000500: # DUMMY FILTER RUPT AFTER P-AXIS RUPT:
026321,000501:
026322,000502: 26,2544 32372 DUMMYFIL CAF MS20F # RESET TIMER IMMEDIATELY: DT = 20 MS
026323,000503: 26,2545 54030 TS TIME5
026324,000504: 26,2546 22016 LXCH BANKRUPT # INTERRUPT LEAD IN (CONTINUED)
026325,000505:
026326,000506: 26,2547 00006 EXTEND # SET UP QRAXIS RUPT
026327,000507: 26,2550 32554 DCA DFQRAXIS
026328,000508: 26,2551 52346 DXCH T5ADR
026329,000509: 26,2552 14610 TCF NOQRSM
026330,000510:
026331,000511: 26,2553 02002 50006 DFQRAXIS 2CADR QRAXIS
026332,000512:
026333,000513: # DUMMY FILTER RUPT AFTER Q,R=AXES RUPT:
026334,000514:
026335,000515: 26,2555 32372 FILDUMMY CAF MS20F # RESET TIMER IMMEDIATELY: DT = 20 MS
026336,000516: 26,2556 54030 TS TIME5
026337,000517:
026338,000518: 26,2557 22016 LXCH BANKRUPT # INTERRUPT LEAD IN (CONTINUED)
026339,000519:
026340,000520: 26,2560 00006 EXTEND # SET UP PAXIS RUPT
026341,000521: 26,2561 32071 DCA PAX/FILT
026342,000522: 26,2562 52346 DXCH T5ADR
026343,000523: 26,2563 14606 TCF RESUME
End of include-file KALMAN_FILTER_FOR_LEM_DAP.agc. Parent file is MAIN.agc