Proof MEASUREMENT_INCORPORATION (#358)

Closes #227, covers pages 1252 to 1261
2018-11-13 10:12:24 -06:00 · 2018-11-13 10:12:24 -06:00 · 2e30258105
parent c3f93c3ccf
commit 2e30258105
1 changed files with 61 additions and 68 deletions
--- a/Comanche055/MEASUREMENT_INCORPORATION.agc
+++ b/Comanche055/MEASUREMENT_INCORPORATION.agc
@ -28,32 +28,31 @@
 #			Colossus 2A

 # Page 1252
-# INCORP1 -- PERFORMS THE SIX DIMENSIONAL STATE VECTOR DEVIATION FOR POSITION
-# AND VELOCITY OR THE NINE-DIMENSIONAL DEVIATION OF POSITION, VELOCITY, AND
-# RADAR OR LANDMARK BIAS.  THE OUTPUT OF THE BVECTOR ROUTINE ALONG WITH THE
-# ERROR TRANSITION MATRIX (W) ARE USED AS INPUT TO THE ROUTINE.  THE DEVIATION
-# IS OBTAINED BY COMPUTING AN ESTIMATED TRACKING MEASUREMENT FROM THE
-# CURRENT STATE VECTOR AND COMPARING IT WITH AN ACTUAL TRACKING MEASUREMENT
-# AND APPLYING A STATISTICAL WEIGHTING VECTOR.
-#
+#  INCORP1--PERFORMS THE SIX DIMENSIONAL STATE VECTOR DEVIATION FOR POSITI
+# ON AND VELOCITY OR THE NINE DIMENSIONAL DEVIATION OF POSITION,VELOCITY,A
+# ND RADAR OR LANDMARK BIAS.THE OUTPUT OF THE BVECTOR ROUTINE ALONG WITH T
+# HE ERROR TRANSITION MATRIX(W) ARE USED AS INPUT TO THE ROUTINE.THE DEVIA
+# TION IS OBTAINED BY COMPUTING AN ESTIMATED TRACKING MEASUREMENT FROM THE
+# CURRENT STATE VECTOR AND COMPARING IT WITH AN ACTUAL TRACKING MEASUREMEN
+# T AND APPLYING A STATISTICAL WEIGHTING VECTOR.
 # INPUT
-#	 DMENFLG = 0 (6-DIMENSIONAL BVECTOR), =1 (9-DIMENSIONAL)
-#	       W = ERROR TRANSITION MATRIX 6X6 OR 9X9
-#	VARIANCE = VARIANCE (SCALAR)
-#	  DELTAQ = MEASURED DEVIATION (SCALAR)
-#	 BVECTOR = 6 OR 9 DIMENSIONAL BVECTOR
+#   DMENFLG = 0 6DIMENSIONAL BVECTOR  1= 9DIMENSIONAL
+#          W = ERROR TRANSITION MATRIX 6X6 OR 9X9
+#   VARIANCE = VARIANCE (SCALAR)
+#     DELTAQ = MEASURED DEVIATION(SCALAR)
+#    BVECTOR = 6 OR 9 DIMENSIONAL BVECTOR
 #
 # OUTPUT
-#	  DELTAX = STATE VECTOR DEVIATIONS 6 OR 9 DIMENSIONAL
-#	      ZI = VECTOR USED FOR THE INCORPORATION 6 OR 9 DIMENSIONAL
-#	   GAMMA = SCALAR
-#	   OMEGA = OMEGA WEIGHTING VECTOR 6 OR 9 DIMENSIONAL
+#      DELTAX = STATE VECTOR DEVIATIONS 6 OR 9 DIMENSIONAL
+#	   ZI = VECTOR USED FOR THE INCORPORATION 6 OR 9 DIMENSIONAL
+#     GAMMA = SCALAR
+#     OMEGA = OMEGA WEIGHTING VECTOR 6 OR 9 DIMENSIONAL
 #
 # CALLING SEQUENCE
-#	L	CALL 	INCORP1
+#    L  CALL INCORP1
 #
 # NORMAL EXIT
-#	L+1 OF CALLING SEQUENCE
+#    L+1 OF CALLING SEQUENCE

 		BANK	37
 		SETLOC	MEASINC
@ -75,8 +74,8 @@ INCORP1		STQ
 			6		# IX2 = 18	S2=6
 Z123		VLOAD	MXV*
 			BVECTOR		# BVECTOR (0)
-			W 	+54D,1
-		STORE	ZI 	+18D,2
+			W +54D,1
+		STORE	ZI +18D,2
 		VLOAD
 			BVECTOR +6	# BVECTOR (1)
 # Page 1253
@ -87,9 +86,9 @@ Z123		VLOAD	MXV*
 		VLOAD
 			BVECTOR +12D	# BVECTOR (2)
 		MXV*	VAD*
-			W 	+162D,1
-			ZI 	+18D,2	# B(0)*W+B(1)*(W+54)+B(2)*(W+108) FIRST PASS
-		STORE	ZI 	+18D,2	# ZI THEN Z2 THEN Z3
+			W +162D,1
+			ZI +18D,2	# B(0)*W+B(1)*(W+54)+B(2)*(W+108)FIRST PAS
+		STORE	ZI +18D,2	# ZI THEN Z2 THEN Z3
 		TIX,1
 			INCOR1
 INCOR1		TIX,2	BON
@ -98,18 +97,18 @@ INCOR1		TIX,2	BON
 			INCOR1A
 		VLOAD
 			ZEROVECS
-		STORE	ZI 	+12D
+		STORE	ZI +12D
 INCOR1A		SETPD	VLOAD
 			0
 			ZI
 		VSQ	RTB
 			TPMODE
 		PDVL	VSQ
-			ZI 	+6
+			ZI +6
 		RTB	TAD
 			TPMODE
 		PDVL	VSQ
-			ZI 	+12D
+			ZI +12D
 		RTB	TAD
 			TPMODE
 		TAD	AXT,2
@ -159,26 +158,26 @@ INCOR1C		TLOAD	ROUND
 		DDV	PUSH		# PD 0-1 = DELTAQ/A
 		GOTO
 			NEWZCOMP
-	-3	SSP
+   -3		SSP
 			S2
 			54D
 INCOR2		VLOAD	VXM*		# COMPUT OMEGA1,2,3
 			ZI
-			W 	+162D,2
+			W +162D,2
 		PUSH	VLOAD
-			ZI 	+6
+			ZI +6
 		VXM*	VAD
-			W 	+180D,2
+			W +180D,2
 		PUSH	VLOAD
-			ZI 	+12D
+			ZI +12D
 		VXM*	VAD
-			W 	+198D,2
-		PUSH	TIX,2		# PD 2-7=OMEGA1, 8-13=OMEGA2, 14-19=OMEGA3
+			W +198D,2
+		PUSH	TIX,2		# PD 2-7=OMEGA1,8-13=OMEGA2,14-19=OMEGA3
 			INCOR2
 		VLOAD	STADR
-		STORE	OMEGA 	+12D
+		STORE	OMEGA +12D
 		VLOAD	STADR
-		STORE	OMEGA 	+6
+		STORE	OMEGA +6
 		VLOAD	STADR
 		STORE	OMEGA
 # Page 1255
@ -186,48 +185,47 @@ INCOR2		VLOAD	VXM*		# COMPUT OMEGA1,2,3
 			DMENFLG
 			INCOR2AB
 			ZEROVECS
-		STORE	OMEGA 	+12D
+		STORE	OMEGA +12D
 INCOR2AB	AXT,2	SSP
 			18D
 			S2
 			6
 INCOR3		VLOAD*
-			OMEGA 	+18D,2
+			OMEGA +18D,2
 		VXSC	VSL*
 			0		# DELTAQ/A
 			0,1
-		STORE	DELTAX 	+18D,2
+		STORE	DELTAX +18D,2
 		TIX,2	VLOAD
 			INCOR3
-			DELTAX 	+6
+			DELTAX +6
 		VSL3
-		STORE	DELTAX 	+6
+		STORE	DELTAX +6
 		GOTO
 			EGRESS

 # Page 1256
-# INCORP2 -- INCORPORATES THE COMPUTED STATE VECTOR DEVIATIONS INTO THE
-# ESTIMATED STATE VECTOR.  THE STATE VECTOR UPDATED MAY BE FOR EITHER THE
-# LEM OR THE CSM.  DETERMINED BY FLAG VEHUPFLG.  (ZERO = LEM) (1 = CSM)
-#
+#  INCORP2 -INCORPORATES THE COMPUTED STATE VECTOR DEVIATIONS INTO THE
+# ESTIMATED STATE VECTOR. THE STATE VECTOR UPDATED MAY BE FOR EITHER THE
+# LEM OR THE CSM.DETERMINED BY FLAG VEHUPFLG.(ZERO = LEM) (1 = CSM)
 # INPUT
-#	PERMANENT STATE VECTOR FOR EITHER THE LEM OR CSM
-#	VEHUPFLG = UPDATE VEHICLE C=LEM 1=CSM
-#	W = ERROR TRANSITION MATRIX
-#	DELTAX = COMPUTED STATE VECTOR DEVIATIONS
-# 	DMENFLG = SIZE OF W MATRIX (ZERO=6X6) (1=9X9)
-#	GAMMA = SCALAR FOR INCORPORATION
-# 	ZI = VECTOR USED IN INCORPORATION
-#	OMEGA = WEIGHTING VECTOR
+#    PERMANENT STATE VECTOR FOR EITHER THE LEM OR CSM
+#    VEHUPFLG = UPDATE VEHICLE C=LEM  1=CSM
+#    W = 	ERROR TRANSITION MATRIX
+#    DELTAX  = 	COMPUTED STATE VECTOR DEVIATIONS
+#    DMENFLG = 	SIZE OF W MATRIX (ZERO=6X6) (1=9X9)
+#    GAMMA   = 	SCALAR FOR INCORPORATION
+#    ZI      = 	VECTOR USED IN INCORPORATION
+#    OMEGA   = 	WEIGHTING VECTOR
 #
 # OUTPUT
-#	UPDATED PERMANENT STATE VECTOR
+#    UPDATED PERMANENT STATE VECTOR
 #
 # CALLING SEQUENCE
-#	L	CALL	INCORP2
+#    L	 CALL INCORP2
 #
 # NORMAL EXIT
-#	L+1 OF CALLING SEQUENCE
+#    L+1 OF CALLING SEQUENCE
 #

 		SETLOC	MEASINC1
@ -238,7 +236,7 @@ INCOR3		VLOAD*
 INCORP2		STQ	CALL
 			EGRESS
 			INTSTALL
-		VLOAD	VXSC		# CALC. GAMMA*OMEGA1,2,3
+		VLOAD	VXSC		# CALC. GAMMA * OMEGA1,2,3
 			OMEGA
 			GAMMA
 		STOVL	OMEGAM1
@ -263,7 +261,7 @@ FAZA		TC	PHASCHNG
 		TC	UPFLAG
 		ADRES	REINTFLG
 FAZA1		CA	WIXB		# START FIRST PHASE OF INCORP2
-		TS	WIXA		# TO UPDATE 6 OR 9 DIM. W MATRIX IN TEMP
+		TS	WIXA		#  TO UPDATE 6 OR 9 DIM. W MATRIX IN TEMP
 		CA	ZIXB
 		TS	ZIXA
 		TC	INTPRET
@ -326,7 +324,7 @@ FAZB		CALL
 			GRP2PC
 		EXIT
 FAZB1		CA	WIXA		# START 2ND PHASE OF INCORP2 TO TRANSFER
-		AD	6DD		# 	TEMP REG TO PERM W MATRIX
+		AD	6DD		#     TEMP REG TO PERM W MATRIX
 		TS	WIXB
 		CA	ZIXA
 		AD	MINUS2
@ -349,7 +347,7 @@ FAZB1		CA	WIXA		# START 2ND PHASE OF INCORP2 TO TRANSFER
 		STORE	W +162D,1
 FAZB2		TIX,1	GOTO
 			+2
-			FAZC		# DONE WITH W MATRIX.  UPDATE STATE VECTOR
+			FAZC		# DONE WITH W MATRIX. UPDATE STATE VECTOR
 		RTB
 			FAZA
 FAZB5		SLOAD	DAD
@ -363,7 +361,7 @@ FAZC		CALL
 # Page 1259
 		VLOAD	VAD		# START 3RD PHASE OF INCORP2
 			X789		# 7TH,8TH,9TH,COMPONENT OF STATE VECTOR
-			DELTAX 	+12D	# INCORPORATION FOR X789
+			DELTAX +12D	# INCORPORATION FOR X789
 		STORE	TX789
 		BON	RTB
 			VEHUPFLG
@ -383,7 +381,7 @@ FAZAB		BOVB	AXT,2
 			TDELTAV
 			FAZAB1
 		STOVL	TDELTAV
-			DELTAX 	+6	# B5 IF MOON ORBIT, B7 IF EARTH
+			DELTAX +6	# B5 IF MOON ORBIT, B7 IF EARTH
 		VSR*	VAD
 			0 -4,2
 			TNUV
@ -397,7 +395,7 @@ FAZAB1		VLOAD	VAD
 		STORE	RCV
 FAZAB2		VLOAD	VAD
 			VCV
-			DELTAX 	+6
+			DELTAX +6
 		STORE	VCV
 		SXA,2	CALL
 			PBODY
@ -462,7 +460,6 @@ NEWZCOMP	VLOAD	ABVAL

 		SETLOC	MEASINC3
 		BANK
-
 # Page 1261
 NEWZCMP1		DLOAD	SXA,1
 			NORMZI
@ -497,7 +494,3 @@ NEWZCMP1		DLOAD	SXA,1
 		GOTO
 			INCOR2 -3
 NORMZI		=	36D
-
-
-
-