diff --git a/Comanche055/MEASUREMENT_INCORPORATION.agc b/Comanche055/MEASUREMENT_INCORPORATION.agc index 5fc213b..1b54521 100644 --- 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 - - - -