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Proof MEASUREMENT_INCORPORATION (#358) 

Closes #227, covers pages 1252 to 1261
pull/365/head
James Buckley 2018-11-13 10:12:24 -06:00 committed by James Harris
parent c3f93c3ccf
commit 2e30258105
1 changed files with 61 additions and 68 deletions
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35
Comanche055/MEASUREMENT_INCORPORATION.agc
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@ -28,19 +28,18 @@
# 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)
# DMENFLG = 0 6DIMENSIONAL BVECTOR 1= 9DIMENSIONAL
# W = ERROR TRANSITION MATRIX 6X6 OR 9X9
# VARIANCE = VARIANCE (SCALAR)
# DELTAQ = MEASURED DEVIATION (SCALAR)
# DELTAQ = MEASURED DEVIATION(SCALAR)
# BVECTOR = 6 OR 9 DIMENSIONAL BVECTOR
#
# OUTPUT
@ -88,7 +87,7 @@ Z123 VLOAD MXV*
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
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
@ -173,7 +172,7 @@ INCOR2 VLOAD VXM* # COMPUT OMEGA1,2,3
ZI +12D
VXM* VAD
W +198D,2
PUSH TIX,2 # PD 2-7=OMEGA1, 8-13=OMEGA2, 14-19=OMEGA3
PUSH TIX,2 # PD 2-7=OMEGA1,8-13=OMEGA2,14-19=OMEGA3
INCOR2
VLOAD STADR
STORE OMEGA +12D
@ -206,10 +205,9 @@ INCOR3 VLOAD*
EGRESS
# Page 1256
# INCORP2 -- INCORPORATES THE COMPUTED STATE VECTOR DEVIATIONS INTO THE
# 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)
#
# 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
@ -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
@ -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