Micro Inertial Reference System IRS TM Product Description .
Micro Inertial Reference System IRSTMProduct DescriptionOctober 2016PROPRIETARY NOTICE: This work contains valuable confidential and proprietary information. All proposals, reports, drawings,specifications, data, information, or other material, whether accompanying this notice or separately supplied in furtherance of thisProposal, are the property of Honeywell, Inc. are disclosed by Honeywell only in confidence, and, except as Honeywell may otherwisepermit in writing, are to be used, disclosed, or copied only to the extent necessary for the evaluation thereof by recipient, or by the end–use customer or higher–tier contractor or subcontractor between said customer and recipient, in furtherance of the purposes by whichthis Proposal is made by Honeywell. Disclosure by recipient to such end–use customer or higher–tier contractor or subcontractor shallbe made by recipient only under the same restrictions as the original disclosure to recipient by Honeywell. The foregoing shall not applyto any of such material to the extent that the contents (i) are now, or subsequently become, available to the public without payment, (ii)were previously known to recipient, or (iii) subsequently become otherwise known to the recipient without restriction. All such material,together with all copies thereof, is to be returned to Honeywell when it has served its purpose, or shall be otherwise disposed of asdirected by Honeywell.This unpublished work is protected by the laws of the United States and other countries. if publication occurs, the following notice shallapply: Copyright 2009, Honeywell Inc. All Rights Reserved.NOTICE - FREEDOM OF INFORMATION ACT (5 USC 552) AND DISCLOSURE OF CONFIDENTIAL INFORMATION GENERALLY(18 USC 1905)This document is being furnished in confidence by Honeywell Inc. The information disclosed herein falls within exemption (b) (4) of 5USC 552 and the prohibitions of 18 USC 1905.These Commodities, Technology or Software Were Exported From the United States in Accordance with the Export AdministrationRegulations. Diversion Contrary to U.S. Law Prohibited.ECCN EAR99Use or disclosure of information on this page is subject to the restrictions on the title page of this document
TABLE OF CONTENTSSection Page1.0Introduction .12.0Technical Overview .23.0Experience .74.0Hardware Description .85.0Qualification Levels .136.0Input Parameter Characteristics.167.0Output Parameter Accuracy .22Use or disclosure of information on this page is subject to the restrictions on the title page of this document
1.0 IntroductionThe Micro IRS contains laser gyro inertial navigation technology in the industry’s smallest and lightest package. This newsystem has been designed to simplify crew workload while dramatically reducing installation time, weight, size, power, andcost. A sample of the fixed wing and rotary wing platforms that the Laseref VI micro IRS has been selected and installed onare as follows: Gulfstream G280, G350, G450, G500, G550, and G650 Hawker-Beachcraft Hawker 4000, T-6B Dassault Falcon 900EX, 2000EX, F5X, F8X Embraer 170/175/190/195 and E2 Bombardier Challenger 350, 605, Global 6000, 7000, 8000 Bombardier C-Series, CRJ-100/200/700/900, Q400 Cessna Latitude, Longitude Civilian C-130 Pilatus PC-21, PC-7, and PC-9 Trainer Boeing 787, 777X COMAC ARJ-21, C919 Mitsubishi Regional Jet Sukhoi Superjet 100 Irkut MC-21 Airbus Helicopters H145, H225 Leonardo AW-101, M-345Laseref VI Micro IRS features, enhancements, and comparison to the Laseref VMicro IRS: Smallest, lightest, and lowest power IRS in the industry. One-half the size, one-third the weight, and one-third thepower of competing systems. Laseref VI more than 0.5 pounds less than the Laseref VLaseref VI provides an enhanced HIGH Integrity Hybrid GPS (HIGH Step II) Now provides 100% Availability of RNP 0.1 NM Navigation Hybrid Kalman Filter provides extended integrity coasting through GNSS-denied outagesAlignment In Motion Provides recovery of full performance mode following loss of power in flight Laseref VI performs Alignment In Motion greater than 50% faster than the Laseref V Quick dispatch within 1 minute is available with stationary and subsequent align-in-motion algorithms. 40,000 hour MTBF Reliability -- highest in the industry Automatic Mode Control Logic and Automatic Initialization for reduced crew workload Passive Cooling eliminates the weight and cost of the cooling fans Electronic mounting tray alignment for reduced installation cost Enhanced Automatic Realignment uses GPS to refine the alignment between flights Powerful Processor with Partitioned Operating SystemUse or disclosure of information on this page is subject to the restrictions on the title page of this document
System Components:The Laseref VI Micro Inertial Reference System contains the following components: HG2100BB Micro IRU WG2001 Mounting Tray IM-950 Aircraft Personality ModuleHG2100 Micro IRUThe Micro IRU is a self-contained Inertial Reference Unit that provides long range navigation using high accuracyinertial sensors.Industry standard ARINC-429 outputs are provided for Flight Management Systems, PrimaryDisplays, Forward Looking IR Cameras, Head-Up Displays, Flight Control, antenna stabilization (Satcom, WeatherRadar, Direct Broadcast Satellite), EGPWS, and other critical aircraft systems. Full inertial reference performance isprovided for unaided RNP-10 and RNP-5 (time limited) without GPS inputs. When GPS inputs are applied, the IRUprovides tightly coupled GPS/Inertial hybrid outputs to support enhanced operations such as RNP AR, initializesautomatically, and performs alignment-in-motion.IM-950 Aircraft Personality ModuleThe memory module contains aircraft configuration data and mounting tray misalignment terms (Euler angles). Onceprogrammed with the menu driven PC tool, the APM remains with the tray. The IRU can be removed and replacedwithout any realignment or reprogramming procedures.2.0 Technical OverviewNote: The information in this document is a summary of the Laseref VI Installation and Maintenance Manual(Laseref VI IMM). This document should not be used for official technical or installation reference information.Only the Laseref VI IMM should be used as the official technical performance and installation referencedocument.The Laseref VI Micro IRS is an Inertial Reference System (IRS) which outputs ARINC 429 inertial reference information forflight control and aircraft navigation.Key Features: Weight9.3 lbs Size267 cubic inches Dimensions (WxLxH)6.5”x6.4”x6.4” Power Consumption20 watts CoolingPassive Mounting Tray0.5 lbs MTBF25,000 operational hours ARINC 429 Transmitters4 (Can support up to 80 different LRUs) ARINC 429 Receivers7Use or disclosure of information on this page is subject to the restrictions on the title page of this document
Ethernet1 Discrete Inputs12 Discrete Outputs2 OperationAutomatic mode control and Align-In-Motion Maintenance 99% Build-in Test CoverageNVM storage of performance and troubleshooting dataBuild-in automatic sensor calibrationCertification: Software CertificationDO178B Level A Hardware CertificationDO160G TSO & ETSOC-3e, C-4c, C-5f and C-6e TSO & ETSOC-129a Class B1/C1 (with ARINC 734A GPS Receiver) FAR 121 Appendix G (Federal Aviation Regulations) – Operating Requirements: Domestic, Flag, andSupplemental Operations Advisory Circular 25-4 Inertial Navigation Systems (INS) AC 120-33 - Operational approval of airborne long range navigation systems for flight within the NorthAtlantic minimum navigation performance specifications airspace FAA Order 8400.12A, Required Navigation Performance 10 (RNP-10) Operational Approval, for 12 hoursunaided AC 90-96, Approval of u.s. operators and aircraft to operate under instrument flight rules (IFR) in Europeanairspace designated for basic area navigation (BRNAV/RNP-5), for 2 ½ hours unaidedWhen connected with an ARINC 743A compatible GPS receiver, the Micro IRS provides hybrid GPS/Inertial outputscapable of meeting TSO C-129a Class B1/C1 requirements.ARINC 429 Outputs:The Inertial Reference (IR) component of the Micro IRS contains three force rebalance accelerometers and three lasergyros, which it uses to measure inertial motion. The IR component requires system initialization (entry of latitude andlongitude). Initialization may come from another system such as a Flight Management System (FMS) or from positioninputs provided by a GPS receiver. Once the IR component is properly aligned and initialized it transitions into its normaloperating mode. It relies on inputs from an Air Data System (ADS) for wind, flight path and altitude. The inertial referencesystem outputs the parameters below.Body Frame: Longitudinal, Lateral, and Normal Accelerations Pitch, Roll, and Yaw RatesLocal Level Frame: Pitch and Roll Angles Pitch and Roll Attitude Rates Flight Path Angle and Flight Path AccelerationUse or disclosure of information on this page is subject to the restrictions on the title page of this document
Inertial Vertical Speed and Inertial Vertical Acceleration Platform Heading Turn RateEarth Frame: Latitude and Longitude N-S Velocity, E-W Velocity, and Ground speed Inertial Altitude True and Magnetic Heading Track Angle True and Track Angle Magnetic Track Angle Rate Wind Speed and Wind Direction True Drift Angle Along Track and Cross Track Accelerations Along Heading and Cross Heading AccelerationsHybrid Function:The GPS Hybrid function utilizes existing hardware components in the IRU to receive GPS data from one or two GPSReceiver systems. Data received is one Hz nominal RS-422 time mark signal unique for each GPS receiver inputand ARINC 429 GPS high-speed satellite measurement and autonomous data. The GPS Hybrid function blendsreceived GPS autonomous Pseudo Range with Inertial and Air Data altitude data in a tightly coupled Kalman filter toachieve optimal position, velocity, and attitude performance. All satellites and sensors are individually calibrated inthe Kalman filter. The resulting hybrid data is highly calibrated and provides exceptional navigation performance evenif all satellites are lost. The GPS Hybrid function provides the following output parameters: Hybrid Latitude and Longitude Hybrid N-S Velocity, E-W Velocity, and Ground Speed Hybrid Altitude and Vertical Velocity Hybrid True Heading, Track Angle, and Flight Path Angle Hybrid Horizontal and Vertical Figure Of Merit and Integrity DataUse or disclosure of information on this page is subject to the restrictions on the title page of this document
HIGH Step II:HIGH Step II is an enhanced version of HIGH that further improves the capability of the GPS/Inertial technology.HIGH Step II meets the industry requirements (DO-229 appendix R) for GPS/inertial tightly coupled integritycalculations. It features a Honeywell algorithm called Solution Separation that uses optimal multiple 36-state Kalmanfiltering techniques to produce a RAIM like function and also extends the integrity protection levels (i.e. integritycoasting) by taking advantage of the inertial integration which extends the function to GPS denied environments (i.e.Terrain Masking, Solar storms, Intentional Jamming, GPS constellation variation etc). This makes RNP navigation,especially for low RNP, more robust to protect against unexpected GPS denied environments leading to missedapproachesThe table below summarizes the availability of detection for the HIGH Step II Enhanced algorithm.HIGH Step II AvailabilitySatellites24 Satellites0.1 nmi100%0.2 nmi100%Alert Level0.3 nmi1.0 nmi100%100%2.0 nmi100%If GPS data is completely lost, the kalman filter will maintain accuracy for an extended period of time.The table below shows the 95% coasting performance.Summary of 95% Accuracy Hybrid Coasting TimesCoasting Times for Given RNPPerformance Level95% AccuracyRNP 0.1RNP 0.3 10 minutes 20 minutesRNP 1 1 hourUse or disclosure of information on this page is subject to the restrictions on the title page of this document
Alignment ModesThe IRU provides three alignment modes consisting of: Stationary Alignment Align In Motion Auto RealignStationary Alignment and Align In Motion modes are performed in conjunction with the Attitude mode prior to entryinto the Navigation mode so that valid attitude outputs are available immediately after power-up. The Auto Realignmode is performed in conjunction with the Navigation mode. The IRU continuously tests for the Align In Motionconditions, and if met, preempts the Stationary Alignment mode and switches to the Align In Motion mode. Followingcompletion of either alignment mode, the IRU transitions to the Navigation mode. Once the Navigation mode isattained, the IRU remains in this mode indefinitely while valid power is applied to the device (or until the IRU is resetusing either the IRU Off discretes or the IRS Reset Command). While motionless in the Navigation mode, the IRUautomatically realigns itself using the Auto Realign function.During Stationary Alignment and Post Flight Auto Realign, valid data from GPS may be used as an automatic sourcefor position entry. Also, valid GPS data must be received in order for Align In Motion to operate. To be consideredvalid for use during Stationary Alignment, Align In Motion, and Post Flight Auto Realign, GPS data shall be ARINC743A or ARINC-755 format.Rapid Dispatch OptionIf extremely rapid dispatch is required, the operator may also elect to use the Align-In-Motion function to complete thealignment in flight. When the IRS is powered-up, the attitudes, accelerations, and rates are available within 5seconds. If ARINC label 043 (Set Mag Heading) is received from the FMS once at power-up, then all TSO outputswill be available for dispatch. When the IRS completes the Align-In-Motion, all parameters will be available at FullPerformance as specified in section 6.0.Input Power Requirements:The Micro IRS is capable of operating from either a primary input 28 VDC aircraft power source or a secondary inputpower source. This could include either 28 VDC aircraft power or a 24 VDC battery, with priority being given to theprimary power source if both primary and secondary sources are available and valid.The maximum powerconsumption of the unit is 28W, however nominally the power consumption does not exceed 20W following onesecond of operation.3.0 ExperienceThe Laseref VI Micro-IRU is a sixth generation RLG based inertial reference unit (IRU), providing Honeywell’s provenlaser inertial technology in a small package. The Laseref VI Micro-IRU is a derivative product based on the Laseref Vand 4 MCU inertial reference unit technologies, and uses the same digital ring laser gyro (RLG) sensors,accelerometers, and sensor electronics. The previous products are DO178B Level A certified and are used in avariety of high volume applications including the Boeing 737 and 787, Airbus A319/320/321/330/380 and Embraer170/190. Reliability of the fleet of Digital RLG IRS systems has consistently exceeded 40,000 MTBF and 20,000MTBUR since entry into service in 1997. This system has been instrumental in helping operators achieve lowmaintenance costs and high dispatch reliability.Use or disclosure of information on this page is subject to the restrictions on the title page of this document
4.0Hardware DescriptionHG2100BB Laseref VI MicroIRU with WG2001AA Mounting Tray and IM-950 Aircraft Personality Module:Use or disclosure of information on this page is subject to the restrictions on the title page of this document
Micro IRS Hardware AssembliesInertial Sensor Assembly:GG1320 Digital GyroThe Honeywell GG1320 Digital Gyro is established as a proven, high reliability, high performance, sensor that hasbeen carefully engineered to meet the customers’ needs.The Dig-Gyro is a completely self-contained sensor whose small size, low cost, and low power requirements make ita particularly attractive component for inertial systems. A three-axis inertial sensor assembly (ISA) incorporates threeDig-Gyros and three accelerometers, weighs less than six pounds, occupies less than 90 cubic inches, andconsumes less than 8 watts of power. The Dig-Gyro is also ideally suited for redundant inertial systems, because it issmall and because the built-in electronics isolate each gyro from faults in other sensors.Gyro Characteristics and Demonstrated PerformanceCharacteristics and demonstrated performance of the Dig-Gyro are as follows:Characteristics 5.5 cubic inches 1 lb. 2 watts DC power in ( 15 and 5 Vdc) Compensated serial digital data output No external support electronics Built on proven RLG technology ( 400,000 RLGs delivered) DO178B Level A Certification Built-in self testDemonstrated performances: Low random walk Excellent scale factor stability Superb bias stability No turn-on bias transients Low magnetic sensitivity Environmentally insensitive Proven field reliability over 400,000 hours MTBF (Air Transport, Regional, Business Jet Fleets) Laser in full-scale production (over 20,000 digital gyros per year)Use or disclosure of information on this page is subject to the restrictions on the title page of this document
GG1320 Digital Ring Laser GyroAccelerometerHoneywell accelerometers are the recognized industry standard for spacecraft, aircraft, missile and munitions inertialnavigation, guidance, control and stabilization applications. The Micro IRS uses the Honeywell Q-FLEX QA-950accelerometer: Q-FLEX sets the standard for inertial navigation Excellent turn-on repeatability and stability performance Environmentally rugged Three fastener precision mounting flange Internal temperature sensor for thermal compensation Built-in self test Embedded compensation coefficients allow IRS repair with simple hand tools. No system calibration isrequired.The Q-FLEX is the predominant sensor used in today's commercial and military aircraft strap-down inertial navigationsystems. The long-term stability and superior reliability characteristics make it the best inertial-grade accelerometeravailable on the market today. As with the entire Q-FLEX family of accelerometers, the QA950 features a patentedQ-FLEX etched-quartz-flexure seismic system. An amorphous quartz proof-mass structure provides excellent bias,scale factor, and axis alignment stability. The integral electronics develops an acceleration-proportional output currentproviding both static and dynamic acceleration measurements.Use or disclosure of information on this page is subject to the restrictions on the title page of this document
Q-FLEX AccelerometerPower Supply and EMI/Transient ProtectionThe power supply assembly contains a dual input 28VDC converter, EMI filtering and transient protection. The EMIfiltering is contained in a proprietary “EMI chamber” that is an integral part of the front cover. This unique design hasenabled the successful completion of the EMI/HIRF qualification test with wide margins.Processor and ARINC I/OThe processor and ARINC I/O assembly use technology from proven baselines with extensive FAA/EASAcertification experience. The software is DO178B level A certified. The complex electronic hardware is DO-254 levelA certified. The card has been design with memory and throughput growth capacity.Use or disclosure of information on this page is subject to the restrictions on the title page of this document
5.0 Qualification LevelsConditionsTemperature and AltitudeLow Ground SurvivalLow Short Term OperatingLow Operating TemperatureHigh Ground SurvivalHigh Short Term OperatingHigh OperatingIn Flight Loss of n of ConductedTestsCategory A2/F1.-55 C–40 C–40 C 85 C 70 C – Covered by High Operating 70 CN/A – device is passively cooled.-2,000 to 80,000 feet8,000 to 55,000 ft in 15 seconds.6,000 ft to maximum operating altitude (43,100ft) in 2seconds Dwell at 43,100 ft. for at least 2 minutes thenreduce pressure linearly to 10,000 ft. over the next 6minutes. Final dwell @ 10,000 ft. for a minimum of 2minutes.Additional Test Performed28 PSIA (-19,000 feet)OverpressureTemperature Variation4.6.35.0oCategory A (10 C/Min)2 Cycles, -40C/ 70C6.0HumidityCategory B10 Day Severe HumidityShockOperationalCrash Safety - ImpulseCrash Safety - SustainedVibrationStandard Random7.07.27.37.3Category E8.08.5.2Category SFigure 8-1, Curve B2, modified to provide 2.2 GRMS6 g, 20 msec.20 g, 20 msec.20 g, 3 sec.Curve modified as follows:20.0032 G /Hz- 10 to 980 HzSlope down to20.00085 G /Hz- @ 2000 HzRun 5 Hrs / axisFigure 8-3, Category S, Curve MSineSine on Random TestExplosion Proofness8.5.18.8.29.0Category U - Unknown HelicopterApplies to HG2100BB55 only.Category HBy analysis and similarity to thermal profile testing in RET,modified to less than 299.84 F (148.8 C)Waterproofness10.0Category WUse or disclosure of information on this page is subject to the restrictions on the title page of this document
ConditionsFluids SusceptibilityDO-160GSection11.0Description of ConductedTestsCategory FMethod was spray(Use isopropyl alcohol, denatured alcohol, and D-Limoneneand Skydrol 500-B4)Sand and Dust12.0Category SFungus13.0Category FNo Test – Analysis of materials used in construction ofLRU.Salt Spray14.0Category SMagnetic Effect15.0Category ZPower Input16.0Category ZXXVoltage Spike17.0Category AAudio FrequencySusceptibility18.0Category ZInduced Signal Susceptibility19.0Category CWRadio Frequency Susceptibility20.020.420.5/20.6Category YCategory LConducted SusceptibilityRadiated SusceptibilityRF Susceptibility Pulse Mode20.5/20.6Category GFrequencyPM(V/M)400 MHz – 0.7 GHz 7300.7 – 1.0 GHz14001.0 – 2.0 GHz50002.0 – 2.4 GHz60002.4 – 3.3 GHz30003.3 – 4.0 GHz60004.0 – 6.0 GHz72006.0 – 8.0 GHz11008.0 – 12.0 GHz500012.0 – 18.0 GHz200018.0 – 40.0 GHz600Radio Frequency Emission21.0Category MLightning Pin Injection22.5.1Category A3H3L3CategoryCat LCat LCat LCat LCat GCat LCat LCat LCat LCat LCat NoneWaveform 3 – 600V / 24AWaveform 4 – 300V / 60ALightning Cable Injection, Single Stroke22.5.2Category A3H3L3Waveform 2 – 300V / 600AWaveform 3 – 600V / 120AWaveform 4 – 300V / 600AUse or disclosure of information on this page is subject to the restrictions on the title page of this document
ConditionsDO-160GSectionDescription of ConductedTestsLightning Cable Injection, Multiple Stroke22.5.2Category A3H3L3, with the multiple stroke test performedwith 24 pulses randomly spaced within a 2 second timeperiod.stWaveform 2 – 1 300V / 300ASubsequent 150V / 150AstWaveform 3 – 1 600V / 120ASubsequent 300V / 60AstWaveform 4 – 1 150V / 300ASubsequent 75V / 150ALightning Cable Injection, Multiple Burst22.5.2Category A3H3L3Waveform 3 – 360V / 6AWaveform 6 – 100 V / 6ALightning DirectEffects23.0Icing24.0Category XNo Test Required.Category XNo Test Required.Electrostatic Discharge (ESD)Fire, Flammability25.5Category A26.0Category CAnalysis of materials used in construction of LRU.Use or disclosure of information on this page is subject to the restrictions on the title page of this document
6.0 Input Parameter CharacteristicsARINC 429 IR InputsData Word(1)Set Latitude(1)Set LongitudeLabel SDI041N/A042N/A(1)Set Heading(3,5)UTC Format 1(3,5)UTC Format 2Pressure Altitude(3)True AirspeedGreenwich MeanTimeDateAircraft Serial(3)NumberAircraft TypeIRS BITE(3,2,4)Command(3)043125125N/AxxBxxBFormat RangeBCD-90 to 90BCD-180 to 180BCD0 to 359.9BCD0-99:99BCD0-79:59:9203210xxBxxBBNRBNR 1310720 to BNRDISCLSBWeight0.1 min0.1 minMSBWeight100100SigBits560.1 deg1.0 min0.1 min30090904451.0 ft0.0625kts1.0 itIntervalAperiodicAperiodicCW Frm N AperiodicN/A1 secN/A1 1 sec0-39/19/99 1 day0-9999190900064D:M:YN/AN/AN/A1 sec1 sec0-255N/A128N/A8N/AN/AN/AN/AN/A1 secAperiodic1N/AUp50 msAlwys Pos 100 msARINC 429 Digital Inputs Notes:1 The minimum aperiodic update rate for BCD Labels 041, 042, and 043 is 0.1 seconds. The IRU might not respond to any of theselabels if they are transmitted asvalid at intervals faster than 0.1 seconds.2 The minimum aperiodic interval for Label 357 is 0.1 seconds. The IRU might not respond to this label if it is transmitted as valid atintervals faster than 0.1 second. The maximum aperiodic interval for the reset command function of Label 357 is 0.3 seconds foreach reset command. If the reset command function of Label 357 is received over an interval greater than 3 seconds, the IRU mightinterpret the second Label 357 as a second independent reset command. The Label 357 command for the number of GPS receiversinstalled must be transmitted within one minute after the power- up mode for accurate fault reporting for systems that contain lessthan two GPS receivers. Label 357 is only accepted when ARINC Input bus configuration is set to 03 For these data words, the SDI field indicates the source of the data: for example, ADS#1, ADS#2, or ADS#3 for the air dataparameters. However, the IRU is not required to make use of the SDI data.4 The maximum aperiodic interval for the functional test command in Label 357 is 1.0 second per functional test command. Toextend a functional test, the functional test command must be received within 1.0 second before terminating the normal functionaltest operation. Thereafter, the functional test command must be transmitted at no slower than once each second to keep thefunctional test performing without interruption. If the functional test command of Label 357 is received over an interval greater than1.0 second, the functional test is not extended. Instead of extending the functional test, a delayed command initiates a separatefunctional test after the previous test is complete.5 Format 1 - ARINC Input Bus Configuration 0.Use or disclosure of information on this page is subject to the restrictions on the title page of this document
ARINC 429 GPS Receiver InputsParameterUser Range AccuracyMeasurement StatusPseudo RangePseudo Range FineRange RateDelta RangeSV Position XX Fine PositionSV Position YY Fine PositionSV Position ZZ Fine PositionUTC Measurement TimeAut GPS AltitudeAut GPS HDOPAut GPS VDOPAut GPS Track AngleAut GPS LatitudeAut GPS LongitudeAut GPS Gnd SpeedAut GPS Lat. FineAut GPS Long. FineHoriz Aut. Integrity LimitVertical Aut. Integrity LimitGPS Vertical FOMUTC FineUTC (Binary)Aut GPS Vert VelocityAut GPS N-S VelocityAut GPS E-W VelocityGPS Horizontal FOMDateGPS Sensor RBNRBNRBNRBNRBNRBNRBNRBCDDISMinimumUpdateRate 51111171818203151515186N/A 23355443232335544323256553651251290909020488.6E- 58.6E- 5816384163840.516 Hr163842048204810 condsHr:Min:sFeet/MinKnotsKnotsNMD:M:YrN/ARange 8192N/A 268435456256 4096 4096 6710886464 6710886464 671088646410.0 13107210241024 180 180 1804096180 * 2-20180 * 2-201632768327681.023:59:59 32768 4096 4096161 dayN/APositiveSenseAlways N/A (4) C 429 Digital Inputs Notes:1.2.3.Update rate for each satellite. The satellite measurement block is transmitted once for each satellite measurement used inthe navigation computation. The maximum number of satellites that can be processed in a 1.0 second interval is 12. Thecharacteristics of the GPS raw data measurement block are defined in ARINC 743.Update rate for each autonomous GPS navigation block. Autonomous navigation data set is received at a 1 Hz or 10 Hzrate, and within 200 ms following occurrence of a time mark.Fine data words contain the truncated portion of the original data word. This information is unsigned although the sign bitis reserved. The two labels are concatenated (or combined) in the receiver.Use or disclosure of information on this page is subject to the restrictions on the title page of this document
Output Parameter CharacteristicsIR ARINC 429 Digital htMSBWghtUnitsPositiveSenseFilter(5)TypeFilter(6) Transpo XferRate HzBW (Hz) rt (7)DelayMsecIR Time to NavTurn RateIR Time In NavIRS Discrete 1IRS Discrete 2Longitudinal VelocityLateral VelocityNormal VelocityPosition -4096-4096-4096-4096-4096-409690(9)0.14.88E- 41N/AN/A1.56E- ways Nose RightAlways N/AN/AForwardRightUPNorthN/A1- BW (50)N/AN/AN/A1- BW (50)1-BW (50)1-BW 101603.125252.083.1253.12525252512.5Position LongitudeGround SpeedTrack Angle TrueTrue Heading(Primary)True Heading(Heading 8 Hz Filter)True Heading (Primary)16True Heading (Heading 8 HzFilter)16 16Wind SpeedWind Direction TrueTrack Angle MagneticMagnetic Heading(Primary)Magnetic Heading(Heading 8 Hz Filter)16Magnetic Heading (Primary)Magnetic Heading (Heading 8Hz Filter)16311312313314BNRBNRBNRBNR20181818180
The Inertial Reference (IR) component of the Micro IRS contains three force rebalance accelerometers and three laser gyros, which it uses to measure inertial motion. The IR component requires system initialization (entry of latitude and longitude). Initialization may come from another system
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This manual is a user s guide for the following ITO blower models: IRS-32A, IRS-40A, IRS-50H/ L, IRS-65H/L, IRS-80H/L, IRS-100L, IRS-125R/L, and IRS-150R/L. Blowers are designed so that atmospheric pressure is maintained on the suction side, and pressure
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a special subfamily: the inertial frames (inertial coordinates). The existence of these inertial frames is guaranteed by the principle of relativity: Special principle of relativity There exists a family of coordinate systems, which we call inertial frames of reference, w.r.t. which the laws of nature take one and the same form. In
Redundant Inertial Navigation Unit (RINU) The RINU is a redundant inertial navigation system manufactured by Honeywell International, Inc (HI). The RINU is derived from the Fault Tolerant Inertial Navigation Unit (FTINU) INS previously flown on the Atlas V launch vehicle. The RINU features a redundant set of five inertial instruments channels.
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