R 1EFF : 106-149, 211-299, 301-399, 401-499, 1 31-37-51Page 20 1 1 Aug 01/05 1 1 1CES 1
+---------------------------------------------------------------------+
| Value | Content Description |
|--------------|------------------------------------------------------|
| | -99.9 to 99.9 ft/sec |
| | |
| | Source: DMU |
| | Remark: The calculation of Radio Altitude Rate is |
| | started when: RALT<RALTL1 |
| | - The calculation is performed with 16 Hz cycles |
| | (T=0.0625 s) |
| | - The calculation uses the current calculation |
| | cycle current and data values. These data are |
| | named as follows: |
| | e.g. |
| | IVV = IVV actual sample n |
| | IVV1 = IVV previous sample n-1 |
| | |
| | PTCHACC = PTCHACC actual sample n |
| | PTCHACC1 = PTCHACC previous sample n-1 |
| | PTCHACC2 = PTCHACC previous sample n-2 |
| | |
| | - The calculation uses the following programmable |
| | constants: |
| | D geometrical correction factor for ROLR ft/deg|
| | DX lever arm correction (x-axis) for R/A RALT ft|
| | DZ lever arm correction (z-axis) for R/A RALT ft|
| | DXTPIR lever arm correction (x-axis) for PTCH ft|
| | FC filter frequency Hz|
| | K1 filter constant |
| | K2 filter constant |
| | K3 filter constant |
| | THETA0 average PTCH at touchdown deg|
| | |
| | Radio Altitude Rate calculation: |
| | 1. Start Values |
| | |
| | For the very first calculation the start values are |
| | defined as follows: |
| | PTCHRAW1 = 0.0 |
| | PTCHACC1 = 0.0 |
| | PTCHACC2 = 0.0 |
| | PTCR1 = 0.0 |
| | EN1 = 0.0 |
| | VZN1 = IVV/60.0 |
| | ZN1 = RALT |
| | |
| | 2. Algorithm with KALMAN filter |
R 1EFF : 106-149, 211-299, 301-399, 401-499, 1 31-37-51Page 21 1 1 Aug 01/05 1 1 1CES 1 +---------------------------------------------------------------------+ | Value | Content Description | |--------------|------------------------------------------------------| | | The algorithm comprises of the following equations: | | | PTCHRAW = (PTCR-PTCR1)/T | | | PTCHACC = PTCHACC1+T*(2*PI*FC)*(PTCHRAW+PTCHRAW1-| | | PTCHACCI-PTCHACC2)/2 | | | NZTCOR = VACC*9.81/0.3048-DXTPIR*PTCHACC/57.3*cos | | | (PTCH/57.3) | | | HRACOR = RALT+DX*(sin(PTCH/57.3)-sin(THEATA0/57.3))| | | -DZ*(cos(PTCH/57.3)-cos(THEATA0/57.3)) | | | EPSN = ZN1-HRACOR | | | EN = EN1+T*(VZN-K2*EPSN) | | | VZN = VZN1+T*(VZN-K2*EPSN) | | | VZNU = VZN-D*ABS(ROLR) | | | RALR = VZNU | |--------------|------------------------------------------------------| | PTCH | Pitch Angle | | X999 | Format: Negative values are indicated by 'N' in the| | | first position. Otherwise the first position is | | | used for the value. | | | -99.0 to 90.0 deg | | | param. ADIRU 04.1.324.01 | | | 04.2.324.10 | |--------------|------------------------------------------------------| | PTCR | Body Pitch Rate | | X999 | Format: Negative values are indicated by 'N' in the| | | first position. Otherwise the first position is | | | used for the value. | | | -45.0 to 45.0 deg/sec | | | param. ADIRU 04.1.326.01 | | | 04.2.326.10 | |--------------|------------------------------------------------------| | ROLL | Roll Angle | | X999 | Format: Negative values are indicated by 'N' in the| | | first position. Otherwise the first position has a | | | '0'. | | | -90.0 to 90.0 deg/sec | | | param. ADIRU 04.1.325.01 | | | 04.2.325.10 | |--------------|------------------------------------------------------| | ROLR | Body Roll Rate | | X999 | Format: Negative values are indicated by 'N' in the| | | first position. Otherwise the first position is | | | used for the value. | | | -45.0 to 45.0 deg/sec | | | param. ADIRU 04.1.327.01 |
R 1EFF : 106-149, 211-299, 301-399, 401-499, 1 31-37-51Page 22 1 1 Aug 01/05 1 1 1CES 1 +---------------------------------------------------------------------+ | Value | Content Description | |--------------|------------------------------------------------------| | | 04.2.327.10 | |--------------|------------------------------------------------------| | YAW | YAW Rate | | X999 | Format: Negative values are indicated by 'N' in the| | | first position. Otherwise the first position has a | | | '0'. | | | -45.0 to 45.0 deg/sec | | | param. ADIRU 04.1.330.01 | | | 04.2.330.10 | |--------------|------------------------------------------------------| | VRTA | Normal Acceleration | | X999 | Format: Negative values are indicated by 'N' in the| | | first position. Otherwise the first position is | | | used for the value. | | | -3.00 to 6.00 g | | | param. SDAC 29.1.333.01 | | | 29.2.333.10 | |--------------|------------------------------------------------------| | LONA | Longitudinal Acceleration | | X999 | Format: Negative values are indicated by 'N' in the| | | first position. Otherwise the first position is | | | used for the value. | | | (-1.00 to 1.00 g) | | | param. SDAC 29.1.331.01 | | | 29.2.331.10 | |--------------|------------------------------------------------------| | LATA | Lateral Acceleration | | X999 | Format: Negative values are indicated by 'N' in the| | | first position. Otherwise the first position is | | | used for the value. | | | (-1.00 to 1.00 g) | | | param. SDAC 29.1.332.01 | | | 29.2.332.10 | +---------------------------------------------------------------------+
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