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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