Quantcast Figure 4-48.--Inertial measuring unit.
 

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S T A B L E ELEMENT CAGING.-- U p o n
each sine/cosine part is converted to the tangent of the
energizing and for 10 seconds thereafter, gyro spin
respective angle, in digital format. The tangent values
power is inhibited by the software program and the
of the roll, pitch, and heading angles are sent to the
stable element is caged. At the end of the delay, the gyros
processor for use in program computations and data
are energized with high spin power. The software
updates.
program allows 60 seconds for the gyros to gain speed
and then perform the gyro synchronization test. If the
synchronization test is passed, the program examines
the output of the X accelerometer (fig. 4-48) for
The stabilized gyrocompass set has three modes of
minimum output, which indicates the platform is level.
operation: automatic calibration (AUTO CAL),
The software program then checks for proper
navigate (NAV), and directional gyro (DG). At
temperature of the IMU. When the synchronization test,
equipment turn-on, there is a leveling sequence that
level check and temperature check are successfully
provides for equipment leveling and initial calibration.
completed, the stable element is uncaged and placed
under gyro control. Gyro spin power is then set to
normal low spin value.
Leveling Sequence
DIGITAL COARSE LEVELING.-- U p o n
The stable element leveling sequence is initiated
completion of the caging sequence, all integrators and
biases and the alpha (OC) angle (the alpha angle is the
upon application of power to the equipment. This is
angular difference between the stable element's
accomplished by moving the MODE switch out of the
[north-south] axis and true north) are set to zero, and
POWER OFF position. The major elements of the
digital course leveling is initiated. Normally, digital
leveling sequence are stable element caging, digital
coarse leveling requires 1 minute. This time, however,
coarse leveling, tine leveling, gyrocompassing, and
may be lengthened by loop settling delays. Completion
calibration.
Figure 4-48.--Inertial measuring unit.

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