OPERATOR’S
MANUAL
CMA-9000 FLIGHT MANAGEMENT SYSTEM
Page
12-24
November 19, 2009
INS
Kalman
Correction
INS
P
i i
GPS
P
i i
AHRS
Data
CMA-9000
Figure 12-1 KALMAN Filter Block Diagram
The KALMAN Filter models the evolution of the AHRS errors according to the AHRS model. As long as GPS
can provide measurement data with integrity, the AHRS errors can be continuously estimated and corrected in
the emulated INS navigator. However, once there is no GPS data, the true AHRS errors (as seen at the INS
emulator output) and the KALMAN Filter estimates of these errors will begin to diverge. The rate of divergence
is a direct result of the AHRS quality - worse the AHRS quality, the quicker the INS navigator will diverge from
the true GPS position. Also the GPS receiver will calibrate the INS emulator to the GPS accuracy.
The KALMAN Filtered navigation mode is available 1 minute after power is applied. If power is interrupted for
greater than 50 msec then the KALMAN Filter is re-initialized.
KALMAN STATUS 1/1 PAGE
There are no data entries on this page. For additional information refer to Appendix A.
Display KALMAN STATUS 1/1 page by pressing [INIT REF], <NAV STATUS>, and <KALMAN> (LSK 5R).
1 R
2 R
3 R
4 R
5 R
6 R
KALMAN STATUS 1/1
O P M O D E
I N I
K A L M A N P O S I T I O N
***
o
**.** ****
o
**.**
G P S P O S I T I O N
N 4 5
o
0 0 . 0 0 W 0 7 2
o
0 0 . 0 0
2 S I G M A P O S E R R
2 3 0
M
G P S R E A D Y A P I R S R E A D Y
Y E S N O
<
NAV STATUS
1 L
2 L
3 L
4 L
5 L
6 L
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