OPERATOR’S
MANUAL
CMA-9000 FLIGHT MANAGEMENT SYSTEM
Page 15-4
November 19, 2009
KALMAN NAVIGATION MODE
The Kalman navigation mode is based on GPS sensor and APIRS sensor. The APIRS provides attitude,
velocities and accelerations to the FMS. The FMS uses this information to compute a mixed GPS & APIRS
solution. The Kalman navigation mode is not considered applicable for RNP operations.
INERTIAL NAVIGATION MODE
The CMA-9000 is used in combination with an inertial navigation/reference system meeting the requirements of
FAA AC 25-4 and/or 14 CFR Part 121 Appendix G. Subject to a time limitation for the inertial navigation mode.
A. ACCURACY
The inertial drift rate model used for assessment of current inertial navigation accuracy assumes a 2 nautical
miles per hour drift rate in the cross-track direction after the FMS is placed in the inertial navigation mode.
The inertial navigation mode in RNP airspace is time limited based on the current RNP. In Terminal phase of
flight the inertial navigation mode must not be used more than 30 minutes after the CMA-9000 is placed in
the inertial navigation mode. In Enroute phase of flight, its usage can be extended to 60 minutes. The
Inertial navigation mode is not available for the approach mode.
B. INTEGRITY
The CMA-9000 provides an indication of the inertial position integrity by monitoring inertial navigation
accuracy and IRS data output validity status. Based on typical MTBF values of the inertial sensor, the CMA-
9000 FMS has a probability of misdetection by hardware of a failure condition that would cause the inertial
position to be outside the containment limit of an order of magnitude of 10
-4
per flight hour.
This probability is improved when a mixed inertial position is computed using 3 IRS sensors.
C. CONTINUITY
Based on typical values of MTBF of the inertial sensor, the CMA-9000 FMS meets the 10
-4
per flight hour
continuity requirement.
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