

IV

Inertial Reference System

Product Description
April 2012
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TABLE OF CONTENTS
Section Page

INERTIAL REFERENCE SYSTEM ..................................................................................................... I

1.0 INTRODUCTION ................................................................................................................. 1

2.0 TECHNICAL OVERVIEW ................................................................................................ 4

3.0 EXPERIENCE........................................................................................................................... 8

4.0 HARDWARE DESCRIPTION ............................................................................................... 9

INERTIAL SENSOR ASSEMBLY: ................................................................................................... 10

GG1320 DIGITAL RING LASER GYRO ................................................................................. 10

GYRO CHARACTERISTICS AND DEMONSTRATED PERFORMANCE ................................ 10

CHARACTERISTICS..................................................................................................................... 10

Q-FLEX ACCELEROMETER ..................................................................................................... 12

ACCELEROMETER ........................................................................................................................... 12

POWER SUPPLY ............................................................................................................................... 13

EMI/TRANSIENT PROTECTION .................................................................................................. 13

PROCESSOR AND ARINC I/O ........................................................................................................ 13

5.0 QUALIFICATION LEVELS .................................................................................................. 14

6.0 INPUT PARAMETER CHARACTERISTICS .................................................................... 16

ARINC 429 IR INPUTS .................................................................................................................... 16

ARINC 429 GPS RECEIVER INPUTS (OPTIONAL) .................................................................. 17

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7.0 OUTPUT PARAMETER CHARACTERISTICS ................................................................ 18

IR ARINC 429 DIGITAL OUTPUTS .............................................................................................. 18

GPS ARINC 429 DIGITAL OUTPUTS ........................................................................................... 21

8.0 ASCB INTERFACES ............................................................................................................. 24

9.0 OUTPUT PARAMETER ACCURACY ................................................................................ 26

IR DIGITAL OUTPUT PERFORMANCE (ARINC-704 SPECIFICATION) ............................ 26

IR DIGITAL OUTPUT PERFORMANCE NOTES: ....................................................................... 29

HYBRID GPS SYSTEM PERFORMANCE NOTES: ...................................................................... 30

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1.0 Introduction
The Laseref IV IRS contains laser gyro inertial navigation technology in the industry’s
lightest 4 MCU rack mountable package. This new system has been designed to simplify
crew workload while dramatically reducing installation time, weight, size, power, and
cost. The Laseref IRS has been installed and certified on the following aircraft:
 Gulfstream GV
 Dassault Falcon 900, 2000
 Embraer 135/140/145 (Option)
 Embraer Legacy (Standard fit)
 Bombardier Global Express (Standard fit)
 Cessna Citation X

Laseref IV IRS features:

 Smallest, lightest, and lowest power IRS in the industry. One-half the size, one-third
the weight, and one-third the power of competing systems.
 20,000 hour MTBF Reliability
 Automatic Mode Control Logic and Automatic Initialization for reduced crew
workload
 Powerful Processor with Partitioned Operating System

HG2001GD40 IRS features:

 Identical to the HG2001GD03 GPIRU with ASCB Version C interface

 Minor software change to the embedded Magnetic Variation map.
 Magnetic map is based on 2010 Magnetic survey data projected to 2015 with a
second Epoch projected to 2025.
 Formerly, 1995 Magnetic survey data projected to 2000.
 Enlarged Northern Magnetic Keyhole
 New software features
 Operation without a MSU
 Reception of initialization parameters via ASCB from a fault warning computer
 Power supply switchover test change to eliminate nuisance alignment issues with
certain power-up sequences.

HG2001GD20 IRS features:

 Identical to the HG2001GD40 GPIRU with ASCB Versions A and B (instead of

ASCB version C) to support retrofits of Laseref II and Laseref III IRUs on early EFIS
integrated cockpits such as SPZ-6000 and SPZ-8000
 Suitable for Gulfstream GIV-SP, Bombardier CL-601-3A, Dassault F-50 and F-900,
Hawker 800 and 1000, some Cessna Citation Model 650
 Upgraded Magnetic Variation map.
 Magnetic map is based on 2010 Magnetic survey data projected to 2015 with a
second Epoch projected to 2025.
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 Enlarged Northern Magnetic Keyhole
 New software feature enables operation without a MSU

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System Components:

The Laseref IV Inertial Reference System may contain the following components:
 HG2001GD20 IRU – upgrade path for ASCB Versions A or B applications
 HG2001GD40 IRU – upgrade path for HG2001GD03 ASCB Version C IRU
 4 MCU mounting tray – for new and retrofit applications
 CG1042AB, CG1227AB/AC, CG2015AC Mode Select Units
 CG1136AC Inertial System Display Unit
 CG1230AC/AG LaserTrak Navigation Display Unit
 WG2000AB01 – 4 MCU to 10 MCU adapter plate (retrofit applications)
 Installation and Maintenance Manual

HG2001GD IRU
The Laseref IV IRU is a self-contained Inertial Reference Unit that provides long range
navigation using high accuracy inertial sensors. Industry standard ARINC-429 outputs
are provided for Flight Management Systems, Primary Displays, Forward Looking IR
Cameras, Head-Up Displays, Flight Control, antenna stabilization (Satcom, Weather
Radar, Direct Broadcast Satellite), EGPWS, and other critical aircraft systems. Full
inertial reference performance is provided for unaided RNP-10 and RNP-5 (time limited)
without GPS inputs. When GPS inputs are applied, the IRU provides tightly coupled
GPS/Inertial hybrid outputs.

4 MCU mounting tray

Several ARINC 600 4MCU mounting tray options are available. The options provide
compatibility with available mounting space for the IRU fan. There are options for a rear
mounted fan, side mounted fan and for a bottom mounted fan.

Mode Select Unit (MSU)

Compatible models include CG1042ABxx, CG1227ACxx, CG2015ACxx etc. New
software feature enables operation without a MSU

Inertial System Display Unit (ISDU)

The Laseref IV is compatible with existing CG1136AB/AC ISDUs for retrofit
applications

LaserTrak NDU
The Laseref IV is compatible with existing CG1230AC/AG LaserTrak Navigation
Display Unit for retrofit applications

Installation and Maintenance Manual (IMM)

Honeywell Publication number M15-3343-043-00 Revision 1. The Laseref IV IMM is a
FAA approved document defining the installation requirements, capabilities, accuracies
and operating limitations. The IMM provides details on the many system configurations
the Laseref IV provides.

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2.0 Technical Overview
The Laseref IV is an Inertial Reference System (IRS) which outputs ARINC 429 inertial
reference information for flight control and aircraft navigation.
Key Features:
 Weight 17.1 lbs
 Size ARINC 600 - 4 MCU
 Dimensions (WxHxL) 4.88 x 7.64 x 15.12 (inches)
 Power Consumption <50 watts typical
 Cooling Forced air - Certified for 18 hrs without cooling
 MTBF 15,000 operational hours
 ARINC 429 Transmitters 6 (Can support up to 120 different LRUs)
 ARINC 429 Receivers 8
 ASCB Version A/B HG2001GD20
Version C HG2001GD40
 Discrete Inputs 22
 Discrete Outputs 10
 Operation Mode Controlled or Automatic mode control
 Maintenance 95% Build-in Test Coverage
NVM storage of performance and troubleshooting data
Build-in automatic sensor calibration

Certification:
 Software Certification DO178B Level A
 Hardware Certification DO160C
 TSO C-4c, C-5e and C-6d
 FAR 121 Appendix G (Federal Aviation Regulations) – Operating Requirements:
Domestic, Flag, and Supplemental Operations
 Advisory Circular 25-4 Inertial Navigation Systems (INS)
 AC 120-33 - Operational approval of airborne long range navigation systems for
flight within the North Atlantic minimum navigation performance specifications
airspace
 FAA Order 8400.12A, Required Navigation Performance 10 (RNP-10)
Operational Approval, for 12 hours unaided

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 AC 90-96, Approval of u.s. operators and aircraft to operate under instrument
flight rules (IFR) in European airspace designated for basic area navigation
(BRNAV/RNP-5), for 2 ½ hours unaided
When connected with an ARINC 743A compatible GPS receiver, the IRS provides hybrid
GPS/Inertial outputs.

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ARINC 429 Outputs:
The Inertial Reference (IR) component of the IRS contains three force rebalance
accelerometers and three laser gyros, which it uses to measure inertial motion. The IR
component requires system initialization (entry of latitude and longitude). Initialization may
come from another system such as a Flight Management System (FMS), Inertial Systems
Display Unit (ISDU) or from LaserTrak Navigation Display Unit. Once the IR component is
properly aligned and initialized it transitions into its normal operating mode. It relies on
inputs from an Air Data System (ADS) for wind, flight path and altitude. The inertial
reference system outputs the parameters below.
Body Frame:
 Longitudinal, Lateral, and Normal Accelerations
 Pitch, Roll, and Yaw Rates
Local Level Frame:
 Pitch and Roll Angles
 Pitch and Roll Attitude Rates
 Flight Path Angle and Flight Path Acceleration
 Inertial Vertical Speed and Inertial Vertical Acceleration
 Platform Heading
 Turn Rate
Earth Frame:
 Latitude and Longitude
 N-S Velocity, E-W Velocity, and Ground speed
 Inertial Altitude
 True and Magnetic Heading
 Track Angle True and Track Angle Magnetic
 Track Angle Rate
 Wind Speed and Wind Direction True
 Drift Angle
 Along Track and Cross Track Accelerations
 Along Heading and Cross Heading Accelerations

Hybrid Function:
The GPS Hybrid function utilizes existing hardware components in the IRU to receive
GPS data from one or two GPS Receiver systems. Data received is one Hz nominal RS-
422 time mark signal unique for each GPS receiver input and ARINC 429 GPS high-
speed satellite measurement and autonomous data. The GPS Hybrid function blends
received GPS autonomous Pseudo Range with Inertial and Air Data altitude data in a
tightly coupled Kalman filter to achieve optimal position, velocity, and attitude

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performance. The GPS Hybrid function provides the following output parameters:

 Hybrid Latitude and Longitude

 Hybrid N-S Velocity, E-W Velocity, and Ground Speed
 Hybrid Altitude and Vertical Velocity
 Hybrid True Heading, Track Angle, and Flight Path Angle
 Hybrid Horizontal and Vertical Figure Of Merit and Integrity Data
 Autonomous GNSS pass-through data

Input Power Requirements:

The Laseref IV IRS is capable of operating from 115VAC and/or primary input +28 VDC
aircraft power source or a secondary input power source such as a +24 VDC battery.
Priority is given to the primary power source if both primary and secondary sources are
available and valid. The maximum DC power consumption of the unit is 55W (50W
AC), however nominally the power consumption does not exceed 46W (41W AC)
following a few seconds of operation.

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3.0 Experience
The Laseref IV IRU is the fourth generation RLG based inertial reference unit (IRU),
providing Honeywell’s proven laser inertial technology in the lightest 4 MCU rack
mountable package. The Laseref IV IRU is a derivative product based on the highly
successful 4 MCU inertial reference unit technologies used in a variety of high volume
applications including the Boeing 737, Airbus A319/320/321/330/340. Reliability of the
fleet of Digital RLG IRS systems has consistently exceeded 40,000 MTBF and 20,000
MTBUR since entry into service in 1997. This system has been instrumental in helping
operators achieve low maintenance costs and high dispatch reliability.

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4.0 Hardware Description

HG2001GD Laseref IV IRU with ASCB version A and B or ASCB version C interfaces:

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IRS Hardware Assemblies

Inertial Sensor Assembly:

GG1320 Digital Ring Laser Gyro

The Honeywell GG1320 Digital Gyro is established as a proven, high reliability, high
performance, sensor that has been carefully engineered to meet the customers’ needs.

The Dig-Gyro is a completely self-contained sensor whose small size, low cost, and low
power requirements make it a particularly attractive component for inertial systems. A
three-axis inertial sensor assembly (ISA) incorporates three Dig-Gyros and three
accelerometers, weighs less than six pounds, occupies less than 90 cubic inches, and
consumes less than 8 watts of power. The Dig-Gyro is also ideally suited for redundant
inertial systems, because it is small and because the built-in electronics isolate each gyro
from faults in other sensors.

Gyro Characteristics and Demonstrated Performance

Characteristics and demonstrated performance of the Dig-Gyro are as follows:

Characteristics

 <5.5 cubic inches

 <1 lb.
 <2 watts
 DC power in (+15 and +5 Vdc)
 Compensated serial digital data output

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 No external support electronics
 Built on proven RLG technology (>400,000 RLGs delivered)
 DO178B Level A Certification
 Built-in self test

Demonstrated performances:

 Low random walk

 Excellent scale factor stability
 Superb bias stability
 No turn-on bias transients
 Low magnetic sensitivity
 Environmentally insensitive
 Proven field reliability over 400,000 hours MTBF (Air Transport, Regional,
Business Jet Fleets)
 Laser in full-scale production (over 20,000 digital gyros per year)

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Q-FLEX Accelerometer

Accelerometer
Honeywell accelerometers are the recognized industry standard for spacecraft, aircraft,
missile and munitions inertial navigation, guidance, control and stabilization applications.
The Laseref IV IRS uses the Honeywell Q-FLEX QA-950 accelerometer:

 Q-FLEX sets the standard for inertial navigation

 Excellent turn-on repeatability and stability performance
 Environmentally rugged
 Three fastener precision mounting flange
 Internal temperature sensor for thermal compensation
 Built-in self test
 Embedded compensation coefficients allow IRS repair with simple hand tools.
No system calibration is required.

The Q-FLEX is the predominant sensor used in today's commercial and military aircraft
strap-down inertial navigation systems. The long-term stability and superior reliability
characteristics make it the best inertial-grade accelerometer available on the market
today. As with the entire Q-FLEX family of accelerometers, the QA950 features a
patented Q-FLEX etched-quartz-flexure seismic system. An amorphous quartz proof-
mass structure provides excellent bias, scale factor, and axis alignment stability. The
integral electronics develops an acceleration-proportional output current providing both
static and dynamic acceleration measurements.

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Power Supply
The versatile power supply assembly of the Laseref IV allows interconnections of up to 3
separate power supply inputs. The power supply allows for operation on 115 VAC or
28VDC generated power aircraft with battery backed up emergency power. The power
supply has AC to DC and dual input DC to DC converters. Switching of input power
busses is fully automatic and seamlessly transitions from input to input with no
interruption of normal operation.

EMI/Transient Protection
The EMI filtering and transient protection circuit card along with the connector assembly
are housed in “dirty chambers” to isolate the aircraft EMI environment from the Laseref
IV circuitry.

Processor and ARINC I/O

The processor and ARINC I/O assembly use technology from proven baselines with
extensive FAA certification experience. The software is DO178B level A certified.

ASCB I/O

Version A and B (HG2001GD20 only)

The ASCB Version A and B interface card is the same as the Laseref III
(HG2001AB02/03) IRU. The card has had a slight form factor change to fit in the
Laseref IV chassis and has been requalified to the same levels as the Laseref IV
device. This allows for simple upgrades from Laseref III and Laseref II equipped
aircraft.

ASCB Version C I/O (HG2001GD40 only)

The ASCB Version C interface card is identical to the HG2001GD03 IRU. The latest
operational software allows for reception of initialization parameters via the ASCB
interface. This new software feature allows for compatibility with some PRIMUS
2000 equipped aircraft without a functioning FMS (for example DO-328Jet).

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5.0 Qualification Levels

Conditions DO-160C Description of Conducted

Section Tests
Temperature and Altitude 4.0 Category A2/F1.
Low Ground Survival 4.5.1 -55°C
Low Short Term Operating 4.5.1 –40°C
Low Operating Temperature 4.5.2 –40°C
High Ground Survival 4.5.3 +85°C
High Operating 4.5.4 +70°C
In Flight Loss of Cooling 4.5.5 N/A – device is passively cooled.
Altitude 4.6.1 -2,000 to +55,000 feet
Decompression 4.6.2 8,000 to 55,000 ft in 15 seconds.

Overpressure 4.6.3 27.14 PSIA (-18,000 feet)

Temperature Variation 5.0 Category A (10oC/Min)
2 Cycles, -20C/+70C
Humidity 6.0 Category A
Shock 7.0 Conforms to DO-160C, Chapter 7, unless
noted otherwise.
Vibration 8.0 Category S
Random 8.5.2 Figure 8-1, Curve B, modified to
provide 2.2 gRMS
Run 5 Hrs / axis

Sinusoidal 8.5.1 Figure 8-3, Curve M

Explosion Proofness 9.0 Category X

Waterproofness 10.0 Category X
Fluids Susceptibility 11.0 Category X
Sand and Dust 12.0 Category X
Fungus 13.0 Category X
Salt Spray 14.0 Category X
Magnetic Effect 15.0 Category Z
Power Input 16.0 Category Z
Voltage Spike 17.0 Category A
Audio Frequency 18.0 Category Z
Susceptibility
Induced Signal Susceptibility 19.0 Category Z

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Conditions DO-160C Description of Conducted
Section Tests
Radio Frequency Susceptibility 20.0 Category Y & R
(Change
3)
Radio Frequency Emission 21.0 Category B
LISN method on power lines
Lightning Induced Transient 22.0 Category A3CZ
Susceptibility (Change Single Stroke:
2) Long Wave – 300V / 300A
Short Wave – 300V / 600A
1 MHz Osc – 600V / 120A
Pin Injection:
Long Wave – 300V / 60A
1 MHz Osc – 600V / 24A
Multiple Burst Bundle:
1 and 10 MHz Osc – 600V / 24A

Lightning Direct 23.0 Category X

Effects (Change
1)
Icing 24.0 Category X

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6.0 Input Parameter Characteristics

ARINC 429 IR Inputs

LSB MSB Sig Pos Xmit
Required FMS Label Format Range Weight Weight Bits Units Sense Interval
Parameters
Set Latitude 041 BCD -90 to +90 0.1 min 100 5 Deg:Min North Note 1
Set Longitude 042 BCD -180 to +180 0.1 min 100 6 Deg:Min East Note 1
Set Heading 043 BCD 0 to 359.9 0.1 deg 300 4 Deg CW Frm N Note 1

Note 1 - Burst of 2 per second for 1 second, or a 500 ms burst with each label transmitted every 12 ms.

LSB MSB Sig Pos Xmit

Required Air Data Label Format Range Weight Weight Bits Units Sense Interval
Parameters

Pressure Altitude2 203 BNR 131072 1.0 ft 65536 17 Feet Up 62.5 ms

Altitude (Baro)2 204 BNR 131072 1.0 ft 65536 17 Feet Up 62.5 ms
True Airspeed 210 BNR 0 to 2047 0.0625 kts 1024 15 Knots Alwys Pos 31.25 ms
Altitude Rate 212 BNR 32768 1.0 ft 16384 15 Ft/Min Up 62.5 ms

Note 2 – Either label 203 or label 204 must be received. If both inputs are received the IRU will use label 203

LSB MSB Sig Pos Xmit

Optional FMS Label Format Range Weight Weight Bits Units Sense Interval
Parameters

Greenwich Mean Time 125 BCD 0-99:99 1.0 min 90 4 Hr:Min N/A Note 3
Date 260 BCD 0-39/19/99 1 day 90 6 D:M:Y N/A Note 3

Note 3 - Not provided by an ISDU or NDU. UTC and date information is used as a maintenance aid and may be used
by the IRU in a GPS hybrid configuration to retransmit back to the GNSSU to reduce its satellite acquisition time.

ARINC 429 Digital Inputs Notes:

Input requirements are in compliance with standard ARINC 704A IRS

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ARINC 429 GPS Receiver Inputs (Optional)
Minimum Significant
Label Signal Update Bits/ Positive
Parameter (Octal) Format Rate (Hz) Figures Units Range Sense
User Range Accuracy 057 BNR 1 17 Meters +8192 Always +
Measurement Status 060 DIS 1 N/A N/A N/A N/A
Pseudo Range 061 BNR 1 20 Meters +268435456 +
Pseudo Range Fine 062 BNR 1 11 Meters 256 (4)
Range Rate 063 BNR 1 20 M/Sec +4096 +
Delta Range 064 BNR 1 20 M/Sec +4096 +
SV Position X 065 BNR 1 20 Meters +67108864 ECEF
X Fine Position 066 BNR 1 14 Meters 64 (4)
SV Position Y 070 BNR 1 20 Meters +67108864 ECEF
Y Fine Position 071 BNR 1 14 Meters 64 (4)
SV Position Z 072 BNR 1 20 Meters +67108864 ECEF
Z Fine Position 073 BNR 1 14 Meters 64 (4)
UTC Measurement Time 074 BNR 1 20 Seconds 10.0 (3)
Aut GPS Altitude 076 BNR 1 20 Feet +131072 Up
Aut GPS HDOP 101 BNR 1 15 N/A 1024 (3)
Aut GPS VDOP 102 BNR 1 15 N/A 1024 (3)
Aut GPS Track Angle 103 BNR 1 15 Degrees +180 CW-North
Aut GPS Latitude 110 BNR 1 20 Degrees +180 North
Aut GPS Longitude 111 BNR 1 20 Degrees +180 East
Aut GPS Gnd Speed 112 BNR 1 15 Knots 4096 (3)
Aut GPS Lat. Fine 120 BNR 1 11 Degrees 180 * 2-20 North
Aut GPS Long. Fine 121 BNR 1 11 Degrees 180 * 2-20 East
UTC (BCD) 125 BCD 1 5 Hr:Min 0.1 minute (3)
Horiz Aut. Integrity Limit 130 BNR 1 17 NM 16 (3)
Vertical Aut. Integrity Limit 133 BNR 1 17 Feet 32768 (3)
GPS Vertical FOM 136 BNR 1 18 Feet 32768 (3)
UTC Fine 140 BNR 1 20 Seconds 1.0 (4)
UTC Fine Fracs 141 BNR 1 10 Seconds 1.0 * 2-20 (4)
Terminal Area HIL 143 BNR 1 17 NM 16 (3)
Terminal Area VIL 144 BNR 1 17 Feet 32768 (3)
UTC (Binary) 150 BNR 1 17 Hr:Min:s 23:59:59 (3)
Destination ETA 162 BNR 2 11 Hr:Min 23:59 (3)
Alt. Waypoint ETA 163 BNR 2 11 Hr:Min 23:59 (3)
Aut GPS Vert Velocity 165 BNR 1 15 Feet/Min +32768 Up
Aut GPS N-S Velocity 166 BNR 1 15 Knots +4096 North
Aut GPS E-W Velocity 174 BNR 1 15 Knots +4096 East
GPS Horizontal FOM 247 BNR 1 18 NM 16 (3)
Date 260 BCD 1 6 D:M:Yr 1 day (3)
GPS Sensor Status 273 DIS 1 N/A N/A N/A N/A
Destination HIL 343 BNR 2 13 NM 16 (3)
Alt. Waypoint HIL 347 BNR 2 13 NM 16 (3)
GPS Rec. Maint. 352 DIS 1 N/A N/A N/A N/A
GPS Nav Maint. 355 DIS 1 N/A N/A N/A N/A

ARINC 429 Digital Inputs Notes:

ARINC 743A or ARINC755 standard GPS inputs listed above will enable GPS/IRS hybrid outputs.

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7.0 Output Parameter Characteristics

IR ARINC 429 Digital Outputs

Signal Oct (6)
Cod(1) Sig Range(3) LSB(9) MSB Units Positive Filter(5) Flt
Transport
(7)
Xfer(8)
Lbl (2) Weight Weight Sense Type Rate Hz
BW
Bit (Hz) Delay
(msec)
IR Time to Nav 007 BCD 2 0-9.9 0.1 - Minutes Always + N/A N/A N/A 3
Position Latitude 010 BCD 5 90S-90N 0.1 - Deg:Min North - - N/A 3
Pos Longitude 011 BCD 6 180E- 0.1 - Deg:Min East - - N/A 3
180W
Ground Speed 012 BCD 4 0-4095 1 - Knots Always + 1-BW 2 N/A 3
Track Angle True 013 BCD 4 0-359.9 0.1 - Degrees CW from N 1-BW 2 N/A 3
Magnetic Heading 014 BCD 4 0-359.9 0.1 - Degrees CW from N 1-BW 2 N/A 3
Wind Speed 015 BCD 3 0-255 1 - Knots Always + 1-BW 2 N/A 3
Wind Direction True 016 BCD 3 0-359 1 - Degrees CW from N 1-BW 2 N/A 3
True Heading 044 BCD 4 0-359.9 0.1 - Degrees CW from N 1-BW 2 N/A 3
IR Time In Nav 126 BNR 15 0-32768 1 16384 Minutes Always + N/A N/A N/A 2
Data Loader SAL(11) 226 N/A N/ N/A N/A N/A N/A N/A N/A N/A N/A N/A
A
IRS Discrete 270 DIS 19 N/A N/A N/A N/A N/A N/A N/A N/A 3
Test Word 277 DIS 18 N/A N/A N/A N/A N/A N/A N/A N/A 12
Position Latitude 310 BNR 20 90(10) 1.72E-4 90 Degrees North 1-BW 2 160 12
Position Longitude 311 BNR 20 180 1.72E-4 90 Degrees East 1-BW 2 160 12
Ground Speed 312 BNR 18 0-4096 0.01563 2048 Knots Always + 1-BW 2 110 25
Track Angle True 313 BNR 18 180 6.87E-4 90 Degrees CW from N 1-BW 2 110 25
True Heading 314 BNR 18 180 6.87E-4 90 Degrees CW from N 1-BW 2 110 25
Wind Speed 315 BNR 18 0-256 9.77E-4 128 Knots Always + 1-BW 2 110 12
Wind Direction True 316 BNR 18 180 6.87E-4 90 Degrees CW from N 1-BW 2 110 12
Track Angle Magnetic 317 BNR 18 180 6.87E-4 90 Degrees CW from N 1-BW 2 110 25
Magnetic Heading 320 BNR 18 180 6.87E-4 90 Degrees CW from N 1-BW 2 110 25
Drift Angle 321 BNR 18 90(10) 6.87E-4 90 Degrees Nose Right 1-BW 2 110 25
Flight Path Angle 322 BNR 18 90(10) 6.87E-4 90 Degrees Up 1-BW 2 110 25
Flight Path Accel 323 BNR 18 4 1.53E-5 2 G’s Forward 2-BW 6.4 70 50
Pitch Angle 324 BNR 18 90(10) 6.87E-4 90 Degrees Up 1-BW 8 70 50
Roll Angle 325 BNR 18 180 6.87E-4 90 Degrees Right Wing 1-BW 8 70 50
Down
Body Pitch Rate 326 BNR 18 128 4.88E-4 64 Deg/Sec Up 2-BW 6.4 70 50
Body Roll Rate 327 BNR 18 128 4.88E-4 64 Deg/Sec Right Wing 2-BW 6.4 70 50
Down
Body Yaw Rate 330 BNR 18 128 4.88E-4 64 Deg/Sec Nose Right 2-BW 6.4 70 50
Body Long Accel 331 BNR 18 4 1.53E-5 2 G’s Forward 2-BW 6.4 70 50
Body Lat Accel 332 BNR 18 4 1.53E-5 2 G’s Right 2-BW 6.4 70 50
Body Norm Accel 333 BNR 18 4 1.53E-5 2 G’s Up 2-BW 6.4 70 50
Platform Heading 334 BNR 18 180 6.87E-4 90 Degrees CW 1-BW 2 110 25
Track Angle Rate 335 BNR 18 32 1.22E-4 16 Deg/Sec CW from N 1-BW 8 45 50
Pitch Att Rate 336 BNR 18 128 4.88E-4 64 Deg/Sec Up 2-BW 8.0 70 50
Roll Att Rate 337 BNR 18 128 4.88E-4 64 Deg/Sec Right Wing 2-BW 8.0 70 50
Down
IRU Maintenance 350 DIS 19 N/A N/A N/A N/A N/A N/A N/A N/A 3
Time to NAVRDY 351 BCD 2 0-9.9 0.1 N/A Minutes Always + N/A N/A N/A 3
Cycle Counter 354 BNR 19 0-524288 1 262,14 Count Always + N/A N/A N/A 50
4
Potential Vertical Speed 360 BNR 18 32768 0.125 16384 Ft/Min Up 1-BW 8 65 50
Inertial Altitude 361 BNR 20 -2K to 0.125 65536 Feet Up 1-BW 8 65 25
60K(4)
Along Track Accel 362 BNR 18 4 1.53E-5 2 G’s Forward 2-BW 6.4 70 50
Cross Track Accel 363 BNR 18 4 1.53E-5 2 G’s Right 2-BW 6.4 70 50
Vertical Accel 364 BNR 18 4 1.53E-5 2 G’s Up 2-BW 6.4 70 50
Inertial Vertical Spd 365 BNR 18 32768 0.125 16384 Ft/Min Up 1-BW 8 65 50
N-S Velocity 366 BNR 18 4096 0.01563 2048 Knots North 1-BW 2 110 12

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Signal Oct (6)
Cod(1) Sig Range(3) LSB(9) MSB Units Positive Filter(5) Flt
Transport
(7)
Xfer(8)
Lbl (2) Weight Weight Sense Type Rate Hz
BW
Bit (Hz) Delay
(msec)
E-W Velocity 367 BNR 18 4096 0.01563 2048 Knots East 1-BW 2 110 12
Unbiased Normal Accel 370 BNR 18 8 3.05E-5 4 G’s Up 2-BW 6.4 70 12
Equipment ID 371 DIS 19 N/A N/A N/A N/A N/A N/A N/A N/A 3
Along Heading Accel 375 BNR 18 4 1.53E-5 2 G’s Forward 2-BW 6.4 70 50
Cross Heading Accel 376 BNR 18 4 1.53E-5 2 G’s Right 2-BW 6.4 70 50

IR ARINC 429 Digital Output Notes

Note 1: Per ARINC 429, the Sign Status Matrix for the label formats Binary, Binary
Coded Decimal, and Discrete are as follows.
BNR Bits
31 30 Condition
0 0 Failure Warning
0 1 No Computed Data
1 0 Functional Test
1 1 Normal Operation
BCD Bits
31 30 Condition
0 0 Normal Operation (positive)
0 1 No Computed Data
1 0 Functional Test
1 1 Normal Operation (negative)
Under Failure Warning Conditions, BCD coded ARINC words are not
transmitted.
Disc Bits
31 30 Condition
0 0 Normal Operation
0 1 (Not Used Under Any Conditions)
1 0 Functional Test (Not Used Under Any Conditions)
1 1 Normal Operation
(used in wraparound word 277)
Under Failure Warning and No Computed Data conditions, Discrete coded
ARINC words are transmitted as Normal Operation.
In the case where two or more status/validity conditions are present, the
priority of the status/validity condition is
Condition Priority
Functional Test 1 (highest)
Failure Warning 2
No Computed Data 3
Normal Operation 4
Bits 30 and 31 are used for purposes other than SSM for labels 226 and 277.
Bit 32 is the parity bit for all labels. The 32 bit parity is odd for all output
labels.
Note 2: Significant bits for BNR data is defined as the number of ARINC 429 data bits
excluding the sign bit. The accuracy for each associated output is defined in
Table 5.3.6-1.
Note 3: For BCD labels, the actual digital range is as specified. For BNR labels, the

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range is as specified for a negative value and is full scale minus 1 LSB for a
positive value if not range limited. Output range may be limited by software.
Note 4: Air Data altitude reference to the IR is input limited between -2,000 and
60,000 feet. The inertial altitude may overshoot these limits before
converging to the Air Data altitude. Bit weighting range of the output is
131072 feet.
Note 5: Low Pass Digital Butterworth filters are used to filter the digital signals before
being transmitted on the ARINC 429 bus.
1-BW = 1st order Butterworth
2-BW = 2nd order Butterworth
Note 6: The filter bandwidth is defined as the –3 db cut-off point.
Note 7: The transport delays listed are the maximum required delays. The actual
transport delay for each label may be considerably less than the listed value.
The maximum transport delay for a 2nd order Digital Butterworth filter occurs
at the -3 db break frequency. The maximum transport delay for a 1 st order
Digital Butterworth filter occurs when the frequency approaches 0 Hz. Delays
specified are comprised of sensor input, filter, software, and output delays.
The delays given may not be in agreement with the ARINC 704/738
specification, since the delays specified in this specification assume different
filter breakpoints.
Note 8: Rounded (Actual) transmission rates are: 50(50), 25(25), 12(12.5), 6(6.25),
3(3.125).
Note 9: Least significant bit weighting of the output does not necessarily equate to the
resolution of that output. Resolution is defined as the minimum monotonic
step amplitude in the output for a given change in the input.
Note 10: Angular outputs are limited by software to + 90 degrees. Bit weighting range
of these outputs is 180 degrees.
Note 11: Data Loader SAL label 226 is only transmitted when data loading is enabled

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GPS ARINC 429 Digital Outputs
(5) (6)
Max Act
(2) (8) (7)
Oct Sig LSB MSB Pos. Delay Delay Xfer
(1) (3)
Signal Lbl Cod Bit Range Wght Wght Units Sense (msec) (msec) Rate
Autonomous Altitude 076 BNR 20 131072 0.125 65536 Feet Up 200 2.9 1
Autonomous HDOP 101 BNR 15 0-1024 0.031 512 N/A Always + N/A N/A 1
Autonomous VDOP 102 BNR 15 0-1024 0.031 512 N/A Always + N/A N/A 1
Autonomous Track Angle 103 BNR 15 180 0.0055 90 Degrees CW from N N/A N/A 1
Autonomous Latitude 110 BNR 20 90 0.000172 90 Degrees North 200 3.6 1
Autonomous Longitude 111 BNR 20 180 0.000172 90 Degrees East 200 3.9 1
Aut. Ground Speed 112 BNR 15 0-4096 0.125 2048 Knots Always + N/A N/A 1
(4)
Aut. Latitude Fine 120 BNR 11 0.000172 8.38E-8 8.6E-5 Degrees North 200 5.4 1
(4)
Aut. Longitude Fine 121 BNR 11 0.000172 8.38E-8 8.6E-5 Degrees East 200 5.7 1
UTC 125 BCD 5 23:59.9 0.1 - Hr:Min Always + N/A N/A 1
Aut Hor Integrity Limit 130 BNR 18 0-16 6.1E-5 8 NM Always + N/A N/A 1
Hyb Hor Integrity Limit 131 BNR 18 0-16 6.1E-5 8 NM Always + N/A N/A 1
Hyb True Heading 132 BNR 15 180 0.0055 90 Degrees CW from N 110 109 25
Aut Vert Integrity Limit 133 BNR 17 0-32768 0.25 16384 Feet Always + N/A N/A 1
Hyb Vertical FOM 135 BNR 18 0-32768 0.125 16384 Feet Always + N/A N/A 1
Aut Vertical FOM 136 BNR 18 0-32768 0.125 16384 Feet Always + N/A N/A 1
Hyb Track Angle 137 BNR 15 180 0.0055 90 Degrees CW from N 110 106.5 25
Terminal Area HIL 143 BNR 17 0-16 6.1E-5 8 NM Always + N/A N/A 1
Terminal Area VIL 144 BNR 17 0-32768 0.25 16384 Feet Always + N/A N/A 1
UTC (Binary) 150 BNR 17 23:59:59 1.0 16 Hr H:M:S Always + N/A N/A 1
Destination ETA 162 BNR 11 23:59 1 Min 16 Hr H:M Always + N/A N/A 3
Alt. Waypoint ETA 163 BNR 11 23:59 1 Min 16 Hr H:M Always + N/A N/A 3
Aut GPS Vert Velocity 165 BNR 15 +32768 1.0 16384 Ft/Min Up N/A N/A 1
Aut GPS N-S Velocity 166 BNR 15 +4096 0.125 2048 Knots North N/A N/A 1
Aut GPS E-W Velocity 174 BNR 15 +4096 0.125 2048 Knots East N/A N/A 1
Hyb Ground Speed 175 BNR 15 0-4096 0.125 2048 Knots Always + 110 106.9 25
Aut Horiz FOM 247 BNR 18 0-16 6.1E-5 8 NM Always + N/A N/A 1
Hyb Latitude 254 BNR 20 90 0.000172 90 Degrees North 160 106.7 12
Hyb Longitude 255 BNR 20 180 0.000172 90 Degrees East 160 107.1 12
(4)
Hyb Latitude Fine 256 BNR 11 0.000172 8.38E-8 8.6E-5 Degrees North 160 108.2 12
(4)
Hyb Longitude Fine 257 BNR 11 0.000172 8.38E-8 8.6E-5 Degrees East 160 108.5 12
Date 260 BCD 6 31:12:99 1 Day - D:M:Yr Always + N/A N/A 1
Hyb Altitude 261 BNR 20 131072 0.125 65536 Feet Up 65 44 25
Hyb Flight Path Angle 263 BNR 12 90 0.044 90 Degrees Up 110 107.2 25
Hyb Horiz FOM 264 BNR 18 0-16 6.1E-5 8 NM Always + N/A N/A 1
Hyb N-S Velocity 266 BNR 15 4096 0.125 2048 Knots North 110 106.0 12
Hyb E-W Velocity 267 BNR 15 4096 0.125 2048 Knots East 110 106.4 12
GPS Sensor Status 273 DIS N/A N/A N/A N/A N/A N/A N/A N/A 1
Hyb Sensor Status 274 DIS N/A N/A N/A N/A N/A N/A N/A N/A 1
Destination HIL 343 BNR 13 0-16 1.95E-3 8 NM Always + N/A N/A 3
Hyb Vertical Velocity 345 BNR 15 32768 1.0 16384 Ft/Min Up 65 48 25
Alt. Waypoint HIL 347 BNR 13 0-16 1.95E-3 8 NM Always + N/A N/A 3
GPS Rec. Maint. 352 DIS N/A N/A N/A N/A N/A N/A N/A N/A 1
Hyb Maintenance Word 353 DIS N/A N/A N/A N/A N/A N/A N/A N/A 1
GPS Nav Maint. 355 DIS N/A N/A N/A N/A N/A N/A N/A N/A 1

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GPS ARINC 429 Digital Outputs Notes:
Note 1: Per ARINC 429, the Sign Status Matrix for each of the two label formats (Binary and
Discrete) are as follows.

BNR Bits
31 30 Condition
0 0 Failure Warning
0 1 No Computed Data
1 0 Functional Test
1 1 Normal Operation

Disc Bits
31 30 Condition
0 0 Normal Operation
1 0 Functional Test

Under Failure Warning and No Computed Data conditions, Discrete coded

ARINC words are transmitted as Normal Operation.

In the case where two or more status/validity conditions are present, the priority of the
status/validity condition is

Condition Priority
Functional Test 1 (highest)
Failure Warning 2
No Computed Data 3
Normal Operation 4

Note 2: Significant bits for BNR data are defined as the number of ARINC 429 data bits
excluding the sign bit.

Note 3: For BNR labels, the digital range is as specified for a negative value and is full scale
minus 1 LSB for a positive value. Output range may be limited by software.

Note 4: Fine data words contain the truncated portion of the original data word. This information
is unsigned although the sign bit is reserved. The two labels are concatenated (or
combined) to form the complete data word. The MSB weight of these labels refers to the
next most significant bit of the latitude or longitude signal after the LSB of the course
signals. Note that these MSB weights are not exact.

Note 5: Transport delay requirements are per ARINC 704A.

Note 6: The actual transport delays are determined differently depending upon the label type.

The actual transport delays given for the hybrid labels 132, 137, 175, 254, 255, 256, 257,
261, 263, 266, 267, and 345 are based upon sensor, GPS processing, filter, and output
delays.

Actual transport delays are not applicable for hybrid FOMs (135 and 264) and the Hybrid
status and maintenance labels (274 and 353).

Note 7: Rounded (Actual) transmission rates are: 25(25), 12(12.5), 3(3.125), 1(1.5625).

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Note 8: Least significant bit weighting of the output does not necessarily equate to the resolution
of that output. Resolution is defined as the minimum monotonic step amplitude in the
output for a given change in the input.

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8.0 ASCB Interfaces

8.1 ASCB Version A/B

8.1.1 ASCB A/B Version selection

The HG2001GD20 IRU can receive and transmit ASCB data on two-wire (version B) or
four-wire (version A) buses. Two-wire buses provide unclocked data transmissions, and
four-wire buses provide data and clock signals on separate wire pairs. When the IRU
powers on, it reads the ASCB 2W/4W Sel Discrete (A-E14) and the ASCB Data Sel
Discrete (A-E13) Inputs:

 If the two discrete inputs are open, the HG2001GD20 IRU selects Version A.

 If the two discretes inputs are grounded, the HG2001GD20 IRU selects Version
B.

 All other combinations of the two discrete inputs cause externally detectable
invalid output data.

8.1.2 Ports

The HG2001GD20 IRU has two bi-directional ASCB version A output buses and two bi-
directional ASCB version B buses on which ASCB data is transmitted.

8.2 ASCB Version C

8.2.1 ASCB version C Input Data

The HG2001GD03/GD40 IRU receives FMS and DADC inputs on its bi-directional
ASCB buses.

 The HG2001GD03/GD40 IRU can receive required initialization and time data
from an FMS when the FMS sends miscellaneous data (WSP 2 header code =
0001H) as a part of the FMS background set.

 The HG2001GD03/GD40 IRU can receive required air data inputs in ASCB
format from one of four DADCs. Each DADC has a unique address, which is in
bits 7 through 0 of WSP 1. Each also responds to a request address from the bus
controller and transmits data during specific transmit frames.

8.2.2 ASCB version C Transmit Data

The HG2001GD03/GD40 IRU transmits IRS sensor data in normal or SPZ-
8500/PRIMUS 2000XP formats based on the ASCB-C Select discrete input.

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 When ASCB-C version select discrete (B-C9) is open the IRU transmits the
normal format.

 When the ASCB-C version select discrete (B-C9) is grounded the IRU transmits
the format required for proper SPZ-8500/PRIMUS 2000XP interfacing.

8.2.3 ASCB version C Ports

The HG2001GD03/GD40 IRU has two bi-directional ASCB version C busses and an On-
Side Backup bus (receive only) which ASCB data is transmitted and received.

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9.0 Output Parameter Accuracy
IR Digital Output Performance (ARINC-704 Specification)

Parameter Limitations Navigation Mode (1) Reversionary Attitude Mode

Present Position See note 2. For times less than 10 hrs N/A
Accuracy = 2nmph R95
For times between 10 and 18 hrs
Accuracy = 20 nm R95
Resolution = 1.72e-4 degrees

Pitch Angle Pitch angle limited to |90| Accuracy = 0.10 degrees 2 Accuracy = 2.5 degrees 2
degrees. Resolution = 4.12e-3 degrees Resolution = 4.12e-3 degrees

Roll Angle Held constant for pitch angles Accuracy = 0.10 degrees 2 Accuracy = 2.5 degrees 2
exceeding |85| degrees. Resolution = 4.12e-3 degrees Resolution = 4.12e-3 degrees

True Heading Held constant for pitch angles Accuracy = 0.40 degrees 2 N/A in Reversionary Attitude
exceeding |85| degrees. Resolution = 6.87e-4 degrees

Magnetic Heading Held constant for pitch angles Between N50 and S50 degrees Accuracy dependent upon entered
exceeding |85| degrees. Accuracy = 2 deg heading
between 50N and 68N Operational accuracy is 15 deg/hr
Accuracies valid for years Accuracy = 3 deg maximum drift
2010 through ~2030 based between 50S and 60S Resolution = 6.87e-4 degrees
upon selecting appropriate Accuracy = 3 deg
magnetic variation map All other regions where magnetic
heading is valid
Accuracy = 4 deg

Accuracies are 95%

Absolute Accuracy = 10 degrees

Resolution = 6.87e-4 degrees

Ground Speed See note 2 and note 3 Accuracy = 10 knots R95 N/A
Resolution = 0.0156 knots

Vertical Velocity Pressure altitude input Accuracy = 30 ft/min 2 Accuracy = 30 ft/min 2

required. Resolution = 0.125 ft/min Resolution = 0.125 ft/min
Accuracy valid 120 seconds
after vertical loop closure.
Assumes no ADS errors.
Accuracy valid over ADS
altitude range of
-2,000 to 60,000 feet.

Body Pitch Rate Minimum range of 70 Accuracy = 0.02 deg/sec or Accuracy = 0.1 deg/sec or
deg/sec. 0.5% of output 1% of output
whichever is greater whichever is greater
Accuracy’s are 2 Accuracy’s are 2
Resolution = 4.88e-4 deg/sec Resolution = 4.88e-4 deg/sec

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Parameter Limitations Navigation Mode (1) Reversionary Attitude Mode
Body Roll Rate Minimum range of 70 Accuracy = 0.02 deg/sec or Accuracy = 0.1 deg/sec or
deg/sec. 0.5% of output 1% of output
whichever is greater whichever is greater
Accuracy’s are 2 Accuracy’s are 2
Resolution = 4.88e-4 deg/sec Resolution = 4.88e-4 deg/sec

Body Yaw Rate Minimum range of 40 Accuracy = 0.02 deg/sec or Accuracy = 0.1 deg/sec or
deg/sec. 0.5% of output 1% of output
whichever is greater whichever is greater
Accuracy’s are 2 Accuracy’s are 2
Resoluton = 4.88e-4 deg/sec Resolution = 4.88e-4 deg/sec

Pitch Attitude Rate Minimum range of 30 Accuracy = 0.1 deg/sec or Accuracy = 0.1 deg/sec or
deg/sec. Roll angle 1% of output 1% of output
component held constant for whichever is greater whichever is greater
pitch angles exceeding |85| Accuracy’s are 2 Accuracy’s are 2
degrees. Resolution = 4.88e-4 deg/sec Resolution = 4.88e-4 deg/sec

Roll Attitude Rate Minimum range of 30 Accuracy = 0.1 deg/sec or Accuracy = 0.1 deg/sec or
deg/sec. Set to zero for pitch 1% of output 1% of output
angles exceeding |85| whichever is greater whichever is greater
degrees. Accuracy’s are 2 Accuracy’s are 2
Resolution = 4.88e-4 deg/sec Resolution = 4.88e-4 deg/sec

Inertial Altitude Pressure altitude input Accuracy = 5 feet 2 Accuracy = 5 feet 2

required. Accuracy specified Resolution = 0.125 feet Resolution = 0.125 feet
with constant altitude input,
and assumes no ADS error.
Accuracy and resolution
valid over ADS altitude range
of
-2,000 to 60,000 feet.
Resolution assumes a
maximum ADS granularity
of 6 feet at an altitude rate of
8,000 ft/min.

Longitudinal Minimum sensing range of Accuracy = 0.005 Gs or 0.5% of Accuracy = 0.01 Gs or 1% of

Acceleration 4 Gs. output , whichever is greater output , whichever is greater
Accuracy’s are 2 Accuracy’s are 2
Resolution = 1.53e-5 Gs Resolution = 1.53e-5 Gs

Lateral Minimum sensing range of Accuracy = 0.005 Gs or 0.5% of Accuracy = 0.01 Gs or 1% of

Acceleration 4 Gs. output , whichever is greater output , whichever is greater
Accuracy’s are 2 Accuracy’s are 2
Resolution = 1.53e-5 Gs Resolution = 1.53e-5 Gs

Normal Minimum sensing range of Accuracy = 0.005 Gs or 0.5% of Accuracy = 0.01 Gs or 1% of

Acceleration 4 Gs. output , whichever is greater output , whichever is greater
Accuracy’s are 2 Accuracy’s are 2
Resolution = 1.53e-5 Gs Resolution = 1.53e-5 Gs

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Parameter Limitations Navigation Mode (1) Reversionary Attitude Mode
Unbiased Normal Minimum sensing range of Accuracy = 0.01 Gs or 1% of Accuracy = 0.01 Gs or 1% of
Acceleration 8 Gs. output , whichever is greater output , whichever is greater
Accuracy’s are 2 Accuracy’s are 2
Resolution = 3.05e-5 Gs Resolution = 3.05e-5 Gs

Vertical Minimum sensing range of Accuracy = 0.01 Gs or 1% of Accuracy = 0.01 Gs or 1% of

Acceleration 4 Gs. output , whichever is greater output , whichever is greater
Accuracy’s are 2 Accuracy’s are 2
Resolution = 1.53e-5 Gs Resolution = 1.53e-5 Gs

Flight Path Valid for Vg > 20 kts. Accuracy = 0.01 Gs or 10% of N/A
Acceleration output whichever is greater
Accuracy’s are 2
Resolution = 1.53e-5 G’s

Along Track Valid for Vg > 20 kts. Accuracy = 0.01 Gs or 10% of N/A
Acceleration output whichever is greater
Accuracy’s are 2
Resolution = 1.53e-5 Gs

Cross Track Valid for Vg > 20 kts. Accuracy = 0.01 Gs 2 N/A

Acceleration at 120 kts or greater
Resolution = 1.53e-5 Gs

Platform Heading Held constant for pitch angles Accuracy = 0.40 degrees 2 Accuracy dependent upon entered
exceeding |85| degrees. Resolution = 6.87e-4 degrees heading
Operational accuracy is 15 deg/hr
maximum drift

Track Angle True Not computed when ground Accuracy = 4 deg 2 N/A
speed is below 20 knots. at 120 kts or greater
Accuracy requirement varies Accuracy = 2 deg 2
as a function of ground at 230 kts or greater
speed. Resolution = 2.06e-3 degrees

Track Angle Not computed when ground For latitudes between 82 degrees N/A
Magnetic speed is below 20 knots. South and 82 degrees North
Accuracy equals the RSS of Accuracy= 5 deg 2
Track Angle True error plus at 120 kts or greater
the Magnetic Variation error. Resolution = 2.06e-3 degrees
Track Angle Magnetic error
varies as a function of ground
speed and present position.

Flight Path Angle Not computed when ground Accuracy = 0.4 degrees 2 N/A
speed is below 20 knots. Resolution = 2.06e-3 degrees

Drift Angle Not computed when ground Accuracy = 4 deg 2 N/A

speed is below 20 knots. at 120 kts or greater
Accuracy requirement varies Resolution = 2.06e-3 degrees
as a function of ground
speed. Heading component
held constant for pitch angles
exceeding |85| degrees.
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Parameter Limitations Navigation Mode (1) Reversionary Attitude Mode

Track Angle Rate Not computed when ground Accuracy = 0.25 deg/sec 2 N/A
speed is below 20 knots. at 60 kts or greater
Resolution = 1.22e-4 deg/sec

Wind Speed No error assumed in ADS Accuracy = 12 knots R95 N/A

TAS input. See note 2. Resolution = 9.77e-4 knots

Wind Direction No error assumed in ADS Accuracy = 10 degrees 2 N/A

TAS input. Resolution = 4.4e-3 degree
For Wind Speeds ≥50kts

N-S Velocity See note 3. Accuracy = 8 knots 2 N/A

Resolution = 0.0156 knots

E-W Velocity See note 3. Accuracy = 8 knots 2 N/A

Resolution = 0.0156 knots

Along Heading Minimum sensing range of Accuracy = 0.01 Gs or 1% of N/A

Accel 4 Gs. Roll angle component output , whichever is greater
held constant for pitch angles Accuracy’s are 2
exceeding |85| degrees. Resolution = 1.53e-5 Gs

Cross Heading Minimum sensing range of Accuracy = 0.01 Gs or 1% of N/A

Accel 4 Gs. Roll angle component output , whichever is greater
held constant for pitch angles Accuracy’s are 2
exceeding |85| degrees. Resolution = 1.53e-5 Gs

IR Digital Output Performance Notes:

Note 1: The term R95 represents the radial length of a circle which encompasses a 95% probable
accuracy. The well known term 2 represents two times the standard deviation of a Gaussian
distribution. The term 95% represents percent probable accuracy. The resolution specified
applies only to the BNR ARINC 429 data.
Note 2: Present position, ground speed, and wind speed are 2-dimensional parameters. The error in
these parameters is computed as a vector difference between the observed and true values.
Note 3: N-S velocity and E-W velocity are single axis errors that are the components to the ground speed
error vector.
General Note:

Some system performance values listed are from ARINC-704a as a minimum requirement. Actual
performance may be better.

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Hybrid GPS System Performance
Parameter SA(1) Conditions Navigation Mode(2)

Hyb Horizontal Position Off HDOP = 1.5 25 meters (2DRMS)

ON HDOP = 1.5 100 meters (2DRMS)

(3)
Hyb Ground Speed Off HDOP = 1.5 0.25 knots R95
(3)
On HDOP = 1.5 1.8 knots R95

Hyb Vertical Velocity Off VDOP = 2.0 30 feet/minute 2

On VDOP = 2.0 150 feet/minute 2

(4)
Hyb Track Angle True Off HDOP = 1.5 0.10 degrees 2
(4)
On HDOP = 1.5 0.70 degrees 2

Hyb North-South Velocity Off HDOP = 1.5 0.2 knots 2

On HDOP = 1.5 1.3 knots 2

Hyb East-West Velocity Off HDOP = 1.5 0.2 knots 2

On HDOP = 1.5 1.3 knots 2

Hyb Altitude Off VDOP = 2.0 150 feet 2

On VDOP = 2.0 500 feet 2

(5)
Hyb Flight Path Angle Off VDOP = 2.0 0.15 degrees 2
(5)
On VDOP = 2.0 0.80 degrees 2

Hyb True Heading Off None 0.4 degrees 2

On None 0.4 degrees 2

Hybrid GPS System Performance Notes:

Note 1:. Accuracies with SA on are based on an SA model which assumes a worst case dithering
(i.e. no biases) with the following characteristics:

Natural Frequency 0.0174 radians/ second

Damping Ratio 0.4
Pseudorange Sigma 33.4 meters
Pseudorange Rate Sigma 0.39 meters/second

Note 2: The term R95 represents the 95% probable accuracy for a Rayleigh distribution. The
term 2  represents two times the standard deviation of a Gaussian distribution. The term
2DRMS represents the root-mean-square value of the x-y distances (two-dimensional
distance root-mean-square) from the true location point. The confidence value for a
2DRMS depends on the elongation of the error ellipse. As the error ellipse collapses to a
line segment, the confidence value approaches 95 percent; as the error ellipse becomes
circular, the confidence value approaches 98%.

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Note 3: The resolution of the ARINC output is 0.125 knots.

Note 4: Based upon a ground speed of 120 knots with circular error distribution.
Note 5: Based upon a ground speed of 120 knots.

General Note:

Some system performance values listed are from ARINC-704a as a minimum requirement. Actual
performance may be better.

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