1、 MIL-PRF-71185A (AR) 27 August 2013 SUPERSEDING MIL-PRF-71185 (AR) 30 July 1999 PERFORMANCE SPECIFICATION DYNAMIC REFERENCE UNIT-HYBRID-REPLACEMENT (DRU-H-R) This specification is approved for use by the US Army ARDEC and is available for use by all Departments and Agencies of the Department of Defe
2、nse 1. SCOPE 1.1 Scope. This specification covers the Dynamic Reference Unit-Hybrid-Replacement (DRU-H-R). The DRU-H-R is a Line Replaceable Unit (LRU) of the M109A6 self-propelled howitzer (Paladin) and the AN/TPQ-36 and TPQ-37 radars (FireFinder.) 1.2 Classification. DRU-H-Rs are of the following
3、types, as specified (see 6.2). 1.2.1 Types. The types of DRU-H-Rs are as follows: Type I Finished for use inside a host where illumination is permitted (see 3.3.8.1.e and 3.5.4.1.a.). Type II Finished for use outside a host where illumination is not permitted (see 3.3.8.1.f, 3.3.8.1.g, and 3.5.4.1.b
4、.) 1.3 Requirement types. Requirements identified as “threshold” must be met. It is desired, but not mandatory, that requirements identified as “objective” be met. Unless otherwise identified, all requirements are “threshold.” AMC: N/A FSC : 1220 DISTRIBUTION STATEMENT A. Approved for public release
5、; distribution is unlimited. INCH-POUND Comments, suggestions, or questions on this document should be addressed to: Commander, U.S. Army ARDEC, ATTN: RDAR-QES-E, Picatinny, New Jersey 07806-5000, or emailed to usarmy.picatinny.ardec.list.ardec-stdzn-branchmail.mil Since contact information can chan
6、ge, you may want to verify the currency of this address information using the ASSIST online database at https:/assist.dla.mil. Provided by IHSNot for ResaleNo reproduction or networking permitted without license from IHS-,-,-MIL-PRF-71185A (AR) 2 2. APPLICABLE DOCUMENTS 2.1 General. The documents li
7、sted in this section are specified in sections 3 or 4 of this specification. This section does not include documents cited in other sections of this specification or recommended for additional information or as examples. While every effort has been made to ensure the completeness of this list, docum
8、ent users are cautioned that they must meet all requirements documents cited in sections 3 and 4 of this specification, whether or not they are listed. 2.2 Government documents. 2.2.1 Specifications, standards, and handbooks. The following specifications, standards, and handbooks of the exact revisi
9、on listed below form a part of this specification to the extent specified herein. INTERNATIONAL STANDARDIZATION AGREEMENTS QSTAG-1031 Consistent Sets of Nuclear Hardening Criteria for Classes of Equipment (U) DEPARTMENT OF DEFENSE SPECIFICATIONS MS27468J Connector, Receptacle, Electrical Jam Nut Mou
10、nting, Crimp Type, Bayonet Coupling Series I MIL-DTL-53072C Chemical Agent Resistant Coating (CARC) System Application Procedures and Quality Control Inspection MIL-DTL-64159A Coating, Water Dispersible Aliphatic Polyurethane, Chemical Agent Resistant DEPARTMENT OF DEFENSE STANDARDS MIL-STD-130L Ide
11、ntification Marking of U.S. Military Property MIL-STD-461E Requirements for the Control of Electromagnetic Interference Characteristics of Subsystems and Equipment MIL-STD-464A Electromagnetic Environmental Effects Requirements For Systems MIL-STD-810F Environmental Engineering Considerations and La
12、boratory Tests MIL-STD-1275D Characteristics of 28 Volt DC Electrical Systems in Military Vehicles MIL-STD-1472F Human Engineering Provided by IHSNot for ResaleNo reproduction or networking permitted without license from IHS-,-,-MIL-PRF-71185A (AR) 3 DEPARTMENT OF DEFENSE HANDBOOKS MIL-HDBK-217 Reli
13、ability Prediction of Electronic Equipment MIL-HDBK-729 Corrosion and Corrosion Prevention Metals MIL-HDBK-783 Chemical and Biological (CB) Contamination Avoidance and Decontamination MIL-HDBK-784 Guidelines-Design to Minimize Contamination and to Facilitate Decontamination of Military Vehicles and
14、Other Equipment: Interiors and Exteriors (Copies of these documents are available on line at https:/assist.dla.mil/quicksearch/ or from: Standardization Document Order Desk, Bldg. 4D, 700 Robbins Avenue, Philadelphia, PA 19111-5094.) 2.2.2 Other Government documents, drawings, and publications. The
15、following other Government documents, drawings, and publications form a part of this specification to the extent specified herein. Unless otherwise specified, the issues are those cited herein. U.S. ARMY TANK AUTOMOTIVE RESEARCH, DEVELOPMENT AND ENGINEERING CENTER (TARDEC) DRAWINGS 12300005 Speedome
16、ter Assembly 12369002 Paint Systems for Aluminum, Interior Surfaces, White 12369004 Paint Systems for Steel, Interior Surfaces, White 12369016 Paint Systems for Plastic, Interior Surfaces, White 12384798 Speedometer Sender (Copies of these drawings may be requested by email at usarmy.picatinny.ardec
17、.list.drawing-request-help-deskmail.mil and from US Army ARDEC, ATTN:RDAR-EIS-PE, Picatinny Arsenal, NJ 07806-5000.) CODE OF FEDERAL REGULATION 40 CFR 1500-1508 National Environmental Policy Act Regulations (CFRs are available online at www.gpoaccess.gov/cfr/ or from the Superintendent of Documents,
18、 U.S. Government Printing Office, North Capitol and the external aiding source and communications link are operational; and the aiding source is enabled; and aiding data from the source meets the source data acceptance criteria. c. The DRU-H-R shall not require odometer sensor data or stops when use
19、able GPS data are available. d. When useable odometer sensor data are available and ZUPTs are enabled, the DRU-H-R shall not require a stop before the time since the last ZUPT or useable GPS data set, whichever occurred last, exceeds the Odometer Mode ZUPT Interval, specified in configuration data.
20、e. When ZUPTs are enabled, the DRU-H-R shall not require a stop before the time since the last ZUPT or usable GPS data set, whichever occurred last, exceeds the Exclusive ZUPT Mode Interval, specified in configuration data. f. Host position updates may be required only when: an acceptable initial po
21、sition isnt available from another source; or travel time since the last completed ZUPT or usable GPS data set, whichever occurred last, has exceeded 150 percent of the applicable ZUPT interval. Provided by IHSNot for ResaleNo reproduction or networking permitted without license from IHS-,-,-MIL-PRF
22、-71185A (AR) 10 3.3.6.2 GPS aiding. a. The DRU-H-R may use GPS aiding when: the GPS Installed flag (CFIG D26/7) is set; and the GPS receiver, antenna and communication link pass BIT; and GPS aiding is enabled; and current GPS data meet the acceptance criteria. b. The DRU-H-R shall not use GPS aiding
23、 when: the GPS Installed flag (CFIG D26/7) is reset; or the GPS receiver or antenna or communications link fail BIT; or GPS aiding is inhibited; or current GPS data do not meet the acceptance criteria. 3.3.6.2.1 GPS data acceptance criteria. a. The DRU-H-R may use current valid GPS data sets having
24、an Estimated Position Error (EPE) the GPS Good Value specified in configuration data. b. If a USE DEGRADED GPS DATA command is accepted, the DRU-H-R shall set STATUS DATA S6/6 (Degraded GPS Enabled) and may use valid GPS data sets having an EPE the GPS Poor Value. c. When STATUS DATA S6/6 is set and
25、 a valid GPS data set with EPE the GPS EPE Good Value becomes available, the acceptance criteria shall become the GPS Good Value and STATUS DATA S6/6 shall be reset. d. The DRU-H-R shall not use invalid GPS data sets, old (stale) GPS data sets or current GPS data sets having an EPE the GPS Poor Valu
26、e specified in configuration data. e. GPS position data are valid if data in the current GPS data indicates the receiver has no failures, no GPS Antenna Fault is present (3.3.8.4.3.3), the PVT solution is valid, the PVT solution incorporates data from four or more satellites, and the code type(s) of
27、 the satellites used in the PVT solution is consistent with the selected code type (All Y-code, Mixed Y and the odometer sensor BIT is not failed; and odometer sensor aiding is enabled; and STATUS DATA S2/4 (Pointing Device In Travel Lock) is set. b. The DRU-H-R shall not use odometer sensor aiding
28、when: the Odometer Installed flag (CFIG D28/0) is reset; or the odometer sensor failed BIT; or odometer sensor aiding is inhibited; or STATUS DATA S2/4 (Pointing Device In Travel Lock) is reset. 3.3.6.3.1 Faulty odometer sensor aiding data. When an odometer sensor malfunction or a significant amount
29、 of erroneous odometer sensor data is detected, the DRU-H-R shall: a. Inhibit odometer aiding. b. Set BIT DATA D2/1 (VMS Fail) and D2/0 (VMS Drive Fail). c. If configured for a VMS odometer sensor, perform VMS hardware BIT. The DRU-H-R may wait until the host stops to perform VMS hardware BIT. 1) If
30、 the VMS passes hardware BIT, BIT DATA D2/1 (VMS Fail) and D2/0 (VMS Drive Fail) shall remain set. Provided by IHSNot for ResaleNo reproduction or networking permitted without license from IHS-,-,-MIL-PRF-71185A (AR) 11 2) If the VMS fails hardware BIT, BIT DATA D2/1 (VMS Fail) shall remain set and
31、BIT D2/0 (VMS Drive Fail) shall be reset. 3.3.6.4 ZUPT aiding. a. The DRU-H-R may utilize zero-velocity updates (ZUPTs) when STATUS DATA S3/2 (DRU-H-R In Motion) and S3/4 (ZUPTs Inhibited) are reset. b. ZUPTs shall be initiated automatically. c. The DRU-H-R shall not require stopping for more than 3
32、0 seconds to complete a ZUPT during Survey, interrupted Static Align, or Dynamic Align. d. A ZUPT shall be terminated or interrupted when STATUS DATA S3/2 (DRU-H-R In Motion) is set or when motion would result in excessive position or attitude error. e. Termination or interruption of a ZUPT shall no
33、t degrade DRU-H-R performance. 3.3.6.4.1 Valid unscheduled ZUPT requests. a. When useable GPS data are not available, the DRU-H-R may request ZUPTs, no more frequently than the Exclusive ZUPT Mode Interval, when severe road/terrain conditions, such as soft sand, mud, snow, or ice, result in excessiv
34、e erroneous odometer sensor data. b. The DRU-H-R may request a ZUPT when gyro parameters must be adjusted because of severe thermal rates. c. Neither of these conditions shall be considered relief from 3.5.2.3 and 3.5.7. 3.3.6.5 Host position updates. (see 6.6.1) a. The DRU-H-R shall accept position
35、 updates via ACCEPT POSITION and ACCEPT GEODETIC DATA commands containing data meeting acceptance criteria. b. Position updates shall be relative to the datum identified by the Datum ID in the ACCEPT POSITION and ACCEPT GEODETIC DATA command. c. Grid coordinates shall be relative to the UTM grid. d.
36、 Position updates include horizontal position or altitude updates (3.3.6.5.7), use of the relative offset flags (3.3.6.5.7.4), and datum updates (3.3.6.5.8). 3.3.6.5.1 Grid coordinate update. a. If acceptance criteria are met, the DRU-H-R shall accept updates of any combination of the following para
37、meters in an ACCEPT POSITION command: Datum; Extended Zone; Horizontal Position (Northing, Easting, Hemisphere and Altitude. b. The DRU-H-R shall accept UTM coordinate updates in terms of the normal zone or extended zone regardless of the designation of the zone/extended zone for output messages. 3.
38、3.6.5.2 Geodetic coordinate update. a. If acceptance criteria have been met, the DRU-H-R shall accept updates of any combination of the following parameters in an ACCEPT GEODETIC DATA command: Datum; Horizontal Position (Latitude and Longitude); and Altitude. Provided by IHSNot for ResaleNo reproduc
39、tion or networking permitted without license from IHS-,-,-MIL-PRF-71185A (AR) 12 b. When an ACCEPT GEODETIC DATA command is used to initialize/update the DRU-H-R, UTM grid positions and grid azimuths shall be output in the normal zone until such time that an ACCEPT POSITION command specifying extend
40、ed zone output has been accepted. 3.3.6.5.3 Parameter no-change values. The DRU-H-R shall accept the parameter values listed in Table II, which indicate a parameter grouping is not to be updated. Table II - No update parameter values. PARAMETER GROUP VALUE Horizontal Position Hemisphere/Zone, and 0
41、Easting, and 1,048,575 Northing 16,777,215 Or Latitude, and 91 0 Longitude 181 0 Altitude 16,383 Datum 6 ASCII spaces (20 hex) Grid 15 Extended Zone 0 3.3.6.5.4 Position update characteristics. a. The DRU-H-R shall not accept an update if any parameter is outside acceptance limits. b. The DRU-H-R sh
42、all not accept partial updates of horizontal position. c. The DRU-H-R shall not accept partial no-change value updates of horizontal position. d. The DRU-H-R shall set ALERT DATA D5/7 (Invalid Update Request) if an invalid grouping is received. e. The DRU-H-R may reject an update request and set ALE
43、RT DATA D5/7 (Invalid Update Request) if it is received while STATUS DATA S2/6 (Datum or Position Update In Progress) is set. 3.3.6.5.5 Position update reference. Positions input to the DRU-H-R will be for the applicable vehicle (Orientation 1) or pointing device (Orientation 2) offset point. The DR
44、U-H-R shall relate the offset point position to the DRU-H-R location. 3.3.6.5.6 Position update duration. a. When STATUS DATA S3/1 (Orientation Attitude Data Valid) is set, position updates shall be completed within 5 seconds after receipt of the update command. Provided by IHSNot for ResaleNo repro
45、duction or networking permitted without license from IHS-,-,-MIL-PRF-71185A (AR) 13 b. When STATUS DATA S3/1 is reset, position updates shall be completed within 60 seconds after receipt of the update command. 3.3.6.5.7 Horizontal position and altitude updates. a. The DRU-H-R shall accept host updat
46、es of the horizontal and altitude coordinates, while the host is stationary, upon receipt of an ACCEPT POSITION or ACCEPT GEODETIC DATA command. b. If STATUS DATA S3/2 (DRU-H-R In Motion) is in the set state when the update command is received, the position update shall be rejected and ALERT DATA D3
47、/5 (Motion During Update request) shall be set. 3.3.6.5.7.1 Acceptance criteria, GPS data not available. If valid GPS data are not available: a. The DRU-H-R shall accept and use position parameters, input during Static Align via an ACCEPT POSITION or ACCEPT GEODETIC DATA command, meeting the allowab
48、le range limits. b. The DRU-H-R shall compare position coordinates, input during Accelerated Align or Survey via an ACCEPT POSITION or ACCEPT GEODETIC DATA command, to the present internal estimate of DRU-H-R position. The DRU-H-R shall accept or reject the update based on the absolute values of pos
49、ition differences as specified in Table III. If any parameter is rejected, the entire update shall be rejected and the listed ALERT DATA bit(s) shall be set. Table III. Position acceptance criteria - no GPS. ABSOLUTE VALUE POSITION DIFFERENCE (meters) ACCEPT REJECT SET ALERT DATA Horizontal Position Pos (3*DRU-H-R_EHE + 10) accept (3*DRU-H-R_EHE + 10) (12*DRU-H-R_EHE + 150) rej
