Micro Inertial Reference System

IRSTM
Product Description
October 2016
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 TABLE OF CONTENTS
Section…………………………………………………………………………… Page

1.0 Introduction ..........................................................................................1

2.0 Technical Overview ..............................................................................2

3.0 Experience ...........................................................................................7

4.0 Hardware Description ..........................................................................8

5.0 Qualification Levels ............................................................................13

6.0 Input Parameter Characteristics.........................................................16

7.0 Output Parameter Accuracy ...............................................................22

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 1.0 Introduction
The Micro IRS contains laser gyro inertial navigation technology in the industry’s smallest and lightest package. This new
system has been designed to simplify crew workload while dramatically reducing installation time, weight, size, power, and
cost. A sample of the fixed wing and rotary wing platforms that the Laseref VI micro IRS has been selected and installed on
are as follows:

 Gulfstream G280, G350, G450, G500, G550, and G650

 Hawker-Beachcraft Hawker 4000, T-6B
 Dassault Falcon 900EX, 2000EX, F5X, F8X
 Embraer 170/175/190/195 and E2
 Bombardier Challenger 350, 605, Global 6000, 7000, 8000
 Bombardier C-Series, CRJ-100/200/700/900, Q400
 Cessna Latitude, Longitude
 Civilian C-130
 Pilatus PC-21, PC-7, and PC-9 Trainer
 Boeing 787, 777X
 COMAC ARJ-21, C919
 Mitsubishi Regional Jet
 Sukhoi Superjet 100
 Irkut MC-21
 Airbus Helicopters H145, H225
 Leonardo AW-101, M-345

Laseref VI Micro IRS features, enhancements, and comparison to the Laseref V

Micro IRS:

 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.
 Laseref VI more than 0.5 pounds less than the Laseref V
 Laseref VI provides an enhanced HIGH Integrity Hybrid GPS (HIGH Step II)
 Now provides 100% Availability of RNP 0.1 NM Navigation
 Hybrid Kalman Filter provides extended integrity coasting through GNSS-denied outages
 Alignment In Motion
 Provides recovery of full performance mode following loss of power in flight
 Laseref VI performs Alignment In Motion greater than 50% faster than the Laseref V
 Quick dispatch within 1 minute is available with stationary and subsequent align-in-motion algorithms.
 40,000 hour MTBF Reliability -- highest in the industry
 Automatic Mode Control Logic and Automatic Initialization for reduced crew workload
 Passive Cooling eliminates the weight and cost of the cooling fans
 Electronic mounting tray alignment for reduced installation cost
 Enhanced Automatic Realignment uses GPS to refine the alignment between flights
 Powerful Processor with Partitioned Operating System

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System Components:
The Laseref VI Micro Inertial Reference System contains the following components:
 HG2100BB Micro IRU
 WG2001 Mounting Tray
 IM-950 Aircraft Personality Module

HG2100 Micro IRU

The Micro 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 to support enhanced operations such as RNP AR, initializes
automatically, and performs alignment-in-motion.

IM-950 Aircraft Personality Module

The memory module contains aircraft configuration data and mounting tray misalignment terms (Euler angles). Once
programmed with the menu driven PC tool, the APM remains with the tray. The IRU can be removed and replaced
without any realignment or reprogramming procedures.

2.0 Technical Overview

Note: The information in this document is a summary of the Laseref VI Installation and Maintenance Manual
(Laseref VI IMM). This document should not be used for official technical or installation reference information.
Only the Laseref VI IMM should be used as the official technical performance and installation reference
document.

The Laseref VI Micro IRS is an Inertial Reference System (IRS) which outputs ARINC 429 inertial reference information for
flight control and aircraft navigation.

Key Features:
 Weight 9.3 lbs

 Size 267 cubic inches

 Dimensions (WxLxH) 6.5”x6.4”x6.4”

 Power Consumption 20 watts

 Cooling Passive

 Mounting Tray 0.5 lbs

 MTBF 25,000 operational hours

 ARINC 429 Transmitters 4 (Can support up to 80 different LRUs)

 ARINC 429 Receivers 7

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  Ethernet 1

 Discrete Inputs 12

 Discrete Outputs 2

 Operation Automatic mode control and Align-In-Motion

 Maintenance 99% Build-in Test Coverage

NVM storage of performance and troubleshooting data

Build-in automatic sensor calibration

Certification:
 Software Certification DO178B Level A

 Hardware Certification DO160G

 TSO & ETSO C-3e, C-4c, C-5f and C-6e

 TSO & ETSO C-129a Class B1/C1 (with ARINC 734A GPS Receiver)

 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

 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 Micro IRS provides hybrid GPS/Inertial outputs
capable of meeting TSO C-129a Class B1/C1 requirements.

ARINC 429 Outputs:

The Inertial Reference (IR) component of the Micro 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) or from position
inputs provided by a GPS receiver. 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

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 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 performance. All satellites and sensors are individually calibrated in
the Kalman filter. The resulting hybrid data is highly calibrated and provides exceptional navigation performance even
if all satellites are lost. 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

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HIGH Step II:

HIGH Step II is an enhanced version of HIGH that further improves the capability of the GPS/Inertial technology.
HIGH Step II meets the industry requirements (DO-229 appendix R) for GPS/inertial tightly coupled integrity
calculations. It features a Honeywell algorithm called Solution Separation that uses optimal multiple 36-state Kalman
filtering techniques to produce a RAIM like function and also extends the integrity protection levels (i.e. integrity
coasting) by taking advantage of the inertial integration which extends the function to GPS denied environments (i.e.
Terrain Masking, Solar storms, Intentional Jamming, GPS constellation variation etc). This makes RNP navigation,
especially for low RNP, more robust to protect against unexpected GPS denied environments leading to missed
approaches

The table below summarizes the availability of detection for the HIGH Step II Enhanced algorithm.
HIGH Step II Availability
Alert Level
Satellites
0.1 nmi 0.2 nmi 0.3 nmi 1.0 nmi 2.0 nmi
24 Satellites 100% 100% 100% 100% 100%

If GPS data is completely lost, the kalman filter will maintain accuracy for an extended period of time.
The table below shows the 95% coasting performance.

Summary of 95% Accuracy Hybrid Coasting Times

Coasting Times for Given RNP

Performance Level RNP 0.1 RNP 0.3 RNP 1

95% Accuracy >10 minutes >20 minutes >1 hour

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Alignment Modes

The IRU provides three alignment modes consisting of:

 Stationary Alignment
 Align In Motion
 Auto Realign

Stationary Alignment and Align In Motion modes are performed in conjunction with the Attitude mode prior to entry
into the Navigation mode so that valid attitude outputs are available immediately after power-up. The Auto Realign
mode is performed in conjunction with the Navigation mode. The IRU continuously tests for the Align In Motion
conditions, and if met, preempts the Stationary Alignment mode and switches to the Align In Motion mode. Following
completion of either alignment mode, the IRU transitions to the Navigation mode. Once the Navigation mode is
attained, the IRU remains in this mode indefinitely while valid power is applied to the device (or until the IRU is reset
using either the IRU Off discretes or the IRS Reset Command). While motionless in the Navigation mode, the IRU
automatically realigns itself using the Auto Realign function.

During Stationary Alignment and Post Flight Auto Realign, valid data from GPS may be used as an automatic source
for position entry. Also, valid GPS data must be received in order for Align In Motion to operate. To be considered
valid for use during Stationary Alignment, Align In Motion, and Post Flight Auto Realign, GPS data shall be ARINC-
743A or ARINC-755 format.

Rapid Dispatch Option

If extremely rapid dispatch is required, the operator may also elect to use the Align-In-Motion function to complete the
alignment in flight. When the IRS is powered-up, the attitudes, accelerations, and rates are available within 5
seconds. If ARINC label 043 (Set Mag Heading) is received from the FMS once at power-up, then all TSO outputs
will be available for dispatch. When the IRS completes the Align-In-Motion, all parameters will be available at Full
Performance as specified in section 6.0.

Input Power Requirements:

The Micro IRS is capable of operating from either a primary input +28 VDC aircraft power source or a secondary input
power source. This could include either +28 VDC aircraft power or a +24 VDC battery, with priority being given to the
primary power source if both primary and secondary sources are available and valid. The maximum power
consumption of the unit is 28W, however nominally the power consumption does not exceed 20W following one
second of operation.

3.0 Experience
The Laseref VI Micro-IRU is a sixth generation RLG based inertial reference unit (IRU), providing Honeywell’s proven
laser inertial technology in a small package. The Laseref VI Micro-IRU is a derivative product based on the Laseref V
and 4 MCU inertial reference unit technologies, and uses the same digital ring laser gyro (RLG) sensors,
accelerometers, and sensor electronics. The previous products are DO178B Level A certified and are used in a
variety of high volume applications including the Boeing 737 and 787, Airbus A319/320/321/330/380 and Embraer
170/190. 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
HG2100BB Laseref VI MicroIRU with WG2001AA Mounting Tray and IM-950 Aircraft Personality Module:

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Micro IRS Hardware Assemblies

Inertial Sensor Assembly:

GG1320 Digital 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
 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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 GG1320 Digital Ring Laser Gyro

Accelerometer
Honeywell accelerometers are the recognized industry standard for spacecraft, aircraft, missile and munitions inertial
navigation, guidance, control and stabilization applications. The Micro 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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 Q-FLEX Accelerometer

Power Supply and EMI/Transient Protection

The power supply assembly contains a dual input 28VDC converter, EMI filtering and transient protection. The EMI
filtering is contained in a proprietary “EMI chamber” that is an integral part of the front cover. This unique design has
enabled the successful completion of the EMI/HIRF qualification test with wide margins.

Processor and ARINC I/O

The processor and ARINC I/O assembly use technology from proven baselines with extensive FAA/EASA
certification experience. The software is DO178B level A certified. The complex electronic hardware is DO-254 level
A certified. The card has been design with memory and throughput growth capacity.

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 5.0 Qualification Levels

Conditions DO-160G 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 Short Term Operating 4.5.3 +70°C – Covered by High Operating
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 +80,000 feet
Decompression 4.6.2 8,000 to 55,000 ft in 15 seconds.

Additional Test Performed 6,000 ft to maximum operating altitude (43,100ft) in 2

seconds Dwell at 43,100 ft. for at least 2 minutes then
reduce pressure linearly to 10,000 ft. over the next 6
minutes. Final dwell @ 10,000 ft. for a minimum of 2
minutes.

28 PSIA (-19,000 feet)

Overpressure 4.6.3
o
Temperature Variation 5.0 Category A (10 C/Min)
2 Cycles, -40C/+70C
Humidity 6.0 Category B
10 Day Severe Humidity
Shock 7.0 Category E
Operational 7.2 6 g, 20 msec.
Crash Safety - Impulse 7.3 20 g, 20 msec.
Crash Safety - Sustained 7.3 20 g, 3 sec.

Vibration 8.0 Category S

Standard Random 8.5.2 Figure 8-1, Curve B2, modified to provide 2.2 GRMS
Curve modified as follows:
2
0.0032 G /Hz- 10 to 980 Hz
Slope down to
2
0.00085 G /Hz- @ 2000 Hz
Run 5 Hrs / axis
Figure 8-3, Category S, Curve M
Sine 8.5.1 Category U - Unknown Helicopter
Sine on Random Test 8.8.2 Applies to HG2100BB55 only.

Explosion Proofness 9.0 Category H

By analysis and similarity to thermal profile testing in RET,
modified to less than 299.84_F (148.8_C)
Waterproofness 10.0 Category W

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 Conditions DO-160G Description of Conducted
Section Tests
Fluids Susceptibility 11.0 Category F
Method was spray
(Use isopropyl alcohol, denatured alcohol, and D-Limonene
and Skydrol 500-B4)
Sand and Dust 12.0 Category S

Fungus 13.0 Category F

No Test – Analysis of materials used in construction of
LRU.
Salt Spray 14.0 Category S

Magnetic Effect 15.0 Category Z

Power Input 16.0 Category ZXX

Voltage Spike 17.0 Category A

Audio Frequency 18.0 Category Z

Susceptibility
Induced Signal Susceptibility 19.0 Category CW

Radio Frequency Susceptibility 20.0 Category Y

Conducted Susceptibility 20.4 Category L
Radiated Susceptibility 20.5/20.6
Category G
Frequency PM(V/M) Category
400 MHz – 0.7 GHz 730 Cat L
RF Susceptibility Pulse Mode 20.5/20.6 0.7 – 1.0 GHz 1400 Cat L
1.0 – 2.0 GHz 5000 Cat L
2.0 – 2.4 GHz 6000 Cat L
2.4 – 3.3 GHz 3000 Cat G
3.3 – 4.0 GHz 6000 Cat L
4.0 – 6.0 GHz 7200 Cat L
6.0 – 8.0 GHz 1100 Cat L
8.0 – 12.0 GHz 5000 Cat L
12.0 – 18.0 GHz 2000 Cat L
18.0 – 40.0 GHz 600 Cat None

Radio Frequency Emission 21.0 Category M

Lightning Pin Injection 22.5.1 Category A3H3L3

Waveform 3 – 600V / 24A
Waveform 4 – 300V / 60A
Lightning Cable Injection, Single Stroke 22.5.2 Category A3H3L3
Waveform 2 – 300V / 600A
Waveform 3 – 600V / 120A
Waveform 4 – 300V / 600A

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 Conditions DO-160G Description of Conducted
Section Tests
Lightning Cable Injection, Multiple Stroke 22.5.2 Category A3H3L3, with the multiple stroke test performed
with 24 pulses randomly spaced within a 2 second time
period.
st
Waveform 2 – 1 300V / 300A
Subsequent 150V / 150A
st
Waveform 3 – 1 600V / 120A
Subsequent 300V / 60A
st
Waveform 4 – 1 150V / 300A
Subsequent 75V / 150A
Lightning Cable Injection, Multiple Burst 22.5.2 Category A3H3L3
Waveform 3 – 360V / 6A
Waveform 6 – 100 V / 6A
Lightning Direct 23.0 Category X
Effects No Test Required.

Icing 24.0 Category X

No Test Required.
Electrostatic Discharge (ESD) 25.5 Category A

26.0 Category C
Fire, Flammability Analysis of materials used in construction of LRU.

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6.0 Input Parameter Characteristics

ARINC 429 IR Inputs

LSB MSB Sig Pos Xmit
Data Word Label SDI Format Range Weight Weight Bits Units Sense Interval
(1)
Set Latitude 041 N/A BCD -90 to +90 0.1 min 100 5 Deg:Min North Aperiodic
(1)
Set Longitude 042 N/A BCD -180 to 0.1 min 100 6 Deg:Min East Aperiodic
+180
(1)
Set Heading 043 N/A BCD 0 to 359.9 0.1 deg 300 4 Deg CW Frm N Aperiodic
(3,5)
UTC Format 1 125 xxB BCD 0-99:99 1.0 min 90 4 Hr:Min N/A 1 sec
(3,5)
UTC Format 2 125 xxB BCD 0-79:59:9 0.1 min 90 5 Hr:Min:Te N/A 1 sec
nths
(3)
Pressure Altitude 203 xxB BNR 131072 1.0 ft 65536 17 Feet Up 50 ms
(3)
True Airspeed 210 xxB BNR 0 to 2047 0.0625 1024 15 Knots Alwys Pos 100 ms
kts
Greenwich Mean 125 xxB BCD 0-99:99 1.0 min 90 4 Hr:Min N/A 1 sec
Time
Date 260 xxB BCD 0-39/19/99 1 day 90 6 D:M:Y N/A 1 sec
Aircraft Serial 226 xxB BCD 0-9999 1 9000 4 N/A N/A 1 sec
(3)
Number
Aircraft Type 167 xxB BNR 0-255 1 128 8 N/A N/A 1 sec
IRS BITE 357 xxB DISC N/A N/A N/A N/A N/A N/A Aperiodic
(3,2,4)
Command

ARINC 429 Digital Inputs Notes:

1 The minimum aperiodic update rate for BCD Labels 041, 042, and 043 is 0.1 seconds. The IRU might not respond to any of these
labels if they are transmitted asvalid at intervals faster than 0.1 seconds.

2 The minimum aperiodic interval for Label 357 is 0.1 seconds. The IRU might not respond to this label if it is transmitted as valid at
intervals faster than 0.1 second. The maximum aperiodic interval for the reset command function of Label 357 is 0.3 seconds for
each reset command. If the reset command function of Label 357 is received over an interval greater than 3 seconds, the IRU might
interpret the second Label 357 as a second independent reset command. The Label 357 command for the number of GPS receivers
installed must be transmitted within one minute after the power- up mode for accurate fault reporting for systems that contain less
than two GPS receivers. Label 357 is only accepted when ARINC Input bus configuration is set to 0

3 For these data words, the SDI field indicates the source of the data: for example, ADS#1, ADS#2, or ADS#3 for the air data
parameters. However, the IRU is not required to make use of the SDI data.

4 The maximum aperiodic interval for the functional test command in Label 357 is 1.0 second per functional test command. To
extend a functional test, the functional test command must be received within 1.0 second before terminating the normal functional
test operation. Thereafter, the functional test command must be transmitted at no slower than once each second to keep the
functional test performing without interruption. If the functional test command of Label 357 is received over an interval greater than
1.0 second, the functional test is not extended. Instead of extending the functional test, a delayed command initiates a separate
functional test after the previous test is complete.

5 Format 1 - ARINC Input Bus Configuration 0.

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 ARINC 429 GPS Receiver Inputs
Minimum Significan
Label Signal Update t
Bits/ ~LSB Positive
Parameter (Octal) Format Rate (Hz) Figures MSB Wgt Units Range Sense
User Range Accuracy 057 BNR 1 17 Wgt
4096 Meters +8192 Always +
Measurement Status 060 DIS 1 N/A N/A N/A N/A N/A
Pseudo Range 061 BNR 1 20 1342177 Meters +268435456 +
Pseudo Range Fine 062 BNR 1 11 28
128 Meters 256 (4)
Range Rate 063 BNR 1 20 2048 M/Sec +4096 +
Delta Range 064 BNR 1 20 2048 M/Sec +4096 +
SV Position X 065 BNR 1 20 3355443 Meters +67108864 ECEF
X Fine Position 066 BNR 1 14 2
32 Meters 64 (4)
SV Position Y 070 BNR 1 20 32
3355443 Meters +67108864 ECEF
Y Fine Position 071 BNR 1 14 2
32 Meters 64 (4)
SV Position Z 072 BNR 1 20 3355443 Meters +67108864 ECEF
Z Fine Position 073 BNR 1 14 2
32 Meters 64 (4)
UTC Measurement Time 074 BNR 1 20 5 Seconds 10.0 (3)
Aut GPS Altitude 076 BNR 1 20 65536 Feet +131072 Up
Aut GPS HDOP 101 BNR 1 15 512 N/A 1024 (3)
Aut GPS VDOP 102 BNR 1 15 512 N/A 1024 (3)
Aut GPS Track Angle 103 BNR 1 15 90 Degrees +180 CW-North
Aut GPS Latitude 110 BNR 1 20 90 Degrees +180 North
Aut GPS Longitude 111 BNR 1 20 90 Degrees +180 East
Aut GPS Gnd Speed 112 BNR 1 15 2048 Knots 4096 (3)
Aut GPS Lat. Fine 120 BNR 1 11 8.6E- 5 Degrees 180 * 2-20 North
Aut GPS Long. Fine 121 BNR 1 11 8.6E- 5 Degrees 180 * 2-20 East
Horiz Aut. Integrity Limit 130 BNR 1 17 8 NM 16 (3)
Vertical Aut. Integrity Limit 133 BNR 1 18 16384 Feet 32768 (3)
GPS Vertical FOM 136 BNR 1 18 16384 Feet 32768 (3)
UTC Fine 140 BNR 1 20 0.5 Seconds 1.0 (4)
UTC (Binary) 150 BNR 1 3 16 Hr Hr:Min:s 23:59:59 (3)
Aut GPS Vert Velocity 165 BNR 1 15 16384 Feet/Min +32768 Up
Aut GPS N-S Velocity 166 BNR 1 15 2048 Knots +4096 North
Aut GPS E-W Velocity 174 BNR 1 15 2048 Knots +4096 East
GPS Horizontal FOM 247 BNR 1 18 10 Years NM 16 (3)
Date 260 BCD 1 6 8 D:M:Yr 1 day (3)
GPS Sensor Status 273 DIS 1 N/A N/A N/A N/A N/A

ARINC 429 Digital Inputs Notes:

1. Update rate for each satellite. The satellite measurement block is transmitted once for each satellite measurement used in
the navigation computation. The maximum number of satellites that can be processed in a 1.0 second interval is 12. The
characteristics of the GPS raw data measurement block are defined in ARINC 743.
2. Update rate for each autonomous GPS navigation block. Autonomous navigation data set is received at a 1 Hz or 10 Hz
rate, and within 200 ms following occurrence of a time mark.
3. 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) in the receiver.

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 Output Parameter Characteristics

IR ARINC 429 Digital Outputs

Signal Oct Cod(1) Sig(2) Range(3) LSB(8) MSB Units Positive Filter(5) Filter(6) Transpo Xfer
Lbl Bit Wght Wght Sense Type BW (Hz) rt (7) Rate Hz
Delay
Msec
IR Time to Nav 007 BCD 2 0-9.9 0.1 - Minutes Always + N/A N/A N/A 3.125
Turn Rate 040 BNR 18 128 4.88E- 4 64 Deg/Sec Nose Right 1- BW (50) 0.2 900 25
IR Time In Nav 126 BNR 15 0-32768 1 16384 Minutes Always + N/A N/A N/A 2.08
IRS Discrete 1 270 DIS 19 N/A N/A N/A N/A N/A N/A N/A N/A 3.125
IRS Discrete 2 271 DIS 19 N/A N/A N/A N/A N/A N/A N/A N/A 3.125
Longitudinal Velocity 303 BNR 18 -4096-4096 1.56E- 2 2048 Knots Forward 1- BW (50) 2 110 25
Lateral Velocity 304 BNR 18 -4096-4096 1.56E-2 2048 Knots Right 1-BW (50) 2 110 25
Normal Velocity 305 BNR 18 -4096-4096 1.56E-2 2048 Knots UP 1-BW (50) 2 110 25
Position Latitude 310 BNR 20 90(9) 1.72E-4 90 Degrees North N/F N/A 160 12.5
Position Longitude 311 BNR 20 180 1.72E-4 90 Degrees East N/F N/A 160 12.5
Ground Speed 312 BNR 18 0-4096 0.01563 2048 Knots Always + 1-BW (50) 2 110 25
Track Angle True 313 BNR 18 180 6.87E-4 90 Degrees CW from N 1-BW (50) 2 110 25
True Heading 314 BNR 18 180 6.87E-4 90 Degrees CW from N 1-BW (50) 2 110 25
(Primary)
True Heading 314 BNR 18 180 6.87E-4 90 Degrees CW from N 1-BW (50) 8(14) 50(14) 25
(Heading 8 Hz Filter)
True Heading (Primary)16 314 BNR 18 180 6.87E-4 90 Degrees CW from N 1-BW (50) 2 110 50
True Heading (Heading 8 Hz 314 BNR 18 180 6.87E-4 90 Degrees CW from N 1-BW (50) 82 50110 50
Filter)16 16
Wind Speed 315 BNR 18 0-256 9.77E-4 128 Knots Always + 1-BW (5012) 2 110 12.5
Wind Direction True 316 BNR 18 180 6.87E-4 90 Degrees CW from N 1-BW (5012) 2 110 12.5
Track Angle Magnetic 317 BNR 18 180 6.87E-4 90 Degrees CW from N 1-BW (5025) 2 110 25
Magnetic Heading 320 BNR 18 180 6.87E-4 90 Degrees CW from N 1-BW (50) 2 110 25
(Primary)
Magnetic Heading 320 BNR 18 180 6.87E-4 90 Degrees CW from N 1-BW (50) 8(14) 50(14) 25
(Heading 8 Hz Filter)
16
Magnetic Heading (Primary) 320 BNR 18 180 6.87E-4 90 Degrees CW from N 1-BW (50) 2 50
110100
Magnetic Heading (Heading 8 320 BNR 18 180 6.87E-4 90 Degrees CW from N 1-BW (50) 2
Hz Filter)16 50 50
Drift Angle 321 BNR 18 90(9) 6.87E-4 90 Degrees Nose Right 1-BW (25) 2 110 25
Flight Path Angle 322 BNR 18 90(9) 6.87E-4 90 Degrees Up 1-BW (25) 2 110 25
Flight Path Accel 323 BNR 18 4 1.53E-5 2 G’s Forward 2-BW (400) 6.4 70 50
Flight Path Accel 323 BNR 18 4 1.53E-5 2 G’s Forward 2-BW (400) 3 115 50
Flight Path Accel 323 BNR 18 4 1.53E-5 2 G’s Forward 2-BW (400) 8 60 50
Flight Path Accel 323 BNR 18 4 1.53E-5 2 G’s Forward 2-BW (400) 12.5 50 50
Flight Path Accel 323 BNR 18 4 1.53E-5 2 G’s Forward 2-BW (400) 20 40 50
Pitch Angle 324 BNR 18 90(9) 6.87E-4 90 Degrees Up 1-BW (400) 8 40 50
Pitch Angle16 324 BNR 18 90(9) 6.87E-4 90 Degrees UP 1-BW (400) 8 40 100
Roll Angle 325 BNR 18 180 6.87E-4 90 Degrees Right Wing 1-BW (50) 8 40 50
Down
16
Roll Angle 325 BNR 18 180 6.87E-4 90 Degrees Right Wing 1-BW (50) 8 40 100
Down
Body Pitch Rate 326 BNR 18 128 4.88E-4 64 Deg/Sec Up 2-BW (400) 8.0 40 100
Body Pitch Rate 326 BNR 18 128 4.88E-4 64 Deg/Sec Up 2-BW (400) 12.5 30 100
Body Pitch Rate 326 BNR 18 128 4.88E-4 64 Deg/Sec UP 2-BW (400) 20 20 100
Body Roll Rate 327 BNR 18 128 4.88E-4 64 Deg/Sec Right Wing 2-BW (400) 12.5 30 100
Down
Body Roll Rate 327 BNR 18 128 4.88E-4 64 Deg/Sec Right Wing 2-BW (400) 8.0 40 100
Down
Body Roll Rate 327 BNR 18 128 4.88E-4 64 Deg/Sec Right Wing 2-BW (400) 20 20 100
Down
Body Yaw Rate 330 BNR 18 128 4.88E-4 64 Deg/Sec Nose Right 2-BW (400) 8.0 40 100
Body Yaw Rate 330 BNR 18 128 4.88E-4 64 Deg/Sec Nose Right 2-BW (400) 12.5 30 100
Body Yaw Rate 330 BNR 18 128 4.88E-4 64 Deg/Sec Nose Right 2-BW (400) 20 20 100
Body Long Accel 331 BNR 18 4 1.53E-5 2 G’s Forward 2-BW (400) 6.4 50 100
Body Long Accel 331 BNR 18 4 1.53E-5 2 G’s Forward 2- BW (400) 8 40 100
Body Long Accel 331 BNR 18 4 1.53E-5 2 G’s Forward 2- BW (400) 12.5 30 100
Body Long Accel 331 BNR 18 4 1.53E-5 2 G’s Forward 2-BW (400) 20 20 100
Body Long Accel 331 BNR 18 4 1.53E-5 2 G’s Forward 2-BW (400) 3 100 100
Body Lat Accel 332 BNR 18 4 1.53E-5 2 G’s Right 2-BW (400) 6.4 50 100
Body Lat Accel 332 BNR 18 4 1.53E-5 2 G’s Right 2-BW (400) 3 100 100
Body Lat Accel 332 BNR 18 4 1.53E-5 2 G’s Right 2-BW (400) 8 40 100
Body Lat Accel 332 BNR 18 4 1.53E-5 2 G’s Right 2-BW (400) 12.5 30 100
Body Lat Accel 332 BNR 18 4 1.53E-5 2 G’s Right 2-BW (400) 20 20 100
Body Norm Accel 333 BNR 18 4 1.53E-5 2 G’s Up 2-BW (400) 6.4 50 100
Body Norm Accel 333 BNR 18 4 1.53E-5 2 G’s Up 2-BW (400) 3 100 100

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Body Norm Accel 333 BNR 18 4 1.53E-5 2 G’s Up 2-BW (400) 8 40 100
Body Norm Accel 333 BNR 18 4 1.53E-5 2 G’s Up 2-BW (400) 12.5 30 100
Body Norm Accel 333 BNR 18 4 1.53E-5 2 G’s Up 2-BW (400) 20 20 100
Platform Heading 334 BNR 18 180 6.87E-4 90 Degrees CW 1-BW (400) 2 110 25
Track Angle Rate 335 BNR 18 32 1.22E-4 16 Deg/Sec CW from N 1-BW (50) 8 45 50
Pitch Att Rate 336 BNR 18 128 4.88E-4 64 Deg/Sec Up 2-BW (400) 8.0 50 50
Pitch Att Rate 336 BNR 18 128 4.88E-4 64 Deg/Sec Up 2-BW (400) 12.5 40 50
Pitch Att Rate 336 BNR 18 128 4.88E-4 64 Deg/Sec Up 2-BW (400) 20 30 50
Roll Att Rate 337 BNR 18 128 4.88E-4 64 Deg/Sec Right Wing 2-BW (400) 12.5 40 50
Down
Roll Att Rate 337 BNR 18 128 4.88E-4 64 Deg/Sec Right Wing 2-BW (400) 8.0 50 50
Down
Roll Att Rate 337 BNR 18 128 4.88E-4 64 Deg/Sec Right Wing 2-BW (400) 20 30 50
Down
IRU Maintenance 350 DIS 19 N/A N/A N/A N/A N/A N/A N/A N/A 3.125
IRU Maintenance Word #2 351 DIS 19 N/A N/A N/A N/A N/A N/A N/A N/A 3.125
Cycle Counter 354 BNR 19 0-524288 1 262,144 Count Always + N/A N/A N/A 50
IRU Status 355 DIS 19 N/A N/A N/A N/A N/A N/A N/A N/A 3.125
Inertial Altitude 361 BNR 20 -2K to 0.125 65536 Feet Up 1-BW (50) 8 65 25
60K(4)
Along Track Accel 362 BNR 18 4 1.53E-5 2 G’s Forward 2-BW (400) 6.4 70 50
Along Track Accel 362 BNR 18 4 1.53E-5 2 G’s Forward 2-BW (400) 3 115 50
Along Track Accel 362 BNR 18 4 1.53E-5 2 G’s Forward 2-BW (400) 8 60 50
Along Track Accel 362 BNR 18 4 1.53E-5 2 G’s Forward 2-BW (400) 12.5 50 50
Along Track Accel 362 BNR 18 4 1.53E-5 2 G’s Forward 2-BW (400) 20 40 50
Cross Track Accel 363 BNR 18 4 1.53E-5 2 G’s Right 2-BW (400) 6.4 70 50
Cross Track Accel 363 BNR 18 4 1.53E-5 2 G’s Right 2-BW (400) 3 115 50
Cross Track Accel 363 BNR 18 4 1.53E-5 2 G’s Right 2-BW (400) 8 60 50
Cross Track Accel 363 BNR 18 4 1.53E-5 2 G’s Right 2-BW (400) 12.5 50 50
Cross Track Accel 363 BNR 18 4 1.53E-5 2 G’s Right 2-BW (400) 20 40 50

Signal Oct Cod Sig Range(3.12) LSB MSB Units Positive Filter(5) Filter(6) Transpo Xfer
Lbl (1,10) Bit(2,11) Weight Weight sense rt Delay
(8,15) (7,14) Rate Hz
Vertical Accel 364 BNR 18 4 1.53E-5 2 G’s Up 2-BW (400) 6.4 70 50
Vertical Accel 364 BNR 18 4 1.53E-5 2 G’s Up 2-BW (400) 3 115 50
Vertical Accel 364 BNR 18 4 1.53E-5 2 G’s Up 2-BW (400) 8 60 50
Vertical Accel 364 BNR 18 4 1.53E-5 2 G’s Up 2-BW (400) 12.5 50 50
Vertical Accel 364 BNR 18 4 1.53E-5 2 G’s Up 2-BW (400) 20 40 50
Inertial Vertical Spd 365 BNR 18 32768 0.125 16384 Ft/Min Up 1-BW (50) 8 65 50
N-S Velocity 366 BNR 18 4096 0.01563 2048 Knots North 1-BW (50) 2 110 12.5
E-W Velocity 367 BNR 18 4096 0.01563 2048 Knots East 1-BW (50) 2 110 12.5
Unbiased Normal Accel 370 BNR 18 8 3.05E-5 4 G’s Up 2-BW (400) 3 115 12.5
Unbiased Normal Accel 370 BNR 18 12 3.05E-5 6 G’s Up 2-BW (400) 3 115 25
Unbiased Normal Accel 370 BNR 18 8 3.05E-5 4 G’s UP 2-BW (400) 6.4 70 12.5
Unbiased Normal Accel 370 BNR 18 12 3.05E-5 6 G’s Up 2-BW (400) 6.4 70 25
Unbiased Normal Accel 370 BNR 18 8 3.05E-5 4 G’s Up 2-BW (400) 8 60 12.5
Unbiased Normal Accel 370 BNR 18 12 3.05E-5 6 G’s Up 2-BW (400) 8 60 25
Unbiased Normal Accel 370 BNR 18 8 3.05E-5 4 G’s Up 2-BW (400) 12.5 50 12.5
Ubiased Normal Accel 370 BNR 18 12 3.05E-5 6 G’s Up 2-BW (400) 12.5 50 25
Unbiased Normal Accel 370 BNR 18 8 3.05E-5 4 G’s Up 2-BW (400) 20 40 12.5
Unbiased Normal Accel 370 BNR 18 12 3.05E-5 6 G’s UP 2-BW (400) 20 40 25
Equipment ID 371 DIS 19 N/A N/A N/A N/A N/A N/A N/A N/A 3.125
Along Heading Accel 372 BNR 18 -4096-4096 1.53E-2 2048 Knots Forward 1-BW (50) 2 110 25
Cross Heading Accel 373 BNR 18 -4096-4096 1.53E-2 2048 Knots Right 1-BW (50) 2 110 25
Along Heading Accel 375 BNR 18 4 1.53E-5 2 G’s Forward 2-BW (400) 3 115 50
Along Heading Accel 375 BNR 18 4 1.5E-5 2 G’s Forward 2-BW (400) 6.4 70 50
Along Heading Accel 375 BNR 18 4 1.5E-5 2 G’s Forward 2-BW (400) 8 60 50
Along Heading Accel 375 BNR 18 4 1.5E-5 2 G’s Forward 2-BW (400) 12.5 50 50
Along Heading Accel 375 BNR 18 4 1.5E-5 2 G’s Forward 2-BW (400) 20 40 50
Cross Heading Accel 376 BNR 18 4 1.5E-5 2 G’s Forward 2-BW (400) 3 115 50
Cross Heading Accel 376 BNR 18 4 1.5E-5 2 G’s Forward 2-BW (400) 6.4 70 50
Cross Heading Accel 376 BNR 18 4 1.5E-5 2 G’s Forward 2-BW (400) 8 60 50
Cross Heading Accel 376 BNR 18 4 1.5E-5 2 G’s Forward 2-BW (400) 20 40 50
Cross Heading Accel 376 BNR 18 4 1.5E-5 2 G’s Forward 2-BW(400) 12.5 50 50
IRU Part Number 377 DIS 16 N/A N/A N/A N/A N/A N/A N/A N/A 1.04
Hybrid Horiz Integrity Limit 122 BNR 17 0-16 1.22E-4 8 NM Always+ N/A N/A N/A 1.04
(ADS- B)
Hybrid Horiz Integrity Limit 131 BNR 17 0-16 1.22E-4 8 NM Always+ NA NA NA 1.04
Hybrid True Heading (Primary) 132 BNR 18 180 6.866E- 4 90 Degrees CW from N 1- BW (50) 2 110 25
Hybrid True Heading (True 132 BNR 18 180 6.866E- 4 90 Degrees CW from N 1- BW (50) 8 110 25
Heading 8 Hz Filter)
Hybrid Vertical FOM 135 BNR 18 0- 32768 0.125 16384 Feet Always+ NA NA NA 1.04
Hybrid True Track Angle 137 BNR 18 180 6.866E- 4 90 Degrees CW from N 1-BW (50) 2 110 25

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UTC 150 BNR 3 00:00:00 - 1 Sec 16 Hr Hr:Min:Sec Always+ NA NA NA 1.04
23:59:59 Knots
Hybrid Ground Speed 175 BNR 18 0-4096 0.015625 2048 Degrees Always + 1-BW (50) 2 110 25
Hybrid Position Latitude 254 BNR 20 90 0.000172 90 Degrees Always+ N/A N/A 160 12.5
Hybrid Position Longitude 255 BNR 20 180 0.000172 90 Degrees North N/A N/A 160 12.5
13
Hybrid Latitude Fine 256 BNR 11 0.000172 8.38E- 8 8.6E- 5 Degrees East N/A N/A 160 12.5
13
Hybrid Longitude Fine 257 BNR 11 0.000172 8.38E-8 8.6E- 5 D:M:Y Always+ N/A N/A 160 12.5
Date 260 BCD 6 00:00:00 - 1 Day 10 Year Feet Always+ N/A N/A N/A 1.04
39:19:99
Hybrid Altitude 261 BNR 20 131072 0.125 65536 Feet UP 1- BW (50) 8 65 25
Hybrid Height (HAE) 262 BNR 20 131072 0.125 65536 Degrees UP NA NA 110 12.5
Hybrid Flight Path Angle 263 BNR 18 90 6.866E- 4 90 NM Always+ 1-BW (50) 2 110 25
Hybrid Horiz FOM 264 BNR 18 0-16 6.1E- 5 8 Knots North N/A N/A NA 1.04
Hybrid N- S Velocity 266 BNR 18 4096 0.015625 2048 Knots East N/A N/A 110 12.5
Hybrid E-W Velocity 267 BNR 18 4096 0.015625 2048 N/A NA N/A N/A 110 12.5
GPIRS Sensor Status 274 DIS 19 N/A N/A NA N/A N/A N/A N/A NA 1.04
Hybrid Body Longitudinal 300 BNR 18 - 4096- 4096 1.56E-2 BNR Knots Forward 1-BW(50) 2 130 25
Velocity
Hybrid Body Lateral Velocity 301 BNR 18 - 4096- 4096 1.56E-2 BNR Knots Right 1-BW (50) 2 130 25
Hybrid Body Normal Velocity 302 BNR 18 - 4096- 4096 1.56E-2 BNR Knots UP 1-BW (50) 2 130 25
Hybrid Along Heading Velocity 340 BNR 18 - 4096- 4096 1.56E-2 BNR Knots Forward 1-BW (50) 2 130 25
Hybrid Cross Heading Velocity 341 BNR 18 - 4096- 4096 1.56E-2 BNR Knots Right 1-BW (50) 2 130 25
Hybrid Vertical Velocity 345 BNR 18 32768 0.125 16384 Ft/Mins UP 1-BW (50) 8 65 25
GPIRS Maintenance Word 353 DIS 21 N/A N/A NA NA NA NA N/A NA 1.04

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.
Bits
Format 31 30 Condition(1)
0 0 Faliure Warning
0 1 NCD
1 0 Functional Test
1 1 Normal Operation
BCD(2) 0 0 Normal Operation (positive)
0 0 NCD
1 0 Functional Test
1 1 Normal Operation (negative)
Discrete3 0 0 Normal Operation
0 1 This setting is not used
under any conditions
1 0 Functional Test (not used
under any conditions)
1 1 Failure Warning (not
used under any conditions)
Notes:
1.When two or more conditions are present, the IRU sets the SSMs according to the following priorities:
Condition Priority
Functional Test 1 (highest)
Failure Warning 2
No Computed Data 3
Normal Operation 4
2. Under failure warning conditions, the BCD ARINC words are not transmitted.
3. The IRU transmits discrete words as Normal Operation under Failure Warning and No Computed Data conditions.
4. Bit 32 is the parity for all labels. The 32- bit parity is odd for all 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 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

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 ARINC 429 bus.
1-BW = 1st order Butterworth
2-BW = 2nd order Butterworth
The number in parenthesis represents the filter’s sampling frequency in Hz. Note that (12) is a
rounded number and is actually (12.5). The acronym N/F means not filtered. A first order
Butterworth filter is equivalent to a simple 1st order digital filter.
Note 6: The filter bandwidth is defined as the –3 db cut-off point. In certain cases, the Filter BW is selected
via an APM option
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 1st
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. In certain cases, the transport delays are selected via an APM
option.
Note 8: The LSB 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. The LSB weight is an approximate value, actual value is computed by using MSB weight
and number of significant bits.
Note 9: Angular outputs are limited by software to + 90 degrees. Bit weighting range of these outputs is
180 degrees.
Note 10: Refer note 1 for SSM setting for each of two formats
Note 11: Significant bits for BNR data are defined as the number of ARINC 429 data bits excluding the sign bit.
The accuracy for each associated output is defined in PERFORMANCE SPECIFICATIONS, Table
2015.
Note 12: For binary- formatted labels, the digital range is as listed for a negative value and is full scale minus 1
LSB for a positive value. The output range can be limited by software.
Note 13: 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 MSB of the latitude or
longitude signal after the LSB of the course signals. These MSB weights are not exact.
Note 14: Transport delay requirements are per ARINC Specification 704A.
Note 15: 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 16: This label is applicable to the HG2100BB55 only.

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7.0 Output Parameter Accuracy
IR Digital Output Performance (ARINC-704 Specification)
Navigation Mode (Completion of Reversionary Attitude Mode and
Parameter Limitations stationary alignment or AIM)(1) AIM Attitude Mode (4)
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 Reversionary Attitude
degrees. Resolution = 4.12e-3 degrees TSO C4c
Accuracy = 2.5 degrees 2
Resolution = 4.12e-3 degrees

AIM Attitude
TSO C4c
Accuracy = 0.5 degrees 2
Resolution = 4.12e-3 degrees

Roll Angle Held constant for pitch angles Accuracy = 0.10 degrees 2 Reversionary Attitude
exceeding |85| degrees. Resolution = 4.12e-3 degrees TSO C4c
Accuracy = 2.5 degrees 2
Resolution = 4.12e-3 degrees

AIM Attitude
TSO C4c
Accuracy = 0.5 degrees 2
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
AIM Attitude
TSO C5f
Accuracy = 2.5 degrees 2
Resolution = 6.87e-4 degrees

Magnetic Heading Held constant for pitch angles Between N50 and S50 degrees Reversionary Attitude
exceeding |85| degrees. Accuracy = 2 deg Accuracy dependent upon entered
between 50N and 68N heading
Accuracies valid for years Accuracy = 3 deg Operational accuracy is 15 deg/hr
2010 through ~2030 based between 50S and 60S maximum drift
upon selecting appropriate Accuracy = 3 deg Resolution = 6.87e-4 degrees
magnetic variation map All other regions where magnetic
heading is valid AIM Attitude Mode
Accuracy = 4 deg Accuracy = Nav Accuracy
Resolution = 6.87e-4 degrees
Accuracies are 95%

Absolute Accuracy = 10 degrees

Resolution = 6.87e-4 degrees

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 IR Digital Output Performance (ARINC-704 Specification)
Navigation Mode (Completion Reversionary Attitude Mode
Parameter Limitations of stationary alignment or and
AIM)(1) AIM Attitude Mode (4)
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 deg/sec. Accuracy = 0.02 deg/sec or Accuracy = 0.1 deg/sec or
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 Roll Rate Minimum range of 70 deg/sec. Accuracy = 0.02 deg/sec or Accuracy = 0.1 deg/sec or
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 deg/sec. Accuracy = 0.02 deg/sec or Accuracy = 0.1 deg/sec or
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 deg/sec. Accuracy = 0.1 deg/sec or Accuracy = 0.1 deg/sec or
Roll angle component held 1% of output 1% of output
constant for pitch angles whichever is greater whichever is greater
exceeding |85| degrees. Accuracy’s are 2 Accuracy’s are 2
Resolution = 4.88e-4 deg/sec Resolution = 4.88e-4 deg/sec

Roll Attitude Rate Minimum range of 30 deg/sec. Accuracy = 0.1 deg/sec or Accuracy = 0.1 deg/sec or
Set to zero for pitch angles 1% of output 1% of output
exceeding |85| degrees. 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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 IR Digital Output Performance (ARINC-704 Specification)
Navigation Mode (Completion Reversionary Attitude Mode
Parameter Limitations of stationary alignment or and
AIM)(1) AIM Attitude Mode (4)
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

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

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 IR Digital Output Performance (ARINC-704 Specification)
Navigation Mode (Completion of Reversionary Attitude Mode and
Parameter Limitations AIM Attitude Mode (4)
stationary alignment or AIM)(1)
Platform Heading Held constant for pitch angles Accuracy = 0.40 degrees 2 Reversionary Attitude
exceeding |85| degrees. Resolution = 6.87e-4 degrees Accuracy dependent upon entered
heading
Operational accuracy is 15 deg/hr
maximum drift

AIM Attitude
Accuracy = 2.5 degrees 2
Resolution = 6.87e-4 degrees

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 speed. at 230 kts or greater
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 the at 120 kts or greater
Magnetic Variation error. Track Resolution = 2.06e-3 degrees
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.

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

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 IR Digital Output Performance (ARINC-704 Specification)
Navigation Mode (Completion Reversionary Attitude Mode
Parameter Limitations of stationary alignment or and
AIM)(1) AIM Attitude Mode (4)
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.

Note 4: Unless otherwise noted, the performance specified applies to both Reversionary Attitude mode and AIM Attitude mode.

General Note:

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

Hybrid GPS System Performance

(1)
Parameter Conditions Navigation Mode

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

(2)
Hyb Ground Speed HDOP = 1.5 0.25 knots R95

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

(3)
Hyb Track Angle True HDOP = 1.5 0.10 degrees 2

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

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

Hyb Altitude VDOP = 2.0 150 feet 2

(4)
Hyb Flight Path Angle VDOP = 2.0 0.15 degrees 2

Hyb True Heading None 0.4 degrees 2

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 Hybrid GPS System Performance Notes:
Note 1: 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%.

Note 2: The resolution of the ARINC output is 0.125 knots.

Note 3: Based upon a ground speed of 120 knots with circular error distribution.

Note 4: 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.

Use or disclosure of information on this page is subject to the restrictions on the title page of this document