SIRU development. Volume 3: Software description and program documentation

The development and initial evaluation of a strapdown inertial reference unit (SIRU) system are discussed. The SIRU configuration is a modular inertial subsystem with hardware and software features that achieve fault tolerant operational capabilities. The SIRU redundant hardware design is formulated about a six gyro and six accelerometer instrument module package. The six axes array provides redundant independent sensing and the symmetry enables the formulation of an optimal software redundant data processing structure with self-contained fault detection and isolation (FDI) capabilities. The basic SIRU software coding system used in the DDP-516 computer is documented.