# Copyright: Public domain. # Filename: P34-35_P74-75.agc # Purpose: Part of the source code for Luminary 1A build 099. # It is part of the source code for the Lunar Module's (LM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Ron Burkey <info@sandroid.org>. # Website: www.ibiblio.org/apollo. # Pages: 658-702 # Mod history: 2009-05-19 RSB Adapted from the corresponding # Luminary131 file, using page # images from Luminary 1A. # 2009-06-05 RSB Corrected a typo. # 2011-01-06 JL Fixed pseudo-label indentation. # 2011-01-06 JL Added missing comment characters. # 2011-05-07 JL Removed workaround.
# This source code has been transcribed or otherwise adapted from # digitized images of a hardcopy from the MIT Museum. The digitization # was performed by Paul Fjeld, and arranged for by Deborah Douglas of # the Museum. Many thanks to both. The images (with suitable reduction # in storage size and consequent reduction in image quality as well) are # available online at www.ibiblio.org/apollo. If for some reason you # find that the images are illegible, contact me at info@sandroid.org # about getting access to the (much) higher-quality images which Paul # actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 001 of AGC program LMY99 by NASA 2021112-061 # 16:27 JULY 14, 1969
# Page 658 # TRANSFER PHASE INITITIATION (TPI) PROGRAMS (P34 AND P74)
# MOD NO -1 LOG SECTION -- P32-P35, P72-P75 # MOD BY WHITE, P. DATE: 1 JUNE 67 # # PURPOSE # # (1) TO CALCULATE THE REQUIRED DELTA V AND OTHER INITIAL CONDITIONS # REQUIRED BY THE ACTIVE VEHICLE FOR EXECUTION OF THE TRANSFER # PHASE INITITATION (TPI) MANEUVER, GIVEN --
# (A) TIME OF IGNITION TIG (TPI) OR THE ELEVATION ANGLE (E) OF # THE ACTIVE/PASSIVE VEHICLE LOS AT TIG (TPI).
# (B) CENTRAL ANGLE OF TRANSFER (CENTANG) FROM TIG (TPI) TO # INTERCEPT TIME (TIG (TPF)).
# (2) TO CALCULATE TIG (TPI) GIVEN E OR E GIVEN TIG (TPI).
# (3) TO CALCULATE THESE PARAMETERS BASED UPON MANEUVER DATA # APPROVED AND KEYED INTO THE DSKY BY THE ASTRONAUT.
# (4) TO DISPLAY TO THE ASTRONAUT AND THE GROUND CERTAIN DEPENDENT # VARIABLES ASSOCIATED WITH THE MANEUVER FOR APPROVAL BY THE # ASTRONAUT/GROUND.
# (5) TO STORE THE TPI TARGET PARAMETERS FOR USE BY THE DESIRED # THRUSTING PROGRAM. # # ASSUMPTIONS
# (1) LM ONLY -- THIS PROGRAM IS BASED UPON PREVIOUS COMPLETION OF # THE CONSTANT DELTA ALTITUDE (CDH) PROGRAM (P33/P73). # THEREFORE --
# (A) AT A SELECTED TPI TIME (NOW IN STORAGE) THE LINE OF SIGHT # BETWEEN THE ACTIVE AND PASSIVE VEHICLES WAS SELECTED TO BE # A PRESCRIBED ANGLE (E) (NOW IN STORAGE) FROM THE # HORIZONTAL PLANE DEFINED BY THE ACTIVE VEHICLE POSITION.
# (B) THE TIME BETWEEN CDH IGNITION AND TPI IGNITION WAS # COMPUTED TO BE GREATER THAN 10 MINUTES.
# (C) THE VARIATION OF THE ALTITUDE DIFFERENCE BETWEEN THE # ORBITS WAS MINIMIZED.
# (D) THE PERICENTER ALTITUDES OF ORBITS FOLLOWING CSI AND # CDH WERE COMPUTED TO BE GREATER THAN 35,000 FT FOR LUNAR # Page 659 # ORBIT OR 85 NM FOR EARTH ORBIT.
# (E) THE CSI AND CDH MANEUVERS WERE ASSUMED TO BE PARALLEL TO # THE PLANE OF THE PASSIVE VEHICLE ORBIT. HOWEVER, CREW # MODIFICATION OF DELTA V (LV) COMPONENTS MAY HAVE RESULTED # IN AN OUT-OF-PLANE MANEUVER.
# (2) STATE VECTOR UPDATED BY P27 ARE DISALLOWED DURING AUTOMATIC # STATE VECTOR UPDATING INITIATED BY P20 (SEE ASSUMPTION (4)).
# (3) THIS PROGRAM MUST BE DONE OVER A TRACKING STATION FOR REAL # TIME GROUND PARTICIPATION IN DATA INPUT AND OUTPUT. COMPUTED # VARIABLES MAY BE STORED FOR LATER VERIFICATION BY THE GROUND. # THESE STORAGE CAPABILITIES ARE LIMITED ONLY TO THE PARAMETERS # FOR ONE THRUSTING MANEUVER AT A TIME EXCEPT FOR CONCENTRIC # FLIGHT PLAN MANEUVER SEQUENCES.
# (4) THE RENDEZVOUS RADAR MAY OR MAY NOT BE USED TO UPDATE THE LM # OR CSM STATE VECTORS FOR THIS PROGRAM. IF RADAR USE IS # DESIRED THE RADAR WAS TURNED ON AND LOCKED ON THE CSM BY # PREVIOUS SELECTION OF P20. RADAR SIGHTING MARKS WILL BE MADE # AUTOMATICALLY APPROXIMATELY ONCE A MINUTE WHEN ENABLED BY THE # TRACK AND UPDATE FLAGS (SEE P20). THE RENDEZVOUS TRACKING # MARK COUNTER IS ZEROED BY THE SELECTION OF P20 AND AFTER EACH # THRUSTING MANEUVER.
# (5) THE ISS NEED NOT BE ON TO COMPLETE THIS PROGRAM.
# (6) THE OPERATION OF THE PROGRAM UTILIZES THE FOLLOWING FLAGS -- # # ACTIVE VEHICLE FLAG -- DESIGNATES THE VEHICLE WHICH IS # DOING RENDEZVOUS THRUSTING MANEUVERS TO THE PROGRAM WHICH # CALCULATES THE MANEUVER PARAMETERS. SET AT THE START OF # EACH RENDEZVOUS PRE-THRUSTING PROGRAM. # # FINAL FLAG -- SELECTS FINAL PROGRAM DISPLAYS AFTER CREW HAS # SELECTED THE FINAL MANEUVER COMPUTATION CYCLE. # # EXTERNAL DELTA V FLAG -- DESIGNATES THE TYPE OF STEERING # REQUIRED FOR EXECUTION OF THIS MANEUVER BY THE THRUSTING # PROGRAM SELECTED AFTER COMPLETION OF THIS PROGRAM. # # (7) ONCE THE PARAMETERS REQUIRED FOR COMPUTATION OF THE MANEUVER # HAVE BEEN COMPLETELY SPECIFIED, THE VALUE OF THE ACTIVE # VEHICLE CENTRAL ANGLE OF TRANSFER IS COMPUTED AND STURED. # THIS NUMBER WILL BE AVAILABLE FOR DISPLAY TO THE ASTRONAUT # THROUGH THE USE OF V06N52. # # THE ASTRONAUT WILL CALL THIS DISPLAY TO VERIFY THAT THE # CENTRAL ANGLE OF TRANSFER OF THE ACTIVE VEHICLE IS NOT WITHIN # Page 660 # 170 TO 190 DEGREES. IF THE ANGLE IS WITHIN THIS ZONE THE # ASTRONAUT SHOULD REASSES THE INPUT TARGETING PARAMETERS BASED # UPON DELTA V AND EXPECTED MANEUVER TIME. # # (8) THIS PROGRAM IS SELECTED BY THE ASTRONAUT BY DSKY ENTRY -- # # P34 IF THIS VEHICLE IS ACTIVE VEHICLE. # # P74 IF THIS VEHICLE IS PASSIVE VEHICLE. # # INPUT # # (1) TTPI TIME OF THE TPI MANEUVER. # (2) ELEV DESIRED LOS ANGLE AT TPI # (3) CENTANG ORBITAL CENTRAL ANGLE OF THE PASSIVE VEHICLE DURING # TRANSFER FROM TPI TO TIME OF INTERCEPT # # OUTPUT # # (1) TRKMKCNT NUMBER OF MARKS # (2) TTOGO TIME TO GO # (3) +MGA MIDDLE GIMBAL ANGLE # (4) TTPI COMPUTED TIME OF TPI MANEUVER # OR # ELEV COMPUTED LOS ANGLE AT TPI # (5) POSTTPI PERIGEE ALTITUDE AFTER THE TPI MANEUVER # (6) DELVTPI MAGNITUDE OF DELTA V AT TPI # (7) DELVTPF MAGNITUDE OF DELTA V AT INTERCEPT # (8) DVLOS DELTA VELOCITY AT TPI -- LINE OF SIGHT # (9) DELVLVC DELTA VELOCITY AT TPI -- LOCAL VERTICAL COORDINATES # # DOWNLINK # # (1) TTPI TIME OF TPI MANEUVER # (2) TIG TIME OF TPI MANEUVER # (3) ELEV DESIRED LOS ANGLE AT TPI # (4) CENTANG ORBITAL CENTRAL ANGLE OF THE PASSIVE VEHICLE DURING # TRANSFER FROM TPI TO TIME OF INTERCEPT # (5) DELVEET3 DELTA VELOCITY AT TPI -- REFERENCE COORDINATES # (6) TPASS4 TIME OF INTERCEPT # # COMMUNICATION TO THRUSTING PROGRAMS # # (1) TIG TIME OF THE TPI MANEUVER # (2) RTARG OFFSET TARGET POSITION # (3) TPASS4 TIME OF INTERCEPT # (4) XDELVFLG RESET TO INDICATE LAMBERT (AIMPOINT) VG COMPUTATION # # SUBROUTINES USED # # AVFLAGA # Page 661 # AVFLAGP # VNPOOH # DISPLAYE # SELECTMU # PRECSET # S33/34.1 # ALARM # BANKCALL # GOFLASH # GOTOPOOH # TIMETHET # S34/35.2 # PERIAPO1 # SHIFTR1 # S34/35.5 # VN1645
# MOD NO -1 LOG SECTION -- P32-P35, P72-P75 # MOD BY WHITE, P. DATE: 1 JUNE 67 # # PURPOSE # # (1) TO CALCULATE THE REQUIRED DELTA V AND OTHER INITIAL CONDITIONS # REQUIRED BY THE ACTIVE VEHICLE FOR EXECUTION OF THE NEXT # MID-COURSE CORRECTION OF THE TRANSFER PHASE OF AN ACTIVE # VEHICLE RENDEZVOUS. # # (2) TO DISPLAY TO THE ASTRONAUT AND THE GROUND CERTAIN DEPENDENT # VARIABLES ASSOCIATED WITH THE MANEUVER FOR APPROVAL BY THE # ASTRONAUT/GROUND. # # (3) TO STORE THE TPM TARGET PARAMETERS FOR USE BY THE DESIRED # THRUSTING PROGRAM. # # ASSUMPTIONS # # (1) THE ISS NEED NOT BE ON TO COMPLETE THIS PROGRAM. # # (2) STATE VECTOR UPDATES BY P27 ARE DISALLOWED DURING AUTOMATIC # STATE VECTOR UPDATING INITIATED BY P20 (SEE ASSUMPTION (3)). # # (3) THE RENDEZVOUS RADAR IS ON AND IS LOCKED ON THE CSM. THIS WAS # DONE DURING PREVIOUS SELECTION OF P20. RADAR SIGHTING MARKS # WILL BE MADE AUTOMATICALLY APPROXIMATELY ONCE A MINUTE WHEN # ENABLED BY THE TRACK AND UPDATE FLAGS (SEE P20). THE # RENDEZVOUS TRACKING MARK COUNTER IS ZEROED BY THE SELECTION OF # P20 AND AFTER EACH THRUSTING MANEUVER. # # (4) THE OPERATION OF THE PROGRAM UTILIZES THE FOLLOWING FLAGS -- # # THE ACTIVE VEHICLE FLAG -- DESIGNATES THE VEHICLE WHICH IS # DOING RENDEZVOUS THRUSTING MANEUVERS TO THE PROGRAM WHICH # CALCULATES THE MANEUVER PARAMETERS. SET AT THE START OF # EACH RENDEZVOUS PRE-THRUSTING PROGRAM. # # FINAL FLAG -- SELECTS FINAL PROGRAM DISPLAYS AFTER CREW HAS # SELECTED THE FINAL MANEUVER COMPUTATION CYCLE. # # EXTERNAL DELTA V FLAG -- DESIGNATES THE TYPE OF STEERING # REQUIRED FOR EXECUTION OF THIS MANEUVER BY THE THRUSTING # PROGRAM SELECTED AFTER COMPLETION OF THIS PROGRAM. # # (5) THE TIME OF INTERCEPT (T(INT)) WAS DEFINED BY PREVIOUS # COMPLETION OF THE TRANSFER PHASE INITIATION (TPI) PROGRAM # (P34/P74) AND IS PRESENTLY AVAILABLE IN STORAGE. # # Page 665 # (6) ONCE THE PARAMETERS REQUIRED FOR COMPUTATION OF THE MANEUVER # HAVE BEEN COMPLETELY SPECIFIED, THE VALUE OF THE ACTIVE # VEHICLE CENTRAL ANGLE OF TRANSFER IS COMPUTED AND STORED. # THIS NUMBER WILL BE AVAILABLE FOR DISPLAY TO THE ASTRONAUT # THROUGH THE USE OF V06N52 # # THE ASTRONAUT WILL CALL THIS DISPLAY TO VERIFY THAT THE # CENTRAL ANGLE OF TRANSFER OF THE ACTIVE VEHICLE IS NOT WITHIN # 170 TO 190 DEGREES. IF THE ANGLE IS WITHIN THIS ZONE THE # ASTRONAUT SHOULD REASSESS THE INPUT TARGETING PARAMETERS BASED # UPON DELTA V AND EXPECTED MANEUVER TIME. # # (7) THIS PROGRAM IS SELECTED BY THE ASTRONAUT BY DSKY ENTRY -- # # P35 IF THIS VEHICLE IS ACTIVE VEHICLE. # # P75 IF THIS VEHICLE IS PASSIVE VEHICLE. # # INPUT # # (1) TPASS4 TIME OF INTERCEPT -- SAVED FROM P34/P74 # # OUTPUT # # (1) TRKMKCNT NUMBER OF MARKS # (2) TTOGO TIME TO GO # (3) +MGA MIDOLF GIMBAL ANGLE # (4) DVLOS DELTA VELOCITY AT MID -- LINE OF SIGHT # (5) DELVLVC DELTA VELOCITY AT MID -- LOCAL VERTICAL COORDINATES # # DOWNLINK # # (1) TIG TIME OF THE TPM MANEUVER # (2) DELVEET3 DELTA VELOCITY AT TPM -- REFERENCE COORDINATES # (3) TPASS4 TIME OF INTERCEPT # # COMMUNICATION TO THRUSTING PROGRAMS # # (1) TIG TIME OF THE TPM MANEUVER # (2) RTARG OFFSET TARGET POSITION # (3) TPASS4 TIME OF INTERCEPT # (4) XDELVFLG RESET TO INDICATE LAMBERT (AIMPOINT) VG COMPUTATION. # # SUBROUTINES USED # # AVFLAGA # AVFLAGP # LOADTIME # SELECTMU # PRECSET # S34/35.1 # S34/35.2 # Page 666 # S34/35.5 # VN1645
COUNT* $$/P3575 EBANK= KT
P35 TC AVFLAGA EXTEND DCA ATIGINC TC P35/P75A
P75 TC AVFLAGP EXTEND DCA PTIGINC
P35/P75A DXCH KT TC P20FLGON # SET UPDATFLG, TRACKFLG TC INTPRET CALL
SELECTMU
P35/P75B RTB
LOADTIME STORE TSTRT
DAD
KT STORE TIG STORE INTIME # FOR INITVEL
STCALL TDEC1
PRECSET # ADVANCE BOTH VEHICLES CALL
S34/35.1# GET NORM AND LOS FOR TRANSFORM CALL
S34/35.2# GET DELTA V(LV) CALL
S34/35.5 CALL
VN1645
GOTO
P35/P75B # Page 667 # ***** S33/34.1 *****
S33/34.1 STQ SSP
NORMEX
TITER OCT40000 DLOAD SETPD
MAX250 0D STOVL SECMAX
RACT3 STOVL RAPREC
VACT3 STOVL VAPREC
RPASS3 STOVL RPPREC
VPASS3 STORE VPPREC
ELCALC CALL
S34/35.1# NORMAL AND LOS
VXV PDVL
RACT3 # (RA*VA)*RA 0D
PDVL UNIT # ULOS AT 6D
RACT3
PDVL VPROJ # XCHNJ AND UP
VSL2 BVSU
ULOS
UNIT PDVL # UP AT 0D
DOT PDVL # UP.UN*RA AT 0D 0D # UP IN MPAC
DOT SIGN
ULOS
SL1 ACOS
PDVL DOT # EA AT 0D
ULOS
RACT3
BPL DLOAD
TESTY
DPPOSMAX
DSU PUSH
TESTY BOFF DLOAD
ITSWICH
ELEX
DELEL STODL DELELO
DSU
ELEV STORE DELEL
ABS DSU
ELEPS # Page 668
BMN
TIMEX # COMMERCIALS EVERYWHERE
FIGTIME SLOAD SR1
TITER
BHIZ LXA,1
NORMEX # TOO MANY ITERATIONS
MPAC
SXA,1 VLOAD
TITER
RPASS3
UNIT PDDL 36D
PDVL UNIT
RACT3
PDDL
PDDL PUSH 36D
BDSU 12D STODL30D # RP - RA MAGNITUDES
DPHALF
DSU PUSH
ELEV
SIGN BMN 30D
NORMEX DLOAD COS
DMP DDV 14D 12D
DCOMP # SINCE COS(180-A)=-COS A STORE28D
ABS BDSU
DPHALF
BMN VLOAD
NORMEX
UNRM
VXV UNIT 6D # UN*RA
DOT DMP
VACT3 12D
PDVL VXV 0D
VPASS3
VXV UNIT 0D # (RP*VP)*RP
DOT DMP
VPASS3 14D # Page 669
BDSU
NORM PDVL # NORMALIZED WA - WP 12D
X1 6D
VXV DOT 0D
UNRM # RA*RP.UN 14D
PDVL DOT 0D 6D
SL1 ACOS
SIGN
DSU DAD # ALPHA PI
DPHALF
ELEV
PDDL ACOS 28D
BDSU SIGN
DPHALF 30D # CONTAINS RP-RA
DAD
DMP DDV
TWOPI
DMP
SL* DMP 0 -3,1 PUSH ABS
DSU BMN
SECMAX
OKMAX DLOAD SIGN # REPLACE TIME WITH MAX TIME SIGNED
SECMAX PUSH
OKMAX SLOAD BPL # TEST FIRST ITERATION
TITER
REPETE
SSP DLOAD
TITER OCT37777
GOTO
STORDELT
REPETE DLOAD DMP
DELEL
DELELO
BPL DLOAD
NEXTES
SECMAX
DMP
THIRD STODL SECMAX # Page 670
ABS SR1 # CROSSED OVER SOLUTION
DCOMP GOTO # DT=(-SIGN(DTO)//DT//)/2
RESIGN
NEXTES DLOAD ABS
DELEL
PDDL ABS
DELELO
DSU
BMN DLOAD
REVERS # WRONG DIRECTION
ABS
RESIGN SIGN GOTO
DELTEEO
STORDELT
REVERS DLOAD DCOMP
DELTEEO PUSH SR1 STORE DELTEEO
DAD
GOTO
ADTIME
STORDELT STORE DELTEEO
ADTIME DAD
NOMTPI # SUM OF DELTA T'S STORE NOMTPI
VLOAD PDVL
VAPREC
RAPREC CALL
GOINT CALL
ACTIVE # STORE NEW RACT3 VACT3
VLOAD PDVL
VPPREC
RPPREC CALL
GOINT CALL
PASSIVE # STORE NEW RPASS3 VPASS3
GOTO
ELCALC
ELEX DLOAD DAD
TTPI
NOMTPI STODL TTPI
BON
ETPIFLAG
TIMEX STORE ELEV
TIMEX DLOAD GOTO # Page 671
ZEROVECS
NORMEX
# Page 672 # ***** S34/35.1 *****
# COMPUTE UNIT NORMAL AND LINE OF SIGHT VECTORS GIVEN THE ACTIVE AND # PASSIVE POS AND VEL AT TIME T3
S34/35.1 VLOAD VSU
RPASS3
RACT3
UNIT PUSH STOVL ULOS
RACT3
VXV UNIT
VACT3 STORE UNRM
RVQ
# Page 673 # ***** S34/35.2 *****
# ADVANCE PASSIVE VEH TO RENDEZVOUS TIME AND GET REQ VEL FROM LAMBERT
S34/35.2 STQ VLOAD
SUBEXIT
VPASS3
PDVL PDDL
RPASS3
INTIME
PDDL PDDL
TPASS4
TWOPI # CONIC
PDDL BHIZ
NN
S3435.23 DLOAD DLOADPUSH
ZEROVECS # PRECISION
S3435.23CALL
INTINT # GET TARGET VECTOR
S3435.25STOVL RTARG
VATT STOVL VPASS4
RTARG # COMPUTE PHI = PI + (ACOS(UNIT RA.UNIT RP) - PI)SIGN(RA*RP.U)
UNIT PDVL # UNIT RP
RACT3
UNIT PUSH# UNIT RA
VXV DOT 0D
UNRM # RA*RP.U
PDVL
DOT SL1 # UNIT RA.UNIT RP 0D
ACOS SIGN
BPL DAD
NOPIE
DPPOSMAX # REASONABLE TWO PI
NOPIE STODL ACTCENT
TPASS4
DSU
INTIME STORE DELLT4 SLOAD SETPD
NN # NUMBER OF OFFSETS 0D
PDDL PDVL
EPSFOUR
RACT3 STOVL RINIT # Page 674
VACT3
STCALL VINIT
INITVEL CALL
LOMAT
VLOAD MXV
DELVEET3 0D
VSL1
STCALL DELVLVC
SUBEXIT
# Page 675 # ***** S34/35.3 *****
S34/35.3 STQ CALL
NORMEX
LOMAT # GET MATRIX IN PUSH LIST
VLOAD VXM
DELVLVC # NEW DEL V TPI 0D
VSL1 STORE DELVEET3 # SAVE FOR TRANSFORM
VAD PDVL
VACT3 # NEW V REQ
RACT3
PDDL PDDL
TIG
TPASS4
PDDL PUSH
DPPOSMAX CALL# INTEG. FOR NEW TARGET VEC
INTINT
VLOAD
RATT STORE RTARG
NOVRWRT VLOAD PUSH
ULOS
VXV VCOMP
UNRM
UNIT PUSH
VXV VSL1
ULOS
PDVL
PDVL MXV
DELVEET3 0D
VSL1
STCALL DVLOS
NORMEX
DP-.01OCT77777# CONSTANTS OCT61337# ADJACENT -.01 FOR MGA DSP
EPSFOUR 2DEC .0416666666
130DEG 2DEC .3611111111
# Page 685 # ***** INITVEL *****
# MOD NO -1 LOG SECTION -- P34-P35, P74-P75 # MOD BY WHITE, P. DATE: 21 NOV 67 # # FUNCTIONAL # # THIS SUBROUTINE COMPUTES THE REQUIRED INITIAL VELOCITY VECTOR FOR # A TRAJECTORY OF SPECIFIC TRANSFER TIME BETWEEN SPECIFIED INITIAL # AND TARGET POSITIONS. THE TRAJECTORY MAY BE EITHER CONIC OR # PRECISION DEPENDING ON AN INPUT PARAMETER (NAMELY, NUMBER OF # OFFSETS). IN ADDITION, IN THE PRECISION TRAJECTORY CASE, THE # SUBROUTINE ALSO COMPUTES AN OFFSET TARGET VECTOR, TO BE USED # DURING PURE-CONIC CROSS-PRODUCT STEERING. THE OFFSET TARGET # VECTOR IS THE TERMINAL POSITION VECTOR OF A CONIC TRAJECTORY WHICH # HAS THE SAME INITIAL STATE AS A PRECISION TRAJECTORY WHOSE # TERMINAL POSITION VECTOR IS THE SPECIFIED TARGET VECTOR. # # IN ORDER TO AVOID THE INHERENT SINGULARITIES IN THE 180 DEGREE # TRANSFER CASE WHEN THE (TRUE OR OFFSET) TARGET VECTOR MAY BE # SLIGHTLY OUT OF THE ORBITAL PLANE, THIS SUBROUTINE ROTATES THIS # VECTOR INTO A PLANE DEFINED BY THE INPUT INITIAL POSITION VECTOR # AND ANOTHER INPUT VECTOR (USUALLY THE INITIAL VELOCITY VECTOR), # WHENEVER THE INPUT TARGET VECTOR LIES INSIDE A CONE WHOSE VERTEX # IS THE ORIGIN OF COORDINATES, WHOSE AXIS IS THE 180 DEGREE # TRANSFER DIRECTION, AND WHOSE CONE ANGLE IS SPECIFIED BY THE USER. # # THE LAMBERT SUBROUTINE IS UTILIZED FOR THE CONIC COMPUTATIONS AND # THE COASTING INTEGRATION SUBROUTINE IS UTILIZED FOR THE PRECISION # TRAJECTORY COMPUTATIONS. # # CALLING SEQUENCE # # L CALL # L+1 INITVEL # L+2 (RETURN -- ALWAYS) # # INPUT # # (1) RINIT INITIAL POSITION RADIUS VECTOR # (2) VINIT INITIAL POSITION VELOCITY VECTOR # (3) RTARG TARGET POSITION RADIUS VECTOR # (4) DELLT4 DESIRED TIME OF FLIGHT FROM RINIT TO RTARG # (5) INTIME TIME OF RINIT # (6) 0D NUMBER OF ITERATIONS OF LAMBERT/INTEGRVS # (7) 2D ANGLE TO 180 DEGREES WHEN ROTATION STARTS # (8) RTX1 -2 FOR EARTH, -10D FOR LUNAR # (9) RTX2 COORDINATE SYSTEM ORIGIN -- 0 FOR EARTH, 2 FOR LUNAR # PUSHLOC SET AT 4D # # Page 686 # OUTPUT # # (1) RTARG OFFSET TARGET POSITION VECTOR # (2) VIPRIME MANEUVER VELOCITY REQUIRED # (3) VTPRIME VELOCITY AT TARGET AFTER MANEUVER # (4) DELVEET3 DELTA VELOCITY REQUIRED FOR MANEUVER # # SUBROUTINES USED # # LAMBERT # INTSTALL # INTEGRVS
SETLOC INTVEL BANK
COUNT* $$/INITV
INITVEL SET # COGA GUESS NOT AVAILABLE
GUESSW
HAVEGUES VLOAD STQ
RTARG
NORMEX STORE RTARG1
ABVAL STORE RTMAG SLOAD BHIZ
RTX2
INITVEL1
VLOAD VSL2
RINIT # B29 STOVL RINIT # B27
VINIT # B7
VSL2 STOVL VINIT # B5
RTARG1
VSL2 STORE RTARG1
ABVAL STORE RTMAG
# INITIALIZATION
INITVEL1 SSP DLOAD# SET ITCTR TO -1,LOAD MPAC WITH E4 (PL 2D)
ITCTR 0 -1
COSINE SR1 # CALCULATE COSINE (E4) (+2) STODL COZY4 # SET COZY4 TO COSINE (E4) (PL 0D)
LXA,2 SXA,2
MPAC
VTARGTAG # SET VTARGTAG TO 0D (SP)
VLOAD # Page 687
RINIT STOVL R1VEC # R1VEC EQ RINIT
RTARG1 STODL R2VEC # R2VEC EQ RTARG
DELLT4 STORE TDESIRED # TDESIRED EQ DELLT4
SETPD VLOAD 0D # INITIALIZE PL TO 0D
RINIT # MPAC EQ RINIT (+29)
UNIT PUSH# UNIT(RI) (+1) (PL 6D)
VXV UNIT
VINIT # MPAC EQ UNIT(RI) X VI (+8) STOVL UN
RTARG1
UNIT DOT # TEMP*RT.URI (+2) (PL 0D)
DAD CLEAR
COZY4
NORMSW STORE COZY4
INITVEL2 BPL SET
INITVEL3 # UN CALCULATED IN LAMBERT
NORMSW
# ROTATE RC INTO YC PLANE -- SET UNIT NORMAL TO YC
# MOD NO. 0, BY WILLMAN, SUBROUTINE RENDGUID, LOG P34-P35, P74-P75 # REVISION 03, 17 FEB 67 # # IF THE ACTIVE VEHICLE IS DOING THE COMPUTATION, MIDGIM COMPUTES # THE POSITIVE MIDDLE GIMBAL ANGLE OF THE ACTIVE VEHICLE TO THE INPUT # DELTA VELOCITY VECTOR (0D IN PUSH LIST), OTHERWISE # MIDGIM CONVERTS THE INPUT DELTA VELOCITY VECTOR FROM INERTIAL COORDIN- # ATES TO LOCAL VERTICAL COORDINATES OF THE ACTIVE VEHICLE. # # ** INPUTS ** # # NAME MEANING UNITS/SCALING/MODE # # AVFLAG INT FLAG -- 0 IS CSM ACTIVE, 1 IS LEM ACTIVE BIT # RINIT ACTIVE VEHICLE RADIUS VECTOR METERS/CSEC (+7) VT # VINIT ACTIVE VEHICLE VELOCITY VECTOR METERS/CSEC (+7) VT # 0D(PL) ACTIVE VEHICLE DELTA VELOCITY VECTOR METERS/CSEC (+7) VT # # ** OUTPUTS ** # # NAME MEANING UNITS/SCALING/MODE # # +MGA + MIDDLE GIMBAL ANGLE REVOLUTIONS (+0) DP # DELVLVC DELTA VELOCITY VECTOR IN LV COORD. METERS/CSEC (+7) VT # MGLVFLAG INT FLAG: 0 IS +MGA COMPUTED, 1 IS DELVLVC COMP. BIT # # ** CALLING SEQUENCE ** # # L CALL # L+1 MIDGIM # L+2 (RETURN -- ALWAYS) # # ** NO SUBROUTINES CALLED ** # # ** DEBRIS -- ERASABLE TEMPORARY USAGE ** # # A,Q,L, PUSH LIST, MPAC. # # ** ALARMS -- NONE **
# Page 692 # MIDDLE GIMBAL ANGLE COMPUTATION.
SETLOC MIDDGIM BANK
COUNT* $$/MIDG
HALFREV 2DEC1 B-1
GET+MGA VLOAD UNIT # (PL 0D) V (+7) TO MPAC UNITIZE UV (+1)
UNIT
DOT SL1 # DOT UV WITH Y(STABLE MEMBER) AND RESCALE
REFSMMAT +6# FROM +2 TO +1 FOR ASIN ROUTINE
ARCSIN BPL
SETMGA
DAD DAD # CONVERT -MGA TO +MGA BY
HALFREV # ADDING ONE REVOLUTION
HALFREV
SETMGA STORE +MGA
CLR RVQ # CLEAR MGLVFLAG TO INDICATE +MGA CALC
MGLVFLAG # AND EXIT
GET.LVC VLOAD UNIT # (PL 6D) R (+29) IN MPAC UNITIZE UR
RINIT
VCOMP # U(-R) STORE18D # U(-R) TO 18D
VXV UNIT # U(-R)*V EQ V*U(R), U(V*R)
VINIT STORE12D # U(V*R) TO 12D
VXV UNIT # U(V*R)*U(-R), U((V*R)*(-R)) 18D STOVL6D # TRANSFORMATION MATRIX IS IN 6D (+1) 0D # DELTA V (+7) IN 0D
MXV VSL1 # CONVERT FROM INER COOR TO LV COOR (+8) 6D # AND SCALE +7 IN MPAC STORE DELVLVC # STORE IN DELVLVC (+7)
SET RVQ # SET MGLVFLAG TO INDICATE LVC CALC
MGLVFLAG # AND EXIT
# ***** END OF MIDGIM ROUTINE *****
# Page 693 BANK10 SETLOC SLCTMU BANK COUNT* $$/MIDG
# Page 694 # ***** PERIAPO ***** # # MOD NO -1 LOG SECTION -- P34-P35, P74-P75 # MOD BY WHITE, P. DATE 18 JAN 68 # # FUNCTIONAL DESCRIPTION # # THIS SUBROUTINE COMPUTES THE TWO BODY APOCENTER AND PERICENTER # ALTITUDES GIVEN THE POSITION AND VELOCITY VECTORS FOR A POINT ON # TRAJECTORY AND THE PRIMARY BODY. # # SETRAD IS CALLED TO DETERMINE THE RADIUS OF THE PRIMARY BODY. # # APSIDES IS CALLED TO SOVE FOR THE TWO BODY RADII OF APOCENTER AND # PERICENTER AND THE ECCENTRICITY OF THE TRAJECTORY. # # CALLING SEQUENCE # # L CALL # L+1 PERIAPO # L+2 (RETURN -- ALWAYS) # # INPUT # # (1) RVEC POSITION VECTOR IN METERS # SCALE FACTOR -- EARTH +29, MOON +27 # (2) VVEC VELOCITY VECTOR IN METERS/CENTISECOND # SCALE FACTOR -- EARTH +7, MOON +5 # (3) X1 PRIMARY BODY INDICATOR # EARTH -1, MOON -10 # # OUTPUT # # (1) 2D APOCENTER RADIUS IN METERS # SCALE FACTOR -- EARTH +29, MOON +27 # (2) 4D APOCENTER ALTITUDE IN METERS # SCALE FACTOR -- EARTH +29, MOON +27 # (3) 6D PERICENTER RADIUS IN METERS # SCALE FACTOR -- EARTH +29, MOON +27 # (4) 8D PERICENTER ALTITUDE IN METERS # SCALE FACTOR -- EARTH +29, MOON +27 # (5) ECC ECCENTRICITY OF CONIC TRAJECTORY # SCALE FACTOR -- +3 # (6) XXXALT RADIUS OF THE PRIMARY BODY IN METERS # SCALE FACTOR -- EARTH +29, MOON +27 # (7) PUSHLOC EQUALS 10D # # SUBROUTINES USED # # SETRAD # Page 695 # APSIDES
SETLOC APOPERI BANK
COUNT* $$/PERAP
RPAD 2DEC6373338 B-29# STANDARD RADIUS OF PAD 37-B. # = 20 909 901.57 FT
# Page 700 # PROGRAM DESCRIPTION # SUBROUTINE NAME R36 OUT-OF-PLANE RENDEZVOUS ROUTINE # MOD NO. 0 DATE 22 DECEMBER 67 # MOD BY N.M.NEVILLE LOG SECTION EXTENDED VERBS # FUNCTIONAL DESCRIPTION # # TO DISPLAY AT ASTRONAUT REQUEST LGC CALCULATED RENDEZVOUS # OUT-OF-PLANE PARAMETERS (Y, YDOT, PSI). (REQUESTED BY DSKY). # # CALLING SEQUENCE # # ASTRONAUT REQUEST THROUGH DSKY V 90 E # # SUBROUTINES CALLED # # EXDSPRET # GOMARKF # CSMPREC # LEMPREC # SGNAGREE # LOADTIME # # NORMAL EXIT MODES # # ASTRONAUT REQUEST THROUGH DSKY TO TERMINATE PROGRAM V 34 E # # ALARM OR ABORT EXIT MODES # # NONE # # OUTPUT # # DECIMAL DISPLAY OF TIME, Y, YDOT AND PSI # # DISPLAYED VALUES Y, YDOT, AND PSI, ARE STORED IN ERASABLE # REGISTERS RANGE, RRATE, AND RTHETA RESPECTIVELY. # # ERASABLE INITIALIZATION REQUIRED # # CSM AND LEM STATE VECTORS # # DEBRIS # # CENTRALS A,Q,L # OTHER: THOSE USED BY THE ABOVE LISTED SUBROUTINES
BANK20 SETLOC R36LM BANK # Page 701 EBANK= RPASS36
COUNT* $$/R36
R36 ZL CAF ZERO # SET TIME OF EVENT TO ZERO FOR FIRST DXCH DSPTEMX # DISPLAY CAF V06N16N TC BANKCALL CADR GOMARKF TCF ENDEXT # TERMINATE TCF +2# PROCEED TCF -5# RECYCLE FOR ASTRONAUT INPUT TIME DXCH DSPTEMX EXTEND BZF LREGCHK # A-REG ZERO GOTO CHECK L-REG FOR ZERO
ASTROTIM DXCH MPAC # A-REG NON-ZERO, TIME = ASTRO INPUT TIME TC INTPRET
RTB
DPMODE
R36INT STCALL TDEC1
OTHPREC
VLOAD PDVL
VATT
RATT # _ STORE RPASS36 # R
UNIT PDVL # P
VXV UNIT STADR# _ STODL UNP36 # U
TAT
STCALL TDEC1
THISPREC
VLOAD PDVL # -
VATT # VELOCITY VECTOR V 00D
RATT # A
PDDL
TAT # SAVE TIME IN LOCATION 30D FOR REDISPLAY STOVL30D # _ PUSHPUSH# POSITION VECTOR R IN 06D AND 12D BVSU PDVL # A _ _
RPASS36 # LINE OF SIGHT VECTOR R - R 12D
DOT SL1 # P A
UNP36 # _ _ STOVL RANGE # Y = U . R 00D # A
DOT SL1
UNP36 # . _ _ STOVL RRATE # Y = U . V 06D # A # Page 702 # _ _
UNIT PUSH# U = UNIT ( R ) 18D
VXV VXV # RA A 00D # _ _ _ _ 18D # (U X V ) X U = U
VSL2 UNIT # RA A RA A
UNIT STOVL00D # UNIT HORIZONTAL IN FORWARD DIR. 00D 18D
DOT VXSC# _ 12D # U
VSL2 # L BVSU UNIT
UNIT PUSH DOT # LOS PROJECTED INTO HORIZONTAL 12D 00D # PLANE
SL1 ARCCOS # _ _ STOVL RTHETA # PSI = ARCCOS(U . U )
VXV DOT # A L 00D
BPL DLOAD
R36TAG2
LODPMAX
DSU
RTHETA STORE RTHETA
R36TAG2 DLOAD RTB 30D
SGNAGREE STORE DSPTEMX EXIT CAF V06N90N # DISPLAY Y, YDOT, AND PSI. TC BANKCALL CADR GOMARKF TCF ENDEXT # TERMINATE TCF ENDEXT # PROCEED, END OF PROGRAM TCF R36 +3# REDISPLAY OUTPUT
LREGCHK XCH L EXTEND BZF ENTTIM2 # L-REG ZERO, SET TIME = PRESENT TIME XCH L # L-REG NON ZERO, TIME = ASTRO INPUT TIME TCF ASTROTIM
ENTTIM2 TC INTPRET
RTB GOTO
LOADTIME
R36INT
V06N16N VN00616
V06N90N VN00690
Messung V0.5 in Prozent
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(vorverarbeitet am 2026-10-12)
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