FreeFlight Systems RA4000E Radio Altimeter User Manual 4000 IM 200A
FreeFlight Systems Radio Altimeter 4000 IM 200A
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Pilot Guide & Equipment Installation Manual RA-4000e Radar Altimeter 84629, Rev C RA-4000e Radar Altimeter System Pilot Guide And Equipment Installation Manual DATE Prepared: A. Harthcock 29-August-06 Quality: Approved: FreeFlight Systems 3700 Interstate 35 Waco, TX 76706-3756 U.S.A. 1 (254)662-0000 84629, Rev C Page 1 of 20 29-August-06 Pilot Guide & Equipment Installation Manual RA-4000e Radar Altimeter 84629, Rev C REVISION HISTORY REV DESCRIPTION Initial release Released per ECN F05032 Released per ECN F06008 84629, Rev C DATE APPROVED 21-Nov-05 29-August-06 Page 2 of 20 29-August-06 Pilot Guide & Equipment Installation Manual RA-4000e Radar Altimeter 84629, Rev C Table of Contents 1. INTRODUCTION ................................................................................................................................ 4 1.1. 1.2. 2. DESCRIPTION .................................................................................................................................... 6 2.1. 2.2. 2.3. 2.4. 3. DATA RATE ................................................................................................................................... 12 PROTOCOL DEFINITION ................................................................................................................. 12 MECHANICAL.................................................................................................................................. 14 5.1. 5.2. 5.3. 6. GROUND ........................................................................................................................................ 10 POWER IN ...................................................................................................................................... 10 RESET ............................................................................................................................................ 10 STRUT INPUT ................................................................................................................................. 10 MAINT/NAV TX/RX...................................................................................................................... 10 PGM-EN....................................................................................................................................... 11 NAV-BIAS ..................................................................................................................................... 11 NAV-COM ..................................................................................................................................... 11 NAV-TXA/TXB ............................................................................................................................ 11 FUNCTIONAL INTERFACE........................................................................................................... 12 4.1. 4.2. 5. OPERATIONAL MODES..................................................................................................................... 6 SYSTEM LIMITATIONS ..................................................................................................................... 6 SPECIFICATIONS .............................................................................................................................. 8 COMPONENT AND ACCESSORY PART NUMBERS .............................................................................. 9 ELECTRICAL INTERFACES ......................................................................................................... 10 3.1. 3.2. 3.3. 3.4. 3.5. 3.6. 3.7. 3.8. 3.9. 4. REFERENCE DOCUMENTS ................................................................................................................ 5 TABLE OF ACRONYMS & ABBREVIATIONS ...................................................................................... 5 RA-4000E MOUNTING .................................................................................................................. 14 CONNECTORS ................................................................................................................................ 14 ANTENNA MOUNTING ................................................................................................................... 16 INSTALLATION ............................................................................................................................... 18 6.1. 6.2. 6.3. 6.4. GENERAL INFORMATION ............................................................................................................... 18 UNPACKING AND INSPECTING EQUIPMENT .................................................................................... 18 ANTENNA INSTALLATION .............................................................................................................. 18 RA-4000E INSTALLATION ............................................................................................................. 19 APPENDIX A – ENVIRONMENTAL ..................................................................................................... 20 84629, Rev C Page 3 of 20 29-August-06 Pilot Guide & Equipment Installation Manual RA-4000e Radar Altimeter 84629, Rev C 1. Introduction This manual contains installation data and specifications for the FreeFlight Systems Radar Altimeter RA4000e (P/N 84560-01). The 4000e meets the requirements for a TSO-C87 Radar Altimeter with Precision Equipment output. The 4000e is designed to provide AGL altitude directly to an integrated Flight Management System (FMS). Altitude is calculated by assessing the round trip delay of a signal reflected from the ground. The system consists of three Line Replaceable Units (LRUs): the RA-4000e R/T Unit and two Antenna Units (Free Flight P/N 9-1203-115-00). Refer to Figure 1-1 for a system overview. Figure 1-1: RA-4000e System Block Diagram 84629, Rev C Page 4 of 20 29-August-06 Pilot Guide & Equipment Installation Manual RA-4000e Radar Altimeter 84629, Rev C 1.1. Reference Documents Document Number Title RTCA/DO -160E Environmental Conditions and Test Procedures for Airborne Equipment; 29-July97 (incorporating Change 1 dated 14-Dec-00, Change 2 dated 12-June-01, and Change 3 dated 05-Dec-02). RTCA/DO-178B Software Considerations In Airborne Systems And Equipment Certification; 1Dec-92. TSO – C87 RTCA/DO-155 AIRBORNE, LOW-RANGE RADIO ALTIMETER ; 1-Feb-1966. Minimum Performance Standards Airborne Low-Range Radar Altimeters; 1-Nov1974. 1.2. Table of Acronyms & Abbreviations The following acronyms and abbreviations are used throughout this document. Abbreviation AGL CCA FAA FAQ FFS FMCW FMS LRU R/T TSO 84629, Rev C Definition Above Ground Level Circuit Card Assembly Federal Aviation Administration Frequently Asked Questions FreeFlight Systems Frequency Modulated Continuous Wave Flight Management System Line Replaceable Unit Receiver / Transmitter Technical Standard Order Page 5 of 20 29-August-06 Pilot Guide & Equipment Installation Manual RA-4000e Radar Altimeter 84629, Rev C 2. Description A complete system consists of an RA-4000e receiver/transmitter unit and two antennas. The RA-4000e provides AGL altitude information from 0 feet up to 2000 feet maximum via computer interface. The RA-4000e Radar Altimeter system utilizes a reliable solid-state voltage controlled oscillator (VCO) to drive its transmitter. Embedded processors precisely measure the signal delay, calculate the altitude, and provide a simple to use computer interface. 2.1. Operational Modes Once the unit has completed a reset, it begins outputting data at a 10 hertz rate. Data consists of the altitude and a Status byte. Following is a description of different modes for the unit. 2.1.1. Power On Self-Test At power on, or upon assertion of the Reset input, the system initializes operation and performs a self-test for approximately 20 seconds. In the self-test, the lock circuitry is tested and a test signal applied to the receive circuitry. During this time, the unit reports an altitude of 40 feet and asserts the “Self-Test” bit in the Status byte. 2.1.2. Altitude Zero Calibration When the Altitude Zero Calibration mode is selected during installation, the unit automatically calibrates the zero altitude point. This automatically compensates for different cable lengths or installation factors that would otherwise bias the altitude reading. 2.1.3. On Ground Operation While on the ground, the unit is susceptible to erroneous readings caused by signals returned from nearby buildings or personnel. Utilization of the Strut input allows the unit to ignore these erroneous signals and report zero feet. The “Strut” bit of the Status byte provides an indication of the input signal. 2.1.4. Normal Operation When the unit detects a locked signal and does not have a Strut indication (i.e. – aircraft in the air), it reports altitude with the “Signal” bit indicating Locked. If conditions on the ground prevent a stable received signal, the “Signal” bit of the Status word indicates Unlocked. Note that if ground conditions provide a sufficient return signal, the unit may report a locked altitude as high as 2500 feet. 2.2. System Limitations 2.2.1. Terrain At altitudes above 1500 feet, terrain with poor reflectivity may cause the unit to unlock. Examples of unfavorable terrain are dry, loose soil, (e.g. - tilled farmland), or sand. 2.2.2. Excessive Pitch/Roll An excessive pitch or roll attitude may also cause the system to unlock. This sensitivity increases with altitude. In general, below 1500 feet a 30 degree bank is tolerated. Above 1500 feet, the aircraft should be maintained within a 20 degree bank for proper operation. If the unit unlocks due to marginal conditions, it will automatically relock when a signal sufficient for ranging is detected. 2.2.3. Rapid Descent In cases of extremely rapid descent, both the response time of the system and pitch of the aircraft may prevent normal operation. At a descent rate of 500 feet/minute or less, the RA-4000e system provides normal operation below 2000 feet. 84629, Rev C Page 6 of 20 29-August-06 Pilot Guide & Equipment Installation Manual RA-4000e Radar Altimeter 84629, Rev C 2.2.4. Response Time When flying the RA-4000e system over rapidly changing terrain, e.g., a cliff or ravine, the system is limited by the 10 Hz response time of the unit. 2.2.5. Cold Start When the unit is powered on at an ambient temperature of less than -30ºC a warm-up period is required. This period varies from 30 minutes from a cold start at -55ºC, to none at -30ºC. During this time, the unit will output altitude with the Invalid bit asserted. Once the unit has reached a reliable operating temperature, the Invalid bit is cleared. NOTE: The RA-4000e system surveys ground directly below the aircraft, and should not be relied on as either a forward looking or warning device. 84629, Rev C Page 7 of 20 29-August-06 Pilot Guide & Equipment Installation Manual RA-4000e Radar Altimeter 84629, Rev C 2.3. Specifications Specifications for the RA-4000e system are listed in Tables 2-1 through 2-3. Parameter Value Dual antenna, FMCW FreeFlight P/N 9-1203-115-00 EDO P/N DM PN19-2-1 0 to 2000 feet 0 to 100 feet +/- 3 feet 100 to 500 feet +/- 3% 500 to 2000 feet +/- 5% 100 MHz sweep 4.25 - 4.35 GHz 100 Hz 28 VDC +/- 10% (Internal fuse and reverse polarity protection) 350 ma Max (steady-state) 5.5 amps for 10 uSec @ 28 VDC RS-485/422, 10 Hz 50 mSec On ground or during flight DO-160E TSO-C87, DO-178B Level B, FCC Part 15 Type Compatible Antennas Altitude Range Altitude Accuracy Frequency Range Sweep Frequency Input Voltage Input Current Max. Inrush Current Altitude Output, Rate Altitude Latency Self-Test / Reset Environmental (Pending) Certifications (Pending) Table 2-1: System Technical Characteristics Parameter Weight Height Length (Including mounting flange) Width Connectors Value 1.8 lb 3.06” 6.78” 3.15” 2 each TNC antenna connectors 1 each 22 pin circular connector Table 2-2: RA-4000e Physical Characteristics Parameter Quantity Weight Dimensions Value 0.3 lbs (0.6 lbs total) 3.5" W x 3.65" L x .15" H Table 2-3: 9-1203-115-00 Antenna Physical Characteristics 84629, Rev C Page 8 of 20 29-August-06 Pilot Guide & Equipment Installation Manual RA-4000e Radar Altimeter 84629, Rev C 2.4. Component and Accessory Part Numbers Each 4000e unit is shipped individually, as indicated in Table 2-4. Two antennas and associated wiring are also required for installation. An Antenna Installation kit is available from FreeFlight, as indicated in Table 2-5. The items listed in Table 2-6 are required, but not supplied by FreeFlight. ITEM FREEFLIGHT P/N 84560-01 RA-4000e R/T Unit QUANTITY 1 required Table 2-4: RA-4000e Install Kit ITEM Optional Antenna Installation Kit Coax Cable Assembly Antenna FREEFLIGHT P/N 1901-3501-00 1900-0432-12 9-1203-115-00 QUANTITY 2 required 1 per kit 1 per kit Table 2-5: Optional FreeFlight Install Kit and Parts ITEM System Wiring Circuit Breaker – “Slow Blow” 3 Amp System Indicator FREEFLIGHT P/N N/A N/A N/A QUANTITY As required Table 2-6: Other Required Accessories 2.5. License Requirements As installed in the aircraft, the radar altimeter does not require an FCC operator’s license. For information, reference FCC 47 CFR Part 87.89 Minimum operator requirements. 84629, Rev C Page 9 of 20 29-August-06 Pilot Guide & Equipment Installation Manual RA-4000e Radar Altimeter 84629, Rev C 3. Electrical Interfaces Electrical interconnection to the RA-4000e is made via 22-pin connector. Refer to Table 3-1 for a description of the pinout. Pin Name Ground Ground Ground Ground Function Direction In Power In Aircraft voltage in Power In Aircraft voltage in 10 11 12 13 14 15 16 17 18 19 20 21 22 Reset Reserved Reserved Strut Reserved Reserved Reserved Reserved Nav-TX Nav-RX PGM-EN Reserved Reserved Nav-Bias Nav-Com Nav-Com Nav-TXA Nav-TXB Reserved In Level Ground Ground 28 VDC +/- 10% Power In 28 VDC +/- 10% Power In NO CONNECT /Strut (Active low) In Switched Ground In Maint/Nav Port RS-232C Transmit Maint/Nav Port RS-232C Receive Reserved Out In In RS-232C RS-232C NO CONNECT RS-485 100 ohm ground connection Nav Port Ground Nav Port Ground Navigation port Serial RS-485/422 Navigation port Serial RS-485/422 Out Out RS-485 Ground Ground Ground RS-485/422 RS-485/422 Table 3-1: RA-4000e Interface Pinout 3.1. Ground Aircraft ground is connected on two pins. 3.2. Power In Aircraft power of 28 VDC +/-10% is connected on two pins. 3.3. Reset This circuit is reserved for factory test purposes only. Do not connect 3.4. Strut Input The Strut signal is an active low input. That is, the input should be grounded when the aircraft is on the ground. 3.5. Maint/Nav TX/RX The Maint/Nav-TX/RX lines use RS-232C signal levels. The Maint/Nav-TX output carries the same data as the Nav-TXA/TXB pair. The Maint/Nav-TX/RX lines are used to initiate the Altitude Zero Calibration function and to reprogram the unit via serial RS-232C protocol. Note that it may be advantageous to route 84629, Rev C Page 10 of 20 29-August-06 Pilot Guide & Equipment Installation Manual RA-4000e Radar Altimeter 84629, Rev C these lines to a point which facilitates shorting them for the Altitude Zero Calibration (see 6.4.1). If this is done, care should be taken that the lines do not accidentally short during normal flight. During normal operation after the Zero Calibration has been accomplished, these lines should not be connected. 3.6. PGM-EN The Program-Enable input is used to reprogram the unit. Do not connect in normal operation. 3.7. Nav-Bias This common for RS-485 communications provides a 100 ohm resistive ground connection. 3.8. Nav-Com These connections provide a direct ground reference, if desired. 3.9. Nav-TXA/TXB As the primary data interconnect, these pins are driven by an LTC485 device. 84629, Rev C Page 11 of 20 29-August-06 Pilot Guide & Equipment Installation Manual RA-4000e Radar Altimeter 84629, Rev C 4. Functional Interface The Nav port provides radar altitude data via serial protocol via RS-485. The following sections describe the protocol used. 4.1. Data Rate Data is transmitted in multi-byte packets with LSB first at 56,000 bps (8 data bits, one start, one stop, no parity). Packets are output at a rate of 10 Hz. 4.2. Protocol Definition NOTE: The information in this section is intended for engineering personnel and is not required for installation. 4.2.1. Packet Structure Each packet conforms to the following structure: Field Content DLE 0x10 ID 0xDF LEN 0x03 DATA 3 bytes CHECKSUM 1 byte DLE 0x10 ETX 0x03 4.2.1.1. DLE (Data Link Escape Character) Fixed byte = 0x10. 4.2.1.2. ID (Identification) Fixed byte = 0xDF. 4.2.1.3. Len (Length) Fixed byte = 0x03. 4.2.1.4. Data Three data bytes are defined as follows: Byte Definition Altitude High byte of a 2-byte binary field. (Units: Feet; Range: 0-2500) Altitude Low byte of a 2-byte binary field. Status Byte (See Table 4-2) Table 4-1: Data Field Definition Bit 0 – Altitude 1 – Self Test 2 – Status 3 – Invalid 4 – Strut 5 – Reserved 6 – Reserved 7 – Reserved High (1) Indication Ascending Test in progress Unit Failure Unlocked / Invalid output Asserted (On ground) Low (0) Indication Descending Normal operation Normal operation Locked / Valid output De-asserted (In air) Table 4-2: Status Byte Bit Definition 84629, Rev C Page 12 of 20 29-August-06 Pilot Guide & Equipment Installation Manual RA-4000e Radar Altimeter 84629, Rev C 4.2.1.5. Checksum This is the one-byte 2’s complement of the sum of all the data bytes, including the packet ID and LEN bytes (i.e. 0xDF03). Refer to Table 4-3 for a sample packet with normal status (descending, locked, and good status) and an altitude of 1000 feet. Byte Value DLE 0x10 ID 0xDF LEN 0x03 Alt Hi 0x03 Alt Lo 0xE8 Status 0x00 Chk 0x33 DLE 0x10 ETX 0x03 Table 4-3: Sample Packet At 1000’ 4.2.1.6. DLE (Data Link Escape Character) Fixed byte = 0x10. 4.2.1.7. ETX (End Of Text Character) Fixed data byte = 0x03. 4.2.2. DLE Stuffing This protocol requires that an occurrence of the DLE (0x10) character in either the data or checksum must be followed by another DLE character. The receiver therefore, should remove, or “unstuff”, the second DLE character when two are received in sequence. Note that the “unstuffing” should occur prior to calculation of the Checksum. 84629, Rev C Page 13 of 20 29-August-06 Pilot Guide & Equipment Installation Manual RA-4000e Radar Altimeter 84629, Rev C 5. Mechanical 5.1. RA-4000e Mounting The mounting requirements for the RA-4000e are illustrated below in Figure 5-1. 5.2. Connectors Interfaces to the 4000e are provided through three connectors as described below in Table 5-1. Function Description Aircraft interconnections This 22-pin circular connector mates with AMPHENOL P/N 10-565995-231N. TX Antenna This TNC connector mates with AMPHENOL P/N 225554-6 RX Antenna This TNC connector mates with AMPHENOL P/N 225554-6 Table 5-1: Connector Descriptions 84629, Rev C Page 14 of 20 29-August-06 Pilot Guide & Equipment Installation Manual RA-4000e Radar Altimeter 84629, Rev C Figure 5-1: Mounting Illustration 84629, Rev C Page 15 of 20 29-August-06 Pilot Guide & Equipment Installation Manual RA-4000e Radar Altimeter 84629, Rev C 5.3. Antenna Mounting Refer to Figures 5-2 and 5-3 for mounting information for antenna P/N 9-1203-115-00. Figure 5-2: Antenna P/N 9-1203-115-00 Mounting Illustration #1 84629, Rev C Page 16 of 20 29-August-06 Pilot Guide & Equipment Installation Manual RA-4000e Radar Altimeter 84629, Rev C Figure 5-3: Antenna P/N 9-1203-115-00 Mounting Illustration #2 84629, Rev C Page 17 of 20 29-August-06 Pilot Guide & Equipment Installation Manual RA-4000e Radar Altimeter 84629, Rev C 6. Installation 6.1. General Information This chapter contains suggestions and factors to consider before installing an RA-4000e radar altimeter into an aircraft. Adherence to the suggestions will assure satisfactory performance from the system. 6.2. Unpacking and Inspecting Equipment Exercise extreme care when unpacking each unit. Make a visual inspection of each unit for evidence of damage incurred during shipment. If a claim for damage is to be made, save the shipping container to substantiate the claim. When all equipment and the installation kit have been inspected, save the packing material and container in case the unit is to be stored or reshipped. See paragraph 2.4 for equipment and optional parts supplied. 6.3. Antenna Installation Optimum installation of the antennas is on the centerline of the belly of the aircraft. 1) The area should be parallel to the ground. 2) The antennas should be mounted such that no protrusion is visible to either antenna within a 45-degree cone below the aircraft. 3) The antennas should always be mounted with the arrows pointing in the same direction. Good: (Æ Æ or Å Å) Not Good: (Æ Å or Å Æ) 4) Antennas should have no more than a 6-degree pitch. 5) Antennas should be mounted at least 18" apart and within 40" of each other. 6) Transmit antenna mounts in front; Receive antenna mounts to the rear. 7) RA-4000e unit mounts inside, positioned such that the antenna cables connect to the rear of the unit. 8) DO NOT mount the antenna closer than three (3) feet to a DME, transponder, ADF or VHF antenna. 9) During installation, avoid locations near high heat sources or where fuel, oil or excessive moisture may collect. Bond and shield all parts of the aircraft electrical system such as generators and ignition systems. 10) Due to the Altitude Zero Calibration, the antenna cables can be cut to any length for better fit during installation. (See section 6.4.1 for Altitude Zero Calibration). Each antenna cable must not exceed 150" in length. 84629, Rev C Page 18 of 20 29-August-06 Pilot Guide & Equipment Installation Manual RA-4000e Radar Altimeter 84629, Rev C 6.4. RA-4000e Installation The RA-4000e unit installation layout is shown in figure 5-1. Route all data and power cables away from circuits carrying high current, pulse-transmitting equipment, 400 Hz circuits and other sources of interference. Do not route with ADF antenna cables. Note: Aircraft which exhibit electrical noise on the airframe or have surfaces or panels which are not properly bonded can cause the altimeter to attempt to "relock" above 2000 feet AGL, thus causing erratic altitude output. Thorough bonding of all control surfaces, gear doors, access panels, etc. should cure the symptom, but in certain extreme circumstances, it may be necessary to install an on/off switch to disable the unit above 2000 feet. This condition is only noticeable above 2000 feet and does not degrade performance below 2000 feet AGL. 6.4.1. Altitude Zero Calibration Reflections due to surrounding obstacles may cause inaccurate calibration. It is recommended to Zero the RA-4000e in an open area away from buildings trees or other large reflecting surfaces to improve accuracy. Note: If this procedure is not performed on install, after service, or is improperly performed, altitude may not be correct. 1. 2. 3. 4. 5. 6. 7. 8. 9. 10. 6.4.2. Remove or disable the Strut input to the system. Clear all obstacles from around aircraft (including personnel). Turn unit on and let run for a minimum of 5 minutes to warm up. Turn off unit and all aircraft power. Short together Maint/Nav port TX and RX pins. Switch power ON for approximately 30 seconds. Switch power off and remove the short from the TX and RX lines. Switch power on. After the self-test is complete, the unit should now output 0' while on ground. Test and repeat as necessary. Restore the Strut input, if necessary. Pre-Flight Check List Turn on power (after starting engines). Verify the unit self-tests for approximately 20 seconds (during which it displays 40 feet and sets the self test flag). After the self-test mode, the unit should output 0 feet. 6.4.3. 1. 2. 3. Final Testing During takeoff observe AGL and verify that it is increasing while the aircraft is climbing. After aircraft exceeds 3000 feet AGL verify that unit indicates “unlocked”. With the aircraft above 3000 feet AGL in an open area: a. Put the aircraft into a 500-foot per minute descent. b. The unit should lock and start outputting altitude by 2000 feet AGL. 84629, Rev C Page 19 of 20 29-August-06 Pilot Guide & Equipment Installation Manual RA-4000e Radar Altimeter 84629, Rev C Appendix A – Environmental Refer to Table A-1 for a summary of RA-4000e Test Categories. Environmental Test Temperature and Altitude Temperature Variation Humidity Shock/Crash Safety Vibration Explosion Proofness Waterproofness Fluids Susceptibility Sand and Dust Fungus Salt Spray Magnetic Effect Power Input Voltage Spike Audio Frequency Conducted Susceptibility – Power Inputs Induced Signal Susceptibility Radio Frequency Susceptibility Emission of Radio Frequency Energy Lightning, Induced Transient Susceptibility Lightning Direct Effects Icing Electrostatic Discharge Fire, Flammability DO-160E Section Category Compliance Method 10 11 12 13 14 15 16 17 18 D2 S Curve C n/a n/a n/a n/a n/a n/a 19 ZC 20 RR 21 22 A2XXX 23 24 25 26 n/a n/a n/a Table A-1: DO-160E Test Categories 84629, Rev C Page 20 of 20 29-August-06
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