AHRS

Attitude & Heading Reference System

 Purpose the AHRS produces:

z Primary attitude
Pitch angle
Roll angle

z Magnetic heading

z Body linear accelerations

longitudinal acceleration
lateral acceleration
normal acceleration

z Body angular rate of change

Pitch rate
Roll rate
Yaw rate
 The Gyrometer

z The inertial sensor

assembly contains three
gyros.

z No Gimbals,
spinning mass follow the
airframe

z The gyros sense linear

motion along:
Pitch
Roll
Yaw
 Gyrometer are more than fragile
G
G

g
g
 The Accelerometer
G G
z The Accelerometers measure
acceleration.

z The accelerometers sense linear motion

along:g g
Pitch axis
Roll axis
Yaw axis

z NOTE 1: AHRS needs TAS (True Air Speed FROM

the DADC) to compensate tilt induced
acceleration.

z NOTE 2: AHRS uses TAS to derive a linear

acceleration
AHRU Inertial Measurement Unit (IMU)
 AH-600 AHRU Attitude & Heading Reference Unit

AHRS is a self-contained system that

computes heading, attitude and rate data.
The system is not inertial and needs a flux-
valve to sense magnetic north.
AHRS does not compute NAV information
such as Time Estimate or Position and
distance

Attitude, Heading, rate and accelerations are provided to Symbol Generator,

Autopilot/Flight Director, Flight Management -GPS navigator System, Weather Radar and
Flight Data Recorder
AH-600 AHRU Attitude & Heading Reference Unit

z AHRU processors perform integration of

gyrometers as well as a double integration of
the accelerometer to output position.

z The Accelerometers provide a long term

reference to the gyros.
(synchronization rate 10/min)

z The gyros provide the short term reference

z The flux valve is the long term reference for

the HDG
(synchronization rate 5 (E-W) or 2.5 (N-S)
deg/min)
SDOM Page 2-13 Figure 2-5 (Sheet 1) AH-600 AHRU Block Diagram
SDOM Page 2-15 Figure 2-5 (Sheet 2) AH-600 AHRU Block Diagram
AHRS FX-600 Flux valve

z The Flux valve pendulum is sensitive to magnetic field and provides the earth field
direction.
z It is also sensitive to acceleration and high attitude and the AHRS will automatically
transition to a pseudo DG mode (Directional Gyro) when acceleration > 0.1g or ATT
6 to 12

This mode is not annunciated and

will result in a gyrometer drift
(typically 1/mn)

G
AD-32728@
FX-600 Flux valve schematics

SDOM Page 2-21 Figure 2-10 FX-600 Thin Flux Valve Schematic
 AHRS CS-412 Remote Compensator

z Used to compensate Magnetic field interference during Flux Valve compensation.

SDOM Page 2-18 CS-412 Dual Remote Compensator

 CS-412 Remote Compensator Schematics

z Replacement of the compensator implies right and left Flux Valve compass swing.
See ATR documentation or SDOM p 8-10.

SDOM Page 2-19 CS-412 Dual Remote Compensator Block Diagram

AHRS Component location

Fs

Fs

Fs
 AHRS Operations

Initialization(3 mn)
Computer self test is performed during the first 5 seconds. The remaining 3 mn are used to
warm up the gyros and to collect the bias of each gyrometer. The aircraft must not be moved
during alignment. Initialization is complete when ATT & HDG flags clear from the ADI. The 3
mn alignment can be monitored on the HSI by pressing the fast erect button once (HDG moves
1/sec from 180 to 0)

Normal mode
AHRS uses TAS from the ADCs to compensate for acceleration induced errors.

Basic mode
If TAS is invalid (from ADC 1 & 2 on ASCB and onsite analog TAS), AHRS automatically
enters the BASIC mode and annunciates it. System will be sensitive to aircraft shallow
maneuvers (might shows slight attitude offset). Once a/c is stabilized, press the PUSH TO
ERECT button for a fast synchronization.

Pseudo DG mode:
When a/c accel > 0.1 or ATT > 6 to 12 Deg. Not annunciated.
 AHRS Basic Mode

In case of TAS failure we see:

A/ERECTFA
IL
When the button is pressed, the AHRS starts a fast erect
cycle.
AHRS Data
 Reversionary Controls

The aircraft is wired such that the activation of a reversion pushbutton on one side
locks out the other side. The result being that, in reversion, both sides are using the
same source. Cross reversion is not possible.
 AHRS internal monitoring

Effect of a single failure: Effect of a dual failure: ATT flag only

- loss of couple FD mode - loss of couple FD mode
- no effect on AP/YD - loss of AP/YD
- CPL DATA INVALID on ADU - AHRS DATA INVALID on ADU
 AHRS external monitoring

EFIS Comparator monitored by the SG

- pitch & roll attitudes : 6
- mag headings : 6/12

AFCS Comparator monitors by the FZ

- ATT 6, Body rates 6/s, accel 0.1g - HDG 6
active with both AHRS valid
active with both AHRS valid AP basic mode return wings level
loss of FD mode
loss of AP & YD
AHRS DATA INVALID on ADU

Rate and accel comparison are not shown on EFIS

AHRS Pilots Interface Diagram

SDOM page 2-9 Pilots AHRS Aircraft Interface

AHRS Copilots Interface Diagram

SDOM page 2-11 Copilots AHRS Interface

 AHRS Maintenance Test (GMT)

1- Enter the TEST mode on the ground

by activating the cockpit AFCS TEST
switch 20 AHRS TEST?
2- Cycle through the test options with
the L/R SEL buttons
3- Press TEST to activate the desired
test

01 FGC TEST?
02 GUIDANCE CNTRL TEST? 21 DADC TEST?

03 ADVISORY DSPLY TEST? 22 EFIS TEST? (Not available on 42-300)

04 ELEV SERVO TEST? 40 COCKPIT SW TEST?

05 AIL SERVO TEST? 41 SUBSYSTEM STAT TEST?

06 RUD SERVO TEST? 98 FLIGHT FAULT SUMMARY TEST?

99 GROUND TEST SUMMARY?
20 AHRS TEST?

See System Maintenance Manual section 4, page 4-35

- Checks EFIS display, ATT & HDG comp, EFIS Comp, Audio Warning, Fast Erect pushbutton Switch
- Also useful to test WX antenna stabilization, sticky RMI
 AHRS tray leveling tool
End accuracy of the system is very dependant on AHRU tray alignment in relation to the a/c body.
1- Avoid removing / unlocking the tray
2- if moved, re-align per ATR documentation. See also SDOM page 8-26.

Bubble touching
or inside = 0.1
degree

Bubble touching or
inside = 0.2 degree

Tubular levels - 1 division = 20 arc seconds Mounting bolt access holes

 AH-600 AHRU Attitude & Heading Reference Unit

This is not a handle !!! Several units have been heavily damaged after being dropped on the
floor. -> $$$$$$$$$
z IMU Inertial Measurement Unit is VEEEEERY fragile. Be extreeeemly careful when
handling the AHRU, even in its packing.
z That mean you store/shipping/receiving personnel should be trained as well to
handling procedure.
New AHRU AH-600 packing
 AHRS review

z1) Read the handling procedure

z2) Read it again

zNever move the AHRU tray without a good reason (long re-
alignment)

zWhen HDG flag only, check Flux valve health -> swap AHRU
1&2.

zWhen replacing Flux Valve use NON-magnetic tools and

screws

zTwo 28VDC power so two C/B to turn AHRS off (to allow 2
mn for gyros to stop spinning)
Questions ?
1 AHZ-600 Attitude Heading Reference System (AHRS)

2 ADZ-810 Air data System

3 EDZ-811 Electronic Flight Instrument System (EFIS)
4 HT-1000 Global Navigation Satellite System (GNSS)
5 Primus-800 and Primus-660 Weather Radar System
6 DFZ-600 Autopilot - Yaw Damper - Flight director
7 EGPWS Enhance Ground Proximity Warning System