..

I Q

I III

:I :I a: o

'IL

:a I N

REVISED JULY I, 1965

APOLLO

GUIDANCE AND NAVIGATION SYSTEM

NORTH AMERICAN AVIATION, INC. SPACE and INFORMATION SYSTEMS DIVISION

MISSION PLAN - LUNAR ORBITAL RENDEZVOUS MODE

MOON AT EARTH LANDING

NORJH AMElfCAN AVIATION, INC. 5MCE .... NOIMArlON S'I'SIIMS DMSION

TRANSLUNAR COAST

CD

:; ~ ~;,

MOON AT EARTH LAUNCH

_,.,. .....

GN-OOOO.{ +)

TRANSEARTH INJECTION

CD

\

I LANDING

t STAY & LAUNCH

,0

/

LUNAR ORBIT INSERTION

CD

LUNAR ORBIT S3iIJ ,_-/"5

ge'"",,! oA"J,T

3-64 "P741oo

SATURN V

f

£&"°1(941" JC: T:; :' J. - ns c ).- ,<C;<

5 J -2 ENGINES ROCKETOYNE

I 1'( ':.' j_ '.' <,

5 F-1 ENGINES ROCK9"0YNE. /-f,:, i~ ~ ,0.1 ''If

NORTH AMERICAN AVIATION, INC. SI'AC! AN" INF04lMATION S'fSIlMS OIVISION

"-~---.------

ALT(FT) 600,000

ASCENT TRAJECTORY

''''''-'''',

/?f '

, LES JETTISON

V:z7800 FPS

S-IlIGNITION V:=;7600 FPS

LEM ADAPTER 5&10

z c l t: Itl5

1 J-2 ENGINE ROCKETOYNE

TOTAL WT 6,000,000 LB

11-4 ,o.P 74372,0.

ORBIT ACQUISITION

t % 706 SEC " - ,,' ,Ji;;)

, / i.t n t c-

V::: 24,200 FPS 3 /,;:;= c--t;; 5> 70('

~.51 7t!JO -

S-IVB IGNITION t %542 SEC V=20,900 FPS

1000 RANGE (N Mil

1500

ASCENT PHASE

GN-211 {'[j)

EARTH ORBIT POSITION & TRAJECTORY DETERMINATION

,....

Grt-lSO { .. )

MIDCOURSE POSITION & 'U/i

TRAJECTORY DETERMINATION (/ / /'~

,/0

II '~

I I /

I

/ / /

I

/

/

/

I

I

REFERENCE TRAJECTORY

TARGET AREA

..... ~.\ GN-182 { • J

LUNAR ORBIT INJECTION

.---.

J

l \

\

' ... ....

---

START DEBOOST

('" c i-A,VIf ,lOlL' A A.!6 L- c ()- IC"

LUNAR ORBIT INJECTION ,.,.-.2.. 'b' Jj' FI5

30 PN a.2B,T

GN- 206A {Zi}

LUNAR ORBIT & LEM DESCENT 1245010439

& DESCENT

LEM DESCENT TRAJECTORY

CSM

LANDING SITE HOHMANN

TRANSFER ORBIT

N MI CIRCULAR ORBIT

/~

/.

~lO N MI LANDING SITE

~ll.OOO FT

1-INERTIAL PHAS~ 1------~500 SEC ---

HOHMANN DESCENT ORBIT

t'1,N f-N&f&Y

~200NMI

POWERED DESCENT TRAJECTORY

GN-241 <fi)

LEM ASCENT & LUNAR ORBITAL RENDEZVOUS

LUNAR ORBIT

ASCENT TRANSFER ORBIT

RENDEZVOUS

64AP76945

LAUNCH AIM POINT DETERMINATION

TERMINAL

RETU RN GEOMETRY

ENTRY POINT

S/M JETTI,SON

10 .

S/M RCS FUNCTIONS

CSM ENTRY ATIITUDE

5.5 SEC. + ROLL AfTER

2 SEC

TO CENTER OF EARTH

SEQ-59B {((i)

ENTRY BOUNDARIES

ENTRY POINTS-~

PERIGEE OF OVERSHOOT TRAJECTORY

~-- PERI GEE OF UNDERSHOOT TRAJECTORY

ATMOSPHERE INTERFACE

" -,

'\.\..,_---"'- <, __ <, -VACUUM TRAJECTORY

GN-205A{~}

ENTRY PROFILE

0<. -6.1°

GN-197B-l{{i}

ENTRY PROFILE

0( • -7.1°

LANDING SITE

\~------2500 NM-- _

1["" GN-197B-2C~}

VELOCITY CORRECTION

. i .

; '1<:

;, \/-

/

/ 8

/

/

/

/

/

/

SPACECRAFT

--------------.,

.,.,,,, ATTITUDE I

I I

OPTICAL

r------------<

I SIGHTINGS

:

I

I

OPTICAL INSTRUMENTS

INERTIAL GUIDANCE

OPTICAL NAVIGATION

DISCRETES STEERING

ENGINES SIGNALS

"ON" eo "OFF"

GN-9008

SPACECRAFT CONTROL

INTERFACE OF G AND N SUBSYSTEMS

STATUS OF INERTIAL SUBSYSTEM

ALIGNMENT AND CONTROL COMMANDS

INERTIAL SUBSYSTEM

CHANGES IN VELOC ITY

ATTITUDE

I

.. ' ... ...

...

.....

... _ ...

..

IM- •••

STEERING ERROR

COMPUTER SUBSYSTEM

t

• • • • • • • •

__:_

ASTRONAUT

-

THRUST COMMAND TO STABILIZATION

I---'c.::.:.:::..::..:....::..:::==---_ .... AND CONTROL

STATUS OF OPTICS SYSTEM

OPTICAL ANGLES AND MARK CQ\\MANDS

AITITUDE CQ\1MAND

OPTICAL SUBSYSTEM

TO STABILIZATION AND CONTROL SYSTEM

G&N HARDWARE

/ .....

GN-9088A c(~)

G & N SYSTEM

__ Q_N-~0(j)

-----

NVB

_"'.".

GN-190 CJ)

IMU

r'.

GN-189 t~)

OPTICS-INERTIAL ASSEMBLY

------_ ~~-~-------

PSA

~""c.~

r - \

GN-195 t.±!i

~.,._.

GN-192 (~)

BLOCK I COMPUTER

100 SERIES

(LOGIC) - TRAY A

(MEMORY)

TEST CONNECTOR

OUTS I DE WORLD CONNECTOR

.I"'~"

GN-229A {(~))

CDU

G&N SYSTEM EQUIPMENT LOCATION

NAVIGATION BASE

LOWER DISPLAY AND CONTROL PANEL

MAIN DISPLAY AND CONTROL PANEL

G&N CONTROL & DISPLAYS

.-- ....

GN-224 {(~)

MAIN DISPLAY CONSOLE LOCATOR

FAM-6005

FAM-6018

r ....... ~

GN-207A (~~)

G & N COMPUTER CONTROL

®

PROGRAM

( I 3 ) @ [(21[rg]

@) [+2~rY52]

REGISTER :2

[-IDOlS] [ fYYSS9Dl

UP TEL BRIGHTNESS

r:l L:J

BBBB DODD DDCJD DOCJD

o

o

o

o

o

o

CDU FAIL IMU FAIL IMU TEMP CAUT/WARN
FAIL
G&N ACCEL G&N ERROR GMBI. LOCK AGAP TEMP
FAIL
CIM Res CIM Res AGC PWR CO2 PP HI
A B FAIL
SIM ReS S/M Res -S/M RCS SIM RCS
A B C 0
AA&C A B&D A PITCH A YAW
ROLL CHAN ROlL CHAN CHAN CHAN
B A&C B B&D B PITCH B YAW
ROLL CHAN ROLL CHAN CHAN OIAN o

,....----FUElCtUI---~

~--FUnClU3-------,

~~:: ~~~,: C~T PVIIGE

CIIIW ~~

CII&SD ~

[O]~[t] .~o~~ii]~.j] iii]

000

o

000

o

000

o

~. --CIYOSn'AN~''''NMlI~--'~ ,--1NVtt!9Ccwr.')t_--, ..-cc SNSf;StO .... ~-.,,-_ ~-~,-_

I 2 J ~ • K ~ • K

00000000000

~MA!lTUlNlNf~~<;ONf----,

"'AWl _lOGIC •

.... 11. .... r •.... fA IA'.

0000000000

o

0000000000

,r'"

FAM-6210 {~}

FLIGHT DIRECTOR ATTITUDE INDICATOR

NAV-BASE I

ATTITUDE MARKER

BODY AXIS INDEX

PITCH ANGULAR VELOCITY

PITCH ATTITUDE ERROR

YAW ANGULAR VELOCITY

YAW ATTITUDE ERROR

NOTES:

1. ATTITUDE ERROR· ATTITUDE DESIRED - I\CTUAL ATTITUDE.

2. THE BALL IS·OF THE INSIDE-OUT CONVENTION.

3. EULER ANGLE CONVENTION IS PITCH, YAW, ROLL

4. THE BALL ATTITUDE SHOWN IS PITCH 345", YAW 335', AND ROLL 300", WITH RESPECT TO THE NAVIGATION BASE INDEX.

SCS-IOOB ('i)

SCS CONTROL PANEL

,...---RATE GYRO~---..,

OFF OFF OFF

'--------- SCS CHANNEL

~8~;~;[~'

B&D ROLL PITCH YAW

~~~ ~~~ ~~~

DIRECT LIMIT AfT

MODE CYCLE DEADBAND

OFF

~ SCS-l068 {~

LOWER EQUIPMENT BAY

PERSPECTIVE

z <, C)

...-.

(f!

""

;:

..

z

e

o 0

000

G&N OPTICS CONTROL PANEL

100 SERIES

~ "R-,z

~ _SHAFT

,z ""

j

o

lRAC~ER

~:

i

i i i

+

J .•

VEHICLE i

DYNAMICSi REACTION JET

i

*

MAl N PROPULS ION ENGINE

... _ ...

PRIMARY POWER

ELECTRICAL POWER SYSTEM

CAli UP COO[ NUMIlERS

o

CHECK

CD

STABILIZATION & CONTROL SYSTEM

ATTITUDE CONTROL SIGNAL

THRUST CONTROL SIGNAL

SPACECRAFT CONTROL LOOP

REACTION CONTROL SYSTEM

SERVICE PROPULSION SYSTEM

"1:' .... ) GN-500A{~

o

o

o

, I I

@: 0

I I

'if')

GN-lllIA-l(~

OPTICS SUBSYSTEM

__. "v-,

GN-220C+l)

OPTICAL SUBSYSTEM AND NAV. BASE

IMU MOUNTI NG PADS (41

NAV. BASE

NAV. BASE ISOLATION MOUNTS (3)

SEXTANT PANEL

.. ",U"'_,.

GN-9120A ( .. '1

OPTICAL SCHEMATIC

SEXTANT

I .,-

LINE OF SIGHT 1 LINE OF SIGHT 2

TRUNNION DRIV~_I-.x""/

C;/ : ~J.

~ f=

i --~-_ l

(dJj

I ---1L-- I

l--j6--j

'---LII

FIELD 1. 8- EACH

MAGNIFICATION 28X

IX GN-I76A{~)

OPTICAL SYSTEM AXES

SHAFT AXES AND TRUNN I ON AXES COINCIDENT WITH NAV. BASE AXES

TRUNNION AXI S ROTATION -~LLOS

r".

GN-9175A ( .. )

---------------------------------------

SCANNING TELESCOPE CUTAWAY

1. WINDOW
2. ELECTRICAL CONNECTOR
3. RELAY LENS ASSEMBLY
6 4. OPTICAL BASE
5. PECHAN PRISM
6. BALL MOUNT
7. TRUNNION DR IVE WORMSHAFT
5 8. PRISM & MOUNT ASSEMBLY
9. CAM
10. SPR I NG & CAMFOLLOWER (ANTI BACKLASH)
4 11. OBJECTIVE LENS ASSEMBLY
12. RETICLE
3 13. RETI CLE I LLUM I NATION
14. STUD HOLES FOR BELLOWS COVER
2 15. SHAFT DRIVE GEAR BOX
16. HEAT EXCHANGER CHANNELS
17. COUNTER (SHAFT AXIS)
18. EYEPIECE ASSEMBLY

16 ~Toc::.,.

{(~\ GN-9121A l.~j

------------------------- ~ ---

SCANNING TELESCOPE OPTICAL SCHEMATIC

/~ DOUBLE-DOVE PRISM o OBJECTIVE LENS ASSY

___ ~ RETICLE

W,.,- , :.' FOCAL PLANE

. PECHAN PRISM

.. : 1 RELAY LENS ASSY

~

!' :

EYEPIECE PRISM ASSY

EYEPIECE . }

---- ---- - IX EYEPIECE LENS ASSY

FOCAL PLANE

"

EYEPIECE WINDOW

SEXTANT CUTAWAY

2

21

1. OPTICAL BASE

2. COOLANT CONNECTIONS

3. BALL MOUNT

4. STUD HOLES FOR MOUNTING BELLOWS

COVER

5. FIXED RIGHT-ANGLE MIRRORS

6. TRUNNION AXIS RESOLVER (64X)

7. COVER-FASTENING ROD

8. INDEXING MIRROR

9. BEAM SPLITTER

10. TRUNNION DRIVE GEAR BOX

11. OBJECTIVE LENS ASSEMBLY

12. INTERMEDIATE LENS ASSEMBLY

13. SHAFT AXIS DRIVE MOTOR

14. RETICLE

15. LI GHT-TRANSM I IT! NG ROD

16. RETICLE LAMP

17. SHAFT-AXIS RESOLVER !l6X)

18. SHAFT DRIVE GEAR BOX

19. EYEPIECE SOCKET & SEAL

20. EYEP I ECE OBJECTIVE LENS

21. EYEPIECE MIRRORS

22. EYEPIECE OCULAR

GN-9124 A i~i)

SEXTANT TRUNNION AXIS ASSEMBLY

FIXED TRUNNION MIRRORS (2) --":::::::--_.J?/

lX RESOLVER STATOR

lX RESOLVER ROTOR

.~./'<'

TRUNNION DRIVE MOTOR ~

MIRROR

MIRROR MOUNT

.. r: .

GN-9125A ( )

SEXTANT OPTICAL SCHEMATIC

A B

'Z@ INDEXING MIRROR

I .

/,

, ~ BEAM-SPLITIER

REFLECTING MIRRORS ./",~,

$ }OBJECTIVE LENS ASSEMBLY

','

$ } INTERMEDIATE LENSES

----¢..----RETICLE FOCAL PLANE ~ EYEPIECE WINDOW

I, ,

a }EYEPIECE OBJECTIVE MIRROR ~ :,:

'\~. ~IECE OCULAR

MIRROR \~ ~ ~ .0"''''0.,

~ ._~ .~-~.

GN-9126A (~~)

- ------ -------

COUPLING DISPLAY UNIT

114 SPEED RESOLVER

16 SPEED RESOLVER

DIGITAL PICKOFF HEAD

DIGITAL PICKOFF GEAR (64 TEETH)

DISPlAY DIALS THUMB WHEEl ADJUSTMENT

,P.,.. • .., -,

GN-9073A ( .. )

130

RESOLVER RECEIVER

TRUNNION

MANUAL DRIVE

CDU BLOCK DIAGRAM

GN-9130

OPTICS MECHANIZATION
BLOCK I 100SERIES
A8T
TRUNNION TO
AGe POS I TI ON LOOP CDU AGC

SXT TRUNNION
INTEG RA TI NG
LOOP
INTEGRATING
STAR LOOP
STAR TRKR & PRESENCE} SCT TRUNNION
OPTICS TO REPEATER
HORIZON SENSOR AGC
& OPTICS AUTO
MARK
SXT SHAFT
INTEG RA TI NG
LOOP
POSITION LOOP

AGC TO
AGe GN-Z3l (ij)

OPTICAL MEASUREMENT

~{ ~ IMU

I //

: /

1/

OPTICAL CONTROL LOOP

OPTICAL INTEG RA TI NG AND .__-----1 RESOLUTION CIRCUIT t---___,

r .....

GN-9146A f+:))

-------------------------- --------

LAND MARKS

f ---- -- ---

T

----_

r'·,.

GN-198 ~I~)

IMU ALIGNMENT MEASUREMENT

Xsm

STABLE MEMBER COORDINATES

SEXTANT FIELD OF VIEW

r~·.

GN-9100A ( ... )

ORBITAL NAVIGATION MEASUREMENT

EARTH ORBIT NAVIGATION

LOCAL VERTI CAL

EARTH ORBIT GEOMETRY FIGURE I

y

VIEW ON SURFACE FIGURE 3

LANDMARK RECOGNITION LIMIT

COVERAGE ON SURFACE FIGURE 2

J'!"

GN-llBA {~)

MIDCOURSE POSITION DETERMINATION ~~ STAR

t

PREVIOUS ESTIMATED POSITION

~I\

(--{

I I l __ -,

I \

l__l

IMPROVED ESTIMATE OF POSITION

• -MEASURED ANGLE

GN-9IDIA (:f:)

MIDCOURSE NAVIGATIONAL MEASUREMENT

SEXTANT FIELD OF VIEW

TELESCOPE FIELD OF VIEW

,. ....

GN-9103A f +,)

lRACKER & HORIZON SENSOR LOCATION

INDEXING MI

TRACKER LINE OF SIGHT

TRUNNION AXIS

1

PHOTO TUBE

T

OBJECTIVE FOCAL COLLECTOR

LENS PLANE LENS

F. L O. S.

HORIZON SENSOR

OBJECTIVE FOCAL COLLECTOR

LENS PLANE LENS

1

T

PHOTO TUBE

GN-214 (~)

TRACKER OPTICAL SYSTEM

STAR TRACKER MIRROR

SEXTANT HEAD INDEX MIRROR (SIDE TAB)

..,.. ....

GN-230 «(if))

TRACKER SCANN,ING MECHANISM

FORK A DRIVE COIL

---------- ---7---::::o<'liV

APERTURE SLOT, FORK B

Ult-----TI NE OF

TUNING FORK B

STAR SIGNAL WAVEFORMS iimiii~ii

FORK DRIVE SIGNAL (MOTION) LIGHT TO PH OTOTU BE SIGNAL

CONTENT

(f 9ft 180" 2700

~ m rmlEEiilfim ~ ml

_.... -....
.......... _"
r--

",. ~
,.."", - FUND TIME

AM ENTAL

SECOND HARMONIC

_.-.-.

GN-217 {+)j

STAR TRACKER

TUNING FORKS & APERTURE

I I

I I I I I

L~~N~~Y _

SXT HEAD

TRKR

X OUTPUT

TRKR

y

OUTPUT

.r; ... }

GN-210A {I~

STAR TRACKER MECHANIZATION

\k

\ \ ,1

\ 1/1 \11/

X-AXIS V-AXIS

STAR TRKR ELECTRON ICS

STAR TRKR OPTICS ASSY

STAR PRESENCE

CDU ELECTRONICS

PSA AMPLIFIERS

£~ -,

GN-208 (~)

AGC

HORIZON SENSOR

OBJECTIVE COLLECTOR

LEN\

SO~(l)

PHOTOMULTIPLIER

TUNING FOR & APERTURE

~"~ TUBE
:[
Vi~-.... NARRO~p H PEAK r;tCOMPARATOR
PREAMP 1-+ BAND AM
...., .... 550 CPS DETECTOR
/r
FIXED HIGH HORIZON
VOLTAGE POWER GATE
SUPPLY

FORK DRIVE
AMP AGC

550 CPS GN-209A (I))

HORIZON SENSOR WAVEFORMS

HORIZON t SIGNAL

- 1/2 PEAK VALUE

L..----_----~I -~--- HORIZON SIGNAL ALTITUDE

+ VOLTS

I 1/2 RECTI FI ED SIGNAL

.,;,-----=-------i-I - (PEAK VALUE IS STORED) I

I

O~----~----~----~Ir---

~NEGATIVE RECTIFIED SIGNAL

- VOLTS

RECTI F I ED DETECTOR OUTPUTS

+ VOLTS O~----~--~~----~---

- VOLTS

SUM OF DETECTOR OUTPUTS

"...~~

GN-218 r,~.\

I, """.; i

INERTIAL SUBSYSTEM

--~---------------

r".

GN-221('+))

APOLLO STABLE MEMBER CONFIGURATION

6" CUBE BERYLLIUM

IRIG

PIP

ADA

IGA

G N- 9007 A (fj)

IMU GIMBAL ASSEMBLY

OUTER GIMBAL AXIS (OGAI

SUPPORT GIMBAL (CASEI ~f""oo.L

STABLE MEMBER (INNER GIMBAU

MIDDLE GIMBAL AXIS (MGAI

LIMIT SWITCH ±6rf

MIDDLE GIMBAL

''& INNER GIMBAL AXIS (lGAI

J"" ....

GN-9155A ( .. )

INTERGIMBAL ASSEMBLY

IP RING ASSEMBLY

SE RESOLVER

TORQUE MOTOR

r···,

GN-9038A {(,+))

ZERO AXIS ALIGNMENT

~HALF CONE \ I ANGLE = 330

{

Xnb

STABLE MEMBER

INERTIAL MEASUREMENT UNIT

r'"

GN-9064A (~)

G&N FUNCTIONAL SCHEMATIC

XSC (ROLl)

YSC (PITCH)

OGA

JI!!' ....

GN-l96A (~)

25 IRIG, SIMPLIFIED CUTAWAY VIEW

CAS

OUTPUT AXIS

SIGNAL GENERATOR DUCOSYN

INPUT AXIS

t

BEARING I

<,

.......

SPIN~' ......

AXIS .....

SPIN

GYRO WHEEL REFERENCE

ASS~BLY AXIS

GN-240 {~}

DUCOSYN SIGNAL GENERATOR OPERATION

3

7

ROTOR AT NULL

3

7 COUNTER-CLOCKWISE ROTATION

GN-239 (i)

DUCOSYN TORQUE GENERATOR OPERATION

TG + 0+-+----1

TG- o-I--4-~

TG(COMM) o*-~V¥-':::::~~I-

ROTOR AT HUll

TG-o+-~~

TG (CO'AM) ~___:~~--==~ft.--/..

POSITIVE TORQUING SIGNALS APPLIED

.1'1' •••••

GN-238 (~)

MAGNETIC SUSPENSION

Cl

Rl

Mi\GNETlC C2

SUSPENSION EXCITATION

CYLI NOR ICAl ROTOR

STATOR

/.....,.~

GN-237 {, +»)

ANGULAR DIFFERENTIATING ACCELEROMETER

CASE

INPUT AXIS

t

COil

PERMANENT MAGNET

~, • .,.,<:,.

GN-9048A r~)

--_

STABILIZATION LOOP

IMU

/ PSA

I

I I I

I

\

\ \ \

\

I

I INNER GIMBAL AXIS

I

I MIDDLE GIMBAL AXIS

OUTER GIMBAL AXIS

\ ,

\

FLOATED PENDULUM UNIT

MAGNETIC SUSPENSI

SIGNAL GENERATOR

PENDULOUS MASS ARM

~~g,Tii1t---MAGNETIC SUSPENSION

TORQUE GENERATnR-......._

CENTER OF MASS OF FLOAT LOCATED AT POINT OF EQUIVALENT PENDULOUS MASS

PRA PENDULOS ITY

PAA REFERENCE AXIS

PENDULOUS

ARM AXIS

GN-179 {(i)

ACCELEROMETER LOOP

SWITCHING PULSE

}

UTER

POWER FROM APOlLO
IMU SERVO INTERROGATOR PULSE GUIDANCE COMP
ASSEMBLY ~
<, , DATA PULSE
-
PRE> AC> +T SET BINARY
AMP DIFF INTERROGATOR CURRENT
~ AMP -T SET SWITCH
/' V -
+ TORQUE I

L - -l +TORQUE , • - TORQUE
NEGATIVE
'-- ~ I CALIBRATION
SG 16 PIP TG VELOC lTV PULSE
..____ I -TORQUE MODULE
I POS ITIVE

I + iVELOCITY PUL
I DC AMP AND +dV } TO
FORWARD
I PRECISION I-- BACKWARD GUI
I VOLTAGE COUNTER -tN C
REFERENCE
I SE

APOLLC DANCE OMPUTER

GN-9039A <i);

FORCED CONVECTION IN IMU

OUTER GIMBAL

COOLANT CONNECTOR (4)

//

"/ "

~/r- - - -\ MI DOLE '\

( ~ GIMBAL

: L ~

I STABLE I

: MEMBER I

WATER-Gl VCOl COOLANT PASSAGE

AXIAL BLOWER

GN-9033

IMU TEMPERATURE CONTROL

TEMP INDICATOR

TEMP ALARM & BACKUP AMP

BACKUP

--- ------ - - -- - ------ --- - -- - - ---

TEMP CONTROL SENSORS

TEMP CONTROL AMP

NO "L.(" AUTO LAR~OVERRIDE

HEATER CURRENT AMP

CONTROL HEATERS

PROPORTI ONAl 1------1

NORMAL

----------------------------

REGULATED FIXED
+28 VDC r- ACCEl
PO'JIIER SUPPLY HEATERS EMERGENCY

~ EMERGENCY H ALARM

EMERG HEATER CONTROL

EMERG HEATERS

~ .....

GN-219 {(I))

COARSE ALIGN

COARSE ALIGN lOOP

COARSE ALIGN AMPLIFIER

STABILIZATION LOOP ELECTRONICS

FINE ALIGN

FINE ALIGNMENT TORQUI NG ELECTRONICS

AGC

LOWER D I SPLAY AND CONTROL PANEL

CDU AND ELECTRONICS

GN-9104

ATTITUDE ERROR TRANSFORMATION

ERROR SIGNAL TRANSFORMATION AXES

IX

INNER CDU ·C

IX

EXsc

'--.:.:...+---c ........ BODY

ROll'

SPACECRAFT

,......::::::....-----+1- 0- ENTRY

YAW 411 __ "-_ .... O----BODY

ISOlATION TRANSFORMER

EXNB

....... -~-_I-_ ........ -- - ENTRY

/.~.~

GN-9144A { ... }

RELATIONSHIP OF BALL INDICATOR AND IMU

BALL ATTITUDE INDICATOR

SPACECRAFT ROLL AXIS

--P

SC

~ G a N INERTIAL MEASUREMENT UNIT

~

GN-I84 {~}

---

FLIGHT DIRECTOR ATTITUDE INDICATOR

NAV-BASE I

BODY AXIS INDEX

YAW ANGULAR VELOCITY

NOTES:

I. ATTITUDE ERROR· ATTITUDE DESIRED - ACTUAL ATTITUDE.

2. THE BALL IS·Of THE I NS I DE-OUT CONVENTI ON.

3. EULER ANGLE CONVENTION IS PITCH, YAW, ROLL

4. THE BALL ATTITUDE SHOWN IS PITCH 345'. YAW 335'. AND ROLL 300". WITH RESPECT TO THE NAVIGATION BASE INDEX.

~ .. ,

SCS·lOOB (~t))

SPACECRAFT ATTITUDE CONTROL

STABILIZATION LOOP ELECTRONICS

---------~------------,

MAIN DISPLAY AND STABILIZATION AN

CONTROL PANEL CONTROl SYSTEM

JY __ -!_~_.fr __ t+MANUAL CDU

--4" 0- MODE

o---t+ FINE ALIGN

KI MODE

G AND N SYNC SWITCH

1: ....

GN-9150A M~)

SPACECRAFT THRUST VECTOR CONTROL

STABILIZATION LOOP ELECTRON I CS

----------~---------

RESOLVER NElWORK

ENGINE ON AND OFF DISCRETE

LOWER DISPLAY AND II 1---------1~ CONTROL PANEL L=:::::J

~' ..

GN-9149A (C~)

PSA FAMILY TREE

POWER
SERVO
ASSEMBLY


TRAY I TRAY 2 TRAY J TRAY 4 TRAY 5 TRAY 6 TRAY 8 TRAY 9 TRAY 10
GIMBAL POWER GYRO GYRO CDU & GYRO CDU & P(NIER TRAY 7 OPTICAL OPTICAL P(NI 01 &
SERVO SUPPLY ACCEL ACCEl ACCEl SUPPLY MISC ELECTRONICS [I£CTRONICS SIG COND
ELECTRONICS ELECTRON I CS ELECTRON I CS ELECTRONICS ELECTR ON I C S ELECTRONICS ELECTRON I CS
I I I I I I I I I I
PULSE FORWARD MOTOR
GIMBAL TORQUING AC DIFF AC Dlff BACKWARD DRIVE AMPL TEMPERATURE MOTOR MOTOR SIGNAL
SERVO AMPL P(NIER AMPL AMPL COUNTER & SELECTOR CONTROUER DRIVE AMPL DRIVE AMPL CONDITIONER
SUPPLY
GIMBAL 1% POWER INTERRO- INTERRO- PUL TORQUE CDU ZEROING ENCOOER 2-SPEED 2-SPEED BLOCK
COARSE AMPL GATOR SUP BACK UP XfMR & OPTIC SWITCH SWITCH DIODES
ALIGN AMPl !IXM8V GATOR MODE RELAYS
5% POWER BINARY 5% POWER PULSE
-2iVDC BINARY D-A TORQUING COSECANT ISOLATION
POWER AMPL CURRENT CURRENT CONVERTER AMPl POWER GENERATOR XfMR
SUPPLY BJX)o.18V SWITCH SWITCH 800,,28V SUPPLY
I~ PClNER AAC 1% POWER CDU FIX MOTOR DRIVE MmOR DRIVE JUNCTION
DC DlfF DC Dlff ENCODER AMPl PREAMPL PREAMPL BOX f-
AMPll.2KC 1JOOo,18V RESTRANS &
MICR & SUSP AMPL & PVR AMPL & PVR 8O()1,28V ENTRY MODE INTEGRATOR SERVO ASSEMBLY
AUTO AMPl 25.6KC IMU TEMP IND
l2KC MICR CDU ZEROING AAe ALARM &
& SUSP ENCODER PIPA CALIB PI PA CALIB & LOCK 8OOl.1BV BACK UP RELAYS RELAYS
EXCITATION EXCITATION RELAYS CONTROL
TEMP CONT LOAD PULSE PULSE CDU BUffER
POWER BUFfER
COMPENSA- TORQUE TORQUE LAMPS RESOLVER CIRCUIT
SUPPLY TION IMU GYRO CAL GYRO CAL LOADS CIRCUIT
J2OO>2OV

FAilURE TERNARY 1 1
CURRENT DA RESOLVER XFMR
INDICATOR SWITCH CONVERTER DRIVE AMPL ZERO OPTICS
.J"J""
! PSA TRAY

ENCAPSULATED MODULES

CONNECTING HARNESSES COVERED WITH POTTING

MOUNTI NG "T"

.........

GN-9003A { ... )

COMPUTER SUBSYSTEM

.P""~"

GN-222 i ..

.. -/ I

COMPUTER SUBSYSTEM, GENERAL INTERFACE

SPACE- ENGINE CONTROL CRAFT

I I

I

APOLLO GUIDANCE COMPUTER

I TIMING SIGNALS

GYRO TORQU I NG COMMANDS

ALARMS

RADAR TIMING, CONTROL, AND STATUS SIGNALS INOT USED)

!

DOWNLINK WORD

TIMING SIGNALS

I

MODE INDICATIONS

VELOC I TY INC REMENTS

CDU POS IT! ON

DOWNLI NK SYNC SIGNALS

UPLINK WORD

J

SCANNING TELESCOPE AND SEXTANT SHAFT ANGLES

MODE INDICATIONS

L ~ __ J

SCANNING TELESCOPE AND SEXTANT DRIVE SIGNALS

'------t_j OPTICAL SUBSYSTEM I

AGe WORD FORMAT

INSTRUCTION WORD ADORES S -------,,, r=t--<~

, ,

'"

,

,

, , , ,

,

,

,

,

'"

,

15 14 13 12 11 10 9 8 7 6 5 4 3 2

I I

~~------~r-------J

OPERATION DATA WORD

CODE ADDRESS

PARITY BIT INSTRUCTION WORD

SIGN

DATA WORD ADDRESS

INERTIAL SUBSYSTEM

GN-215 (<<~)

.......

....

...

....

.....

.............

LSD <,

.....................

6 5

DATA

DATA WORD

NOTE:

EACH INSTRUCTION AND DATA WORD HAS ITS OWN ADDRESS WHICH DEFINES WHERE IT IS LOCA TED I N THE M8'AORY.

r+ "CciMpUTffi -.,

I SUBSYSTEM I

DISPLAY DATA TO TELEMETRY DISPLAY AND

BLOCK UPLINK I KEYBOARDS ~ MODE SWITCHING

I (DSKY'S) I

... A~LA_R_M_S ~I DISPLAY MANUAL It-A_L_AR_M_S ~

I DATA AND INPUTS I

I ALARMS I

• CDU DRIVE SIGNALS

PARITY BIT

y~·'''''·.

GN-9086A { .. }

FIXED MEMORY ORGANIZATION

r-------~~~~------~

I 8 I

: { STRANDS

I 16 8 ~--._--._~~~~

I STRANDS STRANDS r--~--'T'--_"--"

I ~~~~~~~~

"S"

ROPE

r:;.l ~

112 I ROPE I

I I I

1/2 ROPE

TOTAL WORDS - 24,576 TOTAL CORES - 3,072

1 ROPE - 8, 192 WORDS - 8 BANKS

- 128 SENSE II NES

- 16 STRANDS

1 BANK - 128 CORES -1024 WORDS

1 CORE - 8 WORDS

~-----------------~

WORD SELECTION

L SELECT 1 OF 3 ROPES (8,192 WDS OF 24,576 WDS)

2. SELECT 2 OF 8 BANKS (2,048 WDS OF 8,192 WDSI

3. SELECT 2 OF 256 CORES (16 WDS OF 2,048 WDS)

4. SELECT 1 OF 16 STRANDS (1 WD OF 16 WDS)

GN-9021B {Ii}

ADDRESSING, READING, AND WRITING INTO CORE ARRAY

X TOP SELECTION SWITCHES c(S5.4)

9 10 II 12

16 SENSE AMPLIFIERS

16

z ORIVERS

I 20
I 19
Y TOP CORE ARRAY I 18 Y BOTTOM
SELECTION '" +32 X32X 16/ 17 SELECTION
SWITCHES z / 16 SWITCHES
~
c(SIQ.9) 15 C(S8. 7. 6)
:n 14
:l!; 13 x BOTTOM SELECTION SW ITCHES C(S3. 2. II

r: •.••.

GN-902OA ( +')

AGe GENERAL BLOCK DIAGRAM

TIMER

INPUT

INTERFACE COUNTER

INCREMENT

PROGRAM INTERRUPT

PRIORITY CIRCUIT

o ..,

ERASABLE MEMORY

FIXED MEMORY

CENTRAL PROCESSOR A

OUTPUT INTERFACE

INl

IN2

1N3 OUTO

oun

OUT2

OUT3

/:' .....

'0~" GN-9026A {~j

OUT4

~

I Z t!)

...

C) ~ III:

o

.... VI

C"oI
A
~
'"
.... o~ g
_A .... C
~c. .:.:
- ..
:;:;C"oI '"
z:
.: •. :z •• iii
A ... _-
A aE:-. =
c c ~i= ~ = AGe GENERAL BLOCK DIAGRAM

TIMER

INPUT

INTERFACE COUNTER

INCREMENT

PROGRAM INTERRUPT

PRIORITY CIRCUIT

o ..,

ERASABLE MEMORY

FIXED MEMORY

CENTRAL PROCESSOR A

OUTPUT INTERFACE

INl

IN2

1N3 OUTO

oun

OUT2

OUT3

/:' .....

'0~" GN-9026A {~j

OUT4

~

I Z t!)

...

C) ~ III:

o

.... VI

C"oI
A
~
'"
.... o~ g
_A .... C
~c. .:.:
- ..
:;:;C"oI '"
z:
.: •. :z •• iii
A ... _-
A aE:-. =
c c ~i= ~ = ...

C) c • o

0-

'"

'" '" ...

• Q

Q

ID C

N

z o 0: u

:;)

'"

Iii

~

0- X

...

Z

....
e=;- M
...
.::. z
.... _.
'" 0:2 ....
... 2 v
.:.: ....... •
; _v
~::::I
- L- .;.;
::::I =:i; ~
~ LiE ....
---- ----- c
~
«
0
al
>-
w
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>-
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.....
e, 83
r'
V)
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C
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e
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c.:

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:i-i i:-l r:-l r: : ~~ I : ~~ I : ~~ II I

L!:'. _ _j L __ J L __ J L __ .J

:--, ;--, r--, r--l 1 i I ~! : : !i : : ~~ :

L __ ..J L __ J L __ J L __ J

1--; f-~l r;:l r--l i ~~ i 1 ~~ I : !! :: :

L.... __ -' L __ .J L __ J L __ J

o

00000 "~ [DO~O GJ0DOD

CilOJDO[J

ACSP ADA AGC AGE AMR CDU C.G. CSS DNLK DSPY DSKY ECS ElM EOI EPS FDA I F/M

G.C.

IA IRIG IGA IMU ISS

IU GtN KYBD LNDMK LOI

COMPUTER SUBSYSTEM

{ 28 VDC (BUS AI DISPLAY DATA TO TElEMETRY }
FT 28 VDC (BUS BI :I POWER ->3 VDC AND TO ALL
FUNCTIONAL DISPLAY BLOCK UPLINK
+13 V DC
AREAS AND
r",'~m~ r--- KEYBOARDS
(DSKY'SI MODE SWITCHING AND ALARMS
RADAR SIGNALS MANUAL INPUTS ~
UPLINK WORD DISPLAY DATA -
TEST AND RESET ALARMS AND ALARMS RADAR
DOWNLINK SYNC SIGNALS
SIGNALS DOWNLINK SYNC SIGNALS ENGINE -
DOWNLI NK END PULSE AND RATE SIGNALS CONTROL
{ MODE INDICATIONS
MEMORY DOWNLINK
SCT AND SXT INPUT ADDRESSESj WORD ~
SHAFT ANGLES 1 COOMUNICATION
DATA INPUTS LINK
AGC
DATA AND OUTPUT POWER FAI]
CDU. PIPA. AND PROGRAM CENTRAL PARITY ALARM ALARM ~
IMU ALARMS INTERRUPTS PROCESSOR
MODE INDICATIONS. AND COUNTER__"'~ _ ORDER TIMING
INCREMENTS ADDRESSES lCODE SIGNALS

(INCLUDES MARKI PRIORITY l
VELOCITY INHIBIT CONTROL SEQUENCE CDU
INCREMENTS UPSYNC AND GENERATOR DRIVE
ClEAR INO SIGNALS
CDU POS ITION INTERRUPT
REQUEST AND ... CONTROL GYRO
TORQUING
I NSTRUCTI ON PULSES COOMANDS
.--- MAIN TIME COOMANDS +
PULSES ---- TO ALL FUNCTIONAL ....._,._ scr ANO~ S
AREAS EXCEPT SXT DRIVE
REAL (ACCUMULATEDI TIME WORD OSKY'S SIGNALS
TIMER TIMING PULSES TO ALL FUNCTIONAL AREAS
TO ALL FUNCTI ONAL AREAS
START SIGNAL EXCEPT INPUT AND DSKY'S
rT ...................... _ .. _. _ .. SPACECRA

SPACECRAFT

OPTICAL SUBSYSTEM

INERTIAL SUBSYSTEM

GUIDANCE 1 NAVIGATION ABBREVIATIONS

A.C. SPARK PLUG

ANGULAR DIFFERENTIATING ACCELEROMETER ApOLLO GUIDANCE COMPUTER

ApOLLO GUIDANCE EQUI~ENT

ATLANTIC MISSILE RANGE COUPLING DISPLAY UNIT CENTER OF GRAVITY

COMPUTER SUB SYSTEM DOWNLINK

DISPLAY

o I SPLAY .I; KEYBOARD ENVIRONMENT CONTROL SYSTEM ERASABLE MEMORY

EARTH ORBIT INJECTION ELECTRICAL POWER SYSTEM

FLIGHT DIRECTOR ATTITUOE INDICATOR FIXED MEMORY

GIMBAL CASE

INPUT AxiS

INERTIAL REFERENCE INTEGRATING GYRO INNER GIMBAL AxiS

INERTIAL MEASUREMENT UNIT

INERTIAL SUB SYSTEM

INSTRUMENT UNIT

GUIDANCE.I; NAVIGATION

KEYBOARD

LANDMARK

LUNAR ORBIT INJECTION

LOS LLOS LSB MGA MIT

MAG AMP MSB MlDV

NVB OR HB OGA

QA

OSS

PIP OR PIPA

PSA

PRA

RCS

RSVR

SA

SiC

SLOS

SCT

SCS

SDOF

SM

SRA

SPS

SXT

SPACECRAFT

SPACECRAFT AND I NERTI AL SUBSYSTEM

SPACECRAFT

SPACECRAFT AND INERTIAL SUBSYSTEM

NERTIAL SUBSYSTEM

OPTICAL UBSYSTEM

LINE OF SIGHT

LANDMARK LINE OF SIGHT LEAST SIGNIFICANT BIT MIDDLE GIMBAL AxiS

MASSACHUSETTS INSTITUTE OF TECHNOLOGY MAGNETIC AMPLIFIER

MoST SIGNIFICANT BIT

MAp 1 DATA VIEWER

NAVIGATION BASE

OUTER GIMBAL AxiS

OUTPUT AxiS

OPTICAL SUB SYSTEM

PULSED INTEGRATING PENDULOUS ACCELEROMETER

POWER SERVO ASSEMBLY PENDULOSITY REFERENCE AxiS

REACTION CONTROL SYSTEM

RESOLVER

SPIN AxiS

SPACECRAFT

STAR LINE OF SIGHT

SCANNING TELESCOPE STABILIZATION.I; CONTROL SYSTEM SINGLE DEGREE OF FREEDOM STABLE MEMBER

SPIN REFERENCE AxiS SERVICE PROPULSION SYSTEM SPACE SEXTANT

GN 244

TEl TACH TLI TRKR TVC TIM UPLK

V OR DELTA V

TRANS EARTH I NJECTI ON TACHOMETER

TRANS LUNAR INJECTION TRACKER

THRUST VECTOR CONTROL TELEMETRY

UPDATE LINK

CHANGE IN VELOCITY

lilt 24,

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