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AVIONICS CASE STUDY –
IV&V OF ATTITUDE AND HEADING REFERENCE
SYSTEM (AHRS)
Oak Systems Pvt. Ltd.
Salient features of the System
v AHRS is a subsystem of Jaguar Darin-III upgrade with focus on
indegenisation with following features
– Provide Attitude (Roll, Pitch) and magnetic heading data to the ADIU.
– Provide body accelerations and body angular rates data to ADIU.
– Provide BIT health status data to the ADIU.
– Accept external magnetometer input data from ADIU as an input to
AHRS.
– Accept True air speed and pressure-altitude data from ADIU for aiding
of AHRS data.
– Use internal algorithm for estimation of output parameters.
– Perform Magnetometer Calibration
Copyright © 2020 Oak Systems Private Limited. All Rights Reserved
2
Architecture
Copyright © 2020 Oak Systems Private Limited. All Rights Reserved
3
Major System Functionalites
v Two major independent functional blocks
v Inertial computational Unit (IMU)
v Navigational Unit (NAV)
v Each having its own Built-in tests
Copyright © 2020 Oak Systems Private Limited. All Rights Reserved
4
About IMU
v IMU handles complex inertial data computations like
acceleration biases using Temperature coefficients,
calibration coefficients with data available from
accelerometers
v Built in tests for checking beyond range accelerometer
and gyro temperatures and also 70 others
Copyright © 2020 Oak Systems Private Limited. All Rights Reserved
5
About NAV
v NAV provides calibrated Pitch, roll, Yaw data and also
magnetic heading using complex calculations.
v Kalman filter algorithms are applied for all NAV parameters
v Has capability to switchover to internal magnetometers in
case of failure to detect external magnetometer
v About 60 built in tests to provide robustness to system
Copyright © 2020 Oak Systems Private Limited. All Rights Reserved
6
Trigger for IV&V
As per DO-178B guidelines Independent Verification &
Validation (IV&V) was mandated for DAL (Design
assurance level B with MC/DC)
Copyright © 2020 Oak Systems Private Limited. All Rights Reserved
7
Scope of Work
To Conduct IV&V as per RTCA - DO178B Level B compliance -
v Planning phase docs review e.g. PSAC, SVP, SDP, SCMP, SQAP, SRS, SDS, SCS
v High level Requirement Verification
v Low level Requirement (Design) Verification
v Code Evaluation (MISRA Standards)
v Requirement based test case preparation (High level and Low level Tests) for 100%
Requirement coverage
v Source Code Coverage (100% MC/DC, 100 % Statement, 100 % Decision)
v High Level and Low level Test Execution (using LDRA tool)
v Traceability analysis:
§ Requirements ó Design ó Code
§ Requirement ó High level Tests
§ Design ó Low level Tests
v Software Configuration Audit
Copyright © 2020 Oak Systems Private Limited. All Rights Reserved
8
In the Works
Copyright © 2020 Oak Systems Private Limited. All Rights Reserved
v 450 Functions with cyclomatic complexity ranging from 5 - 55
v Dual language software (C and C++)
v 11000 Executable lines of code
v Complex algorithms viz. Kalman filters, compass swing
v Tight Schedule due to onset of winter for trials
v Distributed Work environment across Multiple cities
v Usage of Multiple testing tools involved RTRT, LDRA to speed up work
v Team size ranging from 3 - 15
9
Software Size: 11 KLOC
Language: C, C++
Accomplishments
v Provided templates and checklists meeting DO178B guidelines
v Thorough plan document review with emphasis on safety measures needed as a suggestion
v Requirement and design review : Uncovered anomalies in the document in form of
traceability, completeness and correctness w.r.t to DO-178B standards
v Test case creation at both HSI and Unit level with emphasis on uncovering faults to make
system robust by adopting testing techniques like BVA, Equivalence partitioning, arithmetic
precision, fault recovery
v Exhaustive test to handle complex algorithms involved in the project
v Test case execution at both levels with emphasis on 100 percent requirement coverage, 100
percent MC/DC coverage, 100 percent decision coverage and 100 statement coverage
v Clearance from regulators in record time with almost zero turnaround time
v Uncovered 55 Critical and Major defects across HLR and LLR tests
Copyright © 2020 Oak Systems Private Limited. All Rights Reserved
10
Outcome
Activity/Task Status
Review report of Plan Docs:
PSAC, SDP, SCMP, SRS, SDS, SCS, SQAP, SVP
Delivered
SRD Review report
Delivered
HLR SVCP Preparation
Delivered
SDD Review report
Delivered
LLR SVCP Preparation
Delivered
Code Review report
Delivered
SDD-Code Traceability
Delivered
LLR Test Execution
Delivered
HLR Test Execution
Delivered
IVV Reports (SCI, SECI, SAS)
Delivered
Copyright © 2020 Oak Systems Private Limited. All Rights Reserved
11
Thank you!
Oak Systems Pvt. Ltd.
#27, NGEF Lane, Off 100 Feet Road,
Indira Nagar, Bengaluru – 560 038, INDIA
Tel : +91-80-4126 7681
Email: contact@oaksys.net
URL: www.oaksys.net
We add value through engagement

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Case Study on IV&V of Attitude and Heading Reference System

  • 1. AVIONICS CASE STUDY – IV&V OF ATTITUDE AND HEADING REFERENCE SYSTEM (AHRS) Oak Systems Pvt. Ltd.
  • 2. Salient features of the System v AHRS is a subsystem of Jaguar Darin-III upgrade with focus on indegenisation with following features – Provide Attitude (Roll, Pitch) and magnetic heading data to the ADIU. – Provide body accelerations and body angular rates data to ADIU. – Provide BIT health status data to the ADIU. – Accept external magnetometer input data from ADIU as an input to AHRS. – Accept True air speed and pressure-altitude data from ADIU for aiding of AHRS data. – Use internal algorithm for estimation of output parameters. – Perform Magnetometer Calibration Copyright © 2020 Oak Systems Private Limited. All Rights Reserved 2
  • 3. Architecture Copyright © 2020 Oak Systems Private Limited. All Rights Reserved 3
  • 4. Major System Functionalites v Two major independent functional blocks v Inertial computational Unit (IMU) v Navigational Unit (NAV) v Each having its own Built-in tests Copyright © 2020 Oak Systems Private Limited. All Rights Reserved 4
  • 5. About IMU v IMU handles complex inertial data computations like acceleration biases using Temperature coefficients, calibration coefficients with data available from accelerometers v Built in tests for checking beyond range accelerometer and gyro temperatures and also 70 others Copyright © 2020 Oak Systems Private Limited. All Rights Reserved 5
  • 6. About NAV v NAV provides calibrated Pitch, roll, Yaw data and also magnetic heading using complex calculations. v Kalman filter algorithms are applied for all NAV parameters v Has capability to switchover to internal magnetometers in case of failure to detect external magnetometer v About 60 built in tests to provide robustness to system Copyright © 2020 Oak Systems Private Limited. All Rights Reserved 6
  • 7. Trigger for IV&V As per DO-178B guidelines Independent Verification & Validation (IV&V) was mandated for DAL (Design assurance level B with MC/DC) Copyright © 2020 Oak Systems Private Limited. All Rights Reserved 7
  • 8. Scope of Work To Conduct IV&V as per RTCA - DO178B Level B compliance - v Planning phase docs review e.g. PSAC, SVP, SDP, SCMP, SQAP, SRS, SDS, SCS v High level Requirement Verification v Low level Requirement (Design) Verification v Code Evaluation (MISRA Standards) v Requirement based test case preparation (High level and Low level Tests) for 100% Requirement coverage v Source Code Coverage (100% MC/DC, 100 % Statement, 100 % Decision) v High Level and Low level Test Execution (using LDRA tool) v Traceability analysis: § Requirements ó Design ó Code § Requirement ó High level Tests § Design ó Low level Tests v Software Configuration Audit Copyright © 2020 Oak Systems Private Limited. All Rights Reserved 8
  • 9. In the Works Copyright © 2020 Oak Systems Private Limited. All Rights Reserved v 450 Functions with cyclomatic complexity ranging from 5 - 55 v Dual language software (C and C++) v 11000 Executable lines of code v Complex algorithms viz. Kalman filters, compass swing v Tight Schedule due to onset of winter for trials v Distributed Work environment across Multiple cities v Usage of Multiple testing tools involved RTRT, LDRA to speed up work v Team size ranging from 3 - 15 9 Software Size: 11 KLOC Language: C, C++
  • 10. Accomplishments v Provided templates and checklists meeting DO178B guidelines v Thorough plan document review with emphasis on safety measures needed as a suggestion v Requirement and design review : Uncovered anomalies in the document in form of traceability, completeness and correctness w.r.t to DO-178B standards v Test case creation at both HSI and Unit level with emphasis on uncovering faults to make system robust by adopting testing techniques like BVA, Equivalence partitioning, arithmetic precision, fault recovery v Exhaustive test to handle complex algorithms involved in the project v Test case execution at both levels with emphasis on 100 percent requirement coverage, 100 percent MC/DC coverage, 100 percent decision coverage and 100 statement coverage v Clearance from regulators in record time with almost zero turnaround time v Uncovered 55 Critical and Major defects across HLR and LLR tests Copyright © 2020 Oak Systems Private Limited. All Rights Reserved 10
  • 11. Outcome Activity/Task Status Review report of Plan Docs: PSAC, SDP, SCMP, SRS, SDS, SCS, SQAP, SVP Delivered SRD Review report Delivered HLR SVCP Preparation Delivered SDD Review report Delivered LLR SVCP Preparation Delivered Code Review report Delivered SDD-Code Traceability Delivered LLR Test Execution Delivered HLR Test Execution Delivered IVV Reports (SCI, SECI, SAS) Delivered Copyright © 2020 Oak Systems Private Limited. All Rights Reserved 11
  • 12. Thank you! Oak Systems Pvt. Ltd. #27, NGEF Lane, Off 100 Feet Road, Indira Nagar, Bengaluru – 560 038, INDIA Tel : +91-80-4126 7681 Email: contact@oaksys.net URL: www.oaksys.net We add value through engagement