1. Calculate the theoretical body (i.e., aircraft) frame accelerometer measurements assuming an aircraft is stationary and at zero altitude but has a pitch angle of 15 degrees and a roll angle of 25 degrees. Express your results in meters-per-second-squared.

2. An aircraft is stationary, locally-level, is located at a latitude of 35 degrees North and has a heading of 30 degrees. Calculate the theoretical body-frame gyro measurements. Express your results both in radians/second and degrees/hour.

3. At some point in the middle of a flight, the INS has determined that the aircraft-to-platform transformation matrix is: [ 0.6941 0.6665 -0.2720; -0.6941 0.5195 -0.4983; -0.1908 0.5346 0.8233]

Use the theoretical expressions of the transformation matrix elements shown on the bottom of slide 35 in the screencast to calculate the yaw, pitch and roll of the aircraft. [Hint: which elements can be used in an ATAN or ATAN2 function to extract roll and yaw?] Express your results in degrees (round to the nearest whole degree).

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0 [4]x = 0 cosp 0 TPLA = Rotation Matrices 0 sin [0]y -sin cos] cos y cos sin y cos -sin 0 = 0 0 1 0 cos sin 0 TPA=T/P=[9][0] [w] =[o].[0],[-v]x y - sin 0 cose -sin y cos p+cos y sin sin cos y cos+sin y sin sin cos sin [P] = Cosy -siny 0 siny 07 cosy 0 0 1 siny sin + cos y sin cos -cos y sin + siny sin cos cos cos 0 [4]x = 0 cosp 0 TPLA = Rotation Matrices 0 sin [0]y -sin cos] cos y cos sin y cos -sin 0 = 0 0 1 0 cos sin 0 TPA=T/P=[9][0] [w] =[o].[0],[-v]x y - sin 0 cose -sin y cos p+cos y sin sin cos y cos+sin y sin sin cos sin [P] = Cosy -siny 0 siny 07 cosy 0 0 1 siny sin + cos y sin cos -cos y sin + siny sin cos cos cos