Please note that each part has a maximum of 4 pages long answer.

Q2 (INS) Question 2, Understanding of INS algorithm (30 marks] There are two sub-questions as follows: (a) Briefly describe the basic software architecture of a local NED navigation algorithm and explain functions of each component/module in this architecture. _{15 marks] (b) Draw the flow chart to describe how to use quaternion to update the attitude from the data obtained from IMU. [15 marks] Answer question 4 below