Due: Wed 27 Jan, 2016
EE 495 Homework Assignment # 1
Your Name (Last, First): ____________________________________________________
Grading:
Problem (value)
Points Awarded
Problem 1 (10 points)
Problem 2 (10 points)
Problem 3 (15 points)
Problem 4 (15 points)
Problem 5 (20 points)
Problem 6 (30 points)
BONUS Problem 7 (10 points)
Total (110 points)
Comments:
Include any comments that you would to convey to the grader/instructor.
How to Submit Homework Assignments:



Written/printed portion of homework assignments are due at in class.
o Typically, you can type your answers into the Word file and print it (color?).
Any software submissions (e.g., MATLAB code, simulations, …) MUST be made via CANVAS (do
NOT email assignments)
o Typically, you will submit a *.m file
File Naming Convention: *.m file should be named "LastName_FirstName_ Hwk_?.m"
Always print this first page and attach (i.e., staple)
it to the front of your submission.
Spring 2016
EE 495 Modern Navigation Systems
Page 1 of 3
Due: Wed 27 Jan, 2016
1) Which of the following sensors may be used to directly measure speed (more than one answer is
correct)?
a. Magnetometer
b. Accelerometer
c. Radar
d. Odometer
e. Sonar
2) Which of the following signals are better suited to indoor positioning than outdoor positioning?
a. GNSS
b. Infrared
c. Mobile phone signals
d. RFID
e. Sonar
3) Consider the ECI, ECEF, navigation, and body coordinate frames. Which of these
a. Remain fixed with respect to the Earth?
b. Rotates with respect to the Earth due to user motion?
c. Rotates with respect to the Earth independently of user motion?
d. Share a common origin with each other?
e. Shares a common origin with the body frame?
4) Recalling material from slides 5 and 6, Wed, Jan 20, describe frame “1” in terms of frame “2” in
T
order to construct 𝐶12 , furthermore, show that C12  C21  .
5) Referring to the four major coordinate frames:
a. Compute a symbolic solution for C in terms of b and Lb .
e
n
? ? ? 
C  ? ? ?
? ? ?
e
n
? ? ? 


b. Evaluate this rotation matrix for b  248 , and Lb  34 (~Prescott, AZ). C  ? ? ?


? ? ?
e
n
Spring 2016
EE 495 Modern Navigation Systems
Page 2 of 3
Due: Wed 27 Jan, 2016
1
ZA
0.5
Z
6) Develop a MATLAB function plot_frame(C, ‘label’,
‘color’) to plot a 3D coordinate frame, where C is
a 3X3 numerical rotation matrix, label is a text
string used to label (i.e., subscript) the x, y, and z
axes, and color is the color of the axes and labels.
For example with C = the identity matrix,
plot_frame(C, ‘A’, ‘b’) should produce the plot
shown.
0
{A}
XA
-0.5
YA
-1
-1
-1
a. Use your function to plot (into Figure 1)
0
0
the both the ECEF frame (label ‘e’) and nav
1
1
X
frame (label ‘n’) together for the case of
Y
prob 5 part b. Note, ignore the translation
offset between the e-frame and n-frame and place their origins together, also use different
colors for each frame.
Figure 1 A plot the both the ECEF and nav frames
7) BONUS PROBLEM (+10%): Create an animation which shows the n-frame going from:
b  0  248 first and then Lb  0  34 on the surface of the earth (a transparent unit
sphere). Note that you now need to account for translation in addition to orientation.
Spring 2016
EE 495 Modern Navigation Systems
Page 3 of 3