AE 4733 Homework Assignment # 1

Due date: Friday, 09-Sep-2016 at 11:00 AM.

Instructions: Refer to the syllabus for grading policies and other guidelines. Make one submission per pair via Canvas.

Reading assignment (0 points): Read through the lecture notes for Module 1, posted on Canvas.
Problem 1. (15 points)
With reference to Example 1.1 in the lecture notes:
(a) Find the time required to change the aircraft heading by 90 , i.e. the problem that Mr. Doe
solved.
(b) In his haste, Mr. Doe assumed g = 10 m/s2 . Also, the clock available to him displayed time in
1 s increments, as most wristwatches do. Therefore, Mr. Doe rounded off his result to the nearest whole second. At the instant of completion of the turn, using his approximate calculations
and rounded-off result, what was the difference between the aircrafts actual heading and position and the desired heading and position? Assume that Mr. Doe performed his calculations
instantaneously.
(c) Now assume that Mr. Doe took 5 s to perform his calculations before initiating the turn, and
repeat part (b).

Problem 2. (50 points)

Radio navigation involves the problem of receiver clock bias, i.e. the receivers clock does not keep
the same time as the radio source clocks. This clock bias (the difference between the receivers
clock and the satellites clock) leads to a range error, which is the product of the speed of light
with the clock bias. Therefore, the quantity actually measured by the receiver is a pseudorange %,
which is the sum of the actual distance to the radio source, and the range error C due to clock bias.
a. Write down the pseudoranging equations, i.e. equations similar to the ranging equations in
trilateration. Following a process similar to the discussion in Section 2.2 of the lecture notes,
develop an iterative numerical scheme to calculate the receivers position and clock bias.
b. Implement this numerical algorithm (i.e. Netwon-Raphson method) with the data in the table
below on source locations and pseudoranges:
Write down your final estimates of the receivers position and the receivers clock bias.
To implement this numerical algorithm, modify as appropriate the MATLAB code provided for
the trilateration problem.

Source locations, in km
p1
p2
p3
p4
p5
p6
p7

= (90, 70, 95)

= (90, 5, 60)
= (75, 20, 85)
= (60, 80, 70)
= (80, 90, 100)
= (35, 45, 55)
= (80, 65, 20)

Measurement (pseudorange), in km
%1
%2
%3
%4
%5
%6
%7

= 139.533
= 118.995
= 120.099
= 126.191
= 120.315
= 79.1232
= 110.215

Problem 3. (35 points)

Consider a point P above Earths surface. Find the relationships to transform CTRS coordinates to
geodetic coordinates and vice versa. In other words, let (x, y, z) and (lat , long , h) be, respectively,
the coordinates of point P in the CTRS and geodetic frames. First express (x, y, z) in terms
of (lat , long , h). Next, express (lat , long , h) in terms of (x, y, z).
Use the solution to find approximate CTRS coordinates of any point in the parking lot of The
Sole Proprietor restaurant (Highland St at West St), assuming zero geodetic height. The latitude
and longitude of any location may be found from this website:
http://mynasadata.larc.nasa.gov/latitudelongitude-finder/.