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Once you have gathered all the tools, locate all the circuit diagrams, such as the schematics, the parts layout diagram, the resistor and capacitor code charts, etc Place all the component parts, along with all your tools and diagrams, in front of you, warm up your solder iron and we will start building the SIDs receiver project First we will identify the resistors for the project Refer to the chart shown in Table 19-1, which will help you to identify the resistor color codes Resistors usually have three or four color bands on the body of the resistor which denotes the resistor value The color bands begin at one end of the resistor body close to the edge The first color band on resistor R1 is orange, this denotes the digit three (3) The second color band is also orange, which is the digit number three (3), and the third color band is the resistor s multiplier value which is red, and this suggests a multiplier value of 100 So the resistor value for R1 is (3) times (3) times (100) or 33k or 3300 ohms The tolerance value of a resistor is noted in the four color band A fourth color band which is silver is a 10% tolerance resistor, while a gold fourth band denotes a 5% tolerance value If there is no fourth color band then the resistor will have a 20% tolerance value Once you have identified resistor R1, you will note that resistors R1, R2, R3 and R4 all have the same color codes, therefore they all have the same value Check your parts layout diagram and the schematic to

Four appendices are included Appendix A is provided as a summary of notation used in the book Appendix B reviews various linear algebra concepts and includes a few more advanced topics It is intended to serve as a convenient point of reference to make the text more self-contained Appendix C presents the GPS ephemeris and ionospheric models The appendix includes an example set of calculations and equations for computing the velocity of the GPS satellites Appendix D discusses the important topic of quaternions The main body of the text discusses mainly the Euler angle and direction cosine attitude representations Even though quaternions are often the preferred attitude representation, since students often nd quaternions di cult and they are not essential for implementation, quaternions have been included as an appendix The intent is to allow the main body of the text to ow through the theory presented in Part I and the applications of Part II Once these concepts are familiar and at least one application is successfully functioning, the topic of numeric e ciency and singularity free representations is an extension that often will naturally occur

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Plug them in We can use any of the original equations or their revisions to solve for z Let s use the third original equation:

2

3x = 6y + 7z Plugging in the numbers for x and y, and proceeding step-by-step, we get 3 ( 209/223) = 6 ( 18/223) + 7z 627/223 = 108/223 + 7z 735/223 = 7z 7z = 735/223 z = 105/223

C7 Antenna R2 R5 +5 V L1 S1 H: C2 Low R1 5 V + C1 + 7 C3 U1 6 + 3 4 2 C4 C5 R3 +5 V 7 C6 2 U2 6 + 3 4 C8 + 5 V VR4 J1 C20 + C19 R15 Speaker + 14 +12 V 12 11 10 U4 1 2 3 4 5 7 + 8 6 VR6 C16 C14 C15 VR5 + R6 C9 VR2 +5 V C11 7 2 U3 + 3 5 V + + VR3 D1 R8 C13 C12 D2 + Spheric meter M1 VR1 C10

If the last step in the above calculation confuses you, note that 735/7 = 105 That s the numerator in the fraction I had a feeling that 735 would cleanly divide by 7, because I acted on my hunch that z would be a fraction with a denominator of 223 By now, you have probably noticed that in linear systems, fractional solutions have a way of coming out with identical denominators There s a good reason for that, but it would be a distraction to delve into the why of it right now The important thing is that we have all three solutions to our original three-by-three linear system, at least tentatively: x = 209/223 y = 18/223 z = 105/223

Navigation systems require the transformation of measured and computed quantities between various frames-of-reference The purpose of this chapter is to de ne the various frames and the methods for transforming the coordinates of points and representation of vectors between frames Before proceeding to the main body of the chapter, the next paragraph steps through the measurements and computations of a strapdown inertial navigation system (INS) The goals of this brief introduction are to de ne notation and to illustrate how the di erent frames-of-reference come into play in navigation applications

This is an open-book quiz You may (and should) refer to the text as you solve these problems Don t hurry! You ll find worked-out answers in App A The solutions in the appendix may not represent the only way a problem can be figured out If you think you can solve a particular problem in a quicker or better way than you see there, by all means try it!

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