Abstract
The direction cosines matrix is a transformation matrix used in inertial navigation systems, This contribution presents the on-line update of this matrix as a comprehensive case study for a control-oriented course in numerical methods. This real world problem is sufficiently simple to be easily understood by the student and illustrates relevant aspects of numerical methods in control: search for computational efficiency and code maintainability, error propagation analyses and algorithm choice. An outline of how to work the selected problem is given.
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