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The power cable supplied with the kit has a female power plug on one end and stripped leads on the other Notice that the power cable has a black stripe, or tracer, along one of the wires This is the wire that is connected to the center conductor of the plug and must be connected to the (+) side of the power source The Radio Shack RS 23-007 (Eveready) 12 volt battery or equivalent is suitable Next, turn the Jupiter receiver s power switch to OFF Connect either headphones or an amplified speaker (Radio Shack 277-1008C or equivalent) to the receiver audio output (J3 or J4) These jacks accept 35 mm (1 8 ) monaural or stereo plugs If you are using a Radio Shack amplified speaker, turn it ON and adjust the volume control on the speaker up about 1 8 turn If you are using headphones, hold them several inches from your ear as there may be a loud whistle due to the internal test oscillator Turn the receiver ON The LED should light Set the volume control to the 12 o clock position Allow the receiver to warm-up for several minutes Set the TUNING control to the 10 o clock position Carefully adjust inductor L5 with the white tuning stick until a loud low frequency tone is heard in the speaker (set volume control as desired) Caution: Do not screw down the inductor slugs too far, as the ferrite material could crack By adjusting L5 to hear the tone, you are tuning the receiver to 2000 MHz The signal which you hear is generated in OSC1, a crystal controlled test oscillator built into the receiver Once L5 has been set, DO NOT readjust it during the remainder of the alignment procedure (When the receiver tunes 2000 MHz with the nob set to the 10 o clock position it will tune 201 MHz with the knob centered on the 12 o clock position) The following steps involve adjusting variable capacitors (C2 and C6) and a variable inductor (L4) to obtain the maximum signal strength (loudest tone) at the audio output For some, it is difficult to discern slight changes in the strength of an audio tone simply by ear For this reason three different methods are described, each using a form of test instrument In the event that no test equipment is available, then a fourth method simply relying on the ear is possible In all cases, adjust the receiver tuning knob so that the audio tone is in the range of about 500 to 2000 Hz Use procedure A as a method to use in.

Answer 9-3

To initiate the estimator design, we perform an analysis of eqns (715) and (717) to determine the conditions under which the error state is observable

1 unit Question 9-4

In this book, here s how we symbolize various sets of numbers The set of natural numbers is N The set of integers is Z The set of rational numbers is Q The set of irrational numbers is S The set of real numbers is R

72 METHODOLOGY: DETAILED EXAMPLE Using the results of Section 361, the observability matrix is 1 0 0 1 0 0 1 0 y 0 2 u O= 0 0 1 y 0 0 0 3 0 y 4 0 0 0 y 0

The receiver requires 12 volts DC (vdc) which may be obtained from a well regulated power supply or from a battery Current drain is approximately 60 milliamps (ma)

Answer 9-4

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The rst four states are observable because y > 0 The accelerometer scale factor error is only observable over time intervals during which u(t) = 0 Because the application is expected to satisfy this condition frequently, we expect to be able to estimate the error state vector The accuracy of the estimate cannot be assessed without further analysis Kalman lter design and subsequent performance analysis will require the discrete-time equivalent model Note that formally this is an analysis of the observability of the error state x, not the state x or the estimated state x In fact, x is computed by the navigation system and is known; however, the fact that x is known does not mean that it is an accurate representation of x Because x = x x, the observability of x implies that we can maintain the accuracy of x as we can estimate x and then correct x using the assignment x + x When x is not observable it is possible for the unobservable portion of x to become large, which implies that the corresponding unobservable portion of x is not accurate 7252 Computation of and Qd

Here s how the sets are related: N Z, N Q, and N R Z Q and Z R Q R S R N S = , Z S = , and Q S =

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