16.322 Stochastic Estimation and Control, Fall 2004 Prof vander velde e,= position error at impact I'y e"projection matrix" V 1 altitude, H range, R rack, T (into pag e 3=[rle, COS R= R R=[11y L=unit vectors along the jth axis of the 2 frame expressed in the coordinates of the 3 frame e=re RER16.322 Stochastic Estimation and Control, Fall 2004 Prof. Vander Velde Page 3 of 8 3 2 2 2 position error at impact 1 1 1 "projection matrix" 1 T v n T v n T n v T v n e e e v v v I e v = = − ⎡ ⎤ = − ⎢ ⎥ ⎣ ⎦ [ ] 3 2 123 [ ] cos ... ... ... ... ... ... ... ... cos 111 ij ij ij e Re R R R θ θ ′ = ⎡ ⎤ ⎢ ⎥ = ⎢ ⎥ ⎢ ⎥ ⎣ ⎦ = = 1j = unit vectors along the jth axis of the 2 frame expressed in the coordinates of the 3 frame. 3 2 3 2 T e Re E RE R ′ = ′ =