Explain the principle of operation of the position and velocity measurements using a GPS system.

Explain the principle of operation of the measurement equipment needed for testing a chosen vehicle subsystem.

Calculate the path curvature k in the rally stage data and plot k with distance travelled s. Explain your calculations and provide the Matlab code.

Assume that the GPS signal is lost between 35 and 45 sec in the rally stage. Calcualate the vehicle speed V, sideslip angle B and the vehicle path coordinates x and y using body acceleration and yaw rate signals for this interval. Explain your calculations and provide the MATLAB code. Plot the calculated X and Y coordinates in the same figure as the measured x and y data. Plot V and B calculated from accelerations/YAW rate in the same figure as the GPS data.Comment on the discrepancies between calculated and measured values.