2. A star tracker is giving you the vectors in the body frame and the inertial frame at a given time. You can find the values given in the code-folder in the startracker_directions.mat. You may use MATLAB, but write out intermediate steps, comment on all your calculations. (a) Select three pairs of two directions and compute the DCM via the TRIAD method. Comment on your findings, explain your results. (b) Using all measurements use your favorite eigenvalue method and Davenport's q-method to determine the estimated quaternion and the DCM. Check your result explicitly using the relation from class. Comment on your findings. (c) Using all measurements use QUEST to find the estimated quaternion and the DCM using a Newton-Raphson iteration. Run 1 iteration and compare with running 3 or more iterations. Comment on your findings.