f) (2%) In an inertial navigation system we could obtain the covariance matrix P, of the true attitude quaternion by the formula P,=GPGT where P is the covariance of the error angle, and GER1X3 is the Jacobian of the function g(80) =90 13:30 ] where q is the nominal quaternion. What can you then say about Pg? A) Its determinant is exactly 1. B) It is not symmetric. C) It has a large amount of sparsity. D) It is diagonal. E) It is not positive definite