A point mass moves in the gravity field of the earth under the following simplified conditions:

The effect of the rotation of the earth can be neglected

The effect of the atmosphere can be neglected
Gravity has a constant value 9.81 m/s2 and point towards the negative z-direction

The trajectory of the point mass is described in a two dimensional coordinate system (x,z). At the initial
epoch t0 the point mass is at position x(t0), z(t0) and has an initial velocity vx(t0), vz(t0).

1. Determine the general solution for the position of the point mass for t>t0. What is the geometric
shape of the trajectory?
2. For ti=t0+i*1s, i=1,100 measurements of coordinates of trajectory points are available.
(lx(ti)=x(ti)+Ex(ti), lz(ti)=z(ti)+Ez(ti)). All measurements are uncorrelated; the measurement errors
have a variance of 1m2. Set up the (linear) observation equations for the determination of the initial
values x(t0), z(t0), vx(t0), vz(t0).
3. Perform a least squares parameter estimation (section 1 of course material) to determine estimates
for the initial values from the 200 measurements, and their accuracies.