diff --git a/matlab/tests/main_runAllTests.m b/matlab/tests/main_runAllTests.m
new file mode 100644
index 0000000000000000000000000000000000000000..c5e7161829603d2c852abfc02a68a2162ccc892b
--- /dev/null
+++ b/matlab/tests/main_runAllTests.m
@@ -0,0 +1,22 @@
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+%% script that runs all the test cases defined
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+% every time a new test-case is define simply add it here
+test_dcm2q
+% test_get_settings_car
+% test_get_settings_cycling
+% test_gps_randomized_car
+% test_gps_randomized_cycling
+% test_GPSaidedINS_car
+% test_GPSaidedINS_cycling
+% test_gravity
+% test_main_car
+% test_main_cycling
+% test_main_tradeoff_car
+% test_main_tradeoff_cycling
+% test_Nav_eq
+% test_plot_single_trace
+% test_plot_tradeoff
+% test_q2dcm
+% test_Rt2d
\ No newline at end of file
diff --git a/matlab/tests/test_dcm2q.m b/matlab/tests/test_dcm2q.m
new file mode 100644
index 0000000000000000000000000000000000000000..a48088c0967724fd9d424b8de1b98af553c03741
--- /dev/null
+++ b/matlab/tests/test_dcm2q.m
@@ -0,0 +1,21 @@
+% test case for function test_dcm2q
+
+%purpose: verify correctness of the function in the basic case of null
+%         cosine matrix and that the function runs without interruption
+
+%oracle:  easy to chekc from the formulae
+
+clear all
+close all
+cd ..
+
+R=zeros(4,4);
+q=dcm2q(R);
+
+cd tests
+
+if q~=[0;0;0;0.5]
+    error('error in function dcm_2q')
+else
+    disp('function dcm_2q ok')
+end
\ No newline at end of file