diff --git a/matlab/tests/main_runAllTests.m b/matlab/tests/main_runAllTests.m
index 1ae7a6e9029124bd0e2fbf636322ac1112bb1bac..d58750d0321dc07fe9f7b8b85c98217f6ee9ec01 100644
--- a/matlab/tests/main_runAllTests.m
+++ b/matlab/tests/main_runAllTests.m
@@ -13,4 +13,4 @@ test_GPSaidedINS_cycling
 test_gravity
 test_Nav_eq
 test_q2dcm
-% test_Rt2d
\ No newline at end of file
+test_Rt2d
\ No newline at end of file
diff --git a/matlab/tests/test_Rt2d.m b/matlab/tests/test_Rt2d.m
new file mode 100644
index 0000000000000000000000000000000000000000..3c6330e7f65ac6e42f4b4050069db7f243b978fe
--- /dev/null
+++ b/matlab/tests/test_Rt2d.m
@@ -0,0 +1,25 @@
+% test case for function Rt2d
+
+%purpose: test the function in basic case to verify it runs correctly, i.e.
+%         returns a 3x3 matrix
+
+%oracle:  the rotation matrix with null angles should be the identity
+%         matrix
+
+clear all             %clear workspace 
+close all
+cd ..                 %move to functions directory           
+
+%initialize inputs
+ang=[0,0,0];
+%execute function
+R=Rt2b(ang);
+
+cd tests              %go back to tests directory
+
+%verify output
+if ~(R==eye(3))
+    error('error in function Rt2d')
+else
+    disp('function Rt2d ok')
+end
\ No newline at end of file