Quaternions

1
Quaternions
A quaternion vector can represent a rotation
about a unit vector
The components are also called Euler parameters
2
Quaternions
A quaternion completely describes the rotation of
an object Quaternions can be converted to / from
Euler angles and rotation matrices Quaternions
are similar to Euler angles, but have
the advantage of no singularities Quaternions
are also better for computation and interpolation
3
Quaternion Integration
The quaternion of a rigid body can be calculated
given the body frame rotation rate from the
equation of motion
An alternative to the correction term is to
re-normalize the quaternion periodically