Quaternion Rotation
Rotate vector by quaternion
- Library:
Aerospace Blockset / Utilities / Math Operations
Description
The Quaternion Rotation block rotates a vector by a quaternion. Aerospace Blockset™ uses quaternions that are defined using the scalar-first convention. This block normalizes all quaternion inputs. For the equations used for the quaternion, vector, and rotated vector, see Algorithms.
Ports
Input
Output
Model Examples
Algorithms
The quaternion has the form of
The vector has the form of
The rotated vector has the form of
References
[1] Stevens, Brian L., Frank L. Lewis. Aircraft Control and Simulation, Second Edition. Hoboken, NJ: Wiley–Interscience.
[2] Diebel, James. "Representing Attitude: Euler Angles, Unit Quaternions, and Rotation Vectors." Stanford University, Stanford, California, 2006.