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quatnormalize

Normalize quaternion

Description

example

normalized_q = quatnormalize(q) calculates the normalized quaternion, normalized n, for a given quaternion, q. For more information on the quaternion and normalized quaternion forms, see Algorithms.

Aerospace Toolbox uses quaternions that are defined using the scalar-first convention.

Examples

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Normalize q = [1 0 1 0].

normal = quatnormalize([1 0 1 0])
normal = 1×4

    0.7071         0    0.7071         0

Input Arguments

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Quaternion matrix, specified in an m-by-4 matrix of real numbers containing m quaternions.

Example: [1 0 0 0]

Data Types: double

Output Arguments

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Normalized quaternions, returned in an m-by-4 matrix.

Algorithms

The quaternion has the form of

q=q0+iq1+jq2+kq3.

The normalized quaternion has the form of

normal(q)=q0+iq1+jq2+kq3q02+q12+q22+q32.

References

[1] Stevens, Brian L. and Frank L. Lewis. Aircraft Control and Simulation. 2nd ed. Wiley–Interscience, 2003.

Extended Capabilities

Version History

Introduced in R2006b