The use of quaternions with an allattitude IMU
Abstract
Quaternion algebra is described and the use of quaternions in system software development is discussed. Quaternions are defined, as are equality, addition, scalar multiplication, subtraction, multiplication, conjugation, inverse, and norm of quaternions. The theory is translated into meaningful terms with a discussion of trigonmetric form, sign convention, vector transformation, quaternion combination, quaternion attitude error, attitude rate, attitude update, attitude maneuvers, and orthonormality. The band angle readout system, a spherical inertial measurement unit, is discussed, and the extraction of the quaternion equivalent to the flight program attitude data is analyzed
 Publication:

Guidance and Control 1982
 Pub Date:
 1982
 Bibcode:
 1982guco.proc..269N
 Keywords:

 Computer Programs;
 Inertial Platforms;
 Mx Missile;
 Quaternions;
 Algebra;
 Attitude Control;
 Errors;
 Optimization;
 Space Communications, Spacecraft Communications, Command and Tracking