Quaternion Updating:
The toolbox supports the representation and updating of attitude through quaternions as well as direction cosines. The toolbox provides the following functions:

QUAUPDAT - Update quaternion body-to-nav attitude vector

QUAMULT - perform quaternion multiplication

QUA2DCM - convert from quaternion to direction cosine matrix

EULR2QUA - convert from Euler angles to quaternion

DCM2QUA - convert from direction cosine matrix to quaternion



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