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quaternions to direction cosine matrix (Definition)

Getting the direction cosine matrix (DCM) from quaternions is given in equation 1

⌊ ⌋ ⌊ ⌋ A11 A12 A13 q21 − q22 − q23 + q24 2(q1q2 + q3q4) 2(q1q3 − q2q4) ⌈ A21 A22 A23 ⌉ = ⌈ 2(q1q2 − q3q4) − q2 + q2 − q2+ q2 2(q2q3 + q1q4) ⌉ 1 2 3 4 2 2 2 2 A31 A32 A33 2(q1q3 + q2q4) 2(q2q3 − q1q4) − q1 − q2 + q3 + q4
(1)

(proof of this conversion to come)


"quaternions to direction cosine matrix" is owned by bloftin.
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Cross-references: quaternions, direction cosine matrix

This is version 1 of quaternions to direction cosine matrix, born on 2005-08-28.
Object id is 86, canonical name is QuaternionsToDirectionCosineMatrix.
Accessed 2579 times total.

Classification:
Physics Classification: 45.40.-f (Dynamics and kinematics of rigid bodies)
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