Title :
Optimum Normalization of a Computed Quaternion of Rotation
Author_Institution :
Bellcomm, Inc. Washington, D. C. 20024
fDate :
3/1/1971 12:00:00 AM
Abstract :
The normalization technique usually employed in "analytic platforms" in which quaternions are used to update the orientation of the vehicle is the one which divides the components of the quaternion by its magnitude. In this correspondence, it is analytically shown that this is the "best" normalization technique. A geometrical interpretation of this result is also given.
Keywords :
Lagrangian functions; Quaternions; Vehicles;
Journal_Title :
Aerospace and Electronic Systems, IEEE Transactions on
DOI :
10.1109/TAES.1971.310384