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Quaternion Updating

Quaternion Updating Using the INS Toolbox

The GPSoft INS 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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