Direction Cosine Matrix to Quaternions
Transformation of the rotation matrix into a quaternion.
blockType: SubSystem
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Description
Block Direction Cosine Matrix to Quaternions transforms the rotation matrix (matrix of guide cosines ) into a four - element vector of quaternions .
The Matrix , defined by the unit vector of the quaternion, is equal to:
Algorithm for determining the quaternion by the rotation matrix it depends on its trace: if it is greater than zero, then the quaternion is immediately calculated; if it is less than or equal to zero, then the calculation algorithm depends on the index of the largest element of the main diagonal of the matrix.