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On integration of rotational quaternions from angular velocities [Elektronski vir]
Zupan, Eva ; Saje, Miran ; Zupan, Dejan, mehanik
In the present paper we study the integration of rotations from the given angular velocities. The rotations are here represented by rotational quaternions. The quaternion representation of rotations ...is shown to be suitable for both analytical and numerical approach. Analytical solution is presented using the theory of analytic differential systems. This exact solution serves as a suitable basis for derivation of various numerical methods. A special care is taken in describing the higher order approximations. The computational performance and comparison of numerical methods is demonstrated by examples.
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