Quaternion Division

Divide quaternion by another quaternion

  • Library:
  • Aerospace Blockset / Utilities / Math Operations

Description

The Quaternion Division block divides a given quaternion by another. The output is the resulting quaternion from the division or vector of resulting quaternions from division. For the quaternion forms used, see Algorithms.

Ports

Input

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Dividend quaternions in the form of [q0, p0, ..., q1, p1, ... , q2, p2, ... , q3, p3, ...], specified as a quaternion or vector of quaternions.

Data Types: double

Divisor quaternions in the form of [s0, r0, ..., s1, r1, ... , s2, r2, ... , s3, r3, ...], specified as a quaternion or vector of quaternions.

Data Types: double

Output

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Output quaternion or vector of resulting quaternions from division.

Data Types: double

Algorithms

The quaternions have the form of

q=q0+iq1+jq2+kq3

and

r=r0+ir1+jr2+kr3.

The resulting quaternion from the division has the form of

t=qr=t0+it1+jt2+kt3,

where

t0=(r0q0+r1q1+r2q2+r3q3)r02+r12+r22+r32t1=(r0q1r1q0r2q3+r3q2)r02+r12+r22+r32t2=(r0q2+r1q3r2q0r3q1)r02+r12+r22+r32t3=(r0q3r1q2+r2q1r3q0)r02+r12+r22+r32

References

[1] Stevens, Brian L., Frank L. Lewis. Aircraft Control and Simulation, Second Edition. Hoboken, NJ: Wiley–Interscience.

Introduced before R2006a