Quaternion Inverse

Calculate inverse of quaternion

  • Library:
  • Aerospace Blockset / Utilities / Math Operations

Description

The Quaternion Inverse block calculates the inverse for a given quaternion. For the equations used for the quaternion and quaternion inverse, Algorithms.

Ports

Input

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Quaternions in the form of [ q 0 , r 0 , ..., q 1 , r 1 , ... , q 2 , r 2 , ... , q 3 , r 3 , ...], specified as a quaternion or vector of quaternions.

Data Types: double

Output

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Quaternion inverse or vector of quaternion inverses.

Data Types: double

Algorithms

The quaternion has the form of

q=q0+iq1+jq2+kq3.

The quaternion inverse has the form of

q1=q0iq1jq2kq3q02+q12+q22+q32.

References

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

Introduced before R2006a