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:Â 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