Читать книгу Global Navigation Satellite Systems, Inertial Navigation, and Integration - Mohinder S. Grewal - Страница 131

The quaternion representation of vehicle attitude is the most reliable, and it is used as the “holy point” of attitude representation. Its value is maintained using the incremental rotations from the rotation vector representation, and the resulting values are used to generate the coordinate transformation matrix for accumulating velocity changes in inertial coordinates.

Quaternions represent three‐dimensional attitude on the three‐dimensional surface of the four‐dimensional sphere, much like two‐dimensional directions can be represented on the two‐dimensional surface of the three‐dimensional sphere.