Quaternion Multiplication

Calculate product of two quaternions

Library

Utilities/Math Operations

Description

The Quaternion Multiplication block calculates the product for two given quaternions.

The quaternions have the form of

q=q0+iq1+jq2+kq3

and

r=r0+ir1+jr2+kr3.

The quaternion product has the form of

t=q×r=t0+it1+jt2+kt3,

where

t0=(r0q0r1q1r2q2r3q3)t1=(r0q1+r1q0r2q3+r3q2)t2=(r0q2+r1q3+r2q0r3q1)t3=(r0q3r1q2+r2q1+r3q0)

Dialog Box

Inputs and Outputs

InputDimension TypeDescription

First

Quaternion or vectorContains quaternions in the form of [q0, p0, ..., q1, p1, ... , q2, p2, ... , q3, p3, ...].

Second

Quaternion or vectorContains quaternions in the form of [s0, r0, ..., s1, r1, ... , s2, r2, ... , s3, r3, ...].

OutputDimension TypeDescription

First

Quaternion product or vectorContains quaternion product or vector of quaternion products.

References

Stevens, Brian L., Frank L. Lewis, Aircraft Control and Simulation, Wiley–Interscience, 2nd Edition.

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