The quaternion has the form of
The normalized quaternion has the form of
|Quaternion or vector||Contains quaternions in the form of [q0, r0, ..., q1, r1, ... , q2, r2, ... , q3, r3, ...].|
|Normalized quaternion or vector||Contains normalized quaternion or vector of normalized quaternions.|
Stevens, Brian L., Frank L. Lewis, Aircraft Control and Simulation, Wiley–Interscience, 2nd Edition.