Divide quaternion by another quaternion
n = quatdivide(q,r)
n = quatdivide(q,r) calculates the result of quaternion division, n, for two given quaternions, q and r. Inputs q and r can each be either an m-by-4 matrix containing m quaternions, or a single 1-by-4 quaternion. n returns an m-by-4 matrix of quaternion quotients. Each element of q and r must be a real number. Additionally, q and r have their scalar number as the first column.
The quaternions have the form of
The resulting quaternion from the division has the form of
Determine the division of two 1-by-4 quaternions:
q = [1 0 1 0]; r = [1 0.5 0.5 0.75]; d = quatdivide(q, r) d = 0.7273 0.1212 0.2424 -0.6061
Determine the division of a 2-by-4 quaternion by a 1-by-4 quaternion:
q = [1 0 1 0; 2 1 0.1 0.1]; r = [1 0.5 0.5 0.75]; d = quatdivide(q, r) d = 0.7273 0.1212 0.2424 -0.6061 1.2727 0.0121 -0.7758 -0.4606
 Stevens, Brian L., Frank L. Lewis, Aircraft Control and Simulation, Wiley–Interscience, 2nd Edition.