Quaternion Inverse

R2026b

Calculate inverse of quaternion

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Quaternion Inverse block

To add a block to a model, double-click the canvas and start typing the block name. Then, select the block from the list.

Libraries:
Aerospace Blockset / Utilities / Math Operations

Description

The Quaternion Inverse block calculates the inverse for a given quaternion. Aerospace Blockset™ uses quaternions that are defined using the scalar-first convention. For the equations used for the quaternion and quaternion inverse, Algorithms.

Ports

Input

q — Quaternion

quaternion | vector of quaternions

Quaternions in the form of [ q ₀ , r ₀ , ..., q ₁ , r ₁ , ... , q ₂ , r ₂ , ... , q ₃ , r ₃ , ...], specified as a quaternion or vector of quaternions.

Data Types: double

Output

Inv(q) — Quaternion inverse

quaternion inverse | vector of quaternion inverses

Quaternion inverse or vector of quaternion inverses.

Data Types: double

Programmatic Use: Add Block

To add the block programmatically, use the add_block function with one of these library block paths as the source.

"aerolibutil/Quaternion Inverse"

Example: add_block("aerolibutil/Quaternion Inverse","myModel/myBlock",MakeNameUnique="on")

Algorithms

The quaternion has the form of

$$q=q_0+i{q}_1+j{q}_2+k{q}_3.$$

The quaternion inverse has the form of

$$q^{-1}=\frac{q_0-i{q}_1-j{q}_2-k{q}_3}{q_0^2+q_1^2+q_2^2+q_3^2}.$$

References

[1] Stevens, Brian L., Frank L. Lewis. Aircraft Control and Simulation, Second Edition. Hoboken, NJ: Wiley–Interscience.

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using Simulink® Coder™.

Version History

Introduced before R2006a