Aerospace Blockset / Utilities / Math Operations
The Quaternion Normalize block calculates a normalized quaternion for a given quaternion. Aerospace Blockset™ uses quaternions that are defined using the scalar-first convention. For the equations used for the quaternion and normalized quaternion, see Algorithms.
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.
normal(q) — Normalized quaternion
normalized quaternion | vector of normalized quaternions
Normalized quaternion or vector of normalized quaternions.
The quaternion has the form of
The normalized quaternion has the form of
 Stevens, Brian L., Frank L. Lewis. Aircraft Control and Simulation, Second Edition. Hoboken, NJ: Wiley–Interscience.