Sikh Robotics
  • 1. Orientation
    • 1. Sensor Calibration
      • Accelerometer
      • Magnetometer
      • Gyroscope
    • 2. Angles & Rotations
      • Euler Angles
      • Rotations
    • 3. Quaternion Basics
      • Quaternion Fundamentals
      • Quaternion Properties
      • Quaternion Arithmetic
    • 4. Quaternion Rotations
      • Euler-Quaternion Conversions
      • Quaternion Rotations
    • 5. Extended Kalman Filter
      • EKF Overview
      • System Dynamics Model
      • Explanation
      • Error Correction
      • Implementation
  • 2. Odometry
  • 3. PCB Design
    • 0. Requirements
    • 1. System Conceptualization
      • System Overview
      • Power Flow Diagram
      • Pinout Spreadsheet
    • 2. Schematic Layout
      • Component Selection
      • PCB Library
      • Layout Design
      • Transfer to PCB
    • 3. PCB Layout
      • PCB Shape
      • Component Placement
      • Routing Traces
      • DRC Check
      • Gerber Files

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Sikh Robotics > Orientation > Quaternion Basics

Part 3

Quaternion Basics

Sources
  1. Rotation Quaternions, and How to Use Them, D. Rose
  2. Quaternion kinematics for the error-state Kalman filter, Joan Sola