Sikh Robotics
  • 1. Orientation & Pose
    • 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

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Sikh Robotics > Orientation & Pose > 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