Computing Euler Angles: Tracking Attitude Using Quaternions

In this video we continue our discussion on how to track the attitude of a body in space using quaternions. The quaternion method is similar to the Euler Kinematical Equations and Poisson’s Kinematical Equations in that it consumes rate gyro information to compute Euler angles. However, it has advantages in that it is robust to singularities in orientation that plague the Euler and Poisson techniques.

Topics and Timestamps:
0:00 – Introduction
1:00 – Quaternions definition
9:09 – Quaternion example
19:43 – Quaternion mathematical operations
23:37 – Attitude representation using quaternions
45:51 – Quaternion example revisited
54:38 – Quaternion kinematical equations
1:02:26 – Simulink implementation of quaternion kinematical equations

Lecture notes and code can be downloaded from https://github.com/clum/YouTube/tree/...

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