Angular rates from quaternions
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Hello,
I have a matrix containing quaternions in each row. And, each row represents a different time instant.
I would like to find the angular velocities along x, y and z (
) using the quaternions.
![](https://www.mathworks.com/matlabcentral/answers/uploaded_files/661985/image.png)
I noticed that there is a function called angvel in matlab that should do it. However, I do not have this function in my matlab license.
Is there another way to find the angular velocities?
Thank you
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James Tursa
2021년 6월 28일
편집: James Tursa
2021년 6월 28일
You can calculate these angular velocities directly from the quaternions, but you need to know two things:
1) The times of the quaternions
2) The convention of the quaternions
I am guessing you already have (1). For (2), you need to know whether these quaternions are left chain vs right chain in order to back out the angular rate vector. (Basically, you start with the qdot derivative expression and solve for w). Do you know this? Where are these quaternions coming from? What are the coordinate systems involved?
E.g., depending on the quaternion convention and coordinate systems involved, there are four different qdot equations:
qdot = (1/2) q * w
qdot = -(1/2) q * w
qdot = (1/2) w * q
qdot = -(1/2) w * q
Which one of these needs to be solved for w depends on the quaternion convention and how you want w coordinatized.
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