QIToBDot:

Path: AerospaceUtils/Coord

% Computes the time derivative of a quaternion. 
 The quaternion transforms from the inertial frame to the body frame. 
 Requires the angular velocity measured in the body frame.
--------------------------------------------------------------------------
   Form:
   qD                 = QIToBDot( q, w )	
   [a, b, c, d, dqdt] = QIToBDot( q, w )
   [a, b, c, d, dqdt] = QIToBDot( q, w, dT )
--------------------------------------------------------------------------

   ------
   Inputs
   ------
   q              (4,1)  Quaternion from a to b
   w              (3,1)  Rate of b with respect to a measured in b
   dT             (1,1)  Time step

   -------
   Outputs
   -------
   qD             (4,1)  Derivative of Q

   or

   a              (4,4)  Plant matrix
   b              (4,3)  Input matrix
   c              (4,4)  Measurement matrix
   d              (4,3)  Feedthrough matrix
   dqdt           (4,1)  Constant quaternion derivative

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Children:

Common: Control/C2DZOH
Math: Linear/SkewSymm

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