Underwater Navigation System for AUVSI Sub


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Rigid Body Orientation Visualization (2nd Method: Quaternions)


The team decided to use quaternions and vector math to determine the rigid body orientation of the Sensortag IMU. Quaternions are a nice mathematical concept to use for orientation and attitude visualization for navigation designs. Quaternions are an extension of imaginary numbers. They invlove a scalar compnent which is defined as a rotation about a axis of rotation. A graphical representation of quaterninons is shown below.

                                    quaternion representation