(0x80,0x0A) Comp Quaternion

4x1 vector representation of the quaternion describing the orientation of the device with respect to the NED local-level frame. This quaternion satisfies the following relationship: More...

Classes
struct	mip::data_sensor::CompQuaternion

Detailed Description

4x1 vector representation of the quaternion describing the orientation of the device with respect to the NED local-level frame. This quaternion satisfies the following relationship:

EQSTART p^{veh} = q^{-1} p^{ned} q EQEND

Where:
EQSTART q = (q_w, q_x, q_y, q_z) EQEND is the quaternion describing the rotation.
EQSTART p^ned = (0, v^{ned}_x, v^{ned}_y, v^{ned}_z) EQEND and EQSTART v^{ned} EQEND is a 3-element vector expressed in the NED frame.
EQSTART p^veh = (0, v^{veh}_x, v^{veh}_y, v^{veh}_z) EQEND and EQSTART v^{veh} EQEND is a 3-element vector expressed in the vehicle frame.