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    The relationships between QUATERNION and attitude error (tilt)
    From: Miki L
    Date: 2007 Oct 26, 03:58 -0700

    Hello guys,
    
    My name is Miki, and I wonder if someone can help me with problem
    using quaternion.
    
    In the book "Applied Mathematics in integrated navigation systems,
    Robert M. Rogers" page 58, there is an exercise which direct the
    reader to achieve the relationship between quaternion and tilt.
    Well, at first glance it looks rather simple to prove but for some
    reason the algebra doesn't work.
    
    For example, it should be proven that:
    
    del_q1 = 0.5*(-q0 * Phi1 - q3 * Phi2 + q2 * Phi3)
    
    Can someone direct me to the proof, or at least direct me to a paper
    in this subject?
    
    Thanks,
    Miki
    
    
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