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0

$begingroup$

I am trying to compute the rotation quaternion between two quaternions called, q_IMU and q_VZ.

I am computing the rotating quaternion by the method seen in the first equation at a maxima for both quaternions (so they are aligned)

$^{S}_{E}q_{est,IMU} = q_{E} otimes ^{C}_{M}q_{est,VZ}$

Then I want to align the other measurements of q_VZ onto the reference plane for the IMU via:

$q_{E} = ^{S}_{E}q_{est,IMU} otimes {^{C}_{M}q^{-1}_{est,VZ}}$

This works for one of my measurements but not for this one I've added pictures. q_IMU, q_VZ before rot, q_VZ after rot

Can somebody explain why they are not aligned using this method, because I don't understand?

quaternions

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edited 1 hour ago

ej96m

asked 23 hours ago

ej96mej96m

12

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ej96m is a new contributor to this site. Take care in asking for clarification, commenting, and answering.
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$endgroup$

• 
  
  
  

  
  

  
  
  
  
  
  

  
  $begingroup$
  Kindly use MathJax: meta.math.stackexchange.com/questions/5020/…
  $endgroup$
  – Paras Khosla
  23 hours ago
  

  
  
  
  

add a comment | 

0

$begingroup$

I am trying to compute the rotation quaternion between two quaternions called, q_IMU and q_VZ.

I am computing the rotating quaternion by the method seen in the first equation at a maxima for both quaternions (so they are aligned)

$^{S}_{E}q_{est,IMU} = q_{E} otimes ^{C}_{M}q_{est,VZ}$

Then I want to align the other measurements of q_VZ onto the reference plane for the IMU via:

$q_{E} = ^{S}_{E}q_{est,IMU} otimes {^{C}_{M}q^{-1}_{est,VZ}}$

This works for one of my measurements but not for this one I've added pictures. q_IMU, q_VZ before rot, q_VZ after rot

Can somebody explain why they are not aligned using this method, because I don't understand?

quaternions

share|cite|improve this question

edited 1 hour ago

ej96m

asked 23 hours ago

ej96mej96m

12

New contributor

ej96m is a new contributor to this site. Take care in asking for clarification, commenting, and answering.
Check out our Code of Conduct.

$endgroup$

• 
  
  
  

  
  

  
  
  
  
  
  

  
  $begingroup$
  Kindly use MathJax: meta.math.stackexchange.com/questions/5020/…
  $endgroup$
  – Paras Khosla
  23 hours ago
  

  
  
  
  

add a comment | 

$begingroup$

I am trying to compute the rotation quaternion between two quaternions called, q_IMU and q_VZ.

I am computing the rotating quaternion by the method seen in the first equation at a maxima for both quaternions (so they are aligned)

$^{S}_{E}q_{est,IMU} = q_{E} otimes ^{C}_{M}q_{est,VZ}$

Then I want to align the other measurements of q_VZ onto the reference plane for the IMU via:

$q_{E} = ^{S}_{E}q_{est,IMU} otimes {^{C}_{M}q^{-1}_{est,VZ}}$

This works for one of my measurements but not for this one I've added pictures. q_IMU, q_VZ before rot, q_VZ after rot

Can somebody explain why they are not aligned using this method, because I don't understand?

quaternions

share|cite|improve this question

edited 1 hour ago

ej96m

asked 23 hours ago

ej96mej96m

12

New contributor

ej96m is a new contributor to this site. Take care in asking for clarification, commenting, and answering.
Check out our Code of Conduct.

$endgroup$

share|cite|improve this question

edited 1 hour ago

ej96m

asked 23 hours ago

ej96mej96m

12

New contributor

ej96m is a new contributor to this site. Take care in asking for clarification, commenting, and answering.
Check out our Code of Conduct.

share|cite|improve this question

edited 1 hour ago

ej96m

asked 23 hours ago

ej96mej96m

12

New contributor

ej96m is a new contributor to this site. Take care in asking for clarification, commenting, and answering.
Check out our Code of Conduct.

asked 23 hours ago

ej96mej96m

12

New contributor

ej96m is a new contributor to this site. Take care in asking for clarification, commenting, and answering.
Check out our Code of Conduct.

asked 23 hours ago

ej96mej96m

12