#1
Oct1206, 05:02 AM

P: n/a

Hi all,
I've posted quaternion questions on here before and I thank you all for your help. However, I am still a bit cofused so please bear with me. If I have an aircraft with an Euler Angle orientaiton of (yes, my aircraft can fly in this orientation) Roll (phi, xaxis) = 0 degrees Pitch (theta, yaxis) = 90 degrees Yaw (psi, zaxis) = 20 degrees and I measure this with a sensor, it will suffer from singularities which will yield erroneous results. However, that same sensor will yield the correct quaternion for that orienation: Q = 0.696 + 0.123i + 0.696j + 0.123k My question is how do I mathematically convert the quaternion (Q) back to Euler Angle format *while* still avoiding the singularities present at theta=90 degrees? Thanks, weg 


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