- #1

Roni BM

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I want to calculate the time derivative of a non-normalized quaternion q.

I tried to calculate the derivative by using the chain rule, $$\dot{q}=\left|q\right|\dot{\hat{q}}+\hat{q}\frac{d\left|q\right|}{dt}$$ and I got a very complicated term. I wonder if I am having a wrong approach and if there is a known formula?