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softec17

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__Quaternions and Rotation Sequences__by Jack B. Kuipers (pg. 264-265)

the quaternion derivative is defined as:

[tex]\frac{dq}{dt}=q(t)\overline{\omega}(t)[/tex]

But in many published papers, I have seen the derivative defined instead as

[tex]\frac{dq}{dt}=\frac{1}{2}q(t)\omega(t)[/tex]

Why is there a discrepancy? Is there some nomenclature that is different. I am assuming \omega(t) to be the angular velocity of the body axis wrt the fixed frame and the quaternion is used to transform a vector from the fixed frame to the body frame.

Thanks for any help.