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I am currently using quaternions in my dynamics simulation library for the orientation of rigid bodies .

The bodies are very simple spacecraft orbiting around earth and what I need is the relative yaw pitch and roll of one spacecraft against an other one

(let's call them chaser VS target).

At first, I converted the quaternions to euler angles and did the difference, with this solution, I am experiencing variations in one channel (for instance pitch) but I am only applying torques in the roll and yaw channel, I expected not this to happens but maybe I am confusing something in the quaternion theory and their link to euler angles.

Should I instead integrate the equations of relative motion (Hill/CW) and retrieve angles from this one ?

Thanks,

David

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# Quaternions and relative orientation

Can you offer guidance or do you also need help?

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