MARGGPSFuserBase.m, Quaternion, Matlab, Demo

Hallo Community,

warum verwendet Matlab R2019b in seiner MARGGPSFuserBase.m in der Berechnung der Jacobi-Matrix die Umrechnung von Winkeln zu Quaternionen nicht nach der Standardformel:

q = (cos(1/2*winkel),n1*sin(1/2*winkel),n2*sin(1/2*winkel),n3*sin(1/2*winkel))

https://de.mathworks.com/help/fusion/examples/imu-and-gps-fusion-for-inertial-navigation.html

Danke, Roman Föll

Hello Community,

why does Matlab R2019b in its MARGGPSFuserBase.m in the calculation of the Jacobi matrix not use the conversion from angles to quaternions according to the standard formula:

q = (cos (1/2 * angle), n1 * sin (1/2 * angle), n2 * sin (1/2 * angle), n3 * sin (1/2 * angle))

https://de.mathworks.com/help/fusion/examples/imu-and-gps-fusion-for-inertial-navigation.html

Thank you, Roman Föll