Quaternion Normalize

R2026b

Normalize quaternion

• 

Quaternion Normalize block

To add a block to a model, double-click the canvas and start typing the block name. Then, select the block from the list.

Libraries:
Aerospace Blockset / Utilities / Math Operations

Description

The Quaternion Normalize block calculates a normalized quaternion for a given quaternion. Aerospace Blockset™ uses quaternions that are defined using the scalar-first convention. For the equations used for the quaternion and normalized quaternion, see Algorithms.

Examples

Quaternion Estimate from Measured Rates

Estimate a quaternion and model the equations.

• Open Script

Ports

Input

q — Quaternion

quaternion | vector of quaternions

Quaternions in the form of [ q ₀ , r ₀ , ..., q ₁ , r ₁ , ... , q ₂ , r ₂ , ... , q ₃ , r ₃ , ...], specified as a quaternion or vector of quaternions.

Data Types: double

Output

normal(q) — Normalized quaternion

normalized quaternion | vector of normalized quaternions

Normalized quaternion or vector of normalized quaternions.

Data Types: double

Programmatic Use: Add Block

To add the block programmatically, use the add_block function with one of these library block paths as the source.

"aerolibutil/Quaternion Normalize"

Example: add_block("aerolibutil/Quaternion Normalize","myModel/myBlock",MakeNameUnique="on")

Algorithms

The quaternion has the form of

$$q=q_0+i{q}_1+j{q}_2+k{q}_3.$$

The normalized quaternion has the form of

$$normal(q)=\frac{q_0+i{q}_1+j{q}_2+k{q}_3}{\sqrt{q_0^2+q_1^2+q_2^2+q_3^2}}.$$

References

[1] Stevens, Brian L., Frank L. Lewis. Aircraft Control and Simulation, Second Edition. Hoboken, NJ: Wiley–Interscience.

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using Simulink® Coder™.

Version History

Introduced before R2006a