Posted on July 31, 2012 by x-io Technologies

3D orientations are commonly represented using rotation matrices and Euler angles. Quaternions offer an alternative representation that is computational more efficient than rotational matrices and is not subject to the problem of a singularity (AKA gimbal lock) that can make an Euler angle representation hazardous. The resources below include a document summarising this use of quaternions and an accompanying MATLAB library.