quat_mult.m

惯性导航系统传递对准系统模型程序

function Qc=Quat_Mult(Qa,Qb)
    Qc= [Qb(1)*Qa(1)-Qb(2)*Qa(2)-Qb(3)*Qa(3)-Qb(4)*Qa(4)
        Qb(2)*Qa(1)+Qb(1)*Qa(2)+Qb(4)*Qa(3)-Qb(3)*Qa(4)
        Qb(3)*Qa(1)-Qb(4)*Qa(2)+Qb(1)*Qa(3)+Qb(2)*Qa(4)
        Qb(4)*Qa(1)+Qb(3)*Qa(2)-Qb(2)*Qa(3)+Qb(1)*Qa(4)];