quamult.m

来自「惯性导航系统传递对准系统模型程序」· M 代码 · 共 14 行

function quanew = quamult(qua1,qua2)

  if nargin<2,error('insufficient number of input arguments'),end
  [m,n]=size(qua2); if m>n, quatmp=qua2, else, quatmp=qua2'; end
  
  a = qua1(1); b = qua1(2); c = qua1(3); d = qua1(4);
  
  A = [ a -b -c -d;
        b  a -d  c;
        c  d  a -b;
        d -c  b  a];
    
 quanew = (A*quatmp)';