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Add derivation script files for inertial nav EKF

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Paul Riseborough
2015-11-03 12:24:43 +11:00
parent b3bd09d5b9
commit 06e9d73268
12 changed files with 1366 additions and 0 deletions
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matlab/scripts/Inertial Nav EKF/QuatMult.m
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function quatOut = QuatMult(quatA,quatB)
% Calculate the following quaternion product quatA * quatB using the
% standard identity
quatOut = [quatA(1)*quatB(1)-quatA(2:4)'*quatB(2:4); quatA(1)*quatB(2:4) + quatB(1)*quatA(2:4) + cross(quatA(2:4),quatB(2:4))];