Abstract
In order to describe the attitude and position of a multicopter, it is necessary to establish appropriate coordinate frames.
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Notes
- 1.
It reads: “Here as he walked by on the 16th of October 1843 Sir William Rowan Hamilton in a flash of genius discovered the fundamental formula for quaternion multiplication \(i^{2} =j^{2}=k^{2}=ijk=-1\) & cut it on a stone of this bridge.”
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Quan, Q. (2017). Coordinate System and Attitude Representation. In: Introduction to Multicopter Design and Control. Springer, Singapore. https://doi.org/10.1007/978-981-10-3382-7_5
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DOI: https://doi.org/10.1007/978-981-10-3382-7_5
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