Universal approach to derivation of quaternion rotation formulas

Abstract

This paper introduces and defines the quaternion with a brief insight into its properties and algebra. The main part of this paper is devoted to the derivation of basic equations of the vector rotation around each rotational x, y, z axis. Then, the equations of generalized quaternion rotation and express the general rotation operator is derived. Finally the utilization of equations is demonstrated on a simple example. For purposes of simplicity the quaternions theory is demonstrated around the z-axis by γ angle. For the purpose of this paper, the fact that the subspace of vector quaternions may be regarded as being equivalent to the ordinary is used.