Abstract
In the present paper the integration of angular velocities is studied. Both exact and approximate results are expressed in terms of rotational quaternions. Analytical solution is found using the theory of analytic differential systems. This exact solution serves as a suitable basis for derivation of various numerical methods. Approximative approaches based on Taylor series and several maps from pure to unit quaternions are presented. A special care is taken in describing the higher order approximations. The computational performance and comparison of numerical methods is demonstrated by examples.
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