Quaternions and Rotations in 3-Space:
Howit Works
Vernon Chi
Microelectronic Systems Laboratory
Department of Computer Science
University of North Carolina at Chapel Hill
25 September 1998
Informal summary
Think of a quaternion Q as a vector augmented by a real number
to make a four element entity. It has a real part Qcre and a vector
part Qcve: If Qcre is zero, Q represents an ordinary vector; if Qcve
is zero, it represents an ordinary real number. In any case, the ratio
between the real part and the magnitude of the vector part jQcve j plays
an important role in rotations, and is conveniently represented by the
parameter = tan, 1 jQcve j=Qcre : A unit magnitude quaternion Qu
has a Pythagorean distance of 1 over its four elements, and its product
with anyvector Sv gives another vector having the same magnitude as Sv
but rotated in space. If Sv ? Qu cve; the rotation is by an angle about
the vector Qu cve or simply about Qu . If Sv is arbitrary, however,
certain cross-terms of the product spoil this convenient relationship.
Even in this general case however, these cross-terms cancel in the triple
product Uv = QuSv Q, 1; where Q, 1 1=Qu. The rotations of the
u u
two successive products are in the same direction, so Uv represents a
rotation of Sv about Qu cve by an angle 2 ; which depends only on Qu:
Thus, the operation QuSvQ, 1 performs a rotation of Sv whichis entirely
u
characterized by the unit quaternion Qu: The rotation occurs about
an axis parallel to Qu by an amount 2 tan, 1 jQcve j=Qcre : Quaternion
notation conveniently handles composition of any number of successive
rotations into one equivalent rotation: Qu = Q1Q2 Qn where each
unit quaternion Qi represents one of the succession of rotations. Other
operations useful in inertial navigation problems are also presented.
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Vern Chi, Tutorial on Quaternions and Rotations in 3-Space 25 September 1998
1 Historical background
Quaternions were devised by Sir William Hamilton in his extensions of vector algebras
to satisfy the properties of division rings roughly, quotients exist in the same domain as
the operands . In 1 , Art.112, Hamilton notes, ...that for the complete determination,
of what we have called the geometrical QUOTIENT of two Co-initial Vectors, a System of
Four Elements, admitting each separately of numerical expression, is generally required.
... we have already a motive for saying, that `the Quotient of two Vectors is generally a
Quaternion.' "
Quaternions can also be considered to be an extension of classical algebra into the
2 2 2
hypercomplex number domain D, satisfying a property that jpj jqj = jp qj for p; q 2 D
2 . This domain consists of symbolic expressions of n terms with real coe cients where n
may be 1 real numbers , 2 complex numbers , 4 quaternions , 8 Cayley numbers , but
no other possible values proved by Hurwitz in 1898 . Thus, quaternions also share many
properties with complex numbers.
While Hamilton provides geometrical interpretations of various proved properties
throughout 1 , the development itself is fundamentally algebraic, that is, based on the
properties of a particular axiomatic set of symbolic operations. The geometric properties
of quaternions are nevertheless sweeping, the composition of successive rotations through
successive multiplications being just one, albeit an important one.
2 Axiomatic properties of quaternions
Quaternions are de ned as sums of 4 terms of the form Q =1 q1 + i q2 + j q3 + k q4
where q1; q2; q3; q4 are reals, 1 is the multiplicative identity element, and i; j; k are symbolic
elements having the properties:
i2 = ,1; j2 = ,1; k2 = ,1;
ij = k; ji = ,k;
jk = i; kj = ,i;
ki = j; ik = ,j:
Customarily, the extension of an algebra should attempt to preserve the properties of the
operators de ned in the original algebra. Generalizing from the classical algebra of real
and complex numbers to quaternions motivates the following operator rules.
2.1 Addition of quaternions
The addition rule for quaternions is component-wise addition:
P+Q = p1 +ip2+jp3+kp4 + q1 +iq2+jq3+kq4 = p1+q1 +i p2+q2 +j p3+q3 +k p4+q4 :
This rule preserves the associativity and commutivity properties of addition, and provides
a consistent behavior for the subset of quaternions corresponding to real numbers, i.e.,
Pr + Qr = p +0i +0j +0k + q +0i +0j +0k = p + q:
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Vern Chi, Tutorial on Quaternions and Rotations in 3-Space 25 September 1998
2.2 Multiplication of quaternions
The multiplication rule for quaternions is the same as for polynomials, extended by
the multiplicative properties of the elements i; j; k given above. Written out for close
inspection, we have:
PQ = p1 + ip2 + jp3 + kp4 q1 + iq2 + jq3 + kq4
= p1q1 , p2q2 , p3q3 , p4q4 + i p1q2 + p2q1 + p3q4 , p4q3
+ j p1q3 + p3q1 + p4q2 , p2q4 + k p1q4 + p4q1 + p2q3 , p3q2 :
A term-wise inspection reveals that commutivity is not preserved. Associativity is pre-
served, however, the proof being left to the reader. And as desired for the subset of reals,
Pr Qr = pq.
2.3 Conjugates of quaternions
Consistent with complex numbers, let us de ne the conjugate operation on a given
quaternion Q to be,
Q = q1 + iq2 + jq3 + kq4 q1 , iq2 , jq3 , kq4 :
As with complex numbers, note that both Q + Q and QQ are real. Moreover, if we
de ne the absolute value or norm of Q to be,
q
2 2 2 2
jQj = q1 + q2 + q3 + q4; where the positive root is assumed,
2
then apparently QQ = QQ = jQj . The conjugate operation is distributive over addition,
that is, P + Q = P + Q: With respect to multiplication however, PQ = Q P; the proof
of which is left as an exercise to the reader.
3 Other properties of quaternions
The axioms in the previous section completely de ne quaternions in terms of the
desired properties under three basic operations. Many other properties may be proved.
3.1 General properties
Mathematically, the most important property is that the quaternions form a division
ring i.e., quaternion quotients exist .
3.1.1 Division of quaternions
Since multiplication is not commutative, let us derive both a left quotient Q, 1 and a
L
right quotient Q, 1 by de ning the symbolic expression P=Q to be solutions of the following
R
two identities,
QQ, 1 = P; Q, 1Q = P:
L R
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Vern Chi, Tutorial on Quaternions and Rotations in 3-Space 25 September 1998
2
Multiplying both sides of these identities respectively on the left and right by Q=jQj we
have immediately,
QP PQ
Q, 1 = ; Q, 1 = :
L R
2 2
jQj jQj
Thus in general two distinct quotients will occur, however in the special case where P =1,
we have by de nition the multiplicative inverse of a quaternion,
Q
Q, 1 = Q, 1 = Q, 1 =
L R
2
jQj
3.1.2 Quaternion multiplication is distributive over addition
A term-wise expansion of P Q + R = PQ + PR proves this property and is left as
an exercise for the reader.
3.1.3 Unit quaternions
The subspace Qu of unit quaternions which satisfy the condition jQu j =1 have some
important properties. A trivially apparent one is,
Q, 1 = Qu:
u
A less obvious, but very useful one is,
Qu = Rucos + Pusin = cos + Pusin ;
where Ru = 1; 0; 0; 0 is a real unit quaternion, Pu = 0; ip2; jp3; kp4 is a vector unit
quaternion parallel to the vector part of Qu; and is an arbitrary real number. The proof
is straightforward:
2
jQu j = QuQu = Rucos + Pusin Rucos + Pusin
= RuRucos2 + RuPu + PuRu sin cos + PuPusin2
= cos2 + sin2 =1:
At this time, let's interpret as simply quantifying the ratio of the real part to the
magnitude of the vector part of a quaternion. Its geometrical representation as specifying
an angle of rotation will be presented later.
3.2 Vector properties of quaternions
The quaternion Q = q1 + iq2 + jq3 + kq4 can be interpreted as having a real part q1,
and a vector part iq2 +jq3 +kq4 , where the elements fi; j; kg are given an added geometric
interpretation as unit vectors along the x; y; z axes, respectively. Accordingly, the subspace
Qr = q1 +0i +0j+0k of real quaternions may be regarded as being equivalent to the real
numbers, Qr = q. Similarly, the subspace Qv = 0 + iq2 + jq3 + kq4 of vector quaternions
may be regarded as being equivalent to the ordinary vectors, Qv = q iqx + jqy + kqz .
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Vern Chi, Tutorial on Quaternions and Rotations in 3-Space 25 September 1998
3.2.1 Products of real quaternions
The product of real quaternions is real, and the operation is commutative:
Pr Qr = pq = qp = Qr Pr :
Moreover, the operation is associative:
Pr Qr Rr = pq r = p qr = Pr Qr Rr :
3.2.2 Product of a real quaternion with a vector quaternion
The product of a real and a vector quaternion is a vector, and the operation is com-
mutative:
Pr Qv = 0 + p1q2i + p1q3j + p1q4k = 0 + q2p1i + q3p1j + q4p1k = Qv Pr :
3.2.3 Parallel and perpendicular quaternions
Let's call quaternions P and Q parallel P k Q if their vector parts Pcve = P , P =2
and Qcve = Q, Q =2 are parallel; i.e., if R, R = 0; where R = PcveQcve: Similarly, let's
call them perpendicular P ? Q if Pcve and Qcve are perpendicular; i.e. if R + R = 0:
3.2.4 Products of vector quaternions
The product of two vector quaternions has the remarkable property,
Pv Qv = , p2q2 + p3q3 + p4q4 + p3q4 , p4q3 i + p4q2 , p2q4 j + p2q3 , p3q2 k
= ,p q + p q;
where the " and " operators are respectively the dot" and cross" products of classical
vector algebra. This is clearly a general quaternion except in two special cases: if Pv k Qv
the product is a real quaternion equal to ,p q and if Pv ? Qv the product is a vector
quaternion equal to p q.
3.2.5 Product of a unit quaternion and a perpendicular vector quaternion
Properties of this curiously specialized case are useful in understanding how quater-
nions can be used to rotate vectors in 3-space. Let Sv be a vector quaternion, Qu be a
unit quaternion, and Sv ? Qu. Then according to section 3.1.3, we can write,
T = QuSv = cos + sin Pu Sv = cos Sv + sin PuSv;
where Pu k Qu. The rst term is a vector Tv 1 k Sv . Since Sv ? Pu, the second term
must also be a vector Tv 2 ; moreover Tv 2 ? Sv and Tv 2 ? Qu k Pu: Since the product
T is a sum of vectors it must also be a vector, T = Tv . Both Tv 1 and Tv 2 lie in a
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Vern Chi, Tutorial on Quaternions and Rotations in 3-Space 25 September 1998
plane perpendicular to Qu. Thus Tv = Tv 1 + Tv 2 can be geometrically interpreted as a
rotation of Sv by an angle in this plane, i.e., about an axis parallel to Qu.
Now consider the product,
Uv = TvQ, 1 = TvQu = cos Tv + sin Tv Pu = cos Tv , sin Tv Pu:
u
The vector identity Tv Pu = ,PuTv can be used to rewrite this as,
Uv = cos Tv + sin PuTv;
which is another rotation of angle about Qu. The rotation is in the same sense for
these two products, so the operation
Uv = QuSvQ, 1
u
performs a rotation of Sv about Qu by an angle 2 .
3.3 General rotations in 3-space; Reference frames
In section 3.2.5 we saw how the operation QuSv Q, 1 rotated a perpendicular vector
u
Sv about a unit quaternion Qu. Now let's consider how this operation behaves with an
arbitrary vector Vv . We can decompose Vv = Wv + Sv where Wv k Qu and Sv ? Qu: Then,
QuVv Q, 1 = Qu Wv + Sv Q, 1 = QuWvQ, 1 + QuSvQ, 1 = QuWv Q, 1 + Uv ;
u u u u u
where Uv is Sv rotated about Qu by an angle 2 . To evaluate the rst term, note that
since Wv k Qu we can write Wv = zPu; where z is a real number and unit vector Pu k Qu.
Thus,
QuWv Q, 1 = QuzPuQ, 1 = zQuPuQ, 1 = zPuQuQ, 1 = zPu = Wv :
u u u u
That QuPu = PuQu is left as an exercise to the reader. Finally then, we have:
QuVv Q, 1 = Wv + Uv:
u
Geometrically, we interpret this as a rotation of Vv about Qu by an angle of 2 .
Vv
Figure 1:
Arbitrary vector Vv is rotated by 2o
Pu
unit quaternion Qu about a unit
vector Pu k Qu , through angle 2 .
QuVvQu-1
This operation performs the same rotation on all vectors including the unit vectors of a
coordinate system. Therefore, it can be used to rigidly transform the coordinates of any
reference frame into a new frame of di erent orientation. This is a very useful property.
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Vern Chi, Tutorial on Quaternions and Rotations in 3-Space 25 September 1998
3.4 Composition of successive rotations
Let Q1 and Q2 be two unit quaternions representing arbitrary rotations in 3-space as
described in section 3.3. Applying them in succession to a vector Vv ,
, 1
Q2 Q1Vv Q, 1 Q, 1 = Q2Q1 Vv Q, 1 Q, 1 = Q2Q1 Vv Q2Q1 = QiVv Q, 1;
1 2 1 2 i
where the unit quaternion Qi = Q2Q1 is the successive composition of two rotations.
This property generalizes to the composition of any number of rotations. In this reverse
order composition, each successive rotation is relative to the initial reference frame as is
illustrated in Figure 2a.
z y'
y z'
z'' y'''
x x' y''
z'''
x''
x'''
Figure 2a: 90 rotations of a reference frame about the initial x; y; z axes, respectively
Composing a rotation in the forward order, Qc = Q1Q2 : : :, has the e ect of performing
each successive rotation relative to its current reference frame, illustrated in Figure 2b.
z y' y'' x'''
y z' x'' y'''
x x'
z'' z'''
Figure 2b: 90 rotations of a reference frame about its current x; y; z axes, respectively.
4 Strapdown inertial navigation system INS applications
Usage of quaternions by this branch of engineering is common, but the notation often
di ers in some respects from the above, and a more detailed annotation is provided to relate
variables to reference frames. Speci cally in this section, I'll follow the notation used in
Titterton and Weston 3 . Next I'll introduce this notation, then derive expressions for
some of the commonly used operations for INS engineering.
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Vern Chi, Tutorial on Quaternions and Rotations in 3-Space 25 September 1998
4.1 Frames and coordinates
It is often convenient to represent the same physical situation in a number of di erent
frames of reference which may di er by displacement, rotation, and system of coordinates.
Each frame comprises a complete de nition of these parameters. A privileged, inertial
family of frames are those in which physical objects experience no inertial forces.
Cartesian coordinate systems, while not necessary, are generally used as coordiante
systems of the frames discussed in 3 . The non-scalar data types used are vectors, matrices,
and quaternions. Distinct from the data types, are the kinds of variables treated, i.e.,
positions, linear velocities, and angular rates.
4.2 Superscripts and subscripts
Superscripts and subscripts are used to associate certain attributes of a variable with
coordinate frames. On a gross level, the notation is consistent, but there are ne nuances,
depending on the kind of the variable but not its type.
Superscripts are used consistently for all kinds of variables. Si indicates that the
variable S is expressed in the coordinates of the ith frame.
The subtle nuances in the interpretation of subscripts is illustrated next for each of
the three kinds of variable.
i
4.2.1 The position variable Xj
i
Xj represents the position of a point relative to the origin of the jth frame, expressed
in the coordinates of the ith frame. In most cases i = j, and it is common to use implicit
j
notations. Xj and Xj both represent Xj , where the choice of super- or subscript depends
on what is being emphasized.
4.2.2 The velocity variable Vji
The variable Vji represents a velocity taken relative to the jth frame, expressed in
coordinates of the ith frame. The velocity in any frame is not dependent on the location
of the origin of the frame; rather it may be taken relative to the velocity of any xed point
in that frame. Just as for position variables, Vj = Vjj is implied.
4.2.3 The angular rate variable i
jk
The variable i represents an angular rate of rotation of the kth entity relative to the
jk
jth frame, expressed in coordinates of the ith frame. Just as for velocities, the location of
origin of reference frame j is not relevant; rather the angular rate is taken relative to the
angular rate of any xed point in the jth frame. Often, the kth entity is another frame, so
this notation conveniently expresses the angular rate of rotation of the kth frame relative
to the jth.
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Vern Chi, Tutorial on Quaternions and Rotations in 3-Space 25 September 1998
4.3 A vector representation of a rotation
While representing a rotation as a unit quaternion provides useful mathmatical prop-
erties, representing it as a vector is more compact, as well as being intuitively straightfor-
^ ^
ward. Let the vector a = aa represent a rotation where its unit vector a is aligned with
the axis of rotation and its magnitude a is equal to the angle of rotation. From this we
can uniquely construct a unit quaternion,
^
A = cos a=2 + sin a=2 a;
^
such that ARv A performs a rotation of Rv about a by an angle equal to a.
4.4 Time derivative of a rotation quaternion
Assume a b-frame that is rotating with respect to a reference n-frame. At any instant,
let the unit quaternion Q represent a rotation of a constant vector Cb in the b-frame into
a vector Cn = QCbQ in the n-frame. Since this rotation progresses continuously in time,
_
Q = Q t has a time derivative Q which we now derive.
Applying the derivative of products rule to Cn, we have
b
_
_ _ _ _ _ _
Cn = QCb Q + QCb Q = QCb Q + Q C Q = QCb Q , QCb Q:
In the vector formulation of classical mechanics 4 , a vector p is used to represent
_ _
an instantaneous rate of rotation, c = p c; where c is an arbitrary vector, and c is its
variation with time. In the n-frame, a quaternion formulation of this equation is,
_
Cn = PnCn , PnCn =2:
Since c is arbitrary, this equation can be applied to an entire coordinate system, and we
n
can represent the rate of rotation of the b-frame in the n-frame as Pn = Pnb:
n n
_ _
Equating the expressions for Cn, we have, QCbQ = PnbCn=2 = Pnb QCbQ =2; or
_
Q = Pn Q=2: It is often the case that the rotational rate is measured in the rotating
nb
n b
b-frame, so we can substitute the identity Pnb = QPnbQ; to obtain
b
_
Q = QPnb=2:
4.5 Interpolation between rotations
Given two arbitrary rotations Q10; Q20 from the 0-frame to the 1 and 2-frames respec-
tively, geometric intuition would suggest an interpolation between them would be along
the single rotation Q21 taking the 1-frame into the 2-frame. In fact, this can be visualized
as a great circle on a unit 4-sphere which connects the images of Q10 and Q20. This great
circle lies in a plane normal to Q21 cve . The locus of points lying between Q10 and Q20 on
the great circle corresponds to a rotational angle of between 0 and cos, 1 Q21 cre .
^
Now Q20 = Q10Q21 Q21 = Q10Q20: Let Q21 = cos + u21sin ; whence
21 21
^
we can calculate = cos, 1 Q21 cre and u21 = Q21 cve=sin :
21 21
^
Given 3 0 we construct Qx1 = cos + u21sin ; from which
x1 x1 21 x1 x1
we calculate the interpolated rotation,
Qx0 = Q10Qx1:
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Vern Chi, Tutorial on Quaternions and Rotations in 3-Space 25 September 1998
5 References
1 Sir William Rowan Hamilton, Elements of Quaternions," Third Edition, Chelsea
Publishing Co., New York, 1963.
2 I. L. Kantor and A. S. Solodovnikov, Hypercomplex Numbers," English translation,
Springer-Verlag, New York, 1989.
3 D. H. Titterton and J. L. Weston, Strapdown inertial navigation technology," Peter
Peregrinus, Ltd., IEE, Stevenage, UK, 1997.
4 Herbert Goldstein, Classical Mechanics," Addison-Wesley, Reading MA, 1950, pp.
132 134.
UNC Chapel Hill Department of Computer Science page 10
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