For questions about the quaternions: a noncommutative four dimensional division algebra over the real numbers.

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9
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450 views

Using Padé approximants for the quaternion exponential

On a lark, I wanted to know if one can use Padé approximants to compute the exponential $\exp(z)$ of a quaternion $z=a+b\mathbf{i}+c\mathbf{j}+d\mathbf{k}$. Since Mathematica has a package meant for ...
7
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0answers
90 views

Does the exceptional Lie algebra $\mathfrak{g}_2$ arise from the isometry group of any projective space?

I learned from Baez's notes on octonions that the classical simple Lie algebras can be identified with the Lie algebras of isometry groups of projective spaces over $\mathbb{R}, \mathbb{C}$ and ...
5
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62 views

Hamilton's letter to his son

I'm looking for a better reference on this letter from Hamilton to his son where he wrote about his discovering on Quaternions. I'd like to read, if it is possible, a scanned version of the letter. ...
3
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0answers
14 views

Degree of quaternion product composed with two maps of $S^3$

Let $S^3$ denote the unit quaternions with multiplication $\mu:S^3\times S^3\rightarrow S^3$.Show that if $f_1,f_2:S^3\rightarrow S^3$ are given maps,that the composition ...
3
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0answers
33 views

Rotors/Quaternions: double reflection question

I am trying to learn/understand quaternion. I found this reference (among many others): http://www.geometricalgebra.net/quaternions.html It states (see attached screenshot of that page), that to ...
3
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0answers
22 views

Constructing a coset representative of $SO(n,4)/(SO(n) \times SO(4))$.

In $\mathcal N = 2$ Supergravity the scalar components of Hypermultiplets form a quaternionic Kaehler manifold. Only isometries of this so-called target manifold can be gauged. I am interested in ...
3
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0answers
543 views

Tensor product of the spaces of quaternions and complex numbers

Let $ \mathbb{H} $ be the ring of quaternions and make the vector space $A = \mathbb{H} \otimes \mathbb{C}$ into a ring by defining $$(a \otimes w)(b \otimes z) = (ab \otimes wz) $$ for $a,b ...
3
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0answers
194 views

Fractal derivative of complex order and beyond

Is there some precise definition of "complex (fractal) order derivative" for all complex number? I am aware of the Riemann-Liouville fractional definition given here: Complex derivative but I would ...
3
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0answers
120 views

The geometry of $\operatorname{PSO}(4)$ and the quaternions

Question: Given a twist of the projective space, how do I find unit quaternions that represent it? Backgroud and what do I mean: Following Conway & Smith's On Quaternions and Octonions, every ...
2
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0answers
39 views

Differences between Quaternion integration methods

I've implemented a Quaternion Kalman filter and i have the choice between multiple way to integrate angular velocities. The goal is to predict futur orientation $q^{n+1}$ from current orientation ...
2
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0answers
38 views

Is there a way to prove vector triple product from quaternion multiplication?

For pure imaginary quaternions $u, v, w$, is there a way to prove the vector triple product $u\times(v\times w) = v(u\cdot w) - w(u\cdot v)$ from the relation: $$uv = -u\cdot v + u\times v \text{ for ...
2
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0answers
69 views

Is there a residue theorem for Quaternions?

One of Complex Analysis's biggest contributions is the residue theorem. Is there a similar theorem in the field of Quaternion Analysis? (A glance at Wikipedia didn't pull anything that caught my ...
2
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0answers
89 views

Are quaternions used in tensor analysis?

At the moment I am learning tensor analysis. In the books I study (civil engineering/mechanical books on tensors) there is a lot written about rotation matrices/tensors, however quaternions are not ...
2
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0answers
50 views

Factoring quaternion into three parts

I am faced with a problem where I have a quaternion which represents rotation and three arbitrary axis about which I can make rotations, thus three unit vectors. What I would like to know is angles ...
2
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0answers
129 views

Jacobian Matrix of 6DOF Body (with IMU)

I am trying to derive the analytical Jacobian for a system that is essentially the equations of motion of a body (6 degrees of freedom) with gyro and accelerometer measurements. This is part of an ...
2
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0answers
75 views

Explaining Spin(3)

I’m going to discuss the action of Spin(3) on Euclidean vectors. This thing has several alternative names: “versors”/“rotation quaternions”, “quaternionic adjoint representation”, “quaternion action ...
2
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0answers
59 views

Strong Approximation for adelic quaternionic groups

Let $H$ be a definite quaternion algebra defined over $\mathbb{Q}$, unramified at $p$, and ramified at $\infty$. Denote by $D$ the multiplicative group $H^\times$ divided by its center. In this ...
2
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0answers
47 views

Inner product space or Hilbert space of Quaternionic Functions

In what ways can you define an inner product, $<f,g>$, to create an inner product space or Hilbert space on the set of quaternionic functions $f:\mathbb{H} \rightarrow \mathbb{H}$?
2
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65 views

Does Shor's algorithm work for noncommutitive or nonassociative algebras?

Shor's algorithm is said to solve the hidden subgroup problem for finite Abelian groups, at least according to the Wikipedia article I read. This means that it can be used to solve factoring or ...
2
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0answers
36 views

Computing a particular finite set of quaternion matrices.

Let $B = \left(\frac{-1,-11}{\mathbb{Q}}\right)$ be a choice of quaternion algebra ramifying at $11$ and consider the maximal order ...
2
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0answers
175 views

Understanding quaternions and axis angle representations

I have a sensor that gives me a quaternion. I convert the quaternion to an axis-angle representation using http://www.euclideanspace.com/maths/geometry/rotations/conversions/quaternionToAngle/. When I ...
2
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0answers
574 views

How to convert Yaw, Pitch, Roll and Acceleration value to cartesian system?

I am having readings of Yaw, pitch, Roll, Rotation matrix, Quaternion and Acceleration. These reading are taken with frequency of 20 (per second). They are collected from the mobile device which is ...
2
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0answers
406 views

$4D$ rotations and quaternions

I have a question about $4D$ rotation: I programmed a little $4D$ game and I used the classical hyper-sphere coordinates, to rotate a vector. It works, but it has some problems: (just for clarity I ...
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0answers
51 views

Why does rotation by a quaternion require multiplying two times?

Given a vector $p$, to rotate it by a quaternion $q$, we use the formula: $$p' = q p \hat{q}$$ where $\hat{q}$ is the conjugate of $q$. But if we use rotational matrices, then it's just $$p' = ...
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0answers
35 views

Quaternion Kalman Filter Process Noise

I'm implementing a extended Kalman filter using quaternions. I've extended this paper to deal with my custom observations. My state space is analogous to the one in the previous paper : $ ...
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0answers
33 views

Gimbal lock easier to control with quaternions?

Using quaternions doesn't resolve the issue of gimbal lock, but make is more controllable... how come? They use less memory, and are commutable, and provide an smooth rotation along nonlinear ...
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0answers
47 views

How to get the rotation angle about a fixed direction when the object is rotating?

I have posted a question How can I get horizontal rotation angle whatever device orientation? Please see the origin post to get the image of the direction of x, y and z axis. pitch: a pitch is a ...
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0answers
18 views

Ring Identities

Suppose we had a finite group G with elements $e_0, e_1 ... e_k$ Then consider objects from the set $$ M = { a_0 e_0 + a_1 e_1 + a_2 e_2 ... a_n e_k }, a_i \in \Bbb{R}$$ whereas $$ m + n, (m,n ...
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0answers
68 views

Why are quaternions (over the field of complex numbers) two-rowed matrix algebras?

I've enjoyed D.E. Littlewood's Skeleton Key to Mathematics up to chapter 8. After chapter 8, increasingly more statements are left without proof and I'm lost. He writes [...]it can be shown ...
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0answers
24 views

Unwind quaternion multiplication

I am trying to understand quaterions division. Imagine I have the following equation, where every member is a quaternion: $$Q = (qq_1)(qq_2)...(qq_n)$$ I suppose that, if I maintain the order of ...
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0answers
69 views

Slerp formula interpretation

I have a problem about spherical linear interpolation, or slerp for short. As linked, Wikipedia gives the following formula for an interpolation between quaternions ...
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0answers
42 views

Grothendieck group of a quaternion algebra

Let $\mathcal{O}$ be a maximal order in a quaternion algebra over a number field. Then there is a notion of similarity of (left) $\mathcal{O}$-modules, and similarity classes. The set $S$ of such ...
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0answers
85 views

How can I transform coordinate systems based on quaternion data?

I have a single rigid body object, and its orientations in quaternion with respect to two coordinate systems, each is called original and prime, respectively; therefore, I have two quaternions ...
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0answers
33 views

Division algebra over 2-adic fields

Let $D$ be the quaternion division algebra and $O$ be a maximal $\mathbb{Z}$-order in $D$, say the Hurwitz quaternion integers. It can be proved that $D$ and $O$ split at odd primes, that is ...
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0answers
63 views

Clifford algebra and Spin group of 4-dimensional Euclidean space

I’m seeking for a straightforward construction of well-known $\mathrm{Spin}(4) = \mathrm{Spin}(3)\times\mathrm{Spin}(3)$ isomorphism using geometric algebra-based definition of “Spin”, without ...
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0answers
113 views

Has the Riemann Hypothesis been generalized to the Octonions and the Quaternions?

I've noticed that it uses imaginary numbers. I know that sometimes when I have too few dimensions like (-1)^n, dots show where I might expect lines due to imaginary numbers. So perhaps there is a ...
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0answers
59 views

Determinant over $\mathbb{C}$ of an $\mathbb{H}$-linear mapping.

Let $V = \mathbb{C}^n$ and let let $u$ be a $\mathbb{C}$-linear endomorphism of $V$. Then $u$ can also be considered as an $\mathbb{R}$-linear mapping $u_{\mathbb{R}}$. It is well known that $$\det ...
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0answers
65 views

Inverse of a $2\times2$ matrix with noncommuting entries

I want to invert a $2 \times 2$ matrix with quaternionic entries. Since non-commutativity, the determinant is not well defined and I've seen in http://en.wikipedia.org/wiki/Quaternionic_matrix that, ...
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0answers
43 views

A corollary of Niven

Please proof corollary of Niven: For $a \in D\backslash R$, the equation ${t^n} = a$ has exactly $n$ solutions in $D$, all of which lie in $R\left( a \right)$, in there $R$ is a real-closed field and ...
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0answers
175 views

3D rotation by a complex angle around a complex axis.

Context In electromagnetism, it is common to meet complex angles. Snell's law can produce them (with metals and/or total internal reflection), and when we plug them into Fresnel's equations, the ...
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0answers
473 views

Quaternions: Rotation Matrix Derivative

Given Data and Specifications in Question If $q(t)$ represents the position vector as result of rotation with an angular velocity $\omega(t)$ in quaternions, then you can make the relationship ...
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0answers
181 views

Quaternion Calculus

I was reading a note on Quaternion(Link) and I am happened to read a section regarding a solution of quaternion differential equation. I am putting that segment as picture format here for more ...
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0answers
38 views

Cross product uniqueness

I have following relationship between vectors $A_1'(t)=\psi(t)\times A_1(t) \tag1$ $A_2'(t)=\psi(t)\times A_2(t) \tag2$ $A_3'(t)=\psi(t)\times A_3(t) \tag3$ Given Data " ' " means derivative ...
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0answers
20 views

Find path between two attitudes subject to body rate constraints

Here's my problem. I have an initial orientation and angular velocity of a body and a final orientation and velocity occurring at a specified time in the future. I have control over how input ...
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0answers
76 views

can quaternions be expressed in terms of tensor products?

QUESTIONS does this arithmetic check out? if so, is there a geometric interpretation? note: my aim was to try to find a very simple but non-trivial example which might help me begin to understand ...
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0answers
47 views

Identifying $\mathbb H^n$ with $\mathbb C^{2n}$

Let $X \in M_n(\mathbb H)$ (Hermetian field). It is possible to make $\mathbb H^n$ into a $2n$-dimensional vector space over $\mathbb C$, for example, by embedding $\mathbb C$ into $\mathbb H$ as ...
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0answers
170 views

Prove that $Q$ is a group under quaternion multiplication

Consider the subset $Q$ of the quaternions defined by $$Q=\{1,-1,i,-i,j,-j,k,-k\}.$$ Show that $Q$ is a group under quaternion multiplication. I know to prove something's a group, you must show ...
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0answers
452 views

Transform a vector to global frame and ignore rotation about one axis or Full tilt compensated magnetometer

Good day everyone. I would like to lock the rotation about one specified axis. For example, let`s imagine that we have a quaternion which desribes the orientation of our rigid body relative to the ...
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0answers
73 views

Integral elements with predescribed properties in quaternion orders

In the course of doing some calculations I have found myself wanting to answer the following question: Let $D/\mathbb{Q}$ be a quaternion algebra ramified at a prime $p$ and at $\infty$ and let ...
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0answers
63 views

Plücker coordinates of the Clifford parallels

Let $$q=\cos\theta+(x_q\textbf{i}+y_q\textbf{j}+z_q\textbf{k})\sin\theta$$ be a unit quaternion parameterised by $\theta\in\mathbb{R}$, where $(x_q,y_q,z_q)$ is fixed and $x_q^2+y_q^2+z_q^2=1$, and ...