Quaternion Algebra

  • John Vince


Chapter 5 defines a quaternion and its associated algebra. Definitions and examples are given for adding, subtracting and multiplying quaternions. Further sections introduce pure, real and unit quaternions and how to conjugate, normalise and invert them. The matrix form of a quaternion is described in some detail, as this is useful for implementing rotations in space. The chapter summarises key formulae and contains some useful worked examples.


Division Algebra Axial Vector Quaternion Algebra Quaternion Unit Quaternion Matrix 
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© Springer-Verlag London Limited 2011

Authors and Affiliations

  • John Vince
    • 1
  1. 1.Bournemouth UniversityBournemouthUK

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