Answer Happy

• A drone IMU sensor measures the angular velocity of the drone in the body frame. At time t = 0, the initial quaternion is q(0) = [1,0,0,0]T. If the angular velocity of the drone stays constant over one second as Bw = [0, 0, 1, determine q(t) at t = 1. q(1) [0.7, 0, 0, 0.7] T q(1) ≈ [1, 0, 0, 0.7]™ q(1) [0, 0.7,0,0.7]T q(1) ≈ [1, 0.7, 0, -0.7] q(1) ~≈ [1, −0.7, 0, -0.7] q(1) ≈ [-0.7, 0, 0, 0.7] T