Attitude Quaternion (0x82,0x03)
| Description |
4x1 vector representation of the quaternion describing the orientation of the device with respect to the NED local-level frame. |
|
| Notes |
This quaternion satisfies the following relationship:
Where: |
|
| Parameter Name | Data Type | Description |
| Field Length | u8 | 4 |
| Descriptor | u8 | 0x03 |
| Q | quatf | Quaternion elements  |
| Valid Flags | u16 | 0 - invalid, 1 - valid |
is the quaternion describing the rotation. 
and 
is a 3-element vector expressed in the NED frame.
and 
is a 3-element vector expressed in the vehicle frame.