Q__uaternion
Math and Relationships in Flight Simulation__

Figure 1, at right, coupled with the equations shown following relate the various system conversions:

- Euler to Matrix
- Matrix to Euler
- Quaternion to Matrix
- Matrix to Quaternion
- Euler to Quaternion
- Quaternion to Euler

[The information presented here is derived from a diagram by P.M. O'Neill, September 1981, and from a NASA training manual on quaternions]