quaternions to direction cosine matrix

Getting the direction cosine matrix (DCM) from quaternions is given in equation 1

$\displaystyle \left[ \begin{array}{ccc} A_{11} & A_{12} & A_{13} \\ A_{21} & A_...
..._4) & 2(q_2 q_3 - q_1 q_4) & -q_1^2 - q_2^2 + q_3^2 + q_4^2 \end{array} \right]$ (1)

(proof of this conversion to come)



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