Sarabandi’s Method

ahrs.common.orientation.sarabandi(dcm: ndarray, eta: float = 0.0) → ndarray

Quaternion from a Direction Cosine Matrix with Sarabandi’s method [Sarabandi].

Parameters:

• dcm (numpy.ndarray) – 3-by-3 Direction Cosine Matrix.

• eta (float,d efault: 0.0) – Threshold.

Returns:

q – Quaternion.

Return type:

numpy.ndarray