Kuipers, Jack B. <br/><br/>
Quaternions and rotation sequences :  a primer with applications to orbits, aerospace, and virtual reality 

 - Princeton :  Princeton University Press,  ©1999. 
 - xxii, 371 p. :  ill. ;  25 cm (Paperback) 
<br/><br/>Includes bibliographical references and index. 
<br/><br/><label>ISBN: </label>9780691102986 
<br/><br/><label>Subjects--Index Terms: </label>Quaternions Algebra Drehgruppe Quaternionen Spharische Trigonometrie 
<br/><br/><label>Dewey Class. No.: </label>512.9434  / KUI / B