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

 - Princeton  Princeton University Press  2002 
 - xxii, 371p. Bibl. Index. 
<br/><br/>  
<br/><br/><label>ISBN: </label>0691102988 
<br/><br/><label>Dewey Class. No.: </label>512.7  / K96.QR