Zastosowanie kwaternionów w algorytmach wyznaczania orientacji przestrzennej obiektów ruchomych

The effective algorithm of spatial attitude determining of moving objects on the base of angnlar velocity components has been presented. This algorithm is faster and more accurate than others, and it allows, to determine orientation at the arbitrary spatial attitude of an object. These advantages have been achieved by the use of quaternions. The algorithm could be used for the inertial navigation and reference systems.