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	クォータニオン姿勢	AHRS
分野	航空宇宙工学	航空宇宙工学
系統	Process / pipeline	Process / pipeline
提唱年	1843	1940s
提唱者	William Hamilton (quaternions), aerospace engineers	Aviation heritage
種類	Mathematical framework	System
原典	Shuster, M. D. (1993). A survey of attitude representations. Journal of the Astronautical Sciences, 41(4), 439–517.	Savage, P. G. (2007). Strapdown Inertial Integration Technology (2nd ed.). Strapdown Associates.
別名	quaternion representation, attitude kinematics, q-vector	AHRS system, attitude reference, heading sensor
関連	3	3
概要	Quaternion attitude representation is a mathematical framework for describing three-dimensional rotations using four-dimensional vectors (quaternions). Superior to Euler angles due to the absence of singularities (gimbal lock), quaternions are the standard representation in modern attitude estimation, spacecraft control, and 3D computer graphics. Quaternion kinematics elegantly expresses how attitude evolves under angular velocity measurements from gyroscopes.	An Attitude Heading Reference System (AHRS) is a complete inertial navigation subsystem that estimates and outputs the three-dimensional orientation (attitude) and heading of a vehicle or platform. AHRS combines measurements from accelerometers, gyroscopes, and often magnetometers through sensor fusion algorithms (typically Kalman filters or complementary filters) to provide a drift-free, fast attitude estimate. AHRS is standard in aviation, marine navigation, and modern autonomous systems.