@inbook{Kuipers+1999+141+154,
url = {https://doi.org/10.1515/9780691211701-009},
title = {Chapter 6. Quaternion Geometry},
booktitle = {Quaternions and Rotation Sequences},
booktitle = {A Primer with Applications to Orbits, Aerospace and Virtual Reality},
author = {J. B. Kuipers},
publisher = {Princeton University Press},
address = {Princeton},
pages = {141--154},
doi = {doi:10.1515/9780691211701-009},
isbn = {9780691211701},
year = {1999},
lastchecked = {2026-05-10}
}