Alpatov, Anatolii, Victor Kravets, Volodymyr Kravets, and Erik Lapkhanov. “Representation of the Kinematics of the Natural Trihedral of a Spiral-Helix Trajectory by Quaternion Matrices”. Transactions on Engineering and Computing Sciences 9, no. 4 (July 29, 2021): 18–29. Accessed April 25, 2024. https://journals.scholarpublishing.org/index.php/TMLAI/article/view/10523.