, IEEE standard for floating-point arithmetic, Revision of IEEE 754-2008), pp.1-84, 2019.

J. Burkardt, Quaternions: Quaternion arithmetic. Available in C and Fortran90, 2018.

R. Eisele, Quaternion.js, javascript library of quaternions, 2016.

O. D. Faugeras and M. Hebert, The representation, recognition, and locating of 3-d objects, The International Journal of Robotics Research, vol.5, issue.3, pp.27-52, 1986.

J. Flamant, P. Chainais, and N. L. Bihan, A complete framework for linear filtering of bivariate signals, IEEE Transactions on Signal Processing, vol.66, issue.17, pp.4541-4552, 2018.
URL : https://hal.archives-ouvertes.fr/hal-02017824

B. P. Flannery, W. H. Press, S. A. Teukolsky, and W. T. Vetterling, Numerical Recipes in C, 1992.

. Cnes-(french, National Centre for Space Studies), 2019.

P. R. Girard, The quaternion group and modern physics, European Journal of Physics, vol.5, issue.1, pp.25-32, 1984.

W. R. Hamilton, Lectures on quaternions. Hodges and Smith, p.1853

C. Jeannerod, N. Louvet, and J. Muller, Further analysis of Kahan's algorithm for the accurate computation of 2 × 2 determinants, Mathematics of Computation, vol.82, issue.284, pp.2245-2264, 2013.

W. Kahan, Branch cuts for complex elementary functions, The State of the Art in Numerical Analysis, pp.165-211, 1987.

W. Kahan, Lecture notes on the status of IEEE-754, 1997.

D. E. Knuth, The Art of Computer Programming, vol.2, 1998.

J. B. Kuipers, Quaternions and rotation sequences, Proceedings of the International Conference on Geometry, Integrability and Quantization, pp.127-143, 2000.

O. Møller, Quasi double-precision in floating-point addition, BIT, vol.5, pp.37-50, 1965.

J. Muller, N. Brunie, F. De-dinechin, C. Jeannerod, M. Joldes et al., Handbook of Floating-Point Arithmetic, Birkhäuser Boston, 2018.
URL : https://hal.archives-ouvertes.fr/ensl-00379167

Y. Nievergelt, Scalar fused multiply-add instructions produce floatingpoint matrix arithmetic provably accurate to the penultimate digit, ACM Transactions on Mathematical Software, vol.29, issue.1, pp.27-48, 2003.

T. Ogita, S. M. Rump, and S. Oishi, Accurate sum and dot product, SIAM Journal on Scientific Computing, vol.26, issue.6, pp.1955-1988, 2005.

D. M. Priest, Efficient scaling for complex division, ACM Transactions on Mathematical Software, vol.30, issue.4, 2004.

O. Rodrigues, Des lois géométriques qui régissent les déplacements d'un système solide dans l'espace, et de la variation des coordonnées provenant de ses déplacements considérés indépendamment des causes qui peuvent les produire (in french), J. de Mathématiques Pures et Appliquées, vol.5, pp.380-440, 1840.

C. Rucker, Integrating rotations using nonunit quaternions, IEEE Robotics and Automation Letters, vol.3, issue.4, pp.2979-2986, 2018.

S. Sarabandi and F. Thomas, Accurate computation of quaternions from rotation matrices, International Symposium on Advances in Robot Kinematics, pp.39-46, 2018.

S. Sarabandi and F. Thomas, A Survey on the Computation of Quaternions From Rotation Matrices, Journal of Mechanisms and Robotics, vol.11, issue.2, pp.3-2019

K. Shoemake, Animating rotation with quaternion curves, Proceedings of the 12th Annual Conference on Computer Graphics and Interactive Techniques, SIGGRAPH '85, pp.245-254, 1985.

C. Song, G. Islas, and K. Schilling, Inverse dynamics based model predictive control for spacecraft rapid attitude maneuver. IFAC-PapersOnLine, 21st IFAC Symposium on Automatic Control in Aerospace ACA, vol.52, pp.111-116, 2019.