Fig. 1. 2.2 Quaternion algebra = = = = 1 (1) , ( , , ) = ( , , ) = + = + + + k (2) = + , = ( , , ) = + , = ( , , ) Table 1 Table 1. + = ( + ) + + = ( + ) + ( + ) + ( + ) + ( + ) (3) = + + + × (4) = ( )