I am working on a problem where i am using quaternions to put meaured accelerations into the global reference frame (North-East-Down). When I rotate the acceleraion vectors by the conjugate of the quaternions it does this perfectly. However, what if i wanted to keep the Heading (the yaw, or the k component on the quaterion) the same and not rotate my accelerations about this axis as to not change the heading? How would i go about doing this? is this possible?
thank you for your input