Improvement to Quaternion-based Model of Rigid Aircraft Motion

Existing quarternion-based model of rigid aircraft motion does not totally eliminate eular angles. The transformation between wind- and body-axes coordinate systems, especially for the case of near-vertical flight, was deduced. A new model of rigid aircraft motion, in form of vectors, eular angles totally eliminated, was proposed. The model can be easily realized by object-oriented language and used in near-vertical flight simulation.