A novel way of using quaternions for the orientation of devices tracking system. This approach is a departure from the usual approach of representing rotation in terms of Azimuth and Elevation. The quaternion approach might seem complicated and extensive for a simple task for ground rotation, but it turns out to be an indispensable tool in full 3D spatial rotation in space. An example application of applying quaternion control to a spatial rotating body is also discussed in the document.
solar tracking, quaternions, quaternion control
