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On finite rotations and the noncommutativity rate vector

This paper reformulates the Bortz Equation in Geometric Algebra and gives both a new interpretation of why it is desirable to work with bivectors in rotation calculations within inertial navigation and a compact derivation. Qualcomm, California are interested in these algorithms [Dr-Ing Stephane Beauregard, ID_in_audit_file@ieee.org]. Dr Beauregard's interest is in investigating whether the techniques set out in this paper and expanded in Liam Candy's thesis can speed up calculations in inertial units for wearable sensor systems. He is in the process of testing this out.