quaternion has two definitions Hamilton and JPL

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quaternion has two definitions Hamilton and JPL

definition

$\mathbf q = q_o + q_1i+q_2j+q_3z$

for Hamilton: $i j k = - 1$

for JPL: $i j k = 1$

so:

for Hamilton:
$\mathbf R_{Hamilton} =\left[\begin{array}{ccc} 1-2 q_{2}^{2}-2 q_{3}^{2} & 2 q_{1} q_{2}-2 q_{0} q_{3} & 2 q_{1} q_{3}+2 q_{0} q_{2} \\ 2 q_{1} q_{2}+2 q_{0} q_{3} & 1-2 q_{1}^{2}-2 q_{3}^{2} & 2 q_{2} q_{3}-2 q_{0} q_{1} \\ 2 q_{1} q_{3}-2 q_{0} q_{2} & 2 q_{2} q_{3}+2 q_{0} q_{1} & 1-2 q_{1}^{2}-2 q_{2}^{2} \end{array}\right]$
for JPL:
$\mathbf R_{JPL} =\left[\begin{array}{ccc} 1-2 q_{2}^{2}-2 q_{3}^{2} & 2 q_{1} q_{2}+2 q_{0} q_{3} & 2 q_{1} q_{3}-2 q_{0} q_{2} \\ 2 q_{1} q_{2}-2 q_{0} q_{3} & 1-2 q_{1}^{2}-2 q_{3}^{2} & 2 q_{2} q_{3}+2 q_{0} q_{1} \\ 2 q_{1} q_{3}+2 q_{0} q_{2} & 2 q_{2} q_{3}-2 q_{0} q_{1} & 1-2 q_{1}^{2}-2 q_{2}^{2} \end{array}\right]$
so actually there is :(Conversion of the two kinds quaternions)
$\mathbf q_{Hamilton} ( q_o + q_1i+q_2j+q_3z)\leftrightarrow \mathbf q_{JPL}(q_o - q_1i-q_2j-q_3z)$