How To Compute Angular Velocity Using Numpy-quaternion

I have a time series, where each measurement is a quaternion. I would like to estimate angular velocity between two measurements. At the moment I use pretty straightforward approac

Solution 1:

The main equation is :

So I'd recommend:

delta_q = normalize_quaternion(quaternion_product(orient_cur, get_conjugate(orient_prev)))
delta_q_len = np.linalg.norm(delta_q[1:])
delta_q_angle = 2*np.arctan2(delta_q_len, delta_q[0])
w = delta_q[1:] * delta_q_angle * fs

where delta_q=np.array([qw, qx, qy, qz])