A Critique on "On Finite Rotations and the Noncommutativity Rate Vector"

Understanding 3D rigid rotation and implementing inertial navigation algorithm [2-4]. Our group employed the so-called screw vector to consider rotation and translation simultaneously in the dual quaternion based inertial navigation algorithm design [5]. Therein, the screw vector rate was derived by the same simple method of the rotation vector rate [2, 6]. In the commented paper [1], the Bortz equation was generalized to any dimension using geometry algebra. The benefit is owed to the overwhelming property of geometry algebra [7]. Note that dual quaternion is an equivalent subset of geometry algebra in 3D space and is easier to comprehend for the inertial navigation community since quaternion has been well known in this field for several decades.