function Wx = quatWx(rates)% This will create the quaternion strapdown matrix% (4x4) from a row vector of body rates, [p q r].%%	Wx = quatWx([p q r])p = rates(1);q = rates(2);r = rates(3);Wx = [0 -p/2 -q/2 -r/2;...      p/2 0 r/2 -q/2;...      q/2 -r/2 0 p/2;...      r/2 q/2 -p/2 0];