Dynamics of Rigid bodies, conversion of Quaternion

No wikipedia.
third person style
No mathematical proofs of both, but only limited number of equations when clarification is very necessary to make the reader understand!
I need 300 words on literature review
800 words includes: discussing Quaternion and Euler representation for aircraft attitude. 
how to convert from quaternion to Euler.
when Quaternion is suitable, when Euler is suitable? as what what application each one is suitable for?
evaluate which one is better for an aircraft, choose one and justify why.
no diagrams 
no pictures
no equations
no tables


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