@article{RM_2007_62_3_a6,
     author = {J. Gibbon},
     title = {Orthonormal quaternion frames, {Lagrangian} evolution equations, and the three-dimensional {Euler} equations},
     journal = {Trudy Matematicheskogo Instituta imeni V.A. Steklova},
     pages = {535--560},
     publisher = {mathdoc},
     volume = {62},
     number = {3},
     year = {2007},
     language = {en},
     url = {http://geodesic.mathdoc.fr/item/RM_2007_62_3_a6/}
}