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What does the quaternion integration algorithm use to control error?

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What does the quaternion integration algorithm use to control error?

(a) Linearization constraint

(b) Normalization constraint

(c) Differential constraint

(d) Integral constraints

I had been asked this question by my college director while I was bunking the class.

The above asked question is from Strap Down and Gimballed Inertial Navigation Systems topic in division Satellite Radio Navigation  & Inertial Navigation of Avionics

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Correct option is (b) Normalization constraint

Explanation: Quaternion integration algorithms usually make use of the normalization constraint to control error growth in the computations. The sum of the squares of the quaternion elements are subtracted from unity to yield the normalization error.

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