diff --git a/libraries/AP_NavEKF3/AP_NavEKF3.cpp b/libraries/AP_NavEKF3/AP_NavEKF3.cpp
index ef4aaffd81..41f248c928 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3.cpp
@@ -1067,6 +1067,17 @@ void NavEKF3::getRotationBodyToNED(Matrix3f &mat) const
 }
 
 // return the quaternions defining the rotation from NED to XYZ (body) axes
+void NavEKF3::getQuaternionBodyToNED(int8_t instance, Quaternion &quat) const
+{
+    if (instance < 0 || instance >= num_cores) instance = primary;
+    if (core) {
+        Matrix3f mat;
+        core[instance].getRotationBodyToNED(mat);
+        quat.from_rotation_matrix(mat);
+    }
+}
+
+// return the quaternions defining the rotation from NED to XYZ (autopilot) axes
 void NavEKF3::getQuaternion(int8_t instance, Quaternion &quat) const
 {
     if (instance < 0 || instance >= num_cores) instance = primary;
diff --git a/libraries/AP_NavEKF3/AP_NavEKF3.h b/libraries/AP_NavEKF3/AP_NavEKF3.h
index 0461173f58..923d7bc0e9 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3.h
+++ b/libraries/AP_NavEKF3/AP_NavEKF3.h
@@ -179,6 +179,9 @@ public:
     void getRotationBodyToNED(Matrix3f &mat) const;
 
     // return the quaternions defining the rotation from NED to XYZ (body) axes
+    void getQuaternionBodyToNED(int8_t instance, Quaternion &quat) const;
+
+    // return the quaternions defining the rotation from NED to XYZ (autopilot) axes
     void getQuaternion(int8_t instance, Quaternion &quat) const;
 
     // return the innovations for the specified instance