四元数基础

1 四元数

	实数	复数	四元数（超复数）
	${\lambda }_0$	${\lambda }_0+{\lambda }_{1}i$	${\lambda }_0+{\lambda }_{1}i+{\lambda }_{2}j+{\lambda }_{3}k$
实部	${\lambda }_0$	${\lambda }_0$	${\lambda }_0$
虚部	0	${\lambda }_{1}i$	${\lambda }_{1}i+{\lambda }_{2}j+{\lambda }_{3}k$

四元数	$\Lambda ={\lambda }_0+{\lambda }_{1}i+{\lambda }_{2}j+{\lambda }_{3}k$
单元	$1=1+0i+0j+0k$
零元	$0=0+0i+0j+0k$
负元	$-\Lambda =-{\lambda }_0-{\lambda }_{1}i-{\lambda }_{2}j-{\lambda }_{3}k$
共轭元	${\Lambda }^{\ast }={\lambda }_0-{\lambda }_{1}i-{\lambda }_{2}j-{\lambda }_{3}k$
逆元	${\Lambda }^{-1}=\frac{1}{{\lambda }_0+{\lambda }_{1}i+{\lambda }_{2}j+{\lambda }_{3}k}=\frac{{\Lambda }^{\ast }}{{\lambda }_0^2+{\lambda }_1^2+{\lambda }_2^2+{\lambda }_3^2}=\frac{{\Lambda }^{\ast }}{||\Lambda ||}$
范数或模	$$\begin{gathered} N=\sqrt{||\Lambda ||}=\sqrt{{\lambda }_0^2+{\lambda }_1^2+{\lambda }_2^2+{\lambda }_3^2} \\ ||\Lambda ||=\Lambda \circ {\Lambda }^{\ast }={\lambda }_0^2+{\lambda }_1^2+{\lambda }_2^2+{\lambda }_3^2 \end{gathered}$$

虚数单位乘法（直角坐标系-右手定则）	$$\begin{gathered} i\circ i=j\circ j=k\circ k=-1 \\ i\circ j=k=-j\circ i \\ k\circ i=j=-i\circ k \\ j\circ k=i=-k\circ j \end{gathered}$$
四元数	$$\begin{gathered} \mathbf{P}=p_0+p_{1}i+p_{2}j+p_{3}k={\left[\begin{array}{cccc}{p}_0& p_1& p_2& p_3\end{array}\right]}^{\mathrm{T}} \\ \mathbf{Q}=q_0+q_{1}i+q_{2}j+q_{3}k={\left[\begin{array}{cccc}{q}_0& q_1& q_2& q_3\end{array}\right]}^{\mathrm{T}} \end{gathered}$$
四元数相等	$\mathbf{P}=\mathbf{Q}\iff p_i=q_i,i=0,1,2,3$
四元数和差	$\mathbf{P}\pm \mathbf{Q}=(p_0\pm q_0)+(p_1\pm q_1)i+(p_2\pm q_2)j+(p_3\pm q_3)k$
四元数标量乘	$a\mathbf{P}=a{p}_0+a{p}_{1}i+a{p}_{2}j+a{p}_{3}k$
四元数微分	$$\begin{gathered} \dot{\mathbf{Q}}=\dot{q_0}+\dot{q_1}i+\dot{q_2}j+\dot{q_3}k \\ 若\mathbf{\Lambda }=\mathbf{P}\circ \mathbf{Q},则\dot{\mathbf{\Lambda }}=\dot{\mathbf{P}}\circ \mathbf{Q}+\mathbf{P}\circ \dot{\mathbf{Q}} \end{gathered}$$

2 四元数乘法

$$\begin{gathered} \mathbf{P}\circ \mathbf{Q}=(p_0+\mathbf{p})\circ (q_0+\mathbf{q}) \\ =(p_0+p_{1}i+p_{2}j+p_{3}k)\circ (q_0+q_{1}i+q_{2}j+q_{3}k) \\ =[p_0{q}_0-(p_1{q}_1+p_2{q}_2+p_3{q}_3)]+ \\ [p_1{q}_0+p_0{q}_1+(p_2{q}_3-p_3{q}_2)]i+ \\ [p_2{q}_0+p_0{q}_2+(p_3{q}_1-p_1{q}_3)]j+ \\ [p_3{q}_0+p_0{q}_3+(p_1{q}_2-p_2{q}_1)]k \\ =[p_0{q}_0-(p_1{q}_1+p_2{q}_2+p_3{q}_3)]+ \\ (p_{1}i+p_{2}j+p_{3}k)q_0+ \\ (q_{1}i+q_{2}j+q_{3}k)p_0+ \\ [(p_2{q}_3-p_3{q}_2)i+(p_3{q}_1-p_1{q}_3)j+(p_1{q}_2-p_2{q}_1)k] \end{gathered}$$

2.1 矢量运算表示

标量积	矢量积
$\mathbf{p}\cdot \mathbf{q}=p_1{q}_1+p_2{q}_2+p_3{q}_3$	$\mathbf{p}\times \mathbf{q}=\left|\begin{array}{ccc}i& j& k\\ p_1& p_2& p_3\\ q_1& q_2& q_3\end{array}\right|$

$$\begin{gathered} \mathbf{P}\circ \mathbf{Q}=p_0{q}_0-\mathbf{p}\cdot \mathbf{q}+\mathbf{p}{q}_0+\mathbf{q}{p}_0+\mathbf{p}\times \mathbf{q} \\ \mathbf{Q}\circ \mathbf{P}=q_0{p}_0-\mathbf{q}\cdot \mathbf{p}+\mathbf{q}{p}_0+\mathbf{p}{q}_0+\mathbf{q}\times \mathbf{p} \\ \mathbf{P}\circ \mathbf{Q}\ne \mathbf{Q}\circ \mathbf{P} \end{gathered}$$

2.2 矩阵表示

$$\Lambda =\mathbf{P}\circ \mathbf{Q}={\lambda }_0+{\lambda }_{1}i+{\lambda }_{2}j+{\lambda }_{3}k$$
$$\begin{gathered} \left[\begin{array}{c}{\lambda }_0\\ {\lambda }_1\\ {\lambda }_2\\ {\lambda }_3\end{array}\right]=\left[\begin{array}{cccc}{p}_0& -p_1& -p_2& -p_3\\ p_1& p_0& -p_3& p_2\\ p_2& p_3& p_0& -p_1\\ p_3& -p_2& p_1& p_0\end{array}\right]\left[\begin{array}{c}{q}_0\\ q_1\\ q_2\\ q_3\end{array}\right] \\ =\left[\begin{array}{cccc}{q}_0& -q_1& -q_2& -q_3\\ q_1& q_0& q_3& -q_2\\ q_2& -q_3& q_0& q_1\\ q_3& q_2& -q_1& q_0\end{array}\right]\left[\begin{array}{c}{p}_0\\ p_1\\ p_2\\ p_3\end{array}\right] \end{gathered}$$
$$V(\mathbf{p})=\left[\begin{array}{ccc}{p}_0& -p_3& p_2\\ p_3& p_0& -p_1\\ -p_2& p_1& p_0\end{array}\right]$$

四元数连乘
$$\mathbf{Q}\circ \mathbf{P}\circ \mathbf{\Lambda }=\left[\begin{array}{cccc}{q}_0& -q_1& -q_2& -q_3\\ q_1& q_0& -q_3& q_2\\ q_2& q_3& q_0& -q_1\\ q_3& -q_2& q_1& q_0\end{array}\right]\left[\begin{array}{cccc}{p}_0& -p_1& -p_2& -p_3\\ p_1& p_0& -p_3& p_2\\ p_2& p_3& p_0& -p_1\\ p_3& -p_2& p_1& p_0\end{array}\right]\left[\begin{array}{c}{\lambda }_0\\ {\lambda }_1\\ {\lambda }_2\\ {\lambda }_3\end{array}\right]$$

3 四元数的除法

设$\mathbf{P}、\mathbf{Q}、\mathbf{\Lambda }$为三个四元数
若$\mathbf{Q}\circ \mathbf{\Lambda }=\mathbf{P}$，则$\mathbf{\Lambda }={\mathbf{Q}}^{-1}\circ \mathbf{P}$称为左除
若$\mathbf{\Lambda }\circ \mathbf{Q}=\mathbf{P}$，则$\mathbf{\Lambda }=\mathbf{P}\circ {\mathbf{Q}}^{-1}$称为右除
${\mathbf{Q}}^{-1}\circ \mathbf{P}\ne \mathbf{P}\circ {\mathbf{Q}}^{-1}$，左除和右除不等

4 规范化四元数

四元数$\mathbf{\Lambda }={\lambda }_0+{\lambda }_{1}i+{\lambda }_{2}j+{\lambda }_{3}k$的模为$N=\sqrt{{\lambda }_0^2+{\lambda }_1^2+{\lambda }_2^2+{\lambda }_3^2}$，则四元数$\mathbf{\Lambda }=N(\frac{{\lambda }_0}{N}+\frac{{\lambda }_{1}i+{\lambda }_{2}j+{\lambda }_{3}k}{N})=N(\frac{{\lambda }_0}{N}+\frac{\mathbf{\lambda }}{N})$.

四元数矢量部分的模$|\mathbf{\lambda }|=\sqrt{{\lambda }_1^2+{\lambda }_2^2+{\lambda }_3^2}$，引入单位矢量$\mathbf{\xi }=\frac{\mathbf{\lambda }}{|\mathbf{\lambda }|}$，则四元数规范化为$\mathbf{\Lambda }=N[\frac{{\lambda }_0}{N}+\frac{\sqrt{{\lambda }_1^2+{\lambda }_2^2+{\lambda }_3^2}}{N}\mathbf{\xi }]$，规范四元数标量部分的平方与单位矢量系数的平方和为$1$.

令$\frac{{\lambda }_0}{N}=\cos \theta ,\frac{\sqrt{{\lambda }_1^2+{\lambda }_2^2+{\lambda }_3^2}}{N}=\sin \theta ,0⩽\theta ⩽\pi$，则$\mathbf{\Lambda }=N(\cos \theta +\mathbf{\xi }\sin \theta )$.如果$N=1$，可得规范化四元数$\mathbf{E}=\cos \theta +\mathbf{\xi }\sin \theta$.