\qquad
四元数是一种超复数,可视为复数的扩展。它是一种包含四个元的数,可表示为:
Q
=
q
r
+
q
i
=
q
0
+
q
1
i
+
q
2
j
+
q
3
k
(1)
Q=q_r+q_i=q_0+q_1i+q_2j+q_3k \tag{1}
Q=qr+qi=q0+q1i+q2j+q3k(1)
\qquad
其中
q
0
,
q
1
,
q
2
,
q
3
q_0,q_1,q_2,q_3
q0,q1,q2,q3均为实数,
q
r
=
q
0
q_r=q_0
qr=q0称为实部,
q
i
=
q
1
i
+
q
2
j
+
q
3
k
q_i=q_1i+q_2j+q_3k
qi=q1i+q2j+q3k称为虚部。四元数的虚数单位
i
,
j
,
k
i,j,k
i,j,k满足以下运算法则:
{
i
⋅
i
=
j
⋅
j
=
k
⋅
k
=
−
1
(
a
)
i
⋅
j
=
k
,
j
⋅
k
=
i
,
k
⋅
i
=
j
,
j
⋅
i
=
−
k
,
k
⋅
j
=
−
i
,
i
⋅
k
=
−
j
(
b
)
(2)
\begin{cases} i\cdot i=j\cdot j=k\cdot k=-1 &(a)\\ i\cdot j=k,j\cdot k=i,k\cdot i=j, j\cdot i=-k,k\cdot j=-i,i\cdot k=-j &(b)\end{cases} \tag{2}
{i⋅i=j⋅j=k⋅k=−1i⋅j=k,j⋅k=i,k⋅i=j,j⋅i=−k,k⋅j=−i,i⋅k=−j(a)(b)(2)
\qquad
即:
i
2
=
j
2
=
k
2
=
i
j
k
=
−
1
(3)
i^2=j^2=k^2=ijk=-1 \tag{3}
i2=j2=k2=ijk=−1(3)
\qquad
可以看出式(2.a)中的运算规则与复数中虚数的运算法则完全相同,式(2.b)中的运算法则与三维空间中坐标轴单位矢量叉乘运算规则完全相同,因此四元数可以看作是四维空间中的一种数,其虚部
q
i
=
q
1
i
+
q
2
j
+
q
3
k
q_i=q_1i+q_2j+q_3k
qi=q1i+q2j+q3k可以看成在三维空间中的映射。反之,一个三维矢量也可以看成一个实部为0的四元数。
\qquad
假设:
P
=
p
r
+
p
i
=
p
0
+
p
1
i
+
p
2
j
+
p
3
k
(4)
P=p_r+p_i=p_0+p_1i+p_2j+p_3k \tag{4}
P=pr+pi=p0+p1i+p2j+p3k(4)
Q
=
q
r
+
q
i
=
q
0
+
q
1
i
+
q
2
j
+
q
3
k
(5)
Q=q_r+q_i=q_0+q_1i+q_2j+q_3k \tag{5}
Q=qr+qi=q0+q1i+q2j+q3k(5)
S
=
s
r
+
s
i
=
s
0
+
s
1
i
+
s
2
j
+
s
3
k
(6)
S=s_r+s_i=s_0+s_1i+s_2j+s_3k \tag{6}
S=sr+si=s0+s1i+s2j+s3k(6)
\qquad
若两个四元数相等,则它们对应的四个元分别相等,即:
P
=
Q
⇔
{
p
0
=
q
0
p
1
=
q
1
p
2
=
q
2
p
3
=
q
3
(7)
P=Q \Leftrightarrow\begin{cases} p_0=q_0\\ p_1=q_1\\ p_2=q_2\\p_3=q_3 \end{cases} \tag{7}
P=Q⇔⎩⎪⎪⎪⎨⎪⎪⎪⎧p0=q0p1=q1p2=q2p3=q3(7)
\qquad
四元数的加减法定义为:
P
±
Q
=
(
p
0
+
p
1
i
+
p
2
j
+
p
3
k
)
±
(
q
0
+
q
1
i
+
q
2
j
+
q
3
k
)
=
(
p
0
±
q
0
)
+
(
p
1
±
q
1
)
i
+
(
p
2
±
q
2
)
j
+
(
p
3
±
q
3
)
k
(8)
\begin{aligned} P\pm Q&=(p_0+p_1i+p_2j+p_3k)\pm(q_0+q_1i+q_2j+q_3k)\\&=(p_0\pm q_0)+(p_1\pm q_1)i+(p_2\pm q_2)j+(p_3\pm q_3)k \end{aligned} \tag{8}
P±Q=(p0+p1i+p2j+p3k)±(q0+q1i+q2j+q3k)=(p0±q0)+(p1±q1)i+(p2±q2)j+(p3±q3)k(8)
\qquad
可以看出四元数加减法与复数加减法运算法则一致,不难验证四元数的加减法是满足交换律和结合律的,即有:
P
+
Q
=
Q
+
P
(9)
P+Q=Q+ P \tag{9}
P+Q=Q+P(9)
(
P
+
Q
)
+
S
=
P
+
(
Q
+
S
)
(10)
(P+Q)+S=P+(Q+S) \tag{10}
(P+Q)+S=P+(Q+S)(10)
\qquad
四元数的乘法定义:
P
⋅
Q
=
(
p
0
+
p
1
i
+
p
2
j
+
p
3
k
)
⋅
(
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
0
q
1
+
p
1
q
0
+
p
2
q
3
−
p
3
q
2
)
i
+
(
p
0
q
2
+
p
2
q
0
+
p
3
q
1
−
p
1
q
3
)
j
+
(
p
0
q
3
+
p
3
q
0
+
p
1
q
2
−
p
2
q
1
)
k
(11)
\begin{aligned}P\cdot Q&=(p_0+p_1i+p_2j+p_3k)\cdot(q_0+q_1i+q_2j+q_3k)\\ &=(p_0q_0-p_1q_1-p_2q_2-p_3q_3)+(p_0q_1+p_1q_0+p_2q_3-p_3q_2)i\\&+(p_0q_2+p_2q_0+p_3q_1-p_1q_3)j+(p_0q_3+p_3q_0+p_1q_2-p_2q_1)k \end{aligned} \tag{11}
P⋅Q=(p0+p1i+p2j+p3k)⋅(q0+q1i+q2j+q3k)=(p0q0−p1q1−p2q2−p3q3)+(p0q1+p1q0+p2q3−p3q2)i+(p0q2+p2q0+p3q1−p1q3)j+(p0q3+p3q0+p1q2−p2q1)k(11)
\qquad
两个实部为0的四元数相乘,结果为:
p
i
⋅
q
i
=
(
−
p
1
q
1
−
p
2
q
2
−
p
3
q
3
)
+
(
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
=
−
[
p
1
p
2
p
3
]
[
q
1
q
2
q
3
]
+
[
i
j
k
p
1
p
2
p
3
q
1
q
2
q
3
]
=
−
p
i
T
q
i
+
p
i
×
q
i
(12)
\begin{aligned} p_i\cdot q_i &=(-p_1q_1-p_2q_2-p_3q_3)+(p_2q_3-p_3q_2)i+(p_3q_1-p_1q_3)j+(p_1q_2-p_2q_1)k \\ &= -\begin{bmatrix}p_1\\p_2\\p_3 \end{bmatrix}\begin{bmatrix} q_1&q_2&q_3 \end{bmatrix}+ \begin{bmatrix} i&j&k \\p_1&p_2&p_3 \\q_1&q_2&q_3\end{bmatrix} \\ &=-p_i^Tq_i+p_i\times q_i \end{aligned} \tag{12}
pi⋅qi=(−p1q1−p2q2−p3q3)+(p2q3−p3q2)i+(p3q1−p1q3)j+(p1q2−p2q1)k=−⎣⎡p1p2p3⎦⎤[q1q2q3]+⎣⎡ip1q1jp2q2kp3q3⎦⎤=−piTqi+pi×qi(12)
\qquad
式(12)即实部为0的四元数与三维矢量运算规则之间的关系,可以看出其既包含了矢量点乘运算,也包含了矢量叉乘运算。
\qquad
若采用三维矢量运算法,四元数乘法可表示为:
P
⋅
Q
=
(
p
0
+
p
i
)
⋅
(
q
0
+
q
v
)
=
p
0
q
0
+
p
0
q
i
+
q
0
p
i
+
p
i
q
i
=
(
p
0
q
0
−
p
i
T
q
i
)
+
(
p
0
q
i
+
q
0
p
i
+
p
i
×
q
i
)
(13)
\begin{aligned}P\cdot Q &=(p_0+p_i)\cdot(q_0+q_v)=p_0q_0+p_0q_i+q_0p_i+p_iq_i \\ &=(p_0q_0-p_i^Tq_i)+(p_0q_i+q_0p_i+p_i\times q_i) \end{aligned} \tag{13}
P⋅Q=(p0+pi)⋅(q0+qv)=p0q0+p0qi+q0pi+piqi=(p0q0−piTqi)+(p0qi+q0pi+pi×qi)(13)
\qquad
由于矢量叉乘是不满足交换律的,因而四元数乘法也不满足交换律,即
P
⋅
Q
≠
Q
⋅
P
P\cdot Q\not=Q \cdot P
P⋅Q=Q⋅P。不过可以验证四元数乘法是满足交换律,即:
(
P
⋅
Q
)
⋅
S
=
P
⋅
(
Q
⋅
S
)
(14)
(P\cdot Q )\cdot S=P\cdot (Q \cdot S) \tag{14}
(P⋅Q)⋅S=P⋅(Q⋅S)(14)
\qquad
这与矩阵乘法的规律完全一致。若采用矩阵表示法,四元数乘法可表示为:
P
⋅
Q
=
[
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
]
[
q
0
q
1
q
2
q
3
]
=
M
p
Q
=
[
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
]
[
p
0
p
1
p
2
p
3
]
=
M
Q
′
P
(15)
P\cdot Q=\begin{bmatrix}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{bmatrix} \begin{bmatrix} q_0\\q_1\\q_2\\q_3\end{bmatrix}=M_pQ=\begin{bmatrix}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{bmatrix} \begin{bmatrix} p_0\\p_1\\p_2\\p_3\end{bmatrix}=M_Q'P \tag{15}
P⋅Q=⎣⎢⎢⎡p0p1p2p3−p1p0p3−p2−p2−p3p0p1−p3p2−p1p0⎦⎥⎥⎤⎣⎢⎢⎡q0q1q2q3⎦⎥⎥⎤=MpQ=⎣⎢⎢⎡q0q1q2q3−q1q0−q3q2−q2q3q0−q1−q3−q2q1q0⎦⎥⎥⎤⎣⎢⎢⎡p0p1p2p3⎦⎥⎥⎤=MQ′P(15)
\qquad
或者
P
⋅
Q
=
[
p
0
−
p
i
T
p
i
p
0
I
+
(
p
i
×
)
]
[
q
0
q
i
]
=
[
q
0
−
q
i
T
q
i
q
0
I
−
(
q
i
×
)
]
[
p
0
p
i
]
=
[
p
0
q
0
−
p
i
T
q
i
p
0
q
i
+
q
0
p
i
+
p
i
×
q
i
]
(16)
P\cdot Q=\begin{bmatrix}p_0 &-p_i^T\\ p_i&p_0I+(p_i\times) \end{bmatrix}\begin{bmatrix}q_0 \\q_i\end{bmatrix}=\begin{bmatrix} q_0 &-q_i^T\\ q_i&q_0I-(q_i\times) \end{bmatrix} \begin{bmatrix} p_0\\p_i\end{bmatrix}=\begin{bmatrix} p_0q_0-p_i^Tq_i \\ p_0q_i+q_0p_i+p_i\times q_i\end{bmatrix}\tag{16}
P⋅Q=[p0pi−piTp0I+(pi×)][q0qi]=[q0qi−qiTq0I−(qi×)][p0pi]=[p0q0−piTqip0qi+q0pi+pi×qi](16)
\qquad
其中
M
p
=
[
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
]
=
[
p
0
−
p
i
T
p
i
p
0
I
+
(
p
i
×
)
]
(17)
M_p=\begin{bmatrix}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{bmatrix} =\begin{bmatrix}p_0 & -p_i^T\\p_i& p_0I+(p_i\times)\end{bmatrix}\tag{17}
Mp=⎣⎢⎢⎡p0p1p2p3−p1p0p3−p2−p2−p3p0p1−p3p2−p1p0⎦⎥⎥⎤=[p0pi−piTp0I+(pi×)](17)
M
Q
′
=
[
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
]
=
[
q
0
−
q
i
T
q
i
q
0
I
−
(
q
i
×
)
]
(18)
M_Q'=\begin{bmatrix}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{bmatrix} = \begin{bmatrix} q_0 & -q_i^T\\q_i& q_0I-(q_i\times)\end{bmatrix} \tag{18}
MQ′=⎣⎢⎢⎡q0q1q2q3−q1q0−q3q2−q2q3q0−q1−q3−q2q1q0⎦⎥⎥⎤=[q0qi−qiTq0I−(qi×)](18)
\qquad
为了方便简写,可定义三维向量两种四维反对称矩阵,如下:
(
p
i
∗
)
1
=
[
0
−
p
1
−
p
2
−
p
3
p
1
0
−
p
3
p
2
p
2
p
3
0
−
p
1
p
3
−
p
2
p
1
0
]
=
[
0
−
p
i
T
p
i
(
p
i
×
)
]
(19)
(p_i*)_1=\begin{bmatrix}0&-p_1&-p_2& -p_3\\ p_1&0&-p_3& p_2\\ p_2&p_3&0& -p_1\\ p_3&-p_2&p_1& 0 \end{bmatrix}=\begin{bmatrix}0 & -p_i^T\\p_i& (p_i\times)\end{bmatrix}\tag{19}
(pi∗)1=⎣⎢⎢⎡0p1p2p3−p10p3−p2−p2−p30p1−p3p2−p10⎦⎥⎥⎤=[0pi−piT(pi×)](19)
(
p
i
∗
)
2
=
[
0
−
p
1
−
p
2
−
p
3
p
1
0
p
3
−
p
2
p
2
−
p
3
0
p
1
p
3
p
2
−
p
1
0
]
=
[
0
−
p
i
T
p
i
−
(
p
i
×
)
]
(20)
(p_i*)_2=\begin{bmatrix}0&-p_1&-p_2& -p_3\\ p_1&0&p_3& -p_2\\ p_2&-p_3&0& p_1\\ p_3&p_2&-p_1& 0 \end{bmatrix}=\begin{bmatrix}0 & -p_i^T\\p_i& -(p_i\times)\end{bmatrix}\tag{20}
(pi∗)2=⎣⎢⎢⎡0p1p2p3−p10−p3p2−p2p30−p1−p3−p2p10⎦⎥⎥⎤=[0pi−piT−(pi×)](20)
\qquad
(
p
i
∗
)
1
、
(
p
i
∗
)
2
(p_i*)_1、(p_i*)_2
(pi∗)1、(pi∗)2分别称为第一、第二反对称矩阵。则式(17)和式(18)可简写为:
M
p
=
p
0
I
+
(
p
i
∗
)
1
M
Q
′
=
q
0
I
+
(
q
i
∗
)
2
(21)
M_p =p_0I+(p_i*)_1\qquad M_Q'=q_0I+(q_i*)_2 \tag{21}
Mp=p0I+(pi∗)1MQ′=q0I+(qi∗)2(21)
\qquad
四元数的共轭四元数定义为:
Q
∗
=
q
r
−
q
i
=
q
0
−
q
1
i
−
q
2
j
−
q
3
k
(22)
Q^*=q_r-q_i=q_0-q_1i-q_2j-q_3k \tag{22}
Q∗=qr−qi=q0−q1i−q2j−q3k(22)
\qquad
满足以下运算规则:
(
P
+
Q
)
∗
=
P
∗
+
Q
∗
(23)
(P+Q)^*=P^*+Q^* \tag{23}
(P+Q)∗=P∗+Q∗(23)
(
P
⋅
Q
)
∗
=
P
∗
⋅
Q
∗
(24)
(P\cdot Q)^*=P^*\cdot Q^* \tag{24}
(P⋅Q)∗=P∗⋅Q∗(24)
\qquad
四元数Q的模值(2-范数)定义为:
∥
Q
∥
=
Q
∗
⋅
Q
=
Q
⋅
Q
∗
=
q
0
2
+
q
1
2
+
q
2
2
+
q
3
2
(25)
\lVert Q\rVert =\sqrt{Q^*\cdot Q}=\sqrt{Q \cdot Q^*}=\sqrt{q_0^2+q_1^2+q_2^2+q_3^2} \tag{25}
∥Q∥=Q∗⋅Q=Q⋅Q∗=q02+q12+q22+q32(25)
\qquad
对于非零四元数,即
∥
Q
∥
≠
0
\lVert Q\rVert \not=0
∥Q∥=0时,有
Q
∥
Q
∥
2
⋅
Q
=
Q
⋅
Q
∥
Q
∥
2
=
1
(26)
\frac{Q}{\lVert Q\rVert^2}\cdot Q=Q \cdot \frac{Q}{\lVert Q\rVert^2}=1 \tag{26}
∥Q∥2Q⋅Q=Q⋅∥Q∥2Q=1(26)
\qquad
非零四元数的逆可记作:
Q
−
1
=
Q
∗
∥
Q
∥
2
(27)
Q^{-1}=\frac{Q^*}{\lVert Q\rVert^2} \tag{27}
Q−1=∥Q∥2Q∗(27)
\qquad
两个非零四元数的积的逆满足:
(
P
⋅
Q
)
−
1
=
P
⋅
Q
∥
P
⋅
Q
∥
2
=
(
P
∗
)
⋅
(
Q
∗
)
∥
P
∥
2
⋅
∥
Q
∥
2
=
P
∗
∥
P
∥
2
⋅
Q
∗
∥
Q
∥
2
=
P
−
1
⋅
Q
−
1
(28)
(P\cdot Q)^{-1}=\frac{P\cdot Q}{\lVert P\cdot Q\rVert^2}=\frac{(P^*)\cdot(Q^*)}{\lVert P\rVert^2 \cdot\lVert Q\rVert^2}=\frac{P^*}{\lVert P\rVert^2}\cdot\frac{Q^*}{\lVert Q\rVert^2}=P^{-1}\cdot Q^{-1} \tag{28}
(P⋅Q)−1=∥P⋅Q∥2P⋅Q=∥P∥2⋅∥Q∥2(P∗)⋅(Q∗)=∥P∥2P∗⋅∥Q∥2Q∗=P−1⋅Q−1(28)
\qquad
这与矩阵乘积的逆运算法则完全一致。
\qquad
类似复数三角表示法,四元数也可以表示:
Q
=
∥
Q
∥
(
c
o
s
ϕ
2
+
u
s
i
n
ϕ
2
)
(29)
Q=\lVert Q\rVert(cos\frac{\phi}{2}+usin\frac{\phi}{2}) \tag{29}
Q=∥Q∥(cos2ϕ+usin2ϕ)(29)
\qquad
对于单位四元数,即当
∥
Q
∥
=
1
\lVert Q\rVert=1
∥Q∥=1时,有:
Q
=
q
0
+
q
i
=
c
o
s
ϕ
2
+
u
s
i
n
ϕ
2
(30)
Q=q_0+q_i=cos\frac{\phi}{2}+usin\frac{\phi}{2} \tag{30}
Q=q0+qi=cos2ϕ+usin2ϕ(30)
\qquad
其中,
q
0
=
c
o
s
ϕ
2
,
q
i
=
u
s
i
n
ϕ
2
且
q
0
2
+
q
i
T
q
i
=
1
q_0=cos\frac{\phi}{2},q_i=usin\frac{\phi}{2}且q_0^2+q^T_iq_i=1
q0=cos2ϕ,qi=usin2ϕ且q02+qiTqi=1;
u
u
u为单位长度的三维向量,即
u
T
u
=
1
u^Tu=1
uTu=1;
ϕ
\phi
ϕ表示某种角度值。
\qquad
至此,我们证明了四元素的乘法不满足交换律、共轭以及求逆等运算规律均与矩阵相应的运算规律几乎完全一致,因此,这似乎暗示着四元数与矩阵之间存在某种内在联系。
\qquad
根据等效旋转矢量与方向余弦阵的关系有:
C
b
i
=
I
+
s
i
n
ϕ
(
u
×
)
+
(
1
−
c
o
s
ϕ
)
(
u
×
)
2
=
I
+
2
s
i
n
ϕ
2
c
o
s
ϕ
2
(
u
×
)
+
2
s
i
n
2
ϕ
2
(
u
×
)
2
=
I
+
2
c
o
s
ϕ
2
(
s
i
n
ϕ
2
u
×
)
+
2
(
s
i
n
ϕ
2
u
×
)
2
(31)
\begin{aligned}C_b^i&=I+sin\phi(u\times)+(1-cos\phi)(u\times)^2\\ &=I+2sin\frac{\phi}{2}cos\frac{\phi}{2}(u\times)+2sin^2\frac{\phi}{2}(u\times)^2 \\ &=I+2cos\frac{\phi}{2}(sin\frac{\phi}{2}u\times)+2(sin\frac{\phi}{2}u\times)^2 \end{aligned} \tag{31}
Cbi=I+sinϕ(u×)+(1−cosϕ)(u×)2=I+2sin2ϕcos2ϕ(u×)+2sin22ϕ(u×)2=I+2cos2ϕ(sin2ϕu×)+2(sin2ϕu×)2(31)
\qquad
其中
ϕ
u
\phi u
ϕu为等效旋转矢量。将式(30)带入式(31)得:
C
b
i
=
I
+
2
q
0
(
q
i
×
)
+
2
(
q
i
×
)
2
=
I
+
2
q
0
[
0
−
q
3
q
2
q
3
0
−
q
1
−
q
2
q
1
0
]
+
2
[
0
−
q
3
q
2
q
3
0
−
q
1
−
q
2
q
1
0
]
2
=
I
+
2
[
0
−
q
0
q
3
q
0
q
2
q
0
q
3
0
−
q
0
q
1
−
q
0
q
2
q
0
q
1
0
]
+
2
[
−
q
2
2
−
q
3
2
q
1
q
2
q
2
q
3
q
1
q
2
−
q
1
2
−
q
3
2
q
2
q
3
q
1
q
3
q
2
q
3
−
q
1
2
−
q
2
2
]
=
[
1
−
2
(
q
2
2
+
2
q
3
2
)
2
(
q
1
q
2
−
q
0
q
2
)
2
q
2
+
q
2
q
3
2
(
q
0
q
3
+
q
1
q
2
)
1
−
2
(
q
1
2
+
q
3
2
)
2
(
q
2
q
3
−
q
0
q
1
)
2
(
q
1
q
3
−
q
0
q
2
)
2
(
q
0
q
1
+
q
2
q
3
)
1
−
2
(
q
1
2
+
q
2
2
)
]
=
[
q
0
2
+
q
1
2
−
q
2
2
+
2
q
3
2
)
2
(
q
1
q
2
−
q
0
q
2
)
2
q
2
+
q
2
q
3
2
(
q
0
q
3
+
q
1
q
2
)
q
0
2
−
q
2
2
+
q
1
2
−
q
3
2
)
2
(
q
2
q
3
−
q
0
q
1
)
2
(
q
1
q
3
−
q
0
q
2
)
2
(
q
0
q
1
+
q
2
q
3
)
q
0
2
−
q
1
2
−
q
2
2
+
q
3
2
]
(32)
\begin{aligned}C_b^i&= I+2q_0(q_i\times)+2(q_i\times)^2 \\ &=I+2q_0 \begin{bmatrix} 0&-q_3&q_2 \\ q_3&0&-q_1\\ -q_2&q_1&0 \end{bmatrix}+2\begin{bmatrix} 0&-q_3&q_2 \\ q_3&0&-q_1\\ -q_2&q_1&0\end{bmatrix}^2 \\ &= I+2\begin{bmatrix} 0&-q_0q_3&q_0q_2 \\ q_0q_3&0&-q_0q_1\\ -q_0q_2&q_0q_1&0 \end{bmatrix}+2\begin{bmatrix}-q_2^2-q_3^2&q_1q_2 &q_2q_3 \\q_1q_2&-q_1^2-q_3^2 &q_2q_3 \\q_1q_3&q_2q_3&-q1^2-q_2^2 \end{bmatrix} \\ &=\begin{bmatrix}1-2(q_2^2+2q_3^2)&2(q_1q_2 -q_0q_2)& 2q_2+q_2q_3\\ 2(q_0q_3+q_1q_2)&1-2(q_1^2+q_3^2)&2(q_2q_3-q_0q_1)\\ 2(q_1q_3-q_0q_2) & 2(q_0q_1+q_2q_3)&1-2(q_1^2+q_2^2)\end{bmatrix} \\ &=\begin{bmatrix}q_0^2+q_1^2-q_2^2+2q_3^2)&2(q_1q_2 -q_0q_2)& 2q_2+q_2q_3\\ 2(q_0q_3+q_1q_2)&q_0^2-q_2^2+q_1^2-q_3^2)&2(q_2q_3-q_0q_1)\\ 2(q_1q_3-q_0q_2) & 2(q_0q_1+q_2q_3)&q_0^2-q_1^2-q_2^2+q_3^2 \end{bmatrix}\end{aligned} \tag{32}
Cbi=I+2q0(qi×)+2(qi×)2=I+2q0⎣⎡0q3−q2−q30q1q2−q10⎦⎤+2⎣⎡0q3−q2−q30q1q2−q10⎦⎤2=I+2⎣⎡0q0q3−q0q2−q0q30q0q1q0q2−q0q10⎦⎤+2⎣⎡−q22−q32q1q2q1q3q1q2−q12−q32q2q3q2q3q2q3−q12−q22⎦⎤=⎣⎡1−2(q22+2q32)2(q0q3+q1q2)2(q1q3−q0q2)2(q1q2−q0q2)1−2(q12+q32)2(q0q1+q2q3)2q2+q2q32(q2q3−q0q1)1−2(q12+q22)⎦⎤=⎣⎡q02+q12−q22+2q32)2(q0q3+q1q2)2(q1q3−q0q2)2(q1q2−q0q2)q02−q22+q12−q32)2(q0q1+q2q3)2q2+q2q32(q2q3−q0q1)q02−q12−q22+q32⎦⎤(32)
\qquad
式(32)建立了单位四元数与方向余弦阵的关系,也表明了单位四元数三角表示法式(30)的几何意义。一般为了明确的表述两坐标系间的转动关系,常在四元数的右侧加上上下标,如
Q
b
i
Q_b^i
Qbi。则式(30)中的
u
u
u表示动坐标系
b
b
b系相对于参考坐标系
i
i
i系的单位转轴、
ϕ
\phi
ϕ表示旋转角度。则使用角标后,共轭四元数可表示为
Q
i
b
=
(
Q
b
i
)
∗
Q_i^b=(Q_b^i)^*
Qib=(Qbi)∗,这与矩阵的转置类似。
参考文献
[1] 严恭敏, 翁浚. 捷联惯导算法与组合导航原理[M]. 西安:西北工业大学出版社, 2020.