VIO的角速度和四元数
无论是在VINS-MONO,还是在OKVIS等众多VIO论文,四元数函数项中都出现了一个Ω矩阵……这Ω矩阵有啥用途?
四元数乘法
首先来看一下四元数的乘法:
对两个四元数q和p:
q = w 1 + x 1 i + y 1 j + z 1 k p = w 2 + x 2 i + y 2 j + z 2 k \begin{array}{l} {q=w_{1}+x_{1} i+y_{1} j+z_{1} k} \\ {p=w_{2}+x_{2} i+y_{2} j+z_{2} k} \end{array} q=w1+x1i+y1j+z1kp=w2+x2i+y2j+z2k
他们的乘法可以写成:
q p = + ( x 1 ∗ w 2 + w 1 ∗ x 2 + z 1 ∗ y 2 − z 1 ∗ y 2 ) i + ( y 1 ∗ w 2 + w 1 ∗ y 2 + z 1 ∗ x 2 − x 1 ∗ z 2 ) j + ( z 1 ∗ w 2 + w 1 ∗ z 2 + x 1 ∗ y 2 − x 2 ∗ y 1 ) k + ( w 1 ∗ w 2 − x 1 ∗ x 2 − y 1 ∗ y 2 − z 1 ∗ z 2 ) \begin{aligned} q p= +\left(x_{1} * w_{2}+w_{1} * x_{2}+z_{1} * y_{2}-z_{1} * y_{2}\right) i\\ +\left(y_{1} * w_{2}+w_{1} * y_{2}+z_{1} * x_{2}-x_{1} * z_{2}\right) j\\ +\left(z_{1} * w_{2}+w_{1} * z_{2}+x_{1} * y_{2}-x_{2} * y_{1}\right) k\\ +\left(w_{1} * w_{2}-x_{1} * x_{2}-y_{1} * y_{2}-z_{1} * z_{2}\right)\\ \end{aligned} qp=+(x1∗w2+w1∗x2+z1∗y2−z1∗y2)i+(y1∗w2+w1∗y2+z1∗x2−x1∗z2)j+(z1∗w2+w1∗z2+x1∗y2−x2