[足式机器人]Part3 机构运动学与动力学分析与建模 Ch00-5 刚体的加速度与角加速度

本文仅供学习使用，总结很多本现有讲述运动学或动力学书籍后的总结，从矢量的角度进行分析，方法比较传统，但更易理解，并且现有的看似抽象方法，两者本质上并无不同。
2024年底本人学位论文发表后方可摘抄
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本文参考：
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食用方法
求解逻辑：速度与加速度都是在知道角速度与角加速度的前提下——旋转运动更重要
所求得的速度表达-需要考虑是否为刚体相对固定点！
旋转矩阵？转换矩阵？有什么意义和性质？——与角速度与角加速度的关系
务必自己推导全部公式，并理解每个符号的含义

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5. 运动刚体的加速度与角加速度

5.1 矢量的速度与加速度

矢量的速度与加速度，不同于点的速度与加速度——描述该矢量在对应方向上的延长与收缩情况（模值的变大与减小）：
对于矢量的速度而言，有：
$$\begin{gathered} {\vec{R}}_{\mathrm{Vector}}^F=\left[Q_{\mathrm{M}}^F\right]{\vec{R}}_{\mathrm{Vector}}^M \\ \Rightarrow {\dot{\vec{R}}}_{\mathrm{Vector}}^F=\left[{\dot{Q}}_{\mathrm{M}}^F\right]{\vec{R}}_{\mathrm{Vector}}^M+\left[Q_{\mathrm{M}}^F\right]{\dot{\vec{R}}}_{\mathrm{Vector}}^M=\left[Q_{\mathrm{M}}^F\right]{\dot{\vec{R}}}_{\mathrm{Vector}}^M+{\widetilde{\stackrel{⃗}{\omega }}}^F\left[Q_{\mathrm{M}}^F\right]{\vec{R}}_{\mathrm{Vector}}^M \end{gathered}$$
对于矢量的加速度而言，有：
$$\begin{gathered} {\dot{\vec{R}}}_{\mathrm{Vector}}^F=\left[Q_{\mathrm{M}}^F\right]{\dot{\vec{R}}}_{\mathrm{Vector}}^M+{\widetilde{\stackrel{⃗}{\omega }}}^F\left[Q_{\mathrm{M}}^F\right]{\vec{R}}_{\mathrm{Vector}}^M \\ \Rightarrow {\ddot{\vec{R}}}_{\mathrm{Vector}}^F=\left[{\dot{Q}}_{\mathrm{M}}^F\right]{\dot{\vec{R}}}_{\mathrm{Vector}}^M+\left[Q_{\mathrm{M}}^F\right]{\ddot{\vec{R}}}_{\mathrm{Vector}}^M+{\dot{\widetilde{\stackrel{⃗}{\omega }}}}^F\left[Q_{\mathrm{M}}^F\right]{\vec{R}}_{\mathrm{Vector}}^M+{\widetilde{\stackrel{⃗}{\omega }}}^F\left[{\dot{Q}}_{\mathrm{M}}^F\right]{\vec{R}}_{\mathrm{Vector}}^M+{\widetilde{\stackrel{⃗}{\omega }}}^F\left[Q_{\mathrm{M}}^F\right]{\dot{\vec{R}}}_{\mathrm{Vector}}^M \\ \Rightarrow {\ddot{\vec{R}}}_{\mathrm{Vector}}^F={\widetilde{\stackrel{⃗}{\omega }}}^F\left[Q_{\mathrm{M}}^F\right]{\dot{\vec{R}}}_{\mathrm{Vector}}^M+\left[Q_{\mathrm{M}}^F\right]{\ddot{\vec{R}}}_{\mathrm{Vector}}^M+{\dot{\widetilde{\stackrel{⃗}{\omega }}}}^F\left[Q_{\mathrm{M}}^F\right]{\vec{R}}_{\mathrm{Vector}}^M+{\widetilde{\stackrel{⃗}{\omega }}}^F{\dot{\widetilde{\stackrel{⃗}{\omega }}}}^F\left[Q_{\mathrm{M}}^F\right]{\vec{R}}_{\mathrm{Vector}}^M+{\widetilde{\stackrel{⃗}{\omega }}}^F\left[Q_{\mathrm{M}}^F\right]{\dot{\vec{R}}}_{\mathrm{Vector}}^M \\ \Rightarrow {\ddot{\vec{R}}}_{\mathrm{Vector}}^F={\vec{a}}_{\mathrm{Vector}}^F+2{\widetilde{\stackrel{⃗}{\omega }}}^F{\vec{v}}_{\mathrm{Vector}}^F+{\dot{\widetilde{\stackrel{⃗}{\omega }}}}^F{\vec{R}}_{\mathrm{Vector}}^F+{\widetilde{\stackrel{⃗}{\omega }}}^F{\widetilde{\stackrel{⃗}{\omega }}}^F{\vec{R}}_{\mathrm{Vector}}^F \end{gathered}$$
整理可得：
$${\ddot{\vec{R}}}_{\mathrm{Vector}}^F={\vec{a}}_{\mathrm{Vector}}^F+2{\widetilde{\stackrel{⃗}{\omega }}}^F{\vec{v}}_{\mathrm{Vector}}^F+{\widetilde{\stackrel{⃗}{\alpha }}}^F{\vec{R}}_{\mathrm{Vector}}^F+{\widetilde{\stackrel{⃗}{\omega }}}^F{\widetilde{\stackrel{⃗}{\omega }}}^F{\vec{R}}_{\mathrm{Vector}}^F$$

其中：

• ${\vec{a}}_{\mathrm{Vector}}^F=\left[Q_{\mathrm{M}}^F\right]{\ddot{\vec{R}}}_{\mathrm{Vector}}^M$ 运动坐标系下的矢量加速度：表示坐标系 { F } \left\{ F \right\} {F}下定义的坐标系 { M } \left\{ M \right\} {M}的矢量加速度，若矢量的模固定（不发生变化），即在坐标系 { M } \left\{ M \right\} {M}中具有固定的投影参数，则该项为$0$。
• $2{\widetilde{\stackrel{⃗}{\omega }}}^F{\vec{v}}_{\mathrm{Vector}}^F=2{\widetilde{\stackrel{⃗}{\omega }}}^F\left[Q_{\mathrm{M}}^F\right]{\dot{\vec{R}}}_{\mathrm{Vector}}^M$：科里奥利分量：其方向同时垂直于${\vec{\omega }}^F$与${\vec{v}}_{\mathrm{Vector}}^F$
• ${\widetilde{\stackrel{⃗}{\alpha }}}^F{\vec{R}}_{\mathrm{Vector}}^F={\dot{\widetilde{\stackrel{⃗}{\omega }}}}^F{\vec{R}}_{\mathrm{Vector}}^F$切向分量：其方向同时垂直于${\vec{\alpha }}^F$与${\vec{R}}_{\mathrm{Vector}}^F$
• ${\widetilde{\stackrel{⃗}{\omega }}}^F{\widetilde{\stackrel{⃗}{\omega }}}^F{\vec{R}}_{\mathrm{Vector}}^F$法向分量：其方向为 $-{\vec{R}}_{\mathrm{Vector}}^F$

5.2 点的速度与加速度

对 ${\vec{v}}_{{\mathrm{P}}_{\mathrm{i}}}^M=\left({\widetilde{\stackrel{⃗}{\omega }}}^M-{\left[Q_{\mathrm{M}}^F\right]}^{\mathrm{T}}\left[{\dot{Q}}_{\mathrm{M}}^F\right]\right){\vec{R}}_{{\mathrm{P}}_{\mathrm{i}}}^M$ 进一步求导，可计算出其运动刚体上点$P_i$的加速度为：
$${\vec{v}}_{{\mathrm{P}}_{\mathrm{i}}}^F={\vec{v}}_{\mathrm{M}}^F+\left[{\dot{Q}}_{\mathrm{M}}^F\right]{\vec{R}}_{{\mathrm{P}}_{\mathrm{i}}}^M+\left[Q_{\mathrm{M}}^F\right]{\dot{\vec{R}}}_{{\mathrm{P}}_{\mathrm{i}}}^M=\{\begin{array}{l}{\vec{v}}_{\mathrm{M}}^F+{\widetilde{\stackrel{⃗}{\omega }}}^F\left[Q_{\mathrm{M}}^F\right]{\vec{R}}_{{\mathrm{P}}_{\mathrm{i}}}^M+\left[Q_{\mathrm{M}}^F\right]{\vec{v}}_{{\mathrm{P}}_{\mathrm{i}}}^M\\ {\vec{v}}_{\mathrm{M}}^F+\left[Q_{\mathrm{M}}^F\right]{\widetilde{\stackrel{⃗}{\omega }}}^M{\vec{R}}_{{\mathrm{P}}_{\mathrm{i}}}^M+\left[Q_{\mathrm{M}}^F\right]{\vec{v}}_{{\mathrm{P}}_{\mathrm{i}}}^M\end{array}$$

• 坐标系 { F } \left\{ F \right\} {F}下的推导：
  $$\begin{array}{rl}{\vec{a}}_{{\mathrm{P}}_{\mathrm{i}}}^F& ={\vec{a}}_{\mathrm{M}}^F+\left({\dot{\widetilde{\stackrel{⃗}{\omega }}}}^F\left[Q_{\mathrm{M}}^F\right]{\vec{R}}_{{\mathrm{P}}_{\mathrm{i}}}^M+{\widetilde{\stackrel{⃗}{\omega }}}^F\left[{\dot{Q}}_{\mathrm{M}}^F\right]{\vec{R}}_{{\mathrm{P}}_{\mathrm{i}}}^M+{\widetilde{\stackrel{⃗}{\omega }}}^F\left[Q_{\mathrm{M}}^F\right]{\vec{v}}_{{\mathrm{P}}_{\mathrm{i}}}^M\right)+\left(\left[{\dot{Q}}_{\mathrm{M}}^F\right]{\vec{v}}_{{\mathrm{P}}_{\mathrm{i}}}^M+\left[Q_{\mathrm{M}}^F\right]{\vec{a}}_{{\mathrm{P}}_{\mathrm{i}}}^M\right)\\ \Rightarrow {\vec{a}}_{{\mathrm{P}}_{\mathrm{i}}}^F& ={\vec{a}}_{\mathrm{M}}^F+\left({\widetilde{\stackrel{⃗}{\alpha }}}^F\left[Q_{\mathrm{M}}^F\right]{\vec{R}}_{{\mathrm{P}}_{\mathrm{i}}}^M+{\widetilde{\stackrel{⃗}{\omega }}}^F{\widetilde{\stackrel{⃗}{\omega }}}^F\left[Q_{\mathrm{M}}^F\right]{\vec{R}}_{{\mathrm{P}}_{\mathrm{i}}}^M+{\widetilde{\stackrel{⃗}{\omega }}}^F\left[Q_{\mathrm{M}}^F\right]{\vec{v}}_{{\mathrm{P}}_{\mathrm{i}}}^M\right)+\left({\widetilde{\stackrel{⃗}{\omega }}}^F\left[Q_{\mathrm{M}}^F\right]{\vec{v}}_{{\mathrm{P}}_{\mathrm{i}}}^M+\left[Q_{\mathrm{M}}^F\right]{\vec{a}}_{{\mathrm{P}}_{\mathrm{i}}}^M\right)\\ \Rightarrow {\vec{a}}_{{\mathrm{P}}_{\mathrm{i}}}^F& ={\vec{a}}_{\mathrm{M}}^F+{\widetilde{\stackrel{⃗}{\alpha }}}^F{\left({\vec{R}}_{{\mathrm{P}}_{\mathrm{i}}}^M\right)}^F+{\widetilde{\stackrel{⃗}{\omega }}}^F{\widetilde{\stackrel{⃗}{\omega }}}^F{\left({\vec{R}}_{{\mathrm{P}}_{\mathrm{i}}}^M\right)}^F+2{\widetilde{\stackrel{⃗}{\omega }}}^F{\left({\vec{v}}_{{\mathrm{P}}_{\mathrm{i}}}^M\right)}^F+{\left({\vec{a}}_{{\mathrm{P}}_{\mathrm{i}}}^M\right)}^F\end{array}$$
  当点$P_i$为运动刚体上固定一点时，则有：
  $$\begin{array}{rl}{\vec{a}}_{{\mathrm{P}}_{\mathrm{i}}}^F& ={\vec{a}}_{\mathrm{M}}^F+{\widetilde{\stackrel{⃗}{\alpha }}}^F{\left({\vec{R}}_{{\mathrm{P}}_{\mathrm{i}}}^M\right)}^F+{\widetilde{\stackrel{⃗}{\omega }}}^F{\widetilde{\stackrel{⃗}{\omega }}}^F{\left({\vec{R}}_{{\mathrm{P}}_{\mathrm{i}}}^M\right)}^F+2{\widetilde{\stackrel{⃗}{\omega }}}^F{\left({{\vec{v}}_{{\mathrm{P}}_{\mathrm{i}}}^M}_{\nearrow 0}\right)}^F+{\left({{\vec{a}}_{{\mathrm{P}}_{\mathrm{i}}}^M}_{\nearrow 0}\right)}^F\\ & ={\vec{a}}_{\mathrm{M}}^F+{\widetilde{\stackrel{⃗}{\alpha }}}^F{\left({\vec{R}}_{{\mathrm{P}}_{\mathrm{i}}}^M\right)}^F+{\widetilde{\stackrel{⃗}{\omega }}}^F{\widetilde{\stackrel{⃗}{\omega }}}^F{\left({\vec{R}}_{{\mathrm{P}}_{\mathrm{i}}}^M\right)}^F\end{array}$$
• 坐标系 { M } \left\{ M \right\} {M}下的推导：
  $$\begin{array}{rl}{\vec{a}}_{{\mathrm{P}}_{\mathrm{i}}}^F& ={\vec{a}}_{\mathrm{M}}^F+\left(\left[{\dot{Q}}_{\mathrm{M}}^F\right]{\widetilde{\stackrel{⃗}{\omega }}}^M{\vec{R}}_{{\mathrm{P}}_{\mathrm{i}}}^M+\left[Q_{\mathrm{M}}^F\right]{\dot{\widetilde{\stackrel{⃗}{\omega }}}}^M{\vec{R}}_{{\mathrm{P}}_{\mathrm{i}}}^M+\left[Q_{\mathrm{M}}^F\right]{\widetilde{\stackrel{⃗}{\omega }}}^M{\dot{\vec{R}}}_{{\mathrm{P}}_{\mathrm{i}}}^M\right)+\left(\left[{\dot{Q}}_{\mathrm{M}}^F\right]{\vec{v}}_{{\mathrm{P}}_{\mathrm{i}}}^M+\left[Q_{\mathrm{M}}^F\right]{\vec{a}}_{{\mathrm{P}}_{\mathrm{i}}}^M\right)\\ \Rightarrow {\vec{a}}_{{\mathrm{P}}_{\mathrm{i}}}^F& ={\vec{a}}_{\mathrm{M}}^F+\left(\left[Q_{\mathrm{M}}^F\right]{\widetilde{\stackrel{⃗}{\omega }}}^M{\widetilde{\stackrel{⃗}{\omega }}}^M{\vec{R}}_{{\mathrm{P}}_{\mathrm{i}}}^M+\left[Q_{\mathrm{M}}^F\right]{\widetilde{\stackrel{⃗}{\alpha }}}^M{\vec{R}}_{{\mathrm{P}}_{\mathrm{i}}}^M+\left[Q_{\mathrm{M}}^F\right]{\widetilde{\stackrel{⃗}{\omega }}}^M{\vec{v}}_{{\mathrm{P}}_{\mathrm{i}}}^M\right)+\left(\left[Q_{\mathrm{M}}^F\right]{\widetilde{\stackrel{⃗}{\omega }}}^M{\vec{v}}_{{\mathrm{P}}_{\mathrm{i}}}^M+\left[Q_{\mathrm{M}}^F\right]{\vec{a}}_{{\mathrm{P}}_{\mathrm{i}}}^M\right)\\ \Rightarrow {\vec{a}}_{{\mathrm{P}}_{\mathrm{i}}}^F& ={\vec{a}}_{\mathrm{M}}^F+\left[Q_{\mathrm{M}}^F\right]{\widetilde{\stackrel{⃗}{\alpha }}}^M{\vec{R}}_{{\mathrm{P}}_{\mathrm{i}}}^M+\left[Q_{\mathrm{M}}^F\right]{\widetilde{\stackrel{⃗}{\omega }}}^M{\widetilde{\stackrel{⃗}{\omega }}}^M{\vec{R}}_{{\mathrm{P}}_{\mathrm{i}}}^M+2\left[Q_{\mathrm{M}}^F\right]{\widetilde{\stackrel{⃗}{\omega }}}^M{\vec{v}}_{{\mathrm{P}}_{\mathrm{i}}}^M+{\left({\vec{a}}_{{\mathrm{P}}_{\mathrm{i}}}^M\right)}^F\end{array}$$
  当点$P_i$为运动刚体上固定一点时，则有：
  $$\begin{array}{rl}{\vec{a}}_{{\mathrm{P}}_{\mathrm{i}}}^F& ={\vec{a}}_{\mathrm{M}}^F+\left[Q_{\mathrm{M}}^F\right]{\widetilde{\stackrel{⃗}{\alpha }}}^M{\vec{R}}_{{\mathrm{P}}_{\mathrm{i}}}^M+\left[Q_{\mathrm{M}}^F\right]{\widetilde{\stackrel{⃗}{\omega }}}^M{\widetilde{\stackrel{⃗}{\omega }}}^M{\vec{R}}_{{\mathrm{P}}_{\mathrm{i}}}^M+2\left[Q_{\mathrm{M}}^F\right]{\widetilde{\stackrel{⃗}{\omega }}}^M{{\vec{v}}_{{\mathrm{P}}_{\mathrm{i}}}^M}_{\nearrow 0}+{\left({{\vec{a}}_{{\mathrm{P}}_{\mathrm{i}}}^M}_{\nearrow 0}\right)}^F\\ & ={\vec{a}}_{\mathrm{M}}^F+\left[Q_{\mathrm{M}}^F\right]{\widetilde{\stackrel{⃗}{\alpha }}}^M{\vec{R}}_{{\mathrm{P}}_{\mathrm{i}}}^M+\left[Q_{\mathrm{M}}^F\right]{\widetilde{\stackrel{⃗}{\omega }}}^M{\widetilde{\stackrel{⃗}{\omega }}}^M{\vec{R}}_{{\mathrm{P}}_{\mathrm{i}}}^M\end{array}$$

5.2.1 欧拉角表示角加速度

对 ${\vec{\omega }}^F=\left[\begin{array}{ccc}\cos \beta \cos \gamma & -\sin \gamma & 0\\ \cos \beta \sin \gamma & \cos \gamma & 0\\ -\sin \beta & 0& 1\end{array}\right]\left[\begin{array}{c}\dot{\alpha }\\ \dot{\beta }\\ \dot{\gamma }\end{array}\right]$ 继续求导，可得：
$$\begin{array}{r}{\vec{\omega }}^F=\left[\begin{array}{ccc}\cos \beta \cos \gamma & -\sin \gamma & 0\\ \cos \beta \sin \gamma & \cos \gamma & 0\\ -\sin \beta & 0& 1\end{array}\right]\left[\begin{array}{c}\dot{\alpha }\\ \dot{\beta }\\ \dot{\gamma }\end{array}\right]\\ \Rightarrow {\vec{\alpha }}^F=\left[\begin{array}{ccc}-\sin \beta \cos \gamma -\cos \beta \sin \gamma & -\cos \gamma & 0\\ \cos \beta \cos \gamma -\sin \beta \sin \gamma & -\sin \gamma & 0\\ -\cos \beta & 0& 0\end{array}\right]\left[\begin{array}{c}\dot{\alpha }\\ \dot{\beta }\\ \dot{\gamma }\end{array}\right]+\left[\begin{array}{ccc}\cos \beta \cos \gamma & -\sin \gamma & 0\\ \cos \beta \sin \gamma & \cos \gamma & 0\\ -\sin \beta & 0& 1\end{array}\right]\left[\begin{array}{c}\ddot{\alpha }\\ \ddot{\beta }\\ \ddot{\gamma }\end{array}\right]\end{array}$$

5.2.2 欧拉参数表示角加速度

结合欧拉参数对角速度的表达：$\left[\begin{array}{c}{w_1}^F\\ {w_2}^F\\ {w_3}^F\end{array}\right]=2\left[\begin{array}{c}{\dot{q}}_4{q}_3-{\dot{q}}_3{q}_4+{\dot{q}}_2{q}_1-{\dot{q}}_1{q}_2\\ {\dot{q}}_2{q}_4-{\dot{q}}_1{q}_3+{\dot{q}}_4{q}_2-{\dot{q}}_3{q}_1\\ {\dot{q}}_3{q}_2-{\dot{q}}_4{q}_1+{\dot{q}}_1{q}_4-{\dot{q}}_2{q}_3\end{array}\right]$对上式进一步求导，可得：
$$\left[\begin{array}{c}{{\alpha }_1}^F\\ {{\alpha }_2}^F\\ {{\alpha }_3}^F\end{array}\right]=2\left[\begin{array}{c}{\ddot{q}}_4{q}_3-{\ddot{q}}_3{q}_4+{\ddot{q}}_2{q}_1-{\ddot{q}}_1{q}_2\\ {\ddot{q}}_2{q}_4-{\ddot{q}}_1{q}_3+{\ddot{q}}_4{q}_2-{\ddot{q}}_3{q}_1\\ {\ddot{q}}_3{q}_2-{\ddot{q}}_4{q}_1+{\ddot{q}}_1{q}_4-{\ddot{q}}_2{q}_3\end{array}\right]$$
简化为：${\vec{\alpha }}^F=2B{\ddot{\vec{q}}}^F$，其中：$B_{3\times 4}=\left[\begin{array}{cccc}-q_2& q_1& -q_4& q_3\\ -q_3& q_4& q_1& -q_2\\ -q_4& -q_3& q_2& q_1\end{array}\right]$

5.3 欧拉参数的重要性质

根据前述定义：$\vec{q}=\left[\begin{array}{c}s\\ \vec{v}\end{array}\right]=\left[\begin{array}{cc}\cos \frac{\theta }{2}& \to scalepart\\ \vec{v}\sin \frac{\theta }{2}& \to vectorpart\end{array}\right]=\left[\begin{array}{c}\cos \frac{\theta }{2}\\ v_1\sin \frac{\theta }{2}\\ v_2\sin \frac{\theta }{2}\\ v_3\sin \frac{\theta }{2}\end{array}\right]=\left[\begin{array}{c}{q}_1\\ q_2\\ q_3\\ q_4\end{array}\right]$，$B_{3\times 4}=\left[\begin{array}{cccc}-q_2& q_1& -q_4& q_3\\ -q_3& q_4& q_1& -q_2\\ -q_4& -q_3& q_2& q_1\end{array}\right]$，${\bar{B}}_{3\times 4}=\left[\begin{array}{cccc}-q_2& q_1& q_4& -q_3\\ -q_3& -q_4& q_1& q_2\\ -q_4& q_3& -q_2& q_1\end{array}\right]$, 总结其一些有用的性质，进而便于简化运动学与动力学方程：

$$\{\begin{array}{l}B{B}^{\mathrm{T}}=\bar{B}{\bar{B}}^{\mathrm{T}}=E\\ B^{\mathrm{T}}B={\bar{B}}^{\mathrm{T}}\bar{B}=E_{4\times 4}-\vec{q}{\vec{q}}^{\mathrm{T}}\end{array}$$

$$\{\begin{array}{l}B\vec{q}={\bar{B}}^{\mathrm{T}}\vec{q}=0\\ \dot{B}\vec{q}={\dot{\bar{B}}}^{\mathrm{T}}\vec{q}=0\\ B{\dot{\bar{B}}}^{\mathrm{T}}=\dot{B}{\bar{B}}^{\mathrm{T}}\end{array}$$

$$\{\begin{array}{l}2\dot{B}{B}^{\mathrm{T}}=-2B{\dot{B}}^{\mathrm{T}}={\widetilde{\stackrel{⃗}{\omega }}}^F\\ 2\bar{B}{\dot{\bar{B}}}^{\mathrm{T}}=-2\dot{\bar{B}}{\bar{B}}^{\mathrm{T}}={\widetilde{\stackrel{⃗}{\omega }}}^M\end{array}$$

$$\{\begin{array}{l}B\dot{\vec{q}}=-\dot{B}\vec{q}\\ \bar{B}\dot{\vec{q}}=-\dot{\bar{B}}\vec{q}\end{array}$$

$$\{\begin{array}{l}{\vec{q}}^{\mathrm{T}}\vec{q}=1\\ {\dot{\vec{q}}}^{\mathrm{T}}\vec{q}=0\end{array}$$

考虑存在如下的旋转变换关系 : $\left[Q_{\mathrm{M}}^F\right]=\left[Q_{\mathrm{A}}^F\right]\left[Q_{\mathrm{M}}^A\right]$ , 各旋转矩阵对应的欧拉参数分别为：${\vec{q}}_{\to \mathrm{M}}^F,{\vec{q}}_{\to \mathrm{A}}^F,{\vec{q}}_{\to \mathrm{M}}^A$，则存在如下转换关系：
$${\vec{q}}_{\to \mathrm{M}}^F=\left[\begin{array}{c}{q}_1^{F\to M}\\ q_2^{F\to M}\\ q_3^{F\to M}\\ q_4^{F\to M}\end{array}\right]=D{\vec{q}}_{\to \mathrm{M}}^A=\left[\begin{array}{cccc}-q_1^{F\to A}& q_2^{F\to A}& q_3^{F\to A}& q_4^{F\to A}\\ -q_2^{F\to A}& -q_1^{F\to A}& q_4^{F\to A}& -q_3^{F\to A}\\ -q_3^{F\to A}& -q_4^{F\to A}& -q_1^{F\to A}& q_2^{F\to A}\\ -q_4^{F\to A}& q_3^{F\to A}& -q_2^{F\to A}& -q_1^{F\to A}\end{array}\right]\left[\begin{array}{c}{q}_1^{A\to M}\\ q_2^{A\to M}\\ q_3^{A\to M}\\ q_4^{A\to M}\end{array}\right],D=\left[\begin{array}{cccc}-q_1^{F\to A}& q_2^{F\to A}& q_3^{F\to A}& q_4^{F\to A}\\ -q_2^{F\to A}& -q_1^{F\to A}& q_4^{F\to A}& -q_3^{F\to A}\\ -q_3^{F\to A}& -q_4^{F\to A}& -q_1^{F\to A}& q_2^{F\to A}\\ -q_4^{F\to A}& q_3^{F\to A}& -q_2^{F\to A}& -q_1^{F\to A}\end{array}\right]$$