1. https://www.3dgep.com/understanding-quaternions/
2. https://www.qiujiawei.com/understanding-quaternions/
3. https://www.qiujiawei.com/quaternion2/
4. https://blog.csdn.net/candycat1992/article/details/41254799 四元数(Quaternion)和旋转
5. https://blog.csdn.net/xiaoma_bk/article/details/79082629
6. https://blog.csdn.net/lql0716/article/details/72597719 四元数和旋转矩阵转换推导
7. https://en.wikipedia.org/wiki/Rodrigues%27_rotation_formula 罗德里格斯公式推导