HOMEWORK1
Question1
![[外链图片转存失败,源站可能有防盗链机制,建议将图片保存下来直接上传(img-HLfRJ07O-1669796132233)(homework1_md_files/f7dec490-6f4d-11ed-8b0e-17b6cd3a7276_20221129025335.jpeg?v=1&type=image&token=V1:KQC5Dxu7Hux0PLmF9Oa8qsI9Nx-jJKrLj0yEkP2YQdI)]](https://i-blog.csdnimg.cn/blog_migrate/10dceaff4097b9c596ed825436ac1b84.png)
Solution.
The rotation from B to O as flows:
B
→
φ
,
θ
,
ψ
1
,
2
,
3
O
.
B \xrightarrow[\varphi,\theta,\psi ]{1,2,3}O.
B1,2,3φ,θ,ψO.
We can get the rotation matrix:
D
O
B
=
(
c
o
s
(
θ
)
c
o
s
(
ϕ
)
c
o
s
(
ϕ
)
s
i
n
(
ψ
)
−
s
i
n
(
ϕ
)
s
i
n
(
θ
)
c
o
s
(
ψ
)
s
i
n
(
ϕ
)
s
i
n
(
ψ
)
+
c
o
s
(
ϕ
)
s
i
n
(
θ
)
c
o
s
(
ψ
)
−
s
i
n
(
ϕ
)
c
o
s
(
θ
)
c
o
s
(
ϕ
)
c
o
s
(
ψ
)
+
s
i
n
(
ψ
)
s
(
θ
)
s
i
n
(
ψ
)
s
i
n
(
ϕ
)
c
o
s
(
ψ
)
−
c
o
s
(
ϕ
)
s
i
n
(
θ
)
s
i
n
(
ψ
)
−
s
i
n
(
θ
)
−
s
i
n
(
θ
)
c
o
s
(
ϕ
)
−
s
i
n
(
ϕ
)
c
o
s
(
θ
)
c
o
s
(
ϕ
)
c
o
s
(
θ
)
)
D^B_O= \begin{pmatrix} cos(\theta)cos(\phi) & cos(\phi)sin(\psi)-sin(\phi)sin(\theta)cos(\psi) & sin(\phi)sin(\psi)+cos(\phi)sin(\theta)cos(\psi)\\ -sin(\phi)cos(\theta) & cos(\phi)cos(\psi)+sin(\psi)s(\theta)sin(\psi) & sin(\phi)cos(\psi)-cos(\phi)sin(\theta)sin(\psi)\\ -sin(\theta) & -sin(\theta)cos(\phi)-sin(\phi)cos(\theta) & cos(\phi)cos(\theta)\\ \end{pmatrix}
DOB=
cos(θ)cos(ϕ)−sin(ϕ)cos(θ)−sin(θ)cos(ϕ)sin(ψ)−sin(ϕ)sin(θ)cos(ψ)cos(ϕ)cos(ψ)+sin(ψ)s(θ)sin(ψ)−sin(θ)cos(ϕ)−sin(ϕ)cos(θ)sin(ϕ)sin(ψ)+cos(ϕ)sin(θ)cos(ψ)sin(ϕ)cos(ψ)−cos(ϕ)sin(θ)sin(ψ)cos(ϕ)cos(θ)
The rotation from B to C as flows:
B
→
α
,
β
2
,
1
C
.
B \xrightarrow[\alpha, \beta ]{2,1}C.
B2,1α,βC.
We can get the rotation matrix:
D
C
B
=
[
c
o
s
(
α
)
+
s
i
n
(
α
)
s
i
n
(
β
)
c
o
s
(
β
)
c
o
s
(
α
)
s
i
n
(
β
)
−
s
i
n
(
α
)
−
c
o
s
(
α
)
+
s
i
n
(
α
)
s
i
n
(
β
)
c
o
s
(
α
)
s
i
n
(
α
)
−
c
o
s
(
α
)
s
i
n
(
β
)
−
c
o
s
(
β
)
s
i
n
(
β
)
c
o
s
(
α
)
c
o
s
(
β
)
]
D_{C}^{B} = \begin{bmatrix} cos(\alpha) + sin(\alpha)sin(\beta) & cos(\beta) & cos(\alpha)sin(\beta) - sin(\alpha) \\ -cos(\alpha) + sin(\alpha)sin(\beta) & cos(\alpha) & sin(\alpha) - cos(\alpha)sin(\beta) \\ -cos(\beta) & sin(\beta)& cos(\alpha)cos(\beta) \\ \end{bmatrix}
DCB=
cos(α)+sin(α)sin(β)−cos(α)+sin(α)sin(β)−cos(β)cos(β)cos(α)sin(β)cos(α)sin(β)−sin(α)sin(α)−cos(α)sin(β)cos(α)cos(β)
Because the axis
(
Z
O
)
(Z_{O})
(ZO) is aligned with the Nadir and points towards the center of the Earth. And the axis
(
Z
C
)
(Z_{C})
(ZC) is aligned with the optical axis of the camera.
γ
\gamma
γ is equal to 0.
Then, we can get the equations as:
−
s
i
n
(
α
)
=
s
i
n
(
ϕ
)
s
i
n
(
ψ
)
−
c
o
s
(
ϕ
)
s
i
n
(
θ
)
c
o
s
(
ψ
)
c
o
s
(
α
)
s
i
n
(
β
)
=
s
i
n
(
ϕ
)
c
o
s
(
ψ
)
−
c
o
s
(
ϕ
)
s
i
n
(
θ
)
s
i
n
(
ψ
)
c
o
s
(
α
)
c
o
s
(
β
)
=
c
o
s
(
ϕ
)
c
o
s
(
θ
)
-sin(\alpha) =sin(\phi)sin(\psi)-cos(\phi)sin(\theta)cos(\psi)\\ cos(\alpha)sin(\beta)=sin(\phi)cos(\psi)-cos(\phi)sin(\theta)sin(\psi)\\ cos(\alpha)cos(\beta) =cos(\phi)cos(\theta)
−sin(α)=sin(ϕ)sin(ψ)−cos(ϕ)sin(θ)cos(ψ)cos(α)sin(β)=sin(ϕ)cos(ψ)−cos(ϕ)sin(θ)sin(ψ)cos(α)cos(β)=cos(ϕ)cos(θ)
So we can get
α
\alpha
α and
β
\beta
β:
α
=
a
r
c
s
i
n
(
c
o
s
(
ϕ
)
s
i
n
(
θ
)
c
o
s
(
ψ
)
−
s
i
n
(
ϕ
)
s
i
n
(
ψ
)
)
β
=
a
r
c
t
a
n
2
[
c
o
s
(
ϕ
)
s
i
n
(
θ
)
s
i
n
(
ψ
)
+
s
i
n
(
ϕ
)
c
o
s
(
ψ
)
,
c
o
s
(
ϕ
)
c
o
s
(
θ
)
]
\alpha=arcsin(cos(\phi)sin(\theta)cos(\psi)-sin(\phi)sin(\psi)) \\ \beta=arctan2[cos(\phi)sin(\theta)sin(\psi)+sin(\phi)cos(\psi),cos(\phi)cos(\theta)]
α=arcsin(cos(ϕ)sin(θ)cos(ψ)−sin(ϕ)sin(ψ))β=arctan2[cos(ϕ)sin(θ)sin(ψ)+sin(ϕ)cos(ψ),cos(ϕ)cos(θ)]
Question2
![[外链图片转存失败,源站可能有防盗链机制,建议将图片保存下来直接上传(img-wI1ymBdz-1669796132234)(homework1_md_files/2899f650-6f57-11ed-8b0e-17b6cd3a7276_20221129035938.jpeg?v=1&type=image&token=V1:VqGbkfFhJSJ_eXQwasuMSY_tRn8jDY0d3tDkF3o6P7c)]](https://i-blog.csdnimg.cn/blog_migrate/9bd49b7d50e0b81e49be0f605eb5a179.png)
Solution.
the rotation matrix
D
V
I
D_{V}^{I}
DVI:
D
V
I
=
(
q
2
+
e
x
2
−
e
y
2
−
e
z
2
2
(
e
x
e
y
+
q
e
z
)
2
(
e
x
e
z
−
q
e
y
)
2
(
e
x
e
y
−
q
e
z
)
q
2
−
e
x
2
+
e
y
2
−
e
z
2
2
(
e
y
e
z
+
q
e
x
)
2
(
e
x
e
z
+
q
e
y
)
2
(
e
y
e
z
−
q
e
x
)
q
2
−
e
x
2
−
e
y
2
+
e
z
2
)
=
(
r
11
r
12
r
13
r
21
r
22
r
23
r
31
r
32
r
33
)
D^I_V= \begin{pmatrix} q^2+e_x^2-e_y^2-e_z^2 & 2(e_xe_y+qe_z) & 2(e_xe_z-qe_y)\\ 2(e_xe_y-qe_z) & q^2-e_x^2+e_y^2-e_z^2 & 2(e_ye_z+qe_x)\\ 2(e_xe_z+qe_y) & 2(e_ye_z-qe_x) & q^2-e_x^2-e_y^2+e_z^2\\ \end{pmatrix} = \begin{pmatrix} r_{11} & r_{12} & r_{13} \\ r_{21} & r_{22} & r_{23} \\ r_{31} & r_{32} & r_{33} \end{pmatrix}
DVI=
q2+ex2−ey2−ez22(exey−qez)2(exez+qey)2(exey+qez)q2−ex2+ey2−ez22(eyez−qex)2(exez−qey)2(eyez+qex)q2−ex2−ey2+ez2
=
r11r21r31r12r22r32r13r23r33
According to the correspondence between the quaternion and the rotation matrix, the equation can be obtained:
q
2
+
e
x
2
+
e
y
2
+
e
z
2
=
1
r
11
+
r
22
+
r
33
=
3
q
2
−
e
x
2
−
e
y
2
−
e
z
2
=
4
q
2
−
1
r
11
−
r
22
−
r
33
=
−
q
2
+
3
e
x
2
−
e
y
2
−
e
z
2
=
4
e
x
2
−
1
−
r
11
+
r
22
−
r
33
=
−
q
2
−
e
x
2
+
3
e
y
2
−
e
z
2
=
4
e
y
2
−
1
−
r
11
−
r
22
−
r
33
=
−
q
2
−
e
x
2
−
c
2
+
3
e
z
2
=
4
e
z
2
−
1
r
23
−
r
32
=
4
q
e
x
r
31
−
r
13
=
4
q
e
y
r
12
−
r
21
=
4
q
e
z
q^2+e_x^2+e_y^2+e_z^2=1\\ r_{11}+r_{22}+r_{33}=3q^2-e_x^2-e_y^2-e_z^2=4q^2-1\\ r_{11}-r_{22}-r_{33}=-q^2+3e_x^2-e_y^2-e_z^2=4e_x^2-1\\ -r_{11}+r_{22}-r_{33}=-q^2-e_x^2+3e_y^2-e_z^2=4e_y^2-1\\ -r_{11}-r_{22}-r_{33}=-q^2-e_x^2-c^2+3e_z^2=4e_z^2-1\\ \\ r_{23}-r_{32}=4qe_x\\ r_{31}-r_{13}=4qe_y\\ r_{12}-r_{21}=4qe_z\\
q2+ex2+ey2+ez2=1r11+r22+r33=3q2−ex2−ey2−ez2=4q2−1r11−r22−r33=−q2+3ex2−ey2−ez2=4ex2−1−r11+r22−r33=−q2−ex2+3ey2−ez2=4ey2−1−r11−r22−r33=−q2−ex2−c2+3ez2=4ez2−1r23−r32=4qexr31−r13=4qeyr12−r21=4qez
so we can get the results:
∣
q
∣
=
1
2
1
+
r
11
+
r
22
+
r
33
∣
e
x
∣
=
1
2
1
+
r
11
−
r
22
−
r
33
∣
e
y
∣
=
1
2
1
−
r
11
+
r
22
−
r
33
∣
e
z
∣
=
1
2
1
−
r
11
−
r
22
+
r
33
|q|=\frac{1}{2}\sqrt{{1+r_{11}+r_{22}+r_{33}}}\\ |e_x|=\frac{1}{2}\sqrt{{1+r_{11}-r_{22}-r_{33}}}\\ |e_y|=\frac{1}{2}\sqrt{{1-r_{11}+r_{22}-r_{33}}}\\ |e_z|=\frac{1}{2}\sqrt{{1-r_{11}-r_{22}+r_{33}}}\\
∣q∣=211+r11+r22+r33∣ex∣=211+r11−r22−r33∣ey∣=211−r11+r22−r33∣ez∣=211−r11−r22+r33
Because q=-q, and then we need to determine the positive and negative values, according to the following equations:
s
i
g
n
(
e
x
)
=
s
i
g
n
(
q
)
s
i
g
n
(
r
23
−
r
32
)
s
i
g
n
(
e
y
)
=
s
i
g
n
(
q
)
s
i
g
n
(
r
31
−
r
13
)
s
i
g
n
(
e
z
)
=
s
i
g
n
(
q
)
s
i
g
n
(
r
12
−
r
21
)
sign(e_x)=sign(q)sign(r_{23}-r_{32})\\ sign(e_y)=sign(q)sign(r_{31}-r_{13})\\ sign(e_z)=sign(q)sign(r_{12}-r_{21})
sign(ex)=sign(q)sign(r23−r32)sign(ey)=sign(q)sign(r31−r13)sign(ez)=sign(q)sign(r12−r21)
Question3
Solution.
as we know:
e
x
=
s
i
n
(
ϕ
/
2
)
c
o
s
(
a
x
)
e
y
=
s
i
n
(
ϕ
/
2
)
c
o
s
(
a
y
)
e
z
=
s
i
n
(
ϕ
/
2
)
c
o
s
(
a
z
)
q
=
c
o
s
(
ϕ
/
2
)
q
1
∗
q
2
=
(
e
1
×
e
2
+
q
1
e
2
+
q
2
e
1
q
1
q
2
−
e
1
T
e
2
)
e_x=sin(\phi/2)cos(a_x)\\ e_y=sin(\phi/2)cos(a_y)\\ e_z=sin(\phi/2)cos(a_z)\\ q=cos(\phi/2)\\ q_1*q_2=\begin{pmatrix} e_1×e_2+q_1e_2+q_2e_1\\ q_1q_2-e_1^Te_2\\ \end{pmatrix}
ex=sin(ϕ/2)cos(ax)ey=sin(ϕ/2)cos(ay)ez=sin(ϕ/2)cos(az)q=cos(ϕ/2)q1∗q2=(e1×e2+q1e2+q2e1q1q2−e1Te2)
a:
B
1
≡
B
2
B{1}\equiv B{2}
B1≡B2
q
2
=
(
0
,
0
,
0
,
1
)
T
q
3
=
[
e
x
,
e
y
,
e
z
,
q
]
T
q_2=(0,0,0,1)^T\\ q_3=[e_{x},e_{y},e_{z},q]^T
q2=(0,0,0,1)Tq3=[ex,ey,ez,q]T
b:
B
1
→
18
0
∘
2
B
2
B_{1}\xrightarrow[180^{\circ}]{2} B_{2}
B12180∘B2
q
2
=
(
0
,
1
,
0
,
0
)
T
q
3
=
[
−
e
z
,
q
,
e
x
,
−
e
y
]
T
q_2=(0,1,0,0)^T\\ q_3=[-e_{z},q,e_{x},-e_{y}]^T
q2=(0,1,0,0)Tq3=[−ez,q,ex,−ey]T
c:
B
1
→
18
0
∘
1
B
2
B_{1}\xrightarrow[180^{\circ}]{1} B_{2}
B11180∘B2
q
2
=
(
1
,
0
,
0
,
0
)
T
q
3
=
[
q
,
e
z
,
−
e
y
,
−
e
x
]
T
q_2=(1,0,0,0)^T\\ q_3=[q,e_{z},-e_{y},-e_{x}]^T
q2=(1,0,0,0)Tq3=[q,ez,−ey,−ex]T
d:
B
1
→
18
0
∘
3
B
2
B_{1}\xrightarrow[180^{\circ}]{3} B_{2}
B13180∘B2
q
2
=
(
0
,
0
,
1
,
0
)
T
q
3
=
[
e
y
,
−
e
x
,
q
,
−
e
z
]
T
q_2=(0,0,1,0)^T\\ q_3=[e_{y},-e_{x},q,-e_{z}]^T
q2=(0,0,1,0)Tq3=[ey,−ex,q,−ez]T
e:
B
1
→
9
0
∘
2
B
2
B_{1}\xrightarrow[90^{\circ}]{2} B_{2}
B1290∘B2
q
2
=
(
0
,
2
2
,
0
,
2
2
)
T
q
3
=
2
2
[
(
−
e
z
+
e
x
)
,
(
q
+
e
y
)
,
(
e
x
+
e
z
)
,
(
q
−
e
y
)
]
T
q_2=(0,\frac{\sqrt2}{2},0,\frac{\sqrt2}{2})^T\\ q_3=\frac{\sqrt2}2[(-e_{z}+e_{x}),(q+e_{y}),(e_{x}+e_{z}),(q-e_{y})]^T
q2=(0,22,0,22)Tq3=22[(−ez+ex),(q+ey),(ex+ez),(q−ey)]T
f:
B
1
→
9
0
∘
1
B
2
B_{1}\xrightarrow[90^{\circ}]{1} B_{2}
B1190∘B2
q
2
=
(
2
2
,
0
,
0
,
2
2
)
T
q
3
=
2
2
[
(
e
x
+
q
)
,
(
e
z
+
e
y
)
,
(
e
z
−
e
y
)
,
(
q
−
e
x
)
]
T
q_2=(\frac{\sqrt2}{2},0,0,\frac{\sqrt2}{2})^T\\ q_3=\frac{\sqrt2}2[(e_{x}+q), (e_{z}+e_{y}),(e_{z}-e_{y}),(q-e_{x})]^T
q2=(22,0,0,22)Tq3=22[(ex+q),(ez+ey),(ez−ey),(q−ex)]T
g:
B
1
→
9
0
∘
3
B
2
B_{1}\xrightarrow[90^{\circ}]{3} B_{2}
B1390∘B2
q
2
=
(
0
,
0
,
2
2
,
2
2
)
T
q
3
=
2
2
[
(
e
x
+
e
y
)
,
(
−
e
x
+
e
y
)
,
(
e
z
+
q
)
,
(
q
−
e
z
)
]
T
q_2=(0,0,\frac{\sqrt2}{2},\frac{\sqrt2}{2})^T\\ q_3=\frac{\sqrt2}2[(e_{x}+e_{y}), (-e_{x}+e_{y}),(e_{z}+q),(q-e_{z})]^T
q2=(0,0,22,22)Tq3=22[(ex+ey),(−ex+ey),(ez+q),(q−ez)]T
h:
B
1
→
18
0
∘
u
B
2
B_{1}\xrightarrow[180^{\circ}]{u} B_{2}
B1u180∘B2
q
2
=
1
3
(
1
,
1
,
1
,
0
)
T
q
3
=
1
3
[
e
y
−
e
z
+
q
,
e
z
−
e
x
+
q
,
e
x
−
e
y
+
q
,
−
e
x
−
e
y
−
e
z
]
T
q_2=\frac1{\sqrt3}(1,1,1,0)^T\\ q_3=\frac1{\sqrt3}[e_{y}-e_{z}+q,e_{z}-e_{x}+q,e_{x}-e_{y}+q,-e_{x}-e_{y}-e_{z}]^T
q2=31(1,1,1,0)Tq3=31[ey−ez+q,ez−ex+q,ex−ey+q,−ex−ey−ez]T
Question4
Solution a.
if we want to prove D(t) is a rotation matrix for any t>=t_{0},it means that we need to prove
D
D
T
=
I
DD^T=I
DDT=I and
d
e
t
(
D
)
=
1
det(D)=1
det(D)=1.
First prove
D
D
T
=
I
DD^T=I
DDT=I :
as we know:
D
t
0
D
t
0
T
=
I
D_{t0}D_{t0}^{T}=I
Dt0Dt0T=I
D
t
0
′
D
t
0
T
+
D
t
0
D
t
0
′
T
=
0
D_{t0}'D_{t0}^T+D_{t0}D_{t0}'^T=0
Dt0′Dt0T+Dt0Dt0′T=0
d
D
(
t
)
d
t
=
−
[
ω
(
t
)
×
]
D
(
t
)
（
t
>
t
0
）
\frac{dD(t)}{dt}=-[\omega(t)_×]D(t)（t>t0）
dtdD(t)=−[ω(t)×]D(t)（t>t0）
Then we can get this equation:
D
t
′
D
t
T
+
D
t
D
t
′
T
=
−
[
ω
(
t
)
×
]
D
t
D
t
T
+
D
t
D
t
T
[
ω
(
t
)
×
]
=
0
D_{t}'D_{t}^T+D_{t}D_{t}'^T=-[\omega(t)_×]D_{t}D_{t}^T+D_{t}D_{t}^T[\omega(t)_×]=0
Dt′DtT+DtDt′T=−[ω(t)×]DtDtT+DtDtT[ω(t)×]=0
D
t
′
D
t
T
+
D
t
D
t
′
T
=
0
D_{t}'D_{t}^T+D_{t}D_{t}'^T=0
Dt′DtT+DtDt′T=0
D
t
D
t
T
=
c
I
D_{t}D_{t}^{T}=cI
DtDtT=cI(c is a constant)
define function:
f
(
t
)
=
D
t
D
t
T
−
c
I
=
0
f(t)=D_{t}D_{t}^{T}-cI=0
f(t)=DtDtT−cI=0
f
(
t
0
)
=
D
t
0
D
t
0
T
−
c
I
=
0
f(t0)=D_{t0}D_{t0}^T-cI=0
f(t0)=Dt0Dt0T−cI=0
so
c
I
=
I
cI=I
cI=I
so
D
t
D
t
T
=
I
D_{t}D_{t}^{T}=I
DtDtT=I
Then prove
d
e
t
(
D
(
t
)
)
=
1
det(D(t))=1
det(D(t))=1:
As we know:
d
d
e
t
(
D
)
d
t
=
−
(
t
r
[
ω
(
t
)
×
]
)
d
e
t
(
D
)
=
0
\frac{d det(D)}{dt}=-(tr[\omega(t)_×]) det(D)=0
dtddet(D)=−(tr[ω(t)×])det(D)=0
so
d
e
t
(
D
(
t
)
)
=
c
det(D(t))=c
det(D(t))=c
define function:
f
(
t
)
=
d
e
t
(
D
(
t
)
)
−
c
f(t)=det(D(t))-c
f(t)=det(D(t))−c
f
(
t
0
)
=
1
f(t0)=1
f(t0)=1
so
c
=
1
c=1
c=1
d
e
t
(
D
(
t
)
)
=
1
det(D(t))=1
det(D(t))=1
Solution b.
as we know:
d
q
(
t
)
d
t
=
1
2
(
0
−
ω
3
ω
2
ω
1
ω
3
0
−
ω
1
ω
2
−
ω
2
ω
1
0
ω
3
−
ω
1
−
ω
2
−
ω
3
0
)
(
e
x
e
x
e
z
q
)
\frac{dq(t)}{dt}=\frac{1}{2} \begin{pmatrix} 0 & -\omega_3 & \omega_2 & \omega_1\\ \omega_3 & 0 & -\omega_1 & \omega_2 \\ -\omega_2 & \omega_1 & 0 & \omega_3 \\ -\omega_1 & -\omega_2 & -\omega_3 & 0 \end{pmatrix} \begin{pmatrix} e_x\\ e_x\\ e_z\\ q \end{pmatrix}
dtdq(t)=21
0ω3−ω2−ω1−ω30ω1−ω2ω2−ω10−ω3ω1ω2ω30
exexezq
(
∣
q
(
t
)
∣
2
)
′
=
2
(
e
x
e
x
′
+
e
y
e
y
′
+
e
z
e
z
′
+
q
q
′
)
=
e
x
(
o
m
e
g
a
3
e
y
−
o
m
e
g
a
2
e
z
+
o
m
e
g
a
1
q
)
+
e
y
(
−
o
m
e
g
a
3
e
x
−
o
m
e
g
a
1
e
z
+
o
m
e
g
a
2
q
)
+
e
z
(
o
m
e
g
a
2
e
x
−
o
m
e
g
a
1
e
y
+
o
m
e
g
a
3
q
)
+
q
(
−
o
m
e
g
a
1
e
x
−
o
m
e
g
a
2
e
y
+
o
m
e
g
a
3
e
z
)
=
0
(|q(t)|^2)'=2(e_xe_x'+e_ye_y'+e_ze_z'+qq')\\ =e_x(omega_3e_y-omega_2e_z+omega_1q)\\ +e_y(-omega_3e_x-omega_1e_z+omega_2q)\\ +e_z(omega_2e_x-omega_1e_y+omega_3q)\\ +q(-omega_1e_x-omega_2e_y+omega_3e_z)\\ =0
(∣q(t)∣2)′=2(exex′+eyey′+ezez′+qq′)=ex(omega3ey−omega2ez+omega1q)+ey(−omega3ex−omega1ez+omega2q)+ez(omega2ex−omega1ey+omega3q)+q(−omega1ex−omega2ey+omega3ez)=0
define function:
f
(
t
)
=
q
(
t
)
−
c
=
0
f(t)=q(t)-c=0
f(t)=q(t)−c=0
Because
f
(
t
0
)
=
q
0
−
c
=
0
f(t0)=q0-c=0
f(t0)=q0−c=0
so
c
=
I
c=I
c=I and
∣
q
(
t
)
=
1
∣
|q(t)=1|
∣q(t)=1∣
so
q
(
t
)
q(t)
q(t) is a unit vector for ant
t
>
=
t
0
.
t>=t_0 .
t>=t0.
Question5
Solution.
as we know:
d
q
(
t
)
d
t
=
1
2
Ω
q
(
t
)
\frac{dq(t)}{dt}=\frac{1}{2}\Omega q(t)
dtdq(t)=21Ωq(t)
q
(
t
)
=
e
1
2
Ω
t
q
0
=
[
(
c
o
s
w
t
2
)
I
4
+
（
s
i
n
w
t
2
)
Ω
w
]
q
0
q(t)=e^{\frac{1}{2}\Omega t}q_0\\ =[(cos\frac{wt}{2})I_4+（sin\frac{wt}{2})\frac{\Omega}{w}]q_0
q(t)=e21Ωtq0=[(cos2wt)I4+（sin2wt)wΩ]q0
because of the properties of sin functions:
a
s
i
n
x
+
b
c
o
s
x
=
a
2
+
b
2
[
s
i
n
(
x
+
θ
)
(
c
o
s
θ
=
a
2
+
b
2
)
asinx+bcosx=\sqrt{a^2+b^2}[sin(x+\theta)(cos\theta=\sqrt{a^2+b^2})
asinx+bcosx=a2+b2[sin(x+θ)(cosθ=a2+b2)
and then
q
(
t
)
q(t)
q(t) can be described:
q
(
t
)
=
A
s
i
n
(
w
t
2
+
θ
)
q
0
q(t)=Asin(\frac{wt}{2}+\theta)q_0
q(t)=Asin(2wt+θ)q0
so
q
(
t
)
q(t)
q(t) is periodic with angular frenquency
w
2
\frac{w}{2}
2w
Question6
![[外链图片转存失败,源站可能有防盗链机制,建议将图片保存下来直接上传(img-l8dNTK1i-1669796132235)(homework1_md_files/44c962c0-6f57-11ed-8b0e-17b6cd3a7276_20221129040010.jpeg?v=1&type=image&token=V1:nOZm_DA_Y-Ck3J0VyQcCL7WVgDJPAvfcki8-gEV9WqI)]](https://i-blog.csdnimg.cn/blog_migrate/6d46d856ff413e096790066ae86f41b2.png)
Solution a.
Solution b.
Solution c.
996
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