捷联惯导系统学习2.4(4元数基本概念)

定义数Q为：
$$Q=q_0+q_1\ast i+q_2\ast j+q_3\ast k$$
i,j,k具有如下关系：
(1) $i\ast i=j\ast j=k\ast k=ijk=-1$(哈密顿公式)
(2) $i\ast j=k;j\ast k=i;ki=j$
(3) $j\ast i=-k;k\ast j=-i;i\ast k=-j$
关系：
P，Q为两个四元数
$P=q_0+q_v=q_0+q_1\ast i+q_2\ast j+q_3\ast k$ ;
$Q=p_0+p_v=p_0+p_1\ast i+p_2\ast j+p_3\ast k$
(1) 四元数乘法不符合交换律，即：$Q\ast P\ne P\ast Q$(但在$v_q\times u_p=u_p\times v_q下相等$)
(2) 符合乘法结合律，即：$(Q+P)R=Q\ast R+P\ast R$
(3) 共轭转置：
$Q^{\ast }=p_0-p_v=q_0-q_{1}i-q_{2}j-q_{3}k$
$(P+Q{)}^{\ast }=P^{\ast }+Q^{\ast }$
$(PQ{)}^{\ast }=Q^{\ast }{P}^{\ast }$
(4) 第一反对称矩阵（不带下标时默认时第一对称矩阵）
$$(p_v\times {)}_1=\left[\begin{array}{cccc}0& -p_1& -p_2& -p_3\\ p_1& 0& -p_3& p_2\\ p_2& p_3& 0& -p_1\\ p_3& -p_2& p_1& 0\end{array}\right]=\left[\begin{array}{cc}0& -p_v^T\\ p_v& p_v\times \end{array}\right]$$
(5) 第二反对称矩阵
$$(p_v\times {)}_2=\left[\begin{array}{cccc}0& -p_1& -p_2& -p_3\\ p_1& 0& p_3& -p_2\\ p_2& -p_3& 0& p_1\\ p_3& p_2& -p_1& 0\end{array}\right]=\left[\begin{array}{cc}0& -p_v^T\\ p_v& -p_v\times \end{array}\right]$$
（6）乘法求解:
$P。Q=M_{P}Q=(p_0+(p_v\times {)}_1)\ast Q=M_Q^{\prime }P=(q_0+(q_v\times {)}_2)\ast P$
（7）乘法模值:
$||Q||=\sqrt{q_0^2+q_1^2+q_2^2+q_3^2}$
$||Q\ast P||=||P\ast Q||=||Q||\ast ||P||$
（7）逆:
$Q^{-1}=Q^{\ast }$
(8)三角函数表示
$Q=q_0+q_v=cos\frac{\theta }{2}+u\ast sin\frac{\theta }{2}$
(9)四元数与余弦矩阵
$$C_b^i=I+sin\theta \ast (u\times )+(1-cos\theta )(u\times {)}^2=$$
$$I+2sin\frac{\theta }{2}\ast cos\frac{\theta }{2}\ast (u\times )+(1-2si{n}^2\frac{\theta }{2})(u\times {)}^2=$$
$$I+2q_0(q_v\times )+2(q\times {)}^2=$$
$$I+2q_0\left[\begin{array}{ccc}0& -q_3& q_2\\ q_3& 0& -q_1\\ -q_2& q_1& 0\end{array}\right]+2{\left[\begin{array}{ccc}0& -q_3& q_2\\ q_3& 0& -q_1\\ -q_2& q_1& 0\end{array}\right]}^2=$$
$$\left[\begin{array}{ccc}{q}_0^2+q_1^2-q_2^2-q_3^2& 2(q_1\ast q_2-q_0\ast q_3)& 2(q_1\ast q_3+q_0\ast q_2)\\ 2(q_1\ast q_2+q_0\ast q_3)& q_0^2-q_1^2+q_2^2-q_3^2& 2(q_2\ast q_3-q_1\ast q_2)\\ 2(q_1\ast q_3-q_0\ast q_2)& 2(q_0\ast q_1+q_2\ast q_3)& q_0^2-q_1^2-q_2^2+q_3^2\end{array}\right]$$