捷联惯导系统学习2.4（4元数微分方程）

$⨂$张量积
已知：
$r^i=\left[\begin{array}{ccc}{r}_x^i& r_y^i& r_z^i\end{array}\right]$(三维矢量$r$在$i$坐标系的投影)
$r^b=\left[\begin{array}{ccc}{r}_x^b& r_y^b& r_z^b\end{array}\right]$(三维矢量$r$在$i$坐标系的投影)
$Q_b^i=cos\frac{\theta }{2}+u\ast sin\frac{\theta }{2}$为4元组3角函数表达式 （i->b）
$$r^i=Q_b^i⨂r^b$$
推导：$r^B=\left[\begin{array}{c}0\\ r^b\end{array}\right]$
$Q_b^i。r^b。Q_i^b=M_{Q_b^i}(r^b。Q_i^b)=M_{Q_b^i}{M}_{Q_i^b}\left[\begin{array}{c}0\\ r^b\end{array}\right]=\left[\begin{array}{cc}1& 0_{1\times 3}\\ 0_{3\times 1}& C_b^i\end{array}\right]\left[\begin{array}{c}0\\ r^b\end{array}\right]=\left[\begin{array}{c}0\\ C_i^b{r}^b\end{array}\right]=\left[\begin{array}{c}0\\ r^i\end{array}\right]$
即:
$r^i为Q_B^i。r^b。Q_i^b的虚部（。为4元数乘法）$
$w_{ib}^b$为b系绕i系的角速度;${\dot{r}}^i=0(r^i为固定矢量)$
则Q的导数为：证明略
$${\dot{Q}}_b^i=\frac{1}{2}{Q}_b^i{w}_{ib}^b=\frac{1}{2}{w}_{ib}^i{Q}_b^i$$
$$Q_b^i=\left[\begin{array}{c}cos\frac{\theta }{2}\\ u\ast sin\frac{\theta }{2}\end{array}\right]$$
$${\dot{Q}}_b^i=\left[\begin{array}{c}-\dot{\frac{\theta }{2}}sin\frac{\theta }{2}\\ \dot{u}sin\frac{\theta }{2}+u\frac{\dot{\theta }}{2}cos\frac{\theta }{2}\end{array}\right]$$
$$w_{ib}^b=u\dot{\theta }+\dot{u}sin\theta -u\times \dot{u}(1-cos\theta )$$