捷联惯导系统学习2.4（4元数微分方程求解）

$Q$表示四元组
已知：
(1) $\dot{Q}(t)=\frac{1}{2}{M}_{w(t)}Q(t)$
(2) $w(t)$角速度在[0 T]时间内满足定轴转动即：

$[w(t1)\times ][w(t_2)\times ]=[w(t_2)\times ][w(t1)\times ]$
$M_{w(t_1)}{M}_{w(t_2)}=M_{w(t_2)}{M}_{w(t_1)}$（M均为第二反对称矩阵）
(3) $\theta (T)=\left[\begin{array}{ccc}{\theta }_x(T)& {\theta }_y(T)& {\theta }_z(T)\end{array}\right]={\int }_0^{T}w(t)dt$ 角增量 $\theta T=|\theta (T)|$
$$\Theta (T)={\int }_0^T{M}_{w(t)}dt=\left[\begin{array}{cccc}0& -{\theta }_x(T)& -{\theta }_y(T)& -{\theta }_z(T)\\ {\theta }_x(T)& 0& {\theta }_z(T)& -{\theta }_y(T)\\ {\theta }_y(T)& -{\theta }_z(T)& 0& {\theta }_x(T)\\ {\theta }_x(T)& {\theta }_y(T)& -{\theta }_x(T)& 0\end{array}\right]=(\theta (T)\times {)}_2$$
$$e^{\frac{1}{2}\Theta (T)}=cos\frac{\theta T}{2}+\frac{\Theta (T)}{\theta T}sin\frac{\theta T}{2}$$
即（证略） $$Q(T)=e^{\frac{1}{2}\Theta (T)}Q(0)=Q(0)。\left[\begin{array}{c}cos\frac{\theta T}{2}\\ \frac{\theta (T)}{\theta T}sin\frac{\theta T}{2}\end{array}\right](。为4元数乘法)$$

将时间区间更改维$[t_{m-1},t_m]$
$$Q_m=Q_{m-1}。Q_m^{m-1}$$
$$Q_m^{m-1}=\left[\begin{array}{c}cos\frac{\theta T_m}{2}\\ \frac{\theta (T_m)}{\theta T_m}sin\frac{\theta T_m}{2}\end{array}\right]$$