补充知识：
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q_a \otimes q_b = R(q_b)q_a=\left[\begin{array}{cccc} {s_{b}} & {z_{b}} & {-y_{b}} & {x_{b}} \\ {-z_{b}} & {s_{b}} & {x_{b}} & {y_{b}} \\ {y_{b}} & {-x_{b}} & {s_{b}} & {z_{b}} \\ {-x_{b}} & {-y_{b}} & {-z_{b}} & {s_{b}} \end{array}\right]\left[\begin{array}{c} {x_{a}} \\ {y_{a}} \\ {z_{a}} \\ {s_{a}} \end{array}\right]
qa⊗qb=R(qb)qa=⎣⎢⎢⎡sb−zbyb−xbzbsb−xb−yb−ybxbsb−zbxbybzbsb⎦⎥⎥⎤⎣⎢⎢⎡xayazasa⎦⎥⎥⎤
∴
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R(q_b)= \Omega(w)+sI=\left[\begin{array}{ll} {-\omega^{\wedge}} & {\omega} \\ {-\omega^{T}} & {0} \end{array}\right]+s I
R(qb)=Ω(w)+sI=[−ω∧−ωTω0]+sI
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