quaternion 微分
q ˙ ( t ) = lim Δ t → + 0 1 Δ t ( q ( t + Δ t ) − q ( t ) ) = lim Δ t → + 0 1 Δ t ( δ q ⊗ q ( t ) − q ( t ) ) = lim Δ t → + 0 1 Δ t ( [ 1 2 δ θ 1 ] ⊗ q ( t ) − q ( t ) ) = lim Δ t → + 0 1 Δ t ( ( [ 1 2 δ θ 1 ] − [ 0 1 ] ) ⊗ q ( t ) ) = lim Δ t → + 0 1 Δ t ( ( [ 1 2 ω Δ t 0 ] ) ⊗ q ( t ) ) = ( ( [ 1 2 ω 0 ] ) ⊗ q ( t ) ) = 1 2 Ω ( w ) q ( t ) \begin{aligned} \dot q(t) &= \lim_{\Delta t\rightarrow+0} \frac {1}{\Delta t}(q(t+\Delta t)-q(t)) \\ &= \lim_{\Delta t\rightarrow+0}\frac {1}{\Delta t}(\delta q \otimes q(t)-q(t)) \\ &= \lim_{\Delta t\rightarrow+0}\frac {1}{\Delta t}([\frac{1}{2}\delta \theta \space 1] \otimes q(t)-q(t)) \\ &= \lim_{\Delta t\rightarrow+0}\frac {1}{\Delta t}(([\frac{1}{2}\delta \theta \space 1] -[0\space 1])\otimes q(t)) \\ &= \lim_{\Delta t\rightarrow+0}\frac {1}{\Delta t}(([\frac{1}{2} \omega \Delta t \space 0])\otimes q(t)) \\ &= (([\frac{1}{2} \omega \space 0])\otimes q(t)) \\ &= \frac {1}{2}\Omega(w)q(t) \end{aligned} q˙(t)=Δt→+0limΔt1(q(t+Δt)−q(t))=Δt→+0limΔt1(δq⊗q(t)−q(t))=Δt→+0limΔt1([21δθ 1]⊗q(t)−q(t))=Δt→+0limΔt1(([21δθ 1]−[0 1])⊗q(t))=Δt→+0limΔt1(([21ωΔt 0])⊗q(t))=(([21ω 0])⊗q(t))=21Ω(w)q(t)
quaternion差分
δ q w i = q w i ⊗ ( q ^ w i ) − 1 = δ q ( c o s ∣ ∣ δ θ ∣ ∣ 2 , s i n ∣ ∣ δ θ ∣ ∣ 2 [ δ θ ] ) ≈ ( 1 , O ) + ( 0 , [ δ θ ] 2 ) \delta q_{w}^{i}=q_{w}^{i}\otimes (\hat q_{w}^{i})^{-1} \\ = \delta q(cos\frac{||\delta \theta||}{2},sin\frac{||\delta \theta||}{2}[\delta \theta]) \\ \approx (1, O) +(0,\frac {[\delta \theta]}{2}) δqwi=qwi⊗(q^wi)−1=δq(cos2∣∣δθ∣∣,sin2∣∣δθ∣∣[δθ])≈(1,O)+(0,2[δθ])
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