四元数求导

$q=q_0+q_{1}i+q_{2}j+q_{3}k$

$\dot{q}={\dot{q}}_0+{\dot{q}}_{1}i+{\dot{q}}_{2}j+{\dot{q}}_{3}k$

${\lim }_{t\to 0}\frac{\mathrm{q}(t+\delta t)-\mathrm{q}(t)}{\delta t}$

$={\lim }_{t\to 0}\frac{\delta \mathbf{q}\otimes \mathbf{q}(t)-\mathbf{q}(t)}{\delta t}$

$={\lim }_{t\to 0}\frac{(\delta \mathbf{q}-1)\otimes \mathbf{q}(t)}{\delta t}$

$={\lim }_{t\to 0}\frac{\left[\begin{array}{l}0\\ \frac{\delta \theta }{2}\end{array}\right]\otimes \mathbf{q}(t)}{\delta t}$

$\omega ={\lim }_{t\to 0}\frac{\delta \theta }{\delta t}$

$\omega ={\left[\begin{array}{cccc}0& {\omega }_x& {\omega }_y& {\omega }_z\end{array}\right]}^{\top }$

$\dot{q}=\frac{1}{2}\left[\begin{array}{c}0\\ \omega \end{array}\right]\otimes \mathbf{q}=\frac{1}{2}\Omega (\omega )q$

$\lfloor \omega {]}_{\times }=\left[\begin{array}{ccc}0& -{\omega }_z& {\omega }_y\\ {\omega }_z& 0& -{\omega }_x\\ -{\omega }_y& {\omega }_x& 0\end{array}\right]$

$\Omega (\omega )=\left[\begin{array}{cc}-\lfloor \omega {\rfloor }_{\times }& \omega \\ -{\omega }^T& 0\end{array}\right]=\left[\begin{array}{cccc}0& {\omega }_z& -{\omega }_y& {\omega }_x\\ -{\omega }_z& 0& {\omega }_x& {\omega }_y\\ {\omega }_y& -{\omega }_x& 0& {\omega }_z\\ -{\omega }_x& -{\omega }_y& -{\omega }_z& 0\end{array}\right]$

Sola, J., 2017. Quaternion kinematics for the error-state Kalman filter. arXiv preprint arXiv:1711.02508.