According to the unit quaternion’s property, the simplified variable algorithm is put forward in Chapter 3, which assures the accuracy and stabilization of calculating the rotary matrix. And the experiments also prove this.
本文利用单位四元数的性质提出了计算旋转矩阵的精简变量算法，保证了计算的稳定性和精确性，并且设计了相关实验来检验算法的精确度。
参考来源 - 三维摄像测量系统在人体上肢运动分析中的应用·2,447,543篇论文数据，部分数据来源于NoteExpress
Based on the unit quaternion decomposition of rotation matrix, this paper puts forward an algorithm to estimate motion parameters from the space position vectors of 3d feature points.
本文基于旋转矩阵单位四元数分解定理，提出一种由3 D特征点空间位置估计运动参数的算法。
The concept of quaternion and its operation rules were introduced first, then formulae for space resection based on unit quaternion were deduced.
介绍四元数的概念及运算性质，提出基于单位四元数的空间后方交会解算方法并给出计算公式。
First, according to the tracking error dynamics and kinematics described by unit quaternion error and angular velocity error, a sliding mode controller is derived based on Lyapunov theory.
首先根据由误差四元数和误差角速度描述的跟踪误差动力学和运动学方程，设计了基于李亚普诺夫方法的滑模变结构控制律。
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