包含了四元素与旋转矩阵之间的相互转换Matlab代码、相关论文。

ArduPilot 中用于EKF2公式推导的参考文档 Rotation Vector in Attitude EstimationPITTELKAU Observe also that although a composition rule ( o 2 for XI. Note that in both approaches the attitude perturbation is defined otation vectors can be written(see Appendix), it