四元数和动力学
Quaternions and dynamics
摘要：
我们给出了一个简单的和自包含的介绍四元数和它们在动力学中的实际应用。刚体动力学的全部细节。在附录中，给出了一些更奇特的关系，允许编写更复杂的模型，例如，一个卫星与惯性轮和非惯性参考系表示。众所周知，除了通常的论点之外，四元数相对于欧拉角的一个很好的优势是，它允许完全手工写下相当复杂的动力学。
英文摘要：
We give a simple and self contained introduction to quaternions and their practical usage in dynamics. The rigid body dynamics are presented in full details. In the appendix, some more exotic relations are given that allow to write more complex models, for instance, the one of a satellite with inertial wheels and expressed in a non-inertial reference frame. As it is well known, one nice advantage of quaternions over Euler angles, beside the usual arguments, is that it allows to write down quite complex dynamics completely by hand.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
