四元数

The least norm solutions of symmetric and skew antisymmetric matrix equations (A~TXA, XA — YAD)=(D, 0)are also considered. 3. The least-squares solutions and the least norm solutions of the quaternion matrix equations AX = B and XD = E are studied by using

借助四元数的复表示方法，研究四元数矩阵方程组AX=B，XD=E的最小二乘问题和极小范数解的问题，并对主子阵约束下的方程组的解进行了讨论，得到了它们的显式表示。

The definition, operation, properties, geometric meaning of quaternion and its three expressions are discussed. It is also demonstrated how to use quaternion to transform points.

本文详细叙述了四元数的这一功能，讨论了四元数的定义、运算、性质、几何意义和它的3种表达形式，给出了使用四元数处理点的各种几何变换的一般结论。

The family of quaternions plays a role in quantum physics, geostatics, control theory and peg-top technology. It is important to know and research quaternions as the development of quaternions. Thus the real representation of quaternion matrices has been appeared.

近年来，四元数矩阵在刚体力学，量子力学，控制理论和陀螺技术中的应用日趋重要和广泛，随着上述四元数力学的不断发展，对四元数矩阵的进一步认识和研究就显得越来越重要。

Hamilton discovered the quaternion ,to the middle period of last century,the application of the quaternion and the quaternion matrix are discovered widely in geostatics,the theory of ped-top using, strap-down inertial ,naviation, enginery and organ,robot technology and artificial satellite attitude control,and so on.

R。 Hamilton发现四元数到上世纪中叶，四元数和四元数矩阵方法在刚体动力学、陀螺使用理论、捷联惯性导航、机器与机构、机器人技术、人造卫星姿态控制等领域应用非常广泛。

Rotation matrix s representation with the unit quaternion has no singular points, so the unit quaternion-based estimation method is of more practical importance, and the algorithm in this paper does not need iteration computation compared to those unit quaternion-based method proposed by Horn(1987) and Su, et al.

单位四元数表示旋转矩阵时不存在奇异点，故基于单位四元数的运动估计方法具有更大的实用价值，而本文算法无需Horn(1987)和Su等人(1989)提出的单位四元数方法的迭代运算。

In this paper,pose representation by quaternions are researched.With the basic quaternion algebra,the "quaternion based rotations combination theorem" is introduced and proved theoretically.On the basis of this theorem,a method for compute of pose nonliear state transfer function and its linearization is purposed.Then,the computing of the measurement function and the linearization is studied.With the Extended Kalman Filter,the pose is tracked and estimated.

研究用四元数表示物体的姿态，在四元数基本运算法则基础上提出并证明了"基于四元数的多个旋转运动合成规则"，然后将此规则为依据，推导出一种用来计算姿态非线性状态方程系数的方法，对非线性状态转移函数进行线性化，并且研究了测量方程函数的确定及线性化，借助扩展Kalman滤波实现了对姿态的跟踪。

In this paper, a constructive proof of singular value decomposition of quaternion matrix is given by using the complex representation and companion vector of quaternion matrix and the computational method is described.

四元数矩阵的奇异值分解是四元数矩阵理论的重要内容，奇异值分解在四元数矩阵的理论研究和数值计算中都起到非常重要的作用。

To one quaternion matrix, according to its normal form, into which a quaternion matrix is transformed after decomposed, the types of decomposition of a quaternion matrix are divided into three large classes: diagonalized decomposition, triangular decomposition and triangular-diagonalized decomposition.

对单个四元数矩阵，以分解后的四元数矩阵的标准型作为分类的标准，将四元数矩阵的分解分为三大类：对角化分解、三角化分解、三角一对角化分解。

By using the methods of complex representation of quaternion matrices and companion vector, we study and simplify the numerical calculation methods of quaterinon matrices, and establish new aigebraic methods in quaternionic quantum mechanics.

我们通过四元数的复表示和友向量方法，研究并解决了四元数矩阵的一系列数值计算问题，给出一套四元数量子力学中的数值计算方法。

In addition, we improve Nivens method and our new method to solve the equation more quickly.2 Complete Solution Structure: We obtain that the whole solutions of real quaternionic polynomial equation are just composed of some quaternion equivalence classes and some isolated points.

另外，从新方法及四元数带余除法理论出发，进一步改进了新方法和Niven的传统方法。 2解的完整结构：由求解的新方法得到四元数多项式方程全体解的完整结构为四元数等价类与孤立点的集合，以往的结果成为其自然推论。

But we don't care about Battlegrounds.

但我们并不在乎沙场中的显露。

Ah! don't mention it, the butcher's shop is a horror.

啊！不用提了。提到肉，真是糟透了。