四元的

This paper makes further research on the error,caused by use of a single step or a variable step of Runge Kutta to solve the Euler equation of quaternion method, find that the large error results from cumulated error with single step, and when using the variable step,the cumulative error is less.

结果表明，定步长时有很大的累积误差，单位四元数的"单位"性不能得到满足，而变步长有明显的改观，对一般的飞行模拟状态，都能得到较好的模拟结果，可以在实际中使用。

The so called indirect integral operation means that Eular angles can be gotten from the direction cosine matrix which is received by the integral operation of quaternions or direction cosine.

飞行器导航中，姿态角的获取可以通过直接或间接的积分运算求得的，所谓间接获取即是指通过四元数或方向余弦的积分运算求得姿态矩阵，再从姿态矩阵中提取姿态角。

After employing many axle bush experts, we not only successively developed the entire automobile stop-pushing bush, which obtains the National New Products Certification and the complete independent intellectual property right, but also successively developed the materials by burning and the complete independent intellectual property right, but also successively developed the materials by burning and combining copper and lead powder, with quick precise electroplated nickel layer, three electroplated elements,and the electroplating technology of tin layer.

公司承诺&以人为本，求真务&的发展理念，不懈追求上规模，上档次，上质量，先后引进多名轴瓦业高级工程师，研制开发了享有自由知识产权的整体式汽车止推瓦，获国家新产品证书；成功开发了铜铅粉末烧结合金材料，并配以快速精密电镀镍栅层、铅锡铜电镀三元及闪锡层电镀等新科技，最近研制开发出具有国际领先的轴瓦&四元&电镀技术，形成数条铜基、铅基轴瓦生产线。

Adopt project practical quaternion algorithm of strapdown navigation system, Analyze systematic error source, emulation prove the output change of SINS in there is device error of inertia and the initial condition of collimation error.

采用了工程上实用的四元数捷联导航系统的算法，分析了系统误差源，仿真验证了捷联惯导系统在有惯性器件误差及初始对准误差情况下的输出变化。

Muti antennae GPS/Gyro integrated navigation system is studied too in this paper. Using single difference GPS carrier phase observations and quaternion error, state equation and measurement equation is established for muti antennae GPS/Gyro integrated navigation system.

本文也对多天线GPS/Gyro组合捷联航姿系统进行了研究，利用单差载波相位测量的方法，建立了基于四元数误差的多天线GPS与Gyro组合航姿系统的状态方程和量测方程。

Based on the 2D image face localization result, we presented a novel optimization method to infer the optimal 3D shape and position parameters based on the unit quaternion.

基于前面的二维人脸定位算法，提出了一种基于四元向量的EM优化算法，用来快速鲁棒地求解三维模型的形状参数和六个位置参数。

Due to the demand of the large angle attitude control, the unit quaternion is used to describe the spacecraft attitude in this thesis.

针对飞行器以姿控发动机作为姿控执行机构时的大角度姿态运动需求，本文采用单位四元数作为弹体姿态描述，考虑到姿控发动机布局对姿态控制的影响，直接以姿控发动机推力作为系统的控制输入，利用反馈线性化方法，将原非线性系统转化为一个六阶线性子系统和一个一阶内动态子系统。

After the data collection finished, it send to the PC through RS232 serial port. It gets the relatively high acceleration of the equipment, basing on the quaternion equation of the mathematics platform, and through the calculation of the angle changing and the acceleration sensor send-out.

采集工作完成后通过单片机串口发送至PC机，在基于四元数方程的数学平台中，通过对角度变化及加速度传感器输出量的换算，求得装置相对大地的加速度。

A conclusion that the symmetric product of a self-conjugate matrix is still a self-conjugate matrix was obtained.

给出实四元数体上矩阵对称积的定义，得到了自共轭矩阵的对称积仍是自共轭矩阵的结论。

Vector is a useless survival, or offshoot from quaternions.

向量是无用的幸存物或四元数的无价值的支流。

According to the clear water experiment, aeration performance of the new equipment is good with high total oxygen transfer coefficient and oxygen utilization ratio.

曝气设备的动力效率在叶轮转速为120rpm～150rpm时取得最大值，此时氧利用率和充氧能力也具有较高值。

The environmental stability of that world - including its crushing pressures and icy darkness - means that some of its most famous inhabitants have survived for eons as evolutionary throwbacks, their bodies undergoing little change.

稳定的海底环境─包括能把人压扁的压力和冰冷的黑暗─意谓海底某些最知名的栖居生物已以演化返祖的样态活了万世，形体几无变化。