Description: 1.介绍了捷联惯性导航系统的基本工作原理，包括坐标系及其之间的关
系，讨论了欧拉角、四元数等几种经典的解算方法，和计算周期的划分等。
2.讨论了等效转动矢量法及其衍生的一系列修正算法和优化算法，并作
了精度分析和数字仿真，并对根据角增量提取角速率的方法进行了研究和验
证。
3.研究了划船运动下，速度解算的误差补偿方法。对利用对偶原理从圆
锥效应到划船效应的对应方法进行了讨论。
4.讨论了捷联式惯性导航系统的误差，对位置计算中的涡卷误差进行了
推证。
-1. Introduced a strapdown inertial navigation system of the basic working principles, including the coordinate system and the relationship between the discussion of the Euler angle, quaternion, such as solving several classical methods, and calculation of the division cycle and so on. 2. Discussed the rotation vector method and its equivalent derived from a series of correction algorithm and optimization algorithm, and made the accuracy of analysis and digital simulation, and in accordance with angle increment of angular velocity extraction methods have been studied and verified. 3. Study of the rowing movement, the speed of solving the error compensation method. The use of principle of duality effect from the cone corresponding to the row effect method is discussed. 4. Discussed the strapdown inertial navigation system error, the calculation of the location of the scroll push the card error. Platform: |
Size: 2340864 |
Author:yangjx |
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Description: 本源码实现了一个在3D编程中很重要的四元数的类。在写这个类前提还包括对三维空间中向量类，以及4*4矩阵的运算。四元数对于三维模型的旋转能够很好的计算。-The source to achieve a 3D programming in a very important class Quaternion. At the time of writing the premise of this class also includes three-dimensional vector space categories, as well as 4* 4 matrix arithmetic. Quaternion for the rotation of three-dimensional model can be well calculated. Platform: |
Size: 9216 |
Author:lilin |
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Description:
3D Space Coordinate Transformations
This folder contains 3 files (m-functions) :
- t2x.m Transformation Matrix to Generalized Position Vector.
- x2t.m Generalized Position Vector to Transformation Matrix.
- m2m.m Mass/Inertia Tensor transformation with coordinate change.
In the Generalized Position Vector the orientation can be expressed with:
- unit quaternion,
- Euler angles xyz (roll, pitch, and yaw),
- Euler angles zyz (rotation, precession, and mutation),
- unit vector and rotation angle,
- Denavitt-Hartemberg parameters.
Conversion between the above orientation systems can be easily achieved.
The three files work independently on each other, but since they work
on the same objects it is somewhat useful to keep them in the same folder. -
3D Space Coordinate Transformations
This folder contains 3 files (m-functions) :
- t2x.m Transformation Matrix to Generalized Position Vector.
- x2t.m Generalized Position Vector to Transformation Matrix.
- m2m.m Mass/Inertia Tensor transformation with coordinate change.
In the Generalized Position Vector the orientation can be expressed with:
- unit quaternion,
- Euler angles xyz (roll, pitch, and yaw),
- Euler angles zyz (rotation, precession, and mutation),
- unit vector and rotation angle,
- Denavitt-Hartemberg parameters.
Conversion between the above orientation systems can be easily achieved.
The three files work independently on each other, but since they work
on the same objects it is somewhat useful to keep them in the same folder.
Platform: |
Size: 6144 |
Author:kiyoung |
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Description: point rotation using Quaternion. implementation in matlab. Program is a tool to rotate poin in Cartesian coordinates in three dimensions about any angle.
Run moje2.m Platform: |
Size: 307200 |
Author:adamsr |
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Description: 四元数算法详细讲解，从原理到应用，控制物体旋转-Quaternion algorithm is explained in detail, from the principle to the application, the control object rotation Platform: |
Size: 162816 |
Author:haizhihun |
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Description: 四元数表示旋转矩阵，代替了传统的欧拉角解算外方位元素-Quaternion rotation matrix, Euler angles instead of the traditional elements of exterior orientation Solution Platform: |
Size: 3679232 |
Author:柳菲菲 |
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Description: 执行一个简单的C++四元类被称为“蹲”。根据Ken Shoemake的开创性论文普及，四元数代表了约一个轴旋转。“蹲”可以通过**=运营商连接在一起，并转换之间来回变换矩阵。实现还包括由Don Hatch的三维矢量宏库-Implementation of a simple C++ quaternion class called "Squat". Popularized by a seminal paper by Ken Shoemake, a quaternion represents a rotation about an axis. Squats can be concatenated together via the* and*= operators and converted back and forth between transformation matrices. Implementation also includes a wonderful 3D vector macro library by Don Hatch Platform: |
Size: 3072 |
Author:peter |
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Description: A Fast Quaternion-Based Orientation Optimizer via Virtual Rotation for Human Motion Tracking Platform: |
Size: 291840 |
Author:raymond |
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Description: 利用B spline和Catmull-rom spline实现物体的移动，旋转由四元数和欧拉角实现。
需要已配置opengl-using B Spline and catmull-rom spline implement the interpolation of object. Rotation are applied by Quaternion and Euler Angle.
Please see the implementation video: https://www.youtube.com/watch?v=I2FgyMXiZvk Platform: |
Size: 9609216 |
Author:Fei XIE |
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Description: 四元数的优势： 三维空间的旋转完全可以由4元数来胜任。传统意义上需要3×3矩阵来进行向量的旋转（4x4矩阵的第四列表示平移）。所以四元数更节省空间，运算速度更快。既然四元数能方便的表示3D旋转，那么对他们进行插值就能产生平滑的旋转效果。-Quaternion advantages: the rotation of three-dimensional space can count from $ 4 to do the job. Traditionally need 33 for vector rotation matrix (4x4 matrix fourth column represents the pan). So quaternion more space-saving, faster operation. Since quaternion can easily represent 3D rotation, then they will be able to produce a smooth interpolation rotation effect. Platform: |
Size: 413696 |
Author:王飞 |
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Description: 四元数分解的点云配准，输入点云的源坐标和目标坐标，计算期望的旋转矩阵和平移向量。-Quaternion decomposition point cloud registration, input the source and target point cloud coordinates to calculate the expected rotation matrix and translation vector. Platform: |
Size: 1024 |
Author:xujing |
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Description: Implementation of a simple C++ quaternion class called Squat . Popularized by a seminal paper by Ken Shoemake, a quaternion represents a rotation about an axis. Squats can be concatenated together via the * and *= operators and converted back and forth between transformation matrices. Implementation also includes a wonderful 3D vector macro library by Don Hatch. -Implementation of a simple C++ quaternion class called Squat . Popularized by a seminal paper by Ken Shoemake, a quaternion represents a rotation about an axis. Squats can be concatenated together via the * and *= operators and converted back and forth between transformation matrices. Implementation also includes a wonderful 3D vector macro library by Don Hatch. Platform: |
Size: 3072 |
Author:JOhn |
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Description: 本代码给出了欧拉角、旋转矩阵和四元数之间的变换关系。-This code gives the euler angles, the rotation matrix and the transformation of relationship between quaternion. Platform: |
Size: 12288 |
Author:xuxiangxing |
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Description: Takes a unit quaternion and gives its corresponding rotation matrix. \param R rotation matrix (out).
Platform: |
Size: 2048 |
Author:zangfvqk |
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Description: 四元数基本类库（C#），包括基于单位四元数应用于旋转与欧拉角、旋转矩阵转换，利用四元数完成空间坐标转换等方法-Quaternion basic class library (C#), including those based on unit quaternion rotation applied to the Euler angles, rotation matrix conversion, use quaternion perform spatial coordinate conversion method Platform: |
Size: 2048 |
Author:dxx |
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Search - Quaternion rotation