四元数定义 q = [ s , υ ] T , s = q 0 ∈ R , υ = [ q 1 , q 2 , q 3 ] T ∈ R 3 \left.q=\left[\begin{matrix}{s,\upsilon}\\\end{matrix}\right.\right]^{\mathrm{T}},s=q_{0}\in\mathbb{R},\upsilon=\left[\begin{mat