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並前往https://www.researchgate.net/publication/327776363_On_the_Effect_of_Stabilization_Methods_for_Quaternion_Invariants_on_the_Uncertainty_in_Optimization-Based_Estimation

(PDF) On the Effect of Stabilization Methods for Quaternion ...

numerical drift is to modify the dynamics by extending. the ordinary differential equation (ode) of the state. variable with a weighted penalization term.

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