本文以姿态误差四元数与陀螺漂移误差之间的关系为基础，构建了系统状态方程；
The state equations of the system are established on the basis of the relation between attitude error quaternion and the gyro drift.
目的建立大鱼际肌运动单位估数(MUNE)正常值并研究与年龄的关系和该技术的重复性及其在运动神经元病(MND)中的应用。
Objective to establish the normal value of motor unit number estimation (MUNE) of thenar muscles, to study its relationship with age and test the reproducibility of the technique and its use in MND.
在分析了四元数函数与角速度的关系后，提出了角速度光滑插值的方法，并能计算出任一时间角速度的值。
After analyzing the relation between a quaternion function and the angular velocity it represents, a smooth angular velocity interpolation algorithm is proposed.
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