四元数法从理论上讲比较完美，但实际应用中存在较大的累积计算误差，从而影响计算精度；
Quaternion method is good in theory, but it has increasing error in calculation. Therefore it is not accurate.
四元数法从理论上讲比较完美，但实际应用中存在较大的累积计算误差，从而影响计算精度；
Quaternion method is good in theory, but it has increasing error in calculation. Therefore it is not accurate.
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