的确，四元数支持球形线性插值(SLERP)，那意味着点沿着球体表面传播就像他们从一个方位移到另外一个一样。

Indeed, quaternions support spherical linear interpolation (abbreviated as SLERP), which means that points travel along the surface of a sphere as they are moved from one orientation to the next.

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使用四元数的第二个理由，就是其可实现两个状态间的平滑插值。

The second argument that is commonly given for the use of quaternions is the possibility of smoothly interpolating between two orientations.

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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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