On higher order integration of angular velocities using quaternions

In the present paper the integration of angular velocities is studied. Both exact and approximate results are expressed in terms of rotational quaternions. Analytical solution is found using the theory of analytic differential systems. This exact solution serves as a suitable basis for derivation of various numerical methods. Approximative approaches based on Taylor series and several maps from pure to unit quaternions are presented. A special care is taken in describing the higher order approximations. The computational performance and comparison of numerical methods is demonstrated by examples.     

四元数矩阵方程的复转化及保结构算法

给出四元数矩阵复表示运算定义及其相关性质,并运用复表示运算的保结构特性,讨论了四元数矩阵Moore-Penrose逆计算以及两类四元数矩阵方程AXB=C和AX-XB=C的数值求解方法.数值算例检验了所给算法的可行性.     

一对四元数矩阵方程的共轭延拓解

定义广义四元数共轭延拓矩阵的概念,利用矩阵分块和四元数矩阵的实表示方法,分别给出四元数矩阵方程AX=C和XB=D存在列共轭延拓解和行共轭延拓解的必要充分条件及解的表达式.     

具有奇异值分解性质的代数

设F为一个域,R为一个带有对合的F-代数,如果R上每一个矩阵都有奇异值分解(简称SVD),则称R为一个有SVD性质的F-代数.本文指出:R为一个有SVD性质的F-代数的充要条件是:R同构于R~+,或R~+上二次扩域,或R~+上四元数体((-1,-1)/R~+),其中R~+为R的对称元集合,并且R~+为一个Galois序闭域.     

On the eigenvalues of quaternion matrices

This article is a continuation of the article [F. Zhang, Ger?gorin type theorems for quaternionic matrices, Linear Algebra Appl. 424 (2007), pp. 139–153] on the study of the eigenvalues of quaternion matrices. Profound differences in the eigenvalue problems for complex and quaternion matrices are discussed. We show that Brauer's theorem for the inclusion of the eigenvalues of complex matrices cannot be extended to the right eigenvalues of quaternion matrices. We also provide necessary and sufficient conditions for a complex square matrix to have infinitely many left eigenvalues, and analyse the roots of the characteristic polynomials for 2?×?2 matrices. We establish a characterisation for the set of left eigenvalues to intersect or be part of the boundary of the quaternion balls of Ger?gorin.     

四元数广义奇异值分解及其应用

This paper derives a theorem of generalized singular value decomposition of quaternion matrices(QGSVD),studies the solution of general quaternion matrix equation AXB-CYD=E,and obtains quaternionic Roth's theorem.This paper also suggestssufficient and necessary conditions for the existence and uniqueness of solutions and explicit forms of the solutions of the equation.     

关于广义四元数代数上矩阵的迹的一个等式

众所周知,相似矩阵的迹相等对于非交换代数和环上的矩阵不一定成立,有趣的问题是给定一个条件使得相似矩阵的迹相等对于非交换代数或非交换环上的矩阵成立。本文对于特征不是2的任意域F上定义的广义四元数代数上的两个矩阵A和B,给出如果A和B相似并且它们的主对角线上的元素在F中,那么它们的迹相等。     

QUATERNION GENERALIZED SINGULAR VALUE DECOMPOSITION AND ITS APPLICATIONS

This paper derives a theorem of generalized singular value decomposition of quaternion matrices （QGSVD）,studies the solution of general quaternion matrix equation AXB -CYD= E,and obtains quaternionic Roth＇s theorem. This paper also suggests sufficient and necessary conditions for the existence and uniqueness of solutions and explicit forms of the solutions of the equation.