补充知识：
qa⊗qb=R(qb)qa=[sbzb−ybxb−zbsbxbybyb−xbsbzb−xb−yb−zbsb][xayazasa]q_a \otimes q_b = R(q_b)q_a=\left[\begin{array}{cccc}
{s_{b}} & {z_{b}} & {-y_{b}} & {x_{b}} \\
{-z_{b}} & {s_{b}} & {x_{b}} & {y_{b}} \\
{y_{b}} & {-x_{b}} & {s_{b}} & {z_{b}} \\
{-x_{b}} & {-y_{b}} & {-z_{b}} & {s_{b}}
\end{arra
