摘要
在多体系统理论中，采用四元数描述体间转功能避免“奇点”问题，但也带来由于计算误差造成四元数不归一的不足，本文对四元数在描述刚体转动中的利弊加以分析，并提出改进措施。
Quaternion is used to describle the rotation of rigid bodies in multibody system in order to avoid“singular point”,but bring about the error ac-cumulation as well.The advantages and disadvantages are analyzed in this paper,anew method is presented for numerical calculation to eliminate the accumulated error.
关键词
多体问题
四元系
奇异性
刚体
转动
many body problem
quaternary systems
singularity
