"Are the Numerical Effects of Zero-Velocity Update (ZUPT) Constraints on Relative Rotation the Same When Using Quaternions and Rotation Matrices?

[arenas7307979]

Hi, 邱博您好

请问zupt相对旋转上约束, 采用四元数与旋转矩阵数值效果一样嘛？
可以替换吗?