四元运动学：
https://zinghd.gitee.io/kinematics-Q-model/
https://zhuanlan.zhihu.com/p/77992837
Quaternion kinematics for the error-state Kalman filter：
https://www.researchgate.net/profile/Joan_Sola2/publication/278619675_Quaternion_kinematics_for_the_error-state_KF/links/5641fa4e08aeacfd8937e691/Quaternion-kinematics-for-the-error-state-KF.pdf