After analyzing the relation between a quaternionfunction and the angular velocity it represents, a smooth angular velocity interpolation algorithm is proposed.
在分析了四元数函数与角速度的关系后，提出了角速度光滑插值的方法，并能计算出任一时间角速度的值。
2
In the paper the generalized numerical radiuses of real quaternion matrices with symmetric function are defined and theirs inequalities are given.