基于单位四元数的任意旋转角度的三维坐标转换

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李志伟，李克昭，赵磊杰，王云凯，梁晓庆

Three-Dimensional Coordinate Transformation Adapted to Arbitrary Rotation Angles Based on Unit Quaternion

LI Zhiwei，LI Kezhao，ZHAO Leijie，WANG Yunkai，LIANG Xiaoqing

大地测量与地球动力学 . 2017, (1): 81 -85 .