The kinematical equations for the direction cosine parameters and for the Cay-ley-Klein parameters are derived by means of the isomorphic relation between the several kinds of parameters.

• 本文通过对四元数矩阵求导的方法,首先推得四元数参数的运动学方程,再依据几种参数间的同构关系,即很方便地直接得到了方向余弦和凯里-克莱茵参数的运动学方程。