Quaternion Hanmilton and JPL conventions

The mainstream quaternion standard is Hamilton convention Right hand coordinate system , But it means local The rotation quaternion in the coordinate system uses JPL convention Left handed coordinate system （MSCKF series ）,JPL It is often used in aviation ,Hamliton Is more common in the field of robotics , and ROS,Eigen,Ceres The representations used in the library are consistent , And many applications in IMU The Kalman filter literature on .
Reference blog ：https://www.cnblogs.com/youzx/p/6387740.html
Reference documents ：Quaternion kinematics for the error-state Kalman filte