matlab solve问题相关clc;syms qm0 qm1 qm2 qm3;y1=2*g0*(qm1*qm3-qm0*qm2)-f_INSc(1);y2=2*g0*(qm2*qm3+qm0*qm1)-f_INSc(2);y3=g0*(qm0^2-qm1^2-qm2^2+qm3^2)-f_INSc(3);y4=2*m_INSc(1)*(qm1*qm2+qm0*qm3)+m_INSc(2)*(qm0^2-qm1^2+qm2^2-qm3^2)+2*m_INSc(3)*(qm2
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