歐拉角到方向餘弦矩陣

原創 darcsdn 2020-04-29 10:57

  1. 歐拉角Y、P、R，分別記爲α，β，γ

  2. 繞着Z軸旋轉的是Y，即旋轉了α，旋轉矩陣A
    1 0 0
    0 cosα sinα
    0 -sinα cosα

  3. 繞Y軸旋轉是P，β，矩陣 B
    cosβ 0 -sinβ
    0 1 0
    sinβ 0 cosβ

  4. 繞X軸旋轉是R，γ，矩陣 C
    cosγ sinγ 0
    -sinγ cosγ 0
    0 0 1

  5. 方向餘弦矩陣就是A·B·C，在這裏插入圖片描述

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