Yaw Pitch and Roll Rotations

最新推荐文章于 2024-04-16 19:59:55 发布

fanbird2008

最新推荐文章于 2024-04-16 19:59:55 发布

阅读量505

点赞数

分类专栏： Graphics Image/OpenGL

Graphics Image/OpenGL 专栏收录该内容

104 篇文章

订阅专栏

Pitch angle - 俯仰角（绕 x 轴）

Yaw angle - 偏航角（绕 y 轴)

Roll - 翻滚 (绕 z 轴）

因此这篇文章的 Pitch, Yaw and Roll关系说错了。

http://planning.cs.uiuc.edu/node102.html

Yaw Pitch and Roll Rotations

A 3D body can be rotated about three orthogonal axes, as shown inFigure3.8. Borrowing aviation terminology, theserotations will be referred to as yaw, pitch, and roll:

A yaw is a counterclockwise rotationof $\alpha$ about the-axis. The rotation matrix is given by

$\displaystyle R_z(\alpha) = \begin{pmatrix}\cos\alpha & -\sin\alpha & 0 \sin\alpha & \cos\alpha & 0 0 & 0 & 1 \end{pmatrix} .$ (3.39)

Note that the upper left entries of $R_z(\alpha)$ form a 2D rotationapplied to the and coordinates, whereas the coordinateremains constant.
A pitch is a counterclockwiserotation of $\beta$ about the-axis. The rotation matrix is givenby

$\displaystyle R_y(\beta) = \begin{pmatrix}\cos\beta & 0 & \sin\beta 0 & 1 & 0 -\sin\beta & 0 & \cos\beta \end{pmatrix} .$ (3.40)
A roll is a counterclockwise rotationof $\gamma$ about the-axis. The rotation matrix is given by

$\displaystyle R_x(\gamma) = \begin{pmatrix}1 & 0 & 0 0 & \cos\gamma & -\sin\gamma 0 & \sin\gamma & \cos\gamma \end{pmatrix} .$ (3.41)

Each rotation matrix is a simple extension of the 2D rotation matrix,( 3.31 ). For example, the yaw matrix, $R_z(\alpha)$ ,essentially performs a 2D rotation with respect to the

and

coordinates while leaving the

coordinate unchanged. Thus, thethird row and third column of $R_z(\alpha)$ look like part of theidentity matrix, while the upper right portion of $R_z(\alpha)$ lookslike the 2D rotation matrix.

The yaw, pitch, and roll rotations can be used to place a 3D body inany orientation. A single rotation matrix can be formed bymultiplying the yaw, pitch, and roll rotation matrices to obtain

$\begin{displaymath}\begin{split}R(\alpha,& \beta,\gamma) = R_z(\alpha) R_y(\b......\sin\gamma & \cos\beta \cos\gamma \end{pmatrix}. \end{split}\end{displaymath}$

(3.42)

It is important to note that $R(\alpha,\beta,\gamma)$ performs theroll first, then the pitch, and finally the yaw. If the order ofthese operations is changed, a different rotation matrix would result.Be careful when interpreting the rotations. Consider the finalrotation, a yaw by $\alpha$ . Imagine sitting inside of a robot ${\cal A}$ that looks like an aircraft. If $\beta = \gamma = 0$ , then the yawturns the plane in a way that feels like turning a car to the left.However, for arbitrary values of $\beta$ and $\gamma$ , the finalrotation axis will not be vertically aligned with the aircraft becausethe aircraft is left in an unusual orientation before $\alpha$ isapplied. The yaw rotation occurs about the

-axis of the worldframe, not the body frame of ${\cal A}$ . Each time a new rotation matrix isintroduced from the left, it has no concern for original body frame of ${\cal A}$ . It simply rotates every point in ${\mathbb{R}}^3$ in terms of the worldframe. Note that 3D rotations depend on three parameters, $\alpha$ , $\beta$ , and $\gamma$ , whereas 2D rotations depend only on a singleparameter, $\theta$ . The primitives of the model can be transformedusing $R(\alpha,\beta,\gamma)$ , resulting in ${\cal A}(\alpha,\beta,\gamma)$ .