Check for image 15: 的旋转矩阵为:
Rotation matrix R:
0.877686 0.397560 -0.267605
-0.414454 0.910041 -0.007341
0.240613 0.117353 0.963501
转成欧拉角:单位度,坐标系如上图所示
z = -25.277192;
y = -13.922690;
x = 6.944321;
则,再转换成旋转矩阵
Rz = [cos(z) -sin(z) 0
sin(z) cos(z) 0
0 0 1];
Ry = [cos(y) 0 sin(y)
0 1 0
-sin(y) 0 cos(y)];
Rx = [1 0 0
0 cos(x) -sin(x)
0 sin(x) cos(x) ];
R = Rz*Ry*Rx;
R =
0.8777 0.3976 -0.2676
-0.4145 0.9100 -0.0073
0.2406 0.1174 0.9635
与初始的相同
转换公示参考:
“四元数,欧拉角和旋转矩阵的各自的优点用途“
“四元数,欧拉角及姿态矩阵的相互转换“
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