Preface:This article is written for a nifty girl who I cherish.
(0)Pre-acknowledge
(0.0)Skew-symmetric matrix
a × b = [ a ] × b a×b=[a]^×b a×b=[a]×b
Among which [ a ] × [a]^× [a]×:
[ 0 − a z a y a z 0 − a x − a y a x 0 ] \begin{bmatrix} 0&-a_z&a_y \\a_z & 0&-a_x \\-a_y&a_x&0 \end{bmatrix} \qquad ⎣⎡0az−ay−az0axay−ax0⎦⎤
- Meaning: 用反对称矩阵乘代替了外积,使运算方便
- Proving:
We know that:
( x 1 , y 1 , z 1 ) × ( x 2 , y 2 , z 2 ) (x_1,y_1,z_1)×(x_2,y_2,z_2) (x1,y1,z1)×(x2,y2,z2)= ( ∣ x 1 y 1 z 1 x 2 y 2 z 2 i j k ∣ ) ( \left|\begin{array}{cccc} x_1 & y_1& z_1 \\ x_2& y_2& z_2\\ i & j & k \end{array}\right| ) (∣∣∣∣∣∣x1x2iy1y2jz1z2k∣∣∣∣∣∣)
=
[ y 1 z 2 − y 2 z 1 z 1 x 2 − z 2 x 1 x 1 y 2 − x 2 y 1 ] \begin{bmatrix} y_1z_2-y_2z_1 \\z_1x_2-z_2x_1 \\x_1y_2-x_2y_1 \end{bmatrix} ⎣⎡y1z2−y2z1z1x2−z2x1x1y2−x2y1⎦⎤= [ 0 ∗ x 2 − z 1 y 2 + y 1 z 2 z 1 x 2 + 0 ∗ y 2 − x 1 z 2 − y 1 x 2 + x 1 y 2 + 0 ∗ z 2 ] \begin{bmatrix} 0*x_2-z_1y_2+y_1z_2 \\z_1x_2+0*y_2-x_1z_2 \\-y_1x_2+x_1y_2+0*z_2 \end{bmatrix} ⎣⎡0∗x2−z1y2+y1z2z1x2+0∗y2−x1z2−y1x2+x1y2+0∗z2⎦⎤
=
[ 0 − z 1 y 1 z 1 0 − x 1 − y 1 x 1 0 ] ∗ [ x 2 y 2 z 2 ] \begin{bmatrix} 0&-z_1&y_1 \\z_1 & 0&-x_1 \\-y_1&x_1&0 \end{bmatrix} * \begin{bmatrix} x_2 \\y_2 \\z_2 \end{bmatrix} \qquad ⎣⎡0z1−y1−z10x1y1−x10⎦⎤∗⎣⎡x2y2z2⎦⎤
(0.1)The formula of line velocity (Basic Principle)
d r e ⃗ d t = w e ⃗ × r e ⃗ \frac{d\vec{r_e}}{dt}=\vec{w_e}×\vec{r_e} dtdre=we×re
- Comment: 在 e e e坐标系下对向量 r e ⃗ \vec{r_e} re求导,得到的是向量 r e ⃗ \vec{r_e} re端点的线速度,该公式既是某一向量的线速度等于角速度叉乘该向量,可见角速度方向是右手系中旋转轴的方向,角速度叉乘向量得到的方向又恰好是向量端点的运动方向
- Example: w e ⃗ = ( − s i n ( t ) , c o s ( t ) , 0 ) T \vec{w_e}=(-sin(t),cos(t),0)^T we=(−sin(t),cos(t),0)T
(0.2)The perspective point Multiply
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jargon: 左乘行变换右乘列变换
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new perspective:
[ x 11 x 12 x 13 x 21 x 22 x 23 x 31 x 32 x 33 ] ∗ [ a b c ] = a ∗ [ x 11 x 21 x 31 ] + b ∗ [ x 12 x 22 x 32 ] + c ∗ [ x 13 x 23 x 33 ] \begin{bmatrix} x_{11}&x_{12}&x_{13} \\x_{21}&x_{22}&x_{23} \\x_{31}&x_{32}&x_{33} \end{bmatrix}* \begin{bmatrix} a \\b \\c \end{bmatrix}=a* \begin{bmatrix} x_{11} \\x_{21} \\x_{31} \end{bmatrix}+b* \begin{bmatrix} x_{12} \\x_{22} \\x_{32} \end{bmatrix}+c* \begin{bmatrix} x_{13} \\x_{23} \\x_{33} \end{bmatrix} ⎣⎡x11x21x31x12x22x32x13x23x33⎦⎤∗⎣⎡abc⎦⎤=a∗⎣⎡x11x21x31⎦⎤+b∗⎣⎡x12x22x32⎦⎤+c∗⎣⎡x13x23x33⎦⎤
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comment: 相当于向量 [ a b c ] \begin{bmatrix} a \\b \\c \end{bmatrix} ⎣⎡abc⎦⎤右乘矩阵 [ x 11 x 12 x 13 x 21 x 22 x 23 x 31 x 32 x 33 ] \begin{bmatrix} x_{11}&x_{12}&x_{13} \\x_{21}&x_{22}&x_{23} \\x_{31}&x_{32}&x_{33} \end{bmatrix} ⎣⎡x11x21x31x12x22x32x13x23x33⎦⎤,所以看起来是列变换,我们可以把矩阵的三列看作三个基,对于旋转矩阵,由于其正交性质,且叉乘保留原始方向,矩阵的三列可以看作三个正交基,所以上面的矩阵乘以一个向量叫做正交基变换;由于三个基是相互垂直的,在对坐标进行基变换时相互不干扰,所以我们可以把三个基分别拿出来当作三组独立的向量,对接下来的求导可以更方便理解
(0.3)One principle of cross mutiply
( R a ⃗ ) × ( R b ⃗ ) = R ( a ⃗ × b ⃗ ) (R\vec{a})×(R\vec{b})=R(\vec{a}×\vec{b}) (Ra)×(Rb)=R(a×b)
- comment:叉乘的性质有叉乘得出向量的大小 ∣ ∣ a × b ∣ ∣ = ∣ ∣ a ∣ ∣ ∗ ∣ ∣ b ∣ ∣ ∗ s i n θ ||a×b||=||a||*||b||*sin\theta ∣∣a×b∣∣=∣∣a∣∣∗∣∣b∣∣∗sinθ与方向符合右手坐标系可以证明此性质
(1)Topic
- notation define:
symbol | describe |
---|---|
e e e | 大地坐标系 |
e n ⃗ \vec{e_n} en | 大地坐标系的坐标轴( n n n可为 x , y , z x,y,z x,y,z) |
R b e R_b^e Rbe | 从坐标系 b b b到坐标系 e e e的旋转变换 |
b n e b_n^e bne | 在 e e e坐标系下观察到 b b b坐标系的 n n n轴方向的单位向量( n n n可为 x , y , z x,y,z x,y,z) |
w e ⃗ \vec{w_e} we | 在 e e e坐标系下观察到绕旋转轴旋转的角速度 |
w b ⃗ \vec{w_b} wb | 在 b b b坐标系下观察到绕旋转轴旋转的角速度 |
- start:
d R b e d t = d [ b x e b y e b z e ] d t = [ w e ⃗ × b x e w e ⃗ × b y e w e ⃗ × b z e ] \frac{dR_b^e}{dt}=\frac{d[b_x^e \space\space b_y^e \space\space b_z^e]}{dt}= [\vec{w_e}×b_x^e \space\space \vec{w_e}×b_y^e \space\space \vec{w_e}×b_z^e] dtdRbe=dtd[bxe bye bze]=[we×bxe we×bye we×bze]
=
[ R b e w b ⃗ × b x e R b e w b ⃗ × b y e R b e w b ⃗ × b z e ] [R_b^e\vec{w_b}×b_x^e \space\space R_b^e\vec{w_b}×b_y^e \space\space R_b^e\vec{w_b}×b_z^e] [Rbewb×bxe Rbewb×bye Rbewb×bze]
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[ R b e w b ⃗ × ( R b e e x ⃗ ) R b e w b ⃗ × ( R b e e y ⃗ ) R b e w b ⃗ × ( R b e e z ⃗ ) ] [R_b^e\vec{w_b}×(R_b^e\vec{e_x}) \space\space R_b^e\vec{w_b}×(R_b^e\vec{e_y}) \space\space R_b^e\vec{w_b}×(R_b^e\vec{e_z}) ] [Rbewb×(Rbeex) Rbewb×(Rbeey) Rbewb×(Rbeez)]
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R b e [ w b ⃗ × e x ⃗ w b ⃗ × e y ⃗ w b ⃗ × e z ⃗ ] R_b^e[\vec{w_b}×\vec{e_x} \space \space \vec{w_b}×\vec{e_y} \space \space \vec{w_b}×\vec{e_z} ] Rbe[wb×ex wb×ey wb×ez]
=
R b e [ w b ⃗ ] × e R_b^e[\vec{w_b}]^×e Rbe[wb]×e
=
R b e [ w b ⃗ ] × R_b^e[\vec{w_b}]^× Rbe[wb]×
get the answer:
R b e [ w b ⃗ ] × R_b^e[\vec{w_b}]^× Rbe[wb]× - perspective: 本问题求解了在大地坐标系中观察某个坐标系旋转的角速度,而在某个坐标系中观察大地坐标系的结果是 R b e − 1 [ w e ⃗ ] × R_b^{e-1}[\vec{w_e}]^× Rbe−1[we]×
(2)Reference
https://blog.csdn.net/weixin_44382195/article/details/110677858
https://blog.csdn.net/weixin_38632538/article/details/106085426