角速度的相似变换定理的证明

1.问题引出

上图为秦永元《惯性导航》P281的方向余弦法，其中9.5.14式上面的“应用角速度反对称矩阵的相似变换关系”及下面的公式令人迷惑，书中未加证明。在找到一些证明后，均不太满意。
偶尔在一本老书陈哲的《捷联惯导系统原理》里，惊喜发现上面有非常完整的证明，现在将其分享出，同时感谢前辈付出。

2.问题描述

以下引用内容均来自 陈哲《捷联惯导系统原理》，p110-114。

在运动学中，角速度矩阵从一个直角坐标系转换到另一个直角坐标系后，所获得的新角速度矩阵与原角速度矩阵相似。
定理： 设角速度向量 $\bar{\omega }$及其反对称矩阵分别为
$$\bar{\omega }=\left[\begin{array}{c}{\omega }_x\\ {\omega }_y\\ {\omega }_z\end{array}\right],Q=\left[\begin{array}{ccc}0& -{\omega }_z& {\omega }_y\\ {\omega }_z& 0& -{\omega }_x\\ -{\omega }_y& {\omega }_x& 0\end{array}\right](1)$$
设实施相似变换的矩阵C为
$$C=\left[\begin{array}{ccc}{C}_{11}& C_{12}& C_{13}\\ C_{21}& C_{22}& C_{23}\\ C_{31}& C_{32}& C_{33}\end{array}\right](2)$$
且C为正交矩阵。则反对称矩阵Q的相似变换仍为一个反对称矩阵$Q^{\ast }$,且$Q^{\ast }$的元与列向量$\bar{\omega }$通过$C^{-1}$的变换得到的向量${\bar{\omega }}^{\ast }$的各元相对应，即$Q^{\ast }$是${\bar{\omega }}^{\ast }$的反对称矩阵。写成公式形式即
$$Q^{\ast }=C^{-1}QC=\left[\begin{array}{ccc}0& -{\omega }_z^{\ast }& {\omega }_y^{\ast }\\ {\omega }_z^{\ast }& 0& -{\omega }_x^{\ast }\\ -{\omega }_y^{\ast }& {\omega }_x^{\ast }& 0\end{array}\right](3)$$
$${\bar{\omega }}^{\ast }=\left[\begin{array}{c}{\omega }_x^{\ast }\\ {\omega }_y^{\ast }\\ {\omega }_z^{\ast }\end{array}\right]=C^{-1}\bar{\omega }(4)$$

3.问题解决

分析：之前也尝试过最简单直接的，展开（3）左边的变换式看是否等于右边反对称阵，可无法化简左边的一大坨式子（下文式（6））。而当意识到，正交矩阵的性质之一为各元素等于其代数余子式时（下文式（7）），问题迎刃而解。
书中证明过程为：

证明：
（1）展开$\bar{\omega }$的变换式
将$(4)$展开，并考虑C为正交矩阵，即$C^{-1}=C^T$，于是有
$$\begin{gathered} \bar{\omega }=C^{-1}\bar{\omega }=\left[\begin{array}{ccc}{C}_{11}& C_{21}& C_{31}\\ C_{12}& C_{22}& C_{32}\\ C_{13}& C_{23}& C_{33}\end{array}\right]\left[\begin{array}{c}{\omega }_x\\ {\omega }_y\\ {\omega }_z\end{array}\right] \\ =\left[\begin{array}{c}{C}_{11}{\omega }_x+C_{21}{\omega }_y+C_{31}{\omega }_z\\ C_{12}{\omega }_x+C_{22}{\omega }_y+C_{32}{\omega }_z\\ C_{13}{\omega }_x+C_{23}{\omega }_y+C_{33}{\omega }_z\end{array}\right] \\ =\left[\begin{array}{c}{\omega }_x^{\ast }\\ {\omega }_y^{\ast }\\ {\omega }_z^{\ast }\end{array}\right](5) \end{gathered}$$
（2）展开$Q$的相似变换式
由式$(3)$可得
$$\begin{gathered} Q^{\ast }=C^{-1}QC=\left[\begin{array}{ccc}{C}_{11}& C_{21}& C_{31}\\ C_{12}& C_{22}& C_{32}\\ C_{13}& C_{23}& C_{33}\end{array}\right]\left[\begin{array}{ccc}0& -{\omega }_z& {\omega }_y\\ {\omega }_z& 0& -{\omega }_x\\ -{\omega }_y& {\omega }_x& 0\end{array}\right]\left[\begin{array}{ccc}{C}_{11}& C_{12}& C_{13}\\ C_{21}& C_{22}& C_{23}\\ C_{31}& C_{32}& C_{33}\end{array}\right] \\ =\left[\begin{array}{ccc}0& (C_{22}{C}_{31}-C_{32}{C}_{21}){\omega }_x+(C_{32}{C}_{11}-C_{12}{C}_{31}){\omega }_y+(C_{12}{C}_{21}-C_{22}{C}_{11}){\omega }_z& (C_{23}{C}_{31}-C_{21}{C}_{33}){\omega }_x+(C_{11}{C}_{33}-C_{13}{C}_{31}){\omega }_y+(C_{13}{C}_{21}-C_{23}{C}_{11}){\omega }_z\\ (C_{21}{C}_{32}-C_{22}{C}_{31}){\omega }_x+(C_{12}{C}_{31}-C_{11}{C}_{32}){\omega }_y+(C_{11}{C}_{22}-C_{12}{C}_{21}){\omega }_z& 0& (C_{23}{C}_{32}-C_{22}{C}_{33}){\omega }_x+(C_{12}{C}_{33}-C_{13}{C}_{32}){\omega }_y+(C_{13}{C}_{22}-C_{23}{C}_{12}){\omega }_z\\ (C_{21}{C}_{33}-C_{23}{C}_{31}){\omega }_x+(C_{13}{C}_{31}-C_{11}{C}_{33}){\omega }_y+(C_{11}{C}_{23}-C_{13}{C}_{21}){\omega }_z& (C_{22}{C}_{33}-C_{32}{C}_{23}){\omega }_x+(C_{13}{C}_{32}-C_{12}{C}_{33}){\omega }_y+(C_{12}{C}_{23}-C_{22}{C}_{13}){\omega }_z& 0\end{array}\right](6) \end{gathered}$$
再利用正交矩阵的性质，即矩阵C中的各元素均等于其代数余子式，即
$$\begin{gathered} C_{11}=C_{22}{C}_{33}-C_{23}{C}_{32} \\ {C}_{21}=C_{13}{C}_{32}-C_{12}{C}_{33} \\ {C}_{31}=C_{12}{C}_{23}-C_{22}{C}_{13} \\ {C}_{13}=C_{21}{C}_{32}-C_{22}{C}_{31} \\ {C}_{23}=C_{12}{C}_{31}-C_{11}{C}_{32} \\ {C}_{33}=C_{11}{C}_{22}-C_{12}{C}_{21} \\ {C}_{12}=C_{23}{C}_{31}-C_{21}{C}_{33} \\ {C}_{22}=C_{11}{C}_{33}-C_{13}{C}_{31} \\ {C}_{32}=C_{21}{C}_{13}-C_{11}{C}_{23} \\ (7) \end{gathered}$$
将上式代入式$(6)$可得
$$Q^{\ast }=\left[\begin{array}{ccc}0& -(C_{13}{\omega }_x+C_{23}{\omega }_y+C_{33}{\omega }_z)& C_{12}{\omega }_x+C_{22}{\omega }_y+C_{32}{\omega }_z\\ C_{13}{\omega }_x+C_{23}{\omega }_y+C_{33}{\omega }_z& 0& -(C_{11}{\omega }_x+C_{21}{\omega }_y+C_{31}{\omega }_z)\\ -(C_{12}{\omega }_x+C_{22}{\omega }_y+C_{32}{\omega }_z)& C_{11}{\omega }_x+C_{21}{\omega }_y+C_{31}{\omega }_z& 0\end{array}\right](8)$$
考虑到式$(5)$， 上式可写成
$$Q^{\ast }=\left[\begin{array}{ccc}0& -{\omega }_z^{\ast }& {\omega }_y^{\ast }\\ {\omega }_z^{\ast }& 0& -{\omega }_x^{\ast }\\ -{\omega }_y^{\ast }& {\omega }_x^{\ast }& 0\end{array}\right](9)$$
定理证毕。

上述证明中，重点在于正交矩阵的各元素均等于其代数余子式这一性质，此性质在证明旋转矩阵为正交矩阵时也有体现。