命题1: 已知两正交的单位向量 u , v ∈ R 3 \bm{u},\bm{v}\in\mathbb{R}^3 u,v∈R3 且 u ⋅ v = 0 \bm{u}\cdot\bm{v}=0 u⋅v=0,设 r = u + λ v , λ ∈ R \bm{r}=u+\lambda\bm{v},\lambda\in\mathbb{R} r=u+λv,λ∈R,得:
{ Q u = I − 2 u ⊗ u Q v = I − 2 v ⊗ v Q r = I − 2 r ∣ r ∣ ⊗ r ∣ r ∣ = I − 2 1 + λ 2 r ⊗ r \begin{cases} \mathbf{Q}_u=\mathbf{I}-2\bm{u}\otimes\bm{u} \\[2mm] \mathbf{Q}_v=\mathbf{I}-2\bm{v}\otimes\bm{v} \\[2mm] \mathbf{Q}_r=\mathbf{I}-2\dfrac{\bm{r}}{|\bm{r}|}\otimes\dfrac{\bm{r}}{|\bm{r}|}=\mathbf{I}-\dfrac{2}{1+\lambda^2}\bm{r}\otimes\bm{r} \end{cases} ⎩ ⎨ ⎧Qu=I−2u⊗uQv=I−2v⊗vQr=I−2∣r∣r⊗∣r∣r=I−1+λ22r⊗r
则有:
1) Q u ⋅ Q v = Q u + Q v − I = Q v ⋅ Q u = ( Q u ⋅ Q v ) T \mathbf{Q}_u\cdot\mathbf{Q}_v=\mathbf{Q}_u+\mathbf{Q}_v-\mathbf{I}=\mathbf{Q}_v\cdot\mathbf{Q}_u=(\mathbf{Q}_u\cdot\mathbf{Q}_v)^T Qu⋅Qv=Qu+Qv−I=Qv⋅Qu=(Qu⋅Qv)T;
2) Q r ⋅ ( Q u + Q v ) = I + Q u ⋅ Q v = 1 2 ( Q u + Q v ) 2 = 1 2 ( I + Q u ⋅ Q v ) 2 , ( ∀ λ ∈ R ) \mathbf{Q}_r\cdot(\mathbf{Q}_u+\mathbf{Q}_v)=\mathbf{I}+\mathbf{Q}_u\cdot\mathbf{Q}_v=\dfrac{1}{2}(\mathbf{Q}_u+\mathbf{Q}_v)^2=\dfrac{1}{2}(\mathbf{I}+\mathbf{Q}_u\cdot\mathbf{Q}_v)^2,\quad(\forall~\lambda\in\mathbb{R}) Qr⋅(Qu+Qv)=I+Qu⋅Qv=21(Qu+Qv)2=21(I+Qu⋅Qv)2,(∀ λ∈R);
3) d e t ( Q u + Q v ) = 0 det(\mathbf{Q}_u+\mathbf{Q}_v)=0 det(Qu+Qv)=0.
证明:1)注意到
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\begin{align*} \mathbf{Q}_u\cdot\mathbf{Q}_v &=(\mathbf{I}-2\bm{u}\otimes\bm{u})\cdot(\mathbf{I}-2\bm{v}\otimes\bm{v})\\[2mm] &=\mathbf{I}-2\bm{u}\otimes\bm{u}-2\bm{v}\otimes\bm{v}\\[2mm] &=\mathbf{Q}_u+\mathbf{Q}_v-\mathbf{I}=\mathbf{Q}_v\cdot\mathbf{Q}_u=\mathbf{Q}_v^T\cdot\mathbf{Q}_u^T=(\mathbf{Q}_u\cdot\mathbf{Q}_v)^T \end{align*}
Qu⋅Qv=(I−2u⊗u)⋅(I−2v⊗v)=I−2u⊗u−2v⊗v=Qu+Qv−I=Qv⋅Qu=QvT⋅QuT=(Qu⋅Qv)T
2)直接代入验证:
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\begin{align*} \mathbf{Q}_r\cdot(\mathbf{Q}_u+\mathbf{Q}_v) &=\left(\mathbf{I}-\dfrac{2}{1+\lambda^2}\bm{r}\otimes\bm{r}\right)\cdot2(\mathbf{I}-\bm{u}\otimes\bm{u}-\bm{v}\otimes\bm{v})\\[5mm] &=2(\mathbf{I}-\bm{u}\otimes\bm{u}-\bm{v}\otimes\bm{v})\\[2mm] &=\mathbf{I}+\mathbf{Q}_u\cdot\mathbf{Q}_v=\dfrac{1}{2}(\mathbf{Q}_u+\mathbf{Q}_v)^2 =\dfrac{1}{2}(\mathbf{I}+\mathbf{Q}_u\cdot\mathbf{Q}_v)^2 \end{align*}
Qr⋅(Qu+Qv)=(I−1+λ22r⊗r)⋅2(I−u⊗u−v⊗v)=2(I−u⊗u−v⊗v)=I+Qu⋅Qv=21(Qu+Qv)2=21(I+Qu⋅Qv)2
3)由2)可知:
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-det(\mathbf{Q}_u+\mathbf{Q}_v)=\frac{1}{2}det^2(\mathbf{Q}_u+\mathbf{Q}_v)~\Longrightarrow~det(\mathbf{Q}_u+\mathbf{Q}_v)=0~\text{或}~-2
−det(Qu+Qv)=21det2(Qu+Qv) ⟹ det(Qu+Qv)=0 或 −2若
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det(Qu+Qv)=−2,则仿射量
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\mathbf{Q}_r=\dfrac{1}{2}(\mathbf{Q}_u+\mathbf{Q}_v)\quad(\forall~\lambda\in\mathbb{R})
Qr=21(Qu+Qv)(∀ λ∈R)代入
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Qr,Qu,Qv的表达式可得:
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(1-\lambda^2)(\bm{u}\otimes\bm{u}-\bm{v}\otimes\bm{v})+2\lambda(\bm{u}\otimes\bm{v}+\bm{v}\otimes\bm{u})=0
(1−λ2)(u⊗u−v⊗v)+2λ(u⊗v+v⊗u)=0由于
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\bm{u}\otimes\bm{u},\bm{v}\otimes\bm{v},\bm{u}\otimes\bm{v},\bm{v}\otimes\bm{u}
u⊗u,v⊗v,u⊗v,v⊗u 线性无关,故
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\begin{cases} 1-\lambda^2=0\\[2mm] 2\lambda=0 \end{cases} ~\Longrightarrow~ \lambda\text{无解}
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⎧1−λ2=02λ=0 ⟹ λ无解与任意
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λ矛盾,证毕。
命题2: 已知两正交的单位向量 u , v ∈ R 3 \bm{u},\bm{v}\in\mathbb{R}^3 u,v∈R3 且 u ⋅ v = 0 \bm{u}\cdot\bm{v}=0 u⋅v=0,由于绕 v \bm v v 旋转 ψ \psi ψ 角度的正常正交张量为:
Q v ( ψ ) = c o s ψ I + ( 1 − c o s ψ ) v ⊗ v − s i n ψ ε ⋅ v \mathbf{Q}^{\bm{v}}(\psi)=cos\psi\mathbf{I}+(1-cos\psi)\bm{v}\otimes\bm{v}-sin\psi~\bm{\varepsilon}\cdot\bm{v} Qv(ψ)=cosψI+(1−cosψ)v⊗v−sinψ ε⋅v设 u \bm{u} u绕 v \bm v v 轴旋转 θ \theta θ 得到 u ( θ ) \bm{u}(\theta) u(θ),即
u ( θ ) = Q v ( θ ) ⋅ u = c o s ( θ ) u − s i n ( θ ) ε : ( u ⊗ v ) = c o s ( θ ) u − s i n ( θ ) ( u × v ) \bm{u}(\theta) =\mathbf{Q}^{\bm{v}}(\theta)\cdot\bm{u} =cos(\theta)\bm{u}-sin(\theta)\bm{\varepsilon}:(\bm{u}\otimes\bm{v}) =cos(\theta)\bm{u}-sin(\theta)(\bm{u}\times\bm{v}) u(θ)=Qv(θ)⋅u=cos(θ)u−sin(θ)ε:(u⊗v)=cos(θ)u−sin(θ)(u×v)显然, u ( 0 ) = u \bm{u}(0)=\bm{u} u(0)=u,令
{ Q ( θ ) = I − 2 u ( θ ) ⊗ u ( θ ) Q v = I − 2 v ⊗ v \begin{cases} \mathbf{Q}(\theta)=\mathbf{I}-2\bm{u}(\theta)\otimes\bm{u}(\theta)\\[3mm] \mathbf{Q}_v=\mathbf{I}-2\bm{v}\otimes\bm{v} \end{cases} ⎩ ⎨ ⎧Q(θ)=I−2u(θ)⊗u(θ)Qv=I−2v⊗v则有:
1) Q ( − θ ) = Q ( 0 ) ⋅ Q ( θ ) ⋅ Q ( 0 ) \mathbf{Q}(-\theta)=\mathbf{Q}(0)\cdot\mathbf{Q}(\theta)\cdot\mathbf{Q}(0) Q(−θ)=Q(0)⋅Q(θ)⋅Q(0)
2) Q ( θ 1 + θ 2 ) = Q ( θ 1 ) ⋅ Q ( 0 ) ⋅ Q ( θ 2 ) \mathbf{Q}(\theta_1+\theta_2)=\mathbf{Q}(\theta_1)\cdot\mathbf{Q}(0)\cdot\mathbf{Q}(\theta_2) Q(θ1+θ2)=Q(θ1)⋅Q(0)⋅Q(θ2)
3) Q v = − Q ( 0 ) ⋅ Q ( π 2 ) \mathbf{Q}_v=-\mathbf{Q}(0)\cdot\mathbf{Q}(\frac{\pi}{2}) Qv=−Q(0)⋅Q(2π)
证明:1)由已知:
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\begin{align*} \mathbf{Q}(\theta) &=\mathbf{I}-2[cos(\theta)\bm{u}-sin(\theta)(\bm{u}\times\bm{v})]\otimes[cos(\theta)\bm{u}-sin(\theta)(\bm{u}\times\bm{v})]\\[2mm] &=\mathbf{I}-2[cos^2\theta\bm{u}\otimes\bm{u}- sin\theta cos\theta~\bm{u}\otimes(\bm{u}\times\bm{v})- sin\theta cos\theta~(\bm{u}\times\bm{v})\otimes\bm{u}+sin^2\theta(\bm{u}\times\bm{v})\otimes(\bm{u}\times\bm{v})]\\[3mm] \mathbf{Q}(0)&=\mathbf{I}-2\bm{u}\otimes\bm{u} \end{align*}
Q(θ)Q(0)=I−2[cos(θ)u−sin(θ)(u×v)]⊗[cos(θ)u−sin(θ)(u×v)]=I−2[cos2θu⊗u−sinθcosθ u⊗(u×v)−sinθcosθ (u×v)⊗u+sin2θ(u×v)⊗(u×v)]=I−2u⊗u则
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\mathbf{Q}(0)\cdot\mathbf{Q}(\theta)\cdot\mathbf{Q}(0) =\mathbf{Q}(\theta)-4sin\theta cos\theta~\bm{u}\otimes(\bm{u}\times\bm{v})-4sin\theta cos\theta~(\bm{u}\times\bm{v})\times\bm{u}=\mathbf{Q}(-\theta)
Q(0)⋅Q(θ)⋅Q(0)=Q(θ)−4sinθcosθ u⊗(u×v)−4sinθcosθ (u×v)×u=Q(−θ)
2)将
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\mathbf{Q}(\theta_1)\cdot\mathbf{Q}(0)\cdot\mathbf{Q}(\theta_2)
Q(θ1)⋅Q(0)⋅Q(θ2) 写作对应矩阵形式的乘法:
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\begin{bmatrix} -cos2\theta_1 &0 &sin2\theta_1\\[2mm] 0 & 1& 0\\[2mm] sin2\theta_1 & 0 &cos2\theta_1 \end{bmatrix} \begin{bmatrix} -1 &0 &0\\[2mm] 0 & 1& 0\\[2mm] 0& 0 &1 \end{bmatrix} \begin{bmatrix} -cos2\theta_2 &0 &sin2\theta_2\\[2mm] 0 & 1& 0\\[2mm] sin2\theta_2 & 0 &cos2\theta_2 \end{bmatrix}= \begin{bmatrix} -cos2(\theta_1+\theta_2) &0 &sin2(\theta_1+\theta_2)\\[2mm] 0 & 1& 0\\[2mm] sin2(\theta_1+\theta_2) & 0 &cos2(\theta_1+\theta_2) \end{bmatrix}
−cos2θ10sin2θ1010sin2θ10cos2θ1
−100010001
−cos2θ20sin2θ2010sin2θ20cos2θ2
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−cos2(θ1+θ2)0sin2(θ1+θ2)010sin2(θ1+θ2)0cos2(θ1+θ2)
右侧对应为:
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\mathbf{Q}(\theta_1+\theta_2)=\mathbf{Q}(\theta_1)\cdot\mathbf{Q}(0)\cdot\mathbf{Q}(\theta_2)
Q(θ1+θ2)=Q(θ1)⋅Q(0)⋅Q(θ2)
3) 由已知:
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\mathbf{Q}({\pi}/{2})=\mathbf{I}-2(\bm{u}\times\bm{v})\otimes(\bm{u}\times\bm{v})
Q(π/2)=I−2(u×v)⊗(u×v)则
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\begin{align*} \mathbf{Q}(0)\cdot\mathbf{Q}({\pi}/{2}) &=(\mathbf{I}-2\bm{u}\otimes\bm{u})\cdot[\mathbf{I}-2(\bm{u}\times\bm{v})\otimes(\bm{u}\times\bm{v})]\\[2mm] &=\mathbf{I}-2\bm{u}\otimes\bm{u}-2(\bm{u}\times\bm{v})\otimes(\bm{u}\times\bm{v}) \\[2mm] &=[\bm{u}\otimes\bm{u}+\bm{v}\otimes\bm{v}+(\bm{u}\times\bm{v})\otimes(\bm{u}\times\bm{v})]-2\bm{u}\otimes\bm{u}-2(\bm{u}\times\bm{v})\otimes(\bm{u}\times\bm{v}) \\[2mm] &=-(\mathbf{I}-2\bm{v}\otimes\bm{v})=-\mathbf{Q}_v \\[2mm] \end{align*}
Q(0)⋅Q(π/2)=(I−2u⊗u)⋅[I−2(u×v)⊗(u×v)]=I−2u⊗u−2(u×v)⊗(u×v)=[u⊗u+v⊗v+(u×v)⊗(u×v)]−2u⊗u−2(u×v)⊗(u×v)=−(I−2v⊗v)=−Qv