坐标系与坐标旋转

坐标系变换 or 坐标变换

一、旋转矩阵C的上下标

$$\begin{gathered} 在此先提出一个问题，C_b^n都知道是n系和b系间的旋转变换矩阵，但其变换关系到底是什么(n->b|b->n)？ \\ 在严恭敏老师的《捷联惯导与组合导航原理》书中表示C_b^n表示n系到b系的坐标系变化矩阵，也是b系到n系坐标变化矩阵 \\ 那么n系到b系坐标系变变化矩阵C_b^n和n系到b系坐标变化矩阵C_n^b间又有什么关系呢？ \\ 从符号和矩阵关系可看出C_b^n={C_n^b}^T \end{gathered}$$

二、坐标系定轴旋转

$$\begin{gathered} 下面是坐标系绕各轴旋转\theta 角的旋转变换矩阵 \\ {R}_x(\theta )=\left[\begin{array}{ccc}1& 0& 0\\ 0& cos(\theta )& sin(\theta )\\ 0& -sin(\theta )& cos(\theta )\end{array}\right] \\ {R}_y(\theta )=\left[\begin{array}{ccc}cos(\theta )& 0& -sin(\theta )\\ 0& 1& 0\\ sin(\theta )& 0& cos(\theta )\end{array}\right] \\ {R}_z(\theta )=\left[\begin{array}{ccc}cos(\theta )& sin(\theta )& 0\\ -sin(\theta )& cos(\theta )& 0\\ 0& 0& 1\end{array}\right] \\ PS:\theta 角正负取决于所扰旋转轴的旋转方向是否对应右手螺旋定则 \\ 以A坐标系变换到B坐标系的旋转变换矩阵为例，假设A系绕z轴旋转\varphi ,y轴旋转\phi ,x轴旋转\theta 后变成B系，可写为： \\ {R}_x(\theta )R_y(\phi )R_z(\varphi )A=B \\ {C}_B^A=R_x(\theta )R_y(\phi )R_z(\varphi ) \\ 考虑C_B^A{C}_A^B=E,上式左右两边右乘C_A^B，得: \\ A=C_A^{B}B \end{gathered}$$

三、坐标旋转矩阵

$$\begin{gathered} 第二节介绍了坐标系旋转矩阵，根据第一节的结论和第二节的公式： \\ {C}_B^A=R_x(\theta )R_y(\phi )R_z(\varphi )为A系到B系的坐标系旋转矩阵，那么A系到B系的坐标旋转矩阵: \\ {C}_A^B={C_B^A}^T={R_z(\varphi )}^T{R_y(\phi )}^T{R}_x(\theta {)}^T \\ 故可推出坐标点绕各轴旋转\theta 角的旋转变换矩阵R_x^{\prime }(\theta ),R_y^{\prime }(\theta ),R_z^{\prime }(\theta )： \\ {R}_x^{\prime }(\theta )=R_x(\theta {)}^T=\left[\begin{array}{ccc}1& 0& 0\\ 0& cos(\theta )& -sin(\theta )\\ 0& sin(\theta )& cos(\theta )\end{array}\right] \\ {R}_y^{\prime }(\theta )=R_y(\theta {)}^T=\left[\begin{array}{ccc}cos(\theta )& 0& sin(\theta )\\ 0& 1& 0\\ -sin(\theta )& 0& cos(\theta )\end{array}\right] \\ {R}_z^{\prime }(\theta )=R_z(\theta {)}^T=\left[\begin{array}{ccc}cos(\theta )& -sin(\theta )& 0\\ sin(\theta )& cos(\theta )& 0\\ 0& 0& 1\end{array}\right] \\ 根据C_A^B的含义：A系到B系的坐标变换=B系到A系的坐标系变换，绕A系旋转\theta 角与B系重合，则B系旋转-\theta 角则与A系重合，故: \\ {R}_x^{\prime }(\theta )=R_x(-\theta )=R_x(\theta {)}^T \\ {R}_y^{\prime }(\theta )=R_y(-\theta )=R_y(\theta {)}^T \\ {R}_z^{\prime }(\theta )=R_z(-\theta )=R_z(\theta {)}^T \end{gathered}$$