http://en.wikipedia.org/wiki/Tait-Bryan_angles#Tait.E2.80.93Bryan_angles
欧拉角:
其中
α (or ) is the angle between the x-axis and the line of nodes.(α角是x轴线和zoZ平面垂线的夹角)
β (or ) is the angle between the z-axis and the Z-axis.(β角是z轴和Z轴的夹角)
γ (or ) is the angle between the line of nodes and the X-axis.(γ角是zoZ平面垂线和X轴的夹角)
以此可以衍生出很多种欧拉角的表示方法(可以是与xoX平面垂线的夹角。。。)
欧拉角在航空领域叫做导航角(个人理解)
导航角:http://commons.wikimedia.org/wiki/Tait-Bryan_angles