欧拉参数

欧拉角（Euler Angles）是一种描述三维旋转的方式。
The Euler angles are three angles introduced by Leonhard Euler to describe the orientation of a rigid body with respect to a fixed coordinate system.

三次旋转过程所绕的轴：

1）绕初始坐标系的空间固定轴旋转三次：
The three elemental rotations may be extrinsic (rotations about the axes xyz of the original coordinate system, which is assumed to remain motionless),

2）绕旋转后的坐标系的轴旋转三次：
The three elemental rotations may be intrinsic (rotations about the axes of the rotating coordinate system XYZ, solidary with the moving body, which changes its orientation after each elemental rotation).

Euler angles are typically denoted as α, β, γ, or φ, θ, ψ.

 

不考虑绕固定轴还是当前轴进行旋转，总共有12种旋转顺序：

• Proper/Classic Euler angles (z-x-z, x-y-x, y-z-y, z-y-z, x-z-x, y-x-y)  --  有两个轴相同,第一次和第三次相同
• Tait–Bryan angles (x-y-z, y-z-x, z-x-y, x-z-y, z-y-x, y-x-z).     --  三个轴不同    ---有时也统称为Euler angles

 

-----wikipedia上关于万向节死锁的解释：

Proper/Classic Euler angles' Definition by extrinsic rotations（绕固定轴旋转定义下的proper Euler angles, 以z-x-z为例子）

Extrinsic rotations are elemental rotations that occur about the axes of the fixed coordinate system xyz. The XYZ system rotates, while xyz is fixed. Starting with XYZ overlapping xyz, a composition of three extrinsic rotations can be used to reach any target orientation for XYZ. The Euler or Tait-Bryan angles (α, β, γ) are the amplitudes of these elemental rotations. For instance, the target orientation can be reached as follows:

• The XYZ system rotates about the z axis by α. The X axis is now at angle α with respect to the x axis.
• The XYZ system rotates again about the x axis by β. The Z axis is now at angle β with respect to the z axis.
• The XYZ system rotates a third time about the z axis by γ.

The singular case: if β = 0 ,the z axis and the Z axis are the same, and only (α + γ) is uniquely defined (not the individual values), and, similarly, if the z axis and the Z axis are opposite, β = π and only (α − γ) is uniquely defined (not the individual values). These ambiguities are known as gimbal lock in applications.

 

Ref:

https://en.wikipedia.org/wiki/Euler_angles

 

转载于:https://www.cnblogs.com/butterflybay/p/10347911.html