-
旋转矩阵具有如下性质:
a. 映射前后不改变向量的长度;
b. ∀ a ⃗ , b ⃗ \forall \vec{a},\vec{b} ∀a,b,映射前后不改变a和b的角度; -
假设现假设矩阵 M M M和任意向量 a ⃗ , b ⃗ \vec{a},\vec{b} a,b。对上述性质,有如下等价的数学公式:
∣ ∣ M a ∣ ∣ = ∣ ∣ a ∣ ∣ (1) ||Ma|| =||a|| \tag{1} ∣∣Ma∣∣=∣∣a∣∣(1)
(
M
a
)
⋅
(
M
b
)
∣
M
a
∣
∣
M
b
∣
=
a
⋅
b
∣
a
∣
∣
b
∣
(2)
\frac{(Ma) \cdot (Mb)}{|Ma||Mb|} = \frac{a \cdot b}{|a||b|} \tag{2}
∣Ma∣∣Mb∣(Ma)⋅(Mb)=∣a∣∣b∣a⋅b(2)
由公式(1)和公式(2)知:
(
M
a
)
⋅
(
M
b
)
=
a
⋅
b
\begin{aligned} (Ma) \cdot (Mb)&=a \cdot b \end{aligned}
(Ma)⋅(Mb)=a⋅b
有:
a
T
M
T
M
b
=
a
T
b
a^{T}M^{T}Mb=a^{T}b
aTMTMb=aTb
即:
M
T
M
=
I
M^{T}M = I
MTM=I