对坐标轴进行逆时针旋转
从机体坐标系转向地面坐标系: R b e = [ x b e , y b e , z b e ] R_b^e=[x_b^e,y_b^e,z_b^e] Rbe=[xbe,ybe,zbe],也就是说,旋转矩阵中三列就是机体坐标系的三个轴在地面坐标系上的投影
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绕 O Z b OZ_b OZb轴旋转 ψ \psi ψ角
如图所示, O Z b OZ_b OZb轴垂直于屏幕指向内
R 3 = ( c o s ψ − s i n ψ 0 s i n ψ c o s ψ 0 0 0 1 ) R_3 = \begin{pmatrix}cos\psi & -sin\psi&0 \\ sin\psi & cos\psi &0 \\0 &0&1\end{pmatrix} R3=⎝⎛cosψsinψ0−sinψcosψ0001⎠⎞ -
绕 O X b OX_b OXb轴旋转 ϕ \phi ϕ角
如图所示, O X b OX_b OXb轴垂直于屏幕指向内
R 1 = ( 1 0 0 0 c o s ϕ − s i n ϕ 0 s i n ϕ c o s ϕ ) R_1 = \begin{pmatrix}1 & 0 &0 \\ 0 & cos\phi & -sin\phi\\0 & sin\phi& cos\phi \end{pmatrix} R1=⎝⎛1000cosϕsinϕ0−sinϕcosϕ⎠⎞ -
绕 O Y b OY_b OYb轴旋转 θ \theta θ角
如图所示, O Y b OY_b OYb轴垂直于屏幕指向内
R 2 = ( c o s θ 0 s i n θ 0 1 0 − s i n θ 0 c o s θ ) R_2 = \begin{pmatrix} cos\theta& 0 &sin\theta \\ 0 & 1& 0\\-sin\theta & 0& cos\theta\end{pmatrix} R2=⎝⎛cosθ0−sinθ010sinθ0cosθ⎠⎞