旋转矩阵
对向量进行旋转
对向量进行旋转本质上是一个由向量空间V到向量空间V的线性变换
R
:
V
→
V
\mathscr{R}:V\to V
R:V→V
由几何关系,向量绕坐标系
z
z
z轴旋转角度
θ
\theta
θ,z轴坐标不变,因此可以只关注x-y二维平面,向量
(
1
,
0
)
(1,0)
(1,0)变为
(
cos
θ
,
sin
θ
)
(\cos\theta,\sin\theta)
(cosθ,sinθ),向量
(
0
,
1
)
(0,1)
(0,1)变为
(
−
sin
θ
,
cos
θ
)
(-\sin\theta,\cos\theta)
(−sinθ,cosθ)。
(
e
⃗
1
,
e
⃗
2
)
[
cos
θ
sin
θ
]
=
(
e
⃗
1
,
e
⃗
2
)
R
[
1
0
]
(
e
⃗
1
,
e
⃗
2
)
[
−
sin
θ
cos
θ
]
=
(
e
⃗
1
,
e
⃗
2
)
R
[
0
1
]
(\vec{\boldsymbol{e}}_1,\vec{\boldsymbol{e}}_2)\begin{bmatrix} \cos\theta \\ \sin \theta \end{bmatrix}= (\vec{\boldsymbol{e}}_1,\vec{\boldsymbol{e}}_2) \boldsymbol{R}\begin{bmatrix} 1 \\ 0 \end{bmatrix}\\ (\vec{\boldsymbol{e}}_1,\vec{\boldsymbol{e}}_2)\begin{bmatrix} -\sin \theta \\ \cos \theta \end{bmatrix}=(\vec{\boldsymbol{e}}_1,\vec{\boldsymbol{e}}_2) \boldsymbol{R} \begin{bmatrix} 0 \\ 1 \end{bmatrix}
(e1,e2)[cosθsinθ]=(e1,e2)R[10](e1,e2)[−sinθcosθ]=(e1,e2)R[01]
将上式按列合并得
[
cos
θ
−
sin
θ
sin
θ
cos
θ
]
=
R
[
1
0
0
1
]
=
R
\begin{bmatrix} \cos \theta & -\sin \theta \\ \sin \theta & \cos \theta \end{bmatrix}=\boldsymbol{R}\begin{bmatrix} 1 & 0 \\ 0 & 1 \end{bmatrix}=\boldsymbol{R}
[cosθsinθ−sinθcosθ]=R[1001]=R
于是
R
z
=
[
cos
θ
−
sin
θ
0
sin
θ
cos
θ
0
0
0
1
]
\boldsymbol{R}_{z}=\begin{bmatrix} \cos \theta & -\sin \theta & 0 \\ \sin \theta & \cos \theta & 0 \\ 0 & 0 & 1 \end{bmatrix}
Rz=
cosθsinθ0−sinθcosθ0001
任意向量
v
=
(
e
⃗
1
,
e
⃗
2
,
e
⃗
3
)
[
x
y
z
]
=
x
e
⃗
1
+
y
e
⃗
2
+
z
e
⃗
3
\boldsymbol{v}=(\vec{\boldsymbol{e}}_1,\vec{\boldsymbol{e}}_2,\vec{\boldsymbol{e}}_3)\begin{bmatrix}x\\y\\z\end{bmatrix}=x\vec{\boldsymbol{e}}_1+y\vec{\boldsymbol{e}}_2+z\vec{\boldsymbol{e}}_3
v=(e1,e2,e3)
xyz
=xe1+ye2+ze3
由于旋转是线性变换
R
(
v
)
=
x
R
(
e
⃗
1
)
+
y
R
(
e
⃗
2
)
+
z
R
(
e
⃗
3
)
=
R
(
e
⃗
1
,
e
⃗
2
,
e
⃗
3
)
[
x
y
z
]
=
(
e
⃗
1
,
e
⃗
2
,
e
⃗
3
)
R
z
[
x
y
z
]
\mathscr{R}(\boldsymbol{v})=x\mathscr{R}(\vec{\boldsymbol{e}}_1)+y\mathscr{R}(\vec{\boldsymbol{e}}_2)+z\mathscr{R}(\vec{\boldsymbol{e}}_3)=\mathscr{R}(\vec{\boldsymbol{e}}_1,\vec{\boldsymbol{e}}_2,\vec{\boldsymbol{e}}_3)\begin{bmatrix}x\\y\\z\end{bmatrix}=(\vec{\boldsymbol{e}}_1,\vec{\boldsymbol{e}}_2,\vec{\boldsymbol{e}}_3)\boldsymbol{R}_z\begin{bmatrix}x\\y\\z\end{bmatrix}
R(v)=xR(e1)+yR(e2)+zR(e3)=R(e1,e2,e3)
xyz
=(e1,e2,e3)Rz
xyz
旋转后的向量坐标为
R
z
[
x
y
z
]
\boldsymbol{R}_z\begin{bmatrix}x\\y\\z\end{bmatrix}
Rz
xyz
同理可得
R
x
=
[
1
0
0
0
cos
θ
−
sin
θ
0
sin
θ
cos
θ
]
R
y
=
[
cos
θ
0
sin
θ
0
1
0
−
sin
θ
0
cos
θ
]
\boldsymbol{R}_{x}=\begin{bmatrix} 1 & 0 & 0 \\ 0 & \cos \theta & -\sin \theta\\ 0 & \sin \theta & \cos \theta \end{bmatrix} \\ \boldsymbol{R}_{y}=\begin{bmatrix} \cos \theta & 0 & \sin \theta \\ 0 & 1 & 0 \\ -\sin \theta & 0 & \cos \theta \end{bmatrix}
Rx=
1000cosθsinθ0−sinθcosθ
Ry=
cosθ0−sinθ010sinθ0cosθ
在参考系1下对某一坐标点进行旋转,旋转矩阵为
R
\boldsymbol{R}
R(相对于参考系1而言),
a
i
j
\boldsymbol{a}_i^j
aij表示空间点i在坐标系j下的坐标
1
a
2
=
R
1
1
a
1
{}^1\boldsymbol{a}_2=\boldsymbol{R}_1 {}^1\boldsymbol{a}_1
1a2=R11a1
由于旋转是相互的,固定坐标系对点的旋转 等同于 固定点 对坐标系施以逆旋转,意思是要通过一个旋转让点到达相应的坐标,可以直接旋转坐标点,也可以对坐标系进行反向旋转。
因此
1
a
2
=
2
a
1
⟹
2
a
1
=
R
1
1
a
1
{}^1\boldsymbol{a}_2={}^2\boldsymbol{a}_1\implies {}^2\boldsymbol{a}_1 =\boldsymbol{R}_1{}^1\boldsymbol{a}_1
1a2=2a1⟹2a1=R11a1
矩阵代表着一个代数运算,凡矩阵一定是对坐标进行变换,而提到坐标就一定是在对应的坐标系中去衡量。因此旋转矩阵对于旋转的表示也是相对于某一坐标系的。
设空间某一向量在坐标系A下的坐标表示如下,
[
e
⃗
1
e
⃗
2
e
⃗
3
]
\begin{bmatrix} \vec{\boldsymbol{e}}_1 & \vec{\boldsymbol{e}}_2 & \vec{\boldsymbol{e}}_3 \end{bmatrix}
[e1e2e3]为坐标系A的基向量。
v
=
[
e
⃗
1
e
⃗
2
e
⃗
3
]
[
a
1
a
2
a
3
]
v
=
E
⃗
a
\boldsymbol{v}=\begin{bmatrix}\vec{\boldsymbol{e}}_1 & \vec{\boldsymbol{e}}_2 & \vec{\boldsymbol{e}}_3\end{bmatrix}\begin{bmatrix}a_1\\a_2\\a_3\end{bmatrix}\\ \boldsymbol{v}=\vec{\mathcal{E}}\boldsymbol{a}
v=[e1e2e3]
a1a2a3
v=Ea
对坐标系进行旋转
对坐标系进行旋转,即对坐标系的基向量均进行一个相同的旋转(在坐标系A下坐标变换!)
则
e
⃗
1
′
=
[
e
⃗
1
e
⃗
2
e
⃗
3
]
R
[
1
0
0
]
e
⃗
2
′
=
[
e
⃗
1
e
⃗
2
e
⃗
3
]
R
[
0
1
0
]
e
⃗
3
′
=
[
e
⃗
1
e
⃗
2
e
⃗
3
]
R
[
0
0
1
]
⟹
[
e
⃗
1
′
e
⃗
2
′
e
⃗
3
′
]
=
[
e
⃗
1
e
⃗
2
e
⃗
3
]
R
[
1
0
0
0
1
0
0
0
1
]
E
⃗
′
=
E
⃗
R
\vec{\boldsymbol{e}}_1'=\begin{bmatrix}\vec{\boldsymbol{e}}_1 & \vec{\boldsymbol{e}}_2 & \vec{\boldsymbol{e}}_3\end{bmatrix}\boldsymbol{R}\begin{bmatrix}1\\0\\0\end{bmatrix}\\ \vec{\boldsymbol{e}}_2'=\begin{bmatrix}\vec{\boldsymbol{e}}_1 & \vec{\boldsymbol{e}}_2 & \vec{\boldsymbol{e}}_3\end{bmatrix}\boldsymbol{R}\begin{bmatrix}0\\1\\0\end{bmatrix}\\ \vec{\boldsymbol{e}}_3'=\begin{bmatrix}\vec{\boldsymbol{e}}_1 & \vec{\boldsymbol{e}}_2 & \vec{\boldsymbol{e}}_3\end{bmatrix}\boldsymbol{R}\begin{bmatrix}0\\0\\1\end{bmatrix}\\ \implies \begin{bmatrix}\vec{\boldsymbol{e}}_1' & \vec{\boldsymbol{e}}_2' & \vec{\boldsymbol{e}}_3' \end{bmatrix}=\begin{bmatrix}\vec{\boldsymbol{e}}_1 & \vec{\boldsymbol{e}}_2 & \vec{\boldsymbol{e}}_3\end{bmatrix}\boldsymbol{R}\begin{bmatrix}1&0&0\\0&1&0\\0&0&1\end{bmatrix}\\ \vec{\mathcal{E}}'=\vec{\mathcal{E}}\boldsymbol{R}
e1′=[e1e2e3]R
100
e2′=[e1e2e3]R
010
e3′=[e1e2e3]R
001
⟹[e1′e2′e3′]=[e1e2e3]R
100010001
E′=ER
则空间中同一向量
v
=
[
e
⃗
1
′
e
⃗
2
′
e
⃗
3
′
]
[
a
1
′
a
2
′
a
3
′
]
=
[
e
⃗
1
e
⃗
2
e
⃗
3
]
R
[
1
0
0
0
1
0
0
0
1
]
[
a
1
′
a
2
′
a
3
′
]
v
=
E
⃗
′
a
′
=
E
⃗
R
a
′
=
E
⃗
a
\boldsymbol{v}=\begin{bmatrix}\vec{\boldsymbol{e}}_1' & \vec{\boldsymbol{e}}_2' & \vec{\boldsymbol{e}}_3' \end{bmatrix}\begin{bmatrix}a_1'\\a_2'\\a_3'\end{bmatrix}=\begin{bmatrix}\vec{\boldsymbol{e}}_1 & \vec{\boldsymbol{e}}_2 & \vec{\boldsymbol{e}}_3\end{bmatrix}\boldsymbol{R}\begin{bmatrix}1&0&0\\0&1&0\\0&0&1\end{bmatrix}\begin{bmatrix}a_1'\\a_2'\\a_3'\end{bmatrix}\\ \boldsymbol{v}=\vec{\mathcal{E}}'\boldsymbol{a}'=\vec{\mathcal{E}}\boldsymbol{R}\boldsymbol{a}' =\vec{\mathcal{E}}\boldsymbol{a}
v=[e1′e2′e3′]
a1′a2′a3′
=[e1e2e3]R
100010001
a1′a2′a3′
v=E′a′=ERa′=Ea
则
R
[
1
0
0
0
1
0
0
0
1
]
[
a
1
′
a
2
′
a
3
′
]
=
[
a
1
a
2
a
3
]
⟹
R
a
′
=
a
⟹
a
′
=
R
−
1
a
=
R
T
a
\boldsymbol{R}\begin{bmatrix}1&0&0\\0&1&0\\0&0&1\end{bmatrix}\begin{bmatrix}a_1'\\a_2'\\a_3'\end{bmatrix}=\begin{bmatrix}a_1\\a_2\\a_3\end{bmatrix}\\ \implies \boldsymbol{R}\boldsymbol{a}'=\boldsymbol{a}\\ \implies \boldsymbol{a}'=\boldsymbol{R}^{-1}\boldsymbol{a}=\boldsymbol{R}^T\boldsymbol{a}
R
100010001
a1′a2′a3′
=
a1a2a3
⟹Ra′=a⟹a′=R−1a=RTa
欧拉角
旋转轴可以选择运动轴(物体自身坐标系),也可以选择固定轴(世界参考系);
运动轴
XYZ顺序欧拉角
- 沿着原始坐标系的主轴1旋转 θ 1 \theta_1 θ1度(滚转角)
- 沿着新坐标系的主轴2旋转 θ 2 \theta_2 θ2度(俯仰角)
- 沿着新坐标系主轴3旋转 θ 3 \theta_3 θ3度(偏航角)
将父坐标系经过上述三步转换到子坐标系。这种序列被广泛运用在航空航天领域,成为1-2-3姿态序列,或是RPY(滚转角-俯仰角-偏航角)表示法或XYZ顺序。
可以得到旋转后坐标系到原始坐标系的旋转矩阵为:
a
=
R
x
a
′
a
′
=
R
y
a
′
′
a
′
′
=
R
z
a
′
′
′
a
=
R
x
R
y
R
z
a
′
′
′
E
⃗
R
x
=
E
⃗
′
E
⃗
′
R
y
=
E
⃗
′
′
E
⃗
′
′
R
z
=
E
⃗
′
′
′
E
⃗
′
′
′
=
E
⃗
R
x
R
y
R
z
\begin{array}{l} \boldsymbol{a}=\boldsymbol{R}_x \boldsymbol{a}'\\ \boldsymbol{a}'=\boldsymbol{R}_y\boldsymbol{a}''\\ \boldsymbol{a}''=\boldsymbol{R}_z\boldsymbol{a}'''\\ \boldsymbol{a}=\boldsymbol{R}_x\boldsymbol{R}_y \boldsymbol{R}_z \boldsymbol{a}'''\end{array} \begin{array}{l} \vec{\mathcal{E}} \boldsymbol{R}_{x}=\vec{\mathcal{E}}'\\ \vec{\mathcal{E}}' \boldsymbol{R}_y=\vec{\mathcal{E}}''\\ \vec{\mathcal{E}}'' \boldsymbol{R}_z= \vec{\mathcal{E}}''' \\ \vec{\mathcal{E}}'''=\vec{\mathcal{E}}\boldsymbol{R}_{x}\boldsymbol{R}_{y}\boldsymbol{R}_{z} \end{array}
a=Rxa′a′=Rya′′a′′=Rza′′′a=RxRyRza′′′ERx=E′E′Ry=E′′E′′Rz=E′′′E′′′=ERxRyRz
R x = [ 1 0 0 0 cos θ 1 − sin θ 1 0 sin θ 1 cos θ 1 ] R y = [ cos θ 2 0 sin θ 2 0 1 0 − sin θ 2 0 cos θ 2 ] R z = [ cos θ 3 − sin θ 3 0 sin θ 3 cos θ 3 0 0 0 1 ] R x R y R z = [ c 2 0 s 2 s 1 s 2 c 1 − s 1 c 2 − c 1 s 2 s 1 c 1 c 2 ] [ c 3 − s 3 0 s 3 c 3 0 0 0 1 ] = [ c 2 c 3 − c 2 s 3 s 2 s 1 s 2 c 3 + c 1 s 3 c 1 c 3 − s 1 s 2 s 3 − s 1 c 2 s 1 s 3 − c 1 s 2 c 3 s 1 c 3 + c 1 s 2 s 3 c 1 c 2 ] \boldsymbol{R}_{x}=\begin{bmatrix} 1 & 0 & 0 \\ 0 & \cos \theta _{1} & -\sin \theta_1\\ 0 & \sin \theta _{1} & \cos \theta _{1} \end{bmatrix} \\ \boldsymbol{R}_{y}=\begin{bmatrix} \cos \theta _{2} & 0 & \sin \theta _{2} \\ 0 & 1 & 0 \\ -\sin \theta _{2} & 0 & \cos \theta _{2} \end{bmatrix} \\ \boldsymbol{R}_{z}=\begin{bmatrix} \cos \theta _{3} & -\sin \theta _{3} & 0 \\ \sin \theta _{3} & \cos \theta _{3} & 0 \\ 0 & 0 & 1 \end{bmatrix}\\ \boldsymbol{R}_{x}\boldsymbol{R}_{y}\boldsymbol{R}_{z}=\begin{bmatrix} c_{2} & 0 & s_{2} \\ s_{1}s_{2} & c_{1} & -s_{1}c_{2} \\ -c_{1}s_{2} & s_{1} & c_{1}c_{2} \end{bmatrix}\begin{bmatrix} c_{3} & -s_{3} & 0 \\ s_{3} & c_{3} & 0 \\ 0 & 0 & 1 \end{bmatrix} \\=\begin{bmatrix} c_{2}c_{3} & -c_{2}s_{3} & s_{2} \\ s_{1}s_{2}c_{3}+c_{1}s_{3} & c_{1}c_{3}-s_{1}s_{2}s_{3} & -s_{1}c_{2} \\ s_{1}s_{3}-c_{1}s_{2}c_{3} & s_{1}c_{3}+c_{1}s_{2}s_{3} & c_{1}c_{2} \end{bmatrix} Rx= 1000cosθ1sinθ10−sinθ1cosθ1 Ry= cosθ20−sinθ2010sinθ20cosθ2 Rz= cosθ3sinθ30−sinθ3cosθ30001 RxRyRz= c2s1s2−c1s20c1s1s2−s1c2c1c2 c3s30−s3c30001 = c2c3s1s2c3+c1s3s1s3−c1s2c3−c2s3c1c3−s1s2s3s1c3+c1s2s3s2−s1c2c1c2
ZYX顺序欧拉角
3-2-1姿态序列,或是YPR(偏航角-俯仰角-滚转角)表示法或ZYX顺序。
R
z
R
y
R
x
=
[
c
2
c
3
−
s
3
s
2
c
3
c
2
s
3
c
3
s
2
s
3
−
s
2
0
c
2
]
[
1
0
0
0
c
1
−
s
1
0
s
1
c
1
]
=
[
c
2
c
3
s
1
s
2
c
3
−
c
1
s
3
s
1
s
3
+
c
1
s
2
c
3
c
2
s
3
c
1
c
3
+
s
1
s
2
s
3
c
1
s
2
s
3
−
s
1
c
3
−
s
2
s
1
c
2
c
1
c
2
]
\boldsymbol{R}_{z}\boldsymbol{R}_{y}\boldsymbol{R}_{x}=\begin{bmatrix} c_{2}c_{3} & -s_{3} & s_{2}c_{3} \\ c_{2}s_{3} & c_{3} & s_{2}s_{3} \\ -s_{2} & 0 & c_{2} \end{bmatrix}\begin{bmatrix} 1 & 0 & 0 \\ 0 & c_{1} & -s_{1} \\ 0 & s_{1} & c_{1} \end{bmatrix} \\ =\begin{bmatrix} c_{2}c_{3} & s_{1}s_{2}c_{3}-c_{1}s_{3} & s_{1}s_{3}+c_{1}s_{2}c_{3} \\ c_{2}s_{3} & c_{1}c_{3}+s_{1}s_{2}s_{3} & c_{1}s_{2}s_{3}-s_{1}c_{3} \\ -s_{2} & s_{1}c_{2} & c_{1}c_{2} \end{bmatrix}
RzRyRx=
c2c3c2s3−s2−s3c30s2c3s2s3c2
1000c1s10−s1c1
=
c2c3c2s3−s2s1s2c3−c1s3c1c3+s1s2s3s1c2s1s3+c1s2c3c1s2s3−s1c3c1c2
旋转矩阵转欧拉角
由旋转矩阵的特点,
sin
θ
2
\sin\theta_2
sinθ2的数值已经确定,第一列和第三行的其他数值是
cos
θ
2
\cos\theta_2
cosθ2与
sin
θ
1
,
cos
θ
1
,
sin
θ
3
,
cos
θ
3
\sin\theta_1,\cos\theta_1,\sin\theta_3,\cos\theta_3
sinθ1,cosθ1,sinθ3,cosθ3的乘积。矩阵的其他位置的三次项均含一项确定数值的
sin
θ
2
\sin\theta_2
sinθ2,二次项中均不含
sin
θ
2
\sin\theta_2
sinθ2。
可以得出
cos
θ
2
\cos\theta_2
cosθ2与
sin
θ
1
,
cos
θ
1
,
sin
θ
3
,
cos
θ
3
\sin\theta_1,\cos\theta_1,\sin\theta_3,\cos\theta_3
sinθ1,cosθ1,sinθ3,cosθ3有两套不同正负号的结果,但对于两种结果的旋转矩阵相同。物理意义为:有两套不同的欧拉角对应相同的旋转。我们总是可以假设
cos
θ
2
\cos\theta_2
cosθ2为正,得到唯一的结果。
θ
1
=
a
t
a
n
2
(
r
32
,
r
33
)
θ
2
=
a
t
a
n
2
(
−
r
31
,
r
32
2
,
r
33
2
)
θ
3
=
a
t
a
n
2
(
r
21
,
r
11
)
\begin{aligned} \theta_1&={\rm atan2}(r_{32},r_{33})\\ \theta_2&={\rm atan2}\left(-r_{31},\sqrt{r_{32}^2,r_{33}^2}\right)\\ \theta_3&={\rm atan2}(r_{21},r_{11}) \end{aligned}
θ1θ2θ3=atan2(r32,r33)=atan2(−r31,r322,r332)=atan2(r21,r11)
对于其他欧拉角也是类似的。
固定轴
设 E ⃗ \vec{\mathcal{E}} E是固定参考坐标系, 0 E ⃗ {}^{0}\vec{\mathcal{E}} 0E是原始坐标系,经过三次绕固定轴的旋转变为变换后的坐标系 3 E ⃗ {}^{3}\vec{\mathcal{E}} 3E
- 沿着固定参考坐标系的主轴1旋转 θ 1 \theta_1 θ1度(滚转角)
- 沿着固定参考坐标系的主轴2旋转 θ 2 \theta_2 θ2度(俯仰角)
- 沿着固定参考坐标系的主轴3旋转 θ 3 \theta_3 θ3度(偏航角)
假设原始坐标系相对与固定参考坐标系的旋转是
[
0
e
⃗
1
0
e
⃗
2
0
e
⃗
3
]
=
0
E
⃗
=
E
⃗
R
0
=
[
e
⃗
1
e
⃗
2
e
⃗
3
]
[
r
01
r
02
r
03
]
\begin{bmatrix}{}^{0}\vec{\boldsymbol{e}}_1 & {}^{0}\vec{\boldsymbol{e}}_2 & {}^{0}\vec{\boldsymbol{e}}_3\end{bmatrix}={}^{0}\vec{\mathcal{E}} =\vec{\mathcal{E}} \boldsymbol{R}_{0}= \begin{bmatrix}\vec{\boldsymbol{e}}_1 & \vec{\boldsymbol{e}}_2 & \vec{\boldsymbol{e}}_3\end{bmatrix}\begin{bmatrix}\boldsymbol{r}_{01}&\boldsymbol{r}_{02}&\boldsymbol{r}_{03}\end{bmatrix}
[0e10e20e3]=0E=ER0=[e1e2e3][r01r02r03]
执行第一步:
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{}^{0}\vec{\mathcal{E}}
0E沿着固定参考坐标系的主轴1旋转,即对
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{}^{0}\vec{\mathcal{E}}
0E的每个基向量做相同的旋转
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\begin{aligned} {}^{1}\vec{\boldsymbol{e}}_1&=\begin{bmatrix}\vec{\boldsymbol{e}}_1 & \vec{\boldsymbol{e}}_2 & \vec{\boldsymbol{e}}_3\end{bmatrix}\boldsymbol{R}_x\boldsymbol{r}_{01} \\ {}^{1}\vec{\boldsymbol{e}}_2&=\begin{bmatrix}\vec{\boldsymbol{e}}_1 & \vec{\boldsymbol{e}}_2 & \vec{\boldsymbol{e}}_3\end{bmatrix}\boldsymbol{R}_x\boldsymbol{r}_{02} \\ {}^{1}\vec{\boldsymbol{e}}_3&=\begin{bmatrix}\vec{\boldsymbol{e}}_1 & \vec{\boldsymbol{e}}_2 & \vec{\boldsymbol{e}}_3\end{bmatrix}\boldsymbol{R}_x\boldsymbol{r}_{03} \end{aligned}
1e11e21e3=[e1e2e3]Rxr01=[e1e2e3]Rxr02=[e1e2e3]Rxr03
写成更紧凑的形式:
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\begin{bmatrix}{}^{1}\vec{\boldsymbol{e}}_1 & {}^{1}\vec{\boldsymbol{e}}_2 & {}^{1}\vec{\boldsymbol{e}}_3\end{bmatrix}={}^{1}\vec{\mathcal{E}} =\vec{\mathcal{E}} \boldsymbol{R}_{x}\boldsymbol{R}_{0} =\begin{bmatrix}\vec{\boldsymbol{e}}_1 & \vec{\boldsymbol{e}}_2 & \vec{\boldsymbol{e}}_3\end{bmatrix} \boldsymbol{R}_x \begin{bmatrix}\boldsymbol{r}_{01}&\boldsymbol{r}_{02}&\boldsymbol{r}_{03}\end{bmatrix}
[1e11e21e3]=1E=ERxR0=[e1e2e3]Rx[r01r02r03]
之后沿主轴2和3的旋转同理可得
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\begin{aligned} {}^{2}\vec{\mathcal{E}} &=\vec{\mathcal{E}} \boldsymbol{R}_{y}\left(\boldsymbol{R}_{x}\boldsymbol{R}_{0}\right)\\ {}^{3}\vec{\mathcal{E}} &=\vec{\mathcal{E}} \boldsymbol{R}_{z}\left(\boldsymbol{R}_{y}\boldsymbol{R}_{x}\boldsymbol{R}_{0}\right) \end{aligned}
2E3E=ERy(RxR0)=ERz(RyRxR0)
更简洁的列出递推过程:
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\begin{aligned} {}^{0}\vec{\mathcal{E}}&=\vec{\mathcal{E}} \boldsymbol{R}_{0}\\ {}^{1}\vec{\mathcal{E}}&=\vec{\mathcal{E}} \boldsymbol{R}_{x}\boldsymbol{R}_{0}\\ {}^{2}\vec{\mathcal{E}}&=\vec{\mathcal{E}} \boldsymbol{R}_{y}\boldsymbol{R}_{x}\boldsymbol{R}_{0}\\ {}^{3}\vec{\mathcal{E}}&=\vec{\mathcal{E}} \boldsymbol{R}_{z}\boldsymbol{R}_{y}\boldsymbol{R}_{x}\boldsymbol{R}_{0} \end{aligned}
0E1E2E3E=ER0=ERxR0=ERyRxR0=ERzRyRxR0
因为向量在空间中本身没有改变
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\begin{aligned} {}^{0}\vec{\mathcal{E}}\boldsymbol{a}_{0}&= {}^{3}\vec{\mathcal{E}}\boldsymbol{a}_{3}\\ \vec{\mathcal{E}} \boldsymbol{R}_{0}\boldsymbol{a}_{0}&=\vec{\mathcal{E}} \boldsymbol{R}_{z}\boldsymbol{R}_{y}\boldsymbol{R}_{x}\boldsymbol{R}_{0}\boldsymbol{a}_{3}\\ \boldsymbol{R}_{0}\boldsymbol{a}_{0}&=\boldsymbol{R}_{z}\boldsymbol{R}_{y}\boldsymbol{R}_{x}\boldsymbol{R}_{0}\boldsymbol{a}_{3} \end{aligned}
0Ea0ER0a0R0a0=3Ea3=ERzRyRxR0a3=RzRyRxR0a3
如果固定坐标系就是原始坐标系,即
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\boldsymbol{R}_0=\bf{I}
R0=I故
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\boldsymbol{a}_{0}=\boldsymbol{R}_{z}\boldsymbol{R}_{y}\boldsymbol{R}_{x}\boldsymbol{a}_{3}
a0=RzRyRxa3