旋转矩阵到欧拉角的转换

Check for image 15: 的旋转矩阵为：

Rotation matrix R:

    0.877686    0.397560   -0.267605

   -0.414454    0.910041   -0.007341

0.240613    0.117353    0.963501

 

转成欧拉角：单位度，坐标系如上图所示

z = -25.277192;

y = -13.922690;

x = 6.944321;

则，再转换成旋转矩阵

Rz  = [cos(z) -sin(z) 0

      sin(z) cos(z) 0

       0      0      1];

Ry = [cos(y) 0 sin(y)

      0 1 0

      -sin(y) 0 cos(y)];

Rx = [1 0 0

      0 cos(x) -sin(x)

      0 sin(x) cos(x) ];

  R = Rz*Ry*Rx;

R =

 

    0.8777    0.3976   -0.2676

   -0.4145    0.9100   -0.0073

0.2406    0.1174    0.9635

 

与初始的相同

转换公示参考：

“四元数，欧拉角和旋转矩阵的各自的优点用途“

“四元数，欧拉角及姿态矩阵的相互转换“

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