www.gusucode.com > gpsoft 的惯性导航工具箱源码程序 > matlab代做 修改 程序 gpsoft 的惯性导航工具箱/惯导工具箱/eulr2dcm.m
function DCMnb = eulr2dcm(eul_vect) %EULR2DCM Euler angle vector to direction cosine % matrix conversion. % % DCMnb = eulr2dcm(eul_vect) % % INPUTS % eul_vect(1) = roll angle in radians % % eul_vect(2) = pitch angle in radians % % eul_vect(3) = yaw angle in radians % % OUTPUTS % DCMnb = 3x3 direction cosine matrix providing the % transformation from the navigation frame % to the body frame % % REFERENCE: Titterton, D. and J. Weston, STRAPDOWN % INERTIAL NAVIGATION TECHNOLOGY, Peter % Peregrinus Ltd. on behalf of the Institution % of Electrical Engineers, London, 1997. % % M. & S. Braasch 12-97 % Copyright (c) 1997 by GPSoft % All Rights Reserved. % if nargin<1,error('insufficient number of input arguments'),end phi = eul_vect(1); theta = eul_vect(2); psi = eul_vect(3); cpsi = cos(psi); spsi = sin(psi); cthe = cos(theta); sthe = sin(theta); cphi = cos(phi); sphi = sin(phi); C1 = [cpsi spsi 0; ... -spsi cpsi 0; ... 0 0 1]; C2 = [cthe 0 -sthe; ... 0 1 0 ; ... sthe 0 cthe]; C3 = [1 0 0; ... 0 cphi sphi; ... 0 -sphi cphi]; DCMnb = C3 * C2 * C1;