att2mat.m

姿态定位完整的matlab算法

function Cnb = Att2Mat(att)  
%姿态角转化为姿态矩阵
    si = sin(att(1)); ci = cos(att(1)); sj = sin(att(2)); cj = cos(att(2)); 
    sk = sin(att(3)); ck = cos(att(3));
    Cnb = [ cj*ck+si*sj*sk, ci*sk,  sj*ck-si*cj*sk;
           -cj*sk+si*sj*ck, ci*ck, -sj*sk-si*cj*ck;
           -ci*sj,          si,     ci*cj ];