eulr2dcm.m

惯性导航系统传递对准系统模型程序

function DCMnb = eulr2dcm(eul_vect)

  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;