万向节死锁.docVIP

二位万向节死锁 在/wanderpoet/archive/2005/07/04/453608.aspx看到一篇关于Gimbal Lock的E文，解释得挺清楚的，翻译如下：Gimbal Lock 。。。Maybe its a bit difficult to understand. OK, let me show you a real sence.可能有点不好理解。让我们看个现实中的场景。Say that we have a telescope and a tripod to put the telescope on. The tripod is put on the ground. The top of the tripod holding the telescope is leveled with the horizon (reference plane) so that a vertical rotation axis (we call it X axis) is perfectly vertical to the ground plane. The telescope can then be rotated around 360 degrees in X axis so that it can scan the horizon in all the directions of the compass. Zero degrees azimuth is usually set toward a heading of true north. A second horizontal axis parallel to the ground plane (we call it Y axis), enables the telescope to be rotated in elevation upward or downward from the horizon. The horizon is usually set at zero degrees and the telescope can be rotated +90 degrees upward in elevation so that it is looking straight up toward the zenith or rotated -90 degrees downward so that it is looking vertically at the ground plane. 假如我们有一个望远镜和一个用来放望远镜的三脚架，（我们将）三脚架放在地面上，使支撑望远镜的三脚架的顶部是平行于地平面（参考平面）的，以便使得竖向的旋转轴（记为x轴）是完全地垂直于地平面的。现在，我们就可以将望远镜饶x轴旋转360度，从而观察（以望远镜为中心的）水平包围圈的所有方向。通常将正北朝向方位角度记为0度方位角。第二个坐标轴，即平行于地平面的横向的坐标轴（记为y轴）使得望远镜可以饶着它上下旋转，通常将地平面朝向的仰角记为0度，这样，望远镜可以向上仰+90度指向天顶，或者向下-90度指向脚底。OK, thats all we needed. every point in the sky (and the ground) can be referenced by only ONE unique pair of X and Y readings. For example an X of 90 degrees and Y of 45 degrees specifies a point exactly due east of the telescope and in a skyward direction half way up toward the zenith.好了，万事俱备。现在，天空中（包括地面上）的每个点只需要唯一的一对x和y度数就可以确定。比如x=90度,y=45度指向的点是位于正东方向的半天空上。Now let me show you how the gimal lock occurred. We detect a high flying aircraft, near the horizon, due east from the telescope (X = 90 degrees, Y = 10 degrees) and we follow it (track it) as it comes directly toward us. The X angle stays at 90 degrees and the Y angle slowly incre