coordinate transformations- universityof colorado boulder（坐标转换,科罗拉多大学博尔德）.docVIP

Coordinate Transformations ASEN 3200 2/22/04 George H. Born In engineering it is often necessary to express vectors in different coordinate frames. This requires the rotation matrix, which relates coordinates and basis (unit) vectors in one frame to those in another frame. Consider for example two frames with a common origin but separated by a positive rotation* about their common Z-axis through the positive angle θ. Figure 1 - Definitions of the A and B frames and a positive rotation, θ, about the Z-axis We wish to express a vector given in the A frame coor