Convert direction cosine matrix to rotation angles
The Direction Cosine Matrix to Rotation
Angles block converts a 3-by-3 direction cosine matrix (DCM) into
three rotation angles R1, R2, and R3, respectively the first, second,
and third rotation angles. The DCM matrix performs the coordinate
transformation of a vector in inertial axes into a vector in body
axes. The block Rotation Order parameter specifies
the order of the block output rotations. For example, if Rotation
Order has a value of
ZYX, the block
outputs are in the rotation order
Specifies the output rotation order for three rotation angles.
From the list, select
XZX. The default is
Rotation order for three wind rotation angles.
For the 'ZYX', 'ZXY', 'YXZ', 'YZX', 'XYZ', and 'XZY' rotations, the block generates an R2 angle that lies between ±pi/2 radians, and R1 and R3 angles that lie between ±pi radians.
For the 'ZYZ', 'ZXZ', 'YXY', 'YZY', 'XYX', and 'XZX' rotations, the block generates an R2 angle that lies between 0 and pi radians, and R1 and R3 angles that lie between ±pi radians. However, in the latter case, when R2 is 0 ±pi radians, R3 is set to 0 radians.
|3-by-3 matrix||Contains the direction cosine matrix.|
|3-by-1 vector||Contains the rotation angles, in radians.|