Rotation Matrix with euler angles

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Rashiqah Shahzad
Rashiqah Shahzad 2018-12-19
评论： Rashiqah Shahzad 2018-12-20
Das Programm soll Input: 3 euler angles one number sigma (meaning: standard deviation for the assumed measuring accuracy)
The code search with the euler angles the rotationmatrix they are 18
g11 + random number
g21 + random number
g11 + random number
g31 + random number
... g33 + random number
Each of the random numbers should then correspond to an N (0, sigma) -distributed random variable. It is therefore a list of simulated measurements.
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Rashiqah Shahzad
Rashiqah Shahzad 2018-12-20
hey dear user i am so thankful that you show my problem. i am from germany i can‘t speak englisch.
The problen my prof has give me is that i have a input datei with 3 euler angles and as a output a rotationmatrix with random numbers.
the are total 18 numbers.
Rashiqah Shahzad
Rashiqah Shahzad 2018-12-20
please can anyone help me it is very important for me or give me a advice.

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James Tursa
James Tursa 2018-12-20
编辑：James Tursa 2018-12-20
The best I can guess is you are given three Euler angles with a sigma for noise, and you want to output a corresponding rotation matrix. There are two approches you might try. First, you might start with the SpinCalc conversion routine from the FEX by John Fuller
https://www.mathworks.com/matlabcentral/fileexchange/20696-function-to-convert-between-dcm-euler-angles-quaternions-and-euler-vectors
Then you can either add randn(1,3)*sigma noise to the Euler angles prior to calling SpinCalc, or add randn(3,3)*sigma noise to the rotation matrix elements after you call SpinCalc. The first method will leave you with a valid rotation matrix. The second method will leave you with slightly non-valid rotation matrix. I am not sure which method gives you what you want. E.g.,
>> EA = [20 30 40] % Euler angles in degrees
EA =
20 30 40
>> sigma = 2
sigma =
2
>> DCM = SpinCalc('EA123toDCM',EA+randn(1,3)*sigma,1e-10,0) % roll,pitch,yaw
DCM =
0.6930 0.7029 -0.1602
-0.5489 0.6585 0.5148
0.4673 -0.2689 0.8422
>> SpinCalc('DCMtoEA123',DCM,1e-10,0) % try to recover the original
ans =
17.7059 27.8623 38.3810

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