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    %%FILENAME:  quat2dcm.m
%%LIANZI       2005-03-31  
%%FUNCTION: The DCM transforms vectors from inertial axes to body axes.
%%
function DCM = quat2dcm(quat) 

DCM = [ quat(1)^2+quat(2)^2-quat(3)^2-quat(4)^2         2*(quat(2)*quat(3)+quat(1)*quat(4))           2*(quat(2)*quat(4)-quat(1)*quat(3))     
                 2*(quat(2)*quat(3)-quat(1)*quat(4))           quat(1)^2-quat(2)^2+quat(3)^2-quat(4)^2     2*(quat(1)*quat(2)+quat(3)*quat(4))
                 2*(quat(1)*quat(3)+quat(2)*quat(4))              2*(quat(3)*quat(4)-quat(1)*quat(2))         quat(1)^2-quat(2)^2-quat(3)^2+quat(4)^2    ];