gusucode.com > 惯性导航系统仿真程序 SIMULINK环境-SIMULINK源码程序 > code/quat2dcm.m
%%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 ];