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{"sheet":"オイラー角","index":0,"n_rows":179,"n_cols":23,"rows_kept":179,"cut":false,"hidden":false,"merged":[[148,1,148,4],[148,5,148,7],[148,8,148,16],[148,17,148,19],[149,17,149,19],[164,1,164,4],[164,5,164,7],[164,8,164,11],[164,12,164,14],[164,15,164,17],[166,8,166,11],[165,12,165,14],[165,15,165,17],[165,8,165,11],[148,20,148,22],[149,20,149,22],[149,8,149,16],[150,8,150,16]]}
["四元数からオイラー角への変換は、四元数を方向余弦マトリクスに変換した後、方向余弦マトリクスをオイラー角へ変換します。"]
["以下に、四元数から方向余弦マトリクスへ変換する関数、方向余弦マトリクスからオイラー角へ変換する関数を示します。"]
[null,"[例]"]
[null,"第2軸（y)まわりにθ1、第3軸(z)まわりにθ2、第1軸(x)まわりにθ3 回転してできた方向余弦マトリクスからオイラー角を求めた場合。"]
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[null,"Function QtnDcm(a As Quaternion) As Matrix3x3"]
[]
[null,"四元数から方向余弦マトリクスへ変換"]
[]
[null," a      ：入力、四元数"]
[null,"' Qtndcm ：出力、方向余弦マトリクス"]
[]
[null,"    QtnDcm.x.x = a.c ^ 2 + a.s.x ^ 2 - a.s.y ^ 2 - a.s.z ^ 2"]
[null,"    QtnDcm.x.y = 2# * (a.s.x * a.s.y + a.c * a.s.z)"]
[null,"    QtnDcm.x.z = 2# * (a.s.x * a.s.z - a.c * a.s.y)"]
[null,"    "]
[null,"    QtnDcm.y.x = 2# * (a.s.x * a.s.y - a.c * a.s.z)"]
[null,"    QtnDcm.y.y = a.c ^ 2 - a.s.x ^ 2 + a.s.y ^ 2 - a.s.z ^ 2"]
[null,"    QtnDcm.y.z = 2# * (a.s.y * a.s.z + a.c * a.s.x)"]
[null,"    "]
[null,"    QtnDcm.z.x = 2# * (a.s.x * a.s.z + a.c * a.s.y)",{"$f":"DEGREES(ATAN2((1-C$33)*COS(RADIANS(C39)),SIN(RADIANS(C39))))","v":0}]
[null,"    QtnDcm.z.y = 2# * (a.s.y * a.s.z - a.c * a.s.x)"]
[null,"    QtnDcm.z.z = a.c ^ 2 - a.s.x ^ 2 - a.s.y ^ 2 + a.s.z ^ 2"]
[]
[null,"End Function"]
[]
[]
[null,"Function RtnAng(a As Matrix3x3, ix As Integer) As Vector3D"]
[]
[null,"'回転角（オイラー角）"]
[]
[null,"' a      ：入力、方向余弦マトリクス"]
[null,"' ix     ：入力、回転順序"]
[null," RtnAng ：出力、[θi]i･[θj]j･[θk]k＝aとなる回転角（オイラー角）（deg）"]
[]
[null,"    Select Case ix"]
[null,"    Case 1, 123"]
[null,"        RtnAng.x = Artand(-a.z.y, a.z.z)"]
[null,"        RtnAng.y = Arsind(a.z.x)"]
[null,"        RtnAng.z = Artand(-a.y.x, a.x.x)"]
[null,"    Case 2, 231"]
[null,"        RtnAng.y = Artand(-a.x.z, a.x.x)"]
[null,"        RtnAng.z = Arsind(a.x.y)"]
[null,"        RtnAng.x = Artand(-a.z.y, a.y.y)"]
[null,"    Case 3, 312"]
[null,"        RtnAng.z = Artand(-a.y.x, a.y.y)"]
[null,"        RtnAng.x = Arsind(a.y.z)"]
[null,"        RtnAng.y = Artand(-a.x.z, a.z.z)"]
[null,"    Case 4, 321"]
[null,"        RtnAng.z = Artand(a.x.y, a.x.x)"]
[null,"        RtnAng.y = Arsind(-a.x.z)"]
[null,"        RtnAng.x = Artand(a.y.z, a.z.z)"]
[null,"    Case 5, 132"]
[null,"        RtnAng.x = Artand(a.y.z, a.y.y)"]
[null,"        RtnAng.z = Arsind(-a.y.x)"]
[null,"        RtnAng.y = Artand(a.z.x, a.x.x)"]
[null,"    Case 6, 213"]
[null,"        RtnAng.y = Artand(a.z.x, a.z.z)"]
[null,"        RtnAng.x = Arsind(-a.z.y)"]
[null,"        RtnAng.z = Artand(a.x.y, a.y.y)"]
[null,"    Case 7, 121"]
[null,"        If (a.x.x = 1#) Then"]
[null,"             RtnAng.x = Artand(a.y.z - a.z.y, a.y.y + a.z.z) / 2#"]
[null,"             RtnAng.y = 0#"]
[null,"             RtnAng.z = Artand(a.y.z - a.z.y, a.y.y + a.z.z) / 2#"]
[null,"        Else"]
[null,"             RtnAng.x = Artand(a.x.y, -a.x.z)"]
[null,"             RtnAng.y = Arcosd(a.x.x)"]
[null,"             RtnAng.z = Artand(a.y.x, a.z.x)"]
[null,"        End If"]
[null,"    Case 8, 232"]
[null,"        If (a.y.y = 1#) Then"]
[null,"            RtnAng.y = Artand(a.z.x - a.x.z, a.z.z + a.x.x) / 2#"]
[null,"            RtnAng.z = 0#"]
[null,"            RtnAng.x = Artand(a.z.x - a.x.z, a.z.z + a.x.x) / 2#"]
[null,"        Else"]
[null,"            RtnAng.y = Artand(a.y.z, -a.y.x)"]
[null,"            RtnAng.z = Arcosd(a.y.y)"]
[null,"            RtnAng.x = Artand(a.z.y, a.x.y)"]
[null,"        End If"]
[null,"    Case 9, 313"]
[null,"        If (a.z.z = 1#) Then"]
[null,"            RtnAng.z = Artand(a.x.y - a.y.x, a.x.x + a.y.y) / 2#"]
[null,"            RtnAng.x = 0#"]
[null,"            RtnAng.y = Artand(a.x.y - a.y.x, a.x.x + a.y.y) / 2#"]
[null,"        Else"]
[null,"            RtnAng.z = Artand(a.z.x, -a.z.y)"]
[null,"            RtnAng.x = Arcosd(a.z.z)"]
[null,"            RtnAng.y = Artand(a.x.z, a.y.z)"]
[null,"        End If"]
[null,"    Case 10, 323"]
[null,"        If (a.z.z = 1#) Then"]
[null,"            RtnAng.z = Artand(a.x.y - a.y.x, a.x.x + a.y.y) / 2#"]
[null,"            RtnAng.y = 0#"]
[null,"            RtnAng.x = Artand(a.x.y - a.y.x, a.x.x + a.y.y) / 2#"]
[null,"        Else"]
[null,"            RtnAng.z = Artand(a.z.y, a.z.x)"]
[null,"            RtnAng.y = Arcosd(a.z.z)"]
[null,"            RtnAng.x = Artand(a.y.z, -a.x.z)"]
[null,"        End If"]
[null,"    Case 11, 131"]
[null,"        If (a.x.x = 1#) Then"]
[null,"            RtnAng.x = Artand(a.y.z - a.z.y, a.y.y + a.z.z) / 2#"]
[null,"            RtnAng.z = 0#"]
[null,"            RtnAng.y = Artand(a.y.z - a.z.y, a.y.y + a.z.z) / 2#"]
[null,"        Else"]
[null,"            RtnAng.x = Artand(a.x.z, a.x.y)"]
[null,"            RtnAng.z = Arcosd(a.x.x)"]
[null,"            RtnAng.y = Artand(a.z.x, -a.y.x)"]
[null,"        End If"]
[null,"    Case 12, 212"]
[null,"        If (a.y.y = 1#) Then"]
[null,"            RtnAng.y = Artand(a.z.x - a.x.z, a.z.z + a.x.x) / 2#"]
[null,"            RtnAng.x = 0#"]
[null,"            RtnAng.z = Artand(a.z.x - a.x.z, a.z.z + a.x.x) / 2#"]
[null,"        Else"]
[null,"            RtnAng.y = Artand(a.y.x, a.y.z)"]
[null,"            RtnAng.x = Arcosd(a.y.y)"]
[null,"            RtnAng.z = Artand(a.x.y, -a.z.y)"]
[null,"        End If"]
[null,"    Case Else"]
[null,"        RtnAng.x = vbNull"]
[null,"        RtnAng.y = vbNull"]
[null,"        RtnAng.z = vbNull"]
[null,"    End Select"]
[]
[null,"End Function"]
[]
[]
[null,"回転順序",null,null,null,"回転角",null,null,"マトリクスの回転",null,null,null,null,null,null,null,null,"回転順どおりの角",null,null,"オイラー角"]
[null,"番号","１回目","２回目","３回目","１回目","２回目","３回目",{"$f":"exe(\"G=MatRtn(MatRtn(RtnMat(A1,I1),A2,I2),A3,I3)\",\nI152:Q152=matrtn(matrtn(rtnmat(F152,C152),G152,D152),H152,E152),\nI153:Q153=matrtn(matrtn(rtnmat(F153,C153),G153,D153),H153,E153),\nI154:Q154=matrtn(matrtn(rtnmat(F154,C154),G154,D154),H154,E154),\nI155:Q155=matrtn(matrtn(rtnmat(F155,C155),G155,D155),H155,E155),\nI156:Q156=matrtn(matrtn(rtnmat(F156,C156),G156,D156),H156,E156),\nI157:Q157=matrtn(matrtn(rtnmat(F157,C157),G157,D157),H157,E157),\nI158:Q158=matrtn(matrtn(rtnmat(F158,C158),G158,D158),H158,E158),\nI159:Q159=matrtn(matrtn(rtnmat(F159,C159),G159,D159),H159,E159),\nI160:Q160=matrtn(matrtn(rtnmat(F160,C160),G160,D160),H160,E160),\nI161:Q161=matrtn(matrtn(rtnmat(F161,C161),G161,D161),H161,E161),\nI162:Q162=matrtn(matrtn(rtnmat(F162,C162),G162,D162),H162,E162),\nI163:Q163=matrtn(matrtn(rtnmat(F163,C163),G163,D163),H163,E163))","v":"G=MatRtn(MatRtn(RtnMat(A1,I1),A2,I2),A3,I3)"},null,null,null,null,null,null,null,null,{"$f":"exe(\"OdrAng(G,No)\",\nR152:T152=odrang(I152:Q152,B152),\nR153:T153=odrang(I153:Q153,B153),\nR154:T154=odrang(I154:Q154,B154),\nR155:T155=odrang(I155:Q155,B155),\nR156:T156=odrang(I156:Q156,B156),\nR157:T157=odrang(I157:Q157,B157),\nR158:T158=odrang(I158:Q158,B158),\nR159:T159=odrang(I159:Q159,B159),\nR160:T160=odrang(I160:Q160,B160),\nR161:T161=odrang(I161:Q161,B161),\nR162:T162=odrang(I162:Q162,B162),\nR163:T163=odrang(I163:Q163,B163))","v":"OdrAng(G,No)"},null,null,{"$f":"exe(\"RtnAng(G,No)\",\nU152:W152=RtnAng(I152:Q152,B152),\nU153:W153=RtnAng(I153:Q153,B153),\nU154:W154=RtnAng(I154:Q154,B154),\nU155:W155=RtnAng(I155:Q155,B155),\nU156:W156=RtnAng(I156:Q156,B156),\nU157:W157=RtnAng(I157:Q157,B157),\nU158:W158=RtnAng(I158:Q158,B158),\nU159:W159=RtnAng(I159:Q159,B159),\nU160:W160=RtnAng(I160:Q160,B160),\nU161:W161=RtnAng(I161:Q161,B161),\nU162:W162=RtnAng(I162:Q162,B162),\nU163:W163=RtnAng(I163:Q163,B163))","v":"RtnAng(G,No)"}]
[null,"No","I1","I2","I3","A1","A2","A3","G",null,null,null,null,null,null,null,null,"１回目","２回目","３回目","１回目","２回目","３回目"]
[null,1,1,2,3,10,20,30,0.81379768134937569,0.54383814248232276,-0.20487412870286206,-0.46984631039295216,0.82317294464550295,0.3187957775971656,0.34202014332566688,-0.16317591116653404,0.92541657839832425,9.9999999999999396,19.999999999999879,29.999999999999822,9.9999999999999396,19.999999999999879,29.999999999999822]
[null,2,2,3,1,{"$f":"F152","v":10},20,30,0.92541657839832425,0.34202014332566688,-0.16317591116653404,-0.20487412870286206,0.81379768134937569,0.54383814248232276,0.3187957775971656,-0.46984631039295216,0.82317294464550295,9.9999999999999396,19.999999999999879,29.999999999999822,29.999999999999822,9.9999999999999396,19.999999999999879]
[null,3,3,1,2,10,20,30,0.82317294464550295,0.3187957775971656,-0.46984631039295216,-0.16317591116653404,0.92541657839832425,0.34202014332566688,0.54383814248232276,-0.20487412870286206,0.81379768134937569,9.9999999999999396,19.999999999999879,29.999999999999822,19.999999999999879,29.999999999999822,9.9999999999999396]
[null,4,3,2,1,10,20,30,0.92541657839832425,0.16317591116653404,-0.34202014332566688,1.802831123629613E-2,0.88256411925938671,0.46984631039295216,0.37852230636979056,-0.44096961052988048,0.81379768134937569,9.9999999999999396,19.999999999999879,29.999999999999822,29.999999999999822,19.999999999999879,9.9999999999999396]
[null,5,1,3,2,10,20,30,0.81379768134937569,0.37852230636979056,-0.44096961052988048,-0.34202014332566688,0.92541657839832425,0.16317591116653404,0.46984631039295216,1.802831123629613E-2,0.88256411925938671,9.9999999999999396,19.999999999999879,29.999999999999822,9.9999999999999396,29.999999999999822,19.999999999999879]
[null,6,2,1,3,10,20,30,0.88256411925938671,0.46984631039295216,1.802831123629613E-2,-0.44096961052988048,0.81379768134937569,0.37852230636979056,0.16317591116653404,-0.34202014332566688,0.92541657839832425,9.9999999999999396,19.999999999999879,29.999999999999822,19.999999999999879,9.9999999999999396,29.999999999999822]
[null,7,1,2,1,10,20,30,0.93969262078590909,5.9391174613884053E-2,-0.33682408883346343,0.17101007166283258,0.77128057636917824,0.61309202237959448,0.29619813272602274,-0.63371836086199318,0.71461017714275954,9.9999999999999396,19.999999999999876,29.999999999999822,9.9999999999999396,19.999999999999876,29.999999999999822]
[null,8,2,3,2,10,20,30,0.71461017714275954,0.29619813272602274,-0.63371836086199318,-0.33682408883346343,0.93969262078590909,5.9391174613884053E-2,0.61309202237959448,0.17101007166283258,0.77128057636917824,9.9999999999999396,19.999999999999876,29.999999999999822,29.999999999999822,9.9999999999999396,19.999999999999876]
[null,9,3,1,3,10,20,30,0.77128057636917824,0.61309202237959448,0.17101007166283258,-0.63371836086199318,0.71461017714275954,0.29619813272602274,5.9391174613884053E-2,-0.33682408883346343,0.93969262078590909,9.9999999999999396,19.999999999999876,29.999999999999822,19.999999999999876,29.999999999999822,9.9999999999999396]
[null,10,3,2,3,10,20,30,0.71461017714275954,0.63371836086199318,-0.29619813272602274,-0.61309202237959448,0.77128057636917824,0.17101007166283258,0.33682408883346343,5.9391174613884053E-2,0.93969262078590909,9.9999999999999396,19.999999999999876,29.999999999999822,29.999999999999822,19.999999999999876,9.9999999999999396]
[null,11,1,3,1,10,20,30,0.93969262078590909,0.33682408883346343,5.9391174613884053E-2,-0.29619813272602274,0.71461017714275954,0.63371836086199318,0.17101007166283258,-0.61309202237959448,0.77128057636917824,9.9999999999999396,19.999999999999876,29.999999999999822,9.9999999999999396,29.999999999999822,19.999999999999876]
[null,12,2,1,2,10,20,30,0.77128057636917824,0.17101007166283258,-0.61309202237959448,5.9391174613884053E-2,0.93969262078590909,0.33682408883346343,0.63371836086199318,-0.29619813272602274,0.71461017714275954,9.9999999999999396,19.999999999999876,29.999999999999822,19.999999999999876,9.9999999999999396,29.999999999999822]
[]
[null,"回転順序",null,null,null,"回転角",null,null,"四元数の回転",null,null,null,"回転順の角",null,null,"オイラー角"]
[null,"番号","１回目","２回目","３回目","１回目","２回目","３回目",{"$f":"exe(\"G=QtnRtn(QtnRtn(RtnQtn(A1,I1),A2,I2),A3,I3)\",\nI168:L168=QtnRtn(QtnRtn(rtnqtn(F168,C168),G168,D168),H168,E168),\nI169:L169=QtnRtn(QtnRtn(rtnqtn(F169,C169),G169,D169),H169,E169),\nI170:L170=QtnRtn(QtnRtn(rtnqtn(F170,C170),G170,D170),H170,E170),\nI171:L171=QtnRtn(QtnRtn(rtnqtn(F171,C171),G171,D171),H171,E171),\nI172:L172=QtnRtn(QtnRtn(rtnqtn(F172,C172),G172,D172),H172,E172),\nI173:L173=QtnRtn(QtnRtn(rtnqtn(F173,C173),G173,D173),H173,E173),\nI174:L174=QtnRtn(QtnRtn(rtnqtn(F174,C174),G174,D174),H174,E174),\nI175:L175=QtnRtn(QtnRtn(rtnqtn(F175,C175),G175,D175),H175,E175),\nI176:L176=QtnRtn(QtnRtn(rtnqtn(F176,C176),G176,D176),H176,E176),\nI177:L177=QtnRtn(QtnRtn(rtnqtn(F177,C177),G177,D177),H177,E177),\nI178:L178=QtnRtn(QtnRtn(rtnqtn(F178,C178),G178,D178),H178,E178),\nI179:L179=QtnRtn(QtnRtn(rtnqtn(F179,C179),G179,D179),H179,E179))","v":"G=QtnRtn(QtnRtn(RtnQtn(A1,I1),A2,I2),A3,I3)"},null,null,null,{"$f":"exe(\"OdrAng(G,No)\",\nM168:O168=odrang(QtnDcm(I168:L168),B168),\nM169:O169=odrang(QtnDcm(I169:L169),B169),\nM170:O170=odrang(QtnDcm(I170:L170),B170),\nM171:O171=odrang(QtnDcm(I171:L171),B171),\nM172:O172=odrang(QtnDcm(I172:L172),B172),\nM173:O173=odrang(QtnDcm(I173:L173),B173),\nM174:O174=odrang(QtnDcm(I174:L174),B174),\nM175:O175=odrang(QtnDcm(I175:L175),B175),\nM176:O176=odrang(QtnDcm(I176:L176),B176),\nM177:O177=odrang(QtnDcm(I177:L177),B177),\nM178:O178=odrang(QtnDcm(I178:L178),B178),\nM179:O179=odrang(QtnDcm(I179:L179),B179))","v":"OdrAng(G,No)"},null,null,{"$f":"exe(\"RtnAng(G,No)\",\nP168:R168=RtnAng(QtnDcm(I168:L168),B168),\nP169:R169=RtnAng(QtnDcm(I169:L169),B169),\nP170:R170=RtnAng(QtnDcm(I170:L170),B170),\nP171:R171=RtnAng(QtnDcm(I171:L171),B171),\nP172:R172=RtnAng(QtnDcm(I172:L172),B172),\nP173:R173=RtnAng(QtnDcm(I173:L173),B173),\nP174:R174=RtnAng(QtnDcm(I174:L174),B174),\nP175:R175=RtnAng(QtnDcm(I175:L175),B175),\nP176:R176=RtnAng(QtnDcm(I176:L176),B176),\nP177:R177=RtnAng(QtnDcm(I177:L177),B177),\nP178:R178=RtnAng(QtnDcm(I178:L178),B178),\nP179:R179=RtnAng(QtnDcm(I179:L179),B179))","v":"RtnAng(G,No)"}]
[null,"No","I1","I2","I3","A1","A2","A3","G",null,null,null,"１回目","２回目","３回目","１回目","２回目","３回目"]
[null,1,1,2,3,10,20,30,0.94371436414748955,0.12767944069577974,0.14487812541736858,0.26853582275156773,9.9999999999999396,19.999999999999879,29.999999999999826,9.9999999999999396,19.999999999999879,29.999999999999826]
[null,2,2,3,1,{"$f":"F168","v":10},20,30,0.94371436414748955,0.26853582275156773,0.12767944069577974,0.14487812541736858,9.9999999999999396,19.999999999999879,29.999999999999826,29.999999999999826,9.9999999999999396,19.999999999999879]
[null,3,3,1,2,10,20,30,0.94371436414748955,0.14487812541736858,0.26853582275156773,0.12767944069577974,9.9999999999999396,19.999999999999879,29.999999999999826,19.999999999999879,29.999999999999826,9.9999999999999396]
[null,4,3,2,1,10,20,30,0.95154852464378903,0.23929833774472914,0.18930785741199893,3.8134576474850218E-2,9.9999999999999414,19.999999999999883,29.999999999999822,29.999999999999822,19.999999999999883,9.9999999999999414]
[null,5,1,3,2,10,20,30,0.95154852464378903,3.8134576474850218E-2,0.23929833774472914,0.18930785741199893,9.9999999999999414,19.999999999999883,29.999999999999822,9.9999999999999414,29.999999999999822,19.999999999999883]
[null,6,2,1,3,10,20,30,0.95154852464378903,0.18930785741199893,3.8134576474850218E-2,0.23929833774472914,9.9999999999999414,19.999999999999883,29.999999999999822,19.999999999999883,9.9999999999999414,29.999999999999822]
[null,7,1,2,1,10,20,30,0.92541657839832414,0.33682408883346343,0.17101007166283344,-3.0153689607045477E-2,9.9999999999999414,19.999999999999893,29.999999999999822,9.9999999999999414,19.999999999999893,29.999999999999822]
[null,8,2,3,2,10,20,30,0.92541657839832414,-3.0153689607045477E-2,0.33682408883346343,0.17101007166283344,9.9999999999999414,19.999999999999893,29.999999999999822,29.999999999999822,9.9999999999999414,19.999999999999893]
[null,9,3,1,3,10,20,30,0.92541657839832414,0.17101007166283344,-3.0153689607045477E-2,0.33682408883346343,9.9999999999999414,19.999999999999893,29.999999999999822,19.999999999999893,29.999999999999822,9.9999999999999414]
[null,10,3,2,3,10,20,30,0.92541657839832414,3.0153689607045477E-2,0.17101007166283344,0.33682408883346343,9.9999999999999414,19.999999999999893,29.999999999999822,29.999999999999822,19.999999999999893,9.9999999999999414]
[null,11,1,3,1,10,20,30,0.92541657839832414,0.33682408883346343,3.0153689607045477E-2,0.17101007166283344,9.9999999999999414,19.999999999999893,29.999999999999822,9.9999999999999414,29.999999999999822,19.999999999999893]
[null,12,2,1,2,10,20,30,0.92541657839832414,0.17101007166283344,0.33682408883346343,3.0153689607045477E-2,9.9999999999999414,19.999999999999893,29.999999999999822,19.999999999999893,9.9999999999999414,29.999999999999822]

{"sheet":"固定角","index":1,"n_rows":91,"n_cols":51,"rows_kept":91,"cut":false,"hidden":false,"merged":[[85,7,85,18],[85,19,85,34],[79,35,79,50],[80,35,80,37],[80,39,80,41],[80,43,80,45],[80,47,80,49],[80,19,80,21],[80,23,80,25],[80,27,80,29],[80,31,80,33],[79,3,79,18],[79,19,79,34],[80,3,80,5],[80,15,80,17],[80,11,80,13],[67,23,67,25],[66,0,66,2],[67,3,67,5],[67,15,67,17],[72,24,72,26],[72,8,72,10],[72,12,72,14],[72,16,72,18],[72,20,72,22],[67,11,67,13],[80,7,80,9],[67,27,67,29],[66,27,66,30],[66,23,66,26],[66,3,66,22],[67,19,67,21],[67,7,67,9],[72,28,72,30],[74,3,74,5],[74,7,74,9],[74,11,74,13],[74,15,74,17],[74,19,74,21],[74,23,74,25],[74,27,74,29],[72,4,72,6],[11,4,11,7],[11,8,11,10],[11,11,11,19],[30,11,30,19],[29,8,29,10],[29,11,29,19],[28,4,28,7],[28,8,28,10],[29,20,29,22],[11,20,11,22],[12,11,12,19],[12,20,12,22],[13,11,13,19],[27,20,27,22],[28,11,28,19],[28,20,28,22],[85,35,85,50],[66,35,66,38],[66,39,66,42],[66,43,66,46],[66,47,66,50],[72,35,72,37],[72,40,72,42]]}
[]
[]
[]
[]
[]
[]
[]
[]
[]
[]
[null,null,null,null,null,"オイラー角"]
[null,null,null,null,"回転順序",null,null,null,"オイラー角",null,null,"方向余弦マトリクス",null,null,null,null,null,null,null,null,"回転順オイラー角"]
[null,null,null,null,"番号","１回目","２回目","３回目","１回目","２回目","３回目",{"$f":"exe(\"D=MatRtn(MatRtn(RtnMat(A1,i1),A2,i2),A3,i3)\",\nL15:T15=matrtn(matrtn(rtnmat(I15,F15),J15,G15),K15,H15),\nL16:T16=matrtn(matrtn(rtnmat(I16,F16),J16,G16),K16,H16),\nL17:T17=matrtn(matrtn(rtnmat(I17,F17),J17,G17),K17,H17),\nL18:T18=matrtn(matrtn(rtnmat(I18,F18),J18,G18),K18,H18),\nL19:T19=matrtn(matrtn(rtnmat(I19,F19),J19,G19),K19,H19),\nL20:T20=matrtn(matrtn(rtnmat(I20,F20),J20,G20),K20,H20),\nL21:T21=matrtn(matrtn(rtnmat(I21,F21),J21,G21),K21,H21),\nL22:T22=matrtn(matrtn(rtnmat(I22,F22),J22,G22),K22,H22),\nL23:T23=matrtn(matrtn(rtnmat(I23,F23),J23,G23),K23,H23),\nL24:T24=matrtn(matrtn(rtnmat(I24,F24),J24,G24),K24,H24),\nL25:T25=matrtn(matrtn(rtnmat(I25,F25),J25,G25),K25,H25),\nL26:T26=matrtn(matrtn(rtnmat(I26,F26),J26,G26),K26,H26))","v":"D=MatRtn(MatRtn(RtnMat(A1,i1),A2,i2),A3,i3)"},null,null,null,null,null,null,null,null,{"$f":"exe(\"OdrAng(D,No)\",\nU15:W15=odrang(L15:T15,E15),\nU16:W16=odrang(L16:T16,E16),\nU17:W17=odrang(L17:T17,E17),\nU18:W18=odrang(L18:T18,E18),\nU19:W19=odrang(L19:T19,E19),\nU20:W20=odrang(L20:T20,E20),\nU21:W21=odrang(L21:T21,E21),\nU22:W22=odrang(L22:T22,E22),\nU23:W23=odrang(L23:T23,E23),\nU24:W24=odrang(L24:T24,E24),\nU25:W25=odrang(L25:T25,E25),\nU26:W26=odrang(L26:T26,E26))","v":"OdrAng(D,No)"}]
[null,null,null,null,"No","i1","i2","i3","A1","A2","A3","D=[A1]i1･[A2]i2･[A3]i3",null,null,null,null,null,null,null,null,"１回目","２回目","３回目"]
[null,null,null,null,1,1,2,3,10,20,30,0.81379768134937569,0.54383814248232276,-0.20487412870286206,-0.46984631039295216,0.82317294464550295,0.3187957775971656,0.34202014332566688,-0.16317591116653404,0.92541657839832425,9.9999999999999396,19.999999999999879,29.999999999999822]
[null,null,null,null,2,2,3,1,{"$f":"I15","v":10},20,30,0.92541657839832425,0.34202014332566688,-0.16317591116653404,-0.20487412870286206,0.81379768134937569,0.54383814248232276,0.3187957775971656,-0.46984631039295216,0.82317294464550295,9.9999999999999396,19.999999999999879,29.999999999999822]
[null,null,null,null,3,3,1,2,10,20,30,0.82317294464550295,0.3187957775971656,-0.46984631039295216,-0.16317591116653404,0.92541657839832425,0.34202014332566688,0.54383814248232276,-0.20487412870286206,0.81379768134937569,9.9999999999999396,19.999999999999879,29.999999999999822]
[null,null,null,null,4,3,2,1,10,20,30,0.92541657839832425,0.16317591116653404,-0.34202014332566688,1.802831123629613E-2,0.88256411925938671,0.46984631039295216,0.37852230636979056,-0.44096961052988048,0.81379768134937569,9.9999999999999396,19.999999999999879,29.999999999999822]
[null,null,null,null,5,1,3,2,10,20,30,0.81379768134937569,0.37852230636979056,-0.44096961052988048,-0.34202014332566688,0.92541657839832425,0.16317591116653404,0.46984631039295216,1.802831123629613E-2,0.88256411925938671,9.9999999999999396,19.999999999999879,29.999999999999822]
[null,null,null,null,6,2,1,3,10,20,30,0.88256411925938671,0.46984631039295216,1.802831123629613E-2,-0.44096961052988048,0.81379768134937569,0.37852230636979056,0.16317591116653404,-0.34202014332566688,0.92541657839832425,9.9999999999999396,19.999999999999879,29.999999999999822]
[null,null,null,null,7,1,2,1,10,20,30,0.93969262078590909,5.9391174613884053E-2,-0.33682408883346343,0.17101007166283258,0.77128057636917824,0.61309202237959448,0.29619813272602274,-0.63371836086199318,0.71461017714275954,9.9999999999999396,19.999999999999876,29.999999999999822]
[null,null,null,null,8,2,3,2,10,20,30,0.71461017714275954,0.29619813272602274,-0.63371836086199318,-0.33682408883346343,0.93969262078590909,5.9391174613884053E-2,0.61309202237959448,0.17101007166283258,0.77128057636917824,9.9999999999999396,19.999999999999876,29.999999999999822]
[null,null,null,null,9,3,1,3,10,20,30,0.77128057636917824,0.61309202237959448,0.17101007166283258,-0.63371836086199318,0.71461017714275954,0.29619813272602274,5.9391174613884053E-2,-0.33682408883346343,0.93969262078590909,9.9999999999999396,19.999999999999876,29.999999999999822]
[null,null,null,null,10,3,2,3,10,20,30,0.71461017714275954,0.63371836086199318,-0.29619813272602274,-0.61309202237959448,0.77128057636917824,0.17101007166283258,0.33682408883346343,5.9391174613884053E-2,0.93969262078590909,9.9999999999999396,19.999999999999876,29.999999999999822]
[null,null,null,null,11,1,3,1,10,20,30,0.93969262078590909,0.33682408883346343,5.9391174613884053E-2,-0.29619813272602274,0.71461017714275954,0.63371836086199318,0.17101007166283258,-0.61309202237959448,0.77128057636917824,9.9999999999999396,19.999999999999876,29.999999999999822]
[null,null,null,null,12,2,1,2,10,20,30,0.77128057636917824,0.17101007166283258,-0.61309202237959448,5.9391174613884053E-2,0.93969262078590909,0.33682408883346343,0.63371836086199318,-0.29619813272602274,0.71461017714275954,9.9999999999999396,19.999999999999876,29.999999999999822]
[]
[null,null,null,null,null,"オイラー角から固定角への変換",null,null,null,null,null,null,null,null,null,null,null,null,null,null,"検算"]
[null,null,null,null,"回転順序",null,null,null,"固定角",null,null,"固定角による回転マトリクス",null,null,null,null,null,null,null,null,"回転順オイラー角"]
[null,null,null,null,"番号","１回目","２回目","３回目",{"$f":"exe(\"OdrAng(D,No)\",\nI32:K32=odrang(L15:T15,E32),\nI33:K33=odrang(L16:T16,E33),\nI34:K34=odrang(L17:T17,E34),\nI35:K35=odrang(L18:T18,E35),\nI36:K36=odrang(L19:T19,E36),\nI37:K37=odrang(L20:T20,E37),\nI38:K38=odrang(L21:T21,E38),\nI39:K39=odrang(L22:T22,E39),\nI40:K40=odrang(L23:T23,E40),\nI41:K41=odrang(L24:T24,E41),\nI42:K42=odrang(L25:T25,E42),\nI43:K43=odrang(L26:T26,E43))","v":"OdrAng(D,No)"},null,null,{"$f":"exe(\"G=MatRtn(MatRtn(RtnMat(A3,i3),A2,i2),A1,i1)\",\nL32:T32=matrtn(matrtn(rtnmat(I32,F32),J32,G32),K32,H32),\nL33:T33=matrtn(matrtn(rtnmat(I33,F33),J33,G33),K33,H33),\nL34:T34=matrtn(matrtn(rtnmat(I34,F34),J34,G34),K34,H34),\nL35:T35=matrtn(matrtn(rtnmat(I35,F35),J35,G35),K35,H35),\nL36:T36=matrtn(matrtn(rtnmat(I36,F36),J36,G36),K36,H36),\nL37:T37=matrtn(matrtn(rtnmat(I37,F37),J37,G37),K37,H37),\nL38:T38=matrtn(matrtn(rtnmat(I38,F38),J38,G38),K38,H38),\nL39:T39=matrtn(matrtn(rtnmat(I39,F39),J39,G39),K39,H39),\nL40:T40=matrtn(matrtn(rtnmat(I40,F40),J40,G40),K40,H40),\nL41:T41=matrtn(matrtn(rtnmat(I41,F41),J41,G41),K41,H41),\nL42:T42=matrtn(matrtn(rtnmat(I42,F42),J42,G42),K42,H42),\nL43:T43=matrtn(matrtn(rtnmat(I43,F43),J43,G43),K43,H43))","v":"G=MatRtn(MatRtn(RtnMat(A3,i3),A2,i2),A1,i1)"},null,null,null,null,null,null,null,null,{"$f":"exe(\"OdrAng(G,No)\",\nU32:W32=odrang(L32:T32,E15),\nU33:W33=odrang(L33:T33,E16),\nU34:W34=odrang(L34:T34,E17),\nU35:W35=odrang(L35:T35,E18),\nU36:W36=odrang(L36:T36,E19),\nU37:W37=odrang(L37:T37,E20),\nU38:W38=odrang(L38:T38,E21),\nU39:W39=odrang(L39:T39,E22),\nU40:W40=odrang(L40:T40,E23),\nU41:W41=odrang(L41:T41,E24),\nU42:W42=odrang(L42:T42,E25),\nU43:W43=odrang(L43:T43,E26))","v":"OdrAng(G,No)"}]
[null,null,null,null,"No","i3","i2","i1","A3","A2","A1","G=[A3]i3･[A2]i2･[A1]i1",null,null,null,null,null,null,null,null,"１回目","２回目","３回目"]
[null,null,null,null,4,3,2,1,33.753695002935167,11.822130763866328,19.008263264952518,0.81379768134937769,0.5438381424823201,-0.20487412870286087,-0.46984631039295033,0.82317294464550472,0.31879577759716377,0.34202014332566444,-0.16317591116653415,0.92541657839832503,9.9999999999999396,19.99999999999973,29.999999999999662]
[null,null,null,null,5,1,3,2,33.753695002935167,11.822130763866328,19.008263264952518,0.92541657839832503,0.34202014332566444,-0.16317591116653415,-0.20487412870286087,0.81379768134937769,0.5438381424823201,0.31879577759716377,-0.46984631039295033,0.82317294464550472,9.9999999999999396,19.99999999999973,29.999999999999662]
[null,null,null,null,6,2,1,3,33.753695002935167,11.822130763866328,19.008263264952518,0.82317294464550472,0.31879577759716377,-0.46984631039295033,-0.16317591116653415,0.92541657839832503,0.34202014332566444,0.5438381424823201,-0.20487412870286087,0.81379768134937769,9.9999999999999396,19.99999999999973,29.999999999999662]
[null,null,null,null,1,1,2,3,28.451775256585321,22.242180910309386,-1.1160546770045641,0.92541657839832503,0.1631759111665321,-0.34202014332566544,1.802831123629604E-2,0.88256411925938805,0.46984631039294961,0.3785223063697884,-0.44096961052987843,0.81379768134937769,9.9999999999998153,19.99999999999979,29.999999999999623]
[null,null,null,null,2,2,3,1,28.451775256585321,22.242180910309386,-1.1160546770045641,0.81379768134937769,0.3785223063697884,-0.44096961052987843,-0.34202014332566544,0.92541657839832503,0.1631759111665321,0.46984631039294961,1.802831123629604E-2,0.88256411925938805,9.9999999999998153,19.99999999999979,29.999999999999623]
[null,null,null,null,3,3,1,2,28.451775256585321,22.242180910309386,-1.1160546770045641,0.88256411925938805,0.46984631039294961,1.802831123629604E-2,-0.44096961052987843,0.81379768134937769,0.3785223063697884,0.1631759111665321,-0.34202014332566544,0.92541657839832503,9.9999999999998153,19.99999999999979,29.999999999999623]
[null,null,null,null,12,2,1,2,15.585408407268918,39.530976834615956,5.3540395668802754,0.93969262078590965,5.9391174613883387E-2,-0.33682408883346171,0.17101007166283069,0.7712805763691809,0.61309202237959148,0.2961981327260218,-0.63371836086198996,0.71461017714276265,9.9999999999998792,19.999999999999783,29.999999999999623]
[null,null,null,null,10,3,2,3,15.585408407268918,39.530976834615956,5.3540395668802754,0.71461017714276265,0.2961981327260218,-0.63371836086198996,-0.33682408883346171,0.93969262078590965,5.9391174613883387E-2,0.61309202237959148,0.17101007166283069,0.7712805763691809,9.9999999999998792,19.999999999999783,29.999999999999623]
[null,null,null,null,11,1,3,1,15.585408407268918,39.530976834615956,5.3540395668802754,0.7712805763691809,0.61309202237959148,0.17101007166283069,-0.63371836086198996,0.71461017714276265,0.2961981327260218,5.9391174613883387E-2,-0.33682408883346171,0.93969262078590965,9.9999999999998792,19.999999999999783,29.999999999999623]
[null,null,null,null,8,2,3,2,15.585408407268918,39.530976834615956,5.3540395668802754,0.71461017714276265,0.63371836086198996,-0.2961981327260218,-0.61309202237959148,0.7712805763691809,0.17101007166283069,0.33682408883346171,5.9391174613883387E-2,0.93969262078590965,9.9999999999998792,19.999999999999783,29.999999999999623]
[null,null,null,null,9,3,1,3,15.585408407268918,39.530976834615956,5.3540395668802754,0.93969262078590965,0.33682408883346171,5.9391174613883387E-2,-0.2961981327260218,0.71461017714276265,0.63371836086198996,0.17101007166283069,-0.61309202237959148,0.7712805763691809,9.9999999999998792,19.999999999999783,29.999999999999623]
[null,null,null,null,7,1,2,1,15.585408407268918,39.530976834615956,5.3540395668802754,0.7712805763691809,0.17101007166283069,-0.61309202237959148,5.9391174613883387E-2,0.93969262078590965,0.33682408883346171,0.63371836086198996,-0.2961981327260218,0.71461017714276265,9.9999999999998792,19.999999999999783,29.999999999999623]
[]
[]
[]
[null,null,null,null,null,"発射台位置･方位"]
[null,null,null,null,null,"経度",null,null,null,"λ",135,"度",{"$f":"exe(\"QIL1\",N48:Q48=rtnqtn(K48,A69))","v":"QIL1"},0.38268343236509578,0,0,0.9238795325112843]
[null,null,null,null,null,"緯度",null,null,null,"φ",-35,"度",{"$f":"exe(\"QIL2\",N49:Q49=rtnqtn(K49,A70))","v":"QIL2"},0.95371695074822738,0,-0.30070579950427151,0]
[null,null,null,null,null,"方位角",null,null,null,"μ",-120,"度",{"$f":"exe(\"QIL3\",N50:Q50=rtnqtn(K50,A71))","v":"QIL3"},0.50000000000000511,-0.86602540378443571,0,0]
[null,null,null,null,null,null,null,null,null,null,null,null,{"$f":"exe(\"QIL\",N51:Q51=qtqqmp(qtqqmp(N48:Q48,N49:Q49),N50:Q50))","v":"QIL"},0.42308149406917445,-0.17716677653107979,-0.82060949565906838,0.34090180155574251,{"$f":"exe(\"QILI\",S51:V51=qtqqmp(qtqqmp(N50:Q50,N49:Q49),N48:Q48))","v":"QILI"},-5.8109817852066065E-2,-0.45498271000052098,0.70553436817268234,0.54021776904962637]
[null,null,null,null,null,"機体設置誤差"]
[null,null,null,null,null,"方位",null,null,null,"ΔｘB",10,"度",{"$f":"exe(\"QLB1\",N53:Q53=rtnqtn(K53,B69))","v":"QLB1"},0.99619469809174555,0,8.715574274765768E-2,0]
[null,null,null,null,null,"レベルｙ",null,null,null,"ΔｙB",14,"度",{"$f":"exe(\"QLB2\",N54:Q54=rtnqtn(K54,B70))","v":"QLB2"},0.99254615164132209,0,0,0.12186934340514681]
[null,null,null,null,null,"レベルｚ",null,null,null,"ΔｚB",18,"度",{"$f":"exe(\"QLB3\",N55:Q55=rtnqtn(K55,B71))","v":"QLB3"},0.98768834059513788,0.15643446504023001,0,0]
[null,null,null,null,null,null,null,null,null,null,null,null,{"$f":"exe(\"QLB\",N56:Q56=qtqqmp(qtqqmp(N53:Q53,N54:Q54),N55:Q55))","v":"QLB"},0.9749342377153567,0.16516842648031382,0.10443308256696857,0.10637835442398136,{"$f":"exe(\"QLBI\",S56:V56=qtqqmp(qtqqmp(N55:Q55,N54:Q54),N53:Q53))","v":"QLBI"},0.97825741045502457,0.14418673956170888,6.6449044341453878E-2,0.13344342445583809]
[null,null,null,null,null,"初期アライメント推定誤差"]
[null,null,null,null,null,"方位",null,null,null,"ΔｘA",20,"度",{"$f":"exe(\"QLA1\",N58:Q58=rtnqtn(K58,C69))","v":"QLA1"},0.98480775301220824,0,0,0.17364817766692939]
[null,null,null,null,null,"レベルｙ",null,null,null,"ΔyA",24,"度",{"$f":"exe(\"QLA2\",N59:Q59=rtnqtn(K59,C70))","v":"QLA2"},0.97814760073380591,0,0.2079116908177582,0]
[null,null,null,null,null,"レベルｚ",null,null,null,"ΔzA",28,"度",{"$f":"exe(\"QLA3\",N60:Q60=rtnqtn(K60,C71))","v":"QLA3"},0.97029572627599681,0.2419218955996664,0,0]
[null,null,null,null,null,null,null,null,null,null,null,null,{"$f":"exe(\"QLA\",N61:Q61=qtqqmp(qtqqmp(N58:Q58,N59:Q59),N60:Q60))","v":"QLA"},0.94340781377274885,0.19800924110288906,0.23976229695572721,0.11527392727279698,{"$f":"exe(\"QLAI\",S61:V61=qtqqmp(qtqqmp(N60:Q60,N59:Q59),N58:Q58))","v":"QLAI"},0.92593936612157368,0.2680713578806917,0.15757971217016004,0.21434241685385075]
[null,null,null,null,null,null,null,null,null,null,null,null,{"$f":"exe(\"QIB\",N62:Q62=qtqqmp(N51:Q51,N56:Q56))","v":"QIB"},0.49117319816176402,-0.2257427653394736,-0.68070366421643091,0.49440025771307616,{"$f":"exe(\"QIBI\",S62:V62=qtqqmp(S56:V56,S51:V51))","v":"QIBI"},-0.11021447999105109,-0.51172084053016209,0.54772619246927146,0.65267952921056216]
[null,null,null,null,null,null,null,null,null,null,null,null,{"$f":"exe(\"QIA\",N63:Q63=qtqqmp(N51:Q51,N61:Q61))","v":"QIA"},0.59167317444026923,-0.25969675405435783,-0.58480600231373381,0.49039003888663379,{"$f":"exe(\"QIAI\",S63:V63=qtqqmp(S61:V61,S51:V51))","v":"QIAI"},-0.15880781993360482,-0.50296256096350234,0.40178611268277187,0.74858310043190113]
[null,null,null,null,null,null,null,null,null,null,null,null,{"$f":"exe(\"QBA\",N64:Q64=qtqqmp(qtncnj(N62:Q62),N63:Q63))","v":"QBA"},0.98976721900246456,5.0691911443528997E-2,0.13320520205794933,-6.8961182580734642E-3,{"$f":"exe(\"QBAI\",S64:V64=qtqqmp(S63:V63,qtncnj(S62:V62)))","v":"QBAI"},0.9835329889955815,0.12194948648964687,9.74927609291113E-2,9.1029357180788681E-2]
[]
[]
["回転順序",null,null,"座標系",null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,"オイラー角",null,null,null,"固定角",null,null,null,null,null,null,null,"回転",null,null,null,"回転",null,null,null,"座標変換",null,null,null,"座標変換"]
["DIL","DLB","DLA",{"$f":"exe(\"DIL\",D69:F71=matrtn(matrtn(rtnmat(K48,A69),K49,A70),K50,A71))","v":"DIL"},null,null,{"$f":"exe(\"λ,φ,μ\",G69:G71=odrang(D69:F71,A69*100+A70*10+A71))","v":"λ,φ,μ"},{"$f":"exe(\"DLB\",H69:J71=matrtn(matrtn(rtnmat(K53,B69),K54,B70),K55,B71))","v":"DLB"},null,null,{"$f":"exe(\"ΔBxyz\",K69:K71=odrang(H69:J71,B69*100+B70*10+B71))","v":"ΔBxyz"},{"$f":"exe(\"DLA\",L69:N71=matrtn(matrtn(rtnmat(K58,C69),K59,C70),K60,C71))","v":"DLA"},null,null,{"$f":"exe(\"ΔAxyz\",O69:O71=odrang(L69:N71,C69*100+C70*10+C71))","v":"ΔAxyz"},{"$f":"exe(\"DIB\",P69:R71=mx33mp(D69:F71,H69:J71))","v":"DIB"},null,null,{"$f":"exe(\"θB\",S69:S71=dcmrav(P69:R71))","v":"θB"},{"$f":"exe(\"DIA\",T69:V71=mx33mp(D69:F71,L69:N71))","v":"DIA"},null,null,{"$f":"exe(\"θA\",W69:W71=dcmrav(T69:V71))","v":"θA"},{"$f":"exe(\"DBA\",X69:Z71=mx33mp(mx33tp(P69:R71),T69:V71))","v":"DBA"},null,null,{"$f":"exe(\"θBA\",AA69:AA71=dcmrav(X69:Z71))","v":"θBA"},"exe(\"(DBA)I\",AB69:AD71=mx33mp(T69:V71,mx33tp(P69:R71)))",null,null,{"$f":"exe(\"θBAI\",AE69:AE71=dcmrav(AB69:AD71))","v":"θBAI"},null,null,null,null,{"$f":"exe(\"aB'=\",AJ69:AJ71=vctrtn(vctrtn(vctrtn(vctrtn(vctrtn(vctrtn(L82:L84,K60,C71),K59,C70),K58,C69),-K53,B69),-K54,B70),-K55,B71))","v":"aB'="},{"$f":"exe(\"[θ]i･･\",AK69:AK71=vctrtn(vctrtn(vctrtn(vctrtn(vctrtn(vctrtn(M82:M84,K60,C71),K59,C70),K58,C69),-K53,B69),-K54,B70),-K55,B71))","v":"[θ]i･･"},{"$f":"exe(\"･･aB\",AL69:AL71=vctrtn(vctrtn(vctrtn(vctrtn(vctrtn(vctrtn(N82:N84,K60,C71),K59,C70),K58,C69),-K53,B69),-K54,B70),-K55,B71))","v":"･･aB"},{"$f":"exe(\"θB'\",AM69:AM71=dcmrav(AJ69:AL71))","v":"θB'"},{"$f":"exe(\"aLx\",AN69:AN71=vctrtn(vctrtn(vctrtn(vctrtn(vctrtn(vctrtn(vctrtn(vctrtn(vctrtn(vctrtn(vctrtn(vctrtn(L82:L84,-K48,A69),-K49,A70),-K50,A71),-K53,B69),-K54,B70),-K55,B71),K60,C71),K59,C70),K58,C69),K50,A71),K49,A70),K48,A69))","v":"aLx"},{"$f":"exe(\"aLx\",AO69:AO71=vctrtn(vctrtn(vctrtn(vctrtn(vctrtn(vctrtn(vctrtn(vctrtn(vctrtn(vctrtn(vctrtn(vctrtn(M82:M84,-K48,A69),-K49,A70),-K50,A71),-K53,B69),-K54,B70),-K55,B71),K60,C71),K59,C70),K58,C69),K50,A71),K49,A70),K48,A69))","v":"aLx"},{"$f":"exe(\"aLx\",AP69:AP71=vctrtn(vctrtn(vctrtn(vctrtn(vctrtn(vctrtn(vctrtn(vctrtn(vctrtn(vctrtn(vctrtn(vctrtn(N82:N84,-K48,A69),-K49,A70),-K50,A71),-K53,B69),-K54,B70),-K55,B71),K60,C71),K59,C70),K58,C69),K50,A71),K49,A70),K48,A69))","v":"aLx"},{"$f":"exe(\"θB'\",AQ69:AQ71=dcmrav(AN69:AP71))","v":"θB'"},{"$f":"exe(\"aLx\",AR69:AR71=vctrtn(vctrtn(vctrtn(vctrtn(vctrtn(vctrtn(P82:P84,K60,C71),K59,C70),K58,C69),-K53,B69),-K54,B70),-K55,B71))","v":"aLx"},{"$f":"exe(\"aLx\",AS69:AS71=vctrtn(vctrtn(vctrtn(vctrtn(vctrtn(vctrtn(Q82:Q84,K60,C71),K59,C70),K58,C69),-K53,B69),-K54,B70),-K55,B71))","v":"aLx"},{"$f":"exe(\"aLx\",AT69:AT71=vctrtn(vctrtn(vctrtn(vctrtn(vctrtn(vctrtn(R82:R84,K60,C71),K59,C70),K58,C69),-K53,B69),-K54,B70),-K55,B71))","v":"aLx"},{"$f":"exe(\"θB\",AU69:AU71=dcmrav(AR69:AT71))","v":"θB"},{"$f":"exe(\"aLx\",AV69:AV71=vctrtn(vctrtn(vctrtn(vctrtn(vctrtn(vctrtn(vctrtn(vctrtn(vctrtn(vctrtn(vctrtn(vctrtn(P82:P84,-K48,A69),-K49,A70),-K50,A71),-K53,B69),-K54,B70),-K55,B71),K60,C71),K59,C70),K58,C69),K50,A71),K49,A70),K48,A69))","v":"aLx"},{"$f":"exe(\"aLx\",AW69:AW71=vctrtn(vctrtn(vctrtn(vctrtn(vctrtn(vctrtn(vctrtn(vctrtn(vctrtn(vctrtn(vctrtn(vctrtn(Q82:Q84,-K48,A69),-K49,A70),-K50,A71),-K53,B69),-K54,B70),-K55,B71),K60,C71),K59,C70),K58,C69),K50,A71),K49,A70),K48,A69))","v":"aLx"},{"$f":"exe(\"aLx\",AX69:AX71=vctrtn(vctrtn(vctrtn(vctrtn(vctrtn(vctrtn(vctrtn(vctrtn(vctrtn(vctrtn(vctrtn(vctrtn(R82:R84,-K48,A69),-K49,A70),-K50,A71),-K53,B69),-K54,B70),-K55,B71),K60,C71),K59,C70),K58,C69),K50,A71),K49,A70),K48,A69))","v":"aLx"},{"$f":"exe(\"θB\",AY69:AY71=dcmrav(AV69:AX71))","v":"θB"}]
[3,2,3,-0.579227965339563,2.310991207271088E-3,-0.8151623295321182,134.99999999999926,0.95555475395121303,-0.17292570391936682,0.23877146631293311,9.9999999999999414,0.8584519252992393,-0.12255034649627831,0.49803785450874272,19.999999999999879,-0.41557818660886353,-0.17834445643200461,-0.89190135422862826,-31.400777679807479,-0.16496090116281009,-0.27655682093911943,-0.94673345028027889,-34.612686768408992,0.96441763539534298,2.7155956193488977E-2,0.26298512996303108,5.8287602339847968,{"$f":"AB76","v":0.96441763539534275},{"$f":"AC76","v":-0.15528236724520891},0.21397665985144063,14.051596047762107,null,null,null,null,-0.64019083985344327,0.65720491192039954,0.39779063879815296,27.376225419259274,-0.61194696514265745,0.74732805100642663,0.25888548826001534,32.42798455906118,-0.41557818660886364,0.79300016657972328,0.44547222878583559,31.400777679807469,-0.39981417635941058,0.86756033832506407,0.29578317015568362,33.741900664037018]
[2,3,2,0.57922796533957799,0.70479578997927117,-0.40958254185947379,-34.999999999999787,0.2419218955996664,0.92280607320812591,-0.29983786898866366,13.999999999999918,0.31245094835743464,0.89500852425792776,-0.31833024734728887,23.999999999999858,0.79300016657972316,0.40921717814026243,-0.45132254200233773,-94.685756124884691,0.88404570314864728,0.38415041138879247,-0.26625487070518605,-77.943627181931916,-1.4625096733307234E-4,0.99476554733434408,-0.10218358208272638,15.316470864986446,{"$f":"AB77","v":0.20283913577226104},0.95368395775232739,-0.22213327919296272,11.23357657002696,null,null,null,null,-8.621246686531929E-2,0.45307692716633696,-0.88729291027625468,111.55188550734646,-0.1434861453516646,0.21699453866209442,-0.96556982983259421,99.591761315851528,-0.17834445643200461,0.40921717814026248,-0.89483772605701728,94.685756124884676,-0.29247147123932626,0.18507929680280694,-0.93819299315550342,82.443904763659305]
[1,1,1,0.57357643635104327,-0.70940647991622896,-0.40957602214448846,-119.99999999999935,-0.16849008466583659,0.3442755468722552,0.92362624431915574,17.999999999999897,-0.4067366430757981,0.42888361367542188,0.8066127627927433,27.999999999999833,0.44547222878583542,-0.89483772605701717,-2.8634549161576574E-2,68.77098609978438,0.43732264500248252,-0.88087728215788907,0.18111907118291906,65.359757275896271,-0.26438343962720062,9.8509186778797303E-2,0.95937340851780439,-0.79294346429002827,{"$f":"AB78","v":-0.1695727263967213},0.25763209262159198,0.95124696862266089,10.488832650398143,null,null,null,null,-0.76336301922790228,-0.60233130569248161,-0.2333964418281719,-71.420013836459233,-0.7777741561306929,-0.62802400779728174,-2.5557928034715301E-2,-85.580407514185197,-0.89190135422862837,-0.45132254200233779,-2.8634549161576615E-2,-68.770986099784366,-0.86868237169471196,-0.46161099776790254,0.179739321926426,-82.129997491011181]
[]
[null,null,null,{"$f":"exe(\"QIL\",D74:G74=qtqqmp(qtqqmp(rtnqtn(K48,A69),rtnqtn(K49,A70)),rtnqtn(K50,A71)))","v":"QIL"},"四元数",null,null,{"$f":"exe(\"QLB\",H74:K74=qtqqmp(qtqqmp(rtnqtn(K53,B69),rtnqtn(K54,B70)),rtnqtn(K55,B71)))","v":"QLB"},"四元数",null,null,{"$f":"exe(\"QLA\",L74:O74=qtqqmp(qtqqmp(rtnqtn(K58,C69),rtnqtn(K59,C70)),rtnqtn(K60,C71)))","v":"QLA"},"四元数",null,null,{"$f":"exe(\"QIB\",P74:S74=qtqqmp(D74:G74,H74:K74))","v":"QIB"},"四元数",null,null,{"$f":"exe(\"QIA\",T74:W74=qtqqmp(D74:G74,L74:O74))","v":"QIA"},"四元数",null,null,{"$f":"exe(\"QBA\",X74:AA74=qtqqmp(qtncnj(P74:S74),T74:W74))","v":"QBA"},"四元数",null,null,"exe(\"QBAI\",AB74:AE74=qtqqmp(T74:W74,qtncnj(P74:S74)))","四元数",null,null,null,null,null,null,"回転",null,null,"aB'",{"$f":"exe(\"QBA\",AN74:AQ74=qtqqmp(qtqqmp(qtqqmp(qtqqmp(qtqqmp(rtnqtn(-K55,B71),rtnqtn(-K54,B70)),rtnqtn(-K53,B69)),rtnqtn(K58,C69)),rtnqtn(K59,C70)),rtnqtn(K60,C71)))","v":"QBA"},"四元数"]
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[null,null,null,{"$f":"exe(\"DIL\",D76:F78=QtnDcm(D74:G74))","v":"DIL"},null,null,{"$f":"exe(\"λ,φ,μ\",G76:G78=odrang(D76:F78,A69*100+A70*10+A71))","v":"λ,φ,μ"},{"$f":"exe(\"DLB\",H76:J78=QtnDcm(H74:K74))","v":"DLB"},null,null,{"$f":"exe(\"ΔBxyz\",K76:K78=odrang(H76:J78,B69*100+B70*10+B71))","v":"ΔBxyz"},{"$f":"exe(\"DLA\",L76:N78=QtnDcm(L74:O74))","v":"DLA"},null,null,{"$f":"exe(\"ΔAxyz\",O76:O78=odrang(L76:N78,C69*100+C70*10+C71))","v":"ΔAxyz"},{"$f":"exe(\"DIB\",P76:R78=QtnDcm(P74:S74))","v":"DIB"},null,null,{"$f":"exe(\"θB\",S76:S78=qtnrav(P74:S74))","v":"θB"},{"$f":"exe(\"DIA\",T76:V78=QtnDcm(T74:W74))","v":"DIA"},null,null,{"$f":"exe(\"θA\",W76:W78=qtnrav(T74:W74))","v":"θA"},{"$f":"exe(\"DBA\",X76:Z78=QtnDcm(X74:AA74))","v":"DBA"},null,null,{"$f":"exe(\"θBA\",AA76:AA78=qtnrav(X74:AA74))","v":"θBA"},{"$f":"exe(\"(DBA)I\",AB76:AD78=QtnDcm(AB74:AE74))","v":"(DBA)I"},null,null,{"$f":"exe(\"θBAI\",AE76:AE78=qtnrav(AB74:AE74))","v":"θBAI"},null,null,null,null,5.1042205401544138E-18,1.3222184306639628E-18,3.4924756602070905E-18,{"$f":"exe(\"θB'\",AM76:AM78=dcmrav(AJ76:AL78))","v":"θB'"}]
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[]
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[]
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[null,"技術的なご質問のみお受けします。"]
[]
[null,null,"sxsijk@Gmail.com","sxsijk@Gmail.com"]
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