ГОСТ Р 52865— 2007
Vu - f ц V 2 1+г; 005u.’ .
, _ U J
1
- ^■
X, =r, (cosи, cosil, -sint/, sin£2,oos/,);
X =r, (cosutsin£2, +sint/, cos£2.cos/,);
X, =/,(sint/, sin/,);
Vx, =Vrt (cost/, cos£2/-Sint/, sin£2,cos//)- Vu, (sinu, cos£2,+cost// sin£2/cos/;);
Vy, =Vr,(cosu, sin£2, +sinu, cos£2, cos/,)- Vu>(sinu, sin£2, -cost/, cos£2,cos/,);
Vzt =Vr(sinu,
sin/,
+ Vi/, cosa, sin/,.
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