按行算,有三个行向量,分别是
r1=[a11,a12,a13]
r2=[a21,a22,a23]
r3=[a31,a32,a33]
则有
r1*r1'=a11^2+a12^2+a13^2=1
r1*r2'=a11*a21+a12*a22+a13*a23=0
r1*r3'=a11*a31+a12*a32+a13*a33=0
r2*r1'=a21*a11+a22*a12+a23*a13=0
r2*r2'=a21^2+a22^2+a23^2=1
r2*r3'=a21*a31+a22*a32+a23*a33=0
r3*r1'=a31*a11+a32*a12+a33*a13=0
r3*r2'=a31*a21+a32*a22+a33*a23=0
r3*r3'=a31^2+a32^2+a33^2=1