欧拉角用来确定定点转动刚体位置的3个一组独立角参量，由章动角θ、旋进角（即进动角）ψ和自转角φ组成，为欧拉首先提出而得名。

静态欧拉角和动态欧拉角

图形学中常见的数学困惑

智能体位姿解算核心——欧拉角与四元数（一）

欧拉角的理解

Euler angles

The three elemental rotations may be extrinsic (rotations about the axes xyz of the original coordinate system, which is assumed to remain motionless), or intrinsic (rotations about the axes of the rotating coordinate system XYZ, solidary with the moving body, which changes its orientation with respect to the extrinsic frame after each elemental rotation).

Conventions by intrinsic rotations Conventions by extrinsic rotations

Understanding Euler Angles

Proof of the extrinsic to intrinsic rotation transform

Davenport chained rotations

欧拉角 图解释

Extrinsic & intrinsic rotation: Do I multiply from right or left?