从旋转矩阵计算欧拉角

http://nghiaho.com/?page_id=846

http://www.soi.city.ac.uk/~sbbh653/publications/euler.pdf

https://d3cw3dd2w32x2b.cloudfront.net/wp-content/uploads/2012/07/euler-angles.pdf

Yaw-Pitch-Roll

http://personal.maths.surrey.ac.uk/st/T.Bridges/SLOSH/3-2-1-Eulerangles.pdf

Euler angles vs. Tait–Bryan angles

http://www.answers.com/topic/euler-angles