$$\begin{array}{l}{\bar{F}}_b＝［\begin{array}{c}{F}_x\\ F_y\\ F_z\end{array}］＝米（{\stackrel{\dot{}}{\bar{V}}}_b+\overline{\mathrm{\omega .}}\times {\bar{V}}_b）\\ {\mathrm{一个}}_{bb}＝［\begin{array}{c}{\stackrel{\dot{}}{u}}_b\\ {\stackrel{\dot{}}{v}}_b\\ {\stackrel{\dot{}}{w}}_b\end{array}］＝\frac{1}{米}{\bar{F}}_b-\overline{\mathrm{\omega .}}\times {\bar{V}}_b\\ {\mathrm{一个}}_{be}＝\frac{1}{米}{F}_b\\ {\bar{V}}_b＝［\begin{array}{c}{u}_b\\ v_b\\ w_b\end{array}］，\overline{\mathrm{\omega .}}＝［\begin{array}{c}p\\ 问\\ r\end{array}］\end{array}$$

$$\begin{array}{l}{\overline{米}}_B＝［\begin{array}{c}l\\ 米\\ N\end{array}］＝我\stackrel{\dot{}}{\overline{\mathrm{\omega .}}}+\overline{\mathrm{\omega .}}\times （我\overline{\mathrm{\omega .}}）\\ 我＝［\begin{array}{ccc}{我}_{xx}& -{我}_{xy}& -{我}_{xz}\\ -{我}_{yx}& {我}_{yy}& -{我}_{yz}\\ -{我}_{zx}& -{我}_{zy}& {我}_{zz}\end{array}］\end{array}$$

$$［\begin{array}{c}p\\ 问\\ r\end{array}］＝［\begin{array}{c}\stackrel{\dot{}}{\mathrm{\phi .}}\\ 0\\ 0\end{array}］+［\begin{array}{ccc}1& 0& 0\\ 0& \mathrm{因为}\mathrm{\phi .}& 罪\mathrm{\phi .}\\ 0& -罪\mathrm{\phi .}& \mathrm{因为}\mathrm{\phi .}\end{array}］［\begin{array}{c}0\\ \stackrel{\dot{}}{\theta }\\ 0\end{array}］+［\begin{array}{ccc}1& 0& 0\\ 0& \mathrm{因为}\mathrm{\phi .}& 罪\mathrm{\phi .}\\ 0& -罪\mathrm{\phi .}& \mathrm{因为}\mathrm{\phi .}\end{array}］［\begin{array}{ccc}\mathrm{因为}\theta & 0& -罪\theta \\ 0& 1& 0\\ 罪\theta & 0& \mathrm{因为}\theta \end{array}］［\begin{array}{c}0\\ 0\\ \stackrel{\dot{}}{\psi }\end{array}］\equiv J^{-1}［\begin{array}{c}\stackrel{\dot{}}{\mathrm{\phi .}}\\ \stackrel{\dot{}}{\theta }\\ \stackrel{\dot{}}{\psi }\end{array}］$$