microrotations. The expected coordinates of the rotated vector are
x -- 0.0
XR = in -~- Yin2
= 0.8645, YR
and the rotated angle
z f = tan-l ( O'43 ~
\0--~,/ -- 0.5205
The accumulated angle z[13] = 0.5206. After performing compensation of
the scaling factor K -- 1.64676, we obtain
x[13]/K --
0.864. The errors are
smaller than 2 -12. 9
1t ,2
Convergence, Precision, and Range
In this section we check the convergence of the algorithm, determine the precision
obtained with n iterations, and the range of the rotation angle. We first consider
the rotation mode.
11,2,.t ...
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