姿态变换矩阵在多级坐标变换中可以进行直接的相乘而得到，平移变换在多级坐标变换中必须注意所用坐标的相对坐标系及坐标系之间的转换。-Attitude transformation matrix in multi-stage coordinate transform can direct multiplication, and the transformation of translation in multi-stage coordinate transformation of coordinates used must be paid attention to relative coordinates and coordinate conversion between.