Rotation angle increment method for eliminating singularity of Eulerian angle

The invention discloses a rotation angle increment method for eliminating the singularity of an Eulerian angle, which is characterized in that: when singularity occurs in the process for reversely calculating an Eulerian angle, certain artificially set rotation angle increment is used to eliminate the singularity to calculate a new Eulerian angle first and then deduce the Eulerian angle of an original coordinate. The method can overcome the drawback of the singularity occurring in the process of reversing calculating the Eulerian angle by using a rotational transfer matrix, can be widely used in development of CAD software, graphic programs such as 3D cartoon and games, object spatial attitude description and the like.