diff --git a/AstroLib/Src/AsAttitudeParam_2023.cpp b/AstroLib/Src/AsAttitudeParam_2023.cpp
index 23c7fcab688f52bcdacb1e49839fe9043a1af433..d301e54ef685be918a9dd0b0bcfe90c86d037ea8 100644
--- a/AstroLib/Src/AsAttitudeParam_2023.cpp
+++ b/AstroLib/Src/AsAttitudeParam_2023.cpp
@@ -10,17 +10,17 @@
 /// @Author	Xiao Yao
 /// @Date	2023.4.4
 /// @Input
-/// @Param	mtx	    坐标转换矩阵
+/// @Param	mtx	    鍧愭爣杞崲鐭╅樀
 /// @Output
-/// @Param	axis	旋转轴矢量
-/// @Param	angle	旋转角[0, pi]
+/// @Param	axis	鏃嬭浆杞寸煝閲�
+/// @Param	angle	鏃嬭浆瑙抂0, pi]
 ///***********************************************************************
 void AsMtxToAxAng(const CMatrix<double>& mtx,
 	CCoord& axis, double& angle)
 {
 
 	CMatrix<double> mm = mtx;
-	/************** 判断是否为正交矩阵 ******************/
+	/************** 鍒ゆ柇鏄惁涓烘浜ょ煩闃� ******************/
 	double p1 = mm[0][0] * mm[0][1] + mm[1][0] * mm[1][1] + mm[2][0] * mm[2][1];
 	double p2 = mm[0][0] * mm[0][2] + mm[1][0] * mm[1][2] + mm[2][0] * mm[2][2];
 	double p3 = mm[0][2] * mm[0][1] + mm[1][2] * mm[1][1] + mm[2][2] * mm[2][1];
@@ -37,7 +37,7 @@ void AsMtxToAxAng(const CMatrix<double>& mtx,
 		return;
 	}
 
-	// 矩阵的迹
+	// 鐭╅樀鐨勮抗
 	double T = mm[0][0] + mm[1][1] + mm[2][2];
 
 	if (abs(T - 3) > 1e-9 && abs(T + 1) > 1e-9) {
@@ -49,8 +49,8 @@ void AsMtxToAxAng(const CMatrix<double>& mtx,
 		axis[2] = 0.5 * (mm[0][1] - mm[1][0]) / ss;
 	}
 	else if (abs(T + 1) < 1e-9) {
-		// 转轴有两个解，指向相差180°,且角度不影响, 本程序仅输出一个
-		// sin(angle) = 0， angle=pi+2k*pi,k为整数
+		// 杞酱鏈変袱涓В锛屾寚鍚戠浉宸�180掳,涓旇搴︿笉褰卞搷, 鏈▼搴忎粎杈撳嚭涓�涓�
+		// sin(angle) = 0锛� angle=pi+2k*pi,k涓烘暣鏁�
 		angle = AsCPI;
 
 		double a12 = mm[0][1] / 2.0;
@@ -60,35 +60,68 @@ void AsMtxToAxAng(const CMatrix<double>& mtx,
 		double aa2 = sqrt((1.0 + mm[1][1]) / 2.0);
 		double aa3 = sqrt((1.0 + mm[2][2]) / 2.0);
 		if (a12 > 0 && a23 > 0 && a31 > 0) {
-			// a1 a2 a3同号
+			// a1 a2 a3鍚屽彿
 			axis[0] = aa1;
 			axis[1] = aa2;
 			axis[2] = aa3;
 		}
 		else if (a12 > 0) {
-			// a1 a2 同号
+			// a1 a2 鍚屽彿
 			axis[0] = aa1;
 			axis[1] = aa2;
 			axis[2] = -aa3;
 		}
 		else if (a23 > 0) {
-			// a2 a3 同号
+			// a2 a3 鍚屽彿
 			axis[0] = aa1;
 			axis[1] = -aa2;
 			axis[2] = -aa3;
 		}
 		else {
-			// a1 a3同号
+			// a1 a3鍚屽彿
 			axis[0] = aa1;
 			axis[1] = -aa2;
 			axis[2] = aa3;
 		}
 	}
 	else {
-		// 转轴不确定
+		// 杞酱涓嶇‘瀹�
 		angle = 0;
 		axis[0] = 1;
 		axis[1] = 0;
 		axis[2] = 0;
 	}
-}
\ No newline at end of file
+}
+
+
+//******************************************************
+/// 鏍规嵁杞簭鍜屽潗鏍囪浆绉荤煩闃佃绠桬uler瑙掞紝杞簭涓�2-3-1
+/// @author Sun Fengyan
+/// @data   2023.4
+/// @Version    1.0
+/// @Input  
+/// @Param  mtx       鍧愭爣杞Щ鐭╅樀
+/// @Output
+/// @Param  euler     杩斿洖鐨勬鎷夎(鍗曚綅锛歳ad锛�
+//******************************************************
+void  AsMtxToEuler231(const CMatrix<double>& mtx, CEuler& euler)
+{
+	euler.m_Angle2 = asin(mtx[0][1]); 
+
+	if (abs(mtx[0][1] - 1) < 1e-8 ) //euler.m_Angle2 = pi/2
+	{
+		euler.m_Angle1 = atan2(mtx[1][2], mtx[2][2]);
+		euler.m_Angle3 = 0;
+	}
+	else if (abs(mtx[0][1] + 1) < 1e-8 ) //euler.m_Angle2 = -pi/2
+	{
+		euler.m_Angle1 = -atan2(mtx[1][2], mtx[2][2]);
+		euler.m_Angle3 = 0;
+	}
+	else 
+	{
+		euler.m_Angle1 = atan2(-mtx[0][2], mtx[0][0]);
+		euler.m_Angle3 = atan2(-mtx[2][1], mtx[1][1]);
+		
+	}
+}