Matrix

Orthogonal Matrix

A square matrix with real numbers or elements is said to be an orthogonal matrix if its transpose is equal to its inverse matrix. $R^T=R^{-1}$

An orthogonal matrix then satisfies $R{R}^T=R^{T}R$ Since $R{R}^{T}R{R}^{-1}=I=R^{-1}R=R^{T}R$