The calculation of an inverse matrix is a lot of work, but by using the properties of vector cross products we can simplify the calculations.
计算逆矩阵的工作量较大，但是通过逆矩阵的叉积我们可以简化计算。
Since the formulas do not involve the multiplication and inverse of matrix, the calculations are reduced.
由于公式不涉及矩阵乘法和求逆运算，因而计算量较小。
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