An Orthogonal matrix is indicated with the letter Q, and each of its column’s has a magnitude(norm) of 1, and each pair of its column’s are pairwise orthogonal(have a 0 dot product).
<Q1,Q2>=Trans(Q).Q = I –> Which means that if column Q1 is the same as column Q2 the dot product of the columns 1, and if column Q1 is the same as column Q2 the dot product of the columns is 0.
Another property is that the inverse is the same as the transpose in an orthogonal matrix = Trans(Q).Q = Q ¯¹Q= I.
