Binv(1,1) = COS(psiRad)
Binv(1,2) = -SIN(psiRad)
Binv(2,1) = SIN(psiRad)
Binv(2,2) = COS(psiRad)
_RL phiRad, thetaRad, psiRad
psiRad = psiEuler *deg2rad