中文说明：这是一个学习SINS的很好的代码，包括轨迹发生器的模拟，惯导仿真器，姿态四元数的解算，及位置速度的解算，里面有必要的注释易懂。
English Description：
This is a good code to learn sins, including trajectory generator simulation, inertial navigation simulator, attitude quaternion solution, and position velocity solution, which has the necessary notes easy to understand.