中文说明： 包括四元数的各种计算,包含飞行器飞行中的姿态控制，如侧滑角，倾斜角，滚转角，俯仰角，包含位置式PID算法、积分分离式PID，一种流形学习算法（很好用），基于分段非线性权重值的Pso算法，含噪脉冲信号进行相关检测。
English Description：
Including the various calculations of the Quaternion, contained attitude control of aircraft in flight, such as sideslip angle, angle of roll angle, pitch angle, contains position PID algorithm, integral separating PID, a manifold learning algorithm (very good), the Pso algorithm based on piecewise linear weights, detection of pulse signals with noise-related.