中文说明： 包括四元数的各种计算,包含收发两个客户端的链路级通信程序,利用matlab写成的窄带噪声发生，采用偏最小二乘法，各种kalman滤波器的设计，Matlab实现界面友好。
English Description：
Including the quaternion calculation, including sending and receiving two client link level communication program, written using MATLAB narrowband noise, using partial least squares method, Kalman filter design, matlab implementation friendly interface.