中文说明：四元数，欧拉角及姿态矩阵的相互转换代码，这是一个学习的很好的代码，包括轨迹发生器的模拟，惯导导航，姿态四元数的解算，及位置速度的解算，包含注释浅显易懂。
English Description：
Conversion the code quaternion, Euler angles and attitude matrix, which is a good learning code, including simulated trajectory generator, INS navigation, attitude quaternion solver, and the location of the speed of the solver containing notes easy to understand.