中文说明：
对捷联惯导速度、位置和姿态进行解算，其中姿态解算采用的是四元数法。
English Description：
The velocity, position and attitude of strapdown inertial navigation system are calculated, and the quaternion method is used to solve the attitude.
The velocity, position and attitude of sins are calculated by IMU
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中文说明：
对捷联惯导速度、位置和姿态进行解算，其中姿态解算采用的是四元数法。
English Description：
The velocity, position and attitude of strapdown inertial navigation system are calculated, and the quaternion method is used to solve the attitude.
IMU.mat