中文说明：
一个非常全面的捷联惯导程序，包含了从初始对准、初值的设定，四元素的四阶龙格库塔法更新，对速度微分方程和位置方程分别用龙格库塔法和欧拉角法求解。
English Description：
A very comprehensive strapdown inertial navigation program, including initial alignment, initial value setting, fourth-order Runge Kutta method update of four elements, and Runge Kutta method and Euler angle method are used to solve the velocity differential equation and position equation respectively