中文说明：运用四元数方法进行捷联惯性系统的姿态解算，并由加速度计的数据和陀螺的数据计算导航参数
English Description：
The quaternion method is used to calculate the attitude of strapdown inertial system, and the navigation parameters are calculated from the data of accelerometer and gyroscope
Attitude calculation of strapdown inertial system using quaternion method
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中文说明：运用四元数方法进行捷联惯性系统的姿态解算，并由加速度计的数据和陀螺的数据计算导航参数
English Description：
The quaternion method is used to calculate the attitude of strapdown inertial system, and the navigation parameters are calculated from the data of accelerometer and gyroscope