中文说明：惯性导航代码，真实有效,包括姿态变换，坐标变换，导航方程求解，惯性导航代码，真实有效,包括姿态变换，坐标变换，导航方程求解，惯性导航代码，真实有效,包括姿态变换，坐标变换，导航方程求解，惯性导航代码，真实有效,包括姿态变换，坐标变换，导航方程求解，
English Description：
Inertial navigation code, real and effective, including attitude transformation, coordinate transformation, navigation equation solving, inertial navigation code, real and effective, including attitude transformation, coordinate transformation, navigation equation solving, inertial navigation code, real and effective, including attitude transformation, coordinate transformation, navigation equation solving, inertial navigation code, real and effective, Including attitude transformation, coordinate transformation, navigation equation solving,