中文说明：完整代码，可以运行，有数据，解四元数采用的是双子样法，地球参考系用的的是椭球体模型，还有kalman滤波，推荐给初学惯导的同志
English Description：
Complete code, you can run, data, solutions using the quaternion is Gemini method, terrestrial reference system with the ellipsoid model and Kalman filter and recommend it to beginners ins comrades