中文说明：卡尔曼滤波程序，系统为捷联惯导，维数为15的系统方程，参考书目是秦永元惯性导航
English Description：
Kalman filter program, the system is strapdown inertial navigation, the system equation of dimension 15, the bibliography is Qin Yongyuan inertial navigation
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中文说明：卡尔曼滤波程序，系统为捷联惯导，维数为15的系统方程，参考书目是秦永元惯性导航
English Description：
Kalman filter program, the system is strapdown inertial navigation, the system equation of dimension 15, the bibliography is Qin Yongyuan inertial navigation