中文说明：捷联惯性导航技术中使用四元数算法实现姿态更新矩阵的求解，得到姿态角。
English Description：
In strapdown inertial navigation technology, quaternion algorithm is used to solve the attitude update matrix and obtain the attitude angle.
Quaternion algorithm is used to solve the attitude updating matrix in strapdown inertial navigation
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中文说明：捷联惯性导航技术中使用四元数算法实现姿态更新矩阵的求解，得到姿态角。
English Description：
In strapdown inertial navigation technology, quaternion algorithm is used to solve the attitude update matrix and obtain the attitude angle.