中文说明：惯性测量组件Mti进行数据采集，利用陀螺和加速度计数据进行捷联姿态角解算，采用四元数更新算法，解算周期可调。
English Description：
The inertial measurement module (MTI) is used to collect data, and the gyro and accelerometer data are used to calculate the strapdown attitude angle. The quaternion update algorithm is used, and the calculation period is adjustable.