飞机姿态算法。从这篇文章是我尝试的飞行器姿态检测采用四元数方法,然后利用卡尔曼滤波算法,并尝试卡尔曼滤波器耦合的多个状态变量可以是一个复杂的过程,线性系统状态估计进行了简单的解耦,将最优估计的态度和最优估计陀螺漂移,通过这种方式,可以通过直观的方法来调整参数的两个部分。-Aircraft attitude algorithm.From this article is my attempt to spacecraft attitude detection by using the quaternion method, to then using kalman filter algorithm, and try to kalman filter coupling multiple state variables can be a complex process of linear system state estimation has carried on the simple decoupling, which will be the attitude of the optimal estimation and the optimal estimate gyro drift apart, in this way, can through the intuitive method to adjust the parameters of the two parts.