采用四元数进行姿态解算，得到比欧拉角更高的精度和实用性。-establish quaternion model to calculate the attitude

对捷联惯导速度、位置和姿态进行解算，其中姿态解算采用的是四元数法。(The velocity, position and attitude of strapdown inertial navigation system are calculated)

在Arduino IDE编译环境下，用四元数法进行姿态解算。四元数法具有计算量小的优点，相比欧拉角法，省去了姿态转换矩阵的计算。(In the Arduino IDE compiler environment, four element method is used to solve the pose problem. The four element method has the advantage of small computation. Compared with Euler angle