文介绍了利用四阶龙格-库塔法解微分方程的姿态解算方法，并以典型圆锥运动作为输入，检验了算法的可靠性。-The article introduced the use fourth-order dragon standard- Kutta law solution differential equation s posture resolving method, and takes the input by the typical conical motion, examined the algor