四元数更新在matlab中的实现，包括采样、更新四元数、规范化、得到姿态角(Quaternion update in matlab implementation, including sampling, update the quaternions, standardization and attitude Angle)

自己仿真的四元数法的龙格库塔的姿态解算matlab仿真(Their simulation of the quaternion method of runge kutta the attitude algorithm of matlab simulation)