用于四轴飞行器的姿态算法，内含各种矩阵加减乘转置、求逆等运算，及姿态kalman滤波算法，可适用于低速旋翼机的姿态导航-For four-axis spacecraft attitude algorithm, containing a variety of matrix addition and subtraction to multiply the transpose and inverse operations, and attitude Kalman filtering algorithm

51单片机的卡尔曼滤波子程序，非常实用，很有参考价值-51 single Kalman filtering routines

卡尔曼滤波函数源代码，使用于受白噪声干扰比较大的数据，已经在硬件平台上测试（MCU使用的是STM32F103，对加速度计进行滤波）-Kalman filter function source code, for use in the white noise by relatively large data, has been tested on the hardware platform (MCU using STM32F103, accelerometer filtering)