四元数算法姿态更新，c语言有注释，通俗易懂，捷联式-Quaternion attitude updating algorithm, c language notes, easy to understand, strapdown

捷联式惯性导航也就是将惯性测量元件（陀螺仪和加速度计）直接装在飞行器、舰艇、导弹等需要诸如姿态、速度、航向等导航信息的主体上，用计算机把测量信号变换为导航参数的一种导航技术-Strapdown inertial navigation and inertial measuring element is (gyroscope and accelerometer) directly on the aircraft, warships, missiles and other needs such as