该程序在vb环境实现水位的PID控制，也可以手动设置参数进行开环控制-the procedures in vb environment to achieve the level of PID control, can also manually set parameters for open loop control

四元数的仿真程序还有加有卡尔曼滤波器的开环校正的程序。-Quaternion simulation program plus a Kalman filter is also open-loop correction procedures.