匿名飞控程序，姿态解算，PID调参，自动控制-ANO flight control procedures, attitude solution, PID parameter adjustment, automatic control

复杂捷联惯导的另一种解算方法，包括解算位置、速率与姿态(Complex the strapdown inertial navigation of another kind of calculating method, including calculating the position, velocity and attitude)