采用四元数方法推导出SDINS数学平台角误差方程和速度误差方程，并以此建立非线性初始对准误差模型，应用扩展卡尔曼滤波(EKF)进行精对准，确定初始失调角。-using quaternion approach derived platform SDINS mathematical equations and the error rate of error equation, and the establishment of this initial alignment error nonlinea

曲柄滑块机构的机构组成，速度方程以及匀角速度运动学仿真框图-Of the institutions of the slider-crank mechanism, the rate equation and the constant angular velocity kinematics simulation diagram

sha1_testbench.v -- Testbench with vectors NIST FIPS 180-2 sha1_exec.v -- Top level sha1 module sha1_round.v -- primitive sha1 round dffhr.v -- generic parameterizable D-flip flop library Performance Analysis Performance equa