捷联惯性导航技术中使用四元数算法实现姿态更新矩阵的求解，得到姿态角。-Strapdown inertial navigation technology using quaternion attitude update algorithm for solving the matrix, get attitude angle.

用于运动检测和导航的四元数算法，使用c语言实现。具有实用价值。-For motion detection and navigation quaternion algorithm, using the c language. Has practical value.