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本文介绍了捷联式惯导系统软件编排中的一种四元数姿态算法和导航算法.同样详细说明了为补偿采样引起的误差而对上述两种算法进行的不同补偿算法
In this paper, we introduce a quaternion attitude algorithm and navigation algorithm in strapdown inertial navigation system software arrangement, and also describe the different compensation algorithms for the above two algorithms in order to compensate the errors caused by sampling