Kalman filter, the specific combination of orbital compass+ magnetometer+ rate gyro, the specific physical meaning, please see attached comments in the space one can at a glance

Attitude_Kalman_gom\Debug\gyro_mag_orbit2.exe
...................\.....\gyro_mag_orbit2.ilk
...................\.....\gyro_mag_orbit2.obj
...................\.....\gyro_mag_orbit2.pch
...................\.....\gyro_mag_orbit2.pdb
...................\.....\vc60.idb
...................\.....\vc60.pdb
...................\gyro_mag_orbit2.cpp
...................\gyro_mag_orbit2.dsp
...................\gyro_mag_orbit2.dsw
...................\gyro_mag_orbit2.ncb
...................\gyro_mag_orbit2.opt
...................\gyro_mag_orbit2.plg
...................\shuju\Awib.txt
...................\.....\bdici.txt
...................\.....\fa.txt
...................\.....\odici.txt
...................\.....\pos.txt
...................\.....\result_attitude.txt
...................\.....\result_error.txt
...................\.....\sita.txt
...................\.....\zaosh.txt
...................\validate\Debug\demonstrate.exe
...................\........\.....\demonstrate.ilk
...................\........\.....\demonstrate.obj
...................\........\.....\demonstrate.pch
...................\........\.....\demonstrate.pdb
...................\........\.....\vc60.idb
...................\........\.....\vc60.pdb
...................\........\demonstrate.cpp
...................\........\demonstrate.dsp
...................\........\demonstrate.dsw
...................\........\demonstrate.ncb
...................\........\demonstrate.opt
...................\........\demonstrate.plg
...................\........\Debug
...................\Debug
...................\shuju
...................\validate
Attitude_Kalman_gom

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