Aircraft attitude algorithm.From this article is my attempt to spacecraft attitude detection by using the quaternion method, to then using kalman filter algorithm, and try to kalman filter coupling multiple state variables can be a complex process of linear system state estimation has carried on the simple decoupling, which will be the attitude of the optimal estimation and the optimal estimate gyro drift apart, in this way, can through the intuitive method to adjust the parameters of the two parts.

德国MK开源代码的理解.docx

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