Vulnerabilities are the result of human error, and if you change the human attitude, good things will follow.
漏洞是人犯错误的结果，如果你改变人的态度，好结果会随之而来。
The state equations of the system are established on the basis of the relation between attitude error quaternion and the gyro drift.
本文以姿态误差四元数与陀螺漂移误差之间的关系为基础，构建了系统状态方程；
The measurement error of vehicle's attitude caused by the drift of platform reference is also analyzed.
对由于惯性基准的漂移而引起的载体姿态角的测量误差也进行了分析。
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