介绍了四元数法的基本原理及其在捷联系统中的用法；
The basic theory and the usage of quaternion are also been introduced.
然后又重点对航姿数据的获取方法和控制率进行了研究，设计出用双矢量法改进的捷联航姿解算方案和模糊pd控制方法。
Attitude and then focus on methods of data acquisition and control rates were studied, designed a two-vector method with improved AHRS Solution program and fuzzy PD control method.
文章基于小波变换的消噪原理，结合待测信号的特点，创造性地提出一种适用于捷联寻北仪的小波消噪法。
Base on wavelet denoising theory as well as the characteristic of the signal, a wavelet denoising method applied to Strapdown north seeking system was proposed.
由实验的结果来看，极限碳酸盐硬度法简便、捷、现性好，可信度高。
The results of the experiment sh ow that the limited carbonate hardness method is simple, quick and effective.
由实验的结果来看，极限碳酸盐硬度法简便、捷、现性好，可信度高。
The results of the experiment sh ow that the limited carbonate hardness method is simple, quick and effective.
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