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.
采用四元数法描述了刚体姿态系统。
Quaternions are used to describe the attitude of the rigid body system in this paper.
采用四元数法描述了刚体姿态系统。
Quaternions are used to describe the attitude of the rigid body system in this paper.
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