And then I clarify the software compose of the system based on this. I give an sufficient research on data processing and pose matrix arithmetic .
然后阐明了捷联惯导系统的软件构成，并据此研究了捷联惯导系统的数据处理技术和姿态矩阵解算算法。
参考来源 - 惯性导航定位系统数据处理技术的研究On the basis of introducing the SINS’s structure and system principle, this paper analyses the arithmetic of attitude matrix; Finally, it explores the realization of soft and hard ware in unmanned roadheader system.
论文首先对捷联式惯性导航系统的总体结构、工作原理等进行了分析;然后结合现场数据着重分析了捷联惯导数字平台中姿态矩阵的解算方法;最后讲述了捷联式惯导系统在无人掘进机控制系统中的软硬件实现方式。
参考来源 - 捷联式惯导系统在无人掘进机中的应用·2,447,543篇论文数据，部分数据来源于NoteExpress
最后利用姿态矩阵的正交特性进行模糊度有效性的分析。
In the end, the validity of ambiguity is verified by the attitude matrix characteristics.
在捷联惯导系统中，可以用四元数来表示姿态矩阵，而姿态矩阵的计算是捷联惯导系统的关键问题之一。
Attitude matrix is represented by quaternion and the calculation of attitude matrix is a key in Strapdown INS.
在算法测试中，采用四阶龙格库塔法和毕卡逼近法分别对姿态矩阵方程进行了解算，并对得到的数据进行测试和评估。
In the algorithm test, Runge-Kutta method and the Picard approximation method were used to make the solution for the matrix equation of the profile calculation, and I evaluated the data obtained.
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