It is discussed that the optimized attitude algorithms and corrected attitude algorithms which are derived from the former. Then those are analyzed and emulated in Matlab.

讨论了等效转动矢量法及其衍生的一系列修正算法和优化算法，并作了精度分析和数字仿真，并对根据角增量提取角速率的方法进行了研究和验证。

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But in early December, Valentine corrected the attitude.

WSJ: Jason Gay: Time to Light a Fire Under a Tired Rivalry