来秀个世上最简单的捷联惯导算法C源码
void init_Q(void){////////pitch roll yaw q0=cos(roll/2)*cos(pitch/2)*cos(yaw/2)+sin(roll/2)*sin(yaw/2)*sin(yaw/2); }void angle() //姿态矩阵{ float DX,DX1,DX2,DX3,DY,DY1,DY2,DY3,DZ,DZ1,DZ2,DZ3; float mo...
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