微型惯性测量组合(MIMU：Micro-inertial measurement unit)是国际上近年来发展起来的新技

术，作为一种不依赖任何外部信息，也不向外部辐射能量的自主式系统-Abstract：The Micro strapdown inertial measurement unit

System are introduced, attitude algorithm and Kalman

filtering equation of parameter identifying of MIMU are

also described. Using four-order quaternion Runge-Kutta

method to update attitude algorithm is presented, the

corresponding simulation programs are described