惯性导航中的传递对准，用于解决、主子惯导间的误差-Inertial navigation transfer alignment for error resolved between the master INS

一个简单的惯性导航模拟实现，实现计算姿态角，速度和经纬高的功能(A simple implementation of inertial navigation simulation to calculate attitude angle, velocity and latitude-longitude height)